+ python -m lidar_slam --no-model /working/dd21d219-3608-42a3-beee-c46ef2a66c24 Lidar SLAM 0.0.15 ===================================================== The recording path: /working/dd21d219-3608-42a3-beee-c46ef2a66c24 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 0.010385723 Adjusted end_distance from 9.223372036854776e+18 to 867.350385723 -=-=-> Lidar cleaning parameters file not found. --> Creating a generic default one. SLAMing on 0.010385723 meters Centerline goodness : 0.093908 Centerline is valid? [0, False] SLAMing on 0.040385723 meters Centerline goodness : 0.097524 Centerline is valid? [False, False] Translation: X:0.02, Y:0.00, Z:-0.00 [[ 9.99983122e-01 -4.99422408e-03 2.96874954e-03 1.85474957e-02] [ 4.98741462e-03 9.99984925e-01 2.29670713e-03 1.59637866e-04] [-2.98017506e-03 -2.28186198e-03 9.99992956e-01 -1.08443077e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.070385723 meters Centerline goodness : 0.096413 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.00, Z:-0.00 [[ 9.99984032e-01 -4.76734438e-03 3.03447407e-03 1.99809166e-02] [ 4.75981776e-03 9.99985590e-01 2.48277855e-03 -9.38676300e-04] [-3.04626661e-03 -2.46829536e-03 9.99992314e-01 -2.21982718e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.100385723 meters Centerline goodness : 0.097223 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.00, Z:-0.00 [[ 0.99999363 -0.00157125 0.00320516 0.03286208] [ 0.00157452 0.99999824 -0.00101847 -0.00143965] [-0.00320355 0.00102351 0.99999434 -0.00310522] [ 0. 0. 0. 1. ]] SLAMing on 0.130385723 meters Centerline goodness : 0.094984 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.00, Z:-0.00 [[ 9.99994394e-01 -1.32072066e-03 3.07681376e-03 3.50614566e-02] [ 1.32166167e-03 9.99999080e-01 -3.03825812e-04 -4.30713262e-03] [-3.07640967e-03 3.07890616e-04 9.99995220e-01 -4.60106952e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.16038572299999998 meters Centerline goodness : 0.129452 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.01, Z:-0.01 [[ 0.99998205 -0.00519785 0.00298013 0.0364173 ] [ 0.00520792 0.99998072 -0.00338118 -0.00524886] [-0.0029625 0.00339664 0.99998984 -0.00542741] [ 0. 0. 0. 1. ]] SLAMing on 0.190385723 meters Centerline goodness : 0.121225 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.00, Z:-0.01 [[ 0.99992407 -0.01147705 0.00448571 0.05767642] [ 0.01149934 0.9999215 -0.00497594 -0.00446956] [-0.00442825 0.00502715 0.99997756 -0.00542946] [ 0. 0. 0. 1. ]] SLAMing on 0.22038572299999998 meters Centerline goodness : 0.127574 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.00, Z:-0.01 [[ 0.99988254 -0.01445247 0.00510268 0.0575772 ] [ 0.01449569 0.99985849 -0.00853697 -0.00423242] [-0.00497858 0.00860993 0.99995054 -0.00549604] [ 0. 0. 0. 1. ]] SLAMing on 0.250385723 meters Centerline goodness : 0.120531 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.01, Z:-0.01 [[ 0.99986076 -0.01614632 0.00421389 0.06304613] [ 0.01619105 0.99981052 -0.01080611 -0.00719783] [-0.00403861 0.01087283 0.99993273 -0.00674696] [ 0. 0. 0. 1. ]] SLAMing on 0.28038572300000003 meters Centerline goodness : 0.120489 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.01, Z:-0.01 [[ 0.99984326 -0.01742948 0.00310983 0.068562 ] [ 0.01746962 0.99975779 -0.01338578 -0.00991658] [-0.00287577 0.01343801 0.99990557 -0.00845718] [ 0. 0. 0. 1. ]] SLAMing on 0.310385723 meters Centerline goodness : 0.121964 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.01, Z:-0.01 [[ 0.99979154 -0.02015213 0.00328201 0.07234637] [ 0.02020464 0.999654 -0.01684203 -0.0116795 ] [-0.00294147 0.01690483 0.99985278 -0.01133761] [ 0. 0. 0. 1. ]] SLAMing on 0.340385723 meters Centerline goodness : 0.121984 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.02, Z:-0.01 [[ 0.99981287 -0.01914553 0.00276932 0.05478226] [ 0.01919403 0.99964087 -0.0187006 -0.01618826] [-0.00241029 0.01875025 0.99982129 -0.01442781] [ 0. 0. 0. 1. ]] SLAMing on 0.370385723 meters Centerline goodness : 0.123061 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.02, Z:-0.02 [[ 0.99980209 -0.01970505 0.00273555 0.03788753] [ 0.01975366 0.99962326 -0.01905595 -0.0210626 ] [-0.00235903 0.01910622 0.99981468 -0.02180858] [ 0. 0. 0. 1. ]] SLAMing on 0.400385723 meters Centerline goodness : 0.124652 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.03, Z:-0.03 [[ 9.99838546e-01 -1.79665994e-02 2.88172313e-04 2.41691826e-02] [ 1.79687416e-02 9.99631080e-01 -2.03673549e-02 -2.57054574e-02] [ 7.78661052e-05 2.03692446e-02 9.99792522e-01 -2.80796200e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.430385723 meters Centerline goodness : 0.124068 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.03, Z:-0.03 [[ 9.99851237e-01 -1.72200023e-02 -9.87456726e-04 8.36284791e-03] [ 1.71910284e-02 9.99558519e-01 -2.42329344e-02 -2.86329011e-02] [ 1.40431197e-03 2.42123540e-02 9.99705852e-01 -3.17935647e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.46038572299999997 meters Centerline goodness : 0.125808 Centerline is valid? [False, False] Translation: X:-0.00, Y:-0.04, Z:-0.04 [[ 0.9997891 -0.02035049 -0.00275846 -0.00395998] [ 0.02026383 0.99938951 -0.02846025 -0.03681401] [ 0.00333596 0.02839836 0.99959112 -0.03922871] [ 0. 0. 0. 1. ]] SLAMing on 0.490385723 meters Centerline goodness : 0.128026 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.04, Z:-0.05 [[ 0.99979889 -0.01964488 -0.00403294 -0.01890021] [ 0.01951328 0.99934669 -0.0304207 -0.04276871] [ 0.00462792 0.03033588 0.99952905 -0.04506672] [ 0. 0. 0. 1. ]] SLAMing on 0.520385723 meters Centerline goodness : 0.129327 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.05, Z:-0.05 [[ 0.9997155 -0.02350659 -0.00404427 -0.0143208 ] [ 0.02336655 0.99922261 -0.03175181 -0.04629384] [ 0.0047875 0.03164828 0.9994876 -0.05143206] [ 0. 0. 0. 1. ]] SLAMing on 0.550385723 meters Centerline goodness : 0.129867 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.05, Z:-0.05 [[ 0.99971927 -0.02331078 -0.00424026 -0.011401 ] [ 0.02317307 0.99927971 -0.03005128 -0.05009553] [ 0.00493773 0.02994459 0.99953936 -0.05488711] [ 0. 0. 0. 1. ]] SLAMing on 0.5803857229999999 meters Centerline goodness : 0.131971 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.05, Z:-0.06 [[ 0.99961301 -0.02761116 -0.00338564 -0.00897411] [ 0.02749141 0.99912858 -0.03140561 -0.05448534] [ 0.00424984 0.03130038 0.99950099 -0.06011374] [ 0. 0. 0. 1. ]] SLAMing on 0.6103857229999999 meters Centerline goodness : 0.112515 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.06, Z:-0.06 [[ 0.99950849 -0.0311759 -0.00329366 -0.00541232] [ 0.03105075 0.99897523 -0.0329292 -0.0559157 ] [ 0.00431688 0.03281075 0.99945226 -0.0643639 ] [ 0. 0. 0. 1. ]] SLAMing on 0.640385723 meters Centerline goodness : 0.135312 Centerline is valid? [False, False] Translation: X:-0.00, Y:-0.06, Z:-0.07 [[ 0.99951775 -0.03084849 -0.00355405 -0.00218547] [ 0.03071952 0.99901785 -0.03193189 -0.05881904] [ 0.00453561 0.03180731 0.99948373 -0.06757766] [ 0. 0. 0. 1. ]] SLAMing on 0.6703857229999999 meters Centerline goodness : 0.174604 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.06, Z:-0.07 [[ 0.99947247 -0.03197457 -0.00569257 -0.01235169] [ 0.0317389 0.99879066 -0.03754809 -0.06286808] [ 0.00688627 0.0373476 0.99927861 -0.07435008] [ 0. 0. 0. 1. ]] SLAMing on 0.7003857229999999 meters Centerline goodness : 0.138244 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.07, Z:-0.08 [[ 0.99948125 -0.03171926 -0.00557835 -0.01033106] [ 0.03149642 0.99884432 -0.03630438 -0.06609853] [ 0.00672345 0.03610985 0.99932521 -0.07725857] [ 0. 0. 0. 1. ]] SLAMing on 0.7303857229999999 meters Centerline goodness : 0.139551 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.07, Z:-0.08 [[ 0.99936753 -0.03501206 -0.0062206 -0.00514217] [ 0.03475902 0.99871199 -0.03696173 -0.07057755] [ 0.00750669 0.03672213 0.99929732 -0.0828396 ] [ 0. 0. 0. 1. ]] SLAMing on 0.760385723 meters Centerline goodness : 0.141691 Centerline is valid? [False, False] Translation: X:-0.00, Y:-0.07, Z:-0.09 [[ 0.99938439 -0.0343704 -0.00703645 -0.00118252] [ 0.0341031 0.99880123 -0.0351153 -0.07283723] [ 0.00823494 0.03485372 0.9993585 -0.08688458] [ 0. 0. 0. 1. ]] SLAMing on 0.790385723 meters Centerline goodness : 0.141691 Centerline is valid? [False, False] Translation: X:-0.00, Y:-0.07, Z:-0.09 [[ 0.99938439 -0.0343704 -0.00703645 -0.00118252] [ 0.0341031 0.99880123 -0.0351153 -0.07283723] [ 0.00823494 0.03485372 0.9993585 -0.08688458] [ 0. 0. 0. 1. ]] SLAMing on 0.8203857229999999 meters Centerline goodness : 0.144491 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.08, Z:-0.09 [[ 0.99937216 -0.0340704 -0.00972048 0.00897734] [ 0.03373721 0.99889899 -0.03259762 -0.07568115] [ 0.01082039 0.03224921 0.99942129 -0.09499288] [ 0. 0. 0. 1. ]] SLAMing on 0.8503857229999999 meters Centerline goodness : 0.148106 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.08, Z:-0.10 [[ 0.99938821 -0.03338605 -0.01041975 0.01293905] [ 0.0330332 0.99892979 -0.03237409 -0.07625647] [ 0.01148944 0.03201009 0.99942151 -0.09928435] [ 0. 0. 0. 1. ]] SLAMing on 0.880385723 meters Centerline goodness : 0.158325 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.09, Z:-0.11 [[ 0.99948582 -0.02892161 -0.01384318 0.00114876] [ 0.02840069 0.99893172 -0.03645301 -0.08595668] [ 0.01488267 0.03604111 0.99923948 -0.10600095] [ 0. 0. 0. 1. ]] SLAMing on 0.9103857229999999 meters Centerline goodness : 0.164398 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.09, Z:-0.11 [[ 0.99954923 -0.02710525 -0.01290875 0.00183683] [ 0.02662395 0.99899345 -0.03610069 -0.08977971] [ 0.01387428 0.03574073 0.99926478 -0.11042935] [ 0. 0. 0. 1. ]] SLAMing on 0.9403857229999999 meters Centerline goodness : 0.172350 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.10, Z:-0.12 [[ 0.999653 -0.02402723 -0.01079657 0.00123155] [ 0.02363376 0.99910072 -0.03520213 -0.09742485] [ 0.01163267 0.03493475 0.99932189 -0.11690259] [ 0. 0. 0. 1. ]] SLAMing on 0.9703857229999999 meters Centerline goodness : 0.176704 Centerline is valid? [False, False] Translation: X:-0.00, Y:-0.10, Z:-0.12 [[ 9.99725169e-01 -2.17521733e-02 -8.74234784e-03 -7.54173385e-05] [ 2.14756193e-02 9.99301837e-01 -3.05718308e-02 -1.04619157e-01] [ 9.40124802e-03 3.03756814e-02 9.99494339e-01 -1.21714101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.000385723 meters Centerline goodness : 0.181368 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.11, Z:-0.12 [[ 0.99973565 -0.02131571 -0.00861779 0.0013982 ] [ 0.02106387 0.99937675 -0.02832711 -0.10964242] [ 0.00921623 0.02813809 0.99956156 -0.12389927] [ 0. 0. 0. 1. ]] SLAMing on 1.030385723 meters Centerline goodness : 0.192916 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.12, Z:-0.13 [[ 0.99971824 -0.02117764 -0.01072155 0.00993871] [ 0.02092535 0.99951367 -0.02312052 -0.11890072] [ 0.01120597 0.02288965 0.99967519 -0.13108749] [ 0. 0. 0. 1. ]] SLAMing on 1.060385723 meters Centerline goodness : 0.101558 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.12, Z:-0.13 [[ 0.99945141 -0.02754415 -0.01839016 0.02903288] [ 0.02719219 0.99944732 -0.0191218 -0.12495106] [ 0.01890669 0.01861124 0.99964802 -0.13499898] [ 0. 0. 0. 1. ]] SLAMing on 1.090385723 meters Centerline goodness : 0.194545 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.13, Z:-0.14 [[ 0.99933733 -0.0308411 -0.01933188 0.0341196 ] [ 0.03043433 0.99931627 -0.02099411 -0.1284162 ] [ 0.01996615 0.02039185 0.99959268 -0.13936861] [ 0. 0. 0. 1. ]] SLAMing on 1.1203857229999998 meters Centerline goodness : 0.101407 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.13, Z:-0.15 [[ 0.99915114 -0.03500707 -0.02171401 0.05330069] [ 0.03443296 0.99906162 -0.02627273 -0.13295467] [ 0.02261337 0.02550275 0.99941895 -0.14767862] [ 0. 0. 0. 1. ]] SLAMing on 1.1503857229999999 meters Centerline goodness : 0.102580 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.13, Z:-0.15 [[ 0.99900833 -0.03823902 -0.02280635 0.05844049] [ 0.03757185 0.99887311 -0.02899784 -0.13371277] [ 0.0238895 0.02811221 0.99931927 -0.15109426] [ 0. 0. 0. 1. ]] SLAMing on 1.1803857229999999 meters Centerline goodness : 0.106623 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.13, Z:-0.16 [[ 0.99885266 -0.0435602 -0.01989638 0.07929816] [ 0.04303419 0.99873153 -0.0261418 -0.1349563 ] [ 0.02100989 0.02525558 0.99946022 -0.15606307] [ 0. 0. 0. 1. ]] SLAMing on 1.210385723 meters Centerline goodness : 0.217900 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.14, Z:-0.16 [[ 0.99878451 -0.04705597 -0.0146708 0.0959421 ] [ 0.04675483 0.99870142 -0.02023497 -0.13635969] [ 0.01560392 0.01952445 0.99968761 -0.15958248] [ 0. 0. 0. 1. ]] SLAMing on 1.240385723 meters Centerline goodness : 0.191363 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.14, Z:-0.16 [[ 0.99876802 -0.04739655 -0.0146975 0.09713036] [ 0.0471106 0.99870462 -0.01922685 -0.13792569] [ 0.01558974 0.01851075 0.99970711 -0.16063226] [ 0. 0. 0. 1. ]] SLAMing on 1.270385723 meters Centerline goodness : 0.177673 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.14, Z:-0.16 [[ 0.99856254 -0.05146411 -0.01497645 0.10105105] [ 0.05113607 0.99845983 -0.0215192 -0.13903776] [ 0.01606085 0.02072243 0.99965626 -0.16316254] [ 0. 0. 0. 1. ]] SLAMing on 1.300385723 meters Centerline goodness : 0.118780 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.14, Z:-0.17 [[ 0.99855527 -0.05139335 -0.01568776 0.1042899 ] [ 0.05105968 0.99847528 -0.02097669 -0.14067574] [ 0.0167419 0.02014537 0.99965688 -0.16553587] [ 0. 0. 0. 1. ]] SLAMing on 1.3303857229999998 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 1.3603857229999998 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 1.3903857229999999 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 1.4203857229999999 meters Centerline goodness : 0.225632 Centerline is valid? [False, False] Translation: X:0.17, Y:-0.13, Z:-0.18 [[ 0.99783466 -0.06030477 -0.02625516 0.17447932] [ 0.05991217 0.99808343 -0.01549219 -0.13385559] [ 0.0271391 0.01388564 0.99953522 -0.17569595] [ 0. 0. 0. 1. ]] SLAMing on 1.450385723 meters Centerline goodness : 0.226407 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.14, Z:-0.18 [[ 0.9977293 -0.06142852 -0.02761865 0.17892181] [ 0.06107842 0.99804373 -0.01334689 -0.13820916] [ 0.0283845 0.01162968 0.99952942 -0.17780001] [ 0. 0. 0. 1. ]] SLAMing on 1.480385723 meters Centerline goodness : 0.233607 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.14, Z:-0.18 [[ 0.99740778 -0.06579549 -0.02913216 0.18586089] [ 0.06540673 0.99775902 -0.01410327 -0.14333811] [ 0.02999481 0.01216128 0.99947607 -0.18380041] [ 0. 0. 0. 1. ]] SLAMing on 1.510385723 meters Centerline goodness : 0.235314 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.15, Z:-0.19 [[ 0.99741833 -0.06535943 -0.02974588 0.18922547] [ 0.06501332 0.99780662 -0.01245896 -0.14789039] [ 0.03049495 0.01049292 0.99947984 -0.18686894] [ 0. 0. 0. 1. ]] SLAMing on 1.540385723 meters Centerline goodness : 0.241136 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.15, Z:-0.19 [[ 0.99750039 -0.0643229 -0.02924945 0.19125998] [ 0.06393249 0.99785471 -0.01409326 -0.15341976] [ 0.03009322 0.01218804 0.99947279 -0.1917112 ] [ 0. 0. 0. 1. ]] SLAMing on 1.570385723 meters Centerline goodness : 0.621390 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.16, Z:-0.19 [[ 0.99771028 -0.06136042 -0.02844478 0.19088536] [ 0.06102463 0.99805764 -0.01252723 -0.15815571] [ 0.02915821 0.01076272 0.99951686 -0.19404972] [ 0. 0. 0. 1. ]] SLAMing on 1.6003857229999998 meters Centerline goodness : 0.390889 Centerline is valid? [False, False] Translation: X:0.21, Y:-0.16, Z:-0.20 [[ 0.99782163 -0.0614244 -0.02406333 0.20671662] [ 0.06130504 0.99810299 -0.00566768 -0.15993424] [ 0.02436582 0.00418013 0.99969437 -0.19603701] [ 0. 0. 0. 1. ]] SLAMing on 1.6303857229999998 meters Centerline goodness : 0.213718 Centerline is valid? [False, False] Translation: X:0.23, Y:-0.16, Z:-0.20 [[ 0.99797233 -0.06122093 -0.01741314 0.23433466] [ 0.06112322 0.99811165 -0.00609013 -0.15711825] [ 0.0177531 0.00501344 0.99982983 -0.19542907] [ 0. 0. 0. 1. ]] SLAMing on 1.6603857229999999 meters Centerline goodness : 0.236339 Centerline is valid? [False, False] Translation: X:0.25, Y:-0.16, Z:-0.19 [[ 0.99776396 -0.06590014 -0.01114708 0.24844287] [ 0.06584839 0.99781737 -0.00494776 -0.15598459] [ 0.01144881 0.00420268 0.99992563 -0.19474783] [ 0. 0. 0. 1. ]] SLAMing on 1.690385723 meters Centerline goodness : 0.617437 Centerline is valid? [False, False] Translation: X:0.26, Y:-0.15, Z:-0.19 [[ 0.99708312 -0.07625401 -0.00325228 0.25882757] [ 0.07622495 0.99705626 -0.00828099 -0.15450042] [ 0.00387417 0.00800893 0.99996042 -0.19094796] [ 0. 0. 0. 1. ]] SLAMing on 1.720385723 meters Centerline goodness : 0.616240 Centerline is valid? [False, False] Translation: X:0.27, Y:-0.15, Z:-0.19 [[ 0.99611863 -0.08797432 0.00286334 0.27328897] [ 0.08800346 0.99604176 -0.01249817 -0.15371064] [-0.00175249 0.01270165 0.9999178 -0.19044862] [ 0. 0. 0. 1. ]] SLAMing on 1.750385723 meters Centerline goodness : 0.621384 Centerline is valid? [False, False] Translation: X:0.27, Y:-0.15, Z:-0.19 [[ 0.99568802 -0.09272569 0.0027058 0.27437331] [ 0.09275794 0.99555088 -0.01656541 -0.15362664] [-0.00115773 0.01674497 0.99985912 -0.1903468 ] [ 0. 0. 0. 1. ]] SLAMing on 1.780385723 meters Centerline goodness : 0.623411 Centerline is valid? [False, False] Translation: X:0.29, Y:-0.15, Z:-0.19 [[ 0.99482555 -0.10141595 0.00607779 0.29148351] [ 0.10149892 0.99471639 -0.0154036 -0.15248046] [-0.00448351 0.01594079 0.99986289 -0.19313179] [ 0. 0. 0. 1. ]] SLAMing on 1.8103857229999998 meters Centerline goodness : 0.626373 Centerline is valid? [False, False] Translation: X:0.29, Y:-0.15, Z:-0.19 [[ 0.99472035 -0.10250828 0.00484508 0.29426751] [ 0.10257192 0.99460461 -0.01551335 -0.15209821] [-0.00322869 0.01592841 0.99986792 -0.19408682] [ 0. 0. 0. 1. ]] SLAMing on 1.8403857229999998 meters Centerline goodness : 0.627089 Centerline is valid? [False, False] Translation: X:0.31, Y:-0.15, Z:-0.19 [[ 0.99425078 -0.10673563 0.00853798 0.31082906] [ 0.10683356 0.99420474 -0.01198017 -0.15083505] [-0.00720979 0.01282343 0.99989178 -0.19454037] [ 0. 0. 0. 1. ]] SLAMing on 1.8703857229999998 meters Centerline goodness : 0.626709 Centerline is valid? [False, False] Translation: X:0.31, Y:-0.15, Z:-0.19 [[ 0.99422896 -0.10696272 0.00823156 0.31141523] [ 0.10705777 0.99417878 -0.01213205 -0.15008336] [-0.00688596 0.01294329 0.99989252 -0.19417826] [ 0. 0. 0. 1. ]] SLAMing on 1.9003857229999999 meters Centerline goodness : 0.629291 Centerline is valid? [False, False] Translation: X:0.31, Y:-0.15, Z:-0.19 [[ 0.99467715 -0.1027265 0.00803995 0.30909251] [ 0.10277764 0.99468485 -0.00622896 -0.15429448] [-0.00735733 0.00702213 0.99994828 -0.19091537] [ 0. 0. 0. 1. ]] SLAMing on 1.9303857229999999 meters Centerline goodness : 0.635306 Centerline is valid? [False, False] Translation: X:0.31, Y:-0.16, Z:-0.19 [[ 0.99513082 -0.09821699 0.00825111 0.30741926] [ 0.09824148 0.99515917 -0.00261615 -0.15765544] [-0.00795422 0.00341401 0.99996254 -0.19027055] [ 0. 0. 0. 1. ]] SLAMing on 1.960385723 meters Centerline goodness : 0.570850 Centerline is valid? [False, False] Translation: X:0.30, Y:-0.16, Z:-0.19 [[ 9.95861649e-01 -9.04059035e-02 9.29243144e-03 3.04516806e-01] [ 9.04099630e-02 9.95904633e-01 -1.68572004e-05 -1.60963583e-01] [-9.25285153e-03 8.56915822e-04 9.99956824e-01 -1.91424622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.990385723 meters Centerline goodness : 0.630740 Centerline is valid? [False, False] Translation: X:0.30, Y:-0.16, Z:-0.19 [[ 0.9964929 -0.08316056 0.00928592 0.30398836] [ 0.08312835 0.99653159 0.00380318 -0.1630941 ] [-0.00956999 -0.00301792 0.99994965 -0.19282194] [ 0. 0. 0. 1. ]] SLAMing on 2.020385723 meters Centerline goodness : 0.639174 Centerline is valid? [False, False] Translation: X:0.30, Y:-0.16, Z:-0.19 [[ 0.99684147 -0.07892463 0.00883079 0.30470093] [ 0.07885556 0.99685463 0.00791477 -0.16455184] [-0.00942768 -0.00719341 0.99992968 -0.19359367] [ 0. 0. 0. 1. ]] SLAMing on 2.050385723 meters Centerline goodness : 0.552653 Centerline is valid? [False, False] Translation: X:0.30, Y:-0.17, Z:-0.19 [[ 9.97463664e-01 -7.11703154e-02 -1.01245960e-03 2.99029733e-01] [ 7.11765837e-02 9.97422502e-01 9.06901650e-03 -1.66432386e-01] [ 3.64405219e-04 -9.11807784e-03 9.99958363e-01 -1.87285093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.080385723 meters Centerline goodness : 0.495049 Centerline is valid? [False, False] Translation: X:0.30, Y:-0.17, Z:-0.19 [[ 9.97703921e-01 -6.77143396e-02 -1.28592946e-03 2.99101327e-01] [ 6.77255905e-02 9.97610949e-01 1.36249001e-02 -1.69939882e-01] [ 3.60256199e-04 -1.36807066e-02 9.99906350e-01 -1.86944871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.1103857230000003 meters Centerline goodness : 0.461209 Centerline is valid? [False, False] Translation: X:0.30, Y:-0.18, Z:-0.18 [[ 9.97736668e-01 -6.72373597e-02 -8.24348230e-04 2.96552893e-01] [ 6.72421077e-02 9.97620229e-01 1.52439390e-02 -1.76287267e-01] [-2.02575740e-04 -1.52648678e-02 9.99883465e-01 -1.84049605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.140385723 meters Centerline goodness : 0.661603 Centerline is valid? [False, False] Translation: X:0.30, Y:-0.18, Z:-0.18 [[ 9.97734070e-01 -6.72608218e-02 -1.64543763e-03 2.98404111e-01] [ 6.72783443e-02 9.97612134e-01 1.56094281e-02 -1.78728478e-01] [ 5.91605589e-04 -1.56847605e-02 9.99876812e-01 -1.84045020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.1703857230000003 meters Centerline goodness : 0.665663 Centerline is valid? [False, False] Translation: X:0.30, Y:-0.18, Z:-0.18 [[ 9.97543149e-01 -7.00350836e-02 -1.65894132e-03 2.98440805e-01] [ 7.00516493e-02 9.97441610e-01 1.42478280e-02 -1.84131343e-01] [ 6.56849277e-04 -1.43290348e-02 9.99897118e-01 -1.82839191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.200385723 meters Centerline goodness : 0.670115 Centerline is valid? [False, False] Translation: X:0.30, Y:-0.19, Z:-0.18 [[ 0.99724565 -0.07411326 -0.00288831 0.30196938] [ 0.07414406 0.99716742 0.01264084 -0.18743724] [ 0.00194327 -0.01282018 0.99991593 -0.18287809] [ 0. 0. 0. 1. ]] SLAMing on 2.230385723 meters Centerline goodness : 0.670857 Centerline is valid? [False, False] Translation: X:0.31, Y:-0.19, Z:-0.18 [[ 0.99716475 -0.07512888 -0.00425527 0.30553041] [ 0.07518291 0.99706562 0.01441086 -0.19076404] [ 0.00316011 -0.01468993 0.9998871 -0.18326577] [ 0. 0. 0. 1. ]] SLAMing on 2.260385723 meters Centerline goodness : 0.676849 Centerline is valid? [False, False] Translation: X:0.31, Y:-0.20, Z:-0.18 [[ 0.99681579 -0.07953833 -0.00565187 0.30983557] [ 0.07960745 0.99673769 0.01328995 -0.19710464] [ 0.00457637 -0.01369756 0.99989571 -0.18329928] [ 0. 0. 0. 1. ]] SLAMing on 2.290385723 meters Centerline goodness : 0.679231 Centerline is valid? [False, False] Translation: X:0.31, Y:-0.20, Z:-0.18 [[ 0.99674773 -0.08029933 -0.00678044 0.31246985] [ 0.08039932 0.99663347 0.01605246 -0.20138767] [ 0.00546861 -0.01654539 0.99984816 -0.18265295] [ 0. 0. 0. 1. ]] SLAMing on 2.3203857230000002 meters Centerline goodness : 0.684931 Centerline is valid? [False, False] Translation: X:0.32, Y:-0.21, Z:-0.18 [[ 0.99656629 -0.0823175 -0.00891445 0.31659333] [ 0.0824855 0.99638169 0.0204856 -0.2064864 ] [ 0.00719587 -0.02115057 0.99975041 -0.18021076] [ 0. 0. 0. 1. ]] SLAMing on 2.350385723 meters Centerline goodness : 0.692429 Centerline is valid? [False, False] Translation: X:0.32, Y:-0.21, Z:-0.18 [[ 0.99643233 -0.08375634 -0.01036795 0.31959981] [ 0.08398326 0.99618222 0.02382844 -0.21223296] [ 0.00833258 -0.02461416 0.9996623 -0.17831943] [ 0. 0. 0. 1. ]] SLAMing on 2.3803857230000003 meters Centerline goodness : 0.697941 Centerline is valid? [False, False] Translation: X:0.32, Y:-0.22, Z:-0.18 [[ 0.99640768 -0.08396075 -0.01106036 0.32128806] [ 0.08422046 0.99611843 0.02559276 -0.21574369] [ 0.00886864 -0.02643234 0.99961126 -0.17778166] [ 0. 0. 0. 1. ]] SLAMing on 2.410385723 meters Centerline goodness : 0.703163 Centerline is valid? [False, False] Translation: X:0.32, Y:-0.22, Z:-0.18 [[ 0.99627393 -0.08548092 -0.01145727 0.32305586] [ 0.08572601 0.9960544 0.02294977 -0.21829177] [ 0.0094503 -0.02384645 0.99967097 -0.17811626] [ 0. 0. 0. 1. ]] SLAMing on 2.440385723 meters Centerline goodness : 0.712574 Centerline is valid? [False, False] Translation: X:0.33, Y:-0.22, Z:-0.18 [[ 0.99640211 -0.08389123 -0.01204591 0.32522916] [ 0.08415829 0.99617043 0.02370359 -0.21922016] [ 0.01001126 -0.02463207 0.99964646 -0.17930727] [ 0. 0. 0. 1. ]] SLAMing on 2.470385723 meters Centerline goodness : 0.716727 Centerline is valid? [False, False] Translation: X:0.33, Y:-0.22, Z:-0.18 [[ 0.99643621 -0.08340187 -0.01260981 0.32647351] [ 0.0836884 0.99619759 0.02422015 -0.21906431] [ 0.01054185 -0.02518913 0.99962712 -0.17928397] [ 0. 0. 0. 1. ]] SLAMing on 2.500385723 meters Centerline goodness : 0.723087 Centerline is valid? [False, False] Translation: X:0.33, Y:-0.22, Z:-0.18 [[ 0.99672307 -0.07965604 -0.01407238 0.32861249] [ 0.08004026 0.99636221 0.0292559 -0.21882187] [ 0.01169078 -0.03028639 0.99947289 -0.17830406] [ 0. 0. 0. 1. ]] SLAMing on 2.530385723 meters Centerline goodness : 0.723712 Centerline is valid? [False, False] Translation: X:0.33, Y:-0.22, Z:-0.18 [[ 0.99693559 -0.07665668 -0.0155945 0.3306414 ] [ 0.07715139 0.99643684 0.03407765 -0.21867494] [ 0.01292665 -0.03517636 0.99929752 -0.17713231] [ 0. 0. 0. 1. ]] SLAMing on 2.560385723 meters Centerline goodness : 0.729824 Centerline is valid? [False, False] Translation: X:0.33, Y:-0.21, Z:-0.18 [[ 0.99698629 -0.07586434 -0.01621541 0.33229372] [ 0.07636554 0.99653624 0.03292155 -0.21452027] [ 0.01366168 -0.03406064 0.99932639 -0.17803846] [ 0. 0. 0. 1. ]] SLAMing on 2.5903857230000003 meters Centerline goodness : 0.734827 Centerline is valid? [False, False] Translation: X:0.34, Y:-0.21, Z:-0.18 [[ 0.99694094 -0.07619384 -0.01741465 0.33637119] [ 0.0767177 0.9965486 0.03170615 -0.21078706] [ 0.01493873 -0.03294517 0.99934551 -0.18032773] [ 0. 0. 0. 1. ]] SLAMing on 2.620385723 meters Centerline goodness : 0.738590 Centerline is valid? [False, False] Translation: X:0.34, Y:-0.21, Z:-0.18 [[ 0.99686138 -0.07697644 -0.01849387 0.33926062] [ 0.07752133 0.99651437 0.03081469 -0.20699101] [ 0.01605741 -0.03215164 0.99935401 -0.18136763] [ 0. 0. 0. 1. ]] SLAMing on 2.650385723 meters Centerline goodness : 0.743722 Centerline is valid? [False, False] Translation: X:0.35, Y:-0.20, Z:-0.18 [[ 0.99658901 -0.07971585 -0.02134788 0.3472256 ] [ 0.08033549 0.99631818 0.02993806 -0.19967066] [ 0.01888274 -0.03155094 0.99932376 -0.18377317] [ 0. 0. 0. 1. ]] SLAMing on 2.680385723 meters Centerline goodness : 0.743839 Centerline is valid? [False, False] Translation: X:0.35, Y:-0.20, Z:-0.19 [[ 0.99644685 -0.0811281 -0.02262525 0.35153345] [ 0.08177058 0.9962267 0.02908492 -0.19718608] [ 0.02018027 -0.03083165 0.99932085 -0.1858216 ] [ 0. 0. 0. 1. ]] SLAMing on 2.710385723 meters Centerline goodness : 0.743839 Centerline is valid? [False, False] Translation: X:0.35, Y:-0.20, Z:-0.19 [[ 0.99644685 -0.0811281 -0.02262525 0.35153345] [ 0.08177058 0.9962267 0.02908492 -0.19718608] [ 0.02018027 -0.03083165 0.99932085 -0.1858216 ] [ 0. 0. 0. 1. ]] SLAMing on 2.740385723 meters Centerline goodness : 0.751144 Centerline is valid? [False, False] Translation: X:0.36, Y:-0.19, Z:-0.19 [[ 0.99620746 -0.08347767 -0.02453916 0.35762967] [ 0.08414797 0.99606862 0.0276842 -0.19184853] [ 0.02213167 -0.02964413 0.99931547 -0.18833109] [ 0. 0. 0. 1. ]] SLAMing on 2.770385723 meters Centerline goodness : 0.761281 Centerline is valid? [False, False] Translation: X:0.36, Y:-0.18, Z:-0.19 [[ 0.99609022 -0.08377399 -0.02803925 0.36438707] [ 0.08468658 0.99585717 0.03311611 -0.18453385] [ 0.02514882 -0.03536119 0.99905812 -0.18717773] [ 0. 0. 0. 1. ]] SLAMing on 2.800385723 meters Centerline goodness : 0.765227 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.18, Z:-0.19 [[ 0.9961176 -0.08271203 -0.03014043 0.36781564] [ 0.08379798 0.99580496 0.03674764 -0.18123066] [ 0.02697451 -0.03913067 0.99886994 -0.18617109] [ 0. 0. 0. 1. ]] SLAMing on 2.830385723 meters Centerline goodness : 0.777288 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.17, Z:-0.19 [[ 0.99593704 -0.0836781 -0.0332775 0.3741591 ] [ 0.08493174 0.99565295 0.0382336 -0.17250049] [ 0.02993353 -0.04090457 0.99871457 -0.18609788] [ 0. 0. 0. 1. ]] SLAMing on 2.8603857230000003 meters Centerline goodness : 0.786770 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.17, Z:-0.18 [[ 0.99522332 -0.09151195 -0.03400163 0.3764906 ] [ 0.09267363 0.99510485 0.03432106 -0.17053746] [ 0.0306944 -0.03730817 0.9988323 -0.18445296] [ 0. 0. 0. 1. ]] SLAMing on 2.890385723 meters Centerline goodness : 0.792162 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.17, Z:-0.18 [[ 0.99466074 -0.09722402 -0.03460506 0.37789289] [ 0.09835793 0.99461282 0.03272693 -0.17266885] [ 0.03123679 -0.03595588 0.99886507 -0.18210898] [ 0. 0. 0. 1. ]] SLAMing on 2.920385723 meters Centerline goodness : 0.797572 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.17, Z:-0.18 [[ 0.99434732 -0.09986056 -0.03607318 0.38068468] [ 0.10110809 0.99427391 0.03459101 -0.17354326] [ 0.03241235 -0.03804277 0.99875031 -0.1802638 ] [ 0. 0. 0. 1. ]] SLAMing on 2.950385723 meters Centerline goodness : 0.802628 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.17, Z:-0.18 [[ 0.99357428 -0.10671686 -0.03770504 0.38361546] [ 0.1080694 0.99349633 0.03586157 -0.17397296] [ 0.03363279 -0.03970589 0.99864522 -0.17616668] [ 0. 0. 0. 1. ]] SLAMing on 2.980385723 meters Centerline goodness : 0.812575 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.17, Z:-0.17 [[ 0.99344323 -0.10784731 -0.03794086 0.38381805] [ 0.10922605 0.99335167 0.03636114 -0.17409953] [ 0.03376716 -0.04026685 0.99861822 -0.17473772] [ 0. 0. 0. 1. ]] SLAMing on 3.010385723 meters Centerline goodness : 0.821038 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.17, Z:-0.17 [[ 0.9938048 -0.10461758 -0.03751248 0.3827106 ] [ 0.10600793 0.99366869 0.03721369 -0.17377265] [ 0.03338177 -0.04095977 0.998603 -0.17484923] [ 0. 0. 0. 1. ]] SLAMing on 3.040385723 meters Centerline goodness : 0.824167 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.17, Z:-0.18 [[ 0.99393156 -0.10359478 -0.0369888 0.38188707] [ 0.10493924 0.99380975 0.03646831 -0.17313383] [ 0.0329819 -0.04012858 0.99865003 -0.17534961] [ 0. 0. 0. 1. ]] SLAMing on 3.0703857230000002 meters Centerline goodness : 0.833311 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.17, Z:-0.18 [[ 0.99440159 -0.09895344 -0.03706348 0.38239355] [ 0.10040881 0.99415353 0.03970943 -0.17301545] [ 0.03291741 -0.04320862 0.99852364 -0.17669835] [ 0. 0. 0. 1. ]] SLAMing on 3.100385723 meters Centerline goodness : 0.832035 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.17, Z:-0.18 [[ 0.99443362 -0.09839963 -0.03767338 0.38451731] [ 0.09987621 0.99421348 0.03955119 -0.1721783 ] [ 0.03356356 -0.04309371 0.9985071 -0.1778403 ] [ 0. 0. 0. 1. ]] SLAMing on 3.1303857230000003 meters Centerline goodness : 0.841679 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.17, Z:-0.18 [[ 0.99449123 -0.09778715 -0.03774746 0.38764492] [ 0.09924305 0.99430494 0.03883943 -0.17338307] [ 0.03373449 -0.04237164 0.99853224 -0.18133233] [ 0. 0. 0. 1. ]] SLAMing on 3.160385723 meters Centerline goodness : 0.847726 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.17, Z:-0.18 [[ 0.99452392 -0.09739311 -0.03790449 0.38957494] [ 0.09882812 0.99437767 0.03802696 -0.1732021 ] [ 0.03398782 -0.04156475 0.99855756 -0.18353786] [ 0. 0. 0. 1. ]] SLAMing on 3.190385723 meters Centerline goodness : 0.854694 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.18, Z:-0.19 [[ 0.99464625 -0.09636771 -0.03731093 0.39130245] [ 0.09771209 0.99456129 0.03605824 -0.17533377] [ 0.03363315 -0.03951092 0.99865294 -0.18714413] [ 0. 0. 0. 1. ]] SLAMing on 3.220385723 meters Centerline goodness : 0.859051 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.18, Z:-0.19 [[ 0.99481318 -0.09476555 -0.0369625 0.39146606] [ 0.09608342 0.99473385 0.03567278 -0.1755323 ] [ 0.0333873 -0.03903923 0.99867974 -0.18841368] [ 0. 0. 0. 1. ]] SLAMing on 3.250385723 meters Centerline goodness : 0.861954 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.18, Z:-0.19 [[ 0.99495916 -0.09329709 -0.03676843 0.39146753] [ 0.09460002 0.99488404 0.03544829 -0.17526727] [ 0.0332731 -0.0387479 0.9986949 -0.18922969] [ 0. 0. 0. 1. ]] SLAMing on 3.280385723 meters Centerline goodness : 0.877605 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.17, Z:-0.19 [[ 0.9952631 -0.09028865 -0.03604605 0.39104957] [ 0.09152299 0.99521548 0.03420063 -0.17370406] [ 0.03278566 -0.03733767 0.99876474 -0.19150331] [ 0. 0. 0. 1. ]] SLAMing on 3.310385723 meters Centerline goodness : 0.880794 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.17, Z:-0.19 [[ 0.99536358 -0.08911187 -0.03619971 0.39232639] [ 0.09034171 0.99533407 0.03388904 -0.17340909] [ 0.03301089 -0.03700226 0.9987698 -0.19299354] [ 0. 0. 0. 1. ]] SLAMing on 3.3403857230000003 meters Centerline goodness : 0.884131 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.17, Z:-0.19 [[ 0.99552879 -0.08731487 -0.03603537 0.3924606 ] [ 0.08852162 0.99551508 0.03337132 -0.17290511] [ 0.03295994 -0.03641202 0.99879318 -0.19381231] [ 0. 0. 0. 1. ]] SLAMing on 3.370385723 meters Centerline goodness : 0.892736 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.17, Z:-0.19 [[ 0.99566974 -0.0862852 -0.03459225 0.38869883] [ 0.08741731 0.99563593 0.03266965 -0.17261553] [ 0.03162238 -0.03555214 0.99886739 -0.1923586 ] [ 0. 0. 0. 1. ]] SLAMing on 3.400385723 meters Centerline goodness : 0.893895 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.17, Z:-0.19 [[ 0.99569076 -0.08617859 -0.03425142 0.38746415] [ 0.08729529 0.99565006 0.03256511 -0.17264491] [ 0.03129601 -0.03541477 0.99888255 -0.19125848] [ 0. 0. 0. 1. ]] SLAMing on 3.430385723 meters Centerline goodness : 0.899252 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.17, Z:-0.19 [[ 0.99555052 -0.08762177 -0.03466391 0.38803897] [ 0.08876484 0.99550789 0.0329369 -0.17341462] [ 0.0316222 -0.03586729 0.99885613 -0.19011185] [ 0. 0. 0. 1. ]] SLAMing on 3.460385723 meters Centerline goodness : 0.133677 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.17, Z:-0.19 [[ 0.9951834 -0.09167849 -0.03471401 0.38884606] [ 0.09267539 0.99529452 0.02828592 -0.17150124] [ 0.03195746 -0.03136681 0.99899692 -0.18967776] [ 0. 0. 0. 1. ]] SLAMing on 3.490385723 meters Centerline goodness : 0.906170 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.17, Z:-0.19 [[ 0.99476054 -0.09537045 -0.03682328 0.39379026] [ 0.0964628 0.99491049 0.02912108 -0.17242942] [ 0.03385858 -0.03252058 0.9988974 -0.18938619] [ 0. 0. 0. 1. ]] SLAMing on 3.520385723 meters Centerline goodness : 0.915567 Centerline is valid? [False, False] Translation: X:0.40, Y:-0.17, Z:-0.19 [[ 0.99406761 -0.1018028 -0.03828547 0.39735075] [ 0.10281676 0.99437302 0.025515 -0.17048537] [ 0.03547254 -0.02930003 0.99894104 -0.1885947 ] [ 0. 0. 0. 1. ]] SLAMing on 3.550385723 meters Centerline goodness : 0.923333 Centerline is valid? [False, False] Translation: X:0.40, Y:-0.17, Z:-0.19 [[ 0.99382036 -0.10359327 -0.03986888 0.40078134] [ 0.10469373 0.99414934 0.02657638 -0.17107497] [ 0.03688248 -0.03058617 0.99885142 -0.18822237] [ 0. 0. 0. 1. ]] SLAMing on 3.580385723 meters Centerline goodness : 0.922068 Centerline is valid? [False, False] Translation: X:0.40, Y:-0.17, Z:-0.19 [[ 0.99362723 -0.10488481 -0.04128088 0.40395891] [ 0.10607659 0.99396876 0.0278182 -0.17198386] [ 0.03811419 -0.03201986 0.99876025 -0.18806773] [ 0. 0. 0. 1. ]] SLAMing on 3.610385723 meters Centerline goodness : 0.138133 Centerline is valid? [False, False] Translation: X:0.41, Y:-0.17, Z:-0.19 [[ 0.99322413 -0.10798763 -0.0429476 0.4070345 ] [ 0.10920769 0.99364811 0.0271497 -0.16994583] [ 0.03974297 -0.03165595 0.99870836 -0.18712027] [ 0. 0. 0. 1. ]] SLAMing on 3.640385723 meters Centerline goodness : 0.127781 Centerline is valid? [False, False] Translation: X:0.41, Y:-0.17, Z:-0.19 [[ 0.99314172 -0.10749119 -0.04599092 0.41248992] [ 0.10898591 0.99354964 0.03132394 -0.16770255] [ 0.04232722 -0.03612147 0.99845062 -0.18680204] [ 0. 0. 0. 1. ]] SLAMing on 3.670385723 meters Centerline goodness : 0.128702 Centerline is valid? [False, False] Translation: X:0.41, Y:-0.17, Z:-0.19 [[ 0.99295156 -0.10906 -0.04640171 0.41309145] [ 0.11058548 0.99336158 0.03167994 -0.16867498] [ 0.04263866 -0.03658801 0.99842038 -0.18577524] [ 0. 0. 0. 1. ]] SLAMing on 3.700385723 meters Centerline goodness : 0.934951 Centerline is valid? [False, False] Translation: X:0.42, Y:-0.17, Z:-0.19 [[ 0.99264734 -0.11130446 -0.0475666 0.4160099 ] [ 0.11292894 0.99305682 0.03294238 -0.17038062] [ 0.04356971 -0.03807181 0.99832471 -0.18553348] [ 0. 0. 0. 1. ]] SLAMing on 3.730385723 meters Centerline goodness : 0.940813 Centerline is valid? [False, False] Translation: X:0.42, Y:-0.17, Z:-0.19 [[ 0.9924206 -0.11292887 -0.04846054 0.41825314] [ 0.11458529 0.99286926 0.03287607 -0.17067055] [ 0.04440232 -0.03817975 0.9982839 -0.18560449] [ 0. 0. 0. 1. ]] SLAMing on 3.760385723 meters Centerline goodness : 0.132510 Centerline is valid? [False, False] Translation: X:0.42, Y:-0.17, Z:-0.19 [[ 0.99235564 -0.11341916 -0.04864546 0.41887102] [ 0.11508538 0.99280957 0.03293205 -0.17133687] [ 0.04456055 -0.03827868 0.99827306 -0.18563838] [ 0. 0. 0. 1. ]] SLAMing on 3.790385723 meters Centerline goodness : 0.132132 Centerline is valid? [False, False] Translation: X:0.42, Y:-0.17, Z:-0.19 [[ 0.99220817 -0.11424015 -0.04972058 0.42095578] [ 0.11594356 0.992713 0.03283288 -0.17079983] [ 0.04560744 -0.03834183 0.99822335 -0.18543298] [ 0. 0. 0. 1. ]] SLAMing on 3.8203857230000002 meters Centerline goodness : 0.134557 Centerline is valid? [False, False] Translation: X:0.42, Y:-0.17, Z:-0.19 [[ 0.99213429 -0.11457956 -0.05040906 0.42203938] [ 0.11627183 0.99270122 0.03201798 -0.16888277] [ 0.04637253 -0.03762729 0.9982153 -0.18519382] [ 0. 0. 0. 1. ]] SLAMing on 3.850385723 meters Centerline goodness : 0.951283 Centerline is valid? [False, True] Translation: X:0.43, Y:-0.16, Z:-0.18 [[ 0.99295187 -0.10725097 -0.05043627 0.42547921] [ 0.10825107 0.99396909 0.01752602 -0.16399912] [ 0.04825241 -0.02286228 0.99857349 -0.18014868] [ 0. 0. 0. 1. ]] SLAMing on 3.880385723 meters Centerline goodness : 0.287861 Centerline is valid? [True, False] Translation: X:0.42, Y:-0.16, Z:-0.18 [[ 0.99365432 -0.10074798 -0.05000943 0.42382842] [ 0.1011964 0.99484516 0.00651088 -0.16077498] [ 0.04909568 -0.01153034 0.99872752 -0.17817501] [ 0. 0. 0. 1. ]] SLAMing on 3.910385723 meters Centerline goodness : 0.960401 Centerline is valid? [False, True] Translation: X:0.43, Y:-0.16, Z:-0.18 [[ 0.99382168 -0.09876772 -0.05063007 0.42620738] [ 0.09926472 0.99503361 0.00739152 -0.15982337] [ 0.04964858 -0.01237163 0.99869012 -0.17870405] [ 0. 0. 0. 1. ]] SLAMing on 3.940385723 meters Centerline goodness : 0.964937 Centerline is valid? [True, True] Translation: X:0.47, Y:-0.17, Z:-0.17 [[ 9.96239075e-01 -7.07045687e-02 -5.00856109e-02 4.70420458e-01] [ 7.08202987e-02 9.97488945e-01 5.37543345e-04 -1.69304065e-01] [ 4.99218365e-02 -4.08259961e-03 9.98744784e-01 -1.72158028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.970385723 meters Centerline goodness : 0.963963 Centerline is valid? [True, True] Translation: X:0.51, Y:-0.17, Z:-0.17 [[ 0.99652005 -0.06656676 -0.05016634 0.51280196] [ 0.06673241 0.99776957 0.00163247 -0.16813471] [ 0.04994578 -0.00497451 0.99873954 -0.17120994] [ 0. 0. 0. 1. ]] SLAMing on 4.000385723 meters Centerline goodness : 0.965230 Centerline is valid? [True, True] Translation: X:0.56, Y:-0.18, Z:-0.18 [[ 0.99765304 -0.04649689 -0.05026388 0.56154585] [ 0.04670843 0.99890393 0.00304167 -0.18120032] [ 0.05006736 -0.00538228 0.99873134 -0.18246523] [ 0. 0. 0. 1. ]] SLAMing on 4.030385722999999 meters Centerline goodness : 0.966131 Centerline is valid? [True, True] Translation: X:0.55, Y:-0.16, Z:-0.18 [[ 0.99699934 -0.05873296 -0.05042573 0.54633804] [ 0.0590765 0.99823913 0.00534816 -0.16489774] [ 0.05002282 -0.00831108 0.99871349 -0.17748396] [ 0. 0. 0. 1. ]] SLAMing on 4.060385723 meters Centerline goodness : 0.972184 Centerline is valid? [True, True] Translation: X:0.58, Y:-0.17, Z:-0.16 [[ 9.97797201e-01 -4.36250913e-02 -4.99759725e-02 5.80374178e-01] [ 4.36717425e-02 9.99045922e-01 -1.58617643e-04 -1.65035424e-01] [ 4.99352112e-02 -2.02426956e-03 9.98750408e-01 -1.60051063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.090385723 meters Centerline goodness : 0.976410 Centerline is valid? [True, True] Translation: X:0.58, Y:-0.16, Z:-0.16 [[ 0.99785266 -0.04221521 -0.05007941 0.58146365] [ 0.04232434 0.9991033 0.00112031 -0.15885517] [ 0.04998721 -0.00323748 0.99874461 -0.16246509] [ 0. 0. 0. 1. ]] SLAMing on 4.120385722999999 meters Centerline goodness : 0.972830 Centerline is valid? [True, True] Translation: X:0.64, Y:-0.16, Z:-0.16 [[ 9.98119339e-01 -3.57163259e-02 -4.98209632e-02 6.38798147e-01] [ 3.56594870e-02 9.99361937e-01 -2.02952908e-03 -1.62840844e-01] [ 4.98616617e-02 2.49122230e-04 9.98756103e-01 -1.57107756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.150385722999999 meters Centerline goodness : 0.980736 Centerline is valid? [True, True] Translation: X:0.64, Y:-0.16, Z:-0.16 [[ 0.99792997 -0.04032685 -0.05009506 0.63924925] [ 0.04044866 0.99918061 0.00141993 -0.15689916] [ 0.04999676 -0.00344327 0.99874344 -0.15953348] [ 0. 0. 0. 1. ]] SLAMing on 4.180385723 meters Centerline goodness : 0.978554 Centerline is valid? [True, True] Translation: X:0.71, Y:-0.16, Z:-0.14 [[ 9.97866203e-01 -4.22061893e-02 -4.98164391e-02 7.09723682e-01] [ 4.21600050e-02 9.99108914e-01 -1.97797669e-03 -1.55138636e-01] [ 4.98555312e-02 -1.26505239e-04 9.98756432e-01 -1.44249037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.210385723 meters Centerline goodness : 0.985465 Centerline is valid? [True, True] Translation: X:0.69, Y:-0.17, Z:-0.16 [[ 0.99806208 -0.03671288 -0.05024197 0.69043797] [ 0.03693928 0.99931108 0.0035848 -0.1671645 ] [ 0.05007575 -0.00543375 0.99873064 -0.15713518] [ 0. 0. 0. 1. ]] SLAMing on 4.240385722999999 meters Centerline goodness : 0.988172 Centerline is valid? [True, True] Translation: X:0.72, Y:-0.17, Z:-0.16 [[ 9.98079635e-01 -3.70088465e-02 -4.96727997e-02 7.21866268e-01] [ 3.69209760e-02 9.99314579e-01 -2.68568672e-03 -1.70364637e-01] [ 4.97381471e-02 8.46560972e-04 9.98761934e-01 -1.56510368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.2703857229999995 meters Centerline goodness : 0.988962 Centerline is valid? [True, True] Translation: X:0.75, Y:-0.16, Z:-0.15 [[ 9.97823907e-01 -4.32981434e-02 -4.97264602e-02 7.45523607e-01] [ 4.32475669e-02 9.99062194e-01 -2.09309054e-03 -1.63787283e-01] [ 4.97704533e-02 -6.20126306e-05 9.98760681e-01 -1.53380438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.300385723 meters Centerline goodness : 0.990148 Centerline is valid? [True, True] Translation: X:0.79, Y:-0.17, Z:-0.15 [[ 9.97778530e-01 -4.43853842e-02 -4.96783858e-02 7.86192442e-01] [ 4.43085757e-02 9.99014386e-01 -2.64686351e-03 -1.68608358e-01] [ 4.97469042e-02 4.39805067e-04 9.98761759e-01 -1.46252508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.330385723 meters Centerline goodness : 0.990916 Centerline is valid? [True, True] Translation: X:0.80, Y:-0.16, Z:-0.15 [[ 0.99746665 -0.05081367 -0.04978212 0.80288623] [ 0.05080499 0.99870755 -0.00144057 -0.16154198] [ 0.04979098 -0.00109226 0.99875906 -0.15023509] [ 0. 0. 0. 1. ]] SLAMing on 4.360385722999999 meters Centerline goodness : 0.989544 Centerline is valid? [True, True] Translation: X:0.85, Y:-0.16, Z:-0.14 [[ 9.97143141e-01 -5.69153379e-02 -4.96608531e-02 8.48194197e-01] [ 5.68436501e-02 9.98379008e-01 -2.85582685e-03 -1.63762116e-01] [ 4.97428936e-02 2.47639936e-05 9.98762056e-01 -1.38315032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.390385723 meters Centerline goodness : 0.993194 Centerline is valid? [True, True] Translation: X:0.87, Y:-0.14, Z:-0.13 [[ 0.99518476 -0.08441878 -0.04980732 0.86983839] [ 0.08446632 0.99642567 -0.00115339 -0.13813062] [ 0.04972666 -0.00305921 0.99875818 -0.12919734] [ 0. 0. 0. 1. ]] SLAMing on 4.420385723 meters Centerline goodness : 0.992886 Centerline is valid? [True, True] Translation: X:0.91, Y:-0.15, Z:-0.12 [[ 0.99540527 -0.08178448 -0.04979606 0.91475798] [ 0.0818222 0.99664612 -0.00128391 -0.14902305] [ 0.04973405 -0.00279641 0.99875858 -0.11636234] [ 0. 0. 0. 1. ]] SLAMing on 4.450385722999999 meters Centerline goodness : 0.994933 Centerline is valid? [True, True] Translation: X:0.93, Y:-0.14, Z:-0.12 [[ 9.95128585e-01 -8.50116966e-02 -4.99210391e-02 9.33202683e-01] [ 8.51283931e-02 9.96369967e-01 2.12255865e-04 -1.43396221e-01] [ 4.97217799e-02 -4.46091972e-03 9.98753145e-01 -1.20231597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.4803857229999995 meters Centerline goodness : 0.975833 Centerline is valid? [True, True] Translation: X:0.98, Y:-0.14, Z:-0.12 [[ 0.9950107 -0.08644144 -0.04981553 0.98431993] [ 0.08649161 0.99625191 -0.00115174 -0.14019064] [ 0.04972838 -0.00316263 0.99875777 -0.12112903] [ 0. 0. 0. 1. ]] SLAMing on 4.510385723 meters Centerline goodness : 0.996132 Centerline is valid? [True, True] Translation: X:1.00, Y:-0.13, Z:-0.12 [[ 0.99401152 -0.09716379 -0.05000302 0.99537082] [ 0.09735207 0.99524911 0.00133797 -0.12653296] [ 0.04963546 -0.00619786 0.99874817 -0.12460977] [ 0. 0. 0. 1. ]] SLAMing on 4.540385723 meters Centerline goodness : 0.995458 Centerline is valid? [True, True] Translation: X:1.03, Y:-0.11, Z:-0.14 [[ 9.93616967e-01 -1.01210846e-01 -4.98165368e-02 1.02913776e+00] [ 1.01299514e-01 9.94855692e-01 -7.48142398e-04 -1.07319050e-01] [ 4.96359853e-02 -4.30302399e-03 9.98758105e-01 -1.40919950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.570385722999999 meters Centerline goodness : 0.994391 Centerline is valid? [True, True] Translation: X:1.06, Y:-0.10, Z:-0.13 [[ 9.93144775e-01 -1.05716235e-01 -4.98751834e-02 1.06333663e+00] [ 1.05843954e-01 9.94382749e-01 -8.08104617e-05 -1.00585776e-01] [ 4.96035649e-02 -5.19873011e-03 9.98755455e-01 -1.26628182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.600385723 meters Centerline goodness : 0.994391 Centerline is valid? [True, True] Translation: X:1.09, Y:-0.10, Z:-0.13 [[ 9.92977831e-01 -1.07257966e-01 -4.99074664e-02 1.09409701e+00] [ 1.07405951e-01 9.94215208e-01 2.85061843e-04 -9.56650215e-02] [ 4.95881870e-02 -5.64341897e-03 9.98753805e-01 -1.25259395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.630385723 meters Centerline goodness : 0.995160 Centerline is valid? [True, True] Translation: X:1.13, Y:-0.09, Z:-0.11 [[ 9.92517884e-01 -1.11436616e-01 -4.99012134e-02 1.12533807e+00] [ 1.11586297e-01 9.93754724e-01 2.15051595e-04 -9.03433851e-02] [ 4.95656020e-02 -5.78173417e-03 9.98754135e-01 -1.14169141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.660385722999999 meters Centerline goodness : 0.995686 Centerline is valid? [True, True] Translation: X:1.15, Y:-0.09, Z:-0.12 [[ 9.93239200e-01 -1.04804347e-01 -4.99193343e-02 1.14528434e+00] [ 1.04955881e-01 9.94476792e-01 4.16768565e-04 -8.58174624e-02] [ 4.95999403e-02 -5.65327860e-03 9.98753166e-01 -1.23825587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.6903857229999995 meters Centerline goodness : 0.996577 Centerline is valid? [True, True] Translation: X:1.17, Y:-0.08, Z:-0.12 [[ 9.92073085e-01 -1.15365434e-01 -4.98177835e-02 1.17455544e+00] [ 1.15476203e-01 9.93310029e-01 -6.58594046e-04 -8.03110004e-02] [ 4.95604830e-02 -5.09939507e-03 9.98758106e-01 -1.16636104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.720385723 meters Centerline goodness : 0.996126 Centerline is valid? [True, True] Translation: X:1.20, Y:-0.08, Z:-0.11 [[ 9.92612562e-01 -1.10627712e-01 -4.98177762e-02 1.20222205e+00] [ 1.10732570e-01 9.93850021e-01 -6.58672283e-04 -8.47820383e-02] [ 4.95842653e-02 -4.86264400e-03 9.98758107e-01 -1.13991731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.750385723 meters Centerline goodness : 0.997815 Centerline is valid? [True, True] Translation: X:1.21, Y:-0.08, Z:-0.12 [[ 0.99202305 -0.11591209 -0.04954457 1.20990514] [ 0.11590536 0.99325568 -0.00301853 -0.08065266] [ 0.04956031 -0.00274803 0.99876735 -0.12163141] [ 0. 0. 0. 1. ]] SLAMing on 4.780385722999999 meters Centerline goodness : 0.998423 Centerline is valid? [True, True] Translation: X:1.24, Y:-0.08, Z:-0.12 [[ 9.91830411e-01 -1.17649211e-01 -4.93061688e-02 1.24185318e+00] [ 1.17544094e-01 9.93054894e-01 -5.03624427e-03 -7.53780532e-02] [ 4.95562424e-02 -8.00548720e-04 9.98771014e-01 -1.18553755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.810385723 meters Centerline goodness : 0.998377 Centerline is valid? [True, True] Translation: X:1.27, Y:-0.08, Z:-0.12 [[ 9.92730318e-01 -1.09796961e-01 -4.93066290e-02 1.27198119e+00] [ 1.09682351e-01 9.93953951e-01 -5.03235451e-03 -7.64662410e-02] [ 4.95610559e-02 -4.12296071e-04 9.98771011e-01 -1.19412652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.840385723 meters Centerline goodness : 0.998355 Centerline is valid? [True, True] Translation: X:1.30, Y:-0.07, Z:-0.11 [[ 9.92601348e-01 -1.10960001e-01 -4.92995124e-02 1.29834588e+00] [ 1.10843827e-01 9.93824789e-01 -5.09270049e-03 -7.06986455e-02] [ 4.95601635e-02 -4.09525255e-04 9.98771056e-01 -1.14646735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.870385722999999 meters Centerline goodness : 0.996357 Centerline is valid? [True, True] Translation: X:1.33, Y:-0.07, Z:-0.11 [[ 9.92960541e-01 -1.07734035e-01 -4.92213565e-02 1.33074301e+00] [ 1.07581162e-01 9.94179664e-01 -5.75232915e-03 -7.02335279e-02] [ 4.95545933e-02 4.16545136e-04 9.98771330e-01 -1.14952756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.900385722999999 meters Centerline goodness : 0.998473 Centerline is valid? [True, True] Translation: X:1.36, Y:-0.07, Z:-0.11 [[ 9.93385662e-01 -1.03745329e-01 -4.92121297e-02 1.35972391e+00] [ 1.03583704e-01 9.94603652e-01 -5.83021271e-03 -6.63577775e-02] [ 4.95514213e-02 6.94075059e-04 9.98771333e-01 -1.14787808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.930385723 meters Centerline goodness : 0.997794 Centerline is valid? [True, True] Translation: X:1.40, Y:-0.06, Z:-0.11 [[ 0.99380303 -0.09970189 -0.04914336 1.39784327] [ 0.09950656 0.99501625 -0.00641144 -0.05965943] [ 0.04953768 0.00148163 0.99877116 -0.11120794] [ 0. 0. 0. 1. ]] SLAMing on 4.960385723 meters Centerline goodness : 0.999685 Centerline is valid? [True, True] Translation: X:1.42, Y:-0.05, Z:-0.11 [[ 9.93916697e-01 -9.84902970e-02 -4.92875238e-02 1.41807519e+00] [ 9.83544847e-02 9.95137966e-01 -5.17918505e-03 -5.32498937e-02] [ 4.95579857e-02 3.00029493e-04 9.98771203e-01 -1.06263299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.990385722999999 meters Centerline goodness : 0.998041 Centerline is valid? [True, True] Translation: X:1.46, Y:-0.06, Z:-0.11 [[ 0.99506184 -0.0862725 -0.04908148 1.45736346] [ 0.08603397 0.99626792 -0.00695575 -0.06106264] [ 0.04949839 0.00269873 0.99877056 -0.10755907] [ 0. 0. 0. 1. ]] SLAMing on 5.0203857229999995 meters Centerline goodness : 0.998515 Centerline is valid? [True, True] Translation: X:1.49, Y:-0.06, Z:-0.12 [[ 0.99605768 -0.07379323 -0.04923072 1.49122779] [ 0.07360354 0.99727153 -0.00565742 -0.0646266 ] [ 0.04951388 0.00201156 0.99877141 -0.11758292] [ 0. 0. 0. 1. ]] SLAMing on 5.050385723 meters Centerline goodness : 0.998649 Centerline is valid? [True, True] Translation: X:1.52, Y:-0.05, Z:-0.10 [[ 0.99585274 -0.07650884 -0.0492312 1.51549021] [ 0.07632267 0.99706714 -0.00565321 -0.05417018] [ 0.04951934 0.00187231 0.99877141 -0.10481721] [ 0. 0. 0. 1. ]] SLAMing on 5.080385722999999 meters Centerline goodness : 0.998781 Centerline is valid? [True, True] Translation: X:1.55, Y:-0.05, Z:-0.10 [[ 0.99619973 -0.07191606 -0.0491343 1.55005953] [ 0.07168285 0.99740633 -0.0064944 -0.04845193] [ 0.04947392 0.00294764 0.99877107 -0.1005611 ] [ 0. 0. 0. 1. ]] SLAMing on 5.110385722999999 meters Centerline goodness : 0.998779 Centerline is valid? [True, True] Translation: X:1.58, Y:-0.05, Z:-0.10 [[ 0.99647649 -0.06791557 -0.04921454 1.58093634] [ 0.06771194 0.99768808 -0.00579518 -0.04747657] [ 0.04949434 0.00244235 0.99877142 -0.09907416] [ 0. 0. 0. 1. ]] SLAMing on 5.140385723 meters Centerline goodness : 0.995091 Centerline is valid? [True, True] Translation: X:1.61, Y:-0.05, Z:-0.10 [[ 0.99708761 -0.05827415 -0.04919785 1.61172195] [ 0.05805168 0.99829591 -0.00594004 -0.04744015] [ 0.04946016 0.00306672 0.99877139 -0.09769734] [ 0. 0. 0. 1. ]] SLAMing on 5.170385723 meters Centerline goodness : 0.998646 Centerline is valid? [True, True] Translation: X:1.64, Y:-0.04, Z:-0.10 [[ 0.99740891 -0.05242302 -0.04926763 1.63569796] [ 0.05222332 0.99862119 -0.00533276 -0.04389388] [ 0.04947926 0.00274603 0.99877138 -0.09808059] [ 0. 0. 0. 1. ]] SLAMing on 5.200385722999999 meters Centerline goodness : 0.998544 Centerline is valid? [True, True] Translation: X:1.67, Y:-0.04, Z:-0.09 [[ 0.99728537 -0.05484778 -0.04912847 1.66600332] [ 0.05459095 0.99848728 -0.00655543 -0.03600273] [ 0.0494137 0.00385567 0.99877095 -0.09409859] [ 0. 0. 0. 1. ]] SLAMing on 5.2303857229999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:1.69, Y:-0.04, Z:-0.10 [[ 0.99733211 -0.05396162 -0.04916094 1.69498009] [ 0.05371773 0.99853648 -0.00626987 -0.03673516] [ 0.04942732 0.00361233 0.99877119 -0.09538867] [ 0. 0. 0. 1. ]] SLAMing on 5.260385723 meters Centerline goodness : 0.995922 Centerline is valid? [True, True] Translation: X:1.72, Y:-0.04, Z:-0.09 [[ 0.99731543 -0.05428358 -0.04914498 1.72224928] [ 0.05403326 0.99851857 -0.00640876 -0.03759824] [ 0.04942007 0.00373609 0.99877109 -0.09260294] [ 0. 0. 0. 1. ]] SLAMing on 5.290385722999999 meters Centerline goodness : 0.995640 Centerline is valid? [True, True] Translation: X:1.75, Y:-0.04, Z:-0.09 [[ 0.9972676 -0.0551562 -0.04914401 1.7524509 ] [ 0.05490652 0.99847088 -0.00641726 -0.03864984] [ 0.04942281 0.0037014 0.99877109 -0.08816629] [ 0. 0. 0. 1. ]] SLAMing on 5.320385722999999 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:1.78, Y:-0.03, Z:-0.09 [[ 0.99729842 -0.05457999 -0.04916179 1.78175133] [ 0.05433723 0.99850301 -0.00626212 -0.03277341] [ 0.04942998 0.00357389 0.9987712 -0.09113929] [ 0. 0. 0. 1. ]] SLAMing on 5.350385723 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:1.81, Y:-0.03, Z:-0.09 [[ 0.99745358 -0.05170711 -0.04911954 1.81170371] [ 0.05144191 0.99865386 -0.00664887 -0.03162137] [ 0.04939722 0.00410514 0.99877078 -0.09396806] [ 0. 0. 0. 1. ]] SLAMing on 5.380385723 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:1.84, Y:-0.03, Z:-0.09 [[ 0.99745061 -0.0517533 -0.04913122 1.8377069 ] [ 0.05149339 0.99865191 -0.00654198 -0.02793461] [ 0.04940355 0.00399537 0.99877091 -0.09240576] [ 0. 0. 0. 1. ]] SLAMing on 5.410385722999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:1.87, Y:-0.02, Z:-0.09 [[ 0.99737021 -0.05329878 -0.04911118 1.86656844] [ 0.05303174 0.99857018 -0.00672538 -0.02363827] [ 0.04939941 0.00410325 0.99877068 -0.08698849] [ 0. 0. 0. 1. ]] SLAMing on 5.4403857229999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:1.89, Y:-0.02, Z:-0.08 [[ 0.99728885 -0.054799 -0.0491124 1.89420095] [ 0.05453432 0.99848932 -0.00671416 -0.01916178] [ 0.04940614 0.00401764 0.99877069 -0.08331983] [ 0. 0. 0. 1. ]] SLAMing on 5.470385723 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:1.92, Y:-0.02, Z:-0.08 [[ 0.99725421 -0.05542789 -0.04911 1.92255268] [ 0.05516289 0.99845465 -0.00673617 -0.01584704] [ 0.04940748 0.00400862 0.99877066 -0.08093921] [ 0. 0. 0. 1. ]] SLAMing on 5.500385723 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:1.95, Y:-0.02, Z:-0.08 [[ 0.99721912 -0.05606274 -0.0491018 1.95131008] [ 0.05579482 0.99841902 -0.00681131 -0.01504328] [ 0.04940604 0.00405274 0.99877055 -0.08263681] [ 0. 0. 0. 1. ]] SLAMing on 5.530385722999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:1.98, Y:-0.01, Z:-0.08 [[ 0.99719783 -0.05642568 -0.04911856 1.98025954] [ 0.05616579 0.99839927 -0.00665635 -0.01345198] [ 0.04941552 0.00387892 0.99877077 -0.0838 ] [ 0. 0. 0. 1. ]] SLAMing on 5.560385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.01, Y:-0.01, Z:-0.09 [[ 0.99704345 -0.05910072 -0.04910675 2.00939088] [ 0.0588387 0.99824458 -0.00676559 -0.0107061 ] [ 0.0494204 0.00385621 0.99877062 -0.08570843] [ 0. 0. 0. 1. ]] SLAMing on 5.590385723 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:2.04, Y:-0.01, Z:-0.08 [[ 0.99703557 -0.0592201 -0.04912289 2.03817469] [ 0.05896556 0.99823809 -0.00661609 -0.00583152] [ 0.04942814 0.00369992 0.99877083 -0.08343236] [ 0. 0. 0. 1. ]] SLAMing on 5.620385722999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.07, Y:0.00, Z:-0.08 [[ 9.96919571e-01 -6.11527165e-02 -4.91092133e-02 2.06693683e+00] [ 6.08942825e-02 9.98121446e-01 -6.74284604e-03 1.58167621e-03] [ 4.94293023e-02 3.73160487e-03 9.98770654e-01 -7.62417436e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.650385722999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.10, Y:0.01, Z:-0.08 [[ 0.99645318 -0.06832397 -0.04912127 2.10252141] [ 0.06807973 0.99765785 -0.00663016 0.00668893] [ 0.04945922 0.00326248 0.99877082 -0.07534785] [ 0. 0. 0. 1. ]] SLAMing on 5.680385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.13, Y:0.01, Z:-0.07 [[ 0.99669691 -0.06460791 -0.04920448 2.12695343] [ 0.06439768 0.99790718 -0.00584762 0.00862828] [ 0.04947931 0.00265965 0.99877161 -0.07369878] [ 0. 0. 0. 1. ]] SLAMing on 5.710385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.16, Y:0.01, Z:-0.07 [[ 0.99645992 -0.06822803 -0.04911789 2.15827097] [ 0.06798239 0.99766432 -0.0066564 0.01128665] [ 0.04945732 0.00329368 0.99877081 -0.07294444] [ 0. 0. 0. 1. ]] SLAMing on 5.740385722999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.19, Y:0.01, Z:-0.08 [[ 0.99614062 -0.0727368 -0.04912448 2.18947641] [ 0.07249964 0.99734664 -0.00659483 0.01290314] [ 0.04947382 0.00300787 0.99877089 -0.07832755] [ 0. 0. 0. 1. ]] SLAMing on 5.7703857229999995 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:2.22, Y:0.02, Z:-0.08 [[ 0.996105 -0.07319585 -0.04916509 2.21995124] [ 0.07297856 0.99731422 -0.00620264 0.01510877] [ 0.04948705 0.00259048 0.99877141 -0.07830151] [ 0. 0. 0. 1. ]] SLAMing on 5.800385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.25, Y:0.02, Z:-0.08 [[ 0.99597405 -0.07498103 -0.04912772 2.25085655] [ 0.07474814 0.99718085 -0.00656326 0.01754615] [ 0.04948134 0.00286463 0.99877094 -0.07602109] [ 0. 0. 0. 1. ]] SLAMing on 5.830385722999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.28, Y:0.02, Z:-0.08 [[ 0.99598525 -0.07483368 -0.0491253 2.2830921 ] [ 0.07459946 0.99719182 -0.00658678 0.02028287] [ 0.04948026 0.00289561 0.9987709 -0.07553074] [ 0. 0. 0. 1. ]] SLAMing on 5.860385722999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.32, Y:0.02, Z:-0.07 [[ 0.99632029 -0.07023535 -0.04912097 2.31828504] [ 0.06999349 0.99752542 -0.00662894 0.01812871] [ 0.049465 0.0031664 0.99877084 -0.07322007] [ 0. 0. 0. 1. ]] SLAMing on 5.890385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.34, Y:0.02, Z:-0.07 [[ 9.96252877e-01 -7.11239992e-02 -4.92095804e-02 2.34422994e+00] [ 7.09259192e-02 9.97464944e-01 -5.76198368e-03 2.46743242e-02] [ 4.94946467e-02 2.25015809e-03 9.98771854e-01 -6.73276705e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.920385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.38, Y:0.03, Z:-0.06 [[ 0.99664257 -0.06549536 -0.04913188 2.37584194] [ 0.06525332 0.99784746 -0.00651594 0.02943527] [ 0.04945289 0.00328805 0.99877105 -0.06212906] [ 0. 0. 0. 1. ]] SLAMing on 5.950385722999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.41, Y:0.03, Z:-0.06 [[ 0.9968131 -0.0628318 -0.04915094 2.40619129] [ 0.06259564 0.99801889 -0.00633078 0.03273427] [ 0.04945134 0.00323397 0.9987713 -0.05907258] [ 0. 0. 0. 1. ]] SLAMing on 5.9803857229999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.44, Y:0.04, Z:-0.07 [[ 0.99638953 -0.06923853 -0.04913183 2.43662594] [ 0.06900099 0.99759531 -0.00651663 0.04228528] [ 0.04946489 0.00310296 0.99877104 -0.06640569] [ 0. 0. 0. 1. ]] SLAMing on 6.010385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.47, Y:0.04, Z:-0.05 [[ 0.99693926 -0.06080991 -0.04913516 2.46570314] [ 0.06056377 0.99814327 -0.00648425 0.04252615] [ 0.04943824 0.0034886 0.99877109 -0.05309069] [ 0. 0. 0. 1. ]] SLAMing on 6.040385722999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.50, Y:0.04, Z:-0.06 [[ 0.99736036 -0.05347647 -0.04911801 2.49972814] [ 0.05321331 0.99856102 -0.00665076 0.04122172] [ 0.04940298 0.00401947 0.99877084 -0.06219451] [ 0. 0. 0. 1. ]] SLAMing on 6.070385722999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.53, Y:0.05, Z:-0.05 [[ 0.99742882 -0.05211904 -0.04918698 2.52658299] [ 0.05188794 0.9986351 -0.00596461 0.04512605] [ 0.04943072 0.00339706 0.99877178 -0.05473749] [ 0. 0. 0. 1. ]] SLAMing on 6.100385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.56, Y:0.04, Z:-0.07 [[ 0.99779627 -0.04461173 -0.04911616 2.56174344] [ 0.04433711 0.99899438 -0.00666716 0.04323681] [ 0.0493642 0.0044748 0.99877082 -0.06655123] [ 0. 0. 0. 1. ]] SLAMing on 6.130385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.59, Y:0.05, Z:-0.06 [[ 0.99805637 -0.03823747 -0.04920745 2.58668333] [ 0.03800074 0.99926124 -0.00573773 0.04526341] [ 0.0493905 0.00385666 0.9987721 -0.0563846 ] [ 0. 0. 0. 1. ]] SLAMing on 6.160385722999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.61, Y:0.05, Z:-0.06 [[ 0.99810031 -0.03714654 -0.04915179 2.61430045] [ 0.03688071 0.99929979 -0.00630452 0.04703223] [ 0.04935157 0.00447979 0.99877142 -0.05538379] [ 0. 0. 0. 1. ]] SLAMing on 6.1903857229999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.64, Y:0.05, Z:-0.05 [[ 0.99791612 -0.04180831 -0.04914756 2.63977736] [ 0.04154598 0.99911643 -0.00634758 0.05165013] [ 0.04936952 0.00429246 0.99877136 -0.0499315 ] [ 0. 0. 0. 1. ]] SLAMing on 6.220385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.68, Y:0.05, Z:-0.05 [[ 0.99786738 -0.04298913 -0.04911844 2.6753944 ] [ 0.04271381 0.99906527 -0.00664175 0.05146488] [ 0.04935805 0.00452955 0.99877088 -0.05332789] [ 0. 0. 0. 1. ]] SLAMing on 6.250385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.70, Y:0.05, Z:-0.05 [[ 0.99789993 -0.04210072 -0.04922659 2.69959666] [ 0.04187846 0.99910736 -0.00553804 0.0521013 ] [ 0.04941581 0.00346487 0.99877228 -0.04548882] [ 0. 0. 0. 1. ]] SLAMing on 6.280385722999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.74, Y:0.05, Z:-0.04 [[ 0.99766947 -0.04733989 -0.0491383 2.73786999] [ 0.04707996 0.9988704 -0.00643435 0.05401208] [ 0.0493874 0.00410592 0.99877126 -0.04385042] [ 0. 0. 0. 1. ]] SLAMing on 6.310385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.75, Y:0.05, Z:-0.06 [[ 0.99807967 -0.03752833 -0.04928071 2.75473999] [ 0.03732832 0.99929068 -0.00497295 0.0517958 ] [ 0.04943238 0.00312383 0.99877259 -0.05800717] [ 0. 0. 0. 1. ]] SLAMing on 6.340385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.78, Y:0.06, Z:-0.05 [[ 0.99798345 -0.04025391 -0.04907817 2.7844973 ] [ 0.03995635 0.9991767 -0.00702946 0.05746272] [ 0.04932072 0.0050543 0.9987702 -0.05226493] [ 0. 0. 0. 1. ]] SLAMing on 6.370385722999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.82, Y:0.06, Z:-0.04 [[ 0.99759115 -0.04900708 -0.04909389 2.81792816] [ 0.04872782 0.99878847 -0.0068697 0.06163802] [ 0.04937108 0.00446092 0.99877054 -0.0405769 ] [ 0. 0. 0. 1. ]] SLAMing on 6.400385722999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.85, Y:0.06, Z:-0.05 [[ 0.99716666 -0.05692704 -0.04917278 2.85186366] [ 0.05669585 0.99837295 -0.00608492 0.06388323] [ 0.04943917 0.00327979 0.99877175 -0.0472423 ] [ 0. 0. 0. 1. ]] SLAMing on 6.430385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.88, Y:0.06, Z:-0.04 [[ 9.97352067e-01 -5.35152083e-02 -4.92440543e-02 2.88062357e+00] [ 5.33155111e-02 9.98563327e-01 -5.36083486e-03 6.38732379e-02] [ 4.94601929e-02 2.72116780e-03 9.98772389e-01 -3.63854654e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.460385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.91, Y:0.07, Z:-0.04 [[ 0.99722318 -0.05589429 -0.04921145 2.90822409] [ 0.0556812 0.99843238 -0.00569151 0.06745631] [ 0.04945243 0.00293556 0.99877217 -0.03694087] [ 0. 0. 0. 1. ]] SLAMing on 6.490385722999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.94, Y:0.07, Z:-0.03 [[ 0.99733449 -0.05390286 -0.04917726 2.93549481] [ 0.05367036 0.99854046 -0.00603703 0.07255904] [ 0.04943089 0.00338157 0.99877182 -0.02952127] [ 0. 0. 0. 1. ]] SLAMing on 6.5203857229999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.96, Y:0.08, Z:-0.03 [[ 0.9973507 -0.05360996 -0.04916867 2.96378892] [ 0.05337284 0.99855588 -0.00612384 0.0752156 ] [ 0.04942597 0.00348335 0.99877172 -0.02807495] [ 0. 0. 0. 1. ]] SLAMing on 6.550385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.99, Y:0.08, Z:-0.02 [[ 0.99715917 -0.05705442 -0.04917711 2.99340356] [ 0.05682571 0.99836586 -0.00603751 0.08258068] [ 0.04944122 0.00322583 0.99877183 -0.02325338] [ 0. 0. 0. 1. ]] SLAMing on 6.580385722999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.02, Y:0.09, Z:-0.03 [[ 9.96768733e-01 -6.35047548e-02 -4.91857695e-02 3.02413651e+00] [ 6.32882230e-02 9.97977561e-01 -5.94884580e-03 8.55090925e-02] [ 4.94640743e-02 2.81674354e-03 9.98771932e-01 -3.31699794e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.610385722999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.05, Y:0.09, Z:-0.02 [[ 9.97068428e-01 -5.85888804e-02 -4.92127236e-02 3.05068660e+00] [ 5.83799470e-02 9.98278315e-01 -5.67346825e-03 8.77887898e-02] [ 4.94603969e-02 2.78379988e-03 9.98772206e-01 -2.17588672e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.640385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.08, Y:0.09, Z:-0.02 [[ 0.9968708 -0.06190599 -0.04915552 3.07992586] [ 0.06167234 0.99807684 -0.00625726 0.09036118] [ 0.04944834 0.00320614 0.99877154 -0.02422064] [ 0. 0. 0. 1. ]] SLAMing on 6.670385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.11, Y:0.09, Z:-0.02 [[ 9.96759591e-01 -6.36582040e-02 -4.91726713e-02 3.11077418e+00] [ 6.34352928e-02 9.97967420e-01 -6.08218176e-03 9.33904268e-02] [ 4.94599047e-02 2.94319020e-03 9.98771773e-01 -2.46845055e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.700385722999999 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:3.15, Y:0.10, Z:-0.02 [[ 9.96195552e-01 -7.19419913e-02 -4.91810083e-02 3.14714320e+00] [ 7.17333539e-02 9.97405819e-01 -5.99647480e-03 9.99386214e-02] [ 4.94848222e-02 2.44574285e-03 9.98771881e-01 -2.22563474e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.7303857229999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.17, Y:0.11, Z:-0.02 [[ 9.96467019e-01 -6.80141065e-02 -4.92702923e-02 3.16906882e+00] [ 6.78462702e-02 9.97682891e-01 -5.07282862e-03 1.06437188e-01] [ 4.95011516e-02 1.71210085e-03 9.98772599e-01 -1.90022997e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.760385723 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:3.20, Y:0.11, Z:-0.01 [[ 9.96465590e-01 -6.80802964e-02 -4.92077408e-02 3.19736738e+00] [ 6.78795478e-02 9.97677005e-01 -5.74122250e-03 1.13982111e-01] [ 4.94842955e-02 2.38073147e-03 9.98772064e-01 -1.35717141e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.790385722999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.23, Y:0.12, Z:-0.01 [[ 9.96330432e-01 -7.00737726e-02 -4.91460705e-02 3.23064776e+00] [ 6.98429763e-02 9.97537468e-01 -6.39992151e-03 1.18798271e-01] [ 4.94735133e-02 2.94392873e-03 9.98771097e-01 -6.98399512e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.820385722999999 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:3.26, Y:0.12, Z:-0.01 [[ 9.96405565e-01 -6.89645392e-02 -4.91918878e-02 3.26329763e+00] [ 6.87560785e-02 9.97615940e-01 -5.91935621e-03 1.21536496e-01] [ 4.94828370e-02 2.51583817e-03 9.98771805e-01 -8.31613688e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.850385723 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:3.30, Y:0.12, Z:-0.01 [[ 9.96887634e-01 -6.15778633e-02 -4.92261314e-02 3.29520594e+00] [ 6.13788285e-02 9.98099133e-01 -5.54617790e-03 1.22187555e-01] [ 4.94740809e-02 2.50747389e-03 9.98772260e-01 -1.15373049e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.880385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:3.33, Y:0.13, Z:-0.01 [[ 9.96785415e-01 -6.32343100e-02 -4.91961235e-02 3.32731309e+00] [ 6.30211254e-02 9.97994906e-01 -5.87405459e-03 1.27082198e-01] [ 4.94689225e-02 2.75477688e-03 9.98771864e-01 -1.04869985e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.910385722999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.35, Y:0.13, Z:-0.01 [[ 9.97292261e-01 -5.45982075e-02 -4.92664374e-02 3.35344516e+00] [ 5.44125960e-02 9.98505504e-01 -5.10184499e-03 1.31287536e-01] [ 4.94713605e-02 2.40731577e-03 9.98772641e-01 -1.01052126e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.9403857229999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.38, Y:0.13, Z:-0.01 [[ 0.99726564 -0.05516423 -0.0491746 3.38371606] [ 0.0549298 0.99847154 -0.00610695 0.13390754] [ 0.04943633 0.0033891 0.99877153 -0.00660837] [ 0. 0. 0. 1. ]] SLAMing on 6.970385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.41, Y:0.14, Z:-0.00 [[ 9.97465982e-01 -5.13869245e-02 -4.92036359e-02 3.41449641e+00] [ 5.11635695e-02 9.98673509e-01 -5.78900409e-03 1.37892480e-01] [ 4.94358469e-02 3.25690101e-03 9.98771991e-01 -1.79595884e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.000385722999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.44, Y:0.14, Z:-0.00 [[ 9.97556236e-01 -4.96110952e-02 -4.91965059e-02 3.44452825e+00] [ 4.93817339e-02 9.98762743e-01 -5.86742847e-03 1.39881018e-01] [ 4.94267268e-02 3.42368110e-03 9.98771884e-01 -9.24676629e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.030385722999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.47, Y:0.14, Z:-0.00 [[ 9.97495489e-01 -5.08208384e-02 -4.91934150e-02 3.47235421e+00] [ 5.05912676e-02 9.98702006e-01 -5.90144172e-03 1.40634202e-01] [ 4.94294785e-02 3.39790427e-03 9.98771836e-01 -7.72295766e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.060385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.50, Y:0.14, Z:-0.00 [[ 9.97449635e-01 -5.17138779e-02 -4.91924896e-02 3.50173174e+00] [ 5.14848855e-02 9.98656277e-01 -5.91164610e-03 1.38110494e-01] [ 4.94321026e-02 3.36389955e-03 9.98771821e-01 -1.48009504e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.090385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.53, Y:0.14, Z:-0.00 [[ 9.97438310e-01 -5.19248844e-02 -4.91998355e-02 3.53190329e+00] [ 5.17001369e-02 9.98645633e-01 -5.83054545e-03 1.38908129e-01] [ 4.94359513e-02 3.27197117e-03 9.98771936e-01 -8.70489864e-05] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.120385722999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.57, Y:0.13, Z:0.00 [[ 9.97728899e-01 -4.59943443e-02 -4.92093873e-02 3.57428589e+00] [ 4.57676054e-02 9.98935708e-01 -5.72513412e-03 1.33682123e-01] [ 4.94203380e-02 3.45993594e-03 9.98772076e-01 3.06583690e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.150385722999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.59, Y:0.14, Z:0.01 [[ 9.97320465e-01 -5.39843361e-02 -4.93718653e-02 3.59248245e+00] [ 5.38570629e-02 9.98541018e-01 -3.90552250e-03 1.41268683e-01] [ 4.95106697e-02 1.23603387e-03 9.98772830e-01 8.69140475e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.180385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.62, Y:0.14, Z:0.01 [[ 9.97379989e-01 -5.29856847e-02 -4.92511425e-02 3.62145314e+00] [ 5.27910712e-02 9.98591806e-01 -5.24480334e-03 1.42900141e-01] [ 4.94596868e-02 2.63104133e-03 9.98772655e-01 1.11048205e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.210385722999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.65, Y:0.14, Z:0.01 [[ 9.97157037e-01 -5.70455197e-02 -4.92306069e-02 3.65078664e+00] [ 5.68446241e-02 9.98368039e-01 -5.47234282e-03 1.41251846e-01] [ 4.94624371e-02 2.65828981e-03 9.98772447e-01 1.25508783e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.240385722999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.68, Y:0.14, Z:0.01 [[ 9.97069992e-01 -5.85337710e-02 -4.92466090e-02 3.68130047e+00] [ 5.83434732e-02 9.98282531e-01 -5.29406519e-03 1.41699467e-01] [ 4.94719111e-02 2.40533533e-03 9.98772619e-01 1.39087782e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.2703857229999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.71, Y:0.14, Z:0.01 [[ 9.96975922e-01 -6.01059278e-02 -4.92573771e-02 3.71026543e+00] [ 5.99235946e-02 9.98189571e-01 -5.17139421e-03 1.42799864e-01] [ 4.94790316e-02 2.20407641e-03 9.98772731e-01 1.17677212e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.300385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.74, Y:0.14, Z:0.01 [[ 9.96802170e-01 -6.29536240e-02 -4.92166152e-02 3.74259048e+00] [ 6.27518916e-02 9.98013251e-01 -5.63486927e-03 1.44943226e-01] [ 4.94735695e-02 2.52841421e-03 9.98772233e-01 1.38083876e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.330385722999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.77, Y:0.15, Z:0.02 [[ 9.96809841e-01 -6.27886303e-02 -4.92719789e-02 3.77438660e+00] [ 6.26175951e-02 9.98025025e-01 -5.00871443e-03 1.45881616e-01] [ 4.94891583e-02 1.90744301e-03 9.98772839e-01 1.54973848e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.360385722999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.81, Y:0.15, Z:0.02 [[ 9.96922113e-01 -6.09712792e-02 -4.92828913e-02 3.80520122e+00] [ 6.08041278e-02 9.98137762e-01 -4.88519656e-03 1.48958175e-01] [ 4.94889715e-02 1.87355726e-03 9.98772913e-01 1.81912886e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.390385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.83, Y:0.15, Z:0.02 [[ 9.97018736e-01 -5.93627402e-02 -4.92920373e-02 3.83448778e+00] [ 5.91987398e-02 9.98234764e-01 -4.78166994e-03 1.52755991e-01] [ 4.94888783e-02 1.84938803e-03 9.98772963e-01 2.05376303e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.420385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.87, Y:0.16, Z:0.02 [[ 9.96917361e-01 -6.10563823e-02 -4.92736562e-02 3.86523873e+00] [ 6.08841693e-02 9.98132366e-01 -4.98980443e-03 1.56840987e-01] [ 4.94862904e-02 1.97443704e-03 9.98772851e-01 2.19660110e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.450385722999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.90, Y:0.16, Z:0.02 [[ 9.96653685e-01 -6.52104913e-02 -4.92851396e-02 3.89804577e+00] [ 6.50497931e-02 9.97870188e-01 -4.85925890e-03 1.60696864e-01] [ 4.94970462e-02 1.63701015e-03 9.98772928e-01 2.30363713e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.4803857229999995 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:3.92, Y:0.16, Z:0.02 [[ 9.96876313e-01 -6.16762927e-02 -4.93320447e-02 3.92137608e+00] [ 6.15377247e-02 9.98095391e-01 -4.32423491e-03 1.59897757e-01] [ 4.95047892e-02 1.27494557e-03 9.98773073e-01 2.04336728e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.510385723 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:3.96, Y:0.16, Z:0.02 [[ 9.96658654e-01 -6.51791109e-02 -4.92261199e-02 3.95564117e+00] [ 6.49854648e-02 9.97870911e-01 -5.52578347e-03 1.63348290e-01] [ 4.94814787e-02 2.30833763e-03 9.98772374e-01 2.04758574e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.540385722999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.99, Y:0.17, Z:0.02 [[ 9.96719404e-01 -6.41839238e-02 -4.93036864e-02 3.98574385e+00] [ 6.40324259e-02 9.97936995e-01 -4.64774073e-03 1.66175089e-01] [ 4.95002829e-02 1.47545873e-03 9.98773020e-01 1.85870258e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.570385722999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.01, Y:0.17, Z:0.02 [[ 9.96933616e-01 -6.07630903e-02 -4.93073216e-02 4.01267879e+00] [ 6.06094776e-02 9.98150928e-01 -4.60599706e-03 1.69559977e-01] [ 4.94960234e-02 1.60338230e-03 9.98773034e-01 2.02087469e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.600385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.04, Y:0.17, Z:0.03 [[ 9.97042920e-01 -5.90026872e-02 -4.92351404e-02 4.04249636e+00] [ 5.88060856e-02 9.98254638e-01 -5.43341155e-03 1.74458239e-01] [ 4.94697932e-02 2.52201863e-03 9.98772436e-01 2.50820595e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.630385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.07, Y:0.18, Z:0.03 [[ 9.97019909e-01 -5.93960017e-02 -4.92282060e-02 4.07323424e+00] [ 5.91959638e-02 9.98231159e-01 -5.51279839e-03 1.79211638e-01] [ 4.94685673e-02 2.58225865e-03 9.98772343e-01 2.98520953e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.660385722999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.10, Y:0.19, Z:0.03 [[ 9.97118486e-01 -5.76928340e-02 -4.92571078e-02 4.10430976e+00] [ 5.75069949e-02 9.98331650e-01 -5.18289747e-03 1.85669842e-01] [ 4.94739458e-02 2.33533463e-03 9.98772684e-01 3.26639748e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.6903857229999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.13, Y:0.19, Z:0.03 [[ 9.97320199e-01 -5.40745769e-02 -4.92784023e-02 4.13397307e+00] [ 5.38963550e-02 9.98534319e-01 -4.93922936e-03 1.87222820e-01] [ 4.94732626e-02 2.27006694e-03 9.98772869e-01 3.15192258e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.720385723 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:4.16, Y:0.19, Z:0.03 [[ 9.97370496e-01 -5.31592518e-02 -4.92563549e-02 4.16447513e+00] [ 5.29675030e-02 9.98582745e-01 -5.19094076e-03 1.88547017e-01] [ 4.94624926e-02 2.56830503e-03 9.98772680e-01 3.20834763e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.750385722999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.19, Y:0.19, Z:0.04 [[ 9.97478149e-01 -5.10636346e-02 -4.92934881e-02 4.19322292e+00] [ 5.08903142e-02 9.98692878e-01 -4.76557373e-03 1.91814844e-01] [ 4.94724030e-02 2.24499456e-03 9.98772968e-01 3.56453531e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.780385722999999 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:4.22, Y:0.20, Z:0.04 [[ 9.97600776e-01 -4.86233112e-02 -4.92794701e-02 4.22139490e+00] [ 4.84390435e-02 9.98813987e-01 -4.92732504e-03 1.96826625e-01] [ 4.94606069e-02 2.52845288e-03 9.98772875e-01 3.97193424e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.810385723 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:4.25, Y:0.20, Z:0.04 [[ 9.97807272e-01 -4.42236115e-02 -4.92434842e-02 4.24892716e+00] [ 4.40135853e-02 9.99016651e-01 -5.34179899e-03 1.98344430e-01] [ 4.94312943e-02 3.16270358e-03 9.98772519e-01 4.10847941e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.840385723 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:4.28, Y:0.20, Z:0.04 [[ 9.97838586e-01 -4.35421931e-02 -4.92162022e-02 4.27967200e+00] [ 4.33159039e-02 9.99045418e-01 -5.65561956e-03 1.99769866e-01] [ 4.94154793e-02 3.51155113e-03 9.98772136e-01 4.11810429e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.870385722999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.31, Y:0.20, Z:0.04 [[ 9.97866833e-01 -4.28643010e-02 -4.92385601e-02 4.31021233e+00] [ 4.26497353e-02 9.99075490e-01 -5.40056884e-03 2.01104055e-01] [ 4.94245302e-02 3.28903697e-03 9.98772446e-01 4.27503759e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.900385722999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.34, Y:0.20, Z:0.04 [[ 9.97885064e-01 -4.23973505e-02 -4.92733653e-02 4.33804251e+00] [ 4.22019706e-02 9.99096592e-01 -4.99929735e-03 2.02763608e-01] [ 4.94408083e-02 2.90929104e-03 9.98772818e-01 4.17851173e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.930385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.36, Y:0.20, Z:0.04 [[ 9.97859707e-01 -4.29927508e-02 -4.92709610e-02 4.36362093e+00] [ 4.27967304e-02 9.99071153e-01 -5.02698343e-03 2.04592845e-01] [ 4.94413197e-02 2.90758818e-03 9.98772798e-01 4.25305041e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.960385722999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.39, Y:0.21, Z:0.04 [[ 9.97839072e-01 -4.34874983e-02 -4.92546816e-02 4.39044768e+00] [ 4.32828702e-02 9.99049252e-01 -5.21399460e-03 2.06189936e-01] [ 4.94345964e-02 3.07084354e-03 9.98772642e-01 4.26641949e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.990385722999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.42, Y:0.20, Z:0.04 [[ 9.97780784e-01 -4.48085200e-02 -4.92514305e-02 4.41999768e+00] [ 4.46036558e-02 9.98990960e-01 -5.25133409e-03 2.03915998e-01] [ 4.94370384e-02 3.04288639e-03 9.98772607e-01 4.24716017e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.020385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.45, Y:0.20, Z:0.05 [[ 9.97644816e-01 -4.77366469e-02 -4.92547774e-02 4.45195593e+00] [ 4.75372283e-02 9.98855864e-01 -5.21290111e-03 2.03255819e-01] [ 4.94472696e-02 2.85918817e-03 9.98772643e-01 4.66793174e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.050385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.48, Y:0.20, Z:0.05 [[ 9.97514757e-01 -5.03448218e-02 -4.92920659e-02 4.48041712e+00] [ 5.01697241e-02 9.98729249e-01 -4.78385237e-03 2.03359144e-01] [ 4.94702702e-02 2.29899399e-03 9.98772951e-01 4.88633364e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.080385723000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.51, Y:0.20, Z:0.05 [[ 9.97192322e-01 -5.63699772e-02 -4.92940002e-02 4.50873260e+00] [ 5.62033180e-02 9.98407990e-01 -4.76160274e-03 2.03890440e-01] [ 4.94839351e-02 1.97774732e-03 9.98772962e-01 5.47750253e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.110385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.54, Y:0.21, Z:0.06 [[ 9.96822726e-01 -6.25662123e-02 -4.92942413e-02 4.53672407e+00] [ 6.24072484e-02 9.98039423e-01 -4.75883036e-03 2.07920467e-01] [ 4.94953381e-02 1.66739228e-03 9.98772963e-01 5.60194456e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.140385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.57, Y:0.21, Z:0.06 [[ 9.96768737e-01 -6.34171379e-02 -4.92985975e-02 4.56598861e+00] [ 6.32617344e-02 9.97985866e-01 -4.70780667e-03 2.09012510e-01] [ 4.94978591e-02 1.57387973e-03 9.98772990e-01 5.69507136e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.170385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.60, Y:0.21, Z:0.06 [[ 9.96459437e-01 -6.81385664e-02 -4.92516711e-02 4.59711407e+00] [ 6.79618402e-02 9.97674077e-01 -5.25595095e-03 2.11191119e-01] [ 4.94952485e-02 1.89010772e-03 9.98772571e-01 5.55603324e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.200385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.63, Y:0.21, Z:0.06 [[ 9.96029478e-01 -7.41439777e-02 -4.92742247e-02 4.62715247e+00] [ 7.39875318e-02 9.97246663e-01 -4.99392138e-03 2.12896781e-01] [ 4.95088253e-02 1.32841464e-03 9.98772803e-01 5.79698217e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.230385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.66, Y:0.22, Z:0.06 [[ 9.95821419e-01 -7.68992103e-02 -4.92566015e-02 4.65880759e+00] [ 7.67359084e-02 9.97037890e-01 -5.20062487e-03 2.16193821e-01] [ 4.95106219e-02 1.39914358e-03 9.98772617e-01 5.80937820e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.260385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.69, Y:0.22, Z:0.06 [[ 9.95838886e-01 -7.66748800e-02 -4.92531798e-02 4.68694856e+00] [ 7.65092970e-02 9.97055092e-01 -5.24121512e-03 2.20299485e-01] [ 4.95100032e-02 1.45107967e-03 9.98772574e-01 6.00332999e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.290385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.72, Y:0.22, Z:0.06 [[ 9.95690226e-01 -7.86099529e-02 -4.92082208e-02 4.72184112e+00] [ 7.84204261e-02 9.96903659e-01 -5.77338178e-03 2.24990742e-01] [ 4.95097006e-02 1.88957016e-03 9.98771855e-01 5.91243299e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.320385723000001 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:4.75, Y:0.23, Z:0.06 [[ 9.95843260e-01 -7.66106824e-02 -4.92646401e-02 4.74939667e+00] [ 7.64521072e-02 9.97060222e-01 -5.09794330e-03 2.29476267e-01] [ 4.95103699e-02 1.31036693e-03 9.98772750e-01 6.00203118e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.350385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.78, Y:0.24, Z:0.06 [[ 9.95493374e-01 -8.10619803e-02 -4.92127884e-02 4.77834293e+00] [ 8.08789809e-02 9.96707620e-01 -5.70184892e-03 2.38346256e-01] [ 4.95129644e-02 1.69587264e-03 9.98772041e-01 6.49415331e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.380385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.81, Y:0.24, Z:0.07 [[ 9.95633147e-01 -7.93307698e-02 -4.92063552e-02 4.81351106e+00] [ 7.91419549e-02 9.96846618e-01 -5.77681446e-03 2.38622502e-01] [ 4.95094679e-02 1.85730082e-03 9.98771927e-01 6.53957332e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.410385723000001 meters Centerline goodness : 0.998324 Centerline is valid? [True, True] Translation: X:4.85, Y:0.24, Z:0.07 [[ 9.95729523e-01 -7.81029300e-02 -4.92204151e-02 4.84542248e+00] [ 7.79205055e-02 9.96943751e-01 -5.61718456e-03 2.40221432e-01] [ 4.95087038e-02 1.75791688e-03 9.98772145e-01 6.86445969e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.440385723 meters Centerline goodness : 0.998324 Centerline is valid? [True, True] Translation: X:4.88, Y:0.24, Z:0.07 [[ 9.95756095e-01 -7.77260190e-02 -4.92794579e-02 4.87715102e+00] [ 7.75764693e-02 9.96974151e-01 -4.94302737e-03 2.42360643e-01] [ 4.95145476e-02 1.09912328e-03 9.98772798e-01 6.99314487e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.470385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.91, Y:0.25, Z:0.07 [[ 9.95174092e-01 -8.48524998e-02 -4.92806223e-02 4.90612867e+00] [ 8.47123340e-02 9.96393255e-01 -4.92969541e-03 2.53506641e-01] [ 4.95211767e-02 7.31228616e-04 9.98772806e-01 6.99188097e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.500385723 meters Centerline goodness : 0.998697 Centerline is valid? [True, True] Translation: X:4.94, Y:0.25, Z:0.07 [[ 9.95370532e-01 -8.25423152e-02 -4.92368720e-02 4.94052588e+00] [ 8.23746446e-02 9.96586650e-01 -5.42835987e-03 2.54930044e-01] [ 4.95168787e-02 1.34735962e-03 9.98772378e-01 7.18178769e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.530385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.97, Y:0.26, Z:0.07 [[ 9.94985914e-01 -8.70104260e-02 -4.93175186e-02 4.96805637e+00] [ 8.68940337e-02 9.96207382e-01 -4.50325088e-03 2.62314203e-01] [ 4.95223058e-02 1.95273074e-04 9.98772999e-01 6.97078904e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.560385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.00, Y:0.26, Z:0.07 [[ 9.94990426e-01 -8.70021719e-02 -4.92409825e-02 5.00178799e+00] [ 8.68397751e-02 9.96207483e-01 -5.43185359e-03 2.64852809e-01] [ 4.95268183e-02 1.12856647e-03 9.98772157e-01 6.97141945e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.590385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.03, Y:0.27, Z:0.07 [[ 9.94997839e-01 -8.69028780e-02 -4.92665203e-02 5.03139818e+00] [ 8.67557545e-02 9.96216450e-01 -5.12088775e-03 2.70609184e-01] [ 4.95251378e-02 8.21118110e-04 9.98772540e-01 7.24216421e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.620385723 meters Centerline goodness : 0.997718 Centerline is valid? [True, True] Translation: X:5.07, Y:0.27, Z:0.07 [[ 9.95556029e-01 -8.02583300e-02 -4.92624896e-02 5.06621363e+00] [ 8.01007455e-02 9.96773376e-01 -5.16795657e-03 2.71973919e-01] [ 4.95183096e-02 1.19902819e-03 9.98772496e-01 7.47626561e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.650385723000001 meters Centerline goodness : 0.998491 Centerline is valid? [True, True] Translation: X:5.10, Y:0.28, Z:0.08 [[ 9.95709608e-01 -7.82863588e-02 -4.93317508e-02 5.09510944e+00] [ 7.81666824e-02 9.96930798e-01 -4.35349406e-03 2.75049707e-01] [ 4.95211609e-02 4.78716574e-04 9.98772960e-01 7.76977000e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.680385723 meters Centerline goodness : 0.998533 Centerline is valid? [True, True] Translation: X:5.13, Y:0.28, Z:0.08 [[ 9.96146577e-01 -7.25327160e-02 -4.93051878e-02 5.12585191e+00] [ 7.23904874e-02 9.97365450e-01 -4.66662041e-03 2.80259887e-01] [ 4.95137734e-02 1.07941137e-03 9.98772858e-01 8.35116583e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.710385723 meters Centerline goodness : 0.998621 Centerline is valid? [True, True] Translation: X:5.16, Y:0.28, Z:0.09 [[ 9.96375780e-01 -6.93166407e-02 -4.93001873e-02 5.15768547e+00] [ 6.91675529e-02 9.97593864e-01 -4.72576156e-03 2.84309214e-01] [ 4.95091383e-02 1.29866105e-03 9.98772826e-01 8.63455698e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.740385723000001 meters Centerline goodness : 0.998529 Centerline is valid? [True, True] Translation: X:5.19, Y:0.29, Z:0.09 [[ 9.96559298e-01 -6.66264849e-02 -4.92998670e-02 5.19083170e+00] [ 6.64739213e-02 9.97776954e-01 -4.72956187e-03 2.86659721e-01] [ 4.95053852e-02 1.43613337e-03 9.98772824e-01 9.48252186e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.770385723 meters Centerline goodness : 0.997353 Centerline is valid? [True, True] Translation: X:5.22, Y:0.29, Z:0.09 [[ 9.96881650e-01 -6.15761862e-02 -4.93492661e-02 5.21905803e+00] [ 6.14465600e-02 9.98101785e-01 -4.14095979e-03 2.86772495e-01] [ 4.95105750e-02 1.09570419e-03 9.98772998e-01 9.08512147e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.800385723 meters Centerline goodness : 0.996037 Centerline is valid? [True, True] Translation: X:5.25, Y:0.29, Z:0.09 [[ 9.97260696e-01 -5.51308805e-02 -4.93121726e-02 5.24877570e+00] [ 5.49713832e-02 9.98477399e-01 -4.58585183e-03 2.85969903e-01] [ 4.94899119e-02 1.86253146e-03 9.98772887e-01 9.23247737e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.830385723000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.28, Y:0.29, Z:0.09 [[ 9.97185347e-01 -5.64847331e-02 -4.93037344e-02 5.27832606e+00] [ 5.63218968e-02 9.98401661e-01 -4.68688770e-03 2.91808558e-01] [ 4.94896679e-02 1.89681590e-03 9.98772834e-01 9.07332107e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.860385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.31, Y:0.29, Z:0.09 [[ 9.97589412e-01 -4.88305357e-02 -4.93046031e-02 5.30659250e+00] [ 4.86589096e-02 9.98804508e-01 -4.67595786e-03 2.93800148e-01] [ 4.94739894e-02 2.26557783e-03 9.98772843e-01 9.14167613e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.890385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.34, Y:0.30, Z:0.09 [[ 9.97919345e-01 -4.16110116e-02 -4.92494125e-02 5.33648696e+00] [ 4.13962356e-02 9.99128359e-01 -5.37341355e-03 2.95127098e-01] [ 4.94300779e-02 3.32349304e-03 9.98772057e-01 9.29610950e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.920385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.37, Y:0.30, Z:0.10 [[ 9.97996055e-01 -3.97097209e-02 -4.92647162e-02 5.36545115e+00] [ 3.95022128e-02 9.99206061e-01 -5.17898473e-03 2.95956703e-01] [ 4.94312591e-02 3.22254103e-03 9.98772329e-01 9.71513927e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.950385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.39, Y:0.29, Z:0.09 [[ 9.98153373e-01 -3.55232712e-02 -4.92741371e-02 5.39452209e+00] [ 3.53165830e-02 9.99363369e-01 -5.05923695e-03 2.94850065e-01] [ 4.94224883e-02 3.30970028e-03 9.98772478e-01 9.22413632e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.980385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.43, Y:0.30, Z:0.09 [[ 9.98059639e-01 -3.80603295e-02 -4.92784734e-02 5.42593448e+00] [ 3.78593712e-02 9.99270541e-01 -5.00534239e-03 2.95016248e-01] [ 4.94330318e-02 3.12997820e-03 9.98772536e-01 9.39689339e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.010385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.45, Y:0.29, Z:0.09 [[ 9.98008051e-01 -3.93427102e-02 -4.93161309e-02 5.45491079e+00] [ 3.91663970e-02 9.99222403e-01 -4.53681043e-03 2.92733079e-01] [ 4.94562733e-02 2.59623817e-03 9.98772915e-01 9.07131189e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.040385723 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:5.48, Y:0.29, Z:0.09 [[ 9.98032610e-01 -3.86922286e-02 -4.93337687e-02 5.47876054e+00] [ 3.85261279e-02 9.99248282e-01 -4.31369720e-03 2.94639989e-01] [ 4.94635902e-02 2.40457139e-03 9.98773033e-01 9.31467510e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.070385723000001 meters Centerline goodness : 0.999909 Centerline is valid? [True, True] Translation: X:5.51, Y:0.30, Z:0.10 [[ 9.97853736e-01 -4.31157408e-02 -4.92844217e-02 5.50597731e+00] [ 4.29243411e-02 9.99066133e-01 -4.93588483e-03 3.00052512e-01] [ 4.94512109e-02 2.80978979e-03 9.98772588e-01 9.97751022e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.100385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.54, Y:0.30, Z:0.10 [[ 9.97687156e-01 -4.68217105e-02 -4.92754185e-02 5.53657531e+00] [ 4.66292291e-02 9.98899505e-01 -5.04918035e-03 3.02501061e-01] [ 4.94576024e-02 2.73982760e-03 9.98772466e-01 1.03994963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.130385723 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:5.57, Y:0.30, Z:0.11 [[ 9.97398488e-01 -5.25910409e-02 -4.92994738e-02 5.56551585e+00] [ 5.24201816e-02 9.98613805e-01 -4.75318490e-03 2.99827367e-01] [ 4.94811101e-02 2.15653206e-03 9.98772731e-01 1.07527503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.160385723000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.59, Y:0.30, Z:0.11 [[ 9.96973955e-01 -6.00933975e-02 -4.93124418e-02 5.59382842e+00] [ 5.99395914e-02 9.98191438e-01 -4.59322990e-03 2.99676312e-01] [ 4.94992800e-02 1.62356297e-03 9.98772840e-01 1.08183726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.190385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.62, Y:0.30, Z:0.11 [[ 9.96631391e-01 -6.55382316e-02 -4.93012293e-02 5.62458573e+00] [ 6.53842478e-02 9.97848944e-01 -4.73134935e-03 3.01941211e-01] [ 4.95052638e-02 1.49188749e-03 9.98772748e-01 1.09615619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.220385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.66, Y:0.31, Z:0.11 [[ 9.95874163e-01 -7.61762667e-02 -4.93135667e-02 5.65662998e+00] [ 7.60428253e-02 9.97094038e-01 -4.57919369e-03 3.05453745e-01] [ 4.95190892e-02 8.10357751e-04 9.98772849e-01 1.06704287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.250385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.68, Y:0.31, Z:0.10 [[ 9.95532852e-01 -8.05031953e-02 -4.93312804e-02 5.68043784e+00] [ 8.03861799e-02 9.96754282e-01 -4.35467465e-03 3.08552790e-01] [ 4.95217302e-02 3.69668491e-04 9.98772978e-01 1.00081899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.280385723 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:5.72, Y:0.31, Z:0.11 [[ 9.95470130e-01 -8.13350960e-02 -4.92323391e-02 5.71550516e+00] [ 8.11571591e-02 9.96685552e-01 -5.60581523e-03 3.10212273e-01] [ 4.95251106e-02 1.58486484e-03 9.98771621e-01 1.08062663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.310385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.75, Y:0.31, Z:0.11 [[ 9.95310898e-01 -8.32437784e-02 -4.92614501e-02 5.74974703e+00] [ 8.30865099e-02 9.96528587e-01 -5.23525224e-03 3.11426381e-01] [ 4.95262454e-02 1.11774165e-03 9.98772197e-01 1.10381980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.340385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.78, Y:0.32, Z:0.11 [[ 9.95354336e-01 -8.26996466e-02 -4.93002460e-02 5.78097214e+00] [ 8.25657717e-02 9.96574301e-01 -4.74933987e-03 3.18228110e-01] [ 4.95241270e-02 6.56763178e-04 9.98772712e-01 1.11419912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.370385723 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:5.81, Y:0.32, Z:0.11 [[ 9.95554208e-01 -8.02573152e-02 -4.93009353e-02 5.81025860e+00] [ 8.01208779e-02 9.96773882e-01 -4.74065054e-03 3.22411710e-01] [ 4.95223565e-02 7.69540380e-04 9.98772719e-01 1.13625376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.400385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.84, Y:0.33, Z:0.12 [[ 9.95521784e-01 -8.06783471e-02 -4.92684583e-02 5.84471107e+00] [ 8.05221726e-02 9.96739515e-01 -5.14973610e-03 3.26055657e-01] [ 4.95232914e-02 1.15947117e-03 9.98772296e-01 1.15033399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.430385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.88, Y:0.33, Z:0.11 [[ 9.95734290e-01 -7.79945924e-02 -4.92957168e-02 5.87664474e+00] [ 7.78522071e-02 9.96953333e-01 -4.80481156e-03 3.28868392e-01] [ 4.95202785e-02 9.46535271e-04 9.98772670e-01 1.13381600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.460385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.91, Y:0.33, Z:0.11 [[ 9.96164345e-01 -7.22882119e-02 -4.93052950e-02 5.90514014e+00] [ 7.21448795e-02 9.97383170e-01 -4.68285045e-03 3.30861002e-01] [ 4.95147863e-02 1.10776408e-03 9.98772776e-01 1.13621771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.490385723000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.94, Y:0.34, Z:0.12 [[ 9.96357483e-01 -6.96026966e-02 -4.92669287e-02 5.94197471e+00] [ 6.94319696e-02 9.97573290e-01 -5.17037747e-03 3.35526537e-01] [ 4.95072443e-02 1.73084439e-03 9.98772265e-01 1.19813171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.520385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.97, Y:0.34, Z:0.12 [[ 9.96538279e-01 -6.68962270e-02 -4.93594313e-02 5.96683522e+00] [ 6.67808985e-02 9.97759711e-01 -3.98380698e-03 3.41079968e-01] [ 4.95153536e-02 6.73748982e-04 9.98773135e-01 1.20794891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.550385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.00, Y:0.34, Z:0.12 [[ 9.96908584e-01 -6.11800250e-02 -4.92978588e-02 5.99618926e+00] [ 6.10187968e-02 9.98125218e-01 -4.77025777e-03 3.43752777e-01] [ 4.94972806e-02 1.74741490e-03 9.98772730e-01 1.23084969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.580385723000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.03, Y:0.35, Z:0.13 [[ 9.96680417e-01 -6.48107012e-02 -4.92718853e-02 6.03402970e+00] [ 6.46375361e-02 9.97895768e-01 -5.10144979e-03 3.46616227e-01] [ 4.94988344e-02 1.89970184e-03 9.98772375e-01 1.25992116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.610385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.06, Y:0.35, Z:0.12 [[ 9.96995410e-01 -5.96933260e-02 -4.93645495e-02 6.05630162e+00] [ 5.95732686e-02 9.98216313e-01 -3.90110661e-03 3.49949840e-01] [ 4.95093686e-02 9.48577821e-04 9.98773209e-01 1.24913033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.640385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.09, Y:0.35, Z:0.13 [[ 9.97086561e-01 -5.82385747e-02 -4.92611273e-02 6.08777379e+00] [ 5.80509318e-02 9.98299910e-01 -5.23252357e-03 3.51402398e-01] [ 4.94821137e-02 2.35762459e-03 9.98772227e-01 1.29350150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.670385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.12, Y:0.35, Z:0.13 [[ 9.97276399e-01 -5.48665221e-02 -4.92894472e-02 6.11823745e+00] [ 5.46928053e-02 9.98491365e-01 -4.86726315e-03 3.53361020e-01] [ 4.94821372e-02 2.15822853e-03 9.98772677e-01 1.30828415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.700385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.15, Y:0.35, Z:0.13 [[ 9.97505084e-01 -5.05607875e-02 -4.92667690e-02 6.14713029e+00] [ 5.03674036e-02 9.98717429e-01 -5.15963522e-03 3.54195854e-01] [ 4.94644561e-02 2.66532313e-03 9.98772328e-01 1.30828469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.730385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.19, Y:0.36, Z:0.12 [[ 9.97397438e-01 -5.26388269e-02 -4.92697155e-02 6.18527314e+00] [ 5.24498257e-02 9.98610425e-01 -5.12200163e-03 3.58094123e-01] [ 4.94708676e-02 2.52448332e-03 9.98772377e-01 1.24084476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.760385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.21, Y:0.36, Z:0.14 [[ 9.97750228e-01 -4.53637196e-02 -4.93620887e-02 6.21119917e+00] [ 4.52247640e-02 9.98969111e-01 -3.92884517e-03 3.61188781e-01] [ 4.94894289e-02 1.68761735e-03 9.98773222e-01 1.38388533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.790385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.24, Y:0.36, Z:0.14 [[ 9.97832511e-01 -4.35849036e-02 -4.93014888e-02 6.24019677e+00] [ 4.34052254e-02 9.99046448e-01 -4.70975713e-03 3.62910815e-01] [ 4.94597516e-02 2.55960654e-03 9.98772838e-01 1.40377983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.820385723000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.27, Y:0.36, Z:0.14 [[ 9.97754224e-01 -4.53388927e-02 -4.93040917e-02 6.27234446e+00] [ 4.51630012e-02 9.98968686e-01 -4.67626295e-03 3.63117017e-01] [ 4.94652603e-02 2.43904035e-03 9.98772867e-01 1.37444086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.850385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.30, Y:0.36, Z:0.13 [[ 9.97913521e-01 -4.16347323e-02 -4.93472672e-02 6.29937955e+00] [ 4.14818458e-02 9.99130769e-01 -4.11871309e-03 3.56695029e-01] [ 4.94758545e-02 2.06310375e-03 9.98773189e-01 1.32259309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.880385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.33, Y:0.36, Z:0.14 [[ 9.97839383e-01 -4.34197828e-02 -4.93080932e-02 6.32533458e+00] [ 4.32442013e-02 9.99053838e-01 -4.62263848e-03 3.59269161e-01] [ 4.94621537e-02 2.48036162e-03 9.98772919e-01 1.42980646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.910385723000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.35, Y:0.36, Z:0.14 [[ 9.97700827e-01 -4.64962175e-02 -4.93068070e-02 6.35469438e+00] [ 4.63235639e-02 9.98915715e-01 -4.63920507e-03 3.59941013e-01] [ 4.94690499e-02 2.34447171e-03 9.98772905e-01 1.43634620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.940385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.38, Y:0.36, Z:0.15 [[ 9.97522507e-01 -5.01711067e-02 -4.93123459e-02 6.38344444e+00] [ 5.00064438e-02 9.98738449e-01 -4.56802520e-03 3.59595579e-01] [ 4.94793187e-02 2.09077289e-03 9.98772960e-01 1.45058493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.970385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.41, Y:0.36, Z:0.15 [[ 9.97491950e-01 -5.07628930e-02 -4.93248272e-02 6.41130405e+00] [ 5.06068509e-02 9.98708924e-01 -4.40808196e-03 3.61373714e-01] [ 4.94849121e-02 1.90085209e-03 9.98773062e-01 1.46942341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.000385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.44, Y:0.36, Z:0.15 [[ 9.97164383e-01 -5.68565937e-02 -4.93003067e-02 6.44198229e+00] [ 5.66925105e-02 9.98380523e-01 -4.72133927e-03 3.59745010e-01] [ 4.94889053e-02 1.91299320e-03 9.98772841e-01 1.48055848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.030385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.47, Y:0.36, Z:0.15 [[ 9.97062718e-01 -5.85955550e-02 -4.93203600e-02 6.47279636e+00] [ 5.84462873e-02 9.98280572e-01 -4.46448579e-03 3.59193010e-01] [ 4.94971562e-02 1.56878040e-03 9.98773033e-01 1.49010518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.060385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.50, Y:0.36, Z:0.15 [[ 9.96832857e-01 -6.23707806e-02 -4.93370081e-02 6.49974274e+00] [ 6.22368568e-02 9.98052369e-01 -4.24755196e-03 3.57788128e-01] [ 4.95058410e-02 1.16351904e-03 9.98773156e-01 1.49078880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.090385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.53, Y:0.36, Z:0.15 [[ 9.96642716e-01 -6.53828482e-02 -4.92785881e-02 6.53264549e+00] [ 6.52150232e-02 9.97858670e-01 -5.00753059e-03 3.58989436e-01] [ 4.95004730e-02 1.77701462e-03 9.98772519e-01 1.51312044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.120385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.57, Y:0.36, Z:0.15 [[ 9.96231691e-01 -7.13695075e-02 -4.92829740e-02 6.56621740e+00] [ 7.12118243e-02 9.97448932e-01 -4.95024602e-03 3.60934169e-01] [ 4.95105464e-02 1.42206147e-03 9.98772588e-01 1.53400764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.150385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.60, Y:0.36, Z:0.16 [[ 9.96323945e-01 -7.00389521e-02 -4.93268965e-02 6.59789297e+00] [ 6.99079468e-02 9.97543839e-01 -4.37821649e-03 3.62460077e-01] [ 4.95123874e-02 9.13779867e-04 9.98773092e-01 1.55912486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.180385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.63, Y:0.36, Z:0.16 [[ 9.96412282e-01 -6.87643772e-02 -4.93358378e-02 6.63028679e+00] [ 6.86375958e-02 9.97632558e-01 -4.26136663e-03 3.62848454e-01] [ 4.95120683e-02 8.59784752e-04 9.98773155e-01 1.55501899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.210385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.66, Y:0.36, Z:0.16 [[ 9.96591115e-01 -6.61218633e-02 -4.93360852e-02 6.66063300e+00] [ 6.59920068e-02 9.97811066e-01 -4.25812652e-03 3.61525402e-01] [ 4.95096470e-02 9.87823792e-04 9.98773157e-01 1.55863885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.240385723000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.69, Y:0.36, Z:0.16 [[ 9.96725327e-01 -6.40723487e-02 -4.93290606e-02 6.69146199e+00] [ 6.39354287e-02 9.97944556e-01 -4.35018490e-03 3.64189114e-01] [ 4.95063940e-02 1.18206484e-03 9.98773107e-01 1.59774366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.270385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.72, Y:0.37, Z:0.16 [[ 9.96761182e-01 -6.35048561e-02 -4.93384162e-02 6.72167794e+00] [ 6.33733219e-02 9.97980938e-01 -4.22730656e-03 3.72149389e-01] [ 4.95072533e-02 1.08687575e-03 9.98773173e-01 1.62653615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.300385723 meters Centerline goodness : 0.998583 Centerline is valid? [True, True] Translation: X:6.75, Y:0.37, Z:0.17 [[ 9.96699384e-01 -6.44789739e-02 -4.93234186e-02 6.75383866e+00] [ 6.43391234e-02 9.97918306e-01 -4.41947689e-03 3.73709989e-01] [ 4.95057057e-02 1.23146438e-03 9.98773082e-01 1.66003309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.330385723000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.78, Y:0.38, Z:0.16 [[ 9.96851385e-01 -6.20484138e-02 -4.93691200e-02 6.78259341e+00] [ 6.19346386e-02 9.98072849e-01 -3.83249415e-03 3.76040470e-01] [ 4.95117785e-02 7.62768495e-04 9.98773249e-01 1.64705241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.360385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.81, Y:0.38, Z:0.17 [[ 9.96870017e-01 -6.17901262e-02 -4.93168187e-02 6.81340562e+00] [ 6.16416288e-02 9.98088077e-01 -4.52779838e-03 3.78482326e-01] [ 4.95023019e-02 1.47365742e-03 9.98772922e-01 1.66536441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.390385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.84, Y:0.38, Z:0.16 [[ 9.96887590e-01 -6.15066932e-02 -4.93159193e-02 6.84374598e+00] [ 6.13572571e-02 9.98105544e-01 -4.53977798e-03 3.78144629e-01] [ 4.95017192e-02 1.49975879e-03 9.98772912e-01 1.64833005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.420385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.87, Y:0.38, Z:0.17 [[ 9.96936124e-01 -6.07176663e-02 -4.93125747e-02 6.87423074e+00] [ 6.05650628e-02 9.98153724e-01 -4.58434316e-03 3.80301871e-01] [ 4.94998807e-02 1.58367812e-03 9.98772874e-01 1.65982403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.450385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.90, Y:0.39, Z:0.17 [[ 9.96989006e-01 -5.98429532e-02 -4.93127102e-02 6.90401646e+00] [ 5.96893709e-02 9.98206481e-01 -4.58253370e-03 3.87353976e-01] [ 4.94984993e-02 1.62529107e-03 9.98772876e-01 1.68424010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.480385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.93, Y:0.39, Z:0.17 [[ 9.97035836e-01 -5.90632425e-02 -4.93059285e-02 6.93471131e+00] [ 5.89042289e-02 9.98252700e-01 -4.67315483e-03 3.90326757e-01] [ 4.94957879e-02 1.75497513e-03 9.98772790e-01 1.69053130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.510385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.96, Y:0.39, Z:0.17 [[ 9.97121852e-01 -5.75914227e-02 -4.93076160e-02 6.96447188e+00] [ 5.74317283e-02 9.98338604e-01 -4.65058497e-03 3.90209333e-01] [ 4.94935304e-02 1.80537829e-03 9.98772813e-01 1.71022540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.540385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.99, Y:0.39, Z:0.17 [[ 9.97175929e-01 -5.66423397e-02 -4.93134147e-02 6.99463213e+00] [ 5.64853233e-02 9.98392957e-01 -4.57295981e-03 3.89393303e-01] [ 4.94931890e-02 1.77456127e-03 9.98772885e-01 1.73272023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.570385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.02, Y:0.40, Z:0.17 [[ 9.96912869e-01 -6.10922233e-02 -4.93200876e-02 7.02128938e+00] [ 6.09450705e-02 9.98131052e-01 -4.48336641e-03 3.95533121e-01] [ 4.95018097e-02 1.46370946e-03 9.98772961e-01 1.65187890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.600385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.05, Y:0.40, Z:0.18 [[ 9.97163799e-01 -5.68861781e-02 -4.92780013e-02 7.05350476e+00] [ 5.67057328e-02 9.98378147e-01 -5.05323081e-03 3.99002587e-01] [ 4.94855386e-02 2.24455366e-03 9.98772318e-01 1.78633002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.630385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.08, Y:0.40, Z:0.18 [[ 9.97201495e-01 -5.61893022e-02 -4.93147197e-02 7.08417575e+00] [ 5.60327315e-02 9.98418552e-01 -4.55276199e-03 4.01591499e-01] [ 4.94925475e-02 1.77678261e-03 9.98772913e-01 1.80917442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.660385723000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.11, Y:0.40, Z:0.17 [[ 9.97012944e-01 -5.94371943e-02 -4.93194705e-02 7.11306663e+00] [ 5.92877893e-02 9.98230843e-01 -4.48802810e-03 4.04263835e-01] [ 4.94989724e-02 1.55057973e-03 9.98772971e-01 1.73694928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.690385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.14, Y:0.40, Z:0.18 [[ 9.96899264e-01 -6.13055083e-02 -4.93304405e-02 7.14463577e+00] [ 6.11659254e-02 9.98118195e-01 -4.33560520e-03 4.02421727e-01] [ 4.95034068e-02 1.30481959e-03 9.98773102e-01 1.77899790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.720385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.17, Y:0.40, Z:0.18 [[ 9.96842963e-01 -6.22120507e-02 -4.93332252e-02 7.17467827e+00] [ 6.20754938e-02 9.98062208e-01 -4.29684828e-03 4.04364673e-01] [ 4.95049434e-02 1.22089866e-03 9.98773132e-01 1.80129072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.750385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.21, Y:0.41, Z:0.18 [[ 9.96741641e-01 -6.38202791e-02 -4.93261849e-02 7.20608745e+00] [ 6.36808647e-02 9.97960639e-01 -4.39435848e-03 4.07727609e-01] [ 4.95060402e-02 1.23890597e-03 9.98773056e-01 1.82598569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.780385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.24, Y:0.41, Z:0.19 [[ 9.96291506e-01 -7.05035583e-02 -4.93202209e-02 7.23762966e+00] [ 7.03682242e-02 9.97511037e-01 -4.47713979e-03 4.13212377e-01] [ 4.95131190e-02 9.89959975e-04 9.98772983e-01 1.86274163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.810385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.27, Y:0.42, Z:0.19 [[ 9.96175070e-01 -7.21138084e-02 -4.93439775e-02 7.26676769e+00] [ 7.19968550e-02 9.97396243e-01 -4.14578476e-03 4.15539131e-01] [ 4.95144661e-02 5.77316227e-04 9.98773240e-01 1.88215479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.840385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.30, Y:0.42, Z:0.19 [[ 9.96098908e-01 -7.31738097e-02 -4.93209803e-02 7.29984501e+00] [ 7.30419367e-02 9.97318838e-01 -4.47325873e-03 4.17920829e-01] [ 4.95160682e-02 8.53308214e-04 9.98772963e-01 1.89558555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.870385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.33, Y:0.42, Z:0.19 [[ 9.95860266e-01 -7.63569618e-02 -4.93147516e-02 7.33113781e+00] [ 7.62245783e-02 9.97080237e-01 -4.56230012e-03 4.19843358e-01] [ 4.95191276e-02 7.84417259e-04 9.98772867e-01 1.92392069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.900385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.36, Y:0.42, Z:0.20 [[ 9.95814575e-01 -7.69523106e-02 -4.93120006e-02 7.36284679e+00] [ 7.68187245e-02 9.97034459e-01 -4.60131022e-03 4.23340097e-01] [ 4.95198453e-02 7.93966790e-04 9.98772824e-01 1.95156724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.930385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.40, Y:0.43, Z:0.20 [[ 9.95730144e-01 -7.80282562e-02 -4.93261765e-02 7.39548721e+00] [ 7.79061008e-02 9.96951004e-01 -4.39716556e-03 4.29816247e-01] [ 4.95188843e-02 5.35580217e-04 9.98773044e-01 1.98486824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.960385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.43, Y:0.43, Z:0.20 [[ 9.95790810e-01 -7.72534426e-02 -4.93210717e-02 7.42794847e+00] [ 7.71266832e-02 9.97011277e-01 -4.47092948e-03 4.30238718e-01] [ 4.95190594e-02 6.48139819e-04 9.98772969e-01 1.99696358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.990385723000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.46, Y:0.43, Z:0.20 [[ 9.95865165e-01 -7.62829395e-02 -4.93303753e-02 7.46019396e+00] [ 7.61616831e-02 9.97086054e-01 -4.33582742e-03 4.31520605e-01] [ 4.95173789e-02 5.60815077e-04 9.98773105e-01 2.00300118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.020385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.49, Y:0.44, Z:0.20 [[ 9.95861314e-01 -7.63329618e-02 -4.93307409e-02 7.49331940e+00] [ 7.62120311e-02 9.97082230e-01 -4.33049238e-03 4.35642183e-01] [ 4.95173644e-02 5.52973879e-04 9.98773110e-01 1.99318665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.050385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.53, Y:0.44, Z:0.20 [[ 9.96078066e-01 -7.34481130e-02 -4.93341752e-02 7.52881852e+00] [ 7.33261405e-02 9.97298831e-01 -4.28013750e-03 4.39508938e-01] [ 4.95152832e-02 6.45866429e-04 9.98773157e-01 1.96811143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.080385723000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.55, Y:0.45, Z:0.21 [[ 9.95941359e-01 -7.52621342e-02 -4.93601163e-02 7.55157615e+00] [ 7.51613545e-02 9.97163769e-01 -3.89731304e-03 4.51216356e-01] [ 4.95134397e-02 1.71522043e-04 9.98773443e-01 2.06251073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.110385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.58, Y:0.45, Z:0.21 [[ 9.96024038e-01 -7.42010545e-02 -4.92982732e-02 7.58491215e+00] [ 7.40542223e-02 9.97242661e-01 -4.80080739e-03 4.54854853e-01] [ 4.95185662e-02 1.13097427e-03 9.98772563e-01 2.07989396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.140385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.62, Y:0.45, Z:0.21 [[ 9.96259621e-01 -7.09496547e-02 -4.93245697e-02 7.61971439e+00] [ 7.08191842e-02 9.97479509e-01 -4.38996442e-03 4.54794566e-01] [ 4.95117140e-02 8.80418505e-04 9.98773155e-01 2.06307628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.170385723 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] Translation: X:7.65, Y:0.45, Z:0.21 [[ 9.96419763e-01 -6.86658003e-02 -4.93220393e-02 7.65364959e+00] [ 6.85305546e-02 9.97639183e-01 -4.42994498e-03 4.54932670e-01] [ 4.95097847e-02 1.03401802e-03 9.98773103e-01 2.08438316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.200385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.69, Y:0.46, Z:0.21 [[ 9.96051177e-01 -7.38081326e-02 -4.93397730e-02 7.68579469e+00] [ 7.36931488e-02 9.97272337e-01 -4.14799717e-03 4.55311052e-01] [ 4.95113467e-02 4.95614220e-04 9.98773438e-01 2.08816913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.230385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.72, Y:0.46, Z:0.21 [[ 9.95691988e-01 -7.85057995e-02 -4.93386725e-02 7.71730065e+00] [ 7.83957159e-02 9.96913618e-01 -4.16538021e-03 4.57790185e-01] [ 4.95134010e-02 2.79495152e-04 9.98773420e-01 2.11442752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.260385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.76, Y:0.46, Z:0.21 [[ 9.95232128e-01 -8.41365233e-02 -4.93361683e-02 7.75636286e+00] [ 8.40313849e-02 9.96454236e-01 -4.20504988e-03 4.59766331e-01] [ 4.95150321e-02 3.92141944e-05 9.98773378e-01 2.13055867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.290385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.79, Y:0.46, Z:0.21 [[ 9.95315989e-01 -8.30967460e-02 -4.94066132e-02 7.78744371e+00] [ 8.30464752e-02 9.96540937e-01 -3.07296019e-03 4.61438526e-01] [ 4.94910656e-02 -1.04447866e-03 9.98774020e-01 2.13667335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.320385723 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:7.81, Y:0.46, Z:0.22 [[ 9.95656464e-01 -7.89169357e-02 -4.93996231e-02 7.81404585e+00] [ 7.88559012e-02 9.96880933e-01 -3.18627332e-03 4.63730110e-01] [ 4.94969933e-02 -7.23018176e-04 9.98774011e-01 2.16669435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.350385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.86, Y:0.46, Z:0.21 [[ 9.95986446e-01 -7.46747736e-02 -4.93424555e-02 7.85911207e+00] [ 7.45628655e-02 9.97207856e-01 -4.10736447e-03 4.63904855e-01] [ 4.95114008e-02 4.11764464e-04 9.98773474e-01 2.13856664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.380385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.87, Y:0.46, Z:0.22 [[ 9.95729011e-01 -7.79431369e-02 -4.94833802e-02 7.87297385e+00] [ 7.79506440e-02 9.96955628e-01 -1.78103133e-03 4.63882083e-01] [ 4.94715536e-02 -2.08383679e-03 9.98773359e-01 2.15639582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.410385723000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.91, Y:0.47, Z:0.21 [[ 9.95771115e-01 -7.74899003e-02 -4.93477602e-02 7.91134162e+00] [ 7.73883227e-02 9.96993128e-01 -3.96860376e-03 4.66135664e-01] [ 4.95069045e-02 1.32880600e-04 9.98773773e-01 2.14805676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.440385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.94, Y:0.46, Z:0.22 [[ 9.96133079e-01 -7.26469383e-02 -4.94096335e-02 7.94153147e+00] [ 7.25895321e-02 9.97357515e-01 -2.95763600e-03 4.61255127e-01] [ 4.94939324e-02 -6.40423119e-04 9.98774219e-01 2.18122126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.470385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.96, Y:0.47, Z:0.22 [[ 9.95931515e-01 -7.53625316e-02 -4.94055324e-02 7.96462292e+00] [ 7.53051413e-02 9.97155949e-01 -3.02462638e-03 4.70685563e-01] [ 4.94929641e-02 -7.08169861e-04 9.98774221e-01 2.19079122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.500385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.00, Y:0.48, Z:0.23 [[ 9.96406154e-01 -6.88534961e-02 -4.93353066e-02 7.99718831e+00] [ 6.87316944e-02 9.97626495e-01 -4.16311741e-03 4.76716356e-01] [ 4.95048542e-02 7.57256595e-04 9.98773596e-01 2.29231061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.530385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.03, Y:0.48, Z:0.24 [[ 9.96901569e-01 -6.12575766e-02 -4.93433993e-02 8.03272398e+00] [ 6.11329245e-02 9.98121486e-01 -4.03286127e-03 4.75290980e-01] [ 4.94977503e-02 1.00385943e-03 9.98773731e-01 2.35400998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.560385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.06, Y:0.48, Z:0.24 [[ 9.96826417e-01 -6.24201455e-02 -4.94046616e-02 8.06320610e+00] [ 6.23462669e-02 9.98049960e-01 -3.03651353e-03 4.80834459e-01] [ 4.94978601e-02 -5.33193155e-05 9.98774228e-01 2.35333027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.590385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.09, Y:0.48, Z:0.23 [[ 9.96896897e-01 -6.12957846e-02 -4.93903249e-02 8.09009371e+00] [ 6.12089319e-02 9.98119617e-01 -3.27049512e-03 4.81642629e-01] [ 4.94979198e-02 2.37217400e-04 9.98774199e-01 2.33467831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.620385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.12, Y:0.48, Z:0.24 [[ 9.96947434e-01 -6.04911105e-02 -4.93623289e-02 8.11988695e+00] [ 6.03803545e-02 9.98168461e-01 -3.73319473e-03 4.83412709e-01] [ 4.94977450e-02 7.41283991e-04 9.98773960e-01 2.35192902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.650385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.15, Y:0.48, Z:0.23 [[ 9.96879830e-01 -6.16190100e-02 -4.93325724e-02 8.15195384e+00] [ 6.14853332e-02 9.98099048e-01 -4.22412183e-03 4.82760345e-01] [ 4.94990798e-02 1.17771220e-03 9.98773475e-01 2.32500369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.680385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.18, Y:0.48, Z:0.23 [[ 9.97005954e-01 -5.95222521e-02 -4.93581660e-02 8.18458338e+00] [ 5.94066890e-02 9.98226606e-01 -3.80632112e-03 4.82720573e-01] [ 4.94971953e-02 8.62719606e-04 9.98773890e-01 2.34016750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.710385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.21, Y:0.49, Z:0.23 [[ 9.97110390e-01 -5.77235217e-02 -4.93848651e-02 8.21311575e+00] [ 5.76274163e-02 9.98332476e-01 -3.36886312e-03 4.85333550e-01] [ 4.94969772e-02 5.13206240e-04 9.98774142e-01 2.30359260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.740385723000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.25, Y:0.48, Z:0.24 [[ 9.97456004e-01 -5.14304785e-02 -4.93601638e-02 8.24701175e+00] [ 5.13067153e-02 9.98675820e-01 -3.77194954e-03 4.79915880e-01] [ 4.94887952e-02 1.22984585e-03 9.98773922e-01 2.35017815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.770385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.27, Y:0.48, Z:0.24 [[ 9.97584632e-01 -4.88249061e-02 -4.94067918e-02 8.27477539e+00] [ 4.87358777e-02 9.98807178e-01 -3.00574352e-03 4.83527205e-01] [ 4.94946134e-02 5.90600182e-04 9.98774216e-01 2.42539581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.800385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.30, Y:0.49, Z:0.25 [[ 9.97828590e-01 -4.35561985e-02 -4.94060927e-02 8.29930882e+00] [ 4.34601486e-02 9.99050605e-01 -3.01719061e-03 4.87340974e-01] [ 4.94906042e-02 8.63442921e-04 9.98774216e-01 2.49890322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.830385723000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.33, Y:0.50, Z:0.25 [[ 9.97506737e-01 -5.04280129e-02 -4.93692654e-02 8.32628371e+00] [ 5.03103684e-02 9.98727058e-01 -3.62350032e-03 4.95372463e-01] [ 4.94891472e-02 1.13068005e-03 9.98774021e-01 2.47511048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.860385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.36, Y:0.49, Z:0.24 [[ 9.97725394e-01 -4.59128221e-02 -4.93563670e-02 8.36469696e+00] [ 4.57790876e-02 9.98944218e-01 -3.83719480e-03 4.90967793e-01] [ 4.94804339e-02 1.56897725e-03 9.98773861e-01 2.44225576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.890385723 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:8.39, Y:0.49, Z:0.25 [[ 9.97680150e-01 -4.68127224e-02 -4.94255806e-02 8.39144935e+00] [ 4.67374663e-02 9.98903618e-01 -2.67787281e-03 4.88811776e-01] [ 4.94967498e-02 3.61634140e-04 9.98774219e-01 2.47931691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.920385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.42, Y:0.50, Z:0.25 [[ 9.97432875e-01 -5.18312301e-02 -4.94083259e-02 8.41809615e+00] [ 5.17478853e-02 9.98655778e-01 -2.96539814e-03 4.96817680e-01] [ 4.94956104e-02 4.01009212e-04 9.98774261e-01 2.45348990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.950385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.45, Y:0.50, Z:0.25 [[ 9.97454775e-01 -5.14421032e-02 -4.93728958e-02 8.44588395e+00] [ 5.13291810e-02 9.98675468e-01 -3.55315981e-03 5.00557699e-01] [ 4.94902818e-02 1.00984591e-03 9.98774095e-01 2.49935174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.980385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.47, Y:0.51, Z:0.26 [[ 9.97433765e-01 -5.18699367e-02 -4.93497119e-02 8.47394841e+00] [ 5.17387291e-02 9.98652909e-01 -3.93331293e-03 5.09165370e-01] [ 4.94872541e-02 1.36992775e-03 9.98773816e-01 2.56063714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.010385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.51, Y:0.51, Z:0.26 [[ 9.97245013e-01 -5.53925427e-02 -4.93361013e-02 8.50821001e+00] [ 5.52544716e-02 9.98463642e-01 -4.15909727e-03 5.11902841e-01] [ 4.94906863e-02 1.42159880e-03 9.98773573e-01 2.56572724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.040385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.54, Y:0.51, Z:0.26 [[ 9.97270242e-01 -5.49018661e-02 -4.93745787e-02 8.53945426e+00] [ 5.47949560e-02 9.98491433e-01 -3.51727358e-03 5.10878481e-01] [ 4.94931987e-02 8.02194406e-04 9.98774139e-01 2.57107374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.070385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.57, Y:0.51, Z:0.26 [[ 9.97354803e-01 -5.33237125e-02 -4.93961372e-02 8.56882985e+00] [ 5.32327568e-02 9.98577144e-01 -3.15601228e-03 5.11185159e-01] [ 4.94941440e-02 5.18171448e-04 9.98774279e-01 2.57258819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.100385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.60, Y:0.52, Z:0.26 [[ 9.97222116e-01 -5.57641313e-02 -4.93802858e-02 8.59676862e+00] [ 5.56629340e-02 9.98443749e-01 -3.42321723e-03 5.16930623e-01] [ 4.94943304e-02 6.65056335e-04 9.98774183e-01 2.58703734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.130385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.63, Y:0.51, Z:0.26 [[ 9.97424605e-01 -5.20467226e-02 -4.93487274e-02 8.63474868e+00] [ 5.19147831e-02 9.98643697e-01 -3.95247130e-03 5.11803340e-01] [ 4.94875087e-02 1.38036365e-03 9.98773789e-01 2.57931744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.160385723000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.66, Y:0.51, Z:0.26 [[ 9.97397383e-01 -5.24957345e-02 -4.94232536e-02 8.66363063e+00] [ 5.24270974e-02 9.98621145e-01 -2.68498592e-03 5.11520112e-01] [ 4.94960564e-02 8.68802018e-05 9.98774315e-01 2.62257006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.190385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.69, Y:0.52, Z:0.26 [[ 9.97064897e-01 -5.84829978e-02 -4.94098215e-02 8.68679345e+00] [ 5.84104156e-02 9.98288405e-01 -2.91285267e-03 5.21634176e-01] [ 4.94956042e-02 1.82549410e-05 9.98774341e-01 2.62581762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.220385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.72, Y:0.52, Z:0.26 [[ 9.97081910e-01 -5.82357107e-02 -4.93585577e-02 8.71763952e+00] [ 5.81202369e-02 9.98302461e-01 -3.77273059e-03 5.23647421e-01] [ 4.94944772e-02 8.92990355e-04 9.98773998e-01 2.64509068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.250385723 meters Centerline goodness : 0.999863 Centerline is valid? [True, True] Translation: X:8.75, Y:0.52, Z:0.27 [[ 9.97305080e-01 -5.42749150e-02 -4.93640743e-02 8.75065802e+00] [ 5.41592745e-02 9.98525535e-01 -3.67816142e-03 5.23133557e-01] [ 4.94909206e-02 9.94726613e-04 9.98774078e-01 2.68377827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.280385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.78, Y:0.53, Z:0.27 [[ 9.97099077e-01 -5.79171001e-02 -4.93866314e-02 8.77934662e+00] [ 5.78252163e-02 9.98321306e-01 -3.28844329e-03 5.28897866e-01] [ 4.94941835e-02 4.23111126e-04 9.98774322e-01 2.73127215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.310385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.81, Y:0.53, Z:0.27 [[ 9.97106064e-01 -5.78153036e-02 -4.93648438e-02 8.81085441e+00] [ 5.77047074e-02 9.98326972e-01 -3.66380716e-03 5.29538530e-01] [ 4.94940792e-02 8.04620468e-04 9.98774093e-01 2.72744878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.340385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.84, Y:0.53, Z:0.27 [[ 9.97211030e-01 -5.59610024e-02 -4.93814565e-02 8.83690111e+00] [ 5.58626231e-02 9.98432773e-01 -3.37120193e-03 5.29657197e-01] [ 4.94927204e-02 6.03222053e-04 9.98774302e-01 2.73078770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.370385723 meters Centerline goodness : 0.999908 Centerline is valid? [True, True] Translation: X:8.88, Y:0.53, Z:0.27 [[ 9.97473869e-01 -5.11166648e-02 -4.93251169e-02 8.87516927e+00] [ 5.09637984e-02 9.98691016e-01 -4.35268501e-03 5.28362513e-01] [ 4.94830459e-02 1.82789424e-03 9.98773291e-01 2.72667506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.400385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.90, Y:0.54, Z:0.27 [[ 9.97238446e-01 -5.54516827e-02 -4.94023620e-02 8.90175619e+00] [ 5.53714859e-02 9.98461341e-01 -2.99149615e-03 5.36118236e-01] [ 4.94922321e-02 2.47752785e-04 9.98774478e-01 2.74490079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.430385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.93, Y:0.54, Z:0.28 [[ 9.97395101e-01 -5.25800160e-02 -4.93797004e-02 8.92859191e+00] [ 5.24766503e-02 9.98616403e-01 -3.38828601e-03 5.37858925e-01] [ 4.94895350e-02 7.88178601e-04 9.98774331e-01 2.77029762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.460385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.96, Y:0.54, Z:0.28 [[ 9.97500825e-01 -5.05668404e-02 -4.93467182e-02 8.95863909e+00] [ 5.04323811e-02 9.98719600e-01 -3.96688768e-03 5.37210585e-01] [ 4.94841276e-02 1.46830123e-03 9.98773831e-01 2.80475446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.490385723000001 meters Centerline goodness : 0.999863 Centerline is valid? [True, True] Translation: X:8.99, Y:0.54, Z:0.28 [[ 9.97725545e-01 -4.59011224e-02 -4.93641901e-02 8.98923609e+00] [ 4.57768011e-02 9.98945037e-01 -3.64666334e-03 5.35966823e-01] [ 4.94794986e-02 1.37863446e-03 9.98774188e-01 2.83469434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.520385723 meters Centerline goodness : 0.999863 Centerline is valid? [True, True] Translation: X:9.02, Y:0.54, Z:0.29 [[ 9.97728460e-01 -4.58559484e-02 -4.93472612e-02 9.02293953e+00] [ 4.57162243e-02 9.98946630e-01 -3.95699899e-03 5.38075480e-01] [ 4.94767322e-02 1.69204004e-03 9.98773843e-01 2.85346740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.550385723 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:9.05, Y:0.54, Z:0.29 [[ 9.97791995e-01 -4.44056983e-02 -4.93889556e-02 9.05093485e+00] [ 4.43018244e-02 9.99013079e-01 -3.19641450e-03 5.38643032e-01] [ 4.94821516e-02 1.00133595e-03 9.98774506e-01 2.85708882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.580385723000001 meters Centerline goodness : 0.999840 Centerline is valid? [True, True] Translation: X:9.08, Y:0.54, Z:0.28 [[ 9.97718121e-01 -4.60323850e-02 -4.93920136e-02 9.07987280e+00] [ 4.59332723e-02 9.98939574e-01 -3.14044566e-03 5.39934732e-01] [ 4.94841992e-02 8.64542728e-04 9.98774532e-01 2.82903608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.610385723 meters Centerline goodness : 0.999886 Centerline is valid? [True, True] Translation: X:9.11, Y:0.54, Z:0.29 [[ 9.97740364e-01 -4.55403249e-02 -4.93988257e-02 9.10654047e+00] [ 4.54467805e-02 9.98962209e-01 -3.01578535e-03 5.41406735e-01] [ 4.94848999e-02 7.63953190e-04 9.98774580e-01 2.85678699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.640385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.13, Y:0.54, Z:0.29 [[ 9.97701316e-01 -4.64205815e-02 -4.93681345e-02 9.13431652e+00] [ 4.63005668e-02 9.98921166e-01 -3.57244379e-03 5.44079313e-01] [ 4.94807093e-02 1.27845927e-03 9.98774261e-01 2.88817615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.670385723 meters Centerline goodness : 0.999773 Centerline is valid? [True, True] Translation: X:9.16, Y:0.55, Z:0.29 [[ 9.97664565e-01 -4.72042470e-02 -4.93677471e-02 9.16254247e+00] [ 4.70848420e-02 9.98884480e-01 -3.57948962e-03 5.45793032e-01] [ 4.94816435e-02 1.24665739e-03 9.98774255e-01 2.93217744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.700385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.19, Y:0.55, Z:0.29 [[ 9.97673066e-01 -4.70195013e-02 -4.93722581e-02 9.19056781e+00] [ 4.69039721e-02 9.98893283e-01 -3.49658647e-03 5.45762861e-01] [ 4.94820247e-02 1.17269512e-03 9.98774326e-01 2.93001437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.730385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:9.22, Y:0.55, Z:0.29 [[ 9.97665561e-01 -4.71857967e-02 -4.93652632e-02 9.22009293e+00] [ 4.70638984e-02 9.98885287e-01 -3.62942498e-03 5.46403972e-01] [ 4.94814924e-02 1.29763058e-03 9.98774198e-01 2.91633487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.760385723 meters Centerline goodness : 0.999864 Centerline is valid? [True, True] Translation: X:9.25, Y:0.55, Z:0.29 [[ 9.97596077e-01 -4.86406253e-02 -4.93574389e-02 9.24785020e+00] [ 4.85131462e-02 9.98815398e-01 -3.77817868e-03 5.50699708e-01] [ 4.94827430e-02 1.37461158e-03 9.98774033e-01 2.94356168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.790385723 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:9.29, Y:0.55, Z:0.29 [[ 9.97513488e-01 -5.03105557e-02 -4.93527074e-02 9.28562233e+00] [ 5.01806902e-02 9.98732667e-01 -3.86767416e-03 5.52457376e-01] [ 4.94847460e-02 1.38150422e-03 9.98773924e-01 2.93723590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.820385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.31, Y:0.55, Z:0.29 [[ 9.97599290e-01 -4.85107035e-02 -4.94203251e-02 9.30952016e+00] [ 4.84430554e-02 9.98822649e-01 -2.56638620e-03 5.47059940e-01] [ 4.94866372e-02 1.66153501e-04 9.98774772e-01 2.90607966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.850385723 meters Centerline goodness : 0.999864 Centerline is valid? [True, True] Translation: X:9.34, Y:0.55, Z:0.29 [[ 9.97663402e-01 -4.72323788e-02 -4.93643488e-02 9.33890329e+00] [ 4.71094316e-02 9.98883059e-01 -3.65176989e-03 5.48654664e-01] [ 4.94816936e-02 1.31771076e-03 9.98774161e-01 2.94027094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.880385723 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:9.37, Y:0.56, Z:0.30 [[ 9.97606090e-01 -4.84311114e-02 -4.93610870e-02 9.36772482e+00] [ 4.83064123e-02 9.98825648e-01 -3.71679708e-03 5.57115368e-01] [ 4.94831283e-02 1.32344238e-03 9.98774083e-01 2.97399444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.910385723000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.40, Y:0.56, Z:0.30 [[ 9.97763974e-01 -4.50841928e-02 -4.93403205e-02 9.39840729e+00] [ 4.49349433e-02 9.98981376e-01 -4.13052298e-03 5.59461164e-01] [ 4.94762826e-02 1.90418252e-03 9.98773484e-01 3.04527341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.940385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.43, Y:0.56, Z:0.31 [[ 9.97741428e-01 -4.55621479e-02 -4.93572086e-02 9.42688095e+00] [ 4.54295295e-02 9.98960296e-01 -3.80599303e-03 5.59074938e-01] [ 4.94793010e-02 1.55512216e-03 9.98773939e-01 3.05743545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.970385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.46, Y:0.56, Z:0.31 [[ 9.97768038e-01 -4.49608933e-02 -4.93706509e-02 9.45524511e+00] [ 4.48406114e-02 9.98987876e-01 -3.54174795e-03 5.57980046e-01] [ 4.94799218e-02 1.32003273e-03 9.98774246e-01 3.07214711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.000385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.48, Y:0.56, Z:0.31 [[ 9.97685894e-01 -4.67534413e-02 -4.93656957e-02 9.48402274e+00] [ 4.66305583e-02 9.98905577e-01 -3.63861856e-03 5.55352242e-01] [ 4.94817867e-02 1.32824846e-03 9.98774143e-01 3.06931987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.030385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.51, Y:0.56, Z:0.31 [[ 9.97536837e-01 -4.98267866e-02 -4.93715535e-02 9.51265598e+00] [ 4.97132743e-02 9.98757310e-01 -3.52520644e-03 5.57449843e-01] [ 4.94858497e-02 1.06210170e-03 9.98774260e-01 3.05958807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.060385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.54, Y:0.56, Z:0.31 [[ 9.97510207e-01 -5.03545625e-02 -4.93741405e-02 9.54123423e+00] [ 5.02441711e-02 9.98730918e-01 -3.47519766e-03 5.60454973e-01] [ 4.94864727e-02 9.85782370e-04 9.98774307e-01 3.08693640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.090385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.57, Y:0.56, Z:0.31 [[ 9.97592371e-01 -4.86904544e-02 -4.93831993e-02 9.57346278e+00] [ 4.85872058e-02 9.98813527e-01 -3.28975501e-03 5.63694816e-01] [ 4.94847871e-02 8.82442833e-04 9.98774488e-01 3.09675329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.120385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.61, Y:0.56, Z:0.31 [[ 9.97732435e-01 -4.57232973e-02 -4.93899546e-02 9.60563140e+00] [ 4.56232775e-02 9.98953746e-01 -3.15115504e-03 5.62165278e-01] [ 4.94823614e-02 8.90677993e-04 9.98774601e-01 3.09499932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.150385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.63, Y:0.57, Z:0.31 [[ 9.97645775e-01 -4.75452446e-02 -4.94202132e-02 9.62721714e+00] [ 4.74781983e-02 9.98869070e-01 -2.53034870e-03 5.66775896e-01] [ 4.94846284e-02 1.78009013e-04 9.98774869e-01 3.12620351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.180385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.66, Y:0.57, Z:0.31 [[ 9.97659024e-01 -4.73241298e-02 -4.93649617e-02 9.65749481e+00] [ 4.72013789e-02 9.98878725e-01 -3.65005688e-03 5.69418313e-01] [ 4.94823457e-02 1.31141793e-03 9.98774137e-01 3.14970843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.210385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.69, Y:0.57, Z:0.32 [[ 9.97573270e-01 -4.90920407e-02 -4.93714789e-02 9.68991510e+00] [ 4.89780056e-02 9.98793663e-01 -3.51761721e-03 5.71444633e-01] [ 4.94846073e-02 1.09096433e-03 9.98774291e-01 3.19570775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.240385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.72, Y:0.57, Z:0.32 [[ 9.97715466e-01 -4.60794884e-02 -4.94017236e-02 9.71615918e+00] [ 4.59923981e-02 9.98937584e-01 -2.89880356e-03 5.72298617e-01] [ 4.94828138e-02 6.20077402e-04 9.98774783e-01 3.19444800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.270385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.75, Y:0.58, Z:0.32 [[ 9.97641955e-01 -4.76625614e-02 -4.93843102e-02 9.74580135e+00] [ 4.75588041e-02 9.98863072e-01 -3.27460734e-03 5.75765231e-01] [ 4.94842400e-02 9.18226937e-04 9.98774482e-01 3.19158571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.300385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.77, Y:0.58, Z:0.32 [[ 9.97457073e-01 -5.13895086e-02 -4.93812207e-02 9.77475839e+00] [ 5.12870151e-02 9.98678366e-01 -3.34123842e-03 5.75994275e-01] [ 4.94876614e-02 8.00126479e-04 9.98774415e-01 3.21864877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.330385723000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.81, Y:0.58, Z:0.32 [[ 9.97370207e-01 -5.30438761e-02 -4.93864128e-02 9.80540650e+00] [ 5.29489714e-02 9.98591999e-01 -3.22889941e-03 5.76821971e-01] [ 4.94881501e-02 6.05448315e-04 9.98774527e-01 3.23411823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.360385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.84, Y:0.58, Z:0.33 [[ 9.97268217e-01 -5.49271200e-02 -4.93873951e-02 9.83613707e+00] [ 5.48355768e-02 9.98490246e-01 -3.20761304e-03 5.79470960e-01] [ 4.94890172e-02 4.90664243e-04 9.98774547e-01 3.25811069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.390385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.87, Y:0.58, Z:0.33 [[ 9.96996254e-01 -5.96582277e-02 -4.93899311e-02 9.86793147e+00] [ 5.95752216e-02 9.98218842e-01 -3.15234651e-03 5.79963236e-01] [ 4.94900232e-02 2.00461571e-04 9.98774598e-01 3.28631373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.420385723 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] Translation: X:9.90, Y:0.58, Z:0.33 [[ 9.96887892e-01 -6.14386900e-02 -4.93945100e-02 9.89992012e+00] [ 6.13628268e-02 9.98110859e-01 -3.05225369e-03 5.81395758e-01] [ 4.94887232e-02 1.17679893e-05 9.98774682e-01 3.29361329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.450385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.93, Y:0.58, Z:0.33 [[ 9.96653095e-01 -6.51368240e-02 -4.93943506e-02 9.93219733e+00] [ 6.50653247e-02 9.97876328e-01 -3.05576321e-03 5.81855060e-01] [ 4.94884959e-02 -1.68323597e-04 9.98774680e-01 3.31428617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.480385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.96, Y:0.58, Z:0.34 [[ 9.96476975e-01 -6.77773344e-02 -4.93950481e-02 9.96317764e+00] [ 6.77098243e-02 9.97700423e-01 -3.04067553e-03 5.84416645e-01] [ 4.94875492e-02 -3.14566869e-04 9.98774691e-01 3.35221837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.510385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.99, Y:0.59, Z:0.33 [[ 9.96230759e-01 -7.13082331e-02 -4.93903949e-02 9.99404271e+00] [ 7.12400724e-02 9.97454252e-01 -3.14127697e-03 5.86922557e-01] [ 4.94886583e-02 -3.89138569e-04 9.98774610e-01 3.33600155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.540385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.03, Y:0.59, Z:0.33 [[ 9.96178873e-01 -7.20301705e-02 -4.93893524e-02 1.00288522e+01] [ 7.19617783e-02 9.97402372e-01 -3.16383516e-03 5.88776429e-01] [ 4.94889489e-02 -4.02399894e-04 9.98774590e-01 3.32896347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.570385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.06, Y:0.59, Z:0.33 [[ 9.96574500e-01 -6.63077528e-02 -4.94221421e-02 1.00595899e+01] [ 6.62679002e-02 9.97798868e-01 -2.44629495e-03 5.87418669e-01] [ 4.94755657e-02 -8.37186415e-04 9.98774983e-01 3.29035846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.600385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.09, Y:0.59, Z:0.33 [[ 9.96769090e-01 -6.33330930e-02 -4.93993891e-02 1.00899926e+01] [ 6.32645725e-02 9.97992428e-01 -2.95098350e-03 5.87960874e-01] [ 4.94871111e-02 -1.83782097e-04 9.98774745e-01 3.31416884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.630385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.13, Y:0.59, Z:0.34 [[ 9.97063763e-01 -5.85121864e-02 -4.93981354e-02 1.01259257e+01] [ 5.84363729e-02 9.98286691e-01 -2.97879752e-03 5.86374405e-01] [ 4.94877970e-02 8.34032022e-05 9.98774725e-01 3.35366676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.660385723000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.15, Y:0.59, Z:0.34 [[ 9.97101139e-01 -5.78328909e-02 -4.94436599e-02 1.01543387e+01] [ 5.78065936e-02 9.98325871e-01 -1.96285841e-03 5.90837544e-01] [ 4.94744026e-02 -9.01001197e-04 9.98774986e-01 3.40922154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.690385723 meters Centerline goodness : 0.999886 Centerline is valid? [True, True] Translation: X:10.19, Y:0.59, Z:0.34 [[ 9.97228698e-01 -5.56002082e-02 -4.94321875e-02 1.01853532e+01] [ 5.55584961e-02 9.98452969e-01 -2.21851804e-03 5.92794157e-01] [ 4.94790645e-02 -5.34008141e-04 9.98775018e-01 3.43737296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.720385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.21, Y:0.60, Z:0.34 [[ 9.97385923e-01 -5.27045790e-02 -4.94322610e-02 1.02116688e+01] [ 5.26593938e-02 9.98610071e-01 -2.21687952e-03 5.95765390e-01] [ 4.94803934e-02 -3.91988471e-04 9.98775018e-01 3.43829997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.750385723 meters Centerline goodness : 0.999817 Centerline is valid? [True, True] Translation: X:10.25, Y:0.59, Z:0.34 [[ 9.97560637e-01 -4.93202857e-02 -4.93992325e-02 1.02458765e+01] [ 4.92347480e-02 9.98782885e-01 -2.94762964e-03 5.90288657e-01] [ 4.94844859e-02 5.08280540e-04 9.98774763e-01 3.42824575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.780385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.27, Y:0.59, Z:0.34 [[ 9.97690990e-01 -4.65741138e-02 -4.94321836e-02 1.02712550e+01] [ 4.65216805e-02 9.98914833e-01 -2.21134598e-03 5.93612038e-01] [ 4.94815329e-02 -9.34282939e-05 9.98775034e-01 3.39559555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.810385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.30, Y:0.60, Z:0.34 [[ 9.97854954e-01 -4.29528478e-02 -4.94018612e-02 1.02995289e+01] [ 4.28626207e-02 9.99076811e-01 -2.88482664e-03 5.97735703e-01] [ 4.94801655e-02 7.61145312e-04 9.98774816e-01 3.44308860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.840385723 meters Centerline goodness : 0.999885 Centerline is valid? [True, True] Translation: X:10.33, Y:0.60, Z:0.35 [[ 9.98036460e-01 -3.84917351e-02 -4.94126496e-02 1.03268701e+01] [ 3.84083473e-02 9.99258650e-01 -2.63633359e-03 6.00821041e-01] [ 4.94774945e-02 7.33298838e-04 9.98774970e-01 3.47375903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.870385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.36, Y:0.60, Z:0.35 [[ 9.98340995e-01 -2.95811876e-02 -4.93985004e-02 1.03568930e+01] [ 2.94712242e-02 9.99561267e-01 -2.95308584e-03 5.99572866e-01] [ 4.94641834e-02 1.49235237e-03 9.98774783e-01 3.49900013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.900385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.38, Y:0.60, Z:0.34 [[ 9.98434736e-01 -2.61941701e-02 -4.94160168e-02 1.03810250e+01] [ 2.60991233e-02 9.99656062e-01 -2.56778494e-03 5.99919210e-01] [ 4.94662818e-02 1.27405096e-03 9.98774982e-01 3.43844106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.930385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.42, Y:0.60, Z:0.35 [[ 9.98463287e-01 -2.51078884e-02 -4.94030138e-02 1.04173752e+01] [ 2.49965688e-02 9.99683417e-01 -2.86993466e-03 5.98275210e-01] [ 4.94594317e-02 1.63061856e-03 9.98774802e-01 3.48017237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.960385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.44, Y:0.60, Z:0.35 [[ 9.98453818e-01 -2.54090079e-02 -4.94404265e-02 1.04408604e+01] [ 2.53416165e-02 9.99676870e-01 -1.98954126e-03 5.99431871e-01] [ 4.94750031e-02 7.33564744e-04 9.98775093e-01 3.45158229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.990385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.47, Y:0.60, Z:0.35 [[ 9.98519592e-01 -2.27228102e-02 -4.94196166e-02 1.04682766e+01] [ 2.26277280e-02 9.99740878e-01 -2.48266769e-03 5.98982894e-01] [ 4.94632240e-02 1.36073868e-03 9.98775019e-01 3.46210251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.020385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.49, Y:0.60, Z:0.35 [[ 9.98557660e-01 -2.10111790e-02 -4.94077901e-02 1.04948030e+01] [ 2.09002651e-02 9.99777755e-01 -2.76048752e-03 6.01673526e-01] [ 4.94548105e-02 1.72387004e-03 9.98774875e-01 3.50066657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.050385723 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:10.52, Y:0.60, Z:0.36 [[ 9.98620541e-01 -1.77822588e-02 -4.94045181e-02 1.05234389e+01] [ 1.76635994e-02 9.99839960e-01 -2.83738874e-03 6.02348271e-01] [ 4.94470666e-02 1.96081307e-03 9.98774821e-01 3.55739932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.080385723000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.55, Y:0.60, Z:0.36 [[ 9.98632670e-01 -1.70750766e-02 -4.94088279e-02 1.05518664e+01] [ 1.69605813e-02 9.99852417e-01 -2.73566337e-03 6.02213931e-01] [ 4.94482477e-02 1.89392037e-03 9.98774891e-01 3.59274418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.110385723 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:10.58, Y:0.60, Z:0.37 [[ 9.98619058e-01 -1.78599936e-02 -4.94064474e-02 1.05821635e+01] [ 1.77436780e-02 9.99838671e-01 -2.79188841e-03 5.97603783e-01] [ 4.94483398e-02 1.91138088e-03 9.98774854e-01 3.65109908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.140385723 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:10.61, Y:0.60, Z:0.37 [[ 9.98619247e-01 -1.78325464e-02 -4.94125418e-02 1.06096102e+01] [ 1.77230231e-02 9.99839413e-01 -2.65379353e-03 5.98751077e-01] [ 4.94519307e-02 1.77438968e-03 9.98774929e-01 3.66408959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.170385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:10.64, Y:0.60, Z:0.36 [[ 9.98606897e-01 -1.84890119e-02 -4.94208621e-02 1.06381069e+01] [ 1.83900802e-02 9.99827872e-01 -2.45581373e-03 5.96907231e-01] [ 4.94577610e-02 1.54353891e-03 9.98775023e-01 3.61995575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.200385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:10.67, Y:0.60, Z:0.36 [[ 9.98564417e-01 -2.06792371e-02 -4.94112837e-02 1.06662518e+01] [ 2.05717670e-02 9.99784780e-01 -2.68262719e-03 5.95058718e-01] [ 4.94561241e-02 1.66229864e-03 9.98774914e-01 3.61695444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.230385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:10.69, Y:0.59, Z:0.36 [[ 9.98530035e-01 -2.22841371e-02 -4.94083666e-02 1.06949212e+01] [ 2.21752129e-02 9.99750313e-01 -2.75169990e-03 5.94738357e-01] [ 4.94573492e-02 1.65201396e-03 9.98774870e-01 3.60440920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.260385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.73, Y:0.59, Z:0.36 [[ 9.98531711e-01 -2.22122103e-02 -4.94068835e-02 1.07280679e+01] [ 2.21014714e-02 9.99751849e-01 -2.78662136e-03 5.91860506e-01] [ 4.94565202e-02 1.69056498e-03 9.98774847e-01 3.64668637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.290385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.76, Y:0.59, Z:0.37 [[ 9.98387365e-01 -2.79050976e-02 -4.94365805e-02 1.07589338e+01] [ 2.78362039e-02 9.99610330e-01 -2.08164684e-03 5.89548407e-01] [ 4.94754051e-02 7.02163161e-04 9.98775095e-01 3.65766474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.320385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.79, Y:0.59, Z:0.37 [[ 9.98414910e-01 -2.68843729e-02 -4.94459184e-02 1.07865089e+01] [ 2.68251210e-02 9.99638408e-01 -1.86165059e-03 5.85452410e-01] [ 4.94780885e-02 5.32306958e-04 9.98775067e-01 3.66168149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.350385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.81, Y:0.58, Z:0.37 [[ 9.98314975e-01 -3.03872682e-02 -4.94350581e-02 1.08131658e+01] [ 3.03197406e-02 9.99538012e-01 -2.11547478e-03 5.83398373e-01] [ 4.94765033e-02 6.13052016e-04 9.98775100e-01 3.66686854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.380385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:10.84, Y:0.58, Z:0.37 [[ 9.98303961e-01 -3.07473873e-02 -4.94348106e-02 1.08385002e+01] [ 3.06800152e-02 9.99527007e-01 -2.12124410e-03 5.84663588e-01] [ 4.94766510e-02 6.00985643e-04 9.98775100e-01 3.66818705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.410385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.87, Y:0.59, Z:0.37 [[ 9.98238099e-01 -3.28286006e-02 -4.94265140e-02 1.08683655e+01] [ 3.27541804e-02 9.99460757e-01 -2.31509843e-03 5.86037187e-01] [ 4.94758625e-02 6.92094504e-04 9.98775080e-01 3.66224611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.440385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.89, Y:0.59, Z:0.37 [[ 9.98152905e-01 -3.53188546e-02 -4.94303293e-02 1.08932169e+01] [ 3.52519029e-02 9.99375980e-01 -2.22587326e-03 5.85296774e-01] [ 4.94780990e-02 4.79248692e-04 9.98775094e-01 3.66402220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.470385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.92, Y:0.58, Z:0.37 [[ 9.98093550e-01 -3.69879857e-02 -4.94080479e-02 1.09248139e+01] [ 3.68978541e-02 9.99315299e-01 -2.73538060e-03 5.83996415e-01] [ 4.94753944e-02 9.07114783e-04 9.98774931e-01 3.73427827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.500385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.95, Y:0.59, Z:0.37 [[ 9.98003812e-01 -3.93030296e-02 -4.94334164e-02 1.09490692e+01] [ 3.92445628e-02 9.99227316e-01 -2.15314825e-03 5.87683623e-01] [ 4.94798452e-02 2.08857351e-04 9.98775100e-01 3.70422694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.530385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.98, Y:0.59, Z:0.38 [[ 9.97975232e-01 -4.00449854e-02 -4.94149223e-02 1.09785020e+01] [ 3.99664500e-02 9.99197700e-01 -2.57675345e-03 5.87146815e-01] [ 4.94784628e-02 5.96597095e-04 9.98775013e-01 3.75008895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.560385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.00, Y:0.59, Z:0.38 [[ 9.97906638e-01 -4.17073880e-02 -4.94250588e-02 1.10032276e+01] [ 4.16425782e-02 9.99129830e-01 -2.34072023e-03 5.85372147e-01] [ 4.94796759e-02 2.77633371e-04 9.98775092e-01 3.75964295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.590385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:11.03, Y:0.59, Z:0.38 [[ 9.97839344e-01 -4.33125105e-02 -4.94031442e-02 1.10312204e+01] [ 4.32247344e-02 9.99061326e-01 -2.84422319e-03 5.85436700e-01] [ 4.94799612e-02 7.02640016e-04 9.98774869e-01 3.76621367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.620385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.06, Y:0.58, Z:0.38 [[ 9.97670062e-01 -4.70516824e-02 -4.94022865e-02 1.10646466e+01] [ 4.69675121e-02 9.98892312e-01 -2.86389738e-03 5.82115746e-01] [ 4.94823154e-02 5.36922192e-04 9.98774856e-01 3.79704374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.650385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.09, Y:0.59, Z:0.38 [[ 9.97459251e-01 -5.12964903e-02 -4.94339175e-02 1.10888324e+01] [ 5.12538738e-02 9.98683385e-01 -2.13015597e-03 5.86770083e-01] [ 4.94781016e-02 -4.08935992e-04 9.98775125e-01 3.79665672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.680385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.12, Y:0.58, Z:0.38 [[ 9.97400945e-01 -5.24585262e-02 -4.93908601e-02 1.11239418e+01] [ 5.23686077e-02 9.98622969e-01 -3.11374027e-03 5.82306055e-01] [ 4.94861895e-02 5.19116912e-04 9.98774673e-01 3.84265912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.710385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.15, Y:0.58, Z:0.38 [[ 9.97245802e-01 -5.52916444e-02 -4.94332240e-02 1.11522832e+01] [ 5.52538373e-02 9.98470064e-01 -2.13205602e-03 5.81765700e-01] [ 4.94754792e-02 -6.05191402e-04 9.98775155e-01 3.83766761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.740385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.18, Y:0.59, Z:0.38 [[ 9.97050419e-01 -5.87100994e-02 -4.94326435e-02 1.11777019e+01] [ 5.86758265e-02 9.98274784e-01 -2.14543140e-03 5.87722183e-01] [ 4.94733200e-02 -7.61397940e-04 9.98775155e-01 3.83352218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.770385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.21, Y:0.59, Z:0.38 [[ 9.97191529e-01 -5.63009008e-02 -4.93888966e-02 1.12078694e+01] [ 5.62144453e-02 9.98413784e-01 -3.13889824e-03 5.85253651e-01] [ 4.94872779e-02 3.53713304e-04 9.98774691e-01 3.83604726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.800385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.24, Y:0.59, Z:0.38 [[ 9.97207633e-01 -5.60037004e-02 -4.94016400e-02 1.12371111e+01] [ 5.59317194e-02 9.98430559e-01 -2.83934640e-03 5.86284399e-01] [ 4.94831210e-02 6.82992331e-05 9.98774958e-01 3.84299988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.830385723000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.27, Y:0.59, Z:0.39 [[ 9.97225250e-01 -5.56882808e-02 -4.94025883e-02 1.12656424e+01] [ 5.56170205e-02 9.98448202e-01 -2.81699133e-03 5.89903343e-01] [ 4.94827989e-02 6.15501189e-05 9.98774974e-01 3.86633422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.860385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.30, Y:0.59, Z:0.39 [[ 9.97324572e-01 -5.38850716e-02 -4.93973412e-02 1.12954245e+01] [ 5.38054744e-02 9.98547106e-01 -2.94065558e-03 5.91634440e-01] [ 4.94840295e-02 2.74940690e-04 9.98774877e-01 3.88647154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.890385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.33, Y:0.59, Z:0.39 [[ 9.97526972e-01 -4.99981349e-02 -4.93976279e-02 1.13288577e+01] [ 4.99141135e-02 9.98749205e-01 -2.93380530e-03 5.92981990e-01] [ 4.94825264e-02 4.60911110e-04 9.98774883e-01 3.94651155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.920385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:11.36, Y:0.59, Z:0.39 [[ 9.97669512e-01 -4.70296515e-02 -4.94343704e-02 1.13559610e+01] [ 4.69859226e-02 9.98893454e-01 -2.04692795e-03 5.94097924e-01] [ 4.94759353e-02 -2.80561891e-04 9.98775277e-01 3.94553570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.950385723 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:11.38, Y:0.60, Z:0.39 [[ 9.97745098e-01 -4.53980937e-02 -4.94341278e-02 1.13834277e+01] [ 4.53520739e-02 9.98968956e-01 -2.05276920e-03 5.95468813e-01] [ 4.94763509e-02 -1.93799810e-04 9.98775277e-01 3.93930498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.980385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.41, Y:0.60, Z:0.39 [[ 9.97961933e-01 -4.03522416e-02 -4.94335630e-02 1.14097856e+01] [ 4.02993644e-02 9.99185514e-01 -2.06628112e-03 5.98859699e-01] [ 4.94766792e-02 6.99287277e-05 9.98775277e-01 3.93281674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.010385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.43, Y:0.61, Z:0.39 [[ 9.97942532e-01 -4.08299440e-02 -4.94329699e-02 1.14333129e+01] [ 4.07769545e-02 9.99166108e-01 -2.08037401e-03 6.05694646e-01] [ 4.94766897e-02 6.03677465e-05 9.98775277e-01 3.91658972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.040385723 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:11.47, Y:0.60, Z:0.40 [[ 9.98179267e-01 -3.46118996e-02 -4.93980454e-02 1.14679909e+01] [ 3.45098262e-02 9.99400099e-01 -2.91798692e-03 6.04880235e-01] [ 4.94694085e-02 1.20795608e-03 9.98774909e-01 3.97237514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.070385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.49, Y:0.61, Z:0.40 [[ 9.98152602e-01 -3.53216929e-02 -4.94344111e-02 1.14893291e+01] [ 3.52641935e-02 9.99375953e-01 -2.03510033e-03 6.12268338e-01] [ 4.94754449e-02 2.88076050e-04 9.98775299e-01 3.97666266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.100385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:11.52, Y:0.62, Z:0.40 [[ 9.98265426e-01 -3.20353447e-02 -4.93950960e-02 1.15170832e+01] [ 3.19271431e-02 9.99485762e-01 -2.97818456e-03 6.17679736e-01] [ 4.94651023e-02 1.39597438e-03 9.98774877e-01 4.01540802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.130385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.55, Y:0.62, Z:0.40 [[ 9.98390833e-01 -2.78627152e-02 -4.93904283e-02 1.15462082e+01] [ 2.77439010e-02 9.99610289e-01 -3.08967495e-03 6.21434866e-01] [ 4.94572671e-02 1.71441999e-03 9.98774769e-01 4.03889580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.160385723 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:11.57, Y:0.62, Z:0.40 [[ 9.98424357e-01 -2.66310416e-02 -4.93922150e-02 1.15744703e+01] [ 2.65128499e-02 9.99643830e-01 -3.04666139e-03 6.24768389e-01] [ 4.94557587e-02 1.73233256e-03 9.98774813e-01 4.04811307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.190385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.61, Y:0.62, Z:0.40 [[ 9.98563212e-01 -2.07891561e-02 -4.93894995e-02 1.16100672e+01] [ 2.06606111e-02 9.99781704e-01 -3.11182889e-03 6.19941798e-01] [ 4.94434103e-02 2.08694061e-03 9.98774746e-01 4.04297643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.220385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.64, Y:0.62, Z:0.40 [[ 9.98586246e-01 -1.95392601e-02 -4.94340641e-02 1.16375667e+01] [ 1.94629691e-02 9.99808529e-01 -2.02422449e-03 6.19909248e-01] [ 4.94641507e-02 1.05922907e-03 9.98775338e-01 4.03396031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.250385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.66, Y:0.62, Z:0.41 [[ 9.98611330e-01 -1.82128918e-02 -4.94338203e-02 1.16649649e+01] [ 1.81346837e-02 9.99833492e-01 -2.03016038e-03 6.23235560e-01] [ 4.94625642e-02 1.13087447e-03 9.98775338e-01 4.05033186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.280385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.69, Y:0.63, Z:0.41 [[ 9.98583360e-01 -1.96881968e-02 -4.94332618e-02 1.16851517e+01] [ 1.96111260e-02 9.99805595e-01 -2.04366899e-03 6.32368137e-01] [ 4.94638879e-02 1.07133192e-03 9.98775338e-01 4.06186517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.310385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.72, Y:0.63, Z:0.41 [[ 9.98650518e-01 -1.60420849e-02 -4.93942742e-02 1.17154559e+01] [ 1.59165708e-02 9.99869020e-01 -2.93337880e-03 6.33004486e-01] [ 4.94348621e-02 2.14323279e-03 9.98775050e-01 4.12688339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.340385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.74, Y:0.63, Z:0.41 [[ 9.98680314e-01 -1.39809536e-02 -4.94182494e-02 1.17435019e+01] [ 1.38800543e-02 9.99900825e-01 -2.38434308e-03 6.32886220e-01] [ 4.94466837e-02 1.69526850e-03 9.98775326e-01 4.12631491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.370385723 meters Centerline goodness : 0.999003 Centerline is valid? [True, True] Translation: X:11.77, Y:0.63, Z:0.41 [[ 9.98697678e-01 -1.26814104e-02 -4.94179142e-02 1.17702773e+01] [ 1.25785476e-02 9.99918026e-01 -2.39193761e-03 6.33051785e-01] [ 4.94441963e-02 1.76721695e-03 9.98775324e-01 4.13121043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.400385723 meters Centerline goodness : 0.999276 Centerline is valid? [True, True] Translation: X:11.80, Y:0.63, Z:0.41 [[ 9.98693487e-01 -1.30389458e-02 -4.94095598e-02 1.17986242e+01] [ 1.29272561e-02 9.99913113e-01 -2.57938789e-03 6.33153877e-01] [ 4.94388993e-02 1.93728785e-03 9.98775271e-01 4.11455234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.430385723 meters Centerline goodness : 0.999278 Centerline is valid? [True, True] Translation: X:11.83, Y:0.64, Z:0.41 [[ 9.98653187e-01 -1.58224303e-02 -4.94111655e-02 1.18287936e+01] [ 1.57159198e-02 9.99873262e-01 -2.54338575e-03 6.35272390e-01] [ 4.94451458e-02 1.76341837e-03 9.98775284e-01 4.13092049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.460385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.85, Y:0.64, Z:0.41 [[ 9.98650828e-01 -1.59364597e-02 -4.94221975e-02 1.18547061e+01] [ 1.58423038e-02 9.99871866e-01 -2.29629497e-03 6.37985545e-01] [ 4.94524596e-02 1.51023540e-03 9.98775337e-01 4.12090397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.490385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.89, Y:0.64, Z:0.42 [[ 9.98619216e-01 -1.78615893e-02 -4.94026728e-02 1.18850928e+01] [ 1.77482732e-02 9.99838756e-01 -2.73148258e-03 6.37193103e-01] [ 4.94434955e-02 1.85089886e-03 9.98775207e-01 4.16880127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.520385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.91, Y:0.64, Z:0.42 [[ 9.98576366e-01 -2.00714637e-02 -4.94204115e-02 1.19129892e+01] [ 1.99804036e-02 9.99797643e-01 -2.33594281e-03 6.37881426e-01] [ 4.94572968e-02 1.34517751e-03 9.98775333e-01 4.17652643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.550385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.95, Y:0.64, Z:0.42 [[ 9.98620611e-01 -1.77197887e-02 -4.94255349e-02 1.19493227e+01] [ 1.76314882e-02 9.99842084e-01 -2.22198628e-03 6.35399319e-01] [ 4.94571030e-02 1.34747556e-03 9.98775340e-01 4.16936494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.580385723000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.97, Y:0.64, Z:0.42 [[ 9.98566009e-01 -2.04708133e-02 -4.94658544e-02 1.19688994e+01] [ 2.04323937e-02 9.99790415e-01 -1.28227938e-03 6.37764221e-01] [ 4.94817364e-02 2.69734793e-04 9.98774992e-01 4.19893077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.610385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.00, Y:0.64, Z:0.42 [[ 9.98442036e-01 -2.59396622e-02 -4.94027865e-02 1.19994898e+01] [ 2.58388252e-02 9.99662533e-01 -2.67877976e-03 6.39892456e-01] [ 4.94556014e-02 1.39809635e-03 9.98775345e-01 4.20887690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.640385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.03, Y:0.64, Z:0.42 [[ 9.98349326e-01 -2.92675403e-02 -4.94169478e-02 1.20294039e+01] [ 2.91863916e-02 9.99571193e-01 -2.36307213e-03 6.40590778e-01] [ 4.94649188e-02 9.16869078e-04 9.98775441e-01 4.22506668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.670385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.06, Y:0.64, Z:0.42 [[ 9.98154839e-01 -3.52739881e-02 -4.94233030e-02 1.20567738e+01] [ 3.52071911e-02 9.99377565e-01 -2.22170836e-03 6.42293299e-01] [ 4.94709087e-02 4.77553277e-04 9.98775451e-01 4.24338922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.700385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.08, Y:0.64, Z:0.42 [[ 9.97903299e-01 -4.17900057e-02 -4.94226833e-02 1.20833803e+01] [ 4.17305144e-02 9.99126402e-01 -2.23541051e-03 6.42475742e-01] [ 4.94729255e-02 1.68289524e-04 9.98775451e-01 4.24392024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.730385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.11, Y:0.65, Z:0.42 [[ 9.97635228e-01 -4.77639235e-02 -4.94222550e-02 1.21078660e+01] [ 4.77112893e-02 9.98858645e-01 -2.24483845e-03 6.46567298e-01] [ 4.94730690e-02 -1.18469592e-04 9.98775451e-01 4.22685088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.760385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.14, Y:0.65, Z:0.42 [[ 9.97333264e-01 -5.37297290e-02 -4.93910628e-02 1.21358318e+01] [ 5.36506056e-02 9.98555478e-01 -2.92728280e-03 6.46430416e-01] [ 4.94769984e-02 2.69616082e-04 9.98775227e-01 4.23279293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.790385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.16, Y:0.65, Z:0.43 [[ 9.97148042e-01 -5.70652315e-02 -4.93896944e-02 1.21647317e+01] [ 5.69887204e-02 9.98370443e-01 -2.95708615e-03 6.48241624e-01] [ 4.94779579e-02 1.33997185e-04 9.98775207e-01 4.25781845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.820385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.20, Y:0.65, Z:0.43 [[ 9.96991233e-01 -5.97422173e-02 -4.93897615e-02 1.21971418e+01] [ 5.96690608e-02 9.98213839e-01 -2.95562386e-03 6.45066801e-01] [ 4.94781189e-02 -3.09602165e-07 9.98775208e-01 4.29497816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.850385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:12.22, Y:0.65, Z:0.43 [[ 9.96551171e-01 -6.66575704e-02 -4.94219833e-02 1.22228407e+01] [ 6.66280047e-02 9.97775355e-01 -2.24727727e-03 6.49789987e-01] [ 4.94618350e-02 -1.05336134e-03 9.98775459e-01 4.28553799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.880385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.25, Y:0.65, Z:0.43 [[ 9.96370976e-01 -6.93262429e-02 -4.93836991e-02 1.22533000e+01] [ 6.92584728e-02 9.97593981e-01 -3.08422655e-03 6.51452695e-01] [ 4.94786989e-02 -3.47205766e-04 9.98775119e-01 4.30638933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.910385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:12.29, Y:0.65, Z:0.43 [[ 9.96302902e-01 -7.02933588e-02 -4.93899863e-02 1.22861039e+01] [ 7.02337165e-02 9.97526219e-01 -2.94417501e-03 6.52403027e-01] [ 4.94747623e-02 -5.35552197e-04 9.98775231e-01 4.33015006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.940385723 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:12.32, Y:0.66, Z:0.43 [[ 9.96139277e-01 -7.25761133e-02 -4.93887524e-02 1.23169156e+01] [ 7.25179085e-02 9.97362683e-01 -2.97173340e-03 6.55451898e-01] [ 4.94741754e-02 -6.21308666e-04 9.98775210e-01 4.32221915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.970385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.34, Y:0.65, Z:0.43 [[ 9.96478181e-01 -6.77668030e-02 -4.93851752e-02 1.23429552e+01] [ 6.76987384e-02 9.97701142e-01 -3.05154473e-03 6.52694199e-01] [ 4.94784391e-02 -3.02516315e-04 9.98775146e-01 4.33414470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.000385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.38, Y:0.66, Z:0.43 [[ 9.96272696e-01 -7.07539075e-02 -4.93416565e-02 1.23809035e+01] [ 7.06435114e-02 9.97493687e-01 -3.97989220e-03 6.55511325e-01] [ 4.94995837e-02 4.79390067e-04 9.98774029e-01 4.34515166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.030385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.41, Y:0.66, Z:0.44 [[ 9.96291423e-01 -7.04501888e-02 -4.93980919e-02 1.24136651e+01] [ 7.04000198e-02 9.97515031e-01 -2.75691609e-03 6.56280231e-01] [ 4.94695644e-02 -7.30934789e-04 9.98775364e-01 4.35610326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.060385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:12.45, Y:0.66, Z:0.44 [[ 9.96122872e-01 -7.27907076e-02 -4.94038068e-02 1.24473600e+01] [ 7.27497382e-02 9.97346761e-01 -2.62931615e-03 6.59760786e-01] [ 4.94641165e-02 -9.74992060e-04 9.98775425e-01 4.35538262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.090385722999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.48, Y:0.67, Z:0.44 [[ 9.96231512e-01 -7.12827247e-02 -4.94120206e-02 1.24781114e+01] [ 7.12490349e-02 9.97455561e-01 -2.44508131e-03 6.66248361e-01] [ 4.94605868e-02 -1.08469173e-03 9.98775487e-01 4.41023700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.120385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.51, Y:0.67, Z:0.44 [[ 9.96262765e-01 -7.08478987e-02 -4.94072604e-02 1.25076548e+01] [ 7.08083629e-02 9.97486672e-01 -2.55224105e-03 6.71768687e-01] [ 4.94639047e-02 -9.55744502e-04 9.98775455e-01 4.44925256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.150385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.54, Y:0.67, Z:0.45 [[ 9.96572913e-01 -6.63549185e-02 -4.93908305e-02 1.25388011e+01] [ 6.62915599e-02 9.97796018e-01 -2.92160580e-03 6.74677572e-01] [ 4.94758369e-02 -3.62601996e-04 9.98775255e-01 4.47454137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.180385722999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.57, Y:0.67, Z:0.45 [[ 9.96753569e-01 -6.35887088e-02 -4.93841959e-02 1.25737730e+01] [ 6.35145356e-02 9.97976187e-01 -3.07136805e-03 6.72986911e-01] [ 4.94795559e-02 -7.52172092e-05 9.98775134e-01 4.46175936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.210385722999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.60, Y:0.68, Z:0.44 [[ 9.96962387e-01 -6.02113838e-02 -4.94023091e-02 1.26029517e+01] [ 6.01535747e-02 9.98185597e-01 -2.65745954e-03 6.75133293e-01] [ 4.94726827e-02 -3.22338288e-04 9.98775425e-01 4.43683832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.240385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.63, Y:0.68, Z:0.45 [[ 9.97140803e-01 -5.71919071e-02 -4.93893181e-02 1.26327146e+01] [ 5.71158342e-02 9.98363196e-01 -2.95137313e-03 6.80398758e-01] [ 4.94772721e-02 1.22022471e-04 9.98775242e-01 4.48922083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.270385722999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.66, Y:0.68, Z:0.45 [[ 9.97267100e-01 -5.49432905e-02 -4.93919696e-02 1.26624178e+01] [ 5.48674653e-02 9.98489462e-01 -2.89072560e-03 6.82064300e-01] [ 4.94761872e-02 1.72813359e-04 9.98775289e-01 4.53987961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.300385722999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.69, Y:0.68, Z:0.45 [[ 9.97505142e-01 -5.04498150e-02 -4.93792249e-02 1.26921267e+01] [ 5.03540705e-02 9.98726361e-01 -3.18182167e-03 6.82544639e-01] [ 4.94768559e-02 6.87438508e-04 9.98775034e-01 4.53126960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.330385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.72, Y:0.68, Z:0.45 [[ 9.97733670e-01 -4.57002298e-02 -4.93863706e-02 1.27214182e+01] [ 4.56067462e-02 9.98954910e-01 -3.01870097e-03 6.80242463e-01] [ 4.94727127e-02 7.59507926e-04 9.98775187e-01 4.51319933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.360385722999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.75, Y:0.68, Z:0.45 [[ 9.97855525e-01 -4.29581276e-02 -4.93857338e-02 1.27500644e+01] [ 4.28605694e-02 9.99076459e-01 -3.03322411e-03 6.81180311e-01] [ 4.94704257e-02 9.10018768e-04 9.98775174e-01 4.53214984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.390385722999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.78, Y:0.68, Z:0.45 [[ 9.98153706e-01 -3.53569617e-02 -4.93868829e-02 1.27836220e+01] [ 3.52514012e-02 9.99373952e-01 -3.00707022e-03 6.81506168e-01] [ 4.94622852e-02 1.26056146e-03 9.98775197e-01 4.54781328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.420385723 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:12.81, Y:0.68, Z:0.46 [[ 9.98152218e-01 -3.53483605e-02 -4.94230977e-02 1.28060833e+01] [ 3.52839985e-02 9.99374960e-01 -2.17438936e-03 6.83103838e-01] [ 4.94690674e-02 4.26527061e-04 9.98775565e-01 4.57886810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.450385722999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.84, Y:0.68, Z:0.46 [[ 9.98399784e-01 -2.75638819e-02 -4.93771560e-02 1.28389166e+01] [ 2.74383657e-02 9.99618317e-01 -3.21814581e-03 6.75908268e-01] [ 4.94470142e-02 1.85816762e-03 9.98775020e-01 4.56968713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.480385722999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.86, Y:0.68, Z:0.46 [[ 9.98477751e-01 -2.45343788e-02 -4.93988309e-02 1.28644165e+01] [ 2.44297065e-02 9.99697845e-01 -2.72166789e-03 6.75205280e-01] [ 4.94506792e-02 1.51072589e-03 9.98775424e-01 4.60130244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.510385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.90, Y:0.68, Z:0.46 [[ 9.98496994e-01 -2.37716662e-02 -4.93827976e-02 1.28966099e+01] [ 2.36485353e-02 9.99715601e-01 -3.07625783e-03 6.77650062e-01] [ 4.94418810e-02 1.90380336e-03 9.98775188e-01 4.62990089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.540385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.92, Y:0.68, Z:0.47 [[ 9.98588528e-01 -1.94978412e-02 -4.94043016e-02 1.29195076e+01] [ 1.93935762e-02 9.99808575e-01 -2.58896680e-03 6.80806518e-01] [ 4.94453236e-02 1.62718646e-03 9.98775506e-01 4.66990170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.570385722999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.95, Y:0.68, Z:0.47 [[ 9.98578777e-01 -2.00692921e-02 -4.93725496e-02 1.29513416e+01] [ 1.99305174e-02 9.99795916e-01 -3.30152393e-03 6.79315523e-01] [ 4.94287327e-02 2.31281127e-03 9.98774975e-01 4.68486806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.600385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.98, Y:0.67, Z:0.46 [[ 9.98626359e-01 -1.74772699e-02 -4.93957438e-02 1.29779836e+01] [ 1.73612826e-02 9.99845427e-01 -2.77623119e-03 6.67938820e-01] [ 4.94366295e-02 1.91484417e-03 9.98775427e-01 4.61188570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.630385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.01, Y:0.66, Z:0.46 [[ 9.98637732e-01 -1.68616167e-02 -4.93798073e-02 1.30076884e+01] [ 1.67268362e-02 9.99855162e-01 -3.14146146e-03 6.63361961e-01] [ 4.94256253e-02 2.31121400e-03 9.98775133e-01 4.58803223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.660385722999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.04, Y:0.67, Z:0.46 [[ 9.98550200e-01 -2.14177786e-02 -4.93839752e-02 1.30423406e+01] [ 2.12932728e-02 9.99768633e-01 -3.04595724e-03 6.65596775e-01] [ 4.94377870e-02 1.98999476e-03 9.98775223e-01 4.62519871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.690385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.07, Y:0.67, Z:0.47 [[ 9.98514993e-01 -2.29068868e-02 -4.94275549e-02 1.30689414e+01] [ 2.28345225e-02 9.99737201e-01 -2.02829758e-03 6.71836792e-01] [ 4.94610273e-02 8.96630933e-04 9.98775652e-01 4.69998442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.720385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.09, Y:0.67, Z:0.47 [[ 9.98567936e-01 -2.04891749e-02 -4.94193321e-02 1.30897967e+01] [ 2.04043721e-02 9.99789345e-01 -2.21992041e-03 6.73274475e-01] [ 4.94544060e-02 1.20837090e-03 9.98775651e-01 4.74424768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.750385722999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.12, Y:0.66, Z:0.47 [[ 9.98599178e-01 -1.90098357e-02 -4.93792175e-02 1.31208665e+01] [ 1.88773633e-02 9.99816852e-01 -3.14777408e-03 6.61845410e-01] [ 4.94300125e-02 2.21121518e-03 9.98775142e-01 4.70535539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.780385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.15, Y:0.66, Z:0.47 [[ 9.98581503e-01 -1.98986293e-02 -4.93865042e-02 1.31486390e+01] [ 1.97756244e-02 9.99800008e-01 -2.97807972e-03 6.59260874e-01] [ 4.94358870e-02 1.99720637e-03 9.98775302e-01 4.69457003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.810385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.18, Y:0.67, Z:0.47 [[ 9.98485143e-01 -2.42599769e-02 -4.93849497e-02 1.31750380e+01] [ 2.41405062e-02 9.99704031e-01 -3.01427811e-03 6.65545249e-01] [ 4.94434596e-02 1.81753423e-03 9.98775270e-01 4.74317675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.840385722999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.20, Y:0.67, Z:0.48 [[ 9.98396510e-01 -2.76817542e-02 -4.93774142e-02 1.32022204e+01] [ 2.75577759e-02 9.99615122e-01 -3.18997812e-03 6.71130220e-01] [ 4.94467141e-02 1.82413131e-03 9.98775097e-01 4.79886382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.870385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.23, Y:0.67, Z:0.48 [[ 9.98329692e-01 -3.00023370e-02 -4.93729284e-02 1.32325898e+01] [ 2.98760521e-02 9.99548184e-01 -3.29394100e-03 6.69415946e-01] [ 4.94494468e-02 1.81337092e-03 9.98774982e-01 4.79371306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.900385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.26, Y:0.66, Z:0.47 [[ 9.98356536e-01 -2.90615807e-02 -4.93928241e-02 1.32596634e+01] [ 2.89575143e-02 9.99576662e-01 -2.82134508e-03 6.61489872e-01] [ 4.94539069e-02 1.38641489e-03 9.98775445e-01 4.74275200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.930385722999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.29, Y:0.66, Z:0.47 [[ 9.98376254e-01 -2.84023391e-02 -4.93777525e-02 1.32884098e+01] [ 2.82797951e-02 9.99594992e-01 -3.17875938e-03 6.60652331e-01] [ 4.94480384e-02 1.77720515e-03 9.98775116e-01 4.74478584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.960385722999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.31, Y:0.67, Z:0.48 [[ 9.98327325e-01 -3.00706635e-02 -4.93792102e-02 1.33132429e+01] [ 2.99518634e-02 9.99546397e-01 -3.14423275e-03 6.69369284e-01] [ 4.94513608e-02 1.65997412e-03 9.98775154e-01 4.84011804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.990385723 meters Centerline goodness : 0.995410 Centerline is valid? [True, True] Translation: X:13.35, Y:0.67, Z:0.49 [[ 9.98367105e-01 -2.87375039e-02 -4.93688113e-02 1.33456269e+01] [ 2.86064804e-02 9.99585108e-01 -3.35863781e-03 6.73755930e-01] [ 4.94448474e-02 1.94088558e-03 9.98774970e-01 4.87378793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.020385722999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.37, Y:0.68, Z:0.49 [[ 9.98393569e-01 -2.77182862e-02 -4.94163801e-02 1.33717570e+01] [ 2.76351291e-02 9.99615278e-01 -2.36535436e-03 6.76263517e-01] [ 4.94629321e-02 9.95926536e-04 9.98775463e-01 4.85256951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.050385722999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.41, Y:0.67, Z:0.48 [[ 9.98414736e-01 -2.69968721e-02 -4.93880947e-02 1.34063834e+01] [ 2.68816595e-02 9.99634134e-01 -2.99566056e-03 6.72641225e-01] [ 4.94508987e-02 1.66327771e-03 9.98775171e-01 4.80512031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.080385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.43, Y:0.67, Z:0.48 [[ 9.98418793e-01 -2.67799565e-02 -4.94241526e-02 1.34288308e+01] [ 2.67045849e-02 9.99640981e-01 -2.18481433e-03 6.67471201e-01] [ 4.94649176e-02 8.61508215e-04 9.98775490e-01 4.80509272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.110385722999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.46, Y:0.67, Z:0.49 [[ 9.98468606e-01 -2.49303184e-02 -4.93854351e-02 1.34562738e+01] [ 2.48098705e-02 9.99687533e-01 -3.05052899e-03 6.71887529e-01] [ 4.94460545e-02 1.82061118e-03 9.98775136e-01 4.86333210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.140385722999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.49, Y:0.68, Z:0.49 [[ 9.98430247e-01 -2.64281900e-02 -4.93821072e-02 1.34854300e+01] [ 2.63058568e-02 9.99649054e-01 -3.12566687e-03 6.77561219e-01] [ 4.94473825e-02 1.82172170e-03 9.98775069e-01 4.92834535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.170385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.52, Y:0.68, Z:0.49 [[ 9.98439343e-01 -2.60681544e-02 -4.93895741e-02 1.35153364e+01] [ 2.59536204e-02 9.99658769e-01 -2.95899283e-03 6.76372693e-01] [ 4.94498563e-02 1.67253660e-03 9.98775207e-01 4.92868663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.200385722999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.55, Y:0.66, Z:0.50 [[ 9.98550467e-01 -2.13697001e-02 -4.93994075e-02 1.35479992e+01] [ 2.12602614e-02 9.99770221e-01 -2.73982830e-03 6.64862210e-01] [ 4.94466059e-02 1.68561252e-03 9.98775346e-01 4.95634582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.230385722999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.57, Y:0.67, Z:0.49 [[ 9.98376423e-01 -2.83168898e-02 -4.94233999e-02 1.35744135e+01] [ 2.82425829e-02 9.99598675e-01 -2.20131938e-03 6.70465213e-01] [ 4.94658996e-02 8.01900901e-04 9.98775491e-01 4.93834587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.260385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.59, Y:0.67, Z:0.50 [[ 9.98453660e-01 -2.54658955e-02 -4.94143470e-02 1.35949383e+01] [ 2.53780256e-02 9.99675033e-01 -2.40491750e-03 6.70500654e-01] [ 4.94595324e-02 1.14716011e-03 9.98775470e-01 4.97401046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.290385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.62, Y:0.67, Z:0.50 [[ 9.98492548e-01 -2.39810527e-02 -4.93714588e-02 1.36228767e+01] [ 2.38442292e-02 9.99710045e-01 -3.35850002e-03 6.72335774e-01] [ 4.94376836e-02 2.17621286e-03 9.98774839e-01 5.00997416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.320385722999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.65, Y:0.67, Z:0.50 [[ 9.98525238e-01 -2.25867036e-02 -4.93679015e-02 1.36533075e+01] [ 2.24442828e-02 9.99742186e-01 -3.43740689e-03 6.71023081e-01] [ 4.94328135e-02 2.32431039e-03 9.98774747e-01 4.99207312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.350385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.68, Y:0.67, Z:0.50 [[ 9.98469505e-01 -2.49012999e-02 -4.93819074e-02 1.36822151e+01] [ 2.47768669e-02 9.99688105e-01 -3.13044183e-03 6.69636068e-01] [ 4.94444575e-02 1.90212176e-03 9.98775064e-01 5.00397651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.380385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.71, Y:0.67, Z:0.50 [[ 9.98510089e-01 -2.31929058e-02 -4.93932383e-02 1.37074897e+01] [ 2.30790322e-02 9.99729511e-01 -2.87460136e-03 6.66877774e-01] [ 4.94465484e-02 1.73037032e-03 9.98775272e-01 5.00540734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.410385722999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.74, Y:0.67, Z:0.50 [[ 9.98472028e-01 -2.48249886e-02 -4.93693181e-02 1.37381819e+01] [ 2.46868164e-02 9.99689430e-01 -3.40663063e-03 6.68517734e-01] [ 4.94385550e-02 2.18265410e-03 9.98774782e-01 5.01983362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.440385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.76, Y:0.67, Z:0.51 [[ 9.98459525e-01 -2.52789643e-02 -4.93918152e-02 1.37626016e+01] [ 2.51658619e-02 9.99679053e-01 -2.91053445e-03 6.71748929e-01] [ 4.94495384e-02 1.66306324e-03 9.98775239e-01 5.07986390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.470385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.79, Y:0.67, Z:0.51 [[ 9.98440693e-01 -2.60616614e-02 -4.93656985e-02 1.37915731e+01] [ 2.59213272e-02 9.99657925e-01 -3.48092873e-03 6.71800604e-01] [ 4.94395305e-02 2.19587647e-03 9.98774705e-01 5.08165544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.500385722999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.82, Y:0.67, Z:0.51 [[ 9.98390815e-01 -2.79030552e-02 -4.93680102e-02 1.38194411e+01] [ 2.77675118e-02 9.99608526e-01 -3.42941017e-03 6.68366339e-01] [ 4.94443749e-02 2.05306481e-03 9.98774769e-01 5.07845765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.530385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.85, Y:0.67, Z:0.51 [[ 9.98407168e-01 -2.73200583e-02 -4.93633658e-02 1.38506582e+01] [ 2.71787333e-02 9.99624350e-01 -3.53203904e-03 6.65782289e-01] [ 4.94413180e-02 2.18477934e-03 9.98774641e-01 5.07234285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.560385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.88, Y:0.67, Z:0.51 [[ 9.98365086e-01 -2.87803381e-02 -4.93846759e-02 1.38764623e+01] [ 2.86640744e-02 9.99584414e-01 -3.06099451e-03 6.68233714e-01] [ 4.94522488e-02 1.64042402e-03 9.98775142e-01 5.10073801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.590385722999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.91, Y:0.67, Z:0.51 [[ 9.98230291e-01 -3.31579852e-02 -4.93642968e-02 1.39066542e+01] [ 3.30252019e-02 9.99448379e-01 -3.50329325e-03 6.73253962e-01] [ 4.94532285e-02 1.86682757e-03 9.98774696e-01 5.12799761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.620385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.94, Y:0.67, Z:0.51 [[ 9.98481792e-01 -2.43991532e-02 -4.93841214e-02 1.39368991e+01] [ 2.42769473e-02 9.99700548e-01 -3.07299053e-03 6.67877033e-01] [ 4.94443116e-02 1.86942938e-03 9.98775132e-01 5.14683932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.650385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.96, Y:0.67, Z:0.52 [[ 9.98511424e-01 -2.31451004e-02 -4.93886755e-02 1.39646029e+01] [ 2.30265883e-02 9.99730449e-01 -2.96728278e-03 6.65111238e-01] [ 4.94440408e-02 1.82561305e-03 9.98775227e-01 5.15209053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.680385722999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.00, Y:0.66, Z:0.51 [[ 9.98529637e-01 -2.23657414e-02 -4.93795307e-02 1.39970494e+01] [ 2.22358349e-02 9.99747700e-01 -3.17861192e-03 6.60296023e-01] [ 4.94381643e-02 2.07594311e-03 9.98775029e-01 5.14913548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.710385722999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.02, Y:0.66, Z:0.51 [[ 9.98481797e-01 -2.43521710e-02 -4.94072240e-02 1.40240080e+01] [ 2.42565400e-02 9.99702555e-01 -2.53432254e-03 6.61766659e-01] [ 4.94542443e-02 1.33202661e-03 9.98775502e-01 5.14201646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.740385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.05, Y:0.66, Z:0.52 [[ 9.98355486e-01 -2.90867727e-02 -4.93992277e-02 1.40514752e+01] [ 2.89877704e-02 9.99576067e-01 -2.71952099e-03 6.64704522e-01] [ 4.94573878e-02 1.28307523e-03 9.98775410e-01 5.17594968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.770385722999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.08, Y:0.66, Z:0.52 [[ 9.98302523e-01 -3.08550793e-02 -4.93967286e-02 1.40799938e+01] [ 3.07553560e-02 9.99523082e-01 -2.77780561e-03 6.64996174e-01] [ 4.94588799e-02 1.25387637e-03 9.98775374e-01 5.18713453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.800385722999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.11, Y:0.66, Z:0.52 [[ 9.98246542e-01 -3.26116347e-02 -4.93996254e-02 1.41123970e+01] [ 3.25173868e-02 9.99467494e-01 -2.71054312e-03 6.59776394e-01] [ 4.94617151e-02 1.09944357e-03 9.98775415e-01 5.21789180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.830385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.14, Y:0.66, Z:0.52 [[ 9.98214077e-01 -3.35530052e-02 -4.94252108e-02 1.41419536e+01] [ 3.34895330e-02 9.99436837e-01 -2.11200094e-03 6.59232673e-01] [ 4.94682403e-02 4.53001840e-04 9.98775594e-01 5.17399104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.860385722999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.16, Y:0.67, Z:0.53 [[ 9.97916473e-01 -4.14639893e-02 -4.94312803e-02 1.41641838e+01] [ 4.14171946e-02 9.99139996e-01 -1.97100619e-03 6.65837045e-01] [ 4.94704950e-02 -8.04054147e-05 9.98775582e-01 5.25540363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.890385722999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.20, Y:0.67, Z:0.53 [[ 9.97818183e-01 -4.38036993e-02 -4.93974559e-02 1.42023325e+01] [ 4.37217507e-02 9.99039993e-01 -2.73879460e-03 6.66758769e-01] [ 4.94700033e-02 5.73075804e-04 9.98775445e-01 5.28550593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.920385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.22, Y:0.67, Z:0.53 [[ 9.97596004e-01 -4.85409258e-02 -4.94569699e-02 1.42230429e+01] [ 4.85333391e-02 9.98820644e-01 -1.35498961e-03 6.68073470e-01] [ 4.94644150e-02 -1.04857967e-03 9.98775336e-01 5.26361375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.950385722999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.25, Y:0.67, Z:0.53 [[ 9.97596000e-01 -4.85999085e-02 -4.93990781e-02 1.42514235e+01] [ 4.85262591e-02 9.98818285e-01 -2.68983349e-03 6.69910953e-01] [ 4.94714281e-02 2.86214665e-04 9.98775498e-01 5.28258788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.980385722999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.28, Y:0.67, Z:0.53 [[ 9.97338928e-01 -5.36181693e-02 -4.93979253e-02 1.42826813e+01] [ 5.35493580e-02 9.98561509e-01 -2.71632483e-03 6.66663062e-01] [ 4.94725112e-02 6.38693086e-05 9.98775484e-01 5.27315710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.010385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.31, Y:0.67, Z:0.53 [[ 9.97510628e-01 -5.03055521e-02 -4.94155727e-02 1.43063805e+01] [ 5.02527791e-02 9.98733858e-01 -2.31054537e-03 6.67514786e-01] [ 4.94692388e-02 -1.78476297e-04 9.98775632e-01 5.28482628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.040385722999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.35, Y:0.67, Z:0.53 [[ 9.97237632e-01 -5.54900472e-02 -4.93757020e-02 1.43506673e+01] [ 5.53988725e-02 9.98459130e-01 -3.21420761e-03 6.73535979e-01] [ 4.94779770e-02 4.69970569e-04 9.98775104e-01 5.34652080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.070385722999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.37, Y:0.68, Z:0.54 [[ 9.97095527e-01 -5.79193299e-02 -4.94556584e-02 1.43718677e+01] [ 5.79199718e-02 9.98320217e-01 -1.42134004e-03 6.77870215e-01] [ 4.94549067e-02 -1.44725855e-03 9.98775309e-01 5.37277390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.100385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.40, Y:0.68, Z:0.54 [[ 9.96939296e-01 -6.05935842e-02 -4.94009969e-02 1.43993171e+01] [ 6.05379000e-02 9.98162450e-01 -2.62401789e-03 6.80575030e-01] [ 4.94692188e-02 -3.74646067e-04 9.98775578e-01 5.38368155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.130385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.43, Y:0.68, Z:0.54 [[ 9.97009813e-01 -5.94293718e-02 -4.93921267e-02 1.44311938e+01] [ 5.93626287e-02 9.98232505e-01 -2.81841340e-03 6.75632971e-01] [ 4.94723229e-02 -1.22060663e-04 9.98775487e-01 5.38073532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.160385722999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.46, Y:0.68, Z:0.53 [[ 9.97007646e-01 -5.94439166e-02 -4.94183593e-02 1.44613589e+01] [ 5.94058596e-02 9.98231400e-01 -2.23981166e-03 6.75772018e-01] [ 4.94641011e-02 -7.02630763e-04 9.98775655e-01 5.32537852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.190385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.49, Y:0.68, Z:0.54 [[ 9.96948245e-01 -6.04228454e-02 -4.94295177e-02 1.44880016e+01] [ 6.03981433e-02 9.98172373e-01 -1.99459932e-03 6.79617830e-01] [ 4.94596983e-02 -9.96938805e-04 9.98775623e-01 5.39544517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.220385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.52, Y:0.69, Z:0.55 [[ 9.97142446e-01 -5.71388787e-02 -4.94175132e-02 1.45162025e+01] [ 5.70971198e-02 9.98366077e-01 -2.25742772e-03 6.91299211e-01] [ 4.94657557e-02 -5.70620671e-04 9.98775657e-01 5.45962630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.250385722999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.54, Y:0.70, Z:0.55 [[ 9.97187234e-01 -5.63523122e-02 -4.94169656e-02 1.45431850e+01] [ 5.63089972e-02 9.98410811e-01 -2.26935159e-03 6.98984063e-01] [ 4.94663159e-02 -5.19651347e-04 9.98775657e-01 5.48590322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.280385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.58, Y:0.70, Z:0.54 [[ 9.97686043e-01 -4.67239748e-02 -4.93905852e-02 1.45788691e+01] [ 4.66404576e-02 9.98907697e-01 -2.84273723e-03 6.96227694e-01] [ 4.94694597e-02 5.32559758e-04 9.98775495e-01 5.44379032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.310385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.60, Y:0.70, Z:0.55 [[ 9.97589011e-01 -4.87067006e-02 -4.94350263e-02 1.46016817e+01] [ 4.86737322e-02 9.98812979e-01 -1.87123010e-03 7.01796111e-01] [ 4.94674873e-02 -5.39468647e-04 9.98775589e-01 5.47035529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.340385722999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.63, Y:0.71, Z:0.55 [[ 9.97830195e-01 -4.35409873e-02 -4.93870807e-02 1.46330023e+01] [ 4.34506617e-02 9.99051360e-01 -2.90157625e-03 7.06448302e-01] [ 4.94665677e-02 7.49379059e-04 9.98775499e-01 5.49178506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.370385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.66, Y:0.71, Z:0.55 [[ 9.97883694e-01 -4.22639882e-02 -4.94154736e-02 1.46603698e+01] [ 4.22024366e-02 9.99106459e-01 -2.28876211e-03 7.10947275e-01] [ 4.94680510e-02 1.98464997e-04 9.98775687e-01 5.51332890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.400385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.68, Y:0.72, Z:0.55 [[ 9.98051107e-01 -3.81072408e-02 -4.94148391e-02 1.46788541e+01] [ 3.80399226e-02 9.99273568e-01 -2.30237866e-03 7.19714106e-01] [ 4.94666799e-02 4.18154915e-04 9.98775687e-01 5.53603556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.430385722999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.71, Y:0.72, Z:0.55 [[ 9.98188188e-01 -3.44043675e-02 -4.93627530e-02 1.47138725e+01] [ 3.42750797e-02 9.99406435e-01 -3.46347323e-03 7.23073566e-01] [ 4.94526117e-02 1.76528577e-03 9.98774911e-01 5.51873499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.460385722999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.74, Y:0.73, Z:0.55 [[ 9.98286726e-01 -3.13721228e-02 -4.93903063e-02 1.47413342e+01] [ 3.12697254e-02 9.99506934e-01 -2.84473915e-03 7.25090184e-01] [ 4.94551992e-02 1.29544402e-03 9.98775503e-01 5.52434247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.490385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.77, Y:0.73, Z:0.55 [[ 9.98387286e-01 -2.79835896e-02 -4.93937931e-02 1.47694526e+01] [ 2.78809219e-02 9.99607423e-01 -2.76646040e-03 7.33426392e-01] [ 4.94518177e-02 1.38485440e-03 9.98775550e-01 5.53877012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.520385722999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.80, Y:0.74, Z:0.56 [[ 9.98420316e-01 -2.67780167e-02 -4.93944341e-02 1.47979260e+01] [ 2.66745872e-02 9.99640382e-01 -2.75207326e-03 7.38632808e-01] [ 4.94503660e-02 1.43014972e-03 9.98775558e-01 5.56392031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.550385722999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.82, Y:0.75, Z:0.56 [[ 9.98356588e-01 -2.90472217e-02 -4.94002198e-02 1.48241143e+01] [ 2.89529808e-02 9.99577335e-01 -2.62236395e-03 7.48093787e-01] [ 4.94555125e-02 1.18777071e-03 9.98775621e-01 5.59197804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.580385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.85, Y:0.75, Z:0.56 [[ 9.98341257e-01 -2.95852875e-02 -4.93907426e-02 1.48530476e+01] [ 2.94811924e-02 9.99561315e-01 -2.83490787e-03 7.50382434e-01] [ 4.94529472e-02 1.37410750e-03 9.98775509e-01 5.61229182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.610385722999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.88, Y:0.75, Z:0.56 [[ 9.98230976e-01 -3.30936613e-02 -4.93936022e-02 1.48800736e+01] [ 3.29970150e-02 9.99451609e-01 -2.77101810e-03 7.52341134e-01] [ 4.94582183e-02 1.13627467e-03 9.98775547e-01 5.59179137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.640385722999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.91, Y:0.75, Z:0.56 [[ 9.98164271e-01 -3.50498549e-02 -4.93922555e-02 1.49080716e+01] [ 3.49541178e-02 9.99384993e-01 -2.80099554e-03 7.54450205e-01] [ 4.94600534e-02 1.06939096e-03 9.98775530e-01 5.59847834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.670385723 meters Centerline goodness : 0.999887 Centerline is valid? [True, True] Translation: X:14.93, Y:0.76, Z:0.56 [[ 9.98062168e-01 -3.78475802e-02 -4.93909846e-02 1.49349641e+01] [ 3.77539162e-02 9.99283064e-01 -2.82825773e-03 7.60112340e-01] [ 4.94626171e-02 9.58073948e-04 9.98775516e-01 5.60097402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.700385722999997 meters Centerline goodness : 0.999729 Centerline is valid? [True, True] Translation: X:14.96, Y:0.77, Z:0.56 [[ 9.97961927e-01 -4.04027452e-02 -4.93924063e-02 1.49625301e+01] [ 4.03136897e-02 9.99183154e-01 -2.79830303e-03 7.65641878e-01] [ 4.94651194e-02 8.01409744e-04 9.98775530e-01 5.63088095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.730385722999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.99, Y:0.78, Z:0.57 [[ 9.97665543e-01 -4.71553367e-02 -4.93947228e-02 1.49917737e+01] [ 4.70769887e-02 9.98887481e-01 -2.74899663e-03 7.75682751e-01] [ 4.94694001e-02 4.17224408e-04 9.98775553e-01 5.66817600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.760385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.03, Y:0.78, Z:0.57 [[ 9.97661094e-01 -4.72433549e-02 -4.94004819e-02 1.50280396e+01] [ 4.71713424e-02 9.98883368e-01 -2.62322159e-03 7.75477143e-01] [ 4.94692496e-02 2.86799073e-04 9.98775606e-01 5.65425025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.790385722999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.05, Y:0.78, Z:0.57 [[ 9.97096377e-01 -5.79121072e-02 -4.94469793e-02 1.50502922e+01] [ 5.79040051e-02 9.98320877e-01 -1.59750834e-03 7.81570544e-01] [ 4.94564669e-02 -1.27030837e-03 9.98775472e-01 5.71156493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.820385722999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.08, Y:0.78, Z:0.57 [[ 9.96962702e-01 -6.02153005e-02 -4.93911872e-02 1.50817298e+01] [ 6.01501283e-02 9.98185397e-01 -2.80615434e-03 7.80346582e-01] [ 4.94705353e-02 -1.73255032e-04 9.98775568e-01 5.73041280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.850385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.11, Y:0.78, Z:0.57 [[ 9.96410500e-01 -6.87327368e-02 -4.94158417e-02 1.51099647e+01] [ 6.87046140e-02 9.97634465e-01 -2.26948064e-03 7.83870821e-01] [ 4.94549344e-02 -1.13376198e-03 9.98775713e-01 5.72519521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.880385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.14, Y:0.78, Z:0.57 [[ 9.96331835e-01 -6.98823042e-02 -4.93896468e-02 1.51447873e+01] [ 6.98275272e-02 9.97555049e-01 -2.83575723e-03 7.82416983e-01] [ 4.94670608e-02 -6.23401706e-04 9.98775561e-01 5.74949805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.910385722999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.18, Y:0.78, Z:0.57 [[ 9.96058451e-01 -7.36589053e-02 -4.94158658e-02 1.51797855e+01] [ 7.36371289e-02 9.97282532e-01 -2.26354449e-03 7.84593293e-01] [ 4.94483100e-02 -1.38421986e-03 9.98775725e-01 5.74018149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.940385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.20, Y:0.79, Z:0.58 [[ 9.95666602e-01 -7.87670957e-02 -4.94344212e-02 1.52049026e+01] [ 7.87717399e-02 9.96890949e-01 -1.85729256e-03 7.89895892e-01] [ 4.94270206e-02 -2.04479119e-03 9.98775645e-01 5.77602764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.970385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.24, Y:0.79, Z:0.58 [[ 9.95732003e-01 -7.79631702e-02 -4.93915287e-02 1.52376048e+01] [ 7.79206023e-02 9.96955665e-01 -2.78968583e-03 7.91400383e-01] [ 4.94586571e-02 -1.07083821e-03 9.98775598e-01 5.78771346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.000385722999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.27, Y:0.79, Z:0.58 [[ 9.95969413e-01 -7.48686017e-02 -4.93925248e-02 1.52730645e+01] [ 7.48233064e-02 9.97192966e-01 -2.76799880e-03 7.89131019e-01] [ 4.94611145e-02 -9.38869873e-04 9.98775609e-01 5.80183362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.030385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.30, Y:0.79, Z:0.58 [[ 9.96078063e-01 -7.33930253e-02 -4.94161558e-02 1.53017664e+01] [ 7.33716483e-02 9.97302133e-01 -2.24888687e-03 7.91989794e-01] [ 4.94478902e-02 -1.38567793e-03 9.98775744e-01 5.78664818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.060385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.33, Y:0.79, Z:0.58 [[ 9.96242447e-01 -7.11456076e-02 -4.93891571e-02 1.53324937e+01] [ 7.10922428e-02 9.97465706e-01 -2.83855524e-03 7.93060370e-01] [ 4.94659412e-02 -6.83296733e-04 9.98775577e-01 5.78533565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.090385722999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.37, Y:0.79, Z:0.58 [[ 9.96454973e-01 -6.81042904e-02 -4.93891832e-02 1.53651277e+01] [ 6.80472202e-02 9.97678065e-01 -2.83798357e-03 7.94305436e-01] [ 4.94677835e-02 -5.32873782e-04 9.98775578e-01 5.80591888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.120385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.40, Y:0.79, Z:0.58 [[ 9.96946570e-01 -6.04828943e-02 -4.93898305e-02 1.54004054e+01] [ 6.04171808e-02 9.98169220e-01 -2.82370234e-03 7.93344202e-01] [ 4.94701942e-02 -1.68913955e-04 9.98775586e-01 5.80270666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.150385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.43, Y:0.80, Z:0.59 [[ 9.96941024e-01 -6.05333723e-02 -4.94399093e-02 1.54275502e+01] [ 6.05233009e-02 9.98165333e-01 -1.70211015e-03 7.96736293e-01] [ 4.94522380e-02 -1.29536307e-03 9.98775650e-01 5.85058475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.180385722999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.46, Y:0.80, Z:0.59 [[ 9.97089345e-01 -5.80591608e-02 -4.94163190e-02 1.54580306e+01] [ 5.80200322e-02 9.98312935e-01 -2.22710562e-03 7.97602194e-01] [ 4.94622544e-02 -6.46513135e-04 9.98775784e-01 5.85499857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.210385722999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.49, Y:0.79, Z:0.58 [[ 9.97592311e-01 -4.86685329e-02 -4.94060135e-02 1.54925155e+01] [ 4.86065196e-02 9.98814984e-01 -2.45657563e-03 7.92080370e-01] [ 4.94670244e-02 4.92065990e-05 9.98775756e-01 5.83716601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.240385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.52, Y:0.79, Z:0.59 [[ 9.97631434e-01 -4.78246069e-02 -4.94401607e-02 1.55178788e+01] [ 4.77994689e-02 9.98855520e-01 -1.69133653e-03 7.92759930e-01] [ 4.94644649e-02 -6.75882938e-04 9.98775655e-01 5.87867995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.270385722999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.54, Y:0.80, Z:0.59 [[ 9.97891615e-01 -4.20760342e-02 -4.94159050e-02 1.55442710e+01] [ 4.20172029e-02 9.99114401e-01 -2.22918637e-03 7.99579808e-01] [ 4.94659377e-02 1.48168284e-04 9.98775800e-01 5.89280583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.300385722999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.57, Y:0.80, Z:0.59 [[ 9.98020862e-01 -3.89133059e-02 -4.93975126e-02 1.55719855e+01] [ 3.88305124e-02 9.99242337e-01 -2.63497644e-03 8.03793639e-01] [ 4.94626216e-02 7.11630733e-04 9.98775722e-01 5.92771930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.330385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.60, Y:0.80, Z:0.60 [[ 9.98220365e-01 -3.34076730e-02 -4.93966709e-02 1.55991670e+01] [ 3.33172292e-02 9.99441305e-01 -2.65345078e-03 8.04788975e-01] [ 4.94577188e-02 1.00296840e-03 9.98775715e-01 5.95414484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.360385722999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.63, Y:0.80, Z:0.59 [[ 9.98309259e-01 -3.06411963e-02 -4.93937384e-02 1.56271272e+01] [ 3.05441931e-02 9.99529723e-01 -2.71766553e-03 8.02889918e-01] [ 4.94537821e-02 1.20437878e-03 9.98775687e-01 5.94606312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.390385722999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.66, Y:0.80, Z:0.59 [[ 9.98418039e-01 -2.68658360e-02 -4.93927727e-02 1.56566779e+01] [ 2.67631676e-02 9.99638050e-01 -2.73891506e-03 7.96344380e-01] [ 4.94484783e-02 1.41267515e-03 9.98775677e-01 5.91791389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.420385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.68, Y:0.80, Z:0.59 [[ 9.98442038e-01 -2.59529127e-02 -4.93957824e-02 1.56842349e+01] [ 2.58523956e-02 9.99662198e-01 -2.67284402e-03 7.96625057e-01] [ 4.94484645e-02 1.39168052e-03 9.98775707e-01 5.93209138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.450385722999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.71, Y:0.80, Z:0.60 [[ 9.98414584e-01 -2.69859815e-02 -4.93971125e-02 1.57106657e+01] [ 2.68881693e-02 9.99634952e-01 -2.64367729e-03 8.04638468e-01] [ 4.94504224e-02 1.31128805e-03 9.98775719e-01 6.01319989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.480385722999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.74, Y:0.81, Z:0.61 [[ 9.98401609e-01 -2.74833806e-02 -4.93851262e-02 1.57381465e+01] [ 2.73732309e-02 9.99621060e-01 -2.90549698e-03 8.08901404e-01] [ 4.94462651e-02 1.54902240e-03 9.98775584e-01 6.05401537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.510385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.77, Y:0.80, Z:0.61 [[ 9.98438224e-01 -2.61289302e-02 -4.93800755e-02 1.57709102e+01] [ 2.60117011e-02 9.99657091e-01 -3.01525835e-03 8.02990891e-01] [ 4.94419281e-02 1.72608943e-03 9.98775508e-01 6.07817623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.540385722999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.80, Y:0.80, Z:0.60 [[ 9.98335922e-01 -2.97248326e-02 -4.94147963e-02 1.57983046e+01] [ 2.96496184e-02 9.99557811e-01 -2.25457941e-03 7.95099472e-01] [ 4.94599626e-02 7.85697758e-04 9.98775798e-01 6.03212487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.570385722999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.82, Y:0.80, Z:0.60 [[ 9.98209309e-01 -3.37238339e-02 -4.94052511e-02 1.58247929e+01] [ 3.36432228e-02 9.99430873e-01 -2.46254232e-03 7.95174597e-01] [ 4.94601796e-02 7.95980795e-04 9.98775779e-01 6.04616289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.600385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.85, Y:0.80, Z:0.61 [[ 9.97904219e-01 -4.17986190e-02 -4.93968154e-02 1.58544462e+01] [ 4.17188700e-02 9.99125888e-01 -2.64482484e-03 7.99927147e-01] [ 4.94641871e-02 5.78502549e-04 9.98775730e-01 6.10307869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.630385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.88, Y:0.80, Z:0.61 [[ 9.97709571e-01 -4.61941844e-02 -4.94136520e-02 1.58825526e+01] [ 4.61378834e-02 9.98932479e-01 -2.28000370e-03 8.03804550e-01] [ 4.94662247e-02 -5.05979731e-06 9.98775797e-01 6.13001932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.660385722999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.91, Y:0.80, Z:0.61 [[ 9.97356134e-01 -5.32831591e-02 -4.94130257e-02 1.59079313e+01] [ 5.32348815e-02 9.98579385e-01 -2.29349563e-03 8.04492265e-01] [ 4.94650335e-02 -3.43064632e-04 9.98775797e-01 6.13124156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.690385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.94, Y:0.80, Z:0.61 [[ 9.97264967e-01 -5.49786079e-02 -4.93957409e-02 1.59378163e+01] [ 5.49141343e-02 9.98487531e-01 -2.66241792e-03 7.99861182e-01] [ 4.94674074e-02 -5.73882338e-05 9.98775737e-01 6.12889114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.720385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.97, Y:0.80, Z:0.61 [[ 9.97152547e-01 -5.69668938e-02 -4.94122502e-02 1.59666408e+01] [ 5.69223559e-02 9.98375938e-01 -2.30922309e-03 7.98264900e-01] [ 4.94635508e-02 -5.10014005e-04 9.98775799e-01 6.11003609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.750385722999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.00, Y:0.80, Z:0.62 [[ 9.96833597e-01 -6.23092194e-02 -4.93998170e-02 1.59954880e+01] [ 6.22580933e-02 9.98056763e-01 -2.57447862e-03 8.01108006e-01] [ 4.94642352e-02 -5.09211634e-04 9.98775766e-01 6.16255194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.780385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.03, Y:0.81, Z:0.62 [[ 9.96456886e-01 -6.80724237e-02 -4.93945225e-02 1.60265803e+01] [ 6.80227952e-02 9.97680149e-01 -2.68700018e-03 8.07290052e-01] [ 4.94628452e-02 -6.82473662e-04 9.98775731e-01 6.23019074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.810385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.06, Y:0.81, Z:0.62 [[ 9.96238894e-01 -7.11796043e-02 -4.94118336e-02 1.60565429e+01] [ 7.11520768e-02 9.97462786e-01 -2.31806992e-03 8.09783812e-01] [ 4.94514645e-02 -1.20640316e-03 9.98775799e-01 6.20832117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.840385722999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.09, Y:0.81, Z:0.62 [[ 9.96251087e-01 -7.10190916e-02 -4.93969596e-02 1.60882063e+01] [ 7.09756718e-02 9.97474567e-01 -2.63472591e-03 8.11313284e-01] [ 4.94593268e-02 -8.81133845e-04 9.98775750e-01 6.22536625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.870385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.12, Y:0.81, Z:0.62 [[ 9.95844720e-01 -7.65064067e-02 -4.93969984e-02 1.61222633e+01] [ 7.64697689e-02 9.97068421e-01 -2.63389757e-03 8.06280459e-01] [ 4.94536973e-02 -1.15442406e-03 9.98775750e-01 6.22818593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.900385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.15, Y:0.81, Z:0.62 [[ 9.95752368e-01 -7.76892219e-02 -4.94126057e-02 1.61549867e+01] [ 7.76706676e-02 9.96976421e-01 -2.29842620e-03 8.05196665e-01] [ 4.94417657e-02 -1.54924674e-03 9.98775806e-01 6.23949748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.930385722999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.19, Y:0.81, Z:0.63 [[ 9.95665106e-01 -7.87995878e-02 -4.94127686e-02 1.61861392e+01] [ 7.87825724e-02 9.96889181e-01 -2.29491771e-03 8.11193534e-01] [ 4.94398930e-02 -1.60789554e-03 9.98775807e-01 6.26087406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.960385722999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.22, Y:0.82, Z:0.63 [[ 9.95650108e-01 -7.89963803e-02 -4.94007504e-02 1.62187781e+01] [ 7.89667842e-02 9.96873977e-01 -2.55357696e-03 8.15712066e-01] [ 4.94480459e-02 -1.35854922e-03 9.98775773e-01 6.32576115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.990385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.25, Y:0.82, Z:0.63 [[ 9.95748522e-01 -7.77381241e-02 -4.94132003e-02 1.62502845e+01] [ 7.77203299e-02 9.96972584e-01 -2.28430448e-03 8.20394868e-01] [ 4.94411835e-02 -1.56581741e-03 9.98775809e-01 6.33700987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.020385722999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.28, Y:0.82, Z:0.63 [[ 9.95823089e-01 -7.67769188e-02 -4.94133556e-02 1.62825258e+01] [ 7.67581098e-02 9.97047135e-01 -2.28094002e-03 8.21274746e-01] [ 4.94425682e-02 -1.52146304e-03 9.98775809e-01 6.33001517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.050385722999998 meters Centerline goodness : 0.999128 Centerline is valid? [True, True] Translation: X:16.31, Y:0.82, Z:0.63 [[ 9.96105927e-01 -7.30156409e-02 -4.94135501e-02 1.63128712e+01] [ 7.29924187e-02 9.97329897e-01 -2.27671850e-03 8.21214386e-01] [ 4.94478469e-02 -1.33896175e-03 9.98775809e-01 6.32554020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.080385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.35, Y:0.82, Z:0.64 [[ 9.96089535e-01 -7.32469817e-02 -4.94015966e-02 1.63453547e+01] [ 7.32111660e-02 9.97313236e-01 -2.53651858e-03 8.24398836e-01] [ 4.94546585e-02 -1.09014887e-03 9.98775775e-01 6.35325692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.110385722999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.38, Y:0.83, Z:0.64 [[ 9.96204777e-01 -7.16541987e-02 -4.94137512e-02 1.63762961e+01] [ 7.16295261e-02 9.97428718e-01 -2.27223241e-03 8.28038760e-01] [ 4.94495095e-02 -1.27587480e-03 9.98775810e-01 6.36904972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.140385722999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.41, Y:0.84, Z:0.64 [[ 9.96624040e-01 -6.55651793e-02 -4.94138683e-02 1.64076969e+01] [ 6.55331542e-02 9.97847811e-01 -2.26968263e-03 8.35889101e-01] [ 4.94563325e-02 -9.76226380e-04 9.98775810e-01 6.36422976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.170385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.43, Y:0.84, Z:0.64 [[ 9.97084148e-01 -5.81567279e-02 -4.94064502e-02 1.64334715e+01] [ 5.81076621e-02 9.98307365e-01 -2.43006694e-03 8.42163771e-01] [ 4.94641479e-02 -4.47912090e-04 9.98775799e-01 6.39215443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.200385722999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.46, Y:0.85, Z:0.64 [[ 9.97295344e-01 -5.44459304e-02 -4.93724288e-02 1.64631389e+01] [ 5.43574501e-02 9.98516623e-01 -3.13402833e-03 8.45659719e-01] [ 4.94698260e-02 4.41792524e-04 9.98775521e-01 6.41988055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.230385722999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.50, Y:0.85, Z:0.64 [[ 9.97383221e-01 -5.28151300e-02 -4.93687435e-02 1.64967818e+01] [ 5.27208834e-02 9.98604127e-01 -3.21017526e-03 8.50900571e-01] [ 4.94693769e-02 5.99011170e-04 9.98775461e-01 6.44257547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.260385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.53, Y:0.85, Z:0.65 [[ 9.97541612e-01 -4.96937184e-02 -4.94091808e-02 1.65264423e+01] [ 4.96374407e-02 9.98764500e-01 -2.36614340e-03 8.52994879e-01] [ 4.94657182e-02 -9.22187787e-05 9.98775818e-01 6.46968261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.290385722999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.55, Y:0.85, Z:0.65 [[ 9.97716993e-01 -4.60384884e-02 -4.94091011e-02 1.65543670e+01] [ 4.59776481e-02 9.98939663e-01 -2.36780711e-03 8.54723716e-01] [ 4.94657210e-02 9.06871241e-05 9.98775818e-01 6.49515916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.320385722999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.58, Y:0.86, Z:0.65 [[ 9.97742711e-01 -4.54780389e-02 -4.94088098e-02 1.65818260e+01] [ 4.54162116e-02 9.98965331e-01 -2.37386982e-03 8.56309536e-01] [ 4.94656470e-02 1.24550349e-04 9.98775818e-01 6.51895279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.350385723 meters Centerline goodness : 0.998313 Centerline is valid? [True, True] Translation: X:16.61, Y:0.86, Z:0.66 [[ 9.97860835e-01 -4.28087465e-02 -4.94081533e-02 1.66090189e+01] [ 4.27429760e-02 9.99083249e-01 -2.38745685e-03 8.60068344e-01] [ 4.94650623e-02 2.70498178e-04 9.98775818e-01 6.55260215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.380385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.64, Y:0.86, Z:0.66 [[ 9.97824370e-01 -4.36566698e-02 -4.94026434e-02 1.66375596e+01] [ 4.35863137e-02 9.99046534e-01 -2.50105351e-03 8.61627791e-01] [ 4.94647273e-02 3.42333034e-04 9.98775812e-01 6.58911524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.410385722999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.67, Y:0.86, Z:0.65 [[ 9.97895028e-01 -4.20083137e-02 -4.94046087e-02 1.66664399e+01] [ 4.19379474e-02 9.99117188e-01 -2.46047911e-03 8.60293213e-01] [ 4.94643543e-02 3.83371989e-04 9.98775816e-01 6.51892990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.440385723 meters Centerline goodness : 0.999065 Centerline is valid? [True, True] Translation: X:16.69, Y:0.86, Z:0.66 [[ 9.97897840e-01 -4.19376938e-02 -4.94077946e-02 1.66933702e+01] [ 4.18704847e-02 9.99120176e-01 -2.39496274e-03 8.60790587e-01] [ 4.94647636e-02 3.21199843e-04 9.98775818e-01 6.55566871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.470385723 meters Centerline goodness : 0.998498 Centerline is valid? [True, True] Translation: X:16.72, Y:0.86, Z:0.66 [[ 9.97911662e-01 -4.16213713e-02 -4.93961124e-02 1.67235456e+01] [ 4.15419543e-02 9.99133289e-01 -2.63374959e-03 8.62021609e-01] [ 4.94629205e-02 5.76238389e-04 9.98775794e-01 6.56768814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.500385722999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.75, Y:0.86, Z:0.66 [[ 9.97970451e-01 -4.01749335e-02 -4.94060150e-02 1.67517459e+01] [ 4.01037709e-02 9.99192562e-01 -2.43121126e-03 8.63368149e-01] [ 4.94637964e-02 4.44909496e-04 9.98775818e-01 6.60550009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.530385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.78, Y:0.87, Z:0.66 [[ 9.98017405e-01 -3.89958638e-02 -4.94022384e-02 1.67797553e+01] [ 3.89194352e-02 9.99239203e-01 -2.50843241e-03 8.65123151e-01] [ 4.94624718e-02 5.80751996e-04 9.98775814e-01 6.63234939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.560385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.81, Y:0.86, Z:0.66 [[ 9.98348964e-01 -2.92973682e-02 -4.94065788e-02 1.68142997e+01] [ 2.92134559e-02 9.99570267e-01 -2.41981504e-03 8.59554441e-01] [ 4.94562414e-02 9.72482924e-04 9.98775818e-01 6.58344401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.590385722999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.84, Y:0.86, Z:0.66 [[ 9.98344148e-01 -2.94004279e-02 -4.94426639e-02 1.68369593e+01] [ 2.93532704e-02 9.99567689e-01 -1.67976598e-03 8.63839454e-01] [ 4.94706751e-02 2.25680659e-04 9.98775551e-01 6.64507527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.620385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.86, Y:0.87, Z:0.67 [[ 9.98407202e-01 -2.72430254e-02 -4.94052370e-02 1.68641670e+01] [ 2.71556824e-02 9.99628243e-01 -2.43838049e-03 8.65948092e-01] [ 4.94532991e-02 1.09286372e-03 9.98775839e-01 6.66137469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.650385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.89, Y:0.87, Z:0.67 [[ 9.98471576e-01 -2.47722227e-02 -4.94049469e-02 1.68918780e+01] [ 2.46815683e-02 9.99692376e-01 -2.44424383e-03 8.68172635e-01] [ 4.94502981e-02 1.22111642e-03 9.98775839e-01 6.69757598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.680385722999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.92, Y:0.87, Z:0.67 [[ 9.98481514e-01 -2.43687710e-02 -4.94047475e-02 1.69191895e+01] [ 2.42774243e-02 9.99702262e-01 -2.44826838e-03 8.68760759e-01] [ 4.94496991e-02 1.24513070e-03 9.98775839e-01 6.72348562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.710385722999998 meters Centerline goodness : 0.994575 Centerline is valid? [True, True] Translation: X:16.95, Y:0.87, Z:0.67 [[ 9.98392295e-01 -2.77851534e-02 -4.94045499e-02 1.69521497e+01] [ 2.76977874e-02 9.99613335e-01 -2.45225025e-03 8.67538528e-01] [ 4.94535830e-02 1.07991103e-03 9.98775839e-01 6.73024100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.740385723 meters Centerline goodness : 0.997666 Centerline is valid? [True, True] Translation: X:16.97, Y:0.86, Z:0.68 [[ 9.98561609e-01 -2.07432987e-02 -4.94411659e-02 1.69709039e+01] [ 2.06839303e-02 9.99784599e-01 -1.71217253e-03 8.57362021e-01] [ 4.94660323e-02 6.87072127e-04 9.98775570e-01 6.75841453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.770385722999997 meters Centerline goodness : 0.998117 Centerline is valid? [True, True] Translation: X:17.01, Y:0.86, Z:0.68 [[ 9.98455131e-01 -2.55037189e-02 -4.93650862e-02 1.70050582e+01] [ 2.53716983e-02 9.99672642e-01 -3.29924884e-03 8.59236758e-01] [ 4.94330693e-02 2.04167586e-03 9.98775352e-01 6.78463574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.800385722999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.04, Y:0.86, Z:0.67 [[ 9.98300551e-01 -3.09144584e-02 -4.93994640e-02 1.70383530e+01] [ 3.08251215e-02 9.99521490e-01 -2.56945603e-03 8.57617011e-01] [ 4.94552592e-02 1.04234489e-03 9.98775796e-01 6.71946605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.830385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.06, Y:0.86, Z:0.68 [[ 9.98063927e-01 -3.77392730e-02 -4.94382978e-02 1.70607595e+01] [ 3.76973455e-02 9.99287616e-01 -1.78055267e-03 8.60216053e-01] [ 4.94702755e-02 -8.65871957e-05 9.98775593e-01 6.79280152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.860385722999997 meters Centerline goodness : 0.997540 Centerline is valid? [True, True] Translation: X:17.09, Y:0.86, Z:0.68 [[ 9.97939049e-01 -4.09496605e-02 -4.94042429e-02 1.70864637e+01] [ 4.08778391e-02 9.99161114e-01 -2.46368587e-03 8.56404732e-01] [ 4.94636855e-02 4.39069645e-04 9.98775826e-01 6.79822975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.890385722999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.12, Y:0.86, Z:0.68 [[ 9.97773143e-01 -4.48213787e-02 -4.93943161e-02 1.71163711e+01] [ 4.47445341e-02 9.98994918e-01 -2.66093594e-03 8.56169142e-01] [ 4.94639376e-02 4.44884759e-04 9.98775811e-01 6.81914308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.920385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.14, Y:0.85, Z:0.68 [[ 9.97561209e-01 -4.93051881e-02 -4.94027626e-02 1.71422384e+01] [ 4.92421211e-02 9.98783758e-01 -2.49361012e-03 8.54925410e-01] [ 4.94656248e-02 5.48319079e-05 9.98775825e-01 6.81653697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.950385722999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.17, Y:0.86, Z:0.68 [[ 9.97382798e-01 -5.28013963e-02 -4.93919686e-02 1.71712998e+01] [ 5.27321029e-02 9.98605029e-01 -2.70585581e-03 8.55797632e-01] [ 4.94659412e-02 9.42316599e-05 9.98775807e-01 6.76132084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.980385722999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.20, Y:0.86, Z:0.68 [[ 9.97077468e-01 -5.82733137e-02 -4.94038835e-02 1.71988171e+01] [ 5.82222803e-02 9.98300582e-01 -2.47266298e-03 8.56101499e-01] [ 4.94640159e-02 -4.10970218e-04 9.98775822e-01 6.77504821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.010385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.23, Y:0.86, Z:0.68 [[ 9.96997014e-01 -5.96403206e-02 -4.93962237e-02 1.72272654e+01] [ 5.95835619e-02 9.98219878e-01 -2.62206747e-03 8.56518773e-01] [ 4.94646733e-02 -3.29009516e-04 9.98775820e-01 6.80830564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.040385722999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.26, Y:0.85, Z:0.68 [[ 9.97039709e-01 -5.89256055e-02 -4.93922154e-02 1.72562369e+01] [ 5.88640917e-02 9.98262354e-01 -2.70035862e-03 8.53698886e-01] [ 4.94655095e-02 -2.15063122e-04 9.98775809e-01 6.84658078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.070385722999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.29, Y:0.86, Z:0.69 [[ 9.97001528e-01 -5.95773919e-02 -4.93810408e-02 1.72853752e+01] [ 5.95058788e-02 9.98223689e-01 -2.91836240e-03 8.55532514e-01] [ 4.94671931e-02 -2.88504555e-05 9.98775749e-01 6.86764299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.100385723 meters Centerline goodness : 0.999031 Centerline is valid? [True, True] Translation: X:17.32, Y:0.86, Z:0.70 [[ 9.96951959e-01 -6.04038505e-02 -4.93778006e-02 1.73161131e+01] [ 6.03302964e-02 9.98174020e-01 -2.98002706e-03 8.61352704e-01] [ 4.94676429e-02 -8.03353254e-06 9.98775727e-01 6.95575369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.130385722999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.34, Y:0.86, Z:0.69 [[ 9.97092094e-01 -5.80222882e-02 -4.94041457e-02 1.73436162e+01] [ 5.79707492e-02 9.98315210e-01 -2.47665691e-03 8.64214686e-01] [ 4.94646114e-02 -3.94540322e-04 9.98775799e-01 6.89422531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.160385722999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.38, Y:0.87, Z:0.70 [[ 9.97079156e-01 -5.82604069e-02 -4.93850289e-02 1.73771396e+01] [ 5.81907939e-02 9.98301419e-01 -2.84740619e-03 8.66083601e-01] [ 4.94670355e-02 -3.46646749e-05 9.98775756e-01 7.00466070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.190385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.40, Y:0.87, Z:0.69 [[ 9.97195381e-01 -5.62089678e-02 -4.94158179e-02 1.74041986e+01] [ 5.61665640e-02 9.98418883e-01 -2.24739101e-03 8.65600586e-01] [ 4.94640092e-02 -5.34428768e-04 9.98775764e-01 6.92793684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.220385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.43, Y:0.86, Z:0.70 [[ 9.97319030e-01 -5.40001841e-02 -4.93835292e-02 1.74345254e+01] [ 5.39239728e-02 9.98540905e-01 -2.87521846e-03 8.62969123e-01] [ 4.94667362e-02 2.04554000e-04 9.98775751e-01 7.00037564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.250385722999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.46, Y:0.86, Z:0.69 [[ 9.97355852e-01 -5.33070397e-02 -4.93929547e-02 1.74631058e+01] [ 5.32390834e-02 9.98578167e-01 -2.69136794e-03 8.64993796e-01] [ 4.94661950e-02 5.46159344e-05 9.98775797e-01 6.92412516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.280385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.49, Y:0.87, Z:0.70 [[ 9.97367982e-01 -5.30908973e-02 -4.93808214e-02 1.74913277e+01] [ 5.30109911e-02 9.98589638e-01 -2.92734478e-03 8.72530408e-01] [ 4.94665919e-02 3.01913672e-04 9.98775733e-01 6.95980468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.310385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.52, Y:0.88, Z:0.70 [[ 9.97398140e-01 -5.25166764e-02 -4.93857170e-02 1.75202870e+01] [ 5.24407815e-02 9.98620020e-01 -2.83212527e-03 8.75635645e-01] [ 4.94662995e-02 2.34930883e-04 9.98775766e-01 6.98705572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.340385722999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.55, Y:0.87, Z:0.70 [[ 9.97486075e-01 -5.08184006e-02 -4.93864468e-02 1.75483223e+01] [ 5.07411274e-02 9.98707864e-01 -2.81794667e-03 8.74540484e-01] [ 4.94658363e-02 3.04938575e-04 9.98775770e-01 6.97022439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.370385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.58, Y:0.87, Z:0.70 [[ 9.97568164e-01 -4.91817798e-02 -4.93853283e-02 1.75759004e+01] [ 4.91014354e-02 9.98789761e-01 -2.83949487e-03 8.73548829e-01] [ 4.94652117e-02 4.07699183e-04 9.98775764e-01 6.98017644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.400385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.60, Y:0.88, Z:0.70 [[ 9.97622387e-01 -4.80661683e-02 -4.93884223e-02 1.76035465e+01] [ 4.79873999e-02 9.98844072e-01 -2.78006095e-03 8.75535206e-01] [ 4.94649598e-02 4.03429071e-04 9.98775778e-01 7.01760967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.430385722999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.63, Y:0.88, Z:0.71 [[ 9.97607231e-01 -4.83834398e-02 -4.93847651e-02 1.76313315e+01] [ 4.83015913e-02 9.98828731e-01 -2.85012851e-03 8.79727165e-01] [ 4.94648213e-02 4.57946066e-04 9.98775761e-01 7.05844492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.460385722999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.66, Y:0.88, Z:0.71 [[ 9.97506037e-01 -5.04231944e-02 -4.93883381e-02 1.76585116e+01] [ 5.03472298e-02 9.98727900e-01 -2.78173685e-03 8.84407361e-01] [ 4.94657753e-02 2.88233286e-04 9.98775778e-01 7.10087302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.490385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.69, Y:0.88, Z:0.71 [[ 9.97389539e-01 -5.26826142e-02 -4.93826810e-02 1.76855026e+01] [ 5.26040689e-02 9.98611266e-01 -2.88975978e-03 8.84158498e-01] [ 4.94663418e-02 2.84486217e-04 9.98775751e-01 7.10955889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.520385722999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.71, Y:0.88, Z:0.71 [[ 9.97328909e-01 -5.38258108e-02 -4.93743870e-02 1.77134721e+01] [ 5.37408430e-02 9.98550266e-01 -3.04776081e-03 8.83507503e-01] [ 4.94668554e-02 3.86198779e-04 9.98775691e-01 7.11435678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.550385722999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.74, Y:0.88, Z:0.71 [[ 9.97139189e-01 -5.72394950e-02 -4.93667612e-02 1.77414127e+01] [ 5.71515537e-02 9.98360411e-01 -3.19226583e-03 8.84596364e-01] [ 4.94685436e-02 3.61746256e-04 9.98775617e-01 7.10758085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.580385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.77, Y:0.88, Z:0.72 [[ 9.97221034e-01 -5.57943404e-02 -4.93680059e-02 1.77740605e+01] [ 5.57057946e-02 9.98442198e-01 -3.16872969e-03 8.84672276e-01] [ 4.94678976e-02 4.09839903e-04 9.98775630e-01 7.18030139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.610385722999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.80, Y:0.89, Z:0.72 [[ 9.97192367e-01 -5.62797402e-02 -4.93960841e-02 1.78018205e+01] [ 5.62182577e-02 9.98415028e-01 -2.63423581e-03 8.88088920e-01] [ 4.94660468e-02 -1.50121937e-04 9.98775795e-01 7.20444518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.640385722999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.83, Y:0.89, Z:0.72 [[ 9.96959991e-01 -6.02660474e-02 -4.93840025e-02 1.78302220e+01] [ 6.01980515e-02 9.98182343e-01 -2.86439922e-03 8.91204133e-01] [ 4.94668653e-02 -1.17129297e-04 9.98775758e-01 7.16535305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.670385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.86, Y:0.89, Z:0.72 [[ 9.96864991e-01 -6.18292393e-02 -4.93693717e-02 1.78608230e+01] [ 6.17493591e-02 9.98086739e-01 -3.14303069e-03 8.89880769e-01] [ 4.94692464e-02 8.46502013e-05 9.98775644e-01 7.15958317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.700385722999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.89, Y:0.89, Z:0.72 [[ 9.96834269e-01 -6.23259265e-02 -4.93651646e-02 1.78931068e+01] [ 6.22427286e-02 9.98055840e-01 -3.22231351e-03 8.89212525e-01] [ 4.94700245e-02 1.39489985e-04 9.98775599e-01 7.23741751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.730385722999998 meters Centerline goodness : 0.999780 Centerline is valid? [True, True] Translation: X:17.92, Y:0.90, Z:0.73 [[ 9.96375937e-01 -6.92434254e-02 -4.93998092e-02 1.79184893e+01] [ 6.92012754e-02 9.97599420e-01 -2.56510028e-03 9.00033656e-01] [ 4.94588374e-02 -8.62725604e-04 9.98775790e-01 7.26506285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.760385723 meters Centerline goodness : 0.999780 Centerline is valid? [True, True] Translation: X:17.95, Y:0.90, Z:0.73 [[ 9.96405391e-01 -6.88485145e-02 -4.93576607e-02 1.79502458e+01] [ 6.87665181e-02 9.97627125e-01 -3.35948338e-03 9.01742846e-01] [ 4.94718365e-02 -4.67471159e-05 9.98775518e-01 7.28414708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.790385722999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.98, Y:0.90, Z:0.73 [[ 9.96410483e-01 -6.87734546e-02 -4.93595106e-02 1.79836594e+01] [ 6.86931159e-02 9.97632300e-01 -3.32415980e-03 8.99468459e-01] [ 4.94712560e-02 -7.84309055e-05 9.98775545e-01 7.27239786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.820385722999998 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:18.02, Y:0.90, Z:0.72 [[ 9.96199737e-01 -7.17496510e-02 -4.93768257e-02 1.80181853e+01] [ 7.16895341e-02 9.97422514e-01 -2.98970933e-03 9.03516480e-01] [ 4.94640682e-02 -5.61453981e-04 9.98775746e-01 7.23056717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.850385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.04, Y:0.90, Z:0.73 [[ 9.96165797e-01 -7.21908211e-02 -4.94185114e-02 1.80431164e+01] [ 7.21714533e-02 9.97389861e-01 -2.17852971e-03 8.99824983e-01] [ 4.94467920e-02 -1.39642900e-03 9.98775783e-01 7.25310351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.880385722999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.08, Y:0.90, Z:0.73 [[ 9.95989199e-01 -7.46158474e-02 -4.93760126e-02 1.80751495e+01] [ 7.45587324e-02 9.97212111e-01 -3.00013226e-03 9.02791876e-01] [ 4.94622152e-02 -6.93313581e-04 9.98775755e-01 7.30041321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.910385722999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.11, Y:0.91, Z:0.73 [[ 9.96053793e-01 -7.37464096e-02 -4.93792265e-02 1.81078429e+01] [ 7.36913145e-02 9.97276772e-01 -2.93783305e-03 9.06660497e-01] [ 4.94614102e-02 -7.12580360e-04 9.98775781e-01 7.30759667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.940385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.14, Y:0.91, Z:0.73 [[ 9.96067986e-01 -7.35502007e-02 -4.93855751e-02 1.81396060e+01] [ 7.35010439e-02 9.97291172e-01 -2.81315173e-03 9.09644020e-01] [ 4.94587060e-02 -8.27800945e-04 9.98775826e-01 7.32078937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.970385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.17, Y:0.91, Z:0.73 [[ 9.96161974e-01 -7.22619036e-02 -4.93916919e-02 1.81711739e+01] [ 7.22171514e-02 9.97385299e-01 -2.69235990e-03 9.12727264e-01] [ 4.94571024e-02 -8.84900735e-04 9.98775857e-01 7.33000997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.000385722999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.20, Y:0.91, Z:0.73 [[ 9.96238658e-01 -7.11987992e-02 -4.93889313e-02 1.82034841e+01] [ 7.11500382e-02 9.97461842e-01 -2.74690763e-03 9.14445700e-01] [ 4.94591510e-02 -7.77448784e-04 9.98775845e-01 7.32226492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.030385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.23, Y:0.92, Z:0.73 [[ 9.96440082e-01 -6.83193467e-02 -4.93925994e-02 1.82349805e+01] [ 6.82706504e-02 9.97663253e-01 -2.67427029e-03 9.17579209e-01] [ 4.94598858e-02 -7.07314778e-04 9.98775860e-01 7.33441611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.060385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.27, Y:0.92, Z:0.74 [[ 9.96688201e-01 -6.45977147e-02 -4.93939860e-02 1.82661893e+01] [ 6.45458127e-02 9.97911235e-01 -2.64678802e-03 9.22987344e-01] [ 4.94617901e-02 -5.50152578e-04 9.98775865e-01 7.37807559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.090385722999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.30, Y:0.93, Z:0.74 [[ 9.96784674e-01 -6.30933399e-02 -4.93917333e-02 1.82974095e+01] [ 6.30373923e-02 9.98007537e-01 -2.69118418e-03 9.26606673e-01] [ 4.94631179e-02 -4.30994925e-04 9.98775858e-01 7.44229980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.120385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:18.33, Y:0.93, Z:0.74 [[ 9.97068788e-01 -5.84274116e-02 -4.93970560e-02 1.83270674e+01] [ 5.83709449e-02 9.98291613e-01 -2.58614091e-03 9.32954609e-01] [ 4.94637683e-02 -3.04792447e-04 9.98775872e-01 7.37729692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.150385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.36, Y:0.94, Z:0.74 [[ 9.97186123e-01 -5.63937749e-02 -4.93920918e-02 1.83578060e+01] [ 5.63299004e-02 9.98408599e-01 -2.68534606e-03 9.35105261e-01] [ 4.94649260e-02 -1.04461784e-04 9.98775856e-01 7.39042596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.180385722999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.39, Y:0.94, Z:0.75 [[ 9.97405451e-01 -5.23695583e-02 -4.93942945e-02 1.83867718e+01] [ 5.23029157e-02 9.98627772e-01 -2.64164403e-03 9.41114779e-01] [ 4.94648560e-02 5.13245299e-05 9.98775863e-01 7.46892194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.210385722999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.42, Y:0.94, Z:0.75 [[ 9.97527663e-01 -4.99898885e-02 -4.93920388e-02 1.84154295e+01] [ 4.99181159e-02 9.98749701e-01 -2.68635950e-03 9.44886811e-01] [ 4.94645748e-02 2.14160395e-04 9.98775856e-01 7.46092851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.240385723 meters Centerline goodness : 0.999274 Centerline is valid? [True, True] Translation: X:18.44, Y:0.95, Z:0.75 [[ 9.97759533e-01 -4.51280443e-02 -4.93900103e-02 1.84416713e+01] [ 4.50483438e-02 9.98981088e-01 -2.72622587e-03 9.47808945e-01] [ 4.94627155e-02 4.95179687e-04 9.98775848e-01 7.50523331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.270385722999997 meters Centerline goodness : 0.998460 Centerline is valid? [True, True] Translation: X:18.47, Y:0.95, Z:0.75 [[ 9.97852791e-01 -4.30213088e-02 -4.93859772e-02 1.84694165e+01] [ 4.29351296e-02 9.99073924e-01 -2.80502485e-03 9.50539010e-01] [ 4.94609179e-02 6.78608545e-04 9.98775829e-01 7.51100568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.300385722999998 meters Centerline goodness : 0.998319 Centerline is valid? [True, True] Translation: X:18.50, Y:0.95, Z:0.75 [[ 9.97983327e-01 -3.98776389e-02 -4.93867655e-02 1.84977567e+01] [ 3.97883730e-02 9.99204235e-01 -2.78966969e-03 9.54966438e-01] [ 4.94587107e-02 8.19024792e-04 9.98775833e-01 7.52077878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.330385723 meters Centerline goodness : 0.997927 Centerline is valid? [True, True] Translation: X:18.52, Y:0.96, Z:0.75 [[ 9.97983523e-01 -3.98711802e-02 -4.93880267e-02 1.85234827e+01] [ 3.97831207e-02 9.99204512e-01 -2.76512994e-03 9.60245328e-01] [ 4.94589881e-02 7.94744293e-04 9.98775839e-01 7.53239584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.360385722999997 meters Centerline goodness : 0.998424 Centerline is valid? [True, True] Translation: X:18.55, Y:0.96, Z:0.76 [[ 9.97989330e-01 -3.97532439e-02 -4.93657546e-02 1.85517480e+01] [ 3.96435776e-02 9.99208763e-01 -3.19902343e-03 9.64494319e-01] [ 4.94538662e-02 1.23555612e-03 9.98775645e-01 7.55291160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.390385722999998 meters Centerline goodness : 0.998650 Centerline is valid? [True, True] Translation: X:18.58, Y:0.96, Z:0.76 [[ 9.98048630e-01 -3.82388131e-02 -4.93632024e-02 1.85829430e+01] [ 3.81248423e-02 9.99267703e-01 -3.24866153e-03 9.63047730e-01] [ 4.94512789e-02 1.36035788e-03 9.98775611e-01 7.57144978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.420385723 meters Centerline goodness : 0.998380 Centerline is valid? [True, True] Translation: X:18.61, Y:0.96, Z:0.75 [[ 9.97982556e-01 -3.98958841e-02 -4.93876041e-02 1.86111812e+01] [ 3.98075585e-02 9.99203522e-01 -2.77111841e-03 9.61740985e-01] [ 4.94588242e-02 7.99527894e-04 9.98775843e-01 7.54874685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.450385722999997 meters Centerline goodness : 0.998502 Centerline is valid? [True, True] Translation: X:18.64, Y:0.96, Z:0.76 [[ 9.97966935e-01 -4.02876373e-02 -4.93852511e-02 1.86391130e+01] [ 4.01975219e-02 9.99187782e-01 -2.81697761e-03 9.62102198e-01] [ 4.94586289e-02 8.26085794e-04 9.98775832e-01 7.55694559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.480385722999998 meters Centerline goodness : 0.998267 Centerline is valid? [True, True] Translation: X:18.67, Y:0.97, Z:0.76 [[ 9.97923652e-01 -4.13491180e-02 -4.93825471e-02 1.86655720e+01] [ 4.12577021e-02 9.99144418e-01 -2.86950927e-03 9.66116322e-01] [ 4.94589480e-02 8.26140749e-04 9.98775816e-01 7.58981588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.510385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.70, Y:0.97, Z:0.75 [[ 9.98074699e-01 -3.75314889e-02 -4.93789646e-02 1.86966702e+01] [ 3.74319836e-02 9.99294857e-01 -2.93866161e-03 9.65820762e-01] [ 4.94544377e-02 1.08465121e-03 9.98775792e-01 7.50841841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.540385722999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.73, Y:0.97, Z:0.76 [[ 9.97779792e-01 -4.46660457e-02 -4.94007102e-02 1.87252471e+01] [ 4.45960551e-02 9.99001926e-01 -2.51865062e-03 9.67716657e-01] [ 4.94639028e-02 3.09981902e-04 9.98775864e-01 7.60444040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.570385722999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.76, Y:0.96, Z:0.76 [[ 9.97888926e-01 -4.21604000e-02 -4.93982969e-02 1.87559026e+01] [ 4.20850403e-02 9.99110739e-01 -2.56512524e-03 9.64142291e-01] [ 4.94625157e-02 4.80780756e-04 9.98775865e-01 7.58754328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.600385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.78, Y:0.96, Z:0.76 [[ 9.97718591e-01 -4.59995997e-02 -4.94130593e-02 1.87843884e+01] [ 4.59430186e-02 9.98941458e-01 -2.28084389e-03 9.64989590e-01] [ 4.94656714e-02 5.45525492e-06 9.98775824e-01 7.61050678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.630385722999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.81, Y:0.97, Z:0.76 [[ 9.97733604e-01 -4.56637511e-02 -4.94214306e-02 1.88096068e+01] [ 4.56148362e-02 9.98956857e-01 -2.11775224e-03 9.66897719e-01] [ 4.94665815e-02 -1.41397885e-04 9.98775769e-01 7.59229448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.660385722999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.84, Y:0.97, Z:0.77 [[ 9.97358070e-01 -5.32605699e-02 -4.93983053e-02 1.88371659e+01] [ 5.31988377e-02 9.98580646e-01 -2.56454696e-03 9.72755557e-01] [ 4.94647809e-02 -7.01608257e-05 9.98775866e-01 7.66907992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.690385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.87, Y:0.97, Z:0.77 [[ 9.97391631e-01 -5.26382145e-02 -4.93877817e-02 1.88676954e+01] [ 5.25657012e-02 9.98613635e-01 -2.76684325e-03 9.72773177e-01] [ 4.94649539e-02 1.63522930e-04 9.98775847e-01 7.66009269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.720385723 meters Centerline goodness : 0.997441 Centerline is valid? [True, True] Translation: X:18.88, Y:0.97, Z:0.77 [[ 9.97568226e-01 -4.91665771e-02 -4.93992127e-02 1.88849489e+01] [ 4.91006904e-02 9.98790586e-01 -2.54712027e-03 9.70346516e-01] [ 4.94647018e-02 1.15390799e-04 9.98775866e-01 7.69181946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.750385722999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.93, Y:0.97, Z:0.77 [[ 9.97327545e-01 -5.39149989e-02 -4.93045760e-02 1.89292602e+01] [ 5.37656197e-02 9.98544100e-01 -4.35194038e-03 9.72266732e-01] [ 4.94674283e-02 1.68941893e-03 9.98774309e-01 7.67913794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.780385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.96, Y:0.97, Z:0.77 [[ 9.97334324e-01 -5.36851120e-02 -4.94181672e-02 1.89577589e+01] [ 5.36428898e-02 9.98557801e-01 -2.18122443e-03 9.74332481e-01] [ 4.94639957e-02 -4.75523304e-04 9.98775794e-01 7.72370102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.810385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.99, Y:0.98, Z:0.78 [[ 9.97467056e-01 -5.11733617e-02 -4.94040500e-02 1.89876042e+01] [ 5.11148367e-02 9.98689782e-01 -2.44813541e-03 9.80573415e-01] [ 4.94645993e-02 -8.33455320e-05 9.98775874e-01 7.75700305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.840385722999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.02, Y:0.98, Z:0.78 [[ 9.97513358e-01 -5.02540375e-02 -4.94128729e-02 1.90170259e+01] [ 5.02026438e-02 9.98736447e-01 -2.28141023e-03 9.83365645e-01] [ 4.94650872e-02 -2.04919678e-04 9.98775832e-01 7.77425998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.870385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.05, Y:0.98, Z:0.78 [[ 9.97523613e-01 -5.00547656e-02 -4.94081217e-02 1.90458021e+01] [ 4.99986878e-02 9.98746469e-01 -2.37104172e-03 9.84105007e-01] [ 4.94648690e-02 -1.05171144e-04 9.98775859e-01 7.75324458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.900385723 meters Centerline goodness : 0.999272 Centerline is valid? [True, True] Translation: X:19.07, Y:0.98, Z:0.78 [[ 9.97622136e-01 -4.80580655e-02 -4.94013825e-02 1.90727153e+01] [ 4.79932150e-02 9.98844536e-01 -2.49876789e-03 9.84803287e-01] [ 4.94643869e-02 1.21894990e-04 9.98775881e-01 7.78467448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.930385722999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.10, Y:0.99, Z:0.78 [[ 9.97806691e-01 -4.40829259e-02 -4.93812006e-02 1.91020428e+01] [ 4.39945081e-02 9.99027632e-01 -2.87653027e-03 9.89352161e-01] [ 4.94599898e-02 6.97719525e-04 9.98775862e-01 7.77872591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.960385722999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.13, Y:1.00, Z:0.78 [[ 9.97922552e-01 -4.13609897e-02 -4.93948278e-02 1.91312501e+01] [ 4.12818300e-02 9.99144101e-01 -2.62213011e-03 9.96776059e-01] [ 4.94610047e-02 5.77573881e-04 9.98775888e-01 7.83519851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.990385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.16, Y:1.00, Z:0.78 [[ 9.97931537e-01 -4.11348443e-02 -4.94021395e-02 1.91565173e+01] [ 4.10621331e-02 9.99153502e-01 -2.48625006e-03 1.00056337e+00] [ 4.94625922e-02 4.52550117e-04 9.98775874e-01 7.79731202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.020385722999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.19, Y:1.00, Z:0.78 [[ 9.98057834e-01 -3.79830798e-02 -4.93745422e-02 1.91879042e+01] [ 3.78810217e-02 9.99277749e-01 -3.00146701e-03 9.97963141e-01] [ 4.94528864e-02 1.12527955e-03 9.98775824e-01 7.80287095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.050385722999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.22, Y:1.00, Z:0.78 [[ 9.98000338e-01 -3.94485974e-02 -4.93875864e-02 1.92176211e+01] [ 3.93604018e-02 9.99221274e-01 -2.75744396e-03 9.95492498e-01] [ 4.94579043e-02 8.08014766e-04 9.98775882e-01 7.77823296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.080385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.24, Y:1.00, Z:0.78 [[ 9.97986604e-01 -3.97868996e-02 -4.93937246e-02 1.92441717e+01] [ 3.97047943e-02 9.99207959e-01 -2.64272268e-03 9.98065862e-01] [ 4.94597485e-02 6.76234155e-04 9.98775889e-01 7.78846819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.110385722999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.27, Y:1.00, Z:0.78 [[ 9.97878106e-01 -4.24380775e-02 -4.93791018e-02 1.92732085e+01] [ 4.23457706e-02 9.99098765e-01 -2.91446063e-03 1.00425429e+00] [ 4.94582837e-02 8.17280332e-04 9.98775856e-01 7.83711414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.140385722999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.30, Y:1.01, Z:0.78 [[ 9.97801234e-01 -4.42034296e-02 -4.93837396e-02 1.93013376e+01] [ 4.41175495e-02 9.99022344e-01 -2.82822974e-03 1.00719519e+00] [ 4.94604767e-02 6.43321555e-04 9.98775874e-01 7.83909002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.170385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.33, Y:1.01, Z:0.79 [[ 9.97739077e-01 -4.55794766e-02 -4.93887092e-02 1.93276356e+01] [ 4.54998536e-02 9.98960599e-01 -2.73583406e-03 1.00659233e+00] [ 4.94620724e-02 4.82469513e-04 9.98775886e-01 7.87142434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.200385722999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.36, Y:1.00, Z:0.79 [[ 9.97563849e-01 -4.92869152e-02 -4.93676681e-02 1.93571624e+01] [ 4.91925182e-02 9.98784423e-01 -3.12604066e-03 1.00435719e+00] [ 4.94617308e-02 6.89905243e-04 9.98775781e-01 7.86913746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.230385722999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.39, Y:1.01, Z:0.79 [[ 9.97385361e-01 -5.27734503e-02 -4.93700846e-02 1.93852762e+01] [ 5.26855334e-02 9.98606399e-01 -3.08132866e-03 1.00531881e+00] [ 4.94638947e-02 4.72182861e-04 9.98775801e-01 7.86786382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.260385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.42, Y:1.01, Z:0.79 [[ 9.96982022e-01 -5.99135101e-02 -4.93681944e-02 1.94151194e+01] [ 5.98326123e-02 9.98203560e-01 -3.11618063e-03 1.00809924e+00] [ 4.94662087e-02 1.52948028e-04 9.98775786e-01 7.86858006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.290385722999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.45, Y:1.01, Z:0.79 [[ 9.96752181e-01 -6.36308385e-02 -4.93579394e-02 1.94462369e+01] [ 6.35451656e-02 9.97973492e-01 -3.30458897e-03 1.00970953e+00] [ 4.94681889e-02 1.57397831e-04 9.98775687e-01 7.86587640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.320385722999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.48, Y:1.01, Z:0.79 [[ 9.96334399e-01 -6.98564758e-02 -4.93744602e-02 1.94760007e+01] [ 6.97935997e-02 9.97556947e-01 -2.99848403e-03 1.01282186e+00] [ 4.94632993e-02 -4.58528527e-04 9.98775837e-01 7.94003877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.350385723 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:19.51, Y:1.02, Z:0.80 [[ 9.95931817e-01 -7.53946263e-02 -4.93504485e-02 1.95064261e+01] [ 7.53165071e-02 9.97153733e-01 -3.44327842e-03 1.01647656e+00] [ 4.94695886e-02 -2.87632872e-04 9.98775589e-01 7.99481211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.380385722999996 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:19.54, Y:1.02, Z:0.80 [[ 9.95755568e-01 -7.76896797e-02 -4.93473672e-02 1.95397441e+01] [ 7.76115289e-02 9.96977530e-01 -3.50075282e-03 1.01864265e+00] [ 4.94701886e-02 -3.44030505e-04 9.98775541e-01 8.01343072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.410385722999997 meters Centerline goodness : 0.999887 Centerline is valid? [True, True] Translation: X:19.58, Y:1.02, Z:0.80 [[ 9.95818850e-01 -7.68735323e-02 -4.93485377e-02 1.95787524e+01] [ 7.67954675e-02 9.97040799e-01 -3.47880295e-03 1.01709613e+00] [ 4.94699334e-02 -3.25486474e-04 9.98775560e-01 8.02304228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.440385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.60, Y:1.02, Z:0.80 [[ 9.95188610e-01 -8.46081196e-02 -4.94074509e-02 1.96039144e+01] [ 8.45951255e-02 9.96412618e-01 -2.35779376e-03 1.02069667e+00] [ 4.94296960e-02 -1.83318001e-03 9.98775923e-01 8.00005697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.470385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:19.64, Y:1.02, Z:0.80 [[ 9.95322622e-01 -8.30473076e-02 -4.93560828e-02 1.96438217e+01] [ 8.29843626e-02 9.96545297e-01 -3.32665112e-03 1.01867920e+00] [ 4.94618416e-02 -7.84691953e-04 9.98775706e-01 7.97751972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.500385722999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.67, Y:1.02, Z:0.80 [[ 9.94952571e-01 -8.73379887e-02 -4.94111024e-02 1.96733482e+01] [ 8.73323378e-02 9.96176629e-01 -2.27740676e-03 1.02218664e+00] [ 4.94210895e-02 -2.04927537e-03 9.98775929e-01 7.97647170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.530385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.71, Y:1.02, Z:0.80 [[ 9.95315670e-01 -8.31078992e-02 -4.93942637e-02 1.97054673e+01] [ 8.30811668e-02 9.96539398e-01 -2.59764256e-03 1.02236246e+00] [ 4.94392144e-02 -1.51825872e-03 9.98775980e-01 8.01145329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.560385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.74, Y:1.02, Z:0.80 [[ 9.95527564e-01 -8.05293241e-02 -4.93953241e-02 1.97359898e+01] [ 8.05004219e-02 9.96751242e-01 -2.57746896e-03 1.02473099e+00] [ 4.94424125e-02 -1.41040303e-03 9.98775980e-01 8.04981882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.590385722999997 meters Centerline goodness : 0.999886 Centerline is valid? [True, True] Translation: X:19.76, Y:1.03, Z:0.81 [[ 9.95578265e-01 -7.99004283e-02 -4.93947276e-02 1.97626077e+01] [ 7.98701890e-02 9.96801912e-01 -2.58884861e-03 1.03083270e+00] [ 4.94436091e-02 -1.36776482e-03 9.98775980e-01 8.07753474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.620385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.80, Y:1.03, Z:0.81 [[ 9.95784612e-01 -7.73141160e-02 -4.93511374e-02 1.97985957e+01] [ 7.72398180e-02 9.97006699e-01 -3.41368842e-03 1.03322980e+00] [ 4.94673409e-02 -4.12574473e-04 9.98775656e-01 8.11711207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.650385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.83, Y:1.03, Z:0.81 [[ 9.95793475e-01 -7.71719508e-02 -4.93947874e-02 1.98321054e+01] [ 7.71389188e-02 9.97017023e-01 -2.57753005e-03 1.03449927e+00] [ 4.94463569e-02 -1.24357289e-03 9.98776007e-01 8.12990867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.680385722999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.87, Y:1.04, Z:0.81 [[ 9.95868493e-01 -7.61975976e-02 -4.93950482e-02 1.98650923e+01] [ 7.61636168e-02 9.97092015e-01 -2.57252194e-03 1.03660370e+00] [ 4.94474281e-02 -1.20021198e-03 9.98776007e-01 8.14138910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.710385722999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.90, Y:1.04, Z:0.81 [[ 9.95963159e-01 -7.49499073e-02 -4.93953158e-02 1.98969748e+01] [ 7.49146489e-02 9.97186645e-01 -2.56737385e-03 1.03642205e+00] [ 4.94487736e-02 -1.14342297e-03 9.98776007e-01 8.12214998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.740385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.93, Y:1.04, Z:0.81 [[ 9.96026429e-01 -7.41042152e-02 -4.93955360e-02 1.99297825e+01] [ 7.40681283e-02 9.97249890e-01 -2.56312973e-03 1.03680603e+00] [ 4.94496316e-02 -1.10568995e-03 9.98776007e-01 8.13195421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.770385722999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.96, Y:1.04, Z:0.81 [[ 9.96297416e-01 -7.03669904e-02 -4.93957986e-02 1.99600311e+01] [ 7.03265650e-02 9.97520742e-01 -2.55806016e-03 1.03803458e+00] [ 4.94533366e-02 -9.25248105e-04 9.98776007e-01 8.12068192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.800385722999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.99, Y:1.04, Z:0.82 [[ 9.96313147e-01 -7.01503088e-02 -4.93867041e-02 1.99929786e+01] [ 7.01008611e-02 9.97536160e-01 -2.73474521e-03 1.04060681e+00] [ 4.94568664e-02 -7.37387878e-04 9.98775988e-01 8.15292170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.830385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.02, Y:1.05, Z:0.82 [[ 9.96323250e-01 -7.00052669e-02 -4.93886960e-02 2.00244836e+01] [ 6.99575610e-02 9.97546325e-01 -2.69600440e-03 1.04661647e+00] [ 4.94562467e-02 -7.69020844e-04 9.98775995e-01 8.23324829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.860385722999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.06, Y:1.05, Z:0.82 [[ 9.96475133e-01 -6.78028270e-02 -4.93972297e-02 2.00569371e+01] [ 6.77606759e-02 9.97698398e-01 -2.52935957e-03 1.04885168e+00] [ 4.94550346e-02 -8.26745756e-04 9.98776009e-01 8.23699865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.890385722999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.09, Y:1.04, Z:0.82 [[ 9.96627703e-01 -6.55218878e-02 -4.93974164e-02 2.00892044e+01] [ 6.54771179e-02 9.97850875e-01 -2.52570836e-03 1.04383423e+00] [ 4.94567443e-02 -7.17209535e-04 9.98776009e-01 8.18569870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.920385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.12, Y:1.04, Z:0.82 [[ 9.96682687e-01 -6.46800087e-02 -4.93975538e-02 2.01211943e+01] [ 6.46343389e-02 9.97905826e-01 -2.52301819e-03 1.04312844e+00] [ 4.94572955e-02 -6.78129680e-04 9.98776009e-01 8.19297952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.950385722999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.15, Y:1.05, Z:0.82 [[ 9.96735399e-01 -6.38624205e-02 -4.93977377e-02 2.01516489e+01] [ 6.38159262e-02 9.97958506e-01 -2.51941117e-03 1.04660449e+00] [ 4.94577883e-02 -6.41176088e-04 9.98776009e-01 8.22715681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.980385722999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.19, Y:1.05, Z:0.82 [[ 9.96947467e-01 -6.04614122e-02 -4.93980346e-02 2.01856549e+01] [ 6.04110342e-02 9.98170421e-01 -2.51357660e-03 1.04793173e+00] [ 4.94596314e-02 -4.78282535e-04 9.98776009e-01 8.21705069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.010385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.21, Y:1.05, Z:0.83 [[ 9.96866825e-01 -6.17514484e-02 -4.94296690e-02 2.02123957e+01] [ 6.17334477e-02 9.98090878e-01 -1.89221202e-03 1.05396763e+00] [ 4.94521486e-02 -1.16518050e-03 9.98775814e-01 8.26400069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.040385722999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.24, Y:1.06, Z:0.83 [[ 9.96911454e-01 -6.10535313e-02 -4.93965564e-02 2.02437880e+01] [ 6.10027138e-02 9.98134376e-01 -2.53710414e-03 1.05560867e+00] [ 4.94593002e-02 -4.84055822e-04 9.98776023e-01 8.30606213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.070385722999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.28, Y:1.05, Z:0.83 [[ 9.97141281e-01 -5.71771956e-02 -4.93966956e-02 2.02751294e+01] [ 5.71217583e-02 9.98364003e-01 -2.53439116e-03 1.05205458e+00] [ 4.94607921e-02 -2.94480054e-04 9.98776023e-01 8.32354276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.100385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.31, Y:1.05, Z:0.83 [[ 9.96922684e-01 -6.08693576e-02 -4.93971977e-02 2.03051210e+01] [ 6.08189336e-02 9.98145622e-01 -2.52460190e-03 1.04900570e+00] [ 4.94592675e-02 -4.87451982e-04 9.98776023e-01 8.30942637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.130385722999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.34, Y:1.05, Z:0.83 [[ 9.96915237e-01 -6.09915731e-02 -4.93967405e-02 2.03369742e+01] [ 6.09408574e-02 9.98138163e-01 -2.53351654e-03 1.05147613e+00] [ 4.94592950e-02 -4.84578475e-04 9.98776023e-01 8.31309417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.160385722999997 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] Translation: X:20.37, Y:1.05, Z:0.83 [[ 9.96954045e-01 -6.03508224e-02 -4.94005047e-02 2.03704748e+01] [ 6.03029619e-02 9.98177089e-01 -2.46002369e-03 1.05339665e+00] [ 4.94589164e-02 -5.26466187e-04 9.98776020e-01 8.34946321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.190385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.40, Y:1.06, Z:0.84 [[ 9.96611469e-01 -6.57458648e-02 -4.94273262e-02 2.03974477e+01] [ 6.57306752e-02 9.97835526e-01 -1.93445170e-03 1.05953370e+00] [ 4.94475243e-02 -1.32099478e-03 9.98775849e-01 8.38538265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.220385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.43, Y:1.06, Z:0.84 [[ 9.96622582e-01 -6.56004170e-02 -4.93964968e-02 2.04293525e+01] [ 6.55552682e-02 9.97845719e-01 -2.53529227e-03 1.05872085e+00] [ 4.94563991e-02 -7.11471074e-04 9.98776030e-01 8.37714922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.250385722999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.46, Y:1.05, Z:0.84 [[ 9.96493326e-01 -6.75382450e-02 -4.93926697e-02 2.04605323e+01] [ 6.74917775e-02 9.97716417e-01 -2.60989820e-03 1.05409067e+00] [ 4.94561454e-02 -7.32852933e-04 9.98776027e-01 8.35082894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.280385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.49, Y:1.05, Z:0.84 [[ 9.96534274e-01 -6.69304430e-02 -4.93938995e-02 2.04923721e+01] [ 6.68844178e-02 9.97757379e-01 -2.58591905e-03 1.05330254e+00] [ 4.94562044e-02 -7.26725247e-04 9.98776029e-01 8.35447019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.310385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.52, Y:1.06, Z:0.84 [[ 9.96511934e-01 -6.72555272e-02 -4.94030280e-02 2.05242909e+01] [ 6.72187395e-02 9.97735358e-01 -2.40757271e-03 1.05693359e+00] [ 4.94530704e-02 -9.21634329e-04 9.98776023e-01 8.37794672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.340385722999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.56, Y:1.06, Z:0.84 [[ 9.96562219e-01 -6.65102702e-02 -4.93976538e-02 2.05565912e+01] [ 6.64673554e-02 9.97785436e-01 -2.51274506e-03 1.05897223e+00] [ 4.94553829e-02 -7.79224625e-04 9.98776030e-01 8.38727178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.370385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.59, Y:1.06, Z:0.84 [[ 9.96664245e-01 -6.49626254e-02 -4.93987790e-02 2.05876892e+01] [ 6.49189026e-02 9.97887435e-01 -2.49072060e-03 1.06239509e+00] [ 4.94562246e-02 -7.24502358e-04 9.98776029e-01 8.43795353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.400385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.62, Y:1.06, Z:0.85 [[ 9.96734345e-01 -6.38833508e-02 -4.93919345e-02 2.06180529e+01] [ 6.38316743e-02 9.97957228e-01 -2.62451057e-03 1.06483434e+00] [ 4.94587005e-02 -5.36830050e-04 9.98776025e-01 8.48093321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.430385722999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.65, Y:1.07, Z:0.85 [[ 9.96867036e-01 -6.17834658e-02 -4.93853868e-02 2.06497200e+01] [ 6.17228635e-02 9.98089530e-01 -2.75268509e-03 1.06690051e+00] [ 4.94611079e-02 -3.04146460e-04 9.98776004e-01 8.48694338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.460385722999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.68, Y:1.07, Z:0.85 [[ 9.96891647e-01 -6.13904296e-02 -4.93787308e-02 2.06807842e+01] [ 6.13228872e-02 9.98113817e-01 -2.88306288e-03 1.06896608e+00] [ 4.94625860e-02 -1.53945036e-04 9.98775965e-01 8.49870409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.490385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.71, Y:1.07, Z:0.85 [[ 9.96812559e-01 -6.26638429e-02 -4.93757530e-02 2.07109696e+01] [ 6.25949695e-02 9.98034678e-01 -2.94145447e-03 1.07101474e+00] [ 4.94630365e-02 -1.58594987e-04 9.98775942e-01 8.48866757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.520385722999997 meters Centerline goodness : 0.999819 Centerline is valid? [True, True] Translation: X:20.75, Y:1.07, Z:0.85 [[ 9.96895948e-01 -6.13299809e-02 -4.93670069e-02 2.07452216e+01] [ 6.12509835e-02 9.98117542e-01 -3.11285664e-03 1.06873273e+00] [ 4.94649870e-02 7.94164452e-05 9.98775855e-01 8.45903435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.550385722999998 meters Centerline goodness : 0.999909 Centerline is valid? [True, True] Translation: X:20.77, Y:1.07, Z:0.85 [[ 9.96604863e-01 -6.58680342e-02 -4.93978583e-02 2.07717337e+01] [ 6.58247372e-02 9.97828057e-01 -2.50454746e-03 1.07383067e+00] [ 4.94555386e-02 -7.55556867e-04 9.98776040e-01 8.46960965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.580385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.80, Y:1.08, Z:0.85 [[ 9.96595314e-01 -6.60414087e-02 -4.93590149e-02 2.08036264e+01] [ 6.59605215e-02 9.97816883e-01 -3.26761061e-03 1.07662936e+00] [ 4.94670560e-02 7.39060548e-07 9.98775756e-01 8.49523356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.610385722999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.84, Y:1.08, Z:0.85 [[ 9.96566337e-01 -6.64784066e-02 -4.93574455e-02 2.08358270e+01] [ 6.63965204e-02 9.97787864e-01 -3.29859415e-03 1.07948939e+00] [ 4.94675454e-02 1.01052542e-05 9.98775732e-01 8.53186280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.640385722999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.87, Y:1.08, Z:0.86 [[ 9.96541216e-01 -6.68555985e-02 -4.93551746e-02 2.08668692e+01] [ 6.67719496e-02 9.97762661e-01 -3.34352009e-03 1.08125766e+00] [ 4.94682834e-02 3.64143426e-05 9.98775694e-01 8.55306562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.670385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.90, Y:1.08, Z:0.86 [[ 9.96507073e-01 -6.73601493e-02 -4.93585222e-02 2.08993948e+01] [ 6.72804452e-02 9.97728724e-01 -3.27635927e-03 1.08285977e+00] [ 4.94671115e-02 -5.59481614e-05 9.98775751e-01 8.57548399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.700385722999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.93, Y:1.08, Z:0.86 [[ 9.96541598e-01 -6.68478357e-02 -4.93579801e-02 2.09345307e+01] [ 6.67669642e-02 9.97763182e-01 -3.28725049e-03 1.08086638e+00] [ 4.94673209e-02 -1.96006329e-05 9.98775742e-01 8.59557788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.730385722999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.96, Y:1.09, Z:0.86 [[ 9.96289378e-01 -7.04776611e-02 -4.94001485e-02 2.09617380e+01] [ 7.04436883e-02 9.97512796e-01 -2.43056862e-03 1.08639892e+00] [ 4.94485811e-02 -1.05837896e-03 9.98776110e-01 8.59634115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.760385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.99, Y:1.09, Z:0.86 [[ 9.96222655e-01 -7.14408394e-02 -4.93622118e-02 2.09938300e+01] [ 7.13700626e-02 9.97444782e-01 -3.19716639e-03 1.08872401e+00] [ 4.94644888e-02 -3.37894555e-04 9.98775826e-01 8.61370269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.790385722999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.03, Y:1.09, Z:0.86 [[ 9.96313079e-01 -7.01691716e-02 -4.93612828e-02 2.10303231e+01] [ 7.00959129e-02 9.97535073e-01 -3.21577800e-03 1.08513018e+00] [ 4.94652593e-02 -2.56102493e-04 9.98775812e-01 8.63725242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.820385722999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.06, Y:1.09, Z:0.86 [[ 9.96095792e-01 -7.31632040e-02 -4.93995814e-02 2.10557952e+01] [ 7.31320114e-02 9.97319282e-01 -2.44101874e-03 1.08994151e+00] [ 4.94457479e-02 -1.18120226e-03 9.98776112e-01 8.63954255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.850385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.09, Y:1.09, Z:0.87 [[ 9.96457230e-01 -6.80968866e-02 -4.93538451e-02 2.10919029e+01] [ 6.80140961e-02 9.97678713e-01 -3.35690965e-03 1.08860234e+00] [ 4.94678758e-02 -1.17402686e-05 9.98775715e-01 8.70312575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.880385722999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.12, Y:1.09, Z:0.87 [[ 9.96576656e-01 -6.62923536e-02 -4.93993237e-02 2.11240110e+01] [ 6.62530457e-02 9.97799883e-01 -2.43452604e-03 1.09255588e+00] [ 4.94520299e-02 -8.46663828e-04 9.98776141e-01 8.74153107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.910385722999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.16, Y:1.10, Z:0.88 [[ 9.96759308e-01 -6.34867945e-02 -4.93994921e-02 2.11553921e+01] [ 6.34442130e-02 9.97982425e-01 -2.43110475e-03 1.09772214e+00] [ 4.94541679e-02 -7.10885608e-04 9.98776141e-01 8.77056943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.940385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.18, Y:1.10, Z:0.88 [[ 9.96704488e-01 -6.43415724e-02 -4.93996587e-02 2.11802513e+01] [ 6.43002078e-02 9.97927647e-01 -2.42771480e-03 1.10303903e+00] [ 4.94534881e-02 -7.56694076e-04 9.98776141e-01 8.76407642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.970385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.21, Y:1.10, Z:0.87 [[ 9.96849200e-01 -6.20839414e-02 -4.93685764e-02 2.12132394e+01] [ 6.20077696e-02 9.98070931e-01 -3.07445990e-03 1.09898476e+00] [ 4.94642156e-02 3.53758557e-06 9.98775896e-01 8.73945602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.000385722999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.25, Y:1.10, Z:0.87 [[ 9.96856703e-01 -6.19618767e-02 -4.93704216e-02 2.12459282e+01] [ 6.18874768e-02 9.98078516e-01 -3.03565998e-03 1.09829940e+00] [ 4.94636523e-02 -2.92928250e-05 9.98775924e-01 8.74763634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.030385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.27, Y:1.10, Z:0.88 [[ 9.96666267e-01 -6.49510715e-02 -4.93731767e-02 2.12748991e+01] [ 6.48831394e-02 9.97888422e-01 -2.97906661e-03 1.10112672e+00] [ 4.94624150e-02 -2.34351507e-04 9.98775958e-01 8.75221650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.060385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.31, Y:1.10, Z:0.88 [[ 9.96707662e-01 -6.43240954e-02 -4.93583622e-02 2.13086667e+01] [ 6.42404267e-02 9.97929056e-01 -3.28127366e-03 1.09953948e+00] [ 4.94672087e-02 9.96683457e-05 9.98775743e-01 8.78227674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.090385722999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.34, Y:1.10, Z:0.88 [[ 9.96669897e-01 -6.48740174e-02 -4.94012021e-02 2.13401284e+01] [ 6.48346907e-02 9.97893133e-01 -2.39977965e-03 1.10022339e+00] [ 4.94528037e-02 -8.11123529e-04 9.98776132e-01 8.78055160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.120385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.37, Y:1.10, Z:0.88 [[ 9.96703303e-01 -6.43586425e-02 -4.94013233e-02 2.13705372e+01] [ 6.43188069e-02 9.97926522e-01 -2.39728268e-03 1.10234279e+00] [ 4.94531766e-02 -7.88054608e-04 9.98776132e-01 8.75837850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.150385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.40, Y:1.10, Z:0.88 [[ 9.96775659e-01 -6.32412513e-02 -4.93845132e-02 2.14032668e+01] [ 6.31829044e-02 9.97998194e-01 -2.74323776e-03 1.10232032e+00] [ 4.94591408e-02 -3.85864347e-04 9.98776073e-01 8.80880043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.180385722999997 meters Centerline goodness : 0.999819 Centerline is valid? [True, True] Translation: X:21.43, Y:1.10, Z:0.88 [[ 9.96972401e-01 -6.00459044e-02 -4.94016358e-02 2.14326116e+01] [ 6.00011743e-02 9.98195447e-01 -2.38926651e-03 1.10282429e+00] [ 4.94559536e-02 -5.82123390e-04 9.98776136e-01 8.81330010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.210385722999998 meters Centerline goodness : 0.999388 Centerline is valid? [True, True] Translation: X:21.46, Y:1.11, Z:0.88 [[ 9.97049364e-01 -5.87631820e-02 -4.93908402e-02 2.14606937e+01] [ 5.87056870e-02 9.98271908e-01 -2.61517994e-03 1.10735454e+00] [ 4.94591646e-02 -2.92059712e-04 9.98776104e-01 8.83545825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.240385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.49, Y:1.11, Z:0.89 [[ 9.97244173e-01 -5.53856904e-02 -4.93607544e-02 2.14936963e+01] [ 5.52931783e-02 9.98464909e-01 -3.23877697e-03 1.10629365e+00] [ 4.94643630e-02 5.00538473e-04 9.98775764e-01 8.89265519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.270385722999997 meters Centerline goodness : 0.999141 Centerline is valid? [True, True] Translation: X:21.52, Y:1.11, Z:0.89 [[ 9.97235419e-01 -5.55056750e-02 -4.94028223e-02 2.15193456e+01] [ 5.54569400e-02 9.98458296e-01 -2.35769567e-03 1.11148650e+00] [ 4.94575233e-02 -3.88551725e-04 9.98776152e-01 8.87968539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.300385722999998 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:21.55, Y:1.11, Z:0.89 [[ 9.97427965e-01 -5.19703799e-02 -4.93612661e-02 2.15526224e+01] [ 5.18741253e-02 9.98648408e-01 -3.22994064e-03 1.10863890e+00] [ 4.94624110e-02 6.61060615e-04 9.98775767e-01 8.87392631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.330385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.58, Y:1.11, Z:0.89 [[ 9.97141845e-01 -5.71692185e-02 -4.93945581e-02 2.15810251e+01] [ 5.71146917e-02 9.98364454e-01 -2.51579461e-03 1.11129126e+00] [ 4.94575970e-02 -3.12550875e-04 9.98776175e-01 8.90063203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.360385722999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.61, Y:1.11, Z:0.90 [[ 9.97325631e-01 -5.38589990e-02 -4.94043882e-02 2.16117110e+01] [ 5.38108482e-02 9.98548486e-01 -2.30513609e-03 1.11212212e+00] [ 4.94568293e-02 -3.59520727e-04 9.98776198e-01 8.95758316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.390385722999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.64, Y:1.11, Z:0.89 [[ 9.97343657e-01 -5.35241632e-02 -4.94043882e-02 2.16398834e+01] [ 5.34756017e-02 9.98566496e-01 -2.30513609e-03 1.11135003e+00] [ 4.94569473e-02 -3.42916531e-04 9.98776198e-01 8.90273670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.420385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.67, Y:1.11, Z:0.90 [[ 9.97237785e-01 -5.54740115e-02 -4.93906380e-02 2.16704677e+01] [ 5.54132795e-02 9.98460121e-01 -2.59911775e-03 1.11063496e+00] [ 4.94587659e-02 -1.44958801e-04 9.98776156e-01 8.97705237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.450385722999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.70, Y:1.11, Z:0.90 [[ 9.97084461e-01 -5.81533367e-02 -4.94041270e-02 2.16998388e+01] [ 5.81101733e-02 9.98307502e-01 -2.31076739e-03 1.11093035e+00] [ 4.94548895e-02 -5.66852129e-04 9.98776197e-01 8.99761694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.480385722999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.73, Y:1.11, Z:0.90 [[ 9.96998640e-01 -5.96066065e-02 -4.94040875e-02 2.17305255e+01] [ 5.95651840e-02 9.98221742e-01 -2.31161149e-03 1.11243777e+00] [ 4.94540216e-02 -6.38090049e-04 9.98776197e-01 9.01568823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.510385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.76, Y:1.11, Z:0.90 [[ 9.96928421e-01 -6.07697211e-02 -4.94040875e-02 2.17610499e+01] [ 6.07297257e-02 9.98151570e-01 -2.31161149e-03 1.11222875e+00] [ 4.94532435e-02 -6.95785486e-04 9.98776197e-01 8.97646791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.540385722999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.79, Y:1.11, Z:0.90 [[ 9.96767908e-01 -6.33542065e-02 -4.93961677e-02 2.17924415e+01] [ 6.33090080e-02 9.97990890e-01 -2.48062485e-03 1.11419528e+00] [ 4.94540834e-02 -6.54615133e-04 9.98776184e-01 9.04497679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.570385722999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.82, Y:1.12, Z:0.91 [[ 9.96770207e-01 -6.33117540e-02 -4.94042065e-02 2.18242271e+01] [ 6.32750264e-02 9.97993458e-01 -2.30861086e-03 1.11557086e+00] [ 4.94512371e-02 -8.24897944e-04 9.98776199e-01 9.05997274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.600385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:21.86, Y:1.12, Z:0.91 [[ 9.96673199e-01 -6.48209171e-02 -4.94042851e-02 2.18560923e+01] [ 6.47861252e-02 9.97896506e-01 -2.30692624e-03 1.11832016e+00] [ 4.94499006e-02 -9.01460650e-04 9.98776199e-01 9.09725666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.630385722999996 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:21.88, Y:1.12, Z:0.91 [[ 9.96662337e-01 -6.49875924e-02 -4.94044459e-02 2.18848801e+01] [ 6.49531759e-02 9.97885654e-01 -2.30347867e-03 1.12108260e+00] [ 4.94496853e-02 -9.13185228e-04 9.98776199e-01 9.07341967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.660385722999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.92, Y:1.12, Z:0.91 [[ 9.96623318e-01 -6.55984159e-02 -4.93843071e-02 2.19184672e+01] [ 6.55434324e-02 9.97845973e-01 -2.73370488e-03 1.11901814e+00] [ 4.94572587e-02 -5.12342963e-04 9.98776110e-01 9.11547684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.690385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.95, Y:1.12, Z:0.91 [[ 9.96574675e-01 -6.63182243e-02 -4.94045658e-02 2.19511187e+01] [ 6.62856963e-02 9.97798038e-01 -2.29832749e-03 1.11901342e+00] [ 4.94481998e-02 -9.84361078e-04 9.98776204e-01 9.11800970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.720385722999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.98, Y:1.12, Z:0.91 [[ 9.96502871e-01 -6.73884416e-02 -4.94047261e-02 2.19827790e+01] [ 6.73573984e-02 9.97726272e-01 -2.29487709e-03 1.12024823e+00] [ 4.94470414e-02 -1.04092221e-03 9.98776204e-01 9.13965991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.750385722999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.01, Y:1.12, Z:0.92 [[ 9.96444874e-01 -6.82405294e-02 -4.94048874e-02 2.20139288e+01] [ 6.82107047e-02 9.97668306e-01 -2.29140030e-03 1.12304062e+00] [ 4.94460567e-02 -1.08668810e-03 9.98776204e-01 9.16124674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.780385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.05, Y:1.13, Z:0.92 [[ 9.96343419e-01 -6.97059760e-02 -4.94051398e-02 2.20460342e+01] [ 6.96782210e-02 9.97566900e-01 -2.28594555e-03 1.12524787e+00] [ 4.94442762e-02 -1.16487544e-03 9.98776204e-01 9.16624902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.810385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.08, Y:1.13, Z:0.92 [[ 9.96372338e-01 -6.92912816e-02 -4.94052962e-02 2.20783815e+01] [ 6.92631852e-02 9.97595810e-01 -2.28256000e-03 1.12567563e+00] [ 4.94446780e-02 -1.14768853e-03 9.98776204e-01 9.17361659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.840385722999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.11, Y:1.13, Z:0.92 [[ 9.96256866e-01 -7.09314969e-02 -4.94062786e-02 2.21052443e+01] [ 7.09064693e-02 9.97480405e-01 -2.26127902e-03 1.12847215e+00] [ 4.94421908e-02 -1.25041003e-03 9.98776204e-01 9.15271353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.870385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.14, Y:1.13, Z:0.92 [[ 9.96432307e-01 -6.84515158e-02 -4.93664631e-02 2.21396044e+01] [ 6.83808473e-02 9.97654409e-01 -3.12096666e-03 1.12602691e+00] [ 4.94643044e-02 -2.65888560e-04 9.98775857e-01 9.20510245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.900385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.17, Y:1.13, Z:0.92 [[ 9.96359480e-01 -6.94823473e-02 -4.93962628e-02 2.21670810e+01] [ 6.94451879e-02 9.97582710e-01 -2.47016867e-03 1.13184389e+00] [ 4.94484909e-02 -9.69156782e-04 9.98776205e-01 9.20735539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.930385722999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.20, Y:1.13, Z:0.93 [[ 9.96491704e-01 -6.75837603e-02 -4.93631291e-02 2.22014724e+01] [ 6.75087851e-02 9.97713591e-01 -3.18642419e-03 1.13122132e+00] [ 4.94656154e-02 -1.57199609e-04 9.98775815e-01 9.25360046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.960385722999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.23, Y:1.13, Z:0.93 [[ 9.96526781e-01 -6.70332533e-02 -4.94056470e-02 2.22338860e+01] [ 6.70037193e-02 9.97750176e-01 -2.25560477e-03 1.13469337e+00] [ 4.94456935e-02 -1.06259154e-03 9.98776248e-01 9.26882276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.990385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.26, Y:1.14, Z:0.93 [[ 9.96524984e-01 -6.70598405e-02 -4.94058037e-02 2.22649575e+01] [ 6.70305095e-02 9.97748384e-01 -2.25216663e-03 1.13658466e+00] [ 4.94455908e-02 -1.06735588e-03 9.98776248e-01 9.28463879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.020385722999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.30, Y:1.14, Z:0.93 [[ 9.96499815e-01 -6.74327071e-02 -4.94059589e-02 2.22969144e+01] [ 6.74040027e-02 9.97723230e-01 -2.24875840e-03 1.13821417e+00] [ 4.94451127e-02 -1.08927205e-03 9.98776248e-01 9.30144461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.050385722999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.33, Y:1.14, Z:0.93 [[ 9.96468762e-01 -6.78899257e-02 -4.94061156e-02 2.23287424e+01] [ 6.78619536e-02 9.97692194e-01 -2.24530931e-03 1.13998213e+00] [ 4.94445298e-02 -1.11541493e-03 9.98776248e-01 9.32121157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.080385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.36, Y:1.14, Z:0.93 [[ 9.96436803e-01 -6.83572778e-02 -4.94062697e-02 2.23608946e+01] [ 6.83300478e-02 9.97660252e-01 -2.24191310e-03 1.14119988e+00] [ 4.94439226e-02 -1.14200805e-03 9.98776248e-01 9.33282457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.110385722999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.39, Y:1.14, Z:0.93 [[ 9.96431243e-01 -6.84381708e-02 -4.94064229e-02 2.23918317e+01] [ 6.84112076e-02 9.97654698e-01 -2.23853324e-03 1.14159788e+00] [ 4.94437510e-02 -1.14940859e-03 9.98776248e-01 9.33148222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.140385722999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.42, Y:1.14, Z:0.93 [[ 9.96443221e-01 -6.82634758e-02 -4.94065369e-02 2.24236368e+01] [ 6.82364230e-02 9.97666673e-01 -2.23601460e-03 1.14170028e+00] [ 4.94438934e-02 -1.14326375e-03 9.98776248e-01 9.33663598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.170385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.46, Y:1.14, Z:0.94 [[ 9.96480605e-01 -6.77154512e-02 -4.94066894e-02 2.24559005e+01] [ 6.76878928e-02 9.97704047e-01 -2.23263913e-03 1.14440798e+00] [ 4.94444381e-02 -1.11945310e-03 9.98776248e-01 9.36982689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.200385722999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.49, Y:1.15, Z:0.94 [[ 9.96534431e-01 -6.69185403e-02 -4.94068440e-02 2.24871340e+01] [ 6.68901732e-02 9.97757854e-01 -2.22921317e-03 1.14697226e+00] [ 4.94452423e-02 -1.08334468e-03 9.98776248e-01 9.39472622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.230385722999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.52, Y:1.15, Z:0.94 [[ 9.96556156e-01 -6.65941531e-02 -4.94069589e-02 2.25180867e+01] [ 6.65655141e-02 9.97779572e-01 -2.22666347e-03 1.14659605e+00] [ 4.94455370e-02 -1.06980443e-03 9.98776248e-01 9.40107154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.260385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.55, Y:1.15, Z:0.94 [[ 9.96643872e-01 -6.52681449e-02 -4.94071097e-02 2.25505398e+01] [ 6.52380442e-02 9.97867253e-01 -2.22331283e-03 1.14587936e+00] [ 4.94468483e-02 -1.00737209e-03 9.98776248e-01 9.41824930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.290385722999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.58, Y:1.15, Z:0.94 [[ 9.96696083e-01 -6.44658113e-02 -4.94072606e-02 2.25829090e+01] [ 6.44348922e-02 9.97919444e-01 -2.21995349e-03 1.14728147e+00] [ 4.94475771e-02 -9.70932560e-04 9.98776248e-01 9.44288449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.320385722999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.61, Y:1.15, Z:0.95 [[ 9.96804797e-01 -6.27622895e-02 -4.94074095e-02 2.26141322e+01] [ 6.27294442e-02 9.98028108e-01 -2.21663552e-03 1.14844327e+00] [ 4.94491045e-02 -8.89746415e-04 9.98776248e-01 9.47392704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.350385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.65, Y:1.15, Z:0.95 [[ 9.96838928e-01 -6.22177731e-02 -4.94074834e-02 2.26457472e+01] [ 6.21843412e-02 9.98062223e-01 -2.21498659e-03 1.14951170e+00] [ 4.94495542e-02 -8.64386939e-04 9.98776248e-01 9.48595899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.380385722999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.68, Y:1.15, Z:0.95 [[ 9.96881755e-01 -6.15277221e-02 -4.94075569e-02 2.26763987e+01] [ 6.14935247e-02 9.98105028e-01 -2.21334603e-03 1.15079585e+00] [ 4.94501131e-02 -8.31800549e-04 9.98776248e-01 9.48964008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.410385722999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.71, Y:1.15, Z:0.95 [[ 9.96903970e-01 -6.11667009e-02 -4.94075931e-02 2.27072756e+01] [ 6.11321006e-02 9.98127232e-01 -2.21253682e-03 1.15207608e+00] [ 4.94503977e-02 -8.14703216e-04 9.98776248e-01 9.49513297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.440385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.74, Y:1.15, Z:0.95 [[ 9.96993862e-01 -5.96835165e-02 -4.94076651e-02 2.27378786e+01] [ 5.96471760e-02 9.98217074e-01 -2.21092884e-03 1.15419618e+00] [ 4.94515308e-02 -7.42745215e-04 9.98776248e-01 9.47856527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.470385722999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.77, Y:1.16, Z:0.95 [[ 9.96955686e-01 -6.03229758e-02 -4.94014020e-02 2.27685455e+01] [ 6.02805004e-02 9.98178709e-01 -2.35059092e-03 1.15656288e+00] [ 4.94532223e-02 -6.34506253e-04 9.98776239e-01 9.53986703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.500385722999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.80, Y:1.16, Z:0.95 [[ 9.97067925e-01 -5.84331034e-02 -4.94077441e-02 2.27990806e+01] [ 5.83953376e-02 9.98291093e-01 -2.20873446e-03 1.15825618e+00] [ 4.94523740e-02 -6.82923612e-04 9.98776249e-01 9.50924952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.530385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.83, Y:1.16, Z:0.95 [[ 9.97017582e-01 -5.92924837e-02 -4.93998288e-02 2.28305593e+01] [ 5.92470057e-02 9.98240502e-01 -2.38568572e-03 1.15799799e+00] [ 4.94543631e-02 -5.48221323e-04 9.98776234e-01 9.53992850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.560385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.86, Y:1.16, Z:0.96 [[ 9.96928155e-01 -6.07708498e-02 -4.94080658e-02 2.28614091e+01] [ 6.07363462e-02 9.98151418e-01 -2.20078159e-03 1.15861850e+00] [ 4.94504743e-02 -8.06844254e-04 9.98776251e-01 9.55209448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.590385722999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.89, Y:1.16, Z:0.96 [[ 9.96821748e-01 -6.24919625e-02 -4.94080658e-02 2.28922121e+01] [ 6.24595709e-02 9.98045068e-01 -2.20078159e-03 1.16440389e+00] [ 4.94490076e-02 -8.92219634e-04 9.98776251e-01 9.60188730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.620385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.92, Y:1.17, Z:0.96 [[ 9.96728562e-01 -6.39610006e-02 -4.94081392e-02 2.29221995e+01] [ 6.39304936e-02 9.97951931e-01 -2.19913330e-03 1.16596555e+00] [ 4.94476066e-02 -9.66747758e-04 9.98776251e-01 9.61243410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.650385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.95, Y:1.16, Z:0.96 [[ 9.96477062e-01 -6.77664959e-02 -4.94081758e-02 2.29546357e+01] [ 6.77407013e-02 9.97700539e-01 -2.19830902e-03 1.16291960e+00] [ 4.94435353e-02 -1.15637997e-03 9.98776251e-01 9.60305000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.680385722999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.99, Y:1.16, Z:0.96 [[ 9.96357654e-01 -6.94999428e-02 -4.94083304e-02 2.29863788e+01] [ 6.94764491e-02 9.97581178e-01 -2.19483056e-03 1.16326840e+00] [ 4.94413610e-02 -1.24587912e-03 9.98776251e-01 9.61701107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.710385722999998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:23.02, Y:1.17, Z:0.96 [[ 9.96245621e-01 -7.10877233e-02 -4.94084832e-02 2.30181243e+01] [ 7.10663503e-02 9.97469183e-01 -2.19138448e-03 1.16554488e+00] [ 4.94392199e-02 -1.32812338e-03 9.98776251e-01 9.64237736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.740385723 meters Centerline goodness : 0.999865 Centerline is valid? [True, True] Translation: X:23.05, Y:1.16, Z:0.96 [[ 9.96579947e-01 -6.62359141e-02 -4.94086361e-02 2.30546230e+01] [ 6.62087547e-02 9.97803394e-01 -2.18793062e-03 1.16494116e+00] [ 4.94450244e-02 -1.09083649e-03 9.98776251e-01 9.62100901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.770385722999997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:23.08, Y:1.17, Z:0.97 [[ 9.96284516e-01 -7.05060277e-02 -4.94576832e-02 2.30768669e+01] [ 7.05394682e-02 9.97508414e-01 -1.07113697e-03 1.16781223e+00] [ 4.94099767e-02 -2.42156149e-03 9.98775646e-01 9.66357345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.800385722999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.11, Y:1.17, Z:0.97 [[ 9.96310619e-01 -7.01717445e-02 -4.94072482e-02 2.31091011e+01] [ 7.01486711e-02 9.97534115e-01 -2.20297926e-03 1.16890732e+00] [ 4.94400025e-02 -1.27100117e-03 9.98776287e-01 9.68428193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.830385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:23.14, Y:1.17, Z:0.97 [[ 9.96334801e-01 -6.98274530e-02 -4.94074012e-02 2.31398119e+01] [ 6.98041271e-02 9.97558292e-01 -2.19954241e-03 1.17130268e+00] [ 4.94403512e-02 -1.25735986e-03 9.98776287e-01 9.72276932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.860385722999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.17, Y:1.17, Z:0.98 [[ 9.96323245e-01 -6.99920584e-02 -4.94075152e-02 2.31719948e+01] [ 6.99690617e-02 9.97546743e-01 -2.19697950e-03 1.17360985e+00] [ 4.94400769e-02 -1.26809573e-03 9.98776287e-01 9.75298336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.890385722999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.20, Y:1.17, Z:0.98 [[ 9.96364710e-01 -6.93991809e-02 -4.94076654e-02 2.32037557e+01] [ 6.93756238e-02 9.97588197e-01 -2.19359514e-03 1.17454327e+00] [ 4.94407376e-02 -1.24206682e-03 9.98776287e-01 9.75867942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.920385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.24, Y:1.17, Z:0.97 [[ 9.96319074e-01 -7.00512029e-02 -4.94078162e-02 2.32351915e+01] [ 7.00286150e-02 9.97542579e-01 -2.19019436e-03 1.17483302e+00] [ 4.94398261e-02 -1.27782852e-03 9.98776287e-01 9.74625147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.950385722999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.27, Y:1.17, Z:0.97 [[ 9.96251269e-01 -7.10089153e-02 -4.94079285e-02 2.32673397e+01] [ 7.09876293e-02 9.97474797e-01 -2.18765820e-03 1.17454509e+00] [ 4.94385066e-02 -1.32789445e-03 9.98776287e-01 9.72624718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.980385722999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.30, Y:1.18, Z:0.97 [[ 9.96281099e-01 -7.05890525e-02 -4.94080770e-02 2.32997581e+01] [ 7.05674173e-02 9.97504621e-01 -2.18429881e-03 1.17597004e+00] [ 4.94389727e-02 -1.31042477e-03 9.98776287e-01 9.73907981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.010385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.33, Y:1.18, Z:0.98 [[ 9.96394052e-01 -6.89762375e-02 -4.94082254e-02 2.33317715e+01] [ 6.89527884e-02 9.97617540e-01 -2.18093638e-03 1.17591117e+00] [ 4.94409451e-02 -1.23376287e-03 9.98776287e-01 9.75354210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.040385722999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.36, Y:1.18, Z:0.98 [[ 9.96433988e-01 -6.83967830e-02 -4.94083798e-02 2.33628047e+01] [ 6.83727960e-02 9.97657466e-01 -2.17743257e-03 1.17572550e+00] [ 4.94415684e-02 -1.20852125e-03 9.98776287e-01 9.76391016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.070385722999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.39, Y:1.18, Z:0.98 [[ 9.96521383e-01 -6.71113314e-02 -4.94085323e-02 2.33934204e+01] [ 6.70859379e-02 9.97744833e-01 -2.17396627e-03 1.17810575e+00] [ 4.94430056e-02 -1.14821386e-03 9.98776287e-01 9.78447861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.100385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.42, Y:1.19, Z:0.98 [[ 9.96452690e-01 -6.81235573e-02 -4.94086787e-02 2.34198659e+01] [ 6.80995717e-02 9.97676168e-01 -2.17063409e-03 1.18554578e+00] [ 4.94417326e-02 -1.20177568e-03 9.98776287e-01 9.78896506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.130385722999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.45, Y:1.18, Z:0.98 [[ 9.96587455e-01 -6.61472252e-02 -4.93759970e-02 2.34540315e+01] [ 6.60842195e-02 9.97809808e-01 -2.90922428e-03 1.18494754e+00] [ 4.94602912e-02 -3.63677802e-04 9.98776025e-01 9.82788599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.160385722999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.49, Y:1.18, Z:0.98 [[ 9.96603508e-01 -6.58804513e-02 -4.94086431e-02 2.34856878e+01] [ 6.58540281e-02 9.97826920e-01 -2.16424501e-03 1.18373427e+00] [ 4.94438556e-02 -1.09686400e-03 9.98776302e-01 9.83014204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.190385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:23.52, Y:1.18, Z:0.99 [[ 9.96693184e-01 -6.45093653e-02 -4.94088894e-02 2.35164183e+01] [ 6.44815385e-02 9.97916565e-01 -2.15860707e-03 1.18077423e+00] [ 4.94451996e-02 -1.03449226e-03 9.98776302e-01 9.86582726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.220385722999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.55, Y:1.18, Z:0.99 [[ 9.96744212e-01 -6.37159765e-02 -4.94089993e-02 2.35475470e+01] [ 6.36873006e-02 9.97967574e-01 -2.15608930e-03 1.18152866e+00] [ 4.94459565e-02 -9.97656255e-04 9.98776302e-01 9.90078785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.250385722999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.57, Y:1.19, Z:0.99 [[ 9.96692237e-01 -6.45238496e-02 -4.94090744e-02 2.35719579e+01] [ 6.44962506e-02 9.97915624e-01 -2.15436641e-03 1.18748004e+00] [ 4.94450953e-02 -1.03945976e-03 9.98776302e-01 9.91110874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.280385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.60, Y:1.19, Z:0.99 [[ 9.96760181e-01 -6.34943937e-02 -4.93720877e-02 2.36035749e+01] [ 6.34236543e-02 9.97982185e-01 -2.99968211e-03 1.18945501e+00] [ 4.94629270e-02 -1.41394542e-04 9.98775950e-01 9.91752380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.310385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.64, Y:1.19, Z:0.99 [[ 9.97006481e-01 -5.95069648e-02 -4.93659505e-02 2.36393170e+01] [ 5.94243652e-02 9.98227871e-01 -3.14049313e-03 1.18622335e+00] [ 4.94653488e-02 1.97551730e-04 9.98775821e-01 9.94370235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.340385722999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.67, Y:1.19, Z:1.00 [[ 9.97007948e-01 -5.94460619e-02 -4.94096983e-02 2.36693007e+01] [ 5.94137922e-02 9.98231183e-01 -2.12285509e-03 1.18721393e+00] [ 4.94484970e-02 -8.19114155e-04 9.98776339e-01 9.95750948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.370385723 meters Centerline goodness : 0.999865 Centerline is valid? [True, True] Translation: X:23.70, Y:1.19, Z:1.00 [[ 9.96980611e-01 -5.99027814e-02 -4.94096983e-02 2.37007533e+01] [ 5.98710722e-02 9.98203861e-01 -2.12285509e-03 1.18769796e+00] [ 4.94481165e-02 -8.41766252e-04 9.98776339e-01 9.95168617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.400385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.73, Y:1.19, Z:1.00 [[ 9.97045821e-01 -5.88023175e-02 -4.94157737e-02 2.37287850e+01] [ 5.87762478e-02 9.98269215e-01 -1.98177769e-03 1.18790035e+00] [ 4.94467788e-02 -9.28550596e-04 9.98776328e-01 9.96660773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.430385722999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.75, Y:1.19, Z:1.00 [[ 9.96836769e-01 -6.22555079e-02 -4.94035118e-02 2.37537038e+01] [ 6.22196664e-02 9.98059911e-01 -2.26452241e-03 1.19342583e+00] [ 4.94486436e-02 -8.16510822e-04 9.98776334e-01 1.00096584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.460385722999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.78, Y:1.19, Z:1.00 [[ 9.96866268e-01 -6.18149481e-02 -4.93614876e-02 2.37846608e+01] [ 6.17309977e-02 9.98087613e-01 -3.22487870e-03 1.19489567e+00] [ 4.94664350e-02 1.67638923e-04 9.98775772e-01 1.00291832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.490385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.81, Y:1.20, Z:1.00 [[ 9.96903224e-01 -6.12167714e-02 -4.93605957e-02 2.38145924e+01] [ 6.11310730e-02 9.98124471e-01 -3.24537705e-03 1.19653539e+00] [ 4.94666900e-02 2.17860659e-04 9.98775750e-01 1.00410150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.520385722999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.85, Y:1.20, Z:1.00 [[ 9.96945684e-01 -6.05231565e-02 -4.93583989e-02 2.38460949e+01] [ 6.04340855e-02 9.98166747e-01 -3.29632930e-03 1.19616579e+00] [ 4.94674168e-02 3.03331561e-04 9.98775692e-01 1.00202557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.550385722999998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:23.89, Y:1.19, Z:1.00 [[ 9.97214284e-01 -5.59114174e-02 -4.93719112e-02 2.38860476e+01] [ 5.58329329e-02 9.98435712e-01 -2.96844122e-03 1.19136429e+00] [ 4.94606491e-02 2.03593380e-04 9.98776052e-01 1.00177228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.580385723 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:23.91, Y:1.19, Z:1.00 [[ 9.97108409e-01 -5.77197927e-02 -4.94292123e-02 2.39130161e+01] [ 5.77137299e-02 9.98331969e-01 -1.55108476e-03 1.19081190e+00] [ 4.94362911e-02 -1.30614455e-03 9.98776425e-01 1.00169620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.610385722999997 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:23.94, Y:1.19, Z:1.00 [[ 9.97147855e-01 -5.70505987e-02 -4.94103740e-02 2.39429765e+01] [ 5.70208049e-02 9.98370960e-01 -2.01349848e-03 1.19213794e+00] [ 4.94447538e-02 -8.09663604e-04 9.98776532e-01 1.00275028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.640385722999998 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:23.97, Y:1.19, Z:1.01 [[ 9.97204096e-01 -5.60589542e-02 -4.94103740e-02 2.39712430e+01] [ 5.60279441e-02 9.98427171e-01 -2.01349848e-03 1.19333700e+00] [ 4.94455346e-02 -7.60492739e-04 9.98776532e-01 1.00511076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.670385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.00, Y:1.20, Z:1.01 [[ 9.97053229e-01 -5.86811976e-02 -4.94102708e-02 2.39964390e+01] [ 5.86532787e-02 9.98276379e-01 -2.01602780e-03 1.20036332e+00] [ 4.94434092e-02 -8.87987354e-04 9.98776532e-01 1.00678403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.700385722999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.03, Y:1.20, Z:1.01 [[ 9.97124415e-01 -5.74806029e-02 -4.93850305e-02 2.40277107e+01] [ 5.74192660e-02 9.98346607e-01 -2.66098478e-03 1.20138216e+00] [ 4.94563327e-02 -1.82319317e-04 9.98776270e-01 1.01108837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.730385722999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.06, Y:1.20, Z:1.01 [[ 9.97321222e-01 -5.39637949e-02 -4.93790363e-02 2.40613969e+01] [ 5.38905406e-02 9.98542882e-01 -2.81462440e-03 1.19906442e+00] [ 4.94589731e-02 1.46021683e-04 9.98776145e-01 1.01228422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.760385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.09, Y:1.20, Z:1.02 [[ 9.97147748e-01 -5.70495461e-02 -4.94137481e-02 2.40873270e+01] [ 5.70246441e-02 9.98370935e-01 -1.91471545e-03 1.20217052e+00] [ 4.94424835e-02 -9.08547198e-04 9.98776559e-01 1.01562794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.790385722999996 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:24.12, Y:1.20, Z:1.02 [[ 9.97201067e-01 -5.61390541e-02 -4.93805406e-02 2.41178616e+01] [ 5.60708460e-02 9.98422960e-01 -2.76653593e-03 1.20317385e+00] [ 4.94579762e-02 -1.00161046e-05 9.98776205e-01 1.01750646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.820385722999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.15, Y:1.21, Z:1.02 [[ 9.97246279e-01 -5.53236623e-02 -4.93877638e-02 2.41480159e+01] [ 5.52636737e-02 9.98468461e-01 -2.58037653e-03 1.20507362e+00] [ 4.94548804e-02 -1.56078368e-04 9.98776347e-01 1.01735324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.850385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.18, Y:1.20, Z:1.02 [[ 9.97361351e-01 -5.32091478e-02 -4.93874622e-02 2.41814601e+01] [ 5.31461831e-02 9.98583389e-01 -2.58814941e-03 1.20298243e+00] [ 4.94552126e-02 -4.34349189e-05 9.98776341e-01 1.01726846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.880385722999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.21, Y:1.20, Z:1.01 [[ 9.97259552e-01 -5.50615295e-02 -4.94126836e-02 2.42068171e+01] [ 5.50332456e-02 9.98482650e-01 -1.93375504e-03 1.20194062e+00] [ 4.94441827e-02 -7.90884663e-04 9.98776575e-01 1.01479228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.910385722999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.24, Y:1.20, Z:1.02 [[ 9.97253109e-01 -5.52028521e-02 -4.93850324e-02 2.42368126e+01] [ 5.51392944e-02 9.98475157e-01 -2.64945874e-03 1.20156269e+00] [ 4.94559857e-02 -8.08748765e-05 9.98776301e-01 1.01645938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.940385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.27, Y:1.20, Z:1.02 [[ 9.97179864e-01 -5.65113910e-02 -4.93840249e-02 2.42661411e+01] [ 5.64481402e-02 9.98401947e-01 -2.67564357e-03 1.20387571e+00] [ 4.94563110e-02 -1.19538475e-04 9.98776281e-01 1.02197786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.970385722999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.29, Y:1.21, Z:1.03 [[ 9.97186012e-01 -5.64047723e-02 -4.93817695e-02 2.42946325e+01] [ 5.63384866e-02 9.98407982e-01 -2.73429005e-03 1.20857728e+00] [ 4.94573798e-02 -5.54983748e-05 9.98776233e-01 1.02652431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.000385722999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.32, Y:1.21, Z:1.03 [[ 9.97243069e-01 -5.53785403e-02 -4.93910684e-02 2.43248668e+01] [ 5.53230294e-02 9.98465400e-01 -2.49131692e-03 1.21032861e+00] [ 4.94532384e-02 -2.48014993e-04 9.98776409e-01 1.02960774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.030385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.35, Y:1.21, Z:1.03 [[ 9.97261489e-01 -5.50558593e-02 -4.93799123e-02 2.43549967e+01] [ 5.49855681e-02 9.98483274e-01 -2.78180427e-03 1.20968563e+00] [ 4.94581712e-02 5.90037372e-05 9.98776194e-01 1.02571459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.060385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:24.38, Y:1.20, Z:1.02 [[ 9.97372909e-01 -5.29915323e-02 -4.93880241e-02 2.43848648e+01] [ 5.29293170e-02 9.98594960e-01 -2.56763049e-03 1.20400239e+00] [ 4.94546947e-02 -5.31892970e-05 9.98776367e-01 1.02052275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.090385722999997 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:24.41, Y:1.21, Z:1.02 [[ 9.97338576e-01 -5.36343559e-02 -4.93874583e-02 2.44139757e+01] [ 5.35721875e-02 9.98560640e-01 -2.58259013e-03 1.20535877e+00] [ 4.94548875e-02 -7.00774081e-05 9.98776356e-01 1.02142893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.120385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.45, Y:1.21, Z:1.02 [[ 9.97494635e-01 -5.06540776e-02 -4.93823657e-02 2.44473406e+01] [ 5.05816192e-02 9.98716236e-01 -2.71667646e-03 1.20786766e+00] [ 4.94565811e-02 2.12030178e-04 9.98776252e-01 1.02462879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.150385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.47, Y:1.21, Z:1.03 [[ 9.97412645e-01 -5.22136716e-02 -4.94140386e-02 2.44735409e+01] [ 5.21849615e-02 9.98635682e-01 -1.87183735e-03 1.21131646e+00] [ 4.94443576e-02 -7.11675460e-04 9.98776626e-01 1.02711623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.180385722999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.51, Y:1.21, Z:1.03 [[ 9.97354225e-01 -5.33463538e-02 -4.93833614e-02 2.45060659e+01] [ 5.32790480e-02 9.98576069e-01 -2.67921343e-03 1.21177507e+00] [ 4.94559692e-02 4.10263476e-05 9.98776304e-01 1.02954872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.210385722999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.53, Y:1.21, Z:1.03 [[ 9.97468246e-01 -5.11440306e-02 -4.94103854e-02 2.45321623e+01] [ 5.11096947e-02 9.98691124e-01 -1.95893897e-03 1.21120006e+00] [ 4.94459014e-02 -5.71370291e-04 9.98776640e-01 1.03206548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.240385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.56, Y:1.21, Z:1.03 [[ 9.97432213e-01 -5.18682915e-02 -4.93827982e-02 2.45604763e+01] [ 5.17985292e-02 9.98653926e-01 -2.69225936e-03 1.21385763e+00] [ 4.94559682e-02 1.27389896e-04 9.98776297e-01 1.03430554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.270385722999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.59, Y:1.22, Z:1.03 [[ 9.97367894e-01 -5.30937618e-02 -4.93795069e-02 2.45916863e+01] [ 5.30211776e-02 9.98589520e-01 -2.77957029e-03 1.21533013e+00] [ 4.94574359e-02 1.54094558e-04 9.98776220e-01 1.03499411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.300385722999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.62, Y:1.22, Z:1.04 [[ 9.97321369e-01 -5.39399097e-02 -4.94021510e-02 2.46195264e+01] [ 5.38984857e-02 9.98544060e-01 -2.17125826e-03 1.21551770e+00] [ 4.94473419e-02 -4.97258872e-04 9.98776608e-01 1.03668708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.330385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.65, Y:1.21, Z:1.04 [[ 9.97465756e-01 -5.12160560e-02 -4.93860409e-02 2.46529416e+01] [ 5.11500045e-02 9.98687594e-01 -2.60117779e-03 1.21039773e+00] [ 4.94544484e-02 6.84895528e-05 9.98776378e-01 1.03911987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.360385722999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.68, Y:1.21, Z:1.04 [[ 9.97464674e-01 -5.12096004e-02 -4.94145880e-02 2.46797583e+01] [ 5.11816682e-02 9.98687681e-01 -1.83126285e-03 1.20947796e+00] [ 4.94435185e-02 -7.02501046e-04 9.98776674e-01 1.03838466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.390385722999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.71, Y:1.22, Z:1.04 [[ 9.97400771e-01 -5.24397090e-02 -4.94143674e-02 2.47052672e+01] [ 5.24129912e-02 9.98623805e-01 -1.83719582e-03 1.21819403e+00] [ 4.94427056e-02 -7.57534278e-04 9.98776674e-01 1.03929147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.420385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.73, Y:1.22, Z:1.04 [[ 9.97419569e-01 -5.21088892e-02 -4.93848925e-02 2.47338831e+01] [ 5.20427367e-02 9.98641408e-01 -2.62530660e-03 1.22246280e+00] [ 4.94546004e-02 4.84072194e-05 9.98776371e-01 1.04248832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.450385722999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.76, Y:1.23, Z:1.05 [[ 9.97398545e-01 -5.25102652e-02 -4.93843459e-02 2.47622856e+01] [ 5.24438816e-02 9.98620383e-01 -2.63990527e-03 1.22831284e+00] [ 4.94548366e-02 4.31308916e-05 9.98776360e-01 1.04671622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.480385722999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.79, Y:1.23, Z:1.05 [[ 9.97463289e-01 -5.12699797e-02 -4.93799182e-02 2.47915101e+01] [ 5.11961979e-02 9.98684805e-01 -2.75864696e-03 1.22806708e+00] [ 4.94564097e-02 2.23585002e-04 9.98776258e-01 1.04620750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.510385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.82, Y:1.22, Z:1.04 [[ 9.97475165e-01 -5.10357861e-02 -4.93826182e-02 2.48205797e+01] [ 5.09653030e-02 9.98696812e-01 -2.68622599e-03 1.22373985e+00] [ 4.94553570e-02 1.62643620e-04 9.98776322e-01 1.04366760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.540385722999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.85, Y:1.22, Z:1.04 [[ 9.97472301e-01 -5.10908725e-02 -4.93835197e-02 2.48465203e+01] [ 5.10216545e-02 9.98693999e-01 -2.66203447e-03 1.22349866e+00] [ 4.94550304e-02 1.35676766e-04 9.98776342e-01 1.04414150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.570385722999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.87, Y:1.23, Z:1.05 [[ 9.97509294e-01 -5.03696688e-02 -4.93771691e-02 2.48740568e+01] [ 5.02913185e-02 9.98730585e-01 -2.82866106e-03 1.22551108e+00] [ 4.94569677e-02 3.38372766e-04 9.98776198e-01 1.04625640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.600385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.91, Y:1.23, Z:1.06 [[ 9.97534692e-01 -4.98676094e-02 -4.93736728e-02 2.49088586e+01] [ 4.97841277e-02 9.98755733e-01 -2.91990360e-03 1.23010377e+00] [ 4.94578474e-02 4.54679906e-04 9.98776108e-01 1.05512105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.630385722999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.94, Y:1.23, Z:1.06 [[ 9.97562087e-01 -4.92765300e-02 -4.94136240e-02 2.49360643e+01] [ 4.92448873e-02 9.98785006e-01 -1.85832974e-03 1.23333628e+00] [ 4.94451588e-02 -5.79569053e-04 9.98776672e-01 1.05749220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.660385722999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.96, Y:1.23, Z:1.06 [[ 9.97677868e-01 -4.68744703e-02 -4.94131108e-02 2.49635073e+01] [ 4.68392121e-02 9.98900688e-01 -1.87187784e-03 1.23336556e+00] [ 4.94465337e-02 -4.46940082e-04 9.98776672e-01 1.05757133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.690385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.99, Y:1.23, Z:1.06 [[ 9.97712044e-01 -4.61414862e-02 -4.94129519e-02 2.49910242e+01] [ 4.61051224e-02 9.98934832e-01 -1.87606440e-03 1.23233484e+00] [ 4.94468831e-02 -4.06418148e-04 9.98776672e-01 1.05717604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.720385722999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.02, Y:1.23, Z:1.06 [[ 9.97748259e-01 -4.53522184e-02 -4.94124286e-02 2.50191703e+01] [ 4.53142097e-02 9.98970996e-01 -1.88974559e-03 1.23160304e+00] [ 4.94472872e-02 -3.53594777e-04 9.98776672e-01 1.05784050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.750385722999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.05, Y:1.23, Z:1.06 [[ 9.97758110e-01 -4.51355478e-02 -4.94119043e-02 2.50457330e+01] [ 4.50965995e-02 9.98980818e-01 -1.90335804e-03 1.23308875e+00] [ 4.94474536e-02 -3.29217938e-04 9.98776672e-01 1.06038143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.780385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.07, Y:1.24, Z:1.06 [[ 9.97739763e-01 -4.55395491e-02 -4.94116771e-02 2.50736972e+01] [ 4.55008048e-02 9.98962478e-01 -1.90923683e-03 1.23563888e+00] [ 4.94473572e-02 -3.43349571e-04 9.98776672e-01 1.06257486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.810385722999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.10, Y:1.24, Z:1.06 [[ 9.97698928e-01 -4.64261596e-02 -4.94111486e-02 2.51010487e+01] [ 4.63878292e-02 9.98921655e-01 -1.92281992e-03 1.23747823e+00] [ 4.94471354e-02 -3.73680547e-04 9.98776672e-01 1.06097398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.840385722999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.13, Y:1.24, Z:1.06 [[ 9.97510271e-01 -5.03194502e-02 -4.94086341e-02 2.51261685e+01] [ 5.02826962e-02 9.98733048e-01 -1.98734385e-03 1.24156675e+00] [ 4.94460378e-02 -5.02003442e-04 9.98776670e-01 1.06071824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.870385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.16, Y:1.24, Z:1.06 [[ 9.97581755e-01 -4.89143979e-02 -4.93763508e-02 2.51614262e+01] [ 4.88349935e-02 9.98802896e-01 -2.81397307e-03 1.23552976e+00] [ 4.94548860e-02 3.95874421e-04 9.98776280e-01 1.06295030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.900385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.19, Y:1.24, Z:1.07 [[ 9.97556771e-01 -4.93861846e-02 -4.94114604e-02 2.51891706e+01] [ 4.93524746e-02 9.98779612e-01 -1.90277788e-03 1.23643035e+00] [ 4.94451302e-02 -5.40448891e-04 9.98776695e-01 1.06592649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.930385722999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.22, Y:1.24, Z:1.07 [[ 9.97529189e-01 -4.99407200e-02 -4.94109403e-02 2.52173864e+01] [ 4.99070255e-02 9.98752030e-01 -1.91618977e-03 1.23714099e+00] [ 4.94449728e-02 -5.54497834e-04 9.98776695e-01 1.06729972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.960385722999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.25, Y:1.24, Z:1.07 [[ 9.97497518e-01 -5.05698910e-02 -4.94104020e-02 2.52454582e+01] [ 5.05362852e-02 9.98720361e-01 -1.92997140e-03 1.23631291e+00] [ 4.94447730e-02 -5.71876488e-04 9.98776695e-01 1.06701743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.990385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.27, Y:1.23, Z:1.07 [[ 9.97431038e-01 -5.18651182e-02 -4.94098536e-02 2.52727705e+01] [ 5.18324101e-02 9.98653905e-01 -1.94390955e-03 1.23435823e+00] [ 4.94441644e-02 -6.22116074e-04 9.98776696e-01 1.06621663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.020385722999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.30, Y:1.24, Z:1.07 [[ 9.97284928e-01 -5.46027767e-02 -4.94096158e-02 2.53001178e+01] [ 5.45731267e-02 9.98507873e-01 -1.94993721e-03 1.23960725e+00] [ 4.94423623e-02 -7.51794237e-04 9.98776696e-01 1.06836625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.050385722999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.33, Y:1.24, Z:1.07 [[ 9.97137341e-01 -5.72503283e-02 -4.93915283e-02 2.53270726e+01] [ 5.72013637e-02 9.98359764e-01 -2.40544347e-03 1.24351566e+00] [ 4.94482269e-02 -4.26705262e-04 9.98776597e-01 1.07345126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.080385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.36, Y:1.24, Z:1.08 [[ 9.97097626e-01 -5.79522835e-02 -4.93746660e-02 2.53568047e+01] [ 5.78833226e-02 9.98319353e-01 -2.82660494e-03 1.24467698e+00] [ 4.94554929e-02 -3.95686453e-05 9.98776328e-01 1.07646743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.110385722999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.39, Y:1.24, Z:1.08 [[ 9.97159692e-01 -5.68680252e-02 -4.93819338e-02 2.53853001e+01] [ 5.68067036e-02 9.98381690e-01 -2.64550281e-03 1.24267812e+00] [ 4.94524631e-02 -1.67236107e-04 9.98776464e-01 1.07702819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.140385722999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.41, Y:1.24, Z:1.08 [[ 9.97024182e-01 -5.92011487e-02 -4.93761477e-02 2.54138937e+01] [ 5.91355546e-02 9.98246064e-01 -2.78951777e-03 1.24309980e+00] [ 4.94546877e-02 -1.38669199e-04 9.98776359e-01 1.07933709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.170385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:25.44, Y:1.24, Z:1.08 [[ 9.96888992e-01 -6.14482796e-02 -4.93603836e-02 2.54433285e+01] [ 6.13661412e-02 9.98110259e-01 -3.17922272e-03 1.24102204e+00] [ 4.94624631e-02 1.40275858e-04 9.98775973e-01 1.07881445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.200385722999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.47, Y:1.24, Z:1.08 [[ 9.97020994e-01 -5.92692479e-02 -4.93588210e-02 2.54749934e+01] [ 5.91825096e-02 9.98241992e-01 -3.21821897e-03 1.23981165e+00] [ 4.94627892e-02 2.87452976e-04 9.98775926e-01 1.08071479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.230385722999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.51, Y:1.24, Z:1.08 [[ 9.96992531e-01 -5.97343582e-02 -4.93730693e-02 2.55053806e+01] [ 5.96670365e-02 9.98214302e-01 -2.83759932e-03 1.24219028e+00] [ 4.94544060e-02 -1.16879398e-04 9.98776375e-01 1.08432280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.260385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.54, Y:1.24, Z:1.08 [[ 9.97038274e-01 -5.89624416e-02 -4.93772195e-02 2.55357776e+01] [ 5.88996972e-02 9.98260184e-01 -2.72606051e-03 1.23914024e+00] [ 4.94520474e-02 -1.90316607e-04 9.98776481e-01 1.08340102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.290385722999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.57, Y:1.24, Z:1.08 [[ 9.97048009e-01 -5.87955129e-02 -4.93797000e-02 2.55658719e+01] [ 5.87358818e-02 9.98270016e-01 -2.65905953e-03 1.23537134e+00] [ 4.94506147e-02 -2.49150213e-04 9.98776539e-01 1.08352183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.320385722999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.60, Y:1.23, Z:1.09 [[ 9.97205673e-01 -5.60583907e-02 -4.93791634e-02 2.55957490e+01] [ 5.59946818e-02 9.98427487e-01 -2.67367481e-03 1.23155842e+00] [ 4.94513959e-02 -9.87668474e-05 9.98776526e-01 1.08726033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.350385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.62, Y:1.24, Z:1.09 [[ 9.97227255e-01 -5.56650203e-02 -4.93883394e-02 2.56245853e+01] [ 5.56132311e-02 9.98449446e-01 -2.42322236e-03 1.23589739e+00] [ 4.94466488e-02 -3.30141745e-04 9.98776712e-01 1.09140393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.380385722999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.65, Y:1.24, Z:1.09 [[ 9.97237743e-01 -5.54799155e-02 -4.93848494e-02 2.56537717e+01] [ 5.54231797e-02 9.98459778e-01 -2.51853433e-03 1.23691948e+00] [ 4.94485138e-02 -2.25487894e-04 9.98776649e-01 1.09288895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.410385722999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.68, Y:1.24, Z:1.09 [[ 9.97363166e-01 -5.31775221e-02 -4.93848778e-02 2.56821445e+01] [ 5.31180038e-02 9.98585068e-01 -2.51775586e-03 1.23953706e+00] [ 4.94488896e-02 -1.12109176e-04 9.98776649e-01 1.09231433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.440385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.71, Y:1.23, Z:1.09 [[ 9.97562418e-01 -4.92978510e-02 -4.93856760e-02 2.57149839e+01] [ 4.92346603e-02 9.98784120e-01 -2.49594527e-03 1.23249883e+00] [ 4.94486737e-02 5.83742085e-05 9.98776664e-01 1.09073911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.470385722999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.74, Y:1.23, Z:1.09 [[ 9.97519717e-01 -5.01292727e-02 -4.94112276e-02 2.57401276e+01] [ 5.01019781e-02 9.98742500e-01 -1.79157838e-03 1.23463767e+00] [ 4.94389036e-02 -6.88465486e-04 9.98776912e-01 1.08847526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.500385722999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.77, Y:1.24, Z:1.09 [[ 9.97542738e-01 -4.96940286e-02 -4.93861248e-02 2.57685274e+01] [ 4.96323681e-02 9.98764488e-01 -2.47483863e-03 1.23507951e+00] [ 4.94480923e-02 1.76069820e-05 9.98776695e-01 1.08983354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.530385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.80, Y:1.24, Z:1.09 [[ 9.97668028e-01 -4.71111965e-02 -4.93866584e-02 2.57966226e+01] [ 4.70470952e-02 9.98889643e-01 -2.46025107e-03 1.23750110e+00] [ 4.94477269e-02 1.31015015e-04 9.98776704e-01 1.09363233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.560385722999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.82, Y:1.24, Z:1.10 [[ 9.97729976e-01 -4.57823679e-02 -4.93849212e-02 2.58239653e+01] [ 4.57142969e-02 9.98951408e-01 -2.50757826e-03 1.24112216e+00] [ 4.94479395e-02 2.44289045e-04 9.98776673e-01 1.09774474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.590385722999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.85, Y:1.24, Z:1.10 [[ 9.97783716e-01 -4.45932500e-02 -4.93872198e-02 2.58520635e+01] [ 4.45268625e-02 9.99005197e-01 -2.44415826e-03 1.24451102e+00] [ 4.94470823e-02 2.39683364e-04 9.98776716e-01 1.10244094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.620385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.88, Y:1.24, Z:1.10 [[ 9.97800410e-01 -4.42230270e-02 -4.93828402e-02 2.58806665e+01] [ 4.41502328e-02 9.99021612e-01 -2.56444015e-03 1.24427727e+00] [ 4.94479319e-02 3.78535542e-04 9.98776631e-01 1.10231312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.650385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.91, Y:1.24, Z:1.10 [[ 9.97731960e-01 -4.57398012e-02 -4.93842801e-02 2.59092780e+01] [ 4.56708397e-02 9.98953353e-01 -2.52451597e-03 1.24105084e+00] [ 4.94480630e-02 2.63368730e-04 9.98776662e-01 1.10130987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.680385722999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.94, Y:1.24, Z:1.10 [[ 9.97746586e-01 -4.54203490e-02 -4.93836254e-02 2.59404405e+01] [ 4.53501351e-02 9.98967919e-01 -2.54191585e-03 1.23841551e+00] [ 4.94481122e-02 2.96633774e-04 9.98776650e-01 1.10373094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.710385722999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.97, Y:1.24, Z:1.10 [[ 9.97619039e-01 -4.81189364e-02 -4.94046696e-02 2.59705295e+01] [ 4.80797727e-02 9.98841534e-01 -1.98150562e-03 1.24014917e+00] [ 4.94427839e-02 -3.98577548e-04 9.98776878e-01 1.10490697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.740385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.00, Y:1.25, Z:1.11 [[ 9.97470123e-01 -5.11084569e-02 -4.94093044e-02 2.59955562e+01] [ 5.10790595e-02 9.98692884e-01 -1.85828320e-03 1.24670175e+00] [ 4.94396947e-02 -6.70198823e-04 9.98776886e-01 1.10639134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.770385722999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.02, Y:1.25, Z:1.11 [[ 9.97582128e-01 -4.89054179e-02 -4.93777061e-02 2.60226471e+01] [ 4.88322680e-02 9.98803378e-01 -2.68742388e-03 1.24656149e+00] [ 4.94500493e-02 2.69700651e-04 9.98776562e-01 1.10830768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.800385722999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.05, Y:1.25, Z:1.11 [[ 9.97678457e-01 -4.68982324e-02 -4.93786633e-02 2.60517436e+01] [ 4.68238937e-02 9.98899613e-01 -2.66180200e-03 1.24516739e+00] [ 4.94491615e-02 3.43521234e-04 9.98776583e-01 1.10785055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.830385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.08, Y:1.25, Z:1.11 [[ 9.97702145e-01 -4.63904350e-02 -4.93797252e-02 2.60790397e+01] [ 4.63168829e-02 9.98923326e-01 -2.63335281e-03 1.24509540e+00] [ 4.94487217e-02 3.40186796e-04 9.98776606e-01 1.11020036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.860385722999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.11, Y:1.25, Z:1.11 [[ 9.97692910e-01 -4.65899266e-02 -4.93784914e-02 2.61065111e+01] [ 4.65150036e-02 9.98914034e-01 -2.66598208e-03 1.24928826e+00] [ 4.94490759e-02 3.62990722e-04 9.98776580e-01 1.11452480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.890385722999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.13, Y:1.25, Z:1.12 [[ 9.97703407e-01 -4.63651006e-02 -4.93780129e-02 2.61344368e+01] [ 4.62892753e-02 9.98924486e-01 -2.67865383e-03 1.25302443e+00] [ 4.94491022e-02 3.86829620e-04 9.98776570e-01 1.11721107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.920385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.16, Y:1.25, Z:1.12 [[ 9.97720491e-01 -4.59976096e-02 -4.93765209e-02 2.61633597e+01] [ 4.59193793e-02 9.98941451e-01 -2.71815850e-03 1.25422354e+00] [ 4.94492822e-02 4.44623242e-04 9.98776537e-01 1.11704196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.950385722999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.19, Y:1.25, Z:1.12 [[ 9.97745089e-01 -4.54605116e-02 -4.93769135e-02 2.61912941e+01] [ 4.53821390e-02 9.98966030e-01 -2.70775383e-03 1.25167455e+00] [ 4.94489552e-02 4.60818135e-04 9.98776546e-01 1.11643906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.980385722999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.22, Y:1.25, Z:1.11 [[ 9.97675130e-01 -4.69652701e-02 -4.93821747e-02 2.62195066e+01] [ 4.68958044e-02 9.98896493e-01 -2.56501244e-03 1.24730239e+00] [ 4.94481476e-02 2.43232314e-04 9.98776662e-01 1.11396807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.010385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.25, Y:1.25, Z:1.12 [[ 9.97634303e-01 -4.78262812e-02 -4.93806148e-02 2.62468597e+01] [ 4.77557812e-02 9.98855639e-01 -2.60720079e-03 1.24797471e+00] [ 4.94487983e-02 2.42823108e-04 9.98776630e-01 1.11638913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.040385722999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.27, Y:1.25, Z:1.12 [[ 9.97541697e-01 -4.97195269e-02 -4.93814885e-02 2.62733617e+01] [ 4.96525124e-02 9.98763212e-01 -2.58361727e-03 1.25430105e+00] [ 4.94488702e-02 1.25350991e-04 9.98776648e-01 1.12135628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.070385722999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.30, Y:1.26, Z:1.12 [[ 9.97556717e-01 -4.94203354e-02 -4.93784084e-02 2.63006490e+01] [ 4.93488676e-02 9.98778044e-01 -2.66617710e-03 1.25682610e+00] [ 4.94498335e-02 2.22894343e-04 9.98776584e-01 1.12445479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.100385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.34, Y:1.25, Z:1.13 [[ 9.97727212e-01 -4.58517510e-02 -4.93763795e-02 2.63352351e+01] [ 4.57732363e-02 9.98948152e-01 -2.72029878e-03 1.25184382e+00] [ 4.94491736e-02 4.53999427e-04 9.98776538e-01 1.12536416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.130385722999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.36, Y:1.25, Z:1.12 [[ 9.97677448e-01 -4.68871789e-02 -4.94095397e-02 2.63586923e+01] [ 4.68544433e-02 9.98900067e-01 -1.82120088e-03 1.25132990e+00] [ 4.94405835e-02 -4.98085436e-04 9.98776942e-01 1.12336757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.160385722999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.39, Y:1.25, Z:1.13 [[ 9.97774001e-01 -4.48150320e-02 -4.93827531e-02 2.63859148e+01] [ 4.47443385e-02 9.98995250e-01 -2.53664353e-03 1.25143082e+00] [ 4.94468156e-02 3.21398341e-04 9.98776706e-01 1.12505723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.190385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.42, Y:1.25, Z:1.13 [[ 9.97750975e-01 -4.53213848e-02 -4.93858618e-02 2.64154733e+01] [ 4.52555621e-02 9.98972436e-01 -2.45075934e-03 1.25371630e+00] [ 4.94461865e-02 2.10262588e-04 9.98776767e-01 1.12833642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.220385722999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.45, Y:1.25, Z:1.13 [[ 9.97780019e-01 -4.46750305e-02 -4.93880129e-02 2.64473164e+01] [ 4.46113292e-02 9.99001556e-01 -2.39191786e-03 1.25267626e+00] [ 4.94455607e-02 1.83342943e-04 9.98776803e-01 1.13251747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.250385722999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.47, Y:1.25, Z:1.13 [[ 9.97669517e-01 -4.70562925e-02 -4.94089156e-02 2.64722075e+01] [ 4.70239556e-02 9.98892109e-01 -1.81732707e-03 1.25329822e+00] [ 4.94396926e-02 -5.10310835e-04 9.98776980e-01 1.12774596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.280385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.50, Y:1.25, Z:1.13 [[ 9.97513894e-01 -5.02578915e-02 -4.93981277e-02 2.65012581e+01] [ 5.02148885e-02 9.98736204e-01 -2.11195861e-03 1.25308977e+00] [ 4.94418411e-02 -3.73813418e-04 9.98776934e-01 1.12564387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.310385722999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.53, Y:1.25, Z:1.13 [[ 9.97455986e-01 -5.13937621e-02 -4.93987667e-02 2.65292896e+01] [ 5.13530314e-02 9.98678367e-01 -2.09417772e-03 1.25437864e+00] [ 4.94411073e-02 -4.47926315e-04 9.98776940e-01 1.12936201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.340385722999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.56, Y:1.26, Z:1.13 [[ 9.97377259e-01 -5.29035723e-02 -4.93944777e-02 2.65557373e+01] [ 5.28588201e-02 9.98599544e-01 -2.21275754e-03 1.25599567e+00] [ 4.94423657e-02 -4.03979761e-04 9.98776897e-01 1.13074612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.370385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.58, Y:1.26, Z:1.13 [[ 9.97172665e-01 -5.66301577e-02 -4.93933375e-02 2.65830641e+01] [ 5.65884245e-02 9.98395069e-01 -2.24403083e-03 1.25850430e+00] [ 4.94411444e-02 -5.57404942e-04 9.98776883e-01 1.13284091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.400385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.61, Y:1.26, Z:1.14 [[ 9.97136821e-01 -5.72536288e-02 -4.93982085e-02 2.66116585e+01] [ 5.72193022e-02 9.98359404e-01 -2.10990804e-03 1.26014392e+00] [ 4.94379659e-02 -7.22664026e-04 9.98776935e-01 1.13590290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.430385722999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.64, Y:1.26, Z:1.14 [[ 9.97049924e-01 -5.87567007e-02 -4.93872345e-02 2.66434790e+01] [ 5.87093432e-02 9.98272209e-01 -2.41024278e-03 1.26056003e+00] [ 4.94435216e-02 -4.96359718e-04 9.98776798e-01 1.13938721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.460385722999998 meters Centerline goodness : 0.987587 Centerline is valid? [True, True] Translation: X:26.67, Y:1.26, Z:1.14 [[ 9.97103054e-01 -5.78289445e-02 -4.94096452e-02 2.66729447e+01] [ 5.78110241e-02 9.98325934e-01 -1.79289612e-03 1.26315453e+00] [ 4.94306115e-02 -1.06871999e-03 9.98776988e-01 1.14199736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.490385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.70, Y:1.27, Z:1.14 [[ 9.97037102e-01 -5.89479710e-02 -4.94181460e-02 2.66998413e+01] [ 5.89427976e-02 9.98260138e-01 -1.56326096e-03 1.26693743e+00] [ 4.94243163e-02 -1.35421460e-03 9.98776954e-01 1.14379188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.520385722999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.73, Y:1.27, Z:1.15 [[ 9.97012636e-01 -5.93886821e-02 -4.93840840e-02 2.67282128e+01] [ 5.93321198e-02 9.98234881e-01 -2.61179081e-03 1.26996086e+00] [ 4.94520261e-02 -3.26073948e-04 9.98776447e-01 1.14687285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.550385722999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.76, Y:1.27, Z:1.15 [[ 9.96932082e-01 -6.07266368e-02 -4.93831890e-02 2.67579173e+01] [ 6.06703560e-02 9.98154368e-01 -2.63922679e-03 1.27376266e+00] [ 4.94523172e-02 -3.64965801e-04 9.98776419e-01 1.14732266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.580385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.79, Y:1.28, Z:1.15 [[ 9.96896590e-01 -6.13075103e-02 -4.93819622e-02 2.67873577e+01] [ 6.12500490e-02 9.98118862e-01 -2.67744542e-03 1.27655022e+00] [ 4.94532155e-02 -3.55511392e-04 9.98776378e-01 1.14712647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.610385722999997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:26.82, Y:1.28, Z:1.15 [[ 9.96847776e-01 -6.20957860e-02 -4.93824264e-02 2.68182245e+01] [ 6.20400220e-02 9.98070111e-01 -2.66268974e-03 1.27971277e+00] [ 4.94524656e-02 -4.09390473e-04 9.98776394e-01 1.14541395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.640385722999998 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:26.85, Y:1.28, Z:1.15 [[ 9.96983605e-01 -5.98754252e-02 -4.93824261e-02 2.68527957e+01] [ 5.98169384e-02 9.98205812e-01 -2.66269924e-03 1.27626411e+00] [ 4.94532550e-02 -2.99238044e-04 9.98776394e-01 1.14711897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.670385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:26.87, Y:1.29, Z:1.15 [[ 9.96862988e-01 -6.18229496e-02 -4.94176602e-02 2.68744853e+01] [ 6.18237997e-02 9.98085933e-01 -1.51279088e-03 1.28523955e+00] [ 4.94165967e-02 -1.54714229e-03 9.98777055e-01 1.14502458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.700385722999997 meters Centerline goodness : 0.999421 Centerline is valid? [True, True] Translation: X:26.90, Y:1.29, Z:1.15 [[ 9.96818451e-01 -6.25623779e-02 -4.93854723e-02 2.69044166e+01] [ 6.25101852e-02 9.98040934e-01 -2.60214492e-03 1.28945553e+00] [ 4.94515193e-02 -4.93228946e-04 9.98776403e-01 1.14884633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.730385722999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.93, Y:1.30, Z:1.15 [[ 9.96983539e-01 -5.98761298e-02 -4.93829040e-02 2.69344223e+01] [ 5.98162972e-02 9.98205778e-01 -2.68989874e-03 1.29561417e+00] [ 4.94553609e-02 -2.72117694e-04 9.98776298e-01 1.15454769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.760385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.97, Y:1.29, Z:1.16 [[ 9.97281945e-01 -5.46836088e-02 -4.93804209e-02 2.69706203e+01] [ 5.46131364e-02 9.98503729e-01 -2.77625128e-03 1.29376213e+00] [ 4.94583499e-02 7.18856062e-05 9.98776184e-01 1.15943173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.790385722999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.99, Y:1.30, Z:1.16 [[ 9.97347002e-01 -5.34472365e-02 -4.94201366e-02 2.69933989e+01] [ 5.34460171e-02 9.98569832e-01 -1.34708301e-03 1.30306278e+00] [ 4.94214554e-02 -1.29780026e-03 9.98777170e-01 1.15792194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.820385722999998 meters Centerline goodness : 0.999482 Centerline is valid? [True, True] Translation: X:27.02, Y:1.30, Z:1.16 [[ 9.97502291e-01 -5.04964707e-02 -4.93891212e-02 2.70214782e+01] [ 5.04355287e-02 9.98724239e-01 -2.48018006e-03 1.30356046e+00] [ 4.94513528e-02 -1.69811413e-05 9.98776533e-01 1.15791762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.850385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.06, Y:1.30, Z:1.16 [[ 9.97761038e-01 -4.51052753e-02 -4.93804103e-02 2.70587657e+01] [ 4.50221975e-02 9.98982080e-01 -2.79396586e-03 1.29836912e+00] [ 4.94561676e-02 5.64495690e-04 9.98776135e-01 1.15728443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.880385722999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.09, Y:1.30, Z:1.16 [[ 9.97744471e-01 -4.54274026e-02 -4.94198462e-02 2.70866866e+01] [ 4.54174805e-02 9.98967216e-01 -1.32428205e-03 1.29833449e+00] [ 4.94289649e-02 -9.23229813e-04 9.98777215e-01 1.15802120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.910385722999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.11, Y:1.30, Z:1.16 [[ 9.97830213e-01 -4.35037955e-02 -4.94194800e-02 2.71141092e+01] [ 4.34908463e-02 9.99052930e-01 -1.33781096e-03 1.30201096e+00] [ 4.94308762e-02 -8.14386816e-04 9.98777215e-01 1.16366083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.940385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.14, Y:1.30, Z:1.17 [[ 9.97828139e-01 -4.35541571e-02 -4.94170011e-02 2.71418794e+01] [ 4.35367861e-02 9.99050804e-01 -1.42836253e-03 1.30293123e+00] [ 4.94323058e-02 -7.26197081e-04 9.98777212e-01 1.16541878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.970385722999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.17, Y:1.30, Z:1.17 [[ 9.98003289e-01 -3.93344253e-02 -4.94190055e-02 2.71686084e+01] [ 3.93155027e-02 9.99225928e-01 -1.35528123e-03 1.30093384e+00] [ 4.94340608e-02 -5.90357919e-04 9.98777215e-01 1.16685573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.000385722999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.20, Y:1.30, Z:1.17 [[ 9.98033504e-01 -3.85672994e-02 -4.94134407e-02 2.71972865e+01] [ 3.85375087e-02 9.99255943e-01 -1.55581864e-03 1.30030722e+00] [ 4.94366780e-02 -3.51511770e-04 9.98777198e-01 1.16624660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.030385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.22, Y:1.30, Z:1.17 [[ 9.98172222e-01 -3.47854182e-02 -4.94185210e-02 2.72237943e+01] [ 3.47600467e-02 9.99394744e-01 -1.37298839e-03 1.30220813e+00] [ 4.94363702e-02 -3.47311222e-04 9.98777215e-01 1.16885342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.060385722999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.25, Y:1.31, Z:1.17 [[ 9.98142461e-01 -3.56293817e-02 -4.94183580e-02 2.72455780e+01] [ 3.56047547e-02 9.99364999e-01 -1.37883065e-03 1.31038439e+00] [ 4.94361042e-02 -3.83259096e-04 9.98777215e-01 1.17159983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.090385722999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.28, Y:1.31, Z:1.17 [[ 9.98053342e-01 -3.80796316e-02 -4.93909740e-02 2.72791075e+01] [ 3.80092863e-02 9.99274592e-01 -2.36304646e-03 1.31097201e+00] [ 4.94451293e-02 4.81130743e-04 9.98776726e-01 1.17127172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.120385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.30, Y:1.31, Z:1.17 [[ 9.98142611e-01 -3.56375039e-02 -4.94094838e-02 2.73029378e+01] [ 3.55983803e-02 9.99364778e-01 -1.67186420e-03 1.31005894e+00] [ 4.94376789e-02 -9.01387030e-05 9.98777206e-01 1.17250238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.150385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.33, Y:1.31, Z:1.17 [[ 9.98146676e-01 -3.55497556e-02 -4.93905652e-02 2.73324654e+01] [ 3.54758738e-02 9.99367718e-01 -2.37196476e-03 1.30951212e+00] [ 4.94436592e-02 6.15395288e-04 9.98776725e-01 1.17226709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.180385722999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.36, Y:1.31, Z:1.17 [[ 9.98132504e-01 -3.59460385e-02 -4.93901524e-02 2.73605497e+01] [ 3.58718838e-02 9.99353545e-01 -2.38727326e-03 1.30590397e+00] [ 4.94440369e-02 6.11097231e-04 9.98776709e-01 1.17181120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.210385722999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.39, Y:1.31, Z:1.18 [[ 9.98000873e-01 -3.94265689e-02 -4.93943669e-02 2.73891107e+01] [ 3.93646085e-02 9.99222432e-01 -2.22694358e-03 1.30616257e+00] [ 4.94437601e-02 2.78101719e-04 9.98776871e-01 1.17561178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.240385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.42, Y:1.31, Z:1.18 [[ 9.97875871e-01 -4.24735597e-02 -4.93937524e-02 2.74160929e+01] [ 4.24141773e-02 9.99097580e-01 -2.25021547e-03 1.30797631e+00] [ 4.94447532e-02 1.50440347e-04 9.98776849e-01 1.17834342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.270385722999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.44, Y:1.31, Z:1.18 [[ 9.97876556e-01 -4.24575632e-02 -4.93936680e-02 2.74445424e+01] [ 4.23980065e-02 9.99098259e-01 -2.25333969e-03 1.30864988e+00] [ 4.94447990e-02 1.54361795e-04 9.98776846e-01 1.17975324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.300385722999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.47, Y:1.31, Z:1.18 [[ 9.97770446e-01 -4.48820409e-02 -4.93937155e-02 2.74720478e+01] [ 4.48255401e-02 9.98992293e-01 -2.25157835e-03 1.31057142e+00] [ 4.94449966e-02 3.24583529e-05 9.98776848e-01 1.18219575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.330385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:27.50, Y:1.31, Z:1.18 [[ 9.97574710e-01 -4.90405486e-02 -4.93935381e-02 2.75002738e+01] [ 4.89888071e-02 9.98796774e-01 -2.25832464e-03 1.30994261e+00] [ 4.94448560e-02 -1.66882959e-04 9.98776841e-01 1.18374262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.360385722999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.53, Y:1.31, Z:1.18 [[ 9.97468304e-01 -5.11598834e-02 -4.93928050e-02 2.75275964e+01] [ 5.11093688e-02 9.98690446e-01 -2.28598854e-03 1.30904258e+00] [ 4.94450734e-02 -2.44233972e-04 9.98776814e-01 1.18373171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.390385722999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.56, Y:1.31, Z:1.18 [[ 9.97247667e-01 -5.52944963e-02 -4.93924000e-02 2.75562194e+01] [ 5.52482942e-02 9.98469995e-01 -2.30122138e-03 1.30909887e+00] [ 4.94440743e-02 -4.33958199e-04 9.98776799e-01 1.18370614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.420385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.59, Y:1.31, Z:1.19 [[ 9.97241089e-01 -5.54148580e-02 -4.93903264e-02 2.75856237e+01] [ 5.53649489e-02 9.98463351e-01 -2.37906733e-03 1.31060470e+00] [ 4.94462665e-02 -3.61989201e-04 9.98776720e-01 1.18675115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.450385722999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.61, Y:1.32, Z:1.19 [[ 9.97200037e-01 -5.61460881e-02 -4.93933406e-02 2.76148696e+01] [ 5.61027222e-02 9.98422433e-01 -2.26502661e-03 1.31543404e+00] [ 4.94425917e-02 -5.12416249e-04 9.98776836e-01 1.19189933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.480385722999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.65, Y:1.31, Z:1.19 [[ 9.97411189e-01 -5.22611420e-02 -4.93932489e-02 2.76503330e+01] [ 5.22128456e-02 9.98633403e-01 -2.26844011e-03 1.31076350e+00] [ 4.94442995e-02 -3.16394535e-04 9.98776833e-01 1.19450824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.510385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.68, Y:1.32, Z:1.19 [[ 9.97354716e-01 -5.33043600e-02 -4.94187720e-02 2.76787676e+01] [ 5.33054736e-02 9.98577411e-01 -1.29635626e-03 1.31617304e+00] [ 4.94175709e-02 -1.34136402e-03 9.98777305e-01 1.19285384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.540385722999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.71, Y:1.32, Z:1.19 [[ 9.97357150e-01 -5.32606809e-02 -4.94167536e-02 2.77072234e+01] [ 5.32579140e-02 9.98579845e-01 -1.37364672e-03 1.31718290e+00] [ 4.94197355e-02 -1.26181683e-03 9.98777301e-01 1.19304877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.570385722999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.74, Y:1.32, Z:1.19 [[ 9.97384294e-01 -5.27597055e-02 -4.94063187e-02 2.77354230e+01] [ 5.27367413e-02 9.98606883e-01 -1.76915762e-03 1.32246624e+00] [ 4.94308302e-02 -8.40998223e-04 9.98777195e-01 1.19339331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.600385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:27.77, Y:1.33, Z:1.19 [[ 9.97390164e-01 -5.26545372e-02 -4.93999993e-02 2.77650502e+01] [ 5.26197960e-02 9.98612607e-01 -2.00440670e-03 1.32589672e+00] [ 4.94370032e-02 -6.00242358e-04 9.98777063e-01 1.19442144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.630385722999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.79, Y:1.33, Z:1.20 [[ 9.97320106e-01 -5.39622566e-02 -4.94032540e-02 2.77948233e+01] [ 5.39351546e-02 9.98542666e-01 -1.88249659e-03 1.32619329e+00] [ 4.94328407e-02 -7.87120448e-04 9.98777140e-01 1.19654318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.660385722999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.82, Y:1.32, Z:1.20 [[ 9.97280944e-01 -5.46805368e-02 -4.94040303e-02 2.78243971e+01] [ 5.46557642e-02 9.98503537e-01 -1.85323484e-03 1.32474677e+00] [ 4.94314348e-02 -8.52019236e-04 9.98777156e-01 1.19732548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.690385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.86, Y:1.32, Z:1.20 [[ 9.97352262e-01 -5.33669627e-02 -4.94007268e-02 2.78556800e+01] [ 5.33344203e-02 9.98574749e-01 -1.97763339e-03 1.32270735e+00] [ 4.94358586e-02 -6.62361994e-04 9.98777081e-01 1.19748397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.720385722999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.88, Y:1.32, Z:1.20 [[ 9.97371023e-01 -5.30085680e-02 -4.94078384e-02 2.78849904e+01] [ 5.29889641e-02 9.98593638e-01 -1.70745126e-03 1.32455213e+00] [ 4.94288627e-02 -9.15107766e-04 9.98777227e-01 1.20003447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.750385722999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.92, Y:1.33, Z:1.20 [[ 9.97496694e-01 -5.05933993e-02 -4.94029638e-02 2.79157778e+01] [ 5.05616090e-02 9.98719148e-01 -1.89378838e-03 1.32520371e+00] [ 4.94354991e-02 -6.08845686e-04 9.98777133e-01 1.20318933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.780385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.94, Y:1.33, Z:1.21 [[ 9.97513824e-01 -5.02447453e-02 -4.94129217e-02 2.79434607e+01] [ 5.02314386e-02 9.98736460e-01 -1.51184423e-03 1.32800584e+00] [ 4.94264488e-02 -9.73996631e-04 9.98777291e-01 1.20511404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.810385722999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.97, Y:1.33, Z:1.21 [[ 9.97664166e-01 -4.71693588e-02 -4.94091412e-02 2.79733526e+01] [ 4.71451604e-02 9.98886677e-01 -1.65570437e-03 1.32625029e+00] [ 4.94322313e-02 -6.77564965e-04 9.98777250e-01 1.20707167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.840385722999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.00, Y:1.33, Z:1.21 [[ 9.97668813e-01 -4.70610424e-02 -4.94185971e-02 2.80011274e+01] [ 4.70545717e-02 9.98891481e-01 -1.29497154e-03 1.32673461e+00] [ 4.94247583e-02 -1.03341821e-03 9.98777315e-01 1.20724488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.870385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.03, Y:1.33, Z:1.21 [[ 9.97582898e-01 -4.88487444e-02 -4.94182405e-02 2.80289281e+01] [ 4.88437977e-02 9.98805572e-01 -1.30844090e-03 1.32694189e+00] [ 4.94231297e-02 -1.10849628e-03 9.98777315e-01 1.20641613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.900385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.06, Y:1.33, Z:1.21 [[ 9.97470781e-01 -5.10871397e-02 -4.94180711e-02 2.80560830e+01] [ 5.10846213e-02 9.98693463e-01 -1.31480881e-03 1.32997858e+00] [ 4.94206743e-02 -1.21302007e-03 9.98777315e-01 1.20754501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.930385722999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.08, Y:1.33, Z:1.21 [[ 9.97511650e-01 -5.02891555e-02 -4.94116340e-02 2.80848150e+01] [ 5.02737841e-02 9.98734264e-01 -1.55464255e-03 1.32816464e+00] [ 4.94272735e-02 -9.33335763e-04 9.98777289e-01 1.20890689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.960385722999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.11, Y:1.33, Z:1.21 [[ 9.97484206e-01 -5.08247480e-02 -4.94176547e-02 2.81130418e+01] [ 5.08210974e-02 9.98706886e-01 -1.33118102e-03 1.32855435e+00] [ 4.94214089e-02 -1.18362740e-03 9.98777314e-01 1.21007668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.990385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.14, Y:1.33, Z:1.21 [[ 9.97568310e-01 -4.91467087e-02 -4.94172919e-02 2.81387769e+01] [ 4.91403411e-02 9.98790979e-01 -1.34451465e-03 1.32878726e+00] [ 4.94236238e-02 -1.08713738e-03 9.98777314e-01 1.20851859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.020385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.17, Y:1.33, Z:1.21 [[ 9.97482909e-01 -5.08587476e-02 -4.94088391e-02 2.81693591e+01] [ 5.08390480e-02 9.98705486e-01 -1.65615605e-03 1.32961368e+00] [ 4.94291087e-02 -8.59910984e-04 9.98777264e-01 1.21429039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.050385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.20, Y:1.33, Z:1.22 [[ 9.97372840e-01 -5.29654131e-02 -4.94174314e-02 2.81979325e+01] [ 5.29639904e-02 9.98595525e-01 -1.33918302e-03 1.33230781e+00] [ 4.94189562e-02 -1.28167959e-03 9.98777315e-01 1.21656870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.080385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.23, Y:1.33, Z:1.22 [[ 9.97401509e-01 -5.24288920e-02 -4.94109462e-02 2.82262418e+01] [ 5.24150340e-02 9.98624142e-01 -1.57704497e-03 1.33091503e+00] [ 4.94256465e-02 -1.01692939e-03 9.98777288e-01 1.21949286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.110385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.26, Y:1.34, Z:1.22 [[ 9.97348815e-01 -5.34161167e-02 -4.94171923e-02 2.82550085e+01] [ 5.34148033e-02 9.98571500e-01 -1.34813335e-03 1.33556038e+00] [ 4.94186119e-02 -1.29505041e-03 9.98777314e-01 1.22327904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.140385722999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.28, Y:1.33, Z:1.23 [[ 9.97435880e-01 -5.17690021e-02 -4.94129192e-02 2.82841997e+01] [ 5.17579376e-02 9.98658527e-01 -1.50428929e-03 1.33469839e+00] [ 4.94245086e-02 -1.05707868e-03 9.98777303e-01 1.22613405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.170385722999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.31, Y:1.34, Z:1.23 [[ 9.97467922e-01 -5.11438090e-02 -4.94171575e-02 2.83132889e+01] [ 5.11396644e-02 9.98690600e-01 -1.34905685e-03 1.33621546e+00] [ 4.94214466e-02 -1.18153592e-03 9.98777315e-01 1.22714336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.200385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.34, Y:1.34, Z:1.23 [[ 9.97367313e-01 -5.30699558e-02 -4.94168280e-02 2.83397002e+01] [ 5.30675799e-02 9.98589996e-01 -1.36102266e-03 1.34051242e+00] [ 4.94193794e-02 -1.26499195e-03 9.98777315e-01 1.22702223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.230385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.37, Y:1.34, Z:1.23 [[ 9.97304603e-01 -5.42537771e-02 -4.93969345e-02 2.83694433e+01] [ 5.42173381e-02 9.98526996e-01 -2.07827158e-03 1.34264562e+00] [ 4.94369267e-02 -6.05500492e-04 9.98777064e-01 1.22913875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.260385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.40, Y:1.34, Z:1.23 [[ 9.97505293e-01 -5.04350530e-02 -4.93912597e-02 2.84045888e+01] [ 5.03838428e-02 9.98727320e-01 -2.28209295e-03 1.33790719e+00] [ 4.94434979e-02 -2.12121671e-04 9.98776900e-01 1.23280205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.290385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.43, Y:1.34, Z:1.23 [[ 9.97499241e-01 -5.05296670e-02 -4.94167619e-02 2.84326966e+01] [ 5.05248233e-02 9.98721896e-01 -1.34796243e-03 1.33889052e+00] [ 4.94217143e-02 -1.15218166e-03 9.98777336e-01 1.23471627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.320385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.46, Y:1.35, Z:1.24 [[ 9.97321180e-01 -5.39301876e-02 -4.94165859e-02 2.84582061e+01] [ 5.39291942e-02 9.98543844e-01 -1.35438714e-03 1.34751780e+00] [ 4.94176699e-02 -1.31423767e-03 9.98777336e-01 1.23625623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.350385722999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.49, Y:1.35, Z:1.24 [[ 9.97248408e-01 -5.52820878e-02 -4.93913221e-02 2.84879199e+01] [ 5.52378449e-02 9.98470664e-01 -2.26132853e-03 1.34996496e+00] [ 4.94407971e-02 -4.73163909e-04 9.98776944e-01 1.23817105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.380385722999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.52, Y:1.35, Z:1.24 [[ 9.97180982e-01 -5.64793699e-02 -4.93980736e-02 2.85178833e+01] [ 5.64488561e-02 9.98403461e-01 -2.01369541e-03 1.35171758e+00] [ 4.94329399e-02 -7.80445980e-04 9.98777140e-01 1.23846360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.410385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.55, Y:1.35, Z:1.24 [[ 9.97125751e-01 -5.74529181e-02 -4.93902662e-02 2.85497891e+01] [ 5.74093565e-02 9.98348070e-01 -2.30130865e-03 1.35375563e+00] [ 4.94408939e-02 -5.40769288e-04 9.98776905e-01 1.24045368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.440385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.58, Y:1.35, Z:1.24 [[ 9.97082392e-01 -5.81996855e-02 -4.93912972e-02 2.85811283e+01] [ 5.81589512e-02 9.98304771e-01 -2.26269711e-03 1.35364264e+00] [ 4.94392559e-02 -6.16450591e-04 9.98776942e-01 1.24296515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.470385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.61, Y:1.35, Z:1.24 [[ 9.97228048e-01 -5.56484577e-02 -4.93909775e-02 2.86132311e+01] [ 5.56040013e-02 9.98450310e-01 -2.27470986e-03 1.35212771e+00] [ 4.94410209e-02 -4.77931505e-04 9.98776931e-01 1.24439898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.500385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.65, Y:1.35, Z:1.24 [[ 9.97412510e-01 -5.22350156e-02 -4.93942127e-02 2.86467636e+01] [ 5.21924788e-02 9.98634726e-01 -2.15145040e-03 1.34955877e+00] [ 4.94391571e-02 -4.32122854e-04 9.98777044e-01 1.24189387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.530385722999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.68, Y:1.35, Z:1.24 [[ 9.97409963e-01 -5.22672109e-02 -4.94115779e-02 2.86754369e+01] [ 5.22581006e-02 9.98632520e-01 -1.47710985e-03 1.35135792e+00] [ 4.94212129e-02 -1.10887112e-03 9.98777410e-01 1.24477526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.560385722999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.71, Y:1.35, Z:1.25 [[ 9.97577702e-01 -4.89738901e-02 -4.93992662e-02 2.87053300e+01] [ 4.89370266e-02 9.98799950e-01 -1.95615197e-03 1.35255480e+00] [ 4.94357850e-02 -4.66039618e-04 9.98777195e-01 1.24829517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.590385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.73, Y:1.35, Z:1.25 [[ 9.97627470e-01 -4.79456262e-02 -4.94029144e-02 2.87330985e+01] [ 4.79145158e-02 9.98849792e-01 -1.81450005e-03 1.35441913e+00] [ 4.94330881e-02 -5.56921627e-04 9.98777282e-01 1.25113922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.620385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.76, Y:1.36, Z:1.25 [[ 9.97686161e-01 -4.67102392e-02 -4.94011949e-02 2.87613308e+01] [ 4.66743258e-02 9.98908389e-01 -1.88094435e-03 1.35659431e+00] [ 4.94351273e-02 -4.29175315e-04 9.98777244e-01 1.25285011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.650385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.79, Y:1.36, Z:1.26 [[ 9.97687999e-01 -4.66703117e-02 -4.94018127e-02 2.87894910e+01] [ 4.66355598e-02 9.98910245e-01 -1.85649472e-03 1.35860283e+00] [ 4.94346200e-02 -4.51678692e-04 9.98777260e-01 1.25531990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.680385723 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:28.82, Y:1.36, Z:1.26 [[ 9.97784617e-01 -4.45604832e-02 -4.93985960e-02 2.88218710e+01] [ 4.45168806e-02 9.99006664e-01 -1.98307381e-03 1.35644673e+00] [ 4.94378933e-02 -2.20390855e-04 9.98777175e-01 1.25809509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.710385722999995 meters Centerline goodness : 0.999886 Centerline is valid? [True, True] Translation: X:28.85, Y:1.36, Z:1.26 [[ 9.97756673e-01 -4.51614008e-02 -4.94172945e-02 2.88498969e+01] [ 4.51555154e-02 9.98979205e-01 -1.23607433e-03 1.35626486e+00] [ 4.94226724e-02 -9.98161989e-04 9.98777454e-01 1.25841581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.740385722999996 meters Centerline goodness : 0.999864 Centerline is valid? [True, True] Translation: X:28.88, Y:1.36, Z:1.26 [[ 9.97743954e-01 -4.54419128e-02 -4.94169517e-02 2.88770927e+01] [ 4.54357000e-02 9.98966484e-01 -1.24962821e-03 1.35788349e+00] [ 4.94226640e-02 -9.98484807e-04 9.98777454e-01 1.25568728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.770385723 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:28.91, Y:1.36, Z:1.26 [[ 9.97754105e-01 -4.52324010e-02 -4.94042160e-02 2.89088325e+01] [ 4.52013501e-02 9.98976371e-01 -1.74615113e-03 1.35578183e+00] [ 4.94326270e-02 -4.90907804e-04 9.98777340e-01 1.26046991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.800385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.94, Y:1.36, Z:1.26 [[ 9.97768381e-01 -4.49026257e-02 -4.94167187e-02 2.89351218e+01] [ 4.48955609e-02 9.98990900e-01 -1.25348763e-03 1.35882080e+00] [ 4.94231372e-02 -9.67900988e-04 9.98777461e-01 1.26143702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.830385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.97, Y:1.36, Z:1.27 [[ 9.97828907e-01 -4.35513586e-02 -4.94039702e-02 2.89656476e+01] [ 4.35181188e-02 9.99051107e-01 -1.74877047e-03 1.35819405e+00] [ 4.94332525e-02 -4.04994118e-04 9.98777347e-01 1.26622483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.860385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.99, Y:1.36, Z:1.26 [[ 9.97857057e-01 -4.28871638e-02 -4.94164462e-02 2.89917590e+01] [ 4.28773313e-02 9.99079550e-01 -1.25951441e-03 1.35935042e+00] [ 4.94249778e-02 -8.62029995e-04 9.98777467e-01 1.26283462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.890385722999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.02, Y:1.36, Z:1.26 [[ 9.97876954e-01 -4.24334451e-02 -4.94063548e-02 2.90205706e+01] [ 4.24036833e-02 9.99099195e-01 -1.65085199e-03 1.35910989e+00] [ 4.94319006e-02 -4.47664266e-04 9.98777396e-01 1.26383311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.920385722999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.05, Y:1.36, Z:1.27 [[ 9.97910086e-01 -4.16462161e-02 -4.94070225e-02 2.90491278e+01] [ 4.16167720e-02 9.99132325e-01 -1.62495607e-03 1.35901609e+00] [ 4.94318265e-02 -4.34600737e-04 9.98777405e-01 1.26521305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.950385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.08, Y:1.36, Z:1.27 [[ 9.97940869e-01 -4.09010797e-02 -4.94077247e-02 2.90777521e+01] [ 4.08720695e-02 9.99163110e-01 -1.59775538e-03 1.36081291e+00] [ 4.94317258e-02 -4.24930559e-04 9.98777415e-01 1.26849783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.980385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.11, Y:1.36, Z:1.27 [[ 9.97944620e-01 -4.08075403e-02 -4.94093211e-02 2.91068301e+01] [ 4.07814681e-02 9.99166909e-01 -1.53609057e-03 1.36276633e+00] [ 4.94308428e-02 -4.82051338e-04 9.98777432e-01 1.27175836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.010385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.14, Y:1.36, Z:1.28 [[ 9.97958651e-01 -4.04626413e-02 -4.94095790e-02 2.91354718e+01] [ 4.04366395e-02 9.99180939e-01 -1.52613464e-03 1.36402648e+00] [ 4.94308610e-02 -4.74938072e-04 9.98777435e-01 1.27530765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.040385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.17, Y:1.36, Z:1.28 [[ 9.97890805e-01 -4.21017907e-02 -4.94103343e-02 2.91658194e+01] [ 4.20792333e-02 9.99113155e-01 -1.49711520e-03 1.36380239e+00] [ 4.94295463e-02 -5.85191491e-04 9.98777441e-01 1.28156922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.070385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.19, Y:1.36, Z:1.28 [[ 9.97787488e-01 -4.44724064e-02 -4.94199657e-02 2.91934255e+01] [ 4.44712060e-02 9.99010034e-01 -1.12438925e-03 1.36278464e+00] [ 4.94210459e-02 -1.07586394e-03 9.98777454e-01 1.28291786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.100385722999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.22, Y:1.36, Z:1.28 [[ 9.97628657e-01 -4.79076321e-02 -4.94158025e-02 2.92214369e+01] [ 4.79027107e-02 9.98851180e-01 -1.28456820e-03 1.35961876e+00] [ 4.94205732e-02 -1.08562884e-03 9.98777467e-01 1.28004840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.130385722999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.25, Y:1.36, Z:1.28 [[ 9.97433558e-01 -5.18148926e-02 -4.94116834e-02 2.92488502e+01] [ 5.18069790e-02 9.98656076e-01 -1.44172360e-03 1.36112563e+00] [ 4.94199806e-02 -1.12184655e-03 9.98777456e-01 1.28094272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.160385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.28, Y:1.36, Z:1.29 [[ 9.97277431e-01 -5.47413117e-02 -4.94076424e-02 2.92790681e+01] [ 5.47294529e-02 9.98499948e-01 -1.59385845e-03 1.36136028e+00] [ 4.94207783e-02 -1.11453418e-03 9.98777425e-01 1.28506537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.190385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.31, Y:1.36, Z:1.29 [[ 9.97277841e-01 -5.47268843e-02 -4.94153374e-02 2.93100293e+01] [ 5.47294649e-02 9.98500371e-01 -1.30185577e-03 1.36204249e+00] [ 4.94124792e-02 -1.40616307e-03 9.98777468e-01 1.28647005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.220385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.34, Y:1.37, Z:1.29 [[ 9.97112124e-01 -5.76674644e-02 -4.94153374e-02 2.93377684e+01] [ 5.76736501e-02 9.98334641e-01 -1.30185577e-03 1.36779843e+00] [ 4.94081179e-02 -1.55186671e-03 9.98777468e-01 1.28622541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.250385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.37, Y:1.37, Z:1.29 [[ 9.97220932e-01 -5.57651924e-02 -4.94029873e-02 2.93697420e+01] [ 5.57461486e-02 9.98443416e-01 -1.76432368e-03 1.36562096e+00] [ 4.94244752e-02 -9.94605761e-04 9.98777369e-01 1.29069813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.280385722999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.40, Y:1.36, Z:1.29 [[ 9.97260658e-01 -5.50394002e-02 -4.94150193e-02 2.93992954e+01] [ 5.50419114e-02 9.98483184e-01 -1.31099230e-03 1.36391514e+00] [ 4.94122221e-02 -1.41249608e-03 9.98777471e-01 1.29045208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.310385722999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.43, Y:1.36, Z:1.29 [[ 9.97330159e-01 -5.37653385e-02 -4.94149966e-02 2.94291083e+01] [ 5.37662455e-02 9.98552688e-01 -1.31184887e-03 1.36195280e+00] [ 4.94140097e-02 -1.34851240e-03 9.98777471e-01 1.28811486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.340385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.46, Y:1.36, Z:1.29 [[ 9.97277666e-01 -5.47379830e-02 -4.94065829e-02 2.94581883e+01] [ 5.47244099e-02 9.98500169e-01 -1.62839733e-03 1.36436863e+00] [ 4.94216166e-02 -1.07978180e-03 9.98777422e-01 1.29107412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.370385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.49, Y:1.37, Z:1.30 [[ 9.97338487e-01 -5.36212725e-02 -4.94034646e-02 2.94888838e+01] [ 5.36005612e-02 9.98560932e-01 -1.74492269e-03 1.36678356e+00] [ 4.94259347e-02 -9.07774873e-04 9.98777379e-01 1.29669527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.400385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.52, Y:1.37, Z:1.29 [[ 9.97301118e-01 -5.43014113e-02 -4.94149447e-02 2.95178160e+01] [ 5.43029154e-02 9.98523645e-01 -1.31306291e-03 1.37187772e+00] [ 4.94132919e-02 -1.37385645e-03 9.98777472e-01 1.29482166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.430385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.55, Y:1.37, Z:1.30 [[ 9.97463247e-01 -5.12472023e-02 -4.94043941e-02 2.95483869e+01] [ 5.12253832e-02 9.98685657e-01 -1.70852873e-03 1.37019625e+00] [ 4.94270171e-02 -8.26564400e-04 9.98777396e-01 1.30069203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.460385722999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.58, Y:1.38, Z:1.30 [[ 9.97399523e-01 -5.24628386e-02 -4.94149927e-02 2.95765484e+01] [ 5.24623200e-02 9.98622047e-01 -1.30839363e-03 1.37507652e+00] [ 4.94155432e-02 -1.28743398e-03 9.98777476e-01 1.29832791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.490385722999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.61, Y:1.38, Z:1.30 [[ 9.97504573e-01 -5.04381486e-02 -4.94026260e-02 2.96073358e+01] [ 5.04122134e-02 9.98726925e-01 -1.77164015e-03 1.37634320e+00] [ 4.94290910e-02 -7.23276576e-04 9.98777374e-01 1.30047438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.520385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.64, Y:1.37, Z:1.31 [[ 9.97641350e-01 -4.76533375e-02 -4.94054315e-02 2.96366270e+01] [ 4.76291933e-02 9.98863696e-01 -1.66654141e-03 1.37400878e+00] [ 4.94287082e-02 -6.90530229e-04 9.98777416e-01 1.30567421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.550385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.66, Y:1.38, Z:1.30 [[ 9.97789913e-01 -4.44237196e-02 -4.94147933e-02 2.96623197e+01] [ 4.44130318e-02 9.99012389e-01 -1.31481125e-03 1.37549171e+00] [ 4.94243995e-02 -8.82755379e-04 9.98777477e-01 1.30225685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.580385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.70, Y:1.37, Z:1.31 [[ 9.97768119e-01 -4.49311462e-02 -4.93960766e-02 2.96971058e+01] [ 4.48864628e-02 9.98990065e-01 -2.01406837e-03 1.37264703e+00] [ 4.94366841e-02 -2.07641942e-04 9.98777238e-01 1.30703339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.610385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.72, Y:1.37, Z:1.31 [[ 9.97832976e-01 -4.34456865e-02 -4.94148188e-02 2.97239497e+01] [ 4.34343020e-02 9.99055434e-01 -1.30467502e-03 1.37270656e+00] [ 4.94248257e-02 -8.44450403e-04 9.98777489e-01 1.30806013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.640385722999994 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] Translation: X:29.75, Y:1.38, Z:1.31 [[ 9.97956105e-01 -4.05192724e-02 -4.94145797e-02 2.97506150e+01] [ 4.05038579e-02 9.99178518e-01 -1.31366859e-03 1.37746571e+00] [ 4.94272154e-02 -6.90497518e-04 9.98777490e-01 1.30857842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.670385722999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.78, Y:1.38, Z:1.32 [[ 9.98020453e-01 -3.89150321e-02 -4.94044142e-02 2.97763359e+01] [ 3.88789906e-02 9.99242496e-01 -1.69065812e-03 1.38033813e+00] [ 4.94327822e-02 -2.33482379e-04 9.98777425e-01 1.31543216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.700385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.81, Y:1.38, Z:1.32 [[ 9.98084400e-01 -3.72453218e-02 -4.93995671e-02 2.98082326e+01] [ 3.71986663e-02 9.99306152e-01 -1.86379360e-03 1.38052178e+00] [ 4.94347089e-02 2.26253041e-05 9.98777357e-01 1.31805062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.730385723 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:29.83, Y:1.38, Z:1.32 [[ 9.98139371e-01 -3.57229754e-02 -4.94132152e-02 2.98346010e+01] [ 3.56987634e-02 9.99361653e-01 -1.37272162e-03 1.38278940e+00] [ 4.94307102e-02 -3.93823179e-04 9.98777478e-01 1.31538281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.760385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.87, Y:1.38, Z:1.32 [[ 9.98274276e-01 -3.17470686e-02 -4.94023675e-02 2.98652095e+01] [ 3.16989512e-02 9.99495917e-01 -1.75736393e-03 1.38044577e+00] [ 4.94332558e-02 1.88327972e-04 9.98777412e-01 1.32056785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.790385723 meters Centerline goodness : 0.999886 Centerline is valid? [True, True] Translation: X:29.89, Y:1.38, Z:1.32 [[ 9.98286088e-01 -3.13570880e-02 -4.94127495e-02 2.98930558e+01] [ 3.13267818e-02 9.99508232e-01 -1.38784326e-03 1.38229094e+00] [ 4.94319687e-02 -1.62477807e-04 9.98777480e-01 1.32169215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.820385723 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:29.92, Y:1.38, Z:1.32 [[ 9.98322179e-01 -3.01935655e-02 -4.94082584e-02 2.99213933e+01] [ 3.01538143e-02 9.99544069e-01 -1.54989780e-03 1.38419126e+00] [ 4.94325286e-02 5.74498941e-05 9.98777464e-01 1.31726892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.850385722999995 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:29.95, Y:1.38, Z:1.32 [[ 9.98397488e-01 -2.76025047e-02 -4.94019940e-02 2.99479100e+01] [ 2.75484860e-02 9.99618894e-01 -1.77413979e-03 1.38458082e+00] [ 4.94321373e-02 4.10346572e-04 9.98777400e-01 1.32248509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.880385722999996 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:29.98, Y:1.39, Z:1.32 [[ 9.98409703e-01 -2.71623481e-02 -4.93991020e-02 2.99774504e+01] [ 2.71026822e-02 9.99630892e-01 -1.87738865e-03 1.38721688e+00] [ 4.94318626e-02 5.35554883e-04 9.98777355e-01 1.32279323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.910385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.01, Y:1.38, Z:1.33 [[ 9.98522602e-01 -2.26375595e-02 -4.93979102e-02 3.00067381e+01] [ 2.25702579e-02 9.99743416e-01 -1.91988660e-03 1.38469849e+00] [ 4.94286971e-02 8.02126596e-04 9.98777333e-01 1.32980324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.940385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.04, Y:1.38, Z:1.34 [[ 9.98546380e-01 -2.15519811e-02 -4.94028297e-02 3.00355145e+01] [ 2.14917153e-02 9.99767493e-01 -1.75082210e-03 1.38387198e+00] [ 4.94290769e-02 6.86525519e-04 9.98777400e-01 1.33748687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.970385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.06, Y:1.39, Z:1.33 [[ 9.98515832e-01 -2.29170451e-02 -4.94058980e-02 3.00636149e+01] [ 2.28636761e-02 9.99737238e-01 -1.64516573e-03 1.38635084e+00] [ 4.94306184e-02 5.13123576e-04 9.98777428e-01 1.33423120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.000385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.09, Y:1.39, Z:1.33 [[ 9.98451512e-01 -2.55744579e-02 -4.94016744e-02 3.00926125e+01] [ 2.55169417e-02 9.99672779e-01 -1.79468212e-03 1.38907928e+00] [ 4.94314072e-02 5.31323431e-04 9.98777379e-01 1.33266059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.030385722999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.12, Y:1.39, Z:1.33 [[ 9.98446702e-01 -2.57715649e-02 -4.93964624e-02 3.01195165e+01] [ 2.57052055e-02 9.99667609e-01 -1.97829934e-03 1.38966158e+00] [ 4.94310274e-02 7.05480228e-04 9.98777290e-01 1.33442005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.060385722999996 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:30.15, Y:1.39, Z:1.35 [[ 9.98476954e-01 -2.45785406e-02 -4.93929887e-02 3.01500078e+01] [ 2.45050739e-02 9.99697516e-01 -2.09249091e-03 1.38608539e+00] [ 4.94294784e-02 8.78925107e-04 9.98777229e-01 1.34635895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.090385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.18, Y:1.38, Z:1.34 [[ 9.98399171e-01 -2.75372508e-02 -4.94044128e-02 3.01809005e+01] [ 2.74861463e-02 9.99620716e-01 -1.71362506e-03 1.38366483e+00] [ 4.94328630e-02 3.52944924e-04 9.98777386e-01 1.33631588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.120385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.21, Y:1.38, Z:1.34 [[ 9.98391928e-01 -2.78004014e-02 -4.94033944e-02 3.02070459e+01] [ 2.77479063e-02 9.99613424e-01 -1.74823603e-03 1.38427949e+00] [ 4.94328978e-02 3.74583979e-04 9.98777377e-01 1.34120013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.150385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.23, Y:1.39, Z:1.34 [[ 9.98380005e-01 -2.82341314e-02 -4.93983781e-02 3.02348326e+01] [ 2.81738079e-02 9.99601201e-01 -1.91717086e-03 1.38567585e+00] [ 4.94328078e-02 5.22324637e-04 9.98777315e-01 1.34468134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.180385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.26, Y:1.39, Z:1.34 [[ 9.98366971e-01 -2.86939932e-02 -4.93968183e-02 3.02624167e+01] [ 2.86316327e-02 9.99588090e-01 -1.96971017e-03 1.38683291e+00] [ 4.94329902e-02 5.52182012e-04 9.98777290e-01 1.34479485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.210385722999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.29, Y:1.39, Z:1.34 [[ 9.98240173e-01 -3.28130894e-02 -4.93949258e-02 3.02920304e+01] [ 3.27525652e-02 9.99461420e-01 -2.03443095e-03 1.38567416e+00] [ 4.94350786e-02 4.13040180e-04 9.98777254e-01 1.34115039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.240385722999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.32, Y:1.38, Z:1.35 [[ 9.98258044e-01 -3.22640863e-02 -4.93953980e-02 3.03227826e+01] [ 3.22036821e-02 9.99479289e-01 -2.01843342e-03 1.38205474e+00] [ 4.94348002e-02 4.24203707e-04 9.98777263e-01 1.34758361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.270385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.35, Y:1.38, Z:1.34 [[ 9.98092746e-01 -3.70148752e-02 -4.94041460e-02 3.03499175e+01] [ 3.69750220e-02 9.99314709e-01 -1.72066576e-03 1.38290199e+00] [ 4.94339800e-02 -1.09335367e-04 9.98777387e-01 1.33930596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.300385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.38, Y:1.38, Z:1.34 [[ 9.98074989e-01 -3.75075808e-02 -4.93912721e-02 3.03750955e+01] [ 3.74462779e-02 9.99296294e-01 -2.16623496e-03 1.38341717e+00] [ 4.94377655e-02 3.12545628e-04 9.98777157e-01 1.34204871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.330385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.41, Y:1.38, Z:1.35 [[ 9.98087272e-01 -3.71904544e-02 -4.93828758e-02 3.04081423e+01] [ 3.71145565e-02 9.99308006e-01 -2.45332720e-03 1.38004766e+00] [ 4.94399435e-02 6.15811113e-04 9.98776908e-01 1.34652947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.360385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.44, Y:1.38, Z:1.34 [[ 9.97983160e-01 -3.98693818e-02 -4.93968017e-02 3.04381049e+01] [ 3.98206178e-02 9.99204900e-01 -1.97129455e-03 1.37765962e+00] [ 4.94361206e-02 3.07602298e-07 9.98777287e-01 1.34248607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.390385722999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.47, Y:1.38, Z:1.34 [[ 9.97885871e-01 -4.22343921e-02 -4.93968039e-02 3.04682221e+01] [ 4.21885274e-02 9.99107723e-01 -1.97121795e-03 1.37768192e+00] [ 4.94359815e-02 -1.16927878e-04 9.98777288e-01 1.33974560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.420385722999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.50, Y:1.38, Z:1.34 [[ 9.97882658e-01 -4.23050640e-02 -4.94012452e-02 3.04950227e+01] [ 4.22671938e-02 9.99104701e-01 -1.81146514e-03 1.37751445e+00] [ 4.94336504e-02 -2.80422363e-04 9.98777370e-01 1.33729762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.450385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.53, Y:1.38, Z:1.33 [[ 9.97803321e-01 -4.41425346e-02 -4.93960543e-02 3.05258001e+01] [ 4.40977355e-02 9.99025226e-01 -1.99689486e-03 1.37553043e+00] [ 4.94360523e-02 -1.85745814e-04 9.98777274e-01 1.33457325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.480385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.55, Y:1.37, Z:1.34 [[ 9.97799817e-01 -4.42176478e-02 -4.93996430e-02 3.05545057e+01] [ 4.41793379e-02 9.99021871e-01 -1.86766374e-03 1.37494630e+00] [ 4.94339074e-02 -3.18888982e-04 9.98777346e-01 1.33625704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.510385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.59, Y:1.37, Z:1.34 [[ 9.97803842e-01 -4.41289462e-02 -4.93976548e-02 3.05876206e+01] [ 4.40869994e-02 9.99025814e-01 -1.93893889e-03 1.37223228e+00] [ 4.94350956e-02 -2.43113698e-04 9.98777309e-01 1.33899864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.540385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.62, Y:1.37, Z:1.33 [[ 9.97675857e-01 -4.69167168e-02 -4.94136279e-02 3.06164022e+01] [ 4.69069428e-02 9.98898340e-01 -1.35804959e-03 1.37227337e+00] [ 4.94229061e-02 -9.62948926e-04 9.98777477e-01 1.33414924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.570385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.64, Y:1.37, Z:1.34 [[ 9.97625385e-01 -4.79777936e-02 -4.94137819e-02 3.06444536e+01] [ 4.79695964e-02 9.98847881e-01 -1.35246435e-03 1.36958475e+00] [ 4.94217396e-02 -1.02110640e-03 9.98777477e-01 1.33623226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.600385722999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.67, Y:1.37, Z:1.33 [[ 9.97536728e-01 -4.97875937e-02 -4.94132818e-02 3.06721627e+01] [ 4.97807216e-02 9.98759231e-01 -1.37049523e-03 1.36904558e+00] [ 4.94202050e-02 -1.09270950e-03 9.98777477e-01 1.33492600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.630385722999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.70, Y:1.37, Z:1.33 [[ 9.97360961e-01 -5.31926570e-02 -4.94131003e-02 3.06977514e+01] [ 5.31896358e-02 9.98583480e-01 -1.37700751e-03 1.36895576e+00] [ 4.94163524e-02 -1.25489128e-03 9.98777477e-01 1.32574910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.660385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:30.73, Y:1.37, Z:1.33 [[ 9.97232347e-01 -5.55597332e-02 -4.94040718e-02 3.07257396e+01] [ 5.55433733e-02 9.98454820e-01 -1.70501851e-03 1.36818685e+00] [ 4.94224640e-02 -1.04376919e-03 9.98777418e-01 1.32637215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.690385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.75, Y:1.37, Z:1.33 [[ 9.97062767e-01 -5.85245787e-02 -4.94035612e-02 3.07542144e+01] [ 5.85109301e-02 9.98285280e-01 -1.72367179e-03 1.36813687e+00] [ 4.94197251e-02 -1.17203935e-03 9.98777411e-01 1.32517365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.720385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.78, Y:1.37, Z:1.33 [[ 9.97035806e-01 -5.89848663e-02 -4.94002671e-02 3.07830613e+01] [ 5.89658722e-02 9.98258298e-01 -1.84303204e-03 1.36877883e+00] [ 4.94229375e-02 -1.07536090e-03 9.98777361e-01 1.32590429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.750385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.81, Y:1.37, Z:1.33 [[ 9.97037716e-01 -5.89534093e-02 -4.93992834e-02 3.08115520e+01] [ 5.89326175e-02 9.98260195e-01 -1.87856028e-03 1.36929209e+00] [ 4.94240858e-02 -1.03823363e-03 9.98777343e-01 1.32825400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.780385722999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.84, Y:1.37, Z:1.33 [[ 9.97080085e-01 -5.82328184e-02 -4.93988065e-02 3.08407488e+01] [ 5.82102921e-02 9.98302543e-01 -1.89574946e-03 1.36972080e+00] [ 4.94253490e-02 -9.85304924e-04 9.98777335e-01 1.33063221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.810385722999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.87, Y:1.37, Z:1.33 [[ 9.97197379e-01 -5.61898389e-02 -4.93972632e-02 3.08692747e+01] [ 5.61620536e-02 9.98419759e-01 -1.95138055e-03 1.36863336e+00] [ 4.94288514e-02 -8.28340167e-04 9.98777304e-01 1.33050736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.840385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.90, Y:1.37, Z:1.33 [[ 9.97215420e-01 -5.58684349e-02 -4.93976102e-02 3.08974245e+01] [ 5.58408767e-02 9.98437798e-01 -1.93883629e-03 1.36822154e+00] [ 4.94287609e-02 -8.24968407e-04 9.98777311e-01 1.33102663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.870385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.93, Y:1.37, Z:1.33 [[ 9.97231264e-01 -5.55857408e-02 -4.93966836e-02 3.09260293e+01] [ 5.55561823e-02 9.98453615e-01 -1.97223822e-03 1.36707206e+00] [ 4.94299256e-02 -7.77513549e-04 9.98777291e-01 1.33088142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.900385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.95, Y:1.37, Z:1.33 [[ 9.97263718e-01 -5.49994816e-02 -4.93977004e-02 3.09540064e+01] [ 5.49710161e-02 9.98486074e-01 -1.93564677e-03 1.36630074e+00] [ 4.94293755e-02 -7.85091489e-04 9.98777313e-01 1.32965185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.930385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.98, Y:1.37, Z:1.33 [[ 9.97193733e-01 -5.62561173e-02 -4.93954271e-02 3.09845001e+01] [ 5.62252116e-02 9.98416076e-01 -2.01604205e-03 1.36885915e+00] [ 4.94306032e-02 -7.66883845e-04 9.98777266e-01 1.32857705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.960385722999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.01, Y:1.37, Z:1.33 [[ 9.97143385e-01 -5.71373728e-02 -4.94003112e-02 3.10119832e+01] [ 5.71162571e-02 9.98365838e-01 -1.84013465e-03 1.37246831e+00] [ 4.94247235e-02 -9.86682781e-04 9.98777364e-01 1.32995412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.990385722999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.04, Y:1.37, Z:1.33 [[ 9.97276959e-01 -5.47606473e-02 -4.93957243e-02 3.10446487e+01] [ 5.47284791e-02 9.98499262e-01 -2.00451756e-03 1.36988690e+00] [ 4.94313629e-02 -7.04293689e-04 9.98777275e-01 1.33145013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.020385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.07, Y:1.37, Z:1.33 [[ 9.97258601e-01 -5.50780698e-02 -4.94134518e-02 3.10723280e+01] [ 5.50781279e-02 9.98481120e-01 -1.36149338e-03 1.36832019e+00] [ 4.94133871e-02 -1.36383943e-03 9.98777481e-01 1.32734010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.050385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.10, Y:1.37, Z:1.33 [[ 9.97119183e-01 -5.75470486e-02 -4.94132792e-02 3.10965549e+01] [ 5.75498247e-02 9.98341699e-01 -1.36773021e-03 1.37198991e+00] [ 4.94100459e-02 -1.47993553e-03 9.98777481e-01 1.32609515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.080385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.12, Y:1.37, Z:1.33 [[ 9.97114957e-01 -5.76371871e-02 -4.93935026e-02 3.11249437e+01] [ 5.76052700e-02 9.98337290e-01 -2.07065461e-03 1.37308843e+00] [ 4.94307223e-02 -7.80645374e-04 9.98777250e-01 1.32778237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.110385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.16, Y:1.37, Z:1.33 [[ 9.97000149e-01 -5.95900052e-02 -4.93936639e-02 3.11556909e+01] [ 5.95607674e-02 9.98222546e-01 -2.06489451e-03 1.37001301e+00] [ 4.94289160e-02 -8.83224396e-04 9.98777254e-01 1.32775852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.140385722999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.18, Y:1.37, Z:1.33 [[ 9.97008798e-01 -5.94381629e-02 -4.94020456e-02 3.11837405e+01] [ 5.94238142e-02 9.98231291e-01 -1.76042309e-03 1.36973228e+00] [ 4.94193041e-02 -1.18050067e-03 9.98777422e-01 1.33167904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.170385722999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.21, Y:1.37, Z:1.33 [[ 9.96715790e-01 -6.41692701e-02 -4.93957277e-02 3.12127499e+01] [ 6.41494197e-02 9.97938323e-01 -1.98871885e-03 1.37323067e+00] [ 4.94215043e-02 -1.18651979e-03 9.98777306e-01 1.33175143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.200385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.24, Y:1.37, Z:1.34 [[ 9.96706732e-01 -6.43037662e-02 -4.94035995e-02 3.12418618e+01] [ 6.42985210e-02 9.97929266e-01 -1.69707232e-03 1.37413764e+00] [ 4.94104259e-02 -1.48509496e-03 9.98777455e-01 1.34004048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.230385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.27, Y:1.37, Z:1.34 [[ 9.96675782e-01 -6.47878471e-02 -4.93955538e-02 3.12709620e+01] [ 6.47685295e-02 9.97898324e-01 -1.99328152e-03 1.37387306e+00] [ 4.94208807e-02 -1.21262196e-03 9.98777306e-01 1.33980247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.260385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.30, Y:1.37, Z:1.34 [[ 9.96651021e-01 -6.51658184e-02 -4.93979651e-02 3.13003327e+01] [ 6.51513047e-02 9.97873577e-01 -1.90562544e-03 1.37285369e+00] [ 4.94171057e-02 -1.31909833e-03 9.98777357e-01 1.34239733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.290385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.33, Y:1.36, Z:1.34 [[ 9.96759074e-01 -6.34939047e-02 -4.93950568e-02 3.13329526e+01] [ 6.34721408e-02 9.97981585e-01 -2.01063284e-03 1.36494748e+00] [ 4.94230200e-02 -1.13109348e-03 9.98777295e-01 1.34334804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.320385722999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.36, Y:1.37, Z:1.35 [[ 9.96673395e-01 -6.48111760e-02 -4.94131092e-02 3.13616151e+01] [ 6.48237106e-02 9.97895818e-01 -1.35052866e-03 1.36700916e+00] [ 4.93966643e-02 -1.85710510e-03 9.98777513e-01 1.34569253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.350385722999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.39, Y:1.37, Z:1.35 [[ 9.96533349e-01 -6.69327607e-02 -4.94094156e-02 3.13885177e+01] [ 6.69412473e-02 9.97755814e-01 -1.48485347e-03 1.37040421e+00] [ 4.93979170e-02 -1.82782191e-03 9.98777505e-01 1.34711655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.380385722999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.42, Y:1.37, Z:1.35 [[ 9.96471047e-01 -6.78599397e-02 -4.94012184e-02 3.14177834e+01] [ 6.78550125e-02 9.97693607e-01 -1.77875445e-03 1.37311793e+00] [ 4.94079859e-02 -1.57964298e-03 9.98777430e-01 1.34928647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.410385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.45, Y:1.37, Z:1.36 [[ 9.96475900e-01 -6.77872285e-02 -4.94031537e-02 3.14475705e+01] [ 6.77857391e-02 9.97698440e-01 -1.70751738e-03 1.37354613e+00] [ 4.94051973e-02 -1.64732937e-03 9.98777459e-01 1.35502358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.440385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.48, Y:1.37, Z:1.35 [[ 9.96534164e-01 -6.69310019e-02 -4.93953635e-02 3.14796056e+01] [ 6.69149527e-02 9.97756717e-01 -1.98035485e-03 1.37009584e+00] [ 4.94171029e-02 -1.33179714e-03 9.98777341e-01 1.34793039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.470385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.51, Y:1.37, Z:1.36 [[ 9.96438490e-01 -6.83293215e-02 -4.94109225e-02 3.15082694e+01] [ 6.83423372e-02 9.97660907e-01 -1.42797561e-03 1.37028106e+00] [ 4.93929184e-02 -1.95396806e-03 9.98777514e-01 1.35647292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.500385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.54, Y:1.37, Z:1.36 [[ 9.96391059e-01 -6.90220142e-02 -4.94046422e-02 3.15371522e+01] [ 6.90246919e-02 9.97613581e-01 -1.65395113e-03 1.36988346e+00] [ 4.94009010e-02 -1.76215808e-03 9.98777476e-01 1.35787868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.530385722999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.56, Y:1.37, Z:1.36 [[ 9.96500988e-01 -6.74176105e-02 -4.94028992e-02 3.15647159e+01] [ 6.74152336e-02 9.97723529e-01 -1.71628272e-03 1.37007749e+00] [ 4.94061426e-02 -1.62023057e-03 9.98777457e-01 1.36170790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.560385722999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.60, Y:1.37, Z:1.37 [[ 9.96357134e-01 -6.95178450e-02 -4.93936335e-02 3.15956146e+01] [ 6.95016951e-02 9.97579734e-01 -2.04649084e-03 1.37348522e+00] [ 4.94163554e-02 -1.39390551e-03 9.98777293e-01 1.36769162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.590385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.63, Y:1.37, Z:1.37 [[ 9.96405672e-01 -6.88116672e-02 -4.94033603e-02 3.16275604e+01] [ 6.88121175e-02 9.97628199e-01 -1.69371996e-03 1.37294508e+00] [ 4.94027331e-02 -1.71191767e-03 9.98777472e-01 1.37047263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.620385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.66, Y:1.37, Z:1.37 [[ 9.96323596e-01 -6.99875319e-02 -4.94068565e-02 3.16586847e+01] [ 6.99957426e-02 9.97546061e-01 -1.56611227e-03 1.36984889e+00] [ 4.93952234e-02 -1.89791501e-03 9.98777508e-01 1.36951536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.650385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.69, Y:1.37, Z:1.37 [[ 9.96300007e-01 -7.03219368e-02 -4.94077095e-02 3.16901889e+01] [ 7.03321073e-02 9.97522450e-01 -1.53481697e-03 1.36862121e+00] [ 4.93932308e-02 -1.94581017e-03 9.98777514e-01 1.36915285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.680385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.72, Y:1.37, Z:1.37 [[ 9.96210331e-01 -7.15787096e-02 -4.94111755e-02 3.17200520e+01] [ 7.15967188e-02 9.97432669e-01 -1.40762442e-03 1.36958097e+00] [ 4.93850765e-02 -2.13538805e-03 9.98777530e-01 1.37055963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.710385722999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.75, Y:1.37, Z:1.37 [[ 9.96031762e-01 -7.40219168e-02 -4.94113934e-02 3.17518364e+01] [ 7.40433190e-02 9.97254044e-01 -1.39964602e-03 1.37011929e+00] [ 4.93793163e-02 -2.26449166e-03 9.98777530e-01 1.37013317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.740385722999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.78, Y:1.37, Z:1.38 [[ 9.95683754e-01 -7.85606561e-02 -4.94174569e-02 3.17801807e+01] [ 7.85986074e-02 9.96905648e-01 -1.17782841e-03 1.37216698e+00] [ 4.93570729e-02 -2.71139868e-03 9.98777517e-01 1.37553936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.770385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.81, Y:1.37, Z:1.37 [[ 9.95817844e-01 -7.68454155e-02 -4.94125853e-02 3.18121659e+01] [ 7.68724703e-02 9.97040012e-01 -1.35545200e-03 1.37109419e+00] [ 4.93704849e-02 -2.44868421e-03 9.98777532e-01 1.37376008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.800385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.84, Y:1.37, Z:1.38 [[ 9.95710122e-01 -7.82267818e-02 -4.94158264e-02 3.18428895e+01] [ 7.82613808e-02 9.96932107e-01 -1.23728326e-03 1.37369484e+00] [ 4.93610126e-02 -2.63537534e-03 9.98777525e-01 1.37675654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.830385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.87, Y:1.38, Z:1.38 [[ 9.95553667e-01 -8.01929913e-02 -4.94163877e-02 3.18734016e+01] [ 8.02310139e-02 9.96775553e-01 -1.21686658e-03 1.37638874e+00] [ 4.93546313e-02 -2.75327090e-03 9.98777523e-01 1.38135083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.860385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.91, Y:1.38, Z:1.38 [[ 9.95587428e-01 -7.97757603e-02 -4.94115555e-02 3.19050680e+01] [ 7.98045661e-02 9.96809556e-01 -1.39274033e-03 1.37596325e+00] [ 4.93650177e-02 -2.55667299e-03 9.98777532e-01 1.38257068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.890385722999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.93, Y:1.38, Z:1.39 [[ 9.95467480e-01 -8.12583285e-02 -4.94123538e-02 3.19346086e+01] [ 8.12903923e-02 9.96689527e-01 -1.36368819e-03 1.37628458e+00] [ 4.93595865e-02 -2.65924238e-03 9.98777533e-01 1.38984923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.920385722999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.97, Y:1.38, Z:1.39 [[ 9.95521052e-01 -8.05992495e-02 -4.94125110e-02 3.19661865e+01] [ 8.06307874e-02 9.96743112e-01 -1.35796695e-03 1.37798869e+00] [ 4.93610311e-02 -2.63228499e-03 9.98777533e-01 1.39355855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.950385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.00, Y:1.38, Z:1.40 [[ 9.95782662e-01 -7.72999667e-02 -4.94126069e-02 3.19970334e+01] [ 7.73276281e-02 9.97004816e-01 -1.35446795e-03 1.38415082e+00] [ 4.93693074e-02 -2.47220399e-03 9.98777533e-01 1.39750532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.980385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.03, Y:1.39, Z:1.40 [[ 9.95978493e-01 -7.47343870e-02 -4.94126782e-02 3.20288599e+01] [ 7.47590287e-02 9.97200712e-01 -1.35186326e-03 1.38804320e+00] [ 4.93753886e-02 -2.34761709e-03 9.98777533e-01 1.39976660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.010385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.06, Y:1.39, Z:1.40 [[ 9.96179532e-01 -7.20049828e-02 -4.94127727e-02 3.20612739e+01] [ 7.20264468e-02 9.97401811e-01 -1.34840024e-03 1.39105832e+00] [ 4.93814805e-02 -2.21577772e-03 9.98777533e-01 1.40196941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.040385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.09, Y:1.39, Z:1.40 [[ 9.96614449e-01 -6.57115611e-02 -4.94128667e-02 3.20911680e+01] [ 6.57254756e-02 9.97836837e-01 -1.34494786e-03 1.39405968e+00] [ 4.93943572e-02 -1.90728969e-03 9.98777533e-01 1.40418989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.070385722999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.12, Y:1.40, Z:1.41 [[ 9.96848193e-01 -6.20648510e-02 -4.94128899e-02 3.21216906e+01] [ 6.20743353e-02 9.98070624e-01 -1.34409382e-03 1.39598214e+00] [ 4.94009748e-02 -1.72741480e-03 9.98777533e-01 1.40650915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.100385722999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.15, Y:1.40, Z:1.41 [[ 9.97094871e-01 -5.79670934e-02 -4.94128899e-02 3.21514231e+01] [ 5.79715532e-02 9.98317331e-01 -1.34409382e-03 1.39833441e+00] [ 4.94076575e-02 -1.52435292e-03 9.98777533e-01 1.40854001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.130385722999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.18, Y:1.40, Z:1.41 [[ 9.97310874e-01 -5.41238534e-02 -4.94128436e-02 3.21801683e+01] [ 5.41235177e-02 9.98533341e-01 -1.34579325e-03 1.40099077e+00] [ 4.94132113e-02 -1.33222267e-03 9.98777533e-01 1.41061613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.160385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.21, Y:1.41, Z:1.41 [[ 9.97717307e-01 -4.60280236e-02 -4.94125123e-02 3.22074295e+01] [ 4.60171696e-02 9.98939726e-01 -1.35785086e-03 1.40669080e+00] [ 4.94226207e-02 -9.19072649e-04 9.98777533e-01 1.41244367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.190385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.24, Y:1.41, Z:1.42 [[ 9.97887182e-01 -4.21852164e-02 -4.94123338e-02 3.22355286e+01] [ 4.21693346e-02 9.99109546e-01 -1.36431439e-03 1.41103503e+00] [ 4.94258883e-02 -7.22253398e-04 9.98777533e-01 1.41606884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.220385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.27, Y:1.42, Z:1.42 [[ 9.98151478e-01 -3.53847577e-02 -4.94120002e-02 3.22659703e+01] [ 3.53599543e-02 9.99373694e-01 -1.37629222e-03 1.41609814e+00] [ 4.94297529e-02 -3.73457959e-04 9.98777533e-01 1.41685292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.250385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.29, Y:1.42, Z:1.42 [[ 9.98211522e-01 -3.36399661e-02 -4.94177012e-02 3.22944130e+01] [ 3.36231352e-02 9.99433895e-01 -1.17207680e-03 1.41730182e+00] [ 4.94291543e-02 -4.91597481e-04 9.98777511e-01 1.41633082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.280385722999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.32, Y:1.42, Z:1.42 [[ 9.98176728e-01 -3.46544890e-02 -4.94194809e-02 3.23199374e+01] [ 3.46420280e-02 9.99399170e-01 -1.10890336e-03 1.41998615e+00] [ 4.94282166e-02 -6.05109513e-04 9.98777495e-01 1.41805494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.310385722999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.35, Y:1.42, Z:1.42 [[ 9.98255121e-01 -3.23307899e-02 -4.94108715e-02 3.23514591e+01] [ 3.23005511e-02 9.99477206e-01 -1.41056062e-03 1.42276683e+00] [ 4.94306443e-02 -1.87899018e-04 9.98777541e-01 1.41957922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.340385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.38, Y:1.43, Z:1.42 [[ 9.98249942e-01 -3.24791685e-02 -4.94181857e-02 3.23790482e+01] [ 3.24618135e-02 9.99472310e-01 -1.15395170e-03 1.42688028e+00] [ 4.94295877e-02 -4.52271709e-04 9.98777508e-01 1.42265048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.370385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.41, Y:1.43, Z:1.43 [[ 9.98204348e-01 -3.38542071e-02 -4.94163134e-02 3.24052951e+01] [ 3.38353150e-02 9.99426678e-01 -1.21901353e-03 1.43218669e+00] [ 4.94292506e-02 -4.55191926e-04 9.98777524e-01 1.42832948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.400385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.43, Y:1.44, Z:1.43 [[ 9.98169761e-01 -3.48673596e-02 -4.94104786e-02 3.24333342e+01] [ 3.48397998e-02 9.99391902e-01 -1.41917622e-03 1.43561212e+00] [ 4.94299151e-02 -3.04872395e-04 9.98777548e-01 1.42929745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.430385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.46, Y:1.43, Z:1.43 [[ 9.98187131e-01 -3.43711376e-02 -4.94072601e-02 3.24638256e+01] [ 3.43375603e-02 9.99409123e-01 -1.52847310e-03 1.43424368e+00] [ 4.94306018e-02 -1.70822592e-04 9.98777546e-01 1.42579723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.460385722999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.49, Y:1.44, Z:1.43 [[ 9.97961387e-01 -4.03848734e-02 -4.94179348e-02 3.24869922e+01] [ 4.03765266e-02 9.99183853e-01 -1.16757125e-03 1.43928135e+00] [ 4.94247547e-02 -8.30133540e-04 9.98777505e-01 1.42735232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.490385722999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.52, Y:1.44, Z:1.43 [[ 9.97956875e-01 -4.05212802e-02 -4.93973904e-02 3.25178109e+01] [ 4.04793857e-02 9.99178664e-01 -1.84862869e-03 1.44052258e+00] [ 4.94317273e-02 -1.54724308e-04 9.98777493e-01 1.42930907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.520385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.55, Y:1.45, Z:1.44 [[ 9.97682513e-01 -4.67806125e-02 -4.94082754e-02 3.25452506e+01] [ 4.67642820e-02 9.98904846e-01 -1.48708052e-03 1.44834115e+00] [ 4.94237323e-02 -8.26908297e-04 9.98777558e-01 1.43787698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.550385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.57, Y:1.45, Z:1.44 [[ 9.97520664e-01 -5.01159693e-02 -4.94056057e-02 3.25734041e+01] [ 5.00993706e-02 9.98742996e-01 -1.57504253e-03 1.45100092e+00] [ 4.94224375e-02 -9.04052278e-04 9.98777555e-01 1.44005100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.580385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.60, Y:1.45, Z:1.44 [[ 9.97210334e-01 -5.59551499e-02 -4.94021383e-02 3.26013505e+01] [ 5.59401048e-02 9.98432699e-01 -1.68820138e-03 1.44915916e+00] [ 4.94191739e-02 -1.08006894e-03 9.98777542e-01 1.43883969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.610385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.63, Y:1.45, Z:1.44 [[ 9.97040234e-01 -5.89096498e-02 -4.94006532e-02 3.26315383e+01] [ 5.88958469e-02 9.98262623e-01 -1.73626214e-03 1.44904763e+00] [ 4.94171082e-02 -1.17837010e-03 9.98777533e-01 1.43963494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.640385722999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.66, Y:1.45, Z:1.44 [[ 9.96731404e-01 -6.39236410e-02 -4.93991587e-02 3.26627215e+01] [ 6.39135944e-02 9.97953840e-01 -1.78457203e-03 1.45040184e+00] [ 4.94121565e-02 -1.37853882e-03 9.98777522e-01 1.44200228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.670385722999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.69, Y:1.45, Z:1.45 [[ 9.96687358e-01 -6.46080104e-02 -4.93975202e-02 3.26941558e+01] [ 6.45961723e-02 9.97909794e-01 -1.83770469e-03 1.45153018e+00] [ 4.94129996e-02 -1.35927369e-03 9.98777507e-01 1.44550780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.700385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.73, Y:1.45, Z:1.45 [[ 9.96607073e-01 -6.58367288e-02 -4.93950054e-02 3.27263069e+01] [ 6.58223360e-02 9.97829512e-01 -1.91973444e-03 1.45356918e+00] [ 4.94141831e-02 -1.33807371e-03 9.98777477e-01 1.44751520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.730385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.76, Y:1.46, Z:1.45 [[ 9.96560854e-01 -6.65317876e-02 -4.93962025e-02 3.27588087e+01] [ 6.65201903e-02 9.97783307e-01 -1.88049599e-03 1.45588141e+00] [ 4.94118190e-02 -1.41181610e-03 9.98777492e-01 1.44868413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.760385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.79, Y:1.46, Z:1.45 [[ 9.96645310e-01 -6.52524479e-02 -4.93988287e-02 3.27896509e+01] [ 6.52435785e-02 9.97867756e-01 -1.79371244e-03 1.45823064e+00] [ 4.94105425e-02 -1.43526127e-03 9.98777522e-01 1.45184006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.790385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.82, Y:1.46, Z:1.45 [[ 9.96686281e-01 -6.46274347e-02 -4.93938379e-02 3.28223493e+01] [ 6.46095988e-02 9.97908694e-01 -1.95931552e-03 1.45941959e+00] [ 4.94171658e-02 -1.23849315e-03 9.98777458e-01 1.45392714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.820385722999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.85, Y:1.46, Z:1.45 [[ 9.96773454e-01 -6.32689951e-02 -4.93934780e-02 3.28541603e+01] [ 6.32488959e-02 9.97995837e-01 -1.97137813e-03 1.45991852e+00] [ 4.94192125e-02 -1.15906556e-03 9.98777452e-01 1.45431940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.850385722999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.89, Y:1.46, Z:1.46 [[ 9.96971616e-01 -6.00658070e-02 -4.93932801e-02 3.28869653e+01] [ 6.00414489e-02 9.98193925e-01 -1.97806975e-03 1.45901821e+00] [ 4.94228865e-02 -9.93564709e-04 9.98777448e-01 1.45529696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.880385722999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.92, Y:1.46, Z:1.45 [[ 9.97120782e-01 -5.75343706e-02 -4.93957633e-02 3.29186924e+01] [ 5.75110946e-02 9.98343072e-01 -1.89353552e-03 1.45633771e+00] [ 4.94228614e-02 -9.52720791e-04 9.98777489e-01 1.45498721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.910385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.95, Y:1.46, Z:1.46 [[ 9.97295641e-01 -5.44073540e-02 -4.94089403e-02 3.29491565e+01] [ 5.44025860e-02 9.98518041e-01 -1.44230198e-03 1.45813737e+00] [ 4.94141901e-02 -1.24957265e-03 9.98777591e-01 1.45521927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.940385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.98, Y:1.46, Z:1.46 [[ 9.97387086e-01 -5.27077245e-02 -4.94054282e-02 3.29791284e+01] [ 5.26949472e-02 9.98609435e-01 -1.56199755e-03 1.46063410e+00] [ 4.94190560e-02 -1.04550024e-03 9.98777585e-01 1.45720518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.970385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.01, Y:1.46, Z:1.46 [[ 9.97500722e-01 -5.05024107e-02 -4.94147422e-02 3.30072768e+01] [ 5.05026616e-02 9.98723151e-01 -1.24427090e-03 1.46375435e+00] [ 4.94144857e-02 -1.25441489e-03 9.98777570e-01 1.46205403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.000385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.04, Y:1.47, Z:1.46 [[ 9.97578256e-01 -4.89541677e-02 -4.94076214e-02 3.30353863e+01] [ 4.89405574e-02 9.98800588e-01 -1.48591664e-03 1.46673523e+00] [ 4.94211031e-02 -9.35718401e-04 9.98777592e-01 1.46457552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.030385722999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.06, Y:1.47, Z:1.47 [[ 9.97569523e-01 -4.91406105e-02 -4.93988639e-02 3.30637370e+01] [ 4.91126220e-02 9.98791659e-01 -1.78095194e-03 1.46770386e+00] [ 4.94266903e-02 -6.49484355e-04 9.98777543e-01 1.46610947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.060385722999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.09, Y:1.47, Z:1.46 [[ 9.97786337e-01 -4.45221939e-02 -4.93983740e-02 3.30918116e+01] [ 4.44877380e-02 9.99008314e-01 -1.79731968e-03 1.46646462e+00] [ 4.94294070e-02 -4.04280898e-04 9.98777538e-01 1.46411252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.090385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.12, Y:1.47, Z:1.46 [[ 9.97882684e-01 -4.23051178e-02 -4.94006773e-02 3.31193272e+01] [ 4.22716987e-02 9.99104669e-01 -1.72152616e-03 1.46509969e+00] [ 4.94292767e-02 -3.70369403e-04 9.98777558e-01 1.46361025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.120385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.15, Y:1.47, Z:1.47 [[ 9.97993269e-01 -3.96083646e-02 -4.94025629e-02 3.31473231e+01] [ 3.95747448e-02 9.99215236e-01 -1.65887056e-03 1.46538413e+00] [ 4.94294987e-02 -2.99552172e-04 9.98777570e-01 1.46701113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.150385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.18, Y:1.47, Z:1.47 [[ 9.98034302e-01 -3.85658725e-02 -4.93984343e-02 3.31754182e+01] [ 3.85242379e-02 9.99256054e-01 -1.79501093e-03 1.46717612e+00] [ 4.94309107e-02 -1.11554557e-04 9.98777539e-01 1.46845566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.180385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.21, Y:1.47, Z:1.47 [[ 9.98055546e-01 -3.80117532e-02 -4.93987206e-02 3.32051568e+01] [ 3.79699037e-02 9.99277288e-01 -1.78564632e-03 1.46827128e+00] [ 4.94308951e-02 -9.34904471e-05 9.98777542e-01 1.47241346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.210385722999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.23, Y:1.47, Z:1.47 [[ 9.98117771e-01 -3.63295229e-02 -4.94072877e-02 3.32324860e+01] [ 3.62995377e-02 9.99339822e-01 -1.50433859e-03 1.46947404e+00] [ 4.94293220e-02 -2.91954626e-04 9.98777581e-01 1.47473209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.240385722999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.26, Y:1.47, Z:1.48 [[ 9.98139648e-01 -3.57235951e-02 -4.94071572e-02 3.32609155e+01] [ 3.56926563e-02 9.99361675e-01 -1.50861482e-03 1.46937503e+00] [ 4.94295125e-02 -2.57664415e-04 9.98777581e-01 1.47734162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.270385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.29, Y:1.47, Z:1.48 [[ 9.98178025e-01 -3.46352471e-02 -4.94067826e-02 3.32887221e+01] [ 3.46023736e-02 9.99400001e-01 -1.52078433e-03 1.46830681e+00] [ 4.94298113e-02 -1.91578449e-04 9.98777581e-01 1.47977897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.300385723 meters Centerline goodness : 0.999185 Centerline is valid? [True, True] Translation: X:33.31, Y:1.47, Z:1.48 [[ 9.98335461e-01 -2.97538361e-02 -4.94066496e-02 3.33081055e+01] [ 2.97147745e-02 9.99557255e-01 -1.52509291e-03 1.46679944e+00] [ 4.94301524e-02 5.44468827e-05 9.98777581e-01 1.48446415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.330385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.34, Y:1.47, Z:1.49 [[ 9.98194177e-01 -3.42192281e-02 -4.93703298e-02 3.33445549e+01] [ 3.41273595e-02 9.99413837e-01 -2.70280741e-03 1.47030154e+00] [ 4.94338787e-02 1.01304762e-03 9.98776885e-01 1.48587506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.360385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.37, Y:1.47, Z:1.49 [[ 9.98127941e-01 -3.60495110e-02 -4.94069525e-02 3.33717009e+01] [ 3.60199879e-02 9.99349962e-01 -1.48807125e-03 1.46996179e+00] [ 4.94284804e-02 -2.94352340e-04 9.98777622e-01 1.48604508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.390385722999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.40, Y:1.47, Z:1.48 [[ 9.98097041e-01 -3.68955053e-02 -4.94066659e-02 3.33981612e+01] [ 3.68665499e-02 9.99319076e-01 -1.49752877e-03 1.47136677e+00] [ 4.94282758e-02 -3.26774280e-04 9.98777622e-01 1.48475344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.420385722999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.43, Y:1.47, Z:1.49 [[ 9.98000538e-01 -3.94278318e-02 -4.94001247e-02 3.34257420e+01] [ 3.93913205e-02 9.99222393e-01 -1.71281831e-03 1.47292834e+00] [ 4.94292435e-02 -2.36542545e-04 9.98777600e-01 1.48758068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.450385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.45, Y:1.47, Z:1.49 [[ 9.98000985e-01 -3.94191253e-02 -4.93980437e-02 3.34527188e+01] [ 3.93792265e-02 9.99222750e-01 -1.78104297e-03 1.47121833e+00] [ 4.94298562e-02 -1.67774114e-04 9.98777583e-01 1.48834830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.480385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.48, Y:1.47, Z:1.49 [[ 9.97984198e-01 -3.98467907e-02 -4.93940752e-02 3.34840607e+01] [ 3.98010373e-02 9.99205799e-01 -1.90990614e-03 1.46788684e+00] [ 4.94309500e-02 -5.98792842e-05 9.98777542e-01 1.49041295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.510385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.51, Y:1.47, Z:1.49 [[ 9.97905499e-01 -4.17569239e-02 -4.94062214e-02 3.35112448e+01] [ 4.17331284e-02 9.99127647e-01 -1.51355088e-03 1.46772883e+00] [ 4.94263229e-02 -5.51495430e-04 9.98777620e-01 1.49302840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.540385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.54, Y:1.47, Z:1.50 [[ 9.97856261e-01 -4.29177923e-02 -4.94059258e-02 3.35387407e+01] [ 4.28949440e-02 9.99078427e-01 -1.52313719e-03 1.46909343e+00] [ 4.94257643e-02 -5.99392435e-04 9.98777620e-01 1.49627260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.570385722999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.57, Y:1.47, Z:1.50 [[ 9.97819158e-01 -4.37721710e-02 -4.94057247e-02 3.35657147e+01] [ 4.37500475e-02 9.99041337e-01 -1.52963351e-03 1.46994745e+00] [ 4.94253166e-02 -6.35205179e-04 9.98777620e-01 1.49854044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.600385722999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.59, Y:1.47, Z:1.50 [[ 9.97746413e-01 -4.54003181e-02 -4.94055405e-02 3.35935483e+01] [ 4.53798957e-02 9.98968622e-01 -1.53555824e-03 1.46896611e+00] [ 4.94242996e-02 -7.09920552e-04 9.98777620e-01 1.49955521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.630385722999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.62, Y:1.47, Z:1.50 [[ 9.97759582e-01 -4.51101118e-02 -4.94054099e-02 3.36238471e+01] [ 4.50891263e-02 9.98981782e-01 -1.53975124e-03 1.46749014e+00] [ 4.94245627e-02 -6.91345209e-04 9.98777620e-01 1.49700079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.660385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.65, Y:1.47, Z:1.50 [[ 9.97680523e-01 -4.68188304e-02 -4.94122672e-02 3.36492905e+01] [ 4.68107931e-02 9.98902901e-01 -1.32050197e-03 1.46666777e+00] [ 4.94198814e-02 -9.95588319e-04 9.98777595e-01 1.49977711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.690385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.68, Y:1.46, Z:1.50 [[ 9.97699058e-01 -4.64302232e-02 -4.94046930e-02 3.36774509e+01] [ 4.64098345e-02 9.98921264e-01 -1.56036161e-03 1.46460688e+00] [ 4.94238464e-02 -7.36092315e-04 9.98777624e-01 1.49997285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.720385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.71, Y:1.47, Z:1.50 [[ 9.97706440e-01 -4.62717899e-02 -4.94042708e-02 3.37050029e+01] [ 4.62505508e-02 9.98928631e-01 -1.57361724e-03 1.46556305e+00] [ 4.94241547e-02 -7.14966682e-04 9.98777624e-01 1.50236382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.750385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.73, Y:1.47, Z:1.51 [[ 9.97757531e-01 -4.51571745e-02 -4.94038385e-02 3.37324134e+01] [ 4.51339038e-02 9.98979685e-01 -1.58707481e-03 1.46698746e+00] [ 4.94250989e-02 -6.46272254e-04 9.98777624e-01 1.50585314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.780385722999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.76, Y:1.47, Z:1.51 [[ 9.97764908e-01 -4.49943624e-02 -4.94034016e-02 3.37597618e+01] [ 4.49702246e-02 9.98987046e-01 -1.60056087e-03 1.46694784e+00] [ 4.94253744e-02 -6.24698595e-04 9.98777624e-01 1.50790278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.810385722999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.79, Y:1.47, Z:1.51 [[ 9.97787564e-01 -4.44896289e-02 -4.94029440e-02 3.37889537e+01] [ 4.44641797e-02 9.99009675e-01 -1.61456393e-03 1.46648104e+00] [ 4.94258503e-02 -5.85669563e-04 9.98777624e-01 1.50650022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.840385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.82, Y:1.47, Z:1.51 [[ 9.97727706e-01 -4.58121066e-02 -4.94031963e-02 3.38152369e+01] [ 4.57886584e-02 9.98949857e-01 -1.60686445e-03 1.46510773e+00] [ 4.94249298e-02 -6.58892898e-04 9.98777624e-01 1.51174233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.870385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.84, Y:1.47, Z:1.51 [[ 9.97675016e-01 -4.69465028e-02 -4.94023154e-02 3.38428828e+01] [ 4.69231252e-02 9.98897168e-01 -1.63350728e-03 1.46538514e+00] [ 4.94245204e-02 -6.88401625e-04 9.98777624e-01 1.51119009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.900385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.87, Y:1.46, Z:1.51 [[ 9.97646720e-01 -4.75445259e-02 -4.94018307e-02 3.38710958e+01] [ 4.75211615e-02 9.98868872e-01 -1.64803673e-03 1.46425142e+00] [ 4.94243060e-02 -7.03473937e-04 9.98777624e-01 1.51328890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.930385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.90, Y:1.46, Z:1.51 [[ 9.97553831e-01 -4.94553202e-02 -4.94016811e-02 3.38985808e+01] [ 4.94340754e-02 9.98776022e-01 -1.65250782e-03 1.46430954e+00] [ 4.94229399e-02 -7.93660925e-04 9.98777624e-01 1.51363563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.960385722999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.93, Y:1.47, Z:1.51 [[ 9.97494863e-01 -5.06312015e-02 -4.94012127e-02 3.39266844e+01] [ 5.06107099e-02 9.98717067e-01 -1.66639432e-03 1.46511766e+00] [ 4.94222058e-02 -8.38010670e-04 9.98777625e-01 1.51406179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.990385722999996 meters Centerline goodness : 0.998343 Centerline is valid? [True, True] Translation: X:33.95, Y:1.47, Z:1.51 [[ 9.97439474e-01 -5.17110297e-02 -4.94010669e-02 3.39532584e+01] [ 5.16916478e-02 9.98661696e-01 -1.67070638e-03 1.46512232e+00] [ 4.94213472e-02 -8.87194055e-04 9.98777625e-01 1.51311114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.020385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.98, Y:1.47, Z:1.52 [[ 9.97261713e-01 -5.50400225e-02 -4.93930252e-02 3.39827635e+01] [ 5.50130383e-02 9.98483816e-01 -1.90664272e-03 1.46649290e+00] [ 4.94230779e-02 -8.15838598e-04 9.98777600e-01 1.51697571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.050385723 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:34.01, Y:1.47, Z:1.52 [[ 9.97302446e-01 -5.42900710e-02 -4.94005978e-02 3.40106433e+01] [ 5.42731609e-02 9.98524705e-01 -1.68461411e-03 1.46648754e+00] [ 4.94191752e-02 -1.00105682e-03 9.98777624e-01 1.51612080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.080385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.04, Y:1.47, Z:1.52 [[ 9.97139471e-01 -5.72089341e-02 -4.93964996e-02 3.40380190e+01] [ 5.71897065e-02 9.98361700e-01 -1.80367093e-03 1.46641226e+00] [ 4.94187594e-02 -1.02645983e-03 9.98777619e-01 1.52110827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.110385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.07, Y:1.47, Z:1.52 [[ 9.97156598e-01 -5.69066610e-02 -4.93999168e-02 3.40672230e+01] [ 5.68919661e-02 9.98378885e-01 -1.70464720e-03 1.46748397e+00] [ 4.94168397e-02 -1.11065820e-03 9.98777624e-01 1.51860910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.140385722999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.10, Y:1.47, Z:1.52 [[ 9.97186798e-01 -5.63763903e-02 -4.93983119e-02 3.40963976e+01] [ 5.63587481e-02 9.98409047e-01 -1.75104490e-03 1.46806672e+00] [ 4.94184391e-02 -1.03790816e-03 9.98777623e-01 1.52013899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.170385722999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.13, Y:1.47, Z:1.52 [[ 9.97102567e-01 -5.78479075e-02 -4.93972734e-02 3.41259109e+01] [ 5.78305892e-02 9.98324823e-01 -1.78092908e-03 1.47082618e+00] [ 4.94175473e-02 -1.08090447e-03 9.98777622e-01 1.52471849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.200385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.16, Y:1.47, Z:1.52 [[ 9.97219158e-01 -5.58041747e-02 -4.93947857e-02 3.41571966e+01] [ 5.57808104e-02 9.98441320e-01 -1.85244520e-03 1.46991972e+00] [ 4.94211692e-02 -9.07987332e-04 9.98777615e-01 1.52388134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.230385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.19, Y:1.47, Z:1.53 [[ 9.97279625e-01 -5.47042990e-02 -4.94043536e-02 3.41857508e+01] [ 5.46932068e-02 9.98501960e-01 -1.57737153e-03 1.47216528e+00] [ 4.94166329e-02 -1.12900204e-03 9.98777614e-01 1.52776273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.260385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.22, Y:1.47, Z:1.53 [[ 9.97348752e-01 -5.34419713e-02 -4.93905044e-02 3.42152865e+01] [ 5.34097345e-02 9.98570732e-01 -1.97318041e-03 1.47325385e+00] [ 4.94253628e-02 -6.69984705e-04 9.98777595e-01 1.52999613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.290385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.24, Y:1.47, Z:1.53 [[ 9.97483590e-01 -5.08667728e-02 -4.93868339e-02 3.42440312e+01] [ 5.08262110e-02 9.98705352e-01 -2.07761551e-03 1.47281563e+00] [ 4.94285769e-02 -4.37758256e-04 9.98777565e-01 1.53081496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.320385722999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.27, Y:1.47, Z:1.53 [[ 9.97601757e-01 -4.84930342e-02 -4.93878458e-02 3.42728154e+01] [ 4.84509893e-02 9.98823460e-01 -2.04884729e-03 1.47338503e+00] [ 4.94290938e-02 -3.48956332e-04 9.98777574e-01 1.53170603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.350385722999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.30, Y:1.48, Z:1.53 [[ 9.97820365e-01 -4.37642648e-02 -4.93883337e-02 3.43020283e+01] [ 4.37171164e-02 9.99041877e-01 -2.03497702e-03 1.47520785e+00] [ 4.94300729e-02 -1.28574019e-04 9.98777579e-01 1.53392905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.380385722999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.33, Y:1.47, Z:1.54 [[ 9.97903547e-01 -4.18204974e-02 -4.93918745e-02 3.43309616e+01] [ 4.17759461e-02 9.99125131e-01 -1.93443140e-03 1.47476116e+00] [ 4.94295620e-02 -1.33016332e-04 9.98777603e-01 1.53739966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.410385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.36, Y:1.47, Z:1.53 [[ 9.98146264e-01 -3.55500456e-02 -4.93986845e-02 3.43585523e+01] [ 3.55073796e-02 9.99367897e-01 -1.74126184e-03 1.47324327e+00] [ 4.94293614e-02 -1.59838463e-05 9.98777622e-01 1.53390737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.440385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.39, Y:1.47, Z:1.54 [[ 9.98124486e-01 -3.61615861e-02 -4.93948315e-02 3.43878682e+01] [ 3.61143002e-02 9.99345954e-01 -1.84973758e-03 1.47408901e+00] [ 4.94294144e-02 6.24086049e-05 9.98777617e-01 1.53670552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.470385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.42, Y:1.47, Z:1.54 [[ 9.98176559e-01 -3.46898175e-02 -4.93981122e-02 3.44157365e+01] [ 3.46452935e-02 9.99398126e-01 -1.75753210e-03 1.47249978e+00] [ 4.94293493e-02 4.29152460e-05 9.98777622e-01 1.53789117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.500385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.44, Y:1.47, Z:1.54 [[ 9.98319422e-01 -3.03013724e-02 -4.93979535e-02 3.44421014e+01] [ 3.02512585e-02 9.99540773e-01 -1.76198206e-03 1.47218327e+00] [ 4.94286591e-02 2.64670649e-04 9.98777622e-01 1.53736390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.530385722999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.47, Y:1.47, Z:1.54 [[ 9.98317181e-01 -3.03883814e-02 -4.93898031e-02 3.44720814e+01] [ 3.03270524e-02 9.99538047e-01 -1.99081469e-03 1.47426520e+00] [ 4.94274849e-02 4.89617361e-04 9.98777595e-01 1.54278369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.560385722999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.50, Y:1.48, Z:1.55 [[ 9.98284661e-01 -3.14272278e-02 -4.93970099e-02 3.44995196e+01] [ 3.13771690e-02 9.99506015e-01 -1.78870522e-03 1.47636162e+00] [ 4.94288226e-02 2.35698654e-04 9.98777621e-01 1.55038645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.590385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.53, Y:1.47, Z:1.54 [[ 9.98322060e-01 -3.02146882e-02 -4.93977518e-02 3.45276675e+01] [ 3.01641715e-02 9.99543394e-01 -1.76797842e-03 1.47136507e+00] [ 4.94286154e-02 2.74969603e-04 9.98777621e-01 1.54427194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.620385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.56, Y:1.47, Z:1.54 [[ 9.98303548e-01 -3.08232336e-02 -4.93958909e-02 3.45560396e+01] [ 3.07709035e-02 9.99524807e-01 -1.81967630e-03 1.46878669e+00] [ 4.94285067e-02 2.96633112e-04 9.98777620e-01 1.54348057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.650385723 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:34.58, Y:1.47, Z:1.55 [[ 9.98156447e-01 -3.52699584e-02 -4.93936937e-02 3.45796882e+01] [ 3.52200822e-02 9.99377812e-01 -1.88003234e-03 1.46975401e+00] [ 4.94292702e-02 1.36916450e-04 9.98777617e-01 1.54578957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.680385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.61, Y:1.47, Z:1.55 [[ 9.98086051e-01 -3.72354079e-02 -4.93736789e-02 3.46125443e+01] [ 3.71613200e-02 9.99306354e-01 -2.41798134e-03 1.46973358e+00] [ 4.94294656e-02 5.78562370e-04 9.98777449e-01 1.55225933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.710385722999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.64, Y:1.47, Z:1.55 [[ 9.98005974e-01 -3.92956980e-02 -4.93955785e-02 3.46400194e+01] [ 3.92534370e-02 9.99227619e-01 -1.82571110e-03 1.46995182e+00] [ 4.94291689e-02 -1.16875650e-04 9.98777625e-01 1.55364249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.740385722999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.67, Y:1.47, Z:1.55 [[ 9.97797881e-01 -4.42664414e-02 -4.93950586e-02 3.46679927e+01] [ 4.42295752e-02 9.99019700e-01 -1.83967072e-03 1.46633419e+00] [ 4.94280723e-02 -3.49102907e-04 9.98777625e-01 1.55438576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.770385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.70, Y:1.46, Z:1.55 [[ 9.97625790e-01 -4.79892014e-02 -4.93945386e-02 3.46956561e+01] [ 4.79562085e-02 9.98847719e-01 -1.85352656e-03 1.46393156e+00] [ 4.94265715e-02 -5.19648891e-04 9.98777625e-01 1.55461133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.800385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.72, Y:1.46, Z:1.56 [[ 9.97426173e-01 -5.19736468e-02 -4.93940155e-02 3.47239372e+01] [ 5.19448498e-02 9.98648209e-01 -1.86736374e-03 1.46185190e+00] [ 4.94242989e-02 -7.03207244e-04 9.98777625e-01 1.55501265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.830385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.75, Y:1.46, Z:1.56 [[ 9.96974180e-01 -6.00230601e-02 -4.93934922e-02 3.47517414e+01] [ 6.00034477e-02 9.98196397e-01 -1.88110409e-03 1.45934557e+00] [ 4.94173156e-02 -1.08836762e-03 9.98777625e-01 1.55651798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.860385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:34.78, Y:1.46, Z:1.56 [[ 9.96776094e-01 -6.32275054e-02 -4.93933298e-02 3.47794732e+01] [ 6.32116111e-02 9.97998366e-01 -1.88536053e-03 1.45924865e+00] [ 4.94136690e-02 -1.24294965e-03 9.98777625e-01 1.55798629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.890385722999994 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:34.81, Y:1.46, Z:1.56 [[ 9.96763726e-01 -6.34278464e-02 -4.93860609e-02 3.48086537e+01] [ 6.34028496e-02 9.97985860e-01 -2.07413277e-03 1.46052038e+00] [ 4.94181482e-02 -1.06379668e-03 9.98777610e-01 1.55950207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.920385722999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.84, Y:1.46, Z:1.56 [[ 9.96327156e-01 -6.99518875e-02 -4.93855372e-02 3.48372802e+01] [ 6.99342226e-02 9.97549420e-01 -2.08764912e-03 1.45922485e+00] [ 4.94105490e-02 -1.37375764e-03 9.98777608e-01 1.56040514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.950385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.87, Y:1.46, Z:1.56 [[ 9.96208302e-01 -7.16199520e-02 -4.93923220e-02 3.48677225e+01] [ 7.16130111e-02 9.97430659e-01 -1.91243788e-03 1.45896885e+00] [ 4.94023850e-02 -1.63194641e-03 9.98777623e-01 1.56054171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.980385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.90, Y:1.46, Z:1.56 [[ 9.96188809e-01 -7.18905833e-02 -4.93923220e-02 3.48977782e+01] [ 7.18839744e-02 9.97411167e-01 -1.91243788e-03 1.45879436e+00] [ 4.94019399e-02 -1.64536720e-03 9.98777623e-01 1.56123175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.010385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.93, Y:1.46, Z:1.56 [[ 9.96121666e-01 -7.28182460e-02 -4.93875361e-02 3.49279424e+01] [ 7.28066617e-02 9.97343995e-01 -2.03588333e-03 1.46002319e+00] [ 4.94046120e-02 -1.56775414e-03 9.98777616e-01 1.56149958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.040385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.96, Y:1.46, Z:1.56 [[ 9.96028284e-01 -7.40849539e-02 -4.93870081e-02 3.49587164e+01] [ 7.40742469e-02 9.97250623e-01 -2.04955476e-03 1.46187232e+00] [ 4.94030658e-02 -1.61689092e-03 9.98777614e-01 1.56415524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.070385722999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.99, Y:1.46, Z:1.57 [[ 9.95809563e-01 -7.69584650e-02 -4.94035296e-02 3.49873282e+01] [ 7.69720727e-02 9.97031917e-01 -1.62983926e-03 1.46447713e+00] [ 4.93823258e-02 -2.17968256e-03 9.98777570e-01 1.56958415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.100385722999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.02, Y:1.46, Z:1.57 [[ 9.95708377e-01 -7.82648186e-02 -4.93907442e-02 3.50186124e+01] [ 7.82640137e-02 9.96930754e-01 -1.95321036e-03 1.46402253e+00] [ 4.93920195e-02 -1.92068996e-03 9.98777623e-01 1.56977184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.130385722999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.05, Y:1.47, Z:1.57 [[ 9.95668201e-01 -7.87742224e-02 -4.93908480e-02 3.50507358e+01] [ 7.87741732e-02 9.96890578e-01 -1.95057998e-03 1.46502146e+00] [ 4.93909265e-02 -1.94859276e-03 9.98777623e-01 1.56962281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.160385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.08, Y:1.47, Z:1.57 [[ 9.95640709e-01 -7.91208506e-02 -4.93909834e-02 3.50826905e+01] [ 7.91213971e-02 9.96863086e-01 -1.94714567e-03 1.46957914e+00] [ 4.93901080e-02 -1.96922612e-03 9.98777623e-01 1.57150284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.190385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.12, Y:1.47, Z:1.57 [[ 9.95757229e-01 -7.76405657e-02 -4.93911213e-02 3.51156315e+01] [ 7.76394684e-02 9.96979606e-01 -1.94364201e-03 1.47189761e+00] [ 4.93928461e-02 -1.89930482e-03 9.98777623e-01 1.57099935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.220385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.14, Y:1.48, Z:1.58 [[ 9.95668324e-01 -7.87670620e-02 -4.93997924e-02 3.51447584e+01] [ 7.87782755e-02 9.96890673e-01 -1.72300406e-03 1.47531144e+00] [ 4.93819083e-02 -2.17608989e-03 9.98777599e-01 1.57686011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.250385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.18, Y:1.47, Z:1.57 [[ 9.96014055e-01 -7.42734634e-02 -4.93908414e-02 3.51795281e+01] [ 7.42679292e-02 9.97236418e-01 -1.94977995e-03 1.47285492e+00] [ 4.93991627e-02 -1.72614728e-03 9.98777624e-01 1.57328973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.280385722999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.21, Y:1.47, Z:1.57 [[ 9.96127926e-01 -7.27199145e-02 -4.94061677e-02 3.52115271e+01] [ 7.27317374e-02 9.97350319e-01 -1.56084114e-03 1.47424433e+00] [ 4.93887613e-02 -2.03859897e-03 9.98777550e-01 1.57487662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.310385722999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.24, Y:1.48, Z:1.58 [[ 9.96159435e-01 -7.22852211e-02 -4.94087825e-02 3.52400913e+01] [ 7.22998029e-02 9.97381825e-01 -1.49436915e-03 1.47915226e+00] [ 4.93874425e-02 -2.08361532e-03 9.98777522e-01 1.57854995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.340385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.27, Y:1.49, Z:1.58 [[ 9.96347165e-01 -6.96551919e-02 -4.94012249e-02 3.52705625e+01] [ 6.96570340e-02 9.97569573e-01 -1.68643035e-03 1.48784645e+00] [ 4.93986275e-02 -1.76087270e-03 9.98777590e-01 1.58302970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.370385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.30, Y:1.49, Z:1.58 [[ 9.96460032e-01 -6.80220905e-02 -4.94004113e-02 3.53011169e+01] [ 6.80209164e-02 9.97682435e-01 -1.70687589e-03 1.49073827e+00] [ 4.94020279e-02 -1.65942764e-03 9.98777596e-01 1.58457512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.400385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.33, Y:1.49, Z:1.58 [[ 9.96765217e-01 -6.33945752e-02 -4.93986830e-02 3.53320844e+01] [ 6.33855823e-02 9.97987578e-01 -1.75014390e-03 1.49132865e+00] [ 4.94102216e-02 -1.38668172e-03 9.98777606e-01 1.58321217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.430385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.36, Y:1.49, Z:1.58 [[ 9.96910816e-01 -6.10644971e-02 -4.93958642e-02 3.53623264e+01] [ 6.10491612e-02 9.98133100e-01 -1.82052977e-03 1.49184253e+00] [ 4.94148168e-02 -1.20067026e-03 9.98777620e-01 1.58344455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.460385722999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.39, Y:1.49, Z:1.58 [[ 9.97042463e-01 -5.88776216e-02 -4.93938485e-02 3.53917719e+01] [ 5.88571211e-02 9.98264664e-01 -1.87068003e-03 1.49378636e+00] [ 4.94182748e-02 -1.04203230e-03 9.98777627e-01 1.58462565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.490385722999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.42, Y:1.50, Z:1.59 [[ 9.97244345e-01 -5.53519170e-02 -4.93951528e-02 3.54203000e+01] [ 5.53286965e-02 9.98466502e-01 -1.83834214e-03 1.50248086e+00] [ 4.94211612e-02 -8.99693113e-04 9.98777623e-01 1.59000004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.520385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.45, Y:1.51, Z:1.59 [[ 9.97315133e-01 -5.40618758e-02 -4.93947322e-02 3.54484153e+01] [ 5.40365578e-02 9.98537246e-01 -1.84877648e-03 1.50816244e+00] [ 4.94224282e-02 -8.25308539e-04 9.98777624e-01 1.59482824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.550385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.48, Y:1.51, Z:1.60 [[ 9.97393165e-01 -5.26017069e-02 -4.93956965e-02 3.54766646e+01] [ 5.25757780e-02 9.98615270e-01 -1.82497783e-03 1.51314220e+00] [ 4.94232938e-02 -7.76796761e-04 9.98777620e-01 1.59799545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.580385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.50, Y:1.51, Z:1.60 [[ 9.97308766e-01 -5.41829040e-02 -4.93906640e-02 3.55041434e+01] [ 5.41528016e-02 9.98530760e-01 -1.94839519e-03 1.51378782e+00] [ 4.94236670e-02 -7.31491228e-04 9.98777636e-01 1.59998957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.610385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.53, Y:1.51, Z:1.60 [[ 9.97325245e-01 -5.38814781e-02 -4.93876650e-02 3.55328935e+01] [ 5.38473787e-02 9.98547131e-01 -2.02166260e-03 1.51296664e+00] [ 4.94248413e-02 -6.43141146e-04 9.98777639e-01 1.59864144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.640385722999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.56, Y:1.51, Z:1.60 [[ 9.97302758e-01 -5.42965455e-02 -4.93871757e-02 3.55603647e+01] [ 5.42623663e-02 9.98524642e-01 -2.03354542e-03 1.51437280e+00] [ 4.94247264e-02 -6.51804564e-04 9.98777639e-01 1.59941774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.670385722999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.59, Y:1.52, Z:1.60 [[ 9.97275813e-01 -5.47894679e-02 -4.93869142e-02 3.55887998e+01] [ 5.47555792e-02 9.98497704e-01 -2.03987700e-03 1.52329606e+00] [ 4.94244842e-02 -6.69889097e-04 9.98777639e-01 1.60402416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.700385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.62, Y:1.53, Z:1.61 [[ 9.97262439e-01 -5.50327929e-02 -4.93864308e-02 3.56179860e+01] [ 5.49986262e-02 9.98484323e-01 -2.05151295e-03 1.52892216e+00] [ 4.94244774e-02 -6.70289035e-04 9.98777639e-01 1.60780445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.730385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.65, Y:1.53, Z:1.61 [[ 9.97124825e-01 -5.74723503e-02 -4.93863603e-02 3.56468940e+01] [ 5.74410889e-02 9.98346786e-01 -2.05320994e-03 1.53361055e+00] [ 4.94227169e-02 -7.89499709e-04 9.98777639e-01 1.60874278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.760385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.68, Y:1.53, Z:1.61 [[ 9.97018364e-01 -5.92906324e-02 -4.93862550e-02 3.56778009e+01] [ 5.92614741e-02 9.98240378e-01 -2.05574006e-03 1.53420017e+00] [ 4.94212399e-02 -8.77091677e-04 9.98777639e-01 1.60559172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.790385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.71, Y:1.54, Z:1.61 [[ 9.96784758e-01 -6.31007494e-02 -4.93805718e-02 3.57069712e+01] [ 6.30695189e-02 9.98006729e-01 -2.19190162e-03 1.53615593e+00] [ 4.94204536e-02 -9.29554772e-04 9.98777630e-01 1.60763619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.820385722999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.74, Y:1.54, Z:1.61 [[ 9.96343551e-01 -6.97269078e-02 -4.93729276e-02 3.57383398e+01] [ 6.96947427e-02 9.97565538e-01 -2.37484105e-03 1.53887209e+00] [ 4.94183215e-02 -1.07487592e-03 9.98777590e-01 1.60902393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.850385722999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.77, Y:1.54, Z:1.61 [[ 9.96026209e-01 -7.41133531e-02 -4.93862554e-02 3.57673226e+01] [ 7.41024335e-02 9.97248519e-01 -2.05453291e-03 1.54407034e+00] [ 4.94026384e-02 -1.61327308e-03 9.98777641e-01 1.61052619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.880385722999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.80, Y:1.55, Z:1.61 [[ 9.95734731e-01 -7.79414801e-02 -4.93707449e-02 3.57988134e+01] [ 7.79166815e-02 9.96956914e-01 -2.42960809e-03 1.54815523e+00] [ 4.94098727e-02 -1.42755944e-03 9.98777566e-01 1.61258282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.910385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.83, Y:1.55, Z:1.62 [[ 9.95697035e-01 -7.84236950e-02 -4.93673888e-02 3.58342765e+01] [ 7.83954588e-02 9.96919178e-01 -2.51096259e-03 1.54929255e+00] [ 4.94122156e-02 -1.37002108e-03 9.98777531e-01 1.61611226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.940385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.87, Y:1.55, Z:1.62 [[ 9.95845100e-01 -7.65075046e-02 -4.93876435e-02 3.58664053e+01] [ 7.65015028e-02 9.97067431e-01 -2.01456147e-03 1.55126844e+00] [ 4.93969399e-02 -1.77203777e-03 9.98777654e-01 1.61738421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.970385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.90, Y:1.55, Z:1.62 [[ 9.96111376e-01 -7.29587116e-02 -4.93877831e-02 3.58983340e+01] [ 7.29485243e-02 9.97333679e-01 -2.01113229e-03 1.55401603e+00] [ 4.94028291e-02 -1.59945414e-03 9.98777654e-01 1.61934703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.000385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.93, Y:1.56, Z:1.62 [[ 9.96243790e-01 -7.11276592e-02 -4.93879233e-02 3.59306118e+01] [ 7.11153961e-02 9.97466074e-01 -2.00768307e-03 1.55657291e+00] [ 4.94055798e-02 -1.51209994e-03 9.98777654e-01 1.62220010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.030385722999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.96, Y:1.56, Z:1.62 [[ 9.96411265e-01 -6.87416228e-02 -4.93880621e-02 3.59615076e+01] [ 6.87266019e-02 9.97633518e-01 -2.00426396e-03 1.55965561e+00] [ 4.94089625e-02 -1.39720249e-03 9.98777654e-01 1.62477241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.060385722999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.99, Y:1.56, Z:1.63 [[ 9.96664545e-01 -6.49660989e-02 -4.93881653e-02 3.59936241e+01] [ 6.49465736e-02 9.97886735e-01 -2.00171654e-03 1.56420115e+00] [ 4.94138388e-02 -1.21255221e-03 9.98777654e-01 1.62626855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.090385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.02, Y:1.57, Z:1.62 [[ 9.96678357e-01 -6.47537484e-02 -4.93883041e-02 3.60219906e+01] [ 6.47341325e-02 9.97900546e-01 -1.99828697e-03 1.56849423e+00] [ 4.94140122e-02 -1.20545965e-03 9.98777654e-01 1.62361209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.120385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.06, Y:1.57, Z:1.63 [[ 9.96724965e-01 -6.40506218e-02 -4.93645752e-02 3.60555395e+01] [ 6.40012465e-02 9.97946479e-01 -2.58185706e-03 1.56502836e+00] [ 4.94285735e-02 -5.85992955e-04 9.98777489e-01 1.62618445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.150385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.09, Y:1.57, Z:1.63 [[ 9.96711956e-01 -6.42343530e-02 -4.93884999e-02 3.60864344e+01] [ 6.42146302e-02 9.97934131e-01 -1.98757920e-03 1.56628650e+00] [ 4.94141406e-02 -1.19042031e-03 9.98777666e-01 1.62786800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.180385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.12, Y:1.57, Z:1.63 [[ 9.96703122e-01 -6.43712310e-02 -4.93885691e-02 3.61180587e+01] [ 6.43517613e-02 9.97925301e-01 -1.98585861e-03 1.56898224e+00] [ 4.94139348e-02 -1.19892993e-03 9.98777666e-01 1.62974189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.210385722999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.15, Y:1.57, Z:1.63 [[ 9.96759068e-01 -6.34990016e-02 -4.93886382e-02 3.61495788e+01] [ 6.34785476e-02 9.97981231e-01 -1.98413802e-03 1.57210391e+00] [ 4.94149247e-02 -1.15741146e-03 9.98777666e-01 1.62905542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.240385722999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.18, Y:1.57, Z:1.63 [[ 9.96763097e-01 -6.34355361e-02 -4.93888812e-02 3.61809116e+01] [ 6.34153047e-02 9.97985264e-01 -1.97807149e-03 1.57239669e+00] [ 4.94148556e-02 -1.16034228e-03 9.98777666e-01 1.62909225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.270385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.21, Y:1.57, Z:1.63 [[ 9.96787851e-01 -6.30453234e-02 -4.93889488e-02 3.62118066e+01] [ 6.30246972e-02 9.98010011e-01 -1.97638249e-03 1.57188826e+00] [ 4.94152670e-02 -1.14268949e-03 9.98777666e-01 1.62827490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.300385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.24, Y:1.57, Z:1.63 [[ 9.96812952e-01 -6.26470942e-02 -4.93890642e-02 3.62418590e+01] [ 6.26261228e-02 9.98035107e-01 -1.97349295e-03 1.57391372e+00] [ 4.94156536e-02 -1.12584226e-03 9.98777666e-01 1.62968317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.330385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.27, Y:1.58, Z:1.63 [[ 9.96848378e-01 -6.20808178e-02 -4.93890973e-02 3.62735174e+01] [ 6.20591931e-02 9.98070521e-01 -1.97266511e-03 1.57678853e+00] [ 4.94162667e-02 -1.09859951e-03 9.98777666e-01 1.63193028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.360385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.30, Y:1.58, Z:1.64 [[ 9.96929035e-01 -6.07717823e-02 -4.93891629e-02 3.63037595e+01] [ 6.07486342e-02 9.98151150e-01 -1.97102163e-03 1.58009951e+00] [ 4.94176322e-02 -1.03535550e-03 9.98777666e-01 1.63561299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.390385722999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.33, Y:1.58, Z:1.64 [[ 9.96942252e-01 -6.05544982e-02 -4.93892666e-02 3.63345962e+01] [ 6.05312127e-02 9.98164364e-01 -1.96841871e-03 1.58105024e+00] [ 4.94178025e-02 -1.02719242e-03 9.98777666e-01 1.63732071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.420385722999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.37, Y:1.58, Z:1.64 [[ 9.96935969e-01 -6.06577980e-02 -4.93893310e-02 3.63661909e+01] [ 6.06347191e-02 9.98158085e-01 -1.96680269e-03 1.58078471e+00] [ 4.94176619e-02 -1.03393187e-03 9.98777666e-01 1.63934358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.450385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.40, Y:1.58, Z:1.64 [[ 9.96932477e-01 -6.07151101e-02 -4.93893975e-02 3.63975478e+01] [ 6.06921843e-02 9.98154596e-01 -1.96513029e-03 1.58137287e+00] [ 4.94175672e-02 -1.03844821e-03 9.98777666e-01 1.64130702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.480385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.43, Y:1.58, Z:1.64 [[ 9.96915174e-01 -6.09984890e-02 -4.93894654e-02 3.64282821e+01] [ 6.09759951e-02 9.98137302e-01 -1.96342189e-03 1.58187884e+00] [ 4.94172335e-02 -1.05420673e-03 9.98777666e-01 1.64403548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.510385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.46, Y:1.58, Z:1.65 [[ 9.96888732e-01 -6.14290921e-02 -4.93894993e-02 3.64597395e+01] [ 6.14071684e-02 9.98110870e-01 -1.96256894e-03 1.58415003e+00] [ 4.94167549e-02 -1.07640644e-03 9.98777666e-01 1.64788213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.540385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.49, Y:1.59, Z:1.65 [[ 9.96853226e-01 -6.20025529e-02 -4.93895683e-02 3.64919291e+01] [ 6.19814183e-02 9.98075377e-01 -1.96083072e-03 1.58587872e+00] [ 4.94160886e-02 -1.10657506e-03 9.98777666e-01 1.65117945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.570385722999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.52, Y:1.58, Z:1.65 [[ 9.96747430e-01 -6.36805964e-02 -4.93897076e-02 3.65244407e+01] [ 6.36616933e-02 9.97969618e-01 -1.95731728e-03 1.58448181e+00] [ 4.94140707e-02 -1.19328145e-03 9.98777666e-01 1.65243998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.600385722999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.56, Y:1.58, Z:1.65 [[ 9.96676021e-01 -6.47885136e-02 -4.93898472e-02 3.65562553e+01] [ 6.47711438e-02 9.97898232e-01 -1.95378798e-03 1.58410676e+00] [ 4.94126242e-02 -1.25174326e-03 9.98777666e-01 1.65315198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.630385722999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.59, Y:1.58, Z:1.65 [[ 9.96543780e-01 -6.67916483e-02 -4.93899853e-02 3.65870209e+01] [ 6.67769084e-02 9.97766025e-01 -1.95028914e-03 1.58373986e+00] [ 4.94099124e-02 -1.35456202e-03 9.98777666e-01 1.65437152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.660385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.62, Y:1.58, Z:1.66 [[ 9.96502453e-01 -6.74053502e-02 -4.93900886e-02 3.66194348e+01] [ 6.73914927e-02 9.97724708e-01 -1.94767052e-03 1.58466094e+00] [ 4.94089952e-02 -1.38761334e-03 9.98777666e-01 1.65551043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.690385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.65, Y:1.59, Z:1.66 [[ 9.96441642e-01 -6.82983132e-02 -4.93902235e-02 3.66518514e+01] [ 6.82857206e-02 9.97663911e-01 -1.94424397e-03 1.58581617e+00] [ 4.94076321e-02 -1.43532135e-03 9.98777666e-01 1.65658582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.720385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.68, Y:1.59, Z:1.66 [[ 9.96340232e-01 -6.97619833e-02 -4.93903581e-02 3.66840719e+01] [ 6.97513559e-02 9.97562520e-01 -1.94081915e-03 1.58592635e+00] [ 4.94053655e-02 -1.51132824e-03 9.98777666e-01 1.65767506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.750385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.71, Y:1.59, Z:1.66 [[ 9.95988079e-01 -7.46212090e-02 -4.93904921e-02 3.67091954e+01] [ 7.46167131e-02 9.97210405e-01 -1.93740336e-03 1.59269654e+00] [ 4.93972840e-02 -1.75572553e-03 9.98777666e-01 1.65908167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.780385722999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.75, Y:1.59, Z:1.66 [[ 9.96352575e-01 -6.96135562e-02 -4.93507740e-02 3.67462008e+01] [ 6.95534363e-02 9.97573905e-01 -2.93656400e-03 1.58733111e+00] [ 4.94354690e-02 -5.06662822e-04 9.98777191e-01 1.66295291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.810385722999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.78, Y:1.59, Z:1.66 [[ 9.96358936e-01 -6.94944407e-02 -4.93902227e-02 3.67788771e+01] [ 6.94842601e-02 9.97581190e-01 -1.92514647e-03 1.58809251e+00] [ 4.94045441e-02 -1.51370619e-03 9.98777703e-01 1.66414331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.840385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.80, Y:1.59, Z:1.66 [[ 9.96053941e-01 -7.37369645e-02 -4.93903563e-02 3.68035031e+01] [ 7.37321592e-02 9.97276228e-01 -1.92171361e-03 1.59497774e+00] [ 4.93975296e-02 -1.72752720e-03 9.98777703e-01 1.66483735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.870385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.84, Y:1.60, Z:1.67 [[ 9.96129297e-01 -7.27383731e-02 -4.93513199e-02 3.68363433e+01] [ 7.26830489e-02 9.97350823e-01 -2.91708213e-03 1.59526867e+00] [ 4.94327633e-02 -6.81213419e-04 9.98777221e-01 1.66650278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.900385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.87, Y:1.59, Z:1.67 [[ 9.96203441e-01 -7.17142496e-02 -4.93535266e-02 3.68701378e+01] [ 7.16604895e-02 9.97424982e-01 -2.86013717e-03 1.59427909e+00] [ 4.94315529e-02 -6.87419388e-04 9.98777277e-01 1.66802583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.930385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.91, Y:1.59, Z:1.67 [[ 9.96400785e-01 -6.89135050e-02 -4.93599482e-02 3.69060685e+01] [ 6.88645888e-02 9.97622382e-01 -2.69296646e-03 1.59158383e+00] [ 4.94281708e-02 -7.15878637e-04 9.98777424e-01 1.66943291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.960385722999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.94, Y:1.59, Z:1.67 [[ 9.96438375e-01 -6.83452461e-02 -4.93912136e-02 3.69383510e+01] [ 6.83365964e-02 9.97660578e-01 -1.86572851e-03 1.59301197e+00] [ 4.94031804e-02 -1.51614394e-03 9.98777767e-01 1.67096238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.990385722999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.96, Y:1.60, Z:1.67 [[ 9.96267812e-01 -7.07880114e-02 -4.93913416e-02 3.69645530e+01] [ 7.07825264e-02 9.97490033e-01 -1.86233470e-03 1.59766905e+00] [ 4.93992019e-02 -1.64065982e-03 9.98777767e-01 1.67095151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.020385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.00, Y:1.60, Z:1.67 [[ 9.96260212e-01 -7.09164158e-02 -4.93604370e-02 3.69966728e+01] [ 7.08707532e-02 9.97481915e-01 -2.67685338e-03 1.59851224e+00] [ 4.94259761e-02 -8.31368837e-04 9.98777444e-01 1.67292665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.050385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.03, Y:1.59, Z:1.68 [[ 9.96439249e-01 -6.83546246e-02 -4.93606046e-02 3.70322684e+01] [ 6.83060403e-02 9.97660836e-01 -2.67242297e-03 1.59438855e+00] [ 4.94278145e-02 -7.08720311e-04 9.98777447e-01 1.67563347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.080385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.06, Y:1.60, Z:1.68 [[ 9.96425602e-01 -6.85309339e-02 -4.93916141e-02 3.70644781e+01] [ 6.85237414e-02 9.97647788e-01 -1.84088719e-03 1.59636584e+00] [ 4.94015923e-02 -1.55019107e-03 9.98777793e-01 1.67717839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.110385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.10, Y:1.60, Z:1.68 [[ 9.96526839e-01 -6.70426396e-02 -4.93917405e-02 3.70970960e+01] [ 6.70337899e-02 9.97749014e-01 -1.83749026e-03 1.59982620e+00] [ 4.94037506e-02 -1.47980720e-03 9.98777793e-01 1.67823339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.140385722999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.13, Y:1.60, Z:1.68 [[ 9.96523082e-01 -6.70983393e-02 -4.93919033e-02 3.71282727e+01] [ 6.70897751e-02 9.97745259e-01 -1.83310432e-03 1.60079746e+00] [ 4.94035356e-02 -1.48696092e-03 9.98777793e-01 1.67839719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.170385722999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.16, Y:1.60, Z:1.68 [[ 9.96616736e-01 -6.56925553e-02 -4.93920002e-02 3.71571996e+01] [ 6.56823966e-02 9.97838901e-01 -1.83048805e-03 1.60070371e+00] [ 4.94055086e-02 -1.41988992e-03 9.98777793e-01 1.67623185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.200385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.19, Y:1.60, Z:1.68 [[ 9.96574903e-01 -6.63310390e-02 -4.93827432e-02 3.71900843e+01] [ 6.63093205e-02 9.97796948e-01 -2.07974708e-03 1.59985789e+00] [ 4.94119022e-02 -1.20191240e-03 9.98777763e-01 1.68069686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.230385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.22, Y:1.60, Z:1.68 [[ 9.96606362e-01 -6.58496657e-02 -4.93921178e-02 3.72221250e+01] [ 6.58399096e-02 9.97828528e-01 -1.82624693e-03 1.60058288e+00] [ 4.94051220e-02 -1.43192327e-03 9.98777795e-01 1.68329267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.260385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.25, Y:1.60, Z:1.69 [[ 9.96689113e-01 -6.45849629e-02 -4.93922482e-02 3.72531793e+01] [ 6.45738308e-02 9.97911268e-01 -1.82271451e-03 1.60155851e+00] [ 4.94068010e-02 -1.37276697e-03 9.98777795e-01 1.68710050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.290385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.28, Y:1.60, Z:1.69 [[ 9.96747294e-01 -6.36806747e-02 -4.93923452e-02 3.72845943e+01] [ 6.36685643e-02 9.97969439e-01 -1.82008157e-03 1.60300921e+00] [ 4.94079551e-02 -1.33057832e-03 9.98777795e-01 1.68980214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.320385722999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.32, Y:1.61, Z:1.69 [[ 9.96744177e-01 -6.37293985e-02 -4.93924085e-02 3.73165100e+01] [ 6.37174330e-02 9.97966323e-01 -1.81836173e-03 1.60798934e+00] [ 4.94078434e-02 -1.33471602e-03 9.98777795e-01 1.69117194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.350385722999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.35, Y:1.61, Z:1.69 [[ 9.96723415e-01 -6.40501970e-02 -4.93964226e-02 3.73463680e+01] [ 6.40440261e-02 9.97945610e-01 -1.70928562e-03 1.60948797e+00] [ 4.94044231e-02 -1.45986077e-03 9.98777789e-01 1.69167989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.380385722999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.38, Y:1.61, Z:1.69 [[ 9.96777911e-01 -6.32038356e-02 -4.93869501e-02 3.73787176e+01] [ 6.31838921e-02 9.97999964e-01 -1.96646510e-03 1.60880208e+00] [ 4.94124626e-02 -1.16033075e-03 9.98777784e-01 1.69117075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.410385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.41, Y:1.61, Z:1.69 [[ 9.96604560e-01 -6.58754137e-02 -4.93941472e-02 3.74091815e+01] [ 6.58684401e-02 9.97826745e-01 -1.77069377e-03 1.61036607e+00] [ 4.94034463e-02 -1.48883393e-03 9.98777795e-01 1.69184506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.440385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.44, Y:1.61, Z:1.70 [[ 9.96371561e-01 -6.93180970e-02 -4.93833263e-02 3.74360620e+01] [ 6.93008398e-02 9.97593672e-01 -2.06363258e-03 1.61464466e+00] [ 4.94075409e-02 -1.36616117e-03 9.98777767e-01 1.69706189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.470385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.47, Y:1.61, Z:1.69 [[ 9.96640158e-01 -6.53641723e-02 -4.93550511e-02 3.74717332e+01] [ 6.53042482e-02 9.97861394e-01 -2.82742736e-03 1.61073918e+00] [ 4.94343125e-02 -4.05166850e-04 9.98777295e-01 1.69362906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.500385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.50, Y:1.61, Z:1.70 [[ 9.96745828e-01 -6.37109306e-02 -4.93829046e-02 3.75028323e+01] [ 6.36868000e-02 9.97967802e-01 -2.06357050e-03 1.60984271e+00] [ 4.94140207e-02 -1.08818388e-03 9.98777788e-01 1.69531610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.530385722999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.54, Y:1.61, Z:1.70 [[ 9.97015621e-01 -5.93448270e-02 -4.93765365e-02 3.75355154e+01] [ 5.93066772e-02 9.98237300e-01 -2.23863981e-03 1.60889469e+00] [ 4.94223521e-02 -6.96399445e-04 9.98777726e-01 1.70291700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.560385722999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.56, Y:1.62, Z:1.70 [[ 9.96908929e-01 -6.10976770e-02 -4.93929310e-02 3.75608506e+01] [ 6.10841275e-02 9.98131025e-01 -1.78517006e-03 1.61681269e+00] [ 4.94096865e-02 -1.23747212e-03 9.98777829e-01 1.70346850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.590385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.59, Y:1.62, Z:1.71 [[ 9.97119128e-01 -5.75950319e-02 -4.93584519e-02 3.75934955e+01] [ 5.75306427e-02 9.98340021e-01 -2.72539104e-03 1.61852140e+00] [ 4.94334869e-02 -1.22083918e-04 9.98777410e-01 1.70542517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.620385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.62, Y:1.62, Z:1.71 [[ 9.97478316e-01 -5.09906857e-02 -4.93655691e-02 3.76232494e+01] [ 5.09275397e-02 9.98699129e-01 -2.53692778e-03 1.61775151e+00] [ 4.94307106e-02 1.64634682e-05 9.98777555e-01 1.71029768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.650385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.65, Y:1.62, Z:1.71 [[ 9.97435546e-01 -5.18067789e-02 -4.93800422e-02 3.76525991e+01] [ 5.17636400e-02 9.98657044e-01 -2.15289673e-03 1.61872051e+00] [ 4.94252616e-02 -4.08714998e-04 9.98777741e-01 1.71044669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.680385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.68, Y:1.62, Z:1.71 [[ 9.97346207e-01 -5.34888755e-02 -4.93911277e-02 3.76766387e+01] [ 5.34623804e-02 9.98568135e-01 -1.85831767e-03 1.62228047e+00] [ 4.94198056e-02 -7.87181177e-04 9.98777785e-01 1.70769294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.710385722999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.71, Y:1.62, Z:1.71 [[ 9.97326574e-01 -5.38924354e-02 -4.93488528e-02 3.77053212e+01] [ 5.38117590e-02 9.98546702e-01 -2.96291387e-03 1.62287709e+00] [ 4.94368129e-02 2.99444163e-04 9.98777208e-01 1.71070508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.740385722999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.73, Y:1.62, Z:1.71 [[ 9.97400282e-01 -5.25075898e-02 -4.93521099e-02 3.77343736e+01] [ 5.24294471e-02 9.98620485e-01 -2.87747436e-03 1.62392672e+00] [ 4.94351172e-02 2.82489902e-04 9.98777297e-01 1.71428069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.770385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.77, Y:1.63, Z:1.72 [[ 9.97327009e-01 -5.38906879e-02 -4.93419767e-02 3.77703904e+01] [ 5.38011468e-02 9.98546726e-01 -3.14201336e-03 1.62538206e+00] [ 4.94395945e-02 4.78959854e-04 9.98777001e-01 1.71669538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.800385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.80, Y:1.63, Z:1.72 [[ 9.97467944e-01 -5.11841634e-02 -4.93749181e-02 3.77956361e+01] [ 5.11346592e-02 9.98689197e-01 -2.26608322e-03 1.62596108e+00] [ 4.94261848e-02 -2.64424243e-04 9.98777744e-01 1.71657208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.830385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.83, Y:1.63, Z:1.72 [[ 9.97331251e-01 -5.38109119e-02 -4.93432953e-02 3.78255038e+01] [ 5.37230959e-02 9.98551044e-01 -3.10517972e-03 1.62598244e+00] [ 4.94388916e-02 4.46018189e-04 9.98777051e-01 1.71800187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.860385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.86, Y:1.63, Z:1.72 [[ 9.97342935e-01 -5.35806452e-02 -4.93577273e-02 3.78556565e+01] [ 5.35127921e-02 9.98563524e-01 -2.69608852e-03 1.62578117e+00] [ 4.94312843e-02 4.76550372e-05 9.98777526e-01 1.72126911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.890385722999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.89, Y:1.63, Z:1.72 [[ 9.97232883e-01 -5.55981937e-02 -4.93499444e-02 3.78853297e+01] [ 5.55218966e-02 9.98453210e-01 -2.91659817e-03 1.62659964e+00] [ 4.94357680e-02 1.68525091e-04 9.98777291e-01 1.72206147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.920385722999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.91, Y:1.63, Z:1.72 [[ 9.97055412e-01 -5.86935342e-02 -4.93515295e-02 3.79147717e+01] [ 5.86232258e-02 9.98276048e-01 -2.87214483e-03 1.62670002e+00] [ 4.94350262e-02 -2.94583130e-05 9.98777341e-01 1.72198189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.950385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.94, Y:1.63, Z:1.72 [[ 9.96925291e-01 -6.08619377e-02 -4.93537115e-02 3.79442620e+01] [ 6.07973008e-02 9.98146174e-01 -2.81120679e-03 1.62713490e+00] [ 4.94333139e-02 -1.98009305e-04 9.98777407e-01 1.72266103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.980385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.98, Y:1.62, Z:1.72 [[ 9.96820316e-01 -6.25598208e-02 -4.93510535e-02 3.79774574e+01] [ 6.24937927e-02 9.98041193e-01 -2.88131691e-03 1.62200289e+00] [ 4.94346390e-02 -2.11979276e-04 9.98777338e-01 1.72386201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.010385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.00, Y:1.63, Z:1.72 [[ 9.96397123e-01 -6.89529347e-02 -4.93788065e-02 3.80036742e+01] [ 6.89319744e-02 9.97619090e-01 -2.12931535e-03 1.62786021e+00] [ 4.94080625e-02 -1.28213493e-03 9.98777853e-01 1.72405743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.040385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.04, Y:1.62, Z:1.73 [[ 9.96559508e-01 -6.65902325e-02 -4.93445747e-02 3.80385953e+01] [ 6.65210680e-02 9.97780376e-01 -3.04439408e-03 1.62429955e+00] [ 4.94377752e-02 -2.48533943e-04 9.98777175e-01 1.72673415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.070385722999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.07, Y:1.63, Z:1.73 [[ 9.96192290e-01 -7.18507911e-02 -4.93800110e-02 3.80696368e+01] [ 7.18354389e-02 9.97414312e-01 -2.08782971e-03 1.63277648e+00] [ 4.94023420e-02 -1.46735490e-03 9.98777881e-01 1.72746446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.100385722999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.10, Y:1.63, Z:1.73 [[ 9.96185517e-01 -7.19509465e-02 -4.93708111e-02 3.81040055e+01] [ 7.19229904e-02 9.97407432e-01 -2.34485507e-03 1.62843612e+00] [ 4.94115284e-02 -1.21498571e-03 9.98777765e-01 1.73194506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.130385722999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.13, Y:1.63, Z:1.73 [[ 9.96181432e-01 -7.19930365e-02 -4.93918726e-02 3.81344291e+01] [ 7.19945364e-02 9.97403489e-01 -1.75100455e-03 1.62874850e+00] [ 4.93896862e-02 -1.81162675e-03 9.98777942e-01 1.73311954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.160385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.17, Y:1.63, Z:1.73 [[ 9.96021387e-01 -7.41816408e-02 -4.93809819e-02 3.81687386e+01] [ 7.41706661e-02 9.97243441e-01 -2.05716880e-03 1.62886399e+00] [ 4.93974645e-02 -1.61363620e-03 9.98777897e-01 1.73479727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.190385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.20, Y:1.63, Z:1.74 [[ 9.96085878e-01 -7.33030993e-02 -4.93921065e-02 3.82012587e+01] [ 7.33066632e-02 9.97307926e-01 -1.74177629e-03 1.62882776e+00] [ 4.93868169e-02 -1.88581175e-03 9.98777946e-01 1.73591811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.220385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.23, Y:1.64, Z:1.74 [[ 9.95848707e-01 -7.64575691e-02 -4.93922281e-02 3.82288437e+01] [ 7.64651746e-02 9.97070737e-01 -1.73832075e-03 1.63764537e+00] [ 4.93804531e-02 -2.04568088e-03 9.98777946e-01 1.74104123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.250385722999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.26, Y:1.64, Z:1.74 [[ 9.95903764e-01 -7.57482912e-02 -4.93749897e-02 3.82624848e+01] [ 7.57301248e-02 9.97125832e-01 -2.24124557e-03 1.63974589e+00] [ 4.94028482e-02 -1.50710923e-03 9.98777797e-01 1.74265434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.280385722999995 meters Centerline goodness : 0.999800 Centerline is valid? [True, True] Translation: X:38.29, Y:1.64, Z:1.74 [[ 9.96151447e-01 -7.24153412e-02 -4.93792814e-02 3.82943975e+01] [ 7.23990697e-02 9.97373490e-01 -2.12039644e-03 1.63641932e+00] [ 4.94031355e-02 -1.46277806e-03 9.98777848e-01 1.74163973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.310385722999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.33, Y:1.64, Z:1.74 [[ 9.96002969e-01 -7.44245857e-02 -4.93869109e-02 3.83258118e+01] [ 7.44214053e-02 9.97225061e-01 -1.90579543e-03 1.63677059e+00] [ 4.93917033e-02 -1.77726540e-03 9.98777904e-01 1.74062535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.340385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.35, Y:1.64, Z:1.74 [[ 9.95635720e-01 -7.91826221e-02 -4.93925742e-02 3.83501568e+01] [ 7.91932145e-02 9.96857757e-01 -1.74556468e-03 1.64334850e+00] [ 4.93755891e-02 -2.17361018e-03 9.98777917e-01 1.74030312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.370385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.39, Y:1.64, Z:1.74 [[ 9.95919338e-01 -7.55563796e-02 -4.93548865e-02 3.83867344e+01] [ 7.55116937e-02 9.97141063e-01 -2.77201993e-03 1.63852210e+00] [ 4.94232278e-02 -9.66162819e-04 9.98777458e-01 1.73930237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.400385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.41, Y:1.65, Z:1.74 [[ 9.95677088e-01 -7.86670418e-02 -4.93825130e-02 3.84140072e+01] [ 7.86639916e-02 9.96899164e-01 -2.00828367e-03 1.64668009e+00] [ 4.93873716e-02 -1.88502354e-03 9.98777920e-01 1.74058181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.430385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.45, Y:1.65, Z:1.74 [[ 9.95895713e-01 -7.58611227e-02 -4.93641487e-02 3.84455089e+01] [ 7.58279544e-02 9.97117663e-01 -2.54700369e-03 1.65378374e+00] [ 4.94150832e-02 -1.20663237e-03 9.98777600e-01 1.74396650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.460385722999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.48, Y:1.65, Z:1.75 [[ 9.96482176e-01 -6.77280508e-02 -4.93577176e-02 3.84818401e+01] [ 6.76756056e-02 9.97703630e-01 -2.73488109e-03 1.64859460e+00] [ 4.94296022e-02 -6.15053170e-04 9.98777421e-01 1.74554599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.490385722999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.51, Y:1.66, Z:1.74 [[ 9.96238889e-01 -7.11966323e-02 -4.93874001e-02 3.85078834e+01] [ 7.11923683e-02 9.97460893e-01 -1.84764684e-03 1.65585461e+00] [ 4.93935464e-02 -1.67530834e-03 9.98777989e-01 1.74491883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.520385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.54, Y:1.66, Z:1.75 [[ 9.96658514e-01 -6.50816590e-02 -4.93577098e-02 3.85402721e+01] [ 6.50256269e-02 9.97879828e-01 -2.74181876e-03 1.65650694e+00] [ 4.94315051e-02 -4.76859015e-04 9.98777402e-01 1.74583368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.550385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.58, Y:1.66, Z:1.75 [[ 9.97035083e-01 -5.90277943e-02 -4.93635674e-02 3.85752925e+01] [ 5.89731553e-02 9.98256277e-01 -2.56386105e-03 1.65607523e+00] [ 4.94288301e-02 -3.54865913e-04 9.98777585e-01 1.74797497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.580385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.60, Y:1.66, Z:1.76 [[ 9.97104002e-01 -5.78304166e-02 -4.93887948e-02 3.86023696e+01] [ 5.78129695e-02 9.98325839e-01 -1.78291211e-03 1.66132981e+00] [ 4.94092166e-02 -1.07756409e-03 9.98778037e-01 1.75591938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.610385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.63, Y:1.66, Z:1.76 [[ 9.97333603e-01 -5.37446412e-02 -4.93679916e-02 3.86346006e+01] [ 5.36904886e-02 9.98554685e-01 -2.42332838e-03 1.66116791e+00] [ 4.94268802e-02 -2.33724769e-04 9.98777717e-01 1.75960815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.640385722999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.66, Y:1.66, Z:1.76 [[ 9.97549380e-01 -4.95637064e-02 -4.93829292e-02 3.86644440e+01] [ 4.95273423e-02 9.98770844e-01 -1.96050110e-03 1.66114764e+00] [ 4.94193996e-02 -4.90108582e-04 9.98777995e-01 1.76114818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.670385722999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.70, Y:1.66, Z:1.76 [[ 9.97788340e-01 -4.44978395e-02 -4.93798628e-02 3.86954582e+01] [ 4.44505656e-02 9.99009470e-01 -2.05563593e-03 1.65663113e+00] [ 4.94224219e-02 -1.43873271e-04 9.98777955e-01 1.76136389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.700385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.72, Y:1.66, Z:1.76 [[ 9.97776236e-01 -4.47516882e-02 -4.93950262e-02 3.87237899e+01] [ 4.47281410e-02 9.98997942e-01 -1.58251314e-03 1.65738740e+00] [ 4.94163497e-02 -6.30353686e-04 9.98778067e-01 1.76256553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.730385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.75, Y:1.66, Z:1.76 [[ 9.97892791e-01 -4.20731769e-02 -4.93945821e-02 3.87510327e+01] [ 4.20456702e-02 9.99114415e-01 -1.59625379e-03 1.65882472e+00] [ 4.94179985e-02 -4.83938162e-04 9.98778067e-01 1.76257762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.760385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.78, Y:1.67, Z:1.76 [[ 9.97836404e-01 -4.33901601e-02 -4.93943890e-02 3.87756016e+01] [ 4.33639711e-02 9.99058056e-01 -1.60220773e-03 1.66501758e+00] [ 4.94173823e-02 -5.43195654e-04 9.98778067e-01 1.76359432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.790385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.80, Y:1.67, Z:1.76 [[ 9.97864841e-01 -4.27552711e-02 -4.93735284e-02 3.88043311e+01] [ 4.26956481e-02 9.99085564e-01 -2.26210446e-03 1.66544464e+00] [ 4.94250964e-02 1.49239711e-04 9.98777822e-01 1.76379715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.820385722999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.83, Y:1.66, Z:1.76 [[ 9.97846332e-01 -4.31861071e-02 -4.93726448e-02 3.88311672e+01] [ 4.31256380e-02 9.99067033e-01 -2.28985516e-03 1.66435996e+00] [ 4.94254716e-02 1.55696769e-04 9.98777802e-01 1.76236435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.850385722999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.86, Y:1.66, Z:1.76 [[ 9.97885733e-01 -4.22710910e-02 -4.93682001e-02 3.88600297e+01] [ 4.22026251e-02 9.99106120e-01 -2.42885590e-03 1.66332341e+00] [ 4.94267412e-02 3.40253011e-04 9.98777694e-01 1.76354208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.880385722999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.89, Y:1.66, Z:1.76 [[ 9.97903564e-01 -4.18440845e-02 -4.93715485e-02 3.88880919e+01] [ 4.17803316e-02 9.99124120e-01 -2.32304589e-03 1.66277042e+00] [ 4.94255107e-02 2.55416100e-04 9.98777780e-01 1.76482340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.910385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.92, Y:1.66, Z:1.77 [[ 9.98007390e-01 -3.92901364e-02 -4.93714022e-02 3.89213582e+01] [ 3.92230328e-02 9.99227770e-01 -2.32763736e-03 1.65583655e+00] [ 4.94247293e-02 3.86503158e-04 9.98777776e-01 1.76826926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.940385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.95, Y:1.66, Z:1.77 [[ 9.97948720e-01 -4.07235849e-02 -4.93957608e-02 3.89489725e+01] [ 4.06965329e-02 9.99170345e-01 -1.55368620e-03 1.65512564e+00] [ 4.94180510e-02 -4.59737051e-04 9.98778076e-01 1.77003858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.970385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.98, Y:1.65, Z:1.77 [[ 9.97795933e-01 -4.43100134e-02 -4.93953261e-02 3.89764156e+01] [ 4.42866741e-02 9.99017634e-01 -1.56738404e-03 1.65493186e+00] [ 4.94162526e-02 -6.23625287e-04 9.98778076e-01 1.77036068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.000385722999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.00, Y:1.65, Z:1.77 [[ 9.97732501e-01 -4.57165646e-02 -4.93948589e-02 3.90040707e+01] [ 4.56942255e-02 9.98954221e-01 -1.58197282e-03 1.65400115e+00] [ 4.94155251e-02 -6.78674120e-04 9.98778076e-01 1.77229392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.030385722999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.03, Y:1.66, Z:1.78 [[ 9.97564749e-01 -4.92419090e-02 -4.93943900e-02 3.90319865e+01] [ 4.92231690e-02 9.98786529e-01 -1.59647972e-03 1.65519133e+00] [ 4.94130651e-02 -8.38756512e-04 9.98778076e-01 1.77667356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.060385722999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.06, Y:1.66, Z:1.78 [[ 9.97253912e-01 -5.51803861e-02 -4.93939178e-02 3.90583363e+01] [ 5.51682040e-02 9.98475775e-01 -1.61095878e-03 1.65573626e+00] [ 4.94075237e-02 -1.11843879e-03 9.98778076e-01 1.77718745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.090385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.09, Y:1.65, Z:1.78 [[ 9.97200250e-01 -5.61563483e-02 -4.93773847e-02 3.90895912e+01] [ 5.61210124e-02 9.98421760e-01 -2.10283556e-03 1.65157015e+00] [ 4.94175429e-02 -6.74160671e-04 9.98777979e-01 1.77828782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.120385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.12, Y:1.65, Z:1.77 [[ 9.96873892e-01 -6.16670664e-02 -4.93924718e-02 3.91192484e+01] [ 6.16608082e-02 9.98095795e-01 -1.65186752e-03 1.64896529e+00] [ 4.94002842e-02 -1.39887613e-03 9.98778081e-01 1.77390906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.150385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.15, Y:1.65, Z:1.78 [[ 9.96749459e-01 -6.36526263e-02 -4.93848133e-02 3.91501469e+01] [ 6.36375031e-02 9.97971309e-01 -1.88009182e-03 1.64988383e+00] [ 4.94042996e-02 -1.26874571e-03 9.98778056e-01 1.77532909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.180385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.18, Y:1.65, Z:1.78 [[ 9.96521613e-01 -6.71274117e-02 -4.93820315e-02 3.91813877e+01] [ 6.71124340e-02 9.97743488e-01 -1.96320099e-03 1.65359499e+00] [ 4.94023849e-02 -1.35777611e-03 9.98778034e-01 1.77936971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.210385722999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.21, Y:1.66, Z:1.78 [[ 9.96363235e-01 -6.94384088e-02 -4.93823038e-02 3.92116350e+01] [ 6.94266687e-02 9.97585142e-01 -1.95504721e-03 1.65603405e+00] [ 4.93988079e-02 -1.48051168e-03 9.98778036e-01 1.78308609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.240385722999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.24, Y:1.66, Z:1.78 [[ 9.96257133e-01 -7.09469150e-02 -4.93787431e-02 3.92437514e+01] [ 7.09317562e-02 9.97479041e-01 -2.06146739e-03 1.65629955e+00] [ 4.94005161e-02 -1.44876938e-03 9.98777998e-01 1.78290965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.270385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.28, Y:1.65, Z:1.78 [[ 9.96082467e-01 -7.33576830e-02 -4.93798371e-02 3.92775853e+01] [ 7.33471284e-02 9.97304409e-01 -2.02819678e-03 1.65149560e+00] [ 4.93955131e-02 -1.60161800e-03 9.98778012e-01 1.78253895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.300385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.31, Y:1.65, Z:1.79 [[ 9.95964981e-01 -7.49312325e-02 -4.93869041e-02 3.93083162e+01] [ 7.49333137e-02 9.97186901e-01 -1.81195979e-03 1.65167568e+00] [ 4.93837462e-02 -1.89607588e-03 9.98778079e-01 1.78685292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.330385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.34, Y:1.65, Z:1.79 [[ 9.95918498e-01 -7.55496842e-02 -4.93820941e-02 3.93425147e+01] [ 7.55452485e-02 9.97140451e-01 -1.95892453e-03 1.65387961e+00] [ 4.93888797e-02 -1.77965339e-03 9.98778039e-01 1.79151865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.360385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:39.37, Y:1.66, Z:1.79 [[ 9.95745813e-01 -7.77852175e-02 -4.93936814e-02 3.93717177e+01] [ 7.78012098e-02 9.96967605e-01 -1.60168490e-03 1.65833804e+00] [ 4.93684877e-02 -2.24801714e-03 9.98778103e-01 1.79261975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.390385722999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.40, Y:1.66, Z:1.79 [[ 9.95744702e-01 -7.78080324e-02 -4.93801343e-02 3.94044266e+01] [ 7.78034535e-02 9.96966675e-01 -2.01778884e-03 1.65949775e+00] [ 4.93873485e-02 -1.83274244e-03 9.98778019e-01 1.78895505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.420385722999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.44, Y:1.66, Z:1.79 [[ 9.95797787e-01 -7.71277422e-02 -4.93769017e-02 3.94381480e+01] [ 7.71173682e-02 9.97019772e-01 -2.11798141e-03 1.65947085e+00] [ 4.93931024e-02 -1.69873551e-03 9.98777971e-01 1.78867335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.450385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.47, Y:1.66, Z:1.79 [[ 9.95730654e-01 -7.79880374e-02 -4.93794535e-02 3.94700851e+01] [ 7.79826791e-02 9.96952631e-01 -2.03799228e-03 1.66072344e+00] [ 4.93879151e-02 -1.82145069e-03 9.98778011e-01 1.79126106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.480385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.50, Y:1.66, Z:1.79 [[ 9.95901372e-01 -7.57779245e-02 -4.93777636e-02 3.95024408e+01] [ 7.57672208e-02 9.97123340e-01 -2.09118454e-03 1.66162914e+00] [ 4.93941861e-02 -1.65860236e-03 9.98777985e-01 1.79055129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.510385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.53, Y:1.67, Z:1.80 [[ 9.96050343e-01 -7.37938873e-02 -4.93778957e-02 3.95335444e+01] [ 7.37809564e-02 9.97272287e-01 -2.08700364e-03 1.66609978e+00] [ 4.93972151e-02 -1.56438768e-03 9.98777987e-01 1.79503522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.540385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.56, Y:1.67, Z:1.80 [[ 9.96358835e-01 -6.95041471e-02 -4.93785927e-02 3.95649423e+01] [ 6.94870635e-02 9.97580716e-01 -2.06460354e-03 1.67015587e+00] [ 4.94026304e-02 -1.37408743e-03 9.98777999e-01 1.79856656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.570385722999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.60, Y:1.67, Z:1.80 [[ 9.96619027e-01 -6.56726221e-02 -4.93722746e-02 3.95956288e+01] [ 6.56407969e-02 9.97840741e-01 -2.26748168e-03 1.67066937e+00] [ 4.94145786e-02 -9.81020068e-04 9.98777872e-01 1.80032386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.600385722999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.63, Y:1.67, Z:1.80 [[ 9.96973095e-01 -6.00580735e-02 -4.93728264e-02 3.96282385e+01] [ 6.00202419e-02 9.98194625e-01 -2.24981520e-03 1.66723603e+00] [ 4.94188095e-02 -7.20363770e-04 9.98777884e-01 1.80174370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.630385722999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.66, Y:1.67, Z:1.80 [[ 9.97167337e-01 -5.67221948e-02 -4.93952857e-02 3.96586318e+01] [ 5.67163662e-02 9.98389173e-01 -1.52073911e-03 1.66904815e+00] [ 4.94019782e-02 -1.28508975e-03 9.98778150e-01 1.80398867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.660385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.69, Y:1.68, Z:1.81 [[ 9.97430477e-01 -5.18897854e-02 -4.93952857e-02 3.96861009e+01] [ 5.18780365e-02 9.98652270e-01 -1.52073911e-03 1.67870638e+00] [ 4.94076251e-02 -1.04569890e-03 9.98778150e-01 1.80800738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.690385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.71, Y:1.68, Z:1.81 [[ 9.97567643e-01 -4.92003755e-02 -4.93773322e-02 3.97144984e+01] [ 4.91566718e-02 9.98788873e-01 -2.09979700e-03 1.68213501e+00] [ 4.94208408e-02 -3.32535768e-04 9.98777988e-01 1.81033813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.720385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.74, Y:1.68, Z:1.81 [[ 9.97784595e-01 -4.45886441e-02 -4.93736244e-02 3.97430826e+01] [ 4.45334482e-02 9.99005432e-01 -2.21796803e-03 1.68199120e+00] [ 4.94234152e-02 1.42765875e-05 9.98777916e-01 1.80971150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.750385722999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.77, Y:1.68, Z:1.81 [[ 9.97897368e-01 -4.19848863e-02 -4.93772486e-02 3.97720701e+01] [ 4.19322962e-02 9.99118246e-01 -2.10092604e-03 1.68122799e+00] [ 4.94219171e-02 2.60071525e-05 9.98777990e-01 1.80799108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.780385722999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.80, Y:1.68, Z:1.81 [[ 9.97991441e-01 -3.96817607e-02 -4.93805884e-02 3.98015564e+01] [ 3.96317088e-02 9.99212368e-01 -1.99268428e-03 1.68144055e+00] [ 4.94207679e-02 3.16447578e-05 9.98778047e-01 1.80835201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.810385722999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.83, Y:1.69, Z:1.81 [[ 9.98040847e-01 -3.84129146e-02 -4.93853844e-02 3.98278748e+01] [ 3.83689938e-02 9.99261950e-01 -1.83740207e-03 1.68669856e+00] [ 4.94195155e-02 -6.10651898e-05 9.98778107e-01 1.81245115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.840385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.86, Y:1.69, Z:1.82 [[ 9.98059775e-01 -3.79272156e-02 -4.93782432e-02 3.98577368e+01] [ 3.78712943e-02 9.99280486e-01 -2.06793396e-03 1.68921461e+00] [ 4.94211458e-02 1.93903720e-04 9.98778010e-01 1.81513062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.870385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.88, Y:1.69, Z:1.82 [[ 9.97974281e-01 -4.01067906e-02 -4.93840110e-02 3.98840544e+01] [ 4.00627912e-02 9.99195394e-01 -1.88087502e-03 1.69289537e+00] [ 4.94197122e-02 -1.01396428e-04 9.98778094e-01 1.81784749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.900385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.91, Y:1.69, Z:1.82 [[ 9.97889192e-01 -4.21769874e-02 -4.93787556e-02 3.99116913e+01] [ 4.21271638e-02 9.99110154e-01 -2.04976597e-03 1.69404342e+00] [ 4.94212691e-02 -3.47476154e-05 9.98778022e-01 1.81834354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.930385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.94, Y:1.69, Z:1.82 [[ 9.97798936e-01 -4.42611288e-02 -4.93784921e-02 3.99395255e+01] [ 4.42134384e-02 9.99019988e-01 -2.05819555e-03 1.69424139e+00] [ 4.94211986e-02 -1.29527587e-04 9.98778018e-01 1.81848718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.960385722999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.97, Y:1.70, Z:1.82 [[ 9.97579218e-01 -4.89647045e-02 -4.93777362e-02 3.99684751e+01] [ 4.89215809e-02 9.98800452e-01 -2.08224510e-03 1.69542202e+00] [ 4.94204617e-02 -3.38432473e-04 9.98778005e-01 1.81890587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.990385722999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.00, Y:1.70, Z:1.82 [[ 9.97432774e-01 -5.18579209e-02 -4.93823564e-02 3.99976868e+01] [ 5.18256302e-02 9.98654275e-01 -1.93494823e-03 1.69801494e+00] [ 4.94162437e-02 -6.29290960e-04 9.98778073e-01 1.82128793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.020385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.03, Y:1.70, Z:1.82 [[ 9.97258136e-01 -5.51152939e-02 -4.93813255e-02 4.00272685e+01] [ 5.50853672e-02 9.98479709e-01 -1.96778770e-03 1.70095013e+00] [ 4.94147067e-02 -7.57796160e-04 9.98778060e-01 1.82350660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.050385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.06, Y:1.70, Z:1.82 [[ 9.97008450e-01 -5.94624063e-02 -4.93798819e-02 4.00567635e+01] [ 5.94355360e-02 9.98230115e-01 -2.01363536e-03 1.70179823e+00] [ 4.94122208e-02 -9.27308282e-04 9.98778040e-01 1.82399141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.080385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.09, Y:1.70, Z:1.83 [[ 9.96871408e-01 -6.17138093e-02 -4.93842284e-02 4.00882831e+01] [ 6.16965496e-02 9.98093192e-01 -1.87522682e-03 1.70346768e+00] [ 4.94057895e-02 -1.17747649e-03 9.98778094e-01 1.82578450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.110385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.12, Y:1.71, Z:1.83 [[ 9.96683524e-01 -6.46785222e-02 -4.93826041e-02 4.01192476e+01] [ 6.46623232e-02 9.97905341e-01 -1.92720810e-03 1.70695115e+00] [ 4.94038133e-02 -1.27237734e-03 9.98778076e-01 1.82908913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.140385722999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.15, Y:1.71, Z:1.83 [[ 9.96641941e-01 -6.53174786e-02 -4.93808550e-02 4.01529298e+01] [ 6.52992927e-02 9.97863753e-01 -1.98316825e-03 1.70681137e+00] [ 4.94049009e-02 -1.24802625e-03 9.98778053e-01 1.83299223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.170385722999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.19, Y:1.71, Z:1.83 [[ 9.96643408e-01 -6.52844027e-02 -4.93949887e-02 4.01855461e+01] [ 6.52888185e-02 9.97865242e-01 -1.52577848e-03 1.70729907e+00] [ 4.93891519e-02 -1.70428339e-03 9.98778157e-01 1.83271345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.200385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.22, Y:1.71, Z:1.83 [[ 9.96580928e-01 -6.62312521e-02 -4.93950936e-02 4.02172363e+01] [ 6.62369973e-02 9.97802757e-01 -1.52237238e-03 1.70674246e+00] [ 4.93873893e-02 -1.75461540e-03 9.98778157e-01 1.83362482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.230385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.25, Y:1.71, Z:1.83 [[ 9.96523828e-01 -6.70847848e-02 -4.93952567e-02 4.02496406e+01] [ 6.70918392e-02 9.97745651e-01 -1.51706450e-03 1.70741368e+00] [ 4.93856744e-02 -1.80222769e-03 9.98778157e-01 1.83461006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.260385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.28, Y:1.71, Z:1.84 [[ 9.96460017e-01 -6.80259744e-02 -4.93953597e-02 4.02821078e+01] [ 6.80343493e-02 9.97681831e-01 -1.51370261e-03 1.70790113e+00] [ 4.93838240e-02 -1.85223702e-03 9.98778157e-01 1.83580856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.290385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.31, Y:1.71, Z:1.84 [[ 9.96471527e-01 -6.78570846e-02 -4.93954650e-02 4.03143633e+01] [ 6.78654228e-02 9.97693341e-01 -1.51025886e-03 1.70927563e+00] [ 4.93840083e-02 -1.84731416e-03 9.98778157e-01 1.83778488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.320385722999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.35, Y:1.71, Z:1.84 [[ 9.96541436e-01 -6.68224833e-02 -4.93955700e-02 4.03457576e+01] [ 6.68297235e-02 9.97763257e-01 -1.50681510e-03 1.71136602e+00] [ 4.93857740e-02 -1.79948860e-03 9.98778157e-01 1.84025439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.350385722999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.38, Y:1.71, Z:1.84 [[ 9.96559349e-01 -6.65547393e-02 -4.93956483e-02 4.03783404e+01] [ 6.65617785e-02 9.97781172e-01 -1.50424472e-03 1.71238202e+00] [ 4.93861625e-02 -1.78879306e-03 9.98778157e-01 1.84108625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.380385722999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.41, Y:1.71, Z:1.84 [[ 9.96548242e-01 -6.67207654e-02 -4.93957513e-02 4.04101861e+01] [ 6.67281759e-02 9.97770063e-01 -1.50085504e-03 1.71283843e+00] [ 4.93857401e-02 -1.80041393e-03 9.98778157e-01 1.84181953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.410385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.44, Y:1.71, Z:1.84 [[ 9.96577135e-01 -6.62877332e-02 -4.93958539e-02 4.04435123e+01] [ 6.62947803e-02 9.97798958e-01 -1.49747150e-03 1.71297104e+00] [ 4.93863955e-02 -1.78234142e-03 9.98778157e-01 1.83911778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.440385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.47, Y:1.71, Z:1.84 [[ 9.96559070e-01 -6.65546613e-02 -4.94013804e-02 4.04748780e+01] [ 6.65711014e-02 9.97780818e-01 -1.31432553e-03 1.71429277e+00] [ 4.93792242e-02 -1.97890128e-03 9.98778142e-01 1.84072923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.470385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.51, Y:1.72, Z:1.84 [[ 9.96536488e-01 -6.68909929e-02 -4.94026634e-02 4.05075452e+01] [ 6.69099549e-02 9.97758208e-01 -1.27170654e-03 1.71563350e+00] [ 4.93769786e-02 -2.03822801e-03 9.98778133e-01 1.84198255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.500385722999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.54, Y:1.72, Z:1.84 [[ 9.96367987e-01 -6.93546004e-02 -4.94041820e-02 4.05364960e+01] [ 6.93790764e-02 9.97589621e-01 -1.22133142e-03 1.71689001e+00] [ 4.93698041e-02 -2.21072099e-03 9.98778121e-01 1.84444490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.530385722999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.57, Y:1.72, Z:1.85 [[ 9.96384564e-01 -6.91219208e-02 -4.93959610e-02 4.05682837e+01] [ 6.91326482e-02 9.97606359e-01 -1.49332396e-03 1.71666407e+00] [ 4.93809462e-02 -1.92694865e-03 9.98778158e-01 1.84529162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.560385722999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.60, Y:1.72, Z:1.84 [[ 9.96587816e-01 -6.61268071e-02 -4.93960618e-02 4.06031703e+01] [ 6.61340275e-02 9.97809636e-01 -1.48998272e-03 1.71513321e+00] [ 4.93863942e-02 -1.78186188e-03 9.98778158e-01 1.84353388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.590385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.63, Y:1.72, Z:1.85 [[ 9.96485106e-01 -6.76482085e-02 -4.94080352e-02 4.06308967e+01] [ 6.76770990e-02 9.97706682e-01 -1.08987273e-03 1.72143958e+00] [ 4.93684547e-02 -2.25775054e-03 9.98778083e-01 1.85305718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.620385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.66, Y:1.72, Z:1.85 [[ 9.96488851e-01 -6.76018257e-02 -4.93959832e-02 4.06635288e+01] [ 6.76108714e-02 9.97710655e-01 -1.48964149e-03 1.72254202e+00] [ 4.93836013e-02 -1.85529433e-03 9.98778162e-01 1.85484533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.650385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.70, Y:1.72, Z:1.86 [[ 9.96569264e-01 -6.64057982e-02 -4.93960820e-02 4.06953539e+01] [ 6.64135399e-02 9.97791077e-01 -1.48635954e-03 1.72498627e+00] [ 4.93856727e-02 -1.79930843e-03 9.98778162e-01 1.85896751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.680385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.73, Y:1.73, Z:1.86 [[ 9.96706040e-01 -6.43201966e-02 -4.93961812e-02 4.07267118e+01] [ 6.43255450e-02 9.97927866e-01 -1.48305631e-03 1.72637930e+00] [ 4.93892161e-02 -1.69926509e-03 9.98778162e-01 1.86051086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.710385722999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.76, Y:1.72, Z:1.86 [[ 9.96993044e-01 -5.97066096e-02 -4.93962549e-02 4.07613312e+01] [ 5.97064250e-02 9.98214882e-01 -1.48059468e-03 1.72168412e+00] [ 4.93964781e-02 -1.47313119e-03 9.98778162e-01 1.85735736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.740385722999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.79, Y:1.72, Z:1.86 [[ 9.97029880e-01 -5.90701085e-02 -4.94180198e-02 4.07898694e+01] [ 5.91050393e-02 9.98251483e-01 -7.55456552e-04 1.72143018e+00] [ 4.93762365e-02 -2.16764125e-03 9.98777898e-01 1.85815309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.770385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:40.82, Y:1.72, Z:1.86 [[ 9.97045129e-01 -5.88241872e-02 -4.94037044e-02 4.08215745e+01] [ 5.88355219e-02 9.98266937e-01 -1.22603630e-03 1.71984094e+00] [ 4.93902053e-02 -1.68427921e-03 9.98778139e-01 1.85714972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.800385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.85, Y:1.72, Z:1.86 [[ 9.97171111e-01 -5.66398780e-02 -4.94135496e-02 4.08496023e+01] [ 5.66644833e-02 9.98392868e-01 -9.03890439e-04 1.72147052e+00] [ 4.93853318e-02 -1.89865982e-03 9.98777995e-01 1.85713390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.830385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.88, Y:1.72, Z:1.86 [[ 9.97107284e-01 -5.77631863e-02 -4.94012073e-02 4.08814543e+01] [ 5.77693484e-02 9.98329105e-01 -1.30425927e-03 1.72352317e+00] [ 4.93940013e-02 -1.55338914e-03 9.98778163e-01 1.86173892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.860385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.91, Y:1.73, Z:1.87 [[ 9.96803214e-01 -6.27781959e-02 -4.94191362e-02 4.09058552e+01] [ 6.28193004e-02 9.98024656e-01 -7.22530490e-04 1.73252393e+00] [ 4.93668755e-02 -2.38425484e-03 9.98777867e-01 1.87233984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.890385722999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.94, Y:1.73, Z:1.87 [[ 9.96798719e-01 -6.28698870e-02 -4.93932275e-02 4.09383431e+01] [ 6.28701845e-02 9.98020511e-01 -1.54914590e-03 1.73359903e+00] [ 4.93928488e-02 -1.56117468e-03 9.98778208e-01 1.87485035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.920385722999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.97, Y:1.73, Z:1.88 [[ 9.96781188e-01 -6.31471431e-02 -4.93933360e-02 4.09709776e+01] [ 6.31479522e-02 9.98002979e-01 -1.54567782e-03 1.73372156e+00] [ 4.93923017e-02 -1.57838545e-03 9.98778208e-01 1.87563433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.950385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.01, Y:1.73, Z:1.87 [[ 9.97086699e-01 -5.81240343e-02 -4.93934438e-02 4.10055874e+01] [ 5.81188583e-02 9.98308479e-01 -1.54222502e-03 1.72755640e+00] [ 4.93995341e-02 -1.33295851e-03 9.98778208e-01 1.86968902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.980385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.03, Y:1.73, Z:1.88 [[ 9.96691436e-01 -6.45279467e-02 -4.94198880e-02 4.10293049e+01] [ 6.45727267e-02 9.97912764e-01 -6.91581381e-04 1.73457112e+00] [ 4.93613634e-02 -2.50188368e-03 9.98777851e-01 1.87575211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.010385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.06, Y:1.73, Z:1.87 [[ 9.97024466e-01 -5.91828018e-02 -4.93924013e-02 4.10637961e+01] [ 5.91779647e-02 9.98246227e-01 -1.56157567e-03 1.73300848e+00] [ 4.93981966e-02 -1.36601262e-03 9.98778230e-01 1.87383528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.040385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.09, Y:1.74, Z:1.88 [[ 9.96963345e-01 -6.01841054e-02 -4.94162138e-02 4.10944977e+01] [ 6.02171876e-02 9.98184961e-01 -8.20381596e-04 1.73520104e+00] [ 4.93758954e-02 -2.15781503e-03 9.98777936e-01 1.87580100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.070385722999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.12, Y:1.74, Z:1.88 [[ 9.96597427e-01 -6.59686231e-02 -4.94136527e-02 4.11190814e+01] [ 6.60048633e-02 9.97818896e-01 -8.99786486e-04 1.74157375e+00] [ 4.93652340e-02 -2.36481649e-03 9.98777994e-01 1.88142708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.100385722999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.15, Y:1.74, Z:1.88 [[ 9.96873974e-01 -6.16674436e-02 -4.93903471e-02 4.11545594e+01] [ 6.16630780e-02 9.98095717e-01 -1.61355043e-03 1.73785433e+00] [ 4.93957974e-02 -1.43705439e-03 9.98778249e-01 1.87768192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.130385722999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.18, Y:1.74, Z:1.88 [[ 9.96378562e-01 -6.91937837e-02 -4.94164067e-02 4.11797424e+01] [ 6.92384598e-02 9.97599810e-01 -8.09215002e-04 1.74372966e+00] [ 4.93537906e-02 -2.61523141e-03 9.98777935e-01 1.88359913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.160385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.21, Y:1.74, Z:1.88 [[ 9.96667925e-01 -6.49129741e-02 -4.93898079e-02 4.12149360e+01] [ 6.49122455e-02 9.97889661e-01 -1.62042830e-03 1.74075618e+00] [ 4.93907655e-02 -1.59097443e-03 9.98778264e-01 1.88151636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.190385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.25, Y:1.74, Z:1.88 [[ 9.96686280e-01 -6.46142751e-02 -4.94110881e-02 4.12467924e+01] [ 6.46453473e-02 9.97907830e-01 -9.70639668e-04 1.74106317e+00] [ 4.93704289e-02 -2.22677371e-03 9.98778055e-01 1.88368785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.220385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.28, Y:1.74, Z:1.89 [[ 9.96668667e-01 -6.48868015e-02 -4.94092193e-02 4.12769568e+01] [ 6.49154073e-02 9.97890242e-01 -1.02720756e-03 1.74228363e+00] [ 4.93716301e-02 -2.18363401e-03 9.98778090e-01 1.88606747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.250385722999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.31, Y:1.74, Z:1.89 [[ 9.96703272e-01 -6.43618648e-02 -4.93977535e-02 4.13094877e+01] [ 6.43727912e-02 9.97924979e-01 -1.37133761e-03 1.74157587e+00] [ 4.93835139e-02 -1.81305459e-03 9.98778244e-01 1.88909189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.280385722999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.34, Y:1.74, Z:1.89 [[ 9.96768347e-01 -6.33429587e-02 -4.94017409e-02 4.13416987e+01] [ 6.33585388e-02 9.97990044e-01 -1.25210492e-03 1.74348849e+00] [ 4.93817576e-02 -1.88196357e-03 9.98778204e-01 1.89268208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.310385722999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.37, Y:1.75, Z:1.90 [[ 9.96547839e-01 -6.67220450e-02 -4.94021561e-02 4.13691378e+01] [ 6.67423813e-02 9.97769471e-01 -1.23969828e-03 1.74931056e+00] [ 4.93746783e-02 -2.06179889e-03 9.98778199e-01 1.89680246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.340385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.40, Y:1.75, Z:1.89 [[ 9.96817688e-01 -6.25726865e-02 -4.93878141e-02 4.14035995e+01] [ 6.25668723e-02 9.98039385e-01 -1.66519821e-03 1.74881932e+00] [ 4.93951795e-02 -1.43014202e-03 9.98778289e-01 1.89417110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.370385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.43, Y:1.75, Z:1.90 [[ 9.96598479e-01 -6.59639243e-02 -4.93987006e-02 4.14320357e+01] [ 6.59783800e-02 9.97820153e-01 -1.33970958e-03 1.75228123e+00] [ 4.93793915e-02 -1.92409370e-03 9.98778240e-01 1.89899078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.400385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.47, Y:1.75, Z:1.89 [[ 9.96819929e-01 -6.25369612e-02 -4.93878190e-02 4.14664911e+01] [ 6.25312142e-02 9.98041623e-01 -1.66295622e-03 1.74945776e+00] [ 4.93950953e-02 -1.43061238e-03 9.98778293e-01 1.89494495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.430385723 meters Centerline goodness : 0.998635 Centerline is valid? [True, True] Translation: X:41.50, Y:1.75, Z:1.90 [[ 9.96857068e-01 -6.19301866e-02 -4.94028129e-02 4.14956312e+01] [ 6.19470000e-02 9.98078728e-01 -1.19218073e-03 1.75045174e+00] [ 4.93817287e-02 -1.87192227e-03 9.98778224e-01 1.89706636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.460385722999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.53, Y:1.75, Z:1.90 [[ 9.96874015e-01 -6.16706011e-02 -4.93855834e-02 4.15265754e+01] [ 6.16606297e-02 9.98095679e-01 -1.72684159e-03 1.75199296e+00] [ 4.93980328e-02 -1.32370266e-03 9.98778295e-01 1.90075009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.490385722999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.56, Y:1.75, Z:1.90 [[ 9.97098397e-01 -5.79259883e-02 -4.93899455e-02 4.15595802e+01] [ 5.79181287e-02 9.98320068e-01 -1.59148289e-03 1.75132789e+00] [ 4.93991620e-02 -1.27370818e-03 9.98778304e-01 1.89628518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.520385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.59, Y:1.76, Z:1.90 [[ 9.97143698e-01 -5.71355704e-02 -4.93960841e-02 4.15888571e+01] [ 5.71361927e-02 9.98365411e-01 -1.40057171e-03 1.75673267e+00] [ 4.93953643e-02 -1.42573293e-03 9.98778286e-01 1.90446423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.550385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.62, Y:1.76, Z:1.91 [[ 9.97220985e-01 -5.57758335e-02 -4.93899064e-02 4.16189713e+01] [ 5.57653027e-02 9.98442635e-01 -1.59222976e-03 1.75820369e+00] [ 4.94017962e-02 -1.16643815e-03 9.98778305e-01 1.90630671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.580385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.65, Y:1.76, Z:1.91 [[ 9.97380558e-01 -5.28456276e-02 -4.93899064e-02 4.16496073e+01] [ 5.28315074e-02 9.98602171e-01 -1.59222976e-03 1.75879982e+00] [ 4.94050101e-02 -1.02128420e-03 9.98778305e-01 1.90758744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.610385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.68, Y:1.76, Z:1.91 [[ 9.97463347e-01 -5.12592277e-02 -4.93899064e-02 4.16797500e+01] [ 5.12431646e-02 9.98684937e-01 -1.59222976e-03 1.76010363e+00] [ 4.94065720e-02 -9.42704277e-04 9.98778305e-01 1.90918693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.640385722999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.71, Y:1.76, Z:1.91 [[ 9.97554650e-01 -4.94505493e-02 -4.93899064e-02 4.17095592e+01] [ 4.94322712e-02 9.98776209e-01 -1.59222976e-03 1.76142984e+00] [ 4.94082001e-02 -8.53119045e-04 9.98778305e-01 1.90684260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.670385722999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.74, Y:1.76, Z:1.91 [[ 9.97578379e-01 -4.89705743e-02 -4.93888614e-02 4.17382564e+01] [ 4.89501120e-02 9.98799904e-01 -1.62448491e-03 1.76323472e+00] [ 4.94091420e-02 -7.97039271e-04 9.98778304e-01 1.91312776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.700385723 meters Centerline goodness : 0.999009 Centerline is valid? [True, True] Translation: X:41.77, Y:1.76, Z:1.91 [[ 9.97604479e-01 -4.84353207e-02 -4.93895039e-02 4.17665419e+01] [ 4.84151817e-02 9.98826008e-01 -1.60471191e-03 1.76386013e+00] [ 4.94092457e-02 -7.90334014e-04 9.98778305e-01 1.91311612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.730385723 meters Centerline goodness : 0.999640 Centerline is valid? [True, True] Translation: X:41.79, Y:1.76, Z:1.91 [[ 9.97603397e-01 -4.84572968e-02 -4.93898107e-02 4.17929643e+01] [ 4.84376506e-02 9.98824934e-01 -1.59529943e-03 1.76442667e+00] [ 4.94090783e-02 -8.00850262e-04 9.98778305e-01 1.91427833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.760385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.82, Y:1.76, Z:1.92 [[ 9.97623263e-01 -4.80476505e-02 -4.93887564e-02 4.18204359e+01] [ 4.80259167e-02 9.98844764e-01 -1.62734252e-03 1.76283312e+00] [ 4.94098907e-02 -7.48465548e-04 9.98778305e-01 1.91630952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.790385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.85, Y:1.76, Z:1.91 [[ 9.97604727e-01 -4.84314089e-02 -4.93883219e-02 4.18481487e+01] [ 4.84094975e-02 9.98826226e-01 -1.64042454e-03 1.76431935e+00] [ 4.94097992e-02 -7.54368565e-04 9.98778305e-01 1.91321904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.820385722999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.88, Y:1.77, Z:1.92 [[ 9.97462950e-01 -5.12775717e-02 -4.93788827e-02 4.18752518e+01] [ 5.12451837e-02 9.98684252e-01 -1.92250717e-03 1.76658745e+00] [ 4.94124940e-02 -6.12800236e-04 9.98778269e-01 1.91809986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.850385722999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.90, Y:1.77, Z:1.92 [[ 9.97407098e-01 -5.23564667e-02 -4.93749077e-02 4.19047760e+01] [ 5.23195416e-02 9.98628309e-01 -2.04086723e-03 1.76709266e+00] [ 4.94140332e-02 -5.47697077e-04 9.98778230e-01 1.92012638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.880385722999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.93, Y:1.77, Z:1.92 [[ 9.97383778e-01 -5.27968876e-02 -4.93770002e-02 4.19346207e+01] [ 5.27636469e-02 9.98605071e-01 -1.97731994e-03 1.76744953e+00] [ 4.94125191e-02 -6.33163775e-04 9.98778255e-01 1.92120071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.910385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.96, Y:1.77, Z:1.92 [[ 9.97095270e-01 -5.79932379e-02 -4.93741553e-02 4.19645586e+01] [ 5.79620399e-02 9.98316653e-01 -2.06462827e-03 1.76934260e+00] [ 4.94107760e-02 -8.03195683e-04 9.98778219e-01 1.92466345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.940385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.00, Y:1.77, Z:1.93 [[ 9.96944686e-01 -6.05314804e-02 -4.93683462e-02 4.19963070e+01] [ 6.04945536e-02 9.98166007e-01 -2.24318487e-03 1.76948035e+00] [ 4.94135882e-02 -7.50184826e-04 9.98778121e-01 1.92566071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.970385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.03, Y:1.77, Z:1.93 [[ 9.96780539e-01 -6.31715323e-02 -4.93752499e-02 4.20281378e+01] [ 6.31482962e-02 9.98002086e-01 -2.03195639e-03 1.76952779e+00] [ 4.94049642e-02 -1.09254832e-03 9.98778232e-01 1.92754873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.000385722999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.06, Y:1.77, Z:1.93 [[ 9.96582912e-01 -6.62151060e-02 -4.93767166e-02 4.20597511e+01] [ 6.61977821e-02 9.97804541e-01 -1.98788133e-03 1.76626358e+00] [ 4.93999398e-02 -1.28754056e-03 9.98778248e-01 1.92944411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.030385722999995 meters Centerline goodness : 0.999734 Centerline is valid? [True, True] Translation: X:42.09, Y:1.77, Z:1.93 [[ 9.96508516e-01 -6.73156432e-02 -4.93900950e-02 4.20915263e+01] [ 6.73196785e-02 9.97730200e-01 -1.58366309e-03 1.76608653e+00] [ 4.93845947e-02 -1.74679157e-03 9.98778309e-01 1.93021072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.060385722999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.12, Y:1.77, Z:1.93 [[ 9.96259799e-01 -7.09035158e-02 -4.93872820e-02 4.21239207e+01] [ 7.09077370e-02 9.97481483e-01 -1.66877337e-03 1.76749993e+00] [ 4.93812212e-02 -1.83940859e-03 9.98778310e-01 1.93113345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.090385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.15, Y:1.77, Z:1.93 [[ 9.95987250e-01 -7.46342852e-02 -4.93874638e-02 4.21540069e+01] [ 7.46433559e-02 9.97208906e-01 -1.66324005e-03 1.77344701e+00] [ 4.93737535e-02 -2.02988015e-03 9.98778310e-01 1.93255688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.120385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.18, Y:1.78, Z:1.93 [[ 9.96069960e-01 -7.35302594e-02 -4.93754500e-02 4.21848631e+01] [ 7.35197728e-02 9.97291692e-01 -2.03096053e-03 1.77549084e+00] [ 4.93910631e-02 -1.60709310e-03 9.98778224e-01 1.93334370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.150385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.22, Y:1.78, Z:1.94 [[ 9.96060160e-01 -7.36655904e-02 -4.93714259e-02 4.22175230e+01] [ 7.36491536e-02 9.97281886e-01 -2.15450792e-03 1.77783907e+00] [ 4.93959418e-02 -1.49014422e-03 9.98778164e-01 1.93750983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.180385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.26, Y:1.78, Z:1.93 [[ 9.96120250e-01 -7.28475183e-02 -4.93729434e-02 4.22556432e+01] [ 7.28323943e-02 9.97341967e-01 -2.10772359e-03 1.77883166e+00] [ 4.93952509e-02 -1.49640353e-03 9.98778189e-01 1.93103636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.210385722999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.28, Y:1.77, Z:1.94 [[ 9.96406830e-01 -6.87924378e-02 -4.94067855e-02 4.22827458e+01] [ 6.88251968e-02 9.97628193e-01 -1.03992283e-03 1.77219064e+00] [ 4.93611410e-02 -2.36424553e-03 9.98778198e-01 1.93907302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.240385722999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.31, Y:1.77, Z:1.94 [[ 9.96357082e-01 -6.95224160e-02 -4.93882478e-02 4.23126070e+01] [ 6.95273621e-02 9.97578730e-01 -1.61989702e-03 1.77429577e+00] [ 4.93812846e-02 -1.81983872e-03 9.98778342e-01 1.93665368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.270385723 meters Centerline goodness : 0.999378 Centerline is valid? [True, True] Translation: X:42.35, Y:1.77, Z:1.94 [[ 9.96545392e-01 -6.67789002e-02 -4.93746934e-02 4.23455921e+01] [ 6.67602410e-02 9.97766984e-01 -2.02879734e-03 1.77333224e+00] [ 4.93999197e-02 -1.27447779e-03 9.98778266e-01 1.94009722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.300385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.38, Y:1.78, Z:1.94 [[ 9.96547923e-01 -6.67306763e-02 -4.93888083e-02 4.23751909e+01] [ 6.67332294e-02 9.97769572e-01 -1.59908954e-03 1.77761445e+00] [ 4.93853584e-02 -1.70230531e-03 9.98778348e-01 1.93937348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.330385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.41, Y:1.78, Z:1.94 [[ 9.96565785e-01 -6.64714551e-02 -4.93779560e-02 4.24072521e+01] [ 6.64568053e-02 9.97787417e-01 -1.94020113e-03 1.78143185e+00] [ 4.93976711e-02 -1.34796315e-03 9.98778280e-01 1.94185161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.360385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.44, Y:1.78, Z:1.95 [[ 9.96732578e-01 -6.39214700e-02 -4.93782613e-02 4.24387592e+01] [ 6.39041649e-02 9.97954172e-01 -1.93069965e-03 1.78340152e+00] [ 4.94006551e-02 -1.23108532e-03 9.98778284e-01 1.94549979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.390385722999994 meters Centerline goodness : 0.999441 Centerline is valid? [True, True] Translation: X:42.47, Y:1.78, Z:1.95 [[ 9.96776342e-01 -6.32300394e-02 -4.93850801e-02 4.24703092e+01] [ 6.32224128e-02 9.97997983e-01 -1.71805810e-03 1.78372652e+00] [ 4.93948433e-02 -1.40972425e-03 9.98778335e-01 1.94672405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.420385722999995 meters Centerline goodness : 0.999464 Centerline is valid? [True, True] Translation: X:42.50, Y:1.78, Z:1.95 [[ 9.96688225e-01 -6.46057109e-02 -4.93830339e-02 4.25016530e+01] [ 6.45966061e-02 9.97909867e-01 -1.78198240e-03 1.78166615e+00] [ 4.93949430e-02 -1.41389551e-03 9.98778324e-01 1.94551242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.450385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.53, Y:1.78, Z:1.95 [[ 9.96665338e-01 -6.49561649e-02 -4.93852318e-02 4.25329835e+01] [ 6.49508870e-02 9.97886991e-01 -1.71334908e-03 1.78066718e+00] [ 4.93921729e-02 -1.49997897e-03 9.98778335e-01 1.94536687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.480385723 meters Centerline goodness : 0.999153 Centerline is valid? [True, True] Translation: X:42.56, Y:1.78, Z:1.95 [[ 9.96656973e-01 -6.50851067e-02 -4.93842790e-02 4.25627801e+01] [ 6.50785192e-02 9.97878624e-01 -1.74299913e-03 1.78042695e+00] [ 4.93929597e-02 -1.47668352e-03 9.98778331e-01 1.94656641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.510385723 meters Centerline goodness : 0.999153 Centerline is valid? [True, True] Translation: X:42.59, Y:1.78, Z:1.95 [[ 9.96662201e-01 -6.50045381e-02 -4.93848864e-02 4.25937633e+01] [ 6.49987886e-02 9.97883853e-01 -1.72407571e-03 1.78135628e+00] [ 4.93924535e-02 -1.49163669e-03 9.98778334e-01 1.94809186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.540385723 meters Centerline goodness : 0.999552 Centerline is valid? [True, True] Translation: X:42.62, Y:1.78, Z:1.95 [[ 9.96690515e-01 -6.45688948e-02 -4.93849666e-02 4.26247432e+01] [ 6.45627352e-02 9.97912165e-01 -1.72157337e-03 1.78465463e+00] [ 4.93930190e-02 -1.47255267e-03 9.98778334e-01 1.95105128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.570385722999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.66, Y:1.79, Z:1.95 [[ 9.96724207e-01 -6.40449862e-02 -4.93871961e-02 4.26554163e+01] [ 6.40416246e-02 9.97945861e-01 -1.65207486e-03 1.78839503e+00] [ 4.93915551e-02 -1.51617327e-03 9.98778342e-01 1.95465870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.600385722999995 meters Centerline goodness : 0.999439 Centerline is valid? [True, True] Translation: X:42.69, Y:1.79, Z:1.96 [[ 9.96916158e-01 -6.09823600e-02 -4.93895328e-02 4.26851321e+01] [ 6.09788627e-02 9.98137809e-01 -1.57899085e-03 1.79241851e+00] [ 4.93938506e-02 -1.43759604e-03 9.98778344e-01 1.95592303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.630385722999996 meters Centerline goodness : 0.999393 Centerline is valid? [True, True] Translation: X:42.72, Y:1.79, Z:1.96 [[ 9.96922448e-01 -6.08842352e-02 -4.93836197e-02 4.27158372e+01] [ 6.08714644e-02 9.98144054e-01 -1.76390717e-03 1.79248558e+00] [ 4.93993605e-02 -1.24757459e-03 9.98778327e-01 1.95578867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.660385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.75, Y:1.79, Z:1.96 [[ 9.96851164e-01 -6.20392597e-02 -4.93850834e-02 4.27477523e+01] [ 6.20301700e-02 9.98072796e-01 -1.71813333e-03 1.79164453e+00] [ 4.93965000e-02 -1.35064191e-03 9.98778335e-01 1.95621835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.690385723 meters Centerline goodness : 0.998969 Centerline is valid? [True, True] Translation: X:42.78, Y:1.79, Z:1.96 [[ 9.96898865e-01 -6.12644014e-02 -4.93895342e-02 4.27764134e+01] [ 6.12612531e-02 9.98120517e-01 -1.57892420e-03 1.78816868e+00] [ 4.93934393e-02 -1.45163701e-03 9.98778344e-01 1.95727649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.720385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.81, Y:1.79, Z:1.96 [[ 9.96812396e-01 -6.26614946e-02 -4.93820180e-02 4.28070666e+01] [ 6.26485273e-02 9.98034007e-01 -1.81187095e-03 1.78965560e+00] [ 4.93984678e-02 -1.28761528e-03 9.98778320e-01 1.96123372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.750385722999994 meters Centerline goodness : 0.998834 Centerline is valid? [True, True] Translation: X:42.83, Y:1.79, Z:1.97 [[ 9.97057729e-01 -5.86225193e-02 -4.93891272e-02 4.28349809e+01] [ 5.86155235e-02 9.98279364e-01 -1.59125283e-03 1.79300473e+00] [ 4.93974297e-02 -1.30839862e-03 9.98778345e-01 1.96982715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.780385722999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.87, Y:1.80, Z:1.97 [[ 9.96938443e-01 -6.06299845e-02 -4.93735426e-02 4.28668005e+01] [ 6.06016587e-02 9.98159880e-01 -2.07185584e-03 1.79651751e+00] [ 4.94083059e-02 -9.26605841e-04 9.98778234e-01 1.97279476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.810385722999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.90, Y:1.80, Z:1.97 [[ 9.96954396e-01 -6.03543976e-02 -4.93890590e-02 4.28987148e+01] [ 6.03495815e-02 9.98176036e-01 -1.59008388e-03 1.79721705e+00] [ 4.93949437e-02 -1.39536792e-03 9.98778350e-01 1.97351097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.840385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.93, Y:1.80, Z:1.97 [[ 9.97006504e-01 -5.94873173e-02 -4.93891723e-02 4.29289124e+01] [ 5.94816133e-02 9.98228141e-01 -1.58655797e-03 1.79636799e+00] [ 4.93960417e-02 -1.35593903e-03 9.98778350e-01 1.97208356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.870385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.96, Y:1.79, Z:1.97 [[ 9.96796385e-01 -6.29149343e-02 -4.93829644e-02 4.29606375e+01] [ 6.29038228e-02 9.98018005e-01 -1.78065503e-03 1.79442751e+00] [ 4.93971174e-02 -1.33142675e-03 9.98778330e-01 1.96865524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.900385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.99, Y:1.79, Z:1.97 [[ 9.96659406e-01 -6.50494473e-02 -4.93821658e-02 4.29929856e+01] [ 6.50397200e-02 9.97881042e-01 -1.80554207e-03 1.79485456e+00] [ 4.93949766e-02 -1.41229175e-03 9.98778325e-01 1.97148934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.930385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.02, Y:1.80, Z:1.97 [[ 9.96578044e-01 -6.62787287e-02 -4.93896032e-02 4.30223534e+01] [ 6.62820737e-02 9.97799687e-01 -1.57189642e-03 1.79681110e+00] [ 4.93851140e-02 -1.70712787e-03 9.98778352e-01 1.97030851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.960385722999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.05, Y:1.80, Z:1.97 [[ 9.96624736e-01 -6.55838998e-02 -4.93749628e-02 4.30531588e+01] [ 6.55636979e-02 9.97846320e-01 -2.03038100e-03 1.79778556e+00] [ 4.94017853e-02 -1.21367722e-03 9.98778249e-01 1.97146562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.990385722999996 meters Centerline goodness : 0.999687 Centerline is valid? [True, True] Translation: X:43.08, Y:1.80, Z:1.98 [[ 9.96758812e-01 -6.35152766e-02 -4.93728726e-02 4.30837549e+01] [ 6.34894160e-02 9.97980316e-01 -2.09347648e-03 1.79763134e+00] [ 4.94061228e-02 -1.04796372e-03 9.98778222e-01 1.97554829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.020385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.11, Y:1.80, Z:1.98 [[ 9.96987550e-01 -5.98123540e-02 -4.93792169e-02 4.31145771e+01] [ 5.97914819e-02 9.98209079e-01 -1.90103671e-03 1.80272606e+00] [ 4.94044881e-02 -1.05714663e-03 9.98778293e-01 1.97883050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.050385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.15, Y:1.81, Z:1.98 [[ 9.97018127e-01 -5.93067924e-02 -4.93716316e-02 4.31470279e+01] [ 5.92731018e-02 9.98239494e-01 -2.14749678e-03 1.80711401e+00] [ 4.94120737e-02 -7.85316529e-04 9.98778169e-01 1.98203293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.080385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.18, Y:1.81, Z:1.98 [[ 9.97041667e-01 -5.89074595e-02 -4.93743405e-02 4.31776766e+01] [ 5.88776615e-02 9.98263082e-01 -2.05896961e-03 1.80905962e+00] [ 4.94098700e-02 -8.54167222e-04 9.98778221e-01 1.98360141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.110385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.21, Y:1.81, Z:1.98 [[ 9.97010221e-01 -5.94338255e-02 -4.93785404e-02 4.32090807e+01] [ 5.94116569e-02 9.98231725e-01 -1.91785669e-03 1.80788375e+00] [ 4.94052112e-02 -1.02153818e-03 9.98778295e-01 1.98262215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.140385722999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.24, Y:1.81, Z:1.98 [[ 9.96976594e-01 -5.99967101e-02 -4.93767685e-02 4.32413553e+01] [ 5.99722717e-02 9.98198084e-01 -1.97764872e-03 1.80685952e+00] [ 4.94064481e-02 -9.89567491e-04 9.98778266e-01 1.98242184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.170385722999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.27, Y:1.81, Z:1.99 [[ 9.96988934e-01 -5.97904401e-02 -4.93778209e-02 4.32738744e+01] [ 5.97675131e-02 9.98210435e-01 -1.94200660e-03 1.80664131e+00] [ 4.94055695e-02 -1.01503047e-03 9.98778283e-01 1.98512669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.200385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.30, Y:1.81, Z:1.99 [[ 9.97050740e-01 -5.87384714e-02 -4.93924394e-02 4.33009404e+01] [ 5.87390417e-02 9.98272332e-01 -1.44122884e-03 1.81171487e+00] [ 4.93917612e-02 -1.46428627e-03 9.98778409e-01 1.98732475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.230385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.33, Y:1.81, Z:1.99 [[ 9.97134995e-01 -5.73028163e-02 -4.93780277e-02 4.33333418e+01] [ 5.72769294e-02 9.98356444e-01 -1.94023951e-03 1.81424398e+00] [ 4.94080533e-02 -8.93541092e-04 9.98778277e-01 1.98890010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.260385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.36, Y:1.82, Z:1.99 [[ 9.97281711e-01 -5.46871428e-02 -4.93812336e-02 4.33644007e+01] [ 5.46637308e-02 9.98503152e-01 -1.82550050e-03 1.81637812e+00] [ 4.94071488e-02 -8.78824196e-04 9.98778334e-01 1.99285850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.290385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.40, Y:1.82, Z:1.99 [[ 9.97322512e-01 -5.39336280e-02 -4.93859305e-02 4.33954202e+01] [ 5.39177079e-02 9.98544010e-01 -1.65547885e-03 1.81673063e+00] [ 4.94033111e-02 -1.01172985e-03 9.98778398e-01 1.99455062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.320385722999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.42, Y:1.82, Z:2.00 [[ 9.97411615e-01 -5.22602973e-02 -4.93855321e-02 4.34242281e+01] [ 5.22416137e-02 9.98633078e-01 -1.66990580e-03 1.81613283e+00] [ 4.94052957e-02 -9.14396453e-04 9.98778394e-01 1.99689936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.350385722999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.45, Y:1.82, Z:2.00 [[ 9.97329875e-01 -5.38023255e-02 -4.93804609e-02 4.34546943e+01] [ 5.37766473e-02 9.98551277e-01 -1.84939250e-03 1.81532517e+00] [ 4.94084239e-02 -8.11061236e-04 9.98778329e-01 1.99563602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.380385722999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.49, Y:1.81, Z:1.99 [[ 9.97331545e-01 -5.37656397e-02 -4.93866913e-02 4.34853935e+01] [ 5.37511125e-02 9.98553045e-01 -1.62317355e-03 1.81495699e+00] [ 4.94025020e-02 -1.03574742e-03 9.98778414e-01 1.99432628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.410385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.51, Y:1.82, Z:1.99 [[ 9.97335519e-01 -5.36881440e-02 -4.93907385e-02 4.35146880e+01] [ 5.36807798e-02 9.98557056e-01 -1.47652443e-03 1.81630599e+00] [ 4.93987423e-02 -1.17874310e-03 9.98778441e-01 1.99453049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.440385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.54, Y:1.82, Z:2.00 [[ 9.97289148e-01 -5.45456955e-02 -4.93874706e-02 4.35439057e+01] [ 5.45336725e-02 9.98510663e-01 -1.59187702e-03 1.81948938e+00] [ 4.94007461e-02 -1.10571847e-03 9.98778426e-01 1.99796091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.470385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.57, Y:1.82, Z:2.00 [[ 9.97215188e-01 -5.58827244e-02 -4.93861234e-02 4.35738823e+01] [ 5.58699976e-02 9.98436706e-01 -1.63918588e-03 1.82068692e+00] [ 4.94005205e-02 -1.12458154e-03 9.98778416e-01 1.99883861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.500385722999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.60, Y:1.82, Z:2.00 [[ 9.97256654e-01 -5.51319034e-02 -4.93926977e-02 4.36047388e+01] [ 5.51296633e-02 9.98478210e-01 -1.40872408e-03 1.82032564e+00] [ 4.93951980e-02 -1.31814333e-03 9.98778442e-01 1.99898720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.530385722999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.63, Y:1.82, Z:2.00 [[ 9.97314053e-01 -5.40836531e-02 -4.93926977e-02 4.36347657e+01] [ 5.40801290e-02 9.98535605e-01 -1.40872408e-03 1.81877329e+00] [ 4.93965562e-02 -1.26622314e-03 9.98778442e-01 1.99950082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.560385722999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.66, Y:1.82, Z:2.00 [[ 9.97320766e-01 -5.39597460e-02 -4.93926730e-02 4.36647055e+01] [ 5.39560273e-02 9.98542318e-01 -1.40959013e-03 1.82036795e+00] [ 4.93967353e-02 -1.25921890e-03 9.98778442e-01 2.00188524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.590385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.69, Y:1.82, Z:2.01 [[ 9.97308478e-01 -5.41863833e-02 -4.93926730e-02 4.36943452e+01] [ 5.41829422e-02 9.98530031e-01 -1.40959013e-03 1.82383886e+00] [ 4.93964478e-02 -1.27044415e-03 9.98778442e-01 2.00710883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.620385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.73, Y:1.83, Z:2.01 [[ 9.97321703e-01 -5.39424480e-02 -4.93926484e-02 4.37253940e+01] [ 5.39386654e-02 9.98543254e-01 -1.41045087e-03 1.82518558e+00] [ 4.93967790e-02 -1.25750027e-03 9.98778442e-01 2.00747853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.650385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.76, Y:1.83, Z:2.01 [[ 9.97357086e-01 -5.32815714e-02 -4.93955089e-02 4.37564228e+01] [ 5.32819367e-02 9.98578649e-01 -1.31028908e-03 1.82510065e+00] [ 4.93951148e-02 -1.32506228e-03 9.98778437e-01 2.00786659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.680385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.79, Y:1.82, Z:2.01 [[ 9.97376348e-01 -5.29177702e-02 -4.93976796e-02 4.37869243e+01] [ 5.29214514e-02 9.98597915e-01 -1.23428887e-03 1.82400748e+00] [ 4.93937357e-02 -1.38314638e-03 9.98778427e-01 2.00772228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.710385722999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.82, Y:1.82, Z:2.01 [[ 9.97381625e-01 -5.28215315e-02 -4.93941261e-02 4.38158070e+01] [ 5.28189751e-02 9.98603180e-01 -1.35793730e-03 1.82355829e+00] [ 4.93968598e-02 -1.25456541e-03 9.98778442e-01 2.01133714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.740385722999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.85, Y:1.82, Z:2.01 [[ 9.97436238e-01 -5.17818435e-02 -4.93922189e-02 4.38452412e+01] [ 5.17747396e-02 9.98657773e-01 -1.42409091e-03 1.82394446e+00] [ 4.93996654e-02 -1.13682939e-03 9.98778444e-01 2.01328683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.770385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.88, Y:1.83, Z:2.02 [[ 9.97557981e-01 -4.93810021e-02 -4.93922250e-02 4.38752231e+01] [ 4.93709686e-02 9.98779495e-01 -1.42387984e-03 1.82688588e+00] [ 4.94022541e-02 -1.01813929e-03 9.98778444e-01 2.01618676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.800385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.90, Y:1.83, Z:2.02 [[ 9.97535626e-01 -4.98265763e-02 -4.93962189e-02 4.39035254e+01] [ 4.98239215e-02 9.98757189e-01 -1.28581758e-03 1.83038763e+00] [ 4.93988967e-02 -1.17846449e-03 9.98778434e-01 2.02237582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.830385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.93, Y:1.83, Z:2.02 [[ 9.97507144e-01 -5.03977490e-02 -4.93919442e-02 4.39325412e+01] [ 5.03885012e-02 9.98728664e-01 -1.43316094e-03 1.83382911e+00] [ 4.94013785e-02 -1.05919776e-03 9.98778445e-01 2.02464561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.860385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.96, Y:1.83, Z:2.02 [[ 9.97532470e-01 -4.98940110e-02 -4.93918905e-02 4.39626199e+01] [ 4.98840549e-02 9.98753985e-01 -1.43500908e-03 1.83057171e+00] [ 4.94019458e-02 -1.03239962e-03 9.98778445e-01 2.02293160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.890385722999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.99, Y:1.83, Z:2.02 [[ 9.97467215e-01 -5.11819861e-02 -4.93918951e-02 4.39916895e+01] [ 5.11736151e-02 9.98688741e-01 -1.43485046e-03 1.82982358e+00] [ 4.94005680e-02 -1.09634554e-03 9.98778445e-01 2.01839295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.920385722999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.02, Y:1.83, Z:2.02 [[ 9.97383504e-01 -5.27884698e-02 -4.93915317e-02 4.40207873e+01] [ 5.27814524e-02 9.98605039e-01 -1.44725205e-03 1.83249257e+00] [ 4.93990306e-02 -1.16349146e-03 9.98778445e-01 2.02020569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.950385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.05, Y:1.83, Z:2.02 [[ 9.97382479e-01 -5.28078879e-02 -4.93914784e-02 4.40517448e+01] [ 5.28008043e-02 9.98604013e-01 -1.44906983e-03 1.83380876e+00] [ 4.93990508e-02 -1.16263292e-03 9.98778445e-01 2.02192323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.980385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.08, Y:1.84, Z:2.02 [[ 9.97274299e-01 -5.48051393e-02 -4.94000928e-02 4.40819061e+01] [ 5.48149860e-02 9.98495859e-01 -1.15643116e-03 1.83657067e+00] [ 4.93891665e-02 -1.55458632e-03 9.98778401e-01 2.02338053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.010385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.11, Y:1.83, Z:2.02 [[ 9.97235441e-01 -5.55125465e-02 -4.93946572e-02 4.41133615e+01] [ 5.55141400e-02 9.98457001e-01 -1.34068883e-03 1.83458573e+00] [ 4.93928664e-02 -1.40511949e-03 9.98778439e-01 2.02339863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.040385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.14, Y:1.83, Z:2.02 [[ 9.97147433e-01 -5.70708081e-02 -4.93955469e-02 4.41437654e+01] [ 5.70757982e-02 9.98368988e-01 -1.31062957e-03 1.83425024e+00] [ 4.93897809e-02 -1.51239935e-03 9.98778435e-01 2.02352288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.070385722999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.17, Y:1.84, Z:2.02 [[ 9.97087470e-01 -5.81103839e-02 -4.93939364e-02 4.41742164e+01] [ 5.81139668e-02 9.98309022e-01 -1.36479218e-03 1.83520568e+00] [ 4.93897210e-02 -1.50966039e-03 9.98778442e-01 2.02463215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.100385722999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.21, Y:1.84, Z:2.03 [[ 9.97001357e-01 -5.95723614e-02 -4.93905552e-02 4.42066293e+01] [ 5.95721417e-02 9.98222909e-01 -1.47780788e-03 1.83907173e+00] [ 4.93908202e-02 -1.46892469e-03 9.98778448e-01 2.02931193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.130385722999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.24, Y:1.84, Z:2.03 [[ 9.96972580e-01 -6.00436269e-02 -4.94007900e-02 4.42363843e+01] [ 6.00610016e-02 9.98194064e-01 -1.13399519e-03 1.84071724e+00] [ 4.93796645e-02 -1.83649881e-03 9.98778392e-01 2.03139711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.160385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.27, Y:1.84, Z:2.03 [[ 9.96939236e-01 -6.06001921e-02 -4.93941017e-02 4.42672546e+01] [ 6.06072123e-02 9.98160771e-01 -1.35697682e-03 1.84324192e+00] [ 4.93854877e-02 -1.64081537e-03 9.98778445e-01 2.03490957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.190385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.30, Y:1.84, Z:2.04 [[ 9.96924587e-01 -6.08447447e-02 -4.93891096e-02 4.42981593e+01] [ 6.08438341e-02 9.98146135e-01 -1.52326178e-03 1.84170759e+00] [ 4.93902313e-02 -1.48644567e-03 9.98778452e-01 2.03588352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.220385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.33, Y:1.84, Z:2.04 [[ 9.96800041e-01 -6.28523481e-02 -4.93888623e-02 4.43293499e+01] [ 6.28534891e-02 9.98021590e-01 -1.53151585e-03 1.84239692e+00] [ 4.93874102e-02 -1.57764725e-03 9.98778451e-01 2.03678394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.250385722999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.36, Y:1.84, Z:2.04 [[ 9.96730847e-01 -6.39396776e-02 -4.93896318e-02 4.43611565e+01] [ 6.39434236e-02 9.97952389e-01 -1.50580674e-03 1.84332759e+00] [ 4.93847819e-02 -1.65725812e-03 9.98778452e-01 2.03701224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.280385722999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.39, Y:1.84, Z:2.04 [[ 9.96746662e-01 -6.36928102e-02 -4.93894496e-02 4.43934985e+01] [ 6.36959514e-02 9.97968206e-01 -1.51191315e-03 1.84341718e+00] [ 4.93853984e-02 -1.63891360e-03 9.98778452e-01 2.03632904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.310385722999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.42, Y:1.85, Z:2.04 [[ 9.96781979e-01 -6.31357623e-02 -4.93919118e-02 4.44229935e+01] [ 6.31423205e-02 9.98003510e-01 -1.42908407e-03 1.84508003e+00] [ 4.93835276e-02 -1.69423468e-03 9.98778452e-01 2.03779891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.340385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.46, Y:1.85, Z:2.04 [[ 9.96803855e-01 -6.27943799e-02 -4.93856366e-02 4.44551340e+01] [ 6.27900299e-02 9.98025410e-01 -1.64102234e-03 1.84672184e+00] [ 4.93911672e-02 -1.46514821e-03 9.98778437e-01 2.04218744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.370385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.49, Y:1.85, Z:2.05 [[ 9.96861705e-01 -6.18707272e-02 -4.93837465e-02 4.44877057e+01] [ 6.18620717e-02 9.98083251e-01 -1.70514230e-03 1.84679285e+00] [ 4.93945887e-02 -1.35518981e-03 9.98778423e-01 2.04532652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.400385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.52, Y:1.85, Z:2.05 [[ 9.96833975e-01 -6.23140320e-02 -4.93861177e-02 4.45185041e+01] [ 6.23099230e-02 9.98055527e-01 -1.62425835e-03 1.84730071e+00] [ 4.93913019e-02 -1.45812928e-03 9.98778440e-01 2.04796583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.430385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.55, Y:1.85, Z:2.05 [[ 9.96747607e-01 -6.36809585e-02 -4.93856677e-02 4.45505629e+01] [ 6.36777628e-02 9.97969165e-01 -1.63965003e-03 1.84564679e+00] [ 4.93897881e-02 -1.51045159e-03 9.98778438e-01 2.04732693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.460385722999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.58, Y:1.85, Z:2.05 [[ 9.96754955e-01 -6.35650712e-02 -4.93866479e-02 4.45822351e+01] [ 6.35633966e-02 9.97976510e-01 -1.60605097e-03 1.84646537e+00] [ 4.93888032e-02 -1.53834382e-03 9.98778444e-01 2.04887960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.490385722999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.61, Y:1.85, Z:2.05 [[ 9.96684797e-01 -6.46556987e-02 -4.93868073e-02 4.46144785e+01] [ 6.46556323e-02 9.97906352e-01 -1.60056415e-03 1.84576316e+00] [ 4.93868943e-02 -1.59787730e-03 9.98778445e-01 2.04929089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.520385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.65, Y:1.84, Z:2.05 [[ 9.96691933e-01 -6.45447726e-02 -4.93878837e-02 4.46461070e+01] [ 6.45464059e-02 9.97913482e-01 -1.56347613e-03 1.84470721e+00] [ 4.93857492e-02 -1.62950634e-03 9.98778450e-01 2.04823939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.550385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.68, Y:1.85, Z:2.05 [[ 9.96548169e-01 -6.67280397e-02 -4.93874062e-02 4.46794471e+01] [ 6.67315244e-02 9.97769716e-01 -1.58013631e-03 1.84548628e+00] [ 4.93826977e-02 -1.72101495e-03 9.98778448e-01 2.05313746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.580385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.71, Y:1.85, Z:2.05 [[ 9.96519198e-01 -6.71556666e-02 -4.93923534e-02 4.47115613e+01] [ 6.71682729e-02 9.97740670e-01 -1.40641950e-03 1.84765672e+00] [ 4.93752088e-02 -1.91607504e-03 9.98778463e-01 2.05367051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.610385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.74, Y:1.85, Z:2.05 [[ 9.96657315e-01 -6.50736677e-02 -4.93924562e-02 4.47428261e+01] [ 6.50839014e-02 9.97878809e-01 -1.40279929e-03 1.84914030e+00] [ 4.93789707e-02 -1.81654357e-03 9.98778463e-01 2.05423217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.640385722999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.78, Y:1.85, Z:2.06 [[ 9.96825670e-01 -6.24443289e-02 -4.93891546e-02 4.47761279e+01] [ 6.24455913e-02 9.98047214e-01 -1.51895716e-03 1.84986298e+00] [ 4.93875584e-02 -1.56999948e-03 9.98778456e-01 2.06095245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.670385722999995 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:44.81, Y:1.85, Z:2.07 [[ 9.96916923e-01 -6.09674379e-02 -4.93925163e-02 4.48078886e+01] [ 6.09727583e-02 9.98138448e-01 -1.40040171e-03 1.85263241e+00] [ 4.93859485e-02 -1.61551380e-03 9.98778463e-01 2.06570115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.700385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.84, Y:1.85, Z:2.06 [[ 9.97123328e-01 -5.74929361e-02 -4.93926207e-02 4.48378159e+01] [ 5.74941821e-02 9.98344864e-01 -1.39671124e-03 1.85418241e+00] [ 4.93911702e-02 -1.44709497e-03 9.98778463e-01 2.06457684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.730385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.87, Y:1.85, Z:2.07 [[ 9.97271123e-01 -5.48778619e-02 -4.93834715e-02 4.48708638e+01] [ 5.48599251e-02 9.98492580e-01 -1.71957955e-03 1.85406511e+00] [ 4.94033967e-02 -9.94286520e-04 9.98778412e-01 2.06618390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.760385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.90, Y:1.85, Z:2.06 [[ 9.97601243e-01 -4.84985699e-02 -4.93927939e-02 4.48989361e+01] [ 4.84892355e-02 9.98822741e-01 -1.38791129e-03 1.85473127e+00] [ 4.94019575e-02 -1.01043679e-03 9.98778467e-01 2.06473875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.790385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.93, Y:1.85, Z:2.07 [[ 9.97796741e-01 -4.43088911e-02 -4.93800233e-02 4.49295519e+01] [ 4.42722482e-02 9.99017816e-01 -1.83610015e-03 1.85472733e+00] [ 4.94128786e-02 -3.54109902e-04 9.98778375e-01 2.06929006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.820385722999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.96, Y:1.86, Z:2.07 [[ 9.97854503e-01 -4.29741795e-02 -4.93924112e-02 4.49569296e+01] [ 4.29575402e-02 9.99075920e-01 -1.39885866e-03 1.85867147e+00] [ 4.94068835e-02 -7.25919077e-04 9.98778470e-01 2.07160965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.850385722999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.99, Y:1.86, Z:2.07 [[ 9.97994589e-01 -3.95882796e-02 -4.93919917e-02 4.49850779e+01] [ 3.95667708e-02 9.99215929e-01 -1.41351783e-03 1.85895559e+00] [ 4.94092236e-02 -5.43598470e-04 9.98778470e-01 2.07158732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.880385722999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.01, Y:1.86, Z:2.07 [[ 9.98174756e-01 -3.47509673e-02 -4.93915688e-02 4.50133354e+01] [ 3.47228157e-02 9.99395961e-01 -1.42814306e-03 1.85873636e+00] [ 4.94113638e-02 -2.89477997e-04 9.98778471e-01 2.07133131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.910385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.04, Y:1.86, Z:2.07 [[ 9.98241691e-01 -3.27725626e-02 -4.93911446e-02 4.50415269e+01] [ 3.27412720e-02 9.99462820e-01 -1.44266935e-03 1.86037320e+00] [ 4.94118926e-02 -1.76996209e-04 9.98778471e-01 2.07423370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.940385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.07, Y:1.86, Z:2.07 [[ 9.98340770e-01 -2.96017620e-02 -4.93907149e-02 4.50717091e+01] [ 2.95658725e-02 9.99561772e-01 -1.45723262e-03 1.85998658e+00] [ 4.94122071e-02 -5.46483906e-06 9.98778471e-01 2.07440755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.970385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.10, Y:1.86, Z:2.07 [[ 9.98320999e-01 -3.02496403e-02 -4.93978035e-02 4.50978584e+01] [ 3.02263727e-02 9.99542337e-01 -1.21814420e-03 1.85952248e+00] [ 4.94120443e-02 -2.77017483e-04 9.98778440e-01 2.07393212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.000385722999994 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:45.13, Y:1.86, Z:2.07 [[ 9.98394307e-01 -2.77388454e-02 -4.93899259e-02 4.51312965e+01] [ 2.76995057e-02 9.99615198e-01 -1.48092266e-03 1.85630224e+00] [ 4.94119997e-02 1.10468216e-04 9.98778475e-01 2.07351518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.030385722999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.16, Y:1.85, Z:2.07 [[ 9.98347909e-01 -2.93262382e-02 -4.94107789e-02 4.51587703e+01] [ 2.93234804e-02 9.99569669e-01 -7.80858913e-04 1.85333723e+00] [ 4.94124156e-02 -6.69327145e-04 9.98778236e-01 2.06993179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.060385722999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.19, Y:1.86, Z:2.08 [[ 9.98248962e-01 -3.25252077e-02 -4.94076966e-02 4.51869094e+01] [ 3.25212669e-02 9.99470653e-01 -8.83863897e-04 1.85607599e+00] [ 4.94102906e-02 -7.24484668e-04 9.98778303e-01 2.07626507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.090385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.21, Y:1.86, Z:2.08 [[ 9.98045009e-01 -3.82751712e-02 -4.94082010e-02 4.52098446e+01] [ 3.82790972e-02 9.99266711e-01 -8.67113131e-04 1.86031519e+00] [ 4.94051594e-02 -1.02588339e-03 9.98778293e-01 2.07922941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.120385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.24, Y:1.86, Z:2.08 [[ 9.97927773e-01 -4.12430511e-02 -4.93879691e-02 4.52405230e+01] [ 4.12181306e-02 9.99149010e-01 -1.52337690e-03 1.85989220e+00] [ 4.94087692e-02 -5.15459645e-04 9.98778508e-01 2.08211076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.150385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.27, Y:1.86, Z:2.08 [[ 9.97759745e-01 -4.51156779e-02 -4.93970278e-02 4.52661685e+01] [ 4.51100154e-02 9.98981268e-01 -1.23002582e-03 1.85920589e+00] [ 4.94021989e-02 -1.00103044e-03 9.98778464e-01 2.08399456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.180385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.30, Y:1.85, Z:2.08 [[ 9.97504860e-01 -5.04475523e-02 -4.93872373e-02 4.52959107e+01] [ 5.04329085e-02 9.98726259e-01 -1.54339120e-03 1.85475271e+00] [ 4.94021911e-02 -9.51201799e-04 9.98778513e-01 2.08124153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.210385722999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.32, Y:1.85, Z:2.08 [[ 9.97256851e-01 -5.51282987e-02 -4.93927477e-02 4.53236413e+01] [ 5.51281102e-02 9.98478353e-01 -1.36715129e-03 1.85432535e+00] [ 4.93929581e-02 -1.35952785e-03 9.98778498e-01 2.08296205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.240385722999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.35, Y:1.85, Z:2.08 [[ 9.97137084e-01 -5.72588335e-02 -4.93868667e-02 4.53542302e+01] [ 5.72520029e-02 9.98358549e-01 -1.55407157e-03 1.85462889e+00] [ 4.93947849e-02 -1.27787464e-03 9.98778515e-01 2.08251337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.270385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.38, Y:1.86, Z:2.09 [[ 9.96806975e-01 -6.27392835e-02 -4.93926839e-02 4.53835006e+01] [ 6.27483034e-02 9.98028444e-01 -1.36949327e-03 1.85758009e+00] [ 4.93812244e-02 -1.73418667e-03 9.98778498e-01 2.08951051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.300385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.42, Y:1.86, Z:2.09 [[ 9.96622175e-01 -6.56182079e-02 -4.93810791e-02 4.54156943e+01] [ 6.56126761e-02 9.97843659e-01 -1.73476760e-03 1.85903348e+00] [ 4.93884290e-02 -1.51111689e-03 9.98778504e-01 2.08951650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.330385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.45, Y:1.86, Z:2.09 [[ 9.96489257e-01 -6.76074953e-02 -4.93800196e-02 4.54470538e+01] [ 6.76027492e-02 9.97710751e-01 -1.76815425e-03 1.85764865e+00] [ 4.93865169e-02 -1.57627836e-03 9.98778498e-01 2.09439521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.360385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.48, Y:1.86, Z:2.10 [[ 9.96447953e-01 -6.82187637e-02 -4.93728445e-02 4.54778863e+01] [ 6.82035556e-02 9.97669432e-01 -1.99465817e-03 1.85793213e+00] [ 4.93938508e-02 -1.37983049e-03 9.98778426e-01 2.09649395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.390385722999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.51, Y:1.86, Z:2.10 [[ 9.96431914e-01 -6.84555186e-02 -4.93688411e-02 4.55093393e+01] [ 6.84343513e-02 9.97653367e-01 -2.12091250e-03 1.85829380e+00] [ 4.93981787e-02 -1.26517971e-03 9.98778363e-01 2.09816960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.420385722999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.54, Y:1.86, Z:2.10 [[ 9.96389008e-01 -6.90754638e-02 -4.93712977e-02 4.55418566e+01] [ 6.90589456e-02 9.97610491e-01 -2.04234091e-03 1.85971517e+00] [ 4.93944002e-02 -1.37456374e-03 9.98778406e-01 2.09918974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.450385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:45.57, Y:1.86, Z:2.10 [[ 9.96354300e-01 -6.95760729e-02 -4.93687976e-02 4.55737119e+01] [ 6.95561739e-02 9.97575777e-01 -2.12304175e-03 1.86029984e+00] [ 4.93968295e-02 -1.31860289e-03 9.98778361e-01 2.09935083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.480385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:45.61, Y:1.86, Z:2.10 [[ 9.96286006e-01 -7.05475174e-02 -4.93684295e-02 4.56060865e+01] [ 7.05282172e-02 9.97507500e-01 -2.13500579e-03 1.85693978e+00] [ 4.93959980e-02 -1.35479092e-03 9.98778354e-01 2.09611148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.510385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.64, Y:1.85, Z:2.10 [[ 9.96324883e-01 -6.99972816e-02 -4.93670692e-02 4.56384682e+01] [ 6.99750970e-02 9.97546357e-01 -2.17964912e-03 1.85480525e+00] [ 4.93985096e-02 -1.28282680e-03 9.98778325e-01 2.09559907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.540385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.67, Y:1.85, Z:2.10 [[ 9.96333514e-01 -6.98731167e-02 -4.93687773e-02 4.56702455e+01] [ 6.98535673e-02 9.97554996e-01 -2.12333484e-03 1.85436306e+00] [ 4.93964345e-02 -1.33303555e-03 9.98778361e-01 2.09809149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.570385722999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.70, Y:1.86, Z:2.10 [[ 9.96357843e-01 -6.95265400e-02 -4.93670762e-02 4.57005845e+01] [ 6.95037918e-02 9.97579307e-01 -2.17937643e-03 1.85929347e+00] [ 4.93990982e-02 -1.25976019e-03 9.98778325e-01 2.10300056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.600385722999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.73, Y:1.86, Z:2.11 [[ 9.96528744e-01 -6.70330771e-02 -4.93662698e-02 4.57330672e+01] [ 6.70059480e-02 9.97750137e-01 -2.20613487e-03 1.86205968e+00] [ 4.94030864e-02 -1.10935689e-03 9.98778306e-01 2.10599016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.630385722999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.76, Y:1.86, Z:2.11 [[ 9.96662037e-01 -6.50193660e-02 -4.93686768e-02 4.57642406e+01] [ 6.49937911e-02 9.97883406e-01 -2.12487434e-03 1.86378603e+00] [ 4.94023413e-02 -1.09087588e-03 9.98778363e-01 2.10661005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.660385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.80, Y:1.86, Z:2.11 [[ 9.96910584e-01 -6.10894866e-02 -4.93696422e-02 4.57952381e+01] [ 6.10607334e-02 9.98131861e-01 -2.09180221e-03 1.86246344e+00] [ 4.94051999e-02 -9.29206791e-04 9.98778385e-01 2.10912828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.690385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.83, Y:1.86, Z:2.11 [[ 9.97172149e-01 -5.66645756e-02 -4.93642776e-02 4.58287298e+01] [ 5.66212530e-02 9.98393134e-01 -2.27668084e-03 1.85715947e+00] [ 4.94139630e-02 -5.24824530e-04 9.98778246e-01 2.11180847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.720385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.86, Y:1.86, Z:2.11 [[ 9.97179297e-01 -5.65169664e-02 -4.93890841e-02 4.58560231e+01] [ 5.65165585e-02 9.98400672e-01 -1.40588102e-03 1.86205675e+00] [ 4.93895509e-02 -1.38938562e-03 9.98778625e-01 2.11113995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.750385722999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.89, Y:1.86, Z:2.11 [[ 9.97220513e-01 -5.58053232e-02 -4.93661338e-02 4.58855657e+01] [ 5.57650388e-02 9.98441509e-01 -2.19402354e-03 1.86384360e+00] [ 4.94116353e-02 -5.64979093e-04 9.98778339e-01 2.11167337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.780385722999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.92, Y:1.86, Z:2.11 [[ 9.97260249e-01 -5.50937240e-02 -4.93627115e-02 4.59158254e+01] [ 5.50467792e-02 9.98481102e-01 -2.31100694e-03 1.86438900e+00] [ 4.94150566e-02 -4.12582923e-04 9.98778245e-01 2.11281951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.810385722999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.95, Y:1.86, Z:2.11 [[ 9.97458981e-01 -5.13700596e-02 -4.93629256e-02 4.59502146e+01] [ 5.13189214e-02 9.98679659e-01 -2.30364365e-03 1.85968119e+00] [ 4.94160880e-02 -2.35462055e-04 9.98778251e-01 2.11368307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.840385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.98, Y:1.86, Z:2.11 [[ 9.97435051e-01 -5.18083047e-02 -4.93884396e-02 4.59756339e+01] [ 5.18018386e-02 9.98656386e-01 -1.41176327e-03 1.86424093e+00] [ 4.93952216e-02 -1.15026981e-03 9.98778649e-01 2.11365584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.870385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.00, Y:1.87, Z:2.12 [[ 9.97454172e-01 -5.14594952e-02 -4.93669381e-02 4.60032669e+01] [ 5.14154103e-02 9.98675010e-01 -2.16331703e-03 1.86671078e+00] [ 4.94128506e-02 -3.80411779e-04 9.98778367e-01 2.11700855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.900385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.03, Y:1.87, Z:2.12 [[ 9.97478042e-01 -5.09992312e-02 -4.93622834e-02 4.60320553e+01] [ 5.09465302e-02 9.98698674e-01 -2.32605456e-03 1.86704407e+00] [ 4.94166740e-02 -1.94648717e-04 9.98778231e-01 2.11817536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.930385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.06, Y:1.87, Z:2.12 [[ 9.97516319e-01 -5.02458447e-02 -4.93614130e-02 4.60620835e+01] [ 5.01907167e-02 9.98736872e-01 -2.35647249e-03 1.86514052e+00] [ 4.94174661e-02 -1.26864931e-04 9.98778203e-01 2.11895611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.960385722999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.09, Y:1.86, Z:2.13 [[ 9.97473725e-01 -5.10772630e-02 -4.93688216e-02 4.60945994e+01] [ 5.10362101e-02 9.98694611e-01 -2.09258979e-03 1.86119671e+00] [ 4.94112599e-02 -4.32294221e-04 9.98778424e-01 2.12550196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.990385722999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.12, Y:1.87, Z:2.12 [[ 9.97348179e-01 -5.34541417e-02 -4.93889127e-02 4.61195944e+01] [ 5.34518863e-02 9.98569490e-01 -1.36738460e-03 1.86586754e+00] [ 4.93913537e-02 -1.27617200e-03 9.98778687e-01 2.12239317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.020385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.15, Y:1.86, Z:2.13 [[ 9.97370808e-01 -5.30575487e-02 -4.93595786e-02 4.61539401e+01] [ 5.30036500e-02 9.98591432e-01 -2.40116019e-03 1.86245807e+00] [ 4.94174520e-02 -2.21390754e-04 9.98778187e-01 2.12926607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.050385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.18, Y:1.86, Z:2.13 [[ 9.97221780e-01 -5.57631091e-02 -4.93882242e-02 4.61825149e+01] [ 5.57636624e-02 9.98443060e-01 -1.36774752e-03 1.86005324e+00] [ 4.93875995e-02 -1.39012064e-03 9.98778721e-01 2.12883163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.080385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.21, Y:1.86, Z:2.13 [[ 9.97108547e-01 -5.77525473e-02 -4.93881507e-02 4.62089412e+01] [ 5.77554060e-02 9.98329823e-01 -1.37039615e-03 1.86291567e+00] [ 4.93848076e-02 -1.48599898e-03 9.98778721e-01 2.12592218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.110385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.24, Y:1.86, Z:2.13 [[ 9.97069026e-01 -5.84520951e-02 -4.93630407e-02 4.62421627e+01] [ 5.84119267e-02 9.98290014e-01 -2.25715341e-03 1.86015908e+00] [ 4.94105659e-02 -6.32852559e-04 9.98778352e-01 2.13296359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.140385722999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.27, Y:1.86, Z:2.14 [[ 9.96996049e-01 -5.96635561e-02 -4.93876278e-02 4.62715172e+01] [ 5.96685663e-02 9.98217298e-01 -1.37420760e-03 1.86105189e+00] [ 4.93815745e-02 -1.57680939e-03 9.98778741e-01 2.13557012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.170385722999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.30, Y:1.86, Z:2.13 [[ 9.96981667e-01 -5.99034279e-02 -4.93876033e-02 4.62974956e+01] [ 5.99086883e-02 9.98202914e-01 -1.37508853e-03 1.86495345e+00] [ 4.93812221e-02 -1.58780848e-03 9.98778741e-01 2.13459843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.200385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.33, Y:1.86, Z:2.14 [[ 9.97181172e-01 -5.65042285e-02 -4.93658006e-02 4.63285753e+01] [ 5.64662951e-02 9.98402161e-01 -2.16379646e-03 1.86258102e+00] [ 4.94091856e-02 -6.29806778e-04 9.98778422e-01 2.13613922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.230385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.36, Y:1.86, Z:2.14 [[ 9.97283581e-01 -5.46610008e-02 -4.93724046e-02 4.63585925e+01] [ 5.46329590e-02 9.98504662e-01 -1.91830045e-03 1.86088176e+00] [ 4.94034324e-02 -7.84271009e-04 9.98778597e-01 2.13769087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.260385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.39, Y:1.86, Z:2.14 [[ 9.97306604e-01 -5.42330095e-02 -4.93793375e-02 4.63880611e+01] [ 5.42173808e-02 9.98527782e-01 -1.65686042e-03 1.86098061e+00] [ 4.93964968e-02 -1.02482051e-03 9.98778722e-01 2.14052175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.290385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.42, Y:1.86, Z:2.14 [[ 9.97229154e-01 -5.56397749e-02 -4.93784412e-02 4.64168816e+01] [ 5.56242028e-02 9.98450344e-01 -1.69053035e-03 1.86189436e+00] [ 4.93959823e-02 -1.06079027e-03 9.98778710e-01 2.14195816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.320385722999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.45, Y:1.86, Z:2.14 [[ 9.97236556e-01 -5.55123694e-02 -4.93723356e-02 4.64460497e+01] [ 5.54852763e-02 9.98457659e-01 -1.92019447e-03 1.86268835e+00] [ 4.94027812e-02 -8.24549565e-04 9.98778597e-01 2.14349442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.350385722999995 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:46.47, Y:1.86, Z:2.15 [[ 9.97194593e-01 -5.62610571e-02 -4.93724372e-02 4.64745768e+01] [ 5.62350602e-02 9.98415717e-01 -1.91657085e-03 1.86242657e+00] [ 4.94020456e-02 -8.65267893e-04 9.98778599e-01 2.14501424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.380385722999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.50, Y:1.86, Z:2.14 [[ 9.97255791e-01 -5.51644216e-02 -4.93738246e-02 4.65040106e+01] [ 5.51395183e-02 9.98476913e-01 -1.86733551e-03 1.85969481e+00] [ 4.94016344e-02 -8.60237747e-04 9.98778623e-01 2.14177946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.410385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.53, Y:1.86, Z:2.14 [[ 9.97197655e-01 -5.62063697e-02 -4.93728748e-02 4.65337969e+01] [ 5.61809748e-02 9.98418788e-01 -1.90305330e-03 1.86034398e+00] [ 4.94017695e-02 -8.76095943e-04 9.98778603e-01 2.14401197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.440385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.56, Y:1.86, Z:2.15 [[ 9.97266148e-01 -5.49742455e-02 -4.93767452e-02 4.65629530e+01] [ 5.49545329e-02 9.98487311e-01 -1.75773438e-03 1.86044905e+00] [ 4.93986837e-02 -9.60546974e-04 9.98778678e-01 2.14591212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.470385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.59, Y:1.86, Z:2.15 [[ 9.97372745e-01 -5.30034028e-02 -4.93786137e-02 4.65914838e+01] [ 5.29847813e-02 9.98593895e-01 -1.68691768e-03 1.86121131e+00] [ 4.93985946e-02 -9.33829333e-04 9.98778708e-01 2.14866896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.500385722999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.62, Y:1.86, Z:2.15 [[ 9.97436344e-01 -5.17926868e-02 -4.93787075e-02 4.66200418e+01] [ 5.17727585e-02 9.98657473e-01 -1.68337195e-03 1.86109971e+00] [ 4.93996015e-02 -8.77415530e-04 9.98778709e-01 2.14988060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.530385722999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.65, Y:1.86, Z:2.16 [[ 9.97530255e-01 -4.99532116e-02 -4.93767911e-02 4.66510027e+01] [ 4.99274596e-02 9.98751304e-01 -1.75555600e-03 1.85970764e+00] [ 4.94028302e-02 -7.14037521e-04 9.98778679e-01 2.15624992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.560385722999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.68, Y:1.86, Z:2.16 [[ 9.97534538e-01 -4.98557195e-02 -4.93887885e-02 4.66789944e+01] [ 4.98523936e-02 9.98755750e-01 -1.29993207e-03 1.86063894e+00] [ 4.93921455e-02 -1.16542219e-03 9.98778783e-01 2.15729103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.590385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.71, Y:1.86, Z:2.15 [[ 9.97540225e-01 -4.97421717e-02 -4.93884251e-02 4.67056691e+01] [ 4.97380309e-02 9.98761434e-01 -1.31359186e-03 1.86362938e+00] [ 4.93925953e-02 -1.14612230e-03 9.98778783e-01 2.15141799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.620385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.74, Y:1.86, Z:2.16 [[ 9.97491607e-01 -5.07188949e-02 -4.93769929e-02 4.67363959e+01] [ 5.06950606e-02 9.98712670e-01 -1.73573780e-03 1.86393297e+00] [ 4.94014632e-02 -7.71785764e-04 9.98778704e-01 2.15894684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.650385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.76, Y:1.87, Z:2.15 [[ 9.97414677e-01 -5.21995321e-02 -4.93879571e-02 4.67643797e+01] [ 5.21976769e-02 9.98635889e-01 -1.32819860e-03 1.86613554e+00] [ 4.93899178e-02 -1.25317185e-03 9.98778787e-01 2.15439395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.68038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.80, Y:1.87, Z:2.16 [[ 9.97220149e-01 -5.57998340e-02 -4.93796741e-02 4.67950500e+01] [ 5.57871789e-02 9.98441343e-01 -1.63553918e-03 1.86824641e+00] [ 4.93939710e-02 -1.12376008e-03 9.98778741e-01 2.16472961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.710385722999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.82, Y:1.87, Z:2.17 [[ 9.97137243e-01 -5.72551973e-02 -4.93878715e-02 4.68247454e+01] [ 5.72593654e-02 9.98358449e-01 -1.33158678e-03 1.86977525e+00] [ 4.93830391e-02 -1.50014341e-03 9.98778787e-01 2.16635793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.740385722999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.85, Y:1.87, Z:2.17 [[ 9.97043779e-01 -5.88603634e-02 -4.93878479e-02 4.68547011e+01] [ 5.88664541e-02 9.98264977e-01 -1.33246257e-03 1.87085033e+00] [ 4.93805881e-02 -1.57876396e-03 9.98778787e-01 2.16776300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.770385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.89, Y:1.87, Z:2.17 [[ 9.96949274e-01 -6.04399750e-02 -4.93878021e-02 4.68854521e+01] [ 6.04479167e-02 9.98170461e-01 -1.33415602e-03 1.87116437e+00] [ 4.93780816e-02 -1.65530388e-03 9.98778787e-01 2.16825176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.800385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.92, Y:1.87, Z:2.17 [[ 9.96710524e-01 -6.42571079e-02 -4.93878021e-02 4.69161503e+01] [ 6.42697258e-02 9.97931672e-01 -1.33415602e-03 1.87301431e+00] [ 4.93713810e-02 -1.84437316e-03 9.98778787e-01 2.16748559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.830385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.95, Y:1.88, Z:2.17 [[ 9.96592785e-01 -6.60580480e-02 -4.93878021e-02 4.69463614e+01] [ 6.60728725e-02 9.97813908e-01 -1.33415602e-03 1.87637586e+00] [ 4.93679676e-02 -1.93358369e-03 9.98778787e-01 2.16923494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.860385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.98, Y:1.88, Z:2.17 [[ 9.96402876e-01 -6.88632437e-02 -4.93878813e-02 4.69780331e+01] [ 6.88816508e-02 9.97623950e-01 -1.33122063e-03 1.88331950e+00] [ 4.93622054e-02 -2.07548673e-03 9.98778787e-01 2.17442210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.890385722999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.01, Y:1.89, Z:2.18 [[ 9.96335510e-01 -6.98310830e-02 -4.93879756e-02 4.70091951e+01] [ 6.98508499e-02 9.97556563e-01 -1.32771062e-03 1.88546084e+00] [ 4.93600147e-02 -2.12694684e-03 9.98778787e-01 2.17616721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.920385722999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.04, Y:1.89, Z:2.18 [[ 9.96159707e-01 -7.22956406e-02 -4.93880457e-02 4.70415937e+01] [ 7.23185575e-02 9.97380705e-01 -1.32509808e-03 1.88564022e+00] [ 4.93544827e-02 -2.25166291e-03 9.98778787e-01 2.17528196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.950385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.07, Y:1.89, Z:2.17 [[ 9.96043545e-01 -7.38787431e-02 -4.93881386e-02 4.70736982e+01] [ 7.39037721e-02 9.97264501e-01 -1.32162857e-03 1.88767107e+00] [ 4.93506776e-02 -2.33357013e-03 9.98778787e-01 2.17201952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.980385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.11, Y:1.89, Z:2.17 [[ 9.95934008e-01 -7.53422493e-02 -4.93862131e-02 4.71053505e+01] [ 7.53655078e-02 9.97155002e-01 -1.39367952e-03 1.88967343e+00] [ 4.93507123e-02 -2.33400420e-03 9.98778784e-01 2.17305143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.010385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.14, Y:1.90, Z:2.18 [[ 9.95698259e-01 -7.83958724e-02 -4.93868897e-02 4.71375321e+01] [ 7.84241310e-02 9.96919146e-01 -1.36828904e-03 1.89698260e+00] [ 4.93420041e-02 -2.51072089e-03 9.98778786e-01 2.17594529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.040385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.17, Y:1.90, Z:2.18 [[ 9.95674938e-01 -7.86922791e-02 -4.93856514e-02 4.71695898e+01] [ 7.87186042e-02 9.96895872e-01 -1.41471898e-03 1.89893907e+00] [ 4.93436795e-02 -2.47896931e-03 9.98778782e-01 2.18094692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.070385722999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.20, Y:1.90, Z:2.18 [[ 9.95935672e-01 -7.53188262e-02 -4.93883740e-02 4.72016037e+01] [ 7.53460840e-02 9.97156580e-01 -1.31225913e-03 1.90062857e+00] [ 4.93467800e-02 -2.41429489e-03 9.98778788e-01 2.18194163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.100385722999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.23, Y:1.90, Z:2.18 [[ 9.96079637e-01 -7.33903048e-02 -4.93884656e-02 4.72346970e+01] [ 7.34153696e-02 9.97300592e-01 -1.30880208e-03 1.90310440e+00] [ 4.93511994e-02 -2.32220136e-03 9.98778788e-01 2.18109425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.130385722999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.27, Y:1.91, Z:2.18 [[ 9.96154148e-01 -7.23711849e-02 -4.93895327e-02 4.72656578e+01] [ 7.23969919e-02 9.97375088e-01 -1.26855160e-03 1.90604220e+00] [ 4.93516961e-02 -2.31198066e-03 9.98778787e-01 2.18340451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.160385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.30, Y:1.91, Z:2.19 [[ 9.96257195e-01 -7.09421881e-02 -4.93842845e-02 4.73012737e+01] [ 7.09564320e-02 9.97478337e-01 -1.46686210e-03 1.90783500e+00] [ 4.93638164e-02 -2.04276070e-03 9.98778775e-01 2.18556798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.190385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.33, Y:1.91, Z:2.19 [[ 9.96377124e-01 -6.92270207e-02 -4.93988405e-02 4.73299475e+01] [ 6.92666741e-02 9.97597764e-01 -9.10780091e-04 1.91259909e+00] [ 4.93432235e-02 -2.51421294e-03 9.98778717e-01 2.18570237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.220385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.36, Y:1.92, Z:2.19 [[ 9.96549841e-01 -6.67026167e-02 -4.93880140e-02 4.73613083e+01] [ 6.67188782e-02 9.97770939e-01 -1.32107131e-03 1.91678459e+00] [ 4.93660440e-02 -1.97859949e-03 9.98778794e-01 2.18557619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.250385722999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.39, Y:1.92, Z:2.19 [[ 9.96626330e-01 -6.55500888e-02 -4.93877004e-02 4.73922987e+01] [ 6.55643475e-02 9.97847453e-01 -1.33300641e-03 1.91968415e+00] [ 4.93687697e-02 -1.90956306e-03 9.98778793e-01 2.18649309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.280385722999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.42, Y:1.92, Z:2.19 [[ 9.96689701e-01 -6.45821486e-02 -4.93840663e-02 4.74234834e+01] [ 6.45884785e-02 9.97910903e-01 -1.46927547e-03 1.92115790e+00] [ 4.93757872e-02 -1.72522998e-03 9.98778782e-01 2.18798205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.310385722999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.45, Y:1.92, Z:2.19 [[ 9.97001643e-01 -5.95695797e-02 -4.93881392e-02 4.74517300e+01] [ 5.95773285e-02 9.98222825e-01 -1.31650478e-03 1.92273545e+00] [ 4.93787915e-02 -1.62985596e-03 9.98778794e-01 2.18881831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.340385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.48, Y:1.92, Z:2.19 [[ 9.97218241e-01 -5.58356781e-02 -4.93777060e-02 4.74843869e+01] [ 5.58186998e-02 9.98439433e-01 -1.72379736e-03 1.92340529e+00] [ 4.93968982e-02 -1.03719718e-03 9.98778690e-01 2.18991760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.370385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.51, Y:1.92, Z:2.19 [[ 9.97270130e-01 -5.48927887e-02 -4.93869307e-02 4.75147455e+01] [ 5.48926604e-02 9.98491335e-01 -1.35994109e-03 1.92371006e+00] [ 4.93870733e-02 -1.35475139e-03 9.98778795e-01 2.19058393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.400385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.55, Y:1.92, Z:2.19 [[ 9.97395803e-01 -5.25642510e-02 -4.93823091e-02 4.75452066e+01] [ 5.25522397e-02 9.98616985e-01 -1.54246674e-03 1.92489070e+00] [ 4.93950912e-02 -1.05670109e-03 9.98778758e-01 2.19404770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.43038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.57, Y:1.93, Z:2.20 [[ 9.97436076e-01 -5.17959809e-02 -4.93806644e-02 4.75746133e+01] [ 5.17798161e-02 9.98657232e-01 -1.60739785e-03 1.92666544e+00] [ 4.93976144e-02 -9.53645121e-04 9.98778737e-01 2.19705378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.460385722999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.60, Y:1.93, Z:2.20 [[ 9.97458104e-01 -5.13705469e-02 -4.93801277e-02 4.76037661e+01] [ 5.13528243e-02 9.98679246e-01 -1.62835160e-03 1.92844703e+00] [ 4.93985580e-02 -9.11596519e-04 9.98778730e-01 2.19944283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.490385722999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.63, Y:1.93, Z:2.20 [[ 9.97568684e-01 -4.91741465e-02 -4.93824335e-02 4.76339024e+01] [ 4.91582264e-02 9.98789820e-01 -1.53758707e-03 1.92944891e+00] [ 4.93982814e-02 -8.93704134e-04 9.98778760e-01 2.20108779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.520385723 meters Centerline goodness : 0.999347 Centerline is valid? [True, True] Translation: X:47.66, Y:1.93, Z:2.20 [[ 9.97513523e-01 -5.02812490e-02 -4.93818503e-02 4.76608835e+01] [ 5.02655911e-02 9.98734668e-01 -1.55967648e-03 1.93233510e+00] [ 4.93977884e-02 -9.26409513e-04 9.98778754e-01 2.20254030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.550385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.69, Y:1.93, Z:2.20 [[ 9.97753198e-01 -4.52846666e-02 -4.93746449e-02 4.76900041e+01] [ 4.52497045e-02 9.98974038e-01 -1.82621791e-03 1.93101848e+00] [ 4.94066881e-02 -4.12073336e-04 9.98778659e-01 2.20194151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.580385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.72, Y:1.93, Z:2.20 [[ 9.97808742e-01 -4.40378413e-02 -4.93799813e-02 4.77175413e+01] [ 4.40114986e-02 9.99029709e-01 -1.62117816e-03 1.93124241e+00] [ 4.94034616e-02 -5.55661241e-04 9.98778749e-01 2.20306963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.610385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.75, Y:1.93, Z:2.21 [[ 9.97792415e-01 -4.44027940e-02 -4.93830688e-02 4.77461487e+01] [ 4.43827654e-02 9.99013470e-01 -1.50259119e-03 1.93254294e+00] [ 4.94010701e-02 -6.92483068e-04 9.98778782e-01 2.20594483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.640385722999994 meters Centerline goodness : 0.999210 Centerline is valid? [True, True] Translation: X:47.77, Y:1.93, Z:2.21 [[ 9.97797484e-01 -4.42886344e-02 -4.93831824e-02 4.77735623e+01] [ 4.42686765e-02 9.99018538e-01 -1.49833949e-03 1.93192333e+00] [ 4.94010741e-02 -6.91088753e-04 9.98778782e-01 2.21343011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.670385722999995 meters Centerline goodness : 0.998651 Centerline is valid? [True, True] Translation: X:47.80, Y:1.93, Z:2.22 [[ 9.97770279e-01 -4.48942327e-02 -4.93860135e-02 4.78021053e+01] [ 4.48802495e-02 9.98991403e-01 -1.39256861e-03 1.93136136e+00] [ 4.93987212e-02 -8.26993034e-04 9.98778796e-01 2.21532915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.700385723 meters Centerline goodness : 0.999414 Centerline is valid? [True, True] Translation: X:47.83, Y:1.93, Z:2.22 [[ 9.97748430e-01 -4.53759094e-02 -4.93872086e-02 4.78303825e+01] [ 4.53647137e-02 9.98969582e-01 -1.34814962e-03 1.93051296e+00] [ 4.93974926e-02 -8.95322411e-04 9.98778797e-01 2.21610476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.730385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.86, Y:1.93, Z:2.21 [[ 9.97689492e-01 -4.66553657e-02 -4.93857807e-02 4.78580606e+01] [ 4.66431200e-02 9.98910635e-01 -1.40101700e-03 1.92960504e+00] [ 4.93973466e-02 -9.05726957e-04 9.98778795e-01 2.21478082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.760385723 meters Centerline goodness : 0.999798 Centerline is valid? [True, True] Translation: X:47.89, Y:1.93, Z:2.22 [[ 9.97675522e-01 -4.69620843e-02 -4.93772739e-02 4.78871876e+01] [ 4.69347816e-02 9.98896487e-01 -1.71289918e-03 1.92929842e+00] [ 4.94032267e-02 -6.08593979e-04 9.98778730e-01 2.21737037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.790385723 meters Centerline goodness : 0.998319 Centerline is valid? [True, True] Translation: X:47.92, Y:1.93, Z:2.22 [[ 9.97681387e-01 -4.68274971e-02 -4.93865828e-02 4.79161626e+01] [ 4.68169003e-02 9.98902546e-01 -1.37195221e-03 1.93062878e+00] [ 4.93966284e-02 -9.43355540e-04 9.98778796e-01 2.21806350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.820385722999994 meters Centerline goodness : 0.998745 Centerline is valid? [True, True] Translation: X:47.94, Y:1.93, Z:2.22 [[ 9.97737463e-01 -4.56166070e-02 -4.93870369e-02 4.79434201e+01] [ 4.56053468e-02 9.98958615e-01 -1.35540797e-03 1.93110442e+00] [ 4.93974351e-02 -8.99971632e-04 9.98778796e-01 2.21907546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.850385722999995 meters Centerline goodness : 0.999485 Centerline is valid? [True, True] Translation: X:47.97, Y:1.93, Z:2.22 [[ 9.97741432e-01 -4.55300703e-02 -4.93867159e-02 4.79723581e+01] [ 4.55181302e-02 9.98962577e-01 -1.36700580e-03 1.93171409e+00] [ 4.93977209e-02 -8.84072638e-04 9.98778796e-01 2.21995379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.880385722999996 meters Centerline goodness : 0.999059 Centerline is valid? [True, True] Translation: X:48.00, Y:1.93, Z:2.22 [[ 9.97807947e-01 -4.40473184e-02 -4.93876057e-02 4.79996403e+01] [ 4.40351416e-02 9.99029091e-01 -1.33511622e-03 1.93036711e+00] [ 4.93984631e-02 -8.42600641e-04 9.98778795e-01 2.22147809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.910385723 meters Centerline goodness : 0.999643 Centerline is valid? [True, True] Translation: X:48.03, Y:1.93, Z:2.22 [[ 9.97841650e-01 -4.32809342e-02 -4.93842382e-02 4.80259853e+01] [ 4.32619201e-02 9.99062706e-01 -1.45434118e-03 1.93089986e+00] [ 4.94008959e-02 -6.85254771e-04 9.98778795e-01 2.22292389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.940385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.05, Y:1.94, Z:2.23 [[ 9.97802420e-01 -4.41785213e-02 -4.93820656e-02 4.80548833e+01] [ 4.41568040e-02 9.99023439e-01 -1.53117082e-03 1.93562963e+00] [ 4.94014859e-02 -6.52748241e-04 9.98778788e-01 2.22731161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.970385723 meters Centerline goodness : 0.998297 Centerline is valid? [True, True] Translation: X:48.08, Y:1.94, Z:2.23 [[ 9.97855799e-01 -4.29517799e-02 -4.93857262e-02 4.80827681e+01] [ 4.29349399e-02 9.99076886e-01 -1.40226398e-03 1.93599372e+00] [ 4.94003673e-02 -7.21115941e-04 9.98778796e-01 2.22903212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.000385722999994 meters Centerline goodness : 0.998249 Centerline is valid? [True, True] Translation: X:48.11, Y:1.94, Z:2.23 [[ 9.97850496e-01 -4.30738260e-02 -4.93865620e-02 4.81107382e+01] [ 4.30585871e-02 9.99071606e-01 -1.37292375e-03 1.93724862e+00] [ 4.93998489e-02 -7.56542942e-04 9.98778796e-01 2.22973630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.030385722999995 meters Centerline goodness : 0.998947 Centerline is valid? [True, True] Translation: X:48.14, Y:1.94, Z:2.23 [[ 9.97801494e-01 -4.41956678e-02 -4.93854426e-02 4.81386607e+01] [ 4.41798768e-02 9.99022595e-01 -1.41182717e-03 1.93634210e+00] [ 4.93995697e-02 -7.73119513e-04 9.98778797e-01 2.22793648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.060385722999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.17, Y:1.94, Z:2.23 [[ 9.97703004e-01 -4.63705040e-02 -4.93810884e-02 4.81670630e+01] [ 4.63499378e-02 9.98924043e-01 -1.56211797e-03 1.93760784e+00] [ 4.94003926e-02 -7.30280590e-04 9.98778788e-01 2.22746642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.090385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.20, Y:1.94, Z:2.23 [[ 9.97498329e-01 -5.05845827e-02 -4.93789879e-02 4.81953592e+01] [ 5.05655040e-02 9.98719406e-01 -1.63629653e-03 1.93757611e+00] [ 4.93985248e-02 -8.64670352e-04 9.98778773e-01 2.22758283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.120385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.23, Y:1.94, Z:2.23 [[ 9.97307251e-01 -5.42204718e-02 -4.93800389e-02 4.82257752e+01] [ 5.42077034e-02 9.98528402e-01 -1.59873040e-03 1.93825913e+00] [ 4.93940552e-02 -1.08235309e-03 9.98778782e-01 2.22948507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.150385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.25, Y:1.94, Z:2.23 [[ 9.97199547e-01 -5.61620418e-02 -4.93851031e-02 4.82544785e+01] [ 5.61606114e-02 9.98420741e-01 -1.41765654e-03 1.93903767e+00] [ 4.93867297e-02 -1.35981112e-03 9.98778805e-01 2.23014018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.18038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.28, Y:1.94, Z:2.23 [[ 9.96915657e-01 -6.10008754e-02 -4.93767670e-02 4.82847429e+01] [ 6.09908796e-02 9.98136858e-01 -1.71050730e-03 1.93961824e+00] [ 4.93891135e-02 -1.30630094e-03 9.98778759e-01 2.23423360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.210385722999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.32, Y:1.94, Z:2.24 [[ 9.96761857e-01 -6.34650890e-02 -4.93759447e-02 4.83157830e+01] [ 6.34566865e-02 9.97983078e-01 -1.73931141e-03 1.94016895e+00] [ 4.93867428e-02 -1.39955457e-03 9.98778750e-01 2.23582429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.240385722999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.35, Y:1.94, Z:2.24 [[ 9.96770309e-01 -6.33300837e-02 -4.93786508e-02 4.83476295e+01] [ 6.33262263e-02 9.97991526e-01 -1.64412501e-03 1.94094720e+00] [ 4.93835977e-02 -1.48814862e-03 9.98778777e-01 2.23735882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.270385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.38, Y:1.94, Z:2.24 [[ 9.96486884e-01 -6.76433959e-02 -4.93787477e-02 4.83789024e+01] [ 6.76449930e-02 9.97708105e-01 -1.64070572e-03 1.94178649e+00] [ 4.93765597e-02 -1.70528331e-03 9.98778778e-01 2.23918207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.300385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.41, Y:1.94, Z:2.24 [[ 9.96335731e-01 -6.98355713e-02 -4.93771676e-02 4.84133096e+01] [ 6.98370927e-02 9.97556967e-01 -1.69653035e-03 1.94057910e+00] [ 4.93750157e-02 -1.75804403e-03 9.98778763e-01 2.24161034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.330385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.44, Y:1.94, Z:2.24 [[ 9.96347594e-01 -6.96599242e-02 -4.93859011e-02 4.84412521e+01] [ 6.96766332e-02 9.97568668e-01 -1.38525313e-03 1.94282823e+00] [ 4.93623243e-02 -2.06084969e-03 9.98778811e-01 2.24168915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.360385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.47, Y:1.94, Z:2.24 [[ 9.96169913e-01 -7.21643953e-02 -4.93741192e-02 4.84746906e+01] [ 7.21630832e-02 9.97391201e-01 -1.81148533e-03 1.94412814e+00] [ 4.93760368e-02 -1.75844149e-03 9.98778712e-01 2.24270105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.390385722999994 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:48.51, Y:1.94, Z:2.24 [[ 9.96167732e-01 -7.21918369e-02 -4.93780164e-02 4.85087450e+01] [ 7.21977140e-02 9.97388947e-01 -1.66687930e-03 1.94477302e+00] [ 4.93694229e-02 -1.90448854e-03 9.98778771e-01 2.24386595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.420385722999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.54, Y:1.95, Z:2.24 [[ 9.96291597e-01 -7.04562569e-02 -4.93859202e-02 4.85386504e+01] [ 7.04746319e-02 9.97512629e-01 -1.37129234e-03 1.94645356e+00] [ 4.93596952e-02 -2.11424751e-03 9.98778830e-01 2.24260698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.450385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.57, Y:1.95, Z:2.25 [[ 9.96296648e-01 -7.03878171e-02 -4.93816127e-02 4.85731099e+01] [ 7.03981179e-02 9.97517797e-01 -1.53278344e-03 1.94720295e+00] [ 4.93669268e-02 -1.94926559e-03 9.98778808e-01 2.24568714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.480385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.61, Y:1.95, Z:2.25 [[ 9.96449410e-01 -6.81850087e-02 -4.93900601e-02 4.86073178e+01] [ 6.82084530e-02 9.97670355e-01 -1.21257424e-03 1.94634761e+00] [ 4.93576782e-02 -2.16055071e-03 9.98778830e-01 2.24574472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.510385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.64, Y:1.95, Z:2.25 [[ 9.96652014e-01 -6.51515181e-02 -4.93967894e-02 4.86391184e+01] [ 6.51839098e-02 9.97872809e-01 -9.56607547e-04 1.94801706e+00] [ 4.93540374e-02 -2.26647103e-03 9.98778775e-01 2.24986258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.540385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.67, Y:1.95, Z:2.25 [[ 9.96796192e-01 -6.29068635e-02 -4.93971557e-02 4.86705346e+01] [ 6.29371955e-02 9.98017044e-01 -9.42669212e-04 1.94989833e+00] [ 4.93585037e-02 -2.16926937e-03 9.98778770e-01 2.25231560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.570385722999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.70, Y:1.95, Z:2.26 [[ 9.97008096e-01 -5.94552915e-02 -4.93955959e-02 4.87025851e+01] [ 5.94784582e-02 9.98229086e-01 -1.00205267e-03 1.95304820e+00] [ 4.93676979e-02 -1.93891926e-03 9.98778790e-01 2.25530458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.600385722999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.73, Y:1.96, Z:2.26 [[ 9.97077379e-01 -5.82804640e-02 -4.93972480e-02 4.87301916e+01] [ 5.83053147e-02 9.98298357e-01 -9.38939164e-04 1.95648779e+00] [ 4.93679133e-02 -1.94392709e-03 9.98778769e-01 2.25714630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.630385722999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.76, Y:1.96, Z:2.26 [[ 9.97235402e-01 -5.55239263e-02 -4.93826553e-02 4.87638468e+01] [ 5.55179120e-02 9.98456573e-01 -1.49449084e-03 1.95572270e+00] [ 4.93894167e-02 -1.25126274e-03 9.98778814e-01 2.25664162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.660385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.79, Y:1.96, Z:2.25 [[ 9.97325096e-01 -5.38715053e-02 -4.94015491e-02 4.87947508e+01] [ 5.38992445e-02 9.98546081e-01 -7.71458278e-04 1.95544579e+00] [ 4.93712829e-02 -1.89331147e-03 9.98778700e-01 2.25295322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.690385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.82, Y:1.96, Z:2.25 [[ 9.97383532e-01 -5.27837296e-02 -4.93960373e-02 4.88242977e+01] [ 5.27998194e-02 9.98604636e-01 -9.79971692e-04 1.95534584e+00] [ 4.93788384e-02 -1.63069422e-03 9.98778790e-01 2.25245278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.720385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.85, Y:1.96, Z:2.26 [[ 9.97593825e-01 -4.86517607e-02 -4.93919690e-02 4.88521482e+01] [ 4.86552242e-02 9.98814991e-01 -1.13291274e-03 1.95674155e+00] [ 4.93885573e-02 -1.27299057e-03 9.98778829e-01 2.25724045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.750385722999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.88, Y:1.96, Z:2.27 [[ 9.97680186e-01 -4.68513769e-02 -4.93882105e-02 4.88807059e+01] [ 4.68457039e-02 9.98901326e-01 -1.27301532e-03 1.96016010e+00] [ 4.93935915e-02 -1.04356333e-03 9.98778846e-01 2.26508441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.780385722999995 meters Centerline goodness : 0.999301 Centerline is valid? [True, True] Translation: X:48.91, Y:1.96, Z:2.27 [[ 9.97864225e-01 -4.27545643e-02 -4.93865867e-02 4.89072833e+01] [ 4.27409008e-02 9.99085301e-01 -1.33317331e-03 1.96159129e+00] [ 4.93984121e-02 -7.80501253e-04 9.98778848e-01 2.26880994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.810385722999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.94, Y:1.97, Z:2.27 [[ 9.97907611e-01 -4.17366020e-02 -4.93807199e-02 4.89358323e+01] [ 4.17110711e-02 9.99128516e-01 -1.54784860e-03 1.96567282e+00] [ 4.94022873e-02 -5.15112818e-04 9.98778829e-01 2.27214472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.840385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.96, Y:1.96, Z:2.27 [[ 9.98114935e-01 -3.64397731e-02 -4.93833845e-02 4.89636872e+01] [ 3.64126032e-02 9.99335789e-01 -1.45000692e-03 1.96345222e+00] [ 4.94034214e-02 -3.50904027e-04 9.98778844e-01 2.27443460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.870385723 meters Centerline goodness : 0.998563 Centerline is valid? [True, True] Translation: X:48.99, Y:1.96, Z:2.27 [[ 9.98202203e-01 -3.39613194e-02 -4.93861308e-02 4.89894222e+01] [ 3.39360898e-02 9.99423094e-01 -1.34951449e-03 1.96023718e+00] [ 4.94034709e-02 -3.28883828e-04 9.98778849e-01 2.27227469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.900385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.02, Y:1.96, Z:2.27 [[ 9.98178007e-01 -3.46821559e-02 -4.93742229e-02 4.90190700e+01] [ 3.46367268e-02 9.99398391e-01 -1.77566089e-03 1.96001535e+00] [ 4.94061027e-02 6.22641783e-05 9.98778771e-01 2.27259492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.93038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.05, Y:1.96, Z:2.27 [[ 9.98201411e-01 -3.39856233e-02 -4.93854344e-02 4.90456386e+01] [ 3.39592936e-02 9.99422275e-01 -1.37235026e-03 1.95967775e+00] [ 4.94035433e-02 -3.07212505e-04 9.98778852e-01 2.27324253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.960385722999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.07, Y:1.96, Z:2.28 [[ 9.98261162e-01 -3.21830194e-02 -4.93852736e-02 4.90733796e+01] [ 3.21542002e-02 9.99481970e-01 -1.37811150e-03 1.96077421e+00] [ 4.94040424e-02 -2.12228782e-04 9.98778852e-01 2.27625860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.990385722999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.10, Y:1.96, Z:2.28 [[ 9.98278137e-01 -3.16526841e-02 -4.93849040e-02 4.91009068e+01] [ 3.16225672e-02 9.99498913e-01 -1.39123375e-03 1.96206819e+00] [ 4.94041941e-02 -1.72839208e-04 9.98778852e-01 2.27869281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.020385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.13, Y:1.96, Z:2.28 [[ 9.98279109e-01 -3.16225891e-02 -4.93845310e-02 4.91286795e+01] [ 3.15917865e-02 9.99499868e-01 -1.40434980e-03 1.96398586e+00] [ 4.94042414e-02 -1.58212493e-04 9.98778852e-01 2.27910529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.050385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.16, Y:1.96, Z:2.28 [[ 9.98262456e-01 -3.21497368e-02 -4.93808010e-02 4.91564841e+01] [ 3.21131463e-02 9.99483062e-01 -1.53438309e-03 1.96405349e+00] [ 4.94046042e-02 -5.40558568e-05 9.98778845e-01 2.28468841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.080385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.18, Y:1.96, Z:2.29 [[ 9.98249322e-01 -3.25501071e-02 -4.93840230e-02 4.91844882e+01] [ 3.25195389e-02 9.99470088e-01 -1.42254070e-03 1.96333357e+00] [ 4.94041576e-02 -1.85895365e-04 9.98778852e-01 2.28549479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.110385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.21, Y:1.96, Z:2.29 [[ 9.98151884e-01 -3.54145238e-02 -4.93824709e-02 4.92119810e+01] [ 3.53848111e-02 9.99372671e-01 -1.47605767e-03 1.95976655e+00] [ 4.94037657e-02 -2.74059659e-04 9.98778851e-01 2.28922388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.140385722999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.24, Y:1.96, Z:2.29 [[ 9.98088743e-01 -3.71500604e-02 -4.93835361e-02 4.92381282e+01] [ 3.71242784e-02 9.99309620e-01 -1.43951599e-03 1.95939387e+00] [ 4.94029208e-02 -3.96563433e-04 9.98778851e-01 2.28567736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.170385722999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.27, Y:1.96, Z:2.28 [[ 9.97993581e-01 -3.96362510e-02 -4.93738747e-02 4.92657492e+01] [ 3.95972768e-02 9.99214157e-01 -1.76763773e-03 1.95588806e+00] [ 4.94051371e-02 -1.90979874e-04 9.98778802e-01 2.28226143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.200385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:49.30, Y:1.96, Z:2.29 [[ 9.97835317e-01 -4.34394811e-02 -4.93729798e-02 4.92964849e+01] [ 4.34037224e-02 9.99055999e-01 -1.79667226e-03 1.95679969e+00] [ 4.94044182e-02 -3.50188075e-04 9.98778795e-01 2.28529092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.230385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.32, Y:1.96, Z:2.28 [[ 9.97784462e-01 -4.45804649e-02 -4.93837009e-02 4.93245137e+01] [ 4.45633059e-02 9.99005512e-01 -1.44897937e-03 1.95825782e+00] [ 4.93991856e-02 -7.54931869e-04 9.98778830e-01 2.28494963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.260385723 meters Centerline goodness : 0.998649 Centerline is valid? [True, True] Translation: X:49.35, Y:1.96, Z:2.29 [[ 9.97776974e-01 -4.47430939e-02 -4.93879140e-02 4.93488067e+01] [ 4.47328928e-02 9.98998121e-01 -1.31239212e-03 1.95568754e+00] [ 4.93971538e-02 -8.99789632e-04 9.98778810e-01 2.29065661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.290385723 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:49.38, Y:1.96, Z:2.29 [[ 9.97468915e-01 -5.11748219e-02 -4.93649856e-02 4.93796859e+01] [ 5.11366605e-02 9.98689589e-01 -2.03651793e-03 1.95702731e+00] [ 4.94045156e-02 -4.92997175e-04 9.98778730e-01 2.29270848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.320385722999994 meters Centerline goodness : 0.998697 Centerline is valid? [True, True] Translation: X:49.40, Y:1.96, Z:2.29 [[ 9.97452764e-01 -5.14741255e-02 -4.93801294e-02 4.94049662e+01] [ 5.14601004e-02 9.98673839e-01 -1.55615529e-03 1.95782127e+00] [ 4.93947451e-02 -9.88915021e-04 9.98778845e-01 2.29416970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.350385722999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.44, Y:1.95, Z:2.30 [[ 9.97335606e-01 -5.37213566e-02 -4.93528661e-02 4.94389901e+01] [ 5.36680796e-02 9.98555934e-01 -2.40498214e-03 1.95483292e+00] [ 4.94107962e-02 -2.50099225e-04 9.98778509e-01 2.29542752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.380385722999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.47, Y:1.96, Z:2.30 [[ 9.97028030e-01 -5.91321382e-02 -4.93811419e-02 4.94683181e+01] [ 5.91292385e-02 9.98249177e-01 -1.52082736e-03 1.95664092e+00] [ 4.93846141e-02 -1.40356181e-03 9.98778849e-01 2.29757275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.410385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.50, Y:1.96, Z:2.30 [[ 9.96853004e-01 -6.20180354e-02 -4.93746133e-02 4.94991190e+01] [ 6.20086355e-02 9.98074125e-01 -1.72359395e-03 1.95555018e+00] [ 4.93864178e-02 -1.34348259e-03 9.98778843e-01 2.29641980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.440385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.53, Y:1.95, Z:2.30 [[ 9.96720197e-01 -6.41151717e-02 -4.93770617e-02 4.95305850e+01] [ 6.41121155e-02 9.97941342e-01 -1.64732577e-03 1.95485198e+00] [ 4.93810299e-02 -1.52374502e-03 9.98778850e-01 2.29651235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.470385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.56, Y:1.95, Z:2.30 [[ 9.96574016e-01 -6.63466776e-02 -4.93796408e-02 4.95619585e+01] [ 6.63503419e-02 9.97795158e-01 -1.56677869e-03 1.95375638e+00] [ 4.93747170e-02 -1.71494512e-03 9.98778853e-01 2.29996335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.500385722999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.59, Y:1.95, Z:2.30 [[ 9.96366335e-01 -6.93960179e-02 -4.93793356e-02 4.95928539e+01] [ 6.94029459e-02 9.97587463e-01 -1.57633899e-03 1.95214647e+00] [ 4.93695977e-02 -1.85646025e-03 9.98778853e-01 2.29821774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.530385722999995 meters Centerline goodness : 0.998731 Centerline is valid? [True, True] Translation: X:49.62, Y:1.95, Z:2.30 [[ 9.96277209e-01 -7.06687018e-02 -4.93726383e-02 4.96222699e+01] [ 7.06670810e-02 9.97498367e-01 -1.78058999e-03 1.95321712e+00] [ 4.93749581e-02 -1.71505901e-03 9.98778840e-01 2.30290795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.560385722999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.65, Y:1.96, Z:2.31 [[ 9.96104382e-01 -7.30666713e-02 -4.93692370e-02 4.96540809e+01] [ 7.30629183e-02 9.97325556e-01 -1.88306451e-03 1.95781638e+00] [ 4.93747910e-02 -1.73133173e-03 9.98778821e-01 2.30721652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.590385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.69, Y:1.96, Z:2.30 [[ 9.96141715e-01 -7.25503466e-02 -4.93774424e-02 4.96857368e+01] [ 7.25582199e-02 9.97362838e-01 -1.63536168e-03 1.96030708e+00] [ 4.93658721e-02 -1.95368734e-03 9.98778851e-01 2.30496981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.620385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.72, Y:1.96, Z:2.31 [[ 9.96137382e-01 -7.26145028e-02 -4.93705453e-02 4.97185543e+01] [ 7.26120970e-02 9.97358552e-01 -1.84464683e-03 1.96013455e+00] [ 4.93740837e-02 -1.74737716e-03 9.98778828e-01 2.30549280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.650385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.75, Y:1.96, Z:2.30 [[ 9.96139029e-01 -7.25909844e-02 -4.93718902e-02 4.97495017e+01] [ 7.25905885e-02 9.97360193e-01 -1.80345174e-03 1.95779456e+00] [ 4.93724723e-02 -1.78744590e-03 9.98778836e-01 2.30472686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.68038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.78, Y:1.96, Z:2.31 [[ 9.96154523e-01 -7.23827214e-02 -4.93650418e-02 4.97812282e+01] [ 7.23717296e-02 9.97375698e-01 -2.01238439e-03 1.95802071e+00] [ 4.93811549e-02 -1.56798765e-03 9.98778776e-01 2.30573878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.710385722999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.81, Y:1.96, Z:2.31 [[ 9.96250308e-01 -7.10510062e-02 -4.93667837e-02 4.98118993e+01] [ 7.10410088e-02 9.97471471e-01 -1.95930914e-03 1.96092603e+00] [ 4.93811693e-02 -1.55510378e-03 9.98778795e-01 2.30959070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.740385722999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.85, Y:1.96, Z:2.31 [[ 9.96417901e-01 -6.86642709e-02 -4.93617722e-02 4.98453536e+01] [ 6.86437732e-02 9.97638998e-01 -2.11236279e-03 1.96228264e+00] [ 4.93902728e-02 -1.28358220e-03 9.98778731e-01 2.31365293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.770385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.88, Y:1.96, Z:2.32 [[ 9.96627413e-01 -6.55470591e-02 -4.93698569e-02 4.98777145e+01] [ 6.55350606e-02 9.97848527e-01 -1.86345319e-03 1.96412206e+00] [ 4.93857829e-02 -1.37828804e-03 9.98778827e-01 2.31543865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.800385723 meters Centerline goodness : 0.999209 Centerline is valid? [True, True] Translation: X:49.91, Y:1.96, Z:2.31 [[ 9.97285506e-01 -5.46282790e-02 -4.93697365e-02 4.99087175e+01] [ 5.46027280e-02 9.98506413e-01 -1.86708883e-03 1.96112837e+00] [ 4.93979943e-02 -8.33701661e-04 9.98778826e-01 2.31228516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.830385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.94, Y:1.97, Z:2.32 [[ 9.97261291e-01 -5.50616361e-02 -4.93774587e-02 4.99364947e+01] [ 5.50481637e-02 9.98482364e-01 -1.63373621e-03 1.96634703e+00] [ 4.93924779e-02 -1.08887655e-03 9.98778853e-01 2.32080360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.860385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.97, Y:1.97, Z:2.32 [[ 9.97530455e-01 -4.99564851e-02 -4.93694239e-02 4.99674403e+01] [ 4.99244049e-02 9.98751223e-01 -1.88347877e-03 1.96508370e+00] [ 4.94018645e-02 -5.85911668e-04 9.98778811e-01 2.32198878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.890385722999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.99, Y:1.97, Z:2.32 [[ 9.97560344e-01 -4.93440815e-02 -4.93813890e-02 4.99927874e+01] [ 4.93296625e-02 9.98781408e-01 -1.51142206e-03 1.96857610e+00] [ 4.93957929e-02 -9.28232542e-04 9.98778851e-01 2.32380743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.920385722999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.02, Y:1.97, Z:2.32 [[ 9.97659096e-01 -4.73225861e-02 -4.93649776e-02 5.00209002e+01] [ 4.72808310e-02 9.98879606e-01 -2.01387916e-03 1.97268132e+00] [ 4.94049713e-02 -3.24852300e-04 9.98778776e-01 2.32457655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.950385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.05, Y:1.98, Z:2.33 [[ 9.97826206e-01 -4.36627141e-02 -4.93602061e-02 5.00500863e+01] [ 4.36092484e-02 9.99046329e-01 -2.16010807e-03 1.97593620e+00] [ 4.94074488e-02 2.85095493e-06 9.98778706e-01 2.32716066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.980385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.08, Y:1.98, Z:2.33 [[ 9.97854436e-01 -4.30072091e-02 -4.93650186e-02 5.00778319e+01] [ 4.29603601e-02 9.99074755e-01 -2.01014722e-03 1.97628846e+00] [ 4.94057947e-02 -1.14904661e-04 9.98778781e-01 2.32714762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.010385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.11, Y:1.97, Z:2.33 [[ 9.97884785e-01 -4.22998582e-02 -4.93627074e-02 5.01054942e+01] [ 4.22485910e-02 9.99104960e-01 -2.08197634e-03 1.97428101e+00] [ 4.94065931e-02 -7.93232429e-06 9.98778749e-01 2.32605459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.040385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.13, Y:1.97, Z:2.33 [[ 9.97837365e-01 -4.34006360e-02 -4.93657640e-02 5.01337194e+01] [ 4.33554020e-02 9.99057736e-01 -1.98722991e-03 1.97450296e+00] [ 4.94054954e-02 -1.57340280e-04 9.98778790e-01 2.32761615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.070385722999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.16, Y:1.97, Z:2.33 [[ 9.97782378e-01 -4.46469384e-02 -4.93657409e-02 5.01618397e+01] [ 4.46031931e-02 9.99002804e-01 -1.98794906e-03 1.97460751e+00] [ 4.94052695e-02 -2.18329131e-04 9.98778790e-01 2.32753112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.100385722999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.19, Y:1.98, Z:2.33 [[ 9.97548663e-01 -4.95970714e-02 -4.93639078e-02 5.01899424e+01] [ 4.95565641e-02 9.98769225e-01 -2.04490215e-03 1.97749379e+00] [ 4.94045731e-02 -4.06416259e-04 9.98778766e-01 2.32835833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.130385722999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.22, Y:1.98, Z:2.33 [[ 9.97542763e-01 -4.97158986e-02 -4.93635986e-02 5.02183291e+01] [ 4.96750661e-02 9.98763319e-01 -2.05441234e-03 1.97840327e+00] [ 4.94046886e-02 -4.02775861e-04 9.98778762e-01 2.32976711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.160385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.25, Y:1.98, Z:2.33 [[ 9.97424759e-01 -5.20299652e-02 -4.93632829e-02 5.02471584e+01] [ 5.19914861e-02 9.98645395e-01 -2.06407816e-03 1.98019636e+00] [ 4.94038090e-02 -5.07707779e-04 9.98778757e-01 2.33120556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.190385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.27, Y:1.98, Z:2.33 [[ 9.97211293e-01 -5.59694172e-02 -4.93665951e-02 5.02746520e+01] [ 5.59407726e-02 9.98432160e-01 -1.96278152e-03 1.98173632e+00] [ 4.93990519e-02 -8.04297568e-04 9.98778798e-01 2.33289057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.220385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.31, Y:1.98, Z:2.34 [[ 9.97223907e-01 -5.57463748e-02 -4.93641607e-02 5.03060978e+01] [ 5.57137915e-02 9.98444703e-01 -2.03685704e-03 1.97866268e+00] [ 4.94009322e-02 -7.19062024e-04 9.98778770e-01 2.33730272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.250385722999994 meters Centerline goodness : 0.998967 Centerline is valid? [True, True] Translation: X:50.33, Y:1.98, Z:2.34 [[ 9.96933196e-01 -6.07125882e-02 -4.93779787e-02 5.03349241e+01] [ 6.07069961e-02 9.98154324e-01 -1.61433938e-03 1.97820672e+00] [ 4.93848537e-02 -1.38820024e-03 9.98778859e-01 2.34026539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.280385722999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.36, Y:1.98, Z:2.34 [[ 9.96854218e-01 -6.19961855e-02 -4.93775427e-02 5.03647324e+01] [ 6.19915110e-02 9.98075350e-01 -1.62756719e-03 1.97858695e+00] [ 4.93834111e-02 -1.43854126e-03 9.98778859e-01 2.34191393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.310385722999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.39, Y:1.99, Z:2.34 [[ 9.96444146e-01 -6.82709988e-02 -4.93774742e-02 5.03922690e+01] [ 6.82739098e-02 9.97665283e-01 -1.62964298e-03 1.98502807e+00] [ 4.93734491e-02 -1.74734501e-03 9.98778859e-01 2.34206920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.340385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.42, Y:1.99, Z:2.34 [[ 9.96324876e-01 -7.00043493e-02 -4.93571856e-02 5.04246346e+01] [ 6.99790205e-02 9.97545941e-01 -2.24315044e-03 1.98767394e+00] [ 4.93930904e-02 -1.21906092e-03 9.98778672e-01 2.34350142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.370385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.46, Y:1.99, Z:2.34 [[ 9.96288844e-01 -7.05134953e-02 -4.93597708e-02 5.04591762e+01] [ 7.04927049e-02 9.97509948e-01 -2.16406080e-03 1.98846933e+00] [ 4.93894579e-02 -1.32347412e-03 9.98778719e-01 2.34493256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.400385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.49, Y:1.99, Z:2.35 [[ 9.96004725e-01 -7.44111957e-02 -4.93716603e-02 5.04885734e+01] [ 7.44135007e-02 9.97225858e-01 -1.79394753e-03 1.99181045e+00] [ 4.93681861e-02 -1.88713786e-03 9.98778865e-01 2.34633044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.43038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.52, Y:1.99, Z:2.35 [[ 9.95868122e-01 -7.62284021e-02 -4.93549794e-02 5.05205924e+01] [ 7.62073579e-02 9.97089313e-01 -2.31074380e-03 1.99349767e+00] [ 4.93874668e-02 -1.46001649e-03 9.98778627e-01 2.35067811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.460385722999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.55, Y:2.00, Z:2.35 [[ 9.95908912e-01 -7.56925479e-02 -4.93566228e-02 5.05485489e+01] [ 7.56733372e-02 9.97130100e-01 -2.26042321e-03 1.99597925e+00] [ 4.93860714e-02 -1.48380473e-03 9.98778661e-01 2.35158395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.490385722999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.58, Y:2.00, Z:2.35 [[ 9.95871655e-01 -7.61895217e-02 -4.93437330e-02 5.05817398e+01] [ 7.61511395e-02 9.97092738e-01 -2.66006305e-03 1.99699567e+00] [ 4.94029467e-02 -1.10850010e-03 9.98778314e-01 2.35143317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.520385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.62, Y:2.00, Z:2.35 [[ 9.95970587e-01 -7.48849495e-02 -4.93440465e-02 5.06152924e+01] [ 7.48454511e-02 9.97191624e-01 -2.65030052e-03 1.99686030e+00] [ 4.94039375e-02 -1.05355606e-03 9.98778324e-01 2.35209956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.550385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.65, Y:2.00, Z:2.35 [[ 9.95910219e-01 -7.56781786e-02 -4.93522973e-02 5.06490303e+01] [ 7.56525837e-02 9.97131375e-01 -2.38904920e-03 1.99977425e+00] [ 4.93915230e-02 -1.35435029e-03 9.98778576e-01 2.35298039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.580385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.68, Y:2.00, Z:2.35 [[ 9.95980461e-01 -7.47430793e-02 -4.93598371e-02 5.06806024e+01] [ 7.47286284e-02 9.97201609e-01 -2.14071331e-03 2.00406378e+00] [ 4.93817125e-02 -1.55648429e-03 9.98778766e-01 2.35398815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.610385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.71, Y:2.00, Z:2.36 [[ 9.96127500e-01 -7.27600500e-02 -4.93556462e-02 5.07143561e+01] [ 7.27362337e-02 9.97348604e-01 -2.28082857e-03 2.00493188e+00] [ 4.93907380e-02 -1.31794775e-03 9.98778663e-01 2.35648199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.640385722999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.74, Y:2.01, Z:2.36 [[ 9.96120723e-01 -7.28466809e-02 -4.93646237e-02 5.07437371e+01] [ 7.28380435e-02 9.97341824e-01 -1.97625381e-03 2.00760421e+00] [ 4.93773673e-02 -1.62703523e-03 9.98778869e-01 2.36060621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.670385722999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.78, Y:2.01, Z:2.36 [[ 9.96225671e-01 -7.14066396e-02 -4.93508201e-02 5.07788457e+01] [ 7.13729877e-02 9.97446697e-01 -2.44604213e-03 2.00944632e+00] [ 4.93994761e-02 -1.08550551e-03 9.98778511e-01 2.36228746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.700385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.81, Y:2.01, Z:2.36 [[ 9.96211825e-01 -7.15893620e-02 -4.93655977e-02 5.08106840e+01] [ 7.15813602e-02 9.97432893e-01 -1.93225528e-03 2.01110749e+00] [ 4.93771999e-02 -1.60872107e-03 9.98778907e-01 2.36301530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.730385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.84, Y:2.01, Z:2.36 [[ 9.96145622e-01 -7.25061145e-02 -4.93635760e-02 5.08409153e+01] [ 7.24957276e-02 9.97366711e-01 -2.00316316e-03 2.01429254e+00] [ 4.93788291e-02 -1.58320615e-03 9.98778867e-01 2.36304399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.760385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.87, Y:2.02, Z:2.36 [[ 9.96319383e-01 -7.00840961e-02 -4.93548965e-02 5.08741241e+01] [ 7.00556160e-02 9.97540415e-01 -2.30879209e-03 2.01579104e+00] [ 4.93953135e-02 -1.15729336e-03 9.98778636e-01 2.36382800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.790385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.91, Y:2.02, Z:2.37 [[ 9.96405189e-01 -6.88508813e-02 -4.93584343e-02 5.09077199e+01] [ 6.88271351e-02 9.97626213e-01 -2.18259580e-03 2.01766893e+00] [ 4.93915416e-02 -1.22244985e-03 9.98778745e-01 2.36626897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.820385722999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.94, Y:2.02, Z:2.37 [[ 9.96599118e-01 -6.59798367e-02 -4.93645508e-02 5.09387475e+01] [ 6.59635066e-02 9.97820108e-01 -1.96163610e-03 2.02274825e+00] [ 4.93863698e-02 -1.30129406e-03 9.98778901e-01 2.36856371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.850385722999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.97, Y:2.03, Z:2.37 [[ 9.96739905e-01 -6.38195696e-02 -4.93621826e-02 5.09692051e+01] [ 6.37962320e-02 9.97960841e-01 -2.04976975e-03 2.02557193e+00] [ 4.93923407e-02 -1.10603395e-03 9.98778841e-01 2.37170434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.880385722999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.00, Y:2.03, Z:2.37 [[ 9.96957150e-01 -6.03388240e-02 -4.93524842e-02 5.10015194e+01] [ 6.02933761e-02 9.98177789e-01 -2.41044841e-03 2.02833498e+00] [ 4.94079971e-02 -5.72514113e-04 9.98778515e-01 2.37475823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.910385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.03, Y:2.03, Z:2.37 [[ 9.97009735e-01 -5.94634106e-02 -4.93527205e-02 5.10326046e+01] [ 5.94173231e-02 9.98230341e-01 -2.40171441e-03 2.03032558e+00] [ 4.94081971e-02 -5.37873893e-04 9.98778524e-01 2.37479868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.940385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.06, Y:2.03, Z:2.38 [[ 9.97181007e-01 -5.65175751e-02 -4.93538580e-02 5.10640613e+01] [ 5.64699162e-02 9.98401510e-01 -2.36059444e-03 2.03305996e+00] [ 4.94083815e-02 -4.33068293e-04 9.98778566e-01 2.37932582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.970385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.10, Y:2.03, Z:2.38 [[ 9.97364862e-01 -5.31722373e-02 -4.93563136e-02 5.10971839e+01] [ 5.31249794e-02 9.98585292e-01 -2.26974782e-03 2.03295491e+00] [ 4.94071764e-02 -3.58286420e-04 9.98778655e-01 2.38062602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.000385722999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.13, Y:2.03, Z:2.38 [[ 9.97367066e-01 -5.31179406e-02 -4.93702261e-02 5.11250280e+01] [ 5.30970094e-02 9.98587849e-01 -1.73629962e-03 2.03451792e+00] [ 4.93927365e-02 -8.89683303e-04 9.98779038e-01 2.38361103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.030385722999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.16, Y:2.03, Z:2.39 [[ 9.97448786e-01 -5.15751701e-02 -4.93550483e-02 5.11550206e+01] [ 5.15238586e-02 9.98669087e-01 -2.31218023e-03 2.03267490e+00] [ 4.94086122e-02 -2.36681168e-04 9.98778621e-01 2.38559121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.060385722999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.19, Y:2.03, Z:2.39 [[ 9.97489571e-01 -5.07753279e-02 -4.93601334e-02 5.11858867e+01] [ 5.07327873e-02 9.98710023e-01 -2.11512201e-03 2.03174260e+00] [ 4.94038559e-02 -3.94364998e-04 9.98778806e-01 2.38571278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.090385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.21, Y:2.03, Z:2.39 [[ 9.97448045e-01 -5.15866453e-02 -4.93580387e-02 5.12148632e+01] [ 5.15410688e-02 9.98668460e-01 -2.19654799e-03 2.03145677e+00] [ 4.94056290e-02 -3.53023571e-04 9.98778734e-01 2.38784186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.120385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.24, Y:2.03, Z:2.39 [[ 9.97467692e-01 -5.12063187e-02 -4.93570358e-02 5.12438906e+01] [ 5.11584061e-02 9.98688052e-01 -2.23436271e-03 2.03112777e+00] [ 4.94066954e-02 -2.96322669e-04 9.98778700e-01 2.38939386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.150385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.27, Y:2.03, Z:2.39 [[ 9.97476339e-01 -5.10320720e-02 -4.93627480e-02 5.12743582e+01] [ 5.09951178e-02 9.98696883e-01 -2.00855489e-03 2.03185457e+00] [ 4.94009233e-02 -5.13773172e-04 9.98778897e-01 2.39162047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.18038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.30, Y:2.03, Z:2.39 [[ 9.97444058e-01 -5.16626932e-02 -4.93590649e-02 5.13040350e+01] [ 5.16193088e-02 9.98664512e-01 -2.15412150e-03 2.03087488e+00] [ 4.94044341e-02 -3.99265123e-04 9.98778776e-01 2.39352272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.210385722999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.33, Y:2.03, Z:2.39 [[ 9.97372308e-01 -5.30260904e-02 -4.93630668e-02 5.13341263e+01] [ 5.29921558e-02 9.98592932e-01 -1.99684364e-03 2.02809361e+00] [ 4.93994945e-02 -6.24258780e-04 9.98778905e-01 2.39331411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.240385722999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.36, Y:2.03, Z:2.39 [[ 9.97357760e-01 -5.32997456e-02 -4.93622914e-02 5.13648709e+01] [ 5.32646014e-02 9.98578374e-01 -2.02806155e-03 2.02747939e+00] [ 4.94002119e-02 -6.06559851e-04 9.98778880e-01 2.39285519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.270385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.40, Y:2.03, Z:2.39 [[ 9.97365463e-01 -5.31551672e-02 -4.93625592e-02 5.13957947e+01] [ 5.31203958e-02 9.98586078e-01 -2.01694948e-03 2.02729247e+00] [ 4.93999757e-02 -6.10522937e-04 9.98778889e-01 2.39465075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.300385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.43, Y:2.03, Z:2.39 [[ 9.97493919e-01 -5.06884718e-02 -4.93615239e-02 5.14252673e+01] [ 5.06485559e-02 9.98714414e-01 -2.05992325e-03 2.02645844e+00] [ 4.94024797e-02 -4.45328986e-04 9.98778853e-01 2.39322687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.330385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.45, Y:2.03, Z:2.39 [[ 9.97548126e-01 -4.96057520e-02 -4.93660438e-02 5.14539035e+01] [ 4.95737138e-02 9.98768710e-01 -1.87391064e-03 2.02724788e+00] [ 4.93982167e-02 -5.77942080e-04 9.98778996e-01 2.39476506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.360385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.48, Y:2.03, Z:2.40 [[ 9.97690274e-01 -4.66587811e-02 -4.93667515e-02 5.14826154e+01] [ 4.66245976e-02 9.98910779e-01 -1.84439547e-03 2.02727602e+00] [ 4.93990375e-02 -4.61569508e-04 9.98779016e-01 2.39639271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.390385722999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.51, Y:2.03, Z:2.40 [[ 9.97728850e-01 -4.58251337e-02 -4.93680042e-02 5.15101538e+01] [ 4.57925053e-02 9.98949365e-01 -1.79234721e-03 2.02771856e+00] [ 4.93982710e-02 -4.72408072e-04 9.98779048e-01 2.39780035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.420385722999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.54, Y:2.03, Z:2.40 [[ 9.97759384e-01 -4.51554357e-02 -4.93679818e-02 5.15391717e+01] [ 4.51219427e-02 9.98979877e-01 -1.79326348e-03 2.02780452e+00] [ 4.93985959e-02 -4.38333774e-04 9.98779048e-01 2.40198118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.450385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.57, Y:2.03, Z:2.40 [[ 9.97809432e-01 -4.40290273e-02 -4.93739054e-02 5.15671621e+01] [ 4.40063492e-02 9.99030054e-01 -1.54679193e-03 2.02830981e+00] [ 4.93941191e-02 -6.29361745e-04 9.98779167e-01 2.40400641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.480385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.60, Y:2.03, Z:2.41 [[ 9.97824391e-01 -4.36948830e-02 -4.93684398e-02 5.15969498e+01] [ 4.36605645e-02 9.99044848e-01 -1.77383867e-03 2.02874142e+00] [ 4.93987932e-02 -3.85474455e-04 9.98779060e-01 2.40545375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.510385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.63, Y:2.03, Z:2.41 [[ 9.97818819e-01 -4.38180909e-02 -4.93718558e-02 5.16254048e+01] [ 4.37909532e-02 9.99039384e-01 -1.63172629e-03 2.03020591e+00] [ 4.93959275e-02 -5.33873425e-04 9.98779133e-01 2.40730728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.540385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.65, Y:2.03, Z:2.41 [[ 9.97769326e-01 -4.49305073e-02 -4.93722851e-02 5.16519964e+01] [ 4.49056144e-02 9.98989931e-01 -1.61385714e-03 2.03053789e+00] [ 4.93949271e-02 -6.06835641e-04 9.98779141e-01 2.40894125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.570385722999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.68, Y:2.03, Z:2.41 [[ 9.97671395e-01 -4.70575417e-02 -4.93697728e-02 5.16791046e+01] [ 4.70301729e-02 9.98891994e-01 -1.71650672e-03 2.03122538e+00] [ 4.93958454e-02 -6.09359294e-04 9.98779094e-01 2.40550466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.600385722999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.71, Y:2.03, Z:2.41 [[ 9.97689363e-01 -4.66786312e-02 -4.93663834e-02 5.17115547e+01] [ 4.66437645e-02 9.98909858e-01 -1.85869639e-03 2.02930829e+00] [ 4.93993284e-02 -4.48232343e-04 9.98779007e-01 2.41132652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.630385722999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.74, Y:2.03, Z:2.41 [[ 9.97625416e-01 -4.80162309e-02 -4.93758038e-02 5.17410638e+01] [ 4.80027162e-02 9.98846138e-01 -1.46016889e-03 2.02777725e+00] [ 4.93889427e-02 -9.13471100e-04 9.98779204e-01 2.41091385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.660385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.77, Y:2.03, Z:2.41 [[ 9.97557138e-01 -4.94074795e-02 -4.93827591e-02 5.17682899e+01] [ 4.94102409e-02 9.98777888e-01 -1.16557784e-03 2.02979594e+00] [ 4.93799961e-02 -1.27728354e-03 9.98779247e-01 2.40832427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.690385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.80, Y:2.03, Z:2.41 [[ 9.97490997e-01 -5.07374320e-02 -4.93702816e-02 5.17966672e+01] [ 5.07160260e-02 9.98711690e-01 -1.68699011e-03 2.03127750e+00] [ 4.93922709e-02 -8.21107039e-04 9.98779119e-01 2.40803606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.720385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.83, Y:2.03, Z:2.41 [[ 9.97429704e-01 -5.19300659e-02 -4.93685483e-02 5.18320076e+01] [ 5.19065610e-02 9.98650397e-01 -1.75891450e-03 2.03440316e+00] [ 4.93932609e-02 -8.08157996e-04 9.98779081e-01 2.40805872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.750385722999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.86, Y:2.03, Z:2.41 [[ 9.97654249e-01 -4.73978054e-02 -4.93907569e-02 5.18572610e+01] [ 4.74172639e-02 9.98874866e-01 -7.78317156e-04 2.03123314e+00] [ 4.93720762e-02 -1.56548314e-03 9.98779229e-01 2.40766397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.780385722999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.89, Y:2.04, Z:2.42 [[ 9.97614014e-01 -4.82545920e-02 -4.93738216e-02 5.18855702e+01] [ 4.82377956e-02 9.98834704e-01 -1.53239634e-03 2.03538432e+00] [ 4.93902317e-02 -8.52944252e-04 9.98779194e-01 2.41588899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.810385722999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.91, Y:2.04, Z:2.42 [[ 9.97582340e-01 -4.89090882e-02 -4.93697816e-02 5.19143424e+01] [ 4.88837037e-02 9.98802992e-01 -1.72218915e-03 2.03774789e+00] [ 4.93949163e-02 -6.95352291e-04 9.98779084e-01 2.41826394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.840385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.95, Y:2.03, Z:2.42 [[ 9.97702402e-01 -4.63928824e-02 -4.93722328e-02 5.19466515e+01] [ 4.63701118e-02 9.98923035e-01 -1.60711655e-03 2.03465295e+00] [ 4.93936194e-02 -6.85971910e-04 9.98779155e-01 2.41885987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.870385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.97, Y:2.04, Z:2.42 [[ 9.97589469e-01 -4.87488268e-02 -4.93842402e-02 5.19744264e+01] [ 4.87572862e-02 9.98810121e-01 -1.03406182e-03 2.03928434e+00] [ 4.93758882e-02 -1.37627234e-03 9.98779319e-01 2.41949075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.900385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.00, Y:2.04, Z:2.42 [[ 9.97735675e-01 -4.56710789e-02 -4.93728225e-02 5.20020413e+01] [ 4.56491968e-02 9.98956296e-01 -1.57130297e-03 2.04050072e+00] [ 4.93930550e-02 -6.86084655e-04 9.98779183e-01 2.41875650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.93038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.03, Y:2.04, Z:2.42 [[ 9.97646260e-01 -4.75879537e-02 -4.93692865e-02 5.20322877e+01] [ 4.75600798e-02 9.98866864e-01 -1.73983376e-03 2.04264784e+00] [ 4.93961395e-02 -6.12268565e-04 9.98779078e-01 2.42268278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.960385722999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.06, Y:2.05, Z:2.42 [[ 9.97643866e-01 -4.76345133e-02 -4.93727678e-02 5.20611209e+01] [ 4.76149511e-02 9.98864526e-01 -1.57296545e-03 2.04556009e+00] [ 4.93916338e-02 -7.81622592e-04 9.98779183e-01 2.42446566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.990385722999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.09, Y:2.05, Z:2.43 [[ 9.97570923e-01 -4.91386259e-02 -4.93725528e-02 5.20896897e+01] [ 4.91203960e-02 9.98791610e-01 -1.58323739e-03 2.04818508e+00] [ 4.93906896e-02 -8.45807767e-04 9.98779177e-01 2.42576661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.020385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.12, Y:2.05, Z:2.43 [[ 9.97507196e-01 -5.04195281e-02 -4.93686600e-02 5.21206448e+01] [ 5.03936767e-02 9.98727865e-01 -1.76898526e-03 2.04876673e+00] [ 4.93950478e-02 -7.23292768e-04 9.98779058e-01 2.42681429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.050385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.15, Y:2.05, Z:2.43 [[ 9.97514792e-01 -5.02631119e-02 -4.93746786e-02 5.21506729e+01] [ 5.02514305e-02 9.98735504e-01 -1.47867578e-03 2.04918309e+00] [ 4.93865674e-02 -1.00614727e-03 9.98779232e-01 2.42817108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.080385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.18, Y:2.05, Z:2.43 [[ 9.97504512e-01 -5.04665805e-02 -4.93748290e-02 5.21798324e+01] [ 5.04555092e-02 9.98725226e-01 -1.47137609e-03 2.04971291e+00] [ 4.93861426e-02 -1.02352785e-03 9.98779236e-01 2.43029168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.110385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.21, Y:2.05, Z:2.43 [[ 9.97358439e-01 -5.32786635e-02 -4.93713329e-02 5.22098806e+01] [ 5.32626577e-02 9.98579189e-01 -1.64069903e-03 2.04796699e+00] [ 4.93885999e-02 -9.93283381e-04 9.98779145e-01 2.43119594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.140385722999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.24, Y:2.04, Z:2.43 [[ 9.97254842e-01 -5.51808327e-02 -4.93746539e-02 5.22409374e+01] [ 5.51752302e-02 9.98475594e-01 -1.47746247e-03 2.04285221e+00] [ 4.93809145e-02 -1.25085130e-03 9.98779235e-01 2.43046862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.170385722999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.27, Y:2.04, Z:2.43 [[ 9.97235126e-01 -5.55337577e-02 -4.93771650e-02 5.22717774e+01] [ 5.55347278e-02 9.98455839e-01 -1.35332520e-03 2.04071424e+00] [ 4.93760739e-02 -1.39256399e-03 9.98779287e-01 2.43170859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.200385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.30, Y:2.04, Z:2.43 [[ 9.97202895e-01 -5.61091747e-02 -4.93775878e-02 5.23022709e+01] [ 5.61118874e-02 9.98423598e-01 -1.33233645e-03 2.04024287e+00] [ 4.93745051e-02 -1.44205988e-03 9.98779294e-01 2.43288554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.230385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.33, Y:2.04, Z:2.44 [[ 9.97273891e-01 -5.48326835e-02 -4.93777632e-02 5.23333564e+01] [ 5.48342650e-02 9.98494593e-01 -1.32361597e-03 2.04139007e+00] [ 4.93760070e-02 -1.38758570e-03 9.98779297e-01 2.43565532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.260385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.36, Y:2.04, Z:2.44 [[ 9.97296878e-01 -5.44068522e-02 -4.93845303e-02 5.23627677e+01] [ 5.44247004e-02 9.98517393e-01 -9.84202299e-04 2.04404782e+00] [ 4.93648598e-02 -1.70619639e-03 9.98779355e-01 2.43806774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.290385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.39, Y:2.05, Z:2.44 [[ 9.97374988e-01 -5.29556628e-02 -4.93845131e-02 5.23926216e+01] [ 5.29716923e-02 9.98595528e-01 -9.85067054e-04 2.04667000e+00] [ 4.93673188e-02 -1.63349999e-03 9.98779355e-01 2.44070778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.320385722999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.42, Y:2.05, Z:2.44 [[ 9.97508110e-01 -5.03859367e-02 -4.93844958e-02 5.24198623e+01] [ 5.03987789e-02 9.98728687e-01 -9.85932966e-04 2.04641599e+00] [ 4.93713898e-02 -1.50544215e-03 9.98779355e-01 2.44099390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.350385722999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.45, Y:2.04, Z:2.44 [[ 9.97449435e-01 -5.15445079e-02 -4.93739702e-02 5.24518441e+01] [ 5.15330973e-02 9.98670153e-01 -1.50489807e-03 2.04361128e+00] [ 4.93858796e-02 -1.04333388e-03 9.98779228e-01 2.44010564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.380385722999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.48, Y:2.04, Z:2.44 [[ 9.97466404e-01 -5.12050912e-02 -4.93843177e-02 5.24809944e+01] [ 5.12188319e-02 9.98686966e-01 -9.88027170e-04 2.04401074e+00] [ 4.93700664e-02 -1.54388316e-03 9.98779362e-01 2.44140547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.410385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.51, Y:2.05, Z:2.44 [[ 9.97484498e-01 -5.08514480e-02 -4.93842834e-02 5.25107835e+01] [ 5.08646711e-02 9.98705064e-01 -9.89742769e-04 2.04573117e+00] [ 4.93706637e-02 -1.52466226e-03 9.98779362e-01 2.44351314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.440385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.54, Y:2.05, Z:2.45 [[ 9.97521414e-01 -5.01221009e-02 -4.93842491e-02 5.25405547e+01] [ 5.01343472e-02 9.98741991e-01 -9.91447932e-04 2.04777016e+00] [ 4.93718167e-02 -1.48685655e-03 9.98779362e-01 2.44638822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.470385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.57, Y:2.05, Z:2.45 [[ 9.97527450e-01 -5.00018574e-02 -4.93842142e-02 5.25693748e+01] [ 5.00138706e-02 9.98748029e-01 -9.93186573e-04 2.04807671e+00] [ 4.93720477e-02 -1.47916483e-03 9.98779362e-01 2.44709807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.500385722999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.60, Y:2.05, Z:2.45 [[ 9.97526096e-01 -5.00289267e-02 -4.93841479e-02 5.25979330e+01] [ 5.00408106e-02 9.98746677e-01 -9.96469773e-04 2.04847127e+00] [ 4.93721059e-02 -1.47721819e-03 9.98779362e-01 2.44517149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.530385722999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.63, Y:2.05, Z:2.45 [[ 9.97468592e-01 -5.11649649e-02 -4.93817287e-02 5.26260893e+01] [ 5.11723804e-02 9.98689213e-01 -1.11491396e-03 2.04934159e+00] [ 4.93740443e-02 -1.41488895e-03 9.98779356e-01 2.45025118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.560385722999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.65, Y:2.05, Z:2.45 [[ 9.97409622e-01 -5.22999233e-02 -4.93838430e-02 5.26549569e+01] [ 5.23138316e-02 9.98630182e-01 -1.01172524e-03 2.04978961e+00] [ 4.93691093e-02 -1.57435356e-03 9.98779361e-01 2.45192317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.590385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.68, Y:2.05, Z:2.45 [[ 9.97297699e-01 -5.43924716e-02 -4.93837896e-02 5.26837895e+01] [ 5.44088121e-02 9.98518228e-01 -1.01432641e-03 2.05288412e+00] [ 4.93657858e-02 -1.67532793e-03 9.98779361e-01 2.45204686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.620385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.71, Y:2.05, Z:2.46 [[ 9.97307833e-01 -5.42121309e-02 -4.93774276e-02 5.27144598e+01] [ 5.42130639e-02 9.98528516e-01 -1.32135796e-03 2.05108150e+00] [ 4.93764032e-02 -1.35910099e-03 9.98779317e-01 2.45613943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.650385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.74, Y:2.05, Z:2.46 [[ 9.97277150e-01 -5.47680861e-02 -4.93836289e-02 5.27440281e+01] [ 5.47845195e-02 9.98497678e-01 -1.02174086e-03 2.05127213e+00] [ 4.93653975e-02 -1.68649957e-03 9.98779362e-01 2.45760241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.68038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.77, Y:2.05, Z:2.46 [[ 9.97196603e-01 -5.62155992e-02 -4.93836110e-02 5.27743327e+01] [ 5.62337615e-02 9.98417106e-01 -1.02260488e-03 2.05132877e+00] [ 4.93629283e-02 -1.75728808e-03 9.98779362e-01 2.45797359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.710385722999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.80, Y:2.06, Z:2.46 [[ 9.97006569e-01 -5.94908424e-02 -4.93836110e-02 5.28024683e+01] [ 5.95130137e-02 9.98227006e-01 -1.02260488e-03 2.05533013e+00] [ 4.93568898e-02 -1.91942373e-03 9.98779362e-01 2.45678245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.740385722999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.83, Y:2.06, Z:2.46 [[ 9.96978761e-01 -5.99638310e-02 -4.93729515e-02 5.28339077e+01] [ 5.99613645e-02 9.98199522e-01 -1.53243017e-03 2.05607079e+00] [ 4.93759470e-02 -1.43266921e-03 9.98779237e-01 2.45723617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.770385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.87, Y:2.05, Z:2.46 [[ 9.97156806e-01 -5.69261205e-02 -4.93732849e-02 5.28662274e+01] [ 5.69207256e-02 9.98377550e-01 -1.51644315e-03 2.05272519e+00] [ 4.93795044e-02 -1.29823160e-03 9.98779244e-01 2.46073691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.800385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.89, Y:2.06, Z:2.46 [[ 9.97008481e-01 -5.94588083e-02 -4.93835947e-02 5.28928556e+01] [ 5.94813029e-02 9.98228904e-01 -1.01526903e-03 2.05796126e+00] [ 4.93564983e-02 -1.92516872e-03 9.98779370e-01 2.46219842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.830385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.93, Y:2.06, Z:2.47 [[ 9.97237722e-01 -5.54953640e-02 -4.93679137e-02 5.29259260e+01] [ 5.54759420e-02 9.98458465e-01 -1.76458463e-03 2.05690718e+00] [ 4.93897376e-02 -9.79021162e-04 9.98779102e-01 2.46674553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.860385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.96, Y:2.06, Z:2.47 [[ 9.97276108e-01 -5.47873056e-02 -4.93833452e-02 5.29562302e+01] [ 5.48041972e-02 9.98496607e-01 -1.01293616e-03 2.05832464e+00] [ 4.93645987e-02 -1.69623756e-03 9.98779385e-01 2.46895655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.890385722999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.99, Y:2.06, Z:2.47 [[ 9.97317685e-01 -5.40251873e-02 -4.93833452e-02 5.29868008e+01] [ 5.40411463e-02 9.98538196e-01 -1.01293616e-03 2.05931901e+00] [ 4.93658805e-02 -1.65851344e-03 9.98779385e-01 2.47111489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.920385722999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.01, Y:2.06, Z:2.47 [[ 9.97262373e-01 -5.50367488e-02 -4.93833452e-02 5.30145360e+01] [ 5.50539458e-02 9.98482868e-01 -1.01293616e-03 2.06297860e+00] [ 4.93641729e-02 -1.70858489e-03 9.98779385e-01 2.47036385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.950385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.05, Y:2.06, Z:2.47 [[ 9.97436061e-01 -5.18045244e-02 -4.93720185e-02 5.30459683e+01] [ 5.17907980e-02 9.98656741e-01 -1.55812897e-03 2.05935024e+00] [ 4.93864172e-02 -1.00288222e-03 9.98779243e-01 2.47328342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.980385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.08, Y:2.06, Z:2.47 [[ 9.97540953e-01 -4.97327072e-02 -4.93832362e-02 5.30760451e+01] [ 4.97435573e-02 9.98761512e-01 -1.01002319e-03 2.05958399e+00] [ 4.93723069e-02 -1.44895835e-03 9.98779393e-01 2.47454673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.010385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.10, Y:2.06, Z:2.48 [[ 9.97584000e-01 -4.88616636e-02 -4.93832011e-02 5.31049132e+01] [ 4.88713633e-02 9.98804569e-01 -1.01173491e-03 2.05999325e+00] [ 4.93736019e-02 -1.40413380e-03 9.98779393e-01 2.47611115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.040385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.13, Y:2.06, Z:2.48 [[ 9.97600055e-01 -4.85328321e-02 -4.93831487e-02 5.31335289e+01] [ 4.85420033e-02 9.98820627e-01 -1.01428712e-03 2.06066393e+00] [ 4.93741338e-02 -1.38530408e-03 9.98779393e-01 2.47799702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.070385722999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.16, Y:2.07, Z:2.48 [[ 9.97493284e-01 -5.06801571e-02 -4.93829013e-02 5.31603424e+01] [ 5.06913668e-02 9.98713839e-01 -1.02619235e-03 2.06580218e+00] [ 4.93713945e-02 -1.47966678e-03 9.98779393e-01 2.47989156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.100385722999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.19, Y:2.07, Z:2.48 [[ 9.97518128e-01 -5.02020703e-02 -4.93693885e-02 5.31897249e+01] [ 5.01811156e-02 9.98738747e-01 -1.66460012e-03 2.06597085e+00] [ 4.93906875e-02 -8.16942188e-04 9.98779201e-01 2.48053278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.130385722999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.22, Y:2.06, Z:2.48 [[ 9.97441072e-01 -5.17037488e-02 -4.93764188e-02 5.32178446e+01] [ 5.17012987e-02 9.98661711e-01 -1.32766879e-03 2.06473393e+00] [ 4.93789843e-02 -1.22855360e-03 9.98779358e-01 2.48110011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.160385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.25, Y:2.06, Z:2.48 [[ 9.97383714e-01 -5.28067108e-02 -4.93677824e-02 5.32471268e+01] [ 5.27851728e-02 9.98604374e-01 -1.74082435e-03 2.06419847e+00] [ 4.93908106e-02 -8.69617067e-04 9.98779151e-01 2.48219166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.190385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.28, Y:2.06, Z:2.48 [[ 9.97481024e-01 -5.09361770e-02 -4.93671118e-02 5.32804677e+01] [ 5.09107713e-02 9.98701633e-01 -1.77273406e-03 2.05993748e+00] [ 4.93933115e-02 -7.45049159e-04 9.98779128e-01 2.48385231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.220385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.31, Y:2.06, Z:2.48 [[ 9.97208566e-01 -5.60037952e-02 -4.93826998e-02 5.33072241e+01] [ 5.60220680e-02 9.98429015e-01 -1.01509353e-03 2.06388526e+00] [ 4.93619694e-02 -1.75426100e-03 9.98779414e-01 2.48433821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.250385722999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.34, Y:2.06, Z:2.49 [[ 9.97136281e-01 -5.72885548e-02 -4.93685928e-02 5.33393911e+01] [ 5.72748086e-02 9.98357013e-01 -1.69421066e-03 2.06431949e+00] [ 4.93845397e-02 -1.13821778e-03 9.98779191e-01 2.48569608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.280385722999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.37, Y:2.07, Z:2.49 [[ 9.97018911e-01 -5.92876689e-02 -4.93787846e-02 5.33684491e+01] [ 5.93008334e-02 9.98239436e-01 -1.19964169e-03 2.06504697e+00] [ 4.93629740e-02 -1.73213763e-03 9.98779403e-01 2.48761156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.310385722999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.40, Y:2.07, Z:2.49 [[ 9.96941885e-01 -6.05766665e-02 -4.93694785e-02 5.33999936e+01] [ 6.05693736e-02 9.98162634e-01 -1.64513712e-03 2.06527021e+00] [ 4.93784256e-02 -1.35017228e-03 9.98779229e-01 2.48911940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.340385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.43, Y:2.07, Z:2.49 [[ 9.96839931e-01 -6.22316908e-02 -4.93697121e-02 5.34327937e+01] [ 6.22269894e-02 9.98060686e-01 -1.63371906e-03 2.06577968e+00] [ 4.93756379e-02 -1.44357216e-03 9.98779236e-01 2.49075843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.370385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:53.46, Y:2.07, Z:2.49 [[ 9.96835680e-01 -6.22989920e-02 -4.93706745e-02 5.34641205e+01] [ 6.22967316e-02 9.98056412e-01 -1.58603676e-03 2.06625974e+00] [ 4.93735267e-02 -1.49461363e-03 9.98779265e-01 2.49326331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.400385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.50, Y:2.07, Z:2.49 [[ 9.96897909e-01 -6.12963388e-02 -4.93691965e-02 5.34966954e+01] [ 6.12891795e-02 9.98118670e-01 -1.66024987e-03 2.06553792e+00] [ 4.93780840e-02 -1.37069792e-03 9.98779218e-01 2.49412206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.43038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.53, Y:2.06, Z:2.50 [[ 9.97042805e-01 -5.88912509e-02 -4.93706972e-02 5.35294888e+01] [ 5.88849120e-02 9.98263521e-01 -1.58413123e-03 2.06195653e+00] [ 4.93782575e-02 -1.32774251e-03 9.98779267e-01 2.49705078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.460385722999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.56, Y:2.06, Z:2.50 [[ 9.96997115e-01 -5.96496978e-02 -4.93828543e-02 5.35586487e+01] [ 5.96752608e-02 9.98217384e-01 -9.57871678e-04 2.06420674e+00] [ 4.93519604e-02 -1.99193941e-03 9.98779463e-01 2.49616084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.490385722999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.59, Y:2.07, Z:2.50 [[ 9.96986518e-01 -5.98344324e-02 -4.93733079e-02 5.35889927e+01] [ 5.98361586e-02 9.98207167e-01 -1.44442153e-03 2.06583736e+00] [ 4.93712160e-02 -1.51424029e-03 9.98779350e-01 2.49849519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.520385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.62, Y:2.07, Z:2.50 [[ 9.97043686e-01 -5.88754207e-02 -4.93717849e-02 5.36216433e+01] [ 5.88721631e-02 9.98264371e-01 -1.52144119e-03 2.06611724e+00] [ 4.93756692e-02 -1.38968044e-03 9.98779311e-01 2.50055064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.550385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.65, Y:2.06, Z:2.50 [[ 9.97128694e-01 -5.74154152e-02 -4.93744583e-02 5.36538400e+01] [ 5.74172530e-02 9.98349312e-01 -1.38228649e-03 2.06477915e+00] [ 4.93723210e-02 -1.45662825e-03 9.98779381e-01 2.50331122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.580385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.68, Y:2.06, Z:2.51 [[ 9.97084732e-01 -5.81695010e-02 -4.93796109e-02 5.36844251e+01] [ 5.81856917e-02 9.98305160e-01 -1.11074666e-03 2.06442524e+00] [ 4.93605319e-02 -1.76567828e-03 9.98779465e-01 2.50501050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.61038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.71, Y:2.06, Z:2.51 [[ 9.97085050e-01 -5.81661862e-02 -4.93770995e-02 5.37141843e+01] [ 5.81758507e-02 9.98305578e-01 -1.24262424e-03 2.06376905e+00] [ 4.93657126e-02 -1.63355272e-03 9.98779434e-01 2.50724540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.640385722999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.75, Y:2.06, Z:2.50 [[ 9.97042220e-01 -5.88966447e-02 -4.93760803e-02 5.37464789e+01] [ 5.89044919e-02 9.98262780e-01 -1.29744884e-03 2.06278569e+00] [ 4.93667185e-02 -1.61486164e-03 9.98779415e-01 2.50290327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.670385722999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.78, Y:2.06, Z:2.50 [[ 9.97033211e-01 -5.90475148e-02 -4.93778031e-02 5.37782766e+01] [ 5.90601773e-02 9.98253698e-01 -1.20381665e-03 2.06297946e+00] [ 4.93626569e-02 -1.71601663e-03 9.98779447e-01 2.50326938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.700385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.81, Y:2.06, Z:2.51 [[ 9.97070312e-01 -5.84171951e-02 -4.93783774e-02 5.38088046e+01] [ 5.84306316e-02 9.98290782e-01 -1.17256592e-03 2.06401943e+00] [ 4.93624770e-02 -1.71607911e-03 9.98779456e-01 2.50516941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.730385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.84, Y:2.06, Z:2.51 [[ 9.97093933e-01 -5.80115456e-02 -4.93796501e-02 5.38399878e+01] [ 5.80279224e-02 9.98314351e-01 -1.10306742e-03 2.06498371e+00] [ 4.93604040e-02 -1.76553668e-03 9.98779472e-01 2.50785670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.760385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.87, Y:2.07, Z:2.51 [[ 9.97103312e-01 -5.78496546e-02 -4.93801852e-02 5.38701364e+01] [ 5.78672829e-02 9.98323707e-01 -1.07375577e-03 2.06620169e+00] [ 4.93595260e-02 -1.78685171e-03 9.98779477e-01 2.51001471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.790385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.90, Y:2.07, Z:2.51 [[ 9.97164883e-01 -5.67794453e-02 -4.93790474e-02 5.39010554e+01] [ 5.67926781e-02 9.98385347e-01 -1.13614937e-03 2.06596120e+00] [ 4.93638273e-02 -1.67144008e-03 9.98779465e-01 2.51186045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.820385722999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.93, Y:2.07, Z:2.51 [[ 9.97142245e-01 -5.71751985e-02 -4.93795463e-02 5.39315463e+01] [ 5.71902705e-02 9.98362681e-01 -1.10875362e-03 2.06779430e+00] [ 4.93620895e-02 -1.71844454e-03 9.98779471e-01 2.51364904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.850385722999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.96, Y:2.07, Z:2.52 [[ 9.97165785e-01 -5.67651829e-02 -4.93772348e-02 5.39621384e+01] [ 5.67734801e-02 9.98386321e-01 -1.23559518e-03 2.06993051e+00] [ 4.93676945e-02 -1.57122421e-03 9.98779436e-01 2.51595534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.880385722999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.99, Y:2.07, Z:2.52 [[ 9.97272939e-01 -5.48518537e-02 -4.93756882e-02 5.39930877e+01] [ 5.48535846e-02 9.98493535e-01 -1.32100935e-03 2.07294655e+00] [ 4.93737652e-02 -1.39102661e-03 9.98779403e-01 2.51755687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.910385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.02, Y:2.07, Z:2.52 [[ 9.97343183e-01 -5.35599300e-02 -4.93751917e-02 5.40231245e+01] [ 5.35587133e-02 9.98563791e-01 -1.34863648e-03 2.07340509e+00] [ 4.93765115e-02 -1.29941834e-03 9.98779391e-01 2.51821455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.940385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.05, Y:2.07, Z:2.52 [[ 9.97350998e-01 -5.34139938e-02 -4.93754144e-02 5.40533122e+01] [ 5.34132145e-02 9.98571601e-01 -1.33618110e-03 2.07389228e+00] [ 4.93762574e-02 -1.30465804e-03 9.98779397e-01 2.51970218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.970385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.08, Y:2.07, Z:2.52 [[ 9.97436977e-01 -5.17834814e-02 -4.93755759e-02 5.40841133e+01] [ 5.17811579e-02 9.98657574e-01 -1.32706022e-03 2.07443325e+00] [ 4.93780127e-02 -1.23306555e-03 9.98779401e-01 2.52177148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.000385722999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.12, Y:2.07, Z:2.53 [[ 9.97522326e-01 -5.01121524e-02 -4.93759162e-02 5.41150258e+01] [ 5.01087376e-02 9.98742912e-01 -1.30777472e-03 2.07321590e+00] [ 4.93793817e-02 -1.16963035e-03 9.98779409e-01 2.52649880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.030385722999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.14, Y:2.08, Z:2.53 [[ 9.97587896e-01 -4.87815618e-02 -4.93836943e-02 5.41446074e+01] [ 4.87985197e-02 9.98808270e-01 -8.62933012e-04 2.07521753e+00] [ 4.93669375e-02 -1.54899965e-03 9.98779508e-01 2.53058437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.060385722999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.17, Y:2.08, Z:2.53 [[ 9.97577609e-01 -4.89914992e-02 -4.93836637e-02 5.41733197e+01] [ 4.90086276e-02 9.98797981e-01 -8.64676317e-04 2.07822839e+00] [ 4.93666654e-02 -1.55764385e-03 9.98779508e-01 2.53031810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.090385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.20, Y:2.08, Z:2.53 [[ 9.97643924e-01 -4.76222310e-02 -4.93834350e-02 5.42015849e+01] [ 4.76370478e-02 9.98864326e-01 -8.77548581e-04 2.07847440e+00] [ 4.93691423e-02 -1.47700004e-03 9.98779508e-01 2.53306726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.120385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.23, Y:2.08, Z:2.53 [[ 9.97674022e-01 -4.69875172e-02 -4.93833866e-02 5.42294526e+01] [ 4.70014233e-02 9.98894435e-01 -8.80263615e-04 2.07981548e+00] [ 4.93701514e-02 -1.44287332e-03 9.98779508e-01 2.53374493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.150385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.26, Y:2.08, Z:2.54 [[ 9.97660907e-01 -4.72652359e-02 -4.93833084e-02 5.42567906e+01] [ 4.72792656e-02 9.98881319e-01 -8.84632312e-04 2.08063745e+00] [ 4.93698765e-02 -1.45224348e-03 9.98779508e-01 2.53549940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.18038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.28, Y:2.08, Z:2.54 [[ 9.97642115e-01 -4.76605055e-02 -4.93830559e-02 5.42841392e+01] [ 4.76743325e-02 9.98862528e-01 -8.98510275e-04 2.08125078e+00] [ 4.93697075e-02 -1.45791253e-03 9.98779508e-01 2.53645232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.210385722999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.31, Y:2.08, Z:2.53 [[ 9.97595222e-01 -4.86324157e-02 -4.93827995e-02 5.43127021e+01] [ 4.86467454e-02 9.98815629e-01 -9.12384758e-04 2.08237501e+00] [ 4.93686835e-02 -1.49212180e-03 9.98779509e-01 2.53457355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.240385722999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.34, Y:2.08, Z:2.54 [[ 9.97606108e-01 -4.84088383e-02 -4.93825587e-02 5.43416523e+01] [ 4.84222588e-02 9.98826526e-01 -9.25238532e-04 2.08134059e+00] [ 4.93693993e-02 -1.46819142e-03 9.98779509e-01 2.53656258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.270385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.37, Y:2.08, Z:2.53 [[ 9.97555431e-01 -4.94421993e-02 -4.93824974e-02 5.43707132e+01] [ 4.94567229e-02 9.98775836e-01 -9.28495882e-04 2.08280905e+00] [ 4.93679520e-02 -1.51607038e-03 9.98779509e-01 2.53270836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.300385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.40, Y:2.08, Z:2.54 [[ 9.97532029e-01 -4.99163277e-02 -4.93782392e-02 5.44006370e+01] [ 4.99203350e-02 9.98752537e-01 -1.15285224e-03 2.08488570e+00] [ 4.93741878e-02 -1.31497120e-03 9.98779485e-01 2.53601479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.330385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.43, Y:2.09, Z:2.54 [[ 9.97618861e-01 -4.81455810e-02 -4.93822935e-02 5.44296181e+01] [ 4.81579544e-02 9.98839290e-01 -9.39896817e-04 2.08633150e+00] [ 4.93702269e-02 -1.44049145e-03 9.98779508e-01 2.53703341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.36038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.46, Y:2.09, Z:2.54 [[ 9.97563753e-01 -4.92790019e-02 -4.93775124e-02 5.44593021e+01] [ 4.92804068e-02 9.98784274e-01 -1.18970288e-03 2.08734558e+00] [ 4.93761103e-02 -1.24653943e-03 9.98779478e-01 2.53850660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.390385722999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.49, Y:2.09, Z:2.54 [[ 9.97596525e-01 -4.86038847e-02 -4.93845656e-02 5.44864106e+01] [ 4.86226695e-02 9.98816881e-01 -8.21600660e-04 2.08751804e+00] [ 4.93660707e-02 -1.58158345e-03 9.98779500e-01 2.54019009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.420385722999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.52, Y:2.09, Z:2.54 [[ 9.97645682e-01 -4.75938087e-02 -4.93753186e-02 5.45174462e+01] [ 4.75877847e-02 9.98866216e-01 -1.29821285e-03 2.08548528e+00] [ 4.93811246e-02 -1.05450559e-03 9.98779451e-01 2.54154925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.450385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.55, Y:2.08, Z:2.55 [[ 9.97721272e-01 -4.59747892e-02 -4.93819965e-02 5.45456243e+01] [ 4.59839103e-02 9.98941727e-01 -9.51962529e-04 2.08320015e+00] [ 4.93735031e-02 -1.32098403e-03 9.98779511e-01 2.54501452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.480385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.57, Y:2.08, Z:2.55 [[ 9.97796195e-01 -4.43190756e-02 -4.93819092e-02 5.45720121e+01] [ 4.43259487e-02 9.99016664e-01 -9.56466765e-04 2.08417627e+00] [ 4.93757399e-02 -1.23454107e-03 9.98779511e-01 2.54666499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.510385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.60, Y:2.09, Z:2.55 [[ 9.97831023e-01 -4.35281092e-02 -4.93817150e-02 5.45994220e+01] [ 4.35335240e-02 9.99051499e-01 -9.66389319e-04 2.08515486e+00] [ 4.93769415e-02 -1.18546684e-03 9.98779511e-01 2.54869730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.540385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.63, Y:2.09, Z:2.55 [[ 9.97852264e-01 -4.30387396e-02 -4.93814399e-02 5.46272380e+01] [ 4.30428702e-02 9.99072745e-01 -9.80251654e-04 2.08634075e+00] [ 4.93778395e-02 -1.14737258e-03 9.98779511e-01 2.55044253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.570385722999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.65, Y:2.09, Z:2.55 [[ 9.97879386e-01 -4.24055627e-02 -4.93811624e-02 5.46541476e+01] [ 4.24082372e-02 9.99099872e-01 -9.94033345e-04 2.08668135e+00] [ 4.93788656e-02 -1.10224267e-03 9.98779512e-01 2.55269216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.600385722999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.68, Y:2.09, Z:2.55 [[ 9.97890542e-01 -4.21423710e-02 -4.93810415e-02 5.46820322e+01] [ 4.21444282e-02 9.99111028e-01 -1.00000679e-03 2.08640415e+00] [ 4.93792858e-02 -1.08323843e-03 9.98779512e-01 2.55397759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.630385722999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.71, Y:2.08, Z:2.56 [[ 9.97904673e-01 -4.18067405e-02 -4.93807592e-02 5.47088292e+01] [ 4.18077070e-02 9.99125161e-01 -1.01375848e-03 2.08499694e+00] [ 4.93799409e-02 -1.05286199e-03 9.98779512e-01 2.55521181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.660385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.74, Y:2.09, Z:2.56 [[ 9.97895274e-01 -4.20306355e-02 -4.93806362e-02 5.47363652e+01] [ 4.20315813e-02 9.99115762e-01 -1.01971375e-03 2.08502738e+00] [ 4.93798312e-02 -1.05797869e-03 9.98779512e-01 2.55715464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.690385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.76, Y:2.09, Z:2.56 [[ 9.97876446e-01 -4.24756363e-02 -4.93803496e-02 5.47640965e+01] [ 4.24764489e-02 9.99096934e-01 -1.03341074e-03 2.08513596e+00] [ 4.93796506e-02 -1.06628566e-03 9.98779512e-01 2.55856942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.720385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.79, Y:2.08, Z:2.56 [[ 9.97849569e-01 -4.31027486e-02 -4.93800611e-02 5.47911281e+01] [ 4.31036553e-02 9.99070057e-01 -1.04701438e-03 2.08492791e+00] [ 4.93792697e-02 -1.08369829e-03 9.98779512e-01 2.55898852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.750385722999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.82, Y:2.09, Z:2.56 [[ 9.97744301e-01 -4.54745127e-02 -4.93799354e-02 5.48179065e+01] [ 4.54780288e-02 9.98964784e-01 -1.05291232e-03 2.08501080e+00] [ 4.93766971e-02 -1.19516486e-03 9.98779512e-01 2.55633707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.780385722999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.85, Y:2.09, Z:2.56 [[ 9.97711946e-01 -4.61830598e-02 -4.93760930e-02 5.48456652e+01] [ 4.61786838e-02 9.98932438e-01 -1.22998900e-03 2.08552115e+00] [ 4.93801856e-02 -1.05294826e-03 9.98779499e-01 2.55891873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.810385722999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.88, Y:2.08, Z:2.56 [[ 9.97628926e-01 -4.79453497e-02 -4.93737796e-02 5.48751302e+01] [ 4.79379256e-02 9.98849424e-01 -1.33519754e-03 2.08480721e+00] [ 4.93809878e-02 -1.03484489e-03 9.98779479e-01 2.56162189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.840385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:54.90, Y:2.08, Z:2.56 [[ 9.97569771e-01 -4.91551839e-02 -4.93793379e-02 5.49016821e+01] [ 4.91617897e-02 9.98790243e-01 -1.08148106e-03 2.08497907e+00] [ 4.93727613e-02 -1.34872381e-03 9.98779511e-01 2.56087762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.870385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.93, Y:2.08, Z:2.56 [[ 9.97475449e-01 -5.10335485e-02 -4.93792103e-02 5.49291087e+01] [ 5.10421657e-02 9.98695907e-01 -1.08727617e-03 2.08309282e+00] [ 4.93703028e-02 -1.43589055e-03 9.98779511e-01 2.56413925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.900385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.96, Y:2.08, Z:2.57 [[ 9.97437207e-01 -5.17758710e-02 -4.93789115e-02 5.49576287e+01] [ 5.17847334e-02 9.98657664e-01 -1.10068251e-03 2.08292810e+00] [ 4.93696172e-02 -1.45921208e-03 9.98779511e-01 2.56555845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.93038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.99, Y:2.08, Z:2.56 [[ 9.97428103e-01 -5.19512098e-02 -4.93786470e-02 5.49861791e+01] [ 5.19597059e-02 9.98648563e-01 -1.11242466e-03 2.08398802e+00] [ 4.93697066e-02 -1.45613636e-03 9.98779511e-01 2.56485367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.960385722999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.02, Y:2.08, Z:2.57 [[ 9.97467797e-01 -5.11878321e-02 -4.93740840e-02 5.50152591e+01] [ 5.11853646e-02 9.98688304e-01 -1.31519233e-03 2.08490766e+00] [ 4.93766421e-02 -1.21536850e-03 9.98779490e-01 2.56937104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.990385722999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.04, Y:2.09, Z:2.57 [[ 9.97475713e-01 -5.10358145e-02 -4.93715335e-02 5.50439195e+01] [ 5.10275777e-02 9.98696224e-01 -1.42806574e-03 2.08564121e+00] [ 4.93800466e-02 -1.09484887e-03 9.98779461e-01 2.56983471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.020385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.07, Y:2.09, Z:2.57 [[ 9.97495652e-01 -5.06448411e-02 -4.93712889e-02 5.50724201e+01] [ 5.06355867e-02 9.98716159e-01 -1.43896499e-03 2.08530431e+00] [ 4.93807802e-02 -1.06458286e-03 9.98779458e-01 2.57057858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.050385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.10, Y:2.08, Z:2.57 [[ 9.97570875e-01 -4.91435351e-02 -4.93686271e-02 5.51032867e+01] [ 4.91266353e-02 9.98791345e-01 -1.55639244e-03 2.08210219e+00] [ 4.93854441e-02 -8.72702770e-04 9.98779413e-01 2.57390574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.080385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.13, Y:2.08, Z:2.57 [[ 9.97493193e-01 -5.06860729e-02 -4.93786530e-02 5.51305872e+01] [ 5.06930907e-02 9.98713661e-01 -1.11101584e-03 2.08365427e+00] [ 4.93714483e-02 -1.39492580e-03 9.98779512e-01 2.57372122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.11038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.16, Y:2.08, Z:2.58 [[ 9.97557958e-01 -4.94019609e-02 -4.93717289e-02 5.51606468e+01] [ 4.93923703e-02 9.98778450e-01 -1.41501813e-03 2.08139366e+00] [ 4.93813235e-02 -1.02702412e-03 9.98779470e-01 2.57794183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.140385722999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.19, Y:2.08, Z:2.58 [[ 9.97463681e-01 -5.12638525e-02 -4.93783527e-02 5.51886858e+01] [ 5.12709272e-02 9.98684148e-01 -1.12415842e-03 2.08464346e+00] [ 4.93710069e-02 -1.41036673e-03 9.98779512e-01 2.57948603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.170385722999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.22, Y:2.08, Z:2.58 [[ 9.97507453e-01 -5.04113481e-02 -4.93718193e-02 5.52186849e+01] [ 5.04033403e-02 9.98727951e-01 -1.40798563e-03 2.08250636e+00] [ 4.93799944e-02 -1.08402845e-03 9.98779476e-01 2.58295900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.200385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.25, Y:2.08, Z:2.58 [[ 9.97367921e-01 -5.30945234e-02 -4.93781601e-02 5.52479922e+01] [ 5.31034841e-02 9.98588374e-01 -1.13131393e-03 2.08069566e+00] [ 4.93685231e-02 -1.49381612e-03 9.98779514e-01 2.57996482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.230385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.28, Y:2.08, Z:2.58 [[ 9.97347787e-01 -5.34727493e-02 -4.93766860e-02 5.52770142e+01] [ 5.34790104e-02 9.98568258e-01 -1.19525014e-03 2.07697499e+00] [ 4.93699047e-02 -1.44853623e-03 9.98779512e-01 2.58032192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.260385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.31, Y:2.08, Z:2.58 [[ 9.97296814e-01 -5.44141166e-02 -4.93778256e-02 5.53060988e+01] [ 5.44239579e-02 9.98517260e-01 -1.14615865e-03 2.07659835e+00] [ 4.93669783e-02 -1.54427633e-03 9.98779514e-01 2.58105873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.290385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:55.34, Y:2.08, Z:2.58 [[ 9.97312027e-01 -5.41346278e-02 -4.93777659e-02 5.53353723e+01] [ 5.41440002e-02 9.98532477e-01 -1.14872512e-03 2.07923969e+00] [ 4.93674887e-02 -1.52787238e-03 9.98779514e-01 2.58074889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.320385722999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.36, Y:2.08, Z:2.59 [[ 9.97325831e-01 -5.38797464e-02 -4.93777256e-02 5.53647712e+01] [ 5.38887214e-02 9.98546284e-01 -1.15045265e-03 2.08124104e+00] [ 4.93679306e-02 -1.51352635e-03 9.98779514e-01 2.58536701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.350385722999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.39, Y:2.08, Z:2.58 [[ 9.97429006e-01 -5.19347839e-02 -4.93776854e-02 5.53935294e+01] [ 5.19412938e-02 9.98649475e-01 -1.15217487e-03 2.08231957e+00] [ 4.93708376e-02 -1.41552823e-03 9.98779514e-01 2.58247454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.380385722999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.42, Y:2.08, Z:2.58 [[ 9.97497851e-01 -5.06025627e-02 -4.93702205e-02 5.54226762e+01] [ 5.05917088e-02 9.98718337e-01 -1.47024920e-03 2.08142521e+00] [ 4.93813429e-02 -1.03115341e-03 9.98779465e-01 2.58342735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.410385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.45, Y:2.08, Z:2.59 [[ 9.97552373e-01 -4.95147850e-02 -4.93715512e-02 5.54507675e+01] [ 4.95053909e-02 9.98772856e-01 -1.41383126e-03 2.08191252e+00] [ 4.93809707e-02 -1.03378721e-03 9.98779481e-01 2.58691395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.440385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.48, Y:2.08, Z:2.59 [[ 9.97672835e-01 -4.70276878e-02 -4.93691332e-02 5.54807398e+01] [ 4.70102154e-02 9.98893259e-01 -1.51563359e-03 2.08367458e+00] [ 4.93857711e-02 -8.08747123e-04 9.98779451e-01 2.59003356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.470385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.51, Y:2.08, Z:2.60 [[ 9.97705338e-01 -4.63274121e-02 -4.93743899e-02 5.55091843e+01] [ 4.63200048e-02 9.98925813e-01 -1.29483718e-03 2.08471641e+00] [ 4.93813390e-02 -9.95156011e-04 9.98779502e-01 2.59645928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.500385722999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.54, Y:2.09, Z:2.60 [[ 9.97767799e-01 -4.49590600e-02 -4.93771482e-02 5.55362983e+01] [ 4.49556908e-02 9.98988286e-01 -1.17936514e-03 2.08692659e+00] [ 4.93802158e-02 -1.04305125e-03 9.98779508e-01 2.59541933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.530385722999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.57, Y:2.09, Z:2.60 [[ 9.97861315e-01 -4.28405445e-02 -4.93708875e-02 5.55650917e+01] [ 4.28218466e-02 9.99081691e-01 -1.43686917e-03 2.08548870e+00] [ 4.93871061e-02 -6.80356408e-04 9.98779481e-01 2.59999305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.560385722999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.59, Y:2.08, Z:2.60 [[ 9.97878318e-01 -4.24358864e-02 -4.93767014e-02 5.55923234e+01] [ 4.24285521e-02 9.99098786e-01 -1.19713046e-03 2.08481494e+00] [ 4.93830037e-02 -9.00391415e-04 9.98779509e-01 2.60062531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.590385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.62, Y:2.08, Z:2.60 [[ 9.97877697e-01 -4.24506340e-02 -4.93765590e-02 5.56204332e+01] [ 4.24430286e-02 9.99098164e-01 -1.20297530e-03 2.08448918e+00] [ 4.93830965e-02 -8.95268489e-04 9.98779509e-01 2.60158238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.620385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.65, Y:2.09, Z:2.60 [[ 9.97895930e-01 -4.20202412e-02 -4.93762226e-02 5.56482834e+01] [ 4.20114341e-02 9.99116389e-01 -1.21662840e-03 2.08637751e+00] [ 4.93837162e-02 -8.60297391e-04 9.98779509e-01 2.59923112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.650385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.67, Y:2.09, Z:2.60 [[ 9.97845459e-01 -4.32065723e-02 -4.93723829e-02 5.56749682e+01] [ 4.31915716e-02 9.99065868e-01 -1.37117376e-03 2.08942969e+00] [ 4.93855063e-02 -7.64251304e-04 9.98779499e-01 2.60162667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.68038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.70, Y:2.09, Z:2.60 [[ 9.97848632e-01 -4.31362032e-02 -4.93697815e-02 5.57036517e+01] [ 4.31159586e-02 9.99068985e-01 -1.47544538e-03 2.09046133e+00] [ 4.93874626e-02 -6.56354303e-04 9.98779479e-01 2.60279250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.710385722999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.73, Y:2.09, Z:2.61 [[ 9.97747244e-01 -4.54203121e-02 -4.93703573e-02 5.57327677e+01] [ 4.54039983e-02 9.98967651e-01 -1.45245651e-03 2.08885025e+00] [ 4.93853609e-02 -7.92427135e-04 9.98779484e-01 2.60724032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.740385722999996 meters Centerline goodness : 0.999626 Centerline is valid? [True, True] Translation: X:55.76, Y:2.09, Z:2.61 [[ 9.97637235e-01 -4.77701702e-02 -4.93756897e-02 5.57581988e+01] [ 4.77672302e-02 9.98857724e-01 -1.24020525e-03 2.09116917e+00] [ 4.93785339e-02 -1.12126500e-03 9.98779507e-01 2.60630537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.770385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.79, Y:2.09, Z:2.61 [[ 9.97590173e-01 -4.87614414e-02 -4.93575554e-02 5.57899051e+01] [ 4.87247898e-02 9.98810346e-01 -1.94621950e-03 2.08847070e+00] [ 4.93937374e-02 -4.63407065e-04 9.98779277e-01 2.60753545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.800385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.82, Y:2.09, Z:2.61 [[ 9.97538567e-01 -4.97885293e-02 -4.93751914e-02 5.58168815e+01] [ 4.97875665e-02 9.98759048e-01 -1.25015015e-03 2.08907567e+00] [ 4.93761623e-02 -1.21119763e-03 9.98779519e-01 2.60812390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.830385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.84, Y:2.09, Z:2.61 [[ 9.97460613e-01 -5.13267993e-02 -4.93749493e-02 5.58446029e+01] [ 5.13272492e-02 9.98681094e-01 -1.25963963e-03 2.08953191e+00] [ 4.93744816e-02 -1.27783941e-03 9.98779519e-01 2.60972497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.86038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.87, Y:2.09, Z:2.61 [[ 9.97446253e-01 -5.16054466e-02 -4.93745954e-02 5.58729253e+01] [ 5.16055586e-02 9.98666734e-01 -1.27336280e-03 2.09033197e+00] [ 4.93744784e-02 -1.27789262e-03 9.98779519e-01 2.61113170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.890385722999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.90, Y:2.09, Z:2.61 [[ 9.97445152e-01 -5.16270628e-02 -4.93742363e-02 5.59008019e+01] [ 5.16265197e-02 9.98665633e-01 -1.28713920e-03 2.09042199e+00] [ 4.93748041e-02 -1.26516923e-03 9.98779519e-01 2.61088233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.920385722999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.93, Y:2.09, Z:2.61 [[ 9.97381820e-01 -5.28366100e-02 -4.93740682e-02 5.59279293e+01] [ 5.28372297e-02 9.98602300e-01 -1.29355285e-03 2.09330510e+00] [ 4.93734050e-02 -1.31862289e-03 9.98779519e-01 2.61398163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.950385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.96, Y:2.09, Z:2.62 [[ 9.97521504e-01 -5.01430348e-02 -4.93611631e-02 5.59588237e+01] [ 5.01162840e-02 9.98741803e-01 -1.78022608e-03 2.09180333e+00] [ 4.93883229e-02 -6.97984272e-04 9.98779408e-01 2.61722121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.980385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.99, Y:2.10, Z:2.62 [[ 9.97451176e-01 -5.15108840e-02 -4.93738732e-02 5.59860591e+01] [ 5.15097422e-02 9.98671651e-01 -1.29636476e-03 2.09511103e+00] [ 4.93750643e-02 -1.25017493e-03 9.98779525e-01 2.61915523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.010385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.01, Y:2.10, Z:2.62 [[ 9.97430580e-01 -5.19226958e-02 -4.93586091e-02 5.60145344e+01] [ 5.18937126e-02 9.98650864e-01 -1.86936315e-03 2.09585127e+00] [ 4.93890800e-02 -6.96841506e-04 9.98779372e-01 2.62341634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.040385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.04, Y:2.10, Z:2.63 [[ 9.97316746e-01 -5.40666845e-02 -4.93568863e-02 5.60427151e+01] [ 5.40371441e-02 9.98537054e-01 -1.93365419e-03 2.09506342e+00] [ 4.93892261e-02 -7.38639473e-04 9.98779334e-01 2.62639121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.070385722999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.07, Y:2.09, Z:2.63 [[ 9.97271900e-01 -5.48910399e-02 -4.93531315e-02 5.60718793e+01] [ 5.48555709e-02 9.98492146e-01 -2.07388733e-03 2.09471521e+00] [ 4.93925520e-02 -6.39064641e-04 9.98779239e-01 2.62926816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.100385722999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.10, Y:2.09, Z:2.63 [[ 9.97200832e-01 -5.61669377e-02 -4.93535720e-02 5.61017257e+01] [ 5.61338481e-02 9.98421133e-01 -2.05734901e-03 2.09391157e+00] [ 4.93912043e-02 -7.18815765e-04 9.98779251e-01 2.62965284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.130385722999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.13, Y:2.09, Z:2.63 [[ 9.97171111e-01 -5.66909074e-02 -4.93550040e-02 5.61320237e+01] [ 5.66611295e-02 9.98391458e-01 -2.00336869e-03 2.09417576e+00] [ 4.93891871e-02 -7.98808887e-04 9.98779290e-01 2.62912635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.160385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.16, Y:2.09, Z:2.63 [[ 9.97302785e-01 -5.43253745e-02 -4.93549312e-02 5.61646775e+01] [ 5.42925658e-02 9.98523056e-01 -2.00611982e-03 2.08944908e+00] [ 4.93910199e-02 -6.78896966e-04 9.98779288e-01 2.62871776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.190385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.19, Y:2.09, Z:2.63 [[ 9.97289965e-01 -5.45432737e-02 -4.93736491e-02 5.61921903e+01] [ 5.45461355e-02 9.98510418e-01 -1.29043254e-03 2.08958949e+00] [ 4.93704874e-02 -1.40620633e-03 9.98779544e-01 2.63089943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.220385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.22, Y:2.09, Z:2.63 [[ 9.97435359e-01 -5.18319261e-02 -4.93574260e-02 5.62239135e+01] [ 5.18012824e-02 9.98655604e-01 -1.90068022e-03 2.08596965e+00] [ 4.93895860e-02 -6.60972303e-04 9.98779371e-01 2.63194077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.250385722999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.25, Y:2.09, Z:2.64 [[ 9.97507753e-01 -5.04040029e-02 -4.93732645e-02 5.62512607e+01] [ 5.04013741e-02 9.98728198e-01 -1.29903370e-03 2.08603790e+00] [ 4.93759480e-02 -1.19268419e-03 9.98779552e-01 2.63511619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.280385722999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.28, Y:2.09, Z:2.64 [[ 9.97436386e-01 -5.17974359e-02 -4.93728805e-02 5.62772725e+01] [ 5.17957979e-02 9.98656833e-01 -1.31346990e-03 2.09011828e+00] [ 4.93745989e-02 -1.24720507e-03 9.98779552e-01 2.63584029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.310385722999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.31, Y:2.09, Z:2.64 [[ 9.97424462e-01 -5.20418359e-02 -4.93567618e-02 5.63063116e+01] [ 5.20109491e-02 9.98644687e-01 -1.91078267e-03 2.09147420e+00] [ 4.93893086e-02 -6.61230646e-04 9.98779385e-01 2.63954497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.340385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.34, Y:2.09, Z:2.64 [[ 9.97354572e-01 -5.33658940e-02 -4.93552307e-02 5.63351303e+01] [ 5.33338192e-02 9.98574801e-01 -1.96754175e-03 2.09178065e+00] [ 4.93898892e-02 -6.69966191e-04 9.98779350e-01 2.64021040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.370385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.36, Y:2.09, Z:2.64 [[ 9.97326723e-01 -5.38870355e-02 -4.93517447e-02 5.63633912e+01] [ 5.38492416e-02 9.98546877e-01 -2.09604175e-03 2.09185205e+00] [ 4.93929801e-02 -5.67115579e-04 9.98779261e-01 2.64145061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.400385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.39, Y:2.09, Z:2.64 [[ 9.97277894e-01 -5.47822794e-02 -4.93528596e-02 5.63922613e+01] [ 5.47476320e-02 9.98498110e-01 -2.05457738e-03 2.09203900e+00] [ 4.93912914e-02 -6.52967591e-04 9.98779292e-01 2.64419620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.43038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.42, Y:2.09, Z:2.64 [[ 9.97188580e-01 -5.63842387e-02 -4.93533515e-02 5.64222079e+01] [ 5.63524638e-02 9.98408861e-01 -2.03613725e-03 2.09331044e+00] [ 4.93896295e-02 -7.50770141e-04 9.98779305e-01 2.64485544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.460385722999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.46, Y:2.09, Z:2.65 [[ 9.97317128e-01 -5.40658003e-02 -4.93501373e-02 5.64562838e+01] [ 5.40252509e-02 9.98537242e-01 -2.15616514e-03 2.08850017e+00] [ 4.93945248e-02 -5.15773125e-04 9.98779212e-01 2.64504625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.490385722999996 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:56.48, Y:2.09, Z:2.64 [[ 9.97033901e-01 -5.90401214e-02 -4.93727146e-02 5.64815176e+01] [ 5.90481009e-02 9.98254294e-01 -1.29821418e-03 2.09223070e+00] [ 4.93631711e-02 -1.62100148e-03 9.98779580e-01 2.63960349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.520385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:56.52, Y:2.09, Z:2.64 [[ 9.97102233e-01 -5.78936189e-02 -4.93504479e-02 5.65155198e+01] [ 5.78593589e-02 9.98322485e-01 -2.12369921e-03 2.08823045e+00] [ 4.93906104e-02 -7.37840049e-04 9.98779267e-01 2.64286501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.550385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.54, Y:2.09, Z:2.65 [[ 9.96725281e-01 -6.40399408e-02 -4.93720658e-02 5.65421395e+01] [ 6.40535136e-02 9.97945607e-01 -1.30886306e-03 2.09355613e+00] [ 4.93544556e-02 -1.85787738e-03 9.98779598e-01 2.64928908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.580385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.58, Y:2.09, Z:2.65 [[ 9.96806039e-01 -6.27870406e-02 -4.93508726e-02 5.65755592e+01] [ 6.27601634e-02 9.98026438e-01 -2.09553567e-03 2.09012822e+00] [ 4.93850481e-02 -1.00842622e-03 9.98779305e-01 2.65146376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.61038572299999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:56.60, Y:2.10, Z:2.65 [[ 9.96550019e-01 -6.67120191e-02 -4.93717234e-02 5.66025782e+01] [ 6.67287726e-02 9.97770291e-01 -1.31069093e-03 2.09507808e+00] [ 4.93490777e-02 -1.98834544e-03 9.98779613e-01 2.65297575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.640385722999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.64, Y:2.09, Z:2.66 [[ 9.96492725e-01 -6.75772829e-02 -4.93513844e-02 5.66350938e+01] [ 6.75577323e-02 9.97713228e-01 -2.06600561e-03 2.09228736e+00] [ 4.93781441e-02 -1.27530805e-03 9.98779341e-01 2.65737702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.670385722999995 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:56.67, Y:2.09, Z:2.66 [[ 9.96386086e-01 -6.91174764e-02 -4.93714668e-02 5.66665099e+01] [ 6.91372480e-02 9.97606299e-01 -1.30921557e-03 2.09255431e+00] [ 4.93437760e-02 -2.10892317e-03 9.98779627e-01 2.65612649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.700385723 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:56.70, Y:2.10, Z:2.66 [[ 9.96192249e-01 -7.18571947e-02 -4.93715137e-02 5.66977759e+01] [ 7.18804091e-02 9.97412401e-01 -1.30744786e-03 2.09585086e+00] [ 4.93377095e-02 -2.24637518e-03 9.98779627e-01 2.65666898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.730385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.73, Y:2.09, Z:2.66 [[ 9.96102676e-01 -7.30926591e-02 -4.93651922e-02 5.67303726e+01] [ 7.31055965e-02 9.97323008e-01 -1.54583410e-03 2.09272901e+00] [ 4.93460311e-02 -2.06906234e-03 9.98779599e-01 2.65894631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.760385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.76, Y:2.10, Z:2.66 [[ 9.95874429e-01 -7.61351288e-02 -4.93716949e-02 5.67593634e+01] [ 7.61640170e-02 9.97094457e-01 -1.29867773e-03 2.09705281e+00] [ 4.93271183e-02 -2.46702667e-03 9.98779630e-01 2.66062411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.790385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.79, Y:2.10, Z:2.66 [[ 9.95811054e-01 -7.69673867e-02 -4.93595637e-02 5.67898814e+01] [ 7.69745873e-02 9.97031506e-01 -1.75780706e-03 2.09929846e+00] [ 4.93483339e-02 -2.04898835e-03 9.98779527e-01 2.66343441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.820385722999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.83, Y:2.10, Z:2.66 [[ 9.96089142e-01 -7.32860902e-02 -4.93514909e-02 5.68251908e+01] [ 7.32737924e-02 9.97309734e-01 -2.06077090e-03 2.09593413e+00] [ 4.93697481e-02 -1.56345938e-03 9.98779347e-01 2.66466100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.850385722999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.86, Y:2.10, Z:2.67 [[ 9.96121851e-01 -7.28264884e-02 -4.93716561e-02 5.68578517e+01] [ 7.28518064e-02 9.97341944e-01 -1.28890334e-03 2.09610554e+00] [ 4.93342898e-02 -2.31290955e-03 9.98779645e-01 2.66596340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.880385722999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.89, Y:2.10, Z:2.67 [[ 9.96130174e-01 -7.27124951e-02 -4.93717482e-02 5.68893537e+01] [ 7.27378483e-02 9.97350266e-01 -1.28536719e-03 2.09709740e+00] [ 4.93343885e-02 -2.31080169e-03 9.98779645e-01 2.66669202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.910385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.92, Y:2.10, Z:2.67 [[ 9.96137492e-01 -7.26121301e-02 -4.93718168e-02 5.69219141e+01] [ 7.26374909e-02 9.97357584e-01 -1.28272819e-03 2.09975480e+00] [ 4.93344975e-02 -2.30847125e-03 9.98779645e-01 2.66841216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.940385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.95, Y:2.10, Z:2.67 [[ 9.96189057e-01 -7.19011469e-02 -4.93719270e-02 5.69544811e+01] [ 7.19258474e-02 9.97409163e-01 -1.27847140e-03 2.10116703e+00] [ 4.93359359e-02 -2.27751847e-03 9.98779645e-01 2.67073447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.970385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:56.99, Y:2.10, Z:2.67 [[ 9.96251539e-01 -7.10301037e-02 -4.93720178e-02 5.69854230e+01] [ 7.10539113e-02 9.97471662e-01 -1.27495482e-03 2.10229683e+00] [ 4.93377488e-02 -2.23789927e-03 9.98779645e-01 2.67033928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.000385722999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.02, Y:2.11, Z:2.67 [[ 9.96353922e-01 -6.95791542e-02 -4.93720854e-02 5.70157228e+01] [ 6.96013147e-02 9.97574077e-01 -1.27233146e-03 2.10510931e+00] [ 4.93408402e-02 -2.16866961e-03 9.98779645e-01 2.67329107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.030385722999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.05, Y:2.10, Z:2.67 [[ 9.96536473e-01 -6.69196911e-02 -4.93640812e-02 5.70477470e+01] [ 6.69232889e-02 9.97756870e-01 -1.58178336e-03 2.10261720e+00] [ 4.93592036e-02 -1.72730185e-03 9.98779598e-01 2.67484382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.060385722999996 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:57.08, Y:2.10, Z:2.67 [[ 9.96745091e-01 -6.37307576e-02 -4.93722024e-02 5.70790061e+01] [ 6.37461254e-02 9.97965346e-01 -1.26488177e-03 2.10306817e+00] [ 4.93523590e-02 -1.88652191e-03 9.98779648e-01 2.67179611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.090385723 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:57.11, Y:2.10, Z:2.67 [[ 9.96861373e-01 -6.18852490e-02 -4.93722463e-02 5.71090702e+01] [ 6.18984423e-02 9.98081654e-01 -1.26316858e-03 2.10496862e+00] [ 4.93557047e-02 -1.79686117e-03 9.98779648e-01 2.67461631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.120385723 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:57.14, Y:2.11, Z:2.68 [[ 9.96994773e-01 -5.96976021e-02 -4.93722463e-02 5.71397712e+01] [ 5.97081176e-02 9.98215080e-01 -1.26316858e-03 2.10740274e+00] [ 4.93595289e-02 -1.68855141e-03 9.98779648e-01 2.67794138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.150385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.17, Y:2.11, Z:2.69 [[ 9.97223940e-01 -5.57386291e-02 -4.93722463e-02 5.71691322e+01] [ 5.57442994e-02 9.98444279e-01 -1.26316858e-03 2.10988716e+00] [ 4.93658441e-02 -1.49255933e-03 9.98779648e-01 2.68529259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.18038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.20, Y:2.11, Z:2.69 [[ 9.97273185e-01 -5.48505078e-02 -4.93722242e-02 5.71988848e+01] [ 5.48550486e-02 9.98493528e-01 -1.26403161e-03 2.11047618e+00] [ 4.93671791e-02 -1.44773092e-03 9.98779648e-01 2.68779518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.210385722999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.23, Y:2.11, Z:2.69 [[ 9.97251703e-01 -5.52397312e-02 -4.93721799e-02 5.72281434e+01] [ 5.52446627e-02 9.98472045e-01 -1.26575983e-03 2.11048844e+00] [ 4.93666616e-02 -1.46526828e-03 9.98779648e-01 2.69129402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.240385722999996 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:57.26, Y:2.11, Z:2.69 [[ 9.97179592e-01 -5.65265817e-02 -4.93721358e-02 5.72562714e+01] [ 5.65330030e-02 9.98399926e-01 -1.26747816e-03 2.11279325e+00] [ 4.93647829e-02 -1.52725175e-03 9.98779648e-01 2.68811951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.270385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.29, Y:2.11, Z:2.69 [[ 9.97068421e-01 -5.84620208e-02 -4.93635148e-02 5.72855647e+01] [ 5.84542608e-02 9.98288802e-01 -1.60205662e-03 2.11480731e+00] [ 4.93727035e-02 -1.28814770e-03 9.98779594e-01 2.69192686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.300385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.32, Y:2.11, Z:2.69 [[ 9.97039831e-01 -5.89542227e-02 -4.93556041e-02 5.73161670e+01] [ 5.89319389e-02 9.98260180e-01 -1.90783793e-03 2.11455460e+00] [ 4.93822093e-02 -1.00643104e-03 9.98779447e-01 2.68904438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.330385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.35, Y:2.11, Z:2.69 [[ 9.97033567e-01 -5.90557714e-02 -4.93607347e-02 5.73471301e+01] [ 5.90434409e-02 9.98253951e-01 -1.70914494e-03 2.11347305e+00] [ 4.93754833e-02 -1.21035274e-03 9.98779554e-01 2.69316177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.36038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.38, Y:2.12, Z:2.69 [[ 9.96900677e-01 -6.12489577e-02 -4.93721034e-02 5.73758955e+01] [ 6.12612341e-02 9.98120964e-01 -1.26595685e-03 2.11650907e+00] [ 4.93568699e-02 -1.76256274e-03 9.98779652e-01 2.69042202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.390385722999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.41, Y:2.12, Z:2.69 [[ 9.96831948e-01 -6.23672847e-02 -4.93598039e-02 5.74066413e+01] [ 6.23573640e-02 9.98052365e-01 -1.74237682e-03 2.11770246e+00] [ 4.93723363e-02 -1.34109038e-03 9.98779542e-01 2.69412641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.420385722999995 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:57.44, Y:2.12, Z:2.70 [[ 9.96682812e-01 -6.47082767e-02 -4.93579997e-02 5.74362064e+01] [ 6.46978734e-02 9.97903256e-01 -1.81007483e-03 2.12064426e+00] [ 4.93716354e-02 -1.38928714e-03 9.98779511e-01 2.69501563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.450385723 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:57.47, Y:2.12, Z:2.70 [[ 9.96546124e-01 -6.67841687e-02 -4.93527831e-02 5.74677505e+01] [ 6.67666526e-02 9.97766603e-01 -2.00524185e-03 2.12083387e+00] [ 4.93764771e-02 -1.29680413e-03 9.98779396e-01 2.70104035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.480385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.50, Y:2.12, Z:2.71 [[ 9.96471432e-01 -6.78760625e-02 -4.93712980e-02 5.74988802e+01] [ 6.78944968e-02 9.97691652e-01 -1.30550572e-03 2.12132297e+00] [ 4.93459445e-02 -2.05114028e-03 9.98779641e-01 2.70539638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.510385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.53, Y:2.12, Z:2.71 [[ 9.96364556e-01 -6.94272306e-02 -4.93713672e-02 5.75314786e+01] [ 6.94476941e-02 9.97584743e-01 -1.30288348e-03 2.12228950e+00] [ 4.93425783e-02 -2.13058069e-03 9.98779641e-01 2.70529814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.540385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.56, Y:2.12, Z:2.70 [[ 9.96047676e-01 -7.38341866e-02 -4.93714594e-02 5.75641795e+01] [ 7.38602209e-02 9.97267757e-01 -1.29938085e-03 2.12388157e+00] [ 4.93325033e-02 -2.35234163e-03 9.98779641e-01 2.70362612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.570385722999994 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:57.60, Y:2.13, Z:2.70 [[ 9.95711629e-01 -7.82355502e-02 -4.93715517e-02 5.75962965e+01] [ 7.82671503e-02 9.96931579e-01 -1.29586577e-03 2.12571637e+00] [ 4.93214418e-02 -2.57386204e-03 9.98779641e-01 2.70109125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.600385722999995 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:57.63, Y:2.13, Z:2.70 [[ 9.95496639e-01 -8.09251660e-02 -4.93716439e-02 5.76255123e+01] [ 8.09602359e-02 9.96716494e-01 -1.29234112e-03 2.12886614e+00] [ 4.93141148e-02 -2.71061870e-03 9.98779641e-01 2.70236361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.630385722999996 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:57.66, Y:2.13, Z:2.70 [[ 9.95428041e-01 -8.17723416e-02 -4.93588772e-02 5.76601078e+01] [ 8.17845556e-02 9.96648451e-01 -1.77551739e-03 2.12783319e+00] [ 4.93386367e-02 -2.26939404e-03 9.98779530e-01 2.70337785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.660385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.69, Y:2.13, Z:2.71 [[ 9.95364942e-01 -8.25292099e-02 -4.93716783e-02 5.76908285e+01] [ 8.25666952e-02 9.96584715e-01 -1.28323369e-03 2.12863945e+00] [ 4.93089642e-02 -2.79917049e-03 9.98779651e-01 2.71034332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.690385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:57.72, Y:2.13, Z:2.71 [[ 9.95308905e-01 -8.32022468e-02 -4.93717462e-02 5.77232071e+01] [ 8.32406862e-02 9.96528649e-01 -1.28061742e-03 2.13243725e+00] [ 4.93069098e-02 -2.83512811e-03 9.98779651e-01 2.71086660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.720385723 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:57.76, Y:2.14, Z:2.71 [[ 9.95333177e-01 -8.29113336e-02 -4.93718362e-02 5.77556327e+01] [ 8.29495886e-02 9.96552926e-01 -1.27713686e-03 2.13508943e+00] [ 4.93075370e-02 -2.82419681e-03 9.98779651e-01 2.70976771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.750385722999994 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:57.79, Y:2.14, Z:2.71 [[ 9.95342054e-01 -8.28046401e-02 -4.93719274e-02 5.77891317e+01] [ 8.28429392e-02 9.96561802e-01 -1.27360070e-03 2.13586743e+00] [ 4.93076370e-02 -2.82244725e-03 9.98779651e-01 2.71142320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.780385722999995 meters Centerline goodness : 0.999782 Centerline is valid? [True, True] Translation: X:57.82, Y:2.14, Z:2.71 [[ 9.95579540e-01 -7.98985492e-02 -4.93720633e-02 5.78214107e+01] [ 7.99335489e-02 9.96799388e-01 -1.26831054e-03 2.13876236e+00] [ 4.93153787e-02 -2.68378022e-03 9.98779651e-01 2.70940677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.810385722999996 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:57.85, Y:2.14, Z:2.71 [[ 9.95753217e-01 -7.77040612e-02 -4.93721528e-02 5.78518797e+01] [ 7.77365448e-02 9.96973134e-01 -1.26481876e-03 2.14237355e+00] [ 4.93209914e-02 -2.57857322e-03 9.98779651e-01 2.70994918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.840385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.88, Y:2.14, Z:2.72 [[ 9.95965020e-01 -7.49463617e-02 -4.93631559e-02 5.78836902e+01] [ 7.49580585e-02 9.97185377e-01 -1.61682803e-03 2.14410322e+00] [ 4.93453925e-02 -2.08986217e-03 9.98779588e-01 2.71521674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.870385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.92, Y:2.15, Z:2.72 [[ 9.96412661e-01 -6.87405133e-02 -4.93614256e-02 5.79158574e+01] [ 6.87412265e-02 9.97633101e-01 -1.68518291e-03 2.14700330e+00] [ 4.93604325e-02 -1.71402735e-03 9.98779560e-01 2.71750961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.900385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:57.95, Y:2.15, Z:2.72 [[ 9.96646392e-01 -6.52654424e-02 -4.93598207e-02 5.79468955e+01] [ 6.52587523e-02 9.97866843e-01 -1.74881067e-03 2.14911824e+00] [ 4.93686654e-02 -1.47821447e-03 9.98779530e-01 2.71796862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.93038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.98, Y:2.15, Z:2.72 [[ 9.96989046e-01 -5.98048754e-02 -4.93580618e-02 5.79800825e+01] [ 5.97881146e-02 9.98209436e-01 -1.81724307e-03 2.15262674e+00] [ 4.93783630e-02 -1.13925402e-03 9.98779495e-01 2.72456143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.960385722999995 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:58.01, Y:2.16, Z:2.72 [[ 9.97103990e-01 -5.78446204e-02 -4.93724003e-02 5.80087207e+01] [ 5.78534098e-02 9.98324303e-01 -1.25221195e-03 2.15896377e+00] [ 4.93621009e-02 -1.60777618e-03 9.98779654e-01 2.72460526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.990385722999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.04, Y:2.16, Z:2.73 [[ 9.97290560e-01 -5.45449112e-02 -4.93598087e-02 5.80406484e+01] [ 5.45253328e-02 9.98510864e-01 -1.74406500e-03 2.15896852e+00] [ 4.93814352e-02 -9.52020435e-04 9.98779539e-01 2.72716273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.020385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.07, Y:2.16, Z:2.73 [[ 9.97402302e-01 -5.24502017e-02 -4.93723000e-02 5.80667208e+01] [ 5.24524238e-02 9.98622640e-01 -1.25152503e-03 2.16491103e+00] [ 4.93699393e-02 -1.34142286e-03 9.98779660e-01 2.72812389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.050385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.10, Y:2.17, Z:2.73 [[ 9.97512435e-01 -5.03334239e-02 -4.93506645e-02 5.80964097e+01] [ 5.02917449e-02 9.98732390e-01 -2.08669613e-03 2.16617561e+00] [ 4.93931376e-02 -4.00425690e-04 9.98779334e-01 2.72844325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.080385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.13, Y:2.17, Z:2.73 [[ 9.97605399e-01 -4.84558294e-02 -4.93507898e-02 5.81253956e+01] [ 4.84120957e-02 9.98825278e-01 -2.08181488e-03 2.16730206e+00] [ 4.93936924e-02 -3.12345389e-04 9.98779338e-01 2.72914692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.11038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.16, Y:2.17, Z:2.73 [[ 9.97831321e-01 -4.35546595e-02 -4.93522685e-02 5.81593756e+01] [ 4.35078805e-02 9.99051037e-01 -2.02223614e-03 2.16822796e+00] [ 4.93935128e-02 -1.29362036e-04 9.98779387e-01 2.72996012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.140385722999994 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:58.19, Y:2.17, Z:2.73 [[ 9.97863507e-01 -4.27878988e-02 -4.93722394e-02 5.81872359e+01] [ 4.27806561e-02 9.99083763e-01 -1.20390486e-03 2.17187393e+00] [ 4.93785153e-02 -9.10844068e-04 9.98779722e-01 2.72939364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.170385722999995 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:58.22, Y:2.17, Z:2.73 [[ 9.97876087e-01 -4.24938889e-02 -4.93718957e-02 5.82159721e+01] [ 4.24855973e-02 9.99096337e-01 -1.21784257e-03 2.17498158e+00] [ 4.93790310e-02 -8.82338493e-04 9.98779722e-01 2.73432561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.200385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:58.24, Y:2.18, Z:2.74 [[ 9.97876803e-01 -4.24774378e-02 -4.93715883e-02 5.82432358e+01] [ 4.24685160e-02 9.99097048e-01 -1.23017721e-03 2.17699065e+00] [ 4.93792629e-02 -8.69172783e-04 9.98779722e-01 2.73526200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.230385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.27, Y:2.18, Z:2.74 [[ 9.97805929e-01 -4.41110458e-02 -4.93714790e-02 5.82708216e+01] [ 4.41039053e-02 9.99026187e-01 -1.23455077e-03 2.17740937e+00] [ 4.93778577e-02 -9.45632958e-04 9.98779722e-01 2.73702170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.260385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.30, Y:2.18, Z:2.74 [[ 9.97578741e-01 -4.89811010e-02 -4.93711263e-02 5.82984085e+01] [ 4.89792272e-02 9.98799017e-01 -1.24849671e-03 2.17947781e+00] [ 4.93729852e-02 -1.17268583e-03 9.98779722e-01 2.73879340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.290385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.33, Y:2.18, Z:2.74 [[ 9.97446154e-01 -5.16110230e-02 -4.93707704e-02 5.83278179e+01] [ 5.16116781e-02 9.98666431e-01 -1.26241537e-03 2.18170948e+00] [ 4.93700856e-02 -1.28891695e-03 9.98779722e-01 2.74084260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.320385722999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.36, Y:2.18, Z:2.74 [[ 9.97333574e-01 -5.37426573e-02 -4.93707254e-02 5.83576352e+01] [ 5.37458334e-02 9.98553848e-01 -1.26417168e-03 2.18387553e+00] [ 4.93672678e-02 -1.39266993e-03 9.98779722e-01 2.74173375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.350385722999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.39, Y:2.19, Z:2.74 [[ 9.97158927e-01 -5.68911674e-02 -4.93707254e-02 5.83884200e+01] [ 5.68981962e-02 9.98379185e-01 -1.26417168e-03 2.18506237e+00] [ 4.93626248e-02 -1.54852514e-03 9.98779722e-01 2.74222245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.380385722999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.42, Y:2.19, Z:2.74 [[ 9.97072392e-01 -5.83881003e-02 -4.93707973e-02 5.84190452e+01] [ 5.83971002e-02 9.98292636e-01 -1.26135758e-03 2.18538810e+00] [ 4.93601517e-02 -1.62544658e-03 9.98779722e-01 2.74479600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.410385723 meters Centerline goodness : 0.999775 Centerline is valid? [True, True] Translation: X:58.45, Y:2.19, Z:2.74 [[ 9.96809170e-01 -6.27216120e-02 -4.93708197e-02 5.84451396e+01] [ 6.27359593e-02 9.98029364e-01 -1.26048055e-03 2.19159398e+00] [ 4.93525872e-02 -1.84086717e-03 9.98779722e-01 2.74495182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.440385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.48, Y:2.19, Z:2.75 [[ 9.96825307e-01 -6.24809843e-02 -4.93501062e-02 5.84772978e+01] [ 6.24554203e-02 9.98045626e-01 -2.06138549e-03 2.19218790e+00] [ 4.93824550e-02 -1.02734040e-03 9.98779414e-01 2.75373490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.470385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:58.51, Y:2.19, Z:2.75 [[ 9.96804393e-01 -6.28140203e-02 -4.93497773e-02 5.85082416e+01] [ 6.27882251e-02 9.98024717e-01 -2.07430125e-03 2.19411431e+00] [ 4.93825928e-02 -1.03091232e-03 9.98779403e-01 2.75481584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.500385722999994 meters Centerline goodness : 0.999887 Centerline is valid? [True, True] Translation: X:58.54, Y:2.19, Z:2.75 [[ 9.96749151e-01 -6.36846097e-02 -4.93497676e-02 5.85418748e+01] [ 6.36598613e-02 9.97969497e-01 -2.07468438e-03 2.19403213e+00] [ 4.93816882e-02 -1.07365947e-03 9.98779403e-01 2.75284297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.530385722999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.58, Y:2.19, Z:2.76 [[ 9.96743864e-01 -6.37635959e-02 -4.93545717e-02 5.85754347e+01] [ 6.37485229e-02 9.97964222e-01 -1.88104803e-03 2.19142233e+00] [ 4.93740391e-02 -1.27135796e-03 9.98779549e-01 2.75547424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.560385722999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.61, Y:2.19, Z:2.75 [[ 9.96809180e-01 -6.27323254e-02 -4.93570135e-02 5.86089562e+01] [ 6.27209173e-02 9.98029515e-01 -1.78143208e-03 2.18606761e+00] [ 4.93715097e-02 -1.31996931e-03 9.98779611e-01 2.75481069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.590385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:58.64, Y:2.18, Z:2.75 [[ 9.96707031e-01 -6.43239622e-02 -4.93712607e-02 5.86400127e+01] [ 6.43436858e-02 9.97927087e-01 -1.19138470e-03 2.18464198e+00] [ 4.93455529e-02 -1.98926738e-03 9.98779785e-01 2.75441843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.620385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.67, Y:2.19, Z:2.76 [[ 9.96623949e-01 -6.55985963e-02 -4.93713231e-02 5.86702448e+01] [ 6.56200084e-02 9.97843976e-01 -1.18879262e-03 2.18731743e+00] [ 4.93428605e-02 -2.05496743e-03 9.98779785e-01 2.75727245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.650385723 meters Centerline goodness : 0.999820 Centerline is valid? [True, True] Translation: X:58.70, Y:2.19, Z:2.76 [[ 9.96683701e-01 -6.46892328e-02 -4.93649971e-02 5.87030553e+01] [ 6.46965773e-02 9.97903927e-01 -1.45073309e-03 2.18765679e+00] [ 4.93553713e-02 -1.74782432e-03 9.98779752e-01 2.75718783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.68038572299999 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:58.73, Y:2.19, Z:2.76 [[ 9.96706583e-01 -6.43307753e-02 -4.93714324e-02 5.87343939e+01] [ 6.43509705e-02 9.97926628e-01 -1.18201359e-03 2.18982535e+00] [ 4.93451069e-02 -1.99897887e-03 9.98779788e-01 2.76301367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.710385722999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.77, Y:2.19, Z:2.77 [[ 9.96726685e-01 -6.40185237e-02 -4.93714938e-02 5.87665310e+01] [ 6.40384639e-02 9.97946734e-01 -1.17944211e-03 2.19127663e+00] [ 4.93456271e-02 -1.98609320e-03 9.98779788e-01 2.76745819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.740385722999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.79, Y:2.19, Z:2.77 [[ 9.96592913e-01 -6.60682437e-02 -4.93715761e-02 5.87939307e+01] [ 6.60908637e-02 9.97812916e-01 -1.17598943e-03 2.19373240e+00] [ 4.93412918e-02 -2.09102737e-03 9.98779788e-01 2.76784912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.770385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.83, Y:2.19, Z:2.77 [[ 9.96775567e-01 -6.32665867e-02 -4.93539055e-02 5.88289136e+01] [ 6.32497333e-02 9.97995913e-01 -1.90473672e-03 2.18823545e+00] [ 4.93755022e-02 -1.22302634e-03 9.98779537e-01 2.76741511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.800385723 meters Centerline goodness : 0.999821 Centerline is valid? [True, True] Translation: X:58.86, Y:2.19, Z:2.77 [[ 9.96812819e-01 -6.26632029e-02 -4.93713198e-02 5.88616643e+01] [ 6.26818902e-02 9.98032870e-01 -1.17121916e-03 2.18736362e+00] [ 4.93475924e-02 -1.92720138e-03 9.98779806e-01 2.76612002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.830385723 meters Centerline goodness : 0.999753 Centerline is valid? [True, True] Translation: X:58.89, Y:2.19, Z:2.77 [[ 9.96857961e-01 -6.19408628e-02 -4.93713992e-02 5.88933749e+01] [ 6.19588320e-02 9.98078023e-01 -1.16786192e-03 2.18912655e+00] [ 4.93488469e-02 -1.89480178e-03 9.98779806e-01 2.76927849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.86038572299999 meters Centerline goodness : 0.999843 Centerline is valid? [True, True] Translation: X:58.92, Y:2.19, Z:2.77 [[ 9.96907414e-01 -6.11397088e-02 -4.93714829e-02 5.89241674e+01] [ 6.11568729e-02 9.98127487e-01 -1.16431311e-03 2.19126152e+00] [ 4.93502200e-02 -1.85869313e-03 9.98779806e-01 2.77185846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.890385722999994 meters Centerline goodness : 0.999865 Centerline is valid? [True, True] Translation: X:58.96, Y:2.19, Z:2.78 [[ 9.97050991e-01 -5.87517773e-02 -4.93715450e-02 5.89560929e+01] [ 5.87661496e-02 9.98271101e-01 -1.16167552e-03 2.19264667e+00] [ 4.93544371e-02 -1.74312586e-03 9.98779806e-01 2.77580929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.920385722999995 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:58.99, Y:2.19, Z:2.78 [[ 9.97107193e-01 -5.77900399e-02 -4.93716286e-02 5.89875061e+01] [ 5.78034116e-02 9.98327313e-01 -1.15811054e-03 2.19230436e+00] [ 4.93559726e-02 -1.69908822e-03 9.98779806e-01 2.77768767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.950385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.02, Y:2.19, Z:2.78 [[ 9.97147565e-01 -5.70891382e-02 -4.93716906e-02 5.90190236e+01] [ 5.71017831e-02 9.98367693e-01 -1.15546436e-03 2.19174821e+00] [ 4.93570653e-02 -1.66704309e-03 9.98779806e-01 2.77950402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.980385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:59.05, Y:2.19, Z:2.78 [[ 9.97212884e-01 -5.59365423e-02 -4.93717309e-02 5.90506697e+01] [ 5.59478623e-02 9.98433025e-01 -1.15373819e-03 2.19102265e+00] [ 4.93589028e-02 -1.61172022e-03 9.98779806e-01 2.78127778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.010385723 meters Centerline goodness : 0.999843 Centerline is valid? [True, True] Translation: X:59.08, Y:2.19, Z:2.78 [[ 9.97241067e-01 -5.54317862e-02 -4.93717721e-02 5.90807094e+01] [ 5.54425760e-02 9.98461213e-01 -1.15197047e-03 2.19122767e+00] [ 4.93596553e-02 -1.58850597e-03 9.98779806e-01 2.78223599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.040385723 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:59.11, Y:2.19, Z:2.78 [[ 9.97229754e-01 -5.56349302e-02 -4.93717721e-02 5.91112320e+01] [ 5.56459685e-02 9.98449898e-01 -1.15197047e-03 2.19070471e+00] [ 4.93593307e-02 -1.59856085e-03 9.98779806e-01 2.78247819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.070385722999994 meters Centerline goodness : 0.999821 Centerline is valid? [True, True] Translation: X:59.14, Y:2.19, Z:2.78 [[ 9.97206271e-01 -5.60542539e-02 -4.93717926e-02 5.91420579e+01] [ 5.60658488e-02 9.98426410e-01 -1.15109237e-03 2.19092334e+00] [ 4.93586253e-02 -1.62019493e-03 9.98779806e-01 2.78181953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.100385722999995 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:59.17, Y:2.19, Z:2.78 [[ 9.97161301e-01 -5.68486311e-02 -4.93717926e-02 5.91720389e+01] [ 5.68611979e-02 9.98381430e-01 -1.15109237e-03 2.19104692e+00] [ 4.93573189e-02 -1.65951451e-03 9.98779806e-01 2.78248739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.130385722999996 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:59.20, Y:2.19, Z:2.79 [[ 9.97079165e-01 -5.82714805e-02 -4.93717926e-02 5.92023251e+01] [ 5.82857884e-02 9.98299275e-01 -1.15109237e-03 2.19060877e+00] [ 4.93549006e-02 -1.72994363e-03 9.98779806e-01 2.78661345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.160385723 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:59.23, Y:2.19, Z:2.79 [[ 9.97026257e-01 -5.91698317e-02 -4.93717926e-02 5.92335312e+01] [ 5.91852390e-02 9.98246354e-01 -1.15109237e-03 2.18906346e+00] [ 4.93533219e-02 -1.77441202e-03 9.98779806e-01 2.78984217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.190385723 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:59.26, Y:2.19, Z:2.79 [[ 9.97008798e-01 -5.94632634e-02 -4.93718329e-02 5.92636816e+01] [ 5.94791154e-02 9.98228888e-01 -1.14936103e-03 2.18860240e+00] [ 4.93527347e-02 -1.79066988e-03 9.98779806e-01 2.78753358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.220385723 meters Centerline goodness : 0.999822 Centerline is valid? [True, True] Translation: X:59.30, Y:2.19, Z:2.79 [[ 9.96963822e-01 -6.02126120e-02 -4.93718529e-02 5.92951119e+01] [ 6.02294234e-02 9.98183900e-01 -1.14850204e-03 2.18817407e+00] [ 4.93513430e-02 -1.82862325e-03 9.98779806e-01 2.79157196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.250385722999994 meters Centerline goodness : 0.999822 Centerline is valid? [True, True] Translation: X:59.33, Y:2.19, Z:2.79 [[ 9.96928071e-01 -6.08016213e-02 -4.93718922e-02 5.93265738e+01] [ 6.08192374e-02 9.98148138e-01 -1.14680904e-03 2.18834228e+00] [ 4.93501901e-02 -1.85947471e-03 9.98779806e-01 2.79359527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.280385722999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.36, Y:2.19, Z:2.80 [[ 9.96873154e-01 -6.16954402e-02 -4.93719321e-02 5.93566231e+01] [ 6.17142351e-02 9.98093203e-01 -1.14509061e-03 2.18761654e+00] [ 4.93484367e-02 -1.90544093e-03 9.98779806e-01 2.79736952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.310385722999996 meters Centerline goodness : 0.999800 Centerline is valid? [True, True] Translation: X:59.39, Y:2.19, Z:2.80 [[ 9.96885857e-01 -6.14898248e-02 -4.93719519e-02 5.93881807e+01] [ 6.15084103e-02 9.98105909e-01 -1.14423684e-03 2.18745635e+00] [ 4.93487958e-02 -1.89611674e-03 9.98779806e-01 2.79577671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.340385723 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:59.42, Y:2.19, Z:2.80 [[ 9.96862943e-01 -6.18601553e-02 -4.93719913e-02 5.94182410e+01] [ 6.18792782e-02 9.98082987e-01 -1.14253424e-03 2.18590278e+00] [ 4.93480219e-02 -1.91615314e-03 9.98779806e-01 2.79900270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.370385723 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:59.45, Y:2.19, Z:2.80 [[ 9.96893079e-01 -6.13725401e-02 -4.93720518e-02 5.94495954e+01] [ 6.13911959e-02 9.98113131e-01 -1.13991327e-03 2.18557800e+00] [ 4.93488525e-02 -1.89463765e-03 9.98779806e-01 2.80202135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.400385723 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:59.48, Y:2.19, Z:2.80 [[ 9.96938564e-01 -6.06291673e-02 -4.93720904e-02 5.94799637e+01] [ 6.06469962e-02 9.98158628e-01 -1.13823630e-03 2.18546975e+00] [ 4.93501884e-02 -1.85951732e-03 9.98779806e-01 2.80301553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.43038572299999 meters Centerline goodness : 0.999758 Centerline is valid? [True, True] Translation: X:59.51, Y:2.19, Z:2.81 [[ 9.96983685e-01 -5.98826040e-02 -4.93721095e-02 5.95108857e+01] [ 5.98995603e-02 9.98203761e-01 -1.13740702e-03 2.18552557e+00] [ 4.93515363e-02 -1.82339141e-03 9.98779806e-01 2.80565297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.460385722999995 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:59.54, Y:2.19, Z:2.81 [[ 9.96935808e-01 -6.06744154e-02 -4.93721496e-02 5.95399901e+01] [ 6.06924267e-02 9.98155869e-01 -1.13566636e-03 2.18694455e+00] [ 4.93500068e-02 -1.86432911e-03 9.98779806e-01 2.80649720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.490385722999996 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:59.57, Y:2.19, Z:2.81 [[ 9.96891601e-01 -6.14052609e-02 -4.93612164e-02 5.95700597e+01] [ 6.14008348e-02 9.98111894e-01 -1.60743276e-03 2.18702260e+00] [ 4.93667221e-02 -1.42838368e-03 9.98779699e-01 2.80719973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.520385723 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:59.60, Y:2.18, Z:2.81 [[ 9.97134081e-01 -5.73391666e-02 -4.93542767e-02 5.96035544e+01] [ 5.73150472e-02 9.98354324e-01 -1.90496015e-03 2.18221412e+00] [ 4.93822844e-02 -9.29242009e-04 9.98779518e-01 2.80793339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.550385723 meters Centerline goodness : 0.999780 Centerline is valid? [True, True] Translation: X:59.63, Y:2.19, Z:2.81 [[ 9.97027709e-01 -5.91451401e-02 -4.93720517e-02 5.96292337e+01] [ 5.91617209e-02 9.98247775e-01 -1.12674026e-03 2.18579122e+00] [ 4.93521820e-02 -1.79754429e-03 9.98779821e-01 2.80878835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.580385723 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:59.66, Y:2.19, Z:2.81 [[ 9.97115738e-01 -5.76584713e-02 -4.93528794e-02 5.96589837e+01] [ 5.76331997e-02 9.98335948e-01 -1.93614154e-03 2.18634464e+00] [ 4.93823886e-02 -9.13807152e-04 9.98779528e-01 2.80824682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.61038572299999 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:59.69, Y:2.19, Z:2.81 [[ 9.97446516e-01 -5.16210395e-02 -4.93529677e-02 5.96895409e+01] [ 5.15885654e-02 9.98666554e-01 -1.93242323e-03 2.18604913e+00] [ 4.93869119e-02 -6.18559983e-04 9.98779530e-01 2.81055169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.640385722999994 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:59.72, Y:2.19, Z:2.81 [[ 9.97617631e-01 -4.82019578e-02 -4.93521481e-02 5.97189026e+01] [ 4.81635611e-02 9.98837524e-01 -1.96762495e-03 2.18717054e+00] [ 4.93896208e-02 -4.14037861e-04 9.98779502e-01 2.81358937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.670385722999995 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:59.75, Y:2.19, Z:2.82 [[ 9.97619262e-01 -4.81696990e-02 -4.93506747e-02 5.97473599e+01] [ 4.81280420e-02 9.98839106e-01 -2.03274674e-03 2.18774877e+00] [ 4.93913006e-02 -3.47244041e-04 9.98779445e-01 2.81502361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.700385723 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:59.78, Y:2.18, Z:2.82 [[ 9.98055912e-01 -3.80649889e-02 -4.93503020e-02 5.97824525e+01] [ 3.80101735e-02 9.99275251e-01 -2.04908434e-03 2.18343475e+00] [ 4.93925338e-02 1.69287200e-04 9.98779430e-01 2.81844766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.730385723 meters Centerline goodness : 0.999781 Centerline is valid? [True, True] Translation: X:59.81, Y:2.19, Z:2.82 [[ 9.98033608e-01 -3.86183090e-02 -4.93714804e-02 5.98060694e+01] [ 3.86112758e-02 9.99253705e-01 -1.09653240e-03 2.18831748e+00] [ 4.93769810e-02 -8.11919664e-04 9.98779883e-01 2.81799986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.760385723 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:59.84, Y:2.18, Z:2.82 [[ 9.98305964e-01 -3.08171528e-02 -4.93508475e-02 5.98397873e+01] [ 3.07562255e-02 9.99524927e-01 -1.99366575e-03 2.18164388e+00] [ 4.93888413e-02 4.72442614e-04 9.98779515e-01 2.81773791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.790385723 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:59.86, Y:2.19, Z:2.82 [[ 9.98275811e-01 -3.17480048e-02 -4.93707243e-02 5.98619079e+01] [ 3.17318034e-02 9.99495801e-01 -1.11211055e-03 2.18639295e+00] [ 4.93811390e-02 -4.56429055e-04 9.98779903e-01 2.82029971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.820385722999994 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:59.89, Y:2.19, Z:2.82 [[ 9.98384914e-01 -2.81412195e-02 -4.93521555e-02 5.98923774e+01] [ 2.80809205e-02 9.99603819e-01 -1.91487309e-03 2.18576768e+00] [ 4.93864900e-02 5.25926449e-04 9.98779604e-01 2.82001164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.850385722999995 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:59.92, Y:2.19, Z:2.82 [[ 9.98409248e-01 -2.72560074e-02 -4.93567032e-02 5.99183675e+01] [ 2.72042569e-02 9.99628416e-01 -1.72008631e-03 2.18777965e+00] [ 4.93852457e-02 3.74637648e-04 9.98779734e-01 2.82225723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.880385722999996 meters Centerline goodness : 0.994550 Centerline is valid? [True, True] Translation: X:59.95, Y:2.19, Z:2.82 [[ 9.98441111e-01 -2.60768534e-02 -4.93492266e-02 5.99474794e+01] [ 2.60097100e-02 9.99659685e-01 -2.00236813e-03 2.18679974e+00] [ 4.93846478e-02 7.15687588e-04 9.98779577e-01 2.82150775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.910385723 meters Centerline goodness : 0.999736 Centerline is valid? [True, True] Translation: X:59.98, Y:2.18, Z:2.82 [[ 9.98442862e-01 -2.60018346e-02 -4.93533763e-02 5.99778958e+01] [ 2.59423406e-02 9.99661737e-01 -1.84575752e-03 2.18389579e+00] [ 4.93846750e-02 5.62541320e-04 9.98779674e-01 2.82161466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.940385723 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:60.01, Y:2.18, Z:2.82 [[ 9.98417948e-01 -2.69302255e-02 -4.93595331e-02 6.00060845e+01] [ 2.68842387e-02 9.99637280e-01 -1.59545463e-03 2.18350764e+00] [ 4.93845954e-02 2.65937065e-04 9.98779801e-01 2.82469845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.970385723 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:60.04, Y:2.18, Z:2.82 [[ 9.98424283e-01 -2.66953266e-02 -4.93590075e-02 6.00355210e+01] [ 2.66480011e-02 9.99643572e-01 -1.61673143e-03 2.18319868e+00] [ 4.93845738e-02 2.98865031e-04 9.98779793e-01 2.82476961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.000385723 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:60.06, Y:2.19, Z:2.83 [[ 9.98366113e-01 -2.87845587e-02 -4.93614547e-02 6.00602072e+01] [ 2.87447030e-02 9.99585634e-01 -1.51725408e-03 2.18558347e+00] [ 4.93846745e-02 9.58947051e-05 9.98779828e-01 2.83044935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.030385723 meters Centerline goodness : 0.999759 Centerline is valid? [True, True] Translation: X:60.09, Y:2.18, Z:2.83 [[ 9.98381664e-01 -2.82584764e-02 -4.93508988e-02 6.00909675e+01] [ 2.81969970e-02 9.99600500e-01 -1.94165316e-03 2.18186183e+00] [ 4.93860512e-02 5.46963772e-04 9.98779615e-01 2.82788614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.060385723 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:60.12, Y:2.18, Z:2.83 [[ 9.98281344e-01 -3.15898564e-02 -4.93602943e-02 6.01197247e+01] [ 3.15512176e-02 9.99500916e-01 -1.56195226e-03 2.17868962e+00] [ 4.93850012e-02 1.89041199e-06 9.98779816e-01 2.82811167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.090385723 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:60.15, Y:2.18, Z:2.83 [[ 9.98156551e-01 -3.53122463e-02 -4.93613646e-02 6.01467550e+01] [ 3.52802913e-02 9.99376303e-01 -1.51876360e-03 2.17999900e+00] [ 4.93842090e-02 -2.25519480e-04 9.98779830e-01 2.83185032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.120385723 meters Centerline goodness : 0.999716 Centerline is valid? [True, True] Translation: X:60.18, Y:2.18, Z:2.83 [[ 9.98104562e-01 -3.67616660e-02 -4.93544616e-02 6.01753054e+01] [ 3.67179042e-02 9.99324061e-01 -1.79334588e-03 2.17956278e+00] [ 4.93870273e-02 -2.22456841e-05 9.98779716e-01 2.83076587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.150385723 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:60.21, Y:2.18, Z:2.84 [[ 9.97930497e-01 -4.12143601e-02 -4.93568538e-02 6.02063367e+01] [ 4.11807300e-02 9.99150270e-01 -1.69850015e-03 2.17706744e+00] [ 4.93849164e-02 -3.37566168e-04 9.98779764e-01 2.83586090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.180385723 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:60.23, Y:2.18, Z:2.84 [[ 9.97816314e-01 -4.38789527e-02 -4.93684278e-02 6.02341496e+01] [ 4.38714206e-02 9.99036420e-01 -1.23667277e-03 2.17676213e+00] [ 4.93751213e-02 -9.31890799e-04 9.98779870e-01 2.83680751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.210385723 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:60.26, Y:2.18, Z:2.84 [[ 9.97705168e-01 -4.63377854e-02 -4.93680747e-02 6.02614363e+01] [ 4.63325709e-02 9.98925287e-01 -1.25060940e-03 2.17607263e+00] [ 4.93729687e-02 -1.03961036e-03 9.98779870e-01 2.83683807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.240385723 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:60.29, Y:2.18, Z:2.84 [[ 9.97371740e-01 -5.30323448e-02 -4.93678296e-02 6.02866546e+01] [ 5.30348437e-02 9.98591867e-01 -1.26021184e-03 2.17921973e+00] [ 4.93651451e-02 -1.36131545e-03 9.98779870e-01 2.83846645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.27038572299999 meters Centerline goodness : 0.999718 Centerline is valid? [True, True] Translation: X:60.32, Y:2.18, Z:2.84 [[ 9.97345233e-01 -5.35450124e-02 -4.93499540e-02 6.03170900e+01] [ 5.35142158e-02 9.98565191e-01 -1.94605002e-03 2.17863463e+00] [ 4.93833475e-02 -7.00040374e-04 9.98779653e-01 2.83566343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.30038572299999 meters Centerline goodness : 0.999696 Centerline is valid? [True, True] Translation: X:60.35, Y:2.18, Z:2.84 [[ 9.97081080e-01 -5.82514256e-02 -4.93567857e-02 6.03460887e+01] [ 5.82394211e-02 9.98301227e-01 -1.68253900e-03 2.18002808e+00] [ 4.93709500e-02 -1.19688282e-03 9.98779794e-01 2.83785729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.33038572299999 meters Centerline goodness : 0.999718 Centerline is valid? [True, True] Translation: X:60.38, Y:2.18, Z:2.84 [[ 9.96901680e-01 -6.12477640e-02 -4.93533327e-02 6.03755785e+01] [ 6.12328197e-02 9.98121858e-01 -1.81611298e-03 2.18028328e+00] [ 4.93718730e-02 -1.21155764e-03 9.98779731e-01 2.84069794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.360385723 meters Centerline goodness : 0.999718 Centerline is valid? [True, True] Translation: X:60.41, Y:2.18, Z:2.84 [[ 9.96938785e-01 -6.06455275e-02 -4.93475257e-02 6.04088719e+01] [ 6.06187253e-02 9.98158908e-01 -2.04093523e-03 2.17726122e+00] [ 4.93804460e-02 -9.56696616e-04 9.98779583e-01 2.84386800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.390385723 meters Centerline goodness : 0.999696 Centerline is valid? [True, True] Translation: X:60.44, Y:2.18, Z:2.84 [[ 9.96861008e-01 -6.18948927e-02 -4.93675336e-02 6.04381189e+01] [ 6.19085601e-02 9.98081038e-01 -1.25363986e-03 2.17800124e+00] [ 4.93503931e-02 -1.80656823e-03 9.98779893e-01 2.84377454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.420385723 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:60.47, Y:2.18, Z:2.85 [[ 9.96717085e-01 -6.41708686e-02 -4.93675119e-02 6.04687345e+01] [ 6.41872793e-02 9.97937082e-01 -1.25449631e-03 2.18082311e+00] [ 4.93461729e-02 -1.91838837e-03 9.98779893e-01 2.84682948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.450385723 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:60.50, Y:2.18, Z:2.85 [[ 9.96659985e-01 -6.50516990e-02 -4.93675119e-02 6.04995978e+01] [ 6.50691879e-02 9.97879966e-01 -1.25449631e-03 2.18210567e+00] [ 4.93444582e-02 -1.96199763e-03 9.98779893e-01 2.84911576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.480385723 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:60.53, Y:2.18, Z:2.85 [[ 9.96568793e-01 -6.64340601e-02 -4.93675567e-02 6.05301834e+01] [ 6.64533284e-02 9.97788748e-01 -1.25273116e-03 2.18232954e+00] [ 4.93416166e-02 -2.03220568e-03 9.98779893e-01 2.85410205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.510385723 meters Centerline goodness : 0.999025 Centerline is valid? [True, True] Translation: X:60.55, Y:2.19, Z:2.85 [[ 9.96113701e-01 -7.29406377e-02 -4.93675792e-02 6.05487056e+01] [ 7.29679164e-02 9.97333503e-01 -1.25184228e-03 2.19341613e+00] [ 4.93272509e-02 -2.35527215e-03 9.98779893e-01 2.85294576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.540385723 meters Centerline goodness : 0.999696 Centerline is valid? [True, True] Translation: X:60.58, Y:2.19, Z:2.86 [[ 9.96421842e-01 -6.86431008e-02 -4.93116457e-02 6.05837599e+01] [ 6.85604244e-02 9.97641280e-01 -3.36810040e-03 2.19135461e+00] [ 4.94265302e-02 -2.47785513e-05 9.98777762e-01 2.85620216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.570385723 meters Centerline goodness : 0.999761 Centerline is valid? [True, True] Translation: X:60.62, Y:2.19, Z:2.86 [[ 9.96394160e-01 -6.90320767e-02 -4.93279873e-02 6.06164720e+01] [ 6.89832757e-02 9.97614181e-01 -2.69310975e-03 2.19393628e+00] [ 4.93962106e-02 -7.19407322e-04 9.98779003e-01 2.85724047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.600385723 meters Centerline goodness : 0.999717 Centerline is valid? [True, True] Translation: X:60.65, Y:2.19, Z:2.86 [[ 9.96354659e-01 -6.95977752e-02 -4.93309466e-02 6.06486028e+01] [ 6.95563140e-02 9.97574745e-01 -2.55874479e-03 2.19474613e+00] [ 4.93893894e-02 -8.81861515e-04 9.98779210e-01 2.85683983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.630385723 meters Centerline goodness : 0.999696 Centerline is valid? [True, True] Translation: X:60.68, Y:2.20, Z:2.86 [[ 9.96140448e-01 -7.25991982e-02 -4.93311725e-02 6.06785180e+01] [ 7.25619092e-02 9.97360654e-01 -2.54871428e-03 2.19584896e+00] [ 4.93860050e-02 -1.04068668e-03 9.98779225e-01 2.85607386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.66038572299999 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:60.71, Y:2.20, Z:2.86 [[ 9.96088481e-01 -7.33117669e-02 -4.93266898e-02 6.07112927e+01] [ 7.32654225e-02 9.97308688e-01 -2.74939748e-03 2.19673060e+00] [ 4.93954994e-02 -8.75297609e-04 9.98778914e-01 2.85758623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.69038572299999 meters Centerline goodness : 0.999609 Centerline is valid? [True, True] Translation: X:60.74, Y:2.20, Z:2.86 [[ 9.96099901e-01 -7.31562415e-02 -4.93269790e-02 6.07421672e+01] [ 7.31103506e-02 9.97320104e-01 -2.73637871e-03 2.19729742e+00] [ 4.93949710e-02 -8.80606171e-04 9.98778935e-01 2.85796899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.72038572299999 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:60.78, Y:2.19, Z:2.86 [[ 9.96181044e-01 -7.20439918e-02 -4.93253501e-02 6.07814390e+01] [ 7.19932516e-02 9.97401170e-01 -2.80685664e-03 2.19258960e+00] [ 4.93993791e-02 -7.54954963e-04 9.98778820e-01 2.86072623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.750385723 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:60.81, Y:2.19, Z:2.86 [[ 9.96154022e-01 -7.23908875e-02 -4.93631782e-02 6.08136165e+01] [ 7.24260699e-02 9.97373201e-01 -1.07793566e-03 2.19258362e+00] [ 4.93115437e-02 -2.50139105e-03 9.98780314e-01 2.86283804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.780385723 meters Centerline goodness : 0.999739 Centerline is valid? [True, True] Translation: X:60.85, Y:2.19, Z:2.86 [[ 9.96225892e-01 -7.13949654e-02 -4.93632539e-02 6.08455563e+01] [ 7.14291009e-02 9.97445101e-01 -1.07445715e-03 2.19393977e+00] [ 4.93138466e-02 -2.45557081e-03 9.98780314e-01 2.86393630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.810385723 meters Centerline goodness : 0.995575 Centerline is valid? [True, True] Translation: X:60.87, Y:2.19, Z:2.86 [[ 9.96690722e-01 -6.45822451e-02 -4.93633297e-02 6.08727088e+01] [ 6.46082169e-02 9.97910132e-01 -1.07096310e-03 2.19219894e+00] [ 4.93293320e-02 -2.12185772e-03 9.98780314e-01 2.86179042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.840385723 meters Centerline goodness : 0.999193 Centerline is valid? [True, True] Translation: X:60.90, Y:2.20, Z:2.87 [[ 9.96703472e-01 -6.43982922e-02 -4.93462240e-02 6.09022756e+01] [ 6.43848120e-02 9.97923404e-01 -1.86432362e-03 2.19747067e+00] [ 4.93638111e-02 -1.31896953e-03 9.98779993e-01 2.86546380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.870385723 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:60.94, Y:2.19, Z:2.87 [[ 9.97008580e-01 -5.95005492e-02 -4.93312801e-02 6.09420647e+01] [ 5.94386983e-02 9.98228249e-01 -2.72112984e-03 2.19369690e+00] [ 4.94057861e-02 -2.19197279e-04 9.98778764e-01 2.87394696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.900385723 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:60.96, Y:2.21, Z:2.88 [[ 9.96800744e-01 -6.28619555e-02 -4.93624568e-02 6.09585855e+01] [ 6.28993100e-02 9.98019559e-01 -7.97816068e-04 2.20562404e+00] [ 4.93148497e-02 -2.30960082e-03 9.98780612e-01 2.87718929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.930385723 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:60.99, Y:2.21, Z:2.88 [[ 9.97181587e-01 -5.65296624e-02 -4.93282808e-02 6.09901382e+01] [ 5.64612969e-02 9.98400920e-01 -2.77936594e-03 2.20849901e+00] [ 4.94065175e-02 -1.36061624e-05 9.98778752e-01 2.88200574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.960385723 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:61.02, Y:2.21, Z:2.88 [[ 9.97459735e-01 -5.13863809e-02 -4.93306824e-02 6.10210414e+01] [ 5.13192289e-02 9.98678843e-01 -2.62771582e-03 2.20835397e+00] [ 4.94005376e-02 8.94281418e-05 9.98779044e-01 2.88239552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.990385723 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:61.05, Y:2.21, Z:2.88 [[ 9.97590258e-01 -4.87881089e-02 -4.93294868e-02 6.10509710e+01] [ 4.87139177e-02 9.98809107e-01 -2.70584104e-03 2.20768429e+00] [ 4.94027536e-02 2.96288096e-04 9.98778895e-01 2.88218809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.02038572299999 meters Centerline goodness : 0.999782 Centerline is valid? [True, True] Translation: X:61.08, Y:2.21, Z:2.88 [[ 9.97592782e-01 -4.87364743e-02 -4.93294716e-02 6.10776960e+01] [ 4.86621721e-02 9.98811627e-01 -2.70681157e-03 2.21013263e+00] [ 4.94027702e-02 2.99816454e-04 9.98778893e-01 2.87730940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.05038572299999 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:61.11, Y:2.21, Z:2.88 [[ 9.97873835e-01 -4.25973592e-02 -4.93282236e-02 6.11096547e+01] [ 4.25116335e-02 9.99092087e-01 -2.78618822e-03 2.20778223e+00] [ 4.94021221e-02 6.83240954e-04 9.98778736e-01 2.88347621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.08038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.14, Y:2.21, Z:2.89 [[ 9.97879641e-01 -4.24566884e-02 -4.93320508e-02 6.11370993e+01] [ 4.23842458e-02 9.99098221e-01 -2.51410361e-03 2.20827917e+00] [ 4.93943047e-02 4.17871036e-04 9.98779269e-01 2.88700312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.110385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.17, Y:2.21, Z:2.89 [[ 9.97971580e-01 -4.02359941e-02 -4.93334536e-02 6.11655865e+01] [ 4.01658172e-02 9.99190113e-01 -2.41344196e-03 2.20752289e+00] [ 4.93906063e-02 4.27028002e-04 9.98779448e-01 2.88805592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.140385723 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:61.19, Y:2.21, Z:2.89 [[ 9.98074782e-01 -3.75850074e-02 -4.93365703e-02 6.11931799e+01] [ 3.75233548e-02 9.99293383e-01 -2.17556598e-03 2.20837249e+00] [ 4.93834769e-02 3.20103906e-04 9.98779840e-01 2.88807012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.170385723 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:61.22, Y:2.21, Z:2.89 [[ 9.98035832e-01 -3.86084165e-02 -4.93342445e-02 6.12231218e+01] [ 3.85393473e-02 9.99254318e-01 -2.35084739e-03 2.20924795e+00] [ 4.93882193e-02 4.44920345e-04 9.98779558e-01 2.88746059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.200385723 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:61.25, Y:2.21, Z:2.89 [[ 9.98146046e-01 -3.56368447e-02 -4.93405090e-02 6.12495247e+01] [ 3.55898319e-02 9.99364803e-01 -1.83132193e-03 2.20892718e+00] [ 4.93744306e-02 7.19063289e-05 9.98780336e-01 2.89034443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.230385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:61.28, Y:2.21, Z:2.89 [[ 9.98202450e-01 -3.40265161e-02 -4.93362464e-02 6.12782093e+01] [ 3.39605872e-02 9.99420808e-01 -2.17419958e-03 2.20819449e+00] [ 4.93816517e-02 4.94803446e-04 9.98779859e-01 2.89233121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.260385723 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:61.31, Y:2.21, Z:2.89 [[ 9.98254699e-01 -3.24551276e-02 -4.93378293e-02 6.13086305e+01] [ 3.23941796e-02 9.99473100e-01 -2.03464548e-03 2.20697338e+00] [ 4.93778678e-02 4.32835911e-04 9.98780075e-01 2.89292846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.290385723 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:61.34, Y:2.21, Z:2.89 [[ 9.98279368e-01 -3.16838954e-02 -4.93399857e-02 6.13360260e+01] [ 3.16315773e-02 9.99497901e-01 -1.84102203e-03 2.20638134e+00] [ 4.93735429e-02 2.77152737e-04 9.98780344e-01 2.89357859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.320385723 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:61.36, Y:2.21, Z:2.89 [[ 9.98306549e-01 -3.08153426e-02 -4.93401382e-02 6.13647887e+01] [ 3.07626406e-02 9.99525048e-01 -1.82734026e-03 2.20548155e+00] [ 4.93730141e-02 3.06412818e-04 9.98780362e-01 2.89303083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.350385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:61.39, Y:2.21, Z:2.89 [[ 9.98325196e-01 -3.02042469e-02 -4.93407175e-02 6.13939712e+01] [ 3.01533300e-02 9.99543707e-01 -1.77613669e-03 2.20600613e+00] [ 4.93718506e-02 2.85375075e-04 9.98780426e-01 2.89471090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.380385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.42, Y:2.21, Z:2.90 [[ 9.98289730e-01 -3.13515213e-02 -4.93426466e-02 6.14242491e+01] [ 3.13114271e-02 9.99508420e-01 -1.58551291e-03 2.20879770e+00] [ 4.93680990e-02 3.78125766e-05 9.98780651e-01 2.89906195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.41038572299999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:61.46, Y:2.21, Z:2.90 [[ 9.98399698e-01 -2.76262855e-02 -4.93440040e-02 6.14558932e+01] [ 2.75883146e-02 9.99618318e-01 -1.45055289e-03 2.20606055e+00] [ 4.93652436e-02 8.69136665e-05 9.98780789e-01 2.89704595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.44038572299999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:61.48, Y:2.21, Z:2.90 [[ 9.98356452e-01 -2.91371947e-02 -4.93499617e-02 6.14827109e+01] [ 2.91309037e-02 9.99575246e-01 -8.46868373e-04 2.20601085e+00] [ 4.93536755e-02 -5.92132479e-04 9.98781189e-01 2.89652241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.47038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.51, Y:2.21, Z:2.90 [[ 9.98301907e-01 -3.09508873e-02 -4.93492079e-02 6.15126778e+01] [ 3.09430854e-02 9.99520723e-01 -9.22246145e-04 2.20722362e+00] [ 4.93541002e-02 -6.06336668e-04 9.98781160e-01 2.90225282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.500385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.54, Y:2.21, Z:2.91 [[ 9.98177222e-01 -3.47377765e-02 -4.93509934e-02 6.15368279e+01] [ 3.47435406e-02 9.99395986e-01 -7.41293086e-04 2.21080708e+00] [ 4.93469355e-02 -9.74686368e-04 9.98781222e-01 2.90723967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.530385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.57, Y:2.21, Z:2.91 [[ 9.98088334e-01 -3.72094593e-02 -4.93470767e-02 6.15661075e+01] [ 3.71978678e-02 9.99307254e-01 -1.15355787e-03 2.21211125e+00] [ 4.93558150e-02 -6.84253383e-04 9.98781025e-01 2.90898804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.560385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.59, Y:2.21, Z:2.91 [[ 9.98089979e-01 -3.71650311e-02 -4.93472726e-02 6.15945806e+01] [ 3.71544109e-02 9.99308894e-01 -1.13280660e-03 2.21233457e+00] [ 4.93552692e-02 -7.02825930e-04 9.98781039e-01 2.91038647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.590385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.62, Y:2.21, Z:2.91 [[ 9.97774260e-01 -4.48484417e-02 -4.93471807e-02 6.16213115e+01] [ 4.48467298e-02 9.98993226e-01 -1.14245232e-03 2.21428510e+00] [ 4.93487364e-02 -1.07315016e-03 9.98781032e-01 2.90737764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.620385723 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:61.66, Y:2.21, Z:2.91 [[ 9.97811298e-01 -4.40183079e-02 -4.93457411e-02 6.16553582e+01] [ 4.40087689e-02 9.99030324e-01 -1.28030528e-03 2.21180693e+00] [ 4.93542486e-02 -8.94142241e-04 9.98780936e-01 2.91134673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.650385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.68, Y:2.21, Z:2.91 [[ 9.97699595e-01 -4.64743374e-02 -4.93523404e-02 6.16818671e+01] [ 4.65003201e-02 9.98918081e-01 -6.22167511e-04 2.21240649e+00] [ 4.93278600e-02 -1.67416335e-03 9.98781237e-01 2.90976503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.680385723 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:61.71, Y:2.21, Z:2.91 [[ 9.97403779e-01 -5.24466446e-02 -4.93462450e-02 6.17114396e+01] [ 5.24512922e-02 9.98622761e-01 -1.20163177e-03 2.21232394e+00] [ 4.93413050e-02 -1.38976225e-03 9.98781009e-01 2.91013736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.710385723 meters Centerline goodness : 0.999471 Centerline is valid? [True, True] Translation: X:61.74, Y:2.21, Z:2.91 [[ 9.97322975e-01 -5.39586088e-02 -4.93492855e-02 6.17379281e+01] [ 5.39780665e-02 9.98541680e-01 -9.39305103e-04 2.21310536e+00] [ 4.93280021e-02 -1.72698845e-03 9.98781140e-01 2.91456297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.740385723 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:61.77, Y:2.22, Z:2.91 [[ 9.97223835e-01 -5.57655287e-02 -4.93439863e-02 6.17693355e+01] [ 5.57652977e-02 9.98442948e-01 -1.38243621e-03 2.21811025e+00] [ 4.93442474e-02 -1.37308374e-03 9.98780887e-01 2.91413108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.77038572299999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:61.80, Y:2.22, Z:2.92 [[ 9.97040856e-01 -5.89415095e-02 -4.93500796e-02 6.18015000e+01] [ 5.89742308e-02 9.98259190e-01 -7.94040732e-04 2.21861232e+00] [ 4.93109724e-02 -2.11869193e-03 9.98781227e-01 2.92087948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.80038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.83, Y:2.22, Z:2.92 [[ 9.97217886e-01 -5.58616744e-02 -4.93554512e-02 6.18266708e+01] [ 5.59168542e-02 9.98435394e-01 -2.63106530e-04 2.22079175e+00] [ 4.92929269e-02 -2.49742703e-03 9.98781242e-01 2.92218972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.83038572299999 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:61.86, Y:2.22, Z:2.93 [[ 9.97252241e-01 -5.52521919e-02 -4.93473635e-02 6.18586835e+01] [ 5.52677866e-02 9.98471016e-01 -1.04946001e-03 2.22236787e+00] [ 4.93298972e-02 -1.68074321e-03 9.98781125e-01 2.92524771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.860385723 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:61.89, Y:2.22, Z:2.93 [[ 9.97211050e-01 -5.59874890e-02 -4.93510229e-02 6.18889297e+01] [ 5.60219803e-02 9.98429301e-01 -6.85126702e-04 2.22255734e+00] [ 4.93118658e-02 -2.08152612e-03 9.98781261e-01 2.92544052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.890385723 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:61.92, Y:2.22, Z:2.92 [[ 9.97241739e-01 -5.54402911e-02 -4.93486348e-02 6.19202709e+01] [ 5.54624027e-02 9.98460350e-01 -9.22204137e-04 2.22200822e+00] [ 4.93237824e-02 -1.81733340e-03 9.98781188e-01 2.92351419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.920385723 meters Centerline goodness : 0.999779 Centerline is valid? [True, True] Translation: X:61.95, Y:2.22, Z:2.92 [[ 9.97166706e-01 -5.67715609e-02 -4.93513030e-02 6.19478048e+01] [ 5.68085791e-02 9.98384875e-01 -6.53357199e-04 2.22126117e+00] [ 4.93086865e-02 -2.15207135e-03 9.98781268e-01 2.92347152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.950385723 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:61.98, Y:2.22, Z:2.93 [[ 9.97210809e-01 -5.59936982e-02 -4.93488398e-02 6.19802760e+01] [ 5.60174044e-02 9.98429384e-01 -9.03614863e-04 2.22204144e+00] [ 4.93219284e-02 -1.86329941e-03 9.98781195e-01 2.92621284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.980385723 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:62.01, Y:2.22, Z:2.93 [[ 9.97196713e-01 -5.62434031e-02 -4.93497177e-02 6.20106290e+01] [ 5.62719123e-02 9.98415150e-01 -8.12563993e-04 2.22276658e+00] [ 4.93172072e-02 -1.96671684e-03 9.98781230e-01 2.92973834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.010385723 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:62.04, Y:2.22, Z:2.93 [[ 9.97256581e-01 -5.51719108e-02 -4.93494834e-02 6.20412906e+01] [ 5.51979108e-02 9.98475082e-01 -8.36855425e-04 2.22417545e+00] [ 4.93204004e-02 -1.88942880e-03 9.98781221e-01 2.93189918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.040385723 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:62.07, Y:2.23, Z:2.94 [[ 9.97198953e-01 -5.62037793e-02 -4.93496010e-02 6.20714368e+01] [ 5.62316434e-02 9.98417409e-01 -8.24641785e-04 2.22517922e+00] [ 4.93178487e-02 -1.95267724e-03 9.98781226e-01 2.93510350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.070385723 meters Centerline goodness : 0.999288 Centerline is valid? [True, True] Translation: X:62.10, Y:2.23, Z:2.94 [[ 9.97446228e-01 -5.16265991e-02 -4.93529846e-02 6.20986478e+01] [ 5.16664576e-02 9.98664287e-01 -4.68615071e-04 2.22759125e+00] [ 4.93112562e-02 -2.08247556e-03 9.98781289e-01 2.93673040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.100385723 meters Centerline goodness : 0.999777 Centerline is valid? [True, True] Translation: X:62.13, Y:2.23, Z:2.94 [[ 9.97355290e-01 -5.33590038e-02 -4.93481728e-02 6.21302033e+01] [ 5.33765610e-02 9.98573991e-01 -9.62911106e-04 2.22963838e+00] [ 4.93291818e-02 -1.67367127e-03 9.98781173e-01 2.93952710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.130385723 meters Centerline goodness : 0.999777 Centerline is valid? [True, True] Translation: X:62.16, Y:2.23, Z:2.94 [[ 9.97461778e-01 -5.13253808e-02 -4.93528733e-02 6.21611032e+01] [ 5.13647589e-02 9.98679849e-01 -4.70888778e-04 2.22786269e+00] [ 4.93118885e-02 -2.06530488e-03 9.98781293e-01 2.93586167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.16038572299999 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:62.19, Y:2.23, Z:2.94 [[ 9.97462505e-01 -5.13103082e-02 -4.93538577e-02 6.21890861e+01] [ 5.13547564e-02 9.98680406e-01 -3.67862812e-04 2.22784193e+00] [ 4.93076058e-02 -2.16762598e-03 9.98781288e-01 2.94030696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.19038572299999 meters Centerline goodness : 0.999844 Centerline is valid? [True, True] Translation: X:62.22, Y:2.23, Z:2.94 [[ 9.97523613e-01 -5.01092736e-02 -4.93528346e-02 6.22190726e+01] [ 5.01469964e-02 9.98741735e-01 -4.74336169e-04 2.22821556e+00] [ 4.93145043e-02 -2.00173489e-03 9.98781294e-01 2.93835741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.22038572299999 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:62.25, Y:2.23, Z:2.94 [[ 9.97519262e-01 -5.01951612e-02 -4.93534931e-02 6.22479572e+01] [ 5.02363106e-02 9.98737276e-01 -4.07086479e-04 2.23014154e+00] [ 4.93116070e-02 -2.07326080e-03 9.98781291e-01 2.94348375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.250385723 meters Centerline goodness : 0.999843 Centerline is valid? [True, True] Translation: X:62.28, Y:2.23, Z:2.95 [[ 9.97550266e-01 -4.95759770e-02 -4.93526989e-02 6.22770579e+01] [ 4.96123980e-02 9.98768428e-01 -4.87506238e-04 2.23390939e+00] [ 4.93160860e-02 -1.96219376e-03 9.98781294e-01 2.94843463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.280385723 meters Centerline goodness : 0.999776 Centerline is valid? [True, True] Translation: X:62.31, Y:2.24, Z:2.95 [[ 9.97548709e-01 -4.96073223e-02 -4.93526815e-02 6.23066170e+01] [ 4.96436953e-02 9.98766872e-01 -4.89253326e-04 2.23552850e+00] [ 4.93160939e-02 -1.96199546e-03 9.98781294e-01 2.94824947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.310385723 meters Centerline goodness : 0.999843 Centerline is valid? [True, True] Translation: X:62.34, Y:2.24, Z:2.95 [[ 9.97573909e-01 -4.90979660e-02 -4.93526729e-02 6.23357743e+01] [ 4.91336741e-02 9.98792091e-01 -4.90120282e-04 2.23693134e+00] [ 4.93171233e-02 -1.93594694e-03 9.98781294e-01 2.94804339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.340385723 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:62.36, Y:2.24, Z:2.95 [[ 9.97562398e-01 -4.93318832e-02 -4.93520704e-02 6.23639419e+01] [ 4.93649172e-02 9.98780658e-01 -5.50039029e-04 2.23674871e+00] [ 4.93190278e-02 -1.88756262e-03 9.98781293e-01 2.95050278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.370385723 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:62.39, Y:2.24, Z:2.95 [[ 9.97622188e-01 -4.81071422e-02 -4.93525444e-02 6.23933736e+01] [ 4.81409749e-02 9.98840424e-01 -5.03593597e-04 2.23536767e+00] [ 4.93195428e-02 -1.87348345e-03 9.98781294e-01 2.94609103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.400385723 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:62.42, Y:2.23, Z:2.95 [[ 9.97561265e-01 -4.93542124e-02 -4.93526566e-02 6.24213765e+01] [ 4.93901066e-02 9.98779442e-01 -4.92687967e-04 2.23491239e+00] [ 4.93167350e-02 -1.94604654e-03 9.98781294e-01 2.95094410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.430385723 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:62.45, Y:2.24, Z:2.95 [[ 9.97575737e-01 -4.90611092e-02 -4.93523789e-02 6.24512664e+01] [ 4.90953414e-02 9.98793962e-01 -5.19089383e-04 2.23514589e+00] [ 4.93183251e-02 -1.90514091e-03 9.98781294e-01 2.95076010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.460385723 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:62.48, Y:2.24, Z:2.95 [[ 9.97564512e-01 -4.92888289e-02 -4.93523608e-02 6.24804533e+01] [ 4.93232546e-02 9.98782732e-01 -5.20802468e-04 2.23554799e+00] [ 4.93179555e-02 -1.91468500e-03 9.98781294e-01 2.95460068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.490385723 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:62.51, Y:2.24, Z:2.96 [[ 9.97538654e-01 -4.98094426e-02 -4.93523427e-02 6.25096578e+01] [ 4.98444194e-02 9.98756858e-01 -5.22515553e-04 2.23535936e+00] [ 4.93170169e-02 -1.93870940e-03 9.98781294e-01 2.95753910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.52038572299999 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:62.54, Y:2.23, Z:2.95 [[ 9.97573968e-01 -4.90971171e-02 -4.93523241e-02 6.25391288e+01] [ 4.91311378e-02 9.98792199e-01 -5.24260098e-04 2.23193854e+00] [ 4.93184560e-02 -1.90174761e-03 9.98781294e-01 2.95337716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.55038572299999 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:62.57, Y:2.23, Z:2.96 [[ 9.97488600e-01 -5.08010928e-02 -4.93532330e-02 6.25678524e+01] [ 5.08414338e-02 9.98706642e-01 -4.38433098e-04 2.23263881e+00] [ 4.93116745e-02 -2.07185711e-03 9.98781290e-01 2.95625172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.58038572299999 meters Centerline goodness : 0.999800 Centerline is valid? [True, True] Translation: X:62.60, Y:2.23, Z:2.96 [[ 9.97462431e-01 -5.13138323e-02 -4.93516859e-02 6.25961662e+01] [ 5.13477244e-02 9.98680666e-01 -5.81666278e-04 2.23061604e+00] [ 4.93164221e-02 -1.95390651e-03 9.98781294e-01 2.95583752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.610385723 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:62.63, Y:2.23, Z:2.96 [[ 9.97363449e-01 -5.32024742e-02 -4.93522857e-02 6.26253068e+01] [ 5.32413668e-02 9.98581533e-01 -5.27129444e-04 2.23074141e+00] [ 4.93103258e-02 -2.10184351e-03 9.98781294e-01 2.96300345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.640385723 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:62.66, Y:2.23, Z:2.96 [[ 9.97361455e-01 -5.32399821e-02 -4.93521200e-02 6.26561453e+01] [ 5.32781752e-02 9.98579562e-01 -5.42217983e-04 2.23058652e+00] [ 4.93108860e-02 -2.08860358e-03 9.98781295e-01 2.96323959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.670385723 meters Centerline goodness : 0.999734 Centerline is valid? [True, True] Translation: X:62.69, Y:2.23, Z:2.96 [[ 9.97355667e-01 -5.33483022e-02 -4.93521200e-02 6.26871649e+01] [ 5.33866277e-02 9.98573770e-01 -5.42217983e-04 2.23152642e+00] [ 4.93106589e-02 -2.09395908e-03 9.98781295e-01 2.96144301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.700385723 meters Centerline goodness : 0.999800 Centerline is valid? [True, True] Translation: X:62.72, Y:2.23, Z:2.96 [[ 9.97346409e-01 -5.35211026e-02 -4.93521200e-02 6.27165028e+01] [ 5.35596391e-02 9.98564505e-01 -5.42217983e-04 2.23258748e+00] [ 4.93102954e-02 -2.10250258e-03 9.98781295e-01 2.96193661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.730385723 meters Centerline goodness : 0.999822 Centerline is valid? [True, True] Translation: X:62.75, Y:2.23, Z:2.96 [[ 9.97329330e-01 -5.38377497e-02 -4.93528517e-02 6.27452999e+01] [ 5.38799482e-02 9.98547307e-01 -4.75907095e-04 2.23099062e+00] [ 4.93067789e-02 -2.18449298e-03 9.98781292e-01 2.96312206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.760385723 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:62.77, Y:2.23, Z:2.96 [[ 9.97328651e-01 -5.38510627e-02 -4.93520564e-02 6.27746916e+01] [ 5.38897368e-02 9.98546742e-01 -5.47590203e-04 2.22998844e+00] [ 4.93098235e-02 -2.11344193e-03 9.98781295e-01 2.96349413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.790385723 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:62.81, Y:2.23, Z:2.96 [[ 9.97351171e-01 -5.34323574e-02 -4.93520467e-02 6.28055256e+01] [ 5.34704771e-02 9.98569280e-01 -5.48462184e-04 2.22976928e+00] [ 4.93107434e-02 -2.09186808e-03 9.98781295e-01 2.96369704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.820385723 meters Centerline goodness : 0.999800 Centerline is valid? [True, True] Translation: X:62.84, Y:2.23, Z:2.97 [[ 9.97387910e-01 -5.27421237e-02 -4.93520467e-02 6.28360671e+01] [ 5.27794004e-02 9.98606045e-01 -5.48462184e-04 2.23080739e+00] [ 4.93121793e-02 -2.05774188e-03 9.98781295e-01 2.96550225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.850385723 meters Centerline goodness : 0.999733 Centerline is valid? [True, True] Translation: X:62.87, Y:2.23, Z:2.97 [[ 9.97482309e-01 -5.09256217e-02 -4.93520467e-02 6.28653981e+01] [ 5.09606799e-02 9.98700510e-01 -5.48462184e-04 2.23370463e+00] [ 4.93158450e-02 -1.96793253e-03 9.98781295e-01 2.96802004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.880385723 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:62.89, Y:2.23, Z:2.97 [[ 9.97531292e-01 -4.99569665e-02 -4.93520276e-02 6.28941930e+01] [ 4.99907567e-02 9.98749529e-01 -5.50182091e-04 2.23422079e+00] [ 4.93177997e-02 -1.91832135e-03 9.98781295e-01 2.96937474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.91038572299999 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:62.92, Y:2.23, Z:2.97 [[ 9.97638681e-01 -4.77644400e-02 -4.93519989e-02 6.29227178e+01] [ 4.77954263e-02 9.98856993e-01 -5.52740452e-04 2.23298367e+00] [ 4.93219905e-02 -1.80736457e-03 9.98781295e-01 2.97192085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.94038572299999 meters Centerline goodness : 0.999799 Centerline is valid? [True, True] Translation: X:62.95, Y:2.23, Z:2.97 [[ 9.97720237e-01 -4.60295759e-02 -4.93518624e-02 6.29495927e+01] [ 4.60578540e-02 9.98938614e-01 -5.64674736e-04 2.23284014e+00] [ 4.93254727e-02 -1.70965346e-03 9.98781295e-01 2.97261351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.97038572299999 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:62.98, Y:2.23, Z:2.97 [[ 9.97629673e-01 -4.79538390e-02 -4.93504349e-02 6.29791778e+01] [ 4.79784217e-02 9.98848136e-01 -6.87036436e-04 2.23375401e+00] [ 4.93265360e-02 -1.68234804e-03 9.98781289e-01 2.97480524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.000385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.01, Y:2.24, Z:2.98 [[ 9.97698330e-01 -4.65021645e-02 -4.93517129e-02 6.30072906e+01] [ 4.65303650e-02 9.98916709e-01 -5.77926787e-04 2.23581525e+00] [ 4.93251255e-02 -1.71975663e-03 9.98781295e-01 2.97961790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.030385723 meters Centerline goodness : 0.999777 Centerline is valid? [True, True] Translation: X:63.04, Y:2.24, Z:2.98 [[ 9.97660976e-01 -4.72969225e-02 -4.93515678e-02 6.30382027e+01] [ 4.73254939e-02 9.98879347e-01 -5.90063659e-04 2.23641443e+00] [ 4.93241700e-02 -1.74690384e-03 9.98781295e-01 2.97574414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.060385723 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:63.06, Y:2.24, Z:2.98 [[ 9.97682229e-01 -4.68433491e-02 -4.93545299e-02 6.30645899e+01] [ 4.68835662e-02 9.98900302e-01 -3.43124713e-04 2.23643402e+00] [ 4.93163279e-02 -1.97158694e-03 9.98781264e-01 2.97678682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.090385723 meters Centerline goodness : 0.999821 Centerline is valid? [True, True] Translation: X:63.09, Y:2.24, Z:2.98 [[ 9.97663211e-01 -4.72500146e-02 -4.93513257e-02 6.30925389e+01] [ 4.72778034e-02 9.98881596e-01 -6.04742986e-04 2.23620085e+00] [ 4.93247052e-02 -1.72989244e-03 9.98781298e-01 2.97775391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.120385723 meters Centerline goodness : 0.999778 Centerline is valid? [True, True] Translation: X:63.12, Y:2.24, Z:2.98 [[ 9.97589006e-01 -4.87917959e-02 -4.93511532e-02 6.31231144e+01] [ 4.88207873e-02 9.98807363e-01 -6.18512917e-04 2.23519408e+00] [ 4.93224735e-02 -1.79234046e-03 9.98781298e-01 2.97679745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.150385723 meters Centerline goodness : 0.999800 Centerline is valid? [True, True] Translation: X:63.15, Y:2.23, Z:2.98 [[ 9.97651858e-01 -4.74842950e-02 -4.93559726e-02 6.31492453e+01] [ 4.75306679e-02 9.98869752e-01 -2.34355431e-04 2.23486075e+00] [ 4.93113163e-02 -2.11211721e-03 9.98781224e-01 2.97834913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.180385723 meters Centerline goodness : 0.999822 Centerline is valid? [True, True] Translation: X:63.18, Y:2.24, Z:2.98 [[ 9.97685154e-01 -4.67850677e-02 -4.93506955e-02 6.31772114e+01] [ 4.68104983e-02 9.98903582e-01 -6.40972959e-04 2.23592828e+00] [ 4.93265745e-02 -1.67064144e-03 9.98781306e-01 2.97886129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.210385723 meters Centerline goodness : 0.999844 Centerline is valid? [True, True] Translation: X:63.21, Y:2.24, Z:2.98 [[ 9.97694445e-01 -4.65865831e-02 -4.93506398e-02 6.32050848e+01] [ 4.66115610e-02 9.98912882e-01 -6.45231299e-04 2.23765883e+00] [ 4.93270490e-02 -1.65656668e-03 9.98781306e-01 2.98155265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.240385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:63.23, Y:2.24, Z:2.99 [[ 9.97710651e-01 -4.62384027e-02 -4.93504603e-02 6.32327119e+01] [ 4.62622907e-02 9.98929110e-01 -6.58682139e-04 2.24012699e+00] [ 4.93280678e-02 -1.62589116e-03 9.98781306e-01 2.98582494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.27038572299999 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:63.26, Y:2.24, Z:2.99 [[ 9.97726280e-01 -4.59001195e-02 -4.93502736e-02 6.32604419e+01] [ 4.59229175e-02 9.98944760e-01 -6.72382244e-04 2.24004116e+00] [ 4.93290597e-02 -1.59545511e-03 9.98781307e-01 2.98579210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.30038572299999 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:63.29, Y:2.24, Z:2.99 [[ 9.97721721e-01 -4.59992018e-02 -4.93501835e-02 6.32878621e+01] [ 4.60217969e-02 9.98940205e-01 -6.78936520e-04 2.23925561e+00] [ 4.93291129e-02 -1.59379441e-03 9.98781307e-01 2.98612037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.33038572299999 meters Centerline goodness : 0.999821 Centerline is valid? [True, True] Translation: X:63.32, Y:2.24, Z:2.99 [[ 9.97730693e-01 -4.58043992e-02 -4.93499929e-02 6.33154561e+01] [ 4.58260855e-02 9.98949193e-01 -6.92514010e-04 2.23849519e+00] [ 4.93298558e-02 -1.57057452e-03 9.98781307e-01 2.98571152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.360385723 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:63.34, Y:2.24, Z:2.99 [[ 9.97795711e-01 -4.43655705e-02 -4.93499335e-02 6.33432314e+01] [ 4.43852917e-02 9.99014244e-01 -6.96722412e-04 2.23892660e+00] [ 4.93321970e-02 -1.49522456e-03 9.98781307e-01 2.98819263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.390385723 meters Centerline goodness : 0.999708 Centerline is valid? [True, True] Translation: X:63.37, Y:2.24, Z:2.99 [[ 9.97835464e-01 -4.34625088e-02 -4.93497410e-02 6.33697999e+01] [ 4.34804659e-02 9.99054025e-01 -7.10103481e-04 2.24166961e+00] [ 4.93339202e-02 -1.43718330e-03 9.98781307e-01 2.98682341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.420385723 meters Centerline goodness : 0.999843 Centerline is valid? [True, True] Translation: X:63.40, Y:2.24, Z:2.99 [[ 9.97907367e-01 -4.17824148e-02 -4.93469010e-02 6.33980979e+01] [ 4.17888037e-02 9.99126059e-01 -9.02679381e-04 2.24349652e+00] [ 4.93414909e-02 -1.16135755e-03 9.98781292e-01 2.99149773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.450385723 meters Centerline goodness : 0.999843 Centerline is valid? [True, True] Translation: X:63.43, Y:2.24, Z:2.99 [[ 9.97918982e-01 -4.15010245e-02 -4.93494756e-02 6.34259360e+01] [ 4.15156884e-02 9.99137587e-01 -7.28274815e-04 2.24474019e+00] [ 4.93371401e-02 -1.32201819e-03 9.98781307e-01 2.99334342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.480385723 meters Centerline goodness : 0.999843 Centerline is valid? [True, True] Translation: X:63.45, Y:2.25, Z:2.99 [[ 9.97907983e-01 -4.17648965e-02 -4.93492797e-02 6.34542675e+01] [ 4.17792384e-02 9.99126591e-01 -7.41311020e-04 2.24525242e+00] [ 4.93371384e-02 -1.32201514e-03 9.98781307e-01 2.99474920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.510385723 meters Centerline goodness : 0.999865 Centerline is valid? [True, True] Translation: X:63.48, Y:2.25, Z:3.00 [[ 9.97906000e-01 -4.18124868e-02 -4.93490805e-02 6.34824612e+01] [ 4.18262428e-02 9.99124615e-01 -7.54344161e-04 2.24584146e+00] [ 4.93374221e-02 -1.31132206e-03 9.98781307e-01 2.99691407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.540385723 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:63.51, Y:2.24, Z:3.00 [[ 9.97920141e-01 -4.14736859e-02 -4.93490185e-02 6.35082108e+01] [ 4.14868287e-02 9.99138763e-01 -7.58379191e-04 2.24382273e+00] [ 4.93379701e-02 -1.29053241e-03 9.98781307e-01 2.99547307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.570385723 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:63.54, Y:2.24, Z:3.00 [[ 9.97797534e-01 -4.43290504e-02 -4.93458778e-02 6.35383712e+01] [ 4.43357855e-02 9.99016226e-01 -9.58604215e-04 2.24295129e+00] [ 4.93398266e-02 -1.23129533e-03 9.98781290e-01 2.99612710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.600385723 meters Centerline goodness : 0.999821 Centerline is valid? [True, True] Translation: X:63.56, Y:2.24, Z:3.00 [[ 9.97693237e-01 -4.66144181e-02 -4.93487636e-02 6.35646187e+01] [ 4.66330240e-02 9.98911788e-01 -7.74873627e-04 2.24447804e+00] [ 4.93311820e-02 -1.52819590e-03 9.98781307e-01 2.99812240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.630385723 meters Centerline goodness : 0.999777 Centerline is valid? [True, True] Translation: X:63.59, Y:2.24, Z:3.00 [[ 9.97670550e-01 -4.71039733e-02 -4.93425731e-02 6.35942755e+01] [ 4.71041320e-02 9.98889310e-01 -1.16025824e-03 2.24257480e+00] [ 4.93424216e-02 -1.16668360e-03 9.98781239e-01 2.99867736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.66038572299999 meters Centerline goodness : 0.999799 Centerline is valid? [True, True] Translation: X:63.62, Y:2.24, Z:3.00 [[ 9.97628158e-01 -4.79873399e-02 -4.93484968e-02 6.36215952e+01] [ 4.80068346e-02 9.98846694e-01 -7.90822456e-04 2.24431248e+00] [ 4.93295324e-02 -1.58011837e-03 9.98781308e-01 3.00076678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.69038572299999 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:63.65, Y:2.25, Z:3.00 [[ 9.97554575e-01 -4.94936131e-02 -4.93482764e-02 6.36495104e+01] [ 4.95142795e-02 9.98773092e-01 -8.04343000e-04 2.24667882e+00] [ 4.93275405e-02 -1.64106832e-03 9.98781308e-01 3.00108192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.72038572299999 meters Centerline goodness : 0.999798 Centerline is valid? [True, True] Translation: X:63.68, Y:2.25, Z:3.00 [[ 9.97491908e-01 -5.07409926e-02 -4.93482079e-02 6.36778608e+01] [ 5.07629760e-02 9.98710402e-01 -8.08525717e-04 2.24713629e+00] [ 4.93255940e-02 -1.69856403e-03 9.98781308e-01 3.00375448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.750385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:63.71, Y:2.25, Z:3.01 [[ 9.97377937e-01 -5.29341531e-02 -4.93480118e-02 6.37066841e+01] [ 5.29582327e-02 9.98596391e-01 -8.20324264e-04 2.24615116e+00] [ 4.93221697e-02 -1.79521017e-03 9.98781308e-01 3.00543340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.780385723 meters Centerline goodness : 0.999799 Centerline is valid? [True, True] Translation: X:63.74, Y:2.25, Z:3.00 [[ 9.97336149e-01 -5.37157757e-02 -4.93479586e-02 6.37350739e+01] [ 5.37406527e-02 9.98554587e-01 -8.23511943e-04 2.24594484e+00] [ 4.93208660e-02 -1.83067327e-03 9.98781308e-01 3.00218057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.810385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.76, Y:2.25, Z:3.01 [[ 9.97247986e-01 -5.53284487e-02 -4.93479206e-02 6.37643631e+01] [ 5.53551837e-02 9.98466385e-01 -8.25783482e-04 2.24796114e+00] [ 4.93179292e-02 -1.90815230e-03 9.98781308e-01 3.01023568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.840385723 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:63.80, Y:2.25, Z:3.01 [[ 9.97252461e-01 -5.52542240e-02 -4.93406490e-02 6.37956517e+01] [ 5.52595511e-02 9.98471232e-01 -1.25717513e-03 2.24623805e+00] [ 4.93346829e-02 -1.47282112e-03 9.98781217e-01 3.00854351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.870385723 meters Centerline goodness : 0.999733 Centerline is valid? [True, True] Translation: X:63.83, Y:2.25, Z:3.01 [[ 9.97240829e-01 -5.54573254e-02 -4.93478877e-02 6.38253659e+01] [ 5.54843122e-02 9.98459219e-01 -8.23870586e-04 2.24823080e+00] [ 4.93175431e-02 -1.91643622e-03 9.98781311e-01 3.00737549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.900385723 meters Centerline goodness : 0.999844 Centerline is valid? [True, True] Translation: X:63.86, Y:2.25, Z:3.01 [[ 9.97233756e-01 -5.55843845e-02 -4.93478732e-02 6.38554900e+01] [ 5.56114837e-02 9.98452143e-01 -8.24739789e-04 2.24944304e+00] [ 4.93173324e-02 -1.92185009e-03 9.98781311e-01 3.01281176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.930385723 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:63.88, Y:2.25, Z:3.02 [[ 9.97258486e-01 -5.51389103e-02 -4.93478732e-02 6.38846720e+01] [ 5.51654652e-02 9.98476886e-01 -8.24739789e-04 2.24978984e+00] [ 4.93181860e-02 -1.89981963e-03 9.98781311e-01 3.01504645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.960385723 meters Centerline goodness : 0.999756 Centerline is valid? [True, True] Translation: X:63.91, Y:2.25, Z:3.02 [[ 9.97280975e-01 -5.47306713e-02 -4.93478586e-02 6.39149268e+01] [ 5.47566842e-02 9.98499386e-01 -8.25614054e-04 2.25034027e+00] [ 4.93189929e-02 -1.87875592e-03 9.98781311e-01 3.01509320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.990385723 meters Centerline goodness : 0.999777 Centerline is valid? [True, True] Translation: X:63.95, Y:2.25, Z:3.02 [[ 9.97284007e-01 -5.46753886e-02 -4.93478586e-02 6.39453622e+01] [ 5.47013340e-02 9.98502420e-01 -8.25614054e-04 2.25072565e+00] [ 4.93190970e-02 -1.87602200e-03 9.98781311e-01 3.01708181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.02038572299999 meters Centerline goodness : 0.999778 Centerline is valid? [True, True] Translation: X:63.98, Y:2.25, Z:3.02 [[ 9.97261803e-01 -5.50788962e-02 -4.93478586e-02 6.39751008e+01] [ 5.51053345e-02 9.98480205e-01 -8.25614054e-04 2.24996892e+00] [ 4.93183339e-02 -1.89597690e-03 9.98781311e-01 3.01809698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.05038572299999 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:64.01, Y:2.25, Z:3.02 [[ 9.97220494e-01 -5.58218381e-02 -4.93478442e-02 6.40053407e+01] [ 5.58491416e-02 9.98438877e-01 -8.26474009e-04 2.25004375e+00] [ 4.93169414e-02 -1.93185792e-03 9.98781311e-01 3.02044235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.08038572299999 meters Centerline goodness : 0.999844 Centerline is valid? [True, True] Translation: X:64.04, Y:2.25, Z:3.02 [[ 9.97200551e-01 -5.61769683e-02 -4.93478442e-02 6.40356206e+01] [ 5.62047058e-02 9.98418924e-01 -8.26474009e-04 2.25039943e+00] [ 4.93162503e-02 -1.94942072e-03 9.98781311e-01 3.02202156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.110385723 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:64.07, Y:2.25, Z:3.02 [[ 9.97209033e-01 -5.60261965e-02 -4.93478442e-02 6.40658627e+01] [ 5.60537498e-02 9.98427411e-01 -8.26474009e-04 2.25049543e+00] [ 4.93165445e-02 -1.94196436e-03 9.98781311e-01 3.02309449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.140385723 meters Centerline goodness : 0.999778 Centerline is valid? [True, True] Translation: X:64.10, Y:2.25, Z:3.02 [[ 9.97238687e-01 -5.54958704e-02 -4.93478442e-02 6.40964833e+01] [ 5.55227757e-02 9.98457079e-01 -8.26474009e-04 2.25046020e+00] [ 4.93175702e-02 -1.91573743e-03 9.98781311e-01 3.02336727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.170385723 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:64.13, Y:2.25, Z:3.02 [[ 9.97235811e-01 -5.55475293e-02 -4.93478442e-02 6.41268771e+01] [ 5.55744977e-02 9.98454201e-01 -8.26474009e-04 2.25022016e+00] [ 4.93174709e-02 -1.91829217e-03 9.98781311e-01 3.02451094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.200385723 meters Centerline goodness : 0.999756 Centerline is valid? [True, True] Translation: X:64.16, Y:2.25, Z:3.02 [[ 9.97213550e-01 -5.59457406e-02 -4.93478442e-02 6.41569532e+01] [ 5.59731955e-02 9.98431930e-01 -8.26474009e-04 2.25009523e+00] [ 4.93167010e-02 -1.93798545e-03 9.98781311e-01 3.02422337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.230385723 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:64.19, Y:2.25, Z:3.03 [[ 9.97162411e-01 -5.68499472e-02 -4.93478442e-02 6.41862103e+01] [ 5.68785069e-02 9.98380765e-01 -8.26474009e-04 2.24988923e+00] [ 4.93149234e-02 -1.98270288e-03 9.98781311e-01 3.02552759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.260385723 meters Centerline goodness : 0.999822 Centerline is valid? [True, True] Translation: X:64.22, Y:2.25, Z:3.03 [[ 9.97110315e-01 -5.77564888e-02 -4.93478298e-02 6.42167932e+01] [ 5.77861136e-02 9.98328644e-01 -8.27333526e-04 2.24965235e+00] [ 4.93131358e-02 -2.02667651e-03 9.98781311e-01 3.02610727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.290385723 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:64.25, Y:2.25, Z:3.03 [[ 9.97031805e-01 -5.90962862e-02 -4.93478298e-02 6.42472888e+01] [ 5.91275481e-02 9.98250093e-01 -8.27333526e-04 2.24906354e+00] [ 4.93103680e-02 -2.09293834e-03 9.98781311e-01 3.02789880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.320385723 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:64.28, Y:2.25, Z:3.03 [[ 9.97021153e-01 -5.92757264e-02 -4.93478298e-02 6.42774154e+01] [ 5.93072077e-02 9.98239436e-01 -8.27333526e-04 2.24998026e+00] [ 4.93099905e-02 -2.10181296e-03 9.98781311e-01 3.02961763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.350385723 meters Centerline goodness : 0.999822 Centerline is valid? [True, True] Translation: X:64.31, Y:2.25, Z:3.03 [[ 9.97045218e-01 -5.88695474e-02 -4.93478444e-02 6.43073633e+01] [ 5.89005754e-02 9.98263512e-01 -8.26462135e-04 2.25252824e+00] [ 4.93108059e-02 -2.08259631e-03 9.98781311e-01 3.03225368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.380385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:64.34, Y:2.25, Z:3.03 [[ 9.97155050e-01 -5.69789203e-02 -4.93478444e-02 6.43396561e+01] [ 5.70076382e-02 9.98373400e-01 -8.26462135e-04 2.25183810e+00] [ 4.93146661e-02 -1.98909317e-03 9.98781311e-01 3.03463051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.41038572299999 meters Centerline goodness : 0.999800 Centerline is valid? [True, True] Translation: X:64.37, Y:2.25, Z:3.04 [[ 9.97082085e-01 -5.82370385e-02 -4.93534522e-02 6.43674755e+01] [ 5.82840362e-02 9.98299922e-01 -4.87556663e-04 2.25272142e+00] [ 4.92979413e-02 -2.39038438e-03 9.98781257e-01 3.03520814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.44038572299999 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:64.40, Y:2.25, Z:3.04 [[ 9.97076652e-01 -5.83347965e-02 -4.93477688e-02 6.43977394e+01] [ 5.83651492e-02 9.98294959e-01 -8.26901533e-04 2.25226121e+00] [ 4.93118660e-02 -2.05570568e-03 9.98781314e-01 3.03890955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.47038572299999 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:64.43, Y:2.25, Z:3.04 [[ 9.97063937e-01 -5.85517090e-02 -4.93477688e-02 6.44275045e+01] [ 5.85823268e-02 9.98282238e-01 -8.26901533e-04 2.25298784e+00] [ 4.93114176e-02 -2.06643342e-03 9.98781314e-01 3.04148827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.500385723 meters Centerline goodness : 0.999690 Centerline is valid? [True, True] Translation: X:64.46, Y:2.25, Z:3.04 [[ 9.97025783e-01 -5.91978383e-02 -4.93477833e-02 6.44582650e+01] [ 5.92292882e-02 9.98244063e-01 -8.26037574e-04 2.25421030e+00] [ 4.93100313e-02 -2.09925332e-03 9.98781314e-01 3.04198539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.530385723 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:64.49, Y:2.25, Z:3.04 [[ 9.96980848e-01 -5.99498491e-02 -4.93477833e-02 6.44886282e+01] [ 5.99822179e-02 9.98199104e-01 -8.26037574e-04 2.25471657e+00] [ 4.93084339e-02 -2.13644585e-03 9.98781314e-01 3.04464835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.560385723 meters Centerline goodness : 0.999779 Centerline is valid? [True, True] Translation: X:64.52, Y:2.25, Z:3.05 [[ 9.96975087e-01 -6.00455924e-02 -4.93477833e-02 6.45195411e+01] [ 6.00780782e-02 9.98193339e-01 -8.26037574e-04 2.25489382e+00] [ 4.93082285e-02 -2.14118110e-03 9.98781314e-01 3.04500845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.590385723 meters Centerline goodness : 0.999800 Centerline is valid? [True, True] Translation: X:64.55, Y:2.26, Z:3.05 [[ 9.96939340e-01 -6.06361775e-02 -4.93478120e-02 6.45493909e+01] [ 6.06694699e-02 9.98157571e-01 -8.24318411e-04 2.25587279e+00] [ 4.93068756e-02 -2.17211014e-03 9.98781314e-01 3.04707308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.620385723 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:64.58, Y:2.26, Z:3.05 [[ 9.96920243e-01 -6.09493248e-02 -4.93478262e-02 6.45803356e+01] [ 6.09830421e-02 9.98138463e-01 -8.23463587e-04 2.25662552e+00] [ 4.93061530e-02 -2.18845305e-03 9.98781314e-01 3.04938085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.650385723 meters Centerline goodness : 0.999779 Centerline is valid? [True, True] Translation: X:64.61, Y:2.26, Z:3.05 [[ 9.96852889e-01 -6.20411725e-02 -4.93478548e-02 6.46115073e+01] [ 6.20763088e-02 9.98071068e-01 -8.21748279e-04 2.25576376e+00] [ 4.93036484e-02 -2.24417053e-03 9.98781314e-01 3.04988685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.680385723 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:64.64, Y:2.26, Z:3.05 [[ 9.96801104e-01 -6.28676764e-02 -4.93478840e-02 6.46423363e+01] [ 6.29039095e-02 9.98019251e-01 -8.19993407e-04 2.25522666e+00] [ 4.93016893e-02 -2.28680449e-03 9.98781314e-01 3.05250418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.710385723 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:64.67, Y:2.25, Z:3.05 [[ 9.96867764e-01 -6.18016489e-02 -4.93479274e-02 6.46742780e+01] [ 6.18367086e-02 9.98085945e-01 -8.17373503e-04 2.25420934e+00] [ 4.93039877e-02 -2.23670011e-03 9.98781314e-01 3.04870403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.740385723 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:64.71, Y:2.25, Z:3.05 [[ 9.96767268e-01 -6.34020274e-02 -4.93477176e-02 6.47052381e+01] [ 6.34384148e-02 9.97985410e-01 -8.30088436e-04 2.25497527e+00] [ 4.93009315e-02 -2.30313600e-03 9.98781314e-01 3.05374213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.77038572299999 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:64.74, Y:2.26, Z:3.05 [[ 9.96852078e-01 -6.20540863e-02 -4.93480028e-02 6.47353290e+01] [ 6.20896819e-02 9.98070243e-01 -8.12771932e-04 2.25519047e+00] [ 4.93032090e-02 -2.25378841e-03 9.98781314e-01 3.05327066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.80038572299999 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:64.77, Y:2.26, Z:3.05 [[ 9.96940114e-01 -6.06232859e-02 -4.93480170e-02 6.47664034e+01] [ 6.06571754e-02 9.98158328e-01 -8.11914404e-04 2.25625330e+00] [ 4.93063550e-02 -2.18388128e-03 9.98781314e-01 3.05346912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.83038572299999 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:64.80, Y:2.26, Z:3.06 [[ 9.97137782e-01 -5.72801354e-02 -4.93480439e-02 6.47965502e+01] [ 5.73100211e-02 9.98356101e-01 -8.10272300e-04 2.25924970e+00] [ 4.93133332e-02 -2.02018431e-03 9.98781314e-01 3.05572156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.860385723 meters Centerline goodness : 0.999735 Centerline is valid? [True, True] Translation: X:64.83, Y:2.26, Z:3.06 [[ 9.97264583e-01 -5.50283615e-02 -4.93480573e-02 6.48265702e+01] [ 5.50555363e-02 9.98482966e-01 -8.09457013e-04 2.26014747e+00] [ 4.93177377e-02 -1.90964095e-03 9.98781314e-01 3.05862405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.890385723 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:64.86, Y:2.26, Z:3.06 [[ 9.97377625e-01 -5.29399806e-02 -4.93480573e-02 6.48569878e+01] [ 5.29646041e-02 9.98596062e-01 -8.09457013e-04 2.26002755e+00] [ 4.93216283e-02 -1.80636600e-03 9.98781314e-01 3.06127180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.920385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.89, Y:2.26, Z:3.06 [[ 9.97553309e-01 -4.95193372e-02 -4.93480573e-02 6.48850342e+01] [ 4.95397821e-02 9.98771823e-01 -8.09457013e-04 2.25922163e+00] [ 4.93275329e-02 -1.63721548e-03 9.98781314e-01 3.06186243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.950385723 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:64.91, Y:2.26, Z:3.06 [[ 9.97630271e-01 -4.79488426e-02 -4.93432002e-02 6.49147363e+01] [ 4.79529112e-02 9.98848990e-01 -1.10202004e-03 2.25897752e+00] [ 4.93392462e-02 -1.26674154e-03 9.98781274e-01 3.06249204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.980385723 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:64.94, Y:2.26, Z:3.06 [[ 9.97650599e-01 -4.75190589e-02 -4.93479520e-02 6.49423637e+01] [ 4.75368309e-02 9.98869154e-01 -8.14102934e-04 2.26208194e+00] [ 4.93308325e-02 -1.53365497e-03 9.98781316e-01 3.06366921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.010385723 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:64.97, Y:2.26, Z:3.07 [[ 9.97864055e-01 -4.28120811e-02 -4.93401821e-02 6.49729989e+01] [ 4.28013767e-02 9.99082789e-01 -1.27397334e-03 2.26189005e+00] [ 4.93494682e-02 -8.40575514e-04 9.98781219e-01 3.06664819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.040385723 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:65.00, Y:2.26, Z:3.07 [[ 9.97949676e-01 -4.07584415e-02 -4.93476817e-02 6.50000283e+01] [ 4.07673453e-02 9.99168324e-01 -8.26475578e-04 2.26170207e+00] [ 4.93403263e-02 -1.18699294e-03 9.98781319e-01 3.06810819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.070385723 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:65.03, Y:2.26, Z:3.07 [[ 9.98104624e-01 -3.67693036e-02 -4.93475243e-02 6.50282682e+01] [ 3.67728772e-02 9.99323300e-01 -8.35767244e-04 2.26074520e+00] [ 4.93448614e-02 -9.80467302e-04 9.98781319e-01 3.06974748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.100385723 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:65.06, Y:2.26, Z:3.07 [[ 9.98156312e-01 -3.53386682e-02 -4.93472929e-02 6.50561998e+01] [ 3.53398303e-02 9.99374992e-01 -8.49217221e-04 2.26099619e+00] [ 4.93464607e-02 -8.96273427e-04 9.98781319e-01 3.07087107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.130385723 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:65.08, Y:2.26, Z:3.07 [[ 9.98195806e-01 -3.42052654e-02 -4.93470556e-02 6.50826320e+01] [ 3.42043730e-02 9.99414487e-01 -8.62787375e-04 2.26144893e+00] [ 4.93476741e-02 -8.26654360e-04 9.98781319e-01 3.07209911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.16038572299999 meters Centerline goodness : 0.999316 Centerline is valid? [True, True] Translation: X:65.11, Y:2.27, Z:3.07 [[ 9.98194927e-01 -3.42310605e-02 -4.93469521e-02 6.51056096e+01] [ 3.42299089e-02 9.99413607e-01 -8.68671342e-04 2.26518732e+00] [ 4.93477509e-02 -8.22038344e-04 9.98781319e-01 3.07186919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.19038572299999 meters Centerline goodness : 0.999361 Centerline is valid? [True, True] Translation: X:65.13, Y:2.26, Z:3.07 [[ 9.98236234e-01 -3.30287110e-02 -4.93307823e-02 6.51340173e+01] [ 3.29824220e-02 9.99454396e-01 -1.75228591e-03 2.26496430e+00] [ 4.93617430e-02 1.22146609e-04 9.98780959e-01 3.07310809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.22038572299999 meters Centerline goodness : 0.999780 Centerline is valid? [True, True] Translation: X:65.17, Y:2.26, Z:3.08 [[ 9.98342012e-01 -2.96614094e-02 -4.93297947e-02 6.51673228e+01] [ 2.96083663e-02 9.99559945e-01 -1.80582017e-03 2.25860395e+00] [ 4.93616500e-02 3.42251506e-04 9.98780912e-01 3.07645096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.250385723 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:65.19, Y:2.26, Z:3.08 [[ 9.98352683e-01 -2.92721618e-02 -4.93463272e-02 6.51948851e+01] [ 2.92643345e-02 9.99571319e-01 -8.81252063e-04 2.25738486e+00] [ 4.93509695e-02 -5.64287064e-04 9.98781339e-01 3.07820128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.280385723 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:65.22, Y:2.26, Z:3.08 [[ 9.98361313e-01 -2.89767796e-02 -4.93460763e-02 6.52222205e+01] [ 2.89679082e-02 9.99579941e-01 -8.95082535e-04 2.25732028e+00] [ 4.93512847e-02 -5.35836834e-04 9.98781339e-01 3.08020757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.310385723 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:65.25, Y:2.26, Z:3.08 [[ 9.98343001e-01 -2.96013704e-02 -4.93458231e-02 6.52502262e+01] [ 2.95925819e-02 9.99561630e-01 -9.08832682e-04 2.25821923e+00] [ 4.93510941e-02 -5.52943562e-04 9.98781339e-01 3.08459230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.340385723 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:65.28, Y:2.26, Z:3.09 [[ 9.98287842e-01 -3.14069903e-02 -4.93455668e-02 6.52775782e+01] [ 3.13997284e-02 9.99506481e-01 -9.22541460e-04 2.25910226e+00] [ 4.93501881e-02 -6.28475470e-04 9.98781339e-01 3.08722838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.370385723 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:65.31, Y:2.26, Z:3.09 [[ 9.98279066e-01 -3.16851306e-02 -4.93453063e-02 6.53059068e+01] [ 3.16775295e-02 9.99497703e-01 -9.36273214e-04 2.25970735e+00] [ 4.93501862e-02 -6.28475446e-04 9.98781340e-01 3.08863414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.400385723 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:65.33, Y:2.26, Z:3.09 [[ 9.98154151e-01 -3.54027919e-02 -4.93450419e-02 6.53335448e+01] [ 3.53990508e-02 9.99372806e-01 -9.50004895e-04 2.25758398e+00] [ 4.93477258e-02 -7.98516315e-04 9.98781340e-01 3.08749830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.430385723 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:65.36, Y:2.26, Z:3.09 [[ 9.98053318e-01 -3.81400999e-02 -4.93447718e-02 6.53615006e+01] [ 3.81390174e-02 9.99271978e-01 -9.63835002e-04 2.25623784e+00] [ 4.93456085e-02 -9.20002385e-04 9.98781340e-01 3.08815246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.460385723 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:65.39, Y:2.26, Z:3.09 [[ 9.97944834e-01 -4.08806702e-02 -4.93444923e-02 6.53885400e+01] [ 4.08822373e-02 9.99163493e-01 -9.77935814e-04 2.25512621e+00] [ 4.93431940e-02 -1.04138725e-03 9.98781340e-01 3.08884919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.490385723 meters Centerline goodness : 0.998845 Centerline is valid? [True, True] Translation: X:65.41, Y:2.26, Z:3.09 [[ 9.97569080e-01 -4.92043156e-02 -4.93443704e-02 6.54116967e+01] [ 4.92157469e-02 9.98787686e-01 -9.84047392e-04 2.25812664e+00] [ 4.93329690e-02 -1.44686479e-03 9.98781340e-01 3.08740934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.52038572299999 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:65.45, Y:2.25, Z:3.09 [[ 9.97588812e-01 -4.88296560e-02 -4.93176084e-02 6.54473703e+01] [ 4.87777209e-02 9.98807109e-01 -2.25677827e-03 2.25292651e+00] [ 4.93689756e-02 -1.54263783e-04 9.98780597e-01 3.09150837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.55038572299999 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:65.47, Y:2.25, Z:3.09 [[ 9.97443660e-01 -5.16856179e-02 -4.93431010e-02 6.54739324e+01] [ 5.16994481e-02 9.98662192e-01 -9.96811585e-04 2.25234500e+00] [ 4.93286102e-02 -1.55674769e-03 9.98781390e-01 3.09337462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.58038572299999 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:65.50, Y:2.25, Z:3.10 [[ 9.97206721e-01 -5.60716782e-02 -4.93429023e-02 6.55017235e+01] [ 5.60903857e-02 9.98425188e-01 -1.00655256e-03 2.25197142e+00] [ 4.93216356e-02 -1.76392144e-03 9.98781390e-01 3.09532629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.610385723 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:65.53, Y:2.25, Z:3.10 [[ 9.97133879e-01 -5.73527135e-02 -4.93426123e-02 6.55317345e+01] [ 5.73722934e-02 9.98352332e-01 -1.02057290e-03 2.25209404e+00] [ 4.93198447e-02 -1.81325102e-03 9.98781390e-01 3.09782428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.640385723 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:65.56, Y:2.25, Z:3.10 [[ 9.97027617e-01 -5.91712838e-02 -4.93425761e-02 6.55617177e+01] [ 5.91929997e-02 9.98246034e-01 -1.02232018e-03 2.25178271e+00] [ 4.93165229e-02 -1.90145364e-03 9.98781390e-01 3.10163154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.670385723 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:65.59, Y:2.25, Z:3.10 [[ 9.96968092e-01 -6.01658913e-02 -4.93425761e-02 6.55909324e+01] [ 6.01888227e-02 9.98186486e-01 -1.02232018e-03 2.25170665e+00] [ 4.93146014e-02 -1.95065096e-03 9.98781390e-01 3.10426574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.700385723 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:65.62, Y:2.25, Z:3.10 [[ 9.96934731e-01 -6.07161805e-02 -4.93425581e-02 6.56218203e+01] [ 6.07397416e-02 9.98153113e-01 -1.02318536e-03 2.25051153e+00] [ 4.93135519e-02 -1.97700521e-03 9.98781390e-01 3.10449228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.730385723 meters Centerline goodness : 0.999547 Centerline is valid? [True, True] Translation: X:65.65, Y:2.25, Z:3.10 [[ 9.96610142e-01 -6.58296018e-02 -4.93425581e-02 6.56470634e+01] [ 6.58594129e-02 9.97828387e-01 -1.02318536e-03 2.25228749e+00] [ 4.93027611e-02 -2.22995500e-03 9.98781390e-01 3.10090641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.760385723 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:65.68, Y:2.25, Z:3.10 [[ 9.96548851e-01 -6.67695540e-02 -4.93174843e-02 6.56831293e+01] [ 6.67430168e-02 9.97767803e-01 -2.18653608e-03 2.24904995e+00] [ 4.93533920e-02 -1.11260767e-03 9.98780759e-01 3.10481207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.790385723 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:65.71, Y:2.25, Z:3.10 [[ 9.96436302e-01 -6.84112299e-02 -4.93416592e-02 6.57136978e+01] [ 6.84438726e-02 9.97654437e-01 -1.02971420e-03 2.25023755e+00] [ 4.92963692e-02 -2.35108963e-03 9.98781428e-01 3.10456028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.820385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:65.74, Y:2.25, Z:3.11 [[ 9.96287450e-01 -7.05458136e-02 -4.93417226e-02 6.57449322e+01] [ 7.05812165e-02 9.97505508e-01 -1.02666484e-03 2.25368063e+00] [ 4.92910670e-02 -2.45974551e-03 9.98781428e-01 3.10707188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.850385723 meters Centerline goodness : 0.999179 Centerline is valid? [True, True] Translation: X:65.77, Y:2.26, Z:3.10 [[ 9.96313870e-01 -7.01716634e-02 -4.93417586e-02 6.57713333e+01] [ 7.02066944e-02 9.97531939e-01 -1.02493439e-03 2.25610956e+00] [ 4.92919015e-02 -2.44296542e-03 9.98781428e-01 3.10066708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.88038572299999 meters Centerline goodness : 0.999071 Centerline is valid? [True, True] Translation: X:65.80, Y:2.26, Z:3.10 [[ 9.96359865e-01 -6.95305704e-02 -4.93205742e-02 6.58032031e+01] [ 6.95154846e-02 9.97578821e-01 -2.02320574e-03 2.25519719e+00] [ 4.93418349e-02 -1.41270261e-03 9.98780951e-01 3.10146755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.91038572299999 meters Centerline goodness : 0.998919 Centerline is valid? [True, True] Translation: X:65.83, Y:2.26, Z:3.11 [[ 9.96390458e-01 -6.90903022e-02 -4.93212544e-02 6.58340775e+01] [ 6.90762764e-02 9.97609395e-01 -1.99086370e-03 2.25670301e+00] [ 4.93408961e-02 -1.42325100e-03 9.98780982e-01 3.10531632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.94038572299999 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:65.87, Y:2.26, Z:3.11 [[ 9.96483055e-01 -6.77419330e-02 -4.93208997e-02 6.58676105e+01] [ 6.77254230e-02 9.97701978e-01 -2.00775214e-03 2.25687506e+00] [ 4.93435682e-02 -1.33958780e-03 9.98780966e-01 3.11165638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.97038572299999 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:65.90, Y:2.26, Z:3.11 [[ 9.96789942e-01 -6.30495290e-02 -4.93413489e-02 6.58996027e+01] [ 6.30768447e-02 9.98008167e-01 -1.00484703e-03 2.26177184e+00] [ 4.93064243e-02 -2.11067518e-03 9.98781468e-01 3.11441615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.000385723 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:65.93, Y:2.26, Z:3.12 [[ 9.96997693e-01 -5.96743133e-02 -4.93414188e-02 6.59309418e+01] [ 5.96976745e-02 9.98216001e-01 -1.00140248e-03 2.26346502e+00] [ 4.93131518e-02 -1.94717200e-03 9.98781468e-01 3.11624975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.030385723 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:65.96, Y:2.27, Z:3.12 [[ 9.97390366e-01 -5.27055890e-02 -4.93414540e-02 6.59607603e+01] [ 5.27205215e-02 9.98608806e-01 -9.99667569e-04 2.26501842e+00] [ 4.93254985e-02 -1.60424838e-03 9.98781468e-01 3.11694111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.060385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.99, Y:2.27, Z:3.12 [[ 9.97522990e-01 -5.01328689e-02 -4.93414540e-02 6.59897294e+01] [ 5.01446587e-02 9.98741465e-01 -9.99667569e-04 2.26682890e+00] [ 4.93294722e-02 -1.47701898e-03 9.98781468e-01 3.12030774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.090385723 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:66.02, Y:2.27, Z:3.12 [[ 9.97664236e-01 -4.72389461e-02 -4.93412080e-02 6.60173853e+01] [ 4.72466082e-02 9.98882743e-01 -1.01166515e-03 2.26854451e+00] [ 4.93338712e-02 -1.32190259e-03 9.98781468e-01 3.12149785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.120385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:66.04, Y:2.27, Z:3.13 [[ 9.97877150e-01 -4.25049103e-02 -4.93409224e-02 6.60443109e+01] [ 4.25061118e-02 9.99095681e-01 -1.02540905e-03 2.27306463e+00] [ 4.93398873e-02 -1.07405850e-03 9.98781469e-01 3.12804257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.150385723 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:66.07, Y:2.28, Z:3.13 [[ 9.97962246e-01 -4.04578840e-02 -4.93407977e-02 6.60717525e+01] [ 4.04562912e-02 9.99180777e-01 -1.03137219e-03 2.27501007e+00] [ 4.93421037e-02 -9.66875179e-04 9.98781469e-01 3.12941378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.180385723 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:66.10, Y:2.28, Z:3.13 [[ 9.98026758e-01 -3.88343421e-02 -4.93404963e-02 6.60986057e+01] [ 3.88300640e-02 9.99245282e-01 -1.04559690e-03 2.27644228e+00] [ 4.93438632e-02 -8.72360945e-04 9.98781469e-01 3.12971791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.210385723 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:66.13, Y:2.28, Z:3.13 [[ 9.98018166e-01 -3.90546932e-02 -4.93403650e-02 6.61270700e+01] [ 3.90503798e-02 9.99236690e-01 -1.05175530e-03 2.27637456e+00] [ 4.93437790e-02 -8.77089096e-04 9.98781469e-01 3.12801326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.240385723 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:66.17, Y:2.27, Z:3.13 [[ 9.98231146e-01 -3.31683315e-02 -4.93400597e-02 6.61682906e+01] [ 3.31561335e-02 9.99449616e-01 -1.06588984e-03 2.27011105e+00] [ 4.93482575e-02 -5.71921168e-04 9.98781469e-01 3.12531433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.27038572299999 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:66.19, Y:2.28, Z:3.13 [[ 9.97843531e-01 -4.32483161e-02 -4.93747959e-02 6.61858923e+01] [ 4.33305001e-02 9.99060616e-01 5.94837501e-04 2.27718682e+00] [ 4.93026883e-02 -2.73298935e-03 9.98780144e-01 3.12791164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.30038572299999 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:66.21, Y:2.28, Z:3.13 [[ 9.97765927e-01 -4.50439042e-02 -4.93376353e-02 6.62140034e+01] [ 4.50450047e-02 9.98984364e-01 -1.09014389e-03 2.27945818e+00] [ 4.93366306e-02 -1.13470559e-03 9.98781562e-01 3.12980399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.33038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.24, Y:2.28, Z:3.13 [[ 9.97679584e-01 -4.69177527e-02 -4.93373258e-02 6.62409512e+01] [ 4.69204578e-02 9.98898019e-01 -1.10397868e-03 2.28151024e+00] [ 4.93347532e-02 -1.21351292e-03 9.98781562e-01 3.13433776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.360385723 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:66.27, Y:2.28, Z:3.13 [[ 9.97678678e-01 -4.69372515e-02 -4.93371110e-02 6.62692326e+01] [ 4.69395102e-02 9.98897113e-01 -1.11349328e-03 2.28302383e+00] [ 4.93349621e-02 -1.20495132e-03 9.98781563e-01 3.13219907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.390385723 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:66.30, Y:2.28, Z:3.13 [[ 9.97698693e-01 -4.65101938e-02 -4.93367986e-02 6.62966103e+01] [ 4.65112551e-02 9.98917130e-01 -1.12716822e-03 2.28386601e+00] [ 4.93357981e-02 -1.17014217e-03 9.98781563e-01 3.13303993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.420385723 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:66.32, Y:2.29, Z:3.14 [[ 9.97706623e-01 -4.63400192e-02 -4.93365736e-02 6.63244977e+01] [ 4.63403901e-02 9.98925060e-01 -1.13693219e-03 2.28511780e+00] [ 4.93362252e-02 -1.15195129e-03 9.98781563e-01 3.13536917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.450385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.35, Y:2.29, Z:3.14 [[ 9.97697392e-01 -4.65386778e-02 -4.93362551e-02 6.63518138e+01] [ 4.65386162e-02 9.98915829e-01 -1.15059223e-03 2.28738266e+00] [ 4.93363132e-02 -1.14809817e-03 9.98781563e-01 3.14068832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.480385723 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:66.38, Y:2.29, Z:3.14 [[ 9.97703080e-01 -4.64169160e-02 -4.93359248e-02 6.63800795e+01] [ 4.64160143e-02 9.98921517e-01 -1.16458129e-03 2.28863914e+00] [ 4.93367732e-02 -1.12807065e-03 9.98781563e-01 3.13931767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.510385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.41, Y:2.29, Z:3.14 [[ 9.97682103e-01 -4.68659872e-02 -4.93355892e-02 6.64071202e+01] [ 4.68649396e-02 9.98900540e-01 -1.17863073e-03 2.29018721e+00] [ 4.93365844e-02 -1.13621062e-03 9.98781563e-01 3.14340840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.540385723 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:66.43, Y:2.29, Z:3.14 [[ 9.97701005e-01 -4.64620034e-02 -4.93354430e-02 6.64341368e+01] [ 4.64601615e-02 9.98919441e-01 -1.18471908e-03 2.29152221e+00] [ 4.93371776e-02 -1.11013723e-03 9.98781563e-01 3.14059528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.570385723 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:66.46, Y:2.29, Z:3.14 [[ 9.97684141e-01 -4.68229960e-02 -4.93352020e-02 6.64614913e+01] [ 4.68211031e-02 9.98902576e-01 -1.19467035e-03 2.29250339e+00] [ 4.93369985e-02 -1.11802492e-03 9.98781563e-01 3.14259517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.600385723 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:66.49, Y:2.29, Z:3.14 [[ 9.97680673e-01 -4.68971896e-02 -4.93348672e-02 6.64893062e+01] [ 4.68947117e-02 9.98899107e-01 -1.20833994e-03 2.29369964e+00] [ 4.93372226e-02 -1.10800697e-03 9.98781563e-01 3.14355373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.63038572299999 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:66.52, Y:2.30, Z:3.15 [[ 9.97613587e-01 -4.83035819e-02 -4.93345292e-02 6.65157556e+01] [ 4.83021471e-02 9.98832023e-01 -1.22198808e-03 2.29558374e+00] [ 4.93359340e-02 -1.16389177e-03 9.98781563e-01 3.14567179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.66038572299999 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:66.54, Y:2.30, Z:3.15 [[ 9.97539284e-01 -4.98146088e-02 -4.93343822e-02 6.65434855e+01] [ 4.98147277e-02 9.98757721e-01 -1.22789358e-03 2.29658801e+00] [ 4.93342622e-02 -1.23270673e-03 9.98781563e-01 3.14812167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.69038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.57, Y:2.30, Z:3.15 [[ 9.97472246e-01 -5.11397291e-02 -4.93340320e-02 6.65722199e+01] [ 5.11407789e-02 9.98690682e-01 -1.24180684e-03 2.29767136e+00] [ 4.93329437e-02 -1.28431296e-03 9.98781563e-01 3.15155678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.72038572299999 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:66.60, Y:2.30, Z:3.15 [[ 9.97380819e-01 -5.28931485e-02 -4.93337221e-02 6.66007513e+01] [ 5.28957377e-02 9.98599253e-01 -1.25399646e-03 2.29864218e+00] [ 4.93309459e-02 -1.35883161e-03 9.98781563e-01 3.14971610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.750385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.63, Y:2.30, Z:3.15 [[ 9.97337179e-01 -5.37100148e-02 -4.93334082e-02 6.66305452e+01] [ 5.37129973e-02 9.98555612e-01 -1.26622996e-03 2.29985030e+00] [ 4.93301608e-02 -1.38698700e-03 9.98781563e-01 3.15293380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.780385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.66, Y:2.30, Z:3.15 [[ 9.97362756e-01 -5.32329907e-02 -4.93333633e-02 6.66612069e+01] [ 5.32353042e-02 9.98581191e-01 -1.26797456e-03 2.30175315e+00] [ 4.93308668e-02 -1.36164600e-03 9.98781563e-01 3.15211211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.810385723 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:66.69, Y:2.30, Z:3.15 [[ 9.97428382e-01 -5.19888671e-02 -4.93333633e-02 6.66907667e+01] [ 5.19896608e-02 9.98646818e-01 -1.26797456e-03 2.30383520e+00] [ 4.93325269e-02 -1.30011101e-03 9.98781563e-01 3.15034528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.840385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.72, Y:2.31, Z:3.15 [[ 9.97472117e-01 -5.11429118e-02 -4.93333410e-02 6.67197568e+01] [ 5.11426293e-02 9.98690553e-01 -1.26884074e-03 2.30709961e+00] [ 4.93336339e-02 -1.25740352e-03 9.98781563e-01 3.15408011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.870385723 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:66.75, Y:2.31, Z:3.15 [[ 9.97564740e-01 -4.93033094e-02 -4.93332968e-02 6.67489659e+01] [ 4.93006951e-02 9.98783173e-01 -1.27055700e-03 2.30990747e+00] [ 4.93359094e-02 -1.16470296e-03 9.98781563e-01 3.15377711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.900385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.78, Y:2.31, Z:3.16 [[ 9.97697899e-01 -4.65309807e-02 -4.93332525e-02 6.67774339e+01] [ 4.65248954e-02 9.98916321e-01 -1.27227784e-03 2.31338881e+00] [ 4.93389914e-02 -1.02587548e-03 9.98781563e-01 3.15717996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.930385723 meters Centerline goodness : 0.999822 Centerline is valid? [True, True] Translation: X:66.81, Y:2.31, Z:3.16 [[ 9.97771571e-01 -4.49238659e-02 -4.93329379e-02 6.68053635e+01] [ 4.49152208e-02 9.98989977e-01 -1.28436153e-03 2.31385417e+00] [ 4.93408089e-02 -9.34300373e-04 9.98781564e-01 3.15595204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.960385723 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:66.83, Y:2.32, Z:3.16 [[ 9.97874188e-01 -4.25840752e-02 -4.93325700e-02 6.68332962e+01] [ 4.25718821e-02 9.99092563e-01 -1.29834113e-03 2.31600522e+00] [ 4.93430924e-02 -8.04599253e-04 9.98781564e-01 3.15776949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.990385723 meters Centerline goodness : 0.999799 Centerline is valid? [True, True] Translation: X:66.86, Y:2.32, Z:3.16 [[ 9.97909721e-01 -4.17435454e-02 -4.93321935e-02 6.68597144e+01] [ 4.17296267e-02 9.99128078e-01 -1.31249275e-03 2.31817417e+00] [ 4.93439677e-02 -7.48864743e-04 9.98781564e-01 3.15878814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.02038572299999 meters Centerline goodness : 0.999799 Centerline is valid? [True, True] Translation: X:66.89, Y:2.32, Z:3.16 [[ 9.97917477e-01 -4.15579075e-02 -4.93320296e-02 6.68860855e+01] [ 4.15434593e-02 9.99135828e-01 -1.31862190e-03 2.32088113e+00] [ 4.93441974e-02 -7.33547322e-04 9.98781564e-01 3.16082676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.05038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.91, Y:2.32, Z:3.17 [[ 9.97870390e-01 -4.26737910e-02 -4.93318682e-02 6.69141220e+01] [ 4.26604081e-02 9.99088752e-01 -1.32463205e-03 2.32433473e+00] [ 4.93434418e-02 -7.82706531e-04 9.98781564e-01 3.16638392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.08038572299999 meters Centerline goodness : 0.999821 Centerline is valid? [True, True] Translation: X:66.94, Y:2.32, Z:3.16 [[ 9.97872929e-01 -4.26147985e-02 -4.93314871e-02 6.69417135e+01] [ 4.26006494e-02 9.99091283e-01 -1.33867683e-03 2.32414041e+00] [ 4.93437062e-02 -7.65724019e-04 9.98781564e-01 3.16392399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.110385723 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:66.97, Y:2.32, Z:3.17 [[ 9.97828254e-01 -4.36485551e-02 -4.93313214e-02 6.69692542e+01] [ 4.36353677e-02 9.99046619e-01 -1.34475649e-03 2.32440079e+00] [ 4.93429865e-02 -8.10754328e-04 9.98781564e-01 3.16519541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.140385723 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:67.00, Y:2.32, Z:3.17 [[ 9.97742400e-01 -4.55693012e-02 -4.93309418e-02 6.69974560e+01] [ 4.55577779e-02 9.98960782e-01 -1.35853912e-03 2.32452290e+00] [ 4.93415839e-02 -8.91936014e-04 9.98781564e-01 3.16713432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.170385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:67.02, Y:2.33, Z:3.17 [[ 9.97658742e-01 -4.73659232e-02 -4.93305518e-02 6.70243998e+01] [ 4.73559012e-02 9.98877137e-01 -1.37255603e-03 2.32659088e+00] [ 4.93401728e-02 -9.66750217e-04 9.98781564e-01 3.17126609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.200385723 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:67.05, Y:2.33, Z:3.17 [[ 9.97515476e-01 -5.02930360e-02 -4.93303819e-02 6.70529176e+01] [ 5.02862885e-02 9.98733893e-01 -1.37863557e-03 2.32892321e+00] [ 4.93372602e-02 -1.10543150e-03 9.98781564e-01 3.17129108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.230385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.08, Y:2.33, Z:3.17 [[ 9.97444018e-01 -5.16911713e-02 -4.93300429e-02 6.70827041e+01] [ 5.16855372e-02 9.98662441e-01 -1.39066231e-03 2.33003280e+00] [ 4.93359460e-02 -1.16254196e-03 9.98781564e-01 3.17479152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.260385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:67.11, Y:2.33, Z:3.17 [[ 9.97397093e-01 -5.25888876e-02 -4.93299939e-02 6.71125307e+01] [ 5.25842644e-02 9.98615520e-01 -1.39239743e-03 2.33011787e+00] [ 4.93349222e-02 -1.20520829e-03 9.98781564e-01 3.17460922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.290385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:67.14, Y:2.33, Z:3.18 [[ 9.97397091e-01 -5.25889727e-02 -4.93299452e-02 6.71434805e+01] [ 5.25842643e-02 9.98615517e-01 -1.39412257e-03 2.33099331e+00] [ 4.93349642e-02 -1.20348508e-03 9.98781564e-01 3.17613981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.320385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:67.17, Y:2.33, Z:3.18 [[ 9.97366076e-01 -5.31739326e-02 -4.93299452e-02 6.71727017e+01] [ 5.31699387e-02 9.98584505e-01 -1.39412257e-03 2.33031548e+00] [ 4.93342499e-02 -1.23241960e-03 9.98781564e-01 3.17539395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.350385723 meters Centerline goodness : 0.999777 Centerline is valid? [True, True] Translation: X:67.20, Y:2.33, Z:3.17 [[ 9.97403566e-01 -5.24660364e-02 -4.93299210e-02 6.72033202e+01] [ 5.24611355e-02 9.98621992e-01 -1.39497801e-03 2.33075450e+00] [ 4.93351329e-02 -1.19654762e-03 9.98781564e-01 3.17264339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.38038572299999 meters Centerline goodness : 0.999821 Centerline is valid? [True, True] Translation: X:67.24, Y:2.33, Z:3.17 [[ 9.97662365e-01 -4.72902163e-02 -4.93299210e-02 6.72363589e+01] [ 4.72789935e-02 9.98880749e-01 -1.39497801e-03 2.32845565e+00] [ 4.93406772e-02 -9.40551949e-04 9.98781564e-01 3.16599924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.41038572299999 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:67.26, Y:2.34, Z:3.18 [[ 9.97469073e-01 -5.11927652e-02 -4.93431708e-02 6.72629474e+01] [ 5.12095063e-02 9.98687503e-01 -9.25680428e-04 2.33500759e+00] [ 4.93257962e-02 -1.60350182e-03 9.98781455e-01 3.17500276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.44038572299999 meters Centerline goodness : 0.999843 Centerline is valid? [True, True] Translation: X:67.30, Y:2.33, Z:3.17 [[ 9.97701428e-01 -4.64593787e-02 -4.93293726e-02 6.72952529e+01] [ 4.64464496e-02 9.98919788e-01 -1.40897127e-03 2.33359893e+00] [ 4.93415463e-02 -8.85441570e-04 9.98781572e-01 3.17159209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.47038572299999 meters Centerline goodness : 0.999798 Centerline is valid? [True, True] Translation: X:67.32, Y:2.34, Z:3.18 [[ 9.97684281e-01 -4.68150548e-02 -4.93398986e-02 6.73212020e+01] [ 4.68208225e-02 9.98902763e-01 -1.03950293e-03 2.33951929e+00] [ 4.93344255e-02 -1.27303890e-03 9.98781505e-01 3.18096976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.500385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.36, Y:2.34, Z:3.18 [[ 9.97859745e-01 -4.29255329e-02 -4.93287816e-02 6.73557465e+01] [ 4.29075173e-02 9.99078033e-01 -1.42457901e-03 2.33615337e+00] [ 4.93444529e-02 -6.95045502e-04 9.98781579e-01 3.18338833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.530385723 meters Centerline goodness : 0.999865 Centerline is valid? [True, True] Translation: X:67.38, Y:2.34, Z:3.18 [[ 9.98030489e-01 -3.87286418e-02 -4.93480939e-02 6.73816834e+01] [ 3.87374719e-02 9.99249120e-01 -7.77804478e-04 2.33715900e+00] [ 4.93411627e-02 -1.13534782e-03 9.98781338e-01 3.18206107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.560385723 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:67.41, Y:2.34, Z:3.18 [[ 9.98048511e-01 -3.82838279e-02 -4.93306973e-02 6.74086704e+01] [ 3.82637917e-02 9.99266760e-01 -1.35080895e-03 2.33968411e+00] [ 4.93462402e-02 -5.39406662e-04 9.98781587e-01 3.18435583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.590385723 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:67.44, Y:2.34, Z:3.19 [[ 9.98170261e-01 -3.49724145e-02 -4.93260694e-02 6.74371696e+01] [ 3.49408678e-02 9.99388253e-01 -1.50194625e-03 2.34181894e+00] [ 4.93484210e-02 -2.24297588e-04 9.98781599e-01 3.18722744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.620385723 meters Centerline goodness : 0.999865 Centerline is valid? [True, True] Translation: X:67.47, Y:2.34, Z:3.19 [[ 9.98128503e-01 -3.61427996e-02 -4.93273635e-02 6.74650167e+01] [ 3.61147576e-02 9.99346583e-01 -1.45992632e-03 2.34428507e+00] [ 4.93478980e-02 -3.24251700e-04 9.98781598e-01 3.19194087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.650385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:67.49, Y:2.34, Z:3.19 [[ 9.98240668e-01 -3.29026681e-02 -4.93252769e-02 6.74948675e+01] [ 3.28673424e-02 9.99458556e-01 -1.52731823e-03 2.34128030e+00] [ 4.93488229e-02 -9.65595878e-05 9.98781600e-01 3.18909904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.680385723 meters Centerline goodness : 0.999820 Centerline is valid? [True, True] Translation: X:67.52, Y:2.34, Z:3.19 [[ 9.98233590e-01 -3.31095586e-02 -4.93300752e-02 6.75219435e+01] [ 3.30821011e-02 9.99451694e-01 -1.37319508e-03 2.34083128e+00] [ 4.93484931e-02 -2.61173080e-04 9.98781587e-01 3.18735582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.710385723 meters Centerline goodness : 0.999843 Centerline is valid? [True, True] Translation: X:67.55, Y:2.34, Z:3.19 [[ 9.98223134e-01 -3.34322834e-02 -4.93239978e-02 6.75498739e+01] [ 3.33956481e-02 9.99440982e-01 -1.56689727e-03 2.33943804e+00] [ 4.93488098e-02 -8.30937682e-05 9.98781602e-01 3.18838717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.740385723 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:67.58, Y:2.34, Z:3.19 [[ 9.98216774e-01 -3.36238954e-02 -4.93224771e-02 6.75789250e+01] [ 3.35851149e-02 9.99434556e-01 -1.61504352e-03 2.34002818e+00] [ 4.93488921e-02 -4.43375290e-05 9.98781600e-01 3.19066359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.77038572299999 meters Centerline goodness : 0.999821 Centerline is valid? [True, True] Translation: X:67.61, Y:2.34, Z:3.20 [[ 9.98148940e-01 -3.55802784e-02 -4.93227893e-02 6.76062553e+01] [ 3.55443716e-02 9.99366810e-01 -1.60519107e-03 2.34135290e+00] [ 4.93486717e-02 -1.50927785e-04 9.98781601e-01 3.19702003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.80038572299999 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:67.63, Y:2.34, Z:3.20 [[ 9.98147653e-01 -3.56148382e-02 -4.93238858e-02 6.76329257e+01] [ 3.55806749e-02 9.99365573e-01 -1.57076049e-03 2.34117734e+00] [ 4.93485357e-02 -1.87126248e-04 9.98781601e-01 3.19910531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.83038572299999 meters Centerline goodness : 0.999799 Centerline is valid? [True, True] Translation: X:67.66, Y:2.34, Z:3.20 [[ 9.98149903e-01 -3.55519964e-02 -4.93237010e-02 6.76613426e+01] [ 3.55174708e-02 9.99367812e-01 -1.57654168e-03 2.34030594e+00] [ 4.93485683e-02 -1.78228188e-04 9.98781601e-01 3.19910004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.860385723 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:67.69, Y:2.34, Z:3.20 [[ 9.98146779e-01 -3.56401638e-02 -4.93232768e-02 6.76886617e+01] [ 3.56050954e-02 9.99364673e-01 -1.58970366e-03 2.33795671e+00] [ 4.93485977e-02 -1.69402382e-04 9.98781601e-01 3.19853292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.890385723 meters Centerline goodness : 0.999799 Centerline is valid? [True, True] Translation: X:67.72, Y:2.34, Z:3.20 [[ 9.98108917e-01 -3.66854421e-02 -4.93230920e-02 6.77159908e+01] [ 3.66513668e-02 9.99326839e-01 -1.59541629e-03 2.33790279e+00] [ 4.93484182e-02 -2.15359505e-04 9.98781601e-01 3.20078673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.920385723 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:67.74, Y:2.34, Z:3.20 [[ 9.98030751e-01 -3.87543010e-02 -4.93226494e-02 6.77397746e+01] [ 3.87220799e-02 9.99248724e-01 -1.60898299e-03 2.34039560e+00] [ 4.93479495e-02 -3.04061065e-04 9.98781601e-01 3.20169081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.950385723 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:67.77, Y:2.34, Z:3.20 [[ 9.97961441e-01 -4.05221835e-02 -4.93043000e-02 6.77675748e+01] [ 4.04646235e-02 9.99178625e-01 -2.16544329e-03 2.33975753e+00] [ 4.93515511e-02 1.65948978e-04 9.98781456e-01 3.20409714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.980385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:67.80, Y:2.34, Z:3.21 [[ 9.97910097e-01 -4.17682584e-02 -4.93036613e-02 6.77957845e+01] [ 4.17112632e-02 9.99127318e-01 -2.18477205e-03 2.34037961e+00] [ 4.93518890e-02 1.23688087e-04 9.98781445e-01 3.20822908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.010385723 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:67.82, Y:2.34, Z:3.21 [[ 9.97878873e-01 -4.25097336e-02 -4.93019077e-02 6.78237610e+01] [ 4.24510234e-02 9.99096043e-01 -2.23778907e-03 2.33790374e+00] [ 4.93524687e-02 1.40125998e-04 9.98781415e-01 3.20669137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.040385723 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:67.85, Y:2.34, Z:3.21 [[ 9.97829477e-01 -4.36558446e-02 -4.93001314e-02 6.78510794e+01] [ 4.35958764e-02 9.99046620e-01 -2.29154506e-03 2.33808148e+00] [ 4.93531690e-02 1.37288777e-04 9.98781380e-01 3.20891378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.070385723 meters Centerline goodness : 0.999758 Centerline is valid? [True, True] Translation: X:67.88, Y:2.34, Z:3.21 [[ 9.97868823e-01 -4.27504449e-02 -4.92971778e-02 6.78803339e+01] [ 4.26849674e-02 9.99085745e-01 -2.38070291e-03 2.33605186e+00] [ 4.93538837e-02 2.71380782e-04 9.98781318e-01 3.20722194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.100385723 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:67.91, Y:2.34, Z:3.21 [[ 9.97904478e-01 -4.19076757e-02 -4.92990812e-02 6.79086595e+01] [ 4.18440162e-02 9.99121455e-01 -2.32310221e-03 2.33613170e+00] [ 4.93531255e-02 2.55362545e-04 9.98781359e-01 3.20998752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.13038572299999 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:67.94, Y:2.33, Z:3.22 [[ 9.97963884e-01 -4.04668897e-02 -4.93002705e-02 6.79415565e+01] [ 4.04032484e-02 9.99180838e-01 -2.28716855e-03 2.33326421e+00] [ 4.93524402e-02 2.90620528e-04 9.98781384e-01 3.21582674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.16038572299999 meters Centerline goodness : 0.999781 Centerline is valid? [True, True] Translation: X:67.97, Y:2.33, Z:3.22 [[ 9.97977311e-01 -4.01072580e-02 -4.93223441e-02 6.79691557e+01] [ 4.00765281e-02 9.99195313e-01 -1.61221925e-03 2.33266145e+00] [ 4.93473167e-02 -3.67710082e-04 9.98781611e-01 3.21688916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.19038572299999 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:68.00, Y:2.33, Z:3.22 [[ 9.98007732e-01 -3.93435855e-02 -4.93218910e-02 6.79957183e+01] [ 3.93112444e-02 9.99225691e-01 -1.62596272e-03 2.33033994e+00] [ 4.93476719e-02 -3.16181545e-04 9.98781611e-01 3.21887147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.22038572299999 meters Centerline goodness : 0.999737 Centerline is valid? [True, True] Translation: X:68.02, Y:2.33, Z:3.22 [[ 9.98031443e-01 -3.87376951e-02 -4.93216942e-02 6.80228626e+01] [ 3.87043205e-02 9.99249374e-01 -1.63191329e-03 2.32767065e+00] [ 4.93478886e-02 -2.80261889e-04 9.98781611e-01 3.21759564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.250385723 meters Centerline goodness : 0.998221 Centerline is valid? [True, True] Translation: X:68.05, Y:2.33, Z:3.22 [[ 9.97994954e-01 -3.96668889e-02 -4.93214982e-02 6.80457065e+01] [ 3.96343567e-02 9.99212908e-01 -1.63781486e-03 2.33194509e+00] [ 4.93476446e-02 -3.20294884e-04 9.98781611e-01 3.21527017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.280385723 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:68.08, Y:2.33, Z:3.22 [[ 9.98095284e-01 -3.71134612e-02 -4.92787537e-02 6.80814586e+01] [ 3.70160167e-02 9.99310497e-01 -2.88886602e-03 2.32815059e+00] [ 4.93519916e-02 1.05926038e-03 9.98780886e-01 3.22272759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.310385723 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:68.11, Y:2.33, Z:3.22 [[ 9.98134224e-01 -3.59941462e-02 -4.93203001e-02 6.81091222e+01] [ 3.59569046e-02 9.99351992e-01 -1.64242014e-03 2.32751858e+00] [ 4.93474576e-02 -1.34049577e-04 9.98781663e-01 3.22378197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.340385723 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:68.14, Y:2.32, Z:3.22 [[ 9.98234903e-01 -3.30852334e-02 -4.93198351e-02 6.81367494e+01] [ 3.30437590e-02 9.99452534e-01 -1.65626515e-03 2.32456189e+00] [ 4.93476321e-02 2.36289302e-05 9.98781663e-01 3.22433968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.370385723 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:68.16, Y:2.32, Z:3.23 [[ 9.98278463e-01 -3.17444523e-02 -4.93193677e-02 6.81645746e+01] [ 3.17006605e-02 9.99496012e-01 -1.67006968e-03 2.32341298e+00] [ 4.93475268e-02 1.03738059e-04 9.98781663e-01 3.22630977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.400385723 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:68.19, Y:2.32, Z:3.23 [[ 9.98359143e-01 -2.90975412e-02 -4.93188994e-02 6.81913115e+01] [ 2.90498439e-02 9.99576546e-01 -1.68378589e-03 2.32156031e+00] [ 4.93470091e-02 2.48316708e-04 9.98781663e-01 3.22920015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.430385723 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:68.22, Y:2.32, Z:3.23 [[ 9.98376849e-01 -2.84841385e-02 -4.93185764e-02 6.82186527e+01] [ 2.84352284e-02 9.99594203e-01 -1.69319443e-03 2.32213637e+00] [ 4.93467923e-02 2.88061138e-04 9.98781663e-01 3.23134458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.460385723 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:68.25, Y:2.32, Z:3.23 [[ 9.98387698e-01 -2.81021177e-02 -4.93180955e-02 6.82450501e+01] [ 2.80520556e-02 9.99605006e-01 -1.70708794e-03 2.32261042e+00] [ 4.93465879e-02 3.20861646e-04 9.98781663e-01 3.23319843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.490385723 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:68.27, Y:2.32, Z:3.23 [[ 9.98421869e-01 -2.68612872e-02 -4.93177672e-02 6.82730338e+01] [ 2.68092464e-02 9.99639094e-01 -1.71651959e-03 2.31803052e+00] [ 4.93460761e-02 3.91638522e-04 9.98781664e-01 3.22791703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.52038572299999 meters Centerline goodness : 0.999740 Centerline is valid? [True, True] Translation: X:68.30, Y:2.32, Z:3.23 [[ 9.98402180e-01 -2.75917152e-02 -4.93131219e-02 6.83009736e+01] [ 2.75340132e-02 9.99619157e-01 -1.84916882e-03 2.31503855e+00] [ 4.93453631e-02 4.88426036e-04 9.98781656e-01 3.22558616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.55038572299999 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:68.33, Y:2.31, Z:3.24 [[ 9.98330114e-01 -3.00920735e-02 -4.93097481e-02 6.83300396e+01] [ 3.00327038e-02 9.99547025e-01 -1.94464459e-03 2.30934924e+00] [ 4.93459304e-02 4.60492192e-04 9.98781641e-01 3.23519627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.58038572299999 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:68.36, Y:2.31, Z:3.23 [[ 9.98385275e-01 -2.81903469e-02 -4.93168118e-02 6.83567952e+01] [ 2.81385175e-02 9.99602510e-01 -1.74504378e-03 2.30754473e+00] [ 4.93464023e-02 3.54524046e-04 9.98781661e-01 3.23116943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.610385723 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:68.38, Y:2.31, Z:3.24 [[ 9.98405324e-01 -2.74854561e-02 -4.93088015e-02 6.83841061e+01] [ 2.74216637e-02 9.99622015e-01 -1.96987053e-03 2.30718318e+00] [ 4.93443063e-02 6.14599855e-04 9.98781639e-01 3.23673459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.640385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.41, Y:2.30, Z:3.24 [[ 9.98452481e-01 -2.57188219e-02 -4.93070497e-02 6.84141202e+01] [ 2.56504629e-02 9.99668934e-01 -2.01875636e-03 2.30382942e+00] [ 4.93426459e-02 7.50883649e-04 9.98781628e-01 3.24365073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.670385723 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:68.44, Y:2.30, Z:3.24 [[ 9.98501930e-01 -2.36948302e-02 -4.93198780e-02 6.84415340e+01] [ 2.36416887e-02 9.99719117e-01 -1.66064737e-03 2.30082755e+00] [ 4.93453736e-02 4.92154401e-04 9.98781654e-01 3.24067493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.700385723 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:68.47, Y:2.29, Z:3.24 [[ 9.98544138e-01 -2.18626845e-02 -4.93115309e-02 6.84715485e+01] [ 2.17958884e-02 9.99760651e-01 -1.89195307e-03 2.29116904e+00] [ 4.93410914e-02 8.14410029e-04 9.98781655e-01 3.23710139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.730385723 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:68.50, Y:2.29, Z:3.24 [[ 9.98566872e-01 -2.07847822e-02 -4.93172838e-02 6.85013595e+01] [ 2.07245063e-02 9.99783722e-01 -1.73329663e-03 2.28597057e+00] [ 4.93426437e-02 7.08736232e-04 9.98781658e-01 3.23668108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.760385723 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:68.53, Y:2.28, Z:3.24 [[ 9.98576056e-01 -2.03219412e-02 -4.93242310e-02 6.85301688e+01] [ 2.02705345e-02 9.99793342e-01 -1.54226650e-03 2.28197837e+00] [ 4.93453796e-02 5.40241874e-04 9.98781629e-01 3.23808328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.790385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.56, Y:2.28, Z:3.25 [[ 9.98551660e-01 -2.14802026e-02 -4.93273010e-02 6.85576597e+01] [ 2.14343564e-02 9.99769194e-01 -1.45827330e-03 2.27715623e+00] [ 4.93472400e-02 3.98862271e-04 9.98781603e-01 3.24598003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.820385723 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:68.58, Y:2.28, Z:3.25 [[ 9.98458942e-01 -2.54309097e-02 -4.93255488e-02 6.85841952e+01] [ 2.53875315e-02 9.99676551e-01 -1.50583712e-03 2.27737868e+00] [ 4.93478892e-02 2.51262613e-04 9.98781619e-01 3.24622786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.850385723 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:68.61, Y:2.27, Z:3.25 [[ 9.98385501e-01 -2.81855946e-02 -4.93149401e-02 6.86131336e+01] [ 2.81315027e-02 9.99602627e-01 -1.79073623e-03 2.26756068e+00] [ 4.93458167e-02 4.00541720e-04 9.98781673e-01 3.24691759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.88038572299999 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:68.64, Y:2.26, Z:3.25 [[ 9.98344018e-01 -2.96149316e-02 -4.93171188e-02 6.86422143e+01] [ 2.95654534e-02 9.99561345e-01 -1.73260916e-03 2.26251550e+00] [ 4.93467967e-02 2.71657007e-04 9.98781668e-01 3.24646132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.91038572299999 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:68.67, Y:2.26, Z:3.25 [[ 9.98215310e-01 -3.36709828e-02 -4.93199777e-02 6.86677771e+01] [ 3.36301938e-02 9.99432972e-01 -1.65685607e-03 2.25527957e+00] [ 4.93477999e-02 -4.74131392e-06 9.98781655e-01 3.25069303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.94038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.70, Y:2.25, Z:3.25 [[ 9.98316148e-01 -3.05489673e-02 -4.93115439e-02 6.87021399e+01] [ 3.04934315e-02 9.99533202e-01 -1.87830363e-03 2.24838572e+00] [ 4.93459056e-02 3.71462661e-04 9.98781680e-01 3.25499467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.97038572299999 meters Centerline goodness : 0.999896 Centerline is valid? [True, True] Translation: X:68.73, Y:2.25, Z:3.25 [[ 9.98281672e-01 -3.16149177e-02 -4.93376238e-02 6.87305214e+01] [ 3.15947153e-02 9.99500055e-01 -1.18949304e-03 2.24654288e+00] [ 4.93505634e-02 -3.71359081e-04 9.98781450e-01 3.25446947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.000385723 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:68.76, Y:2.24, Z:3.26 [[ 9.98324507e-01 -3.02422376e-02 -4.93313835e-02 6.87577654e+01] [ 3.02123027e-02 9.99542589e-01 -1.35253185e-03 2.24127005e+00] [ 4.93497224e-02 -1.40148999e-04 9.98781550e-01 3.25858584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.030385723 meters Centerline goodness : 0.999917 Centerline is valid? [True, True] Translation: X:68.79, Y:2.24, Z:3.26 [[ 9.98386512e-01 -2.81395174e-02 -4.93207840e-02 6.87859501e+01] [ 2.80935445e-02 9.99603977e-01 -1.62523000e-03 2.23827474e+00] [ 4.93469850e-02 2.37012069e-04 9.98781667e-01 3.25980842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.060385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.81, Y:2.23, Z:3.26 [[ 9.98533642e-01 -2.23191939e-02 -4.93195660e-02 6.88138618e+01] [ 2.22645916e-02 9.99750741e-01 -1.65627719e-03 2.22945142e+00] [ 4.93442395e-02 5.55768501e-04 9.98781676e-01 3.26296974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.090385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.84, Y:2.23, Z:3.26 [[ 9.98584162e-01 -1.99420663e-02 -4.93151545e-02 6.88431290e+01] [ 1.98790685e-02 9.99800829e-01 -1.76763940e-03 2.22638693e+00] [ 4.93405827e-02 7.84797370e-04 9.98781703e-01 3.26269431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.120385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.87, Y:2.22, Z:3.27 [[ 9.98650256e-01 -1.63137022e-02 -4.93105332e-02 6.88717220e+01] [ 1.62405689e-02 9.99866339e-01 -1.88343920e-03 2.22246971e+00] [ 4.93346681e-02 1.08006593e-03 9.98781720e-01 3.26580688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.150385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.89, Y:2.22, Z:3.26 [[ 9.98732320e-01 -1.01089179e-02 -4.93108865e-02 6.88867621e+01] [ 1.00286662e-02 9.99947954e-01 -1.87461198e-03 2.21566104e+00] [ 4.93272704e-02 1.37771315e-03 9.98781719e-01 3.26099188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.180385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.91, Y:2.22, Z:3.26 [[ 9.98739173e-01 -9.85609754e-03 -4.92231763e-02 6.89142297e+01] [ 9.68054371e-03 9.99945908e-01 -3.80361847e-03 2.21753909e+00] [ 4.92580025e-02 3.32231566e-03 9.98780562e-01 3.26285158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.210385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.96, Y:2.21, Z:3.27 [[ 9.98758879e-01 -7.49266316e-03 -4.92398318e-02 6.89576666e+01] [ 7.33465051e-03 9.99967358e-01 -3.38894874e-03 2.20842952e+00] [ 4.92636168e-02 3.02358569e-03 9.98781234e-01 3.27347655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.240385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.99, Y:2.20, Z:3.28 [[ 9.98765437e-01 -6.00635646e-03 -4.93104981e-02 6.89858549e+01] [ 5.93592526e-03 9.99981142e-01 -1.57463851e-03 2.20135481e+00] [ 4.93190261e-02 1.27999109e-03 9.98782256e-01 3.27549900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.27038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.01, Y:2.19, Z:3.28 [[ 9.98771562e-01 -4.88651828e-03 -4.93101225e-02 6.90144417e+01] [ 4.81424869e-03 9.99987156e-01 -1.58427587e-03 2.19420585e+00] [ 4.93172308e-02 1.34493849e-03 9.98782259e-01 3.27797663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.30038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.04, Y:2.18, Z:3.28 [[ 9.98767006e-01 -5.75724082e-03 -4.93084379e-02 6.90440050e+01] [ 5.68391104e-03 9.99982522e-01 -1.62725477e-03 2.17822589e+00] [ 4.93169446e-02 1.34498360e-03 9.98782274e-01 3.27790584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.33038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.07, Y:2.17, Z:3.28 [[ 9.98759157e-01 -6.93669819e-03 -4.93156020e-02 6.90729944e+01] [ 6.87377616e-03 9.99975331e-01 -1.44538800e-03 2.17191909e+00] [ 4.93244117e-02 1.10461010e-03 9.98782200e-01 3.27802558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.360385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.10, Y:2.16, Z:3.28 [[ 9.98739410e-01 -9.36392343e-03 -4.93143786e-02 6.91013188e+01] [ 9.30243559e-03 9.99955642e-01 -1.47622316e-03 2.15880796e+00] [ 4.93260143e-02 1.01561842e-03 9.98782215e-01 3.27864647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.390385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.13, Y:2.16, Z:3.28 [[ 9.98695305e-01 -1.32712705e-02 -4.93108630e-02 6.91268319e+01] [ 1.32102139e-02 9.99911518e-01 -1.56390846e-03 2.15640451e+00] [ 4.93272550e-02 9.10460989e-04 9.98782255e-01 3.28138728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.420385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.16, Y:2.15, Z:3.28 [[ 9.98728694e-01 -1.05422902e-02 -4.92935744e-02 6.91594056e+01] [ 1.04568003e-02 9.99943342e-01 -1.99186912e-03 2.14689739e+00] [ 4.93117804e-02 1.47388378e-03 9.98782347e-01 3.28120509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.450385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.19, Y:2.14, Z:3.29 [[ 9.98686259e-01 -1.39392280e-02 -4.93097780e-02 6.91856103e+01] [ 1.38777421e-02 9.99902437e-01 -1.58909131e-03 2.14397508e+00] [ 4.93271179e-02 9.02695270e-04 9.98782269e-01 3.28553806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.480385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.22, Y:2.13, Z:3.29 [[ 9.98710151e-01 -1.21745161e-02 -4.92931617e-02 6.92183044e+01] [ 1.20906627e-02 9.99924907e-01 -1.99894461e-03 2.12623636e+00] [ 4.93137963e-02 1.40037928e-03 9.98782353e-01 3.28713479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.510385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.24, Y:2.12, Z:3.29 [[ 9.98676938e-01 -1.45944457e-02 -4.93089723e-02 6.92444194e+01] [ 1.45328744e-02 9.99893101e-01 -1.60699053e-03 2.12234703e+00] [ 4.93271543e-02 8.88263279e-04 9.98782280e-01 3.28971961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.540385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.28, Y:2.11, Z:3.29 [[ 9.98723033e-01 -1.10691597e-02 -4.92927654e-02 6.92771150e+01] [ 1.09836416e-02 9.99937667e-01 -2.00544318e-03 2.10608645e+00] [ 4.93118914e-02 1.46146823e-03 9.98782359e-01 3.29365297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.570385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.30, Y:2.10, Z:3.30 [[ 9.98709100e-01 -1.22104191e-02 -4.93055686e-02 6.93029816e+01] [ 1.21418774e-02 9.99924858e-01 -1.68942548e-03 2.10239509e+00] [ 4.93224922e-02 1.08858243e-03 9.98782312e-01 3.29633878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.600385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.33, Y:2.10, Z:3.30 [[ 9.98726701e-01 -1.07343335e-02 -4.92924943e-02 6.93310067e+01] [ 1.06481787e-02 9.99941286e-01 -2.01009997e-03 2.09525283e+00] [ 4.93111772e-02 1.48266522e-03 9.98782363e-01 3.29855269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.63038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.36, Y:2.08, Z:3.30 [[ 9.98755662e-01 -7.57816224e-03 -4.92919703e-02 6.93596828e+01] [ 7.48754018e-03 9.99969922e-01 -2.02286794e-03 2.07952634e+00] [ 4.93058174e-02 1.65127520e-03 9.98782364e-01 3.30073922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.66038572299999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:69.39, Y:2.07, Z:3.30 [[ 9.98769691e-01 -5.42492639e-03 -4.92917262e-02 6.93896873e+01] [ 5.33139430e-03 9.99983730e-01 -2.02880053e-03 2.07160740e+00] [ 4.93019303e-02 1.76351085e-03 9.98782364e-01 3.29749833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.69038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.42, Y:2.06, Z:3.30 [[ 9.98774333e-01 -4.48996243e-03 -4.92916951e-02 6.94158348e+01] [ 4.39525676e-03 9.99988281e-01 -2.02955434e-03 2.05665315e+00] [ 4.93002301e-02 1.81041712e-03 9.98782364e-01 3.29986142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.72038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.44, Y:2.05, Z:3.31 [[ 9.98780482e-01 -3.01647874e-03 -4.92792943e-02 6.94448172e+01] [ 2.90530823e-03 9.99993071e-01 -2.32740110e-03 2.04831301e+00] [ 4.92859734e-02 2.18139126e-03 9.98782326e-01 3.30549030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.750385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.47, Y:2.04, Z:3.31 [[ 9.98783387e-01 -1.70974997e-03 -4.92830963e-02 6.94746145e+01] [ 1.60148373e-03 9.99996217e-01 -2.23622637e-03 2.04004762e+00] [ 4.92867332e-02 2.15457967e-03 9.98782347e-01 3.30517039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.780385723 meters Centerline goodness : 0.998522 Centerline is valid? [True, True] Translation: X:69.50, Y:2.02, Z:3.32 [[ 9.98784166e-01 -1.17657088e-03 -4.92829106e-02 6.95024048e+01] [ 1.06744215e-03 9.99996920e-01 -2.24059281e-03 2.02238451e+00] [ 4.92853950e-02 2.18526197e-03 9.98782346e-01 3.31719571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.810385723 meters Centerline goodness : 0.998376 Centerline is valid? [True, True] Translation: X:69.53, Y:2.01, Z:3.31 [[ 9.98782225e-01 -2.28324208e-03 -4.92834057e-02 6.95316471e+01] [ 2.17602733e-03 9.99995148e-01 -2.22901788e-03 2.01409323e+00] [ 4.92882560e-02 2.11906140e-03 9.98782347e-01 3.31311616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.840385723 meters Centerline goodness : 0.998197 Centerline is valid? [True, True] Translation: X:69.56, Y:2.00, Z:3.32 [[ 9.98769358e-01 -5.56870488e-03 -4.92824334e-02 6.95598861e+01] [ 5.46436769e-03 9.99982535e-01 -2.25160576e-03 1.99511004e+00] [ 4.92941113e-02 1.97953751e-03 9.98782345e-01 3.31808881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.870385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.59, Y:1.99, Z:3.31 [[ 9.98745135e-01 -8.91884683e-03 -4.92809295e-02 6.95894922e+01] [ 8.81686794e-03 9.99958517e-01 -2.28633864e-03 1.98662800e+00] [ 4.92992766e-02 1.84896615e-03 9.98782340e-01 3.31352487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.900385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.62, Y:1.98, Z:3.32 [[ 9.98700534e-01 -1.29616833e-02 -4.92872944e-02 6.96181460e+01] [ 1.28718444e-02 9.99914865e-01 -2.13973838e-03 1.97844869e+00] [ 4.93108330e-02 1.50253948e-03 9.98782351e-01 3.31562059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.930385723 meters Centerline goodness : 0.998086 Centerline is valid? [True, True] Translation: X:69.65, Y:1.97, Z:3.32 [[ 9.98629329e-01 -1.76148388e-02 -4.92867128e-02 6.96460641e+01] [ 1.75300021e-02 9.99844020e-01 -2.15305385e-03 1.97173653e+00] [ 4.93169507e-02 1.28610654e-03 9.98782351e-01 3.32378943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.960385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.67, Y:1.96, Z:3.32 [[ 9.98450812e-01 -2.58368672e-02 -4.92791213e-02 6.96744746e+01] [ 2.57535209e-02 9.99665618e-01 -2.32560882e-03 1.95910395e+00] [ 4.93227297e-02 1.05289513e-03 9.98782339e-01 3.31764249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.990385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.71, Y:1.95, Z:3.32 [[ 9.98398102e-01 -2.78037796e-02 -4.92765653e-02 6.97061059e+01] [ 2.77199169e-02 9.99612885e-01 -2.38458093e-03 1.95170798e+00] [ 4.93237899e-02 1.01481878e-03 9.98782326e-01 3.31981279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.02038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.73, Y:1.94, Z:3.32 [[ 9.98159801e-01 -3.53234965e-02 -4.92875410e-02 6.97329251e+01] [ 3.52613189e-02 9.99375855e-01 -2.13072846e-03 1.94170630e+00] [ 4.93320432e-02 3.88863797e-04 9.98782358e-01 3.31911213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.05038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.76, Y:1.93, Z:3.32 [[ 9.98144040e-01 -3.57868246e-02 -4.92725033e-02 6.97646377e+01] [ 3.57082079e-02 9.99359193e-01 -2.47515945e-03 1.93424574e+00] [ 4.93295073e-02 7.11132860e-04 9.98782306e-01 3.32206039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.08038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.79, Y:1.93, Z:3.32 [[ 9.98073643e-01 -3.76803024e-02 -4.92868997e-02 6.97917271e+01] [ 3.76203252e-02 9.99289804e-01 -2.14432287e-03 1.93015756e+00] [ 4.93326951e-02 2.86002937e-04 9.98782360e-01 3.32372354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.110385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.82, Y:1.92, Z:3.33 [[ 9.98043219e-01 -3.84782321e-02 -4.92864898e-02 6.98201559e+01] [ 3.84187640e-02 9.99259406e-01 -2.15370328e-03 1.92279758e+00] [ 4.93328592e-02 2.55962938e-04 9.98782360e-01 3.32545735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.140385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.85, Y:1.92, Z:3.33 [[ 9.98066954e-01 -3.78578208e-02 -4.92863040e-02 6.98480858e+01] [ 3.77973871e-02 9.99283093e-01 -2.15794703e-03 1.91958063e+00] [ 4.93326655e-02 2.90882107e-04 9.98782360e-01 3.32629969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.170385723 meters Centerline goodness : 0.997532 Centerline is valid? [True, True] Translation: X:69.88, Y:1.92, Z:3.33 [[ 9.98093485e-01 -3.71521599e-02 -4.92860275e-02 6.98752090e+01] [ 3.70905555e-02 9.99309565e-01 -2.16424335e-03 1.91658353e+00] [ 4.93324050e-02 3.32071049e-04 9.98782360e-01 3.33295894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.200385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.91, Y:1.91, Z:3.33 [[ 9.98179067e-01 -3.47930426e-02 -4.92746818e-02 6.99062718e+01] [ 3.47159311e-02 9.99394290e-01 -2.42015526e-03 1.90808511e+00] [ 4.93290402e-02 7.05131858e-04 9.98782333e-01 3.32715382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.230385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:69.94, Y:1.90, Z:3.33 [[ 9.98211177e-01 -3.38440043e-02 -4.92851795e-02 6.99354962e+01] [ 3.37774337e-02 9.99426995e-01 -2.18320364e-03 1.90482883e+00] [ 4.93308272e-02 5.14571392e-04 9.98782361e-01 3.33032972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.260385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.96, Y:1.90, Z:3.34 [[ 9.98258010e-01 -3.24340897e-02 -4.92846387e-02 6.99646924e+01] [ 3.23652026e-02 9.99473699e-01 -2.19534571e-03 1.89768669e+00] [ 4.93299041e-02 5.96414121e-04 9.98782361e-01 3.33513510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.290385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.99, Y:1.90, Z:3.34 [[ 9.98276103e-01 -3.18731758e-02 -4.92840991e-02 6.99934676e+01] [ 3.18030110e-02 9.99491719e-01 -2.20739326e-03 1.89512787e+00] [ 4.93294055e-02 6.36205191e-04 9.98782361e-01 3.33765738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.320385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.02, Y:1.89, Z:3.34 [[ 9.98273071e-01 -3.19688562e-02 -4.92835493e-02 7.00223971e+01] [ 3.18982053e-02 9.99488658e-01 -2.21960062e-03 1.89341653e+00] [ 4.93293066e-02 6.43710754e-04 9.98782361e-01 3.34045755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.350385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.05, Y:1.89, Z:3.34 [[ 9.98272741e-01 -3.19799921e-02 -4.92829967e-02 7.00498327e+01] [ 3.19087525e-02 9.99488294e-01 -2.23180239e-03 1.89133324e+00] [ 4.93291513e-02 6.55388550e-04 9.98782361e-01 3.34300217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.38038572299999 meters Centerline goodness : 0.999959 Centerline is valid? [True, True] Translation: X:70.08, Y:1.88, Z:3.34 [[ 9.98256797e-01 -3.24743452e-02 -4.92827036e-02 7.00787232e+01] [ 3.24033891e-02 9.99472366e-01 -2.23825539e-03 1.88486441e+00] [ 4.93293863e-02 6.37427033e-04 9.98782361e-01 3.34491081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.41038572299999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:70.11, Y:1.88, Z:3.35 [[ 9.98176429e-01 -3.48580639e-02 -4.92821619e-02 7.01079335e+01] [ 3.47894249e-02 9.99392132e-01 -2.25012071e-03 1.88104978e+00] [ 4.93306397e-02 5.31519379e-04 9.98782361e-01 3.34536675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.44038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.14, Y:1.88, Z:3.35 [[ 9.98200347e-01 -3.41717618e-02 -4.92783775e-02 7.01374574e+01] [ 3.40982116e-02 9.99415765e-01 -2.33268133e-03 1.87855472e+00] [ 4.93292992e-02 6.48178766e-04 9.98782359e-01 3.35181390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.47038572299999 meters Centerline goodness : 0.999959 Centerline is valid? [True, True] Translation: X:70.17, Y:1.88, Z:3.35 [[ 9.98215999e-01 -3.36961857e-02 -4.92888153e-02 7.01660419e+01] [ 3.36332865e-02 9.99432024e-01 -2.10519135e-03 1.87700777e+00] [ 4.93317574e-02 4.43690831e-04 9.98782349e-01 3.35133383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.500385723 meters Centerline goodness : 0.999836 Centerline is valid? [True, True] Translation: X:70.20, Y:1.87, Z:3.36 [[ 9.98233138e-01 -3.31958160e-02 -4.92812336e-02 7.01957820e+01] [ 3.31241805e-02 9.99448666e-01 -2.26981743e-03 1.87205718e+00] [ 4.93294116e-02 6.33406501e-04 9.98782363e-01 3.35558806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.530385723 meters Centerline goodness : 0.999342 Centerline is valid? [True, True] Translation: X:70.23, Y:1.87, Z:3.35 [[ 9.98306270e-01 -3.09185953e-02 -4.92811547e-02 7.02290277e+01] [ 3.08441027e-02 9.99521626e-01 -2.27152944e-03 1.86747133e+00] [ 4.93278124e-02 7.47649090e-04 9.98782363e-01 3.35469499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.560385723 meters Centerline goodness : 0.999404 Centerline is valid? [True, True] Translation: X:70.25, Y:1.87, Z:3.36 [[ 9.98260113e-01 -3.23386858e-02 -4.93047244e-02 7.02530583e+01] [ 3.22913112e-02 9.99476955e-01 -1.75730014e-03 1.86798506e+00] [ 4.93357645e-02 1.62128440e-04 9.98782237e-01 3.36268352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.590385723 meters Centerline goodness : 0.999505 Centerline is valid? [True, True] Translation: X:70.28, Y:1.86, Z:3.37 [[ 9.98345480e-01 -2.96268590e-02 -4.92803361e-02 7.02800862e+01] [ 2.95501924e-02 9.99560689e-01 -2.28372057e-03 1.86207883e+00] [ 4.93263462e-02 8.23698696e-04 9.98782375e-01 3.37050598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.620385723 meters Centerline goodness : 0.998379 Centerline is valid? [True, True] Translation: X:70.31, Y:1.86, Z:3.37 [[ 9.98365315e-01 -2.89686894e-02 -4.92698049e-02 7.03121607e+01] [ 2.88800474e-02 9.99579733e-01 -2.51020279e-03 1.85851058e+00] [ 4.93218157e-02 1.08318510e-03 9.98782351e-01 3.36961322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.650385723 meters Centerline goodness : 0.997848 Centerline is valid? [True, True] Translation: X:70.34, Y:1.85, Z:3.38 [[ 9.98448219e-01 -2.59352810e-02 -4.92799668e-02 7.03414534e+01] [ 2.58537275e-02 9.99663110e-01 -2.29171035e-03 1.84904254e+00] [ 4.93228010e-02 1.01408328e-03 9.98782375e-01 3.37798283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.680385723 meters Centerline goodness : 0.996879 Centerline is valid? [True, True] Translation: X:70.37, Y:1.85, Z:3.38 [[ 9.98467877e-01 -2.51672256e-02 -4.92799161e-02 7.03715618e+01] [ 2.50846839e-02 9.99682701e-01 -2.29279988e-03 1.84571685e+00] [ 4.93219830e-02 1.05311592e-03 9.98782375e-01 3.37826235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.710385723 meters Centerline goodness : 0.996769 Centerline is valid? [True, True] Translation: X:70.40, Y:1.84, Z:3.38 [[ 9.98476195e-01 -2.48350886e-02 -4.92798773e-02 7.04015207e+01] [ 2.47521016e-02 9.99690989e-01 -2.29363471e-03 1.84238301e+00] [ 4.93216118e-02 1.07035913e-03 9.98782375e-01 3.37914714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.740385723 meters Centerline goodness : 0.994642 Centerline is valid? [True, True] Translation: X:70.43, Y:1.83, Z:3.38 [[ 9.98464066e-01 -2.53181692e-02 -4.92797985e-02 7.04318135e+01] [ 2.52356866e-02 9.99678894e-01 -2.29532512e-03 1.83223657e+00] [ 4.93220879e-02 1.04819011e-03 9.98782375e-01 3.38388843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.77038572299999 meters Centerline goodness : 0.989606 Centerline is valid? [True, True] Translation: X:70.47, Y:1.82, Z:3.37 [[ 9.98570815e-01 -2.06842080e-02 -4.92797280e-02 7.04698222e+01] [ 2.05960139e-02 9.99785241e-01 -2.29683869e-03 1.82174749e+00] [ 4.93166530e-02 1.27859013e-03 9.98782375e-01 3.37290004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.80038572299999 meters Centerline goodness : 0.987329 Centerline is valid? [True, True] Translation: X:70.50, Y:1.81, Z:3.38 [[ 9.98577489e-01 -2.02503495e-02 -4.93246493e-02 7.04993522e+01] [ 2.02099062e-02 9.99794889e-01 -1.31858222e-03 1.80911340e+00] [ 4.93412340e-02 3.19859992e-04 9.98781928e-01 3.37781161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.83038572299999 meters Centerline goodness : 0.991180 Centerline is valid? [True, True] Translation: X:70.52, Y:1.81, Z:3.39 [[ 9.98433710e-01 -2.63992890e-02 -4.93275148e-02 7.05186936e+01] [ 2.63694163e-02 9.99651477e-01 -1.25637899e-03 1.81108723e+00] [ 4.93434905e-02 -4.63266368e-05 9.98781867e-01 3.39189652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.860385723 meters Centerline goodness : 0.988759 Centerline is valid? [True, True] Translation: X:70.55, Y:1.81, Z:3.39 [[ 9.98437335e-01 -2.63555446e-02 -4.92775149e-02 7.05489804e+01] [ 2.62731423e-02 9.99652111e-01 -2.31930485e-03 1.80726723e+00] [ 4.93214983e-02 1.02100539e-03 9.98782432e-01 3.38892689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.890385723 meters Centerline goodness : 0.985844 Centerline is valid? [True, True] Translation: X:70.59, Y:1.79, Z:3.39 [[ 9.98569085e-01 -2.07730221e-02 -4.92774115e-02 7.05867979e+01] [ 2.06837213e-02 9.99783374e-01 -2.32149910e-03 1.79324522e+00] [ 4.93149612e-02 1.29893699e-03 9.98782432e-01 3.38850310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.920385723 meters Centerline goodness : 0.985445 Centerline is valid? [True, True] Translation: X:70.62, Y:1.79, Z:3.39 [[ 9.98548120e-01 -2.16630661e-02 -4.93189933e-02 7.06150443e+01] [ 2.16188289e-02 9.99765263e-01 -1.43028150e-03 1.79086572e+00] [ 4.93384006e-02 3.61986025e-04 9.98782054e-01 3.39181916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.950385723 meters Centerline goodness : 0.978735 Centerline is valid? [True, True] Translation: X:70.65, Y:1.78, Z:3.38 [[ 9.98524838e-01 -2.27352855e-02 -4.93077558e-02 7.06459737e+01] [ 2.26808170e-02 9.99741372e-01 -1.66396687e-03 1.78291028e+00] [ 4.93328342e-02 5.43172061e-04 9.98782247e-01 3.38299098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.980385723 meters Centerline goodness : 0.990871 Centerline is valid? [True, True] Translation: X:70.67, Y:1.78, Z:3.41 [[ 9.98463218e-01 -2.52939742e-02 -4.93094080e-02 7.06685284e+01] [ 2.52443514e-02 9.99679983e-01 -1.62896503e-03 1.78228562e+00] [ 4.93348312e-02 3.81677640e-04 9.98782223e-01 3.40864337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.010385723 meters Centerline goodness : 0.988630 Centerline is valid? [True, True] Translation: X:70.70, Y:1.78, Z:3.40 [[ 9.98458180e-01 -2.55541644e-02 -4.92772504e-02 7.06981742e+01] [ 2.54716817e-02 9.99672895e-01 -2.30119562e-03 1.77948045e+00] [ 4.93199367e-02 1.04247315e-03 9.98782487e-01 3.40325647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.040385723 meters Centerline goodness : 0.990246 Centerline is valid? [True, True] Translation: X:70.72, Y:1.77, Z:3.43 [[ 9.98469209e-01 -2.51211797e-02 -4.92764098e-02 7.07226018e+01] [ 2.50373055e-02 9.99683828e-01 -2.31872458e-03 1.77029853e+00] [ 4.93190791e-02 1.08142657e-03 9.98782488e-01 3.42877374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.070385723 meters Centerline goodness : 0.989017 Centerline is valid? [True, True] Translation: X:70.76, Y:1.77, Z:3.40 [[ 9.98418249e-01 -2.71052403e-02 -4.92575579e-02 7.07553220e+01] [ 2.70044931e-02 9.99631639e-01 -2.70977970e-03 1.76716693e+00] [ 4.93128626e-02 1.37531812e-03 9.98782434e-01 3.40424574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.100385723 meters Centerline goodness : 0.989017 Centerline is valid? [True, True] Translation: X:70.78, Y:1.77, Z:3.41 [[ 9.98409308e-01 -2.74032655e-02 -4.92738806e-02 7.07837341e+01] [ 2.73196107e-02 9.99623939e-01 -2.37055926e-03 1.76853813e+00] [ 4.93203117e-02 1.02064520e-03 9.98782491e-01 3.40574397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.13038572299999 meters Centerline goodness : 0.992213 Centerline is valid? [True, True] Translation: X:70.81, Y:1.76, Z:3.41 [[ 9.98339123e-01 -2.98522177e-02 -4.92731275e-02 7.08133338e+01] [ 2.97707752e-02 9.99553904e-01 -2.38611169e-03 1.76238140e+00] [ 4.93223777e-02 9.15249455e-04 9.98782492e-01 3.40710114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.16038572299999 meters Centerline goodness : 0.992629 Centerline is valid? [True, True] Translation: X:70.84, Y:1.76, Z:3.41 [[ 9.98294260e-01 -3.13160677e-02 -4.92734629e-02 7.08434955e+01] [ 3.12367478e-02 9.99509182e-01 -2.37919398e-03 1.76131697e+00] [ 4.93237856e-02 8.35992962e-04 9.98782491e-01 3.40551287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.19038572299999 meters Centerline goodness : 0.985229 Centerline is valid? [True, True] Translation: X:70.88, Y:1.75, Z:3.38 [[ 9.98305825e-01 -3.09445394e-02 -4.92738855e-02 7.08825344e+01] [ 3.08651966e-02 9.99520745e-01 -2.37049586e-03 1.75247412e+00] [ 4.93236247e-02 8.45631657e-04 9.98782491e-01 3.38033131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.22038572299999 meters Centerline goodness : 0.985797 Centerline is valid? [True, True] Translation: X:70.91, Y:1.75, Z:3.38 [[ 9.98174747e-01 -3.48615548e-02 -4.93137590e-02 7.09116172e+01] [ 3.48255092e-02 9.99392143e-01 -1.59022731e-03 1.75055555e+00] [ 4.93392210e-02 -1.30052025e-04 9.98782071e-01 3.37574970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.250385723 meters Centerline goodness : 0.988789 Centerline is valid? [True, True] Translation: X:70.94, Y:1.75, Z:3.38 [[ 9.98081645e-01 -3.74361158e-02 -4.93109285e-02 7.09369514e+01] [ 3.74004922e-02 9.99299002e-01 -1.64524280e-03 1.74899350e+00] [ 4.93379532e-02 -2.02166354e-04 9.98782121e-01 3.37668181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.280385723 meters Centerline goodness : 0.993577 Centerline is valid? [True, True] Translation: X:70.96, Y:1.75, Z:3.38 [[ 9.97619953e-01 -4.82106083e-02 -4.92967179e-02 7.09615494e+01] [ 4.81745375e-02 9.98837087e-01 -1.92028404e-03 1.75046372e+00] [ 4.93319681e-02 -4.59132913e-04 9.98782332e-01 3.37625169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.310385723 meters Centerline goodness : 0.996798 Centerline is valid? [True, True] Translation: X:70.99, Y:1.75, Z:3.38 [[ 9.97538289e-01 -4.98981037e-02 -4.92700946e-02 7.09898811e+01] [ 4.98387694e-02 9.98754313e-01 -2.43282666e-03 1.75082841e+00] [ 4.93301129e-02 -2.87231373e-05 9.98782528e-01 3.38322747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.340385723 meters Centerline goodness : 0.991471 Centerline is valid? [True, True] Translation: X:71.03, Y:1.75, Z:3.36 [[ 9.97596270e-01 -4.87283740e-02 -4.92668987e-02 7.10251102e+01] [ 4.86645891e-02 9.98812063e-01 -2.49407124e-03 1.75029787e+00] [ 4.93299048e-02 9.05227867e-05 9.98782535e-01 3.36355227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.370385723 meters Centerline goodness : 0.992805 Centerline is valid? [True, True] Translation: X:71.05, Y:1.75, Z:3.36 [[ 9.97484892e-01 -5.09324134e-02 -4.92927836e-02 7.10549060e+01] [ 5.08947597e-02 9.98701980e-01 -2.01952911e-03 1.75470937e+00] [ 4.93316601e-02 -4.94294596e-04 9.98782330e-01 3.35588958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.400385723 meters Centerline goodness : 0.995332 Centerline is valid? [True, True] Translation: X:71.08, Y:1.76, Z:3.36 [[ 9.97329459e-01 -5.38922615e-02 -4.92907125e-02 7.10778258e+01] [ 5.38563530e-02 9.98546574e-01 -2.05729700e-03 1.75972116e+00] [ 4.93299445e-02 -6.02815106e-04 9.98782355e-01 3.35775223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.430385723 meters Centerline goodness : 0.996050 Centerline is valid? [True, True] Translation: X:71.11, Y:1.76, Z:3.35 [[ 9.97613972e-01 -4.83782888e-02 -4.92534639e-02 7.11134900e+01] [ 4.83024470e-02 9.98829026e-01 -2.72961568e-03 1.75725939e+00] [ 4.93278435e-02 3.44039911e-04 9.98782582e-01 3.35160355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.460385723 meters Centerline goodness : 0.996728 Centerline is valid? [True, True] Translation: X:71.14, Y:1.76, Z:3.35 [[ 9.97459306e-01 -5.14328082e-02 -4.92909701e-02 7.11376881e+01] [ 5.13942444e-02 9.98676338e-01 -2.05029826e-03 1.76456712e+00] [ 4.93311781e-02 -4.88183086e-04 9.98782357e-01 3.35001071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.490385723 meters Centerline goodness : 0.998343 Centerline is valid? [True, True] Translation: X:71.17, Y:1.76, Z:3.35 [[ 9.97722001e-01 -4.60981955e-02 -4.92520631e-02 7.11724256e+01] [ 4.60187436e-02 9.98936801e-01 -2.74650546e-03 1.76403878e+00] [ 4.93263073e-02 4.73730862e-04 9.98782604e-01 3.34956983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.52038572299999 meters Centerline goodness : 0.999118 Centerline is valid? [True, True] Translation: X:71.20, Y:1.77, Z:3.34 [[ 9.98042772e-01 -3.84870003e-02 -4.92887040e-02 7.12029314e+01] [ 3.84303223e-02 9.99259081e-01 -2.09741958e-03 1.76717399e+00] [ 4.93329084e-02 1.99133668e-04 9.98782371e-01 3.33645005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.55038572299999 meters Centerline goodness : 0.999768 Centerline is valid? [True, True] Translation: X:71.23, Y:1.77, Z:3.33 [[ 9.98176750e-01 -3.48528180e-02 -4.92793695e-02 7.12319140e+01] [ 3.47835845e-02 9.99392308e-01 -2.26206060e-03 1.76976106e+00] [ 4.93282620e-02 5.43823192e-04 9.98782472e-01 3.33348235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.58038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.26, Y:1.77, Z:3.33 [[ 9.98376096e-01 -2.85906579e-02 -4.92721601e-02 7.12597078e+01] [ 2.85075642e-02 9.99590723e-01 -2.38848538e-03 1.77370965e+00] [ 4.93202826e-02 9.79977440e-04 9.98782534e-01 3.32913987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.610385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.29, Y:1.78, Z:3.33 [[ 9.98448602e-01 -2.59374599e-02 -4.92710662e-02 7.12896170e+01] [ 2.58501855e-02 9.99662928e-01 -2.40781401e-03 1.77513289e+00] [ 4.93169109e-02 1.13041233e-03 9.98782541e-01 3.32654300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.640385723 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:71.32, Y:1.78, Z:3.33 [[ 9.98454167e-01 -2.57180299e-02 -4.92733204e-02 7.13181718e+01] [ 2.56324386e-02 9.99668630e-01 -2.36827216e-03 1.77719723e+00] [ 4.93179000e-02 1.10161585e-03 9.98782524e-01 3.32677296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.670385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.34, Y:1.78, Z:3.33 [[ 9.98474222e-01 -2.49311955e-02 -4.92713211e-02 7.13438708e+01] [ 2.48429107e-02 9.99688478e-01 -2.40348610e-03 1.77780439e+00] [ 4.93158938e-02 1.17577588e-03 9.98782539e-01 3.32533153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.700385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.37, Y:1.78, Z:3.32 [[ 9.98537263e-01 -2.22931712e-02 -4.92579748e-02 7.13726567e+01] [ 2.21902861e-02 9.99750294e-01 -2.63463630e-03 1.77778159e+00] [ 4.93044092e-02 1.53773397e-03 9.98782614e-01 3.31878271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.730385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.41, Y:1.78, Z:3.32 [[ 9.98589056e-01 -1.98528432e-02 -4.92520187e-02 7.14053250e+01] [ 1.97419649e-02 9.99801363e-01 -2.73673170e-03 1.77597466e+00] [ 4.92965673e-02 1.76053870e-03 9.98782633e-01 3.31889028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.760385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.43, Y:1.78, Z:3.32 [[ 9.98577761e-01 -2.03045301e-02 -4.92968669e-02 7.14272997e+01] [ 2.02331231e-02 9.99793393e-01 -1.94714681e-03 1.77800689e+00] [ 4.93262178e-02 9.46947921e-04 9.98782272e-01 3.32003100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.790385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.45, Y:1.78, Z:3.32 [[ 9.98585144e-01 -2.00651344e-02 -4.92453036e-02 7.14541402e+01] [ 1.99493694e-02 9.99796954e-01 -2.84121234e-03 1.77805678e+00] [ 4.92923138e-02 1.85477968e-03 9.98782673e-01 3.31902076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.820385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.48, Y:1.77, Z:3.31 [[ 9.98599393e-01 -1.93438941e-02 -4.92449636e-02 7.14842752e+01] [ 1.92269644e-02 9.99811091e-01 -2.84709178e-03 1.77403476e+00] [ 4.92907347e-02 1.89627296e-03 9.98782673e-01 3.31434938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.850385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.51, Y:1.77, Z:3.31 [[ 9.98606583e-01 -1.89454862e-02 -4.92540381e-02 7.15109212e+01] [ 1.88357806e-02 9.99818971e-01 -2.69058098e-03 1.76831537e+00] [ 4.92960960e-02 1.75909362e-03 9.98782659e-01 3.31452015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.88038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.54, Y:1.77, Z:3.31 [[ 9.98613049e-01 -1.86287673e-02 -4.92437576e-02 7.15385216e+01] [ 1.85099817e-02 9.99824565e-01 -2.86716277e-03 1.76663921e+00] [ 4.92885302e-02 1.95168511e-03 9.98782675e-01 3.31438115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.91038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.57, Y:1.77, Z:3.31 [[ 9.98616692e-01 -1.84331036e-02 -4.92435105e-02 7.15671807e+01] [ 1.83138720e-02 9.99828164e-01 -2.87140070e-03 1.76565867e+00] [ 4.92879775e-02 1.96558932e-03 9.98782675e-01 3.31435055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.94038572299999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:71.60, Y:1.76, Z:3.31 [[ 9.98661240e-01 -1.58389673e-02 -4.92428129e-02 7.16017688e+01] [ 1.57160028e-02 9.99872339e-01 -2.88331380e-03 1.76035573e+00] [ 4.92821953e-02 2.10555355e-03 9.98782675e-01 3.31011537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.97038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.62, Y:1.76, Z:3.31 [[ 9.98597807e-01 -1.93397892e-02 -4.92787298e-02 7.16244803e+01] [ 1.92514282e-02 9.99812104e-01 -2.26713159e-03 1.76328896e+00] [ 4.93133163e-02 1.31526670e-03 9.98782492e-01 3.31187462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.000385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.65, Y:1.76, Z:3.31 [[ 9.98581205e-01 -2.02696648e-02 -4.92414134e-02 7.16529798e+01] [ 2.01512165e-02 9.99792736e-01 -2.90075909e-03 1.76276262e+00] [ 4.92900048e-02 1.90436913e-03 9.98782693e-01 3.31095819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.030385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.69, Y:1.76, Z:3.31 [[ 9.98596908e-01 -1.94825266e-02 -4.92407087e-02 7.16862351e+01] [ 1.93625369e-02 9.99808286e-01 -2.91267168e-03 1.75666223e+00] [ 4.92880148e-02 1.95515989e-03 9.98782694e-01 3.30888052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.060385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.71, Y:1.76, Z:3.31 [[ 9.98541358e-01 -2.20769498e-02 -4.92723586e-02 7.17096058e+01] [ 2.19865240e-02 9.99755443e-01 -2.37652903e-03 1.75886286e+00] [ 4.93127752e-02 1.28973463e-03 9.98782552e-01 3.30981531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.090385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.74, Y:1.75, Z:3.31 [[ 9.98587760e-01 -1.99495027e-02 -4.92392502e-02 7.17378717e+01] [ 1.98291007e-02 9.99799083e-01 -2.93256467e-03 1.75476130e+00] [ 4.92878604e-02 1.95205314e-03 9.98782707e-01 3.31161435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.120385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:71.77, Y:1.75, Z:3.32 [[ 9.98629274e-01 -1.77523998e-02 -4.92384479e-02 7.17667358e+01] [ 1.76286730e-02 9.99840263e-01 -2.94597393e-03 1.75340393e+00] [ 4.92828808e-02 2.07392731e-03 9.98782707e-01 3.31541416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.150385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.81, Y:1.74, Z:3.31 [[ 9.98756012e-01 -7.87880360e-03 -4.92377277e-02 7.18068988e+01] [ 7.74252125e-03 9.99965651e-01 -2.95796221e-03 1.74392066e+00] [ 4.92593417e-02 2.57305839e-03 9.98782707e-01 3.31129898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.180385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.84, Y:1.75, Z:3.32 [[ 9.98753149e-01 -7.79964641e-03 -4.93083399e-02 7.18381222e+01] [ 7.72048930e-03 9.99968584e-01 -1.79560660e-03 1.74566573e+00] [ 4.93207959e-02 1.41268324e-03 9.98781990e-01 3.31653430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.210385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.86, Y:1.75, Z:3.32 [[ 9.98732399e-01 -1.00947046e-02 -4.93121847e-02 7.18567981e+01] [ 1.00214532e-02 9.99948283e-01 -1.73248162e-03 1.75103806e+00] [ 4.93271233e-02 1.23610577e-03 9.98781912e-01 3.32119101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.240385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.89, Y:1.75, Z:3.32 [[ 9.98750145e-01 -8.63151748e-03 -4.92305249e-02 7.18855876e+01] [ 8.49158289e-03 9.99959292e-01 -3.05088069e-03 1.75015845e+00] [ 4.92548545e-02 2.62902245e-03 9.98782783e-01 3.32378517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.27038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.92, Y:1.75, Z:3.32 [[ 9.98781456e-01 -3.46875090e-03 -4.92297831e-02 7.19231500e+01] [ 3.32198231e-03 9.99989792e-01 -3.06280375e-03 1.74566772e+00] [ 4.92399047e-02 2.89553112e-03 9.98782783e-01 3.32269071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.30038572299999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:71.94, Y:1.75, Z:3.32 [[ 9.98741652e-01 -9.21677518e-03 -4.92966858e-02 7.19432739e+01] [ 9.13036832e-03 9.99956362e-01 -1.97769543e-03 1.75420884e+00] [ 4.93127625e-02 1.52510990e-03 9.98782221e-01 3.32477090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.33038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.97, Y:1.76, Z:3.33 [[ 9.98730781e-01 -1.06496561e-02 -4.92281575e-02 7.19723694e+01] [ 1.05109724e-02 9.99940030e-01 -3.07518719e-03 1.75748363e+00] [ 4.92579549e-02 2.55384830e-03 9.98782825e-01 3.32649797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.360385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:72.01, Y:1.75, Z:3.33 [[ 9.98719755e-01 -1.16410243e-02 -4.92274030e-02 7.20071175e+01] [ 1.15029495e-02 9.99929073e-01 -3.08721821e-03 1.75443159e+00] [ 4.92598498e-02 2.51700549e-03 9.98782825e-01 3.32676625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.390385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.04, Y:1.75, Z:3.33 [[ 9.98684617e-01 -1.41978390e-02 -4.92692400e-02 7.20365154e+01] [ 1.40958439e-02 9.99897727e-01 -2.41701524e-03 1.75491494e+00] [ 4.92985175e-02 1.71934443e-03 9.98782609e-01 3.32769320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.420385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:72.06, Y:1.76, Z:3.32 [[ 9.98574771e-01 -2.05231653e-02 -4.92668941e-02 7.20614015e+01] [ 2.04269829e-02 9.99788333e-01 -2.45502664e-03 1.75743329e+00] [ 4.93068509e-02 1.44515366e-03 9.98782632e-01 3.32337450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.450385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.09, Y:1.76, Z:3.33 [[ 9.98541598e-01 -2.21584148e-02 -4.92308997e-02 7.20892759e+01] [ 2.20357331e-02 9.99752582e-01 -3.03338403e-03 1.75838394e+00] [ 4.92859341e-02 1.94412117e-03 9.98782818e-01 3.32545438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.480385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.12, Y:1.76, Z:3.33 [[ 9.98471208e-01 -2.51491851e-02 -4.92215945e-02 7.21187113e+01] [ 2.50227985e-02 9.99681816e-01 -3.18232584e-03 1.75959906e+00] [ 4.92859659e-02 1.94579869e-03 9.98782813e-01 3.33230448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.510385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.15, Y:1.76, Z:3.34 [[ 9.98409686e-01 -2.74715550e-02 -4.92281701e-02 7.21540532e+01] [ 2.73531643e-02 9.99621096e-01 -3.07713395e-03 1.75700040e+00] [ 4.92940510e-02 1.72569411e-03 9.98782818e-01 3.34039686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.540385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.18, Y:1.76, Z:3.34 [[ 9.98217200e-01 -3.36766752e-02 -4.92778259e-02 7.21764277e+01] [ 3.36052413e-02 9.99432589e-01 -2.27763214e-03 1.76353139e+00] [ 4.93265682e-02 6.17578347e-04 9.98782513e-01 3.34421107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.570385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.20, Y:1.76, Z:3.35 [[ 9.97993438e-01 -3.98223440e-02 -4.92268065e-02 7.22038419e+01] [ 3.97182903e-02 9.99206138e-01 -3.09054167e-03 1.76331905e+00] [ 4.93107998e-02 1.12913572e-03 9.98782844e-01 3.34772267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.600385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.24, Y:1.76, Z:3.35 [[ 9.97965385e-01 -4.05197579e-02 -4.92264091e-02 7.22385441e+01] [ 4.04162402e-02 9.99178131e-01 -3.09685825e-03 1.75930561e+00] [ 4.93114354e-02 1.10101096e-03 9.98782844e-01 3.34809348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.63038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.27, Y:1.76, Z:3.35 [[ 9.97774629e-01 -4.49170219e-02 -4.92772756e-02 7.22663509e+01] [ 4.48588831e-02 9.98990719e-01 -2.28568911e-03 1.76034235e+00] [ 4.93302073e-02 7.00790640e-05 9.98782522e-01 3.35409116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.66038572299999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:72.29, Y:1.76, Z:3.36 [[ 9.97504230e-01 -5.05809686e-02 -4.92633392e-02 7.22891009e+01] [ 5.05191055e-02 9.98719964e-01 -2.50088051e-03 1.76277042e+00] [ 4.93267772e-02 5.89906098e-06 9.98782694e-01 3.35503216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.69038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.32, Y:1.76, Z:3.36 [[ 9.97503140e-01 -5.06482031e-02 -4.92163130e-02 7.23174767e+01] [ 5.05509338e-02 9.98716294e-01 -3.21987893e-03 1.76344615e+00] [ 4.93162147e-02 7.23908767e-04 9.98782953e-01 3.35726471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.72038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.35, Y:1.76, Z:3.36 [[ 9.97755509e-01 -4.54068742e-02 -4.92154458e-02 7.23523107e+01] [ 4.53025817e-02 9.98968079e-01 -3.23307932e-03 1.75751585e+00] [ 4.93114634e-02 9.96235951e-04 9.98782953e-01 3.35866457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.750385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:72.38, Y:1.76, Z:3.36 [[ 9.97883503e-01 -4.24510749e-02 -4.92587090e-02 7.23813063e+01] [ 4.23764233e-02 9.99098438e-01 -2.55932032e-03 1.75556262e+00] [ 4.93229451e-02 4.66495621e-04 9.98782774e-01 3.35525926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.780385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.41, Y:1.76, Z:3.36 [[ 9.97941082e-01 -4.10664100e-02 -4.92660899e-02 7.24084818e+01] [ 4.09957464e-02 9.99156331e-01 -2.44435820e-03 1.75657613e+00] [ 4.93249067e-02 4.19625332e-04 9.98782698e-01 3.35797950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.810385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:72.43, Y:1.76, Z:3.36 [[ 9.98040728e-01 -3.85814524e-02 -4.92562311e-02 7.24311288e+01] [ 3.85003450e-02 9.99255218e-01 -2.59470337e-03 1.76176165e+00] [ 4.93196533e-02 6.93237755e-04 9.98782805e-01 3.35925206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.840385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.47, Y:1.76, Z:3.36 [[ 9.98216134e-01 -3.38037806e-02 -4.92123437e-02 7.24664088e+01] [ 3.36841812e-02 9.99427217e-01 -3.25782617e-03 1.76048276e+00] [ 4.92942825e-02 1.59433714e-03 9.98783025e-01 3.36063829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.870385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:72.50, Y:1.76, Z:3.37 [[ 9.98327977e-01 -3.02459529e-02 -4.92588356e-02 7.24954050e+01] [ 3.01566442e-02 9.99541918e-01 -2.55540258e-03 1.76367109e+00] [ 4.93135617e-02 1.06564871e-03 9.98782778e-01 3.36589785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.900385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:72.52, Y:1.77, Z:3.37 [[ 9.98319171e-01 -3.05394254e-02 -4.92562370e-02 7.25177816e+01] [ 3.04485495e-02 9.99532968e-01 -2.59442908e-03 1.76965410e+00] [ 4.93124652e-02 1.09028732e-03 9.98782805e-01 3.36686212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.930385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.55, Y:1.77, Z:3.37 [[ 9.98454176e-01 -2.58418975e-02 -4.92082804e-02 7.25520502e+01] [ 2.57101762e-02 9.99663966e-01 -3.30799797e-03 1.76815294e+00] [ 4.92772297e-02 2.03773083e-03 9.98783061e-01 3.37316995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.960385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.57, Y:1.78, Z:3.38 [[ 9.98538464e-01 -2.22389439e-02 -4.92581457e-02 7.25734166e+01] [ 2.21396467e-02 9.99751609e-01 -2.56061357e-03 1.77763106e+00] [ 4.93028558e-02 1.46631320e-03 9.98782798e-01 3.37552592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.990385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.60, Y:1.78, Z:3.38 [[ 9.98534111e-01 -2.25463442e-02 -4.92066212e-02 7.26018788e+01] [ 2.24098625e-02 9.99743343e-01 -3.32364770e-03 1.78001842e+00] [ 4.92689281e-02 2.21606199e-03 9.98783090e-01 3.37664393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.02038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.63, Y:1.78, Z:3.38 [[ 9.98583862e-01 -2.02254349e-02 -4.92057186e-02 7.26319635e+01] [ 2.00854886e-02 9.99792697e-01 -3.33695843e-03 1.78421865e+00] [ 4.92630095e-02 2.34391194e-03 9.98783091e-01 3.37942529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.05038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.66, Y:1.79, Z:3.38 [[ 9.98676722e-01 -1.49382165e-02 -4.92103126e-02 7.26600136e+01] [ 1.47951982e-02 9.99885200e-01 -3.26926577e-03 1.78628230e+00] [ 4.92535003e-02 2.53686330e-03 9.98783088e-01 3.38302787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.08038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.69, Y:1.79, Z:3.39 [[ 9.98703673e-01 -1.30319999e-02 -4.92050792e-02 7.26880761e+01] [ 1.28828947e-02 9.99911413e-01 -3.34622321e-03 1.78745137e+00] [ 4.92443283e-02 2.70798156e-03 9.98783091e-01 3.38589101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.110385723 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:72.72, Y:1.79, Z:3.39 [[ 9.98725936e-01 -1.11984738e-02 -4.92046557e-02 7.27157613e+01] [ 1.10468463e-02 9.99933362e-01 -3.35243966e-03 1.78823337e+00] [ 4.92389190e-02 2.80461217e-03 9.98783091e-01 3.38861178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.140385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.74, Y:1.79, Z:3.39 [[ 9.98746358e-01 -9.20349016e-03 -4.92037383e-02 7.27439448e+01] [ 9.04879275e-03 9.99953394e-01 -3.36585049e-03 1.78912520e+00] [ 4.92324227e-02 2.91639648e-03 9.98783091e-01 3.38946624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.170385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:72.77, Y:1.79, Z:3.39 [[ 9.98752121e-01 -8.55979598e-03 -4.92029448e-02 7.27717473e+01] [ 8.40375319e-03 9.99958984e-01 -3.37741100e-03 1.79112916e+00] [ 4.92298366e-02 2.95970699e-03 9.98783091e-01 3.39328439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.200385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.80, Y:1.80, Z:3.39 [[ 9.98757036e-01 -7.97155911e-03 -4.92020002e-02 7.27983838e+01] [ 7.81413289e-03 9.99963719e-01 -3.39111618e-03 1.79608610e+00] [ 4.92272476e-02 3.00243018e-03 9.98783091e-01 3.39135703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.230385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.83, Y:1.80, Z:3.39 [[ 9.98755883e-01 -8.12036915e-03 -4.92010694e-02 7.28259667e+01] [ 7.96246252e-03 9.99962503e-01 -3.40456766e-03 1.79981708e+00] [ 4.92268709e-02 3.00857031e-03 9.98783091e-01 3.39225168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.260385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.85, Y:1.80, Z:3.39 [[ 9.98749406e-01 -8.88640301e-03 -4.92001512e-02 7.28543227e+01] [ 8.72877315e-03 9.99956063e-01 -3.41778537e-03 1.80280289e+00] [ 4.92283613e-02 2.98405415e-03 9.98783092e-01 3.39448449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.290385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.88, Y:1.80, Z:3.39 [[ 9.98739901e-01 -9.90201626e-03 -4.91991992e-02 7.28820619e+01] [ 9.74494350e-03 9.99946629e-01 -3.43143537e-03 1.80424559e+00] [ 4.92305515e-02 2.94766801e-03 9.98783092e-01 3.39436504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.320385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.91, Y:1.80, Z:3.40 [[ 9.98696428e-01 -1.35982476e-02 -4.91989043e-02 7.29108698e+01] [ 1.34454346e-02 9.99903704e-01 -3.43565837e-03 1.80429681e+00] [ 4.92408855e-02 2.76967909e-03 9.98783092e-01 3.40206407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.350385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.94, Y:1.81, Z:3.40 [[ 9.98653619e-01 -1.64468647e-02 -4.91980693e-02 7.29395968e+01] [ 1.62969107e-02 9.99861253e-01 -3.44757375e-03 1.80749028e+00] [ 4.92479450e-02 2.64115546e-03 9.98783092e-01 3.40495773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.38038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.97, Y:1.81, Z:3.41 [[ 9.98583631e-01 -2.02574900e-02 -4.91972247e-02 7.29666467e+01] [ 2.01115549e-02 9.99791757e-01 -3.45958405e-03 1.81352241e+00] [ 4.92570622e-02 2.46525131e-03 9.98783092e-01 3.40763383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.41038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.99, Y:1.82, Z:3.41 [[ 9.98552043e-01 -2.17595721e-02 -4.91969277e-02 7.29946988e+01] [ 2.16152471e-02 9.99760363e-01 -3.46380305e-03 1.81685379e+00] [ 4.92605091e-02 2.39538387e-03 9.98783092e-01 3.40932784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.44038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.02, Y:1.82, Z:3.41 [[ 9.98511800e-01 -2.35345744e-02 -4.91966314e-02 7.30248961e+01] [ 2.33921911e-02 9.99720350e-01 -3.46800553e-03 1.81921928e+00] [ 4.92644916e-02 2.31202744e-03 9.98783092e-01 3.41248516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.47038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.05, Y:1.82, Z:3.42 [[ 9.98505950e-01 -2.37518222e-02 -4.92109606e-02 7.30520381e+01] [ 2.36196920e-02 9.99715685e-01 -3.26484540e-03 1.82249908e+00] [ 4.92745152e-02 2.09761983e-03 9.98783071e-01 3.41833123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.500385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.08, Y:1.83, Z:3.42 [[ 9.98505996e-01 -2.37823921e-02 -4.91952675e-02 7.30793933e+01] [ 2.36394091e-02 9.99714471e-01 -3.48630719e-03 1.82628913e+00] [ 4.92641336e-02 2.31815158e-03 9.98783095e-01 3.41964000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.530385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.11, Y:1.83, Z:3.42 [[ 9.98508545e-01 -2.36757457e-02 -4.91949659e-02 7.31072967e+01] [ 2.35324246e-02 9.99716980e-01 -3.49055769e-03 1.83393429e+00] [ 4.92636843e-02 2.32767485e-03 9.98783095e-01 3.42045473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.560385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.14, Y:1.84, Z:3.42 [[ 9.98520307e-01 -2.31764420e-02 -4.91940003e-02 7.31362617e+01] [ 2.30318505e-02 9.99728591e-01 -3.50411328e-03 1.83909746e+00] [ 4.92618615e-02 2.36589941e-03 9.98783095e-01 3.41984331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.590385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.17, Y:1.84, Z:3.42 [[ 9.98541431e-01 -2.22495497e-02 -4.91931619e-02 7.31650678e+01] [ 2.21032601e-02 9.99749511e-01 -3.51584421e-03 1.84460429e+00] [ 4.92590655e-02 2.42338686e-03 9.98783095e-01 3.41998786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.620385723 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:73.19, Y:1.85, Z:3.42 [[ 9.98525754e-01 -2.29441812e-02 -4.91923154e-02 7.31947904e+01] [ 2.27981518e-02 9.99733865e-01 -3.52764911e-03 1.84706174e+00] [ 4.92601626e-02 2.40095461e-03 9.98783095e-01 3.41998429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.650385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.22, Y:1.85, Z:3.42 [[ 9.98548442e-01 -2.19092869e-02 -4.92035827e-02 7.32224609e+01] [ 2.17697239e-02 9.99757330e-01 -3.37061361e-03 1.84878117e+00] [ 4.92654902e-02 2.29457255e-03 9.98783083e-01 3.42406023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.680385723 meters Centerline goodness : 0.999396 Centerline is valid? [True, True] Translation: X:73.25, Y:1.85, Z:3.43 [[ 9.98503319e-01 -2.39026252e-02 -4.91913216e-02 7.32523740e+01] [ 2.37571015e-02 9.99711489e-01 -3.54095634e-03 1.85280809e+00] [ 4.92617675e-02 2.36701343e-03 9.98783097e-01 3.42574587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.710385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.28, Y:1.86, Z:3.43 [[ 9.98496496e-01 -2.41665095e-02 -4.92008969e-02 7.32783188e+01] [ 2.40278396e-02 9.99705481e-01 -3.40803444e-03 1.85646566e+00] [ 4.92687666e-02 2.22071919e-03 9.98783088e-01 3.43055769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.740385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:73.31, Y:1.86, Z:3.43 [[ 9.98420671e-01 -2.71381323e-02 -4.91902942e-02 7.33063632e+01] [ 2.69958458e-02 9.99629225e-01 -3.55475962e-03 1.86236348e+00] [ 4.92685253e-02 2.22121188e-03 9.98783099e-01 3.43148946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.77038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.33, Y:1.86, Z:3.43 [[ 9.98361044e-01 -2.92512645e-02 -4.91893230e-02 7.33340459e+01] [ 2.91108778e-02 9.99569820e-01 -3.56814911e-03 1.86446067e+00] [ 4.92725356e-02 2.13035670e-03 9.98783099e-01 3.43300918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.80038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.36, Y:1.87, Z:3.44 [[ 9.98272809e-01 -3.21232864e-02 -4.91883436e-02 7.33616941e+01] [ 3.19857161e-02 9.99481909e-01 -3.58160032e-03 1.86574578e+00] [ 4.92779123e-02 2.00208983e-03 9.98783099e-01 3.43561359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.83038572299999 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:73.39, Y:1.87, Z:3.44 [[ 9.98036365e-01 -3.87816593e-02 -4.91873607e-02 7.33895083e+01] [ 3.86514955e-02 9.99246285e-01 -3.59504805e-03 1.86760110e+00] [ 4.92897093e-02 1.68682364e-03 9.98783099e-01 3.43967751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.860385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.42, Y:1.87, Z:3.44 [[ 9.97814363e-01 -4.41263041e-02 -4.91870568e-02 7.34182070e+01] [ 4.40024175e-02 9.99024941e-01 -3.59920138e-03 1.87249266e+00] [ 4.92979159e-02 1.42698543e-03 9.98783099e-01 3.43774818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.890385723 meters Centerline goodness : 0.998926 Centerline is valid? [True, True] Translation: X:73.45, Y:1.87, Z:3.44 [[ 9.97752599e-01 -4.54999644e-02 -4.91884575e-02 7.34477222e+01] [ 4.53786869e-02 9.98963442e-01 -3.58007196e-03 1.87384957e+00] [ 4.93003639e-02 1.33991849e-03 9.98783099e-01 3.43933223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.920385723 meters Centerline goodness : 0.996864 Centerline is valid? [True, True] Translation: X:73.47, Y:1.88, Z:3.44 [[ 9.97475289e-01 -5.11923884e-02 -4.92177479e-02 7.34730010e+01] [ 5.10979810e-02 9.98688597e-01 -3.17530161e-03 1.87788648e+00] [ 4.93157549e-02 6.52357340e-04 9.98783025e-01 3.44253570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.950385723 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:73.50, Y:1.88, Z:3.44 [[ 9.97142985e-01 -5.73178776e-02 -4.91988568e-02 7.35001052e+01] [ 5.72181560e-02 9.98355793e-01 -3.43406901e-03 1.88386086e+00] [ 4.93147973e-02 6.09189960e-04 9.98783099e-01 3.44464855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.980385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.53, Y:1.88, Z:3.45 [[ 9.96939742e-01 -6.07601422e-02 -4.91869502e-02 7.35269559e+01] [ 6.06566030e-02 9.98152214e-01 -3.59632591e-03 1.88401740e+00] [ 4.93145765e-02 6.01806915e-04 9.98783115e-01 3.45421555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.010385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:73.55, Y:1.89, Z:3.46 [[ 9.96835763e-01 -6.24443936e-02 -4.91849523e-02 7.35548386e+01] [ 6.23415651e-02 9.98048295e-01 -3.62344495e-03 1.88667151e+00] [ 4.93152217e-02 5.45712598e-04 9.98783115e-01 3.45685639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.040385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.58, Y:1.89, Z:3.45 [[ 9.96667030e-01 -6.50827958e-02 -4.91839541e-02 7.35821258e+01] [ 6.49825111e-02 9.97879775e-01 -3.63694455e-03 1.89239016e+00] [ 4.93163756e-02 4.28725879e-04 9.98783115e-01 3.45490553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.070385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:73.61, Y:1.90, Z:3.46 [[ 9.96745116e-01 -6.38799623e-02 -4.91784852e-02 7.36096741e+01] [ 6.37745734e-02 9.97957431e-01 -3.71073668e-03 1.89630080e+00] [ 4.93150765e-02 5.62321744e-04 9.98783113e-01 3.45763686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.100385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:73.64, Y:1.91, Z:3.45 [[ 9.96583642e-01 -6.63484466e-02 -4.91826071e-02 7.36368876e+01] [ 6.62487974e-02 9.97796440e-01 -3.65527602e-03 1.90589475e+00] [ 4.93167522e-02 3.84499706e-04 9.98783115e-01 3.45218690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.13038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.66, Y:1.91, Z:3.45 [[ 9.96575725e-01 -6.64755410e-02 -4.91713921e-02 7.36646541e+01] [ 6.63686233e-02 9.97787915e-01 -3.80571950e-03 1.90866398e+00] [ 4.93156080e-02 5.29250070e-04 9.98783105e-01 3.45203969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.16038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.69, Y:1.91, Z:3.45 [[ 9.96564333e-01 -6.66435436e-02 -4.91748845e-02 7.36929387e+01] [ 6.65391322e-02 9.97776735e-01 -3.75906278e-03 1.91417082e+00] [ 4.93160730e-02 4.74093750e-04 9.98783110e-01 3.45075888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.19038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.72, Y:1.92, Z:3.45 [[ 9.96615328e-01 -6.58711209e-02 -4.91821517e-02 7.37176800e+01] [ 6.57705566e-02 9.97828053e-01 -3.66204877e-03 1.91940659e+00] [ 4.93165540e-02 4.14916439e-04 9.98783112e-01 3.44960967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.22038572299999 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:73.75, Y:1.92, Z:3.45 [[ 9.96640989e-01 -6.54982366e-02 -4.91601437e-02 7.37469596e+01] [ 6.53827903e-02 9.97852420e-01 -3.95452810e-03 1.92324224e+00] [ 4.93135830e-02 7.27017429e-04 9.98783081e-01 3.45196281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.250385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.78, Y:1.93, Z:3.46 [[ 9.96717946e-01 -6.43101388e-02 -4.91685044e-02 7.37765199e+01] [ 6.41987243e-02 9.97929733e-01 -3.84349768e-03 1.92733140e+00] [ 4.93138883e-02 6.74327857e-04 9.98783102e-01 3.45664625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.280385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.80, Y:1.93, Z:3.45 [[ 9.96671223e-01 -6.50225578e-02 -4.91786659e-02 7.38043795e+01] [ 6.49186563e-02 9.97883667e-01 -3.70876067e-03 1.93300139e+00] [ 4.93157406e-02 5.03802120e-04 9.98783112e-01 3.45420140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.310385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:73.83, Y:1.94, Z:3.45 [[ 9.96493546e-01 -6.76975449e-02 -4.91696643e-02 7.38269380e+01] [ 6.75910286e-02 9.97705769e-01 -3.82771364e-03 1.94039998e+00] [ 4.93159845e-02 4.90863755e-04 9.98783106e-01 3.45327745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.340385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.86, Y:1.94, Z:3.46 [[ 9.96967167e-01 -6.03666338e-02 -4.91155578e-02 7.38598145e+01] [ 6.02163855e-02 9.98175048e-01 -4.53437350e-03 1.94203339e+00] [ 4.92996492e-02 1.56306014e-03 9.98782810e-01 3.45723179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.370385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.89, Y:1.94, Z:3.46 [[ 9.97184212e-01 -5.66267333e-02 -4.91635991e-02 7.38888643e+01] [ 5.65029738e-02 9.98394796e-01 -3.90456406e-03 1.94320476e+00] [ 4.93057842e-02 1.11568009e-03 9.98783107e-01 3.46251176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.400385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.92, Y:1.95, Z:3.46 [[ 9.97429402e-01 -5.21187646e-02 -4.91754246e-02 7.39159963e+01] [ 5.19971748e-02 9.98640193e-01 -3.74947707e-03 1.94868518e+00] [ 4.93039737e-02 1.18285552e-03 9.98783119e-01 3.45859640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.430385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.94, Y:1.95, Z:3.46 [[ 9.97552147e-01 -4.97281020e-02 -4.91612549e-02 7.39437773e+01] [ 4.95944891e-02 9.98761686e-01 -3.93468155e-03 1.95207204e+00] [ 4.92960421e-02 1.48692271e-03 9.98783104e-01 3.45951664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.460385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.97, Y:1.95, Z:3.47 [[ 9.97758474e-01 -4.54056758e-02 -4.91564020e-02 7.39740153e+01] [ 4.52637101e-02 9.98967073e-01 -3.99794670e-03 1.95261661e+00] [ 4.92871565e-02 1.76398407e-03 9.98783092e-01 3.46662964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.490385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.00, Y:1.96, Z:3.46 [[ 9.97840108e-01 -4.35512341e-02 -4.91773173e-02 7.40012129e+01] [ 4.34204555e-02 9.99049943e-01 -3.72500745e-03 1.95615798e+00] [ 4.92928247e-02 1.58166032e-03 9.98783117e-01 3.46253184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.52038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.03, Y:1.95, Z:3.47 [[ 9.97995428e-01 -3.98615685e-02 -4.91546594e-02 7.40313620e+01] [ 3.97118281e-02 9.99203089e-01 -4.01954791e-03 1.95392773e+00] [ 4.92757130e-02 2.05946905e-03 9.98783091e-01 3.46719499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.55038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.05, Y:1.96, Z:3.46 [[ 9.97908326e-01 -4.19638703e-02 -4.91732226e-02 7.40534470e+01] [ 4.18285616e-02 9.99117660e-01 -3.77795146e-03 1.95855594e+00] [ 4.92883725e-02 1.71320405e-03 9.98783120e-01 3.46166280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.58038572299999 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:74.09, Y:1.95, Z:3.47 [[ 9.98101366e-01 -3.71805957e-02 -4.91046551e-02 7.40894891e+01] [ 3.69960599e-02 9.99304537e-01 -4.66188261e-03 1.95185270e+00] [ 4.92438363e-02 2.83635264e-03 9.98782759e-01 3.47142130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.610385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.12, Y:1.95, Z:3.47 [[ 9.98165755e-01 -3.53062784e-02 -4.91791830e-02 7.41169862e+01] [ 3.51670487e-02 9.99374622e-01 -3.69373702e-03 1.95236004e+00] [ 4.92788395e-02 1.95747508e-03 9.98783142e-01 3.47069788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.640385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.15, Y:1.95, Z:3.47 [[ 9.98222295e-01 -3.36811261e-02 -4.91714473e-02 7.41461301e+01] [ 3.35349984e-02 9.99430342e-01 -3.79399701e-03 1.95115295e+00] [ 4.92712225e-02 2.13828800e-03 9.98783147e-01 3.47146075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.670385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:74.17, Y:1.96, Z:3.47 [[ 9.98076716e-01 -3.77508418e-02 -4.91705425e-02 7.41710854e+01] [ 3.76090658e-02 9.99285282e-01 -3.80568712e-03 1.95563275e+00] [ 4.92790674e-02 1.94910954e-03 9.98783147e-01 3.46732571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.700385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:74.20, Y:1.95, Z:3.47 [[ 9.98051833e-01 -3.84634125e-02 -4.91233664e-02 7.42004846e+01] [ 3.82927003e-02 9.99256826e-01 -4.41190934e-03 1.95476788e+00] [ 4.92565562e-02 2.52224786e-03 9.98782974e-01 3.47007170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.730385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.23, Y:1.95, Z:3.47 [[ 9.98016677e-01 -3.93494678e-02 -4.91358582e-02 7.42276922e+01] [ 3.91877763e-02 9.99222825e-01 -4.25009457e-03 1.95101361e+00] [ 4.92649100e-02 2.31614023e-03 9.98783062e-01 3.47474679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.760385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:74.26, Y:1.95, Z:3.48 [[ 9.98013615e-01 -3.94444140e-02 -4.91219222e-02 7.42568471e+01] [ 3.92739359e-02 9.99218656e-01 -4.43125177e-03 1.95075115e+00] [ 4.92583292e-02 2.49323838e-03 9.98782960e-01 3.47674380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.790385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:74.29, Y:1.95, Z:3.48 [[ 9.98185715e-01 -3.48153010e-02 -4.91240665e-02 7.42889231e+01] [ 3.46406017e-02 9.99390133e-01 -4.40343201e-03 1.94564551e+00] [ 4.92474142e-02 2.69375571e-03 9.98782977e-01 3.48292334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.820385723 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:74.32, Y:1.95, Z:3.49 [[ 9.98113969e-01 -3.67500346e-02 -4.91725426e-02 7.43212174e+01] [ 3.66087275e-02 9.99322559e-01 -3.77154068e-03 1.94659111e+00] [ 4.92778353e-02 1.96428322e-03 9.98783178e-01 3.48713520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.850385723 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:74.35, Y:1.95, Z:3.49 [[ 9.98161573e-01 -3.53931383e-02 -4.92016210e-02 7.43471002e+01] [ 3.52688516e-02 9.99372103e-01 -3.39221991e-03 1.94671481e+00] [ 4.92907888e-02 1.65069889e-03 9.98783106e-01 3.48650096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.88038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.38, Y:1.95, Z:3.49 [[ 9.98173027e-01 -3.51121844e-02 -4.91705391e-02 7.43752885e+01] [ 3.49677416e-02 9.99381236e-01 -3.79499095e-03 1.94660411e+00] [ 4.92733646e-02 2.06867490e-03 9.98783188e-01 3.48811340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.91038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.40, Y:1.95, Z:3.49 [[ 9.98163588e-01 -3.53809208e-02 -4.91695153e-02 7.44037390e+01] [ 3.52361533e-02 9.99371758e-01 -3.80820974e-03 1.94889306e+00] [ 4.92733629e-02 2.06867172e-03 9.98783188e-01 3.48951811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.94038572299999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:74.43, Y:1.95, Z:3.49 [[ 9.98148375e-01 -3.58089488e-02 -4.91684877e-02 7.44343365e+01] [ 3.56640492e-02 9.99356529e-01 -3.82143136e-03 1.94729544e+00] [ 4.92736906e-02 2.06080813e-03 9.98783188e-01 3.49283736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.97038572299999 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:74.46, Y:1.95, Z:3.49 [[ 9.98162271e-01 -3.53999098e-02 -4.91825898e-02 7.44611849e+01] [ 3.52634281e-02 9.99371422e-01 -3.64020582e-03 1.94836332e+00] [ 4.92805377e-02 1.89916939e-03 9.98783171e-01 3.49225496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.000385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.49, Y:1.95, Z:3.49 [[ 9.98137943e-01 -3.61009465e-02 -4.91667489e-02 7.44891172e+01] [ 3.59553453e-02 9.99346009e-01 -3.84289019e-03 1.94918743e+00] [ 4.92733263e-02 2.06792708e-03 9.98783191e-01 3.49213204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.030385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:74.52, Y:1.95, Z:3.49 [[ 9.98093044e-01 -3.73220841e-02 -4.91664194e-02 7.45174163e+01] [ 3.71777539e-02 9.99301263e-01 -3.84710148e-03 1.95021132e+00] [ 4.92756469e-02 2.01186819e-03 9.98783191e-01 3.49390120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.060385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.54, Y:1.95, Z:3.49 [[ 9.98001443e-01 -3.96974664e-02 -4.91653382e-02 7.45446895e+01] [ 3.95553349e-02 9.99209922e-01 -3.86086961e-03 1.95064913e+00] [ 4.92797605e-02 1.90840203e-03 9.98783191e-01 3.49407217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.090385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.57, Y:1.95, Z:3.50 [[ 9.97628569e-01 -4.81669445e-02 -4.91648688e-02 7.45728906e+01] [ 4.80347818e-02 9.98838179e-01 -3.86683807e-03 1.94748491e+00] [ 4.92940018e-02 1.49604439e-03 9.98783191e-01 3.49729584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.120385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.60, Y:1.95, Z:3.50 [[ 9.97319206e-01 -5.41970739e-02 -4.91637875e-02 7.46008523e+01] [ 5.40715512e-02 9.98529523e-01 -3.88053747e-03 1.94710686e+00] [ 4.93018071e-02 1.21177230e-03 9.98783191e-01 3.49927947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.150385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:74.63, Y:1.95, Z:3.50 [[ 9.96539435e-01 -6.70237514e-02 -4.91627099e-02 7.46295450e+01] [ 6.69131394e-02 9.97751205e-01 -3.89414135e-03 1.94581378e+00] [ 4.93131531e-02 5.91034155e-04 9.98783191e-01 3.50132648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.180385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.65, Y:1.95, Z:3.50 [[ 9.95811759e-01 -7.70848619e-02 -4.91616196e-02 7.46537966e+01] [ 7.69858167e-02 9.97024530e-01 -3.90785837e-03 1.95084781e+00] [ 4.93165774e-02 1.06743888e-04 9.98783192e-01 3.49691365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.210385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.68, Y:1.95, Z:3.50 [[ 9.95224304e-01 -8.43615479e-02 -4.91092064e-02 7.46817870e+01] [ 8.42390981e-02 9.96435129e-01 -4.56150875e-03 1.94768869e+00] [ 4.93189544e-02 4.02809108e-04 9.98782999e-01 3.50159880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.240385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.72, Y:1.94, Z:3.51 [[ 9.95339647e-01 -8.29875165e-02 -4.91127247e-02 7.47151786e+01] [ 8.28655625e-02 9.96550495e-01 -4.51758830e-03 1.94434644e+00] [ 4.93182136e-02 4.26781188e-04 9.98783025e-01 3.50708118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.27038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.74, Y:1.95, Z:3.50 [[ 9.94961459e-01 -8.73784299e-02 -4.91600029e-02 7.47388393e+01] [ 8.72910525e-02 9.96175116e-01 -3.92564255e-03 1.95067685e+00] [ 4.93149881e-02 -3.85365356e-04 9.98783201e-01 3.50414231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.30038572299999 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:74.77, Y:1.95, Z:3.51 [[ 9.95262913e-01 -8.38967006e-02 -4.91230849e-02 7.47708382e+01] [ 8.37823639e-02 9.96474426e-01 -4.38565798e-03 1.95132808e+00] [ 4.93178401e-02 2.49234558e-04 9.98783104e-01 3.51012568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.33038572299999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:74.80, Y:1.95, Z:3.51 [[ 9.95377041e-01 -8.25103238e-02 -4.91588452e-02 7.47987547e+01] [ 8.24163270e-02 9.96590201e-01 -3.93948545e-03 1.95461639e+00] [ 4.93162717e-02 -1.30218084e-04 9.98783204e-01 3.51154802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.360385723 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:74.82, Y:1.96, Z:3.51 [[ 9.95270570e-01 -8.37854836e-02 -4.91577565e-02 7.48233222e+01] [ 8.36923723e-02 9.96483798e-01 -3.95302454e-03 1.96137720e+00] [ 4.93161140e-02 -1.79800270e-04 9.98783204e-01 3.50824520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.390385723 meters Centerline goodness : 0.998868 Centerline is valid? [True, True] Translation: X:74.85, Y:1.96, Z:3.51 [[ 9.95928085e-01 -7.55977205e-02 -4.91145005e-02 7.48512053e+01] [ 7.54687500e-02 9.97138114e-01 -4.47771511e-03 1.96016840e+00] [ 4.93124454e-02 7.52872281e-04 9.98783118e-01 3.51004943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.420385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.88, Y:1.96, Z:3.51 [[ 9.95927273e-01 -7.56228505e-02 -4.90922640e-02 7.48833861e+01] [ 7.54807824e-02 9.97135972e-01 -4.74401994e-03 1.96240298e+00] [ 4.93104187e-02 1.01917635e-03 9.98782981e-01 3.51365591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.450385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:74.91, Y:1.97, Z:3.51 [[ 9.96248179e-01 -7.12330305e-02 -4.91469363e-02 7.49111394e+01] [ 7.11180414e-02 9.97459535e-01 -4.08664753e-03 1.96564173e+00] [ 4.93131846e-02 5.76081305e-04 9.98783199e-01 3.51163079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.480385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.94, Y:1.97, Z:3.51 [[ 9.96375029e-01 -6.94364059e-02 -4.91465861e-02 7.49392042e+01] [ 6.93190251e-02 9.97586156e-01 -4.09085501e-03 1.97031821e+00] [ 4.93120082e-02 6.69232344e-04 9.98783199e-01 3.51303026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.510385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.97, Y:1.97, Z:3.51 [[ 9.96485824e-01 -6.78286442e-02 -4.91454660e-02 7.49681991e+01] [ 6.77086481e-02 9.97696694e-01 -4.10426739e-03 1.97416525e+00] [ 4.93106559e-02 7.62271208e-04 9.98783199e-01 3.51400103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.540385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.00, Y:1.98, Z:3.52 [[ 9.96616663e-01 -6.58790439e-02 -4.91444744e-02 7.49966210e+01] [ 6.57560954e-02 9.97827236e-01 -4.11610727e-03 1.97529771e+00] [ 4.93088603e-02 8.70632341e-04 9.98783199e-01 3.51781515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.570385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:75.02, Y:1.98, Z:3.52 [[ 9.96615950e-01 -6.58905889e-02 -4.91434474e-02 7.50247761e+01] [ 6.57670518e-02 9.97826464e-01 -4.12833217e-03 1.97584064e+00] [ 4.93086506e-02 8.82342034e-04 9.98783199e-01 3.52032145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.600385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.05, Y:1.97, Z:3.52 [[ 9.96476372e-01 -6.79690846e-02 -4.91430835e-02 7.50532363e+01] [ 6.78478591e-02 9.97687120e-01 -4.13266026e-03 1.97449086e+00] [ 4.93103145e-02 7.83845305e-04 9.98783199e-01 3.52432958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.63038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.08, Y:1.98, Z:3.53 [[ 9.96391788e-01 -6.91988087e-02 -4.91419373e-02 7.50814307e+01] [ 6.90784077e-02 9.97602617e-01 -4.14624525e-03 1.97596046e+00] [ 4.93110405e-02 7.36637944e-04 9.98783199e-01 3.52638429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.66038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.11, Y:1.98, Z:3.53 [[ 9.96313770e-01 -7.03139720e-02 -4.91407855e-02 7.51089640e+01] [ 7.01942553e-02 9.97524667e-01 -4.15985115e-03 1.97858690e+00] [ 4.93116414e-02 6.95116139e-04 9.98783199e-01 3.52735891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.69038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.14, Y:1.98, Z:3.52 [[ 9.96276088e-01 -7.08462611e-02 -4.91402472e-02 7.51389390e+01] [ 7.07268783e-02 9.97487018e-01 -4.16620067e-03 1.98149636e+00] [ 4.93119184e-02 6.75149822e-04 9.98783199e-01 3.52477546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.72038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.16, Y:1.98, Z:3.52 [[ 9.96194844e-01 -7.19700653e-02 -4.91542630e-02 7.51644626e+01] [ 7.18602005e-02 9.97406689e-01 -4.00094073e-03 1.98474839e+00] [ 4.93147387e-02 4.53481333e-04 9.98783185e-01 3.52481873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.750385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.19, Y:1.99, Z:3.53 [[ 9.96284859e-01 -7.07263446e-02 -4.91351520e-02 7.51946943e+01] [ 7.06038857e-02 9.97495481e-01 -4.22562827e-03 1.98544592e+00] [ 4.93109553e-02 7.40796812e-04 9.98783200e-01 3.52674636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.780385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.22, Y:1.99, Z:3.53 [[ 9.96515675e-01 -6.73877911e-02 -4.91466716e-02 7.52219570e+01] [ 6.72679432e-02 9.97726562e-01 -4.09039389e-03 1.98872560e+00] [ 4.93105823e-02 7.70146113e-04 9.98783196e-01 3.53317083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.810385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:75.25, Y:1.99, Z:3.53 [[ 9.96611059e-01 -6.59691409e-02 -4.91372570e-02 7.52493953e+01] [ 6.58421407e-02 9.97821210e-01 -4.20052844e-03 1.99237791e+00] [ 4.93073025e-02 9.50990903e-04 9.98783202e-01 3.53423178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.840385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:75.28, Y:2.00, Z:3.53 [[ 9.96902778e-01 -6.14043564e-02 -4.91360927e-02 7.52774501e+01] [ 6.12711468e-02 9.98112262e-01 -4.21410376e-03 1.99528434e+00] [ 4.93021010e-02 1.19042699e-03 9.98783203e-01 3.53391530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.870385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.31, Y:2.00, Z:3.54 [[ 9.96981974e-01 -6.01050986e-02 -4.91357319e-02 7.53054838e+01] [ 5.99701058e-02 9.98191260e-01 -4.21830692e-03 1.99703257e+00] [ 4.93003999e-02 1.25890092e-03 9.98783203e-01 3.53519518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.900385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.33, Y:2.00, Z:3.53 [[ 9.97008634e-01 -5.96622045e-02 -4.91345583e-02 7.53332013e+01] [ 5.95260035e-02 9.98217785e-01 -4.23193238e-03 1.99828521e+00] [ 4.92994764e-02 1.29448923e-03 9.98783203e-01 3.53465850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.930385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.36, Y:2.00, Z:3.53 [[ 9.96955321e-01 -6.05468279e-02 -4.91341936e-02 7.53628290e+01] [ 6.04114915e-02 9.98164569e-01 -4.23616302e-03 1.99861367e+00] [ 4.93004974e-02 1.25499535e-03 9.98783203e-01 3.52795033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.960385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.39, Y:2.00, Z:3.53 [[ 9.96941277e-01 -6.07808370e-02 -4.91302314e-02 7.53906310e+01] [ 6.06435256e-02 9.98150303e-01 -4.28202768e-03 1.99907247e+00] [ 4.92996206e-02 1.28949969e-03 9.98783202e-01 3.52777341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.990385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.42, Y:2.00, Z:3.53 [[ 9.96946674e-01 -6.06883934e-02 -4.91349956e-02 7.54201047e+01] [ 6.05536799e-02 9.98155992e-01 -4.22700239e-03 1.99661020e+00] [ 4.93009202e-02 1.23879118e-03 9.98783202e-01 3.52962825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.02038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.45, Y:2.00, Z:3.53 [[ 9.96889864e-01 -6.16102384e-02 -4.91403901e-02 7.54494236e+01] [ 6.14797022e-02 9.98099644e-01 -4.16490513e-03 1.99724500e+00] [ 4.93036067e-02 1.13081516e-03 9.98783198e-01 3.53177590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.05038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.48, Y:2.00, Z:3.54 [[ 9.96911727e-01 -6.12533322e-02 -4.91430359e-02 7.54762746e+01] [ 6.11238582e-02 9.98121626e-01 -4.13455229e-03 1.99656370e+00] [ 4.93039820e-02 1.11797170e-03 9.98783193e-01 3.53779575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.08038572299999 meters Centerline goodness : 0.999450 Centerline is valid? [True, True] Translation: X:75.51, Y:1.99, Z:3.54 [[ 9.96878663e-01 -6.18001569e-02 -4.91291328e-02 7.55101225e+01] [ 6.16635098e-02 9.98087760e-01 -4.29364348e-03 1.99187405e+00] [ 4.93005339e-02 1.25076681e-03 9.98783206e-01 3.53565302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.110385723 meters Centerline goodness : 0.999603 Centerline is valid? [True, True] Translation: X:75.54, Y:1.99, Z:3.54 [[ 9.96834487e-01 -6.24745626e-02 -4.91725059e-02 7.55383417e+01] [ 6.23632525e-02 9.98046299e-01 -3.79612875e-03 1.99184162e+00] [ 4.93135990e-02 7.17554650e-04 9.98783087e-01 3.53748340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.140385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.57, Y:1.99, Z:3.54 [[ 9.96775927e-01 -6.34052820e-02 -4.91683071e-02 7.55654297e+01] [ 6.32927382e-02 9.97987601e-01 -3.84409307e-03 1.99086089e+00] [ 4.93130967e-02 7.19702640e-04 9.98783110e-01 3.54011686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.170385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.59, Y:1.99, Z:3.54 [[ 9.96796075e-01 -6.30958970e-02 -4.91578430e-02 7.55933023e+01] [ 6.29771284e-02 9.98007103e-01 -3.96272430e-03 1.99126414e+00] [ 4.93099081e-02 8.54208232e-04 9.98783161e-01 3.54186464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.200385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.62, Y:1.99, Z:3.54 [[ 9.96809213e-01 -6.28875423e-02 -4.91584258e-02 7.56228204e+01] [ 6.27688455e-02 9.98020251e-01 -3.95613349e-03 1.99156404e+00] [ 4.93098960e-02 8.57892675e-04 9.98783159e-01 3.54416292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.230385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.65, Y:1.99, Z:3.55 [[ 9.96928031e-01 -6.09757864e-02 -4.91574463e-02 7.56481855e+01] [ 6.08542240e-02 9.98138780e-01 -3.96715637e-03 1.99168601e+00] [ 4.93078540e-02 9.63531133e-04 9.98783163e-01 3.55122540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.260385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.68, Y:1.99, Z:3.55 [[ 9.96950185e-01 -6.06428997e-02 -4.91199342e-02 7.56755803e+01] [ 6.05002440e-02 9.98158541e-01 -4.38719901e-03 1.99314662e+00] [ 4.92955343e-02 1.40205086e-03 9.98783252e-01 3.55260674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.290385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:75.70, Y:1.99, Z:3.56 [[ 9.96964852e-01 -6.04019651e-02 -4.91191093e-02 7.57034203e+01] [ 6.02585637e-02 9.98173120e-01 -4.39641482e-03 1.99164902e+00] [ 4.92949267e-02 1.42322408e-03 9.98783252e-01 3.55599468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.320385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:75.73, Y:1.99, Z:3.56 [[ 9.96919578e-01 -6.11456107e-02 -4.91179065e-02 7.57319209e+01] [ 6.10024510e-02 9.98127875e-01 -4.40981183e-03 1.99183966e+00] [ 4.92955923e-02 1.39991507e-03 9.98783252e-01 3.55806770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.350385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.76, Y:1.99, Z:3.56 [[ 9.96871451e-01 -6.19262642e-02 -4.91166853e-02 7.57600156e+01] [ 6.17833832e-02 9.98079780e-01 -4.42337196e-03 1.99235982e+00] [ 4.92962934e-02 1.37493823e-03 9.98783252e-01 3.55967354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.38038572299999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:75.79, Y:1.99, Z:3.56 [[ 9.96677950e-01 -6.49665457e-02 -4.91163073e-02 7.57886317e+01] [ 6.48271443e-02 9.97886686e-01 -4.42756589e-03 1.99329808e+00] [ 4.93001527e-02 1.22878735e-03 9.98783252e-01 3.55981355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.41038572299999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:75.82, Y:2.00, Z:3.56 [[ 9.96589346e-01 -6.63127775e-02 -4.91150822e-02 7.58169355e+01] [ 6.61743417e-02 9.97798193e-01 -4.44111428e-03 1.99525981e+00] [ 4.93014428e-02 1.17580894e-03 9.98783252e-01 3.56048856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.44038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.85, Y:1.99, Z:3.56 [[ 9.96382743e-01 -6.93482270e-02 -4.91146974e-02 7.58457990e+01] [ 6.92132646e-02 9.97591982e-01 -4.44536517e-03 1.99432877e+00] [ 4.93047066e-02 1.02989659e-03 9.98783252e-01 3.56145490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.47038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.87, Y:1.99, Z:3.56 [[ 9.96279608e-01 -7.08152343e-02 -4.91135988e-02 7.58735778e+01] [ 7.06814561e-02 9.97488979e-01 -4.45747048e-03 1.99461335e+00] [ 4.93059303e-02 9.69466264e-04 9.98783252e-01 3.56221318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.500385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.91, Y:1.99, Z:3.56 [[ 9.96130137e-01 -7.28878808e-02 -4.91132112e-02 7.59053180e+01] [ 7.27564087e-02 9.97339761e-01 -4.46173641e-03 1.99470433e+00] [ 4.93077648e-02 8.71169228e-04 9.98783252e-01 3.56341019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.530385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.93, Y:2.00, Z:3.57 [[ 9.95992247e-01 -7.47263803e-02 -4.91468392e-02 7.59303410e+01] [ 7.46154076e-02 9.97203992e-01 -4.09135620e-03 1.99710340e+00] [ 4.93151565e-02 4.07847612e-04 9.98783184e-01 3.56662667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.560385723 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:75.96, Y:2.00, Z:3.57 [[ 9.95911303e-01 -7.58204288e-02 -4.91115034e-02 7.59626183e+01] [ 7.56916745e-02 9.97121211e-01 -4.47886139e-03 1.99898094e+00] [ 4.93097109e-02 7.43216754e-04 9.98783260e-01 3.56570339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.590385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.99, Y:2.00, Z:3.57 [[ 9.95940987e-01 -7.54063222e-02 -4.91470923e-02 7.59896342e+01] [ 7.52963168e-02 9.97152821e-01 -4.08852053e-03 2.00244857e+00] [ 4.93154620e-02 3.71330151e-04 9.98783183e-01 3.56813394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.620385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.01, Y:2.01, Z:3.57 [[ 9.95964351e-01 -7.51006891e-02 -4.91416157e-02 7.60146666e+01] [ 7.49873601e-02 9.97175856e-01 -4.14834684e-03 2.00791473e+00] [ 4.93143764e-02 4.46605536e-04 9.98783206e-01 3.57052237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.650385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.04, Y:2.01, Z:3.57 [[ 9.95959908e-01 -7.51816931e-02 -4.91077867e-02 7.60418849e+01] [ 7.50503212e-02 9.97169521e-01 -4.51622751e-03 2.01190389e+00] [ 4.93083258e-02 8.12426368e-04 9.98783274e-01 3.57086605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.680385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.07, Y:2.01, Z:3.57 [[ 9.95918389e-01 -7.57300496e-02 -4.91072456e-02 7.60697409e+01] [ 7.55990540e-02 9.97128043e-01 -4.52210344e-03 2.01467198e+00] [ 4.93086708e-02 7.91184656e-04 9.98783274e-01 3.57352751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.710385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.10, Y:2.02, Z:3.58 [[ 9.95915478e-01 -7.57691189e-02 -4.91060219e-02 7.60975817e+01] [ 7.56375176e-02 9.97125066e-01 -4.53535300e-03 2.01747213e+00] [ 4.93084850e-02 8.02570656e-04 9.98783274e-01 3.57593287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.740385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.13, Y:2.02, Z:3.58 [[ 9.95922077e-01 -7.56825776e-02 -4.91056455e-02 7.61262913e+01] [ 7.55506705e-02 9.97131631e-01 -4.53942560e-03 2.02086790e+00] [ 4.93083478e-02 8.10949728e-04 9.98783274e-01 3.57914684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.77038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.15, Y:2.03, Z:3.58 [[ 9.96033352e-01 -7.42044735e-02 -4.91045592e-02 7.61549004e+01] [ 7.40701938e-02 9.97242645e-01 -4.55114558e-03 2.02655639e+00] [ 4.93068759e-02 8.95908570e-04 9.98783274e-01 3.58008487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.80038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.18, Y:2.03, Z:3.58 [[ 9.96012735e-01 -7.44814303e-02 -4.91034526e-02 7.61833374e+01] [ 7.43469000e-02 9.97222000e-01 -4.56305376e-03 2.02927007e+00] [ 4.93069060e-02 8.94170171e-04 9.98783275e-01 3.58149022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.83038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.21, Y:2.03, Z:3.58 [[ 9.96076920e-01 -7.36189229e-02 -4.91021812e-02 7.62105572e+01] [ 7.34826733e-02 9.97285992e-01 -4.57669490e-03 2.03283005e+00] [ 4.93058488e-02 9.50580617e-04 9.98783275e-01 3.58151483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.860385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.24, Y:2.04, Z:3.58 [[ 9.96241808e-01 -7.13531694e-02 -4.91017873e-02 7.62383408e+01] [ 7.12139622e-02 9.97450544e-01 -4.58091679e-03 2.03640256e+00] [ 4.93034674e-02 1.06696801e-03 9.98783275e-01 3.58313175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.890385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.27, Y:2.04, Z:3.58 [[ 9.96330937e-01 -7.00985250e-02 -4.91005121e-02 7.62666291e+01] [ 6.99571244e-02 9.97539418e-01 -4.59454423e-03 2.03914395e+00] [ 4.93017671e-02 1.14275592e-03 9.98783275e-01 3.58418864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.920385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.30, Y:2.04, Z:3.58 [[ 9.96347405e-01 -6.98649241e-02 -4.90993029e-02 7.62972512e+01] [ 6.97226055e-02 9.97555778e-01 -4.60743039e-03 2.04122037e+00] [ 4.93011911e-02 1.16726998e-03 9.98783275e-01 3.58200675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.950385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.32, Y:2.04, Z:3.59 [[ 9.96608168e-01 -6.60206935e-02 -4.91266432e-02 7.63223271e+01] [ 6.58880710e-02 9.97817686e-01 -4.31590572e-03 2.04397799e+00] [ 4.93043726e-02 1.06440714e-03 9.98783233e-01 3.58614627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.980385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.35, Y:2.05, Z:3.59 [[ 9.96657695e-01 -6.52905563e-02 -4.90976907e-02 7.63495394e+01] [ 6.51419069e-02 9.97865300e-01 -4.62338992e-03 2.04747767e+00] [ 4.92947455e-02 1.40961995e-03 9.98783280e-01 3.58663239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.010385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.38, Y:2.05, Z:3.59 [[ 9.96672091e-01 -6.50707291e-02 -4.90972880e-02 7.63776393e+01] [ 6.49216031e-02 9.97879637e-01 -4.62766188e-03 2.05156613e+00] [ 4.92943093e-02 1.42478680e-03 9.98783280e-01 3.58601666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.040385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.41, Y:2.05, Z:3.59 [[ 9.96635527e-01 -6.56293076e-02 -4.90960254e-02 7.64056496e+01] [ 6.54802009e-02 9.97843076e-01 -4.64101817e-03 2.05380347e+00] [ 4.92947159e-02 1.41058598e-03 9.98783280e-01 3.58728472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.070385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.44, Y:2.05, Z:3.59 [[ 9.96675333e-01 -6.50222975e-02 -4.90956362e-02 7.64377766e+01] [ 6.48722529e-02 9.97882765e-01 -4.64513197e-03 2.05336129e+00] [ 4.92937264e-02 1.44474393e-03 9.98783280e-01 3.58924979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.100385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.46, Y:2.06, Z:3.59 [[ 9.96548795e-01 -6.69017862e-02 -4.91390915e-02 7.64613841e+01] [ 6.67767197e-02 9.97759170e-01 -4.18426803e-03 2.05560549e+00] [ 4.93089142e-02 8.88479917e-04 9.98783180e-01 3.59050147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.13038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.49, Y:2.06, Z:3.59 [[ 9.96516282e-01 -6.74169634e-02 -4.90943298e-02 7.64878725e+01] [ 6.72692721e-02 9.97723992e-01 -4.65628039e-03 2.05761503e+00] [ 4.92965030e-02 1.33751939e-03 9.98783293e-01 3.59120385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.16038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.52, Y:2.06, Z:3.59 [[ 9.96485771e-01 -6.78744302e-02 -4.90832970e-02 7.65188184e+01] [ 6.77215757e-02 9.97692845e-01 -4.77243293e-03 2.06020936e+00] [ 4.92939804e-02 1.43166330e-03 9.98783287e-01 3.59401467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.19038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.54, Y:2.06, Z:3.59 [[ 9.96639725e-01 -6.55523455e-02 -4.91136286e-02 7.65445237e+01] [ 6.54123648e-02 9.97848379e-01 -4.45376171e-03 2.06408976e+00] [ 4.92999092e-02 1.22615725e-03 9.98783268e-01 3.59402073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.22038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.58, Y:2.07, Z:3.59 [[ 9.96619439e-01 -6.58767554e-02 -4.90912119e-02 7.65767273e+01] [ 6.57256124e-02 9.97826719e-01 -4.68849246e-03 2.06867695e+00] [ 4.92933855e-02 1.44609276e-03 9.98783295e-01 3.59496095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.250385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.61, Y:2.07, Z:3.60 [[ 9.96584159e-01 -6.63870115e-02 -4.91200466e-02 7.66066387e+01] [ 6.62513837e-02 9.97793324e-01 -4.38593752e-03 2.07249521e+00] [ 4.93028239e-02 1.11668480e-03 9.98783252e-01 3.59545821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.280385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.63, Y:2.07, Z:3.60 [[ 9.96565026e-01 -6.66628240e-02 -4.91346865e-02 7.66312400e+01] [ 6.65350905e-02 9.97775109e-01 -4.23249439e-03 2.07279561e+00] [ 4.93075172e-02 9.48775063e-04 9.98783194e-01 3.60157603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.310385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.66, Y:2.07, Z:3.60 [[ 9.96491741e-01 -6.77827955e-02 -4.90887325e-02 7.66635668e+01] [ 6.76328367e-02 9.97699154e-01 -4.71135908e-03 2.07416517e+00] [ 4.92951360e-02 1.37482018e-03 9.98783310e-01 3.60408696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.340385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.69, Y:2.08, Z:3.61 [[ 9.96423422e-01 -6.87522624e-02 -4.91272794e-02 7.66879032e+01] [ 6.86232551e-02 9.97633337e-01 -4.30983007e-03 2.07856944e+00] [ 4.93073222e-02 9.23141802e-04 9.98783228e-01 3.60890531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.370385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.72, Y:2.08, Z:3.61 [[ 9.96489115e-01 -6.78229550e-02 -4.90865580e-02 7.67199983e+01] [ 6.76720159e-02 9.97696399e-01 -4.73226797e-03 2.07994070e+00] [ 4.92944386e-02 1.39386719e-03 9.98783318e-01 3.60875385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.400385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.74, Y:2.08, Z:3.61 [[ 9.96460551e-01 -6.82118721e-02 -4.91274932e-02 7.67445957e+01] [ 6.80823704e-02 9.97670409e-01 -4.30655049e-03 2.08369472e+00] [ 4.93068041e-02 9.46591491e-04 9.98783231e-01 3.61235562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.430385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.77, Y:2.09, Z:3.61 [[ 9.96429732e-01 -6.86904499e-02 -4.90857465e-02 7.67733488e+01] [ 6.85402305e-02 9.97637098e-01 -4.73900381e-03 2.08596218e+00] [ 4.92952859e-02 1.35773592e-03 9.98783326e-01 3.61073386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.460385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.80, Y:2.09, Z:3.61 [[ 9.96276655e-01 -7.08768856e-02 -4.90845491e-02 7.68023909e+01] [ 7.07287070e-02 9.97484273e-01 -4.75137344e-03 2.08973954e+00] [ 4.92978283e-02 1.26199574e-03 9.98783326e-01 3.60611043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.490385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.83, Y:2.09, Z:3.61 [[ 9.96277457e-01 -7.08609956e-02 -4.90912303e-02 7.68302241e+01] [ 7.07161882e-02 9.97485486e-01 -4.68251763e-03 2.09156893e+00] [ 4.92995976e-02 1.19354207e-03 9.98783322e-01 3.60933991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.52038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.86, Y:2.09, Z:3.61 [[ 9.96180941e-01 -7.22001432e-02 -4.90985876e-02 7.68585801e+01] [ 7.20606904e-02 9.97389610e-01 -4.60677747e-03 2.09459565e+00] [ 4.93030311e-02 1.05110579e-03 9.98783313e-01 3.61002580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.55038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.88, Y:2.10, Z:3.61 [[ 9.96129064e-01 -7.29152549e-02 -4.90943253e-02 7.68848726e+01] [ 7.27745137e-02 9.97337577e-01 -4.65054655e-03 2.09735836e+00] [ 4.93027112e-02 1.05972894e-03 9.98783320e-01 3.61094639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.58038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.91, Y:2.10, Z:3.61 [[ 9.96027478e-01 -7.42991414e-02 -4.90805532e-02 7.69138946e+01] [ 7.41531303e-02 9.97235355e-01 -4.79161904e-03 2.10047589e+00] [ 4.93008761e-02 1.13310757e-03 9.98783330e-01 3.61388051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.610385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.94, Y:2.10, Z:3.62 [[ 9.95759643e-01 -7.78071800e-02 -4.90792922e-02 7.69414485e+01] [ 7.76647899e-02 9.96967952e-01 -4.80450045e-03 2.10276823e+00] [ 4.93043061e-02 9.72394734e-04 9.98783330e-01 3.61755578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.640385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.97, Y:2.10, Z:3.62 [[ 9.95676087e-01 -7.88732252e-02 -4.90728408e-02 7.69691539e+01] [ 7.87288869e-02 9.96884167e-01 -4.87029742e-03 2.10436604e+00] [ 4.93040741e-02 9.85788545e-04 9.98783328e-01 3.62161380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.670385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.00, Y:2.11, Z:3.63 [[ 9.95599571e-01 -7.98303354e-02 -4.90776098e-02 7.69979820e+01] [ 7.96895504e-02 9.96808069e-01 -4.82175759e-03 2.10613862e+00] [ 4.93058800e-02 8.89567129e-04 9.98783329e-01 3.62506282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.700385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.03, Y:2.11, Z:3.63 [[ 9.95630725e-01 -7.94415625e-02 -4.90764410e-02 7.70257875e+01] [ 7.92997208e-02 9.96839100e-01 -4.83362525e-03 2.10728184e+00] [ 4.93053060e-02 9.20757746e-04 9.98783329e-01 3.62765514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.730385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.06, Y:2.11, Z:3.63 [[ 9.95791840e-01 -7.73966748e-02 -4.90750989e-02 7.70558943e+01] [ 7.72516824e-02 9.96999841e-01 -4.84721296e-03 2.11268982e+00] [ 4.93030239e-02 1.03568116e-03 9.98783329e-01 3.62613116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.760385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.09, Y:2.12, Z:3.62 [[ 9.96144047e-01 -7.27121385e-02 -4.90915803e-02 7.70866749e+01] [ 7.25696561e-02 9.97352362e-01 -4.68088726e-03 2.11577003e+00] [ 4.93019609e-02 1.10027888e-03 9.98783313e-01 3.62471185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.790385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:77.11, Y:2.12, Z:3.63 [[ 9.96159242e-01 -7.24935022e-02 -4.91065809e-02 7.71109871e+01] [ 7.23581358e-02 9.97368422e-01 -4.53104600e-03 2.12207582e+00] [ 4.93058245e-02 9.60382700e-04 9.98783266e-01 3.62876570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.820385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.14, Y:2.12, Z:3.63 [[ 9.96381758e-01 -6.93967461e-02 -4.90661127e-02 7.71391127e+01] [ 6.92378086e-02 9.97587984e-01 -4.93355826e-03 2.12313496e+00] [ 4.92901373e-02 1.51847733e-03 9.98783348e-01 3.63345909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.850385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.17, Y:2.13, Z:3.64 [[ 9.96410848e-01 -6.89781217e-02 -4.90656768e-02 7.71670355e+01] [ 6.88184644e-02 9.97616979e-01 -4.93788895e-03 2.12520786e+00] [ 4.92893586e-02 1.54354158e-03 9.98783348e-01 3.63500261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.88038572299999 meters Centerline goodness : 0.999194 Centerline is valid? [True, True] Translation: X:77.19, Y:2.13, Z:3.63 [[ 9.96539390e-01 -6.70957887e-02 -4.90652552e-02 7.71949893e+01] [ 6.69336475e-02 9.97745189e-01 -4.94207475e-03 2.12906246e+00] [ 4.92862148e-02 1.64085566e-03 9.98783348e-01 3.63123916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.91038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.23, Y:2.13, Z:3.63 [[ 9.96592074e-01 -6.63096773e-02 -4.90638829e-02 7.72276512e+01] [ 6.61459168e-02 9.97797654e-01 -4.95566148e-03 2.13279426e+00] [ 4.92844356e-02 1.69339743e-03 9.98783348e-01 3.63145586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.94038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.25, Y:2.14, Z:3.63 [[ 9.96467194e-01 -6.81246566e-02 -4.91137636e-02 7.72511257e+01] [ 6.79868872e-02 9.97676191e-01 -4.47217166e-03 2.14001117e+00] [ 4.93042978e-02 1.11728043e-03 9.98783179e-01 3.63357215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.97038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.28, Y:2.14, Z:3.63 [[ 9.96474804e-01 -6.80596854e-02 -4.90494089e-02 7.72788780e+01] [ 6.78913315e-02 9.97679727e-01 -5.09215220e-03 2.14309720e+00] [ 4.92821711e-02 1.74417169e-03 9.98783373e-01 3.63156938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.000385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.31, Y:2.15, Z:3.63 [[ 9.96414380e-01 -6.89389771e-02 -4.90489695e-02 7.73070566e+01] [ 6.87714786e-02 9.97619422e-01 -5.09638106e-03 2.14521661e+00] [ 4.92835439e-02 1.70493722e-03 9.98783373e-01 3.63148742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.030385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.34, Y:2.14, Z:3.63 [[ 9.96267142e-01 -7.10355198e-02 -4.90483119e-02 7.73401129e+01] [ 7.08702466e-02 9.97472491e-01 -5.10270166e-03 2.14420458e+00] [ 4.92868149e-02 1.60758804e-03 9.98783373e-01 3.63448077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.060385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.36, Y:2.15, Z:3.64 [[ 9.95938027e-01 -7.54793274e-02 -4.90949916e-02 7.73647166e+01] [ 7.53415502e-02 9.97146928e-01 -4.65352097e-03 2.14808380e+00] [ 4.93061647e-02 9.35725719e-04 9.98783273e-01 3.63807694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.090385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.39, Y:2.15, Z:3.64 [[ 9.95764727e-01 -7.77626635e-02 -4.90466837e-02 7.73923954e+01] [ 7.76048491e-02 9.96971066e-01 -5.11663895e-03 2.14986304e+00] [ 4.92960080e-02 1.28870810e-03 9.98783381e-01 3.64168508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.120385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.42, Y:2.15, Z:3.64 [[ 9.95513754e-01 -8.09130875e-02 -4.90452607e-02 7.74201390e+01] [ 8.07584212e-02 9.96720501e-01 -5.13024294e-03 2.15236517e+00] [ 4.92995206e-02 1.14640959e-03 9.98783381e-01 3.64433049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.150385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.45, Y:2.16, Z:3.65 [[ 9.95454456e-01 -8.16396458e-02 -4.90448186e-02 7.74485953e+01] [ 8.14856523e-02 9.96661289e-01 -5.13446548e-03 2.15560972e+00] [ 4.93002481e-02 1.11467750e-03 9.98783381e-01 3.64630966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.180385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.48, Y:2.16, Z:3.65 [[ 9.95255394e-01 -8.40323178e-02 -4.90435597e-02 7.74789602e+01] [ 8.38806349e-02 9.96462520e-01 -5.14646226e-03 2.15845637e+00] [ 4.93025383e-02 1.00823939e-03 9.98783382e-01 3.64990506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.210385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.51, Y:2.16, Z:3.65 [[ 9.95329679e-01 -8.31321013e-02 -4.90701860e-02 7.75060574e+01] [ 8.29918150e-02 9.96538217e-01 -4.89297933e-03 2.16121400e+00] [ 4.93070793e-02 7.97703745e-04 9.98783348e-01 3.65042789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.240385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.53, Y:2.17, Z:3.65 [[ 9.95315149e-01 -8.33235108e-02 -4.90402653e-02 7.75339426e+01] [ 8.31694911e-02 9.96521972e-01 -5.17645898e-03 2.16547720e+00] [ 4.93010226e-02 1.07355413e-03 9.98783388e-01 3.65041160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.27038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.56, Y:2.17, Z:3.65 [[ 9.95412601e-01 -8.21519757e-02 -4.90388264e-02 7.75620074e+01] [ 8.19958663e-02 9.96619156e-01 -5.19005460e-03 2.17114572e+00] [ 4.92994070e-02 1.14526470e-03 9.98783388e-01 3.65000626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.30038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.59, Y:2.17, Z:3.65 [[ 9.95506342e-01 -8.10090095e-02 -4.90373737e-02 7.75887346e+01] [ 8.08508409e-02 9.96712628e-01 -5.20374363e-03 2.17434393e+00] [ 4.92977197e-02 1.21564688e-03 9.98783388e-01 3.65017715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.33038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.62, Y:2.18, Z:3.65 [[ 9.95730915e-01 -7.82006609e-02 -4.90367393e-02 7.76175044e+01] [ 7.80387965e-02 9.96936711e-01 -5.20971477e-03 2.17786783e+00] [ 4.92939288e-02 1.36070593e-03 9.98783388e-01 3.65047167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.360385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.65, Y:2.18, Z:3.65 [[ 9.95836725e-01 -7.68422990e-02 -4.90354750e-02 7.76450157e+01] [ 7.66782057e-02 9.97042220e-01 -5.22158817e-03 2.18195189e+00] [ 4.92916777e-02 1.43989703e-03 9.98783389e-01 3.64980225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.390385723 meters Centerline goodness : 0.998681 Centerline is valid? [True, True] Translation: X:77.68, Y:2.19, Z:3.65 [[ 9.95642833e-01 -7.93152894e-02 -4.90350264e-02 7.76792483e+01] [ 7.91539834e-02 9.96848704e-01 -5.22579710e-03 2.18807375e+00] [ 4.92949882e-02 1.32170976e-03 9.98783389e-01 3.64865895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.420385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.70, Y:2.19, Z:3.65 [[ 9.96019176e-01 -7.43953286e-02 -4.91033219e-02 7.77037263e+01] [ 7.42595429e-02 9.97228402e-01 -4.58636854e-03 2.18977451e+00] [ 4.93084316e-02 9.21720777e-04 9.98783174e-01 3.65256944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.450385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.73, Y:2.19, Z:3.65 [[ 9.96004871e-01 -7.46351889e-02 -4.90294260e-02 7.77316155e+01] [ 7.44658718e-02 9.97209619e-01 -5.27351121e-03 2.19347261e+00] [ 4.92862047e-02 1.60142390e-03 9.98783413e-01 3.65436027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.480385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.76, Y:2.20, Z:3.65 [[ 9.95988026e-01 -7.48606209e-02 -4.90279398e-02 7.77589969e+01] [ 7.46908988e-02 9.97192717e-01 -5.28729271e-03 2.20075487e+00] [ 4.92861145e-02 1.60413934e-03 9.98783413e-01 3.65212834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.510385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:77.79, Y:2.21, Z:3.65 [[ 9.95953558e-01 -7.53182519e-02 -4.90272491e-02 7.77871926e+01] [ 7.51487688e-02 9.97158282e-01 -5.29368954e-03 2.20564937e+00] [ 4.92866389e-02 1.58793153e-03 9.98783413e-01 3.65438492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.540385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.82, Y:2.21, Z:3.66 [[ 9.95878977e-01 -7.62988528e-02 -4.90259905e-02 7.78153432e+01] [ 7.61299839e-02 9.97083787e-01 -5.30532014e-03 2.20921618e+00] [ 4.92878101e-02 1.55110892e-03 9.98783413e-01 3.65818747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.570385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.84, Y:2.21, Z:3.67 [[ 9.95664369e-01 -7.90508956e-02 -4.90246819e-02 7.78442840e+01] [ 7.88847636e-02 9.96869560e-01 -5.31738463e-03 2.20990386e+00] [ 4.92915571e-02 1.42702997e-03 9.98783413e-01 3.66513750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.600385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.87, Y:2.21, Z:3.67 [[ 9.95481533e-01 -8.13217527e-02 -4.90233666e-02 7.78715237e+01] [ 8.11577748e-02 9.96687018e-01 -5.32948394e-03 2.21267063e+00] [ 4.92943561e-02 1.32677550e-03 9.98783413e-01 3.66855642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.63038572299999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:77.90, Y:2.22, Z:3.67 [[ 9.95117047e-01 -8.56670342e-02 -4.90226685e-02 7.78987127e+01] [ 8.55080048e-02 9.96323195e-01 -5.33589723e-03 2.21892842e+00] [ 4.92995323e-02 1.11801172e-03 9.98783413e-01 3.67094669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.66038572299999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:77.93, Y:2.22, Z:3.67 [[ 9.95043391e-01 -8.65186279e-02 -4.90222108e-02 7.79268876e+01] [ 8.63604240e-02 9.96249648e-01 -5.34009955e-03 2.22381520e+00] [ 4.93003783e-02 1.08005186e-03 9.98783413e-01 3.67193545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.69038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.95, Y:2.23, Z:3.67 [[ 9.95095893e-01 -8.59135163e-02 -4.90207190e-02 7.79540920e+01] [ 8.57539063e-02 9.96301965e-01 -5.35375908e-03 2.22988993e+00] [ 4.92993989e-02 1.12378553e-03 9.98783413e-01 3.67168841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.72038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.98, Y:2.23, Z:3.67 [[ 9.95071702e-01 -8.61941131e-02 -4.90192085e-02 7.79824793e+01] [ 8.60341640e-02 9.96277728e-01 -5.36755323e-03 2.23306793e+00] [ 4.92993972e-02 1.12377370e-03 9.98783413e-01 3.67309298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.750385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.01, Y:2.24, Z:3.67 [[ 9.95158522e-01 -8.51867427e-02 -4.90176929e-02 7.80089950e+01] [ 8.50248932e-02 9.96364295e-01 -5.38135868e-03 2.23701773e+00] [ 4.92978995e-02 1.18758085e-03 9.98783413e-01 3.67307292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.780385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.04, Y:2.24, Z:3.67 [[ 9.95327935e-01 -8.31845439e-02 -4.90166620e-02 7.80367149e+01] [ 8.30198077e-02 9.96533317e-01 -5.39073273e-03 2.24308117e+00] [ 4.92951624e-02 1.29619303e-03 9.98783413e-01 3.67340349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.810385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.06, Y:2.25, Z:3.67 [[ 9.95369640e-01 -8.26849035e-02 -4.90151700e-02 7.80646388e+01] [ 8.25188963e-02 9.96574847e-01 -5.40426483e-03 2.24785733e+00] [ 4.92941366e-02 1.33456341e-03 9.98783413e-01 3.67446683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.840385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.09, Y:2.25, Z:3.68 [[ 9.95444098e-01 -8.17845061e-02 -4.90136888e-02 7.80927178e+01] [ 8.16167495e-02 9.96649063e-01 -5.41766508e-03 2.25184643e+00] [ 4.92925281e-02 1.39264477e-03 9.98783414e-01 3.67637155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.870385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.12, Y:2.26, Z:3.68 [[ 9.95574600e-01 -8.01811938e-02 -4.90121632e-02 7.81192145e+01] [ 8.00108196e-02 9.96779197e-01 -5.43143199e-03 2.25670947e+00] [ 4.92898034e-02 1.48589238e-03 9.98783414e-01 3.67825049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.900385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.15, Y:2.26, Z:3.68 [[ 9.95602075e-01 -7.98397215e-02 -4.90114987e-02 7.81466032e+01] [ 7.96686396e-02 9.96806572e-01 -5.43742146e-03 2.26098783e+00] [ 4.92891062e-02 1.50882866e-03 9.98783414e-01 3.68034907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.930385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.17, Y:2.27, Z:3.68 [[ 9.95419255e-01 -8.20885039e-02 -4.90100511e-02 7.81724925e+01] [ 8.19195030e-02 9.96624045e-01 -5.45043800e-03 2.26905421e+00] [ 4.92920137e-02 1.41059190e-03 9.98783414e-01 3.67968863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.960385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.20, Y:2.27, Z:3.68 [[ 9.95545526e-01 -8.05609787e-02 -4.89799467e-02 7.82024958e+01] [ 8.03768643e-02 9.96748132e-01 -5.72024830e-03 2.27161990e+00] [ 4.92814992e-02 1.75791308e-03 9.98783382e-01 3.68292382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.990385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.23, Y:2.28, Z:3.68 [[ 9.95247349e-01 -8.41480142e-02 -4.90084280e-02 7.82278692e+01] [ 8.39807977e-02 9.96452388e-01 -5.46484405e-03 2.27871554e+00] [ 4.92944209e-02 1.32310468e-03 9.98783415e-01 3.67934180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.02038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.26, Y:2.28, Z:3.69 [[ 9.95283798e-01 -8.37419884e-02 -4.89636778e-02 7.82581301e+01] [ 8.35546208e-02 9.96485941e-01 -5.86462941e-03 2.28065264e+00] [ 4.92827323e-02 1.74582910e-03 9.98783342e-01 3.68595419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.05038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.28, Y:2.29, Z:3.68 [[ 9.94908956e-01 -8.80595209e-02 -4.90070486e-02 7.82832690e+01] [ 8.78964658e-02 9.96114561e-01 -5.47655931e-03 2.28703283e+00] [ 4.92988979e-02 1.14113154e-03 9.98783418e-01 3.68149200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.08038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.31, Y:2.29, Z:3.69 [[ 9.94865109e-01 -8.85742511e-02 -4.89695596e-02 7.83109877e+01] [ 8.83953694e-02 9.96068518e-01 -5.81084005e-03 2.29040105e+00] [ 4.92917275e-02 1.45231970e-03 9.98783368e-01 3.68531725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.110385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.34, Y:2.29, Z:3.69 [[ 9.95082239e-01 -8.61005258e-02 -4.89697543e-02 7.83403199e+01] [ 8.59187380e-02 9.96285213e-01 -5.80910564e-03 2.29150972e+00] [ 4.92880091e-02 1.57311836e-03 9.98783369e-01 3.69074593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.140385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.36, Y:2.30, Z:3.69 [[ 9.94660809e-01 -9.08205951e-02 -4.90050388e-02 7.83647582e+01] [ 9.06600071e-02 9.95866745e-01 -5.49442340e-03 2.29961001e+00] [ 4.93014953e-02 1.02229046e-03 9.98783419e-01 3.68763758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.170385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.40, Y:2.30, Z:3.69 [[ 9.94963775e-01 -8.74688299e-02 -4.89519204e-02 7.83951926e+01] [ 8.72809524e-02 9.96165867e-01 -5.96660664e-03 2.30291819e+00] [ 4.92861243e-02 1.66398723e-03 9.98783314e-01 3.69314869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.200385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:78.42, Y:2.31, Z:3.69 [[ 9.94418063e-01 -9.34418278e-02 -4.90034699e-02 7.84163546e+01] [ 9.32837484e-02 9.95624329e-01 -5.50803154e-03 2.31436192e+00] [ 4.93037273e-02 9.06058703e-04 9.98783421e-01 3.68712072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.230385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.44, Y:2.32, Z:3.69 [[ 9.94486659e-01 -9.27607239e-02 -4.89053490e-02 7.84445095e+01] [ 9.25589875e-02 9.95686772e-01 -6.37859661e-03 2.31835152e+00] [ 4.92860923e-02 1.81679964e-03 9.98783050e-01 3.68834803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.260385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.48, Y:2.32, Z:3.70 [[ 9.95050483e-01 -8.65007055e-02 -4.89097492e-02 7.84787609e+01] [ 8.62933335e-02 9.96249602e-01 -6.33964074e-03 2.31595748e+00] [ 4.92747016e-02 2.08767728e-03 9.98783082e-01 3.69597042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.290385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.51, Y:2.32, Z:3.70 [[ 9.95052911e-01 -8.64198976e-02 -4.90031187e-02 7.85069337e+01] [ 8.62532444e-02 9.96258011e-01 -5.50931027e-03 2.31921218e+00] [ 4.92958637e-02 1.25537724e-03 9.98783431e-01 3.69788971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.320385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.53, Y:2.33, Z:3.69 [[ 9.94375203e-01 -9.38977597e-02 -4.90016919e-02 7.85266496e+01] [ 9.37395468e-02 9.95581441e-01 -5.52197176e-03 2.33060342e+00] [ 4.93036758e-02 8.97515393e-04 9.98783431e-01 3.69185353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.350385723 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:78.55, Y:2.34, Z:3.69 [[ 9.94303692e-01 -9.47070058e-02 -4.88953067e-02 7.85541245e+01] [ 9.45035155e-02 9.95503554e-01 -6.46210394e-03 2.33608552e+00] [ 4.92874581e-02 1.80451543e-03 9.98783005e-01 3.69191124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.38038572299999 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:78.58, Y:2.35, Z:3.69 [[ 9.94146341e-01 -9.63482854e-02 -4.88882434e-02 7.85810519e+01] [ 9.61437098e-02 9.95346080e-01 -6.52448826e-03 2.34550776e+00] [ 4.92893446e-02 1.78599904e-03 9.98782945e-01 3.68655882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.41038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.61, Y:2.35, Z:3.69 [[ 9.94170396e-01 -9.61178277e-02 -4.88527011e-02 7.86101277e+01] [ 9.58975167e-02 9.95367717e-01 -6.83914200e-03 2.35029249e+00] [ 4.92837650e-02 2.11441980e-03 9.98782579e-01 3.69103198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.44038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.64, Y:2.35, Z:3.69 [[ 9.94160401e-01 -9.62090519e-02 -4.88765261e-02 7.86399252e+01] [ 9.59992088e-02 9.95359341e-01 -6.62826437e-03 2.35339922e+00] [ 4.92874059e-02 1.89745013e-03 9.98782835e-01 3.69206623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.47038572299999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:78.67, Y:2.36, Z:3.70 [[ 9.94334923e-01 -9.43777654e-02 -4.88968053e-02 7.86669833e+01] [ 9.41745666e-02 9.95534818e-01 -6.44809131e-03 2.35535873e+00] [ 4.92870286e-02 1.80672694e-03 9.98783022e-01 3.69698947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.500385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:78.70, Y:2.36, Z:3.70 [[ 9.94329185e-01 -9.44417003e-02 -4.88900455e-02 7.86955209e+01] [ 9.42356311e-02 9.95528649e-01 -6.50807427e-03 2.35965545e+00] [ 4.92860746e-02 1.86398389e-03 9.98782964e-01 3.69608703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.530385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.73, Y:2.36, Z:3.71 [[ 9.94914891e-01 -8.80640378e-02 -4.88782654e-02 7.87309292e+01] [ 8.78452166e-02 9.96112197e-01 -6.61128430e-03 2.36117317e+00] [ 4.92704527e-02 2.28394338e-03 9.98782862e-01 3.70576982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.560385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:78.75, Y:2.37, Z:3.70 [[ 9.94281543e-01 -9.48866259e-02 -4.89973648e-02 7.87507037e+01] [ 9.47276196e-02 9.95487688e-01 -5.56242454e-03 2.37372750e+00] [ 4.93040732e-02 8.89212320e-04 9.98783419e-01 3.70082720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.590385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.79, Y:2.37, Z:3.71 [[ 9.94791561e-01 -8.94457896e-02 -4.88794501e-02 7.87870815e+01] [ 8.92294012e-02 9.95989263e-01 -6.59562982e-03 2.37043806e+00] [ 4.92733588e-02 2.19979282e-03 9.98782908e-01 3.71090277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.620385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.81, Y:2.38, Z:3.71 [[ 9.94201795e-01 -9.57186741e-02 -4.89971986e-02 7.88091125e+01] [ 9.55609053e-02 9.95408069e-01 -5.55780656e-03 2.37789191e+00] [ 4.93041928e-02 8.43364606e-04 9.98783453e-01 3.70794622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.650385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:78.84, Y:2.37, Z:3.71 [[ 9.94514150e-01 -9.24658102e-02 -4.89048032e-02 7.88436580e+01] [ 9.22643211e-02 9.95714198e-01 -6.36639459e-03 2.37407049e+00] [ 4.92838807e-02 1.81930103e-03 9.98783154e-01 3.71481571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.680385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:78.87, Y:2.38, Z:3.72 [[ 9.94506856e-01 -9.24964740e-02 -4.89950478e-02 7.88703945e+01] [ 9.23340408e-02 9.95712491e-01 -5.57317269e-03 2.37732441e+00] [ 4.93004799e-02 1.01864771e-03 9.98783473e-01 3.71634820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.710385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.89, Y:2.39, Z:3.71 [[ 9.93974328e-01 -9.80539867e-02 -4.89943947e-02 7.88910236e+01] [ 9.78980125e-02 9.95180815e-01 -5.57890794e-03 2.38869022e+00] [ 4.93053159e-02 7.48837400e-04 9.98783473e-01 3.71104379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.740385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:78.92, Y:2.40, Z:3.71 [[ 9.94019142e-01 -9.76463704e-02 -4.88992015e-02 7.89169664e+01] [ 9.74490453e-02 9.95219880e-01 -6.40895147e-03 2.39566205e+00] [ 4.92912683e-02 1.60543993e-03 9.98783156e-01 3.70870406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.77038572299999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:78.95, Y:2.40, Z:3.71 [[ 9.94239115e-01 -9.53843180e-02 -4.88918623e-02 7.89465483e+01] [ 9.51810969e-02 9.95438926e-01 -6.47333684e-03 2.39686041e+00] [ 4.92863177e-02 1.78246360e-03 9.98783100e-01 3.71191395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.80038572299999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:78.98, Y:2.39, Z:3.72 [[ 9.94979505e-01 -8.73146920e-02 -4.89073469e-02 7.89809385e+01] [ 8.71084089e-02 9.96178679e-01 -6.33755264e-03 2.39018614e+00] [ 4.92738177e-02 2.04549381e-03 9.98783213e-01 3.71696771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.83038572299999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:79.00, Y:2.40, Z:3.71 [[ 9.94647633e-01 -9.09703331e-02 -4.89947361e-02 7.90031142e+01] [ 9.08062647e-02 9.95853006e-01 -5.56883046e-03 2.39838074e+00] [ 4.92981537e-02 1.08999506e-03 9.98783512e-01 3.71461823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.860385723 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:79.04, Y:2.40, Z:3.72 [[ 9.95200182e-01 -8.47632224e-02 -4.89059774e-02 7.90370073e+01] [ 8.45534806e-02 9.96398738e-01 -6.34541238e-03 2.39760559e+00] [ 4.92677118e-02 2.17978495e-03 9.98783230e-01 3.71947696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.890385723 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:79.06, Y:2.41, Z:3.72 [[ 9.94785621e-01 -8.94495104e-02 -4.89934049e-02 7.90604322e+01] [ 8.92831691e-02 9.95990666e-01 -5.57758008e-03 2.40565151e+00] [ 4.92958858e-02 1.17421001e-03 9.98783529e-01 3.71818117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.920385723 meters Centerline goodness : 0.999762 Centerline is valid? [True, True] Translation: X:79.09, Y:2.40, Z:3.72 [[ 9.95197174e-01 -8.47951748e-02 -4.89117802e-02 7.90947715e+01] [ 8.45881104e-02 9.96396139e-01 -6.29166043e-03 2.40165190e+00] [ 4.92690114e-02 2.12408762e-03 9.98783286e-01 3.72447057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.950385723 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:79.12, Y:2.40, Z:3.73 [[ 9.95088181e-01 -8.60184957e-02 -4.89931621e-02 7.91229756e+01] [ 8.58480376e-02 9.96292634e-01 -5.57682112e-03 2.39740401e+00] [ 4.92912363e-02 1.34346196e-03 9.98783545e-01 3.72920915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.980385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.15, Y:2.40, Z:3.73 [[ 9.94698629e-01 -9.04127159e-02 -4.89916204e-02 7.91473498e+01] [ 9.02469141e-02 9.95903732e-01 -5.59033219e-03 2.40294498e+00] [ 4.92963747e-02 1.13935320e-03 9.98783545e-01 3.73012271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.010385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.17, Y:2.41, Z:3.73 [[ 9.94518468e-01 -9.24099849e-02 -4.89225036e-02 7.91748545e+01] [ 9.22169045e-02 9.95719678e-01 -6.19399521e-03 2.40568591e+00] [ 4.92854865e-02 1.64856079e-03 9.98783371e-01 3.72884612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.040385723 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:79.20, Y:2.41, Z:3.73 [[ 9.94468335e-01 -9.29567799e-02 -4.89056962e-02 7.92023698e+01] [ 9.27571621e-02 9.95668573e-01 -6.34044424e-03 2.40791515e+00] [ 4.92832520e-02 1.76901744e-03 9.98783276e-01 3.72823411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.070385723 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:79.23, Y:2.41, Z:3.73 [[ 9.94527990e-01 -9.23151726e-02 -4.89079395e-02 7.92306414e+01] [ 9.21157419e-02 9.95728244e-01 -6.32087757e-03 2.40559141e+00] [ 4.92825297e-02 1.78109852e-03 9.98783290e-01 3.72848449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.100385723 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:79.26, Y:2.40, Z:3.73 [[ 9.94706018e-01 -9.03813850e-02 -4.88993248e-02 7.92596804e+01] [ 9.01759601e-02 9.95905314e-01 -6.39541414e-03 2.40425639e+00] [ 4.92771238e-02 1.95201337e-03 9.98783237e-01 3.73121803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.13038572299999 meters Centerline goodness : 0.999650 Centerline is valid? [True, True] Translation: X:79.29, Y:2.40, Z:3.74 [[ 9.95395476e-01 -8.24347225e-02 -4.89117876e-02 7.92936786e+01] [ 8.22249812e-02 9.96593954e-01 -6.28829430e-03 2.39636330e+00] [ 4.92635656e-02 2.23756888e-03 9.98783307e-01 3.74116897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.16038572299999 meters Centerline goodness : 0.999496 Centerline is valid? [True, True] Translation: X:79.32, Y:2.40, Z:3.74 [[ 9.95155439e-01 -8.52430622e-02 -4.89823646e-02 7.93171001e+01] [ 8.50666035e-02 9.96359079e-01 -5.67971191e-03 2.40444998e+00] [ 4.92881798e-02 1.48543280e-03 9.98783494e-01 3.73649288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.19038572299999 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:79.35, Y:2.40, Z:3.74 [[ 9.95665695e-01 -7.91037742e-02 -4.89123431e-02 7.93496195e+01] [ 7.88904034e-02 9.96863511e-01 -6.28057535e-03 2.40391348e+00] [ 4.92557473e-02 2.39463893e-03 9.98783328e-01 3.74031762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.22038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.38, Y:2.41, Z:3.73 [[ 9.95766165e-01 -7.77859477e-02 -4.89805068e-02 7.93751047e+01] [ 7.75997598e-02 9.96968330e-01 -5.69433086e-03 2.40868885e+00] [ 4.92749530e-02 1.86934645e-03 9.98783502e-01 3.73464227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.250385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:79.40, Y:2.40, Z:3.74 [[ 9.96009470e-01 -7.46376893e-02 -4.89321108e-02 7.94049058e+01] [ 7.44273707e-02 9.97207726e-01 -6.10875765e-03 2.40454271e+00] [ 4.92514225e-02 2.44249211e-03 9.98783426e-01 3.73825386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.280385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:79.43, Y:2.41, Z:3.74 [[ 9.95964807e-01 -7.52191574e-02 -4.89508029e-02 7.94321441e+01] [ 7.50173883e-02 9.97164482e-01 -5.94869491e-03 2.40538791e+00] [ 4.92594579e-02 2.25252939e-03 9.98783476e-01 3.73843862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.310385723 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:79.46, Y:2.41, Z:3.74 [[ 9.95919661e-01 -7.58176278e-02 -4.89460590e-02 7.94594422e+01] [ 7.56145878e-02 9.97119132e-01 -5.98929825e-03 2.40655273e+00] [ 4.92591462e-02 2.26382381e-03 9.98783466e-01 3.74160962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.340385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.49, Y:2.41, Z:3.74 [[ 9.95722263e-01 -7.83671457e-02 -4.89465598e-02 7.94883014e+01] [ 7.81673879e-02 9.96922283e-01 -5.98500597e-03 2.40710613e+00] [ 4.92649440e-02 2.13337896e-03 9.98783467e-01 3.74230151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.370385723 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:79.52, Y:2.41, Z:3.74 [[ 9.95646686e-01 -7.93178912e-02 -4.89525192e-02 7.95164839e+01] [ 7.91217832e-02 9.96847296e-01 -5.93399878e-03 2.40806620e+00] [ 4.92688587e-02 2.03495561e-03 9.98783479e-01 3.74322331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.400385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.55, Y:2.41, Z:3.74 [[ 9.95399695e-01 -8.23582354e-02 -4.89547608e-02 7.95456290e+01] [ 8.21667353e-02 9.96601045e-01 -5.91485283e-03 2.40547237e+00] [ 4.92755026e-02 1.86518983e-03 9.98783483e-01 3.74453521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.430385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:79.57, Y:2.41, Z:3.75 [[ 9.95237218e-01 -8.42985640e-02 -4.89554043e-02 7.95743346e+01] [ 8.41096761e-02 9.96438980e-01 -5.90936052e-03 2.40621147e+00] [ 4.92792238e-02 1.76359232e-03 9.98783484e-01 3.74843484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.460385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:79.60, Y:2.41, Z:3.75 [[ 9.95103910e-01 -8.58565422e-02 -4.89577541e-02 7.96020011e+01] [ 8.56705207e-02 9.96306117e-01 -5.88932066e-03 2.40845950e+00] [ 4.92825465e-02 1.66624973e-03 9.98783487e-01 3.74680837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.49038572299999 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:79.63, Y:2.41, Z:3.75 [[ 9.94848713e-01 -8.87670817e-02 -4.89534888e-02 7.96294301e+01] [ 8.85827936e-02 9.96051191e-01 -5.92561167e-03 2.41084085e+00] [ 4.92861801e-02 1.55865035e-03 9.98783482e-01 3.74727959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.52038572299999 meters Centerline goodness : 0.999689 Centerline is valid? [True, True] Translation: X:79.66, Y:2.41, Z:3.75 [[ 9.94787920e-01 -8.94472562e-02 -4.89508219e-02 7.96580286e+01] [ 8.92626751e-02 9.95990358e-01 -5.94829268e-03 2.41208979e+00] [ 4.92866051e-02 1.54780840e-03 9.98783477e-01 3.74957909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.55038572299999 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:79.69, Y:2.41, Z:3.75 [[ 9.94470486e-01 -9.29032952e-02 -4.89635591e-02 7.96860428e+01] [ 9.27282183e-02 9.95674330e-01 -5.84005398e-03 2.41048049e+00] [ 4.92943192e-02 1.26745772e-03 9.98783492e-01 3.75245015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.58038572299999 meters Centerline goodness : 0.999843 Centerline is valid? [True, True] Translation: X:79.71, Y:2.41, Z:3.75 [[ 9.94207841e-01 -9.56672957e-02 -4.89748709e-02 7.97140905e+01] [ 9.55002944e-02 9.95412829e-01 -5.74400515e-03 2.41168736e+00] [ 4.92997282e-02 1.03362037e-03 9.98783494e-01 3.75469203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.610385723 meters Centerline goodness : 0.999843 Centerline is valid? [True, True] Translation: X:79.74, Y:2.42, Z:3.76 [[ 9.94182494e-01 -9.59294283e-02 -4.89766606e-02 7.97424452e+01] [ 9.57634924e-02 9.95387630e-01 -5.72882262e-03 2.41511451e+00] [ 4.93003248e-02 1.00531910e-03 9.98783494e-01 3.75610867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.640385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.77, Y:2.41, Z:3.76 [[ 9.93861013e-01 -9.92055613e-02 -4.89749199e-02 7.97715299e+01] [ 9.90428726e-02 9.95066591e-01 -5.74355323e-03 2.41472755e+00] [ 4.93030990e-02 8.57676879e-04 9.98783494e-01 3.75977584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.670385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.80, Y:2.42, Z:3.76 [[ 9.93648520e-01 -1.01314706e-01 -4.89688515e-02 7.98029078e+01] [ 1.01152050e-01 9.94854101e-01 -5.79483425e-03 2.41729028e+00] [ 4.93039647e-02 8.04728771e-04 9.98783496e-01 3.75924356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.700385723 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:79.83, Y:2.42, Z:3.76 [[ 9.93540666e-01 -1.02352835e-01 -4.89983866e-02 7.98297861e+01] [ 1.02203741e-01 9.94748031e-01 -5.54523079e-03 2.42127786e+00] [ 4.93086187e-02 5.01593861e-04 9.98783464e-01 3.76096547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.730385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:79.86, Y:2.43, Z:3.76 [[ 9.93408095e-01 -1.03646595e-01 -4.89667170e-02 7.98587008e+01] [ 1.03485920e-01 9.94613937e-01 -5.81206264e-03 2.42592221e+00] [ 4.93053797e-02 7.06384329e-04 9.98783500e-01 3.76151303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.760385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.89, Y:2.43, Z:3.76 [[ 9.93364856e-01 -1.04060846e-01 -4.89653328e-02 7.98911621e+01] [ 1.03900100e-01 9.94570688e-01 -5.82370146e-03 2.42919699e+00] [ 4.93055040e-02 6.97557392e-04 9.98783500e-01 3.76258857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.790385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.92, Y:2.43, Z:3.76 [[ 9.93425039e-01 -1.03458601e-01 -4.90205101e-02 7.99183392e+01] [ 1.03320029e-01 9.94633727e-01 -5.35917796e-03 2.43281811e+00] [ 4.93119057e-02 2.59141035e-04 9.98783394e-01 3.76422161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.820385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.95, Y:2.44, Z:3.77 [[ 9.93511421e-01 -1.02628389e-01 -4.90149971e-02 7.99468529e+01] [ 1.02486527e-01 9.94719706e-01 -5.40539314e-03 2.43651687e+00] [ 4.93109303e-02 3.46942977e-04 9.98783416e-01 3.76618854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.850385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.97, Y:2.44, Z:3.77 [[ 9.93575723e-01 -1.01998478e-01 -4.90264579e-02 7.99705102e+01] [ 1.01860583e-01 9.94784515e-01 -5.30947055e-03 2.44192165e+00] [ 4.93123191e-02 2.81497473e-04 9.98783368e-01 3.76737358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.88038572299999 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:80.00, Y:2.45, Z:3.77 [[ 9.93636122e-01 -1.01434840e-01 -4.89717389e-02 7.99965998e+01] [ 1.01273772e-01 9.94841888e-01 -5.76555969e-03 2.44596921e+00] [ 4.93039658e-02 7.69315627e-04 9.98783524e-01 3.77129570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.91038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.02, Y:2.45, Z:3.77 [[ 9.93452278e-01 -1.03226816e-01 -4.89570761e-02 8.00246997e+01] [ 1.03061915e-01 9.94657519e-01 -5.88749083e-03 2.45102759e+00] [ 4.93032707e-02 8.03331186e-04 9.98783531e-01 3.77407150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.94038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.06, Y:2.45, Z:3.77 [[ 9.93362160e-01 -1.04091087e-01 -4.89557483e-02 8.00578282e+01] [ 1.03926692e-01 9.94567469e-01 -5.89851108e-03 2.45427035e+00] [ 4.93037771e-02 7.71548738e-04 9.98783531e-01 3.77316118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.97038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.08, Y:2.46, Z:3.77 [[ 9.93192079e-01 -1.05674105e-01 -4.90150805e-02 8.00846455e+01] [ 1.05535881e-01 9.94400797e-01 -5.40676789e-03 2.46033656e+00] [ 4.93119904e-02 1.97109317e-04 9.98783404e-01 3.77342139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.000385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.11, Y:2.46, Z:3.78 [[ 9.93140400e-01 -1.06168762e-01 -4.89932569e-02 8.01136006e+01] [ 1.06022248e-01 9.94348062e-01 -5.58698820e-03 2.46401206e+00] [ 4.93095137e-02 3.54288444e-04 9.98783483e-01 3.77631433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.030385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.14, Y:2.47, Z:3.78 [[ 9.93076046e-01 -1.06759654e-01 -4.90137004e-02 8.01408591e+01] [ 1.06622187e-01 9.94284845e-01 -5.41821710e-03 2.46651175e+00] [ 4.93120265e-02 1.54753705e-04 9.98783410e-01 3.77892310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.060385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.17, Y:2.47, Z:3.78 [[ 9.93028234e-01 -1.07210027e-01 -4.89993572e-02 8.01710032e+01] [ 1.07067299e-01 9.94236364e-01 -5.53591745e-03 2.46838961e+00] [ 4.93104486e-02 2.51093504e-04 9.98783468e-01 3.78167741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.090385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.20, Y:2.47, Z:3.78 [[ 9.93000253e-01 -1.07462415e-01 -4.90135435e-02 8.01996732e+01] [ 1.07325721e-01 9.94209140e-01 -5.41988664e-03 2.47283558e+00] [ 4.93121471e-02 1.21534924e-04 9.98783409e-01 3.78242177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.120385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.23, Y:2.48, Z:3.78 [[ 9.93075907e-01 -1.06762920e-01 -4.90094124e-02 8.02289400e+01] [ 1.06623714e-01 9.94284488e-01 -5.45353460e-03 2.47998912e+00] [ 4.93115338e-02 1.90208265e-04 9.98783428e-01 3.77960147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.150385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.26, Y:2.49, Z:3.78 [[ 9.93121783e-01 -1.06330979e-01 -4.90188516e-02 8.02550075e+01] [ 1.06195032e-01 9.94330782e-01 -5.37682700e-03 2.48561642e+00] [ 4.93126764e-02 1.34285488e-04 9.98783381e-01 3.77698395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.180385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.28, Y:2.49, Z:3.78 [[ 9.93357809e-01 -1.04110069e-01 -4.90036391e-02 8.02839946e+01] [ 1.03965323e-01 9.94565713e-01 -5.50039878e-03 2.48873919e+00] [ 4.93099861e-02 3.69184898e-04 9.98783454e-01 3.77919307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.210385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.31, Y:2.49, Z:3.78 [[ 9.93376771e-01 -1.03925099e-01 -4.90118885e-02 8.03092928e+01] [ 1.03783424e-01 9.94585078e-01 -5.43357586e-03 2.49294611e+00] [ 4.93111778e-02 3.10966419e-04 9.98783415e-01 3.78083152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.24038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.34, Y:2.50, Z:3.79 [[ 9.93379804e-01 -1.03918600e-01 -4.89641715e-02 8.03350803e+01] [ 1.03757944e-01 9.94585560e-01 -5.81839153e-03 2.49640290e+00] [ 4.93036971e-02 6.99450878e-04 9.98783588e-01 3.78543981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.27038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.37, Y:2.50, Z:3.79 [[ 9.93405541e-01 -1.03687884e-01 -4.89311207e-02 8.03681145e+01] [ 1.03513855e-01 9.94609403e-01 -6.08421073e-03 2.49677396e+00] [ 4.92982117e-02 9.79039721e-04 9.98783624e-01 3.78630007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.30038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.40, Y:2.50, Z:3.79 [[ 9.93510077e-01 -1.02648053e-01 -4.90010612e-02 8.03966098e+01] [ 1.02500544e-01 9.94717630e-01 -5.52037422e-03 2.49826244e+00] [ 4.93088751e-02 4.61911962e-04 9.98783471e-01 3.79046397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.33038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.42, Y:2.50, Z:3.79 [[ 9.93637260e-01 -1.01407085e-01 -4.90061037e-02 8.04201406e+01] [ 1.01260069e-01 9.94844898e-01 -5.47979919e-03 2.50396190e+00] [ 4.93091627e-02 4.82571216e-04 9.98783447e-01 3.79325606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.360385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.45, Y:2.51, Z:3.79 [[ 9.93640097e-01 -1.01417218e-01 -4.89275595e-02 8.04539469e+01] [ 1.01239221e-01 9.94843355e-01 -6.10895189e-03 2.50601449e+00] [ 4.92948104e-02 1.11671152e-03 9.98783648e-01 3.79279224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.390385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.48, Y:2.51, Z:3.80 [[ 9.93440641e-01 -1.03317011e-01 -4.90029359e-02 8.04758779e+01] [ 1.03171116e-01 9.94648393e-01 -5.50414616e-03 2.51204191e+00] [ 4.93093633e-02 4.12354926e-04 9.98783468e-01 3.79522294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.420385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.51, Y:2.51, Z:3.79 [[ 9.93320023e-01 -1.04506800e-01 -4.89250472e-02 8.05083489e+01] [ 1.04331695e-01 9.94523688e-01 -6.12625296e-03 2.51337939e+00] [ 4.92973535e-02 9.80896655e-04 9.98783665e-01 3.79339545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.450385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.53, Y:2.52, Z:3.80 [[ 9.93361238e-01 -1.04079794e-01 -4.89984415e-02 8.05321527e+01] [ 1.03933031e-01 9.94568865e-01 -5.54055064e-03 2.51625743e+00] [ 4.93089837e-02 4.11211707e-04 9.98783488e-01 3.79706790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.480385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.56, Y:2.52, Z:3.80 [[ 9.93403669e-01 -1.03711262e-01 -4.89195715e-02 8.05601920e+01] [ 1.03533220e-01 9.94606882e-01 -6.16633127e-03 2.51977633e+00] [ 4.92952604e-02 1.06085535e-03 9.98783686e-01 3.79834357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.510385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.59, Y:2.52, Z:3.80 [[ 9.93327422e-01 -1.04439267e-01 -4.89190369e-02 8.05896952e+01] [ 1.04261898e-01 9.94530734e-01 -6.17056910e-03 2.52348206e+00] [ 4.92959354e-02 1.02900384e-03 9.98783686e-01 3.80195589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.540385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:80.62, Y:2.53, Z:3.80 [[ 9.93494254e-01 -1.02829467e-01 -4.89414737e-02 8.06158624e+01] [ 1.02658933e-01 9.94698566e-01 -5.99213080e-03 2.52785179e+00] [ 4.92981814e-02 9.28868058e-04 9.98783674e-01 3.80190077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.570385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.65, Y:2.53, Z:3.80 [[ 9.93757702e-01 -1.00256862e-01 -4.89304670e-02 8.06472497e+01] [ 1.00078916e-01 9.94960930e-01 -6.07939145e-03 2.53046805e+00] [ 4.92934037e-02 1.14453400e-03 9.98783685e-01 3.80435177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.600385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.67, Y:2.54, Z:3.81 [[ 9.93723279e-01 -1.00575218e-01 -4.89762277e-02 8.06703465e+01] [ 1.00415352e-01 9.94929163e-01 -5.72001220e-03 2.53822542e+00] [ 4.93031687e-02 7.66144111e-04 9.98783565e-01 3.80588752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.63038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.70, Y:2.54, Z:3.81 [[ 9.93830963e-01 -9.95389299e-02 -4.89082749e-02 8.07027812e+01] [ 9.93516401e-02 9.95032747e-01 -6.25167821e-03 2.54066999e+00] [ 4.92876205e-02 1.35399405e-03 9.98783709e-01 3.80762191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.66038572299999 meters Centerline goodness : 0.999419 Centerline is valid? [True, True] Translation: X:80.73, Y:2.54, Z:3.81 [[ 9.93641808e-01 -1.01376744e-01 -4.89766678e-02 8.07278395e+01] [ 1.01218421e-01 9.94847850e-01 -5.70844231e-03 2.54464068e+00] [ 4.93030359e-02 7.14805945e-04 9.98783610e-01 3.81111719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.69038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.75, Y:2.55, Z:3.81 [[ 9.93784244e-01 -9.99884303e-02 -4.89406773e-02 8.07535973e+01] [ 9.98143684e-02 9.94988023e-01 -5.99386690e-03 2.54695772e+00] [ 4.92947051e-02 1.07162768e-03 9.98783702e-01 3.81271211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.72038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.79, Y:2.55, Z:3.81 [[ 9.93802818e-01 -9.98158435e-02 -4.89158089e-02 8.07865062e+01] [ 9.96319035e-02 9.95005107e-01 -6.19038248e-03 2.54841861e+00] [ 4.92893779e-02 1.27844440e-03 9.98783722e-01 3.81216934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.750385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.82, Y:2.55, Z:3.81 [[ 9.93945853e-01 -9.83452171e-02 -4.89883666e-02 8.08152373e+01] [ 9.81878323e-02 9.95152061e-01 -5.61473840e-03 2.55059683e+00] [ 4.93030567e-02 7.70684423e-04 9.98783567e-01 3.81490247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.780385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.84, Y:2.56, Z:3.81 [[ 9.93781958e-01 -9.99863543e-02 -4.89913223e-02 8.08428739e+01] [ 9.98321161e-02 9.94988586e-01 -5.59130512e-03 2.55619859e+00] [ 4.93048607e-02 6.65630773e-04 9.98783554e-01 3.81471548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.810385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.87, Y:2.56, Z:3.81 [[ 9.93983586e-01 -9.79546576e-02 -4.90052557e-02 8.08700269e+01] [ 9.78033413e-02 9.95190662e-01 -5.48195618e-03 2.56085643e+00] [ 4.93065560e-02 6.56096711e-04 9.98783477e-01 3.81366959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.840385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.90, Y:2.57, Z:3.82 [[ 9.93932058e-01 -9.84890952e-02 -4.89791940e-02 8.08956780e+01] [ 9.83283661e-02 9.95137779e-01 -5.68617467e-03 2.56770138e+00] [ 4.93010725e-02 8.35627182e-04 9.98783613e-01 3.81519876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.870385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.92, Y:2.57, Z:3.81 [[ 9.94175403e-01 -9.60140396e-02 -4.89548043e-02 8.09205799e+01] [ 9.58409009e-02 9.95379314e-01 -5.87731181e-03 2.57122194e+00] [ 4.92929039e-02 1.15120629e-03 9.98783702e-01 3.81431532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.900385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.95, Y:2.57, Z:3.82 [[ 9.94246948e-01 -9.52956632e-02 -4.89054399e-02 8.09473928e+01] [ 9.51026997e-02 9.95447765e-01 -6.26282001e-03 2.57423355e+00] [ 4.92796305e-02 1.57575031e-03 9.98783778e-01 3.81576428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.930385723 meters Centerline goodness : 0.999665 Centerline is valid? [True, True] Translation: X:80.98, Y:2.58, Z:3.82 [[ 9.93932217e-01 -9.85245015e-02 -4.89047046e-02 8.09788133e+01] [ 9.83351574e-02 9.95133610e-01 -6.26855660e-03 2.57853267e+00] [ 4.92843217e-02 1.42146854e-03 9.98783778e-01 3.81873938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.960385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:81.00, Y:2.58, Z:3.82 [[ 9.94254425e-01 -9.51893945e-02 -4.89603770e-02 8.10045293e+01] [ 9.50173857e-02 9.95458518e-01 -5.83405235e-03 2.58094082e+00] [ 4.92933642e-02 1.14844533e-03 9.98783683e-01 3.82132872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.99038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.03, Y:2.59, Z:3.82 [[ 9.94192730e-01 -9.58620536e-02 -4.89007397e-02 8.10319468e+01] [ 9.56680850e-02 9.95393371e-01 -6.29720588e-03 2.58588206e+00] [ 4.92791352e-02 1.58239618e-03 9.98783792e-01 3.82436432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.02038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.06, Y:2.59, Z:3.83 [[ 9.94252238e-01 -9.52509950e-02 -4.88849173e-02 8.10599399e+01] [ 9.50502648e-02 9.95451773e-01 -6.41984082e-03 2.59020832e+00] [ 4.92740739e-02 1.73641677e-03 9.98783786e-01 3.82546990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.05038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.09, Y:2.59, Z:3.83 [[ 9.94266210e-01 -9.50980434e-02 -4.88985342e-02 8.10874761e+01] [ 9.49023079e-02 9.95466564e-01 -6.31439425e-03 2.59365211e+00] [ 4.92773424e-02 1.63760509e-03 9.98783791e-01 3.82741470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.08038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.12, Y:2.60, Z:3.83 [[ 9.94299491e-01 -9.47497182e-02 -4.88979875e-02 8.11151463e+01] [ 9.45533544e-02 9.95499743e-01 -6.31862466e-03 2.59616507e+00] [ 4.92766219e-02 1.65913654e-03 9.98783791e-01 3.82947240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.110385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.14, Y:2.60, Z:3.83 [[ 9.94290331e-01 -9.48467103e-02 -4.88962041e-02 8.11429209e+01] [ 9.46497870e-02 9.95490491e-01 -6.33239590e-03 2.59830245e+00] [ 4.92763132e-02 1.66822471e-03 9.98783791e-01 3.83109600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.140385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.17, Y:2.60, Z:3.83 [[ 9.94301032e-01 -9.47353880e-02 -4.88944183e-02 8.11699969e+01] [ 9.45376546e-02 9.95501059e-01 -6.34615492e-03 2.60093491e+00] [ 4.92756506e-02 1.68762477e-03 9.98783792e-01 3.83255991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.170385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.20, Y:2.61, Z:3.83 [[ 9.94303697e-01 -9.47078163e-02 -4.88936402e-02 8.11974076e+01] [ 9.45097555e-02 9.95503670e-01 -6.35214413e-03 2.60611764e+00] [ 4.92753959e-02 1.69503442e-03 9.98783792e-01 3.83350805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.200385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.23, Y:2.61, Z:3.83 [[ 9.94188525e-01 -9.59109645e-02 -4.88903214e-02 8.12289079e+01] [ 9.57131040e-02 9.95388531e-01 -6.37762881e-03 2.61144363e+00] [ 4.92765497e-02 1.66112096e-03 9.98783792e-01 3.83427744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.230385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.25, Y:2.61, Z:3.83 [[ 9.94618252e-01 -9.12981004e-02 -4.89815207e-02 8.12527613e+01] [ 9.11295250e-02 9.95822915e-01 -5.66849671e-03 2.61375724e+00] [ 4.92944437e-02 1.17432758e-03 9.98783600e-01 3.83295517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.260385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.28, Y:2.62, Z:3.83 [[ 9.94732967e-01 -9.00850933e-02 -4.88978664e-02 8.12818701e+01] [ 8.98832218e-02 9.95932283e-01 -6.31620139e-03 2.61519448e+00] [ 4.92679593e-02 1.88783598e-03 9.98783813e-01 3.83477745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.290385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.31, Y:2.62, Z:3.84 [[ 9.94677000e-01 -9.07017781e-02 -4.88963469e-02 8.13099143e+01] [ 9.05000738e-02 9.95876345e-01 -6.32794299e-03 2.61804136e+00] [ 4.92686709e-02 1.86913635e-03 9.98783813e-01 3.83627220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.320385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.34, Y:2.62, Z:3.84 [[ 9.94363839e-01 -9.40731438e-02 -4.88958073e-02 8.13372498e+01] [ 9.38753017e-02 9.95563826e-01 -6.33210931e-03 2.62044150e+00] [ 4.92745784e-02 1.70631185e-03 9.98783813e-01 3.83883675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.350385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.37, Y:2.62, Z:3.84 [[ 9.94202573e-01 -9.57627044e-02 -4.88952785e-02 8.13661720e+01] [ 9.55667013e-02 9.95402862e-01 -6.33619028e-03 2.62381609e+00] [ 4.92772709e-02 1.62669620e-03 9.98783813e-01 3.84229128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.38038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.39, Y:2.63, Z:3.84 [[ 9.93920787e-01 -9.86451939e-02 -4.88937120e-02 8.13938603e+01] [ 9.84520791e-02 9.95121544e-01 -6.34825490e-03 2.62740045e+00] [ 4.92814110e-02 1.49597490e-03 9.98783813e-01 3.84413524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.41038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.42, Y:2.63, Z:3.85 [[ 9.93804143e-01 -9.98138854e-02 -4.88928836e-02 8.14220632e+01] [ 9.96218695e-02 9.95005076e-01 -6.35462858e-03 2.63076763e+00] [ 4.92829476e-02 1.44445574e-03 9.98783813e-01 3.84619277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.44038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.45, Y:2.63, Z:3.85 [[ 9.93549208e-01 -1.02321211e-01 -4.88911078e-02 8.14492539e+01] [ 1.02131555e-01 9.94750517e-01 -6.36826195e-03 2.63434966e+00] [ 4.92860631e-02 1.33385674e-03 9.98783813e-01 3.84825878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.47038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.48, Y:2.64, Z:3.85 [[ 9.93422495e-01 -1.03544484e-01 -4.88905570e-02 8.14770663e+01] [ 1.03356100e-01 9.94624003e-01 -6.37248828e-03 2.63847953e+00] [ 4.92875575e-02 1.27743593e-03 9.98783813e-01 3.84996146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.500385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.50, Y:2.64, Z:3.85 [[ 9.93284627e-01 -1.04859604e-01 -4.88887805e-02 8.15049855e+01] [ 1.04672142e-01 9.94486280e-01 -6.38608814e-03 2.64169035e+00] [ 4.92888641e-02 1.22590982e-03 9.98783813e-01 3.85264219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.530385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.53, Y:2.65, Z:3.85 [[ 9.93254892e-01 -1.05141674e-01 -4.88870929e-02 8.15333020e+01] [ 1.04953919e-01 9.94456499e-01 -6.39898143e-03 2.64549250e+00] [ 4.92888868e-02 1.22492761e-03 9.98783813e-01 3.85404697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.560385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.56, Y:2.65, Z:3.86 [[ 9.93235860e-01 -1.05322156e-01 -4.88852736e-02 8.15605297e+01] [ 1.05133937e-01 9.94437394e-01 -6.41284955e-03 2.64810865e+00] [ 4.92887592e-02 1.22997085e-03 9.98783813e-01 3.85695069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.590385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.59, Y:2.65, Z:3.86 [[ 9.93107367e-01 -1.06527296e-01 -4.88844850e-02 8.15922518e+01] [ 1.06340240e-01 9.94309083e-01 -6.41885550e-03 2.65181440e+00] [ 4.92900708e-02 1.17622481e-03 9.98783813e-01 3.85993018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.620385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.62, Y:2.66, Z:3.86 [[ 9.93495206e-01 -1.02821890e-01 -4.89380605e-02 8.16178591e+01] [ 1.02650465e-01 9.94699332e-01 -6.01004449e-03 2.65750104e+00] [ 4.92966202e-02 9.47435725e-04 9.98783733e-01 3.85980304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.650385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.64, Y:2.66, Z:3.86 [[ 9.93850135e-01 -9.93443132e-02 -4.89143726e-02 8.16446870e+01] [ 9.91598119e-02 9.95052266e-01 -6.19023586e-03 2.66351085e+00] [ 4.92873220e-02 1.30182676e-03 9.98783793e-01 3.85747381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.680385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.67, Y:2.67, Z:3.85 [[ 9.94294133e-01 -9.48150253e-02 -4.88803350e-02 8.16724061e+01] [ 9.46123750e-02 9.95493304e-01 -6.44826649e-03 2.67035866e+00] [ 4.92714388e-02 1.78678896e-03 9.98783827e-01 3.85209566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.710385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.70, Y:2.67, Z:3.85 [[ 9.94373526e-01 -9.39790313e-02 -4.88797857e-02 8.16997026e+01] [ 9.37751686e-02 9.95572491e-01 -6.45242770e-03 2.67459921e+00] [ 4.92697629e-02 1.83241314e-03 9.98783827e-01 3.85327415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.74038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.73, Y:2.68, Z:3.85 [[ 9.94342184e-01 -9.43109643e-02 -4.88780528e-02 8.17259871e+01] [ 9.41068588e-02 9.95541107e-01 -6.46552837e-03 2.67856462e+00] [ 4.92698810e-02 1.82918759e-03 9.98783827e-01 3.85397688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.77038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.75, Y:2.68, Z:3.86 [[ 9.94074015e-01 -9.70973917e-02 -4.88768716e-02 8.17548943e+01] [ 9.68962092e-02 9.95273433e-01 -6.47444549e-03 2.68028255e+00] [ 4.92745035e-02 1.70009445e-03 9.98783827e-01 3.85817629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.80038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.78, Y:2.68, Z:3.86 [[ 9.93779389e-01 -1.00068596e-01 -4.88753780e-02 8.17836619e+01] [ 9.98704473e-02 9.94979311e-01 -6.48570080e-03 2.68274910e+00] [ 4.92790049e-02 1.56414991e-03 9.98783827e-01 3.86271059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.83038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.81, Y:2.68, Z:3.87 [[ 9.93240259e-01 -1.05285980e-01 -4.88738239e-02 8.18118643e+01] [ 1.05093560e-01 9.94441113e-01 -6.49739108e-03 2.68430785e+00] [ 4.92862240e-02 1.31714623e-03 9.98783827e-01 3.86794535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.860385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.84, Y:2.69, Z:3.87 [[ 9.93073729e-01 -1.06846020e-01 -4.88722460e-02 8.18434401e+01] [ 1.06654904e-01 9.94274792e-01 -6.50923800e-03 2.68576586e+00] [ 4.92879284e-02 1.25168856e-03 9.98783827e-01 3.86980807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.890385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.87, Y:2.69, Z:3.87 [[ 9.92642628e-01 -1.10752982e-01 -4.89324964e-02 8.18680925e+01] [ 1.10588905e-01 9.93847783e-01 -6.05619025e-03 2.68930430e+00] [ 4.93021943e-02 6.00241411e-04 9.98783727e-01 3.87376985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.920385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:81.90, Y:2.69, Z:3.87 [[ 9.92552850e-01 -1.11582077e-01 -4.88700310e-02 8.18959503e+01] [ 1.11395959e-01 9.93754686e-01 -6.52413839e-03 2.69328702e+00] [ 4.92927992e-02 1.03162816e-03 9.98783838e-01 3.87429815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.950385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.92, Y:2.70, Z:3.87 [[ 9.92523885e-01 -1.11840217e-01 -4.88682332e-02 8.19226389e+01] [ 1.11653750e-01 9.93725666e-01 -6.53757684e-03 2.69795395e+00] [ 4.92927816e-02 1.03237965e-03 9.98783838e-01 3.87368376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.980385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.95, Y:2.70, Z:3.87 [[ 9.92513672e-01 -1.11931151e-01 -4.88674560e-02 8.19508818e+01] [ 1.11744509e-01 9.93715426e-01 -6.54338098e-03 2.70208618e+00] [ 4.92927531e-02 1.03372519e-03 9.98783838e-01 3.87412349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.010385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.98, Y:2.71, Z:3.88 [[ 9.92530086e-01 -1.11786277e-01 -4.88657109e-02 8.19785456e+01] [ 1.11598819e-01 9.93731713e-01 -6.55638773e-03 2.70609293e+00] [ 4.92923208e-02 1.05405643e-03 9.98783839e-01 3.87510388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.040385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.01, Y:2.71, Z:3.87 [[ 9.92675475e-01 -1.10488527e-01 -4.88639520e-02 8.20066601e+01] [ 1.10298855e-01 9.93876755e-01 -6.56947096e-03 2.71059183e+00] [ 4.92905972e-02 1.13171474e-03 9.98783839e-01 3.87472743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.070385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.03, Y:2.71, Z:3.88 [[ 9.92771381e-01 -1.09624238e-01 -4.88621624e-02 8.20348086e+01] [ 1.09432867e-01 9.93972391e-01 -6.58275415e-03 2.71428504e+00] [ 4.92892699e-02 1.18804341e-03 9.98783839e-01 3.87535852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.100385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:82.06, Y:2.72, Z:3.88 [[ 9.92932592e-01 -1.08155080e-01 -4.88604817e-02 8.20625809e+01] [ 1.07961319e-01 9.94133219e-01 -6.59520606e-03 2.71573496e+00] [ 4.92871330e-02 1.27355298e-03 9.98783839e-01 3.87684218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.13038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.09, Y:2.72, Z:3.88 [[ 9.92905105e-01 -1.08407964e-01 -4.88586352e-02 8.20905345e+01] [ 1.08213838e-01 9.94105673e-01 -6.60885670e-03 2.71857106e+00] [ 4.92870991e-02 1.27478712e-03 9.98783839e-01 3.87816321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.16038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.12, Y:2.72, Z:3.88 [[ 9.92894726e-01 -1.08503793e-01 -4.88568307e-02 8.21180212e+01] [ 1.08309128e-01 9.94095207e-01 -6.62216979e-03 2.72156706e+00] [ 4.92868718e-02 1.28347673e-03 9.98783839e-01 3.87658450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.19038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.15, Y:2.72, Z:3.88 [[ 9.92933502e-01 -1.08148626e-01 -4.88562727e-02 8.21459670e+01] [ 1.07953330e-01 9.94133880e-01 -6.62628458e-03 2.72467095e+00] [ 4.92862995e-02 1.30526264e-03 9.98783839e-01 3.87686602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.22038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.17, Y:2.73, Z:3.88 [[ 9.92970285e-01 -1.07810626e-01 -4.88557206e-02 8.21737778e+01] [ 1.07614721e-01 9.94170564e-01 -6.63035227e-03 2.72725987e+00] [ 4.92857418e-02 1.32614804e-03 9.98783839e-01 3.87909371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.250385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.20, Y:2.73, Z:3.88 [[ 9.92939018e-01 -1.08099059e-01 -4.88538700e-02 8.22010383e+01] [ 1.07902834e-01 9.94139244e-01 -6.64396048e-03 2.72974712e+00] [ 4.92857552e-02 1.32557659e-03 9.98783839e-01 3.88159133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.280385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.23, Y:2.73, Z:3.88 [[ 9.92928218e-01 -1.08198776e-01 -4.88526143e-02 8.22284714e+01] [ 1.08002218e-01 9.94128390e-01 -6.65318082e-03 2.73321734e+00] [ 4.92856368e-02 1.32994030e-03 9.98783839e-01 3.88424691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.310385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.26, Y:2.74, Z:3.89 [[ 9.92922476e-01 -1.08252287e-01 -4.88507744e-02 8.22560268e+01] [ 1.08055131e-01 9.94122550e-01 -6.66666280e-03 2.73671871e+00] [ 4.92853379e-02 1.34090252e-03 9.98783839e-01 3.88676951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.340385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.28, Y:2.74, Z:3.89 [[ 9.92902292e-01 -1.08438098e-01 -4.88489334e-02 8.22840473e+01] [ 1.08240504e-01 9.94102293e-01 -6.68012541e-03 2.74083491e+00] [ 4.92852168e-02 1.34527865e-03 9.98783839e-01 3.88952488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.370385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.31, Y:2.75, Z:3.89 [[ 9.92811458e-01 -1.09267438e-01 -4.88470663e-02 8.23123830e+01] [ 1.09070177e-01 9.94011514e-01 -6.69374982e-03 2.74694913e+00] [ 4.92859553e-02 1.31787335e-03 9.98783839e-01 3.89237404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.400385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.34, Y:2.75, Z:3.89 [[ 9.92842741e-01 -1.08983603e-01 -4.88453331e-02 8.23402611e+01] [ 1.08785378e-01 9.94042638e-01 -6.70637416e-03 2.75113746e+00] [ 4.92852285e-02 1.34471688e-03 9.98783839e-01 3.89478186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.430385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.37, Y:2.76, Z:3.90 [[ 9.92870908e-01 -1.08727524e-01 -4.88434699e-02 8.23668092e+01] [ 1.08528325e-01 9.94070644e-01 -6.71991638e-03 2.75648570e+00] [ 4.92844995e-02 1.37110952e-03 9.98783840e-01 3.89591640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.460385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.39, Y:2.76, Z:3.90 [[ 9.92854168e-01 -1.08880672e-01 -4.88426009e-02 8.23948432e+01] [ 1.08681347e-01 9.94053883e-01 -6.72622665e-03 2.76086079e+00] [ 4.92845332e-02 1.36988249e-03 9.98783840e-01 3.89668694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.49038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.42, Y:2.76, Z:3.90 [[ 9.92831564e-01 -1.09087448e-01 -4.88406982e-02 8.24229435e+01] [ 1.08887695e-01 9.94031208e-01 -6.74001434e-03 2.76365868e+00] [ 4.92844292e-02 1.37354793e-03 9.98783840e-01 3.89680315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.52038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.45, Y:2.77, Z:3.90 [[ 9.92805211e-01 -1.09327816e-01 -4.88389389e-02 8.24506723e+01] [ 1.09127728e-01 9.94004799e-01 -6.75273831e-03 2.76704263e+00] [ 4.92844018e-02 1.37447134e-03 9.98783840e-01 3.89737195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.55038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.48, Y:2.77, Z:3.90 [[ 9.92699572e-01 -1.10283754e-01 -4.88370151e-02 8.24772465e+01] [ 1.10084139e-01 9.93899238e-01 -6.76662342e-03 2.77110614e+00] [ 4.92853207e-02 1.34104342e-03 9.98783840e-01 3.89657730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.58038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.50, Y:2.78, Z:3.90 [[ 9.92604378e-01 -1.11137635e-01 -4.88361969e-02 8.25044053e+01] [ 1.10938762e-01 9.93804168e-01 -6.77252316e-03 2.77502827e+00] [ 4.92862982e-02 1.30460890e-03 9.98783840e-01 3.89763637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.610385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.53, Y:2.78, Z:3.90 [[ 9.92473141e-01 -1.12303904e-01 -4.88354045e-02 8.25321196e+01] [ 1.12106160e-01 9.93673117e-01 -6.77823251e-03 2.77849551e+00] [ 4.92876506e-02 1.25246403e-03 9.98783840e-01 3.89775623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.640385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.56, Y:2.78, Z:3.90 [[ 9.92553659e-01 -1.11590908e-01 -4.88334234e-02 8.25606625e+01] [ 1.11391601e-01 9.93753377e-01 -6.79247503e-03 2.78360729e+00] [ 4.92863579e-02 1.30226272e-03 9.98783840e-01 3.89909584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.670385723 meters Centerline goodness : 0.999640 Centerline is valid? [True, True] Translation: X:82.59, Y:2.79, Z:3.90 [[ 9.92369637e-01 -1.13216527e-01 -4.88315645e-02 8.25904691e+01] [ 1.13018531e-01 9.93569571e-01 -6.80581290e-03 2.78813107e+00] [ 4.92880871e-02 1.23501042e-03 9.98783840e-01 3.89856124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.700385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.62, Y:2.79, Z:3.90 [[ 9.92506202e-01 -1.11990344e-01 -4.88835625e-02 8.26162509e+01] [ 1.11809215e-01 9.93708870e-01 -6.43281995e-03 2.79060084e+00] [ 4.92964433e-02 9.18980963e-04 9.98783768e-01 3.90184290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.730385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.64, Y:2.79, Z:3.90 [[ 9.92408268e-01 -1.12879203e-01 -4.88273938e-02 8.26436575e+01] [ 1.12679405e-01 9.93607894e-01 -6.83415302e-03 2.79397702e+00] [ 4.92867176e-02 1.28042830e-03 9.98783850e-01 3.90285332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.760385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.67, Y:2.80, Z:3.90 [[ 9.92296249e-01 -1.13860546e-01 -4.88255132e-02 8.26713947e+01] [ 1.13661275e-01 9.93495961e-01 -6.84756213e-03 2.79649837e+00] [ 4.92876173e-02 1.24524014e-03 9.98783851e-01 3.90397390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.790385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.70, Y:2.80, Z:3.91 [[ 9.92196360e-01 -1.14728536e-01 -4.88236226e-02 8.26995918e+01] [ 1.14529653e-01 9.93396137e-01 -6.86101566e-03 2.80034337e+00] [ 4.92883524e-02 1.21572220e-03 9.98783851e-01 3.90613518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.820385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.73, Y:2.80, Z:3.91 [[ 9.91965024e-01 -1.16712597e-01 -4.88217172e-02 8.27269899e+01] [ 1.16515449e-01 9.93165087e-01 -6.87454780e-03 2.80487220e+00] [ 4.92903713e-02 1.13082669e-03 9.98783851e-01 3.90995987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.850385723 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:82.75, Y:2.81, Z:3.91 [[ 9.91890124e-01 -1.17347690e-01 -4.88211242e-02 8.27548650e+01] [ 1.17151103e-01 9.93090279e-01 -6.87875660e-03 2.80935301e+00] [ 4.92909900e-02 1.10352219e-03 9.98783851e-01 3.91237682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.88038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.78, Y:2.81, Z:3.91 [[ 9.91717468e-01 -1.18798223e-01 -4.88205521e-02 8.27825432e+01] [ 1.18603192e-01 9.92917877e-01 -6.88281424e-03 2.81426680e+00] [ 4.92924650e-02 1.03553381e-03 9.98783851e-01 3.91487000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.91038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.81, Y:2.82, Z:3.92 [[ 9.91501117e-01 -1.20591357e-01 -4.88186341e-02 8.28104566e+01] [ 1.20397828e-01 9.92701769e-01 -6.89639128e-03 2.81975208e+00] [ 4.92939897e-02 9.60122146e-04 9.98783851e-01 3.91606442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.94038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.84, Y:2.82, Z:3.92 [[ 9.91424741e-01 -1.21218442e-01 -4.88167119e-02 8.28384147e+01] [ 1.21025004e-01 9.92625408e-01 -6.90997110e-03 2.82378212e+00] [ 4.92943245e-02 9.42673541e-04 9.98783851e-01 3.91695432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.97038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.87, Y:2.83, Z:3.92 [[ 9.91438086e-01 -1.21110019e-01 -4.88147945e-02 8.28651845e+01] [ 1.20915784e-01 9.92638624e-01 -6.92349000e-03 2.82754719e+00] [ 4.92939545e-02 9.61732511e-04 9.98783851e-01 3.91660659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.000385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.89, Y:2.83, Z:3.92 [[ 9.91529299e-01 -1.20361314e-01 -4.88139651e-02 8.28933541e+01] [ 1.20165885e-01 9.92729643e-01 -6.92933319e-03 2.83257090e+00] [ 4.92930938e-02 1.00486356e-03 9.98783851e-01 3.91664049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.030385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.92, Y:2.84, Z:3.92 [[ 9.91667254e-01 -1.19220128e-01 -4.88120822e-02 8.29212463e+01] [ 1.19022667e-01 9.92867265e-01 -6.94257158e-03 2.83854029e+00] [ 4.92916128e-02 1.07497671e-03 9.98783851e-01 3.91599633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.060385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:82.95, Y:2.85, Z:3.91 [[ 9.91873740e-01 -1.17490658e-01 -4.88101424e-02 8.29481688e+01] [ 1.17290435e-01 9.93073293e-01 -6.95618237e-03 2.84544910e+00] [ 4.92893353e-02 1.17469180e-03 9.98783851e-01 3.91361872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.090385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.98, Y:2.85, Z:3.91 [[ 9.91832767e-01 -1.17836293e-01 -4.88095418e-02 8.29761085e+01] [ 1.17636280e-01 9.93032355e-01 -6.96039401e-03 2.85040737e+00] [ 4.92896413e-02 1.16177389e-03 9.98783851e-01 3.91472211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.120385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.00, Y:2.85, Z:3.92 [[ 9.91713722e-01 -1.18834809e-01 -4.88076074e-02 8.30042875e+01] [ 1.18635339e-01 9.92913400e-01 -6.97393208e-03 2.85476136e+00] [ 4.92904734e-02 1.12583709e-03 9.98783851e-01 3.91670033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.150385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.03, Y:2.86, Z:3.92 [[ 9.91544843e-01 -1.20236561e-01 -4.88056790e-02 8.30322954e+01] [ 1.20038124e-01 9.92744693e-01 -6.98740160e-03 2.85885916e+00] [ 4.92917200e-02 1.06977987e-03 9.98783851e-01 3.91914686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.180385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.06, Y:2.86, Z:3.92 [[ 9.91171612e-01 -1.23276229e-01 -4.88037555e-02 8.30599342e+01] [ 1.23080812e-01 9.92371958e-01 -7.00081118e-03 2.86042054e+00] [ 4.92945120e-02 9.32199472e-04 9.98783852e-01 3.92393967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.210385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:83.09, Y:2.86, Z:3.93 [[ 9.90939530e-01 -1.25128334e-01 -4.88031594e-02 8.30875953e+01] [ 1.24934956e-01 9.92140205e-01 -7.00496380e-03 2.86297674e+00] [ 4.92960961e-02 8.44274959e-04 9.98783852e-01 3.92688200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.24038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.11, Y:2.87, Z:3.93 [[ 9.90108674e-01 -1.31541829e-01 -4.88012381e-02 8.31089962e+01] [ 1.31355571e-01 9.91310475e-01 -7.01832338e-03 2.87227581e+00] [ 4.93003816e-02 5.38588342e-04 9.98783852e-01 3.92530347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.27038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.14, Y:2.87, Z:3.93 [[ 9.90629070e-01 -1.27602605e-01 -4.86992831e-02 8.31427359e+01] [ 1.27376899e-01 9.91824319e-01 -7.72305521e-03 2.87362791e+00] [ 4.92866152e-02 1.44751933e-03 9.98783627e-01 3.92917981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.30038572299999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:83.17, Y:2.88, Z:3.93 [[ 9.90829247e-01 -1.26000624e-01 -4.87980028e-02 8.31701194e+01] [ 1.25806641e-01 9.92029811e-01 -7.03873545e-03 2.87950969e+00] [ 4.92959586e-02 8.35072147e-04 9.98783866e-01 3.92928602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.33038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.20, Y:2.88, Z:3.93 [[ 9.90926045e-01 -1.25237833e-01 -4.87960828e-02 8.31981042e+01] [ 1.25042271e-01 9.92126353e-01 -7.05202106e-03 2.88374063e+00] [ 4.92950595e-02 8.86458313e-04 9.98783866e-01 3.93133367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.360385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.23, Y:2.89, Z:3.93 [[ 9.91041732e-01 -1.24319840e-01 -4.87940810e-02 8.32250986e+01] [ 1.24122486e-01 9.92241746e-01 -7.06584460e-03 2.88698802e+00] [ 4.92939488e-02 9.46104251e-04 9.98783866e-01 3.93465031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.390385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.25, Y:2.89, Z:3.94 [[ 9.91016652e-01 -1.24520139e-01 -4.87927328e-02 8.32526858e+01] [ 1.24322570e-01 9.92216630e-01 -7.07514219e-03 2.89120967e+00] [ 4.92939586e-02 9.45545783e-04 9.98783866e-01 3.93686056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.420385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.28, Y:2.90, Z:3.94 [[ 9.90982838e-01 -1.24789712e-01 -4.87908033e-02 8.32809424e+01] [ 1.24591816e-01 9.92182762e-01 -7.08842319e-03 2.89539347e+00] [ 4.92939563e-02 9.45570929e-04 9.98783866e-01 3.93826488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.450385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.30, Y:2.91, Z:3.93 [[ 9.90191621e-01 -1.30920582e-01 -4.87888739e-02 8.33000173e+01] [ 1.30729463e-01 9.91392644e-01 -7.10167872e-03 2.90782322e+00] [ 4.92986866e-02 6.53879492e-04 9.98783866e-01 3.93368532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.480385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.34, Y:2.91, Z:3.94 [[ 9.91038820e-01 -1.24401139e-01 -4.86458021e-02 8.33375587e+01] [ 1.24154110e-01 9.92230058e-01 -8.07893999e-03 2.90571220e+00] [ 4.92728564e-02 1.96696687e-03 9.98783418e-01 3.93918902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.510385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.36, Y:2.91, Z:3.94 [[ 9.90453019e-01 -1.28929011e-01 -4.87865508e-02 8.33586756e+01] [ 1.28734878e-01 9.91653530e-01 -7.11385274e-03 2.91470176e+00] [ 4.92965373e-02 7.65406235e-04 9.98783893e-01 3.93542771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.540385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.39, Y:2.91, Z:3.94 [[ 9.91291585e-01 -1.22363531e-01 -4.86637391e-02 8.33925125e+01] [ 1.22120314e-01 9.92483454e-01 -7.95130660e-03 2.91446954e+00] [ 4.92709058e-02 1.93923221e-03 9.98783569e-01 3.94054108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.570385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.41, Y:2.93, Z:3.93 [[ 9.90635935e-01 -1.27517033e-01 -4.87837116e-02 8.34121107e+01] [ 1.27320363e-01 9.91836014e-01 -7.13064161e-03 2.92583557e+00] [ 4.92947204e-02 8.52709932e-04 9.98783912e-01 3.93488525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.600385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.44, Y:2.93, Z:3.93 [[ 9.90703287e-01 -1.27031795e-01 -4.86818282e-02 8.34384908e+01] [ 1.26800058e-01 9.91897377e-01 -7.83188312e-03 2.93196717e+00] [ 4.92822759e-02 1.58621370e-03 9.98783631e-01 3.93396709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.63038572299999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:83.47, Y:2.93, Z:3.94 [[ 9.90698202e-01 -1.27079397e-01 -4.86610766e-02 8.34680529e+01] [ 1.26840697e-01 9.91891042e-01 -7.97485072e-03 2.93279792e+00] [ 4.92799252e-02 1.72846539e-03 9.98783511e-01 3.93795021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.66038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.50, Y:2.93, Z:3.94 [[ 9.90982012e-01 -1.24835629e-01 -4.86900061e-02 8.35014248e+01] [ 1.24604006e-01 9.92176084e-01 -7.77565961e-03 2.93077846e+00] [ 4.92797389e-02 1.63856900e-03 9.98783671e-01 3.94357834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.69038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.53, Y:2.93, Z:3.94 [[ 9.90756863e-01 -1.26570762e-01 -4.87922260e-02 8.35286530e+01] [ 1.26375915e-01 9.91957226e-01 -7.07032936e-03 2.93365645e+00] [ 4.92946981e-02 8.38815138e-04 9.98783925e-01 3.94470553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.72038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.56, Y:2.94, Z:3.95 [[ 9.90503743e-01 -1.28536910e-01 -4.87913793e-02 8.35561883e+01] [ 1.28344159e-01 9.91704444e-01 -7.07616749e-03 2.93887047e+00] [ 4.92961764e-02 7.46881864e-04 9.98783925e-01 3.94615814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.750385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.58, Y:2.94, Z:3.95 [[ 9.90413346e-01 -1.29232249e-01 -4.87896469e-02 8.35837025e+01] [ 1.29039753e-01 9.91614089e-01 -7.08809164e-03 2.94421277e+00] [ 4.92965113e-02 7.24336587e-04 9.98783925e-01 3.94930999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.780385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.61, Y:2.95, Z:3.95 [[ 9.90326118e-01 -1.29899734e-01 -4.87876854e-02 8.36110143e+01] [ 1.29707384e-01 9.91526884e-01 -7.10156743e-03 2.95130067e+00] [ 4.92967934e-02 7.04744678e-04 9.98783925e-01 3.94966618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.810385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.64, Y:2.96, Z:3.95 [[ 9.90246590e-01 -1.30504837e-01 -4.87870784e-02 8.36383442e+01] [ 1.30313015e-01 9.91447440e-01 -7.10573492e-03 2.95645613e+00] [ 4.92971568e-02 6.78838518e-04 9.98783925e-01 3.95175174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.840385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.67, Y:2.96, Z:3.95 [[ 9.90036559e-01 -1.32089453e-01 -4.87851284e-02 8.36653844e+01] [ 1.31898895e-01 9.91237610e-01 -7.11909794e-03 2.96131767e+00] [ 4.92980118e-02 6.13462704e-04 9.98783925e-01 3.95390387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.870385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.69, Y:2.97, Z:3.96 [[ 9.89933519e-01 -1.32860184e-01 -4.87831855e-02 8.36924731e+01] [ 1.32669906e-01 9.91134615e-01 -7.13238636e-03 2.96605810e+00] [ 4.92983140e-02 5.88527706e-04 9.98783926e-01 3.95503532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.900385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.72, Y:2.97, Z:3.96 [[ 9.89805799e-01 -1.33808856e-01 -4.87818582e-02 8.37197006e+01] [ 1.33619282e-01 9.91007007e-01 -7.14145306e-03 2.97168668e+00] [ 4.92987530e-02 5.50454799e-04 9.98783926e-01 3.95626217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.930385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.75, Y:2.98, Z:3.96 [[ 9.89797959e-01 -1.33867545e-01 -4.87799237e-02 8.37473718e+01] [ 1.33677393e-01 9.90999075e-01 -7.15464236e-03 2.97878539e+00] [ 4.92986337e-02 5.60877369e-04 9.98783926e-01 3.95791243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.960385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.77, Y:2.99, Z:3.96 [[ 9.89862637e-01 -1.33389148e-01 -4.87780090e-02 8.37747028e+01] [ 1.33197773e-01 9.91063559e-01 -7.16767235e-03 2.98626973e+00] [ 4.92981969e-02 5.97888883e-04 9.98783926e-01 3.95791597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.99038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.80, Y:2.99, Z:3.96 [[ 9.89844857e-01 -1.33521729e-01 -4.87760918e-02 8.38026407e+01] [ 1.33329873e-01 9.91045702e-01 -7.18069575e-03 2.99211029e+00] [ 4.92981150e-02 6.04464631e-04 9.98783926e-01 3.95713955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.02038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.83, Y:3.00, Z:3.96 [[ 9.89791632e-01 -1.33916411e-01 -4.87741715e-02 8.38300869e+01] [ 1.33724393e-01 9.90992451e-01 -7.19371560e-03 2.99768683e+00] [ 4.92981923e-02 5.97983023e-04 9.98783926e-01 3.95706805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.05038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.86, Y:3.00, Z:3.96 [[ 9.89592556e-01 -1.35380388e-01 -4.87721671e-02 8.38573562e+01] [ 1.35189478e-01 9.90793551e-01 -7.20727972e-03 3.00374705e+00] [ 4.92988729e-02 5.38786572e-04 9.98783926e-01 3.95712977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.08038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.88, Y:3.01, Z:3.96 [[ 9.89327565e-01 -1.37304189e-01 -4.87701535e-02 8.38849633e+01] [ 1.37114944e-01 9.90528824e-01 -7.22087936e-03 3.00685254e+00] [ 4.92996998e-02 4.56698150e-04 9.98783926e-01 3.96121543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.110385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.91, Y:3.01, Z:3.96 [[ 9.89218526e-01 -1.38087800e-01 -4.87695281e-02 8.39123410e+01] [ 1.37899299e-01 9.90419902e-01 -7.22510079e-03 3.01074075e+00] [ 4.93000095e-02 4.21919838e-04 9.98783926e-01 3.96424966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.140385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:83.94, Y:3.02, Z:3.97 [[ 9.89086842e-01 -1.39028584e-01 -4.87675309e-02 8.39394283e+01] [ 1.38840562e-01 9.90288292e-01 -7.23855654e-03 3.01586545e+00] [ 4.93002811e-02 3.88649660e-04 9.98783926e-01 3.96622010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.170385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:83.96, Y:3.03, Z:3.96 [[ 9.88603763e-01 -1.42423746e-01 -4.87655261e-02 8.39638475e+01] [ 1.42239184e-01 9.89805750e-01 -7.25203747e-03 3.02554072e+00] [ 4.93012605e-02 2.33022869e-04 9.98783926e-01 3.96489914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.200385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.99, Y:3.03, Z:3.97 [[ 9.88442076e-01 -1.43559799e-01 -4.87118687e-02 8.39936867e+01] [ 1.43358869e-01 9.89641496e-01 -7.61203962e-03 3.02824380e+00] [ 4.93000696e-02 5.40781845e-04 9.98783866e-01 3.96843818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.230385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.02, Y:3.03, Z:3.97 [[ 9.88148583e-01 -1.45548804e-01 -4.87639600e-02 8.40233170e+01] [ 1.45367538e-01 9.89351069e-01 -7.26228428e-03 3.02665325e+00] [ 4.93016927e-02 8.75190935e-05 9.98783928e-01 3.97025133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.260385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.05, Y:3.03, Z:3.97 [[ 9.87810269e-01 -1.47827957e-01 -4.87623611e-02 8.40510679e+01] [ 1.47648937e-01 9.89013091e-01 -7.27300418e-03 3.03043047e+00] [ 4.93017668e-02 -1.53625574e-05 9.98783928e-01 3.97090792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.290385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.08, Y:3.04, Z:3.97 [[ 9.86778195e-01 -1.54567848e-01 -4.87603742e-02 8.40779076e+01] [ 1.54396386e-01 9.87982118e-01 -7.28630049e-03 3.04002682e+00] [ 4.93006056e-02 -3.38463094e-04 9.98783928e-01 3.97049982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.320385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.11, Y:3.04, Z:3.97 [[ 9.86825568e-01 -1.54265304e-01 -4.87597602e-02 8.41056521e+01] [ 1.54093270e-01 9.88029409e-01 -7.29040676e-03 3.04443305e+00] [ 4.93007339e-02 -3.19191129e-04 9.98783928e-01 3.97109871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.350385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.14, Y:3.05, Z:3.97 [[ 9.87040842e-01 -1.52884185e-01 -4.87524531e-02 8.41399503e+01] [ 1.52708054e-01 9.88244092e-01 -7.33923614e-03 3.04725085e+00] [ 4.93013769e-02 -2.00766440e-04 9.98783928e-01 3.97286330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.38038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.17, Y:3.05, Z:3.98 [[ 9.87212739e-01 -1.51735668e-01 -4.88599441e-02 8.41668805e+01] [ 1.51593754e-01 9.88420723e-01 -6.61878824e-03 3.04854464e+00] [ 4.92984875e-02 -8.72710273e-04 9.98783709e-01 3.97582416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.41038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.20, Y:3.05, Z:3.98 [[ 9.87220236e-01 -1.51691889e-01 -4.88444079e-02 8.41962122e+01] [ 1.51544764e-01 9.88427532e-01 -6.72300511e-03 3.05182238e+00] [ 4.92989829e-02 -7.65027587e-04 9.98783773e-01 3.97928641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.44038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.23, Y:3.06, Z:3.98 [[ 9.87531479e-01 -1.49649854e-01 -4.88518139e-02 8.42256305e+01] [ 1.49502677e-01 9.88738799e-01 -6.67359646e-03 3.05574271e+00] [ 4.93003865e-02 -7.13090379e-04 9.98783742e-01 3.98215189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.47038572299999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:84.25, Y:3.06, Z:3.98 [[ 9.87698440e-01 -1.48541785e-01 -4.88582624e-02 8.42527462e+01] [ 1.48395375e-01 9.88905883e-01 -6.63071213e-03 3.06179825e+00] [ 4.93011610e-02 -7.01196144e-04 9.98783712e-01 3.98301704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.500385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.27, Y:3.07, Z:3.98 [[ 9.87751986e-01 -1.48186432e-01 -4.88548412e-02 8.42729799e+01] [ 1.48038465e-01 9.88959223e-01 -6.65340417e-03 3.07466182e+00] [ 4.93013900e-02 -6.60482521e-04 9.98783729e-01 3.98085564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.530385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.30, Y:3.08, Z:3.98 [[ 9.88380046e-01 -1.43975217e-01 -4.87444619e-02 8.43048541e+01] [ 1.43786116e-01 9.89581252e-01 -7.38231389e-03 3.07781717e+00] [ 4.92994758e-02 2.87754870e-04 9.98784000e-01 3.98044078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.560385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.33, Y:3.08, Z:3.98 [[ 9.88890817e-01 -1.40401670e-01 -4.88090532e-02 8.43347954e+01] [ 1.40229274e-01 9.90094627e-01 -6.95561560e-03 3.07994478e+00] [ 4.93021613e-02 3.38862860e-05 9.98783908e-01 3.98169825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.590385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.36, Y:3.08, Z:3.99 [[ 9.89013624e-01 -1.39521978e-01 -4.88433204e-02 8.43564463e+01] [ 1.39359679e-01 9.90218963e-01 -6.72942317e-03 3.08409182e+00] [ 4.93044845e-02 -1.51298249e-04 9.98783783e-01 3.98605964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.620385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.39, Y:3.08, Z:3.99 [[ 9.89709516e-01 -1.34534906e-01 -4.87384097e-02 8.43916867e+01] [ 1.34332557e-01 9.90908536e-01 -7.41872909e-03 3.08495954e+00] [ 4.92933842e-02 7.95231602e-04 9.98784026e-01 3.98783086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.650385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.41, Y:3.09, Z:3.99 [[ 9.89474504e-01 -1.36210381e-01 -4.88563087e-02 8.44128115e+01] [ 1.36048310e-01 9.90679932e-01 -6.64307749e-03 3.09431787e+00] [ 4.93058206e-02 -7.36624450e-05 9.98783726e-01 3.98997770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.680385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.45, Y:3.10, Z:3.99 [[ 9.89835237e-01 -1.33608616e-01 -4.87333732e-02 8.44483813e+01] [ 1.33403723e-01 9.91033793e-01 -7.44761233e-03 3.09731667e+00] [ 4.92914849e-02 8.70695694e-04 9.98784056e-01 3.98867405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.710385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.47, Y:3.10, Z:3.99 [[ 9.90106748e-01 -1.31534631e-01 -4.88596885e-02 8.44746924e+01] [ 1.31368079e-01 9.91311567e-01 -6.61854581e-03 3.10121794e+00] [ 4.93057423e-02 1.34463461e-04 9.98783723e-01 3.99027135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.74038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.50, Y:3.10, Z:3.99 [[ 9.90091903e-01 -1.31650964e-01 -4.88471752e-02 8.45031233e+01] [ 1.31480507e-01 9.91296111e-01 -6.70054873e-03 3.10301366e+00] [ 4.93041485e-02 2.11707688e-04 9.98783788e-01 3.99175248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.77038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.52, Y:3.10, Z:3.99 [[ 9.90665623e-01 -1.27263109e-01 -4.88438796e-02 8.45241318e+01] [ 1.27086257e-01 9.91868891e-01 -6.72209170e-03 3.10488486e+00] [ 4.93021990e-02 4.51959346e-04 9.98783805e-01 3.99280375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.80038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.56, Y:3.11, Z:4.00 [[ 9.90159289e-01 -1.31193843e-01 -4.87109648e-02 8.45595551e+01] [ 1.30979173e-01 9.91356088e-01 -7.58700679e-03 3.10927663e+00] [ 4.92852801e-02 1.13222337e-03 9.98784100e-01 3.99590378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.83038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.59, Y:3.11, Z:4.00 [[ 9.89917344e-01 -1.32952496e-01 -4.88598585e-02 8.45869797e+01] [ 1.32787829e-01 9.91122409e-01 -6.61532346e-03 3.11441841e+00] [ 4.93056244e-02 6.06289038e-05 9.98783736e-01 3.99778695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.860385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.61, Y:3.12, Z:4.00 [[ 9.89791963e-01 -1.33884411e-01 -4.88552360e-02 8.46133871e+01] [ 1.33719392e-01 9.90996954e-01 -6.64542008e-03 3.11936379e+00] [ 4.93051082e-02 4.46909348e-05 9.98783763e-01 3.99813750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.890385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:84.64, Y:3.12, Z:4.00 [[ 9.89411051e-01 -1.36671542e-01 -4.88534724e-02 8.46403338e+01] [ 1.36509350e-01 9.90616416e-01 -6.65690142e-03 3.12256591e+00] [ 4.93048607e-02 -8.25439570e-05 9.98783772e-01 3.99974515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.920385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.67, Y:3.13, Z:4.00 [[ 9.89077935e-01 -1.39065866e-01 -4.88418187e-02 8.46683919e+01] [ 1.38902865e-01 9.90283126e-01 -6.73239514e-03 3.12591553e+00] [ 4.93034753e-02 -1.25405046e-04 9.98783836e-01 4.00162105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.950385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.70, Y:3.13, Z:4.00 [[ 9.88806943e-01 -1.40981067e-01 -4.88381836e-02 8.46958588e+01] [ 1.40819240e-01 9.90012273e-01 -6.75586705e-03 3.12926685e+00] [ 4.93028505e-02 -1.97107641e-04 9.98783856e-01 4.00286074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.980385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.72, Y:3.13, Z:4.00 [[ 9.88107214e-01 -1.45811241e-01 -4.88181958e-02 8.47235868e+01] [ 1.45648987e-01 9.89312381e-01 -6.88374238e-03 3.13468192e+00] [ 4.93001725e-02 -3.08445256e-04 9.98783960e-01 4.00198921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.010385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.75, Y:3.14, Z:4.00 [[ 9.87955787e-01 -1.46839072e-01 -4.88021475e-02 8.47499450e+01] [ 1.46673014e-01 9.89160362e-01 -6.98609942e-03 3.13928684e+00] [ 4.92989822e-02 -2.56000724e-04 9.98784033e-01 4.00113884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.040385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.78, Y:3.14, Z:4.00 [[ 9.87704667e-01 -1.48522116e-01 -4.87921254e-02 8.47774626e+01] [ 1.48354944e-01 9.88909048e-01 -7.05018045e-03 3.14274818e+00] [ 4.92980820e-02 -2.75056894e-04 9.98784072e-01 4.00074025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.070385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.81, Y:3.15, Z:4.00 [[ 9.87407309e-01 -1.50493588e-01 -4.87697270e-02 8.48069677e+01] [ 1.50321823e-01 9.88610959e-01 -7.19181790e-03 3.14773176e+00] [ 4.92966090e-02 -2.29900710e-04 9.98784157e-01 4.00257436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.100385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.83, Y:3.15, Z:4.00 [[ 9.87408514e-01 -1.50483393e-01 -4.87767945e-02 8.48333219e+01] [ 1.50313821e-01 9.88612499e-01 -7.14719506e-03 3.15121341e+00] [ 4.92968828e-02 -2.74625085e-04 9.98784132e-01 4.00240885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.13038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.86, Y:3.16, Z:4.00 [[ 9.87447352e-01 -1.50229956e-01 -4.87717825e-02 8.48606624e+01] [ 1.50058501e-01 9.88651054e-01 -7.17904575e-03 3.15545773e+00] [ 4.92967819e-02 -2.29690867e-04 9.98784148e-01 4.00364164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.16038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.89, Y:3.16, Z:4.01 [[ 9.87302823e-01 -1.51182687e-01 -4.87537807e-02 8.48894172e+01] [ 1.51006805e-01 9.88505826e-01 -7.29219569e-03 3.16123992e+00] [ 4.92958500e-02 -1.62547275e-04 9.98784207e-01 4.00702640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.19038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.92, Y:3.17, Z:4.01 [[ 9.87448791e-01 -1.50224484e-01 -4.87595116e-02 8.49172184e+01] [ 1.50049211e-01 9.88651901e-01 -7.25622548e-03 3.16667708e+00] [ 4.92962465e-02 -1.51175167e-04 9.98784190e-01 4.00772049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.22038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.94, Y:3.17, Z:4.01 [[ 9.87346640e-01 -1.50893837e-01 -4.87612822e-02 8.49433642e+01] [ 1.50719928e-01 9.88549954e-01 -7.24510206e-03 3.17147705e+00] [ 4.92962045e-02 -1.95869791e-04 9.98784184e-01 4.00871376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.250385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.97, Y:3.18, Z:4.01 [[ 9.87329940e-01 -1.51013551e-01 -4.87288046e-02 8.49709802e+01] [ 1.50829738e-01 9.88531693e-01 -7.44866916e-03 3.17595051e+00] [ 4.92948177e-02 4.54124426e-06 9.98784271e-01 4.00904948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.280385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.00, Y:3.18, Z:4.01 [[ 9.87201894e-01 -1.51849960e-01 -4.87238217e-02 8.50001353e+01] [ 1.51665627e-01 9.88403556e-01 -7.47983184e-03 3.18080453e+00] [ 4.92946108e-02 -5.62483178e-06 9.98784282e-01 4.00956716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.310385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:85.03, Y:3.19, Z:4.01 [[ 9.87100280e-01 -1.52509628e-01 -4.87221827e-02 8.50272814e+01] [ 1.52325594e-01 9.88301985e-01 -7.49005448e-03 3.18547935e+00] [ 4.92945353e-02 -2.82005366e-05 9.98784285e-01 4.01001838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.340385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:85.05, Y:3.19, Z:4.01 [[ 9.87063977e-01 -1.52744115e-01 -4.87230910e-02 8.50544661e+01] [ 1.52560646e-01 9.88265771e-01 -7.48439667e-03 3.18999485e+00] [ 4.92945606e-02 -4.56478767e-05 9.98784283e-01 4.01138067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.370385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.08, Y:3.19, Z:4.01 [[ 9.86922508e-01 -1.53655832e-01 -4.87221450e-02 8.50819632e+01] [ 1.53473183e-01 9.88124424e-01 -7.49028292e-03 3.19422330e+00] [ 4.92944671e-02 -8.52138408e-05 9.98784285e-01 4.01282166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.400385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.11, Y:3.20, Z:4.02 [[ 9.86994208e-01 -1.53192494e-01 -4.87287648e-02 8.51117618e+01] [ 1.53011303e-01 9.88196362e-01 -7.44929520e-03 3.19740501e+00] [ 4.92947641e-02 -1.03640580e-04 9.98784269e-01 4.01686952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.430385723 meters Centerline goodness : 0.999778 Centerline is valid? [True, True] Translation: X:85.14, Y:3.20, Z:4.03 [[ 9.87060415e-01 -1.52755789e-01 -4.87586439e-02 8.51363422e+01] [ 1.52583275e-01 9.88263930e-01 -7.26281258e-03 3.20159861e+00] [ 4.92958457e-02 -2.70918797e-04 9.98784184e-01 4.02794154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.460385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.16, Y:3.21, Z:4.03 [[ 9.87335075e-01 -1.50987739e-01 -4.87047456e-02 8.51638065e+01] [ 1.50796486e-01 9.88535623e-01 -7.59882701e-03 3.20696823e+00] [ 4.92937057e-02 1.58083961e-04 9.98784314e-01 4.02816879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.49038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.19, Y:3.21, Z:4.03 [[ 9.87523723e-01 -1.49760789e-01 -4.86682984e-02 8.51899169e+01] [ 1.49556869e-01 9.88722157e-01 -7.82550672e-03 3.21286763e+00] [ 4.92913791e-02 4.49195187e-04 9.98784340e-01 4.02856865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.52038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.22, Y:3.22, Z:4.02 [[ 9.87257803e-01 -1.51504193e-01 -4.86673470e-02 8.52202899e+01] [ 1.51302098e-01 9.88456546e-01 -7.83141960e-03 3.21804514e+00] [ 4.92920506e-02 3.68158401e-04 9.98784340e-01 4.02222440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.55038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.25, Y:3.22, Z:4.02 [[ 9.87234384e-01 -1.51646345e-01 -4.86996606e-02 8.52477191e+01] [ 1.51454324e-01 9.88434804e-01 -7.63062167e-03 3.22200895e+00] [ 4.92935953e-02 1.57437896e-04 9.98784319e-01 4.02124838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.58038572299999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:85.28, Y:3.23, Z:4.02 [[ 9.87133877e-01 -1.52297665e-01 -4.87045241e-02 8.52765369e+01] [ 1.52107928e-01 9.88334666e-01 -7.60040107e-03 3.22691104e+00] [ 4.92938930e-02 9.42691349e-05 9.98784313e-01 4.02377018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.610385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:85.31, Y:3.23, Z:4.02 [[ 9.86831666e-01 -1.54244623e-01 -4.87017297e-02 8.53054375e+01] [ 1.54056399e-01 9.88032690e-01 -7.61773320e-03 3.23288061e+00] [ 4.92938954e-02 1.46072186e-05 9.98784317e-01 4.02195304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.640385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:85.33, Y:3.24, Z:4.03 [[ 9.86728315e-01 -1.54893867e-01 -4.87352343e-02 8.53301841e+01] [ 1.54716701e-01 9.87931089e-01 -7.40977269e-03 3.23925794e+00] [ 4.92947815e-02 -2.28722177e-04 9.98784247e-01 4.02727823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.670385723 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:85.36, Y:3.24, Z:4.03 [[ 9.86281316e-01 -1.57737171e-01 -4.86636465e-02 8.53597050e+01] [ 1.57541600e-01 9.87481128e-01 -7.85275006e-03 3.24410101e+00] [ 4.92931031e-02 7.84719487e-05 9.98784353e-01 4.02834634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.700385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:85.39, Y:3.25, Z:4.03 [[ 9.86316058e-01 -1.57513486e-01 -4.86840302e-02 8.53868754e+01] [ 1.57323859e-01 9.87516835e-01 -7.72678843e-03 3.24638567e+00] [ 4.92933728e-02 -3.81039770e-05 9.98784342e-01 4.03285046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.730385723 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:85.41, Y:3.25, Z:4.03 [[ 9.86416291e-01 -1.56893827e-01 -4.86541628e-02 8.54141016e+01] [ 1.56694360e-01 9.87615459e-01 -7.91092457e-03 3.25086726e+00] [ 4.92927786e-02 1.79631969e-04 9.98784356e-01 4.03474917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.760385723 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:85.44, Y:3.26, Z:4.04 [[ 9.86573196e-01 -1.55903993e-01 -4.86546349e-02 8.54407492e+01] [ 1.55703466e-01 9.87772187e-01 -7.90801617e-03 3.26020004e+00] [ 4.92925864e-02 2.26141481e-04 9.98784356e-01 4.03506861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.790385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:85.47, Y:3.27, Z:4.03 [[ 9.86472062e-01 -1.56547488e-01 -4.86390184e-02 8.54712048e+01] [ 1.56343005e-01 9.87670390e-01 -8.00408902e-03 3.26771619e+00] [ 4.92923383e-02 2.91439885e-04 9.98784351e-01 4.03308709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.820385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:85.50, Y:3.27, Z:4.03 [[ 9.86840579e-01 -1.54193371e-01 -4.86834212e-02 8.54961266e+01] [ 1.53999500e-01 9.88040681e-01 -7.73091176e-03 3.27350152e+00] [ 4.92932560e-02 1.31954905e-04 9.98784340e-01 4.03304167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.850385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:85.53, Y:3.28, Z:4.03 [[ 9.86979850e-01 -1.53320327e-01 -4.86174177e-02 8.55259091e+01] [ 1.53105433e-01 9.88176368e-01 -8.13590023e-03 3.27839176e+00] [ 4.92899821e-02 5.86378807e-04 9.98784338e-01 4.03385247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.88038572299999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:85.55, Y:3.28, Z:4.04 [[ 9.87229530e-01 -1.51698053e-01 -4.86369801e-02 8.55501423e+01] [ 1.51487101e-01 9.88426731e-01 -8.01593737e-03 3.28245304e+00] [ 4.92900933e-02 5.45694969e-04 9.98784356e-01 4.03711477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.91038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.58, Y:3.29, Z:4.04 [[ 9.87165333e-01 -1.52131444e-01 -4.85862972e-02 8.55783141e+01] [ 1.51905762e-01 9.88359915e-01 -8.32576743e-03 3.28808495e+00] [ 4.92873596e-02 8.38370464e-04 9.98784288e-01 4.03687442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.94038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.61, Y:3.29, Z:4.04 [[ 9.87082085e-01 -1.52664141e-01 -4.86067647e-02 8.56071961e+01] [ 1.52445258e-01 9.88277892e-01 -8.20074996e-03 3.29391655e+00] [ 4.92889514e-02 6.84942560e-04 9.98784326e-01 4.03926166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.97038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.63, Y:3.30, Z:4.04 [[ 9.87154120e-01 -1.52190198e-01 -4.86301087e-02 8.56337034e+01] [ 1.51977769e-01 9.88351064e-01 -8.05803010e-03 3.30005462e+00] [ 4.92899729e-02 5.63822181e-04 9.98784351e-01 4.04126220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.000385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:85.66, Y:3.30, Z:4.04 [[ 9.87128901e-01 -1.52362142e-01 -4.86036105e-02 8.56619461e+01] [ 1.52141961e-01 9.88324471e-01 -8.21968471e-03 3.30470303e+00] [ 4.92885064e-02 7.19239710e-04 9.98784324e-01 4.04339604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.030385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:85.69, Y:3.31, Z:4.04 [[ 9.87184663e-01 -1.51996948e-01 -4.86145003e-02 8.56900159e+01] [ 1.51779592e-01 9.88380736e-01 -8.15333194e-03 3.31011387e+00] [ 4.92889172e-02 6.70155201e-04 9.98784338e-01 4.04414000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.060385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.72, Y:3.32, Z:4.04 [[ 9.87045296e-01 -1.52898942e-01 -4.86158103e-02 8.57183618e+01] [ 1.52683072e-01 9.88241637e-01 -8.14535377e-03 3.31609014e+00] [ 4.92895839e-02 6.17021880e-04 9.98784339e-01 4.04375644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.090385723 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:85.75, Y:3.32, Z:4.04 [[ 9.86764523e-01 -1.54691478e-01 -4.86448747e-02 8.57477141e+01] [ 1.54486505e-01 9.87962765e-01 -7.96832694e-03 3.32227449e+00] [ 4.92919572e-02 3.47885672e-04 9.98784352e-01 4.04438522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.120385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:85.77, Y:3.33, Z:4.05 [[ 9.86663129e-01 -1.55324425e-01 -4.86846246e-02 8.57695486e+01] [ 1.55132123e-01 9.87863512e-01 -7.72699038e-03 3.32754530e+00] [ 4.92939545e-02 7.13873207e-05 9.98784312e-01 4.04749192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.150385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:85.80, Y:3.33, Z:4.05 [[ 9.86169452e-01 -1.58469844e-01 -4.85501774e-02 8.58009471e+01] [ 1.58241281e-01 9.87363541e-01 -8.54021486e-03 3.33146191e+00] [ 4.92900416e-02 7.39456735e-04 9.98784233e-01 4.04746368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.180385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:85.83, Y:3.34, Z:4.05 [[ 9.85695167e-01 -1.61365291e-01 -4.86444391e-02 8.58265994e+01] [ 1.61168401e-01 9.86894747e-01 -7.96893517e-03 3.33581923e+00] [ 4.92928510e-02 1.49944070e-05 9.98784368e-01 4.04942885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.210385723 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:85.85, Y:3.34, Z:4.05 [[ 9.85305500e-01 -1.63744875e-01 -4.85869181e-02 8.58545119e+01] [ 1.63533717e-01 9.86502688e-01 -8.31680996e-03 3.34139295e+00] [ 4.92929603e-02 2.48999269e-04 9.98784332e-01 4.04988017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.24038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.88, Y:3.35, Z:4.05 [[ 9.84708428e-01 -1.67300795e-01 -4.85773150e-02 8.58811571e+01] [ 1.67091098e-01 9.85905892e-01 -8.37483157e-03 3.34744349e+00] [ 4.92937771e-02 1.29930321e-04 9.98784314e-01 4.05063262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.27038572299999 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:85.91, Y:3.35, Z:4.05 [[ 9.84710575e-01 -1.67289000e-01 -4.85744205e-02 8.59085259e+01] [ 1.67078424e-01 9.85907891e-01 -8.39235622e-03 3.35218435e+00] [ 4.92938534e-02 1.48304279e-04 9.98784308e-01 4.05376725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.30038572299999 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:85.94, Y:3.36, Z:4.06 [[ 9.84523169e-01 -1.68391656e-01 -4.85631449e-02 8.59353126e+01] [ 1.68179052e-01 9.85720155e-01 -8.46066758e-03 3.35711398e+00] [ 4.92943765e-02 1.62419613e-04 9.98784280e-01 4.05532060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.33038572299999 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:85.97, Y:3.36, Z:4.06 [[ 9.85498515e-01 -1.62594070e-01 -4.85370425e-02 8.59682971e+01] [ 1.62366638e-01 9.86692856e-01 -8.61870513e-03 3.35532247e+00] [ 4.92925034e-02 6.12924709e-04 9.98784198e-01 4.06406681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.360385723 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:85.99, Y:3.36, Z:4.06 [[ 9.85149834e-01 -1.64664332e-01 -4.86360241e-02 8.59904820e+01] [ 1.64469017e-01 9.86349658e-01 -8.01838199e-03 3.36117114e+00] [ 4.92924672e-02 -9.98114130e-05 9.98784382e-01 4.05966635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.390385723 meters Centerline goodness : 0.999738 Centerline is valid? [True, True] Translation: X:86.02, Y:3.37, Z:4.06 [[ 9.85190284e-01 -1.64450793e-01 -4.85390611e-02 8.60205855e+01] [ 1.64226301e-01 9.86385158e-01 -8.60474094e-03 3.36848386e+00] [ 4.92932659e-02 5.05916738e-04 9.98784220e-01 4.05857313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.420385723 meters Centerline goodness : 0.999693 Centerline is valid? [True, True] Translation: X:86.05, Y:3.38, Z:4.06 [[ 9.86131683e-01 -1.58692640e-01 -4.85896008e-02 8.60470051e+01] [ 1.58476265e-01 9.87327916e-01 -8.29822376e-03 3.37540875e+00] [ 4.92907363e-02 4.82842906e-04 9.98784356e-01 4.05962458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.450385723 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:86.07, Y:3.38, Z:4.06 [[ 9.86309412e-01 -1.57594954e-01 -4.85548525e-02 8.60746663e+01] [ 1.57366887e-01 9.87503553e-01 -8.50861624e-03 3.37906994e+00] [ 4.92890043e-02 7.51202281e-04 9.98784276e-01 4.06013042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.480385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:86.10, Y:3.38, Z:4.06 [[ 9.86801117e-01 -1.54482477e-01 -4.85666498e-02 8.61004433e+01] [ 1.54254151e-01 9.87995176e-01 -8.43735277e-03 3.38022422e+00] [ 4.92870389e-02 8.34381810e-04 9.98784307e-01 4.06172815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.510385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:86.13, Y:3.38, Z:4.07 [[ 9.87461903e-01 -1.50220145e-01 -4.85066838e-02 8.61329249e+01] [ 1.49968995e-01 9.88651563e-01 -8.79696803e-03 3.37805460e+00] [ 4.92776906e-02 1.41217217e-03 9.98784118e-01 4.07077433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.540385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.16, Y:3.39, Z:4.07 [[ 9.86726597e-01 -1.54958049e-01 -4.85656787e-02 8.61601682e+01] [ 1.54730072e-01 9.87920715e-01 -8.44194977e-03 3.38770411e+00] [ 4.92871881e-02 8.15325430e-04 9.98784315e-01 4.06601386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.570385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.19, Y:3.39, Z:4.07 [[ 9.86992545e-01 -1.53255277e-01 -4.85647600e-02 8.61891594e+01] [ 1.53024967e-01 9.88186217e-01 -8.44750022e-03 3.39129217e+00] [ 4.92856504e-02 9.05998955e-04 9.98784313e-01 4.06820963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.600385723 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:86.22, Y:3.40, Z:4.07 [[ 9.86808930e-01 -1.54427040e-01 -4.85842099e-02 8.62151731e+01] [ 1.54203939e-01 9.88003927e-01 -8.32982173e-03 3.39628770e+00] [ 4.92877399e-02 7.28065910e-04 9.98784355e-01 4.07004494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.63038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.25, Y:3.39, Z:4.08 [[ 9.87586446e-01 -1.49386131e-01 -4.85468338e-02 8.62479235e+01] [ 1.49145834e-01 9.88778197e-01 -8.55557337e-03 3.39468515e+00] [ 4.92801348e-02 1.20881030e-03 9.98784265e-01 4.07819849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.66038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.27, Y:3.40, Z:4.08 [[ 9.86990156e-01 -1.53249291e-01 -4.86321490e-02 8.62730501e+01] [ 1.53039058e-01 9.88187438e-01 -8.03953216e-03 3.39947769e+00] [ 4.92897313e-02 4.92320809e-04 9.98784401e-01 4.07562596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.69038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.30, Y:3.40, Z:4.08 [[ 9.87190968e-01 -1.51974382e-01 -4.85569778e-02 8.63028243e+01] [ 1.51740277e-01 9.88383910e-01 -8.49318636e-03 3.40265218e+00] [ 4.92836823e-02 1.01634760e-03 9.98784304e-01 4.07643838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.72038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.33, Y:3.40, Z:4.08 [[ 9.87777063e-01 -1.48110224e-01 -4.85781332e-02 8.63284657e+01] [ 1.47877725e-01 9.88970270e-01 -8.36556777e-03 3.40479580e+00] [ 4.92813557e-02 1.07969216e-03 9.98784352e-01 4.07840317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.750385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.36, Y:3.41, Z:4.08 [[ 9.87761016e-01 -1.48245286e-01 -4.84923833e-02 8.63620566e+01] [ 1.47987757e-01 9.88949339e-01 -8.87850887e-03 3.40758978e+00] [ 4.92727075e-02 1.59356589e-03 9.98784091e-01 4.08322129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.780385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.39, Y:3.41, Z:4.08 [[ 9.88264798e-01 -1.44805661e-01 -4.86210816e-02 8.63916570e+01] [ 1.44581896e-01 9.89459629e-01 -8.10671596e-03 3.40939345e+00] [ 4.92824957e-02 9.81853859e-04 9.98784397e-01 4.08431854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.810385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.42, Y:3.41, Z:4.09 [[ 9.88862262e-01 -1.40662152e-01 -4.86372901e-02 8.64183660e+01] [ 1.40438156e-01 9.90057055e-01 -8.00955251e-03 3.41024240e+00] [ 4.92803331e-02 1.08981286e-03 9.98784392e-01 4.08660784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.840385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:86.45, Y:3.41, Z:4.09 [[ 9.89027837e-01 -1.39499962e-01 -4.86178813e-02 8.64461934e+01] [ 1.39268856e-01 9.90221268e-01 -8.12568177e-03 3.41322151e+00] [ 4.92759924e-02 1.26556872e-03 9.98784399e-01 4.08842107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.870385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.48, Y:3.42, Z:4.09 [[ 9.89226847e-01 -1.38082481e-01 -4.86155691e-02 8.64763408e+01] [ 1.37848987e-01 9.90419813e-01 -8.13949205e-03 3.41519248e+00] [ 4.92737441e-02 1.35019711e-03 9.98784399e-01 4.08703311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.900385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.50, Y:3.42, Z:4.09 [[ 9.89407672e-01 -1.36765091e-01 -4.86597281e-02 8.65046204e+01] [ 1.36542967e-01 9.90602842e-01 -7.87570525e-03 3.41802677e+00] [ 4.92795865e-02 1.14813956e-03 9.98784363e-01 4.08737238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.930385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:86.53, Y:3.42, Z:4.09 [[ 9.89353271e-01 -1.37161058e-01 -4.86512943e-02 8.65294126e+01] [ 1.36936939e-01 9.90548057e-01 -7.92602405e-03 3.42370165e+00] [ 4.92785868e-02 1.17947852e-03 9.98784376e-01 4.08827228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.960385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:86.56, Y:3.43, Z:4.09 [[ 9.89312214e-01 -1.37479452e-01 -4.85874848e-02 8.65562522e+01] [ 1.37237069e-01 9.90503408e-01 -8.30577760e-03 3.42732716e+00] [ 4.92679431e-02 1.54900320e-03 9.98784396e-01 4.08772612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.99038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.59, Y:3.43, Z:4.09 [[ 9.89263923e-01 -1.37839037e-01 -4.85519404e-02 8.65859944e+01] [ 1.37586715e-01 9.90453105e-01 -8.51725564e-03 3.42884387e+00] [ 4.92624304e-02 1.74571174e-03 9.98784344e-01 4.08731013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.02038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.62, Y:3.42, Z:4.09 [[ 9.89329259e-01 -1.37358757e-01 -4.85817721e-02 8.66154286e+01] [ 1.37114562e-01 9.90520088e-01 -8.33975006e-03 3.42497387e+00] [ 4.92667589e-02 1.58949034e-03 9.98784391e-01 4.09397228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.05038572299999 meters Centerline goodness : 0.999887 Centerline is valid? [True, True] Translation: X:86.64, Y:3.43, Z:4.09 [[ 9.88798592e-01 -1.41118288e-01 -4.86104228e-02 8.66420065e+01] [ 1.40886994e-01 9.89991979e-01 -8.16927144e-03 3.43049171e+00] [ 4.92767622e-02 1.22918775e-03 9.98784406e-01 4.09423993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.08038572299999 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:86.67, Y:3.43, Z:4.10 [[ 9.89012160e-01 -1.39631432e-01 -4.85593458e-02 8.66724962e+01] [ 1.39383453e-01 9.90202236e-01 -8.47264889e-03 3.43142020e+00] [ 4.92666209e-02 1.61118348e-03 9.98784363e-01 4.09878052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.110385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.70, Y:3.44, Z:4.10 [[ 9.88390273e-01 -1.43951138e-01 -4.86080133e-02 8.67002308e+01] [ 1.43722561e-01 9.89584183e-01 -8.18359146e-03 3.43628668e+00] [ 4.92797584e-02 1.10251404e-03 9.98784406e-01 4.09726216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.140385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.73, Y:3.44, Z:4.10 [[ 9.88815640e-01 -1.41011250e-01 -4.85742495e-02 8.67289208e+01] [ 1.40769292e-01 9.90006928e-01 -8.38380279e-03 3.43843278e+00] [ 4.92710541e-02 1.45227263e-03 9.98784388e-01 4.10222617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.170385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.75, Y:3.45, Z:4.10 [[ 9.88310494e-01 -1.44498713e-01 -4.86054390e-02 8.67547785e+01] [ 1.44270045e-01 9.89504387e-01 -8.19890792e-03 3.44569191e+00] [ 4.92800268e-02 1.09075788e-03 9.98784406e-01 4.09886008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.200385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.78, Y:3.45, Z:4.10 [[ 9.88223179e-01 -1.45112503e-01 -4.85521355e-02 8.67810953e+01] [ 1.44869076e-01 9.89414198e-01 -8.51438227e-03 3.44944750e+00] [ 4.92737155e-02 1.38040690e-03 9.98784359e-01 4.09954901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.230385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.81, Y:3.45, Z:4.10 [[ 9.88209068e-01 -1.45221294e-01 -4.85140574e-02 8.68091758e+01] [ 1.44966985e-01 9.89397901e-01 -8.73879548e-03 3.45430080e+00] [ 4.92687657e-02 1.60282031e-03 9.98784271e-01 4.10085768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.260385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.84, Y:3.45, Z:4.11 [[ 9.88775511e-01 -1.41313153e-01 -4.85137351e-02 8.68427233e+01] [ 1.41054052e-01 9.89963310e-01 -8.74069423e-03 3.45352293e+00] [ 4.92619928e-02 1.79952547e-03 9.98784270e-01 4.10727575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.290385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.87, Y:3.46, Z:4.10 [[ 9.88096506e-01 -1.45956828e-01 -4.85993706e-02 8.68690677e+01] [ 1.45728128e-01 9.89290398e-01 -8.23537256e-03 3.46082525e+00] [ 4.92808995e-02 1.05504754e-03 9.98784401e-01 4.10436895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.320385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.90, Y:3.47, Z:4.10 [[ 9.87516758e-01 -1.49849184e-01 -4.85373634e-02 8.68957050e+01] [ 1.49607239e-01 9.88708099e-01 -8.60051872e-03 3.46750671e+00] [ 4.92780650e-02 1.23161544e-03 9.98784339e-01 4.10263267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.350385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.93, Y:3.47, Z:4.11 [[ 9.88056817e-01 -1.46256078e-01 -4.85065501e-02 8.69273270e+01] [ 1.46000907e-01 9.89245478e-01 -8.78175227e-03 3.46766862e+00] [ 4.92692700e-02 1.59486991e-03 9.98784259e-01 4.11040260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.38038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.96, Y:3.47, Z:4.11 [[ 9.87754318e-01 -1.48255840e-01 -4.85964392e-02 8.69552163e+01] [ 1.48029079e-01 9.88948577e-01 -8.25246261e-03 3.46946604e+00] [ 4.92828552e-02 9.57719426e-04 9.98784403e-01 4.11126672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.41038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.98, Y:3.47, Z:4.11 [[ 9.87625541e-01 -1.49111516e-01 -4.85957388e-02 8.69825922e+01] [ 1.48885587e-01 9.88819959e-01 -8.25658522e-03 3.47272462e+00] [ 4.92835884e-02 9.19209348e-04 9.98784403e-01 4.11397193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.44038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.01, Y:3.48, Z:4.11 [[ 9.86743367e-01 -1.54842512e-01 -4.85934581e-02 8.70064475e+01] [ 1.54622861e-01 9.87938955e-01 -8.26998647e-03 3.48180498e+00] [ 4.92879157e-02 6.46694782e-04 9.98784403e-01 4.11154997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.47038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.04, Y:3.48, Z:4.12 [[ 9.87419601e-01 -1.50506833e-01 -4.84791089e-02 8.70399092e+01] [ 1.50249018e-01 9.88607764e-01 -8.93990896e-03 3.48261652e+00] [ 4.92723408e-02 1.54350286e-03 9.98784188e-01 4.11779916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.500385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.07, Y:3.49, Z:4.12 [[ 9.86893280e-01 -1.53884605e-01 -4.85920052e-02 8.70657070e+01] [ 1.53663437e-01 9.88088577e-01 -8.27720838e-03 3.49081770e+00] [ 4.92869402e-02 7.01906768e-04 9.98784414e-01 4.11575492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.530385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.10, Y:3.49, Z:4.12 [[ 9.87534399e-01 -1.49737460e-01 -4.85232232e-02 8.70963381e+01] [ 1.49491471e-01 9.88724914e-01 -8.68012417e-03 3.49255238e+00] [ 4.92758594e-02 1.31811319e-03 9.98784337e-01 4.12065445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.560385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.12, Y:3.50, Z:4.12 [[ 9.87633983e-01 -1.49057163e-01 -4.85909251e-02 8.71247253e+01] [ 1.48829870e-01 9.88828126e-01 -8.28298445e-03 3.49812333e+00] [ 4.92827116e-02 9.48775850e-04 9.98784418e-01 4.12359152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.590385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.15, Y:3.50, Z:4.13 [[ 9.87953292e-01 -1.46926543e-01 -4.85889184e-02 8.71523533e+01] [ 1.46696097e-01 9.89146831e-01 -8.29473933e-03 3.50444541e+00] [ 4.92802920e-02 1.06701033e-03 9.98784418e-01 4.12657086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.620385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.18, Y:3.51, Z:4.13 [[ 9.87992904e-01 -1.46660301e-01 -4.85878411e-02 8.71804632e+01] [ 1.46429224e-01 9.89186320e-01 -8.30104537e-03 3.50919698e+00] [ 4.92798615e-02 1.08669407e-03 9.98784418e-01 4.12913863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.650385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.21, Y:3.51, Z:4.13 [[ 9.88128011e-01 -1.45747897e-01 -4.85858388e-02 8.72067995e+01] [ 1.45515143e-01 9.89321101e-01 -8.31274810e-03 3.51349495e+00] [ 4.92785611e-02 1.14408398e-03 9.98784418e-01 4.13110143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.680385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.23, Y:3.52, Z:4.13 [[ 9.88172141e-01 -1.45448914e-01 -4.85842848e-02 8.72348699e+01] [ 1.45215352e-01 9.89365074e-01 -8.32182060e-03 3.51868062e+00] [ 4.92779943e-02 1.16820725e-03 9.98784418e-01 4.13216779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.710385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.26, Y:3.52, Z:4.13 [[ 9.88129011e-01 -1.45742396e-01 -4.85820055e-02 8.72612793e+01] [ 1.45508536e-01 9.89321885e-01 -8.33510599e-03 3.52410610e+00] [ 4.92780196e-02 1.16706352e-03 9.98784419e-01 4.13214099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.74038572299999 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:87.29, Y:3.53, Z:4.13 [[ 9.88096131e-01 -1.45965473e-01 -4.85810228e-02 8.72877407e+01] [ 1.45731601e-01 9.89289003e-01 -8.34082936e-03 3.52938552e+00] [ 4.92781447e-02 1.16175099e-03 9.98784419e-01 4.13155695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.77038572299999 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:87.32, Y:3.54, Z:4.13 [[ 9.87939279e-01 -1.47024085e-01 -4.85788037e-02 8.73152566e+01] [ 1.46790857e-01 9.89132276e-01 -8.35373435e-03 3.53526564e+00] [ 4.92790628e-02 1.12205808e-03 9.98784419e-01 4.13243901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.80038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.34, Y:3.54, Z:4.13 [[ 9.87832717e-01 -1.47739090e-01 -4.85765852e-02 8.73431111e+01] [ 1.47506092e-01 9.89025759e-01 -8.36661508e-03 3.54045680e+00] [ 4.92795701e-02 1.09947384e-03 9.98784419e-01 4.13381667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.83038572299999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:87.37, Y:3.54, Z:4.13 [[ 9.87794884e-01 -1.47992568e-01 -4.85743368e-02 8.73703161e+01] [ 1.47759236e-01 9.88987861e-01 -8.37964794e-03 3.54479420e+00] [ 4.92795551e-02 1.10006648e-03 9.98784419e-01 4.13467609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.860385723 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:87.39, Y:3.56, Z:4.13 [[ 9.86698689e-01 -1.55133163e-01 -4.85736423e-02 8.73911161e+01] [ 1.54908268e-01 9.87893285e-01 -8.38367169e-03 3.55556288e+00] [ 4.92861606e-02 7.47699079e-04 9.98784419e-01 4.13283968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.890385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.43, Y:3.56, Z:4.14 [[ 9.87516514e-01 -1.49886694e-01 -4.84263745e-02 8.74261027e+01] [ 1.49613706e-01 9.88701405e-01 -9.23422095e-03 3.55573470e+00] [ 4.92633113e-02 1.87369633e-03 9.98784068e-01 4.13664411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.920385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.45, Y:3.56, Z:4.14 [[ 9.87164030e-01 -1.52143888e-01 -4.85738063e-02 8.74530831e+01] [ 1.51915570e-01 9.88357951e-01 -8.37972872e-03 3.56167691e+00] [ 4.92832322e-02 8.93049322e-04 9.98784444e-01 4.13923860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.950385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.48, Y:3.57, Z:4.14 [[ 9.86958004e-01 -1.53475421e-01 -4.85715296e-02 8.74807121e+01] [ 1.53248065e-01 9.88152109e-01 -8.39290499e-03 3.56642784e+00] [ 4.92841640e-02 8.39951844e-04 9.98784444e-01 4.14151713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.980385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.51, Y:3.57, Z:4.14 [[ 9.86741730e-01 -1.54860555e-01 -4.85691916e-02 8.75079655e+01] [ 1.54634211e-01 9.87936027e-01 -8.40641266e-03 3.56982734e+00] [ 4.92850759e-02 7.84499551e-04 9.98784444e-01 4.14359470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.010385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.53, Y:3.58, Z:4.14 [[ 9.85523108e-01 -1.62435634e-01 -4.85681767e-02 8.75288795e+01] [ 1.62218182e-01 9.86719056e-01 -8.41227229e-03 3.57699831e+00] [ 4.92895983e-02 4.11847404e-04 9.98784444e-01 4.14353745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.040385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.56, Y:3.58, Z:4.15 [[ 9.86446649e-01 -1.56779883e-01 -4.84053445e-02 8.75648904e+01] [ 1.56509557e-01 9.87632198e-01 -9.34881273e-03 3.57640371e+00] [ 4.92723825e-02 1.64620598e-03 9.98784022e-01 4.14866502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.070385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.59, Y:3.59, Z:4.14 [[ 9.85598861e-01 -1.61975652e-01 -4.85672127e-02 8.75853383e+01] [ 1.61757523e-01 9.86794658e-01 -8.41468401e-03 3.59196462e+00] [ 4.92888400e-02 4.37390939e-04 9.98784471e-01 4.14367312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.100385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.61, Y:3.60, Z:4.14 [[ 9.85796706e-01 -1.60805917e-01 -4.84387395e-02 8.76139792e+01] [ 1.60550003e-01 9.86985259e-01 -9.15394295e-03 3.59899984e+00] [ 4.92803300e-02 1.24708705e-03 9.98784208e-01 4.14296604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.13038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.64, Y:3.60, Z:4.14 [[ 9.86081533e-01 -1.59050207e-01 -4.84380149e-02 8.76392299e+01] [ 1.58791972e-01 9.87269588e-01 -9.15811003e-03 3.60282238e+00] [ 4.92779783e-02 1.33907527e-03 9.98784205e-01 4.14440493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.16038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.67, Y:3.61, Z:4.15 [[ 9.86470504e-01 -1.56631835e-01 -4.83984918e-02 8.76664908e+01] [ 1.56359442e-01 9.87655609e-01 -9.38734262e-03 3.60512212e+00] [ 4.92713986e-02 1.69277546e-03 9.98783993e-01 4.14811174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.19038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.69, Y:3.61, Z:4.15 [[ 9.86607193e-01 -1.55766587e-01 -4.84047246e-02 8.76923707e+01] [ 1.55494931e-01 9.87792429e-01 -9.35111553e-03 3.60925332e+00] [ 4.92704119e-02 1.69918855e-03 9.98784030e-01 4.15146409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.22038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.73, Y:3.61, Z:4.16 [[ 9.87988182e-01 -1.46761019e-01 -4.83792965e-02 8.77303640e+01] [ 1.46471338e-01 9.89169308e-01 -9.49878602e-03 3.60683347e+00] [ 4.92493667e-02 2.29850805e-03 9.98783869e-01 4.15602789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.250385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.76, Y:3.61, Z:4.16 [[ 9.87993740e-01 -1.46657325e-01 -4.85798226e-02 8.77565227e+01] [ 1.46424850e-01 9.89186728e-01 -8.32946560e-03 3.61155135e+00] [ 4.92760929e-02 1.11616663e-03 9.98784572e-01 4.15669174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.280385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.78, Y:3.62, Z:4.16 [[ 9.87963838e-01 -1.46858955e-01 -4.85788287e-02 8.77849397e+01] [ 1.46626439e-01 9.89156818e-01 -8.33525796e-03 3.61914991e+00] [ 4.92761869e-02 1.11199277e-03 9.98784572e-01 4.15870504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.310385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.80, Y:3.63, Z:4.16 [[ 9.86967361e-01 -1.53413565e-01 -4.85768072e-02 8.78038370e+01] [ 1.53188394e-01 9.88161750e-01 -8.34702286e-03 3.63091169e+00] [ 4.92822893e-02 7.96836066e-04 9.98784572e-01 4.15600853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.340385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.84, Y:3.63, Z:4.16 [[ 9.88424744e-01 -1.43789113e-01 -4.83861182e-02 8.78423204e+01] [ 1.43498086e-01 9.89605440e-01 -9.45373485e-03 3.62643393e+00] [ 4.92425099e-02 2.40099011e-03 9.98783966e-01 4.16305816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.370385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.87, Y:3.63, Z:4.17 [[ 9.88589640e-01 -1.42585556e-01 -4.85786256e-02 8.78705558e+01] [ 1.42348071e-01 9.89781599e-01 -8.33146279e-03 3.62957072e+00] [ 4.92701759e-02 1.32132416e-03 9.98784613e-01 4.16572363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.400385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.90, Y:3.63, Z:4.17 [[ 9.88770566e-01 -1.41326266e-01 -4.85762804e-02 8.78988789e+01] [ 1.41086593e-01 9.89962086e-01 -8.34511396e-03 3.63486588e+00] [ 4.92680597e-02 1.39794115e-03 9.98784613e-01 4.16719453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.430385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.93, Y:3.64, Z:4.17 [[ 9.88851537e-01 -1.40759306e-01 -4.85742224e-02 8.79252610e+01] [ 1.40518362e-01 9.90042802e-01 -8.35707566e-03 3.64003995e+00] [ 4.92668954e-02 1.43833692e-03 9.98784614e-01 4.16800235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.460385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.94, Y:3.65, Z:4.16 [[ 9.88349299e-01 -1.44243912e-01 -4.85732036e-02 8.79420243e+01] [ 1.44006879e-01 9.89541348e-01 -8.36299278e-03 3.65165684e+00] [ 4.92715042e-02 1.27068260e-03 9.98784614e-01 4.16241288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.49038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.97, Y:3.66, Z:4.16 [[ 9.88365006e-01 -1.44205498e-01 -4.83672277e-02 8.79712559e+01] [ 1.43909802e-01 9.89544636e-01 -9.55945941e-03 3.65733559e+00] [ 4.92400573e-02 2.48771701e-03 9.98783875e-01 4.16480806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.52038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.00, Y:3.66, Z:4.17 [[ 9.88428846e-01 -1.43748670e-01 -4.84224783e-02 8.79986527e+01] [ 1.43468157e-01 9.89611818e-01 -9.23781494e-03 3.66157158e+00] [ 4.92473804e-02 2.18383903e-03 9.98784224e-01 4.16705974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.55038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.03, Y:3.66, Z:4.17 [[ 9.89280519e-01 -1.37766088e-01 -4.84206489e-02 8.80340154e+01] [ 1.37477903e-01 9.90461656e-01 -9.24845229e-03 3.65889527e+00] [ 4.92329192e-02 2.49254439e-03 9.98784214e-01 4.17248663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.58038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.06, Y:3.66, Z:4.17 [[ 9.89895870e-01 -1.33215112e-01 -4.85788177e-02 8.80550531e+01] [ 1.32966631e-01 9.91085545e-01 -8.32569611e-03 3.66152474e+00] [ 4.92548725e-02 1.78221046e-03 9.98784652e-01 4.17214713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.610385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.08, Y:3.68, Z:4.17 [[ 9.88910625e-01 -1.40379230e-01 -4.84710937e-02 8.80802568e+01] [ 1.40108054e-01 9.90095637e-01 -8.96450535e-03 3.67558250e+00] [ 4.92494488e-02 2.07390396e-03 9.98784356e-01 4.17264169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.640385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:88.11, Y:3.68, Z:4.17 [[ 9.88929596e-01 -1.40244568e-01 -4.84738584e-02 8.81080002e+01] [ 1.39974034e-01 9.90114741e-01 -8.94810000e-03 3.68046561e+00] [ 4.92496042e-02 2.06395941e-03 9.98784369e-01 4.17337404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.670385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.14, Y:3.68, Z:4.18 [[ 9.89600417e-01 -1.35427256e-01 -4.84816692e-02 8.81409727e+01] [ 1.35153213e-01 9.90784722e-01 -8.90191988e-03 3.67911091e+00] [ 4.92404597e-02 2.25689024e-03 9.98784403e-01 4.17842494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.700385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.17, Y:3.68, Z:4.18 [[ 9.89531964e-01 -1.35884308e-01 -4.85998718e-02 8.81691797e+01] [ 1.35645126e-01 9.90723541e-01 -8.20156323e-03 3.68050078e+00] [ 4.92635008e-02 1.52337326e-03 9.98784655e-01 4.18128310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.730385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.20, Y:3.68, Z:4.19 [[ 9.89290953e-01 -1.37628222e-01 -4.85991967e-02 8.81966593e+01] [ 1.37390944e-01 9.90482911e-01 -8.20556189e-03 3.68385216e+00] [ 4.92659907e-02 1.44059863e-03 9.98784655e-01 4.18522729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.760385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.22, Y:3.69, Z:4.19 [[ 9.89184410e-01 -1.38392701e-01 -4.85969542e-02 8.82237755e+01] [ 1.38155694e-01 9.90376421e-01 -8.21882139e-03 3.68912625e+00] [ 4.92667025e-02 1.41598406e-03 9.98784655e-01 4.18549816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.790385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.25, Y:3.70, Z:4.19 [[ 9.89036064e-01 -1.39449159e-01 -4.85962617e-02 8.82513004e+01] [ 1.39213224e-01 9.90228288e-01 -8.22291389e-03 3.69535676e+00] [ 4.92680715e-02 1.36751611e-03 9.98784655e-01 4.18815223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.820385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.28, Y:3.70, Z:4.19 [[ 9.88953383e-01 -1.40035118e-01 -4.85939465e-02 8.82783313e+01] [ 1.39799218e-01 9.90145614e-01 -8.23657337e-03 3.70290270e+00] [ 4.92684925e-02 1.35219137e-03 9.98784655e-01 4.18710903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.850385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.30, Y:3.71, Z:4.19 [[ 9.88477407e-01 -1.43356845e-01 -4.85924915e-02 8.83038704e+01] [ 1.43124531e-01 9.89670342e-01 -8.24514810e-03 3.71078774e+00] [ 4.92725461e-02 1.19536507e-03 9.98784655e-01 4.18575520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.88038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.33, Y:3.71, Z:4.19 [[ 9.88693592e-01 -1.41880041e-01 -4.85287051e-02 8.83342742e+01] [ 1.41627550e-01 9.89882484e-01 -8.61998119e-03 3.70877482e+00] [ 4.92607185e-02 1.64951856e-03 9.98784592e-01 4.19248853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.91038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.36, Y:3.71, Z:4.20 [[ 9.88498628e-01 -1.43211547e-01 -4.85892468e-02 8.83620862e+01] [ 1.42978130e-01 9.89691346e-01 -8.26403933e-03 3.71234420e+00] [ 4.92718630e-02 1.22179188e-03 9.98784657e-01 4.19618134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.94038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.39, Y:3.72, Z:4.20 [[ 9.88296935e-01 -1.44597643e-01 -4.85869294e-02 8.83900788e+01] [ 1.44365231e-01 9.89489849e-01 -8.27764214e-03 3.71776288e+00] [ 4.92732009e-02 1.16650508e-03 9.98784657e-01 4.19817390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.97038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.42, Y:3.73, Z:4.20 [[ 9.87814874e-01 -1.47855697e-01 -4.85846404e-02 8.84173935e+01] [ 1.47626560e-01 9.89008421e-01 -8.29105536e-03 3.72876660e+00] [ 4.92764982e-02 1.01764448e-03 9.98784657e-01 4.19600971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.000385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.45, Y:3.73, Z:4.20 [[ 9.87875134e-01 -1.47454827e-01 -4.85777091e-02 8.84451961e+01] [ 1.47223211e-01 9.89068203e-01 -8.33162526e-03 3.73289424e+00] [ 4.92752058e-02 1.07883910e-03 9.98784657e-01 4.19791711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.030385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.47, Y:3.74, Z:4.20 [[ 9.87694035e-01 -1.48661690e-01 -4.85818445e-02 8.84731211e+01] [ 1.48432721e-01 9.88887614e-01 -8.30744191e-03 3.73652172e+00] [ 4.92769826e-02 9.94075474e-04 9.98784657e-01 4.20259343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.060385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.50, Y:3.74, Z:4.21 [[ 9.87512241e-01 -1.49865253e-01 -4.85796177e-02 8.85005377e+01] [ 1.49637100e-01 9.88705977e-01 -8.32044292e-03 3.73969426e+00] [ 4.92779037e-02 9.47226123e-04 9.98784657e-01 4.20605174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.090385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.53, Y:3.74, Z:4.21 [[ 9.87069864e-01 -1.52752500e-01 -4.85773339e-02 8.85303324e+01] [ 1.52527183e-01 9.88264138e-01 -8.33375538e-03 3.74438114e+00] [ 4.92802390e-02 8.16634872e-04 9.98784657e-01 4.20778300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.120385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.56, Y:3.75, Z:4.21 [[ 9.86991098e-01 -1.53253499e-01 -4.85997732e-02 8.85565976e+01] [ 1.53035222e-01 9.88186688e-01 -8.20303898e-03 3.74984789e+00] [ 4.92827934e-02 6.58849347e-04 9.98784648e-01 4.20897239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.150385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.58, Y:3.75, Z:4.21 [[ 9.86948653e-01 -1.53534599e-01 -4.85745183e-02 8.85847319e+01] [ 1.53309431e-01 9.88142953e-01 -8.34995885e-03 3.75482496e+00] [ 4.92805755e-02 7.94048860e-04 9.98784659e-01 4.21031779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.180385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.61, Y:3.76, Z:4.21 [[ 9.86866102e-01 -1.54065047e-01 -4.85721948e-02 8.86146737e+01] [ 1.53839858e-01 9.88060398e-01 -8.36345274e-03 3.76380618e+00] [ 4.92807779e-02 7.81268459e-04 9.98784659e-01 4.20711278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.210385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.64, Y:3.77, Z:4.21 [[ 9.86859234e-01 -1.54097439e-01 -4.86089572e-02 8.86398706e+01] [ 1.53882794e-01 9.88055496e-01 -8.15003627e-03 3.76875315e+00] [ 4.92842470e-02 5.62856388e-04 9.98784635e-01 4.21015294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.24038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.67, Y:3.77, Z:4.21 [[ 9.86824358e-01 -1.54333154e-01 -4.85691661e-02 8.86686845e+01] [ 1.54107443e-01 9.88018553e-01 -8.38064914e-03 3.77201884e+00] [ 4.92806492e-02 7.85358704e-04 9.98784662e-01 4.21381414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.27038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.70, Y:3.78, Z:4.22 [[ 9.86750886e-01 -1.54802850e-01 -4.85671411e-02 8.86962420e+01] [ 1.54577131e-01 9.87945079e-01 -8.39236785e-03 3.77614468e+00] [ 4.92808305e-02 7.73807088e-04 9.98784662e-01 4.21624386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.30038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.73, Y:3.78, Z:4.22 [[ 9.86826326e-01 -1.54321895e-01 -4.85649556e-02 8.87262777e+01] [ 1.54094972e-01 9.88020291e-01 -8.40499573e-03 3.78009821e+00] [ 4.92802365e-02 8.10655569e-04 9.98784662e-01 4.21504643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.33038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.75, Y:3.79, Z:4.22 [[ 9.86668654e-01 -1.55308708e-01 -4.86227507e-02 8.87509483e+01] [ 1.55099432e-01 9.87865895e-01 -8.07086849e-03 3.78724040e+00] [ 4.92862333e-02 4.21911949e-04 9.98784606e-01 4.22070384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.360385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.78, Y:3.79, Z:4.22 [[ 9.86625033e-01 -1.55604606e-01 -4.85618149e-02 8.87775623e+01] [ 1.55378387e-01 9.87819124e-01 -8.42223700e-03 3.79335540e+00] [ 4.92808283e-02 7.64133368e-04 9.98784670e-01 4.22114649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.390385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.81, Y:3.80, Z:4.22 [[ 9.86683411e-01 -1.55234491e-01 -4.85602624e-02 8.88050110e+01] [ 1.55007384e-01 9.87877333e-01 -8.43117866e-03 3.80083161e+00] [ 4.92803923e-02 7.91704858e-04 9.98784670e-01 4.22094352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.420385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.83, Y:3.81, Z:4.22 [[ 9.86655366e-01 -1.55412862e-01 -4.85595620e-02 8.88322515e+01] [ 1.55185773e-01 9.87849292e-01 -8.43521106e-03 3.80627256e+00] [ 4.92804692e-02 7.86893105e-04 9.98784670e-01 4.22338786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.450385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.86, Y:3.81, Z:4.23 [[ 9.86707454e-01 -1.55082549e-01 -4.85572134e-02 8.88589914e+01] [ 1.54854396e-01 9.87901177e-01 -8.44870883e-03 3.81087654e+00] [ 4.92799756e-02 8.17106041e-04 9.98784670e-01 4.22507318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.480385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.89, Y:3.82, Z:4.23 [[ 9.86953312e-01 -1.53510625e-01 -4.85556095e-02 8.88861393e+01] [ 1.53280118e-01 9.88146583e-01 -8.45791697e-03 3.81664110e+00] [ 4.92784397e-02 9.04959621e-04 9.98784670e-01 4.22696417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.510385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.92, Y:3.82, Z:4.22 [[ 9.87262112e-01 -1.51512719e-01 -4.85532509e-02 8.89178048e+01] [ 1.51279133e-01 9.88454783e-01 -8.47143484e-03 3.82087100e+00] [ 4.92762232e-02 1.01843297e-03 9.98784670e-01 4.22393944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.540385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:88.94, Y:3.83, Z:4.22 [[ 9.87584694e-01 -1.49369777e-01 -4.86327312e-02 8.89434130e+01] [ 1.49156025e-01 9.88781185e-01 -8.01554629e-03 3.82846322e+00] [ 4.92844099e-02 6.62165965e-04 9.98784566e-01 4.22429142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.570385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.97, Y:3.84, Z:4.23 [[ 9.87614915e-01 -1.49173766e-01 -4.86206532e-02 8.89674155e+01] [ 1.48956370e-01 9.88810718e-01 -8.08475722e-03 3.83570816e+00] [ 4.92826567e-02 7.42270787e-04 9.98784596e-01 4.23034005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.600385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.99, Y:3.84, Z:4.23 [[ 9.87622615e-01 -1.49146338e-01 -4.85483377e-02 8.89937511e+01] [ 1.48908593e-01 9.88814450e-01 -8.49791869e-03 3.84087833e+00] [ 4.92727313e-02 1.16347199e-03 9.98784684e-01 4.23245714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.63038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.03, Y:3.84, Z:4.23 [[ 9.87658385e-01 -1.48909598e-01 -4.85473614e-02 8.90278319e+01] [ 1.48671294e-01 9.88850108e-01 -8.50349272e-03 3.84344618e+00] [ 4.92723152e-02 1.18094684e-03 9.98784684e-01 4.22821343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.66038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.06, Y:3.85, Z:4.23 [[ 9.87468269e-01 -1.50131363e-01 -4.86517458e-02 8.90566791e+01] [ 1.49923725e-01 9.88665923e-01 -7.91012390e-03 3.84990875e+00] [ 4.92878808e-02 5.16945402e-04 9.98784480e-01 4.22965272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.69038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.09, Y:3.86, Z:4.23 [[ 9.87218399e-01 -1.51768269e-01 -4.86438628e-02 8.90861012e+01] [ 1.51560428e-01 9.88415986e-01 -7.95454940e-03 3.85775883e+00] [ 4.92876198e-02 4.80392859e-04 9.98784511e-01 4.23005968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.72038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.11, Y:3.86, Z:4.24 [[ 9.86867035e-01 -1.54029702e-01 -4.86652447e-02 8.91088805e+01] [ 1.53830585e-01 9.88066188e-01 -7.83326927e-03 3.86478415e+00] [ 4.92910389e-02 2.44192183e-04 9.98784428e-01 4.23821728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.750385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.14, Y:3.87, Z:4.23 [[ 9.87064918e-01 -1.52782917e-01 -4.85821826e-02 8.91402641e+01] [ 1.52559094e-01 9.88259462e-01 -8.30414010e-03 3.86748089e+00] [ 4.92805324e-02 7.85071572e-04 9.98784668e-01 4.23379378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.780385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.17, Y:3.87, Z:4.24 [[ 9.87042992e-01 -1.52902914e-01 -4.86500804e-02 8.91676123e+01] [ 1.52698096e-01 9.88241138e-01 -7.92114290e-03 3.87312143e+00] [ 4.92891767e-02 3.89733916e-04 9.98784474e-01 4.23528001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.810385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.19, Y:3.88, Z:4.24 [[ 9.86985524e-01 -1.53277315e-01 -4.86378420e-02 8.91935545e+01] [ 1.53069555e-01 9.88183116e-01 -7.99007179e-03 3.88039169e+00] [ 4.92877910e-02 4.41112348e-04 9.98784521e-01 4.23652814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.840385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:89.22, Y:3.89, Z:4.24 [[ 9.86850114e-01 -1.54158886e-01 -4.85992919e-02 8.92234200e+01] [ 1.53941604e-01 9.88045879e-01 -8.20510642e-03 3.88614179e+00] [ 4.92832201e-02 6.15757259e-04 9.98784654e-01 4.23903164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.870385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.25, Y:3.89, Z:4.24 [[ 9.86642252e-01 -1.55474319e-01 -4.86292277e-02 8.92499801e+01] [ 1.55266846e-01 9.87839861e-01 -8.03834884e-03 3.89183406e+00] [ 4.92876463e-02 3.80467789e-04 9.98784553e-01 4.24119932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.900385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.28, Y:3.90, Z:4.24 [[ 9.86400472e-01 -1.57008034e-01 -4.86064483e-02 8.92778818e+01] [ 1.56796187e-01 9.87597231e-01 -8.16489991e-03 3.89697408e+00] [ 4.92855486e-02 4.32555376e-04 9.98784635e-01 4.24383138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.930385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.30, Y:3.90, Z:4.24 [[ 9.86482104e-01 -1.56495467e-01 -4.86027576e-02 8.93007174e+01] [ 1.56281990e-01 9.87678561e-01 -8.18536456e-03 3.89983053e+00] [ 4.92848742e-02 4.78979960e-04 9.98784647e-01 4.24373218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.960385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.33, Y:3.90, Z:4.25 [[ 9.85491994e-01 -1.62647447e-01 -4.84905964e-02 8.93319424e+01] [ 1.62410923e-01 9.86683924e-01 -8.80494215e-03 3.90445414e+00] [ 4.92769933e-02 8.01797481e-04 9.98784829e-01 4.25001025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.99038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.36, Y:3.91, Z:4.25 [[ 9.85261198e-01 -1.64019133e-01 -4.85602336e-02 8.93594281e+01] [ 1.63803196e-01 9.86457098e-01 -8.42056559e-03 3.90945390e+00] [ 4.92837210e-02 3.42135088e-04 9.98784760e-01 4.25148222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.02038572299999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:89.39, Y:3.92, Z:4.25 [[ 9.84935361e-01 -1.65967364e-01 -4.85506811e-02 8.93853134e+01] [ 1.65751198e-01 9.86131201e-01 -8.47321160e-03 3.91824645e+00] [ 4.92836180e-02 2.98232178e-04 9.98784780e-01 4.24931075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.05038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.41, Y:3.92, Z:4.25 [[ 9.84840355e-01 -1.66538815e-01 -4.85211027e-02 8.94115950e+01] [ 1.66315331e-01 9.86034804e-01 -8.63579348e-03 3.92442763e+00] [ 4.92816908e-02 4.35074663e-04 9.98784825e-01 4.24827707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.08038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.44, Y:3.93, Z:4.25 [[ 9.84766281e-01 -1.66978770e-01 -4.85125026e-02 8.94394370e+01] [ 1.66753490e-01 9.85960383e-01 -8.68306803e-03 3.92948763e+00] [ 4.92812937e-02 4.61163466e-04 9.98784832e-01 4.24922161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.110385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:89.47, Y:3.93, Z:4.25 [[ 9.84353221e-01 -1.69395685e-01 -4.85163640e-02 8.94672702e+01] [ 1.69174383e-01 9.85548071e-01 -8.66185491e-03 3.93273711e+00] [ 4.92824898e-02 3.18598815e-04 9.98784829e-01 4.24974073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.140385723 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:89.50, Y:3.94, Z:4.25 [[ 9.84127111e-01 -1.70710841e-01 -4.84936882e-02 8.94953256e+01] [ 1.70485008e-01 9.85321097e-01 -8.78619251e-03 3.93715508e+00] [ 4.92817524e-02 3.79283417e-04 9.98784844e-01 4.25090671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.170385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.52, Y:3.94, Z:4.25 [[ 9.83689961e-01 -1.73211850e-01 -4.84945006e-02 8.95214311e+01] [ 1.72989272e-01 9.84884558e-01 -8.78174452e-03 3.94368527e+00] [ 4.92825870e-02 2.49485589e-04 9.98784844e-01 4.25349113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.200385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.55, Y:3.95, Z:4.26 [[ 9.83562956e-01 -1.73938171e-01 -4.84708616e-02 8.95482820e+01] [ 1.73710105e-01 9.84756515e-01 -8.91098213e-03 3.94957536e+00] [ 4.92819567e-02 3.44633473e-04 9.98784847e-01 4.25639076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.230385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.58, Y:3.96, Z:4.25 [[ 9.83484177e-01 -1.74384207e-01 -4.84667011e-02 8.95772410e+01] [ 1.74155562e-01 9.84677627e-01 -8.93369727e-03 3.95530639e+00] [ 4.92819719e-02 3.45404325e-04 9.98784846e-01 4.25420376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.260385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.60, Y:3.96, Z:4.26 [[ 9.83652456e-01 -1.73430583e-01 -4.84734744e-02 8.96040051e+01] [ 1.73202603e-01 9.84846032e-01 -8.89674681e-03 3.96077806e+00] [ 4.92818769e-02 3.55574931e-04 9.98784847e-01 4.25843034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.290385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.63, Y:3.97, Z:4.26 [[ 9.83822728e-01 -1.72467136e-01 -4.84554175e-02 8.96327278e+01] [ 1.72233140e-01 9.85015144e-01 -8.99511965e-03 3.96572652e+00] [ 4.92806826e-02 5.03974418e-04 9.98784842e-01 4.25951874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.320385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:89.66, Y:3.97, Z:4.27 [[ 9.84725614e-01 -1.67232256e-01 -4.84647991e-02 8.96625583e+01] [ 1.66994435e-01 9.85917270e-01 -8.94405829e-03 3.96997257e+00] [ 4.92780175e-02 7.14091555e-04 9.98784845e-01 4.26727103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.350385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.69, Y:3.98, Z:4.26 [[ 9.84499237e-01 -1.68558039e-01 -4.84710243e-02 8.96925652e+01] [ 1.68323489e-01 9.85691540e-01 -8.91019370e-03 3.97590266e+00] [ 4.92793634e-02 6.13266970e-04 9.98784846e-01 4.26395746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.38038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.72, Y:3.98, Z:4.27 [[ 9.84832729e-01 -1.66587657e-01 -4.85082327e-02 8.97199070e+01] [ 1.66360676e-01 9.86026519e-01 -8.70799432e-03 3.98096478e+00] [ 4.92810482e-02 5.06055423e-04 9.98784823e-01 4.26642228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.41038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.75, Y:3.99, Z:4.27 [[ 9.85055489e-01 -1.65267473e-01 -4.85009807e-02 8.97470900e+01] [ 1.65036956e-01 9.86248593e-01 -8.74730520e-03 3.98876628e+00] [ 4.92796690e-02 6.12126785e-04 9.98784831e-01 4.26870975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.44038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.78, Y:3.99, Z:4.27 [[ 9.85385973e-01 -1.63291959e-01 -4.84790743e-02 8.97753174e+01] [ 1.63053219e-01 9.86577440e-01 -8.86584400e-03 3.99370528e+00] [ 4.92760820e-02 8.31609221e-04 9.98784850e-01 4.27015960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.47038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.80, Y:4.00, Z:4.27 [[ 9.85576804e-01 -1.62121778e-01 -4.85272431e-02 8.98014572e+01] [ 1.61894474e-01 9.86770561e-01 -8.60463467e-03 3.99847591e+00] [ 4.92802535e-02 6.24235824e-04 9.98784795e-01 4.27313755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.500385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.83, Y:4.00, Z:4.27 [[ 9.85669954e-01 -1.61565713e-01 -4.84898070e-02 8.98315349e+01] [ 1.61327767e-01 9.86861583e-01 -8.80726851e-03 4.00334030e+00] [ 4.92756803e-02 8.58307671e-04 9.98784847e-01 4.27285328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.530385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.86, Y:4.01, Z:4.27 [[ 9.85778118e-01 -1.60898154e-01 -4.85106723e-02 8.98591776e+01] [ 1.60664949e-01 9.86970709e-01 -8.69444855e-03 4.00719414e+00] [ 4.92775333e-02 7.76832433e-04 9.98784822e-01 4.27449856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.560385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.89, Y:4.01, Z:4.28 [[ 9.85722590e-01 -1.61236260e-01 -4.85164244e-02 8.98888390e+01] [ 1.61004994e-01 9.86915568e-01 -8.66336502e-03 4.01222718e+00] [ 4.92784631e-02 7.28287974e-04 9.98784813e-01 4.27502676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.590385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.92, Y:4.02, Z:4.28 [[ 9.85215113e-01 -1.64303448e-01 -4.85340874e-02 8.99181430e+01] [ 1.64080573e-01 9.86409726e-01 -8.56838838e-03 4.01822994e+00] [ 4.92823117e-02 4.78204858e-04 9.98784774e-01 4.27795667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.620385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:89.95, Y:4.02, Z:4.28 [[ 9.85061067e-01 -1.65219775e-01 -4.85501780e-02 8.99465578e+01] [ 1.65002255e-01 9.86256715e-01 -8.48226646e-03 4.02247741e+00] [ 4.92843772e-02 3.44661629e-04 9.98784727e-01 4.27932228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.650385723 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:89.97, Y:4.03, Z:4.28 [[ 9.84919500e-01 -1.66062344e-01 -4.85476797e-02 8.99749100e+01] [ 1.65845189e-01 9.86115205e-01 -8.49561068e-03 4.02634039e+00] [ 4.92844061e-02 3.16093522e-04 9.98784735e-01 4.28137003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.680385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.00, Y:4.03, Z:4.28 [[ 9.84883765e-01 -1.66273781e-01 -4.85489326e-02 9.00027383e+01] [ 1.66057211e-01 9.86079581e-01 -8.48893446e-03 4.02998648e+00] [ 4.92845983e-02 2.98713381e-04 9.98784731e-01 4.28219717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.710385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.03, Y:4.04, Z:4.29 [[ 9.84336400e-01 -1.69485650e-01 -4.85434475e-02 9.00301937e+01] [ 1.69271544e-01 9.85532641e-01 -8.51811016e-03 4.03564846e+00] [ 4.92848494e-02 1.67661582e-04 9.98784749e-01 4.28591451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.74038572299999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:90.06, Y:4.04, Z:4.29 [[ 9.84328736e-01 -1.69511184e-01 -4.86096512e-02 9.00565242e+01] [ 1.69314596e-01 9.85528244e-01 -8.16375950e-03 4.04046836e+00] [ 4.92900327e-02 -1.94500391e-04 9.98784489e-01 4.28614214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.77038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.08, Y:4.04, Z:4.29 [[ 9.84089676e-01 -1.70906015e-01 -4.85658709e-02 9.00828254e+01] [ 1.70699572e-01 9.85287335e-01 -8.39778402e-03 4.04467878e+00] [ 4.92865694e-02 -2.60008462e-05 9.98784678e-01 4.28785595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.80038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.11, Y:4.05, Z:4.29 [[ 9.83462319e-01 -1.74482857e-01 -4.85551255e-02 9.01118547e+01] [ 1.74277947e-01 9.84660201e-01 -8.45494845e-03 4.04811953e+00] [ 4.92855431e-02 -1.46964392e-04 9.98784718e-01 4.28841262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.83038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.14, Y:4.05, Z:4.29 [[ 9.83061710e-01 -1.76727891e-01 -4.85481943e-02 9.01389212e+01] [ 1.76523899e-01 9.84259724e-01 -8.49173368e-03 4.05310754e+00] [ 4.92847584e-02 -2.22018333e-04 9.98784743e-01 4.28996493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.860385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:90.17, Y:4.06, Z:4.29 [[ 9.82446887e-01 -1.80122962e-01 -4.85163109e-02 9.01671845e+01] [ 1.79914778e-01 9.83644077e-01 -8.66040102e-03 4.05971222e+00] [ 4.92827190e-02 -2.20417297e-04 9.98784844e-01 4.29011609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.890385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.19, Y:4.07, Z:4.29 [[ 9.82257335e-01 -1.81156502e-01 -4.85061875e-02 9.01941987e+01] [ 1.80946944e-01 9.83454256e-01 -8.71371923e-03 4.06732650e+00] [ 4.92821635e-02 -2.17931778e-04 9.98784872e-01 4.29065213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.920385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.22, Y:4.07, Z:4.29 [[ 9.82132313e-01 -1.81837957e-01 -4.84879066e-02 9.02212780e+01] [ 1.81624486e-01 9.83328497e-01 -8.80980037e-03 4.07426973e+00] [ 4.92814964e-02 -1.54201490e-04 9.98784917e-01 4.28949292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.950385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.25, Y:4.08, Z:4.29 [[ 9.82261747e-01 -1.81138120e-01 -4.84854842e-02 9.02486594e+01] [ 1.80923169e-01 9.83457661e-01 -8.82252624e-03 4.08120395e+00] [ 4.92815167e-02 -1.06117393e-04 9.98784922e-01 4.28656122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.980385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.28, Y:4.09, Z:4.29 [[ 9.82446368e-01 -1.80142613e-01 -4.84538171e-02 9.02776172e+01] [ 1.79918273e-01 9.83640496e-01 -8.98825715e-03 4.08595055e+00] [ 4.92803048e-02 1.12753490e-04 9.98784981e-01 4.28895802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.010385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.30, Y:4.09, Z:4.29 [[ 9.82417451e-01 -1.80300071e-01 -4.84544852e-02 9.03044507e+01] [ 1.80076095e-01 9.83611648e-01 -8.98476329e-03 4.09136712e+00] [ 4.92803495e-02 1.01293747e-04 9.98784980e-01 4.28914862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.040385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.33, Y:4.10, Z:4.29 [[ 9.82390664e-01 -1.80457944e-01 -4.84098468e-02 9.03314493e+01] [ 1.80222673e-01 9.83582646e-01 -9.21775787e-03 4.09673495e+00] [ 4.92785028e-02 3.30887289e-04 9.98785022e-01 4.29040845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.070385723 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:90.36, Y:4.10, Z:4.29 [[ 9.82140882e-01 -1.81812801e-01 -4.84086046e-02 9.03592563e+01] [ 1.81578856e-01 9.83333124e-01 -9.22423621e-03 4.10334656e+00] [ 4.92788687e-02 2.69520453e-04 9.98785022e-01 4.29038002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.100385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.39, Y:4.11, Z:4.29 [[ 9.81407975e-01 -1.85730101e-01 -4.84016154e-02 9.03871785e+01] [ 1.85499119e-01 9.82600792e-01 -9.26063630e-03 4.11083896e+00] [ 4.92794446e-02 1.10005280e-04 9.98785024e-01 4.29103754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.13038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.41, Y:4.12, Z:4.29 [[ 9.80896542e-01 -1.88405703e-01 -4.84279439e-02 9.04144426e+01] [ 1.88184737e-01 9.82091271e-01 -9.12362358e-03 4.11563704e+00] [ 4.92796036e-02 -1.64069068e-04 9.98785009e-01 4.29016599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.16038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.44, Y:4.12, Z:4.29 [[ 9.80864837e-01 -1.88566963e-01 -4.84424618e-02 9.04399416e+01] [ 1.88349922e-01 9.82060303e-01 -9.04813128e-03 4.12167248e+00] [ 4.92795974e-02 -2.49140094e-04 9.98784991e-01 4.29440193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.19038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.47, Y:4.13, Z:4.30 [[ 9.80838497e-01 -1.88722725e-01 -4.83691697e-02 9.04672570e+01] [ 1.88487107e-01 9.82030405e-01 -9.42838492e-03 4.12823828e+00] [ 4.92793458e-02 1.30758034e-04 9.98785026e-01 4.29519859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.22038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.49, Y:4.13, Z:4.30 [[ 9.80921853e-01 -1.88289341e-01 -4.83677770e-02 9.04946731e+01] [ 1.88052840e-01 9.82113587e-01 -9.43560095e-03 4.13485850e+00] [ 4.92792740e-02 1.59889330e-04 9.98785026e-01 4.29547658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.250385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.52, Y:4.14, Z:4.29 [[ 9.81371462e-01 -1.85932788e-01 -4.83637379e-02 9.05221394e+01] [ 1.85692396e-01 9.82562420e-01 -9.45649974e-03 4.14227692e+00] [ 4.92786647e-02 2.99560603e-04 9.98785024e-01 4.29285854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.280385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.55, Y:4.15, Z:4.29 [[ 9.81689300e-01 -1.84246189e-01 -4.83679655e-02 9.05506645e+01] [ 1.84004828e-01 9.82880059e-01 -9.43464760e-03 4.14820309e+00] [ 4.92782067e-02 3.61953418e-04 9.98785026e-01 4.29175073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.310385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:90.58, Y:4.15, Z:4.29 [[ 9.81999601e-01 -1.82582071e-01 -4.83794454e-02 9.05761641e+01] [ 1.82341612e-01 9.83190541e-01 -9.37537080e-03 4.15306806e+00] [ 4.92779877e-02 3.85024352e-04 9.98785028e-01 4.28957881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.340385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.60, Y:4.16, Z:4.29 [[ 9.82037478e-01 -1.82387278e-01 -4.83453438e-02 9.06047346e+01] [ 1.82137925e-01 9.83226602e-01 -9.55119392e-03 4.16098819e+00] [ 4.92764444e-02 5.74109803e-04 9.98785013e-01 4.29050279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.370385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.63, Y:4.17, Z:4.29 [[ 9.82166557e-01 -1.81684004e-01 -4.83712434e-02 9.06322961e+01] [ 1.81440369e-01 9.83356852e-01 -9.41774256e-03 4.16705706e+00] [ 4.92772468e-02 4.73295550e-04 9.98785026e-01 4.29167938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.400385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.66, Y:4.17, Z:4.29 [[ 9.82360573e-01 -1.80636404e-01 -4.83548859e-02 9.06605826e+01] [ 1.80387356e-01 9.83549752e-01 -9.50192093e-03 4.17299569e+00] [ 4.92758289e-02 6.11702472e-04 9.98785021e-01 4.29120057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.430385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.69, Y:4.18, Z:4.29 [[ 9.82322912e-01 -1.80837340e-01 -4.83689306e-02 9.06873190e+01] [ 1.80592089e-01 9.83512876e-01 -9.42972945e-03 4.18074415e+00] [ 4.92767133e-02 5.27993070e-04 9.98785025e-01 4.29052113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.460385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.71, Y:4.19, Z:4.29 [[ 9.82879952e-01 -1.77778471e-01 -4.83923135e-02 9.07127453e+01] [ 1.77535426e-01 9.84070375e-01 -9.30964669e-03 4.19008645e+00] [ 4.92764968e-02 5.58915081e-04 9.98785019e-01 4.29038074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.49038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.74, Y:4.20, Z:4.29 [[ 9.83002455e-01 -1.77112776e-01 -4.83449951e-02 9.07398835e+01] [ 1.76856997e-01 9.84190205e-01 -9.55212501e-03 4.19696295e+00] [ 4.92724740e-02 8.39611693e-04 9.98785021e-01 4.29243203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.52038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.77, Y:4.20, Z:4.29 [[ 9.83284489e-01 -1.75539288e-01 -4.83484478e-02 9.07695168e+01] [ 1.75282477e-01 9.84472015e-01 -9.53444495e-03 4.20399007e+00] [ 4.92713635e-02 9.00436123e-04 9.98785023e-01 4.29269702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.55038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.80, Y:4.21, Z:4.29 [[ 9.83355646e-01 -1.75133533e-01 -4.83727005e-02 9.07963550e+01] [ 1.74882335e-01 9.84544369e-01 -9.41032300e-03 4.20947759e+00] [ 4.92731330e-02 7.94163468e-04 9.98785026e-01 4.29338718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.58038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.83, Y:4.21, Z:4.30 [[ 9.83378693e-01 -1.75009473e-01 -4.83531800e-02 9.08256485e+01] [ 1.74753216e-01 9.84566336e-01 -9.51015174e-03 4.21438289e+00] [ 4.92712800e-02 9.02206857e-04 9.98785025e-01 4.29775714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.610385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.85, Y:4.22, Z:4.30 [[ 9.83399154e-01 -1.74887003e-01 -4.83801567e-02 9.08528408e+01] [ 1.74637378e-01 9.84588212e-01 -9.37227704e-03 4.22133186e+00] [ 4.92736215e-02 7.67705606e-04 9.98785022e-01 4.29954399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.640385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.88, Y:4.23, Z:4.30 [[ 9.83689757e-01 -1.73243340e-01 -4.83860214e-02 9.08824202e+01] [ 1.72993199e-01 9.84878710e-01 -9.34235536e-03 4.22743599e+00] [ 4.92728631e-02 8.19526659e-04 9.98785019e-01 4.30386694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.670385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.91, Y:4.24, Z:4.30 [[ 9.83954716e-01 -1.71723468e-01 -4.84165940e-02 9.09083165e+01] [ 1.71479153e-01 9.85144917e-01 -9.18652248e-03 4.23593761e+00] [ 4.92749030e-02 7.36685572e-04 9.98784982e-01 4.30320088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.700385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:90.94, Y:4.24, Z:4.31 [[ 9.84082849e-01 -1.70989766e-01 -4.84091459e-02 9.09354386e+01] [ 1.70742699e-01 9.85272470e-01 -9.22443595e-03 4.24204470e+00] [ 4.92734829e-02 8.12100985e-04 9.98784994e-01 4.30637020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.730385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:90.96, Y:4.25, Z:4.31 [[ 9.84348799e-01 -1.69454319e-01 -4.84011931e-02 9.09630999e+01] [ 1.69203411e-01 9.85537604e-01 -9.26482148e-03 4.24772599e+00] [ 4.92711599e-02 9.30168906e-04 9.98785006e-01 4.30739982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.760385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.99, Y:4.25, Z:4.31 [[ 9.84318548e-01 -1.69632580e-01 -4.83919766e-02 9.09895224e+01] [ 1.69379591e-01 9.85506900e-01 -9.31155935e-03 4.25396949e+00] [ 4.92701706e-02 9.68927390e-04 9.98785018e-01 4.30822516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.790385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.02, Y:4.26, Z:4.31 [[ 9.84262250e-01 -1.69964930e-01 -4.83709168e-02 9.10181035e+01] [ 1.69707104e-01 9.85449540e-01 -9.41817721e-03 4.26115051e+00] [ 4.92678575e-02 1.06106810e-03 9.98785038e-01 4.31069970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.820385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.05, Y:4.27, Z:4.31 [[ 9.84204182e-01 -1.70297644e-01 -4.83822366e-02 9.10452145e+01] [ 1.70043029e-01 9.85392176e-01 -9.36097968e-03 4.26737797e+00] [ 4.92696301e-02 9.86053284e-04 9.98785028e-01 4.31151515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.850385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.07, Y:4.27, Z:4.31 [[ 9.84317990e-01 -1.69640965e-01 -4.83739354e-02 9.10712437e+01] [ 1.69383501e-01 9.85505361e-01 -9.40286818e-03 4.27370665e+00] [ 4.92678843e-02 1.06166577e-03 9.98785036e-01 4.31167498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.88038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.10, Y:4.28, Z:4.31 [[ 9.84286354e-01 -1.69828756e-01 -4.83587362e-02 9.10984610e+01] [ 1.69567758e-01 9.85472940e-01 -9.47944316e-03 4.27942835e+00] [ 4.92661080e-02 1.13040408e-03 9.98785048e-01 4.31335636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.91038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.13, Y:4.28, Z:4.31 [[ 9.84289156e-01 -1.69814275e-01 -4.83525462e-02 9.11271269e+01] [ 1.69551730e-01 9.85475398e-01 -9.51058192e-03 4.28487141e+00] [ 4.92652773e-02 1.16290480e-03 9.98785052e-01 4.31417025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.94038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.15, Y:4.29, Z:4.32 [[ 9.83863687e-01 -1.72258455e-01 -4.83660059e-02 9.11528454e+01] [ 1.72002179e-01 9.85051309e-01 -9.44295758e-03 4.29083037e+00] [ 4.92696267e-02 9.71524662e-04 9.98785042e-01 4.31532707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.97038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.18, Y:4.29, Z:4.32 [[ 9.83772202e-01 -1.72787893e-01 -4.83383826e-02 9.11824812e+01] [ 1.72525449e-01 9.84958458e-01 -9.58153086e-03 4.29436547e+00] [ 4.92668713e-02 1.08644255e-03 9.98785059e-01 4.31636654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.000385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.21, Y:4.30, Z:4.32 [[ 9.83234257e-01 -1.75815354e-01 -4.83669000e-02 9.12109975e+01] [ 1.75563586e-01 9.84422846e-01 -9.43866259e-03 4.29547731e+00] [ 4.92729432e-02 7.88949980e-04 9.98785039e-01 4.32121644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.030385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.24, Y:4.30, Z:4.32 [[ 9.83024586e-01 -1.76986919e-01 -4.83559027e-02 9.12389541e+01] [ 1.76733862e-01 9.84212890e-01 -9.49368549e-03 4.29897783e+00] [ 4.92727609e-02 7.86400814e-04 9.98785050e-01 4.32356123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.060385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.27, Y:4.30, Z:4.33 [[ 9.82828516e-01 -1.78071224e-01 -4.83605949e-02 9.12669491e+01] [ 1.77820631e-01 9.84017346e-01 -9.47023326e-03 4.30433244e+00] [ 4.92740403e-02 7.08103801e-04 9.98785046e-01 4.32665719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.090385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.30, Y:4.31, Z:4.33 [[ 9.82994363e-01 -1.77153935e-01 -4.83587158e-02 9.12958184e+01] [ 1.76901772e-01 9.84182859e-01 -9.47960980e-03 4.30991967e+00] [ 4.92731694e-02 7.63660488e-04 9.98785048e-01 4.32891760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.120385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:91.32, Y:4.31, Z:4.33 [[ 9.83355692e-01 -1.75134582e-01 -4.83679730e-02 9.13219376e+01] [ 1.74882247e-01 9.84544163e-01 -9.43346419e-03 4.31441865e+00] [ 4.92725313e-02 8.17750920e-04 9.98785036e-01 4.32777436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.150385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.35, Y:4.32, Z:4.33 [[ 9.83816845e-01 -1.72535123e-01 -4.83326605e-02 9.13508663e+01] [ 1.72271015e-01 9.85002721e-01 -9.60922083e-03 4.31821381e+00] [ 4.92657302e-02 1.12739683e-03 9.98785070e-01 4.33127726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.180385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.38, Y:4.32, Z:4.33 [[ 9.84189426e-01 -1.70395835e-01 -4.83366672e-02 9.13784530e+01] [ 1.70130127e-01 9.85374947e-01 -9.58929347e-03 4.32308514e+00] [ 4.92637166e-02 1.21415790e-03 9.98785068e-01 4.33187997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.210385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.41, Y:4.33, Z:4.33 [[ 9.84450489e-01 -1.68881183e-01 -4.83361182e-02 9.14068624e+01] [ 1.68613517e-01 9.85635569e-01 -9.59202235e-03 4.32893341e+00] [ 4.92617095e-02 1.29274819e-03 9.98785068e-01 4.33323677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.24038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.44, Y:4.33, Z:4.33 [[ 9.85066542e-01 -1.65250351e-01 -4.83345495e-02 9.14351174e+01] [ 1.64977936e-01 9.86250538e-01 -9.59980827e-03 4.33322967e+00] [ 4.92563471e-02 1.48231573e-03 9.98785069e-01 4.33406112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.27038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.46, Y:4.34, Z:4.34 [[ 9.85392346e-01 -1.63292907e-01 -4.83461488e-02 9.14642658e+01] [ 1.63020958e-01 9.86576460e-01 -9.54231726e-03 4.33527290e+00] [ 4.92553651e-02 1.52149092e-03 9.98785059e-01 4.33614253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.30038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.49, Y:4.34, Z:4.34 [[ 9.85444264e-01 -1.62978289e-01 -4.83495590e-02 9.14931717e+01] [ 1.62706789e-01 9.86628485e-01 -9.52543871e-03 4.33845660e+00] [ 4.92554918e-02 1.51998745e-03 9.98785055e-01 4.33811646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.33038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.52, Y:4.34, Z:4.34 [[ 9.85455034e-01 -1.62910976e-01 -4.83569091e-02 9.15209207e+01] [ 1.62641176e-01 9.86639653e-01 -9.48908822e-03 4.34210027e+00] [ 4.92567207e-02 1.48624519e-03 9.98785045e-01 4.34026720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.360385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.55, Y:4.35, Z:4.34 [[ 9.85537169e-01 -1.62412045e-01 -4.83613124e-02 9.15481521e+01] [ 1.62142712e-01 9.86721901e-01 -9.46732296e-03 4.34588627e+00] [ 4.92567735e-02 1.48896429e-03 9.98785039e-01 4.34044395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.390385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.57, Y:4.35, Z:4.34 [[ 9.85203962e-01 -1.64421771e-01 -4.83594325e-02 9.15727937e+01] [ 1.64154400e-01 9.86389136e-01 -9.47660913e-03 4.35222217e+00] [ 4.92593797e-02 1.39797923e-03 9.98785042e-01 4.34284744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.420385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.60, Y:4.36, Z:4.35 [[ 9.84762576e-01 -1.67064115e-01 -4.82933764e-02 9.16017425e+01] [ 1.66783968e-01 9.85944738e-01 -9.80207140e-03 4.35531036e+00] [ 4.92521748e-02 1.59815212e-03 9.98785097e-01 4.34737920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.450385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.63, Y:4.36, Z:4.35 [[ 9.84504364e-01 -1.68579759e-01 -4.82910255e-02 9.16293371e+01] [ 1.68300865e-01 9.85686822e-01 -9.81363985e-03 4.35907379e+00] [ 4.92542085e-02 1.53414989e-03 9.98785097e-01 4.35013437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.480385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.66, Y:4.36, Z:4.35 [[ 9.84259139e-01 -1.70006018e-01 -4.82897666e-02 9.16572834e+01] [ 1.69728534e-01 9.85441929e-01 -9.81983073e-03 4.36327784e+00] [ 4.92561911e-02 1.46910684e-03 9.98785097e-01 4.35313189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.510385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.69, Y:4.37, Z:4.35 [[ 9.83846754e-01 -1.72377271e-01 -4.82870600e-02 9.16851312e+01] [ 1.72101987e-01 9.85030058e-01 -9.83312212e-03 4.36810473e+00] [ 4.92592123e-02 1.36398634e-03 9.98785097e-01 4.35491533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.540385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:91.72, Y:4.37, Z:4.36 [[ 9.83685133e-01 -1.73297434e-01 -4.82862207e-02 9.17163816e+01] [ 1.73023054e-01 9.84868647e-01 -9.83724185e-03 4.37060052e+00] [ 4.92603536e-02 1.32211918e-03 9.98785097e-01 4.35547347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.570385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.74, Y:4.38, Z:4.36 [[ 9.83227787e-01 -1.75859185e-01 -4.83390660e-02 9.17418434e+01] [ 1.75600632e-01 9.84414895e-01 -9.57774760e-03 4.37543716e+00] [ 4.92700315e-02 9.28737012e-04 9.98785063e-01 4.35813124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.600385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:91.77, Y:4.38, Z:4.36 [[ 9.83287943e-01 -1.75538080e-01 -4.82825400e-02 9.17745327e+01] [ 1.75265541e-01 9.84471876e-01 -9.85470324e-03 4.37721213e+00] [ 4.92626785e-02 1.22774539e-03 9.98785103e-01 4.35853957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.63038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.80, Y:4.38, Z:4.36 [[ 9.82571981e-01 -1.79478578e-01 -4.83708764e-02 9.17990052e+01] [ 1.79232084e-01 9.83761706e-01 -9.42153334e-03 4.38325371e+00] [ 4.92763793e-02 5.87721698e-04 9.98785008e-01 4.36005837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.66038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.83, Y:4.39, Z:4.36 [[ 9.82458029e-01 -1.80126027e-01 -4.82787294e-02 9.18261968e+01] [ 1.79858159e-01 9.83643016e-01 -9.87219277e-03 4.38974827e+00] [ 4.92672739e-02 1.01569168e-03 9.98785114e-01 4.35992125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.69038572299999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:91.86, Y:4.39, Z:4.36 [[ 9.82635444e-01 -1.79156393e-01 -4.82759785e-02 9.18580695e+01] [ 1.78886695e-01 9.83820016e-01 -9.88562690e-03 4.39413929e+00] [ 4.92659472e-02 1.07803713e-03 9.98785114e-01 4.35716137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.72038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.88, Y:4.40, Z:4.36 [[ 9.82378176e-01 -1.80540400e-01 -4.83558090e-02 9.18816870e+01] [ 1.80291547e-01 9.83567380e-01 -9.49559180e-03 4.40100143e+00] [ 4.92755343e-02 6.10118532e-04 9.98785037e-01 4.35792759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.750385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.91, Y:4.41, Z:4.36 [[ 9.82428553e-01 -1.80288392e-01 -4.82725037e-02 9.19091510e+01] [ 1.80019268e-01 9.83613246e-01 -9.90173870e-03 4.40618144e+00] [ 4.92666427e-02 1.03777002e-03 9.98785123e-01 4.35681216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.780385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.94, Y:4.41, Z:4.36 [[ 9.82470606e-01 -1.80059677e-01 -4.82702855e-02 9.19371672e+01] [ 1.79789747e-01 9.83655117e-01 -9.91254056e-03 4.41083142e+00] [ 4.92661622e-02 1.06027731e-03 9.98785123e-01 4.36182398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.810385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.97, Y:4.42, Z:4.36 [[ 9.82394197e-01 -1.80476784e-01 -4.82677054e-02 9.19655863e+01] [ 1.80206740e-01 9.83578682e-01 -9.92508824e-03 4.41624810e+00] [ 4.92663341e-02 1.05218327e-03 9.98785123e-01 4.36477386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.840385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:91.99, Y:4.42, Z:4.37 [[ 9.82352491e-01 -1.80704295e-01 -4.82653099e-02 9.19923202e+01] [ 1.80433955e-01 9.83536908e-01 -9.93672398e-03 4.42145467e+00] [ 4.92663223e-02 1.05266482e-03 9.98785123e-01 4.36962176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.870385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.02, Y:4.43, Z:4.37 [[ 9.82301498e-01 -1.80981513e-01 -4.82644614e-02 9.20192825e+01] [ 1.80711304e-01 9.83485945e-01 -9.94084351e-03 4.42799096e+00] [ 4.92665283e-02 1.04297171e-03 9.98785123e-01 4.37114021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.900385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.05, Y:4.44, Z:4.37 [[ 9.82514370e-01 -1.79822996e-01 -4.82618071e-02 9.20465481e+01] [ 1.79550759e-01 9.83698352e-01 -9.95371318e-03 4.43595394e+00] [ 4.92649667e-02 1.11422217e-03 9.98785123e-01 4.37330034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.930385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.08, Y:4.44, Z:4.37 [[ 9.82701111e-01 -1.78802628e-01 -4.82508774e-02 9.20750011e+01] [ 1.78526564e-01 9.83884207e-01 -1.00066573e-02 4.44216264e+00] [ 4.92624929e-02 1.21948987e-03 9.98785122e-01 4.37463545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.960385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.10, Y:4.45, Z:4.38 [[ 9.82650787e-01 -1.79076950e-01 -4.82584362e-02 9.21029675e+01] [ 1.78803011e-01 9.83834377e-01 -9.97007033e-03 4.44798354e+00] [ 4.92637183e-02 1.16834377e-03 9.98785123e-01 4.37606051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.99038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.13, Y:4.45, Z:4.38 [[ 9.82797452e-01 -1.78271036e-01 -4.82556275e-02 9.21304946e+01] [ 1.77995460e-01 9.83980662e-01 -9.98364624e-03 4.45353736e+00] [ 4.92623992e-02 1.22261948e-03 9.98785123e-01 4.37767478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.02038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.16, Y:4.46, Z:4.38 [[ 9.82976401e-01 -1.77282435e-01 -4.82528112e-02 9.21552976e+01] [ 1.77005002e-01 9.84159176e-01 -9.99723959e-03 4.45902700e+00] [ 4.92607819e-02 1.28606164e-03 9.98785123e-01 4.37649322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.05038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.19, Y:4.46, Z:4.38 [[ 9.83160819e-01 -1.76275530e-01 -4.81844533e-02 9.21852405e+01] [ 1.75980745e-01 9.84339442e-01 -1.03266318e-02 4.46449323e+00] [ 4.92501904e-02 1.67320372e-03 9.98785072e-01 4.37840376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.08038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.21, Y:4.47, Z:4.38 [[ 9.83277901e-01 -1.75603099e-01 -4.82506001e-02 9.22145820e+01] [ 1.75323132e-01 9.84460078e-01 -1.00077289e-02 4.47148801e+00] [ 4.92581777e-02 1.38093229e-03 9.98785125e-01 4.37908271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.110385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.24, Y:4.48, Z:4.38 [[ 9.83466162e-01 -1.74536781e-01 -4.82827072e-02 9.22402493e+01] [ 1.74263119e-01 9.84649828e-01 -9.85302396e-03 4.47768471e+00] [ 4.92612744e-02 1.27622054e-03 9.98785111e-01 4.37797944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.140385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.27, Y:4.48, Z:4.38 [[ 9.83215004e-01 -1.75955820e-01 -4.82473313e-02 9.22675927e+01] [ 1.75675514e-01 9.84397098e-01 -1.00233098e-02 4.48487939e+00] [ 4.92581926e-02 1.37919388e-03 9.98785126e-01 4.37908768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.170385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.30, Y:4.49, Z:4.38 [[ 9.83150998e-01 -1.76317366e-01 -4.82317550e-02 9.22951020e+01] [ 1.76033821e-01 9.84332322e-01 -1.00982265e-02 4.48914210e+00] [ 4.92565680e-02 1.43766131e-03 9.98785124e-01 4.38017307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.200385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.32, Y:4.49, Z:4.38 [[ 9.82583961e-01 -1.79447259e-01 -4.82435635e-02 9.23222959e+01] [ 1.79170261e-01 9.83766835e-01 -1.00414936e-02 4.49382803e+00] [ 4.92623363e-02 1.22279867e-03 9.98785126e-01 4.38186176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.230385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.35, Y:4.50, Z:4.38 [[ 9.82344076e-01 -1.80756570e-01 -4.82408424e-02 9.23503486e+01] [ 1.80480507e-01 9.83527169e-01 -1.00545494e-02 4.49918839e+00] [ 4.92636050e-02 1.17049537e-03 9.98785126e-01 4.38311987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.260385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.38, Y:4.50, Z:4.38 [[ 9.82164224e-01 -1.81732002e-01 -4.82381336e-02 9.23775144e+01] [ 1.81456477e-01 9.83347442e-01 -1.00675283e-02 4.50475713e+00] [ 4.92644374e-02 1.13484436e-03 9.98785126e-01 4.38419496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.290385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.41, Y:4.51, Z:4.39 [[ 9.81822843e-01 -1.83568100e-01 -4.82354290e-02 9.24050397e+01] [ 1.83294153e-01 9.83006428e-01 -1.00804703e-02 4.51026730e+00] [ 4.92661895e-02 1.05596387e-03 9.98785126e-01 4.38557180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.320385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.43, Y:4.52, Z:4.39 [[ 9.81810045e-01 -1.83636872e-01 -4.82341645e-02 9.24301080e+01] [ 1.83362711e-01 9.82993580e-01 -1.00865170e-02 4.51578961e+00] [ 4.92661305e-02 1.05869656e-03 9.98785126e-01 4.38596066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.350385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.46, Y:4.52, Z:4.39 [[ 9.80879279e-01 -1.88566000e-01 -4.81529228e-02 9.24603592e+01] [ 1.88278746e-01 9.82059777e-01 -1.04741832e-02 4.52325041e+00] [ 4.92641234e-02 1.20773732e-03 9.98785056e-01 4.38955366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.38038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.49, Y:4.53, Z:4.39 [[ 9.80476088e-01 -1.90631548e-01 -4.82312538e-02 9.24878570e+01] [ 1.90365161e-01 9.81661394e-01 -1.01001466e-02 4.52863436e+00] [ 4.92721664e-02 7.21401833e-04 9.98785129e-01 4.39252611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.41038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.52, Y:4.53, Z:4.40 [[ 9.80108545e-01 -1.92512954e-01 -4.82286487e-02 9.25155985e+01] [ 1.92248232e-01 9.81294224e-01 -1.01125708e-02 4.53391624e+00] [ 4.92732952e-02 6.39544624e-04 9.98785129e-01 4.39568110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.44038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.54, Y:4.54, Z:4.40 [[ 9.79667043e-01 -1.94747917e-01 -4.82258671e-02 9.25427663e+01] [ 1.94485247e-01 9.80853178e-01 -1.01258184e-02 4.53895122e+00] [ 4.92744771e-02 5.40710863e-04 9.98785129e-01 4.39868745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.47038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.57, Y:4.54, Z:4.40 [[ 9.79630997e-01 -1.94929367e-01 -4.82250103e-02 9.25698841e+01] [ 1.94666716e-01 9.80817136e-01 -1.01298974e-02 4.54482392e+00] [ 4.92745310e-02 5.35757068e-04 9.98785129e-01 4.40048742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.500385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.60, Y:4.55, Z:4.40 [[ 9.80033754e-01 -1.92894927e-01 -4.82222842e-02 9.25966303e+01] [ 1.92629177e-01 9.81219202e-01 -1.01428584e-02 4.55081651e+00] [ 4.92731371e-02 6.51324715e-04 9.98785129e-01 4.40165227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.530385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:92.62, Y:4.56, Z:4.40 [[ 9.80305371e-01 -1.91510068e-01 -4.82210987e-02 9.26246472e+01] [ 1.91242365e-01 9.81490380e-01 -1.01484910e-02 4.55725417e+00] [ 4.92720827e-02 7.26703235e-04 9.98785129e-01 4.40179061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.560385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.65, Y:4.56, Z:4.40 [[ 9.80781729e-01 -1.89055954e-01 -4.82187414e-02 9.26527346e+01] [ 1.88784736e-01 9.81965938e-01 -1.01596793e-02 4.56478388e+00] [ 4.92699095e-02 8.61465467e-04 9.98785129e-01 4.40187625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.590385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.68, Y:4.57, Z:4.40 [[ 9.81109998e-01 -1.87341978e-01 -4.82302227e-02 9.26804882e+01] [ 1.87071366e-01 9.82294349e-01 -1.01052399e-02 4.57076735e+00] [ 4.92694109e-02 8.91858250e-04 9.98785127e-01 4.40305940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.620385723 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:92.71, Y:4.58, Z:4.41 [[ 9.81116470e-01 -1.87307060e-01 -4.82341901e-02 9.27059164e+01] [ 1.87037331e-01 9.82301023e-01 -1.00864430e-02 4.57777544e+00] [ 4.92697563e-02 8.74381223e-04 9.98785125e-01 4.40597408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.650385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.74, Y:4.58, Z:4.41 [[ 9.81458130e-01 -1.85523848e-01 -4.81751098e-02 9.27368731e+01] [ 1.85238244e-01 9.82638967e-01 -1.03659827e-02 4.58148355e+00] [ 4.92618771e-02 1.24990524e-03 9.98785115e-01 4.40792925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.680385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.76, Y:4.59, Z:4.40 [[ 9.81045563e-01 -1.87678575e-01 -4.82323203e-02 9.27594224e+01] [ 1.87408855e-01 9.82230118e-01 -1.00953656e-02 4.59182498e+00] [ 4.92699215e-02 8.64849712e-04 9.98785125e-01 4.40404992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.710385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.79, Y:4.60, Z:4.40 [[ 9.81186572e-01 -1.86976698e-01 -4.80897741e-02 9.27865008e+01] [ 1.86673173e-01 9.82363066e-01 -1.07671899e-02 4.59852832e+00] [ 4.92548316e-02 1.58755142e-03 9.98784982e-01 4.40480519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.74038572299999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:92.82, Y:4.60, Z:4.41 [[ 9.82176709e-01 -1.81700355e-01 -4.81029494e-02 9.28178396e+01] [ 1.81393546e-01 9.83352318e-01 -1.07051377e-02 4.60136670e+00] [ 4.92472741e-02 1.78877232e-03 9.98785015e-01 4.40967977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.77038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.84, Y:4.61, Z:4.41 [[ 9.81632580e-01 -1.84590592e-01 -4.82057101e-02 9.28418656e+01] [ 1.84311003e-01 9.82814833e-01 -1.02204882e-02 4.60836092e+00] [ 4.92638929e-02 1.14792143e-03 9.98785138e-01 4.40962477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.80038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.87, Y:4.61, Z:4.42 [[ 9.82266061e-01 -1.81221487e-01 -4.80848977e-02 9.28742881e+01] [ 1.80910017e-01 9.83440476e-01 -1.07887399e-02 4.61055177e+00] [ 4.92437862e-02 1.89837342e-03 9.98784985e-01 4.41512417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.83038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.90, Y:4.62, Z:4.42 [[ 9.81976446e-01 -1.82753224e-01 -4.82028834e-02 9.29017546e+01] [ 1.82470810e-01 9.83158018e-01 -1.02330028e-02 4.61668905e+00] [ 4.92611656e-02 1.25294855e-03 9.98785146e-01 4.41760143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.860385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.93, Y:4.62, Z:4.42 [[ 9.81604832e-01 -1.84739037e-01 -4.82020872e-02 9.29295622e+01] [ 1.84458829e-01 9.82786930e-01 -1.02367522e-02 4.62346600e+00] [ 4.92635090e-02 1.15714487e-03 9.98785146e-01 4.42124966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.890385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:92.96, Y:4.63, Z:4.42 [[ 9.81377095e-01 -1.85945662e-01 -4.81996778e-02 9.29566085e+01] [ 1.85666352e-01 9.82559404e-01 -1.02480842e-02 4.63005106e+00] [ 4.92646335e-02 1.10817675e-03 9.98785146e-01 4.42351460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.920385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.98, Y:4.64, Z:4.43 [[ 9.81222672e-01 -1.86759551e-01 -4.81968687e-02 9.29844075e+01] [ 1.86480573e-01 9.82405060e-01 -1.02612783e-02 4.63614439e+00] [ 4.92652394e-02 1.08081922e-03 9.98785146e-01 4.42545291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.950385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.01, Y:4.64, Z:4.43 [[ 9.80936629e-01 -1.88256913e-01 -4.81940232e-02 9.30119028e+01] [ 1.87979085e-01 9.82119288e-01 -1.02746253e-02 4.64146179e+00] [ 4.92665490e-02 1.01928788e-03 9.98785146e-01 4.42788539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.980385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.04, Y:4.65, Z:4.43 [[ 9.80839572e-01 -1.88762672e-01 -4.81911627e-02 9.30383085e+01] [ 1.88484795e-01 9.82022219e-01 -1.02880245e-02 4.64723396e+00] [ 4.92667875e-02 1.00760014e-03 9.98785146e-01 4.42845308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.010385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:93.07, Y:4.65, Z:4.43 [[ 9.80740807e-01 -1.89275464e-01 -4.81899229e-02 9.30664962e+01] [ 1.88997921e-01 9.81923532e-01 -1.02938285e-02 4.65435687e+00] [ 4.92671885e-02 9.87782470e-04 9.98785146e-01 4.42742856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.040385723 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:93.09, Y:4.66, Z:4.42 [[ 9.79938153e-01 -1.93388690e-01 -4.81874644e-02 9.30906179e+01] [ 1.93115547e-01 9.81121902e-01 -1.03053247e-02 4.66423762e+00] [ 4.92707099e-02 7.92832275e-04 9.98785146e-01 4.42137640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.070385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:93.12, Y:4.67, Z:4.42 [[ 9.79994394e-01 -1.93123655e-01 -4.81065603e-02 9.31192009e+01] [ 1.92831616e-01 9.81173700e-01 -1.06835283e-02 4.66872588e+00] [ 4.92641338e-02 1.19333206e-03 9.98785073e-01 4.42265981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.100385723 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:93.15, Y:4.67, Z:4.42 [[ 9.79905030e-01 -1.93575325e-01 -4.81116050e-02 9.31463537e+01] [ 1.93284987e-01 9.81084746e-01 -1.06599556e-02 4.67382027e+00] [ 4.92650662e-02 1.14649318e-03 9.98785081e-01 4.42364251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.13038572299999 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:93.18, Y:4.68, Z:4.43 [[ 9.79981868e-01 -1.93186748e-01 -4.81084094e-02 9.31759769e+01] [ 1.92895210e-01 9.81161294e-01 -1.06748693e-02 4.67936711e+00] [ 4.92643525e-02 1.18129663e-03 9.98785076e-01 4.42626755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.16038572299999 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:93.20, Y:4.69, Z:4.43 [[ 9.80023622e-01 -1.92967473e-01 -4.81378730e-02 9.32039087e+01] [ 1.92682423e-01 9.81204591e-01 -1.05373320e-02 4.68721808e+00] [ 4.92664643e-02 1.05151225e-03 9.98785117e-01 4.42783676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.19038572299999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:93.23, Y:4.69, Z:4.43 [[ 9.79921977e-01 -1.93479498e-01 -4.81518636e-02 9.32317275e+01] [ 1.93198270e-01 9.81103850e-01 -1.04720740e-02 4.69289488e+00] [ 4.92681104e-02 9.58958749e-04 9.98785129e-01 4.43041353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.22038572299999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:93.26, Y:4.70, Z:4.43 [[ 9.79767551e-01 -1.94257320e-01 -4.81626466e-02 9.32593349e+01] [ 1.93979499e-01 9.80950223e-01 -1.04218182e-02 4.69794068e+00] [ 4.92696733e-02 8.68393220e-04 9.98785135e-01 4.43244881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.250385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:93.29, Y:4.70, Z:4.44 [[ 9.79577600e-01 -1.95212913e-01 -4.81626833e-02 9.32874039e+01] [ 1.94936255e-01 9.80760545e-01 -1.04216468e-02 4.70272929e+00] [ 4.92704996e-02 8.20158683e-04 9.98785135e-01 4.43627904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.280385723 meters Centerline goodness : 0.999182 Centerline is valid? [True, True] Translation: X:93.32, Y:4.71, Z:4.44 [[ 9.79274459e-01 -1.96724374e-01 -4.81773295e-02 9.33182756e+01] [ 1.96452893e-01 9.80458600e-01 -1.03534886e-02 4.70740065e+00] [ 4.92726606e-02 6.74331241e-04 9.98785137e-01 4.44010617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.310385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.34, Y:4.72, Z:4.44 [[ 9.78420083e-01 -2.00912023e-01 -4.82545329e-02 9.33434134e+01] [ 2.00663319e-01 9.79609284e-01 -9.99412477e-03 4.71626414e+00] [ 4.92785282e-02 9.55376445e-05 9.98785071e-01 4.44015734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.340385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:93.37, Y:4.72, Z:4.44 [[ 9.77621136e-01 -2.04781297e-01 -4.81823155e-02 9.33698827e+01] [ 2.04520771e-01 9.78807724e-01 -1.03292315e-02 4.72322301e+00] [ 4.92764560e-02 2.43790680e-04 9.98785148e-01 4.44207518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.370385723 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:93.40, Y:4.73, Z:4.45 [[ 9.77378319e-01 -2.05937903e-01 -4.81788527e-02 9.33970882e+01] [ 2.05677991e-01 9.78565041e-01 -1.03452785e-02 4.72932642e+00] [ 4.92766260e-02 2.01921324e-04 9.98785149e-01 4.44851238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.400385723 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:93.43, Y:4.74, Z:4.45 [[ 9.76844464e-01 -2.08458393e-01 -4.81662855e-02 9.34265907e+01] [ 2.08198674e-01 9.78031227e-01 -1.04034632e-02 4.73566306e+00] [ 4.92768205e-02 1.34408660e-04 9.98785151e-01 4.44691278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.430385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:93.45, Y:4.74, Z:4.45 [[ 9.76256053e-01 -2.11188313e-01 -4.82038878e-02 9.34512997e+01] [ 2.10940505e-01 9.77445376e-01 -1.02293708e-02 4.74232503e+00] [ 4.92769908e-02 -1.81667297e-04 9.98785135e-01 4.45289120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.460385723 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:93.48, Y:4.75, Z:4.45 [[ 9.75890344e-01 -2.12881073e-01 -4.81631226e-02 9.34782294e+01] [ 2.12626022e-01 9.77078115e-01 -1.04178383e-02 4.74996494e+00] [ 4.92768936e-02 -7.40653970e-05 9.98785153e-01 4.45325513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.49038572299999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:93.51, Y:4.76, Z:4.45 [[ 9.75512497e-01 -2.14606507e-01 -4.81603095e-02 9.35058584e+01] [ 2.14352916e-01 9.76700581e-01 -1.04308265e-02 4.75981406e+00] [ 4.92767256e-02 -1.47901164e-04 9.98785153e-01 4.45087226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.52038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.54, Y:4.77, Z:4.45 [[ 9.75250748e-01 -2.15793428e-01 -4.81578085e-02 9.35350684e+01] [ 2.15540714e-01 9.76439019e-01 -1.04423606e-02 4.76711004e+00] [ 4.92765561e-02 -1.96048484e-04 9.98785153e-01 4.44806556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.55038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.56, Y:4.77, Z:4.45 [[ 9.74954832e-01 -2.17119713e-01 -4.81882267e-02 9.35608810e+01] [ 2.16875544e-01 9.76144899e-01 -1.03021324e-02 4.77467984e+00] [ 4.92754877e-02 -4.06734120e-04 9.98785143e-01 4.44919989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.58038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.59, Y:4.78, Z:4.45 [[ 9.74613446e-01 -2.18650121e-01 -4.81742150e-02 9.35879685e+01] [ 2.18404631e-01 9.75803233e-01 -1.03666404e-02 4.78349251e+00] [ 4.92752220e-02 -4.18004492e-04 9.98785151e-01 4.45028384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.610385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.62, Y:4.79, Z:4.45 [[ 9.74515644e-01 -2.19090199e-01 -4.81533447e-02 9.36151036e+01] [ 2.18840506e-01 9.75704550e-01 -1.04625605e-02 4.79214044e+00] [ 4.92756820e-02 -3.41973388e-04 9.98785157e-01 4.45143907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.640385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.64, Y:4.80, Z:4.45 [[ 9.74236455e-01 -2.20324279e-01 -4.81720077e-02 9.36423864e+01] [ 2.20080329e-01 9.75426558e-01 -1.03768323e-02 4.80393749e+00] [ 4.92745237e-02 -4.92223043e-04 9.98785152e-01 4.45345697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.670385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:93.67, Y:4.81, Z:4.46 [[ 9.74421914e-01 -2.19501669e-01 -4.81762498e-02 9.36684224e+01] [ 2.19257677e-01 9.75612011e-01 -1.03573577e-02 4.81083407e+00] [ 4.92747853e-02 -4.70576302e-04 9.98785149e-01 4.46112867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.700385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:93.70, Y:4.82, Z:4.46 [[ 9.74321995e-01 -2.19951484e-01 -4.81455532e-02 9.36981565e+01] [ 2.19701084e-01 9.75510750e-01 -1.04981381e-02 4.81823232e+00] [ 4.92755858e-02 -3.49063343e-04 9.98785159e-01 4.46281995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.730385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.72, Y:4.83, Z:4.46 [[ 9.74399671e-01 -2.19589316e-01 -4.82266918e-02 9.37248538e+01] [ 2.19356893e-01 9.75592141e-01 -1.01256547e-02 4.82612230e+00] [ 4.92730671e-02 -7.12422634e-04 9.98785091e-01 4.46487552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.760385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.75, Y:4.84, Z:4.46 [[ 9.74333582e-01 -2.19879757e-01 -4.82386070e-02 9.37494616e+01] [ 2.19650395e-01 9.75526668e-01 -1.00709840e-02 4.84158787e+00] [ 4.92724530e-02 -7.83131135e-04 9.98785068e-01 4.46407155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.790385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.78, Y:4.85, Z:4.46 [[ 9.74631719e-01 -2.18564784e-01 -4.81917749e-02 9.37759048e+01] [ 2.18323205e-01 9.75822314e-01 -1.02854251e-02 4.85099995e+00] [ 4.92746410e-02 -4.96881254e-04 9.98785143e-01 4.46497861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.820385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.80, Y:4.86, Z:4.46 [[ 9.74792815e-01 -2.17843980e-01 -4.81971872e-02 9.38021476e+01] [ 2.17602745e-01 9.75983486e-01 -1.02606684e-02 4.86401225e+00] [ 4.92748836e-02 -4.85814370e-04 9.98785137e-01 4.46407909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.850385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.83, Y:4.87, Z:4.47 [[ 9.74742977e-01 -2.18068241e-01 -4.81909815e-02 9.38290185e+01] [ 2.17825878e-01 9.75933411e-01 -1.02890048e-02 4.87007669e+00] [ 4.92748942e-02 -4.68107719e-04 9.98785145e-01 4.46542732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.88038572299999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:93.86, Y:4.88, Z:4.47 [[ 9.75040577e-01 -2.16734083e-01 -4.81893235e-02 9.38577846e+01] [ 2.16489718e-01 9.76230599e-01 -1.02965698e-02 4.87719990e+00] [ 4.92755098e-02 -3.92919680e-04 9.98785147e-01 4.46581291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.91038572299999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:93.88, Y:4.89, Z:4.47 [[ 9.75220683e-01 -2.15912839e-01 -4.82313739e-02 9.38831989e+01] [ 2.15676958e-01 9.76412487e-01 -1.01046579e-02 4.88640261e+00] [ 4.92754411e-02 -5.48124611e-04 9.98785077e-01 4.46661325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.94038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.91, Y:4.90, Z:4.47 [[ 9.75362369e-01 -2.15275675e-01 -4.82144456e-02 9.39117550e+01] [ 2.15035203e-01 9.76553221e-01 -1.01817857e-02 4.89514895e+00] [ 4.92758629e-02 -4.36872421e-04 9.98785111e-01 4.46863051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.97038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.93, Y:4.91, Z:4.47 [[ 9.75325908e-01 -2.15433260e-01 -4.82481459e-02 9.39333842e+01] [ 2.15200573e-01 9.76518381e-01 -1.00282419e-02 4.90628035e+00] [ 4.92756181e-02 -6.02224454e-04 9.98785037e-01 4.47321438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.000385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.96, Y:4.92, Z:4.47 [[ 9.75588663e-01 -2.14268093e-01 -4.81242636e-02 9.39625718e+01] [ 2.14006177e-01 9.76774889e-01 -1.05911773e-02 4.91725120e+00] [ 4.92759235e-02 3.37428312e-05 9.98785203e-01 4.46782148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.030385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:93.99, Y:4.92, Z:4.47 [[ 9.76084939e-01 -2.11977829e-01 -4.82036449e-02 9.39913792e+01] [ 2.11730931e-01 9.77274450e-01 -1.02304185e-02 4.92460507e+00] [ 4.92768125e-02 -2.20445184e-04 9.98785136e-01 4.47087804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.060385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:94.01, Y:4.94, Z:4.47 [[ 9.75476955e-01 -2.14750461e-01 -4.82384790e-02 9.40137426e+01] [ 2.14514765e-01 9.76668811e-01 -1.00721952e-02 4.93587725e+00] [ 4.92760265e-02 -5.22671646e-04 9.98785062e-01 4.47120593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.090385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.04, Y:4.94, Z:4.48 [[ 9.75947704e-01 -2.12629289e-01 -4.81130298e-02 9.40414802e+01] [ 2.12362954e-01 9.77132927e-01 -1.06404106e-02 4.94396042e+00] [ 4.92752886e-02 1.67059153e-04 9.98785221e-01 4.47721676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.120385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.07, Y:4.96, Z:4.47 [[ 9.75135708e-01 -2.16322067e-01 -4.81156341e-02 9.40651758e+01] [ 2.16060802e-01 9.76322059e-01 -1.06286209e-02 4.95810996e+00] [ 4.92755602e-02 -3.15547243e-05 9.98785221e-01 4.47015386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.150385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.09, Y:4.97, Z:4.47 [[ 9.75238015e-01 -2.15880494e-01 -4.80252731e-02 9.40935305e+01] [ 2.15598566e-01 9.76419707e-01 -1.10369238e-02 4.96739823e+00] [ 4.92754797e-02 4.09447619e-04 9.98785142e-01 4.47296888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.180385723 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:94.12, Y:4.97, Z:4.48 [[ 9.75708964e-01 -2.13726909e-01 -4.80918520e-02 9.41225235e+01] [ 2.13457188e-01 9.76893425e-01 -1.07361408e-02 4.97344912e+00] [ 4.92752163e-02 2.09797375e-04 9.98785217e-01 4.47883334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.210385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.15, Y:4.98, Z:4.48 [[ 9.75406663e-01 -2.15099082e-01 -4.81064127e-02 9.41504784e+01] [ 2.14834269e-01 9.76592228e-01 -1.06703946e-02 4.98177240e+00] [ 4.92755408e-02 7.30679614e-05 9.98785220e-01 4.47680899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.24038572299999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:94.18, Y:4.99, Z:4.48 [[ 9.75920602e-01 -2.12757873e-01 -4.80943531e-02 9.41770995e+01] [ 2.12487532e-01 9.77104921e-01 -1.07248339e-02 4.99063302e+00] [ 4.92750219e-02 2.47135962e-04 9.98785218e-01 4.47908673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.27038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.20, Y:5.00, Z:4.48 [[ 9.76363520e-01 -2.10715022e-01 -4.80984087e-02 9.42035144e+01] [ 2.10443105e-01 9.77547477e-01 -1.07065340e-02 5.00007739e+00] [ 4.92745056e-02 3.31490774e-04 9.98785219e-01 4.48049107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.30038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.23, Y:5.01, Z:4.48 [[ 9.76940982e-01 -2.08024479e-01 -4.80846557e-02 9.42276387e+01] [ 2.07746249e-01 9.78123476e-01 -1.07685443e-02 5.01315524e+00] [ 4.92728514e-02 5.30825391e-04 9.98785214e-01 4.47902818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.33038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.26, Y:5.02, Z:4.48 [[ 9.77655532e-01 -2.04657561e-01 -4.80098359e-02 9.42600887e+01] [ 2.04358720e-01 9.78833075e-01 -1.11051610e-02 5.01901875e+00] [ 4.92663705e-02 1.04579343e-03 9.98785128e-01 4.48194832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.360385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.29, Y:5.02, Z:4.49 [[ 9.78885119e-01 -1.98655287e-01 -4.81663800e-02 9.42868724e+01] [ 1.98383888e-01 9.80069226e-01 -1.03993077e-02 5.02245054e+00] [ 4.92722642e-02 6.24293828e-04 9.98785189e-01 4.48720275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.390385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.31, Y:5.03, Z:4.48 [[ 9.78743586e-01 -1.99366768e-01 -4.81028578e-02 9.43125978e+01] [ 1.99082170e-01 9.79924545e-01 -1.06852812e-02 5.03128809e+00] [ 4.92674610e-02 8.81729086e-04 9.98785232e-01 4.48461039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.420385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.34, Y:5.04, Z:4.49 [[ 9.79639799e-01 -1.94930086e-01 -4.80429624e-02 9.43418052e+01] [ 1.94626939e-01 9.80816168e-01 -1.09544596e-02 5.03695027e+00] [ 4.92566680e-02 1.38096993e-03 9.98785199e-01 4.48592893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.450385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.37, Y:5.05, Z:4.49 [[ 9.80312649e-01 -1.91503373e-01 -4.80995665e-02 9.43697920e+01] [ 1.91208582e-01 9.81491104e-01 -1.07000159e-02 5.04637794e+00] [ 4.92583858e-02 1.29231108e-03 9.98785233e-01 4.48673795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.480385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:94.40, Y:5.05, Z:4.49 [[ 9.80878229e-01 -1.88589077e-01 -4.80838902e-02 9.43966828e+01] [ 1.88287335e-01 9.82054926e-01 -1.07704210e-02 5.05164190e+00] [ 4.92522049e-02 1.51088394e-03 9.98785231e-01 4.48831426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.510385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.43, Y:5.06, Z:4.49 [[ 9.81121965e-01 -1.87314709e-01 -4.80925043e-02 9.44275404e+01] [ 1.87013333e-01 9.82298754e-01 -1.07317443e-02 5.05565695e+00] [ 4.92514206e-02 1.53521056e-03 9.98785233e-01 4.49129076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.540385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.46, Y:5.06, Z:4.49 [[ 9.81206797e-01 -1.86853568e-01 -4.81556427e-02 9.44551590e+01] [ 1.86565534e-01 9.82386959e-01 -1.04481578e-02 5.05932655e+00] [ 4.92597510e-02 1.26762021e-03 9.98785197e-01 4.49349506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.570385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:94.48, Y:5.06, Z:4.49 [[ 9.81068204e-01 -1.87576957e-01 -4.81670495e-02 9.44796736e+01] [ 1.87292306e-01 9.82249202e-01 -1.03969418e-02 5.06218619e+00] [ 4.92622726e-02 1.17879123e-03 9.98785182e-01 4.49401640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.60038572299999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:94.51, Y:5.07, Z:4.50 [[ 9.80977781e-01 -1.88068493e-01 -4.80919467e-02 9.45072951e+01] [ 1.87767938e-01 9.82154771e-01 -1.07334579e-02 5.06741301e+00] [ 4.92523602e-02 1.49915802e-03 9.98785241e-01 4.49844028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.63038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.53, Y:5.08, Z:4.49 [[ 9.79846728e-01 -1.93875858e-01 -4.80888987e-02 9.45270337e+01] [ 1.93581611e-01 9.81025311e-01 -1.07470967e-02 5.07851130e+00] [ 4.92600293e-02 1.22138103e-03 9.98785241e-01 4.49112279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.66038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.56, Y:5.08, Z:4.50 [[ 9.80947930e-01 -1.88278803e-01 -4.78774546e-02 9.45634026e+01] [ 1.87931739e-01 9.82112514e-01 -1.16906451e-02 5.07962622e+00] [ 4.92221480e-02 2.47022081e-03 9.98784801e-01 4.49890312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.69038572299999 meters Centerline goodness : 0.998380 Centerline is valid? [True, True] Translation: X:94.59, Y:5.08, Z:4.50 [[ 9.80777823e-01 -1.89109129e-01 -4.80894973e-02 9.45902387e+01] [ 1.88809433e-01 9.81954999e-01 -1.07414349e-02 5.08181430e+00] [ 4.92530257e-02 1.45521039e-03 9.98785273e-01 4.49855285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.72038572299999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:94.62, Y:5.09, Z:4.51 [[ 9.80493702e-01 -1.90589896e-01 -4.80373941e-02 9.46198560e+01] [ 1.90280573e-01 9.81668411e-01 -1.09742972e-02 5.08637303e+00] [ 4.92483825e-02 1.61964636e-03 9.98785249e-01 4.50553350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.750385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:94.64, Y:5.09, Z:4.50 [[ 9.79537748e-01 -1.95431799e-01 -4.80854709e-02 9.46447025e+01] [ 1.95138819e-01 9.80716613e-01 -1.07594406e-02 5.09266651e+00] [ 4.92609570e-02 1.15593616e-03 9.98785273e-01 4.50346816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.780385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:94.68, Y:5.09, Z:4.51 [[ 9.79764810e-01 -1.94314086e-01 -4.79890961e-02 9.46759129e+01] [ 1.93998755e-01 9.80937973e-01 -1.11882196e-02 5.09366004e+00] [ 4.92483553e-02 1.65199897e-03 9.98785197e-01 4.50971690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.810385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.70, Y:5.10, Z:4.51 [[ 9.79333656e-01 -1.96452685e-01 -4.80825703e-02 9.47045309e+01] [ 1.96160324e-01 9.80512669e-01 -1.07718695e-02 5.10034009e+00] [ 4.92617320e-02 1.11736177e-03 9.98785279e-01 4.50571217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.840385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:94.73, Y:5.10, Z:4.51 [[ 9.79378842e-01 -1.96225960e-01 -4.80880063e-02 9.47332891e+01] [ 1.95934514e-01 9.80558083e-01 -1.07476749e-02 5.10323695e+00] [ 4.92620561e-02 1.10394530e-03 9.98785278e-01 4.50750366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.870385723 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:94.76, Y:5.11, Z:4.51 [[ 9.79233379e-01 -1.96946951e-01 -4.81028970e-02 9.47607908e+01] [ 1.96659622e-01 9.80413637e-01 -1.06814889e-02 5.10843007e+00] [ 4.92644228e-02 9.99772966e-04 9.98785271e-01 4.50869155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.900385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:94.79, Y:5.11, Z:4.51 [[ 9.79264487e-01 -1.96799919e-01 -4.80713682e-02 9.47896606e+01] [ 1.96505544e-01 9.80442996e-01 -1.08214294e-02 5.11328698e+00] [ 4.92608927e-02 1.15075118e-03 9.98785282e-01 4.50983010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.930385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.82, Y:5.12, Z:4.51 [[ 9.79197460e-01 -1.97131271e-01 -4.80790624e-02 9.48173508e+01] [ 1.96838970e-01 9.80376486e-01 -1.07873071e-02 5.11702518e+00] [ 4.92620978e-02 1.09907060e-03 9.98785281e-01 4.51049360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.960385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:94.85, Y:5.12, Z:4.51 [[ 9.79390313e-01 -1.96174594e-01 -4.80639488e-02 9.48471197e+01] [ 1.95877857e-01 9.80568228e-01 -1.08542656e-02 5.11991246e+00] [ 4.92593123e-02 1.21589928e-03 9.98785283e-01 4.51123415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.99038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.87, Y:5.13, Z:4.51 [[ 9.79224444e-01 -1.96993069e-01 -4.80959361e-02 9.48738483e+01] [ 1.96704265e-01 9.80404341e-01 -1.07126599e-02 5.12512619e+00] [ 4.92637842e-02 1.02942267e-03 9.98785272e-01 4.51122973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.02038572299999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:94.90, Y:5.13, Z:4.52 [[ 9.79344923e-01 -1.96404330e-01 -4.80506008e-02 9.49014336e+01] [ 1.96104991e-01 9.80522177e-01 -1.09129530e-02 5.12854484e+00] [ 4.92580309e-02 1.26458251e-03 9.98785286e-01 4.51663251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.05038572299999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:94.93, Y:5.13, Z:4.52 [[ 9.78968875e-01 -1.98268743e-01 -4.80567057e-02 9.49299247e+01] [ 1.97972968e-01 9.80147029e-01 -1.08860025e-02 5.13008604e+00] [ 4.92609914e-02 1.14312895e-03 9.98785286e-01 4.51899950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.08038572299999 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:94.96, Y:5.13, Z:4.52 [[ 9.78420069e-01 -2.00960222e-01 -4.80537017e-02 9.49580414e+01] [ 2.00667038e-01 9.79598870e-01 -1.08992471e-02 5.13292150e+00] [ 4.92636670e-02 1.02124809e-03 9.98785286e-01 4.51826770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.110385723 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:94.99, Y:5.14, Z:4.52 [[ 9.78121904e-01 -2.02406701e-01 -4.80527715e-02 9.49856529e+01] [ 2.02115059e-01 9.79301087e-01 -1.09033465e-02 5.13719464e+00] [ 4.92650418e-02 9.52613250e-04 9.98785286e-01 4.51890609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.140385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.01, Y:5.14, Z:4.52 [[ 9.77893475e-01 -2.03508156e-01 -4.80497891e-02 9.50134218e+01] [ 2.03217197e-01 9.79072827e-01 -1.09164738e-02 5.14092027e+00] [ 4.92658343e-02 9.10604977e-04 9.98785286e-01 4.52120778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.170385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:95.04, Y:5.14, Z:4.53 [[ 9.77777301e-01 -2.04066302e-01 -4.80467932e-02 9.50417439e+01] [ 2.03775370e-01 9.78956660e-01 -1.09296440e-02 5.14035751e+00] [ 4.92661002e-02 8.96004717e-04 9.98785287e-01 4.52594326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.200385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:95.07, Y:5.15, Z:4.52 [[ 9.77008770e-01 -2.07714845e-01 -4.80458675e-02 9.50677298e+01] [ 2.07428118e-01 9.78189159e-01 -1.09337114e-02 5.14722693e+00] [ 4.92690409e-02 7.16268082e-04 9.98785287e-01 4.52399647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.230385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:95.10, Y:5.15, Z:4.53 [[ 9.76973247e-01 -2.07895270e-01 -4.79878299e-02 9.50957749e+01] [ 2.07596253e-01 9.78150611e-01 -1.11882567e-02 5.15227682e+00] [ 4.92653108e-02 9.68533806e-04 9.98785258e-01 4.52508376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.260385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:95.12, Y:5.16, Z:4.52 [[ 9.76759813e-01 -2.08894653e-01 -4.79926166e-02 9.51225416e+01] [ 2.08597871e-01 9.77937738e-01 -1.11672672e-02 5.15782518e+00] [ 4.92665734e-02 8.96580122e-04 9.98785263e-01 4.52414290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.290385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.15, Y:5.16, Z:4.52 [[ 9.76893005e-01 -2.08282231e-01 -4.79433883e-02 9.51512777e+01] [ 2.07974123e-01 9.78068092e-01 -1.13829666e-02 5.15884756e+00] [ 4.92627680e-02 1.14895628e-03 9.98785192e-01 4.52303840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.320385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:95.18, Y:5.16, Z:4.52 [[ 9.76813728e-01 -2.08649972e-01 -4.79596670e-02 9.51797734e+01] [ 2.08345807e-01 9.77989812e-01 -1.13116246e-02 5.16251367e+00] [ 4.92642359e-02 1.05715463e-03 9.98785221e-01 4.52438660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.35038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.21, Y:5.16, Z:4.53 [[ 9.77056668e-01 -2.07508288e-01 -4.79643477e-02 9.52098072e+01] [ 2.07203755e-01 9.78232648e-01 -1.12911213e-02 5.16253201e+00] [ 4.92632921e-02 1.09367237e-03 9.98785228e-01 4.53096941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.38038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.24, Y:5.17, Z:4.53 [[ 9.75925309e-01 -2.12748643e-01 -4.80396278e-02 9.52355968e+01] [ 2.12466650e-01 9.77106839e-01 -1.09612038e-02 5.17107970e+00] [ 4.92718301e-02 4.90497432e-04 9.98785285e-01 4.52725145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.41038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.27, Y:5.18, Z:4.53 [[ 9.75332166e-01 -2.15470003e-01 -4.79566956e-02 9.52651888e+01] [ 2.15173453e-01 9.76510190e-01 -1.13240265e-02 5.17621802e+00] [ 4.92701900e-02 7.25679524e-04 9.98785223e-01 4.52884104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.44038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.29, Y:5.18, Z:4.53 [[ 9.75057089e-01 -2.16695400e-01 -4.80289263e-02 9.52945159e+01] [ 2.16415889e-01 9.76239207e-01 -1.10079246e-02 5.17670238e+00] [ 4.92730875e-02 3.39132163e-04 9.98785286e-01 4.53350514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.47038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.32, Y:5.18, Z:4.54 [[ 9.75908538e-01 -2.12824936e-01 -4.80424062e-02 9.53220459e+01] [ 2.12543638e-01 9.77090232e-01 -1.09489829e-02 5.17713393e+00] [ 4.92719824e-02 4.74098082e-04 9.98785286e-01 4.54165130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.500385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.35, Y:5.18, Z:4.54 [[ 9.75008619e-01 -2.16912772e-01 -4.80316823e-02 9.53470211e+01] [ 2.16634120e-01 9.76190939e-01 -1.09958270e-02 5.18457214e+00] [ 4.92732283e-02 3.15724901e-04 9.98785287e-01 4.53520870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.530385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.37, Y:5.19, Z:4.53 [[ 9.75037725e-01 -2.16799305e-01 -4.79530561e-02 9.53738283e+01] [ 2.16503641e-01 9.76215964e-01 -1.13386791e-02 5.19178172e+00] [ 4.92707566e-02 6.73628626e-04 9.98785232e-01 4.53479766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.560385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.40, Y:5.20, Z:4.53 [[ 9.74934960e-01 -2.17262941e-01 -4.79441115e-02 9.54002124e+01] [ 2.16965921e-01 9.76112872e-01 -1.13776429e-02 5.19903726e+00] [ 4.92708045e-02 6.90223522e-04 9.98785218e-01 4.53294030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.590385723 meters Centerline goodness : 0.997498 Centerline is valid? [True, True] Translation: X:95.43, Y:5.20, Z:4.54 [[ 9.75295161e-01 -2.15645287e-01 -4.79213867e-02 9.54332198e+01] [ 2.15341489e-01 9.76471376e-01 -1.14758230e-02 5.20190411e+00] [ 4.92685696e-02 8.72851890e-04 9.98785185e-01 4.53876059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.620385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.46, Y:5.20, Z:4.54 [[ 9.74417355e-01 -2.19539739e-01 -4.80949179e-02 9.54568131e+01] [ 2.19277620e-01 9.75603554e-01 -1.07252696e-02 5.20376536e+00] [ 4.92761957e-02 -9.52502596e-05 9.98785186e-01 4.53932061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.650385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.48, Y:5.21, Z:4.54 [[ 9.74363140e-01 -2.19820789e-01 -4.79092039e-02 9.54847336e+01] [ 2.19519236e-01 9.75540005e-01 -1.15326821e-02 5.20796527e+00] [ 4.92724683e-02 7.20028518e-04 9.98785115e-01 4.54263254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.680385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.51, Y:5.21, Z:4.54 [[ 9.74208874e-01 -2.20497791e-01 -4.79353025e-02 9.55116021e+01] [ 2.20202640e-01 9.75387308e-01 -1.14191741e-02 5.21373800e+00] [ 4.92733883e-02 5.69180606e-04 9.98785167e-01 4.54440877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.710385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.54, Y:5.22, Z:4.54 [[ 9.74274462e-01 -2.20209785e-01 -4.79262377e-02 9.55403320e+01] [ 2.19912346e-01 9.75452337e-01 -1.14585702e-02 5.21958999e+00] [ 4.92730498e-02 6.24220979e-04 9.98785151e-01 4.54498800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.74038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.57, Y:5.22, Z:4.55 [[ 9.74453424e-01 -2.19408946e-01 -4.79608079e-02 9.55685033e+01] [ 2.19117922e-01 9.75632848e-01 -1.13084984e-02 5.22245230e+00] [ 4.92733253e-02 5.10532434e-04 9.98785202e-01 4.54663336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.77038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.60, Y:5.23, Z:4.55 [[ 9.74421319e-01 -2.19544892e-01 -4.79909768e-02 9.55962866e+01] [ 2.19260478e-01 9.75602329e-01 -1.11776097e-02 5.22886123e+00] [ 4.92740958e-02 3.69176651e-04 9.98785226e-01 4.54809541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.80038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.62, Y:5.23, Z:4.55 [[ 9.74424864e-01 -2.19529112e-01 -4.79911883e-02 9.56236174e+01] [ 2.19244723e-01 9.75605880e-01 -1.11766921e-02 5.23466015e+00] [ 4.92740948e-02 3.69031845e-04 9.98785226e-01 4.55013386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.83038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.65, Y:5.24, Z:4.55 [[ 9.74441240e-01 -2.19463315e-01 -4.79596022e-02 9.56513027e+01] [ 2.19172099e-01 9.75620618e-01 -1.13137442e-02 5.24021886e+00] [ 4.92733285e-02 5.13172272e-04 9.98785200e-01 4.55135365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.860385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.68, Y:5.25, Z:4.55 [[ 9.74595378e-01 -2.18778389e-01 -4.79569068e-02 9.56788173e+01] [ 2.18485770e-01 9.75774412e-01 -1.13254265e-02 5.24594377e+00] [ 4.92728811e-02 5.59806662e-04 9.98785197e-01 4.55133119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.890385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.71, Y:5.25, Z:4.55 [[ 9.74755076e-01 -2.18065037e-01 -4.79602010e-02 9.57054238e+01] [ 2.17772257e-01 9.75934066e-01 -1.13111514e-02 5.25194196e+00] [ 4.92725606e-02 5.81201024e-04 9.98785201e-01 4.55459325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.920385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.73, Y:5.26, Z:4.56 [[ 9.74992911e-01 -2.17004145e-01 -4.79377188e-02 9.57344789e+01] [ 2.16705298e-01 9.76170406e-01 -1.14084594e-02 5.25683219e+00] [ 4.92710654e-02 7.34809438e-04 9.98785173e-01 4.55623438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.950385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.76, Y:5.26, Z:4.56 [[ 9.75226672e-01 -2.15945372e-01 -4.79638919e-02 9.57623438e+01] [ 2.15650817e-01 9.76405216e-01 -1.12951450e-02 5.26076973e+00] [ 4.92713285e-02 6.71874236e-04 9.98785205e-01 4.55863110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.980385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.79, Y:5.26, Z:4.56 [[ 9.76117412e-01 -2.11887294e-01 -4.79434428e-02 9.57923913e+01] [ 2.11583497e-01 9.77293630e-01 -1.13835621e-02 5.26185634e+00] [ 4.92668534e-02 9.67651912e-04 9.98785183e-01 4.56394767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.010385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:95.82, Y:5.27, Z:4.56 [[ 9.76268196e-01 -2.11176691e-01 -4.80084931e-02 9.58197817e+01] [ 2.10885857e-01 9.77447643e-01 -1.11022807e-02 5.26874860e+00] [ 4.92703314e-02 7.14491285e-04 9.98785224e-01 4.56495871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.040385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.85, Y:5.28, Z:4.57 [[ 9.76410630e-01 -2.10517358e-01 -4.80075423e-02 9.58478265e+01] [ 2.10225525e-01 9.77589831e-01 -1.11063906e-02 5.27607390e+00] [ 4.92697732e-02 7.51987087e-04 9.98785224e-01 4.56626859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.070385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.88, Y:5.28, Z:4.57 [[ 9.76751091e-01 -2.08932622e-01 -4.80048461e-02 9.58754847e+01] [ 2.08638304e-01 9.77929674e-01 -1.11180324e-02 5.28226193e+00] [ 4.92682831e-02 8.43900580e-04 9.98785224e-01 4.56737204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.10038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.90, Y:5.29, Z:4.57 [[ 9.76847490e-01 -2.08482163e-01 -4.80017707e-02 9.59030101e+01] [ 2.08186650e-01 9.78025773e-01 -1.11312943e-02 5.28728570e+00] [ 4.92676452e-02 8.80249006e-04 9.98785224e-01 4.56875437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.13038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.93, Y:5.29, Z:4.57 [[ 9.76679496e-01 -2.09267972e-01 -4.80008199e-02 9.59327184e+01] [ 2.08973206e-01 9.77857966e-01 -1.11353929e-02 5.28972426e+00] [ 4.92682652e-02 8.44824747e-04 9.98785224e-01 4.57159827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.16038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.96, Y:5.30, Z:4.57 [[ 9.76341548e-01 -2.10830314e-01 -4.80391501e-02 9.59582651e+01] [ 2.10545547e-01 9.77522492e-01 -1.09704017e-02 5.29614745e+00] [ 4.92722430e-02 5.96429812e-04 9.98785207e-01 4.57181720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.19038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.99, Y:5.30, Z:4.57 [[ 9.76551813e-01 -2.09875063e-01 -4.79480395e-02 9.59859302e+01] [ 2.09569880e-01 9.77727652e-01 -1.13624350e-02 5.30202020e+00] [ 4.92648158e-02 1.04754163e-03 9.98785202e-01 4.57212383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.22038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.02, Y:5.31, Z:4.57 [[ 9.77425013e-01 -2.05775540e-01 -4.79246310e-02 9.60158906e+01] [ 2.05460495e-01 9.78598275e-01 -1.14630272e-02 5.30616717e+00] [ 4.92577719e-02 1.35763106e-03 9.98785176e-01 4.57321633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.250385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.04, Y:5.31, Z:4.57 [[ 9.77636616e-01 -2.04751394e-01 -4.79949358e-02 9.60434153e+01] [ 2.04449942e-01 9.78813394e-01 -1.11607026e-02 5.31237065e+00] [ 4.92632554e-02 1.09854970e-03 9.98785225e-01 4.57448840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.280385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.07, Y:5.32, Z:4.58 [[ 9.78209338e-01 -2.01998181e-01 -4.79919378e-02 9.60719509e+01] [ 2.01692786e-01 9.79385099e-01 -1.11735792e-02 5.31810124e+00] [ 4.92596314e-02 1.25047190e-03 9.98785225e-01 4.57578863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.310385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.10, Y:5.32, Z:4.58 [[ 9.78351520e-01 -2.01309069e-01 -4.79891889e-02 9.60989639e+01] [ 2.01002268e-01 9.79526914e-01 -1.11853730e-02 5.32370536e+00] [ 4.92584192e-02 1.29729090e-03 9.98785225e-01 4.57607726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.340385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.13, Y:5.33, Z:4.58 [[ 9.77941936e-01 -2.03290206e-01 -4.79860578e-02 9.61255336e+01] [ 2.02985128e-01 9.79117779e-01 -1.11987897e-02 5.33179448e+00] [ 4.92606066e-02 1.21131001e-03 9.98785225e-01 4.57707890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.370385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.15, Y:5.34, Z:4.58 [[ 9.77682238e-01 -2.04541063e-01 -4.79624430e-02 9.61520687e+01] [ 2.04232528e-01 9.78857183e-01 -1.12999574e-02 5.33778401e+00] [ 4.92596871e-02 1.25227668e-03 9.98785220e-01 4.58022967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.400385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.18, Y:5.34, Z:4.58 [[ 9.77244173e-01 -2.06635250e-01 -4.79134671e-02 9.61794960e+01] [ 2.06318957e-01 9.78417098e-01 -1.15095707e-02 5.34330501e+00] [ 4.92576385e-02 1.36220431e-03 9.98785177e-01 4.58415903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.430385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.21, Y:5.35, Z:4.58 [[ 9.77959976e-01 -2.03229490e-01 -4.78754562e-02 9.62105268e+01] [ 2.02901148e-01 9.79129655e-01 -1.16723346e-02 5.34700482e+00] [ 4.92484415e-02 1.70109102e-03 9.98785111e-01 4.58449675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.460385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.24, Y:5.36, Z:4.58 [[ 9.78043422e-01 -2.02801508e-01 -4.79855408e-02 9.62415457e+01] [ 2.02495747e-01 9.79219085e-01 -1.12007422e-02 5.35530341e+00] [ 4.92598847e-02 1.23794432e-03 9.98785228e-01 4.58441586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.49038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.27, Y:5.36, Z:4.59 [[ 9.77763087e-01 -2.04129922e-01 -4.80658035e-02 9.62661068e+01] [ 2.03842646e-01 9.78943465e-01 -1.08567361e-02 5.36212993e+00] [ 4.92698889e-02 8.17455235e-04 9.98785167e-01 4.58657224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.52038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.29, Y:5.37, Z:4.59 [[ 9.76743835e-01 -2.08971915e-01 -4.79814522e-02 9.62905339e+01] [ 2.08672757e-01 9.77921187e-01 -1.12175515e-02 5.37147795e+00] [ 4.92662319e-02 9.44252313e-04 9.98785236e-01 4.58935484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.55038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.32, Y:5.38, Z:4.59 [[ 9.77273312e-01 -2.06501304e-01 -4.78966033e-02 9.63208147e+01] [ 2.06181409e-01 9.78445264e-01 -1.15798412e-02 5.37533647e+00] [ 4.92554569e-02 1.44128063e-03 9.98785173e-01 4.59018138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.58038572299999 meters Centerline goodness : 0.997652 Centerline is valid? [True, True] Translation: X:96.35, Y:5.38, Z:4.59 [[ 9.77182903e-01 -2.06909919e-01 -4.79776988e-02 9.63503683e+01] [ 2.06607494e-01 9.78359419e-01 -1.12335002e-02 5.38097426e+00] [ 4.92637561e-02 1.06463220e-03 9.98785237e-01 4.58962183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.610385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.38, Y:5.39, Z:4.60 [[ 9.76430219e-01 -2.10429390e-01 -4.79947762e-02 9.63758474e+01] [ 2.10134779e-01 9.77608721e-01 -1.11607657e-02 5.38837803e+00] [ 4.92686649e-02 8.12337245e-04 9.98785232e-01 4.59703596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.640385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.40, Y:5.39, Z:4.60 [[ 9.76304282e-01 -2.11026681e-01 -4.79342060e-02 9.64033244e+01] [ 2.10720104e-01 9.77479740e-01 -1.14190792e-02 5.39461331e+00] [ 4.92644456e-02 1.04779507e-03 9.98785220e-01 4.59838849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.670385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.43, Y:5.40, Z:4.60 [[ 9.76514561e-01 -2.10051741e-01 -4.79330702e-02 9.64318988e+01] [ 2.09743754e-01 9.77689650e-01 -1.14239146e-02 5.40066874e+00] [ 4.92632798e-02 1.10195689e-03 9.98785220e-01 4.59860680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.700385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.46, Y:5.41, Z:4.60 [[ 9.76750259e-01 -2.08944592e-01 -4.79696724e-02 9.64589032e+01] [ 2.08642919e-01 9.77926972e-01 -1.12680974e-02 5.40667421e+00] [ 4.92652445e-02 9.97584601e-04 9.98785232e-01 4.60200401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.730385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.48, Y:5.42, Z:4.60 [[ 9.76274872e-01 -2.11155352e-01 -4.79665612e-02 9.64841718e+01] [ 2.10855695e-01 9.77452100e-01 -1.12813258e-02 5.41647898e+00] [ 4.92671283e-02 8.99652292e-04 9.98785233e-01 4.59806658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.760385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.52, Y:5.42, Z:4.60 [[ 9.76885286e-01 -2.08325344e-01 -4.79133536e-02 9.65151983e+01] [ 2.08011184e-01 9.78058754e-01 -1.15074508e-02 5.41873031e+00] [ 4.92593685e-02 1.27494591e-03 9.98785207e-01 4.60435624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.790385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.54, Y:5.43, Z:4.61 [[ 9.76334095e-01 -2.10881640e-01 -4.79652949e-02 9.65425364e+01] [ 2.10581387e-01 9.77511171e-01 -1.12867207e-02 5.42586906e+00] [ 4.92667738e-02 9.19011943e-04 9.98785232e-01 4.60541148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.820385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.57, Y:5.43, Z:4.61 [[ 9.76596578e-01 -2.09670355e-01 -4.79318826e-02 9.65718500e+01] [ 2.09361679e-01 9.77771484e-01 -1.14286213e-02 5.43078195e+00] [ 4.92626711e-02 1.12605300e-03 9.98785223e-01 4.60743277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.85038572299999 meters Centerline goodness : 0.999209 Centerline is valid? [True, True] Translation: X:96.60, Y:5.44, Z:4.60 [[ 9.76155725e-01 -2.11706416e-01 -4.79624156e-02 9.66012406e+01] [ 2.11406554e-01 9.77332902e-01 -1.12990158e-02 5.43978284e+00] [ 4.92673210e-02 8.90029932e-04 9.98785232e-01 4.60497297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.88038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.63, Y:5.45, Z:4.60 [[ 9.75920513e-01 -2.12775616e-01 -4.80175897e-02 9.66274557e+01] [ 2.12488535e-01 9.77100907e-01 -1.10652578e-02 5.44803956e+00] [ 4.92724475e-02 5.95624813e-04 9.98785198e-01 4.60496679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.91038572299999 meters Centerline goodness : 0.998873 Centerline is valid? [True, True] Translation: X:96.66, Y:5.45, Z:4.61 [[ 9.76062783e-01 -2.12140327e-01 -4.79366834e-02 9.66569122e+01] [ 2.11835672e-01 9.77238723e-01 -1.14072888e-02 5.45261331e+00] [ 4.92655293e-02 9.79530516e-04 9.98785236e-01 4.61226703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.94038572299999 meters Centerline goodness : 0.999235 Centerline is valid? [True, True] Translation: X:96.68, Y:5.46, Z:4.61 [[ 9.76253721e-01 -2.11241637e-01 -4.80171193e-02 9.66823580e+01] [ 2.10952644e-01 9.77433638e-01 -1.10664438e-02 5.45808248e+00] [ 4.92712413e-02 6.74318667e-04 9.98785207e-01 4.61115576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.97038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.71, Y:5.47, Z:4.62 [[ 9.75999135e-01 -2.12437322e-01 -4.79173557e-02 9.67103535e+01] [ 2.12129047e-01 9.77174133e-01 -1.14883026e-02 5.46528059e+00] [ 4.92641448e-02 1.04791039e-03 9.98785235e-01 4.61695522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.000385723 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:96.74, Y:5.47, Z:4.61 [[ 9.75472207e-01 -2.14836173e-01 -4.79519831e-02 9.67373061e+01] [ 2.14537980e-01 9.76649792e-01 -1.13419053e-02 5.47444280e+00] [ 4.92689459e-02 7.76191754e-04 9.98785246e-01 4.61351853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.030385723 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:96.76, Y:5.48, Z:4.61 [[ 9.75643271e-01 -2.14060026e-01 -4.79428092e-02 9.67639582e+01] [ 2.13758993e-01 9.76820134e-01 -1.13806493e-02 5.48087120e+00] [ 4.92676434e-02 8.55247334e-04 9.98785246e-01 4.61279585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.060385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.79, Y:5.49, Z:4.61 [[ 9.75772948e-01 -2.13475303e-01 -4.79108362e-02 9.67931012e+01] [ 2.13166946e-01 9.76947925e-01 -1.15154404e-02 5.48743645e+00] [ 4.92646542e-02 1.02344858e-03 9.98785235e-01 4.61474017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.090385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.82, Y:5.49, Z:4.62 [[ 9.75872525e-01 -2.13012271e-01 -4.79435809e-02 9.68216958e+01] [ 2.12710130e-01 9.77049105e-01 -1.13774774e-02 5.49360693e+00] [ 4.92667751e-02 9.04882342e-04 9.98785245e-01 4.61725413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.120385723 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:96.85, Y:5.50, Z:4.63 [[ 9.76081524e-01 -2.12046605e-01 -4.79697323e-02 9.68479489e+01] [ 2.11748710e-01 9.77259193e-01 -1.12673397e-02 5.49897703e+00] [ 4.92680631e-02 8.40313219e-04 9.98785238e-01 4.62508192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.150385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.88, Y:5.51, Z:4.63 [[ 9.75892148e-01 -2.12923423e-01 -4.79388243e-02 9.68751332e+01] [ 2.12620200e-01 9.77068448e-01 -1.13973451e-02 5.50598584e+00] [ 4.92662744e-02 9.29817201e-04 9.98785247e-01 4.62719069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.180385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.90, Y:5.51, Z:4.63 [[ 9.75643440e-01 -2.14060843e-01 -4.79357191e-02 9.69018900e+01] [ 2.13758350e-01 9.76819928e-01 -1.14103902e-02 5.51260651e+00] [ 4.92670834e-02 8.85812168e-04 9.98785247e-01 4.62995236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.210385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.93, Y:5.52, Z:4.63 [[ 9.75641828e-01 -2.14068870e-01 -4.79326909e-02 9.69276818e+01] [ 2.13765763e-01 9.76818157e-01 -1.14230970e-02 5.51888429e+00] [ 4.92668523e-02 8.98482992e-04 9.98785247e-01 4.63085901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.24038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.95, Y:5.53, Z:4.63 [[ 9.75575270e-01 -2.14372306e-01 -4.79312798e-02 9.69547975e+01] [ 2.14069274e-01 9.76751618e-01 -1.14290151e-02 5.52575684e+00] [ 4.92670194e-02 8.89250202e-04 9.98785247e-01 4.63231028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.27038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.98, Y:5.53, Z:4.63 [[ 9.75475772e-01 -2.14825305e-01 -4.79281456e-02 9.69825472e+01] [ 2.14522174e-01 9.76652095e-01 -1.14421433e-02 5.53168819e+00] [ 4.92671857e-02 8.79883607e-04 9.98785247e-01 4.63388817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.30038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.01, Y:5.54, Z:4.64 [[ 9.75243162e-01 -2.15879531e-01 -4.79249788e-02 9.70103330e+01] [ 2.15577021e-01 9.76419645e-01 -1.14553919e-02 5.53641828e+00] [ 4.92678754e-02 8.40268451e-04 9.98785247e-01 4.63545476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.33038572299999 meters Centerline goodness : 0.998142 Centerline is valid? [True, True] Translation: X:97.04, Y:5.54, Z:4.64 [[ 9.75235197e-01 -2.15916215e-01 -4.79218061e-02 9.70379398e+01] [ 2.15613098e-01 9.76411523e-01 -1.14686492e-02 5.54277633e+00] [ 4.92676710e-02 8.52061255e-04 9.98785247e-01 4.63534652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.360385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.07, Y:5.55, Z:4.64 [[ 9.75117779e-01 -2.16451762e-01 -4.78952204e-02 9.70652504e+01] [ 2.16143843e-01 9.76292862e-01 -1.15795655e-02 5.55062522e+00] [ 4.92661792e-02 9.39183203e-04 9.98785243e-01 4.63618531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.390385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.09, Y:5.56, Z:4.64 [[ 9.74985181e-01 -2.17043455e-01 -4.79169572e-02 9.70930891e+01] [ 2.16740703e-01 9.76161602e-01 -1.14889087e-02 5.56066226e+00] [ 4.92682861e-02 8.15960798e-04 9.98785247e-01 4.63616723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.420385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.12, Y:5.57, Z:4.64 [[ 9.74588516e-01 -2.18818307e-01 -4.79142206e-02 9.71217070e+01] [ 2.18517137e-01 9.75765343e-01 -1.15003100e-02 5.56816149e+00] [ 4.92695143e-02 7.37991758e-04 9.98785247e-01 4.63721044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.450385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.15, Y:5.57, Z:4.64 [[ 9.74240027e-01 -2.20355720e-01 -4.79554622e-02 9.71487909e+01] [ 2.20064845e-01 9.75419460e-01 -1.13287866e-02 5.57442992e+00] [ 4.92730539e-02 4.83646059e-04 9.98785228e-01 4.63995098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.480385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.17, Y:5.58, Z:4.65 [[ 9.74145488e-01 -2.20777145e-01 -4.79376637e-02 9.71741201e+01] [ 2.20483140e-01 9.75324132e-01 -1.14027514e-02 5.57782357e+00] [ 4.92722271e-02 5.38492203e-04 9.98785241e-01 4.64666897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.510385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.20, Y:5.59, Z:4.65 [[ 9.73545710e-01 -2.23414304e-01 -4.79040561e-02 9.72017261e+01] [ 2.23116627e-01 9.74723421e-01 -1.15422363e-02 5.58502245e+00] [ 4.92719061e-02 5.48703248e-04 9.98785251e-01 4.64532635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.540385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.23, Y:5.59, Z:4.65 [[ 9.74028501e-01 -2.21301776e-01 -4.78957598e-02 9.72294045e+01] [ 2.20999853e-01 9.75205131e-01 -1.15766318e-02 5.58975857e+00] [ 4.92701199e-02 6.91013473e-04 9.98785251e-01 4.65179393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.570385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.26, Y:5.60, Z:4.65 [[ 9.74274937e-01 -2.20213448e-01 -4.78997347e-02 9.72553399e+01] [ 2.19911020e-01 9.75451437e-01 -1.15601619e-02 5.59978284e+00] [ 4.92695681e-02 7.29096506e-04 9.98785251e-01 4.64999640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.60038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.28, Y:5.61, Z:4.64 [[ 9.73498392e-01 -2.23621537e-01 -4.78987359e-02 9.72782683e+01] [ 2.23323025e-01 9.74675892e-01 -1.15642987e-02 5.61178850e+00] [ 4.92717694e-02 5.60935626e-04 9.98785251e-01 4.64287616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.63038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.31, Y:5.62, Z:4.64 [[ 9.73724657e-01 -2.22655008e-01 -4.78020876e-02 9.73054921e+01] [ 2.22335700e-01 9.74896766e-01 -1.19637815e-02 5.61835084e+00] [ 4.92658964e-02 1.02131841e-03 9.98785176e-01 4.64297627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.66038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.33, Y:5.62, Z:4.64 [[ 9.73702949e-01 -2.22745366e-01 -4.78233168e-02 9.73322201e+01] [ 2.22430474e-01 9.74876220e-01 -1.18760539e-02 5.62479998e+00] [ 4.92671502e-02 9.26385681e-04 9.98785207e-01 4.64437120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.69038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.36, Y:5.63, Z:4.65 [[ 9.73709428e-01 -2.22717449e-01 -4.78214244e-02 9.73577515e+01] [ 2.22402139e-01 9.74882589e-01 -1.18838697e-02 5.63003817e+00] [ 4.92670191e-02 9.35848882e-04 9.98785205e-01 4.64535129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.72038572299999 meters Centerline goodness : 0.999127 Centerline is valid? [True, True] Translation: X:97.39, Y:5.63, Z:4.65 [[ 9.73735258e-01 -2.22618728e-01 -4.77550860e-02 9.73902218e+01] [ 2.22289981e-01 9.74904822e-01 -1.21553477e-02 5.63435624e+00] [ 4.92626716e-02 1.22061344e-03 9.98785112e-01 4.65383060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.750385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.41, Y:5.64, Z:4.65 [[ 9.73115728e-01 -2.25289547e-01 -4.78581251e-02 9.74122664e+01] [ 2.24984729e-01 9.74291638e-01 -1.17334924e-02 5.64278490e+00] [ 4.92712043e-02 6.50698689e-04 9.98785225e-01 4.64872406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.780385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.44, Y:5.65, Z:4.65 [[ 9.73175966e-01 -2.25050089e-01 -4.77597868e-02 9.74407892e+01] [ 2.24724924e-01 9.74346593e-01 -1.21418562e-02 5.64997876e+00] [ 4.92671114e-02 1.08334821e-03 9.98785051e-01 4.65271358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.810385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.47, Y:5.66, Z:4.65 [[ 9.72987832e-01 -2.25855538e-01 -4.77907490e-02 9.74689116e+01] [ 2.25537652e-01 9.74160381e-01 -1.20133305e-02 5.65792305e+00] [ 4.92691315e-02 9.10211122e-04 9.98785124e-01 4.65283980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.840385723 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:97.50, Y:5.66, Z:4.66 [[ 9.74577508e-01 -2.18884891e-01 -4.78339474e-02 9.74985050e+01] [ 2.18567402e-01 9.75750092e-01 -1.18342464e-02 5.65961930e+00] [ 4.92643163e-02 1.07844879e-03 9.98785194e-01 4.66357930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.870385723 meters Centerline goodness : 0.996663 Centerline is valid? [True, True] Translation: X:97.53, Y:5.67, Z:4.66 [[ 9.74774938e-01 -2.17989139e-01 -4.79015082e-02 9.75266581e+01] [ 2.17684322e-01 9.75950838e-01 -1.15541602e-02 5.66663086e+00] [ 4.92681985e-02 8.35298436e-04 9.98785236e-01 4.66421315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.900385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:97.55, Y:5.67, Z:4.67 [[ 9.75150243e-01 -2.16304006e-01 -4.79017839e-02 9.75549281e+01] [ 2.15997213e-01 9.76325628e-01 -1.15530176e-02 5.67364274e+00] [ 4.92667032e-02 9.19276149e-04 9.98785236e-01 4.66679343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.930385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.58, Y:5.68, Z:4.67 [[ 9.75842237e-01 -2.13157233e-01 -4.79157791e-02 9.75810644e+01] [ 2.12849489e-01 9.77017378e-01 -1.14951638e-02 5.68112600e+00] [ 4.92648261e-02 1.01861725e-03 9.98785232e-01 4.67004797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.960385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.61, Y:5.69, Z:4.66 [[ 9.75702615e-01 -2.13803082e-01 -4.78816094e-02 9.76053870e+01] [ 2.13489193e-01 9.76876124e-01 -1.16362579e-02 5.69068081e+00] [ 4.92622688e-02 1.13132115e-03 9.98785237e-01 4.66345539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.99038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.64, Y:5.70, Z:4.67 [[ 9.76937681e-01 -2.08103278e-01 -4.78099691e-02 9.76353641e+01] [ 2.07768104e-01 9.78105341e-01 -1.19313593e-02 5.69611291e+00] [ 4.92461411e-02 1.72280791e-03 9.98785187e-01 4.67271133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.02038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.66, Y:5.70, Z:4.67 [[ 9.77104183e-01 -2.07302489e-01 -4.78862631e-02 9.76619811e+01] [ 2.06981732e-01 9.78275833e-01 -1.16170834e-02 5.70363262e+00] [ 4.92542242e-02 1.43951907e-03 9.98785237e-01 4.67290561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.05038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.69, Y:5.71, Z:4.66 [[ 9.77101874e-01 -2.07307375e-01 -4.79122056e-02 9.76861398e+01] [ 2.06991856e-01 9.78274954e-01 -1.15102685e-02 5.71121276e+00] [ 4.92574743e-02 1.32926863e-03 9.98785229e-01 4.66442358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.08038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.72, Y:5.72, Z:4.68 [[ 9.76777081e-01 -2.08854639e-01 -4.78149947e-02 9.77200245e+01] [ 2.08521412e-01 9.77945282e-01 -1.19099257e-02 5.71605571e+00] [ 4.92478917e-02 1.66289224e-03 9.98785202e-01 4.67548455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.110385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.75, Y:5.72, Z:4.67 [[ 9.76371864e-01 -2.10710770e-01 -4.79474071e-02 9.77468745e+01] [ 2.10406380e-01 9.77547928e-01 -1.13667694e-02 5.72341524e+00] [ 4.92659892e-02 1.00975344e-03 9.98785183e-01 4.66980817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.140385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.77, Y:5.73, Z:4.67 [[ 9.76121193e-01 -2.11885546e-01 -4.78741250e-02 9.77731872e+01] [ 2.11567860e-01 9.77293676e-01 -1.16666817e-02 5.73147018e+00] [ 4.92590809e-02 1.25946909e-03 9.98785241e-01 4.66955870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.170385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.80, Y:5.74, Z:4.67 [[ 9.75961350e-01 -2.12628463e-01 -4.78391070e-02 9.78028847e+01] [ 2.12304658e-01 9.77132162e-01 -1.18097742e-02 5.73794519e+00] [ 4.92562241e-02 1.36941797e-03 9.98785237e-01 4.66898091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.200385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.83, Y:5.74, Z:4.67 [[ 9.76135293e-01 -2.11810542e-01 -4.79185180e-02 9.78298067e+01] [ 2.11501639e-01 9.77310153e-01 -1.14857341e-02 5.74279794e+00] [ 4.92640537e-02 1.07678537e-03 9.98785209e-01 4.67245328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.230385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.86, Y:5.75, Z:4.67 [[ 9.75673154e-01 -2.13944321e-01 -4.78510526e-02 9.78583951e+01] [ 2.13624509e-01 9.76845054e-01 -1.17605283e-02 5.75007421e+00] [ 4.92591623e-02 1.25227412e-03 9.98785246e-01 4.67214589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.260385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.88, Y:5.76, Z:4.68 [[ 9.75383436e-01 -2.15246050e-01 -4.79196292e-02 9.78840885e+01] [ 2.14941491e-01 9.76559435e-01 -1.14815329e-02 5.75807286e+00] [ 4.92677207e-02 8.98980472e-04 9.98785204e-01 4.67513122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.290385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.91, Y:5.77, Z:4.68 [[ 9.75203031e-01 -2.16075328e-01 -4.78591869e-02 9.79115387e+01] [ 2.15759715e-01 9.76376065e-01 -1.17271201e-02 5.76521916e+00] [ 4.92625059e-02 1.11023854e-03 9.98785249e-01 4.67689753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.320385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.94, Y:5.77, Z:4.68 [[ 9.74365894e-01 -2.19817899e-01 -4.78664479e-02 9.79393416e+01] [ 2.19508240e-01 9.75540516e-01 -1.16976349e-02 5.77099714e+00] [ 4.92670088e-02 8.90696798e-04 9.98785246e-01 4.67854697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.35038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.96, Y:5.77, Z:4.69 [[ 9.74582196e-01 -2.18845944e-01 -4.79165602e-02 9.79637257e+01] [ 2.18545117e-01 9.75759151e-01 -1.14939936e-02 5.77478272e+00] [ 4.92704360e-02 7.29911209e-04 9.98785208e-01 4.68620085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.38038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.99, Y:5.78, Z:4.69 [[ 9.73618097e-01 -2.23111741e-01 -4.78429935e-02 9.79923152e+01] [ 2.22801396e-01 9.74792529e-01 -1.17924692e-02 5.77982882e+00] [ 4.92680310e-02 8.21875693e-04 9.98785255e-01 4.68518230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.41038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.02, Y:5.79, Z:4.69 [[ 9.73265569e-01 -2.24643660e-01 -4.78472425e-02 9.80184428e+01] [ 2.24336011e-01 9.74440710e-01 -1.17752398e-02 5.78663431e+00] [ 4.92695339e-02 7.26575965e-04 9.98785255e-01 4.68619083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.44038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.04, Y:5.79, Z:4.69 [[ 9.73629077e-01 -2.23064686e-01 -4.78389517e-02 9.80429539e+01] [ 2.22753481e-01 9.74803282e-01 -1.18088329e-02 5.79475471e+00] [ 4.92677007e-02 8.41130050e-04 9.98785255e-01 4.68741185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.47038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.07, Y:5.80, Z:4.68 [[ 9.73232573e-01 -2.24803526e-01 -4.77674869e-02 9.80707689e+01] [ 2.24480208e-01 9.74403545e-01 -1.20982243e-02 5.80457688e+00] [ 4.92645320e-02 1.05153057e-03 9.98785212e-01 4.68281664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.500385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.10, Y:5.81, Z:4.68 [[ 9.73712028e-01 -2.22708761e-01 -4.78089413e-02 9.80997764e+01] [ 2.22391156e-01 9.74884526e-01 -1.19304420e-02 5.80952713e+00] [ 4.92652110e-02 9.84529097e-04 9.98785247e-01 4.68468867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.530385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.13, Y:5.81, Z:4.69 [[ 9.74069934e-01 -2.21130777e-01 -4.78428966e-02 9.81260322e+01] [ 2.20818013e-01 9.75243728e-01 -1.17930865e-02 5.81365633e+00] [ 4.92662992e-02 9.22717636e-04 9.98785252e-01 4.68553119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.560385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.16, Y:5.82, Z:4.69 [[ 9.74896710e-01 -2.17470564e-01 -4.77803228e-02 9.81552283e+01] [ 2.17140975e-01 9.76065920e-01 -1.20464840e-02 5.81727035e+00] [ 4.92565004e-02 1.36901180e-03 9.98785224e-01 4.69222089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.590385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.18, Y:5.83, Z:4.69 [[ 9.75029668e-01 -2.16860699e-01 -4.78391394e-02 9.81810069e+01] [ 2.16542054e-01 9.76201877e-01 -1.18082037e-02 5.82551249e+00] [ 4.92613930e-02 1.15416343e-03 9.98785254e-01 4.69144288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.620385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.21, Y:5.84, Z:4.69 [[ 9.74647094e-01 -2.18574012e-01 -4.78376841e-02 9.82075979e+01] [ 2.18257139e-01 9.75819783e-01 -1.18140968e-02 5.83527533e+00] [ 4.92632130e-02 1.07365906e-03 9.98785254e-01 4.68777179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.650385723 meters Centerline goodness : 0.999258 Centerline is valid? [True, True] Translation: X:98.24, Y:5.84, Z:4.69 [[ 9.74885784e-01 -2.17515322e-01 -4.77995161e-02 9.82359392e+01] [ 2.17189622e-01 9.76056059e-01 -1.19681846e-02 5.83912982e+00] [ 4.92582709e-02 1.28605422e-03 9.98785247e-01 4.69392212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.680385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.27, Y:5.84, Z:4.70 [[ 9.74786074e-01 -2.17961864e-01 -4.77989025e-02 9.82652012e+01] [ 2.17636579e-01 9.75956466e-01 -1.19706593e-02 5.84427035e+00] [ 4.92587951e-02 1.26604233e-03 9.98785246e-01 4.69944910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.710385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.29, Y:5.85, Z:4.70 [[ 9.74173195e-01 -2.20679102e-01 -4.78259276e-02 9.82922314e+01] [ 2.20362427e-01 9.75345939e-01 -1.18616964e-02 5.85150093e+00] [ 4.92644528e-02 1.01630922e-03 9.98785253e-01 4.69831861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.74038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.32, Y:5.85, Z:4.71 [[ 9.74403673e-01 -2.19668380e-01 -4.77837301e-02 9.83207615e+01] [ 2.19342155e-01 9.75573810e-01 -1.20316406e-02 5.85493479e+00] [ 4.92595266e-02 1.24268850e-03 9.98785240e-01 4.70740650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.77038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.35, Y:5.87, Z:4.70 [[ 9.73855092e-01 -2.22079429e-01 -4.78224522e-02 9.83476471e+01] [ 2.21763752e-01 9.75028105e-01 -1.18757128e-02 5.86569067e+00] [ 4.92655864e-02 9.59936953e-04 9.98785252e-01 4.70306656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.80038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.37, Y:5.87, Z:4.70 [[ 9.74038734e-01 -2.21275545e-01 -4.78087566e-02 9.83747423e+01] [ 2.20956196e-01 9.75210754e-01 -1.19308266e-02 5.87371504e+00] [ 4.92636138e-02 1.05744625e-03 9.98785251e-01 4.70243028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.83038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.40, Y:5.88, Z:4.70 [[ 9.73988252e-01 -2.21496405e-01 -4.78145139e-02 9.84017724e+01] [ 2.21178458e-01 9.75160652e-01 -1.19076711e-02 5.88184297e+00] [ 4.92643389e-02 1.02239132e-03 9.98785252e-01 4.70131128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.860385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:98.43, Y:5.89, Z:4.70 [[ 9.74090058e-01 -2.21053287e-01 -4.77912481e-02 9.84290567e+01] [ 2.20730223e-01 9.75261063e-01 -1.20011176e-02 5.88909258e+00] [ 4.92618299e-02 1.14119652e-03 9.98785247e-01 4.69896278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.890385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.46, Y:5.90, Z:4.70 [[ 9.74151136e-01 -2.20782314e-01 -4.77988819e-02 9.84568490e+01] [ 2.20460427e-01 9.75322464e-01 -1.19704733e-02 5.89661706e+00] [ 4.92621920e-02 1.12328825e-03 9.98785250e-01 4.69974782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.920385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.48, Y:5.90, Z:4.70 [[ 9.74113239e-01 -2.20949100e-01 -4.78005587e-02 9.84834809e+01] [ 2.20627743e-01 9.75284711e-01 -1.19637446e-02 5.90367791e+00] [ 4.92625326e-02 1.10791258e-03 9.98785250e-01 4.69918192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.950385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.51, Y:5.91, Z:4.70 [[ 9.74291064e-01 -2.20170785e-01 -4.77676558e-02 9.85125378e+01] [ 2.19842026e-01 9.75460496e-01 -1.20956650e-02 5.91142189e+00] [ 4.92585732e-02 1.28336010e-03 9.98785235e-01 4.70212848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.980385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.54, Y:5.92, Z:4.70 [[ 9.74936842e-01 -2.17286666e-01 -4.77981108e-02 9.85362618e+01] [ 2.16960426e-01 9.76106965e-01 -1.19735954e-02 5.91902141e+00] [ 4.92577715e-02 1.30320082e-03 9.98785249e-01 4.69891674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.010385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.57, Y:5.93, Z:4.71 [[ 9.74851886e-01 -2.17703943e-01 -4.76318600e-02 9.85700969e+01] [ 2.17345822e-01 9.76012874e-01 -1.26358074e-02 5.92704301e+00] [ 4.92401736e-02 1.96545492e-03 9.98785033e-01 4.70512163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.040385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.60, Y:5.93, Z:4.70 [[ 9.74803670e-01 -2.17883632e-01 -4.77967416e-02 9.85966369e+01] [ 2.17557898e-01 9.75973919e-01 -1.19779092e-02 5.93405479e+00] [ 4.92581635e-02 1.27755124e-03 9.98785263e-01 4.70310274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.070385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.62, Y:5.94, Z:4.70 [[ 9.73573482e-01 -2.23316947e-01 -4.77934675e-02 9.86208437e+01] [ 2.22997104e-01 9.74745356e-01 -1.19909588e-02 5.94213461e+00] [ 4.92642448e-02 1.01627467e-03 9.98785263e-01 4.70037921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.10038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.65, Y:5.94, Z:4.71 [[ 9.72999552e-01 -2.25827954e-01 -4.76823637e-02 9.86514371e+01] [ 2.25489413e-01 9.74166270e-01 -1.24339164e-02 5.94496245e+00] [ 4.92584763e-02 1.34632685e-03 9.98785157e-01 4.71341953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.13038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.68, Y:5.95, Z:4.72 [[ 9.72432325e-01 -2.28234228e-01 -4.77965539e-02 9.86795355e+01] [ 2.27920934e-01 9.73605962e-01 -1.19782895e-02 5.95185649e+00] [ 4.92688655e-02 7.54240723e-04 9.98785267e-01 4.71667723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.16038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.71, Y:5.96, Z:4.71 [[ 9.71326118e-01 -2.32897688e-01 -4.77937139e-02 9.87066113e+01] [ 2.32589472e-01 9.72501099e-01 -1.19896107e-02 5.96159561e+00] [ 4.92717919e-02 5.29507332e-04 9.98785267e-01 4.71283067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.19038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.73, Y:5.97, Z:4.72 [[ 9.71524553e-01 -2.32073070e-01 -4.77716804e-02 9.87344055e+01] [ 2.31759544e-01 9.72698130e-01 -1.20773131e-02 5.96742073e+00] [ 4.92702433e-02 6.61863375e-04 9.98785265e-01 4.72073768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.22038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.76, Y:5.98, Z:4.72 [[ 9.70743151e-01 -2.35316707e-01 -4.77889295e-02 9.87620729e+01] [ 2.35010481e-01 9.71918652e-01 -1.20086700e-02 5.97619474e+00] [ 4.92727926e-02 4.26434793e-04 9.98785267e-01 4.71905404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.250385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.79, Y:5.98, Z:4.72 [[ 9.70378279e-01 -2.36817725e-01 -4.77845188e-02 9.87885198e+01] [ 2.36512454e-01 9.71554028e-01 -1.20262043e-02 5.98293472e+00] [ 4.92732601e-02 3.68333599e-04 9.98785267e-01 4.72177123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.280385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.82, Y:5.99, Z:4.73 [[ 9.71027867e-01 -2.34143498e-01 -4.77671942e-02 9.88168161e+01] [ 2.33831604e-01 9.72201878e-01 -1.20950200e-02 5.98779272e+00] [ 4.92713262e-02 5.75121828e-04 9.98785265e-01 4.72635854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.310385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.84, Y:6.00, Z:4.73 [[ 9.71086868e-01 -2.33895296e-01 -4.77837390e-02 9.88430764e+01] [ 2.33586335e-01 9.72261652e-01 -1.20292998e-02 5.99522543e+00] [ 4.92718937e-02 5.19866569e-04 9.98785267e-01 4.72684430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.340385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.87, Y:6.01, Z:4.72 [[ 9.71752293e-01 -2.31115416e-01 -4.77822755e-02 9.88701567e+01] [ 2.30802808e-01 9.72926112e-01 -1.20351104e-02 6.00549660e+00] [ 4.92701230e-02 6.66862786e-04 9.98785267e-01 4.72329747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.370385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.90, Y:6.01, Z:4.72 [[ 9.72621609e-01 -2.27429948e-01 -4.77789137e-02 9.88973891e+01] [ 2.27112238e-01 9.73794057e-01 -1.20484416e-02 6.01239446e+00] [ 4.92669987e-02 8.67398634e-04 9.98785267e-01 4.72248562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.400385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.93, Y:6.02, Z:4.72 [[ 9.72818072e-01 -2.26595148e-01 -4.77455515e-02 9.89283028e+01] [ 2.26269946e-01 9.73988473e-01 -1.21805889e-02 6.01839320e+00] [ 4.92636791e-02 1.04611362e-03 9.98785260e-01 4.72315041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.430385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.95, Y:6.03, Z:4.73 [[ 9.73043571e-01 -2.25601470e-01 -4.78558806e-02 9.89528432e+01] [ 2.25296484e-01 9.74219462e-01 -1.17445806e-02 6.02564454e+00] [ 4.92717249e-02 6.46227052e-04 9.98785202e-01 4.72603893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.460385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.98, Y:6.03, Z:4.73 [[ 9.73681268e-01 -2.22852807e-01 -4.77641634e-02 9.89840020e+01] [ 2.22526742e-01 9.74851416e-01 -1.21064512e-02 6.03272003e+00] [ 4.92609189e-02 1.15902107e-03 9.98785271e-01 4.72676942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.49038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.01, Y:6.04, Z:4.73 [[ 9.73847968e-01 -2.22098582e-01 -4.78785398e-02 9.90112394e+01] [ 2.21793756e-01 9.75023941e-01 -1.16552359e-02 6.04055082e+00] [ 4.92713339e-02 7.31266613e-04 9.98785163e-01 4.72790807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.52038572299999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:99.04, Y:6.05, Z:4.73 [[ 9.74112680e-01 -2.20937542e-01 -4.78653200e-02 9.90388036e+01] [ 2.20628765e-01 9.75287594e-01 -1.17071358e-02 6.04820949e+00] [ 4.92689986e-02 8.43603037e-04 9.98785189e-01 4.73059136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.55038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.06, Y:6.05, Z:4.73 [[ 9.74636831e-01 -2.18615872e-01 -4.78554943e-02 9.90631030e+01] [ 2.18302406e-01 9.75810483e-01 -1.17456589e-02 6.05322132e+00] [ 4.92656804e-02 1.00078222e-03 9.98785208e-01 4.73224385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.58038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.09, Y:6.06, Z:4.73 [[ 9.74595610e-01 -2.18821287e-01 -4.77560497e-02 9.90906902e+01] [ 2.18488988e-01 9.75763960e-01 -1.21349565e-02 6.06056319e+00] [ 4.92540189e-02 1.39250442e-03 9.98785314e-01 4.73347931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.610385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.12, Y:6.07, Z:4.74 [[ 9.74816530e-01 -2.17836040e-01 -4.77513684e-02 9.91206330e+01] [ 2.17501664e-01 9.75984285e-01 -1.21532592e-02 6.06659428e+00] [ 4.92520030e-02 1.46119587e-03 9.98785315e-01 4.73843982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.640385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.15, Y:6.07, Z:4.74 [[ 9.74882097e-01 -2.17527057e-01 -4.78212972e-02 9.91493231e+01] [ 2.17205702e-01 9.76053560e-01 -1.18798189e-02 6.07403406e+00] [ 4.92603295e-02 1.19436429e-03 9.98785259e-01 4.73996472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.670385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:99.17, Y:6.08, Z:4.74 [[ 9.74801190e-01 -2.17881978e-01 -4.78548155e-02 9.91742097e+01] [ 2.17567475e-01 9.75974569e-01 -1.17487865e-02 6.08210422e+00] [ 4.92649317e-02 1.04107967e-03 9.98785203e-01 4.73994632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.700385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.20, Y:6.09, Z:4.74 [[ 9.74607524e-01 -2.18759299e-01 -4.77968854e-02 9.92011135e+01] [ 2.18434774e-01 9.75778077e-01 -1.19747099e-02 6.09171114e+00] [ 4.92587320e-02 1.23014054e-03 9.98785294e-01 4.74025921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.730385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.22, Y:6.10, Z:4.74 [[ 9.74718851e-01 -2.18265006e-01 -4.77864878e-02 9.92231960e+01] [ 2.17937902e-01 9.75888674e-01 -1.20152315e-02 6.09814769e+00] [ 4.92567968e-02 1.29698577e-03 9.98785305e-01 4.74284933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.760385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.26, Y:6.10, Z:4.74 [[ 9.74667248e-01 -2.18536747e-01 -4.75966972e-02 9.92558038e+01] [ 2.18174088e-01 9.75826583e-01 -1.27494017e-02 6.10356484e+00] [ 4.92323352e-02 2.04205826e-03 9.98785266e-01 4.73933901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.790385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.29, Y:6.11, Z:4.74 [[ 9.74443483e-01 -2.19504667e-01 -4.77242083e-02 9.92858931e+01] [ 2.19167259e-01 9.75610322e-01 -1.22560875e-02 6.11107318e+00] [ 4.92504986e-02 1.48328065e-03 9.98785356e-01 4.74260629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.820385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.31, Y:6.12, Z:4.74 [[ 9.74623908e-01 -2.18683889e-01 -4.78078912e-02 9.93123687e+01] [ 2.18361347e-01 9.75795030e-01 -1.19324021e-02 6.11884223e+00] [ 4.92601267e-02 1.19020890e-03 9.98785274e-01 4.74014440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.85038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.34, Y:6.13, Z:4.74 [[ 9.74696172e-01 -2.18366818e-01 -4.77839459e-02 9.93404455e+01] [ 2.18039367e-01 9.75865891e-01 -1.20248211e-02 6.12590959e+00] [ 4.92565449e-02 1.30176575e-03 9.98785311e-01 4.74128574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.88038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.37, Y:6.13, Z:4.75 [[ 9.74957849e-01 -2.17193016e-01 -4.77952532e-02 9.93677878e+01] [ 2.16866291e-01 9.76127790e-01 -1.19812367e-02 6.13055207e+00] [ 4.92565158e-02 1.31602149e-03 9.98785294e-01 4.74522127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.91038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.39, Y:6.14, Z:4.75 [[ 9.74813075e-01 -2.17840109e-01 -4.78033043e-02 9.93899405e+01] [ 2.17515684e-01 9.75983669e-01 -1.19501514e-02 6.13718228e+00] [ 4.92584666e-02 1.25119543e-03 9.98785281e-01 4.74661298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.94038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.42, Y:6.15, Z:4.75 [[ 9.74707122e-01 -2.18352837e-01 -4.76241968e-02 9.94188974e+01] [ 2.17995351e-01 9.75867965e-01 -1.26389115e-02 6.14571432e+00] [ 4.92346702e-02 1.93738360e-03 9.98785359e-01 4.74598580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.97038572299999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:99.45, Y:6.15, Z:4.75 [[ 9.74696997e-01 -2.18389091e-01 -4.76651808e-02 9.94460797e+01] [ 2.18039339e-01 9.75860166e-01 -1.24813318e-02 6.15185852e+00] [ 4.92403380e-02 1.77263212e-03 9.98785386e-01 4.74637959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.000385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.48, Y:6.16, Z:4.75 [[ 9.74282234e-01 -2.20236143e-01 -4.76462980e-02 9.94779601e+01] [ 2.19885048e-01 9.75445008e-01 -1.25539582e-02 6.15843327e+00] [ 4.92411789e-02 1.75438989e-03 9.98785377e-01 4.74730000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.030385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.50, Y:6.16, Z:4.75 [[ 9.74099054e-01 -2.21014776e-01 -4.77859914e-02 9.95023779e+01] [ 2.20690927e-01 9.75269771e-01 -1.20162142e-02 6.16303148e+00] [ 4.92599938e-02 1.15904814e-03 9.98785317e-01 4.75447469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.060385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.53, Y:6.17, Z:4.76 [[ 9.73862888e-01 -2.22075013e-01 -4.76839980e-02 9.95292654e+01] [ 2.21733242e-01 9.75028413e-01 -1.24081855e-02 6.16954105e+00] [ 4.92488009e-02 1.51074390e-03 9.98785399e-01 4.75606835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.090385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.56, Y:6.18, Z:4.76 [[ 9.73500064e-01 -2.23660377e-01 -4.76829170e-02 9.95559665e+01] [ 2.23320301e-01 9.74666085e-01 -1.24123382e-02 6.17597483e+00] [ 4.92510703e-02 1.43484866e-03 9.98785399e-01 4.75792762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.120385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.58, Y:6.18, Z:4.76 [[ 9.73396229e-01 -2.24112074e-01 -4.76818559e-02 9.95836395e+01] [ 2.23772340e-01 9.74562349e-01 -1.24164133e-02 6.18277098e+00] [ 4.92516096e-02 1.41620944e-03 9.98785399e-01 4.76019340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.150385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.61, Y:6.19, Z:4.76 [[ 9.73143641e-01 -2.25207056e-01 -4.76784629e-02 9.96110715e+01] [ 2.24867997e-01 9.74309957e-01 -1.24294284e-02 6.18942925e+00] [ 4.92527962e-02 1.37425876e-03 9.98785399e-01 4.76166918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.180385723 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:99.64, Y:6.20, Z:4.76 [[ 9.72381880e-01 -2.28474448e-01 -4.76750116e-02 9.96360591e+01] [ 2.28138661e-01 9.73549142e-01 -1.24426523e-02 6.19767297e+00] [ 4.92567948e-02 1.22249634e-03 9.98785399e-01 4.75831852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.210385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.66, Y:6.20, Z:4.76 [[ 9.73102544e-01 -2.25403917e-01 -4.75868938e-02 9.96647505e+01] [ 2.25047967e-01 9.74263872e-01 -1.27796495e-02 6.20369884e+00] [ 4.92427745e-02 1.72657578e-03 9.98785346e-01 4.76492281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.24038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.69, Y:6.21, Z:4.76 [[ 9.72755430e-01 -2.26879641e-01 -4.76707609e-02 9.96929480e+01] [ 2.26541151e-01 9.73921910e-01 -1.24587606e-02 6.21245007e+00] [ 4.92542377e-02 1.31993796e-03 9.98785401e-01 4.76196399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.27038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.72, Y:6.22, Z:4.77 [[ 9.73261077e-01 -2.24697479e-01 -4.76856268e-02 9.97190572e+01] [ 2.24359155e-01 9.74427607e-01 -1.24019265e-02 6.21931956e+00] [ 4.92528728e-02 1.37160539e-03 9.98785399e-01 4.76654568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.30038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.75, Y:6.23, Z:4.77 [[ 9.73330894e-01 -2.24399079e-01 -4.76657589e-02 9.97470411e+01] [ 2.24056684e-01 9.74496232e-01 -1.24778231e-02 6.22731099e+00] [ 4.92501145e-02 1.46521885e-03 9.98785402e-01 4.76549880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.33038572299999 meters Centerline goodness : 0.999394 Centerline is valid? [True, True] Translation: X:99.78, Y:6.24, Z:4.77 [[ 9.72694615e-01 -2.27141009e-01 -4.76670651e-02 9.97780219e+01] [ 2.26802143e-01 9.73860984e-01 -1.24728347e-02 6.23726834e+00] [ 4.92541871e-02 1.32126663e-03 9.98785402e-01 4.76776716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.360385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.80, Y:6.25, Z:4.76 [[ 9.72700042e-01 -2.27088830e-01 -4.78047160e-02 9.98011667e+01] [ 2.26775587e-01 9.73873735e-01 -1.19491209e-02 6.24658761e+00] [ 4.92692692e-02 7.81967825e-04 9.98785226e-01 4.76331042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.390385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.83, Y:6.25, Z:4.77 [[ 9.73314301e-01 -2.24482053e-01 -4.76138495e-02 9.98290873e+01] [ 2.24130138e-01 9.74476802e-01 -1.26745494e-02 6.25203179e+00] [ 4.92438007e-02 1.66462149e-03 9.98785401e-01 4.77003440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.420385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.86, Y:6.26, Z:4.77 [[ 9.73158399e-01 -2.25149647e-01 -4.76483645e-02 9.98563754e+01] [ 2.24804940e-01 9.74323048e-01 -1.25434403e-02 6.25701407e+00] [ 4.92490509e-02 1.49516655e-03 9.98785410e-01 4.77358256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.450385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.88, Y:6.26, Z:4.78 [[ 9.73080513e-01 -2.25486768e-01 -4.76448694e-02 9.98834526e+01] [ 2.25141816e-01 9.74245088e-01 -1.25567020e-02 6.26345658e+00] [ 4.92491502e-02 1.49182962e-03 9.98785410e-01 4.77555884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.480385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.91, Y:6.27, Z:4.77 [[ 9.72312449e-01 -2.28776761e-01 -4.76413196e-02 9.99069130e+01] [ 2.28435091e-01 9.73477992e-01 -1.25701560e-02 6.27353339e+00] [ 4.92535357e-02 1.33916993e-03 9.98785410e-01 4.77332241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.510385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:99.94, Y:6.28, Z:4.78 [[ 9.73211399e-01 -2.24951273e-01 -4.75026146e-02 9.99376930e+01] [ 2.24579408e-01 9.74367803e-01 -1.30948130e-02 6.28127901e+00] [ 4.92307131e-02 2.07591224e-03 9.98785276e-01 4.77631495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.540385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.96, Y:6.29, Z:4.78 [[ 9.73373707e-01 -2.24219172e-01 -4.76381177e-02 9.99649018e+01] [ 2.23871477e-01 9.74537460e-01 -1.25817880e-02 6.28880598e+00] [ 4.92462083e-02 1.58196587e-03 9.98785417e-01 4.77745355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.570385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.99, Y:6.30, Z:4.78 [[ 9.73600542e-01 -2.23232915e-01 -4.76345512e-02 9.99919306e+01] [ 2.22883383e-01 9.74763744e-01 -1.25952764e-02 6.29705770e+00] [ 4.92441137e-02 1.64581800e-03 9.98785417e-01 4.77642570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.60038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.02, Y:6.31, Z:4.77 [[ 9.73098897e-01 -2.25409829e-01 -4.76334446e-02 1.00018616e+02] [ 2.25062694e-01 9.74262817e-01 -1.25994598e-02 6.30684068e+00] [ 4.92475361e-02 1.54000911e-03 9.98785417e-01 4.77351243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.63038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.05, Y:6.32, Z:4.78 [[ 9.73220321e-01 -2.24892089e-01 -4.75999400e-02 1.00045488e+02] [ 2.24538140e-01 9.74382198e-01 -1.27262146e-02 6.31500619e+00] [ 4.92425592e-02 1.69740863e-03 9.98785407e-01 4.77693002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.66038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.07, Y:6.32, Z:4.78 [[ 9.73792579e-01 -2.22404194e-01 -4.75855877e-02 1.00073503e+02] [ 2.22044628e-01 9.74952739e-01 -1.27804743e-02 6.31935551e+00] [ 4.92361301e-02 1.87940687e-03 9.98785398e-01 4.78447937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.69038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.10, Y:6.33, Z:4.79 [[ 9.73593209e-01 -2.23265160e-01 -4.76333114e-02 1.00100714e+02] [ 2.22915432e-01 9.74756354e-01 -1.26000629e-02 6.32643461e+00] [ 4.92440280e-02 1.64913547e-03 9.98785415e-01 4.78665634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.72038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.14, Y:6.34, Z:4.79 [[ 9.72272912e-01 -2.28947129e-01 -4.76297792e-02 1.00137266e+02] [ 2.28603547e-01 9.73437887e-01 -1.26134010e-02 6.33749057e+00] [ 4.92524335e-02 1.37533162e-03 9.98785416e-01 4.78928054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.750385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.16, Y:6.34, Z:4.79 [[ 9.72530527e-01 -2.27782777e-01 -4.79518523e-02 1.00160117e+02] [ 2.27497209e-01 9.73711956e-01 -1.14037897e-02 6.34326121e+00] [ 4.92888788e-02 1.81621097e-04 9.98784548e-01 4.78947893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.780385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.18, Y:6.35, Z:4.79 [[ 9.71526245e-01 -2.32097366e-01 -4.76189806e-02 1.00184301e+02] [ 2.31755872e-01 9.72691753e-01 -1.26479362e-02 6.35258402e+00] [ 4.92541424e-02 1.25182362e-03 9.98785494e-01 4.78687382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.810385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.21, Y:6.36, Z:4.79 [[ 9.71669207e-01 -2.31515934e-01 -4.75323448e-02 1.00212489e+02] [ 2.31157936e-01 9.72829770e-01 -1.29710528e-02 6.35743501e+00] [ 4.92438854e-02 1.61609385e-03 9.98785476e-01 4.79180538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.840385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.24, Y:6.37, Z:4.79 [[ 9.70089098e-01 -2.38038938e-01 -4.75878811e-02 1.00236147e+02] [ 2.37698890e-01 9.71255022e-01 -1.27640019e-02 6.36758241e+00] [ 4.92582979e-02 1.07063257e-03 9.98785499e-01 4.78994602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.870385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.26, Y:6.38, Z:4.79 [[ 9.69726034e-01 -2.39537724e-01 -4.74668160e-02 1.00264343e+02] [ 2.39177396e-01 9.70885957e-01 -1.32148165e-02 6.37570491e+00] [ 4.92503122e-02 1.46176212e-03 9.98785397e-01 4.79167183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.900385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.29, Y:6.38, Z:4.80 [[ 9.69973176e-01 -2.38531298e-01 -4.74853499e-02 1.00294055e+02] [ 2.38173139e-01 9.71133741e-01 -1.31458706e-02 6.38105412e+00] [ 4.92503270e-02 1.44140701e-03 9.98785426e-01 4.79702056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.930385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.32, Y:6.39, Z:4.79 [[ 9.68462594e-01 -2.44573473e-01 -4.75817155e-02 1.00317882e+02] [ 2.44240148e-01 9.69630463e-01 -1.27873059e-02 6.39058191e+00] [ 4.92641167e-02 7.62662223e-04 9.98785495e-01 4.79360888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.960385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.35, Y:6.40, Z:4.80 [[ 9.68958652e-01 -2.42623830e-01 -4.74637480e-02 1.00348356e+02] [ 2.42266668e-01 9.70119552e-01 -1.32256191e-02 6.39562585e+00] [ 4.92543603e-02 1.31619395e-03 9.98785400e-01 4.80004228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.99038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.37, Y:6.41, Z:4.80 [[ 9.68023801e-01 -2.46305137e-01 -4.75783635e-02 1.00373911e+02] [ 2.45973298e-01 9.69192090e-01 -1.27995912e-02 6.40702471e+00] [ 4.92651786e-02 6.87301873e-04 9.98785497e-01 4.79610352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.02038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.40, Y:6.42, Z:4.80 [[ 9.67940807e-01 -2.46637489e-01 -4.75451805e-02 1.00400988e+02] [ 2.46299997e-01 9.69107482e-01 -1.29228205e-02 6.41586719e+00] [ 4.92636421e-02 7.98147455e-04 9.98785491e-01 4.79656999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.05038572299999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:100.43, Y:6.43, Z:4.80 [[ 9.67825244e-01 -2.47092920e-01 -4.75329921e-02 1.00426075e+02] [ 2.46753757e-01 9.68991441e-01 -1.29680388e-02 6.42662508e+00] [ 4.92633731e-02 8.21850871e-04 9.98785485e-01 4.79596617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.08038572299999 meters Centerline goodness : 0.999821 Centerline is valid? [True, True] Translation: X:100.45, Y:6.43, Z:4.80 [[ 9.68746634e-01 -2.43459253e-01 -4.75136981e-02 1.00454860e+02] [ 2.43112210e-01 9.69910524e-01 -1.30395450e-02 6.43189275e+00] [ 4.92586337e-02 1.08085522e-03 9.98785472e-01 4.80251511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.110385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:100.48, Y:6.44, Z:4.80 [[ 9.68075643e-01 -2.46103292e-01 -4.75680407e-02 1.00479425e+02] [ 2.45769313e-01 9.69243326e-01 -1.28381992e-02 6.44328430e+00] [ 4.92645291e-02 7.37583278e-04 9.98785494e-01 4.79966662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.140385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:100.51, Y:6.45, Z:4.80 [[ 9.68308512e-01 -2.45196895e-01 -4.75090374e-02 1.00507073e+02] [ 2.44851103e-01 9.69472775e-01 -1.30566178e-02 6.45179109e+00] [ 4.92601605e-02 1.01019391e-03 9.98785471e-01 4.80242635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.170385723 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:100.53, Y:6.46, Z:4.81 [[ 9.69286662e-01 -2.41299374e-01 -4.75181891e-02 1.00534410e+02] [ 2.40950560e-01 9.70450017e-01 -1.30227581e-02 6.45882730e+00] [ 4.92564108e-02 1.17325147e-03 9.98785477e-01 4.81089114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.200385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:100.56, Y:6.47, Z:4.81 [[ 9.69385787e-01 -2.40891934e-01 -4.75633575e-02 1.00561249e+02] [ 2.40550822e-01 9.70551407e-01 -1.28556467e-02 6.46673228e+00] [ 4.92595052e-02 1.02067646e-03 9.98785492e-01 4.81268855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.230385723 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:100.59, Y:6.47, Z:4.81 [[ 9.69476259e-01 -2.40528276e-01 -4.75597612e-02 1.00588473e+02] [ 2.40186075e-01 9.70641561e-01 -1.28689377e-02 6.47465133e+00] [ 4.92588243e-02 1.05293720e-03 9.98785492e-01 4.81364688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.260385723 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:100.61, Y:6.49, Z:4.81 [[ 9.68956883e-01 -2.42612809e-01 -4.75561147e-02 1.00612136e+02] [ 2.42272454e-01 9.70122725e-01 -1.28823990e-02 6.48541123e+00] [ 4.92607026e-02 9.60952522e-04 9.98785492e-01 4.80950311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.290385723 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:100.64, Y:6.49, Z:4.81 [[ 9.69502731e-01 -2.40444686e-01 -4.74426705e-02 1.00642673e+02] [ 2.40081256e-01 9.70661676e-01 -1.33004336e-02 6.49142353e+00] [ 4.92488007e-02 1.50471079e-03 9.98785408e-01 4.81486855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.320385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:100.67, Y:6.50, Z:4.81 [[ 9.68530398e-01 -2.44310570e-01 -4.75522273e-02 1.00669148e+02] [ 2.43971567e-01 9.69696630e-01 -1.28964901e-02 6.50240581e+00] [ 4.92619834e-02 8.89251254e-04 9.98785496e-01 4.81217187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.35038572299999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:100.69, Y:6.51, Z:4.81 [[ 9.68076637e-01 -2.46107487e-01 -4.75261032e-02 1.00693433e+02] [ 2.45765926e-01 9.69242126e-01 -1.29927066e-02 6.51153458e+00] [ 4.92619037e-02 8.97638988e-04 9.98785492e-01 4.81393859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.38038572299999 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:100.72, Y:6.52, Z:4.82 [[ 9.67614692e-01 -2.47933429e-01 -4.74428324e-02 1.00722503e+02] [ 2.47579011e-01 9.68776421e-01 -1.32996162e-02 6.51954278e+00] [ 4.92589168e-02 1.12305448e-03 9.98785411e-01 4.81785690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.41038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.75, Y:6.53, Z:4.82 [[ 9.67090431e-01 -2.49955256e-01 -4.75233511e-02 1.00750293e+02] [ 2.49617838e-01 9.68257126e-01 -1.30027698e-02 6.52661779e+00] [ 4.92649341e-02 7.12178071e-04 9.98785492e-01 4.82069408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.44038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.78, Y:6.53, Z:4.83 [[ 9.67050334e-01 -2.50109098e-01 -4.75298868e-02 1.00777100e+02] [ 2.49773049e-01 9.68217423e-01 -1.29786845e-02 6.53220989e+00] [ 4.92653516e-02 6.79356467e-04 9.98785494e-01 4.82727718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.47038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.80, Y:6.54, Z:4.83 [[ 9.66982418e-01 -2.50367768e-01 -4.75498117e-02 1.00804651e+02] [ 2.50035640e-01 9.68150625e-01 -1.29052714e-02 6.53972371e+00] [ 4.92664439e-02 5.90022969e-04 9.98785497e-01 4.82871690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.500385723 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:100.83, Y:6.55, Z:4.82 [[ 9.65452443e-01 -2.56204858e-01 -4.75463036e-02 1.00828924e+02] [ 2.55879158e-01 9.66622458e-01 -1.29181832e-02 6.55115835e+00] [ 4.92690262e-02 3.05783407e-04 9.98785497e-01 4.82333090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.530385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.86, Y:6.56, Z:4.83 [[ 9.65191944e-01 -2.57192632e-01 -4.75022163e-02 1.00857063e+02] [ 2.56860140e-01 9.66360063e-01 -1.30804480e-02 6.56044185e+00] [ 4.92684396e-02 4.23717102e-04 9.98785483e-01 4.82565482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.560385723 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:100.88, Y:6.57, Z:4.83 [[ 9.64406443e-01 -2.60114280e-01 -4.75475893e-02 1.00884686e+02] [ 2.59793556e-01 9.65577833e-01 -1.29134470e-02 6.57006784e+00] [ 4.92698702e-02 1.01254235e-04 9.98785497e-01 4.82564834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.590385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.91, Y:6.58, Z:4.83 [[ 9.63819892e-01 -2.62274721e-01 -4.75729531e-02 1.00911263e+02] [ 2.61961227e-01 9.64993243e-01 -1.28201427e-02 6.57812016e+00] [ 4.92699777e-02 -1.05960656e-04 9.98785492e-01 4.82765864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.620385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.94, Y:6.59, Z:4.83 [[ 9.63221187e-01 -2.64470921e-01 -4.75402614e-02 1.00938058e+02] [ 2.64154171e-01 9.64393656e-01 -1.29402743e-02 6.58664792e+00] [ 4.92698527e-02 -9.36119491e-05 9.98785499e-01 4.83028259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.650385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.96, Y:6.60, Z:4.83 [[ 9.62665651e-01 -2.66481561e-01 -4.75649362e-02 1.00963310e+02] [ 2.66171736e-01 9.63839973e-01 -1.28496575e-02 6.59821925e+00] [ 4.92691836e-02 -2.90517704e-04 9.98785494e-01 4.82821621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.680385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:100.99, Y:6.61, Z:4.83 [[ 9.62907971e-01 -2.65615156e-01 -4.75060920e-02 1.00989723e+02] [ 2.65293619e-01 9.64079140e-01 -1.30655041e-02 6.60695965e+00] [ 4.92700283e-02 -2.21850518e-05 9.98785494e-01 4.82871790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.710385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:101.02, Y:6.62, Z:4.83 [[ 9.63148395e-01 -2.64741259e-01 -4.75103687e-02 1.01015052e+02] [ 2.64419433e-01 9.64319483e-01 -1.30498225e-02 6.61721805e+00] [ 4.92700006e-02 6.25085095e-06 9.98785496e-01 4.82917192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.74038572299999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:101.04, Y:6.63, Z:4.83 [[ 9.63942270e-01 -2.61843624e-01 -4.74680662e-02 1.01041921e+02] [ 2.61510639e-01 9.65110262e-01 -1.32048800e-02 6.62896576e+00] [ 4.92695315e-02 3.15337660e-04 9.98785469e-01 4.83027794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.77038572299999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:101.07, Y:6.64, Z:4.83 [[ 9.64287815e-01 -2.60567263e-01 -4.74732641e-02 1.01067798e+02] [ 2.60233670e-01 9.65455629e-01 -1.31858341e-02 6.63804281e+00] [ 4.92691267e-02 3.60797480e-04 9.98785474e-01 4.83146958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.80038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.09, Y:6.65, Z:4.83 [[ 9.65238250e-01 -2.57026747e-01 -4.74591718e-02 1.01094715e+02] [ 2.56686333e-01 9.66404107e-01 -1.32374119e-02 6.64839391e+00] [ 4.92671074e-02 5.95135476e-04 9.98785461e-01 4.83238087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.83038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.12, Y:6.66, Z:4.84 [[ 9.65834545e-01 -2.54771375e-01 -4.74887179e-02 1.01120793e+02] [ 2.54433552e-01 9.67001132e-01 -1.31293129e-02 6.65738690e+00] [ 4.92666171e-02 5.98020740e-04 9.98785484e-01 4.83511562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.860385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.15, Y:6.67, Z:4.84 [[ 9.66451683e-01 -2.52418637e-01 -4.74971174e-02 1.01147435e+02] [ 2.52079483e-01 9.67617880e-01 -1.30985995e-02 6.66652490e+00] [ 4.92653907e-02 6.86114700e-04 9.98785488e-01 4.83935332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.890385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:101.17, Y:6.68, Z:4.84 [[ 9.67765149e-01 -2.47336936e-01 -4.74874281e-02 1.01174574e+02] [ 2.46989922e-01 9.68929036e-01 -1.31339988e-02 6.67537668e+00] [ 4.92604710e-02 9.81710179e-04 9.98785484e-01 4.84113463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.920385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.20, Y:6.68, Z:4.84 [[ 9.67922379e-01 -2.46714527e-01 -4.75206386e-02 1.01203322e+02] [ 2.46372715e-01 9.69087795e-01 -1.30127203e-02 6.68403736e+00] [ 4.92620980e-02 8.87514459e-04 9.98785491e-01 4.84367319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.950385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.23, Y:6.70, Z:4.85 [[ 9.68268680e-01 -2.45343988e-01 -4.75614490e-02 1.01228586e+02] [ 2.45007837e-01 9.69435755e-01 -1.28637784e-02 6.69550005e+00] [ 4.92638200e-02 8.02666018e-04 9.98785478e-01 4.84745781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.980385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:101.25, Y:6.71, Z:4.85 [[ 9.68278334e-01 -2.45302800e-01 -4.75773562e-02 1.01252014e+02] [ 2.44969447e-01 9.69446224e-01 -1.28057727e-02 6.70615676e+00] [ 4.92649802e-02 7.44553627e-04 9.98785466e-01 4.85047267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.010385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.28, Y:6.72, Z:4.85 [[ 9.68333085e-01 -2.45099370e-01 -4.75114161e-02 1.01276926e+02] [ 2.44753986e-01 9.69497442e-01 -1.30459230e-02 6.71585285e+00] [ 4.92597439e-02 1.00419041e-03 9.98785497e-01 4.85188118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.040385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:101.30, Y:6.72, Z:4.85 [[ 9.67878172e-01 -2.46890139e-01 -4.75089869e-02 1.01304351e+02] [ 2.46546475e-01 9.69043038e-01 -1.30547635e-02 6.72419006e+00] [ 4.92613453e-02 9.22247358e-04 9.98785497e-01 4.85220815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.070385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.33, Y:6.73, Z:4.85 [[ 9.68237573e-01 -2.45477332e-01 -4.75066493e-02 1.01331274e+02] [ 2.45131552e-01 9.69401812e-01 -1.30632621e-02 6.73056796e+00] [ 4.92597666e-02 1.00296255e-03 9.98785497e-01 4.85451013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.10038572299999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:101.36, Y:6.74, Z:4.85 [[ 9.67275859e-01 -2.49240300e-01 -4.75045875e-02 1.01356278e+02] [ 2.48898682e-01 9.68441326e-01 -1.30707555e-02 6.74368039e+00] [ 4.92631647e-02 8.19197062e-04 9.98785497e-01 4.85055016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.13038572299999 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:101.38, Y:6.75, Z:4.85 [[ 9.67026864e-01 -2.50211570e-01 -4.74680273e-02 1.01382172e+02] [ 2.49864604e-01 9.68190759e-01 -1.32035384e-02 6.75390933e+00] [ 4.92617834e-02 9.07596498e-04 9.98785489e-01 4.85031381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.16038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.41, Y:6.77, Z:4.85 [[ 9.66300578e-01 -2.53004426e-01 -4.74547602e-02 1.01405880e+02] [ 2.52658458e-01 9.67464778e-01 -1.32517069e-02 6.76519396e+00] [ 4.92635495e-02 8.15285497e-04 9.98785481e-01 4.84768585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.19038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.44, Y:6.77, Z:4.85 [[ 9.66677757e-01 -2.51577611e-01 -4.73584214e-02 1.01435612e+02] [ 2.51212803e-01 9.67836320e-01 -1.36009630e-02 6.77108111e+00] [ 4.92568981e-02 1.25070659e-03 9.98785359e-01 4.85067748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.22038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.46, Y:6.78, Z:4.85 [[ 9.66403802e-01 -2.52614645e-01 -4.74292302e-02 1.01462522e+02] [ 2.52263668e-01 9.67566522e-01 -1.33442094e-02 6.77808177e+00] [ 4.92618780e-02 9.31223151e-04 9.98785463e-01 4.85166600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.250385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.49, Y:6.78, Z:4.85 [[ 9.65987539e-01 -2.54204955e-01 -4.74121895e-02 1.01487975e+02] [ 2.53852862e-01 9.67149939e-01 -1.34059495e-02 6.78484506e+00] [ 4.92625550e-02 9.14260115e-04 9.98785445e-01 4.85207428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.280385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.51, Y:6.79, Z:4.85 [[ 9.66019959e-01 -2.54089419e-01 -4.73709493e-02 1.01514478e+02] [ 2.53729866e-01 9.67180134e-01 -1.35552168e-02 6.79243605e+00] [ 4.92604783e-02 1.07518534e-03 9.98785387e-01 4.85273103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.310385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:101.54, Y:6.80, Z:4.85 [[ 9.65873764e-01 -2.54645693e-01 -4.73649934e-02 1.01539000e+02] [ 2.54285752e-01 9.67033830e-01 -1.35767549e-02 6.80021516e+00] [ 4.92608131e-02 1.06918838e-03 9.98785377e-01 4.85223045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.340385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.57, Y:6.81, Z:4.85 [[ 9.66188642e-01 -2.53456863e-01 -4.73194102e-02 1.01566556e+02] [ 2.53087428e-01 9.67345815e-01 -1.37414522e-02 6.80712936e+00] [ 4.92570988e-02 1.30088722e-03 9.98785285e-01 4.85454442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.370385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.60, Y:6.81, Z:4.86 [[ 9.66636984e-01 -2.51738225e-01 -4.73371746e-02 1.01595270e+02] [ 2.51369873e-01 9.67794461e-01 -1.36772847e-02 6.81242453e+00] [ 4.92557508e-02 1.32182967e-03 9.98785324e-01 4.85892533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.400385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.62, Y:6.82, Z:4.86 [[ 9.66637065e-01 -2.51731531e-01 -4.73711020e-02 1.01621586e+02] [ 2.51369168e-01 9.67796367e-01 -1.35548113e-02 6.81865446e+00] [ 4.92577539e-02 1.19494854e-03 9.98785385e-01 4.86118726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.430385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.65, Y:6.83, Z:4.86 [[ 9.66798475e-01 -2.51111556e-01 -4.73676563e-02 1.01648604e+02] [ 2.50747841e-01 9.67957360e-01 -1.35672437e-02 6.82563473e+00] [ 4.92567632e-02 1.23945300e-03 9.98785380e-01 4.86306536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.460385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:101.68, Y:6.83, Z:4.86 [[ 9.66911693e-01 -2.50679595e-01 -4.73446710e-02 1.01676172e+02] [ 2.50311300e-01 9.68069173e-01 -1.36502293e-02 6.83357649e+00] [ 4.92547505e-02 1.34766022e-03 9.98785339e-01 4.86329540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.49038572299999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:101.70, Y:6.84, Z:4.86 [[ 9.67212914e-01 -2.49514494e-01 -4.73465678e-02 1.01704879e+02] [ 2.49145139e-01 9.68370052e-01 -1.36433764e-02 6.83802877e+00] [ 4.92532185e-02 1.39988257e-03 9.98785343e-01 4.86444042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.52038572299999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:101.73, Y:6.84, Z:4.87 [[ 9.67366311e-01 -2.48910281e-01 -4.73929469e-02 1.01734887e+02] [ 2.48548395e-01 9.68525731e-01 -1.34760126e-02 6.84252610e+00] [ 4.92556067e-02 1.25679975e-03 9.98785415e-01 4.86833732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.55038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.77, Y:6.85, Z:4.88 [[ 9.67895397e-01 -2.46837811e-01 -4.74299122e-02 1.01765021e+02] [ 2.46479971e-01 9.69056034e-01 -1.33426562e-02 6.84542767e+00] [ 4.92557146e-02 1.22377218e-03 9.98785451e-01 4.87797546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.58038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.79, Y:6.85, Z:4.88 [[ 9.67474045e-01 -2.48474508e-01 -4.74804201e-02 1.01792496e+02] [ 2.48127566e-01 9.68637969e-01 -1.31604364e-02 6.85048424e+00] [ 4.92613706e-02 9.51179600e-04 9.98785469e-01 4.88013956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.610385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.82, Y:6.86, Z:4.88 [[ 9.67325245e-01 -2.49053387e-01 -4.74792576e-02 1.01819560e+02] [ 2.48706936e-01 9.68489315e-01 -1.31646288e-02 6.85836222e+00] [ 4.92618491e-02 9.26057120e-04 9.98785469e-01 4.88184528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.640385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.85, Y:6.87, Z:4.88 [[ 9.66984442e-01 -2.50374042e-01 -4.74755412e-02 1.01846323e+02] [ 2.50028523e-01 9.68148789e-01 -1.31780179e-02 6.86656868e+00] [ 4.92628213e-02 8.72698826e-04 9.98785469e-01 4.88124811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.670385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.87, Y:6.87, Z:4.88 [[ 9.66717129e-01 -2.51404404e-01 -4.74743921e-02 1.01873315e+02] [ 2.51059923e-01 9.67881783e-01 -1.31821562e-02 6.87230912e+00] [ 4.92636514e-02 8.24499005e-04 9.98785469e-01 4.88267239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.700385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:101.90, Y:6.88, Z:4.88 [[ 9.65858393e-01 -2.54684255e-01 -4.74709923e-02 1.01896025e+02] [ 2.54343128e-01 9.67024033e-01 -1.31943880e-02 6.87762571e+00] [ 4.92659933e-02 6.69989722e-04 9.98785469e-01 4.87797810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.730385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.92, Y:6.88, Z:4.88 [[ 9.65311859e-01 -2.56782332e-01 -4.72847597e-02 1.01924514e+02] [ 2.56410918e-01 9.66468443e-01 -1.38632628e-02 6.88438078e+00] [ 4.92590690e-02 1.25804334e-03 9.98785243e-01 4.87914109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.760385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.96, Y:6.89, Z:4.88 [[ 9.64032163e-01 -2.61536514e-01 -4.73354111e-02 1.01955413e+02] [ 2.61179775e-01 9.65193230e-01 -1.36804397e-02 6.89108256e+00] [ 4.92657528e-02 8.25331869e-04 9.98785365e-01 4.88213085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.790385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:101.98, Y:6.90, Z:4.89 [[ 9.63612413e-01 -2.63058584e-01 -4.74478529e-02 1.01984188e+02] [ 2.62723638e-01 9.64779807e-01 -1.32745802e-02 6.89671913e+00] [ 4.92687226e-02 3.25877756e-04 9.98785506e-01 4.88507014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.820385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.01, Y:6.90, Z:4.89 [[ 9.63097814e-01 -2.64933878e-01 -4.74619897e-02 1.02011188e+02] [ 2.64603719e-01 9.64266565e-01 -1.32235804e-02 6.90272533e+00] [ 4.92693842e-02 1.76982426e-04 9.98785511e-01 4.88675351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.85038572299999 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:102.04, Y:6.91, Z:4.90 [[ 9.62988918e-01 -2.65330351e-01 -4.74568102e-02 1.02039325e+02] [ 2.64999753e-01 9.64157546e-01 -1.32422476e-02 6.90545735e+00] [ 4.92694119e-02 1.76094713e-04 9.98785510e-01 4.89518722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.88038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.07, Y:6.91, Z:4.90 [[ 9.62801896e-01 -2.66005268e-01 -4.74732184e-02 1.02066319e+02] [ 2.65678402e-01 9.63971572e-01 -1.31831611e-02 6.91196411e+00] [ 4.92696233e-02 8.01637139e-05 9.98785511e-01 4.89779638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.91038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.09, Y:6.92, Z:4.90 [[ 9.62867778e-01 -2.65767348e-01 -4.74695533e-02 1.02093340e+02] [ 2.65439543e-01 9.64037191e-01 -1.31963455e-02 6.91967917e+00] [ 4.92695725e-02 1.06039351e-04 9.98785512e-01 4.89637928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.94038572299999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:102.12, Y:6.93, Z:4.90 [[ 9.63110814e-01 -2.64885913e-01 -4.74659125e-02 1.02121705e+02] [ 2.64556393e-01 9.64279745e-01 -1.32094280e-02 6.92752765e+00] [ 4.92694094e-02 1.64732378e-04 9.98785512e-01 4.89595676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.97038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.15, Y:6.93, Z:4.90 [[ 9.63325108e-01 -2.64105828e-01 -4.74641706e-02 1.02149003e+02] [ 2.63775053e-01 9.64493684e-01 -1.32156841e-02 6.93434408e+00] [ 4.92692319e-02 2.11136216e-04 9.98785512e-01 4.89673379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.000385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:102.18, Y:6.94, Z:4.90 [[ 9.63861478e-01 -2.62142229e-01 -4.74605375e-02 1.02176327e+02] [ 2.61808432e-01 9.65029194e-01 -1.32287183e-02 6.93811533e+00] [ 4.92686100e-02 3.25083098e-04 9.98785512e-01 4.89967436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.030385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.20, Y:6.94, Z:4.90 [[ 9.64339616e-01 -2.60378093e-01 -4.74589622e-02 1.02204060e+02] [ 2.60041882e-01 9.65506640e-01 -1.32343675e-02 6.94392700e+00] [ 4.92678825e-02 4.21107081e-04 9.98785512e-01 4.90118656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.060385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.23, Y:6.95, Z:4.90 [[ 9.64580478e-01 -2.59485055e-01 -4.74553253e-02 1.02230809e+02] [ 2.59147122e-01 9.65747004e-01 -1.32473958e-02 6.95115587e+00] [ 4.92673395e-02 4.80268366e-04 9.98785512e-01 4.90211721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.090385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.26, Y:6.96, Z:4.90 [[ 9.64785818e-01 -2.58721219e-01 -4.74516235e-02 1.02257207e+02] [ 2.58381711e-01 9.65951886e-01 -1.32606421e-02 6.95865407e+00] [ 4.92667948e-02 5.33047744e-04 9.98785512e-01 4.90276233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.120385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.28, Y:6.97, Z:4.90 [[ 9.64239354e-01 -2.60750769e-01 -4.74500236e-02 1.02282020e+02] [ 2.60413434e-01 9.65406053e-01 -1.32663645e-02 6.96828152e+00] [ 4.92677548e-02 4.35327177e-04 9.98785512e-01 4.89703781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.150385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.31, Y:6.97, Z:4.91 [[ 9.65710530e-01 -2.55269276e-01 -4.73367586e-02 1.02313822e+02] [ 2.54905477e-01 9.66869333e-01 -1.36707948e-02 6.97099515e+00] [ 4.92581942e-02 1.13563149e-03 9.98785433e-01 4.90691189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.180385723 meters Centerline goodness : 0.999205 Centerline is valid? [True, True] Translation: X:102.35, Y:6.97, Z:4.90 [[ 9.66057818e-01 -2.53931262e-01 -4.74468700e-02 1.02346604e+02] [ 2.53585154e-01 9.67221941e-01 -1.32773241e-02 6.97356576e+00] [ 4.92631814e-02 7.94840900e-04 9.98785516e-01 4.90382855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.210385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.37, Y:6.98, Z:4.91 [[ 9.66273358e-01 -2.53081696e-01 -4.75967702e-02 1.02369451e+02] [ 2.52760924e-01 9.67444870e-01 -1.27412390e-02 6.97997315e+00] [ 4.92718255e-02 2.80916198e-04 9.98785366e-01 4.91075653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.24038572299999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:102.40, Y:6.99, Z:4.91 [[ 9.66089955e-01 -2.53810059e-01 -4.74410480e-02 1.02398474e+02] [ 2.53462846e-01 9.67253731e-01 -1.32968607e-02 6.98888133e+00] [ 4.92624077e-02 8.21420493e-04 9.98785533e-01 4.90524598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.27038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.43, Y:7.00, Z:4.91 [[ 9.66218279e-01 -2.53315322e-01 -4.74719299e-02 1.02425027e+02] [ 2.52972923e-01 9.67383487e-01 -1.31866773e-02 6.99602550e+00] [ 4.92639485e-02 7.32095773e-04 9.98785526e-01 4.90605239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.30038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.45, Y:7.00, Z:4.91 [[ 9.67083798e-01 -2.49992578e-01 -4.74619597e-02 1.02451290e+02] [ 2.49644433e-01 9.68247298e-01 -1.32222128e-02 7.00015446e+00] [ 4.92603694e-02 9.38373800e-04 9.98785530e-01 4.91282951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.33038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.48, Y:7.00, Z:4.92 [[ 9.67512453e-01 -2.48333593e-01 -4.74350159e-02 1.02479250e+02] [ 2.47978749e-01 9.68673922e-01 -1.33181789e-02 7.00317540e+00] [ 4.92564141e-02 1.12262806e-03 9.98785535e-01 4.91726327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.360385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.51, Y:7.01, Z:4.92 [[ 9.67756977e-01 -2.47379672e-01 -4.74313297e-02 1.02507436e+02] [ 2.47023040e-01 9.68917899e-01 -1.33312941e-02 7.00775119e+00] [ 4.92549554e-02 1.18482167e-03 9.98785535e-01 4.91984330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.390385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.53, Y:7.02, Z:4.92 [[ 9.67687722e-01 -2.47651157e-01 -4.74275936e-02 1.02534915e+02] [ 2.47294201e-01 9.68848544e-01 -1.33445724e-02 7.01555122e+00] [ 4.92549538e-02 1.18480996e-03 9.98785535e-01 4.92124664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.420385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.56, Y:7.02, Z:4.92 [[ 9.67126764e-01 -2.49833547e-01 -4.74238507e-02 1.02563084e+02] [ 2.49478559e-01 9.68288189e-01 -1.33578608e-02 7.02499475e+00] [ 4.92571962e-02 1.08751074e-03 9.98785536e-01 4.91631001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.450385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.59, Y:7.03, Z:4.92 [[ 9.67744420e-01 -2.47423448e-01 -4.74591975e-02 1.02588903e+02] [ 2.47071714e-01 9.68906844e-01 -1.32324158e-02 7.03041558e+00] [ 4.92575512e-02 1.07977129e-03 9.98785526e-01 4.92311402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.480385723 meters Centerline goodness : 0.999579 Centerline is valid? [True, True] Translation: X:102.62, Y:7.04, Z:4.92 [[ 9.67161795e-01 -2.49698951e-01 -4.74183122e-02 1.02618791e+02] [ 2.49342847e-01 9.68322876e-01 -1.33773430e-02 7.03761049e+00] [ 4.92565449e-02 1.11463808e-03 9.98785538e-01 4.91663384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.510385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.65, Y:7.04, Z:4.92 [[ 9.66967126e-01 -2.50443289e-01 -4.74630011e-02 1.02646306e+02] [ 2.50095842e-01 9.68130842e-01 -1.32190159e-02 7.04341981e+00] [ 4.92610090e-02 9.12054608e-04 9.98785523e-01 4.91688542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.540385723 meters Centerline goodness : 0.999265 Centerline is valid? [True, True] Translation: X:102.68, Y:7.05, Z:4.92 [[ 9.66806478e-01 -2.51066482e-01 -4.74431900e-02 1.02675691e+02] [ 2.50716345e-01 9.67969376e-01 -1.32891503e-02 7.04702924e+00] [ 4.92600153e-02 9.53253372e-04 9.98785534e-01 4.91841045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.570385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.70, Y:7.05, Z:4.93 [[ 9.66773781e-01 -2.51189923e-01 -4.74560762e-02 1.02701321e+02] [ 2.50842172e-01 9.67937402e-01 -1.32435515e-02 7.05209792e+00] [ 4.92611577e-02 8.99533110e-04 9.98785527e-01 4.92721904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.60038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.73, Y:7.06, Z:4.93 [[ 9.66209161e-01 -2.53361945e-01 -4.74086631e-02 1.02729357e+02] [ 2.53008584e-01 9.67371075e-01 -1.34111602e-02 7.05689476e+00] [ 4.92596470e-02 9.63187067e-04 9.98785542e-01 4.92857750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.63038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.76, Y:7.07, Z:4.92 [[ 9.65591204e-01 -2.55710333e-01 -4.73904266e-02 1.02755463e+02] [ 2.55356636e-01 9.66753017e-01 -1.34755908e-02 7.06583778e+00] [ 4.92606857e-02 9.10452018e-04 9.98785541e-01 4.92186076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.66038572299999 meters Centerline goodness : 0.998949 Centerline is valid? [True, True] Translation: X:102.79, Y:7.07, Z:4.92 [[ 9.65641451e-01 -2.55529569e-01 -4.73416064e-02 1.02787206e+02] [ 2.55167213e-01 9.66800617e-01 -1.36477654e-02 7.07174448e+00] [ 4.92573018e-02 1.09882226e-03 9.98785518e-01 4.92410467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.69038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.81, Y:7.08, Z:4.93 [[ 9.65480487e-01 -2.56110199e-01 -4.74868019e-02 1.02813414e+02] [ 2.55773680e-01 9.66647443e-01 -1.31356862e-02 7.07618034e+00] [ 4.92671789e-02 5.36374614e-04 9.98785491e-01 4.93334625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.72038572299999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:102.84, Y:7.08, Z:4.93 [[ 9.65740338e-01 -2.55145761e-01 -4.73945218e-02 1.02840170e+02] [ 2.54792120e-01 9.66902160e-01 -1.34606129e-02 7.08088437e+00] [ 4.92602838e-02 9.23706102e-04 9.98785548e-01 4.93315616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.750385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:102.87, Y:7.09, Z:4.93 [[ 9.65163763e-01 -2.57318990e-01 -4.73903807e-02 1.02868154e+02] [ 2.56967250e-01 9.66326162e-01 -1.34751764e-02 7.08569198e+00] [ 4.92619835e-02 8.27976094e-04 9.98785548e-01 4.93450071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.780385723 meters Centerline goodness : 0.999507 Centerline is valid? [True, True] Translation: X:102.90, Y:7.09, Z:4.93 [[ 9.65595205e-01 -2.55695576e-01 -4.73885283e-02 1.02896654e+02] [ 2.55341562e-01 9.66756914e-01 -1.34816879e-02 7.09210149e+00] [ 4.92603953e-02 9.17592323e-04 9.98785548e-01 4.93449322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.810385723 meters Centerline goodness : 0.998987 Centerline is valid? [True, True] Translation: X:102.93, Y:7.10, Z:4.94 [[ 9.64592784e-01 -2.59452128e-01 -4.73851664e-02 1.02925835e+02] [ 2.59102059e-01 9.65755688e-01 -1.34934937e-02 7.10157033e+00] [ 4.92634096e-02 7.38132423e-04 9.98785548e-01 4.93745733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.840385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.95, Y:7.11, Z:4.94 [[ 9.64991300e-01 -2.57954415e-01 -4.74479908e-02 1.02953198e+02] [ 2.57613366e-01 9.66156911e-01 -1.32731304e-02 7.10654273e+00] [ 4.92660668e-02 5.85218715e-04 9.98785519e-01 4.94023402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.870385723 meters Centerline goodness : 0.998780 Centerline is valid? [True, True] Translation: X:102.98, Y:7.11, Z:4.94 [[ 9.65417472e-01 -2.56368026e-01 -4.73765827e-02 1.02978299e+02] [ 2.56012780e-01 9.66578800e-01 -1.35233026e-02 7.11119040e+00] [ 4.92601429e-02 9.26621907e-04 9.98785552e-01 4.94034710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.900385723 meters Centerline goodness : 0.998352 Centerline is valid? [True, True] Translation: X:103.01, Y:7.12, Z:4.94 [[ 9.64762616e-01 -2.58843790e-01 -4.72544891e-02 1.03010157e+02] [ 2.58470610e-01 9.65918394e-01 -1.39499151e-02 7.11808302e+00] [ 4.92548291e-02 1.24445997e-03 9.98785469e-01 4.94367421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.930385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.04, Y:7.12, Z:4.95 [[ 9.64950497e-01 -2.58112786e-01 -4.74165336e-02 1.03037746e+02] [ 2.57766516e-01 9.66114543e-01 -1.33832792e-02 7.12413640e+00] [ 4.92641982e-02 6.91807277e-04 9.98785543e-01 4.94508831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.960385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.06, Y:7.13, Z:4.95 [[ 9.64860980e-01 -2.58456331e-01 -4.73668049e-02 1.03064027e+02] [ 2.58101944e-01 9.66022564e-01 -1.35570291e-02 7.13079173e+00] [ 4.92613023e-02 8.55183965e-04 9.98785559e-01 4.94537951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.99038572299999 meters Centerline goodness : 0.998706 Centerline is valid? [True, True] Translation: X:103.09, Y:7.14, Z:4.94 [[ 9.64453291e-01 -2.59973980e-01 -4.73643271e-02 1.03091746e+02] [ 2.59620995e-01 9.65615302e-01 -1.35656802e-02 7.13727674e+00] [ 4.92624429e-02 7.86691145e-04 9.98785559e-01 4.94472517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.02038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.12, Y:7.15, Z:4.95 [[ 9.64019060e-01 -2.61585684e-01 -4.73305508e-02 1.03118286e+02] [ 2.61228859e-01 9.65179903e-01 -1.36834654e-02 7.14521783e+00] [ 4.92618951e-02 8.27015683e-04 9.98785553e-01 4.94621558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.05038572299999 meters Centerline goodness : 0.998793 Centerline is valid? [True, True] Translation: X:103.14, Y:7.15, Z:4.95 [[ 9.64104068e-01 -2.61267103e-01 -4.73587084e-02 1.03144760e+02] [ 2.60914713e-01 9.65266260e-01 -1.35853083e-02 7.15266035e+00] [ 4.92631574e-02 7.41067229e-04 9.98785559e-01 4.94712336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.08038572299999 meters Centerline goodness : 0.997869 Centerline is valid? [True, True] Translation: X:103.18, Y:7.16, Z:4.95 [[ 9.63486113e-01 -2.63547995e-01 -4.72965613e-02 1.03175120e+02] [ 2.63187730e-01 9.64645910e-01 -1.38016929e-02 7.16300308e+00] [ 4.92618430e-02 8.49864791e-04 9.98785537e-01 4.94889125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.110385723 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:103.20, Y:7.17, Z:4.95 [[ 9.64503352e-01 -2.59772165e-01 -4.74521426e-02 1.03200042e+02] [ 2.59434004e-01 9.65669816e-01 -1.32590892e-02 7.17210376e+00] [ 4.92674441e-02 4.77736594e-04 9.98785508e-01 4.95147945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.140385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.23, Y:7.18, Z:4.95 [[ 9.64899833e-01 -2.58313411e-01 -4.73549737e-02 1.03226663e+02] [ 2.57956866e-01 9.66060745e-01 -1.35975026e-02 7.18183825e+00] [ 4.92601985e-02 9.04687349e-04 9.98785570e-01 4.95191491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.170385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.25, Y:7.19, Z:4.95 [[ 9.64605926e-01 -2.59409432e-01 -4.73513974e-02 1.03249627e+02] [ 2.59053596e-01 9.65767055e-01 -1.36099454e-02 7.19486769e+00] [ 4.92609678e-02 8.61684209e-04 9.98785570e-01 4.94620448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.200385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.28, Y:7.20, Z:4.95 [[ 9.66188883e-01 -2.53472916e-01 -4.72284203e-02 1.03279892e+02] [ 2.53089060e-01 9.67341145e-01 -1.40369979e-02 7.19953177e+00] [ 4.92439929e-02 1.60939478e-03 9.98785482e-01 4.95225058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.230385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.31, Y:7.21, Z:4.95 [[ 9.66773639e-01 -2.51211076e-01 -4.73468738e-02 1.03306218e+02] [ 2.50844639e-01 9.67931462e-01 -1.36254004e-02 7.20648040e+00] [ 4.92513803e-02 1.29596850e-03 9.98785574e-01 4.95378092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.260385723 meters Centerline goodness : 0.999524 Centerline is valid? [True, True] Translation: X:103.33, Y:7.21, Z:4.95 [[ 9.66891847e-01 -2.50756029e-01 -4.73452264e-02 1.03334219e+02] [ 2.50388767e-01 9.68049409e-01 -1.36311224e-02 7.21474636e+00] [ 4.92506045e-02 1.32510822e-03 9.98785574e-01 4.95479599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.290385723 meters Centerline goodness : 0.998028 Centerline is valid? [True, True] Translation: X:103.36, Y:7.22, Z:4.95 [[ 9.67444031e-01 -2.48616306e-01 -4.73495473e-02 1.03356331e+02] [ 2.48247217e-01 9.68601012e-01 -1.36161195e-02 7.22112015e+00] [ 4.92480088e-02 1.41844013e-03 9.98785573e-01 4.95024071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.320385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.39, Y:7.23, Z:4.96 [[ 9.66718666e-01 -2.51464470e-01 -4.71236841e-02 1.03387404e+02] [ 2.51060623e-01 9.67864278e-01 -1.43980104e-02 7.23284524e+00] [ 4.92299185e-02 2.08792398e-03 9.98785290e-01 4.95505326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.35038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.41, Y:7.24, Z:4.96 [[ 9.66763176e-01 -2.51252917e-01 -4.73385036e-02 1.03413557e+02] [ 2.50885168e-01 9.67920566e-01 -1.36532416e-02 7.23980179e+00] [ 4.92503280e-02 1.32292281e-03 9.98785590e-01 4.95754993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.38038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.44, Y:7.25, Z:4.96 [[ 9.66750764e-01 -2.51300972e-01 -4.73368891e-02 1.03440473e+02] [ 2.50933007e-01 9.67908086e-01 -1.36588372e-02 7.24738481e+00] [ 4.92502368e-02 1.32630343e-03 9.98785590e-01 4.95921434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.41038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.47, Y:7.25, Z:4.96 [[ 9.66655069e-01 -2.51669513e-01 -4.73332256e-02 1.03467578e+02] [ 2.51301369e-01 9.67812333e-01 -1.36715209e-02 7.25477441e+00] [ 4.92503845e-02 1.32074057e-03 9.98785590e-01 4.96131993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.44038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.49, Y:7.26, Z:4.96 [[ 9.66067534e-01 -2.53916216e-01 -4.73294248e-02 1.03493772e+02] [ 2.53550119e-01 9.67225448e-01 -1.36846663e-02 7.26074754e+00] [ 4.92529828e-02 1.21993054e-03 9.98785590e-01 4.96395429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.47038572299999 meters Centerline goodness : 0.998708 Centerline is valid? [True, True] Translation: X:103.52, Y:7.27, Z:4.97 [[ 9.65455497e-01 -2.56236768e-01 -4.73117582e-02 1.03520780e+02] [ 2.55870465e-01 9.66613346e-01 -1.37457012e-02 7.26577094e+00] [ 4.92543310e-02 1.16518124e-03 9.98785589e-01 4.96530858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.500385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.55, Y:7.27, Z:4.97 [[ 9.65043674e-01 -2.57793997e-01 -4.72542263e-02 1.03549292e+02] [ 2.57419841e-01 9.66199040e-01 -1.39442126e-02 7.27422368e+00] [ 4.92517224e-02 1.29259876e-03 9.98785561e-01 4.96798601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.530385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.57, Y:7.28, Z:4.97 [[ 9.65053352e-01 -2.57745662e-01 -4.73201910e-02 1.03574325e+02] [ 2.57382593e-01 9.66212220e-01 -1.37166501e-02 7.28107731e+00] [ 4.92567539e-02 1.05790574e-03 9.98785589e-01 4.96860940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.560385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.60, Y:7.29, Z:4.97 [[ 9.64954396e-01 -2.58128425e-01 -4.72517664e-02 1.03603175e+02] [ 2.57754272e-01 9.66109759e-01 -1.39523434e-02 7.29056618e+00] [ 4.92518891e-02 1.28403042e-03 9.98785564e-01 4.97004015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.590385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.63, Y:7.30, Z:4.97 [[ 9.65007536e-01 -2.57918375e-01 -4.73135107e-02 1.03630112e+02] [ 2.57554382e-01 9.66166114e-01 -1.37397280e-02 7.29827059e+00] [ 4.92564391e-02 1.07313903e-03 9.98785588e-01 4.97058970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.620385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.66, Y:7.31, Z:4.97 [[ 9.65003868e-01 -2.57932790e-01 -4.73097260e-02 1.03656158e+02] [ 2.57568177e-01 9.66162252e-01 -1.37527472e-02 7.30525034e+00] [ 4.92561559e-02 1.08597437e-03 9.98785588e-01 4.97032525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.650385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.68, Y:7.31, Z:4.97 [[ 9.64536388e-01 -2.59675765e-01 -4.73080755e-02 1.03683212e+02] [ 2.59312966e-01 9.65695341e-01 -1.37584226e-02 7.31389565e+00] [ 4.92579170e-02 1.00290190e-03 9.98785589e-01 4.97040301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.680385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.71, Y:7.32, Z:4.97 [[ 9.64450667e-01 -2.59994634e-01 -4.73043502e-02 1.03710881e+02] [ 2.59631591e-01 9.65609543e-01 -1.37712190e-02 7.32086268e+00] [ 4.92579750e-02 9.99957612e-04 9.98785589e-01 4.97232632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.710385723 meters Centerline goodness : 0.997765 Centerline is valid? [True, True] Translation: X:103.74, Y:7.33, Z:4.97 [[ 9.64250591e-01 -2.60736325e-01 -4.73007991e-02 1.03739338e+02] [ 2.60373576e-01 9.65409560e-01 -1.37834053e-02 7.32874319e+00] [ 4.92584781e-02 9.74778508e-04 9.98785589e-01 4.97456155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.74038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.76, Y:7.34, Z:4.98 [[ 9.64194988e-01 -2.60928174e-01 -4.73762848e-02 1.03761312e+02] [ 2.60578339e-01 9.65357967e-01 -1.35249672e-02 7.33709926e+00] [ 4.92641190e-02 6.95472018e-04 9.98785544e-01 4.97557928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.77038572299999 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:103.79, Y:7.34, Z:4.98 [[ 9.64998529e-01 -2.57981553e-01 -4.71525025e-02 1.03792355e+02] [ 2.57590408e-01 9.66148434e-01 -1.42963492e-02 7.34339284e+00] [ 4.92445109e-02 1.64992363e-03 9.98785390e-01 4.97790646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.80038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.81, Y:7.35, Z:4.98 [[ 9.64163102e-01 -2.61056015e-01 -4.73209312e-02 1.03813566e+02] [ 2.60696993e-01 9.65323246e-01 -1.37152627e-02 7.35179388e+00] [ 4.92604467e-02 8.87325772e-04 9.98785573e-01 4.97826055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.83038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.85, Y:7.36, Z:4.98 [[ 9.65149291e-01 -2.57423696e-01 -4.71156665e-02 1.03846487e+02] [ 2.57025741e-01 9.66296934e-01 -1.44222999e-02 7.35740315e+00] [ 4.92403659e-02 1.80973344e-03 9.98785318e-01 4.98051546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.860385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.87, Y:7.37, Z:4.98 [[ 9.64631976e-01 -2.59318338e-01 -4.73196693e-02 1.03869797e+02] [ 2.58957058e-01 9.65791406e-01 -1.37186833e-02 7.36622067e+00] [ 4.92584361e-02 9.79718187e-04 9.98785586e-01 4.98084075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.890385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.90, Y:7.37, Z:4.98 [[ 9.65253529e-01 -2.57023335e-01 -4.71659837e-02 1.03900679e+02] [ 2.56633406e-01 9.66403791e-01 -1.42480670e-02 7.37345944e+00] [ 4.92434711e-02 1.64862988e-03 9.98785444e-01 4.98239372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.920385723 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:103.92, Y:7.38, Z:4.98 [[ 9.64635692e-01 -2.59304983e-01 -4.73170919e-02 1.03924163e+02] [ 2.58943268e-01 9.65794982e-01 -1.37272301e-02 7.38275002e+00] [ 4.92581491e-02 9.89333717e-04 9.98785591e-01 4.98304734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.950385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.95, Y:7.39, Z:4.98 [[ 9.64493669e-01 -2.59861392e-01 -4.71595085e-02 1.03950642e+02] [ 2.59473788e-01 9.65644721e-01 -1.42697560e-02 7.39037987e+00] [ 4.92474891e-02 1.52643297e-03 9.98785440e-01 4.98449464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.980385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.98, Y:7.40, Z:4.99 [[ 9.64265422e-01 -2.60705099e-01 -4.71704133e-02 1.03977995e+02] [ 2.60320338e-01 9.65417405e-01 -1.42322100e-02 7.39778206e+00] [ 4.92495477e-02 1.44421007e-03 9.98785461e-01 4.98641389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.010385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.01, Y:7.40, Z:4.99 [[ 9.64216551e-01 -2.60885600e-01 -4.71714484e-02 1.04005937e+02] [ 2.60501229e-01 9.65368663e-01 -1.42286482e-02 7.40412721e+00] [ 4.92498875e-02 1.43127782e-03 9.98785462e-01 4.98800990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.040385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.03, Y:7.41, Z:4.99 [[ 9.64035191e-01 -2.61544299e-01 -4.72306105e-02 1.04033324e+02] [ 2.61170680e-01 9.65190745e-01 -1.40250194e-02 7.41140309e+00] [ 4.92547120e-02 1.18536158e-03 9.98785547e-01 4.98942179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.070385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.06, Y:7.42, Z:4.99 [[ 9.64062761e-01 -2.61441818e-01 -4.72352595e-02 1.04062540e+02] [ 2.61068860e-01 9.65218523e-01 -1.40090243e-02 7.41754110e+00] [ 4.92548922e-02 1.17392334e-03 9.98785551e-01 4.99135068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.10038572299999 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] Translation: X:104.09, Y:7.43, Z:4.99 [[ 9.63958782e-01 -2.61811175e-01 -4.73114590e-02 1.04089071e+02] [ 2.61451516e-01 9.65118713e-01 -1.37467796e-02 7.42594816e+00] [ 4.92602350e-02 8.81676313e-04 9.98785589e-01 4.99234711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.13038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.12, Y:7.44, Z:4.99 [[ 9.64007923e-01 -2.61630887e-01 -4.73075429e-02 1.04115918e+02] [ 2.61270350e-01 9.65167581e-01 -1.37602433e-02 7.43597491e+00] [ 4.92598114e-02 9.04925259e-04 9.98785589e-01 4.99262652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.16038572299999 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:104.14, Y:7.44, Z:4.99 [[ 9.63953217e-01 -2.61833076e-01 -4.73036460e-02 1.04142239e+02] [ 2.61472125e-01 9.65112747e-01 -1.37736265e-02 7.44375394e+00] [ 4.92597427e-02 9.08546692e-04 9.98785589e-01 4.99413744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.19038572299999 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:104.17, Y:7.45, Z:5.00 [[ 9.63806176e-01 -2.62374124e-01 -4.73019524e-02 1.04168225e+02] [ 2.62013539e-01 9.64965819e-01 -1.37794404e-02 7.45045194e+00] [ 4.92601358e-02 8.86957781e-04 9.98785589e-01 4.99630942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.22038572299999 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:104.19, Y:7.46, Z:5.00 [[ 9.63310062e-01 -2.64190094e-01 -4.73002979e-02 1.04194192e+02] [ 2.63831416e-01 9.64470297e-01 -1.37851172e-02 7.45695626e+00] [ 4.92616238e-02 8.00037497e-04 9.98785589e-01 4.99856859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.250385723 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:104.22, Y:7.46, Z:5.00 [[ 9.63037296e-01 -2.65183329e-01 -4.72965924e-02 1.04220661e+02] [ 2.64825225e-01 9.64197708e-01 -1.37978191e-02 7.46492008e+00] [ 4.92622176e-02 7.62483704e-04 9.98785589e-01 4.99977400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.280385723 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:104.25, Y:7.47, Z:5.00 [[ 9.62963098e-01 -2.65453327e-01 -4.72927412e-02 1.04248068e+02] [ 2.65094900e-01 9.64123410e-01 -1.38110068e-02 7.47300612e+00] [ 4.92622166e-02 7.62425344e-04 9.98785589e-01 5.00117735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.310385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.27, Y:7.48, Z:5.00 [[ 9.62697782e-01 -2.66414609e-01 -4.72888699e-02 1.04273980e+02] [ 2.66056690e-01 9.63858251e-01 -1.38242494e-02 7.48056738e+00] [ 4.92627494e-02 7.27053995e-04 9.98785589e-01 5.00267817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.340385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.30, Y:7.49, Z:5.00 [[ 9.61988454e-01 -2.68964935e-01 -4.72871918e-02 1.04297783e+02] [ 2.68609811e-01 9.63149781e-01 -1.38299870e-02 7.49023860e+00] [ 4.92644300e-02 6.02484113e-04 9.98785589e-01 5.00385703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.370385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.33, Y:7.50, Z:5.01 [[ 9.62351353e-01 -2.67682952e-01 -4.71774434e-02 1.04327291e+02] [ 2.67307894e-01 9.63506469e-01 -1.42047373e-02 7.49639955e+00] [ 4.92581379e-02 1.05904510e-03 9.98785520e-01 5.00569516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.400385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.35, Y:7.50, Z:5.01 [[ 9.62282307e-01 -2.67912474e-01 -4.72828585e-02 1.04353153e+02] [ 2.67555356e-01 9.63443021e-01 -1.38447332e-02 7.50417081e+00] [ 4.92635168e-02 6.71759781e-04 9.98785590e-01 5.00743694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.430385723 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:104.38, Y:7.51, Z:5.01 [[ 9.62444567e-01 -2.67329437e-01 -4.72803106e-02 1.04379712e+02] [ 2.66971189e-01 9.63604933e-01 -1.38534291e-02 7.51420329e+00] [ 4.92629699e-02 7.10676855e-04 9.98785590e-01 5.00895344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.460385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:104.41, Y:7.52, Z:5.01 [[ 9.62590481e-01 -2.66804221e-01 -4.72765557e-02 1.04406126e+02] [ 2.66444711e-01 9.63750457e-01 -1.38662314e-02 7.52254907e+00] [ 4.92623712e-02 7.50914169e-04 9.98785590e-01 5.00992188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.49038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.43, Y:7.53, Z:5.01 [[ 9.62983074e-01 -2.65384399e-01 -4.72728223e-02 1.04432480e+02] [ 2.65022554e-01 9.64142324e-01 -1.38789476e-02 7.52959301e+00] [ 4.92609849e-02 8.36827531e-04 9.98785590e-01 5.01175966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.52038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.46, Y:7.54, Z:5.01 [[ 9.63146417e-01 -2.64791261e-01 -4.72712081e-02 1.04459532e+02] [ 2.64428433e-01 9.64305359e-01 -1.38844434e-02 7.53741467e+00] [ 4.92603586e-02 8.72900415e-04 9.98785590e-01 5.01362088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.55038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.49, Y:7.55, Z:5.01 [[ 9.63612495e-01 -2.63090780e-01 -4.72673327e-02 1.04485592e+02] [ 2.62725261e-01 9.64770591e-01 -1.38976239e-02 7.54669246e+00] [ 4.92584693e-02 9.73601780e-04 9.98785590e-01 5.01223457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.58038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.51, Y:7.56, Z:5.01 [[ 9.62669536e-01 -2.66520689e-01 -4.72661332e-02 1.04506900e+02] [ 2.66159096e-01 9.63828864e-01 -1.39017024e-02 7.55874706e+00] [ 4.92615547e-02 8.02434103e-04 9.98785590e-01 5.00908954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.610385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.53, Y:7.57, Z:5.01 [[ 9.62813076e-01 -2.66034604e-01 -4.70804737e-02 1.04534312e+02] [ 2.65641596e-01 9.63962337e-01 -1.45312141e-02 7.56677050e+00] [ 4.92496092e-02 1.48431077e-03 9.98785399e-01 5.00880780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.640385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.57, Y:7.57, Z:5.02 [[ 9.63585852e-01 -2.63216575e-01 -4.71098745e-02 1.04566221e+02] [ 2.62825072e-01 9.64735565e-01 -1.44315993e-02 7.57044725e+00] [ 4.92472075e-02 1.52442880e-03 9.98785457e-01 5.01552473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.670385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.59, Y:7.58, Z:5.02 [[ 9.63273565e-01 -2.64331077e-01 -4.72558973e-02 1.04592768e+02] [ 2.63965143e-01 9.64431531e-01 -1.39364877e-02 7.57799679e+00] [ 4.92589242e-02 9.50740490e-04 9.98785590e-01 5.01760605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.700385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.62, Y:7.59, Z:5.02 [[ 9.63079992e-01 -2.65035696e-01 -4.72547126e-02 1.04619354e+02] [ 2.64670412e-01 9.64238163e-01 -1.39405037e-02 7.58587098e+00] [ 4.92595284e-02 9.18895971e-04 9.98785590e-01 5.01975279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.730385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.65, Y:7.59, Z:5.02 [[ 9.62882416e-01 -2.65753274e-01 -4.72509252e-02 1.04645846e+02] [ 2.65388224e-01 9.64040661e-01 -1.39533292e-02 7.59424703e+00] [ 4.92599560e-02 8.95576214e-04 9.98785590e-01 5.02162430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.760385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.67, Y:7.60, Z:5.02 [[ 9.62917170e-01 -2.65627988e-01 -4.72471648e-02 1.04672641e+02] [ 2.65262164e-01 9.64075170e-01 -1.39660504e-02 7.60299827e+00] [ 4.92595924e-02 9.15264608e-04 9.98785590e-01 5.02326813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.790385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:104.70, Y:7.61, Z:5.02 [[ 9.62990267e-01 -2.65363549e-01 -4.72433439e-02 1.04699429e+02] [ 2.64996772e-01 9.64147965e-01 -1.39789636e-02 7.61150548e+00] [ 4.92590813e-02 9.42272186e-04 9.98785590e-01 5.02437957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.820385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.73, Y:7.62, Z:5.03 [[ 9.63220593e-01 -2.64526968e-01 -4.72395286e-02 1.04725394e+02] [ 2.64158555e-01 9.64377771e-01 -1.39918451e-02 7.61892507e+00] [ 4.92579717e-02 9.98507764e-04 9.98785590e-01 5.02595264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.85038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.75, Y:7.63, Z:5.03 [[ 9.63306990e-01 -2.64212633e-01 -4.72369233e-02 1.04751967e+02] [ 2.63843411e-01 9.64463912e-01 -1.40006350e-02 7.62632822e+00] [ 4.92574525e-02 1.02375857e-03 9.98785590e-01 5.02753656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.88038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.78, Y:7.63, Z:5.03 [[ 9.63795052e-01 -2.62430609e-01 -4.72151819e-02 1.04778799e+02] [ 2.62055658e-01 9.64950131e-01 -1.40739470e-02 7.63364659e+00] [ 4.92537304e-02 1.19139488e-03 9.98785588e-01 5.03084355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.91038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.81, Y:7.64, Z:5.03 [[ 9.63981489e-01 -2.61741957e-01 -4.72317326e-02 1.04805489e+02] [ 2.61368912e-01 9.65137183e-01 -1.40181827e-02 7.64225411e+00] [ 4.92542479e-02 1.16836207e-03 9.98785590e-01 5.03117824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.94038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.83, Y:7.65, Z:5.03 [[ 9.64307174e-01 -2.60540135e-01 -4.72282902e-02 1.04832304e+02] [ 2.60165082e-01 9.65462219e-01 -1.40297705e-02 7.65199452e+00] [ 4.92524482e-02 1.24185639e-03 9.98785590e-01 5.02933433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.97038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.86, Y:7.66, Z:5.03 [[ 9.64284605e-01 -2.60624332e-01 -4.72245629e-02 1.04857760e+02] [ 2.60248766e-01 9.65439482e-01 -1.40423057e-02 7.65984795e+00] [ 4.92522241e-02 1.25064500e-03 9.98785590e-01 5.02969078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.000385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.88, Y:7.67, Z:5.03 [[ 9.63774957e-01 -2.62503163e-01 -4.72220372e-02 1.04884845e+02] [ 2.62129433e-01 9.64930430e-01 -1.40507939e-02 7.66684963e+00] [ 4.92543586e-02 1.16351748e-03 9.98785590e-01 5.03179186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.030385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.91, Y:7.67, Z:5.03 [[ 9.63555942e-01 -2.63306626e-01 -4.72182918e-02 1.04911507e+02] [ 2.62933244e-01 9.64711527e-01 -1.40633694e-02 7.67435726e+00] [ 4.92550088e-02 1.13558448e-03 9.98785590e-01 5.03406652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.060385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.94, Y:7.68, Z:5.03 [[ 9.63478304e-01 -2.63591251e-01 -4.72145036e-02 1.04936850e+02] [ 2.63217587e-01 9.64633799e-01 -1.40760758e-02 7.68261972e+00] [ 4.92550364e-02 1.13430593e-03 9.98785590e-01 5.03429398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.090385723 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:104.96, Y:7.69, Z:5.03 [[ 9.63500187e-01 -2.63511547e-01 -4.72128519e-02 1.04962513e+02] [ 2.63137517e-01 9.64655563e-01 -1.40816140e-02 7.69088478e+00] [ 4.92548081e-02 1.14416509e-03 9.98785590e-01 5.03412171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.120385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.99, Y:7.70, Z:5.04 [[ 9.63335564e-01 -2.64113024e-01 -4.72112365e-02 1.04989783e+02] [ 2.63739450e-01 9.64491088e-01 -1.40870278e-02 7.69895846e+00] [ 4.92553843e-02 1.11906932e-03 9.98785590e-01 5.03615371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.150385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.02, Y:7.71, Z:5.04 [[ 9.62883457e-01 -2.65757240e-01 -4.72073775e-02 1.05016097e+02] [ 2.65385006e-01 9.64039413e-01 -1.40999479e-02 7.70518608e+00] [ 4.92569357e-02 1.04847644e-03 9.98785590e-01 5.03767615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.180385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.04, Y:7.71, Z:5.04 [[ 9.62626046e-01 -2.66688426e-01 -4.72057014e-02 1.05043553e+02] [ 2.66317035e-01 9.63782273e-01 -1.41055569e-02 7.71237128e+00] [ 4.92578070e-02 1.00669406e-03 9.98785590e-01 5.03999953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.210385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.07, Y:7.72, Z:5.04 [[ 9.62184045e-01 -2.68279432e-01 -4.72018008e-02 1.05070505e+02] [ 2.67909314e-01 9.63340680e-01 -1.41185978e-02 7.72040369e+00] [ 4.92591442e-02 9.38887496e-04 9.98785590e-01 5.04148774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.24038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.09, Y:7.73, Z:5.04 [[ 9.63311657e-01 -2.64202111e-01 -4.72005933e-02 1.05089271e+02] [ 2.63826900e-01 9.64466650e-01 -1.41226334e-02 7.72501789e+00] [ 4.92546276e-02 1.15171119e-03 9.98785590e-01 5.04365735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.27038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.12, Y:7.73, Z:5.05 [[ 9.62099615e-01 -2.68625982e-01 -4.69511697e-02 1.05124488e+02] [ 2.68215154e-01 9.63242879e-01 -1.49595408e-02 7.73400808e+00] [ 4.92439012e-02 1.79955323e-03 9.98785162e-01 5.04694053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.30038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.15, Y:7.74, Z:5.05 [[ 9.61805558e-01 -2.69629506e-01 -4.72228518e-02 1.05150405e+02] [ 2.69264563e-01 9.62963810e-01 -1.40462356e-02 7.74134618e+00] [ 4.92611768e-02 7.94306907e-04 9.98785615e-01 5.04904364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.33038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.18, Y:7.75, Z:5.05 [[ 9.61541777e-01 -2.70568975e-01 -4.72212006e-02 1.05176849e+02] [ 2.70204891e-01 9.62700298e-01 -1.40517845e-02 7.74948960e+00] [ 4.92618408e-02 7.51978468e-04 9.98785615e-01 5.05153593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.360385723 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] Translation: X:105.20, Y:7.76, Z:5.05 [[ 9.61299210e-01 -2.71430190e-01 -4.72173780e-02 1.05202281e+02] [ 2.71066513e-01 9.62457860e-01 -1.40646175e-02 7.75741580e+00] [ 4.92622984e-02 7.21255641e-04 9.98785616e-01 5.05422610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.390385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.23, Y:7.77, Z:5.05 [[ 9.61317038e-01 -2.71367331e-01 -4.72157232e-02 1.05229533e+02] [ 2.71003306e-01 9.62475578e-01 -1.40701707e-02 7.76516451e+00] [ 4.92621651e-02 7.30277712e-04 9.98785616e-01 5.05368075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.420385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.26, Y:7.77, Z:5.05 [[ 9.61415544e-01 -2.71018723e-01 -4.72123299e-02 1.05256788e+02] [ 2.70653719e-01 9.62573776e-01 -1.40815477e-02 7.77324393e+00] [ 4.92617137e-02 7.60026184e-04 9.98785616e-01 5.05389257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.450385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.28, Y:7.78, Z:5.05 [[ 9.61495715e-01 -2.70734818e-01 -4.72085619e-02 1.05282351e+02] [ 2.70368853e-01 9.62653644e-01 -1.40941686e-02 7.78120542e+00] [ 4.92612763e-02 7.87758041e-04 9.98785616e-01 5.05387665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.480385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.31, Y:7.79, Z:5.05 [[ 9.61522631e-01 -2.70639656e-01 -4.72060008e-02 1.05308516e+02] [ 2.70273155e-01 9.62680391e-01 -1.41027415e-02 7.79051543e+00] [ 4.92610524e-02 8.01590317e-04 9.98785616e-01 5.05208907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.510385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.33, Y:7.80, Z:5.05 [[ 9.61625906e-01 -2.70272677e-01 -4.72048445e-02 1.05334382e+02] [ 2.69905545e-01 9.62783465e-01 -1.41066108e-02 7.80085201e+00] [ 4.92606752e-02 8.24433123e-04 9.98785616e-01 5.05076783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.540385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.36, Y:7.81, Z:5.05 [[ 9.61568743e-01 -2.70476181e-01 -4.72036965e-02 1.05360808e+02] [ 2.70109105e-01 9.62726320e-01 -1.41104513e-02 7.80922321e+00] [ 4.92607819e-02 8.18020663e-04 9.98785616e-01 5.05269931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.570385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.39, Y:7.82, Z:5.06 [[ 9.61444243e-01 -2.70919066e-01 -4.71998652e-02 1.05388177e+02] [ 2.70551896e-01 9.62601790e-01 -1.41232554e-02 7.81693190e+00] [ 4.92609339e-02 8.08709608e-04 9.98785616e-01 5.05530690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.60038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.41, Y:7.82, Z:5.06 [[ 9.61256982e-01 -2.71583416e-01 -4.71960155e-02 1.05414693e+02] [ 2.71216414e-01 9.62414582e-01 -1.41361084e-02 7.82407373e+00] [ 4.92612661e-02 7.88098827e-04 9.98785616e-01 5.05950796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.63038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.44, Y:7.83, Z:5.06 [[ 9.61277069e-01 -2.71512620e-01 -4.71942180e-02 1.05441644e+02] [ 2.71145239e-01 9.62434549e-01 -1.41421067e-02 7.83268357e+00] [ 4.92611064e-02 7.97995382e-04 9.98785616e-01 5.06174354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.66038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.47, Y:7.84, Z:5.06 [[ 9.61335995e-01 -2.71304116e-01 -4.71930343e-02 1.05468255e+02] [ 2.70936289e-01 9.62493333e-01 -1.41460557e-02 7.84189867e+00] [ 4.92608640e-02 8.12806874e-04 9.98785616e-01 5.06368470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.69038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.49, Y:7.85, Z:5.07 [[ 9.61183453e-01 -2.71844720e-01 -4.71891734e-02 1.05494382e+02] [ 2.71476913e-01 9.62340797e-01 -1.41589235e-02 7.84987417e+00] [ 4.92610954e-02 7.98551849e-04 9.98785616e-01 5.06577960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.72038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.52, Y:7.86, Z:5.07 [[ 9.60943874e-01 -2.72690850e-01 -4.71865525e-02 1.05520921e+02] [ 2.72323633e-01 9.62101406e-01 -1.41676527e-02 7.85749613e+00] [ 4.92616378e-02 7.64305694e-04 9.98785616e-01 5.06834517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.750385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.54, Y:7.87, Z:5.07 [[ 9.58504205e-01 -2.81146705e-01 -4.71828254e-02 1.05537276e+02] [ 2.80789091e-01 9.59664740e-01 -1.41800541e-02 7.87122974e+00] [ 4.92663694e-02 3.43218838e-04 9.98785616e-01 5.06548888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.780385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.58, Y:7.87, Z:5.07 [[ 9.61011743e-01 -2.72512683e-01 -4.68323270e-02 1.05575084e+02] [ 2.72087754e-01 9.62150106e-01 -1.53436777e-02 7.87340241e+00] [ 4.92410751e-02 2.00295182e-03 9.98784914e-01 5.07061389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.810385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.60, Y:7.88, Z:5.07 [[ 9.61572478e-01 -2.70466265e-01 -4.71844053e-02 1.05601362e+02] [ 2.70096180e-01 9.62729048e-01 -1.41715560e-02 7.88289940e+00] [ 4.92587254e-02 8.82650614e-04 9.98785662e-01 5.06896722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.840385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.63, Y:7.89, Z:5.07 [[ 9.62200247e-01 -2.68225054e-01 -4.71805552e-02 1.05628194e+02] [ 2.67851647e-01 9.63355749e-01 -1.41843624e-02 7.89257524e+00] [ 4.92562605e-02 1.01080758e-03 9.98785662e-01 5.06707893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.870385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.65, Y:7.91, Z:5.06 [[ 9.60724236e-01 -2.73465360e-01 -4.71766806e-02 1.05646376e+02] [ 2.73097625e-01 9.61881555e-01 -1.41972374e-02 7.90613271e+00] [ 4.92608316e-02 7.55790652e-04 9.98785662e-01 5.06344403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.900385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.68, Y:7.91, Z:5.07 [[ 9.62592156e-01 -2.66868205e-01 -4.68796601e-02 1.05683229e+02] [ 2.66444470e-01 9.63730695e-01 -1.51819460e-02 7.90830607e+00] [ 4.92309461e-02 2.12319595e-03 9.98785165e-01 5.06853142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.930385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.71, Y:7.92, Z:5.07 [[ 9.62731751e-01 -2.66311669e-01 -4.71770045e-02 1.05710132e+02] [ 2.65935509e-01 9.63886323e-01 -1.41937258e-02 7.91536535e+00] [ 4.92532242e-02 1.11870977e-03 9.98785697e-01 5.07072304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.960385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.73, Y:7.93, Z:5.07 [[ 9.61442601e-01 -2.70929554e-01 -4.71730992e-02 1.05728028e+02] [ 2.70558303e-01 9.62598761e-01 -1.42066935e-02 7.93018322e+00] [ 4.92577799e-02 8.95846696e-04 9.98785697e-01 5.06655677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.99038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.76, Y:7.93, Z:5.07 [[ 9.63193248e-01 -2.64686072e-01 -4.69046863e-02 1.05763140e+02] [ 2.64263958e-01 9.64332247e-01 -1.50956203e-02 7.93450653e+00] [ 4.92273020e-02 2.14478151e-03 9.98785299e-01 5.07016677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.02038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.79, Y:7.94, Z:5.07 [[ 9.63252485e-01 -2.64423167e-01 -4.71703187e-02 1.05789842e+02] [ 2.64043742e-01 9.64405962e-01 -1.42141810e-02 7.94185291e+00] [ 4.92498953e-02 1.23681772e-03 9.98785722e-01 5.07195258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.05038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.82, Y:7.95, Z:5.08 [[ 9.63421624e-01 -2.63806944e-01 -4.71664063e-02 1.05817233e+02] [ 2.63426148e-01 9.64574649e-01 -1.42271515e-02 7.94811287e+00] [ 4.92487412e-02 1.28188066e-03 9.98785722e-01 5.07594301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.08038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.84, Y:7.96, Z:5.08 [[ 9.62403245e-01 -2.67498964e-01 -4.71624574e-02 1.05838078e+02] [ 2.67121951e-01 9.63557512e-01 -1.42402301e-02 7.96069969e+00] [ 4.92529869e-02 1.10671605e-03 9.98785722e-01 5.07555470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.110385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.86, Y:7.97, Z:5.08 [[ 9.61993145e-01 -2.69004455e-01 -4.69658587e-02 1.05862654e+02] [ 2.68597465e-01 9.63137416e-01 -1.48902867e-02 7.96995841e+00] [ 4.92401292e-02 1.70944312e-03 9.98785506e-01 5.07801988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.140385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.90, Y:7.97, Z:5.08 [[ 9.63277774e-01 -2.64378735e-01 -4.69021736e-02 1.05898388e+02] [ 2.63956012e-01 9.64416504e-01 -1.51007093e-02 7.97344749e+00] [ 4.92255367e-02 2.16606692e-03 9.98785340e-01 5.08112916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.170385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.92, Y:7.98, Z:5.08 [[ 9.63485252e-01 -2.63575615e-01 -4.71599771e-02 1.05924673e+02] [ 2.63193550e-01 9.64637842e-01 -1.42474297e-02 7.98302312e+00] [ 4.92475735e-02 1.31498664e-03 9.98785736e-01 5.08035390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.200385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.95, Y:7.99, Z:5.08 [[ 9.63413710e-01 -2.63837692e-01 -4.71560811e-02 1.05951997e+02] [ 2.63455311e-01 9.64566194e-01 -1.42603128e-02 7.99136771e+00] [ 4.92475697e-02 1.31506088e-03 9.98785737e-01 5.08175711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.230385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.97, Y:8.00, Z:5.08 [[ 9.62048539e-01 -2.68773656e-01 -4.71522033e-02 1.05968993e+02] [ 2.68396561e-01 9.63202764e-01 -1.42731237e-02 8.00452160e+00] [ 4.92533721e-02 1.07594860e-03 9.98785737e-01 5.08019995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.260385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.01, Y:8.00, Z:5.09 [[ 9.64026657e-01 -2.61646320e-01 -4.68381041e-02 1.06006512e+02] [ 2.61210352e-01 9.65160527e-01 -1.53071563e-02 8.00431507e+00] [ 4.92113504e-02 2.52190909e-03 9.98785204e-01 5.08682759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.290385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.03, Y:8.02, Z:5.08 [[ 9.63470689e-01 -2.63630956e-01 -4.71481710e-02 1.06027159e+02] [ 2.63247181e-01 9.64622670e-01 -1.42837786e-02 8.01722771e+00] [ 4.92458409e-02 1.35037892e-03 9.98785775e-01 5.08417486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.320385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.06, Y:8.03, Z:5.08 [[ 9.64673265e-01 -2.59229654e-01 -4.69625251e-02 1.06060385e+02] [ 2.58810835e-01 9.65813171e-01 -1.48953001e-02 8.02669515e+00] [ 4.92183288e-02 2.21468748e-03 9.98785588e-01 5.08248689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.35038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.08, Y:8.04, Z:5.08 [[ 9.63237438e-01 -2.64482533e-01 -4.71447431e-02 1.06075662e+02] [ 2.64099259e-01 9.64389575e-01 -1.42943534e-02 8.04290519e+00] [ 4.92465056e-02 1.31796464e-03 9.98785785e-01 5.07746836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.38038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.10, Y:8.05, Z:5.08 [[ 9.62833492e-01 -2.66010244e-01 -4.67997593e-02 1.06098699e+02] [ 2.65573335e-01 9.63967139e-01 -1.54323855e-02 8.05376486e+00] [ 4.92186027e-02 2.43004941e-03 9.98785074e-01 5.07742156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.41038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.13, Y:8.06, Z:5.08 [[ 9.63709407e-01 -2.62847066e-01 -4.66433079e-02 1.06130890e+02] [ 2.62381495e-01 9.64832430e-01 -1.59478150e-02 8.05652773e+00] [ 4.91948125e-02 3.13071846e-03 9.98784296e-01 5.08169770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.44038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.16, Y:8.06, Z:5.09 [[ 9.63630029e-01 -2.63111118e-01 -4.67942949e-02 1.06157269e+02] [ 2.62669982e-01 9.64762044e-01 -1.54492627e-02 8.06260165e+00] [ 4.92102323e-02 2.59591690e-03 9.98785069e-01 5.08522837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.47038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.18, Y:8.07, Z:5.09 [[ 9.63299449e-01 -2.64324309e-01 -4.67635612e-02 1.06184155e+02] [ 2.63879679e-01 9.64430241e-01 -1.55507292e-02 8.06983897e+00] [ 4.92106284e-02 2.64005532e-03 9.98784934e-01 5.08894042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.500385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.21, Y:8.08, Z:5.09 [[ 9.63235893e-01 -2.64555451e-01 -4.67656711e-02 1.06211590e+02] [ 2.64111430e-01 9.64366914e-01 -1.55437669e-02 8.07858870e+00] [ 4.92114541e-02 2.62096593e-03 9.98784943e-01 5.09086969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.530385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.24, Y:8.09, Z:5.09 [[ 9.63020350e-01 -2.65330830e-01 -4.68119207e-02 1.06235921e+02] [ 2.64895133e-01 9.64154390e-01 -1.53909601e-02 8.08844346e+00] [ 4.92176150e-02 2.42155781e-03 9.98785143e-01 5.09038957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.560385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.28, Y:8.09, Z:5.10 [[ 9.64932968e-01 -2.58300488e-01 -4.67463837e-02 1.06276075e+02] [ 2.57846069e-01 9.66059945e-01 -1.56072575e-02 8.08943060e+00] [ 4.91911711e-02 3.00658600e-03 9.98784856e-01 5.09646322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.590385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.30, Y:8.10, Z:5.10 [[ 9.64876460e-01 -2.58436270e-01 -4.71604818e-02 1.06302778e+02] [ 2.58048650e-01 9.66027040e-01 -1.42355840e-02 8.09626501e+00] [ 4.92372919e-02 1.56588117e-03 9.98785882e-01 5.10011805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.620385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.32, Y:8.11, Z:5.10 [[ 9.63325551e-01 -2.64159299e-01 -4.71566256e-02 1.06318510e+02] [ 2.63777892e-01 9.64478205e-01 -1.42483464e-02 8.10940742e+00] [ 4.92453709e-02 1.28692084e-03 9.98785882e-01 5.09851170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.650385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.35, Y:8.12, Z:5.10 [[ 9.63164958e-01 -2.64807276e-01 -4.68013817e-02 1.06346060e+02] [ 2.64369808e-01 9.64298182e-01 -1.54149236e-02 8.11806717e+00] [ 4.92124712e-02 2.47424192e-03 9.98785268e-01 5.09913707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.680385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.37, Y:8.13, Z:5.10 [[ 9.63023575e-01 -2.65323852e-01 -4.67851261e-02 1.06373999e+02] [ 2.64884403e-01 9.64156100e-01 -1.54682872e-02 8.12655518e+00] [ 4.92122703e-02 2.50367505e-03 9.98785204e-01 5.09860721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.710385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.40, Y:8.14, Z:5.10 [[ 9.63017397e-01 -2.65337674e-01 -4.68338706e-02 1.06402049e+02] [ 2.64906060e-01 9.64152721e-01 -1.53072042e-02 8.13548261e+00] [ 4.92165818e-02 2.33452781e-03 9.98785401e-01 5.09821650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.74038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.43, Y:8.14, Z:5.10 [[ 9.63126527e-01 -2.64932679e-01 -4.68825097e-02 1.06429828e+02] [ 2.64508394e-01 9.64264430e-01 -1.51465370e-02 8.14397959e+00] [ 4.92199492e-02 2.18721423e-03 9.98785569e-01 5.10019709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.77038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.46, Y:8.15, Z:5.10 [[ 9.63102943e-01 -2.65009462e-01 -4.69329965e-02 1.06456921e+02] [ 2.64593390e-01 9.64243719e-01 -1.49795815e-02 8.15235154e+00] [ 4.92245779e-02 2.00871835e-03 9.98785716e-01 5.10148259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.80038572299999 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:106.48, Y:8.16, Z:5.10 [[ 9.62135338e-01 -2.68500296e-01 -4.69380654e-02 1.06484792e+02] [ 2.68089181e-01 9.63277896e-01 -1.49628225e-02 8.16075947e+00] [ 4.92319232e-02 1.81267277e-03 9.98785729e-01 5.10091797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.83038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.51, Y:8.17, Z:5.10 [[ 9.61879694e-01 -2.69415335e-01 -4.69343357e-02 1.06513236e+02] [ 2.69004705e-01 9.63022437e-01 -1.49751547e-02 8.16688662e+00] [ 4.92333547e-02 1.77874006e-03 9.98785719e-01 5.10409145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.860385723 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:106.54, Y:8.17, Z:5.11 [[ 9.60482080e-01 -2.74350571e-01 -4.69674097e-02 1.06540881e+02] [ 2.73951156e-01 9.61628708e-01 -1.48658047e-02 8.17373086e+00] [ 4.92436515e-02 1.41156283e-03 9.98785798e-01 5.10653558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.890385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.57, Y:8.18, Z:5.11 [[ 9.59849252e-01 -2.76554446e-01 -4.69792582e-02 1.06567783e+02] [ 2.76159581e-01 9.60997428e-01 -1.48266422e-02 8.18104843e+00] [ 4.92473202e-02 1.25756920e-03 9.98785823e-01 5.10896843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.920385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.60, Y:8.19, Z:5.11 [[ 9.59139009e-01 -2.79002690e-01 -4.70091539e-02 1.06600157e+02] [ 2.78615595e-01 9.60289769e-01 -1.47278410e-02 8.18726802e+00] [ 4.92515168e-02 1.02856344e-03 9.98785878e-01 5.11472807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.950385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.63, Y:8.20, Z:5.11 [[ 9.58124536e-01 -2.82443065e-01 -4.71517663e-02 1.06625444e+02] [ 2.82083276e-01 9.59283997e-01 -1.42561766e-02 8.19719251e+00] [ 4.92584931e-02 3.58467821e-04 9.98785999e-01 5.11386504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.980385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.65, Y:8.21, Z:5.11 [[ 9.56826598e-01 -2.86814903e-01 -4.71176553e-02 1.06650154e+02] [ 2.86454862e-01 9.57985986e-01 -1.43688439e-02 8.20663610e+00] [ 4.92592520e-02 2.51410616e-04 9.98785995e-01 5.11298434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.010385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.68, Y:8.21, Z:5.12 [[ 9.56304714e-01 -2.88554557e-01 -4.70909884e-02 1.06677908e+02] [ 2.88192278e-01 9.57463421e-01 -1.44570983e-02 8.21491406e+00] [ 4.92595605e-02 2.54132035e-04 9.98785979e-01 5.11568107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.040385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.71, Y:8.22, Z:5.12 [[ 9.56036790e-01 -2.89439021e-01 -4.71031814e-02 1.06706218e+02] [ 2.89079801e-01 9.57196440e-01 -1.44167672e-02 8.22225169e+00] [ 4.92597726e-02 1.66381509e-04 9.98785987e-01 5.12063568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.070385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.73, Y:8.23, Z:5.12 [[ 9.54705221e-01 -2.93793481e-01 -4.71522189e-02 1.06732799e+02] [ 2.93447557e-01 9.55868892e-01 -1.42545601e-02 8.23292488e+00] [ 4.92592361e-02 -2.27800492e-04 9.98786001e-01 5.11671499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.10038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.76, Y:8.24, Z:5.12 [[ 9.54132555e-01 -2.95651067e-01 -4.71329420e-02 1.06759762e+02] [ 2.95304259e-01 9.55295965e-01 -1.43183110e-02 8.24137191e+00] [ 4.92591333e-02 -2.56991838e-04 9.98785999e-01 5.11823687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.13038572299999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:106.79, Y:8.25, Z:5.12 [[ 9.54010509e-01 -2.96045915e-01 -4.71249987e-02 1.06787851e+02] [ 2.95698292e-01 9.55173677e-01 -1.43445569e-02 8.24895897e+00] [ 4.92592058e-02 -2.49923633e-04 9.98785997e-01 5.12436981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.16038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.81, Y:8.26, Z:5.13 [[ 9.53612475e-01 -2.97321938e-01 -4.71477775e-02 1.06814694e+02] [ 2.96979592e-01 9.54777204e-01 -1.42692930e-02 8.25870479e+00] [ 4.92581970e-02 -3.94551955e-04 9.98786000e-01 5.12533345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.19038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.84, Y:8.27, Z:5.12 [[ 9.53268017e-01 -2.98425022e-01 -4.71444043e-02 1.06841347e+02] [ 2.98083473e-01 9.54432980e-01 -1.42804292e-02 8.27008866e+00] [ 4.92578116e-02 -4.39891349e-04 9.98786000e-01 5.12435592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.22038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.87, Y:8.28, Z:5.12 [[ 9.53077662e-01 -2.99032927e-01 -4.71410493e-02 1.06867524e+02] [ 2.98691573e-01 9.54242683e-01 -1.42914957e-02 8.27977526e+00] [ 4.92576291e-02 -4.59728841e-04 9.98786000e-01 5.12351585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.250385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.89, Y:8.29, Z:5.12 [[ 9.52884982e-01 -2.99646629e-01 -4.71392539e-02 1.06893457e+02] [ 2.99305733e-01 9.54050136e-01 -1.42974151e-02 8.28971045e+00] [ 4.92573839e-02 -4.85256810e-04 9.98786000e-01 5.12442546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.280385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.92, Y:8.30, Z:5.13 [[ 9.52183695e-01 -3.01868269e-01 -4.71355394e-02 1.06920612e+02] [ 3.01529485e-01 9.53349465e-01 -1.43096507e-02 8.30070609e+00] [ 4.92562708e-02 -5.87338908e-04 9.98786001e-01 5.12867092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.310385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.95, Y:8.31, Z:5.13 [[ 9.51685075e-01 -3.03437110e-01 -4.71321428e-02 1.06948239e+02] [ 3.03099695e-01 9.52851242e-01 -1.43208295e-02 8.30915625e+00] [ 4.92553919e-02 -6.56818349e-04 9.98786001e-01 5.13214348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.340385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.97, Y:8.32, Z:5.14 [[ 9.51028046e-01 -3.05490654e-01 -4.71287162e-02 1.06974662e+02] [ 3.05155198e-01 9.52194778e-01 -1.43320974e-02 8.31707517e+00] [ 4.92540393e-02 -7.51346100e-04 9.98786001e-01 5.13738805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.370385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.00, Y:8.33, Z:5.14 [[ 9.50843045e-01 -3.06066174e-01 -4.71275004e-02 1.07001922e+02] [ 3.05731227e-01 9.52009923e-01 -1.43360939e-02 8.32673611e+00] [ 4.92536415e-02 -7.76973371e-04 9.98786001e-01 5.13997662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.400385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.03, Y:8.34, Z:5.14 [[ 9.51034852e-01 -3.05470173e-01 -4.71241417e-02 1.07028368e+02] [ 3.05133948e-01 9.52201362e-01 -1.43471259e-02 8.33897566e+00] [ 4.92542910e-02 -7.34558640e-04 9.98786001e-01 5.14159088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.430385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.06, Y:8.35, Z:5.14 [[ 9.51067369e-01 -3.05369431e-01 -4.71208031e-02 1.07059394e+02] [ 3.05032539e-01 9.52233687e-01 -1.43580826e-02 8.34851514e+00] [ 4.92545356e-02 -7.17874406e-04 9.98786001e-01 5.13603224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.460385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.08, Y:8.36, Z:5.14 [[ 9.51137055e-01 -3.05132415e-01 -4.72494623e-02 1.07083150e+02] [ 3.04816185e-01 9.52309242e-01 -1.39356081e-02 8.35787379e+00] [ 4.92483053e-02 -1.14772758e-03 9.98785907e-01 5.13657866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.49038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.11, Y:8.37, Z:5.14 [[ 9.52116085e-01 -3.02073675e-01 -4.71853245e-02 1.07109206e+02] [ 3.01743246e-01 9.53284272e-01 -1.41460224e-02 8.36761344e+00] [ 4.92541687e-02 -7.69197501e-04 9.98785981e-01 5.13709509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.52038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.14, Y:8.38, Z:5.14 [[ 9.52951021e-01 -2.99433172e-01 -4.71606578e-02 1.07137079e+02] [ 2.99095509e-01 9.54117118e-01 -1.42267730e-02 8.37906497e+00] [ 4.92567587e-02 -5.48123144e-04 9.98785999e-01 5.13913469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.55038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.16, Y:8.39, Z:5.14 [[ 9.53347794e-01 -2.98155865e-01 -4.72341398e-02 1.07162114e+02] [ 2.97828544e-01 9.54516915e-01 -1.39862938e-02 8.38886975e+00] [ 4.92558809e-02 -7.33872734e-04 9.98785923e-01 5.13856656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.58038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.19, Y:8.40, Z:5.14 [[ 9.53673406e-01 -2.97118376e-01 -4.71985753e-02 1.07189291e+02] [ 2.96784020e-01 9.54840489e-01 -1.41027100e-02 8.39843427e+00] [ 4.92572850e-02 -5.58403449e-04 9.98785967e-01 5.14016644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.610385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.22, Y:8.41, Z:5.14 [[ 9.54414008e-01 -2.94728457e-01 -4.72126884e-02 1.07216163e+02] [ 2.94393461e-01 9.55580924e-01 -1.40565635e-02 8.40859909e+00] [ 4.92584136e-02 -4.83325641e-04 9.98785951e-01 5.14127594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.640385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:107.24, Y:8.42, Z:5.14 [[ 9.54296210e-01 -2.95112604e-01 -4.71942244e-02 1.07242450e+02] [ 2.94775100e-01 9.55462379e-01 -1.41167678e-02 8.41847394e+00] [ 4.92583420e-02 -4.40104172e-04 9.98785974e-01 5.14297993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.670385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.27, Y:8.43, Z:5.14 [[ 9.54404099e-01 -2.94766330e-01 -4.71765556e-02 1.07269876e+02] [ 2.94425559e-01 9.55569296e-01 -1.41742981e-02 8.42906963e+00] [ 4.92585739e-02 -3.61975547e-04 9.98785994e-01 5.14190222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.700385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.29, Y:8.44, Z:5.14 [[ 9.54235157e-01 -2.95308333e-01 -4.72043793e-02 1.07294840e+02] [ 2.94972702e-01 9.55401881e-01 -1.40837334e-02 8.43785172e+00] [ 4.92581966e-02 -4.84809761e-04 9.98785961e-01 5.14037586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.730385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.32, Y:8.45, Z:5.14 [[ 9.53614876e-01 -2.97307671e-01 -4.71891543e-02 1.07322131e+02] [ 2.96972034e-01 9.54781578e-01 -1.41332857e-02 8.44744062e+00] [ 4.92572694e-02 -5.36147643e-04 9.98785980e-01 5.14464122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.760385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.34, Y:8.45, Z:5.15 [[ 9.54081011e-01 -2.95806338e-01 -4.72020638e-02 1.07343423e+02] [ 2.95470942e-01 9.55247799e-01 -1.40913027e-02 8.45357937e+00] [ 4.92579642e-02 -5.02593934e-04 9.98785963e-01 5.14644754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.790385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.37, Y:8.46, Z:5.16 [[ 9.53865542e-01 -2.96533902e-01 -4.69911977e-02 1.07367708e+02] [ 2.96165637e-01 9.55022311e-01 -1.47750221e-02 8.46151803e+00] [ 4.92589372e-02 1.76206464e-04 9.98786026e-01 5.15709492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.820385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.40, Y:8.47, Z:5.16 [[ 9.52613159e-01 -3.00540407e-01 -4.69428710e-02 1.07403144e+02] [ 3.00169267e-01 9.53769074e-01 -1.49320038e-02 8.46990339e+00] [ 4.92603291e-02 1.33616090e-04 9.98785964e-01 5.15653501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.85038572299999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:107.42, Y:8.48, Z:5.16 [[ 9.53028833e-01 -2.99170744e-01 -4.72536639e-02 1.07424928e+02] [ 2.98847934e-01 9.54199211e-01 -1.39204028e-02 8.48068630e+00] [ 4.92539861e-02 -8.55114569e-04 9.98785920e-01 5.16285539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.88038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.45, Y:8.49, Z:5.16 [[ 9.53367413e-01 -2.98117694e-01 -4.70788373e-02 1.07451018e+02] [ 2.97765487e-01 9.54529098e-01 -1.44885123e-02 8.49052034e+00] [ 4.92574019e-02 -2.05577383e-04 9.98786096e-01 5.16237107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.91038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.47, Y:8.50, Z:5.16 [[ 9.54200952e-01 -2.95439471e-01 -4.70750740e-02 1.07474059e+02] [ 2.95083400e-01 9.55361458e-01 -1.45007294e-02 8.49891400e+00] [ 4.92577992e-02 -5.44630886e-05 9.98786096e-01 5.16372644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.94038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.51, Y:8.51, Z:5.16 [[ 9.54797811e-01 -2.93526524e-01 -4.69395368e-02 1.07505195e+02] [ 2.93146511e-01 9.55950797e-01 -1.49397957e-02 8.51003098e+00] [ 4.92571139e-02 5.04322814e-04 9.98786004e-01 5.16125057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.97038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.53, Y:8.52, Z:5.16 [[ 9.54970924e-01 -2.92941928e-01 -4.70697408e-02 1.07534329e+02] [ 2.92581987e-01 9.56130231e-01 -1.45176595e-02 8.51975464e+00] [ 4.92576333e-02 9.21843902e-05 9.98786102e-01 5.15742151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.000385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.56, Y:8.53, Z:5.16 [[ 9.54479813e-01 -2.94522998e-01 -4.71645072e-02 1.07559030e+02] [ 2.94180145e-01 9.55644341e-01 -1.42104061e-02 8.53004755e+00] [ 4.92577858e-02 -3.11315855e-04 9.98786050e-01 5.15529145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.030385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.59, Y:8.54, Z:5.17 [[ 9.55227601e-01 -2.92092463e-01 -4.71404630e-02 1.07585906e+02] [ 2.91742800e-01 9.56390078e-01 -1.42883478e-02 8.53821054e+00] [ 4.92581898e-02 -1.04266431e-04 9.98786073e-01 5.16539062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.060385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.61, Y:8.55, Z:5.17 [[ 9.55006840e-01 -2.92816733e-01 -4.71200124e-02 1.07611563e+02] [ 2.92464682e-01 9.56168581e-01 -1.43545907e-02 8.54667800e+00] [ 4.92579398e-02 -7.22071537e-05 9.98786088e-01 5.16645042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.090385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.64, Y:8.56, Z:5.17 [[ 9.54926131e-01 -2.93089360e-01 -4.70607087e-02 1.07638803e+02] [ 2.92728179e-01 9.56085045e-01 -1.45464535e-02 8.55526279e+00] [ 4.92574506e-02 1.14792952e-04 9.98786108e-01 5.16777952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.120385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.67, Y:8.56, Z:5.17 [[ 9.54472976e-01 -2.94562396e-01 -4.70566916e-02 1.07666044e+02] [ 2.94202364e-01 9.55632247e-01 -1.45594371e-02 8.56318152e+00] [ 4.92575546e-02 5.23994232e-05 9.98786109e-01 5.16966144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.150385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.69, Y:8.57, Z:5.17 [[ 9.53206945e-01 -2.98634500e-01 -4.70526804e-02 1.07691861e+02] [ 2.98278781e-01 9.54367547e-01 -1.45723887e-02 8.57251625e+00] [ 4.92573692e-02 -1.44313963e-04 9.98786109e-01 5.17049133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.180385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.72, Y:8.58, Z:5.17 [[ 9.52436420e-01 -3.01083091e-01 -4.70514395e-02 1.07718273e+02] [ 3.00730157e-01 9.53597872e-01 -1.45763943e-02 8.58081874e+00] [ 4.92568584e-02 -2.66697998e-04 9.98786109e-01 5.17203373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.21038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.75, Y:8.59, Z:5.17 [[ 9.49741070e-01 -3.09480910e-01 -4.70474930e-02 1.07748018e+02] [ 3.09137614e-01 9.50905407e-01 -1.45891212e-02 8.59049980e+00] [ 4.92527699e-02 -6.88262203e-04 9.98786109e-01 5.16820733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.24038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.77, Y:8.60, Z:5.18 [[ 9.50730156e-01 -3.06419086e-01 -4.71117290e-02 1.07772940e+02] [ 3.06082297e-01 9.51896416e-01 -1.43819736e-02 8.59562283e+00] [ 4.92523972e-02 -7.46690208e-04 9.98786085e-01 5.17713262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.27038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.80, Y:8.61, Z:5.17 [[ 9.49053349e-01 -3.11584215e-01 -4.70427334e-02 1.07798307e+02] [ 3.11242751e-01 9.50218220e-01 -1.46042250e-02 8.60851106e+00] [ 4.92513083e-02 -7.81521128e-04 9.98786112e-01 5.17171186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.30038572299999 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:107.83, Y:8.62, Z:5.17 [[ 9.49474261e-01 -3.10309738e-01 -4.69733392e-02 1.07825800e+02] [ 3.09955664e-01 9.50635385e-01 -1.48273901e-02 8.61625842e+00] [ 4.92556019e-02 -4.81427314e-04 9.98786090e-01 5.17450583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.33038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.85, Y:8.63, Z:5.17 [[ 9.49922197e-01 -3.08927691e-01 -4.70266009e-02 1.07852271e+02] [ 3.08580402e-01 9.51085346e-01 -1.46560842e-02 8.62589425e+00] [ 4.92539813e-02 -5.89347741e-04 9.98786112e-01 5.17477449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.360385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.88, Y:8.64, Z:5.18 [[ 9.49981778e-01 -3.08751206e-01 -4.69820650e-02 1.07880798e+02] [ 3.08396618e-01 9.51142738e-01 -1.47992551e-02 8.63576894e+00] [ 4.92559378e-02 -4.30087289e-04 9.98786097e-01 5.17715188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.390385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:107.90, Y:8.65, Z:5.17 [[ 9.51535881e-01 -3.03915631e-01 -4.70611880e-02 1.07904545e+02] [ 3.03567717e-01 9.52698845e-01 -1.45448007e-02 8.64697483e+00] [ 4.92555318e-02 -4.46357671e-04 9.98786110e-01 5.17490802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.420385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.93, Y:8.66, Z:5.17 [[ 9.52136929e-01 -3.02044931e-01 -4.69481479e-02 1.07931041e+02] [ 3.01676806e-01 9.53293690e-01 -1.49079128e-02 8.65720131e+00] [ 4.92582326e-02 3.12070204e-05 9.98786076e-01 5.17463117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.450385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:107.96, Y:8.67, Z:5.18 [[ 9.53016334e-01 -2.99264266e-01 -4.69123207e-02 1.07959612e+02] [ 2.98887107e-01 9.54170222e-01 -1.50228297e-02 8.66558552e+00] [ 4.92581356e-02 2.95514295e-04 9.98786038e-01 5.17540587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.480385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.99, Y:8.67, Z:5.18 [[ 9.54932139e-01 -2.93086767e-01 -4.69548353e-02 1.07989513e+02] [ 2.92708847e-01 9.56085731e-01 -1.48864489e-02 8.67317987e+00] [ 4.92558692e-02 4.71452823e-04 9.98786082e-01 5.17878976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.510385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.01, Y:8.68, Z:5.18 [[ 9.55073329e-01 -2.92611340e-01 -4.70482688e-02 1.08013991e+02] [ 2.92247598e-01 9.56231442e-01 -1.45866556e-02 8.68295084e+00] [ 4.92572548e-02 1.81582142e-04 9.98786108e-01 5.17947342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.540385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:108.04, Y:8.69, Z:5.18 [[ 9.55867504e-01 -2.90015595e-01 -4.69922368e-02 1.08040749e+02] [ 2.89639871e-01 9.57021787e-01 -1.47663204e-02 8.69347319e+00] [ 4.92550576e-02 5.03820376e-04 9.98786106e-01 5.18171407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.570385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.07, Y:8.70, Z:5.18 [[ 9.55646099e-01 -2.90740642e-01 -4.70150346e-02 1.08065889e+02] [ 2.90369386e-01 9.56801822e-01 -1.46932737e-02 8.70425679e+00] [ 4.92560026e-02 3.89842965e-04 9.98786110e-01 5.18175959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.60038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.09, Y:8.71, Z:5.18 [[ 9.56255092e-01 -2.88744051e-01 -4.69368929e-02 1.08093890e+02] [ 2.88358093e-01 9.57406028e-01 -1.49434732e-02 8.71197789e+00] [ 4.92525032e-02 7.55139455e-04 9.98786074e-01 5.18352847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.63038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.12, Y:8.72, Z:5.19 [[ 9.57036482e-01 -2.86136521e-01 -4.69793850e-02 1.08121485e+02] [ 2.85754098e-01 9.58188569e-01 -1.48074848e-02 8.71811192e+00] [ 4.92520719e-02 7.46751420e-04 9.98786101e-01 5.19163900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.66038572299999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:108.15, Y:8.73, Z:5.19 [[ 9.56414712e-01 -2.88202001e-01 -4.70160079e-02 1.08145682e+02] [ 2.87827825e-01 9.57569496e-01 -1.46902751e-02 8.72903869e+00] [ 4.92548616e-02 5.17479986e-04 9.98786109e-01 5.18681324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.69038572299999 meters Centerline goodness : 0.999584 Centerline is valid? [True, True] Translation: X:108.18, Y:8.74, Z:5.19 [[ 9.57460582e-01 -2.84723868e-01 -4.69207148e-02 1.08178779e+02] [ 2.84330596e-01 9.58609038e-01 -1.49941326e-02 8.73586082e+00] [ 4.92478087e-02 1.01529612e-03 9.98786074e-01 5.19038822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.72038572299999 meters Centerline goodness : 0.999211 Centerline is valid? [True, True] Translation: X:108.21, Y:8.74, Z:5.19 [[ 9.58125066e-01 -2.82450238e-01 -4.70980002e-02 1.08206294e+02] [ 2.82081957e-01 9.59281800e-01 -1.44290305e-02 8.74405094e+00] [ 4.92557375e-02 5.39319737e-04 9.98786054e-01 5.19182487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.750385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.23, Y:8.75, Z:5.20 [[ 9.58196942e-01 -2.82201096e-01 -4.71292092e-02 1.08230100e+02] [ 2.81837404e-01 9.59355169e-01 -1.43295599e-02 8.75146340e+00] [ 4.92574680e-02 4.47766437e-04 9.98786014e-01 5.19770241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.780385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.26, Y:8.76, Z:5.20 [[ 9.58423349e-01 -2.81454409e-01 -4.69904336e-02 1.08257092e+02] [ 2.81068144e-01 9.59574132e-01 -1.47710575e-02 8.75816766e+00] [ 4.92481838e-02 9.49412452e-04 9.98786121e-01 5.19942122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.810385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:108.28, Y:8.77, Z:5.20 [[ 9.58950328e-01 -2.79654352e-01 -4.69862865e-02 1.08282905e+02] [ 2.79265281e-01 9.60100166e-01 -1.47842377e-02 8.76534713e+00] [ 4.92460179e-02 1.05571107e-03 9.98786121e-01 5.19865881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.840385723 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:108.31, Y:8.77, Z:5.20 [[ 9.59202028e-01 -2.78790113e-01 -4.69844839e-02 1.08308983e+02] [ 2.78399726e-01 9.60351420e-01 -1.47899642e-02 8.77392958e+00] [ 4.92449116e-02 1.10609617e-03 9.98786121e-01 5.19851915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.870385723 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:108.34, Y:8.78, Z:5.20 [[ 9.59709157e-01 -2.77039639e-01 -4.69826885e-02 1.08336862e+02] [ 2.76646877e-01 9.60857738e-01 -1.47956654e-02 8.78119637e+00] [ 4.92426656e-02 1.20192149e-03 9.98786121e-01 5.19849828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.900385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.37, Y:8.79, Z:5.20 [[ 9.59890555e-01 -2.76411077e-01 -4.69791421e-02 1.08365483e+02] [ 2.76017012e-01 9.61038690e-01 -1.48069171e-02 8.78779441e+00] [ 4.92415691e-02 1.24597743e-03 9.98786121e-01 5.20058843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.930385723 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:108.39, Y:8.79, Z:5.20 [[ 9.59167436e-01 -2.78910607e-01 -4.69755572e-02 1.08390868e+02] [ 2.78518978e-01 9.60316405e-01 -1.48182817e-02 8.79375967e+00] [ 4.92443742e-02 1.12962904e-03 9.98786121e-01 5.19984726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.96038572299999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:108.42, Y:8.80, Z:5.20 [[ 9.60089031e-01 -2.75744416e-01 -4.68409019e-02 1.08421963e+02] [ 2.75328194e-01 9.61229417e-01 -1.52444660e-02 8.79786798e+00] [ 4.92284292e-02 1.73942364e-03 9.98786031e-01 5.20472933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.99038572299999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:108.45, Y:8.81, Z:5.21 [[ 9.59996500e-01 -2.76044349e-01 -4.69706043e-02 1.08449287e+02] [ 2.75648532e-01 9.61144029e-01 -1.48337836e-02 8.80534682e+00] [ 4.92402980e-02 1.29300221e-03 9.98786124e-01 5.20631935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.02038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.48, Y:8.81, Z:5.21 [[ 9.60007566e-01 -2.76006545e-01 -4.69665862e-02 1.08477592e+02] [ 2.75610061e-01 9.61154866e-01 -1.48464946e-02 8.81139840e+00] [ 4.92398926e-02 1.30828344e-03 9.98786124e-01 5.20850457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.05038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.50, Y:8.82, Z:5.21 [[ 9.60019995e-01 -2.75963915e-01 -4.69630270e-02 1.08504065e+02] [ 2.75566831e-01 9.61167087e-01 -1.48577449e-02 8.81777047e+00] [ 4.92395173e-02 1.32227968e-03 9.98786124e-01 5.20910204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.08038572299999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:108.53, Y:8.82, Z:5.21 [[ 9.60226682e-01 -2.75244183e-01 -4.69612554e-02 1.08531184e+02] [ 2.74845966e-01 9.61373380e-01 -1.48633421e-02 8.82328257e+00] [ 4.92383493e-02 1.36506609e-03 9.98786124e-01 5.21138926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.110385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.56, Y:8.83, Z:5.21 [[ 9.60364553e-01 -2.74763450e-01 -4.69571301e-02 1.08557578e+02] [ 2.74364022e-01 9.61510831e-01 -1.48763637e-02 8.83045724e+00] [ 4.92372702e-02 1.40338534e-03 9.98786124e-01 5.21164913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.140385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.59, Y:8.83, Z:5.21 [[ 9.60761611e-01 -2.73372133e-01 -4.69553478e-02 1.08585561e+02] [ 2.72970771e-01 9.61907212e-01 -1.48819872e-02 8.83483504e+00] [ 4.92350083e-02 1.48060456e-03 9.98786124e-01 5.21379294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.170385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.61, Y:8.84, Z:5.21 [[ 9.61353527e-01 -2.71283937e-01 -4.69512732e-02 1.08612991e+02] [ 2.70879461e-01 9.62498032e-01 -1.48948311e-02 8.84096669e+00] [ 4.92312365e-02 1.60106288e-03 9.98786124e-01 5.21382434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.200385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.64, Y:8.85, Z:5.21 [[ 9.61727775e-01 -2.69954894e-01 -4.69472230e-02 1.08640318e+02] [ 2.69548214e-01 9.62871499e-01 -1.49075863e-02 8.84938883e+00] [ 4.92285188e-02 1.68249970e-03 9.98786124e-01 5.21452444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.230385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.67, Y:8.86, Z:5.21 [[ 9.62069885e-01 -2.68733794e-01 -4.69434109e-02 1.08666049e+02] [ 2.68325077e-01 9.63212884e-01 -1.49195807e-02 8.85721809e+00] [ 4.92258937e-02 1.75758494e-03 9.98786124e-01 5.21481109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.260385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.69, Y:8.87, Z:5.21 [[ 9.61763116e-01 -2.69830329e-01 -4.69393568e-02 1.08690062e+02] [ 2.69422295e-01 9.62906357e-01 -1.49323246e-02 8.86617215e+00] [ 4.92273991e-02 1.71484983e-03 9.98786124e-01 5.21261257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.290385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.72, Y:8.87, Z:5.22 [[ 9.63068734e-01 -2.65153520e-01 -4.68212001e-02 1.08720581e+02] [ 2.64721917e-01 9.64203360e-01 -1.53031715e-02 8.87086131e+00] [ 4.92028482e-02 2.34340818e-03 9.98786057e-01 5.21790168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.320385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.75, Y:8.88, Z:5.22 [[ 9.63268372e-01 -2.64407340e-01 -4.69340153e-02 1.08747867e+02] [ 2.63992061e-01 9.64409000e-01 -1.49489869e-02 8.87752623e+00] [ 4.92162086e-02 2.00967884e-03 9.98786126e-01 5.21570665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.35038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.78, Y:8.89, Z:5.22 [[ 9.63281306e-01 -2.64360455e-01 -4.69326743e-02 1.08775827e+02] [ 2.63944915e-01 9.64421839e-01 -1.49531956e-02 8.88553022e+00] [ 4.92159297e-02 2.01649303e-03 9.98786126e-01 5.21755583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.38038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.80, Y:8.89, Z:5.22 [[ 9.63055616e-01 -2.65182127e-01 -4.69288761e-02 1.08803823e+02] [ 2.64766981e-01 9.64196293e-01 -1.49651064e-02 8.89122714e+00] [ 4.92171271e-02 1.98701298e-03 9.98786126e-01 5.21688968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.41038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.83, Y:8.90, Z:5.22 [[ 9.62764955e-01 -2.66235818e-01 -4.69268603e-02 1.08832021e+02] [ 2.65821613e-01 9.63905974e-01 -1.49714248e-02 8.89830221e+00] [ 4.92190105e-02 1.93978943e-03 9.98786126e-01 5.22008200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.44038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.86, Y:8.91, Z:5.22 [[ 9.62425629e-01 -2.67460491e-01 -4.69232789e-02 1.08858942e+02] [ 2.67047192e-01 9.63566976e-01 -1.49826411e-02 8.90530116e+00] [ 4.92209865e-02 1.88894797e-03 9.98786126e-01 5.22408281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.47038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.89, Y:8.91, Z:5.23 [[ 9.61628293e-01 -2.70313961e-01 -4.69189507e-02 1.08886091e+02] [ 2.69903389e-01 9.62770624e-01 -1.49961829e-02 8.91126908e+00] [ 4.92258651e-02 1.75716991e-03 9.98786127e-01 5.22617242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.500385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.91, Y:8.92, Z:5.23 [[ 9.61176451e-01 -2.71916893e-01 -4.69151634e-02 1.08913323e+02] [ 2.71507650e-01 9.62319259e-01 -1.50080220e-02 8.91813218e+00] [ 4.92283000e-02 1.68753159e-03 9.98786127e-01 5.22879350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.530385723 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:108.94, Y:8.92, Z:5.23 [[ 9.60347067e-01 -2.74832479e-01 -4.69107701e-02 1.08940231e+02] [ 2.74426036e-01 9.61490873e-01 -1.50217417e-02 8.92356701e+00] [ 4.92327398e-02 1.55254895e-03 9.98786127e-01 5.23148205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.560385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.96, Y:8.93, Z:5.23 [[ 9.58934420e-01 -2.79721844e-01 -4.69091494e-02 1.08964270e+02] [ 2.79320987e-01 9.60080195e-01 -1.50268011e-02 8.93433462e+00] [ 4.92398698e-02 1.30700689e-03 9.98786127e-01 5.23189354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.590385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.00, Y:8.94, Z:5.23 [[ 9.58782308e-01 -2.80265175e-01 -4.67751866e-02 1.08995841e+02] [ 2.79844585e-01 9.59921080e-01 -1.54443647e-02 8.93949026e+00] [ 4.92290052e-02 1.71800098e-03 9.98786040e-01 5.23395617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.620385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.02, Y:8.95, Z:5.23 [[ 9.58478284e-01 -2.81277427e-01 -4.69296075e-02 1.09021702e+02] [ 2.80881574e-01 9.59625794e-01 -1.49625083e-02 8.94600380e+00] [ 4.92434777e-02 1.15957722e-03 9.98786131e-01 5.23487664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.650385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.05, Y:8.95, Z:5.23 [[ 9.56660408e-01 -2.87403542e-01 -4.69048718e-02 1.09046864e+02] [ 2.87011257e-01 9.57809139e-01 -1.50396532e-02 8.95407400e+00] [ 4.92483645e-02 9.25614618e-04 9.98786134e-01 5.23440587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.680385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.08, Y:8.96, Z:5.24 [[ 9.57028186e-01 -2.86192229e-01 -4.68087537e-02 1.09076701e+02] [ 2.85783836e-01 9.58171337e-01 -1.53391050e-02 8.95932258e+00] [ 4.92407388e-02 1.30277068e-03 9.98786089e-01 5.23717349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.71038572299999 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:109.10, Y:8.97, Z:5.24 [[ 9.56447452e-01 -2.88112003e-01 -4.69014378e-02 1.09104318e+02] [ 2.87720047e-01 9.57596295e-01 -1.50502795e-02 8.96764555e+00] [ 4.92488092e-02 9.00317629e-04 9.98786135e-01 5.23927010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.74038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.13, Y:8.98, Z:5.24 [[ 9.55384444e-01 -2.91618164e-01 -4.68978831e-02 1.09131112e+02] [ 2.91229882e-01 9.56534532e-01 -1.50613480e-02 8.97530224e+00] [ 4.92516074e-02 7.31312625e-04 9.98786135e-01 5.24235717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.77038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.16, Y:8.98, Z:5.24 [[ 9.54882648e-01 -2.93257386e-01 -4.68959957e-02 1.09157869e+02] [ 2.92870790e-01 9.56033305e-01 -1.50672224e-02 8.98350388e+00] [ 4.92527080e-02 6.52961937e-04 9.98786135e-01 5.24466533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.80038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.19, Y:8.99, Z:5.25 [[ 9.54021196e-01 -2.96048038e-01 -4.68947468e-02 1.09185035e+02] [ 2.95664617e-01 9.55172914e-01 -1.50711086e-02 8.99155777e+00] [ 4.92543641e-02 5.13039711e-04 9.98786135e-01 5.24734942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.83038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.21, Y:9.00, Z:5.25 [[ 9.53275841e-01 -2.98440022e-01 -4.68905563e-02 1.09212127e+02] [ 2.98058850e-01 9.54428306e-01 -1.50841353e-02 8.99899345e+00] [ 4.92553838e-02 4.03196453e-04 9.98786136e-01 5.24886141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.860385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.24, Y:9.01, Z:5.25 [[ 9.52832243e-01 -2.99853486e-01 -4.68892605e-02 1.09238865e+02] [ 2.99473826e-01 9.53985207e-01 -1.50881620e-02 9.00741663e+00] [ 4.92558989e-02 3.34381052e-04 9.98786136e-01 5.25133430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.890385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.27, Y:9.02, Z:5.25 [[ 9.52245756e-01 -3.01711456e-01 -4.68851457e-02 1.09265359e+02] [ 3.01333417e-01 9.53399252e-01 -1.51009378e-02 9.01581360e+00] [ 4.92563887e-02 2.51742843e-04 9.98786136e-01 5.25317255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.920385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.29, Y:9.02, Z:5.26 [[ 9.50892026e-01 -3.05951397e-01 -4.68838669e-02 1.09292222e+02] [ 3.05578305e-01 9.52047132e-01 -1.51049069e-02 9.02300367e+00] [ 4.92570184e-02 3.64429378e-05 9.98786136e-01 5.25639343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.950385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.32, Y:9.03, Z:5.26 [[ 9.50308565e-01 -3.07759527e-01 -4.68796912e-02 1.09318265e+02] [ 3.07387994e-01 9.51464172e-01 -1.51178557e-02 9.03089353e+00] [ 4.92570107e-02 -4.36265307e-05 9.98786136e-01 5.25782112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.980385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.34, Y:9.04, Z:5.26 [[ 9.49420981e-01 -3.10487298e-01 -4.68768497e-02 1.09344604e+02] [ 3.10118650e-01 9.50577512e-01 -1.51266612e-02 9.04119173e+00] [ 4.92567154e-02 -1.75815888e-04 9.98786136e-01 5.25967652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.010385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.37, Y:9.05, Z:5.26 [[ 9.49335357e-01 -3.10749628e-01 -4.68726735e-02 1.09371772e+02] [ 3.10380662e-01 9.50491787e-01 -1.51395910e-02 9.05003988e+00] [ 4.92567135e-02 -1.75822430e-04 9.98786136e-01 5.26107950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.040385723 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:109.40, Y:9.06, Z:5.26 [[ 9.48704197e-01 -3.12671859e-01 -4.68684917e-02 1.09398579e+02] [ 3.12304597e-01 9.49861169e-01 -1.51525258e-02 9.06031641e+00] [ 4.92563287e-02 -2.61980552e-04 9.98786136e-01 5.26153544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.070385723 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:109.42, Y:9.07, Z:5.26 [[ 9.48433940e-01 -3.13486689e-01 -4.68951720e-02 1.09423986e+02] [ 3.13124498e-01 9.49592514e-01 -1.50700321e-02 9.06945169e+00] [ 4.92555587e-02 -3.91097279e-04 9.98786132e-01 5.26286822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.10038572299999 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:109.45, Y:9.08, Z:5.26 [[ 9.47687669e-01 -3.15740279e-01 -4.68631941e-02 1.09450475e+02] [ 3.15375956e-01 9.48845568e-01 -1.51688268e-02 9.07900458e+00] [ 4.92553436e-02 -4.04214554e-04 9.98786137e-01 5.26416338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.13038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.48, Y:9.09, Z:5.27 [[ 9.47265193e-01 -3.17005705e-01 -4.68619019e-02 1.09477196e+02] [ 3.16642732e-01 9.48423516e-01 -1.51728178e-02 9.08825314e+00] [ 4.92547996e-02 -4.65798462e-04 9.98786137e-01 5.26592482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.16038572299999 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:109.50, Y:9.10, Z:5.27 [[ 9.46409875e-01 -3.19550774e-01 -4.68577781e-02 1.09504717e+02] [ 3.19190286e-01 9.47568974e-01 -1.51855426e-02 9.09825639e+00] [ 4.92535286e-02 -5.84800093e-04 9.98786137e-01 5.26892135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.19038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.53, Y:9.11, Z:5.27 [[ 9.45644818e-01 -3.21808270e-01 -4.68541961e-02 1.09531471e+02] [ 3.21450002e-01 9.46804605e-01 -1.51965865e-02 9.10809002e+00] [ 4.92521559e-02 -6.90708103e-04 9.98786137e-01 5.26857102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.22038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.56, Y:9.12, Z:5.27 [[ 9.45300419e-01 -3.22817398e-01 -4.68619860e-02 1.09559642e+02] [ 3.22461557e-01 9.46460954e-01 -1.51725818e-02 9.11800959e+00] [ 4.92510133e-02 -7.68541074e-04 9.98786137e-01 5.27252907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.250385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.58, Y:9.13, Z:5.28 [[ 9.44738126e-01 -3.24450939e-01 -4.69197407e-02 1.09582835e+02] [ 3.24105935e-01 9.45901953e-01 -1.49946064e-02 9.12926246e+00] [ 4.92464885e-02 -1.04099007e-03 9.98786113e-01 5.27653856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.280385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:109.61, Y:9.14, Z:5.28 [[ 9.44251930e-01 -3.25873716e-01 -4.68466976e-02 1.09611824e+02] [ 3.25519307e-01 9.45412899e-01 -1.52194434e-02 9.13949494e+00] [ 4.92490888e-02 -8.78515722e-04 9.98786141e-01 5.27997255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.310385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.64, Y:9.15, Z:5.28 [[ 9.44196479e-01 -3.26024599e-01 -4.69144953e-02 1.09638348e+02] [ 3.25680724e-01 9.45360639e-01 -1.50109238e-02 9.14931221e+00] [ 4.92450476e-02 -1.10588537e-03 9.98786114e-01 5.27875564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.340385723 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:109.66, Y:9.16, Z:5.28 [[ 9.44594210e-01 -3.24874867e-01 -4.68838826e-02 1.09664680e+02] [ 3.24524910e-01 9.45756535e-01 -1.51049334e-02 9.15924085e+00] [ 4.92479516e-02 -9.46955154e-04 9.98786135e-01 5.27994919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.370385723 meters Centerline goodness : 0.999820 Centerline is valid? [True, True] Translation: X:109.69, Y:9.17, Z:5.28 [[ 9.45129105e-01 -3.23317386e-01 -4.68704839e-02 1.09689440e+02] [ 3.22963475e-01 9.46290226e-01 -1.51460462e-02 9.17099676e+00] [ 4.92500608e-02 -8.22485254e-04 9.98786141e-01 5.28287785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.400385723 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:109.71, Y:9.19, Z:5.28 [[ 9.45377423e-01 -3.22596542e-01 -4.68294658e-02 1.09714623e+02] [ 3.22235513e-01 9.46536341e-01 -1.52718251e-02 9.18612572e+00] [ 4.92524292e-02 -6.52478258e-04 9.98786150e-01 5.27717057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.430385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.74, Y:9.20, Z:5.28 [[ 9.47353546e-01 -3.16750570e-01 -4.68010210e-02 1.09741218e+02] [ 3.16378084e-01 9.48508835e-01 -1.53589570e-02 9.19507554e+00] [ 4.92561404e-02 -2.56454946e-04 9.98786147e-01 5.28283874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.46038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.77, Y:9.21, Z:5.28 [[ 9.47003458e-01 -3.17792452e-01 -4.68231627e-02 1.09766771e+02] [ 3.17424588e-01 9.48160225e-01 -1.52911574e-02 9.20713172e+00] [ 4.92552748e-02 -3.82044179e-04 9.98786149e-01 5.27853742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.49038572299999 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:109.80, Y:9.22, Z:5.28 [[ 9.49289213e-01 -3.10903429e-01 -4.67872507e-02 1.09797039e+02] [ 3.10521757e-01 9.50441502e-01 -1.54009528e-02 9.21500806e+00] [ 4.92567539e-02 9.14990939e-05 9.98786145e-01 5.28117959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.52038572299999 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:109.82, Y:9.22, Z:5.29 [[ 9.50107412e-01 -3.08370261e-01 -4.69434586e-02 1.09820562e+02] [ 3.08009085e-01 9.51266368e-01 -1.49231349e-02 9.22491460e+00] [ 4.92575844e-02 -2.80430616e-04 9.98786069e-01 5.28718503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.55038572299999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:109.85, Y:9.23, Z:5.29 [[ 9.50870612e-01 -3.06029009e-01 -4.68115947e-02 1.09846367e+02] [ 3.05645122e-01 9.52022151e-01 -1.53259154e-02 9.23468848e+00] [ 4.92558497e-02 2.65226977e-04 9.98786159e-01 5.28890544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.58038572299999 meters Centerline goodness : 0.998462 Centerline is valid? [True, True] Translation: X:109.87, Y:9.25, Z:5.29 [[ 9.52164184e-01 -3.01980844e-01 -4.68074327e-02 1.09873382e+02] [ 3.01591438e-01 9.53313868e-01 -1.53386161e-02 9.24698662e+00] [ 4.92541430e-02 4.88159968e-04 9.98786159e-01 5.28672627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.610385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:109.90, Y:9.26, Z:5.29 [[ 9.53397520e-01 -2.98065868e-01 -4.67964411e-02 1.09899667e+02] [ 2.97670096e-01 9.54545028e-01 -1.53721354e-02 9.25523016e+00] [ 4.92512191e-02 7.25854606e-04 9.98786159e-01 5.28978883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.640385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:109.93, Y:9.26, Z:5.29 [[ 9.53394504e-01 -2.98083780e-01 -4.67437774e-02 1.09927279e+02] [ 2.97680148e-01 9.54539292e-01 -1.55328309e-02 9.26400616e+00] [ 4.92488572e-02 8.94221042e-04 9.98786138e-01 5.29350432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.670385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.96, Y:9.27, Z:5.30 [[ 9.53794216e-01 -2.96792282e-01 -4.68074255e-02 1.09955062e+02] [ 2.96396623e-01 9.54941762e-01 -1.53386053e-02 9.27188084e+00] [ 4.92507451e-02 7.56310184e-04 9.98786159e-01 5.29574749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.700385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.98, Y:9.28, Z:5.30 [[ 9.53812171e-01 -2.96736421e-01 -4.67957222e-02 1.09981562e+02] [ 2.96338943e-01 9.54959089e-01 -1.53743066e-02 9.28036137e+00] [ 4.92501170e-02 7.96805886e-04 9.98786159e-01 5.30032529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.730385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.01, Y:9.29, Z:5.30 [[ 9.53878776e-01 -2.96520883e-01 -4.68043513e-02 1.10008072e+02] [ 2.96124436e-01 9.55026051e-01 -1.53479919e-02 9.28906990e+00] [ 4.92503749e-02 7.80211538e-04 9.98786159e-01 5.30295076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.760385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.03, Y:9.30, Z:5.30 [[ 9.54491253e-01 -2.94544047e-01 -4.68001317e-02 1.10033808e+02] [ 2.94144594e-01 9.55637485e-01 -1.53608478e-02 9.29864990e+00] [ 4.92484064e-02 8.95789097e-04 9.98786159e-01 5.30297274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.790385723 meters Centerline goodness : 0.997370 Centerline is valid? [True, True] Translation: X:110.06, Y:9.31, Z:5.30 [[ 9.54255032e-01 -2.95308742e-01 -4.67982986e-02 1.10063558e+02] [ 2.94909935e-01 9.55401488e-01 -1.53664306e-02 9.30907212e+00] [ 4.92490054e-02 8.62210575e-04 9.98786159e-01 5.30232516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.820385723 meters Centerline goodness : 0.999599 Centerline is valid? [True, True] Translation: X:110.09, Y:9.31, Z:5.31 [[ 9.56100650e-01 -2.89259347e-01 -4.69103013e-02 1.10088524e+02] [ 2.88870000e-01 9.57250420e-01 -1.50252039e-02 9.31496791e+00] [ 4.92510863e-02 8.14628527e-04 9.98786097e-01 5.30509892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.85038572299999 meters Centerline goodness : 0.999844 Centerline is valid? [True, True] Translation: X:110.11, Y:9.33, Z:5.30 [[ 9.54584950e-01 -2.94241664e-01 -4.67912051e-02 1.10109740e+02] [ 2.93840549e-01 9.55730590e-01 -1.53873731e-02 9.32712360e+00] [ 4.92473924e-02 9.39401362e-04 9.98786169e-01 5.30076307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.88038572299999 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:110.14, Y:9.34, Z:5.30 [[ 9.54955535e-01 -2.93065752e-01 -4.66089148e-02 1.10135590e+02] [ 2.92635992e-01 9.56090972e-01 -1.59445662e-02 9.33642117e+00] [ 4.92351690e-02 1.58690571e-03 9.98785953e-01 5.30107328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.91038572299999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:110.16, Y:9.35, Z:5.30 [[ 9.55686924e-01 -2.90675206e-01 -4.65878429e-02 1.10161824e+02] [ 2.90239470e-01 9.56820131e-01 -1.60089468e-02 9.34643490e+00] [ 4.92295899e-02 1.77791031e-03 9.98785906e-01 5.30079326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.94038572299999 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:110.20, Y:9.35, Z:5.31 [[ 9.57843986e-01 -2.83488670e-01 -4.65733010e-02 1.10195805e+02] [ 2.83042280e-01 9.58973075e-01 -1.60533243e-02 9.35024164e+00] [ 4.92134773e-02 2.19436680e-03 9.98785872e-01 5.30965045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.97038572299999 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:110.22, Y:9.37, Z:5.30 [[ 9.55301840e-01 -2.91902178e-01 -4.68135929e-02 1.10223899e+02] [ 2.91501602e-01 9.56447668e-01 -1.53190625e-02 9.36535439e+00] [ 4.92464195e-02 9.88091242e-04 9.98786170e-01 5.30041381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.000385723 meters Centerline goodness : 0.997994 Centerline is valid? [True, True] Translation: X:110.26, Y:9.37, Z:5.32 [[ 9.55829657e-01 -2.90155027e-01 -4.69012381e-02 1.10263565e+02] [ 2.89765525e-01 9.56979325e-01 -1.50503345e-02 9.37238167e+00] [ 4.92504454e-02 7.95194190e-04 9.98786144e-01 5.31534081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.030385723 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:110.29, Y:9.38, Z:5.32 [[ 9.56370820e-01 -2.88313750e-01 -4.72232635e-02 1.10285041e+02] [ 2.87969907e-01 9.57535985e-01 -1.40772623e-02 9.37531191e+00] [ 4.92766425e-02 -1.35795909e-04 9.98785159e-01 5.31912772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.060385723 meters Centerline goodness : 0.999800 Centerline is valid? [True, True] Translation: X:110.31, Y:9.38, Z:5.32 [[ 9.55882201e-01 -2.90008197e-01 -4.67382378e-02 1.10311042e+02] [ 2.89594720e-01 9.57023257e-01 -1.55365396e-02 9.38408355e+00] [ 4.92353043e-02 1.31595478e-03 9.98786340e-01 5.31559981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.090385723 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:110.34, Y:9.39, Z:5.32 [[ 9.55066946e-01 -2.92682152e-01 -4.67363518e-02 1.10337258e+02] [ 2.92271593e-01 9.56209054e-01 -1.55422109e-02 9.39333052e+00] [ 4.92386505e-02 1.18414391e-03 9.98786340e-01 5.31739033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.120385723 meters Centerline goodness : 0.999822 Centerline is valid? [True, True] Translation: X:110.36, Y:9.40, Z:5.32 [[ 9.54083524e-01 -2.95872863e-01 -4.67319755e-02 1.10364530e+02] [ 2.95465480e-01 9.55226769e-01 -1.55553581e-02 9.40009436e+00] [ 4.92420424e-02 1.03342534e-03 9.98786340e-01 5.32210809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.150385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:110.39, Y:9.41, Z:5.32 [[ 9.52641144e-01 -3.00484773e-01 -4.67306271e-02 1.10391130e+02] [ 3.00082727e-01 9.53786277e-01 -1.55594080e-02 9.40720583e+00] [ 4.92463960e-02 7.99478262e-04 9.98786340e-01 5.32445446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.180385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:110.41, Y:9.42, Z:5.32 [[ 9.50710926e-01 -3.06537388e-01 -4.67286419e-02 1.10414586e+02] [ 3.06142340e-01 9.51858491e-01 -1.55653678e-02 9.41876282e+00] [ 4.92504217e-02 4.92549470e-04 9.98786340e-01 5.31881089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.21038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.44, Y:9.42, Z:5.33 [[ 9.50844486e-01 -3.06140033e-01 -4.66159079e-02 1.10444229e+02] [ 3.05727921e-01 9.51986094e-01 -1.59032873e-02 9.42453209e+00] [ 4.92463290e-02 8.69768440e-04 9.98786285e-01 5.32500477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.24038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.47, Y:9.43, Z:5.33 [[ 9.50406504e-01 -3.07480774e-01 -4.67231276e-02 1.10470455e+02] [ 3.07086057e-01 9.51554182e-01 -1.55817902e-02 9.43376255e+00] [ 4.92506883e-02 4.61013678e-04 9.98786342e-01 5.32907941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.27038572299999 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:110.50, Y:9.44, Z:5.33 [[ 9.50067623e-01 -3.08526930e-01 -4.67187905e-02 1.10497338e+02] [ 3.08132839e-01 9.51215515e-01 -1.55947832e-02 9.44264287e+00] [ 4.92510490e-02 4.20505049e-04 9.98786342e-01 5.33080498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.30038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.52, Y:9.45, Z:5.33 [[ 9.50147271e-01 -3.08282218e-01 -4.67144256e-02 1.10522561e+02] [ 3.07887188e-01 9.51294841e-01 -1.56078475e-02 9.45200684e+00] [ 4.92508139e-02 4.46980554e-04 9.98786342e-01 5.33194236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.33038572299999 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:110.55, Y:9.46, Z:5.33 [[ 9.50229640e-01 -3.08028521e-01 -4.67125394e-02 1.10548028e+02] [ 3.07632907e-01 9.51377009e-01 -1.56134906e-02 9.46223514e+00] [ 4.92506364e-02 4.66087315e-04 9.98786342e-01 5.33107185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.360385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:110.57, Y:9.48, Z:5.32 [[ 9.49250872e-01 -3.11031986e-01 -4.67106665e-02 1.10572545e+02] [ 3.10639728e-01 9.50399392e-01 -1.56190916e-02 9.47549064e+00] [ 4.92518261e-02 3.16247589e-04 9.98786342e-01 5.32470462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.390385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.60, Y:9.48, Z:5.33 [[ 9.50769478e-01 -3.06369091e-01 -4.66409610e-02 1.10601616e+02] [ 3.05960977e-01 9.51912483e-01 -1.58273805e-02 9.48306396e+00] [ 4.92471331e-02 7.77876336e-04 9.98786321e-01 5.33323254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.420385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.63, Y:9.49, Z:5.33 [[ 9.50909274e-01 -3.05924767e-01 -4.67074862e-02 1.10628810e+02] [ 3.05525875e-01 9.52055507e-01 -1.56285667e-02 9.49342655e+00] [ 4.92492851e-02 5.91003431e-04 9.98786343e-01 5.33283939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.450385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.65, Y:9.50, Z:5.33 [[ 9.50824871e-01 -3.06187563e-01 -4.67037543e-02 1.10654917e+02] [ 3.05788441e-01 9.51971023e-01 -1.56397112e-02 9.50301414e+00] [ 4.92493058e-02 5.89158233e-04 9.98786343e-01 5.33348100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.480385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.68, Y:9.51, Z:5.33 [[ 9.50619240e-01 -3.06826042e-01 -4.66994770e-02 1.10680811e+02] [ 3.06427063e-01 9.51765441e-01 -1.56524726e-02 9.51300211e+00] [ 4.92495345e-02 5.69558094e-04 9.98786343e-01 5.33489022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.510385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:110.71, Y:9.52, Z:5.34 [[ 9.50441470e-01 -3.07376941e-01 -4.66950578e-02 1.10706612e+02] [ 3.06977979e-01 9.51587678e-01 -1.56656448e-02 9.52240993e+00] [ 4.92496996e-02 5.54924047e-04 9.98786343e-01 5.33548960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.540385723 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:110.73, Y:9.54, Z:5.33 [[ 9.48975588e-01 -3.11873528e-01 -4.66929949e-02 1.10729469e+02] [ 3.11479695e-01 9.50123568e-01 -1.56717913e-02 9.53598378e+00] [ 4.92517317e-02 3.28227607e-04 9.98786343e-01 5.32973015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.570385723 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:110.76, Y:9.54, Z:5.34 [[ 9.50077303e-01 -3.08521732e-01 -4.65559760e-02 1.10760263e+02] [ 3.08103826e-01 9.51216837e-01 -1.60798626e-02 9.54341585e+00] [ 4.92458152e-02 9.33038166e-04 9.98786253e-01 5.34176690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.60038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.79, Y:9.55, Z:5.34 [[ 9.49885229e-01 -3.09091940e-01 -4.66928820e-02 1.10787090e+02] [ 3.08694736e-01 9.51032044e-01 -1.56719811e-02 9.55245965e+00] [ 4.92505100e-02 4.72736474e-04 9.98786345e-01 5.34439495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.63038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.81, Y:9.56, Z:5.35 [[ 9.49784936e-01 -3.09400641e-01 -4.66885392e-02 1.10813210e+02] [ 3.09003174e-01 9.50931660e-01 -1.56849080e-02 9.56098359e+00] [ 4.92505307e-02 4.70382511e-04 9.98786346e-01 5.34698692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.66038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.84, Y:9.57, Z:5.35 [[ 9.49820685e-01 -3.09291082e-01 -4.66871936e-02 1.10837236e+02] [ 3.08893286e-01 9.50967295e-01 -1.56889121e-02 9.57311315e+00] [ 4.92504348e-02 4.80292617e-04 9.98786346e-01 5.34628275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.69038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.87, Y:9.59, Z:5.34 [[ 9.49499706e-01 -3.10275345e-01 -4.66853215e-02 1.10865838e+02] [ 3.09878464e-01 9.50646633e-01 -1.56944809e-02 9.58512289e+00] [ 4.92508542e-02 4.35129313e-04 9.98786346e-01 5.34060038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.72038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.89, Y:9.59, Z:5.35 [[ 9.50133913e-01 -3.08312061e-01 -4.67891062e-02 1.10890068e+02] [ 3.07928019e-01 9.51285251e-01 -1.53852812e-02 9.59451496e+00] [ 4.92532544e-02 2.10400633e-04 9.98786300e-01 5.34717798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.750385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.92, Y:9.60, Z:5.35 [[ 9.50499699e-01 -3.07197489e-01 -4.66907312e-02 1.10915777e+02] [ 3.06797701e-01 9.51645611e-01 -1.56780509e-02 9.60406794e+00] [ 4.92492873e-02 5.77373674e-04 9.98786351e-01 5.34636824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.780385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.95, Y:9.61, Z:5.34 [[ 9.50424495e-01 -3.07430769e-01 -4.66862073e-02 1.10946655e+02] [ 3.07030601e-01 9.51570274e-01 -1.56915108e-02 9.61413929e+00] [ 4.92492603e-02 5.79501944e-04 9.98786351e-01 5.34003026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.810385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.97, Y:9.62, Z:5.34 [[ 9.50458312e-01 -3.07305880e-01 -4.68197969e-02 1.10972843e+02] [ 3.06925112e-01 9.51610776e-01 -1.52940076e-02 9.62432765e+00] [ 4.92541617e-02 1.66145193e-04 9.98786263e-01 5.34026381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.840385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.00, Y:9.63, Z:5.34 [[ 9.50431589e-01 -3.07400058e-01 -4.67439691e-02 1.11001643e+02] [ 3.07008333e-01 9.51580288e-01 -1.55189523e-02 9.63456099e+00] [ 4.92511664e-02 3.98914473e-04 9.98786345e-01 5.34344222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.870385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.03, Y:9.65, Z:5.34 [[ 9.50267545e-01 -3.07892409e-01 -4.68386253e-02 1.11026126e+02] [ 3.07515102e-01 9.51421178e-01 -1.52382254e-02 9.64548898e+00] [ 4.92549940e-02 7.68064104e-05 9.98786233e-01 5.34433418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.900385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.05, Y:9.65, Z:5.35 [[ 9.50172800e-01 -3.08190220e-01 -4.68021234e-02 1.11053145e+02] [ 3.07807940e-01 9.51324738e-01 -1.53464925e-02 9.65481588e+00] [ 4.92536567e-02 1.75754561e-04 9.98786287e-01 5.34569718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.930385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:111.08, Y:9.66, Z:5.35 [[ 9.50159405e-01 -3.08232186e-01 -4.67976986e-02 1.11080190e+02] [ 3.07849311e-01 9.51311140e-01 -1.53596037e-02 9.66382317e+00] [ 4.92534962e-02 1.87432617e-04 9.98786292e-01 5.34863815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.96038572299999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:111.09, Y:9.68, Z:5.34 [[ 9.47405736e-01 -3.16594000e-01 -4.68039688e-02 1.11093362e+02] [ 3.16222205e-01 9.48561104e-01 -1.53410708e-02 9.67864601e+00] [ 4.92533153e-02 -2.66235741e-04 9.98786283e-01 5.34253083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.99038572299999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:111.12, Y:9.69, Z:5.35 [[ 9.47435669e-01 -3.16578499e-01 -4.63001811e-02 1.11117578e+02] [ 3.16133621e-01 9.48565415e-01 -1.68281460e-02 9.68862659e+00] [ 4.92461797e-02 1.30654188e-03 9.98785816e-01 5.34548903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.02038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.16, Y:9.69, Z:5.35 [[ 9.48952821e-01 -3.12014181e-01 -4.62135767e-02 1.11157751e+02] [ 3.11551415e-01 9.50075713e-01 -1.70837623e-02 9.69419632e+00] [ 4.92367730e-02 1.81377924e-03 9.98785488e-01 5.35143519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.05038572299999 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:111.19, Y:9.70, Z:5.35 [[ 9.48648439e-01 -3.12863962e-01 -4.67148774e-02 1.11185717e+02] [ 3.12474945e-01 9.49797927e-01 -1.55983164e-02 9.70298569e+00] [ 4.92498448e-02 2.00089746e-04 9.98786470e-01 5.35094771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.08038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.21, Y:9.71, Z:5.36 [[ 9.48078922e-01 -3.14582057e-01 -4.67384955e-02 1.11210922e+02] [ 3.14198570e-01 9.49230282e-01 -1.55283880e-02 9.71356398e+00] [ 4.92505475e-02 3.69688889e-05 9.98786455e-01 5.35518701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.110385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.24, Y:9.72, Z:5.36 [[ 9.47660560e-01 -3.15840375e-01 -4.67367165e-02 1.11237167e+02] [ 3.15458156e-01 9.48812340e-01 -1.55336536e-02 9.72297947e+00] [ 4.92505284e-02 -2.28475611e-05 9.98786456e-01 5.35759893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.140385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.26, Y:9.73, Z:5.36 [[ 9.47026438e-01 -3.17742183e-01 -4.66993620e-02 1.11261627e+02] [ 3.17356828e-01 9.48177149e-01 -1.56441094e-02 9.73081286e+00] [ 4.92500614e-02 -4.97624547e-06 9.98786479e-01 5.36086533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.170385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.29, Y:9.74, Z:5.36 [[ 9.47326026e-01 -3.16858497e-01 -4.66271811e-02 1.11291501e+02] [ 3.16461565e-01 9.48472784e-01 -1.58573530e-02 9.73959590e+00] [ 4.92491493e-02 2.66372521e-04 9.98786489e-01 5.36237371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.200385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.31, Y:9.75, Z:5.36 [[ 9.46859587e-01 -3.18236146e-01 -4.67191307e-02 1.11312338e+02] [ 3.17854270e-01 9.48011470e-01 -1.55857705e-02 9.75250915e+00] [ 4.92502274e-02 -9.23389445e-05 9.98786467e-01 5.36190790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.230385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.35, Y:9.76, Z:5.36 [[ 9.48007114e-01 -3.14834010e-01 -4.64979285e-02 1.11345026e+02] [ 3.14415939e-01 9.49146431e-01 -1.62379174e-02 9.76027111e+00] [ 4.92455915e-02 7.73971327e-04 9.98786400e-01 5.36279313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.260385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.37, Y:9.77, Z:5.36 [[ 9.48309448e-01 -3.13888177e-01 -4.67269035e-02 1.11371955e+02] [ 3.13502183e-01 9.49459952e-01 -1.55621489e-02 9.76911688e+00] [ 4.92500981e-02 1.08746586e-04 9.98786472e-01 5.36320740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.290385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.40, Y:9.78, Z:5.37 [[ 9.49485581e-01 -3.10315169e-01 -4.67078952e-02 1.11401290e+02] [ 3.09922092e-01 9.50633668e-01 -1.56181269e-02 9.77677560e+00] [ 4.92486395e-02 3.53377629e-04 9.98786487e-01 5.36550902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.320385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.43, Y:9.79, Z:5.37 [[ 9.49968567e-01 -3.08826821e-01 -4.67516399e-02 1.11428643e+02] [ 3.08438276e-01 9.51118241e-01 -1.54894034e-02 9.78578516e+00] [ 4.92498808e-02 2.94451149e-04 9.98786445e-01 5.36658414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.35038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.46, Y:9.79, Z:5.37 [[ 9.51163955e-01 -3.05123795e-01 -4.67610944e-02 1.11455070e+02] [ 3.04732141e-01 9.52312586e-01 -1.54616046e-02 9.79472472e+00] [ 4.92488822e-02 4.56912574e-04 9.98786433e-01 5.36707653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.38038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.48, Y:9.80, Z:5.37 [[ 9.51354193e-01 -3.04529228e-01 -4.67669523e-02 1.11482002e+02] [ 3.04137703e-01 9.52502876e-01 -1.54443884e-02 9.80455899e+00] [ 4.92489242e-02 4.69490234e-04 9.98786425e-01 5.36882675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.41038572299999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:111.51, Y:9.81, Z:5.37 [[ 9.51964176e-01 -3.02618649e-01 -4.67563914e-02 1.11509447e+02] [ 3.02223296e-01 9.53111532e-01 -1.54753873e-02 9.81232099e+00] [ 4.92471966e-02 6.01143597e-04 9.98786440e-01 5.37208939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.44038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.54, Y:9.82, Z:5.37 [[ 9.51840604e-01 -3.03006137e-01 -4.67626581e-02 1.11536303e+02] [ 3.02612153e-01 9.52988439e-01 -1.54570174e-02 9.82109623e+00] [ 4.92478437e-02 5.61668112e-04 9.98786431e-01 5.37431618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.47038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.56, Y:9.83, Z:5.38 [[ 9.52108611e-01 -3.02166441e-01 -4.67400736e-02 1.11563230e+02] [ 3.01768198e-01 9.53254943e-01 -1.55231630e-02 9.82902424e+00] [ 4.92457851e-02 6.75069435e-04 9.98786462e-01 5.37651613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.500385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.59, Y:9.84, Z:5.38 [[ 9.52543245e-01 -3.00792331e-01 -4.67476152e-02 1.11589493e+02] [ 3.00393517e-01 9.53689389e-01 -1.55010842e-02 9.83708078e+00] [ 4.92453119e-02 7.22772475e-04 9.98786452e-01 5.37726562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.530385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.62, Y:9.85, Z:5.38 [[ 9.52737973e-01 -3.00174752e-01 -4.67490556e-02 1.11616327e+02] [ 2.99775402e-01 9.53883932e-01 -1.54968692e-02 9.84587615e+00] [ 4.92449418e-02 7.50238858e-04 9.98786450e-01 5.37884549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.560385723 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:111.64, Y:9.86, Z:5.38 [[ 9.52541686e-01 -3.00799311e-01 -4.67344765e-02 1.11637907e+02] [ 3.00398624e-01 9.53687156e-01 -1.55394548e-02 9.85575251e+00] [ 4.92443273e-02 7.63006061e-04 9.98786471e-01 5.38017622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.590385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:111.67, Y:9.87, Z:5.38 [[ 9.53727153e-01 -2.97049718e-01 -4.65401238e-02 1.11665193e+02] [ 2.96616848e-01 9.54860746e-01 -1.61059518e-02 9.86504160e+00] [ 4.92236057e-02 1.55609868e-03 9.98786571e-01 5.38417005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.620385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.69, Y:9.88, Z:5.38 [[ 9.53821028e-01 -2.96741715e-01 -4.65811320e-02 1.11691969e+02] [ 2.96314306e-01 9.54956682e-01 -1.59864639e-02 9.87535809e+00] [ 4.92268140e-02 1.44556960e-03 9.98786579e-01 5.38317779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.650385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:111.72, Y:9.88, Z:5.39 [[ 9.54769133e-01 -2.93675949e-01 -4.65869101e-02 1.11718534e+02] [ 2.93245714e-01 9.55903720e-01 -1.59696342e-02 9.88493263e+00] [ 4.92224981e-02 1.58590212e-03 9.98786579e-01 5.38560140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.680385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.74, Y:9.89, Z:5.38 [[ 9.54663511e-01 -2.94020666e-01 -4.65771273e-02 1.11743233e+02] [ 2.93589453e-01 9.55797726e-01 -1.59981160e-02 9.89378447e+00] [ 4.92220891e-02 1.59826429e-03 9.98786580e-01 5.37975502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.71038572299999 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:111.77, Y:9.90, Z:5.39 [[ 9.54985582e-01 -2.92982819e-01 -4.65145790e-02 1.11771521e+02] [ 2.92541523e-01 9.56115927e-01 -1.61799480e-02 9.90155654e+00] [ 4.92137766e-02 1.84417125e-03 9.98786565e-01 5.38562398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.74038572299999 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:111.80, Y:9.91, Z:5.38 [[ 9.54287435e-01 -2.95240530e-01 -4.65673751e-02 1.11799448e+02] [ 2.94809387e-01 9.55421676e-01 -1.60264205e-02 9.91053509e+00] [ 4.92231285e-02 1.56531240e-03 9.98786581e-01 5.38204673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.77038572299999 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:111.83, Y:9.92, Z:5.38 [[ 9.54437757e-01 -2.94755298e-01 -4.65605265e-02 1.11825313e+02] [ 2.94322609e-01 9.55571409e-01 -1.60463208e-02 9.91896387e+00] [ 4.92216460e-02 1.61139878e-03 9.98786580e-01 5.38361437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.80038572299999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:111.85, Y:9.93, Z:5.39 [[ 9.53384590e-01 -2.98150689e-01 -4.65186963e-02 1.11853311e+02] [ 2.97716114e-01 9.54517532e-01 -1.61677920e-02 9.92562034e+00] [ 4.92233495e-02 1.56475832e-03 9.98786570e-01 5.38633268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.83038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.88, Y:9.93, Z:5.39 [[ 9.53352877e-01 -2.98251242e-01 -4.65240626e-02 1.11880991e+02] [ 2.97817546e-01 9.54486153e-01 -1.61522106e-02 9.93245064e+00] [ 4.92239904e-02 1.54307433e-03 9.98786573e-01 5.38981527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.860385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.91, Y:9.94, Z:5.39 [[ 9.51939380e-01 -3.02726593e-01 -4.65620742e-02 1.11905695e+02] [ 3.02303616e-01 9.53076693e-01 -1.60418818e-02 9.93902972e+00] [ 4.92335319e-02 1.19501568e-03 9.98786579e-01 5.39103640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.890385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.93, Y:9.95, Z:5.39 [[ 9.51346378e-01 -3.04604750e-01 -4.64329146e-02 1.11932110e+02] [ 3.04165719e-01 9.52477670e-01 -1.64165318e-02 9.94795314e+00] [ 4.92268679e-02 1.49450718e-03 9.98786505e-01 5.39185217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.920385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.96, Y:9.96, Z:5.39 [[ 9.50818985e-01 -3.06252471e-01 -4.63970051e-02 1.11957283e+02] [ 3.05810322e-01 9.51949114e-01 -1.65206384e-02 9.95783861e+00] [ 4.92270742e-02 1.51945354e-03 9.98786457e-01 5.39220618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.950385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.99, Y:9.97, Z:5.39 [[ 9.51350738e-01 -3.04610579e-01 -4.63051587e-02 1.11987040e+02] [ 3.04153521e-01 9.52475111e-01 -1.67868670e-02 9.96535168e+00] [ 4.92179685e-02 1.88632129e-03 9.98786280e-01 5.39439299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.980385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.02, Y:9.97, Z:5.40 [[ 9.51357056e-01 -3.04577613e-01 -4.63921270e-02 1.12015654e+02] [ 3.04132792e-01 9.52486142e-01 -1.65346518e-02 9.97154100e+00] [ 4.92239429e-02 1.62099054e-03 9.98786452e-01 5.39602436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.010385723 meters Centerline goodness : 0.999371 Centerline is valid? [True, True] Translation: X:112.05, Y:9.98, Z:5.40 [[ 9.51261479e-01 -3.04873846e-01 -4.64062082e-02 1.12048000e+02] [ 3.04431356e-01 9.52391462e-01 -1.64940300e-02 9.98105987e+00] [ 4.92254748e-02 1.56263047e-03 9.98786469e-01 5.40144432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.040385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:112.07, Y:9.99, Z:5.40 [[ 9.51414470e-01 -3.04359310e-01 -4.66467286e-02 1.12070289e+02] [ 3.03950135e-01 9.52556918e-01 -1.57998054e-02 9.98778377e+00] [ 4.92424819e-02 8.53883962e-04 9.98786488e-01 5.40071695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.070385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.10, Y:10.00, Z:5.41 [[ 9.51668017e-01 -3.03607134e-01 -4.63755750e-02 1.12102716e+02] [ 3.03158817e-01 9.52795751e-01 -1.65828044e-02 9.99751719e+00] [ 4.92211085e-02 1.72216007e-03 9.98786422e-01 5.40529135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.10038572299999 meters Centerline goodness : 0.999844 Centerline is valid? [True, True] Translation: X:112.13, Y:10.01, Z:5.40 [[ 9.51856985e-01 -3.02970106e-01 -4.66625550e-02 1.12125484e+02] [ 3.02561586e-01 9.52999658e-01 -1.57524212e-02 1.00054922e+01] [ 4.92419117e-02 8.75755470e-04 9.98786497e-01 5.40396648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.13038572299999 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:112.15, Y:10.02, Z:5.40 [[ 9.51243312e-01 -3.04923001e-01 -4.64556187e-02 1.12148261e+02] [ 3.04487531e-01 9.52375965e-01 -1.63513060e-02 1.00158379e+01] [ 4.92291040e-02 1.40891379e-03 9.98786519e-01 5.40275649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.16038572299999 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:112.17, Y:10.02, Z:5.40 [[ 9.51160884e-01 -3.05206662e-01 -4.62802920e-02 1.12174753e+02] [ 3.04746822e-01 9.52284182e-01 -1.68585848e-02 1.00236117e+01] [ 4.92173423e-02 1.93145451e-03 9.98786225e-01 5.40292232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.19038572299999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:112.20, Y:10.03, Z:5.41 [[ 9.51562688e-01 -3.03954297e-01 -4.62626875e-02 1.12203283e+02] [ 3.03490501e-01 9.52684408e-01 -1.69095675e-02 1.00314979e+01] [ 4.92134767e-02 2.05022728e-03 9.98786178e-01 5.40551028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.22038572299999 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:112.23, Y:10.04, Z:5.40 [[ 9.50913220e-01 -3.05969792e-01 -4.63307008e-02 1.12229394e+02] [ 3.05517964e-01 9.52039636e-01 -1.67124216e-02 1.00406297e+01] [ 4.92221596e-02 1.73720126e-03 9.98786344e-01 5.40496001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.250385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:112.26, Y:10.05, Z:5.41 [[ 9.50609577e-01 -3.06916999e-01 -4.62967327e-02 1.12255670e+02] [ 3.06461501e-01 9.51734597e-01 -1.68108644e-02 1.00499729e+01] [ 4.92217423e-02 1.79240253e-03 9.98786267e-01 5.40738567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.280385723 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:112.29, Y:10.06, Z:5.41 [[ 9.50857970e-01 -3.06152931e-01 -4.62547706e-02 1.12288942e+02] [ 3.05690621e-01 9.51980325e-01 -1.69323842e-02 1.00566826e+01] [ 4.92175306e-02 1.96064288e-03 9.98786159e-01 5.41140845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.310385723 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:112.32, Y:10.06, Z:5.41 [[ 9.49469778e-01 -3.10397641e-01 -4.64805949e-02 1.12315188e+02] [ 3.09972310e-01 9.50606232e-01 -1.62775771e-02 1.00640342e+01] [ 4.92372647e-02 1.04737019e-03 9.98786561e-01 5.41370959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.340385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:112.34, Y:10.07, Z:5.42 [[ 9.48335343e-01 -3.13854733e-01 -4.64250358e-02 1.12343033e+02] [ 3.13425662e-01 9.49470446e-01 -1.64385768e-02 1.00716582e+01] [ 4.92385246e-02 1.03848580e-03 9.98786508e-01 5.41509515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.370385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:112.37, Y:10.08, Z:5.42 [[ 9.47574603e-01 -3.16142969e-01 -4.64326982e-02 1.12369116e+02] [ 3.15717726e-01 9.48711136e-01 -1.64163752e-02 1.00808359e+01] [ 4.92411395e-02 8.96114294e-04 9.98786517e-01 5.41632103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.400385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:112.39, Y:10.09, Z:5.42 [[ 9.46667463e-01 -3.18855311e-01 -4.63897070e-02 1.12394261e+02] [ 3.18427220e-01 9.47802988e-01 -1.65409250e-02 1.00903673e+01] [ 4.92424647e-02 8.87010124e-04 9.98786460e-01 5.41655675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.430385723 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:112.43, Y:10.10, Z:5.42 [[ 9.46448592e-01 -3.19516443e-01 -4.63066458e-02 1.12425694e+02] [ 3.19077371e-01 9.47580085e-01 -1.67813830e-02 1.00981823e+01] [ 4.92411832e-02 1.10731352e-03 9.98786303e-01 5.41802644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.46038572299999 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:112.45, Y:10.11, Z:5.42 [[ 9.45867391e-01 -3.21214484e-01 -4.64341862e-02 1.12453596e+02] [ 3.20795544e-01 9.47006263e-01 -1.64121178e-02 1.01069870e+01] [ 4.92452751e-02 6.27807067e-04 9.98786518e-01 5.41770654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.49038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.48, Y:10.11, Z:5.42 [[ 9.46025841e-01 -3.20737547e-01 -4.65030498e-02 1.12479153e+02] [ 3.20327828e-01 9.47168006e-01 -1.62126800e-02 1.01147655e+01] [ 4.92462162e-02 4.41393263e-04 9.98786571e-01 5.42171953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.52038572299999 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:112.51, Y:10.12, Z:5.42 [[ 9.45800514e-01 -3.21409275e-01 -4.64485271e-02 1.12505246e+02] [ 3.20992618e-01 9.46940203e-01 -1.63704008e-02 1.01245258e+01] [ 4.92455764e-02 5.73499203e-04 9.98786536e-01 5.42188847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.55038572299999 meters Centerline goodness : 0.999887 Centerline is valid? [True, True] Translation: X:112.53, Y:10.14, Z:5.42 [[ 9.45523077e-01 -3.22226276e-01 -4.64363801e-02 1.12529257e+02] [ 3.21808879e-01 9.46662508e-01 -1.64055230e-02 1.01352145e+01] [ 4.92458706e-02 5.68161170e-04 9.98786524e-01 5.42046323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.58038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.56, Y:10.14, Z:5.42 [[ 9.45729354e-01 -3.21628625e-01 -4.63790502e-02 1.12557057e+02] [ 3.21202379e-01 9.46865580e-01 -1.65711911e-02 1.01444097e+01] [ 4.92444957e-02 7.74800625e-04 9.98786453e-01 5.42094956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.610385723 meters Centerline goodness : 0.998825 Centerline is valid? [True, True] Translation: X:112.59, Y:10.15, Z:5.42 [[ 9.47132262e-01 -3.17468817e-01 -4.64115045e-02 1.12587229e+02] [ 3.17042153e-01 9.48268292e-01 -1.64778342e-02 1.01514370e+01] [ 4.92417567e-02 8.92285035e-04 9.98786490e-01 5.42443106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.640385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.61, Y:10.16, Z:5.43 [[ 9.46160166e-01 -3.20338714e-01 -4.65193443e-02 1.12613396e+02] [ 3.19930732e-01 9.47302981e-01 -1.61675519e-02 1.01608800e+01] [ 4.92470063e-02 4.14125678e-04 9.98786544e-01 5.42671099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.670385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.64, Y:10.17, Z:5.43 [[ 9.46308960e-01 -3.19899131e-01 -4.65177150e-02 1.12640144e+02] [ 3.19490388e-01 9.47451503e-01 -1.61722385e-02 1.01702139e+01] [ 4.92467640e-02 4.41971318e-04 9.98786544e-01 5.42902829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.700385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.67, Y:10.18, Z:5.43 [[ 9.45489708e-01 -3.22313005e-01 -4.65138516e-02 1.12665920e+02] [ 3.21906632e-01 9.46633097e-01 -1.61833425e-02 1.01801863e+01] [ 4.92476531e-02 3.28066402e-04 9.98786544e-01 5.43140836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.730385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.69, Y:10.19, Z:5.43 [[ 9.44667610e-01 -3.24715266e-01 -4.65091757e-02 1.12691578e+02] [ 3.24311140e-01 9.45811794e-01 -1.61967693e-02 1.01902662e+01] [ 4.92482652e-02 2.17119527e-04 9.98786544e-01 5.43358299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.760385723 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:112.72, Y:10.20, Z:5.44 [[ 9.44194039e-01 -3.26090035e-01 -4.65070488e-02 1.12717964e+02] [ 3.25687275e-01 9.45338704e-01 -1.62028743e-02 1.01986160e+01] [ 4.92485091e-02 1.51903317e-04 9.98786544e-01 5.43615988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.790385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.75, Y:10.21, Z:5.43 [[ 9.43138155e-01 -3.29132079e-01 -4.65026359e-02 1.12746526e+02] [ 3.28732387e-01 9.44283895e-01 -1.62155294e-02 1.02076575e+01] [ 4.92487411e-02 6.56196330e-06 9.98786544e-01 5.43492632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.820385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.77, Y:10.22, Z:5.44 [[ 9.43072217e-01 -3.29310775e-01 -4.65747373e-02 1.12772530e+02] [ 3.28921500e-01 9.44221565e-01 -1.60088361e-02 1.02167384e+01] [ 4.92487535e-02 -2.21943878e-04 9.98786519e-01 5.43637998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.85038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.80, Y:10.23, Z:5.44 [[ 9.42534736e-01 -3.30846415e-01 -4.65716761e-02 1.12798216e+02] [ 3.30458579e-01 9.43684568e-01 -1.60176066e-02 1.02268498e+01] [ 4.92483397e-02 -2.92859303e-04 9.98786521e-01 5.43728814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.88038572299999 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:112.82, Y:10.24, Z:5.44 [[ 9.41946329e-01 -3.32520855e-01 -4.65509785e-02 1.12821796e+02] [ 3.32132135e-01 9.43095849e-01 -1.60768345e-02 1.02365952e+01] [ 4.92479173e-02 -3.17560639e-04 9.98786535e-01 5.43992349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.91038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.85, Y:10.25, Z:5.44 [[ 9.42599027e-01 -3.30680919e-01 -4.64457040e-02 1.12848313e+02] [ 3.30275112e-01 9.43742613e-01 -1.63777322e-02 1.02470210e+01] [ 4.92485936e-02 9.77743731e-05 9.98786547e-01 5.44495246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.94038572299999 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:112.87, Y:10.26, Z:5.44 [[ 9.42114582e-01 -3.32053228e-01 -4.64840699e-02 1.12874546e+02] [ 3.31654494e-01 9.43260646e-01 -1.62681077e-02 1.02585373e+01] [ 4.92484714e-02 -9.02291929e-05 9.98786554e-01 5.43977648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.97038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.90, Y:10.27, Z:5.44 [[ 9.41458254e-01 -3.33914357e-01 -4.64495256e-02 1.12895046e+02] [ 3.33513021e-01 9.42603414e-01 -1.63667201e-02 1.02695303e+01] [ 4.92485642e-02 -8.29378878e-05 9.98786550e-01 5.44257920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.000385723 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:112.93, Y:10.28, Z:5.45 [[ 9.42502802e-01 -3.30984109e-01 -4.62383797e-02 1.12928223e+02] [ 3.30549655e-01 9.43636062e-01 -1.69678253e-02 1.02782273e+01] [ 4.92482831e-02 7.08142439e-04 9.98786316e-01 5.44736183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.030385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.95, Y:10.29, Z:5.44 [[ 9.41347171e-01 -3.34224179e-01 -4.64725935e-02 1.12954864e+02] [ 3.33826508e-01 9.42493591e-01 -1.63001047e-02 1.02891523e+01] [ 4.92480107e-02 -1.69726130e-04 9.98786566e-01 5.44368764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.060385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.98, Y:10.30, Z:5.45 [[ 9.40022070e-01 -3.37931503e-01 -4.64844858e-02 1.12979271e+02] [ 3.37540028e-01 9.41170622e-01 -1.62662240e-02 1.02994485e+01] [ 4.92467019e-02 -3.99765108e-04 9.98786565e-01 5.44583427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.090385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.01, Y:10.31, Z:5.45 [[ 9.38664016e-01 -3.41696110e-01 -4.64072657e-02 1.13010055e+02] [ 3.41298363e-01 9.39810426e-01 -1.64861026e-02 1.03076560e+01] [ 4.92472692e-02 -3.63812490e-04 9.98786551e-01 5.44800433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.120385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:113.04, Y:10.32, Z:5.45 [[ 9.37560037e-01 -3.44693560e-01 -4.65566973e-02 1.13035397e+02] [ 3.44320577e-01 9.38714761e-01 -1.60604097e-02 1.03171086e+01] [ 4.92393788e-02 -9.72830604e-04 9.98786532e-01 5.44973844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.150385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:113.06, Y:10.33, Z:5.45 [[ 9.35762274e-01 -3.49548340e-01 -4.65287420e-02 1.13061266e+02] [ 3.49177392e-01 9.36917633e-01 -1.61399676e-02 1.03297067e+01] [ 4.92352977e-02 -1.14361204e-03 9.98786553e-01 5.45096983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.180385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.09, Y:10.34, Z:5.45 [[ 9.34850034e-01 -3.51979283e-01 -4.65402825e-02 1.13087089e+02] [ 3.51612972e-01 9.36006879e-01 -1.61071482e-02 1.03414579e+01] [ 4.92314071e-02 -1.30639907e-03 9.98786545e-01 5.45165818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.21038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.11, Y:10.35, Z:5.45 [[ 9.34335253e-01 -3.53349668e-01 -4.64935286e-02 1.13114851e+02] [ 3.52978444e-01 9.35490503e-01 -1.62399912e-02 1.03514169e+01] [ 4.92326500e-02 -1.23761709e-03 9.98786571e-01 5.45414703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.24038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.14, Y:10.36, Z:5.46 [[ 9.33868668e-01 -3.54575350e-01 -4.65363600e-02 1.13139629e+02] [ 3.54211697e-01 9.35026349e-01 -1.61183436e-02 1.03612536e+01] [ 4.92278901e-02 -1.43130697e-03 9.98786547e-01 5.45674693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.27038572299999 meters Centerline goodness : 0.999798 Centerline is valid? [True, True] Translation: X:113.17, Y:10.37, Z:5.46 [[ 9.33428375e-01 -3.55737709e-01 -4.64989330e-02 1.13166530e+02] [ 3.55370211e-01 9.34584816e-01 -1.62245168e-02 1.03719102e+01] [ 4.92288692e-02 -1.37991130e-03 9.98786571e-01 5.45586748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.30038572299999 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:113.19, Y:10.38, Z:5.46 [[ 9.33533039e-01 -3.55460881e-01 -4.65148040e-02 1.13191079e+02] [ 3.55095280e-01 9.34690090e-01 -1.61795284e-02 1.03846871e+01] [ 4.92281158e-02 -1.41306299e-03 9.98786562e-01 5.46094541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.33038572299999 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:113.22, Y:10.40, Z:5.46 [[ 9.33611941e-01 -3.55257632e-01 -4.64839631e-02 1.13216635e+02] [ 3.54887432e-01 9.34767511e-01 -1.62668543e-02 1.03963028e+01] [ 4.92306227e-02 -1.30964495e-03 9.98786579e-01 5.46172477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.360385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:113.24, Y:10.41, Z:5.46 [[ 9.33998603e-01 -3.54239270e-01 -4.64881594e-02 1.13241116e+02] [ 3.53868402e-01 9.35153961e-01 -1.62549780e-02 1.04102746e+01] [ 4.92317379e-02 -1.26856390e-03 9.98786577e-01 5.46235587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.390385723 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:113.27, Y:10.42, Z:5.46 [[ 9.34746240e-01 -3.52263542e-01 -4.64743225e-02 1.13268337e+02] [ 3.51888287e-01 9.35900174e-01 -1.62940958e-02 1.04223636e+01] [ 4.92351425e-02 -1.12292497e-03 9.98786584e-01 5.46349905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.420385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.29, Y:10.43, Z:5.47 [[ 9.35679733e-01 -3.49771572e-01 -4.65111314e-02 1.13291186e+02] [ 3.49398410e-01 9.36834368e-01 -1.61900657e-02 1.04315774e+01] [ 4.92360511e-02 -1.10219904e-03 9.98786562e-01 5.46657928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.450385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.32, Y:10.44, Z:5.47 [[ 9.35223716e-01 -3.51003377e-01 -4.64029042e-02 1.13318359e+02] [ 3.50616568e-01 9.36373814e-01 -1.64955417e-02 1.04435350e+01] [ 4.92404552e-02 -8.42605185e-04 9.98786598e-01 5.46805564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.480385723 meters Centerline goodness : 0.999800 Centerline is valid? [True, True] Translation: X:113.35, Y:10.45, Z:5.47 [[ 9.35646378e-01 -3.49866361e-01 -4.64691757e-02 1.13349695e+02] [ 3.49487439e-01 9.36799107e-01 -1.63084109e-02 1.04546910e+01] [ 4.92380466e-02 -9.81487616e-04 9.98786590e-01 5.46886396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.510385723 meters Centerline goodness : 0.999756 Centerline is valid? [True, True] Translation: X:113.37, Y:10.47, Z:5.47 [[ 9.34132617e-01 -3.53860593e-01 -4.66790588e-02 1.13369300e+02] [ 3.53516159e-01 9.35296403e-01 -1.57150709e-02 1.04677166e+01] [ 4.92197001e-02 -1.82184122e-03 9.98786314e-01 5.46910295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.540385723 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:113.40, Y:10.48, Z:5.48 [[ 9.33258087e-01 -3.56190624e-01 -4.64497795e-02 1.13396061e+02] [ 3.55816869e-01 9.34412466e-01 -1.63615156e-02 1.04794652e+01] [ 4.92310715e-02 -1.25809836e-03 9.98786623e-01 5.47566719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.570385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.42, Y:10.49, Z:5.48 [[ 9.32091404e-01 -3.59227375e-01 -4.64898648e-02 1.13422888e+02] [ 3.58863000e-01 9.33248802e-01 -1.62487035e-02 1.04910121e+01] [ 4.92235897e-02 -1.53821549e-03 9.98786600e-01 5.47752584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.60038572299999 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:113.45, Y:10.51, Z:5.48 [[ 9.29470588e-01 -3.65954737e-01 -4.64925442e-02 1.13447316e+02] [ 3.65599113e-01 9.30630707e-01 -1.62411678e-02 1.05051011e+01] [ 4.92109216e-02 -1.90194510e-03 9.98786598e-01 5.47750007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.63038572299999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:113.47, Y:10.52, Z:5.48 [[ 9.28571769e-01 -3.68232783e-01 -4.64659693e-02 1.13473551e+02] [ 3.67876272e-01 9.29731596e-01 -1.63158570e-02 1.05162471e+01] [ 4.92089132e-02 -1.94328335e-03 9.98786617e-01 5.48111122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.66038572299999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:113.50, Y:10.53, Z:5.48 [[ 9.27668579e-01 -3.70503499e-01 -4.64560550e-02 1.13498722e+02] [ 3.70148436e-01 9.28828843e-01 -1.63436864e-02 1.05272029e+01] [ 4.92051168e-02 -2.03411173e-03 9.98786623e-01 5.48475079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.69038572299999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:113.53, Y:10.54, Z:5.49 [[ 9.27068170e-01 -3.72007975e-01 -4.64184817e-02 1.13527833e+02] [ 3.71649526e-01 9.28227374e-01 -1.64490439e-02 1.05395337e+01] [ 4.92060809e-02 -2.00202174e-03 9.98786641e-01 5.48824710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.72038572299999 meters Centerline goodness : 0.998388 Centerline is valid? [True, True] Translation: X:113.55, Y:10.55, Z:5.49 [[ 9.26220637e-01 -3.74095176e-01 -4.65631882e-02 1.13552488e+02] [ 3.73759767e-01 9.27386822e-01 -1.60411498e-02 1.05542911e+01] [ 4.91830039e-02 -2.54580238e-03 9.98786539e-01 5.48728514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.750385723 meters Centerline goodness : 0.994213 Centerline is valid? [True, True] Translation: X:113.58, Y:10.57, Z:5.49 [[ 9.26501428e-01 -3.73394711e-01 -4.65992956e-02 1.13582907e+02] [ 3.73063526e-01 9.27668876e-01 -1.59393327e-02 1.05667204e+01] [ 4.91803787e-02 -2.61668308e-03 9.98786485e-01 5.49037137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.780385723 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:113.60, Y:10.58, Z:5.49 [[ 9.25042728e-01 -3.76964891e-01 -4.68339921e-02 1.13602793e+02] [ 3.76671566e-01 9.26220899e-01 -1.52766801e-02 1.05813094e+01] [ 4.91373943e-02 -3.50945132e-03 9.98785863e-01 5.49234522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.810385723 meters Centerline goodness : 0.994227 Centerline is valid? [True, True] Translation: X:113.63, Y:10.60, Z:5.49 [[ 9.24717298e-01 -3.77796578e-01 -4.65581727e-02 1.13629675e+02] [ 3.77465243e-01 9.25884601e-01 -1.60529248e-02 1.05965029e+01] [ 4.91722352e-02 -2.72967470e-03 9.98786584e-01 5.49469815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.840385723 meters Centerline goodness : 0.999263 Centerline is valid? [True, True] Translation: X:113.65, Y:10.61, Z:5.49 [[ 9.23137868e-01 -3.81626007e-01 -4.66697696e-02 1.13651160e+02] [ 3.81315289e-01 9.24311053e-01 -1.57393820e-02 1.06113119e+01] [ 4.91439413e-02 -3.26627718e-03 9.98786366e-01 5.49357997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.870385723 meters Centerline goodness : 0.999654 Centerline is valid? [True, True] Translation: X:113.68, Y:10.63, Z:5.49 [[ 9.23746202e-01 -3.80181721e-01 -4.64199615e-02 1.13682664e+02] [ 3.79834041e-01 9.24908575e-01 -1.64386317e-02 1.06262308e+01] [ 4.91838878e-02 -2.44675798e-03 9.98786743e-01 5.49377132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.900385723 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:113.70, Y:10.64, Z:5.50 [[ 9.21629434e-01 -3.85243015e-01 -4.67654269e-02 1.13702588e+02] [ 3.84950510e-01 9.22807561e-01 -1.54696860e-02 1.06429000e+01] [ 4.91150779e-02 -3.74505697e-03 9.98786105e-01 5.49598835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.930385723 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:113.73, Y:10.66, Z:5.50 [[ 9.20886414e-01 -3.87044820e-01 -4.65244127e-02 1.13728699e+02] [ 3.86720628e-01 9.22055605e-01 -1.61436447e-02 1.06607503e+01] [ 4.91464095e-02 -3.12548705e-03 9.98786695e-01 5.49752738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.96038572299999 meters Centerline goodness : 0.995106 Centerline is valid? [True, True] Translation: X:113.75, Y:10.67, Z:5.50 [[ 9.20173409e-01 -3.88725210e-01 -4.66219730e-02 1.13754255e+02] [ 3.88417011e-01 9.21347064e-01 -1.58686198e-02 1.06737033e+01] [ 4.91235506e-02 -3.50688538e-03 9.98786553e-01 5.49843011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.99038572299999 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:113.77, Y:10.69, Z:5.49 [[ 9.17848202e-01 -3.94181486e-01 -4.66436838e-02 1.13768896e+02] [ 3.93883350e-01 9.19024499e-01 -1.58074562e-02 1.06915147e+01] [ 4.90976948e-02 -3.86332517e-03 9.98786509e-01 5.49378405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.02038572299999 meters Centerline goodness : 0.999722 Centerline is valid? [True, True] Translation: X:113.80, Y:10.70, Z:5.50 [[ 9.19515839e-01 -3.90330561e-01 -4.61808982e-02 1.13801124e+02] [ 3.89961357e-01 9.20671999e-01 -1.71233706e-02 1.07033052e+01] [ 4.92012347e-02 -2.26355524e-03 9.98786321e-01 5.50184953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.05038572299999 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:113.83, Y:10.72, Z:5.50 [[ 9.19559803e-01 -3.90193191e-01 -4.64654970e-02 1.13825841e+02] [ 3.89864491e-01 9.20727741e-01 -1.63127709e-02 1.07227627e+01] [ 4.91472042e-02 -3.11467894e-03 9.98786689e-01 5.50286056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.08038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.85, Y:10.74, Z:5.51 [[ 9.19540078e-01 -3.90229877e-01 -4.65476973e-02 1.13848672e+02] [ 3.89913010e-01 9.20711313e-01 -1.60786244e-02 1.07389753e+01] [ 4.91313511e-02 -3.36461325e-03 9.98786659e-01 5.50551948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.110385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:113.87, Y:10.76, Z:5.51 [[ 9.21160148e-01 -3.86398026e-01 -4.64816924e-02 1.13873321e+02] [ 3.86066840e-01 9.22327381e-01 -1.62664325e-02 1.07594578e+01] [ 4.91566550e-02 -2.96105077e-03 9.98786692e-01 5.50674170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.140385723 meters Centerline goodness : 0.999896 Centerline is valid? [True, True] Translation: X:113.90, Y:10.77, Z:5.51 [[ 9.21764575e-01 -3.84943976e-01 -4.65639675e-02 1.13898949e+02] [ 3.84622718e-01 9.22934629e-01 -1.60323316e-02 1.07749308e+01] [ 4.91470475e-02 -3.13152440e-03 9.98786645e-01 5.50627547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.170385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.92, Y:10.80, Z:5.51 [[ 9.22227120e-01 -3.83836520e-01 -4.65474475e-02 1.13917987e+02] [ 3.83511497e-01 9.23396117e-01 -1.60792650e-02 1.07971682e+01] [ 4.91535414e-02 -3.02274703e-03 9.98786660e-01 5.51122738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.200385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.94, Y:10.81, Z:5.51 [[ 9.23488317e-01 -3.80809731e-01 -4.64034231e-02 1.13943652e+02] [ 3.80460374e-01 9.24650233e-01 -1.64879178e-02 1.08113307e+01] [ 4.91856955e-02 -2.42826429e-03 9.98786699e-01 5.51160096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.230385723 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:113.97, Y:10.83, Z:5.51 [[ 9.24194597e-01 -3.79085187e-01 -4.64625412e-02 1.13967668e+02] [ 3.78742067e-01 9.25358362e-01 -1.63201745e-02 1.08272423e+01] [ 4.91812375e-02 -2.51430180e-03 9.98786706e-01 5.51125265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.260385723 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:113.99, Y:10.85, Z:5.51 [[ 9.26374632e-01 -3.73728518e-01 -4.64438949e-02 1.13989209e+02] [ 3.73376020e-01 9.27535590e-01 -1.63730521e-02 1.08492524e+01] [ 4.91974420e-02 -2.17345646e-03 9.98786708e-01 5.51179626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.290385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.01, Y:10.87, Z:5.52 [[ 9.28073011e-01 -3.69491130e-01 -4.64412611e-02 1.14010982e+02] [ 3.69132957e-01 9.29232231e-01 -1.63805193e-02 1.08704606e+01] [ 4.92071732e-02 -1.94068217e-03 9.98786708e-01 5.51502831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.320385723 meters Centerline goodness : 0.999875 Centerline is valid? [True, True] Translation: X:114.03, Y:10.88, Z:5.51 [[ 9.29253278e-01 -3.66516823e-01 -4.64086675e-02 1.14032615e+02] [ 3.66150333e-01 9.30409899e-01 -1.64728483e-02 1.08848759e+01] [ 4.92166596e-02 -1.68510072e-03 9.98786704e-01 5.51220920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.35038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.06, Y:10.90, Z:5.52 [[ 9.31185044e-01 -3.61593390e-01 -4.63102012e-02 1.14059882e+02] [ 3.61206920e-01 9.32335211e-01 -1.67515666e-02 1.08975946e+01] [ 4.92338869e-02 -1.12875691e-03 9.98786639e-01 5.51886210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.38038572299999 meters Centerline goodness : 0.999813 Centerline is valid? [True, True] Translation: X:114.08, Y:10.92, Z:5.52 [[ 9.34512405e-01 -3.52895815e-01 -4.63800464e-02 1.14082902e+02] [ 3.52508452e-01 9.35662209e-01 -1.65536005e-02 1.09158812e+01] [ 4.92377530e-02 -8.79813375e-04 9.98786699e-01 5.51714421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.41038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.11, Y:10.93, Z:5.52 [[ 9.37699104e-01 -3.44345303e-01 -4.63325186e-02 1.14108061e+02] [ 3.43940799e-01 9.38843027e-01 -1.66882275e-02 1.09327687e+01] [ 4.92454748e-02 -2.87107436e-04 9.98786664e-01 5.51720916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.44038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.13, Y:10.94, Z:5.52 [[ 9.39234693e-01 -3.40130224e-01 -4.63640099e-02 1.14134271e+02] [ 3.39724980e-01 9.40378331e-01 -1.65991802e-02 1.09446326e+01] [ 4.92455931e-02 -1.60486385e-04 9.98786687e-01 5.51900440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.47038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.16, Y:10.96, Z:5.52 [[ 9.41668286e-01 -3.33332906e-01 -4.63682346e-02 1.14160055e+02] [ 3.32919995e-01 9.42809175e-01 -1.65872370e-02 1.09578980e+01] [ 4.92454689e-02 1.82762654e-04 9.98786689e-01 5.51842566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.500385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.18, Y:10.97, Z:5.52 [[ 9.43497321e-01 -3.28114554e-01 -4.64073872e-02 1.14184121e+02] [ 3.27700773e-01 9.44637880e-01 -1.64765892e-02 1.09667517e+01] [ 4.92443845e-02 3.37881067e-04 9.98786702e-01 5.52028949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.530385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.21, Y:10.98, Z:5.52 [[ 9.43893473e-01 -3.26985197e-01 -4.63227083e-02 1.14213868e+02] [ 3.26558309e-01 9.45029236e-01 -1.67156660e-02 1.09772420e+01] [ 4.92420890e-02 6.50742709e-04 9.98786661e-01 5.52054799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.560385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:114.24, Y:10.99, Z:5.52 [[ 9.46510551e-01 -3.19312480e-01 -4.64469216e-02 1.14238835e+02] [ 3.18893550e-01 9.47649239e-01 -1.63653110e-02 1.09851840e+01] [ 4.92410380e-02 6.78315781e-04 9.98786694e-01 5.52448791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.590385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:114.27, Y:10.99, Z:5.52 [[ 9.47857466e-01 -3.15311503e-01 -4.63128541e-02 1.14265320e+02] [ 3.14869296e-01 9.48987354e-01 -1.67430109e-02 1.09933504e+01] [ 4.92295768e-02 1.28749217e-03 9.98786659e-01 5.52492253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.620385723 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:114.29, Y:11.00, Z:5.52 [[ 9.46636155e-01 -3.18957789e-01 -4.63240574e-02 1.14286812e+02] [ 3.18521476e-01 9.47768324e-01 -1.67114764e-02 1.10045414e+01] [ 4.92347298e-02 1.06448068e-03 9.98786668e-01 5.51707529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.650385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.33, Y:11.01, Z:5.53 [[ 9.46945978e-01 -3.18079401e-01 -4.60305327e-02 1.14325681e+02] [ 3.17602124e-01 9.48062007e-01 -1.75305629e-02 1.10115110e+01] [ 4.92159102e-02 1.98110107e-03 9.98786198e-01 5.52620147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.680385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.35, Y:11.01, Z:5.53 [[ 9.47839883e-01 -3.15341868e-01 -4.64657092e-02 1.14352693e+02] [ 3.14920758e-01 9.48977776e-01 -1.63124568e-02 1.10125602e+01] [ 4.92389260e-02 8.28580801e-04 9.98786685e-01 5.52917060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.71038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.38, Y:11.02, Z:5.53 [[ 9.47763313e-01 -3.15585993e-01 -4.63700717e-02 1.14379447e+02] [ 3.15152083e-01 9.48896343e-01 -1.65799377e-02 1.10223821e+01] [ 4.92327875e-02 1.10023203e-03 9.98786725e-01 5.53051729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.74038572299999 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:114.41, Y:11.03, Z:5.53 [[ 9.47429045e-01 -3.16588686e-01 -4.63660241e-02 1.14407319e+02] [ 3.16155422e-01 9.48562323e-01 -1.65912490e-02 1.10289193e+01] [ 4.92336652e-02 1.06016134e-03 9.98786725e-01 5.52894844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.77038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.43, Y:11.04, Z:5.53 [[ 9.45574813e-01 -3.22085067e-01 -4.63625085e-02 1.14434288e+02] [ 3.21657909e-01 9.46710407e-01 -1.66010671e-02 1.10353039e+01] [ 4.92388251e-02 7.84683349e-04 9.98786725e-01 5.53016035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.80038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.46, Y:11.04, Z:5.54 [[ 9.45578105e-01 -3.22082683e-01 -4.63119076e-02 1.14463688e+02] [ 3.21648590e-01 9.46711081e-01 -1.67425833e-02 1.10396324e+01] [ 4.92364923e-02 9.35260416e-04 9.98786711e-01 5.54001181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.83038572299999 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:114.49, Y:11.05, Z:5.54 [[ 9.44830095e-01 -3.24262070e-01 -4.63702712e-02 1.14491212e+02] [ 3.23838594e-01 9.45967066e-01 -1.65793502e-02 1.10457480e+01] [ 4.92408038e-02 6.48185584e-04 9.98786726e-01 5.53828688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.860385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:114.52, Y:11.05, Z:5.54 [[ 9.43057464e-01 -3.29383401e-01 -4.63594040e-02 1.14521062e+02] [ 3.28964607e-01 9.44196169e-01 -1.66097223e-02 1.10483042e+01] [ 4.92433384e-02 4.13319521e-04 9.98786725e-01 5.54367529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.890385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.55, Y:11.05, Z:5.55 [[ 9.42014002e-01 -3.32355146e-01 -4.63646011e-02 1.14549879e+02] [ 3.31940659e-01 9.43154281e-01 -1.65952022e-02 1.10543707e+01] [ 4.92444729e-02 2.42616591e-04 9.98786725e-01 5.54592339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.920385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.58, Y:11.06, Z:5.55 [[ 9.40189980e-01 -3.37481112e-01 -4.63605552e-02 1.14578654e+02] [ 3.37072285e-01 9.41332300e-01 -1.66064975e-02 1.10560049e+01] [ 4.92450672e-02 -1.35957530e-05 9.98786726e-01 5.54784059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.950385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.61, Y:11.06, Z:5.55 [[ 9.38922650e-01 -3.40991332e-01 -4.63591232e-02 1.14607434e+02] [ 3.40586578e-01 9.40066420e-01 -1.66104940e-02 1.10625462e+01] [ 4.92446895e-02 -1.93326054e-04 9.98786726e-01 5.55173948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.980385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.64, Y:11.07, Z:5.55 [[ 9.37445405e-01 -3.45025360e-01 -4.64070426e-02 1.14636215e+02] [ 3.44632141e-01 9.38593204e-01 -1.64768236e-02 1.10660040e+01] [ 4.92422567e-02 -5.47235903e-04 9.98786714e-01 5.55146994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.010385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.66, Y:11.07, Z:5.55 [[ 9.36795844e-01 -3.46792389e-01 -4.63528463e-02 1.14662358e+02] [ 3.46393856e-01 9.37941794e-01 -1.66279059e-02 1.10721441e+01] [ 4.92427030e-02 -4.79388005e-04 9.98786727e-01 5.55250051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.040385723 meters Centerline goodness : 0.999833 Centerline is valid? [True, True] Translation: X:114.70, Y:11.07, Z:5.55 [[ 9.36297136e-01 -3.48137015e-01 -4.63496799e-02 1.14696332e+02] [ 3.47739691e-01 9.37443506e-01 -1.66367274e-02 1.10740390e+01] [ 4.92420671e-02 -5.40703195e-04 9.98786727e-01 5.54969225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.070385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:114.72, Y:11.08, Z:5.56 [[ 9.34896484e-01 -3.51856810e-01 -4.65333062e-02 1.14718230e+02] [ 3.51489474e-01 9.36052960e-01 -1.61246863e-02 1.10827566e+01] [ 4.92312197e-02 -1.28105479e-03 9.98786587e-01 5.55533220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.10038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.75, Y:11.09, Z:5.56 [[ 9.34140777e-01 -3.53883198e-01 -4.63431775e-02 1.14745220e+02] [ 3.53492079e-01 9.35289261e-01 -1.66537882e-02 1.10903047e+01] [ 4.92377721e-02 -8.24963477e-04 9.98786745e-01 5.55679594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.13038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.77, Y:11.10, Z:5.55 [[ 9.33543344e-01 -3.55456844e-01 -4.63384989e-02 1.14773307e+02] [ 3.55067015e-01 9.34692266e-01 -1.66667963e-02 1.10988577e+01] [ 4.92365633e-02 -8.94095728e-04 9.98786745e-01 5.55152056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.16038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.80, Y:11.11, Z:5.55 [[ 9.33339594e-01 -3.55988453e-01 -4.63618713e-02 1.14800734e+02] [ 3.55602502e-01 9.34489828e-01 -1.66018600e-02 1.11066447e+01] [ 4.92347676e-02 -9.91224132e-04 9.98786742e-01 5.55321813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.19038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.83, Y:11.11, Z:5.56 [[ 9.33092908e-01 -3.56633065e-01 -4.63732842e-02 1.14827105e+02] [ 3.56249483e-01 9.34243938e-01 -1.65701672e-02 1.11130365e+01] [ 4.92334291e-02 -1.05895301e-03 9.98786738e-01 5.56135319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.22038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.86, Y:11.12, Z:5.56 [[ 9.32813817e-01 -3.57368282e-01 -4.63281055e-02 1.14855680e+02] [ 3.56979380e-01 9.33963051e-01 -1.66955339e-02 1.11228487e+01] [ 4.92351930e-02 -9.64353634e-04 9.98786747e-01 5.55731954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.250385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.88, Y:11.13, Z:5.56 [[ 9.32443239e-01 -3.58327238e-01 -4.63809849e-02 1.14881346e+02] [ 3.57946805e-01 9.33595319e-01 -1.65488820e-02 1.11332702e+01] [ 4.92309856e-02 -1.17103221e-03 9.98786733e-01 5.55865779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.280385723 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:114.91, Y:11.14, Z:5.56 [[ 9.32624736e-01 -3.57860271e-01 -4.63371275e-02 1.14905230e+02] [ 3.57473223e-01 9.33774594e-01 -1.66704074e-02 1.11434015e+01] [ 4.92341089e-02 -1.01704804e-03 9.98786748e-01 5.55875747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.310385723 meters Centerline goodness : 0.999917 Centerline is valid? [True, True] Translation: X:114.93, Y:11.15, Z:5.56 [[ 9.33824313e-01 -3.54728002e-01 -4.62622730e-02 1.14934310e+02] [ 3.54326826e-01 9.34969329e-01 -1.68776123e-02 1.11521240e+01] [ 4.92407680e-02 -6.31239691e-04 9.98786738e-01 5.55967938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.340385723 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:114.96, Y:11.16, Z:5.57 [[ 9.36506155e-01 -3.47576442e-01 -4.63340009e-02 1.14960063e+02] [ 3.47176335e-01 9.37651534e-01 -1.66791034e-02 1.11596889e+01] [ 4.92424105e-02 -4.65985642e-04 9.98786748e-01 5.56844148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.370385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.99, Y:11.17, Z:5.57 [[ 9.37835559e-01 -3.43976408e-01 -4.63108499e-02 1.14986927e+02] [ 3.43568742e-01 9.38978268e-01 -1.67431386e-02 1.11688456e+01] [ 4.92441262e-02 -2.08649664e-04 9.98786750e-01 5.57012263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.400385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.01, Y:11.18, Z:5.57 [[ 9.40631461e-01 -3.36256116e-01 -4.63063600e-02 1.15012846e+02] [ 3.35838460e-01 9.41770556e-01 -1.67555470e-02 1.11775192e+01] [ 4.92441216e-02 2.09338077e-04 9.98786750e-01 5.57192648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.430385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.03, Y:11.19, Z:5.57 [[ 9.39148288e-01 -3.40376841e-01 -4.63044136e-02 1.15028688e+02] [ 3.39963917e-01 9.40289108e-01 -1.67609241e-02 1.11936788e+01] [ 4.92445662e-02 -8.36654699e-07 9.98786750e-01 5.56642586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.46038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.07, Y:11.20, Z:5.57 [[ 9.43817521e-01 -3.27265327e-01 -4.58899957e-02 1.15069137e+02] [ 3.26780809e-01 9.44930575e-01 -1.79028413e-02 1.11953905e+01] [ 4.92218392e-02 1.90104538e-03 9.98786061e-01 5.57369464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.49038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.10, Y:11.20, Z:5.57 [[ 9.44647056e-01 -3.24804322e-01 -4.63043399e-02 1.15096595e+02] [ 3.24372736e-01 9.45780892e-01 -1.67580710e-02 1.12030967e+01] [ 4.92368538e-02 8.10597032e-04 9.98786802e-01 5.57483831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.52038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.12, Y:11.21, Z:5.58 [[ 9.46079230e-01 -3.20609425e-01 -4.62999759e-02 1.15123627e+02] [ 3.20172223e-01 9.47210912e-01 -1.67701195e-02 1.12085541e+01] [ 4.92325008e-02 1.04189553e-03 9.98786802e-01 5.57632383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.55038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.15, Y:11.22, Z:5.58 [[ 9.46542416e-01 -3.19239631e-01 -4.62980839e-02 1.15150079e+02] [ 3.18800536e-01 9.47673365e-01 -1.67753413e-02 1.12164111e+01] [ 4.92308147e-02 1.11871808e-03 9.98786802e-01 5.57764212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.58038572299999 meters Centerline goodness : 0.999812 Centerline is valid? [True, True] Translation: X:115.18, Y:11.22, Z:5.58 [[ 9.46901101e-01 -3.18174780e-01 -4.62937848e-02 1.15176900e+02] [ 3.17733834e-01 9.48031329e-01 -1.67871969e-02 1.12222436e+01] [ 4.92292210e-02 1.18671346e-03 9.98786802e-01 5.57536382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.610385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.20, Y:11.23, Z:5.58 [[ 9.47105831e-01 -3.17565117e-01 -4.62919191e-02 1.15203813e+02] [ 3.17123192e-01 9.48235677e-01 -1.67923401e-02 1.12292921e+01] [ 4.92283107e-02 1.22388208e-03 9.98786802e-01 5.57993640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.640385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.23, Y:11.24, Z:5.58 [[ 9.46915840e-01 -3.18131802e-01 -4.62876727e-02 1.15230787e+02] [ 3.17689981e-01 9.48045727e-01 -1.68040370e-02 1.12363118e+01] [ 4.92287289e-02 1.20687891e-03 9.98786802e-01 5.58125641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.670385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.26, Y:11.24, Z:5.58 [[ 9.46598601e-01 -3.19075121e-01 -4.62834323e-02 1.15259584e+02] [ 3.18633856e-01 9.47728705e-01 -1.68157084e-02 1.12399719e+01] [ 4.92296115e-02 1.17025755e-03 9.98786802e-01 5.58328999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.700385723 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:115.29, Y:11.24, Z:5.59 [[ 9.46334070e-01 -3.19859479e-01 -4.62789619e-02 1.15287555e+02] [ 3.19418550e-01 9.47464304e-01 -1.68280024e-02 1.12430541e+01] [ 4.92302605e-02 1.14255307e-03 9.98786802e-01 5.58566862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.730385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:115.31, Y:11.25, Z:5.59 [[ 9.46316200e-01 -3.19912623e-01 -4.62770228e-02 1.15314701e+02] [ 3.19471497e-01 9.47446358e-01 -1.68333332e-02 1.12491085e+01] [ 4.92301925e-02 1.14546615e-03 9.98786802e-01 5.58746530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.760385723 meters Centerline goodness : 0.998961 Centerline is valid? [True, True] Translation: X:115.35, Y:11.25, Z:5.59 [[ 9.46376666e-01 -3.19734345e-01 -4.62726138e-02 1.15347542e+02] [ 3.19292414e-01 9.47506509e-01 -1.68454442e-02 1.12543490e+01] [ 4.92296699e-02 1.16764073e-03 9.98786802e-01 5.58648795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.790385723 meters Centerline goodness : 0.998450 Centerline is valid? [True, True] Translation: X:115.38, Y:11.26, Z:5.59 [[ 9.46425494e-01 -3.19555871e-01 -4.65062385e-02 1.15377195e+02] [ 3.19145203e-01 9.47567308e-01 -1.62029937e-02 1.12584752e+01] [ 4.92455530e-02 4.92683414e-04 9.98786580e-01 5.58720017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.820385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.40, Y:11.27, Z:5.59 [[ 9.45878058e-01 -3.21169478e-01 -4.65281215e-02 1.15400818e+02] [ 3.20763715e-01 9.47021672e-01 -1.61428556e-02 1.12670377e+01] [ 4.92477320e-02 3.44639758e-04 9.98786535e-01 5.58908695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.85038572299999 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:115.43, Y:11.27, Z:5.59 [[ 9.45219941e-01 -3.23117707e-01 -4.64134849e-02 1.15427663e+02] [ 3.22698901e-01 9.46358608e-01 -1.64561503e-02 1.12703722e+01] [ 4.92410745e-02 5.77100808e-04 9.98786756e-01 5.59029347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.88038572299999 meters Centerline goodness : 0.999422 Centerline is valid? [True, True] Translation: X:115.46, Y:11.27, Z:5.59 [[ 9.45641883e-01 -3.21889622e-01 -4.63519219e-02 1.15459756e+02] [ 3.21461077e-01 9.46776847e-01 -1.66246295e-02 1.12745932e+01] [ 4.92362221e-02 8.20607258e-04 9.98786825e-01 5.59261916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.91038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.48, Y:11.28, Z:5.60 [[ 9.45702227e-01 -3.21693146e-01 -4.64846017e-02 1.15482438e+02] [ 3.21282188e-01 9.46843875e-01 -1.62613987e-02 1.12780802e+01] [ 4.92448409e-02 4.43766449e-04 9.98786638e-01 5.59671470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.94038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.51, Y:11.29, Z:5.60 [[ 9.45535476e-01 -3.22218038e-01 -4.62406713e-02 1.15509272e+02] [ 3.21775052e-01 9.46664812e-01 -1.69277666e-02 1.12857668e+01] [ 4.92288481e-02 1.12670943e-03 9.98786890e-01 5.59771074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.97038572299999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:115.54, Y:11.29, Z:5.60 [[ 9.45294538e-01 -3.22924869e-01 -4.62359724e-02 1.15539075e+02] [ 3.22482101e-01 9.46423959e-01 -1.69405913e-02 1.12916111e+01] [ 4.92293703e-02 1.10357490e-03 9.98786890e-01 5.59518520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.000385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.57, Y:11.30, Z:5.60 [[ 9.46090025e-01 -3.20570742e-01 -4.63472011e-02 1.15565268e+02] [ 3.20140039e-01 9.47224148e-01 -1.66363946e-02 1.12976053e+01] [ 4.92343294e-02 9.01932251e-04 9.98786848e-01 5.60008461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.030385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:115.60, Y:11.30, Z:5.60 [[ 9.46420154e-01 -3.19610268e-01 -4.62403322e-02 1.15598261e+02] [ 3.19164143e-01 9.47548248e-01 -1.69283179e-02 1.13031297e+01] [ 4.92254099e-02 1.26304526e-03 9.98786896e-01 5.59755078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.060385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:115.62, Y:11.31, Z:5.60 [[ 9.46555662e-01 -3.19177765e-01 -4.64535662e-02 1.15621100e+02] [ 3.18759656e-01 9.47694631e-01 -1.63452910e-02 1.13067923e+01] [ 4.92408487e-02 6.64204970e-04 9.98786713e-01 5.60219753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.090385723 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:115.65, Y:11.31, Z:5.60 [[ 9.46513333e-01 -3.19335056e-01 -4.62345355e-02 1.15648033e+02] [ 3.18887887e-01 9.47640992e-01 -1.69430167e-02 1.13145408e+01] [ 4.92242402e-02 1.29315792e-03 9.98786915e-01 5.60323875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.120385723 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:115.67, Y:11.32, Z:5.60 [[ 9.46504666e-01 -3.19361430e-01 -4.62298033e-02 1.15674726e+02] [ 3.18913663e-01 9.47632087e-01 -1.69559188e-02 1.13204673e+01] [ 4.92239115e-02 1.30554036e-03 9.98786915e-01 5.60385303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.150385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.70, Y:11.33, Z:5.60 [[ 9.46445806e-01 -3.19536119e-01 -4.62277551e-02 1.15701582e+02] [ 3.19088287e-01 9.47573202e-01 -1.69615012e-02 1.13284250e+01] [ 4.92239941e-02 1.30240645e-03 9.98786915e-01 5.60453275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.180385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.73, Y:11.33, Z:5.61 [[ 9.46496625e-01 -3.19386246e-01 -4.62229860e-02 1.15729741e+02] [ 3.18937602e-01 9.47623698e-01 -1.69744878e-02 1.13325281e+01] [ 4.92234149e-02 1.32404708e-03 9.98786915e-01 5.60582804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.21038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.76, Y:11.34, Z:5.61 [[ 9.46427194e-01 -3.19592621e-01 -4.62182045e-02 1.15757858e+02] [ 3.19143588e-01 9.47554112e-01 -1.69874969e-02 1.13384732e+01] [ 4.92233284e-02 1.32718534e-03 9.98786915e-01 5.60776144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.24038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.79, Y:11.34, Z:5.61 [[ 9.46434841e-01 -3.19570672e-01 -4.62133894e-02 1.15785070e+02] [ 3.19120974e-01 9.47561493e-01 -1.70005860e-02 1.13425356e+01] [ 4.92229170e-02 1.34228505e-03 9.98786916e-01 5.60920663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.27038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.81, Y:11.35, Z:5.61 [[ 9.46419850e-01 -3.19615540e-01 -4.62101168e-02 1.15812309e+02] [ 3.19165462e-01 9.47546350e-01 -1.70094769e-02 1.13513458e+01] [ 4.92227206e-02 1.34943332e-03 9.98786916e-01 5.60946001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.30038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.84, Y:11.36, Z:5.61 [[ 9.46451666e-01 -3.19522003e-01 -4.62053458e-02 1.15839196e+02] [ 3.19071182e-01 9.47577869e-01 -1.70224271e-02 1.13601319e+01] [ 4.92222031e-02 1.36811015e-03 9.98786916e-01 5.60912786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.33038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.87, Y:11.37, Z:5.61 [[ 9.46039622e-01 -3.20740577e-01 -4.62008279e-02 1.15869974e+02] [ 3.20290609e-01 9.47166166e-01 -1.70346805e-02 1.13657514e+01] [ 4.92235742e-02 1.31779140e-03 9.98786916e-01 5.60610440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.360385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.89, Y:11.37, Z:5.61 [[ 9.46625185e-01 -3.18988168e-01 -4.63390415e-02 1.15894305e+02] [ 3.18554429e-01 9.47758160e-01 -1.66596854e-02 1.13706171e+01] [ 4.92324472e-02 1.00897086e-03 9.98786838e-01 5.61123631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.390385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.92, Y:11.37, Z:5.61 [[ 9.46498635e-01 -3.19384262e-01 -4.61955321e-02 1.15922879e+02] [ 3.18932003e-01 9.47624252e-01 -1.70485571e-02 1.13745650e+01] [ 4.92210474e-02 1.40320240e-03 9.98786924e-01 5.61278664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.420385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:115.95, Y:11.38, Z:5.61 [[ 9.46307921e-01 -3.19949562e-01 -4.61908737e-02 1.15948869e+02] [ 3.19497361e-01 9.47433561e-01 -1.70611691e-02 1.13820822e+01] [ 4.92214975e-02 1.38725722e-03 9.98786924e-01 5.61334805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.450385723 meters Centerline goodness : 0.999713 Centerline is valid? [True, True] Translation: X:115.98, Y:11.39, Z:5.61 [[ 9.46121694e-01 -3.20500125e-01 -4.61888511e-02 1.15975585e+02] [ 3.20048311e-01 9.47247490e-01 -1.70666431e-02 1.13898012e+01] [ 4.92221345e-02 1.36445748e-03 9.98786924e-01 5.61401036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.480385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.00, Y:11.40, Z:5.61 [[ 9.44466534e-01 -3.25352137e-01 -4.61405847e-02 1.16003491e+02] [ 3.24899731e-01 9.45592101e-01 -1.71971872e-02 1.13982712e+01] [ 4.92253140e-02 1.25110424e-03 9.98786916e-01 5.60895450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.510385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.03, Y:11.40, Z:5.61 [[ 9.44334323e-01 -3.25737123e-01 -4.61303909e-02 1.16032384e+02] [ 3.25283829e-01 9.45459538e-01 -1.72247766e-02 1.14049584e+01] [ 4.92251673e-02 1.26047762e-03 9.98786911e-01 5.61098256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.540385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.06, Y:11.41, Z:5.62 [[ 9.43960234e-01 -3.26810035e-01 -4.61982386e-02 1.16060741e+02] [ 3.26366995e-01 9.45089511e-01 -1.70411486e-02 1.14087686e+01] [ 4.92306891e-02 1.00858634e-03 9.98786925e-01 5.61939267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.570385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.09, Y:11.42, Z:5.62 [[ 9.43642156e-01 -3.27730657e-01 -4.61746401e-02 1.16088226e+02] [ 3.27285597e-01 9.44770638e-01 -1.71049793e-02 1.14153070e+01] [ 4.92302703e-02 1.02868493e-03 9.98786925e-01 5.62059484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.60038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.12, Y:11.42, Z:5.62 [[ 9.41884940e-01 -3.32745437e-01 -4.61869401e-02 1.16115262e+02] [ 3.32308015e-01 9.43016405e-01 -1.70717259e-02 1.14232739e+01] [ 4.92355811e-02 7.31311143e-04 9.98786926e-01 5.62267826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.63038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.14, Y:11.43, Z:5.62 [[ 9.41855331e-01 -3.32830162e-01 -4.61802734e-02 1.16141809e+02] [ 3.32391959e-01 9.42986493e-01 -1.70897347e-02 1.14331717e+01] [ 4.92353532e-02 7.46106179e-04 9.98786926e-01 5.62406686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.66038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.17, Y:11.44, Z:5.63 [[ 9.42212447e-01 -3.31818059e-01 -4.61787820e-02 1.16169452e+02] [ 3.31378444e-01 9.43343061e-01 -1.70937623e-02 1.14407340e+01] [ 4.92344526e-02 8.03302689e-04 9.98786926e-01 5.62815592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.69038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.20, Y:11.45, Z:5.62 [[ 9.40204176e-01 -3.37463772e-01 -4.61985910e-02 1.16195520e+02] [ 3.37033573e-01 9.41338409e-01 -1.70402864e-02 1.14509734e+01] [ 4.92389874e-02 4.50872226e-04 9.98786924e-01 5.62278389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.72038572299999 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:116.22, Y:11.46, Z:5.62 [[ 9.39892857e-01 -3.38328759e-01 -4.62068061e-02 1.16223254e+02] [ 3.37900692e-01 9.41027898e-01 -1.70181392e-02 1.14607489e+01] [ 4.92396195e-02 3.81915738e-04 9.98786921e-01 5.62099786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.750385723 meters Centerline goodness : 0.998225 Centerline is valid? [True, True] Translation: X:116.25, Y:11.47, Z:5.62 [[ 9.40267866e-01 -3.37282794e-01 -4.62239946e-02 1.16254791e+02] [ 3.36855745e-01 9.41403297e-01 -1.69717450e-02 1.14691312e+01] [ 4.92396985e-02 3.87168314e-04 9.98786915e-01 5.62340923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.780385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.28, Y:11.48, Z:5.62 [[ 9.39115546e-01 -3.40456215e-01 -4.63848709e-02 1.16277105e+02] [ 3.40054312e-01 9.40260340e-01 -1.65395600e-02 1.14783687e+01] [ 4.92448505e-02 -2.40817420e-04 9.98786707e-01 5.62153654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.810385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.30, Y:11.49, Z:5.62 [[ 9.37442224e-01 -3.45076386e-01 -4.60908182e-02 1.16304492e+02] [ 3.44641205e-01 9.38574535e-01 -1.73286470e-02 1.14876568e+01] [ 4.92393752e-02 3.59810240e-04 9.98786941e-01 5.61846643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.840385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.33, Y:11.50, Z:5.62 [[ 9.36463381e-01 -3.47721085e-01 -4.61127290e-02 1.16330664e+02] [ 3.47291995e-01 9.37598007e-01 -1.72698716e-02 1.14980399e+01] [ 4.92403013e-02 1.58020729e-04 9.98786948e-01 5.61859746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.870385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.36, Y:11.51, Z:5.62 [[ 9.35342607e-01 -3.50722345e-01 -4.61307298e-02 1.16357356e+02] [ 3.50299275e-01 9.36479490e-01 -1.72215989e-02 1.15102786e+01] [ 4.92404819e-02 -5.14660288e-05 9.98786950e-01 5.61995237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.900385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.38, Y:11.52, Z:5.62 [[ 9.35114991e-01 -3.51326975e-01 -4.61444585e-02 1.16382091e+02] [ 3.50906456e-01 9.36252819e-01 -1.71848000e-02 1.15204424e+01] [ 4.92403632e-02 -1.22624372e-04 9.98786950e-01 5.62179504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.930385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.41, Y:11.53, Z:5.63 [[ 9.35250381e-01 -3.50971026e-01 -4.61092606e-02 1.16406759e+02] [ 3.50545425e-01 9.36386319e-01 -1.72790743e-02 1.15295822e+01] [ 4.92405352e-02 -3.12956326e-06 9.98786949e-01 5.62534461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.96038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.43, Y:11.54, Z:5.63 [[ 9.34779278e-01 -3.52233887e-01 -4.60325004e-02 1.16431226e+02] [ 3.51799694e-01 9.35911997e-01 -1.74845269e-02 1.15413479e+01] [ 4.92410123e-02 1.49953907e-04 9.98786914e-01 5.62517876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.99038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.46, Y:11.55, Z:5.63 [[ 9.34777798e-01 -3.52243365e-01 -4.59900089e-02 1.16457575e+02] [ 3.51803588e-01 9.35908403e-01 -1.75982118e-02 1.15541959e+01] [ 4.92412891e-02 2.70967578e-04 9.98786875e-01 5.62623804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.02038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.48, Y:11.57, Z:5.63 [[ 9.34582755e-01 -3.52759589e-01 -4.59972403e-02 1.16483079e+02] [ 3.52321389e-01 9.35713964e-01 -1.75788654e-02 1.15652286e+01] [ 4.92413734e-02 2.23092876e-04 9.98786883e-01 5.62774570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.05038572299999 meters Centerline goodness : 0.999820 Centerline is valid? [True, True] Translation: X:116.51, Y:11.57, Z:5.63 [[ 9.34750451e-01 -3.52316782e-01 -4.59834734e-02 1.16508015e+02] [ 3.51876229e-01 9.35880764e-01 -1.76157855e-02 1.15748590e+01] [ 4.92413851e-02 2.85872263e-04 9.98786866e-01 5.62779560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.08038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.53, Y:11.59, Z:5.64 [[ 9.34754860e-01 -3.52315467e-01 -4.59038543e-02 1.16533303e+02] [ 3.51864424e-01 9.35881161e-01 -1.78291891e-02 1.15866461e+01] [ 4.92420516e-02 5.13987947e-04 9.98786742e-01 5.63686246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.110385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.57, Y:11.59, Z:5.64 [[ 9.36788070e-01 -3.46876071e-01 -4.58814094e-02 1.16566466e+02] [ 3.46415548e-01 9.37910574e-01 -1.78892224e-02 1.15934858e+01] [ 4.92380022e-02 8.64376584e-04 9.98786700e-01 5.64138937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.140385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.58, Y:11.61, Z:5.64 [[ 9.35175131e-01 -3.51168819e-01 -4.61295353e-02 1.16583859e+02] [ 3.50746137e-01 9.36312157e-01 -1.72247528e-02 1.16102553e+01] [ 4.92404408e-02 -7.15958993e-05 9.98786951e-01 5.64136321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.170385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:116.61, Y:11.62, Z:5.64 [[ 9.35919079e-01 -3.49217465e-01 -4.58545570e-02 1.16610120e+02] [ 3.48756199e-01 9.37041350e-01 -1.79616717e-02 1.16212555e+01] [ 4.92401454e-02 8.18610192e-04 9.98786633e-01 5.64143569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.200385723 meters Centerline goodness : 0.997901 Centerline is valid? [True, True] Translation: X:116.64, Y:11.63, Z:5.64 [[ 9.38007870e-01 -3.43567869e-01 -4.58514430e-02 1.16642324e+02] [ 3.43099440e-01 9.39127178e-01 -1.79699396e-02 1.16328658e+01] [ 4.92342301e-02 1.12434035e-03 9.98786627e-01 5.64301073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.230385723 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:116.66, Y:11.65, Z:5.64 [[ 9.37575976e-01 -3.44706883e-01 -4.61351739e-02 1.16663135e+02] [ 3.44276835e-01 9.38710338e-01 -1.72151737e-02 1.16455475e+01] [ 4.92417535e-02 2.57261682e-04 9.98786856e-01 5.63968766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.260385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.69, Y:11.66, Z:5.64 [[ 9.38107726e-01 -3.43285573e-01 -4.59228653e-02 1.16688526e+02] [ 3.42825969e-01 9.39230608e-01 -1.77825912e-02 1.16575148e+01] [ 4.92366677e-02 9.38435443e-04 9.98786699e-01 5.63910025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.290385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:116.71, Y:11.67, Z:5.64 [[ 9.38744440e-01 -3.41545784e-01 -4.58841290e-02 1.16713086e+02] [ 3.41079042e-01 9.39864446e-01 -1.78860402e-02 1.16683810e+01] [ 4.92337631e-02 1.14030607e-03 9.98786632e-01 5.64407938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.320385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.74, Y:11.68, Z:5.65 [[ 9.38810494e-01 -3.41367516e-01 -4.58592935e-02 1.16741054e+02] [ 3.40897320e-01 9.39929109e-01 -1.79523825e-02 1.16781341e+01] [ 4.92328451e-02 1.22057487e-03 9.98786582e-01 5.64588886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.35038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.77, Y:11.69, Z:5.65 [[ 9.38689329e-01 -3.41688080e-01 -4.59521406e-02 1.16767093e+02] [ 3.41230454e-01 9.39812948e-01 -1.77031164e-02 1.16883901e+01] [ 4.92353606e-02 9.37456657e-04 9.98786764e-01 5.65078112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.38038572299999 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:116.79, Y:11.70, Z:5.65 [[ 9.38750802e-01 -3.41516218e-01 -4.59739481e-02 1.16794613e+02] [ 3.41061253e-01 9.39875466e-01 -1.76445499e-02 1.16989487e+01] [ 4.92356859e-02 8.83903015e-04 9.98786797e-01 5.65166728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.41038572299999 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:116.82, Y:11.71, Z:5.65 [[ 9.39189352e-01 -3.40302631e-01 -4.60160835e-02 1.16822928e+02] [ 3.39851753e-01 9.40315605e-01 -1.75313999e-02 1.17102934e+01] [ 4.92356228e-02 8.26657475e-04 9.98786849e-01 5.65407696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.44038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.85, Y:11.72, Z:5.65 [[ 9.39513972e-01 -3.39390023e-01 -4.61292492e-02 1.16847111e+02] [ 3.38952956e-01 9.40645581e-01 -1.72274031e-02 1.17205537e+01] [ 4.92380832e-02 5.49740477e-04 9.98786919e-01 5.65209648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.47038572299999 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:116.88, Y:11.73, Z:5.66 [[ 9.40058466e-01 -3.37887473e-01 -4.60666427e-02 1.16876445e+02] [ 3.37440358e-01 9.41186168e-01 -1.73954658e-02 1.17297104e+01] [ 4.92349969e-02 8.08010513e-04 9.98786895e-01 5.65594037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.500385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.90, Y:11.74, Z:5.66 [[ 9.39970790e-01 -3.38120943e-01 -4.61426235e-02 1.16902396e+02] [ 3.37684109e-01 9.41102489e-01 -1.71915343e-02 1.17393453e+01] [ 4.92377556e-02 5.77909442e-04 9.98786919e-01 5.65710242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.530385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.93, Y:11.75, Z:5.66 [[ 9.39159187e-01 -3.40369390e-01 -4.61378422e-02 1.16927026e+02] [ 3.39934635e-01 9.40291685e-01 -1.72043564e-02 1.17514743e+01] [ 4.92388657e-02 4.73778816e-04 9.98786919e-01 5.65650621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.560385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.95, Y:11.76, Z:5.66 [[ 9.39835878e-01 -3.38509837e-01 -4.60392548e-02 1.16954768e+02] [ 3.38059894e-01 9.40962466e-01 -1.74684359e-02 1.17617248e+01] [ 4.92344481e-02 8.53437222e-04 9.98786885e-01 5.65757787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.590385723 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:116.98, Y:11.77, Z:5.66 [[ 9.39585121e-01 -3.39192552e-01 -4.61325604e-02 1.16982675e+02] [ 3.38755687e-01 9.40716806e-01 -1.72184518e-02 1.17724187e+01] [ 4.92380455e-02 5.50533930e-04 9.98786920e-01 5.65780283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.620385723 meters Centerline goodness : 0.999670 Centerline is valid? [True, True] Translation: X:117.01, Y:11.78, Z:5.66 [[ 9.39895161e-01 -3.38326046e-01 -4.61797895e-02 1.17010116e+02] [ 3.37894348e-01 9.41028838e-01 -1.70919709e-02 1.17829593e+01] [ 4.92391726e-02 4.60770851e-04 9.98786910e-01 5.65862275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.650385723 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:117.04, Y:11.79, Z:5.66 [[ 9.40079500e-01 -3.37811746e-01 -4.61926208e-02 1.17036517e+02] [ 3.37381115e-01 9.41213589e-01 -1.70576244e-02 1.17925324e+01] [ 4.92393883e-02 4.51005066e-04 9.98786904e-01 5.65944205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.680385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.06, Y:11.80, Z:5.66 [[ 9.40610951e-01 -3.36327799e-01 -4.62022765e-02 1.17063489e+02] [ 3.35896646e-01 9.41744849e-01 -1.70318047e-02 1.18032913e+01] [ 4.92390253e-02 5.01112333e-04 9.98786898e-01 5.65884913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.71038572299999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:117.09, Y:11.81, Z:5.66 [[ 9.40949259e-01 -3.35377879e-01 -4.62187213e-02 1.17087092e+02] [ 3.34947739e-01 9.42083555e-01 -1.69878599e-02 1.18131947e+01] [ 4.92392497e-02 5.03858007e-04 9.98786885e-01 5.65888500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.74038572299999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:117.11, Y:11.82, Z:5.66 [[ 9.41226003e-01 -3.34608720e-01 -4.61585933e-02 1.17114752e+02] [ 3.34169781e-01 9.42356882e-01 -1.71483213e-02 1.18239088e+01] [ 4.92358459e-02 7.15638910e-04 9.98786924e-01 5.65870003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.77038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.14, Y:11.83, Z:5.66 [[ 9.41426966e-01 -3.34038160e-01 -4.61928134e-02 1.17137128e+02] [ 3.33603012e-01 9.42559329e-01 -1.70570280e-02 1.18343057e+01] [ 4.92371655e-02 6.47884379e-04 9.98786905e-01 5.65897815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.80038572299999 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:117.17, Y:11.84, Z:5.66 [[ 9.41919178e-01 -3.32666127e-01 -4.60598597e-02 1.17165230e+02] [ 3.32211993e-01 9.43044029e-01 -1.74112092e-02 1.18436245e+01] [ 4.92285952e-02 1.09831403e-03 9.98786934e-01 5.65993910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.83038572299999 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:117.19, Y:11.86, Z:5.66 [[ 9.41437646e-01 -3.34016412e-01 -4.61323708e-02 1.17189097e+02] [ 3.33573343e-01 9.42566901e-01 -1.72180762e-02 1.18556755e+01] [ 4.92339658e-02 8.21215917e-04 9.98786935e-01 5.66191931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.860385723 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:117.22, Y:11.87, Z:5.66 [[ 9.41034636e-01 -3.35152415e-01 -4.61158520e-02 1.17215214e+02] [ 3.34708556e-01 9.42163576e-01 -1.72620387e-02 1.18660770e+01] [ 4.92340900e-02 8.08806089e-04 9.98786939e-01 5.66359364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.890385723 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:117.24, Y:11.87, Z:5.67 [[ 9.40489145e-01 -3.36682469e-01 -4.60986182e-02 1.17242241e+02] [ 3.36238200e-01 9.41617922e-01 -1.73078696e-02 1.18741177e+01] [ 4.92345413e-02 7.77747096e-04 9.98786942e-01 5.66976989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.920385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.26, Y:11.89, Z:5.67 [[ 9.38767281e-01 -3.41455678e-01 -4.60869970e-02 1.17260527e+02] [ 3.41015633e-01 9.39897710e-01 -1.73387494e-02 1.18853641e+01] [ 4.92374774e-02 5.60664168e-04 9.98786942e-01 5.66910514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.950385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.29, Y:11.89, Z:5.67 [[ 9.40456628e-01 -3.36819577e-01 -4.57591945e-02 1.17294892e+02] [ 3.36331531e-01 9.41567611e-01 -1.82080864e-02 1.18930329e+01] [ 4.92182155e-02 1.73365559e-03 9.98786545e-01 5.67469806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.980385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:117.32, Y:11.90, Z:5.67 [[ 9.39567681e-01 -3.39247379e-01 -4.60845873e-02 1.17321228e+02] [ 3.38804444e-01 9.40696950e-01 -1.73435242e-02 1.19044362e+01] [ 4.92353758e-02 6.81751838e-04 9.98786971e-01 5.67119612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.010385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.35, Y:11.92, Z:5.67 [[ 9.39397897e-01 -3.39715848e-01 -4.60948346e-02 1.17347637e+02] [ 3.39274811e-01 9.40527909e-01 -1.73163071e-02 1.19172602e+01] [ 4.92361023e-02 6.28086163e-04 9.98786970e-01 5.66922650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.040385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.37, Y:11.93, Z:5.67 [[ 9.39778048e-01 -3.38652970e-01 -4.61669520e-02 1.17374293e+02] [ 3.38220046e-01 9.40911227e-01 -1.71249513e-02 1.19268614e+01] [ 4.92384190e-02 4.79064720e-04 9.98786939e-01 5.67258664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.070385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:117.40, Y:11.93, Z:5.67 [[ 9.40065412e-01 -3.37858206e-01 -4.61394962e-02 1.17401696e+02] [ 3.37420751e-01 9.41196831e-01 -1.71977349e-02 1.19349754e+01] [ 4.92367435e-02 5.98572284e-04 9.98786957e-01 5.67422145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.10038572299999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:117.43, Y:11.94, Z:5.68 [[ 9.40108629e-01 -3.37739103e-01 -4.61309367e-02 1.17427009e+02] [ 3.37300393e-01 9.41239556e-01 -1.72204060e-02 1.19446507e+01] [ 4.92362668e-02 6.29069170e-04 9.98786961e-01 5.67628027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.13038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.45, Y:11.96, Z:5.68 [[ 9.40309674e-01 -3.37182265e-01 -4.61068004e-02 1.17453765e+02] [ 3.36739753e-01 9.41439107e-01 -1.72842859e-02 1.19557465e+01] [ 4.92346997e-02 7.26588647e-04 9.98786972e-01 5.67756658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.16038572299999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:117.48, Y:11.97, Z:5.68 [[ 9.39867347e-01 -3.38410262e-01 -4.61287817e-02 1.17476529e+02] [ 3.37972077e-01 9.40998477e-01 -1.72261592e-02 1.19696462e+01] [ 4.92366224e-02 6.00064365e-04 9.98786962e-01 5.67543234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.19038572299999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:117.50, Y:11.98, Z:5.68 [[ 9.39629527e-01 -3.39085615e-01 -4.60141045e-02 1.17501551e+02] [ 3.38633394e-01 9.40755098e-01 -1.75290896e-02 1.19804358e+01] [ 4.92318655e-02 8.88937738e-04 9.98786981e-01 5.67647777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.22038572299999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:117.53, Y:11.99, Z:5.68 [[ 9.39689767e-01 -3.38921156e-01 -4.59955682e-02 1.17529119e+02] [ 3.38466343e-01 9.40814300e-01 -1.75780296e-02 1.19899039e+01] [ 4.92308544e-02 9.49942799e-04 9.98786975e-01 5.68137481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.250385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:117.56, Y:12.00, Z:5.69 [[ 9.39751203e-01 -3.38749409e-01 -4.60055850e-02 1.17555390e+02] [ 3.38295684e-01 9.40876172e-01 -1.75515870e-02 1.19993445e+01] [ 4.92311485e-02 9.30634159e-04 9.98786978e-01 5.68533930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.280385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:117.58, Y:12.01, Z:5.69 [[ 9.39795702e-01 -3.38628106e-01 -4.59896218e-02 1.17581426e+02] [ 3.38172175e-01 9.40919785e-01 -1.75937060e-02 1.20114284e+01] [ 4.92302684e-02 9.82078827e-04 9.98786972e-01 5.68964158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.310385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:117.61, Y:12.02, Z:5.69 [[ 9.39950013e-01 -3.38200787e-01 -4.59804341e-02 1.17608231e+02] [ 3.37743160e-01 9.41073412e-01 -1.76179336e-02 1.20230752e+01] [ 4.92293630e-02 1.03039977e-03 9.98786968e-01 5.69115090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.340385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:117.64, Y:12.03, Z:5.69 [[ 9.40309951e-01 -3.37195145e-01 -4.60068600e-02 1.17635023e+02] [ 3.36739722e-01 9.41434234e-01 -1.75482912e-02 1.20348003e+01] [ 4.92296316e-02 1.00849558e-03 9.98786977e-01 5.69185135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.370385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.66, Y:12.05, Z:5.69 [[ 9.41214712e-01 -3.34660603e-01 -4.60124637e-02 1.17661343e+02] [ 3.34202874e-01 9.42338057e-01 -1.75335271e-02 1.20463553e+01] [ 4.92270764e-02 1.12531600e-03 9.98786979e-01 5.69316495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.400385723 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:117.69, Y:12.06, Z:5.69 [[ 9.41962430e-01 -3.32547294e-01 -4.60334388e-02 1.17688549e+02] [ 3.32089741e-01 9.43085846e-01 -1.74782964e-02 1.20576303e+01] [ 4.92258447e-02 1.17666578e-03 9.98786980e-01 5.69359697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.430385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.72, Y:12.07, Z:5.69 [[ 9.42320207e-01 -3.31530546e-01 -4.60448075e-02 1.17715054e+02] [ 3.31073242e-01 9.43443725e-01 -1.74483740e-02 1.20675605e+01] [ 4.92253536e-02 1.19775171e-03 9.98786979e-01 5.69496819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.46038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.74, Y:12.08, Z:5.69 [[ 9.41877755e-01 -3.32781926e-01 -4.60704182e-02 1.17739405e+02] [ 3.32329408e-01 9.43003216e-01 -1.73809894e-02 1.20791205e+01] [ 4.92286317e-02 1.06021250e-03 9.98786973e-01 5.69451105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.49038572299999 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:117.77, Y:12.09, Z:5.69 [[ 9.42067862e-01 -3.32256811e-01 -4.59734083e-02 1.17765833e+02] [ 3.31791221e-01 9.43187977e-01 -1.76359062e-02 1.20903009e+01] [ 4.92212160e-02 1.36064718e-03 9.98786975e-01 5.69230075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.52038572299999 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:117.79, Y:12.10, Z:5.69 [[ 9.42015814e-01 -3.32405254e-01 -4.59668685e-02 1.17791530e+02] [ 3.31939003e-01 9.43135657e-01 -1.76530856e-02 1.21001412e+01] [ 4.92209711e-02 1.37128932e-03 9.98786972e-01 5.69365024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.55038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.82, Y:12.11, Z:5.70 [[ 9.42371553e-01 -3.31395900e-01 -4.59631809e-02 1.17819484e+02] [ 3.30927978e-01 9.43490700e-01 -1.76627611e-02 1.21096715e+01] [ 4.92192003e-02 1.43438102e-03 9.98786971e-01 5.69676659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.58038572299999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:117.84, Y:12.12, Z:5.70 [[ 9.41484551e-01 -3.33890497e-01 -4.60866102e-02 1.17843602e+02] [ 3.33441360e-01 9.42611383e-01 -1.73389505e-02 1.21202599e+01] [ 4.92310742e-02 9.57172050e-04 9.98786957e-01 5.69847248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.610385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.87, Y:12.13, Z:5.70 [[ 9.41009825e-01 -3.35243439e-01 -4.59602578e-02 1.17869313e+02] [ 3.34779725e-01 9.42130721e-01 -1.76703018e-02 1.21303110e+01] [ 4.92244235e-02 1.24136511e-03 9.98786972e-01 5.69977671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.640385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:117.89, Y:12.14, Z:5.70 [[ 9.40279340e-01 -3.37292038e-01 -4.59221548e-02 1.17892699e+02] [ 3.36825891e-01 9.41399246e-01 -1.77701528e-02 1.21423453e+01] [ 4.92248130e-02 1.24113679e-03 9.98786953e-01 5.70056000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.670385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:117.92, Y:12.15, Z:5.70 [[ 9.40232030e-01 -3.37442548e-01 -4.57848959e-02 1.17920566e+02] [ 3.36959054e-01 9.41344733e-01 -1.81297723e-02 1.21524934e+01] [ 4.92171272e-02 1.61855740e-03 9.98786791e-01 5.70290141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.700385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:117.95, Y:12.16, Z:5.70 [[ 9.40347083e-01 -3.37111902e-01 -4.58576930e-02 1.17948472e+02] [ 3.36637303e-01 9.41463497e-01 -1.79390675e-02 1.21612926e+01] [ 4.92208172e-02 1.43153970e-03 9.98786895e-01 5.70403249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.730385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.97, Y:12.17, Z:5.71 [[ 9.39834603e-01 -3.38529078e-01 -4.59236543e-02 1.17972039e+02] [ 3.38064602e-01 9.40955200e-01 -1.77661357e-02 1.21712053e+01] [ 4.92264549e-02 1.17206722e-03 9.98786955e-01 5.70513393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.760385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.00, Y:12.18, Z:5.71 [[ 9.40170931e-01 -3.37612346e-01 -4.57878135e-02 1.18001415e+02] [ 3.37129470e-01 9.41283879e-01 -1.81212144e-02 1.21805387e+01] [ 4.92172764e-02 1.60061771e-03 9.98786813e-01 5.70535316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.790385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:118.03, Y:12.19, Z:5.71 [[ 9.40418561e-01 -3.36906381e-01 -4.59022959e-02 1.18029747e+02] [ 3.36437245e-01 9.41537230e-01 -1.78220093e-02 1.21899012e+01] [ 4.92230692e-02 1.31690631e-03 9.98786942e-01 5.70540642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.820385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.05, Y:12.20, Z:5.71 [[ 9.40035673e-01 -3.37966746e-01 -4.59500952e-02 1.18054535e+02] [ 3.37504972e-01 9.41157377e-01 -1.76970867e-02 1.22009110e+01] [ 4.92272978e-02 1.12750723e-03 9.98786965e-01 5.70638236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.85038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.08, Y:12.21, Z:5.71 [[ 9.39242421e-01 -3.40174146e-01 -4.58827354e-02 1.18080829e+02] [ 3.39706413e-01 9.40361691e-01 -1.78729816e-02 1.22128769e+01] [ 4.92262929e-02 1.20040300e-03 9.98786930e-01 5.70603112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.88038572299999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:118.10, Y:12.22, Z:5.71 [[ 9.39879660e-01 -3.38400683e-01 -4.59478224e-02 1.18104900e+02] [ 3.37939139e-01 9.41001458e-01 -1.77029732e-02 1.22219150e+01] [ 4.92276660e-02 1.11109691e-03 9.98786965e-01 5.70676292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.91038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.13, Y:12.23, Z:5.71 [[ 9.39660485e-01 -3.39023096e-01 -4.58422608e-02 1.18133179e+02] [ 3.38548851e-01 9.40777048e-01 -1.79783770e-02 1.22322611e+01] [ 4.92224318e-02 1.37372573e-03 9.98786897e-01 5.70589821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.94038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.16, Y:12.24, Z:5.71 [[ 9.41540313e-01 -3.33752961e-01 -4.59434346e-02 1.18161330e+02] [ 3.33285318e-01 9.42659585e-01 -1.77144943e-02 1.22396532e+01] [ 4.92212839e-02 1.36663825e-03 9.98786963e-01 5.71094875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.97038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.18, Y:12.25, Z:5.71 [[ 9.41104882e-01 -3.34974384e-01 -4.59756930e-02 1.18182291e+02] [ 3.34512299e-01 9.42226455e-01 -1.76303729e-02 1.22521750e+01] [ 4.92252375e-02 1.21259527e-03 9.98786967e-01 5.70678562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.000385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:118.21, Y:12.26, Z:5.71 [[ 9.42281888e-01 -3.31674570e-01 -4.57910714e-02 1.18214110e+02] [ 3.31185146e-01 9.43391947e-01 -1.81116934e-02 1.22602161e+01] [ 4.92061161e-02 1.90099802e-03 9.98786836e-01 5.71115200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.030385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.23, Y:12.27, Z:5.71 [[ 9.40945768e-01 -3.35420835e-01 -4.59774329e-02 1.18234291e+02] [ 3.34959517e-01 9.42067652e-01 -1.76255762e-02 1.22717657e+01] [ 4.92258378e-02 1.18413260e-03 9.98786972e-01 5.70984894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.060385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.26, Y:12.28, Z:5.71 [[ 9.41574591e-01 -3.33686156e-01 -4.57257016e-02 1.18262737e+02] [ 3.33190894e-01 9.42682152e-01 -1.82808406e-02 1.22797662e+01] [ 4.92048662e-02 1.97738763e-03 9.98786750e-01 5.71213089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.090385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:118.29, Y:12.29, Z:5.71 [[ 9.41798944e-01 -3.33036480e-01 -4.58415974e-02 1.18289175e+02] [ 3.32555112e-01 9.42912432e-01 -1.79789539e-02 1.22881330e+01] [ 4.92122596e-02 1.68770218e-03 9.98786917e-01 5.71389084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.120385723 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:118.32, Y:12.30, Z:5.71 [[ 9.42821467e-01 -3.30130914e-01 -4.58395216e-02 1.18318781e+02] [ 3.29645852e-01 9.43933353e-01 -1.79843568e-02 1.22956333e+01] [ 4.92066454e-02 1.84522947e-03 9.98786915e-01 5.71433761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.150385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.34, Y:12.31, Z:5.72 [[ 9.43129335e-01 -3.29232783e-01 -4.59655428e-02 1.18344129e+02] [ 3.28762610e-01 9.44247532e-01 -1.76562875e-02 1.23054938e+01] [ 4.92158790e-02 1.54041090e-03 9.98786976e-01 5.71689106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.180385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.37, Y:12.32, Z:5.72 [[ 9.43408051e-01 -3.28433580e-01 -4.59633815e-02 1.18370654e+02] [ 3.27962186e-01 9.44525734e-01 -1.76619120e-02 1.23160320e+01] [ 4.92143617e-02 1.58813890e-03 9.98786977e-01 5.71798196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.21038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.39, Y:12.33, Z:5.72 [[ 9.42270700e-01 -3.31682940e-01 -4.59603729e-02 1.18391287e+02] [ 3.31215019e-01 9.43389841e-01 -1.76697377e-02 1.23279266e+01] [ 4.92192994e-02 1.42691034e-03 9.98786977e-01 5.71768705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.24038572299999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:118.42, Y:12.34, Z:5.72 [[ 9.42439812e-01 -3.31228343e-01 -4.57710046e-02 1.18416503e+02] [ 3.30735922e-01 9.43548551e-01 -1.81626672e-02 1.23373634e+01] [ 4.92031553e-02 1.97910527e-03 9.98786830e-01 5.72070540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.27038572299999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:118.44, Y:12.35, Z:5.72 [[ 9.42401813e-01 -3.31346314e-01 -4.56994810e-02 1.18442356e+02] [ 3.30845017e-01 9.43506704e-01 -1.83486712e-02 1.23467621e+01] [ 4.91975312e-02 2.17237547e-03 9.98786706e-01 5.72257237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.30038572299999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:118.47, Y:12.36, Z:5.72 [[ 9.42808669e-01 -3.30187706e-01 -4.56934620e-02 1.18470560e+02] [ 3.29684294e-01 9.43912612e-01 -1.83643117e-02 1.23571602e+01] [ 4.91943050e-02 2.24961549e-03 9.98786694e-01 5.72412948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.33038572299999 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:118.50, Y:12.37, Z:5.72 [[ 9.42417775e-01 -3.31290626e-01 -4.57740038e-02 1.18497023e+02] [ 3.30798646e-01 9.43526709e-01 -1.81550605e-02 1.23686624e+01] [ 4.92035965e-02 1.96767320e-03 9.98786831e-01 5.72354505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.360385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:118.53, Y:12.38, Z:5.73 [[ 9.44065732e-01 -3.26559713e-01 -4.58110048e-02 1.18527950e+02] [ 3.26066827e-01 9.45174215e-01 -1.80590193e-02 1.23760243e+01] [ 4.91967287e-02 2.11145231e-03 9.98786876e-01 5.72844363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.390385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:118.55, Y:12.39, Z:5.73 [[ 9.42497922e-01 -3.31036797e-01 -4.59598429e-02 1.18548567e+02] [ 3.30567972e-01 9.43616711e-01 -1.76725347e-02 1.23868670e+01] [ 4.92187351e-02 1.46347519e-03 9.98786951e-01 5.72708176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.420385723 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:118.58, Y:12.39, Z:5.73 [[ 9.41907112e-01 -3.32747366e-01 -4.57185231e-02 1.18576571e+02] [ 3.32250117e-01 9.43013788e-01 -1.82990589e-02 1.23949434e+01] [ 4.92021613e-02 2.04602909e-03 9.98786745e-01 5.72836423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.450385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:118.60, Y:12.40, Z:5.73 [[ 9.41256797e-01 -3.34578710e-01 -4.57463552e-02 1.18602933e+02] [ 3.34087121e-01 9.42365948e-01 -1.82268010e-02 1.24039685e+01] [ 4.92081070e-02 1.87283226e-03 9.98786791e-01 5.72994195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.480385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:118.63, Y:12.41, Z:5.73 [[ 9.40129640e-01 -3.37731063e-01 -4.57601345e-02 1.18627931e+02] [ 3.37244935e-01 9.41241171e-01 -1.81909890e-02 1.24138320e+01] [ 4.92149846e-02 1.66951435e-03 9.98786813e-01 5.73132171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.510385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.66, Y:12.42, Z:5.73 [[ 9.39417825e-01 -3.39720583e-01 -4.56516765e-02 1.18655566e+02] [ 3.39223114e-01 9.40524555e-01 -1.84727193e-02 1.24224718e+01] [ 4.92120856e-02 1.86749795e-03 9.98786605e-01 5.73302120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.540385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:118.68, Y:12.43, Z:5.73 [[ 9.36987017e-01 -3.46358592e-01 -4.57280641e-02 1.18680677e+02] [ 3.45878633e-01 9.38101284e-01 -1.82743649e-02 1.24310441e+01] [ 4.92270389e-02 1.30648239e-03 9.98786760e-01 5.73330255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.570385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.71, Y:12.44, Z:5.73 [[ 9.34565898e-01 -3.52849850e-01 -4.56460964e-02 1.18707568e+02] [ 3.52367232e-01 9.35679197e-01 -1.84871289e-02 1.24383070e+01] [ 4.92332835e-02 1.19325158e-03 9.98786594e-01 5.73476433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.60038572299999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:118.74, Y:12.45, Z:5.74 [[ 9.33400770e-01 -3.55919474e-01 -4.56544753e-02 1.18736355e+02] [ 3.55441580e-01 9.34516084e-01 -1.84654065e-02 1.24467679e+01] [ 4.92370393e-02 1.00812579e-03 9.98786613e-01 5.73726722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.63038572299999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:118.76, Y:12.45, Z:5.74 [[ 9.32801292e-01 -3.57477187e-01 -4.57363065e-02 1.18763121e+02] [ 3.57011545e-01 9.33921610e-01 -1.82533281e-02 1.24547377e+01] [ 4.92392734e-02 6.98338586e-04 9.98786767e-01 5.74129947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.66038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.79, Y:12.46, Z:5.74 [[ 9.31226794e-01 -3.61556953e-01 -4.57518009e-02 1.18789156e+02] [ 3.61098197e-01 9.32349922e-01 -1.82130534e-02 1.24621784e+01] [ 4.92417440e-02 4.39590503e-04 9.98786793e-01 5.74441714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.69038572299999 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:118.81, Y:12.47, Z:5.74 [[ 9.30083400e-01 -3.64490908e-01 -4.57301541e-02 1.18814896e+02] [ 3.64032928e-01 9.31206883e-01 -1.82693191e-02 1.24720184e+01] [ 4.92432350e-02 3.44708569e-04 9.98786757e-01 5.74339891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.72038572299999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:118.84, Y:12.48, Z:5.74 [[ 9.29073048e-01 -3.67061139e-01 -4.57098731e-02 1.18841163e+02] [ 3.66603672e-01 9.30196780e-01 -1.83220479e-02 1.24826277e+01] [ 4.92444885e-02 2.65113535e-04 9.98786719e-01 5.74459014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.750385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:118.87, Y:12.49, Z:5.74 [[ 9.28812566e-01 -3.67720224e-01 -4.57061764e-02 1.18868518e+02] [ 3.67263082e-01 9.29936438e-01 -1.83316624e-02 1.24928136e+01] [ 4.92447619e-02 2.40487168e-04 9.98786712e-01 5.74493955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.780385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.90, Y:12.50, Z:5.75 [[ 9.28342830e-01 -3.68902487e-01 -4.57224679e-02 1.18896727e+02] [ 3.68448863e-01 9.29468094e-01 -1.82892976e-02 1.25008900e+01] [ 4.92445425e-02 1.32346979e-04 9.98786743e-01 5.74743967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.810385723 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:118.92, Y:12.51, Z:5.75 [[ 9.27978983e-01 -3.69810084e-01 -4.57767327e-02 1.18923867e+02] [ 3.69364516e-01 9.29107366e-01 -1.81481880e-02 1.25104137e+01] [ 4.92428825e-02 -6.71637071e-05 9.98786831e-01 5.74965211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.840385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.95, Y:12.52, Z:5.75 [[ 9.27289510e-01 -3.71534215e-01 -4.57874670e-02 1.18950444e+02] [ 3.71092123e-01 9.28419244e-01 -1.81202699e-02 1.25208126e+01] [ 4.92422657e-02 -1.88632209e-04 9.98786846e-01 5.75209740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.870385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.98, Y:12.53, Z:5.75 [[ 9.26814659e-01 -3.72712651e-01 -4.58243179e-02 1.18975747e+02] [ 3.72276732e-01 9.27946741e-01 -1.80244295e-02 1.25319185e+01] [ 4.92404594e-02 -3.54021832e-04 9.98786890e-01 5.75393709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.900385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:119.00, Y:12.54, Z:5.76 [[ 9.27469693e-01 -3.71080960e-01 -4.58136451e-02 1.19004940e+02] [ 3.70641680e-01 9.28600487e-01 -1.80521716e-02 1.25406870e+01] [ 4.92413903e-02 -2.37604348e-04 9.98786879e-01 5.75884476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.930385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.03, Y:12.55, Z:5.76 [[ 9.27167204e-01 -3.71818063e-01 -4.59598031e-02 1.19030036e+02] [ 3.71398490e-01 9.28305370e-01 -1.76720694e-02 1.25502364e+01] [ 4.92355266e-02 -6.84438264e-04 9.98786962e-01 5.76002587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.96038572299999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.05, Y:12.56, Z:5.76 [[ 9.25664890e-01 -3.75542806e-01 -4.59577162e-02 1.19054610e+02] [ 3.75127543e-01 9.26804636e-01 -1.76774950e-02 1.25628526e+01] [ 4.92324805e-02 -8.76568672e-04 9.98786962e-01 5.75729948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.99038572299999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:119.08, Y:12.57, Z:5.76 [[ 9.24292677e-01 -3.78917392e-01 -4.58765549e-02 1.19079641e+02] [ 3.78495823e-01 9.25430128e-01 -1.78882790e-02 1.25739808e+01] [ 4.92337261e-02 -8.30079187e-04 9.98786940e-01 5.75768880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.020385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.11, Y:12.59, Z:5.76 [[ 9.23705039e-01 -3.80350678e-01 -4.58515373e-02 1.19105715e+02] [ 3.79927654e-01 9.24841966e-01 -1.79531611e-02 1.25859139e+01] [ 4.92339229e-02 -8.36841644e-04 9.98786924e-01 5.75835037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.050385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.13, Y:12.60, Z:5.76 [[ 9.22889205e-01 -3.82323028e-01 -4.58761061e-02 1.19130308e+02] [ 3.81905598e-01 9.24028182e-01 -1.78894630e-02 1.25992326e+01] [ 4.92303686e-02 -1.01034940e-03 9.98786939e-01 5.75930501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.080385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.16, Y:12.61, Z:5.77 [[ 9.23073639e-01 -3.81873124e-01 -4.59126817e-02 1.19156926e+02] [ 3.81459849e-01 9.24214117e-01 -1.77946603e-02 1.26091696e+01] [ 4.92284511e-02 -1.08806285e-03 9.98786952e-01 5.76504576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.110385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.18, Y:12.62, Z:5.77 [[ 9.22302972e-01 -3.83727860e-01 -4.59364461e-02 1.19180809e+02] [ 3.83319941e-01 9.23445374e-01 -1.77331005e-02 1.26217137e+01] [ 4.92244834e-02 -1.25306448e-03 9.98786954e-01 5.76588808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.140385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.21, Y:12.63, Z:5.77 [[ 9.21960253e-01 -3.84550812e-01 -4.59343627e-02 1.19205436e+02] [ 3.84143645e-01 9.23102923e-01 -1.77384956e-02 1.26327300e+01] [ 4.92234973e-02 -1.29120563e-03 9.98786954e-01 5.76700116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.170385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.23, Y:12.65, Z:5.76 [[ 9.20533023e-01 -3.87955121e-01 -4.59323102e-02 1.19227476e+02] [ 3.87551914e-01 9.21677097e-01 -1.77438088e-02 1.26473742e+01] [ 4.92185598e-02 -1.46739281e-03 9.98786954e-01 5.76247815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.200385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.25, Y:12.66, Z:5.76 [[ 9.20277989e-01 -3.88567122e-01 -4.58695267e-02 1.19252438e+02] [ 3.88156584e-01 9.21419467e-01 -1.79062301e-02 1.26592840e+01] [ 4.92228471e-02 -1.32584934e-03 9.98786941e-01 5.76303522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.230385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.28, Y:12.67, Z:5.77 [[ 9.20582724e-01 -3.87847396e-01 -4.58458868e-02 1.19278170e+02] [ 3.87432924e-01 9.21722792e-01 -1.79673291e-02 1.26721230e+01] [ 4.92257805e-02 -1.22179320e-03 9.98786929e-01 5.76507052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.260385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:119.30, Y:12.69, Z:5.77 [[ 9.20191571e-01 -3.88764356e-01 -4.59319917e-02 1.19303231e+02] [ 3.88362109e-01 9.21335984e-01 -1.77447507e-02 1.26855932e+01] [ 4.92173234e-02 -1.50967508e-03 9.98786952e-01 5.76609674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.290385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.33, Y:12.70, Z:5.77 [[ 9.19827920e-01 -3.89627837e-01 -4.58993141e-02 1.19327548e+02] [ 3.89222455e-01 9.20971227e-01 -1.78291531e-02 1.26994637e+01] [ 4.92186820e-02 -1.46529087e-03 9.98786951e-01 5.76700745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.32038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.35, Y:12.71, Z:5.77 [[ 9.20373571e-01 -3.88337743e-01 -4.58942939e-02 1.19353993e+02] [ 3.87930113e-01 9.21516080e-01 -1.78421096e-02 1.27089328e+01] [ 4.92210944e-02 -1.38237254e-03 9.98786951e-01 5.77457916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.35038572300002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:119.38, Y:12.72, Z:5.77 [[ 9.19572097e-01 -3.90229824e-01 -4.59112395e-02 1.19380421e+02] [ 3.89826724e-01 9.20716211e-01 -1.77983983e-02 1.27226537e+01] [ 4.92166884e-02 -1.53051767e-03 9.98786952e-01 5.77166811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.38038572300002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:119.40, Y:12.73, Z:5.78 [[ 9.19712488e-01 -3.89894435e-01 -4.59485516e-02 1.19404544e+02] [ 3.89495719e-01 9.20858142e-01 -1.77021675e-02 1.27331886e+01] [ 4.92140745e-02 -1.61585967e-03 9.98786946e-01 5.77760422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.41038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.43, Y:12.75, Z:5.78 [[ 9.19759987e-01 -3.89787548e-01 -4.59046067e-02 1.19428829e+02] [ 3.89383051e-01 9.20903606e-01 -1.78154006e-02 1.27478114e+01] [ 4.92179391e-02 -1.48858314e-03 9.98786954e-01 5.77967939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.44038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.46, Y:12.76, Z:5.78 [[ 9.19623818e-01 -3.90114465e-01 -4.58556098e-02 1.19456085e+02] [ 3.89704084e-01 9.20765348e-01 -1.79416131e-02 1.27608403e+01] [ 4.92215393e-02 -1.37058374e-03 9.98786945e-01 5.78007901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.47038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.48, Y:12.77, Z:5.78 [[ 9.19516645e-01 -3.90361656e-01 -4.59011589e-02 1.19482698e+02] [ 3.89957428e-01 9.20660360e-01 -1.78243163e-02 1.27711697e+01] [ 4.92173071e-02 -1.50974233e-03 9.98786953e-01 5.78153239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.50038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.51, Y:12.78, Z:5.78 [[ 9.19847989e-01 -3.89580814e-01 -4.58962462e-02 1.19506813e+02] [ 3.89174985e-01 9.20991137e-01 -1.78369570e-02 1.27824695e+01] [ 4.92189722e-02 -1.45438187e-03 9.98786953e-01 5.78253991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.530385723 meters Centerline goodness : 0.999114 Centerline is valid? [True, True] Translation: X:119.53, Y:12.80, Z:5.78 [[ 9.20611385e-01 -3.87773656e-01 -4.58941177e-02 1.19533214e+02] [ 3.87365310e-01 9.21753635e-01 -1.78424320e-02 1.27952700e+01] [ 4.92218949e-02 -1.35184310e-03 9.98786953e-01 5.77919233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.560385723 meters Centerline goodness : 0.998429 Centerline is valid? [True, True] Translation: X:119.56, Y:12.80, Z:5.78 [[ 9.22134466e-01 -3.84136220e-01 -4.59063385e-02 1.19558424e+02] [ 3.83724931e-01 9.23275661e-01 -1.78110098e-02 1.28045105e+01] [ 4.92260589e-02 -1.19126056e-03 9.98786952e-01 5.78458336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.590385723 meters Centerline goodness : 0.997226 Centerline is valid? [True, True] Translation: X:119.58, Y:12.82, Z:5.79 [[ 9.24256212e-01 -3.79005021e-01 -4.58873402e-02 1.19583875e+02] [ 3.78584973e-01 9.25394211e-01 -1.78598222e-02 1.28167188e+01] [ 4.92328413e-02 -8.65205796e-04 9.98786954e-01 5.78519619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.620385723 meters Centerline goodness : 0.997072 Centerline is valid? [True, True] Translation: X:119.61, Y:12.83, Z:5.79 [[ 9.25472226e-01 -3.76026531e-01 -4.58825405e-02 1.19608554e+02] [ 3.75602209e-01 9.26608637e-01 -1.78721444e-02 1.28279177e+01] [ 4.92355588e-02 -6.93410309e-04 9.98786954e-01 5.78587779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.650385723 meters Centerline goodness : 0.996539 Centerline is valid? [True, True] Translation: X:119.63, Y:12.84, Z:5.78 [[ 9.25915504e-01 -3.74933945e-01 -4.58804576e-02 1.19634719e+02] [ 3.74508017e-01 9.27051315e-01 -1.78774899e-02 1.28412870e+01] [ 4.92364164e-02 -6.29554073e-04 9.98786954e-01 5.78405515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.680385723 meters Centerline goodness : 0.997180 Centerline is valid? [True, True] Translation: X:119.66, Y:12.85, Z:5.79 [[ 9.29401562e-01 -3.66204115e-01 -4.59051554e-02 1.19659685e+02] [ 3.65770645e-01 9.30534519e-01 -1.78141418e-02 1.28506322e+01] [ 4.92399438e-02 -2.34267115e-04 9.98786951e-01 5.78759609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.710385723 meters Centerline goodness : 0.997519 Centerline is valid? [True, True] Translation: X:119.68, Y:12.86, Z:5.79 [[ 9.31498624e-01 -3.60840549e-01 -4.58738703e-02 1.19684747e+02] [ 3.60396605e-01 9.32627514e-01 -1.78943449e-02 1.28598562e+01] [ 4.92402388e-02 1.35770511e-04 9.98786954e-01 5.78795981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.740385723 meters Centerline goodness : 0.997333 Centerline is valid? [True, True] Translation: X:119.71, Y:12.87, Z:5.79 [[ 9.32732019e-01 -3.57640718e-01 -4.58704423e-02 1.19710780e+02] [ 3.57192469e-01 9.33859207e-01 -1.79031278e-02 1.28682143e+01] [ 4.92394223e-02 3.14243964e-04 9.98786955e-01 5.79110397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.770385723 meters Centerline goodness : 0.997457 Centerline is valid? [True, True] Translation: X:119.74, Y:12.88, Z:5.79 [[ 9.33568639e-01 -3.55451397e-01 -4.58683031e-02 1.19737259e+02] [ 3.55000236e-01 9.34694664e-01 -1.79086068e-02 1.28772049e+01] [ 4.92384975e-02 4.35655216e-04 9.98786955e-01 5.79295196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.800385723 meters Centerline goodness : 0.997766 Centerline is valid? [True, True] Translation: X:119.76, Y:12.89, Z:5.79 [[ 9.35343511e-01 -3.50755005e-01 -4.58633124e-02 1.19763903e+02] [ 3.50297564e-01 9.36466999e-01 -1.79213788e-02 1.28854607e+01] [ 4.92354918e-02 6.96838794e-04 9.98786955e-01 5.79335161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.830385723 meters Centerline goodness : 0.997316 Centerline is valid? [True, True] Translation: X:119.79, Y:12.89, Z:5.79 [[ 9.36197418e-01 -3.48470104e-01 -4.58582736e-02 1.19790872e+02] [ 3.48009290e-01 9.37319527e-01 -1.79342630e-02 1.28949692e+01] [ 4.92334098e-02 8.30905437e-04 9.98786955e-01 5.79371556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.860385723 meters Centerline goodness : 0.997622 Centerline is valid? [True, True] Translation: X:119.82, Y:12.90, Z:5.79 [[ 9.37984438e-01 -3.43631598e-01 -4.58532343e-02 1.19818658e+02] [ 3.43164367e-01 9.39103891e-01 -1.79471379e-02 1.29024613e+01] [ 4.92281544e-02 1.09893993e-03 9.98786955e-01 5.79387867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.890385723 meters Centerline goodness : 0.997496 Centerline is valid? [True, True] Translation: X:119.85, Y:12.91, Z:5.80 [[ 9.38574651e-01 -3.42016869e-01 -4.58485168e-02 1.19845779e+02] [ 3.41547125e-01 9.39693051e-01 -1.79591813e-02 1.29105067e+01] [ 4.92258756e-02 1.19660323e-03 9.98786955e-01 5.79587358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.920385723 meters Centerline goodness : 0.997418 Centerline is valid? [True, True] Translation: X:119.87, Y:12.92, Z:5.80 [[ 9.39728988e-01 -3.38828960e-01 -4.58733640e-02 1.19873517e+02] [ 3.38358513e-01 9.40847096e-01 -1.78957890e-02 1.29160403e+01] [ 4.92234328e-02 1.29554853e-03 9.98786952e-01 5.79596188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.950385723 meters Centerline goodness : 0.997692 Centerline is valid? [True, True] Translation: X:119.90, Y:12.92, Z:5.80 [[ 9.39997013e-01 -3.38089373e-01 -4.58387672e-02 1.19900908e+02] [ 3.37613748e-01 9.41112923e-01 -1.79839723e-02 1.29237221e+01] [ 4.92196461e-02 1.42908222e-03 9.98786956e-01 5.79758203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.980385723 meters Centerline goodness : 0.997532 Centerline is valid? [True, True] Translation: X:119.93, Y:12.93, Z:5.80 [[ 9.40344991e-01 -3.37120992e-01 -4.58337765e-02 1.19927226e+02] [ 3.36643599e-01 9.41460146e-01 -1.79966824e-02 1.29305496e+01] [ 4.92177334e-02 1.49344262e-03 9.98786956e-01 5.79873929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.010385723 meters Centerline goodness : 0.997701 Centerline is valid? [True, True] Translation: X:119.96, Y:12.93, Z:5.80 [[ 9.40932567e-01 -3.35477820e-01 -4.58316121e-02 1.19955681e+02] [ 3.34998212e-01 9.42046771e-01 -1.80021929e-02 1.29343674e+01] [ 4.92148586e-02 1.58534146e-03 9.98786956e-01 5.79987996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.040385723 meters Centerline goodness : 0.997369 Centerline is valid? [True, True] Translation: X:119.98, Y:12.94, Z:5.80 [[ 9.41260555e-01 -3.34557145e-01 -4.58266676e-02 1.19984605e+02] [ 3.34075836e-01 9.42374025e-01 -1.80147709e-02 1.29394134e+01] [ 4.92128315e-02 1.64701102e-03 9.98786957e-01 5.80015740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.07038572300002 meters Centerline goodness : 0.997368 Centerline is valid? [True, True] Translation: X:120.01, Y:12.95, Z:5.80 [[ 9.39590274e-01 -3.39220330e-01 -4.58223267e-02 1.20006161e+02] [ 3.38744010e-01 9.40705887e-01 -1.80258056e-02 1.29509672e+01] [ 4.92200522e-02 1.41483294e-03 9.98786957e-01 5.79516946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.10038572300002 meters Centerline goodness : 0.997356 Centerline is valid? [True, True] Translation: X:120.03, Y:12.96, Z:5.80 [[ 9.39776747e-01 -3.38736721e-01 -4.55751989e-02 1.20033524e+02] [ 3.38229323e-01 9.40878822e-01 -1.86538709e-02 1.29587510e+01] [ 4.91994905e-02 2.11560544e-03 9.98786731e-01 5.79576960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.13038572300002 meters Centerline goodness : 0.997210 Centerline is valid? [True, True] Translation: X:120.06, Y:12.96, Z:5.80 [[ 9.39287781e-01 -3.40092511e-01 -4.55581903e-02 1.20059900e+02] [ 3.39584610e-01 9.40389659e-01 -1.86970855e-02 1.29631790e+01] [ 4.92011898e-02 2.09108372e-03 9.98786699e-01 5.79770938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.16038572300002 meters Centerline goodness : 0.996950 Centerline is valid? [True, True] Translation: X:120.09, Y:12.97, Z:5.80 [[ 9.39564651e-01 -3.39348154e-01 -4.53993002e-02 1.20092847e+02] [ 3.38819884e-01 9.40657353e-01 -1.91005233e-02 1.29665576e+01] [ 4.91869129e-02 2.56399084e-03 9.98786300e-01 5.79900388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.19038572300002 meters Centerline goodness : 0.996881 Centerline is valid? [True, True] Translation: X:120.13, Y:12.97, Z:5.81 [[ 9.41409067e-01 -3.34178718e-01 -4.55362780e-02 1.20127441e+02] [ 3.33661213e-01 9.42506515e-01 -1.87526990e-02 1.29697436e+01] [ 4.91849916e-02 2.46027111e-03 9.98786656e-01 5.80533167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.22038572300002 meters Centerline goodness : 0.996577 Centerline is valid? [True, True] Translation: X:120.15, Y:12.98, Z:5.80 [[ 9.39684025e-01 -3.38960377e-01 -4.58235279e-02 1.20150248e+02] [ 3.38483915e-01 9.40799571e-01 -1.80223817e-02 1.29810716e+01] [ 4.92196286e-02 1.42481701e-03 9.98786963e-01 5.80240887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.25038572300002 meters Centerline goodness : 0.996292 Centerline is valid? [True, True] Translation: X:120.17, Y:12.99, Z:5.81 [[ 9.39052656e-01 -3.40730645e-01 -4.56370112e-02 1.20173296e+02] [ 3.40233197e-01 9.40159153e-01 -1.84969873e-02 1.29858012e+01] [ 4.92085442e-02 1.84241887e-03 9.98786826e-01 5.80708114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.280385723 meters Centerline goodness : 0.996223 Centerline is valid? [True, True] Translation: X:120.20, Y:12.99, Z:5.81 [[ 9.38602278e-01 -3.41999488e-01 -4.54105136e-02 1.20199802e+02] [ 3.41475548e-01 9.39697081e-01 -1.90747332e-02 1.29933807e+01] [ 4.91956761e-02 2.39700794e-03 9.98786283e-01 5.80936724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.310385723 meters Centerline goodness : 0.996460 Centerline is valid? [True, True] Translation: X:120.23, Y:13.00, Z:5.81 [[ 9.37572614e-01 -3.44819031e-01 -4.53588976e-02 1.20229753e+02] [ 3.44292022e-01 9.38666139e-01 -1.92063131e-02 1.30014679e+01] [ 4.91995635e-02 2.39060655e-03 9.98786107e-01 5.80726497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.340385723 meters Centerline goodness : 0.996508 Centerline is valid? [True, True] Translation: X:120.26, Y:13.01, Z:5.81 [[ 9.37392278e-01 -3.45290885e-01 -4.54963907e-02 1.20255099e+02] [ 3.44781389e-01 9.38493606e-01 -1.88559210e-02 1.30102685e+01] [ 4.92088494e-02 1.98908592e-03 9.98786530e-01 5.80872806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.370385723 meters Centerline goodness : 0.996373 Centerline is valid? [True, True] Translation: X:120.29, Y:13.02, Z:5.81 [[ 9.39195011e-01 -3.40360524e-01 -4.54691591e-02 1.20290749e+02] [ 3.39841892e-01 9.40292147e-01 -1.89253046e-02 1.30176841e+01] [ 4.91957198e-02 2.32222656e-03 9.98786458e-01 5.81363914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.400385723 meters Centerline goodness : 0.996046 Centerline is valid? [True, True] Translation: X:120.31, Y:13.03, Z:5.81 [[ 9.36969330e-01 -3.46390447e-01 -4.58490176e-02 1.20311516e+02] [ 3.45926109e-01 9.38089937e-01 -1.79554117e-02 1.30341449e+01] [ 4.92300851e-02 9.63297779e-04 9.98787000e-01 5.81134257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.430385723 meters Centerline goodness : 0.995865 Centerline is valid? [True, True] Translation: X:120.34, Y:13.04, Z:5.81 [[ 9.37842791e-01 -3.44036224e-01 -4.57162644e-02 1.20335882e+02] [ 3.43552518e-01 9.38955254e-01 -1.82947610e-02 1.30447368e+01] [ 4.92195872e-02 1.45167202e-03 9.98786927e-01 5.81468040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.460385723 meters Centerline goodness : 0.996186 Centerline is valid? [True, True] Translation: X:120.36, Y:13.05, Z:5.82 [[ 9.38122748e-01 -3.43285797e-01 -4.56132801e-02 1.20361838e+02] [ 3.42788408e-01 9.39229320e-01 -1.85577939e-02 1.30549606e+01] [ 4.92119571e-02 1.77378488e-03 9.98786783e-01 5.81571708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.490385723 meters Centerline goodness : 0.996198 Centerline is valid? [True, True] Translation: X:120.39, Y:13.06, Z:5.82 [[ 9.38607628e-01 -3.41952369e-01 -4.56541256e-02 1.20387305e+02] [ 3.41458475e-01 9.39715691e-01 -1.84534722e-02 1.30646465e+01] [ 4.92121066e-02 1.73158165e-03 9.98786849e-01 5.81846889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.520385723 meters Centerline goodness : 0.996594 Centerline is valid? [True, True] Translation: X:120.42, Y:13.07, Z:5.82 [[ 9.39522436e-01 -3.39433823e-01 -4.56319252e-02 1.20416917e+02] [ 3.38934210e-01 9.40627969e-01 -1.85101423e-02 1.30733026e+01] [ 4.92056335e-02 1.92447342e-03 9.98786815e-01 5.81892939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.550385723 meters Centerline goodness : 0.996982 Centerline is valid? [True, True] Translation: X:120.44, Y:13.09, Z:5.82 [[ 9.38970740e-01 -3.40938651e-01 -4.57688289e-02 1.20441017e+02] [ 3.40457806e-01 9.40084398e-01 -1.81605977e-02 1.30854711e+01] [ 4.92182116e-02 1.46991483e-03 9.98786968e-01 5.82323551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.580385723 meters Centerline goodness : 0.996725 Centerline is valid? [True, True] Translation: X:120.47, Y:13.10, Z:5.83 [[ 9.39793270e-01 -3.38680158e-01 -4.56547875e-02 1.20467165e+02] [ 3.38182490e-01 9.40899642e-01 -1.84517693e-02 1.30956169e+01] [ 4.92058214e-02 1.90119888e-03 9.98786850e-01 5.82557865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.610385723 meters Centerline goodness : 0.996889 Centerline is valid? [True, True] Translation: X:120.49, Y:13.11, Z:5.83 [[ 9.40134842e-01 -3.37730658e-01 -4.56561271e-02 1.20493716e+02] [ 3.37232038e-01 9.41240783e-01 -1.84483463e-02 1.31055364e+01] [ 4.92039809e-02 1.94722427e-03 9.98786852e-01 5.82875403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.640385723 meters Centerline goodness : 0.996694 Centerline is valid? [True, True] Translation: X:120.52, Y:13.12, Z:5.83 [[ 9.40087283e-01 -3.37860552e-01 -4.56743707e-02 1.20520353e+02] [ 3.37364348e-01 9.41194281e-01 -1.84017128e-02 1.31161086e+01] [ 4.92056693e-02 1.89031196e-03 9.98786879e-01 5.83024419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.670385723 meters Centerline goodness : 0.996795 Centerline is valid? [True, True] Translation: X:120.55, Y:13.13, Z:5.83 [[ 9.40055651e-01 -3.37947854e-01 -4.56795377e-02 1.20546824e+02] [ 3.37452393e-01 9.41162975e-01 -1.83885037e-02 1.31264677e+01] [ 4.92062450e-02 1.87154752e-03 9.98786886e-01 5.83034674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.700385723 meters Centerline goodness : 0.997201 Centerline is valid? [True, True] Translation: X:120.57, Y:13.14, Z:5.83 [[ 9.39793286e-01 -3.38674706e-01 -4.56948902e-02 1.20572322e+02] [ 3.38182006e-01 9.40901820e-01 -1.83492952e-02 1.31377391e+01] [ 4.92088475e-02 1.79135478e-03 9.98786904e-01 5.83152942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.730385723 meters Centerline goodness : 0.996907 Centerline is valid? [True, True] Translation: X:120.60, Y:13.15, Z:5.83 [[ 9.39619262e-01 -3.39153395e-01 -4.57232615e-02 1.20598259e+02] [ 3.38664780e-01 9.40729570e-01 -1.82768392e-02 1.31479716e+01] [ 4.92118762e-02 1.68841189e-03 9.98786934e-01 5.83183608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.760385723 meters Centerline goodness : 0.997136 Centerline is valid? [True, True] Translation: X:120.62, Y:13.16, Z:5.83 [[ 9.39349423e-01 -3.39900753e-01 -4.57180439e-02 1.20623763e+02] [ 3.39412374e-01 9.40459840e-01 -1.82901557e-02 1.31586641e+01] [ 4.92128220e-02 1.66357738e-03 9.98786930e-01 5.83296107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.790385723 meters Centerline goodness : 0.997317 Centerline is valid? [True, True] Translation: X:120.65, Y:13.17, Z:5.83 [[ 9.39280424e-01 -3.40089054e-01 -4.57353309e-02 1.20651059e+02] [ 3.39603042e-01 9.40391862e-01 -1.82460597e-02 1.31695693e+01] [ 4.92144181e-02 1.60630918e-03 9.98786945e-01 5.83436329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.82038572300002 meters Centerline goodness : 0.997123 Centerline is valid? [True, True] Translation: X:120.68, Y:13.18, Z:5.84 [[ 9.39254167e-01 -3.40159992e-01 -4.57470105e-02 1.20676500e+02] [ 3.39675513e-01 9.40366265e-01 -1.82162764e-02 1.31800178e+01] [ 4.92153939e-02 1.57057427e-03 9.98786953e-01 5.83538337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.85038572300002 meters Centerline goodness : 0.997389 Centerline is valid? [True, True] Translation: X:120.70, Y:13.19, Z:5.84 [[ 9.39716668e-01 -3.38881962e-01 -4.57340087e-02 1.20702892e+02] [ 3.38394359e-01 9.40827411e-01 -1.82494171e-02 1.31905202e+01] [ 4.92122072e-02 1.67315082e-03 9.98786944e-01 5.83650213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.88038572300002 meters Centerline goodness : 0.997349 Centerline is valid? [True, True] Translation: X:120.73, Y:13.20, Z:5.84 [[ 9.40475219e-01 -3.36767474e-01 -4.57605894e-02 1.20729885e+02] [ 3.36280664e-01 9.41586290e-01 -1.81816816e-02 1.32015601e+01] [ 4.92105425e-02 1.71101961e-03 9.98786962e-01 5.83551009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.91038572300002 meters Centerline goodness : 0.997527 Centerline is valid? [True, True] Translation: X:120.76, Y:13.21, Z:5.84 [[ 9.40781261e-01 -3.35909456e-01 -4.57761566e-02 1.20757313e+02] [ 3.35423560e-01 9.41892723e-01 -1.81420272e-02 1.32122893e+01] [ 4.92103073e-02 1.71327783e-03 9.98786969e-01 5.83543696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.94038572300002 meters Centerline goodness : 0.997792 Centerline is valid? [True, True] Translation: X:120.78, Y:13.22, Z:5.84 [[ 9.40883674e-01 -3.35618920e-01 -4.58023247e-02 1.20783940e+02] [ 3.35135919e-01 9.41996388e-01 -1.80754070e-02 1.32233931e+01] [ 4.92120730e-02 1.65685111e-03 9.98786978e-01 5.83600255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.97038572300002 meters Centerline goodness : 0.997803 Centerline is valid? [True, True] Translation: X:120.81, Y:13.23, Z:5.84 [[ 9.41162668e-01 -3.34832645e-01 -4.58250138e-02 1.20810453e+02] [ 3.34351521e-01 9.42276193e-01 -1.80176771e-02 1.32328526e+01] [ 4.92127260e-02 1.63590201e-03 9.98786980e-01 5.83809756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.00038572300002 meters Centerline goodness : 0.997855 Centerline is valid? [True, True] Translation: X:120.84, Y:13.24, Z:5.84 [[ 9.41240882e-01 -3.34612650e-01 -4.58254985e-02 1.20836633e+02] [ 3.34131326e-01 9.42354320e-01 -1.80164440e-02 1.32427366e+01] [ 4.92123866e-02 1.64607911e-03 9.98786980e-01 5.83989989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.030385723 meters Centerline goodness : 0.998079 Centerline is valid? [True, True] Translation: X:120.86, Y:13.25, Z:5.85 [[ 9.40470874e-01 -3.36771449e-01 -4.58205847e-02 1.20863043e+02] [ 3.36292073e-01 9.41585152e-01 -1.80289327e-02 1.32534125e+01] [ 4.92156120e-02 1.54658671e-03 9.98786980e-01 5.84538409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.060385723 meters Centerline goodness : 0.997886 Centerline is valid? [True, True] Translation: X:120.89, Y:13.26, Z:5.85 [[ 9.40425918e-01 -3.36895695e-01 -4.58299404e-02 1.20892416e+02] [ 3.36417624e-01 9.41540757e-01 -1.80051642e-02 1.32641165e+01] [ 4.92166191e-02 1.51452341e-03 9.98786980e-01 5.84573876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.090385723 meters Centerline goodness : 0.998090 Centerline is valid? [True, True] Translation: X:120.91, Y:13.27, Z:5.85 [[ 9.40397452e-01 -3.36961400e-01 -4.59308916e-02 1.20914814e+02] [ 3.36495910e-01 9.41517652e-01 -1.77486236e-02 1.32749512e+01] [ 4.92253463e-02 1.23520325e-03 9.98786934e-01 5.84812310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.120385723 meters Centerline goodness : 0.998238 Centerline is valid? [True, True] Translation: X:120.94, Y:13.29, Z:5.85 [[ 9.40535707e-01 -3.36591419e-01 -4.58126663e-02 1.20940103e+02] [ 3.36110867e-01 9.41649472e-01 -1.80487194e-02 1.32861869e+01] [ 4.92145171e-02 1.57733009e-03 9.98786986e-01 5.84862253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.150385723 meters Centerline goodness : 0.997815 Centerline is valid? [True, True] Translation: X:120.96, Y:13.30, Z:5.85 [[ 9.41521467e-01 -3.33824749e-01 -4.58079095e-02 1.20963225e+02] [ 3.33340339e-01 9.42633559e-01 -1.80607841e-02 1.32955727e+01] [ 4.92092095e-02 1.73499185e-03 9.98786986e-01 5.84733697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.180385723 meters Centerline goodness : 0.998058 Centerline is valid? [True, True] Translation: X:120.99, Y:13.31, Z:5.85 [[ 9.41956171e-01 -3.32621883e-01 -4.56207715e-02 1.20989702e+02] [ 3.32113092e-01 9.43057452e-01 -1.85347361e-02 1.33063605e+01] [ 4.91880674e-02 2.30765358e-03 9.98786869e-01 5.84842346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.210385723 meters Centerline goodness : 0.997451 Centerline is valid? [True, True] Translation: X:121.01, Y:13.31, Z:5.85 [[ 9.42374507e-01 -3.31434873e-01 -4.56203251e-02 1.21014177e+02] [ 3.30924640e-01 9.43475121e-01 -1.85358669e-02 1.33136964e+01] [ 4.91850744e-02 2.37083878e-03 9.98786868e-01 5.84894386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.240385723 meters Centerline goodness : 0.997859 Centerline is valid? [True, True] Translation: X:121.04, Y:13.32, Z:5.85 [[ 9.42157749e-01 -3.32068279e-01 -4.54910302e-02 1.21041249e+02] [ 3.31543007e-01 9.43251517e-01 -1.88629432e-02 1.33247636e+01] [ 4.91732683e-02 2.68963520e-03 9.98786642e-01 5.85062123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.270385723 meters Centerline goodness : 0.998659 Centerline is valid? [True, True] Translation: X:121.07, Y:13.34, Z:5.85 [[ 9.42134244e-01 -3.32118132e-01 -4.56137234e-02 1.21073844e+02] [ 3.31607981e-01 9.43234869e-01 -1.85507318e-02 1.33363584e+01] [ 4.91854888e-02 2.35140497e-03 9.98786893e-01 5.85248338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.300385723 meters Centerline goodness : 0.998796 Centerline is valid? [True, True] Translation: X:121.10, Y:13.35, Z:5.85 [[ 9.41142537e-01 -3.34872280e-01 -4.59486758e-02 1.21096259e+02] [ 3.34406661e-01 9.42262641e-01 -1.77002992e-02 1.33494249e+01] [ 4.92230602e-02 1.29296125e-03 9.98786974e-01 5.85442745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.330385723 meters Centerline goodness : 0.998728 Centerline is valid? [True, True] Translation: X:121.12, Y:13.36, Z:5.86 [[ 9.40965057e-01 -3.35390099e-01 -4.58065837e-02 1.21121457e+02] [ 3.34907546e-01 9.42077888e-01 -1.80606917e-02 1.33580967e+01] [ 4.92107468e-02 1.65350931e-03 9.98787049e-01 5.85686586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.360385723 meters Centerline goodness : 0.998728 Centerline is valid? [True, True] Translation: X:121.15, Y:13.37, Z:5.86 [[ 9.40919696e-01 -3.35527608e-01 -4.57312833e-02 1.21147003e+02] [ 3.35035948e-01 9.42028554e-01 -1.82515233e-02 1.33683217e+01] [ 4.92040646e-02 1.85159390e-03 9.98787030e-01 5.85813642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.390385723 meters Centerline goodness : 0.998684 Centerline is valid? [True, True] Translation: X:121.17, Y:13.38, Z:5.86 [[ 9.40183584e-01 -3.37585315e-01 -4.57272758e-02 1.21173373e+02] [ 3.37095588e-01 9.41293300e-01 -1.82616743e-02 1.33762240e+01] [ 4.92076514e-02 1.75486342e-03 9.98787028e-01 5.86070749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.420385723 meters Centerline goodness : 0.998434 Centerline is valid? [True, True] Translation: X:121.20, Y:13.39, Z:5.86 [[ 9.39468538e-01 -3.39569160e-01 -4.57345818e-02 1.21201162e+02] [ 3.39082677e-01 9.40579675e-01 -1.82431729e-02 1.33867108e+01] [ 4.92118370e-02 1.63108255e-03 9.98787032e-01 5.86275739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.450385723 meters Centerline goodness : 0.998542 Centerline is valid? [True, True] Translation: X:121.23, Y:13.40, Z:5.86 [[ 9.37393650e-01 -3.45247302e-01 -4.57978808e-02 1.21225985e+02] [ 3.44775372e-01 9.38511030e-01 -1.80828596e-02 1.33953877e+01] [ 4.92248748e-02 1.16077643e-03 9.98787047e-01 5.86375933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.480385723 meters Centerline goodness : 0.998450 Centerline is valid? [True, True] Translation: X:121.26, Y:13.40, Z:5.86 [[ 9.36838332e-01 -3.46766210e-01 -4.56851763e-02 1.21255099e+02] [ 3.46282175e-01 9.37950568e-01 -1.83680738e-02 1.34046130e+01] [ 4.92198644e-02 1.38795338e-03 9.98787004e-01 5.86427768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.510385723 meters Centerline goodness : 0.998769 Centerline is valid? [True, True] Translation: X:121.28, Y:13.41, Z:5.87 [[ 9.35682271e-01 -3.49859474e-01 -4.57934070e-02 1.21281931e+02] [ 3.49392499e-01 9.36801731e-01 -1.80941651e-02 1.34132540e+01] [ 4.92297581e-02 9.30516602e-04 9.98787047e-01 5.86673308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.540385723 meters Centerline goodness : 0.999076 Centerline is valid? [True, True] Translation: X:121.31, Y:13.42, Z:5.87 [[ 9.32588363e-01 -3.58025647e-01 -4.57884319e-02 1.21305619e+02] [ 3.57567859e-01 9.33711611e-01 -1.81067462e-02 1.34214841e+01] [ 4.92358701e-02 5.13669223e-04 9.98787047e-01 5.87037972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.57038572300002 meters Centerline goodness : 0.999008 Centerline is valid? [True, True] Translation: X:121.34, Y:13.43, Z:5.87 [[ 9.31917161e-01 -3.59792397e-01 -4.56052181e-02 1.21336574e+02] [ 3.59314046e-01 9.33031933e-01 -1.85695762e-02 1.34278682e+01] [ 4.92323171e-02 9.18711253e-04 9.98786932e-01 5.87366592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.60038572300002 meters Centerline goodness : 0.998544 Centerline is valid? [True, True] Translation: X:121.36, Y:13.44, Z:5.87 [[ 9.29364957e-01 -3.66311851e-01 -4.57865124e-02 1.21356413e+02] [ 3.65863855e-01 9.30492139e-01 -1.81112680e-02 1.34411306e+01] [ 4.92383620e-02 8.03478127e-05 9.98787053e-01 5.87128720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.63038572300002 meters Centerline goodness : 0.998743 Centerline is valid? [True, True] Translation: X:121.38, Y:13.45, Z:5.87 [[ 9.28559883e-01 -3.68382935e-01 -4.55033819e-02 1.21380986e+02] [ 3.67902325e-01 9.29673849e-01 -1.88258934e-02 1.34519614e+01] [ 4.92384420e-02 7.40169348e-04 9.98786778e-01 5.87129590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.66038572300002 meters Centerline goodness : 0.998807 Centerline is valid? [True, True] Translation: X:121.41, Y:13.46, Z:5.87 [[ 9.27862931e-01 -3.70138570e-01 -4.54733035e-02 1.21408638e+02] [ 3.69656343e-01 9.28976269e-01 -1.89018491e-02 1.34618539e+01] [ 4.92399232e-02 7.28829995e-04 9.98786713e-01 5.86929273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.69038572300002 meters Centerline goodness : 0.999324 Centerline is valid? [True, True] Translation: X:121.44, Y:13.47, Z:5.87 [[ 9.27552982e-01 -3.70911877e-01 -4.54955457e-02 1.21436203e+02] [ 3.70433334e-01 9.28667855e-01 -1.88456795e-02 1.34708210e+01] [ 4.92403373e-02 6.27299597e-04 9.98786762e-01 5.87170160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.72038572300002 meters Centerline goodness : 0.996805 Centerline is valid? [True, True] Translation: X:121.47, Y:13.48, Z:5.87 [[ 9.27896617e-01 -3.70051233e-01 -4.54967393e-02 1.21469029e+02] [ 3.69571802e-01 9.29011107e-01 -1.88426893e-02 1.34818411e+01] [ 4.92397365e-02 6.69755684e-04 9.98786764e-01 5.87110968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.75038572300002 meters Centerline goodness : 0.999391 Centerline is valid? [True, True] Translation: X:121.49, Y:13.49, Z:5.87 [[ 9.26588620e-01 -3.73281514e-01 -4.57650649e-02 1.21489698e+02] [ 3.72839103e-01 9.27718093e-01 -1.81698392e-02 1.34928395e+01] [ 4.92395439e-02 -2.27039510e-04 9.98786972e-01 5.87274060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.780385723 meters Centerline goodness : 0.999460 Centerline is valid? [True, True] Translation: X:121.52, Y:13.50, Z:5.87 [[ 9.26101312e-01 -3.74521935e-01 -4.54937242e-02 1.21515523e+02] [ 3.74047280e-01 9.27217947e-01 -1.88549908e-02 1.35047242e+01] [ 4.92442052e-02 4.44827972e-04 9.98786669e-01 5.87320453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.810385723 meters Centerline goodness : 0.999506 Centerline is valid? [True, True] Translation: X:121.54, Y:13.52, Z:5.88 [[ 9.26133573e-01 -3.74438840e-01 -4.55209820e-02 1.21542303e+02] [ 3.73967462e-01 9.27251538e-01 -1.87862344e-02 1.35159067e+01] [ 4.92436964e-02 3.75196290e-04 9.98786723e-01 5.87728525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.840385723 meters Centerline goodness : 0.999572 Centerline is valid? [True, True] Translation: X:121.57, Y:13.53, Z:5.88 [[ 9.26318642e-01 -3.73974636e-01 -4.55713191e-02 1.21568845e+02] [ 3.73508939e-01 9.27438894e-01 -1.86593152e-02 1.35257562e+01] [ 4.92427244e-02 2.63176447e-04 9.98786807e-01 5.88005962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.870385723 meters Centerline goodness : 0.999504 Centerline is valid? [True, True] Translation: X:121.59, Y:13.54, Z:5.88 [[ 9.26728237e-01 -3.72955375e-01 -4.55967498e-02 1.21594933e+02] [ 3.72491597e-01 9.27849248e-01 -1.85952581e-02 1.35363500e+01] [ 4.92421115e-02 2.48344660e-04 9.98786841e-01 5.88248990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.900385723 meters Centerline goodness : 0.999551 Centerline is valid? [True, True] Translation: X:121.62, Y:13.55, Z:5.88 [[ 9.27163249e-01 -3.71872087e-01 -4.56010944e-02 1.21620956e+02] [ 3.71407539e-01 9.28283935e-01 -1.85842937e-02 1.35488776e+01] [ 4.92417435e-02 2.94083922e-04 9.98786846e-01 5.88418196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.930385723 meters Centerline goodness : 0.999595 Centerline is valid? [True, True] Translation: X:121.64, Y:13.56, Z:5.89 [[ 9.27296220e-01 -3.71534854e-01 -4.56461741e-02 1.21644847e+02] [ 3.71075496e-01 9.28418987e-01 -1.84705189e-02 1.35600238e+01] [ 4.92412163e-02 1.89465653e-04 9.98786898e-01 5.88639082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.960385723 meters Centerline goodness : 0.999640 Centerline is valid? [True, True] Translation: X:121.68, Y:13.57, Z:5.89 [[ 9.28561115e-01 -3.68372002e-01 -4.55667006e-02 1.21675674e+02] [ 3.67898973e-01 9.29678299e-01 -1.86709983e-02 1.35706351e+01] [ 4.92402457e-02 5.73220689e-04 9.98786799e-01 5.88825471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.990385723 meters Centerline goodness : 0.999708 Centerline is valid? [True, True] Translation: X:121.70, Y:13.58, Z:5.89 [[ 9.28605640e-01 -3.68233250e-01 -4.57803250e-02 1.21701887e+02] [ 3.67786582e-01 9.29733442e-01 -1.81316436e-02 1.35813390e+01] [ 4.92401732e-02 -2.42767490e-07 9.98786967e-01 5.89109042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.020385723 meters Centerline goodness : 0.999664 Centerline is valid? [True, True] Translation: X:121.73, Y:13.59, Z:5.89 [[ 9.29035509e-01 -3.67148013e-01 -4.57750998e-02 1.21726747e+02] [ 3.66699378e-01 9.30162529e-01 -1.81448255e-02 1.35912522e+01] [ 4.92401193e-02 7.14865720e-05 9.98786967e-01 5.89289909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.050385723 meters Centerline goodness : 0.999619 Centerline is valid? [True, True] Translation: X:121.75, Y:13.60, Z:5.90 [[ 9.28446430e-01 -3.68635422e-01 -4.57728374e-02 1.21752907e+02] [ 3.68188311e-01 9.29574056e-01 -1.81505309e-02 1.36043449e+01] [ 4.92401708e-02 -1.22814829e-06 9.98786967e-01 5.89759124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.080385723 meters Centerline goodness : 0.999687 Centerline is valid? [True, True] Translation: X:121.78, Y:13.61, Z:5.90 [[ 9.28846517e-01 -3.67626737e-01 -4.57682278e-02 1.21778049e+02] [ 3.67177829e-01 9.29973429e-01 -1.81621471e-02 1.36146797e+01] [ 4.92401266e-02 6.47685862e-05 9.98786967e-01 5.89928894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.110385723 meters Centerline goodness : 0.999733 Centerline is valid? [True, True] Translation: X:121.80, Y:13.63, Z:5.90 [[ 9.28481036e-01 -3.68549107e-01 -4.57659384e-02 1.21803882e+02] [ 3.68101035e-01 9.29608280e-01 -1.81679143e-02 1.36284286e+01] [ 4.92401639e-02 2.20746238e-05 9.98786967e-01 5.89970853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.140385723 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:121.83, Y:13.64, Z:5.90 [[ 9.28311082e-01 -3.68976365e-01 -4.57709235e-02 1.21829894e+02] [ 3.68529430e-01 9.29438778e-01 -1.81553599e-02 1.36394037e+01] [ 4.92401699e-02 -1.41106064e-05 9.98786967e-01 5.90231684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.170385723 meters Centerline goodness : 0.999667 Centerline is valid? [True, True] Translation: X:121.85, Y:13.65, Z:5.90 [[ 9.27876101e-01 -3.70070297e-01 -4.57593296e-02 1.21854532e+02] [ 3.69623253e-01 9.29003753e-01 -1.81845345e-02 1.36515516e+01] [ 4.92401451e-02 -4.07172826e-05 9.98786968e-01 5.90351016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.200385723 meters Centerline goodness : 0.999778 Centerline is valid? [True, True] Translation: X:121.88, Y:13.66, Z:5.91 [[ 9.26736322e-01 -3.72915661e-01 -4.57569683e-02 1.21879698e+02] [ 3.72471786e-01 9.27865225e-01 -1.81904744e-02 1.36640832e+01] [ 4.92398124e-02 -1.85406333e-04 9.98786968e-01 5.90586150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.230385723 meters Centerline goodness : 0.999778 Centerline is valid? [True, True] Translation: X:121.90, Y:13.68, Z:5.91 [[ 9.26126557e-01 -3.74428071e-01 -4.57517248e-02 1.21904487e+02] [ 3.73985388e-01 9.27255928e-01 -1.82036529e-02 1.36760658e+01] [ 4.92395167e-02 -2.51590123e-04 9.98786968e-01 5.90810465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.260385723 meters Centerline goodness : 0.999756 Centerline is valid? [True, True] Translation: X:121.93, Y:13.69, Z:5.91 [[ 9.25365940e-01 -3.76304362e-01 -4.57482627e-02 1.21929508e+02] [ 3.75863540e-01 9.26496039e-01 -1.82123495e-02 1.36876907e+01] [ 4.92389708e-02 -3.42016063e-04 9.98786968e-01 5.90966024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.290385723 meters Centerline goodness : 0.999756 Centerline is valid? [True, True] Translation: X:121.96, Y:13.70, Z:5.91 [[ 9.24259473e-01 -3.79014473e-01 -4.57433592e-02 1.21955178e+02] [ 3.78576355e-01 9.25390623e-01 -1.82246571e-02 1.36999816e+01] [ 4.92378845e-02 -4.73042213e-04 9.98786968e-01 5.91122627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.32038572300002 meters Centerline goodness : 0.999779 Centerline is valid? [True, True] Translation: X:121.98, Y:13.71, Z:5.91 [[ 9.22130136e-01 -3.84166633e-01 -4.57384939e-02 1.21979546e+02] [ 3.83734229e-01 9.23263483e-01 -1.82368596e-02 1.37124717e+01] [ 4.92346741e-02 -7.34667872e-04 9.98786968e-01 5.91493235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.35038572300002 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:122.01, Y:13.72, Z:5.92 [[ 9.21145586e-01 -3.86521723e-01 -4.57358356e-02 1.22006236e+02] [ 3.86091885e-01 9.22279909e-01 -1.82435239e-02 1.37240993e+01] [ 4.92327605e-02 -8.53293482e-04 9.98786968e-01 5.91771731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.38038572300002 meters Centerline goodness : 0.999779 Centerline is valid? [True, True] Translation: X:122.03, Y:13.74, Z:5.92 [[ 9.19077801e-01 -3.91413606e-01 -4.57316590e-02 1.22030802e+02] [ 3.90989285e-01 9.20214198e-01 -1.82539874e-02 1.37386438e+01] [ 4.92277810e-02 -1.10375413e-03 9.98786968e-01 5.92012570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.41038572300002 meters Centerline goodness : 0.999759 Centerline is valid? [True, True] Translation: X:122.06, Y:13.75, Z:5.92 [[ 9.18092780e-01 -3.93718766e-01 -4.57294176e-02 1.22055509e+02] [ 3.93297019e-01 9.19230135e-01 -1.82596007e-02 1.37516525e+01] [ 4.92250062e-02 -1.22123603e-03 9.98786968e-01 5.92147203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.44038572300002 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:122.08, Y:13.77, Z:5.92 [[ 9.16843649e-01 -3.96619434e-01 -4.57247081e-02 1.22079406e+02] [ 3.96200697e-01 9.17982115e-01 -1.82713864e-02 1.37673980e+01] [ 4.92212512e-02 -1.36415666e-03 9.98786968e-01 5.92166037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.47038572300002 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:122.10, Y:13.78, Z:5.92 [[ 9.16243939e-01 -3.98003050e-01 -4.57232514e-02 1.22104542e+02] [ 3.97585851e-01 9.17382970e-01 -1.82750312e-02 1.37800224e+01] [ 4.92192503e-02 -1.43453122e-03 9.98786968e-01 5.92277104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.50038572300002 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:122.13, Y:13.79, Z:5.93 [[ 9.15562522e-01 -3.99568611e-01 -4.57186314e-02 1.22128503e+02] [ 3.99152783e-01 9.16702054e-01 -1.82865817e-02 1.37947191e+01] [ 4.92171073e-02 -1.50621009e-03 9.98786968e-01 5.92529854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.530385723 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:122.15, Y:13.81, Z:5.93 [[ 9.15448972e-01 -3.99829228e-01 -4.57139804e-02 1.22153359e+02] [ 3.99413145e-01 9.16588411e-01 -1.82982011e-02 1.38086176e+01] [ 4.92170603e-02 -1.50769535e-03 9.98786968e-01 5.92732620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.560385723 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:122.18, Y:13.83, Z:5.93 [[ 9.15571907e-01 -3.99548168e-01 -4.57093465e-02 1.22175260e+02] [ 3.99131158e-01 9.16711007e-01 -1.83097695e-02 1.38284658e+01] [ 4.92178959e-02 -1.48011384e-03 9.98786968e-01 5.92801464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.590385723 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:122.20, Y:13.84, Z:5.93 [[ 9.15694061e-01 -3.99268382e-01 -4.57071828e-02 1.22199976e+02] [ 3.98850755e-01 9.16832934e-01 -1.83151691e-02 1.38435299e+01] [ 4.92185185e-02 -1.45925287e-03 9.98786968e-01 5.92915145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.620385723 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:122.22, Y:13.86, Z:5.93 [[ 9.16057091e-01 -3.98435251e-01 -4.57029071e-02 1.22223517e+02] [ 3.98016057e-01 9.17195389e-01 -1.83258323e-02 1.38572269e+01] [ 4.92201533e-02 -1.40298226e-03 9.98786968e-01 5.93076457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.650385723 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:122.25, Y:13.87, Z:5.93 [[ 9.16535653e-01 -3.97333389e-01 -4.57009287e-02 1.22245991e+02] [ 3.96912581e-01 9.17673355e-01 -1.83307647e-02 1.38742234e+01] [ 4.92219494e-02 -1.33847423e-03 9.98786968e-01 5.93361990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.680385723 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:122.26, Y:13.89, Z:5.93 [[ 9.15237506e-01 -4.00314894e-01 -4.56978456e-02 1.22264175e+02] [ 3.99897408e-01 9.16376432e-01 -1.83384477e-02 1.38918096e+01] [ 4.92175824e-02 -1.49041489e-03 9.98786968e-01 5.93498138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.710385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:122.29, Y:13.91, Z:5.94 [[ 9.17365919e-01 -3.95438678e-01 -4.54755036e-02 1.22293819e+02] [ 3.94987652e-01 9.18492163e-01 -1.88918473e-02 1.39076848e+01] [ 4.92394608e-02 -6.31525497e-04 9.98786802e-01 5.93632091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.740385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.32, Y:13.93, Z:5.94 [[ 9.18461641e-01 -3.92861565e-01 -4.56946872e-02 1.22316307e+02] [ 3.92434462e-01 9.19596988e-01 -1.83459444e-02 1.39267750e+01] [ 4.92281131e-02 -1.08212377e-03 9.98786975e-01 5.93573727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.770385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:122.34, Y:13.94, Z:5.94 [[ 9.18674616e-01 -3.92363443e-01 -4.56933173e-02 1.22340494e+02] [ 3.91935554e-01 9.19809667e-01 -1.83493557e-02 1.39415217e+01] [ 4.92287713e-02 -1.05174834e-03 9.98786975e-01 5.93652976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.800385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:122.36, Y:13.96, Z:5.94 [[ 9.18770784e-01 -3.92138710e-01 -4.56889441e-02 1.22364517e+02] [ 3.91710002e-01 9.19905525e-01 -1.83602383e-02 1.39559751e+01] [ 4.92292723e-02 -1.02796589e-03 9.98786975e-01 5.93721503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.830385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:122.39, Y:13.97, Z:5.94 [[ 9.18626174e-01 -3.92477862e-01 -4.56845782e-02 1.22387548e+02] [ 3.92049034e-01 9.19760870e-01 -1.83710952e-02 1.39728569e+01] [ 4.92291356e-02 -1.03442593e-03 9.98786975e-01 5.93668536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.860385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.41, Y:13.99, Z:5.94 [[ 9.18141692e-01 -3.93610057e-01 -4.56832240e-02 1.22411970e+02] [ 3.93182460e-01 9.19276853e-01 -1.83744620e-02 1.39861257e+01] [ 4.92279034e-02 -1.09148277e-03 9.98786975e-01 5.93807728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.890385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.43, Y:14.00, Z:5.94 [[ 9.17176543e-01 -3.95854299e-01 -4.56789213e-02 1.22434904e+02] [ 3.95428948e-01 9.18312547e-01 -1.83851524e-02 1.40028968e+01] [ 4.92253682e-02 -1.20033729e-03 9.98786975e-01 5.93954405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.920385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:122.46, Y:14.02, Z:5.94 [[ 9.16521560e-01 -3.97368918e-01 -4.56746426e-02 1.22459156e+02] [ 3.96944916e-01 9.17658068e-01 -1.83957759e-02 1.40162236e+01] [ 4.92236139e-02 -1.27019190e-03 9.98786976e-01 5.94099409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.950385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.48, Y:14.03, Z:5.94 [[ 9.15516656e-01 -3.99678871e-01 -4.56733169e-02 1.22482093e+02] [ 3.99257572e-01 9.16654169e-01 -1.83990669e-02 1.40320051e+01] [ 4.92203546e-02 -1.39076540e-03 9.98786976e-01 5.94271069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.980385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.51, Y:14.05, Z:5.94 [[ 9.15276181e-01 -4.00229471e-01 -4.56714737e-02 1.22506356e+02] [ 3.99808628e-01 9.16413862e-01 -1.84036409e-02 1.40459353e+01] [ 4.92196511e-02 -1.41543513e-03 9.98786976e-01 5.94317259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.010385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.53, Y:14.06, Z:5.94 [[ 9.15610060e-01 -3.99465541e-01 -4.56672804e-02 1.22528859e+02] [ 3.99043230e-01 9.16747197e-01 -1.84140405e-02 1.40615097e+01] [ 4.92211260e-02 -1.36313840e-03 9.98786976e-01 5.94425385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.040385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.55, Y:14.07, Z:5.95 [[ 9.16114471e-01 -3.98307596e-01 -4.56654578e-02 1.22554424e+02] [ 3.97883623e-01 9.17250990e-01 -1.84185592e-02 1.40739905e+01] [ 4.92229385e-02 -1.29602915e-03 9.98786976e-01 5.95067204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.07038572300002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:122.58, Y:14.09, Z:5.95 [[ 9.17891316e-01 -3.94196127e-01 -4.56612041e-02 1.22579675e+02] [ 3.93766538e-01 9.19025724e-01 -1.84290986e-02 1.40892582e+01] [ 4.92285004e-02 -1.06394469e-03 9.98786976e-01 5.95367344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.10038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.60, Y:14.10, Z:5.95 [[ 9.18894941e-01 -3.91851416e-01 -4.56569345e-02 1.22603491e+02] [ 3.91418408e-01 9.20028048e-01 -1.84396702e-02 1.41029785e+01] [ 4.92312712e-02 -9.26844964e-04 9.98786976e-01 5.95164395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.13038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.63, Y:14.12, Z:5.96 [[ 9.20070756e-01 -3.89082821e-01 -4.56548167e-02 1.22627780e+02] [ 3.88646143e-01 9.21202454e-01 -1.84449121e-02 1.41168124e+01] [ 4.92339276e-02 -7.72944220e-04 9.98786976e-01 5.95614865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.16038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.65, Y:14.13, Z:5.95 [[ 9.22842240e-01 -3.82463449e-01 -4.56498622e-02 1.22651467e+02] [ 3.82018046e-01 9.23970533e-01 -1.84571660e-02 1.41322141e+01] [ 4.92383189e-02 -4.06018740e-04 9.98786976e-01 5.95358253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.19038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.68, Y:14.15, Z:5.96 [[ 9.26137615e-01 -3.74413339e-01 -4.56483273e-02 1.22675969e+02] [ 3.73957942e-01 9.27261910e-01 -1.84609615e-02 1.41460042e+01] [ 4.92399854e-02 2.68362972e-05 9.98786976e-01 5.95841457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.22038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.70, Y:14.16, Z:5.96 [[ 9.27775759e-01 -3.70336098e-01 -4.56433441e-02 1.22701956e+02] [ 3.69875154e-01 9.28897792e-01 -1.84732738e-02 1.41580980e+01] [ 4.92393217e-02 2.56716711e-04 9.98786976e-01 5.95887302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.25038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.73, Y:14.17, Z:5.96 [[ 9.29299880e-01 -3.66495315e-01 -4.56389947e-02 1.22727716e+02] [ 3.66029206e-01 9.30419777e-01 -1.84840129e-02 1.41699785e+01] [ 4.92377274e-02 4.71985998e-04 9.98786976e-01 5.95902430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.280385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.75, Y:14.18, Z:5.96 [[ 9.29201546e-01 -3.66745174e-01 -4.56340285e-02 1.22754116e+02] [ 3.66278765e-01 9.30321318e-01 -1.84962655e-02 1.41807637e+01] [ 4.92377257e-02 4.71982881e-04 9.98786976e-01 5.96042675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.310385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.78, Y:14.19, Z:5.96 [[ 9.31677714e-01 -3.60408970e-01 -4.56290579e-02 1.22780531e+02] [ 3.59934347e-01 9.32794029e-01 -1.85085196e-02 1.41934667e+01] [ 4.92331493e-02 8.20510061e-04 9.98786976e-01 5.95987939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.340385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.81, Y:14.20, Z:5.96 [[ 9.32584663e-01 -3.58056185e-01 -4.56247105e-02 1.22805630e+02] [ 3.57578221e-01 9.33699552e-01 -1.85192301e-02 1.42042340e+01] [ 4.92306966e-02 9.56347185e-04 9.98786976e-01 5.95940416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.370385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.83, Y:14.21, Z:5.96 [[ 9.33422492e-01 -3.55866596e-01 -4.56225513e-02 1.22832881e+02] [ 3.55385757e-01 9.34536144e-01 -1.85245477e-02 1.42145818e+01] [ 4.92281909e-02 1.07762455e-03 9.98786976e-01 5.96187867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.400385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.86, Y:14.22, Z:5.96 [[ 9.33721508e-01 -3.55081853e-01 -4.56182387e-02 1.22859716e+02] [ 3.54599560e-01 9.34834531e-01 -1.85351617e-02 1.42235694e+01] [ 4.92270044e-02 1.13047172e-03 9.98786976e-01 5.96350042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.430385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.89, Y:14.23, Z:5.97 [[ 9.33797512e-01 -3.54882125e-01 -4.56167107e-02 1.22887343e+02] [ 3.54399411e-01 9.34910352e-01 -1.85389215e-02 1.42298580e+01] [ 4.92266669e-02 1.14506334e-03 9.98786976e-01 5.96637496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.460385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.91, Y:14.24, Z:5.97 [[ 9.33641954e-01 -3.55291786e-01 -4.56119367e-02 1.22914035e+02] [ 3.54808986e-01 9.34754757e-01 -1.85506598e-02 1.42385325e+01] [ 4.92268719e-02 1.13614923e-03 9.98786976e-01 5.96998984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.490385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.94, Y:14.25, Z:5.97 [[ 9.33601436e-01 -3.55398910e-01 -4.56067212e-02 1.22940485e+02] [ 3.54915613e-01 9.34714023e-01 -1.85634733e-02 1.42476338e+01] [ 4.92266800e-02 1.14434792e-03 9.98786977e-01 5.97159079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.520385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.97, Y:14.25, Z:5.97 [[ 9.33584180e-01 -3.55444906e-01 -4.56015052e-02 1.22967322e+02] [ 3.54961038e-01 9.34696519e-01 -1.85762775e-02 1.42548096e+01] [ 4.92264114e-02 1.15576121e-03 9.98786977e-01 5.97101338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.550385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.99, Y:14.26, Z:5.97 [[ 9.33427669e-01 -3.55855922e-01 -4.55998914e-02 1.22994683e+02] [ 3.55372351e-01 9.34540137e-01 -1.85802383e-02 1.42631184e+01] [ 4.92268165e-02 1.13836791e-03 9.98786977e-01 5.97145959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.580385723 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:123.02, Y:14.27, Z:5.97 [[ 9.33173217e-01 -3.56523296e-01 -4.55948052e-02 1.23023310e+02] [ 3.56039912e-01 9.34285766e-01 -1.85927111e-02 1.42679718e+01] [ 4.92273121e-02 1.11664961e-03 9.98786977e-01 5.97400387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.610385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.05, Y:14.28, Z:5.98 [[ 9.31921226e-01 -3.59783842e-01 -4.55896470e-02 1.23047174e+02] [ 3.59303732e-01 9.33035192e-01 -1.86053504e-02 1.42782245e+01] [ 4.92306495e-02 9.58190649e-04 9.98786977e-01 5.97515227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.640385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.08, Y:14.28, Z:5.98 [[ 9.33204778e-01 -3.56463279e-01 -4.54177521e-02 1.23079742e+02] [ 3.55958706e-01 9.34307983e-01 -1.90260781e-02 1.42805841e+01] [ 4.92162665e-02 1.58838277e-03 9.98786882e-01 5.97749330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.670385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.11, Y:14.29, Z:5.98 [[ 9.33371272e-01 -3.56005831e-01 -4.55841648e-02 1.23106744e+02] [ 3.55520564e-01 9.34482998e-01 -1.86186617e-02 1.42887446e+01] [ 4.92259791e-02 1.17201598e-03 9.98786979e-01 5.98136000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.700385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:123.13, Y:14.30, Z:5.98 [[ 9.32693165e-01 -3.57779271e-01 -4.55790831e-02 1.23131101e+02] [ 3.57295510e-01 9.33805548e-01 -1.86310934e-02 1.42976817e+01] [ 4.92278197e-02 1.09189173e-03 9.98786979e-01 5.97922839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.730385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.16, Y:14.30, Z:5.98 [[ 9.33655589e-01 -3.55278339e-01 -4.54372450e-02 1.23161554e+02] [ 3.54774719e-01 9.34759191e-01 -1.89776961e-02 1.43032597e+01] [ 4.92152467e-02 1.59864617e-03 9.98786916e-01 5.98213417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.760385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:123.19, Y:14.31, Z:5.98 [[ 9.33465408e-01 -3.55760352e-01 -4.55730609e-02 1.23191234e+02] [ 3.55273470e-01 9.34576427e-01 -1.86457497e-02 1.43069470e+01] [ 4.92249268e-02 1.21426284e-03 9.98786980e-01 5.98268362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.790385723 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:123.21, Y:14.32, Z:5.98 [[ 9.31616083e-01 -3.60575892e-01 -4.55686311e-02 1.23212183e+02] [ 3.60094224e-01 9.32729372e-01 -1.86565694e-02 1.43187430e+01] [ 4.92303098e-02 9.71759230e-04 9.98786980e-01 5.97674139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.82038572300002 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:123.25, Y:14.32, Z:5.98 [[ 9.33505398e-01 -3.55687441e-01 -4.53223590e-02 1.23246841e+02] [ 3.55170738e-01 9.34603077e-01 -1.92570798e-02 1.43222097e+01] [ 4.92079176e-02 1.87941230e-03 9.98786788e-01 5.98323392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.85038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.27, Y:14.33, Z:5.98 [[ 9.31903667e-01 -3.59832594e-01 -4.55637926e-02 1.23268452e+02] [ 3.59349489e-01 9.33016322e-01 -1.86678231e-02 1.43347465e+01] [ 4.92290534e-02 1.02328721e-03 9.98786991e-01 5.97680963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.88038572300002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:123.30, Y:14.34, Z:5.99 [[ 9.34302443e-01 -3.53588361e-01 -4.53234528e-02 1.23303784e+02] [ 3.53069341e-01 9.35399018e-01 -1.92540101e-02 1.43364801e+01] [ 4.92035072e-02 1.98674708e-03 9.98786798e-01 5.98660069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.91038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.33, Y:14.34, Z:5.99 [[ 9.34428551e-01 -3.53223785e-01 -4.55657774e-02 1.23330981e+02] [ 3.52733078e-01 9.35537862e-01 -1.86623808e-02 1.43438120e+01] [ 4.92205068e-02 1.36610460e-03 9.98787002e-01 5.98965739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.94038572300002 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:123.36, Y:14.35, Z:5.99 [[ 9.34667223e-01 -3.52592417e-01 -4.55606080e-02 1.23359261e+02] [ 3.52100347e-01 9.35775930e-01 -1.86749924e-02 1.43482792e+01] [ 4.92191810e-02 1.41299739e-03 9.98787002e-01 5.99309747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.97038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.39, Y:14.36, Z:6.00 [[ 9.34576944e-01 -3.52831951e-01 -4.55582130e-02 1.23386167e+02] [ 3.52339880e-01 9.35685650e-01 -1.86808332e-02 1.43567405e+01] [ 4.92193610e-02 1.40670064e-03 9.98787002e-01 5.99550918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.00038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.41, Y:14.36, Z:6.00 [[ 9.34219074e-01 -3.53779075e-01 -4.55531408e-02 1.23414245e+02] [ 3.53287525e-01 9.35328011e-01 -1.86931935e-02 1.43634321e+01] [ 4.92203893e-02 1.37018152e-03 9.98787002e-01 5.99701888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.030385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:123.44, Y:14.37, Z:6.00 [[ 9.33856716e-01 -3.54735142e-01 -4.55479203e-02 1.23440486e+02] [ 3.54244108e-01 9.34965882e-01 -1.87059053e-02 1.43711591e+01] [ 4.92213934e-02 1.33355288e-03 9.98787002e-01 5.99753919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.060385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:123.47, Y:14.38, Z:6.00 [[ 9.33400102e-01 -3.55935331e-01 -4.55443755e-02 1.23467608e+02] [ 3.55445303e-01 9.34509713e-01 -1.87145320e-02 1.43785863e+01] [ 4.92228244e-02 1.27961175e-03 9.98787002e-01 6.00016644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.090385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:123.49, Y:14.39, Z:6.00 [[ 9.30513389e-01 -3.63415772e-01 -4.55390985e-02 1.23490308e+02] [ 3.62934039e-01 9.31626626e-01 -1.87273640e-02 1.43857848e+01] [ 4.92312561e-02 8.98374032e-04 9.98787002e-01 5.99566987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.120385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.52, Y:14.39, Z:6.00 [[ 9.29314333e-01 -3.66495913e-01 -4.53389078e-02 1.23519574e+02] [ 3.65994100e-01 9.30418806e-01 -1.92136693e-02 1.43900363e+01] [ 4.92259037e-02 1.26176555e-03 9.98786873e-01 5.99789473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.150385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:123.55, Y:14.39, Z:6.01 [[ 9.30154980e-01 -3.64355319e-01 -4.53532158e-02 1.23551815e+02] [ 3.63852657e-01 9.31259047e-01 -1.91789238e-02 1.43945400e+01] [ 4.92235354e-02 1.33748337e-03 9.98786892e-01 6.00636768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.180385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.58, Y:14.40, Z:6.01 [[ 9.29395766e-01 -3.66265028e-01 -4.55350316e-02 1.23579923e+02] [ 3.65786231e-01 9.30510266e-01 -1.87370883e-02 1.44025452e+01] [ 4.92335545e-02 7.58082932e-04 9.98787006e-01 6.00871202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.210385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.60, Y:14.41, Z:6.00 [[ 9.26265405e-01 -3.74111438e-01 -4.55305521e-02 1.23603774e+02] [ 3.73641548e-01 9.27383689e-01 -1.87479670e-02 1.44116226e+01] [ 4.92381202e-02 3.53487294e-04 9.98787006e-01 6.00395917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.240385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.63, Y:14.42, Z:6.01 [[ 9.24505710e-01 -3.78455604e-01 -4.53932527e-02 1.23631491e+02] [ 3.77974552e-01 9.25619318e-01 -1.90818203e-02 1.44161613e+01] [ 4.92384935e-02 4.83757491e-04 9.98786933e-01 6.00739407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.270385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:123.66, Y:14.42, Z:6.01 [[ 9.23307541e-01 -3.81371956e-01 -4.53719686e-02 1.23658605e+02] [ 3.80891879e-01 9.24421594e-01 -1.91335506e-02 1.44240835e+01] [ 4.92398272e-02 3.84337127e-04 9.98786910e-01 6.00819986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.300385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.69, Y:14.43, Z:6.01 [[ 9.22766188e-01 -3.82679783e-01 -4.53733956e-02 1.23686809e+02] [ 3.82201456e-01 9.23880992e-01 -1.91300842e-02 1.44314471e+01] [ 4.92403142e-02 3.10816990e-04 9.98786912e-01 6.01169765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.330385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.71, Y:14.44, Z:6.01 [[ 9.21385085e-01 -3.85990962e-01 -4.53927525e-02 1.23714110e+02] [ 3.85518956e-01 9.22502559e-01 -1.90830793e-02 1.44387366e+01] [ 4.92408265e-02 8.30980548e-05 9.98786931e-01 6.01352709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.360385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:123.74, Y:14.45, Z:6.01 [[ 9.20822397e-01 -3.87331283e-01 -4.53937350e-02 1.23740881e+02] [ 3.86861021e-01 9.21940604e-01 -1.90806959e-02 1.44480152e+01] [ 4.92408779e-02 8.86540353e-06 9.98786932e-01 6.01451857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.390385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.77, Y:14.45, Z:6.02 [[ 9.20267308e-01 -3.88647629e-01 -4.53993601e-02 1.23768866e+02] [ 3.88179639e-01 9.21386463e-01 -1.90670563e-02 1.44544326e+01] [ 4.92407220e-02 -7.63186877e-05 9.98786937e-01 6.01692042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.420385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.80, Y:14.46, Z:6.03 [[ 9.21490284e-01 -3.85741138e-01 -4.53809487e-02 1.23798531e+02] [ 3.85267421e-01 9.22607044e-01 -1.91116699e-02 1.44603707e+01] [ 4.92409402e-02 1.27417013e-04 9.98786921e-01 6.02675454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.450385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.82, Y:14.47, Z:6.02 [[ 9.20472064e-01 -3.88148486e-01 -4.55184759e-02 1.23823736e+02] [ 3.87694150e-01 9.21596778e-01 -1.87783135e-02 1.44693793e+01] [ 4.92384547e-02 -3.62333817e-04 9.98786986e-01 6.02069864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.480385723 meters Centerline goodness : 0.997736 Centerline is valid? [True, True] Translation: X:123.86, Y:14.48, Z:6.02 [[ 9.22211411e-01 -3.84012385e-01 -4.53938600e-02 1.23857393e+02] [ 3.83538152e-01 9.23327923e-01 -1.90796229e-02 1.44766497e+01] [ 4.92402300e-02 1.85168747e-04 9.98786947e-01 6.02255567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.510385723 meters Centerline goodness : 0.998328 Centerline is valid? [True, True] Translation: X:123.88, Y:14.49, Z:6.02 [[ 9.23010414e-01 -3.82051357e-01 -4.57004989e-02 1.23883777e+02] [ 3.81611384e-01 9.24140950e-01 -1.83372687e-02 1.44855282e+01] [ 4.92394809e-02 -5.14340697e-04 9.98786869e-01 6.02332534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.540385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.90, Y:14.50, Z:6.02 [[ 9.24244945e-01 -3.79057623e-01 -4.56793207e-02 1.23904052e+02] [ 3.78611457e-01 9.25373021e-01 -1.83884823e-02 1.44968748e+01] [ 4.92407054e-02 -2.99252328e-04 9.98786896e-01 6.02205025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.57038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.94, Y:14.50, Z:6.03 [[ 9.28542785e-01 -3.68437702e-01 -4.54087730e-02 1.23935273e+02] [ 3.67946586e-01 9.29651931e-01 -1.90420025e-02 1.45021648e+01] [ 4.92301452e-02 9.73311067e-04 9.98786987e-01 6.03099001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.60038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.96, Y:14.51, Z:6.03 [[ 9.29707121e-01 -3.65478829e-01 -4.54960974e-02 1.23961343e+02] [ 3.64994493e-01 9.30819216e-01 -1.88310286e-02 1.45105364e+01] [ 4.92309840e-02 9.01516358e-04 9.98787013e-01 6.03058129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.63038572300002 meters Centerline goodness : 0.996713 Centerline is valid? [True, True] Translation: X:123.99, Y:14.52, Z:6.03 [[ 9.30338412e-01 -3.63869298e-01 -4.54925627e-02 1.23990067e+02] [ 3.63382620e-01 9.31449484e-01 -1.88395639e-02 1.45204134e+01] [ 4.92291630e-02 9.95963342e-04 9.98787013e-01 6.02679339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.66038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.01, Y:14.53, Z:6.03 [[ 9.31862645e-01 -3.59935944e-01 -4.55864787e-02 1.24014642e+02] [ 3.59455652e-01 9.32976526e-01 -1.86127985e-02 1.45280878e+01] [ 4.92305297e-02 9.58254167e-04 9.98786983e-01 6.03349872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.69038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.04, Y:14.54, Z:6.04 [[ 9.32023407e-01 -3.59532351e-01 -4.54847019e-02 1.24041820e+02] [ 3.59039591e-01 9.33131790e-01 -1.88582807e-02 1.45375263e+01] [ 4.92233833e-02 1.24555027e-03 9.98787018e-01 6.03521845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.72038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.06, Y:14.55, Z:6.03 [[ 9.30837258e-01 -3.62592814e-01 -4.54802120e-02 1.24064539e+02] [ 3.62103171e-01 9.31947021e-01 -1.88691028e-02 1.45463154e+01] [ 4.92269492e-02 1.09553497e-03 9.98787018e-01 6.02764145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.75038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.09, Y:14.56, Z:6.03 [[ 9.30171300e-01 -3.64324897e-01 -4.52628150e-02 1.24089882e+02] [ 3.63811804e-01 9.31270584e-01 -1.93925452e-02 1.45550710e+01] [ 4.92171152e-02 1.57124259e-03 9.98786868e-01 6.02778187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.780385723 meters Centerline goodness : 0.998922 Centerline is valid? [True, True] Translation: X:124.12, Y:14.56, Z:6.04 [[ 9.32279021e-01 -3.58902652e-01 -4.52185081e-02 1.24124602e+02] [ 3.58378011e-01 9.33372912e-01 -1.94989146e-02 1.45573834e+01] [ 4.92039428e-02 1.97311004e-03 9.98786804e-01 6.03826098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.810385723 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:124.15, Y:14.57, Z:6.03 [[ 9.30056280e-01 -3.64601881e-01 -4.53958584e-02 1.24145275e+02] [ 3.64104717e-01 9.31162717e-01 -1.90722115e-02 1.45692618e+01] [ 4.92246951e-02 1.20938394e-03 9.98786998e-01 6.03326540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.840385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.17, Y:14.58, Z:6.03 [[ 9.30062323e-01 -3.64617583e-01 -4.51452522e-02 1.24172207e+02] [ 3.64090823e-01 9.31155481e-01 -1.96810141e-02 1.45764075e+01] [ 4.92132928e-02 1.86759769e-03 9.98786546e-01 6.03499221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.870385723 meters Centerline goodness : 0.998638 Centerline is valid? [True, True] Translation: X:124.21, Y:14.58, Z:6.05 [[ 9.31508284e-01 -3.60909844e-01 -4.51264981e-02 1.24208475e+02] [ 3.60376553e-01 9.32598317e-01 -1.97260875e-02 1.45830117e+01] [ 4.92042354e-02 2.11248207e-03 9.98786504e-01 6.04522788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.900385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.24, Y:14.59, Z:6.05 [[ 9.30241622e-01 -3.64113405e-01 -4.55187147e-02 1.24235258e+02] [ 3.63629864e-01 9.31354166e-01 -1.87813433e-02 1.45871508e+01] [ 4.92325835e-02 9.19223201e-04 9.98786918e-01 6.04686293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.930385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.25, Y:14.60, Z:6.04 [[ 9.26140814e-01 -3.74426828e-01 -4.54724499e-02 1.24252049e+02] [ 3.73950209e-01 9.27256333e-01 -1.88926980e-02 1.46022157e+01] [ 4.92385502e-02 4.92866602e-04 9.98786925e-01 6.03701918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.960385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.28, Y:14.61, Z:6.04 [[ 9.24136110e-01 -3.79393542e-01 -4.50886942e-02 1.24279997e+02] [ 3.78877760e-01 9.25234582e-01 -1.98144130e-02 1.46117832e+01] [ 4.92350794e-02 1.22811106e-03 9.98786463e-01 6.03714731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.990385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.31, Y:14.62, Z:6.04 [[ 9.23319340e-01 -3.81372947e-01 -4.51228513e-02 1.24307117e+02] [ 3.80863529e-01 9.24420687e-01 -1.97323443e-02 1.46222881e+01] [ 4.92378795e-02 1.03360671e-03 9.98786545e-01 6.03712510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.020385723 meters Centerline goodness : 0.997933 Centerline is valid? [True, True] Translation: X:124.34, Y:14.63, Z:6.05 [[ 9.25293412e-01 -3.76549379e-01 -4.51958792e-02 1.24341508e+02] [ 3.76042736e-01 9.26395894e-01 -1.95577948e-02 1.46281730e+01] [ 4.92337524e-02 1.10111664e-03 9.98786677e-01 6.04907721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.050385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.37, Y:14.64, Z:6.05 [[ 9.25375777e-01 -3.76311134e-01 -4.54928812e-02 1.24365998e+02] [ 3.75839019e-01 9.26493288e-01 -1.88472578e-02 1.46387779e+01] [ 4.92412820e-02 3.42796047e-04 9.98786853e-01 6.05383703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.080385723 meters Centerline goodness : 0.997470 Centerline is valid? [True, True] Translation: X:124.39, Y:14.65, Z:6.05 [[ 9.24851922e-01 -3.77604667e-01 -4.54272836e-02 1.24392826e+02] [ 3.77126407e-01 9.25966802e-01 -1.90040641e-02 1.46538728e+01] [ 4.92401798e-02 4.44116930e-04 9.98786868e-01 6.05084451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.110385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.42, Y:14.67, Z:6.05 [[ 9.24861080e-01 -3.77570462e-01 -4.55250290e-02 1.24417099e+02] [ 3.77103651e-01 9.25980836e-01 -1.87703702e-02 1.46658323e+01] [ 4.92424418e-02 1.92330141e-04 9.98786837e-01 6.05228137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.140385723 meters Centerline goodness : 0.997942 Centerline is valid? [True, True] Translation: X:124.44, Y:14.68, Z:6.06 [[ 9.24975076e-01 -3.77296869e-01 -4.54772565e-02 1.24442991e+02] [ 3.76824116e-01 9.26092308e-01 -1.88844505e-02 1.46773170e+01] [ 4.92411815e-02 3.30719107e-04 9.98786862e-01 6.05519563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.170385723 meters Centerline goodness : 0.997942 Centerline is valid? [True, True] Translation: X:124.47, Y:14.69, Z:6.06 [[ 9.24837132e-01 -3.77634189e-01 -4.54829489e-02 1.24469275e+02] [ 3.77162511e-01 9.25954821e-01 -1.88708631e-02 1.46886242e+01] [ 4.92414389e-02 2.98011716e-04 9.98786860e-01 6.05661287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.200385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.49, Y:14.70, Z:6.06 [[ 9.25048286e-01 -3.77117341e-01 -4.54772479e-02 1.24493515e+02] [ 3.76644371e-01 9.26165425e-01 -1.88844583e-02 1.46988825e+01] [ 4.92411114e-02 3.40286320e-04 9.98786863e-01 6.05941604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.230385723 meters Centerline goodness : 0.998221 Centerline is valid? [True, True] Translation: X:124.52, Y:14.71, Z:6.06 [[ 9.25096682e-01 -3.77007148e-01 -4.54063810e-02 1.24519719e+02] [ 3.76525750e-01 9.26210198e-01 -1.90533448e-02 1.47094590e+01] [ 4.92391003e-02 5.29514423e-04 9.98786879e-01 6.05874400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.260385723 meters Centerline goodness : 0.998352 Centerline is valid? [True, True] Translation: X:124.55, Y:14.72, Z:6.06 [[ 9.24577944e-01 -3.78280845e-01 -4.53787177e-02 1.24547428e+02] [ 3.77797745e-01 9.25690725e-01 -1.91192421e-02 1.47215380e+01] [ 4.92391011e-02 5.33252300e-04 9.98786877e-01 6.06191649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.290385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.57, Y:14.73, Z:6.07 [[ 9.23367505e-01 -3.81218095e-01 -4.54446317e-02 1.24573313e+02] [ 3.80746254e-01 9.24485112e-01 -1.89622965e-02 1.47326694e+01] [ 4.92416559e-02 2.06295140e-04 9.98786873e-01 6.06780305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.32038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.60, Y:14.74, Z:6.07 [[ 9.23081531e-01 -3.81905417e-01 -4.54834003e-02 1.24598851e+02] [ 3.81438941e-01 9.24201411e-01 -1.88702503e-02 1.47435046e+01] [ 4.92424735e-02 6.96394941e-05 9.98786851e-01 6.07152964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.35038572300002 meters Centerline goodness : 0.998238 Centerline is valid? [True, True] Translation: X:124.62, Y:14.75, Z:6.07 [[ 9.22778894e-01 -3.82640386e-01 -4.54472009e-02 1.24624406e+02] [ 3.82170567e-01 9.23897354e-01 -1.89562063e-02 1.47547377e+01] [ 4.92419587e-02 1.23804583e-04 9.98786871e-01 6.06824932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.38038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.64, Y:14.77, Z:6.06 [[ 9.21579980e-01 -3.85512249e-01 -4.55043502e-02 1.24641569e+02] [ 3.85052608e-01 9.22702701e-01 -1.88205746e-02 1.47681671e+01] [ 4.92425489e-02 -1.76903986e-04 9.98786834e-01 6.06444930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.41038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.68, Y:14.78, Z:6.07 [[ 9.24085784e-01 -3.79517747e-01 -4.50748686e-02 1.24676937e+02] [ 3.79000734e-01 9.25183609e-01 -1.98427246e-02 1.47762565e+01] [ 4.92331957e-02 1.25297142e-03 9.98786525e-01 6.07401685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.44038572300002 meters Centerline goodness : 0.996754 Centerline is valid? [True, True] Translation: X:124.70, Y:14.79, Z:6.07 [[ 9.24516117e-01 -3.78421702e-01 -4.54638916e-02 1.24702330e+02] [ 3.77948829e-01 9.25633255e-01 -1.89145254e-02 1.47886790e+01] [ 4.92405569e-02 3.03758950e-04 9.98786902e-01 6.06997246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.47038572300002 meters Centerline goodness : 0.996926 Centerline is valid? [True, True] Translation: X:124.73, Y:14.80, Z:6.06 [[ 9.24264098e-01 -3.79034976e-01 -4.54792593e-02 1.24728311e+02] [ 3.78564648e-01 9.25382317e-01 -1.88778817e-02 1.48012638e+01] [ 4.92410798e-02 2.31308515e-04 9.98786895e-01 6.06479676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.50038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.76, Y:14.81, Z:6.07 [[ 9.23762703e-01 -3.80257190e-01 -4.54635997e-02 1.24755266e+02] [ 3.79786504e-01 9.24880764e-01 -1.89151784e-02 1.48127241e+01] [ 4.92410414e-02 2.06674687e-04 9.98786903e-01 6.07481243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.530385723 meters Centerline goodness : 0.996652 Centerline is valid? [True, True] Translation: X:124.78, Y:14.82, Z:6.08 [[ 9.23847938e-01 -3.80046498e-01 -4.54933701e-02 1.24781434e+02] [ 3.79579045e-01 9.24967372e-01 -1.88443421e-02 1.48221947e+01] [ 4.92416092e-02 1.40976607e-04 9.98786886e-01 6.07500008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.560385723 meters Centerline goodness : 0.998652 Centerline is valid? [True, True] Translation: X:124.81, Y:14.83, Z:6.08 [[ 9.22956705e-01 -3.82209643e-01 -4.54610864e-02 1.24807669e+02] [ 3.81741033e-01 9.24075634e-01 -1.89210729e-02 1.48333472e+01] [ 4.92412987e-02 1.08968969e-04 9.98786906e-01 6.07895679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.590385723 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:124.82, Y:14.84, Z:6.07 [[ 9.20964308e-01 -3.86987016e-01 -4.54509912e-02 1.24824010e+02] [ 3.86523028e-01 9.22085156e-01 -1.89450312e-02 1.48440692e+01] [ 4.92411654e-02 -1.20157234e-04 9.98786911e-01 6.07389385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.620385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.85, Y:14.86, Z:6.07 [[ 9.20248945e-01 -3.88734246e-01 -4.50284890e-02 1.24853514e+02] [ 3.88222692e-01 9.21349502e-01 -1.99558524e-02 1.48551196e+01] [ 4.92444992e-02 8.83270888e-04 9.98786363e-01 6.07457463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.650385723 meters Centerline goodness : 0.998385 Centerline is valid? [True, True] Translation: X:124.89, Y:14.86, Z:6.08 [[ 9.21371086e-01 -3.86051319e-01 -4.51630422e-02 1.24885172e+02] [ 3.85552217e-01 9.22477055e-01 -1.96359520e-02 1.48639628e+01] [ 4.92423554e-02 6.79287334e-04 9.98786628e-01 6.08203977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.680385723 meters Centerline goodness : 0.998311 Centerline is valid? [True, True] Translation: X:124.91, Y:14.88, Z:6.08 [[ 9.20672119e-01 -3.87686838e-01 -4.54066581e-02 1.24909218e+02] [ 3.87218207e-01 9.21791145e-01 -1.90563949e-02 1.48755621e+01] [ 4.92433688e-02 -3.75932672e-05 9.98786809e-01 6.07894426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.710385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.93, Y:14.89, Z:6.08 [[ 9.19164165e-01 -3.91259014e-01 -4.53169106e-02 1.24926910e+02] [ 3.90784203e-01 9.20280601e-01 -1.92697371e-02 1.48874055e+01] [ 4.92437320e-02 2.91899112e-06 9.98786791e-01 6.07611243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.740385723 meters Centerline goodness : 0.996462 Centerline is valid? [True, True] Translation: X:124.96, Y:14.90, Z:6.08 [[ 9.20045906e-01 -3.89212143e-01 -4.50492877e-02 1.24962048e+02] [ 3.88703695e-01 9.21147798e-01 -1.99040888e-02 1.48986895e+01] [ 4.92439652e-02 8.01850849e-04 9.98786458e-01 6.08321621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.770385723 meters Centerline goodness : 0.997163 Centerline is valid? [True, True] Translation: X:124.99, Y:14.91, Z:6.09 [[ 9.19940141e-01 -3.89421370e-01 -4.53997056e-02 1.24988046e+02] [ 3.88954056e-01 9.21059707e-01 -1.90724549e-02 1.49092479e+01] [ 4.92430610e-02 -1.12882811e-04 9.98786818e-01 6.08778467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.800385723 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:125.01, Y:14.92, Z:6.08 [[ 9.18718096e-01 -3.92298607e-01 -4.53746829e-02 1.25008038e+02] [ 3.91831868e-01 9.19837900e-01 -1.91318039e-02 1.49226442e+01] [ 4.92427331e-02 -2.02512335e-04 9.98786820e-01 6.08329370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.830385723 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:125.03, Y:14.93, Z:6.08 [[ 9.19469601e-01 -3.90563589e-01 -4.51191205e-02 1.25034626e+02] [ 3.90064690e-01 9.20575786e-01 -1.97423651e-02 1.49345622e+01] [ 4.92462187e-02 5.53128846e-04 9.98786516e-01 6.08407376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.860385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.06, Y:14.95, Z:6.08 [[ 9.20054221e-01 -3.89179057e-01 -4.51651525e-02 1.25058471e+02] [ 3.88683898e-01 9.21161986e-01 -1.96322090e-02 1.49457530e+01] [ 4.92448662e-02 5.07729251e-04 9.98786607e-01 6.08446691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.890385723 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:125.08, Y:14.96, Z:6.08 [[ 9.20360720e-01 -3.88463032e-01 -4.50845552e-02 1.25082901e+02] [ 3.87957558e-01 9.21463999e-01 -1.98250157e-02 1.49588832e+01] [ 4.92450802e-02 7.55271770e-04 9.98786439e-01 6.08237111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.920385723 meters Centerline goodness : 0.998415 Centerline is valid? [True, True] Translation: X:125.12, Y:14.97, Z:6.09 [[ 9.22751611e-01 -3.82751438e-01 -4.50644146e-02 1.25117598e+02] [ 3.82236807e-01 9.23850691e-01 -1.98727033e-02 1.49689887e+01] [ 4.92390963e-02 1.11229103e-03 9.98786401e-01 6.09006027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.950385723 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:125.14, Y:14.98, Z:6.09 [[ 9.23959675e-01 -3.79779451e-01 -4.54542433e-02 1.25141960e+02] [ 3.79306554e-01 9.25077023e-01 -1.89483577e-02 1.49779998e+01] [ 4.92448730e-02 2.66426038e-04 9.98786700e-01 6.09297247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.980385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:125.17, Y:14.99, Z:6.10 [[ 9.23716984e-01 -3.80381952e-01 -4.53487001e-02 1.25169091e+02] [ 3.79897489e-01 9.24829343e-01 -1.91985232e-02 1.49899801e+01] [ 4.92425802e-02 5.06144609e-04 9.98786720e-01 6.09524340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.010385723 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:125.19, Y:15.00, Z:6.09 [[ 9.22143570e-01 -3.84171188e-01 -4.54283401e-02 1.25185867e+02] [ 3.83700574e-01 9.23261874e-01 -1.90100241e-02 1.50034133e+01] [ 4.92453580e-02 9.90913351e-05 9.98786706e-01 6.08867818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.040385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.21, Y:15.01, Z:6.09 [[ 9.23659622e-01 -3.80562677e-01 -4.49994703e-02 1.25213733e+02] [ 3.80037717e-01 9.24754069e-01 -2.00311119e-02 1.50135555e+01] [ 4.92365368e-02 1.40043325e-03 9.98786164e-01 6.09104999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.07038572300002 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:125.24, Y:15.02, Z:6.09 [[ 9.24718991e-01 -3.77975734e-01 -4.50458968e-02 1.25243809e+02] [ 3.77453059e-01 9.25814415e-01 -1.99212623e-02 1.50232423e+01] [ 4.92338943e-02 1.41885806e-03 9.98786269e-01 6.09438354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.10038572300002 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:125.27, Y:15.03, Z:6.09 [[ 9.25096146e-01 -3.77039315e-01 -4.51494728e-02 1.25268872e+02] [ 3.76527443e-01 9.26196474e-01 -1.96768054e-02 1.50333256e+01] [ 4.92362117e-02 1.20292131e-03 9.98786438e-01 6.09455598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.13038572300002 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:125.30, Y:15.04, Z:6.10 [[ 9.25581662e-01 -3.75850634e-01 -4.51097415e-02 1.25296025e+02] [ 3.75332765e-01 9.26679248e-01 -1.97708559e-02 1.50436793e+01] [ 4.92331500e-02 1.36837766e-03 9.98786376e-01 6.09551010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.16038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.32, Y:15.06, Z:6.09 [[ 9.24514663e-01 -3.78456579e-01 -4.52023808e-02 1.25320003e+02] [ 3.77952525e-01 9.25618515e-01 -1.95513078e-02 1.50561358e+01] [ 4.92394816e-02 9.91116789e-04 9.98786509e-01 6.09450150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.19038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.35, Y:15.07, Z:6.10 [[ 9.24819191e-01 -3.77722168e-01 -4.51157070e-02 1.25347699e+02] [ 3.77207216e-01 9.25918135e-01 -1.97566035e-02 1.50658768e+01] [ 4.92359584e-02 1.25331584e-03 9.98786388e-01 6.09633883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.22038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.37, Y:15.08, Z:6.10 [[ 9.24960363e-01 -3.77369580e-01 -4.51721894e-02 1.25374953e+02] [ 3.76860737e-01 9.26062056e-01 -1.96227863e-02 1.50763419e+01] [ 4.92372932e-02 1.12667498e-03 9.98786473e-01 6.09936059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.25038572300002 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:125.40, Y:15.09, Z:6.10 [[ 9.24609247e-01 -3.78223799e-01 -4.52161286e-02 1.25400666e+02] [ 3.77721064e-01 9.25713682e-01 -1.95186333e-02 1.50857324e+01] [ 4.92396005e-02 9.68024603e-04 9.98786526e-01 6.10207718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.280385723 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:125.43, Y:15.09, Z:6.11 [[ 9.26571593e-01 -3.73393009e-01 -4.51967194e-02 1.25434955e+02] [ 3.72882277e-01 9.27672375e-01 -1.95645536e-02 1.50940164e+01] [ 4.92330156e-02 1.27490398e-03 9.98786506e-01 6.11168583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.310385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.45, Y:15.11, Z:6.10 [[ 9.25242110e-01 -3.76638197e-01 -4.55050119e-02 1.25452476e+02] [ 3.76167119e-01 9.26360391e-01 -1.88341466e-02 1.51068938e+01] [ 4.92476996e-02 3.08656327e-04 9.98786548e-01 6.10384412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.340385723 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:125.47, Y:15.12, Z:6.10 [[ 9.26034852e-01 -3.74726200e-01 -4.51633571e-02 1.25471844e+02] [ 3.74213201e-01 9.27134624e-01 -1.96435469e-02 1.51169729e+01] [ 4.92334638e-02 1.28988460e-03 9.98786465e-01 6.10493224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.370385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.50, Y:15.13, Z:6.11 [[ 9.25996713e-01 -3.74845484e-01 -4.49549935e-02 1.25499687e+02] [ 3.74308442e-01 9.27085508e-01 -2.01407856e-02 1.51296511e+01] [ 4.92268055e-02 1.82326765e-03 9.98785962e-01 6.10557557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.400385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.53, Y:15.14, Z:6.11 [[ 9.26067956e-01 -3.74648827e-01 -4.51264471e-02 1.25529178e+02] [ 3.74131461e-01 9.27165749e-01 -1.97312834e-02 1.51398620e+01] [ 4.92319983e-02 1.38928567e-03 9.98786404e-01 6.10852685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.430385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.56, Y:15.15, Z:6.11 [[ 9.25856434e-01 -3.75156051e-01 -4.52526435e-02 1.25556419e+02] [ 3.74653997e-01 9.26961092e-01 -1.94297841e-02 1.51489072e+01] [ 4.92366409e-02 1.03510681e-03 9.98786605e-01 6.11249995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.460385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.58, Y:15.16, Z:6.12 [[ 9.25474616e-01 -3.76095955e-01 -4.52610985e-02 1.25583060e+02] [ 3.75596011e-01 9.26580220e-01 -1.94095899e-02 1.51592870e+01] [ 4.92379068e-02 9.63194756e-04 9.98786614e-01 6.11559109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.490385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.61, Y:15.17, Z:6.12 [[ 9.26614919e-01 -3.73274349e-01 -4.52885485e-02 1.25612713e+02] [ 3.72774232e-01 9.27720418e-01 -1.93441961e-02 1.51676463e+01] [ 4.92358033e-02 1.04221686e-03 9.98786639e-01 6.12097420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.520385723 meters Centerline goodness : 0.999909 Centerline is valid? [True, True] Translation: X:125.64, Y:15.18, Z:6.12 [[ 9.25316084e-01 -3.76465477e-01 -4.54300374e-02 1.25635052e+02] [ 3.75985692e-01 9.26430509e-01 -1.90071504e-02 1.51810725e+01] [ 4.92433086e-02 5.06577931e-04 9.98786684e-01 6.11741323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.550385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.67, Y:15.19, Z:6.12 [[ 9.26941890e-01 -3.72467720e-01 -4.52385860e-02 1.25665140e+02] [ 3.71960821e-01 9.28044354e-01 -1.94634438e-02 1.51897955e+01] [ 4.92329189e-02 1.21449981e-03 9.98786586e-01 6.12212893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.580385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.69, Y:15.20, Z:6.12 [[ 9.25364685e-01 -3.76347971e-01 -4.54137081e-02 1.25685419e+02] [ 3.75866143e-01 9.26478223e-01 -1.90458894e-02 1.52043287e+01] [ 4.92426934e-02 5.54918166e-04 9.98786689e-01 6.11708045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.610385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.72, Y:15.21, Z:6.12 [[ 9.27401188e-01 -3.71332798e-01 -4.51551757e-02 1.25717431e+02] [ 3.70814915e-01 9.28498645e-01 -1.96612550e-02 1.52124193e+01] [ 4.92273883e-02 1.48965862e-03 9.98786486e-01 6.12272957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.640385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.74, Y:15.22, Z:6.13 [[ 9.27168450e-01 -3.71882659e-01 -4.54087376e-02 1.25744593e+02] [ 3.71394919e-01 9.28279398e-01 -1.90571020e-02 1.52238514e+01] [ 4.92390013e-02 8.04569292e-04 9.98786701e-01 6.12579568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.670385723 meters Centerline goodness : 0.998404 Centerline is valid? [True, True] Translation: X:125.77, Y:15.23, Z:6.13 [[ 9.27608928e-01 -3.70777453e-01 -4.54506070e-02 1.25770275e+02] [ 3.70293277e-01 9.28721439e-01 -1.89572768e-02 1.52345694e+01] [ 4.92398839e-02 7.54884975e-04 9.98786696e-01 6.12598103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.700385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.80, Y:15.25, Z:6.13 [[ 9.27203367e-01 -3.71797567e-01 -4.53925615e-02 1.25795673e+02] [ 3.71307843e-01 9.28313441e-01 -1.90955634e-02 1.52453843e+01] [ 4.92382090e-02 8.50856642e-04 9.98786701e-01 6.12782295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.730385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.82, Y:15.26, Z:6.13 [[ 9.27063791e-01 -3.72144044e-01 -4.54041700e-02 1.25821447e+02] [ 3.71656088e-01 9.28174642e-01 -1.90679215e-02 1.52551132e+01] [ 4.92390127e-02 8.02443387e-04 9.98786702e-01 6.13049596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.760385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.85, Y:15.26, Z:6.13 [[ 9.26860896e-01 -3.72649686e-01 -4.53992350e-02 1.25848019e+02] [ 3.72161761e-01 9.27971761e-01 -1.90796641e-02 1.52645020e+01] [ 4.92392389e-02 7.88335289e-04 9.98786702e-01 6.13461788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.790385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.87, Y:15.28, Z:6.14 [[ 9.26781478e-01 -3.72847819e-01 -4.53937920e-02 1.25873110e+02] [ 3.72359498e-01 9.27892169e-01 -1.90926053e-02 1.52755946e+01] [ 4.92391803e-02 7.91863361e-04 9.98786702e-01 6.13516639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.82038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.90, Y:15.29, Z:6.14 [[ 9.26661096e-01 -3.73147189e-01 -4.53914927e-02 1.25898611e+02] [ 3.72658959e-01 9.27771827e-01 -1.90980700e-02 1.52871191e+01] [ 4.92393393e-02 7.81892080e-04 9.98786702e-01 6.13550369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.85038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.92, Y:15.30, Z:6.13 [[ 9.26548270e-01 -3.73427897e-01 -4.53862280e-02 1.25924351e+02] [ 3.72939391e-01 9.27658879e-01 -1.91105733e-02 1.52984922e+01] [ 4.92393586e-02 7.80556393e-04 9.98786702e-01 6.13461508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.88038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.95, Y:15.31, Z:6.14 [[ 9.26328610e-01 -3.73973093e-01 -4.53809612e-02 1.25949218e+02] [ 3.73484629e-01 9.27439238e-01 -1.91230722e-02 1.53084479e+01] [ 4.92395985e-02 7.65157412e-04 9.98786702e-01 6.13532515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.91038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.98, Y:15.32, Z:6.14 [[ 9.25630631e-01 -3.75697788e-01 -4.53773928e-02 1.25976134e+02] [ 3.75210978e-01 9.26741985e-01 -1.91315358e-02 1.53177658e+01] [ 4.92408108e-02 6.82639652e-04 9.98786702e-01 6.13740082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.94038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.00, Y:15.33, Z:6.14 [[ 9.25182469e-01 -3.76800696e-01 -4.53721885e-02 1.26001221e+02] [ 3.76314606e-01 9.26294138e-01 -1.91438702e-02 1.53270325e+01] [ 4.92414159e-02 6.37355851e-04 9.98786702e-01 6.13984019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.97038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.03, Y:15.34, Z:6.14 [[ 9.24293252e-01 -3.78976984e-01 -4.53699364e-02 1.26026932e+02] [ 3.78493250e-01 9.25405948e-01 -1.91492063e-02 1.53361880e+01] [ 4.92427174e-02 5.27267537e-04 9.98786702e-01 6.14283159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.00038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.05, Y:15.35, Z:6.14 [[ 9.24003524e-01 -3.79683067e-01 -4.53680121e-02 1.26051590e+02] [ 3.79199960e-01 9.25116492e-01 -1.91537642e-02 1.53468814e+01] [ 4.92430561e-02 4.94597303e-04 9.98786702e-01 6.14430188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.030385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.08, Y:15.36, Z:6.15 [[ 9.24008582e-01 -3.79671175e-01 -4.53645161e-02 1.26077217e+02] [ 3.79187647e-01 9.25121368e-01 -1.91620405e-02 1.53580473e+01] [ 4.92429577e-02 5.04225797e-04 9.98786702e-01 6.14595991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.060385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.10, Y:15.37, Z:6.15 [[ 9.23904633e-01 -3.79924689e-01 -4.53592395e-02 1.26103508e+02] [ 3.79440854e-01 9.25017284e-01 -1.91745230e-02 1.53692400e+01] [ 4.92429552e-02 5.04282090e-04 9.98786702e-01 6.14736256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.090385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.13, Y:15.38, Z:6.15 [[ 9.23745287e-01 -3.80312584e-01 -4.53539814e-02 1.26129337e+02] [ 3.79828606e-01 9.24857876e-01 -1.91869521e-02 1.53811138e+01] [ 4.92430262e-02 4.97117066e-04 9.98786703e-01 6.14766307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.120385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.15, Y:15.39, Z:6.15 [[ 9.23660032e-01 -3.80520221e-01 -4.53487155e-02 1.26154816e+02] [ 3.80035882e-01 9.24772465e-01 -1.91993900e-02 1.53926015e+01] [ 4.92429996e-02 4.99570123e-04 9.98786703e-01 6.14810658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.150385723 meters Centerline goodness : 0.999908 Centerline is valid? [True, True] Translation: X:126.18, Y:15.40, Z:6.15 [[ 9.23703261e-01 -3.80415903e-01 -4.53434147e-02 1.26180265e+02] [ 3.79930825e-01 9.24815371e-01 -1.92119010e-02 1.54036284e+01] [ 4.92427995e-02 5.18734686e-04 9.98786703e-01 6.14754954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.180385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.21, Y:15.41, Z:6.15 [[ 9.23762358e-01 -3.80273018e-01 -4.53380324e-02 1.26206501e+02] [ 3.79787145e-01 9.24874121e-01 -1.92245942e-02 1.54144666e+01] [ 4.92425673e-02 5.40154599e-04 9.98786703e-01 6.15038848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.210385723 meters Centerline goodness : 0.999931 Centerline is valid? [True, True] Translation: X:126.23, Y:15.43, Z:6.15 [[ 9.24260602e-01 -3.79061031e-01 -4.53329260e-02 1.26231409e+02] [ 3.78573109e-01 9.25371468e-01 -1.92366280e-02 1.54270659e+01] [ 4.92416523e-02 6.17830651e-04 9.98786703e-01 6.15074389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.240385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.26, Y:15.44, Z:6.15 [[ 9.24612774e-01 -3.78201851e-01 -4.53274564e-02 1.26256276e+02] [ 3.77712266e-01 9.25722907e-01 -1.92495074e-02 1.54391202e+01] [ 4.92408640e-02 6.77604168e-04 9.98786703e-01 6.15100450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.270385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.28, Y:15.45, Z:6.15 [[ 9.25236597e-01 -3.76673800e-01 -4.53220406e-02 1.26281183e+02] [ 3.76181758e-01 9.26345643e-01 -1.92622503e-02 1.54522275e+01] [ 4.92394598e-02 7.72814001e-04 9.98786703e-01 6.15161111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.300385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.31, Y:15.46, Z:6.15 [[ 9.25531734e-01 -3.75948692e-01 -4.53165664e-02 1.26306666e+02] [ 3.75455151e-01 9.26640113e-01 -1.92751202e-02 1.54636864e+01] [ 4.92386045e-02 8.25397115e-04 9.98786703e-01 6.15334565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.330385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.33, Y:15.47, Z:6.15 [[ 9.25804283e-01 -3.75277677e-01 -4.53110933e-02 1.26331867e+02] [ 3.74782703e-01 9.26912023e-01 -1.92879775e-02 1.54747368e+01] [ 4.92377446e-02 8.75078117e-04 9.98786703e-01 6.15465828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.360385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.36, Y:15.49, Z:6.16 [[ 9.26222582e-01 -3.74244523e-01 -4.53074600e-02 1.26357745e+02] [ 3.73747897e-01 9.27329582e-01 -1.92965084e-02 1.54853667e+01] [ 4.92365606e-02 9.39293957e-04 9.98786703e-01 6.15631876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.390385723 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:126.38, Y:15.50, Z:6.16 [[ 9.26500224e-01 -3.73557253e-01 -4.53024759e-02 1.26382707e+02] [ 3.73059234e-01 9.27606598e-01 -1.93082025e-02 1.54958326e+01] [ 4.92355947e-02 9.88546973e-04 9.98786703e-01 6.15630194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.420385723 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:126.41, Y:15.51, Z:6.16 [[ 9.26886222e-01 -3.72598749e-01 -4.53001538e-02 1.26407171e+02] [ 3.72099320e-01 9.27991961e-01 -1.93136491e-02 1.55077800e+01] [ 4.92344200e-02 1.04539884e-03 9.98786703e-01 6.15643386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.450385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.43, Y:15.52, Z:6.16 [[ 9.26825189e-01 -3.72750793e-01 -4.52980623e-02 1.26432841e+02] [ 3.72251306e-01 9.27930902e-01 -1.93185531e-02 1.55201513e+01] [ 4.92344778e-02 1.04265875e-03 9.98786703e-01 6.15784569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.480385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.46, Y:15.53, Z:6.16 [[ 9.26743437e-01 -3.72954639e-01 -4.52928085e-02 1.26458662e+02] [ 3.72454794e-01 9.27848988e-01 -1.93308630e-02 1.55318726e+01] [ 4.92344216e-02 1.04522674e-03 9.98786704e-01 6.15890681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.510385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.48, Y:15.54, Z:6.16 [[ 9.26582832e-01 -3.73354109e-01 -4.52875882e-02 1.26484850e+02] [ 3.72854143e-01 9.27688328e-01 -1.93430851e-02 1.55426556e+01] [ 4.92345873e-02 1.03730568e-03 9.98786704e-01 6.16109166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.540385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.51, Y:15.55, Z:6.16 [[ 9.26301112e-01 -3.74053140e-01 -4.52824311e-02 1.26510683e+02] [ 3.73553418e-01 9.27406719e-01 -1.93551506e-02 1.55531459e+01] [ 4.92350857e-02 1.01329057e-03 9.98786704e-01 6.16300807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.57038572300002 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:126.54, Y:15.56, Z:6.16 [[ 9.26007842e-01 -3.74779195e-01 -4.52772850e-02 1.26535783e+02] [ 3.74279752e-01 9.27113574e-01 -1.93671813e-02 1.55640109e+01] [ 4.92356021e-02 9.87790711e-04 9.98786704e-01 6.16459320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.60038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.56, Y:15.58, Z:6.17 [[ 9.25837952e-01 -3.75198955e-01 -4.52750543e-02 1.26561568e+02] [ 3.74699759e-01 9.26943796e-01 -1.93723946e-02 1.55761175e+01] [ 4.92359329e-02 9.71146253e-04 9.98786704e-01 6.16594947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.63038572300002 meters Centerline goodness : 0.999863 Centerline is valid? [True, True] Translation: X:126.59, Y:15.59, Z:6.17 [[ 9.25747786e-01 -3.75421989e-01 -4.52699396e-02 1.26586261e+02] [ 3.74922475e-01 9.26853486e-01 -1.93843395e-02 1.55871287e+01] [ 4.92359086e-02 9.72291604e-04 9.98786704e-01 6.16647029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.66038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.61, Y:15.60, Z:6.17 [[ 9.25443178e-01 -3.76172531e-01 -4.52675554e-02 1.26610801e+02] [ 3.75673642e-01 9.26549160e-01 -1.93899057e-02 1.55980892e+01] [ 4.92365653e-02 9.38428534e-04 9.98786704e-01 6.16713864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.69038572300002 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:126.63, Y:15.61, Z:6.16 [[ 9.23519110e-01 -3.80872034e-01 -4.52652890e-02 1.26629305e+02] [ 3.80378515e-01 9.24627499e-01 -1.93951951e-02 1.56133025e+01] [ 4.92406183e-02 6.93889894e-04 9.98786704e-01 6.16456159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.72038572300002 meters Centerline goodness : 0.999909 Centerline is valid? [True, True] Translation: X:126.66, Y:15.62, Z:6.17 [[ 9.25581450e-01 -3.75874686e-01 -4.49132453e-02 1.26662507e+02] [ 3.75335286e-01 9.26668650e-01 -2.02147260e-02 1.56222040e+01] [ 4.92179002e-02 1.85284966e-03 9.98786346e-01 6.16912137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.75038572300002 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:126.68, Y:15.64, Z:6.17 [[ 9.23923758e-01 -3.79890282e-01 -4.52577363e-02 1.26680115e+02] [ 3.79394782e-01 9.25031237e-01 -1.94116003e-02 1.56375535e+01] [ 4.92390981e-02 7.64289711e-04 9.98786728e-01 6.16575766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.780385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.72, Y:15.64, Z:6.17 [[ 9.26326426e-01 -3.74037471e-01 -4.48923579e-02 1.26715249e+02] [ 3.73493657e-01 9.27411432e-01 -2.02613942e-02 1.56448941e+01] [ 4.92122066e-02 2.00165395e-03 9.98786340e-01 6.17282167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.810385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.73, Y:15.66, Z:6.17 [[ 9.24693457e-01 -3.78013734e-01 -4.52507221e-02 1.26734503e+02] [ 3.77515247e-01 9.25799568e-01 -1.94267062e-02 1.56598646e+01] [ 4.92366608e-02 8.80910578e-04 9.98786752e-01 6.16578269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.840385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.77, Y:15.67, Z:6.17 [[ 9.26561856e-01 -3.73445534e-01 -4.49617551e-02 1.26766836e+02] [ 3.72908921e-01 9.27650252e-01 -2.00984490e-02 1.56681849e+01] [ 4.92144595e-02 1.85581665e-03 9.98786510e-01 6.17205539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.870385723 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:126.78, Y:15.68, Z:6.17 [[ 9.24512298e-01 -3.78457522e-01 -4.52428549e-02 1.26784966e+02] [ 3.77958700e-01 9.25618245e-01 -1.94444239e-02 1.56824074e+01] [ 4.92365004e-02 8.76678430e-04 9.98786763e-01 6.16818761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.900385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.82, Y:15.69, Z:6.18 [[ 9.25332782e-01 -3.76487890e-01 -4.49011285e-02 1.26819138e+02] [ 3.75948075e-01 9.26419699e-01 -2.02382553e-02 1.56893716e+01] [ 4.92167479e-02 1.84662827e-03 9.98786414e-01 6.17559316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.930385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.83, Y:15.70, Z:6.18 [[ 9.21524720e-01 -3.85675492e-01 -4.52394224e-02 1.26834988e+02] [ 3.85184986e-01 9.22634362e-01 -1.94515128e-02 1.57006367e+01] [ 4.92414174e-02 4.99503575e-04 9.98786781e-01 6.17717901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.960385723 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:126.86, Y:15.71, Z:6.18 [[ 9.20736725e-01 -3.87610807e-01 -4.47408682e-02 1.26862014e+02] [ 3.87066061e-01 9.21821627e-01 -2.06095200e-02 1.57120027e+01] [ 4.92315726e-02 1.65827035e-03 9.98786014e-01 6.17965275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.990385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.90, Y:15.72, Z:6.18 [[ 9.22671579e-01 -3.82984150e-01 -4.47246986e-02 1.26900879e+02] [ 3.82432152e-01 9.23752864e-01 -2.06469295e-02 1.57199484e+01] [ 4.92220152e-02 1.94617229e-03 9.98785966e-01 6.18459522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.020385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.93, Y:15.73, Z:6.19 [[ 9.21974208e-01 -3.84602047e-01 -4.52197435e-02 1.26925124e+02] [ 3.84107921e-01 9.23082280e-01 -1.94989766e-02 1.57316731e+01] [ 4.92408902e-02 6.08291805e-04 9.98786746e-01 6.18534341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.050385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.95, Y:15.74, Z:6.18 [[ 9.21404336e-01 -3.85965584e-01 -4.52174359e-02 1.26951312e+02] [ 3.85472835e-01 9.22513021e-01 -1.95043264e-02 1.57423277e+01] [ 4.92416721e-02 5.41277700e-04 9.98786746e-01 6.18494948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.080385723 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:126.98, Y:15.75, Z:6.19 [[ 9.21017342e-01 -3.86888755e-01 -4.52122514e-02 1.26977262e+02] [ 3.86396528e-01 9.22126258e-01 -1.95163370e-02 1.57530537e+01] [ 4.92420555e-02 5.05027882e-04 9.98786746e-01 6.18543587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.110385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.00, Y:15.76, Z:6.19 [[ 9.20604514e-01 -3.87870674e-01 -4.52069538e-02 1.27002488e+02] [ 3.87379027e-01 9.21713688e-01 -1.95286005e-02 1.57633480e+01] [ 4.92424396e-02 4.65892013e-04 9.98786747e-01 6.18616311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.140385723 meters Centerline goodness : 0.999931 Centerline is valid? [True, True] Translation: X:127.01, Y:15.78, Z:6.18 [[ 9.15907592e-01 -3.98835583e-01 -4.52046534e-02 1.27014184e+02] [ 3.98356953e-01 9.17022445e-01 -1.95339240e-02 1.57794096e+01] [ 4.92445057e-02 -1.16318692e-04 9.98786747e-01 6.18200718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.170385723 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] Translation: X:127.05, Y:15.78, Z:6.19 [[ 9.18947586e-01 -3.91853033e-01 -4.45705608e-02 1.27054962e+02] [ 3.91294551e-01 9.20025959e-01 -2.09954661e-02 1.57845587e+01] [ 4.92332100e-02 1.85351532e-03 9.98785590e-01 6.18975435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.200385723 meters Centerline goodness : 0.999931 Centerline is valid? [True, True] Translation: X:127.07, Y:15.80, Z:6.19 [[ 9.14184154e-01 -4.02771207e-01 -4.51960935e-02 1.27067561e+02] [ 4.02296607e-01 9.15300638e-01 -1.95494608e-02 1.58011739e+01] [ 4.92419732e-02 -3.10427760e-04 9.98786830e-01 6.18866628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.230385723 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] Translation: X:127.09, Y:15.81, Z:6.19 [[ 9.13696314e-01 -4.03936452e-01 -4.46585773e-02 1.27094438e+02] [ 4.03402379e-01 9.14786525e-01 -2.07878644e-02 1.58123668e+01] [ 4.92500409e-02 9.78418788e-04 9.98786001e-01 6.19034431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.260385723 meters Centerline goodness : 0.999840 Centerline is valid? [True, True] Translation: X:127.12, Y:15.82, Z:6.19 [[ 9.12556145e-01 -4.06502214e-01 -4.46904067e-02 1.27121140e+02] [ 4.05974799e-01 9.13649480e-01 -2.07145016e-02 1.58228355e+01] [ 4.92518576e-02 7.59966826e-04 9.98786102e-01 6.19257201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.290385723 meters Centerline goodness : 0.999794 Centerline is valid? [True, True] Translation: X:127.16, Y:15.83, Z:6.20 [[ 9.14496696e-01 -4.02114265e-01 -4.47203563e-02 1.27158600e+02] [ 4.01584979e-01 9.15589029e-01 -2.06454657e-02 1.58295682e+01] [ 4.92473039e-02 9.21186773e-04 9.98786191e-01 6.19760319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.32038572300002 meters Centerline goodness : 0.999817 Centerline is valid? [True, True] Translation: X:127.17, Y:15.84, Z:6.20 [[ 9.11576536e-01 -4.08639380e-01 -4.51893332e-02 1.27174313e+02] [ 4.08171335e-01 9.12695723e-01 -1.95621997e-02 1.58447399e+01] [ 4.92379963e-02 -6.12548195e-04 9.98786886e-01 6.19570244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.35038572300002 meters Centerline goodness : 0.999909 Centerline is valid? [True, True] Translation: X:127.21, Y:15.85, Z:6.20 [[ 9.12908559e-01 -4.05698347e-01 -4.47974920e-02 1.27210009e+02] [ 4.05182168e-01 9.14006876e-01 -2.04656393e-02 1.58519160e+01] [ 4.92480917e-02 5.32112392e-04 9.98786435e-01 6.19965221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.38038572300002 meters Centerline goodness : 0.999886 Centerline is valid? [True, True] Translation: X:127.24, Y:15.86, Z:6.20 [[ 9.12455066e-01 -4.06674046e-01 -4.51882005e-02 1.27235767e+02] [ 4.06203539e-01 9.13573186e-01 -1.95632193e-02 1.58630855e+01] [ 4.92385818e-02 -5.05048364e-04 9.98786918e-01 6.20207900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.41038572300002 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:127.26, Y:15.88, Z:6.20 [[ 9.11736710e-01 -4.08282598e-01 -4.51828802e-02 1.27259519e+02] [ 4.07813455e-01 9.12855402e-01 -1.95754994e-02 1.58762475e+01] [ 4.92377720e-02 -5.78485088e-04 9.98786918e-01 6.20214420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.44038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.28, Y:15.89, Z:6.20 [[ 9.10222900e-01 -4.11646679e-01 -4.51805713e-02 1.27281737e+02] [ 4.11181406e-01 9.11343208e-01 -1.95808268e-02 1.58918329e+01] [ 4.92353891e-02 -7.54493847e-04 9.98786918e-01 6.19870594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.47038572300002 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:127.31, Y:15.90, Z:6.20 [[ 9.11086294e-01 -4.09746624e-01 -4.50496241e-02 1.27309446e+02] [ 4.09264072e-01 9.12199320e-01 -1.98826492e-02 1.59032108e+01] [ 4.92410849e-02 -3.22383374e-04 9.98786870e-01 6.20304009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.50038572300002 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:127.33, Y:15.92, Z:6.20 [[ 9.08766616e-01 -4.14852352e-01 -4.51748111e-02 1.27328936e+02] [ 4.14390375e-01 9.09888285e-01 -1.95940316e-02 1.59197485e+01] [ 4.92326615e-02 -9.13605069e-04 9.98786919e-01 6.19779651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.530385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.36, Y:15.93, Z:6.20 [[ 9.11553808e-01 -4.08721643e-01 -4.49029318e-02 1.27360187e+02] [ 4.08221212e-01 9.12659087e-01 -2.02196469e-02 1.59293841e+01] [ 4.92452760e-02 1.00966949e-04 9.98786710e-01 6.20185644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.560385723 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:127.38, Y:15.94, Z:6.20 [[ 9.09196134e-01 -4.13910916e-01 -4.51679546e-02 1.27378114e+02] [ 4.13447022e-01 9.10316999e-01 -1.96092195e-02 1.59437288e+01] [ 4.92336269e-02 -8.45929790e-04 9.98786931e-01 6.19615237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.590385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.41, Y:15.95, Z:6.20 [[ 9.10914354e-01 -4.10144683e-01 -4.49041024e-02 1.27410636e+02] [ 4.09646102e-01 9.12020471e-01 -2.02171300e-02 1.59529666e+01] [ 4.92454090e-02 2.12834364e-05 9.98786709e-01 6.20344186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.620385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.44, Y:15.96, Z:6.20 [[ 9.10681159e-01 -4.10632238e-01 -4.51773384e-02 1.27436103e+02] [ 4.10165414e-01 9.11800793e-01 -1.95869395e-02 1.59647225e+01] [ 4.92357618e-02 -6.92724910e-04 9.98786944e-01 6.20478142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.650385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.46, Y:15.98, Z:6.20 [[ 9.08489813e-01 -4.15458478e-01 -4.51720341e-02 1.27455330e+02] [ 4.14996994e-01 9.09611658e-01 -1.95991648e-02 1.59807381e+01] [ 4.92316481e-02 -9.40616772e-04 9.98786944e-01 6.20210432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.680385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.49, Y:15.99, Z:6.21 [[ 9.10348191e-01 -4.11395732e-01 -4.49413237e-02 1.27486512e+02] [ 4.10902965e-01 9.11456818e-01 -2.01301273e-02 1.59892434e+01] [ 4.92435244e-02 -1.41098177e-04 9.98786792e-01 6.20791828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.710385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.51, Y:16.00, Z:6.21 [[ 9.10372036e-01 -4.11318261e-01 -4.51668572e-02 1.27511318e+02] [ 4.10851101e-01 9.11491521e-01 -1.96107045e-02 1.59998813e+01] [ 4.92354482e-02 -7.03816061e-04 9.98786952e-01 6.21049360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.740385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.53, Y:16.01, Z:6.21 [[ 9.10269914e-01 -4.11544472e-01 -4.51644802e-02 1.27532667e+02] [ 4.11077319e-01 9.11389403e-01 -1.96161773e-02 1.60132970e+01] [ 4.92353580e-02 -7.10077451e-04 9.98786952e-01 6.21185353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.770385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.56, Y:16.02, Z:6.21 [[ 9.12203415e-01 -4.07262052e-01 -4.49727743e-02 1.27562037e+02] [ 4.06767867e-01 9.13311349e-01 -2.00569531e-02 1.60231020e+01] [ 4.92425811e-02 2.54160443e-06 9.98786848e-01 6.21446402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.800385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.59, Y:16.04, Z:6.21 [[ 9.13454290e-01 -4.04428028e-01 -4.51578387e-02 1.27585839e+02] [ 4.03951407e-01 9.14569776e-01 -1.96312624e-02 1.60378810e+01] [ 4.92394271e-02 -3.09311646e-04 9.98786956e-01 6.21368028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.830385723 meters Centerline goodness : 0.999842 Centerline is valid? [True, True] Translation: X:127.61, Y:16.05, Z:6.21 [[ 9.15635752e-01 -3.99465175e-01 -4.51524439e-02 1.27611952e+02] [ 3.98981896e-01 9.16748370e-01 -1.96436627e-02 1.60467386e+01] [ 4.92403885e-02 -2.85677908e-05 9.98786956e-01 6.21398154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.860385723 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:127.64, Y:16.06, Z:6.22 [[ 9.17576837e-01 -3.94986348e-01 -4.51501182e-02 1.27636572e+02] [ 3.94497375e-01 9.18686964e-01 -1.96490067e-02 1.60570676e+01] [ 4.92399144e-02 2.17870282e-04 9.98786956e-01 6.21938222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.890385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.66, Y:16.07, Z:6.22 [[ 9.18140311e-01 -3.93675022e-01 -4.51480499e-02 1.27657646e+02] [ 3.93184230e-01 9.19249635e-01 -1.96537581e-02 1.60680342e+01] [ 4.92395220e-02 2.93406371e-04 9.98786956e-01 6.21850111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.920385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.68, Y:16.08, Z:6.22 [[ 9.18719456e-01 -3.92341335e-01 -4.49759623e-02 1.27683418e+02] [ 3.91829519e-01 9.19819353e-01 -2.00496002e-02 1.60792267e+01] [ 4.92360474e-02 7.97048175e-04 9.98786852e-01 6.22061512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.950385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.71, Y:16.09, Z:6.22 [[ 9.20860122e-01 -3.87287386e-01 -4.50012857e-02 1.27710762e+02] [ 3.86772376e-01 9.21958498e-01 -1.99914225e-02 1.60892866e+01] [ 4.92317435e-02 1.00404956e-03 9.98786878e-01 6.22368946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.980385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.74, Y:16.10, Z:6.23 [[ 9.20795108e-01 -3.87439000e-01 -4.50265503e-02 1.27736910e+02] [ 3.86927006e-01 9.21894870e-01 -1.99333991e-02 1.61006769e+01] [ 4.92327220e-02 9.32588091e-04 9.98786899e-01 6.22512304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.010385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.76, Y:16.12, Z:6.23 [[ 9.20302046e-01 -3.88606844e-01 -4.50429306e-02 1.27763268e+02] [ 3.88098088e-01 9.21403296e-01 -1.98957444e-02 1.61153603e+01] [ 4.92343271e-02 8.29019054e-04 9.98786911e-01 6.22607951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.040385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.79, Y:16.13, Z:6.23 [[ 9.21204291e-01 -3.86450185e-01 -4.51542715e-02 1.27787283e+02] [ 3.85951379e-01 9.22310041e-01 -1.96397625e-02 1.61267577e+01] [ 4.92360278e-02 6.64880115e-04 9.98786950e-01 6.22510378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.07038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.82, Y:16.14, Z:6.23 [[ 9.22467290e-01 -3.83437073e-01 -4.50567362e-02 1.27815037e+02] [ 3.82923703e-01 9.23566384e-01 -1.98638596e-02 1.61364063e+01] [ 4.92294271e-02 1.07046844e-03 9.98786923e-01 6.22746748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.10038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.83, Y:16.15, Z:6.22 [[ 9.21180398e-01 -3.86507533e-01 -4.51508806e-02 1.27834858e+02] [ 3.86008416e-01 9.22286007e-01 -1.96475148e-02 1.61485973e+01] [ 4.92359379e-02 6.70285614e-04 9.98786951e-01 6.22481804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.13038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.86, Y:16.16, Z:6.23 [[ 9.21424280e-01 -3.85951728e-01 -4.49283834e-02 1.27862520e+02] [ 3.85426899e-01 9.22518118e-01 -2.01600531e-02 1.61588327e+01] [ 4.92280550e-02 1.25935489e-03 9.98786770e-01 6.22690890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.16038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.89, Y:16.17, Z:6.23 [[ 9.22334936e-01 -3.83762169e-01 -4.49984794e-02 1.27892629e+02] [ 3.83242611e-01 9.23431187e-01 -1.99985884e-02 1.61668783e+01] [ 4.92277009e-02 1.20006206e-03 9.98786861e-01 6.22926168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.19038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.91, Y:16.18, Z:6.23 [[ 9.20152121e-01 -3.88946825e-01 -4.51712407e-02 1.27914522e+02] [ 3.88452949e-01 9.21260076e-01 -1.96004541e-02 1.61777017e+01] [ 4.92379950e-02 4.88497782e-04 9.98786955e-01 6.23179580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.22038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.95, Y:16.19, Z:6.23 [[ 9.21732649e-01 -3.85211281e-01 -4.49576840e-02 1.27947416e+02] [ 3.84688882e-01 9.22827594e-01 -2.00921856e-02 1.61860061e+01] [ 4.92279279e-02 1.22490226e-03 9.98786819e-01 6.23388974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.25038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.97, Y:16.20, Z:6.24 [[ 9.20722234e-01 -3.87588322e-01 -4.52311981e-02 1.27972560e+02] [ 3.87099616e-01 9.21832482e-01 -1.94618138e-02 1.61953553e+01] [ 4.92387594e-02 4.09945205e-04 9.98786953e-01 6.23767976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.280385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.99, Y:16.21, Z:6.24 [[ 9.18664869e-01 -3.92447132e-01 -4.51675421e-02 1.27993388e+02] [ 3.91957085e-01 9.19774512e-01 -1.96084453e-02 1.62084009e+01] [ 4.92392321e-02 3.09851750e-04 9.98786965e-01 6.23653126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.310385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.02, Y:16.22, Z:6.24 [[ 9.19385169e-01 -3.90784504e-01 -4.49264012e-02 1.28023251e+02] [ 3.90265271e-01 9.20481647e-01 -2.01632453e-02 1.62186758e+01] [ 4.92334116e-02 1.00457461e-03 9.98786795e-01 6.23834731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.340385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.05, Y:16.23, Z:6.24 [[ 9.19540817e-01 -3.90400207e-01 -4.50817568e-02 1.28051243e+02] [ 3.89898007e-01 9.20645032e-01 -1.98057677e-02 1.62268081e+01] [ 4.92364712e-02 6.34924698e-04 9.98786948e-01 6.24115578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.370385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.08, Y:16.24, Z:6.24 [[ 9.19179979e-01 -3.91239959e-01 -4.51603980e-02 1.28076697e+02] [ 3.90747650e-01 9.20288618e-01 -1.96248017e-02 1.62373087e+01] [ 4.92386069e-02 3.92405458e-04 9.98786967e-01 6.24002634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.400385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.10, Y:16.25, Z:6.24 [[ 9.18980986e-01 -3.91707334e-01 -4.51587320e-02 1.28103393e+02] [ 3.91215402e-01 9.20089792e-01 -1.96286347e-02 1.62488117e+01] [ 4.92387685e-02 3.71550591e-04 9.98786967e-01 6.24064876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.430385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.13, Y:16.26, Z:6.24 [[ 9.17438845e-01 -3.95306228e-01 -4.51547616e-02 1.28125303e+02] [ 3.94818196e-01 9.18549373e-01 -1.96377640e-02 1.62620179e+01] [ 4.92398084e-02 1.88526008e-04 9.98786967e-01 6.24255303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.460385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.15, Y:16.27, Z:6.24 [[ 9.17381821e-01 -3.95457671e-01 -4.49869350e-02 1.28151803e+02] [ 3.94950877e-01 9.18484006e-01 -2.00233778e-02 1.62741841e+01] [ 4.92381786e-02 6.01453319e-04 9.98786884e-01 6.24448330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.490385723 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:128.18, Y:16.28, Z:6.25 [[ 9.18776433e-01 -3.92205228e-01 -4.49991691e-02 1.28180974e+02] [ 3.91695909e-01 9.19877440e-01 -1.99952769e-02 1.62839101e+01] [ 4.92359725e-02 7.45198736e-04 9.98786896e-01 6.24657525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.520385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.20, Y:16.30, Z:6.24 [[ 9.17182245e-01 -3.95901604e-01 -4.51514052e-02 1.28201405e+02] [ 3.95413917e-01 9.18292923e-01 -1.96453986e-02 1.63001266e+01] [ 4.92398607e-02 1.64916800e-04 9.98786969e-01 6.24347147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.550385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.23, Y:16.31, Z:6.25 [[ 9.18584102e-01 -3.92664823e-01 -4.49175364e-02 1.28232163e+02] [ 3.92146916e-01 9.19681185e-01 -2.01820248e-02 1.63097069e+01] [ 4.92345843e-02 9.24613712e-04 9.98786814e-01 6.25052599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.580385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.26, Y:16.32, Z:6.25 [[ 9.18217890e-01 -3.93494414e-01 -4.51447959e-02 1.28257438e+02] [ 3.93003087e-01 9.19326955e-01 -1.96601996e-02 1.63212262e+01] [ 4.92390064e-02 3.10302828e-04 9.98786976e-01 6.25412509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.610385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.28, Y:16.33, Z:6.26 [[ 9.17927069e-01 -3.94172976e-01 -4.51393418e-02 1.28283431e+02] [ 3.93681854e-01 9.19036224e-01 -1.96727140e-02 1.63325718e+01] [ 4.92391425e-02 2.87576958e-04 9.98786976e-01 6.25624943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.640385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.31, Y:16.34, Z:6.26 [[ 9.17540950e-01 -3.95071554e-01 -4.51339388e-02 1.28308475e+02] [ 3.94580909e-01 9.18650316e-01 -1.96851020e-02 1.63440471e+01] [ 4.92393310e-02 2.52896575e-04 9.98786976e-01 6.25863321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.670385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.33, Y:16.36, Z:6.25 [[ 9.15513092e-01 -3.99748492e-01 -4.51322635e-02 1.28326517e+02] [ 3.99263324e-01 9.16624865e-01 -1.96889422e-02 1.63592343e+01] [ 4.92399799e-02 5.82683226e-06 9.98786976e-01 6.25447687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.700385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:128.36, Y:16.37, Z:6.26 [[ 9.17407656e-01 -3.95414892e-01 -4.48358814e-02 1.28359672e+02] [ 3.94891191e-01 9.18502097e-01 -2.03677346e-02 1.63691207e+01] [ 4.92355566e-02 9.80221032e-04 9.98786714e-01 6.26054652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.730385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.38, Y:16.38, Z:6.26 [[ 9.17277725e-01 -3.95682166e-01 -4.51353390e-02 1.28384898e+02] [ 3.95192461e-01 9.18387487e-01 -1.96810096e-02 1.63823237e+01] [ 4.92391551e-02 2.15806034e-04 9.98786994e-01 6.26141499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.760385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.41, Y:16.39, Z:6.26 [[ 9.17217978e-01 -3.95821256e-01 -4.51299797e-02 1.28409447e+02] [ 3.95331114e-01 9.18327547e-01 -1.96932912e-02 1.63936867e+01] [ 4.92391268e-02 2.21755526e-04 9.98786994e-01 6.26225996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.790385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.44, Y:16.41, Z:6.26 [[ 9.17288426e-01 -3.95658235e-01 -4.51276560e-02 1.28435769e+02] [ 3.95167635e-01 9.18397792e-01 -1.96986145e-02 1.64064926e+01] [ 4.92390587e-02 2.36322009e-04 9.98786994e-01 6.26350917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.82038572300002 meters Centerline goodness : 0.998139 Centerline is valid? [True, True] Translation: X:128.46, Y:16.42, Z:6.26 [[ 9.17015138e-01 -3.96291752e-01 -4.51229924e-02 1.28463499e+02] [ 3.95801393e-01 9.18124611e-01 -1.97092915e-02 1.64199497e+01] [ 4.92391595e-02 2.13975465e-04 9.98786994e-01 6.26287633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.85038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.49, Y:16.43, Z:6.27 [[ 9.18366925e-01 -3.93134555e-01 -4.52483386e-02 1.28486432e+02] [ 3.92654502e-01 9.19480950e-01 -1.94222807e-02 1.64325813e+01] [ 4.92405551e-02 6.98163566e-05 9.98786946e-01 6.26629454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.88038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.51, Y:16.44, Z:6.27 [[ 9.19007150e-01 -3.91650941e-01 -4.51153867e-02 1.28511350e+02] [ 3.91154142e-01 9.20113747e-01 -1.97263568e-02 1.64449971e+01] [ 4.92371337e-02 4.81592606e-04 9.98787001e-01 6.26856885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.91038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.54, Y:16.46, Z:6.27 [[ 9.19761256e-01 -3.89877315e-01 -4.51099857e-02 1.28535128e+02] [ 3.89377777e-01 9.20866619e-01 -1.97386999e-02 1.64570850e+01] [ 4.92359514e-02 5.90065513e-04 9.98787001e-01 6.26983153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.94038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.56, Y:16.47, Z:6.27 [[ 9.21399732e-01 -3.85989579e-01 -4.51063068e-02 1.28558844e+02] [ 3.85484966e-01 9.22502788e-01 -1.97471032e-02 1.64713448e+01] [ 4.92328699e-02 8.07172412e-04 9.98787001e-01 6.27128077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.97038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.58, Y:16.48, Z:6.27 [[ 9.22249386e-01 -3.83955254e-01 -4.51046783e-02 1.28583368e+02] [ 3.83448026e-01 9.23351242e-01 -1.97508222e-02 1.64846726e+01] [ 4.92308927e-02 9.19883789e-04 9.98787001e-01 6.27303288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.000385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.60, Y:16.50, Z:6.27 [[ 9.21956716e-01 -3.84658093e-01 -4.50994929e-02 1.28603457e+02] [ 3.84151126e-01 9.23058692e-01 -1.97626557e-02 1.65035958e+01] [ 4.92313444e-02 8.95292168e-04 9.98787001e-01 6.26835059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.030385723 meters Centerline goodness : 0.997887 Centerline is valid? [True, True] Translation: X:128.63, Y:16.51, Z:6.27 [[ 9.23737694e-01 -3.80382353e-01 -4.49214650e-02 1.28632204e+02] [ 3.79850614e-01 9.24827992e-01 -2.01667003e-02 1.65149861e+01] [ 4.92156852e-02 1.56529521e-03 9.98786947e-01 6.27261432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.060385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.66, Y:16.53, Z:6.28 [[ 9.25235246e-01 -3.76704254e-01 -4.50959458e-02 1.28656141e+02] [ 3.76187441e-01 9.26332631e-01 -1.97703505e-02 1.65289361e+01] [ 4.92214212e-02 1.32769672e-03 9.98787009e-01 6.27748922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.090385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.68, Y:16.54, Z:6.28 [[ 9.25757203e-01 -3.75423774e-01 -4.50620727e-02 1.28681158e+02] [ 3.74901703e-01 9.26852092e-01 -1.98472579e-02 1.65415379e+01] [ 4.92170088e-02 1.47989422e-03 9.98787012e-01 6.27933664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.120385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.71, Y:16.56, Z:6.28 [[ 9.26564378e-01 -3.73427842e-01 -4.50566302e-02 1.28705627e+02] [ 3.72902812e-01 9.27657851e-01 -1.98596055e-02 1.65557948e+01] [ 4.92132664e-02 1.59945893e-03 9.98787012e-01 6.28032892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.150385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.73, Y:16.57, Z:6.28 [[ 9.26894777e-01 -3.72607200e-01 -4.50549443e-02 1.28729314e+02] [ 3.72081016e-01 9.27987695e-01 -1.98634296e-02 1.65678959e+01] [ 4.92116908e-02 1.64721971e-03 9.98787012e-01 6.28162596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.180385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.75, Y:16.58, Z:6.28 [[ 9.27550473e-01 -3.70972202e-01 -4.50526912e-02 1.28754797e+02] [ 3.70443845e-01 9.28642342e-01 -1.98685384e-02 1.65828138e+01] [ 4.92085122e-02 1.73958009e-03 9.98787012e-01 6.28162033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.210385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.78, Y:16.60, Z:6.28 [[ 9.27720364e-01 -3.70547685e-01 -4.50481805e-02 1.28780649e+02] [ 3.70018333e-01 9.28811751e-01 -1.98787605e-02 1.65968909e+01] [ 4.92073081e-02 1.77327834e-03 9.98787012e-01 6.28173977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.240385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.81, Y:16.61, Z:6.28 [[ 9.27650038e-01 -3.70724258e-01 -4.50436609e-02 1.28806338e+02] [ 3.70194617e-01 9.28741285e-01 -1.98889963e-02 1.66108182e+01] [ 4.92072409e-02 1.77510746e-03 9.98787013e-01 6.28183695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.270385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.83, Y:16.62, Z:6.28 [[ 9.27270182e-01 -3.71673908e-01 -4.50390416e-02 1.28830950e+02] [ 3.71144877e-01 9.28361725e-01 -1.98994513e-02 1.66243908e+01] [ 4.92086292e-02 1.73615822e-03 9.98787013e-01 6.28043219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.300385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.86, Y:16.64, Z:6.28 [[ 9.26112939e-01 -3.74548338e-01 -4.50373985e-02 1.28856539e+02] [ 3.74022515e-01 9.27206030e-01 -1.99031694e-02 1.66383216e+01] [ 4.92136465e-02 1.58758165e-03 9.98787013e-01 6.28340253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.330385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.88, Y:16.65, Z:6.29 [[ 9.25322578e-01 -3.76497242e-01 -4.50328088e-02 1.28882123e+02] [ 3.75973217e-01 9.26416532e-01 -1.99135485e-02 1.66516503e+01] [ 4.92165347e-02 1.49532603e-03 9.98787013e-01 6.28752042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.360385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.91, Y:16.66, Z:6.29 [[ 9.24482368e-01 -3.78556257e-01 -4.50278990e-02 1.28907246e+02] [ 3.78034129e-01 9.25577229e-01 -1.99246443e-02 1.66647970e+01] [ 4.92193967e-02 1.39789974e-03 9.98787013e-01 6.28832589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.390385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.93, Y:16.68, Z:6.29 [[ 9.22611176e-01 -3.83094327e-01 -4.50261627e-02 1.28932888e+02] [ 3.82577393e-01 9.23708499e-01 -1.99285672e-02 1.66786959e+01] [ 4.92255702e-02 1.16032686e-03 9.98787013e-01 6.29244938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.420385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.96, Y:16.69, Z:6.30 [[ 9.21546014e-01 -3.85650121e-01 -4.50214263e-02 1.28958329e+02] [ 3.85135708e-01 9.22644521e-01 -1.99392616e-02 1.66906983e+01] [ 4.92283510e-02 1.03558808e-03 9.98787013e-01 6.29508147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.450385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.98, Y:16.70, Z:6.30 [[ 9.19708335e-01 -3.90013004e-01 -4.50159528e-02 1.28982005e+02] [ 3.89503199e-01 9.20808987e-01 -1.99516112e-02 1.67036454e+01] [ 4.92324818e-02 8.15805456e-04 9.98787013e-01 6.29631765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.480385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.01, Y:16.72, Z:6.30 [[ 9.18687252e-01 -3.92412578e-01 -4.50122343e-02 1.29007400e+02] [ 3.91905237e-01 9.19789043e-01 -1.99599969e-02 1.67170203e+01] [ 4.92343138e-02 6.96464353e-04 9.98787013e-01 6.29732229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.510385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:129.03, Y:16.73, Z:6.30 [[ 9.16617732e-01 -3.97222952e-01 -4.50095630e-02 1.29031313e+02] [ 3.96721098e-01 9.17722032e-01 -1.99660190e-02 1.67312348e+01] [ 4.92372286e-02 4.44963782e-04 9.98787013e-01 6.29871670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.540385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.06, Y:16.74, Z:6.30 [[ 9.15618398e-01 -3.99521692e-01 -4.50040763e-02 1.29055850e+02] [ 3.99022003e-01 9.16723680e-01 -1.99783786e-02 1.67440697e+01] [ 4.92380980e-02 3.34954318e-04 9.98787013e-01 6.29957770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.57038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.08, Y:16.76, Z:6.30 [[ 9.14736221e-01 -4.01538000e-01 -4.49986756e-02 1.29080989e+02] [ 4.01040149e-01 9.15842332e-01 -1.99905355e-02 1.67567974e+01] [ 4.92386516e-02 2.39791306e-04 9.98787013e-01 6.30064931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.60038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.10, Y:16.77, Z:6.30 [[ 9.12998504e-01 -4.05473894e-01 -4.49961474e-02 1.29104663e+02] [ 4.04980531e-01 9.14106624e-01 -1.99962246e-02 1.67693437e+01] [ 4.92392234e-02 3.39594829e-05 9.98787013e-01 6.30222986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.63038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.13, Y:16.78, Z:6.30 [[ 9.11065052e-01 -4.09800126e-01 -4.49925269e-02 1.29128924e+02] [ 4.09311623e-01 9.12175323e-01 -2.00043675e-02 1.67835772e+01] [ 4.92388651e-02 -1.90684138e-04 9.98787013e-01 6.30444808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.66038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.15, Y:16.80, Z:6.31 [[ 9.10075908e-01 -4.11992707e-01 -4.49872431e-02 1.29152888e+02] [ 4.11506292e-01 9.11187095e-01 -2.00162431e-02 1.67967152e+01] [ 4.92383415e-02 -2.96232963e-04 9.98787013e-01 6.30506625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.69038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.18, Y:16.81, Z:6.31 [[ 9.09005174e-01 -4.14350030e-01 -4.49849568e-02 1.29178200e+02] [ 4.13866243e-01 9.10117507e-01 -2.00213799e-02 1.68100350e+01] [ 4.92374562e-02 -4.18217148e-04 9.98787013e-01 6.30617045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.72038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.20, Y:16.82, Z:6.31 [[ 9.06795048e-01 -4.19165322e-01 -4.49796962e-02 1.29202860e+02] [ 4.18686855e-01 9.07909681e-01 -2.00331913e-02 1.68235411e+01] [ 4.92347208e-02 -6.66408849e-04 9.98787013e-01 6.30712796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.750385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:129.23, Y:16.84, Z:6.31 [[ 9.05660843e-01 -4.21610496e-01 -4.49780707e-02 1.29227840e+02] [ 4.21134857e-01 9.06776685e-01 -2.00368402e-02 1.68361031e+01] [ 4.92328080e-02 -7.95251780e-04 9.98787013e-01 6.30821587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.780385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.25, Y:16.85, Z:6.31 [[ 9.02646834e-01 -4.28025479e-01 -4.49764616e-02 1.29250079e+02] [ 4.27557589e-01 9.03765948e-01 -2.00404515e-02 1.68525064e+01] [ 4.92260183e-02 -1.14057737e-03 9.98787013e-01 6.30584889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.810385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:129.28, Y:16.86, Z:6.31 [[ 9.03490497e-01 -4.26254105e-01 -4.48593317e-02 1.29278073e+02] [ 4.25770965e-01 9.04603154e-01 -2.03031645e-02 1.68625548e+01] [ 4.92342001e-02 -7.56084729e-04 9.98786975e-01 6.31360487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.840385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:129.30, Y:16.88, Z:6.31 [[ 9.01483364e-01 -4.30470742e-01 -4.49742642e-02 1.29296697e+02] [ 4.30005646e-01 9.02603640e-01 -2.00453030e-02 1.68804927e+01] [ 4.92228511e-02 -1.26868034e-03 9.98787015e-01 6.30771889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.870385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:129.32, Y:16.89, Z:6.31 [[ 9.01439311e-01 -4.30583127e-01 -4.47810127e-02 1.29322629e+02] [ 4.30096617e-01 9.02550570e-01 -2.04785061e-02 1.68923030e+01] [ 4.92348277e-02 -8.00031614e-04 9.98786910e-01 6.30895723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.900385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.35, Y:16.90, Z:6.32 [[ 9.03545997e-01 -4.26145411e-01 -4.47740972e-02 1.29353036e+02] [ 4.25652675e-01 9.04654518e-01 -2.04939998e-02 1.69019479e+01] [ 4.92385133e-02 -5.40942740e-04 9.98786902e-01 6.31774372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.930385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.37, Y:16.92, Z:6.31 [[ 9.02061212e-01 -4.29259274e-01 -4.49671663e-02 1.29372049e+02] [ 4.28791879e-01 9.03180531e-01 -2.00612501e-02 1.69182198e+01] [ 4.92249468e-02 -1.18508015e-03 9.98787014e-01 6.31183202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.960385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:129.40, Y:16.93, Z:6.32 [[ 9.05688698e-01 -4.21574404e-01 -4.47549256e-02 1.29402383e+02] [ 4.21073985e-01 9.06793781e-01 -2.05362601e-02 1.69288647e+01] [ 4.92410498e-02 -2.45676140e-04 9.98786894e-01 6.32100766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.990385723 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:129.43, Y:16.94, Z:6.32 [[ 9.07970625e-01 -4.16614766e-01 -4.49608860e-02 1.29426566e+02] [ 4.16131098e-01 9.09083002e-01 -2.00749970e-02 1.69436920e+01] [ 4.92367174e-02 -4.82115259e-04 9.98787021e-01 6.32197820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.020385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.45, Y:16.96, Z:6.32 [[ 9.07977127e-01 -4.16601124e-01 -4.49559859e-02 1.29448335e+02] [ 4.16116896e-01 9.09089260e-01 -2.00859644e-02 1.69592910e+01] [ 4.92368393e-02 -4.69349055e-04 9.98787021e-01 6.31669102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.050385723 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:129.48, Y:16.97, Z:6.32 [[ 9.10475020e-01 -4.11127046e-01 -4.48306753e-02 1.29476479e+02] [ 4.10622317e-01 9.11578046e-01 -2.03661232e-02 1.69694272e+01] [ 4.92397235e-02 1.34370665e-04 9.98786980e-01 6.32294353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.080385723 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:129.50, Y:16.98, Z:6.32 [[ 9.13010459e-01 -4.05452145e-01 -4.49495241e-02 1.29501407e+02] [ 4.04953627e-01 9.14116260e-01 -2.01003521e-02 1.69820104e+01] [ 4.92388217e-02 1.49358935e-04 9.98787022e-01 6.32233337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.110385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.53, Y:16.99, Z:6.32 [[ 9.14148230e-01 -4.02880490e-01 -4.49480170e-02 1.29526340e+02] [ 4.02378696e-01 9.15252547e-01 -2.01037216e-02 1.69941213e+01] [ 4.92381843e-02 2.91657092e-04 9.98787022e-01 6.32314222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.140385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.55, Y:17.01, Z:6.32 [[ 9.16209786e-01 -3.98170484e-01 -4.49432260e-02 1.29551388e+02] [ 3.97662487e-01 9.17311264e-01 -2.01144266e-02 1.70072382e+01] [ 4.92358984e-02 5.56799478e-04 9.98787022e-01 6.32459184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.170385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.58, Y:17.02, Z:6.33 [[ 9.17110099e-01 -3.96092548e-01 -4.49417405e-02 1.29577189e+02] [ 3.95581894e-01 9.18210347e-01 -2.01177451e-02 1.70190770e+01] [ 4.92344601e-02 6.72048413e-04 9.98787022e-01 6.32581790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.200385723 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:129.60, Y:17.03, Z:6.33 [[ 9.18711042e-01 -3.92365500e-01 -4.49370149e-02 1.29602585e+02] [ 3.91849866e-01 9.19808966e-01 -2.01282950e-02 1.70295157e+01] [ 4.92311178e-02 8.83523613e-04 9.98787023e-01 6.32944356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.230385723 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:129.63, Y:17.04, Z:6.33 [[ 9.19324371e-01 -3.90926897e-01 -4.49317556e-02 1.29628614e+02] [ 3.90408973e-01 9.20421215e-01 -2.01400285e-02 1.70405001e+01] [ 4.92294199e-02 9.73458465e-04 9.98787023e-01 6.33230609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.260385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.66, Y:17.05, Z:6.33 [[ 9.20657690e-01 -3.87777085e-01 -4.49260645e-02 1.29655052e+02] [ 3.87254789e-01 9.21752459e-01 -2.01527156e-02 1.70503346e+01] [ 4.92254717e-02 1.15591898e-03 9.98787023e-01 6.33169307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.290385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:129.68, Y:17.06, Z:6.34 [[ 9.21327935e-01 -3.86182137e-01 -4.49243036e-02 1.29681221e+02] [ 3.85657755e-01 9.22421707e-01 -2.01566401e-02 1.70611562e+01] [ 4.92232872e-02 1.24546953e-03 9.98787023e-01 6.33604706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.32038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.71, Y:17.07, Z:6.33 [[ 9.22760719e-01 -3.82746603e-01 -4.49187327e-02 1.29706954e+02] [ 3.82217546e-01 9.23852238e-01 -2.01690472e-02 1.70721137e+01] [ 4.92179060e-02 1.44247671e-03 9.98787023e-01 6.33491626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.35038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.73, Y:17.08, Z:6.34 [[ 9.23375873e-01 -3.81260443e-01 -4.49162722e-02 1.29732597e+02] [ 3.80729363e-01 9.24466409e-01 -2.01745253e-02 1.70830838e+01] [ 4.92153333e-02 1.52772624e-03 9.98787023e-01 6.33648694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.38038572300002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:129.74, Y:17.10, Z:6.33 [[ 9.21062875e-01 -3.86815475e-01 -4.49106816e-02 1.29744393e+02] [ 3.86290367e-01 9.22156298e-01 -2.01869630e-02 1.70983155e+01] [ 4.92232975e-02 1.24489844e-03 9.98787023e-01 6.32667094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.41038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.79, Y:17.10, Z:6.34 [[ 9.25026607e-01 -3.77312670e-01 -4.42823399e-02 1.29786127e+02] [ 3.76709266e-01 9.26080115e-01 -2.15812153e-02 1.71023715e+01] [ 4.91518604e-02 3.28163061e-03 9.98785926e-01 6.33848844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.44038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.81, Y:17.11, Z:6.34 [[ 9.25300165e-01 -3.76566849e-01 -4.49111660e-02 1.29811428e+02] [ 3.76029878e-01 9.26387725e-01 -2.01820266e-02 1.71110787e+01] [ 4.92050351e-02 1.78649221e-03 9.98787101e-01 6.34037552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.47038572300002 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:129.83, Y:17.12, Z:6.34 [[ 9.23088736e-01 -3.81955988e-01 -4.49088948e-02 1.29831418e+02] [ 3.81425122e-01 9.24179289e-01 -2.01870792e-02 1.71229513e+01] [ 4.92144463e-02 1.50508474e-03 9.98787101e-01 6.33585253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.500385723 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:129.86, Y:17.13, Z:6.34 [[ 9.22889002e-01 -3.82476414e-01 -4.45834280e-02 1.29857685e+02] [ 3.81911227e-01 9.23962468e-01 -2.09086647e-02 1.71334477e+01] [ 4.91904853e-02 2.26946495e-03 9.98786837e-01 6.33623721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.530385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.89, Y:17.14, Z:6.34 [[ 9.24484666e-01 -3.78606637e-01 -4.45546400e-02 1.29891866e+02] [ 3.78033890e-01 9.25554177e-01 -2.09724440e-02 1.71401998e+01] [ 4.91780396e-02 2.54553905e-03 9.98786784e-01 6.34369362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.560385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:129.92, Y:17.15, Z:6.34 [[ 9.24405768e-01 -3.78759871e-01 -4.48880480e-02 1.29917794e+02] [ 3.78223019e-01 9.25493372e-01 -2.02327914e-02 1.71501108e+01] [ 4.92069604e-02 1.72561600e-03 9.98787113e-01 6.34475568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.590385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.94, Y:17.16, Z:6.35 [[ 9.24053046e-01 -3.79619791e-01 -4.48863326e-02 1.29944852e+02] [ 3.79083766e-01 9.25141059e-01 -2.02365962e-02 1.71591747e+01] [ 4.92084017e-02 1.68400838e-03 9.98787113e-01 6.34596994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.620385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.97, Y:17.17, Z:6.35 [[ 9.23778239e-01 -3.80288682e-01 -4.48807736e-02 1.29970365e+02] [ 3.79752847e-01 9.24866345e-01 -2.02489176e-02 1.71684401e+01] [ 4.92091512e-02 1.66190795e-03 9.98787113e-01 6.34635985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.650385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.00, Y:17.18, Z:6.35 [[ 9.23316472e-01 -3.81408737e-01 -4.48783657e-02 1.29996513e+02] [ 3.80873964e-01 9.24405100e-01 -2.02542528e-02 1.71776867e+01] [ 4.92109392e-02 1.60808416e-03 9.98787113e-01 6.34961926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.680385723 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:130.02, Y:17.19, Z:6.35 [[ 9.22358064e-01 -3.83721292e-01 -4.48728479e-02 1.30023732e+02] [ 3.83188654e-01 9.23447738e-01 -2.02664701e-02 1.71852701e+01] [ 4.92144060e-02 1.49817599e-03 9.98787113e-01 6.35138242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.710385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.05, Y:17.19, Z:6.35 [[ 9.21534545e-01 -3.85695480e-01 -4.48673623e-02 1.30051076e+02] [ 3.85164586e-01 9.22625070e-01 -2.02786072e-02 1.71935873e+01] [ 4.92171204e-02 1.40611808e-03 9.98787113e-01 6.35151348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.740385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.08, Y:17.20, Z:6.35 [[ 9.21214635e-01 -3.86459142e-01 -4.48656665e-02 1.30077587e+02] [ 3.85928970e-01 9.22305511e-01 -2.02823585e-02 1.72040960e+01] [ 4.92181543e-02 1.36944501e-03 9.98787113e-01 6.35357465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.770385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.10, Y:17.22, Z:6.36 [[ 9.20856236e-01 -3.87313002e-01 -4.48601351e-02 1.30104743e+02] [ 3.86783247e-01 9.21947314e-01 -2.02945854e-02 1.72151512e+01] [ 4.92190378e-02 1.33724682e-03 9.98787114e-01 6.35611587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.800385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.13, Y:17.22, Z:6.36 [[ 9.21076097e-01 -3.86784235e-01 -4.49085570e-02 1.30131499e+02] [ 3.86259061e-01 9.22169398e-01 -2.01876095e-02 1.72236608e+01] [ 4.92215461e-02 1.24798753e-03 9.98787105e-01 6.35799123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.830385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.16, Y:17.23, Z:6.36 [[ 9.20695845e-01 -3.87695135e-01 -4.48513372e-02 1.30159652e+02] [ 3.87164890e-01 9.21786684e-01 -2.03139468e-02 1.72298510e+01] [ 4.92189838e-02 1.33810337e-03 9.98787115e-01 6.36154413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.860385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.19, Y:17.24, Z:6.36 [[ 9.20438359e-01 -3.88306699e-01 -4.48456658e-02 1.30185410e+02] [ 3.87776570e-01 9.21529255e-01 -2.03264595e-02 1.72382623e+01] [ 4.92194934e-02 1.31915462e-03 9.98787115e-01 6.36298757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.890385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.21, Y:17.25, Z:6.36 [[ 9.20358287e-01 -3.88496731e-01 -4.48432053e-02 1.30210965e+02] [ 3.87966562e-01 9.21449163e-01 -2.03318862e-02 1.72472379e+01] [ 4.92196054e-02 1.31495575e-03 9.98787115e-01 6.36363142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.920385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.24, Y:17.26, Z:6.36 [[ 9.20380616e-01 -3.88444261e-01 -4.48394687e-02 1.30237078e+02] [ 3.87913629e-01 9.21471267e-01 -2.03401236e-02 1.72565800e+01] [ 4.92192863e-02 1.32681444e-03 9.98787115e-01 6.36419859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.950385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.26, Y:17.27, Z:6.37 [[ 9.20473207e-01 -3.88225413e-01 -4.48341709e-02 1.30262960e+02] [ 3.87693954e-01 9.21563455e-01 -2.03517945e-02 1.72676505e+01] [ 4.92186173e-02 1.35134458e-03 9.98787115e-01 6.36530727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.980385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.29, Y:17.28, Z:6.37 [[ 9.20792322e-01 -3.87468542e-01 -4.48288795e-02 1.30289436e+02] [ 3.86935621e-01 9.21881856e-01 -2.03634431e-02 1.72763584e+01] [ 4.92171243e-02 1.40461169e-03 9.98787115e-01 6.36712474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.010385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.32, Y:17.29, Z:6.37 [[ 9.20835773e-01 -3.87365909e-01 -4.48233346e-02 1.30316427e+02] [ 3.86832273e-01 9.21924957e-01 -2.03756412e-02 1.72855500e+01] [ 4.92165796e-02 1.42350691e-03 9.98787115e-01 6.36705424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.040385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.34, Y:17.30, Z:6.36 [[ 9.18184552e-01 -3.93609134e-01 -4.48216204e-02 1.30336871e+02] [ 3.93082721e-01 9.19277245e-01 -2.03794113e-02 1.72968837e+01] [ 4.92250181e-02 1.09345613e-03 9.98787115e-01 6.36123862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.07038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.37, Y:17.30, Z:6.37 [[ 9.20296096e-01 -3.88684149e-01 -4.44941325e-02 1.30370862e+02] [ 3.88117029e-01 9.21368557e-01 -2.10986708e-02 1.73034419e+01] [ 4.91962136e-02 2.14809391e-03 9.98786823e-01 6.36855660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.10038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.39, Y:17.32, Z:6.36 [[ 9.17609723e-01 -3.94947381e-01 -4.48214503e-02 1.30389395e+02] [ 3.94422592e-01 9.18703175e-01 -2.03788003e-02 1.73181174e+01] [ 4.92261625e-02 1.02119270e-03 9.98787136e-01 6.36260085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.13038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.42, Y:17.32, Z:6.37 [[ 9.19280998e-01 -3.91080896e-01 -4.44767385e-02 1.30424871e+02] [ 3.90514790e-01 9.20354001e-01 -2.11355756e-02 1.73228950e+01] [ 4.92000640e-02 2.06070883e-03 9.98786818e-01 6.36985773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.16038572300002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:130.45, Y:17.33, Z:6.37 [[ 9.18276567e-01 -3.93394893e-01 -4.48174662e-02 1.30453804e+02] [ 3.92867877e-01 9.19368924e-01 -2.03865660e-02 1.73289238e+01] [ 4.92237567e-02 1.11316299e-03 9.98787156e-01 6.37433353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.19038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.48, Y:17.34, Z:6.38 [[ 9.17724707e-01 -3.94681135e-01 -4.48125543e-02 1.30481000e+02] [ 3.94155123e-01 9.18817548e-01 -2.03973575e-02 1.73389497e+01] [ 4.92250134e-02 1.05606104e-03 9.98787156e-01 6.37698365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.22038572300002 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:130.51, Y:17.35, Z:6.38 [[ 9.17337013e-01 -3.95581950e-01 -4.48076365e-02 1.30507049e+02] [ 3.95056485e-01 9.18430118e-01 -2.04081548e-02 1.73491346e+01] [ 4.92257805e-02 1.01960841e-03 9.98787156e-01 6.37838919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.250385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.53, Y:17.36, Z:6.38 [[ 9.16670727e-01 -3.97123671e-01 -4.48058965e-02 1.30533750e+02] [ 3.96599857e-01 9.17764624e-01 -2.04119742e-02 1.73592083e+01] [ 4.92273449e-02 9.41047032e-04 9.98787156e-01 6.38076689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.280385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.56, Y:17.37, Z:6.38 [[ 9.16461883e-01 -3.97605964e-01 -4.48008299e-02 1.30559552e+02] [ 3.97082183e-01 9.17555795e-01 -2.04230886e-02 1.73700825e+01] [ 4.92276029e-02 9.27370929e-04 9.98787156e-01 6.38092872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.310385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.59, Y:17.38, Z:6.38 [[ 9.16185791e-01 -3.98241941e-01 -4.47990277e-02 1.30586013e+02] [ 3.97718726e-01 9.17279974e-01 -2.04270411e-02 1.73785216e+01] [ 4.92281554e-02 8.97552534e-04 9.98787156e-01 6.38469414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.340385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:130.61, Y:17.39, Z:6.39 [[ 9.16080978e-01 -3.98483640e-01 -4.47932041e-02 1.30612051e+02] [ 3.97960090e-01 9.17175000e-01 -2.04398032e-02 1.73878308e+01] [ 4.92281342e-02 8.98607392e-04 9.98787156e-01 6.38681229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.370385723 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:130.63, Y:17.40, Z:6.38 [[ 9.13875713e-01 -4.03516130e-01 -4.47874241e-02 1.30632398e+02] [ 4.02997985e-01 9.14972306e-01 -2.04524606e-02 1.74008587e+01] [ 4.92321504e-02 6.41765364e-04 9.98787156e-01 6.38494973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.400385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.66, Y:17.41, Z:6.39 [[ 9.15653423e-01 -3.99496526e-01 -4.45121867e-02 1.30664835e+02] [ 3.98944229e-01 9.16733447e-01 -2.10544235e-02 1.74096854e+01] [ 4.92169794e-02 1.52067494e-03 9.98786953e-01 6.38877290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.430385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.69, Y:17.42, Z:6.39 [[ 9.15380492e-01 -4.00091061e-01 -4.47850085e-02 1.30690847e+02] [ 3.99568582e-01 9.16475014e-01 -2.04571858e-02 1.74215788e+01] [ 4.92290784e-02 8.31426465e-04 9.98787168e-01 6.38916379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.460385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.72, Y:17.43, Z:6.39 [[ 9.14880639e-01 -4.01233337e-01 -4.47797488e-02 1.30717933e+02] [ 4.00711662e-01 9.15975544e-01 -2.04686924e-02 1.74321738e+01] [ 4.92298765e-02 7.82642862e-04 9.98787168e-01 6.38988202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.490385723 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:130.74, Y:17.44, Z:6.39 [[ 9.13900430e-01 -4.03461554e-01 -4.47747592e-02 1.30744543e+02] [ 4.02942015e-01 9.14996349e-01 -2.04796013e-02 1.74409250e+01] [ 4.92314730e-02 6.74684791e-04 9.98787168e-01 6.39082859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.520385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.77, Y:17.45, Z:6.39 [[ 9.13121160e-01 -4.05222318e-01 -4.47729917e-02 1.30770863e+02] [ 4.04704702e-01 9.14217989e-01 -2.04834647e-02 1.74514019e+01] [ 4.92326315e-02 5.84044726e-04 9.98787168e-01 6.39234422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.550385723 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:130.80, Y:17.46, Z:6.39 [[ 9.11786362e-01 -4.08217487e-01 -4.47673217e-02 1.30796084e+02] [ 4.07702866e-01 9.12884600e-01 -2.04958492e-02 1.74602993e+01] [ 4.92341626e-02 4.36070469e-04 9.98787168e-01 6.39447593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.580385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.82, Y:17.47, Z:6.40 [[ 9.11275985e-01 -4.09355818e-01 -4.47648644e-02 1.30821882e+02] [ 4.08842305e-01 9.12374742e-01 -2.05012147e-02 1.74711252e+01] [ 4.92346232e-02 3.80494286e-04 9.98787168e-01 6.39719336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.610385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.85, Y:17.48, Z:6.40 [[ 9.10828965e-01 -4.10350104e-01 -4.47592207e-02 1.30848261e+02] [ 4.09837186e-01 9.11927999e-01 -2.05135291e-02 1.74819652e+01] [ 4.92349154e-02 3.40323450e-04 9.98787168e-01 6.40099840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.640385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.87, Y:17.49, Z:6.40 [[ 9.10860457e-01 -4.10280735e-01 -4.47542911e-02 1.30874262e+02] [ 4.09767205e-01 9.11959205e-01 -2.05242783e-02 1.74937160e+01] [ 4.92348037e-02 3.55912774e-04 9.98787168e-01 6.40282890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.670385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:130.90, Y:17.51, Z:6.40 [[ 9.11350304e-01 -4.09192032e-01 -4.47493578e-02 1.30898995e+02] [ 4.08676662e-01 9.12448190e-01 -2.05350287e-02 1.75051163e+01] [ 4.92342407e-02 4.26586520e-04 9.98787168e-01 6.40412039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.700385723 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:130.92, Y:17.52, Z:6.41 [[ 9.11531686e-01 -4.08788086e-01 -4.47469118e-02 1.30924486e+02] [ 4.08271967e-01 9.12629221e-01 -2.05403573e-02 1.75166497e+01] [ 4.92339926e-02 4.54276744e-04 9.98787168e-01 6.40559018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.730385723 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:130.95, Y:17.53, Z:6.41 [[ 9.11787930e-01 -4.08216822e-01 -4.47414452e-02 1.30949846e+02] [ 4.07699432e-01 9.12884866e-01 -2.05522579e-02 1.75281649e+01] [ 4.92335656e-02 4.98238880e-04 9.98787168e-01 6.40699041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.760385723 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:130.98, Y:17.54, Z:6.41 [[ 9.12457733e-01 -4.06718057e-01 -4.47359716e-02 1.30976417e+02] [ 4.06198281e-01 9.13553541e-01 -2.05641654e-02 1.75400390e+01] [ 4.92325226e-02 5.92256964e-04 9.98787168e-01 6.40794420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.790385723 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:131.00, Y:17.55, Z:6.41 [[ 9.12347365e-01 -4.06966111e-01 -4.47310864e-02 1.31002340e+02] [ 4.06446113e-01 9.13443066e-01 -2.05747862e-02 1.75520445e+01] [ 4.92325415e-02 5.90575800e-04 9.98787169e-01 6.40934725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.82038572300002 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:131.03, Y:17.56, Z:6.41 [[ 9.12786060e-01 -4.05981821e-01 -4.47254944e-02 1.31028500e+02] [ 4.05460046e-01 9.13880916e-01 -2.05869348e-02 1.75638559e+01] [ 4.92316971e-02 6.57066106e-04 9.98787169e-01 6.41045442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.85038572300002 meters Centerline goodness : 0.999864 Centerline is valid? [True, True] Translation: X:131.05, Y:17.58, Z:6.41 [[ 9.11550525e-01 -4.08748951e-01 -4.47206332e-02 1.31045177e+02] [ 4.08229982e-01 9.12646714e-01 -2.05974894e-02 1.75784013e+01] [ 4.92333412e-02 5.19349017e-04 9.98787169e-01 6.41207115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.88038572300002 meters Centerline goodness : 0.999886 Centerline is valid? [True, True] Translation: X:131.08, Y:17.59, Z:6.41 [[ 9.14405747e-01 -4.02367971e-01 -4.42961283e-02 1.31080326e+02] [ 4.01796612e-01 9.15476101e-01 -2.15172251e-02 1.75883004e+01] [ 4.92098890e-02 1.87744002e-03 9.98786695e-01 6.41275173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.91038572300002 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:131.11, Y:17.60, Z:6.41 [[ 9.15538783e-01 -3.99736390e-01 -4.47163781e-02 1.31106038e+02] [ 3.99206253e-01 9.16629582e-01 -2.06052829e-02 1.76003135e+01] [ 4.92250363e-02 1.01387794e-03 9.98787198e-01 6.41397320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.94038572300002 meters Centerline goodness : 0.999863 Centerline is valid? [True, True] Translation: X:131.12, Y:17.62, Z:6.41 [[ 9.14053276e-01 -4.03122274e-01 -4.47106239e-02 1.31123264e+02] [ 4.02595567e-01 9.15145736e-01 -2.06177610e-02 1.76154087e+01] [ 4.92282155e-02 8.45433029e-04 9.98787199e-01 6.41413462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.97038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.16, Y:17.63, Z:6.42 [[ 9.16364687e-01 -3.97882472e-01 -4.43316846e-02 1.31157649e+02] [ 3.97309683e-01 9.17434144e-01 -2.14384408e-02 1.76254400e+01] [ 4.92013809e-02 2.03202250e-03 9.98786812e-01 6.41548018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.000385723 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:131.18, Y:17.64, Z:6.42 [[ 9.14752584e-01 -4.01532945e-01 -4.47102215e-02 1.31176560e+02] [ 4.01004348e-01 9.15844106e-01 -2.06176145e-02 1.76398381e+01] [ 4.92262444e-02 9.31022940e-04 9.98787220e-01 6.41605678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.030385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.21, Y:17.65, Z:6.42 [[ 9.16149180e-01 -3.98373948e-01 -4.43720448e-02 1.31211229e+02] [ 3.97806016e-01 9.17221106e-01 -2.13498748e-02 1.76488861e+01] [ 4.92042099e-02 1.90820397e-03 9.98786916e-01 6.41985319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.060385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:131.24, Y:17.66, Z:6.42 [[ 9.15828231e-01 -3.99073770e-01 -4.47076927e-02 1.31237160e+02] [ 3.98542016e-01 9.16918200e-01 -2.06222498e-02 1.76590626e+01] [ 4.92230961e-02 1.06854459e-03 9.98787237e-01 6.42256487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.090385723 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:131.26, Y:17.67, Z:6.43 [[ 9.15412122e-01 -4.00027532e-01 -4.47059262e-02 1.31264298e+02] [ 3.99496727e-01 9.16502553e-01 -2.06260786e-02 1.76698931e+01] [ 4.92240948e-02 1.02149124e-03 9.98787237e-01 6.42596865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.120385723 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:131.28, Y:17.68, Z:6.43 [[ 9.13491718e-01 -4.04394238e-01 -4.47010263e-02 1.31284748e+02] [ 4.03868127e-01 9.14584421e-01 -2.06366923e-02 1.76817223e+01] [ 4.92282217e-02 7.98127796e-04 9.98787237e-01 6.43143718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.150385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.32, Y:17.69, Z:6.43 [[ 9.14450194e-01 -4.02253685e-01 -4.44163918e-02 1.31316168e+02] [ 4.01695045e-01 9.15526864e-01 -2.12521275e-02 1.76923296e+01] [ 4.92131465e-02 1.59216762e-03 9.98787030e-01 6.43359369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.180385723 meters Centerline goodness : 0.999909 Centerline is valid? [True, True] Translation: X:131.33, Y:17.71, Z:6.43 [[ 9.12369631e-01 -4.06920210e-01 -4.46945209e-02 1.31334387e+02] [ 4.06396463e-01 9.13463456e-01 -2.06501805e-02 1.77074807e+01] [ 4.92297873e-02 6.76902337e-04 9.98787250e-01 6.43466278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.210385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.37, Y:17.72, Z:6.44 [[ 9.14404416e-01 -4.02362935e-01 -4.43692683e-02 1.31367053e+02] [ 4.01799536e-01 9.15478665e-01 -2.13529059e-02 1.77167222e+01] [ 4.92107364e-02 1.69764002e-03 9.98786975e-01 6.43648866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.240385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.39, Y:17.73, Z:6.44 [[ 9.14495166e-01 -4.02121308e-01 -4.46883013e-02 1.31393061e+02] [ 4.01591198e-01 9.15585906e-01 -2.06629589e-02 1.77276949e+01] [ 4.92249949e-02 9.49747520e-04 9.98787264e-01 6.43883314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.270385723 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] Translation: X:131.41, Y:17.74, Z:6.44 [[ 9.13403741e-01 -4.04594943e-01 -4.46826368e-02 1.31414407e+02] [ 4.04067189e-01 9.14495622e-01 -2.06752010e-02 1.77415822e+01] [ 4.92271575e-02 8.30018552e-04 9.98787264e-01 6.43958178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.300385723 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] Translation: X:131.44, Y:17.75, Z:6.44 [[ 9.14184572e-01 -4.02850721e-01 -4.44731953e-02 1.31440754e+02] [ 4.02298850e-01 9.15264591e-01 -2.11273163e-02 1.77543957e+01] [ 4.92158956e-02 1.42275124e-03 9.98787150e-01 6.44152827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.330385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.47, Y:17.77, Z:6.44 [[ 9.15624348e-01 -3.99566029e-01 -4.44864295e-02 1.31470023e+02] [ 3.99011670e-01 9.16703076e-01 -2.10987568e-02 1.77651506e+01] [ 4.92111932e-02 1.56793091e-03 9.98787165e-01 6.44448620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.360385723 meters Centerline goodness : 0.999909 Centerline is valid? [True, True] Translation: X:131.49, Y:17.78, Z:6.44 [[ 9.16301410e-01 -3.97989898e-01 -4.46740067e-02 1.31494443e+02] [ 3.97453367e-01 9.17389005e-01 -2.06938252e-02 1.77790390e+01] [ 4.92193759e-02 1.20594681e-03 9.98787264e-01 6.44331874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.390385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.51, Y:17.79, Z:6.44 [[ 9.14846288e-01 -4.01323737e-01 -4.46713277e-02 1.31513914e+02] [ 4.00790888e-01 9.15935691e-01 -2.06996067e-02 1.77946314e+01] [ 4.92233069e-02 1.03309723e-03 9.98787264e-01 6.44460905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.420385723 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:131.55, Y:17.80, Z:6.44 [[ 9.17091821e-01 -3.96197975e-01 -4.43819408e-02 1.31545648e+02] [ 3.95628804e-01 9.18162937e-01 -2.13230122e-02 1.78038650e+01] [ 4.91979873e-02 1.99638598e-03 9.98787051e-01 6.44371537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.450385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.56, Y:17.82, Z:6.45 [[ 9.15419722e-01 -4.00014741e-01 -4.46647330e-02 1.31564405e+02] [ 3.99479670e-01 9.16508022e-01 -2.07132432e-02 1.78192824e+01] [ 4.92211888e-02 1.11865857e-03 9.98787276e-01 6.44726092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.480385723 meters Centerline goodness : 0.999909 Centerline is valid? [True, True] Translation: X:131.59, Y:17.83, Z:6.45 [[ 9.15577889e-01 -3.99686544e-01 -4.43598415e-02 1.31590084e+02] [ 3.99119170e-01 9.16649989e-01 -2.13702028e-02 1.78318406e+01] [ 4.92038308e-02 1.86122206e-03 9.98787024e-01 6.44821360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.510385723 meters Centerline goodness : 0.999909 Centerline is valid? [True, True] Translation: X:131.62, Y:17.84, Z:6.45 [[ 9.16979299e-01 -3.96460551e-01 -4.43621144e-02 1.31622788e+02] [ 3.95889643e-01 9.18049516e-01 -2.13653077e-02 1.78400030e+01] [ 4.91971193e-02 2.02904325e-03 9.98787028e-01 6.45071162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.540385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.65, Y:17.85, Z:6.45 [[ 9.16280440e-01 -3.98039493e-01 -4.46622507e-02 1.31649500e+02] [ 3.97501828e-01 9.17367455e-01 -2.07183374e-02 1.78508616e+01] [ 4.92184118e-02 1.23048099e-03 9.98787282e-01 6.45475547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.57038572300002 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:131.67, Y:17.86, Z:6.46 [[ 9.15856712e-01 -3.99014052e-01 -4.46572491e-02 1.31674307e+02] [ 3.98477018e-01 9.16944039e-01 -2.07291126e-02 1.78627935e+01] [ 4.92194055e-02 1.19000951e-03 9.98787282e-01 6.45537759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.60038572300002 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:131.69, Y:17.88, Z:6.45 [[ 9.12964300e-01 -4.05588554e-01 -4.46554755e-02 1.31690678e+02] [ 4.05059165e-01 9.14055370e-01 -2.07329325e-02 1.78797591e+01] [ 4.92266173e-02 8.40317628e-04 9.98787282e-01 6.45115813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.63038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.73, Y:17.89, Z:6.46 [[ 9.15051323e-01 -4.00903075e-01 -4.42470321e-02 1.31725966e+02] [ 4.00325500e-01 9.16118155e-01 -2.16106508e-02 1.78879536e+01] [ 4.91992858e-02 2.06163937e-03 9.98786854e-01 6.45902109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.66038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.75, Y:17.90, Z:6.46 [[ 9.14649579e-01 -4.01774270e-01 -4.46495573e-02 1.31752428e+02] [ 4.01239776e-01 9.15738126e-01 -2.07443190e-02 1.78994474e+01] [ 4.92218355e-02 1.05860429e-03 9.98787310e-01 6.46208586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.69038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.78, Y:17.91, Z:6.46 [[ 9.14069087e-01 -4.03093756e-01 -4.46444644e-02 1.31777696e+02] [ 4.02560299e-01 9.15158142e-01 -2.07552737e-02 1.79107479e+01] [ 4.92230663e-02 9.99665177e-04 9.98787310e-01 6.46378889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.72038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.80, Y:17.92, Z:6.47 [[ 9.13590703e-01 -4.04177115e-01 -4.46417628e-02 1.31803293e+02] [ 4.03644665e-01 9.14680251e-01 -2.07610829e-02 1.79228359e+01] [ 4.92240934e-02 9.47722929e-04 9.98787310e-01 6.46562663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.750385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.83, Y:17.93, Z:6.47 [[ 9.12980855e-01 -4.05553431e-01 -4.46360049e-02 1.31828015e+02] [ 4.05022019e-01 9.14070909e-01 -2.07734548e-02 1.79345686e+01] [ 4.92252195e-02 8.87201704e-04 9.98787310e-01 6.46602500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.780385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.85, Y:17.95, Z:6.47 [[ 9.12628348e-01 -4.06346490e-01 -4.46321424e-02 1.31853350e+02] [ 4.05815620e-01 9.13718666e-01 -2.07817502e-02 1.79471284e+01] [ 4.92258129e-02 8.53593828e-04 9.98787310e-01 6.46769497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.810385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.88, Y:17.96, Z:6.47 [[ 9.11846968e-01 -4.08097540e-01 -4.46262816e-02 1.31878198e+02] [ 4.07568148e-01 9.12938005e-01 -2.07943281e-02 1.79585883e+01] [ 4.92271426e-02 7.72994128e-04 9.98787310e-01 6.46793005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.840385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.90, Y:17.97, Z:6.47 [[ 9.11387249e-01 -4.09123817e-01 -4.46204471e-02 1.31903527e+02] [ 4.08595042e-01 9.12478584e-01 -2.08068402e-02 1.79698221e+01] [ 4.92277763e-02 7.31395387e-04 9.98787310e-01 6.46990558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.870385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.93, Y:17.98, Z:6.47 [[ 9.10677257e-01 -4.10702412e-01 -4.46145978e-02 1.31928939e+02] [ 4.10174915e-01 9.11769210e-01 -2.08193749e-02 1.79817989e+01] [ 4.92287841e-02 6.59942402e-04 9.98787310e-01 6.47040408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.900385723 meters Centerline goodness : 0.999887 Centerline is valid? [True, True] Translation: X:131.95, Y:17.99, Z:6.47 [[ 9.10155898e-01 -4.11856697e-01 -4.46128119e-02 1.31954624e+02] [ 4.11330397e-01 9.11248429e-01 -2.08232011e-02 1.79943647e+01] [ 4.92295296e-02 6.01753723e-04 9.98787310e-01 6.47034424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.930385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.98, Y:18.01, Z:6.47 [[ 9.09718416e-01 -4.12822709e-01 -4.46073291e-02 1.31979421e+02] [ 4.12296993e-01 9.10811229e-01 -2.08349397e-02 1.80065052e+01] [ 4.92299925e-02 5.62460650e-04 9.98787310e-01 6.47140552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.960385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.01, Y:18.02, Z:6.47 [[ 9.09596630e-01 -4.13091176e-01 -4.46055038e-02 1.32005058e+02] [ 4.12565592e-01 9.10689505e-01 -2.08388467e-02 1.80179880e+01] [ 4.92301079e-02 5.52248697e-04 9.98787310e-01 6.47321667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.990385723 meters Centerline goodness : 0.999887 Centerline is valid? [True, True] Translation: X:132.03, Y:18.03, Z:6.47 [[ 9.09305180e-01 -4.13732941e-01 -4.45998106e-02 1.32031147e+02] [ 4.13207530e-01 9.10398139e-01 -2.08510243e-02 1.80288794e+01] [ 4.92303402e-02 5.30966804e-04 9.98787311e-01 6.47468431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.020385723 meters Centerline goodness : 0.999909 Centerline is valid? [True, True] Translation: X:132.06, Y:18.04, Z:6.48 [[ 9.08958907e-01 -4.14493330e-01 -4.45980483e-02 1.32057132e+02] [ 4.13968648e-01 9.10052216e-01 -2.08547931e-02 1.80404154e+01] [ 4.92307253e-02 4.93956200e-04 9.98787311e-01 6.47646614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.050385723 meters Centerline goodness : 0.999909 Centerline is valid? [True, True] Translation: X:132.08, Y:18.05, Z:6.47 [[ 9.07709416e-01 -4.17223122e-01 -4.45924108e-02 1.32084429e+02] [ 4.16701137e-01 9.08804015e-01 -2.08668403e-02 1.80541030e+01] [ 4.92318903e-02 3.59319103e-04 9.98787311e-01 6.47337065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.080385723 meters Centerline goodness : 0.999887 Centerline is valid? [True, True] Translation: X:132.11, Y:18.07, Z:6.48 [[ 9.07652806e-01 -4.17336904e-01 -4.46798845e-02 1.32109675e+02] [ 4.16824251e-01 9.08751829e-01 -2.06798793e-02 1.80665044e+01] [ 4.92334036e-02 1.46491111e-04 9.98787290e-01 6.47521767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.110385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:132.13, Y:18.08, Z:6.48 [[ 9.08780969e-01 -4.14870228e-01 -4.47196245e-02 1.32132406e+02] [ 4.14358767e-01 9.09880574e-01 -2.05949835e-02 1.80775576e+01] [ 4.92337631e-02 1.86360566e-04 9.98787266e-01 6.48260040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.140385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.16, Y:18.09, Z:6.49 [[ 9.09453940e-01 -4.13407676e-01 -4.45827915e-02 1.32158102e+02] [ 4.12880108e-01 9.10545851e-01 -2.08870554e-02 1.80905920e+01] [ 4.92295449e-02 5.88466992e-04 9.98787318e-01 6.48551717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.170385723 meters Centerline goodness : 0.999797 Centerline is valid? [True, True] Translation: X:132.19, Y:18.10, Z:6.48 [[ 9.08810384e-01 -4.14821065e-01 -4.45776796e-02 1.32186067e+02] [ 4.14294661e-01 9.09902857e-01 -2.08979597e-02 1.81048294e+01] [ 4.92302719e-02 5.23988099e-04 9.98787318e-01 6.47892704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.200385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.21, Y:18.12, Z:6.49 [[ 9.10705994e-01 -4.10632753e-01 -4.46691719e-02 1.32209276e+02] [ 4.10110886e-01 9.11800667e-01 -2.07027720e-02 1.81150080e+01] [ 4.92306170e-02 5.34824884e-04 9.98787295e-01 6.48806826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.230385723 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:132.23, Y:18.13, Z:6.49 [[ 9.11067435e-01 -4.09840976e-01 -4.45702189e-02 1.32234730e+02] [ 4.09307832e-01 9.12156630e-01 -2.09136592e-02 1.81278260e+01] [ 4.92262951e-02 8.10814152e-04 9.98787322e-01 6.48931442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.260385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:132.26, Y:18.14, Z:6.49 [[ 9.11408715e-01 -4.09082106e-01 -4.45643836e-02 1.32259265e+02] [ 4.08547448e-01 9.12497168e-01 -2.09260860e-02 1.81409176e+01] [ 4.92253612e-02 8.65551950e-04 9.98787322e-01 6.48974610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.290385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.28, Y:18.16, Z:6.49 [[ 9.12130617e-01 -4.07470572e-01 -4.45586244e-02 1.32283805e+02] [ 4.06933393e-01 9.13217827e-01 -2.09383422e-02 1.81566155e+01] [ 4.92234884e-02 9.66110838e-04 9.98787322e-01 6.48994053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.32038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.31, Y:18.17, Z:6.49 [[ 9.12475233e-01 -4.06698816e-01 -4.45535895e-02 1.32309319e+02] [ 4.06160195e-01 9.13561729e-01 -2.09490503e-02 1.81700802e+01] [ 4.92224082e-02 1.01959493e-03 9.98787322e-01 6.49132319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.35038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.33, Y:18.18, Z:6.49 [[ 9.13233160e-01 -4.04994594e-01 -4.45485597e-02 1.32334960e+02] [ 4.04453424e-01 9.14318389e-01 -2.09597407e-02 1.81828834e+01] [ 4.92201490e-02 1.12331277e-03 9.98787322e-01 6.49428815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.38038572300002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:132.36, Y:18.20, Z:6.50 [[ 9.13909684e-01 -4.03466191e-01 -4.45434763e-02 1.32360941e+02] [ 4.02922681e-01 9.14993743e-01 -2.09705383e-02 1.81956875e+01] [ 4.92179054e-02 1.21760113e-03 9.98787322e-01 6.49793266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.41038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.39, Y:18.21, Z:6.50 [[ 9.14312737e-01 -4.02552555e-01 -4.45382875e-02 1.32385530e+02] [ 4.02007425e-01 9.15395982e-01 -2.09815529e-02 1.82083208e+01] [ 4.92163471e-02 1.27897876e-03 9.98787322e-01 6.49919569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.44038572300002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:132.41, Y:18.22, Z:6.50 [[ 9.14678552e-01 -4.01721315e-01 -4.45323732e-02 1.32410300e+02] [ 4.01174590e-01 9.15760993e-01 -2.09940981e-02 1.82213382e+01] [ 4.92147870e-02 1.33759471e-03 9.98787322e-01 6.50010343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.47038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.43, Y:18.24, Z:6.50 [[ 9.15432003e-01 -4.00001599e-01 -4.45305387e-02 1.32434927e+02] [ 3.99452652e-01 9.16513319e-01 -2.09979886e-02 1.82356025e+01] [ 4.92120608e-02 1.43438895e-03 9.98787323e-01 6.50113240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.500385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.46, Y:18.25, Z:6.50 [[ 9.15725482e-01 -3.99329923e-01 -4.45247659e-02 1.32459751e+02] [ 3.98779588e-01 9.16806092e-01 -2.10102224e-02 1.82485551e+01] [ 4.92105871e-02 1.48402825e-03 9.98787323e-01 6.50256253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.530385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:132.48, Y:18.26, Z:6.50 [[ 9.16382733e-01 -3.97819999e-01 -4.45189312e-02 1.32483272e+02] [ 3.97267284e-01 9.17462128e-01 -2.10225782e-02 1.82612713e+01] [ 4.92076354e-02 1.57881277e-03 9.98787323e-01 6.50309849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.560385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.51, Y:18.27, Z:6.51 [[ 9.16861818e-01 -3.96715253e-01 -4.45130932e-02 1.32508170e+02] [ 3.96160639e-01 9.17940237e-01 -2.10349324e-02 1.82745488e+01] [ 4.92052379e-02 1.65179091e-03 9.98787323e-01 6.50556576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.590385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:132.53, Y:18.29, Z:6.51 [[ 9.16816449e-01 -3.96820293e-01 -4.45112738e-02 1.32533097e+02] [ 3.96265616e-01 9.17894837e-01 -2.10387817e-02 1.82875415e+01] [ 4.92052839e-02 1.65041386e-03 9.98787323e-01 6.50523180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.620385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.56, Y:18.30, Z:6.50 [[ 9.15846101e-01 -3.99055359e-01 -4.45055001e-02 1.32555037e+02] [ 3.98502721e-01 9.16925535e-01 -2.10509884e-02 1.83027334e+01] [ 4.92087392e-02 1.54390275e-03 9.98787323e-01 6.50288075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.650385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.58, Y:18.32, Z:6.51 [[ 9.16609292e-01 -3.97314628e-01 -4.43676874e-02 1.32583385e+02] [ 3.96745848e-01 9.17680361e-01 -2.13421249e-02 1.83151644e+01] [ 4.91948938e-02 1.95969425e-03 9.98787276e-01 6.50636739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.680385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.61, Y:18.33, Z:6.51 [[ 9.16501424e-01 -3.97548398e-01 -4.45018232e-02 1.32609225e+02] [ 3.96993613e-01 9.17579753e-01 -2.10586708e-02 1.83273223e+01] [ 4.92058127e-02 1.63336220e-03 9.98787325e-01 6.50790811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.710385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.63, Y:18.34, Z:6.51 [[ 9.16161631e-01 -3.98331472e-01 -4.44961220e-02 1.32633852e+02] [ 3.97777025e-01 9.17240134e-01 -2.10707103e-02 1.83394926e+01] [ 4.92067559e-02 1.60464129e-03 9.98787325e-01 6.50894406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.740385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.66, Y:18.35, Z:6.51 [[ 9.15346203e-01 -4.00202005e-01 -4.44936507e-02 1.32658152e+02] [ 3.99649508e-01 9.16425707e-01 -2.10759274e-02 1.83513618e+01] [ 4.92097537e-02 1.50990448e-03 9.98787325e-01 6.51002989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.770385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.68, Y:18.36, Z:6.51 [[ 9.14811607e-01 -4.01423144e-01 -4.44880163e-02 1.32682899e+02] [ 4.00871511e-01 9.15891552e-01 -2.10878142e-02 1.83637055e+01] [ 4.92113349e-02 1.45739883e-03 9.98787325e-01 6.51237129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.800385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.71, Y:18.38, Z:6.52 [[ 9.13869390e-01 -4.03564186e-01 -4.44824144e-02 1.32707787e+02] [ 4.03014509e-01 9.14950333e-01 -2.10996242e-02 1.83763205e+01] [ 4.92142525e-02 1.35524228e-03 9.98787325e-01 6.51689960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.830385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.73, Y:18.39, Z:6.52 [[ 9.13469958e-01 -4.04468095e-01 -4.44769095e-02 1.32732451e+02] [ 4.03918924e-01 9.14551157e-01 -2.11112217e-02 1.83887437e+01] [ 4.92152247e-02 1.31940140e-03 9.98787325e-01 6.51932261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.860385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.76, Y:18.40, Z:6.52 [[ 9.13334769e-01 -4.04773878e-01 -4.44714289e-02 1.32756177e+02] [ 4.04224508e-01 9.14415866e-01 -2.11227605e-02 1.84023230e+01] [ 4.92153219e-02 1.31571010e-03 9.98787325e-01 6.51907113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.890385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.78, Y:18.42, Z:6.52 [[ 9.13228638e-01 -4.05013528e-01 -4.44690509e-02 1.32782383e+02] [ 4.04464198e-01 9.14309756e-01 -2.11277655e-02 1.84167410e+01] [ 4.92155180e-02 1.30834155e-03 9.98787325e-01 6.51871806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.920385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.80, Y:18.43, Z:6.52 [[ 9.11503113e-01 -4.08870557e-01 -4.45751262e-02 1.32802188e+02] [ 4.08336696e-01 9.12591990e-01 -2.09046062e-02 1.84313715e+01] [ 4.92261811e-02 8.52953882e-04 9.98787292e-01 6.51725749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.950385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.83, Y:18.44, Z:6.52 [[ 9.13058221e-01 -4.05413258e-01 -4.43257876e-02 1.32830928e+02] [ 4.04849814e-01 9.14132084e-01 -2.14280452e-02 1.84423004e+01] [ 4.92068382e-02 1.61976592e-03 9.98787296e-01 6.52072533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.980385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.85, Y:18.46, Z:6.52 [[ 9.12811648e-01 -4.05954817e-01 -4.44475069e-02 1.32854327e+02] [ 4.05404424e-01 9.13892213e-01 -2.11725241e-02 1.84556520e+01] [ 4.92153187e-02 1.30731070e-03 9.98787336e-01 6.52145527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.010385723 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:132.88, Y:18.47, Z:6.52 [[ 9.12377206e-01 -4.06930557e-01 -4.44449630e-02 1.32879514e+02] [ 4.06381060e-01 9.13458227e-01 -2.11778631e-02 1.84692887e+01] [ 4.92165367e-02 1.26060839e-03 9.98787336e-01 6.52174638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.040385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.90, Y:18.48, Z:6.53 [[ 9.12399881e-01 -4.06880291e-01 -4.44396985e-02 1.32903190e+02] [ 4.06330196e-01 9.13480597e-01 -2.11889042e-02 1.84817910e+01] [ 4.92161499e-02 1.27556227e-03 9.98787336e-01 6.52521159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.07038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.92, Y:18.50, Z:6.53 [[ 9.11173115e-01 -4.09620398e-01 -4.44374192e-02 1.32921623e+02] [ 4.09073320e-01 9.12255362e-01 -2.11936833e-02 1.84983071e+01] [ 4.92196390e-02 1.13295185e-03 9.98787337e-01 6.52721730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.10038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.95, Y:18.51, Z:6.53 [[ 9.11788620e-01 -4.08263614e-01 -4.42982415e-02 1.32945146e+02] [ 4.07700708e-01 9.12862793e-01 -2.14861094e-02 1.85120676e+01] [ 4.92102132e-02 1.53036564e-03 9.98787271e-01 6.52680881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.13038572300002 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:132.97, Y:18.53, Z:6.53 [[ 9.11424932e-01 -4.09077614e-01 -4.42729959e-02 1.32968721e+02] [ 4.08513094e-01 9.12498284e-01 -2.15391330e-02 1.85258405e+01] [ 4.92102099e-02 1.54520434e-03 9.98787248e-01 6.52631878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.16038572300002 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:133.00, Y:18.54, Z:6.53 [[ 9.13427644e-01 -4.04599169e-01 -4.41525976e-02 1.33001212e+02] [ 4.04017167e-01 9.14491794e-01 -2.17919206e-02 1.85358743e+01] [ 4.91941811e-02 2.06693529e-03 9.98787095e-01 6.53009323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.19038572300002 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:133.02, Y:18.55, Z:6.53 [[ 9.12151850e-01 -4.07434012e-01 -4.44581638e-02 1.33021139e+02] [ 4.06886486e-01 9.13233859e-01 -2.11496255e-02 1.85530026e+01] [ 4.92177772e-02 1.20224403e-03 9.98787347e-01 6.52556060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.22038572300002 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:133.05, Y:18.57, Z:6.53 [[ 9.13404994e-01 -4.04639367e-01 -4.42526818e-02 1.33049136e+02] [ 4.04067608e-01 9.14474510e-01 -2.15809766e-02 1.85652850e+01] [ 4.92004623e-02 1.83109655e-03 9.98787245e-01 6.52739294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.250385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.07, Y:18.58, Z:6.53 [[ 9.13598097e-01 -4.04181534e-01 -4.44500221e-02 1.33074010e+02] [ 4.03629333e-01 9.14677723e-01 -2.11665720e-02 1.85783178e+01] [ 4.92125826e-02 1.39640716e-03 9.98787351e-01 6.53091611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.280385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.10, Y:18.60, Z:6.53 [[ 9.12717955e-01 -4.06165771e-01 -4.44443516e-02 1.33095711e+02] [ 4.05615339e-01 9.13798484e-01 -2.11784719e-02 1.85950985e+01] [ 4.92151515e-02 1.30266082e-03 9.98787351e-01 6.53245080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.310385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.12, Y:18.61, Z:6.54 [[ 9.13326580e-01 -4.04805941e-01 -4.43475931e-02 1.33122384e+02] [ 4.04244046e-01 9.14401218e-01 -2.13813957e-02 1.86064533e+01] [ 4.92068092e-02 1.60094650e-03 9.98787328e-01 6.53582281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.340385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:133.15, Y:18.62, Z:6.54 [[ 9.13062808e-01 -4.05390542e-01 -4.44389047e-02 1.33147513e+02] [ 4.04838637e-01 9.14142585e-01 -2.11899021e-02 1.86193871e+01] [ 4.92136811e-02 1.35712596e-03 9.98787351e-01 6.53801307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.370385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.17, Y:18.63, Z:6.54 [[ 9.12563012e-01 -4.06514980e-01 -4.44333137e-02 1.33172750e+02] [ 4.05963835e-01 9.13643178e-01 -2.12016195e-02 1.86325923e+01] [ 4.92149698e-02 1.30949531e-03 9.98787351e-01 6.54002942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.400385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.20, Y:18.65, Z:6.54 [[ 9.12176176e-01 -4.07382864e-01 -4.44277615e-02 1.33197329e+02] [ 4.06832181e-01 9.13256577e-01 -2.12132476e-02 1.86461554e+01] [ 4.92158590e-02 1.27557600e-03 9.98787351e-01 6.54078051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.430385723 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:133.22, Y:18.67, Z:6.53 [[ 9.10014888e-01 -4.12188755e-01 -4.44222245e-02 1.33215563e+02] [ 4.11643213e-01 9.11097894e-01 -2.12248362e-02 1.86654923e+01] [ 4.92216340e-02 1.02880973e-03 9.98787351e-01 6.53453398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.460385723 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:133.24, Y:18.68, Z:6.53 [[ 9.09622890e-01 -4.13075349e-01 -4.42148704e-02 1.33241535e+02] [ 4.12509754e-01 9.10695679e-01 -2.16583395e-02 1.86798726e+01] [ 4.92128175e-02 1.46185610e-03 9.98787245e-01 6.53191813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.490385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:133.27, Y:18.69, Z:6.54 [[ 9.08809666e-01 -4.14857580e-01 -4.42513130e-02 1.33266207e+02] [ 4.14297795e-01 9.09885459e-01 -2.15821513e-02 1.86945444e+01] [ 4.92171453e-02 1.28084634e-03 9.98787281e-01 6.53973508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.520385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.29, Y:18.71, Z:6.54 [[ 9.08116710e-01 -4.16367184e-01 -4.42990888e-02 1.33291006e+02] [ 4.15814054e-01 9.09195900e-01 -2.14822859e-02 1.87071716e+01] [ 4.92210688e-02 1.08823910e-03 9.98787316e-01 6.53732805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.550385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.32, Y:18.72, Z:6.54 [[ 9.06047587e-01 -4.20854892e-01 -4.42597985e-02 1.33315825e+02] [ 4.20303097e-01 9.07127491e-01 -2.15643787e-02 1.87205185e+01] [ 4.92247542e-02 9.35822921e-04 9.98787289e-01 6.54149300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.580385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:133.34, Y:18.73, Z:6.54 [[ 9.05424014e-01 -4.22198393e-01 -4.42252329e-02 1.33341949e+02] [ 4.21644675e-01 9.06502966e-01 -2.16365556e-02 1.87333482e+01] [ 4.92252238e-02 9.42923065e-04 9.98787259e-01 6.54373661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.610385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.36, Y:18.75, Z:6.55 [[ 9.03978940e-01 -4.25274014e-01 -4.43180464e-02 1.33364665e+02] [ 4.24733481e-01 9.05064473e-01 -2.14422630e-02 1.87481502e+01] [ 4.92295266e-02 5.59996045e-04 9.98787335e-01 6.54516022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.640385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.39, Y:18.76, Z:6.54 [[ 9.05002021e-01 -4.23101795e-01 -4.42290989e-02 1.33386645e+02] [ 4.22549556e-01 9.06081723e-01 -2.16283301e-02 1.87593710e+01] [ 4.92261634e-02 8.84696340e-04 9.98787266e-01 6.54287196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.670385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:133.42, Y:18.78, Z:6.54 [[ 9.02712480e-01 -4.28011342e-01 -4.37775035e-02 1.33417631e+02] [ 4.27419379e-01 9.03771843e-01 -2.25639090e-02 1.87805754e+01] [ 4.92224840e-02 1.65736895e-03 9.98786464e-01 6.54484798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.700385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:133.44, Y:18.79, Z:6.55 [[ 9.03378343e-01 -4.26555130e-01 -4.42525833e-02 1.33441728e+02] [ 4.26009609e-01 9.04461339e-01 -2.15754528e-02 1.87927783e+01] [ 4.92278708e-02 6.38771044e-04 9.98787369e-01 6.54690937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.730385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.47, Y:18.81, Z:6.55 [[ 9.03815716e-01 -4.25628909e-01 -4.42400782e-02 1.33465426e+02] [ 4.25081004e-01 9.04897517e-01 -2.16014614e-02 1.88086049e+01] [ 4.92269434e-02 7.18123407e-04 9.98787361e-01 6.54757276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.760385723 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:133.49, Y:18.82, Z:6.55 [[ 9.03762400e-01 -4.25743843e-01 -4.42233505e-02 1.33490521e+02] [ 4.25194375e-01 9.04843421e-01 -2.16362345e-02 1.88230931e+01] [ 4.92267014e-02 7.50495351e-04 9.98787349e-01 6.54598703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.790385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:133.51, Y:18.84, Z:6.55 [[ 9.04450132e-01 -4.24277063e-01 -4.42598249e-02 1.33508682e+02] [ 4.23729543e-01 9.05532118e-01 -2.15605609e-02 1.88389029e+01] [ 4.92263444e-02 7.46256836e-04 9.98787370e-01 6.55249765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.82038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.53, Y:18.85, Z:6.55 [[ 9.04860365e-01 -4.23409745e-01 -4.41803902e-02 1.33533703e+02] [ 4.22853089e-01 9.05937764e-01 -2.17263101e-02 1.88516414e+01] [ 4.92238153e-02 9.77462427e-04 9.98787295e-01 6.54993239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.85038572300002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:133.56, Y:18.86, Z:6.55 [[ 9.06660470e-01 -4.19536708e-01 -4.42237794e-02 1.33562170e+02] [ 4.18979862e-01 9.07737720e-01 -2.16357820e-02 1.88645028e+01] [ 4.92205974e-02 1.08743528e-03 9.98787340e-01 6.55461292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.88038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.58, Y:18.88, Z:6.55 [[ 9.04405811e-01 -4.24357251e-01 -4.43965437e-02 1.33578821e+02] [ 4.23823808e-01 9.05494750e-01 -2.12752723e-02 1.88804003e+01] [ 4.92291533e-02 4.25167732e-04 9.98787420e-01 6.55217115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.91038572300002 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:133.61, Y:18.89, Z:6.55 [[ 9.05393419e-01 -4.22284235e-01 -4.40316136e-02 1.33609284e+02] [ 4.21711175e-01 9.06462418e-01 -2.20356726e-02 1.88924754e+01] [ 4.92183200e-02 1.38232949e-03 9.98787087e-01 6.55318546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.94038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.63, Y:18.91, Z:6.56 [[ 9.05993200e-01 -4.20972391e-01 -4.42557049e-02 1.33632290e+02] [ 4.20420538e-01 9.07072969e-01 -2.15684814e-02 1.89073860e+01] [ 4.92228888e-02 9.34890210e-04 9.98787381e-01 6.55734989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.97038572300002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:133.66, Y:18.92, Z:6.56 [[ 9.06565421e-01 -4.19741647e-01 -4.42276781e-02 1.33657375e+02] [ 4.19185476e-01 9.07642998e-01 -2.16269444e-02 1.89219700e+01] [ 4.92206716e-02 1.06663965e-03 9.98787359e-01 6.55682075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.000385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.68, Y:18.93, Z:6.56 [[ 9.06916557e-01 -4.18981580e-01 -4.42356741e-02 1.33682425e+02] [ 4.18425319e-01 9.07994080e-01 -2.16102635e-02 1.89346110e+01] [ 4.92200325e-02 1.08937971e-03 9.98787366e-01 6.55829834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.030385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.71, Y:18.95, Z:6.56 [[ 9.07405554e-01 -4.17924350e-01 -4.42085825e-02 1.33707647e+02] [ 4.17364082e-01 9.08481026e-01 -2.16667606e-02 1.89470057e+01] [ 4.92177252e-02 1.20946452e-03 9.98787341e-01 6.55895515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.060385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.73, Y:18.96, Z:6.56 [[ 9.07674927e-01 -4.17334786e-01 -4.42482078e-02 1.33734008e+02] [ 4.16777843e-01 9.08752086e-01 -2.15841305e-02 1.89592712e+01] [ 4.92184596e-02 1.14970148e-03 9.98787375e-01 6.56067435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.090385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.76, Y:18.97, Z:6.56 [[ 9.07516835e-01 -4.17675531e-01 -4.42757796e-02 1.33758639e+02] [ 4.17121795e-01 9.08595626e-01 -2.15266347e-02 1.89716256e+01] [ 4.92199282e-02 1.06739076e-03 9.98787394e-01 6.56197882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.120385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:133.79, Y:18.98, Z:6.57 [[ 9.08137677e-01 -4.16329591e-01 -4.42225152e-02 1.33786445e+02] [ 4.15768850e-01 9.09212888e-01 -2.16376656e-02 1.89823515e+01] [ 4.92160812e-02 1.26363508e-03 9.98787355e-01 6.56584692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.150385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.81, Y:18.99, Z:6.57 [[ 9.07687619e-01 -4.17300386e-01 -4.43122249e-02 1.33812337e+02] [ 4.16749912e-01 9.08768057e-01 -2.14506416e-02 1.89938815e+01] [ 4.92208955e-02 1.00336597e-03 9.98787413e-01 6.56671401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.180385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:133.84, Y:19.01, Z:6.57 [[ 9.07773929e-01 -4.17115380e-01 -4.42860444e-02 1.33838567e+02] [ 4.16562023e-01 9.08852907e-01 -2.15052147e-02 1.90051493e+01] [ 4.92196560e-02 1.07398904e-03 9.98787401e-01 6.56772931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.210385723 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:133.87, Y:19.02, Z:6.57 [[ 9.08351608e-01 -4.15850817e-01 -4.43334397e-02 1.33865187e+02] [ 4.15300774e-01 9.09432258e-01 -2.14064444e-02 1.90155715e+01] [ 4.92201475e-02 1.03286636e-03 9.98787420e-01 6.56987818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.240385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:133.89, Y:19.03, Z:6.57 [[ 9.07196240e-01 -4.18359985e-01 -4.43836010e-02 1.33891139e+02] [ 4.17818040e-01 9.08280966e-01 -2.13019317e-02 1.90262463e+01] [ 4.92246558e-02 7.80763142e-04 9.98787427e-01 6.56956131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.270385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:133.92, Y:19.03, Z:6.57 [[ 9.08047323e-01 -4.16516489e-01 -4.43178668e-02 1.33920098e+02] [ 4.15965663e-01 9.09127575e-01 -2.14387247e-02 1.90348132e+01] [ 4.92201771e-02 1.03266571e-03 9.98787419e-01 6.57241399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.300385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.94, Y:19.04, Z:6.58 [[ 9.08029300e-01 -4.16536141e-01 -4.45020598e-02 1.33943575e+02] [ 4.16004089e-01 9.09118956e-01 -2.10551935e-02 1.90448063e+01] [ 4.92279152e-02 6.05693737e-04 9.98787388e-01 6.57839323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.330385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.96, Y:19.06, Z:6.57 [[ 9.05370223e-01 -4.22298743e-01 -4.43681420e-02 1.33961627e+02] [ 4.21759960e-01 9.06456513e-01 -2.13337104e-02 1.90605832e+01] [ 4.92269903e-02 6.02200393e-04 9.98787435e-01 6.57109207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.360385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.99, Y:19.07, Z:6.57 [[ 9.06880612e-01 -4.19087096e-01 -4.39722831e-02 1.33992958e+02] [ 4.18504440e-01 9.07944464e-01 -2.21559212e-02 1.90713144e+01] [ 4.92096517e-02 1.69017966e-03 9.98787041e-01 6.57203593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.390385723 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:134.02, Y:19.08, Z:6.57 [[ 9.07141638e-01 -4.18497244e-01 -4.42052655e-02 1.34020118e+02] [ 4.17937411e-01 9.08217295e-01 -2.16717769e-02 1.90820051e+01] [ 4.92175656e-02 1.18433693e-03 9.98787379e-01 6.57337753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.420385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.05, Y:19.09, Z:6.57 [[ 9.07748848e-01 -4.17177320e-01 -4.42166572e-02 1.34048003e+02] [ 4.16617076e-01 9.08824280e-01 -2.16481039e-02 1.90902750e+01] [ 4.92162696e-02 1.22962691e-03 9.98787388e-01 6.57444079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.450385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.08, Y:19.10, Z:6.58 [[ 9.08129939e-01 -4.16345678e-01 -4.42299660e-02 1.34075552e+02] [ 4.15785795e-01 9.09205548e-01 -2.16204493e-02 1.91006908e+01] [ 4.92157111e-02 1.24398571e-03 9.98787398e-01 6.57586499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.480385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.10, Y:19.11, Z:6.58 [[ 9.08315495e-01 -4.15937611e-01 -4.42590777e-02 1.34100993e+02] [ 4.15380188e-01 9.09392361e-01 -2.15599835e-02 1.91115212e+01] [ 4.92164752e-02 1.19892306e-03 9.98787415e-01 6.57654406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.510385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.13, Y:19.12, Z:6.58 [[ 9.09358195e-01 -4.13653452e-01 -4.42548802e-02 1.34125658e+02] [ 4.13092901e-01 9.10433439e-01 -2.15686960e-02 1.91209788e+01] [ 4.92130883e-02 1.33229363e-03 9.98787413e-01 6.57691468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.540385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.16, Y:19.13, Z:6.58 [[ 9.09549124e-01 -4.13240124e-01 -4.41926486e-02 1.34155549e+02] [ 4.12672809e-01 9.10620862e-01 -2.16978747e-02 1.91302872e+01] [ 4.92091802e-02 1.49817850e-03 9.98787371e-01 6.58017415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.57038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.18, Y:19.14, Z:6.58 [[ 9.09739989e-01 -4.12807610e-01 -4.43060925e-02 1.34182741e+02] [ 4.12251232e-01 9.10817375e-01 -2.14623287e-02 1.91406074e+01] [ 4.92145714e-02 1.25989745e-03 9.98787434e-01 6.58305216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.60038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.21, Y:19.15, Z:6.58 [[ 9.09700744e-01 -4.12893657e-01 -4.43101037e-02 1.34207487e+02] [ 4.12337786e-01 9.10778390e-01 -2.14540013e-02 1.91525909e+01] [ 4.92149059e-02 1.24599086e-03 9.98787435e-01 6.58441083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.63038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.24, Y:19.16, Z:6.59 [[ 9.10143763e-01 -4.11916378e-01 -4.43083349e-02 1.34235323e+02] [ 4.11359172e-01 9.11220720e-01 -2.14576725e-02 1.91612311e+01] [ 4.92134396e-02 1.30292689e-03 9.98787435e-01 6.58838985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.66038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.26, Y:19.17, Z:6.59 [[ 9.10602134e-01 -4.10899349e-01 -4.43337242e-02 1.34259657e+02] [ 4.10343502e-01 9.11679788e-01 -2.14050008e-02 1.91717786e+01] [ 4.92134612e-02 1.29938379e-03 9.98787438e-01 6.58853214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.69038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.29, Y:19.18, Z:6.59 [[ 9.09743128e-01 -4.12808835e-01 -4.42301659e-02 1.34286412e+02] [ 4.12244803e-01 9.10816561e-01 -2.16197948e-02 1.91828025e+01] [ 4.92104098e-02 1.43480373e-03 9.98787403e-01 6.58994474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.72038572300002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:134.32, Y:19.19, Z:6.60 [[ 9.11305343e-01 -4.09347907e-01 -4.42364433e-02 1.34315155e+02] [ 4.08780430e-01 9.12376955e-01 -2.16067766e-02 1.91909811e+01] [ 4.92050001e-02 1.60737861e-03 9.98787407e-01 6.59683216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.750385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:134.34, Y:19.20, Z:6.59 [[ 9.10308789e-01 -4.11547452e-01 -4.43464029e-02 1.34340564e+02] [ 4.10993652e-01 9.11387497e-01 -2.13786878e-02 1.92018516e+01] [ 4.92151017e-02 1.23511728e-03 9.98787439e-01 6.59425786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.780385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.37, Y:19.21, Z:6.60 [[ 9.09991633e-01 -4.12255730e-01 -4.42768645e-02 1.34365676e+02] [ 4.11695754e-01 9.11067161e-01 -2.15228800e-02 1.92130541e+01] [ 4.92121279e-02 1.35704360e-03 9.98787427e-01 6.59550126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.810385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.39, Y:19.22, Z:6.60 [[ 9.09634466e-01 -4.13048057e-01 -4.42316657e-02 1.34391579e+02] [ 4.12484465e-01 9.10708126e-01 -2.16165342e-02 1.92246273e+01] [ 4.92108048e-02 1.41826957e-03 9.98787407e-01 6.59542022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.840385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:134.42, Y:19.23, Z:6.60 [[ 9.09000983e-01 -4.14439892e-01 -4.42356078e-02 1.34417435e+02] [ 4.13878342e-01 9.10075709e-01 -2.16083671e-02 1.92345773e+01] [ 4.92131215e-02 1.33386695e-03 9.98787410e-01 6.59528115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.870385723 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:134.45, Y:19.24, Z:6.60 [[ 9.09050824e-01 -4.14333389e-01 -4.42090805e-02 1.34449265e+02] [ 4.13769046e-01 9.10124102e-01 -2.16632392e-02 1.92430146e+01] [ 4.92115530e-02 1.40063636e-03 9.98787395e-01 6.59537128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.900385723 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:134.47, Y:19.25, Z:6.60 [[ 9.08027834e-01 -4.16549017e-01 -4.44113565e-02 1.34471932e+02] [ 4.16007711e-01 9.09112893e-01 -2.12445955e-02 1.92542967e+01] [ 4.92243522e-02 8.15217274e-04 9.98787414e-01 6.59833511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.930385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.50, Y:19.26, Z:6.60 [[ 9.08175846e-01 -4.16248008e-01 -4.42066478e-02 1.34498812e+02] [ 4.15685685e-01 9.09250185e-01 -2.16682217e-02 1.92639400e+01] [ 4.92142568e-02 1.30248490e-03 9.98787395e-01 6.60143457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.960385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.53, Y:19.27, Z:6.60 [[ 9.07767420e-01 -4.17130055e-01 -4.42812487e-02 1.34525440e+02] [ 4.16576296e-01 9.08846161e-01 -2.15138279e-02 1.92732096e+01] [ 4.92189071e-02 1.08303349e-03 9.98787428e-01 6.60440876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.990385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.55, Y:19.28, Z:6.61 [[ 9.08791531e-01 -4.14897316e-01 -4.42512197e-02 1.34553275e+02] [ 4.14337884e-01 9.09867351e-01 -2.15759546e-02 1.92820545e+01] [ 4.92145457e-02 1.27308810e-03 9.98787419e-01 6.61179066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.020385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:134.58, Y:19.29, Z:6.61 [[ 9.08399361e-01 -4.15747432e-01 -4.43246421e-02 1.34580284e+02] [ 4.15196408e-01 9.09479496e-01 -2.14240513e-02 1.92910852e+01] [ 4.92193474e-02 1.05816229e-03 9.98787433e-01 6.61365580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.050385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.61, Y:19.30, Z:6.62 [[ 9.08182495e-01 -4.16221588e-01 -4.43186883e-02 1.34606557e+02] [ 4.15670527e-01 9.09262611e-01 -2.14363605e-02 1.93021842e+01] [ 4.92196022e-02 1.04615479e-03 9.98787433e-01 6.61508545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.080385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.63, Y:19.31, Z:6.62 [[ 9.07837455e-01 -4.16974262e-01 -4.43127483e-02 1.34633436e+02] [ 4.16423498e-01 9.08917723e-01 -2.14486325e-02 1.93118941e+01] [ 4.92201700e-02 1.01900229e-03 9.98787433e-01 6.61744486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.110385723 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:134.66, Y:19.32, Z:6.62 [[ 9.07399583e-01 -4.17926836e-01 -4.43075303e-02 1.34659148e+02] [ 4.17376680e-01 9.08480160e-01 -2.14594061e-02 1.93232001e+01] [ 4.92209739e-02 9.79326195e-04 9.98787433e-01 6.61725315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.140385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.69, Y:19.33, Z:6.62 [[ 9.07499765e-01 -4.17709449e-01 -4.43056823e-02 1.34685286e+02] [ 4.17158848e-01 9.08580115e-01 -2.14632209e-02 1.93327080e+01] [ 4.92206521e-02 9.95360565e-04 9.98787433e-01 6.62300882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.170385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.71, Y:19.34, Z:6.62 [[ 9.07446369e-01 -4.17826069e-01 -4.42996967e-02 1.34710566e+02] [ 4.17275004e-01 9.08526483e-01 -2.14755679e-02 1.93440294e+01] [ 4.92204998e-02 1.00276999e-03 9.98787433e-01 6.62429545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.200385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.73, Y:19.36, Z:6.62 [[ 9.05889145e-01 -4.21192264e-01 -4.42937272e-02 1.34732361e+02] [ 4.20644612e-01 9.06970993e-01 -2.14878732e-02 1.93577031e+01] [ 4.92236517e-02 8.33713344e-04 9.98787433e-01 6.62107035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.230385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.76, Y:19.37, Z:6.63 [[ 9.07655828e-01 -4.17391558e-01 -4.41042415e-02 1.34762104e+02] [ 4.16820395e-01 9.08725544e-01 -2.18779503e-02 1.93670776e+01] [ 4.92103226e-02 1.47410171e-03 9.98787350e-01 6.62583567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.260385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.79, Y:19.38, Z:6.63 [[ 9.07791428e-01 -4.17077230e-01 -4.42866571e-02 1.34787187e+02] [ 4.16523973e-01 9.08870416e-01 -2.15022518e-02 1.93781136e+01] [ 4.92189321e-02 1.07310547e-03 9.98787437e-01 6.62662136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.290385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.81, Y:19.39, Z:6.63 [[ 9.06718153e-01 -4.19405820e-01 -4.42826069e-02 1.34811606e+02] [ 4.18854928e-01 9.07798350e-01 -2.15105897e-02 1.93918127e+01] [ 4.92213440e-02 9.56054071e-04 9.98787437e-01 6.62824614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.32038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.84, Y:19.40, Z:6.63 [[ 9.07698214e-01 -4.17281163e-01 -4.42762213e-02 1.34836960e+02] [ 4.16727102e-01 9.08776789e-01 -2.15237255e-02 1.94009334e+01] [ 4.92186474e-02 1.08594579e-03 9.98787438e-01 6.63062466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.35038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.86, Y:19.41, Z:6.63 [[ 9.06577004e-01 -4.19711801e-01 -4.42734669e-02 1.34860598e+02] [ 4.19160355e-01 9.07656919e-01 -2.15293896e-02 1.94130805e+01] [ 4.92212574e-02 9.60367394e-04 9.98787438e-01 6.63232432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.38038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.89, Y:19.42, Z:6.63 [[ 9.07192312e-01 -4.18392393e-01 -4.41578332e-02 1.34886067e+02] [ 4.17827807e-01 9.08265448e-01 -2.17669384e-02 1.94231984e+01] [ 4.92141556e-02 1.29642856e-03 9.98787408e-01 6.63290926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.41038572300002 meters Centerline goodness : 0.999487 Centerline is valid? [True, True] Translation: X:134.92, Y:19.44, Z:6.63 [[ 9.08014664e-01 -4.16605513e-01 -4.41499327e-02 1.34916348e+02] [ 4.16038027e-01 9.09086275e-01 -2.17831335e-02 1.94353079e+01] [ 4.92110714e-02 1.41135371e-03 9.98787404e-01 6.63447391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.44038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.94, Y:19.45, Z:6.64 [[ 9.07996970e-01 -4.16617932e-01 -4.43959693e-02 1.34938555e+02] [ 4.16075053e-01 9.09081283e-01 -2.12784253e-02 1.94480399e+01] [ 4.92245183e-02 8.48690401e-04 9.98787378e-01 6.63559691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.47038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.97, Y:19.46, Z:6.64 [[ 9.09047147e-01 -4.14337655e-01 -4.42446854e-02 1.34965396e+02] [ 4.13776952e-01 9.10122284e-01 -2.15884820e-02 1.94600604e+01] [ 4.92129951e-02 1.31751694e-03 9.98787437e-01 6.63522957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.500385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.99, Y:19.47, Z:6.64 [[ 9.09287235e-01 -4.13810814e-01 -4.42417763e-02 1.34990710e+02] [ 4.13249198e-01 9.10361895e-01 -2.15944419e-02 1.94719452e+01] [ 4.92120410e-02 1.35267178e-03 9.98787438e-01 6.63632740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.530385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.02, Y:19.48, Z:6.64 [[ 9.09796054e-01 -4.12691592e-01 -4.42356118e-02 1.35015462e+02] [ 4.12128041e-01 9.10869701e-01 -2.16070624e-02 1.94837977e+01] [ 4.92099315e-02 1.42728405e-03 9.98787438e-01 6.63687520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.560385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.04, Y:19.50, Z:6.64 [[ 9.09786807e-01 -4.12712426e-01 -4.42314327e-02 1.35040321e+02] [ 4.12148484e-01 9.10860249e-01 -2.16156141e-02 1.94956841e+01] [ 4.92096863e-02 1.43568260e-03 9.98787438e-01 6.63926754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.590385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.06, Y:19.51, Z:6.64 [[ 9.09308614e-01 -4.13765582e-01 -4.42254141e-02 1.35064460e+02] [ 4.13202286e-01 9.10382394e-01 -2.16279210e-02 1.95081641e+01] [ 4.92109277e-02 1.39241268e-03 9.98787438e-01 6.64141398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.620385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.09, Y:19.52, Z:6.64 [[ 9.09785841e-01 -4.12727445e-01 -4.41109905e-02 1.35091778e+02] [ 4.12151591e-01 9.10852972e-01 -2.18616087e-02 1.95189069e+01] [ 4.92015127e-02 1.70896715e-03 9.98787410e-01 6.63990407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.650385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.12, Y:19.53, Z:6.64 [[ 9.09552052e-01 -4.13231514e-01 -4.42128942e-02 1.35117126e+02] [ 4.12666342e-01 9.10624848e-01 -2.16535415e-02 1.95311316e+01] [ 4.92092858e-02 1.44984981e-03 9.98787437e-01 6.64240657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.680385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.14, Y:19.54, Z:6.64 [[ 9.08901250e-01 -4.14661645e-01 -4.42067576e-02 1.35142820e+02] [ 4.14097554e-01 9.09974614e-01 -2.16660623e-02 1.95421734e+01] [ 4.92111123e-02 1.38640094e-03 9.98787437e-01 6.64166454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.710385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.17, Y:19.55, Z:6.64 [[ 9.08418927e-01 -4.15717431e-01 -4.42048771e-02 1.35169322e+02] [ 4.15154401e-01 9.09492847e-01 -2.16698984e-02 1.95533681e+01] [ 4.92125741e-02 1.33349655e-03 9.98787437e-01 6.64332008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.740385723 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:135.19, Y:19.56, Z:6.65 [[ 9.06482450e-01 -4.19923760e-01 -4.41995996e-02 1.35192918e+02] [ 4.19365189e-01 9.07558697e-01 -2.16806576e-02 1.95644172e+01] [ 4.92179542e-02 1.11736219e-03 9.98787437e-01 6.64623535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.770385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.21, Y:19.58, Z:6.64 [[ 9.03511078e-01 -4.26297442e-01 -4.40252395e-02 1.35208853e+02] [ 4.25729130e-01 9.04582295e-01 -2.20358537e-02 1.95792149e+01] [ 4.92182803e-02 1.16681105e-03 9.98787364e-01 6.63991032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.800385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:135.24, Y:19.59, Z:6.64 [[ 9.04233461e-01 -4.24810624e-01 -4.35635335e-02 1.35239006e+02] [ 4.24195069e-01 9.05279328e-01 -2.29756683e-02 1.95909782e+01] [ 4.91974743e-02 2.29593194e-03 9.98786432e-01 6.64467550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.830385723 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:135.27, Y:19.60, Z:6.65 [[ 9.05008895e-01 -4.23133282e-01 -4.37850006e-02 1.35268388e+02] [ 4.22537541e-01 9.06065492e-01 -2.25244510e-02 1.96026690e+01] [ 4.92029230e-02 1.88402198e-03 9.98787026e-01 6.65122974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.860385723 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:135.29, Y:19.62, Z:6.65 [[ 9.05115718e-01 -4.22884101e-01 -4.39837850e-02 1.35294801e+02] [ 4.22307710e-01 9.06182624e-01 -2.21190099e-02 1.96151168e+01] [ 4.92111193e-02 1.44557206e-03 9.98787353e-01 6.65290694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.890385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.32, Y:19.63, Z:6.66 [[ 9.05904452e-01 -4.21188141e-01 -4.40190096e-02 1.35324300e+02] [ 4.20613238e-01 9.06972119e-01 -2.20472027e-02 1.96255053e+01] [ 4.92100347e-02 1.45768094e-03 9.98787389e-01 6.65526603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.920385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.35, Y:19.64, Z:6.66 [[ 9.04195247e-01 -4.24825906e-01 -4.42030007e-02 1.35345518e+02] [ 4.24273598e-01 9.05274677e-01 -2.16719364e-02 1.96394025e+01] [ 4.92226572e-02 8.41495807e-04 9.98787476e-01 6.65526969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.950385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.37, Y:19.65, Z:6.66 [[ 9.04478200e-01 -4.24245377e-01 -4.39891592e-02 1.35371312e+02] [ 4.23671132e-01 9.05546251e-01 -2.21079020e-02 1.96517535e+01] [ 4.92133935e-02 1.35917854e-03 9.98787362e-01 6.65755114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.980385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.40, Y:19.66, Z:6.66 [[ 9.05871335e-01 -4.21259671e-01 -4.40160769e-02 1.35400571e+02] [ 4.20684568e-01 9.06938894e-01 -2.20530482e-02 1.96628484e+01] [ 4.92099520e-02 1.46033990e-03 9.98787389e-01 6.65962901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.010385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.43, Y:19.68, Z:6.66 [[ 9.05880365e-01 -4.21220962e-01 -4.42002798e-02 1.35425837e+02] [ 4.20664089e-01 9.06957448e-01 -2.16774691e-02 1.96771806e+01] [ 4.92187773e-02 1.04372324e-03 9.98787476e-01 6.66019994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.040385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.45, Y:19.69, Z:6.66 [[ 9.06104658e-01 -4.20738808e-01 -4.41950718e-02 1.35450733e+02] [ 4.20180844e-01 9.07181176e-01 -2.16880817e-02 1.96905756e+01] [ 4.92179548e-02 1.08174931e-03 9.98787476e-01 6.66147891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.07038572300002 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:135.47, Y:19.71, Z:6.66 [[ 9.04454233e-01 -4.24275262e-01 -4.41932292e-02 1.35472088e+02] [ 4.23721325e-01 9.05532828e-01 -2.16918357e-02 1.97059640e+01] [ 4.92217291e-02 8.93659038e-04 9.98787476e-01 6.65970961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.10038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.50, Y:19.72, Z:6.66 [[ 9.05058731e-01 -4.23008657e-01 -4.39587248e-02 1.35499747e+02] [ 4.22429982e-01 9.06124407e-01 -2.21691021e-02 1.97185276e+01] [ 4.92097955e-02 1.49485610e-03 9.98787345e-01 6.66479005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.13038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.52, Y:19.73, Z:6.66 [[ 9.04519903e-01 -4.24149095e-01 -4.40600843e-02 1.35522182e+02] [ 4.23581794e-01 9.05591574e-01 -2.19628159e-02 1.97334500e+01] [ 4.92159496e-02 1.20275456e-03 9.98787437e-01 6.66214879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.16038572300002 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:135.53, Y:19.75, Z:6.66 [[ 9.00830314e-01 -4.31939973e-01 -4.39613952e-02 1.35532946e+02] [ 4.31372134e-01 9.01901799e-01 -2.21636158e-02 1.97502927e+01] [ 4.92222130e-02 1.00193612e-03 9.98787350e-01 6.65542658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.19038572300002 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:135.58, Y:19.76, Z:6.67 [[ 9.06758355e-01 -4.19427653e-01 -4.32403650e-02 1.35577650e+02] [ 4.18774738e-01 9.07782707e-01 -2.36278691e-02 1.97575889e+01] [ 4.91630373e-02 3.31679524e-03 9.98785260e-01 6.66515253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.22038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.60, Y:19.77, Z:6.67 [[ 9.06688602e-01 -4.19478681e-01 -4.41974544e-02 1.35602965e+02] [ 4.18919780e-01 9.07764474e-01 -2.16766856e-02 1.97693467e+01] [ 4.92137864e-02 1.13881591e-03 9.98787618e-01 6.66692096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.250385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.62, Y:19.79, Z:6.66 [[ 9.03491163e-01 -4.26322014e-01 -4.41956846e-02 1.35618893e+02] [ 4.25771087e-01 9.04571140e-01 -2.16802934e-02 1.97864626e+01] [ 4.92209271e-02 7.70708795e-04 9.98787618e-01 6.66217281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.280385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.65, Y:19.80, Z:6.67 [[ 9.06542054e-01 -4.19841783e-01 -4.37536475e-02 1.35653973e+02] [ 4.19239551e-01 9.07594819e-01 -2.25796997e-02 1.97956785e+01] [ 4.91904852e-02 2.12618783e-03 9.98787152e-01 6.67140477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.310385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.67, Y:19.81, Z:6.67 [[ 9.04143502e-01 -4.24937180e-01 -4.41918578e-02 1.35672767e+02] [ 4.24384282e-01 9.05222439e-01 -2.16868004e-02 1.98121555e+01] [ 4.92189891e-02 8.53649848e-04 9.98787646e-01 6.66841779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.340385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.70, Y:19.82, Z:6.67 [[ 9.04350729e-01 -4.24527770e-01 -4.38854299e-02 1.35698655e+02] [ 4.23944034e-01 9.05413554e-01 -2.23103675e-02 1.98244432e+01] [ 4.92058336e-02 1.57143088e-03 9.98787423e-01 6.67087971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.370385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.73, Y:19.83, Z:6.68 [[ 9.06238003e-01 -4.20478280e-01 -4.39397024e-02 1.35728997e+02] [ 4.19895143e-01 9.07301071e-01 -2.21999104e-02 1.98338168e+01] [ 4.92011192e-02 1.66833480e-03 9.98787498e-01 6.67921170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.400385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.75, Y:19.85, Z:6.68 [[ 9.06125314e-01 -4.20694995e-01 -4.41886382e-02 1.35754207e+02] [ 4.20136752e-01 9.07201483e-01 -2.16928422e-02 1.98459127e+01] [ 4.92140683e-02 1.09116259e-03 9.98787658e-01 6.68242172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.430385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.78, Y:19.86, Z:6.68 [[ 9.05877236e-01 -4.21229550e-01 -4.41825740e-02 1.35779395e+02] [ 4.20671339e-01 9.06953422e-01 -2.17051864e-02 1.98581546e+01] [ 4.92144026e-02 1.07589166e-03 9.98787658e-01 6.68373393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.460385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.80, Y:19.87, Z:6.69 [[ 9.05777486e-01 -4.21444199e-01 -4.41806909e-02 1.35804510e+02] [ 4.20886057e-01 9.06853707e-01 -2.17090188e-02 1.98701234e+01] [ 4.92145634e-02 1.06850368e-03 9.98787658e-01 6.68598754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.490385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.83, Y:19.88, Z:6.69 [[ 9.05665379e-01 -4.21685246e-01 -4.41788900e-02 1.35830105e+02] [ 4.21127212e-01 9.06741656e-01 -2.17126831e-02 1.98827955e+01] [ 4.92147580e-02 1.05949260e-03 9.98787658e-01 6.68739343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.520385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.85, Y:19.89, Z:6.69 [[ 9.05487518e-01 -4.22067638e-01 -4.41731056e-02 1.35854754e+02] [ 4.21509485e-01 9.06563733e-01 -2.17244448e-02 1.98946796e+01] [ 4.92149206e-02 1.05183056e-03 9.98787658e-01 6.68984694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.550385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:135.88, Y:19.91, Z:6.69 [[ 9.05256434e-01 -4.22563453e-01 -4.41691724e-02 1.35880026e+02] [ 4.22005500e-01 9.06332753e-01 -2.17324386e-02 1.99079004e+01] [ 4.92153019e-02 1.03379620e-03 9.98787658e-01 6.69055433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.580385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.91, Y:19.92, Z:6.69 [[ 9.05041424e-01 -4.23024359e-01 -4.41634671e-02 1.35905096e+02] [ 4.22466389e-01 9.06117734e-01 -2.17440265e-02 1.99209293e+01] [ 4.92155536e-02 1.02166427e-03 9.98787658e-01 6.69238027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.610385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.93, Y:19.93, Z:6.69 [[ 9.04973478e-01 -4.23170314e-01 -4.41575513e-02 1.35930780e+02] [ 4.22611932e-01 9.06049574e-01 -2.17560335e-02 1.99333824e+01] [ 4.92154381e-02 1.02712528e-03 9.98787658e-01 6.69260291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.640385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.96, Y:19.95, Z:6.69 [[ 9.05014986e-01 -4.23082073e-01 -4.41524031e-02 1.35957359e+02] [ 4.22523077e-01 9.06090763e-01 -2.17664764e-02 1.99457046e+01] [ 4.92150906e-02 1.04357816e-03 9.98787658e-01 6.69386077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.670385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.98, Y:19.96, Z:6.69 [[ 9.05059371e-01 -4.22987655e-01 -4.41472380e-02 1.35982100e+02] [ 4.22428035e-01 9.06134824e-01 -2.17769473e-02 1.99570597e+01] [ 4.92147297e-02 1.06039924e-03 9.98787658e-01 6.69441018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.700385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.01, Y:19.97, Z:6.70 [[ 9.04985056e-01 -4.23146895e-01 -4.41446860e-02 1.36007933e+02] [ 4.22587213e-01 9.06060476e-01 -2.17821194e-02 1.99696306e+01] [ 4.92147914e-02 1.05751274e-03 9.98787658e-01 6.69699726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.730385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.03, Y:19.98, Z:6.70 [[ 9.04834669e-01 -4.23468927e-01 -4.41394242e-02 1.36033992e+02] [ 4.22909108e-01 9.05910018e-01 -2.17927768e-02 1.99813758e+01] [ 4.92149104e-02 1.05189549e-03 9.98787658e-01 6.70022905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.760385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.06, Y:19.99, Z:6.70 [[ 9.04827260e-01 -4.23485314e-01 -4.41340907e-02 1.36058930e+02] [ 4.22924988e-01 9.05902345e-01 -2.18035726e-02 1.99927986e+01] [ 4.92146691e-02 1.06305709e-03 9.98787658e-01 6.70244368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.790385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:136.08, Y:20.00, Z:6.71 [[ 9.04933638e-01 -4.23258227e-01 -4.41314386e-02 1.36084881e+02] [ 4.22697370e-01 9.06008446e-01 -2.18089393e-02 2.00042068e+01] [ 4.92142691e-02 1.08139975e-03 9.98787658e-01 6.70536943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.82038572300002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:136.11, Y:20.02, Z:6.71 [[ 9.05014375e-01 -4.23086199e-01 -4.41253889e-02 1.36110148e+02] [ 4.22524541e-01 9.06088764e-01 -2.18211726e-02 2.00165767e+01] [ 4.92137561e-02 1.10441523e-03 9.98787658e-01 6.70672693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.85038572300002 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:136.13, Y:20.03, Z:6.71 [[ 9.05187096e-01 -4.22717175e-01 -4.41192925e-02 1.36133831e+02] [ 4.22154479e-01 9.06260942e-01 -2.18334917e-02 2.00287359e+01] [ 4.92129835e-02 1.13823800e-03 9.98787658e-01 6.70718467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.88038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.16, Y:20.04, Z:6.71 [[ 9.05379486e-01 -4.22305232e-01 -4.41166425e-02 1.36159017e+02] [ 4.21741787e-01 9.06452939e-01 -2.18388451e-02 2.00412770e+01] [ 4.92123188e-02 1.16661076e-03 9.98787658e-01 6.70712565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.91038572300002 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:136.19, Y:20.05, Z:6.71 [[ 9.04582714e-01 -4.24009876e-01 -4.41105211e-02 1.36187371e+02] [ 4.23447851e-01 9.05656912e-01 -2.18512021e-02 2.00538122e+01] [ 4.92141238e-02 1.08771429e-03 9.98787659e-01 6.71081706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.94038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.21, Y:20.07, Z:6.70 [[ 9.04010882e-01 -4.25219844e-01 -4.41860863e-02 1.36214440e+02] [ 4.24666697e-01 9.05089697e-01 -2.16987765e-02 2.00666316e+01] [ 4.92191219e-02 8.51570739e-04 9.98787642e-01 6.70420335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.97038572300002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:136.24, Y:20.08, Z:6.71 [[ 9.04220486e-01 -4.24768968e-01 -4.42338829e-02 1.36237405e+02] [ 4.24219994e-01 9.05301460e-01 -2.16024010e-02 2.00776545e+01] [ 4.92210284e-02 7.68435994e-04 9.98787615e-01 6.70934753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.000385723 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:136.27, Y:20.09, Z:6.71 [[ 9.03340515e-01 -4.26651843e-01 -4.40921631e-02 1.36265999e+02] [ 4.26091171e-01 9.04415410e-01 -2.18878948e-02 2.00916565e+01] [ 4.92161424e-02 9.84940786e-04 9.98787666e-01 6.70709641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.030385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:136.29, Y:20.10, Z:6.71 [[ 9.03238496e-01 -4.26850927e-01 -4.42550094e-02 1.36290187e+02] [ 4.26306535e-01 9.04321800e-01 -2.15596911e-02 2.01032423e+01] [ 4.92235439e-02 6.07343196e-04 9.98787602e-01 6.70881005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.060385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.31, Y:20.11, Z:6.72 [[ 9.03554889e-01 -4.26183506e-01 -4.42287364e-02 1.36312335e+02] [ 4.25635724e-01 9.04636460e-01 -2.16126192e-02 2.01140973e+01] [ 4.92218694e-02 7.02857455e-04 9.98787622e-01 6.71575301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.090385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.34, Y:20.13, Z:6.72 [[ 9.03286430e-01 -4.26767235e-01 -4.40834843e-02 1.36337698e+02] [ 4.26205868e-01 9.04360952e-01 -2.19049435e-02 2.01261510e+01] [ 4.92156940e-02 9.97798498e-04 9.98787675e-01 6.71720203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.120385723 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:136.36, Y:20.14, Z:6.72 [[ 9.02712800e-01 -4.27979894e-01 -4.40773265e-02 1.36363224e+02] [ 4.27419366e-01 9.03787761e-01 -2.19173272e-02 2.01377549e+01] [ 4.92167236e-02 9.45548878e-04 9.98787675e-01 6.71927182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.150385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:136.39, Y:20.15, Z:6.71 [[ 9.01659688e-01 -4.30194769e-01 -4.40711720e-02 1.36391190e+02] [ 4.29636277e-01 9.02735708e-01 -2.19296957e-02 2.01517592e+01] [ 4.92186610e-02 8.38548359e-04 9.98787675e-01 6.71439698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.180385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.41, Y:20.16, Z:6.72 [[ 9.02510365e-01 -4.28394232e-01 -4.41975374e-02 1.36414847e+02] [ 4.27846011e-01 9.03591697e-01 -2.16756896e-02 2.01622349e+01] [ 4.92222682e-02 6.52794473e-04 9.98787636e-01 6.72337133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.210385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.44, Y:20.18, Z:6.72 [[ 9.02463242e-01 -4.28507266e-01 -4.40638208e-02 1.36440308e+02] [ 4.27946055e-01 9.03537839e-01 -2.19441967e-02 2.01750816e+01] [ 4.92165772e-02 9.46892564e-04 9.98787681e-01 6.72469042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.240385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.47, Y:20.19, Z:6.73 [[ 9.01980658e-01 -4.29522779e-01 -4.40576452e-02 1.36465558e+02] [ 4.28962172e-01 9.03055570e-01 -2.19565885e-02 2.01879868e+01] [ 4.92173568e-02 9.05354883e-04 9.98787681e-01 6.72594705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.270385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.49, Y:20.20, Z:6.73 [[ 9.01355193e-01 -4.30833968e-01 -4.40557317e-02 1.36491197e+02] [ 4.30274738e-01 9.02430822e-01 -2.19604272e-02 2.02004637e+01] [ 4.92185482e-02 8.38076667e-04 9.98787681e-01 6.72746790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.300385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.52, Y:20.21, Z:6.73 [[ 9.00258884e-01 -4.33120733e-01 -4.40496576e-02 1.36516681e+02] [ 4.32563640e-01 9.01335621e-01 -2.19726044e-02 2.02118327e+01] [ 4.92203160e-02 7.26752107e-04 9.98787681e-01 6.73003467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.330385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.54, Y:20.22, Z:6.73 [[ 8.99972620e-01 -4.33715432e-01 -4.40477860e-02 1.36541871e+02] [ 4.33158866e-01 9.01049630e-01 -2.19763558e-02 2.02232789e+01] [ 4.92207259e-02 6.98429451e-04 9.98787681e-01 6.73171601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.360385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.57, Y:20.23, Z:6.73 [[ 8.99882576e-01 -4.33902829e-01 -4.40418546e-02 1.36566144e+02] [ 4.33345907e-01 9.00959401e-01 -2.19882361e-02 2.02346475e+01] [ 4.92206808e-02 7.01473091e-04 9.98787681e-01 6.73315876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.390385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:136.59, Y:20.25, Z:6.73 [[ 8.99916945e-01 -4.33831804e-01 -4.40392692e-02 1.36591139e+02] [ 4.33274543e-01 9.00993596e-01 -2.19934131e-02 2.02477595e+01] [ 4.92205416e-02 7.11150931e-04 9.98787681e-01 6.73320189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.420385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:136.61, Y:20.26, Z:6.73 [[ 9.00466948e-01 -4.32689679e-01 -4.40331477e-02 1.36614335e+02] [ 4.32130453e-01 9.01542579e-01 -2.20056622e-02 2.02618686e+01] [ 4.92193804e-02 7.87307402e-04 9.98787682e-01 6.73170414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.450385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.64, Y:20.27, Z:6.73 [[ 9.00477145e-01 -4.32668725e-01 -4.40305119e-02 1.36639262e+02] [ 4.32109217e-01 9.01552629e-01 -2.20109349e-02 2.02748817e+01] [ 4.92192669e-02 7.94353818e-04 9.98787682e-01 6.73301438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.480385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.66, Y:20.29, Z:6.73 [[ 9.00436738e-01 -4.32753418e-01 -4.40245376e-02 1.36663859e+02] [ 4.32193427e-01 9.01511971e-01 -2.20228776e-02 2.02871721e+01] [ 4.92191233e-02 8.03092332e-04 9.98787682e-01 6.73411548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.510385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.69, Y:20.30, Z:6.74 [[ 8.99949489e-01 -4.33766050e-01 -4.40219414e-02 1.36689320e+02] [ 4.33207016e-01 9.01025219e-01 -2.20280659e-02 2.02996139e+01] [ 4.92199066e-02 7.53532796e-04 9.98787682e-01 6.73776820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.540385723 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:136.72, Y:20.31, Z:6.74 [[ 8.99925543e-01 -4.33816348e-01 -4.40158361e-02 1.36720194e+02] [ 4.33256777e-01 9.01000994e-01 -2.20402587e-02 2.03128534e+01] [ 4.92197366e-02 7.64432480e-04 9.98787682e-01 6.73682798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.57038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.74, Y:20.33, Z:6.74 [[ 8.99119293e-01 -4.35454952e-01 -4.43111898e-02 1.36740124e+02] [ 4.34926327e-01 9.00210523e-01 -2.14500621e-02 2.03261590e+01] [ 4.92299351e-02 1.40616543e-05 9.98787472e-01 6.74199710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.60038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.76, Y:20.34, Z:6.74 [[ 8.98890869e-01 -4.35957037e-01 -4.40075889e-02 1.36764614e+02] [ 4.35399264e-01 8.99967233e-01 -2.20558559e-02 2.03392659e+01] [ 4.92207936e-02 6.64935643e-04 9.98787701e-01 6.74295427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.63038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.79, Y:20.35, Z:6.74 [[ 8.98496685e-01 -4.36769475e-01 -4.40015204e-02 1.36788486e+02] [ 4.36212083e-01 8.99573246e-01 -2.20679560e-02 2.03525885e+01] [ 4.92212001e-02 6.33990426e-04 9.98787701e-01 6.74453504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.66038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.81, Y:20.37, Z:6.75 [[ 8.98211406e-01 -4.37356111e-01 -4.39988874e-02 1.36813778e+02] [ 4.36799165e-01 8.99288198e-01 -2.20732043e-02 2.03655947e+01] [ 4.92215310e-02 6.07726615e-04 9.98787701e-01 6.74596882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.69038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.84, Y:20.38, Z:6.75 [[ 8.97343108e-01 -4.39135497e-01 -4.39927416e-02 1.36838165e+02] [ 4.38580087e-01 8.98420693e-01 -2.20854465e-02 2.03777877e+01] [ 4.92224929e-02 5.23882814e-04 9.98787701e-01 6.74739010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.72038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.86, Y:20.39, Z:6.75 [[ 8.96813754e-01 -4.40215815e-01 -4.39900775e-02 1.36862347e+02] [ 4.39661443e-01 8.97891872e-01 -2.20907516e-02 2.03898785e+01] [ 4.92230313e-02 4.70548985e-04 9.98787701e-01 6.74884217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.750385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.89, Y:20.40, Z:6.75 [[ 8.95695560e-01 -4.42486802e-01 -4.39874280e-02 1.36886678e+02] [ 4.41934904e-01 8.96774947e-01 -2.20960261e-02 2.04031161e+01] [ 4.92240233e-02 3.51732683e-04 9.98787701e-01 6.74884279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.780385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.91, Y:20.42, Z:6.75 [[ 8.95345901e-01 -4.43194496e-01 -4.39813185e-02 1.36911039e+02] [ 4.42642854e-01 8.96425419e-01 -2.21081801e-02 2.04157869e+01] [ 4.92241956e-02 3.26452096e-04 9.98787701e-01 6.74929564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.810385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.93, Y:20.43, Z:6.75 [[ 8.92929016e-01 -4.48044248e-01 -4.39786738e-02 1.36933567e+02] [ 4.47498210e-01 8.94011380e-01 -2.21134397e-02 2.04307389e+01] [ 4.92252344e-02 6.53541360e-05 9.98787701e-01 6.74568164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.840385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.96, Y:20.44, Z:6.75 [[ 8.94681471e-01 -4.44550631e-01 -4.38155468e-02 1.36962543e+02] [ 4.43984467e-01 8.95753510e-01 -2.24375172e-02 2.04405929e+01] [ 4.92225423e-02 6.21008714e-04 9.98787643e-01 6.75248201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.870385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.99, Y:20.45, Z:6.75 [[ 8.94460163e-01 -4.44980345e-01 -4.39716938e-02 1.36986591e+02] [ 4.44429922e-01 8.95540301e-01 -2.21272252e-02 2.04531304e+01] [ 4.92246042e-02 2.49585034e-04 9.98787703e-01 6.75419766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.900385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.01, Y:20.47, Z:6.76 [[ 8.94212042e-01 -4.45479007e-01 -4.39690500e-02 1.37011344e+02] [ 4.44928929e-01 8.95292356e-01 -2.21324773e-02 2.04662357e+01] [ 4.92247084e-02 2.28025436e-04 9.98787703e-01 6.75551021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.930385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.04, Y:20.48, Z:6.76 [[ 8.94358583e-01 -4.45185325e-01 -4.39630703e-02 1.37035592e+02] [ 4.44634308e-01 8.95438418e-01 -2.21443489e-02 2.04780966e+01] [ 4.92245613e-02 2.57499151e-04 9.98787703e-01 6.75806631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.960385723 meters Centerline goodness : 0.997670 Centerline is valid? [True, True] Translation: X:137.06, Y:20.49, Z:6.76 [[ 8.93862011e-01 -4.46181927e-01 -4.39590007e-02 1.37061916e+02] [ 4.45631717e-01 8.94942257e-01 -2.21524245e-02 2.04915232e+01] [ 4.92247788e-02 2.11685750e-04 9.98787703e-01 6.75993452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.990385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:137.09, Y:20.50, Z:6.76 [[ 8.94575973e-01 -4.44737807e-01 -4.40693928e-02 1.37085148e+02] [ 4.44196630e-01 8.95660807e-01 -2.19333761e-02 2.05028603e+01] [ 4.92258295e-02 4.55954578e-05 9.98787673e-01 6.76223638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.020385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.11, Y:20.52, Z:6.76 [[ 8.95030803e-01 -4.43833637e-01 -4.39495652e-02 1.37109746e+02] [ 4.43279685e-01 8.96109129e-01 -2.21709152e-02 2.05159859e+01] [ 4.92238045e-02 3.61702672e-04 9.98787708e-01 6.76211361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.050385723 meters Centerline goodness : 0.998074 Centerline is valid? [True, True] Translation: X:137.14, Y:20.53, Z:6.76 [[ 8.94682359e-01 -4.44536224e-01 -4.39433943e-02 1.37135670e+02] [ 4.43982518e-01 8.95760812e-01 -2.21831393e-02 2.05294308e+01] [ 4.92239796e-02 3.36764605e-04 9.98787708e-01 6.76284177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.080385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.16, Y:20.54, Z:6.76 [[ 8.94053396e-01 -4.45791863e-01 -4.40243094e-02 1.37155852e+02] [ 4.45247550e-01 8.95136642e-01 -2.20230032e-02 2.05413522e+01] [ 4.92254481e-02 8.80249676e-05 9.98787689e-01 6.75985513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.110385723 meters Centerline goodness : 0.998429 Centerline is valid? [True, True] Translation: X:137.19, Y:20.55, Z:6.76 [[ 8.95416344e-01 -4.43083126e-01 -4.36682319e-02 1.37186799e+02] [ 4.42501062e-01 8.96479944e-01 -2.27270960e-02 2.05548127e+01] [ 4.92176868e-02 1.02697422e-03 9.98787547e-01 6.76305680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.140385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.21, Y:20.57, Z:6.76 [[ 8.94527828e-01 -4.44840346e-01 -4.40117102e-02 1.37205663e+02] [ 4.44293696e-01 8.95609870e-01 -2.20470666e-02 2.05695849e+01] [ 4.92247467e-02 1.67589191e-04 9.98787713e-01 6.75516082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.170385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.23, Y:20.58, Z:6.76 [[ 8.95033021e-01 -4.43849842e-01 -4.37402450e-02 1.37227288e+02] [ 4.43275473e-01 8.96100793e-01 -2.25881251e-02 2.05829206e+01] [ 4.92214040e-02 8.28140056e-04 9.98787549e-01 6.75617840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.200385723 meters Centerline goodness : 0.999032 Centerline is valid? [True, True] Translation: X:137.26, Y:20.60, Z:6.76 [[ 8.97009616e-01 -4.39860597e-01 -4.35477171e-02 1.37260851e+02] [ 4.39263004e-01 8.98064855e-01 -2.29680066e-02 2.05950636e+01] [ 4.92113954e-02 1.47362175e-03 9.98787298e-01 6.76136406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.230385723 meters Centerline goodness : 0.998899 Centerline is valid? [True, True] Translation: X:137.29, Y:20.61, Z:6.76 [[ 8.96856891e-01 -4.40123455e-01 -4.40347751e-02 1.37287113e+02] [ 4.39573194e-01 8.97937192e-01 -2.20046812e-02 2.06068257e+01] [ 4.92252387e-02 3.78543202e-04 9.98787631e-01 6.76441120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.260385723 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:137.31, Y:20.62, Z:6.76 [[ 8.96543345e-01 -4.40761784e-01 -4.40350008e-02 1.37307058e+02] [ 4.40212314e-01 8.97624048e-01 -2.20042360e-02 2.06176657e+01] [ 4.92255020e-02 3.43001750e-04 9.98787631e-01 6.76364002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.290385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.34, Y:20.63, Z:6.76 [[ 8.96792425e-01 -4.40293646e-01 -4.36446165e-02 1.37335455e+02] [ 4.39705786e-01 8.97852982e-01 -2.27781859e-02 2.06311755e+01] [ 4.92155395e-02 1.23651416e-03 9.98787416e-01 6.76151901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.32038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.36, Y:20.64, Z:6.77 [[ 8.98869494e-01 -4.36021590e-01 -4.38041723e-02 1.37364501e+02] [ 4.35444061e-01 8.99935513e-01 -2.24620428e-02 2.06426937e+01] [ 4.92148659e-02 1.11617835e-03 9.98787591e-01 6.76938539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.35038572300002 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:137.38, Y:20.66, Z:6.77 [[ 8.97347366e-01 -4.39131021e-01 -4.39505456e-02 1.37383512e+02] [ 4.38571369e-01 8.98422819e-01 -2.21718983e-02 2.06592268e+01] [ 4.92225414e-02 6.20443599e-04 9.98787643e-01 6.76871144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.38038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.41, Y:20.67, Z:6.77 [[ 8.97154401e-01 -4.39553951e-01 -4.36612576e-02 1.37411308e+02] [ 4.38966855e-01 8.98215335e-01 -2.27445003e-02 2.06720510e+01] [ 4.92146461e-02 1.23948363e-03 9.98787456e-01 6.76737431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.41038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.44, Y:20.68, Z:6.77 [[ 8.97139058e-01 -4.39571019e-01 -4.38044550e-02 1.37435870e+02] [ 4.38997745e-01 8.98207365e-01 -2.24612779e-02 2.06843481e+01] [ 4.92188109e-02 9.20832732e-04 9.98787595e-01 6.76886446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.44038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.46, Y:20.69, Z:6.77 [[ 8.96630058e-01 -4.40608532e-01 -4.38025239e-02 1.37461424e+02] [ 4.40036307e-01 8.97698930e-01 -2.24650966e-02 2.06946370e+01] [ 4.92197920e-02 8.68180055e-04 9.98787594e-01 6.77252925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.47038572300002 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:137.48, Y:20.70, Z:6.78 [[ 8.96839883e-01 -4.40175672e-01 -4.38588848e-02 1.37484978e+02] [ 4.39608382e-01 8.97911348e-01 -2.23535536e-02 2.07048661e+01] [ 4.92208808e-02 7.66825049e-04 9.98787624e-01 6.77540046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.500385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.51, Y:20.72, Z:6.78 [[ 8.97023742e-01 -4.39819368e-01 -4.36729874e-02 1.37509595e+02] [ 4.39233718e-01 8.98085456e-01 -2.27212269e-02 2.07180031e+01] [ 4.92153105e-02 1.19883131e-03 9.98787473e-01 6.77953040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.530385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.54, Y:20.73, Z:6.78 [[ 8.96464595e-01 -4.40955527e-01 -4.36972957e-02 1.37535367e+02] [ 4.40373563e-01 8.97528301e-01 -2.26731867e-02 2.07320795e+01] [ 4.92174266e-02 1.08257537e-03 9.98787501e-01 6.77999975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.560385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.56, Y:20.75, Z:6.77 [[ 8.96284365e-01 -4.41318237e-01 -4.37327177e-02 1.37559934e+02] [ 4.40740113e-01 8.97350124e-01 -2.26032778e-02 2.07475939e+01] [ 4.92187984e-02 9.84201505e-04 9.98787536e-01 6.77465592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.590385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.58, Y:20.76, Z:6.78 [[ 8.96494695e-01 -4.40883830e-01 -4.38030741e-02 1.37584072e+02] [ 4.40311966e-01 8.97563770e-01 -2.24644196e-02 2.07604776e+01] [ 4.92202517e-02 8.52215330e-04 9.98787585e-01 6.77656513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.620385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.61, Y:20.77, Z:6.78 [[ 8.97202268e-01 -4.39447298e-01 -4.37511521e-02 1.37608600e+02] [ 4.38868724e-01 8.98267765e-01 -2.25669059e-02 2.07728515e+01] [ 4.92172154e-02 1.04606683e-03 9.98787551e-01 6.78213168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.650385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.63, Y:20.79, Z:6.78 [[ 8.97309386e-01 -4.39231944e-01 -4.37168701e-02 1.37632686e+02] [ 4.38649816e-01 8.98372982e-01 -2.26345892e-02 2.07858568e+01] [ 4.92158895e-02 1.13383229e-03 9.98787520e-01 6.78252608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.680385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.66, Y:20.80, Z:6.78 [[ 8.98783067e-01 -4.36210873e-01 -4.36929428e-02 1.37660031e+02] [ 4.35622871e-01 8.99843456e-01 -2.26819264e-02 2.07989292e+01] [ 4.92109115e-02 1.35248626e-03 9.98787493e-01 6.78252561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.710385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.68, Y:20.81, Z:6.79 [[ 8.98223287e-01 -4.37349724e-01 -4.38194584e-02 1.37683400e+02] [ 4.36775256e-01 8.99290943e-01 -2.24315657e-02 2.08130731e+01] [ 4.92168811e-02 1.00929956e-03 9.98787605e-01 6.78521913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.740385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.71, Y:20.83, Z:6.79 [[ 8.99203402e-01 -4.35341716e-01 -4.37130584e-02 1.37711880e+02] [ 4.34754629e-01 9.00264269e-01 -2.26419868e-02 2.08250391e+01] [ 4.92103060e-02 1.35529709e-03 9.98787519e-01 6.78672468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.770385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.74, Y:20.84, Z:6.79 [[ 8.98863589e-01 -4.36024040e-01 -4.39008579e-02 1.37735668e+02] [ 4.35455859e-01 8.99934567e-01 -2.22703840e-02 2.08375814e+01] [ 4.92183223e-02 9.01151436e-04 9.98787637e-01 6.78823154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.800385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:137.76, Y:20.85, Z:6.79 [[ 8.99295818e-01 -4.35142044e-01 -4.37999257e-02 1.37761199e+02] [ 4.34563084e-01 9.00361053e-01 -2.24700030e-02 2.08506196e+01] [ 4.92133903e-02 1.17334896e-03 9.98787598e-01 6.78875190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.830385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.78, Y:20.87, Z:6.79 [[ 8.98836195e-01 -4.36087617e-01 -4.38301927e-02 1.37784798e+02] [ 4.35512693e-01 8.99903594e-01 -2.24101660e-02 2.08653150e+01] [ 4.92157438e-02 1.05446310e-03 9.98787614e-01 6.78978387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.860385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.81, Y:20.88, Z:6.79 [[ 9.00078236e-01 -4.33523075e-01 -4.37825669e-02 1.37811373e+02] [ 4.32940534e-01 9.01141528e-01 -2.25042578e-02 2.08782907e+01] [ 4.92104042e-02 1.30034480e-03 9.98787588e-01 6.79135599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.890385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.83, Y:20.89, Z:6.79 [[ 8.99167085e-01 -4.35395825e-01 -4.39207087e-02 1.37833907e+02] [ 4.34828801e-01 9.00238680e-01 -2.22313471e-02 2.08936220e+01] [ 4.92185565e-02 8.91706419e-04 9.98787634e-01 6.78872274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.920385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.86, Y:20.91, Z:6.79 [[ 8.98503117e-01 -4.36773878e-01 -4.38261238e-02 1.37858363e+02] [ 4.36199386e-01 8.99570746e-01 -2.24180381e-02 2.09068733e+01] [ 4.92163123e-02 1.02574878e-03 9.98787616e-01 6.78780010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.950385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:137.89, Y:20.92, Z:6.79 [[ 8.99624417e-01 -4.34456707e-01 -4.38551997e-02 1.37886233e+02] [ 4.33882259e-01 9.00692059e-01 -2.23606836e-02 2.09164117e+01] [ 4.92147791e-02 1.08822377e-03 9.98787626e-01 6.79108819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.980385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.91, Y:20.93, Z:6.79 [[ 8.97927312e-01 -4.37948532e-01 -4.39047269e-02 1.37906791e+02] [ 4.37383007e-01 8.98999702e-01 -2.22630121e-02 2.09302303e+01] [ 4.92203898e-02 7.87385141e-04 9.98787632e-01 6.78977344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.010385723 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:137.93, Y:20.94, Z:6.79 [[ 8.97088950e-01 -4.39682815e-01 -4.37085536e-02 1.37932309e+02] [ 4.39100486e-01 8.98152411e-01 -2.26497028e-02 2.09440297e+01] [ 4.92156279e-02 1.12635098e-03 9.98787542e-01 6.78887709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.040385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.96, Y:20.96, Z:6.79 [[ 8.95269905e-01 -4.43373706e-01 -4.37213199e-02 1.37957705e+02] [ 4.42796990e-01 8.96336407e-01 -2.26245473e-02 2.09604350e+01] [ 4.92201402e-02 8.95407437e-04 9.98787553e-01 6.79047658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.07038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.98, Y:20.97, Z:6.79 [[ 8.95464388e-01 -4.42967327e-01 -4.38574562e-02 1.37978630e+02] [ 4.42403247e-01 8.96537544e-01 -2.23561949e-02 2.09710868e+01] [ 4.92229200e-02 6.16495395e-04 9.98787627e-01 6.79392064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.10038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.01, Y:20.98, Z:6.80 [[ 8.95465098e-01 -4.42992506e-01 -4.35878194e-02 1.38005677e+02] [ 4.42402538e-01 8.96524497e-01 -2.28871471e-02 2.09832997e+01] [ 4.92163825e-02 1.21127953e-03 9.98787405e-01 6.79546389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.13038572300002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:138.03, Y:20.99, Z:6.79 [[ 8.94170427e-01 -4.45593706e-01 -4.36519918e-02 1.38028472e+02] [ 4.45012983e-01 8.95234824e-01 -2.27608100e-02 2.09947821e+01] [ 4.92208569e-02 9.26340142e-04 9.98787489e-01 6.79496464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.16038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.06, Y:21.01, Z:6.80 [[ 8.94487609e-01 -4.44969706e-01 -4.35187121e-02 1.38058493e+02] [ 4.44375466e-01 8.95544742e-01 -2.30230254e-02 2.10071853e+01] [ 4.92175027e-02 1.25516298e-03 9.98787296e-01 6.79734553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.19038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.08, Y:21.02, Z:6.80 [[ 8.93950847e-01 -4.46026820e-01 -4.37259500e-02 1.38084454e+02] [ 4.45453729e-01 8.95019290e-01 -2.26151532e-02 2.10199705e+01] [ 4.92225336e-02 7.38947895e-04 9.98787563e-01 6.79846145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.22038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.11, Y:21.03, Z:6.80 [[ 8.93932647e-01 -4.46061806e-01 -4.37411566e-02 1.38109997e+02] [ 4.45490222e-01 8.95001883e-01 -2.25852109e-02 2.10326625e+01] [ 4.92228175e-02 7.03399836e-04 9.98787575e-01 6.79995392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.250385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.13, Y:21.05, Z:6.80 [[ 8.93617660e-01 -4.46690684e-01 -4.37596973e-02 1.38134689e+02] [ 4.46121639e-01 8.94688236e-01 -2.25487138e-02 2.10454909e+01] [ 4.92235868e-02 6.27780994e-04 9.98787587e-01 6.80113471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.280385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.16, Y:21.06, Z:6.80 [[ 8.93118757e-01 -4.47690299e-01 -4.37296469e-02 1.38159275e+02] [ 4.47119556e-01 8.94188452e-01 -2.26078574e-02 2.10586038e+01] [ 4.92238637e-02 6.39121165e-04 9.98787566e-01 6.80283114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.310385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.19, Y:21.07, Z:6.81 [[ 8.95163584e-01 -4.43592325e-01 -4.36807346e-02 1.38188479e+02] [ 4.43011988e-01 8.96228154e-01 -2.27040792e-02 2.10689652e+01] [ 4.92192594e-02 9.72775847e-04 9.98787524e-01 6.81005500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.340385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.21, Y:21.08, Z:6.81 [[ 8.95525224e-01 -4.42841542e-01 -4.38855597e-02 1.38213311e+02] [ 4.42280015e-01 8.96599717e-01 -2.23010208e-02 2.10808187e+01] [ 4.92235989e-02 5.61420629e-04 9.98787626e-01 6.81186965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.370385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.24, Y:21.09, Z:6.81 [[ 8.95320877e-01 -4.43260091e-01 -4.38294218e-02 1.38238028e+02] [ 4.42693658e-01 8.96392801e-01 -2.24114268e-02 2.10929328e+01] [ 4.92224693e-02 6.62411259e-04 9.98787620e-01 6.81402375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.400385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:138.25, Y:21.11, Z:6.81 [[ 8.93296915e-01 -4.47320214e-01 -4.38776461e-02 1.38254868e+02] [ 4.46763307e-01 8.94373812e-01 -2.23166117e-02 2.11077640e+01] [ 4.92256891e-02 3.32438063e-04 9.98787626e-01 6.81128528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.430385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.29, Y:21.12, Z:6.82 [[ 8.96274173e-01 -4.41366687e-01 -4.34517529e-02 1.38287525e+02] [ 4.40761925e-01 8.97325410e-01 -2.31524298e-02 2.11198749e+01] [ 4.92090732e-02 1.59904664e-03 9.98787220e-01 6.81519737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.460385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.31, Y:21.13, Z:6.82 [[ 8.96495436e-01 -4.40875406e-01 -4.38726544e-02 1.38312333e+02] [ 4.40310333e-01 8.97568042e-01 -2.23253418e-02 2.11321341e+01] [ 4.92213866e-02 6.96984033e-04 9.98787650e-01 6.81573398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.490385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.33, Y:21.15, Z:6.82 [[ 8.95035848e-01 -4.43831674e-01 -4.38665651e-02 1.38330227e+02] [ 4.43269557e-01 8.96110007e-01 -2.23373004e-02 2.11466053e+01] [ 4.92232694e-02 5.47971683e-04 9.98787650e-01 6.81557676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.520385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.36, Y:21.16, Z:6.82 [[ 8.97100269e-01 -4.39677312e-01 -4.35312464e-02 1.38363024e+02] [ 4.39078136e-01 8.98154531e-01 -2.29962728e-02 2.11572019e+01] [ 4.92087256e-02 1.51634401e-03 9.98787366e-01 6.82097086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.550385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.39, Y:21.17, Z:6.82 [[ 8.97010072e-01 -4.39826354e-01 -4.38828890e-02 1.38388507e+02] [ 4.39261047e-01 8.98082537e-01 -2.23044669e-02 2.11697099e+01] [ 4.92205486e-02 7.31287663e-04 9.98787667e-01 6.82293801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.580385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.41, Y:21.18, Z:6.82 [[ 8.94976616e-01 -4.43950071e-01 -4.38770028e-02 1.38407469e+02] [ 4.43389139e-01 8.96051375e-01 -2.23160402e-02 2.11842318e+01] [ 4.92232563e-02 5.17747649e-04 9.98787667e-01 6.82140416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.610385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.43, Y:21.20, Z:6.82 [[ 8.94708615e-01 -4.44519805e-01 -4.35733482e-02 1.38431387e+02] [ 4.43930429e-01 8.95768277e-01 -2.29121902e-02 2.11971881e+01] [ 4.92165453e-02 1.15619878e-03 9.98787462e-01 6.82185068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.640385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.46, Y:21.21, Z:6.82 [[ 8.94450603e-01 -4.45039420e-01 -4.35664220e-02 1.38456251e+02] [ 4.44449997e-01 8.95510251e-01 -2.29257755e-02 2.12116807e+01] [ 4.92170513e-02 1.14287765e-03 9.98787453e-01 6.82025488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.670385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.48, Y:21.22, Z:6.82 [[ 8.94866043e-01 -4.44201781e-01 -4.35837439e-02 1.38481171e+02] [ 4.43613021e-01 8.95926031e-01 -2.28918003e-02 2.12248695e+01] [ 4.92163891e-02 1.15077842e-03 9.98787476e-01 6.82157914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.700385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:138.51, Y:21.24, Z:6.82 [[ 8.94492004e-01 -4.44958737e-01 -4.35405346e-02 1.38507599e+02] [ 4.44366746e-01 8.95550262e-01 -2.29765724e-02 2.12385818e+01] [ 4.92163638e-02 1.20439463e-03 9.98787414e-01 6.82194770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.730385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.53, Y:21.25, Z:6.82 [[ 8.93993736e-01 -4.45951169e-01 -4.36205690e-02 1.38530771e+02] [ 4.45368009e-01 8.95056762e-01 -2.28195001e-02 2.12516060e+01] [ 4.92192681e-02 9.73284239e-04 9.98787523e-01 6.82373241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.760385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:138.56, Y:21.27, Z:6.83 [[ 8.92534597e-01 -4.48872467e-01 -4.35373638e-02 1.38555799e+02] [ 4.48284819e-01 8.93595276e-01 -2.29826891e-02 2.12655357e+01] [ 4.92210790e-02 9.95705871e-04 9.98787412e-01 6.82559934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.790385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.59, Y:21.28, Z:6.83 [[ 8.94103209e-01 -4.45736742e-01 -4.35684288e-02 1.38587678e+02] [ 4.45148340e-01 8.95163419e-01 -2.29217986e-02 2.12756996e+01] [ 4.92179515e-02 1.10003997e-03 9.98787456e-01 6.83051105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.82038572300002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:138.61, Y:21.29, Z:6.83 [[ 8.90588034e-01 -4.52691304e-01 -4.38581376e-02 1.38609319e+02] [ 4.52139081e-01 8.91667302e-01 -2.23534021e-02 2.12915887e+01] [ 4.92260579e-02 7.76944043e-05 9.98787660e-01 6.82877490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.85038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.64, Y:21.30, Z:6.84 [[ 8.92462776e-01 -4.48990806e-01 -4.37886974e-02 1.38637342e+02] [ 4.48427427e-01 8.93536270e-01 -2.24894686e-02 2.13001441e+01] [ 4.92243540e-02 4.34960704e-04 9.98787652e-01 6.83511272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.88038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.66, Y:21.32, Z:6.83 [[ 8.89980955e-01 -4.53883204e-01 -4.38627005e-02 1.38657208e+02] [ 4.53332865e-01 8.91061186e-01 -2.23444920e-02 2.13154726e+01] [ 4.92261396e-02 1.76864168e-06 9.98787659e-01 6.83252533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.91038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.69, Y:21.33, Z:6.83 [[ 8.89533169e-01 -4.54783292e-01 -4.36222114e-02 1.38685090e+02] [ 4.54210847e-01 8.90602001e-01 -2.28162660e-02 2.13302624e+01] [ 4.92264854e-02 4.82143811e-04 9.98787525e-01 6.83164256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.94038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.71, Y:21.34, Z:6.83 [[ 8.90052035e-01 -4.53747714e-01 -4.38222169e-02 1.38709002e+02] [ 4.53193306e-01 8.91130183e-01 -2.24237444e-02 2.13433100e+01] [ 4.92260229e-02 9.83640087e-05 9.98787660e-01 6.83296263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.97038572300002 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:138.73, Y:21.36, Z:6.83 [[ 8.89637321e-01 -4.54571675e-01 -4.37038710e-02 1.38734150e+02] [ 4.54006850e-01 8.90710106e-01 -2.26558272e-02 2.13566042e+01] [ 4.92261770e-02 3.13612630e-04 9.98787608e-01 6.83237237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.000385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:138.76, Y:21.37, Z:6.84 [[ 8.89503229e-01 -4.54838735e-01 -4.36546711e-02 1.38760201e+02] [ 4.54269496e-01 8.90573725e-01 -2.27522805e-02 2.13697071e+01] [ 4.92263215e-02 4.07241533e-04 9.98787567e-01 6.83613325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.030385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.79, Y:21.38, Z:6.84 [[ 8.89339967e-01 -4.55153251e-01 -4.37028724e-02 1.38785018e+02] [ 4.54589032e-01 8.90413071e-01 -2.26577789e-02 2.13832659e+01] [ 4.92263705e-02 2.83621910e-04 9.98787607e-01 6.83794531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.060385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:138.81, Y:21.40, Z:6.84 [[ 8.88907641e-01 -4.55998600e-01 -4.36861893e-02 1.38806995e+02] [ 4.55433793e-01 8.89980451e-01 -2.26904716e-02 2.13964216e+01] [ 4.92266777e-02 2.73566661e-04 9.98787595e-01 6.83839862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.090385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.84, Y:21.41, Z:6.84 [[ 8.90155075e-01 -4.53570403e-01 -4.35641218e-02 1.38836637e+02] [ 4.52990994e-01 8.91220193e-01 -2.29287289e-02 2.14106913e+01] [ 4.92250178e-02 6.75969527e-04 9.98787485e-01 6.83934861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.120385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.86, Y:21.42, Z:6.84 [[ 8.91877840e-01 -4.50142282e-01 -4.38844366e-02 1.38861441e+02] [ 4.49589454e-01 8.92956830e-01 -2.23029827e-02 2.14234767e+01] [ 4.92264229e-02 1.61556178e-04 9.98787632e-01 6.84413644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.150385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.88, Y:21.44, Z:6.84 [[ 8.89926600e-01 -4.53994501e-01 -4.38136897e-02 1.38878712e+02] [ 4.53439537e-01 8.91004480e-01 -2.24411093e-02 2.14398621e+01] [ 4.92263340e-02 1.04080940e-04 9.98787644e-01 6.84062936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.180385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.91, Y:21.45, Z:6.84 [[ 8.92457317e-01 -4.49033999e-01 -4.34557752e-02 1.38907758e+02] [ 4.48438932e-01 8.93513914e-01 -2.31389182e-02 2.14513178e+01] [ 4.92185008e-02 1.16323537e-03 9.98787358e-01 6.84227064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.210385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.94, Y:21.46, Z:6.85 [[ 8.94529617e-01 -4.44871980e-01 -4.36541593e-02 1.38936323e+02] [ 4.44290833e-01 8.95593661e-01 -2.27519252e-02 2.14616299e+01] [ 4.92180824e-02 9.57128140e-04 9.98787597e-01 6.84780287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.240385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.95, Y:21.48, Z:6.84 [[ 8.93125535e-01 -4.47669064e-01 -4.38085378e-02 1.38953460e+02] [ 4.47105998e-01 8.94199191e-01 -2.24506890e-02 2.14766875e+01] [ 4.92240381e-02 4.64223644e-04 9.98787654e-01 6.84449920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.270385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:138.98, Y:21.49, Z:6.85 [[ 8.95530731e-01 -4.42875715e-01 -4.34259178e-02 1.38981204e+02] [ 4.42270591e-01 8.96581644e-01 -2.31965272e-02 2.14894721e+01] [ 4.92080594e-02 1.56719665e-03 9.98787320e-01 6.84595755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.300385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:139.00, Y:21.50, Z:6.85 [[ 8.94944304e-01 -4.44045178e-01 -4.35726049e-02 1.39001515e+02] [ 4.43455325e-01 8.96003619e-01 -2.29104839e-02 2.15020889e+01] [ 4.92145016e-02 1.18110340e-03 9.98787534e-01 6.84913849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.330385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:139.03, Y:21.52, Z:6.85 [[ 8.94985657e-01 -4.43991207e-01 -4.32721774e-02 1.39026710e+02] [ 4.43372979e-01 8.96029250e-01 -2.34943322e-02 2.15152554e+01] [ 4.92044136e-02 1.84137614e-03 9.98787032e-01 6.85027139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.360385723 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:139.06, Y:21.53, Z:6.86 [[ 8.97631011e-01 -4.38613937e-01 -4.33172225e-02 1.39061754e+02] [ 4.37993688e-01 8.98673279e-01 -2.34065663e-02 2.15258153e+01] [ 4.91944766e-02 2.03778970e-03 9.98787140e-01 6.85604630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.390385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:139.09, Y:21.54, Z:6.86 [[ 8.98014741e-01 -4.37778717e-01 -4.38100348e-02 1.39087659e+02] [ 4.37204121e-01 8.99082194e-01 -2.24447043e-02 2.15364554e+01] [ 4.92146361e-02 1.00174751e-03 9.98787723e-01 6.85694784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.420385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.12, Y:21.55, Z:6.86 [[ 8.99220431e-01 -4.35296995e-01 -4.38080218e-02 1.39115985e+02] [ 4.34719263e-01 9.00286189e-01 -2.24486328e-02 2.15461391e+01] [ 4.92115793e-02 1.14207830e-03 9.98787723e-01 6.85633676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.450385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.14, Y:21.56, Z:6.86 [[ 8.98169689e-01 -4.37461667e-01 -4.38006778e-02 1.39143243e+02] [ 4.36885805e-01 8.99236459e-01 -2.24629576e-02 2.15615663e+01] [ 4.92138493e-02 1.03965329e-03 9.98787723e-01 6.85889136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.480385723 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:139.17, Y:21.57, Z:6.85 [[ 8.98600826e-01 -4.36562020e-01 -4.39335669e-02 1.39172202e+02] [ 4.35997738e-01 8.99673812e-01 -2.22037126e-02 2.15703668e+01] [ 4.92191772e-02 7.97338693e-04 9.98787684e-01 6.85397827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.510385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.20, Y:21.58, Z:6.86 [[ 8.99093396e-01 -4.35532636e-01 -4.40725363e-02 1.39195142e+02] [ 4.34980432e-01 9.00172774e-01 -2.19317487e-02 2.15819353e+01] [ 4.92248896e-02 5.47999513e-04 9.98787570e-01 6.85976656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.540385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.22, Y:21.59, Z:6.86 [[ 8.98733890e-01 -4.36293266e-01 -4.38814507e-02 1.39221752e+02] [ 4.35723712e-01 8.99804050e-01 -2.23051053e-02 2.15937094e+01] [ 4.92162743e-02 9.26165499e-04 9.98787715e-01 6.86059149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.57038572300002 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:139.25, Y:21.61, Z:6.87 [[ 8.99008987e-01 -4.35724684e-01 -4.38958015e-02 1.39250392e+02] [ 4.35155820e-01 9.00079520e-01 -2.22771117e-02 2.16063276e+01] [ 4.92163994e-02 9.25810084e-04 9.98787710e-01 6.86573512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.60038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.28, Y:21.62, Z:6.86 [[ 8.99101852e-01 -4.35519925e-01 -4.40256265e-02 1.39276477e+02] [ 4.34963188e-01 9.00178854e-01 -2.20239772e-02 2.16167216e+01] [ 4.92228189e-02 6.52271866e-04 9.98787609e-01 6.86471189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.63038572300002 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:139.30, Y:21.63, Z:6.87 [[ 8.98784420e-01 -4.36175736e-01 -4.40147051e-02 1.39302058e+02] [ 4.35618742e-01 8.99861277e-01 -2.20452634e-02 2.16289234e+01] [ 4.92227377e-02 6.40308823e-04 9.98787621e-01 6.86584995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.66038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.33, Y:21.64, Z:6.87 [[ 8.99394618e-01 -4.34922033e-01 -4.39561829e-02 1.39331334e+02] [ 4.34357971e-01 9.00467725e-01 -2.21591772e-02 2.16384130e+01] [ 4.92186384e-02 8.37126349e-04 9.98787678e-01 6.86850989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.69038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.36, Y:21.65, Z:6.87 [[ 8.99175934e-01 -4.35360979e-01 -4.40846582e-02 1.39356223e+02] [ 4.34809674e-01 9.00255816e-01 -2.19091785e-02 2.16507928e+01] [ 4.92258714e-02 5.31770207e-04 9.98787530e-01 6.86963044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.72038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.38, Y:21.66, Z:6.87 [[ 8.99113805e-01 -4.35497629e-01 -4.40020585e-02 1.39381342e+02] [ 4.34938625e-01 9.00189601e-01 -2.20697559e-02 2.16643316e+01] [ 4.92215219e-02 7.05027430e-04 9.98787637e-01 6.86763470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.750385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.41, Y:21.68, Z:6.87 [[ 8.99539364e-01 -4.34623230e-01 -4.39497517e-02 1.39407714e+02] [ 4.34058217e-01 9.00611956e-01 -2.21713382e-02 2.16778587e+01] [ 4.92178505e-02 8.67240623e-04 9.98787691e-01 6.86708749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.780385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.43, Y:21.69, Z:6.87 [[ 8.99532768e-01 -4.34631351e-01 -4.40044123e-02 1.39430769e+02] [ 4.34071532e-01 9.00608145e-01 -2.20652312e-02 2.16925208e+01] [ 4.92209734e-02 7.47335857e-04 9.98787634e-01 6.86624916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.810385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.46, Y:21.71, Z:6.87 [[ 8.99342212e-01 -4.35034066e-01 -4.39197753e-02 1.39456194e+02] [ 4.34466710e-01 9.00413534e-01 -2.22293752e-02 2.17070121e+01] [ 4.92164956e-02 9.10135141e-04 9.98787719e-01 6.86907329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.840385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:139.48, Y:21.72, Z:6.87 [[ 8.99456826e-01 -4.34794109e-01 -4.39488567e-02 1.39478056e+02] [ 4.34229218e-01 9.00529480e-01 -2.21730058e-02 2.17202717e+01] [ 4.92179334e-02 8.59783751e-04 9.98787693e-01 6.87015216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.870385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.50, Y:21.74, Z:6.88 [[ 8.97604860e-01 -4.38616395e-01 -4.38312040e-02 1.39500943e+02] [ 4.38044929e-01 8.98673932e-01 -2.24009957e-02 2.17369382e+01] [ 4.92154044e-02 9.07205990e-04 9.98787776e-01 6.87521100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.900385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.53, Y:21.75, Z:6.88 [[ 8.98316266e-01 -4.37167039e-01 -4.37363340e-02 1.39529757e+02] [ 4.36584900e-01 8.99379539e-01 -2.25847181e-02 2.17486126e+01] [ 4.92088582e-02 1.19359665e-03 9.98787797e-01 6.87945833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.930385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.55, Y:21.76, Z:6.88 [[ 8.97494906e-01 -4.38840218e-01 -4.38423985e-02 1.39552194e+02] [ 4.38270076e-01 8.98564692e-01 -2.23793520e-02 2.17630384e+01] [ 4.92161910e-02 8.70543158e-04 9.98787770e-01 6.87968604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.960385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.58, Y:21.78, Z:6.88 [[ 8.97675195e-01 -4.38482630e-01 -4.37290210e-02 1.39575697e+02] [ 4.37901367e-01 8.98738944e-01 -2.25987430e-02 2.17765200e+01] [ 4.92101304e-02 1.13733291e-03 9.98787800e-01 6.88062540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.990385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.60, Y:21.79, Z:6.88 [[ 8.97832163e-01 -4.38161404e-01 -4.37263082e-02 1.39600935e+02] [ 4.37579505e-01 8.98895565e-01 -2.26039908e-02 2.17910462e+01] [ 4.92095808e-02 1.16085367e-03 9.98787800e-01 6.88373857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.020385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:139.63, Y:21.80, Z:6.88 [[ 8.97995165e-01 -4.37828247e-01 -4.37162327e-02 1.39626265e+02] [ 4.37245006e-01 8.99057831e-01 -2.26234702e-02 2.18041150e+01] [ 4.92086157e-02 1.20106242e-03 9.98787800e-01 6.88145158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.050385723 meters Centerline goodness : 0.999887 Centerline is valid? [True, True] Translation: X:139.65, Y:21.82, Z:6.88 [[ 8.97043811e-01 -4.39773868e-01 -4.37189503e-02 1.39651917e+02] [ 4.39193188e-01 8.98107878e-01 -2.26182173e-02 2.18176952e+01] [ 4.92112346e-02 1.08846666e-03 9.98787800e-01 6.88170147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.080385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.68, Y:21.83, Z:6.89 [[ 8.96924158e-01 -4.40020334e-01 -4.36939417e-02 1.39677746e+02] [ 4.39437593e-01 8.97987099e-01 -2.26665299e-02 2.18292648e+01] [ 4.92103300e-02 1.12939768e-03 9.98787799e-01 6.88592101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.110385723 meters Centerline goodness : 0.999211 Centerline is valid? [True, True] Translation: X:139.71, Y:21.84, Z:6.89 [[ 8.97688354e-01 -4.38456850e-01 -4.37173739e-02 1.39709071e+02] [ 4.37874460e-01 8.98751487e-01 -2.26212814e-02 2.18409010e+01] [ 4.92095106e-02 1.16413935e-03 9.98787800e-01 6.88932571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.140385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:139.73, Y:21.85, Z:6.89 [[ 8.96178009e-01 -4.41506384e-01 -4.40123818e-02 1.39729139e+02] [ 4.40955507e-01 8.97258038e-01 -2.20511539e-02 2.18547676e+01] [ 4.92261886e-02 3.54257041e-04 9.98787593e-01 6.89115603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.170385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:139.75, Y:21.87, Z:6.89 [[ 8.95167395e-01 -4.43582520e-01 -4.37022173e-02 1.39754102e+02] [ 4.43004834e-01 8.96233067e-01 -2.26496371e-02 2.18676562e+01] [ 4.92143554e-02 9.14923095e-04 9.98787820e-01 6.89296194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.200385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:139.78, Y:21.88, Z:6.89 [[ 8.94831832e-01 -4.44259669e-01 -4.36959825e-02 1.39779060e+02] [ 4.43682202e-01 8.95897624e-01 -2.26616589e-02 2.18801151e+01] [ 4.92147880e-02 8.91244005e-04 9.98787820e-01 6.89451692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.230385723 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:139.80, Y:21.89, Z:6.90 [[ 8.94260840e-01 -4.45408525e-01 -4.36897660e-02 1.39803790e+02] [ 4.44831843e-01 8.95327056e-01 -2.26736377e-02 2.18916840e+01] [ 4.92156610e-02 8.41547175e-04 9.98787821e-01 6.89602960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.260385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.83, Y:21.90, Z:6.90 [[ 8.94007887e-01 -4.45916632e-01 -4.36835814e-02 1.39829244e+02] [ 4.45339975e-01 8.95074116e-01 -2.26855467e-02 2.19043791e+01] [ 4.92159056e-02 8.27012656e-04 9.98787821e-01 6.89702976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.290385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.85, Y:21.92, Z:6.90 [[ 8.93354391e-01 -4.47224974e-01 -4.36778419e-02 1.39854915e+02] [ 4.46649338e-01 8.94421172e-01 -2.26965919e-02 2.19178510e+01] [ 4.92168693e-02 7.67420841e-04 9.98787821e-01 6.89804857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.32038572300002 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:139.88, Y:21.93, Z:6.90 [[ 8.92944100e-01 -4.48044140e-01 -4.36724458e-02 1.39879565e+02] [ 4.47468975e-01 8.94011135e-01 -2.27069704e-02 2.19312102e+01] [ 4.92173778e-02 7.33990642e-04 9.98787821e-01 6.89813066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.35038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.90, Y:21.94, Z:6.90 [[ 8.92081762e-01 -4.49759240e-01 -4.36664169e-02 1.39904792e+02] [ 4.49185559e-01 8.93149596e-01 -2.27185583e-02 2.19443546e+01] [ 4.92185241e-02 6.52487677e-04 9.98787821e-01 6.89945327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.38038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.93, Y:21.96, Z:6.90 [[ 8.91688565e-01 -4.50538890e-01 -4.36601928e-02 1.39928897e+02] [ 4.49965558e-01 8.92756585e-01 -2.27305133e-02 2.19559781e+01] [ 4.92189049e-02 6.22955803e-04 9.98787821e-01 6.90097265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.41038572300002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:139.95, Y:21.97, Z:6.90 [[ 8.91208128e-01 -4.51488750e-01 -4.36575503e-02 1.39954626e+02] [ 4.50916308e-01 8.92276625e-01 -2.27355875e-02 2.19681799e+01] [ 4.92194737e-02 5.76239001e-04 9.98787821e-01 6.90340668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.44038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.98, Y:21.98, Z:6.91 [[ 8.90551763e-01 -4.52782633e-01 -4.36513889e-02 1.39979674e+02] [ 4.52211164e-01 8.91620782e-01 -2.27474110e-02 2.19792638e+01] [ 4.92201182e-02 5.18101531e-04 9.98787821e-01 6.90519974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.47038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.00, Y:21.99, Z:6.90 [[ 8.90607237e-01 -4.52673767e-01 -4.36487187e-02 1.40004655e+02] [ 4.52101916e-01 8.91676051e-01 -2.27525335e-02 2.19924515e+01] [ 4.92199922e-02 5.29901635e-04 9.98787821e-01 6.90123340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.500385723 meters Centerline goodness : 0.999865 Centerline is valid? [True, True] Translation: X:140.03, Y:22.01, Z:6.90 [[ 8.90345441e-01 -4.53188644e-01 -4.36468688e-02 1.40029984e+02] [ 4.52617237e-01 8.91414493e-01 -2.27560818e-02 2.20059229e+01] [ 4.92202492e-02 5.05448563e-04 9.98787821e-01 6.90255972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.530385723 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:140.06, Y:22.02, Z:6.90 [[ 8.90367977e-01 -4.53144867e-01 -4.36416663e-02 1.40055910e+02] [ 4.52572919e-01 8.91436739e-01 -2.27660547e-02 2.20188146e+01] [ 4.92201056e-02 5.19129690e-04 9.98787821e-01 6.90427236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.560385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.08, Y:22.03, Z:6.91 [[ 8.90508614e-01 -4.52868950e-01 -4.36362561e-02 1.40082148e+02] [ 4.52296163e-01 8.91576926e-01 -2.27764200e-02 2.20297324e+01] [ 4.92198125e-02 5.46087016e-04 9.98787821e-01 6.90808219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.590385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.11, Y:22.04, Z:6.91 [[ 8.90118686e-01 -4.53635399e-01 -4.36308433e-02 1.40106783e+02] [ 4.53063023e-01 8.91187219e-01 -2.27867840e-02 2.20419485e+01] [ 4.92201418e-02 5.15420473e-04 9.98787821e-01 6.91029684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.620385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.13, Y:22.06, Z:6.91 [[ 8.89922366e-01 -4.54020594e-01 -4.36289322e-02 1.40132210e+02] [ 4.53448501e-01 8.90991051e-01 -2.27904426e-02 2.20557153e+01] [ 4.92203184e-02 4.98250724e-04 9.98787821e-01 6.91371720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.650385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.16, Y:22.07, Z:6.91 [[ 8.90254921e-01 -4.53368697e-01 -4.36233916e-02 1.40156310e+02] [ 4.52795303e-01 8.91322908e-01 -2.28010429e-02 2.20700469e+01] [ 4.92198074e-02 5.46273746e-04 9.98787821e-01 6.91492614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.680385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.18, Y:22.08, Z:6.92 [[ 8.90514567e-01 -4.52858672e-01 -4.36214360e-02 1.40180876e+02] [ 4.52284483e-01 8.91582127e-01 -2.28047837e-02 2.20832284e+01] [ 4.92194367e-02 5.78693460e-04 9.98787821e-01 6.91826735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.710385723 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:140.21, Y:22.09, Z:6.92 [[ 8.91312796e-01 -4.51286188e-01 -4.36150835e-02 1.40205622e+02] [ 4.50709521e-01 8.92379020e-01 -2.28169267e-02 2.20949849e+01] [ 4.92181493e-02 6.79285331e-04 9.98787821e-01 6.92118366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.740385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.23, Y:22.11, Z:6.92 [[ 8.91387217e-01 -4.51139706e-01 -4.36095827e-02 1.40231410e+02] [ 4.50562350e-01 8.92453067e-01 -2.28274353e-02 2.21084280e+01] [ 4.92178683e-02 6.99247955e-04 9.98787822e-01 6.92353465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.770385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:140.26, Y:22.12, Z:6.92 [[ 8.91694381e-01 -4.50532809e-01 -4.36041082e-02 1.40256918e+02] [ 4.49954217e-01 8.92759561e-01 -2.28378878e-02 2.21230068e+01] [ 4.92172022e-02 7.44563813e-04 9.98787822e-01 6.92456929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.800385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.28, Y:22.14, Z:6.93 [[ 8.91863667e-01 -4.50198129e-01 -4.35986820e-02 1.40281698e+02] [ 4.49618631e-01 8.92928354e-01 -2.28482419e-02 2.21371210e+01] [ 4.92167351e-02 7.74737109e-04 9.98787822e-01 6.92541753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.830385723 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:140.31, Y:22.15, Z:6.92 [[ 8.92681014e-01 -4.48575884e-01 -4.35922301e-02 1.40305063e+02] [ 4.47993851e-01 8.93744317e-01 -2.28605449e-02 2.21519188e+01] [ 4.92149971e-02 8.78123371e-04 9.98787822e-01 6.92414035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.860385723 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:140.33, Y:22.17, Z:6.92 [[ 8.93325131e-01 -4.47292043e-01 -4.35894295e-02 1.40329703e+02] [ 4.46708221e-01 8.94387453e-01 -2.28658838e-02 2.21656987e+01] [ 4.92135667e-02 9.54912122e-04 9.98787822e-01 6.92422427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.890385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:140.36, Y:22.18, Z:6.92 [[ 8.94422460e-01 -4.45094346e-01 -4.35830936e-02 1.40355596e+02] [ 4.44507327e-01 8.95483018e-01 -2.28779538e-02 2.21798347e+01] [ 4.92107681e-02 1.08955124e-03 9.98787822e-01 6.92328872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.920385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.38, Y:22.19, Z:6.92 [[ 8.95004788e-01 -4.43922738e-01 -4.35778863e-02 1.40380177e+02] [ 4.43333847e-01 8.96064309e-01 -2.28878685e-02 2.21925635e+01] [ 4.92090338e-02 1.16519991e-03 9.98787822e-01 6.92327549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.950385723 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:140.41, Y:22.21, Z:6.92 [[ 8.95368104e-01 -4.43189787e-01 -4.35748860e-02 1.40405486e+02] [ 4.42599751e-01 8.96426988e-01 -2.28935792e-02 2.22057749e+01] [ 4.92079042e-02 1.21194689e-03 9.98787822e-01 6.92425732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.980385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.43, Y:22.22, Z:6.92 [[ 8.96267731e-01 -4.41368186e-01 -4.35692355e-02 1.40430413e+02] [ 4.40775477e-01 8.97325120e-01 -2.29043275e-02 2.22188397e+01] [ 4.92050110e-02 1.32415908e-03 9.98787822e-01 6.92440556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.010385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.45, Y:22.23, Z:6.93 [[ 8.96665791e-01 -4.40559139e-01 -4.35672421e-02 1.40454965e+02] [ 4.39965291e-01 8.97722541e-01 -2.29081187e-02 2.22321103e+01] [ 4.92036763e-02 1.37285197e-03 9.98787822e-01 6.92605849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.040385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.48, Y:22.25, Z:6.93 [[ 8.97261959e-01 -4.39343976e-01 -4.35642994e-02 1.40479627e+02] [ 4.38748426e-01 8.98317750e-01 -2.29137135e-02 2.22460261e+01] [ 4.92015854e-02 1.44583565e-03 9.98787822e-01 6.92812915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.07038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.50, Y:22.26, Z:6.93 [[ 8.97456173e-01 -4.38947311e-01 -4.35623253e-02 1.40503158e+02] [ 4.38351112e-01 8.98511598e-01 -2.29174659e-02 2.22585332e+01] [ 4.92008146e-02 1.47182748e-03 9.98787822e-01 6.92938425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.10038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.53, Y:22.27, Z:6.93 [[ 8.97243775e-01 -4.39381929e-01 -4.35560468e-02 1.40529010e+02] [ 4.38785663e-01 8.98299162e-01 -2.29293924e-02 2.22712975e+01] [ 4.92011210e-02 1.46148568e-03 9.98787822e-01 6.93169853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.13038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.55, Y:22.28, Z:6.93 [[ 8.96878026e-01 -4.40128573e-01 -4.35504836e-02 1.40554177e+02] [ 4.39532674e-01 8.97933621e-01 -2.29399538e-02 2.22838353e+01] [ 4.92019726e-02 1.43248001e-03 9.98787822e-01 6.93288035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.16038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.58, Y:22.30, Z:6.93 [[ 8.95963694e-01 -4.41987518e-01 -4.35441425e-02 1.40579024e+02] [ 4.41393225e-01 8.97020193e-01 -2.29519842e-02 2.22952271e+01] [ 4.92044656e-02 1.34405504e-03 9.98787822e-01 6.93385307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.19038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.60, Y:22.31, Z:6.94 [[ 8.95375797e-01 -4.43177692e-01 -4.35398245e-02 1.40603971e+02] [ 4.42584405e-01 8.96432861e-01 -2.29601725e-02 2.23079445e+01] [ 4.92059657e-02 1.28793546e-03 9.98787822e-01 6.93581324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.22038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.63, Y:22.32, Z:6.94 [[ 8.95256069e-01 -4.43420115e-01 -4.35335832e-02 1.40629196e+02] [ 4.42826540e-01 8.96312971e-01 -2.29720002e-02 2.23213507e+01] [ 4.92059623e-02 1.28799655e-03 9.98787822e-01 6.93721521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.250385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.65, Y:22.33, Z:6.94 [[ 8.94656047e-01 -4.44630100e-01 -4.35273673e-02 1.40654451e+02] [ 4.44037382e-01 8.95713431e-01 -2.29837720e-02 2.23343679e+01] [ 4.92073243e-02 1.23479239e-03 9.98787823e-01 6.94030288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.280385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.68, Y:22.35, Z:6.94 [[ 8.94413727e-01 -4.45117897e-01 -4.35217463e-02 1.40678080e+02] [ 4.44525239e-01 8.95471144e-01 -2.29944109e-02 2.23466449e+01] [ 4.92076918e-02 1.22000207e-03 9.98787823e-01 6.94184207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.310385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.70, Y:22.36, Z:6.94 [[ 8.94054882e-01 -4.45838502e-01 -4.35189494e-02 1.40703309e+02] [ 4.45246438e-01 8.95112632e-01 -2.29997031e-02 2.23593889e+01] [ 4.92085145e-02 1.18633961e-03 9.98787823e-01 6.94419891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.340385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.73, Y:22.37, Z:6.94 [[ 8.93831868e-01 -4.46286064e-01 -4.35125395e-02 1.40727586e+02] [ 4.45693940e-01 8.94889584e-01 -2.30118234e-02 2.23720065e+01] [ 4.92087745e-02 1.17542592e-03 9.98787823e-01 6.94495996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.370385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:140.75, Y:22.39, Z:6.94 [[ 8.91587554e-01 -4.50753297e-01 -4.35097614e-02 1.40746358e+02] [ 4.50166218e-01 8.92648078e-01 -2.30170749e-02 2.23872113e+01] [ 4.92139273e-02 9.35112754e-04 9.98787823e-01 6.94187445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.400385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.77, Y:22.40, Z:6.94 [[ 8.91539067e-01 -4.50879326e-01 -4.31963491e-02 1.40771388e+02] [ 4.50263640e-01 8.92583485e-01 -2.36088255e-02 2.24007887e+01] [ 4.92010791e-02 1.59844495e-03 9.98787614e-01 6.94134313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.430385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.80, Y:22.41, Z:6.95 [[ 8.93454897e-01 -4.47070330e-01 -4.32026301e-02 1.40803213e+02] [ 4.46450765e-01 8.94497008e-01 -2.35969684e-02 2.24114696e+01] [ 4.91941278e-02 1.79497971e-03 9.98787623e-01 6.94516544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.460385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.83, Y:22.42, Z:6.95 [[ 8.93526962e-01 -4.46896797e-01 -4.35065744e-02 1.40828234e+02] [ 4.46304871e-01 8.94584776e-01 -2.30226174e-02 2.24235929e+01] [ 4.92090531e-02 1.15413333e-03 9.98787834e-01 6.94836261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.490385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.85, Y:22.44, Z:6.95 [[ 8.91795781e-01 -4.50342067e-01 -4.35006633e-02 1.40846680e+02] [ 4.49753684e-01 8.92855570e-01 -2.30337808e-02 2.24388683e+01] [ 4.92128900e-02 9.76844931e-04 9.98787834e-01 6.94706810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.520385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.88, Y:22.45, Z:6.95 [[ 8.93780512e-01 -4.46418988e-01 -4.32028270e-02 1.40877257e+02] [ 4.45798733e-01 8.94822184e-01 -2.35955336e-02 2.24497673e+01] [ 4.91923422e-02 1.82946251e-03 9.98787648e-01 6.95304124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.550385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.90, Y:22.46, Z:6.96 [[ 8.93742997e-01 -4.46465859e-01 -4.34935917e-02 1.40902133e+02] [ 4.45872246e-01 8.94799857e-01 -2.30468276e-02 2.24629491e+01] [ 4.92076813e-02 1.20535536e-03 9.98787841e-01 6.95584044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.580385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:140.92, Y:22.48, Z:6.96 [[ 8.93723361e-01 -4.46505793e-01 -4.34871359e-02 1.40924767e+02] [ 4.45911635e-01 8.94779915e-01 -2.30590026e-02 2.24769525e+01] [ 4.92073940e-02 1.21694943e-03 9.98787841e-01 6.95680271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.610385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:140.95, Y:22.49, Z:6.96 [[ 8.93799062e-01 -4.46354510e-01 -4.34843459e-02 1.40948472e+02] [ 4.45759917e-01 8.94855371e-01 -2.30642627e-02 2.24905539e+01] [ 4.92070382e-02 1.23123794e-03 9.98787841e-01 6.95725521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.640385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:140.97, Y:22.51, Z:6.96 [[ 8.93991983e-01 -4.45968257e-01 -4.34815808e-02 1.40972544e+02] [ 4.45372956e-01 8.95047892e-01 -2.30694744e-02 2.25055107e+01] [ 4.92063506e-02 1.25840498e-03 9.98787841e-01 6.95679717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.670385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.00, Y:22.52, Z:6.96 [[ 8.94408236e-01 -4.45133472e-01 -4.34752720e-02 1.40997173e+02] [ 4.44536608e-01 8.95463263e-01 -2.30813575e-02 2.25186796e+01] [ 4.92047937e-02 1.31780636e-03 9.98787841e-01 6.95812782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.700385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.02, Y:22.53, Z:6.96 [[ 8.94503684e-01 -4.44942276e-01 -4.34687223e-02 1.41020753e+02] [ 4.44344587e-01 8.95558245e-01 -2.30936860e-02 2.25308476e+01] [ 4.92041298e-02 1.34229573e-03 9.98787841e-01 6.95989306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.730385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.05, Y:22.54, Z:6.96 [[ 8.94447257e-01 -4.45055974e-01 -4.34658869e-02 1.41045282e+02] [ 4.44458161e-01 8.95501747e-01 -2.30990212e-02 2.25439328e+01] [ 4.92041351e-02 1.34208800e-03 9.98787841e-01 6.96149400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.760385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.07, Y:22.56, Z:6.96 [[ 8.93994034e-01 -4.45966298e-01 -4.34595065e-02 1.41069205e+02] [ 4.45368976e-01 8.95048801e-01 -2.31110195e-02 2.25588797e+01] [ 4.92051150e-02 1.30559763e-03 9.98787841e-01 6.96190941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.790385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.09, Y:22.57, Z:6.96 [[ 8.93531624e-01 -4.46892678e-01 -4.34531028e-02 1.41093400e+02] [ 4.46295864e-01 8.94586679e-01 -2.31230534e-02 2.25724906e+01] [ 4.92060902e-02 1.26823944e-03 9.98787841e-01 6.96269746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.82038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.12, Y:22.59, Z:6.96 [[ 8.92562405e-01 -4.48825968e-01 -4.34465661e-02 1.41117077e+02] [ 4.48230843e-01 8.93618413e-01 -2.31353288e-02 2.25852484e+01] [ 4.92083878e-02 1.17563376e-03 9.98787842e-01 6.96300100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.85038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.14, Y:22.60, Z:6.96 [[ 8.91958503e-01 -4.50025189e-01 -4.34437333e-02 1.41141632e+02] [ 4.49431224e-01 8.93015165e-01 -2.31406471e-02 2.25980242e+01] [ 4.92097867e-02 1.11552672e-03 9.98787842e-01 6.96449214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.88038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.17, Y:22.61, Z:6.97 [[ 8.90358236e-01 -4.53183645e-01 -4.34372544e-02 1.41166070e+02] [ 4.52592837e-01 8.91416666e-01 -2.31528022e-02 2.26114665e+01] [ 4.92131638e-02 9.54897890e-04 9.98787842e-01 6.96694647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.91038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.19, Y:22.63, Z:6.97 [[ 8.89418929e-01 -4.55024557e-01 -4.34352466e-02 1.41190622e+02] [ 4.54435756e-01 8.90478477e-01 -2.31565684e-02 2.26250195e+01] [ 4.92149595e-02 8.57361162e-04 9.98787842e-01 6.96900741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.94038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.21, Y:22.64, Z:6.97 [[ 8.88667226e-01 -4.56491509e-01 -4.34288387e-02 1.41213685e+02] [ 4.55903870e-01 8.89727418e-01 -2.31685798e-02 2.26380542e+01] [ 4.92160885e-02 7.89781890e-04 9.98787842e-01 6.97103632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.97038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.24, Y:22.65, Z:6.97 [[ 8.87586328e-01 -4.58589928e-01 -4.34256628e-02 1.41237672e+02] [ 4.58004504e-01 8.88647745e-01 -2.31745310e-02 2.26525042e+01] [ 4.92177238e-02 6.80247744e-04 9.98787842e-01 6.97318433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.000385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.26, Y:22.67, Z:6.97 [[ 8.87072181e-01 -4.59584275e-01 -4.34193447e-02 1.41261491e+02] [ 4.58999462e-01 8.88133935e-01 -2.31863624e-02 2.26665408e+01] [ 4.92182810e-02 6.38521190e-04 9.98787842e-01 6.97398764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.030385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.28, Y:22.68, Z:6.97 [[ 8.85226155e-01 -4.63130613e-01 -4.34130234e-02 1.41279169e+02] [ 4.62549473e-01 8.86289924e-01 -2.31981920e-02 2.26827199e+01] [ 4.92203181e-02 4.54975206e-04 9.98787842e-01 6.97267907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.060385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.31, Y:22.70, Z:6.97 [[ 8.86833765e-01 -4.60074430e-01 -4.30974675e-02 1.41310384e+02] [ 4.59460877e-01 8.87879408e-01 -2.37877875e-02 2.26952315e+01] [ 4.92095067e-02 1.29421294e-03 9.98787640e-01 6.97462635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.090385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.33, Y:22.71, Z:6.97 [[ 8.85391688e-01 -4.62814864e-01 -4.34046161e-02 1.41328847e+02] [ 4.62232595e-01 8.86454828e-01 -2.32135030e-02 2.27111462e+01] [ 4.92197858e-02 4.90014261e-04 9.98787852e-01 6.97174893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.120385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.36, Y:22.72, Z:6.97 [[ 8.86553868e-01 -4.60607507e-01 -4.31620602e-02 1.41359257e+02] [ 4.60000480e-01 8.87603207e-01 -2.36665326e-02 2.27240189e+01] [ 4.92117657e-02 1.12708758e-03 9.98787731e-01 6.97499195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.150385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.38, Y:22.74, Z:6.98 [[ 8.86006994e-01 -4.61636411e-01 -4.33985141e-02 1.41383016e+02] [ 4.61052180e-01 8.87069051e-01 -2.32246994e-02 2.27387213e+01] [ 4.92188456e-02 5.68266621e-04 9.98787857e-01 6.97533704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.180385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.41, Y:22.75, Z:6.98 [[ 8.85750775e-01 -4.62128419e-01 -4.33922592e-02 1.41407880e+02] [ 4.61544206e-01 8.86812842e-01 -2.32363800e-02 2.27525019e+01] [ 4.92190043e-02 5.54195786e-04 9.98787857e-01 6.97653194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.210385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.43, Y:22.77, Z:6.98 [[ 8.85420594e-01 -4.62761289e-01 -4.33861911e-02 1.41431712e+02] [ 4.62177280e-01 8.86482773e-01 -2.32477047e-02 2.27660628e+01] [ 4.92192488e-02 5.31884675e-04 9.98787857e-01 6.97679005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.240385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.45, Y:22.78, Z:6.98 [[ 8.83930587e-01 -4.65601687e-01 -4.33795550e-02 1.41451766e+02] [ 4.65020484e-01 8.84994304e-01 -2.32600809e-02 2.27805490e+01] [ 4.92205920e-02 3.87915313e-04 9.98787857e-01 6.97567855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.270385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.48, Y:22.79, Z:6.98 [[ 8.83359422e-01 -4.66707646e-01 -4.31289381e-02 1.41477754e+02] [ 4.66104850e-01 8.84411237e-01 -2.37283064e-02 2.27949580e+01] [ 4.92178995e-02 8.58015817e-04 9.98787696e-01 6.97707369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.300385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.51, Y:22.81, Z:6.98 [[ 8.84321941e-01 -4.64872793e-01 -4.32202585e-02 1.41506190e+02] [ 4.64276142e-01 8.85377151e-01 -2.35576930e-02 2.28061902e+01] [ 4.92175598e-02 7.66449917e-04 9.98787787e-01 6.98287495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.330385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.53, Y:22.82, Z:6.98 [[ 8.82858073e-01 -4.67630249e-01 -4.34001442e-02 1.41527707e+02] [ 4.67053386e-01 8.83924147e-01 -2.32215006e-02 2.28216473e+01] [ 4.92215115e-02 2.31104935e-04 9.98787860e-01 6.98211310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.360385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.56, Y:22.83, Z:6.99 [[ 8.83552069e-01 -4.66326329e-01 -4.33070013e-02 1.41555159e+02] [ 4.65739355e-01 8.84612629e-01 -2.33954896e-02 2.28344814e+01] [ 4.92198530e-02 5.01358380e-04 9.98787843e-01 6.98636434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.390385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.58, Y:22.85, Z:6.99 [[ 8.83761531e-01 -4.65921176e-01 -4.33937037e-02 1.41578541e+02] [ 4.65341660e-01 8.84826165e-01 -2.32335558e-02 2.28483796e+01] [ 4.92208900e-02 3.40024730e-04 9.98787860e-01 6.98765062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.420385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.60, Y:22.86, Z:6.99 [[ 8.83906034e-01 -4.65647212e-01 -4.33912047e-02 1.41602846e+02] [ 4.65067137e-01 8.84970363e-01 -2.32382220e-02 2.28622355e+01] [ 4.92207434e-02 3.60581287e-04 9.98787860e-01 6.98910275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.450385723 meters Centerline goodness : 0.999025 Centerline is valid? [True, True] Translation: X:141.62, Y:22.87, Z:6.99 [[ 8.86864314e-01 -4.59988463e-01 -4.33855052e-02 1.41623435e+02] [ 4.59401076e-01 8.87924626e-01 -2.32488579e-02 2.28727904e+01] [ 4.92172649e-02 6.87234662e-04 9.98787860e-01 6.98976042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.480385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:141.65, Y:22.89, Z:6.99 [[ 8.84336484e-01 -4.64862293e-01 -4.30352411e-02 1.41646895e+02] [ 4.64248872e-01 8.85382238e-01 -2.39014032e-02 2.28908953e+01] [ 4.92134992e-02 1.15782076e-03 9.98787611e-01 6.98681052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.510385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.68, Y:22.90, Z:6.99 [[ 8.86165470e-01 -4.61353773e-01 -4.31677703e-02 1.41677116e+02] [ 4.60748256e-01 8.87215615e-01 -2.36536832e-02 2.29034550e+01] [ 4.92118358e-02 1.07160245e-03 9.98787789e-01 6.99037189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.540385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.70, Y:22.92, Z:6.99 [[ 8.86268732e-01 -4.61133015e-01 -4.34059587e-02 1.41701743e+02] [ 4.60548988e-01 8.87330834e-01 -2.32082165e-02 2.29172280e+01] [ 4.92175204e-02 5.78146237e-04 9.98787916e-01 6.99118205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.57038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.72, Y:22.93, Z:6.99 [[ 8.84712073e-01 -4.64113082e-01 -4.34004122e-02 1.41721982e+02] [ 4.63532124e-01 8.85775856e-01 -2.32185840e-02 2.29336947e+01] [ 4.92190859e-02 4.24276325e-04 9.98787916e-01 6.98967163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.60038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.75, Y:22.95, Z:6.99 [[ 8.86101871e-01 -4.61472784e-01 -4.32012149e-02 1.41750642e+02] [ 4.60870487e-01 8.87153810e-01 -2.35904946e-02 2.29460309e+01] [ 4.92124936e-02 9.93416491e-04 9.98787837e-01 6.99193203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.63038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.78, Y:22.96, Z:6.99 [[ 8.86009510e-01 -4.61632041e-01 -4.33936274e-02 1.41775745e+02] [ 4.61047492e-01 8.87071320e-01 -2.32310938e-02 2.29592308e+01] [ 4.92174595e-02 5.76446958e-04 9.98787920e-01 6.99348268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.66038572300002 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:141.80, Y:22.97, Z:7.00 [[ 8.85833929e-01 -4.61969386e-01 -4.33882183e-02 1.41800528e+02] [ 4.61384747e-01 8.86895689e-01 -2.32411917e-02 2.29730865e+01] [ 4.92175429e-02 5.69174026e-04 9.98787920e-01 6.99822226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.69038572300002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:141.82, Y:22.99, Z:7.00 [[ 8.85810749e-01 -4.62014434e-01 -4.33817987e-02 1.41824701e+02] [ 4.61429262e-01 8.86872215e-01 -2.32531685e-02 2.29865544e+01] [ 4.92174113e-02 5.80275270e-04 9.98787920e-01 6.99990615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.72038572300002 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:141.85, Y:23.00, Z:7.00 [[ 8.84813187e-01 -4.63922628e-01 -4.33753353e-02 1.41846802e+02] [ 4.63339155e-01 8.85875588e-01 -2.32652186e-02 2.30017129e+01] [ 4.92184121e-02 4.87880992e-04 9.98787920e-01 6.99795442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.750385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:141.87, Y:23.01, Z:7.00 [[ 8.85971434e-01 -4.61717005e-01 -4.32669098e-02 1.41873360e+02] [ 4.61121010e-01 8.87026889e-01 -2.34672641e-02 2.30135446e+01] [ 4.92141473e-02 8.40044518e-04 9.98787896e-01 7.00366827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.780385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.90, Y:23.03, Z:7.01 [[ 8.86636662e-01 -4.60428716e-01 -4.33685107e-02 1.41896840e+02] [ 4.59840432e-01 8.87696408e-01 -2.32779770e-02 2.30258145e+01] [ 4.92159202e-02 6.96513102e-04 9.98787919e-01 7.00562279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.810385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.92, Y:23.04, Z:7.01 [[ 8.86591893e-01 -4.60515177e-01 -4.33657309e-02 1.41922286e+02] [ 4.59926744e-01 8.87651556e-01 -2.32831544e-02 2.30400229e+01] [ 4.92159045e-02 6.97596592e-04 9.98787919e-01 7.00580859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.840385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:141.95, Y:23.05, Z:7.01 [[ 8.88226909e-01 -4.57354290e-01 -4.33590865e-02 1.41946579e+02] [ 4.56761483e-01 8.89284131e-01 -2.32955228e-02 2.30527736e+01] [ 4.92128549e-02 8.86949614e-04 9.98787920e-01 7.00732224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.870385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.97, Y:23.07, Z:7.01 [[ 8.88619130e-01 -4.56591847e-01 -4.33581237e-02 1.41971076e+02] [ 4.55998045e-01 8.89675794e-01 -2.32973147e-02 2.30668419e+01] [ 4.92120370e-02 9.31219893e-04 9.98787920e-01 7.00896828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.900385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.00, Y:23.08, Z:7.01 [[ 8.88971287e-01 -4.55906434e-01 -4.33517442e-02 1.41996533e+02] [ 4.55311239e-01 8.90027167e-01 -2.33091796e-02 2.30815777e+01] [ 4.92110350e-02 9.82655004e-04 9.98787920e-01 7.00862377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.930385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.02, Y:23.09, Z:7.01 [[ 8.89279942e-01 -4.55302462e-01 -4.33688003e-02 1.42020328e+02] [ 4.54708095e-01 8.90336289e-01 -2.32774675e-02 2.30944774e+01] [ 4.92111050e-02 9.80040407e-04 9.98787919e-01 7.00973716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.960385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.05, Y:23.11, Z:7.01 [[ 8.89810449e-01 -4.54267248e-01 -4.33431999e-02 1.42050216e+02] [ 4.53669335e-01 8.90864791e-01 -2.33250390e-02 2.31057009e+01] [ 4.92087320e-02 1.09138270e-03 9.98787920e-01 7.00979836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.990385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.07, Y:23.12, Z:7.01 [[ 8.88841080e-01 -4.56139442e-01 -4.35699842e-02 1.42070415e+02] [ 4.55564358e-01 8.89908170e-01 -2.29033830e-02 2.31191422e+01] [ 4.92204212e-02 5.08535778e-04 9.98787811e-01 7.01179089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.020385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.10, Y:23.13, Z:7.01 [[ 8.88069638e-01 -4.57661973e-01 -4.33340066e-02 1.42098251e+02] [ 4.57067289e-01 8.89125789e-01 -2.33414935e-02 2.31323585e+01] [ 4.92118968e-02 9.22314754e-04 9.98787935e-01 7.01275577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.050385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:142.12, Y:23.15, Z:7.01 [[ 8.87381725e-01 -4.58984680e-01 -4.34365813e-02 1.42120038e+02] [ 4.58400878e-01 8.88443956e-01 -2.31510583e-02 2.31461061e+01] [ 4.92169493e-02 6.32459001e-04 9.98787911e-01 7.01449387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.080385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:142.15, Y:23.16, Z:7.02 [[ 8.86009550e-01 -4.61638282e-01 -4.33263672e-02 1.42145156e+02] [ 4.61047653e-01 8.87067969e-01 -2.33555173e-02 2.31593532e+01] [ 4.92152334e-02 7.17691420e-04 9.98787938e-01 7.01660241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.110385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.17, Y:23.17, Z:7.02 [[ 8.85454180e-01 -4.62703214e-01 -4.33200932e-02 1.42170341e+02] [ 4.62113289e-01 8.86512992e-01 -2.33671485e-02 2.31721329e+01] [ 4.92158801e-02 6.71748564e-04 9.98787938e-01 7.01771243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.140385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.20, Y:23.19, Z:7.02 [[ 8.85330448e-01 -4.62940502e-01 -4.33138445e-02 1.42195433e+02] [ 4.62350295e-01 8.86389102e-01 -2.33787255e-02 2.31857693e+01] [ 4.92158787e-02 6.71728692e-04 9.98787938e-01 7.01911434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.170385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.22, Y:23.20, Z:7.02 [[ 8.84508993e-01 -4.64508659e-01 -4.33075833e-02 1.42220050e+02] [ 4.63919761e-01 8.85568376e-01 -2.33903182e-02 2.31975625e+01] [ 4.92168316e-02 5.97703122e-04 9.98787939e-01 7.02043834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.200385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:142.23, Y:23.21, Z:7.02 [[ 8.80662961e-01 -4.71759937e-01 -4.33048700e-02 1.42233003e+02] [ 4.71179515e-01 8.81727011e-01 -2.33953406e-02 2.32129488e+01] [ 4.92200580e-02 1.99042275e-04 9.98787939e-01 7.01530112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.230385723 meters Centerline goodness : 0.999488 Centerline is valid? [True, True] Translation: X:142.26, Y:23.23, Z:7.02 [[ 8.82081362e-01 -4.69160127e-01 -4.26760632e-02 1.42264613e+02] [ 4.68520495e-01 8.83111561e-01 -2.45462221e-02 2.32268644e+01] [ 4.92038335e-02 1.65715475e-03 9.98787383e-01 7.02036284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.260385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.29, Y:23.24, Z:7.02 [[ 8.80853312e-01 -4.71431293e-01 -4.30113678e-02 1.42291517e+02] [ 4.70824149e-01 8.81902402e-01 -2.39327171e-02 2.32417664e+01] [ 4.92144604e-02 8.30422451e-04 9.98787889e-01 7.02409544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.290385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.32, Y:23.25, Z:7.03 [[ 8.80500837e-01 -4.72072629e-01 -4.31938633e-02 1.42315694e+02] [ 4.71482597e-01 8.81559562e-01 -2.35986940e-02 2.32539791e+01] [ 4.92182607e-02 4.13514969e-04 9.98787961e-01 7.02539533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.32038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.33, Y:23.27, Z:7.02 [[ 8.78148647e-01 -4.76434458e-01 -4.31875026e-02 1.42333047e+02] [ 4.75849113e-01 8.79209971e-01 -2.36103289e-02 2.32669900e+01] [ 4.92196571e-02 1.82643581e-04 9.98787961e-01 7.02218281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.35038572300002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:142.37, Y:23.28, Z:7.03 [[ 8.79896318e-01 -4.73238079e-01 -4.27573401e-02 1.42366645e+02] [ 4.72610497e-01 8.80933673e-01 -2.43963495e-02 2.32784177e+01] [ 4.92116623e-02 1.25869036e-03 9.98787579e-01 7.02848496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.38038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.39, Y:23.29, Z:7.03 [[ 8.79375606e-01 -4.74165694e-01 -4.31907288e-02 1.42390409e+02] [ 4.73577953e-01 8.80435576e-01 -2.36033527e-02 2.32907245e+01] [ 4.92185543e-02 3.02035640e-04 9.98787987e-01 7.02946643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.41038572300002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:142.41, Y:23.31, Z:7.03 [[ 8.76031586e-01 -4.80315990e-01 -4.31880814e-02 1.42406280e+02] [ 4.79735453e-01 8.77095518e-01 -2.36081958e-02 2.33058476e+01] [ 4.92194666e-02 -3.73286336e-05 9.98787987e-01 7.02598404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.44038572300002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:142.44, Y:23.32, Z:7.03 [[ 8.76075435e-01 -4.80279951e-01 -4.26966099e-02 1.42438980e+02] [ 4.79655375e-01 8.77114696e-01 -2.45057439e-02 2.33180171e+01] [ 4.92194415e-02 9.89221793e-04 9.98787499e-01 7.03223700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.47038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.47, Y:23.33, Z:7.04 [[ 8.75283456e-01 -4.81685469e-01 -4.31043056e-02 1.42466118e+02] [ 4.81099095e-01 8.76344171e-01 -2.37603711e-02 2.33274965e+01] [ 4.92192324e-02 5.96173323e-05 9.98787997e-01 7.03513984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.500385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.49, Y:23.34, Z:7.04 [[ 8.74341966e-01 -4.83385348e-01 -4.31825407e-02 1.42491395e+02] [ 4.82808095e-01 8.75407657e-01 -2.36173253e-02 2.33396236e+01] [ 4.92185958e-02 -1.99261570e-04 9.98788011e-01 7.03660994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.530385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.52, Y:23.35, Z:7.04 [[ 8.72694697e-01 -4.86353172e-01 -4.31805384e-02 1.42516097e+02] [ 4.85779362e-01 8.73762245e-01 -2.36209856e-02 2.33514794e+01] [ 4.92176655e-02 -3.62305547e-04 9.98788011e-01 7.03822111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.560385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:142.54, Y:23.37, Z:7.04 [[ 8.71383438e-01 -4.88698796e-01 -4.31785979e-02 1.42541393e+02] [ 4.88127683e-01 8.72452432e-01 -2.36245324e-02 2.33655923e+01] [ 4.92165533e-02 -4.90642686e-04 9.98788011e-01 7.03926766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.590385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.57, Y:23.38, Z:7.04 [[ 8.71589218e-01 -4.88332012e-01 -4.31750055e-02 1.42565583e+02] [ 4.87760124e-01 8.72657798e-01 -2.36310941e-02 2.33771613e+01] [ 4.92168250e-02 -4.62439279e-04 9.98788011e-01 7.04160965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.620385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.59, Y:23.39, Z:7.04 [[ 8.71200192e-01 -4.89026164e-01 -4.31698601e-02 1.42590257e+02] [ 4.88454663e-01 8.72268978e-01 -2.36404901e-02 2.33879114e+01] [ 4.92165480e-02 -4.90919932e-04 9.98788011e-01 7.04379990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.650385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:142.61, Y:23.40, Z:7.04 [[ 8.71399672e-01 -4.88670856e-01 -4.31671819e-02 1.42614773e+02] [ 4.88098677e-01 8.72468096e-01 -2.36453795e-02 2.34003022e+01] [ 4.92167968e-02 -4.65268403e-04 9.98788011e-01 7.04379887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.680385723 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:142.64, Y:23.41, Z:7.05 [[ 8.71823636e-01 -4.87914443e-01 -4.31629966e-02 1.42639772e+02] [ 4.87340959e-01 8.72891359e-01 -2.36530169e-02 2.34139275e+01] [ 4.92172554e-02 -4.13836964e-04 9.98788011e-01 7.04585707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.710385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.66, Y:23.43, Z:7.05 [[ 8.72275809e-01 -4.87106182e-01 -4.31564703e-02 1.42663122e+02] [ 4.86531119e-01 8.73342683e-01 -2.36649187e-02 2.34271480e+01] [ 4.92177157e-02 -3.54629700e-04 9.98788011e-01 7.04607240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.740385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:142.69, Y:23.44, Z:7.04 [[ 8.73058983e-01 -4.85701322e-01 -4.31536505e-02 1.42688254e+02] [ 4.85124288e-01 8.74124793e-01 -2.36700595e-02 2.34420256e+01] [ 4.92182550e-02 -2.69525857e-04 9.98788011e-01 7.04162020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.770385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.71, Y:23.45, Z:7.05 [[ 8.74255890e-01 -4.83541000e-01 -4.31826281e-02 1.42711741e+02] [ 4.82963940e-01 8.75321688e-01 -2.36172551e-02 2.34542155e+01] [ 4.92186021e-02 -2.08127794e-04 9.98788008e-01 7.04716391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.800385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.73, Y:23.47, Z:7.04 [[ 8.73099273e-01 -4.85629708e-01 -4.31444854e-02 1.42730728e+02] [ 4.85051763e-01 8.74164588e-01 -2.36867309e-02 2.34697807e+01] [ 4.92183615e-02 -2.46441125e-04 9.98788012e-01 7.04320732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.830385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.76, Y:23.48, Z:7.05 [[ 8.75871894e-01 -4.80643263e-01 -4.27841029e-02 1.42762446e+02] [ 4.80027101e-01 8.76915869e-01 -2.43421736e-02 2.34819745e+01] [ 4.92179605e-02 7.83096843e-04 9.98787755e-01 7.05039038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.860385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:142.78, Y:23.50, Z:7.04 [[ 8.73796759e-01 -4.84373984e-01 -4.31400993e-02 1.42778200e+02] [ 4.83794147e-01 8.74861027e-01 -2.36940332e-02 2.34979654e+01] [ 4.92183648e-02 -1.67158151e-04 9.98788028e-01 7.04413931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.890385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.81, Y:23.51, Z:7.05 [[ 8.75721505e-01 -4.80927460e-01 -4.26687674e-02 1.42812487e+02] [ 4.80301640e-01 8.76759815e-01 -2.45471240e-02 2.35123106e+01] [ 4.92156466e-02 1.00256537e-03 9.98787673e-01 7.05296658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.920385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:142.84, Y:23.52, Z:7.05 [[ 8.77244881e-01 -4.78089375e-01 -4.32662348e-02 1.42835745e+02] [ 4.77513289e-01 8.78311188e-01 -2.34630668e-02 2.35237744e+01] [ 4.92186611e-02 -7.73468697e-05 9.98788024e-01 7.05418222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.950385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.85, Y:23.54, Z:7.05 [[ 8.74369785e-01 -4.83343173e-01 -4.30912655e-02 1.42852240e+02] [ 4.82757836e-01 8.75430967e-01 -2.37801301e-02 2.35407423e+01] [ 4.92173918e-02 -1.00188116e-05 9.98788090e-01 7.04677019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.980385723 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:142.89, Y:23.55, Z:7.06 [[ 8.77150964e-01 -4.78316963e-01 -4.26505534e-02 1.42885647e+02] [ 4.77686590e-01 8.78186473e-01 -2.45772520e-02 2.35521392e+01] [ 4.92108556e-02 1.18436293e-03 9.98787710e-01 7.05683036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.010385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.91, Y:23.57, Z:7.06 [[ 8.76606756e-01 -4.79274681e-01 -4.30856732e-02 1.42910296e+02] [ 4.78683972e-01 8.77664929e-01 -2.37892295e-02 2.35653590e+01] [ 4.92163597e-02 2.29378096e-04 9.98788114e-01 7.05859713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.040385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.94, Y:23.58, Z:7.06 [[ 8.75759491e-01 -4.80821703e-01 -4.30790483e-02 1.42935052e+02] [ 4.80232273e-01 8.76818377e-01 -2.38012203e-02 2.35783948e+01] [ 4.92166445e-02 1.56195317e-04 9.98788114e-01 7.05959838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.07038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.96, Y:23.59, Z:7.06 [[ 8.75284072e-01 -4.81686791e-01 -4.30770085e-02 1.42959832e+02] [ 4.81098227e-01 8.76343439e-01 -2.38049115e-02 2.35914882e+01] [ 4.92167652e-02 1.11787485e-04 9.98788114e-01 7.06226586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.10038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.99, Y:23.60, Z:7.07 [[ 8.74728848e-01 -4.82694924e-01 -4.30703210e-02 1.42985276e+02] [ 4.82106984e-01 8.75788562e-01 -2.38170050e-02 2.36037879e+01] [ 4.92168419e-02 6.89188220e-05 9.98788115e-01 7.06532758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.13038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.01, Y:23.62, Z:7.07 [[ 8.74405755e-01 -4.83280148e-01 -4.30682566e-02 1.43009781e+02] [ 4.82692734e-01 8.75465760e-01 -2.38207375e-02 2.36169012e+01] [ 4.92168735e-02 4.02554401e-05 9.98788115e-01 7.06670007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.16038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.03, Y:23.63, Z:7.07 [[ 8.74092428e-01 -4.83847205e-01 -4.30616981e-02 1.43034333e+02] [ 4.83259895e-01 8.75152491e-01 -2.38325877e-02 2.36311168e+01] [ 4.92168833e-02 2.18927733e-05 9.98788115e-01 7.06619519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.19038572300002 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:143.06, Y:23.65, Z:7.06 [[ 8.72452646e-01 -4.86798349e-01 -4.30551776e-02 1.43056411e+02] [ 4.86214044e-01 8.73514367e-01 -2.38443617e-02 2.36474731e+01] [ 4.92167121e-02 -1.30955553e-04 9.98788115e-01 7.06006332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.22038572300002 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:143.09, Y:23.66, Z:7.07 [[ 8.74605543e-01 -4.82933282e-01 -4.29020868e-02 1.43085144e+02] [ 4.82330712e-01 8.75657058e-01 -2.41205694e-02 2.36577699e+01] [ 4.92161409e-02 4.02989573e-04 9.98788070e-01 7.06622969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.250385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.11, Y:23.67, Z:7.07 [[ 8.74884217e-01 -4.82415303e-01 -4.30474512e-02 1.43110328e+02] [ 4.81824993e-01 8.75942611e-01 -2.38582933e-02 2.36705515e+01] [ 4.92167027e-02 1.31906380e-04 9.98788115e-01 7.06879547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.280385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:143.14, Y:23.68, Z:7.07 [[ 8.75665909e-01 -4.80995525e-01 -4.30409183e-02 1.43135883e+02] [ 4.80402920e-01 8.76723020e-01 -2.38700731e-02 2.36831511e+01] [ 4.92163622e-02 2.25226462e-04 9.98788115e-01 7.07127049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.310385723 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:143.16, Y:23.70, Z:7.07 [[ 8.76235352e-01 -4.79957970e-01 -4.30343392e-02 1.43159696e+02] [ 4.79363531e-01 8.77291433e-01 -2.38819285e-02 2.36961216e+01] [ 4.92159790e-02 2.97097262e-04 9.98788115e-01 7.07252447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.340385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.18, Y:23.71, Z:7.07 [[ 8.77428597e-01 -4.77773655e-01 -4.30277966e-02 1.43184536e+02] [ 4.77176009e-01 8.78482867e-01 -2.38937103e-02 2.37095973e+01] [ 4.92149674e-02 4.33192477e-04 9.98788115e-01 7.07444845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.370385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.21, Y:23.72, Z:7.08 [[ 8.78166641e-01 -4.76416335e-01 -4.30212353e-02 1.43209522e+02] [ 4.75816481e-01 8.79219656e-01 -2.39055184e-02 2.37230512e+01] [ 4.92140951e-02 5.22816013e-04 9.98788115e-01 7.07574228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.400385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.23, Y:23.74, Z:7.08 [[ 8.80040908e-01 -4.72945802e-01 -4.30147418e-02 1.43234540e+02] [ 4.72341225e-01 8.81091218e-01 -2.39171968e-02 2.37363029e+01] [ 4.92114491e-02 7.30475702e-04 9.98788116e-01 7.07747569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.430385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.26, Y:23.75, Z:7.08 [[ 8.80806748e-01 -4.71518576e-01 -4.30081982e-02 1.43259424e+02] [ 4.70911723e-01 8.81855744e-01 -2.39289579e-02 2.37501813e+01] [ 4.92099747e-02 8.23722849e-04 9.98788116e-01 7.07926641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.460385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.28, Y:23.76, Z:7.08 [[ 8.82047703e-01 -4.69193693e-01 -4.30014914e-02 1.43283279e+02] [ 4.68583489e-01 8.83094753e-01 -2.39410041e-02 2.37629557e+01] [ 4.92073596e-02 9.67318833e-04 9.98788116e-01 7.08023812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.490385723 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:143.31, Y:23.78, Z:7.08 [[ 8.82370353e-01 -4.68586890e-01 -4.29986889e-02 1.43308571e+02] [ 4.67975720e-01 8.83416840e-01 -2.39460364e-02 2.37768898e+01] [ 4.92065646e-02 1.00693023e-03 9.98788116e-01 7.07959196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.520385723 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:143.33, Y:23.79, Z:7.08 [[ 8.82499758e-01 -4.68347408e-01 -4.29520949e-02 1.43332433e+02] [ 4.67731885e-01 8.83543694e-01 -2.40296515e-02 2.37888676e+01] [ 4.92042776e-02 1.11609736e-03 9.98788112e-01 7.08038696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.550385723 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:143.36, Y:23.80, Z:7.08 [[ 8.82439415e-01 -4.68463536e-01 -4.29254502e-02 1.43358348e+02] [ 4.67845826e-01 8.83482066e-01 -2.40774386e-02 2.38017093e+01] [ 4.92032674e-02 1.16438809e-03 9.98788107e-01 7.08483069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.580385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:143.38, Y:23.81, Z:7.09 [[ 8.81637906e-01 -4.69964777e-01 -4.29850234e-02 1.43383571e+02] [ 4.69354045e-01 8.82684650e-01 -2.39706105e-02 2.38146732e+01] [ 4.92075629e-02 9.58204258e-04 9.98788114e-01 7.08740611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.610385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:143.41, Y:23.83, Z:7.09 [[ 8.80531062e-01 -4.72035925e-01 -4.29783106e-02 1.43405302e+02] [ 4.71427068e-01 8.81578898e-01 -2.39826401e-02 2.38293191e+01] [ 4.92094394e-02 8.56320557e-04 9.98788115e-01 7.08604361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.640385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.43, Y:23.84, Z:7.09 [[ 8.78780167e-01 -4.75302964e-01 -4.28078349e-02 1.43426077e+02] [ 4.74683102e-01 8.79821598e-01 -2.42880297e-02 2.38445210e+01] [ 4.92074302e-02 1.02368290e-03 9.98788056e-01 7.08848213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.670385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.45, Y:23.86, Z:7.09 [[ 8.78360026e-01 -4.76098290e-01 -4.25920487e-02 1.43449687e+02] [ 4.75460585e-01 8.79390923e-01 -2.46746195e-02 2.38583891e+01] [ 4.92026052e-02 1.42235902e-03 9.98787806e-01 7.08888169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.700385723 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:143.48, Y:23.87, Z:7.09 [[ 8.80503444e-01 -4.72128014e-01 -4.25302748e-02 1.43483316e+02] [ 4.71480319e-01 8.81528219e-01 -2.47852350e-02 2.38691314e+01] [ 4.91934412e-02 1.77129730e-03 9.98787699e-01 7.08830194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.730385723 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:143.51, Y:23.88, Z:7.09 [[ 8.80387986e-01 -4.72302169e-01 -4.29843560e-02 1.43508447e+02] [ 4.71694197e-01 8.81436313e-01 -2.39710298e-02 2.38826536e+01] [ 4.92095417e-02 8.28335314e-04 9.98788133e-01 7.08941189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.760385723 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:143.52, Y:23.90, Z:7.09 [[ 8.77098822e-01 -4.78383284e-01 -4.29777907e-02 1.43520191e+02] [ 4.77782003e-01 8.78151002e-01 -2.39827951e-02 2.38998872e+01] [ 4.92139582e-02 5.01266385e-04 9.98788133e-01 7.08888877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.790385723 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:143.54, Y:23.91, Z:7.09 [[ 8.76859295e-01 -4.78878634e-01 -4.23441850e-02 1.43542787e+02] [ 4.78222765e-01 8.77879323e-01 -2.51173619e-02 2.39137933e+01] [ 4.92012524e-02 1.77443908e-03 9.98787309e-01 7.08954834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.82038572300002 meters Centerline goodness : 0.999841 Centerline is valid? [True, True] Translation: X:143.57, Y:23.93, Z:7.09 [[ 8.76098741e-01 -4.80277586e-01 -4.22425832e-02 1.43568154e+02] [ 4.79614569e-01 8.77114481e-01 -2.52992419e-02 2.39282886e+01] [ 4.92022403e-02 1.90447559e-03 9.98787021e-01 7.09002198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.85038572300002 meters Centerline goodness : 0.999818 Centerline is valid? [True, True] Translation: X:143.59, Y:23.94, Z:7.09 [[ 8.77325404e-01 -4.78026890e-01 -4.23134429e-02 1.43593497e+02] [ 4.77367382e-01 8.78343178e-01 -2.51722860e-02 2.39407791e+01] [ 4.91987535e-02 1.88522853e-03 9.98787229e-01 7.09098023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.88038572300002 meters Centerline goodness : 0.999909 Centerline is valid? [True, True] Translation: X:143.61, Y:23.96, Z:7.09 [[ 8.76178900e-01 -4.80123736e-01 -4.23288728e-02 1.43613547e+02] [ 4.79468001e-01 8.77199057e-01 -2.51445863e-02 2.39564444e+01] [ 4.92033600e-02 1.73581589e-03 9.98787273e-01 7.09459989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.91038572300002 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:143.64, Y:23.97, Z:7.10 [[ 8.76434523e-01 -4.79677612e-01 -4.20941158e-02 1.43637310e+02] [ 4.79001088e-01 8.77441938e-01 -2.55656519e-02 2.39706721e+01] [ 4.91984134e-02 2.24349264e-03 9.98786505e-01 7.09587823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.94038572300002 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:143.67, Y:23.98, Z:7.10 [[ 8.78781991e-01 -4.75357710e-01 -4.21575687e-02 1.43666242e+02] [ 4.74681698e-01 8.79789464e-01 -2.54516090e-02 2.39844068e+01] [ 4.91884034e-02 2.35498938e-03 9.98786742e-01 7.09705107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.97038572300002 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:143.69, Y:24.00, Z:7.10 [[ 8.78325737e-01 -4.76177617e-01 -4.24119921e-02 1.43687236e+02] [ 4.75524576e-01 8.79347310e-01 -2.49937094e-02 2.39981087e+01] [ 4.91963162e-02 1.78467367e-03 9.98787534e-01 7.09999749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.000385723 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:143.71, Y:24.01, Z:7.10 [[ 8.78457610e-01 -4.75952456e-01 -4.22076736e-02 1.43712018e+02] [ 4.75281435e-01 8.79468213e-01 -2.53617967e-02 2.40118640e+01] [ 4.91913167e-02 2.21873965e-03 9.98786910e-01 7.10121404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.030385723 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:143.74, Y:24.03, Z:7.10 [[ 8.79195692e-01 -4.74588027e-01 -4.22035503e-02 1.43736868e+02] [ 4.73915082e-01 8.80205032e-01 -2.53692288e-02 2.40259859e+01] [ 4.91877096e-02 2.30361772e-03 9.98786895e-01 7.10288483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.060385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.78, Y:24.04, Z:7.11 [[ 8.82894120e-01 -4.67670709e-01 -4.22147056e-02 1.43776714e+02] [ 4.66990818e-01 8.83898748e-01 -2.53491442e-02 2.40368042e+01] [ 4.91685777e-02 2.66673043e-03 9.98786934e-01 7.10600739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.090385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.79, Y:24.05, Z:7.10 [[ 8.81338182e-01 -4.70520668e-01 -4.30500910e-02 1.43792226e+02] [ 4.69916935e-01 8.82388627e-01 -2.38408140e-02 2.40530421e+01] [ 4.92045065e-02 7.81852841e-04 9.98788419e-01 7.10475851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.120385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.83, Y:24.07, Z:7.11 [[ 8.83390008e-01 -4.66698912e-01 -4.25936600e-02 1.43825086e+02] [ 4.66050759e-01 8.84414141e-01 -2.46640753e-02 2.40660995e+01] [ 4.91811324e-02 1.93719013e-03 9.98787997e-01 7.11003077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.150385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.85, Y:24.08, Z:7.11 [[ 8.83698441e-01 -4.66072396e-01 -4.30533107e-02 1.43849098e+02] [ 4.65463717e-01 8.84745996e-01 -2.38338096e-02 2.40813065e+01] [ 4.91995250e-02 1.02214636e-03 9.98788447e-01 7.11007526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.180385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.87, Y:24.10, Z:7.11 [[ 8.83604101e-01 -4.66251416e-01 -4.30512503e-02 1.43873926e+02] [ 4.65642769e-01 8.84651674e-01 -2.38375308e-02 2.40953028e+01] [ 4.91996431e-02 1.01643657e-03 9.98788447e-01 7.11056380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.210385723 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:143.90, Y:24.11, Z:7.11 [[ 8.83460662e-01 -4.66523751e-01 -4.30447316e-02 1.43898878e+02] [ 4.65914854e-01 8.84508089e-01 -2.38492963e-02 2.41076899e+01] [ 4.91996764e-02 1.01473528e-03 9.98788447e-01 7.11040022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.240385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.91, Y:24.13, Z:7.11 [[ 8.77899149e-01 -4.76907129e-01 -4.30427070e-02 1.43905990e+02] [ 4.76310444e-01 8.78953581e-01 -2.38529496e-02 2.41254595e+01] [ 4.92081832e-02 4.38793272e-04 9.98788447e-01 7.10713807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.270385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.94, Y:24.14, Z:7.11 [[ 8.79864541e-01 -4.73351204e-01 -4.21547971e-02 1.43938491e+02] [ 4.72672945e-01 8.80870335e-01 -2.54507117e-02 2.41364449e+01] [ 4.91800352e-02 2.46774669e-03 9.98786881e-01 7.11420697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.300385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.96, Y:24.15, Z:7.12 [[ 8.79081543e-01 -4.74769415e-01 -4.25398997e-02 1.43963421e+02] [ 4.74126172e-01 8.80108778e-01 -2.47570538e-02 2.41508127e+01] [ 4.91936311e-02 1.59418926e-03 9.98787988e-01 7.11906177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.330385723 meters Centerline goodness : 0.999864 Centerline is valid? [True, True] Translation: X:143.99, Y:24.17, Z:7.12 [[ 8.78013970e-01 -4.76738820e-01 -4.25625011e-02 1.43986057e+02] [ 4.76099853e-01 8.79043817e-01 -2.47163634e-02 2.41660264e+01] [ 4.91975533e-02 1.43731189e-03 9.98788033e-01 7.11641289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.360385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.02, Y:24.18, Z:7.12 [[ 8.80329961e-01 -4.72458782e-01 -4.24483016e-02 1.44021661e+02] [ 4.71804898e-01 8.81350692e-01 -2.49217908e-02 2.41780396e+01] [ 4.91863589e-02 1.91208252e-03 9.98787788e-01 7.12288859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.390385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.04, Y:24.19, Z:7.12 [[ 8.78596864e-01 -4.75621779e-01 -4.30287653e-02 1.44039869e+02] [ 4.75022435e-01 8.79649723e-01 -2.38757547e-02 2.41938514e+01] [ 4.92060703e-02 5.37534365e-04 9.98788503e-01 7.12370281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.420385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.07, Y:24.21, Z:7.12 [[ 8.80090041e-01 -4.72881267e-01 -4.27179997e-02 1.44070641e+02] [ 4.72251403e-01 8.81125153e-01 -2.44351749e-02 2.42069383e+01] [ 4.91948405e-02 1.33151876e-03 9.98788313e-01 7.12381781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.450385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.09, Y:24.22, Z:7.12 [[ 8.78562703e-01 -4.75685058e-01 -4.30267619e-02 1.44088348e+02] [ 4.75085639e-01 8.79615505e-01 -2.38788437e-02 2.42218874e+01] [ 4.92058160e-02 5.37664786e-04 9.98788515e-01 7.11978426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.480385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:144.11, Y:24.24, Z:7.12 [[ 8.78787767e-01 -4.75300268e-01 -4.26815553e-02 1.44113102e+02] [ 4.74670082e-01 8.79822732e-01 -2.45004980e-02 2.42355520e+01] [ 4.91972958e-02 1.27108065e-03 9.98788271e-01 7.12013044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.510385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.14, Y:24.25, Z:7.12 [[ 8.80432151e-01 -4.72247526e-01 -4.26790588e-02 1.44143438e+02] [ 4.71613533e-01 8.81464793e-01 -2.45049917e-02 2.42475726e+01] [ 4.91925094e-02 1.44696083e-03 9.98788268e-01 7.12404847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.540385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.16, Y:24.26, Z:7.12 [[ 8.78892178e-01 -4.75076101e-01 -4.30260029e-02 1.44163452e+02] [ 4.74475901e-01 8.79944526e-01 -2.38799054e-02 2.42628504e+01] [ 4.92052681e-02 5.73060568e-04 9.98788523e-01 7.12167672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.57038572300002 meters Centerline goodness : 0.999662 Centerline is valid? [True, True] Translation: X:144.19, Y:24.28, Z:7.12 [[ 8.80083628e-01 -4.72889829e-01 -4.27553158e-02 1.44193194e+02] [ 4.72263325e-01 8.81120673e-01 -2.43661788e-02 2.42767474e+01] [ 4.91951108e-02 1.25250740e-03 9.98788402e-01 7.12348138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.60038572300002 meters Centerline goodness : 0.999281 Centerline is valid? [True, True] Translation: X:144.22, Y:24.29, Z:7.12 [[ 8.80978198e-01 -4.71196503e-01 -4.30263950e-02 1.44220238e+02] [ 4.70591708e-01 8.82027910e-01 -2.38790904e-02 2.42903689e+01] [ 4.92022251e-02 7.89093310e-04 9.98788525e-01 7.12455785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.63038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.24, Y:24.30, Z:7.13 [[ 8.80967078e-01 -4.71206253e-01 -4.31471313e-02 1.44242703e+02] [ 4.70612077e-01 8.82022888e-01 -2.36621572e-02 2.43039659e+01] [ 4.92065138e-02 5.40020438e-04 9.98788480e-01 7.12751973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.66038572300002 meters Centerline goodness : 0.999617 Centerline is valid? [True, True] Translation: X:144.27, Y:24.32, Z:7.13 [[ 8.81430958e-01 -4.70352698e-01 -4.29861213e-02 1.44270664e+02] [ 4.69743385e-01 8.82478042e-01 -2.39511342e-02 2.43178158e+01] [ 4.91997888e-02 9.18824981e-04 9.98788534e-01 7.12813428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.69038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.29, Y:24.33, Z:7.13 [[ 8.82188535e-01 -4.68920180e-01 -4.30958733e-02 1.44293623e+02] [ 4.68318773e-01 8.83240209e-01 -2.37541366e-02 2.43297985e+01] [ 4.92028021e-02 7.73020425e-04 9.98788510e-01 7.13327792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.72038572300002 meters Centerline goodness : 0.998445 Centerline is valid? [True, True] Translation: X:144.32, Y:24.34, Z:7.13 [[ 8.83169289e-01 -4.67081321e-01 -4.29772758e-02 1.44323466e+02] [ 4.66467368e-01 8.84213655e-01 -2.39668085e-02 2.43437948e+01] [ 4.91955427e-02 1.11925247e-03 9.98788539e-01 7.13223446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.750385723 meters Centerline goodness : 0.999461 Centerline is valid? [True, True] Translation: X:144.35, Y:24.36, Z:7.13 [[ 8.82911802e-01 -4.67542565e-01 -4.32515930e-02 1.44345621e+02] [ 4.66953181e-01 8.83970401e-01 -2.34746086e-02 2.43581239e+01] [ 4.92085067e-02 5.29540100e-04 9.98788387e-01 7.13363695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.780385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.37, Y:24.37, Z:7.14 [[ 8.83720154e-01 -4.66025296e-01 -4.31174344e-02 1.44367672e+02] [ 4.65422345e-01 8.84770949e-01 -2.37151504e-02 2.43721645e+01] [ 4.92009133e-02 8.89738915e-04 9.98788505e-01 7.13845724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.810385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.39, Y:24.39, Z:7.14 [[ 8.83939279e-01 -4.65623679e-01 -4.29644212e-02 1.44391807e+02] [ 4.65006916e-01 8.84981970e-01 -2.39892005e-02 2.43864151e+01] [ 4.91926779e-02 1.22624358e-03 9.98788555e-01 7.14090986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.840385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.42, Y:24.40, Z:7.14 [[ 8.84743000e-01 -4.64095294e-01 -4.29579051e-02 1.44415651e+02] [ 4.63476165e-01 8.85784287e-01 -2.40008634e-02 2.44008216e+01] [ 4.91901251e-02 1.32463084e-03 9.98788555e-01 7.14304180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.870385723 meters Centerline goodness : 0.997780 Centerline is valid? [True, True] Translation: X:144.44, Y:24.42, Z:7.14 [[ 8.84902311e-01 -4.63792072e-01 -4.29513018e-02 1.44444629e+02] [ 4.63172013e-01 8.85943044e-01 -2.40126747e-02 2.44164100e+01] [ 4.91892952e-02 1.35503044e-03 9.98788555e-01 7.13979124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.900385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.46, Y:24.43, Z:7.14 [[ 8.86227924e-01 -4.61224390e-01 -4.32680910e-02 1.44462534e+02] [ 4.60628869e-01 8.87283125e-01 -2.34457275e-02 2.44299034e+01] [ 4.92047884e-02 8.47726601e-04 9.98788351e-01 7.14479127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.930385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.49, Y:24.44, Z:7.14 [[ 8.86444847e-01 -4.60837872e-01 -4.29416827e-02 1.44485248e+02] [ 4.60213553e-01 8.87483008e-01 -2.40290654e-02 2.44443411e+01] [ 4.91835171e-02 1.53809683e-03 9.98788574e-01 7.14492516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.960385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.51, Y:24.46, Z:7.15 [[ 8.87114865e-01 -4.59547028e-01 -4.29388560e-02 1.44509187e+02] [ 4.58920954e-01 8.88151968e-01 -2.40341155e-02 2.44593157e+01] [ 4.91810358e-02 1.61548037e-03 9.98788574e-01 7.14540674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.990385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.53, Y:24.47, Z:7.15 [[ 8.87537509e-01 -4.58730418e-01 -4.29368707e-02 1.44533411e+02] [ 4.58103218e-01 8.88573932e-01 -2.40376616e-02 2.44727680e+01] [ 4.91793906e-02 1.66480765e-03 9.98788574e-01 7.14780499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.020385723 meters Centerline goodness : 0.998865 Centerline is valid? [True, True] Translation: X:144.56, Y:24.49, Z:7.15 [[ 8.88850889e-01 -4.56180965e-01 -4.29304674e-02 1.44557151e+02] [ 4.55550242e-01 8.89885172e-01 -2.40490924e-02 2.44853022e+01] [ 4.91739245e-02 1.81907237e-03 9.98788574e-01 7.14663560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.050385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.58, Y:24.50, Z:7.15 [[ 8.88145426e-01 -4.57564086e-01 -4.28113242e-02 1.44581629e+02] [ 4.56924734e-01 8.89174427e-01 -2.42615998e-02 2.45004666e+01] [ 4.91679714e-02 1.98627596e-03 9.98788549e-01 7.15090999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.080385723 meters Centerline goodness : 0.998035 Centerline is valid? [True, True] Translation: X:144.61, Y:24.52, Z:7.15 [[ 8.88173429e-01 -4.57499505e-01 -4.29204373e-02 1.44606250e+02] [ 4.56869453e-01 8.89208121e-01 -2.40670130e-02 2.45155861e+01] [ 4.91758480e-02 1.76664476e-03 9.98788574e-01 7.14849962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.110385723 meters Centerline goodness : 0.998573 Centerline is valid? [True, True] Translation: X:144.63, Y:24.53, Z:7.15 [[ 8.88199213e-01 -4.57448725e-01 -4.29281007e-02 1.44630090e+02] [ 4.56819273e-01 8.89234271e-01 -2.40533496e-02 2.45294242e+01] [ 4.91763124e-02 1.75378240e-03 9.98788573e-01 7.14947669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.140385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:144.66, Y:24.54, Z:7.16 [[ 8.87443795e-01 -4.58914917e-01 -4.29023362e-02 1.44655004e+02] [ 4.58284958e-01 8.88478544e-01 -2.40992566e-02 2.45432816e+01] [ 4.91773135e-02 1.72524033e-03 9.98788574e-01 7.15513115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.170385723 meters Centerline goodness : 0.997855 Centerline is valid? [True, True] Translation: X:144.68, Y:24.56, Z:7.15 [[ 8.87235741e-01 -4.59316445e-01 -4.29085333e-02 1.44680164e+02] [ 4.58687488e-01 8.88271099e-01 -2.40882177e-02 2.45563708e+01] [ 4.91785245e-02 1.69032035e-03 9.98788574e-01 7.15335821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.200385723 meters Centerline goodness : 0.999844 Centerline is valid? [True, True] Translation: X:144.70, Y:24.57, Z:7.16 [[ 8.85691687e-01 -4.62290143e-01 -4.28725869e-02 1.44703987e+02] [ 4.61661568e-01 8.86727279e-01 -2.41522214e-02 2.45700116e+01] [ 4.91816262e-02 1.59879603e-03 9.98788572e-01 7.15677713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.230385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.73, Y:24.58, Z:7.16 [[ 8.85289523e-01 -4.63057396e-01 -4.28988196e-02 1.44728608e+02] [ 4.62431976e-01 8.86327022e-01 -2.41055372e-02 2.45833391e+01] [ 4.91846303e-02 1.50259365e-03 9.98788573e-01 7.16184875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.260385723 meters Centerline goodness : 0.996648 Centerline is valid? [True, True] Translation: X:144.75, Y:24.60, Z:7.16 [[ 8.83642038e-01 -4.66194172e-01 -4.28922135e-02 1.44754546e+02] [ 4.65571866e-01 8.84681408e-01 -2.41172860e-02 2.45972580e+01] [ 4.91892820e-02 1.34163992e-03 9.98788573e-01 7.15972628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.290385723 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:144.77, Y:24.61, Z:7.16 [[ 8.81574282e-01 -4.70084350e-01 -4.29824342e-02 1.44774365e+02] [ 4.69474431e-01 8.82620994e-01 -2.39570366e-02 2.46106305e+01] [ 4.91990267e-02 9.40753487e-04 9.98788552e-01 7.15926530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.32038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.80, Y:24.62, Z:7.16 [[ 8.81201341e-01 -4.70820276e-01 -4.25730424e-02 1.44799814e+02] [ 4.70175751e-01 8.82227434e-01 -2.46884395e-02 2.46236822e+01] [ 4.91829238e-02 1.73867383e-03 9.98788274e-01 7.16113155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.35038572300002 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:144.83, Y:24.63, Z:7.16 [[ 8.83580656e-01 -4.66330976e-01 -4.26690141e-02 1.44826508e+02] [ 4.65689480e-01 8.84608505e-01 -2.45173568e-02 2.46330748e+01] [ 4.91785757e-02 1.79255118e-03 9.98788393e-01 7.16190710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.38038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.85, Y:24.65, Z:7.16 [[ 8.80356482e-01 -4.72400843e-01 -4.25430224e-02 1.44846865e+02] [ 4.71755620e-01 8.81382162e-01 -2.47410293e-02 2.46503891e+01] [ 4.91843441e-02 1.71101560e-03 9.98788252e-01 7.16273866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.41038572300002 meters Centerline goodness : 0.997534 Centerline is valid? [True, True] Translation: X:144.88, Y:24.66, Z:7.16 [[ 8.81804852e-01 -4.69696977e-01 -4.24847286e-02 1.44876623e+02] [ 4.69043649e-01 8.82825480e-01 -2.48440694e-02 2.46635098e+01] [ 4.91757852e-02 1.98042879e-03 9.98788176e-01 7.16184010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.44038572300002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:144.90, Y:24.68, Z:7.17 [[ 8.79732931e-01 -4.73546815e-01 -4.27011032e-02 1.44897263e+02] [ 4.72916519e-01 8.80767653e-01 -2.44603123e-02 2.46786125e+01] [ 4.91928535e-02 1.32448509e-03 9.98788420e-01 7.16657254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.47038572300002 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:144.93, Y:24.69, Z:7.17 [[ 8.82474194e-01 -4.68430001e-01 -4.25749939e-02 1.44929060e+02] [ 4.67782847e-01 8.83498638e-01 -2.46853059e-02 2.46897622e+01] [ 4.91782870e-02 1.86829356e-03 9.98788269e-01 7.17161630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.500385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.96, Y:24.70, Z:7.18 [[ 8.82886235e-01 -4.67619885e-01 -4.29364542e-02 1.44955201e+02] [ 4.67003023e-01 8.83928881e-01 -2.40397432e-02 2.47044531e+01] [ 4.91942339e-02 1.17290451e-03 9.98788542e-01 7.17687062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.530385723 meters Centerline goodness : 0.999799 Centerline is valid? [True, True] Translation: X:144.98, Y:24.72, Z:7.17 [[ 8.81703250e-01 -4.69842475e-01 -4.29817216e-02 1.44975022e+02] [ 4.69232177e-01 8.82749757e-01 -2.39589198e-02 2.47200006e+01] [ 4.91990225e-02 9.56250627e-04 9.98788537e-01 7.17217542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.560385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:145.00, Y:24.73, Z:7.18 [[ 8.83581724e-01 -4.66324183e-01 -4.27211156e-02 1.45004004e+02] [ 4.65687133e-01 8.84612294e-01 -2.44250426e-02 2.47312533e+01] [ 4.91816121e-02 1.68684746e-03 9.98788428e-01 7.17827117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.590385723 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:145.03, Y:24.74, Z:7.18 [[ 8.83778080e-01 -4.65930421e-01 -4.29551837e-02 1.45029694e+02] [ 4.65313193e-01 8.84820509e-01 -2.40062280e-02 2.47448853e+01] [ 4.91928594e-02 1.22856439e-03 9.98788543e-01 7.17825411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.620385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:145.05, Y:24.76, Z:7.18 [[ 8.81771688e-01 -4.69717417e-01 -4.29445967e-02 1.45048000e+02] [ 4.69103745e-01 8.82816214e-01 -2.40251630e-02 2.47601484e+01] [ 4.91972237e-02 1.03923742e-03 9.98788543e-01 7.17647730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.650385723 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:145.08, Y:24.77, Z:7.18 [[ 8.81108890e-01 -4.70995729e-01 -4.25458346e-02 1.45075499e+02] [ 4.70348952e-01 8.82133681e-01 -2.47392912e-02 2.47749739e+01] [ 4.91832142e-02 1.78662068e-03 9.98788175e-01 7.17524280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.680385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:145.11, Y:24.78, Z:7.19 [[ 8.84468909e-01 -4.64641761e-01 -4.26940679e-02 1.45107076e+02] [ 4.64000384e-01 8.85496844e-01 -2.44741301e-02 2.47847252e+01] [ 4.91771653e-02 1.83654322e-03 9.98788383e-01 7.18550774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.710385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.13, Y:24.80, Z:7.19 [[ 8.84251239e-01 -4.65031629e-01 -4.29573090e-02 1.45134477e+02] [ 4.64413496e-01 8.85293149e-01 -2.40030323e-02 2.48009363e+01] [ 4.91919805e-02 1.27475697e-03 9.98788528e-01 7.18900643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.740385723 meters Centerline goodness : 0.998796 Centerline is valid? [True, True] Translation: X:145.16, Y:24.82, Z:7.18 [[ 8.85875838e-01 -4.61914235e-01 -4.31188885e-02 1.45157605e+02] [ 4.61306464e-01 8.86923893e-01 -2.37140030e-02 2.48158364e+01] [ 4.91970080e-02 1.11664025e-03 9.98788470e-01 7.18461838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.770385723 meters Centerline goodness : 0.999844 Centerline is valid? [True, True] Translation: X:145.18, Y:24.83, Z:7.19 [[ 8.86062276e-01 -4.61573402e-01 -4.29375969e-02 1.45181282e+02] [ 4.60949513e-01 8.87100740e-01 -2.40379541e-02 2.48306901e+01] [ 4.91852542e-02 1.50705998e-03 9.98788536e-01 7.18593953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.800385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:145.21, Y:24.85, Z:7.19 [[ 8.86538139e-01 -4.60658705e-01 -4.29381644e-02 1.45205845e+02] [ 4.60033794e-01 8.87575988e-01 -2.40369404e-02 2.48450484e+01] [ 4.91837095e-02 1.55665773e-03 9.98788536e-01 7.18869245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.830385723 meters Centerline goodness : 0.999800 Centerline is valid? [True, True] Translation: X:145.23, Y:24.86, Z:7.19 [[ 8.86319909e-01 -4.61079056e-01 -4.29316051e-02 1.45232148e+02] [ 4.60454071e-01 8.87357713e-01 -2.40486500e-02 2.48600248e+01] [ 4.91840198e-02 1.54676495e-03 9.98788536e-01 7.19305899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.860385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:145.26, Y:24.87, Z:7.19 [[ 8.86938304e-01 -4.59878799e-01 -4.30341231e-02 1.45256209e+02] [ 4.59261265e-01 8.87980586e-01 -2.38656547e-02 2.48741106e+01] [ 4.91887744e-02 1.40345745e-03 9.98788514e-01 7.19306509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.890385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.28, Y:24.89, Z:7.20 [[ 8.87565174e-01 -4.58678263e-01 -4.29221663e-02 1.45278735e+02] [ 4.58049665e-01 8.88600790e-01 -2.40653399e-02 2.48889033e+01] [ 4.91789192e-02 1.69907370e-03 9.98788540e-01 7.19637548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.920385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:145.30, Y:24.90, Z:7.20 [[ 8.87553425e-01 -4.58701256e-01 -4.29194051e-02 1.45302043e+02] [ 4.58072447e-01 8.88588913e-01 -2.40702633e-02 2.49037672e+01] [ 4.91787675e-02 1.70344772e-03 9.98788540e-01 7.19777058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.950385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:145.33, Y:24.92, Z:7.20 [[ 8.87428409e-01 -4.58943689e-01 -4.29128040e-02 1.45326914e+02] [ 4.58314595e-01 8.88463724e-01 -2.40820262e-02 2.49178139e+01] [ 4.91787635e-02 1.70350985e-03 9.98788540e-01 7.19917215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.980385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.35, Y:24.93, Z:7.20 [[ 8.87560890e-01 -4.58688044e-01 -4.29062301e-02 1.45348979e+02] [ 4.58058086e-01 8.88595680e-01 -2.40937330e-02 2.49331317e+01] [ 4.91777979e-02 1.73110942e-03 9.98788540e-01 7.19816565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.010385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:145.37, Y:24.95, Z:7.20 [[ 8.87341009e-01 -4.59113876e-01 -4.28996856e-02 1.45372715e+02] [ 4.58483853e-01 8.88375758e-01 -2.41053801e-02 2.49479781e+01] [ 4.91781552e-02 1.72087915e-03 9.98788540e-01 7.19735959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.040385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.40, Y:24.96, Z:7.20 [[ 8.87431488e-01 -4.58939590e-01 -4.28929654e-02 1.45396531e+02] [ 4.58308787e-01 8.88465762e-01 -2.41173321e-02 2.49621476e+01] [ 4.91773296e-02 1.74425698e-03 9.98788540e-01 7.19818425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.07038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.42, Y:24.98, Z:7.20 [[ 8.87158294e-01 -4.59467662e-01 -4.28908995e-02 1.45419952e+02] [ 4.58837297e-01 8.88192835e-01 -2.41210055e-02 2.49775955e+01] [ 4.91782116e-02 1.71920566e-03 9.98788540e-01 7.19879437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.10038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.44, Y:24.99, Z:7.20 [[ 8.86255179e-01 -4.61207808e-01 -4.28849051e-02 1.45441933e+02] [ 4.60578960e-01 8.87290643e-01 -2.41316583e-02 2.49929017e+01] [ 4.91810842e-02 1.63492213e-03 9.98788540e-01 7.19996280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.13038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.47, Y:25.01, Z:7.20 [[ 8.85684959e-01 -4.62302149e-01 -4.28821118e-02 1.45465899e+02] [ 4.61674341e-01 8.86721053e-01 -2.41366210e-02 2.50070784e+01] [ 4.91828831e-02 1.57987148e-03 9.98788540e-01 7.20237857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.16038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.49, Y:25.02, Z:7.20 [[ 8.84272434e-01 -4.64998873e-01 -4.28755253e-02 1.45489647e+02] [ 4.64373658e-01 8.85310095e-01 -2.41483153e-02 2.50213894e+01] [ 4.91870748e-02 1.44342502e-03 9.98788540e-01 7.20496268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.19038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.50, Y:25.04, Z:7.20 [[ 8.80529241e-01 -4.72049269e-01 -4.28689060e-02 1.45503713e+02] [ 4.71431793e-01 8.81571526e-01 -2.41600605e-02 2.50387942e+01] [ 4.91967458e-02 1.06387456e-03 9.98788540e-01 7.19988925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.22038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.54, Y:25.05, Z:7.21 [[ 8.82731841e-01 -4.67960765e-01 -4.23936153e-02 1.45537375e+02] [ 4.67297874e-01 8.83746354e-01 -2.50015814e-02 2.50507167e+01] [ 4.91649621e-02 2.25924571e-03 9.98788117e-01 7.20697343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.250385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:145.56, Y:25.07, Z:7.20 [[ 8.80052367e-01 -4.72938577e-01 -4.28594656e-02 1.45558096e+02] [ 4.72321391e-01 8.81094794e-01 -2.41757539e-02 2.50671690e+01] [ 4.91968986e-02 1.03248706e-03 9.98788566e-01 7.20366699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.280385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.59, Y:25.08, Z:7.21 [[ 8.80502617e-01 -4.72117246e-01 -4.26667019e-02 1.45586599e+02] [ 4.71482526e-01 8.81534539e-01 -2.45170226e-02 2.50805367e+01] [ 4.91870806e-02 1.47069815e-03 9.98788500e-01 7.21113241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.310385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.61, Y:25.10, Z:7.21 [[ 8.79836059e-01 -4.73332814e-01 -4.29482902e-02 1.45607956e+02] [ 4.72723789e-01 8.80883284e-01 -2.40178958e-02 2.50950129e+01] [ 4.92008891e-02 8.29132307e-04 9.98788559e-01 7.21274606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.340385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.63, Y:25.11, Z:7.21 [[ 8.79459087e-01 -4.74041992e-01 -4.28474549e-02 1.45631494e+02] [ 4.73425106e-01 8.80501675e-01 -2.41964586e-02 2.51099897e+01] [ 4.91973932e-02 9.94734498e-04 9.98788580e-01 7.21448142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.370385723 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:145.65, Y:25.13, Z:7.21 [[ 8.79350018e-01 -4.74244879e-01 -4.28408809e-02 1.45654413e+02] [ 4.73627667e-01 8.80392413e-01 -2.42080925e-02 2.51261743e+01] [ 4.91973504e-02 9.96760102e-04 9.98788580e-01 7.21297415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.400385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:145.68, Y:25.14, Z:7.22 [[ 8.79766022e-01 -4.73478201e-01 -4.27801328e-02 1.45677936e+02] [ 4.72854855e-01 8.80804769e-01 -2.43155397e-02 2.51393080e+01] [ 4.91938229e-02 1.16319212e-03 9.98788574e-01 7.21766308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.430385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.70, Y:25.16, Z:7.21 [[ 8.79931976e-01 -4.73170933e-01 -4.27666449e-02 1.45699525e+02] [ 4.72546067e-01 8.80969812e-01 -2.43393721e-02 2.51554228e+01] [ 4.91928065e-02 1.20778192e-03 9.98788571e-01 7.21435175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.460385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:145.72, Y:25.17, Z:7.22 [[ 8.81928123e-01 -4.69451346e-01 -4.26405887e-02 1.45724943e+02] [ 4.68811341e-01 8.82956760e-01 -2.45618797e-02 2.51710703e+01] [ 4.91804036e-02 1.67142088e-03 9.98788513e-01 7.21886822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.490385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:145.75, Y:25.19, Z:7.22 [[ 8.82677925e-01 -4.68024012e-01 -4.28159480e-02 1.45748945e+02] [ 4.67397312e-01 8.83714648e-01 -2.42522999e-02 2.51860624e+01] [ 4.91877391e-02 1.39491077e-03 9.98788577e-01 7.21830250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.520385723 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:145.77, Y:25.20, Z:7.22 [[ 8.83310929e-01 -4.66831589e-01 -4.27793127e-02 1.45773264e+02] [ 4.66200361e-01 8.84344904e-01 -2.43169536e-02 2.52025495e+01] [ 4.91835893e-02 1.53569987e-03 9.98788574e-01 7.21968026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.550385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.79, Y:25.22, Z:7.22 [[ 8.81806551e-01 -4.69664491e-01 -4.28073893e-02 1.45792019e+02] [ 4.69038986e-01 8.82843996e-01 -2.42674272e-02 2.52180680e+01] [ 4.91897954e-02 1.32084177e-03 9.98788576e-01 7.21948197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.580385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.82, Y:25.23, Z:7.22 [[ 8.82338424e-01 -4.68694768e-01 -4.24749324e-02 1.45818773e+02] [ 4.68039900e-01 8.83357809e-01 -2.48522050e-02 2.52319132e+01] [ 4.91686617e-02 2.04809227e-03 9.98788390e-01 7.22194205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.610385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:145.85, Y:25.25, Z:7.23 [[ 8.82803213e-01 -4.67803890e-01 -4.26380996e-02 1.45845595e+02] [ 4.67161804e-01 8.83830525e-01 -2.45652474e-02 2.52454914e+01] [ 4.91765722e-02 1.76738783e-03 9.98788537e-01 7.22519834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.640385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.87, Y:25.26, Z:7.23 [[ 8.82505740e-01 -4.68352079e-01 -4.27779084e-02 1.45869436e+02] [ 4.67722517e-01 8.83540727e-01 -2.43193264e-02 2.52593492e+01] [ 4.91860314e-02 1.45375415e-03 9.98788577e-01 7.22909016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.670385723 meters Centerline goodness : 0.998952 Centerline is valid? [True, True] Translation: X:145.89, Y:25.27, Z:7.23 [[ 8.81319697e-01 -4.70580731e-01 -4.27710998e-02 1.45894834e+02] [ 4.69953207e-01 8.82355921e-01 -2.43312951e-02 2.52742367e+01] [ 4.91891717e-02 1.34323407e-03 9.98788577e-01 7.22980506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.700385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:145.92, Y:25.29, Z:7.23 [[ 8.80304140e-01 -4.72468029e-01 -4.28786887e-02 1.45916260e+02] [ 4.71851921e-01 8.81347219e-01 -2.41421594e-02 2.52882808e+01] [ 4.91974115e-02 1.02005124e-03 9.98788553e-01 7.23428107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.730385723 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:145.94, Y:25.30, Z:7.23 [[ 8.77995850e-01 -4.76754444e-01 -4.27608205e-02 1.45939000e+02] [ 4.76133339e-01 8.79035928e-01 -2.43491566e-02 2.53032860e+01] [ 4.91968662e-02 1.01860618e-03 9.98788582e-01 7.23223372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.760385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.96, Y:25.32, Z:7.23 [[ 8.74822845e-01 -4.82552325e-01 -4.27579539e-02 1.45956966e+02] [ 4.81937868e-01 8.75866865e-01 -2.43541894e-02 2.53189022e+01] [ 4.92024458e-02 6.98924165e-04 9.98788582e-01 7.23454173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.790385723 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:145.99, Y:25.33, Z:7.23 [[ 8.74094344e-01 -4.83902422e-01 -4.23972113e-02 1.45985733e+02] [ 4.83258886e-01 8.75120920e-01 -2.49844973e-02 2.53340467e+01] [ 4.91927453e-02 1.34997873e-03 9.98788392e-01 7.23127090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.82038572300002 meters Centerline goodness : 0.997578 Centerline is valid? [True, True] Translation: X:146.01, Y:25.35, Z:7.24 [[ 8.74567058e-01 -4.83020295e-01 -4.27066252e-02 1.46014117e+02] [ 4.82402025e-01 8.75608813e-01 -2.44436758e-02 2.53473194e+01] [ 4.92010889e-02 7.75871182e-04 9.98788592e-01 7.23598132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.85038572300002 meters Centerline goodness : 0.997448 Centerline is valid? [True, True] Translation: X:146.04, Y:25.36, Z:7.23 [[ 8.73378877e-01 -4.85146476e-01 -4.29212599e-02 1.46039018e+02] [ 4.84549121e-01 8.74432872e-01 -2.40686898e-02 2.53620145e+01] [ 4.92086005e-02 2.23626509e-04 9.98788498e-01 7.23442476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.88038572300002 meters Centerline goodness : 0.996333 Centerline is valid? [True, True] Translation: X:146.06, Y:25.38, Z:7.23 [[ 8.72763511e-01 -4.86249807e-01 -4.29532157e-02 1.46064057e+02] [ 4.85656529e-01 8.73819842e-01 -2.40129141e-02 2.53768822e+01] [ 4.92096470e-02 9.70855554e-05 9.98788467e-01 7.23491366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.91038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.08, Y:25.39, Z:7.23 [[ 8.70265940e-01 -4.90705462e-01 -4.29574636e-02 1.46080146e+02] [ 4.90117958e-01 8.71325498e-01 -2.40055016e-02 2.53914922e+01] [ 4.92095641e-02 -1.63053927e-04 9.98788462e-01 7.23315297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.94038572300002 meters Centerline goodness : 0.997009 Centerline is valid? [True, True] Translation: X:146.11, Y:25.40, Z:7.24 [[ 8.72686248e-01 -4.86429922e-01 -4.24810918e-02 1.46114662e+02] [ 4.85796568e-01 8.73718980e-01 -2.48362552e-02 2.54042196e+01] [ 4.91976338e-02 1.03708977e-03 9.98788525e-01 7.23636620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.97038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.13, Y:25.42, Z:7.23 [[ 8.70841898e-01 -4.89674361e-01 -4.30512433e-02 1.46129633e+02] [ 4.89093761e-01 8.71905346e-01 -2.38402998e-02 2.54174407e+01] [ 4.92105928e-02 -2.94962601e-04 9.98788381e-01 7.23474599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.000385723 meters Centerline goodness : 0.997273 Centerline is valid? [True, True] Translation: X:146.16, Y:25.43, Z:7.24 [[ 8.72192100e-01 -4.87323467e-01 -4.23884260e-02 1.46164099e+02] [ 4.86683432e-01 8.73220744e-01 -2.49954076e-02 2.54318332e+01] [ 4.91953016e-02 1.17105248e-03 9.98788492e-01 7.23817445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.030385723 meters Centerline goodness : 0.996962 Centerline is valid? [True, True] Translation: X:146.19, Y:25.45, Z:7.24 [[ 8.72239698e-01 -4.87179380e-01 -4.30599719e-02 1.46188816e+02] [ 4.86596589e-01 8.73301907e-01 -2.38230529e-02 2.54454653e+01] [ 4.92104558e-02 -1.73422987e-04 9.98788417e-01 7.23992820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.060385723 meters Centerline goodness : 0.996308 Centerline is valid? [True, True] Translation: X:146.21, Y:25.46, Z:7.24 [[ 8.72409899e-01 -4.86877047e-01 -4.30314913e-02 1.46212228e+02] [ 4.86291436e-01 8.73470510e-01 -2.38727447e-02 2.54591543e+01] [ 4.92098301e-02 -9.90268930e-05 9.98788457e-01 7.24117233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.090385723 meters Centerline goodness : 0.997449 Centerline is valid? [True, True] Translation: X:146.24, Y:25.47, Z:7.24 [[ 8.72647536e-01 -4.86453099e-01 -4.30076781e-02 1.46236379e+02] [ 4.85864927e-01 8.73706691e-01 -2.39142574e-02 2.54737276e+01] [ 4.92092608e-02 -2.72046263e-05 9.98788490e-01 7.24299280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.120385723 meters Centerline goodness : 0.996507 Centerline is valid? [True, True] Translation: X:146.26, Y:25.49, Z:7.24 [[ 8.73859912e-01 -4.84273720e-01 -4.29862565e-02 1.46260039e+02] [ 4.83681071e-01 8.74916536e-01 -2.39515543e-02 2.54863016e+01] [ 4.92084949e-02 1.38664545e-04 9.98788519e-01 7.24478714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.150385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.28, Y:25.50, Z:7.25 [[ 8.74480812e-01 -4.83155273e-01 -4.29452038e-02 1.46279938e+02] [ 4.82557762e-01 8.75534637e-01 -2.40230066e-02 2.54987318e+01] [ 4.92068557e-02 2.84116912e-04 9.98788569e-01 7.25108724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.180385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.30, Y:25.51, Z:7.25 [[ 8.73046680e-01 -4.85767986e-01 -4.26492368e-02 1.46299741e+02] [ 4.85148415e-01 8.74087484e-01 -2.45374525e-02 2.55147252e+01] [ 4.91986730e-02 7.31131784e-04 9.98788744e-01 7.24581201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.210385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.32, Y:25.53, Z:7.25 [[ 8.73133223e-01 -4.85630384e-01 -4.24441421e-02 1.46322364e+02] [ 4.84993279e-01 8.74163489e-01 -2.48940440e-02 2.55284111e+01] [ 4.91924235e-02 1.15069322e-03 9.98788657e-01 7.24631717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.240385723 meters Centerline goodness : 0.996888 Centerline is valid? [True, True] Translation: X:146.35, Y:25.54, Z:7.25 [[ 8.75847102e-01 -4.80730464e-01 -4.23092852e-02 1.46354030e+02] [ 4.80076338e-01 8.76866778e-01 -2.51269620e-02 2.55408770e+01] [ 4.91789027e-02 1.69569010e-03 9.98788546e-01 7.24687174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.270385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.38, Y:25.55, Z:7.25 [[ 8.76664164e-01 -4.79199991e-01 -4.27470684e-02 1.46376529e+02] [ 4.78580809e-01 8.77705274e-01 -2.43692762e-02 2.55528785e+01] [ 4.91970843e-02 9.05744576e-04 9.98788680e-01 7.25472569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.300385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:146.40, Y:25.57, Z:7.26 [[ 8.77361263e-01 -4.77935901e-01 -4.25968238e-02 1.46401923e+02] [ 4.77302590e-01 8.78393786e-01 -2.46291332e-02 2.55651185e+01] [ 4.91879323e-02 1.27707306e-03 9.98788725e-01 7.25502305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.330385723 meters Centerline goodness : 0.997289 Centerline is valid? [True, True] Translation: X:146.43, Y:25.58, Z:7.25 [[ 8.77337740e-01 -4.77979677e-01 -4.25901205e-02 1.46428628e+02] [ 4.77345855e-01 8.78369950e-01 -2.46407195e-02 2.55784749e+01] [ 4.91876451e-02 1.28801567e-03 9.98788725e-01 7.25353579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.360385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.45, Y:25.59, Z:7.26 [[ 8.77952760e-01 -4.76842190e-01 -4.26670529e-02 1.46453499e+02] [ 4.76213480e-01 8.78988106e-01 -2.45077695e-02 2.55888807e+01] [ 4.91901706e-02 1.19803812e-03 9.98788712e-01 7.26014990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.390385723 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:146.48, Y:25.60, Z:7.26 [[ 8.77461458e-01 -4.77753389e-01 -4.25803914e-02 1.46478001e+02] [ 4.77118491e-01 8.78493004e-01 -2.46574250e-02 2.56021793e+01] [ 4.91867443e-02 1.32004800e-03 9.98788727e-01 7.25712488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.420385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.50, Y:25.61, Z:7.26 [[ 8.77735860e-01 -4.77249631e-01 -4.25740487e-02 1.46504151e+02] [ 4.76613610e-01 8.78766714e-01 -2.46683716e-02 2.56128790e+01] [ 4.91856281e-02 1.36094336e-03 9.98788727e-01 7.26269977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.450385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.53, Y:25.63, Z:7.26 [[ 8.77794311e-01 -4.77142698e-01 -4.25675226e-02 1.46528880e+02] [ 4.76506007e-01 8.78824750e-01 -2.46796279e-02 2.56251381e+01] [ 4.91850966e-02 1.37995670e-03 9.98788727e-01 7.26321743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.480385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.55, Y:25.64, Z:7.26 [[ 8.77837523e-01 -4.77063445e-01 -4.25646944e-02 1.46553758e+02] [ 4.76426424e-01 8.78867759e-01 -2.46845046e-02 2.56376454e+01] [ 4.91848124e-02 1.39003924e-03 9.98788727e-01 7.26489258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.510385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.57, Y:25.65, Z:7.26 [[ 8.74816951e-01 -4.82580667e-01 -4.25582227e-02 1.46570630e+02] [ 4.81949603e-01 8.75850846e-01 -2.46956574e-02 2.56521594e+01] [ 4.91923022e-02 1.09326112e-03 9.98788728e-01 7.25917552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.540385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.61, Y:25.66, Z:7.27 [[ 8.77890398e-01 -4.77005403e-01 -4.21223779e-02 1.46605358e+02] [ 4.76331653e-01 8.78897419e-01 -2.54456911e-02 2.56604459e+01] [ 4.91589814e-02 2.27430591e-03 9.98788377e-01 7.26729635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.57038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.62, Y:25.68, Z:7.26 [[ 8.74810018e-01 -4.82593334e-01 -4.25570941e-02 1.46623026e+02] [ 4.81962238e-01 8.75843866e-01 -2.46966273e-02 2.56766785e+01] [ 4.91917975e-02 1.09394461e-03 9.98788752e-01 7.26197511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.60038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.66, Y:25.69, Z:7.27 [[ 8.77824211e-01 -4.77125519e-01 -4.21413548e-02 1.46655998e+02] [ 4.76453537e-01 8.78832334e-01 -2.54117093e-02 2.56861111e+01] [ 4.91597602e-02 2.22861615e-03 9.98788442e-01 7.26985782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.63038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.68, Y:25.70, Z:7.27 [[ 8.78082330e-01 -4.76614090e-01 -4.25491547e-02 1.46681754e+02] [ 4.75975333e-01 8.79111439e-01 -2.47095208e-02 2.56977140e+01] [ 4.91823544e-02 1.44464559e-03 9.98788771e-01 7.27222436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.66038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.71, Y:25.71, Z:7.27 [[ 8.78195868e-01 -4.76405428e-01 -4.25427579e-02 1.46706276e+02] [ 4.75765894e-01 8.79224493e-01 -2.47205294e-02 2.57108403e+01] [ 4.91816291e-02 1.46907356e-03 9.98788771e-01 7.27357653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.69038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.73, Y:25.72, Z:7.27 [[ 8.78325729e-01 -4.76166538e-01 -4.25363675e-02 1.46731674e+02] [ 4.75526192e-01 8.79353849e-01 -2.47315203e-02 2.57233784e+01] [ 4.91808409e-02 1.49517368e-03 9.98788771e-01 7.27353972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.72038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.76, Y:25.74, Z:7.27 [[ 8.78295434e-01 -4.76222592e-01 -4.25343781e-02 1.46756995e+02] [ 4.75582146e-01 8.79323493e-01 -2.47349413e-02 2.57365927e+01] [ 4.91808158e-02 1.49599515e-03 9.98788771e-01 7.27486510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.750385723 meters Centerline goodness : 0.999887 Centerline is valid? [True, True] Translation: X:146.78, Y:25.75, Z:7.27 [[ 8.77937575e-01 -4.76882521e-01 -4.25285154e-02 1.46781546e+02] [ 4.76242361e-01 8.78965812e-01 -2.47450174e-02 2.57506826e+01] [ 4.91815773e-02 1.47069996e-03 9.98788771e-01 7.27243738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.780385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.81, Y:25.76, Z:7.28 [[ 8.78075584e-01 -4.76628548e-01 -4.25264284e-02 1.46806081e+02] [ 4.75987916e-01 8.79103526e-01 -2.47486036e-02 2.57632919e+01] [ 4.91810241e-02 1.48907855e-03 9.98788771e-01 7.27657470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.810385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.83, Y:25.78, Z:7.28 [[ 8.77947184e-01 -4.76865615e-01 -4.25197273e-02 1.46830724e+02] [ 4.76224704e-01 8.78974953e-01 -2.47601111e-02 2.57777346e+01] [ 4.91810209e-02 1.48912523e-03 9.98788771e-01 7.27797608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.840385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.86, Y:25.79, Z:7.28 [[ 8.77540516e-01 -4.77614157e-01 -4.25130468e-02 1.46855646e+02] [ 4.76973568e-01 8.78568486e-01 -2.47715763e-02 2.57907345e+01] [ 4.91818787e-02 1.46046225e-03 9.98788771e-01 7.27833448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.870385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.88, Y:25.81, Z:7.28 [[ 8.77091655e-01 -4.78438550e-01 -4.25062744e-02 1.46879121e+02] [ 4.77798365e-01 8.78119875e-01 -2.47831918e-02 2.58050194e+01] [ 4.91828387e-02 1.42770230e-03 9.98788771e-01 7.27788430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.900385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.90, Y:25.82, Z:7.28 [[ 8.76872136e-01 -4.78840986e-01 -4.25037321e-02 1.46903070e+02] [ 4.78201062e-01 8.77900519e-01 -2.47875512e-02 2.58189895e+01] [ 4.91833439e-02 1.41018312e-03 9.98788772e-01 7.27912519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.930385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.93, Y:25.83, Z:7.28 [[ 8.76330809e-01 -4.79831537e-01 -4.24971563e-02 1.46927796e+02] [ 4.79192230e-01 8.77359576e-01 -2.47988198e-02 2.58315376e+01] [ 4.91845429e-02 1.36766272e-03 9.98788772e-01 7.28242731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.960385723 meters Centerline goodness : 0.998088 Centerline is valid? [True, True] Translation: X:146.95, Y:25.85, Z:7.28 [[ 8.75111502e-01 -4.82052298e-01 -4.24904762e-02 1.46953786e+02] [ 4.81415047e-01 8.76141543e-01 -2.48102603e-02 2.58472082e+01] [ 4.91875144e-02 1.25618954e-03 9.98788772e-01 7.27913105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.990385723 meters Centerline goodness : 0.998069 Centerline is valid? [True, True] Translation: X:146.98, Y:25.86, Z:7.28 [[ 8.76518833e-01 -4.79483875e-01 -4.25434888e-02 1.46979389e+02] [ 4.78848005e-01 8.77549734e-01 -2.47194749e-02 2.58588837e+01] [ 4.91866169e-02 1.29522057e-03 9.98788766e-01 7.28379305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.020385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.00, Y:25.87, Z:7.29 [[ 8.75115712e-01 -4.82045457e-01 -4.24813799e-02 1.47002471e+02] [ 4.81407446e-01 8.76145281e-01 -2.48257553e-02 2.58742643e+01] [ 4.91870031e-02 1.27455592e-03 9.98788774e-01 7.28711601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.050385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.03, Y:25.89, Z:7.29 [[ 8.74885330e-01 -4.82463791e-01 -4.24776404e-02 1.47026162e+02] [ 4.81825962e-01 8.75915011e-01 -2.48321521e-02 2.58887280e+01] [ 4.91874171e-02 1.25845561e-03 9.98788774e-01 7.28825030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.080385723 meters Centerline goodness : 0.999088 Centerline is valid? [True, True] Translation: X:147.05, Y:25.91, Z:7.29 [[ 8.73104615e-01 -4.85679474e-01 -4.24709270e-02 1.47054051e+02] [ 4.85044880e-01 8.74136293e-01 -2.48436288e-02 2.59051427e+01] [ 4.91914193e-02 1.09078127e-03 9.98788774e-01 7.28867626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.110385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.08, Y:25.92, Z:7.29 [[ 8.73592049e-01 -4.84774055e-01 -4.27907370e-02 1.47076225e+02] [ 4.84165069e-01 8.74639273e-01 -2.42966684e-02 2.59165987e+01] [ 4.92048536e-02 5.07596272e-04 9.98788579e-01 7.29053865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.140385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.10, Y:25.93, Z:7.29 [[ 8.72719203e-01 -4.86372975e-01 -4.24561154e-02 1.47100786e+02] [ 4.85738017e-01 8.73750630e-01 -2.48679760e-02 2.59293354e+01] [ 4.91911690e-02 1.08021088e-03 9.98788798e-01 7.29172479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.170385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.12, Y:25.94, Z:7.29 [[ 8.72377813e-01 -4.86985222e-01 -4.24540377e-02 1.47124558e+02] [ 4.86350816e-01 8.73409578e-01 -2.48715224e-02 2.59427670e+01] [ 4.91918271e-02 1.04980848e-03 9.98788798e-01 7.29359439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.200385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.15, Y:25.96, Z:7.30 [[ 8.72149365e-01 -4.87394785e-01 -4.24477098e-02 1.47148765e+02] [ 4.86760338e-01 8.73181106e-01 -2.48823175e-02 2.59569286e+01] [ 4.91920500e-02 1.03923579e-03 9.98788798e-01 7.29624189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.230385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.17, Y:25.97, Z:7.30 [[ 8.72117194e-01 -4.87452918e-01 -4.24411606e-02 1.47171519e+02] [ 4.86817997e-01 8.73148643e-01 -2.48934833e-02 2.59711136e+01] [ 4.91918429e-02 1.04891407e-03 9.98788798e-01 7.29567902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.260385723 meters Centerline goodness : 0.999909 Centerline is valid? [True, True] Translation: X:147.19, Y:25.99, Z:7.30 [[ 8.72137612e-01 -4.87416652e-01 -4.24381085e-02 1.47194762e+02] [ 4.86781435e-01 8.73168879e-01 -2.48986855e-02 2.59857270e+01] [ 4.91916695e-02 1.05699678e-03 9.98788798e-01 7.29648458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.290385723 meters Centerline goodness : 0.998361 Centerline is valid? [True, True] Translation: X:147.21, Y:25.99, Z:7.30 [[ 8.75351748e-01 -4.81620748e-01 -4.24355027e-02 1.47212531e+02] [ 4.80978489e-01 8.76378644e-01 -2.49031258e-02 2.59923369e+01] [ 4.91834304e-02 1.38843072e-03 9.98788798e-01 7.29611138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.32038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.24, Y:26.01, Z:7.30 [[ 8.71831596e-01 -4.88021408e-01 -4.17704804e-02 1.47242671e+02] [ 4.87332165e-01 8.72828521e-01 -2.60333336e-02 2.60142402e+01] [ 4.91632908e-02 2.34058416e-03 9.98788012e-01 7.29936635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.35038572300002 meters Centerline goodness : 0.999704 Centerline is valid? [True, True] Translation: X:147.26, Y:26.02, Z:7.30 [[ 8.75941595e-01 -4.80548060e-01 -4.24250478e-02 1.47258562e+02] [ 4.79903777e-01 8.76967165e-01 -2.49190020e-02 2.60188966e+01] [ 4.91801520e-02 1.46764964e-03 9.98788846e-01 7.30175777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.38038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.28, Y:26.04, Z:7.30 [[ 8.73705804e-01 -4.84643779e-01 -4.19353778e-02 1.47283421e+02] [ 4.83963559e-01 8.74708810e-01 -2.57637619e-02 2.60396627e+01] [ 4.91674913e-02 2.21475365e-03 9.98788092e-01 7.29628271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.41038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.30, Y:26.05, Z:7.30 [[ 8.74478568e-01 -4.83207511e-01 -4.23997030e-02 1.47303913e+02] [ 4.82564393e-01 8.75504789e-01 -2.49593874e-02 2.60513146e+01] [ 4.91817066e-02 1.36586242e-03 9.98788914e-01 7.29535875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.44038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.33, Y:26.07, Z:7.30 [[ 8.73339272e-01 -4.85298333e-01 -4.20005269e-02 1.47330354e+02] [ 4.84624235e-01 8.74346232e-01 -2.56518611e-02 2.60672911e+01] [ 4.91718078e-02 2.04830450e-03 9.98788235e-01 7.29755373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.47038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.36, Y:26.08, Z:7.30 [[ 8.73109261e-01 -4.85679760e-01 -4.23720236e-02 1.47356321e+02] [ 4.85037260e-01 8.74135875e-01 -2.50065495e-02 2.60800949e+01] [ 4.91840809e-02 1.28143973e-03 9.98788909e-01 7.29981159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.500385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.39, Y:26.09, Z:7.31 [[ 8.73798692e-01 -4.84435336e-01 -4.24057829e-02 1.47385701e+02] [ 4.83794217e-01 8.74826130e-01 -2.49479189e-02 2.60896568e+01] [ 4.91833404e-02 1.28378640e-03 9.98788942e-01 7.30983441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.530385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.41, Y:26.10, Z:7.31 [[ 8.72470609e-01 -4.86802784e-01 -4.26390301e-02 1.47410485e+02] [ 4.86184195e-01 8.73511639e-01 -2.45426999e-02 2.61025668e+01] [ 4.91931437e-02 6.82361808e-04 9.98789051e-01 7.31288136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.560385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.44, Y:26.12, Z:7.32 [[ 8.70875978e-01 -4.89650004e-01 -4.26368866e-02 1.47435068e+02] [ 4.89034637e-01 8.71918916e-01 -2.45464230e-02 2.61154978e+01] [ 4.91950641e-02 5.25975782e-04 9.98789051e-01 7.31586364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.590385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.46, Y:26.13, Z:7.32 [[ 8.67677205e-01 -4.95296826e-01 -4.26300567e-02 1.47459102e+02] [ 4.94687664e-01 8.68723780e-01 -2.45582789e-02 2.61270381e+01] [ 4.91973816e-02 2.20095627e-04 9.98789051e-01 7.31917860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.620385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.48, Y:26.14, Z:7.32 [[ 8.66105616e-01 -4.98040482e-01 -4.26232506e-02 1.47483154e+02] [ 4.97434054e-01 8.67153777e-01 -2.45700859e-02 2.61402389e+01] [ 4.91978102e-02 7.80330357e-05 9.98789052e-01 7.32124383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.650385723 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:147.51, Y:26.15, Z:7.32 [[ 8.63120166e-01 -5.03196868e-01 -4.26202997e-02 1.47508114e+02] [ 5.02596450e-01 8.64171781e-01 -2.45752036e-02 2.61534126e+01] [ 4.91974258e-02 -2.09457534e-04 9.98789052e-01 7.32221644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.680385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.53, Y:26.17, Z:7.32 [[ 8.59458954e-01 -5.09426516e-01 -4.26020200e-02 1.47527969e+02] [ 5.08832148e-01 8.60514001e-01 -2.46068962e-02 2.61690811e+01] [ 4.91950400e-02 -5.28660102e-04 9.98789051e-01 7.31842608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.710385723 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:147.55, Y:26.18, Z:7.32 [[ 8.55927073e-01 -5.15359241e-01 -4.23520872e-02 1.47552169e+02] [ 5.14750658e-01 8.56974164e-01 -2.50408090e-02 2.61833831e+01] [ 4.91996569e-02 -3.67658448e-04 9.98788896e-01 7.32038278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.740385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.58, Y:26.20, Z:7.33 [[ 8.56989112e-01 -5.13596513e-01 -4.22880906e-02 1.47583132e+02] [ 5.12980295e-01 8.58031819e-01 -2.51518402e-02 2.61956437e+01] [ 4.92024247e-02 -1.38103958e-04 9.98788818e-01 7.32591534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.770385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.60, Y:26.21, Z:7.32 [[ 8.51390857e-01 -5.22796378e-01 -4.26327913e-02 1.47600331e+02] [ 5.22221250e-01 8.52456509e-01 -2.45533485e-02 2.62143087e+01] [ 4.91790021e-02 -1.35925314e-03 9.98789056e-01 7.32468151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.800385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:147.62, Y:26.23, Z:7.33 [[ 8.50118775e-01 -5.24886245e-01 -4.23379005e-02 1.47623753e+02] [ 5.24288202e-01 8.51171921e-01 -2.50647655e-02 2.62295469e+01] [ 4.91929828e-02 -8.89234032e-04 9.98788896e-01 7.32531445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.830385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.65, Y:26.24, Z:7.33 [[ 8.50157766e-01 -5.24822092e-01 -4.23502638e-02 1.47653921e+02] [ 5.24225033e-01 8.51211456e-01 -2.50433817e-02 2.62442859e+01] [ 4.91923497e-02 -9.10243036e-04 9.98788909e-01 7.32921987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.860385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.67, Y:26.26, Z:7.33 [[ 8.47668822e-01 -5.28805212e-01 -4.26921081e-02 1.47671239e+02] [ 5.28242752e-01 8.48741254e-01 -2.44515399e-02 2.62605389e+01] [ 4.91646552e-02 -1.82498866e-03 9.98789020e-01 7.32889505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.890385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.69, Y:26.28, Z:7.33 [[ 8.48341155e-01 -5.27753004e-01 -4.23562305e-02 1.47692773e+02] [ 5.27160086e-01 8.49397183e-01 -2.50333619e-02 2.62754142e+01] [ 4.91886949e-02 -1.09168294e-03 9.98788907e-01 7.32885393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.920385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.71, Y:26.29, Z:7.33 [[ 8.48996694e-01 -5.26708638e-01 -4.22211267e-02 1.47714409e+02] [ 5.26102775e-01 8.50045547e-01 -2.52673489e-02 2.62936471e+01] [ 4.91984117e-02 -7.60756171e-04 9.98788735e-01 7.32913231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.950385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.74, Y:26.31, Z:7.33 [[ 8.49955758e-01 -5.25161882e-01 -4.21924954e-02 1.47738802e+02] [ 5.24551649e-01 8.51002127e-01 -2.53169298e-02 2.63137573e+01] [ 4.92013899e-02 -6.13872753e-04 9.98788690e-01 7.32698263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.980385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.76, Y:26.33, Z:7.33 [[ 8.51791490e-01 -5.22162039e-01 -4.24035632e-02 1.47761275e+02] [ 5.21566286e-01 8.52845860e-01 -2.49509265e-02 2.63290952e+01] [ 4.91921300e-02 -8.63282129e-04 9.98788961e-01 7.32893973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.010385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.78, Y:26.34, Z:7.33 [[ 8.55967848e-01 -5.15294476e-01 -4.23160157e-02 1.47780585e+02] [ 5.14682757e-01 8.57013137e-01 -2.51026448e-02 2.63444956e+01] [ 4.92006355e-02 -2.92266796e-04 9.98788873e-01 7.33149048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.040385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.81, Y:26.36, Z:7.34 [[ 8.58672302e-01 -5.10796950e-01 -4.20517895e-02 1.47813318e+02] [ 5.10157426e-01 8.59701247e-01 -2.55571298e-02 2.63605804e+01] [ 4.92064798e-02 4.92166746e-04 9.98788506e-01 7.33831366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.07038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.83, Y:26.38, Z:7.33 [[ 8.60984906e-01 -5.06850876e-01 -4.25109475e-02 1.47827516e+02] [ 5.06245469e-01 8.62033729e-01 -2.47663969e-02 2.63779720e+01] [ 4.91987406e-02 -1.97480677e-04 9.98788989e-01 7.33338583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.10038572300002 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:147.85, Y:26.39, Z:7.34 [[ 8.62699249e-01 -5.03958845e-01 -4.21365409e-02 1.47854389e+02] [ 5.03318146e-01 8.63727370e-01 -2.54140719e-02 2.63944165e+01] [ 4.92021300e-02 7.16615096e-04 9.98788585e-01 7.33792173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.13038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.88, Y:26.41, Z:7.34 [[ 8.63751533e-01 -5.02129853e-01 -4.24134412e-02 1.47875841e+02] [ 5.01510471e-01 8.64792195e-01 -2.49340595e-02 2.64095215e+01] [ 4.91989485e-02 2.66047245e-04 9.98788963e-01 7.33633746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.16038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.90, Y:26.43, Z:7.34 [[ 8.65066937e-01 -4.99875446e-01 -4.22342744e-02 1.47900230e+02] [ 4.99238167e-01 8.66096976e-01 -2.52444181e-02 2.64255750e+01] [ 4.91980421e-02 7.53149677e-04 9.98788759e-01 7.33678656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.19038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.92, Y:26.44, Z:7.34 [[ 8.67116421e-01 -4.96304779e-01 -4.23164162e-02 1.47923520e+02] [ 4.95670198e-01 8.68147994e-01 -2.51020905e-02 2.64395586e+01] [ 4.91951993e-02 7.91448460e-04 9.98788870e-01 7.34201236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.22038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.95, Y:26.45, Z:7.35 [[ 8.68164585e-01 -4.94472642e-01 -4.22736332e-02 1.47948013e+02] [ 4.93832268e-01 8.69192639e-01 -2.51763252e-02 2.64535824e+01] [ 4.91929349e-02 9.81109732e-04 9.98788813e-01 7.34508237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.250385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:147.97, Y:26.47, Z:7.35 [[ 8.68284879e-01 -4.94258942e-01 -4.23021004e-02 1.47971262e+02] [ 4.93620720e-01 8.69314225e-01 -2.51269466e-02 2.64670329e+01] [ 4.91930357e-02 9.36154491e-04 9.98788851e-01 7.34645106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.280385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.00, Y:26.48, Z:7.35 [[ 8.70527508e-01 -4.90300513e-01 -4.22760593e-02 1.48002180e+02] [ 4.89655419e-01 8.71552601e-01 -2.51720720e-02 2.64793070e+01] [ 4.91876893e-02 1.21227952e-03 9.98788817e-01 7.34999215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.310385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.02, Y:26.50, Z:7.35 [[ 8.68078729e-01 -4.94593630e-01 -4.26199700e-02 1.48020407e+02] [ 4.93982767e-01 8.69124308e-01 -2.45756737e-02 2.64961928e+01] [ 4.91970236e-02 2.80088877e-04 9.98789054e-01 7.34710824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.340385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.04, Y:26.51, Z:7.35 [[ 8.68331897e-01 -4.94178656e-01 -4.22749602e-02 1.48044860e+02] [ 4.93538094e-01 8.69359803e-01 -2.51730498e-02 2.65091451e+01] [ 4.91921350e-02 9.94258879e-04 9.98788839e-01 7.34975946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.370385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.07, Y:26.52, Z:7.35 [[ 8.68168883e-01 -4.94465754e-01 -4.22659228e-02 1.48069232e+02] [ 4.93824770e-01 8.69196541e-01 -2.51886959e-02 2.65228748e+01] [ 4.91923414e-02 9.96082425e-04 9.98788827e-01 7.35073428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.400385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:148.09, Y:26.54, Z:7.35 [[ 8.67307722e-01 -4.95971472e-01 -4.23038448e-02 1.48093658e+02] [ 4.95335477e-01 8.68338415e-01 -2.51229540e-02 2.65361586e+01] [ 4.91943220e-02 8.34736840e-04 9.98788878e-01 7.34978521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.430385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.12, Y:26.55, Z:7.35 [[ 8.67232684e-01 -4.96108473e-01 -4.22357018e-02 1.48119440e+02] [ 4.95466884e-01 8.68260016e-01 -2.52410715e-02 2.65494132e+01] [ 4.91938806e-02 9.63490588e-04 9.98788783e-01 7.35353711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.460385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.14, Y:26.56, Z:7.36 [[ 8.66408972e-01 -4.97540194e-01 -4.22995181e-02 1.48144292e+02] [ 4.96905697e-01 8.67440595e-01 -2.51305097e-02 2.65615582e+01] [ 4.91957578e-02 7.54427564e-04 9.98788871e-01 7.35514477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.490385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.17, Y:26.57, Z:7.35 [[ 8.65641087e-01 -4.98877153e-01 -4.22740394e-02 1.48168710e+02] [ 4.98242092e-01 8.66672403e-01 -2.51746498e-02 2.65747373e+01] [ 4.91968009e-02 7.29505388e-04 9.98788838e-01 7.35494502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.520385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.19, Y:26.59, Z:7.36 [[ 8.65257999e-01 -4.99537239e-01 -4.23218758e-02 1.48192984e+02] [ 4.98907019e-01 8.66292209e-01 -2.50917412e-02 2.65863346e+01] [ 4.91973704e-02 5.96148880e-04 9.98788898e-01 7.35637543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.550385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.22, Y:26.60, Z:7.36 [[ 8.64576759e-01 -5.00721518e-01 -4.22491193e-02 1.48216998e+02] [ 5.00086547e-01 8.65608171e-01 -2.52178347e-02 2.65997126e+01] [ 4.91982954e-02 6.74537611e-04 9.98788803e-01 7.35671237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.580385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.24, Y:26.61, Z:7.36 [[ 8.62913073e-01 -5.03584185e-01 -4.22373880e-02 1.48239643e+02] [ 5.02951639e-01 8.63945995e-01 -2.52381892e-02 2.66126076e+01] [ 4.92003752e-02 5.34999870e-04 9.98788785e-01 7.35577520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.610385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.27, Y:26.63, Z:7.36 [[ 8.63283864e-01 -5.02962797e-01 -4.20641745e-02 1.48268082e+02] [ 5.02314844e-01 8.64307574e-01 -2.55384854e-02 2.66258416e+01] [ 4.92012927e-02 9.17503074e-04 9.98788462e-01 7.35839979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.640385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.29, Y:26.64, Z:7.36 [[ 8.62873968e-01 -5.03650666e-01 -4.22436063e-02 1.48292761e+02] [ 5.03018728e-01 8.63907251e-01 -2.52273961e-02 2.66381493e+01] [ 4.92003526e-02 5.18738260e-04 9.98788795e-01 7.36110179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.670385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.32, Y:26.65, Z:7.36 [[ 8.62826110e-01 -5.03735204e-01 -4.22131412e-02 1.48317779e+02] [ 5.03100783e-01 8.63857925e-01 -2.52802003e-02 2.66517242e+01] [ 4.92006834e-02 5.74952517e-04 9.98788748e-01 7.36285775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.700385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.34, Y:26.67, Z:7.36 [[ 8.62793908e-01 -5.03788723e-01 -4.22326237e-02 1.48342102e+02] [ 5.03156018e-01 8.63826741e-01 -2.52464442e-02 2.66650276e+01] [ 4.92005436e-02 5.32879543e-04 9.98788778e-01 7.36434874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.730385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.37, Y:26.68, Z:7.37 [[ 8.62850206e-01 -5.03690359e-01 -4.22557019e-02 1.48365867e+02] [ 5.03059496e-01 8.63884124e-01 -2.52064201e-02 2.66784934e+01] [ 4.92002608e-02 4.92232716e-04 9.98788813e-01 7.36510088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.760385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.39, Y:26.69, Z:7.37 [[ 8.62912959e-01 -5.03584674e-01 -4.22338963e-02 1.48389621e+02] [ 5.02951832e-01 8.63945706e-01 -2.52442434e-02 2.66921678e+01] [ 4.92004074e-02 5.41969232e-04 9.98788780e-01 7.36643275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.790385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.41, Y:26.71, Z:7.37 [[ 8.62899560e-01 -5.03607466e-01 -4.22358643e-02 1.48414351e+02] [ 5.02974819e-01 8.63932423e-01 -2.52408288e-02 2.67059344e+01] [ 4.92004025e-02 5.36723848e-04 9.98788783e-01 7.36694047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.82038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.44, Y:26.72, Z:7.37 [[ 8.62972646e-01 -5.03482502e-01 -4.22324803e-02 1.48438820e+02] [ 5.02849418e-01 8.64005247e-01 -2.52466996e-02 2.67185774e+01] [ 4.92003561e-02 5.50633001e-04 9.98788777e-01 7.36755207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.85038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.47, Y:26.73, Z:7.37 [[ 8.66556866e-01 -4.97289445e-01 -4.22185499e-02 1.48472054e+02] [ 4.96647805e-01 8.67584199e-01 -2.52708565e-02 2.67277821e+01] [ 4.91950770e-02 9.30884074e-04 9.98788755e-01 7.37401510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.88038572300002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:148.49, Y:26.74, Z:7.37 [[ 8.64388578e-01 -5.01013949e-01 -4.26310872e-02 1.48490814e+02] [ 5.00411888e-01 8.65439202e-01 -2.45546547e-02 2.67440580e+01] [ 4.91968386e-02 -1.08339805e-04 9.98789097e-01 7.37213424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.91038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.52, Y:26.76, Z:7.38 [[ 8.67240034e-01 -4.96090616e-01 -4.22944943e-02 1.48521803e+02] [ 4.95454025e-01 8.68270341e-01 -2.51381032e-02 2.67555484e+01] [ 4.91938321e-02 8.45792112e-04 9.98788892e-01 7.37725251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.94038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.54, Y:26.77, Z:7.37 [[ 8.65719041e-01 -4.98712121e-01 -4.26234917e-02 1.48539861e+02] [ 4.98106642e-01 8.66767685e-01 -2.45673250e-02 2.67726256e+01] [ 4.91966880e-02 3.73567419e-05 9.98789109e-01 7.37439058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.97038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.56, Y:26.79, Z:7.37 [[ 8.67205572e-01 -4.96152592e-01 -4.22741200e-02 1.48563693e+02] [ 4.95514348e-01 8.68234891e-01 -2.51735098e-02 2.67860447e+01] [ 4.91937681e-02 8.83174954e-04 9.98788863e-01 7.37429152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.000385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.59, Y:26.80, Z:7.38 [[ 8.68211620e-01 -4.94393421e-01 -4.22342073e-02 1.48589266e+02] [ 4.93749722e-01 8.69237606e-01 -2.52427456e-02 2.67992885e+01] [ 4.91914086e-02 1.06291686e-03 9.98788804e-01 7.37569928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.030385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.62, Y:26.81, Z:7.38 [[ 8.71571949e-01 -4.88448632e-01 -4.21932670e-02 1.48623205e+02] [ 4.87794510e-01 8.72591394e-01 -2.53135434e-02 2.68116220e+01] [ 4.91818473e-02 1.48093032e-03 9.98788743e-01 7.38105657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.060385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.65, Y:26.82, Z:7.38 [[ 8.72291109e-01 -4.87127710e-01 -4.26006442e-02 1.48647911e+02] [ 4.86506303e-01 8.73330433e-01 -2.46083464e-02 2.68245399e+01] [ 4.91918465e-02 7.40159831e-04 9.98789074e-01 7.38247910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.090385723 meters Centerline goodness : 0.999887 Centerline is valid? [True, True] Translation: X:148.67, Y:26.84, Z:7.38 [[ 8.72643652e-01 -4.86496466e-01 -4.25939600e-02 1.48672462e+02] [ 4.85873743e-01 8.73682188e-01 -2.46199105e-02 2.68380088e+01] [ 4.91910836e-02 7.89121835e-04 9.98789074e-01 7.38134576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.120385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.70, Y:26.85, Z:7.39 [[ 8.73223281e-01 -4.85455896e-01 -4.25872537e-02 1.48698143e+02] [ 4.84831370e-01 8.74260734e-01 -2.46315056e-02 2.68493851e+01] [ 4.91898733e-02 8.61167607e-04 9.98789074e-01 7.38698537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.150385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.72, Y:26.86, Z:7.39 [[ 8.73026633e-01 -4.85810051e-01 -4.25804322e-02 1.48722324e+02] [ 4.85185371e-01 8.74063993e-01 -2.46432922e-02 2.68621262e+01] [ 4.91899816e-02 8.54847562e-04 9.98789074e-01 7.38822410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.180385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.75, Y:26.87, Z:7.39 [[ 8.72502574e-01 -4.86751025e-01 -4.25757907e-02 1.48748783e+02] [ 4.86127073e-01 8.73540372e-01 -2.46513087e-02 2.68745634e+01] [ 4.91907218e-02 8.11085843e-04 9.98789074e-01 7.39060918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.210385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.77, Y:26.89, Z:7.39 [[ 8.72288632e-01 -4.87134835e-01 -4.25698893e-02 1.48773849e+02] [ 4.86510842e-01 8.73326406e-01 -2.46614955e-02 2.68873332e+01] [ 4.91908819e-02 8.01229477e-04 9.98789074e-01 7.39268531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.240385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.80, Y:26.90, Z:7.39 [[ 8.71705229e-01 -4.88178628e-01 -4.25631454e-02 1.48799367e+02] [ 4.87555310e-01 8.72743408e-01 -2.46731293e-02 2.68989451e+01] [ 4.91915990e-02 7.55808301e-04 9.98789075e-01 7.39469278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.270385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.83, Y:26.91, Z:7.40 [[ 8.70865687e-01 -4.89675322e-01 -4.25562603e-02 1.48825122e+02] [ 4.89053208e-01 8.71904588e-01 -2.46849991e-02 2.69110827e+01] [ 4.91926334e-02 6.85043027e-04 9.98789075e-01 7.39664966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.300385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.85, Y:26.92, Z:7.40 [[ 8.70424740e-01 -4.90459296e-01 -4.25493877e-02 1.48848860e+02] [ 4.89837540e-01 8.71463855e-01 -2.46968396e-02 2.69232033e+01] [ 4.91930480e-02 6.54452738e-04 9.98789075e-01 7.39704491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.330385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.87, Y:26.94, Z:7.40 [[ 8.69703439e-01 -4.91737460e-01 -4.25464283e-02 1.48874039e+02] [ 4.91116982e-01 8.70743317e-01 -2.47019369e-02 2.69363363e+01] [ 4.91938858e-02 5.88086006e-04 9.98789075e-01 7.39927107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.360385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.90, Y:26.95, Z:7.40 [[ 8.68648727e-01 -4.93598794e-01 -4.25396395e-02 1.48899199e+02] [ 4.92979971e-01 8.69689591e-01 -2.47136224e-02 2.69484583e+01] [ 4.91948959e-02 4.96266382e-04 9.98789075e-01 7.39984542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.390385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.93, Y:26.96, Z:7.40 [[ 8.67901405e-01 -4.94911820e-01 -4.25375399e-02 1.48925681e+02] [ 4.94294395e-01 8.68943099e-01 -2.47172358e-02 2.69609823e+01] [ 4.91955539e-02 4.26056050e-04 9.98789075e-01 7.40089879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.420385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.95, Y:26.97, Z:7.40 [[ 8.67493523e-01 -4.95626912e-01 -4.25317720e-02 1.48950930e+02] [ 4.95009860e-01 8.68535437e-01 -2.47271568e-02 2.69743970e+01] [ 4.91957956e-02 3.97001789e-04 9.98789075e-01 7.40185790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.450385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.98, Y:26.99, Z:7.40 [[ 8.67116938e-01 -4.96285973e-01 -4.25258514e-02 1.48975775e+02] [ 4.95669214e-01 8.68159026e-01 -2.47373349e-02 2.69876982e+01] [ 4.91959941e-02 3.71406823e-04 9.98789075e-01 7.40299791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.480385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.00, Y:27.00, Z:7.40 [[ 8.67072761e-01 -4.96363333e-01 -4.25237405e-02 1.49001718e+02] [ 4.95746489e-01 8.68114799e-01 -2.47409630e-02 2.70015708e+01] [ 4.91959953e-02 3.71220063e-04 9.98789075e-01 7.40377963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.510385723 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] Translation: X:149.03, Y:27.02, Z:7.40 [[ 8.67321089e-01 -4.95929561e-01 -4.25205730e-02 1.49025855e+02] [ 4.95311929e-01 8.68362660e-01 -2.47464055e-02 2.70160035e+01] [ 4.91957519e-02 4.02132325e-04 9.98789075e-01 7.40496488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.540385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.05, Y:27.03, Z:7.41 [[ 8.67783325e-01 -4.95120856e-01 -4.25139749e-02 1.49048609e+02] [ 4.94501698e-01 8.68823990e-01 -2.47577359e-02 2.70311432e+01] [ 4.91952327e-02 4.61117663e-04 9.98789075e-01 7.40518405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.57038572300002 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:149.07, Y:27.05, Z:7.41 [[ 8.67941579e-01 -4.94843952e-01 -4.25074033e-02 1.49072031e+02] [ 4.94223909e-01 8.68981717e-01 -2.47690137e-02 2.70458862e+01] [ 4.91949529e-02 4.89881830e-04 9.98789075e-01 7.40647268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.60038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.10, Y:27.06, Z:7.41 [[ 8.68091216e-01 -4.94581969e-01 -4.25007907e-02 1.49096058e+02] [ 4.93961058e-01 8.69130835e-01 -2.47803550e-02 2.70621183e+01] [ 4.91946645e-02 5.17872989e-04 9.98789075e-01 7.41100357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.63038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.12, Y:27.08, Z:7.41 [[ 8.68143212e-01 -4.94491223e-01 -4.24946474e-02 1.49120986e+02] [ 4.93869687e-01 8.69182457e-01 -2.47908854e-02 2.70771198e+01] [ 4.91944773e-02 5.35220707e-04 9.98789075e-01 7.41352160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.66038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.15, Y:27.09, Z:7.41 [[ 8.68762865e-01 -4.93402274e-01 -4.24885780e-02 1.49149443e+02] [ 4.92778928e-01 8.69801026e-01 -2.48012833e-02 2.70930046e+01] [ 4.91936183e-02 6.08958063e-04 9.98789075e-01 7.40887854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.69038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.17, Y:27.11, Z:7.42 [[ 8.67553319e-01 -4.95508362e-01 -4.26931186e-02 1.49169745e+02] [ 4.94904741e-01 8.68603164e-01 -2.44507918e-02 2.71078928e+01] [ 4.91989496e-02 8.33387745e-05 9.98788995e-01 7.41793781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.72038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.20, Y:27.12, Z:7.42 [[ 8.68367334e-01 -4.94098669e-01 -4.24815108e-02 1.49201680e+02] [ 4.93475578e-01 8.69405639e-01 -2.48130857e-02 2.71246678e+01] [ 4.91937777e-02 5.83284935e-04 9.98789083e-01 7.41642161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.750385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.22, Y:27.14, Z:7.42 [[ 8.65938421e-01 -4.98307361e-01 -4.29001682e-02 1.49218652e+02] [ 4.97724686e-01 8.67000309e-01 -2.40956481e-02 2.71394507e+01] [ 4.92014979e-02 -4.87125258e-04 9.98788754e-01 7.42162705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.780385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.24, Y:27.15, Z:7.42 [[ 8.65219596e-01 -4.99590961e-01 -4.24726117e-02 1.49242560e+02] [ 4.98973773e-01 8.66261386e-01 -2.48271188e-02 2.71544386e+01] [ 4.91957876e-02 2.88190455e-04 9.98789113e-01 7.42260146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.810385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.27, Y:27.17, Z:7.42 [[ 8.64873416e-01 -5.00190198e-01 -4.24704626e-02 1.49266502e+02] [ 4.99573550e-01 8.65915527e-01 -2.48307947e-02 2.71684675e+01] [ 4.91959530e-02 2.58374448e-04 9.98789113e-01 7.42436375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.840385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.29, Y:27.18, Z:7.42 [[ 8.64289548e-01 -5.01198986e-01 -4.24635610e-02 1.49290028e+02] [ 5.00582975e-01 8.65332035e-01 -2.48425914e-02 2.71839306e+01] [ 4.91961613e-02 2.14656408e-04 9.98789113e-01 7.42473602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.870385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.32, Y:27.20, Z:7.42 [[ 8.66315880e-01 -4.97688895e-01 -4.24565763e-02 1.49319279e+02] [ 4.97068076e-01 8.67355510e-01 -2.48545228e-02 2.71974140e+01] [ 4.91947654e-02 4.28059068e-04 9.98789113e-01 7.42382875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.900385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.34, Y:27.21, Z:7.42 [[ 8.63985204e-01 -5.01705187e-01 -4.26787065e-02 1.49337617e+02] [ 5.01107897e-01 8.65038639e-01 -2.44750546e-02 2.72148569e+01] [ 4.91979920e-02 -2.40551853e-04 9.98789017e-01 7.42492368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.930385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.36, Y:27.23, Z:7.43 [[ 8.63703722e-01 -5.02209293e-01 -4.24465153e-02 1.49361935e+02] [ 5.01593089e-01 8.64746084e-01 -2.48713326e-02 2.72296884e+01] [ 4.91960722e-02 1.90583834e-04 9.98789122e-01 7.42603784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.960385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.39, Y:27.24, Z:7.43 [[ 8.63635469e-01 -5.02327235e-01 -4.24396637e-02 1.49386551e+02] [ 5.01710599e-01 8.64677576e-01 -2.48830185e-02 2.72442100e+01] [ 4.91960434e-02 1.97428306e-04 9.98789122e-01 7.42704787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.990385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.41, Y:27.26, Z:7.43 [[ 8.63488198e-01 -5.02580889e-01 -4.24332585e-02 1.49410377e+02] [ 5.01964023e-01 8.64530168e-01 -2.48939365e-02 2.72595192e+01] [ 4.91960489e-02 1.95651189e-04 9.98789122e-01 7.42689686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.020385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.44, Y:27.27, Z:7.42 [[ 8.64833466e-01 -5.00262604e-01 -4.24311627e-02 1.49436375e+02] [ 4.99642770e-01 8.65873672e-01 -2.48975083e-02 2.72738857e+01] [ 4.91953190e-02 3.31774794e-04 9.98789122e-01 7.42453754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.050385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.46, Y:27.29, Z:7.43 [[ 8.65202607e-01 -4.99620019e-01 -4.24768942e-02 1.49461539e+02] [ 4.99003235e-01 8.66244630e-01 -2.48195869e-02 2.72892348e+01] [ 4.91957440e-02 2.77863661e-04 9.98789118e-01 7.42713825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.080385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.49, Y:27.30, Z:7.43 [[ 8.65915589e-01 -4.98382807e-01 -4.24825934e-02 1.49487159e+02] [ 4.97765011e-01 8.66957014e-01 -2.48098784e-02 2.73042507e+01] [ 4.91953991e-02 3.36911894e-04 9.98789116e-01 7.43028753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.110385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.51, Y:27.32, Z:7.44 [[ 8.65684643e-01 -4.98778368e-01 -4.25469022e-02 1.49508125e+02] [ 4.98166425e-01 8.66729545e-01 -2.47003591e-02 2.73196175e+01] [ 4.91966620e-02 1.87283333e-04 9.98789094e-01 7.43613501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.140385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.53, Y:27.33, Z:7.44 [[ 8.66057387e-01 -4.98142069e-01 -4.24155753e-02 1.49532534e+02] [ 4.97518397e-01 8.67095292e-01 -2.49238552e-02 2.73341017e+01] [ 4.91939665e-02 4.82959885e-04 9.98789127e-01 7.43846454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.170385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.56, Y:27.35, Z:7.44 [[ 8.68148985e-01 -4.94488390e-01 -4.24095722e-02 1.49557917e+02] [ 4.93859852e-01 8.69183950e-01 -2.49340658e-02 2.73490023e+01] [ 4.91913255e-02 7.02098881e-04 9.98789127e-01 7.43983312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.200385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.58, Y:27.37, Z:7.44 [[ 8.68474596e-01 -4.93914702e-01 -4.24280982e-02 1.49580571e+02] [ 4.93287018e-01 8.69510080e-01 -2.49025603e-02 2.73650888e+01] [ 4.91913997e-02 6.98010901e-04 9.98789126e-01 7.44105525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.230385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.60, Y:27.38, Z:7.44 [[ 8.69303177e-01 -4.92456906e-01 -4.24049756e-02 1.49603428e+02] [ 4.91825568e-01 8.70336437e-01 -2.49418723e-02 2.73800993e+01] [ 4.91893926e-02 8.26197573e-04 9.98789127e-01 7.44086242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.260385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.63, Y:27.40, Z:7.44 [[ 8.71296836e-01 -4.88921151e-01 -4.24020203e-02 1.49628130e+02] [ 4.88285377e-01 8.72327372e-01 -2.49468955e-02 2.73955668e+01] [ 4.91855077e-02 1.03186465e-03 9.98789127e-01 7.43864559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.290385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.65, Y:27.41, Z:7.44 [[ 8.71933411e-01 -4.87785904e-01 -4.23915032e-02 1.49651828e+02] [ 4.87147920e-01 8.72962579e-01 -2.49647623e-02 2.74112501e+01] [ 4.91836552e-02 1.11667774e-03 9.98789127e-01 7.44050975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.32038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.68, Y:27.43, Z:7.44 [[ 8.72426090e-01 -4.86903910e-01 -4.23945863e-02 1.49675461e+02] [ 4.86265140e-01 8.73454771e-01 -2.49595256e-02 2.74258270e+01] [ 4.91826443e-02 1.16033193e-03 9.98789127e-01 7.44195262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.35038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.70, Y:27.44, Z:7.44 [[ 8.73475120e-01 -4.85020100e-01 -4.23877054e-02 1.49698152e+02] [ 4.84378545e-01 8.74502066e-01 -2.49712057e-02 2.74409998e+01] [ 4.91796727e-02 1.28003179e-03 9.98789128e-01 7.44240815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.38038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.72, Y:27.46, Z:7.44 [[ 8.73809835e-01 -4.84417083e-01 -4.23847052e-02 1.49722149e+02] [ 4.83774572e-01 8.74836184e-01 -2.49762971e-02 2.74562120e+01] [ 4.91786187e-02 1.31989144e-03 9.98789128e-01 7.44341479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.41038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.75, Y:27.47, Z:7.44 [[ 8.73919092e-01 -4.84220315e-01 -4.23805058e-02 1.49745811e+02] [ 4.83577228e-01 8.74945080e-01 -2.49834207e-02 2.74710120e+01] [ 4.91780949e-02 1.33924081e-03 9.98789128e-01 7.44445725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.44038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.77, Y:27.49, Z:7.45 [[ 8.73742408e-01 -4.84539646e-01 -4.23737602e-02 1.49769939e+02] [ 4.83896380e-01 8.74768284e-01 -2.49948564e-02 2.74866455e+01] [ 4.91782204e-02 1.33455688e-03 9.98789128e-01 7.44628713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.47038572300002 meters Centerline goodness : 0.998112 Centerline is valid? [True, True] Translation: X:149.79, Y:27.50, Z:7.45 [[ 8.73457699e-01 -4.85053216e-01 -4.23677466e-02 1.49793819e+02] [ 4.84410060e-01 8.74483643e-01 -2.50050458e-02 2.75005297e+01] [ 4.91786793e-02 1.31748712e-03 9.98789128e-01 7.44603838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.500385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.82, Y:27.52, Z:7.45 [[ 8.72746465e-01 -4.86337494e-01 -4.23018915e-02 1.49818618e+02] [ 4.85690443e-01 8.73769965e-01 -2.51165544e-02 2.75156717e+01] [ 4.91772444e-02 1.37475967e-03 9.98789121e-01 7.44853186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.530385723 meters Centerline goodness : 0.999887 Centerline is valid? [True, True] Translation: X:149.82, Y:27.53, Z:7.44 [[ 8.66776785e-01 -4.96896529e-01 -4.23301937e-02 1.49822778e+02] [ 4.96264290e-01 8.67809494e-01 -2.50686211e-02 2.75338001e+01] [ 4.91910548e-02 7.21935216e-04 9.98789126e-01 7.44096909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.560385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.87, Y:27.54, Z:7.45 [[ 8.72939161e-01 -4.86079909e-01 -4.12740052e-02 1.49870078e+02] [ 4.85348837e-01 8.73907668e-01 -2.68680827e-02 2.75414859e+01] [ 4.91297048e-02 3.42191114e-03 9.98786545e-01 7.45153379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.590385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.90, Y:27.56, Z:7.46 [[ 8.72152467e-01 -4.87387477e-01 -4.24678878e-02 1.49895414e+02] [ 4.86755770e-01 8.73185253e-01 -2.48260808e-02 2.75552550e+01] [ 4.91822542e-02 9.80638131e-04 9.98789339e-01 7.45536572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.620385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.92, Y:27.57, Z:7.46 [[ 8.72025828e-01 -4.87614514e-01 -4.24622418e-02 1.49920020e+02] [ 4.86982606e-01 8.73058490e-01 -2.48357340e-02 2.75697529e+01] [ 4.91822850e-02 9.79028308e-04 9.98789339e-01 7.45676756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.650385723 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:149.92, Y:27.59, Z:7.45 [[ 8.63015180e-01 -5.03390809e-01 -4.24557789e-02 1.49919665e+02] [ 5.02777241e-01 8.64058843e-01 -2.48467770e-02 2.75919693e+01] [ 4.91919304e-02 9.73463749e-05 9.98789339e-01 7.44988344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.680385723 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:149.95, Y:27.61, Z:7.45 [[ 8.63843194e-01 -5.02071567e-01 -4.12198780e-02 1.49946337e+02] [ 5.01354570e-01 8.64822124e-01 -2.69497533e-02 2.76069243e+01] [ 4.91785673e-02 2.61458679e-03 9.98786580e-01 7.44989573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.710385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.98, Y:27.62, Z:7.45 [[ 8.66466141e-01 -4.97523758e-01 -4.13102552e-02 1.49977297e+02] [ 4.96808943e-01 8.67446165e-01 -2.67959803e-02 2.76184775e+01] [ 4.91660593e-02 2.69450540e-03 9.98786983e-01 7.45171337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.740385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.02, Y:27.63, Z:7.46 [[ 8.71309590e-01 -4.88961146e-01 -4.16724829e-02 1.50015903e+02] [ 4.88266061e-01 8.72302089e-01 -2.61785881e-02 2.76290699e+01] [ 4.91513063e-02 2.46239576e-03 9.98788309e-01 7.45849199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.770385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.04, Y:27.64, Z:7.46 [[ 8.71477988e-01 -4.88593783e-01 -4.24526936e-02 1.50040249e+02] [ 4.87962560e-01 8.72510881e-01 -2.48455885e-02 2.76443542e+01] [ 4.91798371e-02 9.37058406e-04 9.98789500e-01 7.45737811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.800385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.06, Y:27.66, Z:7.46 [[ 8.71373611e-01 -4.88780433e-01 -4.24466578e-02 1.50064097e+02] [ 4.88148929e-01 8.72406332e-01 -2.48558959e-02 2.76586981e+01] [ 4.91798086e-02 9.38481190e-04 9.98789500e-01 7.45733525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.830385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.08, Y:27.68, Z:7.45 [[ 8.68014430e-01 -4.94721550e-01 -4.24445229e-02 1.50079288e+02] [ 4.94096937e-01 8.69051333e-01 -2.48595409e-02 2.76756445e+01] [ 4.91850198e-02 6.06731435e-04 9.98789500e-01 7.44952318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.860385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.11, Y:27.69, Z:7.46 [[ 8.68723149e-01 -4.93521382e-01 -4.19134234e-02 1.50113907e+02] [ 4.92851438e-01 8.69731953e-01 -2.57641120e-02 2.76868272e+01] [ 4.91685838e-02 1.72478950e-03 9.98789004e-01 7.46139652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.890385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.14, Y:27.70, Z:7.46 [[ 8.68060441e-01 -4.94641936e-01 -4.24314161e-02 1.50138420e+02] [ 4.94016191e-01 8.69096629e-01 -2.48807839e-02 2.77001296e+01] [ 4.91840798e-02 6.36217763e-04 9.98789528e-01 7.46121141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.920385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.16, Y:27.71, Z:7.47 [[ 8.65179650e-01 -4.99664219e-01 -4.24245436e-02 1.50162089e+02] [ 4.99043915e-01 8.66219103e-01 -2.48924968e-02 2.77139241e+01] [ 4.91868401e-02 3.64771395e-04 9.98789528e-01 7.46664923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.950385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.18, Y:27.73, Z:7.46 [[ 8.61078001e-01 -5.06700137e-01 -4.24222558e-02 1.50177047e+02] [ 5.06088134e-01 8.62122364e-01 -2.48963950e-02 2.77308405e+01] [ 4.91881822e-02 -3.16622215e-05 9.98789528e-01 7.46109276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.980385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.20, Y:27.74, Z:7.47 [[ 8.60287820e-01 -5.08074769e-01 -4.20106748e-02 1.50202957e+02] [ 5.07429958e-01 8.61312680e-01 -2.55989315e-02 2.77437048e+01] [ 4.91904981e-02 7.04974055e-04 9.98789166e-01 7.46700062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.010385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.23, Y:27.75, Z:7.47 [[ 8.62551469e-01 -5.04216436e-01 -4.20802810e-02 1.50234605e+02] [ 5.03572830e-01 8.63576960e-01 -2.54801729e-02 2.77544128e+01] [ 4.91870831e-02 7.87474380e-04 9.98789272e-01 7.47412165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.040385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.26, Y:27.77, Z:7.48 [[ 8.61746270e-01 -5.05560866e-01 -4.24449971e-02 1.50257661e+02] [ 5.04949400e-01 8.62790943e-01 -2.48574319e-02 2.77687298e+01] [ 4.91881038e-02 -1.17766210e-05 9.98789533e-01 7.47509760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.07038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.28, Y:27.78, Z:7.48 [[ 8.61525582e-01 -5.05937241e-01 -4.24403040e-02 1.50281808e+02] [ 5.05325838e-01 8.62570291e-01 -2.48654419e-02 2.77840920e+01] [ 4.91880985e-02 -2.39678624e-05 9.98789533e-01 7.47555320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.10038572300002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:150.31, Y:27.80, Z:7.48 [[ 8.61499873e-01 -5.05981591e-01 -4.24334597e-02 1.50306125e+02] [ 5.05369666e-01 8.62544277e-01 -2.48771164e-02 2.77997300e+01] [ 4.91881008e-02 -1.29507728e-05 9.98789533e-01 7.47613270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.13038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.33, Y:27.81, Z:7.48 [[ 8.62018357e-01 -5.05090954e-01 -4.25144750e-02 1.50329476e+02] [ 5.04484759e-01 8.63066112e-01 -2.47389298e-02 2.78139555e+01] [ 4.91882123e-02 -1.22493036e-04 9.98789520e-01 7.47701430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.16038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.35, Y:27.83, Z:7.48 [[ 8.62065025e-01 -5.05018897e-01 -4.24241344e-02 1.50353524e+02] [ 5.04405029e-01 8.63108284e-01 -2.48928957e-02 2.78287726e+01] [ 4.91880046e-02 6.03480174e-05 9.98789536e-01 7.47753676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.19038572300002 meters Centerline goodness : 0.999865 Centerline is valid? [True, True] Translation: X:150.38, Y:27.84, Z:7.48 [[ 8.62001654e-01 -5.05127621e-01 -4.24173904e-02 1.50378339e+02] [ 5.04513320e-01 8.63044658e-01 -2.49043822e-02 2.78447198e+01] [ 4.91879935e-02 6.74801592e-05 9.98789536e-01 7.47553337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.22038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.40, Y:27.86, Z:7.48 [[ 8.61781247e-01 -5.05504023e-01 -4.24118624e-02 1.50401249e+02] [ 5.04889714e-01 8.62824246e-01 -2.49137928e-02 2.78588546e+01] [ 4.91880057e-02 5.69263559e-05 9.98789536e-01 7.47520431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.250385723 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:150.43, Y:27.87, Z:7.48 [[ 8.61652482e-01 -5.05723725e-01 -4.24088873e-02 1.50425534e+02] [ 5.05109433e-01 8.62695492e-01 -2.49188560e-02 2.78735499e+01] [ 4.91880126e-02 5.02651310e-05 9.98789536e-01 7.47741344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.280385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.44, Y:27.89, Z:7.47 [[ 8.58779631e-01 -5.10587518e-01 -4.24020300e-02 1.50444734e+02] [ 5.09978557e-01 8.59825762e-01 -2.49305191e-02 2.78914700e+01] [ 4.91875696e-02 -2.14304085e-04 9.98789536e-01 7.47378686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.310385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.47, Y:27.91, Z:7.47 [[ 8.58518794e-01 -5.11048513e-01 -4.21295407e-02 1.50468438e+02] [ 5.10417330e-01 8.59551819e-01 -2.53933033e-02 2.79057278e+01] [ 4.91897332e-02 2.96980473e-04 9.98789408e-01 7.47485342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.340385723 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:150.49, Y:27.92, Z:7.48 [[ 8.58652814e-01 -5.10821897e-01 -4.21465958e-02 1.50492749e+02] [ 5.10191862e-01 8.59686520e-01 -2.53643642e-02 2.79200090e+01] [ 4.91895329e-02 2.76332484e-04 9.98789424e-01 7.47730275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.370385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:150.52, Y:27.93, Z:7.49 [[ 8.61206085e-01 -5.06505214e-01 -4.21491162e-02 1.50521465e+02] [ 5.05870207e-01 8.62236742e-01 -2.53600877e-02 2.79320957e+01] [ 4.91875333e-02 5.18279698e-04 9.98789426e-01 7.48749901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.400385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.54, Y:27.95, Z:7.48 [[ 8.59830739e-01 -5.08817304e-01 -4.23798381e-02 1.50541271e+02] [ 5.08204318e-01 8.60874524e-01 -2.49684857e-02 2.79498359e+01] [ 4.91881206e-02 -6.89452467e-05 9.98789529e-01 7.48413529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.430385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:150.57, Y:27.96, Z:7.49 [[ 8.60474819e-01 -5.07743629e-01 -4.21840231e-02 1.50566339e+02] [ 5.07113018e-01 8.61508133e-01 -2.53006591e-02 2.79644746e+01] [ 4.91881275e-02 3.78512811e-04 9.98789460e-01 7.48610143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.460385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.59, Y:27.98, Z:7.49 [[ 8.62971119e-01 -5.03485988e-01 -4.22221187e-02 1.50594976e+02] [ 5.02853437e-01 8.64003218e-01 -2.52360736e-02 2.79780584e+01] [ 4.91860559e-02 5.46465161e-04 9.98789484e-01 7.49394606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.490385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.62, Y:27.99, Z:7.49 [[ 8.64147672e-01 -5.01439877e-01 -4.25070744e-02 1.50616566e+02] [ 5.00828587e-01 8.65192487e-01 -2.47525137e-02 2.79928344e+01] [ 4.91886988e-02 1.01069093e-04 9.98789498e-01 7.49491479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.520385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.64, Y:28.01, Z:7.49 [[ 8.64329669e-01 -5.01137974e-01 -4.23669049e-02 1.50639257e+02] [ 5.00514652e-01 8.65367307e-01 -2.49901529e-02 2.80102387e+01] [ 4.91864490e-02 3.94473893e-04 9.98789536e-01 7.49074997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.550385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:150.66, Y:28.03, Z:7.49 [[ 8.64141303e-01 -5.01464335e-01 -4.23477105e-02 1.50661691e+02] [ 5.00839811e-01 8.65178218e-01 -2.50226754e-02 2.80251964e+01] [ 4.91862960e-02 4.13708081e-04 9.98789536e-01 7.49170506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.580385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.69, Y:28.04, Z:7.49 [[ 8.65182443e-01 -4.99676020e-01 -4.22281260e-02 1.50687545e+02] [ 4.99039457e-01 8.66212047e-01 -2.52251752e-02 2.80394864e+01] [ 4.91829266e-02 7.50877629e-04 9.98789505e-01 7.49444530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.610385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.71, Y:28.06, Z:7.50 [[ 8.65435995e-01 -4.99226888e-01 -4.23444483e-02 1.50709322e+02] [ 4.98599411e-01 8.66471127e-01 -2.50282395e-02 2.80552965e+01] [ 4.91850120e-02 5.47422315e-04 9.98789535e-01 7.49714115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.640385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:150.73, Y:28.07, Z:7.50 [[ 8.67031960e-01 -4.96455557e-01 -4.22783772e-02 1.50733851e+02] [ 4.95819318e-01 8.68061739e-01 -2.51400166e-02 2.80692108e+01] [ 4.91811426e-02 8.34761753e-04 9.98789527e-01 7.50248461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.670385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.76, Y:28.09, Z:7.50 [[ 8.65350498e-01 -4.99375248e-01 -4.23423836e-02 1.50755994e+02] [ 4.98747776e-01 8.66385634e-01 -2.50317475e-02 2.80851365e+01] [ 4.91850680e-02 5.43065548e-04 9.98789534e-01 7.50064303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.700385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:150.78, Y:28.10, Z:7.51 [[ 8.66730652e-01 -4.96984726e-01 -4.22393036e-02 1.50781730e+02] [ 4.96345901e-01 8.67758840e-01 -2.52059846e-02 2.80982647e+01] [ 4.91805184e-02 8.81494232e-04 9.98789517e-01 7.50550388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.730385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:150.80, Y:28.11, Z:7.51 [[ 8.64394287e-01 -5.01029317e-01 -4.23336694e-02 1.50801902e+02] [ 5.00403105e-01 8.65430186e-01 -2.50464888e-02 2.81139375e+01] [ 4.91858605e-02 4.66142233e-04 9.98789534e-01 7.50555316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.760385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.83, Y:28.13, Z:7.51 [[ 8.64808369e-01 -5.00334651e-01 -4.20918227e-02 1.50827047e+02] [ 4.99687672e-01 8.65831551e-01 -2.54549796e-02 2.81290059e+01] [ 4.91804364e-02 9.80914516e-04 9.98789429e-01 7.50744144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.790385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:150.85, Y:28.15, Z:7.51 [[ 8.65110601e-01 -4.99807154e-01 -4.21480279e-02 1.50849897e+02] [ 4.99164173e-01 8.66136247e-01 -2.53600238e-02 2.81456170e+01] [ 4.91810560e-02 9.00439929e-04 9.98789474e-01 7.50760088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.82038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.87, Y:28.16, Z:7.51 [[ 8.65221498e-01 -4.99620273e-01 -4.20873138e-02 1.50873013e+02] [ 4.98972081e-01 8.66243915e-01 -2.54625563e-02 2.81612206e+01] [ 4.91794888e-02 1.03035654e-03 9.98789425e-01 7.50827943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.85038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.90, Y:28.17, Z:7.51 [[ 8.68187641e-01 -4.94453695e-01 -4.20209924e-02 1.50902175e+02] [ 4.93793998e-01 8.69202755e-01 -2.55745527e-02 2.81743154e+01] [ 4.91701945e-02 1.45379675e-03 9.98789356e-01 7.51278597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.88038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.93, Y:28.19, Z:7.51 [[ 8.68112914e-01 -4.94558497e-01 -4.23303988e-02 1.50926815e+02] [ 4.93924307e-01 8.69143940e-01 -2.50517611e-02 2.81886032e+01] [ 4.91807709e-02 8.39744451e-04 9.98789541e-01 7.51428992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.91038572300002 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:150.94, Y:28.21, Z:7.51 [[ 8.64813482e-01 -5.00306268e-01 -4.23235246e-02 1.50944005e+02] [ 4.99678363e-01 8.65848347e-01 -2.50633693e-02 2.82052210e+01] [ 4.91851146e-02 5.26990170e-04 9.98789541e-01 7.51300177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.94038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.97, Y:28.22, Z:7.51 [[ 8.63917795e-01 -5.01885910e-01 -4.19115477e-02 1.50967480e+02] [ 5.01226028e-01 8.64932935e-01 -2.57582540e-02 2.82200436e+01] [ 4.91783827e-02 1.24585542e-03 9.98789234e-01 7.51381738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.97038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.99, Y:28.23, Z:7.51 [[ 8.63983742e-01 -5.01771466e-01 -4.19224183e-02 1.50991221e+02] [ 5.01112339e-01 8.64999353e-01 -2.57399106e-02 2.82344769e+01] [ 4.91784174e-02 1.23102323e-03 9.98789251e-01 7.51448253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.000385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:151.02, Y:28.25, Z:7.52 [[ 8.65550155e-01 -4.99066754e-01 -4.18963522e-02 1.51022984e+02] [ 4.98402326e-01 8.66562354e-01 -2.57838793e-02 2.82464616e+01] [ 4.91736785e-02 1.43600131e-03 9.98789211e-01 7.51908863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.030385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:151.04, Y:28.26, Z:7.52 [[ 8.62226405e-01 -5.04751792e-01 -4.23232198e-02 1.51038162e+02] [ 5.04129238e-01 8.63264475e-01 -2.50630753e-02 2.82626976e+01] [ 4.91867643e-02 2.73672710e-04 9.98789561e-01 7.51765366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.060385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.06, Y:28.28, Z:7.52 [[ 8.62446392e-01 -5.04413737e-01 -4.18688755e-02 1.51062695e+02] [ 5.03753317e-01 8.63461276e-01 -2.58305903e-02 2.82778315e+01] [ 4.91814573e-02 1.18591449e-03 9.98789156e-01 7.52013116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.090385723 meters Centerline goodness : 0.993760 Centerline is valid? [True, True] Translation: X:151.09, Y:28.29, Z:7.52 [[ 8.63916457e-01 -5.01894149e-01 -4.18404036e-02 1.51094550e+02] [ 5.01228465e-01 8.64927942e-01 -2.58781896e-02 2.82942177e+01] [ 4.91770461e-02 1.38499258e-03 9.98789117e-01 7.52008555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.120385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.11, Y:28.31, Z:7.52 [[ 8.62775872e-01 -5.03804352e-01 -4.24142623e-02 1.51110603e+02] [ 5.03187810e-01 8.63817776e-01 -2.49174073e-02 2.83068043e+01] [ 4.91916920e-02 1.55798049e-04 9.98789344e-01 7.52232282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.150385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.14, Y:28.32, Z:7.53 [[ 8.63356495e-01 -5.02855990e-01 -4.18499143e-02 1.51135056e+02] [ 5.02191822e-01 8.64369201e-01 -2.58700335e-02 2.83204997e+01] [ 4.91826783e-02 1.31837676e-03 9.98788930e-01 7.52525141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.180385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.17, Y:28.33, Z:7.53 [[ 8.66170851e-01 -4.97989614e-01 -4.18855818e-02 1.51167552e+02] [ 4.97322665e-01 8.67181653e-01 -2.58098542e-02 2.83324082e+01] [ 4.91754473e-02 1.52509421e-03 9.98788991e-01 7.52963879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.210385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:151.18, Y:28.35, Z:7.53 [[ 8.63554055e-01 -5.02476215e-01 -4.23325838e-02 1.51180389e+02] [ 5.01851337e-01 8.64590944e-01 -2.50546318e-02 2.83491597e+01] [ 4.91897251e-02 3.91365119e-04 9.98789376e-01 7.52790204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.240385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:151.21, Y:28.36, Z:7.53 [[ 8.64461319e-01 -5.00958049e-01 -4.18050370e-02 1.51205923e+02] [ 5.00287987e-01 8.65470241e-01 -2.59459342e-02 2.83638307e+01] [ 4.91788400e-02 1.51469869e-03 9.98788840e-01 7.52906848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.270385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.24, Y:28.38, Z:7.53 [[ 8.67177548e-01 -4.96234853e-01 -4.18816185e-02 1.51239546e+02] [ 4.95565536e-01 8.68186792e-01 -2.58165365e-02 2.83761084e+01] [ 4.91721332e-02 1.63243404e-03 9.98788985e-01 7.53342100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.300385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.26, Y:28.39, Z:7.53 [[ 8.66697776e-01 -4.97032941e-01 -4.23464349e-02 1.51263020e+02] [ 4.96402746e-01 8.67731412e-01 -2.50301939e-02 2.83915945e+01] [ 4.91861626e-02 6.72726825e-04 9.98789402e-01 7.53088840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.330385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.29, Y:28.40, Z:7.54 [[ 8.67049908e-01 -4.96426733e-01 -4.22487392e-02 1.51289901e+02] [ 4.95787760e-01 8.68078159e-01 -2.51953583e-02 2.84039641e+01] [ 4.91828571e-02 8.99225308e-04 9.98789386e-01 7.53657965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.360385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.31, Y:28.42, Z:7.54 [[ 8.66266932e-01 -4.97784087e-01 -4.23391790e-02 1.51314447e+02] [ 4.97154189e-01 8.67300748e-01 -2.50424536e-02 2.84165612e+01] [ 4.91865365e-02 6.44349274e-04 9.98789402e-01 7.54042540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.390385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.33, Y:28.43, Z:7.54 [[ 8.63645362e-01 -5.02319298e-01 -4.23321535e-02 1.51329532e+02] [ 5.01694247e-01 8.64682117e-01 -2.50543240e-02 2.84316928e+01] [ 4.91891265e-02 4.00252856e-04 9.98789402e-01 7.53866725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.420385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.35, Y:28.45, Z:7.54 [[ 8.63557332e-01 -5.02502629e-01 -4.19504873e-02 1.51353364e+02] [ 5.01846330e-01 8.64574929e-01 -2.56992699e-02 2.84458121e+01] [ 4.91832902e-02 1.14009486e-03 9.98789119e-01 7.54047388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.450385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.39, Y:28.46, Z:7.54 [[ 8.65537806e-01 -4.99086236e-01 -4.19194018e-02 1.51386184e+02] [ 4.98423377e-01 8.66551200e-01 -2.57518149e-02 2.84592073e+01] [ 4.91776843e-02 1.39555963e-03 9.98789071e-01 7.54253217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.480385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.41, Y:28.47, Z:7.55 [[ 8.65559583e-01 -4.99015430e-01 -4.23108501e-02 1.51411793e+02] [ 4.98384707e-01 8.66592871e-01 -2.50894332e-02 2.84715153e+01] [ 4.91862954e-02 6.29318744e-04 9.98789423e-01 7.54868616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.510385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.44, Y:28.49, Z:7.55 [[ 8.65773556e-01 -4.98640931e-01 -4.23482285e-02 1.51436071e+02] [ 4.98012852e-01 8.66808450e-01 -2.50261835e-02 2.84852162e+01] [ 4.91868817e-02 5.77045777e-04 9.98789426e-01 7.55132043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.540385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.45, Y:28.50, Z:7.55 [[ 8.64245222e-01 -5.01285352e-01 -4.23460987e-02 1.51454049e+02] [ 5.00660263e-01 8.65281925e-01 -2.50297866e-02 2.85014624e+01] [ 4.91883793e-02 4.30864563e-04 9.98789426e-01 7.55067572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.57038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.48, Y:28.52, Z:7.55 [[ 8.64271298e-01 -5.01264875e-01 -4.20553021e-02 1.51477542e+02] [ 5.00615769e-01 8.65293313e-01 -2.55212436e-02 2.85156620e+01] [ 4.91830746e-02 1.00373092e-03 9.98789276e-01 7.55179804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.60038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.51, Y:28.53, Z:7.55 [[ 8.66786102e-01 -4.96904213e-01 -4.20482556e-02 1.51506807e+02] [ 4.96249389e-01 8.67804472e-01 -2.55331504e-02 2.85292896e+01] [ 4.91771943e-02 1.26535876e-03 9.98789268e-01 7.55470139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.63038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.53, Y:28.54, Z:7.56 [[ 8.67051140e-01 -4.96416839e-01 -4.23396059e-02 1.51530990e+02] [ 4.95785405e-01 8.68083984e-01 -2.50405387e-02 2.85428285e+01] [ 4.91848789e-02 7.20068939e-04 9.98789432e-01 7.55670430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.66038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.55, Y:28.56, Z:7.56 [[ 8.66076248e-01 -4.98116336e-01 -4.23325938e-02 1.51550344e+02] [ 4.97486350e-01 8.67109975e-01 -2.50523875e-02 2.85572456e+01] [ 4.91860179e-02 6.37390196e-04 9.98789432e-01 7.55628456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.69038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.57, Y:28.57, Z:7.56 [[ 8.66092426e-01 -4.98108564e-01 -4.20923800e-02 1.51573555e+02] [ 4.97458817e-01 8.67113964e-01 -2.54577667e-02 2.85720695e+01] [ 4.91796221e-02 1.10955338e-03 9.98789334e-01 7.55819632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.72038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.60, Y:28.59, Z:7.56 [[ 8.67064803e-01 -4.96414295e-01 -4.20888948e-02 1.51597074e+02] [ 4.95762266e-01 8.68084891e-01 -2.54636578e-02 2.85860179e+01] [ 4.91772574e-02 1.21255552e-03 9.98789331e-01 7.56109182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.750385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.63, Y:28.60, Z:7.56 [[ 8.69071079e-01 -4.92894123e-01 -4.20813978e-02 1.51625639e+02] [ 4.92237350e-01 8.70088127e-01 -2.54763248e-02 2.85985953e+01] [ 4.91716554e-02 1.42670134e-03 9.98789324e-01 7.56370416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.780385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.65, Y:28.61, Z:7.56 [[ 8.67340632e-01 -4.95911106e-01 -4.23367800e-02 1.51645286e+02] [ 4.95278871e-01 8.68372965e-01 -2.50446252e-02 2.86139785e+01] [ 4.91840230e-02 7.53708439e-04 9.98789449e-01 7.56259216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.810385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.68, Y:28.63, Z:7.57 [[ 8.69198694e-01 -4.92671877e-01 -4.20482029e-02 1.51675124e+02] [ 4.92012149e-01 8.70213858e-01 -2.55320527e-02 2.86257240e+01] [ 4.91698532e-02 1.50420017e-03 9.98789299e-01 7.56612282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.840385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.70, Y:28.64, Z:7.57 [[ 8.66739928e-01 -4.96960456e-01 -4.23344077e-02 1.51696086e+02] [ 4.96329289e-01 8.67772906e-01 -2.50483511e-02 2.86402095e+01] [ 4.91846920e-02 6.98599578e-04 9.98789456e-01 7.56668341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.870385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.72, Y:28.65, Z:7.57 [[ 8.66199798e-01 -4.97920615e-01 -4.21066605e-02 1.51720518e+02] [ 4.97271855e-01 8.67221926e-01 -2.54329174e-02 2.86540286e+01] [ 4.91793931e-02 1.09153076e-03 9.98789365e-01 7.56869870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.900385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.75, Y:28.67, Z:7.57 [[ 8.66660378e-01 -4.97119388e-01 -4.20963566e-02 1.51750012e+02] [ 4.96468838e-01 8.67681379e-01 -2.54503058e-02 2.86656414e+01] [ 4.91780651e-02 1.15724240e-03 9.98789357e-01 7.56908030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.930385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.77, Y:28.68, Z:7.57 [[ 8.66109431e-01 -4.98059540e-01 -4.23219450e-02 1.51774733e+02] [ 4.97428652e-01 8.67142582e-01 -2.50694801e-02 2.86789500e+01] [ 4.91852544e-02 6.60765090e-04 9.98789454e-01 7.57248474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.960385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.80, Y:28.69, Z:7.57 [[ 8.64933073e-01 -5.00100214e-01 -4.23149528e-02 1.51799836e+02] [ 4.99471186e-01 8.65967357e-01 -2.50812767e-02 2.86923238e+01] [ 4.91865197e-02 5.58526082e-04 9.98789454e-01 7.57404867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.990385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.82, Y:28.71, Z:7.58 [[ 8.64577700e-01 -5.00714926e-01 -4.23079741e-02 1.51823555e+02] [ 5.00086057e-01 8.65612081e-01 -2.50930430e-02 2.87058731e+01] [ 4.91867547e-02 5.37257428e-04 9.98789455e-01 7.57500818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.020385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.85, Y:28.72, Z:7.58 [[ 8.64439098e-01 -5.00954427e-01 -4.23049489e-02 1.51848134e+02] [ 5.00325596e-01 8.65473501e-01 -2.50981423e-02 2.87190825e+01] [ 4.91868377e-02 5.29566774e-04 9.98789455e-01 7.57741654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.050385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:151.87, Y:28.73, Z:7.58 [[ 8.64502003e-01 -5.00846464e-01 -4.22978334e-02 1.51871087e+02] [ 5.00216917e-01 8.65535971e-01 -2.51101284e-02 2.87327306e+01] [ 4.91866153e-02 5.49664451e-04 9.98789455e-01 7.57793694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.080385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.90, Y:28.75, Z:7.58 [[ 8.64399486e-01 -5.01023633e-01 -4.22947616e-02 1.51895451e+02] [ 5.00394045e-01 8.65433430e-01 -2.51153013e-02 2.87472668e+01] [ 4.91866601e-02 5.45606636e-04 9.98789455e-01 7.57915384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.110385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.92, Y:28.76, Z:7.58 [[ 8.64128212e-01 -5.01491954e-01 -4.22877362e-02 1.51919820e+02] [ 5.00862348e-01 8.65162144e-01 -2.51271246e-02 2.87610326e+01] [ 4.91867994e-02 5.32722448e-04 9.98789455e-01 7.57895880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.140385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.95, Y:28.77, Z:7.58 [[ 8.63080926e-01 -5.03292811e-01 -4.22807390e-02 1.51945643e+02] [ 5.02664786e-01 8.64115819e-01 -2.51388932e-02 2.87739448e+01] [ 4.91876797e-02 4.43860685e-04 9.98789455e-01 7.58082875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.170385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.97, Y:28.79, Z:7.58 [[ 8.62944176e-01 -5.03524307e-01 -4.23157438e-02 1.51969190e+02] [ 5.02899443e-01 8.63980984e-01 -2.50800493e-02 2.87863221e+01] [ 4.91884124e-02 3.62118448e-04 9.98789452e-01 7.58240658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.200385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.99, Y:28.80, Z:7.58 [[ 8.62494663e-01 -5.04297770e-01 -4.22695495e-02 1.51993168e+02] [ 5.03670031e-01 8.63529729e-01 -2.51576648e-02 2.87994085e+01] [ 4.91879668e-02 4.08446338e-04 9.98789456e-01 7.58345101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.230385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.02, Y:28.81, Z:7.59 [[ 8.61183910e-01 -5.06533137e-01 -4.22664593e-02 1.52017792e+02] [ 5.05907830e-01 8.62220447e-01 -2.51628555e-02 2.88123281e+01] [ 4.91888255e-02 2.86913581e-04 9.98789456e-01 7.58529332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.260385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.04, Y:28.83, Z:7.59 [[ 8.60022526e-01 -5.08503094e-01 -4.22594129e-02 1.52041569e+02] [ 5.07879580e-01 8.61060142e-01 -2.51746838e-02 2.88251811e+01] [ 4.91893007e-02 1.88102291e-04 9.98789456e-01 7.58652325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.290385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.07, Y:28.84, Z:7.59 [[ 8.59573432e-01 -5.09262130e-01 -4.22563452e-02 1.52066089e+02] [ 5.08639279e-01 8.60611446e-01 -2.51798319e-02 2.88384839e+01] [ 4.91894292e-02 1.50677562e-04 9.98789456e-01 7.58775108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.32038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.09, Y:28.85, Z:7.59 [[ 8.59301638e-01 -5.09721184e-01 -4.22493813e-02 1.52089935e+02] [ 5.09098312e-01 8.60339640e-01 -2.51915114e-02 2.88517657e+01] [ 4.91894645e-02 1.38018327e-04 9.98789456e-01 7.58884966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.35038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.12, Y:28.86, Z:7.59 [[ 8.58764477e-01 -5.10625908e-01 -4.22463545e-02 1.52115258e+02] [ 5.10003881e-01 8.59802985e-01 -2.51965862e-02 2.88647342e+01] [ 4.91895715e-02 9.21284381e-05 9.98789456e-01 7.59056850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.38038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.14, Y:28.88, Z:7.59 [[ 8.58725204e-01 -5.10692527e-01 -4.22393859e-02 1.52138760e+02] [ 5.10070006e-01 8.59763416e-01 -2.52082630e-02 2.88780636e+01] [ 4.91895503e-02 1.01926949e-04 9.98789456e-01 7.59159108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.41038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.16, Y:28.89, Z:7.59 [[ 8.59212785e-01 -5.09872022e-01 -4.22363702e-02 1.52163677e+02] [ 5.09248261e-01 8.60250253e-01 -2.52133147e-02 2.88915955e+01] [ 4.91894119e-02 1.54804265e-04 9.98789456e-01 7.59401623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.44038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.19, Y:28.91, Z:7.60 [[ 8.60519218e-01 -5.07664601e-01 -4.22294788e-02 1.52187019e+02] [ 5.07037613e-01 8.61554738e-01 -2.52248518e-02 2.89060546e+01] [ 4.91887719e-02 2.94535627e-04 9.98789456e-01 7.59600433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.47038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.21, Y:28.92, Z:7.60 [[ 8.61318248e-01 -5.06308027e-01 -4.22262693e-02 1.52210839e+02] [ 5.05679145e-01 8.62352618e-01 -2.52302234e-02 2.89210573e+01] [ 4.91881985e-02 3.78308019e-04 9.98789456e-01 7.59808995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.500385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:152.24, Y:28.94, Z:7.60 [[ 8.62861087e-01 -5.03674763e-01 -4.22193969e-02 1.52238056e+02] [ 5.03042161e-01 8.63893188e-01 -2.52417183e-02 2.89384315e+01] [ 4.91866658e-02 5.41959835e-04 9.98789456e-01 7.59516154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.530385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.26, Y:28.95, Z:7.60 [[ 8.64172071e-01 -5.01406398e-01 -4.24058404e-02 1.52258737e+02] [ 5.00786361e-01 8.65211841e-01 -2.49297271e-02 2.89527323e+01] [ 4.91899599e-02 3.07307426e-04 9.98789394e-01 7.59985066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.560385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.28, Y:28.97, Z:7.60 [[ 8.65314634e-01 -4.99448534e-01 -4.22107388e-02 1.52281674e+02] [ 4.98810205e-01 8.66343190e-01 -2.52558127e-02 2.89673701e+01] [ 4.91829647e-02 7.99077051e-04 9.98789466e-01 7.59996020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.590385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.31, Y:28.98, Z:7.60 [[ 8.67214786e-01 -4.96142137e-01 -4.22077616e-02 1.52309265e+02] [ 4.95499644e-01 8.68240747e-01 -2.52607872e-02 2.89832383e+01] [ 4.91794394e-02 9.92597294e-04 9.98789466e-01 7.59855474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.620385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.33, Y:29.00, Z:7.60 [[ 8.68185315e-01 -4.94425202e-01 -4.24025769e-02 1.52329699e+02] [ 4.93796539e-01 8.69219889e-01 -2.49351613e-02 2.89970313e+01] [ 4.91857353e-02 7.10095159e-04 9.98789397e-01 7.59992675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.650385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.35, Y:29.01, Z:7.60 [[ 8.69037569e-01 -4.92943117e-01 -4.21993662e-02 1.52354325e+02] [ 4.92296185e-01 8.70060726e-01 -2.52744584e-02 2.90123103e+01] [ 4.91748815e-02 1.18986683e-03 9.98789475e-01 7.59948289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.680385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.38, Y:29.03, Z:7.60 [[ 8.68988071e-01 -4.93030886e-01 -4.21933368e-02 1.52377879e+02] [ 4.92383569e-01 8.70010985e-01 -2.52845200e-02 2.90266068e+01] [ 4.91747158e-02 1.19664051e-03 9.98789475e-01 7.60027631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.710385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.40, Y:29.04, Z:7.60 [[ 8.68801499e-01 -4.93359765e-01 -4.21912080e-02 1.52402506e+02] [ 4.92712664e-01 8.69824548e-01 -2.52880717e-02 2.90412617e+01] [ 4.91750655e-02 1.18217208e-03 9.98789475e-01 7.60252103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.740385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.43, Y:29.06, Z:7.60 [[ 8.68486594e-01 -4.93914404e-01 -4.21852680e-02 1.52427321e+02] [ 4.93267475e-01 8.69509753e-01 -2.52979769e-02 2.90556145e+01] [ 4.91755371e-02 1.16233320e-03 9.98789475e-01 7.60484813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.770385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.45, Y:29.07, Z:7.61 [[ 8.68068023e-01 -4.94650188e-01 -4.21793722e-02 1.52452143e+02] [ 4.94003649e-01 8.69091428e-01 -2.53078032e-02 2.90689797e+01] [ 4.91762404e-02 1.13213095e-03 9.98789475e-01 7.60860872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.800385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.48, Y:29.08, Z:7.61 [[ 8.67529138e-01 -4.95594866e-01 -4.21772922e-02 1.52475654e+02] [ 4.94949273e-01 8.68553140e-01 -2.53112691e-02 2.90825332e+01] [ 4.91773546e-02 1.08264334e-03 9.98789475e-01 7.61013350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.830385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:152.50, Y:29.10, Z:7.61 [[ 8.67642471e-01 -4.95396668e-01 -4.21744467e-02 1.52498211e+02] [ 4.94750611e-01 8.68666180e-01 -2.53160095e-02 2.90959747e+01] [ 4.91769823e-02 1.09941173e-03 9.98789475e-01 7.60910364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.860385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.52, Y:29.11, Z:7.61 [[ 8.66127050e-01 -4.98054879e-01 -4.20151241e-02 1.52523900e+02] [ 4.97399083e-01 8.67144598e-01 -2.55811878e-02 2.91120525e+01] [ 4.91740233e-02 1.25827453e-03 9.98789433e-01 7.61153808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.890385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.55, Y:29.13, Z:7.61 [[ 8.65365851e-01 -4.99364701e-01 -4.21525883e-02 1.52547971e+02] [ 4.98721569e-01 8.66391399e-01 -2.53523386e-02 2.91267736e+01] [ 4.91807029e-02 9.16643119e-04 9.98789476e-01 7.61269543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.920385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.57, Y:29.14, Z:7.62 [[ 8.65015247e-01 -4.99969570e-01 -4.21788026e-02 1.52570999e+02] [ 4.99329282e-01 8.66042573e-01 -2.53087140e-02 2.91405062e+01] [ 4.91822255e-02 8.31312284e-04 9.98789476e-01 7.61566450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.950385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:152.60, Y:29.16, Z:7.62 [[ 8.63529669e-01 -5.02532750e-01 -4.21585775e-02 1.52596300e+02] [ 5.01893868e-01 8.64557870e-01 -2.53423597e-02 2.91553131e+01] [ 4.91838956e-02 7.24747994e-04 9.98789477e-01 7.61796604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.980385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:152.62, Y:29.17, Z:7.62 [[ 8.62687632e-01 -5.03977357e-01 -4.21529669e-02 1.52619779e+02] [ 5.03339741e-01 8.63716618e-01 -2.53516886e-02 2.91687775e+01] [ 4.91848950e-02 6.53324774e-04 9.98789477e-01 7.61853068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.010385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.65, Y:29.18, Z:7.62 [[ 8.60531883e-01 -5.07649742e-01 -4.21499474e-02 1.52645509e+02] [ 5.07016272e-01 8.61563426e-01 -2.53567079e-02 2.91829287e+01] [ 4.91871793e-02 4.49546398e-04 9.98789477e-01 7.61950124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.040385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.67, Y:29.20, Z:7.62 [[ 8.60946922e-01 -5.06942822e-01 -4.21826061e-02 1.52668773e+02] [ 5.06311162e-01 8.61979578e-01 -2.53024446e-02 2.91968428e+01] [ 4.91874377e-02 4.26537495e-04 9.98789474e-01 7.62197726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.07038572300002 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:152.69, Y:29.21, Z:7.62 [[ 8.59377101e-01 -5.09612192e-01 -4.20286934e-02 1.52693845e+02] [ 5.08971220e-01 8.60404025e-01 -2.55580148e-02 2.92138056e+01] [ 4.91863329e-02 5.72577313e-04 9.98789456e-01 7.62175690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.10038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.72, Y:29.23, Z:7.62 [[ 8.59087007e-01 -5.10092193e-01 -4.21363116e-02 1.52717458e+02] [ 5.09460545e-01 8.60119667e-01 -2.53793427e-02 2.92284086e+01] [ 4.91880749e-02 3.36275272e-04 9.98789477e-01 7.62346731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.13038572300002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:152.74, Y:29.24, Z:7.62 [[ 8.56835077e-01 -5.13868763e-01 -4.21016048e-02 1.52739208e+02] [ 5.13238835e-01 8.57868789e-01 -2.54369404e-02 2.92447557e+01] [ 4.91889018e-02 1.87084198e-04 9.98789476e-01 7.61804633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.16038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.77, Y:29.26, Z:7.62 [[ 8.58007017e-01 -5.11913677e-01 -4.20517035e-02 1.52768167e+02] [ 5.11277332e-01 8.59036804e-01 -2.55197953e-02 2.92579536e+01] [ 4.91878932e-02 3.96080723e-04 9.98789464e-01 7.62254069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.19038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.79, Y:29.27, Z:7.63 [[ 8.56145932e-01 -5.14995943e-01 -4.23476360e-02 1.52789041e+02] [ 5.14387540e-01 8.57192541e-01 -2.50281017e-02 2.92716567e+01] [ 4.91894485e-02 -3.55388888e-04 9.98789403e-01 7.62914234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.22038572300002 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:152.81, Y:29.29, Z:7.63 [[ 8.54045828e-01 -5.18488883e-01 -4.21307599e-02 1.52812429e+02] [ 5.17866961e-01 8.55084358e-01 -2.53880105e-02 2.92880376e+01] [ 4.91887550e-02 -1.35604167e-04 9.98789491e-01 7.62736148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.250385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.84, Y:29.30, Z:7.63 [[ 8.53475885e-01 -5.19430495e-01 -4.20817487e-02 1.52836542e+02] [ 5.18805709e-01 8.54512698e-01 -2.54692837e-02 2.93021705e+01] [ 4.91889113e-02 -9.48320340e-05 9.98789488e-01 7.63365105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.280385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.86, Y:29.32, Z:7.63 [[ 8.52783143e-01 -5.20563841e-01 -4.21212357e-02 1.52860576e+02] [ 5.19943665e-01 8.53822717e-01 -2.54038119e-02 2.93172636e+01] [ 4.91883738e-02 -2.36727124e-04 9.98789491e-01 7.63498076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.310385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.88, Y:29.33, Z:7.63 [[ 8.51137058e-01 -5.23251466e-01 -4.21142765e-02 1.52883959e+02] [ 5.22634002e-01 8.52178244e-01 -2.54153436e-02 2.93347678e+01] [ 4.91874860e-02 -3.78412139e-04 9.98789491e-01 7.63138569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.340385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.91, Y:29.35, Z:7.63 [[ 8.50535251e-01 -5.24226621e-01 -4.21454259e-02 1.52906061e+02] [ 5.23612906e-01 8.51578654e-01 -2.53637499e-02 2.93514423e+01] [ 4.91864980e-02 -4.95125610e-04 9.98789489e-01 7.63080039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.370385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.93, Y:29.37, Z:7.63 [[ 8.50686286e-01 -5.23986713e-01 -4.20804855e-02 1.52930095e+02] [ 5.23367383e-01 8.51726363e-01 -2.54712439e-02 2.93667251e+01] [ 4.91876523e-02 -3.55515687e-04 9.98789492e-01 7.63011432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.400385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:152.95, Y:29.38, Z:7.63 [[ 8.50246122e-01 -5.24702750e-01 -4.20542147e-02 1.52954740e+02] [ 5.24082146e-01 8.51285442e-01 -2.55147047e-02 2.93829829e+01] [ 4.91877765e-02 -3.46084385e-04 9.98789489e-01 7.63230137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.430385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:152.98, Y:29.40, Z:7.63 [[ 8.50125383e-01 -5.24892333e-01 -4.21292268e-02 1.52978284e+02] [ 5.24278103e-01 8.51168483e-01 -2.53906499e-02 2.93972887e+01] [ 4.91864275e-02 -5.02195167e-04 9.98789489e-01 7.63371883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.460385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.00, Y:29.41, Z:7.64 [[ 8.50532089e-01 -5.24233514e-01 -4.21234985e-02 1.53001226e+02] [ 5.23618006e-01 8.51574435e-01 -2.54001185e-02 2.94131596e+01] [ 4.91868878e-02 -4.53006441e-04 9.98789490e-01 7.64045960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.490385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:153.02, Y:29.43, Z:7.64 [[ 8.49414846e-01 -5.26045543e-01 -4.20773737e-02 1.53021296e+02] [ 5.25428483e-01 8.50456270e-01 -2.54763000e-02 2.94309659e+01] [ 4.91866603e-02 -4.68703196e-04 9.98789494e-01 7.63905829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.520385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.05, Y:29.45, Z:7.64 [[ 8.50916316e-01 -5.23621194e-01 -4.19793804e-02 1.53045934e+02] [ 5.22993180e-01 8.51951188e-01 -2.56380159e-02 2.94452204e+01] [ 4.91889915e-02 -1.39123580e-04 9.98789479e-01 7.64289535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.550385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.07, Y:29.46, Z:7.64 [[ 8.50991504e-01 -5.23491901e-01 -4.20676892e-02 1.53068340e+02] [ 5.22870925e-01 8.52030597e-01 -2.54922891e-02 2.94616428e+01] [ 4.91879652e-02 -3.02250182e-04 9.98789494e-01 7.64399898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.580385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.09, Y:29.48, Z:7.64 [[ 8.50315868e-01 -5.24589189e-01 -4.20607454e-02 1.53089416e+02] [ 5.23968989e-01 8.51355424e-01 -2.55037408e-02 2.94813100e+01] [ 4.91876305e-02 -3.52290728e-04 9.98789494e-01 7.64453160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.610385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.11, Y:29.50, Z:7.65 [[ 8.50460888e-01 -5.24357202e-01 -4.20214521e-02 1.53113398e+02] [ 5.23733515e-01 8.51498359e-01 -2.55685282e-02 2.94984216e+01] [ 4.91882394e-02 -2.63009621e-04 9.98789491e-01 7.64605753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.640385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.14, Y:29.51, Z:7.65 [[ 8.50445475e-01 -5.24378859e-01 -4.20631144e-02 1.53136159e+02] [ 5.23758592e-01 8.51484993e-01 -2.54998727e-02 2.95137959e+01] [ 4.91877048e-02 -3.44666215e-04 9.98789493e-01 7.64799192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.670385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:153.16, Y:29.53, Z:7.65 [[ 8.50352464e-01 -5.24529676e-01 -4.20631158e-02 1.53161421e+02] [ 5.23909594e-01 8.51392092e-01 -2.54998703e-02 2.95300516e+01] [ 4.91876429e-02 -3.53392388e-04 9.98789493e-01 7.64702682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.700385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:153.18, Y:29.55, Z:7.65 [[ 8.50274683e-01 -5.24653271e-01 -4.20940482e-02 1.53183215e+02] [ 5.24035861e-01 8.51315904e-01 -2.54489255e-02 2.95467326e+01] [ 4.91871947e-02 -4.20213729e-04 9.98789489e-01 7.64845597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.730385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.21, Y:29.56, Z:7.65 [[ 8.49144508e-01 -5.26484990e-01 -4.20376032e-02 1.53206172e+02] [ 5.25865224e-01 8.50184322e-01 -2.55418253e-02 2.95647737e+01] [ 4.91870988e-02 -4.17412967e-04 9.98789495e-01 7.64968848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.760385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.23, Y:29.58, Z:7.65 [[ 8.49019155e-01 -5.26688860e-01 -4.20157024e-02 1.53231483e+02] [ 5.26067561e-01 8.50058054e-01 -2.55778550e-02 2.95813082e+01] [ 4.91873576e-02 -3.87009238e-04 9.98789494e-01 7.64950659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.790385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.26, Y:29.60, Z:7.65 [[ 8.49022134e-01 -5.26678334e-01 -4.20873970e-02 1.53255182e+02] [ 5.26062861e-01 8.50064502e-01 -2.54599436e-02 2.95967095e+01] [ 4.91862028e-02 -5.24560884e-04 9.98789488e-01 7.64985851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.82038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.28, Y:29.61, Z:7.65 [[ 8.48360580e-01 -5.27741855e-01 -4.21053505e-02 1.53275148e+02] [ 5.27129154e-01 8.49404585e-01 -2.54304249e-02 2.96119850e+01] [ 4.91851774e-02 -6.20787740e-04 9.98789484e-01 7.64799367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.85038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.30, Y:29.63, Z:7.65 [[ 8.49267302e-01 -5.26301137e-01 -4.18588400e-02 1.53301540e+02] [ 5.25666655e-01 8.50298247e-01 -2.58352173e-02 2.96266513e+01] [ 4.91896025e-02 -6.27911220e-05 9.98789457e-01 7.65241263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.88038572300002 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:153.32, Y:29.64, Z:7.65 [[ 8.48920508e-01 -5.26847895e-01 -4.20150697e-02 1.53324861e+02] [ 5.26226753e-01 8.49959493e-01 -2.55786008e-02 2.96423817e+01] [ 4.91871393e-02 -3.95254904e-04 9.98789502e-01 7.65054918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.91038572300002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:153.35, Y:29.66, Z:7.65 [[ 8.49554200e-01 -5.25825999e-01 -4.20080900e-02 1.53346173e+02] [ 5.25203041e-01 8.50592096e-01 -2.55900585e-02 2.96573671e+01] [ 4.91876674e-02 -3.22634911e-04 9.98789502e-01 7.64925479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.94038572300002 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:153.37, Y:29.67, Z:7.65 [[ 8.48491660e-01 -5.27548713e-01 -4.18838625e-02 1.53374471e+02] [ 5.26917786e-01 8.49524762e-01 -2.57939086e-02 2.96739109e+01] [ 4.91889216e-02 -1.83435699e-04 9.98789475e-01 7.65136040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.970385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:153.40, Y:29.69, Z:7.65 [[ 8.47184203e-01 -5.29624661e-01 -4.21502567e-02 1.53395222e+02] [ 5.29017946e-01 8.48231720e-01 -2.53566701e-02 2.96901509e+01] [ 4.91827025e-02 -8.16471870e-04 9.98789465e-01 7.65467082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.000385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.42, Y:29.71, Z:7.66 [[ 8.47598621e-01 -5.28976329e-01 -4.19597573e-02 1.53422624e+02] [ 5.28353315e-01 8.48636479e-01 -2.56690907e-02 2.97050166e+01] [ 4.91869221e-02 -4.12490973e-04 9.98789506e-01 7.65741851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.030385723 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:153.45, Y:29.72, Z:7.66 [[ 8.47231708e-01 -5.29552192e-01 -4.21059387e-02 1.53447746e+02] [ 5.28941764e-01 8.48277047e-01 -2.54295433e-02 2.97192919e+01] [ 4.91837717e-02 -7.26874132e-04 9.98789481e-01 7.65526935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.060385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:153.47, Y:29.74, Z:7.66 [[ 8.47309908e-01 -5.29426962e-01 -4.21071422e-02 1.53471629e+02] [ 5.28816478e-01 8.48355215e-01 -2.54275728e-02 2.97352318e+01] [ 4.91838563e-02 -7.21916269e-04 9.98789481e-01 7.65973017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.090385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.49, Y:29.75, Z:7.66 [[ 8.47357529e-01 -5.29349950e-01 -4.21170846e-02 1.53490519e+02] [ 5.28740180e-01 8.48403258e-01 -2.54112997e-02 2.97493768e+01] [ 4.91837420e-02 -7.36538750e-04 9.98789476e-01 7.66218686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.120385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.52, Y:29.76, Z:7.66 [[ 8.48657092e-01 -5.27288808e-01 -4.18049477e-02 1.53515341e+02] [ 5.26651286e-01 8.49686126e-01 -2.59212317e-02 2.97640609e+01] [ 4.91890594e-02 -1.83923841e-05 9.98789485e-01 7.66345618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.150385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.54, Y:29.78, Z:7.66 [[ 8.49528880e-01 -5.25882234e-01 -4.18157568e-02 1.53539862e+02] [ 5.25243877e-01 8.50557390e-01 -2.59035901e-02 2.97790371e+01] [ 4.91889388e-02 4.23776211e-05 9.98789491e-01 7.66470527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.180385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.56, Y:29.79, Z:7.67 [[ 8.51219458e-01 -5.23135848e-01 -4.18845907e-02 1.53561620e+02] [ 5.22499694e-01 8.52249306e-01 -2.57912809e-02 2.97939782e+01] [ 4.91884570e-02 6.93543047e-05 9.98789513e-01 7.66551653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.210385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:153.59, Y:29.81, Z:7.67 [[ 8.52510002e-01 -5.21035310e-01 -4.18198826e-02 1.53588713e+02] [ 5.20391433e-01 8.53535065e-01 -2.58969036e-02 2.98095281e+01] [ 4.91879374e-02 3.14660718e-04 9.98789491e-01 7.66610719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.240385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.62, Y:29.82, Z:7.66 [[ 8.54331199e-01 -5.18033350e-01 -4.19481789e-02 1.53615154e+02] [ 5.17396139e-01 8.55360386e-01 -2.56874564e-02 2.98249314e+01] [ 4.91877696e-02 2.41769568e-04 9.98789520e-01 7.66474551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.270385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.64, Y:29.84, Z:7.67 [[ 8.55875225e-01 -5.15471571e-01 -4.20316413e-02 1.53637756e+02] [ 5.14837962e-01 8.56906650e-01 -2.55512535e-02 2.98383514e+01] [ 4.91881377e-02 2.29200311e-04 9.98789505e-01 7.66672649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.300385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.66, Y:29.85, Z:7.67 [[ 8.57232918e-01 -5.13221271e-01 -4.19004783e-02 1.53662455e+02] [ 5.12574485e-01 8.58256113e-01 -2.57651418e-02 2.98523680e+01] [ 4.91845604e-02 6.09611607e-04 9.98789521e-01 7.66972272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.330385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.69, Y:29.87, Z:7.67 [[ 8.57211535e-01 -5.13254802e-01 -4.19272235e-02 1.53688327e+02] [ 5.12610187e-01 8.58236097e-01 -2.57215460e-02 2.98680812e+01] [ 4.91851637e-02 5.56484059e-04 9.98789522e-01 7.67176275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.360385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:153.71, Y:29.88, Z:7.67 [[ 8.56801386e-01 -5.13933790e-01 -4.19933921e-02 1.53711863e+02] [ 5.13295263e-01 8.57829766e-01 -2.56137789e-02 2.98840579e+01] [ 4.91869681e-02 3.90911996e-04 9.98789512e-01 7.67282499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.390385723 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:153.74, Y:29.90, Z:7.67 [[ 8.56726540e-01 -5.14065223e-01 -4.19116045e-02 1.53736394e+02] [ 5.13420336e-01 8.57750929e-01 -2.57469164e-02 2.98981446e+01] [ 4.91853119e-02 5.39796538e-04 9.98789524e-01 7.67325432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.420385723 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:153.76, Y:29.91, Z:7.68 [[ 8.57169439e-01 -5.13327002e-01 -4.19039682e-02 1.53759588e+02] [ 5.12680625e-01 8.58192888e-01 -2.57593386e-02 2.99115608e+01] [ 4.91846516e-02 5.96765249e-04 9.98789524e-01 7.67519497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.450385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.78, Y:29.93, Z:7.68 [[ 8.56718972e-01 -5.14084439e-01 -4.18305205e-02 1.53784700e+02] [ 5.13433134e-01 8.57739301e-01 -2.58787314e-02 2.99256053e+01] [ 4.91835345e-02 6.93624901e-04 9.98789517e-01 7.67862282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.480385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.81, Y:29.94, Z:7.68 [[ 8.56474946e-01 -5.14489151e-01 -4.18518883e-02 1.53808836e+02] [ 5.13840024e-01 8.57496657e-01 -2.58440083e-02 2.99394260e+01] [ 4.91843162e-02 6.29570293e-04 9.98789521e-01 7.67924525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.510385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.84, Y:29.95, Z:7.68 [[ 8.55312544e-01 -5.16415799e-01 -4.18948122e-02 1.53837893e+02] [ 5.15772387e-01 8.56337861e-01 -2.57742722e-02 2.99537275e+01] [ 4.91863552e-02 4.36870985e-04 9.98789523e-01 7.67834707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.540385723 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:153.86, Y:29.97, Z:7.68 [[ 8.54291507e-01 -5.18090374e-01 -4.20521764e-02 1.53864763e+02] [ 5.17461516e-01 8.55325881e-01 -2.55189492e-02 2.99681034e+01] [ 4.91894368e-02 4.02386142e-05 9.98789466e-01 7.67828984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.57038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.89, Y:29.98, Z:7.68 [[ 8.53978225e-01 -5.18604271e-01 -4.20808925e-02 1.53892421e+02] [ 5.17978329e-01 8.55014391e-01 -2.54723985e-02 2.99817390e+01] [ 4.91898633e-02 -4.41167384e-05 9.98789445e-01 7.68074828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.60038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.91, Y:30.00, Z:7.68 [[ 8.51520095e-01 -5.22621201e-01 -4.21972451e-02 1.53911982e+02] [ 5.22009478e-01 8.52564855e-01 -2.52838390e-02 2.99970773e+01] [ 4.91897585e-02 -4.97664847e-04 9.98789327e-01 7.67774022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.63038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.94, Y:30.01, Z:7.68 [[ 8.51608959e-01 -5.22500826e-01 -4.18935168e-02 1.53937804e+02] [ 5.21864681e-01 8.52638774e-01 -2.57755018e-02 3.00116475e+01] [ 4.91877578e-02 8.79015270e-05 9.98789546e-01 7.68120065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.66038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.96, Y:30.03, Z:7.68 [[ 8.51988749e-01 -5.21876147e-01 -4.19578278e-02 1.53964459e+02] [ 5.21244367e-01 8.53021270e-01 -2.56714275e-02 3.00253102e+01] [ 4.91882252e-02 1.48596519e-06 9.98789527e-01 7.68320588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.69038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.99, Y:30.04, Z:7.68 [[ 8.53453790e-01 -5.19471047e-01 -4.20292712e-02 1.53992545e+02] [ 5.18842043e-01 8.54488052e-01 -2.55558643e-02 3.00387998e+01] [ 4.91890417e-02 4.19624293e-06 9.98789486e-01 7.68402199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.720385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:154.02, Y:30.05, Z:7.69 [[ 8.53924702e-01 -5.18685721e-01 -4.21630916e-02 1.54016873e+02] [ 5.18066439e-01 8.54964958e-01 -2.53393861e-02 3.00524784e+01] [ 4.91911436e-02 -2.05355011e-04 9.98789362e-01 7.68547954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.750385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.04, Y:30.07, Z:7.69 [[ 8.54332429e-01 -5.18013446e-01 -4.21683540e-02 1.54041262e+02] [ 5.17393764e-01 8.55372456e-01 -2.53308840e-02 3.00657588e+01] [ 4.91913870e-02 -1.76647742e-04 9.98789355e-01 7.68763401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.780385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.07, Y:30.08, Z:7.69 [[ 8.55406335e-01 -5.16246717e-01 -4.20634050e-02 1.54068821e+02] [ 5.15616550e-01 8.56439906e-01 -2.55002354e-02 3.00799577e+01] [ 4.91891914e-02 1.24475159e-04 9.98789471e-01 7.69022728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.810385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.09, Y:30.09, Z:7.69 [[ 8.56328282e-01 -5.14703242e-01 -4.22190247e-02 1.54094845e+02] [ 5.14083566e-01 8.57368396e-01 -2.52491888e-02 3.00925906e+01] [ 4.91930968e-02 -8.25123049e-05 9.98789283e-01 7.69424210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.840385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:154.12, Y:30.11, Z:7.70 [[ 8.56047745e-01 -5.15167558e-01 -4.22450648e-02 1.54120358e+02] [ 5.14550516e-01 8.57089471e-01 -2.52072299e-02 3.01073277e+01] [ 4.91937473e-02 -1.58627607e-04 9.98789242e-01 7.69621784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.870385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.14, Y:30.12, Z:7.70 [[ 8.55649297e-01 -5.15831456e-01 -4.22159863e-02 1.54144777e+02] [ 5.15212912e-01 8.56690077e-01 -2.52540312e-02 3.01199273e+01] [ 4.91928402e-02 -1.41627205e-04 9.98789289e-01 7.69848146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.900385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.17, Y:30.13, Z:7.70 [[ 8.54364726e-01 -5.17963343e-01 -4.21294343e-02 1.54165313e+02] [ 5.17340523e-01 8.55402809e-01 -2.53932691e-02 3.01337576e+01] [ 4.91904190e-02 -1.00150149e-04 9.98789414e-01 7.69728449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.930385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.19, Y:30.15, Z:7.70 [[ 8.53976172e-01 -5.18621349e-01 -4.19117372e-02 1.54190706e+02] [ 5.17982116e-01 8.55003989e-01 -2.57430915e-02 3.01482891e+01] [ 4.91856193e-02 2.74456416e-04 9.98789617e-01 7.69814275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.960385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.21, Y:30.16, Z:7.70 [[ 8.52550775e-01 -5.20960788e-01 -4.19169798e-02 1.54214679e+02] [ 5.20324789e-01 8.53580600e-01 -2.57346731e-02 3.01622822e+01] [ 4.91862763e-02 1.29671815e-04 9.98789614e-01 7.69759209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.990385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.24, Y:30.18, Z:7.70 [[ 8.51499254e-01 -5.22680040e-01 -4.18878942e-02 1.54236873e+02] [ 5.22043824e-01 8.52528925e-01 -2.57813352e-02 3.01778076e+01] [ 4.91860308e-02 8.54712326e-05 9.98789631e-01 7.69714354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.020385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.26, Y:30.19, Z:7.70 [[ 8.51163251e-01 -5.23231707e-01 -4.18294261e-02 1.54257939e+02] [ 5.22591548e-01 8.52190444e-01 -2.58750937e-02 3.01929811e+01] [ 4.91853066e-02 1.64224340e-04 9.98789657e-01 7.69724970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.050385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.28, Y:30.21, Z:7.70 [[ 8.50760028e-01 -5.23895410e-01 -4.17249866e-02 1.54282052e+02] [ 5.23247835e-01 8.51782540e-01 -2.60424276e-02 3.02095448e+01] [ 4.91841234e-02 3.23347512e-04 9.98789676e-01 7.69766804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.080385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.30, Y:30.23, Z:7.70 [[ 8.51251564e-01 -5.23096906e-01 -4.17181159e-02 1.54304902e+02] [ 5.22447833e-01 8.52273126e-01 -2.60534295e-02 3.02255470e+01] [ 4.91836974e-02 3.82483321e-04 9.98789676e-01 7.69983633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.110385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:154.33, Y:30.24, Z:7.70 [[ 8.50016822e-01 -5.25101118e-01 -4.17159317e-02 1.54326687e+02] [ 5.24454282e-01 8.51039801e-01 -2.60569264e-02 3.02422176e+01] [ 4.91844394e-02 2.70726784e-04 9.98789676e-01 7.69781896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.140385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.35, Y:30.26, Z:7.70 [[ 8.50190689e-01 -5.24827041e-01 -4.16217463e-02 1.54351087e+02] [ 5.24172490e-01 8.51208765e-01 -2.62076130e-02 3.02582372e+01] [ 4.91832593e-02 4.64494146e-04 9.98789663e-01 7.70017615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.170385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.37, Y:30.27, Z:7.70 [[ 8.49931655e-01 -5.25241658e-01 -4.16819306e-02 1.54373893e+02] [ 5.24592321e-01 8.50953051e-01 -2.61113418e-02 3.02733219e+01] [ 4.91841305e-02 3.26835222e-04 9.98789675e-01 7.70152395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.200385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.40, Y:30.29, Z:7.70 [[ 8.50084299e-01 -5.25004353e-01 -4.15585593e-02 1.54398033e+02] [ 5.24345076e-01 8.51099348e-01 -2.63085797e-02 3.02870154e+01] [ 4.91825816e-02 5.73484621e-04 9.98789640e-01 7.70344474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.230385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.43, Y:30.30, Z:7.71 [[ 8.50461198e-01 -5.24389776e-01 -4.16066400e-02 1.54425319e+02] [ 5.23733523e-01 8.51478182e-01 -2.62317236e-02 3.03015285e+01] [ 4.91827939e-02 5.18270914e-04 9.98789660e-01 7.70597621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.260385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:154.45, Y:30.32, Z:7.71 [[ 8.50341537e-01 -5.24568750e-01 -4.17958892e-02 1.54446519e+02] [ 5.23927548e-01 8.51368078e-01 -2.59291431e-02 3.03157818e+01] [ 4.91853040e-02 1.50609593e-04 9.98789659e-01 7.70705995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.290385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:154.47, Y:30.33, Z:7.71 [[ 8.50103632e-01 -5.24962545e-01 -4.16910134e-02 1.54469843e+02] [ 5.24313592e-01 8.51125267e-01 -2.60966903e-02 3.03309975e+01] [ 4.91840599e-02 3.25726237e-04 9.98789679e-01 7.70769292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.32038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.49, Y:30.35, Z:7.71 [[ 8.48868601e-01 -5.26957841e-01 -4.16837154e-02 1.54494546e+02] [ 5.26310717e-01 8.49891395e-01 -2.61083419e-02 3.03472733e+01] [ 4.91846266e-02 2.23965553e-04 9.98789679e-01 7.70575744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.35038572300002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:154.52, Y:30.36, Z:7.71 [[ 8.48623268e-01 -5.27351750e-01 -4.16974926e-02 1.54518776e+02] [ 5.26706181e-01 8.49647045e-01 -2.60863560e-02 3.03619216e+01] [ 4.91848369e-02 1.75161553e-04 9.98789678e-01 7.70813926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.38038572300002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:154.54, Y:30.38, Z:7.71 [[ 8.48528748e-01 -5.27506050e-01 -4.16693069e-02 1.54542902e+02] [ 5.26858459e-01 8.49551246e-01 -2.61313142e-02 3.03771496e+01] [ 4.91846380e-02 2.19344503e-04 9.98789679e-01 7.70952254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.41038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.57, Y:30.39, Z:7.71 [[ 8.48369552e-01 -5.27762416e-01 -4.16645534e-02 1.54567015e+02] [ 5.27114762e-01 8.49392010e-01 -2.61388934e-02 3.03915870e+01] [ 4.91846643e-02 2.13440164e-04 9.98789679e-01 7.71083278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.44038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.59, Y:30.41, Z:7.71 [[ 8.48985228e-01 -5.26770681e-01 -4.16741216e-02 1.54589872e+02] [ 5.26122581e-01 8.50007403e-01 -2.61236410e-02 3.04050968e+01] [ 4.91844800e-02 2.52888895e-04 9.98789679e-01 7.71386099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.470385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.61, Y:30.42, Z:7.71 [[ 8.47834832e-01 -5.28621315e-01 -4.16605608e-02 1.54610675e+02] [ 5.27974384e-01 8.48857748e-01 -2.61452492e-02 3.04211746e+01] [ 4.91848258e-02 1.71144054e-04 9.98789679e-01 7.71053220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.500385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.64, Y:30.44, Z:7.71 [[ 8.49566249e-01 -5.25845130e-01 -4.15221263e-02 1.54637534e+02] [ 5.25184070e-01 8.50580124e-01 -2.63656038e-02 3.04361070e+01] [ 4.91821197e-02 5.92567859e-04 9.98789652e-01 7.71120721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.530385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.66, Y:30.45, Z:7.72 [[ 8.51002515e-01 -5.23503601e-01 -4.16977103e-02 1.54660548e+02] [ 5.22853415e-01 8.52023369e-01 -2.60860957e-02 3.04498808e+01] [ 4.91835886e-02 3.97542860e-04 9.98789676e-01 7.71629419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.560385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.68, Y:30.46, Z:7.72 [[ 8.51361811e-01 -5.22923324e-01 -4.16444927e-02 1.54683945e+02] [ 5.22268298e-01 8.52379561e-01 -2.61707790e-02 3.04648202e+01] [ 4.91822252e-02 5.31203495e-04 9.98789681e-01 7.71793889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.590385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.71, Y:30.48, Z:7.72 [[ 8.52068299e-01 -5.21771537e-01 -4.16422510e-02 1.54708011e+02] [ 5.21114961e-01 8.53085049e-01 -2.61743455e-02 3.04798461e+01] [ 4.91814102e-02 6.01930005e-04 9.98789681e-01 7.72032170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.620385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.73, Y:30.49, Z:7.72 [[ 8.52173997e-01 -5.21599470e-01 -4.16349720e-02 1.54731236e+02] [ 5.20942124e-01 8.53190249e-01 -2.61859190e-02 3.04943231e+01] [ 4.91811136e-02 6.25548496e-04 9.98789681e-01 7.72189388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.650385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:154.75, Y:30.51, Z:7.72 [[ 8.52041980e-01 -5.21815348e-01 -4.16318051e-02 1.54754674e+02] [ 5.21158013e-01 8.53058239e-01 -2.61909529e-02 3.05094443e+01] [ 4.91811956e-02 6.19042539e-04 9.98789681e-01 7.72364788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.680385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.77, Y:30.53, Z:7.72 [[ 8.49248195e-01 -5.26350552e-01 -4.16245003e-02 1.54770143e+02] [ 5.25698076e-01 8.50267581e-01 -2.62025571e-02 3.05264503e+01] [ 4.91836936e-02 3.70554607e-04 9.98789681e-01 7.72153600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.710385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:154.80, Y:30.54, Z:7.73 [[ 8.51404027e-01 -5.22894239e-01 -4.11436193e-02 1.54801878e+02] [ 5.22200556e-01 8.52396295e-01 -2.69654355e-02 3.05419823e+01] [ 4.91707395e-02 1.47325952e-03 9.98789301e-01 7.72711776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.740385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.82, Y:30.56, Z:7.73 [[ 8.50567383e-01 -5.24216305e-01 -4.16220142e-02 1.54824986e+02] [ 5.23561120e-01 8.51585003e-01 -2.62056455e-02 3.05578542e+01] [ 4.91821098e-02 4.97998972e-04 9.98789704e-01 7.72812336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.770385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.85, Y:30.57, Z:7.73 [[ 8.50394492e-01 -5.24497334e-01 -4.16143485e-02 1.54847625e+02] [ 5.23841890e-01 8.51411945e-01 -2.62178131e-02 3.05740908e+01] [ 4.91821264e-02 4.96144906e-04 9.98789704e-01 7.72970231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.800385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.87, Y:30.59, Z:7.73 [[ 8.50412058e-01 -5.24469467e-01 -4.16066144e-02 1.54870879e+02] [ 5.23813389e-01 8.51429102e-01 -2.62300810e-02 3.05898395e+01] [ 4.91819589e-02 5.12275491e-04 9.98789704e-01 7.73088551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.830385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.89, Y:30.61, Z:7.73 [[ 8.51774767e-01 -5.22257306e-01 -4.15578266e-02 1.54894460e+02] [ 5.21594813e-01 8.52787647e-01 -2.63074108e-02 3.06052571e+01] [ 4.91792387e-02 7.31641925e-04 9.98789701e-01 7.73415303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.860385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:154.92, Y:30.62, Z:7.74 [[ 8.51558844e-01 -5.22606221e-01 -4.15965659e-02 1.54917345e+02] [ 5.21947140e-01 8.52573944e-01 -2.62460143e-02 3.06210526e+01] [ 4.91804786e-02 6.38816992e-04 9.98789704e-01 7.73544194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.890385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.94, Y:30.64, Z:7.74 [[ 8.52401740e-01 -5.21230881e-01 -4.15889750e-02 1.54939322e+02] [ 5.20569575e-01 8.53415393e-01 -2.62580372e-02 3.06362244e+01] [ 4.91791713e-02 7.32441576e-04 9.98789704e-01 7.73546864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.920385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.96, Y:30.65, Z:7.73 [[ 8.51546751e-01 -5.22626789e-01 -4.15856956e-02 1.54962187e+02] [ 5.21966892e-01 8.52561321e-01 -2.62632299e-02 3.06523841e+01] [ 4.91802231e-02 6.58011789e-04 9.98789704e-01 7.73495743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.950385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.99, Y:30.67, Z:7.74 [[ 8.51825852e-01 -5.22172376e-01 -4.15779827e-02 1.54987471e+02] [ 5.21511342e-01 8.52839681e-01 -2.62754347e-02 3.06659558e+01] [ 4.91796597e-02 6.98705039e-04 9.98789704e-01 7.73647377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.980385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:155.01, Y:30.68, Z:7.74 [[ 8.51425623e-01 -5.22825245e-01 -4.15712740e-02 1.55011119e+02] [ 5.22164471e-01 8.52439622e-01 -2.62860445e-02 3.06808926e+01] [ 4.91800088e-02 6.73569505e-04 9.98789704e-01 7.73600174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.010385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.03, Y:30.69, Z:7.74 [[ 8.51654699e-01 -5.22452621e-01 -4.15636100e-02 1.55034841e+02] [ 5.21790811e-01 8.52668022e-01 -2.62981572e-02 3.06949728e+01] [ 4.91795023e-02 7.09439357e-04 9.98789704e-01 7.73639105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.040385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.06, Y:30.71, Z:7.74 [[ 8.51650561e-01 -5.22459649e-01 -4.15600293e-02 1.55058555e+02] [ 5.21797573e-01 8.52663710e-01 -2.63038148e-02 3.07097633e+01] [ 4.91794106e-02 7.15736182e-04 9.98789704e-01 7.73541516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.07038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.08, Y:30.73, Z:7.74 [[ 8.51690903e-01 -5.22394151e-01 -4.15566651e-02 1.55083888e+02] [ 5.21731737e-01 8.52703832e-01 -2.63091287e-02 3.07252164e+01] [ 4.91792625e-02 7.25814503e-04 9.98789704e-01 7.73560555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.10038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.11, Y:30.74, Z:7.74 [[ 8.52004892e-01 -5.21876410e-01 -4.16254350e-02 1.55106348e+02] [ 5.21218680e-01 8.53020879e-01 -2.62005276e-02 3.07397520e+01] [ 4.91808024e-02 6.27023381e-04 9.98789695e-01 7.73566610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.13038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.13, Y:30.75, Z:7.74 [[ 8.52205148e-01 -5.21555541e-01 -4.15476054e-02 1.55130946e+02] [ 5.20891436e-01 8.53216967e-01 -2.63233712e-02 3.07536741e+01] [ 4.91782219e-02 7.91120572e-04 9.98789706e-01 7.73916319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.16038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.16, Y:30.77, Z:7.74 [[ 8.52063669e-01 -5.21786826e-01 -4.15453175e-02 1.55156127e+02] [ 5.21122819e-01 8.53075552e-01 -2.63269816e-02 3.07685139e+01] [ 4.91783668e-02 7.82051491e-04 9.98789706e-01 7.74213851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.19038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.18, Y:30.78, Z:7.74 [[ 8.51770789e-01 -5.22265295e-01 -4.15389515e-02 1.55181154e+02] [ 5.21601368e-01 8.52782724e-01 -2.63370221e-02 3.07834486e+01] [ 4.91786128e-02 7.66332139e-04 9.98789706e-01 7.74465844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.220385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.20, Y:30.80, Z:7.75 [[ 8.51238233e-01 -5.23133358e-01 -4.15326317e-02 1.55204565e+02] [ 5.22469977e-01 8.52250526e-01 -2.63469844e-02 3.07979993e+01] [ 4.91791937e-02 7.28007350e-04 9.98789706e-01 7.74797302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.250385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.23, Y:30.81, Z:7.75 [[ 8.50598189e-01 -5.24173585e-01 -4.15303925e-02 1.55228451e+02] [ 5.23511270e-01 8.51611179e-01 -2.63505136e-02 3.08138541e+01] [ 4.91799897e-02 6.72070678e-04 9.98789706e-01 7.74854676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.280385723 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:155.25, Y:30.83, Z:7.75 [[ 8.50727981e-01 -5.23962551e-01 -4.15348959e-02 1.55250738e+02] [ 5.23300330e-01 8.51741034e-01 -2.63434175e-02 3.08292408e+01] [ 4.91799394e-02 6.75857629e-04 9.98789706e-01 7.75010969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.310385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:155.27, Y:30.85, Z:7.75 [[ 8.50029576e-01 -5.25095979e-01 -4.15202786e-02 1.55274593e+02] [ 5.24433985e-01 8.51042776e-01 -2.63664360e-02 3.08457208e+01] [ 4.91804426e-02 6.37605226e-04 9.98789706e-01 7.74811502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.340385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:155.30, Y:30.86, Z:7.75 [[ 8.50588634e-01 -5.24187084e-01 -4.15557115e-02 1.55297645e+02] [ 5.23526730e-01 8.51602907e-01 -2.63106706e-02 3.08610733e+01] [ 4.91806784e-02 6.24031600e-04 9.98789703e-01 7.75112168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.370385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:155.31, Y:30.88, Z:7.75 [[ 8.48215507e-01 -5.28022592e-01 -4.15041725e-02 1.55314551e+02] [ 5.27362857e-01 8.49230178e-01 -2.63917222e-02 3.08785242e+01] [ 4.91820214e-02 4.98109052e-04 9.98789708e-01 7.74692884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.400385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:155.34, Y:30.89, Z:7.75 [[ 8.51251098e-01 -5.23144653e-01 -4.11246894e-02 1.55344724e+02] [ 5.22450194e-01 8.52242606e-01 -2.69877067e-02 3.08918923e+01] [ 4.91666869e-02 1.48771301e-03 9.98789479e-01 7.75304843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.430385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.37, Y:30.91, Z:7.75 [[ 8.51667964e-01 -5.22436374e-01 -4.14959618e-02 1.55372803e+02] [ 5.21769374e-01 8.52677862e-01 -2.64042504e-02 3.09079066e+01] [ 4.91772288e-02 8.36332154e-04 9.98789718e-01 7.75341257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.460385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:155.39, Y:30.92, Z:7.75 [[ 8.52187997e-01 -5.21570525e-01 -4.17109791e-02 1.55392861e+02] [ 5.20918991e-01 8.53208036e-01 -2.60663096e-02 3.09240968e+01] [ 4.91835613e-02 4.85355044e-04 9.98789638e-01 7.75365523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.490385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.42, Y:30.94, Z:7.75 [[ 8.52129697e-01 -5.21684084e-01 -4.14812711e-02 1.55418636e+02] [ 5.21015086e-01 8.53138262e-01 -2.64269894e-02 3.09404158e+01] [ 4.91757993e-02 9.06854474e-04 9.98789727e-01 7.75376011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.520385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.44, Y:30.95, Z:7.76 [[ 8.52597515e-01 -5.20908811e-01 -4.16111491e-02 1.55440526e+02] [ 5.20248823e-01 8.53612035e-01 -2.62231832e-02 3.09549835e+01] [ 4.91796648e-02 7.09669530e-04 9.98789696e-01 7.75611219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.550385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.46, Y:30.97, Z:7.76 [[ 8.52638943e-01 -5.20852299e-01 -4.14694604e-02 1.55463277e+02] [ 5.20181423e-01 8.53646255e-01 -2.64453710e-02 3.09686278e+01] [ 4.91743818e-02 9.76710261e-04 9.98789731e-01 7.75752016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.580385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:155.49, Y:30.98, Z:7.76 [[ 8.52427047e-01 -5.21199268e-01 -4.14662734e-02 1.55487453e+02] [ 5.20528560e-01 8.53434471e-01 -2.64503672e-02 3.09830726e+01] [ 4.91746591e-02 9.62628831e-04 9.98789731e-01 7.75927769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.610385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.51, Y:31.00, Z:7.76 [[ 8.52607313e-01 -5.20904906e-01 -4.14590044e-02 1.55511370e+02] [ 5.20233296e-01 8.53614136e-01 -2.64617559e-02 3.09977468e+01] [ 4.91740507e-02 9.93132081e-04 9.98789731e-01 7.76093846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.640385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.53, Y:31.01, Z:7.76 [[ 8.52990655e-01 -5.20277517e-01 -4.14517418e-02 1.55534347e+02] [ 5.19604615e-01 8.53996615e-01 -2.64731277e-02 3.10131793e+01] [ 4.91730203e-02 1.04281420e-03 9.98789731e-01 7.76177715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.670385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.56, Y:31.03, Z:7.76 [[ 8.53073861e-01 -5.20141349e-01 -4.14483471e-02 1.55558255e+02] [ 5.19468028e-01 8.54079540e-01 -2.64784416e-02 3.10284516e+01] [ 4.91727176e-02 1.05697527e-03 9.98789731e-01 7.76396224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.700385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.58, Y:31.04, Z:7.76 [[ 8.52819490e-01 -5.20558883e-01 -4.14411284e-02 1.55580565e+02] [ 5.19885506e-01 8.53825131e-01 -2.64897347e-02 3.10430304e+01] [ 4.91729436e-02 1.04632002e-03 9.98789731e-01 7.76494406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.730385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:155.60, Y:31.06, Z:7.77 [[ 8.52663504e-01 -5.20814735e-01 -4.14362209e-02 1.55603882e+02] [ 5.20141287e-01 8.53669098e-01 -2.64974091e-02 3.10583331e+01] [ 4.91730624e-02 1.04068443e-03 9.98789731e-01 7.76656858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.760385723 meters Centerline goodness : 0.998421 Centerline is valid? [True, True] Translation: X:155.63, Y:31.08, Z:7.76 [[ 8.51902644e-01 -5.22058935e-01 -4.14288953e-02 1.55628815e+02] [ 5.21386399e-01 8.52908848e-01 -2.65088578e-02 3.10750477e+01] [ 4.91742574e-02 9.82503491e-04 9.98789731e-01 7.76415373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.790385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.65, Y:31.09, Z:7.77 [[ 8.52879377e-01 -5.20448429e-01 -4.15956833e-02 1.55652189e+02] [ 5.19786678e-01 8.53892761e-01 -2.62480898e-02 3.10889344e+01] [ 4.91790300e-02 7.65572442e-04 9.98789686e-01 7.76563342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.82038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.68, Y:31.10, Z:7.76 [[ 8.53483746e-01 -5.19470597e-01 -4.14221493e-02 1.55676287e+02] [ 5.18794511e-01 8.54487560e-01 -2.65191498e-02 3.11032878e+01] [ 4.91706298e-02 1.14407962e-03 9.98789738e-01 7.76413179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.85038572300002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:155.70, Y:31.12, Z:7.77 [[ 8.53557191e-01 -5.19350084e-01 -4.14199577e-02 1.55700371e+02] [ 5.18673690e-01 8.54560797e-01 -2.65225723e-02 3.11182473e+01] [ 4.91703722e-02 1.15508996e-03 9.98789738e-01 7.76525234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.88038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.72, Y:31.13, Z:7.77 [[ 8.53610558e-01 -5.19262909e-01 -4.14131103e-02 1.55723982e+02] [ 5.18585895e-01 8.54613746e-01 -2.65332597e-02 3.11328399e+01] [ 4.91699510e-02 1.17281578e-03 9.98789738e-01 7.76671079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.91038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.75, Y:31.15, Z:7.77 [[ 8.53457874e-01 -5.19514373e-01 -4.14061990e-02 1.55747139e+02] [ 5.18837131e-01 8.54460909e-01 -2.65440407e-02 3.11478911e+01] [ 4.91699891e-02 1.17114705e-03 9.98789738e-01 7.76933207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.94038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.77, Y:31.16, Z:7.77 [[ 8.53071882e-01 -5.20148545e-01 -4.13987426e-02 1.55774301e+02] [ 5.19471485e-01 8.54075039e-01 -2.65556649e-02 3.11641494e+01] [ 4.91705231e-02 1.14842472e-03 9.98789738e-01 7.77096734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.970385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.79, Y:31.18, Z:7.77 [[ 8.51806577e-01 -5.22200171e-01 -4.16237541e-02 1.55794990e+02] [ 5.21542620e-01 8.52822728e-01 -2.62047762e-02 3.11794893e+01] [ 4.91818221e-02 6.12838931e-04 9.98789654e-01 7.77394026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.000385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.82, Y:31.19, Z:7.77 [[ 8.52133675e-01 -5.21677730e-01 -4.14794737e-02 1.55817251e+02] [ 5.21008602e-01 8.53142144e-01 -2.64295195e-02 3.11936779e+01] [ 4.91755788e-02 9.10320990e-04 9.98789735e-01 7.77357910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.030385723 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:155.84, Y:31.21, Z:7.78 [[ 8.50380562e-01 -5.24538278e-01 -4.13822969e-02 1.55843971e+02] [ 5.23865175e-01 8.51386363e-01 -2.65808105e-02 3.12095467e+01] [ 4.91749758e-02 9.25060349e-04 9.98789751e-01 7.77756981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.060385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:155.87, Y:31.22, Z:7.78 [[ 8.49648841e-01 -5.25709986e-01 -4.15434504e-02 1.55865676e+02] [ 5.25050500e-01 8.50663681e-01 -2.63300919e-02 3.12249789e+01] [ 4.91814967e-02 5.58922714e-04 9.98789702e-01 7.77733433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.090385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.89, Y:31.24, Z:7.78 [[ 8.49256969e-01 -5.26358346e-01 -4.13460004e-02 1.55890295e+02] [ 5.25684665e-01 8.50262374e-01 -2.66369654e-02 3.12401268e+01] [ 4.91755375e-02 8.86670194e-04 9.98789758e-01 7.78097125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.120385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.91, Y:31.25, Z:7.78 [[ 8.49627676e-01 -5.25755803e-01 -4.13962431e-02 1.55913423e+02] [ 5.25085208e-01 8.50635145e-01 -2.65588930e-02 3.12545451e+01] [ 4.91765913e-02 8.28615616e-04 9.98789756e-01 7.78207589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.150385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.94, Y:31.27, Z:7.78 [[ 8.49659020e-01 -5.25707150e-01 -4.13707975e-02 1.55937515e+02] [ 5.25034573e-01 8.50665164e-01 -2.65984118e-02 3.12712393e+01] [ 4.91756715e-02 8.78481510e-04 9.98789758e-01 7.78262750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.180385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:155.96, Y:31.29, Z:7.78 [[ 8.50287457e-01 -5.24684440e-01 -4.14424809e-02 1.55959201e+02] [ 5.24016072e-01 8.51296418e-01 -2.64870861e-02 3.12877796e+01] [ 4.91771975e-02 8.05111044e-04 9.98789745e-01 7.78194930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.210385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.98, Y:31.30, Z:7.78 [[ 8.50166166e-01 -5.24891645e-01 -4.13067940e-02 1.55982085e+02] [ 5.24213283e-01 8.51168415e-01 -2.66976245e-02 3.13039480e+01] [ 4.91723985e-02 1.04384696e-03 9.98789760e-01 7.78254918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.240385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.01, Y:31.32, Z:7.78 [[ 8.50073402e-01 -5.25040627e-01 -4.13225333e-02 1.56005184e+02] [ 5.24363626e-01 8.51076570e-01 -2.66732112e-02 3.13189181e+01] [ 4.91731594e-02 1.00615397e-03 9.98789762e-01 7.78391634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.270385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.03, Y:31.33, Z:7.78 [[ 8.50032239e-01 -5.25107535e-01 -4.13191225e-02 1.56027887e+02] [ 5.24430356e-01 8.51035287e-01 -2.66785000e-02 3.13345763e+01] [ 4.91731126e-02 1.00858299e-03 9.98789762e-01 7.78495977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.300385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:156.05, Y:31.35, Z:7.78 [[ 8.49570134e-01 -5.25859966e-01 -4.12538925e-02 1.56050288e+02] [ 5.25178763e-01 8.50570466e-01 -2.67796291e-02 3.13504895e+01] [ 4.91716774e-02 1.08550482e-03 9.98789752e-01 7.78499981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.330385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.08, Y:31.37, Z:7.79 [[ 8.50375059e-01 -5.24563290e-01 -4.11778405e-02 1.56076059e+02] [ 5.23874853e-01 8.51370461e-01 -2.68975003e-02 3.13658932e+01] [ 4.91670384e-02 1.30092822e-03 9.98789723e-01 7.78653304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.360385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.10, Y:31.38, Z:7.79 [[ 8.52218069e-01 -5.21558802e-01 -4.12404978e-02 1.56101157e+02] [ 5.20871547e-01 8.53214258e-01 -2.68004016e-02 3.13804977e+01] [ 4.91649661e-02 1.35878464e-03 9.98789748e-01 7.79032956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.390385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.12, Y:31.40, Z:7.79 [[ 8.52053493e-01 -5.21820783e-01 -4.13269277e-02 1.56124517e+02] [ 5.21140319e-01 8.53054317e-01 -2.66664562e-02 3.13964827e+01] [ 4.91692251e-02 1.18411890e-03 9.98789760e-01 7.79191018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.420385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.15, Y:31.41, Z:7.79 [[ 8.50218976e-01 -5.24805100e-01 -4.13194822e-02 1.56146281e+02] [ 5.24127589e-01 8.51221802e-01 -2.66779878e-02 3.14144131e+01] [ 4.91727882e-02 1.02545092e-03 9.98789760e-01 7.79016815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.450385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.17, Y:31.43, Z:7.79 [[ 8.49620711e-01 -5.25780298e-01 -4.12277189e-02 1.56169524e+02] [ 5.25097042e-01 8.50619646e-01 -2.68200219e-02 3.14307507e+01] [ 4.91705467e-02 1.13829283e-03 9.98789748e-01 7.79029335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.480385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.20, Y:31.45, Z:7.80 [[ 8.50513531e-01 -5.24340157e-01 -4.11598520e-02 1.56197091e+02] [ 5.23650134e-01 8.51507831e-01 -2.69249053e-02 3.14454281e+01] [ 4.91657454e-02 1.34663424e-03 9.98789726e-01 7.79707603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.510385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:156.22, Y:31.46, Z:7.80 [[ 8.49437910e-01 -5.26063109e-01 -4.13865106e-02 1.56220719e+02] [ 5.25392119e-01 8.50445129e-01 -2.65744927e-02 3.14602568e+01] [ 4.91768166e-02 8.29235021e-04 9.98789744e-01 7.79818918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.540385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.25, Y:31.48, Z:7.80 [[ 8.47324565e-01 -5.29468106e-01 -4.12868838e-02 1.56246237e+02] [ 5.28793659e-01 8.48329452e-01 -2.67283860e-02 3.14763088e+01] [ 4.91767074e-02 8.15375700e-04 9.98789761e-01 7.80139001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.57038572300002 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:156.27, Y:31.49, Z:7.80 [[ 8.46206852e-01 -5.31245180e-01 -4.13826363e-02 1.56268645e+02] [ 5.30580066e-01 8.47217960e-01 -2.65804885e-02 3.14905610e+01] [ 4.91808691e-02 5.35789628e-04 9.98789745e-01 7.80165275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.60038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.29, Y:31.51, Z:7.81 [[ 8.45482238e-01 -5.32403835e-01 -4.13030459e-02 1.56291851e+02] [ 5.31734100e-01 8.46490270e-01 -2.67033440e-02 3.15069904e+01] [ 4.91795892e-02 6.14965084e-04 9.98789763e-01 7.80527874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.63038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.31, Y:31.52, Z:7.81 [[ 8.45009630e-01 -5.33151839e-01 -4.13260469e-02 1.56314602e+02] [ 5.32484731e-01 8.46019407e-01 -2.66678552e-02 3.15229524e+01] [ 4.91806537e-02 5.29105460e-04 9.98789759e-01 7.80609898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.66038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.34, Y:31.54, Z:7.81 [[ 8.44444890e-01 -5.34047186e-01 -4.13089851e-02 1.56337055e+02] [ 5.33379861e-01 8.45454520e-01 -2.66941641e-02 3.15394194e+01] [ 4.91808114e-02 5.08369711e-04 9.98789762e-01 7.80624117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.69038572300002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:156.36, Y:31.55, Z:7.81 [[ 8.44172230e-01 -5.34480291e-01 -4.12803155e-02 1.56360295e+02] [ 5.33811324e-01 8.45180768e-01 -2.67383467e-02 3.15548211e+01] [ 4.91804481e-02 5.35869841e-04 9.98789766e-01 7.80668670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.720385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:156.38, Y:31.57, Z:7.81 [[ 8.44588443e-01 -5.33823322e-01 -4.12676978e-02 1.56383701e+02] [ 5.33152621e-01 8.45595828e-01 -2.67577796e-02 3.15683577e+01] [ 4.91797199e-02 5.97330130e-04 9.98789767e-01 7.80621822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.750385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.41, Y:31.58, Z:7.81 [[ 8.43946076e-01 -5.34840139e-01 -4.12437384e-02 1.56407602e+02] [ 5.34168849e-01 8.44953068e-01 -2.67946593e-02 3.15844678e+01] [ 4.91798826e-02 5.82127306e-04 9.98789768e-01 7.80948669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.780385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.43, Y:31.60, Z:7.81 [[ 8.43355202e-01 -5.35772170e-01 -4.12333136e-02 1.56430766e+02] [ 5.35101209e-01 8.44362412e-01 -2.68106971e-02 3.15999921e+01] [ 4.91802855e-02 5.46944923e-04 9.98789768e-01 7.81023240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.810385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.45, Y:31.62, Z:7.81 [[ 8.43750009e-01 -5.35148063e-01 -4.12610277e-02 1.56454758e+02] [ 5.34478440e-01 8.44758112e-01 -2.67680801e-02 3.16150986e+01] [ 4.91804741e-02 5.32438174e-04 9.98789766e-01 7.81325006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.840385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.48, Y:31.63, Z:7.81 [[ 8.43343425e-01 -5.35791088e-01 -4.12283509e-02 1.56476758e+02] [ 5.35119778e-01 8.44350402e-01 -2.68183067e-02 3.16299226e+01] [ 4.91801844e-02 5.54936664e-04 9.98789768e-01 7.81403587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.870385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.50, Y:31.64, Z:7.82 [[ 8.42881312e-01 -5.36520146e-01 -4.11974089e-02 1.56499898e+02] [ 5.35847383e-01 8.43887320e-01 -2.68658520e-02 3.16449278e+01] [ 4.91800418e-02 5.69200800e-04 9.98789767e-01 7.81529199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.900385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.52, Y:31.66, Z:7.82 [[ 8.42551836e-01 -5.37037724e-01 -4.11932896e-02 1.56523162e+02] [ 5.36365269e-01 8.43558050e-01 -2.68721776e-02 3.16599763e+01] [ 4.91803041e-02 5.46552666e-04 9.98789767e-01 7.81719325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.930385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:156.55, Y:31.67, Z:7.82 [[ 8.42862829e-01 -5.36547968e-01 -4.12132214e-02 1.56546210e+02] [ 5.35876423e-01 8.43869651e-01 -2.68415823e-02 3.16733242e+01] [ 4.91803832e-02 5.38578364e-04 9.98789768e-01 7.81818910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.960385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.57, Y:31.69, Z:7.82 [[ 8.41731205e-01 -5.38322352e-01 -4.12022349e-02 1.56570363e+02] [ 5.37652105e-01 8.42738891e-01 -2.68584362e-02 3.16900408e+01] [ 4.91812223e-02 4.55115532e-04 9.98789768e-01 7.81854463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.990385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.59, Y:31.70, Z:7.82 [[ 8.42339515e-01 -5.37370819e-01 -4.11915632e-02 1.56594516e+02] [ 5.36698634e-01 8.43345909e-01 -2.68747989e-02 3.17037648e+01] [ 4.91804690e-02 5.30249381e-04 9.98789768e-01 7.82208511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.020385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:156.62, Y:31.72, Z:7.82 [[ 8.40920031e-01 -5.39589301e-01 -4.11932974e-02 1.56617058e+02] [ 5.38919901e-01 8.41928280e-01 -2.68721404e-02 3.17204940e+01] [ 4.91817215e-02 3.97433365e-04 9.98789768e-01 7.82115630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.050385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.64, Y:31.73, Z:7.83 [[ 8.42211793e-01 -5.37576928e-01 -4.11137754e-02 1.56641478e+02] [ 5.36899167e-01 8.43214450e-01 -2.69939849e-02 3.17347613e+01] [ 4.91790730e-02 6.60700653e-04 9.98789759e-01 7.82543784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.080385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.66, Y:31.75, Z:7.83 [[ 8.42311019e-01 -5.37415855e-01 -4.11867235e-02 1.56664786e+02] [ 5.36743360e-01 8.43317207e-01 -2.68822206e-02 3.17498604e+01] [ 4.91804042e-02 5.36490273e-04 9.98789768e-01 7.82699693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.110385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.69, Y:31.76, Z:7.83 [[ 8.42356431e-01 -5.37345240e-01 -4.11793183e-02 1.56688284e+02] [ 5.36672107e-01 8.43362192e-01 -2.68935595e-02 3.17648840e+01] [ 4.91802062e-02 5.54171272e-04 9.98789768e-01 7.82816399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.140385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.71, Y:31.78, Z:7.83 [[ 8.40880289e-01 -5.39652857e-01 -4.11719965e-02 1.56708780e+02] [ 5.38981935e-01 8.41887526e-01 -2.69047639e-02 3.17816831e+01] [ 4.91814230e-02 4.32723262e-04 9.98789768e-01 7.82637152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.170385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.73, Y:31.80, Z:7.83 [[ 8.40499124e-01 -5.40259377e-01 -4.10003291e-02 1.56731854e+02] [ 5.39576351e-01 8.41498247e-01 -2.71673001e-02 3.17974585e+01] [ 4.91790937e-02 7.11283991e-04 9.98789723e-01 7.82555130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.200385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.76, Y:31.81, Z:7.83 [[ 8.40908616e-01 -5.39622689e-01 -4.09884517e-02 1.56757015e+02] [ 5.38938021e-01 8.41906622e-01 -2.71854552e-02 3.18121888e+01] [ 4.91783373e-02 7.70248492e-04 9.98789717e-01 7.82879815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.230385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.78, Y:31.83, Z:7.83 [[ 8.40618078e-01 -5.40070484e-01 -4.10501998e-02 1.56780267e+02] [ 5.39390953e-01 8.41619554e-01 -2.70910657e-02 3.18277534e+01] [ 4.91797358e-02 6.31133192e-04 9.98789745e-01 7.82866926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.260385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.80, Y:31.84, Z:7.83 [[ 8.40661746e-01 -5.40006039e-01 -4.10037292e-02 1.56803090e+02] [ 5.39322965e-01 8.41660834e-01 -2.71621080e-02 3.18439847e+01] [ 4.91789353e-02 7.19892360e-04 9.98789725e-01 7.82961935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.290385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:156.83, Y:31.86, Z:7.83 [[ 8.42904531e-01 -5.36503362e-01 -4.09401337e-02 1.56830745e+02] [ 5.35811415e-01 8.43897541e-01 -2.72592826e-02 3.18585266e+01] [ 4.91739749e-02 1.04078188e-03 9.98789686e-01 7.83177929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.32038572300002 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:156.86, Y:31.87, Z:7.83 [[ 8.43260089e-01 -5.35927548e-01 -4.11592793e-02 1.56855381e+02] [ 5.35251224e-01 8.44263709e-01 -2.69242808e-02 3.18743229e+01] [ 4.91787496e-02 6.73616773e-04 9.98789766e-01 7.83194317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.35038572300002 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:156.88, Y:31.89, Z:7.83 [[ 8.41521462e-01 -5.38653944e-01 -4.11528537e-02 1.56875181e+02] [ 5.37980392e-01 8.42526944e-01 -2.69340986e-02 3.18914717e+01] [ 4.91805465e-02 5.26193691e-04 9.98789766e-01 7.83187679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.38038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.90, Y:31.91, Z:7.84 [[ 8.44562313e-01 -5.33895276e-01 -4.08697245e-02 1.56902726e+02] [ 5.33195112e-01 8.45549579e-01 -2.73656951e-02 3.19054819e+01] [ 4.91677937e-02 1.32049740e-03 9.98789660e-01 7.83765512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.41038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.92, Y:31.92, Z:7.84 [[ 8.44057170e-01 -5.34676697e-01 -4.10892046e-02 1.56922722e+02] [ 5.33993682e-01 8.45056249e-01 -2.70311580e-02 3.19206230e+01] [ 4.91756194e-02 8.74467130e-04 9.98789765e-01 7.83938578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.44038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.95, Y:31.94, Z:7.84 [[ 8.45063156e-01 -5.33102697e-01 -4.08629074e-02 1.56951448e+02] [ 5.32401130e-01 8.46049415e-01 -2.73755962e-02 3.19362138e+01] [ 4.91660431e-02 1.37864966e-03 9.98789667e-01 7.83970135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.470385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.97, Y:31.95, Z:7.84 [[ 8.43919326e-01 -5.34893426e-01 -4.10998119e-02 1.56972078e+02] [ 5.34211461e-01 8.44919117e-01 -2.70148334e-02 3.19526917e+01] [ 4.91760736e-02 8.42349455e-04 9.98789770e-01 7.84264020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.500385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.00, Y:31.97, Z:7.85 [[ 8.45842857e-01 -5.31860675e-01 -4.09155599e-02 1.56999301e+02] [ 5.31161520e-01 8.46830789e-01 -2.72956718e-02 3.19668193e+01] [ 4.91660503e-02 1.35507804e-03 9.98789699e-01 7.84614301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.530385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.02, Y:31.98, Z:7.85 [[ 8.45085626e-01 -5.33046643e-01 -4.11286051e-02 1.57019200e+02] [ 5.32364635e-01 8.46085381e-01 -2.69707994e-02 3.19841458e+01] [ 4.91750056e-02 8.97220028e-04 9.98789775e-01 7.84604299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.560385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:157.04, Y:32.00, Z:7.85 [[ 8.45085350e-01 -5.33062482e-01 -4.09284806e-02 1.57043484e+02] [ 5.32365687e-01 8.46074937e-01 -2.72759463e-02 3.19995685e+01] [ 4.91683453e-02 1.26158390e-03 9.98789709e-01 7.84839139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.590385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.07, Y:32.01, Z:7.85 [[ 8.46021845e-01 -5.31574459e-01 -4.09344987e-02 1.57070920e+02] [ 5.30876366e-01 8.47010512e-01 -2.72667834e-02 3.20134588e+01] [ 4.91662763e-02 1.33713654e-03 9.98789712e-01 7.85284935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.620385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.09, Y:32.03, Z:7.85 [[ 8.45111528e-01 -5.32999665e-01 -4.12051299e-02 1.57091860e+02] [ 5.32323265e-01 8.46115110e-01 -2.68544740e-02 3.20291582e+01] [ 4.91777087e-02 7.60576309e-04 9.98789755e-01 7.85202945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.650385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.11, Y:32.05, Z:7.85 [[ 8.44126520e-01 -5.34576265e-01 -4.09711485e-02 1.57114604e+02] [ 5.33884400e-01 8.45119528e-01 -2.72108433e-02 3.20457466e+01] [ 4.91717886e-02 1.09553747e-03 9.98789735e-01 7.85125459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.680385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.14, Y:32.06, Z:7.86 [[ 8.45998435e-01 -5.31609576e-01 -4.09622630e-02 1.57140797e+02] [ 5.30913576e-01 8.46988553e-01 -2.72243673e-02 3.20599505e+01] [ 4.91673022e-02 1.28435064e-03 9.98789731e-01 7.85507072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.710385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:157.16, Y:32.08, Z:7.85 [[ 8.44603972e-01 -5.33813832e-01 -4.10721651e-02 1.57161885e+02] [ 5.33128536e-01 8.45601490e-01 -2.70570626e-02 3.20770147e+01] [ 4.91741182e-02 9.55759314e-04 9.98789764e-01 7.85177225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.740385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.19, Y:32.09, Z:7.86 [[ 8.45857146e-01 -5.31836530e-01 -4.09340263e-02 1.57188465e+02] [ 5.31138721e-01 8.46846005e-01 -2.72672390e-02 3.20927542e+01] [ 4.91665304e-02 1.32254260e-03 9.98789719e-01 7.85631746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.770385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.21, Y:32.11, Z:7.86 [[ 8.45306664e-01 -5.32689243e-01 -4.12166724e-02 1.57206024e+02] [ 5.32013308e-01 8.46310579e-01 -2.68373708e-02 3.21086559e+01] [ 4.91780846e-02 7.57990185e-04 9.98789738e-01 7.85503767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.800385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.23, Y:32.12, Z:7.86 [[ 8.47568031e-01 -5.29111592e-01 -4.08577610e-02 1.57232968e+02] [ 5.28404988e-01 8.48550705e-01 -2.73837575e-02 3.21237563e+01] [ 4.91589454e-02 1.62015267e-03 9.98789654e-01 7.85910906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.830385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:157.25, Y:32.14, Z:7.86 [[ 8.46043117e-01 -5.31526981e-01 -4.11109695e-02 1.57252550e+02] [ 5.30841847e-01 8.47040749e-01 -2.69981989e-02 3.21419290e+01] [ 4.91729375e-02 1.01821736e-03 9.98789760e-01 7.85726254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.860385723 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:157.27, Y:32.16, Z:7.86 [[ 8.46142549e-01 -5.31386128e-01 -4.08848328e-02 1.57273480e+02] [ 5.30684164e-01 8.47128511e-01 -2.73423510e-02 3.21593797e+01] [ 4.91640535e-02 1.43859323e-03 9.98789681e-01 7.85621255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.890385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.30, Y:32.18, Z:7.86 [[ 8.46884538e-01 -5.30210759e-01 -4.07814847e-02 1.57297152e+02] [ 5.29499858e-01 8.47864186e-01 -2.74995012e-02 3.21754321e+01] [ 4.91576918e-02 1.69511200e-03 9.98789591e-01 7.85707259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.920385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.32, Y:32.19, Z:7.86 [[ 8.47331780e-01 -5.29492149e-01 -4.08279164e-02 1.57318854e+02] [ 5.28783810e-01 8.48313229e-01 -2.74289598e-02 3.21905839e+01] [ 4.91582804e-02 1.65228811e-03 9.98789634e-01 7.85846199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.950385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.34, Y:32.21, Z:7.86 [[ 8.46655185e-01 -5.30577989e-01 -4.07675766e-02 1.57341630e+02] [ 5.29866493e-01 8.47634420e-01 -2.75207121e-02 3.22070836e+01] [ 4.91578852e-02 1.69918078e-03 9.98789575e-01 7.86111879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.980385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:157.36, Y:32.22, Z:7.86 [[ 8.46098282e-01 -5.31464332e-01 -4.07843306e-02 1.57364360e+02] [ 5.30755088e-01 8.47079128e-01 -2.74952315e-02 3.22228761e+01] [ 4.91602900e-02 1.61717714e-03 9.98789593e-01 7.86307474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.010385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:157.39, Y:32.24, Z:7.87 [[ 8.45036569e-01 -5.33156614e-01 -4.07089950e-02 1.57388051e+02] [ 5.32443818e-01 8.46014942e-01 -2.76097545e-02 3.22400697e+01] [ 4.91607413e-02 1.65599951e-03 9.98789507e-01 7.86692540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.040385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.41, Y:32.25, Z:7.87 [[ 8.45596588e-01 -5.32268118e-01 -4.07070038e-02 1.57409767e+02] [ 5.31554148e-01 8.46574109e-01 -2.76127789e-02 3.22544649e+01] [ 4.91588973e-02 1.71129491e-03 9.98789504e-01 7.86704124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.07038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.43, Y:32.27, Z:7.87 [[ 8.46570507e-01 -5.30727189e-01 -4.05835995e-02 1.57433525e+02] [ 5.30002453e-01 8.47540293e-01 -2.78002065e-02 3.22710349e+01] [ 4.91505613e-02 2.02542763e-03 9.98789327e-01 7.87002644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.10038572300002 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:157.46, Y:32.29, Z:7.87 [[ 8.46294501e-01 -5.31165674e-01 -4.06034937e-02 1.57455954e+02] [ 5.30442888e-01 8.47265702e-01 -2.77699953e-02 3.22871071e+01] [ 4.91524159e-02 1.96375986e-03 9.98789359e-01 7.87039509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.13038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.48, Y:32.30, Z:7.87 [[ 8.46653567e-01 -5.30592194e-01 -4.06160188e-02 1.57478705e+02] [ 5.29869661e-01 8.47624932e-01 -2.77509747e-02 3.23029802e+01] [ 4.91516008e-02 1.97426565e-03 9.98789378e-01 7.87184626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.16038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.50, Y:32.32, Z:7.87 [[ 8.46377783e-01 -5.31029166e-01 -4.06530753e-02 1.57503954e+02] [ 5.30309834e-01 8.47351453e-01 -2.76946868e-02 3.23202926e+01] [ 4.91541289e-02 1.88144202e-03 9.98789433e-01 7.87141465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.19038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.53, Y:32.34, Z:7.87 [[ 8.46368554e-01 -5.31025478e-01 -4.08926915e-02 1.57526995e+02] [ 5.30323661e-01 8.47354620e-01 -2.73306115e-02 3.23352293e+01] [ 4.91638621e-02 1.44540826e-03 9.98789680e-01 7.87293547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.220385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.55, Y:32.35, Z:7.87 [[ 8.45313552e-01 -5.32703193e-01 -4.08938474e-02 1.57548329e+02] [ 5.32003417e-01 8.46301068e-01 -2.73288551e-02 3.23513165e+01] [ 4.91666751e-02 1.34578502e-03 9.98789681e-01 7.87244805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.250385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.57, Y:32.37, Z:7.87 [[ 8.44635829e-01 -5.33790267e-01 -4.07218350e-02 1.57573178e+02] [ 5.33079111e-01 8.45615399e-01 -2.75909166e-02 3.23669994e+01] [ 4.91627735e-02 1.59631714e-03 9.98789504e-01 7.87382399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.280385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.60, Y:32.38, Z:7.87 [[ 8.43780090e-01 -5.35134495e-01 -4.08195042e-02 1.57596494e+02] [ 5.34432082e-01 8.44765812e-01 -2.74421864e-02 3.23826660e+01] [ 4.91681822e-02 1.33991792e-03 9.98789615e-01 7.87483290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.310385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.62, Y:32.40, Z:7.88 [[ 8.42111223e-01 -5.37759146e-01 -4.07895788e-02 1.57619505e+02] [ 5.37057598e-01 8.43097598e-01 -2.74877617e-02 3.23991368e+01] [ 4.91713911e-02 1.24139942e-03 9.98789584e-01 7.87601046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.340385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.64, Y:32.41, Z:7.88 [[ 8.41632570e-01 -5.38511227e-01 -4.07464818e-02 1.57643936e+02] [ 5.37807382e-01 8.42617369e-01 -2.75533876e-02 3.24149512e+01] [ 4.91715018e-02 1.27606967e-03 9.98789535e-01 7.87767678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.370385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.67, Y:32.43, Z:7.88 [[ 8.40982547e-01 -5.39524037e-01 -4.07697031e-02 1.57672145e+02] [ 5.38823087e-01 8.41969378e-01 -2.75181274e-02 3.24308634e+01] [ 4.91735328e-02 1.17460757e-03 9.98789559e-01 7.87998024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.400385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.70, Y:32.45, Z:7.88 [[ 8.39849627e-01 -5.41267477e-01 -4.10137014e-02 1.57695557e+02] [ 5.40586618e-01 8.40850239e-01 -2.71474628e-02 3.24461694e+01] [ 4.91804193e-02 6.28328400e-04 9.98789713e-01 7.88141390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.430385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:157.71, Y:32.46, Z:7.88 [[ 8.37075051e-01 -5.45552458e-01 -4.09618715e-02 1.57713953e+02] [ 5.44872866e-01 8.38076544e-01 -2.72261984e-02 3.24615116e+01] [ 4.91825032e-02 4.71359071e-04 9.98789697e-01 7.88151840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.460385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.74, Y:32.48, Z:7.88 [[ 8.36234200e-01 -5.46862157e-01 -4.06711824e-02 1.57736335e+02] [ 5.46162525e-01 8.37222149e-01 -2.76689319e-02 3.24772520e+01] [ 4.91819065e-02 9.24631472e-04 9.98789410e-01 7.88169646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.490385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.76, Y:32.49, Z:7.88 [[ 8.35516064e-01 -5.47960202e-01 -4.06512466e-02 1.57760512e+02] [ 5.47260391e-01 8.36503923e-01 -2.76992811e-02 3.24920271e+01] [ 4.91830309e-02 8.96377198e-04 9.98789380e-01 7.88439304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.520385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.79, Y:32.50, Z:7.89 [[ 8.38057055e-01 -5.44063995e-01 -4.06785091e-02 1.57791851e+02] [ 5.43361606e-01 8.39043033e-01 -2.76577838e-02 3.25047733e+01] [ 4.91786240e-02 1.07566082e-03 9.98789420e-01 7.89328048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.550385723 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:157.81, Y:32.52, Z:7.89 [[ 8.34193841e-01 -5.49936115e-01 -4.11206039e-02 1.57808645e+02] [ 5.49273697e-01 8.35206719e-01 -2.69841127e-02 3.25221595e+01] [ 4.91837427e-02 -7.64854941e-05 9.98789744e-01 7.88928869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.580385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.84, Y:32.54, Z:7.90 [[ 8.36639627e-01 -5.46236626e-01 -4.07391968e-02 1.57838438e+02] [ 5.45541327e-01 8.37630496e-01 -2.75647059e-02 3.25356878e+01] [ 4.91812456e-02 8.36809817e-04 9.98789520e-01 7.89733449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.610385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.85, Y:32.56, Z:7.89 [[ 8.33925083e-01 -5.50343984e-01 -4.11151449e-02 1.57854111e+02] [ 5.49681669e-01 8.34938016e-01 -2.69920715e-02 3.25554855e+01] [ 4.91835216e-02 -9.08759747e-05 9.98789754e-01 7.89159561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.640385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:157.88, Y:32.57, Z:7.89 [[ 8.34210342e-01 -5.49936918e-01 -4.07736531e-02 1.57876504e+02] [ 5.49248596e-01 8.35206009e-01 -2.75118718e-02 3.25723627e+01] [ 4.91841941e-02 5.55816301e-04 9.98789570e-01 7.89153172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.670385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:157.91, Y:32.59, Z:7.90 [[ 8.37060437e-01 -5.45590117e-01 -4.07584151e-02 1.57905912e+02] [ 5.44895496e-01 8.38051740e-01 -2.75350545e-02 3.25863742e+01] [ 4.91805143e-02 8.39428000e-04 9.98789554e-01 7.89700918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.700385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.92, Y:32.61, Z:7.89 [[ 8.36005526e-01 -5.47178807e-01 -4.11109779e-02 1.57921800e+02] [ 5.46512355e-01 8.37015736e-01 -2.69982153e-02 3.26053384e+01] [ 4.91833866e-02 1.02999835e-04 9.98789760e-01 7.89365703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.730385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:157.94, Y:32.62, Z:7.89 [[ 8.36909890e-01 -5.45820321e-01 -4.07678006e-02 1.57944664e+02] [ 5.45126689e-01 8.37901858e-01 -2.75203347e-02 3.26215379e+01] [ 4.91805738e-02 8.08424165e-04 9.98789576e-01 7.89410852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.760385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:157.97, Y:32.64, Z:7.90 [[ 8.39838457e-01 -5.41303101e-01 -4.07715465e-02 1.57974401e+02] [ 5.40604411e-01 8.40826864e-01 -2.75146402e-02 3.26383331e+01] [ 4.91755717e-02 1.06657504e-03 9.98789580e-01 7.89867400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.790385723 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:157.99, Y:32.66, Z:7.90 [[ 8.39212346e-01 -5.42248641e-01 -4.10980491e-02 1.57991991e+02] [ 5.41575285e-01 8.40217971e-01 -2.70180013e-02 3.26574905e+01] [ 4.91817939e-02 4.16152601e-04 9.98789757e-01 7.89950068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.82038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.01, Y:32.67, Z:7.90 [[ 8.39670215e-01 -5.41559702e-01 -4.08291375e-02 1.58013492e+02] [ 5.40865585e-01 8.40661759e-01 -2.74267438e-02 3.26730414e+01] [ 4.91767138e-02 9.46344512e-04 9.98789645e-01 7.90198933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.85038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.04, Y:32.69, Z:7.90 [[ 8.40544170e-01 -5.40204797e-01 -4.07955248e-02 1.58037569e+02] [ 5.39506602e-01 8.41532885e-01 -2.74778143e-02 3.26893177e+01] [ 4.91744228e-02 1.08686167e-03 9.98789615e-01 7.90407647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.88038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.06, Y:32.71, Z:7.91 [[ 8.42228998e-01 -5.37570489e-01 -4.08446301e-02 1.58060091e+02] [ 5.36872816e-01 8.43218029e-01 -2.74032065e-02 3.27051899e+01] [ 4.91720836e-02 1.15140360e-03 9.98789658e-01 7.90668283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.91038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.09, Y:32.72, Z:7.91 [[ 8.42234720e-01 -5.37557583e-01 -4.08964798e-02 1.58085233e+02] [ 5.36863713e-01 8.43226379e-01 -2.73244791e-02 3.27216458e+01] [ 4.91734715e-02 1.05778901e-03 9.98789693e-01 7.90781306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.94038572300002 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:158.11, Y:32.74, Z:7.91 [[ 8.43030868e-01 -5.36292981e-01 -4.10949518e-02 1.58105857e+02] [ 5.35612269e-01 8.44031543e-01 -2.70231714e-02 3.27376329e+01] [ 4.91777727e-02 7.70407284e-04 9.98789744e-01 7.91095674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.970385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.13, Y:32.75, Z:7.91 [[ 8.43146277e-01 -5.36126503e-01 -4.08989937e-02 1.58129918e+02] [ 5.35431147e-01 8.44136885e-01 -2.73204320e-02 3.27544266e+01] [ 4.91715568e-02 1.13652541e-03 9.98789701e-01 7.91259317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.000385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.15, Y:32.77, Z:7.91 [[ 8.43048295e-01 -5.36278019e-01 -4.09323703e-02 1.58153889e+02] [ 5.35585296e-01 8.44040727e-01 -2.72698164e-02 3.27712682e+01] [ 4.91727907e-02 1.06699661e-03 9.98789717e-01 7.91317277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.030385723 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:158.18, Y:32.79, Z:7.92 [[ 8.42550388e-01 -5.37059122e-01 -4.09431626e-02 1.58177386e+02] [ 5.36368114e-01 8.43544009e-01 -2.72534530e-02 3.27870942e+01] [ 4.91740751e-02 1.00180047e-03 9.98789721e-01 7.91512263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.060385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.20, Y:32.80, Z:7.92 [[ 8.43118820e-01 -5.36163455e-01 -4.09805440e-02 1.58203231e+02] [ 5.35474142e-01 8.44113605e-01 -2.71967951e-02 3.28028711e+01] [ 4.91741623e-02 9.86108155e-04 9.98789732e-01 7.91750915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.090385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:158.22, Y:32.82, Z:7.92 [[ 8.41255179e-01 -5.39077453e-01 -4.10514712e-02 1.58224480e+02] [ 5.38396825e-01 8.42255916e-01 -2.70893119e-02 3.28201824e+01] [ 4.91790817e-02 6.87042234e-04 9.98789741e-01 7.91708820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.120385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:158.25, Y:32.84, Z:7.92 [[ 8.40094000e-01 -5.40894240e-01 -4.09327800e-02 1.58246973e+02] [ 5.40207005e-01 8.41090237e-01 -2.72691224e-02 3.28362155e+01] [ 4.91778728e-02 7.96451665e-04 9.98789719e-01 7.91767962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.150385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:158.27, Y:32.85, Z:7.92 [[ 8.41524383e-01 -5.38668233e-01 -4.09053455e-02 1.58271896e+02] [ 5.37976345e-01 8.42517407e-01 -2.73106573e-02 3.28490885e+01] [ 4.91748492e-02 9.76475802e-04 9.98789708e-01 7.92061589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.180385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.29, Y:32.87, Z:7.92 [[ 8.39427300e-01 -5.41926490e-01 -4.09571443e-02 1.58292945e+02] [ 5.41242278e-01 8.40425607e-01 -2.72322596e-02 3.28657071e+01] [ 4.91793157e-02 6.91764096e-04 9.98789726e-01 7.92016897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.210385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.32, Y:32.88, Z:7.92 [[ 8.39435133e-01 -5.41929327e-01 -4.07585790e-02 1.58315341e+02] [ 5.41230496e-01 8.40423404e-01 -2.75327491e-02 3.28811018e+01] [ 4.91752678e-02 1.05217099e-03 9.98789610e-01 7.92048060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.240385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.34, Y:32.90, Z:7.92 [[ 8.39447147e-01 -5.41907793e-01 -4.07974325e-02 1.58338910e+02] [ 5.41211798e-01 8.40437373e-01 -2.74738399e-02 3.28958784e+01] [ 4.91759749e-02 9.82784730e-04 9.98789646e-01 7.92356578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.270385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:158.36, Y:32.91, Z:7.92 [[ 8.39270913e-01 -5.42176826e-01 -4.08488034e-02 1.58362430e+02] [ 5.41484936e-01 8.40263962e-01 -2.73959513e-02 3.29114654e+01] [ 4.91772273e-02 8.73613362e-04 9.98789686e-01 7.92466488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.300385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.39, Y:32.93, Z:7.92 [[ 8.39260911e-01 -5.42192354e-01 -4.08481861e-02 1.58385617e+02] [ 5.41500437e-01 8.40253942e-01 -2.73968866e-02 3.29260957e+01] [ 4.91772319e-02 8.73825390e-04 9.98789686e-01 7.92456708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.330385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.41, Y:32.94, Z:7.93 [[ 8.39935614e-01 -5.41146480e-01 -4.08491223e-02 1.58411969e+02] [ 5.40453395e-01 8.40927830e-01 -2.73954675e-02 3.29396179e+01] [ 4.91761245e-02 9.33381976e-04 9.98789686e-01 7.93140484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.360385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:158.44, Y:32.95, Z:7.93 [[ 8.39960503e-01 -5.41098493e-01 -4.09728556e-02 1.58435753e+02] [ 5.40414484e-01 8.40958926e-01 -2.72079144e-02 3.29536627e+01] [ 4.91786501e-02 7.11248865e-04 9.98789745e-01 7.93143798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.390385723 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:158.46, Y:32.97, Z:7.93 [[ 8.40057079e-01 -5.40950973e-01 -4.09407994e-02 1.58458484e+02] [ 5.40264421e-01 8.41053767e-01 -2.72564878e-02 3.29680212e+01] [ 4.91778372e-02 7.78148262e-04 9.98789735e-01 7.93220796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.420385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.48, Y:32.98, Z:7.93 [[ 8.40106552e-01 -5.40874573e-01 -4.09350396e-02 1.58482393e+02] [ 5.40187505e-01 8.41102888e-01 -2.72652123e-02 3.29834503e+01] [ 4.91776401e-02 7.93086616e-04 9.98789733e-01 7.93347882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.450385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.51, Y:33.00, Z:7.93 [[ 8.40452805e-01 -5.40338108e-01 -4.09122555e-02 1.58506468e+02] [ 5.39648725e-01 8.41447550e-01 -2.72997121e-02 3.29978093e+01] [ 4.91765920e-02 8.65873115e-04 9.98789724e-01 7.93396707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.480385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.53, Y:33.01, Z:7.93 [[ 8.40500252e-01 -5.40267484e-01 -4.08701708e-02 1.58529660e+02] [ 5.39574919e-01 8.41492810e-01 -2.73634229e-02 3.30110710e+01] [ 4.91755226e-02 9.46444722e-04 9.98789704e-01 7.93408879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.510385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.55, Y:33.03, Z:7.93 [[ 8.39820177e-01 -5.41327639e-01 -4.08222559e-02 1.58551072e+02] [ 5.40632801e-01 8.40811182e-01 -2.74359577e-02 3.30259129e+01] [ 4.91756515e-02 9.71420353e-04 9.98789673e-01 7.93396024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.540385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.58, Y:33.04, Z:7.93 [[ 8.40203581e-01 -5.40746677e-01 -4.06321726e-02 1.58575924e+02] [ 5.40037226e-01 8.41184407e-01 -2.77234141e-02 3.30392501e+01] [ 4.91704941e-02 1.35042609e-03 9.98789487e-01 7.93301996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.57038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.60, Y:33.05, Z:7.93 [[ 8.41085043e-01 -5.39373901e-01 -4.06416837e-02 1.58601266e+02] [ 5.38663542e-01 8.42065198e-01 -2.77090487e-02 3.30530270e+01] [ 4.91684851e-02 1.41347310e-03 9.98789498e-01 7.93497748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.60038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.63, Y:33.07, Z:7.94 [[ 8.42111294e-01 -5.37767872e-01 -4.06728926e-02 1.58627143e+02] [ 5.37057922e-01 8.43091698e-01 -2.76618445e-02 3.30666460e+01] [ 4.91666294e-02 1.45065250e-03 9.98789536e-01 7.93974333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.63038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.65, Y:33.08, Z:7.94 [[ 8.44097141e-01 -5.34640002e-01 -4.07441376e-02 1.58653374e+02] [ 5.33931605e-01 8.45078580e-01 -2.75542136e-02 3.30781258e+01] [ 4.91635828e-02 1.50385016e-03 9.98789608e-01 7.94035269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.66038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.68, Y:33.09, Z:7.94 [[ 8.43904829e-01 -5.34938951e-01 -4.08039138e-02 1.58678483e+02] [ 5.34235261e-01 8.44889591e-01 -2.74638913e-02 3.30918813e+01] [ 4.91663072e-02 1.37802097e-03 9.98789655e-01 7.94161260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.69038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.71, Y:33.10, Z:7.95 [[ 8.45737591e-01 -5.32033609e-01 -4.08431871e-02 1.58706486e+02] [ 5.31329399e-01 8.46721950e-01 -2.74045465e-02 3.31037406e+01] [ 4.91629628e-02 1.47586912e-03 9.98789680e-01 7.94604280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.720385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.73, Y:33.11, Z:7.95 [[ 8.46613250e-01 -5.30625413e-01 -4.10204366e-02 1.58731688e+02] [ 5.29932506e-01 8.47605535e-01 -2.71366160e-02 3.31137716e+01] [ 4.91685272e-02 1.23615583e-03 9.98789732e-01 7.94790223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.750385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.76, Y:33.13, Z:7.95 [[ 8.46823487e-01 -5.30293147e-01 -4.09775512e-02 1.58756803e+02] [ 5.29596717e-01 8.47813305e-01 -2.72014235e-02 3.31275153e+01] [ 4.91660416e-02 1.33322773e-03 9.98789729e-01 7.94966964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.780385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.78, Y:33.14, Z:7.95 [[ 8.47026317e-01 -5.29968829e-01 -4.09811928e-02 1.58781116e+02] [ 5.29272285e-01 8.48016055e-01 -2.71959211e-02 3.31407814e+01] [ 4.91656999e-02 1.34545129e-03 9.98789729e-01 7.95077503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.810385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.81, Y:33.15, Z:7.95 [[ 8.47505181e-01 -5.29203724e-01 -4.09681270e-02 1.58807132e+02] [ 5.28505334e-01 8.48493618e-01 -2.72156529e-02 3.31533181e+01] [ 4.91638192e-02 1.41353318e-03 9.98789728e-01 7.95131028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.840385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.83, Y:33.17, Z:7.95 [[ 8.48011951e-01 -5.28388568e-01 -4.10030828e-02 1.58831304e+02] [ 5.27691774e-01 8.49001513e-01 -2.71628863e-02 3.31677352e+01] [ 4.91642379e-02 1.39746263e-03 9.98789730e-01 7.95230168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.870385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.86, Y:33.18, Z:7.95 [[ 8.49685440e-01 -5.25693839e-01 -4.09956200e-02 1.58856751e+02] [ 5.24993365e-01 8.50672400e-01 -2.71741450e-02 3.31820375e+01] [ 4.91591230e-02 1.56704684e-03 9.98789730e-01 7.95383979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.900385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.88, Y:33.20, Z:7.95 [[ 8.47762330e-01 -5.28790889e-01 -4.09783764e-02 1.58877048e+02] [ 5.28092765e-01 8.48750955e-01 -2.72001493e-02 3.31957074e+01] [ 4.91636272e-02 1.41887783e-03 9.98789730e-01 7.95331858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.930385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.91, Y:33.21, Z:7.96 [[ 8.48798331e-01 -5.27143640e-01 -4.07550774e-02 1.58905769e+02] [ 5.26427419e-01 8.49774030e-01 -2.75367285e-02 3.32107469e+01] [ 4.91484177e-02 1.91853894e-03 9.98789644e-01 7.95626121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.960385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.93, Y:33.23, Z:7.96 [[ 8.49322382e-01 -5.26280772e-01 -4.09882848e-02 1.58929243e+02] [ 5.25580452e-01 8.50309448e-01 -2.71851185e-02 3.32257772e+01] [ 4.91597311e-02 1.54628836e-03 9.98789733e-01 7.95801066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.990385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.95, Y:33.24, Z:7.96 [[ 8.48812947e-01 -5.27107901e-01 -4.09126172e-02 1.58953583e+02] [ 5.26403048e-01 8.49796791e-01 -2.72991600e-02 3.32414226e+01] [ 4.91570137e-02 1.63535409e-03 9.98789724e-01 7.95806499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.020385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.98, Y:33.26, Z:7.96 [[ 8.47988428e-01 -5.28430723e-01 -4.09462665e-02 1.58977700e+02] [ 5.27729849e-01 8.48975104e-01 -2.72484681e-02 3.32559167e+01] [ 4.91612886e-02 1.49781861e-03 9.98789730e-01 7.95822049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.050385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.00, Y:33.27, Z:7.96 [[ 8.47850564e-01 -5.28649857e-01 -4.09725551e-02 1.59001304e+02] [ 5.27951148e-01 8.48838773e-01 -2.72088815e-02 3.32708351e+01] [ 4.91630647e-02 1.43755803e-03 9.98789731e-01 7.96181792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.080385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.03, Y:33.29, Z:7.96 [[ 8.47707546e-01 -5.28881727e-01 -4.09394026e-02 1.59025041e+02] [ 5.28180880e-01 8.48694242e-01 -2.72587864e-02 3.32867172e+01] [ 4.91617093e-02 1.48406921e-03 9.98789730e-01 7.96319941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.110385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.05, Y:33.30, Z:7.96 [[ 8.45248021e-01 -5.32803955e-01 -4.09356526e-02 1.59045859e+02] [ 5.32107415e-01 8.46237762e-01 -2.72644289e-02 3.33042034e+01] [ 4.91678906e-02 1.26304025e-03 9.98789729e-01 7.96184995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.140385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.07, Y:33.32, Z:7.97 [[ 8.46993945e-01 -5.30037590e-01 -4.07604147e-02 1.59073366e+02] [ 5.29325123e-01 8.47972360e-01 -2.75279873e-02 3.33177040e+01] [ 4.91545731e-02 1.74052706e-03 9.98789667e-01 7.96586962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.170385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.10, Y:33.33, Z:7.97 [[ 8.46721054e-01 -5.30458009e-01 -4.09604396e-02 1.59097742e+02] [ 5.29760531e-01 8.47710131e-01 -2.72270753e-02 3.33336617e+01] [ 4.91653998e-02 1.35451366e-03 9.98789732e-01 7.96890114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.200385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.12, Y:33.35, Z:7.97 [[ 8.46713682e-01 -5.30470138e-01 -4.09557471e-02 1.59121122e+02] [ 5.29772333e-01 8.47702529e-01 -2.72341309e-02 3.33490299e+01] [ 4.91651835e-02 1.36228954e-03 9.98789732e-01 7.96946628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.230385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.14, Y:33.36, Z:7.97 [[ 8.46809362e-01 -5.30315251e-01 -4.09833952e-02 1.59144381e+02] [ 5.29619274e-01 8.47799498e-01 -2.71925772e-02 3.33640295e+01] [ 4.91663403e-02 1.32133299e-03 9.98789730e-01 7.97061746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.260385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.17, Y:33.38, Z:7.97 [[ 8.47469960e-01 -5.29257348e-01 -4.10039892e-02 1.59167566e+02] [ 5.28561629e-01 8.48460282e-01 -2.71616347e-02 3.33792543e+01] [ 4.91657510e-02 1.34553411e-03 9.98789727e-01 7.97058528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.290385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.19, Y:33.40, Z:7.97 [[ 8.45202241e-01 -5.32876445e-01 -4.09373430e-02 1.59185067e+02] [ 5.32180121e-01 8.46192128e-01 -2.72617141e-02 3.33968558e+01] [ 4.91679827e-02 1.25562175e-03 9.98789734e-01 7.97110048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.32038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.21, Y:33.41, Z:7.97 [[ 8.47715850e-01 -5.28893450e-01 -4.06147388e-02 1.59214225e+02] [ 5.28169237e-01 8.48685712e-01 -2.77456241e-02 3.34108114e+01] [ 4.91436274e-02 2.06894969e-03 9.98789579e-01 7.97448373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.35038572300002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:159.24, Y:33.43, Z:7.98 [[ 8.47473526e-01 -5.29257305e-01 -4.09307777e-02 1.59238487e+02] [ 5.28556292e-01 8.48460089e-01 -2.72713041e-02 3.34260542e+01] [ 4.91616682e-02 1.47748812e-03 9.98789741e-01 7.97680193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.38038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.26, Y:33.44, Z:7.98 [[ 8.47445915e-01 -5.29302021e-01 -4.09242052e-02 1.59261787e+02] [ 5.28600585e-01 8.48432178e-01 -2.72811635e-02 3.34395805e+01] [ 4.91613875e-02 1.48675175e-03 9.98789741e-01 7.98153488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.41038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.29, Y:33.46, Z:7.98 [[ 8.46717625e-01 -5.30474228e-01 -4.08210362e-02 1.59287063e+02] [ 5.29766698e-01 8.47699545e-01 -2.74358691e-02 3.34560288e+01] [ 4.91579953e-02 1.60480840e-03 9.98789726e-01 7.98326104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.44038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.31, Y:33.47, Z:7.99 [[ 8.46226748e-01 -5.31249376e-01 -4.09193297e-02 1.59311079e+02] [ 5.30549856e-01 8.47214370e-01 -2.72884784e-02 3.34709246e+01] [ 4.91644313e-02 1.38249579e-03 9.98789741e-01 7.98529396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.470385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.33, Y:33.49, Z:7.99 [[ 8.45937199e-01 -5.31710906e-01 -4.09117089e-02 1.59334267e+02] [ 5.31011374e-01 8.46924812e-01 -2.72998990e-02 3.34860595e+01] [ 4.91647954e-02 1.36941736e-03 9.98789741e-01 7.98661529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.500385723 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:159.36, Y:33.50, Z:7.99 [[ 8.46024611e-01 -5.31572395e-01 -4.09041115e-02 1.59357484e+02] [ 5.30872151e-01 8.47011720e-01 -2.73112776e-02 3.35012861e+01] [ 4.91641831e-02 1.39115939e-03 9.98789742e-01 7.98584457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.530385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.38, Y:33.52, Z:7.99 [[ 8.46158575e-01 -5.31359307e-01 -4.09017536e-02 1.59379688e+02] [ 5.30658643e-01 8.47145386e-01 -2.73148083e-02 3.35160127e+01] [ 4.91637095e-02 1.40779021e-03 9.98789742e-01 7.98772747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.560385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.40, Y:33.53, Z:7.99 [[ 8.46226733e-01 -5.31251004e-01 -4.08984860e-02 1.59402239e+02] [ 5.30549979e-01 8.47213287e-01 -2.73197001e-02 3.35306871e+01] [ 4.91633589e-02 1.41996965e-03 9.98789742e-01 7.99034455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.590385723 meters Centerline goodness : 0.999843 Centerline is valid? [True, True] Translation: X:159.43, Y:33.55, Z:7.99 [[ 8.45781871e-01 -5.31959212e-01 -4.08952723e-02 1.59426866e+02] [ 5.31258780e-01 8.46768847e-01 -2.73245099e-02 3.35470786e+01] [ 4.91643673e-02 1.38460259e-03 9.98789742e-01 7.99473533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.620385723 meters Centerline goodness : 0.999820 Centerline is valid? [True, True] Translation: X:159.45, Y:33.56, Z:8.00 [[ 8.44897484e-01 -5.33360522e-01 -4.09242606e-02 1.59448927e+02] [ 5.32663826e-01 8.45887102e-01 -2.72811278e-02 3.35620411e+01] [ 4.91679808e-02 1.25088307e-03 9.98789740e-01 7.99685525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.650385723 meters Centerline goodness : 0.999843 Centerline is valid? [True, True] Translation: X:159.47, Y:33.58, Z:8.00 [[ 8.43560128e-01 -5.35481436e-01 -4.08159544e-02 1.59474213e+02] [ 5.34779386e-01 8.44545963e-01 -2.74431161e-02 3.35782330e+01] [ 4.91662287e-02 1.32238749e-03 9.98789734e-01 7.99781171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.680385723 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:159.50, Y:33.59, Z:8.00 [[ 8.42263976e-01 -5.37512677e-01 -4.08841800e-02 1.59498245e+02] [ 5.36817950e-01 8.43254975e-01 -2.73410964e-02 3.35926108e+01] [ 4.91719741e-02 1.08105892e-03 9.98789742e-01 8.00163211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.710385723 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:159.52, Y:33.61, Z:8.00 [[ 8.39663626e-01 -5.41564084e-01 -4.09064427e-02 1.59523354e+02] [ 5.40875759e-01 8.40659084e-01 -2.73078205e-02 3.36064089e+01] [ 4.91773074e-02 8.04080330e-04 9.98789741e-01 8.00461737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.740385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:159.55, Y:33.62, Z:8.01 [[ 8.36548815e-01 -5.46365592e-01 -4.08744344e-02 1.59547461e+02] [ 5.45680644e-01 8.37546598e-01 -2.73556470e-02 3.36200850e+01] [ 4.91804277e-02 5.79946386e-04 9.98789742e-01 8.00749214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.770385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:159.56, Y:33.64, Z:8.00 [[ 8.31691313e-01 -5.53731914e-01 -4.08720870e-02 1.59561578e+02] [ 5.53055632e-01 8.32694989e-01 -2.73591538e-02 3.36374611e+01] [ 4.91836186e-02 1.49832656e-04 9.98789742e-01 8.00478409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.800385723 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:159.58, Y:33.65, Z:8.00 [[ 8.30242724e-01 -5.55942549e-01 -4.03100790e-02 1.59584209e+02] [ 5.55227931e-01 8.31220080e-01 -2.81979109e-02 3.36531723e+01] [ 4.91829656e-02 1.02982858e-03 9.98789255e-01 8.00444499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.830385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.61, Y:33.67, Z:8.01 [[ 8.28337487e-01 -5.58779823e-01 -4.02755177e-02 1.59607915e+02] [ 5.58066044e-01 8.29315534e-01 -2.82495154e-02 3.36680102e+01] [ 4.91863717e-02 9.23733764e-04 9.98789191e-01 8.00534714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.860385723 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:159.64, Y:33.68, Z:8.01 [[ 8.31821376e-01 -5.53583107e-01 -4.02360773e-02 1.59642982e+02] [ 5.52860370e-01 8.32792919e-01 -2.83083964e-02 3.36808161e+01] [ 4.91793703e-02 1.30259665e-03 9.98789113e-01 8.01349851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.890385723 meters Centerline goodness : 0.999640 Centerline is valid? [True, True] Translation: X:159.67, Y:33.70, Z:8.02 [[ 8.31205720e-01 -5.54459620e-01 -4.08849809e-02 1.59665737e+02] [ 5.53785257e-01 8.32210624e-01 -2.73379975e-02 3.36972014e+01] [ 4.91827311e-02 8.20002747e-05 9.98789794e-01 8.01584503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.920385723 meters Centerline goodness : 0.999597 Centerline is valid? [True, True] Translation: X:159.69, Y:33.71, Z:8.02 [[ 8.31105516e-01 -5.54610371e-01 -4.08773499e-02 1.59688287e+02] [ 5.53935629e-01 8.32110166e-01 -2.73494030e-02 3.37140592e+01] [ 4.91827210e-02 8.68191237e-05 9.98789794e-01 8.01606646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.950385723 meters Centerline goodness : 0.999708 Centerline is valid? [True, True] Translation: X:159.70, Y:33.74, Z:8.01 [[ 8.27222040e-01 -5.60386413e-01 -4.08749887e-02 1.59700361e+02] [ 5.59718512e-01 8.28231251e-01 -2.73529314e-02 3.37351266e+01] [ 4.91821542e-02 -2.51540162e-04 9.98789794e-01 8.01025511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.980385723 meters Centerline goodness : 0.999798 Centerline is valid? [True, True] Translation: X:159.72, Y:33.75, Z:8.01 [[ 8.26324697e-01 -5.61745030e-01 -4.03734651e-02 1.59721183e+02] [ 5.61042002e-01 8.27310218e-01 -2.81011536e-02 3.37520395e+01] [ 4.91870636e-02 5.69467484e-04 9.98789421e-01 8.00928761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.010385723 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:159.75, Y:33.77, Z:8.01 [[ 8.25791769e-01 -5.62535728e-01 -4.02679497e-02 1.59745257e+02] [ 5.61825963e-01 8.26772670e-01 -2.82584438e-02 3.37677620e+01] [ 4.91888245e-02 7.12010709e-04 9.98789243e-01 8.00976213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.040385723 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:159.77, Y:33.78, Z:8.01 [[ 8.24092963e-01 -5.65014099e-01 -4.03714833e-02 1.59766900e+02] [ 5.64314840e-01 8.25081163e-01 -2.81040293e-02 3.37844807e+01] [ 4.91889232e-02 3.78105668e-04 9.98789421e-01 8.00900273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.07038572300002 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:159.79, Y:33.80, Z:8.01 [[ 8.23215464e-01 -5.66299857e-01 -4.02588230e-02 1.59790025e+02] [ 5.65593914e-01 8.24199138e-01 -2.82719972e-02 3.38004012e+01] [ 4.91917152e-02 5.03800053e-04 9.98789228e-01 8.00970166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.10038572300002 meters Centerline goodness : 0.999620 Centerline is valid? [True, True] Translation: X:159.82, Y:33.81, Z:8.02 [[ 8.23862934e-01 -5.65356121e-01 -4.02780578e-02 1.59824229e+02] [ 5.64650452e-01 8.24846762e-01 -2.82433495e-02 3.38140406e+01] [ 4.91907761e-02 5.25625272e-04 9.98789263e-01 8.02056511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.13038572300002 meters Centerline goodness : 0.999733 Centerline is valid? [True, True] Translation: X:159.85, Y:33.83, Z:8.02 [[ 8.21048578e-01 -5.69394845e-01 -4.08502543e-02 1.59847274e+02] [ 5.68736170e-01 8.22063839e-01 -2.73900056e-02 3.38317929e+01] [ 4.91772449e-02 -7.44492003e-04 9.98789790e-01 8.02367105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.16038572300002 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:159.87, Y:33.85, Z:8.03 [[ 8.19704331e-01 -5.71328796e-01 -4.08438070e-02 1.59870844e+02] [ 5.70672037e-01 8.20720834e-01 -2.73996164e-02 3.38488390e+01] [ 4.91755532e-02 -8.48834314e-04 9.98789790e-01 8.02600820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.19038572300002 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:159.89, Y:33.87, Z:8.03 [[ 8.18506131e-01 -5.73044519e-01 -4.08373999e-02 1.59893938e+02] [ 5.72389416e-01 8.19523700e-01 -2.74091624e-02 3.38654070e+01] [ 4.91738874e-02 -9.40328011e-04 9.98789790e-01 8.02929181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.220385723 meters Centerline goodness : 0.999822 Centerline is valid? [True, True] Translation: X:159.92, Y:33.88, Z:8.03 [[ 8.17085294e-01 -5.75069095e-01 -4.08308444e-02 1.59917007e+02] [ 5.74416025e-01 8.18104170e-01 -2.74189245e-02 3.38821948e+01] [ 4.91716602e-02 -1.05029133e-03 9.98789790e-01 8.03353305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.250385723 meters Centerline goodness : 0.999734 Centerline is valid? [True, True] Translation: X:159.94, Y:33.90, Z:8.04 [[ 8.16963212e-01 -5.75242980e-01 -4.08243178e-02 1.59939918e+02] [ 5.74589642e-01 8.17981915e-01 -2.74286387e-02 3.38983060e+01] [ 4.91716855e-02 -1.04904136e-03 9.98789790e-01 8.03563048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.280385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:159.96, Y:33.91, Z:8.04 [[ 8.17866025e-01 -5.73959187e-01 -4.08168723e-02 1.59961846e+02] [ 5.73303697e-01 8.18883345e-01 -2.74397139e-02 3.39144008e+01] [ 4.91735328e-02 -9.58454080e-04 9.98789790e-01 8.03735094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.310385723 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:159.98, Y:33.93, Z:8.04 [[ 8.18649198e-01 -5.72841809e-01 -4.08136279e-02 1.59984176e+02] [ 5.72184690e-01 8.19665467e-01 -2.74445388e-02 3.39312801e+01] [ 4.91749006e-02 -8.85483281e-04 9.98789790e-01 8.03858335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.340385723 meters Centerline goodness : 0.998495 Centerline is valid? [True, True] Translation: X:160.01, Y:33.95, Z:8.03 [[ 8.22040745e-01 -5.67964682e-01 -4.08060542e-02 1.60009795e+02] [ 5.67300974e-01 8.23052723e-01 -2.74557951e-02 3.39504119e+01] [ 4.91794560e-02 -5.79532065e-04 9.98789790e-01 8.03276960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.370385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:160.03, Y:33.97, Z:8.04 [[ 8.24197682e-01 -5.64807999e-01 -4.11108882e-02 1.60028551e+02] [ 5.64162938e-01 8.25221815e-01 -2.70024996e-02 3.39658197e+01] [ 4.91768296e-02 -9.37841936e-04 9.98789647e-01 8.03756388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.400385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:160.05, Y:33.98, Z:8.04 [[ 8.28852197e-01 -5.57978382e-01 -4.07941136e-02 1.60050727e+02] [ 5.57301639e-01 8.29855484e-01 -2.74728880e-02 3.39824102e+01] [ 4.91824965e-02 3.63371871e-05 9.98789808e-01 8.03943019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.430385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:160.07, Y:34.00, Z:8.04 [[ 8.30909031e-01 -5.54911378e-01 -4.07865836e-02 1.60073478e+02] [ 5.54230383e-01 8.31909436e-01 -2.74840627e-02 3.39982927e+01] [ 4.91819628e-02 2.31592059e-04 9.98789808e-01 8.04060991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.460385723 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:160.10, Y:34.01, Z:8.04 [[ 8.34624880e-01 -5.49307180e-01 -4.07790683e-02 1.60096210e+02] [ 5.48618924e-01 8.35620303e-01 -2.74952089e-02 3.40141837e+01] [ 4.91791330e-02 5.76016856e-04 9.98789808e-01 8.04208145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.490385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.12, Y:34.03, Z:8.04 [[ 8.35859967e-01 -5.47426520e-01 -4.07715633e-02 1.60119181e+02] [ 5.46735481e-01 8.36853461e-01 -2.75063332e-02 3.40299150e+01] [ 4.91775201e-02 7.00182468e-04 9.98789808e-01 8.04367252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.520385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.14, Y:34.05, Z:8.04 [[ 8.37986076e-01 -5.44166918e-01 -4.07639663e-02 1.60142346e+02] [ 5.43471468e-01 8.38976487e-01 -2.75175872e-02 3.40450260e+01] [ 4.91741699e-02 9.05302324e-04 9.98789808e-01 8.04487726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.550385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:160.16, Y:34.06, Z:8.05 [[ 8.38894523e-01 -5.42765968e-01 -4.07563925e-02 1.60164819e+02] [ 5.42068320e-01 8.39883386e-01 -2.75288003e-02 3.40597211e+01] [ 4.91723129e-02 1.00101059e-03 9.98789809e-01 8.04565298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.580385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.19, Y:34.08, Z:8.05 [[ 8.39515751e-01 -5.41804843e-01 -4.07531095e-02 1.60187734e+02] [ 5.41105827e-01 8.40503648e-01 -2.75336595e-02 3.40750479e+01] [ 4.91710073e-02 1.06319585e-03 9.98789809e-01 8.04732857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.610385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.21, Y:34.09, Z:8.04 [[ 8.38911943e-01 -5.42739852e-01 -4.07456259e-02 1.60207303e+02] [ 5.42041399e-01 8.39900238e-01 -2.75447297e-02 3.40919820e+01] [ 4.91718834e-02 1.02178665e-03 9.98789809e-01 8.04209035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.640385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:160.23, Y:34.11, Z:8.05 [[ 8.40452894e-01 -5.40365922e-01 -4.05413769e-02 1.60234597e+02] [ 5.39650093e-01 8.41428751e-01 -2.78466084e-02 3.41066023e+01] [ 4.91600384e-02 1.52560479e-03 9.98789749e-01 8.05116381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.670385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.26, Y:34.12, Z:8.05 [[ 8.40098380e-01 -5.40902210e-01 -4.07370964e-02 1.60257777e+02] [ 5.40200987e-01 8.41084710e-01 -2.75572877e-02 3.41213109e+01] [ 4.91691467e-02 1.14461307e-03 9.98789810e-01 8.05225982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.700385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.28, Y:34.14, Z:8.05 [[ 8.38252291e-01 -5.43759322e-01 -4.07295450e-02 1.60282561e+02] [ 5.43060920e-01 8.39240620e-01 -2.75684441e-02 3.41360269e+01] [ 4.91724870e-02 9.90687261e-04 9.98789810e-01 8.05258576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.730385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.31, Y:34.15, Z:8.06 [[ 8.37641487e-01 -5.44698993e-01 -4.07399869e-02 1.60305132e+02] [ 5.44002449e-01 8.38631127e-01 -2.75530214e-02 3.41500618e+01] [ 4.91739241e-02 9.16901214e-04 9.98789810e-01 8.05560078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.760385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.33, Y:34.17, Z:8.05 [[ 8.34169975e-01 -5.50002185e-01 -4.07191549e-02 1.60328261e+02] [ 5.49310433e-01 8.35162969e-01 -2.75837736e-02 3.41658138e+01] [ 4.91782660e-02 6.42099159e-04 9.98789811e-01 8.05037613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.790385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.35, Y:34.18, Z:8.06 [[ 8.33416911e-01 -5.51145585e-01 -4.06791903e-02 1.60350192e+02] [ 5.50452315e-01 8.34408849e-01 -2.76427483e-02 3.41792095e+01] [ 4.91782550e-02 6.45979414e-04 9.98789809e-01 8.05550779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.82038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.37, Y:34.19, Z:8.05 [[ 8.32196797e-01 -5.52994697e-01 -4.05629924e-02 1.60374089e+02] [ 5.52295268e-01 8.33184441e-01 -2.78141143e-02 3.41926839e+01] [ 4.91775118e-02 7.44068111e-04 9.98789777e-01 8.05154216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.85038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.40, Y:34.21, Z:8.05 [[ 8.30934199e-01 -5.54892045e-01 -4.05360906e-02 1.60400655e+02] [ 5.54192938e-01 8.31922085e-01 -2.78537556e-02 3.42084336e+01] [ 4.91786965e-02 6.79822964e-04 9.98789764e-01 8.05390377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.88038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.43, Y:34.22, Z:8.06 [[ 8.30358632e-01 -5.55737430e-01 -4.07486409e-02 1.60425065e+02] [ 5.55054662e-01 8.31357833e-01 -2.75404401e-02 3.42232659e+01] [ 4.91819551e-02 2.50719071e-04 9.98789804e-01 8.05646664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.91038572300002 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:160.45, Y:34.24, Z:8.06 [[ 8.29079172e-01 -5.57644157e-01 -4.07519296e-02 1.60450391e+02] [ 5.56963926e-01 8.30080102e-01 -2.75355951e-02 3.42375159e+01] [ 4.91824296e-02 1.31833720e-04 9.98789803e-01 8.05995444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.94038572300002 meters Centerline goodness : 0.999799 Centerline is valid? [True, True] Translation: X:160.47, Y:34.25, Z:8.06 [[ 8.27923667e-01 -5.59356366e-01 -4.07781478e-02 1.60472694e+02] [ 5.58680106e-01 8.28927292e-01 -2.74969882e-02 3.42522621e+01] [ 4.91827350e-02 -1.65326349e-05 9.98789797e-01 8.06063649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.970385723 meters Centerline goodness : 0.999799 Centerline is valid? [True, True] Translation: X:160.50, Y:34.27, Z:8.06 [[ 8.27764357e-01 -5.59597478e-01 -4.07042033e-02 1.60496256e+02] [ 5.58916154e-01 8.28764534e-01 -2.76058078e-02 3.42684250e+01] [ 4.91823405e-02 1.00866939e-04 9.98789811e-01 8.06198794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.000385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:160.52, Y:34.28, Z:8.07 [[ 8.27852603e-01 -5.59467458e-01 -4.06968278e-02 1.60519914e+02] [ 5.58785443e-01 8.28852308e-01 -2.76166553e-02 3.42804192e+01] [ 4.91822796e-02 1.21725025e-04 9.98789812e-01 8.06945718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.030385723 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:160.54, Y:34.30, Z:8.07 [[ 8.26811065e-01 -5.61007827e-01 -4.06654607e-02 1.60544328e+02] [ 5.60325407e-01 8.27810492e-01 -2.76627665e-02 3.42962105e+01] [ 4.91823235e-02 8.59906661e-05 9.98789814e-01 8.06796429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.060385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:160.57, Y:34.31, Z:8.07 [[ 8.26531747e-01 -5.61415294e-01 -4.07202468e-02 1.60568101e+02] [ 5.60737330e-01 8.27534209e-01 -2.75822429e-02 3.43098835e+01] [ 4.91824902e-02 -3.57630644e-05 9.98789808e-01 8.07007830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.090385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.59, Y:34.33, Z:8.07 [[ 8.26037288e-01 -5.62143747e-01 -4.07038772e-02 1.60591532e+02] [ 5.61465483e-01 8.27039542e-01 -2.76062875e-02 3.43256035e+01] [ 4.91824179e-02 -4.99991761e-05 9.98789811e-01 8.07114170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.120385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:160.61, Y:34.34, Z:8.07 [[ 8.24681349e-01 -5.64134044e-01 -4.06626746e-02 1.60614037e+02] [ 5.63455214e-01 8.25683215e-01 -2.76667840e-02 3.43412945e+01] [ 4.91822627e-02 -9.53152668e-05 9.98789816e-01 8.07102490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.150385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.64, Y:34.36, Z:8.07 [[ 8.23260700e-01 -5.66215039e-01 -4.05258984e-02 1.60636428e+02] [ 5.65528845e-01 8.24257562e-01 -2.78674882e-02 3.43563374e+01] [ 4.91827692e-02 2.36433488e-05 9.98789795e-01 8.07168609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.180385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.67, Y:34.37, Z:8.07 [[ 8.21657555e-01 -5.68546224e-01 -4.04234271e-02 1.60665306e+02] [ 5.67855454e-01 8.22651315e-01 -2.80177952e-02 3.43709696e+01] [ 4.91837971e-02 6.63695198e-05 9.98789742e-01 8.07375600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.210385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.68, Y:34.39, Z:8.07 [[ 8.19284803e-01 -5.71942832e-01 -4.06670574e-02 1.60683921e+02] [ 5.71273870e-01 8.20293284e-01 -2.76603204e-02 3.43865535e+01] [ 4.91790360e-02 -5.70347126e-04 9.98789816e-01 8.07371979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.240385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.71, Y:34.40, Z:8.08 [[ 8.17430938e-01 -5.74613210e-01 -4.03276585e-02 1.60711298e+02] [ 5.73922904e-01 8.18425099e-01 -2.81577314e-02 3.44020750e+01] [ 4.91849723e-02 -1.27966088e-04 9.98789679e-01 8.07599502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.270385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.73, Y:34.42, Z:8.08 [[ 8.16145615e-01 -5.76418164e-01 -4.06009322e-02 1.60734494e+02] [ 5.75749917e-01 8.17154562e-01 -2.77570650e-02 3.44177990e+01] [ 4.91769134e-02 -7.22176502e-04 9.98789823e-01 8.07769481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.300385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.76, Y:34.43, Z:8.08 [[ 8.14844912e-01 -5.78257128e-01 -4.05766365e-02 1.60757705e+02] [ 5.77589385e-01 8.15854197e-01 -2.77926716e-02 3.44336077e+01] [ 4.91759297e-02 -7.89917488e-04 9.98789820e-01 8.08124405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.330385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.78, Y:34.45, Z:8.08 [[ 8.14074148e-01 -5.79338894e-01 -4.06168339e-02 1.60781636e+02] [ 5.78675428e-01 8.15086245e-01 -2.77337635e-02 3.44504082e+01] [ 4.91734704e-02 -9.26623862e-04 9.98789823e-01 8.08284432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.360385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:160.80, Y:34.47, Z:8.08 [[ 8.13367419e-01 -5.80328705e-01 -4.06452316e-02 1.60803201e+02] [ 5.79668548e-01 8.14381679e-01 -2.76921637e-02 3.44662415e+01] [ 4.91712895e-02 -1.03685865e-03 9.98789822e-01 8.08464913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.390385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.83, Y:34.48, Z:8.09 [[ 8.12888714e-01 -5.81001249e-01 -4.06138805e-02 1.60825503e+02] [ 5.80339637e-01 8.13902024e-01 -2.77380679e-02 3.44827880e+01] [ 4.91715716e-02 -1.02188231e-03 9.98789824e-01 8.08563686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.420385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.85, Y:34.50, Z:8.09 [[ 8.12256919e-01 -5.81884747e-01 -4.06059044e-02 1.60845846e+02] [ 5.81223655e-01 8.13270567e-01 -2.77497393e-02 3.45001672e+01] [ 4.91707369e-02 -1.06119436e-03 9.98789824e-01 8.08585410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.450385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.87, Y:34.52, Z:8.09 [[ 8.12022368e-01 -5.82212259e-01 -4.06024434e-02 1.60867552e+02] [ 5.81551323e-01 8.13036118e-01 -2.77548023e-02 3.45169441e+01] [ 4.91704392e-02 -1.07488438e-03 9.98789824e-01 8.08727403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.480385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:160.89, Y:34.53, Z:8.09 [[ 8.11813124e-01 -5.82506314e-01 -4.05690330e-02 1.60887193e+02] [ 5.81843304e-01 8.12825520e-01 -2.78036593e-02 3.45339743e+01] [ 4.91713524e-02 -1.03344472e-03 9.98789823e-01 8.08955299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.510385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.91, Y:34.55, Z:8.09 [[ 8.11959454e-01 -5.82314431e-01 -4.03949053e-02 1.60909241e+02] [ 5.81638507e-01 8.12963341e-01 -2.80580302e-02 3.45514853e+01] [ 4.91781732e-02 -7.13249507e-04 9.98789767e-01 8.08996966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.540385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.93, Y:34.57, Z:8.09 [[ 8.12384447e-01 -5.81715367e-01 -4.04813698e-02 1.60930506e+02] [ 5.81044990e-01 8.13391998e-01 -2.79316452e-02 3.45699709e+01] [ 4.91754895e-02 -8.30262948e-04 9.98789809e-01 8.08988823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.57038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.95, Y:34.59, Z:8.09 [[ 8.12927593e-01 -5.80959763e-01 -4.04287396e-02 1.60952436e+02] [ 5.80284623e-01 8.13931985e-01 -2.80085798e-02 3.45869964e+01] [ 4.91781022e-02 -6.91228508e-04 9.98789786e-01 8.09113923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.60038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.98, Y:34.60, Z:8.10 [[ 8.15279311e-01 -5.77655854e-01 -4.04148375e-02 1.60977664e+02] [ 5.76975636e-01 8.16280281e-01 -2.80288909e-02 3.46035840e+01] [ 4.91808877e-02 -4.67001733e-04 9.98789779e-01 8.09626173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.63038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.00, Y:34.62, Z:8.09 [[ 8.15288187e-01 -5.77631357e-01 -4.05855540e-02 1.60996309e+02] [ 5.76963496e-01 8.16297388e-01 -2.77794796e-02 3.46237497e+01] [ 4.91761802e-02 -7.68101516e-04 9.98789824e-01 8.09268099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.66038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.02, Y:34.64, Z:8.09 [[ 8.16597634e-01 -5.75780931e-01 -4.05539557e-02 1.61018648e+02] [ 5.75108490e-01 8.17603791e-01 -2.78256312e-02 3.46409542e+01] [ 4.91785358e-02 -6.00579610e-04 9.98789823e-01 8.09484291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.69038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.04, Y:34.66, Z:8.10 [[ 8.19048026e-01 -5.72295021e-01 -4.04813671e-02 1.61039885e+02] [ 5.71613056e-01 8.20047767e-01 -2.79316002e-02 3.46588910e+01] [ 4.91817704e-02 -2.62355926e-04 9.98789810e-01 8.09583648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.720385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.06, Y:34.68, Z:8.10 [[ 8.21147198e-01 -5.69280566e-01 -4.04588214e-02 1.61064413e+02] [ 5.68593310e-01 8.22143318e-01 -2.79644995e-02 3.46750550e+01] [ 4.91825958e-02 -4.16447654e-05 9.98789803e-01 8.09883847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.750385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.09, Y:34.70, Z:8.10 [[ 8.22733591e-01 -5.66977585e-01 -4.05691665e-02 1.61085511e+02] [ 5.66295468e-01 8.23733215e-01 -2.78034923e-02 3.46951144e+01] [ 4.91821268e-02 -9.92680592e-05 9.98789822e-01 8.09984338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.780385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.11, Y:34.71, Z:8.10 [[ 8.23829150e-01 -5.65387241e-01 -4.05314689e-02 1.61107022e+02] [ 5.64700488e-01 8.24825596e-01 -2.78584827e-02 3.47122715e+01] [ 4.91822237e-02 6.24898768e-05 9.98789820e-01 8.10117421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.810385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.13, Y:34.73, Z:8.10 [[ 8.24576265e-01 -5.64297353e-01 -4.05275343e-02 1.61129292e+02] [ 5.63609000e-01 8.25571608e-01 -2.78642207e-02 3.47296147e+01] [ 4.91820876e-02 1.34491999e-04 9.98789820e-01 8.10145130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.840385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.15, Y:34.75, Z:8.10 [[ 8.26747434e-01 -5.61108299e-01 -4.05728685e-02 1.61148077e+02] [ 5.60419350e-01 8.27742361e-01 -2.77981154e-02 3.47478953e+01] [ 4.91816352e-02 2.44199958e-04 9.98789821e-01 8.10108842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.870385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:161.17, Y:34.77, Z:8.10 [[ 8.28706946e-01 -5.58219799e-01 -4.04407493e-02 1.61170183e+02] [ 5.57517968e-01 8.29692855e-01 -2.79907402e-02 3.47666706e+01] [ 4.91783861e-02 6.49676416e-04 9.98789800e-01 8.10451804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.900385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:161.19, Y:34.78, Z:8.10 [[ 8.28399316e-01 -5.58672776e-01 -4.04883170e-02 1.61190931e+02] [ 5.57974870e-01 8.29387991e-01 -2.79214121e-02 3.47838073e+01] [ 4.91794567e-02 5.38615240e-04 9.98789813e-01 8.10474061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.930385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.21, Y:34.80, Z:8.11 [[ 8.28603982e-01 -5.58376455e-01 -4.03878102e-02 1.61213323e+02] [ 5.57671054e-01 8.29587365e-01 -2.80677746e-02 3.48001414e+01] [ 4.91776015e-02 7.33957123e-04 9.98789780e-01 8.10606660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.960385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.23, Y:34.82, Z:8.11 [[ 8.27944517e-01 -5.59352376e-01 -4.04078726e-02 1.61234698e+02] [ 5.58649559e-01 8.28929737e-01 -2.80385685e-02 3.48180607e+01] [ 4.91787271e-02 6.40538859e-04 9.98789789e-01 8.10665115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.990385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.26, Y:34.83, Z:8.11 [[ 8.27657365e-01 -5.59779684e-01 -4.03731516e-02 1.61259435e+02] [ 5.59074910e-01 8.28641205e-01 -2.80890982e-02 3.48343693e+01] [ 4.91785635e-02 6.76532910e-04 9.98789773e-01 8.11232645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.020385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.28, Y:34.85, Z:8.11 [[ 8.25250930e-01 -5.63309664e-01 -4.05354815e-02 1.61280138e+02] [ 5.62620679e-01 8.26245841e-01 -2.78528559e-02 3.48526437e+01] [ 4.91820559e-02 1.79495080e-04 9.98789814e-01 8.11040709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.050385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:161.30, Y:34.87, Z:8.11 [[ 8.23282917e-01 -5.66190801e-01 -4.04130736e-02 1.61303906e+02] [ 5.65496544e-01 8.24274182e-01 -2.80308967e-02 3.48701556e+01] [ 4.91822890e-02 2.23904908e-04 9.98789794e-01 8.11137021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.080385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:161.33, Y:34.89, Z:8.11 [[ 8.21292344e-01 -5.69063700e-01 -4.05634214e-02 1.61325010e+02] [ 5.68383692e-01 8.22293415e-01 -2.78122168e-02 3.48863108e+01] [ 4.91819573e-02 -2.13626518e-04 9.98789812e-01 8.11423616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.110385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.35, Y:34.90, Z:8.12 [[ 8.20601874e-01 -5.70069103e-01 -4.04200708e-02 1.61348502e+02] [ 5.69380038e-01 8.21596749e-01 -2.80206169e-02 3.49027932e+01] [ 4.91826867e-02 -2.06106961e-05 9.98789799e-01 8.11790159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.140385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.37, Y:34.92, Z:8.12 [[ 8.19757778e-01 -5.71280507e-01 -4.04446283e-02 1.61371433e+02] [ 5.70594673e-01 8.20754874e-01 -2.79849258e-02 3.49193842e+01] [ 4.91823684e-02 -1.36628851e-04 9.98789806e-01 8.12200933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.170385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:161.39, Y:34.94, Z:8.12 [[ 8.18793881e-01 -5.72656193e-01 -4.05150086e-02 1.61394371e+02] [ 5.71977089e-01 8.19795564e-01 -2.78826601e-02 3.49369969e+01] [ 4.91812023e-02 -3.43505165e-04 9.98789813e-01 8.12259718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.200385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.42, Y:34.96, Z:8.12 [[ 8.17619468e-01 -5.74329884e-01 -4.05412216e-02 1.61416208e+02] [ 5.73654717e-01 8.18623811e-01 -2.78445878e-02 3.49556141e+01] [ 4.91799882e-02 -4.90385972e-04 9.98789812e-01 8.12345028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.230385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.44, Y:34.97, Z:8.12 [[ 8.17767632e-01 -5.74120181e-01 -4.05230494e-02 1.61437871e+02] [ 5.73443449e-01 8.18770920e-01 -2.78709682e-02 3.49719555e+01] [ 4.91803797e-02 -4.45701495e-04 9.98789814e-01 8.12371217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.260385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.46, Y:34.99, Z:8.12 [[ 8.16679976e-01 -5.75668040e-01 -4.04984474e-02 1.61459380e+02] [ 5.74991439e-01 8.17683351e-01 -2.79066709e-02 3.49907722e+01] [ 4.91798847e-02 -4.95441255e-04 9.98789814e-01 8.12206122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.290385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.48, Y:35.01, Z:8.13 [[ 8.17635203e-01 -5.74313689e-01 -4.04531921e-02 1.61482083e+02] [ 5.73632177e-01 8.18635251e-01 -2.79723263e-02 3.50063496e+01] [ 4.91812990e-02 -3.34093902e-04 9.98789812e-01 8.12736193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.32038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.50, Y:35.03, Z:8.12 [[ 8.16371896e-01 -5.76105215e-01 -4.04933128e-02 1.61503436e+02] [ 5.75428782e-01 8.17375384e-01 -2.79141259e-02 3.50267114e+01] [ 4.91797106e-02 -5.12709811e-04 9.98789814e-01 8.12434084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.35038572300002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:161.53, Y:35.04, Z:8.13 [[ 8.17229056e-01 -5.74890914e-01 -4.04611742e-02 1.61526018e+02] [ 5.74210682e-01 8.18229974e-01 -2.79607320e-02 3.50433860e+01] [ 4.91809162e-02 -3.82915831e-04 9.98789813e-01 8.12987465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.38038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.55, Y:35.06, Z:8.13 [[ 8.15877240e-01 -5.76806182e-01 -4.04840464e-02 1.61546293e+02] [ 5.76129943e-01 8.16880860e-01 -2.79275763e-02 3.50628278e+01] [ 4.91794412e-02 -5.38597484e-04 9.98789814e-01 8.12675797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.41038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.57, Y:35.08, Z:8.13 [[ 8.16155688e-01 -5.76416375e-01 -4.04234389e-02 1.61569803e+02] [ 5.75735306e-01 8.17156041e-01 -2.80153803e-02 3.50798511e+01] [ 4.91807813e-02 -4.08288992e-04 9.98789810e-01 8.12825588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.44038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.59, Y:35.10, Z:8.13 [[ 8.17944755e-01 -5.73873876e-01 -4.04370290e-02 1.61593534e+02] [ 5.73190670e-01 8.18943647e-01 -2.79957022e-02 3.50975129e+01] [ 4.91816501e-02 -2.79190009e-04 9.98789811e-01 8.12971909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.470385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.61, Y:35.12, Z:8.13 [[ 8.18061983e-01 -5.73698453e-01 -4.05546116e-02 1.61614229e+02] [ 5.73023459e-01 8.19066455e-01 -2.78254688e-02 3.51157070e+01] [ 4.91803503e-02 -4.75785667e-04 9.98789801e-01 8.12962974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.500385723 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:161.64, Y:35.13, Z:8.13 [[ 8.21231344e-01 -5.69161850e-01 -4.04211360e-02 1.61638723e+02] [ 5.68471788e-01 8.22225509e-01 -2.80185506e-02 3.51348173e+01] [ 4.91823792e-02 3.14365701e-05 9.98789814e-01 8.13011978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.530385723 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:161.66, Y:35.15, Z:8.13 [[ 8.21409102e-01 -5.68892852e-01 -4.05956830e-02 1.61657820e+02] [ 5.68214916e-01 8.22411609e-01 -2.77660577e-02 3.51526886e+01] [ 4.91822727e-02 -2.59780077e-04 9.98789786e-01 8.13001670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.560385723 meters Centerline goodness : 0.999159 Centerline is valid? [True, True] Translation: X:161.68, Y:35.17, Z:8.13 [[ 8.25693519e-01 -5.62673517e-01 -4.03574613e-02 1.61683173e+02] [ 5.61971158e-01 8.26679038e-01 -2.81102575e-02 3.51696403e+01] [ 4.91795648e-02 5.30728205e-04 9.98789812e-01 8.13049245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.590385723 meters Centerline goodness : 0.998663 Centerline is valid? [True, True] Translation: X:161.71, Y:35.18, Z:8.13 [[ 8.27327880e-01 -5.60250148e-01 -4.05998959e-02 1.61706303e+02] [ 5.59562042e-01 8.28323433e-01 -2.77598699e-02 3.51849352e+01] [ 4.91823164e-02 2.48353683e-04 9.98789787e-01 8.13278539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.620385723 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:161.73, Y:35.20, Z:8.14 [[ 8.28467221e-01 -5.58560630e-01 -4.06458630e-02 1.61727242e+02] [ 5.57873749e-01 8.29463652e-01 -2.76934933e-02 3.52026715e+01] [ 4.91827610e-02 2.67891507e-04 9.98789760e-01 8.13570384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.650385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:161.75, Y:35.22, Z:8.14 [[ 8.28453595e-01 -5.58592815e-01 -4.04809496e-02 1.61747650e+02] [ 5.57894329e-01 8.29441835e-01 -2.79313376e-02 3.52187241e+01] [ 4.91788377e-02 5.55724821e-04 9.98789834e-01 8.13538173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.680385723 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:161.77, Y:35.23, Z:8.14 [[ 8.28497218e-01 -5.58535217e-01 -4.03828042e-02 1.61769435e+02] [ 5.57829760e-01 8.29480486e-01 -2.80728044e-02 3.52339436e+01] [ 4.91763979e-02 7.31510374e-04 9.98789841e-01 8.13503743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.710385723 meters Centerline goodness : 0.997778 Centerline is valid? [True, True] Translation: X:161.80, Y:35.25, Z:8.14 [[ 8.30205629e-01 -5.56001129e-01 -4.02660904e-02 1.61799239e+02] [ 5.55284519e-01 8.31180825e-01 -2.82407314e-02 3.52487242e+01] [ 4.91702808e-02 1.08647757e-03 9.98789819e-01 8.13757097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.740385723 meters Centerline goodness : 0.998402 Centerline is valid? [True, True] Translation: X:161.82, Y:35.26, Z:8.14 [[ 8.28597654e-01 -5.58364731e-01 -4.06786703e-02 1.61823240e+02] [ 5.57679878e-01 8.29595551e-01 -2.76473619e-02 3.52640136e+01] [ 4.91841556e-02 2.22863327e-04 9.98789702e-01 8.14175087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.770385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:161.84, Y:35.28, Z:8.14 [[ 8.26961624e-01 -5.60788531e-01 -4.06287638e-02 1.61843065e+02] [ 5.60103077e-01 8.27959055e-01 -2.77190647e-02 3.52798948e+01] [ 4.91834865e-02 1.66307124e-04 9.98789746e-01 8.14312374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.800385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:161.87, Y:35.30, Z:8.15 [[ 8.27392142e-01 -5.60170671e-01 -4.03864079e-02 1.61866644e+02] [ 5.59467450e-01 8.28376983e-01 -2.80668288e-02 3.52951111e+01] [ 4.91773850e-02 6.27393005e-04 9.98789863e-01 8.14836260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.830385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:161.89, Y:35.31, Z:8.15 [[ 8.27151335e-01 -5.60529187e-01 -4.03447551e-02 1.61889477e+02] [ 5.59823477e-01 8.28134391e-01 -2.81265758e-02 3.53101479e+01] [ 4.91766459e-02 6.78993651e-04 9.98789866e-01 8.14973667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.860385723 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:161.91, Y:35.33, Z:8.15 [[ 8.26983178e-01 -5.60777442e-01 -4.03420741e-02 1.61913164e+02] [ 5.60071841e-01 8.27966311e-01 -2.81304206e-02 3.53250235e+01] [ 4.91767836e-02 6.68924896e-04 9.98789866e-01 8.15344340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.890385723 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:161.94, Y:35.34, Z:8.15 [[ 8.26831179e-01 -5.61002081e-01 -4.03344302e-02 1.61936530e+02] [ 5.60296212e-01 8.27814120e-01 -2.81413764e-02 3.53414170e+01] [ 4.91767816e-02 6.68938971e-04 9.98789866e-01 8.15484412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.920385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:161.96, Y:35.35, Z:8.16 [[ 8.26706462e-01 -5.61186400e-01 -4.03267914e-02 1.61960492e+02] [ 5.60480217e-01 8.27689177e-01 -2.81523186e-02 3.53548417e+01] [ 4.91767472e-02 6.71334923e-04 9.98789866e-01 8.15670968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.950385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:161.98, Y:35.37, Z:8.16 [[ 8.26746345e-01 -5.61127880e-01 -4.03234801e-02 1.61984986e+02] [ 5.60421396e-01 8.27728844e-01 -2.81570607e-02 3.53689600e+01] [ 4.91766194e-02 6.80606042e-04 9.98789866e-01 8.15773276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.980385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:162.01, Y:35.38, Z:8.16 [[ 8.26676810e-01 -5.61230485e-01 -4.03211396e-02 1.62008628e+02] [ 5.60523959e-01 8.27659279e-01 -2.81604119e-02 3.53845565e+01] [ 4.91766470e-02 6.78594695e-04 9.98789866e-01 8.15902962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.010385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:162.03, Y:35.40, Z:8.16 [[ 8.26802692e-01 -5.61045557e-01 -4.03136637e-02 1.62032439e+02] [ 5.60338290e-01 8.27784628e-01 -2.81711102e-02 3.54001250e+01] [ 4.91763073e-02 7.02660327e-04 9.98789866e-01 8.16050320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.040385723 meters Centerline goodness : 0.996237 Centerline is valid? [True, True] Translation: X:162.06, Y:35.42, Z:8.16 [[ 8.26839651e-01 -5.60991626e-01 -4.03061583e-02 1.62059082e+02] [ 5.60283772e-01 8.27821163e-01 -2.81818446e-02 3.54160150e+01] [ 4.91760697e-02 7.18980215e-04 9.98789866e-01 8.15519153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.07038572300002 meters Centerline goodness : 0.996465 Centerline is valid? [True, True] Translation: X:162.08, Y:35.43, Z:8.16 [[ 8.27117107e-01 -5.60571400e-01 -4.04598124e-02 1.62084097e+02] [ 5.59873775e-01 8.28105959e-01 -2.79620523e-02 3.54307364e+01] [ 4.91797386e-02 4.75503854e-04 9.98789831e-01 8.15694373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.10038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.10, Y:35.45, Z:8.16 [[ 8.26107891e-01 -5.62057551e-01 -4.04606304e-02 1.62102918e+02] [ 5.61361763e-01 8.27098036e-01 -2.79608828e-02 3.54451538e+01] [ 4.91805333e-02 3.85655133e-04 9.98789831e-01 8.15862955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.13038572300002 meters Centerline goodness : 0.999544 Centerline is valid? [True, True] Translation: X:162.13, Y:35.46, Z:8.16 [[ 8.26989496e-01 -5.60786529e-01 -4.00854410e-02 1.62130710e+02] [ 5.60063107e-01 8.27959675e-01 -2.84972508e-02 3.54608806e+01] [ 4.91700030e-02 1.11655040e-03 9.98789800e-01 8.15873253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.16038572300002 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:162.15, Y:35.47, Z:8.16 [[ 8.26849218e-01 -5.60980747e-01 -4.02612906e-02 1.62152640e+02] [ 5.60269765e-01 8.27828463e-01 -2.82458117e-02 3.54733889e+01] [ 4.91747988e-02 7.97843492e-04 9.98789869e-01 8.16367550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.19038572300002 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:162.18, Y:35.49, Z:8.17 [[ 8.27597099e-01 -5.59896056e-01 -3.99931058e-02 1.62178495e+02] [ 5.59165150e-01 8.28561786e-01 -2.86304373e-02 3.54889014e+01] [ 4.91668281e-02 1.33171584e-03 9.98789692e-01 8.16699897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.220385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.21, Y:35.50, Z:8.17 [[ 8.30782836e-01 -5.55152952e-01 -4.00634421e-02 1.62208670e+02] [ 5.54421395e-01 8.31746945e-01 -2.85295845e-02 3.55011202e+01] [ 4.91609286e-02 1.48985969e-03 9.98789759e-01 8.17457983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.250385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.23, Y:35.52, Z:8.18 [[ 8.30972918e-01 -5.54847785e-01 -4.03477938e-02 1.62231117e+02] [ 5.54135597e-01 8.31951269e-01 -2.81216185e-02 3.55154441e+01] [ 4.91706160e-02 1.01015460e-03 9.98789883e-01 8.17509512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.280385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.25, Y:35.53, Z:8.17 [[ 8.28142391e-01 -5.59064104e-01 -4.03423685e-02 1.62246860e+02] [ 5.58356519e-01 8.29124077e-01 -2.81293993e-02 3.55333053e+01] [ 4.91749664e-02 7.69723578e-04 9.98789883e-01 8.16780565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.310385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:162.27, Y:35.55, Z:8.17 [[ 8.27982036e-01 -5.59334564e-01 -3.98822525e-02 1.62268666e+02] [ 5.58595365e-01 8.28940539e-01 -2.87889142e-02 3.55487159e+01] [ 4.91626507e-02 1.55866238e-03 9.98789570e-01 8.16717490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.340385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:162.29, Y:35.56, Z:8.17 [[ 8.28166427e-01 -5.59068678e-01 -3.97816779e-02 1.62294332e+02] [ 5.58322250e-01 8.29119502e-01 -2.89329622e-02 3.55624060e+01] [ 4.91592779e-02 1.75031199e-03 9.98789418e-01 8.16868766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.370385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.33, Y:35.58, Z:8.18 [[ 8.31344786e-01 -5.54328865e-01 -3.98165290e-02 1.62326840e+02] [ 5.53579389e-01 8.32295397e-01 -2.88830744e-02 3.55750316e+01] [ 4.91498357e-02 1.97018354e-03 9.98789473e-01 8.17833890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.400385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:162.35, Y:35.59, Z:8.18 [[ 8.29785543e-01 -5.56622964e-01 -4.03339763e-02 1.62352363e+02] [ 5.55911904e-01 8.30764716e-01 -2.81414744e-02 3.55887619e+01] [ 4.91722353e-02 9.29251024e-04 9.98789882e-01 8.18055457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.430385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.37, Y:35.61, Z:8.18 [[ 8.25984598e-01 -5.62242152e-01 -4.04129452e-02 1.62368071e+02] [ 5.61543282e-01 8.26972523e-01 -2.80283579e-02 3.56057194e+01] [ 4.91791195e-02 4.57374031e-04 9.98789870e-01 8.17715250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.460385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.39, Y:35.62, Z:8.18 [[ 8.22819985e-01 -5.66900022e-01 -3.98953345e-02 1.62389990e+02] [ 5.66170607e-01 8.23785889e-01 -2.87689695e-02 3.56197357e+01] [ 4.91743430e-02 1.08411733e-03 9.98789622e-01 8.17653639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.490385723 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:162.42, Y:35.63, Z:8.19 [[ 8.25631685e-01 -5.62807790e-01 -3.97455926e-02 1.62424508e+02] [ 5.62063268e-01 8.26586271e-01 -2.89830678e-02 3.56323235e+01] [ 4.91650575e-02 1.58980145e-03 9.98789402e-01 8.18551758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.520385723 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:162.45, Y:35.65, Z:8.18 [[ 8.22854782e-01 -5.66819625e-01 -4.03177365e-02 1.62448332e+02] [ 5.66119594e-01 8.23841848e-01 -2.81640690e-02 3.56450137e+01] [ 4.91793856e-02 3.50278200e-04 9.98789901e-01 8.18360122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.550385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:162.46, Y:35.66, Z:8.18 [[ 8.18212536e-01 -5.73500773e-01 -4.03126322e-02 1.62464169e+02] [ 5.72808443e-01 8.19205018e-01 -2.81713732e-02 3.56619182e+01] [ 4.91806149e-02 -4.12453781e-05 9.98789901e-01 8.18316638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.580385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:162.49, Y:35.68, Z:8.18 [[ 8.16274371e-01 -5.76291698e-01 -3.97998766e-02 1.62487618e+02] [ 5.75566788e-01 8.17243787e-01 -2.89044027e-02 3.56761075e+01] [ 4.91835692e-02 6.86435966e-04 9.98789520e-01 8.18319623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.610385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:162.51, Y:35.69, Z:8.18 [[ 8.13117978e-01 -5.80741058e-01 -3.97363435e-02 1.62506015e+02] [ 5.80017009e-01 8.14088167e-01 -2.89952611e-02 3.56947678e+01] [ 4.91876256e-02 5.28812964e-04 9.98789416e-01 8.17883320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.640385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.54, Y:35.71, Z:8.19 [[ 8.16119303e-01 -5.76534709e-01 -3.94589937e-02 1.62540183e+02] [ 5.75786412e-01 8.17071676e-01 -2.93919091e-02 3.57056485e+01] [ 4.91862818e-02 1.26735198e-03 9.98788818e-01 8.19143517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.670385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.57, Y:35.72, Z:8.19 [[ 8.18866507e-01 -5.72592938e-01 -3.99370885e-02 1.62571091e+02] [ 5.71873229e-01 8.19839545e-01 -2.87076607e-02 3.57185144e+01] [ 4.91798082e-02 6.68790054e-04 9.98789717e-01 8.19408356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.700385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.60, Y:35.73, Z:8.20 [[ 8.18712747e-01 -5.72785604e-01 -4.03248058e-02 1.62595535e+02] [ 5.72093345e-01 8.19705223e-01 -2.81523220e-02 3.57322816e+01] [ 4.91796987e-02 -2.08881468e-05 9.98789946e-01 8.19655513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.730385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.62, Y:35.75, Z:8.20 [[ 8.18724658e-01 -5.72769126e-01 -4.03170203e-02 1.62619132e+02] [ 5.72076298e-01 8.19716736e-01 -2.81634673e-02 3.57473575e+01] [ 4.91797008e-02 -6.28655183e-06 9.98789946e-01 8.19797467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.760385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.63, Y:35.76, Z:8.20 [[ 8.16303184e-01 -5.76215479e-01 -4.03092213e-02 1.62634991e+02] [ 5.75526288e-01 8.17297793e-01 -2.81746252e-02 3.57639251e+01] [ 4.91792928e-02 -1.99980259e-04 9.98789946e-01 8.19752694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.790385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.67, Y:35.78, Z:8.20 [[ 8.20877051e-01 -5.69715475e-01 -3.98138796e-02 1.62666912e+02] [ 5.68983864e-01 8.21841325e-01 -2.88825079e-02 3.57778546e+01] [ 4.91755033e-02 1.05553287e-03 9.98789595e-01 8.19910118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.82038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.68, Y:35.80, Z:8.20 [[ 8.18540937e-01 -5.73032404e-01 -4.03063158e-02 1.62682574e+02] [ 5.72339172e-01 8.19532711e-01 -2.81781540e-02 3.57952988e+01] [ 4.91793396e-02 -3.91081647e-06 9.98789964e-01 8.19970114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.85038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.71, Y:35.81, Z:8.20 [[ 8.24630757e-01 -5.64268181e-01 -3.98187665e-02 1.62714965e+02] [ 5.63530584e-01 8.25590418e-01 -2.88745887e-02 3.58076391e+01] [ 4.91670037e-02 1.37178125e-03 9.98789629e-01 8.20287413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.88038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.74, Y:35.82, Z:8.21 [[ 8.27135619e-01 -5.60555598e-01 -4.02999864e-02 1.62739123e+02] [ 5.59846997e-01 8.28116451e-01 -2.81865913e-02 3.58223351e+01] [ 4.91732332e-02 7.52307313e-04 9.98789982e-01 8.20573480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.91038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.75, Y:35.84, Z:8.21 [[ 8.25233480e-01 -5.63352296e-01 -4.02975803e-02 1.62754774e+02] [ 5.62646852e-01 8.26216583e-01 -2.81900308e-02 3.58405510e+01] [ 4.91754477e-02 5.90050578e-04 9.98789982e-01 8.20682595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.94038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.79, Y:35.85, Z:8.21 [[ 8.29579462e-01 -5.56966559e-01 -3.98267298e-02 1.62786065e+02] [ 5.56221115e-01 8.30532988e-01 -2.88622113e-02 3.58545345e+01] [ 4.91526995e-02 1.79102971e-03 9.98789670e-01 8.20866626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.970385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.80, Y:35.87, Z:8.21 [[ 8.28554332e-01 -5.58456916e-01 -4.02938075e-02 1.62801697e+02] [ 5.57745436e-01 8.29533053e-01 -2.81947271e-02 3.58718127e+01] [ 4.91705855e-02 8.87176026e-04 9.98790001e-01 8.20836741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.000385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.83, Y:35.89, Z:8.21 [[ 8.30756166e-01 -5.55212130e-01 -3.97955203e-02 1.62825067e+02] [ 5.54462577e-01 8.31706495e-01 -2.89060231e-02 3.58869158e+01] [ 4.91471673e-02 1.94873015e-03 9.98789647e-01 8.21174330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.030385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.85, Y:35.90, Z:8.21 [[ 8.31617302e-01 -5.53923733e-01 -3.97638186e-02 1.62848373e+02] [ 5.53170546e-01 8.32564815e-01 -2.89512660e-02 3.59015775e+01] [ 4.91427496e-02 2.08020040e-03 9.98789599e-01 8.21092712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.060385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.87, Y:35.92, Z:8.21 [[ 8.32398325e-01 -5.52747004e-01 -3.97967077e-02 1.62871014e+02] [ 5.51994719e-01 8.33346490e-01 -2.89042950e-02 3.59166951e+01] [ 4.91412091e-02 2.09231424e-03 9.98789649e-01 8.21472709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.090385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:162.90, Y:35.93, Z:8.21 [[ 8.33933328e-01 -5.50431552e-01 -3.97531290e-02 1.62895281e+02] [ 5.49673673e-01 8.34877113e-01 -2.89665196e-02 3.59323417e+01] [ 4.91330639e-02 2.30489771e-03 9.98789582e-01 8.21364748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.120385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.93, Y:35.95, Z:8.22 [[ 8.37599198e-01 -5.44833779e-01 -3.97961853e-02 1.62927740e+02] [ 5.44072507e-01 8.38540164e-01 -2.89050459e-02 3.59461949e+01] [ 4.91191451e-02 2.55883295e-03 9.98789649e-01 8.21826136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.150385723 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:162.94, Y:35.96, Z:8.21 [[ 8.34064963e-01 -5.50192721e-01 -4.02940154e-02 1.62940732e+02] [ 5.49471603e-01 8.35036574e-01 -2.81935840e-02 3.59639280e+01] [ 4.91588812e-02 1.37486338e-03 9.98790025e-01 8.21368339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.180385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:162.97, Y:35.98, Z:8.21 [[ 8.33778587e-01 -5.50673460e-01 -3.96485477e-02 1.62967344e+02] [ 5.49908803e-01 8.34717094e-01 -2.91149576e-02 3.59816339e+01] [ 4.91281549e-02 2.47234279e-03 9.98789423e-01 8.21286203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.210385723 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:162.99, Y:35.99, Z:8.22 [[ 8.33461401e-01 -5.51137010e-01 -3.98759330e-02 1.62988078e+02] [ 5.50388344e-01 8.34412249e-01 -2.87900849e-02 3.59941813e+01] [ 4.91402483e-02 2.04817574e-03 9.98789788e-01 8.21642718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.240385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.02, Y:36.01, Z:8.22 [[ 8.36613029e-01 -5.46360274e-01 -3.96117451e-02 1.63024133e+02] [ 5.45588312e-01 8.37545621e-01 -2.91672223e-02 3.60072767e+01] [ 4.91124552e-02 2.78997310e-03 9.98789359e-01 8.21913671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.270385723 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:163.04, Y:36.02, Z:8.22 [[ 8.30378146e-01 -5.55740960e-01 -4.03003721e-02 1.63039901e+02] [ 5.55026871e-01 8.31354867e-01 -2.81825647e-02 3.60217602e+01] [ 4.91661160e-02 1.03439637e-03 9.98790080e-01 8.22137315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.300385723 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:163.07, Y:36.03, Z:8.22 [[ 8.32838866e-01 -5.52089451e-01 -3.97071946e-02 1.63074332e+02] [ 5.51330460e-01 8.33781756e-01 -2.90294314e-02 3.60346670e+01] [ 4.91339773e-02 2.28505285e-03 9.98789583e-01 8.22329150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.330385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.10, Y:36.05, Z:8.23 [[ 8.30567792e-01 -5.55457848e-01 -4.02954315e-02 1.63099743e+02] [ 5.54743135e-01 8.31544020e-01 -2.81885954e-02 3.60474918e+01] [ 4.91650016e-02 1.05892545e-03 9.98790109e-01 8.22546789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.360385723 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] Translation: X:163.12, Y:36.06, Z:8.23 [[ 8.29626439e-01 -5.56863428e-01 -4.02876527e-02 1.63123917e+02] [ 5.56149829e-01 8.30603482e-01 -2.81997086e-02 3.60625994e+01] [ 4.91664510e-02 9.89252729e-04 9.98790109e-01 8.22707580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.390385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.15, Y:36.08, Z:8.23 [[ 8.28229535e-01 -5.58939432e-01 -4.02808728e-02 1.63147592e+02] [ 5.58227812e-01 8.29208020e-01 -2.82093897e-02 3.60765029e+01] [ 4.91685631e-02 8.77946213e-04 9.98790109e-01 8.22924999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.420385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.17, Y:36.09, Z:8.23 [[ 8.27747374e-01 -5.59653487e-01 -4.02772899e-02 1.63171615e+02] [ 5.58942462e-01 8.28726292e-01 -2.82145046e-02 3.60922715e+01] [ 4.91691949e-02 8.41794520e-04 9.98790109e-01 8.23097000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.450385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.20, Y:36.11, Z:8.23 [[ 8.26962712e-01 -5.60812758e-01 -4.02706344e-02 1.63196384e+02] [ 5.60102643e-01 8.27942290e-01 -2.82240008e-02 3.61075644e+01] [ 4.91701409e-02 7.84507498e-04 9.98790109e-01 8.23365731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.480385723 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:163.22, Y:36.12, Z:8.24 [[ 8.26547218e-01 -5.61425426e-01 -4.02639724e-02 1.63219493e+02] [ 5.60715575e-01 8.27526987e-01 -2.82335015e-02 3.61224449e+01] [ 4.91705293e-02 7.59685707e-04 9.98790109e-01 8.23576309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.510385723 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:163.24, Y:36.14, Z:8.24 [[ 8.25804329e-01 -5.62517744e-01 -4.02616205e-02 1.63243465e+02] [ 5.61809025e-01 8.26784917e-01 -2.82368549e-02 3.61368142e+01] [ 4.91714325e-02 6.98775306e-04 9.98790109e-01 8.23954836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.540385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.27, Y:36.15, Z:8.24 [[ 8.24823058e-01 -5.63956153e-01 -4.02539458e-02 1.63267877e+02] [ 5.63248610e-01 8.25804496e-01 -2.82477915e-02 3.61529307e+01] [ 4.91724053e-02 6.26450741e-04 9.98790109e-01 8.24199958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.57038572300002 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:163.29, Y:36.17, Z:8.24 [[ 8.24173257e-01 -5.64905824e-01 -4.02473873e-02 1.63290771e+02] [ 5.64198956e-01 8.25155181e-01 -2.82571331e-02 3.61682234e+01] [ 4.91729592e-02 5.81239471e-04 9.98790109e-01 8.24246570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.60038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.32, Y:36.19, Z:8.25 [[ 8.22475857e-01 -5.67374738e-01 -4.02414111e-02 1.63316445e+02] [ 5.66670402e-01 8.23459598e-01 -2.82656406e-02 3.61855349e+01] [ 4.91743867e-02 4.44190383e-04 9.98790109e-01 8.24578605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.63038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.34, Y:36.20, Z:8.25 [[ 8.21394215e-01 -5.68928158e-01 -4.04016720e-02 1.63339218e+02] [ 5.68236873e-01 8.22387224e-01 -2.80376575e-02 3.61993107e+01] [ 4.91772317e-02 7.22498925e-05 9.98790065e-01 8.24675553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.66038572300002 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] Translation: X:163.36, Y:36.22, Z:8.25 [[ 8.20175837e-01 -5.70695924e-01 -4.02213843e-02 1.63362316e+02] [ 5.69994183e-01 8.21161424e-01 -2.82939504e-02 3.62151006e+01] [ 4.91754914e-02 2.80059344e-04 9.98790114e-01 8.24889839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.69038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.38, Y:36.23, Z:8.25 [[ 8.17787076e-01 -5.74114248e-01 -4.02135455e-02 1.63384941e+02] [ 5.73416078e-01 8.18775197e-01 -2.83050872e-02 3.62304646e+01] [ 4.91762074e-02 8.84409092e-05 9.98790114e-01 8.25024974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.720385723 meters Centerline goodness : 0.999886 Centerline is valid? [True, True] Translation: X:163.41, Y:36.25, Z:8.25 [[ 8.16839881e-01 -5.75461339e-01 -4.02101479e-02 1.63406946e+02] [ 5.74764562e-01 8.17828984e-01 -2.83099130e-02 3.62460488e+01] [ 4.91762848e-02 1.32979493e-05 9.98790115e-01 8.25123127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.750385723 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:163.43, Y:36.26, Z:8.25 [[ 8.15204522e-01 -5.77775909e-01 -4.02067879e-02 1.63429241e+02] [ 5.77081705e-01 8.16195433e-01 -2.83146842e-02 3.62622384e+01] [ 4.91761390e-02 -1.20343071e-04 9.98790115e-01 8.25376697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.780385723 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:163.45, Y:36.28, Z:8.26 [[ 8.15043572e-01 -5.78003486e-01 -4.01988343e-02 1.63452563e+02] [ 5.77309002e-01 8.16034286e-01 -2.83259715e-02 3.62787489e+01] [ 4.91761373e-02 -1.20248001e-04 9.98790115e-01 8.25516755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.810385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.47, Y:36.29, Z:8.26 [[ 8.14398463e-01 -5.78912629e-01 -4.01909325e-02 1.63474682e+02] [ 5.78218698e-01 8.15389565e-01 -2.83371787e-02 3.62944648e+01] [ 4.91760176e-02 -1.61393888e-04 9.98790115e-01 8.25644642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.840385723 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] Translation: X:163.50, Y:36.31, Z:8.26 [[ 8.12785391e-01 -5.81175423e-01 -4.01875086e-02 1.63497987e+02] [ 5.80484011e-01 8.13778251e-01 -2.83420336e-02 3.63125397e+01] [ 4.91754139e-02 -2.92215376e-04 9.98790115e-01 8.25850308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.870385723 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] Translation: X:163.52, Y:36.33, Z:8.26 [[ 8.12711351e-01 -5.81271673e-01 -4.02927066e-02 1.63519757e+02] [ 5.80587763e-01 8.13709414e-01 -2.81928743e-02 3.63294018e+01] [ 4.91742738e-02 -4.80783450e-04 9.98790098e-01 8.25893027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.900385723 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:163.54, Y:36.35, Z:8.26 [[ 8.11691454e-01 -5.82702956e-01 -4.01777042e-02 1.63540463e+02] [ 5.82012730e-01 8.12685136e-01 -2.83558241e-02 3.63474389e+01] [ 4.91748456e-02 -3.67755235e-04 9.98790118e-01 8.25958373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.930385723 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:163.56, Y:36.36, Z:8.26 [[ 8.11788436e-01 -5.82568071e-01 -4.01743458e-02 1.63559698e+02] [ 5.81877444e-01 8.12781839e-01 -2.83605815e-02 3.63626674e+01] [ 4.91749479e-02 -3.53753588e-04 9.98790118e-01 8.26007472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.960385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.58, Y:36.38, Z:8.26 [[ 8.10157427e-01 -5.84851281e-01 -3.99239578e-02 1.63584023e+02] [ 5.84145930e-01 8.11140540e-01 -2.87151061e-02 3.63824107e+01] [ 4.91780073e-02 -5.76609680e-05 9.98790028e-01 8.26454651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.990385723 meters Centerline goodness : 0.999909 Centerline is valid? [True, True] Translation: X:163.59, Y:36.40, Z:8.26 [[ 8.04641069e-01 -5.92401011e-01 -4.01720355e-02 1.63591006e+02] [ 5.91722362e-01 8.05642690e-01 -2.83637578e-02 3.64030927e+01] [ 4.91670255e-02 -9.48047270e-04 9.98790121e-01 8.25528047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.020385723 meters Centerline goodness : 0.996126 Centerline is valid? [True, True] Translation: X:163.62, Y:36.42, Z:8.26 [[ 8.07900934e-01 -5.87998615e-01 -3.94171266e-02 1.63621076e+02] [ 5.87262451e-01 8.08861696e-01 -2.94205861e-02 3.64211045e+01] [ 4.91822677e-02 6.20720603e-04 9.98789627e-01 8.26282061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.050385723 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:163.65, Y:36.44, Z:8.27 [[ 8.06956487e-01 -5.89267963e-01 -3.98057189e-02 1.63645198e+02] [ 5.88560040e-01 8.07937653e-01 -2.88760695e-02 3.64404983e+01] [ 4.91762818e-02 -1.26323902e-04 9.98790107e-01 8.26950999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.080385723 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:163.67, Y:36.46, Z:8.27 [[ 8.07813755e-01 -5.88077173e-01 -4.00271945e-02 1.63667097e+02] [ 5.87383137e-01 8.08804704e-01 -2.85657372e-02 3.64592409e+01] [ 4.91730411e-02 -4.35503640e-04 9.98790179e-01 8.27091085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.110385723 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:163.66, Y:36.48, Z:8.26 [[ 7.98320450e-01 -6.00901657e-01 -4.00207192e-02 1.63661373e+02] [ 6.00223079e-01 7.99322047e-01 -2.85748063e-02 3.64811672e+01] [ 4.91600916e-02 -1.20950713e-03 9.98790179e-01 8.25787859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.140385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.71, Y:36.50, Z:8.27 [[ 8.08187229e-01 -5.87671490e-01 -3.84138389e-02 1.63706175e+02] [ 5.86868681e-01 8.09096236e-01 -3.07966394e-02 3.64987072e+01] [ 4.91787994e-02 2.34557169e-03 9.98787237e-01 8.27143650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.170385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.71, Y:36.52, Z:8.26 [[ 8.02312127e-01 -5.95571036e-01 -3.98797160e-02 1.63706667e+02] [ 5.94876476e-01 8.03302385e-01 -2.87620825e-02 3.65159338e+01] [ 4.91653343e-02 -6.47337355e-04 9.98790444e-01 8.26083816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.200385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:163.75, Y:36.53, Z:8.27 [[ 8.14331281e-01 -5.79121629e-01 -3.85058831e-02 1.63753053e+02] [ 5.78314769e-01 8.15236632e-01 -3.06799803e-02 3.65302870e+01] [ 4.91588466e-02 2.71514679e-03 9.98787283e-01 8.27466254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.230385723 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:163.78, Y:36.55, Z:8.28 [[ 8.15274268e-01 -5.77690238e-01 -4.00231988e-02 1.63776249e+02] [ 5.76984182e-01 8.16256059e-01 -2.85534574e-02 3.65463994e+01] [ 4.91642321e-02 1.86146481e-04 9.98790691e-01 8.27727459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.260385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:163.80, Y:36.57, Z:8.28 [[ 8.16218298e-01 -5.76356186e-01 -4.00154482e-02 1.63801397e+02] [ 5.75647993e-01 8.17198549e-01 -2.85643151e-02 3.65656505e+01] [ 4.91637859e-02 2.79904244e-04 9.98790691e-01 8.27826937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.290385723 meters Centerline goodness : 0.997390 Centerline is valid? [True, True] Translation: X:163.82, Y:36.58, Z:8.28 [[ 8.17887630e-01 -5.73971400e-01 -4.02076706e-02 1.63822410e+02] [ 5.73273572e-01 8.18875341e-01 -2.82946594e-02 3.65801255e+01] [ 4.91653952e-02 9.18569749e-05 9.98790646e-01 8.27598644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.32038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.84, Y:36.60, Z:8.28 [[ 8.19743588e-01 -5.71327700e-01 -4.00638143e-02 1.63844455e+02] [ 5.70616816e-01 8.20721884e-01 -2.84962925e-02 3.65973336e+01] [ 4.91619704e-02 4.98566901e-04 9.98790695e-01 8.28045188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.35038572300002 meters Centerline goodness : 0.999799 Centerline is valid? [True, True] Translation: X:163.87, Y:36.61, Z:8.28 [[ 8.20981091e-01 -5.69550680e-01 -4.00258758e-02 1.63867867e+02] [ 5.68835088e-01 8.21955943e-01 -2.85494345e-02 3.66144200e+01] [ 4.91598564e-02 6.70423334e-04 9.98790698e-01 8.28406308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.38038572300002 meters Centerline goodness : 0.999822 Centerline is valid? [True, True] Translation: X:163.89, Y:36.63, Z:8.29 [[ 8.23348819e-01 -5.66123788e-01 -4.00072390e-02 1.63890666e+02] [ 5.65402871e-01 8.24319739e-01 -2.85755270e-02 3.66313792e+01] [ 4.91560425e-02 9.07418640e-04 9.98790699e-01 8.28590432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.41038572300002 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:163.90, Y:36.65, Z:8.27 [[ 8.18618610e-01 -5.72942674e-01 -4.00033068e-02 1.63899020e+02] [ 5.72229577e-01 8.19595288e-01 -2.85810308e-02 3.66522077e+01] [ 4.91618139e-02 5.05888407e-04 9.98790699e-01 8.27311360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.44038572300002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:163.94, Y:36.66, Z:8.29 [[ 8.26434781e-01 -5.61663017e-01 -3.92454915e-02 1.63937031e+02] [ 5.60885827e-01 8.27362365e-01 -2.96412785e-02 3.66639656e+01] [ 4.91186525e-02 2.48434354e-03 9.98789861e-01 8.28951675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.470385723 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:163.95, Y:36.68, Z:8.28 [[ 8.22468147e-01 -5.67401352e-01 -4.00231610e-02 1.63949898e+02] [ 5.66683126e-01 8.23440989e-01 -2.85512154e-02 3.66836546e+01] [ 4.91567095e-02 8.02015218e-04 9.98790756e-01 8.28124495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.500385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.97, Y:36.70, Z:8.28 [[ 8.22009144e-01 -5.68109503e-01 -3.94025443e-02 1.63973229e+02] [ 5.67350183e-01 8.22950941e-01 -2.94197105e-02 3.67024483e+01] [ 4.91399780e-02 1.82823036e-03 9.98790228e-01 8.27809261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.530385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:163.99, Y:36.72, Z:8.28 [[ 8.23772205e-01 -5.65542993e-01 -3.95028863e-02 1.63994457e+02] [ 5.64787472e-01 8.24716832e-01 -2.92789745e-02 3.67171188e+01] [ 4.91372141e-02 1.80847004e-03 9.98790400e-01 8.28473964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.560385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:164.03, Y:36.73, Z:8.30 [[ 8.30352734e-01 -5.55850415e-01 -3.93020656e-02 1.64030519e+02] [ 5.55070556e-01 8.31277849e-01 -2.95603822e-02 3.67295957e+01] [ 4.91020872e-02 2.73012479e-03 9.98790034e-01 8.29650805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.590385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:164.05, Y:36.74, Z:8.30 [[ 8.30792637e-01 -5.55139999e-01 -4.00396758e-02 1.64053060e+02] [ 5.54408683e-01 8.31755572e-01 -2.85250930e-02 3.67445579e+01] [ 4.91386435e-02 1.50009329e-03 9.98790841e-01 8.29741827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.620385723 meters Centerline goodness : 0.998826 Centerline is valid? [True, True] Translation: X:164.08, Y:36.76, Z:8.30 [[ 8.30788989e-01 -5.55145691e-01 -4.00364517e-02 1.64078231e+02] [ 5.54414164e-01 8.31751763e-01 -2.85296174e-02 3.67614354e+01] [ 4.91384835e-02 1.50531610e-03 9.98790841e-01 8.29605861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.650385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.10, Y:36.78, Z:8.30 [[ 8.31071189e-01 -5.54715075e-01 -4.01480315e-02 1.64100978e+02] [ 5.53990588e-01 8.32039298e-01 -2.83731293e-02 3.67767586e+01] [ 4.91437425e-02 1.33845878e-03 9.98790819e-01 8.29957501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.680385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:164.12, Y:36.79, Z:8.30 [[ 8.30442793e-01 -5.55664835e-01 -4.00169829e-02 1.64123898e+02] [ 5.54932603e-01 8.31405026e-01 -2.85567715e-02 3.67910301e+01] [ 4.91383145e-02 1.50803660e-03 9.98790845e-01 8.29921568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.710385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.14, Y:36.81, Z:8.29 [[ 8.24307199e-01 -5.64726978e-01 -4.00135280e-02 1.64135387e+02] [ 5.64005094e-01 8.25277219e-01 -2.85616118e-02 3.68090390e+01] [ 4.91517658e-02 9.75708577e-04 9.98790845e-01 8.29225182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.740385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:164.17, Y:36.82, Z:8.30 [[ 8.28568554e-01 -5.58506347e-01 -3.93040975e-02 1.64172146e+02] [ 5.57729791e-01 8.29496279e-01 -2.95534175e-02 3.68207284e+01] [ 4.91083738e-02 2.56596630e-03 9.98790160e-01 8.30485744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.770385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.20, Y:36.84, Z:8.31 [[ 8.27726693e-01 -5.59703497e-01 -4.00064665e-02 1.64196019e+02] [ 5.58975326e-01 8.28691947e-01 -2.85699528e-02 3.68355736e+01] [ 4.91437391e-02 1.28548494e-03 9.98790889e-01 8.30812269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.800385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:164.22, Y:36.85, Z:8.31 [[ 8.26457382e-01 -5.61576623e-01 -3.99986647e-02 1.64219376e+02] [ 5.60850112e-01 8.27423885e-01 -2.85808715e-02 3.68497477e+01] [ 4.91461998e-02 1.18761666e-03 9.98790889e-01 8.30882219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.830385723 meters Centerline goodness : 0.999865 Centerline is valid? [True, True] Translation: X:164.24, Y:36.87, Z:8.31 [[ 8.25684913e-01 -5.62712143e-01 -3.99933699e-02 1.64242622e+02] [ 5.61986602e-01 8.26652145e-01 -2.85882786e-02 3.68653474e+01] [ 4.91475765e-02 1.12917228e-03 9.98790889e-01 8.30960049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.860385723 meters Centerline goodness : 0.997260 Centerline is valid? [True, True] Translation: X:164.27, Y:36.88, Z:8.31 [[ 8.25040818e-01 -5.63656627e-01 -3.99856849e-02 1.64265053e+02] [ 5.62931673e-01 8.26008491e-01 -2.85990233e-02 3.68785007e+01] [ 4.91485443e-02 1.08615303e-03 9.98790889e-01 8.30649791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.890385723 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:164.28, Y:36.89, Z:8.30 [[ 8.21541326e-01 -5.68754477e-01 -3.98521661e-02 1.64279134e+02] [ 5.68026469e-01 8.22506731e-01 -2.87855573e-02 3.68928436e+01] [ 4.91505894e-02 1.01143972e-03 9.98790867e-01 8.30128567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.920385723 meters Centerline goodness : 0.997609 Centerline is valid? [True, True] Translation: X:164.31, Y:36.91, Z:8.31 [[ 8.23525078e-01 -5.65919097e-01 -3.92685692e-02 1.64314259e+02] [ 5.65148648e-01 8.24457885e-01 -2.96007042e-02 3.69096296e+01] [ 4.91268853e-02 2.18434344e-03 9.98790157e-01 8.31188812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.950385723 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:164.33, Y:36.92, Z:8.31 [[ 8.20420492e-01 -5.70363863e-01 -3.99409491e-02 1.64327430e+02] [ 5.69643845e-01 8.21391797e-01 -2.86601770e-02 3.69246249e+01] [ 4.91538972e-02 7.61280699e-04 9.98790926e-01 8.30560980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.980385723 meters Centerline goodness : 0.999887 Centerline is valid? [True, True] Translation: X:164.37, Y:36.94, Z:8.32 [[ 8.26111512e-01 -5.62135144e-01 -3.92918533e-02 1.64366006e+02] [ 5.61361534e-01 8.27041976e-01 -2.95769994e-02 3.69369407e+01] [ 4.91222828e-02 2.37696464e-03 9.98789944e-01 8.31996317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.010385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:164.38, Y:36.96, Z:8.31 [[ 8.20811147e-01 -5.69786997e-01 -4.01477256e-02 1.64375967e+02] [ 5.69080659e-01 8.21792303e-01 -2.83657253e-02 3.69563760e+01] [ 4.91555133e-02 4.35609357e-04 9.98791042e-01 8.31192252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.040385723 meters Centerline goodness : 0.995590 Centerline is valid? [True, True] Translation: X:164.41, Y:36.97, Z:8.32 [[ 8.23557014e-01 -5.65865512e-01 -3.93708843e-02 1.64408042e+02] [ 5.65102223e-01 8.24495120e-01 -2.94495225e-02 3.69742569e+01] [ 4.91255712e-02 2.00478656e-03 9.98790598e-01 8.31795155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.07038572300002 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:164.43, Y:36.99, Z:8.32 [[ 8.23268657e-01 -5.66243509e-01 -3.99625644e-02 1.64430566e+02] [ 5.65520434e-01 8.24237440e-01 -2.86230859e-02 3.69899013e+01] [ 4.91462784e-02 9.64842696e-04 9.98791126e-01 8.32373703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.10038572300002 meters Centerline goodness : 0.996132 Centerline is valid? [True, True] Translation: X:164.46, Y:37.01, Z:8.32 [[ 8.23874614e-01 -5.65361786e-01 -3.99583761e-02 1.64455143e+02] [ 5.64637391e-01 8.24842410e-01 -2.86289317e-02 3.70061606e+01] [ 4.91450672e-02 1.02465686e-03 9.98791126e-01 8.32183140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.13038572300002 meters Centerline goodness : 0.998077 Centerline is valid? [True, True] Translation: X:164.48, Y:37.02, Z:8.32 [[ 8.24430001e-01 -5.64548405e-01 -4.00033977e-02 1.64478671e+02] [ 5.63826099e-01 8.25399362e-01 -2.85661309e-02 3.70225249e+01] [ 4.91457426e-02 9.95815675e-04 9.98791121e-01 8.32322558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.16038572300002 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:164.50, Y:37.04, Z:8.32 [[ 8.24610720e-01 -5.64282739e-01 -4.00268826e-02 1.64503537e+02] [ 5.63561707e-01 8.25581036e-01 -2.85333988e-02 3.70409970e+01] [ 4.91463396e-02 9.71328241e-04 9.98791116e-01 8.32225364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.19038572300002 meters Centerline goodness : 0.999456 Centerline is valid? [True, True] Translation: X:164.53, Y:37.05, Z:8.33 [[ 8.24808339e-01 -5.63987912e-01 -4.01103307e-02 1.64525022e+02] [ 5.63272176e-01 8.25782610e-01 -2.84171839e-02 3.70549755e+01] [ 4.91493618e-02 8.45697003e-04 9.98791082e-01 8.32635335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.220385723 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:164.55, Y:37.07, Z:8.33 [[ 8.22910850e-01 -5.66767883e-01 -3.98986179e-02 1.64547384e+02] [ 5.66041124e-01 8.23876859e-01 -2.87117868e-02 3.70740297e+01] [ 4.91444666e-02 1.04298235e-03 9.98791136e-01 8.32516265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.250385723 meters Centerline goodness : 0.999886 Centerline is valid? [True, True] Translation: X:164.56, Y:37.09, Z:8.32 [[ 8.19967125e-01 -5.71016215e-01 -3.99299056e-02 1.64561710e+02] [ 5.70296578e-01 8.20938452e-01 -2.86682808e-02 3.70911033e+01] [ 4.91500481e-02 7.35159267e-04 9.98791135e-01 8.31815196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.280385723 meters Centerline goodness : 0.998555 Centerline is valid? [True, True] Translation: X:164.59, Y:37.11, Z:8.33 [[ 8.20803934e-01 -5.69853589e-01 -3.93419379e-02 1.64593503e+02] [ 5.69093436e-01 8.21744254e-01 -2.94795203e-02 3.71073523e+01] [ 4.91280219e-02 1.80766762e-03 9.98790854e-01 8.32585853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.310385723 meters Centerline goodness : 0.997775 Centerline is valid? [True, True] Translation: X:164.62, Y:37.12, Z:8.33 [[ 8.19000778e-01 -5.72408476e-01 -3.98278965e-02 1.64617766e+02] [ 5.71683664e-01 8.19968204e-01 -2.88085611e-02 3.71230580e+01] [ 4.91478733e-02 8.25276210e-04 9.98791172e-01 8.33153298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.340385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:164.64, Y:37.14, Z:8.33 [[ 8.16520350e-01 -5.75937788e-01 -3.98770802e-02 1.64635012e+02] [ 5.75220470e-01 8.17493354e-01 -2.87406935e-02 3.71394053e+01] [ 4.91520995e-02 5.29248333e-04 9.98791165e-01 8.32687173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.370385723 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:164.66, Y:37.15, Z:8.33 [[ 8.17970783e-01 -5.73907961e-01 -3.94138348e-02 1.64664315e+02] [ 5.73157075e-01 8.18918534e-01 -2.93837092e-02 3.71545442e+01] [ 4.91402645e-02 1.44469732e-03 9.98790843e-01 8.33361332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.400385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.69, Y:37.17, Z:8.34 [[ 8.17821420e-01 -5.74091485e-01 -3.98383050e-02 1.64689288e+02] [ 5.73369363e-01 8.18790857e-01 -2.87942107e-02 3.71672515e+01] [ 4.91497510e-02 7.06458770e-04 9.98791171e-01 8.33988863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.430385723 meters Centerline goodness : 0.999319 Centerline is valid? [True, True] Translation: X:164.71, Y:37.18, Z:8.34 [[ 8.17430112e-01 -5.74645131e-01 -3.98871642e-02 1.64713348e+02] [ 5.73926972e-01 8.18402484e-01 -2.87263862e-02 3.71838665e+01] [ 4.91512322e-02 5.89493740e-04 9.98791174e-01 8.34349061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.460385723 meters Centerline goodness : 0.997841 Centerline is valid? [True, True] Translation: X:164.74, Y:37.20, Z:8.34 [[ 8.17543359e-01 -5.74479141e-01 -3.99571331e-02 1.64735668e+02] [ 5.73765526e-01 8.18519081e-01 -2.86292656e-02 3.72001562e+01] [ 4.91525918e-02 4.79640434e-04 9.98791166e-01 8.34486803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.490385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.75, Y:37.22, Z:8.34 [[ 8.17436291e-01 -5.74633625e-01 -3.99262648e-02 1.64752976e+02] [ 5.73918102e-01 8.18410608e-01 -2.86720905e-02 3.72152725e+01] [ 4.91520259e-02 5.23201175e-04 9.98791172e-01 8.34121959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.520385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.78, Y:37.23, Z:8.34 [[ 8.18811584e-01 -5.72690218e-01 -3.96674114e-02 1.64776182e+02] [ 5.71954837e-01 8.19771150e-01 -2.90331993e-02 3.72331261e+01] [ 4.91452287e-02 1.08475213e-03 9.98791054e-01 8.33992234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.550385723 meters Centerline goodness : 0.999025 Centerline is valid? [True, True] Translation: X:164.80, Y:37.25, Z:8.34 [[ 8.20736647e-01 -5.69919647e-01 -3.97863333e-02 1.64802156e+02] [ 5.69189037e-01 8.21699763e-01 -2.88676290e-02 3.72483614e+01] [ 4.91446495e-02 1.04677632e-03 9.98791123e-01 8.34310452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.580385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.82, Y:37.26, Z:8.34 [[ 8.20009090e-01 -5.70953657e-01 -3.99626648e-02 1.64819025e+02] [ 5.70236195e-01 8.20982007e-01 -2.86221151e-02 3.72648415e+01] [ 4.91505300e-02 6.82236671e-04 9.98791149e-01 8.33619878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.610385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.84, Y:37.28, Z:8.34 [[ 8.20395747e-01 -5.70420029e-01 -3.96460582e-02 1.64841564e+02] [ 5.69680500e-01 8.21352182e-01 -2.90640862e-02 3.72801865e+01] [ 4.91421133e-02 1.25846645e-03 9.98791004e-01 8.33769933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.640385723 meters Centerline goodness : 0.999455 Centerline is valid? [True, True] Translation: X:164.87, Y:37.30, Z:8.35 [[ 8.21813938e-01 -5.68377192e-01 -3.96133728e-02 1.64871598e+02] [ 5.67633095e-01 8.22766858e-01 -2.91095601e-02 3.72950377e+01] [ 4.91377803e-02 1.43678082e-03 9.98790976e-01 8.34677048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.670385723 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:164.89, Y:37.31, Z:8.35 [[ 8.21063338e-01 -5.69438517e-01 -3.99345759e-02 1.64894374e+02] [ 5.68717299e-01 8.22033515e-01 -2.86624185e-02 3.73113568e+01] [ 4.91490449e-02 8.22176844e-04 9.98791117e-01 8.35060853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.700385723 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:164.92, Y:37.33, Z:8.35 [[ 8.20910268e-01 -5.69660512e-01 -3.99153211e-02 1.64917521e+02] [ 5.68938254e-01 8.21879670e-01 -2.86892079e-02 3.73281078e+01] [ 4.91486998e-02 8.41912275e-04 9.98791118e-01 8.35199958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.730385723 meters Centerline goodness : 0.998521 Centerline is valid? [True, True] Translation: X:164.94, Y:37.34, Z:8.35 [[ 8.19873345e-01 -5.71152415e-01 -3.99075973e-02 1.64937947e+02] [ 5.70431399e-01 8.20843671e-01 -2.86999479e-02 3.73436121e+01] [ 4.91499432e-02 7.65775715e-04 9.98791118e-01 8.34979892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.760385723 meters Centerline goodness : 0.999023 Centerline is valid? [True, True] Translation: X:164.96, Y:37.36, Z:8.36 [[ 8.19819601e-01 -5.71242090e-01 -3.97277817e-02 1.64963884e+02] [ 5.70509046e-01 8.20780929e-01 -2.89498710e-02 3.73600531e+01] [ 4.91451904e-02 1.06861282e-03 9.98791073e-01 8.35557307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.790385723 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] Translation: X:164.98, Y:37.38, Z:8.35 [[ 8.17001881e-01 -5.75251127e-01 -3.99257806e-02 1.64981426e+02] [ 5.74536212e-01 8.17976712e-01 -2.86747153e-02 3.73765543e+01] [ 4.91535211e-02 4.88489645e-04 9.98791116e-01 8.34962329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.82038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.00, Y:37.39, Z:8.35 [[ 8.16337469e-01 -5.76219461e-01 -3.95508534e-02 1.65002786e+02] [ 5.75480238e-01 8.17294303e-01 -2.91978923e-02 3.73924085e+01] [ 4.91490809e-02 1.07459893e-03 9.98790876e-01 8.34933956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.85038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.03, Y:37.41, Z:8.36 [[ 8.19581520e-01 -5.71599877e-01 -3.94931887e-02 1.65034813e+02] [ 5.70851387e-01 8.20531215e-01 -2.92783173e-02 3.74059723e+01] [ 4.91408766e-02 1.45122628e-03 9.98790803e-01 8.36034662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.88038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.06, Y:37.42, Z:8.36 [[ 8.19319645e-01 -5.71942692e-01 -3.99609349e-02 1.65057715e+02] [ 5.71226245e-01 8.20293341e-01 -2.86253722e-02 3.74218919e+01] [ 4.91517612e-02 6.26594973e-04 9.98791125e-01 8.36201224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.91038572300002 meters Centerline goodness : 0.998203 Centerline is valid? [True, True] Translation: X:165.08, Y:37.44, Z:8.36 [[ 8.19035179e-01 -5.72350523e-01 -3.99531566e-02 1.65080929e+02] [ 5.71634032e-01 8.20008842e-01 -2.86362245e-02 3.74381327e+01] [ 4.91518997e-02 6.15491232e-04 9.98791125e-01 8.35874596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.94038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.10, Y:37.45, Z:8.35 [[ 8.17572813e-01 -5.74441527e-01 -3.98952065e-02 1.65097352e+02] [ 5.73723581e-01 8.18545408e-01 -2.87170359e-02 3.74535956e+01] [ 4.91522960e-02 5.89447086e-04 9.98791121e-01 8.35430075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.970385723 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:165.12, Y:37.47, Z:8.36 [[ 8.16872443e-01 -5.75462471e-01 -3.95266436e-02 1.65117870e+02] [ 5.74720482e-01 8.17827357e-01 -2.92366581e-02 3.74703561e+01] [ 4.91505700e-02 1.16584871e-03 9.98790700e-01 8.35653998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.000385723 meters Centerline goodness : 0.998018 Centerline is valid? [True, True] Translation: X:165.15, Y:37.49, Z:8.37 [[ 8.18860500e-01 -5.72636800e-01 -3.94281192e-02 1.65149598e+02] [ 5.71884888e-01 8.19807801e-01 -2.93742091e-02 3.74876717e+01] [ 4.91442328e-02 1.50503402e-03 9.98790558e-01 8.36517618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.030385723 meters Centerline goodness : 0.997033 Centerline is valid? [True, True] Translation: X:165.18, Y:37.51, Z:8.37 [[ 8.18056918e-01 -5.73741918e-01 -4.00386185e-02 1.65175461e+02] [ 5.73032732e-01 8.19036056e-01 -2.85206415e-02 3.75065814e+01] [ 4.91565597e-02 3.88069106e-04 9.98791010e-01 8.36872218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.060385723 meters Centerline goodness : 0.999886 Centerline is valid? [True, True] Translation: X:165.19, Y:37.52, Z:8.37 [[ 8.17227856e-01 -5.74902676e-01 -4.03180543e-02 1.65191562e+02] [ 5.74214092e-01 8.18221783e-01 -2.81298639e-02 3.75222688e+01] [ 4.91610443e-02 -1.62686641e-04 9.98790852e-01 8.36572952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.090385723 meters Centerline goodness : 0.999840 Centerline is valid? [True, True] Translation: X:165.21, Y:37.54, Z:8.37 [[ 8.18349822e-01 -5.73335080e-01 -3.98805030e-02 1.65211182e+02] [ 5.72614589e-01 8.19320705e-01 -2.87422196e-02 3.75383416e+01] [ 4.91538446e-02 6.85032452e-04 9.98790984e-01 8.36847393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.120385723 meters Centerline goodness : 0.999750 Centerline is valid? [True, True] Translation: X:165.23, Y:37.55, Z:8.37 [[ 8.19601951e-01 -5.71555666e-01 -3.97084692e-02 1.65233785e+02] [ 5.70821391e-01 8.20562574e-01 -2.89827847e-02 3.75541390e+01] [ 4.91485584e-02 1.08790327e-03 9.98790887e-01 8.37151473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.150385723 meters Centerline goodness : 0.999818 Centerline is valid? [True, True] Translation: X:165.25, Y:37.57, Z:8.37 [[ 8.22126892e-01 -5.67913848e-01 -3.97647425e-02 1.65254058e+02] [ 5.67179126e-01 8.23087115e-01 -2.89039802e-02 3.75705835e+01] [ 4.91448179e-02 1.20900752e-03 9.98790932e-01 8.37166799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.180385723 meters Centerline goodness : 0.999614 Centerline is valid? [True, True] Translation: X:165.28, Y:37.59, Z:8.37 [[ 8.21789465e-01 -5.68413893e-01 -3.95944642e-02 1.65279285e+02] [ 5.67668254e-01 8.22741441e-01 -2.91423188e-02 3.75885472e+01] [ 4.91409054e-02 1.47233025e-03 9.98790771e-01 8.37323909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.210385723 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:165.31, Y:37.60, Z:8.38 [[ 8.26429957e-01 -5.61631336e-01 -3.97965860e-02 1.65306377e+02] [ 5.60891450e-01 8.27386189e-01 -2.88595845e-02 3.76020613e+01] [ 4.91355926e-02 1.52886032e-03 9.98790947e-01 8.37597932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.240385723 meters Centerline goodness : 0.999477 Centerline is valid? [True, True] Translation: X:165.32, Y:37.62, Z:8.37 [[ 8.22333619e-01 -5.67598411e-01 -3.99932798e-02 1.65323476e+02] [ 5.66878811e-01 8.23305136e-01 -2.85843892e-02 3.76225045e+01] [ 4.91511265e-02 8.34561341e-04 9.98791004e-01 8.37173381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.270385723 meters Centerline goodness : 0.999636 Centerline is valid? [True, True] Translation: X:165.35, Y:37.64, Z:8.38 [[ 8.27543076e-01 -5.59986567e-01 -3.98434641e-02 1.65351784e+02] [ 5.59247933e-01 8.28500244e-01 -2.87940117e-02 3.76359075e+01] [ 4.91345795e-02 1.54591004e-03 9.98790971e-01 8.37857847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.300385723 meters Centerline goodness : 0.999614 Centerline is valid? [True, True] Translation: X:165.37, Y:37.65, Z:8.37 [[ 8.24392571e-01 -5.64603579e-01 -3.99960819e-02 1.65365342e+02] [ 5.63880641e-01 8.25361606e-01 -2.85804381e-02 3.76547883e+01] [ 4.91478480e-02 1.00848452e-03 9.98791005e-01 8.37442636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.330385723 meters Centerline goodness : 0.999592 Centerline is valid? [True, True] Translation: X:165.39, Y:37.67, Z:8.38 [[ 8.24582556e-01 -5.64356880e-01 -3.95590760e-02 1.65386623e+02] [ 5.63604200e-01 8.25529019e-01 -2.91915223e-02 3.76716565e+01] [ 4.91316017e-02 1.77515863e-03 9.98790736e-01 8.37649901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.360385723 meters Centerline goodness : 0.999435 Centerline is valid? [True, True] Translation: X:165.42, Y:37.69, Z:8.38 [[ 8.28059157e-01 -5.59244970e-01 -3.95360137e-02 1.65418693e+02] [ 5.58484916e-01 8.28999743e-01 -2.92236919e-02 3.76886030e+01] [ 4.91185479e-02 2.11867835e-03 9.98790709e-01 8.38072345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.390385723 meters Centerline goodness : 0.999525 Centerline is valid? [True, True] Translation: X:165.43, Y:37.71, Z:8.38 [[ 8.25987198e-01 -5.62258648e-01 -4.01293201e-02 1.65433807e+02] [ 5.61541939e-01 8.26960922e-01 -2.83951296e-02 3.77053415e+01] [ 4.91507867e-02 9.19717296e-04 9.98790946e-01 8.38004802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.420385723 meters Centerline goodness : 0.999479 Centerline is valid? [True, True] Translation: X:165.46, Y:37.72, Z:8.38 [[ 8.26170626e-01 -5.62024112e-01 -3.96357685e-02 1.65457829e+02] [ 5.61273804e-01 8.27118925e-01 -2.90860943e-02 3.77214964e+01] [ 4.91305806e-02 1.78355819e-03 9.98790771e-01 8.38225657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.450385723 meters Centerline goodness : 0.999568 Centerline is valid? [True, True] Translation: X:165.47, Y:37.74, Z:8.38 [[ 8.22788536e-01 -5.66963182e-01 -3.96456187e-02 1.65473445e+02] [ 5.66219232e-01 8.23741818e-01 -2.90723049e-02 3.77385635e+01] [ 4.91406805e-02 1.47224738e-03 9.98790782e-01 8.38048011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.480385723 meters Centerline goodness : 0.999181 Centerline is valid? [True, True] Translation: X:165.50, Y:37.75, Z:8.38 [[ 8.21511239e-01 -5.68843242e-01 -3.92001288e-02 1.65499079e+02] [ 5.68071615e-01 8.22443217e-01 -2.96950501e-02 3.77548789e+01] [ 4.91317086e-02 2.12633695e-03 9.98790045e-01 8.38117036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.510385723 meters Centerline goodness : 0.999228 Centerline is valid? [True, True] Translation: X:165.53, Y:37.77, Z:8.39 [[ 8.24059955e-01 -5.65138802e-01 -3.92851673e-02 1.65534795e+02] [ 5.64368607e-01 8.24992901e-01 -2.95768386e-02 3.77695385e+01] [ 4.91250033e-02 2.20177316e-03 9.98790211e-01 8.39043195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.540385723 meters Centerline goodness : 0.999019 Centerline is valid? [True, True] Translation: X:165.55, Y:37.79, Z:8.39 [[ 8.21081643e-01 -5.69410089e-01 -3.99635637e-02 1.65552283e+02] [ 5.68690265e-01 8.22053245e-01 -2.86329522e-02 3.77880110e+01] [ 4.91560691e-02 7.83101788e-04 9.98790803e-01 8.38814735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.57038572300002 meters Centerline goodness : 0.999318 Centerline is valid? [True, True] Translation: X:165.58, Y:37.80, Z:8.39 [[ 8.23440130e-01 -5.66018540e-01 -3.96152012e-02 1.65581670e+02] [ 5.65271297e-01 8.24390990e-01 -2.91179807e-02 3.78020034e+01] [ 4.91397318e-02 1.58357766e-03 9.98790658e-01 8.39242676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.60038572300002 meters Centerline goodness : 0.999088 Centerline is valid? [True, True] Translation: X:165.60, Y:37.82, Z:8.39 [[ 8.22851809e-01 -5.66850963e-01 -3.99360333e-02 1.65604065e+02] [ 5.66126266e-01 8.23819773e-01 -2.86711058e-02 3.78173750e+01] [ 4.91523378e-02 9.83233853e-04 9.98790809e-01 8.39435235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.63038572300002 meters Centerline goodness : 0.999095 Centerline is valid? [True, True] Translation: X:165.62, Y:37.84, Z:8.39 [[ 8.18586337e-01 -5.72993710e-01 -3.99326520e-02 1.65616636e+02] [ 5.72276048e-01 8.19559529e-01 -2.86758144e-02 3.78372029e+01] [ 4.91582468e-02 6.21129618e-04 9.98790809e-01 8.39181219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.66038572300002 meters Centerline goodness : 0.999454 Centerline is valid? [True, True] Translation: X:165.65, Y:37.85, Z:8.40 [[ 8.22026594e-01 -5.68085417e-01 -3.93857617e-02 1.65650566e+02] [ 5.67325285e-01 8.22967512e-01 -2.94362854e-02 3.78501248e+01] [ 4.91355268e-02 1.85287098e-03 9.98790402e-01 8.39617525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.69038572300002 meters Centerline goodness : 0.999544 Centerline is valid? [True, True] Translation: X:165.66, Y:37.87, Z:8.39 [[ 8.18207724e-01 -5.73534621e-01 -3.99269143e-02 1.65663895e+02] [ 5.72817250e-01 8.19181104e-01 -2.86830347e-02 3.78693712e+01] [ 4.91580872e-02 5.97855278e-04 9.98790831e-01 8.39366358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.720385723 meters Centerline goodness : 0.999726 Centerline is valid? [True, True] Translation: X:165.69, Y:37.89, Z:8.39 [[ 8.18014111e-01 -5.73848954e-01 -3.93737404e-02 1.65687516e+02] [ 5.73094704e-01 8.18959734e-01 -2.94519130e-02 3.78862595e+01] [ 4.91464575e-02 1.52719838e-03 9.98790415e-01 8.39133431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.750385723 meters Centerline goodness : 0.999817 Centerline is valid? [True, True] Translation: X:165.71, Y:37.90, Z:8.39 [[ 8.18730049e-01 -5.72821829e-01 -3.94494485e-02 1.65708176e+02] [ 5.72071459e-01 8.19678610e-01 -2.93465891e-02 3.79013647e+01] [ 4.91462360e-02 1.45903074e-03 9.98790528e-01 8.39279193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.780385723 meters Centerline goodness : 0.999886 Centerline is valid? [True, True] Translation: X:165.74, Y:37.91, Z:8.40 [[ 8.22937325e-01 -5.66770720e-01 -3.93078830e-02 1.65742225e+02] [ 5.66003967e-01 8.23872982e-01 -2.95435154e-02 3.79147282e+01] [ 4.91291023e-02 2.06404385e-03 9.98790304e-01 8.39692598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.810385723 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:165.77, Y:37.93, Z:8.40 [[ 8.22409444e-01 -5.67492479e-01 -3.99373464e-02 1.65765127e+02] [ 5.66768757e-01 8.23378043e-01 -2.86666178e-02 3.79301602e+01] [ 4.91516241e-02 9.40457061e-04 9.98790886e-01 8.39827916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.840385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.78, Y:37.95, Z:8.39 [[ 8.16753761e-01 -5.75603095e-01 -3.99295725e-02 1.65775960e+02] [ 5.74888464e-01 8.17729086e-01 -2.86774420e-02 3.79490577e+01] [ 4.91583972e-02 4.67357978e-04 9.98790886e-01 8.39382185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.870385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.81, Y:37.96, Z:8.40 [[ 8.20588432e-01 -5.70170133e-01 -3.92510451e-02 1.65811305e+02] [ 5.69403590e-01 8.21524310e-01 -2.96202472e-02 3.79622280e+01] [ 4.91342680e-02 1.95634617e-03 9.98790266e-01 8.40098311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.900385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.84, Y:37.98, Z:8.40 [[ 8.19307744e-01 -5.71962437e-01 -3.99223144e-02 1.65835891e+02] [ 5.71243051e-01 8.20279516e-01 -2.86861006e-02 3.79786228e+01] [ 4.91548287e-02 6.97399667e-04 9.98790927e-01 8.40489424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.930385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.86, Y:37.99, Z:8.41 [[ 8.18827232e-01 -5.72642974e-01 -4.00248506e-02 1.65858488e+02] [ 5.71931360e-01 8.19804729e-01 -2.85434097e-02 3.79935340e+01] [ 4.91577448e-02 4.80653904e-04 9.98790912e-01 8.40776866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.960385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.88, Y:38.01, Z:8.41 [[ 8.18219258e-01 -5.73519232e-01 -3.99115906e-02 1.65881975e+02] [ 5.72800973e-01 8.19191860e-01 -2.87009110e-02 3.80101013e+01] [ 4.91557745e-02 6.22240179e-04 9.98790930e-01 8.40897848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.990385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.90, Y:38.03, Z:8.41 [[ 8.18371297e-01 -5.73301136e-01 -3.99277796e-02 1.65904113e+02] [ 5.72583716e-01 8.19344517e-01 -2.86784031e-02 3.80262318e+01] [ 4.91559684e-02 6.07585512e-04 9.98790930e-01 8.40990989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.020385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.92, Y:38.05, Z:8.40 [[ 8.14192040e-01 -5.79222714e-01 -3.99045165e-02 1.65917387e+02] [ 5.78510787e-01 8.15169285e-01 -2.87107361e-02 3.80464984e+01] [ 4.91588467e-02 2.90859583e-04 9.98790931e-01 8.40315913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.050385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.94, Y:38.06, Z:8.41 [[ 8.15854996e-01 -5.76901783e-01 -3.95595559e-02 1.65937717e+02] [ 5.76163672e-01 8.16812883e-01 -2.91913937e-02 3.80595853e+01] [ 4.91533220e-02 1.02316539e-03 9.98790721e-01 8.40841573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.080385723 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] Translation: X:165.96, Y:38.08, Z:8.41 [[ 8.15888480e-01 -5.76874481e-01 -3.92660203e-02 1.65961036e+02] [ 5.76116603e-01 8.16831376e-01 -2.96000607e-02 3.80765320e+01] [ 4.91492370e-02 1.52854233e-03 9.98790276e-01 8.41014785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.110385723 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:165.98, Y:38.09, Z:8.41 [[ 8.15640182e-01 -5.77225483e-01 -3.92662164e-02 1.65984441e+02] [ 5.76468023e-01 8.16583413e-01 -2.95997876e-02 3.80938580e+01] [ 4.91498928e-02 1.50705801e-03 9.98790277e-01 8.41133634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.140385723 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] Translation: X:166.01, Y:38.11, Z:8.41 [[ 8.16079765e-01 -5.76594847e-01 -3.93979806e-02 1.66006535e+02] [ 5.75845511e-01 8.17029157e-01 -2.94160402e-02 3.81102869e+01] [ 4.91504361e-02 1.31868492e-03 9.98790516e-01 8.41159335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.170385723 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:166.03, Y:38.13, Z:8.41 [[ 8.16872924e-01 -5.75473281e-01 -3.93589796e-02 1.66030349e+02] [ 5.74720021e-01 8.17819290e-01 -2.94704312e-02 3.81262251e+01] [ 4.91479785e-02 1.45320379e-03 9.98790451e-01 8.41329905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.200385723 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] Translation: X:166.06, Y:38.14, Z:8.41 [[ 8.17231388e-01 -5.74959500e-01 -3.94262756e-02 1.66055464e+02] [ 5.74210165e-01 8.18180726e-01 -2.93766159e-02 3.81436899e+01] [ 4.91481832e-02 1.36852437e-03 9.98790560e-01 8.41299267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.230385723 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] Translation: X:166.08, Y:38.16, Z:8.41 [[ 8.17057582e-01 -5.75192977e-01 -3.96225494e-02 1.66077804e+02] [ 5.74457146e-01 8.18017117e-01 -2.91029676e-02 3.81594524e+01] [ 4.91517463e-02 1.01734370e-03 9.98790804e-01 8.41486787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.260385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.11, Y:38.17, Z:8.42 [[ 8.19489245e-01 -5.71724985e-01 -3.95969529e-02 1.66107654e+02] [ 5.70983371e-01 8.20444349e-01 -2.91386552e-02 3.81733604e+01] [ 4.91463935e-02 1.26961296e-03 9.98790779e-01 8.41792928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.290385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.13, Y:38.19, Z:8.42 [[ 8.19524396e-01 -5.71649792e-01 -3.99534600e-02 1.66129864e+02] [ 5.70932216e-01 8.20497457e-01 -2.86413589e-02 3.81887307e+01] [ 4.91545393e-02 6.61574897e-04 9.98790966e-01 8.41954094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.32038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.14, Y:38.21, Z:8.42 [[ 8.15253850e-01 -5.77724117e-01 -3.99500248e-02 1.66140900e+02] [ 5.77013557e-01 8.16232046e-01 -2.86461497e-02 3.82077561e+01] [ 4.91580621e-02 3.02177896e-04 9.98790966e-01 8.41685980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.35038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.17, Y:38.22, Z:8.42 [[ 8.15691212e-01 -5.77152587e-01 -3.92777158e-02 1.66165422e+02] [ 5.76395905e-01 8.16634968e-01 -2.95819175e-02 3.82240676e+01] [ 4.91488364e-02 1.49019558e-03 9.98790354e-01 8.41892446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.38038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.19, Y:38.24, Z:8.42 [[ 8.16700345e-01 -5.75720231e-01 -3.93289045e-02 1.66189831e+02] [ 5.74965316e-01 8.17645400e-01 -2.95107686e-02 3.82409917e+01] [ 4.91470443e-02 1.48869892e-03 9.98790444e-01 8.42203124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.41038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.21, Y:38.26, Z:8.42 [[ 8.16869559e-01 -5.75471890e-01 -3.94490378e-02 1.66209846e+02] [ 5.74724736e-01 8.17820530e-01 -2.93438059e-02 3.82570338e+01] [ 4.91487684e-02 1.29772397e-03 9.98790626e-01 8.42369272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.44038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.23, Y:38.27, Z:8.42 [[ 8.16810323e-01 -5.75563419e-01 -3.93401433e-02 1.66232066e+02] [ 5.74809077e-01 8.17755809e-01 -2.94950967e-02 3.82745359e+01] [ 4.91469294e-02 1.47882797e-03 9.98790465e-01 8.42454416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.470385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.26, Y:38.29, Z:8.43 [[ 8.18427243e-01 -5.73259268e-01 -3.93784163e-02 1.66255251e+02] [ 5.72504829e-01 8.19372567e-01 -2.94417635e-02 3.82896584e+01] [ 4.91433579e-02 1.55160782e-03 9.98790530e-01 8.42595621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.500385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.28, Y:38.31, Z:8.42 [[ 8.18559206e-01 -5.73068947e-01 -3.94056809e-02 1.66275912e+02] [ 5.72316115e-01 8.19505755e-01 -2.94037688e-02 3.83083199e+01] [ 4.91435691e-02 1.51621951e-03 9.98790574e-01 8.42367159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.530385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.30, Y:38.32, Z:8.43 [[ 8.20146988e-01 -5.70799764e-01 -3.93261667e-02 1.66297861e+02] [ 5.70039000e-01 8.21087346e-01 -2.95145701e-02 3.83242917e+01] [ 4.91371275e-02 1.78883704e-03 9.98790440e-01 8.42544979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.560385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.32, Y:38.34, Z:8.42 [[ 8.19939294e-01 -5.71099659e-01 -3.93031013e-02 1.66318281e+02] [ 5.70337698e-01 8.20878737e-01 -2.95467171e-02 3.83416528e+01] [ 4.91372002e-02 1.81047403e-03 9.98790397e-01 8.42355398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.590385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.34, Y:38.36, Z:8.42 [[ 8.20111091e-01 -5.70862300e-01 -3.91667351e-02 1.66340492e+02] [ 5.70090983e-01 8.21043236e-01 -2.97367574e-02 3.83575779e+01] [ 4.91331767e-02 2.05884203e-03 9.98790114e-01 8.42479466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.620385723 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:166.36, Y:38.38, Z:8.43 [[ 8.20271788e-01 -5.70631969e-01 -3.91580231e-02 1.66364302e+02] [ 5.69859812e-01 8.21203262e-01 -2.97488999e-02 3.83758496e+01] [ 4.91323697e-02 2.08759964e-03 9.98790094e-01 8.42554926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.650385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.40, Y:38.39, Z:8.43 [[ 8.25363940e-01 -5.63233694e-01 -3.92705102e-02 1.66400302e+02] [ 5.62460622e-01 8.26294347e-01 -2.95922422e-02 3.83893207e+01] [ 4.91163484e-02 2.33625400e-03 9.98790331e-01 8.43287558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.680385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.41, Y:38.41, Z:8.43 [[ 8.19270243e-01 -5.72014144e-01 -3.99510752e-02 1.66413761e+02] [ 5.71296919e-01 8.20243504e-01 -2.86430537e-02 3.84085846e+01] [ 4.91538417e-02 6.42475387e-04 9.98791013e-01 8.42881368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.710385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.43, Y:38.42, Z:8.43 [[ 8.18147232e-01 -5.73651230e-01 -3.94888954e-02 1.66429839e+02] [ 5.72904674e-01 8.19098575e-01 -2.92875002e-02 3.84229913e+01] [ 4.91461085e-02 1.33811444e-03 9.98790704e-01 8.42943155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.740385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.47, Y:38.44, Z:8.44 [[ 8.23220320e-01 -5.66383293e-01 -3.89649946e-02 1.66469777e+02] [ 5.65593626e-01 8.24137624e-01 -3.00170903e-02 3.84364762e+01] [ 4.91136966e-02 2.67232606e-03 9.98789619e-01 8.43823703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.770385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.49, Y:38.45, Z:8.44 [[ 8.22409006e-01 -5.67491417e-01 -3.99614676e-02 1.66493376e+02] [ 5.66769662e-01 8.23378827e-01 -2.86261603e-02 3.84523315e+01] [ 4.91485266e-02 8.93464494e-04 9.98791081e-01 8.44113325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.800385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.52, Y:38.47, Z:8.44 [[ 8.21663834e-01 -5.68570285e-01 -3.99546611e-02 1.66515382e+02] [ 5.67849341e-01 8.22634259e-01 -2.86356572e-02 3.84675653e+01] [ 4.91494568e-02 8.40655888e-04 9.98791081e-01 8.44299386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.830385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.54, Y:38.48, Z:8.45 [[ 8.19958984e-01 -5.71026405e-01 -3.99513405e-02 1.66539894e+02] [ 5.70308143e-01 8.20931395e-01 -2.86402892e-02 3.84834973e+01] [ 4.91516711e-02 6.99287614e-04 9.98791081e-01 8.44715102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.860385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.56, Y:38.50, Z:8.45 [[ 8.18337145e-01 -5.73348715e-01 -3.99445556e-02 1.66563288e+02] [ 5.72632751e-01 8.19311250e-01 -2.86497491e-02 3.84991226e+01] [ 4.91533206e-02 5.71593082e-04 9.98791081e-01 8.45075359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.890385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.59, Y:38.52, Z:8.45 [[ 8.17626029e-01 -5.74362517e-01 -3.99421590e-02 1.66586388e+02] [ 5.73647597e-01 8.18600901e-01 -2.86530899e-02 3.85151324e+01] [ 4.91539481e-02 5.14788627e-04 9.98791081e-01 8.45335734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.920385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.61, Y:38.53, Z:8.46 [[ 8.17132491e-01 -5.75064976e-01 -3.99345154e-02 1.66609422e+02] [ 5.74350374e-01 8.18107595e-01 -2.86637390e-02 3.85312981e+01] [ 4.91542428e-02 4.85668537e-04 9.98791082e-01 8.45526963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.950385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:166.63, Y:38.55, Z:8.46 [[ 8.16835271e-01 -5.75487605e-01 -3.99268928e-02 1.66631959e+02] [ 5.74772989e-01 8.17810365e-01 -2.86743529e-02 3.85479787e+01] [ 4.91543614e-02 4.73323277e-04 9.98791082e-01 8.45635102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.980385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.65, Y:38.56, Z:8.46 [[ 8.16970864e-01 -5.75295628e-01 -3.99192613e-02 1.66653671e+02] [ 5.74580264e-01 8.17945409e-01 -2.86849733e-02 3.85641926e+01] [ 4.91541162e-02 4.97967748e-04 9.98791082e-01 8.45676155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.010385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.68, Y:38.58, Z:8.46 [[ 8.17646333e-01 -5.74335727e-01 -3.99117380e-02 1.66676336e+02] [ 5.73618708e-01 8.18619661e-01 -2.86954373e-02 3.85825764e+01] [ 4.91533482e-02 5.68599517e-04 9.98791082e-01 8.45672945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.040385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.70, Y:38.60, Z:8.46 [[ 8.18475191e-01 -5.73154399e-01 -3.99048495e-02 1.66699161e+02] [ 5.72435509e-01 8.19447137e-01 -2.87050134e-02 3.86005128e+01] [ 4.91523194e-02 6.51388446e-04 9.98791082e-01 8.45595833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.07038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.72, Y:38.62, Z:8.46 [[ 8.18871242e-01 -5.72588888e-01 -3.98980493e-02 1.66722711e+02] [ 5.71868866e-01 8.19842351e-01 -2.87144622e-02 3.86176957e+01] [ 4.91516925e-02 6.96995118e-04 9.98791082e-01 8.45692441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.10038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.75, Y:38.63, Z:8.46 [[ 8.19099123e-01 -5.72263323e-01 -3.98913005e-02 1.66745139e+02] [ 5.71542459e-01 8.20069606e-01 -2.87238348e-02 3.86341905e+01] [ 4.91512402e-02 7.28095897e-04 9.98791082e-01 8.45845682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.13038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.77, Y:38.65, Z:8.46 [[ 8.19594665e-01 -5.71553925e-01 -3.98835357e-02 1.66767969e+02] [ 5.70831696e-01 8.20564133e-01 -2.87346123e-02 3.86516751e+01] [ 4.91503793e-02 7.83948596e-04 9.98791082e-01 8.46183068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.16038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.79, Y:38.67, Z:8.46 [[ 8.19749075e-01 -5.71332916e-01 -3.98767108e-02 1.66790089e+02] [ 5.70609966e-01 8.20718005e-01 -2.87440805e-02 3.86686165e+01] [ 4.91499739e-02 8.08884810e-04 9.98791082e-01 8.46378562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.19038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.81, Y:38.69, Z:8.47 [[ 8.19947368e-01 -5.71048470e-01 -3.98742836e-02 1.66811645e+02] [ 5.70325020e-01 8.20915925e-01 -2.87474471e-02 3.86864407e+01] [ 4.91496201e-02 8.30091992e-04 9.98791082e-01 8.46653435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.220385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.83, Y:38.70, Z:8.47 [[ 8.20055088e-01 -5.70894327e-01 -3.98662914e-02 1.66833042e+02] [ 5.70170156e-01 8.21023106e-01 -2.87585263e-02 3.87032480e+01] [ 4.91492259e-02 8.53006147e-04 9.98791082e-01 8.46690606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.250385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.85, Y:38.72, Z:8.46 [[ 8.19731458e-01 -5.71359162e-01 -3.98628258e-02 1.66851992e+02] [ 5.70635307e-01 8.20699712e-01 -2.87633293e-02 3.87230894e+01] [ 4.91496014e-02 8.31070018e-04 9.98791082e-01 8.46254923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.280385723 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:166.88, Y:38.74, Z:8.47 [[ 8.20738316e-01 -5.69925633e-01 -3.96659782e-02 1.66878603e+02] [ 5.69186885e-01 8.21695322e-01 -2.90359857e-02 3.87387323e+01] [ 4.91417012e-02 1.25359149e-03 9.98791030e-01 8.47051876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.310385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.90, Y:38.75, Z:8.47 [[ 8.20583097e-01 -5.70135663e-01 -3.98585771e-02 1.66899877e+02] [ 5.69410082e-01 8.21550056e-01 -2.87691517e-02 3.87546580e+01] [ 4.91481356e-02 9.11603965e-04 9.98791084e-01 8.47243308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.340385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.92, Y:38.77, Z:8.47 [[ 8.20127260e-01 -5.70791415e-01 -3.98552016e-02 1.66922198e+02] [ 5.70066380e-01 8.21094629e-01 -2.87738272e-02 3.87722137e+01] [ 4.91487455e-02 8.78089554e-04 9.98791084e-01 8.47461430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.370385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.94, Y:38.79, Z:8.48 [[ 8.19261374e-01 -5.72034083e-01 -3.98473255e-02 1.66942987e+02] [ 5.71309985e-01 8.20229444e-01 -2.87847303e-02 3.87902045e+01] [ 4.91497964e-02 8.17042742e-04 9.98791084e-01 8.47533682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.400385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.96, Y:38.81, Z:8.48 [[ 8.18590362e-01 -5.72994138e-01 -3.98439030e-02 1.66964982e+02] [ 5.72270945e-01 8.19559108e-01 -2.87894669e-02 3.88070231e+01] [ 4.91506294e-02 7.65272068e-04 9.98791084e-01 8.47700089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.430385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.98, Y:38.83, Z:8.47 [[ 8.15448166e-01 -5.77457683e-01 -3.98360857e-02 1.66981127e+02] [ 5.76739265e-01 8.16420458e-01 -2.88002796e-02 3.88260364e+01] [ 4.91539381e-02 5.10100432e-04 9.98791084e-01 8.47487892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.460385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:167.00, Y:38.84, Z:8.48 [[ 8.11245846e-01 -5.83371749e-01 -3.94661963e-02 1.66999324e+02] [ 5.82635430e-01 8.12204892e-01 -2.93115749e-02 3.88431287e+01] [ 4.91541824e-02 7.84489136e-04 9.98790895e-01 8.47910039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.490385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:167.02, Y:38.86, Z:8.48 [[ 8.08290339e-01 -5.87480225e-01 -3.91626552e-02 1.67022226e+02] [ 5.86728422e-01 8.09237837e-01 -2.97301479e-02 3.88604207e+01] [ 4.91577763e-02 1.05274842e-03 9.98790471e-01 8.47864679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.520385723 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:167.04, Y:38.88, Z:8.47 [[ 8.05521981e-01 -5.91267593e-01 -3.92042279e-02 1.67038653e+02] [ 5.90523036e-01 8.06475089e-01 -2.96727900e-02 3.88775209e+01] [ 4.91617923e-02 7.51084921e-04 9.98790546e-01 8.47442244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.550385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:167.08, Y:38.89, Z:8.48 [[ 8.10170616e-01 -5.84905743e-01 -3.88438421e-02 1.67078846e+02] [ 5.84129786e-01 8.11099377e-01 -3.01694103e-02 3.88904619e+01] [ 4.91524775e-02 1.75252460e-03 9.98789749e-01 8.48341198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.580385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:167.10, Y:38.91, Z:8.49 [[ 8.08644397e-01 -5.86948870e-01 -3.98153567e-02 1.67101485e+02] [ 5.86240514e-01 8.09624001e-01 -2.88277196e-02 3.89071529e+01] [ 4.91558658e-02 -3.00012573e-05 9.98791119e-01 8.48650803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.610385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:167.12, Y:38.92, Z:8.49 [[ 8.07791099e-01 -5.88122906e-01 -3.98119202e-02 1.67124156e+02] [ 5.87415739e-01 8.08771562e-01 -2.88324647e-02 3.89243220e+01] [ 4.91557818e-02 -9.55402131e-05 9.98791119e-01 8.48845045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.640385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:167.15, Y:38.94, Z:8.49 [[ 8.07026968e-01 -5.89171508e-01 -3.98046029e-02 1.67145223e+02] [ 5.88465117e-01 8.08007990e-01 -2.88425630e-02 3.89411787e+01] [ 4.91556536e-02 -1.46894146e-04 9.98791119e-01 8.48958485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.670385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:167.17, Y:38.96, Z:8.49 [[ 8.06845335e-01 -5.89420498e-01 -3.98005277e-02 1.67166901e+02] [ 5.88714133e-01 8.07826375e-01 -2.88481854e-02 3.89580742e+01] [ 4.91556278e-02 -1.55109386e-04 9.98791119e-01 8.49022603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.700385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:167.19, Y:38.98, Z:8.49 [[ 8.06687592e-01 -5.89636633e-01 -3.97966121e-02 1.67188834e+02] [ 5.88930264e-01 8.07668629e-01 -2.88535861e-02 3.89758079e+01] [ 4.91556065e-02 -1.61599384e-04 9.98791119e-01 8.49146832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.730385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:167.21, Y:38.99, Z:8.49 [[ 8.07177533e-01 -5.88966254e-01 -3.97892145e-02 1.67210703e+02] [ 5.88258567e-01 8.08157621e-01 -2.88637837e-02 3.89936958e+01] [ 4.91557515e-02 -1.08148570e-04 9.98791120e-01 8.49325478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.760385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:167.23, Y:39.01, Z:8.50 [[ 8.07185112e-01 -5.88956395e-01 -3.97814019e-02 1.67232932e+02] [ 5.88248166e-01 8.08164807e-01 -2.88745475e-02 3.90107881e+01] [ 4.91557784e-02 -9.42318124e-05 9.98791120e-01 8.49520332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.790385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.26, Y:39.03, Z:8.50 [[ 8.07575667e-01 -5.88421282e-01 -3.97735615e-02 1.67255507e+02] [ 5.87711872e-01 8.08554508e-01 -2.88853433e-02 3.90288233e+01] [ 4.91558432e-02 -4.82938525e-05 9.98791120e-01 8.49646781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.82038572300002 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:167.28, Y:39.05, Z:8.50 [[ 8.07561120e-01 -5.88441713e-01 -3.97666576e-02 1.67276981e+02] [ 5.87731860e-01 8.08539639e-01 -2.88948448e-02 3.90452878e+01] [ 4.91558510e-02 -3.77783573e-05 9.98791120e-01 8.49500489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.85038572300002 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:167.30, Y:39.06, Z:8.50 [[ 8.07105871e-01 -5.89066198e-01 -3.97633998e-02 1.67299474e+02] [ 5.88356881e-01 8.08084779e-01 -2.88993274e-02 3.90622753e+01] [ 4.91558150e-02 -7.02530468e-05 9.98791120e-01 8.49589798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.88038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.32, Y:39.08, Z:8.50 [[ 8.06502196e-01 -5.89892910e-01 -3.97562893e-02 1.67322097e+02] [ 5.89184114e-01 8.07481482e-01 -2.89091058e-02 3.90788957e+01] [ 4.91557439e-02 -1.08516740e-04 9.98791120e-01 8.49734894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.91038572300002 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:167.35, Y:39.10, Z:8.50 [[ 8.04761615e-01 -5.92265775e-01 -3.97491597e-02 1.67345305e+02] [ 5.91559383e-01 8.05742635e-01 -2.89189055e-02 3.90961390e+01] [ 4.91552706e-02 -2.41163244e-04 9.98791120e-01 8.50108221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.94038572300002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:167.37, Y:39.11, Z:8.50 [[ 8.03280051e-01 -5.94274091e-01 -3.97424644e-02 1.67367579e+02] [ 5.93569697e-01 8.04262507e-01 -2.89281038e-02 3.91121864e+01] [ 4.91545966e-02 -3.52553842e-04 9.98791120e-01 8.50345314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.970385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.39, Y:39.13, Z:8.50 [[ 8.02508461e-01 -5.95315794e-01 -3.97400920e-02 1.67390048e+02] [ 5.94612513e-01 8.03491714e-01 -2.89313625e-02 3.91287708e+01] [ 4.91541317e-02 -4.12292792e-04 9.98791120e-01 8.50480546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.000385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.41, Y:39.15, Z:8.50 [[ 8.01232428e-01 -5.97032606e-01 -3.97323903e-02 1.67410481e+02] [ 5.96330908e-01 8.02216811e-01 -2.89419356e-02 3.91469474e+01] [ 4.91532707e-02 -5.04434994e-04 9.98791120e-01 8.49938204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.030385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.43, Y:39.16, Z:8.50 [[ 8.00389643e-01 -5.98172738e-01 -3.95701265e-02 1.67433243e+02] [ 5.97461414e-01 8.01367136e-01 -2.91645616e-02 3.91630234e+01] [ 4.91556446e-02 -2.98610624e-04 9.98791086e-01 8.50173521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.060385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:167.46, Y:39.18, Z:8.50 [[ 8.00068284e-01 -5.98598724e-01 -3.96271237e-02 1.67455956e+02] [ 5.97891790e-01 8.01048931e-01 -2.90863756e-02 3.91787265e+01] [ 4.91543324e-02 -4.21645287e-04 9.98791106e-01 8.50220768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.090385723 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:167.48, Y:39.19, Z:8.51 [[ 8.00502877e-01 -5.98017459e-01 -3.96265553e-02 1.67480887e+02] [ 5.97309774e-01 8.01482982e-01 -2.90871554e-02 3.91948865e+01] [ 4.91546365e-02 -3.84977200e-04 9.98791106e-01 8.50578208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.120385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.50, Y:39.21, Z:8.51 [[ 8.00676244e-01 -5.97778023e-01 -3.97364812e-02 1.67503864e+02] [ 5.97077518e-01 8.01661478e-01 -2.89363538e-02 3.92115808e+01] [ 4.91527226e-02 -5.57108466e-04 9.98791119e-01 8.50801918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.150385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.53, Y:39.23, Z:8.51 [[ 8.01022629e-01 -5.97313059e-01 -3.97474226e-02 1.67528501e+02] [ 5.96612726e-01 8.02007986e-01 -2.89213467e-02 3.92291644e+01] [ 4.91528484e-02 -5.47165007e-04 9.98791118e-01 8.51252485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.180385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.55, Y:39.25, Z:8.51 [[ 8.00270305e-01 -5.98314142e-01 -3.98450427e-02 1.67550310e+02] [ 5.97621698e-01 8.01261248e-01 -2.87874725e-02 3.92465293e+01] [ 4.91502405e-02 -7.74502674e-04 9.98791096e-01 8.51076630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.210385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.57, Y:39.26, Z:8.51 [[ 7.99388255e-01 -5.99488976e-01 -3.98921657e-02 1.67573521e+02] [ 5.98801209e-01 8.00382476e-01 -2.87228679e-02 3.92639386e+01] [ 4.91480330e-02 -9.26753831e-04 9.98791075e-01 8.51193936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.240385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.59, Y:39.28, Z:8.52 [[ 7.97553716e-01 -6.01927816e-01 -3.98870283e-02 1.67592907e+02] [ 6.01242737e-01 7.98549788e-01 -2.87299072e-02 3.92799203e+01] [ 4.91451083e-02 -1.06814187e-03 9.98791078e-01 8.52025792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.270385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.62, Y:39.30, Z:8.52 [[ 7.96574133e-01 -6.03236420e-01 -3.96922074e-02 1.67620869e+02] [ 6.02539663e-01 7.97562005e-01 -2.89965938e-02 3.92979696e+01] [ 4.91487980e-02 -8.18192735e-04 9.98791132e-01 8.51742776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.300385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:167.64, Y:39.32, Z:8.52 [[ 7.94863602e-01 -6.05470748e-01 -3.99628146e-02 1.67644702e+02] [ 6.04795305e-01 7.95866301e-01 -2.86263640e-02 3.93155197e+01] [ 4.91374835e-02 -1.41526780e-03 9.98791022e-01 8.52033970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.330385723 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:167.67, Y:39.33, Z:8.52 [[ 7.91567533e-01 -6.09769213e-01 -4.00293298e-02 1.67666218e+02] [ 6.09103806e-01 7.92576991e-01 -2.85353660e-02 3.93331763e+01] [ 4.91263135e-02 -1.79434784e-03 9.98790962e-01 8.52090268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.360385723 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:167.69, Y:39.35, Z:8.52 [[ 7.89838670e-01 -6.12005757e-01 -4.00478403e-02 1.67689037e+02] [ 6.11344489e-01 7.90850867e-01 -2.85100324e-02 3.93510713e+01] [ 4.91201732e-02 -1.96470039e-03 9.98790943e-01 8.52189459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.390385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.71, Y:39.37, Z:8.52 [[ 7.86473779e-01 -6.16323800e-01 -4.00495769e-02 1.67709715e+02] [ 6.15668209e-01 7.87489663e-01 -2.85076569e-02 3.93698820e+01] [ 4.91085753e-02 -2.23672664e-03 9.98790942e-01 8.52274515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.420385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.73, Y:39.39, Z:8.52 [[ 7.85645933e-01 -6.17382030e-01 -3.99987090e-02 1.67733624e+02] [ 6.16724273e-01 7.86660356e-01 -2.85771935e-02 3.93877997e+01] [ 4.91084444e-02 -2.21661887e-03 9.98790993e-01 8.52497365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.450385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.75, Y:39.41, Z:8.53 [[ 7.83933506e-01 -6.19547575e-01 -4.01130889e-02 1.67754112e+02] [ 6.18900587e-01 7.84954980e-01 -2.84208251e-02 3.94056929e+01] [ 4.90950221e-02 -2.54597719e-03 9.98790867e-01 8.52561207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.480385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.77, Y:39.43, Z:8.53 [[ 7.82016632e-01 -6.21967073e-01 -4.00867481e-02 1.67772642e+02] [ 6.21321403e-01 7.83038902e-01 -2.84568513e-02 3.94251548e+01] [ 4.90887077e-02 -2.65302359e-03 9.98790899e-01 8.52587927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.510385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.79, Y:39.44, Z:8.53 [[ 7.81789362e-01 -6.22258127e-01 -4.00027053e-02 1.67794740e+02] [ 6.21606972e-01 7.82808040e-01 -2.85717408e-02 3.94417177e+01] [ 4.90934373e-02 -2.52887742e-03 9.98790989e-01 8.52717797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.540385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.82, Y:39.46, Z:8.53 [[ 7.81082385e-01 -6.23146444e-01 -3.99852005e-02 1.67815984e+02] [ 6.22495228e-01 7.82101004e-01 -2.85956445e-02 3.94609416e+01] [ 4.90917397e-02 -2.55504229e-03 9.98791006e-01 8.52732161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.57038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.84, Y:39.48, Z:8.53 [[ 7.82054264e-01 -6.21930570e-01 -3.99185924e-02 1.67838056e+02] [ 6.21273147e-01 7.83068814e-01 -2.86863852e-02 3.94817169e+01] [ 4.90999447e-02 -2.36603969e-03 9.98791068e-01 8.52743820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.60038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.86, Y:39.50, Z:8.53 [[ 7.82885204e-01 -6.20879017e-01 -4.00000384e-02 1.67858914e+02] [ 6.20225875e-01 7.83902611e-01 -2.85755282e-02 3.94996348e+01] [ 4.90980804e-02 -2.43770058e-03 9.98790987e-01 8.52887872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.63038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.88, Y:39.52, Z:8.53 [[ 7.83644122e-01 -6.19921472e-01 -3.99907266e-02 1.67879840e+02] [ 6.19266442e-01 7.84660302e-01 -2.85881860e-02 3.95190861e+01] [ 4.91015660e-02 -2.36195106e-03 9.98790998e-01 8.53076730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.66038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.90, Y:39.54, Z:8.53 [[ 7.87574998e-01 -6.14924118e-01 -3.99243124e-02 1.67899893e+02] [ 6.14258071e-01 7.88583905e-01 -2.86783454e-02 3.95406866e+01] [ 4.91186764e-02 -1.93748329e-03 9.98791070e-01 8.53424334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.69038572300002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:167.92, Y:39.56, Z:8.54 [[ 7.90108397e-01 -6.11666070e-01 -3.99166652e-02 1.67915466e+02] [ 6.10995338e-01 7.91114185e-01 -2.86887163e-02 3.95599755e+01] [ 4.91265544e-02 -1.72170074e-03 9.98791078e-01 8.54034309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.720385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.94, Y:39.58, Z:8.54 [[ 7.92356000e-01 -6.08776028e-01 -3.95438588e-02 1.67941977e+02] [ 6.08076323e-01 7.93341611e-01 -2.91937113e-02 3.95801347e+01] [ 4.91442202e-02 -9.13871951e-04 9.98791275e-01 8.53801125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.750385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.96, Y:39.60, Z:8.54 [[ 7.96784645e-01 -6.02942590e-01 -3.99307253e-02 1.67957777e+02] [ 6.02261813e-01 7.97783668e-01 -2.86693007e-02 3.96010400e+01] [ 4.91420229e-02 -1.20549243e-03 9.98791073e-01 8.53906959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.780385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.98, Y:39.62, Z:8.54 [[ 8.01787384e-01 -5.96288399e-01 -3.97131767e-02 1.67977629e+02] [ 5.95584704e-01 8.02770179e-01 -2.89637673e-02 3.96220503e+01] [ 4.91513124e-02 -4.29777428e-04 9.98791251e-01 8.53933777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.810385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.00, Y:39.64, Z:8.54 [[ 8.03742427e-01 -5.93655038e-01 -3.96460212e-02 1.67999455e+02] [ 5.92943639e-01 8.04719623e-01 -2.90545905e-02 3.96417026e+01] [ 4.91523353e-02 -1.55448970e-04 9.98791281e-01 8.53997095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.840385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.02, Y:39.66, Z:8.54 [[ 8.06257244e-01 -5.90232681e-01 -3.96817224e-02 1.68022601e+02] [ 5.89519507e-01 8.07233164e-01 -2.90063539e-02 3.96608580e+01] [ 4.91529004e-02 -6.56649484e-06 9.98791266e-01 8.54158066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.870385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.04, Y:39.68, Z:8.54 [[ 8.09548874e-01 -5.85703959e-01 -3.97679929e-02 1.68042643e+02] [ 5.84991045e-01 8.10525050e-01 -2.88897959e-02 3.96807753e+01] [ 4.91538222e-02 1.23782034e-04 9.98791213e-01 8.54125312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.900385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.06, Y:39.70, Z:8.54 [[ 8.09931190e-01 -5.85173706e-01 -3.97894606e-02 1.68062607e+02] [ 5.84461577e-01 8.10907960e-01 -2.88607950e-02 3.96990968e+01] [ 4.91541687e-02 1.19847082e-04 9.98791196e-01 8.54161360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.930385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:168.08, Y:39.72, Z:8.55 [[ 8.12478374e-01 -5.81639645e-01 -3.96763829e-02 1.68079989e+02] [ 5.80915808e-01 8.13446402e-01 -2.90133587e-02 3.97166515e+01] [ 4.91499306e-02 5.24088458e-04 9.98791274e-01 8.54725599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.960385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:168.11, Y:39.74, Z:8.54 [[ 8.12671191e-01 -5.81386080e-01 -3.94431441e-02 1.68106851e+02] [ 5.80646639e-01 8.13627285e-01 -2.93278425e-02 3.97357988e+01] [ 4.91428177e-02 9.31363662e-04 9.98791328e-01 8.54466592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.990385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.12, Y:39.75, Z:8.55 [[ 8.12716794e-01 -5.81296452e-01 -3.98227148e-02 1.68123037e+02] [ 5.80581862e-01 8.13691800e-01 -2.88158814e-02 3.97528904e+01] [ 4.91539861e-02 2.98804860e-04 9.98791168e-01 8.54954904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.020385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:168.14, Y:39.77, Z:8.55 [[ 8.12356715e-01 -5.81823921e-01 -3.94650777e-02 1.68143242e+02] [ 5.81086461e-01 8.13314313e-01 -2.92976474e-02 3.97724797e+01] [ 4.91435847e-02 8.67518214e-04 9.98791347e-01 8.55013398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.050385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.16, Y:39.79, Z:8.55 [[ 8.11984183e-01 -5.82344235e-01 -3.94573082e-02 1.68163825e+02] [ 5.81606880e-01 8.12941862e-01 -2.93081075e-02 3.97897756e+01] [ 4.91439050e-02 8.49077815e-04 9.98791347e-01 8.55113908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.080385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.19, Y:39.81, Z:8.55 [[ 8.10754730e-01 -5.84055054e-01 -3.94520328e-02 1.68185161e+02] [ 5.83319375e-01 8.11713697e-01 -2.93152071e-02 3.98088892e+01] [ 4.91454502e-02 7.54307701e-04 9.98791347e-01 8.55135233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.110385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:168.21, Y:39.83, Z:8.55 [[ 8.09987122e-01 -5.85119668e-01 -3.94440774e-02 1.68206650e+02] [ 5.84384729e-01 8.10946656e-01 -2.93259072e-02 3.98260953e+01] [ 4.91462078e-02 7.03090703e-04 9.98791348e-01 8.55187486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.140385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:168.23, Y:39.84, Z:8.55 [[ 8.09142514e-01 -5.86287458e-01 -3.94386762e-02 1.68228501e+02] [ 5.85553550e-01 8.10102836e-01 -2.93331692e-02 3.98435630e+01] [ 4.91470527e-02 6.41257453e-04 9.98791348e-01 8.55292864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.170385723 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:168.25, Y:39.86, Z:8.55 [[ 8.07146929e-01 -5.89032302e-01 -3.94307300e-02 1.68248844e+02] [ 5.88301139e-01 8.08109342e-01 -2.93438469e-02 3.98611267e+01] [ 4.91488150e-02 4.87652510e-04 9.98791348e-01 8.55204278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.200385723 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:168.27, Y:39.88, Z:8.55 [[ 8.05864728e-01 -5.90785518e-01 -3.94272874e-02 1.68270762e+02] [ 5.90056222e-01 8.06828558e-01 -2.93484717e-02 3.98789849e+01] [ 4.91497135e-02 3.86581911e-04 9.98791348e-01 8.55310890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.230385723 meters Centerline goodness : 0.999377 Centerline is valid? [True, True] Translation: X:168.29, Y:39.90, Z:8.55 [[ 8.03128558e-01 -5.94500318e-01 -3.94194349e-02 1.68292265e+02] [ 5.93774963e-01 8.04095356e-01 -2.93590151e-02 3.98976170e+01] [ 4.91509283e-02 1.72789993e-04 9.98791348e-01 8.55382525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.260385723 meters Centerline goodness : 0.999399 Centerline is valid? [True, True] Translation: X:168.31, Y:39.92, Z:8.56 [[ 8.01582797e-01 -5.96583396e-01 -3.94115612e-02 1.68313965e+02] [ 5.95860033e-01 8.02551088e-01 -2.93695809e-02 3.99153695e+01] [ 4.91511956e-02 5.83766274e-05 9.98791348e-01 8.55521385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.290385723 meters Centerline goodness : 0.999466 Centerline is valid? [True, True] Translation: X:168.33, Y:39.93, Z:8.56 [[ 8.00491380e-01 -5.98047586e-01 -3.94034866e-02 1.68334930e+02] [ 5.97325462e-01 8.01460594e-01 -2.93804101e-02 3.99320157e+01] [ 4.91512252e-02 -1.79407940e-05 9.98791348e-01 8.55565892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.32038572300002 meters Centerline goodness : 0.999615 Centerline is valid? [True, True] Translation: X:168.36, Y:39.95, Z:8.56 [[ 7.98949781e-01 -6.00105730e-01 -3.93999888e-02 1.68356691e+02] [ 5.99385871e-01 7.99920679e-01 -2.93851000e-02 3.99503549e+01] [ 4.91510327e-02 -1.38577390e-04 9.98791348e-01 8.55857923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.35038572300002 meters Centerline goodness : 0.999701 Centerline is valid? [True, True] Translation: X:168.38, Y:39.97, Z:8.56 [[ 7.98371488e-01 -6.00875396e-01 -3.93919626e-02 1.68378377e+02] [ 6.00155942e-01 7.99342686e-01 -2.93958556e-02 3.99682565e+01] [ 4.91509235e-02 -1.72507444e-04 9.98791348e-01 8.56086076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.38038572300002 meters Centerline goodness : 0.999338 Centerline is valid? [True, True] Translation: X:168.40, Y:39.99, Z:8.56 [[ 7.97923879e-01 -6.01470185e-01 -3.93839957e-02 1.68399119e+02] [ 6.00750929e-01 7.98895224e-01 -2.94065256e-02 3.99872548e+01] [ 4.91508345e-02 -1.95802957e-04 9.98791348e-01 8.56325415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.41038572300002 meters Centerline goodness : 0.999338 Centerline is valid? [True, True] Translation: X:168.42, Y:40.00, Z:8.57 [[ 7.97950661e-01 -6.01435177e-01 -3.93760156e-02 1.68419657e+02] [ 6.00715351e-01 7.98921583e-01 -2.94172073e-02 4.00042309e+01] [ 4.91508920e-02 -1.80296981e-04 9.98791348e-01 8.56505254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.44038572300002 meters Centerline goodness : 0.999616 Centerline is valid? [True, True] Translation: X:168.44, Y:40.02, Z:8.57 [[ 7.98140943e-01 -6.01182865e-01 -3.93725552e-02 1.68440956e+02] [ 6.00462503e-01 7.99111467e-01 -2.94218380e-02 4.00215681e+01] [ 4.91509653e-02 -1.58969533e-04 9.98791348e-01 8.56679170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.470385723 meters Centerline goodness : 0.999575 Centerline is valid? [True, True] Translation: X:168.46, Y:40.04, Z:8.57 [[ 7.99080525e-01 -5.99933650e-01 -3.93691467e-02 1.68461384e+02] [ 5.99211546e-01 8.00049755e-01 -2.94263982e-02 4.00410453e+01] [ 4.91511626e-02 -7.63855919e-05 9.98791348e-01 8.56829615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.500385723 meters Centerline goodness : 0.999382 Centerline is valid? [True, True] Translation: X:168.48, Y:40.06, Z:8.57 [[ 8.00089149e-01 -5.98588399e-01 -3.93609203e-02 1.68480433e+02] [ 5.97864124e-01 8.01056757e-01 -2.94373978e-02 4.00610488e+01] [ 4.91512160e-02 2.00604660e-05 9.98791348e-01 8.56708388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.530385723 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:168.50, Y:40.08, Z:8.57 [[ 8.02534472e-01 -5.95315463e-01 -3.92163312e-02 1.68503967e+02] [ 5.94577785e-01 8.03491933e-01 -2.96305922e-02 4.00778796e+01] [ 4.91495554e-02 4.62412411e-04 9.98791323e-01 8.56996888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.560385723 meters Centerline goodness : 0.999531 Centerline is valid? [True, True] Translation: X:168.53, Y:40.09, Z:8.57 [[ 8.03926576e-01 -5.93425293e-01 -3.93507625e-02 1.68525177e+02] [ 5.92694139e-01 8.04888997e-01 -2.94509746e-02 4.00946872e+01] [ 4.91499490e-02 3.53454855e-04 9.98791348e-01 8.57040973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.590385723 meters Centerline goodness : 0.999408 Centerline is valid? [True, True] Translation: X:168.55, Y:40.11, Z:8.57 [[ 8.06240597e-01 -5.90277799e-01 -3.93474182e-02 1.68547466e+02] [ 5.89542671e-01 8.07199985e-01 -2.94554420e-02 4.01133643e+01] [ 4.91481289e-02 5.51191076e-04 9.98791348e-01 8.56940114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.620385723 meters Centerline goodness : 0.999276 Centerline is valid? [True, True] Translation: X:168.57, Y:40.13, Z:8.57 [[ 8.07874024e-01 -5.88040700e-01 -3.93407748e-02 1.68569609e+02] [ 5.87302484e-01 8.08831037e-01 -2.94643122e-02 4.01310375e+01] [ 4.91462545e-02 6.98517719e-04 9.98791348e-01 8.57109264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.650385723 meters Centerline goodness : 0.999490 Centerline is valid? [True, True] Translation: X:168.59, Y:40.15, Z:8.57 [[ 8.10738965e-01 -5.84084994e-01 -3.93325686e-02 1.68591104e+02] [ 5.83341578e-01 8.11691944e-01 -2.94752629e-02 4.01496418e+01] [ 4.91419878e-02 9.52421508e-04 9.98791349e-01 8.57180951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.680385723 meters Centerline goodness : 0.999511 Centerline is valid? [True, True] Translation: X:168.61, Y:40.17, Z:8.57 [[ 8.11917129e-01 -5.82446712e-01 -3.93243354e-02 1.68613152e+02] [ 5.81700841e-01 8.12868189e-01 -2.94862431e-02 4.01672716e+01] [ 4.91396666e-02 1.06538685e-03 9.98791349e-01 8.57299703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.710385723 meters Centerline goodness : 0.999234 Centerline is valid? [True, True] Translation: X:168.63, Y:40.18, Z:8.57 [[ 8.13052440e-01 -5.80861408e-01 -3.93160992e-02 1.68634856e+02] [ 5.80113152e-01 8.14001624e-01 -2.94972210e-02 4.01845667e+01] [ 4.91371659e-02 1.17500124e-03 9.98791349e-01 8.57453919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.740385723 meters Centerline goodness : 0.999449 Centerline is valid? [True, True] Translation: X:168.66, Y:40.20, Z:8.57 [[ 8.14793318e-01 -5.78417460e-01 -3.93076322e-02 1.68655790e+02] [ 5.77665815e-01 8.15739821e-01 -2.95084996e-02 4.02019533e+01] [ 4.91330322e-02 1.33665294e-03 9.98791349e-01 8.57416232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.770385723 meters Centerline goodness : 0.999450 Centerline is valid? [True, True] Translation: X:168.68, Y:40.22, Z:8.58 [[ 8.15202323e-01 -5.77841271e-01 -3.93018835e-02 1.68678331e+02] [ 5.77088588e-01 8.16148001e-01 -2.95161542e-02 4.02192841e+01] [ 4.91318057e-02 1.38096900e-03 9.98791349e-01 8.57588911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.800385723 meters Centerline goodness : 0.999405 Centerline is valid? [True, True] Translation: X:168.70, Y:40.23, Z:8.58 [[ 8.15803095e-01 -5.76993349e-01 -3.92935766e-02 1.68701108e+02] [ 5.76239151e-01 8.16747565e-01 -2.95272087e-02 4.02349256e+01] [ 4.91299360e-02 1.44589103e-03 9.98791349e-01 8.57820609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.830385723 meters Centerline goodness : 0.999467 Centerline is valid? [True, True] Translation: X:168.72, Y:40.25, Z:8.57 [[ 8.12995564e-01 -5.80942708e-01 -3.92910072e-02 1.68717992e+02] [ 5.80192935e-01 8.13943549e-01 -2.95306274e-02 4.02524729e+01] [ 4.91362645e-02 1.21190431e-03 9.98791349e-01 8.57483389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.860385723 meters Centerline goodness : 0.999426 Centerline is valid? [True, True] Translation: X:168.75, Y:40.27, Z:8.58 [[ 8.15183449e-01 -5.77893141e-01 -3.89289428e-02 1.68747423e+02] [ 5.77116777e-01 8.16109995e-01 -3.00117086e-02 4.02662377e+01] [ 4.91138599e-02 1.99850217e-03 9.98791187e-01 8.58356100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.890385723 meters Centerline goodness : 0.999124 Centerline is valid? [True, True] Translation: X:168.76, Y:40.28, Z:8.58 [[ 8.12358222e-01 -5.81834280e-01 -3.92809095e-02 1.68762900e+02] [ 5.81084913e-01 8.13306517e-01 -2.95437533e-02 4.02842665e+01] [ 4.91369881e-02 1.17456698e-03 9.98791358e-01 8.57674711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.920385723 meters Centerline goodness : 0.999342 Centerline is valid? [True, True] Translation: X:168.79, Y:40.30, Z:8.59 [[ 8.15306093e-01 -5.77725532e-01 -3.88482148e-02 1.68792581e+02] [ 5.76943905e-01 8.16228289e-01 -3.01182820e-02 4.02993627e+01] [ 4.91091124e-02 2.14237810e-03 9.98791122e-01 8.58550939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.950385723 meters Centerline goodness : 0.999298 Centerline is valid? [True, True] Translation: X:168.82, Y:40.32, Z:8.59 [[ 8.16415222e-01 -5.76128205e-01 -3.92743738e-02 1.68816133e+02] [ 5.75371819e-01 8.17357910e-01 -2.95519395e-02 4.03153986e+01] [ 4.91269260e-02 1.52928531e-03 9.98791373e-01 8.58547860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.980385723 meters Centerline goodness : 0.999322 Centerline is valid? [True, True] Translation: X:168.84, Y:40.33, Z:8.59 [[ 8.17153551e-01 -5.75081074e-01 -3.92661690e-02 1.68838604e+02] [ 5.74322957e-01 8.18094847e-01 -2.95628374e-02 4.03312431e+01] [ 4.91244788e-02 1.60591526e-03 9.98791373e-01 8.58590183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.010385723 meters Centerline goodness : 0.999317 Centerline is valid? [True, True] Translation: X:168.86, Y:40.35, Z:8.59 [[ 8.19369616e-01 -5.71919608e-01 -3.92605946e-02 1.68862247e+02] [ 5.71157506e-01 8.20307689e-01 -2.95702385e-02 4.03473073e+01] [ 4.91175669e-02 1.80497166e-03 9.98791373e-01 8.58590772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.040385723 meters Centerline goodness : 0.999322 Centerline is valid? [True, True] Translation: X:168.89, Y:40.36, Z:8.59 [[ 8.20142188e-01 -5.70811660e-01 -3.92535455e-02 1.68885083e+02] [ 5.70047844e-01 8.21078865e-01 -2.95795930e-02 4.03640906e+01] [ 4.91146332e-02 1.88307317e-03 9.98791373e-01 8.58652727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.07038572300002 meters Centerline goodness : 0.999358 Centerline is valid? [True, True] Translation: X:168.91, Y:40.38, Z:8.59 [[ 8.21255124e-01 -5.69209816e-01 -3.92454642e-02 1.68907586e+02] [ 5.68443663e-01 8.22189890e-01 -2.95903112e-02 4.03801306e+01] [ 4.91103195e-02 1.99235921e-03 9.98791373e-01 8.58698355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.10038572300002 meters Centerline goodness : 0.999295 Centerline is valid? [True, True] Translation: X:168.93, Y:40.40, Z:8.59 [[ 8.22358714e-01 -5.67614812e-01 -3.92373714e-02 1.68932306e+02] [ 5.66846335e-01 8.23291571e-01 -2.96010385e-02 4.03959818e+01] [ 4.91057851e-02 2.10111174e-03 9.98791373e-01 8.58764022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.13038572300002 meters Centerline goodness : 0.999443 Centerline is valid? [True, True] Translation: X:168.96, Y:40.41, Z:8.59 [[ 8.22654049e-01 -5.67187182e-01 -3.92302951e-02 1.68955583e+02] [ 5.66417774e-01 8.23586139e-01 -2.96104139e-02 4.04113241e+01] [ 4.91041744e-02 2.13839047e-03 9.98791373e-01 8.58918352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.16038572300002 meters Centerline goodness : 0.999401 Centerline is valid? [True, True] Translation: X:168.98, Y:40.43, Z:8.59 [[ 8.22212524e-01 -5.67827604e-01 -3.92221436e-02 1.68979431e+02] [ 5.67058410e-01 8.23144789e-01 -2.96212074e-02 4.04250406e+01] [ 4.91052424e-02 2.11368137e-03 9.98791373e-01 8.59128394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.19038572300002 meters Centerline goodness : 0.999423 Centerline is valid? [True, True] Translation: X:169.00, Y:40.44, Z:8.59 [[ 8.21413212e-01 -5.68983560e-01 -3.92178853e-02 1.69002514e+02] [ 5.68215409e-01 8.22346337e-01 -2.96268443e-02 4.04406013e+01] [ 4.91078717e-02 2.05167459e-03 9.98791373e-01 8.59311498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.220385723 meters Centerline goodness : 0.999334 Centerline is valid? [True, True] Translation: X:169.03, Y:40.46, Z:8.60 [[ 8.19979848e-01 -5.71047841e-01 -3.92098435e-02 1.69027846e+02] [ 5.70281532e-01 8.20914487e-01 -2.96374834e-02 4.04552010e+01] [ 4.91123495e-02 1.94148953e-03 9.98791373e-01 8.59524483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.250385723 meters Centerline goodness : 0.999290 Centerline is valid? [True, True] Translation: X:169.05, Y:40.47, Z:8.60 [[ 8.19068894e-01 -5.72354162e-01 -3.92028104e-02 1.69051157e+02] [ 5.71588900e-01 8.20004389e-01 -2.96467835e-02 4.04706363e+01] [ 4.91149365e-02 1.87486694e-03 9.98791374e-01 8.59731032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.280385723 meters Centerline goodness : 0.999398 Centerline is valid? [True, True] Translation: X:169.07, Y:40.49, Z:8.60 [[ 8.18313688e-01 -5.73433952e-01 -3.91945163e-02 1.69073883e+02] [ 5.72669400e-01 8.19249764e-01 -2.96577448e-02 4.04851337e+01] [ 4.91168560e-02 1.82383838e-03 9.98791374e-01 8.59879867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.310385723 meters Centerline goodness : 0.999373 Centerline is valid? [True, True] Translation: X:169.10, Y:40.50, Z:8.60 [[ 8.16924403e-01 -5.75411810e-01 -3.91888703e-02 1.69098846e+02] [ 5.74649168e-01 8.17862036e-01 -2.96652033e-02 4.04989799e+01] [ 4.91207976e-02 1.71437678e-03 9.98791374e-01 8.60102544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.340385723 meters Centerline goodness : 0.999350 Centerline is valid? [True, True] Translation: X:169.12, Y:40.51, Z:8.60 [[ 8.16346968e-01 -5.76230904e-01 -3.91863909e-02 1.69122015e+02] [ 5.75469045e-01 8.17285237e-01 -2.96684781e-02 4.05144439e+01] [ 4.91223527e-02 1.66921714e-03 9.98791374e-01 8.60317060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.370385723 meters Centerline goodness : 0.999351 Centerline is valid? [True, True] Translation: X:169.15, Y:40.53, Z:8.60 [[ 8.15670050e-01 -5.77189234e-01 -3.91785366e-02 1.69145425e+02] [ 5.76427980e-01 8.16608811e-01 -2.96788464e-02 4.05287998e+01] [ 4.91238488e-02 1.62454137e-03 9.98791374e-01 8.60338894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.400385723 meters Centerline goodness : 0.999351 Centerline is valid? [True, True] Translation: X:169.17, Y:40.55, Z:8.60 [[ 8.15521122e-01 -5.77399870e-01 -3.91751285e-02 1.69168118e+02] [ 5.76638643e-01 8.16459903e-01 -2.96833443e-02 4.05461118e+01] [ 4.91240808e-02 1.61750126e-03 9.98791374e-01 8.60479147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.430385723 meters Centerline goodness : 0.999417 Centerline is valid? [True, True] Translation: X:169.19, Y:40.56, Z:8.61 [[ 8.15274099e-01 -5.77749127e-01 -3.91674587e-02 1.69191402e+02] [ 5.76987818e-01 8.16212813e-01 -2.96934613e-02 4.05617655e+01] [ 4.91243530e-02 1.60916341e-03 9.98791374e-01 8.60526719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.460385723 meters Centerline goodness : 0.999327 Centerline is valid? [True, True] Translation: X:169.22, Y:40.58, Z:8.60 [[ 8.15888973e-01 -5.76881010e-01 -3.91597360e-02 1.69215862e+02] [ 5.76118214e-01 8.16826480e-01 -2.97036424e-02 4.05754019e+01] [ 4.91221766e-02 1.67423712e-03 9.98791374e-01 8.60460448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.490385723 meters Centerline goodness : 0.999479 Centerline is valid? [True, True] Translation: X:169.24, Y:40.59, Z:8.61 [[ 8.16231504e-01 -5.76396422e-01 -3.91573420e-02 1.69238928e+02] [ 5.75632918e-01 8.17168434e-01 -2.97067980e-02 4.05912281e+01] [ 4.91210360e-02 1.70736941e-03 9.98791374e-01 8.60607409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.520385723 meters Centerline goodness : 0.999413 Centerline is valid? [True, True] Translation: X:169.26, Y:40.61, Z:8.61 [[ 8.16817639e-01 -5.75566046e-01 -3.91493323e-02 1.69261566e+02] [ 5.74801085e-01 8.17753381e-01 -2.97173500e-02 4.06068388e+01] [ 4.91187965e-02 1.77057695e-03 9.98791374e-01 8.60627326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.550385723 meters Centerline goodness : 0.999458 Centerline is valid? [True, True] Translation: X:169.29, Y:40.62, Z:8.61 [[ 8.17935011e-01 -5.73977282e-01 -3.91458592e-02 1.69285457e+02] [ 5.73210285e-01 8.18869084e-01 -2.97219243e-02 4.06211471e+01] [ 4.91150432e-02 1.87179330e-03 9.98791374e-01 8.60711279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.580385723 meters Centerline goodness : 0.999391 Centerline is valid? [True, True] Translation: X:169.31, Y:40.64, Z:8.61 [[ 8.18361910e-01 -5.73369001e-01 -3.91378698e-02 1.69309075e+02] [ 5.72600808e-01 8.19295000e-01 -2.97324411e-02 4.06365245e+01] [ 4.91131210e-02 1.92152144e-03 9.98791374e-01 8.60867172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.610385723 meters Centerline goodness : 0.999498 Centerline is valid? [True, True] Translation: X:169.33, Y:40.65, Z:8.61 [[ 8.19369765e-01 -5.71928353e-01 -3.91298821e-02 1.69333576e+02] [ 5.71158019e-01 8.20301088e-01 -2.97429497e-02 4.06497407e+01] [ 4.91091211e-02 2.02112781e-03 9.98791374e-01 8.61062033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.640385723 meters Centerline goodness : 0.999451 Centerline is valid? [True, True] Translation: X:169.36, Y:40.67, Z:8.61 [[ 8.19668517e-01 -5.71500278e-01 -3.91274119e-02 1.69357310e+02] [ 5.70729304e-01 8.20599309e-01 -2.97461989e-02 4.06657076e+01] [ 4.91078881e-02 2.05086213e-03 9.98791374e-01 8.61370920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.670385723 meters Centerline goodness : 0.999453 Centerline is valid? [True, True] Translation: X:169.38, Y:40.68, Z:8.62 [[ 8.20237042e-01 -5.70684522e-01 -3.91199611e-02 1.69381292e+02] [ 5.69912156e-01 8.21166679e-01 -2.97559945e-02 4.06800931e+01] [ 4.91052940e-02 2.11202751e-03 9.98791374e-01 8.61554744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.700385723 meters Centerline goodness : 0.999451 Centerline is valid? [True, True] Translation: X:169.40, Y:40.70, Z:8.62 [[ 8.20599936e-01 -5.70162767e-01 -3.91173213e-02 1.69404497e+02] [ 5.69389644e-01 8.21528945e-01 -2.97594643e-02 4.06956111e+01] [ 4.91037502e-02 2.14761683e-03 9.98791374e-01 8.61650320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.730385723 meters Centerline goodness : 0.999473 Centerline is valid? [True, True] Translation: X:169.43, Y:40.71, Z:8.62 [[ 8.21014299e-01 -5.69566158e-01 -3.91140929e-02 1.69429086e+02] [ 5.68792159e-01 8.21942578e-01 -2.97637069e-02 4.07094140e+01] [ 4.91019386e-02 2.18863960e-03 9.98791374e-01 8.61882519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.760385723 meters Centerline goodness : 0.999494 Centerline is valid? [True, True] Translation: X:169.45, Y:40.72, Z:8.62 [[ 8.21113058e-01 -5.69424346e-01 -3.91057661e-02 1.69452192e+02] [ 5.68649667e-01 8.22040769e-01 -2.97746433e-02 4.07247133e+01] [ 4.91009408e-02 2.21086752e-03 9.98791374e-01 8.62048104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.790385723 meters Centerline goodness : 0.999517 Centerline is valid? [True, True] Translation: X:169.48, Y:40.74, Z:8.62 [[ 8.21184460e-01 -5.69321940e-01 -3.90974624e-02 1.69476088e+02] [ 5.68546629e-01 8.22111642e-01 -2.97855429e-02 4.07391212e+01] [ 4.91000422e-02 2.23069452e-03 9.98791375e-01 8.62207322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.82038572300002 meters Centerline goodness : 0.999472 Centerline is valid? [True, True] Translation: X:169.50, Y:40.75, Z:8.62 [[ 8.21241460e-01 -5.69240281e-01 -3.90892146e-02 1.69498701e+02] [ 5.68464364e-01 8.22168136e-01 -2.97963631e-02 4.07549369e+01] [ 4.90991968e-02 2.24918323e-03 9.98791375e-01 8.62255999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.85038572300002 meters Centerline goodness : 0.998916 Centerline is valid? [True, True] Translation: X:169.52, Y:40.77, Z:8.62 [[ 8.20897412e-01 -5.69736916e-01 -3.90805036e-02 1.69522430e+02] [ 5.68961018e-01 8.21824103e-01 -2.98077839e-02 4.07720405e+01] [ 4.90998947e-02 2.23384957e-03 9.98791375e-01 8.62372363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.88038572300002 meters Centerline goodness : 0.999470 Centerline is valid? [True, True] Translation: X:169.55, Y:40.79, Z:8.63 [[ 8.20215297e-01 -5.70716403e-01 -3.91107995e-02 1.69545438e+02] [ 5.69943499e-01 8.21144488e-01 -2.97680708e-02 4.07868910e+01] [ 4.91047438e-02 2.12528112e-03 9.98791373e-01 8.62529038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.91038572300002 meters Centerline goodness : 0.999490 Centerline is valid? [True, True] Translation: X:169.57, Y:40.80, Z:8.63 [[ 8.19331938e-01 -5.71986512e-01 -3.90718115e-02 1.69569666e+02] [ 5.71212617e-01 8.20260303e-01 -2.98191566e-02 4.08034846e+01] [ 4.91052113e-02 2.11347565e-03 9.98791375e-01 8.62764007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.94038572300002 meters Centerline goodness : 0.999513 Centerline is valid? [True, True] Translation: X:169.59, Y:40.82, Z:8.63 [[ 8.18179835e-01 -5.73628544e-01 -3.91414212e-02 1.69593007e+02] [ 5.72860861e-01 8.19113351e-01 -2.97279561e-02 4.08169240e+01] [ 4.91140649e-02 1.90022594e-03 9.98791368e-01 8.62879383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.970385723 meters Centerline goodness : 0.999489 Centerline is valid? [True, True] Translation: X:169.62, Y:40.83, Z:8.63 [[ 8.16874502e-01 -5.75491258e-01 -3.90622567e-02 1.69617645e+02] [ 5.74720754e-01 8.17805680e-01 -2.98316167e-02 4.08333591e+01] [ 4.91131701e-02 1.91879738e-03 9.98791377e-01 8.63112004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.000385723 meters Centerline goodness : 0.999533 Centerline is valid? [True, True] Translation: X:169.64, Y:40.85, Z:8.63 [[ 8.15440946e-01 -5.77514280e-01 -3.91576425e-02 1.69640873e+02] [ 5.76752063e-01 8.16378936e-01 -2.97067303e-02 4.08470585e+01] [ 4.91235355e-02 1.63983314e-03 9.98791364e-01 8.63183893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.030385723 meters Centerline goodness : 0.999578 Centerline is valid? [True, True] Translation: X:169.66, Y:40.86, Z:8.63 [[ 8.14747543e-01 -5.78499505e-01 -3.90482157e-02 1.69663658e+02] [ 5.77731566e-01 8.15680833e-01 -2.98498786e-02 4.08624956e+01] [ 4.91190212e-02 1.76072846e-03 9.98791380e-01 8.63239906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.060385723 meters Centerline goodness : 0.999531 Centerline is valid? [True, True] Translation: X:169.69, Y:40.88, Z:8.63 [[ 8.13153314e-01 -5.80738500e-01 -3.90446327e-02 1.69690340e+02] [ 5.79972906e-01 8.14088529e-01 -2.98545646e-02 4.08774686e+01] [ 4.91234826e-02 1.63150905e-03 9.98791380e-01 8.63467882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.090385723 meters Centerline goodness : 0.999554 Centerline is valid? [True, True] Translation: X:169.71, Y:40.89, Z:8.64 [[ 8.12651279e-01 -5.81434751e-01 -3.91347606e-02 1.69712773e+02] [ 5.80675618e-01 8.13591761e-01 -2.97367175e-02 4.08920318e+01] [ 4.91296797e-02 1.44098019e-03 9.98791369e-01 8.63529363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.120385723 meters Centerline goodness : 0.999530 Centerline is valid? [True, True] Translation: X:169.74, Y:40.91, Z:8.64 [[ 8.11832702e-01 -5.82583859e-01 -3.90347374e-02 1.69736178e+02] [ 5.81819773e-01 8.12769148e-01 -2.98674421e-02 4.09079675e+01] [ 4.91265199e-02 1.53618419e-03 9.98791382e-01 8.63749342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.150385723 meters Centerline goodness : 0.999619 Centerline is valid? [True, True] Translation: X:169.76, Y:40.92, Z:8.64 [[ 8.10891943e-01 -5.83893132e-01 -3.90264995e-02 1.69759960e+02] [ 5.83130041e-01 8.11829199e-01 -2.98782023e-02 4.09224862e+01] [ 4.91285290e-02 1.47046921e-03 9.98791382e-01 8.63979904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.180385723 meters Centerline goodness : 0.999640 Centerline is valid? [True, True] Translation: X:169.78, Y:40.94, Z:8.64 [[ 8.10543759e-01 -5.84376934e-01 -3.90181204e-02 1.69783677e+02] [ 5.83613877e-01 8.11481042e-01 -2.98891407e-02 4.09390992e+01] [ 4.91289894e-02 1.45493992e-03 9.98791382e-01 8.64198457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.210385723 meters Centerline goodness : 0.999664 Centerline is valid? [True, True] Translation: X:169.81, Y:40.95, Z:8.64 [[ 8.11209345e-01 -5.83448393e-01 -3.90815958e-02 1.69806819e+02] [ 5.82688245e-01 8.12148998e-01 -2.98062903e-02 4.09532221e+01] [ 4.91305111e-02 1.40675477e-03 9.98791377e-01 8.64300477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.240385723 meters Centerline goodness : 0.999684 Centerline is valid? [True, True] Translation: X:169.83, Y:40.97, Z:8.64 [[ 8.11779088e-01 -5.82660503e-01 -3.90057677e-02 1.69829865e+02] [ 5.81894694e-01 8.12714122e-01 -2.99051946e-02 4.09690590e+01] [ 4.91251140e-02 1.57916234e-03 9.98791384e-01 8.64484334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.270385723 meters Centerline goodness : 0.999618 Centerline is valid? [True, True] Translation: X:169.85, Y:40.98, Z:8.64 [[ 8.13649172e-01 -5.80046746e-01 -3.89974125e-02 1.69852656e+02] [ 5.79277413e-01 8.14581308e-01 -2.99160862e-02 4.09844714e+01] [ 4.91192917e-02 1.75087854e-03 9.98791384e-01 8.64487971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.300385723 meters Centerline goodness : 0.998893 Centerline is valid? [True, True] Translation: X:169.88, Y:41.00, Z:8.64 [[ 8.15098562e-01 -5.78008493e-01 -3.89937906e-02 1.69875726e+02] [ 5.77236604e-01 8.16028583e-01 -2.99208063e-02 4.10015627e+01] [ 4.91145279e-02 1.87976296e-03 9.98791384e-01 8.64324156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.330385723 meters Centerline goodness : 0.999684 Centerline is valid? [True, True] Translation: X:169.90, Y:41.02, Z:8.64 [[ 8.15327248e-01 -5.77686451e-01 -3.89851655e-02 1.69896637e+02] [ 5.76913659e-01 8.16256518e-01 -2.99320402e-02 4.10179543e+01] [ 4.91132295e-02 1.91333351e-03 9.98791385e-01 8.64445811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.360385723 meters Centerline goodness : 0.999729 Centerline is valid? [True, True] Translation: X:169.92, Y:41.03, Z:8.64 [[ 8.16624220e-01 -5.75859255e-01 -3.88715967e-02 1.69917376e+02] [ 5.75077353e-01 8.17545861e-01 -3.00799441e-02 4.10329532e+01] [ 4.91011272e-02 2.20983595e-03 9.98791368e-01 8.64408296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.390385723 meters Centerline goodness : 0.999796 Centerline is valid? [True, True] Translation: X:169.94, Y:41.05, Z:8.65 [[ 8.15513636e-01 -5.77443385e-01 -3.86865117e-02 1.69943009e+02] [ 5.76651826e-01 8.16427147e-01 -3.03213663e-02 4.10526130e+01] [ 4.90935907e-02 2.41884001e-03 9.98791254e-01 8.64802646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.420385723 meters Centerline goodness : 0.999751 Centerline is valid? [True, True] Translation: X:169.97, Y:41.07, Z:8.65 [[ 8.14485746e-01 -5.78870330e-01 -3.90142256e-02 1.69968125e+02] [ 5.78100722e-01 8.15417637e-01 -2.98936787e-02 4.10699542e+01] [ 4.91174513e-02 1.79382320e-03 9.98791399e-01 8.64929318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.450385723 meters Centerline goodness : 0.999774 Centerline is valid? [True, True] Translation: X:169.99, Y:41.09, Z:8.65 [[ 8.14564711e-01 -5.78752564e-01 -3.91126873e-02 1.69988850e+02] [ 5.77988970e-01 8.15501554e-01 -2.97651950e-02 4.10854432e+01] [ 4.91231402e-02 1.63897563e-03 9.98791385e-01 8.64983629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.480385723 meters Centerline goodness : 0.999729 Centerline is valid? [True, True] Translation: X:170.01, Y:41.10, Z:8.65 [[ 8.13553784e-01 -5.80180024e-01 -3.90048675e-02 1.70011109e+02] [ 5.79411336e-01 8.14486431e-01 -2.99058210e-02 4.11017706e+01] [ 4.91196953e-02 1.73013145e-03 9.98791401e-01 8.65185906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.510385723 meters Centerline goodness : 0.999774 Centerline is valid? [True, True] Translation: X:170.03, Y:41.12, Z:8.65 [[ 8.13029815e-01 -5.80914599e-01 -3.89967768e-02 1.70032801e+02] [ 5.80146248e-01 8.13962740e-01 -2.99163675e-02 4.11176038e+01] [ 4.91207779e-02 1.69906499e-03 9.98791401e-01 8.65321165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.540385723 meters Centerline goodness : 0.999818 Centerline is valid? [True, True] Translation: X:170.06, Y:41.13, Z:8.66 [[ 8.12287206e-01 -5.81952763e-01 -3.89932935e-02 1.70055108e+02] [ 5.81185387e-01 8.13220932e-01 -2.99209071e-02 4.11337333e+01] [ 4.91227170e-02 1.64203763e-03 9.98791401e-01 8.65598330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.57038572300002 meters Centerline goodness : 0.999820 Centerline is valid? [True, True] Translation: X:170.08, Y:41.15, Z:8.66 [[ 8.10294845e-01 -5.84724211e-01 -3.89854083e-02 1.70079577e+02] [ 5.83959535e-01 8.11230784e-01 -2.99311775e-02 4.11501074e+01] [ 4.91276475e-02 1.48717788e-03 9.98791401e-01 8.66237089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.60038572300002 meters Centerline goodness : 0.999683 Centerline is valid? [True, True] Translation: X:170.10, Y:41.16, Z:8.66 [[ 8.10029023e-01 -5.85080537e-01 -3.91630778e-02 1.70101624e+02] [ 5.84327418e-01 8.10974344e-01 -2.96998446e-02 4.11649611e+01] [ 4.91370523e-02 1.17367595e-03 9.98791356e-01 8.66346229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.63038572300002 meters Centerline goodness : 0.999728 Centerline is valid? [True, True] Translation: X:170.12, Y:41.18, Z:8.67 [[ 8.09373646e-01 -5.85999640e-01 -3.89707999e-02 1.70124113e+02] [ 5.85235533e-01 8.10310043e-01 -2.99500394e-02 4.11815010e+01] [ 4.91291428e-02 1.43367571e-03 9.98791406e-01 8.66533497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.66038572300002 meters Centerline goodness : 0.999819 Centerline is valid? [True, True] Translation: X:170.13, Y:41.20, Z:8.66 [[ 8.05205575e-01 -5.91714384e-01 -3.89624098e-02 1.70134913e+02] [ 5.90956397e-01 8.06146934e-01 -2.99609502e-02 4.11984747e+01] [ 4.91377524e-02 1.09963885e-03 9.98791406e-01 8.66453735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.69038572300002 meters Centerline goodness : 0.999772 Centerline is valid? [True, True] Translation: X:170.15, Y:41.22, Z:8.66 [[ 8.03733534e-01 -5.93759577e-01 -3.82357405e-02 1.70152524e+02] [ 5.92958671e-01 8.04639588e-01 -3.09054692e-02 4.12157985e+01] [ 4.91164088e-02 2.16754812e-03 9.98790709e-01 8.66398212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.720385723 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:170.19, Y:41.23, Z:8.67 [[ 8.08734698e-01 -5.86948721e-01 -3.79392548e-02 1.70189659e+02] [ 5.86122115e-01 8.09618295e-01 -3.12903089e-02 4.12325582e+01] [ 4.90821216e-02 3.06852230e-03 9.98790033e-01 8.66904873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.750385723 meters Centerline goodness : 0.999909 Centerline is valid? [True, True] Translation: X:170.21, Y:41.25, Z:8.67 [[ 8.08949055e-01 -5.86585747e-01 -3.89690587e-02 1.70212339e+02] [ 5.85822296e-01 8.09885920e-01 -2.99505317e-02 4.12497198e+01] [ 4.91290469e-02 1.39951088e-03 9.98791459e-01 8.67056950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.780385723 meters Centerline goodness : 0.999909 Centerline is valid? [True, True] Translation: X:170.23, Y:41.27, Z:8.67 [[ 8.09270273e-01 -5.86143069e-01 -3.89605913e-02 1.70234174e+02] [ 5.85378577e-01 8.10206287e-01 -2.99615423e-02 4.12668777e+01] [ 4.91278664e-02 1.44029000e-03 9.98791459e-01 8.67144957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.810385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:170.24, Y:41.28, Z:8.67 [[ 8.05488427e-01 -5.91329956e-01 -3.89522426e-02 1.70242723e+02] [ 5.90570969e-01 8.06428910e-01 -2.99723923e-02 4.12848246e+01] [ 4.91357880e-02 1.13835147e-03 9.98791459e-01 8.66933927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.840385723 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:170.26, Y:41.30, Z:8.67 [[ 8.06172849e-01 -5.90449932e-01 -3.81341811e-02 1.70263559e+02] [ 5.89639236e-01 8.07070295e-01 -3.10340277e-02 4.13025961e+01] [ 4.91010043e-02 2.53338110e-03 9.98790605e-01 8.66905467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.870385723 meters Centerline goodness : 0.995751 Centerline is valid? [True, True] Translation: X:170.29, Y:41.33, Z:8.67 [[ 8.07348669e-01 -5.88844371e-01 -3.80845576e-02 1.70294832e+02] [ 5.88028898e-01 8.08241890e-01 -3.10976190e-02 4.13251329e+01] [ 4.90931927e-02 2.71180092e-03 9.98790521e-01 8.66627016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.900385723 meters Centerline goodness : 0.999864 Centerline is valid? [True, True] Translation: X:170.32, Y:41.34, Z:8.67 [[ 8.06897765e-01 -5.89411595e-01 -3.88583137e-02 1.70315884e+02] [ 5.88643997e-01 8.07831642e-01 -3.01045356e-02 4.13424784e+01] [ 4.91349377e-02 1.41756938e-03 9.98791144e-01 8.67197311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.930385723 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:170.34, Y:41.36, Z:8.67 [[ 8.06612392e-01 -5.89808161e-01 -3.87657385e-02 1.70337957e+02] [ 5.89035317e-01 8.07541918e-01 -3.02232776e-02 4.13601901e+01] [ 4.91308946e-02 1.54408116e-03 9.98791155e-01 8.67340302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.960385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.36, Y:41.38, Z:8.68 [[ 8.06149594e-01 -5.90441108e-01 -3.87573139e-02 1.70359411e+02] [ 5.89668476e-01 8.07079296e-01 -3.02340772e-02 4.13763482e+01] [ 4.91316677e-02 1.51922280e-03 9.98791155e-01 8.67554610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.990385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.37, Y:41.39, Z:8.68 [[ 8.03184495e-01 -5.94468518e-01 -3.87536782e-02 1.70373827e+02] [ 5.93700323e-01 8.04117868e-01 -3.02387366e-02 4.13943383e+01] [ 4.91385021e-02 1.27921311e-03 9.98791155e-01 8.67574103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.020385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.40, Y:41.41, Z:8.68 [[ 8.02342186e-01 -5.95635641e-01 -3.82779184e-02 1.70395746e+02] [ 5.94839608e-01 8.03252300e-01 -3.08477363e-02 4.14121041e+01] [ 4.91208372e-02 1.98121819e-03 9.98790878e-01 8.67865929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.050385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.42, Y:41.43, Z:8.68 [[ 8.01954695e-01 -5.96154968e-01 -3.83134590e-02 1.70418180e+02] [ 5.95361693e-01 8.02867159e-01 -3.08022490e-02 4.14301655e+01] [ 4.91235318e-02 1.89164240e-03 9.98790919e-01 8.68106894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.080385723 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:170.44, Y:41.45, Z:8.68 [[ 8.01862296e-01 -5.96278668e-01 -3.83224227e-02 1.70441944e+02] [ 5.95486081e-01 8.02775345e-01 -3.07907758e-02 4.14473455e+01] [ 4.91241789e-02 1.86949289e-03 9.98790929e-01 8.68395694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.110385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:170.47, Y:41.46, Z:8.69 [[ 8.02024047e-01 -5.96053269e-01 -3.84438245e-02 1.70465457e+02] [ 5.95267850e-01 8.02943122e-01 -3.06354177e-02 4.14643034e+01] [ 4.91285454e-02 1.68596897e-03 9.98791041e-01 8.68592989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.140385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.48, Y:41.48, Z:8.69 [[ 8.00346393e-01 -5.98300400e-01 -3.85004111e-02 1.70482592e+02] [ 5.97521039e-01 8.01270560e-01 -3.05630088e-02 4.14813178e+01] [ 4.91351064e-02 1.45618827e-03 9.98791080e-01 8.68846554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.170385723 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:170.51, Y:41.50, Z:8.69 [[ 8.00839443e-01 -5.97662070e-01 -3.81606637e-02 1.70505940e+02] [ 5.96861183e-01 8.01745506e-01 -3.09979179e-02 4.15008053e+01] [ 4.91214204e-02 2.04773643e-03 9.98790715e-01 8.68931894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.200385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:170.53, Y:41.52, Z:8.69 [[ 8.01955927e-01 -5.96156282e-01 -3.82672135e-02 1.70528479e+02] [ 5.95360183e-01 8.02866003e-01 -3.08615156e-02 4.15197866e+01] [ 4.91217312e-02 1.96680011e-03 9.98790863e-01 8.68901754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.230385723 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:170.55, Y:41.54, Z:8.69 [[ 8.02458943e-01 -5.95471973e-01 -3.83767464e-02 1.70551305e+02] [ 5.94681786e-01 8.03373996e-01 -3.07212571e-02 4.15383045e+01] [ 4.91245277e-02 1.83059545e-03 9.98790984e-01 8.68969894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.260385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.58, Y:41.55, Z:8.69 [[ 8.05269951e-01 -5.91662962e-01 -3.84089273e-02 1.70579283e+02] [ 5.90870408e-01 8.06182916e-01 -3.06800650e-02 4.15543714e+01] [ 4.91168792e-02 2.01103591e-03 9.98791013e-01 8.69192464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.290385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.60, Y:41.57, Z:8.69 [[ 8.05392311e-01 -5.91474526e-01 -3.87441641e-02 1.70601154e+02] [ 5.90702287e-01 8.06322332e-01 -3.02507162e-02 4.15712381e+01] [ 4.91328127e-02 1.47742791e-03 9.98791161e-01 8.69290127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.32038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.62, Y:41.59, Z:8.69 [[ 8.05239644e-01 -5.91683150e-01 -3.87319661e-02 1.70623588e+02] [ 5.90910402e-01 8.06169242e-01 -3.02663323e-02 4.15889095e+01] [ 4.91325986e-02 1.48452901e-03 9.98791161e-01 8.69429811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.35038572300002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:170.64, Y:41.61, Z:8.70 [[ 8.04220254e-01 -5.93068427e-01 -3.87249651e-02 1.70636531e+02] [ 5.92296850e-01 8.05150824e-01 -3.02752906e-02 4.16081525e+01] [ 4.91347565e-02 1.41132711e-03 9.98791161e-01 8.69536008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.38038572300002 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:170.67, Y:41.63, Z:8.70 [[ 8.07630626e-01 -5.88447683e-01 -3.82373610e-02 1.70667544e+02] [ 5.87641132e-01 8.08531476e-01 -3.08990640e-02 4.16251992e+01] [ 4.90985926e-02 2.48518437e-03 9.98790845e-01 8.69927763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.41038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.68, Y:41.65, Z:8.70 [[ 8.05541127e-01 -5.91272236e-01 -3.87380403e-02 1.70677573e+02] [ 5.90499410e-01 8.06470641e-01 -3.02580939e-02 4.16450796e+01] [ 4.91318630e-02 1.49934915e-03 9.98791175e-01 8.69847579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.44038572300002 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:170.71, Y:41.66, Z:8.70 [[ 8.09043175e-01 -5.86511734e-01 -3.81198973e-02 1.70711168e+02] [ 5.85696010e-01 8.09935915e-01 -3.10483231e-02 4.16620722e+01] [ 4.90848797e-02 2.79276216e-03 9.98790706e-01 8.69839388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.470385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:170.73, Y:41.68, Z:8.70 [[ 8.09022003e-01 -5.86500694e-01 -3.87341571e-02 1.70733346e+02] [ 5.85722196e-01 8.09946734e-01 -3.02621382e-02 4.16785829e+01] [ 4.91213692e-02 1.79528009e-03 9.98791203e-01 8.70338154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.500385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.76, Y:41.70, Z:8.71 [[ 8.08693512e-01 -5.86954080e-01 -3.87261116e-02 1.70755253e+02] [ 5.86175608e-01 8.09618266e-01 -3.02724305e-02 4.16960044e+01] [ 4.91218939e-02 1.78081615e-03 9.98791204e-01 8.70604034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.530385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.78, Y:41.71, Z:8.71 [[ 8.08328355e-01 -5.87457106e-01 -3.87223449e-02 1.70777322e+02] [ 5.86678979e-01 8.09253399e-01 -3.02772479e-02 4.17136042e+01] [ 4.91227736e-02 1.75637219e-03 9.98791204e-01 8.70960441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.560385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.79, Y:41.73, Z:8.71 [[ 8.06594515e-01 -5.89835628e-01 -3.87197627e-02 1.70794059e+02] [ 5.89060072e-01 8.07521715e-01 -3.02805497e-02 4.17332711e+01] [ 4.91275962e-02 1.61585915e-03 9.98791204e-01 8.70663813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.590385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.82, Y:41.75, Z:8.71 [[ 8.07043265e-01 -5.89243492e-01 -3.83832592e-02 1.70820250e+02] [ 5.88446762e-01 8.07952520e-01 -3.07104886e-02 4.17517879e+01] [ 4.91078066e-02 2.19818842e-03 9.98791065e-01 8.71426123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.620385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.84, Y:41.77, Z:8.72 [[ 8.06311109e-01 -5.90223400e-01 -3.87134758e-02 1.70842035e+02] [ 5.89447912e-01 8.07238360e-01 -3.02884303e-02 4.17693958e+01] [ 4.91279430e-02 1.60232039e-03 9.98791208e-01 8.71562672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.650385723 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:170.86, Y:41.79, Z:8.72 [[ 8.05401600e-01 -5.91464433e-01 -3.87051308e-02 1.70863483e+02] [ 5.90689862e-01 8.06329618e-01 -3.02990905e-02 4.17871844e+01] [ 4.91299277e-02 1.54020755e-03 9.98791208e-01 8.71526466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.680385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:170.88, Y:41.81, Z:8.71 [[ 8.01939814e-01 -5.96150234e-01 -3.86966902e-02 1.70876246e+02] [ 5.95380567e-01 8.02871903e-01 -3.03098667e-02 4.18068115e+01] [ 4.91377194e-02 1.26743152e-03 9.98791208e-01 8.71469608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.710385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.91, Y:41.82, Z:8.72 [[ 8.03589493e-01 -5.93957736e-01 -3.81855379e-02 1.70907588e+02] [ 5.93154388e-01 8.04493152e-01 -3.09619161e-02 4.18245056e+01] [ 4.91100733e-02 2.23075106e-03 9.98790881e-01 8.71751246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.740385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.93, Y:41.84, Z:8.72 [[ 8.01659210e-01 -5.96527337e-01 -3.86994517e-02 1.70929402e+02] [ 5.95758310e-01 8.02591802e-01 -3.03056914e-02 4.18429857e+01] [ 4.91380360e-02 1.23931669e-03 9.98791228e-01 8.71871565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.770385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:170.95, Y:41.86, Z:8.72 [[ 7.98879934e-01 -6.00244759e-01 -3.86921370e-02 1.70946878e+02] [ 5.99479621e-01 7.99815718e-01 -3.03150273e-02 4.18619923e+01] [ 4.91430156e-02 1.02291939e-03 9.98791228e-01 8.71719240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.800385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.97, Y:41.88, Z:8.72 [[ 7.98936446e-01 -6.00186016e-01 -3.84356805e-02 1.70973572e+02] [ 5.99405031e-01 7.99859153e-01 -3.06421943e-02 4.18790208e+01] [ 4.91341474e-02 1.44262550e-03 9.98791147e-01 8.72299555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.830385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.00, Y:41.90, Z:8.73 [[ 7.97470315e-01 -6.02116392e-01 -3.86904033e-02 1.70996111e+02] [ 6.01353349e-01 7.98407804e-01 -3.03171265e-02 4.18971028e+01] [ 4.91451588e-02 9.10404802e-04 9.98791232e-01 8.72627807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.860385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.02, Y:41.91, Z:8.73 [[ 7.96613463e-01 -6.03250046e-01 -3.86829751e-02 1.71017197e+02] [ 6.02487877e-01 7.97551663e-01 -3.03266015e-02 4.19148073e+01] [ 4.91461949e-02 8.52555466e-04 9.98791232e-01 8.72794442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.890385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.04, Y:41.93, Z:8.73 [[ 7.95722186e-01 -6.04425375e-01 -3.86803477e-02 1.71039594e+02] [ 6.03664429e-01 7.96661378e-01 -3.03299523e-02 4.19332499e+01] [ 4.91473319e-02 7.84265947e-04 9.98791232e-01 8.72985606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.920385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.06, Y:41.95, Z:8.73 [[ 7.94507300e-01 -6.06021898e-01 -3.86731097e-02 1.71061456e+02] [ 6.05262391e-01 7.95447656e-01 -3.03391785e-02 4.19513358e+01] [ 4.91486410e-02 6.97319997e-04 9.98791232e-01 8.73276886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.950385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.08, Y:41.97, Z:8.73 [[ 7.93907081e-01 -6.06808458e-01 -3.86657870e-02 1.71083351e+02] [ 6.06049428e-01 7.94847821e-01 -3.03485081e-02 4.19691411e+01] [ 4.91491479e-02 6.60517398e-04 9.98791232e-01 8.73484818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.980385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.11, Y:41.99, Z:8.74 [[ 7.93308552e-01 -6.07591267e-01 -3.86573834e-02 1.71105565e+02] [ 6.06832644e-01 7.94249621e-01 -3.03592087e-02 4.19883600e+01] [ 4.91496022e-02 6.25657762e-04 9.98791232e-01 8.73667227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.010385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.13, Y:42.01, Z:8.74 [[ 7.93082919e-01 -6.07886218e-01 -3.86500862e-02 1.71125755e+02] [ 6.07127492e-01 7.94023905e-01 -3.03684958e-02 4.20081821e+01] [ 4.91496825e-02 6.19205411e-04 9.98791232e-01 8.73640381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.040385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.15, Y:42.03, Z:8.74 [[ 7.93102428e-01 -6.07861299e-01 -3.86416861e-02 1.71147508e+02] [ 6.07102023e-01 7.94042970e-01 -3.03791806e-02 4.20277827e+01] [ 4.91494874e-02 6.34356070e-04 9.98791232e-01 8.73684052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.07038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.17, Y:42.05, Z:8.74 [[ 7.93382494e-01 -6.07496182e-01 -3.86342790e-02 1.71168065e+02] [ 6.06736015e-01 7.94322316e-01 -3.03885975e-02 4.20460107e+01] [ 4.91490270e-02 6.68972775e-04 9.98791232e-01 8.73632593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.10038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.19, Y:42.07, Z:8.74 [[ 7.93631251e-01 -6.07171358e-01 -3.86313155e-02 1.71190068e+02] [ 6.06410623e-01 7.94570614e-01 -3.03923644e-02 4.20657110e+01] [ 4.91486813e-02 6.93890035e-04 9.98791232e-01 8.73741355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.13038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.21, Y:42.08, Z:8.74 [[ 7.94030074e-01 -6.06645719e-01 -3.86938349e-02 1.71211924e+02] [ 6.05888230e-01 7.94972063e-01 -3.03129032e-02 4.20824951e+01] [ 4.91497107e-02 6.25217687e-04 9.98791227e-01 8.73934622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.16038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.23, Y:42.10, Z:8.74 [[ 7.93202083e-01 -6.07727128e-01 -3.87065045e-02 1.71231602e+02] [ 6.06971709e-01 7.94145735e-01 -3.02968047e-02 4.21021633e+01] [ 4.91507956e-02 5.37735465e-04 9.98791225e-01 8.73884448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.19038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.25, Y:42.12, Z:8.74 [[ 7.92887712e-01 -6.08142128e-01 -3.86293751e-02 1.71252038e+02] [ 6.07382427e-01 7.93827907e-01 -3.03947602e-02 4.21217493e+01] [ 4.91494101e-02 6.36828280e-04 9.98791234e-01 8.74027246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.220385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.28, Y:42.14, Z:8.74 [[ 7.92978764e-01 -6.08024503e-01 -3.86119573e-02 1.71277892e+02] [ 6.07263585e-01 7.93917976e-01 -3.04168707e-02 4.21406313e+01] [ 4.91489297e-02 6.72296906e-04 9.98791235e-01 8.74315705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.250385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.30, Y:42.16, Z:8.74 [[ 7.92442005e-01 -6.08709147e-01 -3.88438252e-02 1.71295386e+02] [ 6.07963428e-01 7.93393414e-01 -3.01224339e-02 4.21582580e+01] [ 4.91542362e-02 2.54656780e-04 9.98791167e-01 8.74316696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.280385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.32, Y:42.18, Z:8.74 [[ 7.91257294e-01 -6.10263705e-01 -3.86018680e-02 1.71316617e+02] [ 6.09504836e-01 7.92198150e-01 -3.04293803e-02 4.21771308e+01] [ 4.91502747e-02 5.49443915e-04 9.98791244e-01 8.74002378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.310385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:171.35, Y:42.19, Z:8.75 [[ 7.92936800e-01 -6.08084930e-01 -3.85220473e-02 1.71345625e+02] [ 6.07318553e-01 7.93871561e-01 -3.05306361e-02 4.21946877e+01] [ 4.91467776e-02 8.13710855e-04 9.98791236e-01 8.74949058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.340385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:171.36, Y:42.21, Z:8.75 [[ 7.91737943e-01 -6.09616770e-01 -3.89669401e-02 1.71360999e+02] [ 6.08879833e-01 7.92696281e-01 -2.99658991e-02 4.22118811e+01] [ 4.91566632e-02 -1.04466921e-06 9.98791080e-01 8.74996207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.370385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.39, Y:42.23, Z:8.75 [[ 7.91905215e-01 -6.09423426e-01 -3.85903892e-02 1.71385249e+02] [ 6.08662883e-01 7.92844691e-01 -3.04432364e-02 4.22310022e+01] [ 4.91490067e-02 6.19620111e-04 9.98791265e-01 8.74836992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.400385723 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:171.41, Y:42.25, Z:8.75 [[ 7.93180991e-01 -6.07754625e-01 -3.87069831e-02 1.71410376e+02] [ 6.06999312e-01 7.94124694e-01 -3.02953073e-02 4.22484829e+01] [ 4.91502843e-02 5.34549723e-04 9.98791251e-01 8.75069462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.430385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.43, Y:42.27, Z:8.75 [[ 7.92960136e-01 -6.08018962e-01 -3.90789668e-02 1.71431315e+02] [ 6.07287142e-01 7.93922500e-01 -2.98226841e-02 4.22670141e+01] [ 4.91584284e-02 -8.39544640e-05 9.98790990e-01 8.75497269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.460385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.45, Y:42.29, Z:8.75 [[ 7.92434294e-01 -6.08713094e-01 -3.89391598e-02 1.71449538e+02] [ 6.07973416e-01 7.93390421e-01 -2.99994437e-02 4.22864109e+01] [ 4.91550105e-02 9.86139970e-05 9.98791157e-01 8.75181250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.490385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.47, Y:42.30, Z:8.75 [[ 7.92972664e-01 -6.08023890e-01 -3.87466533e-02 1.71470750e+02] [ 6.07271470e-01 7.93918601e-01 -3.02426260e-02 4.23039792e+01] [ 4.91499279e-02 4.51838565e-04 9.98791310e-01 8.75302696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.520385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.50, Y:42.32, Z:8.75 [[ 7.95011701e-01 -6.05353999e-01 -3.87676575e-02 1.71495659e+02] [ 6.04599697e-01 7.95956152e-01 -3.02160653e-02 4.23226773e+01] [ 4.91487715e-02 5.83211501e-04 9.98791299e-01 8.75363642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.550385723 meters Centerline goodness : 0.999497 Centerline is valid? [True, True] Translation: X:171.51, Y:42.33, Z:8.75 [[ 7.98479771e-01 -6.00760761e-01 -3.89430712e-02 1.71508978e+02] [ 6.00011817e-01 7.99428650e-01 -2.99942089e-02 4.23331212e+01] [ 4.91515506e-02 5.83466141e-04 9.98791162e-01 8.75418155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.580385723 meters Centerline goodness : 0.999629 Centerline is valid? [True, True] Translation: X:171.54, Y:42.36, Z:8.76 [[ 7.96331476e-01 -6.03660212e-01 -3.80858208e-02 1.71537302e+02] [ 6.02862235e-01 7.97239704e-01 -3.10802225e-02 4.23575472e+01] [ 4.91254222e-02 1.78965646e-03 9.98791014e-01 8.75596881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.610385723 meters Centerline goodness : 0.999345 Centerline is valid? [True, True] Translation: X:171.56, Y:42.37, Z:8.76 [[ 7.96606401e-01 -6.03255059e-01 -3.87501786e-02 1.71560390e+02] [ 6.02497197e-01 7.97547983e-01 -3.02380950e-02 4.23737179e+01] [ 4.91464106e-02 7.40986032e-04 9.98791310e-01 8.75734343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.640385723 meters Centerline goodness : 0.999606 Centerline is valid? [True, True] Translation: X:171.58, Y:42.39, Z:8.76 [[ 7.96516222e-01 -6.03379110e-01 -3.86724427e-02 1.71580667e+02] [ 6.02616612e-01 7.97454018e-01 -3.03365733e-02 4.23917980e+01] [ 4.91439495e-02 8.58916319e-04 9.98791337e-01 8.75552256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.670385723 meters Centerline goodness : 0.999543 Centerline is valid? [True, True] Translation: X:171.60, Y:42.41, Z:8.76 [[ 7.97213336e-01 -6.02463643e-01 -3.85804986e-02 1.71604210e+02] [ 6.01694431e-01 7.98145618e-01 -3.04529972e-02 4.24099023e+01] [ 4.91396795e-02 1.06386441e-03 9.98791350e-01 8.75931385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.700385723 meters Centerline goodness : 0.999650 Centerline is valid? [True, True] Translation: X:171.62, Y:42.43, Z:8.76 [[ 7.98701827e-01 -6.00480609e-01 -3.87095527e-02 1.71623758e+02] [ 5.99716978e-01 7.99638720e-01 -3.02896654e-02 4.24290123e+01] [ 4.91420139e-02 9.77635156e-04 9.98791323e-01 8.76406524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.730385723 meters Centerline goodness : 0.999584 Centerline is valid? [True, True] Translation: X:171.65, Y:42.45, Z:8.76 [[ 7.98624191e-01 -6.00593896e-01 -3.85535248e-02 1.71648926e+02] [ 5.99820862e-01 7.99553299e-01 -3.04869791e-02 4.24479181e+01] [ 4.91358915e-02 1.22243057e-03 9.98791355e-01 8.76228480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.760385723 meters Centerline goodness : 0.999565 Centerline is valid? [True, True] Translation: X:171.67, Y:42.47, Z:8.77 [[ 7.99649198e-01 -5.99215258e-01 -3.87586694e-02 1.71670917e+02] [ 5.98453160e-01 8.00587360e-01 -3.02273636e-02 4.24655065e+01] [ 4.91423983e-02 9.76038898e-04 9.98791306e-01 8.76598045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.790385723 meters Centerline goodness : 0.998890 Centerline is valid? [True, True] Translation: X:171.70, Y:42.48, Z:8.77 [[ 8.01609147e-01 -5.96586285e-01 -3.88275686e-02 1.71697191e+02] [ 5.95825334e-01 8.02548286e-01 -3.01400045e-02 4.24824430e+01] [ 4.91421120e-02 1.02605425e-03 9.98791270e-01 8.76759965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.82038572300002 meters Centerline goodness : 0.999630 Centerline is valid? [True, True] Translation: X:171.71, Y:42.50, Z:8.77 [[ 8.00408500e-01 -5.98177711e-01 -3.91108605e-02 1.71712404e+02] [ 5.97436081e-01 8.01363341e-01 -2.97812684e-02 4.25002333e+01] [ 4.91565008e-02 4.70941121e-04 9.98790977e-01 8.76869558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.85038572300002 meters Centerline goodness : 0.999456 Centerline is valid? [True, True] Translation: X:171.73, Y:42.52, Z:8.77 [[ 8.02243449e-01 -5.95749111e-01 -3.85803773e-02 1.71732642e+02] [ 5.94972173e-01 8.03169235e-01 -3.04514887e-02 4.25181912e+01] [ 4.91280194e-02 1.47525635e-03 9.98791400e-01 8.77142346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.88038572300002 meters Centerline goodness : 0.999609 Centerline is valid? [True, True] Translation: X:171.76, Y:42.54, Z:8.77 [[ 8.03265397e-01 -5.94373566e-01 -3.85326564e-02 1.71758788e+02] [ 5.93592155e-01 8.04187408e-01 -3.05117547e-02 4.25383354e+01] [ 4.91228575e-02 1.63635424e-03 9.98791403e-01 8.77098753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.91038572300002 meters Centerline goodness : 0.999542 Centerline is valid? [True, True] Translation: X:171.78, Y:42.55, Z:8.77 [[ 8.03786037e-01 -5.93645662e-01 -3.88951781e-02 1.71776308e+02] [ 5.92885445e-01 8.04725808e-01 -3.00536833e-02 4.25546885e+01] [ 4.91411923e-02 1.09634603e-03 9.98791240e-01 8.76836741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.94038572300002 meters Centerline goodness : 0.999652 Centerline is valid? [True, True] Translation: X:171.80, Y:42.57, Z:8.77 [[ 8.04186690e-01 -5.93128265e-01 -3.85049213e-02 1.71797076e+02] [ 5.92343776e-01 8.05106064e-01 -3.05463054e-02 4.25738822e+01] [ 4.91184228e-02 1.75678170e-03 9.98791417e-01 8.77321741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.970385723 meters Centerline goodness : 0.999499 Centerline is valid? [True, True] Translation: X:171.82, Y:42.59, Z:8.77 [[ 8.04324944e-01 -5.92939721e-01 -3.85210566e-02 1.71818923e+02] [ 5.92155989e-01 8.05244963e-01 -3.05259442e-02 4.25920373e+01] [ 4.91189316e-02 1.74230396e-03 9.98791417e-01 8.77442725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.000385723 meters Centerline goodness : 0.999500 Centerline is valid? [True, True] Translation: X:171.84, Y:42.61, Z:8.78 [[ 8.04138074e-01 -5.93193678e-01 -3.85125753e-02 1.71840816e+02] [ 5.92409725e-01 8.05057905e-01 -3.05366407e-02 4.26095631e+01] [ 4.91189954e-02 1.74045130e-03 9.98791417e-01 8.77658910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.030385723 meters Centerline goodness : 0.999454 Centerline is valid? [True, True] Translation: X:171.87, Y:42.63, Z:8.78 [[ 8.03450558e-01 -5.94124808e-01 -3.85086254e-02 1.71868352e+02] [ 5.93341683e-01 8.04371094e-01 -3.05416210e-02 4.26277640e+01] [ 4.91207598e-02 1.68990981e-03 9.98791417e-01 8.77721686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.060385723 meters Centerline goodness : 0.999435 Centerline is valid? [True, True] Translation: X:171.89, Y:42.65, Z:8.78 [[ 8.01060287e-01 -5.97319945e-01 -3.88754397e-02 1.71887265e+02] [ 5.96562801e-01 8.02002536e-01 -3.00791832e-02 4.26462600e+01] [ 4.91450973e-02 9.03597947e-04 9.98791241e-01 8.77745079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.090385723 meters Centerline goodness : 0.999565 Centerline is valid? [True, True] Translation: X:171.91, Y:42.66, Z:8.78 [[ 8.00444549e-01 -5.98163452e-01 -3.85876687e-02 1.71909726e+02] [ 5.97389791e-01 8.01373044e-01 -3.04414402e-02 4.26647843e+01] [ 4.91320745e-02 1.31480557e-03 9.98791425e-01 8.77921873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.120385723 meters Centerline goodness : 0.999433 Centerline is valid? [True, True] Translation: X:171.94, Y:42.68, Z:8.78 [[ 8.01700059e-01 -5.96474697e-01 -3.86646019e-02 1.71936145e+02] [ 5.95703742e-01 8.02630837e-01 -3.03445488e-02 4.26822606e+01] [ 4.91331573e-02 1.29457852e-03 9.98791398e-01 8.78199545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.150385723 meters Centerline goodness : 0.999433 Centerline is valid? [True, True] Translation: X:171.95, Y:42.70, Z:8.78 [[ 7.99855864e-01 -5.98923742e-01 -3.89993364e-02 1.71951104e+02] [ 5.98176096e-01 8.00805835e-01 -2.99227899e-02 4.26992329e+01] [ 4.91523654e-02 6.05448198e-04 9.98791109e-01 8.78165315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.180385723 meters Centerline goodness : 0.999521 Centerline is valid? [True, True] Translation: X:171.97, Y:42.72, Z:8.78 [[ 7.99061017e-01 -6.00017832e-01 -3.84719757e-02 1.71973920e+02] [ 5.99239358e-01 7.99985425e-01 -3.05861450e-02 4.27179244e+01] [ 4.91292522e-02 1.38627414e-03 9.98791467e-01 8.78427265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.210385723 meters Centerline goodness : 0.999521 Centerline is valid? [True, True] Translation: X:172.00, Y:42.74, Z:8.79 [[ 7.98863654e-01 -6.00274425e-01 -3.85678194e-02 1.71996217e+02] [ 5.99502053e-01 7.99793183e-01 -3.04656053e-02 4.27357855e+01] [ 4.91340027e-02 1.21637783e-03 9.98791455e-01 8.78573747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.240385723 meters Centerline goodness : 0.999520 Centerline is valid? [True, True] Translation: X:172.02, Y:42.75, Z:8.79 [[ 7.98835080e-01 -6.00313300e-01 -3.85545856e-02 1.72018209e+02] [ 5.99540172e-01 7.99763975e-01 -3.04822362e-02 4.27528921e+01] [ 4.91334605e-02 1.23525673e-03 9.98791458e-01 8.78672553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.270385723 meters Centerline goodness : 0.999544 Centerline is valid? [True, True] Translation: X:172.04, Y:42.77, Z:8.79 [[ 7.98035001e-01 -6.01383318e-01 -3.84479016e-02 1.72038557e+02] [ 6.00604979e-01 7.98959515e-01 -3.06162113e-02 4.27707638e+01] [ 4.91303956e-02 1.34080707e-03 9.98791473e-01 8.78711538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.300385723 meters Centerline goodness : 0.999455 Centerline is valid? [True, True] Translation: X:172.06, Y:42.79, Z:8.79 [[ 7.97609307e-01 -6.01948016e-01 -3.84444948e-02 1.72060514e+02] [ 6.01170125e-01 7.98534198e-01 -3.06204886e-02 4.27886616e+01] [ 4.91311862e-02 1.31150494e-03 9.98791473e-01 8.78892028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.330385723 meters Centerline goodness : 0.999433 Centerline is valid? [True, True] Translation: X:172.08, Y:42.81, Z:8.79 [[ 7.96103935e-01 -6.03938077e-01 -3.84359852e-02 1.72082741e+02] [ 6.03161983e-01 7.97030334e-01 -3.06311665e-02 4.28059365e+01] [ 4.91339739e-02 1.20246708e-03 9.98791473e-01 8.78666831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.360385723 meters Centerline goodness : 0.999563 Centerline is valid? [True, True] Translation: X:172.11, Y:42.82, Z:8.79 [[ 7.95748475e-01 -6.04408978e-01 -3.83946820e-02 1.72105221e+02] [ 6.03630934e-01 7.96673239e-01 -3.06829763e-02 4.28233005e+01] [ 4.91330820e-02 1.23971389e-03 9.98791471e-01 8.78873901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.390385723 meters Centerline goodness : 0.999386 Centerline is valid? [True, True] Translation: X:172.13, Y:42.84, Z:8.79 [[ 7.95603788e-01 -6.04600171e-01 -3.83828788e-02 1.72130251e+02] [ 6.03821636e-01 7.96528140e-01 -3.06977700e-02 4.28379702e+01] [ 4.91329201e-02 1.24684935e-03 9.98791471e-01 8.78834930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.420385723 meters Centerline goodness : 0.999498 Centerline is valid? [True, True] Translation: X:172.15, Y:42.86, Z:8.79 [[ 7.95239413e-01 -6.05069454e-01 -3.85386940e-02 1.72153456e+02] [ 6.04300901e-01 7.96172104e-01 -3.05025026e-02 4.28554761e+01] [ 4.91395657e-02 9.67824810e-04 9.98791453e-01 8.79230928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.450385723 meters Centerline goodness : 0.999433 Centerline is valid? [True, True] Translation: X:172.17, Y:42.87, Z:8.80 [[ 7.94686405e-01 -6.05792207e-01 -3.85916978e-02 1.72173340e+02] [ 6.05027721e-01 7.95622461e-01 -3.04361075e-02 4.28717221e+01] [ 4.91423783e-02 8.38113840e-04 9.98791432e-01 8.79651894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.480385723 meters Centerline goodness : 0.999496 Centerline is valid? [True, True] Translation: X:172.20, Y:42.89, Z:8.80 [[ 7.93213549e-01 -6.07731873e-01 -3.83957806e-02 1.72196013e+02] [ 6.06957786e-01 7.94141615e-01 -3.06812898e-02 4.28874739e+01] [ 4.91376850e-02 1.03219681e-03 9.98791481e-01 8.79670139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.510385723 meters Centerline goodness : 0.999605 Centerline is valid? [True, True] Translation: X:172.22, Y:42.90, Z:8.79 [[ 7.90408815e-01 -6.11375601e-01 -3.83898473e-02 1.72217249e+02] [ 6.10605432e-01 7.91340135e-01 -3.06887121e-02 4.29034587e+01] [ 4.91417568e-02 8.15579262e-04 9.98791481e-01 8.79342140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.540385723 meters Centerline goodness : 0.999561 Centerline is valid? [True, True] Translation: X:172.24, Y:42.92, Z:8.80 [[ 7.89692875e-01 -6.12314636e-01 -3.81569163e-02 1.72239734e+02] [ 6.11531471e-01 7.90613375e-01 -3.09798503e-02 4.29203507e+01] [ 4.91367841e-02 1.13041184e-03 9.98791419e-01 8.79592159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.57038572300002 meters Centerline goodness : 0.999494 Centerline is valid? [True, True] Translation: X:172.27, Y:42.94, Z:8.80 [[ 7.91833692e-01 -6.09544411e-01 -3.81446634e-02 1.72266565e+02] [ 6.08757288e-01 7.92750820e-01 -3.09951767e-02 4.29365741e+01] [ 4.91321500e-02 1.32218333e-03 9.98791411e-01 8.80154492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.60038572300002 meters Centerline goodness : 0.998502 Centerline is valid? [True, True] Translation: X:172.29, Y:42.95, Z:8.80 [[ 7.92515570e-01 -6.08641829e-01 -3.83952600e-02 1.72292256e+02] [ 6.07868793e-01 7.93444498e-01 -3.06815838e-02 4.29543687e+01] [ 4.91386031e-02 9.76352524e-04 9.98791492e-01 8.80060336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.63038572300002 meters Centerline goodness : 0.998306 Centerline is valid? [True, True] Translation: X:172.31, Y:42.97, Z:8.80 [[ 7.93092174e-01 -6.07875810e-01 -3.86238755e-02 1.72313681e+02] [ 6.07115762e-01 7.94031843e-01 -3.03954556e-02 4.29705492e+01] [ 4.91452492e-02 6.57234404e-04 9.98791426e-01 8.80171143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.66038572300002 meters Centerline goodness : 0.999648 Centerline is valid? [True, True] Translation: X:172.33, Y:42.99, Z:8.80 [[ 7.91387643e-01 -6.10095285e-01 -3.85919974e-02 1.72329391e+02] [ 6.09335928e-01 7.92327847e-01 -3.04353240e-02 4.29871597e+01] [ 4.91459619e-02 5.70648827e-04 9.98791444e-01 8.80174291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.69038572300002 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:172.36, Y:43.00, Z:8.81 [[ 7.94076495e-01 -6.06624027e-01 -3.80763702e-02 1.72358303e+02] [ 6.05829385e-01 7.94987224e-01 -3.10816511e-02 4.30025512e+01] [ 4.91251042e-02 1.61342461e-03 9.98791330e-01 8.80796189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.720385723 meters Centerline goodness : 0.999714 Centerline is valid? [True, True] Translation: X:172.38, Y:43.02, Z:8.81 [[ 7.93736459e-01 -6.07046731e-01 -3.84278557e-02 1.72380576e+02] [ 6.06273798e-01 7.94665477e-01 -3.06408524e-02 4.30190031e+01] [ 4.91377195e-02 1.02295963e-03 9.98791489e-01 8.80939418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.750385723 meters Centerline goodness : 0.999603 Centerline is valid? [True, True] Translation: X:172.40, Y:43.04, Z:8.81 [[ 7.91914287e-01 -6.09422437e-01 -3.84194628e-02 1.72398573e+02] [ 6.08651781e-01 7.92845195e-01 -3.06513723e-02 4.30373916e+01] [ 4.91403205e-02 8.89185185e-04 9.98791489e-01 8.80740679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.780385723 meters Centerline goodness : 0.999735 Centerline is valid? [True, True] Translation: X:172.42, Y:43.05, Z:8.81 [[ 7.93523780e-01 -6.07342878e-01 -3.81397302e-02 1.72424415e+02] [ 6.06552899e-01 7.94438466e-01 -3.10016795e-02 4.30544135e+01] [ 4.91283180e-02 1.46680594e-03 9.98791398e-01 8.80932523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.810385723 meters Centerline goodness : 0.999757 Centerline is valid? [True, True] Translation: X:172.44, Y:43.07, Z:8.81 [[ 7.91862583e-01 -6.09490212e-01 -3.84100313e-02 1.72444560e+02] [ 6.08719068e-01 7.92793082e-01 -3.06630950e-02 4.30711645e+01] [ 4.91400634e-02 9.00039204e-04 9.98791492e-01 8.80883045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.840385723 meters Centerline goodness : 0.999735 Centerline is valid? [True, True] Translation: X:172.47, Y:43.09, Z:8.81 [[ 7.91440517e-01 -6.10050655e-01 -3.82113445e-02 1.72469744e+02] [ 6.09268135e-01 7.92361532e-01 -3.09118492e-02 4.30892456e+01] [ 4.91349933e-02 1.18393528e-03 9.98791445e-01 8.81165453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.870385723 meters Centerline goodness : 0.999690 Centerline is valid? [True, True] Translation: X:172.49, Y:43.10, Z:8.81 [[ 7.89382971e-01 -6.12698781e-01 -3.84021971e-02 1.72490037e+02] [ 6.11930942e-01 7.90316200e-01 -3.06729072e-02 4.31016649e+01] [ 4.91431313e-02 7.13177985e-04 9.98791492e-01 8.81314816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.900385723 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:172.52, Y:43.12, Z:8.82 [[ 7.89107866e-01 -6.13072741e-01 -3.80866044e-02 1.72515878e+02] [ 6.12286225e-01 7.90025559e-01 -3.10675889e-02 4.31196693e+01] [ 4.91360829e-02 1.19577553e-03 9.98791377e-01 8.81658047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.930385723 meters Centerline goodness : 0.999734 Centerline is valid? [True, True] Translation: X:172.54, Y:43.14, Z:8.82 [[ 7.87761496e-01 -6.14782764e-01 -3.83924231e-02 1.72537645e+02] [ 6.14016806e-01 7.88696263e-01 -3.06849640e-02 4.31352216e+01] [ 4.91445476e-02 5.98840134e-04 9.98791497e-01 8.81892236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.960385723 meters Centerline goodness : 0.999690 Centerline is valid? [True, True] Translation: X:172.56, Y:43.15, Z:8.82 [[ 7.86568241e-01 -6.16308948e-01 -3.83885842e-02 1.72556388e+02] [ 6.15544570e-01 7.87504299e-01 -3.06897660e-02 4.31522145e+01] [ 4.91455525e-02 5.09710716e-04 9.98791497e-01 8.81914972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.990385723 meters Centerline goodness : 0.999712 Centerline is valid? [True, True] Translation: X:172.58, Y:43.17, Z:8.82 [[ 7.87790440e-01 -6.14763854e-01 -3.81002139e-02 1.72582982e+02] [ 6.13980150e-01 7.88710506e-01 -3.10501759e-02 4.31692434e+01] [ 4.91385648e-02 1.06825665e-03 9.98791400e-01 8.82082126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.020385723 meters Centerline goodness : 0.999822 Centerline is valid? [True, True] Translation: X:172.61, Y:43.19, Z:8.83 [[ 7.87355874e-01 -6.15302996e-01 -3.83790375e-02 1.72605479e+02] [ 6.14536843e-01 7.88290478e-01 -3.07016361e-02 4.31862089e+01] [ 4.91446385e-02 5.87780967e-04 9.98791499e-01 8.82510004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.050385723 meters Centerline goodness : 0.999822 Centerline is valid? [True, True] Translation: X:172.63, Y:43.20, Z:8.82 [[ 7.87779256e-01 -6.14761374e-01 -3.83705054e-02 1.72628747e+02] [ 6.13994060e-01 7.88712907e-01 -3.07122958e-02 4.32025665e+01] [ 4.91440460e-02 6.35247141e-04 9.98791499e-01 8.82419213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.080385723 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:172.65, Y:43.22, Z:8.83 [[ 7.88306403e-01 -6.14090755e-01 -3.82826409e-02 1.72650897e+02] [ 6.13317314e-01 7.89234994e-01 -3.08220194e-02 4.32204429e+01] [ 4.91415170e-02 8.17788804e-04 9.98791491e-01 8.82805502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.110385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:172.67, Y:43.24, Z:8.83 [[ 7.90754799e-01 -6.10929711e-01 -3.83632144e-02 1.72672739e+02] [ 6.10157432e-01 7.91684346e-01 -3.07214043e-02 4.32363195e+01] [ 4.91401750e-02 8.85497481e-04 9.98791499e-01 8.82591427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.140385723 meters Centerline goodness : 0.999799 Centerline is valid? [True, True] Translation: X:172.69, Y:43.25, Z:8.83 [[ 7.91785993e-01 -6.09592887e-01 -3.83595216e-02 1.72694673e+02] [ 6.08818815e-01 7.92714049e-01 -3.07260145e-02 4.32538536e+01] [ 4.91384916e-02 9.74429430e-04 9.98791499e-01 8.82802053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.170385723 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:172.72, Y:43.27, Z:8.83 [[ 7.94412036e-01 -6.06167236e-01 -3.83509910e-02 1.72718627e+02] [ 6.05388649e-01 7.95336307e-01 -3.07366584e-02 4.32719048e+01] [ 4.91334908e-02 1.20031676e-03 9.98791499e-01 8.82799793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.200385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:172.74, Y:43.29, Z:8.83 [[ 7.94755332e-01 -6.05712785e-01 -3.84185420e-02 1.72739442e+02] [ 6.04937736e-01 7.95682579e-01 -3.06523857e-02 4.32896481e+01] [ 4.91355065e-02 1.12032116e-03 9.98791493e-01 8.82966411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.230385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:172.76, Y:43.31, Z:8.83 [[ 7.95892845e-01 -6.04222320e-01 -3.83401483e-02 1.72763127e+02] [ 6.03440827e-01 7.96814657e-01 -3.07501298e-02 4.33069737e+01] [ 4.91299069e-02 1.33779744e-03 9.98791501e-01 8.82981290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.260385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:172.79, Y:43.32, Z:8.83 [[ 7.96057211e-01 -6.04004749e-01 -3.83559603e-02 1.72786858e+02] [ 6.03223952e-01 7.96979614e-01 -3.07304225e-02 4.33239549e+01] [ 4.91302395e-02 1.32594043e-03 9.98791500e-01 8.83238562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.290385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:172.81, Y:43.34, Z:8.83 [[ 7.95086579e-01 -6.05280496e-01 -3.83777634e-02 1.72809724e+02] [ 6.04502489e-01 7.96011339e-01 -3.07032577e-02 4.33397137e+01] [ 4.91332179e-02 1.21229464e-03 9.98791498e-01 8.83491310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.32038572300002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:172.83, Y:43.36, Z:8.84 [[ 7.94654547e-01 -6.05849200e-01 -3.83522839e-02 1.72832877e+02] [ 6.05070324e-01 7.95578572e-01 -3.07349858e-02 4.33563402e+01] [ 4.91330218e-02 1.21786741e-03 9.98791501e-01 8.83666679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.35038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.85, Y:43.37, Z:8.84 [[ 7.93534255e-01 -6.07314192e-01 -3.83778322e-02 1.72853675e+02] [ 6.06538558e-01 7.94461007e-01 -3.07031832e-02 4.33732523e+01] [ 4.91361702e-02 1.08639257e-03 9.98791498e-01 8.83819115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.38038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.88, Y:43.39, Z:8.84 [[ 7.92630564e-01 -6.08497680e-01 -3.83061760e-02 1.72875871e+02] [ 6.07719121e-01 7.93554851e-01 -3.07923253e-02 4.33889992e+01] [ 4.91351103e-02 1.12754250e-03 9.98791505e-01 8.83909590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.41038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.90, Y:43.41, Z:8.84 [[ 7.91847885e-01 -6.09516381e-01 -3.82976383e-02 1.72899175e+02] [ 6.08738499e-01 7.92772741e-01 -3.08029403e-02 4.34053402e+01] [ 4.91362204e-02 1.07799630e-03 9.98791505e-01 8.84123986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.44038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.92, Y:43.42, Z:8.84 [[ 7.91506422e-01 -6.09960262e-01 -3.82892091e-02 1.72921957e+02] [ 6.09182392e-01 7.92431289e-01 -3.08134146e-02 4.34224527e+01] [ 4.91365257e-02 1.06390355e-03 9.98791505e-01 8.84273968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.470385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.95, Y:43.44, Z:8.84 [[ 7.90803561e-01 -6.10871755e-01 -3.82808885e-02 1.72945254e+02] [ 6.10094451e-01 7.91728904e-01 -3.08237482e-02 4.34384315e+01] [ 4.91374430e-02 1.02057216e-03 9.98791505e-01 8.84481748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.500385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.97, Y:43.45, Z:8.85 [[ 7.89765907e-01 -6.12213231e-01 -3.82723400e-02 1.72968110e+02] [ 6.11436985e-01 7.90692137e-01 -3.08343588e-02 4.34549600e+01] [ 4.91388407e-02 9.50801117e-04 9.98791505e-01 8.84802150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.530385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:172.99, Y:43.47, Z:8.85 [[ 7.89336604e-01 -6.12767183e-01 -3.82636213e-02 1.72990669e+02] [ 6.11991063e-01 7.90262940e-01 -3.08451744e-02 4.34709734e+01] [ 4.91392325e-02 9.30230904e-04 9.98791505e-01 8.84765392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.560385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.01, Y:43.49, Z:8.85 [[ 7.88520803e-01 -6.13816785e-01 -3.82609120e-02 1.73011516e+02] [ 6.13041735e-01 7.89448035e-01 -3.08485347e-02 4.34876042e+01] [ 4.91403501e-02 8.69175539e-04 9.98791505e-01 8.84772116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.590385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.03, Y:43.51, Z:8.85 [[ 7.86953606e-01 -6.15825263e-01 -3.82526773e-02 1.73033972e+02] [ 6.15052084e-01 7.87882397e-01 -3.08587424e-02 4.35060605e+01] [ 4.91422043e-02 7.57009696e-04 9.98791505e-01 8.85121459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.620385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.06, Y:43.52, Z:8.85 [[ 7.87056974e-01 -6.15693624e-01 -3.82450021e-02 1.73056063e+02] [ 6.14919828e-01 7.87985251e-01 -3.08682519e-02 4.35232653e+01] [ 4.91418834e-02 7.77462811e-04 9.98791505e-01 8.85226680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.650385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.08, Y:43.54, Z:8.85 [[ 7.87907715e-01 -6.14603875e-01 -3.82558404e-02 1.73077071e+02] [ 6.13829446e-01 7.88835465e-01 -3.08548264e-02 4.35416509e+01] [ 4.91410595e-02 8.28194431e-04 9.98791505e-01 8.85218860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.680385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.10, Y:43.56, Z:8.85 [[ 7.88291002e-01 -6.14113527e-01 -3.82344336e-02 1.73098302e+02] [ 6.13337236e-01 7.89217194e-01 -3.08813303e-02 4.35593129e+01] [ 4.91399151e-02 8.92873018e-04 9.98791506e-01 8.85078994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.710385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.12, Y:43.58, Z:8.86 [[ 7.89046498e-01 -6.13142751e-01 -3.82307590e-02 1.73120149e+02] [ 6.12365100e-01 7.89971548e-01 -3.08858788e-02 4.35770257e+01] [ 4.91386646e-02 9.59211960e-04 9.98791506e-01 8.85546469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.740385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:173.14, Y:43.59, Z:8.86 [[ 7.89673043e-01 -6.12336421e-01 -3.82176992e-02 1.73141807e+02] [ 6.11557044e-01 7.90596640e-01 -3.09020351e-02 4.35939103e+01] [ 4.91372262e-02 1.03020097e-03 9.98791506e-01 8.85612520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.770385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.16, Y:43.61, Z:8.86 [[ 7.90546297e-01 -6.11208556e-01 -3.82184901e-02 1.73163530e+02] [ 6.10427909e-01 7.91468820e-01 -3.09010570e-02 4.36114090e+01] [ 4.91357337e-02 1.09908318e-03 9.98791506e-01 8.85900951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.800385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.18, Y:43.63, Z:8.86 [[ 7.91839472e-01 -6.09532806e-01 -3.82100670e-02 1.73184599e+02] [ 6.08749705e-01 7.92759912e-01 -3.09114688e-02 4.36298078e+01] [ 4.91329637e-02 1.21655413e-03 9.98791506e-01 8.86039351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.830385723 meters Centerline goodness : 0.997419 Centerline is valid? [True, True] Translation: X:173.21, Y:43.65, Z:8.86 [[ 7.92830262e-01 -6.08243674e-01 -3.82074533e-02 1.73206057e+02] [ 6.07458920e-01 7.93749294e-01 -3.09146992e-02 4.36480348e+01] [ 4.91308093e-02 1.30065075e-03 9.98791506e-01 8.85771017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.860385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.23, Y:43.67, Z:8.86 [[ 7.92831749e-01 -6.08242355e-01 -3.81975869e-02 1.73228029e+02] [ 6.07457014e-01 7.93750278e-01 -3.09268851e-02 4.36671041e+01] [ 4.91303867e-02 1.31642433e-03 9.98791506e-01 8.86292039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.890385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.25, Y:43.69, Z:8.87 [[ 7.93124013e-01 -6.07859354e-01 -3.82270265e-02 1.73248447e+02] [ 6.07075316e-01 7.94043659e-01 -3.08905744e-02 4.36858290e+01] [ 4.91310526e-02 1.29337219e-03 9.98791503e-01 8.86507755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.920385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.27, Y:43.70, Z:8.87 [[ 7.92975825e-01 -6.08055302e-01 -3.81849549e-02 1.73268970e+02] [ 6.07268995e-01 7.93893527e-01 -3.09424437e-02 4.37046505e+01] [ 4.91295054e-02 1.34807062e-03 9.98791507e-01 8.86689068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.950385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.29, Y:43.72, Z:8.87 [[ 7.93192740e-01 -6.07779829e-01 -3.80651589e-02 1.73290379e+02] [ 6.06986120e-01 7.94104061e-01 -3.10900335e-02 4.37216497e+01] [ 4.91235925e-02 1.55536572e-03 9.98791497e-01 8.86835828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.980385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.31, Y:43.74, Z:8.87 [[ 7.93574497e-01 -6.07283346e-01 -3.80322918e-02 1.73314088e+02] [ 6.06487129e-01 7.94483640e-01 -3.11305059e-02 4.37383175e+01] [ 4.91210714e-02 1.63828008e-03 9.98791488e-01 8.86993027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.010385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.34, Y:43.76, Z:8.87 [[ 7.93376434e-01 -6.07534622e-01 -3.81512383e-02 1.73336415e+02] [ 6.06745714e-01 7.94291903e-01 -3.09840462e-02 4.37557118e+01] [ 4.91271005e-02 1.43391173e-03 9.98791506e-01 8.87162629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.040385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.36, Y:43.77, Z:8.88 [[ 7.92499979e-01 -6.08678011e-01 -3.81426526e-02 1.73357347e+02] [ 6.07889917e-01 7.93416148e-01 -3.09946120e-02 4.37735330e+01] [ 4.91287353e-02 1.37669546e-03 9.98791506e-01 8.87559148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.07038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.38, Y:43.79, Z:8.88 [[ 7.92274185e-01 -6.08976048e-01 -3.80760847e-02 1.73378516e+02] [ 6.08184366e-01 7.93187260e-01 -3.10764803e-02 4.37912716e+01] [ 4.91262975e-02 1.46381365e-03 9.98791502e-01 8.87547560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.10038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.40, Y:43.81, Z:8.88 [[ 7.92436340e-01 -6.08761673e-01 -3.81296842e-02 1.73401128e+02] [ 6.07972908e-01 7.93351932e-01 -3.10105763e-02 4.38096926e+01] [ 4.91283089e-02 1.39209261e-03 9.98791505e-01 8.87896919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.13038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.42, Y:43.83, Z:8.88 [[ 7.92256487e-01 -6.08996218e-01 -3.81217081e-02 1.73423261e+02] [ 6.08207253e-01 7.93171907e-01 -3.10203783e-02 4.38277630e+01] [ 4.91283610e-02 1.39019662e-03 9.98791506e-01 8.88036980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.16038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.44, Y:43.84, Z:8.88 [[ 7.90743919e-01 -6.10959483e-01 -3.81125301e-02 1.73440324e+02] [ 6.10172248e-01 7.91660827e-01 -3.10316506e-02 4.38446609e+01] [ 4.91312783e-02 1.28288086e-03 9.98791506e-01 8.88011172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.19038572300002 meters Centerline goodness : 0.998285 Centerline is valid? [True, True] Translation: X:173.47, Y:43.86, Z:8.88 [[ 7.92304146e-01 -6.08961372e-01 -3.76853630e-02 1.73469281e+02] [ 6.08146922e-01 7.93197147e-01 -3.15532413e-02 4.38645496e+01] [ 4.91066275e-02 2.08152643e-03 9.98791373e-01 8.87824977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.220385723 meters Centerline goodness : 0.997732 Centerline is valid? [True, True] Translation: X:173.49, Y:43.88, Z:8.88 [[ 7.91549247e-01 -6.09905849e-01 -3.82706793e-02 1.73491409e+02] [ 6.09126739e-01 7.92473123e-01 -3.08377266e-02 4.38809820e+01] [ 4.91365945e-02 1.09788517e-03 9.98791465e-01 8.87933478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.250385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.51, Y:43.90, Z:8.88 [[ 7.89865924e-01 -6.12085393e-01 -3.82530306e-02 1.73509931e+02] [ 6.11307789e-01 7.90791054e-01 -3.08592930e-02 4.38978547e+01] [ 4.91386769e-02 9.90328398e-04 9.98791475e-01 8.88314970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.280385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.53, Y:43.92, Z:8.88 [[ 7.89688423e-01 -6.12328945e-01 -3.80191806e-02 1.73531451e+02] [ 6.11537855e-01 7.90601958e-01 -3.11447647e-02 4.39152628e+01] [ 4.91288795e-02 1.34449195e-03 9.98791543e-01 8.88429124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.310385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.55, Y:43.93, Z:8.89 [[ 7.89452549e-01 -6.12633537e-01 -3.80108089e-02 1.73554340e+02] [ 6.11842309e-01 7.90365964e-01 -3.11549787e-02 4.39336235e+01] [ 4.91290344e-02 1.33875628e-03 9.98791543e-01 8.88541636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.340385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.58, Y:43.95, Z:8.89 [[ 7.89561636e-01 -6.12493398e-01 -3.80034221e-02 1.73576253e+02] [ 6.11701574e-01 7.90474535e-01 -3.11639866e-02 4.39513685e+01] [ 4.91284735e-02 1.35913507e-03 9.98791543e-01 8.88562047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.370385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.60, Y:43.97, Z:8.89 [[ 7.89922200e-01 -6.12028560e-01 -3.79994810e-02 1.73598508e+02] [ 6.11235968e-01 7.90834432e-01 -3.11687914e-02 4.39700752e+01] [ 4.91274885e-02 1.39427067e-03 9.98791543e-01 8.88816855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.400385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.62, Y:43.99, Z:8.89 [[ 7.89848462e-01 -6.12124186e-01 -3.79919582e-02 1.73620275e+02] [ 6.11331264e-01 7.90760407e-01 -3.11779583e-02 4.39884743e+01] [ 4.91273187e-02 1.40019059e-03 9.98791543e-01 8.88933082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.430385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.64, Y:44.01, Z:8.89 [[ 7.87469834e-01 -6.15181708e-01 -3.79832445e-02 1.73635859e+02] [ 6.14391816e-01 7.88384404e-01 -3.11885704e-02 4.40073945e+01] [ 4.91320356e-02 1.22346379e-03 9.98791543e-01 8.89118262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.460385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.66, Y:44.03, Z:8.89 [[ 7.86310537e-01 -6.16687582e-01 -3.75787935e-02 1.73655301e+02] [ 6.15875827e-01 7.87206012e-01 -3.16806192e-02 4.40254178e+01] [ 4.91192966e-02 1.76693423e-03 9.98791356e-01 8.89356786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.490385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.68, Y:44.04, Z:8.90 [[ 7.85364188e-01 -6.17897236e-01 -3.74979653e-02 1.73677931e+02] [ 6.17082164e-01 7.86256763e-01 -3.17790036e-02 4.40434697e+01] [ 4.91191873e-02 1.81876580e-03 9.98791268e-01 8.89551409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.520385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.71, Y:44.06, Z:8.89 [[ 7.87565381e-01 -6.15088679e-01 -3.75058361e-02 1.73707722e+02] [ 6.14270880e-01 7.88455446e-01 -3.17694260e-02 4.40606596e+01] [ 4.91126950e-02 1.98175718e-03 9.98791277e-01 8.89441516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.550385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.73, Y:44.08, Z:8.90 [[ 7.86588585e-01 -6.16307993e-01 -3.79849505e-02 1.73730536e+02] [ 6.15519541e-01 7.87504372e-01 -3.11858784e-02 4.40779501e+01] [ 4.91334206e-02 1.14997663e-03 9.98791562e-01 8.89756706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.580385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.75, Y:44.09, Z:8.90 [[ 7.86312399e-01 -6.16660741e-01 -3.79781815e-02 1.73751666e+02] [ 6.15872302e-01 7.87228197e-01 -3.11941194e-02 4.40948684e+01] [ 4.91336841e-02 1.13861280e-03 9.98791562e-01 8.89849505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.610385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.77, Y:44.11, Z:8.90 [[ 7.85825019e-01 -6.17281967e-01 -3.79738452e-02 1.73773764e+02] [ 6.16493997e-01 7.86741221e-01 -3.11993972e-02 4.41127694e+01] [ 4.91344147e-02 1.10661930e-03 9.98791562e-01 8.90153433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.640385723 meters Centerline goodness : 0.998370 Centerline is valid? [True, True] Translation: X:173.80, Y:44.13, Z:8.90 [[ 7.85490024e-01 -6.17708716e-01 -3.79653015e-02 1.73798356e+02] [ 6.16920743e-01 7.86406222e-01 -3.12097903e-02 4.41307499e+01] [ 4.91347088e-02 1.09339700e-03 9.98791562e-01 8.90235213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.670385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:173.81, Y:44.15, Z:8.91 [[ 7.83332480e-01 -6.20435594e-01 -3.80775569e-02 1.73813066e+02] [ 6.19657434e-01 7.84257049e-01 -3.10732375e-02 4.41467225e+01] [ 4.91415350e-02 7.45634968e-04 9.98791547e-01 8.90549992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.700385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.84, Y:44.16, Z:8.91 [[ 7.85642579e-01 -6.17536018e-01 -3.76165486e-02 1.73841621e+02] [ 6.16727362e-01 7.86540861e-01 -3.16359737e-02 4.41631425e+01] [ 4.91233058e-02 1.65541318e-03 9.98791350e-01 8.90747896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.730385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:173.86, Y:44.18, Z:8.91 [[ 7.84860088e-01 -6.18505017e-01 -3.80287592e-02 1.73864480e+02] [ 6.17721714e-01 7.85780284e-01 -3.11324689e-02 4.41808398e+01] [ 4.91378374e-02 9.43441965e-04 9.98791561e-01 8.91148810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.760385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:173.89, Y:44.20, Z:8.91 [[ 7.84327660e-01 -6.19180522e-01 -3.80210887e-02 1.73886172e+02] [ 6.18397558e-01 7.85248143e-01 -3.11418339e-02 4.41986716e+01] [ 4.91384063e-02 9.13253248e-04 9.98791561e-01 8.90992947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.790385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.91, Y:44.22, Z:8.91 [[ 7.84407684e-01 -6.19075914e-01 -3.80736029e-02 1.73907798e+02] [ 6.18295933e-01 7.85330703e-01 -3.10777494e-02 4.42165984e+01] [ 4.91398554e-02 8.36871581e-04 9.98791557e-01 8.91436268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.82038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.93, Y:44.23, Z:8.91 [[ 7.84495380e-01 -6.18969091e-01 -3.80034523e-02 1.73928708e+02] [ 6.18184839e-01 7.85414765e-01 -3.11632980e-02 4.42338693e+01] [ 4.91375908e-02 9.54305297e-04 9.98791563e-01 8.91318974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.85038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.95, Y:44.25, Z:8.92 [[ 7.84165076e-01 -6.19387723e-01 -3.79997553e-02 1.73950035e+02] [ 6.18603744e-01 7.85084694e-01 -3.11678054e-02 4.42525485e+01] [ 4.91379823e-02 9.33913671e-04 9.98791563e-01 8.91710152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.88038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.97, Y:44.27, Z:8.92 [[ 7.83937763e-01 -6.19675926e-01 -3.79911928e-02 1.73971281e+02] [ 6.18891779e-01 7.84857237e-01 -3.11782390e-02 4.42703621e+01] [ 4.91380667e-02 9.29362055e-04 9.98791563e-01 8.91824635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.91038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.99, Y:44.29, Z:8.92 [[ 7.82886564e-01 -6.21003621e-01 -3.79885598e-02 1.73993251e+02] [ 6.20220878e-01 7.83807234e-01 -3.11814467e-02 4.42891572e+01] [ 4.91394993e-02 8.50237764e-04 9.98791563e-01 8.92039931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.94038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.01, Y:44.31, Z:8.92 [[ 7.82398184e-01 -6.21619277e-01 -3.79809974e-02 1.74014390e+02] [ 6.20836812e-01 7.83319090e-01 -3.11906555e-02 4.43063156e+01] [ 4.91399531e-02 8.23510839e-04 9.98791563e-01 8.92148923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.970385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.04, Y:44.32, Z:8.92 [[ 7.81127369e-01 -6.23215663e-01 -3.79772418e-02 1.74036055e+02] [ 6.22434857e-01 7.82049683e-01 -3.11952276e-02 4.43247340e+01] [ 4.91414444e-02 7.29086965e-04 9.98791563e-01 8.92376983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.000385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.06, Y:44.34, Z:8.92 [[ 7.80409868e-01 -6.24114432e-01 -3.79685976e-02 1.74056959e+02] [ 6.23334177e-01 7.81332647e-01 -3.12057452e-02 4.43422409e+01] [ 4.91420608e-02 6.86146933e-04 9.98791563e-01 8.92454755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.030385723 meters Centerline goodness : 0.999798 Centerline is valid? [True, True] Translation: X:174.08, Y:44.36, Z:8.92 [[ 7.78638678e-01 -6.26322983e-01 -3.79648549e-02 1.74079461e+02] [ 6.25545123e-01 7.79563478e-01 -3.12102979e-02 4.43611518e+01] [ 4.91437412e-02 5.52815247e-04 9.98791563e-01 8.92186165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.060385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.10, Y:44.38, Z:8.93 [[ 7.78605438e-01 -6.26364754e-01 -3.79574311e-02 1.74100749e+02] [ 6.25586505e-01 7.79529909e-01 -3.12193240e-02 4.43788189e+01] [ 4.91436370e-02 5.61878764e-04 9.98791563e-01 8.92511304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.090385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:174.12, Y:44.40, Z:8.93 [[ 7.77778525e-01 -6.27391776e-01 -3.79489703e-02 1.74123173e+02] [ 6.26614246e-01 7.78703601e-01 -3.12296052e-02 4.43977457e+01] [ 4.91441973e-02 5.10350909e-04 9.98791564e-01 8.92543579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.120385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:174.14, Y:44.42, Z:8.93 [[ 7.77694812e-01 -6.27495988e-01 -3.79415929e-02 1.74144239e+02] [ 6.26718144e-01 7.78619625e-01 -3.12385657e-02 4.44153573e+01] [ 4.91441434e-02 5.15385771e-04 9.98791564e-01 8.92629910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.150385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.17, Y:44.43, Z:8.93 [[ 7.77532767e-01 -6.27696926e-01 -3.79389707e-02 1.74165989e+02] [ 6.26919166e-01 7.78457649e-01 -3.12417499e-02 4.44342463e+01] [ 4.91442324e-02 5.06816360e-04 9.98791564e-01 8.93002698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.180385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.19, Y:44.45, Z:8.93 [[ 7.75750834e-01 -6.29898282e-01 -3.79314942e-02 1.74185886e+02] [ 6.29122703e-01 7.76677546e-01 -3.12508248e-02 4.44540121e+01] [ 4.91453806e-02 3.79289225e-04 9.98791564e-01 8.93167939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.210385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.21, Y:44.47, Z:8.93 [[ 7.76752935e-01 -6.28670060e-01 -3.77999182e-02 1.74209127e+02] [ 6.27885237e-01 7.77671856e-01 -3.14104196e-02 4.44717968e+01] [ 4.91427229e-02 6.64125008e-04 9.98791546e-01 8.93360953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.240385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.23, Y:44.49, Z:8.94 [[ 7.76370303e-01 -6.29135271e-01 -3.79204764e-02 1.74230347e+02] [ 6.28358129e-01 7.77295705e-01 -3.12641954e-02 4.44898937e+01] [ 4.91448315e-02 4.44953288e-04 9.98791564e-01 8.93519553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.270385723 meters Centerline goodness : 0.999844 Centerline is valid? [True, True] Translation: X:174.25, Y:44.51, Z:8.93 [[ 7.75638136e-01 -6.30037939e-01 -3.79167127e-02 1.74251601e+02] [ 6.29261650e-01 7.76564254e-01 -3.12687594e-02 4.45090350e+01] [ 4.91452684e-02 3.93709036e-04 9.98791564e-01 8.93486465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.300385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.27, Y:44.53, Z:8.94 [[ 7.75855984e-01 -6.29770149e-01 -3.79084676e-02 1.74272965e+02] [ 6.28993052e-01 7.76781423e-01 -3.12787520e-02 4.45277633e+01] [ 4.91450178e-02 4.23644153e-04 9.98791564e-01 8.93842237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.330385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.29, Y:44.55, Z:8.94 [[ 7.75256053e-01 -6.30508927e-01 -3.79017711e-02 1.74293742e+02] [ 6.29732316e-01 7.76181900e-01 -3.12868645e-02 4.45470779e+01] [ 4.91453160e-02 3.87360976e-04 9.98791564e-01 8.94038584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.360385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:174.31, Y:44.57, Z:8.93 [[ 7.71472654e-01 -6.35133107e-01 -3.78930269e-02 1.74308309e+02] [ 6.34361525e-01 7.72402696e-01 -3.12974513e-02 4.45676250e+01] [ 4.91467237e-02 1.07249466e-04 9.98791564e-01 8.93427703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.390385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.34, Y:44.59, Z:8.94 [[ 7.74386810e-01 -6.31602195e-01 -3.74664532e-02 1.74335431e+02] [ 6.30801278e-01 7.75291986e-01 -3.18132741e-02 4.45856770e+01] [ 4.91407747e-02 1.00189326e-03 9.98791360e-01 8.93915073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.420385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:174.35, Y:44.61, Z:8.94 [[ 7.71370261e-01 -6.35257999e-01 -3.78839607e-02 1.74352373e+02] [ 6.34486046e-01 7.72299982e-01 -3.13080910e-02 4.46056391e+01] [ 4.91464974e-02 1.13285911e-04 9.98791574e-01 8.93671568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.450385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:174.38, Y:44.62, Z:8.94 [[ 7.73905561e-01 -6.32184480e-01 -3.75894290e-02 1.74377918e+02] [ 6.31391474e-01 7.74817519e-01 -3.16641666e-02 4.46236170e+01] [ 4.91425429e-02 7.71429679e-04 9.98791477e-01 8.94433659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.480385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.40, Y:44.64, Z:8.95 [[ 7.73945499e-01 -6.32118456e-01 -3.78763954e-02 1.74399075e+02] [ 6.31342290e-01 7.74871700e-01 -3.13171037e-02 4.46422493e+01] [ 4.91454661e-02 3.24761282e-04 9.98791579e-01 8.94750720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.510385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.42, Y:44.66, Z:8.95 [[ 7.74143241e-01 -6.31876794e-01 -3.78676713e-02 1.74418939e+02] [ 6.31099823e-01 7.75068766e-01 -3.13276491e-02 4.46612578e+01] [ 4.91452637e-02 3.53807165e-04 9.98791579e-01 8.94733428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.540385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:174.43, Y:44.68, Z:8.94 [[ 7.70913565e-01 -6.35813305e-01 -3.78644494e-02 1.74433380e+02] [ 6.35040869e-01 7.71842879e-01 -3.13315427e-02 4.46816355e+01] [ 4.91464174e-02 1.08438408e-04 9.98791579e-01 8.94302761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.57038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.46, Y:44.70, Z:8.95 [[ 7.75579805e-01 -6.30142767e-01 -3.73638777e-02 1.74460825e+02] [ 6.29334249e-01 7.76478281e-01 -3.19356091e-02 4.46995531e+01] [ 4.91362326e-02 1.25424555e-03 9.98791298e-01 8.95031480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.60038572300002 meters Centerline goodness : 0.998559 Centerline is valid? [True, True] Translation: X:174.48, Y:44.72, Z:8.95 [[ 7.75017153e-01 -6.30805550e-01 -3.78519697e-02 1.74482171e+02] [ 6.30026391e-01 7.75940822e-01 -3.13462391e-02 4.47197045e+01] [ 4.91442700e-02 4.46133096e-04 9.98791591e-01 8.94704556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.63038572300002 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:174.50, Y:44.74, Z:8.95 [[ 7.78332004e-01 -6.26712439e-01 -3.78260516e-02 1.74502978e+02] [ 6.25926904e-01 7.79250257e-01 -3.13775212e-02 4.47374264e+01] [ 4.91406433e-02 7.45785588e-04 9.98791590e-01 8.95297485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.66038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.52, Y:44.76, Z:8.95 [[ 7.79147624e-01 -6.25697325e-01 -3.78396274e-02 1.74523582e+02] [ 6.24911388e-01 7.80065533e-01 -3.13611410e-02 4.47559493e+01] [ 4.91399712e-02 7.88544384e-04 9.98791591e-01 8.95435483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.69038572300002 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:174.54, Y:44.77, Z:8.95 [[ 7.80903873e-01 -6.23504590e-01 -3.78307593e-02 1.74543443e+02] [ 6.22715559e-01 7.81819123e-01 -3.13718349e-02 4.47748628e+01] [ 4.91372941e-02 9.40584988e-04 9.98791591e-01 8.95204824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.720385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:174.56, Y:44.79, Z:8.96 [[ 7.82283723e-01 -6.21772708e-01 -3.78269199e-02 1.74564602e+02] [ 6.20981427e-01 7.83197028e-01 -3.13764637e-02 4.47928026e+01] [ 4.91349600e-02 1.05548218e-03 9.98791591e-01 8.95583342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.750385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.59, Y:44.81, Z:8.96 [[ 7.84391185e-01 -6.19112458e-01 -3.78184295e-02 1.74585608e+02] [ 6.18317586e-01 7.85301368e-01 -3.13866939e-02 4.48110491e+01] [ 4.91307576e-02 1.23564603e-03 9.98791591e-01 8.95796724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.780385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.61, Y:44.83, Z:8.96 [[ 7.85188559e-01 -6.18101419e-01 -3.78095509e-02 1.74605729e+02] [ 6.17304862e-01 7.86097266e-01 -3.13973857e-02 4.48285330e+01] [ 4.91287533e-02 1.31284843e-03 9.98791591e-01 8.95891995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.810385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.63, Y:44.85, Z:8.96 [[ 7.86299726e-01 -6.16687799e-01 -3.78007738e-02 1.74626188e+02] [ 6.15889101e-01 7.87206552e-01 -3.14079494e-02 4.48480068e+01] [ 4.91259160e-02 1.41497744e-03 9.98791591e-01 8.96011775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.840385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.65, Y:44.87, Z:8.96 [[ 7.86432069e-01 -6.16519559e-01 -3.77919819e-02 1.74647745e+02] [ 6.15720159e-01 7.87338277e-01 -3.14185247e-02 4.48664051e+01] [ 4.91252089e-02 1.43925025e-03 9.98791591e-01 8.96119801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.870385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.67, Y:44.88, Z:8.96 [[ 7.85776169e-01 -6.17355840e-01 -3.77833165e-02 1.74669195e+02] [ 6.16556904e-01 7.86682786e-01 -3.14289421e-02 4.48835820e+01] [ 4.91263257e-02 1.40054908e-03 9.98791591e-01 8.96317550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.900385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.69, Y:44.90, Z:8.96 [[ 7.85083171e-01 -6.18237111e-01 -3.77794870e-02 1.74691254e+02] [ 6.17438972e-01 7.85990489e-01 -3.14335448e-02 4.49014250e+01] [ 4.91277014e-02 1.35141939e-03 9.98791591e-01 8.96480168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.930385723 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:174.71, Y:44.92, Z:8.96 [[ 7.83825241e-01 -6.19831724e-01 -3.77706997e-02 1.74711892e+02] [ 6.19034923e-01 7.84733734e-01 -3.14441001e-02 4.49185311e+01] [ 4.91299930e-02 1.26529709e-03 9.98791591e-01 8.96325367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.960385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.73, Y:44.94, Z:8.97 [[ 7.82686291e-01 -6.21269532e-01 -3.77668921e-02 1.74733361e+02] [ 6.20474179e-01 7.83596053e-01 -3.14486727e-02 4.49369281e+01] [ 4.91320897e-02 1.18106365e-03 9.98791591e-01 8.96644453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.990385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.75, Y:44.96, Z:8.97 [[ 7.79373196e-01 -6.25421253e-01 -3.77581451e-02 1.74749029e+02] [ 6.24630239e-01 7.80286732e-01 -3.14591711e-02 4.49556249e+01] [ 4.91374138e-02 9.33555492e-04 9.98791591e-01 8.96520039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.020385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.77, Y:44.97, Z:8.97 [[ 7.79413694e-01 -6.25393714e-01 -3.73764042e-02 1.74769939e+02] [ 6.24580622e-01 7.80307860e-01 -3.19169446e-02 4.49734048e+01] [ 4.91257585e-02 1.53192589e-03 9.98791426e-01 8.96631083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.050385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.80, Y:44.99, Z:8.97 [[ 7.81016569e-01 -6.23391402e-01 -3.73668136e-02 1.74796916e+02] [ 6.22575468e-01 7.81908154e-01 -3.19284436e-02 4.49910375e+01] [ 4.91213335e-02 1.67298206e-03 9.98791418e-01 8.97079894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.080385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.82, Y:45.01, Z:8.97 [[ 7.80175418e-01 -6.24420620e-01 -3.77519182e-02 1.74818223e+02] [ 6.23628084e-01 7.81087624e-01 -3.14664273e-02 4.50084945e+01] [ 4.91358422e-02 1.00617667e-03 9.98791598e-01 8.97281619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.110385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.84, Y:45.03, Z:8.97 [[ 7.78987743e-01 -6.25902180e-01 -3.77433106e-02 1.74839235e+02] [ 6.25110879e-01 7.79901021e-01 -3.14767487e-02 4.50263331e+01] [ 4.91374121e-02 9.26247338e-04 9.98791598e-01 8.97444605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.140385723 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:174.86, Y:45.05, Z:8.97 [[ 7.78056747e-01 -6.27059645e-01 -3.77346062e-02 1.74860167e+02] [ 6.26269197e-01 7.78970763e-01 -3.14871801e-02 4.50454886e+01] [ 4.91384950e-02 8.66791369e-04 9.98791598e-01 8.97446551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.170385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.88, Y:45.06, Z:8.98 [[ 7.77712566e-01 -6.27486986e-01 -3.77259477e-02 1.74880955e+02] [ 6.26696538e-01 7.78626582e-01 -3.14975508e-02 4.50642627e+01] [ 4.91387289e-02 8.53320244e-04 9.98791598e-01 8.97511149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.200385723 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:174.90, Y:45.08, Z:8.97 [[ 7.76993212e-01 -6.28378044e-01 -3.77171330e-02 1.74901010e+02] [ 6.27588132e-01 7.77907691e-01 -3.15081026e-02 4.50826515e+01] [ 4.91394477e-02 8.10756818e-04 9.98791599e-01 8.97372487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.230385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.92, Y:45.10, Z:8.97 [[ 7.74508000e-01 -6.31438884e-01 -3.77133074e-02 1.74916679e+02] [ 6.30652363e-01 7.75425398e-01 -3.15126808e-02 4.51031520e+01] [ 4.91421884e-02 6.22836956e-04 9.98791599e-01 8.97230889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.260385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.94, Y:45.12, Z:8.97 [[ 7.74016376e-01 -6.32058904e-01 -3.74191331e-02 1.74938349e+02] [ 6.31256052e-01 7.74919644e-01 -3.18644300e-02 4.51222140e+01] [ 4.91370180e-02 1.04253636e-03 9.98791503e-01 8.97381365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.290385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.96, Y:45.14, Z:8.98 [[ 7.72914088e-01 -6.33405308e-01 -3.74369884e-02 1.74960362e+02] [ 6.32605063e-01 7.73819651e-01 -3.18430813e-02 4.51411994e+01] [ 4.91390540e-02 9.29137689e-04 9.98791515e-01 8.97556933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.32038572300002 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:174.98, Y:45.16, Z:8.98 [[ 7.72800764e-01 -6.33539969e-01 -3.74978164e-02 1.74983778e+02] [ 6.32743407e-01 7.73709523e-01 -3.17703592e-02 4.51597735e+01] [ 4.91402100e-02 8.25661722e-04 9.98791549e-01 8.97975926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.35038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.00, Y:45.18, Z:8.98 [[ 7.71001861e-01 -6.35715870e-01 -3.77022926e-02 1.75002602e+02] [ 6.34933796e-01 7.71923051e-01 -3.15258264e-02 4.51798403e+01] [ 4.91447369e-02 3.68011044e-04 9.98791600e-01 8.98056061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.38038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.02, Y:45.20, Z:8.98 [[ 7.71532371e-01 -6.35079460e-01 -3.75749858e-02 1.75024872e+02] [ 6.34289205e-01 7.72446575e-01 -3.16779696e-02 4.51975056e+01] [ 4.91426969e-02 6.07171135e-04 9.98791583e-01 8.98439592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.41038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.04, Y:45.22, Z:8.98 [[ 7.69430265e-01 -6.37617808e-01 -3.76908301e-02 1.75042923e+02] [ 6.36837339e-01 7.70352816e-01 -3.15395328e-02 4.52185609e+01] [ 4.91454049e-02 2.64543143e-04 9.98791599e-01 8.98429348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.44038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.06, Y:45.24, Z:8.98 [[ 7.68495253e-01 -6.38751348e-01 -3.75734150e-02 1.75061116e+02] [ 6.37965375e-01 7.69413136e-01 -3.16797514e-02 4.52370207e+01] [ 4.91449630e-02 3.75200740e-04 9.98791586e-01 8.98351157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.470385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.08, Y:45.26, Z:8.99 [[ 7.69067635e-01 -6.38069401e-01 -3.74487959e-02 1.75082944e+02] [ 6.37275360e-01 7.69978612e-01 -3.18284699e-02 4.52578926e+01] [ 4.91435446e-02 6.13051187e-04 9.98791538e-01 8.98656057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.500385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:175.10, Y:45.28, Z:8.99 [[ 7.69020741e-01 -6.38121230e-01 -3.75286052e-02 1.75103481e+02] [ 6.37331893e-01 7.69935751e-01 -3.17332391e-02 4.52773788e+01] [ 4.91442684e-02 4.85341988e-04 9.98791573e-01 8.98778811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.530385723 meters Centerline goodness : 0.996937 Centerline is valid? [True, True] Translation: X:175.12, Y:45.30, Z:8.99 [[ 7.69777044e-01 -6.37209610e-01 -3.75128771e-02 1.75124854e+02] [ 6.36418276e-01 7.70690334e-01 -3.17519656e-02 4.52978909e+01] [ 4.91434694e-02 5.68053644e-04 9.98791568e-01 8.98968756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.560385723 meters Centerline goodness : 0.994005 Centerline is valid? [True, True] Translation: X:175.15, Y:45.32, Z:8.99 [[ 7.70083711e-01 -6.36829003e-01 -3.76815417e-02 1.75147075e+02] [ 6.36047020e-01 7.71005002e-01 -3.15511607e-02 4.53167966e+01] [ 4.91453513e-02 3.29802668e-04 9.98791583e-01 8.99194634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.590385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:175.17, Y:45.34, Z:8.99 [[ 7.70491772e-01 -6.36332217e-01 -3.77324577e-02 1.75165426e+02] [ 6.35552606e-01 7.71415083e-01 -3.14905700e-02 4.53365300e+01] [ 4.91458512e-02 2.82263327e-04 9.98791573e-01 8.99215430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.620385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:175.19, Y:45.36, Z:8.99 [[ 7.70241527e-01 -6.36644468e-01 -3.75740815e-02 1.75186577e+02] [ 6.35856022e-01 7.71157288e-01 -3.16789670e-02 4.53565903e+01] [ 4.91437659e-02 5.08749925e-04 9.98791586e-01 8.99295692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.650385723 meters Centerline goodness : 0.999348 Centerline is valid? [True, True] Translation: X:175.20, Y:45.38, Z:8.99 [[ 7.71026160e-01 -6.35690943e-01 -3.76256134e-02 1.75204382e+02] [ 6.34904351e-01 7.71943512e-01 -3.16176961e-02 4.53759192e+01] [ 4.91439312e-02 4.89405118e-04 9.98791587e-01 8.99250319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.680385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.23, Y:45.40, Z:8.99 [[ 7.70618697e-01 -6.36190051e-01 -3.75372318e-02 1.75225120e+02] [ 6.35398931e-01 7.71532155e-01 -3.17227577e-02 4.53959356e+01] [ 4.91428842e-02 5.95033248e-04 9.98791581e-01 8.99293874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.710385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:175.24, Y:45.42, Z:8.99 [[ 7.71118258e-01 -6.35578836e-01 -3.76321107e-02 1.75243445e+02] [ 6.34792486e-01 7.72035819e-01 -3.16100278e-02 4.54153379e+01] [ 4.91440021e-02 4.86488427e-04 9.98791585e-01 8.99336583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.740385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.26, Y:45.43, Z:8.99 [[ 7.71638642e-01 -6.34949222e-01 -3.75937706e-02 1.75263148e+02] [ 6.34159904e-01 7.72553650e-01 -3.16555602e-02 4.54334260e+01] [ 4.91428780e-02 5.86191547e-04 9.98791587e-01 8.99433143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.770385723 meters Centerline goodness : 0.996339 Centerline is valid? [True, True] Translation: X:175.28, Y:45.45, Z:9.00 [[ 7.72635267e-01 -6.33736328e-01 -3.75900422e-02 1.75284258e+02] [ 6.32945358e-01 7.73548847e-01 -3.16599869e-02 4.54520330e+01] [ 4.91418177e-02 6.69179739e-04 9.98791587e-01 8.99601462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.800385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.30, Y:45.47, Z:9.00 [[ 7.73365956e-01 -6.32848988e-01 -3.75134266e-02 1.75303877e+02] [ 6.32052557e-01 7.74274787e-01 -3.17509077e-02 4.54724705e+01] [ 4.91392302e-02 8.44613888e-04 9.98791581e-01 8.99710488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.830385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:175.32, Y:45.49, Z:9.00 [[ 7.75898293e-01 -6.29737819e-01 -3.75781474e-02 1.75323326e+02] [ 6.28941458e-01 7.76807179e-01 -3.16741234e-02 4.54934467e+01] [ 4.91373681e-02 9.41443509e-04 9.98791586e-01 8.99750518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.860385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:175.33, Y:45.51, Z:8.99 [[ 7.73691071e-01 -6.32450256e-01 -3.75339757e-02 1.75333332e+02] [ 6.31654540e-01 7.74600524e-01 -3.17265112e-02 4.55129200e+01] [ 4.91392773e-02 8.38012292e-04 9.98791584e-01 8.99195102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.890385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.37, Y:45.53, Z:9.00 [[ 7.80736636e-01 -6.23775761e-01 -3.67981648e-02 1.75366611e+02] [ 6.22928380e-01 7.81599256e-01 -3.26011574e-02 4.55320620e+01] [ 4.90972300e-02 2.53029674e-03 9.98790799e-01 8.99956002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.920385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.39, Y:45.55, Z:9.00 [[ 7.81706797e-01 -6.22509440e-01 -3.76361711e-02 1.75388767e+02] [ 6.21708085e-01 7.82611201e-01 -3.16032441e-02 4.55504718e+01] [ 4.91278068e-02 1.30575886e-03 9.98791647e-01 9.00179512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.950385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:175.41, Y:45.57, Z:9.00 [[ 7.82603611e-01 -6.21377151e-01 -3.77097367e-02 1.75410083e+02] [ 6.20578699e-01 7.83510589e-01 -3.15156457e-02 4.55691540e+01] [ 4.91290802e-02 1.26239883e-03 9.98791640e-01 9.00190236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.980385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.43, Y:45.59, Z:9.00 [[ 7.84237116e-01 -6.19319292e-01 -3.76265880e-02 1.75430291e+02] [ 6.18513715e-01 7.85137760e-01 -3.16146070e-02 4.55893516e+01] [ 4.91215911e-02 1.52078751e-03 9.98791648e-01 9.00473412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.010385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.45, Y:45.61, Z:9.01 [[ 7.84813604e-01 -6.18589116e-01 -3.76179797e-02 1.75449813e+02] [ 6.17782211e-01 7.85713058e-01 -3.16248467e-02 4.56082000e+01] [ 4.91197238e-02 1.57989121e-03 9.98791648e-01 9.00533270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.040385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.47, Y:45.63, Z:9.01 [[ 7.85823210e-01 -6.17306286e-01 -3.76142390e-02 1.75470217e+02] [ 6.16497700e-01 7.86721154e-01 -3.16292951e-02 4.56282052e+01] [ 4.91168803e-02 1.66594240e-03 9.98791648e-01 9.00557026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.07038572300002 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:175.49, Y:45.65, Z:9.01 [[ 7.85028714e-01 -6.18316870e-01 -3.76053993e-02 1.75493112e+02] [ 6.17508938e-01 7.85927245e-01 -3.16398017e-02 4.56475835e+01] [ 4.91185310e-02 1.61648265e-03 9.98791648e-01 9.00510363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.10038572300002 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:175.51, Y:45.66, Z:9.01 [[ 7.86476905e-01 -6.16462964e-01 -3.77821707e-02 1.75513565e+02] [ 6.15662956e-01 7.87382556e-01 -3.14298608e-02 4.56643887e+01] [ 4.91243673e-02 1.45777676e-03 9.98791606e-01 9.00852061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.13038572300002 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:175.53, Y:45.68, Z:9.00 [[ 7.83413968e-01 -6.20363035e-01 -3.75800413e-02 1.75529024e+02] [ 6.19556016e-01 7.84313312e-01 -3.16697161e-02 4.56833234e+01] [ 4.91212479e-02 1.52755731e-03 9.98791655e-01 9.00299459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.16038572300002 meters Centerline goodness : 0.997190 Centerline is valid? [True, True] Translation: X:175.56, Y:45.70, Z:9.01 [[ 7.85440297e-01 -6.17822165e-01 -3.71390903e-02 1.75556891e+02] [ 6.16987562e-01 7.86314289e-01 -3.21898656e-02 4.57043103e+01] [ 4.90906098e-02 2.36886077e-03 9.98791520e-01 9.00744648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.19038572300002 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:175.57, Y:45.72, Z:9.01 [[ 7.84633934e-01 -6.18809084e-01 -3.77479448e-02 1.75574998e+02] [ 6.18009813e-01 7.85540232e-01 -3.14708531e-02 4.57219992e+01] [ 4.91269790e-02 1.36449898e-03 9.98791609e-01 9.01098167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.220385723 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:175.59, Y:45.74, Z:9.01 [[ 7.80783168e-01 -6.23676358e-01 -3.74892789e-02 1.75588303e+02] [ 6.22868054e-01 7.81681310e-01 -3.17760324e-02 4.57423429e+01] [ 4.91226288e-02 1.45931703e-03 9.98791689e-01 9.00689683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.250385723 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:175.62, Y:45.76, Z:9.01 [[ 7.83513621e-01 -6.20273882e-01 -3.69691385e-02 1.75618527e+02] [ 6.19432635e-01 7.84381396e-01 -3.23888426e-02 4.57586070e+01] [ 4.90878576e-02 2.47720849e-03 9.98791392e-01 9.01179372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.280385723 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:175.63, Y:45.78, Z:9.01 [[ 7.80118905e-01 -6.24507514e-01 -3.74814484e-02 1.75632289e+02] [ 6.23699750e-01 7.81017511e-01 -3.17847363e-02 4.57766910e+01] [ 4.91234741e-02 1.41870370e-03 9.98791706e-01 9.01288982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.310385723 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:175.65, Y:45.80, Z:9.01 [[ 7.79703680e-01 -6.25057834e-01 -3.69442266e-02 1.75654394e+02] [ 6.24220549e-01 7.80575300e-01 -3.24177081e-02 4.57957003e+01] [ 4.91006932e-02 2.21486089e-03 9.98791378e-01 9.01344803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.340385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.68, Y:45.81, Z:9.02 [[ 7.81753237e-01 -6.22493743e-01 -3.69244622e-02 1.75684488e+02] [ 6.21652503e-01 7.82621075e-01 -3.24409870e-02 4.58130710e+01] [ 4.90921737e-02 2.40666224e-03 9.98791353e-01 9.01789137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.370385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.70, Y:45.83, Z:9.02 [[ 7.79341361e-01 -6.25477786e-01 -3.74777578e-02 1.75702089e+02] [ 6.24670951e-01 7.80240784e-01 -3.17886987e-02 4.58313470e+01] [ 4.91248000e-02 1.36298106e-03 9.98791718e-01 9.01828691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.400385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.72, Y:45.85, Z:9.02 [[ 7.78022840e-01 -6.27136057e-01 -3.71594806e-02 1.75723339e+02] [ 6.26313175e-01 7.78907762e-01 -3.21637285e-02 4.58489787e+01] [ 4.91148417e-02 1.75064315e-03 9.98791604e-01 9.01895783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.430385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.74, Y:45.87, Z:9.02 [[ 7.77853484e-01 -6.27347406e-01 -3.71374370e-02 1.75744989e+02] [ 6.26523527e-01 7.78737500e-01 -3.21896909e-02 4.58658646e+01] [ 4.91144340e-02 1.77138519e-03 9.98791587e-01 9.02133874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.460385723 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:175.77, Y:45.88, Z:9.02 [[ 7.77156720e-01 -6.28213709e-01 -3.70805773e-02 1.75771678e+02] [ 6.27387628e-01 7.78038739e-01 -3.22565338e-02 4.58839136e+01] [ 4.91141223e-02 1.80448658e-03 9.98791543e-01 9.02097589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.490385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:175.79, Y:45.90, Z:9.03 [[ 7.74240636e-01 -6.31782803e-01 -3.74423249e-02 1.75789078e+02] [ 6.30981248e-01 7.75144793e-01 -3.18310277e-02 4.59017924e+01] [ 4.91335191e-02 1.01947026e-03 9.98791699e-01 9.02520504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.520385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:175.81, Y:45.92, Z:9.03 [[ 7.72488744e-01 -6.33939598e-01 -3.71715742e-02 1.75811878e+02] [ 6.33125206e-01 7.73381467e-01 -3.21493357e-02 4.59201753e+01] [ 4.91285435e-02 1.30073943e-03 9.98791617e-01 9.02741992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.550385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.83, Y:45.94, Z:9.03 [[ 7.70928468e-01 -6.35833836e-01 -3.72106127e-02 1.75833567e+02] [ 6.35023849e-01 7.71825161e-01 -3.21034529e-02 4.59378900e+01] [ 4.91325488e-02 1.11983925e-03 9.98791639e-01 9.02926996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.580385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.86, Y:45.95, Z:9.03 [[ 7.68178502e-01 -6.39153368e-01 -3.72123921e-02 1.75857367e+02] [ 6.38347358e-01 7.69078769e-01 -3.21013624e-02 4.59544318e+01] [ 4.91369546e-02 9.05144335e-04 9.98791640e-01 9.03083764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.610385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.88, Y:45.97, Z:9.03 [[ 7.65920565e-01 -6.41853169e-01 -3.72853623e-02 1.75878299e+02] [ 6.41054501e-01 7.66827312e-01 -3.20156434e-02 4.59718566e+01] [ 4.91407764e-02 6.19490371e-04 9.98791670e-01 9.03246817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.640385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:175.90, Y:45.99, Z:9.03 [[ 7.65370422e-01 -6.42511197e-01 -3.72488787e-02 1.75902990e+02] [ 6.41711223e-01 7.66276034e-01 -3.20584796e-02 4.59885857e+01] [ 4.91408552e-02 6.33588600e-04 9.98791657e-01 9.03433838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.670385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.93, Y:46.00, Z:9.04 [[ 7.61702697e-01 -6.46845441e-01 -3.74162501e-02 1.75925792e+02] [ 6.46060254e-01 7.62621115e-01 -3.18619338e-02 4.60048552e+01] [ 4.91441691e-02 9.61688629e-05 9.98791691e-01 9.03674978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.700385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.95, Y:46.02, Z:9.04 [[ 7.57563368e-01 -6.51688892e-01 -3.74076396e-02 1.75947587e+02] [ 6.50909077e-01 7.58486352e-01 -3.18720399e-02 4.60219927e+01] [ 4.91438384e-02 -2.03882251e-04 9.98791691e-01 9.03953448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.730385723 meters Centerline goodness : 0.995238 Centerline is valid? [True, True] Translation: X:175.97, Y:46.04, Z:9.04 [[ 7.56946998e-01 -6.52406427e-01 -3.73777533e-02 1.75972731e+02] [ 6.51625755e-01 7.57869258e-01 -3.19070912e-02 4.60398967e+01] [ 4.91438416e-02 -2.04329803e-04 9.98791691e-01 9.04004833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.760385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:175.99, Y:46.06, Z:9.04 [[ 7.53108838e-01 -6.56820487e-01 -3.76022086e-02 1.75991976e+02] [ 6.56058320e-01 7.54046514e-01 -3.16438807e-02 4.60580104e+01] [ 4.91381635e-02 -8.37955530e-04 9.98791639e-01 9.03916020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.790385723 meters Centerline goodness : 0.997363 Centerline is valid? [True, True] Translation: X:176.02, Y:46.08, Z:9.04 [[ 7.53576869e-01 -6.56299796e-01 -3.73159603e-02 1.76017305e+02] [ 6.55520317e-01 7.54500130e-01 -3.19791777e-02 4.60757227e+01] [ 4.91428247e-02 -3.62601460e-04 9.98791696e-01 9.04139897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.82038572300002 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:176.04, Y:46.09, Z:9.04 [[ 7.51434308e-01 -6.58736219e-01 -3.75908891e-02 1.76035631e+02] [ 6.57975775e-01 7.52373378e-01 -3.16572298e-02 4.60938771e+01] [ 4.91361481e-02 -9.45565888e-04 9.98791642e-01 9.04242528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.85038572300002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:176.06, Y:46.11, Z:9.05 [[ 7.52762095e-01 -6.57236399e-01 -3.72765977e-02 1.76058400e+02] [ 6.56455794e-01 7.53684406e-01 -3.20250924e-02 4.61107448e+01] [ 4.91428468e-02 -3.63162881e-04 9.98791694e-01 9.04820903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.88038572300002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:176.08, Y:46.13, Z:9.04 [[ 7.53337234e-01 -6.56572131e-01 -3.73637368e-02 1.76080881e+02] [ 6.55795765e-01 7.54263104e-01 -3.19231029e-02 4.61309614e+01] [ 4.91419078e-02 -4.54118288e-04 9.98791703e-01 9.04465026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.91038572300002 meters Centerline goodness : 0.996808 Centerline is valid? [True, True] Translation: X:176.11, Y:46.15, Z:9.05 [[ 7.55372564e-01 -6.54224686e-01 -3.74479478e-02 1.76108382e+02] [ 6.53450325e-01 7.56300122e-01 -3.18245071e-02 4.61491501e+01] [ 4.91422657e-02 -4.31014139e-04 9.98791696e-01 9.04618802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.94038572300002 meters Centerline goodness : 0.996808 Centerline is valid? [True, True] Translation: X:176.13, Y:46.17, Z:9.05 [[ 7.54943910e-01 -6.54694485e-01 -3.78790668e-02 1.76130116e+02] [ 6.53945885e-01 7.55892759e-01 -3.13195987e-02 4.61678613e+01] [ 4.91372808e-02 -1.12631953e-03 9.98791399e-01 9.04784495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.970385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:176.15, Y:46.19, Z:9.05 [[ 7.53905938e-01 -6.55893627e-01 -3.78072156e-02 1.76148793e+02] [ 6.55142325e-01 7.54852537e-01 -3.14035163e-02 4.61879487e+01] [ 4.91362388e-02 -1.09380965e-03 9.98791487e-01 9.04980104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.000385723 meters Centerline goodness : 0.996417 Centerline is valid? [True, True] Translation: X:176.17, Y:46.21, Z:9.05 [[ 7.56830194e-01 -6.52530349e-01 -3.75792716e-02 1.76172748e+02] [ 6.51761599e-01 7.57762409e-01 -3.16693710e-02 4.62054988e+01] [ 4.91413851e-02 -5.24389968e-04 9.98791695e-01 9.05098341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.030385723 meters Centerline goodness : 0.996083 Centerline is valid? [True, True] Translation: X:176.19, Y:46.22, Z:9.05 [[ 7.57158271e-01 -6.52134911e-01 -3.78339966e-02 1.76194258e+02] [ 6.51380482e-01 7.58102411e-01 -3.13720140e-02 4.62243588e+01] [ 4.91408295e-02 -8.90747085e-04 9.98791462e-01 9.05302627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.060385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:176.21, Y:46.24, Z:9.06 [[ 7.57346232e-01 -6.51915130e-01 -3.78595836e-02 1.76208040e+02] [ 6.51161918e-01 7.58291385e-01 -3.13421629e-02 4.62415143e+01] [ 4.91410263e-02 -9.15850118e-04 9.98791430e-01 9.05722961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.090385723 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:176.23, Y:46.26, Z:9.06 [[ 7.57890494e-01 -6.51315648e-01 -3.72816921e-02 1.76228596e+02] [ 6.50528327e-01 7.58806910e-01 -3.20151482e-02 4.62602544e+01] [ 4.91415726e-02 1.11797317e-05 9.98791823e-01 9.05867359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.120385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.25, Y:46.28, Z:9.06 [[ 7.59491411e-01 -6.49448636e-01 -3.72728558e-02 1.76250304e+02] [ 6.48658557e-01 7.60405450e-01 -3.20254323e-02 4.62784337e+01] [ 4.91413560e-02 1.45683924e-04 9.98791823e-01 9.05954276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.150385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:176.27, Y:46.30, Z:9.06 [[ 7.59490453e-01 -6.49450236e-01 -3.72644938e-02 1.76271594e+02] [ 6.48659681e-01 7.60404081e-01 -3.20351594e-02 4.62965418e+01] [ 4.91413149e-02 1.58423055e-04 9.98791823e-01 9.06305969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.180385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:176.29, Y:46.31, Z:9.07 [[ 7.60840966e-01 -6.47868121e-01 -3.72548247e-02 1.76292201e+02] [ 6.47075116e-01 7.61752468e-01 -3.20463999e-02 4.63140981e+01] [ 4.91407956e-02 2.75543858e-04 9.98791823e-01 9.06526826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.210385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.31, Y:46.33, Z:9.07 [[ 7.61553405e-01 -6.47030737e-01 -3.72510016e-02 1.76313265e+02] [ 6.46236513e-01 7.62463844e-01 -3.20508434e-02 4.63327965e+01] [ 4.91404226e-02 3.35471524e-04 9.98791823e-01 9.06655821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.240385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.33, Y:46.35, Z:9.07 [[ 7.63974444e-01 -6.44170830e-01 -3.72423197e-02 1.76333663e+02] [ 6.43372707e-01 7.64881466e-01 -3.20609284e-02 4.63518719e+01] [ 4.91386749e-02 5.33037928e-04 9.98791823e-01 9.06767450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.270385723 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:176.35, Y:46.37, Z:9.07 [[ 7.64765594e-01 -6.43231871e-01 -3.72336817e-02 1.76354694e+02] [ 6.42432145e-01 7.65671204e-01 -3.20709569e-02 4.63707888e+01] [ 4.91378195e-02 6.06650379e-04 9.98791823e-01 9.06777172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.300385723 meters Centerline goodness : 0.998832 Centerline is valid? [True, True] Translation: X:176.38, Y:46.39, Z:9.07 [[ 7.67996532e-01 -6.39371279e-01 -3.72249150e-02 1.76381337e+02] [ 6.38566509e-01 7.68897662e-01 -3.20811292e-02 4.63897477e+01] [ 4.91339027e-02 8.67611924e-04 9.98791824e-01 9.06638752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.330385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.40, Y:46.41, Z:9.07 [[ 7.68956035e-01 -6.38194361e-01 -3.76108382e-02 1.76398401e+02] [ 6.37410001e-01 7.69875207e-01 -3.16331474e-02 4.64062224e+01] [ 4.91437481e-02 3.50975218e-04 9.98791654e-01 9.07158834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.360385723 meters Centerline goodness : 0.999548 Centerline is valid? [True, True] Translation: X:176.42, Y:46.43, Z:9.07 [[ 7.71263358e-01 -6.35427679e-01 -3.72088274e-02 1.76424797e+02] [ 6.34617433e-01 7.72159541e-01 -3.20991659e-02 4.64263118e+01] [ 4.91278496e-02 1.14353994e-03 9.98791844e-01 9.07309316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.390385723 meters Centerline goodness : 0.997256 Centerline is valid? [True, True] Translation: X:176.45, Y:46.44, Z:9.07 [[ 7.72459909e-01 -6.33947161e-01 -3.76388763e-02 1.76447842e+02] [ 6.33159367e-01 7.73376145e-01 -3.15998975e-02 4.64443828e+01] [ 4.91416744e-02 5.78246849e-04 9.98791651e-01 9.07351273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.420385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:176.46, Y:46.46, Z:9.07 [[ 7.71982621e-01 -6.34522941e-01 -3.77288972e-02 1.76459432e+02] [ 6.33740926e-01 7.72903923e-01 -3.14954552e-02 4.64602784e+01] [ 4.91454015e-02 4.03597798e-04 9.98791553e-01 9.07206307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.450385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:176.49, Y:46.48, Z:9.08 [[ 7.75833083e-01 -6.29863571e-01 -3.68090874e-02 1.76488602e+02] [ 6.29024690e-01 7.76702918e-01 -3.25655765e-02 4.64772901e+01] [ 4.91015959e-02 2.11162688e-03 9.98791557e-01 9.07934296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.480385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:176.51, Y:46.49, Z:9.08 [[ 7.76658734e-01 -6.28817433e-01 -3.72806456e-02 1.76510369e+02] [ 6.28003519e-01 7.77551621e-01 -3.20165047e-02 4.64932370e+01] [ 4.91201627e-02 1.45352142e-03 9.98791819e-01 9.08033611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.510385723 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:176.53, Y:46.51, Z:9.08 [[ 7.76624856e-01 -6.28859504e-01 -3.72767600e-02 1.76531704e+02] [ 6.28045422e-01 7.77517590e-01 -3.20210281e-02 4.65108710e+01] [ 4.91200644e-02 1.45682794e-03 9.98791819e-01 9.07962913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.540385723 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:176.55, Y:46.53, Z:9.08 [[ 7.77282613e-01 -6.28046847e-01 -3.72679126e-02 1.76553617e+02] [ 6.27231339e-01 7.78174043e-01 -3.20313219e-02 4.65284271e+01] [ 4.91180929e-02 1.52178689e-03 9.98791819e-01 9.08253633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.57038572300002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:176.58, Y:46.55, Z:9.08 [[ 7.78173481e-01 -6.26943213e-01 -3.72591014e-02 1.76575171e+02] [ 6.26125951e-01 7.79063304e-01 -3.20415678e-02 4.65452381e+01] [ 4.91154421e-02 1.60500811e-03 9.98791819e-01 9.08290999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.60038572300002 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:176.60, Y:46.56, Z:9.08 [[ 7.78679746e-01 -6.26314536e-01 -3.72552804e-02 1.76598557e+02] [ 6.25496343e-01 7.79568713e-01 -3.20460100e-02 4.65607878e+01] [ 4.91139329e-02 1.65053728e-03 9.98791819e-01 9.08362723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.63038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.61, Y:46.58, Z:9.08 [[ 7.74215982e-01 -6.31824582e-01 -3.72466110e-02 1.76611317e+02] [ 6.31012235e-01 7.75110294e-01 -3.20560832e-02 4.65783967e+01] [ 4.91240529e-02 1.31526470e-03 9.98791819e-01 9.07944981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.66038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.65, Y:46.59, Z:9.09 [[ 7.77942631e-01 -6.27272599e-01 -3.65287521e-02 1.76645051e+02] [ 6.26415664e-01 7.78795082e-01 -3.28882348e-02 4.65933494e+01] [ 4.90783010e-02 2.70297742e-03 9.98791277e-01 9.08753154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.69038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.67, Y:46.61, Z:9.09 [[ 7.76921022e-01 -6.28496202e-01 -3.72323804e-02 1.76667257e+02] [ 6.27679292e-01 7.77811115e-01 -3.20714218e-02 4.66093180e+01] [ 4.91165261e-02 1.54696760e-03 9.98791857e-01 9.08908410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.720385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.68, Y:46.63, Z:9.09 [[ 7.71677545e-01 -6.34923473e-01 -3.72283478e-02 1.76684090e+02] [ 6.34113754e-01 7.72574185e-01 -3.20761022e-02 4.66254456e+01] [ 4.91275307e-02 1.14540043e-03 9.98791857e-01 9.08615379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.750385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:176.72, Y:46.64, Z:9.09 [[ 7.74621241e-01 -6.31362021e-01 -3.66596816e-02 1.76715467e+02] [ 6.30516809e-01 7.75484989e-01 -3.27350712e-02 4.66413813e+01] [ 4.90967135e-02 2.24273597e-03 9.98791511e-01 9.09221760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.780385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:176.73, Y:46.66, Z:9.09 [[ 7.69541629e-01 -6.37511035e-01 -3.72204313e-02 1.76731512e+02] [ 6.36703921e-01 7.70440585e-01 -3.20845890e-02 4.66554510e+01] [ 4.91304104e-02 9.92032328e-04 9.98791880e-01 9.09248336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.810385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.75, Y:46.67, Z:9.09 [[ 7.68720266e-01 -6.38535863e-01 -3.66210947e-02 1.76753953e+02] [ 6.37696628e-01 7.69589857e-01 -3.27789965e-02 4.66720653e+01] [ 4.91137879e-02 1.84473031e-03 9.98791486e-01 9.09331695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.840385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.79, Y:46.69, Z:9.10 [[ 7.70908621e-01 -6.35891301e-01 -3.66353824e-02 1.76786584e+02] [ 6.35049868e-01 7.71776060e-01 -3.27624507e-02 4.66858894e+01] [ 4.91076685e-02 1.99156098e-03 9.98791505e-01 9.09749946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.870385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.81, Y:46.70, Z:9.10 [[ 7.70012859e-01 -6.36942305e-01 -3.72115144e-02 1.76809011e+02] [ 6.36134050e-01 7.70910770e-01 -3.20944917e-02 4.67021742e+01] [ 4.91290967e-02 1.04165993e-03 9.98791894e-01 9.09969756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.900385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.83, Y:46.72, Z:9.10 [[ 7.68682919e-01 -6.38547210e-01 -3.72025522e-02 1.76832171e+02] [ 6.37740327e-01 7.69582063e-01 -3.21048769e-02 4.67163238e+01] [ 4.91308965e-02 9.52902643e-04 9.98791894e-01 9.10127677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.930385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:176.85, Y:46.73, Z:9.10 [[ 7.67896759e-01 -6.39492632e-01 -3.71986748e-02 1.76854710e+02] [ 6.38686638e-01 7.68796701e-01 -3.21093688e-02 4.67330739e+01] [ 4.91319232e-02 8.98383704e-04 9.98791894e-01 9.10227564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.960385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:176.88, Y:46.75, Z:9.10 [[ 7.66633451e-01 -6.41007074e-01 -3.71898263e-02 1.76877973e+02] [ 6.40202361e-01 7.67534538e-01 -3.21196141e-02 4.67470698e+01] [ 4.91333760e-02 8.14955964e-04 9.98791894e-01 9.10348399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.990385723 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:176.90, Y:46.76, Z:9.10 [[ 7.65416169e-01 -6.42460342e-01 -3.71859891e-02 1.76900434e+02] [ 6.41657125e-01 7.66318589e-01 -3.21240560e-02 4.67640842e+01] [ 4.91347467e-02 7.27616962e-04 9.98791894e-01 9.10249815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.020385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.92, Y:46.78, Z:9.10 [[ 7.61950836e-01 -6.46566933e-01 -3.71769420e-02 1.76919034e+02] [ 6.45768069e-01 7.62857112e-01 -3.21345227e-02 4.67803510e+01] [ 4.91378144e-02 4.77244362e-04 9.98791894e-01 9.10344466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.050385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.95, Y:46.80, Z:9.11 [[ 7.63476839e-01 -6.44785032e-01 -3.68154647e-02 1.76947388e+02] [ 6.43963812e-01 7.64363102e-01 -3.25523696e-02 4.67969410e+01] [ 4.91296635e-02 1.14515328e-03 9.98791752e-01 9.10550768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.080385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:176.97, Y:46.81, Z:9.10 [[ 7.62886316e-01 -6.45463213e-01 -3.71713634e-02 1.76971505e+02] [ 6.44662733e-01 7.63791157e-01 -3.21407778e-02 4.68123457e+01] [ 4.91368483e-02 5.56766821e-04 9.98791900e-01 9.10486711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.110385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.99, Y:46.83, Z:9.11 [[ 7.61515788e-01 -6.47079749e-01 -3.71685799e-02 1.76989836e+02] [ 6.46281033e-01 7.62422186e-01 -3.21439963e-02 4.68303066e+01] [ 4.91378791e-02 4.56812473e-04 9.98791900e-01 9.10637423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.140385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.01, Y:46.85, Z:9.11 [[ 7.59777261e-01 -6.49132764e-01 -3.69481814e-02 1.77010340e+02] [ 6.48324079e-01 7.60674843e-01 -3.23986375e-02 4.68472548e+01] [ 4.91365692e-02 6.61352368e-04 9.98791850e-01 9.10823778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.170385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.03, Y:46.87, Z:9.11 [[ 7.60097898e-01 -6.48769568e-01 -3.67319039e-02 1.77033631e+02] [ 6.47948354e-01 7.60984242e-01 -3.26483418e-02 4.68656034e+01] [ 4.91336507e-02 1.01555928e-03 9.98791697e-01 9.10968166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.200385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.06, Y:46.88, Z:9.11 [[ 7.58992235e-01 -6.50056137e-01 -3.68484093e-02 1.77055079e+02] [ 6.49242945e-01 7.59885813e-01 -3.25138211e-02 4.68818121e+01] [ 4.91363924e-02 7.54167941e-04 9.98791793e-01 9.11218380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.230385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.08, Y:46.90, Z:9.11 [[ 7.59591572e-01 -6.49359462e-01 -3.67822386e-02 1.77080611e+02] [ 6.48541750e-01 7.60481084e-01 -3.25901918e-02 4.68997341e+01] [ 4.91349461e-02 9.00417665e-04 9.98791743e-01 9.11257183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.260385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.11, Y:46.92, Z:9.12 [[ 7.59828188e-01 -6.49071242e-01 -3.69817231e-02 1.77105433e+02] [ 6.48264365e-01 7.60727380e-01 -3.23599669e-02 4.69164469e+01] [ 4.91369332e-02 6.14081799e-04 9.98791863e-01 9.11871372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.290385723 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:177.13, Y:46.93, Z:9.12 [[ 7.59590049e-01 -6.49340808e-01 -3.71412505e-02 1.77126326e+02] [ 6.48543233e-01 7.60497463e-01 -3.21758232e-02 4.69346145e+01] [ 4.91389018e-02 3.52728458e-04 9.98791892e-01 9.11997889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.32038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.14, Y:46.95, Z:9.12 [[ 7.58692190e-01 -6.50390153e-01 -3.71323325e-02 1.77142336e+02] [ 6.49593330e-01 7.59600264e-01 -3.21861116e-02 4.69537328e+01] [ 4.91392596e-02 2.98436005e-04 9.98791892e-01 9.11781895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.35038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.16, Y:46.97, Z:9.12 [[ 7.58129223e-01 -6.51061286e-01 -3.68684607e-02 1.77162044e+02] [ 6.50250421e-01 7.59024880e-01 -3.24903198e-02 4.69738675e+01] [ 4.91372684e-02 6.58128864e-04 9.98791818e-01 9.12115472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.38038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.18, Y:46.99, Z:9.12 [[ 7.59036086e-01 -6.50009698e-01 -3.67642916e-02 1.77182674e+02] [ 6.49191772e-01 7.59925397e-01 -3.26103414e-02 4.69933776e+01] [ 4.91351571e-02 8.85350231e-04 9.98791746e-01 9.12180930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.41038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.21, Y:47.01, Z:9.12 [[ 7.61485194e-01 -6.47137755e-01 -3.67834991e-02 1.77209614e+02] [ 6.46317544e-01 7.62372377e-01 -3.25882162e-02 4.70118607e+01] [ 4.91317887e-02 1.04162333e-03 9.98791761e-01 9.12286917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.440385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.23, Y:47.03, Z:9.12 [[ 7.62309577e-01 -6.46147547e-01 -3.71140954e-02 1.77229569e+02] [ 6.45344641e-01 7.63212282e-01 -3.22072626e-02 4.70302739e+01] [ 4.91365771e-02 6.00522159e-04 9.98791888e-01 9.12381465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.470385723 meters Centerline goodness : 0.999865 Centerline is valid? [True, True] Translation: X:177.25, Y:47.05, Z:9.12 [[ 7.62173443e-01 -6.46308358e-01 -3.71099579e-02 1.77250828e+02] [ 6.45505411e-01 7.63076110e-01 -3.22120291e-02 4.70495961e+01] [ 4.91366260e-02 5.96474538e-04 9.98791888e-01 9.12255747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.500385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.27, Y:47.07, Z:9.13 [[ 7.61058331e-01 -6.47621510e-01 -3.71025202e-02 1.77268088e+02] [ 6.46819702e-01 7.61962011e-01 -3.22205937e-02 4.70694803e+01] [ 4.91374605e-02 5.23110205e-04 9.98791888e-01 9.12640100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.530385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.29, Y:47.09, Z:9.13 [[ 7.62419322e-01 -6.46031275e-01 -3.68831739e-02 1.77292834e+02] [ 6.45215354e-01 7.63310336e-01 -3.24727328e-02 4.70880164e+01] [ 4.91317089e-02 9.60248801e-04 9.98791847e-01 9.12869679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.560385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.31, Y:47.11, Z:9.13 [[ 7.61877319e-01 -6.46660210e-01 -3.70610785e-02 1.77313829e+02] [ 6.45854945e-01 7.62777918e-01 -3.22682172e-02 4.71068145e+01] [ 4.91359444e-02 6.48342037e-04 9.98791890e-01 9.13135233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.590385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.33, Y:47.12, Z:9.13 [[ 7.61600797e-01 -6.46985258e-01 -3.70715623e-02 1.77334565e+02] [ 6.46180964e-01 7.62502263e-01 -3.22561683e-02 4.71248794e+01] [ 4.91364155e-02 6.11385684e-04 9.98791890e-01 9.13304944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.620385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.35, Y:47.14, Z:9.13 [[ 7.61100539e-01 -6.47574006e-01 -3.70658409e-02 1.77354903e+02] [ 6.46770088e-01 7.62002342e-01 -3.22627415e-02 4.71422712e+01] [ 4.91367703e-02 5.82112809e-04 9.98791890e-01 9.13472774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.650385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.37, Y:47.16, Z:9.13 [[ 7.58711747e-01 -6.50371455e-01 -3.70601627e-02 1.77370686e+02] [ 6.49570545e-01 7.59616220e-01 -3.22692627e-02 4.71619999e+01] [ 4.91385081e-02 4.09878533e-04 9.98791890e-01 9.13235903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.680385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.40, Y:47.18, Z:9.14 [[ 7.61755411e-01 -6.46820582e-01 -3.67672216e-02 1.77397433e+02] [ 6.45999174e-01 7.62641434e-01 -3.26053835e-02 4.71802573e+01] [ 4.91300397e-02 1.08573252e-03 9.98791800e-01 9.13594785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.710385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.42, Y:47.20, Z:9.14 [[ 7.62293276e-01 -6.46170333e-01 -3.70521557e-02 1.77418673e+02] [ 6.45363998e-01 7.63192912e-01 -3.22783158e-02 4.71991744e+01] [ 4.91352327e-02 6.93415769e-04 9.98791894e-01 9.13703030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.740385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.44, Y:47.22, Z:9.14 [[ 7.64013338e-01 -6.44136138e-01 -3.70439769e-02 1.77439635e+02] [ 6.43326953e-01 7.64910410e-01 -3.22876994e-02 4.72179153e+01] [ 4.91329976e-02 8.36844149e-04 9.98791894e-01 9.13774216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.770385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.46, Y:47.23, Z:9.14 [[ 7.66476740e-01 -6.41203362e-01 -3.70358662e-02 1.77458018e+02] [ 6.40390296e-01 7.67370297e-01 -3.22970002e-02 4.72344139e+01] [ 4.91291688e-02 1.03749008e-03 9.98791894e-01 9.13960636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.800385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.48, Y:47.26, Z:9.14 [[ 7.67149226e-01 -6.40415311e-01 -3.67463489e-02 1.77481022e+02] [ 6.39585397e-01 7.68027273e-01 -3.26286321e-02 4.72551223e+01] [ 4.91180738e-02 1.52860171e-03 9.98791809e-01 9.14046589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.830385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.50, Y:47.27, Z:9.14 [[ 7.68096715e-01 -6.39262752e-01 -3.70212110e-02 1.77502399e+02] [ 6.38446623e-01 7.68987472e-01 -3.23137346e-02 4.72736503e+01] [ 4.91258144e-02 1.18400618e-03 9.98791896e-01 9.14227193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.860385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.52, Y:47.29, Z:9.14 [[ 7.67940326e-01 -6.39451070e-01 -3.70132981e-02 1.77523831e+02] [ 6.38634723e-01 7.68830883e-01 -3.23227958e-02 4.72925181e+01] [ 4.91258130e-02 1.18400100e-03 9.98791897e-01 9.14367157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.890385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.54, Y:47.31, Z:9.14 [[ 7.69180295e-01 -6.37959463e-01 -3.70053795e-02 1.77544721e+02] [ 6.37140954e-01 7.70068864e-01 -3.23318590e-02 4.73106286e+01] [ 4.91231060e-02 1.29138608e-03 9.98791897e-01 9.14413058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.920385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.56, Y:47.33, Z:9.14 [[ 7.67048852e-01 -6.40521072e-01 -3.69975121e-02 1.77560397e+02] [ 6.39705097e-01 7.67939749e-01 -3.23408592e-02 4.73314967e+01] [ 4.91268620e-02 1.13952180e-03 9.98791897e-01 9.13876758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.950385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.59, Y:47.35, Z:9.14 [[ 7.69583512e-01 -6.37490448e-01 -3.67034871e-02 1.77587785e+02] [ 6.36654897e-01 7.70456202e-01 -3.26769458e-02 4.73489323e+01] [ 4.91096701e-02 1.78018396e-03 9.98791806e-01 9.14464711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.980385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.61, Y:47.37, Z:9.15 [[ 7.69515994e-01 -6.37555407e-01 -3.69896940e-02 1.77607237e+02] [ 6.36735575e-01 7.70403339e-01 -3.23496945e-02 4.73670557e+01] [ 4.91217064e-02 1.34095327e-03 9.98791900e-01 9.14565473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.010385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.63, Y:47.39, Z:9.15 [[ 7.69408329e-01 -6.37685593e-01 -3.69852262e-02 1.77627728e+02] [ 6.36865666e-01 7.70295586e-01 -3.23548017e-02 4.73854157e+01] [ 4.91217474e-02 1.33943323e-03 9.98791900e-01 9.15004099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.040385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.65, Y:47.40, Z:9.15 [[ 7.69147552e-01 -6.38000623e-01 -3.69763261e-02 1.77648832e+02] [ 6.37180571e-01 7.70034693e-01 -3.23649699e-02 4.74038730e+01] [ 4.91219249e-02 1.33284077e-03 9.98791900e-01 9.15198179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.07038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.67, Y:47.42, Z:9.15 [[ 7.69112083e-01 -6.38043895e-01 -3.69674444e-02 1.77669143e+02] [ 6.37223407e-01 7.69998820e-01 -3.23751115e-02 4.74217855e+01] [ 4.91216308e-02 1.34356856e-03 9.98791900e-01 9.15359496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.10038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.69, Y:47.44, Z:9.15 [[ 7.68904788e-01 -6.38293913e-01 -3.69636002e-02 1.77689257e+02] [ 6.37473502e-01 7.69791597e-01 -3.23795000e-02 4.74401315e+01] [ 4.91219065e-02 1.33343696e-03 9.98791900e-01 9.15446645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.13038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.71, Y:47.46, Z:9.16 [[ 7.68650625e-01 -6.38600252e-01 -3.69585549e-02 1.77710556e+02] [ 6.37779918e-01 7.69537505e-01 -3.23852577e-02 4.74589195e+01] [ 4.91222279e-02 1.32152442e-03 9.98791900e-01 9.15612071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.16038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.73, Y:47.48, Z:9.16 [[ 7.67698680e-01 -6.39744840e-01 -3.69496560e-02 1.77731825e+02] [ 6.38925340e-01 7.68586330e-01 -3.23954076e-02 4.74782765e+01] [ 4.91237954e-02 1.26184013e-03 9.98791900e-01 9.15794700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.190385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.75, Y:47.50, Z:9.16 [[ 7.67498301e-01 -6.39985672e-01 -3.69418132e-02 1.77752561e+02] [ 6.39166021e-01 7.68385812e-01 -3.24043487e-02 4.74960115e+01] [ 4.91238840e-02 1.25833084e-03 9.98791901e-01 9.15993197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.220385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.77, Y:47.52, Z:9.16 [[ 7.66066816e-01 -6.41702613e-01 -3.68698904e-02 1.77773987e+02] [ 6.40881008e-01 7.66952524e-01 -3.24862874e-02 4.75151443e+01] [ 4.91239911e-02 1.25745425e-03 9.98791896e-01 9.16231266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.250385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.79, Y:47.53, Z:9.16 [[ 7.65557715e-01 -6.42306830e-01 -3.69231674e-02 1.77794737e+02] [ 6.41488845e-01 7.66446763e-01 -3.24256210e-02 4.75335723e+01] [ 4.91268400e-02 1.13788431e-03 9.98791900e-01 9.16395077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.280385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.81, Y:47.55, Z:9.16 [[ 7.65225738e-01 -6.42702820e-01 -3.69141727e-02 1.77814859e+02] [ 6.41884801e-01 7.66114755e-01 -3.24358575e-02 4.75523848e+01] [ 4.91271095e-02 1.12610660e-03 9.98791900e-01 9.16381953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.310385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.84, Y:47.57, Z:9.16 [[ 7.65176980e-01 -6.42761092e-01 -3.69102860e-02 1.77835239e+02] [ 6.41942927e-01 7.66065863e-01 -3.24402797e-02 4.75711904e+01] [ 4.91270597e-02 1.12825820e-03 9.98791900e-01 9.16412068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.340385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.85, Y:47.59, Z:9.16 [[ 7.65244343e-01 -6.42681397e-01 -3.69014467e-02 1.77854825e+02] [ 6.41862656e-01 7.66132695e-01 -3.24503315e-02 4.75907739e+01] [ 4.91266292e-02 1.14677202e-03 9.98791900e-01 9.16267130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.370385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.88, Y:47.61, Z:9.16 [[ 7.65093346e-01 -6.42861369e-01 -3.68975749e-02 1.77875220e+02] [ 6.42042625e-01 7.65981695e-01 -3.24547333e-02 4.76096094e+01] [ 4.91267613e-02 1.14108466e-03 9.98791900e-01 9.16380409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.400385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.90, Y:47.63, Z:9.16 [[ 7.64654267e-01 -6.43384068e-01 -3.68889338e-02 1.77895273e+02] [ 6.42565458e-01 7.65542739e-01 -3.24645521e-02 4.76281734e+01] [ 4.91272310e-02 1.12060363e-03 9.98791900e-01 9.16440135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.430385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.92, Y:47.65, Z:9.17 [[ 7.63925641e-01 -6.44249295e-01 -3.68844280e-02 1.77915886e+02] [ 6.43431444e-01 7.64814812e-01 -3.24696705e-02 4.76464909e+01] [ 4.91283192e-02 1.07181307e-03 9.98791900e-01 9.16582010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.460385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.94, Y:47.67, Z:9.17 [[ 7.62032123e-01 -6.46488375e-01 -3.68758019e-02 1.77937940e+02] [ 6.45672664e-01 7.62923257e-01 -3.24794642e-02 4.76654550e+01] [ 4.91310030e-02 9.40697836e-04 9.98791900e-01 9.16901998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.490385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.96, Y:47.68, Z:9.17 [[ 7.61016466e-01 -6.47684099e-01 -3.68679457e-02 1.77958087e+02] [ 6.46869356e-01 7.61908486e-01 -3.24883796e-02 4.76828071e+01] [ 4.91322075e-02 8.75447539e-04 9.98791900e-01 9.17111928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.520385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.98, Y:47.70, Z:9.17 [[ 7.59667427e-01 -6.49266153e-01 -3.68627582e-02 1.77979408e+02] [ 6.48452983e-01 7.60560880e-01 -3.24942644e-02 4.77010026e+01] [ 4.91337979e-02 7.81068733e-04 9.98791900e-01 9.17317675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.550385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.00, Y:47.72, Z:9.17 [[ 7.59189983e-01 -6.49824878e-01 -3.68537369e-02 1.77999822e+02] [ 6.49011868e-01 7.60083583e-01 -3.25044928e-02 4.77191523e+01] [ 4.91341485e-02 7.58572648e-04 9.98791900e-01 9.17390465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.580385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.02, Y:47.74, Z:9.17 [[ 7.59210678e-01 -6.49801050e-01 -3.68475567e-02 1.78020262e+02] [ 6.48987672e-01 7.60103943e-01 -3.25114973e-02 4.77381815e+01] [ 4.91339782e-02 7.69465852e-04 9.98791900e-01 9.17424360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.610385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.04, Y:47.76, Z:9.17 [[ 7.59205753e-01 -6.49807316e-01 -3.68385284e-02 1.78040702e+02] [ 6.48993450e-01 7.60098572e-01 -3.25217239e-02 4.77568287e+01] [ 4.91337670e-02 7.82716238e-04 9.98791900e-01 9.17498206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.640385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.06, Y:47.78, Z:9.17 [[ 7.59744963e-01 -6.49177308e-01 -3.68295331e-02 1.78062177e+02] [ 6.48362208e-01 7.60636656e-01 -3.25319076e-02 4.77755306e+01] [ 4.91328691e-02 8.37075540e-04 9.98791900e-01 9.17492718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.670385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.08, Y:47.79, Z:9.18 [[ 7.60137945e-01 -6.48717621e-01 -3.68205446e-02 1.78083394e+02] [ 6.47901490e-01 7.61028694e-01 -3.25420778e-02 4.77939842e+01] [ 4.91321103e-02 8.80382430e-04 9.98791901e-01 9.17567962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.700385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.10, Y:47.81, Z:9.18 [[ 7.61040687e-01 -6.47658845e-01 -3.68115813e-02 1.78103128e+02] [ 6.46840984e-01 7.61929849e-01 -3.25522140e-02 4.78120510e+01] [ 4.91305719e-02 9.62319820e-04 9.98791901e-01 9.17668903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.730385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.12, Y:47.83, Z:9.18 [[ 7.61531876e-01 -6.47081571e-01 -3.68054581e-02 1.78123251e+02] [ 6.46262702e-01 7.62420109e-01 -3.25591358e-02 4.78308520e+01] [ 4.91296381e-02 1.00882499e-03 9.98791901e-01 9.17760133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.760385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.14, Y:47.85, Z:9.18 [[ 7.62582724e-01 -6.45843098e-01 -3.68005526e-02 1.78142302e+02] [ 6.45022520e-01 7.63469378e-01 -3.25646794e-02 4.78494353e+01] [ 4.91277684e-02 1.09607674e-03 9.98791901e-01 9.17781162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.790385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.16, Y:47.87, Z:9.18 [[ 7.61259587e-01 -6.47402443e-01 -3.67956210e-02 1.78160240e+02] [ 6.46583411e-01 7.62147670e-01 -3.25702508e-02 4.78704428e+01] [ 4.91297567e-02 1.00297755e-03 9.98791901e-01 9.17521065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.82038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.18, Y:47.89, Z:9.18 [[ 7.62424969e-01 -6.46040832e-01 -3.65979556e-02 1.78183641e+02] [ 6.45209489e-01 7.63301588e-01 -3.27933179e-02 4.78888744e+01] [ 4.91211000e-02 1.38909613e-03 9.98791864e-01 9.18150167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.85038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.20, Y:47.91, Z:9.18 [[ 7.62282477e-01 -6.46195899e-01 -3.68277915e-02 1.78203746e+02] [ 6.45377216e-01 7.63170882e-01 -3.25338965e-02 4.79073197e+01] [ 4.91291686e-02 1.03220162e-03 9.98791900e-01 9.18156073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.88038572300002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:178.23, Y:47.93, Z:9.18 [[ 7.61050810e-01 -6.47648989e-01 -3.67756945e-02 1.78225018e+02] [ 6.46829162e-01 7.61938155e-01 -3.25926800e-02 4.79262823e+01] [ 4.91294210e-02 1.01709387e-03 9.98791903e-01 9.18345727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.91038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.25, Y:47.95, Z:9.19 [[ 7.60065298e-01 -6.48805754e-01 -3.67673202e-02 1.78246092e+02] [ 6.47986821e-01 7.60953469e-01 -3.26021241e-02 4.79454054e+01] [ 4.91306656e-02 9.55004262e-04 9.98791903e-01 9.18508711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.940385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.27, Y:47.96, Z:9.19 [[ 7.58297385e-01 -6.50871609e-01 -3.67589908e-02 1.78266647e+02] [ 6.50054641e-01 7.59187363e-01 -3.26115128e-02 4.79645297e+01] [ 4.91328692e-02 8.33872308e-04 9.98791903e-01 9.18683735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.970385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.29, Y:47.98, Z:9.19 [[ 7.57518336e-01 -6.51778645e-01 -3.67500744e-02 1.78286311e+02] [ 6.50962256e-01 7.58408845e-01 -3.26215577e-02 4.79826596e+01] [ 4.91336162e-02 7.88516822e-04 9.98791903e-01 9.18750402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.000385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.31, Y:48.00, Z:9.19 [[ 7.55073154e-01 -6.54610120e-01 -3.67440313e-02 1.78305731e+02] [ 6.53796738e-01 7.55966411e-01 -3.26283630e-02 4.80030023e+01] [ 4.91361101e-02 6.13673167e-04 9.98791903e-01 9.18538487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.030385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.33, Y:48.02, Z:9.19 [[ 7.53810094e-01 -6.56067867e-01 -3.66782834e-02 1.78327792e+02] [ 6.55252610e-01 7.54701645e-01 -3.27023593e-02 4.80218522e+01] [ 4.91361280e-02 6.17827587e-04 9.98791900e-01 9.19050944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.060385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.35, Y:48.04, Z:9.19 [[ 7.52762616e-01 -6.57266750e-01 -3.67268641e-02 1.78347615e+02] [ 6.56455578e-01 7.53657881e-01 -3.26477090e-02 4.80397137e+01] [ 4.91377441e-02 4.66420013e-04 9.98791903e-01 9.19161684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.090385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.37, Y:48.06, Z:9.19 [[ 7.50667199e-01 -6.59659195e-01 -3.67219561e-02 1.78367047e+02] [ 6.58850606e-01 7.51564798e-01 -3.26532286e-02 4.80592598e+01] [ 4.91389320e-02 3.17424597e-04 9.98791903e-01 9.19266795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.120385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.39, Y:48.08, Z:9.19 [[ 7.48503176e-01 -6.62113918e-01 -3.67172153e-02 1.78385033e+02] [ 6.61308012e-01 7.49403184e-01 -3.26585585e-02 4.80790385e+01] [ 4.91396842e-02 1.63646108e-04 9.98791903e-01 9.19027976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.150385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:178.41, Y:48.10, Z:9.19 [[ 7.48038127e-01 -6.62647191e-01 -3.65740446e-02 1.78406080e+02] [ 6.61834047e-01 7.48931627e-01 -3.28193999e-02 4.80987192e+01] [ 4.91391418e-02 3.44214492e-04 9.98791883e-01 9.19437121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.180385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.43, Y:48.12, Z:9.20 [[ 7.47267822e-01 -6.63508554e-01 -3.67042442e-02 1.78425433e+02] [ 6.62703611e-01 7.48168691e-01 -3.26731380e-02 4.81170434e+01] [ 4.91398729e-02 9.15494711e-05 9.98791903e-01 9.19542442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.210385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.45, Y:48.14, Z:9.20 [[ 7.46401870e-01 -6.64482883e-01 -3.66980468e-02 1.78445855e+02] [ 6.63678774e-01 7.47303484e-01 -3.26800974e-02 4.81370486e+01] [ 4.91399436e-02 3.67711058e-05 9.98791903e-01 9.19682996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.240385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.47, Y:48.16, Z:9.20 [[ 7.46392051e-01 -6.64494405e-01 -3.66891306e-02 1.78466085e+02] [ 6.63689817e-01 7.47293238e-01 -3.26901043e-02 4.81565334e+01] [ 4.91399306e-02 4.94316662e-05 9.98791903e-01 9.19909137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.270385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.48, Y:48.18, Z:9.20 [[ 7.47113502e-01 -6.63683653e-01 -3.66800309e-02 1.78484441e+02] [ 6.62877586e-01 7.48013366e-01 -3.27003115e-02 4.81771003e+01] [ 4.91398156e-02 1.16473911e-04 9.98791903e-01 9.20120184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.300385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:178.50, Y:48.20, Z:9.20 [[ 7.47725300e-01 -6.62994598e-01 -3.66747735e-02 1.78503113e+02] [ 6.62187412e-01 7.48624161e-01 -3.27062069e-02 4.81961815e+01] [ 4.91396600e-02 1.69684992e-04 9.98791903e-01 9.20259027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.330385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.52, Y:48.22, Z:9.21 [[ 7.49822654e-01 -6.60621917e-01 -3.66697506e-02 1.78522138e+02] [ 6.59811613e-01 7.50718703e-01 -3.27118375e-02 4.82170766e+01] [ 4.91388244e-02 3.32949499e-04 9.98791903e-01 9.20501335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.360385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.54, Y:48.24, Z:9.21 [[ 7.50872618e-01 -6.59428762e-01 -3.66608689e-02 1.78542250e+02] [ 6.58616548e-01 7.51766937e-01 -3.27217884e-02 4.82368059e+01] [ 4.91381175e-02 4.24440030e-04 9.98791903e-01 9.20668480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.390385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.56, Y:48.26, Z:9.20 [[ 7.53503859e-01 -6.56421029e-01 -3.66519802e-02 1.78563369e+02] [ 6.55604761e-01 7.54394479e-01 -3.27317416e-02 4.82581878e+01] [ 4.91358551e-02 6.34280876e-04 9.98791903e-01 9.20483371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.420385723 meters Centerline goodness : 0.999363 Centerline is valid? [True, True] Translation: X:178.58, Y:48.28, Z:9.21 [[ 7.57019241e-01 -6.52354346e-01 -3.68195015e-02 1.78584994e+02] [ 6.51542398e-01 7.57913839e-01 -3.25440501e-02 4.82787631e+01] [ 4.91362623e-02 6.47005791e-04 9.98791875e-01 9.20626248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.450385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.60, Y:48.30, Z:9.21 [[ 7.56334310e-01 -6.53140328e-01 -3.69611098e-02 1.78603893e+02] [ 6.52337029e-01 7.57236796e-01 -3.23857389e-02 4.82999861e+01] [ 4.91407445e-02 3.83344986e-04 9.98791790e-01 9.20757517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.480385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.62, Y:48.32, Z:9.21 [[ 7.57112534e-01 -6.52244931e-01 -3.68396738e-02 1.78620307e+02] [ 6.51433960e-01 7.58008022e-01 -3.25212954e-02 4.83181287e+01] [ 4.91366183e-02 6.23665816e-04 9.98791872e-01 9.21172225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.510385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:178.64, Y:48.34, Z:9.21 [[ 7.58280278e-01 -6.50901307e-01 -3.65856463e-02 1.78639230e+02] [ 6.50075042e-01 7.59161575e-01 -3.28046074e-02 4.83384622e+01] [ 4.91269786e-02 1.09167123e-03 9.98791944e-01 9.21332911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.540385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:178.66, Y:48.36, Z:9.21 [[ 7.58761648e-01 -6.50340620e-01 -3.65765026e-02 1.78658330e+02] [ 6.49513213e-01 7.59641873e-01 -3.28147992e-02 4.83571425e+01] [ 4.91258398e-02 1.14168944e-03 9.98791945e-01 9.21467967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.57038572300002 meters Centerline goodness : 0.997733 Centerline is valid? [True, True] Translation: X:178.68, Y:48.38, Z:9.21 [[ 7.60170604e-01 -6.48693382e-01 -3.65725273e-02 1.78684459e+02] [ 6.47863855e-01 7.61048831e-01 -3.28192291e-02 4.83796612e+01] [ 4.91230959e-02 1.25419463e-03 9.98791945e-01 9.21259367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.60038572300002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:178.70, Y:48.40, Z:9.22 [[ 7.59737462e-01 -6.49169952e-01 -3.71128202e-02 1.78698963e+02] [ 6.48370172e-01 7.60643282e-01 -3.22167205e-02 4.83985464e+01] [ 4.91437443e-02 4.13403877e-04 9.98791631e-01 9.21599581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.63038572300002 meters Centerline goodness : 0.997573 Centerline is valid? [True, True] Translation: X:178.73, Y:48.42, Z:9.21 [[ 7.61335717e-01 -6.47326486e-01 -3.65560919e-02 1.78725415e+02] [ 6.46494553e-01 7.62211620e-01 -3.28365376e-02 4.84206449e+01] [ 4.91194386e-02 1.36631459e-03 9.98791977e-01 9.21269090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.66038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.74, Y:48.44, Z:9.21 [[ 7.59123409e-01 -6.49882782e-01 -3.72024173e-02 1.78740001e+02] [ 6.49088772e-01 7.60034417e-01 -3.21161951e-02 4.84392648e+01] [ 4.91468798e-02 2.32484104e-04 9.98791535e-01 9.21262851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.690385723 meters Centerline goodness : 0.997537 Centerline is valid? [True, True] Translation: X:178.76, Y:48.46, Z:9.21 [[ 7.60915527e-01 -6.47813106e-01 -3.66843299e-02 1.78763856e+02] [ 6.46988642e-01 7.61798448e-01 -3.26928451e-02 4.84570081e+01] [ 4.91249191e-02 1.14214866e-03 9.98791989e-01 9.21295481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.720385723 meters Centerline goodness : 0.997537 Centerline is valid? [True, True] Translation: X:178.79, Y:48.48, Z:9.21 [[ 7.60557399e-01 -6.48217301e-01 -3.69699005e-02 1.78785054e+02] [ 6.47408695e-01 7.61455092e-01 -3.23747387e-02 4.84762896e+01] [ 4.91367847e-02 6.88211982e-04 9.98791822e-01 9.21453034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.750385723 meters Centerline goodness : 0.996178 Centerline is valid? [True, True] Translation: X:178.81, Y:48.50, Z:9.22 [[ 7.59178293e-01 -6.49835789e-01 -3.69021228e-02 1.78806725e+02] [ 6.49025434e-01 7.60074324e-01 -3.24500789e-02 4.84968036e+01] [ 4.91355787e-02 6.84979214e-04 9.98791883e-01 9.21567872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.780385723 meters Centerline goodness : 0.997167 Centerline is valid? [True, True] Translation: X:178.83, Y:48.52, Z:9.22 [[ 7.57426071e-01 -6.51868276e-01 -3.70607416e-02 1.78826435e+02] [ 6.51068922e-01 7.58332151e-01 -3.22739518e-02 4.85168140e+01] [ 4.91427172e-02 3.16035395e-04 9.98791717e-01 9.21778460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.810385723 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:178.84, Y:48.54, Z:9.22 [[ 7.55541068e-01 -6.54058129e-01 -3.69548043e-02 1.78840656e+02] [ 6.53255650e-01 7.56444217e-01 -3.23913900e-02 4.85351130e+01] [ 4.91401000e-02 3.32090663e-04 9.98791840e-01 9.21865046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.840385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:178.86, Y:48.56, Z:9.22 [[ 7.54050994e-01 -6.55803434e-01 -3.64548145e-02 1.78858325e+02] [ 6.54976125e-01 7.54931073e-01 -3.29446724e-02 4.85550792e+01] [ 4.91261015e-02 9.64929822e-04 9.98792118e-01 9.22086039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.870385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.88, Y:48.57, Z:9.23 [[ 7.55536188e-01 -6.54099753e-01 -3.63122891e-02 1.78880665e+02] [ 6.53262876e-01 7.56407201e-01 -3.31022880e-02 4.85726873e+01] [ 4.91190753e-02 1.28850608e-03 9.98792099e-01 9.22506848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.900385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.90, Y:48.59, Z:9.23 [[ 7.55525453e-01 -6.54104740e-01 -3.64455547e-02 1.78900325e+02] [ 6.53274958e-01 7.56403201e-01 -3.29549081e-02 4.85905709e+01] [ 4.91234958e-02 1.08930369e-03 9.98792118e-01 9.22554133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.930385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.92, Y:48.61, Z:9.23 [[ 7.53833140e-01 -6.56060845e-01 -3.63285633e-02 1.78919311e+02] [ 6.55227105e-01 7.54707146e-01 -3.30842076e-02 4.86106456e+01] [ 4.91226795e-02 1.13651274e-03 9.98792106e-01 9.22569765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.960385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.94, Y:48.63, Z:9.23 [[ 7.54701088e-01 -6.55064255e-01 -3.62917370e-02 1.78941831e+02] [ 6.54227405e-01 7.55572130e-01 -3.31248971e-02 4.86290018e+01] [ 4.91199611e-02 1.25634693e-03 9.98792096e-01 9.22824720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.990385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:178.96, Y:48.65, Z:9.23 [[ 7.53617989e-01 -6.56302309e-01 -3.64308392e-02 1.78960246e+02] [ 6.55474300e-01 7.54497410e-01 -3.29712007e-02 4.86484814e+01] [ 4.91260490e-02 9.68211209e-04 9.98792117e-01 9.22925916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.020385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.98, Y:48.67, Z:9.23 [[ 7.54735229e-01 -6.55026894e-01 -3.62560663e-02 1.78982363e+02] [ 6.54188116e-01 7.55604425e-01 -3.31641626e-02 4.86671774e+01] [ 4.91186626e-02 1.31187413e-03 9.98792088e-01 9.23218312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.050385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.00, Y:48.69, Z:9.23 [[ 7.55023380e-01 -6.54688176e-01 -3.63742809e-02 1.79002572e+02] [ 6.53855280e-01 7.55898176e-01 -3.30336326e-02 4.86856841e+01] [ 4.91219813e-02 1.15764932e-03 9.98792116e-01 9.23374177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.080385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:179.03, Y:48.70, Z:9.23 [[ 7.57424928e-01 -6.51912479e-01 -3.62987357e-02 1.79025164e+02] [ 6.51072384e-01 7.58292830e-01 -3.31170007e-02 4.87035688e+01] [ 4.91144570e-02 1.45053744e-03 9.98792104e-01 9.23333394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.110385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.05, Y:48.72, Z:9.24 [[ 7.58683309e-01 -6.50441359e-01 -3.64098221e-02 1.79046871e+02] [ 6.49605445e-01 7.59555221e-01 -3.29944163e-02 4.87226430e+01] [ 4.91162034e-02 1.38029424e-03 9.98792117e-01 9.23599562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.140385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.07, Y:48.74, Z:9.24 [[ 7.59078446e-01 -6.49980621e-01 -3.64019961e-02 1.79066820e+02] [ 6.49143766e-01 7.59949453e-01 -3.30030483e-02 4.87403287e+01] [ 4.91150188e-02 1.42177376e-03 9.98792117e-01 9.23708157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.170385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:179.09, Y:48.76, Z:9.24 [[ 7.59302488e-01 -6.49719100e-01 -3.63981144e-02 1.79087377e+02] [ 6.48881739e-01 7.60173010e-01 -3.30073287e-02 4.87585991e+01] [ 4.91143560e-02 1.44447508e-03 9.98792117e-01 9.23796917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.200385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:179.10, Y:48.78, Z:9.24 [[ 7.57624637e-01 -6.51675047e-01 -3.63942667e-02 1.79103363e+02] [ 6.50839730e-01 7.58497120e-01 -3.30115707e-02 4.87764798e+01] [ 4.91177633e-02 1.32354452e-03 9.98792117e-01 9.23933216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.230385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.13, Y:48.79, Z:9.24 [[ 7.58632823e-01 -6.50522952e-01 -3.60017921e-02 1.79125718e+02] [ 6.49665713e-01 7.59484008e-01 -3.34440300e-02 4.87945260e+01] [ 4.90988945e-02 1.98260904e-03 9.98791954e-01 9.24186344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.260385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.15, Y:48.81, Z:9.24 [[ 7.58922457e-01 -6.50183206e-01 -3.60347636e-02 1.79148182e+02] [ 6.49327306e-01 7.59774950e-01 -3.34076975e-02 4.88144665e+01] [ 4.90994346e-02 1.95549583e-03 9.98791981e-01 9.24273979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.290385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:179.17, Y:48.83, Z:9.25 [[ 7.62733764e-01 -6.45699175e-01 -3.61909057e-02 1.79173561e+02] [ 6.44846389e-01 7.63589239e-01 -3.32356591e-02 4.88307564e+01] [ 4.90952237e-02 2.01238452e-03 9.98792075e-01 9.24590072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.32038572300002 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:179.19, Y:48.85, Z:9.24 [[ 7.60819338e-01 -6.47942934e-01 -3.63852733e-02 1.79188469e+02] [ 6.47102865e-01 7.61687247e-01 -3.30214950e-02 4.88502473e+01] [ 4.91102430e-02 1.57837737e-03 9.98792117e-01 9.24410534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.35038572300002 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:179.21, Y:48.87, Z:9.25 [[ 7.62815291e-01 -6.45616345e-01 -3.59495038e-02 1.79212263e+02] [ 6.44750942e-01 7.63658226e-01 -3.35013046e-02 4.88685467e+01] [ 4.90821241e-02 2.37683094e-03 9.98791918e-01 9.24571288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.38038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.23, Y:48.89, Z:9.25 [[ 7.62872885e-01 -6.45540982e-01 -3.60804939e-02 1.79231808e+02] [ 6.44682286e-01 7.63722501e-01 -3.33570278e-02 4.88873130e+01] [ 4.90888135e-02 2.18671671e-03 9.98792024e-01 9.24586456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.41038572300002 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:179.25, Y:48.90, Z:9.25 [[ 7.63124413e-01 -6.45248810e-01 -3.59875518e-02 1.79252959e+02] [ 6.44384970e-01 7.63968900e-01 -3.34593800e-02 4.89049682e+01] [ 4.90829955e-02 2.34383219e-03 9.98791953e-01 9.24709274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.440385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:179.27, Y:48.92, Z:9.25 [[ 7.62980367e-01 -6.45421928e-01 -3.59373638e-02 1.79273311e+02] [ 6.44555684e-01 7.63822452e-01 -3.35146507e-02 4.89233375e+01] [ 4.90808558e-02 2.40738841e-03 9.98791907e-01 9.24711010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.470385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.29, Y:48.94, Z:9.25 [[ 7.62239027e-01 -6.46299467e-01 -3.58979892e-02 1.79293766e+02] [ 6.45432155e-01 7.63080070e-01 -3.35580061e-02 4.89406918e+01] [ 4.90815616e-02 2.40950544e-03 9.98791868e-01 9.24723209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.500385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.32, Y:48.96, Z:9.25 [[ 7.62045227e-01 -6.46533583e-01 -3.57966384e-02 1.79315520e+02] [ 6.45661302e-01 7.62881281e-01 -3.36694956e-02 4.89588145e+01] [ 4.90770450e-02 2.54517428e-03 9.98791753e-01 9.24758243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.530385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.34, Y:48.98, Z:9.25 [[ 7.61632725e-01 -6.47019775e-01 -3.57911000e-02 1.79339520e+02] [ 6.46147742e-01 7.62469048e-01 -3.36755869e-02 4.89760109e+01] [ 4.90783766e-02 2.52209058e-03 9.98791746e-01 9.24780763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.560385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:179.36, Y:48.99, Z:9.25 [[ 7.61219873e-01 -6.47497390e-01 -3.59365423e-02 1.79361079e+02] [ 6.46633403e-01 7.62064272e-01 -3.35154829e-02 4.89940358e+01] [ 4.90871427e-02 2.27488300e-03 9.98791909e-01 9.24867736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.590385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.38, Y:49.01, Z:9.25 [[ 7.59849921e-01 -6.49106102e-01 -3.59077349e-02 1.79384123e+02] [ 6.48242407e-01 7.60694661e-01 -3.35471935e-02 4.90113449e+01] [ 4.90905103e-02 2.21391582e-03 9.98791880e-01 9.24953193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.620385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:179.41, Y:49.03, Z:9.25 [[ 7.58987095e-01 -6.50111980e-01 -3.59583516e-02 1.79410331e+02] [ 6.49252037e-01 7.59835584e-01 -3.34914660e-02 4.90274848e+01] [ 4.90956383e-02 2.07355751e-03 9.98791930e-01 9.25430643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.650385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:179.43, Y:49.05, Z:9.26 [[ 7.57976712e-01 -6.51278865e-01 -3.61544490e-02 1.79433517e+02] [ 6.50430483e-01 7.58836563e-01 -3.32754847e-02 4.90452592e+01] [ 4.91069377e-02 1.70608670e-03 9.98792069e-01 9.25621869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.680385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.46, Y:49.06, Z:9.26 [[ 7.56732779e-01 -6.52722503e-01 -3.61778421e-02 1.79460065e+02] [ 6.51876989e-01 7.57595437e-01 -3.32497541e-02 4.90610343e+01] [ 4.91110308e-02 1.57767602e-03 9.98792079e-01 9.26048157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.710385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.48, Y:49.08, Z:9.26 [[ 7.55805325e-01 -6.53782257e-01 -3.64289954e-02 1.79482806e+02] [ 6.52951209e-01 7.56681883e-01 -3.29734126e-02 4.90785839e+01] [ 4.91225929e-02 1.13512417e-03 9.98792112e-01 9.26292851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.740385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.50, Y:49.10, Z:9.26 [[ 7.53992697e-01 -6.55867409e-01 -3.65096608e-02 1.79501825e+02] [ 6.55043075e-01 7.54875598e-01 -3.28846730e-02 4.90962260e+01] [ 4.91282373e-02 8.79402818e-04 9.98792092e-01 9.26492123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.770385723 meters Centerline goodness : 0.999688 Centerline is valid? [True, True] Translation: X:179.52, Y:49.11, Z:9.27 [[ 7.51686840e-01 -6.58517783e-01 -3.63486471e-02 1.79523642e+02] [ 6.57687988e-01 7.52564572e-01 -3.30616966e-02 4.91134014e+01] [ 4.91264192e-02 9.45973593e-04 9.98792121e-01 9.26548657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.800385723 meters Centerline goodness : 0.999422 Centerline is valid? [True, True] Translation: X:179.54, Y:49.13, Z:9.27 [[ 7.50553463e-01 -6.59809795e-01 -3.63391648e-02 1.79544394e+02] [ 6.58981006e-01 7.51432145e-01 -3.30721156e-02 4.91310371e+01] [ 4.91277223e-02 8.75571498e-04 9.98792121e-01 9.26533928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.830385723 meters Centerline goodness : 0.999510 Centerline is valid? [True, True] Translation: X:179.57, Y:49.15, Z:9.27 [[ 7.49435727e-01 -6.61079301e-01 -3.63352291e-02 1.79568101e+02] [ 6.60251792e-01 7.50315614e-01 -3.30764390e-02 4.91486598e+01] [ 4.91290389e-02 7.98264971e-04 9.98792121e-01 9.26687645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.860385723 meters Centerline goodness : 0.999263 Centerline is valid? [True, True] Translation: X:179.59, Y:49.17, Z:9.27 [[ 7.48627749e-01 -6.61994552e-01 -3.63277617e-02 1.79591148e+02] [ 6.61167721e-01 7.49508273e-01 -3.30846385e-02 4.91667607e+01] [ 4.91298084e-02 7.49335073e-04 9.98792121e-01 9.26785065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.890385723 meters Centerline goodness : 0.999262 Centerline is valid? [True, True] Translation: X:179.61, Y:49.18, Z:9.27 [[ 7.48300241e-01 -6.62365177e-01 -3.63197149e-02 1.79612017e+02] [ 6.61538353e-01 7.49180772e-01 -3.30934697e-02 4.91848121e+01] [ 4.91299940e-02 7.36966994e-04 9.98792121e-01 9.26862794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.920385723 meters Centerline goodness : 0.998836 Centerline is valid? [True, True] Translation: X:179.64, Y:49.20, Z:9.27 [[ 7.49964783e-01 -6.60480170e-01 -3.63148720e-02 1.79638957e+02] [ 6.59650876e-01 7.50842988e-01 -3.30987832e-02 4.92038842e+01] [ 4.91278569e-02 8.67784682e-04 9.98792121e-01 9.26954547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.950385723 meters Centerline goodness : 0.999174 Centerline is valid? [True, True] Translation: X:179.65, Y:49.22, Z:9.27 [[ 7.48687157e-01 -6.61903250e-01 -3.67645013e-02 1.79653899e+02] [ 6.61099709e-01 7.49589272e-01 -3.26051963e-02 4.92221805e+01] [ 4.91397611e-02 1.06090636e-04 9.98791907e-01 9.27097572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.980385723 meters Centerline goodness : 0.998346 Centerline is valid? [True, True] Translation: X:179.68, Y:49.24, Z:9.27 [[ 7.50997191e-01 -6.59306787e-01 -3.63012196e-02 1.79682743e+02] [ 6.58475430e-01 7.51873414e-01 -3.31130998e-02 4.92419542e+01] [ 4.91256134e-02 9.64383727e-04 9.98792143e-01 9.27246587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.010385723 meters Centerline goodness : 0.999351 Centerline is valid? [True, True] Translation: X:179.70, Y:49.26, Z:9.28 [[ 7.49850263e-01 -6.60577884e-01 -3.68977197e-02 1.79697072e+02] [ 6.59779955e-01 7.50757523e-01 -3.24584706e-02 4.92583930e+01] [ 4.91425885e-02 -5.38310724e-06 9.98791773e-01 9.27615286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.040385723 meters Centerline goodness : 0.999216 Centerline is valid? [True, True] Translation: X:179.72, Y:49.28, Z:9.28 [[ 7.50170804e-01 -6.60247614e-01 -3.62884731e-02 1.79718313e+02] [ 6.59416737e-01 7.51047429e-01 -3.31259123e-02 4.92762756e+01] [ 4.91256689e-02 9.20865700e-04 9.98792181e-01 9.27763393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.07038572300002 meters Centerline goodness : 0.999214 Centerline is valid? [True, True] Translation: X:179.74, Y:49.29, Z:9.28 [[ 7.50245943e-01 -6.60162728e-01 -3.62794375e-02 1.79739032e+02] [ 6.59331275e-01 7.51122020e-01 -3.31358051e-02 4.92949193e+01] [ 4.91253079e-02 9.39835576e-04 9.98792181e-01 9.27882280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.10038572300002 meters Centerline goodness : 0.999261 Centerline is valid? [True, True] Translation: X:179.76, Y:49.31, Z:9.28 [[ 7.50424124e-01 -6.59960486e-01 -3.62738236e-02 1.79760041e+02] [ 6.59128499e-01 7.51299696e-01 -3.31419495e-02 4.93139267e+01] [ 4.91248897e-02 9.61407553e-04 9.98792181e-01 9.28093375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.13038572300002 meters Centerline goodness : 0.999194 Centerline is valid? [True, True] Translation: X:179.78, Y:49.33, Z:9.28 [[ 7.51517423e-01 -6.58715747e-01 -3.62647049e-02 1.79780880e+02] [ 6.57881829e-01 7.52391155e-01 -3.31519244e-02 4.93320495e+01] [ 4.91229378e-02 1.05635840e-03 9.98792181e-01 9.28214022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.16038572300002 meters Centerline goodness : 0.999461 Centerline is valid? [True, True] Translation: X:179.80, Y:49.35, Z:9.28 [[ 7.52341495e-01 -6.57774895e-01 -3.62555210e-02 1.79801379e+02] [ 6.56939401e-01 7.53213720e-01 -3.31619650e-02 4.93498262e+01] [ 4.91212639e-02 1.13144209e-03 9.98792181e-01 9.28334837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.190385723 meters Centerline goodness : 0.999373 Centerline is valid? [True, True] Translation: X:179.82, Y:49.37, Z:9.28 [[ 7.53632674e-01 -6.56295430e-01 -3.62505340e-02 1.79822223e+02] [ 6.55457962e-01 7.54503004e-01 -3.31674156e-02 4.93686561e+01] [ 4.91187601e-02 1.23534697e-03 9.98792181e-01 9.28419449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.220385723 meters Centerline goodness : 0.999257 Centerline is valid? [True, True] Translation: X:179.84, Y:49.39, Z:9.28 [[ 7.54379682e-01 -6.55437143e-01 -3.62415010e-02 1.79842669e+02] [ 6.54598212e-01 7.55248601e-01 -3.31772829e-02 4.93872574e+01] [ 4.91169664e-02 1.30464638e-03 9.98792181e-01 9.28467196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.250385723 meters Centerline goodness : 0.999416 Centerline is valid? [True, True] Translation: X:179.86, Y:49.41, Z:9.29 [[ 7.55518270e-01 -6.54124881e-01 -3.62323660e-02 1.79864594e+02] [ 6.53283963e-01 7.56385266e-01 -3.31872561e-02 4.94060009e+01] [ 4.91142377e-02 1.40355464e-03 9.98792181e-01 9.28609731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.280385723 meters Centerline goodness : 0.999550 Centerline is valid? [True, True] Translation: X:179.89, Y:49.43, Z:9.29 [[ 7.54791792e-01 -6.54963470e-01 -3.62243597e-02 1.79886660e+02] [ 6.54123096e-01 7.55659315e-01 -3.31959927e-02 4.94259009e+01] [ 4.91154375e-02 1.36087247e-03 9.98792182e-01 9.28514999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.310385723 meters Centerline goodness : 0.999640 Centerline is valid? [True, True] Translation: X:179.91, Y:49.44, Z:9.29 [[ 7.56283268e-01 -6.53227640e-01 -3.64591467e-02 1.79905617e+02] [ 6.52397573e-01 7.57160738e-01 -3.29396932e-02 4.94424631e+01] [ 4.91225525e-02 1.12587998e-03 9.98792124e-01 9.28926034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.340385723 meters Centerline goodness : 0.999707 Centerline is valid? [True, True] Translation: X:179.93, Y:49.46, Z:9.29 [[ 7.56277480e-01 -6.53248045e-01 -3.62127803e-02 1.79926061e+02] [ 6.52405113e-01 7.57142506e-01 -3.32083537e-02 4.94618882e+01] [ 4.91115274e-02 1.48932706e-03 9.98792190e-01 9.29127087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.370385723 meters Centerline goodness : 0.999640 Centerline is valid? [True, True] Translation: X:179.95, Y:49.48, Z:9.29 [[ 7.56424933e-01 -6.53077784e-01 -3.62039894e-02 1.79946826e+02] [ 6.52234199e-01 7.57289322e-01 -3.32179349e-02 4.94823537e+01] [ 4.91107899e-02 1.51339408e-03 9.98792191e-01 9.29396973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.400385723 meters Centerline goodness : 0.999620 Centerline is valid? [True, True] Translation: X:179.97, Y:49.50, Z:9.30 [[ 7.56119314e-01 -6.53432025e-01 -3.61962799e-02 1.79966680e+02] [ 6.52588445e-01 7.56983707e-01 -3.32263335e-02 4.95013239e+01] [ 4.91111446e-02 1.50179854e-03 9.98792191e-01 9.29515379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.430385723 meters Centerline goodness : 0.999664 Centerline is valid? [True, True] Translation: X:179.99, Y:49.52, Z:9.30 [[ 7.55611380e-01 -6.54019541e-01 -3.61923074e-02 1.79987734e+02] [ 6.53176425e-01 7.56476226e-01 -3.32306601e-02 4.95198704e+01] [ 4.91121212e-02 1.46950299e-03 9.98792191e-01 9.29704847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.460385723 meters Centerline goodness : 0.999663 Centerline is valid? [True, True] Translation: X:180.01, Y:49.54, Z:9.30 [[ 7.54739222e-01 -6.55026297e-01 -3.61836594e-02 1.80008671e+02] [ 6.54183884e-01 7.55604753e-01 -3.32400739e-02 4.95383781e+01] [ 4.91136676e-02 1.41682059e-03 9.98792191e-01 9.29952244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.490385723 meters Centerline goodness : 0.999640 Centerline is valid? [True, True] Translation: X:180.03, Y:49.56, Z:9.30 [[ 7.54192803e-01 -6.55655859e-01 -3.61747133e-02 1.80028926e+02] [ 6.54813703e-01 7.55058584e-01 -3.32498069e-02 4.95576952e+01] [ 4.91144586e-02 1.38906710e-03 9.98792191e-01 9.30010222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.520385723 meters Centerline goodness : 0.999686 Centerline is valid? [True, True] Translation: X:180.05, Y:49.58, Z:9.30 [[ 7.53981505e-01 -6.55899330e-01 -3.61657068e-02 1.80048946e+02] [ 6.55056984e-01 7.54847101e-01 -3.32596004e-02 4.95769398e+01] [ 4.91145286e-02 1.38652473e-03 9.98792191e-01 9.30193879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.550385723 meters Centerline goodness : 0.999685 Centerline is valid? [True, True] Translation: X:180.07, Y:49.60, Z:9.30 [[ 7.53469403e-01 -6.56488054e-01 -3.61565130e-02 1.80068472e+02] [ 6.55645906e-01 7.54335191e-01 -3.32695921e-02 4.95959100e+01] [ 4.91152199e-02 1.36174997e-03 9.98792191e-01 9.30151999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.580385723 meters Centerline goodness : 0.999753 Centerline is valid? [True, True] Translation: X:180.09, Y:49.61, Z:9.30 [[ 7.53135859e-01 -6.56870954e-01 -3.61514457e-02 1.80089499e+02] [ 6.56028982e-01 7.54001819e-01 -3.32750974e-02 4.96146842e+01] [ 4.91157008e-02 1.34427297e-03 9.98792191e-01 9.30357589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.610385723 meters Centerline goodness : 0.999641 Centerline is valid? [True, True] Translation: X:180.11, Y:49.63, Z:9.30 [[ 7.52887557e-01 -6.57156033e-01 -3.61424164e-02 1.80109768e+02] [ 6.56313919e-01 7.53753378e-01 -3.32849019e-02 4.96333700e+01] [ 4.91158425e-02 1.33901756e-03 9.98792191e-01 9.30476643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.640385723 meters Centerline goodness : 0.999731 Centerline is valid? [True, True] Translation: X:180.13, Y:49.65, Z:9.31 [[ 7.52639877e-01 -6.57440147e-01 -3.61340294e-02 1.80131018e+02] [ 6.56597924e-01 7.53505591e-01 -3.32940042e-02 4.96531848e+01] [ 4.91160083e-02 1.33286654e-03 9.98792191e-01 9.30676821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.670385723 meters Centerline goodness : 0.999731 Centerline is valid? [True, True] Translation: X:180.15, Y:49.67, Z:9.31 [[ 7.52464495e-01 -6.57641301e-01 -3.61261975e-02 1.80151962e+02] [ 6.56798902e-01 7.53330038e-01 -3.33025002e-02 4.96726055e+01] [ 4.91160493e-02 1.33130218e-03 9.98792191e-01 9.30816832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.700385723 meters Centerline goodness : 0.999731 Centerline is valid? [True, True] Translation: X:180.17, Y:49.69, Z:9.31 [[ 7.52508992e-01 -6.57590874e-01 -3.61173010e-02 1.80172412e+02] [ 6.56747954e-01 7.53374028e-01 -3.33121459e-02 4.96920552e+01] [ 4.91155997e-02 1.34772572e-03 9.98792191e-01 9.30961195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.730385723 meters Centerline goodness : 0.999664 Centerline is valid? [True, True] Translation: X:180.19, Y:49.71, Z:9.31 [[ 7.52518929e-01 -6.57579988e-01 -3.61084563e-02 1.80192694e+02] [ 6.56736596e-01 7.53383505e-01 -3.33217303e-02 4.97116540e+01] [ 4.91152184e-02 1.36148815e-03 9.98792191e-01 9.31099488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.760385723 meters Centerline goodness : 0.999776 Centerline is valid? [True, True] Translation: X:180.21, Y:49.73, Z:9.31 [[ 7.52885753e-01 -6.57160455e-01 -3.60995906e-02 1.80212820e+02] [ 6.56316121e-01 7.53749409e-01 -3.33313323e-02 4.97305526e+01] [ 4.91140786e-02 1.40194190e-03 9.98792192e-01 9.31357471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.790385723 meters Centerline goodness : 0.999776 Centerline is valid? [True, True] Translation: X:180.23, Y:49.75, Z:9.31 [[ 7.52589454e-01 -6.57500269e-01 -3.60903035e-02 1.80232870e+02] [ 6.56655844e-01 7.53453021e-01 -3.33413851e-02 4.97497427e+01] [ 4.91143179e-02 1.39346611e-03 9.98792192e-01 9.31437953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.82038572300002 meters Centerline goodness : 0.998362 Centerline is valid? [True, True] Translation: X:180.26, Y:49.77, Z:9.31 [[ 7.53559296e-01 -6.56389017e-01 -3.60811058e-02 1.80259311e+02] [ 6.55542843e-01 7.54421149e-01 -3.33513356e-02 4.97702247e+01] [ 4.91117997e-02 1.47949827e-03 9.98792192e-01 9.31436956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.85038572300002 meters Centerline goodness : 0.999686 Centerline is valid? [True, True] Translation: X:180.27, Y:49.79, Z:9.32 [[ 7.52526218e-01 -6.57545525e-01 -3.65810572e-02 1.80274686e+02] [ 6.56726782e-01 7.53414520e-01 -3.28099890e-02 4.97875673e+01] [ 4.91347611e-02 6.66616982e-04 9.98791936e-01 9.31554354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.88038572300002 meters Centerline goodness : 0.997866 Centerline is valid? [True, True] Translation: X:180.30, Y:49.81, Z:9.32 [[ 7.53599845e-01 -6.56343264e-01 -3.60665331e-02 1.80300872e+02] [ 6.55496329e-01 7.54460907e-01 -3.33661748e-02 4.98080713e+01] [ 4.91104534e-02 1.50326408e-03 9.98792222e-01 9.31680816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.91038572300002 meters Centerline goodness : 0.999822 Centerline is valid? [True, True] Translation: X:180.32, Y:49.83, Z:9.32 [[ 7.53268390e-01 -6.56698324e-01 -3.65245566e-02 1.80318618e+02] [ 6.55875627e-01 7.54152944e-01 -3.28709416e-02 4.98281852e+01] [ 4.91313942e-02 8.05074838e-04 9.98791999e-01 9.31851917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.940385723 meters Centerline goodness : 0.999799 Centerline is valid? [True, True] Translation: X:180.34, Y:49.85, Z:9.32 [[ 7.53586282e-01 -6.56352681e-01 -3.61783533e-02 1.80336651e+02] [ 6.55511595e-01 7.54453027e-01 -3.32442171e-02 4.98474104e+01] [ 4.91147992e-02 1.33705589e-03 9.98792245e-01 9.31961935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.970385723 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:180.36, Y:49.87, Z:9.32 [[ 7.53929297e-01 -6.55967738e-01 -3.60130742e-02 1.80356502e+02] [ 6.55117699e-01 7.54787222e-01 -3.34223101e-02 4.98662437e+01] [ 4.91061654e-02 1.60525645e-03 9.98792275e-01 9.32046980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.000385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.38, Y:49.89, Z:9.32 [[ 7.54618481e-01 -6.55175067e-01 -3.60080450e-02 1.80380100e+02] [ 6.54323869e-01 7.55475255e-01 -3.34277276e-02 4.98855986e+01] [ 4.91042006e-02 1.66425771e-03 9.98792275e-01 9.32215003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.030385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:180.40, Y:49.90, Z:9.32 [[ 7.52368973e-01 -6.57749289e-01 -3.61497136e-02 1.80395045e+02] [ 6.56908325e-01 7.53235828e-01 -3.32752135e-02 4.99042253e+01] [ 4.91160075e-02 1.28819037e-03 9.98792250e-01 9.32095317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.060385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.42, Y:49.92, Z:9.32 [[ 7.54220386e-01 -6.55652520e-01 -3.56564446e-02 1.80421462e+02] [ 6.54783952e-01 7.55059701e-01 -3.38056935e-02 4.99232088e+01] [ 4.90875325e-02 2.14967550e-03 9.98792167e-01 9.32366356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.090385723 meters Centerline goodness : 0.999865 Centerline is valid? [True, True] Translation: X:180.44, Y:49.94, Z:9.33 [[ 7.53903562e-01 -6.55993775e-01 -3.60775038e-02 1.80440678e+02] [ 6.55147095e-01 7.54764793e-01 -3.33525464e-02 4.99413977e+01] [ 4.91090925e-02 1.50853179e-03 9.98792281e-01 9.32544528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.120385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.46, Y:49.96, Z:9.33 [[ 7.53447157e-01 -6.56523016e-01 -3.59848852e-02 1.80461077e+02] [ 6.55672185e-01 7.54304274e-01 -3.34521780e-02 4.99598165e+01] [ 4.91056774e-02 1.61016009e-03 9.98792291e-01 9.32653500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.150385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.48, Y:49.98, Z:9.33 [[ 7.52935412e-01 -6.57110112e-01 -3.59800866e-02 1.80481419e+02] [ 6.56259704e-01 7.53792948e-01 -3.34573384e-02 4.99784145e+01] [ 4.91066909e-02 1.57893389e-03 9.98792291e-01 9.32808191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.180385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.50, Y:50.00, Z:9.34 [[ 7.51472498e-01 -6.58783064e-01 -3.59716455e-02 1.80502632e+02] [ 6.57934131e-01 7.52331495e-01 -3.34664114e-02 4.99978669e+01] [ 4.91097069e-02 1.48211452e-03 9.98792291e-01 9.33546945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.210385723 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:180.52, Y:50.02, Z:9.34 [[ 7.50075961e-01 -6.60375372e-01 -3.59224236e-02 1.80522416e+02] [ 6.59525732e-01 7.50934261e-01 -3.35193021e-02 5.00158933e+01] [ 4.91107003e-02 1.45026001e-03 9.98792289e-01 9.33565965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.240385723 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:180.54, Y:50.03, Z:9.34 [[ 7.49311536e-01 -6.61246568e-01 -3.58496767e-02 1.80542811e+02] [ 6.60394191e-01 7.50167132e-01 -3.35974020e-02 5.00348012e+01] [ 4.91094160e-02 1.50000263e-03 9.98792278e-01 9.33547202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.270385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.56, Y:50.05, Z:9.33 [[ 7.47106605e-01 -6.63741825e-01 -3.57562574e-02 1.80559230e+02] [ 6.62887508e-01 7.47960306e-01 -3.36976746e-02 5.00526715e+01] [ 4.91108173e-02 1.47337887e-03 9.98792249e-01 9.33475508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.300385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.58, Y:50.07, Z:9.34 [[ 7.48112910e-01 -6.62629910e-01 -3.53366161e-02 1.80583050e+02] [ 6.61752892e-01 7.48943871e-01 -3.41494910e-02 5.00728322e+01] [ 4.90936162e-02 2.16356715e-03 9.98791838e-01 9.33701273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.330385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.60, Y:50.09, Z:9.34 [[ 7.48291209e-01 -6.62417558e-01 -3.55421584e-02 1.80602588e+02] [ 6.61550768e-01 7.49132473e-01 -3.39281355e-02 5.00922105e+01] [ 4.91003777e-02 1.87518335e-03 9.98792089e-01 9.33734562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.360385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.63, Y:50.11, Z:9.34 [[ 7.51207370e-01 -6.59111085e-01 -3.54973934e-02 1.80630273e+02] [ 6.58238321e-01 7.52042501e-01 -3.39763236e-02 5.01118504e+01] [ 4.90897200e-02 2.15752007e-03 9.98792043e-01 9.34115381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.390385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.65, Y:50.13, Z:9.34 [[ 7.52146886e-01 -6.58003375e-01 -3.61472064e-02 1.80649720e+02] [ 6.57162688e-01 7.53013902e-01 -3.32755837e-02 5.01304672e+01] [ 4.91147954e-02 1.27353133e-03 9.98792328e-01 9.34337860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.420385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.67, Y:50.15, Z:9.34 [[ 7.51997755e-01 -6.58181049e-01 -3.60150442e-02 1.80669558e+02] [ 6.57333744e-01 7.52858277e-01 -3.34180181e-02 5.01495419e+01] [ 4.91093303e-02 1.45637075e-03 9.98792347e-01 9.34488799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.450385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.69, Y:50.17, Z:9.35 [[ 7.51460323e-01 -6.58794859e-01 -3.60099677e-02 1.80689490e+02] [ 6.57947994e-01 7.52321279e-01 -3.34234875e-02 5.01680337e+01] [ 4.91102866e-02 1.42373866e-03 9.98792347e-01 9.34642296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.480385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.71, Y:50.19, Z:9.35 [[ 7.51156543e-01 -6.59141485e-01 -3.60048760e-02 1.80710627e+02] [ 6.58294756e-01 7.52017632e-01 -3.34289714e-02 5.01871117e+01] [ 4.91107235e-02 1.40856952e-03 9.98792347e-01 9.34764485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.510385723 meters Centerline goodness : 0.999842 Centerline is valid? [True, True] Translation: X:180.73, Y:50.21, Z:9.35 [[ 7.51002444e-01 -6.59317534e-01 -3.59960913e-02 1.80731258e+02] [ 6.58470554e-01 7.51863286e-01 -3.34384281e-02 5.02061782e+01] [ 4.91106815e-02 1.40997505e-03 9.98792347e-01 9.34816017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.540385723 meters Centerline goodness : 0.999909 Centerline is valid? [True, True] Translation: X:180.75, Y:50.22, Z:9.35 [[ 7.51184531e-01 -6.59110544e-01 -3.59873893e-02 1.80750535e+02] [ 6.58262878e-01 7.52044698e-01 -3.34477908e-02 5.02246160e+01] [ 4.91099169e-02 1.43630053e-03 9.98792347e-01 9.34837745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.57038572300002 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:180.77, Y:50.25, Z:9.35 [[ 7.51831764e-01 -6.58372403e-01 -3.59830157e-02 1.80771364e+02] [ 6.57523668e-01 7.52690877e-01 -3.34524953e-02 5.02450240e+01] [ 4.91082873e-02 1.49096406e-03 9.98792347e-01 9.34922163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.60038572300002 meters Centerline goodness : 0.999728 Centerline is valid? [True, True] Translation: X:180.79, Y:50.26, Z:9.35 [[ 7.52158218e-01 -6.57999858e-01 -3.59750114e-02 1.80791313e+02] [ 6.57150287e-01 7.53016504e-01 -3.34611009e-02 5.02638581e+01] [ 4.91071770e-02 1.52705301e-03 9.98792347e-01 9.34833726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.63038572300002 meters Centerline goodness : 0.999887 Centerline is valid? [True, True] Translation: X:180.81, Y:50.28, Z:9.35 [[ 7.52737488e-01 -6.57337366e-01 -3.59702866e-02 1.80811975e+02] [ 6.56486798e-01 7.53594785e-01 -3.34661793e-02 5.02833062e+01] [ 4.91055905e-02 1.57722948e-03 9.98792347e-01 9.35127999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.66038572300002 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:180.83, Y:50.30, Z:9.35 [[ 7.52747374e-01 -6.57326539e-01 -3.59612754e-02 1.80832276e+02] [ 6.56475496e-01 7.53604200e-01 -3.34758595e-02 5.03026368e+01] [ 4.91051390e-02 1.59116918e-03 9.98792348e-01 9.35216684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.690385723 meters Centerline goodness : 0.999864 Centerline is valid? [True, True] Translation: X:180.85, Y:50.32, Z:9.36 [[ 7.52593382e-01 -6.57503060e-01 -3.59573181e-02 1.80852889e+02] [ 6.56652015e-01 7.53450206e-01 -3.34801096e-02 5.03228020e+01] [ 4.91053232e-02 1.58546355e-03 9.98792348e-01 9.35648423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.720385723 meters Centerline goodness : 0.999797 Centerline is valid? [True, True] Translation: X:180.87, Y:50.34, Z:9.36 [[ 7.49413058e-01 -6.61126088e-01 -3.59494650e-02 1.80865594e+02] [ 6.60278784e-01 7.50273580e-01 -3.34885399e-02 5.03424509e+01] [ 4.91120812e-02 1.36008007e-03 9.98792348e-01 9.35655263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.750385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.89, Y:50.36, Z:9.36 [[ 7.52524359e-01 -6.57612750e-01 -3.53915256e-02 1.80893365e+02] [ 6.56733152e-01 7.53352289e-01 -3.40865945e-02 5.03620381e+01] [ 4.90780660e-02 2.40820452e-03 9.98792042e-01 9.36139088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.780385723 meters Centerline goodness : 0.999752 Centerline is valid? [True, True] Translation: X:180.90, Y:50.38, Z:9.36 [[ 7.49992226e-01 -6.60469429e-01 -3.59415360e-02 1.80904512e+02] [ 6.59620992e-01 7.50851606e-01 -3.34964595e-02 5.03820197e+01] [ 4.91101475e-02 1.41429260e-03 9.98792367e-01 9.35858923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.810385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:180.92, Y:50.40, Z:9.36 [[ 7.49508770e-01 -6.61048576e-01 -3.53748927e-02 1.80921817e+02] [ 6.60171963e-01 7.50339861e-01 -3.41038489e-02 5.04025845e+01] [ 4.90874929e-02 2.20762149e-03 9.98792043e-01 9.35937767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.840385723 meters Centerline goodness : 0.999820 Centerline is valid? [True, True] Translation: X:180.95, Y:50.42, Z:9.36 [[ 7.54723730e-01 -6.55096752e-01 -3.52184166e-02 1.80952321e+02] [ 6.54205778e-01 7.55539716e-01 -3.42715366e-02 5.04222602e+01] [ 4.90600848e-02 2.82545029e-03 9.98791833e-01 9.36314845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.870385723 meters Centerline goodness : 0.999820 Centerline is valid? [True, True] Translation: X:180.97, Y:50.44, Z:9.36 [[ 7.55087814e-01 -6.54637734e-01 -3.59420531e-02 1.80971447e+02] [ 6.53782730e-01 7.55940620e-01 -3.34950756e-02 5.04413086e+01] [ 4.90971982e-02 1.79342980e-03 9.98792395e-01 9.36334616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.900385723 meters Centerline goodness : 0.999641 Centerline is valid? [True, True] Translation: X:180.98, Y:50.46, Z:9.36 [[ 7.52407638e-01 -6.57716710e-01 -3.59371045e-02 1.80982344e+02] [ 6.56864945e-01 7.53263678e-01 -3.35003841e-02 5.04618377e+01] [ 4.91038779e-02 1.60012075e-03 9.98792395e-01 9.36108093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.930385723 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:181.00, Y:50.48, Z:9.36 [[ 7.51873707e-01 -6.58357816e-01 -3.53682862e-02 1.80999981e+02] [ 6.57477940e-01 7.52701310e-01 -3.41100730e-02 5.04831776e+01] [ 4.90783885e-02 2.39259914e-03 9.98792064e-01 9.36107128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.960385723 meters Centerline goodness : 0.999710 Centerline is valid? [True, True] Translation: X:181.03, Y:50.50, Z:9.37 [[ 7.55859802e-01 -6.53782279e-01 -3.52801964e-02 1.81030040e+02] [ 6.52893003e-01 7.56677462e-01 -3.42044456e-02 5.05019118e+01] [ 4.90579899e-02 2.81957205e-03 9.98791952e-01 9.36554024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.990385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.05, Y:50.52, Z:9.36 [[ 7.54158587e-01 -6.55708322e-01 -3.59363657e-02 1.81047997e+02] [ 6.54854268e-01 7.55012316e-01 -3.35006009e-02 5.05227224e+01] [ 4.90990215e-02 1.73168337e-03 9.98792415e-01 9.36445008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.020385723 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:181.06, Y:50.54, Z:9.37 [[ 7.50023864e-01 -6.60443208e-01 -3.57627206e-02 1.81061967e+02] [ 6.59585664e-01 7.50874128e-01 -3.36867315e-02 5.05432619e+01] [ 4.91014746e-02 1.67727471e-03 9.98792387e-01 9.36749099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.050385723 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:181.09, Y:50.56, Z:9.37 [[ 7.52445152e-01 -6.57706600e-01 -3.53315923e-02 1.81090645e+02] [ 6.56824255e-01 7.53270098e-01 -3.41475923e-02 5.05619543e+01] [ 4.90733288e-02 2.48754343e-03 9.98792081e-01 9.37057719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.080385723 meters Centerline goodness : 0.999844 Centerline is valid? [True, True] Translation: X:181.11, Y:50.58, Z:9.37 [[ 7.49123124e-01 -6.61457651e-01 -3.58932041e-02 1.81105176e+02] [ 6.60607944e-01 7.49981174e-01 -3.35467220e-02 5.05839582e+01] [ 4.91089633e-02 1.41928940e-03 9.98792419e-01 9.37058490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.110385723 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:181.12, Y:50.60, Z:9.37 [[ 7.47737291e-01 -6.63038360e-01 -3.56241154e-02 1.81122119e+02] [ 6.62176725e-01 7.48583469e-01 -3.38345211e-02 5.06040126e+01] [ 4.91012092e-02 1.70987312e-03 9.98792345e-01 9.37156338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.140385723 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:181.14, Y:50.63, Z:9.37 [[ 7.46637084e-01 -6.64292695e-01 -3.53310083e-02 1.81141242e+02] [ 6.63417622e-01 7.47469722e-01 -3.41478245e-02 5.06250632e+01] [ 4.90930093e-02 2.05681857e-03 9.98792093e-01 9.37481209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.170385723 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:181.16, Y:50.65, Z:9.38 [[ 7.46366142e-01 -6.64597654e-01 -3.53205362e-02 1.81161353e+02] [ 6.63722392e-01 7.47198600e-01 -3.41590175e-02 5.06453477e+01] [ 4.90934580e-02 2.05210335e-03 9.98792081e-01 9.37641044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.200385723 meters Centerline goodness : 0.999603 Centerline is valid? [True, True] Translation: X:181.18, Y:50.67, Z:9.38 [[ 7.45055251e-01 -6.66066410e-01 -3.53300223e-02 1.81182465e+02] [ 6.65193270e-01 7.45889917e-01 -3.41488781e-02 5.06664022e+01] [ 4.90977280e-02 1.94150791e-03 9.98792092e-01 9.37919604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.230385723 meters Centerline goodness : 0.999319 Centerline is valid? [True, True] Translation: X:181.21, Y:50.69, Z:9.38 [[ 7.46852301e-01 -6.64043269e-01 -3.54708030e-02 1.81208293e+02] [ 6.63174976e-01 7.47691812e-01 -3.39986126e-02 5.06858208e+01] [ 4.90977788e-02 1.86859316e-03 9.98792229e-01 9.38182169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.260385723 meters Centerline goodness : 0.999077 Centerline is valid? [True, True] Translation: X:181.22, Y:50.71, Z:9.38 [[ 7.43702861e-01 -6.67551971e-01 -3.57829698e-02 1.81222287e+02] [ 6.66703592e-01 7.44562270e-01 -3.36652157e-02 5.07083630e+01] [ 4.91159303e-02 1.18028271e-03 9.98792387e-01 9.38250267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.290385723 meters Centerline goodness : 0.998835 Centerline is valid? [True, True] Translation: X:181.24, Y:50.73, Z:9.38 [[ 7.43746015e-01 -6.67519469e-01 -3.54911804e-02 1.81239967e+02] [ 6.66656135e-01 7.44590604e-01 -3.39769072e-02 5.07276177e+01] [ 4.91066465e-02 1.60977617e-03 9.98792244e-01 9.38417103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.32038572300002 meters Centerline goodness : 0.998271 Centerline is valid? [True, True] Translation: X:181.26, Y:50.75, Z:9.38 [[ 7.43249212e-01 -6.68085431e-01 -3.52486345e-02 1.81261034e+02] [ 6.67210438e-01 7.44082080e-01 -3.42357990e-02 5.07498182e+01] [ 4.91003159e-02 1.92747377e-03 9.98791992e-01 9.38425282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.35038572300002 meters Centerline goodness : 0.998288 Centerline is valid? [True, True] Translation: X:181.28, Y:50.77, Z:9.39 [[ 7.44486662e-01 -6.66694988e-01 -3.54598652e-02 1.81281640e+02] [ 6.65829133e-01 7.45328698e-01 -3.40102524e-02 5.07686849e+01] [ 4.91037200e-02 1.70996799e-03 9.98792221e-01 9.38581894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.38038572300002 meters Centerline goodness : 0.998332 Centerline is valid? [True, True] Translation: X:181.30, Y:50.79, Z:9.39 [[ 7.42796859e-01 -6.68577999e-01 -3.54441058e-02 1.81301975e+02] [ 6.67713477e-01 7.43640283e-01 -3.40270757e-02 5.07906638e+01] [ 4.91074191e-02 1.60869783e-03 9.98792207e-01 9.38915908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.41038572300002 meters Centerline goodness : 0.998271 Centerline is valid? [True, True] Translation: X:181.32, Y:50.81, Z:9.39 [[ 7.42841119e-01 -6.68521997e-01 -3.55726202e-02 1.81319466e+02] [ 6.67663962e-01 7.43691005e-01 -3.38898666e-02 5.08090560e+01] [ 4.91111589e-02 1.42422985e-03 9.98792304e-01 9.39043968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.440385723 meters Centerline goodness : 0.998471 Centerline is valid? [True, True] Translation: X:181.34, Y:50.83, Z:9.39 [[ 7.40648180e-01 -6.70965405e-01 -3.52944773e-02 1.81341498e+02] [ 6.70095993e-01 7.41486776e-01 -3.41865767e-02 5.08301130e+01] [ 4.91083984e-02 1.66953801e-03 9.98792059e-01 9.38985819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.470385723 meters Centerline goodness : 0.998492 Centerline is valid? [True, True] Translation: X:181.36, Y:50.85, Z:9.40 [[ 7.41970183e-01 -6.69491245e-01 -3.55207017e-02 1.81360457e+02] [ 6.68631672e-01 7.42818558e-01 -3.39452117e-02 5.08474255e+01] [ 4.91114585e-02 1.43606881e-03 9.98792272e-01 9.39524732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.500385723 meters Centerline goodness : 0.998579 Centerline is valid? [True, True] Translation: X:181.38, Y:50.87, Z:9.40 [[ 7.40508806e-01 -6.71113159e-01 -3.54095552e-02 1.81380449e+02] [ 6.70249762e-01 7.41353427e-01 -3.40639519e-02 5.08679968e+01] [ 4.91117615e-02 1.49141040e-03 9.98792176e-01 9.39727237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.530385723 meters Centerline goodness : 0.998579 Centerline is valid? [True, True] Translation: X:181.40, Y:50.89, Z:9.40 [[ 7.40475262e-01 -6.71149551e-01 -3.54212788e-02 1.81401280e+02] [ 6.70286794e-01 7.41320521e-01 -3.40514236e-02 5.08874025e+01] [ 4.91121185e-02 1.47182144e-03 9.98792187e-01 9.39867942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.560385723 meters Centerline goodness : 0.998668 Centerline is valid? [True, True] Translation: X:181.42, Y:50.91, Z:9.40 [[ 7.39578859e-01 -6.72137719e-01 -3.54118370e-02 1.81420168e+02] [ 6.71275609e-01 7.40424790e-01 -3.40615101e-02 5.09059373e+01] [ 4.91138277e-02 1.42007030e-03 9.98792178e-01 9.39602006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.590385723 meters Centerline goodness : 0.998510 Centerline is valid? [True, True] Translation: X:181.44, Y:50.93, Z:9.40 [[ 7.38591099e-01 -6.73235677e-01 -3.51697640e-02 1.81441117e+02] [ 6.72362528e-01 7.39426014e-01 -3.43190945e-02 5.09263273e+01] [ 4.91102772e-02 1.70094625e-03 9.98791914e-01 9.39595056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.620385723 meters Centerline goodness : 0.998687 Centerline is valid? [True, True] Translation: X:181.46, Y:50.95, Z:9.40 [[ 7.37687785e-01 -6.74216662e-01 -3.53358854e-02 1.81459791e+02] [ 6.73353090e-01 7.38532297e-01 -3.41417993e-02 5.09455658e+01] [ 4.91156626e-02 1.39246061e-03 9.98792127e-01 9.39656273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.650385723 meters Centerline goodness : 0.998749 Centerline is valid? [True, True] Translation: X:181.48, Y:50.96, Z:9.40 [[ 7.37174305e-01 -6.74783573e-01 -3.52302894e-02 1.81480544e+02] [ 6.73915261e-01 7.38014127e-01 -3.42544808e-02 5.09649255e+01] [ 4.91148123e-02 1.50929337e-03 9.98791999e-01 9.39768137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.680385723 meters Centerline goodness : 0.998777 Centerline is valid? [True, True] Translation: X:181.50, Y:50.99, Z:9.40 [[ 7.36881061e-01 -6.75100916e-01 -3.52853429e-02 1.81501908e+02] [ 6.74235775e-01 7.37724049e-01 -3.41957286e-02 5.09853000e+01] [ 4.91164137e-02 1.40754424e-03 9.98792069e-01 9.39819450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.710385723 meters Centerline goodness : 0.998815 Centerline is valid? [True, True] Translation: X:181.52, Y:51.00, Z:9.40 [[ 7.36201425e-01 -6.75838128e-01 -3.53593847e-02 1.81523798e+02] [ 6.74977618e-01 7.37049023e-01 -3.41167560e-02 5.10047672e+01] [ 4.91190045e-02 1.25001112e-03 9.98792151e-01 9.40092594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.740385723 meters Centerline goodness : 0.998859 Centerline is valid? [True, True] Translation: X:181.55, Y:51.03, Z:9.40 [[ 7.34564167e-01 -6.77614285e-01 -3.54170195e-02 1.81547924e+02] [ 6.76758785e-01 7.35416742e-01 -3.40552813e-02 5.10254272e+01] [ 4.91226142e-02 1.04701029e-03 9.98792207e-01 9.40426138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.770385723 meters Centerline goodness : 0.998949 Centerline is valid? [True, True] Translation: X:181.57, Y:51.04, Z:9.40 [[ 7.31490914e-01 -6.80916334e-01 -3.56929612e-02 1.81566907e+02] [ 6.80078994e-01 7.32361091e-01 -3.37608396e-02 5.10434784e+01] [ 4.91284432e-02 4.21714265e-04 9.98792380e-01 9.40193835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.800385723 meters Centerline goodness : 0.998928 Centerline is valid? [True, True] Translation: X:181.59, Y:51.06, Z:9.40 [[ 7.29137536e-01 -6.83445395e-01 -3.55083836e-02 1.81586064e+02] [ 6.82601464e-01 7.30001452e-01 -3.39576587e-02 5.10620294e+01] [ 4.91293770e-02 5.21728971e-04 9.98792287e-01 9.40088376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.830385723 meters Centerline goodness : 0.999190 Centerline is valid? [True, True] Translation: X:181.61, Y:51.08, Z:9.41 [[ 7.31401361e-01 -6.81026775e-01 -3.54200638e-02 1.81613894e+02] [ 6.80175422e-01 7.32258063e-01 -3.40517913e-02 5.10797542e+01] [ 4.91268089e-02 8.13669670e-04 9.98792218e-01 9.41025116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.860385723 meters Centerline goodness : 0.999014 Centerline is valid? [True, True] Translation: X:181.63, Y:51.10, Z:9.41 [[ 7.31087452e-01 -6.81341791e-01 -3.58399332e-02 1.81629005e+02] [ 6.80512630e-01 7.31965390e-01 -3.36039982e-02 5.10962925e+01] [ 4.91293990e-02 1.77934212e-04 9.98792406e-01 9.41105759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.890385723 meters Centerline goodness : 0.999103 Centerline is valid? [True, True] Translation: X:181.65, Y:51.12, Z:9.41 [[ 7.28537991e-01 -6.84096549e-01 -3.52747332e-02 1.81653327e+02] [ 6.83241331e-01 7.29391006e-01 -3.42059038e-02 5.11185674e+01] [ 4.91292139e-02 8.19144753e-04 9.98792095e-01 9.41252454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.920385723 meters Centerline goodness : 0.999084 Centerline is valid? [True, True] Translation: X:181.67, Y:51.14, Z:9.42 [[ 7.29208583e-01 -6.83356618e-01 -3.57571869e-02 1.81673864e+02] [ 6.82525584e-01 7.30084726e-01 -3.36915594e-02 5.11372498e+01] [ 4.91291260e-02 1.62979380e-04 9.98792422e-01 9.41621071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.950385723 meters Centerline goodness : 0.999148 Centerline is valid? [True, True] Translation: X:181.69, Y:51.16, Z:9.42 [[ 7.29208409e-01 -6.83359352e-01 -3.57084300e-02 1.81693034e+02] [ 6.82525775e-01 7.30082147e-01 -3.37435256e-02 5.11560224e+01] [ 4.91290410e-02 2.34138724e-04 9.98792412e-01 9.41624455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.980385723 meters Centerline goodness : 0.999149 Centerline is valid? [True, True] Translation: X:181.71, Y:51.17, Z:9.41 [[ 7.30726007e-01 -6.81738461e-01 -3.56675459e-02 1.81710575e+02] [ 6.80900819e-01 7.31595864e-01 -3.37870678e-02 5.11731436e+01] [ 4.91281726e-02 4.03027916e-04 9.98792401e-01 9.41493575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.010385723 meters Centerline goodness : 0.999191 Centerline is valid? [True, True] Translation: X:181.73, Y:51.19, Z:9.42 [[ 7.32001253e-01 -6.80382316e-01 -3.54128467e-02 1.81733430e+02] [ 6.79529890e-01 7.32856844e-01 -3.40584180e-02 5.11949079e+01] [ 4.91252924e-02 8.66716904e-04 9.98792248e-01 9.41849475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.040385723 meters Centerline goodness : 0.999300 Centerline is valid? [True, True] Translation: X:181.75, Y:51.21, Z:9.42 [[ 7.35556582e-01 -6.76523368e-01 -3.56741865e-02 1.81751617e+02] [ 6.75679905e-01 7.36420791e-01 -3.37799622e-02 5.12118459e+01] [ 4.91241464e-02 7.42742651e-04 9.98792404e-01 9.41771825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.07038572300002 meters Centerline goodness : 0.999277 Centerline is valid? [True, True] Translation: X:181.77, Y:51.23, Z:9.42 [[ 7.36193993e-01 -6.75846996e-01 -3.53446271e-02 1.81773678e+02] [ 6.74985823e-01 7.37040858e-01 -3.41308113e-02 5.12316888e+01] [ 4.91176406e-02 1.26977600e-03 9.98792193e-01 9.42005180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.10038572300002 meters Centerline goodness : 0.996270 Centerline is valid? [True, True] Translation: X:181.80, Y:51.25, Z:9.43 [[ 7.39981751e-01 -6.71690979e-01 -3.54716462e-02 1.81796321e+02] [ 6.70831492e-01 7.40830194e-01 -3.39960745e-02 5.12487489e+01] [ 4.91133230e-02 1.36097739e-03 9.98792285e-01 9.42621070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.13038572300002 meters Centerline goodness : 0.999474 Centerline is valid? [True, True] Translation: X:181.82, Y:51.27, Z:9.43 [[ 7.39948630e-01 -6.71724730e-01 -3.55233921e-02 1.81818885e+02] [ 6.70867912e-01 7.40799730e-01 -3.39412015e-02 5.12701529e+01] [ 4.91148638e-02 1.28324167e-03 9.98792312e-01 9.43017316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.16038572300002 meters Centerline goodness : 0.999385 Centerline is valid? [True, True] Translation: X:181.83, Y:51.29, Z:9.42 [[ 7.39282193e-01 -6.72446318e-01 -3.57461674e-02 1.81831969e+02] [ 6.71601709e-01 7.40145338e-01 -3.37049384e-02 5.12881660e+01] [ 4.91221209e-02 9.10273644e-04 9.98792365e-01 9.42155540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.190385723 meters Centerline goodness : 0.999472 Centerline is valid? [True, True] Translation: X:181.86, Y:51.31, Z:9.43 [[ 7.41735903e-01 -6.69772465e-01 -3.51097622e-02 1.81861681e+02] [ 6.68892596e-01 7.42563656e-01 -3.43789525e-02 5.13074450e+01] [ 4.90973091e-02 2.01544341e-03 9.98791966e-01 9.43254343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.220385723 meters Centerline goodness : 0.999298 Centerline is valid? [True, True] Translation: X:181.88, Y:51.33, Z:9.43 [[ 7.39506482e-01 -6.72199890e-01 -3.57417159e-02 1.81876204e+02] [ 6.71354803e-01 7.40369123e-01 -3.37089196e-02 5.13257950e+01] [ 4.91211948e-02 9.32591939e-04 9.98792390e-01 9.42607811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.250385723 meters Centerline goodness : 0.999515 Centerline is valid? [True, True] Translation: X:181.91, Y:51.34, Z:9.44 [[ 7.42569113e-01 -6.68843101e-01 -3.52138914e-02 1.81905562e+02] [ 6.67967446e-01 7.43401104e-01 -3.42679085e-02 5.13434553e+01] [ 4.90979000e-02 1.92455733e-03 9.98792117e-01 9.43535513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.280385723 meters Centerline goodness : 0.999451 Centerline is valid? [True, True] Translation: X:181.92, Y:51.36, Z:9.43 [[ 7.38813835e-01 -6.72961422e-01 -3.57357307e-02 1.81920855e+02] [ 6.72116939e-01 7.39677046e-01 -3.37148101e-02 5.13627312e+01] [ 4.91216662e-02 8.90378218e-04 9.98792405e-01 9.43215052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.310385723 meters Centerline goodness : 0.999403 Centerline is valid? [True, True] Translation: X:181.95, Y:51.38, Z:9.44 [[ 7.41809141e-01 -6.69680372e-01 -3.53185220e-02 1.81948784e+02] [ 6.68810990e-01 7.42647465e-01 -3.41555708e-02 5.13780889e+01] [ 4.91025262e-02 1.71549896e-03 9.98792270e-01 9.43949712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.340385723 meters Centerline goodness : 0.999668 Centerline is valid? [True, True] Translation: X:181.97, Y:51.40, Z:9.44 [[ 7.40893914e-01 -6.70680522e-01 -3.55506082e-02 1.81971750e+02] [ 6.69823979e-01 7.41745184e-01 -3.39104574e-02 5.13976885e+01] [ 4.91125757e-02 1.31140164e-03 9.98792388e-01 9.44169416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.370385723 meters Centerline goodness : 0.999534 Centerline is valid? [True, True] Translation: X:181.99, Y:51.41, Z:9.44 [[ 7.41539065e-01 -6.69956084e-01 -3.57583653e-02 1.81994076e+02] [ 6.69109248e-01 7.42399979e-01 -3.36910277e-02 5.14143394e+01] [ 4.91185186e-02 1.05696021e-03 9.98792398e-01 9.44464652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.400385723 meters Centerline goodness : 0.999422 Centerline is valid? [True, True] Translation: X:182.01, Y:51.43, Z:9.44 [[ 7.40228230e-01 -6.71408109e-01 -3.56835914e-02 1.82009883e+02] [ 6.70559157e-01 7.41087045e-01 -3.37699537e-02 5.14325528e+01] [ 4.91180680e-02 1.06951410e-03 9.98792407e-01 9.43967907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.430385723 meters Centerline goodness : 0.999599 Centerline is valid? [True, True] Translation: X:182.04, Y:51.45, Z:9.45 [[ 7.42061873e-01 -6.69398555e-01 -3.53518213e-02 1.82036678e+02] [ 6.68530545e-01 7.42901564e-01 -3.41200320e-02 5.14502608e+01] [ 4.91028235e-02 1.68540248e-03 9.98792307e-01 9.44717062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.460385723 meters Centerline goodness : 0.999423 Centerline is valid? [True, True] Translation: X:182.06, Y:51.47, Z:9.44 [[ 7.39986173e-01 -6.71675857e-01 -3.56652095e-02 1.82056403e+02] [ 6.70826286e-01 7.40844370e-01 -3.37892521e-02 5.14701193e+01] [ 4.91177945e-02 1.07841930e-03 9.98792411e-01 9.44351535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.490385723 meters Centerline goodness : 0.999577 Centerline is valid? [True, True] Translation: X:182.08, Y:51.48, Z:9.45 [[ 7.40641194e-01 -6.70960487e-01 -3.55337342e-02 1.82081414e+02] [ 6.70103430e-01 7.41491935e-01 -3.39279141e-02 5.14846716e+01] [ 4.91122671e-02 1.31713363e-03 9.98792396e-01 9.45034824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.520385723 meters Centerline goodness : 0.999642 Centerline is valid? [True, True] Translation: X:182.10, Y:51.50, Z:9.45 [[ 7.39021733e-01 -6.72741800e-01 -3.55717587e-02 1.82103616e+02] [ 6.71888720e-01 7.39876451e-01 -3.38878291e-02 5.15028747e+01] [ 4.91164657e-02 1.14357880e-03 9.98792403e-01 9.45279022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.550385723 meters Centerline goodness : 0.999597 Centerline is valid? [True, True] Translation: X:182.13, Y:51.52, Z:9.45 [[ 7.36502123e-01 -6.75495599e-01 -3.56415395e-02 1.82125843e+02] [ 6.74649269e-01 7.37363519e-01 -3.38142779e-02 5.15181189e+01] [ 4.91221668e-02 8.58748901e-04 9.98792409e-01 9.45451941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.580385723 meters Centerline goodness : 0.999642 Centerline is valid? [True, True] Translation: X:182.15, Y:51.54, Z:9.46 [[ 7.35437321e-01 -6.76655011e-01 -3.56362702e-02 1.82147229e+02] [ 6.75809770e-01 7.36299785e-01 -3.38198302e-02 5.15363398e+01] [ 4.91233356e-02 7.89025756e-04 9.98792409e-01 9.45623493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.610385723 meters Centerline goodness : 0.999507 Centerline is valid? [True, True] Translation: X:182.17, Y:51.55, Z:9.46 [[ 7.33735927e-01 -6.78500030e-01 -3.56272104e-02 1.82169548e+02] [ 6.77656495e-01 7.34600060e-01 -3.38293715e-02 5.15531123e+01] [ 4.91249804e-02 6.78814699e-04 9.98792409e-01 9.45713222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.640385723 meters Centerline goodness : 0.999641 Centerline is valid? [True, True] Translation: X:182.19, Y:51.57, Z:9.46 [[ 7.33633076e-01 -6.78611725e-01 -3.56179293e-02 1.82189753e+02] [ 6.77767848e-01 7.34496874e-01 -3.38391404e-02 5.15700517e+01] [ 4.91248952e-02 6.84825432e-04 9.98792409e-01 9.45751397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.670385723 meters Centerline goodness : 0.999685 Centerline is valid? [True, True] Translation: X:182.21, Y:51.59, Z:9.46 [[ 7.32095879e-01 -6.80278378e-01 -3.54535331e-02 1.82212681e+02] [ 6.79428075e-01 7.32953389e-01 -3.40120724e-02 5.15893169e+01] [ 4.91234646e-02 8.11972289e-04 9.98792384e-01 9.45609086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.700385723 meters Centerline goodness : 0.999685 Centerline is valid? [True, True] Translation: X:182.24, Y:51.61, Z:9.45 [[ 7.31651445e-01 -6.80748438e-01 -3.56051440e-02 1.82235113e+02] [ 6.79906428e-01 7.32517065e-01 -3.38526144e-02 5.16074681e+01] [ 4.91264900e-02 5.60147934e-04 9.98792408e-01 9.45468993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.730385723 meters Centerline goodness : 0.999257 Centerline is valid? [True, True] Translation: X:182.26, Y:51.63, Z:9.45 [[ 7.31700608e-01 -6.80696012e-01 -3.55972011e-02 1.82256141e+02] [ 6.79853533e-01 7.32565771e-01 -3.38609645e-02 5.16257357e+01] [ 4.91263146e-02 5.75205390e-04 9.98792408e-01 9.45398632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.760385723 meters Centerline goodness : 0.999707 Centerline is valid? [True, True] Translation: X:182.28, Y:51.65, Z:9.46 [[ 7.30846983e-01 -6.81616119e-01 -3.55268043e-02 1.82277692e+02] [ 6.80771131e-01 7.31709702e-01 -3.39349238e-02 5.16453041e+01] [ 4.91258985e-02 6.15613929e-04 9.98792404e-01 9.45620836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.790385723 meters Centerline goodness : 0.999752 Centerline is valid? [True, True] Translation: X:182.30, Y:51.66, Z:9.46 [[ 7.30515644e-01 -6.81968523e-01 -3.55784793e-02 1.82298288e+02] [ 6.81126592e-01 7.31381342e-01 -3.38806596e-02 5.16622543e+01] [ 4.91269793e-02 5.16903483e-04 9.98792407e-01 9.45580156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.82038572300002 meters Centerline goodness : 0.999593 Centerline is valid? [True, True] Translation: X:182.32, Y:51.68, Z:9.46 [[ 7.29690958e-01 -6.82853981e-01 -3.55182652e-02 1.82319774e+02] [ 6.82010023e-01 7.30554682e-01 -3.39438497e-02 5.16822791e+01] [ 4.91267278e-02 5.44707306e-04 9.98792405e-01 9.45978200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.85038572300002 meters Centerline goodness : 0.999616 Centerline is valid? [True, True] Translation: X:182.34, Y:51.70, Z:9.46 [[ 7.29623878e-01 -6.82923076e-01 -3.55678011e-02 1.82339752e+02] [ 6.82081730e-01 7.30490146e-01 -3.38918905e-02 5.17002220e+01] [ 4.91274823e-02 4.68185242e-04 9.98792407e-01 9.45793932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.88038572300002 meters Centerline goodness : 0.999570 Centerline is valid? [True, True] Translation: X:182.36, Y:51.72, Z:9.46 [[ 7.29408154e-01 -6.83156304e-01 -3.55135077e-02 1.82361209e+02] [ 6.82312462e-01 7.30271992e-01 -3.39488205e-02 5.17200164e+01] [ 4.91268707e-02 5.31237609e-04 9.98792405e-01 9.45948565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.91038572300002 meters Centerline goodness : 0.999774 Centerline is valid? [True, True] Translation: X:182.38, Y:51.74, Z:9.46 [[ 7.30584114e-01 -6.81897194e-01 -3.55396775e-02 1.82382626e+02] [ 6.81053197e-01 7.31447799e-01 -3.39213881e-02 5.17382000e+01] [ 4.91263182e-02 5.78016317e-04 9.98792406e-01 9.46076826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.940385723 meters Centerline goodness : 0.999615 Centerline is valid? [True, True] Translation: X:182.40, Y:51.76, Z:9.46 [[ 7.30634867e-01 -6.81842550e-01 -3.55447432e-02 1.82403129e+02] [ 6.80998746e-01 7.31498741e-01 -3.39160790e-02 5.17574013e+01] [ 4.91263607e-02 5.74344308e-04 9.98792406e-01 9.45775581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.970385723 meters Centerline goodness : 0.999683 Centerline is valid? [True, True] Translation: X:182.42, Y:51.77, Z:9.46 [[ 7.32003289e-01 -6.80376546e-01 -3.54815649e-02 1.82422653e+02] [ 6.79527802e-01 7.32862314e-01 -3.39822651e-02 5.17749339e+01] [ 4.91238379e-02 7.64420041e-04 9.98792403e-01 9.45852307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.000385723 meters Centerline goodness : 0.999750 Centerline is valid? [True, True] Translation: X:182.44, Y:51.79, Z:9.46 [[ 7.32070233e-01 -6.80311186e-01 -3.53534266e-02 1.82443228e+02] [ 6.79455876e-01 7.32922765e-01 -3.41164658e-02 5.17944178e+01] [ 4.91211445e-02 9.54555595e-04 9.98792372e-01 9.45902129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.030385723 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:182.46, Y:51.81, Z:9.46 [[ 7.31430863e-01 -6.80999744e-01 -3.53304439e-02 1.82464194e+02] [ 6.80144075e-01 7.32283047e-01 -3.41405239e-02 5.18144627e+01] [ 4.91215732e-02 9.41640816e-04 9.98792363e-01 9.46121804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.060385723 meters Centerline goodness : 0.999886 Centerline is valid? [True, True] Translation: X:182.48, Y:51.83, Z:9.46 [[ 7.30430269e-01 -6.82066405e-01 -3.54547962e-02 1.82484701e+02] [ 6.81218286e-01 7.31289918e-01 -3.40103424e-02 5.18345314e+01] [ 4.91250469e-02 6.89728050e-04 9.98792398e-01 9.46473235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.090385723 meters Centerline goodness : 0.999864 Centerline is valid? [True, True] Translation: X:182.50, Y:51.85, Z:9.47 [[ 7.28944121e-01 -6.83650876e-01 -3.55239051e-02 1.82504830e+02] [ 6.82808147e-01 7.29809048e-01 -3.39380044e-02 5.18539938e+01] [ 4.91274138e-02 4.82897005e-04 9.98792403e-01 9.46690747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.120385723 meters Centerline goodness : 0.999704 Centerline is valid? [True, True] Translation: X:182.52, Y:51.87, Z:9.47 [[ 7.30532430e-01 -6.81953595e-01 -3.55198907e-02 1.82521550e+02] [ 6.81108652e-01 7.31395195e-01 -3.39422054e-02 5.18680241e+01] [ 4.91260864e-02 6.02976904e-04 9.98792403e-01 9.46616015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.150385723 meters Centerline goodness : 0.999909 Centerline is valid? [True, True] Translation: X:182.54, Y:51.89, Z:9.47 [[ 7.26706403e-01 -6.86055547e-01 -3.50084372e-02 1.82544330e+02] [ 6.85189501e-01 7.27548381e-01 -3.44775415e-02 5.18923897e+01] [ 4.91238405e-02 1.06763656e-03 9.98792125e-01 9.47046461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.180385723 meters Centerline goodness : 0.999635 Centerline is valid? [True, True] Translation: X:182.56, Y:51.91, Z:9.47 [[ 7.26143064e-01 -6.86624778e-01 -3.55340014e-02 1.82564645e+02] [ 6.85786125e-01 7.27011927e-01 -3.39271056e-02 5.19117411e+01] [ 4.91288342e-02 2.67207233e-04 9.98792414e-01 9.47109798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.210385723 meters Centerline goodness : 0.999909 Centerline is valid? [True, True] Translation: X:182.58, Y:51.93, Z:9.47 [[ 7.24014127e-01 -6.88872472e-01 -3.54719891e-02 1.82579222e+02] [ 6.88033332e-01 7.24882526e-01 -3.39920206e-02 5.19314267e+01] [ 4.91291923e-02 2.04792255e-04 9.98792411e-01 9.47168406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.240385723 meters Centerline goodness : 0.999727 Centerline is valid? [True, True] Translation: X:182.61, Y:51.95, Z:9.47 [[ 7.25202914e-01 -6.87638812e-01 -3.51226100e-02 1.82605582e+02] [ 6.86780348e-01 7.26052499e-01 -3.43587441e-02 5.19521095e+01] [ 4.91272648e-02 7.95543035e-04 9.98792210e-01 9.47210395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.270385723 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:182.62, Y:51.97, Z:9.48 [[ 7.25466090e-01 -6.87337599e-01 -3.55805666e-02 1.82623853e+02] [ 6.86502217e-01 7.26338077e-01 -3.38777853e-02 5.19714574e+01] [ 4.91289959e-02 1.51046625e-04 9.98792430e-01 9.47668831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.300385723 meters Centerline goodness : 0.999864 Centerline is valid? [True, True] Translation: X:182.64, Y:51.99, Z:9.48 [[ 7.25547364e-01 -6.87252076e-01 -3.55753746e-02 1.82643176e+02] [ 6.86416324e-01 7.26418996e-01 -3.38832365e-02 5.19913327e+01] [ 4.91289525e-02 1.64375021e-04 9.98792430e-01 9.47789511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.330385723 meters Centerline goodness : 0.999909 Centerline is valid? [True, True] Translation: X:182.66, Y:52.01, Z:9.48 [[ 7.25394950e-01 -6.87413414e-01 -3.55663461e-02 1.82663901e+02] [ 6.86577391e-01 7.26266322e-01 -3.38927108e-02 5.20125372e+01] [ 4.91289435e-02 1.66552147e-04 9.98792430e-01 9.47956738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.360385723 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:182.68, Y:52.03, Z:9.48 [[ 7.26859721e-01 -6.85861377e-01 -3.56246858e-02 1.82682276e+02] [ 6.85026491e-01 7.27732188e-01 -3.38315026e-02 5.20328810e+01] [ 4.91289514e-02 1.86903058e-04 9.98792426e-01 9.47910096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.390385723 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:182.70, Y:52.05, Z:9.48 [[ 7.24699195e-01 -6.88147441e-01 -3.55552521e-02 1.82695197e+02] [ 6.87311731e-01 7.25570866e-01 -3.39043176e-02 5.20530376e+01] [ 4.91290245e-02 1.32889794e-04 9.98792432e-01 9.47610531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.420385723 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:182.72, Y:52.07, Z:9.48 [[ 7.28435983e-01 -6.84216525e-01 -3.50537581e-02 1.82720721e+02] [ 6.83350668e-01 7.29278054e-01 -3.44294258e-02 5.20736466e+01] [ 4.91211186e-02 1.12562367e-03 9.98792195e-01 9.47849580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.450385723 meters Centerline goodness : 0.999843 Centerline is valid? [True, True] Translation: X:182.74, Y:52.09, Z:9.48 [[ 7.28511951e-01 -6.84110485e-01 -3.55412652e-02 1.82741379e+02] [ 6.83269247e-01 7.29378272e-01 -3.39186143e-02 5.20944395e+01] [ 4.91271063e-02 4.25862336e-04 9.98792444e-01 9.47694570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.480385723 meters Centerline goodness : 0.999843 Centerline is valid? [True, True] Translation: X:182.76, Y:52.11, Z:9.48 [[ 7.28327850e-01 -6.84306899e-01 -3.55332546e-02 1.82761987e+02] [ 6.83465485e-01 7.29193999e-01 -3.39270042e-02 5.21142219e+01] [ 4.91271190e-02 4.24228859e-04 9.98792444e-01 9.47834570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.510385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.78, Y:52.13, Z:9.48 [[ 7.29464776e-01 -6.83095292e-01 -3.55241120e-02 1.82780674e+02] [ 6.82251974e-01 7.30329072e-01 -3.39365745e-02 5.21340229e+01] [ 4.91262060e-02 5.19140143e-04 9.98792444e-01 9.48051331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.540385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:182.80, Y:52.15, Z:9.48 [[ 7.29470209e-01 -6.83089732e-01 -3.55194738e-02 1.82800479e+02] [ 6.82246171e-01 7.30334267e-01 -3.39414283e-02 5.21543851e+01] [ 4.91261300e-02 5.26235734e-04 9.98792444e-01 9.48223150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.57038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.82, Y:52.17, Z:9.48 [[ 7.29747170e-01 -6.82794315e-01 -3.55104392e-02 1.82819166e+02] [ 6.81949945e-01 7.30610437e-01 -3.39508779e-02 5.21735125e+01] [ 4.91257639e-02 5.59215029e-04 9.98792444e-01 9.48395873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.60038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.83, Y:52.19, Z:9.48 [[ 7.26481684e-01 -6.86267979e-01 -3.55052741e-02 1.82831637e+02] [ 6.85427473e-01 7.27348714e-01 -3.39562787e-02 5.21937048e+01] [ 4.91278222e-02 3.32324250e-04 9.98792444e-01 9.48357376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.63038572300002 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:182.86, Y:52.21, Z:9.49 [[ 7.29819508e-01 -6.82747883e-01 -3.49115093e-02 1.82860225e+02] [ 6.81873304e-01 7.30652643e-01 -3.45761690e-02 5.22134277e+01] [ 4.91149928e-02 1.42913643e-03 9.98792108e-01 9.48947202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.66038572300002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:182.88, Y:52.23, Z:9.49 [[ 7.30876611e-01 -6.81586048e-01 -3.54941999e-02 1.82880773e+02] [ 6.80739453e-01 7.31737671e-01 -3.39673107e-02 5.22334146e+01] [ 4.91240882e-02 6.63610692e-04 9.98792463e-01 9.49395835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.690385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.90, Y:52.25, Z:9.50 [[ 7.31571409e-01 -6.80840661e-01 -3.54861624e-02 1.82900784e+02] [ 6.79992782e-01 7.32431204e-01 -3.39757056e-02 5.22532111e+01] [ 4.91232145e-02 7.25320585e-04 9.98792463e-01 9.49617782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.720385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.92, Y:52.27, Z:9.50 [[ 7.33545800e-01 -6.78713460e-01 -3.54767357e-02 1.82919289e+02] [ 6.77862611e-01 7.34402657e-01 -3.39855459e-02 5.22731559e+01] [ 4.91206564e-02 8.81601811e-04 9.98792463e-01 9.49709456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.750385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.94, Y:52.29, Z:9.50 [[ 7.34336640e-01 -6.77858007e-01 -3.54714161e-02 1.82939015e+02] [ 6.77005893e-01 7.35192237e-01 -3.39910972e-02 5.22932456e+01] [ 4.91194472e-02 9.46550324e-04 9.98792463e-01 9.49945733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.780385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.96, Y:52.31, Z:9.50 [[ 7.35221954e-01 -6.76898162e-01 -3.54620449e-02 1.82958620e+02] [ 6.76044460e-01 7.36075967e-01 -3.40008711e-02 5.23128567e+01] [ 4.91178861e-02 1.02426792e-03 9.98792463e-01 9.50070793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.810385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.97, Y:52.33, Z:9.50 [[ 7.32882676e-01 -6.79430710e-01 -3.54526878e-02 1.82967813e+02] [ 6.78579488e-01 7.33739161e-01 -3.40106250e-02 5.23335770e+01] [ 4.91208885e-02 8.68331148e-04 9.98792463e-01 9.49504090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.840385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.00, Y:52.35, Z:9.50 [[ 7.37205044e-01 -6.74775292e-01 -3.47423127e-02 1.82998747e+02] [ 6.73883513e-01 7.38019946e-01 -3.47501062e-02 5.23529085e+01] [ 4.90890328e-02 2.20568182e-03 9.98791971e-01 9.50183864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.870385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.02, Y:52.37, Z:9.50 [[ 7.38019434e-01 -6.73847693e-01 -3.54485860e-02 1.83020535e+02] [ 6.72989828e-01 7.38869226e-01 -3.40140835e-02 5.23725234e+01] [ 4.91121810e-02 1.24651686e-03 9.98792491e-01 9.50342232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.900385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.04, Y:52.39, Z:9.50 [[ 7.38000702e-01 -6.73868633e-01 -3.54405071e-02 1.83040996e+02] [ 6.73010389e-01 7.38850111e-01 -3.40224992e-02 5.23915091e+01] [ 4.91119176e-02 1.25679878e-03 9.98792491e-01 9.50496721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.930385723 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:183.06, Y:52.41, Z:9.51 [[ 7.37458997e-01 -6.74461901e-01 -3.54312337e-02 1.83062062e+02] [ 6.73603877e-01 7.38308628e-01 -3.40321538e-02 5.24105899e+01] [ 4.91125767e-02 1.23070163e-03 9.98792491e-01 9.50543107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.960385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.07, Y:52.43, Z:9.50 [[ 7.33588583e-01 -6.78670073e-01 -3.54220649e-02 1.83073238e+02] [ 6.77816464e-01 7.34442649e-01 -3.40416944e-02 5.24303352e+01] [ 4.91185544e-02 9.62939524e-04 9.98792491e-01 9.50414693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.990385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:183.10, Y:52.45, Z:9.51 [[ 7.36269284e-01 -6.75793442e-01 -3.47960556e-02 1.83103018e+02] [ 6.74905519e-01 7.37088180e-01 -3.46922846e-02 5.24489851e+01] [ 4.90925797e-02 2.05881356e-03 9.98792110e-01 9.50828839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.020385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.12, Y:52.47, Z:9.51 [[ 7.34623938e-01 -6.77549520e-01 -3.54163502e-02 1.83124265e+02] [ 6.76694349e-01 7.35476414e-01 -3.40470719e-02 5.24668217e+01] [ 4.91164674e-02 1.04575003e-03 9.98792511e-01 9.51138134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.050385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.14, Y:52.49, Z:9.51 [[ 7.29682180e-01 -6.82869121e-01 -3.54073538e-02 1.83137652e+02] [ 6.82019713e-01 7.30540397e-01 -3.40564251e-02 5.24852519e+01] [ 4.91225834e-02 7.01853192e-04 9.98792511e-01 9.50887081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.080385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.17, Y:52.50, Z:9.52 [[ 7.32030709e-01 -6.80379319e-01 -3.48571823e-02 1.83167578e+02] [ 6.79499588e-01 7.32858251e-01 -3.46279462e-02 5.25024096e+01] [ 4.91055121e-02 1.66327902e-03 9.98792212e-01 9.51502087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.110385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.19, Y:52.52, Z:9.52 [[ 7.29833341e-01 -6.82707618e-01 -3.54062381e-02 1.83189624e+02] [ 6.81857985e-01 7.30691315e-01 -3.40571633e-02 5.25196736e+01] [ 4.91221155e-02 7.14027097e-04 9.98792525e-01 9.51706991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.140385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.21, Y:52.54, Z:9.52 [[ 7.28961570e-01 -6.83638847e-01 -3.53971307e-02 1.83210145e+02] [ 6.82789850e-01 7.29820173e-01 -3.40666264e-02 5.25379700e+01] [ 4.91228093e-02 6.64459919e-04 9.98792525e-01 9.51862487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.170385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.23, Y:52.56, Z:9.52 [[ 7.28132314e-01 -6.84522271e-01 -3.53920054e-02 1.83232117e+02] [ 6.83674057e-01 7.28991691e-01 -3.40719503e-02 5.25562187e+01] [ 4.91234867e-02 6.12292072e-04 9.98792525e-01 9.52038805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.200385723 meters Centerline goodness : 0.999863 Centerline is valid? [True, True] Translation: X:183.25, Y:52.58, Z:9.52 [[ 7.27750021e-01 -6.84929160e-01 -3.53829518e-02 1.83252346e+02] [ 6.84080969e-01 7.28609421e-01 -3.40813497e-02 5.25751456e+01] [ 4.91236622e-02 5.97899026e-04 9.98792525e-01 9.51963694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.230385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.27, Y:52.59, Z:9.52 [[ 7.28043663e-01 -6.84617501e-01 -3.53737374e-02 1.83272777e+02] [ 6.83768479e-01 7.28902241e-01 -3.40909108e-02 5.25922209e+01] [ 4.91232306e-02 6.32224998e-04 9.98792525e-01 9.52309676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.260385723 meters Centerline goodness : 0.999863 Centerline is valid? [True, True] Translation: X:183.29, Y:52.61, Z:9.52 [[ 7.27925291e-01 -6.84743620e-01 -3.53686993e-02 1.83292343e+02] [ 6.83894493e-01 7.28783765e-01 -3.40961370e-02 5.26105612e+01] [ 4.91232461e-02 6.30981803e-04 9.98792525e-01 9.52177369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.290385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.31, Y:52.63, Z:9.53 [[ 7.28206242e-01 -6.84445086e-01 -3.53637285e-02 1.83312847e+02] [ 6.83595356e-01 7.29064120e-01 -3.41012918e-02 5.26292140e+01] [ 4.91228872e-02 6.58293028e-04 9.98792525e-01 9.52536822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.32038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.33, Y:52.65, Z:9.53 [[ 7.28614499e-01 -6.84010931e-01 -3.53547446e-02 1.83333394e+02] [ 6.83160239e-01 7.29471422e-01 -3.41106033e-02 5.26479698e+01] [ 4.91223014e-02 7.00524372e-04 9.98792525e-01 9.52615976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.35038572300002 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:183.35, Y:52.67, Z:9.53 [[ 7.28991685e-01 -6.83609389e-01 -3.53458103e-02 1.83353819e+02] [ 6.82757776e-01 7.29847693e-01 -3.41198586e-02 5.26661506e+01] [ 4.91217138e-02 7.40466381e-04 9.98792525e-01 9.52599053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.38038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.37, Y:52.69, Z:9.53 [[ 7.28992663e-01 -6.83608591e-01 -3.53410865e-02 1.83374466e+02] [ 6.82756739e-01 7.29848434e-01 -3.41247508e-02 5.26857856e+01] [ 4.91216095e-02 7.47327945e-04 9.98792526e-01 9.52753661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.41038572300002 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:183.39, Y:52.71, Z:9.53 [[ 7.29070004e-01 -6.83526567e-01 -3.53321679e-02 1.83394664e+02] [ 6.82674172e-01 7.29925234e-01 -3.41339826e-02 5.27052051e+01] [ 4.91213248e-02 7.65704365e-04 9.98792526e-01 9.52824427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.440385723 meters Centerline goodness : 0.999908 Centerline is valid? [True, True] Translation: X:183.41, Y:52.72, Z:9.53 [[ 7.29998252e-01 -6.82535578e-01 -3.53233179e-02 1.83414979e+02] [ 6.81681579e-01 7.30851880e-01 -3.41431384e-02 5.27244388e+01] [ 4.91200200e-02 8.45176180e-04 9.98792526e-01 9.52856654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.470385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.44, Y:52.74, Z:9.53 [[ 7.30372444e-01 -6.82135632e-01 -3.53139139e-02 1.83435323e+02] [ 6.81280696e-01 7.31225133e-01 -3.41528622e-02 5.27436005e+01] [ 4.91193056e-02 8.85621605e-04 9.98792526e-01 9.53184210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.500385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.45, Y:52.76, Z:9.53 [[ 7.31081751e-01 -6.81375866e-01 -3.53044381e-02 1.83454819e+02] [ 6.80519571e-01 7.31933075e-01 -3.41626547e-02 5.27623652e+01] [ 4.91180943e-02 9.50332367e-04 9.98792526e-01 9.53220518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.530385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.47, Y:52.78, Z:9.53 [[ 7.31207185e-01 -6.81241517e-01 -3.52994078e-02 1.83474537e+02] [ 6.80384815e-01 7.32058099e-01 -3.41678515e-02 5.27818485e+01] [ 4.91177764e-02 9.66597429e-04 9.98792526e-01 9.53307307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.560385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.49, Y:52.80, Z:9.53 [[ 7.32269425e-01 -6.80100066e-01 -3.52900926e-02 1.83494463e+02] [ 6.79241574e-01 7.33118534e-01 -3.41774700e-02 5.28017977e+01] [ 4.91159205e-02 1.05661822e-03 9.98792526e-01 9.53285364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.590385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.51, Y:52.82, Z:9.53 [[ 7.32452577e-01 -6.79902961e-01 -3.52871955e-02 1.83514008e+02] [ 6.79044097e-01 7.33301309e-01 -3.41804609e-02 5.28213000e+01] [ 4.91155432e-02 1.07400482e-03 9.98792526e-01 9.53440390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.620385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.53, Y:52.84, Z:9.53 [[ 7.33395316e-01 -6.78886431e-01 -3.52777968e-02 1.83533306e+02] [ 6.78025925e-01 7.34242383e-01 -3.41901586e-02 5.28403416e+01] [ 4.91136884e-02 1.15564131e-03 9.98792526e-01 9.53465872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.650385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.55, Y:52.86, Z:9.54 [[ 7.33582591e-01 -6.78684286e-01 -3.52735477e-02 1.83553221e+02] [ 6.77823335e-01 7.34429206e-01 -3.41945418e-02 5.28597614e+01] [ 4.91132218e-02 1.17528677e-03 9.98792526e-01 9.53649820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.680385723 meters Centerline goodness : 0.999908 Centerline is valid? [True, True] Translation: X:183.57, Y:52.88, Z:9.54 [[ 7.33616957e-01 -6.78647608e-01 -3.52644917e-02 1.83574072e+02] [ 6.77786167e-01 7.34463074e-01 -3.42038786e-02 5.28799824e+01] [ 4.91128473e-02 1.19076065e-03 9.98792526e-01 9.53799916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.710385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.59, Y:52.90, Z:9.54 [[ 7.32685461e-01 -6.79653576e-01 -3.52566526e-02 1.83594147e+02] [ 6.78792909e-01 7.33532364e-01 -3.42119570e-02 5.28998146e+01] [ 4.91141747e-02 1.13463772e-03 9.98792526e-01 9.54154345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.740385723 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] Translation: X:183.60, Y:52.92, Z:9.54 [[ 7.27164053e-01 -6.85558196e-01 -3.52476939e-02 1.83604417e+02] [ 6.84703960e-01 7.28017443e-01 -3.42211845e-02 5.29199830e+01] [ 4.91215495e-02 7.50179690e-04 9.98792526e-01 9.53993716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.770385723 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:183.62, Y:52.94, Z:9.54 [[ 7.26519111e-01 -6.86275439e-01 -3.45832741e-02 1.83623606e+02] [ 6.85389216e-01 7.27339865e-01 -3.49047768e-02 5.29396401e+01] [ 4.91080849e-02 1.65598429e-03 9.98792097e-01 9.54141697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.800385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.65, Y:52.96, Z:9.55 [[ 7.30475485e-01 -6.82064364e-01 -3.45509696e-02 1.83654102e+02] [ 6.81171842e-01 7.31289449e-01 -3.49379984e-02 5.29578328e+01] [ 4.90967232e-02 1.98620371e-03 9.98792054e-01 9.54859754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.830385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.67, Y:52.98, Z:9.55 [[ 7.30411729e-01 -6.82097290e-01 -3.52419096e-02 1.83673783e+02] [ 6.81238751e-01 7.31260763e-01 -3.42265968e-02 5.29761882e+01] [ 4.91168946e-02 9.91353312e-04 9.98792545e-01 9.54941757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.860385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.69, Y:53.00, Z:9.55 [[ 7.30568863e-01 -6.81929253e-01 -3.52367810e-02 1.83694561e+02] [ 6.81070264e-01 7.31417442e-01 -3.42318760e-02 5.29969394e+01] [ 4.91165138e-02 1.01001894e-03 9.98792545e-01 9.54968613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.890385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.71, Y:53.02, Z:9.55 [[ 7.30714024e-01 -6.81773945e-01 -3.52321308e-02 1.83714005e+02] [ 6.80914545e-01 7.31562187e-01 -3.42366614e-02 5.30165796e+01] [ 4.91161583e-02 1.02713829e-03 9.98792545e-01 9.54726447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.920385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.73, Y:53.04, Z:9.55 [[ 7.30848041e-01 -6.81630531e-01 -3.52272625e-02 1.83734141e+02] [ 6.80770724e-01 7.31695791e-01 -3.42416698e-02 5.30359422e+01] [ 4.91158072e-02 1.04376835e-03 9.98792545e-01 9.55029764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.950385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.74, Y:53.05, Z:9.55 [[ 7.26364890e-01 -6.86406395e-01 -3.52180092e-02 1.83742735e+02] [ 6.85551701e-01 7.27217795e-01 -3.42511843e-02 5.30548242e+01] [ 4.91213949e-02 7.35091641e-04 9.98792545e-01 9.55086167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.980385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.77, Y:53.07, Z:9.55 [[ 7.29808923e-01 -6.82784606e-01 -3.44110138e-02 1.83774672e+02] [ 6.81886211e-01 7.30616599e-01 -3.50796432e-02 5.30743632e+01] [ 4.90930983e-02 2.13704081e-03 9.98791921e-01 9.55124518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.010385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.80, Y:53.09, Z:9.56 [[ 7.29650323e-01 -6.82913189e-01 -3.52133824e-02 1.83796080e+02] [ 6.82054236e-01 7.30498886e-01 -3.42548695e-02 5.30942001e+01] [ 4.91164388e-02 9.76639980e-04 9.98792582e-01 9.55586006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.040385723 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:183.81, Y:53.11, Z:9.56 [[ 7.29345606e-01 -6.83239020e-01 -3.52055178e-02 1.83814768e+02] [ 6.82380057e-01 7.30194158e-01 -3.42629505e-02 5.31130725e+01] [ 4.91166482e-02 9.65989147e-04 9.98792582e-01 9.55689310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.07038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.83, Y:53.13, Z:9.56 [[ 7.29321970e-01 -6.83264514e-01 -3.52003966e-02 1.83834958e+02] [ 6.82405327e-01 7.30170295e-01 -3.42682110e-02 5.31332234e+01] [ 4.91165365e-02 9.71620971e-04 9.98792582e-01 9.55924182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.10038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.85, Y:53.15, Z:9.56 [[ 7.29299173e-01 -6.83289336e-01 -3.51908934e-02 1.83854910e+02] [ 6.82429707e-01 7.30147051e-01 -3.42779673e-02 5.31528180e+01] [ 4.91162966e-02 9.83582112e-04 9.98792582e-01 9.56041205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.13038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.88, Y:53.17, Z:9.56 [[ 7.28942565e-01 -6.83670249e-01 -3.51813393e-02 1.83875282e+02] [ 6.82810590e-01 7.29790413e-01 -3.42877704e-02 5.31721079e+01] [ 4.91165327e-02 9.71624282e-04 9.98792582e-01 9.56272202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.16038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.89, Y:53.19, Z:9.56 [[ 7.28755509e-01 -6.83870126e-01 -3.51718489e-02 1.83894402e+02] [ 6.83010231e-01 7.29603115e-01 -3.42975028e-02 5.31911789e+01] [ 4.91165281e-02 9.71761479e-04 9.98792582e-01 9.56374565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.190385723 meters Centerline goodness : 0.999794 Centerline is valid? [True, True] Translation: X:183.91, Y:53.21, Z:9.56 [[ 7.28171848e-01 -6.84491834e-01 -3.51665832e-02 1.83914166e+02] [ 6.83632401e-01 7.29019925e-01 -3.43029011e-02 5.32115396e+01] [ 4.91171955e-02 9.37391161e-04 9.98792582e-01 9.56313131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.220385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.93, Y:53.23, Z:9.57 [[ 7.28636638e-01 -6.83997531e-01 -3.51571722e-02 1.83934264e+02] [ 6.83137059e-01 7.29483659e-01 -3.43125437e-02 5.32319901e+01] [ 4.91162778e-02 9.84209252e-04 9.98792582e-01 9.56719518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.250385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.95, Y:53.25, Z:9.57 [[ 7.28889241e-01 -6.83728768e-01 -3.51488975e-02 1.83953451e+02] [ 6.82867575e-01 7.29735529e-01 -3.43210180e-02 5.32516062e+01] [ 4.91156667e-02 1.01417841e-03 9.98792582e-01 9.56744963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.280385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.97, Y:53.27, Z:9.57 [[ 7.27064930e-01 -6.85668653e-01 -3.51437735e-02 1.83965714e+02] [ 6.84809465e-01 7.27913253e-01 -3.43262641e-02 5.32732423e+01] [ 4.91180618e-02 8.90634061e-04 9.98792582e-01 9.56898087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.310385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.99, Y:53.29, Z:9.57 [[ 7.31154109e-01 -6.81332308e-01 -3.46403696e-02 1.83992613e+02] [ 6.80443561e-01 7.31971764e-01 -3.48410261e-02 5.32927479e+01] [ 4.90940892e-02 1.90334291e-03 9.98792345e-01 9.56954965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.340385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.01, Y:53.31, Z:9.57 [[ 7.30966953e-01 -6.81507855e-01 -3.51334274e-02 1.84013212e+02] [ 6.80643346e-01 7.31809837e-01 -3.43365429e-02 5.33125237e+01] [ 4.91116115e-02 1.18554455e-03 9.98792593e-01 9.57127074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.370385723 meters Centerline goodness : 0.999886 Centerline is valid? [True, True] Translation: X:184.03, Y:53.33, Z:9.57 [[ 7.31035619e-01 -6.81434683e-01 -3.51240128e-02 1.84033496e+02] [ 6.80569627e-01 7.31877943e-01 -3.43461707e-02 5.33336384e+01] [ 4.91111622e-02 1.20393795e-03 9.98792593e-01 9.57157091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.400385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.05, Y:53.35, Z:9.57 [[ 7.31558212e-01 -6.80874588e-01 -3.51052360e-02 1.84053782e+02] [ 6.80007967e-01 7.32398926e-01 -3.43653654e-02 5.33541983e+01] [ 4.91095411e-02 1.26842512e-03 9.98792593e-01 9.57456028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.430385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.07, Y:53.38, Z:9.58 [[ 7.28885161e-01 -6.83734920e-01 -3.51138391e-02 1.84065738e+02] [ 6.82872022e-01 7.29729695e-01 -3.43565726e-02 5.33758700e+01] [ 4.91143995e-02 1.06373766e-03 9.98792593e-01 9.57661970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.460385723 meters Centerline goodness : 0.999841 Centerline is valid? [True, True] Translation: X:184.09, Y:53.40, Z:9.58 [[ 7.31855543e-01 -6.80580495e-01 -3.46071199e-02 1.84092925e+02] [ 6.79689361e-01 7.32670586e-01 -3.48738573e-02 5.33951758e+01] [ 4.90900858e-02 2.00053457e-03 9.98792351e-01 9.57572467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.490385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.11, Y:53.41, Z:9.58 [[ 7.32548040e-01 -6.79809512e-01 -3.51055007e-02 1.84113295e+02] [ 6.78941699e-01 7.33387506e-01 -3.43647514e-02 5.34143593e+01] [ 4.91074205e-02 1.33924304e-03 9.98792605e-01 9.58083247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.520385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.13, Y:53.43, Z:9.58 [[ 7.29537369e-01 -6.83039896e-01 -3.50959707e-02 1.84125159e+02] [ 6.82175333e-01 7.30380182e-01 -3.43744814e-02 5.34346961e+01] [ 4.91125437e-02 1.13586323e-03 9.98792605e-01 9.58159344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.550385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.15, Y:53.46, Z:9.58 [[ 7.30419564e-01 -6.82122402e-01 -3.45874208e-02 1.84145384e+02] [ 6.81232051e-01 7.31235477e-01 -3.48936778e-02 5.34554363e+01] [ 4.90933085e-02 1.92496528e-03 9.98792342e-01 9.58301720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.580385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.16, Y:53.48, Z:9.58 [[ 7.29882789e-01 -6.82694530e-01 -3.46308156e-02 1.84163469e+02] [ 6.81806916e-01 7.30701615e-01 -3.48493851e-02 5.34756244e+01] [ 4.90962774e-02 1.82443680e-03 9.98792384e-01 9.58043213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.610385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.19, Y:53.50, Z:9.59 [[ 7.34240222e-01 -6.78016590e-01 -3.44209290e-02 1.84192051e+02] [ 6.77113724e-01 7.35042556e-01 -3.50634496e-02 5.34957901e+01] [ 4.90744482e-02 2.43811158e-03 9.98792148e-01 9.58602213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.640385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.20, Y:53.52, Z:9.58 [[ 7.30782293e-01 -6.81707637e-01 -3.50989807e-02 1.84203729e+02] [ 6.80841701e-01 7.31623679e-01 -3.43710712e-02 5.35162728e+01] [ 4.91102671e-02 1.22092046e-03 9.98792617e-01 9.58326404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.670385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.23, Y:53.54, Z:9.59 [[ 7.34819517e-01 -6.77385951e-01 -3.44753693e-02 1.84231335e+02] [ 6.76485034e-01 7.35623889e-01 -3.50070522e-02 5.35363896e+01] [ 4.90741906e-02 2.40179386e-03 9.98792248e-01 9.58938726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.700385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.25, Y:53.56, Z:9.59 [[ 7.35059722e-01 -6.77093571e-01 -3.50927531e-02 1.84250385e+02] [ 6.76222082e-01 7.35895325e-01 -3.43768384e-02 5.35555401e+01] [ 4.91009292e-02 1.53853475e-03 9.98792637e-01 9.59019113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.730385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.27, Y:53.58, Z:9.59 [[ 7.35264452e-01 -6.76871751e-01 -3.50830220e-02 1.84268895e+02] [ 6.75999537e-01 7.36099298e-01 -3.43867666e-02 5.35762198e+01] [ 4.91000188e-02 1.56726045e-03 9.98792637e-01 9.59163489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.760385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.29, Y:53.60, Z:9.59 [[ 7.35362862e-01 -6.76765343e-01 -3.50732401e-02 1.84288321e+02] [ 6.75892533e-01 7.36197085e-01 -3.43967408e-02 5.35954797e+01] [ 4.90993392e-02 1.58834464e-03 9.98792637e-01 9.59291647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.790385723 meters Centerline goodness : 0.999843 Centerline is valid? [True, True] Translation: X:184.31, Y:53.62, Z:9.59 [[ 7.35260658e-01 -6.76876718e-01 -3.50667081e-02 1.84307685e+02] [ 6.76003717e-01 7.36094682e-01 -3.44033988e-02 5.36150544e+01] [ 4.90992770e-02 1.59024062e-03 9.98792637e-01 9.59247830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.82038572300002 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:184.33, Y:53.64, Z:9.60 [[ 7.35380746e-01 -6.76746397e-01 -3.50638251e-02 1.84327799e+02] [ 6.75873109e-01 7.36214469e-01 -3.44063368e-02 5.36353326e+01] [ 4.90988599e-02 1.60306114e-03 9.98792637e-01 9.59681932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.85038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.35, Y:53.66, Z:9.60 [[ 7.35207050e-01 -6.76935521e-01 -3.50555756e-02 1.84345414e+02] [ 6.76062048e-01 7.36040579e-01 -3.44147400e-02 5.36559099e+01] [ 4.90988861e-02 1.60221531e-03 9.98792637e-01 9.59676976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.88038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.37, Y:53.68, Z:9.60 [[ 7.35046947e-01 -6.77109631e-01 -3.50504366e-02 1.84365349e+02] [ 6.76236106e-01 7.35880421e-01 -3.44199731e-02 5.36762584e+01] [ 4.90990254e-02 1.59792542e-03 9.98792637e-01 9.59766929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.91038572300002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:184.39, Y:53.70, Z:9.60 [[ 7.34522854e-01 -6.77678609e-01 -3.50411133e-02 1.84385794e+02] [ 6.76805278e-01 7.35356531e-01 -3.44294621e-02 5.36965694e+01] [ 4.90998215e-02 1.57321636e-03 9.98792637e-01 9.59872537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.940385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.41, Y:53.72, Z:9.60 [[ 7.34017933e-01 -6.78225904e-01 -3.50327984e-02 1.84406182e+02] [ 6.77352791e-01 7.34851839e-01 -3.44379206e-02 5.37165260e+01] [ 4.91006062e-02 1.54848757e-03 9.98792637e-01 9.59967817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.970385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.43, Y:53.74, Z:9.60 [[ 7.33459595e-01 -6.78830101e-01 -3.50245170e-02 1.84426643e+02] [ 6.77957275e-01 7.34293799e-01 -3.44463410e-02 5.37363998e+01] [ 4.91014988e-02 1.51987326e-03 9.98792638e-01 9.60135486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.000385723 meters Centerline goodness : 0.999775 Centerline is valid? [True, True] Translation: X:184.45, Y:53.76, Z:9.60 [[ 7.31836900e-01 -6.80579645e-01 -3.50156864e-02 1.84445748e+02] [ 6.79708384e-01 7.32672740e-01 -3.44553152e-02 5.37552568e+01] [ 4.91046251e-02 1.41521542e-03 9.98792638e-01 9.59957244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.030385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.47, Y:53.77, Z:9.61 [[ 7.31744117e-01 -6.80679651e-01 -3.50108678e-02 1.84467047e+02] [ 6.79808270e-01 7.32579832e-01 -3.44602109e-02 5.37749040e+01] [ 4.91046199e-02 1.41537913e-03 9.98792638e-01 9.60535893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.060385723 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:184.49, Y:53.79, Z:9.61 [[ 7.30581143e-01 -6.81928158e-01 -3.50025872e-02 1.84488089e+02] [ 6.81057803e-01 7.31417927e-01 -3.44686197e-02 5.37948574e+01] [ 4.91066421e-02 1.34333844e-03 9.98792638e-01 9.60885542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.090385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.51, Y:53.81, Z:9.61 [[ 7.30381185e-01 -6.82142763e-01 -3.49939226e-02 1.84507994e+02] [ 6.81272234e-01 7.31217787e-01 -3.44774142e-02 5.38142372e+01] [ 4.91066972e-02 1.34126683e-03 9.98792638e-01 9.61193646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.120385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.53, Y:53.83, Z:9.61 [[ 7.30183492e-01 -6.82354530e-01 -3.49908984e-02 1.84527022e+02] [ 6.81484096e-01 7.31020193e-01 -3.44804832e-02 5.38328321e+01] [ 4.91069671e-02 1.33133885e-03 9.98792638e-01 9.61320902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.150385723 meters Centerline goodness : 0.999865 Centerline is valid? [True, True] Translation: X:184.55, Y:53.85, Z:9.61 [[ 7.29284327e-01 -6.83315717e-01 -3.49857330e-02 1.84546638e+02] [ 6.82446135e-01 7.30121913e-01 -3.44857234e-02 5.38528934e+01] [ 4.91084871e-02 1.27401936e-03 9.98792638e-01 9.61312405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.180385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.57, Y:53.87, Z:9.62 [[ 7.29093758e-01 -6.83519533e-01 -3.49762674e-02 1.84567149e+02] [ 6.82649726e-01 7.29931110e-01 -3.44953210e-02 5.38716450e+01] [ 4.91084914e-02 1.27378394e-03 9.98792638e-01 9.61755702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.210385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:184.59, Y:53.89, Z:9.62 [[ 7.28200990e-01 -6.84471076e-01 -3.49666142e-02 1.84587761e+02] [ 6.83601893e-01 7.29038991e-01 -3.45051033e-02 5.38923460e+01] [ 4.91097703e-02 1.22340676e-03 9.98792638e-01 9.61835406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.240385723 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:184.61, Y:53.91, Z:9.62 [[ 7.27443591e-01 -6.85276400e-01 -3.49582250e-02 1.84606627e+02] [ 6.84407737e-01 7.28282130e-01 -3.45136005e-02 5.39117993e+01] [ 4.91108065e-02 1.18101785e-03 9.98792638e-01 9.61753109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.270385723 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:184.63, Y:53.93, Z:9.62 [[ 7.26560787e-01 -6.86212585e-01 -3.49529828e-02 1.84626477e+02] [ 6.85344748e-01 7.27400180e-01 -3.45189087e-02 5.39317173e+01] [ 4.91121156e-02 1.12524234e-03 9.98792638e-01 9.61922422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.300385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.65, Y:53.95, Z:9.62 [[ 7.26208930e-01 -6.86585436e-01 -3.49432222e-02 1.84645979e+02] [ 6.85717555e-01 7.27048278e-01 -3.45287864e-02 5.39509462e+01] [ 4.91123714e-02 1.11393213e-03 9.98792638e-01 9.62136817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.330385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.66, Y:53.97, Z:9.62 [[ 7.25570868e-01 -6.87259913e-01 -3.49389192e-02 1.84665000e+02] [ 6.86392602e-01 7.26410805e-01 -3.45331400e-02 5.39688594e+01] [ 4.91132512e-02 1.07442466e-03 9.98792638e-01 9.62133226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.360385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.69, Y:53.99, Z:9.62 [[ 7.22790576e-01 -6.90194603e-01 -3.47158854e-02 1.84687069e+02] [ 6.89319847e-01 7.23622821e-01 -3.47586221e-02 5.39888186e+01] [ 4.91114203e-02 1.19285575e-03 9.98792594e-01 9.62443575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.390385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.71, Y:54.01, Z:9.63 [[ 7.21984128e-01 -6.91027578e-01 -3.49257169e-02 1.84707440e+02] [ 6.90164006e-01 7.22827909e-01 -3.45464904e-02 5.40081164e+01] [ 4.91178604e-02 8.37545069e-04 9.98792638e-01 9.62626047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.420385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.73, Y:54.03, Z:9.63 [[ 7.21095742e-01 -6.91955045e-01 -3.49162840e-02 1.84727194e+02] [ 6.91092097e-01 7.21940160e-01 -3.45560216e-02 5.40275285e+01] [ 4.91186811e-02 7.87832137e-04 9.98792638e-01 9.62778491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.450385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.75, Y:54.05, Z:9.63 [[ 7.19673596e-01 -6.93434501e-01 -3.49071333e-02 1.84746712e+02] [ 6.92572841e-01 7.20519328e-01 -3.45652628e-02 5.40475512e+01] [ 4.91200100e-02 6.99974527e-04 9.98792638e-01 9.62919042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.480385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.77, Y:54.07, Z:9.63 [[ 7.18787049e-01 -6.94353643e-01 -3.49026892e-02 1.84766008e+02] [ 6.93492846e-01 7.19633660e-01 -3.45697497e-02 5.40676003e+01] [ 4.91207816e-02 6.43523115e-04 9.98792638e-01 9.63035067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.510385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.79, Y:54.09, Z:9.63 [[ 7.17423863e-01 -6.95762479e-01 -3.48937592e-02 1.84785957e+02] [ 6.94902907e-01 7.18271717e-01 -3.45787611e-02 5.40883831e+01] [ 4.91218048e-02 5.59853636e-04 9.98792639e-01 9.63199922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.540385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.80, Y:54.11, Z:9.63 [[ 7.16743306e-01 -6.96463957e-01 -3.48853669e-02 1.84804729e+02] [ 6.95604803e-01 7.17591584e-01 -3.45872257e-02 5.41071418e+01] [ 4.91222018e-02 5.23733672e-04 9.98792639e-01 9.63367428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.57038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.82, Y:54.13, Z:9.64 [[ 7.15925248e-01 -6.97305123e-01 -3.48798702e-02 1.84824141e+02] [ 6.96446695e-01 7.16774261e-01 -3.45927680e-02 5.41268711e+01] [ 4.91227075e-02 4.73865704e-04 9.98792639e-01 9.63627022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.60038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.84, Y:54.15, Z:9.64 [[ 7.15515077e-01 -6.97726479e-01 -3.48702643e-02 1.84843312e+02] [ 6.96868080e-01 7.16364118e-01 -3.46024482e-02 5.41471512e+01] [ 4.91228505e-02 4.58599260e-04 9.98792639e-01 9.63905833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.63038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.86, Y:54.17, Z:9.64 [[ 7.15556094e-01 -6.97684893e-01 -3.48606581e-02 1.84861829e+02] [ 6.96825973e-01 7.16404609e-01 -3.46121234e-02 5.41677225e+01] [ 4.91226918e-02 4.75103822e-04 9.98792639e-01 9.64009204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.66038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.88, Y:54.19, Z:9.64 [[ 7.15967249e-01 -6.97263436e-01 -3.48511032e-02 1.84880801e+02] [ 6.96403548e-01 7.16814783e-01 -3.46217417e-02 5.41875950e+01] [ 4.91222605e-02 5.17601212e-04 9.98792639e-01 9.64034035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.690385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:184.90, Y:54.21, Z:9.64 [[ 7.16387940e-01 -6.96831443e-01 -3.48462271e-02 1.84899605e+02] [ 6.95970806e-01 7.17234712e-01 -3.46266487e-02 5.42097663e+01] [ 4.91218613e-02 5.54156718e-04 9.98792639e-01 9.63970447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.720385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.92, Y:54.23, Z:9.64 [[ 7.16571266e-01 -6.96643335e-01 -3.48379625e-02 1.84919746e+02] [ 6.95782071e-01 7.17417402e-01 -3.46349617e-02 5.42307911e+01] [ 4.91215758e-02 5.78788651e-04 9.98792639e-01 9.64066865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.750385723 meters Centerline goodness : 0.999843 Centerline is valid? [True, True] Translation: X:184.94, Y:54.25, Z:9.64 [[ 7.15849357e-01 -6.97385541e-01 -3.48296610e-02 1.84937823e+02] [ 6.96524749e-01 7.16695972e-01 -3.46433079e-02 5.42523489e+01] [ 4.91220198e-02 5.39668810e-04 9.98792639e-01 9.63853715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.780385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:184.95, Y:54.27, Z:9.63 [[ 7.12133364e-01 -7.01179842e-01 -3.48267230e-02 1.84949628e+02] [ 7.00323416e-01 7.12984396e-01 -3.46462612e-02 5.42743693e+01] [ 4.91241700e-02 2.82788938e-04 9.98792639e-01 9.63006589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.810385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:184.98, Y:54.29, Z:9.64 [[ 7.16592515e-01 -6.96644811e-01 -3.43682148e-02 1.84976603e+02] [ 6.95760775e-01 7.17415121e-01 -3.51068071e-02 5.42940097e+01] [ 4.91132520e-02 1.24521941e-03 9.98792440e-01 9.64441949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.840385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.00, Y:54.31, Z:9.65 [[ 7.17007985e-01 -6.96194454e-01 -3.48257433e-02 1.84995821e+02] [ 6.95332079e-01 7.17852973e-01 -3.46469320e-02 5.43134177e+01] [ 4.91207653e-02 6.26670434e-04 9.98792650e-01 9.64703774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.870385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.02, Y:54.34, Z:9.65 [[ 7.17520232e-01 -6.95666776e-01 -3.48202897e-02 1.85015115e+02] [ 6.94803514e-01 7.18364313e-01 -3.46524121e-02 5.43350202e+01] [ 4.91201853e-02 6.70547126e-04 9.98792650e-01 9.64945940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.900385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.03, Y:54.35, Z:9.65 [[ 7.18020412e-01 -6.95150927e-01 -3.48120182e-02 1.85033492e+02] [ 6.94286657e-01 7.18863459e-01 -3.46607197e-02 5.43546036e+01] [ 4.91195192e-02 7.17584503e-04 9.98792650e-01 9.65075208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.930385723 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:185.05, Y:54.38, Z:9.65 [[ 7.19192413e-01 -6.93938581e-01 -3.48068816e-02 1.85051883e+02] [ 6.93072640e-01 7.20033744e-01 -3.46658771e-02 5.43767369e+01] [ 4.91181189e-02 8.07738478e-04 9.98792650e-01 9.65026182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.960385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.07, Y:54.40, Z:9.65 [[ 7.19807582e-01 -6.93300903e-01 -3.47980200e-02 1.85071202e+02] [ 6.92433787e-01 7.20647703e-01 -3.46747703e-02 5.43966843e+01] [ 4.91171627e-02 8.63837791e-04 9.98792650e-01 9.65318192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.990385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.09, Y:54.42, Z:9.65 [[ 7.20183708e-01 -6.92910669e-01 -3.47883739e-02 1.85089092e+02] [ 6.92042630e-01 7.21022875e-01 -3.46844453e-02 5.44171982e+01] [ 4.91164356e-02 9.04134601e-04 9.98792650e-01 9.65250741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.020385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:185.11, Y:54.44, Z:9.65 [[ 7.19817825e-01 -6.93290993e-01 -3.47835941e-02 1.85108248e+02] [ 6.92423166e-01 7.20657211e-01 -3.46892381e-02 5.44379734e+01] [ 4.91167842e-02 8.84965529e-04 9.98792650e-01 9.65250401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.050385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.13, Y:54.46, Z:9.66 [[ 7.19423319e-01 -6.93700813e-01 -3.47745689e-02 1.85127718e+02] [ 6.92833027e-01 7.20262748e-01 -3.46982832e-02 5.44583789e+01] [ 4.91170537e-02 8.69784236e-04 9.98792650e-01 9.65745322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.080385723 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:185.15, Y:54.48, Z:9.66 [[ 7.18575354e-01 -6.94579393e-01 -3.47696324e-02 1.85146799e+02] [ 6.93712395e-01 7.19415596e-01 -3.47032291e-02 5.44790211e+01] [ 4.91179636e-02 8.16760179e-04 9.98792650e-01 9.65664269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.110385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.17, Y:54.50, Z:9.66 [[ 7.16979804e-01 -6.96226497e-01 -3.47653054e-02 1.85166575e+02] [ 6.95361218e-01 7.17821817e-01 -3.47075632e-02 5.44995184e+01] [ 4.91196199e-02 7.10176721e-04 9.98792650e-01 9.66157326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.140385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.19, Y:54.52, Z:9.66 [[ 7.15961756e-01 -6.97273770e-01 -3.47570484e-02 1.85186009e+02] [ 6.96409323e-01 7.16804622e-01 -3.47158301e-02 5.45202559e+01] [ 4.91204507e-02 6.50074122e-04 9.98792651e-01 9.66274123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.170385723 meters Centerline goodness : 0.999290 Centerline is valid? [True, True] Translation: X:185.21, Y:54.54, Z:9.66 [[ 7.13754563e-01 -6.99533440e-01 -3.47475197e-02 1.85205412e+02] [ 6.98671197e-01 7.14599684e-01 -3.47253649e-02 5.45431349e+01] [ 4.91221205e-02 5.08296493e-04 9.98792651e-01 9.65844558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.200385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.22, Y:54.56, Z:9.67 [[ 7.13536000e-01 -6.99752028e-01 -3.48349863e-02 1.85224655e+02] [ 6.98894309e-01 7.14385724e-01 -3.46378577e-02 5.45629453e+01] [ 4.91235281e-02 3.69384766e-04 9.98792642e-01 9.66594053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.230385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:185.24, Y:54.58, Z:9.67 [[ 7.11581094e-01 -7.01744898e-01 -3.47339139e-02 1.85243203e+02] [ 7.00884620e-01 7.12428212e-01 -3.47389162e-02 5.45843420e+01] [ 4.91232774e-02 3.75089915e-04 9.98792653e-01 9.66701026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.260385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.26, Y:54.60, Z:9.67 [[ 7.10920879e-01 -7.02414215e-01 -3.47242699e-02 1.85262017e+02] [ 7.01554264e-01 7.11768328e-01 -3.47485535e-02 5.46043781e+01] [ 4.91235135e-02 3.42512637e-04 9.98792653e-01 9.66897835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.290385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.28, Y:54.62, Z:9.67 [[ 7.10727744e-01 -7.02609959e-01 -3.47177181e-02 1.85282155e+02] [ 7.01749921e-01 7.11575106e-01 -3.47550982e-02 5.46246336e+01] [ 4.91235421e-02 3.38256620e-04 9.98792653e-01 9.67037934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.32038572300002 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:185.30, Y:54.65, Z:9.67 [[ 7.09315284e-01 -7.04036343e-01 -3.47081489e-02 1.85300150e+02] [ 7.03177542e-01 7.10163899e-01 -3.47646519e-02 5.46464465e+01] [ 4.91240527e-02 2.53108050e-04 9.98792653e-01 9.66841072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.35038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.32, Y:54.67, Z:9.67 [[ 7.09190302e-01 -7.04162711e-01 -3.46985840e-02 1.85319859e+02] [ 7.03303594e-01 7.10038597e-01 -3.47741960e-02 5.46667547e+01] [ 4.91240260e-02 2.57883648e-04 9.98792653e-01 9.67083397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.38038572300002 meters Centerline goodness : 0.998275 Centerline is valid? [True, True] Translation: X:185.34, Y:54.69, Z:9.67 [[ 7.09517813e-01 -7.03833178e-01 -3.46890472e-02 1.85337461e+02] [ 7.02973202e-01 7.10365237e-01 -3.47837069e-02 5.46871163e+01] [ 4.91238202e-02 2.94189035e-04 9.98792653e-01 9.66945401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.41038572300002 meters Centerline goodness : 0.999362 Centerline is valid? [True, True] Translation: X:185.36, Y:54.71, Z:9.67 [[ 7.08893924e-01 -7.04469313e-01 -3.45310103e-02 1.85355512e+02] [ 7.03602410e-01 7.09734290e-01 -3.49411912e-02 5.47093968e+01] [ 4.91228390e-02 4.73496038e-04 9.98792632e-01 9.66901250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.440385723 meters Centerline goodness : 0.997901 Centerline is valid? [True, True] Translation: X:185.37, Y:54.73, Z:9.67 [[ 7.10128941e-01 -7.03217288e-01 -3.46746657e-02 1.85372694e+02] [ 7.02355877e-01 7.10974907e-01 -3.47980466e-02 5.47274036e+01] [ 4.91234052e-02 3.57144774e-04 9.98792653e-01 9.66649217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.470385723 meters Centerline goodness : 0.999537 Centerline is valid? [True, True] Translation: X:185.39, Y:54.75, Z:9.67 [[ 7.07714155e-01 -7.05662200e-01 -3.43734358e-02 1.85392769e+02] [ 7.04789058e-01 7.08548151e-01 -3.50984582e-02 5.47507498e+01] [ 4.91228896e-02 6.13654223e-04 9.98792554e-01 9.66943963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.500385723 meters Centerline goodness : 0.999230 Centerline is valid? [True, True] Translation: X:185.41, Y:54.77, Z:9.67 [[ 7.08587003e-01 -7.04773763e-01 -3.46179365e-02 1.85412865e+02] [ 7.03911457e-01 7.09432050e-01 -3.48543625e-02 5.47710945e+01] [ 4.91235139e-02 3.29386169e-04 9.98792657e-01 9.67084963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.530385723 meters Centerline goodness : 0.999538 Centerline is valid? [True, True] Translation: X:185.43, Y:54.79, Z:9.67 [[ 7.08426562e-01 -7.04930784e-01 -3.47044136e-02 1.85432488e+02] [ 7.04072888e-01 7.09276076e-01 -3.47680442e-02 5.47911172e+01] [ 4.91240749e-02 1.96169315e-04 9.98792665e-01 9.67479875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.560385723 meters Centerline goodness : 0.999472 Centerline is valid? [True, True] Translation: X:185.45, Y:54.81, Z:9.68 [[ 7.08129369e-01 -7.05229788e-01 -3.46949938e-02 1.85450906e+02] [ 7.04371790e-01 7.08978780e-01 -3.47774416e-02 5.48128799e+01] [ 4.91241022e-02 1.88752899e-04 9.98792665e-01 9.67635194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.590385723 meters Centerline goodness : 0.999582 Centerline is valid? [True, True] Translation: X:185.46, Y:54.83, Z:9.67 [[ 7.06775511e-01 -7.06587077e-01 -3.46854561e-02 1.85464985e+02] [ 7.05730243e-01 7.07626096e-01 -3.47869516e-02 5.48339141e+01] [ 4.91243443e-02 1.07990079e-04 9.98792665e-01 9.67385845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.620385723 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:185.48, Y:54.86, Z:9.67 [[ 7.04174286e-01 -7.09194391e-01 -3.43786357e-02 1.85479391e+02] [ 7.08325691e-01 7.05012898e-01 -3.50931469e-02 5.48558996e+01] [ 4.91252445e-02 3.60420820e-04 9.98792561e-01 9.67315385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.650385723 meters Centerline goodness : 0.995714 Centerline is valid? [True, True] Translation: X:185.50, Y:54.88, Z:9.68 [[ 7.05443614e-01 -7.07948018e-01 -3.40427844e-02 1.85504838e+02] [ 7.07061717e-01 7.06263943e-01 -3.54255777e-02 5.48788808e+01] [ 4.91226587e-02 9.20397952e-04 9.98792329e-01 9.68131875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.680385723 meters Centerline goodness : 0.999474 Centerline is valid? [True, True] Translation: X:185.52, Y:54.90, Z:9.68 [[ 7.04650218e-01 -7.08704402e-01 -3.47295302e-02 1.85521527e+02] [ 7.07852175e-01 7.05505535e-01 -3.47453370e-02 5.48975297e+01] [ 4.91260490e-02 -1.00064140e-04 9.98792582e-01 9.68066222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.710385723 meters Centerline goodness : 0.999781 Centerline is valid? [True, True] Translation: X:185.54, Y:54.92, Z:9.68 [[ 7.04475845e-01 -7.08895428e-01 -3.43664984e-02 1.85540789e+02] [ 7.08025764e-01 7.05313486e-01 -3.51056181e-02 5.49183015e+01] [ 4.91253669e-02 3.98693666e-04 9.98792541e-01 9.68181867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.740385723 meters Centerline goodness : 0.999629 Centerline is valid? [True, True] Translation: X:185.56, Y:54.94, Z:9.68 [[ 7.03813496e-01 -7.09551720e-01 -3.43935911e-02 1.85556524e+02] [ 7.08684151e-01 7.04653288e-01 -3.50787370e-02 5.49400976e+01] [ 4.91257352e-02 3.14695621e-04 9.98792553e-01 9.68139763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.770385723 meters Centerline goodness : 0.999673 Centerline is valid? [True, True] Translation: X:185.58, Y:54.96, Z:9.69 [[ 7.04971530e-01 -7.08407616e-01 -3.42606309e-02 1.85578297e+02] [ 7.07532260e-01 7.05803309e-01 -3.52106620e-02 5.49621932e+01] [ 4.91247678e-02 5.82012708e-04 9.98792480e-01 9.68728674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.800385723 meters Centerline goodness : 0.999630 Centerline is valid? [True, True] Translation: X:185.60, Y:54.98, Z:9.69 [[ 7.05865960e-01 -7.07506378e-01 -3.44669628e-02 1.85596704e+02] [ 7.06639927e-01 7.06706870e-01 -3.50059121e-02 5.49817824e+01] [ 4.91249455e-02 3.53749657e-04 9.98792578e-01 9.68810170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.830385723 meters Centerline goodness : 0.999587 Centerline is valid? [True, True] Translation: X:185.62, Y:55.01, Z:9.68 [[ 7.05229688e-01 -7.08143138e-01 -3.44148741e-02 1.85616682e+02] [ 7.07274926e-01 7.06068800e-01 -3.50575215e-02 5.50059530e+01] [ 4.91250122e-02 3.82827443e-04 9.98792564e-01 9.68484467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.860385723 meters Centerline goodness : 0.999762 Centerline is valid? [True, True] Translation: X:185.63, Y:55.03, Z:9.69 [[ 7.06185759e-01 -7.07171034e-01 -3.47965750e-02 1.85634733e+02] [ 7.06320202e-01 7.07042517e-01 -3.46792645e-02 5.50252745e+01] [ 4.91268293e-02 -8.75211315e-05 9.98792545e-01 9.68688676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.890385723 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:185.65, Y:55.05, Z:9.69 [[ 7.06730578e-01 -7.06642385e-01 -3.44736223e-02 1.85654192e+02] [ 7.05775242e-01 7.07570757e-01 -3.49990204e-02 5.50466851e+01] [ 4.91243183e-02 4.04248824e-04 9.98792590e-01 9.69065662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.920385723 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:185.67, Y:55.07, Z:9.69 [[ 7.06132750e-01 -7.07235413e-01 -3.45631177e-02 1.85674572e+02] [ 7.06373307e-01 7.06978086e-01 -3.49104159e-02 5.50677492e+01] [ 4.91252492e-02 2.36924222e-04 9.98792598e-01 9.69055397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.950385723 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:185.69, Y:55.09, Z:9.69 [[ 7.05408941e-01 -7.07957769e-01 -3.45546453e-02 1.85693775e+02] [ 7.07096117e-01 7.06254741e-01 -3.49187999e-02 5.50887463e+01] [ 4.91254178e-02 1.98578165e-04 9.98792598e-01 9.69361261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.980385723 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:185.71, Y:55.11, Z:9.70 [[ 7.03918783e-01 -7.09439953e-01 -3.45441670e-02 1.85712118e+02] [ 7.08579574e-01 7.04765877e-01 -3.49291628e-02 5.51093554e+01] [ 4.91256937e-02 1.10002625e-04 9.98792598e-01 9.69547018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.010385723 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:185.73, Y:55.13, Z:9.70 [[ 7.03530531e-01 -7.09825434e-01 -3.45346958e-02 1.85730763e+02] [ 7.08965059e-01 7.04377629e-01 -3.49385245e-02 5.51303864e+01] [ 4.91257205e-02 9.64259760e-05 9.98792598e-01 9.69661179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.040385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:185.74, Y:55.15, Z:9.69 [[ 7.01098163e-01 -7.12228200e-01 -3.45305143e-02 1.85744183e+02] [ 7.11370525e-01 7.01947994e-01 -3.49426567e-02 5.51521698e+01] [ 4.91257707e-02 -6.57576467e-05 9.98792598e-01 9.69434077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.07038572300002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:185.76, Y:55.17, Z:9.69 [[ 7.02467330e-01 -7.10896209e-01 -3.41501168e-02 1.85761787e+02] [ 7.10018554e-01 7.03296711e-01 -3.53184052e-02 5.51737642e+01] [ 4.91253852e-02 5.62809249e-04 9.98792461e-01 9.69411266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.10038572300002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:185.78, Y:55.19, Z:9.70 [[ 7.04208791e-01 -7.09175112e-01 -3.40681446e-02 1.85782769e+02] [ 7.08291511e-01 7.05031930e-01 -3.53993444e-02 5.51948721e+01] [ 4.91234638e-02 7.98351922e-04 9.98792395e-01 9.69518004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.13038572300002 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:185.80, Y:55.22, Z:9.70 [[ 7.05731005e-01 -7.07655826e-01 -3.41610990e-02 1.85803251e+02] [ 7.06774883e-01 7.06556886e-01 -3.53076712e-02 5.52160252e+01] [ 4.91224390e-02 7.73511511e-04 9.98792465e-01 9.69633141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.16038572300002 meters Centerline goodness : 0.997659 Centerline is valid? [True, True] Translation: X:185.83, Y:55.24, Z:9.70 [[ 7.09757554e-01 -7.03617098e-01 -3.41642111e-02 1.85825808e+02] [ 7.02731604e-01 7.10578551e-01 -3.53046088e-02 5.52372259e+01] [ 4.91172821e-02 1.04944197e-03 9.98792467e-01 9.70093412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.190385723 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:185.84, Y:55.26, Z:9.70 [[ 7.11797141e-01 -7.01535062e-01 -3.45454324e-02 1.85841947e+02] [ 7.00665269e-01 7.12634636e-01 -3.49293172e-02 5.52564087e+01] [ 4.91224123e-02 6.57803494e-04 9.98792549e-01 9.69989567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.220385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:185.86, Y:55.28, Z:9.70 [[ 7.12331821e-01 -7.01006060e-01 -3.42619495e-02 1.85859853e+02] [ 7.00122170e-01 7.13154479e-01 -3.52084673e-02 5.52767970e+01] [ 4.91154117e-02 1.09256115e-03 9.98792512e-01 9.70116046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.250385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:185.89, Y:55.30, Z:9.71 [[ 7.17201650e-01 -6.96029895e-01 -3.41200676e-02 1.85885958e+02] [ 6.95133644e-01 7.18010944e-01 -3.53482806e-02 5.52956385e+01] [ 4.91020420e-02 1.63383826e-03 9.98792431e-01 9.70945140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.280385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.91, Y:55.31, Z:9.71 [[ 7.17688293e-01 -6.95509932e-01 -3.44883765e-02 1.85905492e+02] [ 6.94630425e-01 7.18515558e-01 -3.49852114e-02 5.53146558e+01] [ 4.91129971e-02 1.15180103e-03 9.98792564e-01 9.71135819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.310385723 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:185.93, Y:55.33, Z:9.71 [[ 7.18388385e-01 -6.94787062e-01 -3.44828474e-02 1.85926688e+02] [ 6.93906461e-01 7.19214486e-01 -3.49906603e-02 5.53342751e+01] [ 4.91116214e-02 1.20901332e-03 9.98792565e-01 9.71401441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.340385723 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:185.95, Y:55.35, Z:9.72 [[ 7.18525324e-01 -6.94645860e-01 -3.44744505e-02 1.85947270e+02] [ 6.93764701e-01 7.19350829e-01 -3.49989314e-02 5.53538194e+01] [ 4.91110873e-02 1.23046171e-03 9.98792565e-01 9.71567478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.370385723 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:185.97, Y:55.37, Z:9.72 [[ 7.17850252e-01 -6.95343939e-01 -3.44648062e-02 1.85970796e+02] [ 6.94463127e-01 7.18676127e-01 -3.50084259e-02 5.53730798e+01] [ 4.91119302e-02 1.19627030e-03 9.98792565e-01 9.71767628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.400385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:185.98, Y:55.39, Z:9.71 [[ 7.15353840e-01 -6.97902471e-01 -3.46557886e-02 1.85982614e+02] [ 6.97033685e-01 7.16192414e-01 -3.48205139e-02 5.53922876e+01] [ 4.91215356e-02 7.52736350e-04 9.98792525e-01 9.71131928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.430385723 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:186.00, Y:55.41, Z:9.71 [[ 7.15809131e-01 -6.97466951e-01 -3.40167576e-02 1.86003389e+02] [ 6.96567523e-01 7.16614980e-01 -3.54493512e-02 5.54124322e+01] [ 4.91016690e-02 1.68000074e-03 9.98792373e-01 9.71239722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.460385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:186.03, Y:55.43, Z:9.72 [[ 7.20164089e-01 -6.92970185e-01 -3.40001046e-02 1.86031422e+02] [ 6.92064956e-01 7.20963438e-01 -3.54657282e-02 5.54297532e+01] [ 4.90895245e-02 2.01086302e-03 9.98792358e-01 9.71956447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.490385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:186.05, Y:55.45, Z:9.72 [[ 7.20635541e-01 -6.92457978e-01 -3.44436647e-02 1.86052394e+02] [ 6.91572862e-01 7.21456806e-01 -3.50293156e-02 5.54500487e+01] [ 4.91059454e-02 1.42306603e-03 9.98792562e-01 9.72045532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.520385723 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:186.07, Y:55.47, Z:9.72 [[ 7.21621619e-01 -6.91429914e-01 -3.44516238e-02 1.86074137e+02] [ 6.90544001e-01 7.22442024e-01 -3.50214861e-02 5.54687145e+01] [ 4.91042039e-02 1.48189935e-03 9.98792562e-01 9.71999598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.550385723 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:186.09, Y:55.49, Z:9.72 [[ 7.22042521e-01 -6.90990768e-01 -3.44435156e-02 1.86094518e+02] [ 6.90103977e-01 7.22861977e-01 -3.50294586e-02 5.54874196e+01] [ 4.91029403e-02 1.52315144e-03 9.98792562e-01 9.72147742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.580385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:186.12, Y:55.51, Z:9.72 [[ 7.22843637e-01 -6.90153158e-01 -3.44339032e-02 1.86116840e+02] [ 6.89264968e-01 7.23661577e-01 -3.50389051e-02 5.55054869e+01] [ 4.91007037e-02 1.59356642e-03 9.98792562e-01 9.72258724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.610385723 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:186.14, Y:55.53, Z:9.72 [[ 7.20591805e-01 -6.92504454e-01 -3.44242990e-02 1.86135056e+02] [ 6.91618484e-01 7.21412148e-01 -3.50483383e-02 5.55260196e+01] [ 4.91052378e-02 1.44706386e-03 9.98792562e-01 9.71829630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.640385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:186.16, Y:55.54, Z:9.72 [[ 7.23289090e-01 -6.89696954e-01 -3.42199291e-02 1.86158927e+02] [ 6.88798307e-01 7.24095579e-01 -3.52489087e-02 5.55441984e+01] [ 4.90895643e-02 1.92452189e-03 9.98792526e-01 9.72466254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.670385723 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:186.18, Y:55.56, Z:9.73 [[ 7.23515902e-01 -6.89449445e-01 -3.44122494e-02 1.86179011e+02] [ 6.88559451e-01 7.24331877e-01 -3.50601449e-02 5.55639066e+01] [ 4.90980866e-02 1.67169281e-03 9.98792563e-01 9.72578243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.700385723 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:186.20, Y:55.58, Z:9.73 [[ 7.24103570e-01 -6.88832684e-01 -3.44028115e-02 1.86198932e+02] [ 6.87941556e-01 7.24918307e-01 -3.50694034e-02 5.55817022e+01] [ 4.90961791e-02 1.72675654e-03 9.98792563e-01 9.72634411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.730385723 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:186.22, Y:55.60, Z:9.73 [[ 7.24344497e-01 -6.88579597e-01 -3.43975108e-02 1.86220017e+02] [ 6.87687938e-01 7.25158653e-01 -3.50746018e-02 5.55991675e+01] [ 4.90953077e-02 1.75134151e-03 9.98792563e-01 9.72780793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.760385723 meters Centerline goodness : 0.999780 Centerline is valid? [True, True] Translation: X:186.24, Y:55.62, Z:9.73 [[ 7.23714149e-01 -6.89242337e-01 -3.43923230e-02 1.86239873e+02] [ 6.88351183e-01 7.24528857e-01 -3.50796879e-02 5.56191937e+01] [ 4.90966365e-02 1.71367023e-03 9.98792563e-01 9.72712958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.790385723 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:186.26, Y:55.64, Z:9.73 [[ 7.24324551e-01 -6.88601298e-01 -3.43830910e-02 1.86260822e+02] [ 6.87708995e-01 7.25138000e-01 -3.50887342e-02 5.56371880e+01] [ 4.90946338e-02 1.77007069e-03 9.98792563e-01 9.73032079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.82038572300002 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:186.28, Y:55.65, Z:9.73 [[ 7.25067598e-01 -6.87819318e-01 -3.43738798e-02 1.86282120e+02] [ 6.86925711e-01 7.25879614e-01 -3.50977555e-02 5.56546185e+01] [ 4.90922128e-02 1.83594345e-03 9.98792563e-01 9.73264425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.85038572300002 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:186.30, Y:55.67, Z:9.73 [[ 7.25048169e-01 -6.87840062e-01 -3.43686107e-02 1.86302629e+02] [ 6.86946235e-01 7.25859943e-01 -3.51029143e-02 5.56744152e+01] [ 4.90919886e-02 1.84191607e-03 9.98792563e-01 9.73420809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.88038572300002 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:186.32, Y:55.69, Z:9.74 [[ 7.25591090e-01 -6.87267777e-01 -3.43594779e-02 1.86323906e+02] [ 6.86372887e-01 7.26401692e-01 -3.51118515e-02 5.56927509e+01] [ 4.90900270e-02 1.89343254e-03 9.98792563e-01 9.73697379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.91038572300002 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:186.34, Y:55.71, Z:9.74 [[ 7.26088388e-01 -6.86742855e-01 -3.43497232e-02 1.86344902e+02] [ 6.85846929e-01 7.26897845e-01 -3.51213918e-02 5.57104389e+01] [ 4.90881047e-02 1.94258257e-03 9.98792563e-01 9.73793130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.940385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:186.37, Y:55.73, Z:9.74 [[ 7.26035432e-01 -6.86799115e-01 -3.43442389e-02 1.86365071e+02] [ 6.85902999e-01 7.26844678e-01 -3.51267539e-02 5.57292547e+01] [ 4.90879508e-02 1.94645144e-03 9.98792563e-01 9.73977010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.970385723 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:186.38, Y:55.75, Z:9.74 [[ 7.25741325e-01 -6.87110381e-01 -3.43344412e-02 1.86384811e+02] [ 6.86214160e-01 7.26550456e-01 -3.51363280e-02 5.57483499e+01] [ 4.90882396e-02 1.93910552e-03 9.98792563e-01 9.73995065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.000385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:186.41, Y:55.77, Z:9.74 [[ 7.25405999e-01 -6.87464656e-01 -3.43290543e-02 1.86405618e+02] [ 6.86568582e-01 7.26215292e-01 -3.51415904e-02 5.57654188e+01] [ 4.90888855e-02 1.92267034e-03 9.98792563e-01 9.74119725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.030385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:186.43, Y:55.78, Z:9.74 [[ 7.24929641e-01 -6.87967218e-01 -3.43237845e-02 1.86425912e+02] [ 6.87071462e-01 7.25739287e-01 -3.51467368e-02 5.57841532e+01] [ 4.90899216e-02 1.89601855e-03 9.98792563e-01 9.74244006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.060385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:186.45, Y:55.80, Z:9.74 [[ 7.23777071e-01 -6.89180154e-01 -3.43142329e-02 1.86446900e+02] [ 6.88285315e-01 7.24587729e-01 -3.51560597e-02 5.58019970e+01] [ 4.90925307e-02 1.82716725e-03 9.98792563e-01 9.74318373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.090385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:186.47, Y:55.82, Z:9.74 [[ 7.22367899e-01 -6.90657367e-01 -3.43077206e-02 1.86467809e+02] [ 6.89763885e-01 7.23180052e-01 -3.51624137e-02 5.58199193e+01] [ 4.90958392e-02 1.73597234e-03 9.98792564e-01 9.74414348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.120385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:186.49, Y:55.84, Z:9.75 [[ 7.21438384e-01 -6.91628511e-01 -3.43025022e-02 1.86488411e+02] [ 6.90735881e-01 7.22251473e-01 -3.51675037e-02 5.58391601e+01] [ 4.90978810e-02 1.67721795e-03 9.98792564e-01 9.74548554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.150385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:186.51, Y:55.86, Z:9.75 [[ 7.21259320e-01 -6.91815695e-01 -3.42934049e-02 1.86508276e+02] [ 6.90922855e-01 7.22072179e-01 -3.51763727e-02 5.58596778e+01] [ 4.90978803e-02 1.67718941e-03 9.98792564e-01 9.74688483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.180385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.53, Y:55.88, Z:9.75 [[ 7.20219943e-01 -6.92898132e-01 -3.42842849e-02 1.86528431e+02] [ 6.92006092e-01 7.21033679e-01 -3.51852592e-02 5.58785903e+01] [ 4.90999244e-02 1.61619140e-03 9.98792564e-01 9.74913011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.210385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.55, Y:55.90, Z:9.75 [[ 7.17963696e-01 -6.95236192e-01 -3.42749021e-02 1.86549501e+02] [ 6.94346367e-01 7.18779853e-01 -3.51943969e-02 5.58962010e+01] [ 4.91045275e-02 1.46964555e-03 9.98792564e-01 9.75126499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.240385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:186.57, Y:55.92, Z:9.75 [[ 7.16843162e-01 -6.96391757e-01 -3.42695457e-02 1.86570127e+02] [ 6.95502998e-01 7.17660481e-01 -3.51996117e-02 5.59154387e+01] [ 4.91066181e-02 1.39802920e-03 9.98792564e-01 9.75381030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.270385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.59, Y:55.93, Z:9.76 [[ 7.15680138e-01 -6.97587416e-01 -3.42598438e-02 1.86590184e+02] [ 6.96699572e-01 7.16498450e-01 -3.52090521e-02 5.59338504e+01] [ 4.91085166e-02 1.32960075e-03 9.98792564e-01 9.75515773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.300385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.61, Y:55.95, Z:9.76 [[ 7.15344990e-01 -6.97931354e-01 -3.42545037e-02 1.86609797e+02] [ 6.97043655e-01 7.16163459e-01 -3.52142467e-02 5.59535834e+01] [ 4.91089507e-02 1.31345051e-03 9.98792564e-01 9.75643157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.330385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.63, Y:55.97, Z:9.76 [[ 7.14982974e-01 -6.98302676e-01 -3.42449922e-02 1.86629175e+02] [ 6.97414960e-01 7.15801425e-01 -3.52234940e-02 5.59731364e+01] [ 4.91092743e-02 1.30122865e-03 9.98792564e-01 9.75696332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.360385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.65, Y:55.99, Z:9.76 [[ 7.13639693e-01 -6.99675659e-01 -3.42397584e-02 1.86648383e+02] [ 6.98789273e-01 7.14459585e-01 -3.52285808e-02 5.59920693e+01] [ 4.91115041e-02 1.21413767e-03 9.98792564e-01 9.75754429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.390385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:186.67, Y:56.01, Z:9.76 [[ 7.12481268e-01 -7.00855505e-01 -3.42345245e-02 1.86668775e+02] [ 6.99970234e-01 7.13302363e-01 -3.52336663e-02 5.60115162e+01] [ 4.91132762e-02 1.14017912e-03 9.98792564e-01 9.75900531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.420385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:186.69, Y:56.03, Z:9.76 [[ 7.09642337e-01 -7.03730335e-01 -3.42252752e-02 1.86690150e+02] [ 7.02847957e-01 7.10466540e-01 -3.52426485e-02 5.60302552e+01] [ 4.91172338e-02 9.54510669e-04 9.98792564e-01 9.76138828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.450385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.71, Y:56.05, Z:9.76 [[ 7.08298590e-01 -7.05083250e-01 -3.42157438e-02 1.86709385e+02] [ 7.04202000e-01 7.09123999e-01 -3.52518998e-02 5.60486376e+01] [ 4.91187292e-02 8.74075750e-04 9.98792564e-01 9.76322429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.480385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.73, Y:56.07, Z:9.77 [[ 7.05908570e-01 -7.07476311e-01 -3.42105306e-02 1.86729835e+02] [ 7.06597614e-01 7.06736697e-01 -3.52569583e-02 5.60677775e+01] [ 4.91213002e-02 7.15109695e-04 9.98792564e-01 9.76544958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.510385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.75, Y:56.09, Z:9.77 [[ 7.05014869e-01 -7.08367356e-01 -3.42012073e-02 1.86749582e+02] [ 7.07489268e-01 7.05843640e-01 -3.52660001e-02 5.60873389e+01] [ 4.91219879e-02 6.66067270e-04 9.98792564e-01 9.76679664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.540385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.77, Y:56.11, Z:9.77 [[ 7.03556103e-01 -7.09816680e-01 -3.41919591e-02 1.86770593e+02] [ 7.08939864e-01 7.04386220e-01 -3.52749644e-02 5.61061868e+01] [ 4.91231029e-02 5.77873729e-04 9.98792564e-01 9.76777999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.57038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.79, Y:56.13, Z:9.77 [[ 7.03042308e-01 -7.10326041e-01 -3.41822769e-02 1.86790133e+02] [ 7.09449370e-01 7.03872578e-01 -3.52843442e-02 5.61255241e+01] [ 4.91233559e-02 5.55791927e-04 9.98792565e-01 9.76906156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.60038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.81, Y:56.14, Z:9.77 [[ 7.02738790e-01 -7.10626576e-01 -3.41769236e-02 1.86810401e+02] [ 7.09750008e-01 7.03569169e-01 -3.52895287e-02 5.61444898e+01] [ 4.91235067e-02 5.42248888e-04 9.98792565e-01 9.77034989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.63038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.83, Y:56.16, Z:9.77 [[ 7.02869071e-01 -7.10498177e-01 -3.41673772e-02 1.86830342e+02] [ 7.09621008e-01 7.03698815e-01 -3.52987691e-02 5.61640164e+01] [ 4.91232540e-02 5.64524374e-04 9.98792565e-01 9.77166896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.66038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.85, Y:56.18, Z:9.77 [[ 7.03426476e-01 -7.09946797e-01 -3.41575625e-02 1.86850212e+02] [ 7.09068517e-01 7.04255043e-01 -3.53082640e-02 5.61827358e+01] [ 4.91226246e-02 6.16715578e-04 9.98792565e-01 9.77261827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.690385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.87, Y:56.20, Z:9.77 [[ 7.03537014e-01 -7.09837519e-01 -3.41521027e-02 1.86870215e+02] [ 7.08958854e-01 7.04365173e-01 -3.53135442e-02 5.62026269e+01] [ 4.91224303e-02 6.31949822e-04 9.98792565e-01 9.77306736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.720385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.88, Y:56.22, Z:9.77 [[ 7.01624958e-01 -7.11727981e-01 -3.41423356e-02 1.86883861e+02] [ 7.10851088e-01 7.02454993e-01 -3.53229848e-02 5.62229604e+01] [ 4.91238108e-02 5.13371318e-04 9.98792565e-01 9.77046400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.750385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.91, Y:56.24, Z:9.77 [[ 7.04194972e-01 -7.09207134e-01 -3.36850521e-02 1.86910846e+02] [ 7.08306022e-01 7.04998924e-01 -3.57644576e-02 5.62422061e+01] [ 4.91123340e-02 1.32582597e-03 9.98792381e-01 9.77254244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.780385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.92, Y:56.26, Z:9.77 [[ 7.01750041e-01 -7.11605059e-01 -3.41338620e-02 1.86923879e+02] [ 7.10727637e-01 7.02579501e-01 -3.53308667e-02 5.62617214e+01] [ 4.91233752e-02 5.33558105e-04 9.98792576e-01 9.77044739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.810385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.95, Y:56.28, Z:9.77 [[ 7.04401503e-01 -7.09004139e-01 -3.36400760e-02 1.86951305e+02] [ 7.08100738e-01 7.05202925e-01 -3.58075317e-02 5.62804640e+01] [ 4.91107681e-02 1.40231654e-03 9.98792354e-01 9.77455131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.840385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.96, Y:56.30, Z:9.78 [[ 7.01075071e-01 -7.12270168e-01 -3.41314031e-02 1.86963209e+02] [ 7.11393433e-01 7.01905241e-01 -3.53329285e-02 5.62991994e+01] [ 4.91236017e-02 4.90179284e-04 9.98792587e-01 9.77526401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.870385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.98, Y:56.32, Z:9.78 [[ 7.01080173e-01 -7.12290665e-01 -3.35946248e-02 1.86982876e+02] [ 7.11388907e-01 7.01883523e-01 -3.58516778e-02 5.63191095e+01] [ 4.91163290e-02 1.23605707e-03 9.98792300e-01 9.77776772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.900385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.01, Y:56.34, Z:9.78 [[ 7.04739386e-01 -7.08674513e-01 -3.35086975e-02 1.87011949e+02] [ 7.07764686e-01 7.05533733e-01 -3.59346773e-02 5.63386677e+01] [ 4.91075064e-02 1.60830964e-03 9.98792204e-01 9.78241540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.930385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.02, Y:56.36, Z:9.78 [[ 7.00012828e-01 -7.13313306e-01 -3.41492139e-02 1.87016559e+02] [ 7.12438666e-01 7.00845186e-01 -3.53153381e-02 5.63583870e+01] [ 4.91242127e-02 3.91969343e-04 9.98792600e-01 9.78168353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.960385723 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] Translation: X:187.03, Y:56.38, Z:9.78 [[ 7.01355766e-01 -7.12028154e-01 -3.34065623e-02 1.87033185e+02] [ 7.11117242e-01 7.02149273e-01 -3.60370127e-02 5.63772463e+01] [ 4.91157611e-02 1.51878415e-03 9.98791938e-01 9.78123982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.990385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.05, Y:56.40, Z:9.78 [[ 6.99518681e-01 -7.13844186e-01 -3.31676486e-02 1.87053317e+02] [ 7.12924299e-01 7.00302437e-01 -3.62690112e-02 5.63993530e+01] [ 4.91178079e-02 1.72482828e-03 9.98791503e-01 9.77947990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.020385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.08, Y:56.42, Z:9.78 [[ 6.99406024e-01 -7.13959048e-01 -3.30710216e-02 1.87075455e+02] [ 7.13034875e-01 7.00185012e-01 -3.63622780e-02 5.64220179e+01] [ 4.91170110e-02 1.85120452e-03 9.98791316e-01 9.78088265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.050385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:187.09, Y:56.44, Z:9.78 [[ 7.00528565e-01 -7.12844552e-01 -3.33522791e-02 1.87094224e+02] [ 7.11932010e-01 7.01320383e-01 -3.60906196e-02 5.64408077e+01] [ 4.91176347e-02 1.53795483e-03 9.98791816e-01 9.78378075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.080385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:187.11, Y:56.46, Z:9.79 [[ 7.00696657e-01 -7.12679800e-01 -3.33421274e-02 1.87111497e+02] [ 7.11766606e-01 7.01487746e-01 -3.61004330e-02 5.64609373e+01] [ 4.91171432e-02 1.56363992e-03 9.98791801e-01 9.78534100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.110385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.13, Y:56.48, Z:9.79 [[ 7.01430133e-01 -7.11966611e-01 -3.31558918e-02 1.87130611e+02] [ 7.11044085e-01 7.02210821e-01 -3.62804593e-02 5.64817304e+01] [ 4.91129017e-02 1.87290666e-03 9.98791477e-01 9.78746525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.140385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:187.15, Y:56.50, Z:9.79 [[ 7.04347770e-01 -7.09068613e-01 -3.34053999e-02 1.87145861e+02] [ 7.08154332e-01 7.05137376e-01 -3.60378010e-02 5.64998112e+01] [ 4.91086697e-02 1.72696615e-03 9.98791948e-01 9.78877711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.170385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.17, Y:56.52, Z:9.79 [[ 7.05984508e-01 -7.07455292e-01 -3.30587920e-02 1.87168531e+02] [ 7.06523360e-01 7.06754280e-01 -3.63748514e-02 5.65213815e+01] [ 4.90980239e-02 2.32327275e-03 9.98791263e-01 9.79007330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.200385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:187.19, Y:56.54, Z:9.79 [[ 7.05512287e-01 -7.07915815e-01 -3.32808027e-02 1.87186860e+02] [ 7.06994532e-01 7.06294042e-01 -3.61587901e-02 5.65419519e+01] [ 4.91034120e-02 1.98112515e-03 9.98791735e-01 9.79173382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.230385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.21, Y:56.56, Z:9.79 [[ 7.05562338e-01 -7.07870427e-01 -3.31850192e-02 1.87210485e+02] [ 7.06944708e-01 7.06339134e-01 -3.62520077e-02 5.65640173e+01] [ 4.91016019e-02 2.11807763e-03 9.98791543e-01 9.79255434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.260385723 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:187.24, Y:56.59, Z:9.79 [[ 7.09926313e-01 -7.03481091e-01 -3.34512445e-02 1.87243790e+02] [ 7.02562678e-01 7.10711016e-01 -3.59935446e-02 5.65853978e+01] [ 4.90949460e-02 2.05116853e-03 9.98792010e-01 9.79437617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.290385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.26, Y:56.60, Z:9.79 [[ 7.07094192e-01 -7.06281374e-01 -3.44154802e-02 1.87260562e+02] [ 7.05411033e-01 7.07931042e-01 -3.50558669e-02 5.66040718e+01] [ 4.91230925e-02 5.10740427e-04 9.98792602e-01 9.79359658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.32038572300002 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:187.27, Y:56.62, Z:9.80 [[ 7.05399345e-01 -7.07984813e-01 -3.41945614e-02 1.87273769e+02] [ 7.07106056e-01 7.06227310e-01 -3.52705540e-02 5.66222927e+01] [ 4.91201497e-02 7.00644211e-04 9.98792631e-01 9.79805008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.35038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.29, Y:56.64, Z:9.80 [[ 7.03348109e-01 -7.10047332e-01 -3.36782281e-02 1.87293635e+02] [ 7.09146790e-01 7.04152791e-01 -3.57725735e-02 5.66424684e+01] [ 4.91148387e-02 1.27776459e-03 9.98792321e-01 9.80167458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.38038572300002 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:187.31, Y:56.66, Z:9.80 [[ 7.02229412e-01 -7.11153241e-01 -3.36885773e-02 1.87312066e+02] [ 7.10254449e-01 7.03036031e-01 -3.57625012e-02 5.66624886e+01] [ 4.91169023e-02 1.18601828e-03 9.98792332e-01 9.80334154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.41038572300002 meters Centerline goodness : 0.999256 Centerline is valid? [True, True] Translation: X:187.34, Y:56.68, Z:9.80 [[ 7.03168879e-01 -7.10228955e-01 -3.35910587e-02 1.87336832e+02] [ 7.09324594e-01 7.03969395e-01 -3.58568136e-02 5.66838087e+01] [ 4.91136245e-02 1.38643130e-03 9.98792236e-01 9.80464371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.440385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.35, Y:56.70, Z:9.81 [[ 7.00960913e-01 -7.12390029e-01 -3.39741699e-02 1.87353198e+02] [ 7.11506011e-01 7.01783410e-01 -3.54857923e-02 5.67031696e+01] [ 4.91222335e-02 7.01327261e-04 9.98792528e-01 9.80809417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.470385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.37, Y:56.72, Z:9.81 [[ 7.01000724e-01 -7.12362514e-01 -3.37288157e-02 1.87373907e+02] [ 7.11466936e-01 7.01810910e-01 -3.57245799e-02 5.67236302e+01] [ 4.91201024e-02 1.04601923e-03 9.98792331e-01 9.80928501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.500385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.40, Y:56.74, Z:9.81 [[ 7.02403427e-01 -7.10977750e-01 -3.37648489e-02 1.87397194e+02] [ 7.10082258e-01 7.03213655e-01 -3.56895243e-02 5.67432758e+01] [ 4.91183605e-02 1.09262398e-03 9.98792367e-01 9.81150856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.530385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.42, Y:56.76, Z:9.81 [[ 7.01600938e-01 -7.11754909e-01 -3.40745258e-02 1.87416017e+02] [ 7.10874881e-01 7.02427635e-01 -3.53881504e-02 5.67642436e+01] [ 4.91225783e-02 6.05635036e-04 9.98792574e-01 9.81188151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.560385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.45, Y:56.79, Z:9.81 [[ 7.05139930e-01 -7.08251669e-01 -3.40184201e-02 1.87446890e+02] [ 7.07364900e-01 7.05959426e-01 -3.54427380e-02 5.67868611e+01] [ 4.91180026e-02 9.28653467e-04 9.98792551e-01 9.81401948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.590385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.46, Y:56.80, Z:9.81 [[ 6.99995372e-01 -7.13291842e-01 -3.49460649e-02 1.87457551e+02] [ 7.12455511e-01 7.00866770e-01 -3.45386224e-02 5.68048065e+01] [ 4.91286532e-02 -7.20640657e-04 9.98792199e-01 9.81463897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.620385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.48, Y:56.82, Z:9.81 [[ 7.00560104e-01 -7.12770593e-01 -3.42581798e-02 1.87478883e+02] [ 7.11900550e-01 7.01397181e-01 -3.52079821e-02 5.68246554e+01] [ 4.91238050e-02 2.76890548e-04 9.98792659e-01 9.81476028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.650385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.50, Y:56.84, Z:9.82 [[ 7.00052510e-01 -7.13267759e-01 -3.42868290e-02 1.87501265e+02] [ 7.12399675e-01 7.00891620e-01 -3.51801154e-02 5.68447523e+01] [ 4.91241932e-02 2.02002256e-04 9.98792658e-01 9.81571773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.680385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.52, Y:56.86, Z:9.82 [[ 6.98162231e-01 -7.15111803e-01 -3.44181384e-02 1.87521990e+02] [ 7.14252220e-01 6.99010083e-01 -3.50523932e-02 5.68637620e+01] [ 4.91250059e-02 -1.10974678e-04 9.98792632e-01 9.81792996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.710385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.54, Y:56.88, Z:9.82 [[ 6.95921708e-01 -7.17288638e-01 -3.44961725e-02 1.87539911e+02] [ 7.16435464e-01 6.96776055e-01 -3.49765093e-02 5.68844282e+01] [ 4.91243597e-02 -3.73369230e-04 9.98792600e-01 9.82311612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.740385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.56, Y:56.91, Z:9.83 [[ 6.95730179e-01 -7.17479611e-01 -3.43878596e-02 1.87560863e+02] [ 7.16621462e-01 6.96579466e-01 -3.50817487e-02 5.69055563e+01] [ 4.91243163e-02 -2.35646867e-04 9.98792644e-01 9.82611920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.770385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.58, Y:56.93, Z:9.83 [[ 6.95718336e-01 -7.17486608e-01 -3.44813512e-02 1.87577798e+02] [ 7.16632962e-01 6.96572202e-01 -3.49909328e-02 5.69251410e+01] [ 4.91242764e-02 -3.66639270e-04 9.98792607e-01 9.82728344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.800385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.60, Y:56.95, Z:9.83 [[ 6.95122865e-01 -7.18070302e-01 -3.43401196e-02 1.87597877e+02] [ 7.17210588e-01 6.95970543e-01 -3.51279815e-02 5.69473186e+01] [ 4.91240719e-02 -2.10834272e-04 9.98792662e-01 9.83284368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.830385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:187.62, Y:56.97, Z:9.84 [[ 6.94775276e-01 -7.18399461e-01 -3.44895649e-02 1.87616492e+02] [ 7.17547331e-01 6.95630662e-01 -3.49829857e-02 5.69690514e+01] [ 4.91237570e-02 -4.42581690e-04 9.98792601e-01 9.83528729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.860385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.64, Y:56.99, Z:9.84 [[ 6.94456676e-01 -7.18707164e-01 -3.44954617e-02 1.87635105e+02] [ 7.17855698e-01 6.95312727e-01 -3.49772658e-02 5.69896592e+01] [ 4.91235451e-02 -4.72567970e-04 9.98792598e-01 9.83690602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.890385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.65, Y:57.01, Z:9.84 [[ 6.93591426e-01 -7.19543139e-01 -3.44761628e-02 1.87653407e+02] [ 7.18691773e-01 6.94447562e-01 -3.49959741e-02 5.70111182e+01] [ 4.91230002e-02 -5.04827029e-04 9.98792609e-01 9.83909900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.920385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.67, Y:57.03, Z:9.84 [[ 6.93731560e-01 -7.19412067e-01 -3.43918644e-02 1.87671485e+02] [ 7.18556488e-01 6.94583425e-01 -3.50776276e-02 5.70321349e+01] [ 4.91232875e-02 -3.78040018e-04 9.98792651e-01 9.83807290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.950385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:187.69, Y:57.05, Z:9.84 [[ 6.93124209e-01 -7.19996450e-01 -3.44084678e-02 1.87686033e+02] [ 7.19142386e-01 6.93977605e-01 -3.50615484e-02 5.70524029e+01] [ 4.91228965e-02 -4.42579670e-04 9.98792644e-01 9.83800281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.980385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.71, Y:57.08, Z:9.83 [[ 6.92035317e-01 -7.21055032e-01 -3.41578772e-02 1.87705322e+02] [ 7.20190263e-01 6.92877776e-01 -3.53040079e-02 5.70755693e+01] [ 4.91233665e-02 -1.68550252e-04 9.98792704e-01 9.83313253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.010385723 meters Centerline goodness : 0.999151 Centerline is valid? [True, True] Translation: X:187.73, Y:57.10, Z:9.83 [[ 6.91271852e-01 -7.21784611e-01 -3.42081994e-02 1.87725092e+02] [ 7.20923139e-01 6.92117685e-01 -3.52553159e-02 5.70988001e+01] [ 4.91228443e-02 -2.90474988e-04 9.98792702e-01 9.83253597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.040385723 meters Centerline goodness : 0.999844 Centerline is valid? [True, True] Translation: X:187.74, Y:57.12, Z:9.83 [[ 6.88766154e-01 -7.24166884e-01 -3.44021755e-02 1.87740633e+02] [ 7.23317680e-01 6.89624384e-01 -3.50676804e-02 5.71195494e+01] [ 4.91194319e-02 -7.30270409e-04 9.98792645e-01 9.82758440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.07038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.76, Y:57.14, Z:9.83 [[ 6.86430047e-01 -7.26397305e-01 -3.40697242e-02 1.87755323e+02] [ 7.25534866e-01 6.87274890e-01 -3.53890400e-02 5.71381083e+01] [ 4.91217692e-02 -4.26672348e-04 9.98792706e-01 9.82570154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.10038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.77, Y:57.16, Z:9.83 [[ 6.86413366e-01 -7.26434121e-01 -3.36178388e-02 1.87774945e+02] [ 7.25550194e-01 6.87236079e-01 -3.58258060e-02 5.71587431e+01] [ 4.91284796e-02 1.99882644e-04 9.98792447e-01 9.82683383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.13038572300002 meters Centerline goodness : 0.999039 Centerline is valid? [True, True] Translation: X:187.80, Y:57.18, Z:9.83 [[ 6.85767887e-01 -7.27042283e-01 -3.36440774e-02 1.87799049e+02] [ 7.26160325e-01 6.86592677e-01 -3.58005296e-02 5.71801837e+01] [ 4.91282759e-02 1.19859351e-04 9.98792470e-01 9.83314081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.16038572300002 meters Centerline goodness : 0.999799 Centerline is valid? [True, True] Translation: X:187.81, Y:57.20, Z:9.83 [[ 6.81002164e-01 -7.31491247e-01 -3.40089543e-02 1.87814615e+02] [ 7.30632145e-01 6.81850464e-01 -3.54487412e-02 5.72028890e+01] [ 4.91194652e-02 -7.07365771e-04 9.98792660e-01 9.83272139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.190385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.84, Y:57.22, Z:9.85 [[ 6.83876655e-01 -7.28808844e-01 -3.39173922e-02 1.87837895e+02] [ 7.27942027e-01 6.84717109e-01 -3.55371059e-02 5.72215412e+01] [ 4.91235758e-02 -3.86898067e-04 9.98792633e-01 9.85013847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.220385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.85, Y:57.25, Z:9.84 [[ 6.78190698e-01 -7.34093648e-01 -3.41158763e-02 1.87853261e+02] [ 7.33242980e-01 6.79047440e-01 -3.53455296e-02 5.72454354e+01] [ 4.91132272e-02 -1.04421742e-03 9.98792671e-01 9.84074586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.250385723 meters Centerline goodness : 0.999844 Centerline is valid? [True, True] Translation: X:187.87, Y:57.27, Z:9.85 [[ 6.80504813e-01 -7.31955788e-01 -3.39694645e-02 1.87874593e+02] [ 7.31095368e-01 6.81351784e-01 -3.54867551e-02 5.72653371e+01] [ 4.91198910e-02 -6.86010465e-04 9.98792654e-01 9.85236086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.280385723 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:187.89, Y:57.29, Z:9.85 [[ 6.80330815e-01 -7.32111232e-01 -3.41046291e-02 1.87891882e+02] [ 7.31257524e-01 6.81184527e-01 -3.53563770e-02 5.72879309e+01] [ 4.91163464e-02 -8.85233868e-04 9.98792672e-01 9.85363829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.310385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:187.91, Y:57.31, Z:9.86 [[ 6.80838385e-01 -7.31639687e-01 -3.40949015e-02 1.87909657e+02] [ 7.30784918e-01 6.81691035e-01 -3.53657550e-02 5.73082406e+01] [ 4.91171786e-02 -8.37676237e-04 9.98792672e-01 9.85620524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.340385723 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:187.93, Y:57.33, Z:9.84 [[ 6.78222812e-01 -7.34065261e-01 -3.40882650e-02 1.87926965e+02] [ 7.33213220e-01 6.79078188e-01 -3.53721507e-02 5.73337008e+01] [ 4.91140642e-02 -1.00376701e-03 9.98792672e-01 9.84485429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.370385723 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:187.94, Y:57.35, Z:9.85 [[ 6.78161768e-01 -7.34115361e-01 -3.42235741e-02 1.87943553e+02] [ 7.33269944e-01 6.79023717e-01 -3.52417452e-02 5.73538010e+01] [ 4.91101250e-02 -1.19551406e-03 9.98792654e-01 9.84700504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.400385723 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:187.96, Y:57.38, Z:9.85 [[ 6.80467784e-01 -7.31984328e-01 -3.40960192e-02 1.87960019e+02] [ 7.31130048e-01 6.81320921e-01 -3.53646113e-02 5.73750649e+01] [ 4.91166724e-02 -8.64145466e-04 9.98792674e-01 9.85381075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.430385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:187.98, Y:57.40, Z:9.86 [[ 6.80443545e-01 -7.32008029e-01 -3.40709238e-02 1.87978214e+02] [ 7.31152569e-01 6.81295498e-01 -3.53887722e-02 5.73967316e+01] [ 4.91172324e-02 -8.30981883e-04 9.98792675e-01 9.85743157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.460385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:188.00, Y:57.42, Z:9.86 [[ 6.80514492e-01 -7.31942275e-01 -3.40665952e-02 1.87996230e+02] [ 7.31086524e-01 6.81366153e-01 -3.53929385e-02 5.74180080e+01] [ 4.91174129e-02 -8.20221109e-04 9.98792675e-01 9.86003423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.490385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:188.01, Y:57.44, Z:9.86 [[ 6.79995141e-01 -7.32424990e-01 -3.40623257e-02 1.88013227e+02] [ 7.31569639e-01 6.80847202e-01 -3.53970471e-02 5.74417230e+01] [ 4.91169210e-02 -8.49143270e-04 9.98792675e-01 9.86309960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.520385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.03, Y:57.47, Z:9.87 [[ 6.79133944e-01 -7.33223993e-01 -3.40538108e-02 1.88029132e+02] [ 7.32369234e-01 6.79986599e-01 -3.54052369e-02 5.74650500e+01] [ 4.91161042e-02 -8.95065152e-04 9.98792675e-01 9.86528913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.550385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.04, Y:57.49, Z:9.86 [[ 6.73766138e-01 -7.38159786e-01 -3.40488102e-02 1.88041117e+02] [ 7.37311029e-01 6.74624767e-01 -3.54100453e-02 5.74890144e+01] [ 4.91084421e-02 -1.24647380e-03 9.98792675e-01 9.85799045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.580385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:188.06, Y:57.51, Z:9.86 [[ 6.74063177e-01 -7.37908129e-01 -3.36218255e-02 1.88059022e+02] [ 7.37038486e-01 6.74900874e-01 -3.58201110e-02 5.75131263e+01] [ 4.91233505e-02 -6.35561564e-04 9.98792517e-01 9.86008167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.610385723 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:188.07, Y:57.54, Z:9.86 [[ 6.71830612e-01 -7.39932147e-01 -3.38237575e-02 1.88072017e+02] [ 7.39074739e-01 6.72680673e-01 -3.56264293e-02 5.75353612e+01] [ 4.91137283e-02 -1.06335897e-03 9.98792627e-01 9.86138771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.640385723 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:188.09, Y:57.56, Z:9.86 [[ 6.75696431e-01 -7.36417851e-01 -3.35124301e-02 1.88093606e+02] [ 7.35541176e-01 6.76526872e-01 -3.59244974e-02 5.75584650e+01] [ 4.91275007e-02 -3.75717604e-04 9.98792445e-01 9.86306547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.670385723 meters Centerline goodness : 0.999760 Centerline is valid? [True, True] Translation: X:188.11, Y:57.58, Z:9.86 [[ 6.72722415e-01 -7.39120524e-01 -3.38438247e-02 1.88105937e+02] [ 7.38263067e-01 6.73572406e-01 -3.56069794e-02 5.75821119e+01] [ 4.91141157e-02 -1.03203265e-03 9.98792640e-01 9.86366470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.700385723 meters Centerline goodness : 0.999761 Centerline is valid? [True, True] Translation: X:188.12, Y:57.61, Z:9.86 [[ 6.74746932e-01 -7.37289088e-01 -3.34869749e-02 1.88124358e+02] [ 7.36412295e-01 6.75577262e-01 -3.59485074e-02 5.76059983e+01] [ 4.91274811e-02 -4.04074933e-04 9.98792435e-01 9.86046597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.730385723 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:188.14, Y:57.63, Z:9.86 [[ 6.74721658e-01 -7.37302325e-01 -3.37040904e-02 1.88140902e+02] [ 7.36435895e-01 6.75562568e-01 -3.57406022e-02 5.76274053e+01] [ 4.91208510e-02 -7.05943574e-04 9.98792593e-01 9.86409714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.760385723 meters Centerline goodness : 0.999590 Centerline is valid? [True, True] Translation: X:188.16, Y:57.65, Z:9.87 [[ 6.79342816e-01 -7.33052844e-01 -3.35688282e-02 1.88163714e+02] [ 7.32174726e-01 6.80171657e-01 -3.58704279e-02 5.76501567e+01] [ 4.91274847e-02 -2.09930111e-04 9.98792494e-01 9.87274104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.790385723 meters Centerline goodness : 0.999740 Centerline is valid? [True, True] Translation: X:188.18, Y:57.67, Z:9.87 [[ 6.79559385e-01 -7.32831041e-01 -3.40251108e-02 1.88181707e+02] [ 7.31974434e-01 6.80410157e-01 -3.54322799e-02 5.76722830e+01] [ 4.91169055e-02 -8.27172934e-04 9.98792694e-01 9.87384183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.82038572300002 meters Centerline goodness : 0.999569 Centerline is valid? [True, True] Translation: X:188.19, Y:57.70, Z:9.87 [[ 6.77705102e-01 -7.34546619e-01 -3.40155706e-02 1.88193199e+02] [ 7.33691706e-01 6.78557577e-01 -3.54414363e-02 5.76979037e+01] [ 4.91149103e-02 -9.38099788e-04 9.98792694e-01 9.86671483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.85038572300002 meters Centerline goodness : 0.999591 Centerline is valid? [True, True] Translation: X:188.21, Y:57.72, Z:9.87 [[ 6.77520143e-01 -7.34729372e-01 -3.37521262e-02 1.88208631e+02] [ 7.33862054e-01 6.78360087e-01 -3.56942426e-02 5.77204063e+01] [ 4.91217037e-02 -5.85836264e-04 9.98792629e-01 9.86718705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.88038572300002 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:188.23, Y:57.74, Z:9.88 [[ 6.84788643e-01 -7.27971425e-01 -3.34980406e-02 1.88232676e+02] [ 7.27083849e-01 6.85607424e-01 -3.59379413e-02 5.77433466e+01] [ 4.91282997e-02 2.54009752e-04 9.98792444e-01 9.87616944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.91038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.24, Y:57.77, Z:9.87 [[ 6.84565157e-01 -7.28157653e-01 -3.40143723e-02 1.88243851e+02] [ 7.27294733e-01 6.85409517e-01 -3.54424313e-02 5.77679922e+01] [ 4.91214521e-02 -4.75820279e-04 9.98792699e-01 9.87118703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.940385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:188.26, Y:57.79, Z:9.87 [[ 6.86479099e-01 -7.26370053e-01 -3.36599535e-02 1.88262592e+02] [ 7.25488183e-01 6.87303808e-01 -3.57822703e-02 5.77899837e+01] [ 4.91257838e-02 1.43882189e-04 9.98792589e-01 9.87277047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.970385723 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:188.28, Y:57.81, Z:9.87 [[ 6.88706189e-01 -7.24257822e-01 -3.36807479e-02 1.88279904e+02] [ 7.23374397e-01 6.89529214e-01 -3.57623343e-02 5.78100226e+01] [ 4.91250100e-02 2.65950201e-04 9.98792602e-01 9.87299243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.000385723 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:188.30, Y:57.83, Z:9.88 [[ 6.91337435e-01 -7.21756134e-01 -3.34758821e-02 1.88304716e+02] [ 7.20860211e-01 6.92147061e-01 -3.59583536e-02 5.78326139e+01] [ 4.91233957e-02 7.27924513e-04 9.98792452e-01 9.88132389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.030385723 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:188.32, Y:57.85, Z:9.88 [[ 6.91474748e-01 -7.21601443e-01 -3.39710337e-02 1.88321642e+02] [ 7.20728456e-01 6.92308714e-01 -3.54843347e-02 5.78549246e+01] [ 4.91239898e-02 5.26307697e-05 9.98792687e-01 9.87938042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.060385723 meters Centerline goodness : 0.994834 Centerline is valid? [True, True] Translation: X:188.34, Y:57.88, Z:9.88 [[ 6.93491581e-01 -7.19664259e-01 -3.39526499e-02 1.88344013e+02] [ 7.18788081e-01 6.94322193e-01 -3.55019234e-02 5.78772630e+01] [ 4.91235437e-02 2.15524847e-04 9.98792687e-01 9.87968523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.090385723 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:188.36, Y:57.90, Z:9.88 [[ 6.91655114e-01 -7.21408318e-01 -3.43982678e-02 1.88358295e+02] [ 7.20555309e-01 6.92509756e-01 -3.50754103e-02 5.78968891e+01] [ 4.91248288e-02 -5.25767567e-04 9.98792508e-01 9.88150405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.120385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:188.38, Y:57.92, Z:9.88 [[ 6.91522629e-01 -7.21553829e-01 -3.40077266e-02 1.88378621e+02] [ 7.20682551e-01 6.92358341e-01 -3.54483863e-02 5.79187298e+01] [ 4.91234521e-02 4.58610326e-06 9.98792714e-01 9.88404702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.150385723 meters Centerline goodness : 0.999700 Centerline is valid? [True, True] Translation: X:188.39, Y:57.94, Z:9.88 [[ 6.90043033e-01 -7.22964187e-01 -3.41086125e-02 1.88394117e+02] [ 7.22099372e-01 6.90885467e-01 -3.53520679e-02 5.79391603e+01] [ 4.91234237e-02 -2.35359507e-04 9.98792688e-01 9.88447583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.180385723 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:188.41, Y:57.96, Z:9.89 [[ 6.87589290e-01 -7.25307595e-01 -3.39095975e-02 1.88414817e+02] [ 7.24436260e-01 6.88424924e-01 -3.55419452e-02 5.79604038e+01] [ 4.91230549e-02 -1.27081170e-04 9.98792726e-01 9.88730825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.210385723 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:188.43, Y:57.98, Z:9.89 [[ 6.86150017e-01 -7.26662963e-01 -3.40454457e-02 1.88431782e+02] [ 7.25799695e-01 6.86994009e-01 -3.54123476e-02 5.79806137e+01] [ 4.91218587e-02 -4.11991277e-04 9.98792708e-01 9.88976409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.240385723 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:188.45, Y:58.00, Z:9.89 [[ 6.82271603e-01 -7.30312679e-01 -3.38947042e-02 1.88451565e+02] [ 7.29446772e-01 6.83112856e-01 -3.55560472e-02 5.80018626e+01] [ 4.91209403e-02 -4.65501266e-04 9.98792730e-01 9.88900898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.270385723 meters Centerline goodness : 0.995231 Centerline is valid? [True, True] Translation: X:188.48, Y:58.02, Z:9.89 [[ 6.83684240e-01 -7.28986605e-01 -3.39763133e-02 1.88477653e+02] [ 7.28122930e-01 6.84527790e-01 -3.54782027e-02 5.80227519e+01] [ 4.91208652e-02 -4.83044704e-04 9.98792725e-01 9.89322485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.300385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:188.49, Y:58.04, Z:9.89 [[ 6.80356091e-01 -7.32063168e-01 -3.46281192e-02 1.88489735e+02] [ 7.31234653e-01 6.81234861e-01 -3.48560881e-02 5.80439582e+01] [ 4.91067403e-02 -1.60672889e-03 9.98792244e-01 9.89380523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.330385723 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:188.51, Y:58.07, Z:9.89 [[ 6.83028438e-01 -7.29601205e-01 -3.39740247e-02 1.88505211e+02] [ 7.28738277e-01 6.83872653e-01 -3.54784172e-02 5.80650567e+01] [ 4.91190023e-02 -5.25404307e-04 9.98792795e-01 9.89397195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.360385723 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:188.52, Y:58.09, Z:9.89 [[ 6.84659634e-01 -7.28076739e-01 -3.38444555e-02 1.88523642e+02] [ 7.27205831e-01 6.85495591e-01 -3.56015925e-02 5.80868686e+01] [ 4.91209164e-02 -2.36912079e-04 9.98792811e-01 9.89251029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.390385723 meters Centerline goodness : 0.993180 Centerline is valid? [True, True] Translation: X:188.54, Y:58.11, Z:9.89 [[ 6.85845388e-01 -7.26960313e-01 -3.38349956e-02 1.88542626e+02] [ 7.26087601e-01 6.86679461e-01 -3.56105807e-02 5.81095818e+01] [ 4.91212754e-02 -1.43818249e-04 9.98792811e-01 9.89248848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.420385723 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:188.56, Y:58.13, Z:9.89 [[ 6.90846569e-01 -7.22202663e-01 -3.39754550e-02 1.88560827e+02] [ 7.21330755e-01 6.91681511e-01 -3.54771660e-02 5.81301623e+01] [ 4.91218978e-02 1.73779873e-06 9.98792791e-01 9.89340907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.450385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.58, Y:58.15, Z:9.90 [[ 6.95140306e-01 -7.18074266e-01 -3.39013792e-02 1.88578173e+02] [ 7.17193973e-01 6.95966372e-01 -3.55473590e-02 5.81510416e+01] [ 4.91198636e-02 3.96537140e-04 9.98792812e-01 9.89817682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.480385723 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:188.60, Y:58.17, Z:9.90 [[ 6.98150525e-01 -7.15154012e-01 -3.37725225e-02 1.88596485e+02] [ 7.14264353e-01 6.98966473e-01 -3.56693643e-02 5.81708642e+01] [ 4.91149499e-02 7.80076526e-04 9.98792828e-01 9.89568866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.510385723 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:188.62, Y:58.19, Z:9.90 [[ 6.99239112e-01 -7.14089897e-01 -3.37680862e-02 1.88616320e+02] [ 7.13198794e-01 7.00053482e-01 -3.56735637e-02 5.81917329e+01] [ 4.91135977e-02 8.60992643e-04 9.98792828e-01 9.89926968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.540385723 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:188.63, Y:58.21, Z:9.90 [[ 6.97815131e-01 -7.15481915e-01 -3.37590257e-02 1.88627553e+02] [ 7.14592022e-01 6.98630823e-01 -3.56821358e-02 5.82100565e+01] [ 4.91150188e-02 7.75603811e-04 9.98792828e-01 9.89527832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.57038572300002 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:188.65, Y:58.23, Z:9.90 [[ 6.98346377e-01 -7.14999941e-01 -3.29761038e-02 1.88645410e+02] [ 7.14074170e-01 6.99121965e-01 -3.64219413e-02 5.82299171e+01] [ 4.90960043e-02 1.88774673e-03 9.98792280e-01 9.89687616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.60038572300002 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:188.67, Y:58.25, Z:9.90 [[ 7.00919566e-01 -7.12484380e-01 -3.28294044e-02 1.88673971e+02] [ 7.11549337e-01 7.01684311e-01 -3.65604850e-02 5.82499812e+01] [ 4.90846525e-02 2.26621832e-03 9.98792051e-01 9.90182113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.63038572300002 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:188.70, Y:58.27, Z:9.90 [[ 7.01249880e-01 -7.12127853e-01 -3.35041316e-02 1.88696465e+02] [ 7.11222545e-01 7.02048478e-01 -3.59224851e-02 5.82699227e+01] [ 4.91029268e-02 1.36174460e-03 9.98792795e-01 9.90294141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.66038572300002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:188.72, Y:58.29, Z:9.91 [[ 6.99399326e-01 -7.13939124e-01 -3.36379209e-02 1.88717033e+02] [ 7.13041952e-01 7.00206986e-01 -3.57959635e-02 5.82884706e+01] [ 4.91096460e-02 1.05042395e-03 9.98792841e-01 9.90838023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.690385723 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:188.74, Y:58.31, Z:9.91 [[ 6.99258837e-01 -7.14076509e-01 -3.36424950e-02 1.88738273e+02] [ 7.13179704e-01 7.00066903e-01 -3.57916388e-02 5.83079829e+01] [ 4.91099658e-02 1.03447507e-03 9.98792842e-01 9.90975239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.720385723 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:188.75, Y:58.32, Z:9.91 [[ 6.90881218e-01 -7.22180458e-01 -3.37420999e-02 1.88746811e+02] [ 7.21297725e-01 6.91704620e-01 -3.56974906e-02 5.83245157e+01] [ 4.91195965e-02 3.24625879e-04 9.98792851e-01 9.90741129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.750385723 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:188.78, Y:58.34, Z:9.91 [[ 6.93737090e-01 -7.19483554e-01 -3.27454720e-02 1.88776700e+02] [ 7.18552496e-01 6.94506910e-01 -3.66396424e-02 5.83448966e+01] [ 4.91035767e-02 1.88893822e-03 9.98791906e-01 9.91172946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.780385723 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:188.80, Y:58.36, Z:9.91 [[ 6.91076257e-01 -7.22009458e-01 -3.34058340e-02 1.88795852e+02] [ 7.21111114e-01 6.91882723e-01 -3.60147047e-02 5.83621900e+01] [ 4.91158768e-02 7.99589133e-04 9.98792767e-01 9.91213241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.810385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.82, Y:58.38, Z:9.91 [[ 6.94131875e-01 -7.19079554e-01 -3.32495987e-02 1.88822850e+02] [ 7.18170717e-01 6.94926687e-01 -3.61624293e-02 5.83819606e+01] [ 4.91096970e-02 1.22260671e-03 9.98792643e-01 9.91427874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.840385723 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:188.84, Y:58.40, Z:9.91 [[ 6.95139881e-01 -7.18081390e-01 -3.37588876e-02 1.88844116e+02] [ 7.17194624e-01 6.95958883e-01 -3.56805865e-02 5.83990099e+01] [ 4.91163629e-02 5.91305935e-04 9.98792888e-01 9.91271554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.870385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:188.86, Y:58.42, Z:9.91 [[ 6.94051581e-01 -7.19133581e-01 -3.37534421e-02 1.88858845e+02] [ 7.18247806e-01 6.94871655e-01 -3.56857372e-02 5.84162628e+01] [ 4.91171221e-02 5.24406589e-04 9.98792888e-01 9.91177004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.900385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:188.88, Y:58.44, Z:9.91 [[ 6.96146167e-01 -7.17132852e-01 -3.31811210e-02 1.88880790e+02] [ 7.16218742e-01 6.96934975e-01 -3.62264296e-02 5.84352020e+01] [ 4.91042464e-02 1.45394938e-03 9.98792601e-01 9.91351239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.930385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:188.90, Y:58.45, Z:9.91 [[ 6.97268989e-01 -7.16036893e-01 -3.32734923e-02 1.88901339e+02] [ 7.15125698e-01 6.98061026e-01 -3.61391688e-02 5.84547358e+01] [ 4.91039064e-02 1.40399225e-03 9.98792689e-01 9.91486475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.960385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:188.92, Y:58.47, Z:9.92 [[ 6.97343937e-01 -7.15966847e-01 -3.32100628e-02 1.88920162e+02] [ 7.15052719e-01 6.98132678e-01 -3.61990762e-02 5.84746809e+01] [ 4.91023685e-02 1.49626062e-03 9.98792630e-01 9.91618295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.990385723 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:188.94, Y:58.49, Z:9.92 [[ 7.01086190e-01 -7.12301859e-01 -3.32297450e-02 1.88943206e+02] [ 7.11384490e-01 7.01871128e-01 -3.61804734e-02 5.84921536e+01] [ 4.90944171e-02 1.72650506e-03 9.98792650e-01 9.91835367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.020385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:188.96, Y:58.51, Z:9.92 [[ 7.02256498e-01 -7.11146528e-01 -3.32629886e-02 1.88963829e+02] [ 7.10229353e-01 7.03041615e-01 -3.61490477e-02 5.85106495e+01] [ 4.90925350e-02 1.76155279e-03 9.98792681e-01 9.91871334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.050385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:188.99, Y:58.53, Z:9.92 [[ 7.07043863e-01 -7.06390681e-01 -3.31840583e-02 1.88994209e+02] [ 7.05464733e-01 7.07818733e-01 -3.62236271e-02 5.85278734e+01] [ 4.90763307e-02 2.20151038e-03 9.98792605e-01 9.92294692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.080385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.01, Y:58.55, Z:9.92 [[ 7.04408762e-01 -7.08991707e-01 -3.37499008e-02 1.89009685e+02] [ 7.08093997e-01 7.05215725e-01 -3.56885423e-02 5.85459853e+01] [ 4.91038413e-02 1.24121974e-03 9.98792908e-01 9.92077667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.110385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:189.03, Y:58.56, Z:9.92 [[ 7.03363007e-01 -7.10049856e-01 -3.33118882e-02 1.89031630e+02] [ 7.09133663e-01 7.04149179e-01 -3.61023631e-02 5.85620304e+01] [ 4.90910165e-02 1.77048532e-03 9.98792740e-01 9.92057963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.140385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.05, Y:58.58, Z:9.92 [[ 6.99336660e-01 -7.14017220e-01 -3.32812980e-02 1.89049467e+02] [ 7.13104113e-01 7.00126455e-01 -3.61312943e-02 5.85800280e+01] [ 4.90994835e-02 1.53490817e-03 9.98792714e-01 9.91852053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.170385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.08, Y:58.60, Z:9.93 [[ 7.05944426e-01 -7.07500534e-01 -3.29463468e-02 1.89084499e+02] [ 7.06565335e-01 7.06708557e-01 -3.64478110e-02 5.85958762e+01] [ 4.90703110e-02 2.45138242e-03 9.98792318e-01 9.92685426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.200385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.11, Y:58.61, Z:9.93 [[ 7.06028005e-01 -7.07378677e-01 -3.37618537e-02 1.89108870e+02] [ 7.06479720e-01 7.06833518e-01 -3.56761039e-02 5.86118214e+01] [ 4.91005250e-02 1.33626354e-03 9.98792948e-01 9.92852555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.230385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.13, Y:58.63, Z:9.93 [[ 7.06410254e-01 -7.06997423e-01 -3.37519922e-02 1.89130483e+02] [ 7.06097586e-01 7.07214783e-01 -3.56854310e-02 5.86303092e+01] [ 4.90994156e-02 1.37635415e-03 9.98792948e-01 9.92980861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.260385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.14, Y:58.65, Z:9.93 [[ 7.03270690e-01 -7.10120988e-01 -3.37419501e-02 1.89143223e+02] [ 7.09224270e-01 7.04078694e-01 -3.56949237e-02 5.86452406e+01] [ 4.91047027e-02 1.17258367e-03 9.98792948e-01 9.92555801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.290385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.18, Y:58.66, Z:9.93 [[ 7.08786106e-01 -7.04655103e-01 -3.29156662e-02 1.89175785e+02] [ 7.03715594e-01 7.09544890e-01 -3.64748063e-02 5.86634478e+01] [ 4.90573012e-02 2.68956835e-03 9.98792345e-01 9.93174636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.32038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.20, Y:58.68, Z:9.93 [[ 7.09138138e-01 -7.04263453e-01 -3.37059188e-02 1.89198228e+02] [ 7.03358490e-01 7.09936853e-01 -3.57281405e-02 5.86806305e+01] [ 4.90910976e-02 1.62884291e-03 9.98792977e-01 9.93406177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.35038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.21, Y:58.69, Z:9.93 [[ 7.05133545e-01 -7.08271881e-01 -3.37287094e-02 1.89210893e+02] [ 7.07372487e-01 7.05938526e-01 -3.57066124e-02 5.86947371e+01] [ 4.91003850e-02 1.31916912e-03 9.98792978e-01 9.93214465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.38038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.25, Y:58.71, Z:9.94 [[ 7.09075083e-01 -7.04366756e-01 -3.28633572e-02 1.89245580e+02] [ 7.03424711e-01 7.09830783e-01 -3.65230690e-02 5.87135494e+01] [ 4.90530582e-02 2.78070062e-03 9.98792303e-01 9.93851793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.41038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.26, Y:58.73, Z:9.93 [[ 6.99748477e-01 -7.13592330e-01 -3.37350744e-02 1.89255232e+02] [ 7.12699409e-01 7.00560567e-01 -3.56993650e-02 5.87267128e+01] [ 4.91082559e-02 9.37608706e-04 9.98793022e-01 9.93398856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.440385723 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:189.28, Y:58.75, Z:9.93 [[ 6.98279608e-01 -7.15081339e-01 -3.26231125e-02 1.89277849e+02] [ 7.14140278e-01 6.99037258e-01 -3.67501779e-02 5.87451905e+01] [ 4.90841375e-02 2.36442115e-03 9.98791849e-01 9.93469006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.470385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.31, Y:58.76, Z:9.94 [[ 6.99225038e-01 -7.14155337e-01 -3.26573260e-02 1.89313792e+02] [ 7.13214776e-01 6.99983199e-01 -3.67179007e-02 5.87618819e+01] [ 4.90818642e-02 2.38238811e-03 9.98791918e-01 9.94088351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.500385723 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:189.34, Y:58.78, Z:9.94 [[ 6.96488129e-01 -7.16779678e-01 -3.36329962e-02 1.89335195e+02] [ 7.15885794e-01 6.97299192e-01 -3.57961815e-02 5.87825517e+01] [ 4.91102365e-02 8.54231271e-04 9.98792999e-01 9.94473872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.530385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.35, Y:58.80, Z:9.95 [[ 6.93616380e-01 -7.19554543e-01 -3.37279955e-02 1.89353401e+02] [ 7.18668260e-01 6.94435729e-01 -3.57064466e-02 5.88038356e+01] [ 4.91146610e-02 5.27336405e-04 9.98793008e-01 9.94608773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.560385723 meters Centerline goodness : 0.999887 Centerline is valid? [True, True] Translation: X:189.37, Y:58.82, Z:9.95 [[ 6.92857274e-01 -7.20285968e-01 -3.37182737e-02 1.89371400e+02] [ 7.19400104e-01 6.93677076e-01 -3.57156247e-02 5.88237727e+01] [ 4.91150568e-02 4.88900833e-04 9.98793008e-01 9.94525572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.590385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.38, Y:58.84, Z:9.94 [[ 6.87735960e-01 -7.25181222e-01 -3.36369530e-02 1.89377982e+02] [ 7.24297435e-01 6.88558009e-01 -3.57923857e-02 5.88435986e+01] [ 4.91169594e-02 2.52552029e-04 9.98793002e-01 9.94324002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.620385723 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:189.41, Y:58.87, Z:9.95 [[ 6.93224967e-01 -7.19974531e-01 -3.27996997e-02 1.89409730e+02] [ 7.19046660e-01 6.93998213e-01 -3.65838808e-02 5.88653673e+01] [ 4.91023954e-02 1.77634508e-03 9.98792170e-01 9.95136149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.650385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:189.43, Y:58.89, Z:9.95 [[ 6.93925264e-01 -7.19254549e-01 -3.37730997e-02 1.89429930e+02] [ 7.18370069e-01 6.94746471e-01 -3.56621021e-02 5.88851796e+01] [ 4.91138709e-02 4.85249652e-04 9.98793068e-01 9.95497935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.680385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:189.44, Y:58.91, Z:9.95 [[ 6.90528195e-01 -7.22517012e-01 -3.37635777e-02 1.89440671e+02] [ 7.21635972e-01 6.91353091e-01 -3.56711149e-02 5.89057586e+01] [ 4.91155411e-02 2.66898414e-04 9.98793068e-01 9.95246862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.710385723 meters Centerline goodness : 0.999774 Centerline is valid? [True, True] Translation: X:189.47, Y:58.93, Z:9.95 [[ 6.94932711e-01 -7.18311192e-01 -3.31294402e-02 1.89468516e+02] [ 7.17396322e-01 6.95720463e-01 -3.62705885e-02 5.89264228e+01] [ 4.91023991e-02 1.43867985e-03 9.98792714e-01 9.95412136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.740385723 meters Centerline goodness : 0.999864 Centerline is valid? [True, True] Translation: X:189.49, Y:58.95, Z:9.95 [[ 6.95124408e-01 -7.18096483e-01 -3.37564798e-02 1.89487262e+02] [ 7.17209895e-01 6.95943312e-01 -3.56773336e-02 5.89458016e+01] [ 4.91123642e-02 5.89704052e-04 9.98793086e-01 9.95479482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.770385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.49, Y:58.97, Z:9.95 [[ 6.89774070e-01 -7.23237643e-01 -3.37497450e-02 1.89492862e+02] [ 7.22356848e-01 6.90599202e-01 -3.56837035e-02 5.89650737e+01] [ 4.91153445e-02 2.34333907e-04 9.98793086e-01 9.95050311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.800385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.53, Y:58.99, Z:9.96 [[ 6.94968893e-01 -7.18294348e-01 -3.27332794e-02 1.89526280e+02] [ 7.17361826e-01 6.95736511e-01 -3.66431112e-02 5.89854089e+01] [ 4.90942773e-02 1.98421733e-03 9.98792178e-01 9.95709363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.830385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:189.55, Y:59.01, Z:9.96 [[ 6.94376652e-01 -7.18820180e-01 -3.37433459e-02 1.89546613e+02] [ 7.17933922e-01 6.95195828e-01 -3.56881531e-02 5.90051665e+01] [ 4.91115979e-02 5.55527612e-04 9.98793143e-01 9.96031993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.860385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.57, Y:59.02, Z:9.96 [[ 6.93999393e-01 -7.19184883e-01 -3.37334550e-02 1.89565560e+02] [ 7.18298601e-01 6.94818543e-01 -3.56974998e-02 5.90247107e+01] [ 4.91117323e-02 5.43349615e-04 9.98793143e-01 9.96145244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.890385723 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:189.57, Y:59.04, Z:9.96 [[ 6.86502701e-01 -7.26344603e-01 -3.37277180e-02 1.89568437e+02] [ 7.25466599e-01 6.87330718e-01 -3.57029194e-02 5.90428558e+01] [ 4.91147194e-02 4.18177117e-05 9.98793143e-01 9.95671069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.920385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.60, Y:59.06, Z:9.97 [[ 6.93734936e-01 -7.19496437e-01 -3.25071617e-02 1.89604649e+02] [ 7.18555364e-01 6.94492621e-01 -3.68536112e-02 5.90639893e+01] [ 4.90920259e-02 2.20844221e-03 9.98791818e-01 9.96657709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.950385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.61, Y:59.08, Z:9.96 [[ 6.89733569e-01 -7.23277210e-01 -3.37295460e-02 1.89613408e+02] [ 7.22395727e-01 6.90557754e-01 -3.56987513e-02 5.90824817e+01] [ 4.91122928e-02 2.56547181e-04 9.98793230e-01 9.96408043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.980385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.64, Y:59.10, Z:9.97 [[ 6.95402909e-01 -7.17866342e-01 -3.29045477e-02 1.89643877e+02] [ 7.16941176e-01 6.96178685e-01 -3.64772390e-02 5.91034224e+01] [ 4.90932269e-02 1.77575300e-03 9.98792622e-01 9.97146059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.010385723 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:189.66, Y:59.12, Z:9.97 [[ 6.96482225e-01 -7.16780782e-01 -3.37316117e-02 1.89663210e+02] [ 7.15891761e-01 6.97298216e-01 -3.56957270e-02 5.91228455e+01] [ 4.91070038e-02 7.13256443e-04 9.98793269e-01 9.97330602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.040385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.68, Y:59.14, Z:9.97 [[ 6.97039234e-01 -7.16239165e-01 -3.37307538e-02 1.89681133e+02] [ 7.15349471e-01 6.97854492e-01 -3.56965375e-02 5.91438875e+01] [ 4.91064163e-02 7.52610323e-04 9.98793269e-01 9.97445342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.07038572300002 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:189.70, Y:59.16, Z:9.98 [[ 6.97128931e-01 -7.16152506e-01 -3.37170766e-02 1.89699199e+02] [ 7.15262086e-01 6.97943395e-01 -3.57094516e-02 5.91633510e+01] [ 4.91060242e-02 7.77545303e-04 9.98793269e-01 9.97567136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.10038572300002 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:189.72, Y:59.18, Z:9.98 [[ 6.97643933e-01 -7.15651072e-01 -3.37118064e-02 1.89715938e+02] [ 7.14759826e-01 6.98457494e-01 -3.57144263e-02 5.91815312e+01] [ 4.91053312e-02 8.20107940e-04 9.98793269e-01 9.97659324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.13038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.74, Y:59.20, Z:9.98 [[ 6.96664848e-01 -7.16613052e-01 -3.35234804e-02 1.89735609e+02] [ 7.15714361e-01 6.97470222e-01 -3.58920944e-02 5.92037722e+01] [ 4.91023727e-02 1.01152415e-03 9.98793239e-01 9.97931933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.16038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.75, Y:59.22, Z:9.98 [[ 6.96223936e-01 -7.17032988e-01 -3.37035003e-02 1.89754480e+02] [ 7.16142978e-01 6.97038848e-01 -3.57222500e-02 5.92241621e+01] [ 4.91066806e-02 7.34160442e-04 9.98793269e-01 9.98111685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.190385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.77, Y:59.24, Z:9.98 [[ 6.95636828e-01 -7.17603049e-01 -3.36937418e-02 1.89773535e+02] [ 7.16713262e-01 6.96451983e-01 -3.57314519e-02 5.92449586e+01] [ 4.91070721e-02 7.07362275e-04 9.98793269e-01 9.98311866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.220385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.79, Y:59.27, Z:9.99 [[ 6.95417207e-01 -7.17816346e-01 -3.36838355e-02 1.89793376e+02] [ 7.16926357e-01 6.96232141e-01 -3.57407882e-02 5.92653065e+01] [ 4.91070909e-02 7.05929615e-04 9.98793270e-01 9.98517732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.250385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.81, Y:59.28, Z:9.99 [[ 6.95465197e-01 -7.17770316e-01 -3.36739242e-02 1.89812554e+02] [ 7.16879821e-01 6.96279579e-01 -3.57501239e-02 5.92848421e+01] [ 4.91068434e-02 7.22810258e-04 9.98793270e-01 9.98672373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.280385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.83, Y:59.30, Z:9.99 [[ 6.95206057e-01 -7.18021569e-01 -3.36684638e-02 1.89832702e+02] [ 7.17131119e-01 6.96020487e-01 -3.57552656e-02 5.93046939e+01] [ 4.91069925e-02 7.12574122e-04 9.98793270e-01 9.98880514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.310385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.85, Y:59.33, Z:9.99 [[ 6.92767952e-01 -7.20374667e-01 -3.36586346e-02 1.89846317e+02] [ 7.19486535e-01 6.93584909e-01 -3.57645160e-02 5.93253436e+01] [ 4.91089723e-02 5.59576066e-04 9.98793270e-01 9.98724505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.340385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:189.87, Y:59.35, Z:9.99 [[ 6.94450977e-01 -7.18771482e-01 -3.32475140e-02 1.89870634e+02] [ 7.17862853e-01 6.95245298e-01 -3.61510653e-02 5.93460475e+01] [ 4.90995325e-02 1.23798736e-03 9.98793123e-01 9.99117807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.370385723 meters Centerline goodness : 0.999909 Centerline is valid? [True, True] Translation: X:189.89, Y:59.37, Z:9.99 [[ 6.93630711e-01 -7.19544475e-01 -3.36479667e-02 1.89889786e+02] [ 7.18654884e-01 6.94446073e-01 -3.57744260e-02 5.93666618e+01] [ 4.91079889e-02 6.32964933e-04 9.98793274e-01 9.99084693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.400385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:189.91, Y:59.39, Z:9.99 [[ 6.93923736e-01 -7.19262339e-01 -3.36383242e-02 1.89907971e+02] [ 7.18371977e-01 6.94738256e-01 -3.57834904e-02 5.93872092e+01] [ 4.91075477e-02 6.66183840e-04 9.98793274e-01 9.99372117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.430385723 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:189.93, Y:59.41, Z:10.00 [[ 6.93613067e-01 -7.19562189e-01 -3.36328673e-02 1.89927095e+02] [ 7.18671931e-01 6.94427700e-01 -3.57886186e-02 5.94079504e+01] [ 4.91077314e-02 6.52455898e-04 9.98793274e-01 9.99590365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.460385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.94, Y:59.43, Z:10.00 [[ 6.90719229e-01 -7.22340943e-01 -3.36230419e-02 1.89938838e+02] [ 7.21453513e-01 6.91536943e-01 -3.57978471e-02 5.94275146e+01] [ 4.91098262e-02 4.68799712e-04 9.98793275e-01 9.99808327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.490385723 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:189.97, Y:59.45, Z:10.00 [[ 6.93330701e-01 -7.19861855e-01 -3.30370910e-02 1.89965754e+02] [ 7.18945100e-01 6.94115848e-01 -3.63473938e-02 5.94483725e+01] [ 4.90966707e-02 1.44890937e-03 9.98792980e-01 1.00017792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.520385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.98, Y:59.47, Z:10.00 [[ 6.90224144e-01 -7.22814676e-01 -3.36091581e-02 1.89977459e+02] [ 7.21927191e-01 6.91041777e-01 -3.58105137e-02 5.94683905e+01] [ 4.91096972e-02 4.53916072e-04 9.98793288e-01 1.00014226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.550385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.00, Y:59.49, Z:10.01 [[ 6.92289271e-01 -7.20862435e-01 -3.30592750e-02 1.90004933e+02] [ 7.19947829e-01 6.93076861e-01 -3.63261460e-02 5.94888118e+01] [ 4.90987726e-02 1.34724787e-03 9.98793019e-01 1.00058612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.580385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.02, Y:59.51, Z:10.01 [[ 6.90641604e-01 -7.22415960e-01 -3.36058685e-02 1.90024123e+02] [ 7.21527870e-01 6.91458562e-01 -3.58132614e-02 5.95072202e+01] [ 4.91091371e-02 4.86557642e-04 9.98793300e-01 1.00080186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.610385723 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:190.04, Y:59.53, Z:10.01 [[ 6.85832699e-01 -7.26983162e-01 -3.36004571e-02 1.90035206e+02] [ 7.26100264e-01 6.86655266e-01 -3.58183377e-02 5.95286672e+01] [ 4.91112592e-02 1.68086468e-04 9.98793300e-01 1.00059337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.640385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.06, Y:59.55, Z:10.01 [[ 6.87688616e-01 -7.25254985e-01 -3.30086916e-02 1.90063403e+02] [ 7.24343169e-01 6.88479476e-01 -3.63728516e-02 5.95483161e+01] [ 4.91053987e-02 1.10357568e-03 9.98792993e-01 1.00109323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.670385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.08, Y:59.57, Z:10.01 [[ 6.86417099e-01 -7.26431503e-01 -3.35981823e-02 1.90082956e+02] [ 7.25547865e-01 6.87238843e-01 -3.58199466e-02 5.95689378e+01] [ 4.91107136e-02 2.10334391e-04 9.98793319e-01 1.00131304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.700385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.10, Y:59.59, Z:10.01 [[ 6.82668892e-01 -7.29955489e-01 -3.35881987e-02 1.90095969e+02] [ 7.29075633e-01 6.83494684e-01 -3.58293058e-02 5.95906065e+01] [ 4.91111537e-02 -2.87846914e-05 9.98793319e-01 1.00142155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.730385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.12, Y:59.61, Z:10.02 [[ 6.83819822e-01 -7.28895212e-01 -3.31997132e-02 1.90121366e+02] [ 7.27996303e-01 6.84625031e-01 -3.61932314e-02 5.96121334e+01] [ 4.91104278e-02 5.80380593e-04 9.98793186e-01 1.00176899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.760385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:190.14, Y:59.63, Z:10.02 [[ 6.79927037e-01 -7.32510407e-01 -3.35816666e-02 1.90136457e+02] [ 7.31633356e-01 6.80755803e-01 -3.58353079e-02 5.96340402e+01] [ 4.91106503e-02 -2.04072728e-04 9.98793323e-01 1.00194223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.790385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:190.16, Y:59.65, Z:10.02 [[ 6.79501623e-01 -7.32917227e-01 -3.33149172e-02 1.90155118e+02] [ 7.32028376e-01 6.80317809e-01 -3.60851054e-02 5.96544414e+01] [ 4.91121268e-02 1.32422910e-04 9.98793263e-01 1.00222344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.82038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.18, Y:59.67, Z:10.03 [[ 6.80355505e-01 -7.32125374e-01 -3.32990207e-02 1.90177107e+02] [ 7.31234846e-01 6.81169871e-01 -3.60999735e-02 5.96743084e+01] [ 4.91119962e-02 2.11411423e-04 9.98793255e-01 1.00257465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.85038572300002 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:190.20, Y:59.70, Z:10.03 [[ 6.79054913e-01 -7.33325003e-01 -3.34494374e-02 1.90196350e+02] [ 7.32442827e-01 6.79878249e-01 -3.59593189e-02 5.96953145e+01] [ 4.91114126e-02 -8.14483264e-05 9.98793303e-01 1.00268757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.88038572300002 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:190.21, Y:59.72, Z:10.03 [[ 6.78487703e-01 -7.33845747e-01 -3.35388886e-02 1.90212883e+02] [ 7.32968330e-01 6.79316098e-01 -3.58756947e-02 5.97154176e+01] [ 4.91107330e-02 -2.41725483e-04 9.98793311e-01 1.00274753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.91038572300002 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:190.23, Y:59.74, Z:10.03 [[ 6.78470064e-01 -7.33875647e-01 -3.32401325e-02 1.90231495e+02] [ 7.32984534e-01 6.79283819e-01 -3.61547583e-02 5.97356282e+01] [ 4.91125808e-02 1.65418204e-04 9.98793235e-01 1.00286477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.940385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.25, Y:59.76, Z:10.03 [[ 6.76414417e-01 -7.35769915e-01 -3.32591146e-02 1.90252854e+02] [ 7.34881953e-01 6.77231594e-01 -3.61370170e-02 5.97576249e+01] [ 4.91126531e-02 2.07620439e-06 9.98793246e-01 1.00292267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.970385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.27, Y:59.78, Z:10.04 [[ 6.77785228e-01 -7.34498069e-01 -3.34629814e-02 1.90273488e+02] [ 7.33617953e-01 6.78610752e-01 -3.59464481e-02 5.97771613e+01] [ 4.91109357e-02 -1.85072376e-04 9.98793313e-01 1.00352073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.000385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.29, Y:59.80, Z:10.04 [[ 6.77301275e-01 -7.34941056e-01 -3.35354607e-02 1.90292309e+02] [ 7.34064830e-01 6.78130920e-01 -3.58787028e-02 5.97982107e+01] [ 4.91101645e-02 -3.16511128e-04 9.98793318e-01 1.00358590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.030385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.31, Y:59.82, Z:10.04 [[ 6.77025168e-01 -7.35195851e-01 -3.35258564e-02 1.90311187e+02] [ 7.34319492e-01 6.77854673e-01 -3.58876750e-02 5.98195654e+01] [ 4.91101282e-02 -3.21830697e-04 9.98793318e-01 1.00372943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.060385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.33, Y:59.84, Z:10.04 [[ 6.76850884e-01 -7.35356736e-01 -3.35164420e-02 1.90330353e+02] [ 7.34480140e-01 6.77680137e-01 -3.58964652e-02 5.98405515e+01] [ 4.91101345e-02 -3.20606792e-04 9.98793318e-01 1.00372860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.090385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.35, Y:59.86, Z:10.04 [[ 6.76366278e-01 -7.35802943e-01 -3.35065066e-02 1.90349510e+02] [ 7.34926435e-01 6.77195624e-01 -3.59057368e-02 5.98613911e+01] [ 4.91100064e-02 -3.39387883e-04 9.98793318e-01 1.00380171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.120385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.37, Y:59.88, Z:10.04 [[ 6.75905650e-01 -7.36226547e-01 -3.34966150e-02 1.90368249e+02] [ 7.35350102e-01 6.76735062e-01 -3.59149624e-02 5.98814698e+01] [ 4.91098825e-02 -3.56613234e-04 9.98793318e-01 1.00401129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.150385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.39, Y:59.90, Z:10.04 [[ 6.75295191e-01 -7.36786781e-01 -3.34909771e-02 1.90387243e+02] [ 7.35910762e-01 6.76125054e-01 -3.59202189e-02 5.99019865e+01] [ 4.91096312e-02 -3.89619414e-04 9.98793318e-01 1.00397278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.180385723 meters Centerline goodness : 0.999865 Centerline is valid? [True, True] Translation: X:190.41, Y:59.92, Z:10.04 [[ 6.74443505e-01 -7.37566900e-01 -3.34817240e-02 1.90406696e+02] [ 7.36691414e-01 6.75273929e-01 -3.59288418e-02 5.99235634e+01] [ 4.91092598e-02 -4.33724560e-04 9.98793318e-01 1.00367202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.210385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.42, Y:59.94, Z:10.04 [[ 6.74601004e-01 -7.37423238e-01 -3.34731784e-02 1.90424116e+02] [ 7.36547180e-01 6.75430824e-01 -3.59368016e-02 5.99439461e+01] [ 4.91094491e-02 -4.11572724e-04 9.98793318e-01 1.00398660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.240385723 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:190.44, Y:59.97, Z:10.04 [[ 6.74293312e-01 -7.37704838e-01 -3.34679136e-02 1.90443087e+02] [ 7.36828883e-01 6.75123241e-01 -3.59417041e-02 5.99653794e+01] [ 4.91093353e-02 -4.24874713e-04 9.98793318e-01 1.00385087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.270385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.46, Y:59.99, Z:10.04 [[ 6.75029404e-01 -7.37031767e-01 -3.34585899e-02 1.90460839e+02] [ 7.36154554e-01 6.75858004e-01 -3.59503814e-02 5.99876221e+01] [ 4.91098290e-02 -3.63128790e-04 9.98793318e-01 1.00395134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.300385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.48, Y:60.01, Z:10.04 [[ 6.75321867e-01 -7.36764005e-01 -3.34541142e-02 1.90478586e+02] [ 7.35886257e-01 6.76149900e-01 -3.59545459e-02 6.00089565e+01] [ 4.91100112e-02 -3.37531856e-04 9.98793318e-01 1.00403347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.330385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.50, Y:60.03, Z:10.04 [[ 6.75924466e-01 -7.36211482e-01 -3.34480307e-02 1.90495582e+02] [ 7.35332777e-01 6.76751483e-01 -3.59602044e-02 6.00297861e+01] [ 4.91103198e-02 -2.89051354e-04 9.98793318e-01 1.00412995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.360385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.51, Y:60.05, Z:10.04 [[ 6.77232797e-01 -7.35008446e-01 -3.34413381e-02 1.90513105e+02] [ 7.34127965e-01 6.78057923e-01 -3.59664271e-02 6.00536330e+01] [ 4.91107920e-02 -1.92577459e-04 9.98793318e-01 1.00402401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.390385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.53, Y:60.08, Z:10.04 [[ 6.79195848e-01 -7.33195229e-01 -3.34328514e-02 1.90530457e+02] [ 7.32312157e-01 6.80018201e-01 -3.59743143e-02 6.00764283e+01] [ 4.91111431e-02 -4.96786562e-05 9.98793319e-01 1.00383546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.420385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:190.55, Y:60.10, Z:10.04 [[ 6.78263835e-01 -7.34057642e-01 -3.34297537e-02 1.90546929e+02] [ 7.33175473e-01 6.79087157e-01 -3.59771927e-02 6.00984207e+01] [ 4.91110496e-02 -1.07846803e-04 9.98793319e-01 1.00393511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.450385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.57, Y:60.12, Z:10.04 [[ 6.80692642e-01 -7.31811337e-01 -3.33120781e-02 1.90567394e+02] [ 7.30921094e-01 6.81507242e-01 -3.60864673e-02 6.01205860e+01] [ 4.91109084e-02 2.15292179e-04 9.98793308e-01 1.00379064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.480385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.59, Y:60.14, Z:10.04 [[ 6.80796563e-01 -7.31710000e-01 -3.34143126e-02 1.90586074e+02] [ 7.30824287e-01 6.81616072e-01 -3.59915542e-02 6.01419052e+01] [ 4.91111126e-02 8.29352229e-05 9.98793318e-01 1.00380438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.510385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.60, Y:60.16, Z:10.04 [[ 6.80809991e-01 -7.31697967e-01 -3.34042201e-02 1.90603467e+02] [ 7.30811780e-01 6.81628987e-01 -3.60009187e-02 6.01642955e+01] [ 4.91110837e-02 9.75876007e-05 9.98793318e-01 1.00368563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.540385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.62, Y:60.19, Z:10.04 [[ 6.80592828e-01 -7.31900171e-01 -3.33997283e-02 1.90621285e+02] [ 7.31014023e-01 6.81411867e-01 -3.60050855e-02 6.01857168e+01] [ 4.91110994e-02 8.91331792e-05 9.98793318e-01 1.00366734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.57038572300002 meters Centerline goodness : 0.998785 Centerline is valid? [True, True] Translation: X:190.65, Y:60.21, Z:10.03 [[ 6.81628625e-01 -7.30936073e-01 -3.33897365e-02 1.90646101e+02] [ 7.30048313e-01 6.82445916e-01 -3.60143491e-02 6.02103906e+01] [ 4.91108762e-02 1.72290527e-04 9.98793318e-01 1.00341608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.60038572300002 meters Centerline goodness : 0.997792 Centerline is valid? [True, True] Translation: X:190.67, Y:60.23, Z:10.03 [[ 6.81274422e-01 -7.31232518e-01 -3.41198930e-02 1.90666191e+02] [ 7.30378667e-01 6.82127766e-01 -3.53371580e-02 6.02325421e+01] [ 4.91138053e-02 -8.46140063e-04 9.98792830e-01 1.00345238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.63038572300002 meters Centerline goodness : 0.997808 Centerline is valid? [True, True] Translation: X:190.68, Y:60.25, Z:10.03 [[ 6.81106945e-01 -7.31382182e-01 -3.42554034e-02 1.90682466e+02] [ 7.30534827e-01 6.81967021e-01 -3.52114910e-02 6.02543240e+01] [ 4.91141126e-02 -1.04197410e-03 9.98792630e-01 1.00324402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.66038572300002 meters Centerline goodness : 0.997591 Centerline is valid? [True, True] Translation: X:190.70, Y:60.28, Z:10.03 [[ 6.79938769e-01 -7.32475029e-01 -3.41116322e-02 1.90699482e+02] [ 7.31622365e-01 6.80793271e-01 -3.53445500e-02 6.02771514e+01] [ 4.91119699e-02 -9.24703292e-04 9.98792851e-01 1.00321437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.690385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.71, Y:60.30, Z:10.03 [[ 6.77680374e-01 -7.34567820e-01 -3.40503963e-02 1.90709717e+02] [ 7.33714948e-01 6.78534548e-01 -3.54011633e-02 6.02999494e+01] [ 4.91089256e-02 -9.92611188e-04 9.98792936e-01 1.00313199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.720385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.73, Y:60.32, Z:10.03 [[ 6.77182678e-01 -7.35055022e-01 -3.34325477e-02 1.90725766e+02] [ 7.34174398e-01 6.78007433e-01 -3.59704570e-02 6.03219967e+01] [ 4.91077810e-02 -1.86750206e-04 9.98793468e-01 1.00310443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.750385723 meters Centerline goodness : 0.997189 Centerline is valid? [True, True] Translation: X:190.75, Y:60.34, Z:10.03 [[ 6.84710016e-01 -7.28054882e-01 -3.32908799e-02 1.90746791e+02] [ 7.27159471e-01 6.85518656e-01 -3.61009012e-02 6.03395629e+01] [ 4.91049566e-02 5.10870013e-04 9.98793493e-01 1.00314912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.780385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.76, Y:60.36, Z:10.03 [[ 6.82065619e-01 -7.30534545e-01 -3.32531145e-02 1.90760924e+02] [ 7.29640380e-01 6.82875633e-01 -3.61356542e-02 6.03642578e+01] [ 4.91060853e-02 3.84072295e-04 9.98793495e-01 1.00311152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.810385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.78, Y:60.39, Z:10.04 [[ 6.85784860e-01 -7.27048153e-01 -3.31678843e-02 1.90778331e+02] [ 7.26146072e-01 6.86586061e-01 -3.62141183e-02 6.03877199e+01] [ 4.91020149e-02 7.50365187e-04 9.98793487e-01 1.00385025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.840385723 meters Centerline goodness : 0.996342 Centerline is valid? [True, True] Translation: X:190.80, Y:60.41, Z:10.04 [[ 6.87401078e-01 -7.25516148e-01 -3.32577176e-02 1.90800816e+02] [ 7.24616275e-01 6.88204747e-01 -3.61314304e-02 6.04122439e+01] [ 4.91020554e-02 7.37700778e-04 9.98793494e-01 1.00357521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.870385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.81, Y:60.43, Z:10.04 [[ 6.89557923e-01 -7.23438373e-01 -3.38642989e-02 1.90814002e+02] [ 7.22563261e-01 6.90388960e-01 -3.55727023e-02 6.04314706e+01] [ 4.91141960e-02 6.03404816e-05 9.98793168e-01 1.00393664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.900385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.83, Y:60.45, Z:10.04 [[ 6.89967942e-01 -7.23076569e-01 -3.32342395e-02 1.90831035e+02] [ 7.22172868e-01 6.90767245e-01 -3.61519362e-02 6.04526596e+01] [ 4.90977421e-02 9.42810943e-04 9.98793534e-01 1.00385037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.930385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.85, Y:60.47, Z:10.04 [[ 6.90025983e-01 -7.23021496e-01 -3.32273907e-02 1.90848330e+02] [ 7.22117428e-01 6.90824871e-01 -3.61582299e-02 6.04747461e+01] [ 4.90974854e-02 9.56040193e-04 9.98793534e-01 1.00389773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.960385723 meters Centerline goodness : 0.997783 Centerline is valid? [True, True] Translation: X:190.87, Y:60.50, Z:10.04 [[ 6.89012506e-01 -7.23987837e-01 -3.32171331e-02 1.90867392e+02] [ 7.23084436e-01 6.89812148e-01 -3.61676507e-02 6.04966304e+01] [ 4.90985212e-02 9.01171765e-04 9.98793534e-01 1.00383218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.990385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:190.89, Y:60.52, Z:10.04 [[ 6.89548434e-01 -7.23468400e-01 -3.34130471e-02 1.90885488e+02] [ 7.22573081e-01 6.90357171e-01 -3.59877643e-02 6.05158186e+01] [ 4.91029470e-02 6.71938120e-04 9.98793497e-01 1.00416200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.020385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.90, Y:60.54, Z:10.04 [[ 6.89267470e-01 -7.23746217e-01 -3.31928920e-02 1.90904613e+02] [ 7.22841475e-01 6.90065582e-01 -3.61896918e-02 6.05369867e+01] [ 4.90974249e-02 9.51178283e-04 9.98793541e-01 1.00435167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.050385723 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:190.92, Y:60.56, Z:10.04 [[ 6.87959484e-01 -7.24990107e-01 -3.31827379e-02 1.90924143e+02] [ 7.24086359e-01 6.88758722e-01 -3.61989999e-02 6.05580452e+01] [ 4.90988169e-02 8.76277447e-04 9.98793541e-01 1.00432169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.080385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:190.94, Y:60.58, Z:10.05 [[ 6.88674218e-01 -7.24311644e-01 -3.31732484e-02 1.90942691e+02] [ 7.23406690e-01 6.89472091e-01 -3.62076941e-02 6.05787421e+01] [ 4.90976833e-02 9.37555544e-04 9.98793541e-01 1.00464074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.110385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.96, Y:60.60, Z:10.05 [[ 6.88838576e-01 -7.24155569e-01 -3.31681877e-02 1.90961576e+02] [ 7.23250211e-01 6.89635990e-01 -3.62123293e-02 6.05989633e+01] [ 4.90973359e-02 9.55550554e-04 9.98793542e-01 1.00472850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.140385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:190.98, Y:60.62, Z:10.05 [[ 6.90203980e-01 -7.22854758e-01 -3.31581913e-02 1.90983940e+02] [ 7.21947458e-01 6.90999184e-01 -3.62214803e-02 6.06204303e+01] [ 4.90951525e-02 1.06173790e-03 9.98793542e-01 1.00460304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.170385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.00, Y:60.64, Z:10.05 [[ 6.89905680e-01 -7.23132840e-01 -3.33023769e-02 1.91002033e+02] [ 7.22232212e-01 6.90708462e-01 -3.60894958e-02 6.06407463e+01] [ 4.90997331e-02 8.46298762e-04 9.98793522e-01 1.00474536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.200385723 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:191.02, Y:60.66, Z:10.04 [[ 6.92834452e-01 -7.20333210e-01 -3.31736105e-02 1.91024326e+02] [ 7.19423694e-01 6.93627118e-01 -3.62073236e-02 6.06613468e+01] [ 4.90914535e-02 1.21979984e-03 9.98793543e-01 1.00448737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.230385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.04, Y:60.68, Z:10.05 [[ 6.92468739e-01 -7.20679141e-01 -3.32959532e-02 1.91039691e+02] [ 7.19775387e-01 6.93267997e-01 -3.60953872e-02 6.06809755e+01] [ 4.90962114e-02 1.02931968e-03 9.98793523e-01 1.00498721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.260385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:191.06, Y:60.70, Z:10.05 [[ 6.92877921e-01 -7.20303957e-01 -3.28998075e-02 1.91059106e+02] [ 7.19382501e-01 6.93656740e-01 -3.64574476e-02 6.06998192e+01] [ 4.90816169e-02 1.59301468e-03 9.98793501e-01 1.00467304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.290385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:191.08, Y:60.72, Z:10.05 [[ 6.93636925e-01 -7.19574574e-01 -3.28671491e-02 1.91078865e+02] [ 7.18650886e-01 6.94413119e-01 -3.64873055e-02 6.07189985e+01] [ 4.90787168e-02 1.68893654e-03 9.98793486e-01 1.00495431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.32038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.10, Y:60.74, Z:10.05 [[ 6.95817908e-01 -7.17469290e-01 -3.27911096e-02 1.91103211e+02] [ 7.16539985e-01 6.96587432e-01 -3.65567962e-02 6.07398027e+01] [ 4.90702535e-02 1.94073223e-03 9.98793444e-01 1.00533942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.35038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.12, Y:60.76, Z:10.05 [[ 6.96174297e-01 -7.17107759e-01 -3.31332323e-02 1.91122990e+02] [ 7.16192826e-01 6.96960691e-01 -3.62440449e-02 6.07567321e+01] [ 4.90834463e-02 1.50238920e-03 9.98793551e-01 1.00510476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.38038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.14, Y:60.78, Z:10.05 [[ 6.95139184e-01 -7.18119257e-01 -3.29582782e-02 1.91139777e+02] [ 7.17197885e-01 6.95918063e-01 -3.64038928e-02 6.07761816e+01] [ 4.90785976e-02 1.66816488e-03 9.98793526e-01 1.00538786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.41038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.17, Y:60.79, Z:10.05 [[ 6.97735729e-01 -7.15608929e-01 -3.26911809e-02 1.91166954e+02] [ 7.14673318e-01 6.98497667e-01 -3.66477532e-02 6.07946788e+01] [ 4.90601729e-02 2.20693210e-03 9.98793386e-01 1.00538366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.440385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.18, Y:60.81, Z:10.05 [[ 6.95510903e-01 -7.17751761e-01 -3.31208964e-02 1.91182504e+02] [ 7.16837027e-01 6.96297521e-01 -3.62551983e-02 6.08133956e+01] [ 4.90842305e-02 1.47360081e-03 9.98793556e-01 1.00544451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.470385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.20, Y:60.83, Z:10.05 [[ 6.95535885e-01 -7.17747449e-01 -3.26868903e-02 1.91204452e+02] [ 7.16814015e-01 6.96300473e-01 -3.66513201e-02 6.08319113e+01] [ 4.90662886e-02 2.06188727e-03 9.98793396e-01 1.00548593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.500385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.22, Y:60.85, Z:10.06 [[ 6.94922923e-01 -7.18339113e-01 -3.27269065e-02 1.91224446e+02] [ 7.17408045e-01 6.95690343e-01 -3.66148019e-02 6.08520879e+01] [ 4.90696371e-02 1.96591915e-03 9.98793425e-01 1.00562246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.530385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.25, Y:60.87, Z:10.06 [[ 6.95354106e-01 -7.17921715e-01 -3.27273214e-02 1.91248967e+02] [ 7.16990204e-01 6.96120989e-01 -3.66144232e-02 6.08723369e+01] [ 4.90684649e-02 1.99482073e-03 9.98793425e-01 1.00591913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.560385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.26, Y:60.89, Z:10.06 [[ 6.91708309e-01 -7.21417662e-01 -3.31084801e-02 1.91261564e+02] [ 7.20506559e-01 6.92499127e-01 -3.62664637e-02 6.08921197e+01] [ 4.90908610e-02 1.23093722e-03 9.98793558e-01 1.00614200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.590385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.29, Y:60.91, Z:10.06 [[ 6.93072301e-01 -7.20133343e-01 -3.25384997e-02 1.91286044e+02] [ 7.19196217e-01 6.93832533e-01 -3.67861017e-02 6.09142776e+01] [ 4.90671680e-02 2.09386222e-03 9.98793286e-01 1.00635651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.620385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.31, Y:60.94, Z:10.07 [[ 6.92183223e-01 -7.20962445e-01 -3.30989114e-02 1.91305142e+02] [ 7.20050426e-01 6.92972961e-01 -3.62747732e-02 6.09351336e+01] [ 4.90893998e-02 1.27590414e-03 9.98793574e-01 1.00656523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.650385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:191.32, Y:60.95, Z:10.07 [[ 6.87764294e-01 -7.25179543e-01 -3.30893597e-02 1.91316973e+02] [ 7.24271949e-01 6.88559113e-01 -3.62834840e-02 6.09547105e+01] [ 4.90960206e-02 9.88789716e-04 9.98793574e-01 1.00660824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.680385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.34, Y:60.98, Z:10.07 [[ 6.89330532e-01 -7.23715133e-01 -3.25549366e-02 1.91341518e+02] [ 7.22782769e-01 6.90096449e-01 -3.67690046e-02 6.09757937e+01] [ 4.90763311e-02 1.81585028e-03 9.98793380e-01 1.00710399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.710385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.36, Y:60.99, Z:10.07 [[ 6.88430423e-01 -7.24547794e-01 -3.30763782e-02 1.91360775e+02] [ 7.23638920e-01 6.89223758e-01 -3.62949658e-02 6.09942415e+01] [ 4.90944631e-02 1.05120402e-03 9.98793587e-01 1.00735939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.740385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.38, Y:61.01, Z:10.07 [[ 6.86360752e-01 -7.26511051e-01 -3.30244016e-02 1.91378895e+02] [ 7.25602174e-01 6.87154080e-01 -3.63421975e-02 6.10144673e+01] [ 4.90958604e-02 9.81280394e-04 9.98793589e-01 1.00739742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.770385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.40, Y:61.04, Z:10.08 [[ 6.86160566e-01 -7.26700375e-01 -3.30188113e-02 1.91398051e+02] [ 7.25791473e-01 6.86953866e-01 -3.63472758e-02 6.10356569e+01] [ 4.90959790e-02 9.75295692e-04 9.98793589e-01 1.00753754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.800385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.41, Y:61.05, Z:10.08 [[ 6.82091169e-01 -7.30521771e-01 -3.30087825e-02 1.91408749e+02] [ 7.29616874e-01 6.82889033e-01 -3.63563812e-02 6.10545292e+01] [ 4.91004635e-02 7.14601864e-04 9.98793589e-01 1.00762874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.830385723 meters Centerline goodness : 0.997475 Centerline is valid? [True, True] Translation: X:191.43, Y:61.08, Z:10.08 [[ 6.83070151e-01 -7.29638493e-01 -3.22930140e-02 1.91431784e+02] [ 7.28701794e-01 6.83830852e-01 -3.70008247e-02 6.10771145e+01] [ 4.90801852e-02 1.74218164e-03 9.98793322e-01 1.00777822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.860385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:191.45, Y:61.10, Z:10.08 [[ 6.81736962e-01 -7.30864114e-01 -3.27469296e-02 1.91450921e+02] [ 7.29948273e-01 6.82522205e-01 -3.65917810e-02 6.10955971e+01] [ 4.90941262e-02 1.04240490e-03 9.98793612e-01 1.00807706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.890385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.47, Y:61.12, Z:10.08 [[ 6.81882557e-01 -7.30733842e-01 -3.26225493e-02 1.91471003e+02] [ 7.29812466e-01 6.82661384e-01 -3.67042148e-02 6.11161702e+01] [ 4.90911665e-02 1.21962070e-03 9.98793557e-01 1.00827175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.920385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.49, Y:61.14, Z:10.09 [[ 6.82383142e-01 -7.30262642e-01 -3.27065795e-02 1.91492770e+02] [ 7.29344361e-01 6.83165554e-01 -3.66282527e-02 6.11374235e+01] [ 4.90922530e-02 1.14014282e-03 9.98793598e-01 1.00861572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.950385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.51, Y:61.16, Z:10.09 [[ 6.81613320e-01 -7.30971355e-01 -3.29265794e-02 1.91510896e+02] [ 7.30063456e-01 6.82407687e-01 -3.64293693e-02 6.11584410e+01] [ 4.90981763e-02 7.92251033e-04 9.98793643e-01 1.00852444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.980385723 meters Centerline goodness : 0.995516 Centerline is valid? [True, True] Translation: X:191.53, Y:61.18, Z:10.09 [[ 6.80151131e-01 -7.32332477e-01 -3.29178093e-02 1.91529409e+02] [ 7.31425785e-01 6.80946873e-01 -3.64372947e-02 6.11790631e+01] [ 4.90994936e-02 7.05932688e-04 9.98793643e-01 1.00893801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.010385723 meters Centerline goodness : 0.995696 Centerline is valid? [True, True] Translation: X:191.55, Y:61.20, Z:10.09 [[ 6.78424753e-01 -7.33933358e-01 -3.28889276e-02 1.91547967e+02] [ 7.33027279e-01 6.79221194e-01 -3.64633795e-02 6.11995681e+01] [ 4.91005472e-02 6.29178169e-04 9.98793643e-01 1.00919023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.040385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.57, Y:61.22, Z:10.10 [[ 6.76528186e-01 -7.35678411e-01 -3.29680080e-02 1.91571079e+02] [ 7.34777860e-01 6.77330879e-01 -3.63920001e-02 6.12221901e+01] [ 4.91030586e-02 3.96051392e-04 9.98793639e-01 1.01006435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.07038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.59, Y:61.24, Z:10.10 [[ 6.73978705e-01 -7.38003128e-01 -3.32278166e-02 1.91591723e+02] [ 7.37116793e-01 6.74797279e-01 -3.61589019e-02 6.12429619e+01] [ 4.91074229e-02 -1.22451736e-04 9.98793495e-01 1.01036763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.10038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.60, Y:61.26, Z:10.10 [[ 6.70443191e-01 -7.41215275e-01 -3.32542418e-02 1.91604547e+02] [ 7.40334036e-01 6.71267281e-01 -3.61352078e-02 6.12622524e+01] [ 4.91064525e-02 -3.92643056e-04 9.98793473e-01 1.01007242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.13038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.63, Y:61.28, Z:10.11 [[ 6.72577766e-01 -7.39301050e-01 -3.27582871e-02 1.91629603e+02] [ 7.38395669e-01 6.73374922e-01 -3.65793697e-02 6.12846257e+01] [ 4.91017754e-02 4.13893486e-04 9.98793695e-01 1.01066232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.16038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.65, Y:61.31, Z:10.11 [[ 6.73140857e-01 -7.38767100e-01 -3.32349087e-02 1.91649613e+02] [ 7.37882020e-01 6.73960783e-01 -3.61522761e-02 6.13059968e+01] [ 4.91071373e-02 -1.87867411e-04 9.98793499e-01 1.01086040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.190385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.67, Y:61.33, Z:10.11 [[ 6.72720984e-01 -7.39143269e-01 -3.33722417e-02 1.91665564e+02] [ 7.38264743e-01 6.73548119e-01 -3.60291710e-02 6.13262824e+01] [ 4.91085298e-02 -3.99970106e-04 9.98793368e-01 1.01098975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.220385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.69, Y:61.35, Z:10.11 [[ 6.73111563e-01 -7.38799306e-01 -3.31120797e-02 1.91686509e+02] [ 7.37908859e-01 6.73925504e-01 -3.62619791e-02 6.13499920e+01] [ 4.91054000e-02 -2.53395555e-05 9.98793602e-01 1.01106361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.250385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.70, Y:61.37, Z:10.11 [[ 6.69607127e-01 -7.41969141e-01 -3.32879643e-02 1.91697633e+02] [ 7.41090346e-01 6.70433852e-01 -3.61046973e-02 6.13695532e+01] [ 4.91059494e-02 -4.93426318e-04 9.98793453e-01 1.01070210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.280385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:191.72, Y:61.39, Z:10.11 [[ 6.70106873e-01 -7.41543987e-01 -3.27000771e-02 1.91718615e+02] [ 7.40638824e-01 6.70904173e-01 -3.66295389e-02 6.13908590e+01] [ 4.91010325e-02 3.26759073e-04 9.98793763e-01 1.01098068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.310385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.74, Y:61.41, Z:10.11 [[ 6.69714553e-01 -7.41891338e-01 -3.28581982e-02 1.91737105e+02] [ 7.40993494e-01 6.70520123e-01 -3.64884456e-02 6.14123257e+01] [ 4.91025448e-02 8.91319610e-05 9.98793739e-01 1.01116501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.340385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.76, Y:61.43, Z:10.11 [[ 6.70765894e-01 -7.40941993e-01 -3.28340965e-02 1.91756134e+02] [ 7.40041957e-01 6.71569003e-01 -3.65099368e-02 6.14337740e+01] [ 4.91021068e-02 1.91011316e-04 9.98793746e-01 1.01148504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.370385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.77, Y:61.46, Z:10.11 [[ 6.68924629e-01 -7.42603491e-01 -3.28617630e-02 1.91770964e+02] [ 7.41706661e-01 6.69731330e-01 -3.64852773e-02 6.14553292e+01] [ 4.91026465e-02 3.21121045e-05 9.98793737e-01 1.01125737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.400385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.79, Y:61.48, Z:10.11 [[ 6.68970805e-01 -7.42570976e-01 -3.26558946e-02 1.91788999e+02] [ 7.41665129e-01 6.69767309e-01 -3.66686196e-02 6.14763780e+01] [ 4.91009033e-02 3.10497698e-04 9.98793775e-01 1.01123479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.430385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.81, Y:61.50, Z:10.11 [[ 6.68743458e-01 -7.42776180e-01 -3.26455873e-02 1.91807352e+02] [ 7.41870129e-01 6.69539731e-01 -3.66777938e-02 6.14978132e+01] [ 4.91009093e-02 3.09248571e-04 9.98793775e-01 1.01148940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.460385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.83, Y:61.52, Z:10.12 [[ 6.67350949e-01 -7.44027806e-01 -3.26394617e-02 1.91825406e+02] [ 7.43122982e-01 6.68148616e-01 -3.66832430e-02 6.15175121e+01] [ 4.91013640e-02 2.25462969e-04 9.98793775e-01 1.01153100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.490385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:191.84, Y:61.54, Z:10.12 [[ 6.65628531e-01 -7.45571275e-01 -3.25903889e-02 1.91839662e+02] [ 7.44666163e-01 6.66425872e-01 -3.67268805e-02 6.15376684e+01] [ 4.91015855e-02 1.77499688e-04 9.98793774e-01 1.01169759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.520385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.86, Y:61.56, Z:10.12 [[ 6.65462476e-01 -7.45734197e-01 -3.22521256e-02 1.91862090e+02] [ 7.44814640e-01 6.66243292e-01 -3.70273932e-02 6.15605917e+01] [ 4.91003557e-02 6.18485434e-04 9.98793659e-01 1.01162941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.550385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:191.88, Y:61.58, Z:10.12 [[ 6.63819428e-01 -7.47181189e-01 -3.26196087e-02 1.91879897e+02] [ 7.46279292e-01 6.64620396e-01 -3.67007826e-02 6.15826680e+01] [ 4.91017917e-02 1.93539986e-05 9.98793779e-01 1.01181112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.580385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:191.90, Y:61.60, Z:10.12 [[ 6.64755860e-01 -7.46349752e-01 -3.25836504e-02 1.91898168e+02] [ 7.45445287e-01 6.65553928e-01 -3.67327275e-02 6.16032621e+01] [ 4.91016386e-02 1.28967298e-04 9.98793779e-01 1.01199601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.610385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:191.92, Y:61.63, Z:10.12 [[ 6.63555142e-01 -7.47418035e-01 -3.25707663e-02 1.91915328e+02] [ 7.46514293e-01 6.64354029e-01 -3.67441679e-02 6.16267633e+01] [ 4.91017736e-02 6.72389377e-05 9.98793778e-01 1.01176662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.640385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.93, Y:61.65, Z:10.12 [[ 6.64662944e-01 -7.46431943e-01 -3.25963930e-02 1.91930221e+02] [ 7.45528131e-01 6.65461752e-01 -3.67214199e-02 6.16473478e+01] [ 4.91016936e-02 1.05839121e-04 9.98793779e-01 1.01161480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.670385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.95, Y:61.67, Z:10.12 [[ 6.67767934e-01 -7.43671346e-01 -3.22322122e-02 1.91952266e+02] [ 7.42748557e-01 6.68544909e-01 -3.70443778e-02 6.16685697e+01] [ 4.90975236e-02 7.96618515e-04 9.98793672e-01 1.01200323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.700385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.97, Y:61.69, Z:10.12 [[ 6.69198050e-01 -7.42369286e-01 -3.25854850e-02 1.91969716e+02] [ 7.41460159e-01 6.69990797e-01 -3.67309831e-02 6.16912016e+01] [ 4.90999287e-02 4.19463380e-04 9.98793783e-01 1.01187686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.730385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.99, Y:61.71, Z:10.12 [[ 6.69510367e-01 -7.42088075e-01 -3.25754118e-02 1.91987771e+02] [ 7.41178180e-01 6.70302233e-01 -3.67399145e-02 6.17132969e+01] [ 4.90996236e-02 4.53569192e-04 9.98793783e-01 1.01188782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.760385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:192.00, Y:61.74, Z:10.11 [[ 6.67444427e-01 -7.43947198e-01 -3.25653755e-02 1.92000237e+02] [ 7.43039076e-01 6.68238324e-01 -3.67488082e-02 6.17362058e+01] [ 4.91006048e-02 3.30440705e-04 9.98793783e-01 1.01147664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.790385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.02, Y:61.76, Z:10.12 [[ 6.70005280e-01 -7.41657208e-01 -3.22104044e-02 1.92023050e+02] [ 7.40731186e-01 6.70778383e-01 -3.70630716e-02 6.17567744e+01] [ 4.90941371e-02 9.73202627e-04 9.98793682e-01 1.01175249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.82038572300002 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:192.04, Y:61.78, Z:10.12 [[ 6.67608795e-01 -7.43800270e-01 -3.25523435e-02 1.92037841e+02] [ 7.42891414e-01 6.68401847e-01 -3.67602810e-02 6.17790000e+01] [ 4.91003534e-02 3.58630425e-04 9.98793786e-01 1.01152326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.85038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.06, Y:61.80, Z:10.11 [[ 6.66683452e-01 -7.44641995e-01 -3.22718860e-02 1.92055670e+02] [ 7.43722070e-01 6.67463743e-01 -3.70085711e-02 6.18004855e+01] [ 4.90984500e-02 6.71688088e-04 9.98793718e-01 1.01138175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.88038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.07, Y:61.82, Z:10.12 [[ 6.66464320e-01 -7.44839928e-01 -3.22302933e-02 1.92074647e+02] [ 7.43918454e-01 6.67242814e-01 -3.70453821e-02 6.18217128e+01] [ 4.90983114e-02 7.12715400e-04 9.98793696e-01 1.01158152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.91038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.09, Y:61.84, Z:10.12 [[ 6.65362503e-01 -7.45823352e-01 -3.22531605e-02 1.92092604e+02] [ 7.44904009e-01 6.66143495e-01 -3.70251477e-02 6.18435929e+01] [ 4.90994528e-02 6.09636443e-04 9.98793708e-01 1.01164571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.940385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.11, Y:61.86, Z:10.12 [[ 6.66956242e-01 -7.44397331e-01 -3.22797953e-02 1.92114709e+02] [ 7.43477457e-01 6.67736589e-01 -3.70015879e-02 6.18638616e+01] [ 4.90982836e-02 6.79139890e-04 9.98793721e-01 1.01166002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.970385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.13, Y:61.89, Z:10.12 [[ 6.64069394e-01 -7.46962705e-01 -3.25354730e-02 1.92130334e+02] [ 7.46056885e-01 6.64865923e-01 -3.67753916e-02 6.18852072e+01] [ 4.91015733e-02 1.48098372e-04 9.98793779e-01 1.01193697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.000385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.15, Y:61.91, Z:10.12 [[ 6.63922000e-01 -7.47102773e-01 -3.23268392e-02 1.92148314e+02] [ 7.46188111e-01 6.64708412e-01 -3.69598504e-02 6.19064209e+01] [ 4.91007286e-02 4.16554690e-04 9.98793745e-01 1.01201943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.030385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.17, Y:61.93, Z:10.12 [[ 6.66346136e-01 -7.44943462e-01 -3.22810250e-02 1.92170473e+02] [ 7.44024289e-01 6.67127298e-01 -3.70003435e-02 6.19275956e+01] [ 4.90987170e-02 6.37169256e-04 9.98793727e-01 1.01202513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.060385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:192.18, Y:61.95, Z:10.12 [[ 6.64769481e-01 -7.46340533e-01 -3.25168451e-02 1.92183972e+02] [ 7.45433158e-01 6.65564242e-01 -3.67919281e-02 6.19486472e+01] [ 4.91013566e-02 2.19016381e-04 9.98793777e-01 1.01184857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.090385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:192.20, Y:61.97, Z:10.12 [[ 6.65780790e-01 -7.45454551e-01 -3.21473454e-02 1.92201966e+02] [ 7.44530274e-01 6.66556005e-01 -3.71182329e-02 6.19694341e+01] [ 4.90979618e-02 7.77934543e-04 9.98793665e-01 1.01203378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.120385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.23, Y:61.99, Z:10.13 [[ 6.69582368e-01 -7.42042232e-01 -3.21368603e-02 1.92225555e+02] [ 7.41113562e-01 6.70352324e-01 -3.71274910e-02 6.19917356e+01] [ 4.90931853e-02 1.04285041e-03 9.98793658e-01 1.01252848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.150385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.25, Y:62.01, Z:10.13 [[ 6.71431138e-01 -7.40353667e-01 -3.25065243e-02 1.92245409e+02] [ 7.39438769e-01 6.72217223e-01 -3.68009725e-02 6.20126547e+01] [ 4.90971804e-02 6.72734570e-04 9.98793780e-01 1.01290324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.180385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.26, Y:62.03, Z:10.13 [[ 6.72122254e-01 -7.39726686e-01 -3.24977894e-02 1.92264011e+02] [ 7.38810682e-01 6.72907049e-01 -3.68086844e-02 6.20328899e+01] [ 4.90963577e-02 7.30221954e-04 9.98793780e-01 1.01301781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.210385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:192.28, Y:62.05, Z:10.13 [[ 6.73692526e-01 -7.38297118e-01 -3.24922315e-02 1.92281187e+02] [ 7.37379213e-01 6.74475097e-01 -3.68135899e-02 6.20518999e+01] [ 4.90945683e-02 8.41944374e-04 9.98793780e-01 1.01299078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.240385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.30, Y:62.07, Z:10.14 [[ 6.73688880e-01 -7.38311791e-01 -3.22334095e-02 1.92300922e+02] [ 7.37382949e-01 6.74458518e-01 -3.70417953e-02 6.20749540e+01] [ 4.90884918e-02 1.18627900e-03 9.98793729e-01 1.01352541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.270385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.32, Y:62.10, Z:10.14 [[ 6.73691876e-01 -7.38298586e-01 -3.24723576e-02 1.92319515e+02] [ 7.37379837e-01 6.74473457e-01 -3.68311288e-02 6.20954438e+01] [ 4.90941136e-02 8.68370531e-04 9.98793779e-01 1.01376302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.300385723 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:192.34, Y:62.12, Z:10.14 [[ 6.73119372e-01 -7.38821029e-01 -3.24622701e-02 1.92339081e+02] [ 7.37902458e-01 6.73901161e-01 -3.68400176e-02 6.21161855e+01] [ 4.90945412e-02 8.43740529e-04 9.98793780e-01 1.01403925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.330385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.36, Y:62.14, Z:10.14 [[ 6.72441416e-01 -7.39438514e-01 -3.24534604e-02 1.92358271e+02] [ 7.38520286e-01 6.73223609e-01 -3.68477767e-02 6.21371441e+01] [ 4.90951010e-02 8.10432287e-04 9.98793780e-01 1.01428129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.360385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.38, Y:62.16, Z:10.15 [[ 6.71263889e-01 -7.40508082e-01 -3.24433756e-02 1.92377644e+02] [ 7.39590672e-01 6.72047041e-01 -3.68566539e-02 6.21568555e+01] [ 4.90961247e-02 7.45722856e-04 9.98793780e-01 1.01465383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.390385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.40, Y:62.18, Z:10.15 [[ 6.70541383e-01 -7.41162825e-01 -3.24333432e-02 1.92396750e+02] [ 7.40245753e-01 6.71324930e-01 -3.68654802e-02 6.21772050e+01] [ 4.90966353e-02 7.11185487e-04 9.98793780e-01 1.01490003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.420385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.42, Y:62.20, Z:10.15 [[ 6.69085552e-01 -7.42477779e-01 -3.24233320e-02 1.92415024e+02] [ 7.41561821e-01 6.69870401e-01 -3.68742830e-02 6.21974485e+01] [ 4.90977661e-02 6.28144853e-04 9.98793780e-01 1.01505921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.450385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.43, Y:62.22, Z:10.15 [[ 6.68300318e-01 -7.43184885e-01 -3.24177658e-02 1.92432908e+02] [ 7.42269520e-01 6.69085858e-01 -3.68791758e-02 6.22188049e+01] [ 4.90983147e-02 5.83645438e-04 9.98793780e-01 1.01517437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.480385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.45, Y:62.24, Z:10.15 [[ 6.67047564e-01 -7.44309938e-01 -3.24077849e-02 1.92450494e+02] [ 7.43395472e-01 6.67834150e-01 -3.68879445e-02 6.22399111e+01] [ 4.90990892e-02 5.14212914e-04 9.98793780e-01 1.01528758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.510385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:192.47, Y:62.26, Z:10.15 [[ 6.65660588e-01 -7.45551004e-01 -3.23988008e-02 1.92468949e+02] [ 7.44637620e-01 6.66448431e-01 -3.68958336e-02 6.22610203e+01] [ 4.90998557e-02 4.34736378e-04 9.98793780e-01 1.01545320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.540385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:192.49, Y:62.28, Z:10.16 [[ 6.64975726e-01 -7.46162349e-01 -3.23887742e-02 1.92486691e+02] [ 7.45249261e-01 6.65763912e-01 -3.69046333e-02 6.22815806e+01] [ 4.91001249e-02 4.02975265e-04 9.98793780e-01 1.01559162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.57038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.50, Y:62.30, Z:10.16 [[ 6.63796321e-01 -7.47211998e-01 -3.23832529e-02 1.92504242e+02] [ 7.46299920e-01 6.64585675e-01 -3.69094775e-02 6.23039387e+01] [ 4.91006504e-02 3.32756364e-04 9.98793780e-01 1.01576408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.60038572300002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:192.52, Y:62.33, Z:10.16 [[ 6.63459884e-01 -7.47511187e-01 -3.23729445e-02 1.92521822e+02] [ 7.46599025e-01 6.64249140e-01 -3.69185167e-02 6.23259712e+01] [ 4.91007048e-02 3.24346049e-04 9.98793780e-01 1.01587006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.63038572300002 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:192.54, Y:62.35, Z:10.16 [[ 6.62697269e-01 -7.48187807e-01 -3.23625644e-02 1.92540167e+02] [ 7.47276006e-01 6.63486943e-01 -3.69276136e-02 6.23484444e+01] [ 4.91009291e-02 2.88060802e-04 9.98793780e-01 1.01594802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.66038572300002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:192.56, Y:62.37, Z:10.16 [[ 6.62481785e-01 -7.48372030e-01 -3.25144427e-02 1.92556837e+02] [ 7.47466964e-01 6.63279202e-01 -3.67945299e-02 6.23696189e+01] [ 4.91021506e-02 7.22340736e-05 9.98793759e-01 1.01612172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.690385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:192.58, Y:62.39, Z:10.16 [[ 6.62273194e-01 -7.48563902e-01 -3.23465752e-02 1.92575531e+02] [ 7.47651870e-01 6.63062596e-01 -3.69415189e-02 6.23912214e+01] [ 4.91008916e-02 2.81400316e-04 9.98793784e-01 1.01625302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.720385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.59, Y:62.41, Z:10.16 [[ 6.61207387e-01 -7.49505942e-01 -3.23362629e-02 1.92593392e+02] [ 7.48594594e-01 6.61997577e-01 -3.69505434e-02 6.24115486e+01] [ 4.91011796e-02 2.25220714e-04 9.98793784e-01 1.01648227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.750385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.61, Y:62.43, Z:10.17 [[ 6.60814150e-01 -7.49852914e-01 -3.23305773e-02 1.92611180e+02] [ 7.48941737e-01 6.61604538e-01 -3.69555175e-02 6.24317315e+01] [ 4.91012591e-02 2.07010176e-04 9.98793784e-01 1.01660685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.780385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:192.63, Y:62.45, Z:10.17 [[ 6.59774824e-01 -7.50767791e-01 -3.23250137e-02 1.92629610e+02] [ 7.49857471e-01 6.60566199e-01 -3.69603833e-02 6.24534986e+01] [ 4.91014768e-02 1.46377331e-04 9.98793784e-01 1.01672555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.810385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.65, Y:62.47, Z:10.17 [[ 6.59328633e-01 -7.51160105e-01 -3.23148608e-02 1.92648478e+02] [ 7.50249821e-01 6.60120050e-01 -3.69692580e-02 6.24749311e+01] [ 4.91015192e-02 1.30671757e-04 9.98793784e-01 1.01686546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.840385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.66, Y:62.50, Z:10.17 [[ 6.55435454e-01 -7.54559997e-01 -3.23044182e-02 1.92659137e+02] [ 7.53653369e-01 6.56231056e-01 -3.69783807e-02 6.24954492e+01] [ 4.91015693e-02 -1.09391904e-04 9.98793784e-01 1.01670602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.870385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:192.68, Y:62.52, Z:10.17 [[ 6.58211217e-01 -7.52166016e-01 -3.16903481e-02 1.92683898e+02] [ 7.51230461e-01 6.58973065e-01 -3.75139236e-02 6.25180569e+01] [ 4.90997842e-02 8.85330511e-04 9.98793486e-01 1.01694713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.900385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:192.70, Y:62.54, Z:10.17 [[ 6.57577658e-01 -7.52694649e-01 -3.22860507e-02 1.92697915e+02] [ 7.51784994e-01 6.58369776e-01 -3.69940527e-02 6.25403542e+01] [ 4.91013855e-02 5.42940616e-05 9.98793798e-01 1.01689237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.930385723 meters Centerline goodness : 0.997448 Centerline is valid? [True, True] Translation: X:192.72, Y:62.56, Z:10.17 [[ 6.58254661e-01 -7.52112461e-01 -3.20569439e-02 1.92717474e+02] [ 7.51192361e-01 6.59034661e-01 -3.71934322e-02 6.25634753e+01] [ 4.91002810e-02 4.01818722e-04 9.98793773e-01 1.01688115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.960385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:192.73, Y:62.58, Z:10.17 [[ 6.58942444e-01 -7.51492418e-01 -3.24653723e-02 1.92734381e+02] [ 7.50589000e-01 6.59741720e-01 -3.68377065e-02 6.25844055e+01] [ 4.91020177e-02 -9.42229868e-05 9.98793764e-01 1.01691931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.990385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.75, Y:62.60, Z:10.17 [[ 6.59696423e-01 -7.50840797e-01 -3.22292886e-02 1.92751810e+02] [ 7.49926518e-01 6.60483176e-01 -3.70431138e-02 6.26047538e+01] [ 4.91003840e-02 2.67611476e-04 9.98793813e-01 1.01710940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.020385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:192.77, Y:62.63, Z:10.17 [[ 6.60623678e-01 -7.50025388e-01 -3.22222458e-02 1.92770977e+02] [ 7.49109839e-01 6.61408953e-01 -3.70492391e-02 6.26256375e+01] [ 4.90999518e-02 3.37603258e-04 9.98793813e-01 1.01733398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.050385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:192.79, Y:62.65, Z:10.18 [[ 6.60959752e-01 -7.49729687e-01 -3.22118430e-02 1.92789568e+02] [ 7.48813346e-01 6.61744102e-01 -3.70582815e-02 6.26470104e+01] [ 4.90996909e-02 3.73374600e-04 9.98793813e-01 1.01753631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.080385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:192.80, Y:62.67, Z:10.17 [[ 6.58683551e-01 -7.51730709e-01 -3.22012533e-02 1.92801874e+02] [ 7.50816301e-01 6.59470154e-01 -3.70674810e-02 6.26681039e+01] [ 4.91005292e-02 2.38514121e-04 9.98793813e-01 1.01738218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.110385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.82, Y:62.69, Z:10.18 [[ 6.62539334e-01 -7.48354644e-01 -3.17326063e-02 1.92824018e+02] [ 7.47416616e-01 6.63297892e-01 -3.74740976e-02 6.26916635e+01] [ 4.90920858e-02 1.11058643e-03 9.98793639e-01 1.01756966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.140385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:192.84, Y:62.71, Z:10.18 [[ 6.63777766e-01 -7.47236942e-01 -3.21874212e-02 1.92842627e+02] [ 7.46316636e-01 6.64557450e-01 -3.70792983e-02 6.27125289e+01] [ 4.90974120e-02 5.90405815e-04 9.98793820e-01 1.01763635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.170385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.86, Y:62.73, Z:10.18 [[ 6.64452410e-01 -7.46637549e-01 -3.21771066e-02 1.92861289e+02] [ 7.45716107e-01 6.65230750e-01 -3.70882470e-02 6.27331069e+01] [ 4.90966786e-02 6.48388399e-04 9.98793820e-01 1.01775035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.200385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:192.88, Y:62.75, Z:10.18 [[ 6.65797614e-01 -7.45438685e-01 -3.21668169e-02 1.92879758e+02] [ 7.44515411e-01 6.66573779e-01 -3.70971692e-02 6.27536574e+01] [ 4.90952218e-02 7.50515868e-04 9.98793821e-01 1.01763831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.230385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.90, Y:62.77, Z:10.18 [[ 6.66857728e-01 -7.44496104e-01 -3.20362783e-02 1.92898760e+02] [ 7.43566290e-01 6.67626068e-01 -3.72103026e-02 6.27748766e+01] [ 4.90911798e-02 9.92881206e-04 9.98793808e-01 1.01782154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.260385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.92, Y:62.80, Z:10.18 [[ 6.68259205e-01 -7.43233388e-01 -3.21522226e-02 1.92915832e+02] [ 7.42306943e-01 6.69031585e-01 -3.71098485e-02 6.27957064e+01] [ 4.90921308e-02 9.32179743e-04 9.98793819e-01 1.01777308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.290385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.93, Y:62.82, Z:10.18 [[ 6.66779095e-01 -7.44561731e-01 -3.21475816e-02 1.92929647e+02] [ 7.43636631e-01 6.67553086e-01 -3.71138685e-02 6.28175489e+01] [ 4.90937834e-02 8.40632417e-04 9.98793819e-01 1.01779790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.32038572300002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:192.95, Y:62.84, Z:10.18 [[ 6.69541774e-01 -7.42093994e-01 -3.17854835e-02 1.92951665e+02] [ 7.41151101e-01 6.70294152e-01 -3.74271871e-02 6.28395677e+01] [ 4.90801144e-02 1.50121916e-03 9.98793717e-01 1.01787257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.35038572300002 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:192.97, Y:62.86, Z:10.18 [[ 6.67856108e-01 -7.43596406e-01 -3.21341564e-02 1.92966782e+02] [ 7.42669632e-01 6.68628089e-01 -3.71253976e-02 6.28609282e+01] [ 4.90921118e-02 9.29361413e-04 9.98793823e-01 1.01807922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.38038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.99, Y:62.88, Z:10.18 [[ 6.70000266e-01 -7.41676304e-01 -3.18732469e-02 1.92989673e+02] [ 7.40736555e-01 6.70756480e-01 -3.73510445e-02 6.28806940e+01] [ 4.90815715e-02 1.41553058e-03 9.98793770e-01 1.01817647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.41038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.01, Y:62.90, Z:10.18 [[ 6.70026844e-01 -7.41641521e-01 -3.21229302e-02 1.93007636e+02] [ 7.40712033e-01 6.70795551e-01 -3.71350646e-02 6.29017710e+01] [ 4.90888244e-02 1.08764925e-03 9.98793825e-01 1.01826250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.440385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:193.03, Y:62.92, Z:10.18 [[ 6.69979856e-01 -7.41684410e-01 -3.21127595e-02 1.93025087e+02] [ 7.40754550e-01 6.70748113e-01 -3.71438577e-02 6.29233551e+01] [ 4.90885930e-02 1.09796366e-03 9.98793825e-01 1.01837958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.470385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.04, Y:62.95, Z:10.19 [[ 6.68167030e-01 -7.43318406e-01 -3.21024482e-02 1.93039980e+02] [ 7.42389997e-01 6.68937040e-01 -3.71527673e-02 6.29453762e+01] [ 4.90908525e-02 9.91717794e-04 9.98793825e-01 1.01852541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.500385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.06, Y:62.97, Z:10.19 [[ 6.68421818e-01 -7.43100363e-01 -3.18452970e-02 1.93058022e+02] [ 7.42161097e-01 6.69178626e-01 -3.73747653e-02 6.29651564e+01] [ 4.90833938e-02 1.34776800e-03 9.98793775e-01 1.01862517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.530385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.08, Y:62.99, Z:10.19 [[ 6.68463584e-01 -7.43065152e-01 -3.17902027e-02 1.93076358e+02] [ 7.42123584e-01 6.69217568e-01 -3.74223575e-02 6.29854742e+01] [ 4.90818119e-02 1.42322406e-03 9.98793748e-01 1.01894029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.560385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.10, Y:63.00, Z:10.19 [[ 6.71405561e-01 -7.40409941e-01 -3.17441838e-02 1.93100894e+02] [ 7.39463515e-01 6.72153481e-01 -3.74620907e-02 6.30048221e+01] [ 4.90742680e-02 1.67859026e-03 9.98793722e-01 1.01933597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.590385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:193.12, Y:63.03, Z:10.20 [[ 6.71830557e-01 -7.40009267e-01 -3.20934295e-02 1.93120612e+02] [ 7.39076699e-01 6.72595519e-01 -3.71604736e-02 6.30261543e+01] [ 4.90849917e-02 1.24603578e-03 9.98793828e-01 1.01958641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.620385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.14, Y:63.05, Z:10.20 [[ 6.70336772e-01 -7.41363076e-01 -3.20842869e-02 1.93135179e+02] [ 7.40431676e-01 6.71103156e-01 -3.71683657e-02 6.30474616e+01] [ 4.90871201e-02 1.15909996e-03 9.98793828e-01 1.01966592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.650385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.16, Y:63.07, Z:10.20 [[ 6.72441340e-01 -7.39466521e-01 -3.18105000e-02 1.93157346e+02] [ 7.38521759e-01 6.73191287e-01 -3.74045689e-02 6.30686699e+01] [ 4.90739779e-02 1.65963200e-03 9.98793768e-01 1.01972359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.680385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.17, Y:63.09, Z:10.20 [[ 6.69033953e-01 -7.42539317e-01 -3.20769767e-02 1.93173177e+02] [ 7.41608964e-01 6.69801605e-01 -3.71746375e-02 6.30894027e+01] [ 4.90888404e-02 1.08252115e-03 9.98793830e-01 1.01988990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.710385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.20, Y:63.11, Z:10.20 [[ 6.70265900e-01 -7.41441978e-01 -3.17398086e-02 1.93195405e+02] [ 7.40496576e-01 6.71015057e-01 -3.74648418e-02 6.31104234e+01] [ 4.90758958e-02 1.60818632e-03 9.98793758e-01 1.01988153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.740385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.21, Y:63.13, Z:10.21 [[ 6.68264573e-01 -7.43234133e-01 -3.20231678e-02 1.93213033e+02] [ 7.42302363e-01 6.69030498e-01 -3.72208928e-02 6.31318402e+01] [ 4.90883139e-02 1.10253096e-03 9.98793834e-01 1.02059598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.770385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.23, Y:63.15, Z:10.21 [[ 6.69288640e-01 -7.42316393e-01 -3.19231750e-02 1.93232277e+02] [ 7.41379465e-01 6.70048265e-01 -3.73069825e-02 6.31528047e+01] [ 4.90836527e-02 1.30195313e-03 9.98793823e-01 1.02069661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.800385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.25, Y:63.17, Z:10.21 [[ 6.69303194e-01 -7.42298439e-01 -3.20353285e-02 1.93250529e+02] [ 7.41366097e-01 6.70068425e-01 -3.72104277e-02 6.31739662e+01] [ 4.90871044e-02 1.15515165e-03 9.98793833e-01 1.02087577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.830385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.27, Y:63.19, Z:10.21 [[ 6.67112428e-01 -7.44268116e-01 -3.20309031e-02 1.93265980e+02] [ 7.43337852e-01 6.67880182e-01 -3.72142366e-02 6.31947020e+01] [ 4.90901752e-02 1.01629706e-03 9.98793834e-01 1.02120728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.860385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.29, Y:63.21, Z:10.22 [[ 6.66502600e-01 -7.44825571e-01 -3.17671614e-02 1.93287225e+02] [ 7.43885107e-01 6.67257909e-01 -3.74410357e-02 6.32141328e+01] [ 4.90839305e-02 1.32342937e-03 9.98793781e-01 1.02153826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.890385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.30, Y:63.23, Z:10.22 [[ 6.63802377e-01 -7.47225779e-01 -3.19380582e-02 1.93304582e+02] [ 7.46295092e-01 6.64569626e-01 -3.72940819e-02 6.32334751e+01] [ 4.90921628e-02 9.20684137e-04 9.98793829e-01 1.02171626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.920385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:193.33, Y:63.25, Z:10.22 [[ 6.63702102e-01 -7.47324142e-01 -3.17198238e-02 1.93326417e+02] [ 7.46384582e-01 6.64458564e-01 -3.74816297e-02 6.32546621e+01] [ 4.90874353e-02 1.20144901e-03 9.98793763e-01 1.02212764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.950385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.34, Y:63.28, Z:10.22 [[ 6.58643089e-01 -7.51774584e-01 -3.20040089e-02 1.93344673e+02] [ 7.50851948e-01 6.59419995e-01 -3.72373887e-02 6.32750686e+01] [ 4.90982058e-02 4.95876337e-04 9.98793833e-01 1.02230333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.980385723 meters Centerline goodness : 0.999843 Centerline is valid? [True, True] Translation: X:193.36, Y:63.29, Z:10.23 [[ 6.57717950e-01 -7.52587797e-01 -3.19171648e-02 1.93364763e+02] [ 7.51662498e-01 6.58491690e-01 -3.73119850e-02 6.32947332e+01] [ 4.90977323e-02 5.49826453e-04 9.98793828e-01 1.02252502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.010385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.38, Y:63.32, Z:10.23 [[ 6.54870543e-01 -7.55063709e-01 -3.19901319e-02 1.93384654e+02] [ 7.54144392e-01 6.55651374e-01 -3.72493203e-02 6.33155586e+01] [ 4.90999839e-02 2.68304072e-04 9.98793832e-01 1.02322299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.040385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.40, Y:63.34, Z:10.24 [[ 6.53427564e-01 -7.56313189e-01 -3.19809026e-02 1.93402821e+02] [ 7.55394978e-01 6.54209695e-01 -3.72572425e-02 6.33366548e+01] [ 4.91003605e-02 1.86696006e-04 9.98793832e-01 1.02355983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.07038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.42, Y:63.36, Z:10.24 [[ 6.52136775e-01 -7.57426696e-01 -3.19754138e-02 1.93421353e+02] [ 7.56509589e-01 6.52920201e-01 -3.72619527e-02 6.33579131e+01] [ 4.91005913e-02 1.10182523e-04 9.98793832e-01 1.02375370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.10038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.44, Y:63.38, Z:10.24 [[ 6.48563073e-01 -7.60489413e-01 -3.19654965e-02 1.93439663e+02] [ 7.59575587e-01 6.49350322e-01 -3.72704583e-02 6.33805947e+01] [ 4.91005944e-02 -1.07967790e-04 9.98793833e-01 1.02401876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.13038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.46, Y:63.40, Z:10.24 [[ 6.46741321e-01 -7.62038092e-01 -3.19939049e-02 1.93457309e+02] [ 7.61127355e-01 6.47532144e-01 -3.72461004e-02 6.34020496e+01] [ 4.91000291e-02 -2.62844054e-04 9.98793832e-01 1.02404721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.16038572300002 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:193.47, Y:63.42, Z:10.24 [[ 6.44845236e-01 -7.63645018e-01 -3.19516435e-02 1.93474579e+02] [ 7.62734456e-01 6.45636258e-01 -3.72823193e-02 6.34233119e+01] [ 4.90995969e-02 -3.29293423e-04 9.98793833e-01 1.02409530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.190385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.49, Y:63.45, Z:10.24 [[ 6.41536270e-01 -7.66427270e-01 -3.19445552e-02 1.93492477e+02] [ 7.65519836e-01 6.42330878e-01 -3.72883918e-02 6.34451556e+01] [ 4.90978145e-02 -5.32334861e-04 9.98793833e-01 1.02416145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.220385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.51, Y:63.47, Z:10.24 [[ 6.39630660e-01 -7.68018767e-01 -3.19341850e-02 1.93510489e+02] [ 7.67112867e-01 6.40427016e-01 -3.72972708e-02 6.34663480e+01] [ 4.90965187e-02 -6.40646253e-04 9.98793833e-01 1.02429648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.250385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.53, Y:63.49, Z:10.24 [[ 6.36355049e-01 -7.70735444e-01 -3.19237709e-02 1.93527864e+02] [ 7.69832496e-01 6.37154751e-01 -3.73061824e-02 6.34880395e+01] [ 4.90935793e-02 -8.35978672e-04 9.98793833e-01 1.02430488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.280385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.54, Y:63.51, Z:10.24 [[ 6.32911161e-01 -7.73566177e-01 -3.19191464e-02 1.93544313e+02] [ 7.72666606e-01 6.33714660e-01 -3.73101387e-02 6.35113132e+01] [ 4.90894923e-02 -1.04885527e-03 9.98793833e-01 1.02408395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.310385723 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:193.56, Y:63.53, Z:10.24 [[ 6.30755798e-01 -7.75328759e-01 -3.18188621e-02 1.93562495e+02] [ 7.74427105e-01 6.31556970e-01 -3.73958906e-02 6.35344365e+01] [ 4.90895335e-02 -1.05371445e-03 9.98793826e-01 1.02406038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.340385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.58, Y:63.56, Z:10.24 [[ 6.28959048e-01 -7.76783413e-01 -3.19068367e-02 1.93581412e+02] [ 7.75887417e-01 6.29766531e-01 -3.73206783e-02 6.35580404e+01] [ 4.90839417e-02 -1.28293483e-03 9.98793833e-01 1.02433900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.370385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.60, Y:63.58, Z:10.24 [[ 6.25001604e-01 -7.79964323e-01 -3.20725686e-02 1.93596873e+02] [ 7.79079669e-01 6.25821533e-01 -3.71789973e-02 6.35811058e+01] [ 4.90699955e-02 -1.75015321e-03 9.98793809e-01 1.02420126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.400385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:193.61, Y:63.60, Z:10.24 [[ 6.23007573e-01 -7.81565266e-01 -3.18951257e-02 1.93613480e+02] [ 7.80674959e-01 6.23821318e-01 -3.73305713e-02 6.36039463e+01] [ 4.90731373e-02 -1.64249735e-03 9.98793837e-01 1.02428848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.430385723 meters Centerline goodness : 0.999844 Centerline is valid? [True, True] Translation: X:193.63, Y:63.63, Z:10.24 [[ 6.21046920e-01 -7.83124671e-01 -3.18821580e-02 1.93630430e+02] [ 7.82235840e-01 6.21862277e-01 -3.73416432e-02 6.36273024e+01] [ 4.90694734e-02 -1.74845412e-03 9.98793837e-01 1.02407565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.460385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.65, Y:63.65, Z:10.24 [[ 6.20724141e-01 -7.83380783e-01 -3.18761619e-02 1.93646960e+02] [ 7.82492027e-01 6.21539579e-01 -3.73467599e-02 6.36501841e+01] [ 4.90690302e-02 -1.76080707e-03 9.98793838e-01 1.02425748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.490385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:193.66, Y:63.67, Z:10.24 [[ 6.21130047e-01 -7.83061204e-01 -3.18216269e-02 1.93662832e+02] [ 7.82169649e-01 6.21942427e-01 -3.73932816e-02 6.36739469e+01] [ 4.90724479e-02 -1.66382001e-03 9.98793836e-01 1.02390128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.520385723 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:193.68, Y:63.70, Z:10.24 [[ 6.23255383e-01 -7.81372171e-01 -3.17845645e-02 1.93679726e+02] [ 7.80476805e-01 6.24063566e-01 -3.74248844e-02 6.36984270e+01] [ 4.90783519e-02 -1.48185473e-03 9.98793832e-01 1.02351101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.550385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:193.69, Y:63.72, Z:10.24 [[ 6.23946945e-01 -7.80816235e-01 -3.18781627e-02 1.93694506e+02] [ 7.79924211e-01 6.24758810e-01 -3.73450882e-02 6.37212162e+01] [ 4.90758141e-02 -1.56119721e-03 9.98793836e-01 1.02350177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.580385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.71, Y:63.74, Z:10.24 [[ 6.29373451e-01 -7.76454007e-01 -3.17527046e-02 1.93709847e+02] [ 7.75550957e-01 6.30173042e-01 -3.74519759e-02 6.37446180e+01] [ 4.90894353e-02 -1.05456108e-03 9.98793830e-01 1.02382799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.610385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.73, Y:63.77, Z:10.24 [[ 6.29172390e-01 -7.76613435e-01 -3.18382944e-02 1.93728338e+02] [ 7.75714267e-01 6.29976334e-01 -3.73790737e-02 6.37663661e+01] [ 4.90864628e-02 -1.17953806e-03 9.98793837e-01 1.02397270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.640385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.74, Y:63.79, Z:10.24 [[ 6.30046036e-01 -7.75905235e-01 -3.18285982e-02 1.93744656e+02] [ 7.75004746e-01 6.30848501e-01 -3.73873283e-02 6.37904516e+01] [ 4.90880472e-02 -1.11157666e-03 9.98793837e-01 1.02370627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.670385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:193.76, Y:63.82, Z:10.24 [[ 6.34577286e-01 -7.72204224e-01 -3.18167316e-02 1.93758554e+02] [ 7.71298548e-01 6.35373892e-01 -3.73974256e-02 6.38151864e+01] [ 4.90939706e-02 -8.08642025e-04 9.98793837e-01 1.02370177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.700385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.77, Y:63.84, Z:10.24 [[ 6.38306845e-01 -7.69124139e-01 -3.18187156e-02 1.93774906e+02] [ 7.68214702e-01 6.39099155e-01 -3.73957377e-02 6.38373341e+01] [ 4.90972788e-02 -5.73649756e-04 9.98793837e-01 1.02376834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.730385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.79, Y:63.86, Z:10.24 [[ 6.43792712e-01 -7.64538359e-01 -3.18125971e-02 1.93789042e+02] [ 7.63623021e-01 6.44578197e-01 -3.74009420e-02 6.38630410e+01] [ 4.91001613e-02 -2.14377559e-04 9.98793837e-01 1.02372100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.760385723 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:193.80, Y:63.89, Z:10.24 [[ 6.45548194e-01 -7.63057035e-01 -3.18039318e-02 1.93804962e+02] [ 7.62139531e-01 6.46331148e-01 -3.74083091e-02 6.38873897e+01] [ 4.91005452e-02 -9.01672614e-05 9.98793837e-01 1.02353843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.790385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.82, Y:63.91, Z:10.23 [[ 6.49519301e-01 -7.59680033e-01 -3.17950547e-02 1.93819571e+02] [ 7.58758089e-01 6.50297021e-01 -3.74158526e-02 6.39142895e+01] [ 4.91003055e-02 1.77563463e-04 9.98793837e-01 1.02346489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.82038572300002 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:193.83, Y:63.94, Z:10.23 [[ 6.49794117e-01 -7.59437505e-01 -3.19731417e-02 1.93832335e+02] [ 7.58522696e-01 6.50580260e-01 -3.72645342e-02 6.39369666e+01] [ 4.91011797e-02 -3.80785535e-05 9.98793809e-01 1.02349621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.85038572300002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:193.84, Y:63.96, Z:10.23 [[ 6.50146534e-01 -7.59143895e-01 -3.17809757e-02 1.93844590e+02] [ 7.58220731e-01 6.50922799e-01 -3.74277101e-02 6.39628571e+01] [ 4.90999793e-02 2.36501411e-04 9.98793841e-01 1.02324855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.88038572300002 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:193.86, Y:63.99, Z:10.23 [[ 6.48972315e-01 -7.60148085e-01 -3.17777099e-02 1.93859948e+02] [ 7.59225986e-01 6.49749846e-01 -3.74304827e-02 6.39863437e+01] [ 4.91002718e-02 1.64883917e-04 9.98793841e-01 1.02307531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.91038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.87, Y:64.01, Z:10.24 [[ 6.46662055e-01 -7.62114532e-01 -3.17746261e-02 1.93872543e+02] [ 7.61194668e-01 6.47442229e-01 -3.74331003e-02 6.40121558e+01] [ 4.91005445e-02 1.98895970e-05 9.98793841e-01 1.02352822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.940385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.89, Y:64.04, Z:10.24 [[ 6.44780442e-01 -7.63707542e-01 -3.17643250e-02 1.93886497e+02] [ 7.62789175e-01 6.45562377e-01 -3.74418394e-02 6.40357079e+01] [ 4.91004683e-02 -8.77174985e-05 9.98793841e-01 1.02353333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.970385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.90, Y:64.06, Z:10.23 [[ 6.41304807e-01 -7.66628675e-01 -3.17587657e-02 1.93897553e+02] [ 7.65713637e-01 6.42090634e-01 -3.74465543e-02 6.40629347e+01] [ 4.90996083e-02 -3.03464719e-04 9.98793841e-01 1.02343802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.000385723 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:193.91, Y:64.09, Z:10.23 [[ 6.37870638e-01 -7.69488062e-01 -3.17674443e-02 1.93909511e+02] [ 7.68576912e-01 6.38660971e-01 -3.74391964e-02 6.40912819e+01] [ 4.90976415e-02 -5.34360115e-04 9.98793841e-01 1.02345444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.030385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.92, Y:64.11, Z:10.24 [[ 6.38037155e-01 -7.69350379e-01 -3.17581908e-02 1.93924573e+02] [ 7.68438669e-01 6.38826840e-01 -3.74470378e-02 6.41147045e+01] [ 4.90978775e-02 -5.11620406e-04 9.98793841e-01 1.02370802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.060385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.94, Y:64.14, Z:10.24 [[ 6.38200845e-01 -7.69215571e-01 -3.17346235e-02 1.93935693e+02] [ 7.68302701e-01 6.38989189e-01 -3.74669995e-02 6.41422432e+01] [ 4.90982807e-02 -4.70326204e-04 9.98793841e-01 1.02356629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.090385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.95, Y:64.17, Z:10.24 [[ 6.38544691e-01 -7.68930294e-01 -3.17313788e-02 1.93950239e+02] [ 7.68016935e-01 6.39332469e-01 -3.74697472e-02 6.41672900e+01] [ 4.90985245e-02 -4.44128157e-04 9.98793841e-01 1.02397573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.120385723 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:193.96, Y:64.20, Z:10.24 [[ 6.39547741e-01 -7.68096611e-01 -3.17219774e-02 1.93963227e+02] [ 7.67181830e-01 6.40333867e-01 -3.74777048e-02 6.41964463e+01] [ 4.90991545e-02 -3.67743272e-04 9.98793841e-01 1.02363117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.150385723 meters Centerline goodness : 0.999725 Centerline is valid? [True, True] Translation: X:193.98, Y:64.22, Z:10.24 [[ 6.38805437e-01 -7.68708235e-01 -3.18631848e-02 1.93976284e+02] [ 7.67800155e-01 6.39599319e-01 -3.73581736e-02 6.42205578e+01] [ 4.90972070e-02 -5.99953832e-04 9.98793825e-01 1.02375665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.180385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.99, Y:64.25, Z:10.24 [[ 6.40260771e-01 -7.67502833e-01 -3.17103484e-02 1.93990478e+02] [ 7.66586840e-01 6.41045480e-01 -3.74874580e-02 6.42464455e+01] [ 4.90995057e-02 -3.06986971e-04 9.98793845e-01 1.02422321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.210385723 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:194.00, Y:64.27, Z:10.24 [[ 6.41209774e-01 -7.66710543e-01 -3.17012414e-02 1.94003551e+02] [ 7.65793200e-01 6.41992904e-01 -3.74951578e-02 6.42713820e+01] [ 4.90999048e-02 -2.34333443e-04 9.98793845e-01 1.02416855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.240385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.02, Y:64.30, Z:10.25 [[ 6.42586643e-01 -7.65557079e-01 -3.16980212e-02 1.94020085e+02] [ 7.64638196e-01 6.43367965e-01 -3.74978799e-02 6.42953780e+01] [ 4.91002588e-02 -1.41880989e-04 9.98793845e-01 1.02463139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.270385723 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:194.04, Y:64.32, Z:10.25 [[ 6.43435723e-01 -7.64843957e-01 -3.16889835e-02 1.94035857e+02] [ 7.63923832e-01 6.44215582e-01 -3.75055160e-02 6.43184734e+01] [ 4.91004042e-02 -7.55808899e-05 9.98793845e-01 1.02464223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.300385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.05, Y:64.34, Z:10.25 [[ 6.46505941e-01 -7.62250963e-01 -3.16786674e-02 1.94051426e+02] [ 7.61327283e-01 6.47281586e-01 -3.75142273e-02 6.43419261e+01] [ 4.91002740e-02 1.35337046e-04 9.98793845e-01 1.02534511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.330385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.07, Y:64.36, Z:10.25 [[ 6.47839215e-01 -7.61118272e-01 -3.16753458e-02 1.94068773e+02] [ 7.60193098e-01 6.48613079e-01 -3.75170318e-02 6.43641321e+01] [ 4.90999419e-02 2.25625200e-04 9.98793845e-01 1.02545156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.360385723 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:194.09, Y:64.39, Z:10.26 [[ 6.49938730e-01 -7.59326365e-01 -3.16720475e-02 1.94086859e+02] [ 7.58398922e-01 6.50709872e-01 -3.75198160e-02 6.43857253e+01] [ 4.90990995e-02 3.65534851e-04 9.98793845e-01 1.02596846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.390385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.11, Y:64.41, Z:10.26 [[ 6.50801165e-01 -7.58587458e-01 -3.16687910e-02 1.94105728e+02] [ 7.57659006e-01 6.51571092e-01 -3.75225644e-02 6.44078632e+01] [ 4.90986155e-02 4.25583892e-04 9.98793845e-01 1.02626098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.420385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.12, Y:64.43, Z:10.27 [[ 6.51932523e-01 -7.57616550e-01 -3.16409363e-02 1.94122601e+02] [ 7.56685811e-01 6.52699684e-01 -3.75460669e-02 6.44308155e+01] [ 4.90975508e-02 5.35254546e-04 9.98793845e-01 1.02695405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.450385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.14, Y:64.45, Z:10.27 [[ 6.53920759e-01 -7.55900358e-01 -3.16589622e-02 1.94143086e+02] [ 7.54968341e-01 6.54686366e-01 -3.75308613e-02 6.44496729e+01] [ 4.90962824e-02 6.40695140e-04 9.98793845e-01 1.02720916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.480385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.16, Y:64.47, Z:10.28 [[ 6.54127356e-01 -7.55721723e-01 -3.16556283e-02 1.94162991e+02] [ 7.54789361e-01 6.54892544e-01 -3.75336731e-02 6.44697032e+01] [ 4.90960470e-02 6.58470865e-04 9.98793845e-01 1.02758709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.510385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.18, Y:64.49, Z:10.28 [[ 6.52495765e-01 -7.57131946e-01 -3.16305600e-02 1.94179852e+02] [ 7.56200213e-01 6.53261719e-01 -3.75548104e-02 6.44887734e+01] [ 4.90969807e-02 5.85318561e-04 9.98793845e-01 1.02753644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.540385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.20, Y:64.51, Z:10.28 [[ 6.52767129e-01 -7.56905210e-01 -3.14575643e-02 1.94203687e+02] [ 7.55966168e-01 6.53524151e-01 -3.77006287e-02 6.45070735e+01] [ 4.90940803e-02 8.28876797e-04 9.98793815e-01 1.02802928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.57038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.22, Y:64.52, Z:10.28 [[ 6.51588264e-01 -7.57912379e-01 -3.16474352e-02 1.94224623e+02] [ 7.56982255e-01 6.52356169e-01 -3.75405658e-02 6.45243513e+01] [ 4.90978591e-02 5.04445210e-04 9.98793845e-01 1.02826046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.60038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.24, Y:64.54, Z:10.28 [[ 6.51008735e-01 -7.58410460e-01 -3.16417741e-02 1.94244965e+02] [ 7.57480691e-01 6.51777071e-01 -3.75453367e-02 6.45442040e+01] [ 4.90981589e-02 4.74309266e-04 9.98793846e-01 1.02836674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.63038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.27, Y:64.56, Z:10.29 [[ 6.50164645e-01 -7.59134614e-01 -3.16318106e-02 1.94266151e+02] [ 7.58205294e-01 6.50933522e-01 -3.75537290e-02 6.45631003e+01] [ 4.90985415e-02 4.32700637e-04 9.98793846e-01 1.02852249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.66038572300002 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:194.29, Y:64.58, Z:10.28 [[ 6.49902695e-01 -7.59359303e-01 -3.16217559e-02 1.94288565e+02] [ 7.58429836e-01 6.50671396e-01 -3.75621936e-02 6.45838738e+01] [ 4.90985732e-02 4.28887760e-04 9.98793846e-01 1.02832303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.690385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.31, Y:64.60, Z:10.29 [[ 6.50013696e-01 -7.59261366e-01 -3.16918520e-02 1.94311904e+02] [ 7.58334656e-01 6.50785725e-01 -3.75031979e-02 6.46003480e+01] [ 4.90993342e-02 3.44562617e-04 9.98793841e-01 1.02919825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.720385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.33, Y:64.62, Z:10.29 [[ 6.50803475e-01 -7.58588092e-01 -3.16060610e-02 1.94332363e+02] [ 7.57657075e-01 6.51570295e-01 -3.75753604e-02 6.46197063e+01] [ 4.90977915e-02 5.07619381e-04 9.98793847e-01 1.02934369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.750385723 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:194.35, Y:64.64, Z:10.29 [[ 6.50934465e-01 -7.58475839e-01 -3.16025915e-02 1.94353941e+02] [ 7.57544548e-01 6.51700952e-01 -3.75782782e-02 6.46376578e+01] [ 4.90976551e-02 5.20625541e-04 9.98793847e-01 1.02939544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.780385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:194.37, Y:64.66, Z:10.30 [[ 6.51464646e-01 -7.58020927e-01 -3.15925323e-02 1.94374261e+02] [ 7.57088691e-01 6.52229983e-01 -3.75867333e-02 6.46564352e+01] [ 4.90971272e-02 5.68078988e-04 9.98793847e-01 1.02972536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.810385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.40, Y:64.67, Z:10.30 [[ 6.51285901e-01 -7.58174926e-01 -3.15825406e-02 1.94397236e+02] [ 7.57242464e-01 6.52050962e-01 -3.75951270e-02 6.46732348e+01] [ 4.90971086e-02 5.69535312e-04 9.98793847e-01 1.02999052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.840385723 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:194.42, Y:64.69, Z:10.30 [[ 6.50682485e-01 -7.58693287e-01 -3.15721178e-02 1.94420028e+02] [ 7.57761010e-01 6.51447772e-01 -3.76038779e-02 6.46906453e+01] [ 4.90973956e-02 5.44064836e-04 9.98793847e-01 1.03012231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.870385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:194.44, Y:64.71, Z:10.30 [[ 6.50441253e-01 -7.58900338e-01 -3.15666498e-02 1.94441634e+02] [ 7.57968082e-01 6.51206564e-01 -3.76084675e-02 6.47109444e+01] [ 4.90974883e-02 5.35585747e-04 9.98793848e-01 1.03039492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.900385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:194.46, Y:64.73, Z:10.31 [[ 6.50421753e-01 -7.58915310e-01 -3.16084798e-02 1.94463859e+02] [ 7.57984775e-01 6.51189160e-01 -3.75733725e-02 6.47288246e+01] [ 4.90981071e-02 4.79792342e-04 9.98793845e-01 1.03063477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.930385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.48, Y:64.75, Z:10.31 [[ 6.49747783e-01 -7.59494748e-01 -3.15522752e-02 1.94484089e+02] [ 7.58562608e-01 6.50513234e-01 -3.76205114e-02 6.47504003e+01] [ 4.90977535e-02 5.09467711e-04 9.98793848e-01 1.03070728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.960385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.50, Y:64.77, Z:10.31 [[ 6.48976003e-01 -7.60150739e-01 -3.16386115e-02 1.94503943e+02] [ 7.59222896e-01 6.49746669e-01 -3.75481077e-02 6.47683354e+01] [ 4.90993042e-02 3.47062532e-04 9.98793842e-01 1.03086561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.990385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.52, Y:64.79, Z:10.31 [[ 6.48126870e-01 -7.60879004e-01 -3.15388804e-02 1.94523917e+02] [ 7.59947954e-01 6.48893645e-01 -3.76316922e-02 6.47881179e+01] [ 4.90985436e-02 4.22203269e-04 9.98793850e-01 1.03100329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.020385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.54, Y:64.81, Z:10.31 [[ 6.46707435e-01 -7.62086253e-01 -3.15283423e-02 1.94544055e+02] [ 7.61156204e-01 6.47475424e-01 -3.76405191e-02 6.48071749e+01] [ 4.90991490e-02 3.44410191e-04 9.98793850e-01 1.03102202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.050385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:194.56, Y:64.83, Z:10.31 [[ 6.45873546e-01 -7.62793404e-01 -3.15211860e-02 1.94562777e+02] [ 7.61863904e-01 6.46642198e-01 -3.76465111e-02 6.48282491e+01] [ 4.90994393e-02 3.00031807e-04 9.98793850e-01 1.03109965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.080385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:194.58, Y:64.85, Z:10.31 [[ 6.43834456e-01 -7.64515703e-01 -3.15108397e-02 1.94584399e+02] [ 7.63587835e-01 6.44605078e-01 -3.76551691e-02 6.48469695e+01] [ 4.91000154e-02 1.82401379e-04 9.98793850e-01 1.03141243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.110385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:194.60, Y:64.87, Z:10.32 [[ 6.42288216e-01 -7.65815386e-01 -3.15062167e-02 1.94604317e+02] [ 7.64888888e-01 6.43060484e-01 -3.76590368e-02 6.48665791e+01] [ 4.91002728e-02 8.92004746e-05 9.98793850e-01 1.03165017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.140385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:194.62, Y:64.89, Z:10.32 [[ 6.39752502e-01 -7.67935383e-01 -3.14957800e-02 1.94624861e+02] [ 7.67011014e-01 6.40527317e-01 -3.76677634e-02 6.48857438e+01] [ 4.91003158e-02 -5.95642632e-05 9.98793850e-01 1.03183209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.170385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.64, Y:64.91, Z:10.32 [[ 6.38506033e-01 -7.68972270e-01 -3.14911708e-02 1.94643026e+02] [ 7.68048969e-01 6.39282121e-01 -3.76716165e-02 6.49053201e+01] [ 4.91001709e-02 -1.33206845e-04 9.98793850e-01 1.03195634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.200385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.66, Y:64.92, Z:10.32 [[ 6.36864790e-01 -7.70332388e-01 -3.14841516e-02 1.94662607e+02] [ 7.69410454e-01 6.37642502e-01 -3.76774819e-02 6.49235576e+01] [ 4.90998177e-02 -2.28773791e-04 9.98793850e-01 1.03208302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.230385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:194.68, Y:64.94, Z:10.32 [[ 6.36162753e-01 -7.70912481e-01 -3.14785335e-02 1.94681797e+02] [ 7.69991024e-01 6.36941030e-01 -3.76821750e-02 6.49436901e+01] [ 4.90996286e-02 -2.66192092e-04 9.98793850e-01 1.03217901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.260385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:194.70, Y:64.96, Z:10.32 [[ 6.35164896e-01 -7.71735249e-01 -3.14684080e-02 1.94701735e+02] [ 7.70814382e-01 6.35943869e-01 -3.76906289e-02 6.49625935e+01] [ 4.90993281e-02 -3.16537063e-04 9.98793851e-01 1.03236560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.290385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:194.72, Y:64.98, Z:10.32 [[ 6.34881805e-01 -7.71968378e-01 -3.14629340e-02 1.94720690e+02] [ 7.71047571e-01 6.35660849e-01 -3.76951979e-02 6.49823736e+01] [ 4.90992562e-02 -3.27423516e-04 9.98793851e-01 1.03249080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.32038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.74, Y:65.00, Z:10.33 [[ 6.34959097e-01 -7.71905170e-01 -3.14539805e-02 1.94738686e+02] [ 7.70983915e-01 6.35737612e-01 -3.77026675e-02 6.50032690e+01] [ 4.90993624e-02 -3.10861259e-04 9.98793851e-01 1.03270151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.35038572300002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:194.76, Y:65.02, Z:10.33 [[ 6.35454201e-01 -7.71498058e-01 -3.14436728e-02 1.94757525e+02] [ 7.70575879e-01 6.36231621e-01 -3.77112620e-02 6.50244738e+01] [ 4.90996244e-02 -2.65955932e-04 9.98793851e-01 1.03282962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.38038572300002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:194.78, Y:65.04, Z:10.33 [[ 6.37127043e-01 -7.70117574e-01 -3.14333039e-02 1.94777309e+02] [ 7.69193284e-01 6.37901952e-01 -3.77199029e-02 6.50448970e+01] [ 4.91001260e-02 -1.45916022e-04 9.98793851e-01 1.03287344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.41038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.80, Y:65.07, Z:10.33 [[ 6.36975241e-01 -7.70243561e-01 -3.14229189e-02 1.94795415e+02] [ 7.69318997e-01 6.37749823e-01 -3.77285522e-02 6.50669633e+01] [ 4.91001353e-02 -1.42094793e-04 9.98793851e-01 1.03316484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.440385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:194.82, Y:65.09, Z:10.33 [[ 6.38668696e-01 -7.68840363e-01 -3.14132678e-02 1.94815054e+02] [ 7.67913702e-01 6.39440768e-01 -3.77365861e-02 6.50870392e+01] [ 4.91003346e-02 -2.15024802e-05 9.98793851e-01 1.03302370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.470385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.83, Y:65.11, Z:10.33 [[ 6.37966577e-01 -7.69423205e-01 -3.14098475e-02 1.94833580e+02] [ 7.68497110e-01 6.38739327e-01 -3.77394328e-02 6.51082333e+01] [ 4.91003002e-02 -6.18802770e-05 9.98793851e-01 1.03313680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.500385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.85, Y:65.13, Z:10.33 [[ 6.37754742e-01 -7.69599223e-01 -3.13994646e-02 1.94851785e+02] [ 7.68672915e-01 6.38527237e-01 -3.77480694e-02 6.51302275e+01] [ 4.91002983e-02 -6.19077562e-05 9.98793851e-01 1.03327665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.530385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:194.87, Y:65.15, Z:10.33 [[ 6.36482244e-01 -7.70652373e-01 -3.13890582e-02 1.94869440e+02] [ 7.69726917e-01 6.37255760e-01 -3.77567208e-02 6.51503232e+01] [ 4.91001646e-02 -1.29520621e-04 9.98793851e-01 1.03339140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.560385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.89, Y:65.17, Z:10.34 [[ 6.35365284e-01 -7.71573746e-01 -3.13832756e-02 1.94888012e+02] [ 7.70649174e-01 6.36139857e-01 -3.77615266e-02 6.51708595e+01] [ 4.90999550e-02 -1.93132336e-04 9.98793851e-01 1.03356904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.590385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.91, Y:65.19, Z:10.34 [[ 6.33734494e-01 -7.72914172e-01 -3.13731322e-02 1.94907445e+02] [ 7.71990822e-01 6.34510521e-01 -3.77699521e-02 6.51914912e+01] [ 4.90995138e-02 -2.83648646e-04 9.98793851e-01 1.03371706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.620385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.93, Y:65.21, Z:10.34 [[ 6.31388721e-01 -7.74834391e-01 -3.13041327e-02 1.94926144e+02] [ 7.73910558e-01 6.32164178e-01 -3.78272342e-02 6.52139181e+01] [ 4.90991933e-02 -3.42909822e-04 9.98793848e-01 1.03393837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.650385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:194.94, Y:65.24, Z:10.34 [[ 6.30284715e-01 -7.75730648e-01 -3.13550609e-02 1.94944343e+02] [ 7.74810017e-01 6.31063969e-01 -3.77849726e-02 6.52360786e+01] [ 4.90980105e-02 -4.78924585e-04 9.98793851e-01 1.03412005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.680385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:194.96, Y:65.26, Z:10.34 [[ 6.26436621e-01 -7.78841833e-01 -3.13458011e-02 1.94960171e+02] [ 7.77924688e-01 6.27219973e-01 -3.77926528e-02 6.52571868e+01] [ 4.90952116e-02 -7.09970849e-04 9.98793851e-01 1.03416533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.710385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.98, Y:65.28, Z:10.34 [[ 6.27107414e-01 -7.78314304e-01 -3.10344273e-02 1.94982428e+02] [ 7.77383671e-01 6.27874808e-01 -3.80506624e-02 6.52793533e+01] [ 4.91011099e-02 -2.63804490e-04 9.98793778e-01 1.03438406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.740385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.00, Y:65.30, Z:10.34 [[ 6.26760601e-01 -7.78585474e-01 -3.12379309e-02 1.95000955e+02] [ 7.77663551e-01 6.27538331e-01 -3.78819863e-02 6.53010021e+01] [ 4.90973633e-02 -5.49663686e-04 9.98793846e-01 1.03446227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.770385723 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:195.01, Y:65.32, Z:10.34 [[ 6.25886812e-01 -7.79289003e-01 -3.12145352e-02 1.95014696e+02] [ 7.78366987e-01 6.26664439e-01 -3.79013750e-02 6.53228618e+01] [ 4.90971639e-02 -5.74392959e-04 9.98793842e-01 1.03424707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.800385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.04, Y:65.35, Z:10.34 [[ 6.29000918e-01 -7.76789176e-01 -3.09260589e-02 1.95036493e+02] [ 7.75852272e-01 6.29760729e-01 -3.81402195e-02 6.53453716e+01] [ 4.91029271e-02 -3.81992852e-06 9.98793724e-01 1.03444280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.830385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:195.05, Y:65.37, Z:10.35 [[ 6.27392912e-01 -7.78072712e-01 -3.13207459e-02 1.95048548e+02] [ 7.77153575e-01 6.28173921e-01 -3.78133088e-02 6.53666254e+01] [ 4.90963795e-02 -6.17227689e-04 9.98793855e-01 1.03454583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.860385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.07, Y:65.39, Z:10.35 [[ 6.30041543e-01 -7.75945521e-01 -3.09225142e-02 1.95073006e+02] [ 7.75007464e-01 6.30799924e-01 -3.81429790e-02 6.53894586e+01] [ 4.91027934e-02 6.64820309e-05 9.98793728e-01 1.03479410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.890385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.09, Y:65.41, Z:10.35 [[ 6.26582861e-01 -7.78725390e-01 -3.13159052e-02 1.95086954e+02] [ 7.77806871e-01 6.27364590e-01 -3.78172259e-02 6.54117197e+01] [ 4.90957240e-02 -6.62100716e-04 9.98793858e-01 1.03473774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.920385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.10, Y:65.43, Z:10.35 [[ 6.25758576e-01 -7.79402743e-01 -3.09446097e-02 1.95103809e+02] [ 7.78469798e-01 6.26523192e-01 -3.81243128e-02 6.54338807e+01] [ 4.91017097e-02 -2.32828426e-04 9.98793756e-01 1.03493480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.950385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:195.12, Y:65.46, Z:10.35 [[ 6.24830240e-01 -7.80147301e-01 -3.09412443e-02 1.95120541e+02] [ 7.79215129e-01 6.25595802e-01 -3.81270950e-02 6.54565351e+01] [ 4.91014627e-02 -2.86923747e-04 9.98793755e-01 1.03493426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.980385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.14, Y:65.48, Z:10.35 [[ 6.24492276e-01 -7.80419650e-01 -3.08960556e-02 1.95139117e+02] [ 7.79485964e-01 6.25256033e-01 -3.81644455e-02 6.54789565e+01] [ 4.91022283e-02 -2.49640268e-04 9.98793727e-01 1.03506268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.010385723 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:195.16, Y:65.50, Z:10.35 [[ 6.22650760e-01 -7.81888294e-01 -3.09309966e-02 1.95156037e+02] [ 7.80957842e-01 6.23418421e-01 -3.81355750e-02 6.54995472e+01] [ 4.91007127e-02 -4.10659518e-04 9.98793748e-01 1.03524762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.040385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.18, Y:65.52, Z:10.36 [[ 6.25427080e-01 -7.79673685e-01 -3.08206451e-02 1.95179943e+02] [ 7.78736015e-01 6.26186024e-01 -3.82267182e-02 6.55209417e+01] [ 4.91038234e-02 -9.31215976e-05 9.98793675e-01 1.03600300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.07038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.19, Y:65.54, Z:10.36 [[ 6.23587856e-01 -7.81127232e-01 -3.12799249e-02 1.95194866e+02] [ 7.80210223e-01 6.24371365e-01 -3.78471437e-02 6.55438958e+01] [ 4.90937240e-02 -8.03898055e-04 9.98793853e-01 1.03581899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.10038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.21, Y:65.57, Z:10.36 [[ 6.26254094e-01 -7.78998727e-01 -3.10932928e-02 1.95211941e+02] [ 7.78071382e-01 6.27025380e-01 -3.80012860e-02 6.55671388e+01] [ 4.90992372e-02 -3.94340380e-04 9.98793827e-01 1.03634219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.13038572300002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:195.23, Y:65.59, Z:10.37 [[ 6.27796431e-01 -7.77749424e-01 -3.12645770e-02 1.95227607e+02] [ 7.76827567e-01 6.28574231e-01 -3.78598415e-02 6.55884836e+01] [ 4.90975774e-02 -5.18911836e-04 9.98793852e-01 1.03652321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.16038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.25, Y:65.61, Z:10.36 [[ 6.28931293e-01 -7.76839034e-01 -3.10892704e-02 1.95245467e+02] [ 7.75908880e-01 6.29699187e-01 -3.80045196e-02 6.56125811e+01] [ 4.91002826e-02 -2.20209317e-04 9.98793829e-01 1.03649649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.190385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:195.26, Y:65.63, Z:10.37 [[ 6.29926068e-01 -7.76026102e-01 -3.12512061e-02 1.95263486e+02] [ 7.75101568e-01 6.30700685e-01 -3.78708911e-02 6.56341286e+01] [ 4.90989571e-02 -3.66997370e-04 9.98793851e-01 1.03663165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.220385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.28, Y:65.66, Z:10.37 [[ 6.32375507e-01 -7.74031804e-01 -3.12407684e-02 1.95281002e+02] [ 7.73104402e-01 6.33146687e-01 -3.78794995e-02 6.56562777e+01] [ 4.90999263e-02 -1.98307863e-04 9.98793852e-01 1.03667505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.250385723 meters Centerline goodness : 0.998930 Centerline is valid? [True, True] Translation: X:195.30, Y:65.68, Z:10.37 [[ 6.34511806e-01 -7.72281674e-01 -3.12375379e-02 1.95298211e+02] [ 7.71352014e-01 6.35280263e-01 -3.78821633e-02 6.56776869e+01] [ 4.91002918e-02 -5.84579746e-05 9.98793852e-01 1.03654086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.280385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.32, Y:65.70, Z:10.37 [[ 6.35728544e-01 -7.71286337e-01 -3.10902634e-02 1.95315550e+02] [ 7.70349524e-01 6.36488289e-01 -3.80035445e-02 6.57010944e+01] [ 4.91002032e-02 2.09568357e-04 9.98793836e-01 1.03693830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.310385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:195.33, Y:65.72, Z:10.37 [[ 6.36765757e-01 -7.70424890e-01 -3.12227253e-02 1.95333007e+02] [ 7.69492389e-01 6.37530766e-01 -3.78944048e-02 6.57227449e+01] [ 4.91002406e-02 1.04209919e-04 9.98793850e-01 1.03723023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.340385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:195.35, Y:65.74, Z:10.37 [[ 6.37618735e-01 -7.69722867e-01 -3.11296701e-02 1.95351738e+02] [ 7.68785777e-01 6.38378124e-01 -3.79710408e-02 6.57441921e+01] [ 4.90996788e-02 2.78999366e-04 9.98793844e-01 1.03713770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.370385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:195.37, Y:65.77, Z:10.37 [[ 6.37841372e-01 -7.69535093e-01 -3.12109893e-02 1.95370270e+02] [ 7.68601050e-01 6.38604499e-01 -3.79040813e-02 6.57653644e+01] [ 4.90999989e-02 1.87992007e-04 9.98793850e-01 1.03724683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.400385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.39, Y:65.79, Z:10.37 [[ 6.38552675e-01 -7.68945378e-01 -3.12007576e-02 1.95389222e+02] [ 7.68010219e-01 6.39314434e-01 -3.79125016e-02 6.57861239e+01] [ 4.90997376e-02 2.46628607e-04 9.98793850e-01 1.03739856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.430385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.41, Y:65.81, Z:10.38 [[ 6.39096244e-01 -7.68494083e-01 -3.11903085e-02 1.95407221e+02] [ 7.67557967e-01 6.39856826e-01 -3.79210961e-02 6.58062527e+01] [ 4.90994698e-02 2.94860378e-04 9.98793850e-01 1.03750235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.460385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.43, Y:65.83, Z:10.38 [[ 6.40369686e-01 -7.67433505e-01 -3.11846184e-02 1.95425828e+02] [ 7.66495902e-01 6.41128434e-01 -3.79257748e-02 6.58257874e+01] [ 4.90988558e-02 3.83634291e-04 9.98793850e-01 1.03757555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.490385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:195.44, Y:65.85, Z:10.38 [[ 6.41482095e-01 -7.66504272e-01 -3.11756812e-02 1.95443824e+02] [ 7.65565213e-01 6.42239039e-01 -3.79331199e-02 6.58468201e+01] [ 4.90981380e-02 4.66400218e-04 9.98793850e-01 1.03759966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.520385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:195.46, Y:65.87, Z:10.37 [[ 6.44050612e-01 -7.64347762e-01 -3.11658102e-02 1.95462189e+02] [ 7.63405777e-01 6.44803911e-01 -3.79412282e-02 6.58677598e+01] [ 4.90961292e-02 6.43911666e-04 9.98793850e-01 1.03748504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.550385723 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:195.48, Y:65.89, Z:10.38 [[ 6.44883417e-01 -7.63645653e-01 -3.11559775e-02 1.95480727e+02] [ 7.62702457e-01 6.45635201e-01 -3.79493008e-02 6.58887813e+01] [ 4.90952143e-02 7.10134173e-04 9.98793850e-01 1.03767036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.580385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:195.50, Y:65.91, Z:10.38 [[ 6.46854737e-01 -7.61976977e-01 -3.11453955e-02 1.95500678e+02] [ 7.61031424e-01 6.47603554e-01 -3.79579835e-02 6.59070328e+01] [ 4.90929784e-02 8.50676747e-04 9.98793851e-01 1.03770828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.610385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.52, Y:65.93, Z:10.38 [[ 6.47443145e-01 -7.61477316e-01 -3.11395430e-02 1.95519707e+02] [ 7.60530955e-01 6.48190939e-01 -3.79627841e-02 6.59281541e+01] [ 4.90921686e-02 8.96157961e-04 9.98793851e-01 1.03803591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.640385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.54, Y:65.95, Z:10.38 [[ 6.49003359e-01 -7.60148420e-01 -3.11290825e-02 1.95538007e+02] [ 7.59200117e-01 6.49748689e-01 -3.79713597e-02 6.59491255e+01] [ 4.90899496e-02 1.01033695e-03 9.98793851e-01 1.03805413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.670385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:195.56, Y:65.97, Z:10.38 [[ 6.49617597e-01 -7.59623995e-01 -3.11185504e-02 1.95555990e+02] [ 7.58674676e-01 6.50361635e-01 -3.79799891e-02 6.59703668e+01] [ 4.90888223e-02 1.06361310e-03 9.98793851e-01 1.03810276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.700385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:195.58, Y:65.99, Z:10.38 [[ 6.51386669e-01 -7.58107970e-01 -3.11080764e-02 1.95576424e+02] [ 7.57156512e-01 6.52127967e-01 -3.79885660e-02 6.59894650e+01] [ 4.90858813e-02 1.19156285e-03 9.98793851e-01 1.03834618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.730385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:195.60, Y:66.01, Z:10.39 [[ 6.52447026e-01 -7.57196030e-01 -3.10974385e-02 1.95595994e+02] [ 7.56243121e-01 6.53186458e-01 -3.79972723e-02 6.60089163e+01] [ 4.90838094e-02 1.27398334e-03 9.98793851e-01 1.03850540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.760385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.62, Y:66.03, Z:10.39 [[ 6.54609405e-01 -7.55327694e-01 -3.10902143e-02 1.95617473e+02] [ 7.54372395e-01 6.55345747e-01 -3.80031823e-02 6.60276416e+01] [ 4.90796958e-02 1.42364111e-03 9.98793851e-01 1.03884432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.790385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.64, Y:66.05, Z:10.39 [[ 6.56453299e-01 -7.53726168e-01 -3.10794043e-02 1.95636481e+02] [ 7.52768655e-01 6.57186760e-01 -3.80120208e-02 6.60482940e+01] [ 4.90756278e-02 1.55751504e-03 9.98793851e-01 1.03890491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.82038572300002 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:195.65, Y:66.07, Z:10.39 [[ 6.57370624e-01 -7.52926691e-01 -3.10686383e-02 1.95654369e+02] [ 7.51967872e-01 6.58102376e-01 -3.80208182e-02 6.60688560e+01] [ 4.90732336e-02 1.63115113e-03 9.98793851e-01 1.03889941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.85038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.67, Y:66.09, Z:10.39 [[ 6.57896184e-01 -7.52469033e-01 -3.10316958e-02 1.95672781e+02] [ 7.51508285e-01 6.58625402e-01 -3.80509901e-02 6.60899581e+01] [ 4.90704548e-02 1.71302465e-03 9.98793851e-01 1.03888789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.88038572300002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:195.69, Y:66.11, Z:10.39 [[ 6.59484560e-01 -7.51076339e-01 -3.10555692e-02 1.95694833e+02] [ 7.50114966e-01 6.60212953e-01 -3.80314957e-02 6.61096875e+01] [ 4.90678456e-02 1.78593695e-03 9.98793851e-01 1.03902904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.91038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.71, Y:66.13, Z:10.39 [[ 6.59695076e-01 -7.50891814e-01 -3.10465646e-02 1.95714402e+02] [ 7.49929893e-01 6.60422745e-01 -3.80388451e-02 6.61297456e+01] [ 4.90669148e-02 1.81129194e-03 9.98793851e-01 1.03929726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.940385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.73, Y:66.15, Z:10.39 [[ 6.58782681e-01 -7.51692854e-01 -3.10359744e-02 1.95733270e+02] [ 7.50731412e-01 6.59510983e-01 -3.80474837e-02 6.61486473e+01] [ 4.90685876e-02 1.76534251e-03 9.98793851e-01 1.03939718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.970385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.75, Y:66.17, Z:10.39 [[ 6.57608939e-01 -7.52720199e-01 -3.10287838e-02 1.95751137e+02] [ 7.51759618e-01 6.58338377e-01 -3.80533469e-02 6.61703550e+01] [ 4.90709620e-02 1.69803450e-03 9.98793851e-01 1.03941500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.000385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.77, Y:66.19, Z:10.40 [[ 6.54828282e-01 -7.55140902e-01 -3.10183667e-02 1.95770292e+02] [ 7.54182618e-01 6.55560734e-01 -3.80618363e-02 6.61908295e+01] [ 4.90764726e-02 1.53045380e-03 9.98793851e-01 1.03959816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.030385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.79, Y:66.21, Z:10.40 [[ 6.53340146e-01 -7.56429010e-01 -3.10129910e-02 1.95789419e+02] [ 7.55471963e-01 6.54074213e-01 -3.80662159e-02 6.62117126e+01] [ 4.90791877e-02 1.44074190e-03 9.98793851e-01 1.03983575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.060385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.81, Y:66.23, Z:10.40 [[ 6.52170320e-01 -7.57438253e-01 -3.10026697e-02 1.95808462e+02] [ 7.56481943e-01 6.52905348e-01 -3.80746201e-02 6.62321371e+01] [ 4.90809826e-02 1.37817737e-03 9.98793851e-01 1.04011924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.090385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.83, Y:66.25, Z:10.40 [[ 6.49314404e-01 -7.59888328e-01 -3.09924731e-02 1.95828956e+02] [ 7.58934397e-01 6.50052516e-01 -3.80829183e-02 6.62517616e+01] [ 4.90855003e-02 1.20653352e-03 9.98793852e-01 1.04049378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.120385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.85, Y:66.27, Z:10.41 [[ 6.48486736e-01 -7.60591995e-01 -3.10607645e-02 1.95847177e+02] [ 7.59641519e-01 6.49229299e-01 -3.80273519e-02 6.62723022e+01] [ 4.90888578e-02 1.06518697e-03 9.98793847e-01 1.04062685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.150385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.87, Y:66.29, Z:10.41 [[ 6.46701571e-01 -7.62113783e-01 -3.09783744e-02 1.95866248e+02] [ 7.61161845e-01 6.47442250e-01 -3.80943520e-02 6.62936138e+01] [ 4.90889391e-02 1.05612071e-03 9.98793853e-01 1.04070287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.180385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.88, Y:66.32, Z:10.41 [[ 6.45777102e-01 -7.62897720e-01 -3.09677776e-02 1.95884833e+02] [ 7.61946268e-01 6.46518405e-01 -3.81029644e-02 6.63151898e+01] [ 4.90899028e-02 1.01023937e-03 9.98793853e-01 1.04080620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.210385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.90, Y:66.33, Z:10.41 [[ 6.44304691e-01 -7.64142082e-01 -3.09571271e-02 1.95903288e+02] [ 7.63191647e-01 6.45047297e-01 -3.81116156e-02 6.63344071e+01] [ 4.90915004e-02 9.29271908e-04 9.98793853e-01 1.04064950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.240385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.92, Y:66.36, Z:10.41 [[ 6.43612900e-01 -7.64732281e-01 -3.07729398e-02 1.95922794e+02] [ 7.63775363e-01 6.44347174e-01 -3.82611317e-02 6.63557753e+01] [ 4.90879793e-02 1.12174469e-03 9.98793829e-01 1.04102917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.270385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.94, Y:66.38, Z:10.41 [[ 6.42588253e-01 -7.65586630e-01 -3.09426903e-02 1.95941210e+02] [ 7.64637299e-01 6.43332271e-01 -3.81233558e-02 6.63765991e+01] [ 4.90931627e-02 8.37685451e-04 9.98793852e-01 1.04117571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.300385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.96, Y:66.40, Z:10.41 [[ 6.40768729e-01 -7.67110576e-01 -3.09321805e-02 1.95959651e+02] [ 7.66162603e-01 6.41514477e-01 -3.81318812e-02 6.63972731e+01] [ 4.90948110e-02 7.34637141e-04 9.98793853e-01 1.04146728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.330385723 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:195.98, Y:66.42, Z:10.41 [[ 6.40415672e-01 -7.67405729e-01 -3.09227219e-02 1.95977508e+02] [ 7.66457730e-01 6.41161386e-01 -3.81395501e-02 6.64189142e+01] [ 4.90949645e-02 7.24206324e-04 9.98793853e-01 1.04147928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.360385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.00, Y:66.44, Z:10.42 [[ 6.40286032e-01 -7.67514968e-01 -3.08961342e-02 1.95995201e+02] [ 7.66566057e-01 6.41030585e-01 -3.81610969e-02 6.64416537e+01] [ 4.90945800e-02 7.50089554e-04 9.98793852e-01 1.04187451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.390385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.01, Y:66.46, Z:10.42 [[ 6.40421545e-01 -7.67401350e-01 -3.09097419e-02 1.96012390e+02] [ 7.66452838e-01 6.41166607e-01 -3.81500717e-02 6.64642967e+01] [ 4.90947109e-02 7.41268509e-04 9.98793853e-01 1.04189872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.420385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.03, Y:66.49, Z:10.42 [[ 6.40212744e-01 -7.67575972e-01 -3.08993477e-02 1.96030307e+02] [ 7.66627258e-01 6.40957548e-01 -3.81584885e-02 6.64865421e+01] [ 4.90947091e-02 7.41268482e-04 9.98793853e-01 1.04203856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.450385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.05, Y:66.51, Z:10.42 [[ 6.41288279e-01 -7.66678040e-01 -3.08889512e-02 1.96046417e+02] [ 7.65727877e-01 6.42031234e-01 -3.81669025e-02 6.65098425e+01] [ 4.90933975e-02 8.23456180e-04 9.98793853e-01 1.04197099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.480385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.06, Y:66.53, Z:10.42 [[ 6.42038745e-01 -7.66050105e-01 -3.08785759e-02 1.96064253e+02] [ 7.65098813e-01 6.42780253e-01 -3.81752948e-02 6.65323567e+01] [ 4.90923274e-02 8.84856617e-04 9.98793853e-01 1.04204054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.510385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.08, Y:66.55, Z:10.42 [[ 6.43682706e-01 -7.64669638e-01 -3.08693830e-02 1.96082100e+02] [ 7.63716399e-01 6.44421711e-01 -3.81827269e-02 6.65543075e+01] [ 4.90900725e-02 1.00210696e-03 9.98793853e-01 1.04211937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.540385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.10, Y:66.58, Z:10.42 [[ 6.44276887e-01 -7.64169323e-01 -3.08632211e-02 1.96098842e+02] [ 7.63215272e-01 6.45014843e-01 -3.81877070e-02 6.65765490e+01] [ 4.90891099e-02 1.04817530e-03 9.98793853e-01 1.04228467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.57038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.11, Y:66.60, Z:10.42 [[ 6.45659251e-01 -7.63002135e-01 -3.08524582e-02 1.96114084e+02] [ 7.62046335e-01 6.46394939e-01 -3.81964005e-02 6.66009144e+01] [ 4.90868080e-02 1.15085664e-03 9.98793853e-01 1.04235364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.60038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.13, Y:66.62, Z:10.42 [[ 6.46286834e-01 -7.62471029e-01 -3.08424652e-02 1.96129760e+02] [ 7.61514241e-01 6.47021236e-01 -3.82044678e-02 6.66224965e+01] [ 4.90855299e-02 1.20406809e-03 9.98793853e-01 1.04235482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.63038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.15, Y:66.65, Z:10.42 [[ 6.48752616e-01 -7.60374355e-01 -3.08364101e-02 1.96152164e+02] [ 7.59414961e-01 6.49483612e-01 -3.82093545e-02 6.66454810e+01] [ 4.90811563e-02 1.37078751e-03 9.98793853e-01 1.04201018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.66038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.16, Y:66.67, Z:10.43 [[ 6.46376305e-01 -7.62382964e-01 -3.11430239e-02 1.96164891e+02] [ 7.61437689e-01 6.47125596e-01 -3.79619334e-02 6.66672934e+01] [ 4.90949792e-02 8.24222091e-04 9.98793774e-01 1.04301345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.690385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.18, Y:66.69, Z:10.43 [[ 6.44541480e-01 -7.63948047e-01 -3.08165691e-02 1.96182251e+02] [ 7.62991956e-01 6.45276774e-01 -3.82251223e-02 6.66890466e+01] [ 4.90872239e-02 1.12488258e-03 9.98793862e-01 1.04332454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.720385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.20, Y:66.71, Z:10.44 [[ 6.43568282e-01 -7.64766521e-01 -3.08550489e-02 1.96200086e+02] [ 7.63812849e-01 6.44306714e-01 -3.81941108e-02 6.67110253e+01] [ 4.90896924e-02 1.01303547e-03 9.98793861e-01 1.04350448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.750385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.22, Y:66.73, Z:10.44 [[ 6.41682106e-01 -7.66350974e-01 -3.08262900e-02 1.96217816e+02] [ 7.65398013e-01 6.42421452e-01 -3.82172771e-02 6.67331591e+01] [ 4.90913174e-02 9.28961739e-04 9.98793862e-01 1.04357803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.780385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.23, Y:66.75, Z:10.44 [[ 6.40610711e-01 -7.67248141e-01 -3.07929615e-02 1.96234450e+02] [ 7.66294926e-01 6.41349729e-01 -3.82441122e-02 6.67539553e+01] [ 4.90917815e-02 9.03097767e-04 9.98793863e-01 1.04358836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.810385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.25, Y:66.78, Z:10.44 [[ 6.38582679e-01 -7.68937263e-01 -3.07838984e-02 1.96253848e+02] [ 7.67985651e-01 6.39323760e-01 -3.82514059e-02 6.67760993e+01] [ 4.90938090e-02 7.85093009e-04 9.98793863e-01 1.04367888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.840385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.27, Y:66.80, Z:10.44 [[ 6.37312677e-01 -7.69989751e-01 -3.07950474e-02 1.96270772e+02] [ 7.69039797e-01 6.38055881e-01 -3.82424365e-02 6.67967354e+01] [ 4.90952453e-02 6.89772585e-04 9.98793863e-01 1.04404933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.870385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.29, Y:66.82, Z:10.44 [[ 6.34523883e-01 -7.72290499e-01 -3.07705610e-02 1.96288463e+02] [ 7.71342284e-01 6.35269305e-01 -3.82621286e-02 6.68180943e+01] [ 4.90970713e-02 5.43599568e-04 9.98793864e-01 1.04430943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.900385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.31, Y:66.84, Z:10.44 [[ 6.33066959e-01 -7.73485646e-01 -3.07600508e-02 1.96305877e+02] [ 7.72538428e-01 6.33813647e-01 -3.82705763e-02 6.68398442e+01] [ 4.90978814e-02 4.64516052e-04 9.98793864e-01 1.04444720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.930385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.31, Y:66.86, Z:10.45 [[ 6.27983430e-01 -7.77618979e-01 -3.07495494e-02 1.96314088e+02] [ 7.76676264e-01 6.28735794e-01 -3.82790120e-02 6.68589141e+01] [ 4.90998286e-02 1.56140108e-04 9.98793864e-01 1.04482066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.960385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.34, Y:66.88, Z:10.45 [[ 6.31799847e-01 -7.74555741e-01 -2.98723517e-02 1.96341627e+02] [ 7.73575642e-01 6.32503828e-01 -3.89824901e-02 6.68830970e+01] [ 4.90884883e-02 1.52060768e-03 9.98793276e-01 1.04453900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.990385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.36, Y:66.90, Z:10.45 [[ 6.32181700e-01 -7.74209977e-01 -3.07442581e-02 1.96360288e+02] [ 7.73263045e-01 6.32928691e-01 -3.82823075e-02 6.69045295e+01] [ 4.90974674e-02 4.27975582e-04 9.98793900e-01 1.04480509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.020385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.38, Y:66.93, Z:10.45 [[ 6.34036864e-01 -7.72691829e-01 -3.07342084e-02 1.96377224e+02] [ 7.71742718e-01 6.34781084e-01 -3.82903740e-02 6.69265589e+01] [ 4.90961532e-02 5.58607131e-04 9.98793901e-01 1.04498485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.050385723 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:196.39, Y:66.95, Z:10.45 [[ 6.36615944e-01 -7.70568728e-01 -3.07241682e-02 1.96392753e+02] [ 7.69616746e-01 6.37356489e-01 -3.82984286e-02 6.69504563e+01] [ 4.90938193e-02 7.35555932e-04 9.98793901e-01 1.04504914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.080385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.41, Y:66.97, Z:10.45 [[ 6.37465041e-01 -7.69866846e-01 -3.07141886e-02 1.96409462e+02] [ 7.68913663e-01 6.38204040e-01 -3.83064302e-02 6.69728434e+01] [ 4.90927698e-02 8.02450812e-04 9.98793901e-01 1.04518487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.110385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.43, Y:67.00, Z:10.45 [[ 6.38175511e-01 -7.69278415e-01 -3.07040187e-02 1.96426337e+02] [ 7.68324159e-01 6.38913123e-01 -3.83145801e-02 6.69957751e+01] [ 4.90917799e-02 8.60787371e-04 9.98793901e-01 1.04536570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.140385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.44, Y:67.02, Z:10.46 [[ 6.38074638e-01 -7.69362503e-01 -3.06935600e-02 1.96443609e+02] [ 7.68407942e-01 6.38811855e-01 -3.83229566e-02 6.70180557e+01] [ 4.90916558e-02 8.67731406e-04 9.98793901e-01 1.04550006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.170385723 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:196.46, Y:67.04, Z:10.45 [[ 6.38793075e-01 -7.68766514e-01 -3.06831212e-02 1.96460018e+02] [ 7.67810864e-01 6.39528879e-01 -3.83313125e-02 6.70379815e+01] [ 4.90905717e-02 9.26943172e-04 9.98793901e-01 1.04485928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.200385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.48, Y:67.06, Z:10.46 [[ 6.37988372e-01 -7.69440888e-01 -3.05214171e-02 1.96477799e+02] [ 7.68479818e-01 6.38717111e-01 -3.84606445e-02 6.70608707e+01] [ 4.90877438e-02 1.08235088e-03 9.98793884e-01 1.04569232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.230385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.49, Y:67.08, Z:10.46 [[ 6.34421309e-01 -7.72378906e-01 -3.06663986e-02 1.96486671e+02] [ 7.71426800e-01 6.35161694e-01 -3.83446958e-02 6.70813854e+01] [ 4.90947558e-02 6.69810388e-04 9.98793901e-01 1.04626002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.260385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:196.51, Y:67.10, Z:10.46 [[ 6.38590287e-01 -7.68963509e-01 -2.99594333e-02 1.96513244e+02] [ 7.67980684e-01 6.39290029e-01 -3.89092296e-02 6.71049059e+01] [ 4.90725447e-02 1.83879003e-03 9.98793524e-01 1.04594036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.290385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:196.53, Y:67.13, Z:10.46 [[ 6.38510441e-01 -7.69002274e-01 -3.06581140e-02 1.96529276e+02] [ 7.68045965e-01 6.39245350e-01 -3.83507194e-02 6.71265698e+01] [ 4.90898472e-02 9.40493936e-04 9.98793924e-01 1.04597779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.32038572300002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:196.55, Y:67.15, Z:10.46 [[ 6.38676064e-01 -7.68865050e-01 -3.06499725e-02 1.96546500e+02] [ 7.67908271e-01 6.39410362e-01 -3.83572250e-02 6.71490213e+01] [ 4.90894397e-02 9.61474101e-04 9.98793924e-01 1.04622571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.35038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.56, Y:67.17, Z:10.46 [[ 6.40478073e-01 -7.67365012e-01 -3.06394586e-02 1.96564806e+02] [ 7.66406112e-01 6.41209600e-01 -3.83656216e-02 6.71707060e+01] [ 4.90867506e-02 1.09007103e-03 9.98793924e-01 1.04634356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.38038572300002 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:196.58, Y:67.19, Z:10.47 [[ 6.41753811e-01 -7.66298786e-01 -3.06303318e-02 1.96582559e+02] [ 7.65338324e-01 6.42483284e-01 -3.83729069e-02 6.71925414e+01] [ 4.90845881e-02 1.18339241e-03 9.98793924e-01 1.04660229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.410385723 meters Centerline goodness : 0.999821 Centerline is valid? [True, True] Translation: X:196.60, Y:67.21, Z:10.46 [[ 6.44647009e-01 -7.63866905e-01 -3.06200183e-02 1.96598441e+02] [ 7.62903302e-01 6.45372327e-01 -3.83811348e-02 6.72149786e+01] [ 4.90793912e-02 1.38217068e-03 9.98793924e-01 1.04647621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.440385723 meters Centerline goodness : 0.999465 Centerline is valid? [True, True] Translation: X:196.62, Y:67.24, Z:10.47 [[ 6.45995026e-01 -7.62727393e-01 -3.06161835e-02 1.96615165e+02] [ 7.61762365e-01 6.46718449e-01 -3.83841935e-02 6.72387245e+01] [ 4.90767266e-02 1.47374171e-03 9.98793924e-01 1.04710054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.470385723 meters Centerline goodness : 0.999111 Centerline is valid? [True, True] Translation: X:196.63, Y:67.26, Z:10.47 [[ 6.48693485e-01 -7.60434069e-01 -3.06070166e-02 1.96629918e+02] [ 7.59466141e-01 6.49413022e-01 -3.83915017e-02 6.72623351e+01] [ 4.90708010e-02 1.65932422e-03 9.98793924e-01 1.04713913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.500385723 meters Centerline goodness : 0.998954 Centerline is valid? [True, True] Translation: X:196.64, Y:67.28, Z:10.47 [[ 6.45289281e-01 -7.63325150e-01 -3.06016201e-02 1.96638863e+02] [ 7.62360243e-01 6.46012865e-01 -3.83958028e-02 6.72847373e+01] [ 4.90775222e-02 1.44694149e-03 9.98793924e-01 1.04735816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.530385723 meters Centerline goodness : 0.998533 Centerline is valid? [True, True] Translation: X:196.66, Y:67.31, Z:10.47 [[ 6.49890071e-01 -7.59435491e-01 -3.00105189e-02 1.96664983e+02] [ 7.58444411e-01 6.50577819e-01 -3.88661442e-02 6.73065463e+01] [ 4.90405072e-02 2.49741083e-03 9.98793668e-01 1.04725599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.560385723 meters Centerline goodness : 0.998295 Centerline is valid? [True, True] Translation: X:196.68, Y:67.33, Z:10.48 [[ 6.50410639e-01 -7.58965115e-01 -3.06260583e-02 1.96682956e+02] [ 7.57996292e-01 6.51128948e-01 -3.83759540e-02 6.73282789e+01] [ 4.90675235e-02 1.74569014e-03 9.98793938e-01 1.04773461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.590385723 meters Centerline goodness : 0.998207 Centerline is valid? [True, True] Translation: X:196.69, Y:67.35, Z:10.47 [[ 6.44960547e-01 -7.63603791e-01 -3.05800963e-02 1.96688012e+02] [ 7.62638406e-01 6.45683466e-01 -3.84125443e-02 6.73505165e+01] [ 4.90770270e-02 1.45301975e-03 9.98793940e-01 1.04739066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.620385723 meters Centerline goodness : 0.998356 Centerline is valid? [True, True] Translation: X:196.72, Y:67.37, Z:10.48 [[ 6.50995991e-01 -7.58498646e-01 -2.97325462e-02 1.96716182e+02] [ 7.57496537e-01 6.51668061e-01 -3.90862389e-02 6.73736149e+01] [ 4.90226100e-02 2.92268401e-03 9.98793393e-01 1.04809151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.650385723 meters Centerline goodness : 0.998314 Centerline is valid? [True, True] Translation: X:196.73, Y:67.40, Z:10.48 [[ 6.52008867e-01 -7.57594660e-01 -3.05739933e-02 1.96733348e+02] [ 7.56622429e-01 6.52722502e-01 -3.84166065e-02 6.73966450e+01] [ 4.90605493e-02 1.91499900e-03 9.98793970e-01 1.04831776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.680385723 meters Centerline goodness : 0.998159 Centerline is valid? [True, True] Translation: X:196.75, Y:67.42, Z:10.48 [[ 6.52479138e-01 -7.57190056e-01 -3.05646006e-02 1.96750461e+02] [ 7.56217034e-01 6.53191693e-01 -3.84240780e-02 6.74185019e+01] [ 4.90588730e-02 1.95743763e-03 9.98793970e-01 1.04842205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.710385723 meters Centerline goodness : 0.998406 Centerline is valid? [True, True] Translation: X:196.77, Y:67.44, Z:10.48 [[ 6.52527508e-01 -7.57148805e-01 -3.05538551e-02 1.96766845e+02] [ 7.56175339e-01 6.53239458e-01 -3.84326206e-02 6.74394526e+01] [ 4.90581965e-02 1.97427038e-03 9.98793971e-01 1.04849290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.740385723 meters Centerline goodness : 0.998343 Centerline is valid? [True, True] Translation: X:196.78, Y:67.46, Z:10.48 [[ 6.52268489e-01 -7.57372196e-01 -3.05479184e-02 1.96783827e+02] [ 7.56398754e-01 6.52980471e-01 -3.84373388e-02 6.74611864e+01] [ 4.90585658e-02 1.96505744e-03 9.98793971e-01 1.04846506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.770385723 meters Centerline goodness : 0.998249 Centerline is valid? [True, True] Translation: X:196.80, Y:67.48, Z:10.49 [[ 6.52579933e-01 -7.57104104e-01 -3.05418853e-02 1.96801360e+02] [ 7.56130147e-01 6.53291209e-01 -3.84421321e-02 6.74844503e+01] [ 4.90574411e-02 1.99292377e-03 9.98793971e-01 1.04877455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.800385723 meters Centerline goodness : 0.998523 Centerline is valid? [True, True] Translation: X:196.82, Y:67.51, Z:10.49 [[ 6.52750881e-01 -7.56957093e-01 -3.05326965e-02 1.96817750e+02] [ 7.55982636e-01 6.53461472e-01 -3.84494289e-02 6.75064337e+01] [ 4.90565087e-02 2.01571017e-03 9.98793971e-01 1.04884766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.830385723 meters Centerline goodness : 0.998366 Centerline is valid? [True, True] Translation: X:196.83, Y:67.53, Z:10.49 [[ 6.52745147e-01 -7.56962459e-01 -3.05222640e-02 1.96833234e+02] [ 7.55987622e-01 6.53455217e-01 -3.84577087e-02 6.75306133e+01] [ 4.90559744e-02 2.02862897e-03 9.98793971e-01 1.04900192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.860385723 meters Centerline goodness : 0.998324 Centerline is valid? [True, True] Translation: X:196.84, Y:67.55, Z:10.49 [[ 6.47220429e-01 -7.61691977e-01 -3.05130935e-02 1.96840639e+02] [ 7.60721990e-01 6.47937110e-01 -3.84649834e-02 6.75538557e+01] [ 4.90690349e-02 1.68334189e-03 9.98793971e-01 1.04878633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.890385723 meters Centerline goodness : 0.998458 Centerline is valid? [True, True] Translation: X:196.87, Y:67.58, Z:10.49 [[ 6.51121631e-01 -7.58384072e-01 -2.99035293e-02 1.96866089e+02] [ 7.57388157e-01 6.51802308e-01 -3.89477996e-02 6.75762727e+01] [ 4.90285803e-02 2.71117591e-03 9.98793696e-01 1.04942251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.920385723 meters Centerline goodness : 0.998344 Centerline is valid? [True, True] Translation: X:196.88, Y:67.60, Z:10.50 [[ 6.48660153e-01 -7.60466820e-01 -3.04995435e-02 1.96883129e+02] [ 7.59494994e-01 6.49374315e-01 -3.84753553e-02 6.75993422e+01] [ 4.90648512e-02 1.79317926e-03 9.98793985e-01 1.04965800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.950385723 meters Centerline goodness : 0.998567 Centerline is valid? [True, True] Translation: X:196.90, Y:67.62, Z:10.50 [[ 6.47648304e-01 -7.61329119e-01 -3.04900966e-02 1.96901006e+02] [ 7.60357894e-01 6.48363281e-01 -3.84828401e-02 6.76220408e+01] [ 4.90667658e-02 1.73996055e-03 9.98793985e-01 1.04988200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.980385723 meters Centerline goodness : 0.998498 Centerline is valid? [True, True] Translation: X:196.92, Y:67.64, Z:10.50 [[ 6.46288270e-01 -7.62484358e-01 -3.04807313e-02 1.96917535e+02] [ 7.61514062e-01 6.47004508e-01 -3.84902565e-02 6.76437783e+01] [ 4.90693891e-02 1.66429578e-03 9.98793985e-01 1.04996758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.010385723 meters Centerline goodness : 0.998569 Centerline is valid? [True, True] Translation: X:196.93, Y:67.67, Z:10.50 [[ 6.43784501e-01 -7.64599820e-01 -3.04734571e-02 1.96933866e+02] [ 7.63631606e-01 6.44503551e-01 -3.84960148e-02 6.76664256e+01] [ 4.90742973e-02 1.51264272e-03 9.98793985e-01 1.05008385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.040385723 meters Centerline goodness : 0.998598 Centerline is valid? [True, True] Translation: X:196.95, Y:67.69, Z:10.50 [[ 6.42657362e-01 -7.65547875e-01 -3.04625460e-02 1.96951436e+02] [ 7.64580313e-01 6.43377289e-01 -3.85046470e-02 6.76893469e+01] [ 4.90760610e-02 1.45423191e-03 9.98793985e-01 1.05015588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.07038572300002 meters Centerline goodness : 0.998522 Centerline is valid? [True, True] Translation: X:196.97, Y:67.71, Z:10.50 [[ 6.40421613e-01 -7.67419555e-01 -3.04529776e-02 1.96967990e+02] [ 7.66453739e-01 6.41143881e-01 -3.85122131e-02 6.77126471e+01] [ 4.90797657e-02 1.32325516e-03 9.98793986e-01 1.05009442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.10038572300002 meters Centerline goodness : 0.998747 Centerline is valid? [True, True] Translation: X:196.98, Y:67.73, Z:10.50 [[ 6.38982399e-01 -7.68618689e-01 -3.04434676e-02 1.96983440e+02] [ 7.67653871e-01 6.39705999e-01 -3.85197292e-02 6.77343573e+01] [ 4.90818526e-02 1.24338317e-03 9.98793986e-01 1.05013460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.13038572300002 meters Centerline goodness : 0.998701 Centerline is valid? [True, True] Translation: X:197.00, Y:67.76, Z:10.50 [[ 6.38363398e-01 -7.69133160e-01 -3.04360733e-02 1.97000372e+02] [ 7.68168647e-01 6.39087404e-01 -3.85255709e-02 6.77560409e+01] [ 4.90826051e-02 1.21327710e-03 9.98793986e-01 1.05030249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.160385723 meters Centerline goodness : 0.999033 Centerline is valid? [True, True] Translation: X:197.02, Y:67.78, Z:10.50 [[ 6.36858085e-01 -7.70380294e-01 -3.04299668e-02 1.97018281e+02] [ 7.69416969e-01 6.37583671e-01 -3.85303935e-02 6.77791178e+01] [ 4.90847058e-02 1.12505982e-03 9.98793986e-01 1.05048080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.190385723 meters Centerline goodness : 0.998920 Centerline is valid? [True, True] Translation: X:197.04, Y:67.80, Z:10.51 [[ 6.36024535e-01 -7.71068955e-01 -3.04213469e-02 1.97035927e+02] [ 7.70106090e-01 6.36750732e-01 -3.85371982e-02 6.78024678e+01] [ 4.90856520e-02 1.08293905e-03 9.98793986e-01 1.05067291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.220385723 meters Centerline goodness : 0.998835 Centerline is valid? [True, True] Translation: X:197.05, Y:67.82, Z:10.51 [[ 6.34536586e-01 -7.72294265e-01 -3.04119974e-02 1.97052110e+02] [ 7.71332449e-01 6.35264172e-01 -3.85445750e-02 6.78245189e+01] [ 4.90874065e-02 1.00018257e-03 9.98793986e-01 1.05076100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.250385723 meters Centerline goodness : 0.999011 Centerline is valid? [True, True] Translation: X:197.06, Y:67.85, Z:10.51 [[ 6.30351830e-01 -7.75713889e-01 -3.04061489e-02 1.97062267e+02] [ 7.74755799e-01 6.31084315e-01 -3.85491881e-02 6.78470300e+01] [ 4.90919842e-02 7.42211037e-04 9.98793986e-01 1.05052320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.280385723 meters Centerline goodness : 0.998943 Centerline is valid? [True, True] Translation: X:197.09, Y:67.87, Z:10.51 [[ 6.34333786e-01 -7.72478253e-01 -2.99665716e-02 1.97085384e+02] [ 7.71499959e-01 6.35039317e-01 -3.88957529e-02 6.78703581e+01] [ 4.90760745e-02 1.55368147e-03 9.98793835e-01 1.05105682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.310385723 meters Centerline goodness : 0.998943 Centerline is valid? [True, True] Translation: X:197.10, Y:67.89, Z:10.51 [[ 6.34120212e-01 -7.72636318e-01 -3.04085103e-02 1.97103226e+02] [ 7.71674773e-01 6.34848142e-01 -3.85471326e-02 6.78926401e+01] [ 4.90877008e-02 9.78035565e-04 9.98793993e-01 1.05121919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.340385723 meters Centerline goodness : 0.999033 Centerline is valid? [True, True] Translation: X:197.12, Y:67.91, Z:10.51 [[ 6.34376838e-01 -7.72426047e-01 -3.03978557e-02 1.97118988e+02] [ 7.71463858e-01 6.35103918e-01 -3.85555328e-02 6.79144474e+01] [ 4.90870951e-02 1.00788990e-03 9.98793993e-01 1.05122346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.370385723 meters Centerline goodness : 0.998945 Centerline is valid? [True, True] Translation: X:197.13, Y:67.94, Z:10.51 [[ 6.35337936e-01 -7.71635952e-01 -3.03918461e-02 1.97133191e+02] [ 7.70672633e-01 6.36063518e-01 -3.85602694e-02 6.79374570e+01] [ 4.90856347e-02 1.07663794e-03 9.98793993e-01 1.05127475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.400385723 meters Centerline goodness : 0.998994 Centerline is valid? [True, True] Translation: X:197.15, Y:67.96, Z:10.51 [[ 6.35448659e-01 -7.71544953e-01 -3.03872781e-02 1.97148888e+02] [ 7.70581359e-01 6.36173874e-01 -3.85638689e-02 6.79604899e+01] [ 4.90853508e-02 1.08948869e-03 9.98793993e-01 1.05136637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.430385723 meters Centerline goodness : 0.999121 Centerline is valid? [True, True] Translation: X:197.17, Y:67.98, Z:10.51 [[ 6.35938117e-01 -7.71141967e-01 -3.03772780e-02 1.97165242e+02] [ 7.70177536e-01 6.36662220e-01 -3.85717444e-02 6.79834691e+01] [ 4.90843562e-02 1.13334536e-03 9.98793994e-01 1.05147443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.460385723 meters Centerline goodness : 0.999125 Centerline is valid? [True, True] Translation: X:197.18, Y:68.01, Z:10.52 [[ 6.36665260e-01 -7.70542128e-01 -3.03673540e-02 1.97180335e+02] [ 7.69576643e-01 6.37387957e-01 -3.85795560e-02 6.80071740e+01] [ 4.90829589e-02 1.19225663e-03 9.98793994e-01 1.05156772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.490385723 meters Centerline goodness : 0.999023 Centerline is valid? [True, True] Translation: X:197.20, Y:68.03, Z:10.52 [[ 6.36545212e-01 -7.70641707e-01 -3.03570860e-02 1.97195516e+02] [ 7.69675951e-01 6.37267546e-01 -3.85876339e-02 6.80292685e+01] [ 4.90828258e-02 1.19765453e-03 9.98793994e-01 1.05156586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.520385723 meters Centerline goodness : 0.999149 Centerline is valid? [True, True] Translation: X:197.21, Y:68.05, Z:10.52 [[ 6.35918764e-01 -7.71159086e-01 -3.03477966e-02 1.97212379e+02] [ 7.70193570e-01 6.36641418e-01 -3.85949383e-02 6.80524941e+01] [ 4.90835016e-02 1.16956764e-03 9.98793994e-01 1.05178382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.550385723 meters Centerline goodness : 0.999475 Centerline is valid? [True, True] Translation: X:197.23, Y:68.08, Z:10.52 [[ 6.35071446e-01 -7.71857395e-01 -3.03384291e-02 1.97227574e+02] [ 7.70892322e-01 6.35794692e-01 -3.86023004e-02 6.80759005e+01] [ 4.90844833e-02 1.12755666e-03 9.98793994e-01 1.05208053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.580385723 meters Centerline goodness : 0.999498 Centerline is valid? [True, True] Translation: X:197.24, Y:68.10, Z:10.52 [[ 6.34653121e-01 -7.72201772e-01 -3.03288400e-02 1.97243707e+02] [ 7.71236732e-01 6.35376411e-01 -3.86098329e-02 6.80985191e+01] [ 4.90848109e-02 1.11313551e-03 9.98793994e-01 1.05238105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.610385723 meters Centerline goodness : 0.999150 Centerline is valid? [True, True] Translation: X:197.26, Y:68.12, Z:10.53 [[ 6.33889159e-01 -7.72829445e-01 -3.03180164e-02 1.97260417e+02] [ 7.71864716e-01 6.34612863e-01 -3.86183302e-02 6.81225520e+01] [ 4.90855859e-02 1.07833376e-03 9.98793994e-01 1.05263760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.640385723 meters Centerline goodness : 0.999345 Centerline is valid? [True, True] Translation: X:197.28, Y:68.14, Z:10.53 [[ 6.33259279e-01 -7.73346025e-01 -3.03085890e-02 1.97276024e+02] [ 7.72381532e-01 6.33983298e-01 -3.86257276e-02 6.81443262e+01] [ 4.90861921e-02 1.05030599e-03 9.98793994e-01 1.05280336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.670385723 meters Centerline goodness : 0.999434 Centerline is valid? [True, True] Translation: X:197.29, Y:68.17, Z:10.53 [[ 6.33004402e-01 -7.73554949e-01 -3.03012892e-02 1.97292652e+02] [ 7.72590421e-01 6.33728374e-01 -3.86314533e-02 6.81660175e+01] [ 4.90863387e-02 1.04339425e-03 9.98793994e-01 1.05279971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.700385723 meters Centerline goodness : 0.999457 Centerline is valid? [True, True] Translation: X:197.30, Y:68.19, Z:10.52 [[ 6.27057988e-01 -7.78383234e-01 -3.02955709e-02 1.97297734e+02] [ 7.77424066e-01 6.27789046e-01 -3.86359373e-02 6.81869354e+01] [ 4.90927933e-02 6.74467197e-04 9.98793994e-01 1.05229236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.730385723 meters Centerline goodness : 0.999567 Centerline is valid? [True, True] Translation: X:197.32, Y:68.21, Z:10.53 [[ 6.32096029e-01 -7.74332106e-01 -2.94006606e-02 1.97324851e+02] [ 7.73335233e-01 6.32775838e-01 -3.93364487e-02 6.82118544e+01] [ 4.90635028e-02 2.12784632e-03 9.98793395e-01 1.05283793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.760385723 meters Centerline goodness : 0.999393 Centerline is valid? [True, True] Translation: X:197.34, Y:68.23, Z:10.53 [[ 6.32374774e-01 -7.74070223e-01 -3.02892036e-02 1.97341431e+02] [ 7.73105878e-01 6.33098929e-01 -3.86399750e-02 6.82342720e+01] [ 4.90861165e-02 1.01818413e-03 9.98794031e-01 1.05311430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.790385723 meters Centerline goodness : 0.999479 Centerline is valid? [True, True] Translation: X:197.35, Y:68.25, Z:10.53 [[ 6.26770992e-01 -7.78615012e-01 -3.02785029e-02 1.97346069e+02] [ 7.77655515e-01 6.27501558e-01 -3.86483583e-02 6.82547638e+01] [ 4.90919997e-02 6.77425105e-04 9.98794031e-01 1.05268634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.82038572300002 meters Centerline goodness : 0.999525 Centerline is valid? [True, True] Translation: X:197.38, Y:68.28, Z:10.54 [[ 6.32761441e-01 -7.73793587e-01 -2.92650436e-02 1.97376137e+02] [ 7.72791302e-01 6.33433504e-01 -3.94410843e-02 6.82782697e+01] [ 4.90567172e-02 2.34102616e-03 9.98793251e-01 1.05356348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.85038572300002 meters Centerline goodness : 0.999547 Centerline is valid? [True, True] Translation: X:197.39, Y:68.30, Z:10.54 [[ 6.33565311e-01 -7.73096349e-01 -3.02825394e-02 1.97393820e+02] [ 7.72130711e-01 6.34287650e-01 -3.86437935e-02 6.82997428e+01] [ 4.90832164e-02 1.10128837e-03 9.98794085e-01 1.05392688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.88038572300002 meters Centerline goodness : 0.999569 Centerline is valid? [True, True] Translation: X:197.41, Y:68.32, Z:10.54 [[ 6.34364731e-01 -7.72440708e-01 -3.02777378e-02 1.97409373e+02] [ 7.71474144e-01 6.35085830e-01 -3.86475552e-02 6.83229794e+01] [ 4.90819071e-02 1.15815405e-03 9.98794085e-01 1.05397638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.910385723 meters Centerline goodness : 0.999612 Centerline is valid? [True, True] Translation: X:197.43, Y:68.35, Z:10.54 [[ 6.34762679e-01 -7.72114139e-01 -3.02670976e-02 1.97425734e+02] [ 7.71146808e-01 6.35482748e-01 -3.86558864e-02 6.83458412e+01] [ 4.90809748e-02 1.19693828e-03 9.98794086e-01 1.05401088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.940385723 meters Centerline goodness : 0.999740 Centerline is valid? [True, True] Translation: X:197.44, Y:68.37, Z:10.54 [[ 6.35880750e-01 -7.71194018e-01 -3.02565295e-02 1.97442726e+02] [ 7.70225252e-01 6.36598888e-01 -3.86641564e-02 6.83686847e+01] [ 4.90788392e-02 1.28144966e-03 9.98794086e-01 1.05397311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.970385723 meters Centerline goodness : 0.999654 Centerline is valid? [True, True] Translation: X:197.46, Y:68.39, Z:10.54 [[ 6.35884484e-01 -7.71191299e-01 -3.02473515e-02 1.97460511e+02] [ 7.70222189e-01 6.36602158e-01 -3.86713351e-02 6.83910032e+01] [ 4.90785264e-02 1.29332068e-03 9.98794086e-01 1.05413164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.000385723 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:197.48, Y:68.41, Z:10.54 [[ 6.36433251e-01 -7.70738878e-01 -3.02373803e-02 1.97477252e+02] [ 7.69768888e-01 6.37149734e-01 -3.86791301e-02 6.84125871e+01] [ 4.90772482e-02 1.34088988e-03 9.98794086e-01 1.05423777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.030385723 meters Centerline goodness : 0.999610 Centerline is valid? [True, True] Translation: X:197.49, Y:68.44, Z:10.54 [[ 6.36210454e-01 -7.70923081e-01 -3.02301480e-02 1.97493907e+02] [ 7.69953030e-01 6.36926856e-01 -3.86847818e-02 6.84352186e+01] [ 4.90773842e-02 1.33586860e-03 9.98794086e-01 1.05437731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.060385723 meters Centerline goodness : 0.999676 Centerline is valid? [True, True] Translation: X:197.51, Y:68.46, Z:10.54 [[ 6.36159588e-01 -7.70965473e-01 -3.02194886e-02 1.97509636e+02] [ 7.69995076e-01 6.36875519e-01 -3.86931068e-02 6.84572335e+01] [ 4.90771019e-02 1.34613346e-03 9.98794086e-01 1.05440242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.090385723 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:197.53, Y:68.48, Z:10.55 [[ 6.35972970e-01 -7.71119658e-01 -3.02135026e-02 1.97525626e+02] [ 7.70149212e-01 6.36688836e-01 -3.86977804e-02 6.84785303e+01] [ 4.90772190e-02 1.34183714e-03 9.98794086e-01 1.05455120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.120385723 meters Centerline goodness : 0.999762 Centerline is valid? [True, True] Translation: X:197.54, Y:68.50, Z:10.55 [[ 6.36435949e-01 -7.70737952e-01 -3.02041741e-02 1.97543601e+02] [ 7.69766732e-01 6.37150765e-01 -3.87050601e-02 6.85008074e+01] [ 4.90760714e-02 1.38312328e-03 9.98794086e-01 1.05492877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.150385723 meters Centerline goodness : 0.999612 Centerline is valid? [True, True] Translation: X:197.55, Y:68.52, Z:10.55 [[ 6.31763096e-01 -7.74573208e-01 -3.01949717e-02 1.97549366e+02] [ 7.73605987e-01 6.32483312e-01 -3.87122379e-02 6.85210229e+01] [ 4.90832779e-02 1.09795236e-03 9.98794086e-01 1.05476527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.180385723 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:197.58, Y:68.54, Z:10.55 [[ 6.37363820e-01 -7.70006762e-01 -2.92736677e-02 1.97579211e+02] [ 7.69001015e-01 6.38030347e-01 -3.94298694e-02 6.85446502e+01] [ 4.90387545e-02 2.61969199e-03 9.98793441e-01 1.05508545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.210385723 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:197.60, Y:68.57, Z:10.55 [[ 6.37357102e-01 -7.69976577e-01 -3.01992809e-02 1.97596702e+02] [ 7.69004377e-01 6.38070511e-01 -3.87077612e-02 6.85663122e+01] [ 4.90733401e-02 1.44728732e-03 9.98794129e-01 1.05524400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.240385723 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:197.60, Y:68.59, Z:10.55 [[ 6.33091722e-01 -7.73487867e-01 -3.01892559e-02 1.97602626e+02] [ 7.72519254e-01 6.33809992e-01 -3.87155784e-02 6.85867060e+01] [ 4.90802822e-02 1.18873076e-03 9.98794129e-01 1.05541835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.270385723 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:197.63, Y:68.61, Z:10.56 [[ 6.38098478e-01 -7.69398898e-01 -2.92517973e-02 1.97631477e+02] [ 7.68391802e-01 6.38762931e-01 -3.94456156e-02 6.86105470e+01] [ 4.90343770e-02 2.69334603e-03 9.98793460e-01 1.05557775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.300385723 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:197.65, Y:68.63, Z:10.56 [[ 6.37947962e-01 -7.69487303e-01 -3.01941759e-02 1.97650988e+02] [ 7.68514425e-01 6.38660370e-01 -3.87106072e-02 6.86312589e+01] [ 4.90711443e-02 1.49069319e-03 9.98794173e-01 1.05594024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.330385723 meters Centerline goodness : 0.999741 Centerline is valid? [True, True] Translation: X:197.66, Y:68.65, Z:10.56 [[ 6.32205528e-01 -7.74212529e-01 -3.01849242e-02 1.97658106e+02] [ 7.73244634e-01 6.32924692e-01 -3.87178199e-02 6.86519100e+01] [ 4.90806052e-02 1.13728912e-03 9.98794173e-01 1.05572889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.360385723 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:197.67, Y:68.67, Z:10.56 [[ 6.32116803e-01 -7.74311847e-01 -2.94874528e-02 1.97674723e+02] [ 7.73318428e-01 6.32800998e-01 -3.92620178e-02 6.86723915e+01] [ 4.90607351e-02 2.01499052e-03 9.98793765e-01 1.05601268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.390385723 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:197.69, Y:68.69, Z:10.56 [[ 6.31967850e-01 -7.74440892e-01 -2.92906553e-02 1.97692036e+02] [ 7.73440484e-01 6.32642254e-01 -3.94156874e-02 6.86944697e+01] [ 4.90556263e-02 2.25486865e-03 9.98793503e-01 1.05617251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.420385723 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:197.71, Y:68.72, Z:10.56 [[ 6.32547052e-01 -7.73969736e-01 -2.92416539e-02 1.97711209e+02] [ 7.72967062e-01 6.33218215e-01 -3.94539385e-02 6.87154404e+01] [ 4.90525023e-02 2.35363715e-03 9.98793428e-01 1.05622104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.450385723 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:197.74, Y:68.74, Z:10.57 [[ 6.40806993e-01 -7.67144417e-01 -2.92547593e-02 1.97744107e+02] [ 7.66135070e-01 6.41468041e-01 -3.94437125e-02 6.87362362e+01] [ 4.90250170e-02 2.86270975e-03 9.98793448e-01 1.05693383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.480385723 meters Centerline goodness : 0.999761 Centerline is valid? [True, True] Translation: X:197.75, Y:68.76, Z:10.57 [[ 6.38430423e-01 -7.69085520e-01 -3.02333994e-02 1.97753965e+02] [ 7.68113697e-01 6.39144193e-01 -3.86788037e-02 6.87568202e+01] [ 4.90708095e-02 1.47103678e-03 9.98794219e-01 1.05666918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.510385723 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:197.77, Y:68.78, Z:10.56 [[ 6.41193118e-01 -7.66811558e-01 -2.95198168e-02 1.97769703e+02] [ 7.65811357e-01 6.41867219e-01 -3.92356786e-02 6.87797418e+01] [ 4.90341745e-02 2.55103614e-03 9.98793844e-01 1.05649035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.540385723 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:197.80, Y:68.80, Z:10.57 [[ 6.45673604e-01 -7.63043089e-01 -2.95100316e-02 1.97795851e+02] [ 7.62038610e-01 6.46341333e-01 -3.92433086e-02 6.88026546e+01] [ 4.90178886e-02 2.85058508e-03 9.98793833e-01 1.05696488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.57038572300002 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:197.81, Y:68.82, Z:10.56 [[ 6.40657005e-01 -7.67232797e-01 -3.02065896e-02 1.97807612e+02] [ 7.66257930e-01 6.41366605e-01 -3.86996421e-02 6.88215514e+01] [ 4.90651324e-02 1.64715801e-03 9.98794223e-01 1.05643771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.60038572300002 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:197.84, Y:68.84, Z:10.57 [[ 6.44141043e-01 -7.64338133e-01 -2.94878646e-02 1.97836090e+02] [ 7.63334252e-01 6.44809655e-01 -3.92597695e-02 6.88423801e+01] [ 4.90217987e-02 2.77973184e-03 9.98793841e-01 1.05712313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.63038572300002 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:197.86, Y:68.86, Z:10.57 [[ 6.42617933e-01 -7.65591524e-01 -3.01962096e-02 1.97856215e+02] [ 7.64614492e-01 6.43324514e-01 -3.87072014e-02 6.88627976e+01] [ 4.90598672e-02 1.78548229e-03 9.98794244e-01 1.05740804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.660385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:197.88, Y:68.88, Z:10.58 [[ 6.40362187e-01 -7.67479708e-01 -3.01855555e-02 1.97876365e+02] [ 7.66504370e-01 6.41071104e-01 -3.87155081e-02 6.88797494e+01] [ 4.90644543e-02 1.65458728e-03 9.98794244e-01 1.05757558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.690385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:197.90, Y:68.90, Z:10.58 [[ 6.37553694e-01 -7.69821138e-01 -3.00116956e-02 1.97897453e+02] [ 7.68842026e-01 6.38257425e-01 -3.88509695e-02 6.89009225e+01] [ 4.90634852e-02 1.69532626e-03 9.98794223e-01 1.05806374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.720385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:197.92, Y:68.92, Z:10.58 [[ 6.37256271e-01 -7.70061129e-01 -3.01712236e-02 1.97916014e+02] [ 7.69088135e-01 6.37968404e-01 -3.87266856e-02 6.89220158e+01] [ 4.90702026e-02 1.47449320e-03 9.98794244e-01 1.05828483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.750385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:197.94, Y:68.94, Z:10.59 [[ 6.37728815e-01 -7.69670254e-01 -3.01605667e-02 1.97936439e+02] [ 7.68696432e-01 6.38439814e-01 -3.87349835e-02 6.89424320e+01] [ 4.90688711e-02 1.51809508e-03 9.98794244e-01 1.05855760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.780385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:197.96, Y:68.96, Z:10.59 [[ 6.38394348e-01 -7.69118689e-01 -3.01512432e-02 1.97955050e+02] [ 7.68143912e-01 6.39104036e-01 -3.87422395e-02 6.89632092e+01] [ 4.90671617e-02 1.57233279e-03 9.98794244e-01 1.05876139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.810385723 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:197.97, Y:68.98, Z:10.59 [[ 6.38897463e-01 -7.68701229e-01 -3.01405399e-02 1.97972454e+02] [ 7.67725597e-01 6.39605974e-01 -3.87505646e-02 6.89833207e+01] [ 4.90656761e-02 1.61797340e-03 9.98794244e-01 1.05888303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.840385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.99, Y:69.00, Z:10.59 [[ 6.39779702e-01 -7.67967344e-01 -3.01345615e-02 1.97992334e+02] [ 7.66990680e-01 6.40486792e-01 -3.87552132e-02 6.90040074e+01] [ 4.90635268e-02 1.68187091e-03 9.98794244e-01 1.05898187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.870385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:198.01, Y:69.02, Z:10.59 [[ 6.40431589e-01 -7.67424208e-01 -3.01241647e-02 1.98012041e+02] [ 7.66446566e-01 6.41137325e-01 -3.87632929e-02 6.90241744e+01] [ 4.90616157e-02 1.73667469e-03 9.98794244e-01 1.05897545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.900385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:198.03, Y:69.05, Z:10.59 [[ 6.40618180e-01 -7.67268859e-01 -3.01138726e-02 1.98030149e+02] [ 7.66290671e-01 6.41323160e-01 -3.87712869e-02 6.90451964e+01] [ 4.90607249e-02 1.76161162e-03 9.98794244e-01 1.05906496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.930385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.05, Y:69.07, Z:10.59 [[ 6.40743796e-01 -7.67164390e-01 -3.01029399e-02 1.98049623e+02] [ 7.66185690e-01 6.41448063e-01 -3.87797734e-02 6.90657743e+01] [ 4.90599337e-02 1.78345742e-03 9.98794244e-01 1.05887917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.960385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:198.07, Y:69.09, Z:10.59 [[ 6.40042963e-01 -7.67749562e-01 -3.00934585e-02 1.98068400e+02] [ 7.66771160e-01 6.40747646e-01 -3.87871297e-02 6.90877920e+01] [ 4.90611145e-02 1.75063334e-03 9.98794244e-01 1.05901784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.990385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.09, Y:69.11, Z:10.59 [[ 6.38472944e-01 -7.69056081e-01 -3.00839405e-02 1.98086720e+02] [ 7.68078776e-01 6.39179146e-01 -3.87945106e-02 6.91076441e+01] [ 4.90641817e-02 1.66240920e-03 9.98794244e-01 1.05909728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.020385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.10, Y:69.13, Z:10.59 [[ 6.37395223e-01 -7.69949957e-01 -3.00731256e-02 1.98103917e+02] [ 7.68973248e-01 6.38102249e-01 -3.88028923e-02 6.91286977e+01] [ 4.90660144e-02 1.60734914e-03 9.98794244e-01 1.05923679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.050385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.12, Y:69.15, Z:10.59 [[ 6.35441437e-01 -7.71563594e-01 -3.00632734e-02 1.98122276e+02] [ 7.70588320e-01 6.36150441e-01 -3.88105241e-02 6.91502677e+01] [ 4.90695521e-02 1.49540783e-03 9.98794244e-01 1.05949425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.080385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.14, Y:69.17, Z:10.60 [[ 6.34334078e-01 -7.72474448e-01 -3.00583646e-02 1.98140092e+02] [ 7.71500012e-01 6.35044234e-01 -3.88143255e-02 6.91722510e+01] [ 4.90714658e-02 1.43122069e-03 9.98794245e-01 1.05973781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.110385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.16, Y:69.19, Z:10.60 [[ 6.31989711e-01 -7.74394037e-01 -3.00479707e-02 1.98158756e+02] [ 7.73421377e-01 6.32702297e-01 -3.88223702e-02 6.91917688e+01] [ 4.90752321e-02 1.29559562e-03 9.98794245e-01 1.05999343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.140385723 meters Centerline goodness : 0.999598 Centerline is valid? [True, True] Translation: X:198.18, Y:69.21, Z:10.60 [[ 6.31002243e-01 -7.75199142e-01 -3.00409695e-02 1.98177656e+02] [ 7.74227134e-01 6.31715718e-01 -3.88277871e-02 6.92130264e+01] [ 4.90766198e-02 1.24188708e-03 9.98794245e-01 1.06007621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.170385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.20, Y:69.23, Z:10.61 [[ 6.28159862e-01 -7.77507943e-01 -2.99430509e-02 1.98196771e+02] [ 7.76534947e-01 6.28872000e-01 -3.89035115e-02 6.92346871e+01] [ 4.90781355e-02 1.18579896e-03 9.98794238e-01 1.06053105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.200385723 meters Centerline goodness : 0.999418 Centerline is valid? [True, True] Translation: X:198.21, Y:69.25, Z:10.61 [[ 6.27820293e-01 -7.77778845e-01 -3.00291166e-02 1.98213093e+02] [ 7.76809331e-01 6.28537154e-01 -3.88369651e-02 6.92547746e+01] [ 4.90809853e-02 1.05573682e-03 9.98794244e-01 1.06052973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.230385723 meters Centerline goodness : 0.999418 Centerline is valid? [True, True] Translation: X:198.23, Y:69.28, Z:10.61 [[ 6.27726604e-01 -7.77861448e-01 -2.98475787e-02 1.98230363e+02] [ 7.76885348e-01 6.28434509e-01 -3.89772304e-02 6.92774623e+01] [ 4.90761333e-02 1.27889795e-03 9.98794222e-01 1.06066002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.260385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.25, Y:69.30, Z:10.61 [[ 6.27171065e-01 -7.78309775e-01 -2.98387151e-02 1.98247581e+02] [ 7.77333855e-01 6.27879223e-01 -3.89840764e-02 6.92989507e+01] [ 4.90767970e-02 1.25504130e-03 9.98794219e-01 1.06093965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.290385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.26, Y:69.32, Z:10.61 [[ 6.26085420e-01 -7.79181529e-01 -2.98863016e-02 1.98264512e+02] [ 7.78208348e-01 6.26797316e-01 -3.89473041e-02 6.93221399e+01] [ 4.90796736e-02 1.12656989e-03 9.98794231e-01 1.06086701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.32038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.28, Y:69.34, Z:10.61 [[ 6.25370531e-01 -7.79753908e-01 -2.99256079e-02 1.98281322e+02] [ 7.78782828e-01 6.26085280e-01 -3.89169407e-02 6.93444889e+01] [ 4.90816192e-02 1.03195832e-03 9.98794238e-01 1.06094319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.35038572300002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:198.30, Y:69.37, Z:10.61 [[ 6.24808506e-01 -7.80201170e-01 -3.00077483e-02 1.98298590e+02] [ 7.79233642e-01 6.25528047e-01 -3.88535015e-02 6.93664385e+01] [ 4.90842355e-02 8.92951196e-04 9.98794243e-01 1.06106894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.38038572300002 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:198.32, Y:69.39, Z:10.61 [[ 6.24252364e-01 -7.80646635e-01 -2.99969458e-02 1.98316900e+02] [ 7.79679220e-01 6.24972057e-01 -3.88618398e-02 6.93867202e+01] [ 4.90846174e-02 8.71600122e-04 9.98794243e-01 1.06126047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.410385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.33, Y:69.41, Z:10.62 [[ 6.23534291e-01 -7.81220675e-01 -2.99874040e-02 1.98334983e+02] [ 7.80253569e-01 6.24254398e-01 -3.88692012e-02 6.94083160e+01] [ 4.90851925e-02 8.38500836e-04 9.98794243e-01 1.06152930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.440385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.35, Y:69.43, Z:10.62 [[ 6.22076718e-01 -7.82382229e-01 -2.99767194e-02 1.98352815e+02] [ 7.81416071e-01 6.22798096e-01 -3.88774397e-02 6.94300449e+01] [ 4.90864617e-02 7.60459819e-04 9.98794244e-01 1.06185021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.470385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.37, Y:69.45, Z:10.62 [[ 6.21052850e-01 -7.83195598e-01 -2.99668616e-02 1.98368596e+02] [ 7.82230018e-01 6.21775002e-01 -3.88850366e-02 6.94514807e+01] [ 4.90872350e-02 7.08684088e-04 9.98794244e-01 1.06187075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.500385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.39, Y:69.47, Z:10.62 [[ 6.19540905e-01 -7.84392531e-01 -2.99570338e-02 1.98385143e+02] [ 7.83427981e-01 6.20264431e-01 -3.88926065e-02 6.94736408e+01] [ 4.90883526e-02 6.26382082e-04 9.98794244e-01 1.06212652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.530385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.40, Y:69.50, Z:10.62 [[ 6.18599465e-01 -7.85135604e-01 -2.99463645e-02 1.98402556e+02] [ 7.84171525e-01 6.19323620e-01 -3.89008199e-02 6.94958635e+01] [ 4.90889096e-02 5.80940099e-04 9.98794244e-01 1.06230179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.560385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.42, Y:69.52, Z:10.63 [[ 6.16857304e-01 -7.86505507e-01 -2.99358282e-02 1.98421122e+02] [ 7.85542643e-01 6.17583073e-01 -3.89089264e-02 6.95175020e+01] [ 4.90899456e-02 4.85385834e-04 9.98794244e-01 1.06257853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.590385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.44, Y:69.54, Z:10.63 [[ 6.16218962e-01 -7.87006151e-01 -2.99250737e-02 1.98438447e+02] [ 7.86043475e-01 6.16944980e-01 -3.89171960e-02 6.95385964e+01] [ 4.90901965e-02 4.59105217e-04 9.98794244e-01 1.06272486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.620385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.46, Y:69.56, Z:10.63 [[ 6.15481475e-01 -7.87583408e-01 -2.99153699e-02 1.98455654e+02] [ 7.86621050e-01 6.16207915e-01 -3.89246537e-02 6.95606133e+01] [ 4.90904992e-02 4.25343602e-04 9.98794244e-01 1.06287696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.650385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.47, Y:69.58, Z:10.63 [[ 6.14970080e-01 -7.87983188e-01 -2.99047948e-02 1.98472205e+02] [ 7.87020908e-01 6.15696622e-01 -3.89327766e-02 6.95827265e+01] [ 4.90906546e-02 4.06793948e-04 9.98794244e-01 1.06293898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.680385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.49, Y:69.61, Z:10.63 [[ 6.14900902e-01 -7.88037584e-01 -2.98939362e-02 1.98488989e+02] [ 7.87074962e-01 6.15626992e-01 -3.89411125e-02 6.96057195e+01] [ 4.90905742e-02 4.16156522e-04 9.98794244e-01 1.06302533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.710385723 meters Centerline goodness : 0.999842 Centerline is valid? [True, True] Translation: X:198.50, Y:69.63, Z:10.63 [[ 6.15143032e-01 -7.87849001e-01 -2.98831469e-02 1.98504551e+02] [ 7.86885755e-01 6.15868293e-01 -3.89493903e-02 6.96285231e+01] [ 4.90903209e-02 4.44823447e-04 9.98794244e-01 1.06291909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.740385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.52, Y:69.65, Z:10.63 [[ 6.15689692e-01 -7.87422234e-01 -2.98735469e-02 1.98521222e+02] [ 7.86458128e-01 6.16413809e-01 -3.89567520e-02 6.96512099e+01] [ 4.90898795e-02 4.90976888e-04 9.98794244e-01 1.06312567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.770385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.54, Y:69.68, Z:10.63 [[ 6.16607684e-01 -7.86703985e-01 -2.98630717e-02 1.98536342e+02] [ 7.85738647e-01 6.17330158e-01 -3.89647804e-02 6.96751928e+01] [ 4.90891227e-02 5.61413464e-04 9.98794245e-01 1.06297988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.800385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.55, Y:69.70, Z:10.63 [[ 6.16578618e-01 -7.86727162e-01 -2.98526494e-02 1.98552951e+02] [ 7.85761464e-01 6.17300611e-01 -3.89727637e-02 6.96985612e+01] [ 4.90889905e-02 5.72711283e-04 9.98794245e-01 1.06298723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.830385723 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:198.57, Y:69.72, Z:10.63 [[ 6.16407109e-01 -7.86861920e-01 -2.98428491e-02 1.98570265e+02] [ 7.85896017e-01 6.17128827e-01 -3.89802667e-02 6.97203976e+01] [ 4.90889699e-02 5.74337262e-04 9.98794245e-01 1.06319431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.860385723 meters Centerline goodness : 0.999820 Centerline is valid? [True, True] Translation: X:198.59, Y:69.74, Z:10.63 [[ 6.15342880e-01 -7.87694859e-01 -2.98320177e-02 1.98587479e+02] [ 7.86729531e-01 6.16065368e-01 -3.89885543e-02 6.97427379e+01] [ 4.90895567e-02 5.21599944e-04 9.98794245e-01 1.06326363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.890385723 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:198.60, Y:69.76, Z:10.64 [[ 6.13892994e-01 -7.88825767e-01 -2.98211580e-02 1.98604790e+02] [ 7.87861367e-01 6.14616719e-01 -3.89968588e-02 6.97638247e+01] [ 4.90903093e-02 4.44960150e-04 9.98794245e-01 1.06372377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.920385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:198.62, Y:69.79, Z:10.64 [[ 6.12782979e-01 -7.89688626e-01 -2.98143246e-02 1.98621804e+02] [ 7.88724991e-01 6.13507723e-01 -3.90020824e-02 6.97857735e+01] [ 4.90908193e-02 3.84509346e-04 9.98794245e-01 1.06397988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.950385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.64, Y:69.81, Z:10.64 [[ 6.10110391e-01 -7.91755678e-01 -2.98036588e-02 1.98637431e+02] [ 7.90794100e-01 6.10837861e-01 -3.90102311e-02 6.98073908e+01] [ 4.90917752e-02 2.31989781e-04 9.98794245e-01 1.06429406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.980385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:198.65, Y:69.83, Z:10.64 [[ 6.08883742e-01 -7.92699582e-01 -2.97986880e-02 1.98653652e+02] [ 7.91738946e-01 6.09612456e-01 -3.90140277e-02 6.98297456e+01] [ 4.90920549e-02 1.62225298e-04 9.98794245e-01 1.06443606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.010385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.67, Y:69.85, Z:10.64 [[ 6.06566660e-01 -7.94474399e-01 -2.97878579e-02 1.98669908e+02] [ 7.93515489e-01 6.07297644e-01 -3.90222950e-02 6.98531483e+01] [ 4.90923103e-02 3.24965547e-05 9.98794245e-01 1.06441093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.040385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.69, Y:69.87, Z:10.64 [[ 6.05413220e-01 -7.95354113e-01 -2.97769769e-02 1.98686067e+02] [ 7.94395857e-01 6.06145061e-01 -3.90305963e-02 6.98744856e+01] [ 4.90923127e-02 -2.50680971e-05 9.98794245e-01 1.06438307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.07038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.70, Y:69.90, Z:10.64 [[ 6.03994823e-01 -7.96432146e-01 -2.97672612e-02 1.98704259e+02] [ 7.95474832e-01 6.04727894e-01 -3.90380047e-02 6.98982221e+01] [ 4.90922150e-02 -1.00354335e-04 9.98794245e-01 1.06449453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.10038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.72, Y:69.92, Z:10.65 [[ 6.03302722e-01 -7.96951961e-01 -2.98897640e-02 1.98720093e+02] [ 7.95999895e-01 6.04042618e-01 -3.89446186e-02 6.99196850e+01] [ 4.90916815e-02 -2.96854582e-04 9.98794232e-01 1.06456405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.13038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.74, Y:69.94, Z:10.65 [[ 6.02500278e-01 -7.97564125e-01 -2.97469604e-02 1.98736339e+02] [ 7.96607428e-01 6.03234149e-01 -3.90533931e-02 6.99425806e+01] [ 4.90919677e-02 -1.66969413e-04 9.98794249e-01 1.06471126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.160385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:198.75, Y:69.97, Z:10.65 [[ 6.00901650e-01 -7.98769650e-01 -2.97363828e-02 1.98750959e+02] [ 7.97814027e-01 6.01636919e-01 -3.90614456e-02 6.99662653e+01] [ 4.90916029e-02 -2.52016206e-04 9.98794249e-01 1.06498177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.190385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.77, Y:69.99, Z:10.65 [[ 6.00193059e-01 -7.99302622e-01 -2.97255861e-02 1.98767034e+02] [ 7.98347244e-01 6.00928648e-01 -3.90696600e-02 6.99899076e+01] [ 4.90914380e-02 -2.82000985e-04 9.98794249e-01 1.06522881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.220385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.77, Y:70.01, Z:10.65 [[ 5.94727860e-01 -8.03377701e-01 -2.97160351e-02 1.98772432e+02] [ 8.02427000e-01 5.95469482e-01 -3.90769231e-02 7.00123687e+01] [ 4.90885207e-02 -6.04814024e-04 9.98794249e-01 1.06480275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.250385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.80, Y:70.04, Z:10.66 [[ 5.99323606e-01 -7.99984778e-01 -2.89062266e-02 1.98797812e+02] [ 7.98999802e-01 6.00019896e-01 -3.96918184e-02 7.00364445e+01] [ 4.90971616e-02 6.92174446e-04 9.98793767e-01 1.06553611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.280385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.81, Y:70.06, Z:10.65 [[ 5.97111645e-01 -8.01607718e-01 -2.97110999e-02 1.98807590e+02] [ 8.00654669e-01 5.97850199e-01 -3.90799330e-02 7.00590811e+01] [ 4.90895629e-02 -4.53247786e-04 9.98794278e-01 1.06534615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.310385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.82, Y:70.08, Z:10.65 [[ 5.98152396e-01 -8.00848612e-01 -2.92440065e-02 1.98823410e+02] [ 7.99877145e-01 5.98866815e-01 -3.94346451e-02 7.00822584e+01] [ 4.90944459e-02 1.96315035e-04 9.98794121e-01 1.06547525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.340385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.84, Y:70.11, Z:10.66 [[ 5.99600375e-01 -7.99762707e-01 -2.93087429e-02 1.98839377e+02] [ 7.98792349e-01 6.00316225e-01 -3.93854354e-02 7.01058122e+01] [ 4.90935163e-02 2.03922279e-04 9.98794166e-01 1.06567331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.370385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.86, Y:70.13, Z:10.66 [[ 6.03631711e-01 -7.96724171e-01 -2.93147205e-02 1.98859747e+02] [ 7.95750430e-01 6.04342947e-01 -3.93808920e-02 7.01289525e+01] [ 4.90918531e-02 4.44353743e-04 9.98794169e-01 1.06631502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.400385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.87, Y:70.15, Z:10.67 [[ 6.05782463e-01 -7.95075261e-01 -2.97142600e-02 1.98873807e+02] [ 7.94114385e-01 6.06510778e-01 -3.90770895e-02 7.01534138e+01] [ 4.90912461e-02 7.56942276e-05 9.98794295e-01 1.06658072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.430385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.88, Y:70.18, Z:10.66 [[ 6.05219731e-01 -7.95504111e-01 -2.97033147e-02 1.98884759e+02] [ 7.94543343e-01 6.05948188e-01 -3.90854074e-02 7.01780997e+01] [ 4.90912720e-02 5.46887796e-05 9.98794295e-01 1.06626815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.460385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.90, Y:70.20, Z:10.67 [[ 6.08534416e-01 -7.92981824e-01 -2.94226163e-02 1.98903876e+02] [ 7.92007686e-01 6.09244985e-01 -3.92985143e-02 7.02008483e+01] [ 4.90885890e-02 6.11560195e-04 9.98794241e-01 1.06694443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.490385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.92, Y:70.22, Z:10.67 [[ 6.09556319e-01 -7.92186648e-01 -2.96885176e-02 1.98919466e+02] [ 7.91221371e-01 6.10278787e-01 -3.90966021e-02 7.02246459e+01] [ 4.90900787e-02 3.41391315e-04 9.98794297e-01 1.06706768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.520385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.93, Y:70.25, Z:10.67 [[ 6.10659903e-01 -7.91336666e-01 -2.96776683e-02 1.98934305e+02] [ 7.90369983e-01 6.11380488e-01 -3.91048359e-02 7.02485286e+01] [ 4.90894379e-02 4.23417095e-04 9.98794297e-01 1.06715782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.550385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.95, Y:70.27, Z:10.67 [[ 6.12978199e-01 -7.89542659e-01 -2.96667788e-02 1.98947658e+02] [ 7.88573467e-01 6.13695407e-01 -3.91130955e-02 7.02736002e+01] [ 4.90878233e-02 5.81040183e-04 9.98794297e-01 1.06712829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.580385723 meters Centerline goodness : 0.996627 Centerline is valid? [True, True] Translation: X:198.96, Y:70.30, Z:10.67 [[ 6.13109872e-01 -7.89440628e-01 -2.96610791e-02 1.98964090e+02] [ 7.88471108e-01 6.13826636e-01 -3.91174173e-02 7.02973848e+01] [ 4.90876389e-02 5.96370801e-04 9.98794297e-01 1.06691576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.610385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.98, Y:70.32, Z:10.67 [[ 6.12838469e-01 -7.89647308e-01 -2.97680977e-02 1.98977008e+02] [ 7.88681962e-01 6.13560861e-01 -3.90362931e-02 7.03205046e+01] [ 4.90894434e-02 4.45380450e-04 9.98794287e-01 1.06691732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.640385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:198.99, Y:70.34, Z:10.67 [[ 6.12939247e-01 -7.89579491e-01 -2.94907816e-02 1.98991389e+02] [ 7.88603902e-01 6.13647772e-01 -3.92466127e-02 7.03436637e+01] [ 4.90852729e-02 7.99243782e-04 9.98794272e-01 1.06697827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.670385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.01, Y:70.37, Z:10.67 [[ 6.14770889e-01 -7.88155370e-01 -2.94595849e-02 1.99009418e+02] [ 7.87177007e-01 6.15475593e-01 -3.92702538e-02 7.03670967e+01] [ 4.90827169e-02 9.52300951e-04 9.98794263e-01 1.06749571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.700385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.02, Y:70.39, Z:10.68 [[ 6.14407092e-01 -7.88431992e-01 -2.96465720e-02 1.99023651e+02] [ 7.87460757e-01 6.15121541e-01 -3.91285809e-02 7.03922804e+01] [ 4.90864701e-02 6.95365656e-04 9.98794291e-01 1.06750576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.730385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.04, Y:70.41, Z:10.68 [[ 6.13931130e-01 -7.88803025e-01 -2.96370593e-02 1.99039319e+02] [ 7.87831874e-01 6.14645694e-01 -3.91357848e-02 7.04140187e+01] [ 4.90867163e-02 6.77656583e-04 9.98794291e-01 1.06761735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.760385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.06, Y:70.44, Z:10.68 [[ 6.11220318e-01 -7.90905634e-01 -2.96310853e-02 1.99056011e+02] [ 7.89936722e-01 6.11937915e-01 -3.91403074e-02 7.04371346e+01] [ 4.90886742e-02 5.16668697e-04 9.98794291e-01 1.06790164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.790385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:199.07, Y:70.46, Z:10.68 [[ 6.09324492e-01 -7.92367482e-01 -2.96215602e-02 1.99072881e+02] [ 7.91399942e-01 6.10043937e-01 -3.91475147e-02 7.04604058e+01] [ 4.90896708e-02 4.11038531e-04 9.98794291e-01 1.06813338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.82038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.09, Y:70.48, Z:10.68 [[ 6.06441411e-01 -7.94576581e-01 -2.96120218e-02 1.99088921e+02] [ 7.93611309e-01 6.07163897e-01 -3.91547284e-02 7.04831127e+01] [ 4.90907808e-02 2.44613330e-04 9.98794291e-01 1.06840993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.85038572300002 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:199.10, Y:70.51, Z:10.68 [[ 6.05410879e-01 -7.95362457e-01 -2.96011813e-02 1.99104857e+02] [ 7.94397723e-01 6.06134081e-01 -3.91629222e-02 7.05057523e+01] [ 4.90910028e-02 1.94548091e-04 9.98794291e-01 1.06838171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.88038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.12, Y:70.53, Z:10.68 [[ 6.04869017e-01 -7.95774742e-01 -2.95978327e-02 1.99121788e+02] [ 7.94810377e-01 6.05592711e-01 -3.91654527e-02 7.05294160e+01] [ 4.90911098e-02 1.65304292e-04 9.98794291e-01 1.06834139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.910385723 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:199.14, Y:70.55, Z:10.69 [[ 6.05659095e-01 -7.95171416e-01 -2.96560359e-02 1.99136493e+02] [ 7.94208480e-01 6.06384696e-01 -3.91214757e-02 7.05517555e+01] [ 4.90912456e-02 1.41202353e-04 9.98794288e-01 1.06871463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.940385723 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:199.15, Y:70.57, Z:10.69 [[ 6.05668847e-01 -7.95166641e-01 -2.95848213e-02 1.99153142e+02] [ 7.94201070e-01 6.06390930e-01 -3.91752567e-02 7.05748870e+01] [ 4.90908246e-02 2.30935847e-04 9.98794292e-01 1.06888901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.970385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:199.17, Y:70.60, Z:10.69 [[ 6.05586058e-01 -7.95230043e-01 -2.95753980e-02 1.99168381e+02] [ 7.94264201e-01 6.06307778e-01 -3.91823695e-02 7.05977976e+01] [ 4.90907913e-02 2.37616807e-04 9.98794292e-01 1.06890008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.000385723 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:199.19, Y:70.62, Z:10.69 [[ 6.05290965e-01 -7.95454901e-01 -2.95693816e-02 1.99185248e+02] [ 7.94489104e-01 6.06012747e-01 -3.91869093e-02 7.06217366e+01] [ 4.90908412e-02 2.26930656e-04 9.98794292e-01 1.06893992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.030385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:199.20, Y:70.64, Z:10.69 [[ 6.05064763e-01 -7.95627322e-01 -2.95600393e-02 1.99202002e+02] [ 7.94661387e-01 6.05786360e-01 -3.91939553e-02 7.06439545e+01] [ 4.90908503e-02 2.24659468e-04 9.98794292e-01 1.06919013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.060385723 meters Centerline goodness : 0.998088 Centerline is valid? [True, True] Translation: X:199.22, Y:70.66, Z:10.69 [[ 6.05763130e-01 -7.95096143e-01 -2.95491853e-02 1.99218725e+02] [ 7.94129176e-01 6.06483342e-01 -3.92021367e-02 7.06642510e+01] [ 4.90905563e-02 2.81338840e-04 9.98794292e-01 1.06874164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.090385723 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:199.24, Y:70.69, Z:10.69 [[ 6.05988898e-01 -7.94929359e-01 -2.94069635e-02 1.99235518e+02] [ 7.93956984e-01 6.06701813e-01 -3.93092506e-02 7.06863531e+01] [ 4.90893355e-02 4.73105424e-04 9.98794280e-01 1.06916836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.120385723 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:199.25, Y:70.71, Z:10.69 [[ 6.05804441e-01 -7.95070756e-01 -2.93849084e-02 1.99252624e+02] [ 7.94097741e-01 6.06516491e-01 -3.93258656e-02 7.07091902e+01] [ 4.90892772e-02 4.89294623e-04 9.98794275e-01 1.06930756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.150385723 meters Centerline goodness : 0.999153 Centerline is valid? [True, True] Translation: X:199.27, Y:70.73, Z:10.69 [[ 6.03135776e-01 -7.97096808e-01 -2.93924301e-02 1.99267496e+02] [ 7.96126461e-01 6.03851455e-01 -3.93202026e-02 7.07340590e+01] [ 4.90906696e-02 3.15329577e-04 9.98794276e-01 1.06894843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.180385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.29, Y:70.76, Z:10.70 [[ 6.04357452e-01 -7.96169252e-01 -2.94379529e-02 1.99285408e+02] [ 7.95199474e-01 6.05073889e-01 -3.92859438e-02 7.07556922e+01] [ 4.90903972e-02 3.33708236e-04 9.98794284e-01 1.06979681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.210385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:199.30, Y:70.78, Z:10.69 [[ 6.00917638e-01 -7.98766064e-01 -2.95087755e-02 1.99297828e+02] [ 7.97801995e-01 6.01641733e-01 -3.92326751e-02 7.07792824e+01] [ 4.90914402e-02 3.34465169e-05 9.98794288e-01 1.06902922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.240385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.32, Y:70.80, Z:10.70 [[ 6.03637992e-01 -7.96726635e-01 -2.91177757e-02 1.99319595e+02] [ 7.95745856e-01 6.04339470e-01 -3.95264162e-02 7.08009960e+01] [ 4.90887697e-02 6.89297169e-04 9.98794182e-01 1.07011129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.270385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.34, Y:70.82, Z:10.70 [[ 6.03264909e-01 -7.96995335e-01 -2.94938070e-02 1.99336900e+02] [ 7.96028596e-01 6.03985428e-01 -3.92438156e-02 7.08237009e+01] [ 4.90909676e-02 1.96503127e-04 9.98794292e-01 1.07036968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.300385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:199.35, Y:70.85, Z:10.71 [[ 6.02620999e-01 -7.97482694e-01 -2.94836211e-02 1.99354263e+02] [ 7.96516164e-01 6.03341797e-01 -3.92514667e-02 7.08463158e+01] [ 4.90910664e-02 1.69577349e-04 9.98794292e-01 1.07067133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.330385723 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:199.37, Y:70.87, Z:10.71 [[ 6.02091372e-01 -7.97882983e-01 -2.94741485e-02 1.99370792e+02] [ 7.96916583e-01 6.02812345e-01 -3.92585784e-02 7.08684581e+01] [ 4.90911323e-02 1.48813640e-04 9.98794292e-01 1.07071170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.360385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.39, Y:70.89, Z:10.71 [[ 6.02024982e-01 -7.97933475e-01 -2.94633762e-02 1.99388118e+02] [ 7.96966740e-01 6.02745505e-01 -3.92666613e-02 7.08907065e+01] [ 4.90911011e-02 1.58180169e-04 9.98794293e-01 1.07097260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.390385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.40, Y:70.91, Z:10.71 [[ 6.02619526e-01 -7.97484958e-01 -2.94524942e-02 1.99404557e+02] [ 7.96517288e-01 6.03338793e-01 -3.92748219e-02 7.09131250e+01] [ 4.90909119e-02 2.08353757e-04 9.98794293e-01 1.07106273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.420385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.42, Y:70.93, Z:10.71 [[ 6.03061530e-01 -7.97151164e-01 -2.94416697e-02 1.99420251e+02] [ 7.96182700e-01 6.03779728e-01 -3.92829345e-02 7.09349657e+01] [ 4.90907203e-02 2.49078517e-04 9.98794293e-01 1.07112559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.450385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.44, Y:70.96, Z:10.71 [[ 6.03495534e-01 -7.96822867e-01 -2.94356722e-02 1.99436402e+02] [ 7.95853793e-01 6.04212908e-01 -3.92874281e-02 7.09575387e+01] [ 4.90905342e-02 2.83296093e-04 9.98794293e-01 1.07118082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.480385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.45, Y:70.98, Z:10.71 [[ 6.04543046e-01 -7.96028823e-01 -2.94247988e-02 1.99451740e+02] [ 7.95058410e-01 6.05258608e-01 -3.92955702e-02 7.09797829e+01] [ 4.90900193e-02 3.61429998e-04 9.98794293e-01 1.07115972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.510385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.47, Y:71.00, Z:10.71 [[ 6.04765591e-01 -7.95859981e-01 -2.94188747e-02 1.99468771e+02] [ 7.94889153e-01 6.05480589e-01 -3.93000048e-02 7.10020714e+01] [ 4.90898587e-02 3.82546238e-04 9.98794293e-01 1.07129651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.540385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.49, Y:71.02, Z:10.71 [[ 6.04047514e-01 -7.96405532e-01 -2.94079743e-02 1.99486194e+02] [ 7.95434953e-01 6.04762850e-01 -3.93081598e-02 7.10223384e+01] [ 4.90900863e-02 3.51865569e-04 9.98794293e-01 1.07143481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.57038572300002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:199.50, Y:71.04, Z:10.71 [[ 6.02935029e-01 -7.97248310e-01 -2.94020977e-02 1.99502767e+02] [ 7.96278516e-01 6.03651429e-01 -3.93125550e-02 7.10436980e+01] [ 4.90904863e-02 2.90657748e-04 9.98794293e-01 1.07149402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.60038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.52, Y:71.07, Z:10.72 [[ 6.01802437e-01 -7.98103944e-01 -2.93925506e-02 1.99519777e+02] [ 7.97134820e-01 6.02519743e-01 -3.93196917e-02 7.10656346e+01] [ 4.90907931e-02 2.32860709e-04 9.98794293e-01 1.07156992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.63038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.54, Y:71.09, Z:10.72 [[ 6.00907426e-01 -7.98778420e-01 -2.93819939e-02 1.99537519e+02] [ 7.97809715e-01 6.01625298e-01 -3.93275787e-02 7.10876535e+01] [ 4.90909721e-02 1.90993922e-04 9.98794293e-01 1.07172412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.660385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.56, Y:71.11, Z:10.72 [[ 5.98730035e-01 -8.00412192e-01 -2.93712142e-02 1.99557166e+02] [ 7.99445051e-01 5.99450013e-01 -3.93356278e-02 7.11092183e+01] [ 4.90912908e-02 7.07499498e-05 9.98794293e-01 1.07190160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.690385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.57, Y:71.13, Z:10.72 [[ 5.97408438e-01 -8.01399428e-01 -2.93618100e-02 1.99573944e+02] [ 8.00433132e-01 5.98129549e-01 -3.93426462e-02 7.11301260e+01] [ 4.90913403e-02 1.46329401e-06 9.98794293e-01 1.07205490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.720385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:199.59, Y:71.15, Z:10.72 [[ 5.96512225e-01 -8.02067027e-01 -2.93538837e-02 1.99590990e+02] [ 8.01101247e-01 5.97234027e-01 -3.93485592e-02 7.11508737e+01] [ 4.90913201e-02 -4.35362973e-05 9.98794293e-01 1.07214149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.750385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:199.61, Y:71.17, Z:10.72 [[ 5.94434530e-01 -8.03614880e-01 -2.91670075e-02 1.99609086e+02] [ 8.02644121e-01 5.95149663e-01 -3.94878848e-02 7.11735244e+01] [ 4.90917864e-02 6.22351015e-05 9.98794269e-01 1.07224159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.780385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.63, Y:71.19, Z:10.72 [[ 5.93740700e-01 -8.04121381e-01 -2.93391319e-02 1.99627953e+02] [ 8.03157554e-01 5.94465109e-01 -3.93595825e-02 7.11942995e+01] [ 4.90909721e-02 -1.94559393e-04 9.98794292e-01 1.07244945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.810385723 meters Centerline goodness : 0.999206 Centerline is valid? [True, True] Translation: X:199.65, Y:71.21, Z:10.72 [[ 5.95934921e-01 -8.02496968e-01 -2.93289130e-02 1.99646454e+02] [ 8.01530792e-01 5.96656194e-01 -3.93671957e-02 7.12104744e+01] [ 4.90913328e-02 -4.77401976e-05 9.98794293e-01 1.07239287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.840385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:199.67, Y:71.24, Z:10.73 [[ 5.94175620e-01 -8.03817639e-01 -2.88537003e-02 1.99665569e+02] [ 8.02835727e-01 5.94875628e-01 -3.97213124e-02 7.12363641e+01] [ 4.90930546e-02 4.36653916e-04 9.98794114e-01 1.07272275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.870385723 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:199.68, Y:71.26, Z:10.73 [[ 5.96350802e-01 -8.02187571e-01 -2.93397533e-02 1.99683012e+02] [ 8.01221424e-01 5.97072106e-01 -3.93590005e-02 7.12573288e+01] [ 4.90912493e-02 -3.58673920e-05 9.98794297e-01 1.07263592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.900385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.70, Y:71.28, Z:10.73 [[ 5.98188121e-01 -8.00818774e-01 -2.93302411e-02 1.99700333e+02] [ 7.99850629e-01 5.98906740e-01 -3.93660877e-02 7.12787665e+01] [ 4.90911812e-02 8.85142115e-05 9.98794297e-01 1.07295567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.930385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.72, Y:71.30, Z:10.73 [[ 6.01638002e-01 -7.98230601e-01 -2.93193316e-02 1.99717105e+02] [ 7.97258968e-01 6.02351898e-01 -3.93742113e-02 7.13006261e+01] [ 4.90902554e-02 3.13921783e-04 9.98794297e-01 1.07280687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.960385723 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:199.73, Y:71.32, Z:10.73 [[ 6.03072815e-01 -7.97147410e-01 -2.93118903e-02 1.99733695e+02] [ 7.96174226e-01 6.03784596e-01 -3.93797501e-02 7.13231122e+01] [ 4.90895337e-02 4.11485180e-04 9.98794297e-01 1.07267160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.990385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.75, Y:71.34, Z:10.73 [[ 6.05005470e-01 -7.95681950e-01 -2.93021476e-02 1.99751856e+02] [ 7.94706691e-01 6.05714404e-01 -3.93869983e-02 7.13447016e+01] [ 4.90882565e-02 5.42736685e-04 9.98794297e-01 1.07294158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.020385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.77, Y:71.36, Z:10.73 [[ 6.07724031e-01 -7.93607914e-01 -2.92913233e-02 1.99770879e+02] [ 7.92629848e-01 6.08429088e-01 -3.93950465e-02 7.13649763e+01] [ 4.90859138e-02 7.24139310e-04 9.98794297e-01 1.07302242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.050385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.79, Y:71.39, Z:10.73 [[ 6.08501865e-01 -7.93012071e-01 -2.92802851e-02 1.99788240e+02] [ 7.92032920e-01 6.09205415e-01 -3.94032489e-02 7.13855015e+01] [ 4.90849602e-02 7.86000734e-04 9.98794298e-01 1.07294391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.080385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.80, Y:71.41, Z:10.73 [[ 6.07190011e-01 -7.94017340e-01 -2.92703616e-02 1.99803045e+02] [ 7.93038999e-01 6.07894686e-01 -3.94106191e-02 7.14063726e+01] [ 4.90860122e-02 7.17196000e-04 9.98794298e-01 1.07290716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.110385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:199.82, Y:71.43, Z:10.73 [[ 6.07475446e-01 -7.93809315e-01 -2.89888435e-02 1.99820533e+02] [ 7.92820718e-01 6.08165762e-01 -3.96196399e-02 7.14283535e+01] [ 4.90804613e-02 1.08500268e-03 9.98794239e-01 1.07307999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.140385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.84, Y:71.45, Z:10.73 [[ 6.07161104e-01 -7.94050593e-01 -2.89663686e-02 1.99837592e+02] [ 7.93061474e-01 6.07850689e-01 -3.96363197e-02 7.14499080e+01] [ 4.90804703e-02 1.09352067e-03 9.98794229e-01 1.07321304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.170385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.86, Y:71.47, Z:10.74 [[ 6.06010952e-01 -7.94929420e-01 -2.89472564e-02 1.99856351e+02] [ 7.93940626e-01 6.06701016e-01 -3.96504782e-02 7.14703726e+01] [ 4.90816615e-02 1.04622116e-03 9.98794221e-01 1.07350371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.200385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.87, Y:71.49, Z:10.73 [[ 6.05616257e-01 -7.95236616e-01 -2.87693094e-02 1.99874123e+02] [ 7.94241902e-01 6.06297929e-01 -3.97821823e-02 7.14910004e+01] [ 4.90790208e-02 1.24294535e-03 9.98794125e-01 1.07347665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.230385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.90, Y:71.51, Z:10.74 [[ 6.08550376e-01 -7.92994414e-01 -2.87454134e-02 1.99900932e+02] [ 7.91996352e-01 6.09227170e-01 -3.97999102e-02 7.15105413e+01] [ 4.90735933e-02 1.45398778e-03 9.98794107e-01 1.07422225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.260385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.92, Y:71.53, Z:10.74 [[ 6.07895988e-01 -7.93477363e-01 -2.92599033e-02 1.99919303e+02] [ 7.92498040e-01 6.08599274e-01 -3.94180180e-02 7.15312764e+01] [ 4.90848609e-02 7.73639015e-04 9.98794312e-01 1.07437665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.290385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.94, Y:71.55, Z:10.74 [[ 6.07356198e-01 -7.93891021e-01 -2.92488560e-02 1.99937241e+02] [ 7.92911783e-01 6.08059601e-01 -3.94262136e-02 7.15522850e+01] [ 4.90851647e-02 7.53992706e-04 9.98794312e-01 1.07446444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.32038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.95, Y:71.57, Z:10.74 [[ 6.05113392e-01 -7.95602205e-01 -2.92389129e-02 1.99953108e+02] [ 7.94624600e-01 6.05819063e-01 -3.94335862e-02 7.15740089e+01] [ 4.90869389e-02 6.27831635e-04 9.98794312e-01 1.07415096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.35038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.97, Y:71.60, Z:10.75 [[ 6.07354044e-01 -7.93900219e-01 -2.90431936e-02 1.99972044e+02] [ 7.92913685e-01 6.08047221e-01 -3.95785998e-02 7.15954547e+01] [ 4.90810922e-02 1.00947702e-03 9.98794287e-01 1.07468029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.38038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.99, Y:71.62, Z:10.75 [[ 6.08579557e-01 -7.92954578e-01 -2.92225823e-02 1.99988931e+02] [ 7.91973322e-01 6.09280143e-01 -3.94457047e-02 7.16163683e+01] [ 4.90833912e-02 8.62343918e-04 9.98794312e-01 1.07457967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.410385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.01, Y:71.64, Z:10.75 [[ 6.08811012e-01 -7.92777248e-01 -2.92127966e-02 2.00007194e+02] [ 7.91795440e-01 6.09510825e-01 -3.94529504e-02 7.16375626e+01] [ 4.90829172e-02 8.88831497e-04 9.98794312e-01 1.07467723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.440385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.03, Y:71.66, Z:10.75 [[ 6.07591760e-01 -7.93712477e-01 -2.92020248e-02 2.00025196e+02] [ 7.92731364e-01 6.08292546e-01 -3.94609218e-02 7.16593050e+01] [ 4.90840000e-02 8.26769948e-04 9.98794312e-01 1.07473951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.470385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.04, Y:71.68, Z:10.75 [[ 6.05524878e-01 -7.95290824e-01 -2.91912368e-02 2.00043650e+02] [ 7.94311153e-01 6.06227679e-01 -3.94689007e-02 7.16806897e+01] [ 4.90857902e-02 7.12476272e-04 9.98794312e-01 1.07482187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.500385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.06, Y:71.70, Z:10.75 [[ 6.04423401e-01 -7.96128671e-01 -2.91803211e-02 2.00060837e+02] [ 7.95149585e-01 6.05127016e-01 -3.94769692e-02 7.17034073e+01] [ 4.90865477e-02 6.58083764e-04 9.98794312e-01 1.07495265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.530385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.07, Y:71.72, Z:10.75 [[ 5.99838194e-01 -7.99589421e-01 -2.91701620e-02 2.00069950e+02] [ 7.98614030e-01 6.00546923e-01 -3.94844746e-02 7.17243920e+01] [ 4.90894192e-02 3.88595314e-04 9.98794312e-01 1.07466488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.560385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.09, Y:71.75, Z:10.75 [[ 5.99543020e-01 -7.99828915e-01 -2.86683214e-02 2.00086044e+02] [ 7.98835916e-01 6.00227222e-01 -3.98554968e-02 7.17462001e+01] [ 4.90850858e-02 9.93800126e-04 9.98794106e-01 1.07494620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.590385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.11, Y:71.77, Z:10.76 [[ 6.02835619e-01 -7.97351417e-01 -2.86344910e-02 2.00109955e+02] [ 7.96354419e-01 6.03514030e-01 -3.98804966e-02 7.17695240e+01] [ 4.90800876e-02 1.23818039e-03 9.98794079e-01 1.07558951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.620385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.13, Y:71.79, Z:10.76 [[ 6.03117573e-01 -7.97117987e-01 -2.91908933e-02 2.00125521e+02] [ 7.96140441e-01 6.03823315e-01 -3.94690015e-02 7.17916149e+01] [ 4.90875930e-02 5.64397686e-04 9.98794318e-01 1.07569821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.650385723 meters Centerline goodness : 0.998720 Centerline is valid? [True, True] Translation: X:200.14, Y:71.81, Z:10.75 [[ 6.03791633e-01 -7.96607874e-01 -2.91814891e-02 2.00142261e+02] [ 7.95629396e-01 6.04496083e-01 -3.94759533e-02 7.18137086e+01] [ 4.90869511e-02 6.17599754e-04 9.98794318e-01 1.07545925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.680385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.16, Y:71.84, Z:10.76 [[ 6.03271178e-01 -7.97005718e-01 -2.90821372e-02 2.00158639e+02] [ 7.96024162e-01 6.03971342e-01 -3.95493459e-02 7.18368283e+01] [ 4.90858323e-02 7.08896588e-04 9.98794312e-01 1.07585368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.710385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.17, Y:71.86, Z:10.76 [[ 6.03443794e-01 -7.96872005e-01 -2.91649694e-02 2.00173389e+02] [ 7.95893245e-01 6.04147852e-01 -3.94881684e-02 7.18591618e+01] [ 4.90869696e-02 6.16687999e-04 9.98794318e-01 1.07598449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.740385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.19, Y:71.88, Z:10.76 [[ 6.03044134e-01 -7.97174846e-01 -2.91553817e-02 2.00189896e+02] [ 7.96196098e-01 6.03748209e-01 -3.94952461e-02 7.18818771e+01] [ 4.90871262e-02 6.03975383e-04 9.98794318e-01 1.07603606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.770385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.21, Y:71.90, Z:10.76 [[ 6.00301749e-01 -7.99242411e-01 -2.91441034e-02 2.00206396e+02] [ 7.98265683e-01 6.01008625e-01 -3.95035667e-02 7.19037591e+01] [ 4.90887834e-02 4.49322574e-04 9.98794318e-01 1.07626886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.800385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.22, Y:71.93, Z:10.76 [[ 5.98320184e-01 -8.00727300e-01 -2.91332932e-02 2.00222979e+02] [ 7.99751938e-01 5.99028944e-01 -3.95115375e-02 7.19269626e+01] [ 4.90896526e-02 3.41142678e-04 9.98794318e-01 1.07647462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.830385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.24, Y:71.95, Z:10.77 [[ 5.96544574e-01 -8.02051403e-01 -2.91224579e-02 2.00239811e+02] [ 8.01077226e-01 5.97254959e-01 -3.95195222e-02 7.19500205e+01] [ 4.90902206e-02 2.45818720e-04 9.98794318e-01 1.07659655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.860385723 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:200.26, Y:71.97, Z:10.77 [[ 5.93547581e-01 -8.04272210e-01 -2.91115283e-02 2.00258698e+02] [ 8.03300296e-01 5.94261059e-01 -3.95275717e-02 7.19707063e+01] [ 4.90907751e-02 7.61953297e-05 9.98794318e-01 1.07679684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.890385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:200.28, Y:71.99, Z:10.77 [[ 5.91920370e-01 -8.05470938e-01 -2.91005556e-02 2.00275233e+02] [ 8.04500072e-01 5.92635273e-01 -3.95356483e-02 7.19918429e+01] [ 4.90908314e-02 -9.44349489e-06 9.98794318e-01 1.07687622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.920385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:200.29, Y:72.02, Z:10.77 [[ 5.89479988e-01 -8.07258983e-01 -2.90908610e-02 2.00289564e+02] [ 8.06289933e-01 5.90197351e-01 -3.95427804e-02 7.20159542e+01] [ 4.90906138e-02 -1.45990695e-04 9.98794318e-01 1.07678572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.950385723 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:200.30, Y:72.04, Z:10.77 [[ 5.88638426e-01 -8.07873219e-01 -2.90803254e-02 2.00304942e+02] [ 8.06904535e-01 5.89356282e-01 -3.95505269e-02 7.20388881e+01] [ 4.90904840e-02 -1.84086515e-04 9.98794318e-01 1.07685513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.980385723 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:200.32, Y:72.06, Z:10.77 [[ 5.87842172e-01 -8.08453135e-01 -2.90707674e-02 2.00321022e+02] [ 8.07484811e-01 5.88560516e-01 -3.95575511e-02 7.20612889e+01] [ 4.90903320e-02 -2.20606348e-04 9.98794318e-01 1.07707296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.010385723 meters Centerline goodness : 0.999887 Centerline is valid? [True, True] Translation: X:200.34, Y:72.08, Z:10.77 [[ 5.86062525e-01 -8.09744552e-01 -2.90598963e-02 2.00337142e+02] [ 8.08777415e-01 5.86782465e-01 -3.95655356e-02 7.20830126e+01] [ 4.90898145e-02 -3.15110085e-04 9.98794319e-01 1.07735631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.040385723 meters Centerline goodness : 0.999887 Centerline is valid? [True, True] Translation: X:200.35, Y:72.11, Z:10.77 [[ 5.85843543e-01 -8.09903348e-01 -2.90501172e-02 2.00353988e+02] [ 8.08936051e-01 5.86563267e-01 -3.95727144e-02 7.21060820e+01] [ 4.90898056e-02 -3.16267828e-04 9.98794319e-01 1.07749619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.07038572300002 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:200.37, Y:72.13, Z:10.78 [[ 5.84872491e-01 -8.10605257e-01 -2.90394015e-02 2.00370588e+02] [ 8.09638433e-01 5.85592850e-01 -3.95805763e-02 7.21282825e+01] [ 4.90894891e-02 -3.61825312e-04 9.98794319e-01 1.07772546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.10038572300002 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:200.39, Y:72.15, Z:10.78 [[ 5.83755544e-01 -8.11410376e-01 -2.90287288e-02 2.00387372e+02] [ 8.10444156e-01 5.84476714e-01 -3.95884022e-02 7.21512647e+01] [ 4.90890563e-02 -4.16214344e-04 9.98794319e-01 1.07796178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.13038572300002 meters Centerline goodness : 0.999865 Centerline is valid? [True, True] Translation: X:200.40, Y:72.18, Z:10.78 [[ 5.82766272e-01 -8.12121558e-01 -2.90180640e-02 2.00404956e+02] [ 8.11155829e-01 5.83488099e-01 -3.95962179e-02 7.21753889e+01] [ 4.90886372e-02 -4.62831452e-04 9.98794319e-01 1.07810833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.160385723 meters Centerline goodness : 0.996587 Centerline is valid? [True, True] Translation: X:200.42, Y:72.20, Z:10.78 [[ 5.83154041e-01 -8.11836326e-01 -2.92086413e-02 2.00421162e+02] [ 8.10877220e-01 5.83884684e-01 -3.94564326e-02 7.21977764e+01] [ 4.90866436e-02 -6.75443743e-04 9.98794296e-01 1.07807073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.190385723 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:200.44, Y:72.22, Z:10.78 [[ 5.84627958e-01 -8.10775703e-01 -2.92046355e-02 2.00435191e+02] [ 8.09815125e-01 5.85356662e-01 -3.94593685e-02 7.22203612e+01] [ 4.90878252e-02 -5.81305501e-04 9.98794297e-01 1.07816957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.220385723 meters Centerline goodness : 0.999887 Centerline is valid? [True, True] Translation: X:200.45, Y:72.24, Z:10.78 [[ 5.85360773e-01 -8.10254030e-01 -2.90029846e-02 2.00451111e+02] [ 8.09285462e-01 5.86078770e-01 -3.96070330e-02 7.22427277e+01] [ 4.90897917e-02 -2.87290386e-04 9.98794328e-01 1.07825777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.250385723 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:200.47, Y:72.26, Z:10.78 [[ 5.85842905e-01 -8.09905766e-01 -2.89955438e-02 2.00467429e+02] [ 8.08936501e-01 5.86559962e-01 -3.96124796e-02 7.22648190e+01] [ 4.90900006e-02 -2.48863607e-04 9.98794328e-01 1.07842506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.280385723 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:200.48, Y:72.29, Z:10.79 [[ 5.87846545e-01 -8.08453006e-01 -2.89857929e-02 2.00484078e+02] [ 8.07481618e-01 5.88560722e-01 -3.96196133e-02 7.22874052e+01] [ 4.90904947e-02 -1.15242176e-04 9.98794328e-01 1.07877452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.310385723 meters Centerline goodness : 0.999887 Centerline is valid? [True, True] Translation: X:200.49, Y:72.31, Z:10.79 [[ 5.85676639e-01 -8.10026751e-01 -2.89747721e-02 2.00493115e+02] [ 8.09056883e-01 5.86392879e-01 -3.96276715e-02 7.23125344e+01] [ 4.90900740e-02 -2.33237398e-04 9.98794328e-01 1.07851215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.340385723 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:200.52, Y:72.33, Z:10.79 [[ 5.92189085e-01 -8.05287388e-01 -2.87108120e-02 2.00515988e+02] [ 8.04302394e-01 5.92884461e-01 -3.98205302e-02 7.23342429e+01] [ 4.90891650e-02 4.89108481e-04 9.98794280e-01 1.07893539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.370385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.53, Y:72.36, Z:10.79 [[ 5.93344401e-01 -8.04427526e-01 -2.89616419e-02 2.00532671e+02] [ 8.03450431e-01 5.94050749e-01 -3.96372599e-02 7.23564145e+01] [ 4.90899881e-02 2.49302548e-04 9.98794329e-01 1.07909076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.400385723 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:200.55, Y:72.38, Z:10.79 [[ 5.94401130e-01 -8.03647408e-01 -2.89506626e-02 2.00549722e+02] [ 8.02668995e-01 5.95105652e-01 -3.96452775e-02 7.23794441e+01] [ 4.90895274e-02 3.27398515e-04 9.98794329e-01 1.07918135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.430385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:200.56, Y:72.40, Z:10.79 [[ 5.96648730e-01 -8.01979622e-01 -2.89651251e-02 2.00564207e+02] [ 8.00999753e-01 5.97351225e-01 -3.96347185e-02 7.24035484e+01] [ 4.90885895e-02 4.46946408e-04 9.98794328e-01 1.07928317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.460385723 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:200.58, Y:72.43, Z:10.79 [[ 5.98532034e-01 -8.00576060e-01 -2.89374553e-02 2.00578729e+02] [ 7.99593566e-01 5.99230854e-01 -3.96549100e-02 7.24271739e+01] [ 4.90869877e-02 5.96530881e-04 9.98794329e-01 1.07934563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.490385723 meters Centerline goodness : 0.999843 Centerline is valid? [True, True] Translation: X:200.60, Y:72.45, Z:10.80 [[ 5.99255502e-01 -8.00035058e-01 -2.89266284e-02 2.00596962e+02] [ 7.99051552e-01 5.99952897e-01 -3.96628063e-02 7.24511136e+01] [ 4.90862500e-02 6.54287535e-04 9.98794329e-01 1.07965200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.520385723 meters Centerline goodness : 0.999843 Centerline is valid? [True, True] Translation: X:200.61, Y:72.47, Z:10.80 [[ 5.99837704e-01 -7.99594235e-01 -2.90480159e-02 2.00612723e+02] [ 7.98614493e-01 6.00540396e-01 -3.95742967e-02 7.24721228e+01] [ 4.90878865e-02 5.39988786e-04 9.98794317e-01 1.07984738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.550385723 meters Centerline goodness : 0.999821 Centerline is valid? [True, True] Translation: X:200.63, Y:72.49, Z:10.80 [[ 5.99987048e-01 -7.99487092e-01 -2.89124902e-02 2.00628616e+02] [ 7.98502456e-01 6.00682841e-01 -3.96730645e-02 7.24939179e+01] [ 4.90853398e-02 7.16630447e-04 9.98794331e-01 1.07996301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.580385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:200.64, Y:72.52, Z:10.80 [[ 6.00332396e-01 -7.99228161e-01 -2.89025909e-02 2.00644010e+02] [ 7.98242878e-01 6.01027273e-01 -3.96802750e-02 7.25179567e+01] [ 4.90848387e-02 7.50067256e-04 9.98794331e-01 1.08018512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.610385723 meters Centerline goodness : 0.999865 Centerline is valid? [True, True] Translation: X:200.66, Y:72.54, Z:10.80 [[ 5.99518909e-01 -7.99837961e-01 -2.89190773e-02 2.00659228e+02] [ 7.98853963e-01 6.00215606e-01 -3.96682701e-02 7.25425967e+01] [ 4.90858698e-02 6.79758549e-04 9.98794331e-01 1.08042063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.640385723 meters Centerline goodness : 0.999843 Centerline is valid? [True, True] Translation: X:200.68, Y:72.57, Z:10.80 [[ 5.99437678e-01 -7.99899813e-01 -2.88922096e-02 2.00675043e+02] [ 7.98914944e-01 6.00133142e-01 -3.96878255e-02 7.25657387e+01] [ 4.90854567e-02 7.07959944e-04 9.98794332e-01 1.08045121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.670385723 meters Centerline goodness : 0.999843 Centerline is valid? [True, True] Translation: X:200.69, Y:72.59, Z:10.80 [[ 5.99616526e-01 -7.99764427e-01 -2.89289343e-02 2.00690934e+02] [ 7.98780689e-01 6.00313591e-01 -3.96611044e-02 7.25878302e+01] [ 4.90859729e-02 6.73579572e-04 9.98794330e-01 1.08033202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.700385723 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:200.71, Y:72.61, Z:10.80 [[ 5.98753508e-01 -8.00412716e-01 -2.88742198e-02 2.00707011e+02] [ 7.99427813e-01 5.99448922e-01 -3.97008981e-02 7.26095273e+01] [ 4.90857236e-02 6.88197691e-04 9.98794332e-01 1.08037052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.730385723 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:200.72, Y:72.63, Z:10.81 [[ 5.95748835e-01 -8.02651959e-01 -2.88644819e-02 2.00723455e+02] [ 8.01669327e-01 5.96447455e-01 -3.97079768e-02 7.26333167e+01] [ 4.90878321e-02 5.16211085e-04 9.98794332e-01 1.08060282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.760385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:200.72, Y:72.66, Z:10.80 [[ 5.86324726e-01 -8.09561060e-01 -2.88826348e-02 2.00724611e+02] [ 8.08587311e-01 5.87035675e-01 -3.96947846e-02 7.26552788e+01] [ 4.90904889e-02 -8.00983531e-05 9.98794332e-01 1.07981246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.790385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:200.75, Y:72.68, Z:10.81 [[ 5.92326355e-01 -8.05215488e-01 -2.78838064e-02 2.00753592e+02] [ 8.04201801e-01 5.92980366e-01 -4.04196458e-02 7.26788265e+01] [ 4.90810746e-02 1.51741411e-03 9.98793645e-01 1.08060735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.82038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.77, Y:72.70, Z:10.81 [[ 5.88395810e-01 -8.08058759e-01 -2.88342325e-02 2.00770350e+02] [ 8.07081520e-01 5.89101886e-01 -3.97289323e-02 7.27005463e+01] [ 4.90896125e-02 1.04761123e-04 9.98794373e-01 1.08085830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.85038572300002 meters Centerline goodness : 0.999842 Centerline is valid? [True, True] Translation: X:200.79, Y:72.72, Z:10.81 [[ 5.85056284e-01 -8.10481601e-01 -2.87874971e-02 2.00786186e+02] [ 8.09505614e-01 5.85764094e-01 -3.97628898e-02 7.27249411e+01] [ 4.90897727e-02 -4.01119378e-05 9.98794370e-01 1.08071607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.88038572300002 meters Centerline goodness : 0.999798 Centerline is valid? [True, True] Translation: X:200.80, Y:72.74, Z:10.81 [[ 5.79533557e-01 -8.14441063e-01 -2.87508476e-02 2.00796984e+02] [ 8.13468590e-01 5.80246196e-01 -3.97895107e-02 7.27445147e+01] [ 4.90887814e-02 -3.28554774e-04 9.98794365e-01 1.08075045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.910385723 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:200.82, Y:72.77, Z:10.81 [[ 5.77772565e-01 -8.15712925e-01 -2.81298360e-02 2.00816378e+02] [ 8.14719843e-01 5.78456839e-01 -4.02400621e-02 7.27685170e+01] [ 4.90962348e-02 3.31668338e-04 9.98793998e-01 1.08117168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.940385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.84, Y:72.79, Z:10.82 [[ 5.79063840e-01 -8.14790206e-01 -2.83194136e-02 2.00838473e+02] [ 8.13802742e-01 5.79755888e-01 -4.01024698e-02 7.27929377e+01] [ 4.90934464e-02 1.75473803e-04 9.98794174e-01 1.08151816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.970385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.85, Y:72.82, Z:10.82 [[ 5.77887707e-01 -8.15606254e-01 -2.88484953e-02 2.00853628e+02] [ 8.14638771e-01 5.78607066e-01 -3.97181951e-02 7.28168531e+01] [ 4.90863516e-02 -5.48446059e-04 9.98794388e-01 1.08162499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.000385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.87, Y:72.84, Z:10.82 [[ 5.76420491e-01 -8.16644236e-01 -2.88376318e-02 2.00868569e+02] [ 8.15677654e-01 5.77141060e-01 -3.97260811e-02 7.28405803e+01] [ 4.90854565e-02 -6.23284697e-04 9.98794388e-01 1.08174304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.030385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.89, Y:72.86, Z:10.82 [[ 5.75752367e-01 -8.17115800e-01 -2.88267403e-02 2.00885350e+02] [ 8.16149413e-01 5.76473197e-01 -3.97339828e-02 7.28624704e+01] [ 4.90851083e-02 -6.49992576e-04 9.98794388e-01 1.08198884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.060385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.89, Y:72.88, Z:10.82 [[ 5.71869959e-01 -8.19838038e-01 -2.88156517e-02 2.00894387e+02] [ 8.18874676e-01 5.72594828e-01 -3.97420228e-02 7.28833271e+01] [ 4.90817151e-02 -8.69138482e-04 9.98794388e-01 1.08214641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.090385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.92, Y:72.91, Z:10.83 [[ 5.74832110e-01 -8.17785943e-01 -2.81815102e-02 2.00916574e+02] [ 8.16797233e-01 5.75522496e-01 -4.02012040e-02 7.29077627e+01] [ 4.90950726e-02 9.03633577e-05 9.98794106e-01 1.08265082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.120385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.92, Y:72.93, Z:10.83 [[ 5.72568371e-01 -8.19350810e-01 -2.88047059e-02 2.00924911e+02] [ 8.18386449e-01 5.73291887e-01 -3.97496210e-02 7.29317775e+01] [ 4.90823883e-02 -8.14005243e-04 9.98794402e-01 1.08252087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.150385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:200.93, Y:72.96, Z:10.82 [[ 5.73267212e-01 -8.18879306e-01 -2.83087454e-02 2.00933509e+02] [ 8.17896471e-01 5.73965727e-01 -4.01086901e-02 7.29590256e+01] [ 4.90924260e-02 -1.60625976e-04 9.98794227e-01 1.08241723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.180385723 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:200.95, Y:72.98, Z:10.82 [[ 5.74460989e-01 -8.18045236e-01 -2.82234786e-02 2.00948583e+02] [ 8.17058348e-01 5.75153886e-01 -4.01704272e-02 7.29830531e+01] [ 4.90940699e-02 1.61145193e-05 9.98794159e-01 1.08232025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.210385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.96, Y:73.01, Z:10.82 [[ 5.75171474e-01 -8.17543033e-01 -2.83048425e-02 2.00960187e+02] [ 8.16558442e-01 5.75867508e-01 -4.01114031e-02 7.30058664e+01] [ 4.90926373e-02 -4.16232554e-05 9.98794229e-01 1.08231577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.240385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.98, Y:73.03, Z:10.83 [[ 5.76937375e-01 -8.16306239e-01 -2.80604740e-02 2.00978343e+02] [ 8.15311497e-01 5.77619244e-01 -4.02886107e-02 7.30296338e+01] [ 4.90961140e-02 3.65978191e-04 9.98793992e-01 1.08262190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.270385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.00, Y:73.05, Z:10.83 [[ 5.81979353e-01 -8.12715365e-01 -2.81738698e-02 2.01000600e+02] [ 8.11720391e-01 5.82660668e-01 -4.02063828e-02 7.30544706e+01] [ 4.90921509e-02 5.29980072e-04 9.98794113e-01 1.08334138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.300385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.01, Y:73.08, Z:10.83 [[ 5.82485679e-01 -8.12329269e-01 -2.88373463e-02 2.01014370e+02] [ 8.11357413e-01 5.83199015e-01 -3.97247667e-02 7.30775993e+01] [ 4.90875026e-02 -2.58287012e-04 9.98794449e-01 1.08346758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.330385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.02, Y:73.10, Z:10.83 [[ 5.81430593e-01 -8.13085048e-01 -2.88300221e-02 2.01021786e+02] [ 8.12113855e-01 5.82144833e-01 -3.97300814e-02 7.31011196e+01] [ 4.90871836e-02 -3.12975653e-04 9.98794449e-01 1.08314518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.360385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.04, Y:73.13, Z:10.83 [[ 5.83146449e-01 -8.11872278e-01 -2.83482483e-02 2.01038610e+02] [ 8.10882451e-01 5.83834956e-01 -4.00798599e-02 7.31262311e+01] [ 4.90904255e-02 3.85330892e-04 9.98794264e-01 1.08329242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.390385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:201.06, Y:73.15, Z:10.84 [[ 5.87216038e-01 -8.08926620e-01 -2.85490274e-02 2.01057260e+02] [ 8.07940403e-01 5.87909496e-01 -3.99340649e-02 7.31502040e+01] [ 4.90879725e-02 3.84010718e-04 9.98794385e-01 1.08374141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.420385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.07, Y:73.17, Z:10.84 [[ 5.86587270e-01 -8.09372199e-01 -2.88447336e-02 2.01069935e+02] [ 8.08397014e-01 5.87296044e-01 -3.97193230e-02 7.31729044e+01] [ 4.90881137e-02 -1.91472564e-05 9.98794452e-01 1.08361661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.450385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.09, Y:73.20, Z:10.84 [[ 5.89597176e-01 -8.07191876e-01 -2.85735306e-02 2.01085872e+02] [ 8.06204489e-01 5.90288936e-01 -3.99160859e-02 7.31981739e+01] [ 4.90865792e-02 4.98302870e-04 9.98794403e-01 1.08394830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.480385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.10, Y:73.22, Z:10.84 [[ 5.90001863e-01 -8.06886944e-01 -2.88316054e-02 2.01096121e+02] [ 8.05908310e-01 5.90705864e-01 -3.97288015e-02 7.32200147e+01] [ 4.90876496e-02 2.04436507e-04 9.98794454e-01 1.08378383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.510385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.11, Y:73.25, Z:10.84 [[ 5.88962068e-01 -8.07659474e-01 -2.84579707e-02 2.01111580e+02] [ 8.06668577e-01 5.89648888e-01 -3.99999583e-02 7.32460924e+01] [ 4.90865561e-02 6.02307430e-04 9.98794347e-01 1.08391828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.540385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.12, Y:73.27, Z:10.84 [[ 5.88047441e-01 -8.08316301e-01 -2.87222013e-02 2.01123601e+02] [ 8.07335493e-01 5.88748426e-01 -3.98082091e-02 7.32690212e+01] [ 4.90877752e-02 2.20662962e-04 9.98794444e-01 1.08395035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.57038572300002 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:201.15, Y:73.29, Z:10.84 [[ 5.88593979e-01 -8.07934932e-01 -2.82537437e-02 2.01145119e+02] [ 8.06937283e-01 5.89271122e-01 -4.01468070e-02 7.32933065e+01] [ 4.90851230e-02 8.31169732e-04 9.98794253e-01 1.08444591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.60038572300002 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:201.16, Y:73.32, Z:10.85 [[ 5.89651972e-01 -8.07144916e-01 -2.87686861e-02 2.01157224e+02] [ 8.06164365e-01 5.90353298e-01 -3.97743628e-02 7.33150102e+01] [ 4.90873634e-02 2.60741952e-04 9.98794455e-01 1.08470355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.63038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.17, Y:73.34, Z:10.85 [[ 5.87892759e-01 -8.08439652e-01 -2.84153482e-02 2.01170407e+02] [ 8.07448230e-01 5.88578781e-01 -4.00296670e-02 7.33414993e+01] [ 4.90862411e-02 5.89228722e-04 9.98794370e-01 1.08475398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.660385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.18, Y:73.37, Z:10.85 [[ 5.86979079e-01 -8.09096037e-01 -2.86210559e-02 2.01184919e+02] [ 8.08112602e-01 5.87676378e-01 -3.98810353e-02 7.33684223e+01] [ 4.90875060e-02 2.80297402e-04 9.98794442e-01 1.08480323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.690385723 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:201.20, Y:73.39, Z:10.85 [[ 5.88639239e-01 -8.07881707e-01 -2.88269601e-02 2.01197575e+02] [ 8.06904094e-01 5.89344662e-01 -3.97322501e-02 7.33906039e+01] [ 4.90879731e-02 1.27369357e-04 9.98794451e-01 1.08456081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.720385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.21, Y:73.41, Z:10.85 [[ 5.87986803e-01 -8.08364053e-01 -2.86195378e-02 2.01212523e+02] [ 8.07379704e-01 5.88682801e-01 -3.98819954e-02 7.34132812e+01] [ 4.90870011e-02 3.43252982e-04 9.98794448e-01 1.08471260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.750385723 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:201.23, Y:73.44, Z:10.85 [[ 5.89675963e-01 -8.07137478e-01 -2.84842048e-02 2.01226228e+02] [ 8.06146948e-01 5.90363207e-01 -3.99797706e-02 7.34357519e+01] [ 4.90851977e-02 6.12654948e-04 9.98794407e-01 1.08474420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.780385723 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:201.24, Y:73.46, Z:10.85 [[ 5.88480453e-01 -8.08018667e-01 -2.82239150e-02 2.01243756e+02] [ 8.07020110e-01 5.89156255e-01 -4.01677621e-02 7.34638159e+01] [ 4.90845976e-02 8.60675856e-04 9.98794254e-01 1.08524183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.810385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.26, Y:73.49, Z:10.85 [[ 5.87126263e-01 -8.08986346e-01 -2.87026718e-02 2.01258769e+02] [ 8.08005674e-01 5.87827404e-01 -3.98217896e-02 7.34889302e+01] [ 4.90875011e-02 1.88496864e-04 9.98794464e-01 1.08535488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.840385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:201.27, Y:73.51, Z:10.85 [[ 5.83859218e-01 -8.11345880e-01 -2.87450386e-02 2.01269048e+02] [ 8.10369547e-01 5.84566386e-01 -3.97911840e-02 7.35122158e+01] [ 4.90877966e-02 -6.16543232e-05 9.98794466e-01 1.08546781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.870385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:201.28, Y:73.54, Z:10.86 [[ 5.82031578e-01 -8.12665395e-01 -2.85341340e-02 2.01284525e+02] [ 8.11683166e-01 5.82730596e-01 -3.99435989e-02 7.35360559e+01] [ 4.90884935e-02 8.77596748e-05 9.98794429e-01 1.08551291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.900385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.30, Y:73.56, Z:10.86 [[ 5.81053331e-01 -8.13365230e-01 -2.85312025e-02 2.01302079e+02] [ 8.12383738e-01 5.81753386e-01 -3.99457167e-02 7.35605027e+01] [ 4.90885806e-02 3.23068041e-05 9.98794428e-01 1.08597618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.930385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.32, Y:73.58, Z:10.86 [[ 5.80937484e-01 -8.13443860e-01 -2.86483415e-02 2.01318789e+02] [ 8.12466626e-01 5.81643424e-01 -3.98611109e-02 7.35835931e+01] [ 4.90878954e-02 -1.19007953e-04 9.98794456e-01 1.08612124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.960385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.33, Y:73.61, Z:10.86 [[ 5.79295340e-01 -8.14614156e-01 -2.86476185e-02 2.01333287e+02] [ 8.13638323e-01 5.80003215e-01 -3.98616330e-02 7.36077843e+01] [ 4.90875614e-02 -2.17142066e-04 9.98794455e-01 1.08622245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.990385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.35, Y:73.63, Z:10.86 [[ 5.77597116e-01 -8.15822984e-01 -2.85382401e-02 2.01346576e+02] [ 8.14844724e-01 5.78301673e-01 -3.99405841e-02 7.36315109e+01] [ 4.90881585e-02 -1.84668166e-04 9.98794433e-01 1.08607080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.020385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.36, Y:73.66, Z:10.86 [[ 5.76134041e-01 -8.16858506e-01 -2.84911953e-02 2.01360520e+02] [ 8.15879832e-01 5.76838050e-01 -3.99745358e-02 7.36558238e+01] [ 4.90883451e-02 -2.14700786e-04 9.98794417e-01 1.08615023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.050385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.37, Y:73.68, Z:10.86 [[ 5.74316246e-01 -8.18140900e-01 -2.83957254e-02 2.01372949e+02] [ 8.17160389e-01 5.75017761e-01 -4.00434052e-02 7.36802628e+01] [ 4.90891940e-02 -2.06283854e-04 9.98794377e-01 1.08621774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.080385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.39, Y:73.70, Z:10.86 [[ 5.73118669e-01 -8.18983365e-01 -2.83061630e-02 2.01387094e+02] [ 8.18000695e-01 5.73817235e-01 -4.01078927e-02 7.37029565e+01] [ 4.90902611e-02 -1.67878960e-04 9.98794332e-01 1.08635984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.110385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.40, Y:73.73, Z:10.87 [[ 5.70984176e-01 -8.20472356e-01 -2.83228580e-02 2.01402663e+02] [ 8.19492104e-01 5.71686115e-01 -4.00958533e-02 7.37269446e+01] [ 4.90893239e-02 -3.16260699e-04 9.98794342e-01 1.08679020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.140385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.42, Y:73.75, Z:10.87 [[ 5.74193167e-01 -8.18230129e-01 -2.83136370e-02 2.01422721e+02] [ 8.17246809e-01 5.74890809e-01 -4.01025000e-02 7.37502755e+01] [ 4.90903234e-02 -1.12647987e-04 9.98794337e-01 1.08738995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.170385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.44, Y:73.77, Z:10.88 [[ 5.75050496e-01 -8.17613870e-01 -2.87138905e-02 2.01436406e+02] [ 8.16644111e-01 5.75766666e-01 -3.98138430e-02 7.37741314e+01] [ 4.90848512e-02 -5.54059462e-04 9.98794459e-01 1.08751277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.200385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.44, Y:73.80, Z:10.86 [[ 5.71851734e-01 -8.19859060e-01 -2.85782416e-02 2.01440658e+02] [ 8.18887218e-01 5.72565094e-01 -3.99116194e-02 7.38021230e+01] [ 4.90848064e-02 -5.78827964e-04 9.98794447e-01 1.08647665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.230385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.45, Y:73.82, Z:10.87 [[ 5.73388213e-01 -8.18791795e-01 -2.83893340e-02 2.01453954e+02] [ 8.17811846e-01 5.74090526e-01 -4.00481228e-02 7.38242421e+01] [ 4.90891220e-02 -2.54012120e-04 9.98794370e-01 1.08673162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.260385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:201.47, Y:73.85, Z:10.87 [[ 5.74760383e-01 -8.17839938e-01 -2.80773395e-02 2.01472108e+02] [ 8.16847760e-01 5.75445732e-01 -4.02734103e-02 7.38485940e+01] [ 4.90941886e-02 2.12648841e-04 9.98794131e-01 1.08686201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.290385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.50, Y:73.87, Z:10.88 [[ 5.80767346e-01 -8.13579661e-01 -2.82387005e-02 2.01495810e+02] [ 8.12588097e-01 5.81453346e-01 -4.01570690e-02 7.38725725e+01] [ 4.90904615e-02 3.75482444e-04 9.98794266e-01 1.08800046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.32038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.51, Y:73.90, Z:10.88 [[ 5.77756502e-01 -8.15701708e-01 -2.87775496e-02 2.01505579e+02] [ 8.14731840e-01 5.78472560e-01 -3.97684174e-02 7.38957053e+01] [ 4.90861888e-02 -4.69524135e-04 9.98794436e-01 1.08757418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.35038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.53, Y:73.92, Z:10.88 [[ 5.81790532e-01 -8.12849170e-01 -2.82135415e-02 2.01525809e+02] [ 8.11855887e-01 5.82474041e-01 -4.01747426e-02 7.39196771e+01] [ 4.90896617e-02 4.67955093e-04 9.98794266e-01 1.08816537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.38038572300002 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:201.54, Y:73.94, Z:10.88 [[ 5.80274727e-01 -8.13914830e-01 -2.87035060e-02 2.01539383e+02] [ 8.12940123e-01 5.80984163e-01 -3.98215858e-02 7.39427857e+01] [ 4.90876617e-02 -2.26771891e-04 9.98794448e-01 1.08810119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.410385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.56, Y:73.97, Z:10.89 [[ 5.82068208e-01 -8.12641408e-01 -2.84700338e-02 2.01558684e+02] [ 8.11656890e-01 5.82764029e-01 -3.99897469e-02 7.39652430e+01] [ 4.90886359e-02 1.68861228e-04 9.98794412e-01 1.08856308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.440385723 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:201.58, Y:73.99, Z:10.89 [[ 5.82749331e-01 -8.12145327e-01 -2.86912030e-02 2.01575919e+02] [ 8.11168030e-01 5.83455195e-01 -3.98304336e-02 7.39864934e+01] [ 4.90881319e-02 -6.22280535e-05 9.98794449e-01 1.08888168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.470385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.59, Y:74.01, Z:10.89 [[ 5.82889643e-01 -8.12044852e-01 -2.86848898e-02 2.01592417e+02] [ 8.11067209e-01 5.83595028e-01 -3.98349797e-02 7.40096706e+01] [ 4.90881492e-02 -4.59764303e-05 9.98794449e-01 1.08907923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.500385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.61, Y:74.03, Z:10.89 [[ 5.83260942e-01 -8.11778602e-01 -2.86736022e-02 2.01608370e+02] [ 8.10800238e-01 5.83965326e-01 -3.98431030e-02 7.40326966e+01] [ 4.90881679e-02 -9.63773213e-06 9.98794449e-01 1.08913548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.530385723 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:201.63, Y:74.06, Z:10.89 [[ 5.83575939e-01 -8.11552581e-01 -2.86623758e-02 2.01625487e+02] [ 8.10573547e-01 5.84279392e-01 -3.98511774e-02 7.40552484e+01] [ 4.90881614e-02 2.32246573e-05 9.98794449e-01 1.08923464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.560385723 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:201.64, Y:74.08, Z:10.89 [[ 5.84049201e-01 -8.11212454e-01 -2.86510836e-02 2.01642560e+02] [ 8.10232613e-01 5.84751528e-01 -3.98592943e-02 7.40770223e+01] [ 4.90881209e-02 6.57466291e-05 9.98794449e-01 1.08931425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.590385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.66, Y:74.10, Z:10.89 [[ 5.85986347e-01 -8.09814650e-01 -2.86397221e-02 2.01658395e+02] [ 8.08832735e-01 5.86685770e-01 -3.98674561e-02 7.41007100e+01] [ 4.90877674e-02 1.97040183e-04 9.98794449e-01 1.08928859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.620385723 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:201.67, Y:74.12, Z:10.89 [[ 5.89086945e-01 -8.07562336e-01 -2.86294487e-02 2.01673471e+02] [ 8.06577387e-01 5.89782092e-01 -3.98748322e-02 7.41232620e+01] [ 4.90865488e-02 3.97877140e-04 9.98794450e-01 1.08922213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.650385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.69, Y:74.15, Z:10.89 [[ 5.90274113e-01 -8.06695215e-01 -2.86234422e-02 2.01690905e+02] [ 8.05709036e-01 5.90967514e-01 -3.98791435e-02 7.41450210e+01] [ 4.90858386e-02 4.77460040e-04 9.98794450e-01 1.08939658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.680385723 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:201.71, Y:74.17, Z:10.90 [[ 5.91281820e-01 -8.05957279e-01 -2.86124710e-02 2.01709955e+02] [ 8.04969854e-01 5.91973445e-01 -3.98870135e-02 7.41660700e+01] [ 4.90850519e-02 5.52289360e-04 9.98794450e-01 1.08970471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.710385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.73, Y:74.19, Z:10.90 [[ 5.91564053e-01 -8.05750537e-01 -2.86014569e-02 2.01729195e+02] [ 8.04762489e-01 5.92254786e-01 -3.98949097e-02 7.41871101e+01] [ 4.90846947e-02 5.83014808e-04 9.98794450e-01 1.09005147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.740385723 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:201.75, Y:74.21, Z:10.90 [[ 5.92154321e-01 -8.05317185e-01 -2.85918134e-02 2.01746718e+02] [ 8.04328298e-01 5.92843853e-01 -3.99018198e-02 7.42100509e+01] [ 4.90841020e-02 6.30830405e-04 9.98794450e-01 1.09034216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.770385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.76, Y:74.23, Z:10.90 [[ 5.93440752e-01 -8.04370022e-01 -2.85821830e-02 2.01759537e+02] [ 8.03379703e-01 5.94128224e-01 -3.99087170e-02 7.42349167e+01] [ 4.90828572e-02 7.21113310e-04 9.98794450e-01 1.09003890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.800385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:201.78, Y:74.26, Z:10.90 [[ 5.94101745e-01 -8.03882150e-01 -2.85763185e-02 2.01776420e+02] [ 8.02891064e-01 5.94788113e-01 -3.99129158e-02 7.42577309e+01] [ 4.90821351e-02 7.68662138e-04 9.98794450e-01 1.09002101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.830385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.79, Y:74.28, Z:10.90 [[ 5.94885015e-01 -8.03303084e-01 -2.85652655e-02 2.01794457e+02] [ 8.02310950e-01 5.95569867e-01 -3.99208247e-02 7.42779627e+01] [ 4.90811330e-02 8.30075075e-04 9.98794450e-01 1.09006248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.860385723 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:201.81, Y:74.30, Z:10.90 [[ 5.95158596e-01 -8.03100603e-01 -2.85598945e-02 2.01813994e+02] [ 8.02108052e-01 5.95842843e-01 -3.99246669e-02 7.42982112e+01] [ 4.90807328e-02 8.53387357e-04 9.98794450e-01 1.09025697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.890385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.83, Y:74.32, Z:10.91 [[ 5.95158360e-01 -8.03101153e-01 -2.85493373e-02 2.01833369e+02] [ 8.02108241e-01 5.95842083e-01 -3.99322147e-02 7.43173942e+01] [ 4.90805043e-02 8.66332626e-04 9.98794450e-01 1.09050049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.920385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.85, Y:74.34, Z:10.91 [[ 5.94821460e-01 -8.03351048e-01 -2.85398790e-02 2.01849578e+02] [ 8.02358099e-01 5.95505129e-01 -3.99389735e-02 7.43408446e+01] [ 4.90806605e-02 8.57355451e-04 9.98794450e-01 1.09057903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.950385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:201.87, Y:74.36, Z:10.91 [[ 5.94103116e-01 -8.03882803e-01 -2.85294132e-02 2.01865146e+02] [ 8.02890108e-01 5.94787152e-01 -3.99464481e-02 7.43637391e+01] [ 4.90811911e-02 8.26325663e-04 9.98794450e-01 1.09071017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.980385723 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:201.88, Y:74.39, Z:10.91 [[ 5.93447124e-01 -8.04367580e-01 -2.85185581e-02 2.01883351e+02] [ 8.03375071e-01 5.94131431e-01 -3.99541963e-02 7.43855424e+01] [ 4.90816319e-02 7.99604233e-04 9.98794450e-01 1.09089117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.010385723 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:201.91, Y:74.40, Z:10.91 [[ 5.92015408e-01 -8.05422302e-01 -2.85074147e-02 2.01905925e+02] [ 8.04430630e-01 5.92700927e-01 -3.99621455e-02 7.44031456e+01] [ 4.90827743e-02 7.25968352e-04 9.98794450e-01 1.09100187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.040385723 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:201.92, Y:74.42, Z:10.91 [[ 5.90663885e-01 -8.06414099e-01 -2.85039645e-02 2.01924426e+02] [ 8.05423459e-01 5.91350895e-01 -3.99646063e-02 7.44237639e+01] [ 4.90838669e-02 6.47887870e-04 9.98794450e-01 1.09141831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.07038572300002 meters Centerline goodness : 0.999722 Centerline is valid? [True, True] Translation: X:201.94, Y:74.45, Z:10.92 [[ 5.89543888e-01 -8.07233651e-01 -2.84927368e-02 2.01942320e+02] [ 8.06243580e-01 5.90231717e-01 -3.99726094e-02 7.44459946e+01] [ 4.90845525e-02 5.93521424e-04 9.98794451e-01 1.09159455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.10038572300002 meters Centerline goodness : 0.999721 Centerline is valid? [True, True] Translation: X:201.96, Y:74.47, Z:10.92 [[ 5.85497317e-01 -8.10173867e-01 -2.84815219e-02 2.01955206e+02] [ 8.09186862e-01 5.86189538e-01 -3.99805988e-02 7.44679556e+01] [ 4.90868065e-02 3.61659967e-04 9.98794451e-01 1.09180771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.13038572300002 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:201.97, Y:74.49, Z:10.91 [[ 5.82865297e-01 -8.12081692e-01 -2.81313137e-02 2.01968337e+02] [ 8.11084848e-01 5.83543423e-01 -4.02298735e-02 7.44896595e+01] [ 4.90857868e-02 6.31714845e-04 9.98794366e-01 1.09128080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.160385723 meters Centerline goodness : 0.999635 Centerline is valid? [True, True] Translation: X:202.00, Y:74.51, Z:10.92 [[ 5.86449359e-01 -8.09510106e-01 -2.77585641e-02 2.01998576e+02] [ 8.08497668e-01 5.87104492e-01 -4.04948931e-02 7.45092937e+01] [ 4.90782029e-02 1.30546976e-03 9.98794086e-01 1.09178645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.190385723 meters Centerline goodness : 0.996879 Centerline is valid? [True, True] Translation: X:202.02, Y:74.53, Z:10.92 [[ 5.85008587e-01 -8.10527434e-01 -2.84645647e-02 2.02018288e+02] [ 8.09540272e-01 5.85700567e-01 -3.99924206e-02 7.45301660e+01] [ 4.90866657e-02 3.52697977e-04 9.98794461e-01 1.09236379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.220385723 meters Centerline goodness : 0.999567 Centerline is valid? [True, True] Translation: X:202.04, Y:74.55, Z:10.93 [[ 5.84199059e-01 -8.11110188e-01 -2.84907538e-02 2.02036019e+02] [ 8.10124624e-01 5.84893315e-01 -3.99737862e-02 7.45501821e+01] [ 4.90871967e-02 2.71587101e-04 9.98794460e-01 1.09273833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.250385723 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:202.05, Y:74.57, Z:10.93 [[ 5.80490751e-01 -8.13769798e-01 -2.84464994e-02 2.02048759e+02] [ 8.12785873e-01 5.81187323e-01 -4.00052543e-02 7.45722486e+01] [ 4.90878125e-02 1.01767301e-04 9.98794461e-01 1.09260186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.280385723 meters Centerline goodness : 0.999718 Centerline is valid? [True, True] Translation: X:202.07, Y:74.59, Z:10.93 [[ 5.78793186e-01 -8.14992436e-01 -2.80317125e-02 2.02065573e+02] [ 8.13995607e-01 5.79471372e-01 -4.02998741e-02 7.45931732e+01] [ 4.90876675e-02 5.07601708e-04 9.98794345e-01 1.09254626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.310385723 meters Centerline goodness : 0.999651 Centerline is valid? [True, True] Translation: X:202.09, Y:74.61, Z:10.93 [[ 5.81917449e-01 -8.12768090e-01 -2.79305485e-02 2.02090703e+02] [ 8.11765216e-01 5.82586784e-01 -4.03716938e-02 7.46147064e+01] [ 4.90847929e-02 8.19945262e-04 9.98794279e-01 1.09322195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.340385723 meters Centerline goodness : 0.997313 Centerline is valid? [True, True] Translation: X:202.11, Y:74.63, Z:10.93 [[ 5.81521090e-01 -8.13034492e-01 -2.84277451e-02 2.02112982e+02] [ 8.12049037e-01 5.82215493e-01 -4.00185140e-02 7.46343797e+01] [ 4.90875058e-02 1.86886920e-04 9.98794464e-01 1.09295527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.370385723 meters Centerline goodness : 0.999671 Centerline is valid? [True, True] Translation: X:202.13, Y:74.65, Z:10.93 [[ 5.82370649e-01 -8.12426559e-01 -2.84167813e-02 2.02130740e+02] [ 8.11439999e-01 5.83063481e-01 -4.00262990e-02 7.46548684e+01] [ 4.90872158e-02 2.51628739e-04 9.98794464e-01 1.09349686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.400385723 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:202.15, Y:74.68, Z:10.94 [[ 5.82578870e-01 -8.12277466e-01 -2.84109018e-02 2.02147522e+02] [ 8.11290525e-01 5.83271159e-01 -4.00304719e-02 7.46772802e+01] [ 4.90871099e-02 2.71411599e-04 9.98794464e-01 1.09359135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.430385723 meters Centerline goodness : 0.999736 Centerline is valid? [True, True] Translation: X:202.17, Y:74.70, Z:10.94 [[ 5.83054527e-01 -8.11936484e-01 -2.84000623e-02 2.02165151e+02] [ 8.10948764e-01 5.83745704e-01 -4.00381606e-02 7.46998455e+01] [ 4.90868577e-02 3.13435402e-04 9.98794464e-01 1.09360639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.460385723 meters Centerline goodness : 0.999736 Centerline is valid? [True, True] Translation: X:202.18, Y:74.72, Z:10.94 [[ 5.83137826e-01 -8.11877053e-01 -2.83888385e-02 2.02183104e+02] [ 8.10888876e-01 5.83828348e-01 -4.00461172e-02 7.47209662e+01] [ 4.90867323e-02 3.32212386e-04 9.98794465e-01 1.09376000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.490385723 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:202.20, Y:74.74, Z:10.94 [[ 5.81783513e-01 -8.12848484e-01 -2.83775645e-02 2.02203383e+02] [ 8.11861070e-01 5.82475126e-01 -4.00541046e-02 7.47391889e+01] [ 4.90871437e-02 2.64177789e-04 9.98794465e-01 1.09400108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.520385723 meters Centerline goodness : 0.999714 Centerline is valid? [True, True] Translation: X:202.22, Y:74.76, Z:10.94 [[ 5.80364908e-01 -8.13862183e-01 -2.83711081e-02 2.02221554e+02] [ 8.12875753e-01 5.81057925e-01 -4.00586773e-02 7.47609886e+01] [ 4.90874998e-02 1.86464670e-04 9.98794465e-01 1.09419188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.550385723 meters Centerline goodness : 0.999648 Centerline is valid? [True, True] Translation: X:202.24, Y:74.78, Z:10.94 [[ 5.78689699e-01 -8.15054564e-01 -2.83600214e-02 2.02238032e+02] [ 8.14069177e-01 5.79384198e-01 -4.00665247e-02 7.47824120e+01] [ 4.90877521e-02 9.90658585e-05 9.98794465e-01 1.09433774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.580385723 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:202.26, Y:74.80, Z:10.94 [[ 5.76103636e-01 -8.16884859e-01 -2.83500914e-02 2.02256177e+02] [ 8.15901333e-01 5.76800767e-01 -4.00735497e-02 7.48035455e+01] [ 4.90878305e-02 -4.43596590e-05 9.98794465e-01 1.09441242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.610385723 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:202.27, Y:74.83, Z:10.94 [[ 5.74350131e-01 -8.18119072e-01 -2.83392095e-02 2.02273624e+02] [ 8.17136664e-01 5.75048838e-01 -4.00812437e-02 7.48262094e+01] [ 4.90876594e-02 -1.36339558e-04 9.98794465e-01 1.09439232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.640385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:202.29, Y:74.85, Z:10.95 [[ 5.73763724e-01 -8.18530804e-01 -2.83286403e-02 2.02293243e+02] [ 8.17548529e-01 5.74462616e-01 -4.00887124e-02 7.48466435e+01] [ 4.90875909e-02 -1.58589327e-04 9.98794465e-01 1.09468070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.670385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:202.31, Y:74.87, Z:10.95 [[ 5.72911676e-01 -8.19127773e-01 -2.83178935e-02 2.02310398e+02] [ 8.18145851e-01 5.73611064e-01 -4.00963023e-02 7.48690794e+01] [ 4.90874519e-02 -1.96527336e-04 9.98794465e-01 1.09477110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.700385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.33, Y:74.89, Z:10.95 [[ 5.71684364e-01 -8.19985179e-01 -2.83071509e-02 2.02326865e+02] [ 8.19003930e-01 5.72384697e-01 -4.01038850e-02 7.48908278e+01] [ 4.90871713e-02 -2.56903828e-04 9.98794465e-01 1.09489083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.730385723 meters Centerline goodness : 0.999822 Centerline is valid? [True, True] Translation: X:202.35, Y:74.91, Z:10.95 [[ 5.69059954e-01 -8.21808995e-01 -2.82974253e-02 2.02345034e+02] [ 8.20829650e-01 5.69762945e-01 -4.01107462e-02 7.49107933e+01] [ 4.90861964e-02 -4.01946344e-04 9.98794465e-01 1.09505599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.760385723 meters Centerline goodness : 0.999064 Centerline is valid? [True, True] Translation: X:202.37, Y:74.93, Z:10.95 [[ 5.67602710e-01 -8.22816479e-01 -2.82878978e-02 2.02365998e+02] [ 8.21838047e-01 5.68306972e-01 -4.01174643e-02 7.49339213e+01] [ 4.90855203e-02 -4.77289249e-04 9.98794465e-01 1.09496410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.790385723 meters Centerline goodness : 0.999687 Centerline is valid? [True, True] Translation: X:202.38, Y:74.95, Z:10.95 [[ 5.66468133e-01 -8.23586773e-01 -2.86126087e-02 2.02380541e+02] [ 8.22620794e-01 5.67189510e-01 -3.98884474e-02 7.49531393e+01] [ 4.90803692e-02 -9.41792529e-04 9.98794388e-01 1.09523620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.82038572300002 meters Centerline goodness : 0.999732 Centerline is valid? [True, True] Translation: X:202.40, Y:74.97, Z:10.95 [[ 5.65165998e-01 -8.24492617e-01 -2.82722440e-02 2.02399053e+02] [ 8.23515733e-01 5.65872389e-01 -4.01282555e-02 7.49735311e+01] [ 4.90839327e-02 -6.03512232e-04 9.98794475e-01 1.09521935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.85038572300002 meters Centerline goodness : 0.999732 Centerline is valid? [True, True] Translation: X:202.42, Y:75.00, Z:10.95 [[ 5.64948440e-01 -8.24642006e-01 -2.82634349e-02 2.02415429e+02] [ 8.23664999e-01 5.65654660e-01 -4.01344590e-02 7.49969263e+01] [ 4.90839045e-02 -6.05702082e-04 9.98794475e-01 1.09535925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.88038572300002 meters Centerline goodness : 0.999821 Centerline is valid? [True, True] Translation: X:202.43, Y:75.02, Z:10.96 [[ 5.65238922e-01 -8.24443290e-01 -2.82528311e-02 2.02432794e+02] [ 8.23465661e-01 5.65944282e-01 -4.01419223e-02 7.50194651e+01] [ 4.90842667e-02 -5.75459360e-04 9.98794475e-01 1.09555868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.910385723 meters Centerline goodness : 0.999843 Centerline is valid? [True, True] Translation: X:202.45, Y:75.04, Z:10.96 [[ 5.68607158e-01 -8.22124249e-01 -2.82421655e-02 2.02448201e+02] [ 8.21143370e-01 5.69307991e-01 -4.01494247e-02 7.50429505e+01] [ 4.90863062e-02 -3.61616688e-04 9.98794475e-01 1.09568487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.940385723 meters Centerline goodness : 0.999799 Centerline is valid? [True, True] Translation: X:202.46, Y:75.07, Z:10.96 [[ 5.70537306e-01 -8.20786322e-01 -2.82311318e-02 2.02463818e+02] [ 8.19803416e-01 5.71235293e-01 -4.01571816e-02 7.50667047e+01] [ 4.90870842e-02 -2.32808097e-04 9.98794475e-01 1.09569360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.970385723 meters Centerline goodness : 0.999688 Centerline is valid? [True, True] Translation: X:202.48, Y:75.09, Z:10.96 [[ 5.71994836e-01 -8.19771633e-01 -2.82201366e-02 2.02479121e+02] [ 8.18787108e-01 5.72690537e-01 -4.01649069e-02 7.50902114e+01] [ 4.90874565e-02 -1.32164684e-04 9.98794475e-01 1.09582037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.000385723 meters Centerline goodness : 0.999821 Centerline is valid? [True, True] Translation: X:202.49, Y:75.11, Z:10.96 [[ 5.74868243e-01 -8.17759597e-01 -2.82089642e-02 2.02494968e+02] [ 8.16772252e-01 5.75559935e-01 -4.01727521e-02 7.51132975e+01] [ 4.90876031e-02 5.37401836e-05 9.98794476e-01 1.09599021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.030385723 meters Centerline goodness : 0.998126 Centerline is valid? [True, True] Translation: X:202.51, Y:75.14, Z:10.96 [[ 5.76037996e-01 -8.16936204e-01 -2.82040002e-02 2.02510220e+02] [ 8.15947700e-01 5.76728030e-01 -4.01762368e-02 7.51353508e+01] [ 4.90874599e-02 1.30049832e-04 9.98794476e-01 1.09576090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.060385723 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:202.53, Y:75.16, Z:10.96 [[ 5.75815724e-01 -8.17097573e-01 -2.80679068e-02 2.02525540e+02] [ 8.16104593e-01 5.76499329e-01 -4.02717869e-02 7.51609701e+01] [ 4.90871088e-02 2.82780490e-04 9.98794461e-01 1.09621552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.090385723 meters Centerline goodness : 0.997376 Centerline is valid? [True, True] Translation: X:202.54, Y:75.18, Z:10.96 [[ 5.78825127e-01 -8.14962207e-01 -2.82501943e-02 2.02542694e+02] [ 8.13972931e-01 5.79514058e-01 -4.01438054e-02 7.51822089e+01] [ 4.90870690e-02 2.41349852e-04 9.98794474e-01 1.09582956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.120385723 meters Centerline goodness : 0.999578 Centerline is valid? [True, True] Translation: X:202.56, Y:75.21, Z:10.96 [[ 5.75635359e-01 -8.17217801e-01 -2.82665571e-02 2.02555676e+02] [ 8.16231788e-01 5.76328955e-01 -4.01323200e-02 7.52071834e+01] [ 4.90876816e-02 2.95200185e-05 9.98794473e-01 1.09647531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.150385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:202.57, Y:75.23, Z:10.97 [[ 5.74717802e-01 -8.17866188e-01 -2.81841458e-02 2.02571328e+02] [ 8.16878120e-01 5.75408457e-01 -4.01901129e-02 7.52298558e+01] [ 4.90875303e-02 7.49613125e-05 9.98794478e-01 1.09658737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.180385723 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:202.59, Y:75.25, Z:10.97 [[ 5.73930355e-01 -8.18419088e-01 -2.81805661e-02 2.02587774e+02] [ 8.17431561e-01 5.74621785e-01 -4.01926228e-02 7.52526106e+01] [ 4.90875769e-02 3.20821744e-05 9.98794478e-01 1.09688699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.210385723 meters Centerline goodness : 0.997334 Centerline is valid? [True, True] Translation: X:202.61, Y:75.28, Z:10.97 [[ 5.73842652e-01 -8.18480962e-01 -2.81695964e-02 2.02606996e+02] [ 8.17493132e-01 5.74533649e-01 -4.02003096e-02 7.52768179e+01] [ 4.90875691e-02 4.02007138e-05 9.98794478e-01 1.09680845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.240385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.62, Y:75.30, Z:10.97 [[ 5.71649653e-01 -8.19999089e-01 -2.86036432e-02 2.02617229e+02] [ 8.19028197e-01 5.72364489e-01 -3.98961717e-02 7.52999627e+01] [ 4.90865341e-02 -6.20557632e-04 9.98794337e-01 1.09706204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.270385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:202.63, Y:75.32, Z:10.97 [[ 5.71414209e-01 -8.20179284e-01 -2.81379527e-02 2.02634251e+02] [ 8.19192441e-01 5.72106579e-01 -4.02219630e-02 7.53238546e+01] [ 4.90871287e-02 -6.69969772e-05 9.98794498e-01 1.09708997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.300385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.65, Y:75.35, Z:10.97 [[ 5.71175903e-01 -8.20342376e-01 -2.82218623e-02 2.02648752e+02] [ 8.19358627e-01 5.71872671e-01 -4.01632755e-02 7.53465308e+01] [ 4.90869487e-02 -1.83531155e-04 9.98794492e-01 1.09708511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.330385723 meters Centerline goodness : 0.996751 Centerline is valid? [True, True] Translation: X:202.67, Y:75.37, Z:10.97 [[ 5.72464025e-01 -8.19447427e-01 -2.81221369e-02 2.02670591e+02] [ 8.18459158e-01 5.73154354e-01 -4.02329822e-02 7.53714480e+01] [ 4.90871390e-02 1.51144017e-05 9.98794500e-01 1.09689428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.360385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.68, Y:75.39, Z:10.97 [[ 5.69976310e-01 -8.21158737e-01 -2.87286567e-02 2.02683546e+02] [ 8.20193697e-01 5.70699191e-01 -3.98087039e-02 7.53913999e+01] [ 4.90846862e-02 -8.73045018e-04 9.98794239e-01 1.09690891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.390385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.70, Y:75.41, Z:10.97 [[ 5.68016632e-01 -8.22531821e-01 -2.82578970e-02 2.02695685e+02] [ 8.21552038e-01 5.68718937e-01 -4.01375103e-02 7.54145179e+01] [ 4.90851806e-02 -4.16559430e-04 9.98794509e-01 1.09706780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.420385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.71, Y:75.44, Z:10.97 [[ 5.67251569e-01 -8.23065275e-01 -2.80928994e-02 2.02714881e+02] [ 8.22080433e-01 5.67946727e-01 -4.02526656e-02 7.54393330e+01] [ 4.90858415e-02 -2.61235144e-04 9.98794529e-01 1.09713380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.450385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.73, Y:75.46, Z:10.97 [[ 5.64318930e-01 -8.25068687e-01 -2.83867442e-02 2.02730040e+02] [ 8.24096566e-01 5.65031886e-01 -4.00477045e-02 7.54628327e+01] [ 4.90815226e-02 -7.93740706e-04 9.98794460e-01 1.09712819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.480385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.74, Y:75.48, Z:10.98 [[ 5.61738637e-01 -8.26825711e-01 -2.84419949e-02 2.02740943e+02] [ 8.25857766e-01 5.62457300e-01 -4.00091954e-02 7.54840323e+01] [ 4.90780391e-02 -1.01433150e-03 9.98794432e-01 1.09756044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.510385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.76, Y:75.50, Z:10.98 [[ 5.58575876e-01 -8.28979156e-01 -2.80454850e-02 2.02759119e+02] [ 8.28000035e-01 5.59279037e-01 -4.02852418e-02 7.55048116e+01] [ 4.90808776e-02 -7.19298342e-04 9.98794548e-01 1.09802457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.540385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.78, Y:75.53, Z:10.98 [[ 5.58438789e-01 -8.29071897e-01 -2.80340671e-02 2.02780616e+02] [ 8.28092494e-01 5.59141557e-01 -4.02931858e-02 7.55270729e+01] [ 4.90809599e-02 -7.13522640e-04 9.98794549e-01 1.09843502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.57038572300002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:202.79, Y:75.55, Z:10.98 [[ 5.55821014e-01 -8.30821496e-01 -2.82602572e-02 2.02794399e+02] [ 8.29852269e-01 5.56537810e-01 -4.01357281e-02 7.55484644e+01] [ 4.90735273e-02 -1.14355749e-03 9.98794514e-01 1.09848207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.60038572300002 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:202.81, Y:75.57, Z:10.99 [[ 5.56453460e-01 -8.30405864e-01 -2.80294064e-02 2.02811298e+02] [ 8.29427988e-01 5.57158344e-01 -4.02963063e-02 7.55744068e+01] [ 4.90791067e-02 -8.25355073e-04 9.98794553e-01 1.09858962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.63038572300002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:202.82, Y:75.60, Z:10.98 [[ 5.55433003e-01 -8.31079585e-01 -2.83002213e-02 2.02821936e+02] [ 8.30112094e-01 5.56152180e-01 -4.01081546e-02 7.55980134e+01] [ 4.90722982e-02 -1.21496322e-03 9.98794490e-01 1.09840639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.660385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.84, Y:75.62, Z:10.98 [[ 5.56700753e-01 -8.30241374e-01 -2.79916497e-02 2.02839450e+02] [ 8.29261979e-01 5.57403513e-01 -4.03223681e-02 7.56221871e+01] [ 4.90799422e-02 -7.64918177e-04 9.98794561e-01 1.09829498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.690385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.86, Y:75.64, Z:10.98 [[ 5.58334907e-01 -8.29137712e-01 -2.81564625e-02 2.02856237e+02] [ 8.28162677e-01 5.59043738e-01 -4.02079646e-02 7.56430514e+01] [ 4.90786338e-02 -8.68621133e-04 9.98794540e-01 1.09840634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.720385723 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:202.87, Y:75.67, Z:10.99 [[ 5.58857525e-01 -8.28791657e-01 -2.79760121e-02 2.02874439e+02] [ 8.27809900e-01 5.59556974e-01 -4.03331306e-02 7.56661256e+01] [ 4.90819349e-02 -6.18346245e-04 9.98794564e-01 1.09858929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.750385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.89, Y:75.69, Z:10.98 [[ 5.59368072e-01 -8.28444135e-01 -2.80655613e-02 2.02886975e+02] [ 8.27465053e-01 5.60071272e-01 -4.02710326e-02 7.56905034e+01] [ 4.90810154e-02 -6.96941306e-04 9.98794558e-01 1.09848450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.780385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.90, Y:75.72, Z:10.99 [[ 5.59257489e-01 -8.28522359e-01 -2.79599903e-02 2.02901460e+02] [ 8.27539713e-01 5.59955685e-01 -4.03441976e-02 7.57151609e+01] [ 4.90824253e-02 -5.75207707e-04 9.98794566e-01 1.09858019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.810385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.92, Y:75.74, Z:10.99 [[ 5.59343573e-01 -8.28464603e-01 -2.79494076e-02 2.02916762e+02] [ 8.27481518e-01 5.60041151e-01 -4.03515278e-02 7.57367367e+01] [ 4.90826308e-02 -5.57250509e-04 9.98794566e-01 1.09888948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.840385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.93, Y:75.76, Z:10.99 [[ 5.58709462e-01 -8.28892617e-01 -2.79421944e-02 2.02934286e+02] [ 8.27909817e-01 5.59407442e-01 -4.03565221e-02 7.57596944e+01] [ 4.90822947e-02 -5.86046284e-04 9.98794566e-01 1.09906990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.870385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.95, Y:75.78, Z:10.99 [[ 5.56874694e-01 -8.30123881e-01 -2.80163626e-02 2.02947825e+02] [ 8.29145202e-01 5.57578448e-01 -4.03051774e-02 7.57819655e+01] [ 4.90796103e-02 -7.84699276e-04 9.98794562e-01 1.09935362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.900385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.96, Y:75.80, Z:11.00 [[ 5.55561451e-01 -8.31009916e-01 -2.78207502e-02 2.02961112e+02] [ 8.30025562e-01 5.56257252e-01 -4.04405334e-02 7.58049152e+01] [ 4.90819782e-02 -6.24732384e-04 9.98794558e-01 1.09950063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.930385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:202.98, Y:75.83, Z:11.00 [[ 5.56704621e-01 -8.30249658e-01 -2.76671472e-02 2.02979738e+02] [ 8.29259062e-01 5.57391575e-01 -4.05467547e-02 7.58291233e+01] [ 4.90853640e-02 -3.70666808e-04 9.98794518e-01 1.09954171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.960385723 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:203.00, Y:75.85, Z:11.00 [[ 5.57234222e-01 -8.29886420e-01 -2.79025601e-02 2.02996109e+02] [ 8.28903490e-01 5.57932021e-01 -4.03839571e-02 7.58511721e+01] [ 4.90818293e-02 -6.25206542e-04 9.98794565e-01 1.09966980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.990385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.01, Y:75.87, Z:11.00 [[ 5.54504831e-01 -8.31712196e-01 -2.79144331e-02 2.03008887e+02] [ 8.30731977e-01 5.55206432e-01 -4.03757484e-02 7.58744243e+01] [ 4.90792752e-02 -8.00864661e-04 9.98794565e-01 1.09971458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.020385723 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:203.03, Y:75.90, Z:11.00 [[ 5.55082868e-01 -8.31332830e-01 -2.77260729e-02 2.03026813e+02] [ 8.30345612e-01 5.55774627e-01 -4.05059143e-02 7.58977102e+01] [ 4.90833442e-02 -5.38083875e-04 9.98794541e-01 1.09980170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.050385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.04, Y:75.92, Z:11.00 [[ 5.55091223e-01 -8.31322992e-01 -2.78534972e-02 2.03044502e+02] [ 8.30340167e-01 5.55789172e-01 -4.04178475e-02 7.59193795e+01] [ 4.90809581e-02 -6.92285121e-04 9.98794564e-01 1.09998189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.080385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.06, Y:75.94, Z:11.00 [[ 5.55151645e-01 -8.31286107e-01 -2.77499437e-02 2.03061052e+02] [ 8.30299656e-01 5.55844485e-01 -4.04893811e-02 7.59415124e+01] [ 4.90829131e-02 -5.63022176e-04 9.98794549e-01 1.10019815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.110385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.08, Y:75.96, Z:11.00 [[ 5.54616460e-01 -8.31643265e-01 -2.77499909e-02 2.03075641e+02] [ 8.30657262e-01 5.55309937e-01 -4.04893485e-02 7.59634886e+01] [ 4.90825396e-02 -5.94672345e-04 9.98794549e-01 1.10022625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.140385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.09, Y:75.99, Z:11.00 [[ 5.56979356e-01 -8.30065900e-01 -2.76513797e-02 2.03094977e+02] [ 8.29074549e-01 5.57665213e-01 -4.05574003e-02 7.59874010e+01] [ 4.90855275e-02 -3.35420432e-04 9.98794523e-01 1.10036670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.170385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.11, Y:76.01, Z:11.00 [[ 5.57152860e-01 -8.29941805e-01 -2.78799526e-02 2.03110604e+02] [ 8.28958159e-01 5.57849655e-01 -4.03996636e-02 7.60111321e+01] [ 4.90821916e-02 -6.02526070e-04 9.98794561e-01 1.10047702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.200385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.12, Y:76.03, Z:11.01 [[ 5.58299615e-01 -8.29171189e-01 -2.78689537e-02 2.03124901e+02] [ 8.28186203e-01 5.58994514e-01 -4.04072495e-02 7.60337544e+01] [ 4.90831194e-02 -5.21331112e-04 9.98794561e-01 1.10065923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.230385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.14, Y:76.06, Z:11.01 [[ 5.58768487e-01 -8.28855626e-01 -2.78590875e-02 2.03140612e+02] [ 8.27869909e-01 5.59462348e-01 -4.04140507e-02 7.60565017e+01] [ 4.90835238e-02 -4.81602266e-04 9.98794561e-01 1.10082974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.260385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.16, Y:76.08, Z:11.01 [[ 5.59303456e-01 -8.28495103e-01 -2.78479493e-02 2.03157045e+02] [ 8.27508556e-01 5.59996137e-01 -4.04217243e-02 7.60796187e+01] [ 4.90839446e-02 -4.36406250e-04 9.98794561e-01 1.10111905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.290385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.17, Y:76.10, Z:11.01 [[ 5.58996639e-01 -8.28702525e-01 -2.78367204e-02 2.03172740e+02] [ 8.27715850e-01 5.59689138e-01 -4.04294556e-02 7.61033449e+01] [ 4.90839020e-02 -4.40964841e-04 9.98794562e-01 1.10133047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.32038572300002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:203.18, Y:76.13, Z:11.01 [[ 5.55137808e-01 -8.31292825e-01 -2.78254117e-02 2.03180649e+02] [ 8.30308991e-01 5.55834336e-01 -4.04372373e-02 7.61276048e+01] [ 4.90815045e-02 -6.55450208e-04 9.98794562e-01 1.10123266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.35038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.20, Y:76.15, Z:11.01 [[ 5.58212966e-01 -8.29246472e-01 -2.73600646e-02 2.03201516e+02] [ 8.28244274e-01 5.58883065e-01 -4.07571119e-02 7.61534111e+01] [ 4.90887680e-02 9.03314788e-05 9.98794416e-01 1.10145213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.38038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.21, Y:76.18, Z:11.01 [[ 5.55148291e-01 -8.31286506e-01 -2.78050370e-02 2.03211820e+02] [ 8.30301967e-01 5.55843816e-01 -4.04511445e-02 7.61754872e+01] [ 4.90817485e-02 -6.30193190e-04 9.98794566e-01 1.10130378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.410385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.23, Y:76.20, Z:11.02 [[ 5.59726671e-01 -8.28227449e-01 -2.73010235e-02 2.03233813e+02] [ 8.27222068e-01 5.60392032e-01 -4.07973259e-02 7.61989059e+01] [ 4.90887412e-02 2.51342279e-04 9.98794389e-01 1.10162743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.440385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.25, Y:76.22, Z:11.02 [[ 5.58403644e-01 -8.29103469e-01 -2.77994425e-02 2.03247723e+02] [ 8.28116027e-01 5.59095030e-01 -4.04548371e-02 7.62239204e+01] [ 4.90837759e-02 -4.31035440e-04 9.98794572e-01 1.10179530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.470385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.26, Y:76.25, Z:11.02 [[ 5.61217643e-01 -8.27201653e-01 -2.77881568e-02 2.03262716e+02] [ 8.26211484e-01 5.61905119e-01 -4.04625876e-02 7.62469990e+01] [ 4.90850269e-02 -2.50576185e-04 9.98794572e-01 1.10167398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.500385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.28, Y:76.27, Z:11.02 [[ 5.62032542e-01 -8.26648535e-01 -2.77780552e-02 2.03277627e+02] [ 8.25657347e-01 5.62718547e-01 -4.04695213e-02 7.62714393e+01] [ 4.90852974e-02 -1.89967397e-04 9.98794572e-01 1.10167048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.530385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.29, Y:76.30, Z:11.02 [[ 5.64272197e-01 -8.25121738e-01 -2.77669863e-02 2.03292778e+02] [ 8.24128320e-01 5.64954968e-01 -4.04771145e-02 7.62950613e+01] [ 4.90856439e-02 -4.34494450e-05 9.98794572e-01 1.10170124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.560385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.31, Y:76.32, Z:11.02 [[ 5.65223471e-01 -8.24470763e-01 -2.77558680e-02 2.03309273e+02] [ 8.23476185e-01 5.65904550e-01 -4.04847371e-02 7.63191495e+01] [ 4.90856541e-02 2.66273716e-05 9.98794572e-01 1.10176741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.590385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.32, Y:76.34, Z:11.02 [[ 5.66215492e-01 -8.23790717e-01 -2.77285220e-02 2.03324398e+02] [ 8.22794402e-01 5.66894029e-01 -4.05034764e-02 7.63418447e+01] [ 4.90855215e-02 1.18823165e-04 9.98794572e-01 1.10202661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.620385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.34, Y:76.37, Z:11.02 [[ 5.68666591e-01 -8.22101524e-01 -2.77018578e-02 2.03339016e+02] [ 8.21102303e-01 5.69340844e-01 -4.05217384e-02 7.63651743e+01] [ 4.90847820e-02 2.97299625e-04 9.98794571e-01 1.10238119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.650385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.35, Y:76.39, Z:11.03 [[ 5.69191655e-01 -8.21737127e-01 -2.77300292e-02 2.03354855e+02] [ 8.20738414e-01 5.69866658e-01 -4.05024509e-02 7.63899058e+01] [ 4.90847866e-02 2.94556869e-04 9.98794572e-01 1.10256093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.680385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.37, Y:76.41, Z:11.03 [[ 5.71359319e-01 -8.20228295e-01 -2.78221636e-02 2.03369820e+02] [ 8.19230865e-01 5.72036228e-01 -4.04393890e-02 7.64139955e+01] [ 4.90848166e-02 3.12646660e-04 9.98794565e-01 1.10272513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.710385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.38, Y:76.44, Z:11.03 [[ 5.70765571e-01 -8.20645223e-01 -2.77142865e-02 2.03384748e+02] [ 8.19644697e-01 5.71437882e-01 -4.05131861e-02 7.64370493e+01] [ 4.90839458e-02 4.07663836e-04 9.98794574e-01 1.10290467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.740385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.40, Y:76.46, Z:11.03 [[ 5.70541224e-01 -8.20801553e-01 -2.77041996e-02 2.03400809e+02] [ 8.19800877e-01 5.71213310e-01 -4.05200827e-02 7.64606638e+01] [ 4.90839543e-02 4.06450409e-04 9.98794574e-01 1.10304453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.770385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.42, Y:76.48, Z:11.03 [[ 5.70414724e-01 -8.20889843e-01 -2.76931078e-02 2.03417388e+02] [ 8.19888903e-01 5.71086417e-01 -4.05276619e-02 7.64836416e+01] [ 4.90839037e-02 4.12303359e-04 9.98794574e-01 1.10327716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.800385723 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:203.44, Y:76.51, Z:11.04 [[ 5.70782985e-01 -8.20635221e-01 -2.76517312e-02 2.03436179e+02] [ 8.19632611e-01 5.71452185e-01 -4.05559235e-02 7.65075338e+01] [ 4.90832615e-02 4.84370455e-04 9.98794573e-01 1.10356099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.830385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.45, Y:76.53, Z:11.04 [[ 5.69844741e-01 -8.21282003e-01 -2.78000633e-02 2.03452537e+02] [ 8.20285078e-01 5.70522401e-01 -4.04546792e-02 7.65298455e+01] [ 4.90852588e-02 2.48909067e-04 9.98794561e-01 1.10370446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.860385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.47, Y:76.55, Z:11.04 [[ 5.68973547e-01 -8.21886744e-01 -2.77719838e-02 2.03467141e+02] [ 8.20889604e-01 5.69650882e-01 -4.04738330e-02 7.65521402e+01] [ 4.90852419e-02 2.30807497e-04 9.98794566e-01 1.10368416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.890385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.48, Y:76.58, Z:11.04 [[ 5.67385143e-01 -8.22988194e-01 -2.76501700e-02 2.03484018e+02] [ 8.21988313e-01 5.68058406e-01 -4.05568817e-02 7.65776722e+01] [ 4.90847464e-02 2.83255499e-04 9.98794577e-01 1.10370281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.920385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.50, Y:76.60, Z:11.04 [[ 5.68945923e-01 -8.21900685e-01 -2.79249175e-02 2.03498190e+02] [ 8.20908665e-01 5.69630812e-01 -4.03695702e-02 7.65985332e+01] [ 4.90866708e-02 4.42956426e-05 9.98794522e-01 1.10369572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.950385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:203.51, Y:76.62, Z:11.04 [[ 5.67754726e-01 -8.22733958e-01 -2.76297888e-02 2.03512533e+02] [ 8.21733110e-01 5.68426535e-01 -4.05705656e-02 7.66225277e+01] [ 4.90842871e-02 3.29818078e-04 9.98794585e-01 1.10375876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.980385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.53, Y:76.64, Z:11.04 [[ 5.69194822e-01 -8.21738708e-01 -2.76179272e-02 2.03528497e+02] [ 8.20736294e-01 5.69864291e-01 -4.05786386e-02 7.66446438e+01] [ 4.90835086e-02 4.30115806e-04 9.98794586e-01 1.10383420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.010385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.54, Y:76.67, Z:11.04 [[ 5.68782639e-01 -8.22024284e-01 -2.76113418e-02 2.03544068e+02] [ 8.21021988e-01 5.69452285e-01 -4.05831191e-02 7.66662114e+01] [ 4.90836511e-02 4.13454772e-04 9.98794586e-01 1.10391180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.040385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.56, Y:76.69, Z:11.04 [[ 5.68025915e-01 -8.22547711e-01 -2.76011445e-02 2.03560456e+02] [ 8.21545695e-01 5.68695981e-01 -4.05900532e-02 7.66887166e+01] [ 4.90839153e-02 3.80600683e-04 9.98794586e-01 1.10415013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.07038572300002 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:203.58, Y:76.71, Z:11.04 [[ 5.67037803e-01 -8.23229569e-01 -2.75899659e-02 2.03576736e+02] [ 8.22227989e-01 5.67708520e-01 -4.05976502e-02 7.67101557e+01] [ 4.90842448e-02 3.35160188e-04 9.98794586e-01 1.10417955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.10038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.59, Y:76.73, Z:11.04 [[ 5.63167244e-01 -8.25882478e-01 -2.75823749e-02 2.03588325e+02] [ 8.24883806e-01 5.63842282e-01 -4.06028069e-02 7.67322760e+01] [ 4.90852560e-02 1.13916411e-04 9.98794586e-01 1.10416364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.13038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.61, Y:76.76, Z:11.05 [[ 5.64152192e-01 -8.25221068e-01 -2.72487182e-02 2.03608014e+02] [ 8.24210603e-01 5.64809576e-01 -4.08292117e-02 7.67556411e+01] [ 4.90834627e-02 5.75206772e-04 9.98794515e-01 1.10453834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.160385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:203.62, Y:76.78, Z:11.04 [[ 5.60543253e-01 -8.27666245e-01 -2.75653304e-02 2.03621130e+02] [ 8.26669154e-01 5.61220621e-01 -4.06143283e-02 7.67784491e+01] [ 4.90853405e-02 -2.13206750e-05 9.98794588e-01 1.10435863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.190385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.64, Y:76.80, Z:11.05 [[ 5.60800638e-01 -8.27501933e-01 -2.72616152e-02 2.03639538e+02] [ 8.26494582e-01 5.61462751e-01 -4.08201437e-02 7.68022816e+01] [ 4.90851293e-02 3.60385348e-04 9.98794534e-01 1.10471617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.220385723 meters Centerline goodness : 0.996264 Centerline is valid? [True, True] Translation: X:203.66, Y:76.82, Z:11.05 [[ 5.59573943e-01 -8.28320200e-01 -2.76160880e-02 2.03655695e+02] [ 8.27325606e-01 5.60254965e-01 -4.05797338e-02 7.68246741e+01] [ 4.90850636e-02 -1.40135073e-04 9.98794592e-01 1.10477934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.250385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.67, Y:76.84, Z:11.05 [[ 5.58952949e-01 -8.28736594e-01 -2.76994328e-02 2.03670323e+02] [ 8.27745302e-01 5.59638795e-01 -4.05232450e-02 7.68447392e+01] [ 4.90847732e-02 -2.77488024e-04 9.98794578e-01 1.10506083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.280385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.69, Y:76.87, Z:11.05 [[ 5.57283952e-01 -8.29865850e-01 -2.75184979e-02 2.03686335e+02] [ 8.28869880e-01 5.57962943e-01 -4.06457453e-02 7.68677553e+01] [ 4.90848180e-02 -1.58032494e-04 9.98794601e-01 1.10535911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.310385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.70, Y:76.89, Z:11.05 [[ 5.53436264e-01 -8.32437170e-01 -2.75074490e-02 2.03699856e+02] [ 8.31443983e-01 5.54119319e-01 -4.06532213e-02 7.68910904e+01] [ 4.90836614e-02 -3.71936069e-04 9.98794601e-01 1.10547978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.340385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.72, Y:76.92, Z:11.06 [[ 5.53532529e-01 -8.32378605e-01 -2.73422337e-02 2.03715702e+02] [ 8.31379809e-01 5.54207389e-01 -4.07649653e-02 7.69158016e+01] [ 4.90851529e-02 -1.67046681e-04 9.98794583e-01 1.10557001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.370385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.73, Y:76.94, Z:11.06 [[ 5.56454344e-01 -8.30426979e-01 -2.73787459e-02 2.03731599e+02] [ 8.29427030e-01 5.57127482e-01 -4.07402780e-02 7.69396773e+01] [ 4.90852777e-02 -3.85672024e-05 9.98794591e-01 1.10578133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.400385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.75, Y:76.96, Z:11.06 [[ 5.57037229e-01 -8.30032345e-01 -2.74924061e-02 2.03747481e+02] [ 8.29035704e-01 5.57715238e-01 -4.06634332e-02 7.69630516e+01] [ 4.90848987e-02 -1.41140097e-04 9.98794600e-01 1.10594117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.430385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.76, Y:76.99, Z:11.06 [[ 5.57805986e-01 -8.29516277e-01 -2.74814133e-02 2.03764318e+02] [ 8.28518643e-01 5.58482532e-01 -4.06708611e-02 7.69851042e+01] [ 4.90850306e-02 -8.24134820e-05 9.98794600e-01 1.10617229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.460385723 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:203.78, Y:77.01, Z:11.06 [[ 5.57769230e-01 -8.29537942e-01 -2.75733408e-02 2.03779250e+02] [ 8.28543398e-01 5.58450324e-01 -4.06087765e-02 7.70072145e+01] [ 4.90848620e-02 -1.95383557e-04 9.98794593e-01 1.10614885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.490385723 meters Centerline goodness : 0.999822 Centerline is valid? [True, True] Translation: X:203.79, Y:77.03, Z:11.06 [[ 5.57366318e-01 -8.29812437e-01 -2.74610003e-02 2.03793106e+02] [ 8.28814485e-01 5.58042393e-01 -4.06846038e-02 7.70308992e+01] [ 4.90849926e-02 -8.38469636e-05 9.98794602e-01 1.10607820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.520385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.80, Y:77.05, Z:11.06 [[ 5.55472606e-01 -8.31081605e-01 -2.74508661e-02 2.03801671e+02] [ 8.30084859e-01 5.56150459e-01 -4.06914404e-02 7.70546623e+01] [ 4.90847194e-02 -1.83567860e-04 9.98794602e-01 1.10609815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.550385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.82, Y:77.08, Z:11.06 [[ 5.57124743e-01 -8.29987335e-01 -2.70747930e-02 2.03816174e+02] [ 8.28976852e-01 5.57782116e-01 -4.09449570e-02 7.70795732e+01] [ 4.90856311e-02 3.67071952e-04 9.98794506e-01 1.10616800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.580385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.84, Y:77.10, Z:11.07 [[ 5.60350821e-01 -8.27810489e-01 -2.71431617e-02 2.03836088e+02] [ 8.26799682e-01 5.61007636e-01 -4.08988727e-02 7.71024615e+01] [ 4.90840368e-02 4.75759440e-04 9.98794539e-01 1.10665690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.610385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.85, Y:77.12, Z:11.07 [[ 5.60183746e-01 -8.27913827e-01 -2.74384033e-02 2.03852201e+02] [ 8.26912837e-01 5.60855314e-01 -4.06998349e-02 7.71249909e+01] [ 4.90849303e-02 1.10218029e-04 9.98794602e-01 1.10688076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.640385723 meters Centerline goodness : 0.999313 Centerline is valid? [True, True] Translation: X:203.87, Y:77.15, Z:11.07 [[ 5.59774507e-01 -8.28190920e-01 -2.74281072e-02 2.03867178e+02] [ 8.27189923e-01 5.60446064e-01 -4.07067723e-02 7.71474265e+01] [ 4.90849540e-02 9.83595539e-05 9.98794602e-01 1.10678950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.670385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.88, Y:77.17, Z:11.07 [[ 5.57885654e-01 -8.29464895e-01 -2.74150569e-02 2.03878898e+02] [ 8.28464999e-01 5.58558850e-01 -4.07155598e-02 7.71695840e+01] [ 4.90850501e-02 2.21159072e-06 9.98794602e-01 1.10694243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.700385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.89, Y:77.19, Z:11.07 [[ 5.55667860e-01 -8.30960555e-01 -2.71621953e-02 2.03892898e+02] [ 8.29954079e-01 5.56331309e-01 -4.08864425e-02 7.71948004e+01] [ 4.90862006e-02 1.75907202e-04 9.98794530e-01 1.10705378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.730385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:203.91, Y:77.22, Z:11.07 [[ 5.57092240e-01 -8.30005971e-01 -2.71721395e-02 2.03911277e+02] [ 8.28998686e-01 5.57754451e-01 -4.08797226e-02 7.72186953e+01] [ 4.90857956e-02 2.48108303e-04 9.98794535e-01 1.10743527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.760385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.92, Y:77.24, Z:11.07 [[ 5.53604626e-01 -8.32325978e-01 -2.74842562e-02 2.03922784e+02] [ 8.31331880e-01 5.54286347e-01 -4.06687962e-02 7.72426486e+01] [ 4.90838436e-02 -3.34104649e-04 9.98794606e-01 1.10736411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.790385723 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:203.94, Y:77.27, Z:11.08 [[ 5.52543962e-01 -8.33040689e-01 -2.71731533e-02 2.03939259e+02] [ 8.32037082e-01 5.53211723e-01 -4.08788916e-02 7.72654997e+01] [ 4.90862870e-02 -2.16864025e-05 9.98794541e-01 1.10782601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.82038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.96, Y:77.29, Z:11.08 [[ 5.53039618e-01 -8.32710366e-01 -2.72144641e-02 2.03958116e+02] [ 8.31707732e-01 5.53708808e-01 -4.08510064e-02 7.72898598e+01] [ 4.90859450e-02 -4.22552045e-05 9.98794558e-01 1.10828636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.85038572300002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:203.97, Y:77.31, Z:11.08 [[ 5.50503540e-01 -8.34381031e-01 -2.74617337e-02 2.03970482e+02] [ 8.33388714e-01 5.51187858e-01 -4.06841022e-02 7.73135221e+01] [ 4.90826174e-02 -4.89556663e-04 9.98794602e-01 1.10828135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.88038572300002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:203.98, Y:77.34, Z:11.08 [[ 5.48939635e-01 -8.35416316e-01 -2.72920643e-02 2.03982170e+02] [ 8.34419581e-01 5.49617537e-01 -4.07985874e-02 7.73394082e+01] [ 4.90840028e-02 -3.77071157e-04 9.98794583e-01 1.10821663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.910385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:203.99, Y:77.36, Z:11.08 [[ 5.47260144e-01 -8.36517773e-01 -2.72827981e-02 2.03994768e+02] [ 8.35522091e-01 5.47939595e-01 -4.08048368e-02 7.73639855e+01] [ 4.90832966e-02 -4.64519730e-04 9.98794581e-01 1.10817529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.940385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.01, Y:77.39, Z:11.08 [[ 5.45709090e-01 -8.37535172e-01 -2.71371560e-02 2.04007612e+02] [ 8.36535865e-01 5.46383283e-01 -4.09029911e-02 7.73879982e+01] [ 4.90849820e-02 -3.80070216e-04 9.98794533e-01 1.10803914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.970385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.03, Y:77.41, Z:11.09 [[ 5.47841514e-01 -8.36145791e-01 -2.70165002e-02 2.04028430e+02] [ 8.35140761e-01 5.48507251e-01 -4.09842177e-02 7.74121427e+01] [ 4.90875274e-02 -1.09724641e-04 9.98794475e-01 1.10853204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.000385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:204.04, Y:77.44, Z:11.09 [[ 5.46845608e-01 -8.36784311e-01 -2.74207701e-02 2.04043321e+02] [ 8.35793605e-01 5.47532271e-01 -4.07119363e-02 7.74353227e+01] [ 4.90808661e-02 -6.54960720e-04 9.98794593e-01 1.10866682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.030385723 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:204.05, Y:77.46, Z:11.08 [[ 5.39105945e-01 -8.41791835e-01 -2.74096058e-02 2.04046357e+02] [ 8.40807122e-01 5.39801176e-01 -4.07194513e-02 7.74586806e+01] [ 4.90730391e-02 -1.09409348e-03 9.98794593e-01 1.10801220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.060385723 meters Centerline goodness : 0.999759 Centerline is valid? [True, True] Translation: X:204.06, Y:77.48, Z:11.08 [[ 5.40635017e-01 -8.40837498e-01 -2.65721720e-02 2.04063619e+02] [ 8.39823455e-01 5.41287634e-01 -4.12827161e-02 7.74847546e+01] [ 4.90952438e-02 2.94861384e-06 9.98794101e-01 1.10837752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.090385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.08, Y:77.51, Z:11.09 [[ 5.45430095e-01 -8.37726514e-01 -2.68383984e-02 2.04084702e+02] [ 8.36717519e-01 5.46089999e-01 -4.11036079e-02 7.75106296e+01] [ 4.90897631e-02 -3.70133429e-05 9.98794370e-01 1.10896588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.120385723 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:204.09, Y:77.53, Z:11.09 [[ 5.43192840e-01 -8.39160339e-01 -2.74128260e-02 2.04094566e+02] [ 8.38172386e-01 5.43883431e-01 -4.07168862e-02 7.75339535e+01] [ 4.90773779e-02 -8.59552761e-04 9.98794610e-01 1.10905650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.150385723 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:204.11, Y:77.56, Z:11.09 [[ 5.42324364e-01 -8.39733480e-01 -2.70548896e-02 2.04105804e+02] [ 8.38734170e-01 5.42998576e-01 -4.09577759e-02 7.75573004e+01] [ 4.90843823e-02 -4.79460603e-04 9.98794520e-01 1.10909168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.180385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:204.12, Y:77.58, Z:11.09 [[ 5.44295168e-01 -8.38466221e-01 -2.67799653e-02 2.04117750e+02] [ 8.37456201e-01 5.44953572e-01 -4.11426399e-02 7.75825727e+01] [ 4.90905516e-02 -3.33078581e-05 9.98794332e-01 1.10943298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.210385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:204.13, Y:77.61, Z:11.09 [[ 5.45115622e-01 -8.37933486e-01 -2.67662473e-02 2.04130826e+02] [ 8.36922370e-01 5.45772363e-01 -4.11518591e-02 7.76071702e+01] [ 4.90907988e-02 3.12500776e-05 9.98794319e-01 1.10942324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.240385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.14, Y:77.63, Z:11.10 [[ 5.47644972e-01 -8.36282744e-01 -2.67611096e-02 2.04141290e+02] [ 8.35269479e-01 5.48298402e-01 -4.11553144e-02 7.76338005e+01] [ 4.90905529e-02 1.85762932e-04 9.98794315e-01 1.10956664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.270385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:204.15, Y:77.66, Z:11.10 [[ 5.48652751e-01 -8.35623500e-01 -2.67118868e-02 2.04153495e+02] [ 8.34607836e-01 5.49302534e-01 -4.11884324e-02 7.76585873e+01] [ 4.90909291e-02 3.04196709e-04 9.98794267e-01 1.10958808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.300385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:204.17, Y:77.68, Z:11.10 [[ 5.52169786e-01 -8.33307273e-01 -2.65991850e-02 2.04167402e+02] [ 8.32285224e-01 5.52809706e-01 -4.12642160e-02 7.76835859e+01] [ 4.90900589e-02 6.46744724e-04 9.98794147e-01 1.10993782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.330385723 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:204.18, Y:77.71, Z:11.10 [[ 5.51539612e-01 -8.33718974e-01 -2.67717919e-02 2.04178865e+02] [ 8.32703022e-01 5.52188836e-01 -4.11481002e-02 7.77067067e+01] [ 4.90890365e-02 4.01855196e-04 9.98794326e-01 1.10985349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.360385723 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:204.19, Y:77.73, Z:11.10 [[ 5.52777007e-01 -8.32904661e-01 -2.65970951e-02 2.04194977e+02] [ 8.31882082e-01 5.53416079e-01 -4.12655455e-02 7.77316132e+01] [ 4.90895253e-02 6.84997874e-04 9.98794148e-01 1.11021652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.390385723 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:204.21, Y:77.76, Z:11.10 [[ 5.51741544e-01 -8.33585690e-01 -2.67612838e-02 2.04206824e+02] [ 8.32569242e-01 5.52390003e-01 -4.11551035e-02 7.77569202e+01] [ 4.90889710e-02 4.26358633e-04 9.98794319e-01 1.11028934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.420385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:204.22, Y:77.78, Z:11.10 [[ 5.50926095e-01 -8.34126456e-01 -2.67112784e-02 2.04220877e+02] [ 8.33109011e-01 5.51573080e-01 -4.11887407e-02 7.77812669e+01] [ 4.90898404e-02 4.38545296e-04 9.98794271e-01 1.11049352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.450385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.24, Y:77.81, Z:11.11 [[ 5.51087322e-01 -8.34019528e-01 -2.67243393e-02 2.04237162e+02] [ 8.33002384e-01 5.51734755e-01 -4.11799506e-02 7.78064909e+01] [ 4.90896298e-02 4.32310353e-04 9.98794284e-01 1.11104818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.480385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:204.25, Y:77.83, Z:11.11 [[ 5.48398278e-01 -8.35785293e-01 -2.68751200e-02 2.04250202e+02] [ 8.34775194e-01 5.49056404e-01 -4.10784756e-02 7.78319728e+01] [ 4.90887425e-02 9.26817435e-05 9.98794417e-01 1.11106315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.510385723 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:204.27, Y:77.86, Z:11.11 [[ 5.47120685e-01 -8.36619485e-01 -2.69591112e-02 2.04265078e+02] [ 8.35613172e-01 5.47784475e-01 -4.10218929e-02 7.78557581e+01] [ 4.90874974e-02 -8.34622594e-05 9.98794479e-01 1.11107291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.540385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:204.28, Y:77.88, Z:11.11 [[ 5.44417526e-01 -8.38382375e-01 -2.69174872e-02 2.04276420e+02] [ 8.37376825e-01 5.45082523e-01 -4.10499263e-02 7.78800643e+01] [ 4.90877865e-02 -1.91780657e-04 9.98794450e-01 1.11122386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.57038572300002 meters Centerline goodness : 0.999742 Centerline is valid? [True, True] Translation: X:204.30, Y:77.91, Z:11.11 [[ 5.45978033e-01 -8.37371083e-01 -2.67891180e-02 2.04299539e+02] [ 8.36360051e-01 5.46634856e-01 -4.11363392e-02 7.79050732e+01] [ 4.90902466e-02 5.41894563e-05 9.98794346e-01 1.11137233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.60038572300002 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:204.31, Y:77.93, Z:11.11 [[ 5.40690638e-01 -8.40774351e-01 -2.74248829e-02 2.04307740e+02] [ 8.39788906e-01 5.41384751e-01 -4.07080438e-02 7.79285888e+01] [ 4.90736925e-02 -1.02065423e-03 9.98794639e-01 1.11137221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.63038572300002 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:204.32, Y:77.95, Z:11.12 [[ 5.41154198e-01 -8.40495397e-01 -2.68257684e-02 2.04323558e+02] [ 8.39489405e-01 5.41818617e-01 -4.11111281e-02 7.79541545e+01] [ 4.90884146e-02 -2.72488793e-04 9.98794400e-01 1.11195441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.660385723 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:204.34, Y:77.98, Z:11.12 [[ 5.41057187e-01 -8.40551464e-01 -2.70251127e-02 2.04339574e+02] [ 8.39552214e-01 5.41731453e-01 -4.09769854e-02 7.79777092e+01] [ 4.90836186e-02 -5.18100725e-04 9.98794538e-01 1.11210224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.690385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:204.35, Y:78.00, Z:11.12 [[ 5.37497751e-01 -8.42831662e-01 -2.70362331e-02 2.04349507e+02] [ 8.41835647e-01 5.38176777e-01 -4.09695011e-02 7.80028984e+01] [ 4.90806655e-02 -7.39050084e-04 9.98794544e-01 1.11184405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.720385723 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:204.36, Y:78.03, Z:11.12 [[ 5.35547153e-01 -8.44077720e-01 -2.68709797e-02 2.04363938e+02] [ 8.43077695e-01 5.36220454e-01 -4.10807202e-02 7.80275598e+01] [ 4.90840896e-02 -6.53660846e-04 9.98794436e-01 1.11168335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.750385723 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:204.38, Y:78.05, Z:11.12 [[ 5.35629236e-01 -8.44026852e-01 -2.68327111e-02 2.04378392e+02] [ 8.43025474e-01 5.36300577e-01 -4.11064697e-02 7.80509366e+01] [ 4.90853627e-02 -6.02832100e-04 9.98794405e-01 1.11177299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.780385723 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:204.39, Y:78.08, Z:11.12 [[ 5.35070589e-01 -8.44384320e-01 -2.67317184e-02 2.04393243e+02] [ 8.43379995e-01 5.35737675e-01 -4.11743528e-02 7.80759306e+01] [ 4.90881666e-02 -5.13811298e-04 9.98794317e-01 1.11193850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.810385723 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:204.40, Y:78.10, Z:11.11 [[ 5.29147107e-01 -8.48104968e-01 -2.68570813e-02 2.04396944e+02] [ 8.47109596e-01 5.29827280e-01 -4.10899680e-02 7.80979359e+01] [ 4.90782204e-02 -1.00825362e-03 9.98794429e-01 1.11148531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.840385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.43, Y:78.13, Z:11.13 [[ 5.39190170e-01 -8.41784676e-01 -2.59329788e-02 2.04427196e+02] [ 8.40750913e-01 5.39813011e-01 -4.17110868e-02 7.81259999e+01] [ 4.91107131e-02 6.87032384e-04 9.98793105e-01 1.11283025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.870385723 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:204.44, Y:78.15, Z:11.13 [[ 5.38516802e-01 -8.42168288e-01 -2.74268048e-02 2.04441050e+02] [ 8.41184808e-01 5.39213548e-01 -4.07046422e-02 7.81493291e+01] [ 4.90690636e-02 -1.15087782e-03 9.98794725e-01 1.11273252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.900385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.45, Y:78.17, Z:11.13 [[ 5.38841883e-01 -8.41960573e-01 -2.74193088e-02 2.04453778e+02] [ 8.40976568e-01 5.39537888e-01 -4.07096910e-02 7.81737271e+01] [ 4.90697108e-02 -1.12290966e-03 9.98794725e-01 1.11292242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.930385723 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:204.47, Y:78.20, Z:11.13 [[ 5.38204956e-01 -8.42372866e-01 -2.72650085e-02 2.04469726e+02] [ 8.41384126e-01 5.38894244e-01 -4.08135637e-02 7.81975633e+01] [ 4.90731947e-02 -9.74283131e-04 9.98794710e-01 1.11305247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.960385723 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:204.48, Y:78.22, Z:11.13 [[ 5.37786879e-01 -8.42635182e-01 -2.74084540e-02 2.04484373e+02] [ 8.41651678e-01 5.38483592e-01 -4.07170049e-02 7.82213054e+01] [ 4.90685836e-02 -1.17130030e-03 9.98794725e-01 1.11342578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.990385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.50, Y:78.25, Z:11.14 [[ 5.37669712e-01 -8.42710315e-01 -2.73971785e-02 2.04498613e+02] [ 8.41726523e-01 5.38366017e-01 -4.07245904e-02 7.82456009e+01] [ 4.90687423e-02 -1.16455295e-03 9.98794725e-01 1.11379836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.020385723 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:204.51, Y:78.27, Z:11.14 [[ 5.36727126e-01 -8.43311333e-01 -2.73859251e-02 2.04513687e+02] [ 8.42327935e-01 5.37423987e-01 -4.07321565e-02 7.82701071e+01] [ 4.90677423e-02 -1.20587645e-03 9.98794725e-01 1.11386818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.050385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.52, Y:78.29, Z:11.14 [[ 5.34483292e-01 -8.44735565e-01 -2.73758321e-02 2.04524323e+02] [ 8.43753676e-01 5.35182280e-01 -4.07389389e-02 7.82929432e+01] [ 4.90646908e-02 -1.32417681e-03 9.98794725e-01 1.11411755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.080385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.54, Y:78.32, Z:11.14 [[ 5.33472017e-01 -8.45388399e-01 -2.69455393e-02 2.04538893e+02] [ 8.44392691e-01 5.34151389e-01 -4.10277546e-02 7.83173095e+01] [ 4.90773850e-02 -8.65457484e-04 9.98794604e-01 1.11442833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.110385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.56, Y:78.34, Z:11.14 [[ 5.35967428e-01 -8.43807669e-01 -2.69728497e-02 2.04560449e+02] [ 8.42810878e-01 5.36645182e-01 -4.10094287e-02 7.83426386e+01] [ 4.90789202e-02 -7.53293084e-04 9.98794620e-01 1.11449078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.140385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.58, Y:78.37, Z:11.15 [[ 5.34611890e-01 -8.44650237e-01 -2.74973422e-02 2.04575517e+02] [ 8.43672412e-01 5.35316576e-01 -4.06574101e-02 7.83668990e+01] [ 4.90610742e-02 -1.46281418e-03 9.98794709e-01 1.11480850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.170385723 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:204.59, Y:78.39, Z:11.15 [[ 5.30938804e-01 -8.46964414e-01 -2.74821381e-02 2.04587907e+02] [ 8.45989132e-01 5.31647002e-01 -4.06676085e-02 7.83902003e+01] [ 4.90548135e-02 -1.65757875e-03 9.98794713e-01 1.11470628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.200385723 meters Centerline goodness : 0.999789 Centerline is valid? [True, True] Translation: X:204.60, Y:78.41, Z:11.15 [[ 5.30445197e-01 -8.47278665e-01 -2.73268484e-02 2.04603976e+02] [ 8.46298443e-01 5.31146510e-01 -4.07716910e-02 7.84146491e+01] [ 4.90595441e-02 -1.49952154e-03 9.98794730e-01 1.11489892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.230385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.62, Y:78.44, Z:11.15 [[ 5.31410300e-01 -8.46674011e-01 -2.73168934e-02 2.04619506e+02] [ 8.45692648e-01 5.32110017e-01 -4.07783597e-02 7.84375407e+01] [ 4.90615700e-02 -1.43165558e-03 9.98794730e-01 1.11540026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.260385723 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:204.63, Y:78.46, Z:11.15 [[ 5.30699395e-01 -8.47119904e-01 -2.73133686e-02 2.04634375e+02] [ 8.46139009e-01 5.31399766e-01 -4.07807205e-02 7.84620924e+01] [ 4.90604777e-02 -1.46860288e-03 9.98794730e-01 1.11544968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.290385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.65, Y:78.49, Z:11.16 [[ 5.32118395e-01 -8.46229599e-01 -2.73034741e-02 2.04646392e+02] [ 8.45247192e-01 5.32816645e-01 -4.07873440e-02 7.84876839e+01] [ 4.90632032e-02 -1.37448878e-03 9.98794730e-01 1.11568059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.32038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.66, Y:78.51, Z:11.16 [[ 5.32371583e-01 -8.46070525e-01 -2.72976808e-02 2.04660740e+02] [ 8.45087712e-01 5.33069260e-01 -4.07912209e-02 7.85123839e+01] [ 4.90638042e-02 -1.35284772e-03 9.98794730e-01 1.11585015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.35038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.68, Y:78.54, Z:11.16 [[ 5.33970137e-01 -8.45062923e-01 -2.72864212e-02 2.04677355e+02] [ 8.44078408e-01 5.34665412e-01 -4.07987514e-02 7.85352635e+01] [ 4.90666177e-02 -1.24656403e-03 9.98794730e-01 1.11604294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.38038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.69, Y:78.56, Z:11.16 [[ 5.35208754e-01 -8.44279370e-01 -2.72751797e-02 2.04693979e+02] [ 8.43293455e-01 5.35902041e-01 -4.08062653e-02 7.85575489e+01] [ 4.90687124e-02 -1.16111006e-03 9.98794730e-01 1.11624292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.410385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.71, Y:78.58, Z:11.16 [[ 5.38412186e-01 -8.42240461e-01 -2.72639455e-02 2.04708491e+02] [ 8.41251541e-01 5.39101179e-01 -4.08137699e-02 7.85815551e+01] [ 4.90730335e-02 -9.61205069e-04 9.98794730e-01 1.11640473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.440385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.72, Y:78.61, Z:11.16 [[ 5.40624461e-01 -8.40822503e-01 -2.72526971e-02 2.04721590e+02] [ 8.39831397e-01 5.41310306e-01 -4.08212794e-02 7.86060419e+01] [ 4.90756161e-02 -8.18688554e-04 9.98794730e-01 1.11646649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.470385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.73, Y:78.63, Z:11.16 [[ 5.43035382e-01 -8.39267827e-01 -2.72413176e-02 2.04734791e+02] [ 8.38274376e-01 5.43717826e-01 -4.08288719e-02 7.86303511e+01] [ 4.90779485e-02 -6.64176502e-04 9.98794731e-01 1.11643739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.500385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.75, Y:78.65, Z:11.16 [[ 5.43601185e-01 -8.38901713e-01 -2.72335739e-02 2.04746667e+02] [ 8.37907544e-01 5.44282582e-01 -4.08340364e-02 7.86544147e+01] [ 4.90785030e-02 -6.21786415e-04 9.98794731e-01 1.11627322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.530385723 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:204.77, Y:78.68, Z:11.17 [[ 5.47523989e-01 -8.36353092e-01 -2.70367640e-02 2.04766374e+02] [ 8.35349251e-01 5.48191099e-01 -4.09652129e-02 7.86763843e+01] [ 4.90826959e-02 -1.55703788e-04 9.98794706e-01 1.11656463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.560385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.78, Y:78.70, Z:11.17 [[ 5.49046823e-01 -8.35348249e-01 -2.72192702e-02 2.04783940e+02] [ 8.34349196e-01 5.49721040e-01 -4.08435873e-02 7.86974790e+01] [ 4.90816247e-02 -2.85334380e-04 9.98794730e-01 1.11705010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.590385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.80, Y:78.72, Z:11.17 [[ 5.49682685e-01 -8.34930135e-01 -2.72142385e-02 2.04800134e+02] [ 8.33930403e-01 5.50355895e-01 -4.08469397e-02 7.87197286e+01] [ 4.90818574e-02 -2.41925432e-04 9.98794730e-01 1.11732171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.620385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.81, Y:78.74, Z:11.17 [[ 5.49587032e-01 -8.34993474e-01 -2.72028165e-02 2.04813376e+02] [ 8.33993442e-01 5.50259797e-01 -4.08545450e-02 7.87436789e+01] [ 4.90818947e-02 -2.33842474e-04 9.98794730e-01 1.11726387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.650385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.82, Y:78.77, Z:11.17 [[ 5.50945180e-01 -8.34098169e-01 -2.71965663e-02 2.04824680e+02] [ 8.33096839e-01 5.51616010e-01 -4.08587053e-02 7.87650342e+01] [ 4.90822327e-02 -1.46466737e-04 9.98794730e-01 1.11707897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.680385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.84, Y:78.79, Z:11.17 [[ 5.49395338e-01 -8.35130751e-01 -2.68587227e-02 2.04841649e+02] [ 8.34119628e-01 5.50051453e-01 -4.10833902e-02 7.87912435e+01] [ 4.90836819e-02 1.67635298e-04 9.98794656e-01 1.11715711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.710385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.86, Y:78.81, Z:11.17 [[ 5.49242241e-01 -8.35220982e-01 -2.71821986e-02 2.04859111e+02] [ 8.34220551e-01 5.49914410e-01 -4.08682451e-02 7.88127426e+01] [ 4.90818985e-02 -2.29382158e-04 9.98794731e-01 1.11747201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.740385723 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:204.88, Y:78.83, Z:11.18 [[ 5.49357598e-01 -8.35145493e-01 -2.71704889e-02 2.04878372e+02] [ 8.34144585e-01 5.50029056e-01 -4.08760285e-02 7.88337659e+01] [ 4.90819893e-02 -2.08559321e-04 9.98794731e-01 1.11766046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.770385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.90, Y:78.86, Z:11.18 [[ 5.49427830e-01 -8.35099460e-01 -2.71652702e-02 2.04895178e+02] [ 8.34098324e-01 5.50098949e-01 -4.08794964e-02 7.88576517e+01] [ 4.90820320e-02 -1.98173312e-04 9.98794731e-01 1.11805451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.800385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.91, Y:78.88, Z:11.18 [[ 5.49870312e-01 -8.34808503e-01 -2.71551544e-02 2.04910564e+02] [ 8.33806680e-01 5.50540405e-01 -4.08862150e-02 7.88811360e+01] [ 4.90821697e-02 -1.60033280e-04 9.98794731e-01 1.11816926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.830385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.92, Y:78.91, Z:11.18 [[ 5.50988688e-01 -8.34070945e-01 -2.71500459e-02 2.04923812e+02] [ 8.33068058e-01 5.51657187e-01 -4.08896070e-02 7.89052474e+01] [ 4.90823511e-02 -8.81251252e-05 9.98794731e-01 1.11822599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.860385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.94, Y:78.93, Z:11.18 [[ 5.51532314e-01 -8.33711893e-01 -2.71401110e-02 2.04938576e+02] [ 8.32708246e-01 5.52199672e-01 -4.08962001e-02 7.89277188e+01] [ 4.90824088e-02 -4.42184044e-05 9.98794731e-01 1.11825053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.890385723 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:204.96, Y:78.95, Z:11.18 [[ 5.51693261e-01 -8.33605703e-01 -2.71307440e-02 2.04955801e+02] [ 8.32601622e-01 5.52359965e-01 -4.09024133e-02 7.89513701e+01] [ 4.90824218e-02 -2.35157088e-05 9.98794731e-01 1.11830772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.920385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.97, Y:78.97, Z:11.19 [[ 5.52812206e-01 -8.32864416e-01 -2.71206510e-02 2.04974596e+02] [ 8.31859113e-01 5.53477066e-01 -4.09091044e-02 7.89709152e+01] [ 4.90823957e-02 5.44915615e-05 9.98794731e-01 1.11861905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.950385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.99, Y:78.99, Z:11.19 [[ 5.52976232e-01 -8.32755723e-01 -2.71144344e-02 2.04991171e+02] [ 8.31750087e-01 5.53640588e-01 -4.09132244e-02 7.89926326e+01] [ 4.90823732e-02 7.16075355e-05 9.98794731e-01 1.11874944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.980385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.01, Y:79.02, Z:11.19 [[ 5.52579056e-01 -8.33019528e-01 -2.71081687e-02 2.05008033e+02] [ 8.32014006e-01 5.53243583e-01 -4.09173755e-02 7.90163864e+01] [ 4.90823932e-02 5.57086890e-05 9.98794731e-01 1.11894633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.010385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.02, Y:79.04, Z:11.19 [[ 5.52093373e-01 -8.33341822e-01 -2.70982421e-02 2.05022886e+02] [ 8.32336365e-01 5.52757999e-01 -4.09239485e-02 7.90387431e+01] [ 4.90824079e-02 3.89884594e-05 9.98794732e-01 1.11904676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.040385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.04, Y:79.06, Z:11.19 [[ 5.51765214e-01 -8.33559349e-01 -2.70916892e-02 2.05038626e+02] [ 8.32553941e-01 5.52429914e-01 -4.09282860e-02 7.90609499e+01] [ 4.90824150e-02 2.75118611e-05 9.98794732e-01 1.11915814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.07038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.06, Y:79.08, Z:11.19 [[ 5.50891298e-01 -8.34137378e-01 -2.70852927e-02 2.05055486e+02] [ 8.33132459e-01 5.51556738e-01 -4.09325187e-02 7.90834059e+01] [ 4.90824194e-02 -1.62681546e-05 9.98794732e-01 1.11934410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.10038572300002 meters Centerline goodness : 0.999252 Centerline is valid? [True, True] Translation: X:205.08, Y:79.11, Z:11.19 [[ 5.50277205e-01 -8.34542980e-01 -2.70741985e-02 2.05081680e+02] [ 8.33538191e-01 5.50942840e-01 -4.09398554e-02 7.91059520e+01] [ 4.90824048e-02 -3.91092683e-05 9.98794732e-01 1.11913880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.13038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.10, Y:79.13, Z:11.20 [[ 5.47643597e-01 -8.36253534e-01 -2.76860406e-02 2.05095825e+02] [ 8.35271058e-01 5.48342199e-01 -4.05350694e-02 7.91273060e+01] [ 4.90790194e-02 -9.26577241e-04 9.98794469e-01 1.11969138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.160385723 meters Centerline goodness : 0.999272 Centerline is valid? [True, True] Translation: X:205.12, Y:79.15, Z:11.19 [[ 5.47934791e-01 -8.36076174e-01 -2.72781237e-02 2.05117732e+02] [ 8.35079961e-01 5.48613210e-01 -4.08044635e-02 7.91502702e+01] [ 4.90807787e-02 -4.21229264e-04 9.98794724e-01 1.11938168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.190385723 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:205.13, Y:79.17, Z:11.20 [[ 5.47115992e-01 -8.36601300e-01 -2.76107995e-02 2.05133891e+02] [ 8.35616756e-01 5.47811567e-01 -4.05847758e-02 7.91735109e+01] [ 4.90787915e-02 -8.67466819e-04 9.98794533e-01 1.11950160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.220385723 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:205.15, Y:79.20, Z:11.20 [[ 5.45591074e-01 -8.37600315e-01 -2.74971351e-02 2.05150550e+02] [ 8.36613265e-01 5.46282929e-01 -4.06596458e-02 7.91980090e+01] [ 4.90777477e-02 -8.20928182e-04 9.98794624e-01 1.11963135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.250385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.17, Y:79.22, Z:11.20 [[ 5.41989480e-01 -8.39935086e-01 -2.75037332e-02 2.05165620e+02] [ 8.38951235e-01 5.42685886e-01 -4.06553037e-02 7.92189099e+01] [ 4.90737039e-02 -1.03954404e-03 9.98794619e-01 1.11977908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.280385723 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:205.18, Y:79.24, Z:11.20 [[ 5.40785593e-01 -8.40720620e-01 -2.71989326e-02 2.05180237e+02] [ 8.39727659e-01 5.41468636e-01 -4.08555343e-02 7.92395109e+01] [ 4.90754590e-02 -7.45611604e-04 9.98794795e-01 1.12008371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.310385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.20, Y:79.26, Z:11.20 [[ 5.37538653e-01 -8.42809034e-01 -2.69282188e-02 2.05199357e+02] [ 8.41809788e-01 5.38212373e-01 -4.10331945e-02 7.92613410e+01] [ 4.90762476e-02 -6.11509990e-04 9.98794848e-01 1.11997482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.340385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.22, Y:79.28, Z:11.20 [[ 5.35800487e-01 -8.43913322e-01 -2.69841241e-02 2.05215374e+02] [ 8.42917308e-01 5.36478981e-01 -4.09965241e-02 7.92830519e+01] [ 4.90739282e-02 -7.79427638e-04 9.98794845e-01 1.12001676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.370385723 meters Centerline goodness : 0.994578 Centerline is valid? [True, True] Translation: X:205.23, Y:79.31, Z:11.20 [[ 5.35343026e-01 -8.44205903e-01 -2.69116675e-02 2.05234628e+02] [ 8.43207870e-01 5.36018540e-01 -4.10440338e-02 7.93066340e+01] [ 4.90747684e-02 -7.19492549e-04 9.98794849e-01 1.12014686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.400385723 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:205.25, Y:79.33, Z:11.21 [[ 5.33400486e-01 -8.45424190e-01 -2.72371292e-02 2.05249391e+02] [ 8.44438520e-01 5.34094045e-01 -4.08306005e-02 7.93263731e+01] [ 4.90663658e-02 -1.22101891e-03 9.98794774e-01 1.12082444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.430385723 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:205.26, Y:79.35, Z:11.21 [[ 5.32526260e-01 -8.45986276e-01 -2.68887246e-02 2.05264736e+02] [ 8.44989757e-01 5.33203984e-01 -4.10587701e-02 7.93495735e+01] [ 4.90723311e-02 -8.55823618e-04 9.98794861e-01 1.12084878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.460385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:205.28, Y:79.37, Z:11.21 [[ 5.31047134e-01 -8.46915904e-01 -2.68773613e-02 2.05280578e+02] [ 8.45920195e-01 5.31726048e-01 -4.10662072e-02 7.93745454e+01] [ 4.90710171e-02 -9.28011007e-04 9.98794861e-01 1.12061536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.490385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.30, Y:79.40, Z:11.21 [[ 5.32662261e-01 -8.45899385e-01 -2.69285404e-02 2.05297137e+02] [ 8.44904070e-01 5.33341756e-01 -4.10327242e-02 7.93956969e+01] [ 4.90716712e-02 -8.95449714e-04 9.98794858e-01 1.12118468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.520385723 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:205.31, Y:79.42, Z:11.21 [[ 5.32374327e-01 -8.46082748e-01 -2.68618547e-02 2.05312366e+02] [ 8.45085466e-01 5.33050926e-01 -4.10763335e-02 7.94180396e+01] [ 4.90727136e-02 -8.32577590e-04 9.98794862e-01 1.12115596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.550385723 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:205.33, Y:79.44, Z:11.21 [[ 5.32280130e-01 -8.46142333e-01 -2.68517110e-02 2.05328118e+02] [ 8.45144793e-01 5.32956349e-01 -4.10829633e-02 7.94413148e+01] [ 4.90728243e-02 -8.25938690e-04 9.98794862e-01 1.12137720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.580385723 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:205.34, Y:79.47, Z:11.22 [[ 5.32052481e-01 -8.46285849e-01 -2.68406334e-02 2.05343666e+02] [ 8.45288126e-01 5.32728430e-01 -4.10901994e-02 7.94652494e+01] [ 4.90728227e-02 -8.25926213e-04 9.98794862e-01 1.12151700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.610385723 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:205.36, Y:79.49, Z:11.22 [[ 5.31583821e-01 -8.46580661e-01 -2.68295643e-02 2.05359386e+02] [ 8.45582949e-01 5.32259785e-01 -4.10974256e-02 7.94879984e+01] [ 4.90725839e-02 -8.39895569e-04 9.98794862e-01 1.12166984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.640385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:205.37, Y:79.51, Z:11.22 [[ 5.31158428e-01 -8.46847978e-01 -2.68183874e-02 2.05374728e+02] [ 8.45850238e-01 5.31834351e-01 -4.11047178e-02 7.95110612e+01] [ 4.90723869e-02 -8.51222105e-04 9.98794862e-01 1.12201839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.670385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.39, Y:79.53, Z:11.22 [[ 5.30214886e-01 -8.47439406e-01 -2.68072428e-02 2.05389284e+02] [ 8.46442052e-01 5.30891379e-01 -4.11119847e-02 7.95336798e+01] [ 4.90716500e-02 -8.92591342e-04 9.98794862e-01 1.12217232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.700385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.41, Y:79.56, Z:11.22 [[ 5.28873505e-01 -8.48277427e-01 -2.67996718e-02 2.05405172e+02] [ 8.47280896e-01 5.29551208e-01 -4.11169195e-02 7.95570676e+01] [ 4.90703533e-02 -9.61200667e-04 9.98794862e-01 1.12233695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.730385723 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:205.42, Y:79.58, Z:11.22 [[ 5.28654886e-01 -8.48414038e-01 -2.67886611e-02 2.05421324e+02] [ 8.47417318e-01 5.29332313e-01 -4.11240920e-02 7.95803161e+01] [ 4.90703609e-02 -9.60723163e-04 9.98794862e-01 1.12248294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.760385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:205.44, Y:79.60, Z:11.23 [[ 5.29770233e-01 -8.47718381e-01 -2.67777094e-02 2.05436951e+02] [ 8.46720412e-01 5.30445818e-01 -4.11312218e-02 7.96024816e+01] [ 4.90718168e-02 -8.83136167e-04 9.98794862e-01 1.12262876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.790385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:205.45, Y:79.63, Z:11.23 [[ 5.30720684e-01 -8.47123979e-01 -2.67678936e-02 2.05452134e+02] [ 8.46124931e-01 5.31394673e-01 -4.11376089e-02 7.96265401e+01] [ 4.90729710e-02 -8.16402162e-04 9.98794862e-01 1.12273977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.82038572300002 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:205.47, Y:79.65, Z:11.23 [[ 5.31811711e-01 -8.46439830e-01 -2.67566475e-02 2.05466307e+02] [ 8.45439547e-01 5.32483866e-01 -4.11449223e-02 7.96499883e+01] [ 4.90741841e-02 -7.39776401e-04 9.98794862e-01 1.12275994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.85038572300002 meters Centerline goodness : 0.999504 Centerline is valid? [True, True] Translation: X:205.48, Y:79.67, Z:11.23 [[ 5.34248774e-01 -8.44904060e-01 -2.67465431e-02 2.05484859e+02] [ 8.43901516e-01 5.34917551e-01 -4.11514897e-02 7.96744154e+01] [ 4.90762560e-02 -5.86315362e-04 9.98794862e-01 1.12290649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.88038572300002 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:205.50, Y:79.70, Z:11.23 [[ 5.35969604e-01 -8.43799072e-01 -2.71976208e-02 2.05495016e+02] [ 8.42809909e-01 5.36658251e-01 -4.08580276e-02 7.96952557e+01] [ 4.90717934e-02 -1.02376347e-03 9.98794729e-01 1.12305924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.910385723 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:205.51, Y:79.72, Z:11.23 [[ 5.36303897e-01 -8.43601326e-01 -2.67382394e-02 2.05509930e+02] [ 8.42596908e-01 5.36969826e-01 -4.11564839e-02 7.97188559e+01] [ 4.90772922e-02 -4.57175134e-04 9.98794879e-01 1.12288181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.940385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:205.52, Y:79.74, Z:11.23 [[ 5.37140950e-01 -8.43068933e-01 -2.67277711e-02 2.05524993e+02] [ 8.42063518e-01 5.37805371e-01 -4.11632811e-02 7.97421646e+01] [ 4.90778224e-02 -3.95997028e-04 9.98794879e-01 1.12319758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.970385723 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:205.54, Y:79.77, Z:11.23 [[ 5.34554679e-01 -8.44711504e-01 -2.67164590e-02 2.05537404e+02] [ 8.43707763e-01 5.35221627e-01 -4.11706218e-02 7.97657945e+01] [ 4.90765245e-02 -5.32935296e-04 9.98794879e-01 1.12287417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.000385723 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:205.55, Y:79.79, Z:11.23 [[ 5.33572836e-01 -8.45336522e-01 -2.65743051e-02 2.05552799e+02] [ 8.44328962e-01 5.34234020e-01 -4.12627704e-02 7.97902385e+01] [ 4.90778247e-02 -4.20761975e-04 9.98794869e-01 1.12302210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.030385723 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:205.57, Y:79.81, Z:11.23 [[ 5.31974313e-01 -8.46339602e-01 -2.66947333e-02 2.05567928e+02] [ 8.45337195e-01 5.32643264e-01 -4.11847130e-02 7.98138665e+01] [ 4.90750235e-02 -6.56841553e-04 9.98794879e-01 1.12337171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.060385723 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:205.58, Y:79.84, Z:11.23 [[ 5.30051575e-01 -8.47548854e-01 -2.65757195e-02 2.05584367e+02] [ 8.46544100e-01 5.30717013e-01 -4.12618247e-02 7.98384327e+01] [ 4.90755987e-02 -6.26623426e-04 9.98794870e-01 1.12342404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.090385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.60, Y:79.86, Z:11.24 [[ 5.29641706e-01 -8.47801704e-01 -2.66820848e-02 2.05601831e+02] [ 8.46800730e-01 5.30312800e-01 -4.11929287e-02 7.98608279e+01] [ 4.90732863e-02 -7.76915821e-04 9.98794878e-01 1.12387724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.120385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.62, Y:79.88, Z:11.24 [[ 5.27770036e-01 -8.48968488e-01 -2.66701321e-02 2.05617406e+02] [ 8.47968606e-01 5.28442758e-01 -4.12006660e-02 7.98824082e+01] [ 4.90717052e-02 -8.70957795e-04 9.98794878e-01 1.12407976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.150385723 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:205.63, Y:79.91, Z:11.24 [[ 5.24561995e-01 -8.50954616e-01 -2.66637380e-02 2.05630145e+02] [ 8.49957071e-01 5.25238177e-01 -4.12048036e-02 7.99061810e+01] [ 4.90682310e-02 -1.04855860e-03 9.98794878e-01 1.12367707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.180385723 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:205.65, Y:79.93, Z:11.24 [[ 5.26058498e-01 -8.50037590e-01 -2.64301317e-02 2.05647999e+02] [ 8.49031256e-01 5.26721584e-01 -4.13557725e-02 7.99295856e+01] [ 4.90752820e-02 -6.84452343e-04 9.98794848e-01 1.12389627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.210385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.66, Y:79.95, Z:11.24 [[ 5.21901143e-01 -8.52589876e-01 -2.66402133e-02 2.05656710e+02] [ 8.51593674e-01 5.22579301e-01 -4.12200000e-02 7.99529471e+01] [ 4.90653787e-02 -1.17387200e-03 9.98794879e-01 1.12408212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.240385723 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:205.68, Y:79.98, Z:11.24 [[ 5.25093271e-01 -8.50641888e-01 -2.61808108e-02 2.05677776e+02] [ 8.49628267e-01 5.25745358e-01 -4.15165826e-02 7.99773402e+01] [ 4.90801839e-02 -4.43878767e-04 9.98794743e-01 1.12416734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.270385723 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:205.69, Y:80.00, Z:11.24 [[ 5.26250365e-01 -8.49912658e-01 -2.66275755e-02 2.05694505e+02] [ 8.48912598e-01 5.26922812e-01 -4.12280430e-02 7.99983184e+01] [ 4.90709126e-02 -9.08211635e-04 9.98794884e-01 1.12441860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.300385723 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:205.71, Y:80.02, Z:11.25 [[ 5.26947121e-01 -8.49481081e-01 -2.66200095e-02 2.05709197e+02] [ 8.48480224e-01 5.27618381e-01 -4.12329276e-02 8.00211102e+01] [ 4.90717983e-02 -8.58979100e-04 9.98794884e-01 1.12458948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.330385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:205.72, Y:80.04, Z:11.25 [[ 5.24837946e-01 -8.50786051e-01 -2.66125034e-02 2.05718042e+02] [ 8.49786618e-01 5.25511323e-01 -4.12377716e-02 8.00434226e+01] [ 4.90696928e-02 -9.71801894e-04 9.98794884e-01 1.12458259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.360385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:205.74, Y:80.07, Z:11.25 [[ 5.30539313e-01 -8.47257679e-01 -2.61239843e-02 2.05737226e+02] [ 8.46238121e-01 5.31182098e-01 -4.15526260e-02 8.00693251e+01] [ 4.90823742e-02 -6.18097283e-05 9.98794732e-01 1.12494294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.390385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:205.75, Y:80.09, Z:11.25 [[ 5.31772017e-01 -8.46469678e-01 -2.66008684e-02 2.05751494e+02] [ 8.45464411e-01 5.32436639e-01 -4.12450706e-02 8.00926090e+01] [ 4.90759786e-02 -5.57113078e-04 9.98794893e-01 1.12499775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.420385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:205.76, Y:80.12, Z:11.25 [[ 5.28890090e-01 -8.48274674e-01 -2.65584153e-02 2.05758777e+02] [ 8.47270301e-01 5.29556062e-01 -4.12724442e-02 8.01153334e+01] [ 4.90745390e-02 -6.73569735e-04 9.98794892e-01 1.12474157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.450385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:205.78, Y:80.14, Z:11.25 [[ 5.34891227e-01 -8.44522332e-01 -2.59500558e-02 2.05782727e+02] [ 8.43494046e-01 5.35520189e-01 -4.16643972e-02 8.01395587e+01] [ 4.90832927e-02 3.97202983e-04 9.98794610e-01 1.12517810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.480385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.79, Y:80.16, Z:11.25 [[ 5.33876376e-01 -8.45144155e-01 -2.65964640e-02 2.05793922e+02] [ 8.44137111e-01 5.34538279e-01 -4.12476105e-02 8.01597811e+01] [ 4.90770050e-02 -4.29937484e-04 9.98794905e-01 1.12514882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.510385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.81, Y:80.18, Z:11.25 [[ 5.34499047e-01 -8.44770024e-01 -2.59687440e-02 2.05810241e+02] [ 8.43742642e-01 5.35129407e-01 -4.16517903e-02 8.01848907e+01] [ 4.90828225e-02 3.51905572e-04 9.98794650e-01 1.12511293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.540385723 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:205.83, Y:80.21, Z:11.25 [[ 5.40716801e-01 -8.40798222e-01 -2.61474739e-02 2.05831796e+02] [ 8.39771746e-01 5.41348407e-01 -4.15369455e-02 8.02107251e+01] [ 4.90790833e-02 5.01814458e-04 9.98794770e-01 1.12549263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.57038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.84, Y:80.23, Z:11.25 [[ 5.38677953e-01 -8.42089678e-01 -2.66652701e-02 2.05840087e+02] [ 8.41081029e-01 5.39337483e-01 -4.12041574e-02 8.02326479e+01] [ 4.90791753e-02 -2.31881603e-04 9.98794864e-01 1.12534217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.60038572300002 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:205.86, Y:80.26, Z:11.26 [[ 5.43022053e-01 -8.39316778e-01 -2.59691607e-02 2.05863091e+02] [ 8.38283066e-01 5.43642003e-01 -4.16518194e-02 8.02567099e+01] [ 4.90769973e-02 8.48348835e-04 9.98794638e-01 1.12553041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.63038572300002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:205.88, Y:80.28, Z:11.26 [[ 5.40214304e-01 -8.41108150e-01 -2.65628720e-02 2.05875445e+02] [ 8.40095073e-01 5.40866971e-01 -4.12696970e-02 8.02769074e+01] [ 4.90792585e-02 -2.08572395e-05 9.98794887e-01 1.12557870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.660385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.90, Y:80.30, Z:11.26 [[ 5.43334639e-01 -8.39113427e-01 -2.60024338e-02 2.05899209e+02] [ 8.38080539e-01 5.43955855e-01 -4.16297631e-02 8.03012371e+01] [ 4.90762693e-02 8.26758559e-04 9.98794692e-01 1.12610601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.690385723 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:205.92, Y:80.32, Z:11.26 [[ 5.43717365e-01 -8.38843502e-01 -2.67021716e-02 2.05915356e+02] [ 8.37832119e-01 5.44372647e-01 -4.11796271e-02 8.03224319e+01] [ 4.90791945e-02 1.81413549e-05 9.98794890e-01 1.12627025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.720385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:205.93, Y:80.35, Z:11.26 [[ 5.39897794e-01 -8.41312168e-01 -2.65369170e-02 2.05925969e+02] [ 8.40298544e-01 5.40549568e-01 -4.12858474e-02 8.03455811e+01] [ 4.90788048e-02 -8.79475218e-06 9.98794909e-01 1.12585119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.750385723 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:205.94, Y:80.37, Z:11.26 [[ 5.39080790e-01 -8.41850912e-01 -2.60565395e-02 2.05943914e+02] [ 8.40822893e-01 5.39709901e-01 -4.15943036e-02 8.03674612e+01] [ 4.90791748e-02 5.13755090e-04 9.98794759e-01 1.12558129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.780385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.97, Y:80.39, Z:11.27 [[ 5.43226663e-01 -8.39185565e-01 -2.59302890e-02 2.05967817e+02] [ 8.38150580e-01 5.43844433e-01 -4.16753803e-02 8.03908699e+01] [ 4.90754209e-02 9.05690985e-04 9.98794665e-01 1.12664848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.810385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:205.98, Y:80.41, Z:11.26 [[ 5.39416558e-01 -8.41620833e-01 -2.65358345e-02 2.05979419e+02] [ 8.40607565e-01 5.40068859e-01 -4.12861938e-02 8.04122876e+01] [ 4.90784987e-02 -3.57666428e-05 9.98794924e-01 1.12638437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.840385723 meters Centerline goodness : 0.998895 Centerline is valid? [True, True] Translation: X:206.00, Y:80.43, Z:11.27 [[ 5.42931617e-01 -8.39373735e-01 -2.60190758e-02 2.05999837e+02] [ 8.38341770e-01 5.43554157e-01 -4.16167656e-02 8.04343150e+01] [ 4.90747968e-02 7.82179759e-04 9.98794800e-01 1.12701776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.870385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.01, Y:80.46, Z:11.27 [[ 5.41060354e-01 -8.40575376e-01 -2.62055512e-02 2.06012777e+02] [ 8.39550546e-01 5.41694409e-01 -4.14975576e-02 8.04556643e+01] [ 4.90772256e-02 4.51798414e-04 9.98794885e-01 1.12700249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.900385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.03, Y:80.48, Z:11.27 [[ 5.40772493e-01 -8.40772614e-01 -2.58171032e-02 2.06034805e+02] [ 8.39736065e-01 5.41387671e-01 -4.17460403e-02 8.04766098e+01] [ 4.90759888e-02 8.95557622e-04 9.98794646e-01 1.12705256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.930385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.05, Y:80.50, Z:11.27 [[ 5.40394516e-01 -8.41004480e-01 -2.61769272e-02 2.06053461e+02] [ 8.39979293e-01 5.41027971e-01 -4.15153323e-02 8.04994311e+01] [ 4.90770303e-02 4.46581122e-04 9.98794897e-01 1.12726311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.960385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.07, Y:80.52, Z:11.28 [[ 5.40390535e-01 -8.41000128e-01 -2.63979993e-02 2.06072309e+02] [ 8.39981829e-01 5.41034889e-01 -4.13736102e-02 8.05207146e+01] [ 4.90774501e-02 1.84067669e-04 9.98794959e-01 1.12765530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.990385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.09, Y:80.54, Z:11.28 [[ 5.39861831e-01 -8.41336920e-01 -2.64837688e-02 2.06088619e+02] [ 8.40321716e-01 5.40511040e-01 -4.13186353e-02 8.05432365e+01] [ 4.90776628e-02 5.14681257e-05 9.98794964e-01 1.12773109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.020385723 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:206.10, Y:80.57, Z:11.27 [[ 5.37330529e-01 -8.42956185e-01 -2.64721240e-02 2.06103553e+02] [ 8.41942569e-01 5.37982215e-01 -4.13260946e-02 8.05666204e+01] [ 4.90776189e-02 -8.22358247e-05 9.98794964e-01 1.12712916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.050385723 meters Centerline goodness : 0.996307 Centerline is valid? [True, True] Translation: X:206.12, Y:80.59, Z:11.28 [[ 5.39001119e-01 -8.41894726e-01 -2.62880975e-02 2.06124070e+02] [ 8.40874068e-01 5.39641748e-01 -4.14437564e-02 8.05900595e+01] [ 4.90774348e-02 2.33251572e-04 9.98794949e-01 1.12767785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.080385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.14, Y:80.61, Z:11.28 [[ 5.39383942e-01 -8.41637462e-01 -2.66710622e-02 2.06141319e+02] [ 8.40628523e-01 5.40042909e-01 -4.11988346e-02 8.06095191e+01] [ 4.90780006e-02 -1.98465781e-04 9.98794929e-01 1.12811700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.110385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.16, Y:80.63, Z:11.28 [[ 5.37664361e-01 -8.42744789e-01 -2.64245362e-02 2.06155751e+02] [ 8.41729429e-01 5.38313311e-01 -4.13563542e-02 8.06335024e+01] [ 4.90775316e-02 -6.47201671e-06 9.98794972e-01 1.12772053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.140385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.17, Y:80.66, Z:11.28 [[ 5.39858061e-01 -8.41343496e-01 -2.63513825e-02 2.06174492e+02] [ 8.40324168e-01 5.40500766e-01 -4.14030802e-02 8.06552009e+01] [ 4.90771546e-02 2.08083069e-04 9.98794969e-01 1.12833623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.170385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.19, Y:80.68, Z:11.28 [[ 5.40090541e-01 -8.41192460e-01 -2.64093226e-02 2.06190257e+02] [ 8.40174759e-01 5.40735815e-01 -4.13660896e-02 8.06781524e+01] [ 4.90773093e-02 1.52987511e-04 9.98794971e-01 1.12840254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.200385723 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:206.21, Y:80.70, Z:11.28 [[ 5.39703275e-01 -8.41441344e-01 -2.63977296e-02 2.06205459e+02] [ 8.40423578e-01 5.40348447e-01 -4.13734864e-02 8.07009099e+01] [ 4.90773342e-02 1.44131740e-04 9.98794971e-01 1.12816393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.230385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.22, Y:80.72, Z:11.28 [[ 5.41111482e-01 -8.40536766e-01 -2.63876809e-02 2.06223492e+02] [ 8.39517609e-01 5.41754454e-01 -4.13798944e-02 8.07223118e+01] [ 4.90769662e-02 2.38213176e-04 9.98794971e-01 1.12848459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.260385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.24, Y:80.75, Z:11.29 [[ 5.41561989e-01 -8.40246929e-01 -2.63763417e-02 2.06240430e+02] [ 8.39227076e-01 5.42203856e-01 -4.13871209e-02 8.07450817e+01] [ 4.90767554e-02 2.77951375e-04 9.98794971e-01 1.12865963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.290385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.26, Y:80.77, Z:11.29 [[ 5.41625574e-01 -8.40206298e-01 -2.63650247e-02 2.06257076e+02] [ 8.39186046e-01 5.42266806e-01 -4.13943290e-02 8.07673814e+01] [ 4.90766537e-02 2.95066317e-04 9.98794971e-01 1.12883979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.32038572300002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:206.28, Y:80.79, Z:11.29 [[ 5.40570182e-01 -8.40886063e-01 -2.63535106e-02 2.06275727e+02] [ 8.39866260e-01 5.41212129e-01 -4.14016581e-02 8.07889588e+01] [ 4.90769168e-02 2.47077544e-04 9.98794972e-01 1.12907047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.35038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.29, Y:80.81, Z:11.29 [[ 5.39481451e-01 -8.41585330e-01 -2.63418921e-02 2.06291143e+02] [ 8.40565999e-01 5.40124146e-01 -4.14090491e-02 8.08114134e+01] [ 4.90771402e-02 1.97315042e-04 9.98794972e-01 1.12907729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.38038572300002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:206.31, Y:80.83, Z:11.29 [[ 5.38383977e-01 -8.42288163e-01 -2.63314158e-02 2.06306607e+02] [ 8.41269345e-01 5.39027484e-01 -4.14157097e-02 8.08345286e+01] [ 4.90773189e-02 1.45741607e-04 9.98794972e-01 1.12906351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.410385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.32, Y:80.86, Z:11.29 [[ 5.37827896e-01 -8.42643710e-01 -2.63198004e-02 2.06323234e+02] [ 8.41624956e-01 5.38471504e-01 -4.14230900e-02 8.08556368e+01] [ 4.90773688e-02 1.27092487e-04 9.98794972e-01 1.12917058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.440385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.34, Y:80.88, Z:11.29 [[ 5.37597123e-01 -8.42791286e-01 -2.63093655e-02 2.06338487e+02] [ 8.41772383e-01 5.38240497e-01 -4.14297166e-02 8.08797864e+01] [ 4.90773701e-02 1.25999163e-04 9.98794972e-01 1.12931042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.470385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.36, Y:80.90, Z:11.29 [[ 5.37449729e-01 -8.42885641e-01 -2.62980045e-02 2.06355638e+02] [ 8.41866499e-01 5.38092724e-01 -4.14369269e-02 8.09024063e+01] [ 4.90773555e-02 1.30856180e-04 9.98794972e-01 1.12948867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.500385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.37, Y:80.92, Z:11.30 [[ 5.37829836e-01 -8.42643506e-01 -2.62866618e-02 2.06374212e+02] [ 8.41623723e-01 5.38471813e-01 -4.14441212e-02 8.09237507e+01] [ 4.90772460e-02 1.66406717e-04 9.98794972e-01 1.12987370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.530385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.39, Y:80.95, Z:11.30 [[ 5.39485284e-01 -8.41583100e-01 -2.63346493e-02 2.06388735e+02] [ 8.40563538e-01 5.40127618e-01 -4.14136993e-02 8.09480717e+01] [ 4.90771408e-02 2.06135361e-04 9.98794970e-01 1.13002830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.560385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:206.40, Y:80.97, Z:11.30 [[ 5.40640071e-01 -8.40843977e-01 -2.62625212e-02 2.06402356e+02] [ 8.39821315e-01 5.41277450e-01 -4.14593892e-02 8.09712840e+01] [ 4.90761882e-02 3.58781992e-04 9.98794973e-01 1.13008287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.590385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.42, Y:81.00, Z:11.30 [[ 5.41513404e-01 -8.40282128e-01 -2.62522091e-02 2.06416143e+02] [ 8.39258489e-01 5.42149211e-01 -4.14659178e-02 8.09957927e+01] [ 4.90756841e-02 4.21960936e-04 9.98794974e-01 1.13012218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.620385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.43, Y:81.02, Z:11.30 [[ 5.42319915e-01 -8.39762187e-01 -2.62407934e-02 2.06427987e+02] [ 8.38737588e-01 5.42954176e-01 -4.14731407e-02 8.10202032e+01] [ 4.90751237e-02 4.82570370e-04 9.98794974e-01 1.12996696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.650385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.44, Y:81.05, Z:11.30 [[ 5.40385980e-01 -8.41008324e-01 -2.62296068e-02 2.06440584e+02] [ 8.39984845e-01 5.41022045e-01 -4.14802144e-02 8.10454022e+01] [ 4.90760011e-02 3.82854113e-04 9.98794974e-01 1.12989258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.680385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.46, Y:81.07, Z:11.30 [[ 5.41323628e-01 -8.40405463e-01 -2.62180716e-02 2.06458093e+02] [ 8.39380923e-01 5.41957981e-01 -4.14875041e-02 8.10659388e+01] [ 4.90754183e-02 4.51217126e-04 9.98794974e-01 1.13031656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.710385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.47, Y:81.09, Z:11.30 [[ 5.40262912e-01 -8.41088052e-01 -2.62082846e-02 2.06472296e+02] [ 8.40064013e-01 5.40898075e-01 -4.14936858e-02 8.10887688e+01] [ 4.90758541e-02 4.00862731e-04 9.98794974e-01 1.13045199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.740385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.49, Y:81.11, Z:11.31 [[ 5.38859750e-01 -8.41988019e-01 -2.61981918e-02 2.06486325e+02] [ 8.40964731e-01 5.39496122e-01 -4.15000572e-02 8.11136126e+01] [ 4.90763738e-02 3.30955166e-04 9.98794974e-01 1.13052702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.770385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.50, Y:81.14, Z:11.30 [[ 5.36113243e-01 -8.43739786e-01 -2.61870784e-02 2.06499708e+02] [ 8.42718236e-01 5.36752400e-01 -4.15070687e-02 8.11375481e+01] [ 4.90771425e-02 1.84160673e-04 9.98794974e-01 1.13044958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.800385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.51, Y:81.16, Z:11.30 [[ 5.31293463e-01 -8.46783259e-01 -2.61795311e-02 2.06508809e+02] [ 8.45765135e-01 5.31938064e-01 -4.15118284e-02 8.11596411e+01] [ 4.90774105e-02 -8.67716088e-05 9.98794974e-01 1.13023866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.830385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.53, Y:81.18, Z:11.31 [[ 5.32910391e-01 -8.45780155e-01 -2.57379952e-02 2.06530684e+02] [ 8.44747267e-01 5.33531302e-01 -4.17900132e-02 8.11848023e+01] [ 4.90771899e-02 5.28231160e-04 9.98794849e-01 1.13074949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.860385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.55, Y:81.21, Z:11.31 [[ 5.29466565e-01 -8.47927167e-01 -2.61662944e-02 2.06545301e+02] [ 8.46910027e-01 5.30112712e-01 -4.15201031e-02 8.12077788e+01] [ 4.90771087e-02 -1.76990684e-04 9.98794977e-01 1.13089003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.890385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.56, Y:81.23, Z:11.31 [[ 5.27860053e-01 -8.48928553e-01 -2.61548599e-02 2.06560020e+02] [ 8.47912281e-01 5.28507565e-01 -4.15273048e-02 8.12316758e+01] [ 4.90767561e-02 -2.56421626e-04 9.98794977e-01 1.13096909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.920385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.57, Y:81.26, Z:11.31 [[ 5.26349130e-01 -8.49866503e-01 -2.61442197e-02 2.06574646e+02] [ 8.48851053e-01 5.26997929e-01 -4.15340024e-02 8.12560412e+01] [ 4.90763070e-02 -3.31162416e-04 9.98794977e-01 1.13103157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.950385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.59, Y:81.28, Z:11.31 [[ 5.25575701e-01 -8.50345351e-01 -2.61336249e-02 2.06588512e+02] [ 8.49330160e-01 5.26224906e-01 -4.15406677e-02 8.12798825e+01] [ 4.90760780e-02 -3.63310239e-04 9.98794977e-01 1.13105082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.980385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.60, Y:81.30, Z:11.31 [[ 5.25456506e-01 -8.50419354e-01 -2.61224524e-02 2.06602201e+02] [ 8.49403906e-01 5.26105307e-01 -4.15476922e-02 8.13042128e+01] [ 4.90761225e-02 -3.57007948e-04 9.98794977e-01 1.13106861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.010385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.62, Y:81.33, Z:11.31 [[ 5.25332523e-01 -8.50496267e-01 -2.61120612e-02 2.06616693e+02] [ 8.49480589e-01 5.25980965e-01 -4.15542220e-02 8.13277698e+01] [ 4.90761578e-02 -3.51904836e-04 9.98794977e-01 1.13143186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.040385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.63, Y:81.35, Z:11.32 [[ 5.25301428e-01 -8.50515819e-01 -2.61007867e-02 2.06631339e+02] [ 8.49499813e-01 5.25949357e-01 -4.15613024e-02 8.13515318e+01] [ 4.90762371e-02 -3.40401917e-04 9.98794978e-01 1.13171739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.07038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.64, Y:81.38, Z:11.32 [[ 5.25566837e-01 -8.50352194e-01 -2.60891799e-02 2.06644588e+02] [ 8.49335625e-01 5.26213881e-01 -4.15685870e-02 8.13758895e+01] [ 4.90764278e-02 -3.11399139e-04 9.98794978e-01 1.13203706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.10038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.66, Y:81.40, Z:11.32 [[ 5.25217419e-01 -8.50568281e-01 -2.60818292e-02 2.06658645e+02] [ 8.49551749e-01 5.25864521e-01 -4.15731987e-02 8.14002879e+01] [ 4.90763528e-02 -3.22895478e-04 9.98794978e-01 1.13225260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.13038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.67, Y:81.42, Z:11.32 [[ 5.24125352e-01 -8.51242003e-01 -2.60704289e-02 2.06672786e+02] [ 8.50225948e-01 5.24773201e-01 -4.15803466e-02 8.14245949e+01] [ 4.90759999e-02 -3.72441315e-04 9.98794978e-01 1.13248019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.160385723 meters Centerline goodness : 0.999821 Centerline is valid? [True, True] Translation: X:206.69, Y:81.45, Z:11.32 [[ 5.23054907e-01 -8.51900518e-01 -2.60589844e-02 2.06687461e+02] [ 8.50884921e-01 5.23703475e-01 -4.15875177e-02 8.14484812e+01] [ 4.90756086e-02 -4.20641698e-04 9.98794978e-01 1.13230674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.190385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.70, Y:81.47, Z:11.33 [[ 5.23133241e-01 -8.51852771e-01 -2.60474347e-02 2.06702042e+02] [ 8.50836754e-01 5.23781152e-01 -4.15947504e-02 8.14705177e+01] [ 4.90757587e-02 -4.02518210e-04 9.98794978e-01 1.13280265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.220385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:206.72, Y:81.49, Z:11.33 [[ 5.22276498e-01 -8.52378631e-01 -2.60370777e-02 2.06716809e+02] [ 8.51362943e-01 5.22924924e-01 -4.16012325e-02 8.14947305e+01] [ 4.90754385e-02 -4.39657093e-04 9.98794978e-01 1.13290714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.250385723 meters Centerline goodness : 0.999843 Centerline is valid? [True, True] Translation: X:206.73, Y:81.52, Z:11.33 [[ 5.21918576e-01 -8.52598187e-01 -2.60256030e-02 2.06731030e+02] [ 8.51582414e-01 5.22566869e-01 -4.16084099e-02 8.15188796e+01] [ 4.90753727e-02 -4.46743761e-04 9.98794978e-01 1.13282560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.280385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:206.75, Y:81.54, Z:11.33 [[ 5.22506108e-01 -8.52238603e-01 -2.60140627e-02 2.06745089e+02] [ 8.51222025e-01 5.23153137e-01 -4.16156237e-02 8.15423332e+01] [ 4.90757795e-02 -3.99325567e-04 9.98794978e-01 1.13303809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.310385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:206.76, Y:81.57, Z:11.33 [[ 5.24008217e-01 -8.51316156e-01 -2.60036706e-02 2.06758586e+02] [ 8.50298117e-01 5.24652945e-01 -4.16221163e-02 8.15670188e+01] [ 4.90764824e-02 -3.00541218e-04 9.98794978e-01 1.13311668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.340385723 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:206.77, Y:81.59, Z:11.33 [[ 5.24878535e-01 -8.50780183e-01 -2.59923831e-02 2.06773209e+02] [ 8.49761136e-01 5.25521669e-01 -4.16291639e-02 8.15910763e+01] [ 4.90768283e-02 -2.37062429e-04 9.98794978e-01 1.13320085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.370385723 meters Centerline goodness : 0.999799 Centerline is valid? [True, True] Translation: X:206.79, Y:81.62, Z:11.33 [[ 5.25613534e-01 -8.50326641e-01 -2.59810710e-02 2.06788100e+02] [ 8.49306690e-01 5.26255233e-01 -4.16362227e-02 8.16153725e+01] [ 4.90770640e-02 -1.81335290e-04 9.98794978e-01 1.13330983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.400385723 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:206.80, Y:81.64, Z:11.33 [[ 5.26720187e-01 -8.49641942e-01 -2.59695106e-02 2.06800516e+02] [ 8.48620801e-01 5.27359991e-01 -4.16434320e-02 8.16399462e+01] [ 4.90772873e-02 -1.03830598e-04 9.98794979e-01 1.13316616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.430385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:206.82, Y:81.66, Z:11.34 [[ 5.28949406e-01 -8.48262554e-01 -2.57520032e-02 2.06817937e+02] [ 8.47233118e-01 5.29575831e-01 -4.17789867e-02 8.16639673e+01] [ 4.90771885e-02 2.81020248e-04 9.98794949e-01 1.13376765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.460385723 meters Centerline goodness : 0.999822 Centerline is valid? [True, True] Translation: X:206.83, Y:81.69, Z:11.34 [[ 5.29979199e-01 -8.47613245e-01 -2.59583287e-02 2.06833418e+02] [ 8.46589315e-01 5.30614528e-01 -4.16503974e-02 8.16877709e+01] [ 4.90772949e-02 9.78005698e-05 9.98794979e-01 1.13372512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.490385723 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:206.85, Y:81.71, Z:11.34 [[ 5.30394896e-01 -8.47353538e-01 -2.59467865e-02 2.06847559e+02] [ 8.46328945e-01 5.31029155e-01 -4.16575866e-02 8.17102913e+01] [ 4.90772035e-02 1.35454902e-04 9.98794979e-01 1.13398369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.520385723 meters Centerline goodness : 0.999844 Centerline is valid? [True, True] Translation: X:206.86, Y:81.73, Z:11.34 [[ 5.30024719e-01 -8.47585455e-01 -2.59363452e-02 2.06861725e+02] [ 8.46560821e-01 5.30658912e-01 -4.16640864e-02 8.17347851e+01] [ 4.90772264e-02 1.26302016e-04 9.98794979e-01 1.13406994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.550385723 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:206.87, Y:81.76, Z:11.34 [[ 5.28278023e-01 -8.48675574e-01 -2.59248955e-02 2.06872814e+02] [ 8.47651899e-01 5.28913762e-01 -4.16712096e-02 8.17585757e+01] [ 4.90773718e-02 3.86972676e-05 9.98794979e-01 1.13396023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.580385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.89, Y:81.78, Z:11.35 [[ 5.29040249e-01 -8.48209155e-01 -2.56445809e-02 2.06889187e+02] [ 8.47176428e-01 5.29661269e-01 -4.18454280e-02 8.17837574e+01] [ 4.90766164e-02 4.12431162e-04 9.98794932e-01 1.13462995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.610385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:206.90, Y:81.81, Z:11.35 [[ 5.28314558e-01 -8.48653336e-01 -2.59083567e-02 2.06903933e+02] [ 8.47629131e-01 5.28949441e-01 -4.16814731e-02 8.18072079e+01] [ 4.90773320e-02 6.02511257e-05 9.98794980e-01 1.13456454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.640385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:206.92, Y:81.83, Z:11.35 [[ 5.28926179e-01 -8.48277024e-01 -2.57524463e-02 2.06921706e+02] [ 8.47247638e-01 5.29552654e-01 -4.17783133e-02 8.18300229e+01] [ 4.90768595e-02 2.78944305e-04 9.98794966e-01 1.13506495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.670385723 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:206.94, Y:81.85, Z:11.35 [[ 5.28206099e-01 -8.48721251e-01 -2.58950821e-02 2.06935935e+02] [ 8.47696723e-01 5.28840461e-01 -4.16897175e-02 8.18528592e+01] [ 4.90773164e-02 6.95868225e-05 9.98794980e-01 1.13493945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.700385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.95, Y:81.88, Z:11.35 [[ 5.28001980e-01 -8.48848559e-01 -2.58850103e-02 2.06949931e+02] [ 8.47823877e-01 5.28636094e-01 -4.16959701e-02 8.18762640e+01] [ 4.90773149e-02 6.96249598e-05 9.98794980e-01 1.13508305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.730385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.96, Y:81.90, Z:11.35 [[ 5.27530770e-01 -8.49140667e-01 -2.59116881e-02 2.06962253e+02] [ 8.48117149e-01 5.28166762e-01 -4.16794144e-02 8.19018904e+01] [ 4.90773782e-02 1.10265311e-05 9.98794979e-01 1.13519499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.760385723 meters Centerline goodness : 0.999844 Centerline is valid? [True, True] Translation: X:206.98, Y:81.93, Z:11.34 [[ 5.31240398e-01 -8.46826101e-01 -2.58687741e-02 2.06984564e+02] [ 8.45798516e-01 5.31869794e-01 -4.17060326e-02 8.19274146e+01] [ 4.90765765e-02 2.76158652e-04 9.98794981e-01 1.13439414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.790385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.00, Y:81.95, Z:11.35 [[ 5.28924229e-01 -8.48257456e-01 -2.64281835e-02 2.06999978e+02] [ 8.47248734e-01 5.29583821e-01 -4.13589137e-02 8.19512438e+01] [ 4.90789453e-02 -5.15513436e-04 9.98794769e-01 1.13491615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.82038572300002 meters Centerline goodness : 0.998840 Centerline is valid? [True, True] Translation: X:207.01, Y:81.97, Z:11.35 [[ 5.24148244e-01 -8.51220690e-01 -2.63050458e-02 2.07007885e+02] [ 8.50211850e-01 5.24807506e-01 -4.14353852e-02 8.19709833e+01] [ 4.90757427e-02 -6.46577314e-04 9.98794851e-01 1.13471649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.85038572300002 meters Centerline goodness : 0.999778 Centerline is valid? [True, True] Translation: X:207.02, Y:82.00, Z:11.36 [[ 5.23122252e-01 -8.51877893e-01 -2.54394368e-02 2.07024839e+02] [ 8.50843363e-01 5.23740354e-01 -4.19715704e-02 8.19953239e+01] [ 4.90783126e-02 3.11286480e-04 9.98794885e-01 1.13561038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.88038572300002 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:207.04, Y:82.02, Z:11.36 [[ 5.20151090e-01 -8.53683015e-01 -2.58486600e-02 2.07039975e+02] [ 8.52663130e-01 5.20792852e-01 -4.17180207e-02 8.20188855e+01] [ 4.90757631e-02 -3.40525346e-04 9.98795001e-01 1.13606744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.910385723 meters Centerline goodness : 0.999556 Centerline is valid? [True, True] Translation: X:207.06, Y:82.04, Z:11.36 [[ 5.24632937e-01 -8.50936364e-01 -2.58376757e-02 2.07064183e+02] [ 8.49912783e-01 5.25268788e-01 -4.17248227e-02 8.20442257e+01] [ 4.90768935e-02 -6.95545961e-05 9.98795001e-01 1.13550620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.940385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:207.08, Y:82.07, Z:11.36 [[ 5.21699414e-01 -8.52714951e-01 -2.65882156e-02 2.07077629e+02] [ 8.51716904e-01 5.22375302e-01 -4.12596498e-02 8.20679016e+01] [ 4.90717474e-02 -1.12049760e-03 9.98794628e-01 1.13581376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.970385723 meters Centerline goodness : 0.999822 Centerline is valid? [True, True] Translation: X:207.08, Y:82.09, Z:11.37 [[ 5.16142706e-01 -8.56095704e-01 -2.63979779e-02 2.07084104e+02] [ 8.55096045e-01 5.16815893e-01 -4.13773670e-02 8.20892149e+01] [ 4.90658806e-02 -1.21618034e-03 9.98794804e-01 1.13654056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.000385723 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:207.10, Y:82.11, Z:11.37 [[ 5.15399580e-01 -8.56561847e-01 -2.57890373e-02 2.07099058e+02] [ 8.55543769e-01 5.16044093e-01 -4.17534938e-02 8.21127482e+01] [ 4.90727302e-02 -5.43916982e-04 9.98795060e-01 1.13685188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.030385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.12, Y:82.14, Z:11.37 [[ 5.18230661e-01 -8.54852327e-01 -2.57775490e-02 2.07119554e+02] [ 8.53831769e-01 5.18871241e-01 -4.17605852e-02 8.21375113e+01] [ 4.90743622e-02 -3.68074560e-04 9.98795060e-01 1.13692430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.060385723 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:207.13, Y:82.16, Z:11.37 [[ 5.13616785e-01 -8.57621422e-01 -2.61398944e-02 2.07128985e+02] [ 8.56615616e-01 5.14280446e-01 -4.15368488e-02 8.21601020e+01] [ 4.90661279e-02 -1.05781901e-03 9.98794972e-01 1.13707192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.090385723 meters Centerline goodness : 0.999798 Centerline is valid? [True, True] Translation: X:207.14, Y:82.18, Z:11.37 [[ 5.12024425e-01 -8.58584508e-01 -2.57610282e-02 2.07144542e+02] [ 8.57568119e-01 5.12671577e-01 -4.17705118e-02 8.21843376e+01] [ 4.90704613e-02 -7.04314191e-04 9.98795071e-01 1.13722955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.120385723 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:207.16, Y:82.21, Z:11.38 [[ 5.11316719e-01 -8.59006463e-01 -2.57508970e-02 2.07159862e+02] [ 8.57990294e-01 5.11964216e-01 -4.17767566e-02 8.22078309e+01] [ 4.90700418e-02 -7.32865582e-04 9.98795071e-01 1.13753683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.150385723 meters Centerline goodness : 0.999865 Centerline is valid? [True, True] Translation: X:207.17, Y:82.23, Z:11.38 [[ 5.09891426e-01 -8.59853594e-01 -2.57396837e-02 2.07174639e+02] [ 8.58838151e-01 5.10540063e-01 -4.17836643e-02 8.22321346e+01] [ 4.90689736e-02 -8.01090140e-04 9.98795071e-01 1.13790828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.180385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.19, Y:82.26, Z:11.38 [[ 5.09383163e-01 -8.60155126e-01 -2.57284170e-02 2.07188834e+02] [ 8.59139718e-01 5.10031853e-01 -4.17906006e-02 8.22561926e+01] [ 4.90687116e-02 -8.16876601e-04 9.98795071e-01 1.13825907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.210385723 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:207.20, Y:82.28, Z:11.38 [[ 5.08838443e-01 -8.60477822e-01 -2.57168388e-02 2.07202608e+02] [ 8.59462465e-01 5.09487214e-01 -4.17977244e-02 8.22795964e+01] [ 4.90684154e-02 -8.34368668e-04 9.98795071e-01 1.13824316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.240385723 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:207.22, Y:82.31, Z:11.38 [[ 5.08283064e-01 -8.60806295e-01 -2.57069725e-02 2.07216578e+02] [ 8.59791051e-01 5.08932011e-01 -4.18037916e-02 8.23050951e+01] [ 4.90680682e-02 -8.54465582e-04 9.98795071e-01 1.13834659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.270385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.24, Y:82.33, Z:11.38 [[ 5.14959338e-01 -8.56829354e-01 -2.56970496e-02 2.07242529e+02] [ 8.55808791e-01 5.15599889e-01 -4.18098904e-02 8.23305049e+01] [ 4.90733373e-02 -4.61367434e-04 9.98795071e-01 1.13822095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.300385723 meters Centerline goodness : 0.999641 Centerline is valid? [True, True] Translation: X:207.26, Y:82.35, Z:11.38 [[ 5.14974132e-01 -8.56793644e-01 -2.65762180e-02 2.07257589e+02] [ 8.55800490e-01 5.15657276e-01 -4.12685764e-02 8.23543005e+01] [ 4.90628742e-02 -1.49169114e-03 9.98794578e-01 1.13826579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.330385723 meters Centerline goodness : 0.999843 Centerline is valid? [True, True] Translation: X:207.26, Y:82.37, Z:11.39 [[ 5.08743992e-01 -8.60504355e-01 -2.66796912e-02 2.07258852e+02] [ 8.59519506e-01 5.09439279e-01 -4.12048540e-02 8.23748489e+01] [ 4.90486389e-02 -1.96899306e-03 9.98794450e-01 1.13901170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.360385723 meters Centerline goodness : 0.999440 Centerline is valid? [True, True] Translation: X:207.28, Y:82.40, Z:11.39 [[ 5.13836456e-01 -8.57503611e-01 -2.56837263e-02 2.07282611e+02] [ 8.56483552e-01 5.14477693e-01 -4.18166141e-02 8.24009136e+01] [ 4.90716018e-02 -5.10788349e-04 9.98795133e-01 1.13860385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.390385723 meters Centerline goodness : 0.999440 Centerline is valid? [True, True] Translation: X:207.30, Y:82.42, Z:11.39 [[ 5.13284119e-01 -8.57810334e-01 -2.64734621e-02 2.07297331e+02] [ 8.56815301e-01 5.13964274e-01 -4.13311544e-02 8.24246986e+01] [ 4.90607051e-02 -1.46824224e-03 9.98794719e-01 1.13877996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.420385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:207.31, Y:82.45, Z:11.40 [[ 5.11332570e-01 -8.58976208e-01 -2.64362902e-02 2.07307816e+02] [ 8.57981547e-01 5.12013197e-01 -4.13539751e-02 8.24488262e+01] [ 4.90578102e-02 -1.53621475e-03 9.98794759e-01 1.13950740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.450385723 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:207.30, Y:82.47, Z:11.39 [[ 5.02209624e-01 -8.64349981e-01 -2.61649219e-02 2.07301654e+02] [ 8.63353916e-01 5.02887751e-01 -4.15201768e-02 8.24663093e+01] [ 4.90459828e-02 -1.73775540e-03 9.98795010e-01 1.13859527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.480385723 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:207.33, Y:82.49, Z:11.40 [[ 5.10210109e-01 -8.59702306e-01 -2.44456676e-02 2.07328789e+02] [ 8.58647718e-01 5.10794880e-01 -4.25756668e-02 8.24946585e+01] [ 4.90891208e-02 7.32318876e-04 9.98794134e-01 1.13967513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.510385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:207.34, Y:82.52, Z:11.40 [[ 5.11274225e-01 -8.59032886e-01 -2.57131904e-02 2.07342648e+02] [ 8.58015780e-01 5.11919936e-01 -4.17959406e-02 8.25192391e+01] [ 4.90671823e-02 -6.93135983e-04 9.98795240e-01 1.13989604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.540385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:207.36, Y:82.54, Z:11.40 [[ 5.12277212e-01 -8.58435315e-01 -2.57073724e-02 2.07356309e+02] [ 8.57417276e-01 5.12921451e-01 -4.17995188e-02 8.25432836e+01] [ 4.90680458e-02 -6.29004307e-04 9.98795240e-01 1.14007033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.57038572300002 meters Centerline goodness : 0.999712 Centerline is valid? [True, True] Translation: X:207.37, Y:82.57, Z:11.40 [[ 5.12934194e-01 -8.58043221e-01 -2.56971457e-02 2.07369707e+02] [ 8.57024375e-01 5.13577156e-01 -4.18058049e-02 8.25675116e+01] [ 4.90686545e-02 -5.79453406e-04 9.98795240e-01 1.14021027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.60038572300002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:207.38, Y:82.59, Z:11.40 [[ 5.14628128e-01 -8.57028671e-01 -2.56855500e-02 2.07381837e+02] [ 8.56008202e-01 5.15268510e-01 -4.18129281e-02 8.25937364e+01] [ 4.90698333e-02 -4.68932580e-04 9.98795240e-01 1.14033233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.63038572300002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:207.40, Y:82.62, Z:11.40 [[ 5.14693600e-01 -8.56989658e-01 -2.56753591e-02 2.07395753e+02] [ 8.55968829e-01 5.15333407e-01 -4.18191850e-02 8.26183430e+01] [ 4.90699793e-02 -4.53240189e-04 9.98795240e-01 1.14041178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.660385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.41, Y:82.64, Z:11.40 [[ 5.11928166e-01 -8.58644819e-01 -2.56637548e-02 2.07407948e+02] [ 8.57625701e-01 5.12570695e-01 -4.18263051e-02 8.26428619e+01] [ 4.90684288e-02 -5.97832004e-04 9.98795240e-01 1.13990895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.690385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:207.42, Y:82.67, Z:11.40 [[ 5.12697672e-01 -8.58190729e-01 -2.54905992e-02 2.07423870e+02] [ 8.57165746e-01 5.13330839e-01 -4.19324878e-02 8.26688665e+01] [ 4.90711829e-02 -3.50979623e-04 9.98795222e-01 1.14021610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.720385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:207.44, Y:82.69, Z:11.41 [[ 5.13585231e-01 -8.57652829e-01 -2.57261462e-02 2.07439497e+02] [ 8.56634384e-01 5.14228833e-01 -4.17880347e-02 8.26939550e+01] [ 4.90687524e-02 -5.76183943e-04 9.98795237e-01 1.14060902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.750385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.45, Y:82.72, Z:11.41 [[ 5.14068209e-01 -8.57357355e-01 -2.59276346e-02 2.07452855e+02] [ 8.56344744e-01 5.14721041e-01 -4.16644948e-02 8.27200380e+01] [ 4.90668602e-02 -7.84601368e-04 9.98795188e-01 1.14098451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.780385723 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:207.46, Y:82.74, Z:11.41 [[ 5.12851101e-01 -8.58080667e-01 -2.61020631e-02 2.07461488e+02] [ 8.57074397e-01 5.13513825e-01 -4.15575430e-02 8.27420836e+01] [ 4.90634945e-02 -1.05857830e-03 9.98795101e-01 1.14089531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.810385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:207.48, Y:82.77, Z:11.41 [[ 5.12420350e-01 -8.58352294e-01 -2.56266324e-02 2.07480505e+02] [ 8.57331689e-01 5.13060486e-01 -4.18486887e-02 8.27693561e+01] [ 4.90689304e-02 -5.26404342e-04 9.98795256e-01 1.14123964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.840385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:207.49, Y:82.79, Z:11.41 [[ 5.11801726e-01 -8.58707530e-01 -2.60839128e-02 2.07494831e+02] [ 8.57701509e-01 5.12464802e-01 -4.15685933e-02 8.27926762e+01] [ 4.90623513e-02 -1.09733360e-03 9.98795115e-01 1.14147424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.870385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.51, Y:82.82, Z:11.41 [[ 5.07635058e-01 -8.61181045e-01 -2.59587326e-02 2.07508166e+02] [ 8.60174332e-01 5.08296956e-01 -4.16452113e-02 8.28163312e+01] [ 4.90588114e-02 -1.18846621e-03 9.98795185e-01 1.14125619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.900385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:207.52, Y:82.84, Z:11.42 [[ 5.07345097e-01 -8.61354215e-01 -2.58818215e-02 2.07523944e+02] [ 8.60345328e-01 5.08003615e-01 -4.16922544e-02 8.28417733e+01] [ 4.90598580e-02 -1.11494340e-03 9.98795218e-01 1.14162534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.930385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:207.54, Y:82.87, Z:11.42 [[ 5.06745414e-01 -8.61703823e-01 -2.59924535e-02 2.07537804e+02] [ 8.60698842e-01 5.07409979e-01 -4.16247104e-02 8.28686718e+01] [ 4.90570023e-02 -1.27854352e-03 9.98795162e-01 1.14196857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.960385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.55, Y:82.89, Z:11.42 [[ 5.07367675e-01 -8.61332467e-01 -2.61614777e-02 2.07552519e+02] [ 8.60332294e-01 5.08039669e-01 -4.15215419e-02 8.28933415e+01] [ 4.90549206e-02 -1.44087591e-03 9.98795043e-01 1.14203781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.990385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.56, Y:82.91, Z:11.42 [[ 5.09899448e-01 -8.59831685e-01 -2.63063947e-02 2.07563756e+02] [ 8.58834079e-01 5.10575483e-01 -4.14330805e-02 8.29124709e+01] [ 4.90568756e-02 -1.46612340e-03 9.98794911e-01 1.14225451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.020385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.58, Y:82.94, Z:11.42 [[ 5.11419952e-01 -8.58943422e-01 -2.58036860e-02 2.07576870e+02] [ 8.57929032e-01 5.12069889e-01 -4.17397324e-02 8.29361043e+01] [ 4.90653592e-02 -7.91199391e-04 9.98795257e-01 1.14227469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.050385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:207.58, Y:82.96, Z:11.42 [[ 5.04419066e-01 -8.63077504e-01 -2.56637330e-02 2.07583869e+02] [ 8.62064090e-01 5.05070458e-01 -4.18250755e-02 8.29628646e+01] [ 4.90602752e-02 -1.02641716e-03 9.98795292e-01 1.14179123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.080385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.60, Y:82.99, Z:11.42 [[ 5.11364462e-01 -8.58985011e-01 -2.55173790e-02 2.07603615e+02] [ 8.57961921e-01 5.12000526e-01 -4.19142399e-02 8.29853846e+01] [ 4.90686153e-02 -4.59486734e-04 9.98795304e-01 1.14227596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.110385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:207.61, Y:83.01, Z:11.42 [[ 5.10359483e-01 -8.59577290e-01 -2.56920223e-02 2.07611715e+02] [ 8.58560273e-01 5.11005247e-01 -4.18078399e-02 8.30107555e+01] [ 4.90658279e-02 -7.21122074e-04 9.98795287e-01 1.14197945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.140385723 meters Centerline goodness : 0.999736 Centerline is valid? [True, True] Translation: X:207.63, Y:83.03, Z:11.42 [[ 5.13800117e-01 -8.57532218e-01 -2.54545479e-02 2.07628117e+02] [ 8.56505438e-01 5.14430203e-01 -4.19523604e-02 8.30331565e+01] [ 4.90700889e-02 -2.46830959e-04 9.98795307e-01 1.14236986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.170385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:207.64, Y:83.06, Z:11.42 [[ 5.08625267e-01 -8.60611322e-01 -2.54654813e-02 2.07640211e+02] [ 8.59588688e-01 5.09262059e-01 -4.19457086e-02 8.30629368e+01] [ 4.90675552e-02 -5.55192395e-04 9.98795308e-01 1.14236948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.200385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:207.65, Y:83.09, Z:11.42 [[ 5.07581988e-01 -8.61215101e-01 -2.58664722e-02 2.07650742e+02] [ 8.60205513e-01 5.08239487e-01 -4.17025105e-02 8.30870050e+01] [ 4.90611943e-02 -1.08303883e-03 9.98795187e-01 1.14237478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.230385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.67, Y:83.11, Z:11.43 [[ 5.07329878e-01 -8.61369295e-01 -2.56774640e-02 2.07665244e+02] [ 8.60354093e-01 5.07978512e-01 -4.18170621e-02 8.31118030e+01] [ 4.90635333e-02 -8.76666231e-04 9.98795275e-01 1.14257605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.260385723 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:207.68, Y:83.14, Z:11.43 [[ 5.05659564e-01 -8.62348269e-01 -2.57656328e-02 2.07677900e+02] [ 8.61337036e-01 5.06314435e-01 -4.17636536e-02 8.31360847e+01] [ 4.90603262e-02 -1.07470291e-03 9.98795239e-01 1.14251812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.290385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.69, Y:83.16, Z:11.43 [[ 5.06802502e-01 -8.61681791e-01 -2.56069397e-02 2.07692938e+02] [ 8.60664834e-01 5.07448334e-01 -4.18596745e-02 8.31626258e+01] [ 4.90639181e-02 -8.24404737e-04 9.98795301e-01 1.14312182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.32038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.71, Y:83.19, Z:11.43 [[ 5.06860646e-01 -8.61640583e-01 -2.58416402e-02 2.07706908e+02] [ 8.60630773e-01 5.07517789e-01 -4.17176966e-02 8.31878478e+01] [ 4.90607525e-02 -1.09505209e-03 9.98795196e-01 1.14319011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.35038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.72, Y:83.21, Z:11.43 [[ 5.04919179e-01 -8.62777442e-01 -2.59173334e-02 2.07721889e+02] [ 8.61771454e-01 5.05582250e-01 -4.16719275e-02 8.32148640e+01] [ 4.90569428e-02 -1.29386263e-03 9.98795145e-01 1.14344422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.38038572300002 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:207.73, Y:83.24, Z:11.43 [[ 5.02090795e-01 -8.64420500e-01 -2.61157495e-02 2.07734916e+02] [ 8.63422880e-01 5.02766701e-01 -4.15520659e-02 8.32380238e+01] [ 4.90485868e-02 -1.68602585e-03 9.98794971e-01 1.14349376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.410385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.75, Y:83.26, Z:11.44 [[ 5.01054803e-01 -8.65029341e-01 -2.58519489e-02 2.07751043e+02] [ 8.64024311e-01 5.01719218e-01 -4.17111018e-02 8.32640301e+01] [ 4.90517464e-02 -1.43716440e-03 9.98795205e-01 1.14359108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.440385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:207.76, Y:83.29, Z:11.43 [[ 4.96234278e-01 -8.67799135e-01 -2.60039158e-02 2.07758609e+02] [ 8.66802582e-01 4.96911562e-01 -4.16195200e-02 8.32871134e+01] [ 4.90390298e-02 -1.88722888e-03 9.98795080e-01 1.14333191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.470385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:207.77, Y:83.31, Z:11.43 [[ 4.95095681e-01 -8.68463289e-01 -2.55300291e-02 2.07768607e+02] [ 8.67452847e-01 4.95751508e-01 -4.19046553e-02 8.33106920e+01] [ 4.90492052e-02 -1.39928261e-03 9.98795383e-01 1.14337845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.500385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:207.79, Y:83.34, Z:11.44 [[ 4.95514695e-01 -8.68234951e-01 -2.51645926e-02 2.07788843e+02] [ 8.67212995e-01 4.96152364e-01 -4.21242528e-02 8.33401131e+01] [ 4.90592206e-02 -9.49875473e-04 9.98795420e-01 1.14384844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.530385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.80, Y:83.36, Z:11.44 [[ 4.95587452e-01 -8.68170288e-01 -2.59504909e-02 2.07795797e+02] [ 8.67172562e-01 4.96262920e-01 -4.16516772e-02 8.33618497e+01] [ 4.90390150e-02 -1.86150509e-03 9.98795129e-01 1.14378156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.560385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:207.81, Y:83.39, Z:11.44 [[ 4.98225770e-01 -8.66680582e-01 -2.52160980e-02 2.07809759e+02] [ 8.65658243e-01 4.98862742e-01 -4.20924108e-02 8.33860354e+01] [ 4.90600469e-02 -8.56999291e-04 9.98795463e-01 1.14399287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.590385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:207.82, Y:83.41, Z:11.44 [[ 4.99772899e-01 -8.65788603e-01 -2.52417370e-02 2.07821987e+02] [ 8.64765903e-01 5.00409289e-01 -4.20770301e-02 8.34115500e+01] [ 4.90610128e-02 -7.99234181e-04 9.98795464e-01 1.14410675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.620385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.84, Y:83.44, Z:11.44 [[ 4.99788459e-01 -8.65779959e-01 -2.52301186e-02 2.07837310e+02] [ 8.64756897e-01 5.00424267e-01 -4.20839956e-02 8.34387024e+01] [ 4.90612436e-02 -7.84823786e-04 9.98795464e-01 1.14395560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.650385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.85, Y:83.46, Z:11.44 [[ 5.01628204e-01 -8.64708227e-01 -2.54720845e-02 2.07852024e+02] [ 8.63691127e-01 5.02273588e-01 -4.19390158e-02 8.34636827e+01] [ 4.90589672e-02 -9.62220153e-04 9.98795420e-01 1.14419780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.680385723 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:207.87, Y:83.49, Z:11.44 [[ 5.02403479e-01 -8.64257931e-01 -2.54749542e-02 2.07865786e+02] [ 8.63240340e-01 5.03048088e-01 -4.19372972e-02 8.34885036e+01] [ 4.90597687e-02 -9.21564132e-04 9.98795419e-01 1.14432897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.710385723 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:207.88, Y:83.51, Z:11.44 [[ 5.06679728e-01 -8.61758923e-01 -2.54403764e-02 2.07882853e+02] [ 8.60737110e-01 5.07317605e-01 -4.19580141e-02 8.35144552e+01] [ 4.90640439e-02 -6.38200916e-04 9.98795431e-01 1.14443271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.740385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.89, Y:83.54, Z:11.44 [[ 5.04504425e-01 -8.63012373e-01 -2.61711603e-02 2.07891731e+02] [ 8.62014630e-01 5.05180205e-01 -4.15179159e-02 8.35386749e+01] [ 4.90516272e-02 -1.61395074e-03 9.98794940e-01 1.14445157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.770385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.90, Y:83.56, Z:11.45 [[ 5.05428107e-01 -8.62484905e-01 -2.57335735e-02 2.07898461e+02] [ 8.61473002e-01 5.06081695e-01 -4.17802003e-02 8.35617164e+01] [ 4.90580826e-02 -1.05189121e-03 9.98795373e-01 1.14455034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.800385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.91, Y:83.58, Z:11.45 [[ 5.05721887e-01 -8.62328665e-01 -2.51921858e-02 2.07912473e+02] [ 8.61300257e-01 5.06348802e-01 -4.21041403e-02 8.35849860e+01] [ 4.90636402e-02 -4.05050857e-04 9.98795572e-01 1.14469196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.830385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.93, Y:83.61, Z:11.45 [[ 5.06107218e-01 -8.62102873e-01 -2.51817332e-02 2.07927824e+02] [ 8.61073874e-01 5.06733163e-01 -4.21103909e-02 8.36084437e+01] [ 4.90639083e-02 -3.70959808e-04 9.98795572e-01 1.14488846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.860385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.94, Y:83.63, Z:11.45 [[ 5.07230036e-01 -8.61443069e-01 -2.51700130e-02 2.07943904e+02] [ 8.60412908e-01 5.07854066e-01 -4.21173951e-02 8.36346731e+01] [ 4.90644316e-02 -2.93396299e-04 9.98795572e-01 1.14518139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.890385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.95, Y:83.66, Z:11.45 [[ 5.06164272e-01 -8.62061980e-01 -2.54336726e-02 2.07952777e+02] [ 8.61040455e-01 5.06802432e-01 -4.19598565e-02 8.36590004e+01] [ 4.90618441e-02 -6.60840771e-04 9.98795524e-01 1.14495185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.920385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.97, Y:83.68, Z:11.45 [[ 5.06573261e-01 -8.61834822e-01 -2.49854051e-02 2.07965915e+02] [ 8.60799697e-01 5.07189043e-01 -4.22274311e-02 8.36840212e+01] [ 4.90653943e-02 -1.16141630e-04 9.98795561e-01 1.14503059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.950385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.98, Y:83.71, Z:11.45 [[ 5.07904816e-01 -8.61051391e-01 -2.49639727e-02 2.07981586e+02] [ 8.60014687e-01 5.08517947e-01 -4.22402168e-02 8.37080460e+01] [ 4.90656256e-02 -1.53735922e-05 9.98795557e-01 1.14513741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.980385723 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:208.00, Y:83.73, Z:11.45 [[ 5.09676887e-01 -8.59998567e-01 -2.51383407e-02 2.07997964e+02] [ 8.58965709e-01 5.10296435e-01 -4.21361905e-02 8.37307209e+01] [ 4.90650691e-02 -1.17130293e-04 9.98795577e-01 1.14521541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.010385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.01, Y:83.75, Z:11.45 [[ 5.10979268e-01 -8.59225721e-01 -2.51266514e-02 2.08012274e+02] [ 8.58191584e-01 5.11596677e-01 -4.21431600e-02 8.37532547e+01] [ 4.90651983e-02 -2.91997384e-05 9.98795577e-01 1.14540391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.040385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.03, Y:83.78, Z:11.46 [[ 5.12775711e-01 -8.58155067e-01 -2.51187342e-02 2.08027960e+02] [ 8.57119410e-01 5.13390566e-01 -4.21478783e-02 8.37778473e+01] [ 4.90651365e-02 8.26535802e-05 9.98795577e-01 1.14580681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.07038572300002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:208.04, Y:83.80, Z:11.46 [[ 5.16301810e-01 -8.56036381e-01 -2.51824458e-02 2.08041184e+02] [ 8.55000049e-01 5.16915535e-01 -4.21099315e-02 8.38035280e+01] [ 4.90648308e-02 2.10441460e-04 9.98795574e-01 1.14581679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.10038572300002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:208.05, Y:83.83, Z:11.46 [[ 5.17140587e-01 -8.55528807e-01 -2.52205047e-02 2.08053969e+02] [ 8.54492976e-01 5.17755169e-01 -4.20872729e-02 8.38273300e+01] [ 4.90649210e-02 2.14292863e-04 9.98795568e-01 1.14555115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.13038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.07, Y:83.85, Z:11.46 [[ 5.20319046e-01 -8.53603288e-01 -2.50901816e-02 2.08074154e+02] [ 8.52561435e-01 5.20923340e-01 -4.21648223e-02 8.38495503e+01] [ 4.90620921e-02 5.48238888e-04 9.98795580e-01 1.14617445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.160385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.09, Y:83.87, Z:11.46 [[ 5.20126366e-01 -8.53717988e-01 -2.51825455e-02 2.08088964e+02] [ 8.52678924e-01 5.20735453e-01 -4.21098708e-02 8.38725132e+01] [ 4.90633984e-02 4.29828242e-04 9.98795574e-01 1.14637576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.190385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:208.10, Y:83.90, Z:11.47 [[ 5.19195734e-01 -8.54287147e-01 -2.50850389e-02 2.08103440e+02] [ 8.53245945e-01 5.19801145e-01 -4.21678421e-02 8.38970805e+01] [ 4.90626775e-02 4.89655972e-04 9.98795582e-01 1.14651766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.220385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:208.12, Y:83.92, Z:11.47 [[ 5.21634830e-01 -8.52795509e-01 -2.52373677e-02 2.08116817e+02] [ 8.51756939e-01 5.22244785e-01 -4.20773283e-02 8.39190733e+01] [ 4.90634403e-02 4.52896912e-04 9.98795562e-01 1.14656719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.250385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:208.13, Y:83.94, Z:11.47 [[ 5.21536759e-01 -8.52864509e-01 -2.49306837e-02 2.08130667e+02] [ 8.51817269e-01 5.22131673e-01 -4.22593780e-02 8.39428374e+01] [ 4.90586232e-02 8.03432125e-04 9.98795578e-01 1.14668985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.280385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:208.14, Y:83.97, Z:11.47 [[ 5.20732691e-01 -8.53355834e-01 -2.49255844e-02 2.08144224e+02] [ 8.52309012e-01 5.21328340e-01 -4.22624041e-02 8.39651070e+01] [ 4.90592827e-02 7.63115187e-04 9.98795577e-01 1.14662795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.310385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.16, Y:83.99, Z:11.47 [[ 5.21636442e-01 -8.52812859e-01 -2.46099474e-02 2.08161535e+02] [ 8.51756537e-01 5.22215311e-01 -4.24496280e-02 8.39873887e+01] [ 4.90532799e-02 1.18158932e-03 9.98795464e-01 1.14689481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.340385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:208.19, Y:84.01, Z:11.47 [[ 5.22198365e-01 -8.52469707e-01 -2.45818152e-02 2.08185854e+02] [ 8.51412220e-01 5.22775137e-01 -4.24663070e-02 8.40126895e+01] [ 4.90520021e-02 1.24657818e-03 9.98795448e-01 1.14733980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.370385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:208.20, Y:84.03, Z:11.47 [[ 5.21882066e-01 -8.52639981e-01 -2.53805278e-02 2.08196798e+02] [ 8.51605352e-01 5.22498777e-01 -4.19922938e-02 8.40320578e+01] [ 4.90656034e-02 3.00831753e-04 9.98795513e-01 1.14728131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.400385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:208.22, Y:84.06, Z:11.48 [[ 5.23336244e-01 -8.51769702e-01 -2.46485492e-02 2.08216117e+02] [ 8.50713330e-01 5.23914928e-01 -4.24261661e-02 8.40572764e+01] [ 4.90510657e-02 1.23430108e-03 9.98795509e-01 1.14762240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.430385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:208.24, Y:84.08, Z:11.47 [[ 5.20857246e-01 -8.53277976e-01 -2.49885132e-02 2.08236351e+02] [ 8.52232872e-01 5.21455856e-01 -4.22246483e-02 8.40838527e+01] [ 4.90597690e-02 6.96981625e-04 9.98795601e-01 1.14739943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.460385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:208.25, Y:84.10, Z:11.48 [[ 5.22596877e-01 -8.52194011e-01 -2.56490136e-02 2.08250521e+02] [ 8.51166630e-01 5.23225923e-01 -4.18330232e-02 8.41027734e+01] [ 4.90700806e-02 3.02228082e-05 9.98795338e-01 1.14759746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.490385723 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:208.27, Y:84.13, Z:11.47 [[ 5.17899174e-01 -8.55076763e-01 -2.49835048e-02 2.08268492e+02] [ 8.54033631e-01 5.18501154e-01 -4.22269048e-02 8.41253328e+01] [ 4.90612211e-02 5.32525850e-04 9.98795631e-01 1.14744862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.520385723 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:208.28, Y:84.14, Z:11.48 [[ 5.18431183e-01 -8.54753025e-01 -2.50274844e-02 2.08284852e+02] [ 8.53710771e-01 5.19034685e-01 -4.22008912e-02 8.41440902e+01] [ 4.90614719e-02 5.12024950e-04 9.98795630e-01 1.14766651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.550385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.30, Y:84.17, Z:11.48 [[ 5.16510722e-01 -8.55927751e-01 -2.45837289e-02 2.08302920e+02] [ 8.54874286e-01 5.17094619e-01 -4.24630366e-02 8.41680580e+01] [ 4.90574053e-02 9.16616006e-04 9.98795540e-01 1.14789526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.580385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:208.32, Y:84.19, Z:11.48 [[ 5.16887751e-01 -8.55690692e-01 -2.49096882e-02 2.08319211e+02] [ 8.54646173e-01 5.17487320e-01 -4.22704650e-02 8.41893867e+01] [ 4.90608913e-02 5.60115873e-04 9.98795632e-01 1.14799950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.610385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:208.33, Y:84.21, Z:11.48 [[ 5.13595301e-01 -8.57675901e-01 -2.47369276e-02 2.08333418e+02] [ 8.56628772e-01 5.14190356e-01 -4.23724625e-02 8.42121510e+01] [ 4.90613296e-02 5.71933703e-04 9.98795604e-01 1.14776615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.640385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.35, Y:84.24, Z:11.48 [[ 5.13019700e-01 -8.58024906e-01 -2.45773747e-02 2.08350739e+02] [ 8.56973659e-01 5.13607570e-01 -4.24666100e-02 8.42350567e+01] [ 4.90605347e-02 7.24044770e-04 9.98795544e-01 1.14789893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.670385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.37, Y:84.25, Z:11.48 [[ 5.12191121e-01 -8.58517340e-01 -2.46623594e-02 2.08366377e+02] [ 8.57469067e-01 5.12784206e-01 -4.24164659e-02 8.42545522e+01] [ 4.90617398e-02 5.78126892e-04 9.98795580e-01 1.14804135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.700385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.39, Y:84.28, Z:11.48 [[ 5.11279082e-01 -8.59068617e-01 -2.43887550e-02 2.08385439e+02] [ 8.58013247e-01 5.11859747e-01 -4.25777835e-02 8.42770208e+01] [ 4.90608596e-02 8.43255244e-04 9.98795435e-01 1.14832651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.730385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.41, Y:84.30, Z:11.48 [[ 5.09544189e-01 -8.60097350e-01 -2.44390726e-02 2.08410253e+02] [ 8.59044573e-01 5.10129472e-01 -4.25481266e-02 8.42993017e+01] [ 4.90626222e-02 6.85897999e-04 9.98795469e-01 1.14841738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.760385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:208.42, Y:84.32, Z:11.49 [[ 5.07489259e-01 -8.61297611e-01 -2.49214170e-02 2.08421492e+02] [ 8.60260050e-01 5.08100802e-01 -4.22637142e-02 8.43194351e+01] [ 4.90642280e-02 9.48157386e-06 9.98795625e-01 1.14860708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.790385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.44, Y:84.35, Z:11.48 [[ 5.03481854e-01 -8.63656800e-01 -2.45551466e-02 2.08440399e+02] [ 8.62611482e-01 5.04080241e-01 -4.24798965e-02 8.43452798e+01] [ 4.90658157e-02 2.06305629e-04 9.98795526e-01 1.14840870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.82038572300002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:208.45, Y:84.36, Z:11.49 [[ 5.02418865e-01 -8.64264455e-01 -2.49446737e-02 2.08454731e+02] [ 8.63231189e-01 5.03037632e-01 -4.22499226e-02 8.43643173e+01] [ 4.90632159e-02 -3.05862124e-04 9.98795628e-01 1.14862085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.85038572300002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:208.47, Y:84.39, Z:11.49 [[ 5.00089223e-01 -8.65624615e-01 -2.45925771e-02 2.08472845e+02] [ 8.64582746e-01 5.00693544e-01 -4.24576375e-02 8.43880737e+01] [ 4.90657207e-02 -2.97109298e-05 9.98795552e-01 1.14875666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.88038572300002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:208.49, Y:84.41, Z:11.49 [[ 4.97911442e-01 -8.66875359e-01 -2.47246546e-02 2.08490638e+02] [ 8.65838865e-01 4.98524843e-01 -4.23797316e-02 8.44089386e+01] [ 4.90637996e-02 -3.06213615e-04 9.98795600e-01 1.14908789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.910385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:208.51, Y:84.43, Z:11.49 [[ 5.00814270e-01 -8.65206381e-01 -2.45557494e-02 2.08511027e+02] [ 8.64162945e-01 5.01415910e-01 -4.24792917e-02 8.44329493e+01] [ 4.90659977e-02 5.40666944e-05 9.98795537e-01 1.14945317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.940385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.52, Y:84.46, Z:11.49 [[ 5.01926364e-01 -8.64551237e-01 -2.49215630e-02 2.08519951e+02] [ 8.63517646e-01 5.02544590e-01 -4.22635876e-02 8.44578506e+01] [ 4.90632336e-02 -3.07000583e-04 9.98795627e-01 1.14916507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.970385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.54, Y:84.48, Z:11.49 [[ 5.06700028e-01 -8.61769613e-01 -2.46620291e-02 2.08536810e+02] [ 8.60725146e-01 5.07299777e-01 -4.24165053e-02 8.44830988e+01] [ 4.90642972e-02 2.65215768e-04 9.98795587e-01 1.14939959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.000385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:208.55, Y:84.51, Z:11.49 [[ 5.06548251e-01 -8.61851797e-01 -2.49068120e-02 2.08545881e+02] [ 8.60814483e-01 5.07160211e-01 -4.22722816e-02 8.45073881e+01] [ 4.90641859e-02 -2.71941606e-05 9.98795627e-01 1.14920606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.030385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.56, Y:84.53, Z:11.50 [[ 5.11600314e-01 -8.58873954e-01 -2.45081613e-02 2.08564840e+02] [ 8.57821748e-01 5.12186498e-01 -4.25069316e-02 8.45315095e+01] [ 4.90608458e-02 7.22925752e-04 9.98795530e-01 1.14968614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.060385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.57, Y:84.55, Z:11.50 [[ 5.11074778e-01 -8.59175711e-01 -2.48931386e-02 2.08574492e+02] [ 8.58134804e-01 5.11680600e-01 -4.22802763e-02 8.45544649e+01] [ 4.90635225e-02 2.46714186e-04 9.98795630e-01 1.14982480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.090385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.59, Y:84.58, Z:11.50 [[ 5.11571343e-01 -8.58890931e-01 -2.45179735e-02 2.08587569e+02] [ 8.57839034e-01 5.12158048e-01 -4.25009027e-02 8.45789915e+01] [ 4.90607173e-02 7.09769129e-04 9.98795546e-01 1.14996015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.120385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.60, Y:84.60, Z:11.50 [[ 5.12261719e-01 -8.58478775e-01 -2.45382211e-02 2.08600615e+02] [ 8.57426976e-01 5.12848581e-01 -4.24889961e-02 8.46039151e+01] [ 4.90602932e-02 7.25753457e-04 9.98795555e-01 1.15006394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.150385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.62, Y:84.63, Z:11.50 [[ 5.14806093e-01 -8.56953411e-01 -2.46076915e-02 2.08619181e+02] [ 8.55901822e-01 5.15393273e-01 -4.24481555e-02 8.46280825e+01] [ 4.90587303e-02 7.90801112e-04 9.98795583e-01 1.15049845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.180385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.63, Y:84.65, Z:11.51 [[ 5.14097783e-01 -8.57371070e-01 -2.48660030e-02 2.08633826e+02] [ 8.56327261e-01 5.14698597e-01 -4.22962966e-02 8.46524942e+01] [ 4.90621180e-02 4.50996059e-04 9.98795627e-01 1.15069117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.210385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.65, Y:84.68, Z:11.51 [[ 5.12483742e-01 -8.58337131e-01 -2.48552472e-02 2.08646705e+02] [ 8.57294149e-01 5.13085988e-01 -4.23026163e-02 8.46770467e+01] [ 4.90627854e-02 3.71145088e-04 9.98795627e-01 1.15071831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.240385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:208.66, Y:84.70, Z:11.50 [[ 5.08619881e-01 -8.60632680e-01 -2.48436470e-02 2.08655769e+02] [ 8.59592083e-01 5.09226240e-01 -4.23094278e-02 8.47018762e+01] [ 4.90639132e-02 1.64013839e-04 9.98795628e-01 1.15040135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.270385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:208.67, Y:84.73, Z:11.51 [[ 5.10054192e-01 -8.59792046e-01 -2.45429914e-02 2.08673369e+02] [ 8.58741913e-01 5.10643990e-01 -4.24858029e-02 8.47266666e+01] [ 4.90616865e-02 5.93966473e-04 9.98795574e-01 1.15064620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.300385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.68, Y:84.75, Z:11.50 [[ 5.06039111e-01 -8.62153051e-01 -2.48301436e-02 2.08683672e+02] [ 8.61113888e-01 5.06647922e-01 -4.23173164e-02 8.47503666e+01] [ 4.90641441e-02 3.26357033e-05 9.98795629e-01 1.15044202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.330385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.70, Y:84.77, Z:11.51 [[ 5.05270661e-01 -8.62611058e-01 -2.45707455e-02 2.08702534e+02] [ 8.61565013e-01 5.05867649e-01 -4.24694011e-02 8.47732843e+01] [ 4.90641203e-02 2.89247674e-04 9.98795589e-01 1.15080714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.360385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:208.72, Y:84.80, Z:11.51 [[ 5.01767439e-01 -8.64646505e-01 -2.48164915e-02 2.08716476e+02] [ 8.63609972e-01 5.02380716e-01 -4.23253158e-02 8.47971487e+01] [ 4.90637631e-02 -1.94304200e-04 9.98795629e-01 1.15094767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.390385723 meters Centerline goodness : 0.999865 Centerline is valid? [True, True] Translation: X:208.73, Y:84.82, Z:11.51 [[ 4.99191273e-01 -8.66136721e-01 -2.48043177e-02 2.08733900e+02] [ 8.65101664e-01 4.99807037e-01 -4.23324489e-02 8.48197529e+01] [ 4.90630610e-02 -3.26267542e-04 9.98795630e-01 1.15125205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.420385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.75, Y:84.84, Z:11.51 [[ 4.97059994e-01 -8.67357914e-01 -2.49321196e-02 2.08745494e+02] [ 8.66328115e-01 4.97684533e-01 -4.22575746e-02 8.48447218e+01] [ 4.90607721e-02 -5.94846372e-04 9.98795618e-01 1.15136310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.450385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.76, Y:84.87, Z:11.51 [[ 4.96730188e-01 -8.67551044e-01 -2.47852241e-02 2.08757937e+02] [ 8.66517186e-01 4.97347957e-01 -4.23435587e-02 8.48684493e+01] [ 4.90620791e-02 -4.43498734e-04 9.98795633e-01 1.15130369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.480385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.77, Y:84.89, Z:11.51 [[ 4.98004781e-01 -8.66820308e-01 -2.47748224e-02 2.08771751e+02] [ 8.65785241e-01 4.98620522e-01 -4.23496438e-02 8.48934926e+01] [ 4.90627661e-02 -3.59350429e-04 9.98795633e-01 1.15120536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.510385723 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:208.78, Y:84.92, Z:11.52 [[ 4.97152024e-01 -8.67309213e-01 -2.47910115e-02 2.08784609e+02] [ 8.66275223e-01 4.97769573e-01 -4.23401773e-02 8.49180507e+01] [ 4.90622371e-02 -4.26334153e-04 9.98795632e-01 1.15155453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.540385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.80, Y:84.94, Z:11.52 [[ 4.98041513e-01 -8.66799733e-01 -2.47562919e-02 2.08799955e+02] [ 8.65764102e-01 4.98656304e-01 -4.23604682e-02 8.49410368e+01] [ 4.90629236e-02 -3.35837134e-04 9.98795633e-01 1.15164222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.57038572300002 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:208.81, Y:84.97, Z:11.52 [[ 4.95734634e-01 -8.68121447e-01 -2.47452362e-02 2.08812139e+02] [ 8.67087133e-01 4.96351637e-01 -4.23669256e-02 8.49667038e+01] [ 4.90619752e-02 -4.53523572e-04 9.98795633e-01 1.15186618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.60038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.82, Y:84.99, Z:11.52 [[ 4.94590855e-01 -8.68773938e-01 -2.47332051e-02 2.08824570e+02] [ 8.67740087e-01 4.95208634e-01 -4.23739480e-02 8.49901326e+01] [ 4.90614783e-02 -5.04226357e-04 9.98795633e-01 1.15168684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.63038572300002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:208.84, Y:85.02, Z:11.52 [[ 4.95721436e-01 -8.68133946e-01 -2.45705095e-02 2.08841478e+02] [ 8.67094581e-01 4.96329919e-01 -4.24687954e-02 8.50152418e+01] [ 4.90636819e-02 -2.52263383e-04 9.98795620e-01 1.15215312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.660385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.85, Y:85.04, Z:11.52 [[ 4.94051029e-01 -8.69081680e-01 -2.47106154e-02 2.08852209e+02] [ 8.68047555e-01 4.94668349e-01 -4.23871179e-02 8.50384715e+01] [ 4.90614270e-02 -5.08590007e-04 9.98795634e-01 1.15205767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.690385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.87, Y:85.06, Z:11.52 [[ 4.93836017e-01 -8.69211408e-01 -2.44441580e-02 2.08866966e+02] [ 8.68169723e-01 4.94440576e-01 -4.25423118e-02 8.50631423e+01] [ 4.90644463e-02 -2.12752070e-04 9.98795592e-01 1.15237418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.720385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.88, Y:85.09, Z:11.53 [[ 4.95470027e-01 -8.68280384e-01 -2.44668530e-02 2.08883558e+02] [ 8.67238216e-01 4.96073737e-01 -4.25290993e-02 8.50870490e+01] [ 4.90645459e-02 -1.46695964e-04 9.98795599e-01 1.15304698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.750385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.90, Y:85.11, Z:11.53 [[ 4.94320241e-01 -8.68931150e-01 -2.46202357e-02 2.08895603e+02] [ 8.67894209e-01 4.94932829e-01 -4.24398090e-02 8.51138423e+01] [ 4.90626350e-02 -3.88903353e-04 9.98795628e-01 1.15292979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.780385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.91, Y:85.14, Z:11.53 [[ 4.94297161e-01 -8.68942702e-01 -2.46758289e-02 2.08907721e+02] [ 8.67907388e-01 4.94912491e-01 -4.24074609e-02 8.51381729e+01] [ 4.90620296e-02 -4.54446716e-04 9.98795630e-01 1.15294721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.810385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.92, Y:85.16, Z:11.53 [[ 4.96606195e-01 -8.67630453e-01 -2.44884425e-02 2.08922721e+02] [ 8.66588120e-01 4.97209599e-01 -4.25164243e-02 8.51635709e+01] [ 4.90644332e-02 -1.07473658e-04 9.98795610e-01 1.15304105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.840385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.94, Y:85.19, Z:11.53 [[ 4.98138375e-01 -8.66744912e-01 -2.47268446e-02 2.08938326e+02] [ 8.65708355e-01 4.98751611e-01 -4.23777491e-02 8.51873426e+01] [ 4.90632520e-02 -2.96252916e-04 9.98795630e-01 1.15324955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.870385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.95, Y:85.21, Z:11.54 [[ 4.98069653e-01 -8.66786542e-01 -2.46518188e-02 2.08952530e+02] [ 8.65747874e-01 4.98679302e-01 -4.24213744e-02 8.52123521e+01] [ 4.90636282e-02 -2.13460463e-04 9.98795632e-01 1.15359579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.900385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.97, Y:85.24, Z:11.54 [[ 4.97564142e-01 -8.67076621e-01 -2.46588390e-02 2.08966643e+02] [ 8.66038511e-01 4.98174740e-01 -4.24172933e-02 8.52365968e+01] [ 4.90634540e-02 -2.50180080e-04 9.98795632e-01 1.15377840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.930385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.98, Y:85.26, Z:11.54 [[ 4.97801322e-01 -8.66940826e-01 -2.46464520e-02 2.08981811e+02] [ 8.65902193e-01 4.98411030e-01 -4.24244895e-02 8.52604953e+01] [ 4.90635855e-02 -2.22449827e-04 9.98795632e-01 1.15413960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.960385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.99, Y:85.28, Z:11.54 [[ 4.96229743e-01 -8.67841689e-01 -2.46342100e-02 2.08994224e+02] [ 8.66803810e-01 4.96840733e-01 -4.24315968e-02 8.52842192e+01] [ 4.90631876e-02 -2.97206708e-04 9.98795632e-01 1.15433076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.990385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:209.01, Y:85.31, Z:11.54 [[ 4.95798989e-01 -8.68088169e-01 -2.46230509e-02 2.09008121e+02] [ 8.67050272e-01 4.96409948e-01 -4.24380714e-02 8.53081872e+01] [ 4.90631151e-02 -3.08670119e-04 9.98795632e-01 1.15432576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.020385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.02, Y:85.33, Z:11.55 [[ 4.95933023e-01 -8.68011417e-01 -2.46295991e-02 2.09021158e+02] [ 8.66973614e-01 4.96544142e-01 -4.24342728e-02 8.53312466e+01] [ 4.90631164e-02 -3.08655383e-04 9.98795632e-01 1.15457910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.050385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.04, Y:85.36, Z:11.55 [[ 4.96250839e-01 -8.67831436e-01 -2.45703709e-02 2.09036391e+02] [ 8.66791710e-01 4.96858681e-01 -4.24686150e-02 8.53550011e+01] [ 4.90636013e-02 -2.22307978e-04 9.98795632e-01 1.15462671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.080385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.05, Y:85.38, Z:11.55 [[ 4.94720784e-01 -8.68705538e-01 -2.45363665e-02 2.09051005e+02] [ 8.67665907e-01 4.95328795e-01 -4.24883288e-02 8.53804682e+01] [ 4.90634154e-02 -2.69509352e-04 9.98795629e-01 1.15483554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.110385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:209.06, Y:85.40, Z:11.55 [[ 4.94901350e-01 -8.68600909e-01 -2.45990858e-02 2.09064208e+02] [ 8.67562953e-01 4.95512211e-01 -4.24519858e-02 8.54030850e+01] [ 4.90629809e-02 -3.31710405e-04 9.98795632e-01 1.15488086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.140385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.08, Y:85.43, Z:11.55 [[ 4.95083587e-01 -8.68500713e-01 -2.44694263e-02 2.09077712e+02] [ 8.67458915e-01 4.95687887e-01 -4.25270487e-02 8.54275196e+01] [ 4.90639703e-02 -1.71778129e-04 9.98795623e-01 1.15488007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.170385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.09, Y:85.45, Z:11.55 [[ 4.93326316e-01 -8.69500304e-01 -2.44615256e-02 2.09092501e+02] [ 8.68459503e-01 4.93932336e-01 -4.25316259e-02 8.54548477e+01] [ 4.90636002e-02 -2.61873982e-04 9.98795622e-01 1.15514123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.200385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.11, Y:85.48, Z:11.55 [[ 4.93055252e-01 -8.69646644e-01 -2.47231216e-02 2.09106390e+02] [ 8.68613579e-01 4.93674365e-01 -4.23800941e-02 8.54786692e+01] [ 4.90608779e-02 -5.79111164e-04 9.98795622e-01 1.15528926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.230385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.12, Y:85.50, Z:11.55 [[ 4.91551719e-01 -8.70497783e-01 -2.47086682e-02 2.09118605e+02] [ 8.69465368e-01 4.92171913e-01 -4.23884603e-02 8.55036972e+01] [ 4.90599732e-02 -6.47210791e-04 9.98795625e-01 1.15547561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.260385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.13, Y:85.53, Z:11.56 [[ 4.92225190e-01 -8.70118256e-01 -2.46694731e-02 2.09134005e+02] [ 8.69084227e-01 4.92842675e-01 -4.24111355e-02 8.55279176e+01] [ 4.90608724e-02 -5.64020730e-04 9.98795631e-01 1.15569412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.290385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.14, Y:85.55, Z:11.56 [[ 4.92062650e-01 -8.70206996e-01 -2.47817210e-02 2.09144061e+02] [ 8.69176340e-01 4.92685793e-01 -4.23461898e-02 8.55486191e+01] [ 4.90595525e-02 -7.02707165e-04 9.98795608e-01 1.15586576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.32038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.16, Y:85.58, Z:11.56 [[ 4.92274447e-01 -8.70099865e-01 -2.43329698e-02 2.09160010e+02] [ 8.69056130e-01 4.92875436e-01 -4.26057207e-02 8.55757982e+01] [ 4.90643549e-02 -1.73008934e-04 9.98795604e-01 1.15576675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.35038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.17, Y:85.60, Z:11.56 [[ 4.91433665e-01 -8.70563120e-01 -2.47549367e-02 2.09170541e+02] [ 8.69532133e-01 4.92056251e-01 -4.23617265e-02 8.55997557e+01] [ 4.90593782e-02 -7.07234427e-04 9.98795613e-01 1.15583790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.38038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.19, Y:85.62, Z:11.56 [[ 4.93062971e-01 -8.69647260e-01 -2.45468691e-02 2.09185048e+02] [ 8.68609108e-01 4.93673477e-01 -4.24819535e-02 8.56248054e+01] [ 4.90624527e-02 -3.75355825e-04 9.98795642e-01 1.15609126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.410385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.20, Y:85.65, Z:11.56 [[ 4.91467631e-01 -8.70550124e-01 -2.45367109e-02 2.09196860e+02] [ 8.69512800e-01 4.92079543e-01 -4.24878199e-02 8.56511456e+01] [ 4.90617904e-02 -4.53596000e-04 9.98795642e-01 1.15595261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.440385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:209.21, Y:85.68, Z:11.56 [[ 4.91047635e-01 -8.70787386e-01 -2.45264801e-02 2.09211128e+02] [ 8.69750063e-01 4.91659548e-01 -4.24937249e-02 8.56757784e+01] [ 4.90616778e-02 -4.65464504e-04 9.98795642e-01 1.15623900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.470385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:209.23, Y:85.70, Z:11.56 [[ 4.91724135e-01 -8.70405883e-01 -2.45147845e-02 2.09229173e+02] [ 8.69367748e-01 4.92334671e-01 -4.25004711e-02 8.57016183e+01] [ 4.90621384e-02 -4.13855593e-04 9.98795642e-01 1.15638741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.500385723 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:209.24, Y:85.73, Z:11.57 [[ 4.90369068e-01 -8.71162242e-01 -2.47896350e-02 2.09241734e+02] [ 8.70133013e-01 4.90994600e-01 -4.23419591e-02 8.57259809e+01] [ 4.90582929e-02 -8.07092786e-04 9.98795591e-01 1.15670226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.530385723 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:209.25, Y:85.75, Z:11.57 [[ 4.88384284e-01 -8.72276714e-01 -2.47815687e-02 2.09251247e+02] [ 8.71248677e-01 4.89011767e-01 -4.23466087e-02 8.57497778e+01] [ 4.90564394e-02 -9.09490739e-04 9.98795594e-01 1.15682404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.560385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:209.26, Y:85.78, Z:11.57 [[ 4.88284052e-01 -8.72341301e-01 -2.44813952e-02 2.09263937e+02] [ 8.71304635e-01 4.88897055e-01 -4.25194429e-02 8.57750264e+01] [ 4.90603481e-02 -5.69187242e-04 9.98795654e-01 1.15696884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.590385723 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:209.28, Y:85.80, Z:11.57 [[ 4.90319112e-01 -8.71199404e-01 -2.44697106e-02 2.09280140e+02] [ 8.70160975e-01 4.90929122e-01 -4.25261662e-02 8.58019071e+01] [ 4.90616642e-02 -4.41195194e-04 9.98795654e-01 1.15683478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.620385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:209.30, Y:85.83, Z:11.57 [[ 4.91186815e-01 -8.70702454e-01 -2.47537904e-02 2.09295307e+02] [ 8.69671598e-01 4.91809637e-01 -4.23626381e-02 8.58280076e+01] [ 4.90594056e-02 -7.19699174e-04 9.98795603e-01 1.15692928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.650385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:209.31, Y:85.85, Z:11.57 [[ 4.90343931e-01 -8.71174842e-01 -2.48440125e-02 2.09308000e+02] [ 8.70147206e-01 4.90972134e-01 -4.23107972e-02 8.58537873e+01] [ 4.90578199e-02 -8.71105500e-04 9.98795560e-01 1.15725573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.680385723 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:209.32, Y:85.88, Z:11.57 [[ 4.90312358e-01 -8.71195172e-01 -2.47540855e-02 2.09320221e+02] [ 8.70164952e-01 4.90936229e-01 -4.23624216e-02 8.58779355e+01] [ 4.90586145e-02 -7.69318802e-04 9.98795605e-01 1.15723080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.710385723 meters Centerline goodness : 0.999492 Centerline is valid? [True, True] Translation: X:209.33, Y:85.90, Z:11.57 [[ 4.89561242e-01 -8.71616668e-01 -2.47825365e-02 2.09331440e+02] [ 8.70587812e-01 4.90187383e-01 -4.23460844e-02 8.59028428e+01] [ 4.90576397e-02 -8.44372569e-04 9.98795592e-01 1.15735787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.740385723 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:209.34, Y:85.93, Z:11.58 [[ 4.88117988e-01 -8.72429728e-01 -2.46414061e-02 2.09340998e+02] [ 8.71397819e-01 4.88738976e-01 -4.24270574e-02 8.59266860e+01] [ 4.90578418e-02 -7.63057621e-04 9.98795648e-01 1.15783189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.770385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:209.35, Y:85.95, Z:11.58 [[ 4.88010089e-01 -8.72496924e-01 -2.43981656e-02 2.09352106e+02] [ 8.71458098e-01 4.88619359e-01 -4.25664797e-02 8.59522401e+01] [ 4.90605387e-02 -4.89107395e-04 9.98795687e-01 1.15813039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.800385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.36, Y:85.98, Z:11.58 [[ 4.88311864e-01 -8.72328395e-01 -2.43863842e-02 2.09364114e+02] [ 8.71289021e-01 4.88920200e-01 -4.25732282e-02 8.59761588e+01] [ 4.90608317e-02 -4.58576407e-04 9.98795687e-01 1.15820814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.830385723 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:209.38, Y:86.00, Z:11.58 [[ 4.88726242e-01 -8.72096592e-01 -2.43761076e-02 2.09376548e+02] [ 8.71056637e-01 4.89333583e-01 -4.25791115e-02 8.60003083e+01] [ 4.90611461e-02 -4.23441136e-04 9.98795687e-01 1.15816224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.860385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:209.39, Y:86.03, Z:11.58 [[ 4.88840963e-01 -8.72032551e-01 -2.43668416e-02 2.09388642e+02] [ 8.70992252e-01 4.89447714e-01 -4.25844135e-02 8.60252100e+01] [ 4.90612897e-02 -4.06324577e-04 9.98795687e-01 1.15849723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.890385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.40, Y:86.05, Z:11.59 [[ 4.89291151e-01 -8.71780356e-01 -2.43553083e-02 2.09398365e+02] [ 8.70739416e-01 4.89896802e-01 -4.25910088e-02 8.60525484e+01] [ 4.90615924e-02 -3.67723209e-04 9.98795687e-01 1.15864162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.920385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.41, Y:86.08, Z:11.59 [[ 4.88997548e-01 -8.71945396e-01 -2.43438840e-02 2.09410372e+02] [ 8.70904335e-01 4.89602991e-01 -4.25975376e-02 8.60779561e+01] [ 4.90615652e-02 -3.71102666e-04 9.98795687e-01 1.15883052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.950385723 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:209.42, Y:86.10, Z:11.59 [[ 4.87484643e-01 -8.72792457e-01 -2.43321007e-02 2.09422595e+02] [ 8.71752112e-01 4.88091315e-01 -4.26042672e-02 8.61026137e+01] [ 4.90609701e-02 -4.42634220e-04 9.98795687e-01 1.15923189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.980385723 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:209.44, Y:86.13, Z:11.60 [[ 4.86095747e-01 -8.73567080e-01 -2.43203901e-02 2.09436477e+02] [ 8.72527368e-01 4.86703502e-01 -4.26109512e-02 8.61274032e+01] [ 4.90603432e-02 -5.07203793e-04 9.98795688e-01 1.15956690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.010385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:209.45, Y:86.15, Z:11.60 [[ 4.84671710e-01 -8.74358291e-01 -2.43086725e-02 2.09448331e+02] [ 8.73319236e-01 4.85280588e-01 -4.26176347e-02 8.61513379e+01] [ 4.90596092e-02 -5.73669444e-04 9.98795688e-01 1.15976921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.040385723 meters Centerline goodness : 0.999587 Centerline is valid? [True, True] Translation: X:209.46, Y:86.18, Z:11.60 [[ 4.83968836e-01 -8.74747830e-01 -2.42981438e-02 2.09460286e+02] [ 8.73708964e-01 4.84578036e-01 -4.26236367e-02 8.61793362e+01] [ 4.90592806e-02 -6.00994193e-04 9.98795688e-01 1.15994994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.07038572300002 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:209.47, Y:86.20, Z:11.60 [[ 4.81955516e-01 -8.75852446e-01 -2.45229000e-02 2.09468494e+02] [ 8.74821459e-01 4.82578022e-01 -4.24955053e-02 8.62043813e+01] [ 4.90540048e-02 -9.72215920e-04 9.98795654e-01 1.15995230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.10038572300002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:209.48, Y:86.23, Z:11.60 [[ 4.81362115e-01 -8.76185446e-01 -2.42812353e-02 2.09480036e+02] [ 8.75147919e-01 4.81973582e-01 -4.26331450e-02 8.62299126e+01] [ 4.90574551e-02 -7.27691709e-04 9.98795693e-01 1.16011042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.13038572300002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:209.49, Y:86.26, Z:11.60 [[ 4.80941810e-01 -8.76416543e-01 -2.42696914e-02 2.09492101e+02] [ 8.75378979e-01 4.81553214e-01 -4.26397155e-02 8.62556388e+01] [ 4.90573000e-02 -7.37955769e-04 9.98795693e-01 1.16026175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.160385723 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:209.50, Y:86.28, Z:11.60 [[ 4.79819799e-01 -8.77031642e-01 -2.42581727e-02 2.09500967e+02] [ 8.75994531e-01 4.80431971e-01 -4.26462676e-02 8.62816286e+01] [ 4.90565278e-02 -7.87503080e-04 9.98795693e-01 1.16039881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.190385723 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:209.51, Y:86.31, Z:11.61 [[ 4.78990687e-01 -8.77485023e-01 -2.42478015e-02 2.09512593e+02] [ 8.76448192e-01 4.79603335e-01 -4.26521637e-02 8.63071169e+01] [ 4.90559613e-02 -8.21952604e-04 9.98795693e-01 1.16052716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.220385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:209.52, Y:86.33, Z:11.61 [[ 4.77993399e-01 -8.78028987e-01 -2.42365273e-02 2.09523769e+02] [ 8.76992529e-01 4.78606677e-01 -4.26585691e-02 8.63319150e+01] [ 4.90552240e-02 -8.64738957e-04 9.98795693e-01 1.16059366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.250385723 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:209.53, Y:86.36, Z:11.61 [[ 4.76431089e-01 -8.78877965e-01 -2.42268629e-02 2.09531877e+02] [ 8.77842321e-01 4.77045740e-01 -4.26640571e-02 8.63592537e+01] [ 4.90538214e-02 -9.40882373e-04 9.98795694e-01 1.16058261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.280385723 meters Centerline goodness : 0.999720 Centerline is valid? [True, True] Translation: X:209.55, Y:86.39, Z:11.60 [[ 4.76947113e-01 -8.78598335e-01 -2.42160598e-02 2.09545868e+02] [ 8.77562020e-01 4.77560631e-01 -4.26701880e-02 8.63867561e+01] [ 4.90545929e-02 -8.99671384e-04 9.98795694e-01 1.16049455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.310385723 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:209.55, Y:86.41, Z:11.61 [[ 4.75521058e-01 -8.79361121e-01 -2.45711854e-02 2.09551806e+02] [ 8.78336111e-01 4.76153437e-01 -4.24685900e-02 8.64109853e+01] [ 4.90448813e-02 -1.38705058e-03 9.98795613e-01 1.16088579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.340385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.56, Y:86.44, Z:11.61 [[ 4.74927529e-01 -8.79692177e-01 -2.41974203e-02 2.09562855e+02] [ 8.78656750e-01 4.75542523e-01 -4.26804988e-02 8.64354009e+01] [ 4.90526032e-02 -9.91082861e-04 9.98795705e-01 1.16102271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.370385723 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:209.57, Y:86.46, Z:11.61 [[ 4.74395746e-01 -8.79979388e-01 -2.41858127e-02 2.09574570e+02] [ 8.78943998e-01 4.75010803e-01 -4.26870755e-02 8.64611435e+01] [ 4.90522689e-02 -1.00740791e-03 9.98795705e-01 1.16149159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.400385723 meters Centerline goodness : 0.999337 Centerline is valid? [True, True] Translation: X:209.59, Y:86.49, Z:11.62 [[ 4.73969826e-01 -8.80209188e-01 -2.41741253e-02 2.09585611e+02] [ 8.79173760e-01 4.74584817e-01 -4.26936932e-02 8.64901889e+01] [ 4.90520539e-02 -1.01773425e-03 9.98795705e-01 1.16152099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.430385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:209.59, Y:86.51, Z:11.62 [[ 4.72834276e-01 -8.80809801e-01 -2.45324507e-02 2.09594372e+02] [ 8.79785581e-01 4.73467916e-01 -4.24907549e-02 8.65133233e+01] [ 4.90416017e-02 -1.49221107e-03 9.98795622e-01 1.16188441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.460385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.61, Y:86.54, Z:11.62 [[ 4.72654452e-01 -8.80916750e-01 -2.41546684e-02 2.09606841e+02] [ 8.79881693e-01 4.73270046e-01 -4.27044430e-02 8.65396317e+01] [ 4.90507402e-02 -1.06880546e-03 9.98795716e-01 1.16207822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.490385723 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:209.62, Y:86.57, Z:11.62 [[ 4.71424298e-01 -8.81574965e-01 -2.41808049e-02 2.09615801e+02] [ 8.80541524e-01 4.72042602e-01 -4.26896635e-02 8.65681273e+01] [ 4.90485087e-02 -1.16725810e-03 9.98795716e-01 1.16151372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.520385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:209.63, Y:86.59, Z:11.62 [[ 4.72304295e-01 -8.81102928e-01 -2.42132693e-02 2.09626187e+02] [ 8.80069807e-01 4.72923138e-01 -4.26713139e-02 8.65936852e+01] [ 4.90488349e-02 -1.15552240e-03 9.98795713e-01 1.16163526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.550385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.64, Y:86.62, Z:11.62 [[ 4.75265704e-01 -8.79513571e-01 -2.40497380e-02 2.09639344e+02] [ 8.78473696e-01 4.75873128e-01 -4.27636648e-02 8.66177980e+01] [ 4.90558476e-02 -8.02958945e-04 9.98795714e-01 1.16242126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.580385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.65, Y:86.65, Z:11.62 [[ 4.74543825e-01 -8.79901270e-01 -2.41228685e-02 2.09650593e+02] [ 8.78863985e-01 4.75155654e-01 -4.27223724e-02 8.66453204e+01] [ 4.90535871e-02 -9.27082361e-04 9.98795718e-01 1.16212661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.610385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.66, Y:86.67, Z:11.63 [[ 4.79329164e-01 -8.77303079e-01 -2.41425088e-02 2.09661505e+02] [ 8.76263034e-01 4.79936290e-01 -4.27112852e-02 8.66706108e+01] [ 4.90576082e-02 -6.82423396e-04 9.98795718e-01 1.16256893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.640385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.67, Y:86.70, Z:11.63 [[ 4.80245320e-01 -8.76802855e-01 -2.41078105e-02 2.09672940e+02] [ 8.75761194e-01 4.80849669e-01 -4.27308613e-02 8.66957198e+01] [ 4.90587739e-02 -5.91388732e-04 9.98795718e-01 1.16261942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.670385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.68, Y:86.72, Z:11.63 [[ 4.80728345e-01 -8.76538404e-01 -2.40973877e-02 2.09684758e+02] [ 8.75496117e-01 4.81331612e-01 -4.27367383e-02 8.67218476e+01] [ 4.90592268e-02 -5.52407873e-04 9.98795718e-01 1.16269498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.700385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.69, Y:86.75, Z:11.63 [[ 4.80852674e-01 -8.76470516e-01 -2.40861143e-02 2.09694128e+02] [ 8.75427825e-01 4.81455244e-01 -4.27430909e-02 8.67471732e+01] [ 4.90594450e-02 -5.32525097e-04 9.98795718e-01 1.16267519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.730385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.71, Y:86.77, Z:11.63 [[ 4.80385931e-01 -8.76726708e-01 -2.40756377e-02 2.09707256e+02] [ 8.75684043e-01 4.80988545e-01 -4.27489913e-02 8.67720129e+01] [ 4.90592883e-02 -5.46637764e-04 9.98795719e-01 1.16290259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.760385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.72, Y:86.80, Z:11.63 [[ 4.79885549e-01 -8.77001017e-01 -2.40639913e-02 2.09721505e+02] [ 8.75958368e-01 4.80488190e-01 -4.27555462e-02 8.67959693e+01] [ 4.90591211e-02 -5.61285801e-04 9.98795719e-01 1.16320493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.790385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.73, Y:86.82, Z:11.63 [[ 4.79832214e-01 -8.77030521e-01 -2.40522726e-02 2.09734426e+02] [ 8.75987578e-01 4.80434347e-01 -4.27621375e-02 8.68202656e+01] [ 4.90592376e-02 -5.50840903e-04 9.98795719e-01 1.16323258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.82038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.75, Y:86.85, Z:11.63 [[ 4.79887947e-01 -8.77000315e-01 -2.40417450e-02 2.09746356e+02] [ 8.75957038e-01 4.80489501e-01 -4.27680556e-02 8.68456442e+01] [ 4.90594042e-02 -5.35661368e-04 9.98795719e-01 1.16331750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.85038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.76, Y:86.87, Z:11.63 [[ 4.80579855e-01 -8.76621667e-01 -2.40303215e-02 2.09757340e+02] [ 8.75577595e-01 4.81180028e-01 -4.27744732e-02 8.68701504e+01] [ 4.90599407e-02 -4.83861006e-04 9.98795719e-01 1.16334930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.88038572300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.77, Y:86.90, Z:11.64 [[ 4.82574042e-01 -8.75525675e-01 -2.40226212e-02 2.09769207e+02] [ 8.74480025e-01 4.83171460e-01 -4.27787973e-02 8.68964901e+01] [ 4.90609804e-02 -3.63365226e-04 9.98795719e-01 1.16352321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.910385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.78, Y:86.92, Z:11.64 [[ 4.83421743e-01 -8.75058179e-01 -2.40125301e-02 2.09782554e+02] [ 8.74011670e-01 4.84017656e-01 -4.27844609e-02 8.69206100e+01] [ 4.90613810e-02 -3.04292822e-04 9.98795719e-01 1.16380388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.940385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.80, Y:86.94, Z:11.64 [[ 4.84195021e-01 -8.74630868e-01 -2.40005559e-02 2.09795924e+02] [ 8.73583500e-01 4.84789422e-01 -4.27911769e-02 8.69443312e+01] [ 4.90616998e-02 -2.47214804e-04 9.98795719e-01 1.16388817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.970385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.81, Y:86.97, Z:11.64 [[ 4.85676166e-01 -8.73809456e-01 -2.39936965e-02 2.09809562e+02] [ 8.72760892e-01 4.86268456e-01 -4.27950228e-02 8.69693742e+01] [ 4.90620733e-02 -1.56237387e-04 9.98795719e-01 1.16414018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.00038572299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.82, Y:86.99, Z:11.64 [[ 4.87146803e-01 -8.72990719e-01 -2.39832769e-02 2.09822147e+02] [ 8.71940872e-01 4.87736816e-01 -4.28008613e-02 8.69926208e+01] [ 4.90622818e-02 -6.16966353e-05 9.98795719e-01 1.16401634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.030385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.84, Y:87.02, Z:11.64 [[ 4.86757388e-01 -8.73212547e-01 -2.38137234e-02 2.09835550e+02] [ 8.72158308e-01 4.87339549e-01 -4.28958059e-02 8.70189383e+01] [ 4.90625252e-02 1.10513748e-04 9.98795703e-01 1.16430129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.060385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.85, Y:87.04, Z:11.64 [[ 4.88727572e-01 -8.72106425e-01 -2.39946682e-02 2.09847513e+02] [ 8.71055823e-01 4.89316241e-01 -4.27945017e-02 8.70413356e+01] [ 4.90623407e-02 1.41573976e-05 9.98795718e-01 1.16424799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.090385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.86, Y:87.07, Z:11.64 [[ 4.88571700e-01 -8.72201702e-01 -2.37041155e-02 2.09861258e+02] [ 8.71143285e-01 4.89146274e-01 -4.29569567e-02 8.70663072e+01] [ 4.90619105e-02 3.37872280e-04 9.98795682e-01 1.16437831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.120385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.88, Y:87.09, Z:11.65 [[ 4.87136609e-01 -8.73004062e-01 -2.37029864e-02 2.09876657e+02] [ 8.71946561e-01 4.87712867e-01 -4.29575879e-02 8.70934873e+01] [ 4.90624002e-02 2.58476163e-04 9.98795682e-01 1.16458842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.150385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.89, Y:87.12, Z:11.65 [[ 4.86154011e-01 -8.73545150e-01 -2.39405154e-02 2.09886862e+02] [ 8.72494797e-01 4.86743121e-01 -4.28248032e-02 8.71159197e+01] [ 4.90622803e-02 -6.85252367e-05 9.98795719e-01 1.16461826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.18038572300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.90, Y:87.14, Z:11.65 [[ 4.85394804e-01 -8.73978262e-01 -2.35346930e-02 2.09900947e+02] [ 8.72917338e-01 4.85964889e-01 -4.30516888e-02 8.71412368e+01] [ 4.90632746e-02 3.53224449e-04 9.98795610e-01 1.16482542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.210385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.92, Y:87.17, Z:11.65 [[ 4.89284669e-01 -8.71804190e-01 -2.36213200e-02 2.09919508e+02] [ 8.70743067e-01 4.89854295e-01 -4.30032624e-02 8.71654407e+01] [ 4.90614294e-02 4.72736430e-04 9.98795651e-01 1.16527334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.24038572300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.93, Y:87.19, Z:11.65 [[ 4.90283497e-01 -8.71234092e-01 -2.39426439e-02 2.09933479e+02] [ 8.70181020e-01 4.90867733e-01 -4.28236142e-02 8.71900380e+01] [ 4.90620640e-02 1.61277008e-04 9.98795719e-01 1.16540092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.270385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.95, Y:87.21, Z:11.65 [[ 4.93185890e-01 -8.69594731e-01 -2.39307640e-02 2.09946552e+02] [ 8.68539395e-01 4.93766027e-01 -4.28302520e-02 8.72140947e+01] [ 4.90611597e-02 3.38464666e-04 9.98795719e-01 1.16540605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.300385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.96, Y:87.24, Z:11.66 [[ 4.94640513e-01 -8.68768434e-01 -2.39201140e-02 2.09960776e+02] [ 8.67711841e-01 4.95218358e-01 -4.28361990e-02 8.72386856e+01] [ 4.90604171e-02 4.32753321e-04 9.98795719e-01 1.16564910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.330385723 meters Centerline goodness : 0.994954 Centerline is valid? [True, True] Translation: X:209.98, Y:87.26, Z:11.66 [[ 4.96749371e-01 -8.67563550e-01 -2.39489059e-02 2.09975402e+02] [ 8.66506329e-01 4.97326068e-01 -4.28201213e-02 8.72621001e+01] [ 4.90595917e-02 5.18989761e-04 9.98795718e-01 1.16554482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.360385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.99, Y:87.28, Z:11.66 [[ 4.96493024e-01 -8.67711421e-01 -2.39074647e-02 2.09988619e+02] [ 8.66653259e-01 4.97067989e-01 -4.28432465e-02 8.72849114e+01] [ 4.90592097e-02 5.51890881e-04 9.98795720e-01 1.16591293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.390385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.00, Y:87.31, Z:11.66 [[ 4.93589689e-01 -8.69366702e-01 -2.38904972e-02 2.09999083e+02] [ 8.68310011e-01 4.94167351e-01 -4.28527059e-02 8.73069463e+01] [ 4.90606194e-02 4.07295941e-04 9.98795720e-01 1.16555373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.420385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.02, Y:87.33, Z:11.66 [[ 4.96970581e-01 -8.67451834e-01 -2.33999344e-02 2.10019784e+02] [ 8.66379935e-01 4.97519821e-01 -4.31258150e-02 8.73314960e+01] [ 4.90514985e-02 1.15902771e-03 9.98795578e-01 1.16607135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.450385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.04, Y:87.35, Z:11.66 [[ 4.97706939e-01 -8.67016508e-01 -2.38783852e-02 2.10036476e+02] [ 8.65956775e-01 4.98278985e-01 -4.28592619e-02 8.73540874e+01] [ 4.90577851e-02 6.53702574e-04 9.98795728e-01 1.16625005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.480385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.05, Y:87.38, Z:11.66 [[ 4.97886452e-01 -8.66913765e-01 -2.38664002e-02 2.10051491e+02] [ 8.65853594e-01 4.98457687e-01 -4.28659347e-02 8.73779283e+01] [ 4.90574595e-02 6.77559749e-04 9.98795728e-01 1.16644491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.510385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.07, Y:87.40, Z:11.67 [[ 4.98404518e-01 -8.66616357e-01 -2.38542708e-02 2.10066252e+02] [ 8.65555523e-01 4.98974518e-01 -4.28726835e-02 8.74008269e+01] [ 4.90568421e-02 7.20743342e-04 9.98795728e-01 1.16660115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.540385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:210.08, Y:87.42, Z:11.67 [[ 4.99468372e-01 -8.66003875e-01 -2.38460312e-02 2.10081587e+02] [ 8.64942124e-01 5.00036662e-01 -4.28772659e-02 8.74248784e+01] [ 4.90557683e-02 7.90401376e-04 9.98795728e-01 1.16660200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.570385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.10, Y:87.45, Z:11.67 [[ 5.00315018e-01 -8.65514757e-01 -2.38555789e-02 2.10096579e+02] [ 8.64452702e-01 5.00882742e-01 -4.28719585e-02 8.74483934e+01] [ 4.90551605e-02 8.27465062e-04 9.98795728e-01 1.16668678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.600385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.11, Y:87.47, Z:11.67 [[ 4.99251659e-01 -8.66129548e-01 -2.38198734e-02 2.10111228e+02] [ 8.65067247e-01 4.99818920e-01 -4.28917944e-02 8.74720591e+01] [ 4.90554739e-02 8.08007264e-04 9.98795729e-01 1.16689584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.630385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.13, Y:87.49, Z:11.67 [[ 4.97060133e-01 -8.67389280e-01 -2.38130379e-02 2.10129285e+02] [ 8.66328235e-01 4.97629740e-01 -4.28955891e-02 8.74935322e+01] [ 4.90572500e-02 6.91780102e-04 9.98795729e-01 1.16696080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.660385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:210.15, Y:87.52, Z:11.67 [[ 4.95685932e-01 -8.68175675e-01 -2.38002803e-02 2.10145261e+02] [ 8.67115194e-01 4.96256589e-01 -4.29026664e-02 8.75168218e+01] [ 4.90580973e-02 6.28663557e-04 9.98795729e-01 1.16737846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.690385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:210.16, Y:87.54, Z:11.67 [[ 4.93333271e-01 -8.69515167e-01 -2.37835673e-02 2.10161650e+02] [ 8.68455789e-01 4.93905972e-01 -4.29119319e-02 8.75405788e+01] [ 4.90594216e-02 5.14907033e-04 9.98795729e-01 1.16728524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.720385723 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:210.18, Y:87.56, Z:11.68 [[ 4.89677163e-01 -8.71578076e-01 -2.38313570e-02 2.10178463e+02] [ 8.70522398e-01 4.90256660e-01 -4.28854512e-02 8.75635962e+01] [ 4.90615005e-02 2.54296024e-04 9.98795727e-01 1.16760384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.750385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:210.19, Y:87.59, Z:11.68 [[ 4.88137267e-01 -8.72442271e-01 -2.38011016e-02 2.10193313e+02] [ 8.71386801e-01 4.88717141e-01 -4.29022065e-02 8.75868033e+01] [ 4.90617048e-02 2.02200109e-04 9.98795729e-01 1.16766654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.780385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.21, Y:87.61, Z:11.68 [[ 4.87175076e-01 -8.72980324e-01 -2.37865545e-02 2.10208156e+02] [ 8.71925101e-01 4.87755397e-01 -4.29102578e-02 8.76099306e+01] [ 4.90618311e-02 1.64714094e-04 9.98795730e-01 1.16797805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.810385723 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:210.23, Y:87.63, Z:11.68 [[ 4.84051828e-01 -8.74717432e-01 -2.37327369e-02 2.10227987e+02] [ 8.73662831e-01 4.84633276e-01 -4.29400300e-02 8.76323408e+01] [ 4.90620668e-02 5.07899217e-05 9.98795730e-01 1.16788451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.840385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:210.24, Y:87.65, Z:11.68 [[ 4.83712769e-01 -8.74902686e-01 -2.38169538e-02 2.10242203e+02] [ 8.73850597e-01 4.84298757e-01 -4.28934484e-02 8.76534471e+01] [ 4.90621143e-02 -6.43505334e-05 9.98795727e-01 1.16832238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.870385723 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:210.26, Y:87.68, Z:11.68 [[ 4.81792920e-01 -8.75966458e-01 -2.36293397e-02 2.10258230e+02] [ 8.74910558e-01 4.82372016e-01 -4.29971339e-02 8.76784560e+01] [ 4.90621793e-02 4.21559271e-05 9.98795725e-01 1.16838798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.900385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.27, Y:87.70, Z:11.68 [[ 4.81969071e-01 -8.75864626e-01 -2.38111462e-02 2.10274024e+02] [ 8.74813546e-01 4.82556869e-01 -4.28967108e-02 8.77022693e+01] [ 4.90619437e-02 -1.55425359e-04 9.98795726e-01 1.16829892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.93038572300003 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:210.29, Y:87.73, Z:11.68 [[ 4.81089870e-01 -8.76348699e-01 -2.37801298e-02 2.10287764e+02] [ 8.75297363e-01 4.81677205e-01 -4.29138318e-02 8.77261928e+01] [ 4.90618271e-02 -1.69275124e-04 9.98795729e-01 1.16830724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.960385723 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:210.30, Y:87.75, Z:11.69 [[ 4.81988275e-01 -8.75856505e-01 -2.37209946e-02 2.10303562e+02] [ 8.74802962e-01 4.82571632e-01 -4.29464603e-02 8.77491238e+01] [ 4.90620157e-02 -5.15060568e-05 9.98795733e-01 1.16852188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.99038572300003 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:210.32, Y:87.77, Z:11.69 [[ 4.81361540e-01 -8.76200699e-01 -2.37361181e-02 2.10319416e+02] [ 8.75147984e-01 4.81946392e-01 -4.29381180e-02 8.77733884e+01] [ 4.90619455e-02 -1.03857308e-04 9.98795732e-01 1.16872750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.020385723 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:210.33, Y:87.80, Z:11.69 [[ 4.80320228e-01 -8.76770307e-01 -2.37972128e-02 2.10332805e+02] [ 8.75719952e-01 4.80909321e-01 -4.29044359e-02 8.77953848e+01] [ 4.90616369e-02 -2.31825564e-04 9.98795726e-01 1.16896268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.050385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:210.35, Y:87.82, Z:11.69 [[ 4.81467645e-01 -8.76146674e-01 -2.35777910e-02 2.10347407e+02] [ 8.75089610e-01 4.82044602e-01 -4.30253002e-02 8.78202945e+01] [ 4.90620205e-02 8.26100076e-05 9.98795731e-01 1.16914624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.080385723 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:210.36, Y:87.85, Z:11.69 [[ 4.82069130e-01 -8.75813457e-01 -2.36673074e-02 2.10363837e+02] [ 8.74758410e-01 4.82649757e-01 -4.29760029e-02 8.78457418e+01] [ 4.90619819e-02 1.42281597e-05 9.98795736e-01 1.16933656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.110385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.38, Y:87.87, Z:11.70 [[ 4.81200518e-01 -8.76283983e-01 -2.39257831e-02 2.10377508e+02] [ 8.75236543e-01 4.81794845e-01 -4.28336401e-02 8.78669030e+01] [ 4.90617517e-02 -3.29149919e-04 9.98795693e-01 1.16960786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.140385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:210.39, Y:87.89, Z:11.70 [[ 4.81289799e-01 -8.76242338e-01 -2.36536395e-02 2.10391806e+02] [ 8.75187444e-01 4.81870693e-01 -4.29834026e-02 8.78888235e+01] [ 4.90618728e-02 -1.38951707e-05 9.98795741e-01 1.16974586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.170385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:210.41, Y:87.91, Z:11.70 [[ 4.80986011e-01 -8.76414465e-01 -2.34551508e-02 2.10409062e+02] [ 8.75354433e-01 4.81557523e-01 -4.30925646e-02 8.79138537e+01] [ 4.90619512e-02 1.95350508e-04 9.98795718e-01 1.17036929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.200385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.42, Y:87.94, Z:11.70 [[ 4.82143765e-01 -8.75773132e-01 -2.36391749e-02 2.10422648e+02] [ 8.74717282e-01 4.82722921e-01 -4.29913786e-02 8.79368160e+01] [ 4.90618658e-02 5.04303469e-05 9.98795740e-01 1.17024464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.230385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.44, Y:87.96, Z:11.70 [[ 4.83560677e-01 -8.74993633e-01 -2.35629654e-02 2.10437769e+02] [ 8.73934805e-01 4.84134377e-01 -4.30332578e-02 8.79635191e+01] [ 4.90614682e-02 2.16695724e-04 9.98795738e-01 1.17030497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.260385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:210.45, Y:87.98, Z:11.70 [[ 4.85531691e-01 -8.73894479e-01 -2.38205011e-02 2.10448191e+02] [ 8.72841257e-01 4.86115664e-01 -4.28917396e-02 8.79847222e+01] [ 4.90623732e-02 3.37827430e-05 9.98795716e-01 1.16989613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.290385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:210.46, Y:88.01, Z:11.70 [[ 4.86942661e-01 -8.73119626e-01 -2.34299723e-02 2.10463608e+02] [ 8.72055071e-01 4.87505700e-01 -4.31062089e-02 8.80089632e+01] [ 4.90591221e-02 5.58025952e-04 9.98795720e-01 1.17020507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.320385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:210.48, Y:88.03, Z:11.71 [[ 4.88061155e-01 -8.72492850e-01 -2.35060758e-02 2.10477634e+02] [ 8.71429582e-01 4.88626587e-01 -4.30644043e-02 8.80320675e+01] [ 4.90590785e-02 5.34173101e-04 9.98795736e-01 1.17053845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.350385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.49, Y:88.06, Z:11.70 [[ 4.88114365e-01 -8.72468130e-01 -2.33180014e-02 2.10492577e+02] [ 8.71399884e-01 4.88670439e-01 -4.31676417e-02 8.80576311e+01] [ 4.90572096e-02 7.51442359e-04 9.98795688e-01 1.17043399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.380385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:210.51, Y:88.08, Z:11.71 [[ 4.89056787e-01 -8.71936038e-01 -2.34734780e-02 2.10505344e+02] [ 8.70871268e-01 4.89619395e-01 -4.30822884e-02 8.80807314e+01] [ 4.90580700e-02 6.27308046e-04 9.98795731e-01 1.17077146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.410385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.52, Y:88.10, Z:11.71 [[ 4.88404553e-01 -8.72306133e-01 -2.33024133e-02 2.10518408e+02] [ 8.71237298e-01 4.88959500e-01 -4.31761261e-02 8.81045007e+01] [ 4.90567359e-02 7.85484933e-04 9.98795685e-01 1.17082949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.440385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.53, Y:88.13, Z:11.71 [[ 4.89000312e-01 -8.71974115e-01 -2.32344074e-02 2.10533945e+02] [ 8.70903130e-01 4.89551161e-01 -4.32134218e-02 8.81287137e+01] [ 4.90554164e-02 8.96458642e-04 9.98795656e-01 1.17100642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.470385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.55, Y:88.15, Z:11.71 [[ 4.87957573e-01 -8.72555697e-01 -2.33230128e-02 2.10549932e+02] [ 8.71487684e-01 4.88514087e-01 -4.31648348e-02 8.81509473e+01] [ 4.90573428e-02 7.36889576e-04 9.98795692e-01 1.17129162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.500385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:210.56, Y:88.17, Z:11.71 [[ 4.86915610e-01 -8.73141084e-01 -2.31913190e-02 2.10564232e+02] [ 8.72070294e-01 4.87466883e-01 -4.32370220e-02 8.81743461e+01] [ 4.90570202e-02 8.28320506e-04 9.98795636e-01 1.17129523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.530385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.58, Y:88.20, Z:11.71 [[ 4.86278244e-01 -8.73498514e-01 -2.31044238e-02 2.10578951e+02] [ 8.72425865e-01 4.86825996e-01 -4.32846415e-02 8.81980628e+01] [ 4.90569041e-02 8.91482573e-04 9.98795587e-01 1.17123763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.560385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.59, Y:88.22, Z:11.71 [[ 4.86388452e-01 -8.73436227e-01 -2.31394006e-02 2.10592732e+02] [ 8.72364417e-01 4.86937801e-01 -4.32654848e-02 8.82231912e+01] [ 4.90570906e-02 8.57842492e-04 9.98795608e-01 1.17126318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.590385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.61, Y:88.25, Z:11.71 [[ 4.86567022e-01 -8.73335152e-01 -2.32001032e-02 2.10605981e+02] [ 8.72264812e-01 4.87119157e-01 -4.32322217e-02 8.82475878e+01] [ 4.90574337e-02 7.98739742e-04 9.98795640e-01 1.17127138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.620385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:210.62, Y:88.27, Z:11.71 [[ 4.86808810e-01 -8.73201732e-01 -2.31498945e-02 2.10620993e+02] [ 8.72129931e-01 4.87358163e-01 -4.32597234e-02 8.82718956e+01] [ 4.90567554e-02 8.69498591e-04 9.98795614e-01 1.17130311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.650385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:210.64, Y:88.29, Z:11.71 [[ 4.86542440e-01 -8.73349519e-01 -2.31748202e-02 2.10638664e+02] [ 8.72278534e-01 4.87093354e-01 -4.32460825e-02 8.82945566e+01] [ 4.90572462e-02 8.26156283e-04 9.98795627e-01 1.17142291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.68038572300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.66, Y:88.32, Z:11.72 [[ 4.89320686e-01 -8.71796435e-01 -2.31569091e-02 2.10658362e+02] [ 8.70723239e-01 4.89867299e-01 -4.32558812e-02 8.83185414e+01] [ 4.90541355e-02 1.00273861e-03 9.98795618e-01 1.17215259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.710385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.67, Y:88.34, Z:11.72 [[ 4.86751839e-01 -8.73222728e-01 -2.35523838e-02 2.10669260e+02] [ 8.72161512e-01 4.87321148e-01 -4.30394722e-02 8.83433792e+01] [ 4.90606201e-02 4.08059563e-04 9.98795719e-01 1.17169050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.74038572300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.69, Y:88.37, Z:11.72 [[ 4.86954480e-01 -8.73115715e-01 -2.33298724e-02 2.10685793e+02] [ 8.72048520e-01 4.87512560e-01 -4.31611312e-02 8.83689703e+01] [ 4.90582678e-02 6.72725504e-04 9.98795692e-01 1.17205053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.770385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.70, Y:88.39, Z:11.72 [[ 4.86257908e-01 -8.73498702e-01 -2.35215536e-02 2.10701079e+02] [ 8.72436993e-01 4.86826298e-01 -4.30563540e-02 8.83936948e+01] [ 4.90605802e-02 4.15419188e-04 9.98795718e-01 1.17211495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.800385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:210.72, Y:88.42, Z:11.72 [[ 4.85281660e-01 -8.74040345e-01 -2.35623822e-02 2.10717095e+02] [ 8.72980352e-01 4.85853246e-01 -4.30340449e-02 8.84154245e+01] [ 4.90613513e-02 3.14135970e-04 9.98795717e-01 1.17231945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.830385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:210.73, Y:88.44, Z:11.73 [[ 4.84593949e-01 -8.74422754e-01 -2.35276962e-02 2.10732407e+02] [ 8.73362291e-01 4.85164661e-01 -4.30529905e-02 8.84399344e+01] [ 4.90613213e-02 3.15016056e-04 9.98795719e-01 1.17252455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.860385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:210.75, Y:88.46, Z:11.73 [[ 4.84129859e-01 -8.74678937e-01 -2.35592278e-02 2.10747960e+02] [ 8.73619613e-01 4.84702685e-01 -4.30357742e-02 8.84645549e+01] [ 4.90617062e-02 2.53099823e-04 9.98795717e-01 1.17268989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.890385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:210.76, Y:88.49, Z:11.73 [[ 4.83933505e-01 -8.74787571e-01 -2.35598866e-02 2.10763031e+02] [ 8.73728394e-01 4.84506602e-01 -4.30354147e-02 8.84866499e+01] [ 4.90617665e-02 2.41337231e-04 9.98795717e-01 1.17294974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.920385723 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:210.78, Y:88.51, Z:11.73 [[ 4.83261976e-01 -8.75160622e-01 -2.34893257e-02 2.10777227e+02] [ 8.74100014e-01 4.83832414e-01 -4.30738935e-02 8.85112178e+01] [ 4.90614726e-02 2.83954945e-04 9.98795720e-01 1.17309005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.950385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:210.79, Y:88.54, Z:11.73 [[ 4.81381648e-01 -8.76196605e-01 -2.34780503e-02 2.10791066e+02] [ 8.75136925e-01 4.81953808e-01 -4.30800385e-02 8.85362473e+01] [ 4.90619192e-02 1.91431237e-04 9.98795721e-01 1.17299530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.980385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:210.80, Y:88.56, Z:11.73 [[ 4.81141467e-01 -8.76327537e-01 -2.35146220e-02 2.10804684e+02] [ 8.75268986e-01 4.81715715e-01 -4.30601120e-02 8.85613492e+01] [ 4.90621248e-02 1.36386051e-04 9.98795720e-01 1.17313724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.010385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:210.82, Y:88.59, Z:11.73 [[ 4.80205584e-01 -8.76841026e-01 -2.35034445e-02 2.10819486e+02] [ 8.75782791e-01 4.80780413e-01 -4.30661984e-02 8.85852359e+01] [ 4.90622053e-02 9.67167111e-05 9.98795720e-01 1.17325663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.040385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.84, Y:88.61, Z:11.74 [[ 4.79802056e-01 -8.77061150e-01 -2.35313667e-02 2.10837272e+02] [ 8.76003924e-01 4.80378743e-01 -4.30509957e-02 8.86062528e+01] [ 4.90623241e-02 4.23867153e-05 9.98795718e-01 1.17383063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.070385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.85, Y:88.63, Z:11.74 [[ 4.78618614e-01 -8.77709659e-01 -2.34515890e-02 2.10852021e+02] [ 8.76651083e-01 4.79192811e-01 -4.30944102e-02 8.86301365e+01] [ 4.90622129e-02 6.69259461e-05 9.98795722e-01 1.17399987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.100385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:210.87, Y:88.65, Z:11.74 [[ 4.78069304e-01 -8.78009270e-01 -2.34406255e-02 2.10867344e+02] [ 8.76950761e-01 4.78643625e-01 -4.31003728e-02 8.86536283e+01] [ 4.90622328e-02 4.86908352e-05 9.98795722e-01 1.17402753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.130385723 meters Centerline goodness : 0.999378 Centerline is valid? [True, True] Translation: X:210.88, Y:88.68, Z:11.74 [[ 4.76804786e-01 -8.78696919e-01 -2.34290368e-02 2.10881392e+02] [ 8.77638930e-01 4.77380062e-01 -4.31066714e-02 8.86783165e+01] [ 4.90622544e-02 -8.76755000e-06 9.98795722e-01 1.17378654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.160385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:210.89, Y:88.70, Z:11.74 [[ 4.78774848e-01 -8.77619075e-01 -2.36517355e-02 2.10894717e+02] [ 8.76565746e-01 4.79358672e-01 -4.29855313e-02 8.86982806e+01] [ 4.90625867e-02 -1.51909947e-04 9.98795695e-01 1.17410081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.190385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:210.91, Y:88.72, Z:11.74 [[ 4.79737644e-01 -8.77099356e-01 -2.34203309e-02 2.10910107e+02] [ 8.76039228e-01 4.80308955e-01 -4.31112446e-02 8.87213750e+01] [ 4.90618395e-02 1.64958339e-04 9.98795729e-01 1.17439989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.220385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.92, Y:88.75, Z:11.75 [[ 4.79738186e-01 -8.77099370e-01 -2.34087326e-02 2.10923556e+02] [ 8.76038934e-01 4.80308926e-01 -4.31175414e-02 8.87452330e+01] [ 4.90617916e-02 1.78169958e-04 9.98795729e-01 1.17450026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.250385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.94, Y:88.77, Z:11.75 [[ 4.79709709e-01 -8.77115155e-01 -2.34008655e-02 2.10937522e+02] [ 8.76054529e-01 4.80280097e-01 -4.31218106e-02 8.87696950e+01] [ 4.90617635e-02 1.85516988e-04 9.98795729e-01 1.17454131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.280385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:210.95, Y:88.79, Z:11.75 [[ 4.79518847e-01 -8.77219702e-01 -2.33938157e-02 2.10952717e+02] [ 8.76159014e-01 4.80089118e-01 -4.31256348e-02 8.87926737e+01] [ 4.90617729e-02 1.82852226e-04 9.98795729e-01 1.17471050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.310385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.97, Y:88.82, Z:11.75 [[ 4.79370061e-01 -8.77301239e-01 -2.33854912e-02 2.10967264e+02] [ 8.76240428e-01 4.79940104e-01 -4.31301484e-02 8.88164856e+01] [ 4.90617677e-02 1.83989086e-04 9.98795729e-01 1.17503271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.340385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:210.98, Y:88.84, Z:11.75 [[ 4.78787433e-01 -8.77619663e-01 -2.33735350e-02 2.10980901e+02] [ 8.76558915e-01 4.79357591e-01 -4.31366269e-02 8.88398773e+01] [ 4.90618334e-02 1.64994408e-04 9.98795730e-01 1.17516507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.370385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:210.99, Y:88.87, Z:11.75 [[ 4.75777068e-01 -8.79255575e-01 -2.33627008e-02 2.10994053e+02] [ 8.78196499e-01 4.76350327e-01 -4.31424939e-02 8.88656310e+01] [ 4.90621084e-02 9.16716471e-06 9.98795730e-01 1.17481284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.400385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.01, Y:88.89, Z:11.75 [[ 4.77687923e-01 -8.78219314e-01 -2.33470305e-02 2.11009641e+02] [ 8.77158580e-01 4.78258108e-01 -4.31509749e-02 8.88885533e+01] [ 4.90619263e-02 1.33651434e-04 9.98795730e-01 1.17534311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.43038572300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.02, Y:88.91, Z:11.76 [[ 4.77530907e-01 -8.78304696e-01 -2.33472534e-02 2.11023227e+02] [ 8.77244070e-01 4.78101293e-01 -4.31508543e-02 8.89128285e+01] [ 4.90619500e-02 1.24627013e-04 9.98795730e-01 1.17554986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.460385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.03, Y:88.93, Z:11.75 [[ 4.71744285e-01 -8.81426556e-01 -2.33357237e-02 2.11028589e+02] [ 8.80369396e-01 4.72321069e-01 -4.31570887e-02 8.89344674e+01] [ 4.90617580e-02 -1.84947036e-04 9.98795730e-01 1.17504066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.49038572300003 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:211.05, Y:88.96, Z:11.76 [[ 4.76841955e-01 -8.78700772e-01 -2.25100906e-02 2.11050313e+02] [ 8.77618895e-01 4.77371847e-01 -4.36026943e-02 8.89608769e+01] [ 4.90594047e-02 1.03631314e-03 9.98795325e-01 1.17577460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.520385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.07, Y:88.99, Z:11.76 [[ 4.75473142e-01 -8.79420976e-01 -2.33246144e-02 2.11065471e+02] [ 8.78361115e-01 4.76044898e-01 -4.31625578e-02 8.89855759e+01] [ 4.90616224e-02 3.52026649e-05 9.98795753e-01 1.17566286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.550385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.08, Y:89.01, Z:11.76 [[ 4.76317050e-01 -8.78959371e-01 -2.35051464e-02 2.11078691e+02] [ 8.77903751e-01 4.76896644e-01 -4.30649980e-02 8.90079761e+01] [ 4.90619090e-02 -1.22663341e-04 9.98795732e-01 1.17609451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.580385723 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:211.09, Y:89.03, Z:11.76 [[ 4.76619150e-01 -8.78800813e-01 -2.33091645e-02 2.11091816e+02] [ 8.77739804e-01 4.77188765e-01 -4.31708157e-02 8.90330556e+01] [ 4.90614193e-02 1.16656047e-04 9.98795757e-01 1.17616307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.610385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:211.09, Y:89.05, Z:11.75 [[ 4.70339294e-01 -8.82178090e-01 -2.32973531e-02 2.11090773e+02] [ 8.81120855e-01 4.70915884e-01 -4.31771888e-02 8.90528619e+01] [ 4.90610635e-02 -2.19855208e-04 9.98795757e-01 1.17525819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.640385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.12, Y:89.08, Z:11.76 [[ 4.78994225e-01 -8.77543312e-01 -2.19605811e-02 2.11116787e+02] [ 8.76446520e-01 4.79494077e-01 -4.38967838e-02 8.90825055e+01] [ 4.90512976e-02 1.77903112e-03 9.98794676e-01 1.17617694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.670385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:211.13, Y:89.11, Z:11.76 [[ 4.79089884e-01 -8.77456673e-01 -2.32952903e-02 2.11129977e+02] [ 8.76393779e-01 4.79655829e-01 -4.31767276e-02 8.91070628e+01] [ 4.90594295e-02 2.69685963e-04 9.98795825e-01 1.17635283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.700385723 meters Centerline goodness : 0.999709 Centerline is valid? [True, True] Translation: X:211.14, Y:89.13, Z:11.76 [[ 4.78985350e-01 -8.77514049e-01 -2.32836390e-02 2.11143124e+02] [ 8.76450918e-01 4.79550849e-01 -4.31830098e-02 8.91315972e+01] [ 4.90593866e-02 2.77062351e-04 9.98795825e-01 1.17630606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.730385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:211.16, Y:89.16, Z:11.77 [[ 4.77323898e-01 -8.78416544e-01 -2.33724648e-02 2.11155747e+02] [ 8.77356821e-01 4.77895772e-01 -4.31351372e-02 8.91555772e+01] [ 4.90602202e-02 8.34403608e-05 9.98795819e-01 1.17682858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.760385723 meters Centerline goodness : 0.997742 Centerline is valid? [True, True] Translation: X:211.17, Y:89.18, Z:11.77 [[ 4.75851746e-01 -8.79217864e-01 -2.32607783e-02 2.11169299e+02] [ 8.78156157e-01 4.76419911e-01 -4.31952811e-02 8.91797837e+01] [ 4.90599607e-02 1.27954228e-04 9.98795827e-01 1.17669213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.790385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.18, Y:89.20, Z:11.77 [[ 4.69090534e-01 -8.82841648e-01 -2.33387012e-02 2.11175967e+02] [ 8.81786413e-01 4.69670641e-01 -4.31533477e-02 8.92025868e+01] [ 4.90590754e-02 -3.36922678e-04 9.98795822e-01 1.17651069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.820385723 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:211.19, Y:89.22, Z:11.77 [[ 4.68645400e-01 -8.83087046e-01 -2.29947351e-02 2.11188402e+02] [ 8.82022930e-01 4.69209195e-01 -4.33391678e-02 8.92236467e+01] [ 4.90615988e-02 2.88180095e-05 9.98795754e-01 1.17691490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.850385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.21, Y:89.25, Z:11.78 [[ 4.72116690e-01 -8.81248189e-01 -2.25268805e-02 2.11210438e+02] [ 8.80169706e-01 4.72653216e-01 -4.35915872e-02 8.92499468e+01] [ 4.90624098e-02 7.52838089e-04 9.98795431e-01 1.17752955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.880385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.22, Y:89.27, Z:11.77 [[ 4.65763283e-01 -8.84602098e-01 -2.33171873e-02 2.11217145e+02] [ 8.83548487e-01 4.66346309e-01 -4.31646930e-02 8.92720701e+01] [ 4.90574622e-02 -4.97336404e-04 9.98795834e-01 1.17749213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.910385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.24, Y:89.30, Z:11.78 [[ 4.67916382e-01 -8.83481436e-01 -2.26894744e-02 2.11236987e+02] [ 8.82409784e-01 4.68466051e-01 -4.35032487e-02 8.92993433e+01] [ 4.90635611e-02 3.34468575e-04 9.98795602e-01 1.17787145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.940385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.25, Y:89.32, Z:11.78 [[ 4.66620627e-01 -8.84150604e-01 -2.33002034e-02 2.11249377e+02] [ 8.83095981e-01 4.67201802e-01 -4.31736605e-02 8.93234210e+01] [ 4.90579150e-02 -4.30595456e-04 9.98795843e-01 1.17799800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.970385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:211.26, Y:89.35, Z:11.78 [[ 4.65331690e-01 -8.84829981e-01 -2.32878401e-02 2.11261983e+02] [ 8.83775872e-01 4.65913798e-01 -4.31803282e-02 8.93487919e+01] [ 4.90573750e-02 -4.88056075e-04 9.98795843e-01 1.17809484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.000385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:211.27, Y:89.37, Z:11.78 [[ 4.59949680e-01 -8.87639850e-01 -2.32763676e-02 2.11267710e+02] [ 8.86588983e-01 4.60537621e-01 -4.31865116e-02 8.93726274e+01] [ 4.90537116e-02 -7.72948847e-04 9.98795843e-01 1.17774066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.030385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.28, Y:89.40, Z:11.78 [[ 4.60167623e-01 -8.87542050e-01 -2.26907190e-02 2.11281628e+02] [ 8.86475323e-01 4.60726709e-01 -4.35017394e-02 8.93968393e+01] [ 4.90638433e-02 -9.66704402e-05 9.98795640e-01 1.17816842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.060385723 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:211.30, Y:89.42, Z:11.78 [[ 4.63272961e-01 -8.85924537e-01 -2.27129621e-02 2.11301582e+02] [ 8.84856444e-01 4.63829401e-01 -4.34897704e-02 8.94219645e+01] [ 4.90635942e-02 4.99238584e-05 9.98795655e-01 1.17840127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.090385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.31, Y:89.45, Z:11.79 [[ 4.60589246e-01 -8.87308548e-01 -2.32612998e-02 2.11309295e+02] [ 8.86256856e-01 4.61175695e-01 -4.31944877e-02 8.94454406e+01] [ 4.90543843e-02 -7.20569955e-04 9.98795849e-01 1.17861941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.120385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.32, Y:89.47, Z:11.79 [[ 4.61565268e-01 -8.86812363e-01 -2.28327785e-02 2.11322463e+02] [ 8.85748533e-01 4.62129635e-01 -4.34250653e-02 8.94712201e+01] [ 4.90615884e-02 -1.80598185e-04 9.98795739e-01 1.17853740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.150385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.34, Y:89.50, Z:11.79 [[ 4.65776400e-01 -8.84606109e-01 -2.28992956e-02 2.11337563e+02] [ 8.83541360e-01 4.66338967e-01 -4.33893223e-02 8.94982560e+01] [ 4.90612935e-02 -2.27524432e-05 9.98795769e-01 1.17874345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.18038572300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.35, Y:89.52, Z:11.79 [[ 4.65888248e-01 -8.84538776e-01 -2.32227311e-02 2.11349066e+02] [ 8.83482547e-01 4.66466513e-01 -4.32155215e-02 8.95231649e+01] [ 4.90584309e-02 -3.83273994e-04 9.98795837e-01 1.17891507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.210385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:211.36, Y:89.55, Z:11.79 [[ 4.68171226e-01 -8.83337343e-01 -2.30399951e-02 2.11364814e+02] [ 8.82274783e-01 4.68737811e-01 -4.33136380e-02 8.95481846e+01] [ 4.90602708e-02 -4.94077062e-05 9.98795819e-01 1.17905511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.24038572300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.38, Y:89.57, Z:11.80 [[ 4.68834349e-01 -8.82980040e-01 -2.32508601e-02 2.11376734e+02] [ 8.81922635e-01 4.69410467e-01 -4.32004526e-02 8.95715159e+01] [ 4.90593345e-02 -2.51603724e-04 9.98795834e-01 1.17963093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.270385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.39, Y:89.60, Z:11.80 [[ 4.69180718e-01 -8.82796396e-01 -2.32373947e-02 2.11388627e+02] [ 8.81738409e-01 4.69755761e-01 -4.32076785e-02 8.95952901e+01] [ 4.90594829e-02 -2.17093798e-04 9.98795835e-01 1.17973368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.300385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.40, Y:89.62, Z:11.80 [[ 4.69345585e-01 -8.82710061e-01 -2.31877322e-02 2.11401460e+02] [ 8.81650650e-01 4.69917999e-01 -4.32343139e-02 8.96200383e+01] [ 4.90596966e-02 -1.51644781e-04 9.98795837e-01 1.17993720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.330385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.41, Y:89.65, Z:11.80 [[ 4.70539265e-01 -8.82074629e-01 -2.31764673e-02 2.11414596e+02] [ 8.81014148e-01 4.71109694e-01 -4.32403518e-02 8.96452074e+01] [ 4.90598757e-02 -7.25121574e-05 9.98795837e-01 1.18019366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.360385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:211.43, Y:89.67, Z:11.80 [[ 4.71346560e-01 -8.81643820e-01 -2.31645192e-02 2.11427025e+02] [ 8.80582503e-01 4.71915432e-01 -4.32467517e-02 8.96688478e+01] [ 4.90599254e-02 -1.40626558e-05 9.98795837e-01 1.18019247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.390385723 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:211.44, Y:89.69, Z:11.80 [[ 4.72639421e-01 -8.80951687e-01 -2.31538691e-02 2.11438957e+02] [ 8.79889258e-01 4.73206212e-01 -4.32524528e-02 8.96939843e+01] [ 4.90598760e-02 6.99735864e-05 9.98795837e-01 1.18036140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.420385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.45, Y:89.72, Z:11.80 [[ 4.72954198e-01 -8.80783041e-01 -2.31421796e-02 2.11451433e+02] [ 8.79720103e-01 4.73520036e-01 -4.32587064e-02 8.97189280e+01] [ 4.90598207e-02 1.00746196e-04 9.98795837e-01 1.18044935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.450385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.46, Y:89.74, Z:11.81 [[ 4.72744116e-01 -8.80896124e-01 -2.31304816e-02 2.11463395e+02] [ 8.79833016e-01 4.73309632e-01 -4.32649604e-02 8.97439020e+01] [ 4.90598157e-02 1.02294113e-04 9.98795837e-01 1.18050775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.480385723 meters Centerline goodness : 0.994876 Centerline is valid? [True, True] Translation: X:211.47, Y:89.77, Z:11.80 [[ 4.72823242e-01 -8.80853960e-01 -2.31188839e-02 2.11474669e+02] [ 8.79790498e-01 4.73388093e-01 -4.32711569e-02 8.97690634e+01] [ 4.90597742e-02 1.19834340e-04 9.98795837e-01 1.18025587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.510385723 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:211.49, Y:89.79, Z:11.81 [[ 4.72096392e-01 -8.81244171e-01 -2.31021297e-02 2.11486160e+02] [ 8.80180738e-01 4.72661298e-01 -4.32801000e-02 8.97929477e+01] [ 4.90598184e-02 9.83294919e-05 9.98795837e-01 1.18067657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.540385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:211.50, Y:89.82, Z:11.81 [[ 4.72219317e-01 -8.81178798e-01 -2.30833917e-02 2.11498950e+02] [ 8.80114798e-01 4.72783154e-01 -4.32900916e-02 8.98172251e+01] [ 4.90597496e-02 1.26382867e-04 9.98795838e-01 1.18069650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.570385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:211.51, Y:89.84, Z:11.81 [[ 4.69255881e-01 -8.82762717e-01 -2.29978998e-02 2.11507302e+02] [ 8.81698384e-01 4.69819094e-01 -4.33356488e-02 8.98411619e+01] [ 4.90599476e-02 5.82969231e-05 9.98795834e-01 1.18113860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.600385723 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:211.53, Y:89.87, Z:11.81 [[ 4.70485672e-01 -8.82119784e-01 -2.25370742e-02 2.11525132e+02] [ 8.81042805e-01 4.71024699e-01 -4.35810643e-02 8.98684682e+01] [ 4.90592376e-02 6.48139305e-04 9.98795660e-01 1.18125680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.630385723 meters Centerline goodness : 0.999756 Centerline is valid? [True, True] Translation: X:211.54, Y:89.89, Z:11.81 [[ 4.69344522e-01 -8.82713681e-01 -2.30711348e-02 2.11537194e+02] [ 8.81651210e-01 4.69911222e-01 -4.32964929e-02 8.98921676e+01] [ 4.90597918e-02 -1.97221969e-05 9.98795843e-01 1.18138307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.660385723 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:211.55, Y:89.92, Z:11.81 [[ 4.67402686e-01 -8.83743744e-01 -2.30591607e-02 2.11547898e+02] [ 8.82682207e-01 4.67971134e-01 -4.33028692e-02 8.99172074e+01] [ 4.90596613e-02 -1.14033533e-04 9.98795843e-01 1.18141372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.690385723 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:211.56, Y:89.94, Z:11.82 [[ 4.66642047e-01 -8.84145928e-01 -2.30472999e-02 2.11560292e+02] [ 8.83084570e-01 4.67210827e-01 -4.33091811e-02 8.99428312e+01] [ 4.90595841e-02 -1.42830008e-04 9.98795843e-01 1.18159242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.720385723 meters Centerline goodness : 0.999799 Centerline is valid? [True, True] Translation: X:211.57, Y:89.97, Z:11.82 [[ 4.65770993e-01 -8.84605407e-01 -2.30359770e-02 2.11573061e+02] [ 8.83544312e-01 4.66340265e-01 -4.33152028e-02 8.99681244e+01] [ 4.90594662e-02 -1.78341403e-04 9.98795843e-01 1.18188914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.750385723 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:211.59, Y:89.99, Z:11.82 [[ 4.64712844e-01 -8.85162059e-01 -2.30239448e-02 2.11585393e+02] [ 8.84101329e-01 4.65282795e-01 -4.33215975e-02 8.99923253e+01] [ 4.90592798e-02 -2.23397447e-04 9.98795844e-01 1.18203661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.780385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:211.60, Y:90.02, Z:11.82 [[ 4.64247201e-01 -8.85406652e-01 -2.30129997e-02 2.11597783e+02] [ 8.84345934e-01 4.64817174e-01 -4.33274109e-02 9.00173304e+01] [ 4.90592153e-02 -2.36823489e-04 9.98795844e-01 1.18243154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.810385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:211.61, Y:90.04, Z:11.83 [[ 4.63340131e-01 -8.85881981e-01 -2.30008279e-02 2.11609598e+02] [ 8.84821527e-01 4.63910596e-01 -4.33338715e-02 9.00428003e+01] [ 4.90590237e-02 -2.73305976e-04 9.98795844e-01 1.18280029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.840385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.62, Y:90.07, Z:11.82 [[ 4.59685291e-01 -8.87784306e-01 -2.29882292e-02 2.11616825e+02] [ 8.86725878e-01 4.60259506e-01 -4.33405540e-02 9.00668095e+01] [ 4.90576147e-02 -4.61242575e-04 9.98795844e-01 1.18238711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.870385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:211.63, Y:90.09, Z:11.83 [[ 4.61858134e-01 -8.86664927e-01 -2.26356151e-02 2.11633982e+02] [ 8.85595880e-01 4.62412483e-01 -4.35273792e-02 9.00918681e+01] [ 4.90611914e-02 5.74666763e-05 9.98795773e-01 1.18301889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.900385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:211.65, Y:90.12, Z:11.83 [[ 4.61614789e-01 -8.86783041e-01 -2.29700981e-02 2.11647446e+02] [ 8.85722890e-01 4.62185814e-01 -4.33501495e-02 9.01170455e+01] [ 4.90586308e-02 -3.34071564e-04 9.98795845e-01 1.18317446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.93038572300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.66, Y:90.14, Z:11.83 [[ 4.61236105e-01 -8.86980370e-01 -2.29581825e-02 2.11659173e+02] [ 8.85920149e-01 4.61807001e-01 -4.33564590e-02 9.01424618e+01] [ 4.90585775e-02 -3.41552180e-04 9.98795845e-01 1.18321678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.960385723 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:211.67, Y:90.17, Z:11.83 [[ 4.61370876e-01 -8.86910583e-01 -2.29462992e-02 2.11670458e+02] [ 8.85849963e-01 4.61941030e-01 -4.33627473e-02 9.01669554e+01] [ 4.90587166e-02 -3.20669600e-04 9.98795845e-01 1.18315373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.99038572300003 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:211.68, Y:90.19, Z:11.83 [[ 4.60956035e-01 -8.87126487e-01 -2.29375141e-02 2.11682698e+02] [ 8.86065903e-01 4.61526255e-01 -4.33673939e-02 9.01908803e+01] [ 4.90586288e-02 -3.33687274e-04 9.98795845e-01 1.18325671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.020385723 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:211.70, Y:90.22, Z:11.83 [[ 4.60448314e-01 -8.87390361e-01 -2.29280964e-02 2.11695607e+02] [ 8.86329856e-01 4.61018681e-01 -4.33723724e-02 9.02166391e+01] [ 4.90585059e-02 -3.51120714e-04 9.98795845e-01 1.18328170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.050385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.71, Y:90.24, Z:11.84 [[ 4.59412901e-01 -8.87927119e-01 -2.29176465e-02 2.11706175e+02] [ 8.86867005e-01 4.59983994e-01 -4.33778933e-02 9.02429329e+01] [ 4.90581584e-02 -3.96540734e-04 9.98795845e-01 1.18367834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.080385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:211.71, Y:90.27, Z:11.84 [[ 4.55287805e-01 -8.90049487e-01 -2.29112596e-02 2.11713603e+02] [ 8.88991864e-01 4.55863500e-01 -4.33812665e-02 9.02685722e+01] [ 4.90558810e-02 -6.16961780e-04 9.98795845e-01 1.18352605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.110385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:211.72, Y:90.29, Z:11.84 [[ 4.53402509e-01 -8.91021259e-01 -2.25228735e-02 2.11723635e+02] [ 8.89954610e-01 4.53961492e-01 -4.35861988e-02 9.02947971e+01] [ 4.90607470e-02 -2.82243170e-04 9.98795757e-01 1.18353793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.140385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:211.74, Y:90.32, Z:11.84 [[ 4.52482365e-01 -8.91490491e-01 -2.24591642e-02 2.11735204e+02] [ 8.90422751e-01 4.53039332e-01 -4.36198058e-02 9.03190399e+01] [ 4.90615268e-02 -2.60957882e-04 9.98795724e-01 1.18369682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.170385723 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:211.75, Y:90.34, Z:11.84 [[ 4.52309442e-01 -8.91578658e-01 -2.24424876e-02 2.11748654e+02] [ 8.90510591e-01 4.52865800e-01 -4.36285984e-02 9.03447360e+01] [ 4.90617623e-02 -2.51645897e-04 9.98795715e-01 1.18398569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.200385723 meters Centerline goodness : 0.999694 Centerline is valid? [True, True] Translation: X:211.76, Y:90.37, Z:11.84 [[ 4.52153581e-01 -8.91656315e-01 -2.24978912e-02 2.11762084e+02] [ 8.90589794e-01 4.52712836e-01 -4.35993885e-02 9.03708593e+01] [ 4.90607542e-02 -3.22772676e-04 9.98795744e-01 1.18422042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.230385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:211.77, Y:90.40, Z:11.84 [[ 4.52335576e-01 -8.91562020e-01 -2.25763424e-02 2.11771553e+02] [ 8.90497443e-01 4.52898447e-01 -4.35580242e-02 9.03989599e+01] [ 4.90594705e-02 -4.01331241e-04 9.98795779e-01 1.18432089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.260385723 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:211.78, Y:90.43, Z:11.84 [[ 4.52989304e-01 -8.91228719e-01 -2.26287796e-02 2.11782442e+02] [ 8.90165105e-01 4.53553955e-01 -4.35303857e-02 9.04256922e+01] [ 4.90589024e-02 -4.24550858e-04 9.98795797e-01 1.18435176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.290385723 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:211.80, Y:90.45, Z:11.85 [[ 4.55702662e-01 -8.89843272e-01 -2.26723402e-02 2.11796408e+02] [ 8.88779082e-01 4.56266201e-01 -4.35074340e-02 9.04509724e+01] [ 4.90594200e-02 -3.24248226e-04 9.98795809e-01 1.18502205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.320385723 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:211.81, Y:90.48, Z:11.85 [[ 4.54716097e-01 -8.90342879e-01 -2.28654387e-02 2.11806803e+02] [ 8.89284399e-01 4.55290239e-01 -4.34057142e-02 9.04771141e+01] [ 4.90563796e-02 -5.96600957e-04 9.98795833e-01 1.18467296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.350385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:211.82, Y:90.50, Z:11.85 [[ 4.57884824e-01 -8.88719648e-01 -2.27788538e-02 2.11820225e+02] [ 8.87656861e-01 4.58450960e-01 -4.34512914e-02 9.05018489e+01] [ 4.90590038e-02 -3.24118922e-04 9.98795830e-01 1.18534085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.380385723 meters Centerline goodness : 0.995869 Centerline is valid? [True, True] Translation: X:211.83, Y:90.53, Z:11.85 [[ 4.58745255e-01 -8.88274181e-01 -2.28422993e-02 2.11830971e+02] [ 8.87212504e-01 4.59313464e-01 -4.34179127e-02 9.05259066e+01] [ 4.90587865e-02 -3.48212077e-04 9.98795832e-01 1.18521436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.410385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:211.84, Y:90.55, Z:11.85 [[ 4.57642755e-01 -8.88846342e-01 -2.26999809e-02 2.11836915e+02] [ 8.87781652e-01 4.58205324e-01 -4.34927537e-02 9.05535692e+01] [ 4.90596271e-02 -2.48482904e-04 9.98795821e-01 1.18506741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.440385723 meters Centerline goodness : 0.999068 Centerline is valid? [True, True] Translation: X:211.85, Y:90.58, Z:11.85 [[ 4.60084605e-01 -8.87585362e-01 -2.26800059e-02 2.11848942e+02] [ 8.86518612e-01 4.60643265e-01 -4.35032591e-02 9.05794172e+01] [ 4.90602479e-02 -9.10676182e-05 9.98795817e-01 1.18508986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.470385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:211.86, Y:90.61, Z:11.85 [[ 4.59830960e-01 -8.87715767e-01 -2.27201353e-02 2.11858907e+02] [ 8.86650217e-01 4.60391892e-01 -4.34821633e-02 9.06063590e+01] [ 4.90599680e-02 -1.50367974e-04 9.98795823e-01 1.18525525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.500385723 meters Centerline goodness : 0.997017 Centerline is valid? [True, True] Translation: X:211.87, Y:90.63, Z:11.86 [[ 4.63385423e-01 -8.85865461e-01 -2.27230081e-02 2.11874732e+02] [ 8.84797745e-01 4.63942220e-01 -4.34806543e-02 9.06338801e+01] [ 4.90601727e-02 4.30350428e-05 9.98795824e-01 1.18573199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.530385723 meters Centerline goodness : 0.997053 Centerline is valid? [True, True] Translation: X:211.89, Y:90.66, Z:11.86 [[ 4.63639165e-01 -8.85720111e-01 -2.32079896e-02 2.11887903e+02] [ 8.84664842e-01 4.64219394e-01 -4.32258264e-02 9.06597389e+01] [ 4.90595826e-02 -4.90106364e-04 9.98795733e-01 1.18579197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.560385723 meters Centerline goodness : 0.997316 Centerline is valid? [True, True] Translation: X:211.90, Y:90.69, Z:11.86 [[ 4.64416939e-01 -8.85312291e-01 -2.32175552e-02 2.11899457e+02] [ 8.84256763e-01 4.64996708e-01 -4.32208033e-02 9.06853131e+01] [ 4.90599951e-02 -4.57807048e-04 9.98795729e-01 1.18612899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.590385723 meters Centerline goodness : 0.996953 Centerline is valid? [True, True] Translation: X:211.91, Y:90.71, Z:11.86 [[ 4.65130672e-01 -8.84937707e-01 -2.32101945e-02 2.11909105e+02] [ 8.83881520e-01 4.65709230e-01 -4.32246645e-02 9.07133929e+01] [ 4.90603373e-02 -4.09944791e-04 9.98795733e-01 1.18616465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.620385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:211.92, Y:90.74, Z:11.87 [[ 4.65270416e-01 -8.84862008e-01 -2.32952001e-02 2.11917085e+02] [ 8.83807954e-01 4.65852958e-01 -4.31801106e-02 9.07354447e+01] [ 4.90605773e-02 -4.98055074e-04 9.98795681e-01 1.18669604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.650385723 meters Centerline goodness : 0.997191 Centerline is valid? [True, True] Translation: X:211.93, Y:90.76, Z:11.86 [[ 4.67487779e-01 -8.83707011e-01 -2.27397262e-02 2.11932077e+02] [ 8.82637209e-01 4.68040442e-01 -4.34706926e-02 9.07605599e+01] [ 4.90584673e-02 2.51089072e-04 9.98795877e-01 1.18629443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.68038572300003 meters Centerline goodness : 0.997010 Centerline is valid? [True, True] Translation: X:211.95, Y:90.79, Z:11.87 [[ 4.65263756e-01 -8.84875029e-01 -2.29308024e-02 2.11945346e+02] [ 8.83811512e-01 4.65828484e-01 -4.33708939e-02 9.07898419e+01] [ 4.90596419e-02 -8.76021861e-05 9.98795847e-01 1.18663692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.710385723 meters Centerline goodness : 0.997230 Centerline is valid? [True, True] Translation: X:211.96, Y:90.82, Z:11.87 [[ 4.64177835e-01 -8.85434654e-01 -2.33326154e-02 2.11955710e+02] [ 8.84382257e-01 4.64763502e-01 -4.31614470e-02 9.08171246e+01] [ 4.90607889e-02 -6.00364089e-04 9.98795614e-01 1.18690237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.74038572300003 meters Centerline goodness : 0.997242 Centerline is valid? [True, True] Translation: X:211.97, Y:90.84, Z:11.87 [[ 4.63976780e-01 -8.85538670e-01 -2.33840184e-02 2.11967315e+02] [ 8.84487752e-01 4.64565191e-01 -4.31346819e-02 9.08417184e+01] [ 4.90608298e-02 -6.69387084e-04 9.98795568e-01 1.18696492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.770385723 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:211.98, Y:90.87, Z:11.87 [[ 4.60503484e-01 -8.87350955e-01 -2.33414630e-02 2.11975129e+02] [ 8.86301228e-01 4.61093939e-01 -4.31568274e-02 9.08662743e+01] [ 4.90578592e-02 -8.13697955e-04 9.98795607e-01 1.18698160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.800385723 meters Centerline goodness : 0.996541 Centerline is valid? [True, True] Translation: X:211.99, Y:90.89, Z:11.87 [[ 4.60520845e-01 -8.87354560e-01 -2.28568589e-02 2.11991105e+02] [ 8.86292221e-01 4.61087642e-01 -4.34083514e-02 9.08939514e+01] [ 4.90576137e-02 -2.67405531e-04 9.98795915e-01 1.18713551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.830385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:212.00, Y:90.92, Z:11.87 [[ 4.57117855e-01 -8.89099232e-01 -2.33628256e-02 2.11998755e+02] [ 8.88052338e-01 4.57713344e-01 -4.31455695e-02 9.09167942e+01] [ 4.90541697e-02 -1.02480166e-03 9.98795594e-01 1.18730387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.860385723 meters Centerline goodness : 0.998972 Centerline is valid? [True, True] Translation: X:212.01, Y:90.94, Z:11.87 [[ 4.59252573e-01 -8.88013027e-01 -2.28021514e-02 2.12010593e+02] [ 8.86950122e-01 4.59818212e-01 -4.34360812e-02 9.09396769e+01] [ 4.90566504e-02 -2.76238903e-04 9.98795960e-01 1.18718682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.890385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.02, Y:90.97, Z:11.88 [[ 4.54597334e-01 -8.90411723e-01 -2.25438913e-02 2.12017958e+02] [ 8.89345138e-01 4.55155912e-01 -4.35697224e-02 9.09658512e+01] [ 4.90559771e-02 -2.42620503e-04 9.98796001e-01 1.18762845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.920385723 meters Centerline goodness : 0.999635 Centerline is valid? [True, True] Translation: X:212.03, Y:90.99, Z:11.88 [[ 4.52922255e-01 -8.91264836e-01 -2.25482314e-02 2.12030953e+02] [ 8.90199415e-01 4.53483050e-01 -4.35674776e-02 9.09919277e+01] [ 4.90554015e-02 -3.39742235e-04 9.98796001e-01 1.18777257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.950385723 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:212.04, Y:91.02, Z:11.88 [[ 4.51286169e-01 -8.92092718e-01 -2.26136471e-02 2.12043916e+02] [ 8.91030016e-01 4.51852111e-01 -4.35336685e-02 9.10172402e+01] [ 4.90540928e-02 -5.03295815e-04 9.98795997e-01 1.18788903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.980385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:212.05, Y:91.04, Z:11.88 [[ 4.49366813e-01 -8.93062594e-01 -2.25537366e-02 2.12054513e+02] [ 8.91999559e-01 4.49932118e-01 -4.35646110e-02 9.10418266e+01] [ 4.90535749e-02 -5.41432670e-04 9.98796002e-01 1.18833544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.010385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.07, Y:91.07, Z:11.88 [[ 4.48492705e-01 -8.93502640e-01 -2.25238752e-02 2.12065994e+02] [ 8.92439387e-01 4.49057594e-01 -4.35800265e-02 9.10670955e+01] [ 4.90533859e-02 -5.55869350e-04 9.98796003e-01 1.18833136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.040385723 meters Centerline goodness : 0.996098 Centerline is valid? [True, True] Translation: X:212.08, Y:91.09, Z:11.88 [[ 4.47177991e-01 -8.94162153e-01 -2.24919575e-02 2.12076922e+02] [ 8.93098904e-01 4.47742887e-01 -4.35964932e-02 9.10915568e+01] [ 4.90529483e-02 -5.92150305e-04 9.98796004e-01 1.18841263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.070385723 meters Centerline goodness : 0.999294 Centerline is valid? [True, True] Translation: X:212.09, Y:91.12, Z:11.88 [[ 4.45172134e-01 -8.95163148e-01 -2.24657413e-02 2.12089951e+02] [ 8.94100487e-01 4.45738136e-01 -4.36100092e-02 9.11202647e+01] [ 4.90519108e-02 -6.72669406e-04 9.98796004e-01 1.18830886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.100385723 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:212.10, Y:91.14, Z:11.89 [[ 4.43753615e-01 -8.95856255e-01 -2.28975771e-02 2.12099279e+02] [ 8.94805819e-01 4.44342260e-01 -4.33878083e-02 9.11430096e+01] [ 4.90436006e-02 -1.23538845e-03 9.98795875e-01 1.18861392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.130385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.11, Y:91.17, Z:11.88 [[ 4.43672996e-01 -8.95905941e-01 -2.25126136e-02 2.12111089e+02] [ 8.94845472e-01 4.44243056e-01 -4.35854129e-02 9.11690273e+01] [ 4.90495026e-02 -8.07639595e-04 9.98796022e-01 1.18843074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.160385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.12, Y:91.19, Z:11.89 [[ 4.46335259e-01 -8.94583347e-01 -2.24827025e-02 2.12120844e+02] [ 8.93520416e-01 4.46900705e-01 -4.36007550e-02 9.11942876e+01] [ 4.90520450e-02 -6.28199391e-04 9.98796026e-01 1.18890584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.190385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.13, Y:91.22, Z:11.89 [[ 4.45504790e-01 -8.94999902e-01 -2.23753824e-02 2.12131892e+02] [ 8.93934732e-01 4.46065992e-01 -4.36557614e-02 9.12215643e+01] [ 4.90527993e-02 -5.53280704e-04 9.98796034e-01 1.18851875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.220385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.14, Y:91.25, Z:11.89 [[ 4.46791736e-01 -8.94356003e-01 -2.24607248e-02 2.12143490e+02] [ 8.93292217e-01 4.47355569e-01 -4.36120379e-02 9.12471959e+01] [ 4.90526183e-02 -5.78492556e-04 9.98796028e-01 1.18885703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.250385723 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:212.16, Y:91.27, Z:11.89 [[ 4.47771705e-01 -8.93867781e-01 -2.23805838e-02 2.12155232e+02] [ 8.92801327e-01 4.48330460e-01 -4.36530608e-02 9.12718980e+01] [ 4.90539620e-02 -4.34809476e-04 9.98796035e-01 1.18894114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.280385723 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:212.17, Y:91.30, Z:11.89 [[ 4.48461619e-01 -8.93522820e-01 -2.23415856e-02 2.12165730e+02] [ 8.92454941e-01 4.49017645e-01 -4.36730110e-02 9.12964102e+01] [ 4.90545981e-02 -3.53189197e-04 9.98796036e-01 1.18917135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.310385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.18, Y:91.32, Z:11.89 [[ 4.48681298e-01 -8.93412800e-01 -2.23307193e-02 2.12177479e+02] [ 8.92344509e-01 4.49236530e-01 -4.36785664e-02 9.13218669e+01] [ 4.90547652e-02 -3.28938847e-04 9.98796036e-01 1.18937401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.340385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.19, Y:91.35, Z:11.89 [[ 4.49010083e-01 -8.93247904e-01 -2.23187535e-02 2.12189086e+02] [ 8.92179105e-01 4.49564337e-01 -4.36846798e-02 9.13469380e+01] [ 4.90549643e-02 -2.97463801e-04 9.98796036e-01 1.18947035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.370385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.20, Y:91.37, Z:11.90 [[ 4.49165821e-01 -8.93169900e-01 -2.23068172e-02 2.12201347e+02] [ 8.92100702e-01 4.49719305e-01 -4.36907740e-02 9.13731262e+01] [ 4.90550906e-02 -2.75524925e-04 9.98796036e-01 1.18952747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.400385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.21, Y:91.40, Z:11.90 [[ 4.50059733e-01 -8.92717730e-01 -2.23895200e-02 2.12213776e+02] [ 8.91650072e-01 4.50616192e-01 -4.36485617e-02 9.13983773e+01] [ 4.90549251e-02 -3.19157067e-04 9.98796031e-01 1.18975058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.43038572300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.23, Y:91.42, Z:11.90 [[ 4.50499129e-01 -8.92498574e-01 -2.22896825e-02 2.12225813e+02] [ 8.91428120e-01 4.51050177e-01 -4.36994859e-02 9.14236217e+01] [ 4.90554940e-02 -1.83069460e-04 9.98796038e-01 1.18988642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.460385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.24, Y:91.45, Z:11.90 [[ 4.50695405e-01 -8.92399784e-01 -2.22772900e-02 2.12237486e+02] [ 8.91328897e-01 4.51245610e-01 -4.37058024e-02 9.14482235e+01] [ 4.90555780e-02 -1.58388046e-04 9.98796038e-01 1.19002125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.49038572300003 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:212.25, Y:91.47, Z:11.90 [[ 4.51999501e-01 -8.91740247e-01 -2.22661634e-02 2.12249142e+02] [ 8.90668278e-01 4.52547595e-01 -4.37114702e-02 9.14729824e+01] [ 4.90557760e-02 -7.42026507e-05 9.98796038e-01 1.19010507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.520385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.26, Y:91.50, Z:11.90 [[ 4.52826616e-01 -8.91320797e-01 -2.22551684e-02 2.12261898e+02] [ 8.90248045e-01 4.53373176e-01 -4.37170675e-02 9.14980643e+01] [ 4.90558278e-02 -1.63684596e-05 9.98796038e-01 1.19021408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.550385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.27, Y:91.52, Z:11.90 [[ 4.53642379e-01 -8.90906192e-01 -2.22429571e-02 2.12274540e+02] [ 8.89832636e-01 4.54187357e-01 -4.37232797e-02 9.15230502e+01] [ 4.90558105e-02 4.22234809e-05 9.98796038e-01 1.19031333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.580385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.29, Y:91.55, Z:11.90 [[ 4.55804688e-01 -8.89802157e-01 -2.22307853e-02 2.12285879e+02] [ 8.88726979e-01 4.56346459e-01 -4.37294674e-02 9.15479254e+01] [ 4.90555146e-02 1.74997606e-04 9.98796038e-01 1.19030444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.610385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.30, Y:91.57, Z:11.90 [[ 4.54860914e-01 -8.90285250e-01 -2.22198526e-02 2.12295179e+02] [ 8.89210376e-01 4.55403288e-01 -4.37350219e-02 9.15725915e+01] [ 4.90556388e-02 1.35228514e-04 9.98796038e-01 1.19017424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.640385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:212.31, Y:91.60, Z:11.90 [[ 4.57636933e-01 -8.88869146e-01 -2.19107037e-02 2.12311182e+02] [ 8.87785031e-01 4.58160713e-01 -4.38919158e-02 9.15977340e+01] [ 4.90527933e-02 6.34567014e-04 9.98795986e-01 1.19047683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.670385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.33, Y:91.62, Z:11.91 [[ 4.59038435e-01 -8.88138905e-01 -2.22036333e-02 2.12325662e+02] [ 8.87061098e-01 4.59574954e-01 -4.37432305e-02 9.16204801e+01] [ 4.90542986e-02 3.83844778e-04 9.98796039e-01 1.19076149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.700385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.34, Y:91.65, Z:11.91 [[ 4.59257163e-01 -8.88026095e-01 -2.21926216e-02 2.12338383e+02] [ 8.86947887e-01 4.59792875e-01 -4.37488165e-02 9.16450394e+01] [ 4.90541000e-02 4.08258555e-04 9.98796040e-01 1.19091459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.730385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.35, Y:91.67, Z:11.91 [[ 4.59611747e-01 -8.87842933e-01 -2.21803687e-02 2.12350530e+02] [ 8.86764211e-01 4.60146425e-01 -4.37550278e-02 9.16696096e+01] [ 4.90538095e-02 4.41567638e-04 9.98796040e-01 1.19107583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.760385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.36, Y:91.69, Z:11.91 [[ 4.61080810e-01 -8.87081171e-01 -2.21693898e-02 2.12363601e+02] [ 8.86001299e-01 4.61613160e-01 -4.37605897e-02 9.16949730e+01] [ 4.90528773e-02 5.35060021e-04 9.98796040e-01 1.19101478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.790385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.38, Y:91.72, Z:11.91 [[ 4.60828549e-01 -8.87212556e-01 -2.21569232e-02 2.12376440e+02] [ 8.86132532e-01 4.61360590e-01 -4.37669009e-02 9.17204628e+01] [ 4.90528752e-02 5.35066945e-04 9.98796040e-01 1.19115450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.820385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.39, Y:91.74, Z:11.91 [[ 4.61694951e-01 -8.86762310e-01 -2.21444611e-02 2.12389430e+02] [ 8.85681465e-01 4.62225323e-01 -4.37732054e-02 9.17441247e+01] [ 4.90521594e-02 5.96929178e-04 9.98796040e-01 1.19123610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.850385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.40, Y:91.77, Z:11.91 [[ 4.62091509e-01 -8.86555940e-01 -2.21359972e-02 2.12402698e+02] [ 8.85474653e-01 4.62620979e-01 -4.37774851e-02 9.17679548e+01] [ 4.90517662e-02 6.28339671e-04 9.98796040e-01 1.19129667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.880385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:212.42, Y:91.79, Z:11.91 [[ 4.62511824e-01 -8.86337010e-01 -2.21250430e-02 2.12417838e+02] [ 8.85255208e-01 4.63040240e-01 -4.37830207e-02 9.17918453e+01] [ 4.90512969e-02 6.63855166e-04 9.98796040e-01 1.19137073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.910385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.43, Y:91.82, Z:11.91 [[ 4.62678670e-01 -8.86250235e-01 -2.21126375e-02 2.12430329e+02] [ 8.85168035e-01 4.63206270e-01 -4.37892852e-02 9.18154500e+01] [ 4.90509766e-02 6.86968342e-04 9.98796040e-01 1.19146912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.940385723 meters Centerline goodness : 0.999680 Centerline is valid? [True, True] Translation: X:212.44, Y:91.84, Z:11.91 [[ 4.61945115e-01 -8.86633089e-01 -2.21015112e-02 2.12442951e+02] [ 8.85551057e-01 4.62473061e-01 -4.37949002e-02 9.18405856e+01] [ 4.90513612e-02 6.58823558e-04 9.98796040e-01 1.19108850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.970385723 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:212.46, Y:91.86, Z:11.91 [[ 4.62268057e-01 -8.86465060e-01 -2.20893839e-02 2.12457181e+02] [ 8.85382544e-01 4.62795010e-01 -4.38010161e-02 9.18644429e+01] [ 4.90509270e-02 6.90255657e-04 9.98796040e-01 1.19127642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.000385723 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:212.47, Y:91.89, Z:11.92 [[ 4.62660740e-01 -8.86260476e-01 -2.20773100e-02 2.12471233e+02] [ 8.85177438e-01 4.63186617e-01 -4.38071010e-02 9.18886098e+01] [ 4.90504167e-02 7.25489108e-04 9.98796040e-01 1.19166897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.030385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:212.49, Y:91.91, Z:11.92 [[ 4.62258856e-01 -8.86470459e-01 -2.20652502e-02 2.12485176e+02] [ 8.85387370e-01 4.62784627e-01 -4.38131746e-02 9.19126467e+01] [ 4.90505436e-02 7.16734100e-04 9.98796040e-01 1.19182882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.060385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.50, Y:91.94, Z:11.92 [[ 4.61833553e-01 -8.86692412e-01 -2.20530313e-02 2.12499010e+02] [ 8.85609282e-01 4.62359241e-01 -4.38193240e-02 9.19358392e+01] [ 4.90506849e-02 7.06864947e-04 9.98796041e-01 1.19200101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.090385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.51, Y:91.96, Z:11.92 [[ 4.60224085e-01 -8.87529120e-01 -2.20420553e-02 2.12514358e+02] [ 8.86446682e-01 4.60751195e-01 -4.38248445e-02 9.19593436e+01] [ 4.90517290e-02 6.30142195e-04 9.98796041e-01 1.19211754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.120385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:212.53, Y:91.98, Z:11.92 [[ 4.57646192e-01 -8.88861430e-01 -2.20300064e-02 2.12525200e+02] [ 8.87780235e-01 4.58175847e-01 -4.38309004e-02 9.19838068e+01] [ 4.90532137e-02 5.01240358e-04 9.98796041e-01 1.19213929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.150385723 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:212.54, Y:92.01, Z:11.92 [[ 4.58674602e-01 -8.88338481e-01 -2.17336743e-02 2.12541897e+02] [ 8.87249590e-01 4.59188363e-01 -4.39796800e-02 9.20080135e+01] [ 4.90486925e-02 8.89168623e-04 9.98795993e-01 1.19214345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.18038572300003 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:212.55, Y:92.03, Z:11.92 [[ 4.51943078e-01 -8.91775161e-01 -2.20117396e-02 2.12546522e+02] [ 8.90696935e-01 4.52478750e-01 -4.38400684e-02 9.20292720e+01] [ 4.90553284e-02 2.07426455e-04 9.98796041e-01 1.19154244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.210385723 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:212.57, Y:92.06, Z:11.92 [[ 4.57517130e-01 -8.88950114e-01 -2.11132629e-02 2.12570231e+02] [ 8.87847397e-01 4.58001517e-01 -4.42900775e-02 9.20567668e+01] [ 4.90415759e-02 1.51811360e-03 9.98795584e-01 1.19227782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.24038572300003 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:212.58, Y:92.08, Z:11.93 [[ 4.50747778e-01 -8.92380329e-01 -2.19952059e-02 2.12575623e+02] [ 8.91302450e-01 4.51284082e-01 -4.38476974e-02 9.20768929e+01] [ 4.90549090e-02 1.59871278e-04 9.98796070e-01 1.19259160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.270385723 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:212.60, Y:92.10, Z:11.93 [[ 4.56698365e-01 -8.89372285e-01 -2.10604356e-02 2.12598467e+02] [ 8.88268832e-01 4.57181138e-01 -4.43157986e-02 9.21044964e+01] [ 4.90416770e-02 1.53162424e-03 9.98795559e-01 1.19287433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.300385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:212.60, Y:92.13, Z:11.93 [[ 4.50765225e-01 -8.92371554e-01 -2.19936546e-02 2.12603749e+02] [ 8.91293663e-01 4.51301432e-01 -4.38477338e-02 9.21262047e+01] [ 4.90542382e-02 1.62228646e-04 9.98796103e-01 1.19281971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.330385723 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:212.62, Y:92.15, Z:11.93 [[ 4.50370701e-01 -8.92590333e-01 -2.11832377e-02 2.12616982e+02] [ 8.91493245e-01 4.50867391e-01 -4.42537032e-02 9.21505784e+01] [ 4.90512588e-02 1.04585805e-03 9.98795715e-01 1.19282669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.360385723 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:212.63, Y:92.17, Z:11.93 [[ 4.49372830e-01 -8.93095425e-01 -2.10860345e-02 2.12632157e+02] [ 8.91996607e-01 4.49865927e-01 -4.43023783e-02 9.21733564e+01] [ 4.90521399e-02 1.09961386e-03 9.98795614e-01 1.19293460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.390385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:212.65, Y:92.20, Z:11.93 [[ 4.49241213e-01 -8.93162362e-01 -2.10553562e-02 2.12646595e+02] [ 8.92062897e-01 4.49732950e-01 -4.43177361e-02 9.21981521e+01] [ 4.90522213e-02 1.12665147e-03 9.98795580e-01 1.19292291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.420385723 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:212.66, Y:92.22, Z:11.93 [[ 4.48075376e-01 -8.93746250e-01 -2.11210232e-02 2.12659994e+02] [ 8.92648973e-01 4.48571802e-01 -4.42848591e-02 9.22222982e+01] [ 4.90537221e-02 9.89295243e-04 9.98795652e-01 1.19309806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.450385723 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:212.68, Y:92.25, Z:11.93 [[ 4.52655415e-01 -8.91435584e-01 -2.11110104e-02 2.12683006e+02] [ 8.90335541e-01 4.53145707e-01 -4.42898684e-02 9.22500667e+01] [ 4.90479285e-02 1.25216589e-03 9.98795641e-01 1.19342370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.480385723 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:212.69, Y:92.27, Z:11.93 [[ 4.47598069e-01 -8.93964767e-01 -2.19764359e-02 2.12690750e+02] [ 8.92888367e-01 4.48137250e-01 -4.38562278e-02 9.22731580e+01] [ 4.90543821e-02 7.45889398e-06 9.98796109e-01 1.19340298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.510385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:212.71, Y:92.30, Z:11.94 [[ 4.50431646e-01 -8.92554369e-01 -2.14016706e-02 2.12711008e+02] [ 8.91462437e-01 4.50939077e-01 -4.41437661e-02 9.22989691e+01] [ 4.90515609e-02 8.04963839e-04 9.98795923e-01 1.19370042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.540385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:212.72, Y:92.32, Z:11.94 [[ 4.45271658e-01 -8.95126145e-01 -2.19621475e-02 2.12720479e+02] [ 8.94050810e-01 4.45812936e-01 -4.38631478e-02 9.23205851e+01] [ 4.90540598e-02 -1.04259257e-04 9.98796120e-01 1.19354697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.570385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.74, Y:92.35, Z:11.94 [[ 4.48364772e-01 -8.93594725e-01 -2.13892034e-02 2.12739310e+02] [ 8.92503694e-01 4.48874113e-01 -4.41495846e-02 9.23464320e+01] [ 4.90528956e-02 7.05175401e-04 9.98795933e-01 1.19392657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.600385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:212.75, Y:92.37, Z:11.94 [[ 4.47680173e-01 -8.93924315e-01 -2.19495148e-02 2.12751322e+02] [ 8.92847228e-01 4.48217934e-01 -4.38692494e-02 9.23704169e+01] [ 4.90539550e-02 4.18296968e-05 9.98796129e-01 1.19403295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.630385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.76, Y:92.39, Z:11.94 [[ 4.44505199e-01 -8.95507616e-01 -2.19371209e-02 2.12758611e+02] [ 8.94432138e-01 4.45046172e-01 -4.38754462e-02 9.23949936e+01] [ 4.90538279e-02 -1.18402001e-04 9.98796129e-01 1.19380639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.660385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:212.77, Y:92.42, Z:11.94 [[ 4.44119539e-01 -8.95710806e-01 -2.14473257e-02 2.12771459e+02] [ 8.94623631e-01 4.44636916e-01 -4.41199811e-02 9.24203178e+01] [ 4.90550166e-02 4.07261302e-04 9.98795995e-01 1.19382879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.690385723 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:212.79, Y:92.44, Z:11.94 [[ 4.44400412e-01 -8.95569696e-01 -2.15219397e-02 2.12785206e+02] [ 8.94484161e-01 4.44921122e-01 -4.40826722e-02 9.24439152e+01] [ 4.90546709e-02 3.39323535e-04 9.98796037e-01 1.19398848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.720385723 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:212.80, Y:92.47, Z:11.94 [[ 4.44457354e-01 -8.95543908e-01 -2.14189094e-02 2.12801600e+02] [ 8.94455853e-01 4.44972920e-01 -4.41341962e-02 9.24673868e+01] [ 4.90549452e-02 4.57499151e-04 9.98795977e-01 1.19405562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.750385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:212.82, Y:92.49, Z:11.95 [[ 4.48896293e-01 -8.93327323e-01 -2.14105891e-02 2.12819430e+02] [ 8.92236524e-01 4.49406042e-01 -4.41383545e-02 9.24935741e+01] [ 4.90520462e-02 7.10234080e-04 9.98795971e-01 1.19466483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.780385723 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:212.83, Y:92.52, Z:11.95 [[ 4.49743908e-01 -8.92887986e-01 -2.19422476e-02 2.12830999e+02] [ 8.91809502e-01 4.50278823e-01 -4.38724621e-02 9.25193353e+01] [ 4.90533237e-02 1.63067601e-04 9.98796148e-01 1.19475881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.810385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:212.83, Y:92.54, Z:11.94 [[ 4.48196262e-01 -8.93666146e-01 -2.19301091e-02 2.12833422e+02] [ 8.92588295e-01 4.48732449e-01 -4.38785288e-02 9.25439692e+01] [ 4.90535073e-02 9.16339815e-05 9.98796148e-01 1.19443187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.840385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.85, Y:92.57, Z:11.95 [[ 4.53737137e-01 -8.90881910e-01 -2.12610801e-02 2.12852484e+02] [ 8.89784895e-01 4.54233549e-01 -4.42122652e-02 9.25718149e+01] [ 4.90454031e-02 1.14295867e-03 9.98795896e-01 1.19468571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.870385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:212.87, Y:92.60, Z:11.95 [[ 4.55328696e-01 -8.90053692e-01 -2.19135591e-02 2.12866216e+02] [ 8.88971205e-01 4.55855430e-01 -4.38864815e-02 9.25965827e+01] [ 4.90507398e-02 5.02251327e-04 9.98796162e-01 1.19491435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.900385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:212.88, Y:92.62, Z:11.95 [[ 4.57495303e-01 -8.88942481e-01 -2.18932180e-02 2.12881921e+02] [ 8.87858230e-01 4.58018395e-01 -4.38966320e-02 9.26198655e+01] [ 4.90490775e-02 6.44429207e-04 9.98796162e-01 1.19507273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.93038572300003 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:212.89, Y:92.64, Z:11.95 [[ 4.53533152e-01 -8.90970364e-01 -2.18972722e-02 2.12889139e+02] [ 8.89888550e-01 4.54061265e-01 -4.38946095e-02 9.26430496e+01] [ 4.90514994e-02 4.21528830e-04 9.98796162e-01 1.19483477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.960385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:212.90, Y:92.67, Z:11.95 [[ 4.52871707e-01 -8.91319997e-01 -2.13513319e-02 2.12900867e+02] [ 8.90225611e-01 4.53373658e-01 -4.41665808e-02 9.26687677e+01] [ 4.90466881e-02 9.94292331e-04 9.98795992e-01 1.19485334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.99038572300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.92, Y:92.70, Z:11.95 [[ 4.56000247e-01 -8.89723573e-01 -2.13480353e-02 2.12919884e+02] [ 8.88627354e-01 4.56498186e-01 -4.41682212e-02 9.26959335e+01] [ 4.90428469e-02 1.17027159e-03 9.98795990e-01 1.19520275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.020385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.93, Y:92.72, Z:11.95 [[ 4.55203779e-01 -8.90118772e-01 -2.18653091e-02 2.12933402e+02] [ 8.89035198e-01 4.55728286e-01 -4.39106538e-02 9.27198884e+01] [ 4.90503371e-02 5.49266183e-04 9.98796157e-01 1.19531719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.050385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.95, Y:92.74, Z:11.95 [[ 4.54375355e-01 -8.90542207e-01 -2.18543790e-02 2.12948219e+02] [ 8.89458861e-01 4.54900331e-01 -4.39160931e-02 9.27439488e+01] [ 4.90506987e-02 5.15819383e-04 9.98796157e-01 1.19548341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.080385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.96, Y:92.76, Z:11.95 [[ 4.48520649e-01 -8.93505532e-01 -2.18424332e-02 2.12957518e+02] [ 8.92425366e-01 4.49052137e-01 -4.39220337e-02 9.27638656e+01] [ 4.90529714e-02 2.07197603e-04 9.98796157e-01 1.19546610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.110385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.97, Y:92.79, Z:11.96 [[ 4.49055028e-01 -8.93253604e-01 -2.11561153e-02 2.12971865e+02] [ 8.92156802e-01 4.49551994e-01 -4.42633579e-02 9.27892296e+01] [ 4.90491777e-02 1.00211125e-03 9.98795862e-01 1.19563972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.140385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.99, Y:92.82, Z:11.96 [[ 4.52626342e-01 -8.91448364e-01 -2.11945609e-02 2.12992681e+02] [ 8.90350474e-01 4.53120822e-01 -4.42442448e-02 9.28158518e+01] [ 4.90451565e-02 1.15552335e-03 9.98795894e-01 1.19603042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.170385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.01, Y:92.84, Z:11.96 [[ 4.52126129e-01 -8.91686304e-01 -2.18517395e-02 2.13006271e+02] [ 8.90604230e-01 4.52653708e-01 -4.39172698e-02 9.28404046e+01] [ 4.90516990e-02 3.94893545e-04 9.98796163e-01 1.19614907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.200385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:213.02, Y:92.86, Z:11.96 [[ 4.51678397e-01 -8.91913467e-01 -2.18401766e-02 2.13020040e+02] [ 8.90831380e-01 4.52205949e-01 -4.39230194e-02 9.28647525e+01] [ 4.90517903e-02 3.83164320e-04 9.98796163e-01 1.19628198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.230385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:213.03, Y:92.89, Z:11.96 [[ 4.48324656e-01 -8.93604236e-01 -2.18282473e-02 2.13029173e+02] [ 8.92523850e-01 4.48855683e-01 -4.39289471e-02 9.28871496e+01] [ 4.90528260e-02 2.12198778e-04 9.98796163e-01 1.19624820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.260385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:213.05, Y:92.91, Z:11.97 [[ 4.49666371e-01 -8.92941823e-01 -2.13320370e-02 2.13051095e+02] [ 8.91848840e-01 4.50171298e-01 -4.41752219e-02 9.29113179e+01] [ 4.90489740e-02 8.39159260e-04 9.98796022e-01 1.19670794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.290385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:213.07, Y:92.93, Z:11.97 [[ 4.48733001e-01 -8.93399604e-01 -2.18138030e-02 2.13065893e+02] [ 8.92318631e-01 4.49262825e-01 -4.39360379e-02 9.29349828e+01] [ 4.90525696e-02 2.50687356e-04 9.98796167e-01 1.19692551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.320385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:213.08, Y:92.96, Z:11.97 [[ 4.45351558e-01 -8.95090316e-01 -2.18017352e-02 2.13075940e+02] [ 8.94011062e-01 4.45884873e-01 -4.39420253e-02 9.29580291e+01] [ 4.90531452e-02 7.86570520e-05 9.98796167e-01 1.19700262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.350385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.10, Y:92.98, Z:11.97 [[ 4.46969220e-01 -8.94293733e-01 -2.13830551e-02 2.13095019e+02] [ 8.93203505e-01 4.47479962e-01 -4.41495319e-02 9.29827752e+01] [ 4.90511384e-02 6.34062090e-04 9.98796067e-01 1.19706646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.380385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.11, Y:93.01, Z:11.97 [[ 4.46535278e-01 -8.94500722e-01 -2.17876916e-02 2.13108359e+02] [ 8.93420427e-01 4.47066474e-01 -4.39489389e-02 9.30070401e+01] [ 4.90529041e-02 1.59182869e-04 9.98796169e-01 1.19728293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.410385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.12, Y:93.03, Z:11.97 [[ 4.46226655e-01 -8.94655014e-01 -2.17756303e-02 2.13121095e+02] [ 8.93574610e-01 4.46757632e-01 -4.39549142e-02 9.30305360e+01] [ 4.90529134e-02 1.55703976e-04 9.98796169e-01 1.19724631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.440385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.14, Y:93.05, Z:11.97 [[ 4.46825712e-01 -8.94356234e-01 -2.17648910e-02 2.13136338e+02] [ 8.93275216e-01 4.47355437e-01 -4.39602313e-02 9.30538579e+01] [ 4.90527492e-02 2.00523896e-04 9.98796169e-01 1.19746979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.470385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:213.15, Y:93.08, Z:11.98 [[ 4.46116274e-01 -8.94711247e-01 -2.17268049e-02 2.13150300e+02] [ 8.93629732e-01 4.46644985e-01 -4.39790778e-02 9.30778383e+01] [ 4.90527440e-02 2.04063525e-04 9.98796169e-01 1.19761604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.500385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.16, Y:93.10, Z:11.98 [[ 4.42220467e-01 -8.96642616e-01 -2.17503701e-02 2.13158760e+02] [ 8.95563983e-01 4.42755032e-01 -4.39674203e-02 9.31003388e+01] [ 4.90531485e-02 -3.55549726e-05 9.98796169e-01 1.19758953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.530385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.18, Y:93.13, Z:11.98 [[ 4.43783897e-01 -8.95882537e-01 -2.12210272e-02 2.13180272e+02] [ 8.94790327e-01 4.44290525e-01 -4.42289558e-02 9.31258293e+01] [ 4.90522505e-02 6.39728482e-04 9.98796009e-01 1.19787783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.560385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.19, Y:93.15, Z:11.98 [[ 4.39138392e-01 -8.98156354e-01 -2.17401950e-02 2.13187310e+02] [ 8.97079323e-01 4.39676161e-01 -4.39722850e-02 9.31480895e+01] [ 4.90526326e-02 -1.92760846e-04 9.98796176e-01 1.19788519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.590385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.21, Y:93.17, Z:11.98 [[ 4.42396423e-01 -8.96572509e-01 -2.10509270e-02 2.13208540e+02] [ 8.95477101e-01 4.42896342e-01 -4.43124436e-02 9.31749620e+01] [ 4.90526972e-02 7.53043502e-04 9.98795908e-01 1.19819453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.620385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:213.22, Y:93.20, Z:11.99 [[ 4.42176551e-01 -8.96663829e-01 -2.17686891e-02 2.13224371e+02] [ 8.95585692e-01 4.42712068e-01 -4.39578689e-02 9.31974540e+01] [ 4.90526923e-02 -5.85875915e-05 9.98796190e-01 1.19853998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.650385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.24, Y:93.22, Z:11.99 [[ 4.41809752e-01 -8.96845852e-01 -2.17177404e-02 2.13237319e+02] [ 8.95766698e-01 4.42343211e-01 -4.39830261e-02 9.32206598e+01] [ 4.90526896e-02 -2.18987570e-05 9.98796192e-01 1.19870387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.68038572300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.25, Y:93.25, Z:11.99 [[ 4.41533403e-01 -8.96982138e-01 -2.17094026e-02 2.13251037e+02] [ 8.95902946e-01 4.42066786e-01 -4.39871412e-02 9.32457192e+01] [ 4.90526858e-02 -2.77256111e-05 9.98796192e-01 1.19885400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.710385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.26, Y:93.27, Z:11.99 [[ 4.41303263e-01 -8.97095660e-01 -2.16981024e-02 2.13263585e+02] [ 8.96016330e-01 4.41836369e-01 -4.39927147e-02 9.32713724e+01] [ 4.90526842e-02 -2.77256112e-05 9.98796192e-01 1.19899371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.74038572300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.28, Y:93.30, Z:11.99 [[ 4.41130130e-01 -8.97181080e-01 -2.16868009e-02 2.13277245e+02] [ 8.96101580e-01 4.41662890e-01 -4.39982852e-02 9.32963972e+01] [ 4.90526842e-02 -2.46072332e-05 9.98796192e-01 1.19910138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.770385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.29, Y:93.32, Z:11.99 [[ 4.41298067e-01 -8.97098752e-01 -2.16759115e-02 2.13291252e+02] [ 8.96018889e-01 4.41830091e-01 -4.40036492e-02 9.33195487e+01] [ 4.90526888e-02 -3.30082904e-06 9.98796192e-01 1.19915726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.800385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.31, Y:93.35, Z:11.99 [[ 4.40802036e-01 -8.97342886e-01 -2.16635641e-02 2.13305322e+02] [ 8.96263019e-01 4.41334051e-01 -4.40097272e-02 9.33452667e+01] [ 4.90526841e-02 -1.66740225e-05 9.98796192e-01 1.19938529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.830385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.32, Y:93.37, Z:11.99 [[ 4.40725465e-01 -8.97379051e-01 -2.17233502e-02 2.13318649e+02] [ 8.96300675e-01 4.41260503e-01 -4.39803117e-02 9.33690432e+01] [ 4.90526668e-02 -8.74101251e-05 9.98796190e-01 1.19937102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.860385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.32, Y:93.39, Z:12.00 [[ 4.36226287e-01 -8.99576721e-01 -2.16413929e-02 2.13323737e+02] [ 8.98499038e-01 4.36762710e-01 -4.40206038e-02 9.33906307e+01] [ 4.90520638e-02 -2.41826137e-04 9.98796194e-01 1.19956780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.890385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.34, Y:93.42, Z:12.00 [[ 4.39930958e-01 -8.97789805e-01 -2.08378957e-02 2.13344102e+02] [ 8.96690901e-01 4.40423359e-01 -4.44150016e-02 9.34189836e+01] [ 4.90528317e-02 8.54382668e-04 9.98795820e-01 1.19981421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.920385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.36, Y:93.44, Z:12.00 [[ 4.38986525e-01 -8.98233102e-01 -2.16362158e-02 2.13357080e+02] [ 8.97153675e-01 4.39519383e-01 -4.40226657e-02 9.34435208e+01] [ 4.90521517e-02 -8.56534811e-05 9.98796215e-01 1.20002032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.950385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.37, Y:93.47, Z:12.00 [[ 4.37639969e-01 -8.98890237e-01 -2.16240605e-02 2.13369317e+02] [ 8.97811315e-01 4.38173848e-01 -4.40286355e-02 9.34691392e+01] [ 4.90520084e-02 -1.45635518e-04 9.98796215e-01 1.20025766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.980385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.38, Y:93.49, Z:12.00 [[ 4.37158061e-01 -8.99124996e-01 -2.16118436e-02 2.13380780e+02] [ 8.98046065e-01 4.37691920e-01 -4.40346315e-02 9.34935290e+01] [ 4.90519672e-02 -1.58336910e-04 9.98796215e-01 1.20037092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.010385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.39, Y:93.52, Z:12.01 [[ 4.36533002e-01 -8.99428895e-01 -2.16009395e-02 2.13392694e+02] [ 8.98350071e-01 4.37067077e-01 -4.40399798e-02 9.35184155e+01] [ 4.90518899e-02 -1.80301001e-04 9.98796215e-01 1.20054570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.040385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.40, Y:93.54, Z:12.01 [[ 4.35236945e-01 -9.00057065e-01 -2.15889105e-02 2.13404077e+02] [ 8.98978719e-01 4.35771985e-01 -4.40458758e-02 9.35444147e+01] [ 4.90516441e-02 -2.37578627e-04 9.98796215e-01 1.20074713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.070385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.41, Y:93.57, Z:12.01 [[ 4.34332048e-01 -9.00494371e-01 -2.15768283e-02 2.13414771e+02] [ 8.99416270e-01 4.34867580e-01 -4.40517937e-02 9.35687921e+01] [ 4.90514554e-02 -2.73444703e-04 9.98796215e-01 1.20086500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.100385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.43, Y:93.59, Z:12.01 [[ 4.32085106e-01 -9.01574984e-01 -2.15640890e-02 2.13425068e+02] [ 9.00497911e-01 4.32622703e-01 -4.40580289e-02 9.35939969e+01] [ 4.90507312e-02 -3.81598985e-04 9.98796216e-01 1.20093436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.130385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.44, Y:93.62, Z:12.01 [[ 4.30869402e-01 -9.02156818e-01 -2.15553597e-02 2.13436629e+02] [ 9.01080257e-01 4.31408024e-01 -4.40622993e-02 9.36193022e+01] [ 4.90502589e-02 -4.38012503e-04 9.98796216e-01 1.20109731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.160385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.45, Y:93.64, Z:12.01 [[ 4.30080890e-01 -9.02533270e-01 -2.15435688e-02 2.13447900e+02] [ 9.01456892e-01 4.30619877e-01 -4.40680636e-02 9.36447317e+01] [ 4.90499824e-02 -4.67766613e-04 9.98796216e-01 1.20117930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.190385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.46, Y:93.67, Z:12.01 [[ 4.28141325e-01 -9.03455248e-01 -2.15318430e-02 2.13456878e+02] [ 9.02379743e-01 4.28682050e-01 -4.40737921e-02 9.36704352e+01] [ 4.90490134e-02 -5.60087220e-04 9.98796216e-01 1.20103091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.220385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.47, Y:93.70, Z:12.01 [[ 4.28582680e-01 -9.03251979e-01 -2.12779083e-02 2.13470626e+02] [ 9.02170029e-01 4.29110473e-01 -4.41977433e-02 9.36972958e+01] [ 4.90522724e-02 -2.53903892e-04 9.98796180e-01 1.20136252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.250385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.48, Y:93.72, Z:12.01 [[ 4.27979219e-01 -9.03532365e-01 -2.15186852e-02 2.13482215e+02] [ 9.02456635e-01 4.28519496e-01 -4.40802049e-02 9.37213666e+01] [ 4.90490679e-02 -5.54268559e-04 9.98796216e-01 1.20148456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.280385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.49, Y:93.75, Z:12.02 [[ 4.27263516e-01 -9.03871284e-01 -2.15079140e-02 2.13492613e+02] [ 9.02795718e-01 4.27804119e-01 -4.40854599e-02 9.37474733e+01] [ 4.90487554e-02 -5.81144073e-04 9.98796216e-01 1.20156091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.310385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.50, Y:93.77, Z:12.02 [[ 4.26467932e-01 -9.04247218e-01 -2.14958310e-02 2.13503510e+02] [ 9.03171832e-01 4.27008893e-01 -4.40913507e-02 9.37729614e+01] [ 4.90483922e-02 -6.10881961e-04 9.98796216e-01 1.20165181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.340385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.52, Y:93.80, Z:12.02 [[ 4.25908300e-01 -9.04511230e-01 -2.14838462e-02 2.13515113e+02] [ 9.03435884e-01 4.26449342e-01 -4.40971896e-02 9.37977065e+01] [ 4.90481753e-02 -6.27918553e-04 9.98796217e-01 1.20174358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.370385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.53, Y:93.82, Z:12.02 [[ 4.25336523e-01 -9.04780542e-01 -2.14712024e-02 2.13527351e+02] [ 9.03705229e-01 4.25877628e-01 -4.41033451e-02 9.38231324e+01] [ 4.90479533e-02 -6.44874439e-04 9.98796217e-01 1.20196400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.400385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.54, Y:93.85, Z:12.02 [[ 4.25216509e-01 -9.04837233e-01 -2.14593012e-02 2.13539713e+02] [ 9.03761700e-01 4.25757177e-01 -4.41091351e-02 9.38486440e+01] [ 4.90480393e-02 -6.38162130e-04 9.98796217e-01 1.20208258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.43038572300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.55, Y:93.87, Z:12.02 [[ 4.25112745e-01 -9.04886269e-01 -2.14474718e-02 2.13551292e+02] [ 9.03810508e-01 4.25652960e-01 -4.41148862e-02 9.38726583e+01] [ 4.90481347e-02 -6.30650001e-04 9.98796217e-01 1.20215227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.460385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.56, Y:93.90, Z:12.02 [[ 4.27034015e-01 -9.03981465e-01 -2.14350294e-02 2.13562452e+02] [ 9.02904256e-01 4.27571336e-01 -4.41209311e-02 9.38950031e+01] [ 4.90495081e-02 -5.12640910e-04 9.98796217e-01 1.20205777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.49038572300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.57, Y:93.92, Z:12.03 [[ 4.25295194e-01 -9.04807121e-01 -2.11676963e-02 2.13573293e+02] [ 9.03724454e-01 4.25821532e-01 -4.42508093e-02 9.39213006e+01] [ 4.90521083e-02 -3.10108268e-04 9.98796173e-01 1.20251187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.520385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.59, Y:93.95, Z:12.03 [[ 4.25321767e-01 -9.04792936e-01 -2.12399946e-02 2.13585609e+02] [ 9.03712004e-01 4.25851607e-01 -4.42156374e-02 9.39473315e+01] [ 4.90510822e-02 -3.88965071e-04 9.98796195e-01 1.20275540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.550385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:213.59, Y:93.97, Z:12.02 [[ 4.19735407e-01 -9.07397998e-01 -2.12382165e-02 2.13588448e+02] [ 9.06320309e-01 4.20271815e-01 -4.42165019e-02 9.39699296e+01] [ 4.90477891e-02 -6.89395556e-04 9.98796195e-01 1.20231762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.580385723 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:213.61, Y:94.00, Z:12.03 [[ 4.26573066e-01 -9.04223022e-01 -2.03996629e-02 2.13612840e+02] [ 9.03121471e-01 4.27060128e-01 -4.46234914e-02 9.39977667e+01] [ 4.90614709e-02 6.11806000e-04 9.98795574e-01 1.20305452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.610385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.63, Y:94.02, Z:12.03 [[ 4.26613434e-01 -9.04179685e-01 -2.14493605e-02 2.13626575e+02] [ 9.03103116e-01 4.27151955e-01 -4.41131285e-02 9.40217902e+01] [ 4.90483309e-02 -5.51731017e-04 9.98796254e-01 1.20337514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.640385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.64, Y:94.05, Z:12.04 [[ 4.26407612e-01 -9.04277052e-01 -2.14373822e-02 2.13639160e+02] [ 9.03200314e-01 4.26945794e-01 -4.41189488e-02 9.40454106e+01] [ 4.90483531e-02 -5.49594765e-04 9.98796254e-01 1.20351318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.670385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.65, Y:94.07, Z:12.04 [[ 4.26432089e-01 -9.04265809e-01 -2.14247808e-02 2.13651611e+02] [ 9.03188749e-01 4.26969627e-01 -4.41250673e-02 9.40709526e+01] [ 4.90485204e-02 -5.34276375e-04 9.98796254e-01 1.20362593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.700385723 meters Centerline goodness : 0.998225 Centerline is valid? [True, True] Translation: X:213.66, Y:94.10, Z:12.04 [[ 4.26780377e-01 -9.04101751e-01 -2.14133920e-02 2.13663554e+02] [ 9.03024208e-01 4.27316944e-01 -4.41305935e-02 9.40961788e+01] [ 4.90488521e-02 -5.02740031e-04 9.98796254e-01 1.20371825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.730385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.67, Y:94.12, Z:12.04 [[ 4.27361878e-01 -9.03829457e-01 -2.13105276e-02 2.13674349e+02] [ 9.02749079e-01 4.27892727e-01 -4.41804738e-02 9.41210254e+01] [ 4.90502334e-02 -3.57009001e-04 9.98796249e-01 1.20368471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.760385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:213.69, Y:94.15, Z:12.04 [[ 4.27718368e-01 -9.03658879e-01 -2.13922434e-02 2.13686807e+02] [ 9.02580266e-01 4.28252784e-01 -4.41408716e-02 9.41462674e+01] [ 4.90495783e-02 -4.28355191e-04 9.98796253e-01 1.20377563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.790385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:213.70, Y:94.17, Z:12.04 [[ 4.27947254e-01 -9.03550772e-01 -2.13810743e-02 2.13699772e+02] [ 9.02471754e-01 4.28480851e-01 -4.41462811e-02 9.41708281e+01] [ 4.90497873e-02 -4.03535887e-04 9.98796253e-01 1.20414534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.820385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:213.71, Y:94.19, Z:12.04 [[ 4.27844222e-01 -9.03599853e-01 -2.13688600e-02 2.13712864e+02] [ 9.02520600e-01 4.28377345e-01 -4.41521926e-02 9.41947298e+01] [ 4.90498502e-02 -3.95575892e-04 9.98796253e-01 1.20406836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.850385723 meters Centerline goodness : 0.999753 Centerline is valid? [True, True] Translation: X:213.72, Y:94.22, Z:12.04 [[ 4.25540504e-01 -9.04687307e-01 -2.13578250e-02 2.13720091e+02] [ 9.03609149e-01 4.26075837e-01 -4.41575299e-02 9.42199221e+01] [ 4.90488100e-02 -5.08308528e-04 9.98796253e-01 1.20397865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.880385723 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:213.73, Y:94.25, Z:12.04 [[ 4.27104241e-01 -9.03959188e-01 -2.09703238e-02 2.13734037e+02] [ 9.02870844e-01 4.27618740e-01 -4.43447024e-02 9.42460516e+01] [ 4.90531046e-02 6.31649568e-06 9.98796172e-01 1.20445814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.910385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:213.75, Y:94.27, Z:12.05 [[ 4.27351050e-01 -9.03833897e-01 -2.13393121e-02 2.13745634e+02] [ 9.02754226e-01 4.27883318e-01 -4.41664277e-02 9.42711189e+01] [ 4.90498502e-02 -3.89584968e-04 9.98796256e-01 1.20455137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.940385723 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:213.76, Y:94.30, Z:12.05 [[ 4.27203880e-01 -9.03903739e-01 -2.13278111e-02 2.13757758e+02] [ 9.02823877e-01 4.27735763e-01 -4.41719808e-02 9.42958093e+01] [ 4.90498861e-02 -3.84815513e-04 9.98796256e-01 1.20484030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.970385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:213.77, Y:94.32, Z:12.05 [[ 4.26957400e-01 -9.04020474e-01 -2.13157673e-02 2.13769739e+02] [ 9.02940468e-01 4.27488988e-01 -4.41777920e-02 9.43199127e+01] [ 4.90498842e-02 -3.84833679e-04 9.98796256e-01 1.20507187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.000385723 meters Centerline goodness : 0.999821 Centerline is valid? [True, True] Translation: X:213.78, Y:94.35, Z:12.05 [[ 4.26428596e-01 -9.04270330e-01 -2.13031197e-02 2.13781951e+02] [ 9.03190330e-01 4.26960198e-01 -4.41838899e-02 9.43450654e+01] [ 4.90497649e-02 -3.99497575e-04 9.98796256e-01 1.20541824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.030385723 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:213.79, Y:94.37, Z:12.06 [[ 4.25781222e-01 -9.04575616e-01 -2.12910047e-02 2.13791961e+02] [ 9.03495705e-01 4.26313005e-01 -4.41897271e-02 9.43699285e+01] [ 4.90495818e-02 -4.21175281e-04 9.98796256e-01 1.20560827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.060385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.80, Y:94.40, Z:12.06 [[ 4.24858870e-01 -9.05009450e-01 -2.12799379e-02 2.13801748e+02] [ 9.03929816e-01 4.25391213e-01 -4.41950557e-02 9.43961943e+01] [ 4.90492417e-02 -4.58908926e-04 9.98796256e-01 1.20568637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.090385723 meters Centerline goodness : 0.999665 Centerline is valid? [True, True] Translation: X:213.81, Y:94.42, Z:12.06 [[ 4.24031889e-01 -9.05397507e-01 -2.12676349e-02 2.13810608e+02] [ 9.04318063e-01 4.24564618e-01 -4.42009754e-02 9.44216354e+01] [ 4.90489382e-02 -4.90083297e-04 9.98796256e-01 1.20555431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.120385723 meters Centerline goodness : 0.999822 Centerline is valid? [True, True] Translation: X:213.82, Y:94.45, Z:12.06 [[ 4.23693401e-01 -9.05556211e-01 -2.12567731e-02 2.13823185e+02] [ 9.04476705e-01 4.24226004e-01 -4.42061984e-02 9.44463815e+01] [ 4.90488734e-02 -4.96381509e-04 9.98796256e-01 1.20584587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.150385723 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:213.84, Y:94.47, Z:12.06 [[ 4.23360743e-01 -9.05712070e-01 -2.12444833e-02 2.13835790e+02] [ 9.04632463e-01 4.23893143e-01 -4.42121038e-02 9.44697602e+01] [ 4.90488268e-02 -5.00780114e-04 9.98796256e-01 1.20609179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.18038572300003 meters Centerline goodness : 0.999822 Centerline is valid? [True, True] Translation: X:213.85, Y:94.49, Z:12.06 [[ 4.22740944e-01 -9.06001722e-01 -2.12361480e-02 2.13847843e+02] [ 9.04922280e-01 4.23273675e-01 -4.42161071e-02 9.44941369e+01] [ 4.90485716e-02 -5.25104682e-04 9.98796256e-01 1.20632883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.210385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.86, Y:94.52, Z:12.07 [[ 4.21961244e-01 -9.06365378e-01 -2.12252276e-02 2.13857773e+02] [ 9.05286131e-01 4.22494371e-01 -4.42213486e-02 9.45189811e+01] [ 4.90482385e-02 -5.55208841e-04 9.98796257e-01 1.20653985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.24038572300003 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:213.87, Y:94.55, Z:12.07 [[ 4.21758452e-01 -9.06460059e-01 -2.12124692e-02 2.13868509e+02] [ 9.05380625e-01 4.22291198e-01 -4.42274678e-02 9.45453875e+01] [ 4.90482722e-02 -5.52050247e-04 9.98796257e-01 1.20673067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.270385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:213.88, Y:94.57, Z:12.07 [[ 4.21926633e-01 -9.06382073e-01 -2.12003315e-02 2.13879346e+02] [ 9.05302248e-01 4.22458586e-01 -4.42332853e-02 9.45715914e+01] [ 4.90485189e-02 -5.29506652e-04 9.98796257e-01 1.20685727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.300385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.89, Y:94.60, Z:12.07 [[ 4.22940468e-01 -9.05909720e-01 -2.11881951e-02 2.13889453e+02] [ 9.04829009e-01 4.23470621e-01 -4.42390980e-02 9.45967747e+01] [ 4.90492070e-02 -4.61188770e-04 9.98796257e-01 1.20683683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.330385723 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:213.90, Y:94.62, Z:12.07 [[ 4.23653228e-01 -9.05576868e-01 -2.11773226e-02 2.13901727e+02] [ 9.04495480e-01 4.24181999e-01 -4.42443020e-02 9.46225028e+01] [ 4.90496555e-02 -4.10551208e-04 9.98796257e-01 1.20696542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.360385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:213.91, Y:94.65, Z:12.07 [[ 4.25164892e-01 -9.04868411e-01 -2.11653679e-02 2.13914024e+02] [ 9.03785858e-01 4.25691272e-01 -4.42500201e-02 9.46482714e+01] [ 4.90503578e-02 -3.15405118e-04 9.98796257e-01 1.20705651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.390385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:213.93, Y:94.67, Z:12.07 [[ 4.25775141e-01 -9.04581707e-01 -2.11533752e-02 2.13925254e+02] [ 9.03498514e-01 4.26300204e-01 -4.42557524e-02 9.46727181e+01] [ 4.90506322e-02 -2.69043823e-04 9.98796257e-01 1.20711698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.420385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.94, Y:94.70, Z:12.07 [[ 4.27501920e-01 -9.03767214e-01 -2.11407627e-02 2.13935858e+02] [ 9.02682722e-01 4.28024296e-01 -4.42617765e-02 9.46980417e+01] [ 4.90511025e-02 -1.61406712e-04 9.98796257e-01 1.20693255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.450385723 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:213.95, Y:94.72, Z:12.07 [[ 4.26326798e-01 -9.04322437e-01 -2.11279684e-02 2.13946525e+02] [ 9.03238324e-01 4.26849956e-01 -4.42678829e-02 9.47233898e+01] [ 4.90509122e-02 -2.11006009e-04 9.98796257e-01 1.20720671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.480385723 meters Centerline goodness : 0.999799 Centerline is valid? [True, True] Translation: X:213.96, Y:94.75, Z:12.07 [[ 4.27311723e-01 -9.03857795e-01 -2.11134401e-02 2.13958480e+02] [ 9.02772771e-01 4.27832988e-01 -4.42748111e-02 9.47481473e+01] [ 4.90511593e-02 -1.41493019e-04 9.98796257e-01 1.20747459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.510385723 meters Centerline goodness : 0.999555 Centerline is valid? [True, True] Translation: X:213.97, Y:94.77, Z:12.08 [[ 4.27594004e-01 -9.03724533e-01 -2.11029923e-02 2.13970475e+02] [ 9.02639100e-01 4.28114419e-01 -4.42797903e-02 9.47737085e+01] [ 4.90512281e-02 -1.14613064e-04 9.98796257e-01 1.20755664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.540385723 meters Centerline goodness : 0.998840 Centerline is valid? [True, True] Translation: X:213.98, Y:94.80, Z:12.07 [[ 4.28903045e-01 -9.03104276e-01 -2.10913312e-02 2.13982044e+02] [ 9.02017817e-01 4.29421315e-01 -4.42853440e-02 9.47965629e+01] [ 4.90513507e-02 -3.06376338e-05 9.98796258e-01 1.20747463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.570385723 meters Centerline goodness : 0.998257 Centerline is valid? [True, True] Translation: X:213.99, Y:94.82, Z:12.08 [[ 4.27066271e-01 -9.03978909e-01 -2.08933494e-02 2.13994742e+02] [ 9.02888882e-01 4.27577038e-01 -4.43795399e-02 9.48221402e+01] [ 4.90516846e-02 8.86317834e-05 9.98796238e-01 1.20765603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.600385723 meters Centerline goodness : 0.998257 Centerline is valid? [True, True] Translation: X:214.01, Y:94.85, Z:12.08 [[ 4.26832576e-01 -9.04085175e-01 -2.10700663e-02 2.14007012e+02] [ 9.02999407e-01 4.27352292e-01 -4.42954819e-02 9.48479187e+01] [ 4.90512296e-02 -1.19502749e-04 9.98796257e-01 1.20780426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.630385723 meters Centerline goodness : 0.997921 Centerline is valid? [True, True] Translation: X:214.02, Y:94.87, Z:12.08 [[ 4.26881159e-01 -9.04062504e-01 -2.10586001e-02 2.14019331e+02] [ 9.02976439e-01 4.27400255e-01 -4.43009324e-02 9.48683653e+01] [ 4.90512629e-02 -1.04186373e-04 9.98796257e-01 1.20775928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.660385723 meters Centerline goodness : 0.997387 Centerline is valid? [True, True] Translation: X:214.03, Y:94.90, Z:12.08 [[ 4.24321860e-01 -9.05273592e-01 -2.07529026e-02 2.14031483e+02] [ 9.04181849e-01 4.24829042e-01 -4.44462428e-02 9.48952684e+01] [ 4.90524456e-02 9.51145583e-05 9.98796200e-01 1.20829144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.690385723 meters Centerline goodness : 0.997094 Centerline is valid? [True, True] Translation: X:214.04, Y:94.92, Z:12.08 [[ 4.23217178e-01 -9.05783583e-01 -2.10552014e-02 2.14043364e+02] [ 9.04699547e-01 4.23740501e-01 -4.43025756e-02 9.49207358e+01] [ 4.90504872e-02 -2.99020133e-04 9.98796256e-01 1.20838248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.720385723 meters Centerline goodness : 0.996785 Centerline is valid? [True, True] Translation: X:214.05, Y:94.95, Z:12.08 [[ 4.22782610e-01 -9.05986784e-01 -2.10431122e-02 2.14054763e+02] [ 9.04902714e-01 4.23305861e-01 -4.43083170e-02 9.49467691e+01] [ 4.90504224e-02 -3.09183393e-04 9.98796256e-01 1.20837120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.750385723 meters Centerline goodness : 0.996861 Centerline is valid? [True, True] Translation: X:214.07, Y:94.97, Z:12.08 [[ 4.21973382e-01 -9.06366598e-01 -2.09297794e-02 2.14066324e+02] [ 9.05280324e-01 4.22492058e-01 -4.43621043e-02 9.49721041e+01] [ 4.90509951e-02 -2.27690260e-04 9.98796250e-01 1.20844680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.780385723 meters Centerline goodness : 0.997025 Centerline is valid? [True, True] Translation: X:214.08, Y:95.00, Z:12.09 [[ 4.21347524e-01 -9.06655479e-01 -2.10263526e-02 2.14078360e+02] [ 9.05571841e-01 4.21871672e-01 -4.43162844e-02 9.49969954e+01] [ 4.90500245e-02 -3.68316134e-04 9.98796255e-01 1.20856725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.810385723 meters Centerline goodness : 0.996828 Centerline is valid? [True, True] Translation: X:214.09, Y:95.02, Z:12.09 [[ 4.19176566e-01 -9.07661506e-01 -2.10142120e-02 2.14090917e+02] [ 9.06578838e-01 4.19702713e-01 -4.43220405e-02 9.50210010e+01] [ 4.90491319e-02 -4.72279195e-04 9.98796255e-01 1.20870413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.840385723 meters Centerline goodness : 0.997002 Centerline is valid? [True, True] Translation: X:214.10, Y:95.05, Z:12.09 [[ 4.17688689e-01 -9.08347454e-01 -2.10014710e-02 2.14103222e+02] [ 9.07265347e-01 4.18215988e-01 -4.43280769e-02 9.50462539e+01] [ 4.90484467e-02 -5.38570559e-04 9.98796255e-01 1.20890412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.870385723 meters Centerline goodness : 0.996975 Centerline is valid? [True, True] Translation: X:214.11, Y:95.07, Z:12.09 [[ 4.16112090e-01 -9.09071044e-01 -2.09896720e-02 2.14114838e+02] [ 9.07989571e-01 4.16640690e-01 -4.43336631e-02 9.50712973e+01] [ 4.90476008e-02 -6.10630124e-04 9.98796255e-01 1.20899668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.900385723 meters Centerline goodness : 0.996435 Centerline is valid? [True, True] Translation: X:214.13, Y:95.10, Z:12.09 [[ 4.12981740e-01 -9.10497670e-01 -2.09779755e-02 2.14126833e+02] [ 9.09417742e-01 4.13513489e-01 -4.43391970e-02 9.50969364e+01] [ 4.90454114e-02 -7.66464385e-04 9.98796256e-01 1.20905342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.93038572300003 meters Centerline goodness : 0.996750 Centerline is valid? [True, True] Translation: X:214.14, Y:95.12, Z:12.09 [[ 4.11146073e-01 -9.11328327e-01 -2.09663429e-02 2.14138657e+02] [ 9.10249193e-01 4.11679431e-01 -4.43446970e-02 9.51218392e+01] [ 4.90439906e-02 -8.52448642e-04 9.98796256e-01 1.20921672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.960385723 meters Centerline goodness : 0.996799 Centerline is valid? [True, True] Translation: X:214.15, Y:95.15, Z:12.09 [[ 4.10038120e-01 -9.11827637e-01 -2.09547521e-02 2.14150553e+02] [ 9.10748873e-01 4.10572226e-01 -4.43501735e-02 9.51467255e+01] [ 4.90431530e-02 -8.99255113e-04 9.98796256e-01 1.20948990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.99038572300003 meters Centerline goodness : 0.996804 Centerline is valid? [True, True] Translation: X:214.16, Y:95.17, Z:12.10 [[ 4.08453314e-01 -9.12538921e-01 -2.09429920e-02 2.14161361e+02] [ 9.11460803e-01 4.08988722e-01 -4.43557261e-02 9.51718786e+01] [ 4.90417739e-02 -9.71473032e-04 9.98796256e-01 1.20970751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.020385723 meters Centerline goodness : 0.996765 Centerline is valid? [True, True] Translation: X:214.17, Y:95.20, Z:12.10 [[ 4.07896989e-01 -9.12788014e-01 -2.09305651e-02 2.14172798e+02] [ 9.11709923e-01 4.08432450e-01 -4.43615893e-02 9.51976791e+01] [ 4.90414490e-02 -9.87645148e-04 9.98796256e-01 1.20994091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.050385723 meters Centerline goodness : 0.997029 Centerline is valid? [True, True] Translation: X:214.18, Y:95.22, Z:12.10 [[ 4.07325145e-01 -9.13043610e-01 -2.09187161e-02 2.14184224e+02] [ 9.11965569e-01 4.07860706e-01 -4.43671760e-02 9.52235500e+01] [ 4.90410889e-02 -1.00528241e-03 9.98796256e-01 1.21015858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.080385723 meters Centerline goodness : 0.997096 Centerline is valid? [True, True] Translation: X:214.19, Y:95.25, Z:12.10 [[ 4.07054268e-01 -9.13164685e-01 -2.09064628e-02 2.14194345e+02] [ 9.12086507e-01 4.07589554e-01 -4.43729492e-02 9.52485033e+01] [ 4.90410661e-02 -1.00630426e-03 9.98796256e-01 1.21025785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.110385723 meters Centerline goodness : 0.997253 Centerline is valid? [True, True] Translation: X:214.21, Y:95.27, Z:12.10 [[ 4.06855847e-01 -9.13253294e-01 -2.08983541e-02 2.14205233e+02] [ 9.12175037e-01 4.07390973e-01 -4.43767678e-02 9.52741580e+01] [ 4.90410302e-02 -1.00800946e-03 9.98796256e-01 1.21042653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.140385723 meters Centerline goodness : 0.997144 Centerline is valid? [True, True] Translation: X:214.22, Y:95.30, Z:12.10 [[ 4.06802364e-01 -9.13277394e-01 -2.08863171e-02 2.14215806e+02] [ 9.12198878e-01 4.07336970e-01 -4.43824325e-02 9.52990608e+01] [ 4.90412414e-02 -9.97596529e-04 9.98796256e-01 1.21049969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.170385723 meters Centerline goodness : 0.997436 Centerline is valid? [True, True] Translation: X:214.23, Y:95.33, Z:12.11 [[ 4.07296998e-01 -9.13057197e-01 -2.08736729e-02 2.14226936e+02] [ 9.11978088e-01 4.07830404e-01 -4.43883784e-02 9.53252354e+01] [ 4.90420468e-02 -9.57079031e-04 9.98796256e-01 1.21078211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.200385723 meters Centerline goodness : 0.997252 Centerline is valid? [True, True] Translation: X:214.24, Y:95.35, Z:12.11 [[ 4.09885342e-01 -9.11898466e-01 -2.08613100e-02 2.14235624e+02] [ 9.10817553e-01 4.10415084e-01 -4.43941879e-02 9.53526122e+01] [ 4.90447881e-02 -8.04320396e-04 9.98796256e-01 1.21087432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.230385723 meters Centerline goodness : 0.997196 Centerline is valid? [True, True] Translation: X:214.25, Y:95.38, Z:12.11 [[ 4.11653527e-01 -9.11101913e-01 -2.08489456e-02 2.14245326e+02] [ 9.10019681e-01 4.12180568e-01 -4.43999939e-02 9.53783005e+01] [ 4.90464496e-02 -6.95536716e-04 9.98796257e-01 1.21096677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.260385723 meters Centerline goodness : 0.997243 Centerline is valid? [True, True] Translation: X:214.25, Y:95.41, Z:12.11 [[ 4.14756609e-01 -9.09693763e-01 -2.08377829e-02 2.14253394e+02] [ 9.08609478e-01 4.15279413e-01 -4.44052321e-02 9.54059498e+01] [ 4.90486649e-02 -5.16043563e-04 9.98796257e-01 1.21100288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.290385723 meters Centerline goodness : 0.997331 Centerline is valid? [True, True] Translation: X:214.26, Y:95.43, Z:12.11 [[ 4.16459674e-01 -9.08915640e-01 -2.08254482e-02 2.14263252e+02] [ 9.07830089e-01 4.16979845e-01 -4.44110162e-02 9.54313527e+01] [ 4.90496593e-02 -4.10571136e-04 9.98796257e-01 1.21112342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.320385723 meters Centerline goodness : 0.997599 Centerline is valid? [True, True] Translation: X:214.27, Y:95.46, Z:12.11 [[ 4.17756625e-01 -9.08320519e-01 -2.08143404e-02 2.14273296e+02] [ 9.07233968e-01 4.18274702e-01 -4.44162215e-02 9.54577838e+01] [ 4.90502774e-02 -3.28305843e-04 9.98796257e-01 1.21118960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.350385723 meters Centerline goodness : 0.997372 Centerline is valid? [True, True] Translation: X:214.28, Y:95.48, Z:12.11 [[ 4.18851290e-01 -9.07816538e-01 -2.08021568e-02 2.14282085e+02] [ 9.06729080e-01 4.19367461e-01 -4.44219269e-02 9.54847768e+01] [ 4.90507076e-02 -2.55739090e-04 9.98796257e-01 1.21134524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.380385723 meters Centerline goodness : 0.997410 Centerline is valid? [True, True] Translation: X:214.29, Y:95.51, Z:12.11 [[ 4.18724748e-01 -9.07875193e-01 -2.07898976e-02 2.14291697e+02] [ 9.06787522e-01 4.19240471e-01 -4.44276636e-02 9.55097959e+01] [ 4.90507401e-02 -2.49057484e-04 9.98796257e-01 1.21146490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.410385723 meters Centerline goodness : 0.997511 Centerline is valid? [True, True] Translation: X:214.30, Y:95.54, Z:12.12 [[ 4.18092394e-01 -9.08166768e-01 -2.07815218e-02 2.14299977e+02] [ 9.07079262e-01 4.18608464e-01 -4.44315811e-02 9.55364342e+01] [ 4.90506064e-02 -2.73981310e-04 9.98796257e-01 1.21154354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.440385723 meters Centerline goodness : 0.997614 Centerline is valid? [True, True] Translation: X:214.31, Y:95.56, Z:12.12 [[ 4.17419409e-01 -9.08476565e-01 -2.07693945e-02 2.14310127e+02] [ 9.07389160e-01 4.17935692e-01 -4.44372493e-02 9.55623253e+01] [ 4.90504708e-02 -2.96953091e-04 9.98796257e-01 1.21162827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.470385723 meters Centerline goodness : 0.997723 Centerline is valid? [True, True] Translation: X:214.32, Y:95.59, Z:12.12 [[ 4.16475616e-01 -9.08909898e-01 -2.07571380e-02 2.14320869e+02] [ 9.07822745e-01 4.16992429e-01 -4.44429737e-02 9.55884515e+01] [ 4.90502281e-02 -3.34387158e-04 9.98796257e-01 1.21166603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.500385723 meters Centerline goodness : 0.997922 Centerline is valid? [True, True] Translation: X:214.33, Y:95.61, Z:12.12 [[ 4.15671020e-01 -9.09278423e-01 -2.07449441e-02 2.14332151e+02] [ 9.08191444e-01 4.16188198e-01 -4.44486648e-02 9.56141310e+01] [ 4.90500127e-02 -3.64358950e-04 9.98796257e-01 1.21178851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.530385723 meters Centerline goodness : 0.997967 Centerline is valid? [True, True] Translation: X:214.34, Y:95.64, Z:12.12 [[ 4.14773786e-01 -9.09688332e-01 -2.07327196e-02 2.14343178e+02] [ 9.08601579e-01 4.15291439e-01 -4.44543661e-02 9.56395383e+01] [ 4.90497391e-02 -3.99276074e-04 9.98796257e-01 1.21190878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.560385723 meters Centerline goodness : 0.998033 Centerline is valid? [True, True] Translation: X:214.35, Y:95.67, Z:12.12 [[ 4.13336496e-01 -9.10342572e-01 -2.07206118e-02 2.14352211e+02] [ 9.09256355e-01 4.13855274e-01 -4.44600089e-02 9.56657647e+01] [ 4.90491733e-02 -4.63403726e-04 9.98796257e-01 1.21200941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.590385723 meters Centerline goodness : 0.998013 Centerline is valid? [True, True] Translation: X:214.37, Y:95.69, Z:12.12 [[ 4.13896198e-01 -9.10088511e-01 -2.07084234e-02 2.14365827e+02] [ 9.09001693e-01 4.14413713e-01 -4.44656853e-02 9.56939148e+01] [ 4.90495640e-02 -4.19813816e-04 9.98796258e-01 1.21203170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.620385723 meters Centerline goodness : 0.998167 Centerline is valid? [True, True] Translation: X:214.37, Y:95.72, Z:12.12 [[ 4.12265476e-01 -9.10820425e-01 -2.10554193e-02 2.14371654e+02] [ 9.09742706e-01 4.12801842e-01 -4.43040381e-02 9.57190185e+01] [ 4.90447387e-02 -8.89988752e-04 9.98796186e-01 1.21219690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.650385723 meters Centerline goodness : 0.998124 Centerline is valid? [True, True] Translation: X:214.39, Y:95.75, Z:12.12 [[ 4.12790472e-01 -9.10590942e-01 -2.06920771e-02 2.14386572e+02] [ 9.09504382e-01 4.13308508e-01 -4.44730953e-02 9.57471963e+01] [ 4.90490093e-02 -4.61464793e-04 9.98796266e-01 1.21216463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.68038572300003 meters Centerline goodness : 0.998103 Centerline is valid? [True, True] Translation: X:214.39, Y:95.77, Z:12.12 [[ 4.10498827e-01 -9.11616628e-01 -2.11148472e-02 2.14393808e+02] [ 9.10541370e-01 4.11040168e-01 -4.42763352e-02 9.57700511e+01] [ 4.90420937e-02 -1.05055822e-03 9.98796160e-01 1.21235869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.710385723 meters Centerline goodness : 0.998063 Centerline is valid? [True, True] Translation: X:214.40, Y:95.80, Z:12.12 [[ 4.08445205e-01 -9.12548810e-01 -2.06684313e-02 2.14404760e+02] [ 9.11464192e-01 4.08967262e-01 -4.44837593e-02 9.57976466e+01] [ 4.90463134e-02 -6.69356868e-04 9.98796281e-01 1.21231708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.74038572300003 meters Centerline goodness : 0.998126 Centerline is valid? [True, True] Translation: X:214.41, Y:95.82, Z:12.13 [[ 4.08578163e-01 -9.12484747e-01 -2.08679546e-02 2.14414003e+02] [ 9.11404752e-01 4.09109776e-01 -4.43910927e-02 9.58216614e+01] [ 4.90434792e-02 -8.81921892e-04 9.98796255e-01 1.21253821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.770385723 meters Centerline goodness : 0.998353 Centerline is valid? [True, True] Translation: X:214.42, Y:95.85, Z:12.13 [[ 4.07462585e-01 -9.12988674e-01 -2.06378998e-02 2.14424096e+02] [ 9.11903909e-01 4.07984321e-01 -4.44977930e-02 9.58467240e+01] [ 4.90459206e-02 -6.88595733e-04 9.98796287e-01 1.21262952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.800385723 meters Centerline goodness : 0.997889 Centerline is valid? [True, True] Translation: X:214.43, Y:95.87, Z:12.13 [[ 4.05109071e-01 -9.14035647e-01 -2.06271137e-02 2.14434964e+02] [ 9.12951975e-01 4.05633076e-01 -4.45027923e-02 9.58727619e+01] [ 4.90441781e-02 -8.03079388e-04 9.98796287e-01 1.21265406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.830385723 meters Centerline goodness : 0.998481 Centerline is valid? [True, True] Translation: X:214.45, Y:95.90, Z:12.13 [[ 4.04189080e-01 -9.14443110e-01 -2.06152202e-02 2.14445489e+02] [ 9.13359686e-01 4.04713596e-01 -4.45083011e-02 9.58982227e+01] [ 4.90435692e-02 -8.39341816e-04 9.98796287e-01 1.21293983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.860385723 meters Centerline goodness : 0.998283 Centerline is valid? [True, True] Translation: X:214.45, Y:95.92, Z:12.13 [[ 4.03735443e-01 -9.14643758e-01 -2.06030907e-02 2.14454550e+02] [ 9.13560310e-01 4.04259907e-01 -4.45139152e-02 9.59246669e+01] [ 4.90433783e-02 -8.50320632e-04 9.98796288e-01 1.21314486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.890385723 meters Centerline goodness : 0.998549 Centerline is valid? [True, True] Translation: X:214.46, Y:95.95, Z:12.13 [[ 4.03548708e-01 -9.14726440e-01 -2.05907718e-02 2.14464294e+02] [ 9.13642809e-01 4.04072794e-01 -4.45196129e-02 9.59494335e+01] [ 4.90434377e-02 -8.46778315e-04 9.98796288e-01 1.21324842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.920385723 meters Centerline goodness : 0.998525 Centerline is valid? [True, True] Translation: X:214.48, Y:95.98, Z:12.13 [[ 4.03462605e-01 -9.14764670e-01 -2.05797060e-02 2.14475009e+02] [ 9.13680828e-01 4.03986255e-01 -4.45247276e-02 9.59751698e+01] [ 4.90435661e-02 -8.39220241e-04 9.98796288e-01 1.21338408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.950385723 meters Centerline goodness : 0.998421 Centerline is valid? [True, True] Translation: X:214.49, Y:96.00, Z:12.13 [[ 4.04553284e-01 -9.14283115e-01 -2.05676134e-02 2.14488462e+02] [ 9.13198365e-01 4.05075051e-01 -4.45303129e-02 9.60027426e+01] [ 4.90447402e-02 -7.67426627e-04 9.98796288e-01 1.21331844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.980385723 meters Centerline goodness : 0.998768 Centerline is valid? [True, True] Translation: X:214.50, Y:96.03, Z:12.14 [[ 4.04256628e-01 -9.14406681e-01 -2.09045580e-02 2.14496331e+02] [ 9.13330058e-01 4.04795121e-01 -4.43747061e-02 9.60259856e+01] [ 4.90385908e-02 -1.15399215e-03 9.98796218e-01 1.21374268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.010385723 meters Centerline goodness : 0.998767 Centerline is valid? [True, True] Translation: X:214.51, Y:96.05, Z:12.14 [[ 4.04798686e-01 -9.14175040e-01 -2.05431323e-02 2.14506028e+02] [ 9.13089590e-01 4.05318970e-01 -4.45413686e-02 9.60509889e+01] [ 4.90451287e-02 -7.27432751e-04 9.98796299e-01 1.21376341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.040385723 meters Centerline goodness : 0.998899 Centerline is valid? [True, True] Translation: X:214.51, Y:96.08, Z:12.14 [[ 4.05804183e-01 -9.13729417e-01 -2.05309018e-02 2.14514299e+02] [ 9.12643111e-01 4.06322676e-01 -4.45470055e-02 9.60775822e+01] [ 4.90460803e-02 -6.60024899e-04 9.98796299e-01 1.21395179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.070385723 meters Centerline goodness : 0.998921 Centerline is valid? [True, True] Translation: X:214.52, Y:96.10, Z:12.14 [[ 4.06862165e-01 -9.13255984e-01 -2.06563910e-02 2.14524995e+02] [ 9.12171997e-01 4.07385516e-01 -4.44891972e-02 9.61029038e+01] [ 4.90451400e-02 -7.41210292e-04 9.98796288e-01 1.21393569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.100385723 meters Centerline goodness : 0.999074 Centerline is valid? [True, True] Translation: X:214.54, Y:96.13, Z:12.14 [[ 4.07505179e-01 -9.12972668e-01 -2.05045493e-02 2.14537790e+02] [ 9.11884792e-01 4.08020362e-01 -4.45590703e-02 9.61296178e+01] [ 4.90474869e-02 -5.39734710e-04 9.98796302e-01 1.21396310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.130385723 meters Centerline goodness : 0.995096 Centerline is valid? [True, True] Translation: X:214.55, Y:96.16, Z:12.14 [[ 4.08767971e-01 -9.12404072e-01 -2.06774363e-02 2.14550458e+02] [ 9.11319487e-01 4.09290083e-01 -4.44794393e-02 9.61554794e+01] [ 4.90462912e-02 -6.61980494e-04 9.98796287e-01 1.21431346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.160385723 meters Centerline goodness : 0.999247 Centerline is valid? [True, True] Translation: X:214.56, Y:96.18, Z:12.14 [[ 4.07062130e-01 -9.13163009e-01 -2.08264706e-02 2.14557705e+02] [ 9.12082891e-01 4.07593520e-01 -4.44108433e-02 9.61778714e+01] [ 4.90430737e-02 -9.17495026e-04 9.98796243e-01 1.21424362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.190385723 meters Centerline goodness : 0.999268 Centerline is valid? [True, True] Translation: X:214.57, Y:96.20, Z:12.14 [[ 4.08664935e-01 -9.12459736e-01 -2.02534103e-02 2.14568770e+02] [ 9.11365438e-01 4.09166456e-01 -4.46749356e-02 9.62043730e+01] [ 4.90510960e-02 -2.01178510e-04 9.98796250e-01 1.21439766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.220385723 meters Centerline goodness : 0.999294 Centerline is valid? [True, True] Translation: X:214.58, Y:96.23, Z:12.15 [[ 4.10838885e-01 -9.11478854e-01 -2.04379118e-02 2.14580920e+02] [ 9.10387567e-01 4.11346831e-01 -4.45899321e-02 9.62300023e+01] [ 4.90498505e-02 -2.87142842e-04 9.98796290e-01 1.21473340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.250385723 meters Centerline goodness : 0.999548 Centerline is valid? [True, True] Translation: X:214.59, Y:96.26, Z:12.15 [[ 4.11234040e-01 -9.11298759e-01 -2.05216080e-02 2.14592348e+02] [ 9.10209168e-01 4.11745606e-01 -4.45513795e-02 9.62558260e+01] [ 4.90492988e-02 -3.57911953e-04 9.98796295e-01 1.21485601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.280385723 meters Centerline goodness : 0.999591 Centerline is valid? [True, True] Translation: X:214.60, Y:96.28, Z:12.15 [[ 4.11596201e-01 -9.11135519e-01 -2.05093595e-02 2.14603875e+02] [ 9.10045445e-01 4.12106735e-01 -4.45570174e-02 9.62806935e+01] [ 4.90495264e-02 -3.24950120e-04 9.98796295e-01 1.21496691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.310385723 meters Centerline goodness : 0.999505 Centerline is valid? [True, True] Translation: X:214.61, Y:96.31, Z:12.15 [[ 4.11725163e-01 -9.11077438e-01 -2.05010188e-02 2.14614974e+02] [ 9.09987101e-01 4.12235135e-01 -4.45608547e-02 9.63059277e+01] [ 4.90496296e-02 -3.08837494e-04 9.98796295e-01 1.21512954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.340385723 meters Centerline goodness : 0.999721 Centerline is valid? [True, True] Translation: X:214.63, Y:96.33, Z:12.15 [[ 4.12128662e-01 -9.10895265e-01 -2.04885945e-02 2.14625494e+02] [ 9.09804418e-01 4.12637543e-01 -4.45665665e-02 9.63311856e+01] [ 4.90498377e-02 -2.73454385e-04 9.98796295e-01 1.21530569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.370385723 meters Centerline goodness : 0.999720 Centerline is valid? [True, True] Translation: X:214.63, Y:96.36, Z:12.15 [[ 4.10629267e-01 -9.11572360e-01 -2.04801624e-02 2.14633701e+02] [ 9.10482159e-01 4.11139530e-01 -4.45704411e-02 9.63568130e+01] [ 4.90493865e-02 -3.44894931e-04 9.98796295e-01 1.21519447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.400385723 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:214.65, Y:96.38, Z:12.15 [[ 4.12431805e-01 -9.10761925e-01 -2.03155468e-02 2.14647342e+02] [ 9.09666984e-01 4.12931848e-01 -4.46460301e-02 9.63828159e+01] [ 4.90508407e-02 -6.69393931e-05 9.98796281e-01 1.21548461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.43038572300003 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:214.66, Y:96.41, Z:12.16 [[ 4.12319785e-01 -9.10809230e-01 -2.04680541e-02 2.14659006e+02] [ 9.09717809e-01 4.12827432e-01 -4.45760038e-02 9.64068202e+01] [ 4.90500099e-02 -2.40585024e-04 9.98796295e-01 1.21556613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.460385723 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:214.67, Y:96.43, Z:12.16 [[ 4.12272726e-01 -9.10830780e-01 -2.04570072e-02 2.14671105e+02] [ 9.09739134e-01 4.12779889e-01 -4.45810729e-02 9.64324179e+01] [ 4.90500546e-02 -2.30979531e-04 9.98796295e-01 1.21573570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.49038572300003 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:214.68, Y:96.46, Z:12.16 [[ 4.11649429e-01 -9.11112926e-01 -2.04446534e-02 2.14682245e+02] [ 9.10021346e-01 4.12156733e-01 -4.45867376e-02 9.64574168e+01] [ 4.90499545e-02 -2.50965950e-04 9.98796295e-01 1.21585592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.520385723 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:214.69, Y:96.48, Z:12.16 [[ 4.11401061e-01 -9.11225349e-01 -2.04335499e-02 2.14694071e+02] [ 9.10133655e-01 4.11908120e-01 -4.45918256e-02 9.64833947e+01] [ 4.90499470e-02 -2.52137063e-04 9.98796295e-01 1.21599568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.550385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:214.71, Y:96.51, Z:12.16 [[ 4.10884425e-01 -9.11458697e-01 -2.04213789e-02 2.14705470e+02] [ 9.10367014e-01 4.11391508e-01 -4.45973988e-02 9.65084947e+01] [ 4.90498689e-02 -2.66573149e-04 9.98796295e-01 1.21612221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.580385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:214.72, Y:96.53, Z:12.16 [[ 4.07792372e-01 -9.12846562e-01 -2.04092035e-02 2.14715396e+02] [ 9.11756325e-01 4.08302557e-01 -4.46029700e-02 9.65338574e+01] [ 4.90487978e-02 -4.19469463e-04 9.98796295e-01 1.21579776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.610385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.73, Y:96.56, Z:12.16 [[ 4.08584896e-01 -9.12496753e-01 -2.02004527e-02 2.14728348e+02] [ 9.11401340e-01 4.09083921e-01 -4.46983513e-02 9.65577312e+01] [ 4.90507808e-02 -1.47648390e-04 9.98796275e-01 1.21583077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.640385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.74, Y:96.58, Z:12.16 [[ 4.04856189e-01 -9.14159704e-01 -2.00873431e-02 2.14737959e+02] [ 9.13063774e-01 4.05354148e-01 -4.47499577e-02 9.65820467e+01] [ 4.90510959e-02 -2.23727978e-04 9.98796245e-01 1.21578325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.670385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.75, Y:96.61, Z:12.16 [[ 4.05751845e-01 -9.13765817e-01 -1.99366880e-02 2.14750085e+02] [ 9.12666003e-01 4.06241346e-01 -4.48189248e-02 9.66067766e+01] [ 4.90531084e-02 -1.01759120e-05 9.98796172e-01 1.21607091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.700385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.77, Y:96.63, Z:12.17 [[ 4.11855845e-01 -9.11032488e-01 -1.98637466e-02 2.14768199e+02] [ 9.09927813e-01 4.12334388e-01 -4.48522904e-02 9.66339453e+01] [ 4.90523995e-02 3.98102441e-04 9.98796127e-01 1.21668556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.730385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:214.78, Y:96.66, Z:12.17 [[ 4.13642207e-01 -9.10208821e-01 -2.04945414e-02 2.14779116e+02] [ 9.09117286e-01 4.14149565e-01 -4.45634124e-02 9.66583836e+01] [ 4.90498165e-02 -1.98633556e-04 9.98796314e-01 1.21673604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.760385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:214.79, Y:96.68, Z:12.17 [[ 4.15163559e-01 -9.09517731e-01 -2.04136523e-02 2.14790365e+02] [ 9.08423527e-01 4.15665126e-01 -4.46004356e-02 9.66842712e+01] [ 4.90501303e-02 -2.77664043e-05 9.98796318e-01 1.21682937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.790385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.80, Y:96.71, Z:12.17 [[ 4.16890286e-01 -9.08727823e-01 -2.04017959e-02 2.14802037e+02] [ 9.07632403e-01 4.17389192e-01 -4.46058585e-02 9.67095161e+01] [ 4.90500738e-02 7.84180700e-05 9.98796318e-01 1.21699673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.820385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.81, Y:96.73, Z:12.17 [[ 4.13966584e-01 -9.10063690e-01 -2.03898723e-02 2.14807765e+02] [ 9.08969612e-01 4.14468425e-01 -4.46113083e-02 9.67334657e+01] [ 4.90500901e-02 -6.61834030e-05 9.98796318e-01 1.21670284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.850385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.83, Y:96.76, Z:12.17 [[ 4.20224838e-01 -9.07204610e-01 -1.97707397e-02 2.14828033e+02] [ 9.06093623e-01 4.20688592e-01 -4.48938216e-02 9.67600188e+01] [ 4.90452065e-02 9.51357687e-04 9.98796107e-01 1.21739950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.880385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.84, Y:96.78, Z:12.17 [[ 4.18605388e-01 -9.07939592e-01 -2.03771293e-02 2.14837739e+02] [ 9.06842696e-01 4.19101013e-01 -4.46168873e-02 9.67842536e+01] [ 4.90495140e-02 1.98018594e-04 9.98796329e-01 1.21732086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.910385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.85, Y:96.81, Z:12.17 [[ 4.18046533e-01 -9.08202998e-01 -2.01099953e-02 2.14849045e+02] [ 9.07100511e-01 4.18529692e-01 -4.47387981e-02 9.68098271e+01] [ 4.90485407e-02 4.61112426e-04 9.98796290e-01 1.21739866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.940385723 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:214.87, Y:96.84, Z:12.18 [[ 4.20041378e-01 -9.07284805e-01 -1.99880727e-02 2.14865158e+02] [ 9.06178610e-01 4.20516098e-01 -4.47944015e-02 9.68355732e+01] [ 4.90465862e-02 7.02738206e-04 9.98796245e-01 1.21754523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.970385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.88, Y:96.86, Z:12.18 [[ 4.19877463e-01 -9.07352400e-01 -2.03601838e-02 2.14878507e+02] [ 9.06254436e-01 4.20370717e-01 -4.46246287e-02 9.68604918e+01] [ 4.90490890e-02 2.85369031e-04 9.98796328e-01 1.21789659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.000385723 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:214.89, Y:96.89, Z:12.18 [[ 4.19543522e-01 -9.07507118e-01 -2.03485569e-02 2.14890940e+02] [ 9.06409078e-01 4.20036609e-01 -4.46299299e-02 9.68852704e+01] [ 4.90491179e-02 2.80081330e-04 9.98796328e-01 1.21798502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.030385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:214.90, Y:96.91, Z:12.18 [[ 4.18820583e-01 -9.07841245e-01 -2.03370042e-02 2.14903782e+02] [ 9.06743343e-01 4.19313975e-01 -4.46351936e-02 9.69105083e+01] [ 4.90492598e-02 2.53694658e-04 9.98796328e-01 1.21825208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.060385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.92, Y:96.93, Z:12.18 [[ 4.18460415e-01 -9.08007606e-01 -2.03240713e-02 2.14917436e+02] [ 9.06909614e-01 4.18953607e-01 -4.46410816e-02 9.69344884e+01] [ 4.90492847e-02 2.48429847e-04 9.98796329e-01 1.21813830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.090385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:214.93, Y:96.96, Z:12.18 [[ 4.17609827e-01 -9.08399384e-01 -2.03123610e-02 2.14929499e+02] [ 9.07301595e-01 4.18103472e-01 -4.46464094e-02 9.69595596e+01] [ 4.90494394e-02 2.15341767e-04 9.98796329e-01 1.21835897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.120385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.94, Y:96.99, Z:12.18 [[ 4.17081245e-01 -9.08642485e-01 -2.02995108e-02 2.14944031e+02] [ 9.07544700e-01 4.17574897e-01 -4.46522513e-02 9.69852608e+01] [ 4.90494987e-02 2.00903115e-04 9.98796329e-01 1.21840635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.150385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:214.96, Y:97.01, Z:12.18 [[ 4.17273487e-01 -9.08554440e-01 -2.02895643e-02 2.14958510e+02] [ 9.07456331e-01 4.17766418e-01 -4.46567704e-02 9.70102582e+01] [ 4.90494056e-02 2.22192665e-04 9.98796329e-01 1.21836899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.18038572300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.97, Y:97.03, Z:12.19 [[ 4.16826680e-01 -9.08756545e-01 -2.04220945e-02 2.14970164e+02] [ 9.07661615e-01 4.17326659e-01 -4.45965570e-02 9.70331957e+01] [ 4.90500975e-02 5.26834663e-05 9.98796318e-01 1.21876696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.210385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.98, Y:97.06, Z:12.19 [[ 4.15142330e-01 -9.09530488e-01 -2.02765115e-02 2.14983050e+02] [ 9.08433251e-01 4.15637193e-01 -4.46626513e-02 9.70575241e+01] [ 4.90497153e-02 1.21499838e-04 9.98796331e-01 1.21901867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.24038572300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.00, Y:97.08, Z:12.19 [[ 4.16224883e-01 -9.09037341e-01 -2.01979928e-02 2.14996336e+02] [ 9.07937786e-01 4.16714580e-01 -4.46982656e-02 9.70820771e+01] [ 4.90491906e-02 2.66009455e-04 9.98796329e-01 1.21921333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.270385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.01, Y:97.11, Z:12.19 [[ 4.14498609e-01 -9.09824574e-01 -2.02521037e-02 2.15009233e+02] [ 9.08727146e-01 4.14993050e-01 -4.46737354e-02 9.71068960e+01] [ 4.90497446e-02 1.13564784e-04 9.98796330e-01 1.21929998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.300385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.02, Y:97.13, Z:12.20 [[ 4.14325994e-01 -9.09904970e-01 -2.01721682e-02 2.15022457e+02] [ 9.08805872e-01 4.14816717e-01 -4.47099445e-02 9.71314690e+01] [ 4.90495533e-02 1.91907327e-04 9.98796328e-01 1.21951801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.330385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.04, Y:97.16, Z:12.20 [[ 4.15353863e-01 -9.09436566e-01 -2.01569125e-02 2.15036821e+02] [ 9.08336579e-01 4.15842594e-01 -4.47168500e-02 9.71558597e+01] [ 4.90492413e-02 2.64055417e-04 9.98796327e-01 1.21968023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.360385723 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:215.05, Y:97.18, Z:12.20 [[ 4.14429780e-01 -9.09856603e-01 -2.02217565e-02 2.15051064e+02] [ 9.08758541e-01 4.14922814e-01 -4.46875072e-02 9.71796361e+01] [ 4.90496916e-02 1.43139886e-04 9.98796329e-01 1.21987209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.390385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.06, Y:97.20, Z:12.20 [[ 4.13613980e-01 -9.10228022e-01 -2.02094985e-02 2.15062846e+02] [ 9.09130131e-01 4.14107396e-01 -4.46930501e-02 9.72043083e+01] [ 4.90497694e-02 1.12606296e-04 9.98796329e-01 1.22002514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.420385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.07, Y:97.23, Z:12.20 [[ 4.11217309e-01 -9.11313531e-01 -2.01983638e-02 2.15072607e+02] [ 9.10216695e-01 4.11713066e-01 -4.46980817e-02 9.72294169e+01] [ 4.90498970e-02 -4.26303525e-06 9.98796329e-01 1.22010664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.450385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.09, Y:97.25, Z:12.20 [[ 4.10180858e-01 -9.11784665e-01 -2.00097212e-02 2.15085561e+02] [ 9.10684224e-01 4.10668606e-01 -4.47832603e-02 9.72538686e+01] [ 4.90500543e-02 1.46698683e-04 9.98796311e-01 1.22011428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.480385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.10, Y:97.28, Z:12.20 [[ 4.11580924e-01 -9.11153445e-01 -2.00135827e-02 2.15100980e+02] [ 9.10052341e-01 4.12067170e-01 -4.47815177e-02 9.72794484e+01] [ 4.90497745e-02 2.17810587e-04 9.98796312e-01 1.22034623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.510385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:215.11, Y:97.30, Z:12.20 [[ 4.10878921e-01 -9.11466657e-01 -2.01753676e-02 2.15113817e+02] [ 9.10369494e-01 4.11373958e-01 -4.47085108e-02 9.73037235e+01] [ 4.90499377e-02 2.74542913e-06 9.98796327e-01 1.22040824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.540385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.12, Y:97.33, Z:12.20 [[ 4.08277853e-01 -9.12634926e-01 -2.01664872e-02 2.15122457e+02] [ 9.11538981e-01 4.08775582e-01 -4.47125161e-02 9.73285844e+01] [ 4.90497713e-02 -1.27409087e-04 9.98796327e-01 1.22040508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.570385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.13, Y:97.35, Z:12.21 [[ 4.07740984e-01 -9.12879685e-01 -1.99491990e-02 2.15133885e+02] [ 9.11779216e-01 4.08228703e-01 -4.48105622e-02 9.73528348e+01] [ 4.90504875e-02 8.18377006e-05 9.98796297e-01 1.22064352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.600385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:215.15, Y:97.38, Z:12.21 [[ 4.06628772e-01 -9.13378457e-01 -1.98201028e-02 2.15147840e+02] [ 9.12275739e-01 4.07111493e-01 -4.48687949e-02 9.73776992e+01] [ 4.90511823e-02 1.63544011e-04 9.98796253e-01 1.22084356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.630385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.16, Y:97.40, Z:12.21 [[ 4.08637057e-01 -9.12481439e-01 -1.98337767e-02 2.15163514e+02] [ 9.11377961e-01 4.09118024e-01 -4.48626293e-02 9.74033403e+01] [ 4.90506721e-02 2.56465840e-04 9.98796258e-01 1.22096663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.660385723 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:215.18, Y:97.43, Z:12.21 [[ 4.08080138e-01 -9.12723303e-01 -2.01686245e-02 2.15176026e+02] [ 9.11627512e-01 4.08578209e-01 -4.47115889e-02 9.74286193e+01] [ 4.90497696e-02 -1.40361570e-04 9.98796326e-01 1.22105779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.690385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.19, Y:97.45, Z:12.21 [[ 4.05813095e-01 -9.13733793e-01 -2.01565746e-02 2.15185641e+02] [ 9.12638973e-01 4.06313295e-01 -4.47170205e-02 9.74533048e+01] [ 4.90493370e-02 -2.48923035e-04 9.98796326e-01 1.22115857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.720385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:215.20, Y:97.48, Z:12.21 [[ 4.08058179e-01 -9.12739536e-01 -1.98761739e-02 2.15202338e+02] [ 9.11637302e-01 4.08541930e-01 -4.48433071e-02 9.74789928e+01] [ 4.90505097e-02 1.78816760e-04 9.98796283e-01 1.22137554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.750385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.22, Y:97.50, Z:12.22 [[ 4.07552530e-01 -9.12959607e-01 -2.01417765e-02 2.15216123e+02] [ 9.11863507e-01 4.08049919e-01 -4.47236925e-02 9.75028572e+01] [ 4.90497750e-02 -1.39296913e-04 9.98796326e-01 1.22159696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.780385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.22, Y:97.53, Z:12.22 [[ 4.04919338e-01 -9.14130813e-01 -2.01292653e-02 2.15224925e+02] [ 9.13035871e-01 4.05419272e-01 -4.47293229e-02 9.75277308e+01] [ 4.90492443e-02 -2.66973453e-04 9.98796326e-01 1.22161146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.810385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.24, Y:97.55, Z:12.22 [[ 4.06060892e-01 -9.13630325e-01 -1.98540047e-02 2.15239683e+02] [ 9.12528673e-01 4.06545964e-01 -4.48530881e-02 9.75537294e+01] [ 4.90507069e-02 9.57364274e-05 9.98796285e-01 1.22189655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.840385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.25, Y:97.58, Z:12.22 [[ 4.05107513e-01 -9.14047674e-01 -2.01184632e-02 2.15253419e+02] [ 9.12952390e-01 4.05606693e-01 -4.47341544e-02 9.75777750e+01] [ 4.90493331e-02 -2.45057037e-04 9.98796327e-01 1.22206592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.870385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.27, Y:97.60, Z:12.22 [[ 4.04925828e-01 -9.14128451e-01 -2.01059376e-02 2.15266801e+02] [ 9.13032987e-01 4.05424613e-01 -4.47397834e-02 9.76027322e+01] [ 4.90493509e-02 -2.41090469e-04 9.98796327e-01 1.22225013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.900385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:215.28, Y:97.63, Z:12.22 [[ 4.04178620e-01 -9.14459347e-01 -2.00934302e-02 2.15280532e+02] [ 9.13364012e-01 4.04677688e-01 -4.47454000e-02 9.76276764e+01] [ 4.90492121e-02 -2.67482061e-04 9.98796327e-01 1.22212137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.93038572300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.29, Y:97.65, Z:12.22 [[ 4.03750225e-01 -9.14649691e-01 -2.00424282e-02 2.15292631e+02] [ 9.13553453e-01 4.04247310e-01 -4.47682910e-02 9.76525525e+01] [ 4.90494012e-02 -2.34621967e-04 9.98796326e-01 1.22224109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.960385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.31, Y:97.68, Z:12.22 [[ 4.03328915e-01 -9.14834690e-01 -2.00817637e-02 2.15305240e+02] [ 9.13739558e-01 4.03828430e-01 -4.47506449e-02 9.76790612e+01] [ 4.90490294e-02 -3.00272810e-04 9.98796327e-01 1.22237269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.99038572300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.32, Y:97.70, Z:12.23 [[ 4.03088795e-01 -9.14940345e-01 -2.00895069e-02 2.15317285e+02] [ 9.13845517e-01 4.03588976e-01 -4.47471721e-02 9.77033338e+01] [ 4.90488966e-02 -3.21622160e-04 9.98796327e-01 1.22266382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.020385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:215.33, Y:97.73, Z:12.23 [[ 4.02354682e-01 -9.15264044e-01 -2.00608949e-02 2.15330939e+02] [ 9.14168979e-01 4.02854342e-01 -4.47599957e-02 9.77278836e+01] [ 4.90488333e-02 -3.29653917e-04 9.98796327e-01 1.22282036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.050385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.34, Y:97.75, Z:12.23 [[ 4.02401069e-01 -9.15243919e-01 -2.00486547e-02 2.15344790e+02] [ 9.14148556e-01 4.02900075e-01 -4.47654776e-02 9.77510230e+01] [ 4.90489356e-02 -3.13772695e-04 9.98796327e-01 1.22310659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.080385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:215.36, Y:97.78, Z:12.23 [[ 4.03009445e-01 -9.14976478e-01 -2.00357697e-02 2.15356152e+02] [ 9.13880497e-01 4.03507092e-01 -4.47712438e-02 9.77756654e+01] [ 4.90492102e-02 -2.67065000e-04 9.98796327e-01 1.22329498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.110385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:215.37, Y:97.80, Z:12.24 [[ 4.03531441e-01 -9.14746660e-01 -2.00230797e-02 2.15367026e+02] [ 9.13650114e-01 4.04027842e-01 -4.47769185e-02 9.78014847e+01] [ 4.90494183e-02 -2.25194615e-04 9.98796328e-01 1.22350724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.140385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.38, Y:97.83, Z:12.24 [[ 4.03972505e-01 -9.14552229e-01 -2.00108798e-02 2.15377010e+02] [ 9.13455174e-01 4.04467780e-01 -4.47823700e-02 9.78266438e+01] [ 4.90495724e-02 -1.88195440e-04 9.98796328e-01 1.22356608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.170385723 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:215.39, Y:97.85, Z:12.24 [[ 4.04967855e-01 -9.14112201e-01 -1.99979899e-02 2.15386382e+02] [ 9.13014323e-01 4.05461304e-01 -4.47881254e-02 9.78529496e+01] [ 4.90497829e-02 -1.20700100e-04 9.98796328e-01 1.22356053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.200385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:215.40, Y:97.88, Z:12.24 [[ 4.04912613e-01 -9.14136938e-01 -1.99858415e-02 2.15396899e+02] [ 9.13038823e-01 4.05405533e-01 -4.47935457e-02 9.78776684e+01] [ 4.90498054e-02 -1.10377546e-04 9.98796328e-01 1.22365048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.230385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.41, Y:97.90, Z:12.24 [[ 4.03477607e-01 -9.14771501e-01 -1.99730507e-02 2.15408428e+02] [ 9.13673878e-01 4.03971623e-01 -4.47992483e-02 9.79026314e+01] [ 4.90496213e-02 -1.73361195e-04 9.98796328e-01 1.22398634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.260385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.42, Y:97.93, Z:12.24 [[ 4.03892480e-01 -9.14588666e-01 -1.99608863e-02 2.15424348e+02] [ 9.13490552e-01 4.04385402e-01 -4.48046676e-02 9.79303845e+01] [ 4.90497322e-02 -1.37812682e-04 9.98796328e-01 1.22405582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.290385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.43, Y:97.95, Z:12.24 [[ 3.99031346e-01 -9.16711423e-01 -2.03507268e-02 2.15430020e+02] [ 9.15624700e-01 3.99549105e-01 -4.46309477e-02 9.79535270e+01] [ 4.90448143e-02 -8.24480965e-04 9.98796239e-01 1.22431168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.320385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.44, Y:97.98, Z:12.24 [[ 3.97404890e-01 -9.17426660e-01 -1.99418142e-02 2.15440384e+02] [ 9.16331651e-01 3.97904646e-01 -4.48129198e-02 9.79800264e+01] [ 4.90475079e-02 -4.64441999e-04 9.98796339e-01 1.22441037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.350385723 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:215.45, Y:98.01, Z:12.24 [[ 3.97425556e-01 -9.17417973e-01 -1.99296303e-02 2.15454959e+02] [ 9.16322682e-01 3.97924691e-01 -4.48183377e-02 9.80087503e+01] [ 4.90476405e-02 -4.50019472e-04 9.98796339e-01 1.22430229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.380385723 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:215.46, Y:98.03, Z:12.25 [[ 3.95623164e-01 -9.18187556e-01 -2.03451022e-02 2.15461732e+02] [ 9.17102633e-01 3.96144684e-01 -4.46335054e-02 9.80320803e+01] [ 4.90415333e-02 -1.00049820e-03 9.98796239e-01 1.22465866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.410385723 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:215.47, Y:98.06, Z:12.25 [[ 3.95369280e-01 -9.18306367e-01 -1.99135125e-02 2.15473070e+02] [ 9.17211849e-01 3.95870082e-01 -4.48252441e-02 9.80583048e+01] [ 4.90464709e-02 -5.42385135e-04 9.98796350e-01 1.22477965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.440385723 meters Centerline goodness : 0.999687 Centerline is valid? [True, True] Translation: X:215.48, Y:98.08, Z:12.25 [[ 3.94875414e-01 -9.18519109e-01 -1.99011075e-02 2.15483319e+02] [ 9.17424583e-01 3.95376199e-01 -4.48307509e-02 9.80837737e+01] [ 4.90463256e-02 -5.55203932e-04 9.98796350e-01 1.22481219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.470385723 meters Centerline goodness : 0.999843 Centerline is valid? [True, True] Translation: X:215.49, Y:98.11, Z:12.25 [[ 3.94580660e-01 -9.18645983e-01 -1.98911993e-02 2.15493807e+02] [ 9.17551397e-01 3.95081312e-01 -4.48351467e-02 9.81094016e+01] [ 4.90462685e-02 -5.60115907e-04 9.98796351e-01 1.22504507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.500385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:215.50, Y:98.13, Z:12.25 [[ 3.94463078e-01 -9.18696744e-01 -1.98789648e-02 2.15503218e+02] [ 9.17601949e-01 3.94963273e-01 -4.48405705e-02 9.81342591e+01] [ 4.90463472e-02 -5.53027416e-04 9.98796351e-01 1.22530752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.530385723 meters Centerline goodness : 0.999732 Centerline is valid? [True, True] Translation: X:215.51, Y:98.16, Z:12.25 [[ 3.93960906e-01 -9.18912393e-01 -1.98700258e-02 2.15513762e+02] [ 9.17817672e-01 3.94461263e-01 -4.48445313e-02 9.81603051e+01] [ 4.90461511e-02 -5.70068704e-04 9.98796351e-01 1.22546470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.560385723 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:215.52, Y:98.19, Z:12.26 [[ 3.93876873e-01 -9.18948677e-01 -1.98579487e-02 2.15524297e+02] [ 9.17853732e-01 3.94376742e-01 -4.48498786e-02 9.81859683e+01] [ 4.90462497e-02 -5.61362405e-04 9.98796351e-01 1.22565335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.590385723 meters Centerline goodness : 0.999733 Centerline is valid? [True, True] Translation: X:215.53, Y:98.21, Z:12.26 [[ 3.95134497e-01 -9.18408882e-01 -1.98457448e-02 2.15534611e+02] [ 9.17312984e-01 3.95632270e-01 -4.48552781e-02 9.82119034e+01] [ 4.90471029e-02 -4.80891567e-04 9.98796351e-01 1.22582771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.620385723 meters Centerline goodness : 0.999667 Centerline is valid? [True, True] Translation: X:215.55, Y:98.24, Z:12.26 [[ 3.95881984e-01 -9.18087189e-01 -1.98335279e-02 2.15545030e+02] [ 9.16990615e-01 3.96378268e-01 -4.48606794e-02 9.82372535e+01] [ 4.90475945e-02 -4.27624188e-04 9.98796351e-01 1.22596340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.650385723 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:215.56, Y:98.26, Z:12.26 [[ 3.96671713e-01 -9.17746531e-01 -1.98206187e-02 2.15555693e+02] [ 9.16649246e-01 3.97166423e-01 -4.48663823e-02 9.82635072e+01] [ 4.90480509e-02 -3.71330403e-04 9.98796351e-01 1.22623449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.68038572300003 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:215.57, Y:98.29, Z:12.26 [[ 3.98556279e-01 -9.16929947e-01 -1.98082023e-02 2.15565222e+02] [ 9.15831376e-01 3.99048125e-01 -4.48718634e-02 9.82894320e+01] [ 4.90487813e-02 -2.57010234e-04 9.98796351e-01 1.22645166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.710385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:215.58, Y:98.32, Z:12.27 [[ 3.99248339e-01 -9.16629062e-01 -1.97971228e-02 2.15575794e+02] [ 9.15529879e-01 3.99738813e-01 -4.48767510e-02 9.83151885e+01] [ 4.90490126e-02 -2.07889155e-04 9.98796351e-01 1.22665659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.74038572300003 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:215.59, Y:98.34, Z:12.27 [[ 4.00145504e-01 -9.16238035e-01 -1.97848392e-02 2.15587132e+02] [ 9.15138104e-01 4.00634300e-01 -4.48821659e-02 9.83413396e+01] [ 4.90492327e-02 -1.46463349e-04 9.98796351e-01 1.22692374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.770385723 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:215.60, Y:98.37, Z:12.27 [[ 4.02110575e-01 -9.15377584e-01 -1.97728132e-02 2.15598492e+02] [ 9.14276347e-01 4.02596420e-01 -4.48874633e-02 9.83675641e+01] [ 4.90494415e-02 -2.80917841e-05 9.98796351e-01 1.22728356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.800385723 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:215.61, Y:98.39, Z:12.27 [[ 4.02471882e-01 -9.15219038e-01 -1.97610093e-02 2.15609346e+02] [ 9.14117354e-01 4.02956713e-01 -4.48926592e-02 9.83927252e+01] [ 4.90494477e-02 4.15148638e-06 9.98796351e-01 1.22744980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.830385723 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:215.62, Y:98.42, Z:12.28 [[ 4.03164745e-01 -9.14914278e-01 -1.97497489e-02 2.15620650e+02] [ 9.13811985e-01 4.03648190e-01 -4.48976125e-02 9.84185044e+01] [ 4.90494171e-02 5.35772238e-05 9.98796352e-01 1.22759829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.860385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.63, Y:98.44, Z:12.28 [[ 4.03102287e-01 -9.14942064e-01 -1.97373980e-02 2.15631436e+02] [ 9.13839539e-01 4.03585201e-01 -4.49030414e-02 9.84444992e+01] [ 4.90494031e-02 6.37039456e-05 9.98796352e-01 1.22768978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.890385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:215.64, Y:98.47, Z:12.28 [[ 4.03144727e-01 -9.14923631e-01 -1.97251043e-02 2.15642011e+02] [ 9.13820818e-01 4.03626986e-01 -4.49084411e-02 9.84702735e+01] [ 4.90493784e-02 7.93902767e-05 9.98796352e-01 1.22779708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.920385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:215.65, Y:98.50, Z:12.28 [[ 4.02817170e-01 -9.15068165e-01 -1.97124423e-02 2.15652428e+02] [ 9.13965254e-01 4.03299203e-01 -4.49139984e-02 9.84960817e+01] [ 4.90493824e-02 7.56423755e-05 9.98796352e-01 1.22779606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.950385723 meters Centerline goodness : 0.999758 Centerline is valid? [True, True] Translation: X:215.67, Y:98.52, Z:12.28 [[ 4.03042610e-01 -9.14969166e-01 -1.96997454e-02 2.15665442e+02] [ 9.13865864e-01 4.03523748e-01 -4.49195667e-02 9.85248877e+01] [ 4.90493336e-02 1.01574598e-04 9.98796352e-01 1.22767929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.980385723 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:215.67, Y:98.55, Z:12.28 [[ 4.01090222e-01 -9.15817162e-01 -2.01385317e-02 2.15672278e+02] [ 9.14724437e-01 4.01595188e-01 -4.47270521e-02 9.85483764e+01] [ 4.90493393e-02 -4.81623788e-04 9.98796241e-01 1.22798833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.010385723 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:215.68, Y:98.57, Z:12.28 [[ 3.97842551e-01 -9.17242589e-01 -1.96809135e-02 2.15681359e+02] [ 9.16141642e-01 3.98329021e-01 -4.49275226e-02 9.85736872e+01] [ 4.90489161e-02 -1.56424234e-04 9.98796365e-01 1.22810946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.040385723 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:215.69, Y:98.60, Z:12.28 [[ 3.95658527e-01 -9.18186991e-01 -1.96717672e-02 2.15692333e+02] [ 9.17087007e-01 3.96147169e-01 -4.49315270e-02 9.85998217e+01] [ 4.90484585e-02 -2.63180330e-04 9.98796365e-01 1.22826488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.070385723 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:215.70, Y:98.62, Z:12.28 [[ 3.91775046e-01 -9.19850976e-01 -1.96594627e-02 2.15702745e+02] [ 9.18752797e-01 3.92267730e-01 -4.49369101e-02 9.86245233e+01] [ 4.90470335e-02 -4.57026356e-04 9.98796365e-01 1.22841745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.100385723 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:215.71, Y:98.65, Z:12.28 [[ 3.91639939e-01 -9.19908687e-01 -1.96511003e-02 2.15712843e+02] [ 9.18810397e-01 3.92132376e-01 -4.49405667e-02 9.86488224e+01] [ 4.90470504e-02 -4.55114441e-04 9.98796365e-01 1.22840462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.130385723 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:215.72, Y:98.68, Z:12.29 [[ 3.89168514e-01 -9.20962448e-01 -1.93916999e-02 2.15722444e+02] [ 9.19859811e-01 3.89651226e-01 -4.50538596e-02 9.86760373e+01] [ 4.90489124e-02 -3.04101872e-04 9.98796331e-01 1.22872838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.160385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:215.73, Y:98.70, Z:12.29 [[ 3.89773879e-01 -9.20701495e-01 -1.96234402e-02 2.15729848e+02] [ 9.19603596e-01 3.90267192e-01 -4.49526985e-02 9.87007756e+01] [ 4.90464016e-02 -5.24398498e-04 9.98796363e-01 1.22864796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.190385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:215.74, Y:98.73, Z:12.29 [[ 3.88419544e-01 -9.21279807e-01 -1.93332708e-02 2.15736406e+02] [ 9.20176296e-01 3.88900294e-01 -4.50793336e-02 9.87316041e+01] [ 4.90493944e-02 -2.80323339e-04 9.98796315e-01 1.22872674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.220385723 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:215.75, Y:98.76, Z:12.29 [[ 3.88481948e-01 -9.21247490e-01 -1.96172693e-02 2.15745993e+02] [ 9.20150147e-01 3.88976500e-01 -4.49554072e-02 9.87574520e+01] [ 4.90457128e-02 -5.86469102e-04 9.98796363e-01 1.22881209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.250385723 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:215.76, Y:98.78, Z:12.29 [[ 3.88820063e-01 -9.21105075e-01 -1.96061114e-02 2.15755311e+02] [ 9.20007306e-01 3.89313667e-01 -4.49602729e-02 9.87841204e+01] [ 4.90460627e-02 -5.56309531e-04 9.98796363e-01 1.22904080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.280385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:215.76, Y:98.81, Z:12.29 [[ 3.88382022e-01 -9.21290122e-01 -1.95937757e-02 2.15764689e+02] [ 9.20192317e-01 3.88875546e-01 -4.49656482e-02 9.88105106e+01] [ 4.90459477e-02 -5.66192444e-04 9.98796363e-01 1.22917628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.310385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:215.77, Y:98.84, Z:12.29 [[ 3.87680861e-01 -9.21585654e-01 -1.95814385e-02 2.15773328e+02] [ 9.20487953e-01 3.88174619e-01 -4.49710201e-02 9.88370071e+01] [ 4.90456644e-02 -5.90074396e-04 9.98796363e-01 1.22923501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.340385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.78, Y:98.87, Z:12.29 [[ 3.88218044e-01 -9.21359755e-01 -1.95691611e-02 2.15784602e+02] [ 9.20261499e-01 3.88710562e-01 -4.49763620e-02 9.88663965e+01] [ 4.90461495e-02 -5.48110265e-04 9.98796363e-01 1.22909599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.370385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:215.79, Y:98.89, Z:12.29 [[ 3.84799034e-01 -9.22785010e-01 -1.99381251e-02 2.15789172e+02] [ 9.21696805e-01 3.85313566e-01 -4.48157995e-02 9.88905693e+01] [ 4.90377780e-02 -1.13182982e-03 9.98796283e-01 1.22932626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.400385723 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:215.80, Y:98.92, Z:12.29 [[ 3.83282327e-01 -9.23424421e-01 -1.95447460e-02 2.15798542e+02] [ 9.22328288e-01 3.83779526e-01 -4.49867103e-02 9.89174966e+01] [ 4.90427002e-02 -7.84061145e-04 9.98796375e-01 1.22945289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.43038572300003 meters Centerline goodness : 0.999761 Centerline is valid? [True, True] Translation: X:215.81, Y:98.94, Z:12.30 [[ 3.80463024e-01 -9.24589847e-01 -1.95320852e-02 2.15806508e+02] [ 9.23494956e-01 3.80962949e-01 -4.49922066e-02 9.89434451e+01] [ 4.90403382e-02 -9.19911217e-04 9.98796375e-01 1.22958891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.460385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:215.81, Y:98.97, Z:12.30 [[ 3.80151707e-01 -9.24718133e-01 -1.95206131e-02 2.15814640e+02] [ 9.23623155e-01 3.80651443e-01 -4.49971834e-02 9.89676461e+01] [ 4.90402610e-02 -9.23934189e-04 9.98796375e-01 1.22968395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.49038572300003 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:215.82, Y:99.00, Z:12.30 [[ 3.77913768e-01 -9.25639042e-01 -1.93273739e-02 2.15820646e+02] [ 9.24540986e-01 3.78406753e-01 -4.50809871e-02 9.89970743e+01] [ 4.90423305e-02 -8.32223623e-04 9.98796354e-01 1.22986302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.520385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:215.83, Y:99.02, Z:12.30 [[ 3.77402469e-01 -9.25843739e-01 -1.95127501e-02 2.15828836e+02] [ 9.24750075e-01 3.77905074e-01 -4.50006071e-02 9.90240931e+01] [ 4.90374976e-02 -1.06107690e-03 9.98796375e-01 1.22997303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.550385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:215.84, Y:99.05, Z:12.30 [[ 3.76433739e-01 -9.26240353e-01 -1.94023044e-02 2.15837616e+02] [ 9.25144751e-01 3.76932123e-01 -4.50484657e-02 9.90507071e+01] [ 4.90390585e-02 -9.92177668e-04 9.98796369e-01 1.23001380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.580385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.85, Y:99.08, Z:12.30 [[ 3.76104848e-01 -9.26371967e-01 -1.94967044e-02 2.15846092e+02] [ 9.25278648e-01 3.76608207e-01 -4.50075731e-02 9.90763484e+01] [ 4.90363729e-02 -1.11231782e-03 9.98796374e-01 1.23007605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.610385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:215.85, Y:99.10, Z:12.30 [[ 3.73701672e-01 -9.27347673e-01 -1.93223808e-02 2.15853742e+02] [ 9.26251764e-01 3.74199402e-01 -4.50830023e-02 9.91049919e+01] [ 4.90380406e-02 -1.04979591e-03 9.98796360e-01 1.23025607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.640385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.86, Y:99.13, Z:12.30 [[ 3.72366452e-01 -9.27881488e-01 -1.94722839e-02 2.15862993e+02] [ 9.26789657e-01 3.72873031e-01 -4.50181635e-02 9.91317731e+01] [ 4.90322101e-02 -1.28345746e-03 9.98796373e-01 1.23040006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.670385723 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:215.87, Y:99.16, Z:12.30 [[ 3.69964300e-01 -9.28842146e-01 -1.94598346e-02 2.15868348e+02] [ 9.27751348e-01 3.70473099e-01 -4.50235443e-02 9.91584556e+01] [ 4.90291107e-02 -1.39678371e-03 9.98796373e-01 1.23039289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.700385723 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:215.88, Y:99.19, Z:12.30 [[ 3.68885637e-01 -9.29271292e-01 -1.94487301e-02 2.15876630e+02] [ 9.28180834e-01 3.69395165e-01 -4.50283406e-02 9.91853675e+01] [ 4.90278111e-02 -1.44163039e-03 9.98796373e-01 1.23035486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.730385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.88, Y:99.21, Z:12.31 [[ 3.69109859e-01 -9.29182503e-01 -1.94367643e-02 2.15884201e+02] [ 9.28091652e-01 3.69618545e-01 -4.50335051e-02 9.92125663e+01] [ 4.90285335e-02 -1.41678795e-03 9.98796373e-01 1.23059352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.760385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.89, Y:99.24, Z:12.31 [[ 3.70212050e-01 -9.28744159e-01 -1.94248493e-02 2.15890472e+02] [ 9.27652437e-01 3.70718864e-01 -4.50386440e-02 9.92397577e+01] [ 4.90305356e-02 -1.34566008e-03 9.98796374e-01 1.23071172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.790385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.90, Y:99.27, Z:12.31 [[ 3.71154317e-01 -9.28368235e-01 -1.94137447e-02 2.15899870e+02] [ 9.27275750e-01 3.71659484e-01 -4.50434300e-02 9.92663865e+01] [ 4.90321920e-02 -1.28383120e-03 9.98796374e-01 1.23088398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.820385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.91, Y:99.29, Z:12.31 [[ 3.76559318e-01 -9.26189825e-01 -1.93775475e-02 2.15911343e+02] [ 9.25093614e-01 3.77056349e-01 -4.50590213e-02 9.92923114e+01] [ 4.90396343e-02 -9.58651136e-04 9.98796373e-01 1.23083123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.850385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.92, Y:99.32, Z:12.31 [[ 3.75417072e-01 -9.26649754e-01 -1.95513415e-02 2.15921004e+02] [ 9.25558013e-01 3.75923894e-01 -4.49843361e-02 9.93216676e+01] [ 4.90345404e-02 -1.20801303e-03 9.98796353e-01 1.23114519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.880385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.93, Y:99.35, Z:12.31 [[ 3.74447004e-01 -9.27037766e-01 -1.97590945e-02 2.15928805e+02] [ 9.25951214e-01 3.74965032e-01 -4.48951418e-02 9.93487855e+01] [ 4.90284615e-02 -1.48510614e-03 9.98796278e-01 1.23132399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.910385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.94, Y:99.38, Z:12.31 [[ 3.75191314e-01 -9.26738872e-01 -1.96606668e-02 2.15939022e+02] [ 9.25649698e-01 3.75703702e-01 -4.49373566e-02 9.93755628e+01] [ 4.90317805e-02 -1.33878443e-03 9.98796322e-01 1.23134927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.940385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.95, Y:99.40, Z:12.32 [[ 3.74731633e-01 -9.26922531e-01 -1.97692808e-02 2.15947279e+02] [ 9.25836050e-01 3.75249820e-01 -4.48907651e-02 9.93998962e+01] [ 4.90286807e-02 -1.48112317e-03 9.98796273e-01 1.23150557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.970385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.96, Y:99.42, Z:12.32 [[ 3.74533645e-01 -9.27006959e-01 -1.95613623e-02 2.15956342e+02] [ 9.25915930e-01 3.75041992e-01 -4.49799295e-02 9.94231515e+01] [ 4.90330399e-02 -1.26568003e-03 9.98796355e-01 1.23169577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.000385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.97, Y:99.45, Z:12.32 [[ 3.73142947e-01 -9.27573186e-01 -1.92957337e-02 2.15968254e+02] [ 9.26477023e-01 3.73640042e-01 -4.50937299e-02 9.94517575e+01] [ 4.90373934e-02 -1.05064667e-03 9.98796391e-01 1.23193420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.030385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.98, Y:99.48, Z:12.32 [[ 3.73044543e-01 -9.27606179e-01 -1.96098271e-02 2.15976405e+02] [ 9.26517053e-01 3.73556990e-01 -4.49591586e-02 9.94787174e+01] [ 4.90297813e-02 -1.39707044e-03 9.98796340e-01 1.23204424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.060385723 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:215.99, Y:99.51, Z:12.32 [[ 3.73743704e-01 -9.27323602e-01 -1.96616499e-02 2.15986912e+02] [ 9.26235248e-01 3.74257839e-01 -4.49370067e-02 9.95053977e+01] [ 4.90296735e-02 -1.41638983e-03 9.98796318e-01 1.23211794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.090385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.99, Y:99.53, Z:12.32 [[ 3.75788099e-01 -9.26497889e-01 -1.96205563e-02 2.15994609e+02] [ 9.25407490e-01 3.76297841e-01 -4.49545584e-02 9.95301208e+01] [ 4.90334764e-02 -1.26362175e-03 9.98796336e-01 1.23237274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.120385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.01, Y:99.56, Z:12.32 [[ 3.76114915e-01 -9.26369016e-01 -1.94426512e-02 2.16005477e+02] [ 9.25274512e-01 3.76615635e-01 -4.50304375e-02 9.95575756e+01] [ 4.90372085e-02 -1.05317042e-03 9.98796397e-01 1.23247086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.150385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.01, Y:99.58, Z:12.33 [[ 3.75886887e-01 -9.26458986e-01 -1.95651832e-02 2.16014776e+02] [ 9.25367305e-01 3.76393826e-01 -4.49782089e-02 9.95841712e+01] [ 4.90346799e-02 -1.19826188e-03 9.98796358e-01 1.23260727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.18038572300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.03, Y:99.61, Z:12.33 [[ 3.77479358e-01 -9.25814218e-01 -1.94259749e-02 2.16026233e+02] [ 9.24718614e-01 3.77977654e-01 -4.50375177e-02 9.96102640e+01] [ 4.90389586e-02 -9.62827284e-04 9.98796402e-01 1.23276453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.210385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.04, Y:99.64, Z:12.33 [[ 3.78943020e-01 -9.25213487e-01 -1.95497161e-02 2.16037139e+02] [ 9.24119800e-01 3.79445601e-01 -4.49847876e-02 9.96360397e+01] [ 4.90385860e-02 -1.01960846e-03 9.98796364e-01 1.23281597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.24038572300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.05, Y:99.66, Z:12.33 [[ 3.77954833e-01 -9.25617425e-01 -1.95582762e-02 2.16046094e+02] [ 9.24524464e-01 3.78458997e-01 -4.49811407e-02 9.96619122e+01] [ 4.90373333e-02 -1.08126534e-03 9.98796361e-01 1.23320735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.270385723 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:216.06, Y:99.69, Z:12.33 [[ 3.80290223e-01 -9.24664054e-01 -1.93838708e-02 2.16056587e+02] [ 9.23566034e-01 3.80783138e-01 -4.50553414e-02 9.96869942e+01] [ 4.90421057e-02 -7.68178816e-04 9.98796417e-01 1.23312212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.300385723 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:216.07, Y:99.71, Z:12.33 [[ 3.80033034e-01 -9.24773905e-01 -1.91864014e-02 2.16067604e+02] [ 9.23671772e-01 3.80516627e-01 -4.51392767e-02 9.97133175e+01] [ 4.90443700e-02 -5.67521104e-04 9.98796440e-01 1.23325582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.330385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.08, Y:99.74, Z:12.33 [[ 3.81660693e-01 -9.24103609e-01 -1.91738327e-02 2.16078120e+02] [ 9.23000359e-01 3.82141730e-01 -4.51446149e-02 9.97397731e+01] [ 4.90454232e-02 -4.67529462e-04 9.98796440e-01 1.23344556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.360385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.09, Y:99.77, Z:12.34 [[ 3.83111118e-01 -9.23503502e-01 -1.91612184e-02 2.16088665e+02] [ 9.22399231e-01 3.83589806e-01 -4.51499683e-02 9.97658701e+01] [ 4.90462019e-02 -3.76838288e-04 9.98796440e-01 1.23356336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.390385723 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:216.10, Y:99.79, Z:12.34 [[ 3.85525696e-01 -9.22498386e-01 -1.91485426e-02 2.16099520e+02] [ 9.21392599e-01 3.86000872e-01 -4.51553436e-02 9.97901324e+01] [ 4.90470858e-02 -2.34780212e-04 9.98796440e-01 1.23365128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.420385723 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:216.11, Y:99.82, Z:12.34 [[ 3.85326589e-01 -9.22581807e-01 -1.91370975e-02 2.16110939e+02] [ 9.21475883e-01 3.85801445e-01 -4.51601936e-02 9.98156115e+01] [ 4.90470929e-02 -2.32950420e-04 9.98796440e-01 1.23377846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.450385723 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:216.12, Y:99.84, Z:12.34 [[ 3.84009780e-01 -9.23130944e-01 -1.91245668e-02 2.16122433e+02] [ 9.22025434e-01 3.84485600e-01 -4.51654996e-02 9.98416230e+01] [ 4.90467908e-02 -2.89343426e-04 9.98796440e-01 1.23386302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.480385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:216.13, Y:99.87, Z:12.34 [[ 3.82809257e-01 -9.23629688e-01 -1.91120767e-02 2.16133610e+02] [ 9.22524535e-01 3.83285903e-01 -4.51707842e-02 9.98675070e+01] [ 4.90464669e-02 -3.39565370e-04 9.98796440e-01 1.23397092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.510385723 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:216.15, Y:99.89, Z:12.34 [[ 3.82075022e-01 -9.23933915e-01 -1.90996833e-02 2.16145301e+02] [ 9.22828879e-01 3.82551940e-01 -4.51760239e-02 9.98928354e+01] [ 4.90462816e-02 -3.65109027e-04 9.98796440e-01 1.23408207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.540385723 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:216.16, Y:99.92, Z:12.34 [[ 3.79968035e-01 -9.24802671e-01 -1.90869832e-02 2.16156258e+02] [ 9.23698455e-01 3.80446850e-01 -4.51813891e-02 9.99174983e+01] [ 4.90454520e-02 -4.63133299e-04 9.98796440e-01 1.23411877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.570385723 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:216.17, Y:99.94, Z:12.34 [[ 3.80101047e-01 -9.24748245e-01 -1.90755979e-02 2.16167144e+02] [ 9.23643720e-01 3.80579147e-01 -4.51861955e-02 9.99428900e+01] [ 4.90456297e-02 -4.43736044e-04 9.98796440e-01 1.23437473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.600385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.18, Y:99.97, Z:12.35 [[ 3.79992997e-01 -9.24792905e-01 -1.90631781e-02 2.16178024e+02] [ 9.23688173e-01 3.80470620e-01 -4.51914346e-02 9.99688566e+01] [ 4.90456972e-02 -4.36003483e-04 9.98796440e-01 1.23453485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.630385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.19, Y:100.00, Z:12.35 [[ 3.80290614e-01 -9.24670815e-01 -1.90507627e-02 2.16188576e+02] [ 9.23565668e-01 3.80767275e-01 -4.51966677e-02 9.99952844e+01] [ 4.90459466e-02 -4.06761885e-04 9.98796441e-01 1.23456411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.660385723 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:216.20, Y:100.02, Z:12.35 [[ 3.80520333e-01 -9.24576561e-01 -1.90383725e-02 2.16198809e+02] [ 9.23471034e-01 3.80996113e-01 -4.52018863e-02 1.00021571e+02] [ 4.90461505e-02 -3.81148709e-04 9.98796441e-01 1.23452035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.690385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.21, Y:100.05, Z:12.35 [[ 3.81773055e-01 -9.24060258e-01 -1.90256170e-02 2.16208551e+02] [ 9.22953821e-01 3.82246713e-01 -4.52072545e-02 1.00046893e+02] [ 4.90467068e-02 -3.00854195e-04 9.98796441e-01 1.23462811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.720385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.22, Y:100.07, Z:12.35 [[ 3.83535955e-01 -9.23330129e-01 -1.90169604e-02 2.16219553e+02] [ 9.22222609e-01 3.84007076e-01 -4.52108957e-02 1.00072781e+02] [ 4.90472295e-02 -1.97866777e-04 9.98796441e-01 1.23476231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.750385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.23, Y:100.10, Z:12.35 [[ 3.83573538e-01 -9.23314778e-01 -1.90042474e-02 2.16230056e+02] [ 9.22206975e-01 3.84043991e-01 -4.52162390e-02 1.00097843e+02] [ 4.90472887e-02 -1.82096765e-04 9.98796441e-01 1.23488294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.780385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.24, Y:100.12, Z:12.35 [[ 3.82628836e-01 -9.23706905e-01 -1.89928440e-02 2.16239758e+02] [ 9.22599346e-01 3.83099864e-01 -4.52210284e-02 1.00123638e+02] [ 4.90471321e-02 -2.19915948e-04 9.98796441e-01 1.23492157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.810385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.25, Y:100.15, Z:12.35 [[ 3.81587021e-01 -9.24137945e-01 -1.89842881e-02 2.16250190e+02] [ 9.23030740e-01 3.82058879e-01 -4.52246200e-02 1.00149041e+02] [ 4.90469032e-02 -2.65953468e-04 9.98796441e-01 1.23504673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.840385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.26, Y:100.17, Z:12.35 [[ 3.80377068e-01 -9.24636852e-01 -1.89731117e-02 2.16261079e+02] [ 9.23530031e-01 3.80849828e-01 -4.52293084e-02 1.00174641e+02] [ 4.90465916e-02 -3.18046756e-04 9.98796441e-01 1.23522499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.870385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.27, Y:100.20, Z:12.35 [[ 3.77922761e-01 -9.25642955e-01 -1.89606727e-02 2.16273227e+02] [ 9.24537131e-01 3.78397849e-01 -4.52345224e-02 1.00201753e+02] [ 4.90456947e-02 -4.34690293e-04 9.98796441e-01 1.23540735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.900385723 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:216.28, Y:100.23, Z:12.35 [[ 3.77876028e-01 -9.25659178e-01 -1.90995939e-02 2.16283500e+02] [ 9.24556304e-01 3.78357954e-01 -4.51763152e-02 1.00226260e+02] [ 4.90443540e-02 -5.87603411e-04 9.98796429e-01 1.23528545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.93038572300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.29, Y:100.25, Z:12.36 [[ 3.78442170e-01 -9.25431202e-01 -1.89370962e-02 2.16293701e+02] [ 9.24324622e-01 3.78915484e-01 -4.52443297e-02 1.00252439e+02] [ 4.90460734e-02 -3.81661967e-04 9.98796444e-01 1.23558890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.960385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.31, Y:100.28, Z:12.36 [[ 3.80298227e-01 -9.24670266e-01 -1.89250481e-02 2.16305395e+02] [ 9.23562488e-01 3.80768731e-01 -4.52493687e-02 1.00278193e+02] [ 4.90468123e-02 -2.70209787e-04 9.98796444e-01 1.23598892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.99038572300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.31, Y:100.30, Z:12.36 [[ 3.79723484e-01 -9.24906838e-01 -1.89054815e-02 2.16314800e+02] [ 9.23798945e-01 3.80193718e-01 -4.52575465e-02 1.00304111e+02] [ 4.90467596e-02 -2.79510640e-04 9.98796444e-01 1.23590915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.020385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.33, Y:100.33, Z:12.36 [[ 3.80114803e-01 -9.24746051e-01 -1.89070630e-02 2.16325017e+02] [ 9.23637993e-01 3.80584646e-01 -4.52568858e-02 1.00329267e+02] [ 4.90468643e-02 -2.60469431e-04 9.98796444e-01 1.23596180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.050385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.34, Y:100.36, Z:12.36 [[ 3.79171982e-01 -9.25133291e-01 -1.88944817e-02 2.16336365e+02] [ 9.24025451e-01 3.79642339e-01 -4.52621379e-02 1.00357614e+02] [ 4.90466558e-02 -2.96847412e-04 9.98796444e-01 1.23607396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.080385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.35, Y:100.38, Z:12.36 [[ 3.81221985e-01 -9.24284738e-01 -1.91708439e-02 2.16346413e+02] [ 9.23181607e-01 3.81703400e-01 -4.51468227e-02 1.00381185e+02] [ 4.90460955e-02 -4.87209067e-04 9.98796397e-01 1.23620203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.110385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:216.35, Y:100.40, Z:12.36 [[ 3.78371302e-01 -9.25461636e-01 -1.88657788e-02 2.16351948e+02] [ 9.24353615e-01 3.78841213e-01 -4.52739471e-02 1.00403250e+02] [ 4.90464357e-02 -3.08288457e-04 9.98796452e-01 1.23641238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.140385723 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:216.37, Y:100.43, Z:12.37 [[ 3.82457593e-01 -9.23794053e-01 -1.81861714e-02 2.16368646e+02] [ 9.22670283e-01 3.82889191e-01 -4.55567286e-02 1.00432038e+02] [ 4.90483235e-02 6.43676819e-04 9.98796199e-01 1.23651948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.170385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.38, Y:100.46, Z:12.37 [[ 3.82613946e-01 -9.23715820e-01 -1.88587521e-02 2.16378963e+02] [ 9.22605523e-01 3.83078424e-01 -4.52765973e-02 1.00456795e+02] [ 4.90470902e-02 -7.57313274e-05 9.98796464e-01 1.23671850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.200385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.39, Y:100.48, Z:12.37 [[ 3.83165305e-01 -9.23487496e-01 -1.88465931e-02 2.16390085e+02] [ 9.22376673e-01 3.83628524e-01 -4.52816580e-02 1.00482868e+02] [ 4.90471356e-02 -3.32975166e-05 9.98796464e-01 1.23696624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.230385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.40, Y:100.51, Z:12.37 [[ 3.83959729e-01 -9.23157731e-01 -1.88342950e-02 2.16401686e+02] [ 9.22046260e-01 3.84421388e-01 -4.52867726e-02 1.00508417e+02] [ 4.90471401e-02 2.22056255e-05 9.98796465e-01 1.23703152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.260385723 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:216.41, Y:100.53, Z:12.37 [[ 3.79733967e-01 -9.24904243e-01 -1.88216654e-02 2.16406264e+02] [ 9.23794635e-01 3.80200086e-01 -4.52920210e-02 1.00530468e+02] [ 4.90467812e-02 -1.88434741e-04 9.98796465e-01 1.23704922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.290385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.42, Y:100.55, Z:12.37 [[ 3.78524610e-01 -9.25417543e-01 -1.79301734e-02 2.16416463e+02] [ 9.24290610e-01 3.78948368e-01 -4.56618347e-02 1.00554524e+02] [ 4.90508728e-02 7.11437302e-04 9.98796028e-01 1.23699827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.320385723 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:216.43, Y:100.58, Z:12.37 [[ 3.81067604e-01 -9.24377202e-01 -1.77276462e-02 2.16434082e+02] [ 9.23245186e-01 3.81478248e-01 -4.57457453e-02 1.00580982e+02] [ 4.90490355e-02 1.06525752e-03 9.98795804e-01 1.23702525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.350385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.45, Y:100.61, Z:12.37 [[ 3.85943725e-01 -9.22345764e-01 -1.80480498e-02 2.16451749e+02] [ 9.21217742e-01 3.86364251e-01 -4.56129093e-02 1.00609847e+02] [ 4.90439950e-02 9.77832480e-04 9.98796141e-01 1.23743567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.380385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.46, Y:100.63, Z:12.37 [[ 3.83413558e-01 -9.23385266e-01 -1.88067746e-02 2.16458359e+02] [ 9.22273521e-01 3.83874524e-01 -4.52979202e-02 1.00633957e+02] [ 4.90468737e-02 2.28465160e-05 9.98796478e-01 1.23739408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.410385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.48, Y:100.66, Z:12.38 [[ 3.88978112e-01 -9.21064211e-01 -1.83507078e-02 2.16475959e+02] [ 9.19940696e-01 3.89409888e-01 -4.54868570e-02 1.00659629e+02] [ 4.90422631e-02 8.11828819e-04 9.98796374e-01 1.23770601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.440385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.49, Y:100.69, Z:12.38 [[ 3.89749921e-01 -9.20730921e-01 -1.86967806e-02 2.16489316e+02] [ 9.19613847e-01 3.90197823e-01 -4.53434902e-02 1.00685443e+02] [ 4.90445967e-02 4.78803399e-04 9.98796475e-01 1.23785161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.470385723 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:216.49, Y:100.70, Z:12.38 [[ 3.84992729e-01 -9.22729008e-01 -1.87557226e-02 2.16490764e+02] [ 9.21615445e-01 3.85449286e-01 -4.53190848e-02 1.00704143e+02] [ 4.90466141e-02 1.61954498e-04 9.98796477e-01 1.23757473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.500385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.52, Y:100.73, Z:12.38 [[ 3.93813381e-01 -9.19024360e-01 -1.74713200e-02 2.16516724e+02] [ 9.17882154e-01 3.94195569e-01 -4.58497988e-02 1.00734427e+02] [ 4.90241990e-02 2.01965144e-03 9.98795549e-01 1.23827556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.530385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.53, Y:100.76, Z:12.39 [[ 3.95309491e-01 -9.18356149e-01 -1.87720312e-02 2.16528965e+02] [ 9.17237926e-01 3.95754346e-01 -4.53109756e-02 1.00757465e+02] [ 4.90407260e-02 6.93439720e-04 9.98796539e-01 1.23856384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.560385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.54, Y:100.78, Z:12.39 [[ 3.95170549e-01 -9.18419264e-01 -1.86089629e-02 2.16541746e+02] [ 9.17297924e-01 3.95607523e-01 -4.53784802e-02 1.00784899e+02] [ 4.90383161e-02 8.62275911e-04 9.98796526e-01 1.23861134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.590385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.56, Y:100.81, Z:12.39 [[ 3.95790926e-01 -9.18149165e-01 -1.87524486e-02 2.16555664e+02] [ 9.17030324e-01 3.96234228e-01 -4.53191084e-02 1.00808859e+02] [ 4.90400635e-02 7.40327823e-04 9.98796538e-01 1.23857288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.620385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:216.57, Y:100.83, Z:12.39 [[ 3.95438949e-01 -9.18301043e-01 -1.87411700e-02 2.16568429e+02] [ 9.17182152e-01 3.95882123e-01 -4.53237720e-02 1.00832908e+02] [ 4.90401613e-02 7.33718143e-04 9.98796538e-01 1.23861363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.650385723 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:216.58, Y:100.85, Z:12.39 [[ 3.91160899e-01 -9.20131698e-01 -1.87298778e-02 2.16575535e+02] [ 9.19014659e-01 3.91608720e-01 -4.53284380e-02 1.00854957e+02] [ 4.90429161e-02 5.17680315e-04 9.98796538e-01 1.23854629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.68038572300003 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:216.60, Y:100.88, Z:12.39 [[ 3.93446910e-01 -9.19168719e-01 -1.81216851e-02 2.16598299e+02] [ 9.18038852e-01 3.93861886e-01 -4.55794037e-02 1.00881329e+02] [ 4.90326032e-02 1.29666456e-03 9.98796337e-01 1.23914774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.710385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.61, Y:100.90, Z:12.39 [[ 3.92453783e-01 -9.19581160e-01 -1.87221159e-02 2.16610897e+02] [ 9.18463350e-01 3.92899651e-01 -4.53314339e-02 1.00904809e+02] [ 4.90418454e-02 5.94915415e-04 9.98796548e-01 1.23936898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.74038572300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.62, Y:100.93, Z:12.39 [[ 3.88419964e-01 -9.21292481e-01 -1.87108530e-02 2.16618180e+02] [ 9.20176412e-01 3.88870172e-01 -4.53360823e-02 1.00927530e+02] [ 4.90438844e-02 3.92153858e-04 9.98796548e-01 1.23937674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.770385723 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:216.63, Y:100.96, Z:12.40 [[ 3.91080264e-01 -9.20177368e-01 -1.81614606e-02 2.16634883e+02] [ 9.19049357e-01 3.91500116e-01 -4.55624628e-02 1.00955338e+02] [ 4.90357611e-02 1.12730128e-03 9.98796387e-01 1.23956350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.800385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:216.64, Y:100.98, Z:12.40 [[ 3.88454857e-01 -9.21278026e-01 -1.86982212e-02 2.16643750e+02] [ 9.20161698e-01 3.88904401e-01 -4.53411171e-02 1.00978963e+02] [ 4.90435954e-02 4.07590145e-04 9.98796556e-01 1.23960367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.830385723 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:216.66, Y:101.00, Z:12.40 [[ 3.87601948e-01 -9.21645196e-01 -1.82992572e-02 2.16661577e+02] [ 9.20521451e-01 3.88032865e-01 -4.55055381e-02 1.01002798e+02] [ 4.90406738e-02 7.93176436e-04 9.98796467e-01 1.23980672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.860385723 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:216.68, Y:101.03, Z:12.40 [[ 3.87490967e-01 -9.21691355e-01 -1.83247306e-02 2.16676695e+02] [ 9.20568158e-01 3.87923276e-01 -4.54950410e-02 1.01027744e+02] [ 4.90409755e-02 7.59753990e-04 9.98796479e-01 1.23995517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.890385723 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:216.69, Y:101.05, Z:12.40 [[ 3.87995567e-01 -9.21477019e-01 -1.84267044e-02 2.16691692e+02] [ 9.20355571e-01 3.88432292e-01 -4.54530283e-02 1.01053309e+02] [ 4.90414480e-02 6.76453419e-04 9.98796515e-01 1.24016275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.920385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:216.70, Y:101.08, Z:12.40 [[ 3.84486511e-01 -9.22941513e-01 -1.86838688e-02 2.16700459e+02] [ 9.21826841e-01 3.84940150e-01 -4.53470737e-02 1.01078084e+02] [ 4.90448680e-02 2.12046405e-04 9.98796554e-01 1.24004710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.950385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.72, Y:101.10, Z:12.40 [[ 3.85536280e-01 -9.22510575e-01 -1.83307291e-02 2.16715085e+02] [ 9.21388422e-01 3.85971265e-01 -4.54923971e-02 1.01104848e+02] [ 4.90423521e-02 6.49247958e-04 9.98796489e-01 1.24009753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.980385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.73, Y:101.13, Z:12.40 [[ 3.83105385e-01 -9.23515925e-01 -1.86708209e-02 2.16725101e+02] [ 9.22401674e-01 3.83560050e-01 -4.53523906e-02 1.01128216e+02] [ 4.90450360e-02 1.52748563e-04 9.98796556e-01 1.24017112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.010385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.74, Y:101.15, Z:12.40 [[ 3.82675159e-01 -9.23701226e-01 -1.83239417e-02 2.16739201e+02] [ 9.22580301e-01 3.83113286e-01 -4.54950401e-02 1.01153044e+02] [ 4.90439698e-02 5.04514115e-04 9.98796493e-01 1.24031685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.040385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:216.75, Y:101.18, Z:12.40 [[ 3.80780880e-01 -9.24482680e-01 -1.83765138e-02 2.16754151e+02] [ 9.23363695e-01 3.81223890e-01 -4.54734320e-02 1.01176566e+02] [ 4.90449663e-02 3.47207726e-04 9.98796511e-01 1.24025145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.070385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:216.77, Y:101.20, Z:12.41 [[ 3.81807994e-01 -9.24060330e-01 -1.83074639e-02 2.16768305e+02] [ 9.22939491e-01 3.82246361e-01 -4.55018111e-02 1.01202929e+02] [ 4.90443800e-02 4.76273771e-04 9.98796487e-01 1.24056156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.100385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:216.78, Y:101.23, Z:12.41 [[ 3.82168031e-01 -9.23908759e-01 -1.84445464e-02 2.16782788e+02] [ 9.22790455e-01 3.82612708e-01 -4.54454871e-02 1.01228288e+02] [ 4.90446014e-02 3.47360917e-04 9.98796529e-01 1.24050326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.130385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.79, Y:101.25, Z:12.41 [[ 3.80853701e-01 -9.24447476e-01 -1.86365856e-02 2.16793964e+02] [ 9.23333641e-01 3.81309400e-01 -4.53665986e-02 1.01254061e+02] [ 4.90453429e-02 7.02505532e-05 9.98796551e-01 1.24068502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.160385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:216.81, Y:101.28, Z:12.41 [[ 3.80872171e-01 -9.24442385e-01 -1.85112451e-02 2.16806995e+02] [ 9.23326035e-01 3.81321694e-01 -4.54180534e-02 1.01278695e+02] [ 4.90451130e-02 2.06558020e-04 9.98796543e-01 1.24080714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.190385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.82, Y:101.30, Z:12.41 [[ 3.79986390e-01 -9.24805147e-01 -1.85952730e-02 2.16823021e+02] [ 9.23690909e-01 3.80441107e-01 -4.53835671e-02 1.01302696e+02] [ 4.90453626e-02 6.88532122e-05 9.98796550e-01 1.24094800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.220385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.83, Y:101.33, Z:12.41 [[ 3.79739374e-01 -9.24906163e-01 -1.86171047e-02 2.16833801e+02] [ 9.23792486e-01 3.80195460e-01 -4.53746096e-02 1.01329134e+02] [ 4.90453948e-02 3.21843985e-05 9.98796550e-01 1.24108911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.250385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.85, Y:101.35, Z:12.41 [[ 3.79004751e-01 -9.25207681e-01 -1.86049699e-02 2.16845807e+02] [ 9.24094122e-01 3.79461126e-01 -4.53795847e-02 1.01353519e+02] [ 4.90454032e-02 6.33486471e-06 9.98796550e-01 1.24132065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.280385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.86, Y:101.38, Z:12.41 [[ 3.77201530e-01 -9.25947995e-01 -1.84205557e-02 2.16858132e+02] [ 9.24831621e-01 3.77651028e-01 -4.54551895e-02 1.01378547e+02] [ 4.90456834e-02 1.09854627e-04 9.98796530e-01 1.24148388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.310385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.87, Y:101.40, Z:12.42 [[ 3.78099635e-01 -9.25582205e-01 -1.83915033e-02 2.16873659e+02] [ 9.24464817e-01 3.78546623e-01 -4.54670923e-02 1.01403581e+02] [ 4.90455730e-02 1.88793261e-04 9.98796524e-01 1.24157421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.340385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.88, Y:101.43, Z:12.42 [[ 3.76529189e-01 -9.26218211e-01 -1.85901910e-02 2.16883013e+02] [ 9.25105575e-01 3.76987816e-01 -4.53857101e-02 1.01428372e+02] [ 4.90453468e-02 -1.08844697e-04 9.98796547e-01 1.24165867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.370385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.90, Y:101.45, Z:12.42 [[ 3.78864718e-01 -9.25270200e-01 -1.83461679e-02 2.16895708e+02] [ 9.24151549e-01 3.79308554e-01 -4.54855517e-02 1.01454196e+02] [ 4.90452839e-02 2.78231268e-04 9.98796517e-01 1.24167271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.400385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.91, Y:101.48, Z:12.42 [[ 3.79340776e-01 -9.25070617e-01 -1.85722524e-02 2.16907449e+02] [ 9.23956233e-01 3.79795142e-01 -4.53930524e-02 1.01479526e+02] [ 4.90454302e-02 5.94873762e-05 9.98796547e-01 1.24188141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.43038572300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.92, Y:101.50, Z:12.42 [[ 3.80371612e-01 -9.24647485e-01 -1.85597815e-02 2.16922021e+02] [ 9.23532347e-01 3.80824123e-01 -4.53981508e-02 1.01503822e+02] [ 4.90452984e-02 1.27609207e-04 9.98796547e-01 1.24215996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.460385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.93, Y:101.53, Z:12.42 [[ 3.80392174e-01 -9.24639277e-01 -1.85472633e-02 2.16933846e+02] [ 9.23523880e-01 3.80844045e-01 -4.54032645e-02 1.01527859e+02] [ 4.90452564e-02 1.42205943e-04 9.98796547e-01 1.24228114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.49038572300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.95, Y:101.55, Z:12.42 [[ 3.80180434e-01 -9.24726541e-01 -1.85381077e-02 2.16945372e+02] [ 9.23611065e-01 3.80632111e-01 -4.54070024e-02 1.01552128e+02] [ 4.90452593e-02 1.40852452e-04 9.98796547e-01 1.24234382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.520385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.96, Y:101.58, Z:12.42 [[ 3.79613345e-01 -9.24959740e-01 -1.85253414e-02 2.16956651e+02] [ 9.23844287e-01 3.80065079e-01 -4.54122103e-02 1.01577594e+02] [ 4.90453015e-02 1.24550275e-04 9.98796547e-01 1.24245679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.550385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.97, Y:101.60, Z:12.42 [[ 3.78874692e-01 -9.25262798e-01 -1.85127725e-02 2.16969911e+02] [ 9.24147456e-01 3.79326699e-01 -4.54173335e-02 1.01602999e+02] [ 4.90453580e-02 9.89466598e-05 9.98796547e-01 1.24244250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.580385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.98, Y:101.63, Z:12.43 [[ 3.77955415e-01 -9.25638939e-01 -1.85002262e-02 2.16981484e+02] [ 9.24523797e-01 3.78407914e-01 -4.54224435e-02 1.01627244e+02] [ 4.90454145e-02 6.37591238e-05 9.98796547e-01 1.24253523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.610385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.99, Y:101.65, Z:12.43 [[ 3.76776578e-01 -9.26119669e-01 -1.84870083e-02 2.16994939e+02] [ 9.25004840e-01 3.77229849e-01 -4.54278226e-02 1.01652076e+02] [ 4.90454514e-02 1.55674532e-05 9.98796548e-01 1.24278655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.640385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.01, Y:101.68, Z:12.43 [[ 3.76233625e-01 -9.26340621e-01 -1.84746573e-02 2.17006290e+02] [ 9.25225812e-01 3.76686943e-01 -4.54328450e-02 1.01677505e+02] [ 4.90454520e-02 1.34120971e-07 9.98796548e-01 1.24298473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.670385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.02, Y:101.70, Z:12.43 [[ 3.76019189e-01 -9.26427938e-01 -1.84619901e-02 2.17016893e+02] [ 9.25312981e-01 3.76472144e-01 -4.54379918e-02 1.01701956e+02] [ 4.90454501e-02 2.43772313e-06 9.98796548e-01 1.24309910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.700385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.03, Y:101.73, Z:12.43 [[ 3.76036086e-01 -9.26421307e-01 -1.84505987e-02 2.17027603e+02] [ 9.25306115e-01 3.76488462e-01 -4.54426170e-02 1.01728318e+02] [ 4.90454461e-02 1.56120544e-05 9.98796548e-01 1.24320473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.730385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:217.04, Y:101.75, Z:12.43 [[ 3.77220907e-01 -9.25939748e-01 -1.84383003e-02 2.17037904e+02] [ 9.24823735e-01 3.77671253e-01 -4.54476065e-02 1.01754802e+02] [ 4.90453612e-02 9.16095821e-05 9.98796548e-01 1.24330465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.760385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.05, Y:101.78, Z:12.43 [[ 3.77619399e-01 -9.25777558e-01 -1.84256014e-02 2.17048094e+02] [ 9.24661100e-01 3.78068641e-01 -4.54527544e-02 1.01779503e+02] [ 4.90452820e-02 1.26404911e-04 9.98796548e-01 1.24339265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.790385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.06, Y:101.80, Z:12.44 [[ 3.77616843e-01 -9.25778828e-01 -1.84141542e-02 2.17060234e+02] [ 9.24662145e-01 3.78065527e-01 -4.54573915e-02 1.01804712e+02] [ 4.90452475e-02 1.38605373e-04 9.98796548e-01 1.24356465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.820385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.07, Y:101.83, Z:12.44 [[ 3.77096334e-01 -9.25991203e-01 -1.84023726e-02 2.17071381e+02] [ 9.24874540e-01 3.77545067e-01 -4.54621605e-02 1.01830502e+02] [ 4.90452856e-02 1.23728199e-04 9.98796548e-01 1.24371808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.850385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.08, Y:101.86, Z:12.44 [[ 3.76286951e-01 -9.26320654e-01 -1.83895779e-02 2.17081378e+02] [ 9.25204131e-01 3.76736031e-01 -4.54673354e-02 1.01856655e+02] [ 4.90453484e-02 9.46515461e-05 9.98796548e-01 1.24383321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.880385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.09, Y:101.88, Z:12.44 [[ 3.75651928e-01 -9.26578611e-01 -1.83768023e-02 2.17090415e+02] [ 9.25462144e-01 3.76101147e-01 -4.54724984e-02 1.01882645e+02] [ 4.90453808e-02 7.47968648e-05 9.98796548e-01 1.24391794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.910385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:217.10, Y:101.91, Z:12.44 [[ 3.76155520e-01 -9.26374553e-01 -1.83633701e-02 2.17098863e+02] [ 9.25257577e-01 3.76603472e-01 -4.54779221e-02 1.01909000e+02] [ 4.90452987e-02 1.15924057e-04 9.98796548e-01 1.24395147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.940385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.11, Y:101.93, Z:12.44 [[ 3.76377564e-01 -9.26284622e-01 -1.83501877e-02 2.17109016e+02] [ 9.25167280e-01 3.76824601e-01 -4.54832406e-02 1.01934060e+02] [ 4.90452284e-02 1.41877986e-04 9.98796549e-01 1.24409026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.970385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:217.12, Y:101.96, Z:12.44 [[ 3.76927596e-01 -9.26061195e-01 -1.83371164e-02 2.17119934e+02] [ 9.24943332e-01 3.77373328e-01 -4.54885098e-02 1.01959438e+02] [ 4.90450824e-02 1.85081144e-04 9.98796549e-01 1.24427274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.000385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.13, Y:101.99, Z:12.45 [[ 3.77146694e-01 -9.25972230e-01 -1.83248573e-02 2.17130639e+02] [ 9.24854022e-01 3.77591558e-01 -4.54934478e-02 1.01985102e+02] [ 4.90449808e-02 2.09885442e-04 9.98796549e-01 1.24451687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.030385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.14, Y:102.01, Z:12.45 [[ 3.76888625e-01 -9.26077544e-01 -1.83124856e-02 2.17140230e+02] [ 9.24959218e-01 3.77333193e-01 -4.54984273e-02 1.02010451e+02] [ 4.90449804e-02 2.09537306e-04 9.98796549e-01 1.24460468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.060385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.15, Y:102.04, Z:12.44 [[ 3.76932607e-01 -9.26059901e-01 -1.82994163e-02 2.17150456e+02] [ 9.24941299e-01 3.77376480e-01 -4.55036831e-02 1.02038063e+02] [ 4.90449056e-02 2.25936011e-04 9.98796549e-01 1.24436104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.090385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:217.16, Y:102.06, Z:12.45 [[ 3.76690648e-01 -9.26157974e-01 -1.83183726e-02 2.17159450e+02] [ 9.25039858e-01 3.77135745e-01 -4.54960616e-02 1.02063453e+02] [ 4.90450534e-02 1.92716156e-04 9.98796549e-01 1.24462829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.120385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:217.17, Y:102.09, Z:12.45 [[ 3.76753144e-01 -9.26133232e-01 -1.82840229e-02 2.17170309e+02] [ 9.25014416e-01 3.77196477e-01 -4.55098620e-02 1.02089413e+02] [ 4.90448646e-02 2.32998765e-04 9.98796549e-01 1.24474541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.150385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:217.18, Y:102.12, Z:12.45 [[ 3.76451825e-01 -9.26255996e-01 -1.82716657e-02 2.17181608e+02] [ 9.25137084e-01 3.76894915e-01 -4.55148227e-02 1.02115482e+02] [ 4.90448753e-02 2.30342507e-04 9.98796549e-01 1.24490723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.18038572300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.19, Y:102.14, Z:12.45 [[ 3.76235141e-01 -9.26344276e-01 -1.82592458e-02 2.17193757e+02] [ 9.25225227e-01 3.76677883e-01 -4.55198047e-02 1.02142052e+02] [ 4.90448646e-02 2.32235304e-04 9.98796550e-01 1.24492813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.210385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.20, Y:102.17, Z:12.45 [[ 3.74470777e-01 -9.27056366e-01 -1.83883416e-02 2.17202664e+02] [ 9.25940691e-01 3.74921984e-01 -4.54680375e-02 1.02167014e+02] [ 4.90456272e-02 -6.23434595e-08 9.98796539e-01 1.24528390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.24038572300003 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:217.21, Y:102.19, Z:12.45 [[ 3.72972309e-01 -9.27663117e-01 -1.82427568e-02 2.17213525e+02] [ 9.26545311e-01 3.73418178e-01 -4.55263751e-02 1.02192799e+02] [ 4.90453160e-02 7.73364538e-05 9.98796551e-01 1.24542349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.270385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.22, Y:102.22, Z:12.46 [[ 3.70140832e-01 -9.28796759e-01 -1.82303528e-02 2.17224315e+02] [ 9.27680074e-01 3.70589500e-01 -4.55313415e-02 1.02217118e+02] [ 4.90453398e-02 -5.89264352e-05 9.98796551e-01 1.24558255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.300385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.23, Y:102.24, Z:12.46 [[ 3.68768287e-01 -9.29342823e-01 -1.82172709e-02 2.17234928e+02] [ 9.28226543e-01 3.69217963e-01 -4.55365751e-02 1.02242876e+02] [ 4.90452329e-02 -1.17309609e-04 9.98796552e-01 1.24576366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.330385723 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:217.24, Y:102.27, Z:12.46 [[ 3.67312384e-01 -9.29919457e-01 -1.82048258e-02 2.17244889e+02] [ 9.28803637e-01 3.67763199e-01 -4.55415499e-02 1.02268566e+02] [ 4.90450383e-02 -1.80733186e-04 9.98796552e-01 1.24579289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.360385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.26, Y:102.29, Z:12.46 [[ 3.67384187e-01 -9.29891349e-01 -1.81917208e-02 2.17255978e+02] [ 9.28775235e-01 3.67834274e-01 -4.55467841e-02 1.02294519e+02] [ 4.90450989e-02 -1.62851541e-04 9.98796552e-01 1.24625654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.390385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.27, Y:102.32, Z:12.46 [[ 3.67208590e-01 -9.29960947e-01 -1.81793667e-02 2.17265281e+02] [ 9.28844674e-01 3.67658282e-01 -4.55517146e-02 1.02319712e+02] [ 4.90451103e-02 -1.58827062e-04 9.98796552e-01 1.24634690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.420385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.28, Y:102.35, Z:12.46 [[ 3.67368254e-01 -9.29898140e-01 -1.81663061e-02 2.17275368e+02] [ 9.28781533e-01 3.67817115e-01 -4.55569226e-02 1.02346389e+02] [ 4.90451759e-02 -1.36362552e-04 9.98796552e-01 1.24642464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.450385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:217.28, Y:102.37, Z:12.47 [[ 3.68209473e-01 -9.29565607e-01 -1.81539811e-02 2.17284476e+02] [ 9.28448352e-01 3.68656719e-01 -4.55618335e-02 1.02371734e+02] [ 4.90453005e-02 -7.87351910e-05 9.98796552e-01 1.24650893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.480385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.29, Y:102.40, Z:12.47 [[ 3.68478413e-01 -9.29459283e-01 -1.81411305e-02 2.17293914e+02] [ 9.28341648e-01 3.68924706e-01 -4.55669496e-02 1.02396593e+02] [ 4.90453355e-02 -5.07297494e-05 9.98796552e-01 1.24657931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.510385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.30, Y:102.42, Z:12.47 [[ 3.68596467e-01 -9.29412646e-01 -1.81322479e-02 2.17303730e+02] [ 9.28294780e-01 3.69042183e-01 -4.55704839e-02 1.02423232e+02] [ 4.90453484e-02 -3.49516619e-05 9.98796552e-01 1.24673655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.540385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:217.31, Y:102.45, Z:12.47 [[ 3.67780166e-01 -9.29736209e-01 -1.81199194e-02 2.17312621e+02] [ 9.28618493e-01 3.68226259e-01 -4.55753855e-02 1.02449881e+02] [ 4.90453163e-02 -6.47693517e-05 9.98796552e-01 1.24682390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.570385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:217.32, Y:102.48, Z:12.47 [[ 3.66628836e-01 -9.30191063e-01 -1.81075197e-02 2.17322187e+02] [ 9.29073658e-01 3.67075705e-01 -4.55803115e-02 1.02475715e+02] [ 4.90452290e-02 -1.12162965e-04 9.98796552e-01 1.24703179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.600385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.33, Y:102.50, Z:12.47 [[ 3.64210979e-01 -9.31140658e-01 -1.80952129e-02 2.17332228e+02] [ 9.30024175e-01 3.64660147e-01 -4.55851967e-02 1.02501197e+02] [ 4.90448331e-02 -2.26356347e-04 9.98796552e-01 1.24729475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.630385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:217.34, Y:102.53, Z:12.47 [[ 3.62669329e-01 -9.31742444e-01 -1.80824557e-02 2.17342431e+02] [ 9.30626454e-01 3.63119720e-01 -4.55902566e-02 1.02527581e+02] [ 4.90444734e-02 -2.93823841e-04 9.98796553e-01 1.24743044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.660385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.35, Y:102.55, Z:12.47 [[ 3.60705329e-01 -9.32504761e-01 -1.80703463e-02 2.17351532e+02] [ 9.31389482e-01 3.61157478e-01 -4.55950558e-02 1.02554312e+02] [ 4.90438473e-02 -3.84150882e-04 9.98796553e-01 1.24748644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.690385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:217.36, Y:102.58, Z:12.47 [[ 3.58490762e-01 -9.33358598e-01 -1.80582787e-02 2.17359540e+02] [ 9.32244155e-01 3.58944968e-01 -4.55998348e-02 1.02579937e+02] [ 4.90429262e-02 -4.87605256e-04 9.98796553e-01 1.24748149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.720385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:217.37, Y:102.61, Z:12.48 [[ 3.54563944e-01 -9.34857543e-01 -1.80494769e-02 2.17367868e+02] [ 9.33744843e-01 3.55022402e-01 -4.56033185e-02 1.02607247e+02] [ 4.90405749e-02 -6.84313502e-04 9.98796553e-01 1.24780955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.750385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:217.38, Y:102.63, Z:12.48 [[ 3.52326640e-01 -9.35703257e-01 -1.80375474e-02 2.17377583e+02] [ 9.34591416e-01 3.52787177e-01 -4.56080365e-02 1.02632495e+02] [ 4.90390038e-02 -7.88810720e-04 9.98796553e-01 1.24796813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.780385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:217.38, Y:102.66, Z:12.48 [[ 3.49054644e-01 -9.36929017e-01 -1.80242408e-02 2.17384338e+02] [ 9.35818521e-01 3.49518415e-01 -4.56132947e-02 1.02656892e+02] [ 4.90362234e-02 -9.45886038e-04 9.98796553e-01 1.24787326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.810385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.39, Y:102.69, Z:12.48 [[ 3.46557482e-01 -9.37863350e-01 -1.76138679e-02 2.17394780e+02] [ 9.36745799e-01 3.47004225e-01 -4.57752767e-02 1.02685592e+02] [ 4.90430409e-02 -6.35952190e-04 9.98796464e-01 1.24821623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.840385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.40, Y:102.71, Z:12.48 [[ 3.45546517e-01 -9.38228681e-01 -1.80151663e-02 2.17404244e+02] [ 9.37119747e-01 3.46013999e-01 -4.56167992e-02 1.02711680e+02] [ 4.90324891e-02 -1.11964200e-03 9.98796557e-01 1.24837178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.870385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:217.41, Y:102.74, Z:12.49 [[ 3.45495974e-01 -9.38247531e-01 -1.80028727e-02 2.17412520e+02] [ 9.37138370e-01 3.45962919e-01 -4.56216505e-02 1.02738575e+02] [ 4.90327273e-02 -1.10908621e-03 9.98796557e-01 1.24852094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.900385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:217.42, Y:102.77, Z:12.49 [[ 3.46006222e-01 -9.38059720e-01 -1.79904663e-02 2.17421579e+02] [ 9.36950052e-01 3.46471961e-01 -4.56265423e-02 1.02765472e+02] [ 4.90336136e-02 -1.06910082e-03 9.98796557e-01 1.24863416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.93038572300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.43, Y:102.79, Z:12.49 [[ 3.45286015e-01 -9.38325294e-01 -1.79780293e-02 2.17426043e+02] [ 9.37215730e-01 3.45752001e-01 -4.56314422e-02 1.02789776e+02] [ 4.90330761e-02 -1.09339301e-03 9.98796557e-01 1.24890477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.960385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.44, Y:102.82, Z:12.49 [[ 3.50443880e-01 -9.36421395e-01 -1.74372700e-02 2.17436628e+02] [ 9.35298561e-01 3.50877346e-01 -4.58441886e-02 1.02819706e+02] [ 4.90478220e-02 -2.43238273e-04 9.98796402e-01 1.24903143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.99038572300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.44, Y:102.85, Z:12.49 [[ 3.52593604e-01 -9.35604007e-01 -1.79691836e-02 2.17444570e+02] [ 9.34490674e-01 3.53050491e-01 -4.56347504e-02 1.02845884e+02] [ 4.90400844e-02 -7.01513400e-04 9.98796565e-01 1.24928851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.020385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.45, Y:102.87, Z:12.49 [[ 3.53210487e-01 -9.35373358e-01 -1.78614831e-02 2.17452856e+02] [ 9.34257580e-01 3.53661383e-01 -4.56771203e-02 1.02872959e+02] [ 4.90420782e-02 -5.53588093e-04 9.98796560e-01 1.24938460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.050385723 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:217.46, Y:102.90, Z:12.50 [[ 3.56251929e-01 -9.34217488e-01 -1.79512560e-02 2.17459906e+02] [ 9.33102021e-01 3.56703580e-01 -4.56418122e-02 1.02898477e+02] [ 4.90426564e-02 -4.90369551e-04 9.98796565e-01 1.24963858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.080385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.47, Y:102.92, Z:12.50 [[ 3.56127751e-01 -9.34268319e-01 -1.77688613e-02 2.17468203e+02] [ 9.33149324e-01 3.56570633e-01 -4.57134897e-02 1.02924951e+02] [ 4.90445193e-02 -3.01158674e-04 9.98796548e-01 1.24994607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.110385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.48, Y:102.95, Z:12.50 [[ 3.55971199e-01 -9.34329860e-01 -1.76696693e-02 2.17478208e+02] [ 9.33209003e-01 3.56409414e-01 -4.57524488e-02 1.02950583e+02] [ 4.90455156e-02 -2.02940360e-04 9.98796524e-01 1.25007707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.140385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.49, Y:102.98, Z:12.50 [[ 3.57362871e-01 -9.33798614e-01 -1.76614370e-02 2.17485693e+02] [ 9.32676945e-01 3.57799012e-01 -4.57556806e-02 1.02978980e+02] [ 4.90458359e-02 -1.21033679e-04 9.98796521e-01 1.25029308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.170385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.49, Y:103.01, Z:12.51 [[ 3.55642175e-01 -9.34454651e-01 -1.76960040e-02 2.17491431e+02] [ 9.33334461e-01 3.56082074e-01 -4.57421047e-02 1.03005525e+02] [ 4.90451523e-02 -2.48468825e-04 9.98796531e-01 1.25060938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.200385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:217.50, Y:103.03, Z:12.51 [[ 3.54798804e-01 -9.34779916e-01 -1.74447254e-02 2.17498570e+02] [ 9.33655248e-01 3.55227405e-01 -4.58406930e-02 1.03032246e+02] [ 4.90478037e-02 -2.31364121e-05 9.98796432e-01 1.25066271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.230385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:217.51, Y:103.06, Z:12.51 [[ 3.57795553e-01 -9.33639955e-01 -1.72851446e-02 2.17513870e+02] [ 9.32510889e-01 3.58212703e-01 -4.59031774e-02 1.03061784e+02] [ 4.90487988e-02 3.05367217e-04 9.98796337e-01 1.25060490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.260385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.51, Y:103.08, Z:12.50 [[ 3.47908439e-01 -9.37357628e-01 -1.78996074e-02 2.17507658e+02] [ 9.36245179e-01 3.48367503e-01 -4.56623197e-02 1.03081734e+02] [ 4.90375652e-02 -8.72114762e-04 9.98796554e-01 1.24985649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.290385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:217.52, Y:103.11, Z:12.50 [[ 3.47246502e-01 -9.37630101e-01 -1.64213330e-02 2.17515786e+02] [ 9.36489478e-01 3.47633907e-01 -4.62398655e-02 1.03108588e+02] [ 4.90645019e-02 6.78226012e-04 9.98795382e-01 1.24979111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.320385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.52, Y:103.14, Z:12.50 [[ 3.43369096e-01 -9.39058399e-01 -1.63397273e-02 2.17522728e+02] [ 9.37917866e-01 3.43757190e-01 -4.62717156e-02 1.03137229e+02] [ 4.90687419e-02 5.62955014e-04 9.98795245e-01 1.24957708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.350385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.53, Y:103.17, Z:12.50 [[ 3.42854574e-01 -9.39246418e-01 -1.63372931e-02 2.17533616e+02] [ 9.38106052e-01 3.43243173e-01 -4.62726598e-02 1.03165779e+02] [ 4.90690943e-02 5.38679539e-04 9.98795241e-01 1.24975388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.380385723 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:217.55, Y:103.19, Z:12.50 [[ 3.45142662e-01 -9.38404013e-01 -1.65665717e-02 2.17546731e+02] [ 9.37266942e-01 3.45539778e-01 -4.61837823e-02 1.03191651e+02] [ 4.90634561e-02 4.12693592e-04 9.98795578e-01 1.25001128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.410385723 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:217.56, Y:103.22, Z:12.50 [[ 3.41166318e-01 -9.39851075e-01 -1.68967288e-02 2.17555059e+02] [ 9.38722008e-01 3.41584446e-01 -4.60549448e-02 1.03217962e+02] [ 4.90564491e-02 -1.48935187e-04 9.98795997e-01 1.25033745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.440385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:217.57, Y:103.25, Z:12.50 [[ 3.41427193e-01 -9.39756818e-01 -1.68699129e-02 2.17565793e+02] [ 9.38627118e-01 3.41843694e-01 -4.60654069e-02 1.03245707e+02] [ 4.90571536e-02 -1.06575142e-04 9.98795967e-01 1.25042173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.470385723 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:217.57, Y:103.27, Z:12.51 [[ 3.39285744e-01 -9.40529783e-01 -1.69973847e-02 2.17574989e+02] [ 9.39403506e-01 3.39711056e-01 -4.60157674e-02 1.03272715e+02] [ 4.90533992e-02 -3.54908953e-04 9.98796094e-01 1.25067428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.500385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:217.59, Y:103.30, Z:12.51 [[ 3.38796754e-01 -9.40703652e-01 -1.71288895e-02 2.17585260e+02] [ 9.39580171e-01 3.39229078e-01 -4.59644984e-02 1.03302608e+02] [ 4.90495889e-02 -5.21342082e-04 9.98796208e-01 1.25108417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.530385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.59, Y:103.33, Z:12.51 [[ 3.37267054e-01 -9.41245297e-01 -1.75563415e-02 2.17593594e+02] [ 9.40131050e-01 3.37722029e-01 -4.57978093e-02 1.03328893e+02] [ 4.90361359e-02 -1.05916953e-03 9.98796444e-01 1.25132321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.560385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:217.61, Y:103.36, Z:12.52 [[ 3.38603793e-01 -9.40766922e-01 -1.74662464e-02 2.17606257e+02] [ 9.39650223e-01 3.39052800e-01 -4.58329343e-02 1.03355302e+02] [ 4.90400883e-02 -8.92956938e-04 9.98796412e-01 1.25204678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.590385723 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:217.61, Y:103.38, Z:12.52 [[ 3.35543698e-01 -9.41856114e-01 -1.78181873e-02 2.17613760e+02] [ 9.40748045e-01 3.36013419e-01 -4.56957053e-02 1.03382467e+02] [ 4.90259294e-02 -1.42951891e-03 9.98796483e-01 1.25223617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.620385723 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:217.62, Y:103.41, Z:12.52 [[ 3.36905347e-01 -9.41370134e-01 -1.78061181e-02 2.17621930e+02] [ 9.40261141e-01 3.37372880e-01 -4.57004078e-02 1.03406604e+02] [ 4.90283003e-02 -1.34568921e-03 9.98796483e-01 1.25215906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.650385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.63, Y:103.44, Z:12.53 [[ 3.33974877e-01 -9.42421765e-01 -1.73780929e-02 2.17630372e+02] [ 9.41305519e-01 3.34425082e-01 -4.58670303e-02 1.03436019e+02] [ 4.90377578e-02 -1.03965895e-03 9.98796384e-01 1.25263966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.68038572300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.64, Y:103.46, Z:12.53 [[ 3.33996876e-01 -9.42406208e-01 -1.77939800e-02 2.17635767e+02] [ 9.41298415e-01 3.34467243e-01 -4.57051218e-02 1.03463466e+02] [ 4.90242940e-02 -1.48407730e-03 9.98796484e-01 1.25270315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.710385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:217.64, Y:103.49, Z:12.53 [[ 3.36045305e-01 -9.41677935e-01 -1.77825798e-02 2.17643783e+02] [ 9.40568888e-01 3.36512709e-01 -4.57095569e-02 1.03489456e+02] [ 4.90277452e-02 -1.36525935e-03 9.98796484e-01 1.25273645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.74038572300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.65, Y:103.51, Z:12.53 [[ 3.39293708e-01 -9.40517254e-01 -1.75235406e-02 2.17649443e+02] [ 9.39401392e-01 3.39744685e-01 -4.58101892e-02 1.03514787e+02] [ 4.90388031e-02 -9.18529470e-04 9.98796452e-01 1.25280882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.770385723 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:217.66, Y:103.54, Z:12.53 [[ 3.38070254e-01 -9.40960592e-01 -1.73685722e-02 2.17658823e+02] [ 9.39842224e-01 3.38515137e-01 -4.58704308e-02 1.03544893e+02] [ 4.90417924e-02 -8.16289337e-04 9.98796394e-01 1.25287102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.800385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:217.67, Y:103.57, Z:12.53 [[ 3.41378773e-01 -9.39757693e-01 -1.77767191e-02 2.17665256e+02] [ 9.38645902e-01 3.41839597e-01 -4.57117126e-02 1.03568870e+02] [ 4.90347201e-02 -1.08103618e-03 9.98796490e-01 1.25287235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.830385723 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:217.67, Y:103.60, Z:12.53 [[ 3.40560038e-01 -9.40061656e-01 -1.74052917e-02 2.17673548e+02] [ 9.38942843e-01 3.41003749e-01 -4.58560845e-02 1.03598827e+02] [ 4.90428164e-02 -7.25824179e-04 9.98796413e-01 1.25312087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.860385723 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:217.68, Y:103.62, Z:12.53 [[ 3.42558615e-01 -9.39328387e-01 -1.77700963e-02 2.17678375e+02] [ 9.38215886e-01 3.43017720e-01 -4.57142813e-02 1.03624661e+02] [ 4.90361801e-02 -1.01236572e-03 9.98796490e-01 1.25337548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.890385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:217.69, Y:103.65, Z:12.53 [[ 3.41233776e-01 -9.39815090e-01 -1.75244474e-02 2.17687499e+02] [ 9.38698327e-01 3.41682493e-01 -4.58096510e-02 1.03652515e+02] [ 4.90403981e-02 -8.18369300e-04 9.98796461e-01 1.25349393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.920385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.69, Y:103.68, Z:12.54 [[ 3.39331254e-01 -9.40499403e-01 -1.77531036e-02 2.17694773e+02] [ 9.39388142e-01 3.39793351e-01 -4.57208669e-02 1.03679655e+02] [ 4.90328346e-02 -1.16253594e-03 9.98796491e-01 1.25374677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.950385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.70, Y:103.71, Z:12.54 [[ 3.37947532e-01 -9.40997732e-01 -1.77407660e-02 2.17703329e+02] [ 9.39886901e-01 3.38410663e-01 -4.57256537e-02 1.03706417e+02] [ 4.90314008e-02 -1.22144180e-03 9.98796491e-01 1.25389693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.980385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:217.71, Y:103.73, Z:12.54 [[ 3.37869811e-01 -9.41025879e-01 -1.77280785e-02 2.17711097e+02] [ 9.39914831e-01 3.38332419e-01 -4.57305721e-02 1.03731815e+02] [ 4.90316356e-02 -1.21190415e-03 9.98796491e-01 1.25412863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.010385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.72, Y:103.76, Z:12.54 [[ 3.35465683e-01 -9.41889413e-01 -1.75245183e-02 2.17717412e+02] [ 9.40775434e-01 3.35921241e-01 -4.58094147e-02 1.03760817e+02] [ 4.90342607e-02 -1.11914973e-03 9.98796470e-01 1.25408416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.040385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.72, Y:103.79, Z:12.54 [[ 3.34802483e-01 -9.42121863e-01 -1.77113629e-02 2.17724809e+02] [ 9.41011987e-01 3.35267896e-01 -4.57370615e-02 1.03787159e+02] [ 4.90279370e-02 -1.35372307e-03 9.98796490e-01 1.25417190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.070385723 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:217.73, Y:103.81, Z:12.54 [[ 3.35402521e-01 -9.41908622e-01 -1.77001843e-02 2.17731943e+02] [ 9.40798223e-01 3.35866685e-01 -4.57413872e-02 1.03813063e+02] [ 4.90291092e-02 -1.31052535e-03 9.98796490e-01 1.25418558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.100385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.73, Y:103.84, Z:12.54 [[ 3.31330289e-01 -9.43351685e-01 -1.75452878e-02 2.17733915e+02] [ 9.42240143e-01 3.31791738e-01 -4.58012694e-02 1.03840013e+02] [ 4.90280862e-02 -1.35652660e-03 9.98796479e-01 1.25365633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.130385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.74, Y:103.86, Z:12.54 [[ 3.36211163e-01 -9.41630515e-01 -1.71472302e-02 2.17741679e+02] [ 9.40508697e-01 3.36647465e-01 -4.59551516e-02 1.03864919e+02] [ 4.90453447e-02 -6.76484119e-04 9.98796324e-01 1.25381025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.160385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.76, Y:103.90, Z:12.55 [[ 3.38292124e-01 -9.40887088e-01 -1.70272424e-02 2.17756534e+02] [ 9.39761973e-01 3.38720083e-01 -4.60015142e-02 1.03895761e+02] [ 4.90496997e-02 -4.39604923e-04 9.98796242e-01 1.25455118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.190385723 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:217.77, Y:103.92, Z:12.55 [[ 3.38660995e-01 -9.40742030e-01 -1.76964314e-02 2.17766001e+02] [ 9.39629964e-01 3.39121130e-01 -4.57426389e-02 1.03922760e+02] [ 4.90332568e-02 -1.13684961e-03 9.98796499e-01 1.25451813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.220385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.77, Y:103.95, Z:12.55 [[ 3.38296892e-01 -9.40873171e-01 -1.76886726e-02 2.17769305e+02] [ 9.39761128e-01 3.38757080e-01 -4.57456391e-02 1.03948320e+02] [ 4.90330076e-02 -1.14751937e-03 9.98796499e-01 1.25451023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.250385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.78, Y:103.98, Z:12.55 [[ 3.38227863e-01 -9.40904609e-01 -1.73329174e-02 2.17778332e+02] [ 9.39785518e-01 3.38670820e-01 -4.58830769e-02 1.03976252e+02] [ 4.90417519e-02 -7.70289681e-04 9.98796432e-01 1.25458933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.280385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.79, Y:104.01, Z:12.55 [[ 3.38050889e-01 -9.40965993e-01 -1.74526995e-02 2.17789247e+02] [ 9.39849358e-01 3.38499891e-01 -4.58367493e-02 1.04005068e+02] [ 4.90385592e-02 -9.07754542e-04 9.98796474e-01 1.25483660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.310385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.80, Y:104.03, Z:12.55 [[ 3.39217599e-01 -9.40541172e-01 -1.77122807e-02 2.17799531e+02] [ 9.39429161e-01 3.39677846e-01 -4.57363340e-02 1.04029925e+02] [ 4.90333745e-02 -1.12486360e-03 9.98796507e-01 1.25523784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.340385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.81, Y:104.05, Z:12.55 [[ 3.41217002e-01 -9.39818220e-01 -1.76824923e-02 2.17809000e+02] [ 9.38704639e-01 3.41673434e-01 -4.57478479e-02 1.04054178e+02] [ 4.90362988e-02 -9.88694011e-04 9.98796508e-01 1.25548444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.370385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.82, Y:104.08, Z:12.56 [[ 3.42789227e-01 -9.39250307e-01 -1.74472549e-02 2.17816521e+02] [ 9.38131323e-01 3.43232329e-01 -4.58387230e-02 1.04082340e+02] [ 4.90424966e-02 -6.54795890e-04 9.98796478e-01 1.25567126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.400385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.82, Y:104.11, Z:12.56 [[ 3.44360269e-01 -9.38673036e-01 -1.75766031e-02 2.17824712e+02] [ 9.37555846e-01 3.44807810e-01 -4.57887592e-02 1.04109992e+02] [ 4.90412236e-02 -7.11217584e-04 9.98796502e-01 1.25581354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.43038572300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.83, Y:104.14, Z:12.56 [[ 3.46277456e-01 -9.37966798e-01 -1.76127546e-02 2.17833287e+02] [ 9.36849403e-01 3.46724478e-01 -4.57748000e-02 1.04137971e+02] [ 4.90420157e-02 -6.49717384e-04 9.98796505e-01 1.25608482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.460385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.84, Y:104.16, Z:12.56 [[ 3.52063287e-01 -9.35809343e-01 -1.76724709e-02 2.17843191e+02] [ 9.34690361e-01 3.52506320e-01 -4.57517573e-02 1.04164141e+02] [ 4.90445796e-02 -4.10774111e-04 9.98796506e-01 1.25627697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.49038572300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.85, Y:104.19, Z:12.56 [[ 3.54390387e-01 -9.34930931e-01 -1.76524283e-02 2.17853357e+02] [ 9.33810466e-01 3.54829654e-01 -4.57594850e-02 1.04188628e+02] [ 4.90455629e-02 -2.67300718e-04 9.98796506e-01 1.25645676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.520385723 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:217.86, Y:104.21, Z:12.56 [[ 3.56707236e-01 -9.34049849e-01 -1.76302975e-02 2.17864215e+02] [ 9.32927878e-01 3.57142639e-01 -4.57680100e-02 1.04214750e+02] [ 4.90461338e-02 -1.22015742e-04 9.98796507e-01 1.25644847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.550385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.87, Y:104.24, Z:12.57 [[ 3.60102508e-01 -9.32746374e-01 -1.76177732e-02 2.17870780e+02] [ 9.31622590e-01 3.60533212e-01 -4.57728306e-02 1.04241677e+02] [ 4.90462341e-02 6.97956130e-05 9.98796507e-01 1.25680592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.580385723 meters Centerline goodness : 0.999917 Centerline is valid? [True, True] Translation: X:217.88, Y:104.27, Z:12.57 [[ 3.59852948e-01 -9.32842918e-01 -1.76053066e-02 2.17879456e+02] [ 9.31719015e-01 3.60283341e-01 -4.57776250e-02 1.04268878e+02] [ 4.90462320e-02 7.00144123e-05 9.98796507e-01 1.25686002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.610385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:217.89, Y:104.29, Z:12.57 [[ 3.61382811e-01 -9.32247553e-01 -1.78034586e-02 2.17888367e+02] [ 9.31126673e-01 3.61821083e-01 -4.57014634e-02 1.04294221e+02] [ 4.90467441e-02 -6.15518898e-05 9.98796482e-01 1.25701285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.640385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.90, Y:104.32, Z:12.57 [[ 3.61263902e-01 -9.32297963e-01 -1.75755776e-02 2.17898800e+02] [ 9.31172861e-01 3.61691135e-01 -4.57889346e-02 1.04318957e+02] [ 4.90458610e-02 1.75988341e-04 9.98796512e-01 1.25729685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.670385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:217.91, Y:104.34, Z:12.57 [[ 3.60027118e-01 -9.32776487e-01 -1.75641502e-02 2.17910038e+02] [ 9.31651739e-01 3.60455281e-01 -4.57933176e-02 1.04344717e+02] [ 4.90460206e-02 1.23165114e-04 9.98796512e-01 1.25741575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.700385723 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:217.92, Y:104.37, Z:12.58 [[ 3.58551189e-01 -9.33345042e-01 -1.75521202e-02 2.17921676e+02] [ 9.32220747e-01 3.58980540e-01 -4.57979281e-02 1.04371805e+02] [ 4.90461387e-02 5.84509792e-05 9.98796512e-01 1.25754916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.730385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.93, Y:104.40, Z:12.58 [[ 3.55643002e-01 -9.34454642e-01 -1.76798524e-02 2.17930181e+02] [ 9.33334109e-01 3.56082110e-01 -4.57490061e-02 1.04396621e+02] [ 4.90458503e-02 -2.30895452e-04 9.98796501e-01 1.25772285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.760385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.94, Y:104.42, Z:12.58 [[ 3.52561640e-01 -9.35624390e-01 -1.75297167e-02 2.17939990e+02] [ 9.34502446e-01 3.52997092e-01 -4.58064623e-02 1.04423250e+02] [ 4.90455824e-02 -2.31961697e-04 9.98796514e-01 1.25772856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.790385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.95, Y:104.45, Z:12.58 [[ 3.50552665e-01 -9.36377130e-01 -1.76266908e-02 2.17950706e+02] [ 9.35257980e-01 3.50995266e-01 -4.57693658e-02 1.04450452e+02] [ 4.90442724e-02 -4.40930027e-04 9.98796508e-01 1.25789547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.820385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.96, Y:104.48, Z:12.58 [[ 3.50146053e-01 -9.36529143e-01 -1.76325279e-02 2.17963020e+02] [ 9.35410297e-01 3.50589425e-01 -4.57671360e-02 1.04476878e+02] [ 4.90440345e-02 -4.68466166e-04 9.98796507e-01 1.25807733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.850385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.98, Y:104.50, Z:12.58 [[ 3.46597143e-01 -9.37848687e-01 -1.76142064e-02 2.17975877e+02] [ 9.36731174e-01 3.47043855e-01 -4.57741290e-02 1.04500708e+02] [ 4.90421089e-02 -6.34593917e-04 9.98796510e-01 1.25831255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.880385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.99, Y:104.53, Z:12.59 [[ 3.46057337e-01 -9.38050538e-01 -1.74787581e-02 2.17989973e+02] [ 9.36930668e-01 3.46498080e-01 -4.58257920e-02 1.04528057e+02] [ 4.90432649e-02 -5.18032937e-04 9.98796521e-01 1.25859854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.910385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.00, Y:104.55, Z:12.59 [[ 3.43852952e-01 -9.38856890e-01 -1.76886276e-02 2.17999006e+02] [ 9.37742140e-01 3.44306556e-01 -4.57457639e-02 1.04553416e+02] [ 4.90390361e-02 -8.57555509e-04 9.98796495e-01 1.25877084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.940385723 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:218.01, Y:104.58, Z:12.59 [[ 3.42735042e-01 -9.39266901e-01 -1.76176081e-02 2.18007225e+02] [ 9.38151301e-01 3.43186514e-01 -4.57728343e-02 1.04578668e+02] [ 4.90390337e-02 -8.40027657e-04 9.98796510e-01 1.25873991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.970385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.02, Y:104.61, Z:12.59 [[ 3.42513793e-01 -9.39350640e-01 -1.74549974e-02 2.18017683e+02] [ 9.38231985e-01 3.42957601e-01 -4.58347612e-02 1.04605721e+02] [ 4.90412363e-02 -6.77798992e-04 9.98796525e-01 1.25890199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.000385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.03, Y:104.63, Z:12.59 [[ 3.42538877e-01 -9.39341185e-01 -1.74716082e-02 2.18028646e+02] [ 9.38222840e-01 3.42983465e-01 -4.58284377e-02 1.04631797e+02] [ 4.90410117e-02 -6.94240304e-04 9.98796524e-01 1.25899746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.030385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.04, Y:104.66, Z:12.59 [[ 3.42294971e-01 -9.39430760e-01 -1.74356224e-02 2.18038359e+02] [ 9.38311834e-01 3.42738094e-01 -4.58421281e-02 1.04657553e+02] [ 4.90413572e-02 -6.68520989e-04 9.98796525e-01 1.25913150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.060385723 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:218.05, Y:104.68, Z:12.59 [[ 3.42307738e-01 -9.39426329e-01 -1.74237051e-02 2.18049265e+02] [ 9.38307167e-01 3.42750264e-01 -4.58466583e-02 1.04683379e+02] [ 4.90415374e-02 -6.55121493e-04 9.98796525e-01 1.25929841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.090385723 meters Centerline goodness : 0.999789 Centerline is valid? [True, True] Translation: X:218.06, Y:104.71, Z:12.59 [[ 3.45318951e-01 -9.38323810e-01 -1.74140529e-02 2.18059102e+02] [ 9.37203051e-01 3.45757414e-01 -4.58503243e-02 1.04709227e+02] [ 4.90434889e-02 -4.87517611e-04 9.98796525e-01 1.25936214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.120385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:218.07, Y:104.74, Z:12.60 [[ 3.46506475e-01 -9.37886040e-01 -1.74080197e-02 2.18066135e+02] [ 9.36764611e-01 3.46943224e-01 -4.58526148e-02 1.04736071e+02] [ 4.90441218e-02 -4.18988854e-04 9.98796525e-01 1.25976753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.150385723 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:218.08, Y:104.76, Z:12.60 [[ 3.49663915e-01 -9.36716610e-01 -1.72376990e-02 2.18076373e+02] [ 9.35590521e-01 3.50088541e-01 -4.59172078e-02 1.04763839e+02] [ 4.90461321e-02 -7.18371433e-05 9.98796512e-01 1.25967489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.18038572300003 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:218.09, Y:104.79, Z:12.60 [[ 3.51584306e-01 -9.35994672e-01 -1.73910881e-02 2.18085328e+02] [ 9.34870575e-01 3.52014142e-01 -4.58590389e-02 1.04789767e+02] [ 4.90457250e-02 -1.35098171e-04 9.98796525e-01 1.25966020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.210385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.10, Y:104.82, Z:12.60 [[ 3.54202187e-01 -9.35007339e-01 -1.73806271e-02 2.18095927e+02] [ 9.33881850e-01 3.54628362e-01 -4.58630033e-02 1.04815828e+02] [ 4.90459080e-02 1.33238591e-05 9.98796525e-01 1.26008867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.240385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.11, Y:104.84, Z:12.60 [[ 3.54161733e-01 -9.35022903e-01 -1.73677435e-02 2.18106279e+02] [ 9.33897193e-01 3.54587325e-01 -4.58678816e-02 1.04840917e+02] [ 4.90459015e-02 2.49615003e-05 9.98796525e-01 1.26024862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.270385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:218.12, Y:104.87, Z:12.60 [[ 3.53686921e-01 -9.35202773e-01 -1.73589923e-02 2.18116113e+02] [ 9.34077117e-01 3.54112655e-01 -4.58711933e-02 1.04866571e+02] [ 4.90459061e-02 9.40368165e-06 9.98796525e-01 1.26032941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.300385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.12, Y:104.89, Z:12.60 [[ 3.52921641e-01 -9.35492051e-01 -1.73475355e-02 2.18124905e+02] [ 9.34366531e-01 3.53347734e-01 -4.58755256e-02 1.04892269e+02] [ 4.90459020e-02 -1.84907967e-05 9.98796525e-01 1.26048643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.330385723 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:218.14, Y:104.92, Z:12.61 [[ 3.51011890e-01 -9.36210504e-01 -1.73362654e-02 2.18135195e+02] [ 9.35085645e-01 3.51439727e-01 -4.58797842e-02 1.04918668e+02] [ 4.90457882e-02 -1.06543223e-04 9.98796525e-01 1.26070117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.360385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.15, Y:104.94, Z:12.61 [[ 3.49999493e-01 -9.36589695e-01 -1.73233567e-02 2.18146065e+02] [ 9.35465059e-01 3.50427913e-01 -4.58846578e-02 1.04943288e+02] [ 4.90456853e-02 -1.45787975e-04 9.98796526e-01 1.26080266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.390385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.16, Y:104.97, Z:12.61 [[ 3.47961457e-01 -9.37348934e-01 -1.73147436e-02 2.18158880e+02] [ 9.36225071e-01 3.48391901e-01 -4.58879077e-02 1.04968522e+02] [ 4.90452978e-02 -2.43273896e-04 9.98796526e-01 1.26097291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.420385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.17, Y:104.99, Z:12.61 [[ 3.47159478e-01 -9.37646483e-01 -1.73023230e-02 2.18169748e+02] [ 9.36522755e-01 3.47590276e-01 -4.58925905e-02 1.04994276e+02] [ 4.90451453e-02 -2.71971381e-04 9.98796526e-01 1.26092494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.450385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.18, Y:105.02, Z:12.61 [[ 3.47643029e-01 -9.37464948e-01 -1.74297311e-02 2.18179535e+02] [ 9.36343393e-01 3.48079481e-01 -4.58445832e-02 1.05019079e+02] [ 4.90446215e-02 -3.82663724e-04 9.98796515e-01 1.26121266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.480385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.19, Y:105.04, Z:12.61 [[ 3.50206850e-01 -9.36513103e-01 -1.72733789e-02 2.18190050e+02] [ 9.35387447e-01 3.50632573e-01 -4.59034190e-02 1.05044880e+02] [ 4.90457626e-02 -8.16100111e-05 9.98796529e-01 1.26118849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.510385723 meters Centerline goodness : 0.993954 Centerline is valid? [True, True] Translation: X:218.20, Y:105.07, Z:12.61 [[ 3.51350965e-01 -9.36084655e-01 -1.72631879e-02 2.18199868e+02] [ 9.34958291e-01 3.51774812e-01 -4.59072517e-02 1.05070608e+02] [ 4.90458285e-02 -1.08034657e-05 9.98796529e-01 1.26093510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.540385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.21, Y:105.10, Z:12.62 [[ 3.52200783e-01 -9.35765340e-01 -1.72579376e-02 2.18209892e+02] [ 9.34638495e-01 3.52623350e-01 -4.59092240e-02 1.05096879e+02] [ 4.90458124e-02 3.93318138e-05 9.98796529e-01 1.26162392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.570385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:218.22, Y:105.12, Z:12.62 [[ 3.54041696e-01 -9.35070857e-01 -1.72328432e-02 2.18222568e+02] [ 9.33942724e-01 3.54460811e-01 -4.59186418e-02 1.05122081e+02] [ 4.90455512e-02 1.62625305e-04 9.98796530e-01 1.26170391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.600385723 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:218.23, Y:105.15, Z:12.62 [[ 3.54349975e-01 -9.34954239e-01 -1.72240146e-02 2.18234023e+02] [ 9.33825807e-01 3.54768285e-01 -4.59219531e-02 1.05146683e+02] [ 4.90454588e-02 1.88213586e-04 9.98796530e-01 1.26204800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.630385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.25, Y:105.17, Z:12.62 [[ 3.54917206e-01 -9.34739252e-01 -1.72135813e-02 2.18245002e+02] [ 9.33610377e-01 3.55334319e-01 -4.59258636e-02 1.05172079e+02] [ 4.90452836e-02 2.29101079e-04 9.98796530e-01 1.26217161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.660385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.25, Y:105.20, Z:12.62 [[ 3.55002916e-01 -9.34706928e-01 -1.72014055e-02 2.18254463e+02] [ 9.33577795e-01 3.55419327e-01 -4.59304236e-02 1.05197008e+02] [ 4.90451971e-02 2.46584134e-04 9.98796530e-01 1.26232594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.690385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.27, Y:105.22, Z:12.62 [[ 3.54935864e-01 -9.34732646e-01 -1.71875887e-02 2.18265206e+02] [ 9.33603292e-01 3.55351677e-01 -4.59355934e-02 1.05223071e+02] [ 4.90451372e-02 2.57800169e-04 9.98796530e-01 1.26243448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.720385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.28, Y:105.25, Z:12.63 [[ 3.58034246e-01 -9.33550476e-01 -1.71751964e-02 2.18284476e+02] [ 9.32419527e-01 3.58445701e-01 -4.59402264e-02 1.05251219e+02] [ 4.90438955e-02 4.33685849e-04 9.98796530e-01 1.26295908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.750385723 meters Centerline goodness : 0.999402 Centerline is valid? [True, True] Translation: X:218.29, Y:105.27, Z:12.63 [[ 3.55925583e-01 -9.34345235e-01 -1.77753140e-02 2.18291153e+02] [ 9.33226282e-01 3.56369025e-01 -4.57146082e-02 1.05271851e+02] [ 4.90477977e-02 -3.17391617e-04 9.98796382e-01 1.26258934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.780385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.31, Y:105.30, Z:12.63 [[ 3.55827975e-01 -9.34396085e-01 -1.70413733e-02 2.18305053e+02] [ 9.33263732e-01 3.56235518e-01 -4.59898001e-02 1.05300622e+02] [ 4.90434316e-02 4.60361826e-04 9.98796541e-01 1.26327303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.810385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.31, Y:105.32, Z:12.63 [[ 3.53072736e-01 -9.35430972e-01 -1.75653229e-02 2.18314102e+02] [ 9.34309408e-01 3.53509319e-01 -4.57940041e-02 1.05323530e+02] [ 4.90466351e-02 -2.42832125e-04 9.98796460e-01 1.26319369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.840385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.33, Y:105.35, Z:12.63 [[ 3.53298041e-01 -9.35353734e-01 -1.71431400e-02 2.18325486e+02] [ 9.34224338e-01 3.53713649e-01 -4.59515133e-02 1.05349077e+02] [ 4.90446821e-02 2.19041066e-04 9.98796561e-01 1.26341831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.870385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.34, Y:105.38, Z:12.64 [[ 3.53509906e-01 -9.35273917e-01 -1.71302878e-02 2.18336612e+02] [ 9.34144195e-01 3.53924626e-01 -4.59563040e-02 1.05375145e+02] [ 4.90445631e-02 2.43849760e-04 9.98796562e-01 1.26350455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.900385723 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:218.35, Y:105.40, Z:12.63 [[ 3.53280652e-01 -9.35360773e-01 -1.71173827e-02 2.18349326e+02] [ 9.34230921e-01 3.53695015e-01 -4.59611103e-02 1.05401063e+02] [ 4.90445526e-02 2.45582799e-04 9.98796562e-01 1.26338673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.93038572300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.36, Y:105.42, Z:12.63 [[ 3.52703025e-01 -9.35577629e-01 -1.71777587e-02 2.18357309e+02] [ 9.34449124e-01 3.53121051e-01 -4.59386382e-02 1.05423331e+02] [ 4.90449904e-02 1.50955118e-04 9.98796559e-01 1.26315096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.960385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:218.37, Y:105.45, Z:12.64 [[ 3.54006559e-01 -9.35093484e-01 -1.67192226e-02 2.18371128e+02] [ 9.33956245e-01 3.54400445e-01 -4.61091807e-02 1.05450180e+02] [ 4.90416944e-02 7.07930008e-04 9.98796481e-01 1.26374768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.990385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:218.38, Y:105.47, Z:12.64 [[ 3.53076200e-01 -9.35438224e-01 -1.71033939e-02 2.18384341e+02] [ 9.34308214e-01 3.53490123e-01 -4.59662403e-02 1.05474640e+02] [ 4.90444590e-02 2.49744073e-04 9.98796565e-01 1.26384747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.020385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:218.39, Y:105.50, Z:12.63 [[ 3.47644460e-01 -9.37470636e-01 -1.70919835e-02 2.18389734e+02] [ 9.36342837e-01 3.48064371e-01 -4.59704828e-02 1.05498769e+02] [ 4.90450882e-02 -2.25727006e-05 9.98796565e-01 1.26324991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.050385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:218.41, Y:105.53, Z:12.64 [[ 3.51611850e-01 -9.35999671e-01 -1.65445862e-02 2.18406282e+02] [ 9.34860405e-01 3.52000037e-01 -4.61735484e-02 1.05525244e+02] [ 4.90421210e-02 7.68288205e-04 9.98796416e-01 1.26386841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.080385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.41, Y:105.55, Z:12.63 [[ 3.48739837e-01 -9.37065215e-01 -1.70091013e-02 2.18413123e+02] [ 9.35935427e-01 3.49154362e-01 -4.60011841e-02 1.05545796e+02] [ 4.90449113e-02 1.23024917e-04 9.98796567e-01 1.26324433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.110385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.43, Y:105.58, Z:12.64 [[ 3.51129163e-01 -9.36184810e-01 -1.63190471e-02 2.18431412e+02] [ 9.35041807e-01 3.51506804e-01 -4.62578282e-02 1.05575351e+02] [ 4.90421322e-02 9.83481270e-04 9.98796226e-01 1.26427233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.140385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.44, Y:105.60, Z:12.64 [[ 3.52105471e-01 -9.35803783e-01 -1.71177541e-02 2.18442330e+02] [ 9.34674488e-01 3.52521271e-01 -4.59603720e-02 1.05598419e+02] [ 4.90442624e-02 1.83370379e-04 9.98796589e-01 1.26439329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.170385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.45, Y:105.63, Z:12.64 [[ 3.50167115e-01 -9.36536953e-01 -1.67787708e-02 2.18454394e+02] [ 9.35402432e-01 3.50568594e-01 -4.60863384e-02 1.05626137e+02] [ 4.90436690e-02 4.43017195e-04 9.98796537e-01 1.26440228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.200385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:218.46, Y:105.65, Z:12.64 [[ 3.47986751e-01 -9.37343764e-01 -1.70847500e-02 2.18463784e+02] [ 9.36215707e-01 3.48405895e-01 -4.59726305e-02 1.05651568e+02] [ 4.90445861e-02 2.85500339e-06 9.98796590e-01 1.26420840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.230385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.48, Y:105.68, Z:12.65 [[ 3.51178546e-01 -9.36155127e-01 -1.69471749e-02 2.18477121e+02] [ 9.35023176e-01 3.51587084e-01 -4.60237172e-02 1.05676782e+02] [ 4.90437466e-02 3.16540822e-04 9.98796581e-01 1.26486281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.260385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.49, Y:105.70, Z:12.65 [[ 3.53507419e-01 -9.35276020e-01 -1.70666465e-02 2.18491119e+02] [ 9.34145186e-01 3.53919014e-01 -4.59793721e-02 1.05700036e+02] [ 4.90436148e-02 3.11323459e-04 9.98796589e-01 1.26503950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.290385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:218.50, Y:105.73, Z:12.65 [[ 3.54817142e-01 -9.34781318e-01 -1.69907109e-02 2.18502389e+02] [ 9.33648559e-01 3.55223417e-01 -4.60075295e-02 1.05725825e+02] [ 4.90424775e-02 4.60907391e-04 9.98796587e-01 1.26524577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.320385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:218.51, Y:105.75, Z:12.65 [[ 3.56103024e-01 -9.34291279e-01 -1.70423548e-02 2.18512867e+02] [ 9.33158875e-01 3.56510282e-01 -4.59883915e-02 1.05751390e+02] [ 4.90423278e-02 4.73380663e-04 9.98796589e-01 1.26546776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.350385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.52, Y:105.78, Z:12.65 [[ 3.58799618e-01 -9.33259244e-01 -1.70299000e-02 2.18523985e+02] [ 9.32125450e-01 3.59202991e-01 -4.59930031e-02 1.05776109e+02] [ 4.90405863e-02 6.28268779e-04 9.98796589e-01 1.26549554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.380385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.53, Y:105.80, Z:12.66 [[ 3.59702407e-01 -9.32911898e-01 -1.70167533e-02 2.18534779e+02] [ 9.31777485e-01 3.60104034e-01 -4.59978667e-02 1.05800929e+02] [ 4.90397586e-02 6.89715762e-04 9.98796589e-01 1.26556989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.410385723 meters Centerline goodness : 0.997737 Centerline is valid? [True, True] Translation: X:218.55, Y:105.83, Z:12.66 [[ 3.60679385e-01 -9.32534853e-01 -1.70037749e-02 2.18548940e+02] [ 9.31399795e-01 3.61079184e-01 -4.60026638e-02 1.05826056e+02] [ 4.90387966e-02 7.54900014e-04 9.98796589e-01 1.26579802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.440385723 meters Centerline goodness : 0.998149 Centerline is valid? [True, True] Translation: X:218.56, Y:105.85, Z:12.66 [[ 3.61168049e-01 -9.32344829e-01 -1.70516784e-02 2.18560883e+02] [ 9.31210393e-01 3.61569616e-01 -4.59849679e-02 1.05850896e+02] [ 4.90392159e-02 7.29600977e-04 9.98796587e-01 1.26593028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.470385723 meters Centerline goodness : 0.997817 Centerline is valid? [True, True] Translation: X:218.57, Y:105.88, Z:12.66 [[ 3.61150041e-01 -9.32352447e-01 -1.70165308e-02 2.18572344e+02] [ 9.31217409e-01 3.61549896e-01 -4.59979382e-02 1.05876873e+02] [ 4.90386152e-02 7.66067592e-04 9.98796590e-01 1.26613845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.500385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.58, Y:105.90, Z:12.66 [[ 3.62206808e-01 -9.31943006e-01 -1.69841823e-02 2.18583014e+02] [ 9.30806957e-01 3.62603780e-01 -4.60098638e-02 1.05900264e+02] [ 4.90370995e-02 8.56090877e-04 9.98796591e-01 1.26645067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.530385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.59, Y:105.92, Z:12.67 [[ 3.62998436e-01 -9.31635619e-01 -1.69472169e-02 2.18594424e+02] [ 9.30498600e-01 3.63392618e-01 -4.60234756e-02 1.05924973e+02] [ 4.90356027e-02 9.37088024e-04 9.98796592e-01 1.26655089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.560385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:218.61, Y:105.95, Z:12.67 [[ 3.63260852e-01 -9.31533535e-01 -1.69359618e-02 2.18605690e+02] [ 9.30396212e-01 3.63654158e-01 -4.60276170e-02 1.05950078e+02] [ 4.90351017e-02 9.62876616e-04 9.98796592e-01 1.26656791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.590385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:218.62, Y:105.98, Z:12.67 [[ 3.62984961e-01 -9.31641313e-01 -1.69228053e-02 2.18617732e+02] [ 9.30503883e-01 3.63377953e-01 -4.60324537e-02 1.05975965e+02] [ 4.90351100e-02 9.62352357e-04 9.98796592e-01 1.26662278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.620385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:218.63, Y:106.00, Z:12.67 [[ 3.63420654e-01 -9.31471542e-01 -1.69173125e-02 2.18631101e+02] [ 9.30333834e-01 3.63812843e-01 -4.60344714e-02 1.05998834e+02] [ 4.90345356e-02 9.91129457e-04 9.98796592e-01 1.26667794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.650385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.64, Y:106.02, Z:12.67 [[ 3.62922606e-01 -9.31666078e-01 -1.68967788e-02 2.18642053e+02] [ 9.30528231e-01 3.63314389e-01 -4.60420070e-02 1.06024360e+02] [ 4.90346189e-02 9.86755440e-04 9.98796592e-01 1.26705887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.68038572300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.66, Y:106.05, Z:12.67 [[ 3.62150184e-01 -9.31966835e-01 -1.68838071e-02 2.18655012e+02] [ 9.30829092e-01 3.62542270e-01 -4.60467633e-02 1.06048133e+02] [ 4.90351500e-02 9.59904980e-04 9.98796592e-01 1.26689638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.710385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:218.67, Y:106.07, Z:12.67 [[ 3.61165392e-01 -9.32349120e-01 -1.68723887e-02 2.18666519e+02] [ 9.31211598e-01 3.61558115e-01 -4.60509468e-02 1.06073661e+02] [ 4.90359088e-02 9.20244198e-04 9.98796592e-01 1.26734333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.740385723 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:218.68, Y:106.10, Z:12.67 [[ 3.59827281e-01 -9.32866595e-01 -1.68594979e-02 2.18677912e+02] [ 9.31729417e-01 3.60221001e-01 -4.60556657e-02 1.06098078e+02] [ 4.90369373e-02 8.63594864e-04 9.98796592e-01 1.26739241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.770385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:218.69, Y:106.12, Z:12.68 [[ 3.58453374e-01 -9.33395584e-01 -1.68482027e-02 2.18689828e+02] [ 9.32258793e-01 3.58848210e-01 -4.60597974e-02 1.06123699e+02] [ 4.90379589e-02 8.03404638e-04 9.98796592e-01 1.26753755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.800385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.70, Y:106.15, Z:12.68 [[ 3.55626724e-01 -9.34476427e-01 -1.68356929e-02 2.18703752e+02] [ 9.33340620e-01 3.56024382e-01 -4.60643695e-02 1.06147228e+02] [ 4.90399846e-02 6.68284767e-04 9.98796593e-01 1.26753810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.830385723 meters Centerline goodness : 0.999710 Centerline is valid? [True, True] Translation: X:218.72, Y:106.17, Z:12.68 [[ 3.53376195e-01 -9.35329962e-01 -1.68263699e-02 2.18715802e+02] [ 9.34194954e-01 3.53776127e-01 -4.60677747e-02 1.06173183e+02] [ 4.90413380e-02 5.60145057e-04 9.98796593e-01 1.26762387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.860385723 meters Centerline goodness : 0.999599 Centerline is valid? [True, True] Translation: X:218.73, Y:106.20, Z:12.68 [[ 3.51086089e-01 -9.36192210e-01 -1.68138068e-02 2.18728292e+02] [ 9.35057965e-01 3.51488180e-01 -4.60723596e-02 1.06198803e+02] [ 4.90424385e-02 4.53480593e-04 9.98796593e-01 1.26773965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.890385723 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:218.74, Y:106.22, Z:12.68 [[ 3.45218456e-01 -9.38371961e-01 -1.68012260e-02 2.18742634e+02] [ 9.37240032e-01 3.45627021e-01 -4.60769470e-02 1.06221808e+02] [ 4.90442728e-02 1.59830883e-04 9.98796593e-01 1.26788965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.920385723 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:218.75, Y:106.25, Z:12.68 [[ 3.44966210e-01 -9.38464868e-01 -1.67930085e-02 2.18752338e+02] [ 9.37332903e-01 3.45374677e-01 -4.60799417e-02 1.06248664e+02] [ 4.90442863e-02 1.55383404e-04 9.98796593e-01 1.26802950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.950385723 meters Centerline goodness : 0.999776 Centerline is valid? [True, True] Translation: X:218.76, Y:106.27, Z:12.68 [[ 3.42425292e-01 -9.39395194e-01 -1.67806061e-02 2.18764065e+02] [ 9.38264118e-01 3.42836211e-01 -4.60844577e-02 1.06273867e+02] [ 4.90445175e-02 3.58432525e-05 9.98796593e-01 1.26830501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.980385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:218.78, Y:106.30, Z:12.68 [[ 3.47172774e-01 -9.37651265e-01 -1.67681546e-02 2.18784943e+02] [ 9.36517906e-01 3.47577355e-01 -4.60889879e-02 1.06303941e+02] [ 4.90436286e-02 2.97164749e-04 9.98796593e-01 1.26803840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.010385723 meters Centerline goodness : 0.999821 Centerline is valid? [True, True] Translation: X:218.78, Y:106.32, Z:12.69 [[ 3.41623174e-01 -9.39668322e-01 -1.78059555e-02 2.18783566e+02] [ 9.38556495e-01 3.42085141e-01 -4.57106323e-02 1.06324062e+02] [ 4.90439859e-02 -1.09608385e-03 9.98796018e-01 1.26915545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.040385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.79, Y:106.35, Z:12.69 [[ 3.42905945e-01 -9.39220447e-01 -1.67470757e-02 2.18792706e+02] [ 9.38088628e-01 3.43314640e-01 -4.60953709e-02 1.06349767e+02] [ 4.90432311e-02 9.61354082e-05 9.98796652e-01 1.26930117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.070385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:218.80, Y:106.38, Z:12.70 [[ 3.45491845e-01 -9.38272546e-01 -1.67336060e-02 2.18802322e+02] [ 9.37139369e-01 3.45896760e-01 -4.61002601e-02 1.06376130e+02] [ 4.90427086e-02 2.45542951e-04 9.98796652e-01 1.26958984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.100385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:218.81, Y:106.40, Z:12.70 [[ 3.45997890e-01 -9.38086283e-01 -1.67208039e-02 2.18811153e+02] [ 9.36952664e-01 3.46401564e-01 -4.61049030e-02 1.06401461e+02] [ 4.90424898e-02 2.85597363e-04 9.98796652e-01 1.26967266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.130385723 meters Centerline goodness : 0.999821 Centerline is valid? [True, True] Translation: X:218.82, Y:106.43, Z:12.70 [[ 3.46275881e-01 -9.37983943e-01 -1.67073857e-02 2.18820782e+02] [ 9.36849970e-01 3.46678559e-01 -4.61097650e-02 1.06428367e+02] [ 4.90423116e-02 3.14385706e-04 9.98796652e-01 1.26975895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.160385723 meters Centerline goodness : 0.999799 Centerline is valid? [True, True] Translation: X:218.82, Y:106.45, Z:12.70 [[ 3.43572486e-01 -9.38977747e-01 -1.66954481e-02 2.18823999e+02] [ 9.37844728e-01 3.43977843e-01 -4.61140870e-02 1.06450396e+02] [ 4.90429657e-02 1.85793468e-04 9.98796652e-01 1.26987675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.190385723 meters Centerline goodness : 0.999822 Centerline is valid? [True, True] Translation: X:218.84, Y:106.48, Z:12.70 [[ 3.46289294e-01 -9.37991509e-01 -1.59891644e-02 2.18838292e+02] [ 9.36845299e-01 3.46656555e-01 -4.63693637e-02 1.06479898e+02] [ 4.90368181e-02 1.07784074e-03 9.98796390e-01 1.26974098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.220385723 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:218.85, Y:106.50, Z:12.70 [[ 3.45538228e-01 -9.38256327e-01 -1.66852702e-02 2.18848112e+02] [ 9.37122296e-01 3.45940711e-01 -4.61175277e-02 1.06504998e+02] [ 4.90421764e-02 2.99230134e-04 9.98796664e-01 1.26988270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.250385723 meters Centerline goodness : 0.999822 Centerline is valid? [True, True] Translation: X:218.86, Y:106.53, Z:12.70 [[ 3.42800818e-01 -9.39260157e-01 -1.66720540e-02 2.18857142e+02] [ 9.38127072e-01 3.43205957e-01 -4.61223050e-02 1.06530102e+02] [ 4.90427917e-02 1.70258671e-04 9.98796664e-01 1.26995946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.280385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:218.87, Y:106.56, Z:12.70 [[ 3.41401525e-01 -9.39769906e-01 -1.66590257e-02 2.18866095e+02] [ 9.38637197e-01 3.41807712e-01 -4.61270103e-02 1.06556455e+02] [ 4.90429596e-02 1.11050456e-04 9.98796664e-01 1.27026861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.310385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:218.87, Y:106.58, Z:12.70 [[ 3.39155748e-01 -9.40582939e-01 -1.66467241e-02 2.18874980e+02] [ 9.39450986e-01 3.39564036e-01 -4.61314494e-02 1.06583419e+02] [ 4.90430831e-02 6.96485166e-06 9.98796664e-01 1.27042893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.340385723 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:218.88, Y:106.61, Z:12.70 [[ 3.30803304e-01 -9.43553108e-01 -1.66345145e-02 2.18877872e+02] [ 9.42424598e-01 3.31221015e-01 -4.61358516e-02 1.06606067e+02] [ 4.90413269e-02 -4.14883451e-04 9.98796664e-01 1.27032743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.370385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:218.89, Y:106.64, Z:12.71 [[ 3.32231697e-01 -9.43062981e-01 -1.59472292e-02 2.18894485e+02] [ 9.41921728e-01 3.32613985e-01 -4.63831305e-02 1.06635168e+02] [ 4.90464848e-02 3.88904434e-04 9.98796421e-01 1.27082513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.400385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:218.90, Y:106.66, Z:12.71 [[ 3.27941912e-01 -9.44551722e-01 -1.66176789e-02 2.18904958e+02] [ 9.43424188e-01 3.28362219e-01 -4.61416849e-02 1.06661509e+02] [ 4.90398259e-02 -5.45727846e-04 9.98796675e-01 1.27115438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.43038572300003 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:218.90, Y:106.68, Z:12.71 [[ 3.19217584e-01 -9.47535955e-01 -1.66056719e-02 2.18903037e+02] [ 9.46412121e-01 3.19647687e-01 -4.61460057e-02 1.06681733e+02] [ 4.90329642e-02 -9.85192767e-04 9.98796675e-01 1.27069414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.460385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:218.92, Y:106.71, Z:12.71 [[ 3.25492179e-01 -9.45419191e-01 -1.54076182e-02 2.18922452e+02] [ 9.44271418e-01 3.25856072e-01 -4.65758478e-02 1.06713480e+02] [ 4.90543663e-02 6.11100749e-04 9.98795923e-01 1.27132918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.490385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.93, Y:106.74, Z:12.72 [[ 3.24600519e-01 -9.45705562e-01 -1.65979932e-02 2.18931748e+02] [ 9.44579209e-01 3.25023849e-01 -4.61477465e-02 1.06739094e+02] [ 4.90369241e-02 -6.98536800e-04 9.98796722e-01 1.27151004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.520385723 meters Centerline goodness : 0.999732 Centerline is valid? [True, True] Translation: X:218.94, Y:106.76, Z:12.72 [[ 3.21500065e-01 -9.46764295e-01 -1.65854768e-02 2.18937652e+02] [ 9.45639104e-01 3.21926474e-01 -4.61522444e-02 1.06764748e+02] [ 4.90346012e-02 -8.45925818e-04 9.98796722e-01 1.27188395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.550385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:218.95, Y:106.79, Z:12.72 [[ 3.23697644e-01 -9.46020929e-01 -1.62553878e-02 2.18950917e+02] [ 9.44888758e-01 3.24105317e-01 -4.62707026e-02 1.06792068e+02] [ 4.90415107e-02 -3.81815836e-04 9.98796668e-01 1.27202026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.580385723 meters Centerline goodness : 0.999799 Centerline is valid? [True, True] Translation: X:218.96, Y:106.82, Z:12.72 [[ 3.22452378e-01 -9.46440644e-01 -1.65701978e-02 2.18958565e+02] [ 9.45314746e-01 3.22876910e-01 -4.61576916e-02 1.06818224e+02] [ 4.90356496e-02 -7.80394871e-04 9.98796724e-01 1.27210365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.610385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:218.97, Y:106.84, Z:12.72 [[ 3.23682971e-01 -9.46023034e-01 -1.64241586e-02 2.18967824e+02] [ 9.44893923e-01 3.24098909e-01 -4.62100736e-02 1.06844164e+02] [ 4.90388460e-02 -5.61673744e-04 9.98796714e-01 1.27247267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.640385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:218.98, Y:106.87, Z:12.73 [[ 3.23859141e-01 -9.45960541e-01 -1.65502678e-02 2.18976584e+02] [ 9.44833648e-01 3.24281026e-01 -4.61648635e-02 1.06870641e+02] [ 4.90370771e-02 -6.86336818e-04 9.98796723e-01 1.27258240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.670385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:218.99, Y:106.90, Z:12.73 [[ 3.24297236e-01 -9.45810663e-01 -1.65376289e-02 2.18985219e+02] [ 9.44683344e-01 3.24717982e-01 -4.61693907e-02 1.06896896e+02] [ 4.90375675e-02 -6.50216715e-04 9.98796723e-01 1.27261450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.700385723 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:218.99, Y:106.92, Z:12.73 [[ 3.24281070e-01 -9.45816424e-01 -1.65251061e-02 2.18993806e+02] [ 9.44688885e-01 3.24701224e-01 -4.61738724e-02 1.06923679e+02] [ 4.90377291e-02 -6.37771326e-04 9.98796723e-01 1.27270128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.730385723 meters Centerline goodness : 0.999756 Centerline is valid? [True, True] Translation: X:219.00, Y:106.95, Z:12.73 [[ 3.23869186e-01 -9.45957758e-01 -1.65127032e-02 2.19002716e+02] [ 9.44830176e-01 3.24289226e-01 -4.61783076e-02 1.06950281e+02] [ 4.90376200e-02 -6.45969334e-04 9.98796723e-01 1.27289232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.760385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:219.01, Y:106.98, Z:12.73 [[ 3.23101669e-01 -9.46220405e-01 -1.65002161e-02 2.19011446e+02] [ 9.45092937e-01 3.23522014e-01 -4.61827690e-02 1.06976771e+02] [ 4.90372615e-02 -6.72507942e-04 9.98796723e-01 1.27305720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.790385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.02, Y:107.00, Z:12.73 [[ 3.22369095e-01 -9.46470453e-01 -1.64878107e-02 2.19020282e+02] [ 9.45343085e-01 3.22789707e-01 -4.61871974e-02 1.07003893e+02] [ 4.90369133e-02 -6.97312823e-04 9.98796724e-01 1.27338990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.820385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.03, Y:107.03, Z:12.73 [[ 3.21387991e-01 -9.46804258e-01 -1.64759421e-02 2.19029146e+02] [ 9.45677110e-01 3.21809192e-01 -4.61914308e-02 1.07029869e+02] [ 4.90363530e-02 -7.35550213e-04 9.98796724e-01 1.27340088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.850385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.04, Y:107.06, Z:12.74 [[ 3.20010785e-01 -9.47270858e-01 -1.64626298e-02 2.19037734e+02] [ 9.46144081e-01 3.20432976e-01 -4.61961748e-02 1.07056592e+02] [ 4.90354597e-02 -7.92745577e-04 9.98796724e-01 1.27366952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.880385723 meters Centerline goodness : 0.994754 Centerline is valid? [True, True] Translation: X:219.04, Y:107.08, Z:12.73 [[ 3.17529119e-01 -9.48105823e-01 -1.64501540e-02 2.19044452e+02] [ 9.46979925e-01 3.17953652e-01 -4.62006170e-02 1.07082110e+02] [ 4.90334605e-02 -9.07924382e-04 9.98796724e-01 1.27330906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.910385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:219.05, Y:107.11, Z:12.74 [[ 3.15784289e-01 -9.48688549e-01 -1.64413859e-02 2.19052117e+02] [ 9.47563273e-01 3.16210465e-01 -4.62037350e-02 1.07108310e+02] [ 4.90318926e-02 -9.88839864e-04 9.98796724e-01 1.27402522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.940385723 meters Centerline goodness : 0.999248 Centerline is valid? [True, True] Translation: X:219.06, Y:107.14, Z:12.74 [[ 3.13865698e-01 -9.49325490e-01 -1.64145789e-02 2.19059134e+02] [ 9.48200582e-01 3.14292844e-01 -4.62132567e-02 1.07135431e+02] [ 4.90304072e-02 -1.05955719e-03 9.98796724e-01 1.27368879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.970385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:219.07, Y:107.16, Z:12.74 [[ 3.13451513e-01 -9.49460062e-01 -1.65450503e-02 2.19066303e+02] [ 9.48337761e-01 3.13885494e-01 -4.61669556e-02 1.07160119e+02] [ 4.90269318e-02 -1.21919387e-03 9.98796713e-01 1.27431668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.000385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.07, Y:107.19, Z:12.74 [[ 3.13359753e-01 -9.49493262e-01 -1.63771559e-02 2.19074137e+02] [ 9.48367895e-01 3.13785678e-01 -4.62264382e-02 1.07185694e+02] [ 4.90306086e-02 -1.04606360e-03 9.98796729e-01 1.27429594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.030385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.08, Y:107.21, Z:12.74 [[ 3.13962461e-01 -9.49294298e-01 -1.63679158e-02 2.19079993e+02] [ 9.48168492e-01 3.14387222e-01 -4.62297097e-02 1.07212689e+02] [ 4.90314634e-02 -1.00514855e-03 9.98796729e-01 1.27429505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.060385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:219.09, Y:107.24, Z:12.74 [[ 3.14443235e-01 -9.49135305e-01 -1.63592669e-02 2.19086662e+02] [ 9.48009125e-01 3.14867004e-01 -4.62327701e-02 1.07239643e+02] [ 4.90321477e-02 -9.71152548e-04 9.98796729e-01 1.27446556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.090385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.09, Y:107.27, Z:12.74 [[ 3.15568255e-01 -9.48762072e-01 -1.63464896e-02 2.19094023e+02] [ 9.47635157e-01 3.15990067e-01 -4.62372873e-02 1.07266057e+02] [ 4.90335129e-02 -8.99488133e-04 9.98796729e-01 1.27428799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.120385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.10, Y:107.29, Z:12.74 [[ 3.16937759e-01 -9.48305623e-01 -1.63371540e-02 2.19100886e+02] [ 9.47177931e-01 3.17357488e-01 -4.62405857e-02 1.07291526e+02] [ 4.90349256e-02 -8.18804135e-04 9.98796729e-01 1.27437906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.150385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.11, Y:107.32, Z:12.75 [[ 3.17152364e-01 -9.48234108e-01 -1.63234369e-02 2.19109715e+02] [ 9.47106073e-01 3.17571169e-01 -4.62454275e-02 1.07318337e+02] [ 4.90353446e-02 -7.93179580e-04 9.98796729e-01 1.27475537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.18038572300003 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:219.12, Y:107.34, Z:12.75 [[ 3.17171858e-01 -9.48227809e-01 -1.63105542e-02 2.19115917e+02] [ 9.47099533e-01 3.17590011e-01 -4.62499707e-02 1.07344890e+02] [ 4.90355775e-02 -7.78529109e-04 9.98796729e-01 1.27488528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.210385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:219.12, Y:107.37, Z:12.75 [[ 3.16837034e-01 -9.48339972e-01 -1.62969715e-02 2.19123372e+02] [ 9.47211598e-01 3.17254924e-01 -4.62547563e-02 1.07372337e+02] [ 4.90355288e-02 -7.81460565e-04 9.98796729e-01 1.27498751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.240385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.13, Y:107.40, Z:12.75 [[ 3.18742722e-01 -9.47701380e-01 -1.62840689e-02 2.19130143e+02] [ 9.46571937e-01 3.19157713e-01 -4.62592983e-02 1.07396606e+02] [ 4.90371870e-02 -6.69227966e-04 9.98796729e-01 1.27506981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.270385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:219.14, Y:107.42, Z:12.75 [[ 3.18455647e-01 -9.47803686e-01 -1.59428340e-02 2.19138332e+02] [ 9.46668325e-01 3.18854306e-01 -4.63790242e-02 1.07423899e+02] [ 4.90416514e-02 -3.22913816e-04 9.98796682e-01 1.27508430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.300385723 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:219.15, Y:107.45, Z:12.75 [[ 3.17760093e-01 -9.48036627e-01 -1.59711354e-02 2.19145363e+02] [ 9.46902056e-01 3.18160970e-01 -4.63690982e-02 1.07452150e+02] [ 4.90409954e-02 -3.88851956e-04 9.98796691e-01 1.27520259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.330385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:219.15, Y:107.48, Z:12.75 [[ 3.16629747e-01 -9.48410472e-01 -1.62228277e-02 2.19152636e+02] [ 9.47280852e-01 3.17044268e-01 -4.62808744e-02 1.07479574e+02] [ 4.90366205e-02 -7.13672460e-04 9.98796726e-01 1.27539859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.360385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.15, Y:107.51, Z:12.75 [[ 3.12396551e-01 -9.49813489e-01 -1.62089728e-02 2.19154956e+02] [ 9.48685479e-01 3.12815430e-01 -4.62857263e-02 1.07505339e+02] [ 4.90332240e-02 -9.17715881e-04 9.98796726e-01 1.27503081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.390385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.17, Y:107.53, Z:12.76 [[ 3.14308155e-01 -9.49191087e-01 -1.57055207e-02 2.19166343e+02] [ 9.48053323e-01 3.14700171e-01 -4.64617934e-02 1.07534163e+02] [ 4.90436503e-02 -2.86350484e-04 9.98796595e-01 1.27554281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.420385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.17, Y:107.56, Z:12.75 [[ 3.10780712e-01 -9.50343633e-01 -1.61965263e-02 2.19169913e+02] [ 9.49216115e-01 3.11200904e-01 -4.62900012e-02 1.07559492e+02] [ 4.90317816e-02 -9.87964266e-04 9.98796730e-01 1.27536789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.450385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.18, Y:107.59, Z:12.75 [[ 3.09415898e-01 -9.50795551e-01 -1.57994677e-02 2.19175072e+02] [ 9.49661498e-01 3.09818356e-01 -4.64287221e-02 1.07586968e+02] [ 4.90391874e-02 -6.38361378e-04 9.98796651e-01 1.27539467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.480385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.18, Y:107.61, Z:12.76 [[ 3.09449639e-01 -9.50784684e-01 -1.57925601e-02 2.19184617e+02] [ 9.49650495e-01 3.09851719e-01 -4.64311343e-02 1.07614665e+02] [ 4.90393632e-02 -6.29314771e-04 9.98796648e-01 1.27560500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.510385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.19, Y:107.64, Z:12.76 [[ 3.08390607e-01 -9.51126330e-01 -1.59354178e-02 2.19192830e+02] [ 9.49995144e-01 3.08800918e-01 -4.63812475e-02 1.07641364e+02] [ 4.90352974e-02 -8.35028446e-04 9.98796697e-01 1.27576416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.540385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:219.20, Y:107.67, Z:12.76 [[ 3.08219248e-01 -9.51182819e-01 -1.58789336e-02 2.19201362e+02] [ 9.50050694e-01 3.08627008e-01 -4.64009620e-02 1.07669752e+02] [ 4.90364656e-02 -7.84122297e-04 9.98796681e-01 1.27595755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.570385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:219.21, Y:107.70, Z:12.76 [[ 3.07155258e-01 -9.51522128e-01 -1.61644043e-02 2.19208629e+02] [ 9.50395629e-01 3.07578183e-01 -4.63013027e-02 1.07697141e+02] [ 4.90285322e-02 -1.14089064e-03 9.98796727e-01 1.27608551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.600385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:219.22, Y:107.72, Z:12.76 [[ 3.06138216e-01 -9.51849610e-01 -1.61775211e-02 2.19215313e+02] [ 9.50723804e-01 3.06562982e-01 -4.62967255e-02 1.07723590e+02] [ 4.90269492e-02 -1.20715751e-03 9.98796727e-01 1.27599198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.630385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.22, Y:107.75, Z:12.76 [[ 3.03602198e-01 -9.52662059e-01 -1.61464353e-02 2.19217595e+02] [ 9.51536815e-01 3.04028452e-01 -4.63075645e-02 1.07746080e+02] [ 4.90244354e-02 -1.30484926e-03 9.98796727e-01 1.27591338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.660385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.23, Y:107.78, Z:12.76 [[ 3.04807146e-01 -9.52286008e-01 -1.56193234e-02 2.19228259e+02] [ 9.51150713e-01 3.05206306e-01 -4.64911987e-02 1.07776948e+02] [ 4.90400341e-02 -6.85481036e-04 9.98796578e-01 1.27634190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.690385723 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:219.24, Y:107.81, Z:12.77 [[ 3.06229448e-01 -9.51820818e-01 -1.61448398e-02 2.19240260e+02] [ 9.50694380e-01 3.06652517e-01 -4.63079905e-02 1.07805370e+02] [ 4.90277652e-02 -1.16793814e-03 9.98796733e-01 1.27656629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.720385723 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:219.24, Y:107.83, Z:12.77 [[ 3.03851310e-01 -9.52575821e-01 -1.65434954e-02 2.19242487e+02] [ 9.51457856e-01 3.04296524e-01 -4.61689589e-02 1.07830904e+02] [ 4.90135621e-02 -1.71194009e-03 9.98796646e-01 1.27679759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.750385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:219.25, Y:107.86, Z:12.77 [[ 3.03953047e-01 -9.52550530e-01 -1.61255710e-02 2.19248514e+02] [ 9.51424763e-01 3.04377872e-01 -4.63144751e-02 1.07857531e+02] [ 4.90251448e-02 -1.26484174e-03 9.98796744e-01 1.27686867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.780385723 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:219.25, Y:107.88, Z:12.77 [[ 3.04330850e-01 -9.52430047e-01 -1.61164409e-02 2.19252188e+02] [ 9.51303945e-01 3.04754785e-01 -4.63176520e-02 1.07884605e+02] [ 4.90258859e-02 -1.23574341e-03 9.98796744e-01 1.27682585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.810385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:219.26, Y:107.91, Z:12.77 [[ 3.05022312e-01 -9.52209048e-01 -1.61033558e-02 2.19260507e+02] [ 9.51082400e-01 3.05444793e-01 -4.63222008e-02 1.07912568e+02] [ 4.90271049e-02 -1.18631350e-03 9.98796744e-01 1.27697949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.840385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:219.27, Y:107.94, Z:12.77 [[ 3.04675120e-01 -9.52318895e-01 -1.61800342e-02 2.19269477e+02] [ 9.51193803e-01 3.05101738e-01 -4.62955653e-02 1.07938640e+02] [ 4.90246981e-02 -1.28524130e-03 9.98796740e-01 1.27711763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.870385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.28, Y:107.96, Z:12.77 [[ 3.04716097e-01 -9.52306047e-01 -1.61645704e-02 2.19275880e+02] [ 9.51180653e-01 3.05141916e-01 -4.63009309e-02 1.07964703e+02] [ 4.90251444e-02 -1.26678770e-03 9.98796741e-01 1.27712091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.900385723 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:219.28, Y:107.99, Z:12.77 [[ 3.05426465e-01 -9.52080229e-01 -1.60596133e-02 2.19282332e+02] [ 9.50952612e-01 3.05846340e-01 -4.63373073e-02 1.07992558e+02] [ 4.90286081e-02 -1.11929129e-03 9.98796747e-01 1.27724490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.93038572300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.29, Y:108.02, Z:12.77 [[ 3.05333269e-01 -9.52110329e-01 -1.60472956e-02 2.19289768e+02] [ 9.50982530e-01 3.05752656e-01 -4.63415727e-02 1.08019101e+02] [ 4.90287933e-02 -1.11107390e-03 9.98796748e-01 1.27746792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.960385723 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:219.30, Y:108.04, Z:12.78 [[ 3.05555121e-01 -9.52039363e-01 -1.60349497e-02 2.19296826e+02] [ 9.50911243e-01 3.05973644e-01 -4.63458442e-02 1.08044819e+02] [ 4.90293400e-02 -1.08660388e-03 9.98796748e-01 1.27769375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.990385723 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:219.30, Y:108.07, Z:12.78 [[ 3.06633317e-01 -9.51692864e-01 -1.60219227e-02 2.19300900e+02] [ 9.50564036e-01 3.07049928e-01 -4.63503473e-02 1.08072800e+02] [ 4.90308249e-02 -1.01730278e-03 9.98796748e-01 1.27775254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.020385723 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:219.31, Y:108.10, Z:12.78 [[ 3.07801539e-01 -9.51315886e-01 -1.60092825e-02 2.19307778e+02] [ 9.50186322e-01 3.08216148e-01 -4.63547127e-02 1.08100185e+02] [ 4.90322940e-02 -9.43749389e-04 9.98796748e-01 1.27783954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.050385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.31, Y:108.13, Z:12.78 [[ 3.06954013e-01 -9.51589901e-01 -1.59966740e-02 2.19308151e+02] [ 9.50460481e-01 3.07369014e-01 -4.63590634e-02 1.08125719e+02] [ 4.90316985e-02 -9.74105917e-04 9.98796748e-01 1.27763097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.080385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:219.32, Y:108.16, Z:12.78 [[ 3.11286010e-01 -9.50191555e-01 -1.53957266e-02 2.19321410e+02] [ 9.49049841e-01 3.11666481e-01 -4.65661290e-02 1.08155227e+02] [ 4.90450744e-02 -1.15927362e-04 9.98796559e-01 1.27801345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.110385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.33, Y:108.18, Z:12.78 [[ 3.08861926e-01 -9.50972435e-01 -1.59918301e-02 2.19325113e+02] [ 9.49842109e-01 3.09274425e-01 -4.63605163e-02 1.08178887e+02] [ 4.90334372e-02 -8.70715316e-04 9.98796758e-01 1.27806511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.140385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.34, Y:108.21, Z:12.78 [[ 3.10086642e-01 -9.50582931e-01 -1.54391105e-02 2.19335209e+02] [ 9.49442455e-01 3.10470678e-01 -4.65508625e-02 1.08206370e+02] [ 4.90438464e-02 -2.23746273e-04 9.98796601e-01 1.27826796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.170385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.34, Y:108.23, Z:12.78 [[ 3.09686594e-01 -9.50709488e-01 -1.56742852e-02 2.19340833e+02] [ 9.49573234e-01 3.10082613e-01 -4.64698517e-02 1.08234033e+02] [ 4.90396523e-02 -4.92791620e-04 9.98796711e-01 1.27822274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.200385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.35, Y:108.26, Z:12.78 [[ 3.10849633e-01 -9.50331574e-01 -1.55693830e-02 2.19350066e+02] [ 9.49193025e-01 3.11239131e-01 -4.65059595e-02 1.08261288e+02] [ 4.90418829e-02 -3.21989254e-04 9.98796671e-01 1.27833521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.230385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.36, Y:108.29, Z:12.79 [[ 3.11547862e-01 -9.50100283e-01 -1.57283517e-02 2.19359308e+02] [ 9.48964193e-01 3.11944299e-01 -4.64512007e-02 1.08287947e+02] [ 4.90396686e-02 -4.53870328e-04 9.98796729e-01 1.27850016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.260385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.37, Y:108.32, Z:12.79 [[ 3.13975195e-01 -9.49302558e-01 -1.56278488e-02 2.19371579e+02] [ 9.48163735e-01 3.14363808e-01 -4.64857876e-02 1.08315133e+02] [ 4.90419071e-02 -2.22375235e-04 9.98796697e-01 1.27862939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.290385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.38, Y:108.34, Z:12.79 [[ 3.15401258e-01 -9.48824151e-01 -1.59617381e-02 2.19381477e+02] [ 9.47690490e-01 3.15804495e-01 -4.63708597e-02 1.08342414e+02] [ 4.90385803e-02 -5.01359935e-04 9.98796759e-01 1.27905021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.320385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.39, Y:108.37, Z:12.79 [[ 3.14417344e-01 -9.49150048e-01 -1.59975022e-02 2.19388375e+02] [ 9.48017429e-01 3.14823503e-01 -4.63585550e-02 1.08368763e+02] [ 4.90376144e-02 -5.89977195e-04 9.98796758e-01 1.27889629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.350385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.40, Y:108.40, Z:12.79 [[ 3.14157876e-01 -9.49236839e-01 -1.59452636e-02 2.19395974e+02] [ 9.48103421e-01 3.14561794e-01 -4.63765158e-02 1.08396187e+02] [ 4.90380680e-02 -5.48211199e-04 9.98796760e-01 1.27887659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.380385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.41, Y:108.42, Z:12.79 [[ 3.13515286e-01 -9.49449482e-01 -1.59325593e-02 2.19405486e+02] [ 9.48316116e-01 3.13919350e-01 -4.63808800e-02 1.08421734e+02] [ 4.90378411e-02 -5.67987866e-04 9.98796760e-01 1.27902136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.410385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.42, Y:108.45, Z:12.79 [[ 3.12656389e-01 -9.49732857e-01 -1.59211546e-02 2.19417878e+02] [ 9.48599658e-01 3.13060921e-01 -4.63847945e-02 1.08447340e+02] [ 4.90374547e-02 -6.00299427e-04 9.98796760e-01 1.27919088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.440385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.43, Y:108.48, Z:12.79 [[ 3.10894982e-01 -9.50311841e-01 -1.58655248e-02 2.19428110e+02] [ 9.49178421e-01 3.11298899e-01 -4.64038780e-02 1.08475753e+02] [ 4.90370752e-02 -6.32480971e-04 9.98796759e-01 1.27938212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.470385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.44, Y:108.50, Z:12.79 [[ 3.10631237e-01 -9.50395718e-01 -1.60066893e-02 2.19436041e+02] [ 9.49264885e-01 3.11042356e-01 -4.63554800e-02 1.08501520e+02] [ 4.90348081e-02 -7.95127972e-04 9.98796754e-01 1.27949065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.500385723 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:219.45, Y:108.53, Z:12.80 [[ 3.09573169e-01 -9.50742828e-01 -1.58911229e-02 2.19445797e+02] [ 9.49610422e-01 3.09979911e-01 -4.63950639e-02 1.08529404e+02] [ 4.90357032e-02 -7.27708911e-04 9.98796761e-01 1.27967151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.530385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.45, Y:108.56, Z:12.80 [[ 3.08933999e-01 -9.50949048e-01 -1.59904073e-02 2.19453961e+02] [ 9.49818662e-01 3.09346342e-01 -4.63610720e-02 1.08555325e+02] [ 4.90335913e-02 -8.65475947e-04 9.98796755e-01 1.28004713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.560385723 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:219.47, Y:108.58, Z:12.80 [[ 3.08242020e-01 -9.51176873e-01 -1.57928161e-02 2.19465154e+02] [ 9.50043317e-01 3.08645551e-01 -4.64286454e-02 1.08581251e+02] [ 4.90362362e-02 -6.92599957e-04 9.98796760e-01 1.27982447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.590385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.48, Y:108.61, Z:12.80 [[ 3.08167343e-01 -9.51199970e-01 -1.58589038e-02 2.19476469e+02] [ 9.50067602e-01 3.08574187e-01 -4.64060606e-02 1.08606802e+02] [ 4.90350918e-02 -7.66198301e-04 9.98796762e-01 1.28026975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.620385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.48, Y:108.63, Z:12.80 [[ 3.08224531e-01 -9.51181659e-01 -1.58458358e-02 2.19484750e+02] [ 9.50049037e-01 3.08630670e-01 -4.64105224e-02 1.08632481e+02] [ 4.90353486e-02 -7.49459558e-04 9.98796763e-01 1.28036101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.650385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.49, Y:108.66, Z:12.80 [[ 3.08554320e-01 -9.51074921e-01 -1.58343521e-02 2.19492926e+02] [ 9.49941958e-01 3.08959506e-01 -4.64144400e-02 1.08660472e+02] [ 4.90357835e-02 -7.20339466e-04 9.98796763e-01 1.28040910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.68038572300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.50, Y:108.69, Z:12.80 [[ 3.10785314e-01 -9.50347905e-01 -1.58539738e-02 2.19504143e+02] [ 9.49214335e-01 3.11188798e-01 -4.64077490e-02 1.08687178e+02] [ 4.90370861e-02 -6.25972359e-04 9.98796762e-01 1.28042777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.710385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.52, Y:108.71, Z:12.80 [[ 3.09752931e-01 -9.50684108e-01 -1.59012080e-02 2.19515477e+02] [ 9.49551799e-01 3.10159951e-01 -4.63916684e-02 1.08714231e+02] [ 4.90357397e-02 -7.29065358e-04 9.98796758e-01 1.28036751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.740385723 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:219.53, Y:108.74, Z:12.80 [[ 3.09121026e-01 -9.50887810e-01 -1.60176402e-02 2.19526648e+02] [ 9.49757809e-01 3.09534475e-01 -4.63520517e-02 1.08740227e+02] [ 4.90336127e-02 -8.84485080e-04 9.98796737e-01 1.28035994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.770385723 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:219.54, Y:108.77, Z:12.81 [[ 3.08074535e-01 -9.51228086e-01 -1.59752890e-02 2.19535405e+02] [ 9.50097796e-01 3.08487164e-01 -4.63664491e-02 1.08767109e+02] [ 4.90332402e-02 -8.93764588e-04 9.98796747e-01 1.28050826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.800385723 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:219.54, Y:108.79, Z:12.81 [[ 3.09694020e-01 -9.50703998e-01 -1.58594757e-02 2.19544562e+02] [ 9.49570992e-01 3.10099073e-01 -4.64057840e-02 1.08794204e+02] [ 4.90361730e-02 -6.88104264e-04 9.98796766e-01 1.28072237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.830385723 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:219.55, Y:108.82, Z:12.81 [[ 3.08207183e-01 -9.51184181e-01 -1.60307956e-02 2.19550321e+02] [ 9.50054809e-01 3.08622359e-01 -4.63475997e-02 1.08818509e+02] [ 4.90325656e-02 -9.45471316e-04 9.98796733e-01 1.28071870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.860385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.56, Y:108.84, Z:12.81 [[ 3.10493965e-01 -9.50444835e-01 -1.57516016e-02 2.19561007e+02] [ 9.49309635e-01 3.10892797e-01 -4.64422948e-02 1.08843837e+02] [ 4.90378987e-02 -5.33094921e-04 9.98796776e-01 1.28073522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.890385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.57, Y:108.87, Z:12.81 [[ 3.09556869e-01 -9.50753703e-01 -1.55544466e-02 2.19571653e+02] [ 9.49615527e-01 3.09947183e-01 -4.65090905e-02 1.08870830e+02] [ 4.90397469e-02 -3.73535533e-04 9.98796758e-01 1.28111748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.920385723 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:219.59, Y:108.90, Z:12.81 [[ 3.09442058e-01 -9.50788127e-01 -1.57337264e-02 2.19585049e+02] [ 9.49653060e-01 3.09841273e-01 -4.64483629e-02 1.08897468e+02] [ 4.90375098e-02 -5.68504365e-04 9.98796776e-01 1.28119584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.950385723 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:219.59, Y:108.92, Z:12.81 [[ 3.08969355e-01 -9.50939532e-01 -1.58727358e-02 2.19592760e+02] [ 9.49807065e-01 3.09375919e-01 -4.64012997e-02 1.08922270e+02] [ 4.90354725e-02 -7.39456939e-04 9.98796764e-01 1.28133549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.980385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.60, Y:108.95, Z:12.82 [[ 3.09072765e-01 -9.50908583e-01 -1.57127980e-02 2.19601226e+02] [ 9.49773315e-01 3.09471398e-01 -4.64553969e-02 1.08948349e+02] [ 4.90374972e-02 -5.65498280e-04 9.98796778e-01 1.28167759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.010385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.61, Y:108.98, Z:12.82 [[ 3.08848626e-01 -9.50981549e-01 -1.57041346e-02 2.19610573e+02] [ 9.49846226e-01 3.09247103e-01 -4.64583253e-02 1.08975092e+02] [ 4.90374683e-02 -5.67923036e-04 9.98796778e-01 1.28179188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.040385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:219.62, Y:109.00, Z:12.82 [[ 3.07087557e-01 -9.51551899e-01 -1.56912873e-02 2.19618840e+02] [ 9.50417094e-01 3.07487509e-01 -4.64626641e-02 1.08999548e+02] [ 4.90365111e-02 -6.45161692e-04 9.98796778e-01 1.28186905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.070385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:219.63, Y:109.03, Z:12.82 [[ 3.08773228e-01 -9.51011130e-01 -1.53923481e-02 2.19632235e+02] [ 9.49870552e-01 3.09156549e-01 -4.65635275e-02 1.09027207e+02] [ 4.90410781e-02 -2.43167454e-04 9.98796733e-01 1.28215216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.100385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.64, Y:109.05, Z:12.82 [[ 3.09134101e-01 -9.50889222e-01 -1.56778532e-02 2.19643106e+02] [ 9.49753330e-01 3.09530953e-01 -4.64672015e-02 1.09052686e+02] [ 4.90379419e-02 -5.25496791e-04 9.98796778e-01 1.28240468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.130385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:219.65, Y:109.08, Z:12.82 [[ 3.10544356e-01 -9.50430342e-01 -1.56322517e-02 2.19654544e+02] [ 9.49293090e-01 3.10937293e-01 -4.64825764e-02 1.09078818e+02] [ 4.90391010e-02 -4.04686803e-04 9.98796778e-01 1.28248772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.160385723 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:219.66, Y:109.10, Z:12.82 [[ 3.10317463e-01 -9.50503981e-01 -1.56605857e-02 2.19663478e+02] [ 9.49367302e-01 3.10712057e-01 -4.64730284e-02 1.09104069e+02] [ 4.90387313e-02 -4.46255752e-04 9.98796778e-01 1.28243429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.190385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:219.67, Y:109.13, Z:12.83 [[ 3.09677572e-01 -9.50712842e-01 -1.56490510e-02 2.19673682e+02] [ 9.49576234e-01 3.10072368e-01 -4.64769122e-02 1.09129730e+02] [ 4.90385356e-02 -4.67109623e-04 9.98796778e-01 1.28274740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.220385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:219.69, Y:109.16, Z:12.83 [[ 3.08719092e-01 -9.51024725e-01 -1.56363132e-02 2.19685130e+02] [ 9.49888299e-01 3.09114410e-01 -4.64811972e-02 1.09156483e+02] [ 4.90381775e-02 -5.03117923e-04 9.98796778e-01 1.28292143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.250385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.69, Y:109.18, Z:12.83 [[ 3.05425705e-01 -9.52086406e-01 -1.57039226e-02 2.19691103e+02] [ 9.50952517e-01 3.05828254e-01 -4.64584756e-02 1.09180480e+02] [ 4.90351863e-02 -7.44072021e-04 9.98796775e-01 1.28285847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.280385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:219.70, Y:109.21, Z:12.83 [[ 3.04457243e-01 -9.52404490e-01 -1.52142598e-02 2.19703822e+02] [ 9.51262691e-01 3.04837021e-01 -4.66227835e-02 1.09207152e+02] [ 4.90416180e-02 -2.78113552e-04 9.98796697e-01 1.28308987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.310385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.72, Y:109.24, Z:12.83 [[ 3.07189882e-01 -9.51524607e-01 -1.53394686e-02 2.19717381e+02] [ 9.50383806e-01 3.07572513e-01 -4.65807872e-02 1.09235162e+02] [ 4.90407641e-02 -2.69235998e-04 9.98796742e-01 1.28347747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.340385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.73, Y:109.26, Z:12.84 [[ 3.06186417e-01 -9.51843812e-01 -1.55959905e-02 2.19726897e+02] [ 9.50707753e-01 3.06582791e-01 -4.64947425e-02 1.09261176e+02] [ 4.90371952e-02 -5.91170476e-04 9.98796778e-01 1.28354530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.370385723 meters Centerline goodness : 0.999743 Centerline is valid? [True, True] Translation: X:219.74, Y:109.29, Z:12.83 [[ 3.06145777e-01 -9.51855214e-01 -1.56976156e-02 2.19737337e+02] [ 9.50720908e-01 3.06547160e-01 -4.64606685e-02 1.09286818e+02] [ 4.90358890e-02 -7.00313930e-04 9.98796772e-01 1.28326657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.400385723 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:219.75, Y:109.31, Z:12.84 [[ 3.06343407e-01 -9.51793606e-01 -1.55772083e-02 2.19746473e+02] [ 9.50657163e-01 3.06738675e-01 -4.65010037e-02 1.09312826e+02] [ 4.90374902e-02 -5.63308803e-04 9.98796780e-01 1.28376811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.43038572300003 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:219.76, Y:109.34, Z:12.84 [[ 3.06660889e-01 -9.51691574e-01 -1.55643153e-02 2.19757739e+02] [ 9.50554781e-01 3.07055148e-01 -4.65053187e-02 1.09339170e+02] [ 4.90378231e-02 -5.33371945e-04 9.98796780e-01 1.28374180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.460385723 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:219.77, Y:109.36, Z:12.84 [[ 3.07065368e-01 -9.51561355e-01 -1.55514488e-02 2.19768038e+02] [ 9.50424177e-01 3.07458515e-01 -4.65096209e-02 1.09364927e+02] [ 4.90381832e-02 -4.98979140e-04 9.98796780e-01 1.28379821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.490385723 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:219.78, Y:109.39, Z:12.84 [[ 3.06549036e-01 -9.51728029e-01 -1.55385843e-02 2.19776600e+02] [ 9.50590847e-01 3.06942172e-01 -4.65139184e-02 1.09391391e+02] [ 4.90380467e-02 -5.12039172e-04 9.98796780e-01 1.28404444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.520385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.79, Y:109.42, Z:12.84 [[ 3.09648933e-01 -9.50725933e-01 -1.54187782e-02 2.19788601e+02] [ 9.49585480e-01 3.10032497e-01 -4.65539127e-02 1.09419539e+02] [ 4.90403344e-02 -2.26078463e-04 9.98796773e-01 1.28427143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.550385723 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:219.80, Y:109.45, Z:12.84 [[ 3.08826323e-01 -9.50989219e-01 -1.56782149e-02 2.19797432e+02] [ 9.49853451e-01 3.09223562e-01 -4.64672973e-02 1.09445265e+02] [ 4.90379722e-02 -5.41681924e-04 9.98796768e-01 1.28415711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.580385723 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:219.81, Y:109.47, Z:12.84 [[ 3.11667680e-01 -9.50065037e-01 -1.54816775e-02 2.19810187e+02] [ 9.48924815e-01 3.12051902e-01 -4.65328442e-02 1.09469920e+02] [ 4.90403153e-02 -1.88164427e-04 9.98796782e-01 1.28441104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.610385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.82, Y:109.50, Z:12.85 [[ 3.12792587e-01 -9.49694846e-01 -1.55080000e-02 2.19820610e+02] [ 9.48554603e-01 3.13176748e-01 -4.65240701e-02 1.09496886e+02] [ 4.90404146e-02 -1.57800530e-04 9.98796783e-01 1.28479654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.640385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:219.83, Y:109.52, Z:12.85 [[ 3.12447328e-01 -9.49806776e-01 -1.56126765e-02 2.19829476e+02] [ 9.48668408e-01 3.12837029e-01 -4.64891947e-02 1.09523219e+02] [ 4.90399754e-02 -2.85828346e-04 9.98796776e-01 1.28495016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.670385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:219.84, Y:109.55, Z:12.85 [[ 3.12907903e-01 -9.49656745e-01 -1.55148816e-02 2.19840668e+02] [ 9.48516571e-01 3.13292263e-01 -4.65217436e-02 1.09549115e+02] [ 4.90403800e-02 -1.59101068e-04 9.98796784e-01 1.28501421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.700385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:219.85, Y:109.57, Z:12.85 [[ 3.12286002e-01 -9.49859499e-01 -1.56327923e-02 2.19849854e+02] [ 9.48721532e-01 3.12676881e-01 -4.64825061e-02 1.09573331e+02] [ 4.90398627e-02 -3.15330622e-04 9.98796772e-01 1.28499421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.730385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:219.86, Y:109.60, Z:12.85 [[ 3.12022534e-01 -9.49948789e-01 -1.54672540e-02 2.19858390e+02] [ 9.48808192e-01 3.12405624e-01 -4.65375253e-02 1.09599703e+02] [ 4.90403229e-02 -1.54700707e-04 9.98796788e-01 1.28512392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.760385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:219.87, Y:109.63, Z:12.86 [[ 3.11323650e-01 -9.50178272e-01 -1.54543299e-02 2.19869088e+02] [ 9.49037744e-01 3.11706945e-01 -4.65418168e-02 1.09625992e+02] [ 4.90402450e-02 -1.77174127e-04 9.98796788e-01 1.28555347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.790385723 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:219.88, Y:109.65, Z:12.85 [[ 3.10368141e-01 -9.50491020e-01 -1.54414565e-02 2.19879613e+02] [ 9.49350665e-01 3.10751953e-01 -4.65460875e-02 1.09651336e+02] [ 4.90401009e-02 -2.12934326e-04 9.98796788e-01 1.28526505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.820385723 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:219.89, Y:109.68, Z:12.86 [[ 3.10066609e-01 -9.50589647e-01 -1.54279632e-02 2.19889718e+02] [ 9.49449192e-01 3.10450121e-01 -4.65505595e-02 1.09677940e+02] [ 4.90400929e-02 -2.14293091e-04 9.98796788e-01 1.28559466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.850385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.90, Y:109.70, Z:12.86 [[ 3.10674420e-01 -9.50391380e-01 -1.54152142e-02 2.19898915e+02] [ 9.49250471e-01 3.11056579e-01 -4.65547810e-02 1.09704691e+02] [ 4.90402663e-02 -1.69519705e-04 9.98796788e-01 1.28600971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.880385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.91, Y:109.73, Z:12.86 [[ 3.11858286e-01 -9.50003775e-01 -1.54025211e-02 2.19908595e+02] [ 9.48862183e-01 3.12238401e-01 -4.65589800e-02 1.09729957e+02] [ 4.90404653e-02 -9.50661540e-05 9.98796788e-01 1.28632046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.910385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.92, Y:109.76, Z:12.86 [[ 3.12736667e-01 -9.49717591e-01 -1.52405490e-02 2.19920951e+02] [ 9.48573030e-01 3.13107781e-01 -4.66124963e-02 1.09755880e+02] [ 4.90406422e-02 1.20662957e-04 9.98796777e-01 1.28637695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.940385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.93, Y:109.78, Z:12.87 [[ 3.12874686e-01 -9.49670760e-01 -1.53257322e-02 2.19932581e+02] [ 9.48527518e-01 3.13249813e-01 -4.65843598e-02 1.09783884e+02] [ 4.90405871e-02 3.81882207e-05 9.98796786e-01 1.28655712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.970385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:219.94, Y:109.81, Z:12.87 [[ 3.13629874e-01 -9.49418350e-01 -1.55273359e-02 2.19941830e+02] [ 9.48278080e-01 3.14013977e-01 -4.65177961e-02 1.09807772e+02] [ 4.90406497e-02 -1.34861780e-04 9.98796774e-01 1.28652667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.000385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:219.95, Y:109.84, Z:12.87 [[ 3.13761537e-01 -9.49377573e-01 -1.53597669e-02 2.19951969e+02] [ 9.48234532e-01 3.14137266e-01 -4.65730610e-02 1.09835073e+02] [ 4.90404948e-02 4.81737982e-05 9.98796790e-01 1.28667834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.030385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:219.96, Y:109.86, Z:12.87 [[ 3.14512813e-01 -9.49128525e-01 -1.53861492e-02 2.19961674e+02] [ 9.47985612e-01 3.14888933e-01 -4.65643643e-02 1.09860586e+02] [ 4.90404945e-02 5.92411767e-05 9.98796789e-01 1.28689667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.060385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.97, Y:109.88, Z:12.87 [[ 3.14465910e-01 -9.49144727e-01 -1.53452881e-02 2.19974525e+02] [ 9.48001176e-01 3.14840081e-01 -4.65778262e-02 1.09884601e+02] [ 4.90404099e-02 9.97873721e-05 9.98796790e-01 1.28709133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.090385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.98, Y:109.91, Z:12.87 [[ 3.12383700e-01 -9.49832270e-01 -1.53324003e-02 2.19983721e+02] [ 9.48689334e-01 3.12759746e-01 -4.65820682e-02 1.09911449e+02] [ 4.90405092e-02 5.79418519e-06 9.98796790e-01 1.28737816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.120385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.99, Y:109.94, Z:12.87 [[ 3.12623775e-01 -9.49753485e-01 -1.53196814e-02 2.19994592e+02] [ 9.48610249e-01 3.12998908e-01 -4.65862508e-02 1.09936717e+02] [ 4.90404976e-02 3.15627967e-05 9.98796790e-01 1.28744263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.150385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.01, Y:109.96, Z:12.88 [[ 3.09441941e-01 -9.50795127e-01 -1.53072512e-02 2.20005455e+02] [ 9.49652951e-01 3.09820291e-01 -4.65903347e-02 1.09962093e+02] [ 4.90403602e-02 -1.19572621e-04 9.98796791e-01 1.28763584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.18038572300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.02, Y:109.99, Z:12.88 [[ 3.06862948e-01 -9.51630760e-01 -1.52979854e-02 2.20015618e+02] [ 9.50489463e-01 3.07243940e-01 -4.65933770e-02 1.09987854e+02] [ 4.90399040e-02 -2.42792923e-04 9.98796791e-01 1.28780071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.210385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.03, Y:110.01, Z:12.88 [[ 3.04194303e-01 -9.52488967e-01 -1.51852838e-02 2.20030155e+02] [ 9.51346894e-01 3.04572977e-01 -4.66303478e-02 1.10012887e+02] [ 4.90399190e-02 -2.61786448e-04 9.98796785e-01 1.28817626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.240385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:220.04, Y:110.04, Z:12.88 [[ 3.02733309e-01 -9.52952789e-01 -1.52815178e-02 2.20040073e+02] [ 9.51812883e-01 3.03118441e-01 -4.65987893e-02 1.10037757e+02] [ 4.90385561e-02 -4.38139886e-04 9.98796790e-01 1.28821884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.270385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.05, Y:110.06, Z:12.88 [[ 3.00112608e-01 -9.53781515e-01 -1.52723317e-02 2.20047803e+02] [ 9.52642518e-01 3.00500423e-01 -4.66017998e-02 1.10063314e+02] [ 4.90372773e-02 -5.63284897e-04 9.98796790e-01 1.28814921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.300385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.06, Y:110.09, Z:12.88 [[ 2.98533594e-01 -9.54279740e-01 -1.50953851e-02 2.20056004e+02] [ 9.53138448e-01 2.98914649e-01 -4.66597434e-02 1.10089993e+02] [ 4.90386796e-02 -4.58491066e-04 9.98796775e-01 1.28821057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.330385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.07, Y:110.12, Z:12.88 [[ 2.97989831e-01 -9.54451577e-01 -1.49749071e-02 2.20068064e+02] [ 9.53308518e-01 2.98365644e-01 -4.66991692e-02 1.10116617e+02] [ 4.90400935e-02 -3.59828927e-04 9.98796746e-01 1.28828893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.360385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.08, Y:110.14, Z:12.89 [[ 2.98828651e-01 -9.54187370e-01 -1.50963844e-02 2.20080861e+02] [ 9.53045976e-01 2.99209401e-01 -4.66594278e-02 1.10142878e+02] [ 4.90388168e-02 -4.44374511e-04 9.98796775e-01 1.28854835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.390385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.09, Y:110.17, Z:12.89 [[ 2.97498172e-01 -9.54600629e-01 -1.52472115e-02 2.20092963e+02] [ 9.53462275e-01 2.97887880e-01 -4.66100895e-02 1.10168128e+02] [ 4.90359803e-02 -6.71224555e-04 9.98796787e-01 1.28853787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.420385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:220.10, Y:110.19, Z:12.89 [[ 2.97525597e-01 -9.54593610e-01 -1.51511897e-02 2.20103224e+02] [ 9.53453648e-01 2.97910583e-01 -4.66414688e-02 1.10194428e+02] [ 4.90373478e-02 -5.68926224e-04 9.98796784e-01 1.28871195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.450385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.11, Y:110.22, Z:12.89 [[ 2.97586814e-01 -9.54573294e-01 -1.52287446e-02 2.20112515e+02] [ 9.53434596e-01 2.97975515e-01 -4.66161330e-02 1.10221250e+02] [ 4.90363086e-02 -6.47265436e-04 9.98796787e-01 1.28888268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.480385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.12, Y:110.25, Z:12.89 [[ 2.97913235e-01 -9.54471674e-01 -1.52160409e-02 2.20123487e+02] [ 9.53332632e-01 2.98300927e-01 -4.66202793e-02 1.10246714e+02] [ 4.90366951e-02 -6.17150080e-04 9.98796787e-01 1.28884883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.510385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.13, Y:110.27, Z:12.89 [[ 2.98035327e-01 -9.54433770e-01 -1.52027238e-02 2.20134296e+02] [ 9.53294457e-01 2.98422222e-01 -4.66246215e-02 1.10272087e+02] [ 4.90369439e-02 -5.96888032e-04 9.98796787e-01 1.28892147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.540385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.15, Y:110.30, Z:12.89 [[ 2.98742326e-01 -9.54212858e-01 -1.51935785e-02 2.20147245e+02] [ 9.53073108e-01 2.99127930e-01 -4.66276015e-02 1.10297444e+02] [ 4.90374806e-02 -5.50952934e-04 9.98796787e-01 1.28925132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.570385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.16, Y:110.32, Z:12.89 [[ 2.99543410e-01 -9.53961894e-01 -1.51806081e-02 2.20155453e+02] [ 9.52821606e-01 2.99927423e-01 -4.66318239e-02 1.10322803e+02] [ 4.90380637e-02 -4.96155872e-04 9.98796787e-01 1.28936483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.600385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.16, Y:110.35, Z:12.90 [[ 3.00179954e-01 -9.53762004e-01 -1.51669391e-02 2.20163425e+02] [ 9.52621236e-01 3.00562537e-01 -4.66362693e-02 1.10349381e+02] [ 4.90385154e-02 -4.49075155e-04 9.98796787e-01 1.28959354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.630385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.17, Y:110.38, Z:12.90 [[ 3.01623269e-01 -9.53306749e-01 -1.51540765e-02 2.20170359e+02] [ 9.52165194e-01 3.02003496e-01 -4.66404486e-02 1.10376010e+02] [ 4.90392385e-02 -3.61339627e-04 9.98796787e-01 1.28966301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.660385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.18, Y:110.40, Z:12.90 [[ 3.03112588e-01 -9.52834469e-01 -1.51405044e-02 2.20177938e+02] [ 9.51692101e-01 3.03490366e-01 -4.66448539e-02 1.10401852e+02] [ 4.90398218e-02 -2.70456115e-04 9.98796788e-01 1.28988036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.690385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.19, Y:110.43, Z:12.90 [[ 3.03134152e-01 -9.52830175e-01 -1.49781261e-02 2.20188476e+02] [ 9.51685186e-01 3.03503952e-01 -4.66975133e-02 1.10429475e+02] [ 4.90407202e-02 -9.88495608e-05 9.98796775e-01 1.28999460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.720385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.20, Y:110.46, Z:12.90 [[ 3.02901541e-01 -9.52901887e-01 -1.51211630e-02 2.20198300e+02] [ 9.51759290e-01 3.03278626e-01 -4.66511510e-02 1.10455445e+02] [ 4.90398954e-02 -2.61001888e-04 9.98796786e-01 1.29022990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.750385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.21, Y:110.48, Z:12.90 [[ 3.02263341e-01 -9.53104722e-01 -1.51083101e-02 2.20207096e+02] [ 9.51962170e-01 3.02640562e-01 -4.66553131e-02 1.10482124e+02] [ 4.90397867e-02 -2.80348847e-04 9.98796787e-01 1.29039241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.780385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.21, Y:110.51, Z:12.90 [[ 3.00650088e-01 -9.53615046e-01 -1.50953148e-02 2.20212944e+02] [ 9.52472922e-01 3.01028606e-01 -4.66595174e-02 1.10509026e+02] [ 4.90393394e-02 -3.49690634e-04 9.98796787e-01 1.29035954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.810385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.22, Y:110.54, Z:12.91 [[ 2.98963969e-01 -9.54145148e-01 -1.50858209e-02 2.20220654e+02] [ 9.53003540e-01 2.99344042e-01 -4.66625867e-02 1.10537086e+02] [ 4.90387313e-02 -4.26408620e-04 9.98796787e-01 1.29059395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.840385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.23, Y:110.56, Z:12.91 [[ 2.97088268e-01 -9.54729641e-01 -1.51615980e-02 2.20228425e+02] [ 9.53590026e-01 2.97474285e-01 -4.66381059e-02 1.10563982e+02] [ 4.90369676e-02 -6.02314536e-04 9.98796783e-01 1.29074463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.870385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.24, Y:110.59, Z:12.91 [[ 2.95768029e-01 -9.55141040e-01 -1.50621190e-02 2.20236040e+02] [ 9.54000324e-01 2.96150762e-01 -4.66702115e-02 1.10589535e+02] [ 4.90372924e-02 -5.65709985e-04 9.98796788e-01 1.29085097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.900385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.24, Y:110.62, Z:12.91 [[ 2.94136802e-01 -9.55644851e-01 -1.50486056e-02 2.20243998e+02] [ 9.54504568e-01 2.94520823e-01 -4.66745685e-02 1.10616008e+02] [ 4.90364387e-02 -6.35254478e-04 9.98796788e-01 1.29097179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.93038572300003 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:220.25, Y:110.64, Z:12.91 [[ 2.92296297e-01 -9.56209597e-01 -1.50360169e-02 2.20251975e+02] [ 9.55069847e-01 2.92681898e-01 -4.66786235e-02 1.10642912e+02] [ 4.90353177e-02 -7.16457585e-04 9.98796788e-01 1.29109118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.960385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.26, Y:110.67, Z:12.91 [[ 2.88983513e-01 -9.57216188e-01 -1.50233023e-02 2.20259362e+02] [ 9.56077568e-01 2.89372439e-01 -4.66827153e-02 1.10670243e+02] [ 4.90327804e-02 -8.72907263e-04 9.98796788e-01 1.29117574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.990385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:220.27, Y:110.70, Z:12.91 [[ 2.87653674e-01 -9.57616860e-01 -1.50104192e-02 2.20267304e+02] [ 9.56478567e-01 2.88043553e-01 -4.66868574e-02 1.10696726e+02] [ 4.90317763e-02 -9.27498194e-04 9.98796788e-01 1.29128747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.020385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:220.27, Y:110.72, Z:12.91 [[ 2.86567812e-01 -9.57942567e-01 -1.49976069e-02 2.20274289e+02] [ 9.56804502e-01 2.86958357e-01 -4.66909728e-02 1.10723339e+02] [ 4.90309590e-02 -9.69647885e-04 9.98796789e-01 1.29135957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.050385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:220.28, Y:110.75, Z:12.92 [[ 2.86679887e-01 -9.57909243e-01 -1.49841396e-02 2.20282186e+02] [ 9.56770908e-01 2.87069643e-01 -4.66952944e-02 1.10750132e+02] [ 4.90313457e-02 -9.49787145e-04 9.98796789e-01 1.29154738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.080385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:220.29, Y:110.78, Z:12.92 [[ 2.87040487e-01 -9.57801446e-01 -1.49715777e-02 2.20289901e+02] [ 9.56662755e-01 2.87429202e-01 -4.66993217e-02 1.10776162e+02] [ 4.90319465e-02 -9.18154700e-04 9.98796789e-01 1.29165258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.110385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:220.30, Y:110.80, Z:12.92 [[ 2.88600118e-01 -9.57332804e-01 -1.49624062e-02 2.20296745e+02] [ 9.56193330e-01 2.88986531e-01 -4.67022600e-02 1.10802927e+02] [ 4.90335394e-02 -8.28675251e-04 9.98796789e-01 1.29185015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.140385723 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:220.30, Y:110.83, Z:12.92 [[ 2.86883986e-01 -9.57848670e-01 -1.49500329e-02 2.20301234e+02] [ 9.56709685e-01 2.87271837e-01 -4.67062205e-02 1.10828351e+02] [ 4.90322147e-02 -9.03574553e-04 9.98796789e-01 1.29173234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.170385723 meters Centerline goodness : 0.999800 Centerline is valid? [True, True] Translation: X:220.31, Y:110.85, Z:12.92 [[ 2.87392430e-01 -9.57700810e-01 -1.46543353e-02 2.20309128e+02] [ 9.56556770e-01 2.87765245e-01 -4.68007443e-02 1.10854062e+02] [ 4.90381191e-02 -5.67523977e-04 9.98796746e-01 1.29182080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.200385723 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:220.32, Y:110.88, Z:12.92 [[ 2.91106354e-01 -9.56578858e-01 -1.46280479e-02 2.20320997e+02] [ 9.55432958e-01 2.91473441e-01 -4.68091364e-02 1.10881807e+02] [ 4.90403177e-02 -3.49682035e-04 9.98796739e-01 1.29238976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.230385723 meters Centerline goodness : 0.999710 Centerline is valid? [True, True] Translation: X:220.33, Y:110.91, Z:12.92 [[ 2.91876485e-01 -9.56339748e-01 -1.49131990e-02 2.20328198e+02] [ 9.55198149e-01 2.92256591e-01 -4.67181137e-02 1.10909160e+02] [ 4.90368698e-02 -6.09141277e-04 9.98796783e-01 1.29247603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.260385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:220.33, Y:110.94, Z:12.93 [[ 2.94440589e-01 -9.55553617e-01 -1.49004841e-02 2.20333789e+02] [ 9.54410797e-01 2.94817010e-01 -4.67221687e-02 1.10937255e+02] [ 4.90384535e-02 -4.64280032e-04 9.98796783e-01 1.29251464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.290385723 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:220.34, Y:110.96, Z:12.93 [[ 2.95453579e-01 -9.55241091e-01 -1.48875901e-02 2.20341662e+02] [ 9.54097666e-01 2.95828157e-01 -4.67262769e-02 1.10962628e+02] [ 4.90390281e-02 -3.98769266e-04 9.98796783e-01 1.29265420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.320385723 meters Centerline goodness : 0.999756 Centerline is valid? [True, True] Translation: X:220.35, Y:110.99, Z:12.93 [[ 2.96038185e-01 -9.55060290e-01 -1.48739754e-02 2.20350769e+02] [ 9.53916419e-01 2.96411397e-01 -4.67306104e-02 1.10988915e+02] [ 4.90393661e-02 -3.54484242e-04 9.98796784e-01 1.29298158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.350385723 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:220.36, Y:111.01, Z:12.93 [[ 2.96505155e-01 -9.54915624e-01 -1.48608033e-02 2.20359794e+02] [ 9.53771361e-01 2.96877163e-01 -4.67347989e-02 1.11014496e+02] [ 4.90396228e-02 -3.16699827e-04 9.98796784e-01 1.29314147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.380385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.37, Y:111.04, Z:12.93 [[ 2.96370244e-01 -9.54957654e-01 -1.48511821e-02 2.20367494e+02] [ 9.53813290e-01 2.96741943e-01 -4.67378560e-02 1.11040185e+02] [ 4.90396420e-02 -3.13545106e-04 9.98796784e-01 1.29319040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.410385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.37, Y:111.07, Z:12.93 [[ 2.95627216e-01 -9.55188142e-01 -1.48378966e-02 2.20374604e+02] [ 9.54043856e-01 2.95999156e-01 -4.67420734e-02 1.11066927e+02] [ 4.90394791e-02 -3.37774990e-04 9.98796784e-01 1.29346238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.440385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:220.38, Y:111.09, Z:12.93 [[ 2.93115783e-01 -9.55962005e-01 -1.48250554e-02 2.20381544e+02] [ 9.54818495e-01 2.93490101e-01 -4.67461459e-02 1.11092829e+02] [ 4.90385464e-02 -4.53203957e-04 9.98796784e-01 1.29347612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.470385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.39, Y:111.12, Z:12.94 [[ 2.90832869e-01 -9.56659217e-01 -1.48116264e-02 2.20391007e+02] [ 9.55516388e-01 2.91209259e-01 -4.67504005e-02 1.11118816e+02] [ 4.90374843e-02 -5.56198694e-04 9.98796784e-01 1.29362388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.500385723 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:220.40, Y:111.15, Z:12.94 [[ 2.87905006e-01 -9.57544619e-01 -1.47990011e-02 2.20400527e+02] [ 9.56402741e-01 2.88284274e-01 -4.67543968e-02 1.11145482e+02] [ 4.90357403e-02 -6.92980315e-04 9.98796784e-01 1.29376490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.530385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:220.41, Y:111.17, Z:12.94 [[ 2.82186916e-01 -9.59245489e-01 -1.47863629e-02 2.20409391e+02] [ 9.58105686e-01 2.82572374e-01 -4.67583933e-02 1.11170698e+02] [ 4.90309955e-02 -9.72291521e-04 9.98796784e-01 1.29391542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.560385723 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:220.42, Y:111.20, Z:12.94 [[ 2.79568852e-01 -9.60011923e-01 -1.47771453e-02 2.20417756e+02] [ 9.58873024e-01 2.79956970e-01 -4.67613062e-02 1.11197084e+02] [ 4.90283763e-02 -1.09640132e-03 9.98796784e-01 1.29411077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.590385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.43, Y:111.22, Z:12.94 [[ 2.77451427e-01 -9.60626210e-01 -1.47644977e-02 2.20426191e+02] [ 9.59487958e-01 2.77841439e-01 -4.67652992e-02 1.11223525e+02] [ 4.90261615e-02 -1.19125879e-03 9.98796784e-01 1.29422669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.620385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:220.43, Y:111.25, Z:12.94 [[ 2.75269961e-01 -9.61253780e-01 -1.47519521e-02 2.20434495e+02] [ 9.60116205e-01 2.75661946e-01 -4.67692564e-02 1.11250473e+02] [ 4.90236763e-02 -1.28941692e-03 9.98796784e-01 1.29444500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.650385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:220.44, Y:111.28, Z:12.95 [[ 2.75005705e-01 -9.61329612e-01 -1.47390759e-02 2.20443018e+02] [ 9.60191930e-01 2.75397377e-01 -4.67733139e-02 1.11277732e+02] [ 4.90236745e-02 -1.28941363e-03 9.98796785e-01 1.29458468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.68038572300003 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:220.45, Y:111.30, Z:12.95 [[ 2.74781509e-01 -9.61393916e-01 -1.47262017e-02 2.20450252e+02] [ 9.60256110e-01 2.75172821e-01 -4.67773669e-02 1.11303815e+02] [ 4.90237264e-02 -1.28736972e-03 9.98796785e-01 1.29469300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.710385723 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:220.46, Y:111.33, Z:12.95 [[ 2.76050021e-01 -9.61030593e-01 -1.47168158e-02 2.20456442e+02] [ 9.59892116e-01 2.76439374e-01 -4.67803197e-02 1.11330372e+02] [ 4.90256257e-02 -1.21284721e-03 9.98796785e-01 1.29471275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.740385723 meters Centerline goodness : 0.999822 Centerline is valid? [True, True] Translation: X:220.46, Y:111.36, Z:12.95 [[ 2.76932521e-01 -9.60776869e-01 -1.47033089e-02 2.20463991e+02] [ 9.59637810e-01 2.77320171e-01 -4.67845645e-02 1.11356944e+02] [ 4.90270516e-02 -1.15368381e-03 9.98796785e-01 1.29493998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.770385723 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:220.47, Y:111.38, Z:12.95 [[ 2.77922173e-01 -9.60491255e-01 -1.46906119e-02 2.20471631e+02] [ 9.59351589e-01 2.78308032e-01 -4.67885511e-02 1.11383180e+02] [ 4.90285095e-02 -1.08988608e-03 9.98796785e-01 1.29506368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.800385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:220.48, Y:111.41, Z:12.95 [[ 2.79613150e-01 -9.60000555e-01 -1.46772315e-02 2.20477701e+02] [ 9.58859991e-01 2.79996349e-01 -4.67927481e-02 1.11409500e+02] [ 4.90306354e-02 -9.89542412e-04 9.98796785e-01 1.29525116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.830385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:220.48, Y:111.44, Z:12.95 [[ 2.80070856e-01 -9.59867263e-01 -1.46680761e-02 2.20484772e+02] [ 9.58726368e-01 2.80453065e-01 -4.67956179e-02 1.11436526e+02] [ 4.90312886e-02 -9.56582530e-04 9.98796785e-01 1.29540553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.860385723 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:220.49, Y:111.46, Z:12.95 [[ 2.81254853e-01 -9.59521191e-01 -1.46557657e-02 2.20490114e+02] [ 9.58379625e-01 2.81635054e-01 -4.67994730e-02 1.11463255e+02] [ 4.90326635e-02 -8.83208299e-04 9.98796785e-01 1.29548476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.890385723 meters Centerline goodness : 0.999779 Centerline is valid? [True, True] Translation: X:220.49, Y:111.49, Z:12.95 [[ 2.77915202e-01 -9.60494003e-01 -1.46427690e-02 2.20491261e+02] [ 9.59353553e-01 2.78298739e-01 -4.68035391e-02 1.11488586e+02] [ 4.90295828e-02 -1.04017749e-03 9.98796785e-01 1.29506163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.920385723 meters Centerline goodness : 0.998162 Centerline is valid? [True, True] Translation: X:220.50, Y:111.52, Z:12.95 [[ 2.80480461e-01 -9.59757104e-01 -1.40361372e-02 2.20501245e+02] [ 9.58606009e-01 2.80831314e-01 -4.69924725e-02 1.11516869e+02] [ 4.90431462e-02 -2.74655066e-04 9.98796623e-01 1.29525066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.950385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:220.51, Y:111.54, Z:12.96 [[ 2.81232558e-01 -9.59529942e-01 -1.45099384e-02 2.20508357e+02] [ 9.58386042e-01 2.81605672e-01 -4.68448455e-02 1.11542568e+02] [ 4.90351128e-02 -7.31826685e-04 9.98796787e-01 1.29552012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.980385723 meters Centerline goodness : 0.998983 Centerline is valid? [True, True] Translation: X:220.52, Y:111.57, Z:12.96 [[ 2.83281990e-01 -9.58927160e-01 -1.44919459e-02 2.20518774e+02] [ 9.57782179e-01 2.83651780e-01 -4.68504463e-02 1.11571092e+02] [ 4.90368316e-02 -6.08239890e-04 9.98796786e-01 1.29578401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.010385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:220.52, Y:111.60, Z:12.96 [[ 2.83428207e-01 -9.58878770e-01 -1.48308891e-02 2.20523347e+02] [ 9.57739170e-01 2.83814361e-01 -4.67449564e-02 1.11595313e+02] [ 4.90319656e-02 -9.55284247e-04 9.98796753e-01 1.29625131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.040385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:220.53, Y:111.62, Z:12.96 [[ 2.84370784e-01 -9.58604013e-01 -1.45466225e-02 2.20529183e+02] [ 9.57459488e-01 2.84741945e-01 -4.68332532e-02 1.11622184e+02] [ 4.90365780e-02 -6.09792807e-04 9.98796797e-01 1.29625591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.070385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:220.54, Y:111.65, Z:12.96 [[ 2.85077948e-01 -9.58394024e-01 -1.45416433e-02 2.20537076e+02] [ 9.57249147e-01 2.85448021e-01 -4.68347980e-02 1.11648044e+02] [ 4.90370738e-02 -5.68407546e-04 9.98796797e-01 1.29643893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.100385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.54, Y:111.67, Z:12.96 [[ 2.86841063e-01 -9.57868195e-01 -1.45163964e-02 2.20544338e+02] [ 9.56722244e-01 2.87207795e-01 -4.68426219e-02 1.11673173e+02] [ 4.90382799e-02 -4.51771811e-04 9.98796798e-01 1.29641597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.130385723 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:220.55, Y:111.70, Z:12.97 [[ 2.86459575e-01 -9.57984385e-01 -1.43815514e-02 2.20551364e+02] [ 9.56836480e-01 2.86820167e-01 -4.68843604e-02 1.11700954e+02] [ 4.90394042e-02 -3.30318990e-04 9.98796790e-01 1.29655559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.160385723 meters Centerline goodness : 0.999516 Centerline is valid? [True, True] Translation: X:220.56, Y:111.73, Z:12.97 [[ 2.85714731e-01 -9.58205107e-01 -1.44936205e-02 2.20556388e+02] [ 9.57059230e-01 2.86081696e-01 -4.68496906e-02 1.11727051e+02] [ 4.90379723e-02 -4.85606505e-04 9.98796797e-01 1.29654661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.190385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:220.56, Y:111.75, Z:12.97 [[ 2.84126070e-01 -9.58677978e-01 -1.44537454e-02 2.20563575e+02] [ 9.57532085e-01 2.84492985e-01 -4.68620159e-02 1.11753854e+02] [ 4.90375718e-02 -5.25204589e-04 9.98796797e-01 1.29675768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.220385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.57, Y:111.78, Z:12.97 [[ 2.82452627e-01 -9.59172048e-01 -1.44739907e-02 2.20571229e+02] [ 9.58027116e-01 2.82822530e-01 -4.68557621e-02 1.11780237e+02] [ 4.90363079e-02 -6.31942455e-04 9.98796797e-01 1.29684351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.250385723 meters Centerline goodness : 0.998657 Centerline is valid? [True, True] Translation: X:220.58, Y:111.81, Z:12.97 [[ 2.82159048e-01 -9.59258659e-01 -1.44601834e-02 2.20583393e+02] [ 9.58113622e-01 2.82528627e-01 -4.68600227e-02 1.11809104e+02] [ 4.90362983e-02 -6.32519295e-04 9.98796797e-01 1.29672279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.280385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.59, Y:111.83, Z:12.97 [[ 2.76917626e-01 -9.60776431e-01 -1.50092816e-02 2.20586622e+02] [ 9.59642392e-01 2.77320171e-01 -4.66905043e-02 1.11833226e+02] [ 4.90215126e-02 -1.47411923e-03 9.98796635e-01 1.29718387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.310385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:220.59, Y:111.86, Z:12.97 [[ 2.74970624e-01 -9.61344288e-01 -1.44331536e-02 2.20593935e+02] [ 9.60201635e-01 2.75347447e-01 -4.68679344e-02 1.11860778e+02] [ 4.90303530e-02 -9.71432515e-04 9.98796817e-01 1.29725265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.340385723 meters Centerline goodness : 0.996522 Centerline is valid? [True, True] Translation: X:220.60, Y:111.89, Z:12.97 [[ 2.71998576e-01 -9.62189863e-01 -1.44028337e-02 2.20602640e+02] [ 9.61047890e-01 2.72377451e-01 -4.68772635e-02 1.11892732e+02] [ 4.90278349e-02 -1.09126399e-03 9.98796816e-01 1.29719915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.370385723 meters Centerline goodness : 0.994101 Centerline is valid? [True, True] Translation: X:220.61, Y:111.91, Z:12.97 [[ 2.69640505e-01 -9.62840524e-01 -1.52356243e-02 2.20605651e+02] [ 9.61713451e-01 2.70062573e-01 -4.66202239e-02 1.11914390e+02] [ 4.90024127e-02 -2.08160416e-03 9.98796491e-01 1.29748110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.400385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:220.61, Y:111.94, Z:12.98 [[ 2.68881459e-01 -9.63063615e-01 -1.45339266e-02 2.20611445e+02] [ 9.61925060e-01 2.69270403e-01 -4.68361920e-02 1.11939865e+02] [ 4.90197886e-02 -1.38716454e-03 9.98796844e-01 1.29762845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.43038572300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.62, Y:111.97, Z:12.98 [[ 2.68210693e-01 -9.63252592e-01 -1.44037731e-02 2.20617632e+02] [ 9.62112172e-01 2.68594103e-01 -4.68761851e-02 1.11965909e+02] [ 4.90223753e-02 -1.28535130e-03 9.98796854e-01 1.29776650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.460385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.63, Y:111.99, Z:12.98 [[ 2.68048758e-01 -9.63297868e-01 -1.43903084e-02 2.20625199e+02] [ 9.62157292e-01 2.68431706e-01 -4.68803182e-02 1.11993375e+02] [ 4.90225256e-02 -1.27952907e-03 9.98796854e-01 1.29799396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.490385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.63, Y:112.02, Z:12.98 [[ 2.66286295e-01 -9.63786751e-01 -1.43773101e-02 2.20630646e+02] [ 9.62646665e-01 2.66670696e-01 -4.68843042e-02 1.12020220e+02] [ 4.90204785e-02 -1.35562194e-03 9.98796854e-01 1.29767459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.520385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:220.64, Y:112.05, Z:12.98 [[ 2.68321225e-01 -9.63223197e-01 -1.43105751e-02 2.20636003e+02] [ 9.62081218e-01 2.68699971e-01 -4.69047543e-02 1.12049120e+02] [ 4.90249985e-02 -1.18239437e-03 9.98796852e-01 1.29778411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.550385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:220.64, Y:112.08, Z:12.98 [[ 2.68812197e-01 -9.63085048e-01 -1.43942279e-02 2.20642491e+02] [ 9.61944232e-01 2.69194431e-01 -4.68791361e-02 1.12077724e+02] [ 4.90234410e-02 -1.24476095e-03 9.98796853e-01 1.29794126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.580385723 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:220.64, Y:112.10, Z:12.98 [[ 2.68574930e-01 -9.63150726e-01 -1.44286407e-02 2.20644750e+02] [ 9.62010565e-01 2.68959119e-01 -4.68686035e-02 1.12103814e+02] [ 4.90222440e-02 -1.29277281e-03 9.98796850e-01 1.29751136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.610385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:220.65, Y:112.13, Z:12.99 [[ 2.72069940e-01 -9.62174880e-01 -1.40516302e-02 2.20654480e+02] [ 9.61027340e-01 2.72431607e-01 -4.69837386e-02 1.12132320e+02] [ 4.90346812e-02 -7.21137921e-04 9.98796816e-01 1.29855141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.640385723 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:220.66, Y:112.16, Z:12.98 [[ 2.72625589e-01 -9.62010596e-01 -1.45224484e-02 2.20660212e+02] [ 9.60870346e-01 2.73009543e-01 -4.68398207e-02 1.12157689e+02] [ 4.90251708e-02 -1.18445629e-03 9.98796841e-01 1.29822190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.670385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:220.67, Y:112.19, Z:12.98 [[ 2.75329178e-01 -9.61245166e-01 -1.41977124e-02 2.20667004e+02] [ 9.60098688e-01 2.75694089e-01 -4.69390867e-02 1.12187026e+02] [ 4.90341956e-02 -7.07504873e-04 9.98796850e-01 1.29845551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.700385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.67, Y:112.21, Z:12.99 [[ 2.75957364e-01 -9.61062336e-01 -1.43777397e-02 2.20672183e+02] [ 9.59918457e-01 2.76330311e-01 -4.68840597e-02 1.12213154e+02] [ 4.90315092e-02 -8.63456187e-04 9.98796859e-01 1.29852658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.730385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.68, Y:112.24, Z:12.99 [[ 2.77844930e-01 -9.60522008e-01 -1.41303986e-02 2.20676479e+02] [ 9.59373540e-01 2.78203548e-01 -4.69595155e-02 1.12240601e+02] [ 4.90367751e-02 -5.08867208e-04 9.98796844e-01 1.29866880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.760385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:220.68, Y:112.27, Z:12.99 [[ 2.78360998e-01 -9.60372882e-01 -1.41096366e-02 2.20683440e+02] [ 9.59223902e-01 2.78717984e-01 -4.69658438e-02 1.12266862e+02] [ 4.90373323e-02 -4.60841578e-04 9.98796840e-01 1.29895938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.790385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:220.69, Y:112.29, Z:12.99 [[ 2.79819832e-01 -9.59949780e-01 -1.40456806e-02 2.20693499e+02] [ 9.58799281e-01 2.80171942e-01 -4.69853296e-02 1.12294630e+02] [ 4.90387624e-02 -3.19561434e-04 9.98796825e-01 1.29934829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.820385723 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:220.70, Y:112.32, Z:12.99 [[ 2.79218915e-01 -9.60121091e-01 -1.42929066e-02 2.20700598e+02] [ 9.58974625e-01 2.79583833e-01 -4.69100045e-02 1.12320677e+02] [ 4.90353503e-02 -6.08374152e-04 9.98796858e-01 1.29948950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.850385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.70, Y:112.34, Z:12.99 [[ 2.76910402e-01 -9.60789637e-01 -1.42794841e-02 2.20703535e+02] [ 9.59643841e-01 2.77277419e-01 -4.69140900e-02 1.12344621e+02] [ 4.90339500e-02 -7.12219458e-04 9.98796858e-01 1.29929821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.880385723 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:220.71, Y:112.37, Z:13.00 [[ 2.75609079e-01 -9.61170514e-01 -1.38158609e-02 2.20712756e+02] [ 9.60018062e-01 2.75954988e-01 -4.70549133e-02 1.12374674e+02] [ 4.90403510e-02 -2.94714737e-04 9.98796755e-01 1.29981641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.910385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:220.72, Y:112.40, Z:13.00 [[ 2.72866841e-01 -9.61946967e-01 -1.42027788e-02 2.20720385e+02] [ 9.60801519e-01 2.73234934e-01 -4.69373307e-02 1.12401194e+02] [ 4.90319182e-02 -8.38410270e-04 9.98796860e-01 1.29983832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.940385723 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:220.72, Y:112.42, Z:13.00 [[ 2.66080016e-01 -9.63845605e-01 -1.42504375e-02 2.20722308e+02] [ 9.62703546e-01 2.66458492e-01 -4.69228568e-02 1.12424386e+02] [ 4.90235394e-02 -1.23371221e-03 9.98796862e-01 1.29962597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.970385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.73, Y:112.46, Z:13.00 [[ 2.66619964e-01 -9.63705255e-01 -1.36373044e-02 2.20734284e+02] [ 9.62553317e-01 2.66967901e-01 -4.71089263e-02 1.12455126e+02] [ 4.90398424e-02 -5.66452379e-04 9.98796662e-01 1.30017284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.000385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.74, Y:112.48, Z:13.00 [[ 2.65082886e-01 -9.64120321e-01 -1.42502883e-02 2.20742474e+02] [ 9.62978658e-01 2.65462536e-01 -4.69227757e-02 1.12480978e+02] [ 4.90221192e-02 -1.28429871e-03 9.98796867e-01 1.30030688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.030385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.75, Y:112.51, Z:13.00 [[ 2.63837879e-01 -9.64461952e-01 -1.42378858e-02 2.20748631e+02] [ 9.63320579e-01 2.64218399e-01 -4.69265387e-02 1.12507193e+02] [ 4.90207725e-02 -1.33464997e-03 9.98796868e-01 1.30038346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.060385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.76, Y:112.53, Z:13.00 [[ 2.61686159e-01 -9.65048193e-01 -1.42246018e-02 2.20757199e+02] [ 9.63907455e-01 2.62068579e-01 -4.69305651e-02 1.12534279e+02] [ 4.90180782e-02 -1.43012040e-03 9.98796868e-01 1.30044306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.090385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:220.77, Y:112.56, Z:13.00 [[ 2.61205972e-01 -9.65178460e-01 -1.42119766e-02 2.20765338e+02] [ 9.64037707e-01 2.61588346e-01 -4.69343881e-02 1.12560403e+02] [ 4.90177479e-02 -1.44133892e-03 9.98796868e-01 1.30047684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.120385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.77, Y:112.59, Z:13.01 [[ 2.60545507e-01 -9.65357155e-01 -1.41986467e-02 2.20772648e+02] [ 9.64216447e-01 2.60928014e-01 -4.69384203e-02 1.12587559e+02] [ 4.90171646e-02 -1.46097408e-03 9.98796868e-01 1.30076266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.150385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:220.78, Y:112.62, Z:13.01 [[ 2.60358068e-01 -9.65407909e-01 -1.41861057e-02 2.20779365e+02] [ 9.64267071e-01 2.60740187e-01 -4.69422103e-02 1.12615007e+02] [ 4.90172689e-02 -1.45741142e-03 9.98796868e-01 1.30092194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.18038572300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.79, Y:112.64, Z:13.01 [[ 2.60464832e-01 -9.65379299e-01 -1.41732265e-02 2.20786432e+02] [ 9.64238209e-01 2.60846199e-01 -4.69460986e-02 1.12643572e+02] [ 4.90178240e-02 -1.43855887e-03 9.98796868e-01 1.30093517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.210385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.80, Y:112.67, Z:13.01 [[ 2.65017667e-01 -9.64138717e-01 -1.42186460e-02 2.20798195e+02] [ 9.62996568e-01 2.65395855e-01 -4.69323917e-02 1.12673122e+02] [ 4.90229057e-02 -1.25459432e-03 9.98796867e-01 1.30082402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.240385723 meters Centerline goodness : 0.994709 Centerline is valid? [True, True] Translation: X:220.80, Y:112.70, Z:13.01 [[ 2.63516394e-01 -9.64541191e-01 -1.48122015e-02 2.20802220e+02] [ 9.63409458e-01 2.63925155e-01 -4.67517789e-02 1.12695860e+02] [ 4.90033291e-02 -1.95035482e-03 9.98796711e-01 1.30101696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.270385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:220.81, Y:112.72, Z:13.01 [[ 2.65262723e-01 -9.64068478e-01 -1.44103466e-02 2.20806550e+02] [ 9.62929363e-01 2.65649939e-01 -4.68737828e-02 1.12720970e+02] [ 4.90176441e-02 -1.44227861e-03 9.98796871e-01 1.30109675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.300385723 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:220.81, Y:112.75, Z:13.02 [[ 2.66376448e-01 -9.63762847e-01 -1.43095411e-02 2.20812715e+02] [ 9.62621656e-01 2.66757447e-01 -4.69042838e-02 1.12747651e+02] [ 4.90217827e-02 -1.28047763e-03 9.98796889e-01 1.30150576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.330385723 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:220.83, Y:112.78, Z:13.02 [[ 2.72590295e-01 -9.62025183e-01 -1.42154364e-02 2.20826986e+02] [ 9.60880078e-01 2.72959333e-01 -4.69327020e-02 1.12779964e+02] [ 4.90306772e-02 -8.65930557e-04 9.98796898e-01 1.30203521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.360385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.83, Y:112.81, Z:13.02 [[ 2.72959848e-01 -9.61907092e-01 -1.50886935e-02 2.20831268e+02] [ 9.60775847e-01 2.73370916e-01 -4.66702796e-02 1.12806871e+02] [ 4.90172829e-02 -1.75773990e-03 9.98796384e-01 1.30168103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.390385723 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:220.83, Y:112.83, Z:13.02 [[ 2.69538204e-01 -9.62871140e-01 -1.51104078e-02 2.20830437e+02] [ 9.61741729e-01 2.69954342e-01 -4.66636794e-02 1.12827888e+02] [ 4.90102304e-02 -1.95466542e-03 9.98796364e-01 1.30176758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.420385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.84, Y:112.86, Z:13.02 [[ 2.69026688e-01 -9.63029332e-01 -1.41119364e-02 2.20837383e+02] [ 9.61883867e-01 2.69394922e-01 -4.69659643e-02 1.12855552e+02] [ 4.90312853e-02 -9.38946126e-04 9.98796802e-01 1.30190867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.450385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.85, Y:112.89, Z:13.02 [[ 2.74308927e-01 -9.61537408e-01 -1.41571707e-02 2.20852970e+02] [ 9.60390642e-01 2.74673076e-01 -4.69522756e-02 1.12887743e+02] [ 4.90349630e-02 -7.16985900e-04 9.98796805e-01 1.30219919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.480385723 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:220.86, Y:112.91, Z:13.02 [[ 2.75078889e-01 -9.61303468e-01 -1.50747190e-02 2.20860379e+02] [ 9.60171017e-01 2.75486787e-01 -4.66759837e-02 1.12913198e+02] [ 4.90226709e-02 -1.63473053e-03 9.98796328e-01 1.30200460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.510385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.85, Y:112.94, Z:13.02 [[ 2.70574569e-01 -9.62582248e-01 -1.49939736e-02 2.20853878e+02] [ 9.61450375e-01 2.70983852e-01 -4.67004016e-02 1.12935967e+02] [ 4.90161023e-02 -1.78002047e-03 9.98796402e-01 1.30232773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.540385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.86, Y:112.96, Z:13.02 [[ 2.70334525e-01 -9.62664560e-01 -1.40067776e-02 2.20861567e+02] [ 9.61516947e-01 2.70696073e-01 -4.69978473e-02 1.12963462e+02] [ 4.90347417e-02 -7.62613324e-04 9.98796782e-01 1.30243482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.570385723 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:220.88, Y:113.00, Z:13.03 [[ 2.76677625e-01 -9.60860626e-01 -1.40124716e-02 2.20878549e+02] [ 9.59710740e-01 2.77031875e-01 -4.69961321e-02 1.12997117e+02] [ 4.90386341e-02 -4.45141287e-04 9.98796783e-01 1.30277845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.600385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.88, Y:113.02, Z:13.03 [[ 2.69032978e-01 -9.63011048e-01 -1.51979718e-02 2.20876169e+02] [ 9.61883169e-01 2.69453954e-01 -4.66405020e-02 1.13017006e+02] [ 4.90104723e-02 -2.07084014e-03 9.98796118e-01 1.30296936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.630385723 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:220.90, Y:113.05, Z:13.03 [[ 2.75472425e-01 -9.61206448e-01 -1.40395225e-02 2.20897338e+02] [ 9.60057484e-01 2.75829438e-01 -4.69866816e-02 1.13048241e+02] [ 4.90364149e-02 -5.35213542e-04 9.98796848e-01 1.30314723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.660385723 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:220.91, Y:113.08, Z:13.04 [[ 2.76246781e-01 -9.60969239e-01 -1.50279040e-02 2.20906854e+02] [ 9.59835488e-01 2.76651031e-01 -4.66909256e-02 1.13076686e+02] [ 4.90260284e-02 -1.52609764e-03 9.98796335e-01 1.30351990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.690385723 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:220.91, Y:113.10, Z:13.03 [[ 2.74243769e-01 -9.61542326e-01 -1.50568893e-02 2.20910318e+02] [ 9.60409892e-01 2.74651788e-01 -4.66822753e-02 1.13103670e+02] [ 4.90223852e-02 -1.65846224e-03 9.98796303e-01 1.30348887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.720385723 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:220.92, Y:113.13, Z:13.04 [[ 2.77082118e-01 -9.60733188e-01 -1.47390909e-02 2.20920023e+02] [ 9.59594491e-01 2.77471336e-01 -4.67768093e-02 1.13132671e+02] [ 4.90297084e-02 -1.18253305e-03 9.98796621e-01 1.30369123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.750385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.92, Y:113.15, Z:13.03 [[ 2.71739838e-01 -9.62254309e-01 -1.49701696e-02 2.20918490e+02] [ 9.61121521e-01 2.72146596e-01 -4.67081497e-02 1.13153418e+02] [ 4.90191990e-02 -1.69568717e-03 9.98796397e-01 1.30349440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.780385723 meters Centerline goodness : 0.998861 Centerline is valid? [True, True] Translation: X:220.94, Y:113.18, Z:13.03 [[ 2.78090259e-01 -9.60454095e-01 -1.39190305e-02 2.20936736e+02] [ 9.59302521e-01 2.78438242e-01 -4.70193467e-02 1.13184783e+02] [ 4.90355145e-02 -2.76938772e-04 9.98796997e-01 1.30340650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.810385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:220.94, Y:113.21, Z:13.04 [[ 2.76822214e-01 -9.60806115e-01 -1.48684320e-02 2.20942036e+02] [ 9.59669595e-01 2.77218033e-01 -4.67379027e-02 1.13209445e+02] [ 4.90278602e-02 -1.33069242e-03 9.98796525e-01 1.30429372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.840385723 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:220.95, Y:113.24, Z:13.05 [[ 2.77551433e-01 -9.60602978e-01 -1.43916689e-02 2.20950528e+02] [ 9.59458787e-01 2.77923159e-01 -4.68780766e-02 1.13236278e+02] [ 4.90309981e-02 -7.97135892e-04 9.98796939e-01 1.30454171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.870385723 meters Centerline goodness : 0.999678 Centerline is valid? [True, True] Translation: X:220.95, Y:113.26, Z:13.04 [[ 2.75776436e-01 -9.61114955e-01 -1.43317994e-02 2.20952388e+02] [ 9.59970539e-01 2.76147355e-01 -4.68956572e-02 1.13260628e+02] [ 4.90298059e-02 -8.25387990e-04 9.98796975e-01 1.30384095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.900385723 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:220.96, Y:113.29, Z:13.04 [[ 2.78763336e-01 -9.60262319e-01 -1.36850812e-02 2.20964449e+02] [ 9.59107258e-01 2.79099048e-01 -4.70849020e-02 1.13291014e+02] [ 4.90333503e-02 8.35841858e-08 9.98797142e-01 1.30378752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.93038572300003 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:220.97, Y:113.31, Z:13.04 [[ 2.77038591e-01 -9.60753393e-01 -1.42315414e-02 2.20970673e+02] [ 9.59606984e-01 2.77403112e-01 -4.69249310e-02 1.13313925e+02] [ 4.90311605e-02 -6.56669764e-04 9.98797033e-01 1.30376375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.960385723 meters Centerline goodness : 0.997280 Centerline is valid? [True, True] Translation: X:220.98, Y:113.34, Z:13.04 [[ 2.77496089e-01 -9.60629092e-01 -1.36992218e-02 2.20982990e+02] [ 9.59474696e-01 2.77834018e-01 -4.70804107e-02 1.13341482e+02] [ 4.90329220e-02 -7.94268068e-05 9.98797160e-01 1.30389798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.990385723 meters Centerline goodness : 0.998129 Centerline is valid? [True, True] Translation: X:220.99, Y:113.37, Z:13.04 [[ 2.76381508e-01 -9.60945800e-01 -1.40153931e-02 2.20994171e+02] [ 9.59796420e-01 2.76736251e-01 -4.69880780e-02 1.13367895e+02] [ 4.90315635e-02 -4.65288269e-04 9.98797121e-01 1.30405716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.020385723 meters Centerline goodness : 0.999762 Centerline is valid? [True, True] Translation: X:221.00, Y:113.39, Z:13.04 [[ 2.71724301e-01 -9.62271461e-01 -1.41258444e-02 2.20999657e+02] [ 9.61125474e-01 2.72089998e-01 -4.69558947e-02 1.13391194e+02] [ 4.90278184e-02 -8.17651212e-04 9.98797079e-01 1.30399427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.050385723 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:221.01, Y:113.42, Z:13.05 [[ 2.71322820e-01 -9.62392992e-01 -1.35519646e-02 2.21012127e+02] [ 9.61238658e-01 2.71660947e-01 -4.71229447e-02 1.13416922e+02] [ 4.90323313e-02 -2.41142074e-04 9.98797163e-01 1.30489602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.080385723 meters Centerline goodness : 0.996632 Centerline is valid? [True, True] Translation: X:221.02, Y:113.45, Z:13.04 [[ 2.67920665e-01 -9.63343504e-01 -1.37044087e-02 2.21021160e+02] [ 9.62192623e-01 2.68270321e-01 -4.70785694e-02 1.13445879e+02] [ 4.90293201e-02 -5.72959310e-04 9.98797175e-01 1.30428098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.110385723 meters Centerline goodness : 0.999676 Centerline is valid? [True, True] Translation: X:221.03, Y:113.47, Z:13.05 [[ 2.64784365e-01 -9.64204954e-01 -1.40728940e-02 2.21031070e+02] [ 9.63060815e-01 2.65155730e-01 -4.69713189e-02 1.13468138e+02] [ 4.90214869e-02 -1.11578198e-03 9.98797101e-01 1.30504697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.140385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:221.04, Y:113.50, Z:13.05 [[ 2.63165399e-01 -9.64653876e-01 -1.36701249e-02 2.21041873e+02] [ 9.63504232e-01 2.63519055e-01 -4.70882507e-02 1.13497322e+02] [ 4.90262020e-02 -7.79224912e-04 9.98797189e-01 1.30467731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.170385723 meters Centerline goodness : 0.995741 Centerline is valid? [True, True] Translation: X:221.05, Y:113.52, Z:13.05 [[ 2.62894233e-01 -9.64723409e-01 -1.39773848e-02 2.21052853e+02] [ 9.63578539e-01 2.63263190e-01 -4.69988441e-02 1.13524345e+02] [ 4.90206160e-02 -1.11258296e-03 9.98797147e-01 1.30486320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.200385723 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:221.06, Y:113.55, Z:13.05 [[ 2.59265182e-01 -9.65702841e-01 -1.41276019e-02 2.21060964e+02] [ 9.64561714e-01 2.59645744e-01 -4.69551775e-02 1.13548740e+02] [ 4.90129199e-02 -1.45310123e-03 9.98797088e-01 1.30468363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.230385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:221.07, Y:113.57, Z:13.05 [[ 2.59855005e-01 -9.65550164e-01 -1.37206814e-02 2.21068763e+02] [ 9.64402537e-01 2.60215066e-01 -4.70729992e-02 1.13572072e+02] [ 4.90216701e-02 -1.00010554e-03 9.98797214e-01 1.30469582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.260385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:221.08, Y:113.60, Z:13.05 [[ 2.63139677e-01 -9.64663861e-01 -1.34590419e-02 2.21083503e+02] [ 9.63511125e-01 2.63483055e-01 -4.71486220e-02 1.13601567e+02] [ 4.90288012e-02 -5.61263446e-04 9.98797207e-01 1.30505003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.290385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:221.09, Y:113.63, Z:13.05 [[ 2.64494681e-01 -9.64283390e-01 -1.41459295e-02 2.21091876e+02] [ 9.63140501e-01 2.64869945e-01 -4.69498385e-02 1.13627050e+02] [ 4.90197810e-02 -1.20653507e-03 9.98797079e-01 1.30508638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.320385723 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:221.10, Y:113.65, Z:13.06 [[ 2.67471119e-01 -9.63463044e-01 -1.40770528e-02 2.21098825e+02] [ 9.62317954e-01 2.67839496e-01 -4.69697673e-02 1.13649759e+02] [ 4.90240257e-02 -9.83544456e-04 9.98797115e-01 1.30585540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.350385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:221.11, Y:113.68, Z:13.06 [[ 2.73230964e-01 -9.61851966e-01 -1.36248309e-02 2.21109412e+02] [ 9.60698087e-01 2.73570369e-01 -4.71002950e-02 1.13675275e+02] [ 4.90308613e-02 -2.20089977e-04 9.98797240e-01 1.30598287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.380385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:221.12, Y:113.70, Z:13.06 [[ 2.74454206e-01 -9.61504198e-01 -1.35855325e-02 2.21119360e+02] [ 9.60349327e-01 2.74790219e-01 -4.71116275e-02 1.13703151e+02] [ 4.90311990e-02 -1.16872708e-04 9.98797241e-01 1.30605013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.410385723 meters Centerline goodness : 0.997468 Centerline is valid? [True, True] Translation: X:221.13, Y:113.73, Z:13.06 [[ 2.81406497e-01 -9.59488676e-01 -1.38515158e-02 2.21133344e+02] [ 9.58335136e-01 2.81747191e-01 -4.70349697e-02 1.13732211e+02] [ 4.90321465e-02 -3.84482424e-05 9.98797200e-01 1.30560389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.440385723 meters Centerline goodness : 0.997151 Centerline is valid? [True, True] Translation: X:221.14, Y:113.75, Z:13.06 [[ 2.85404158e-01 -9.58300012e-01 -1.43371664e-02 2.21141972e+02] [ 9.57151968e-01 2.85763842e-01 -4.68949554e-02 1.13754828e+02] [ 4.90364801e-02 -3.38831731e-04 9.98796931e-01 1.30566025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.470385723 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:221.15, Y:113.78, Z:13.06 [[ 2.88519937e-01 -9.57369774e-01 -1.41195282e-02 2.21148945e+02] [ 9.56217466e-01 2.88865216e-01 -4.69579143e-02 1.13777091e+02] [ 4.90347284e-02 4.69549764e-05 9.98797073e-01 1.30625110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.500385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.15, Y:113.80, Z:13.05 [[ 2.85672946e-01 -9.58230764e-01 -1.35930388e-02 2.21151869e+02] [ 9.57072133e-01 2.85995807e-01 -4.71097771e-02 1.13800034e+02] [ 4.90295898e-02 4.48470134e-04 9.98797226e-01 1.30544995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.530385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:221.17, Y:113.83, Z:13.06 [[ 2.91740652e-01 -9.56409219e-01 -1.29922309e-02 2.21171099e+02] [ 9.55240733e-01 2.92026526e-01 -4.72826584e-02 1.13829214e+02] [ 4.90156464e-02 1.38356542e-03 9.98797053e-01 1.30588824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.560385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:221.19, Y:113.85, Z:13.06 [[ 2.92403341e-01 -9.56197143e-01 -1.36861287e-02 2.21186101e+02] [ 9.55037528e-01 2.92722631e-01 -4.70827099e-02 1.13854109e+02] [ 4.90265923e-02 6.96375127e-04 9.98797231e-01 1.30622792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.590385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.19, Y:113.88, Z:13.07 [[ 2.91825192e-01 -9.56370401e-01 -1.39181108e-02 2.21192546e+02] [ 9.55214128e-01 2.92156594e-01 -4.70159030e-02 1.13877489e+02] [ 4.90308858e-02 4.25648831e-04 9.98797172e-01 1.30683216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.620385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.20, Y:113.90, Z:13.07 [[ 2.93577585e-01 -9.55839366e-01 -1.35391635e-02 2.21203428e+02] [ 9.54677419e-01 2.93888211e-01 -4.71247802e-02 1.13901553e+02] [ 4.90227206e-02 9.09245504e-04 9.98797250e-01 1.30669358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.650385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:221.21, Y:113.92, Z:13.07 [[ 2.93474936e-01 -9.55871092e-01 -1.35247194e-02 2.21211847e+02] [ 9.54708989e-01 2.93784975e-01 -4.71289253e-02 1.13921941e+02] [ 4.90225366e-02 9.18987133e-04 9.98797250e-01 1.30679786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.68038572300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.23, Y:113.95, Z:13.07 [[ 2.90009515e-01 -9.56933729e-01 -1.31270264e-02 2.21226159e+02] [ 9.55767539e-01 2.90304159e-01 -4.72430610e-02 1.13946914e+02] [ 4.90193089e-02 1.15455146e-03 9.98797164e-01 1.30671956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.710385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.24, Y:113.97, Z:13.07 [[ 2.90192000e-01 -9.56875664e-01 -1.33254196e-02 2.21237639e+02] [ 9.55711998e-01 2.90496207e-01 -4.71861178e-02 1.13970098e+02] [ 4.90222316e-02 9.57770465e-04 9.98797228e-01 1.30695770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.740385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:221.25, Y:114.00, Z:13.07 [[ 2.87364340e-01 -9.57731115e-01 -1.31471347e-02 2.21249320e+02] [ 9.56566002e-01 2.87663197e-01 -4.72373696e-02 1.13999255e+02] [ 4.90226455e-02 9.98233470e-04 9.98797168e-01 1.30710357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.770385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.26, Y:114.03, Z:13.07 [[ 2.84061782e-01 -9.58710191e-01 -1.35526199e-02 2.21262386e+02] [ 9.57551582e-01 2.84384604e-01 -4.71207507e-02 1.14026812e+02] [ 4.90293003e-02 4.07871819e-04 9.98797257e-01 1.30717555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.800385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.27, Y:114.05, Z:13.07 [[ 2.83842651e-01 -9.58772154e-01 -1.37588939e-02 2.21272379e+02] [ 9.57616465e-01 2.84175868e-01 -4.70614632e-02 1.14052010e+02] [ 4.90311661e-02 1.82307075e-04 9.98797232e-01 1.30729015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.830385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.28, Y:114.08, Z:13.07 [[ 2.83086851e-01 -9.58997771e-01 -1.36054730e-02 2.21282816e+02] [ 9.57840222e-01 2.83413448e-01 -4.71054914e-02 1.14078420e+02] [ 4.90300353e-02 3.03075943e-04 9.98797259e-01 1.30732863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.860385723 meters Centerline goodness : 0.999865 Centerline is valid? [True, True] Translation: X:221.29, Y:114.10, Z:13.07 [[ 2.79036984e-01 -9.60185306e-01 -1.35107421e-02 2.21292416e+02] [ 9.59027827e-01 2.79363814e-01 -4.71326466e-02 1.14102778e+02] [ 4.90304871e-02 1.94573915e-04 9.98797263e-01 1.30747162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.890385723 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:221.31, Y:114.13, Z:13.08 [[ 2.80769699e-01 -9.59683853e-01 -1.32392563e-02 2.21305850e+02] [ 9.58522092e-01 2.81081096e-01 -4.72103474e-02 1.14132460e+02] [ 4.90283127e-02 5.65115410e-04 9.98797229e-01 1.30783765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.920385723 meters Centerline goodness : 0.999775 Centerline is valid? [True, True] Translation: X:221.31, Y:114.16, Z:13.08 [[ 2.79464817e-01 -9.60054511e-01 -1.39553497e-02 2.21313373e+02] [ 9.58903146e-01 2.79812930e-01 -4.70051245e-02 1.14157718e+02] [ 4.90323691e-02 -2.45550223e-04 9.98797160e-01 1.30804440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.950385723 meters Centerline goodness : 0.999842 Centerline is valid? [True, True] Translation: X:221.32, Y:114.18, Z:13.08 [[ 2.78742536e-01 -9.60264601e-01 -1.39461689e-02 2.21320333e+02] [ 9.59113366e-01 2.79091065e-01 -4.70077512e-02 1.14182287e+02] [ 4.90321306e-02 -2.72897259e-04 9.98797164e-01 1.30821242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.980385723 meters Centerline goodness : 0.999752 Centerline is valid? [True, True] Translation: X:221.33, Y:114.21, Z:13.08 [[ 2.78030837e-01 -9.60472643e-01 -1.38259188e-02 2.21327169e+02] [ 9.59319953e-01 2.78374331e-01 -4.70421044e-02 1.14208233e+02] [ 4.90314352e-02 -1.84324184e-04 9.98797219e-01 1.30831282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.010385723 meters Centerline goodness : 0.999887 Centerline is valid? [True, True] Translation: X:221.33, Y:114.23, Z:13.08 [[ 2.75410239e-01 -9.61229057e-01 -1.37076754e-02 2.21334291e+02] [ 9.60075624e-01 2.75751087e-01 -4.70758317e-02 1.14234611e+02] [ 4.90305637e-02 -1.95238955e-04 9.98797260e-01 1.30827043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.040385723 meters Centerline goodness : 0.999662 Centerline is valid? [True, True] Translation: X:221.34, Y:114.26, Z:13.09 [[ 2.75409223e-01 -9.61231916e-01 -1.35264126e-02 2.21340063e+02] [ 9.60075937e-01 2.75741190e-01 -4.71274009e-02 1.14260871e+02] [ 4.90301510e-02 -7.06239186e-06 9.98797299e-01 1.30859025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.070385723 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:221.34, Y:114.29, Z:13.09 [[ 2.73598310e-01 -9.61750665e-01 -1.34023964e-02 2.21344859e+02] [ 9.60593580e-01 2.73926374e-01 -4.71626435e-02 1.14289423e+02] [ 4.90299736e-02 2.93636422e-05 9.98797307e-01 1.30865371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.100385723 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:221.35, Y:114.32, Z:13.09 [[ 2.70579238e-01 -9.62604212e-01 -1.34166919e-02 2.21349767e+02] [ 9.61448364e-01 2.70911632e-01 -4.71585831e-02 1.14315916e+02] [ 4.90297886e-02 -1.39322951e-04 9.98797307e-01 1.30869544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.130385723 meters Centerline goodness : 0.999843 Centerline is valid? [True, True] Translation: X:221.36, Y:114.34, Z:13.09 [[ 2.70319771e-01 -9.62678405e-01 -1.33232766e-02 2.21358541e+02] [ 9.61521338e-01 2.70647899e-01 -4.71850791e-02 1.14343720e+02] [ 4.90299736e-02 -5.55549771e-05 9.98797306e-01 1.30886095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.160385723 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:221.36, Y:114.37, Z:13.09 [[ 2.66116602e-01 -9.63846988e-01 -1.34512978e-02 2.21363247e+02] [ 9.62693185e-01 2.66456040e-01 -4.71488087e-02 1.14370304e+02] [ 4.90284168e-02 -4.02391953e-04 9.98797303e-01 1.30914569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.190385723 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:221.37, Y:114.40, Z:13.09 [[ 2.64899375e-01 -9.64185738e-01 -1.31978766e-02 2.21371319e+02] [ 9.63028765e-01 2.65227868e-01 -4.72204954e-02 1.14398786e+02] [ 4.90297729e-02 -2.01255077e-04 9.98797297e-01 1.30940320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.220385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:221.38, Y:114.43, Z:13.09 [[ 2.60553098e-01 -9.65367536e-01 -1.33268158e-02 2.21377202e+02] [ 9.64213905e-01 2.60893104e-01 -4.71840376e-02 1.14427962e+02] [ 4.90268124e-02 -5.55953978e-04 9.98797308e-01 1.30898891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.250385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.38, Y:114.45, Z:13.10 [[ 2.60639460e-01 -9.65339821e-01 -1.36419386e-02 2.21383075e+02] [ 9.64190755e-01 2.60994748e-01 -4.70949018e-02 1.14452636e+02] [ 4.90230584e-02 -8.78641291e-04 9.98797261e-01 1.30968909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.280385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.39, Y:114.48, Z:13.10 [[ 2.61206826e-01 -9.65191476e-01 -1.32819200e-02 2.21391099e+02] [ 9.64036978e-01 2.61543856e-01 -4.71965630e-02 1.14481422e+02] [ 4.90275248e-02 -4.76197569e-04 9.98797314e-01 1.30988004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.310385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:221.39, Y:114.51, Z:13.10 [[ 2.57914904e-01 -9.66074860e-01 -1.33890601e-02 2.21390685e+02] [ 9.64923076e-01 2.58261099e-01 -4.71663180e-02 1.14505957e+02] [ 4.90240674e-02 -7.54516659e-04 9.98797313e-01 1.30985847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.340385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:221.40, Y:114.54, Z:13.10 [[ 2.61740420e-01 -9.65053114e-01 -1.28233677e-02 2.21402808e+02] [ 9.63892009e-01 2.62054356e-01 -4.73255584e-02 1.14536761e+02] [ 4.90320969e-02 2.66699232e-05 9.98797203e-01 1.31002135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.370385723 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:221.40, Y:114.56, Z:13.10 [[ 2.57904240e-01 -9.66075455e-01 -1.35505821e-02 2.21399410e+02] [ 9.64926048e-01 2.58258328e-01 -4.71206784e-02 1.14558833e+02] [ 4.90216815e-02 -9.22686896e-04 9.98797288e-01 1.31029694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.400385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.41, Y:114.59, Z:13.11 [[ 2.63813829e-01 -9.64490753e-01 -1.26432411e-02 2.21414303e+02] [ 9.63326550e-01 2.64116426e-01 -4.73758492e-02 1.14590764e+02] [ 4.90328561e-02 3.18834385e-04 9.98797115e-01 1.31094244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.43038572300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.42, Y:114.62, Z:13.11 [[ 2.61385911e-01 -9.65138325e-01 -1.36169067e-02 2.21418930e+02] [ 9.63988628e-01 2.61739089e-01 -4.71017402e-02 1.14615942e+02] [ 4.90237714e-02 -8.14811993e-04 9.98797280e-01 1.31098893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.460385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.43, Y:114.64, Z:13.11 [[ 2.61255048e-01 -9.65179158e-01 -1.32284990e-02 2.21426389e+02] [ 9.64023916e-01 2.61589408e-01 -4.72109175e-02 1.14643298e+02] [ 4.90274288e-02 -4.18498914e-04 9.98797345e-01 1.31111171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.490385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.44, Y:114.67, Z:13.12 [[ 2.62384386e-01 -9.64872860e-01 -1.32210789e-02 2.21436654e+02] [ 9.63717124e-01 2.62717031e-01 -4.72130020e-02 1.14673213e+02] [ 4.90279469e-02 -3.53425551e-04 9.98797345e-01 1.31151123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.520385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.45, Y:114.70, Z:13.12 [[ 2.60461065e-01 -9.65386392e-01 -1.37531111e-02 2.21445408e+02] [ 9.64239040e-01 2.60821986e-01 -4.70634266e-02 1.14701095e+02] [ 4.90215053e-02 -1.00309641e-03 9.98797220e-01 1.31159436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.550385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.45, Y:114.73, Z:13.12 [[ 2.58893136e-01 -9.65804510e-01 -1.39997659e-02 2.21451767e+02] [ 9.64661449e-01 2.59267926e-01 -4.69939465e-02 1.14727486e+02] [ 4.90166557e-02 -1.33862432e-03 9.98797064e-01 1.31184382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.580385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.46, Y:114.75, Z:13.12 [[ 2.57196668e-01 -9.66259244e-01 -1.38905679e-02 2.21457413e+02] [ 9.65115189e-01 2.57568155e-01 -4.70246555e-02 1.14754589e+02] [ 4.90157760e-02 -1.31141335e-03 9.98797144e-01 1.31179552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.610385723 meters Centerline goodness : 0.993567 Centerline is valid? [True, True] Translation: X:221.46, Y:114.78, Z:13.12 [[ 2.56127819e-01 -9.66544569e-01 -1.37889655e-02 2.21463225e+02] [ 9.65399385e-01 2.56495628e-01 -4.70533739e-02 1.14781645e+02] [ 4.90159924e-02 -1.26018080e-03 9.98797199e-01 1.31153650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.640385723 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:221.47, Y:114.81, Z:13.12 [[ 2.52651169e-01 -9.67458588e-01 -1.38299590e-02 2.21468019e+02] [ 9.66315360e-01 2.53025085e-01 -4.70418022e-02 1.14810689e+02] [ 4.90103221e-02 -1.47893550e-03 9.98797177e-01 1.31247839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.670385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:221.47, Y:114.84, Z:13.13 [[ 2.52980232e-01 -9.67372037e-01 -1.38688182e-02 2.21474301e+02] [ 9.66229269e-01 2.53355648e-01 -4.70310052e-02 1.14835480e+02] [ 4.90102227e-02 -1.50254345e-03 9.98797147e-01 1.31261971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.700385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:221.47, Y:114.86, Z:13.12 [[ 2.43070751e-01 -9.69914794e-01 -1.34871119e-02 2.21472410e+02] [ 9.68770051e-01 2.43439326e-01 -4.71368602e-02 1.14861292e+02] [ 4.90020315e-02 -1.60831804e-03 9.98797384e-01 1.31167057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.730385723 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:221.48, Y:114.89, Z:13.12 [[ 2.43369926e-01 -9.69845379e-01 -1.30774728e-02 2.21480126e+02] [ 9.68694399e-01 2.43718229e-01 -4.72502408e-02 1.14888160e+02] [ 4.90126462e-02 -1.16878701e-03 9.98797474e-01 1.31193599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.760385723 meters Centerline goodness : 0.993768 Centerline is valid? [True, True] Translation: X:221.49, Y:114.91, Z:13.11 [[ 2.44927537e-01 -9.69453803e-01 -1.30316866e-02 2.21485281e+02] [ 9.68301597e-01 2.45271760e-01 -4.72628957e-02 1.14911438e+02] [ 4.90154987e-02 -1.04261829e-03 9.98797474e-01 1.31145959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.790385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:221.49, Y:114.94, Z:13.12 [[ 2.40784971e-01 -9.70498888e-01 -1.24300900e-02 2.21490181e+02] [ 9.69339473e-01 2.41104778e-01 -4.74286071e-02 1.14940471e+02] [ 4.90263645e-02 -6.28881139e-04 9.98797287e-01 1.31194750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.820385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:221.48, Y:114.96, Z:13.12 [[ 2.34030482e-01 -9.72141979e-01 -1.30271631e-02 2.21483632e+02] [ 9.70993645e-01 2.34387396e-01 -4.72640485e-02 1.14962937e+02] [ 4.90007684e-02 -1.58806457e-03 9.98797478e-01 1.31154246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.850385723 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:221.50, Y:115.00, Z:13.12 [[ 2.41259997e-01 -9.70387959e-01 -1.18669023e-02 2.21499865e+02] [ 9.69220657e-01 2.41551670e-01 -4.75826444e-02 1.14995486e+02] [ 4.90400952e-02 -2.18581662e-05 9.98796810e-01 1.31212825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.880385723 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:221.51, Y:115.02, Z:13.12 [[ 2.41287162e-01 -9.70366487e-01 -1.30148303e-02 2.21507952e+02] [ 9.69215379e-01 2.41634885e-01 -4.72665991e-02 1.15022199e+02] [ 4.90107608e-02 -1.20935014e-03 9.98797518e-01 1.31234672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.910385723 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:221.51, Y:115.04, Z:13.12 [[ 2.33061227e-01 -9.72375141e-01 -1.30019434e-02 2.21505602e+02] [ 9.71226824e-01 2.33418060e-01 -4.72701438e-02 1.15042578e+02] [ 4.89992011e-02 -1.61099852e-03 9.98797519e-01 1.31208509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.940385723 meters Centerline goodness : 0.999713 Centerline is valid? [True, True] Translation: X:221.51, Y:115.07, Z:13.12 [[ 2.33638830e-01 -9.72252097e-01 -1.17795328e-02 2.21512148e+02] [ 9.71085979e-01 2.33935376e-01 -4.76052639e-02 1.15071091e+02] [ 4.90399671e-02 -3.16500971e-04 9.98796767e-01 1.31220201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.970385723 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:221.52, Y:115.10, Z:13.12 [[ 2.33548176e-01 -9.72271834e-01 -1.19470157e-02 2.21517215e+02] [ 9.71108064e-01 2.33853024e-01 -4.75593345e-02 1.15098025e+02] [ 4.90344471e-02 -4.94447450e-04 9.98796966e-01 1.31217583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.000385723 meters Centerline goodness : 0.999714 Centerline is valid? [True, True] Translation: X:221.52, Y:115.13, Z:13.12 [[ 2.34363598e-01 -9.72077115e-01 -1.18231465e-02 2.21523716e+02] [ 9.70911377e-01 2.34661410e-01 -4.75932889e-02 1.15125087e+02] [ 4.90387832e-02 -3.25093060e-04 9.98796822e-01 1.31220946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.030385723 meters Centerline goodness : 0.999759 Centerline is valid? [True, True] Translation: X:221.53, Y:115.15, Z:13.12 [[ 2.36801014e-01 -9.71486116e-01 -1.18323985e-02 2.21529843e+02] [ 9.70319761e-01 2.37096354e-01 -4.75907544e-02 1.15152306e+02] [ 4.90391757e-02 -2.11671175e-04 9.98796833e-01 1.31235543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.060385723 meters Centerline goodness : 0.999738 Centerline is valid? [True, True] Translation: X:221.54, Y:115.18, Z:13.13 [[ 2.39576792e-01 -9.70804468e-01 -1.19015044e-02 2.21537929e+02] [ 9.69638211e-01 2.39872183e-01 -4.75717920e-02 1.15179332e+02] [ 4.90377481e-02 -1.43056124e-04 9.98796916e-01 1.31265221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.090385723 meters Centerline goodness : 0.999431 Centerline is valid? [True, True] Translation: X:221.55, Y:115.21, Z:13.13 [[ 2.43697121e-01 -9.69777557e-01 -1.19667450e-02 2.21545719e+02] [ 9.68610932e-01 2.43990758e-01 -4.75538959e-02 1.15206591e+02] [ 4.90364762e-02 -2.37246770e-06 9.98796988e-01 1.31293405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.120385723 meters Centerline goodness : 0.999782 Centerline is valid? [True, True] Translation: X:221.55, Y:115.23, Z:13.13 [[ 2.47603052e-01 -9.68786400e-01 -1.20681221e-02 2.21554213e+02] [ 9.67619952e-01 2.47896960e-01 -4.75260483e-02 1.15233665e+02] [ 4.90342400e-02 9.02388746e-05 9.98797094e-01 1.31321884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.150385723 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:221.56, Y:115.26, Z:13.13 [[ 2.48835249e-01 -9.68469263e-01 -1.21780558e-02 2.21559386e+02] [ 9.67303913e-01 2.49133066e-01 -4.74958503e-02 1.15260532e+02] [ 4.90322276e-02 3.87607010e-05 9.98797196e-01 1.31312546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.18038572300003 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:221.57, Y:115.29, Z:13.13 [[ 2.54356461e-01 -9.67035528e-01 -1.20448377e-02 2.21566592e+02] [ 9.65866759e-01 2.54641078e-01 -4.75323497e-02 1.15289394e+02] [ 4.90325814e-02 4.56451839e-04 9.98797075e-01 1.31314354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.210385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.58, Y:115.32, Z:13.13 [[ 2.57285305e-01 -9.66257170e-01 -1.23025709e-02 2.21575438e+02] [ 9.65090892e-01 2.57579050e-01 -4.74615996e-02 1.15316957e+02] [ 4.90289954e-02 3.38073007e-04 9.98797298e-01 1.31347763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.240385723 meters Centerline goodness : 0.997795 Centerline is valid? [True, True] Translation: X:221.59, Y:115.35, Z:13.14 [[ 2.62129209e-01 -9.64952476e-01 -1.24497353e-02 2.21586576e+02] [ 9.63786633e-01 2.62424335e-01 -4.74214627e-02 1.15345832e+02] [ 4.90265714e-02 4.31662049e-04 9.98797381e-01 1.31390092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.270385723 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:221.59, Y:115.37, Z:13.14 [[ 2.61794059e-01 -9.65038966e-01 -1.27931415e-02 2.21592730e+02] [ 9.63877735e-01 2.62106448e-01 -4.73278066e-02 1.15370274e+02] [ 4.90263424e-02 5.91143198e-05 9.98797484e-01 1.31422069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.300385723 meters Centerline goodness : 0.999760 Centerline is valid? [True, True] Translation: X:221.60, Y:115.40, Z:13.15 [[ 2.64014187e-01 -9.64436148e-01 -1.26264188e-02 2.21604517e+02] [ 9.63272007e-01 2.64315718e-01 -4.73734243e-02 1.15397258e+02] [ 4.90260037e-02 3.44580351e-04 9.98797443e-01 1.31473244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.330385723 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:221.61, Y:115.42, Z:13.15 [[ 2.62646448e-01 -9.64805329e-01 -1.29429841e-02 2.21612504e+02] [ 9.63645830e-01 2.62965159e-01 -4.72867791e-02 1.15422964e+02] [ 4.90260903e-02 -5.27480733e-05 9.98797497e-01 1.31471277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.360385723 meters Centerline goodness : 0.999630 Centerline is valid? [True, True] Translation: X:221.62, Y:115.45, Z:13.15 [[ 2.60911472e-01 -9.65276090e-01 -1.29334490e-02 2.21620034e+02] [ 9.64117037e-01 2.61231799e-01 -4.72893869e-02 1.15449833e+02] [ 4.90259427e-02 -1.31015016e-04 9.98797497e-01 1.31498385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.390385723 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:221.63, Y:115.48, Z:13.15 [[ 2.57149081e-01 -9.66285366e-01 -1.29205621e-02 2.21627695e+02] [ 9.65127393e-01 2.57473291e-01 -4.72929077e-02 1.15476391e+02] [ 4.90251442e-02 -3.08660676e-04 9.98797497e-01 1.31507876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.420385723 meters Centerline goodness : 0.999782 Centerline is valid? [True, True] Translation: X:221.64, Y:115.50, Z:13.15 [[ 2.55099480e-01 -9.66828656e-01 -1.29075700e-02 2.21635664e+02] [ 9.65671194e-01 2.55425509e-01 -4.72964533e-02 1.15501927e+02] [ 4.90244890e-02 -3.99167873e-04 9.98797497e-01 1.31513121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.450385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.65, Y:115.53, Z:13.15 [[ 2.50119122e-01 -9.68129157e-01 -1.28980920e-02 2.21646070e+02] [ 9.66973256e-01 2.50450642e-01 -4.72990379e-02 1.15527819e+02] [ 4.90219131e-02 -6.41716207e-04 9.98797497e-01 1.31546143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.480385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:221.65, Y:115.55, Z:13.16 [[ 2.47049837e-01 -9.68917101e-01 -1.28852328e-02 2.21654772e+02] [ 9.67762074e-01 2.47384391e-01 -4.73025407e-02 1.15554994e+02] [ 4.90198461e-02 -7.83754647e-04 9.98797497e-01 1.31567087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.510385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.66, Y:115.58, Z:13.16 [[ 2.42083203e-01 -9.70170103e-01 -1.28722100e-02 2.21661846e+02] [ 9.69016618e-01 2.42423035e-01 -4.73060843e-02 1.15580965e+02] [ 4.90154689e-02 -1.02137696e-03 9.98797497e-01 1.31567759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.540385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:221.67, Y:115.61, Z:13.16 [[ 2.39909417e-01 -9.70710117e-01 -1.28584914e-02 2.21668692e+02] [ 9.69557198e-01 2.40251164e-01 -4.73098129e-02 1.15608518e+02] [ 4.90133816e-02 -1.11697323e-03 9.98797497e-01 1.31579807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.570385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.67, Y:115.63, Z:13.15 [[ 2.36781444e-01 -9.71478019e-01 -1.28454976e-02 2.21674522e+02] [ 9.70326017e-01 2.37126270e-01 -4.73133408e-02 1.15632123e+02] [ 4.90098755e-02 -1.26139936e-03 9.98797497e-01 1.31519382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.600385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:221.69, Y:115.66, Z:13.16 [[ 2.38801725e-01 -9.70987822e-01 -1.25053881e-02 2.21686805e+02] [ 9.69830252e-01 2.39127574e-01 -4.74055497e-02 1.15659951e+02] [ 4.90205946e-02 -8.07576672e-04 9.98797441e-01 1.31612211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.630385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:221.70, Y:115.69, Z:13.16 [[ 2.39239213e-01 -9.70875870e-01 -1.28313759e-02 2.21695316e+02] [ 9.69722797e-01 2.39580435e-01 -4.73171519e-02 1.15685694e+02] [ 4.90132276e-02 -1.12275953e-03 9.98797498e-01 1.31620894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.660385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.70, Y:115.71, Z:13.15 [[ 2.37480092e-01 -9.71307834e-01 -1.28178652e-02 2.21697737e+02] [ 9.70155185e-01 2.37822744e-01 -4.73208115e-02 1.15711334e+02] [ 4.90114548e-02 -1.19756767e-03 9.98797499e-01 1.31545150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.690385723 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:221.71, Y:115.74, Z:13.16 [[ 2.40928221e-01 -9.70462856e-01 -1.24674574e-02 2.21706541e+02] [ 9.69304053e-01 2.41249680e-01 -4.74156507e-02 1.15739562e+02] [ 4.90228980e-02 -6.60988630e-04 9.98797436e-01 1.31560217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.720385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:221.72, Y:115.77, Z:13.16 [[ 2.41718940e-01 -9.70264138e-01 -1.26275764e-02 2.21715314e+02] [ 9.69107311e-01 2.42047274e-01 -4.73723246e-02 1.15766940e+02] [ 4.90201382e-02 -7.86688455e-04 9.98797481e-01 1.31568129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.750385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:221.72, Y:115.79, Z:13.16 [[ 2.43127296e-01 -9.69911808e-01 -1.26571456e-02 2.21724632e+02] [ 9.68754918e-01 2.43455394e-01 -4.73643353e-02 1.15793216e+02] [ 4.90206784e-02 -7.46109320e-04 9.98797485e-01 1.31641615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.780385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.74, Y:115.82, Z:13.17 [[ 2.46472664e-01 -9.69066087e-01 -1.27336217e-02 2.21737193e+02] [ 9.67909131e-01 2.46800504e-01 -4.73436922e-02 1.15818895e+02] [ 4.90218308e-02 -6.56062752e-04 9.98797492e-01 1.31670554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.810385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:221.75, Y:115.85, Z:13.17 [[ 2.44881106e-01 -9.69468521e-01 -1.28074225e-02 2.21746627e+02] [ 9.68313138e-01 2.45214448e-01 -4.73237928e-02 1.15849883e+02] [ 4.90194925e-02 -8.12892745e-04 9.98797491e-01 1.31670327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.840385723 meters Centerline goodness : 0.999491 Centerline is valid? [True, True] Translation: X:221.76, Y:115.87, Z:13.17 [[ 2.45953113e-01 -9.69188947e-01 -1.34108328e-02 2.21755670e+02] [ 9.68041830e-01 2.46314579e-01 -4.71608203e-02 1.15873282e+02] [ 4.90110294e-02 -1.38289656e-03 9.98797280e-01 1.31663065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.870385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:221.76, Y:115.90, Z:13.17 [[ 2.41750848e-01 -9.70249328e-01 -1.31441449e-02 2.21762144e+02] [ 9.69099879e-01 2.42104316e-01 -4.72326590e-02 1.15903699e+02] [ 4.90097099e-02 -1.31945386e-03 9.98797431e-01 1.31699607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.900385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.77, Y:115.93, Z:13.17 [[ 2.39788501e-01 -9.70733926e-01 -1.33086682e-02 2.21771933e+02] [ 9.69587598e-01 2.40152289e-01 -4.71886360e-02 1.15930004e+02] [ 4.90037170e-02 -1.58862734e-03 9.98797333e-01 1.31719089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.93038572300003 meters Centerline goodness : 0.999778 Centerline is valid? [True, True] Translation: X:221.77, Y:115.95, Z:13.18 [[ 2.36223147e-01 -9.71607285e-01 -1.33382558e-02 2.21774023e+02] [ 9.70462741e-01 2.36592577e-01 -4.71807226e-02 1.15951762e+02] [ 4.89968661e-02 -1.79910152e-03 9.98797312e-01 1.31754439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.960385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:221.78, Y:115.98, Z:13.18 [[ 2.35751178e-01 -9.71731048e-01 -1.26551443e-02 2.21780896e+02] [ 9.70576754e-01 2.36087957e-01 -4.73628627e-02 1.15978670e+02] [ 4.90116913e-02 -1.11693822e-03 9.98797580e-01 1.31769977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.990385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:221.79, Y:116.01, Z:13.18 [[ 2.36860894e-01 -9.71462057e-01 -1.25852459e-02 2.21793615e+02] [ 9.70306396e-01 2.37192946e-01 -4.73814762e-02 1.16008056e+02] [ 4.90144379e-02 -9.88725788e-04 9.98797581e-01 1.31778884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.020385723 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:221.80, Y:116.03, Z:13.18 [[ 2.33939038e-01 -9.72162429e-01 -1.31429713e-02 2.21795975e+02] [ 9.71015840e-01 2.34301684e-01 -4.72330363e-02 1.16031251e+02] [ 4.89976036e-02 -1.71238224e-03 9.98797428e-01 1.31783582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.050385723 meters Centerline goodness : 0.997681 Centerline is valid? [True, True] Translation: X:221.81, Y:116.06, Z:13.18 [[ 2.35064220e-01 -9.71898439e-01 -1.25791852e-02 2.21806660e+02] [ 9.70743327e-01 2.35398113e-01 -4.73827191e-02 1.16062437e+02] [ 4.90123072e-02 -1.07317814e-03 9.98797598e-01 1.31784867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.080385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:221.81, Y:116.08, Z:13.18 [[ 2.34574166e-01 -9.72006287e-01 -1.33693054e-02 2.21809617e+02] [ 9.70862822e-01 2.34947044e-01 -4.71727509e-02 1.16083634e+02] [ 4.89932893e-02 -1.91425291e-03 9.98797273e-01 1.31800360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.110385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:221.82, Y:116.11, Z:13.18 [[ 2.34770906e-01 -9.71969802e-01 -1.25429341e-02 2.21818961e+02] [ 9.70814322e-01 2.35103380e-01 -4.73914822e-02 1.16114397e+02] [ 4.90119758e-02 -1.05071890e-03 9.98797638e-01 1.31779870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.140385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.83, Y:116.14, Z:13.18 [[ 2.35246517e-01 -9.71848625e-01 -1.30125266e-02 2.21825470e+02] [ 9.70699673e-01 2.35601281e-01 -4.72671247e-02 1.16136817e+02] [ 4.90022581e-02 -1.51182891e-03 9.98797524e-01 1.31833815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.170385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:221.83, Y:116.16, Z:13.18 [[ 2.34657776e-01 -9.71997438e-01 -1.25183581e-02 2.21832500e+02] [ 9.70841668e-01 2.34989187e-01 -4.73976479e-02 1.16163571e+02] [ 4.90120711e-02 -1.03111702e-03 9.98797654e-01 1.31844777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.200385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.84, Y:116.19, Z:13.19 [[ 2.32756646e-01 -9.72454607e-01 -1.25052134e-02 2.21837892e+02] [ 9.71299304e-01 2.33089675e-01 -4.74011157e-02 1.16189920e+02] [ 4.90102695e-02 -1.11338033e-03 9.98797654e-01 1.31857410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.230385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.84, Y:116.22, Z:13.19 [[ 2.31693091e-01 -9.72708732e-01 -1.24913408e-02 2.21844641e+02] [ 9.71553598e-01 2.32026708e-01 -4.74047712e-02 1.16217731e+02] [ 4.90093596e-02 -1.15264919e-03 9.98797654e-01 1.31880579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.260385723 meters Centerline goodness : 0.999083 Centerline is valid? [True, True] Translation: X:221.86, Y:116.25, Z:13.19 [[ 2.31477732e-01 -9.72758680e-01 -1.25940421e-02 2.21855045e+02] [ 9.71605070e-01 2.31816605e-01 -4.73777352e-02 1.16246850e+02] [ 4.90066113e-02 -1.26954450e-03 9.98797647e-01 1.31863780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.290385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:221.86, Y:116.27, Z:13.19 [[ 2.31281479e-01 -9.72799724e-01 -1.30220773e-02 2.21859909e+02] [ 9.71652347e-01 2.31641391e-01 -4.72650288e-02 1.16268338e+02] [ 4.89958590e-02 -1.72140622e-03 9.98797498e-01 1.31914700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.320385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.87, Y:116.30, Z:13.19 [[ 2.30762821e-01 -9.72930411e-01 -1.24473044e-02 2.21867075e+02] [ 9.71774998e-01 2.31095398e-01 -4.74159232e-02 1.16295095e+02] [ 4.90089084e-02 -1.15414704e-03 9.98797675e-01 1.31922894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.350385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.87, Y:116.32, Z:13.19 [[ 2.30495516e-01 -9.72993939e-01 -1.24342613e-02 2.21874256e+02] [ 9.71838435e-01 2.30827775e-01 -4.74193433e-02 1.16322738e+02] [ 4.90089065e-02 -1.15414700e-03 9.98797675e-01 1.31936858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.380385723 meters Centerline goodness : 0.999438 Centerline is valid? [True, True] Translation: X:221.89, Y:116.35, Z:13.19 [[ 2.31277231e-01 -9.72808592e-01 -1.24212172e-02 2.21885067e+02] [ 9.71652639e-01 2.31607926e-01 -4.74227599e-02 1.16354428e+02] [ 4.90101206e-02 -1.10130384e-03 9.98797675e-01 1.31915625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.410385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.89, Y:116.38, Z:13.19 [[ 2.31280172e-01 -9.72798100e-01 -1.31658365e-02 2.21885470e+02] [ 9.71652824e-01 2.31647061e-01 -4.72274231e-02 1.16375730e+02] [ 4.89925748e-02 -1.86985562e-03 9.98797393e-01 1.31934099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.440385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:221.89, Y:116.40, Z:13.19 [[ 2.31519371e-01 -9.72751265e-01 -1.23998924e-02 2.21892250e+02] [ 9.71594965e-01 2.31848738e-01 -4.74276938e-02 1.16403009e+02] [ 4.90102486e-02 -1.06724317e-03 9.98797706e-01 1.31944520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.470385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.90, Y:116.43, Z:13.20 [[ 2.31731047e-01 -9.72701023e-01 -1.23872017e-02 2.21900542e+02] [ 9.71544475e-01 2.32059544e-01 -4.74310082e-02 1.16429353e+02] [ 4.90107585e-02 -1.04348024e-03 9.98797706e-01 1.31965093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.500385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.91, Y:116.46, Z:13.20 [[ 2.31660645e-01 -9.72717953e-01 -1.23745717e-02 2.21909381e+02] [ 9.71561255e-01 2.31988610e-01 -4.74343031e-02 1.16455714e+02] [ 4.90109579e-02 -1.03399318e-03 9.98797706e-01 1.31997594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.530385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.91, Y:116.48, Z:13.20 [[ 2.30987820e-01 -9.72878107e-01 -1.23619057e-02 2.21914005e+02] [ 9.71721460e-01 2.31315968e-01 -4.74376037e-02 1.16483047e+02] [ 4.90105123e-02 -1.05482035e-03 9.98797706e-01 1.31998741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.560385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.92, Y:116.51, Z:13.20 [[ 2.30567410e-01 -9.72977997e-01 -1.23485288e-02 2.21920214e+02] [ 9.71821308e-01 2.30895406e-01 -4.74410857e-02 1.16509994e+02] [ 4.90103511e-02 -1.06219515e-03 9.98797706e-01 1.32008268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.590385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.93, Y:116.54, Z:13.20 [[ 2.30491770e-01 -9.72996077e-01 -1.23360417e-02 2.21927618e+02] [ 9.71839241e-01 2.30819247e-01 -4.74443324e-02 1.16537325e+02] [ 4.90105452e-02 -1.05312126e-03 9.98797706e-01 1.32021884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.620385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.94, Y:116.56, Z:13.20 [[ 2.30101630e-01 -9.73088572e-01 -1.23235723e-02 2.21936030e+02] [ 9.71931696e-01 2.30428963e-01 -4.74475711e-02 1.16563944e+02] [ 4.90103972e-02 -1.05990706e-03 9.98797706e-01 1.32048503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.650385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:221.94, Y:116.59, Z:13.21 [[ 2.29818885e-01 -9.73155546e-01 -1.23111374e-02 2.21942084e+02] [ 9.71998593e-01 2.30145948e-01 -4.74507974e-02 1.16589193e+02] [ 4.90103650e-02 -1.06131886e-03 9.98797706e-01 1.32065203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.68038572300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.95, Y:116.62, Z:13.21 [[ 2.29575519e-01 -9.73213123e-01 -1.23003401e-02 2.21946849e+02] [ 9.72056103e-01 2.29902346e-01 -4.74535961e-02 1.16615005e+02] [ 4.90103395e-02 -1.06243665e-03 9.98797706e-01 1.32076067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.710385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.95, Y:116.64, Z:13.21 [[ 2.29570281e-01 -9.73214542e-01 -1.22858172e-02 2.21953332e+02] [ 9.72057324e-01 2.29896406e-01 -4.74573558e-02 1.16642800e+02] [ 4.90106540e-02 -1.04772006e-03 9.98797706e-01 1.32078796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.740385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:221.96, Y:116.67, Z:13.21 [[ 2.30017313e-01 -9.73109146e-01 -1.22730041e-02 2.21960773e+02] [ 9.71951603e-01 2.30342281e-01 -4.74606692e-02 1.16668342e+02] [ 4.90114030e-02 -1.01199044e-03 9.98797706e-01 1.32091454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.770385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.97, Y:116.69, Z:13.21 [[ 2.29997693e-01 -9.73113954e-01 -1.22594698e-02 2.21968046e+02] [ 9.71956232e-01 2.30322026e-01 -4.74641650e-02 1.16694274e+02] [ 4.90116671e-02 -9.99019618e-04 9.98797706e-01 1.32113738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.800385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.97, Y:116.72, Z:13.21 [[ 2.31959584e-01 -9.72648335e-01 -1.22461791e-02 2.21974875e+02] [ 9.71489782e-01 2.32280932e-01 -4.74675938e-02 1.16721483e+02] [ 4.90138300e-02 -8.86474593e-04 9.98797707e-01 1.32125663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.830385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:221.98, Y:116.75, Z:13.21 [[ 2.32997145e-01 -9.72400475e-01 -1.22330277e-02 2.21980406e+02] [ 9.71241403e-01 2.33316616e-01 -4.74709829e-02 1.16748351e+02] [ 4.90149749e-02 -8.20619547e-04 9.98797707e-01 1.32140456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.860385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.99, Y:116.78, Z:13.21 [[ 2.34175048e-01 -9.72117657e-01 -1.22191928e-02 2.21985875e+02] [ 9.70958014e-01 2.34492438e-01 -4.74745438e-02 1.16775592e+02] [ 4.90161506e-02 -7.46969612e-04 9.98797707e-01 1.32146191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.890385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.99, Y:116.80, Z:13.22 [[ 2.37148891e-01 -9.71396630e-01 -1.22061646e-02 2.21990899e+02] [ 9.70235849e-01 2.37462094e-01 -4.74778932e-02 1.16802443e+02] [ 4.90183669e-02 -5.83528771e-04 9.98797707e-01 1.32163368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.920385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.00, Y:116.83, Z:13.22 [[ 2.38684264e-01 -9.71020683e-01 -1.21924176e-02 2.21996384e+02] [ 9.69859229e-01 2.38994961e-01 -4.74814232e-02 1.16829501e+02] [ 4.90193704e-02 -4.91860119e-04 9.98797707e-01 1.32175444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.950385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:222.00, Y:116.86, Z:13.22 [[ 2.38704650e-01 -9.71015834e-01 -1.21795058e-02 2.22002513e+02] [ 9.69854204e-01 2.39014691e-01 -4.74847350e-02 1.16857016e+02] [ 4.90195104e-02 -4.77517797e-04 9.98797707e-01 1.32175784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.980385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.01, Y:116.88, Z:13.22 [[ 2.38448243e-01 -9.71078997e-01 -1.21662348e-02 2.22008295e+02] [ 9.69917276e-01 2.38757941e-01 -4.74881350e-02 1.16883059e+02] [ 4.90195157e-02 -4.76778968e-04 9.98797707e-01 1.32177098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.010385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.01, Y:116.91, Z:13.22 [[ 2.37714992e-01 -9.71258929e-01 -1.21522079e-02 2.22014318e+02] [ 9.70097259e-01 2.38024882e-01 -4.74917242e-02 1.16910423e+02] [ 4.90192890e-02 -4.99328674e-04 9.98797707e-01 1.32176413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.040385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:222.02, Y:116.94, Z:13.22 [[ 2.36656750e-01 -9.71517484e-01 -1.21392259e-02 2.22020639e+02] [ 9.70355983e-01 2.36967270e-01 -4.74950423e-02 1.16937278e+02] [ 4.90188632e-02 -5.39348181e-04 9.98797707e-01 1.32186070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.070385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.03, Y:116.96, Z:13.22 [[ 2.34497357e-01 -9.72041133e-01 -1.21253771e-02 2.22026461e+02] [ 9.70880143e-01 2.34809781e-01 -4.74985776e-02 1.16963527e+02] [ 4.90177283e-02 -6.33996940e-04 9.98797707e-01 1.32202957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.100385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.03, Y:116.99, Z:13.22 [[ 2.32607489e-01 -9.72495277e-01 -1.21116275e-02 2.22032393e+02] [ 9.71334715e-01 2.32921498e-01 -4.75020833e-02 1.16991202e+02] [ 4.90166101e-02 -7.15103875e-04 9.98797708e-01 1.32218846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.130385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:222.04, Y:117.02, Z:13.22 [[ 2.31041305e-01 -9.72868399e-01 -1.21240570e-02 2.22037013e+02] [ 9.71708509e-01 2.31357789e-01 -4.74989157e-02 1.17017516e+02] [ 4.90151891e-02 -8.06837921e-04 9.98797707e-01 1.32218652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.160385723 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:222.04, Y:117.04, Z:13.22 [[ 2.30517150e-01 -9.72993107e-01 -1.20936888e-02 2.22042853e+02] [ 9.71832984e-01 2.30832776e-01 -4.75066465e-02 1.17043433e+02] [ 4.90152593e-02 -8.01948967e-04 9.98797708e-01 1.32237058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.190385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.05, Y:117.07, Z:13.23 [[ 2.30345373e-01 -9.73033957e-01 -1.20800925e-02 2.22049110e+02] [ 9.71873708e-01 2.30660540e-01 -4.75101035e-02 1.17070822e+02] [ 4.90153447e-02 -7.96591811e-04 9.98797708e-01 1.32263782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.220385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.06, Y:117.10, Z:13.23 [[ 2.31519339e-01 -9.72755454e-01 -1.20674254e-02 2.22057058e+02] [ 9.71594659e-01 2.31832488e-01 -4.75133207e-02 1.17100016e+02] [ 4.90164631e-02 -7.24393440e-04 9.98797708e-01 1.32295310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.250385723 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:222.06, Y:117.13, Z:13.23 [[ 2.32202306e-01 -9.72589573e-01 -1.23130956e-02 2.22063191e+02] [ 9.71431817e-01 2.32526630e-01 -4.74509316e-02 1.17128449e+02] [ 4.90134039e-02 -9.43117163e-04 9.98797676e-01 1.32311478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.280385723 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:222.07, Y:117.16, Z:13.23 [[ 2.32972499e-01 -9.72404518e-01 -1.23801458e-02 2.22067184e+02] [ 9.71247403e-01 2.33299177e-01 -4.74339234e-02 1.17156883e+02] [ 4.90132392e-02 -9.73384741e-04 9.98797655e-01 1.32323307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.310385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.08, Y:117.19, Z:13.23 [[ 2.34039895e-01 -9.72147781e-01 -1.24104879e-02 2.22075009e+02] [ 9.70990713e-01 2.34366782e-01 -4.74262325e-02 1.17185334e+02] [ 4.90139128e-02 -9.50838015e-04 9.98797643e-01 1.32347485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.340385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:222.08, Y:117.21, Z:13.24 [[ 2.34565303e-01 -9.72019342e-01 -1.25506011e-02 2.22082660e+02] [ 9.70863976e-01 2.34898397e-01 -4.73907498e-02 1.17212451e+02] [ 4.90128415e-02 -1.06870094e-03 9.98797577e-01 1.32371158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.370385723 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:222.09, Y:117.24, Z:13.24 [[ 2.34775605e-01 -9.71967781e-01 -1.26114394e-02 2.22089652e+02] [ 9.70813163e-01 2.35111414e-01 -4.73753586e-02 1.17240045e+02] [ 4.90124156e-02 -1.12077285e-03 9.98797541e-01 1.32398171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.400385723 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:222.09, Y:117.27, Z:13.24 [[ 2.35045409e-01 -9.71901774e-01 -1.26726913e-02 2.22092856e+02] [ 9.70747892e-01 2.35383882e-01 -4.73598807e-02 1.17267316e+02] [ 4.90120993e-02 -1.17026581e-03 9.98797499e-01 1.32403671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.43038572300003 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:222.10, Y:117.30, Z:13.24 [[ 2.35465551e-01 -9.71800507e-01 -1.26392114e-02 2.22098845e+02] [ 9.70646026e-01 2.35801894e-01 -4.73683288e-02 1.17296062e+02] [ 4.90129159e-02 -1.11459063e-03 9.98797523e-01 1.32412437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.460385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.10, Y:117.32, Z:13.24 [[ 2.35339261e-01 -9.71830366e-01 -1.26953356e-02 2.22104744e+02] [ 9.70676688e-01 2.35678488e-01 -4.73541829e-02 1.17323651e+02] [ 4.90122504e-02 -1.17876793e-03 9.98797482e-01 1.32415350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.490385723 meters Centerline goodness : 0.999716 Centerline is valid? [True, True] Translation: X:222.11, Y:117.35, Z:13.24 [[ 2.34769304e-01 -9.71968159e-01 -1.26992686e-02 2.22109408e+02] [ 9.70814733e-01 2.35109399e-01 -4.73531934e-02 1.17350132e+02] [ 4.90115136e-02 -1.21156077e-03 9.98797479e-01 1.32401557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.520385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:222.11, Y:117.37, Z:13.24 [[ 2.33244036e-01 -9.72336565e-01 -1.26025710e-02 2.22111343e+02] [ 9.71182363e-01 2.33581232e-01 -4.73774841e-02 1.17374528e+02] [ 4.90105842e-02 -1.18887905e-03 9.98797552e-01 1.32385124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.550385723 meters Centerline goodness : 0.999781 Centerline is valid? [True, True] Translation: X:222.11, Y:117.40, Z:13.24 [[ 2.30864211e-01 -9.72908081e-01 -1.23118660e-02 2.22112413e+02] [ 9.71750799e-01 2.31190066e-01 -4.74503714e-02 1.17399465e+02] [ 4.90112309e-02 -1.00947311e-03 9.98797717e-01 1.32397859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.580385723 meters Centerline goodness : 0.999562 Centerline is valid? [True, True] Translation: X:222.12, Y:117.43, Z:13.24 [[ 2.30636655e-01 -9.72967267e-01 -1.18924770e-02 2.22117971e+02] [ 9.71804583e-01 2.30942310e-01 -4.75552557e-02 1.17426429e+02] [ 4.90161833e-02 -5.89178594e-04 9.98797811e-01 1.32410759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.610385723 meters Centerline goodness : 0.999584 Centerline is valid? [True, True] Translation: X:222.12, Y:117.45, Z:13.24 [[ 2.28722447e-01 -9.73419195e-01 -1.18790654e-02 2.22123217e+02] [ 9.72256942e-01 2.29029733e-01 -4.75586057e-02 1.17451756e+02] [ 4.90151188e-02 -6.71783087e-04 9.98797811e-01 1.32410313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.640385723 meters Centerline goodness : 0.999431 Centerline is valid? [True, True] Translation: X:222.13, Y:117.48, Z:13.24 [[ 2.25052188e-01 -9.74274466e-01 -1.18649912e-02 2.22127512e+02] [ 9.73113194e-01 2.25363166e-01 -4.75621166e-02 1.17478697e+02] [ 4.90124878e-02 -8.42021073e-04 9.98797811e-01 1.32431072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.670385723 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:222.14, Y:117.51, Z:13.25 [[ 2.29477972e-01 -9.73242385e-01 -1.17949035e-02 2.22138287e+02] [ 9.72078814e-01 2.29780243e-01 -4.75796002e-02 1.17506103e+02] [ 4.90167194e-02 -5.47105667e-04 9.98797808e-01 1.32524717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.700385723 meters Centerline goodness : 0.999716 Centerline is valid? [True, True] Translation: X:222.14, Y:117.53, Z:13.25 [[ 2.29372223e-01 -9.73264859e-01 -1.19957434e-02 2.22143246e+02] [ 9.72103908e-01 2.29684432e-01 -4.75295152e-02 1.17533142e+02] [ 4.90140424e-02 -7.59158527e-04 9.98797801e-01 1.32515665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.730385723 meters Centerline goodness : 0.999717 Centerline is valid? [True, True] Translation: X:222.15, Y:117.56, Z:13.25 [[ 2.29408447e-01 -9.73256201e-01 -1.20055298e-02 2.22145818e+02] [ 9.72095365e-01 2.29721090e-01 -4.75270741e-02 1.17560996e+02] [ 4.90139429e-02 -7.67407631e-04 9.98797800e-01 1.32538864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.760385723 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:222.15, Y:117.59, Z:13.26 [[ 2.29698369e-01 -9.73189011e-01 -1.19083226e-02 2.22151243e+02] [ 9.72026828e-01 2.30005919e-01 -4.75512662e-02 1.17588961e+02] [ 4.90153544e-02 -6.52760765e-04 9.98797812e-01 1.32567485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.790385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:222.16, Y:117.62, Z:13.26 [[ 2.29765002e-01 -9.73173718e-01 -1.18726130e-02 2.22156643e+02] [ 9.72011056e-01 2.30070727e-01 -4.75601436e-02 1.17615830e+02] [ 4.90158225e-02 -6.12654651e-04 9.98797814e-01 1.32554971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.820385723 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:222.16, Y:117.64, Z:13.26 [[ 2.30763469e-01 -9.72937677e-01 -1.18531822e-02 2.22161272e+02] [ 9.71774455e-01 2.31067052e-01 -4.75649712e-02 1.17640249e+02] [ 4.90166324e-02 -5.42361904e-04 9.98797815e-01 1.32562446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.850385723 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:222.17, Y:117.67, Z:13.26 [[ 2.33160295e-01 -9.72367130e-01 -1.17660877e-02 2.22167792e+02] [ 9.71202071e-01 2.33456749e-01 -4.75865856e-02 1.17665780e+02] [ 4.90185043e-02 -3.31946442e-04 9.98797815e-01 1.32553481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.880385723 meters Centerline goodness : 0.999458 Centerline is valid? [True, True] Translation: X:222.17, Y:117.69, Z:13.26 [[ 2.32122085e-01 -9.72615098e-01 -1.17986538e-02 2.22171479e+02] [ 9.71450765e-01 2.32421376e-01 -4.75785098e-02 1.17692846e+02] [ 4.90178363e-02 -4.17788429e-04 9.98797816e-01 1.32627443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.910385723 meters Centerline goodness : 0.999566 Centerline is valid? [True, True] Translation: X:222.18, Y:117.72, Z:13.26 [[ 2.33908472e-01 -9.72189211e-01 -1.16174656e-02 2.22178615e+02] [ 9.71022088e-01 2.34196753e-01 -4.76233763e-02 1.17720905e+02] [ 4.90197053e-02 -1.41304476e-04 9.98797802e-01 1.32565106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.940385723 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:222.19, Y:117.75, Z:13.26 [[ 2.33849333e-01 -9.72201482e-01 -1.17799742e-02 2.22185163e+02] [ 9.71036386e-01 2.34145641e-01 -4.75831454e-02 1.17747493e+02] [ 4.90186341e-02 -3.11496814e-04 9.98797816e-01 1.32638452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.970385723 meters Centerline goodness : 0.999566 Centerline is valid? [True, True] Translation: X:222.19, Y:117.77, Z:13.27 [[ 2.32065406e-01 -9.72629006e-01 -1.17671018e-02 2.22192027e+02] [ 9.71464294e-01 2.32363221e-01 -4.75863285e-02 1.17774084e+02] [ 4.90180850e-02 -3.88178599e-04 9.98797816e-01 1.32681937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.000385723 meters Centerline goodness : 0.999761 Centerline is valid? [True, True] Translation: X:222.20, Y:117.80, Z:13.27 [[ 2.32927378e-01 -9.72424554e-01 -1.16328784e-02 2.22203153e+02] [ 9.71257916e-01 2.33217590e-01 -4.76194848e-02 1.17800477e+02] [ 4.90193481e-02 -2.06643465e-04 9.98797808e-01 1.32703458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.030385723 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:222.21, Y:117.83, Z:13.27 [[ 2.33689004e-01 -9.72240410e-01 -1.17488396e-02 2.22208938e+02] [ 9.71074975e-01 2.33983981e-01 -4.75908576e-02 1.17828055e+02] [ 4.90187952e-02 -2.87544009e-04 9.98797815e-01 1.32721552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.060385723 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:222.21, Y:117.85, Z:13.27 [[ 2.29025078e-01 -9.73349775e-01 -1.17357795e-02 2.22207396e+02] [ 9.72185604e-01 2.29325000e-01 -4.75940780e-02 1.17851363e+02] [ 4.90169927e-02 -5.09118481e-04 9.98797815e-01 1.32680092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.090385723 meters Centerline goodness : 0.999674 Centerline is valid? [True, True] Translation: X:222.22, Y:117.88, Z:13.27 [[ 2.35092705e-01 -9.71912038e-01 -1.08817015e-02 2.22221122e+02] [ 9.70735927e-01 2.35343442e-01 -4.78040257e-02 1.17882795e+02] [ 4.90222451e-02 6.75119115e-04 9.98797459e-01 1.32724732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.120385723 meters Centerline goodness : 0.999739 Centerline is valid? [True, True] Translation: X:222.23, Y:117.91, Z:13.28 [[ 2.35070663e-01 -9.71907544e-01 -1.17264384e-02 2.22231195e+02] [ 9.70741438e-01 2.35362886e-01 -4.75959229e-02 1.17909351e+02] [ 4.90188049e-02 -1.94934587e-04 9.98797837e-01 1.32755813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.150385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.23, Y:117.93, Z:13.27 [[ 2.29231651e-01 -9.73301414e-01 -1.17135353e-02 2.22232433e+02] [ 9.72136922e-01 2.29530239e-01 -4.75990982e-02 1.17931946e+02] [ 4.90168801e-02 -4.75940309e-04 9.98797837e-01 1.32747785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.18038572300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.25, Y:117.96, Z:13.28 [[ 2.33891660e-01 -9.72201926e-01 -1.08676768e-02 2.22248332e+02] [ 9.71026007e-01 2.34143161e-01 -4.78066358e-02 1.17963258e+02] [ 4.90222956e-02 6.28776580e-04 9.98797487e-01 1.32808585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.210385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.25, Y:117.99, Z:13.28 [[ 2.32847680e-01 -9.72442819e-01 -1.17013382e-02 2.22254311e+02] [ 9.71277093e-01 2.33141340e-01 -4.76017258e-02 1.17990330e+02] [ 4.90180221e-02 -2.81290338e-04 9.98797855e-01 1.32840208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.240385723 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:222.26, Y:118.02, Z:13.28 [[ 2.35012687e-01 -9.71922677e-01 -1.16338265e-02 2.22263154e+02] [ 9.70755478e-01 2.35300443e-01 -4.76183098e-02 1.18016811e+02] [ 4.90187597e-02 -1.02693889e-04 9.98797853e-01 1.32827250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.270385723 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:222.27, Y:118.04, Z:13.28 [[ 2.34750328e-01 -9.71985478e-01 -1.16839357e-02 2.22269916e+02] [ 9.70818966e-01 2.35040854e-01 -4.76060115e-02 1.18044540e+02] [ 4.90185541e-02 -1.67459551e-04 9.98797854e-01 1.32841450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.300385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:222.28, Y:118.07, Z:13.28 [[ 2.35364958e-01 -9.71836984e-01 -1.16710691e-02 2.22277878e+02] [ 9.70670132e-01 2.35654116e-01 -4.76091657e-02 1.18070759e+02] [ 4.90186835e-02 -1.23228834e-04 9.98797854e-01 1.32845768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.330385723 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:222.29, Y:118.10, Z:13.29 [[ 2.35420641e-01 -9.71823609e-01 -1.16616839e-02 2.22288828e+02] [ 9.70656627e-01 2.35709272e-01 -4.76114645e-02 1.18097202e+02] [ 4.90187123e-02 -1.10769278e-04 9.98797854e-01 1.32885153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.360385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:222.29, Y:118.12, Z:13.29 [[ 2.33046675e-01 -9.72395781e-01 -1.16486786e-02 2.22293035e+02] [ 9.71229349e-01 2.33337518e-01 -4.76146462e-02 1.18122640e+02] [ 4.90183548e-02 -2.17103568e-04 9.98797854e-01 1.32896905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.390385723 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:222.30, Y:118.15, Z:13.29 [[ 2.36049958e-01 -9.71675024e-01 -1.13166317e-02 2.22303799e+02] [ 9.70503759e-01 2.36320910e-01 -4.76957176e-02 1.18150756e+02] [ 4.90190942e-02 2.75738472e-04 9.98797804e-01 1.32929536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.420385723 meters Centerline goodness : 0.999649 Centerline is valid? [True, True] Translation: X:222.31, Y:118.18, Z:13.29 [[ 2.35014293e-01 -9.71922321e-01 -1.16311796e-02 2.22310798e+02] [ 9.70755092e-01 2.35301917e-01 -4.76188902e-02 1.18178343e+02] [ 4.90187011e-02 -9.99069954e-05 9.98797856e-01 1.32900582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.450385723 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:222.32, Y:118.21, Z:13.29 [[ 2.35866442e-01 -9.71716025e-01 -1.16184140e-02 2.22319391e+02] [ 9.70548392e-01 2.36152417e-01 -4.76220046e-02 1.18205194e+02] [ 4.90187816e-02 -4.38001923e-05 9.98797856e-01 1.32926160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.480385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:222.33, Y:118.23, Z:13.29 [[ 2.34938153e-01 -9.71941039e-01 -1.16052277e-02 2.22331620e+02] [ 9.70773520e-01 2.35224597e-01 -4.76252178e-02 1.18231049e+02] [ 4.90187387e-02 -7.70670281e-05 9.98797856e-01 1.32944586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.510385723 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:222.34, Y:118.26, Z:13.29 [[ 2.32993007e-01 -9.72409319e-01 -1.15920643e-02 2.22340351e+02] [ 9.71242216e-01 2.33281142e-01 -4.76284216e-02 1.18256603e+02] [ 4.90185310e-02 -1.61613042e-04 9.98797856e-01 1.32941347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.540385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:222.35, Y:118.28, Z:13.30 [[ 2.32729500e-01 -9.72472582e-01 -1.15782721e-02 2.22348982e+02] [ 9.71305391e-01 2.33017276e-01 -4.76317742e-02 1.18283925e+02] [ 4.90185319e-02 -1.60719154e-04 9.98797856e-01 1.32978337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.570385723 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:222.36, Y:118.31, Z:13.30 [[ 2.31084727e-01 -9.72864882e-01 -1.15658965e-02 2.22357522e+02] [ 9.71698029e-01 2.31373870e-01 -4.76347790e-02 1.18309941e+02] [ 4.90182499e-02 -2.30888881e-04 9.98797856e-01 1.32977145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.600385723 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:222.37, Y:118.34, Z:13.30 [[ 2.30342384e-01 -9.73041049e-01 -1.15543568e-02 2.22366561e+02] [ 9.71874277e-01 2.30631852e-01 -4.76375780e-02 1.18336436e+02] [ 4.90181215e-02 -2.56428842e-04 9.98797856e-01 1.32990896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.630385723 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:222.38, Y:118.36, Z:13.30 [[ 2.29144393e-01 -9.73324014e-01 -1.15416688e-02 2.22375296e+02] [ 9.72157445e-01 2.29434677e-01 -4.76406518e-02 1.18363265e+02] [ 4.90178495e-02 -3.03731024e-04 9.98797857e-01 1.32990606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.660385723 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:222.38, Y:118.39, Z:13.30 [[ 2.29538557e-01 -9.73231284e-01 -1.15290530e-02 2.22384213e+02] [ 9.72064444e-01 2.29827751e-01 -4.76437047e-02 1.18389357e+02] [ 4.90180402e-02 -2.70915256e-04 9.98797857e-01 1.33027574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.690385723 meters Centerline goodness : 0.999844 Centerline is valid? [True, True] Translation: X:222.39, Y:118.41, Z:13.30 [[ 2.28479554e-01 -9.73480602e-01 -1.15156953e-02 2.22394553e+02] [ 9.72313914e-01 2.28769363e-01 -4.76469331e-02 1.18414924e+02] [ 4.90178034e-02 -3.10520787e-04 9.98797857e-01 1.33049792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.720385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:222.40, Y:118.44, Z:13.31 [[ 2.26859188e-01 -9.73859642e-01 -1.15024605e-02 2.22403275e+02] [ 9.72693277e-01 2.27150291e-01 -4.76501279e-02 1.18441302e+02] [ 4.90173237e-02 -3.78496676e-04 9.98797857e-01 1.33059892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.750385723 meters Centerline goodness : 0.999843 Centerline is valid? [True, True] Translation: X:222.41, Y:118.47, Z:13.31 [[ 2.25538289e-01 -9.74166564e-01 -1.14885290e-02 2.22410267e+02] [ 9.73000424e-01 2.25830292e-01 -4.76534866e-02 1.18467345e+02] [ 4.90168911e-02 -4.30657748e-04 9.98797857e-01 1.33051091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.780385723 meters Centerline goodness : 0.999640 Centerline is valid? [True, True] Translation: X:222.42, Y:118.49, Z:13.30 [[ 2.28841460e-01 -9.73396075e-01 -1.14746069e-02 2.22418899e+02] [ 9.72228784e-01 2.29128824e-01 -4.76568387e-02 1.18489523e+02] [ 4.90181429e-02 -2.50082603e-04 9.98797857e-01 1.33044144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.810385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.43, Y:118.52, Z:13.31 [[ 2.27545282e-01 -9.73705397e-01 -1.09974450e-02 2.22426777e+02] [ 9.72532840e-01 2.27810817e-01 -4.77713942e-02 1.18517548e+02] [ 4.90206013e-02 1.74778946e-04 9.98797752e-01 1.33096314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.840385723 meters Centerline goodness : 0.999865 Centerline is valid? [True, True] Translation: X:222.43, Y:118.54, Z:13.31 [[ 2.28077387e-01 -9.73575708e-01 -1.14475681e-02 2.22434555e+02] [ 9.72408318e-01 2.28364343e-01 -4.76632909e-02 1.18544166e+02] [ 4.90180386e-02 -2.60791648e-04 9.98797859e-01 1.33112798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.870385723 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:222.44, Y:118.57, Z:13.31 [[ 2.32210652e-01 -9.72598301e-01 -1.14349723e-02 2.22441239e+02] [ 9.71429554e-01 2.32492030e-01 -4.76663126e-02 1.18570451e+02] [ 4.90187146e-02 -3.96445333e-05 9.98797859e-01 1.33130915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.900385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:222.45, Y:118.60, Z:13.31 [[ 2.34265012e-01 -9.72105678e-01 -1.14216856e-02 2.22446424e+02] [ 9.70936185e-01 2.34543268e-01 -4.76694962e-02 1.18595911e+02] [ 4.90186673e-02 7.75672846e-05 9.98797860e-01 1.33126126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.93038572300003 meters Centerline goodness : 0.999842 Centerline is valid? [True, True] Translation: X:222.45, Y:118.62, Z:13.31 [[ 2.34003674e-01 -9.72168789e-01 -1.14072599e-02 2.22451736e+02] [ 9.70999203e-01 2.34281537e-01 -4.76729480e-02 1.18622765e+02] [ 4.90186625e-02 7.92047343e-05 9.98797860e-01 1.33127946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.960385723 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:222.46, Y:118.65, Z:13.32 [[ 2.34303593e-01 -9.72096713e-01 -1.13933078e-02 2.22457743e+02] [ 9.70926878e-01 2.34580411e-01 -4.76762821e-02 1.18650210e+02] [ 4.90186040e-02 1.08655455e-04 9.98797860e-01 1.33164472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.990385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.46, Y:118.68, Z:13.32 [[ 2.34892294e-01 -9.71954786e-01 -1.13799770e-02 2.22464726e+02] [ 9.70784630e-01 2.35167750e-01 -4.76794639e-02 1.18677261e+02] [ 4.90184867e-02 1.52031896e-04 9.98797860e-01 1.33188197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.020385723 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:222.47, Y:118.70, Z:13.32 [[ 2.34287991e-01 -9.72100784e-01 -1.13667225e-02 2.22471310e+02] [ 9.70930647e-01 2.34563525e-01 -4.76826235e-02 1.18704377e+02] [ 4.90185342e-02 1.35166836e-04 9.98797860e-01 1.33194378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.050385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.48, Y:118.73, Z:13.32 [[ 2.32157128e-01 -9.72612036e-01 -1.13532165e-02 2.22476541e+02] [ 9.71442348e-01 2.32434562e-01 -4.76858391e-02 1.18731420e+02] [ 4.90187010e-02 4.16121570e-05 9.98797860e-01 1.33215889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.080385723 meters Centerline goodness : 0.999797 Centerline is valid? [True, True] Translation: X:222.48, Y:118.76, Z:13.32 [[ 2.29451980e-01 -9.73253932e-01 -1.13389766e-02 2.22482215e+02] [ 9.72084853e-01 2.29731968e-01 -4.76892249e-02 1.18759262e+02] [ 4.90186511e-02 -8.00603559e-05 9.98797860e-01 1.33205860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.110385723 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:222.49, Y:118.79, Z:13.32 [[ 2.25668905e-01 -9.74138222e-01 -1.13256518e-02 2.22487713e+02] [ 9.72970080e-01 2.25952781e-01 -4.76923892e-02 1.18785789e+02] [ 4.90180417e-02 -2.56831110e-04 9.98797860e-01 1.33227469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.140385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.49, Y:118.81, Z:13.33 [[ 2.22891496e-01 -9.74779564e-01 -1.11437041e-02 2.22494762e+02] [ 9.73610067e-01 2.23169794e-01 -4.77355261e-02 1.18813063e+02] [ 4.90185535e-02 -2.09779661e-04 9.98797846e-01 1.33275606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.170385723 meters Centerline goodness : 0.999865 Centerline is valid? [True, True] Translation: X:222.50, Y:118.84, Z:13.33 [[ 2.18980413e-01 -9.75663729e-01 -1.13077955e-02 2.22502826e+02] [ 9.74497345e-01 2.19271424e-01 -4.76966245e-02 1.18839260e+02] [ 4.90153429e-02 -5.74790124e-04 9.98797860e-01 1.33262867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.200385723 meters Centerline goodness : 0.999842 Centerline is valid? [True, True] Translation: X:222.51, Y:118.87, Z:13.33 [[ 2.17602062e-01 -9.75972161e-01 -1.12997160e-02 2.22509581e+02] [ 9.74806090e-01 2.17894325e-01 -4.76985385e-02 1.18866257e+02] [ 4.90145897e-02 -6.35731656e-04 9.98797860e-01 1.33315447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.230385723 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:222.51, Y:118.89, Z:13.33 [[ 2.17544629e-01 -9.75985111e-01 -1.12870280e-02 2.22514874e+02] [ 9.74818902e-01 2.17836340e-01 -4.77015407e-02 1.18893987e+02] [ 4.90147184e-02 -6.25594299e-04 9.98797860e-01 1.33334431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.260385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.52, Y:118.92, Z:13.33 [[ 2.18208513e-01 -9.75837047e-01 -1.12740089e-02 2.22519642e+02] [ 9.74670481e-01 2.18498795e-01 -4.77046175e-02 1.18920536e+02] [ 4.90152904e-02 -5.78889997e-04 9.98797861e-01 1.33339308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.290385723 meters Centerline goodness : 0.999819 Centerline is valid? [True, True] Translation: X:222.53, Y:118.95, Z:13.33 [[ 2.19257310e-01 -9.75602090e-01 -1.12603059e-02 2.22529003e+02] [ 9.74435047e-01 2.19545667e-01 -4.77078518e-02 1.18952051e+02] [ 4.90160313e-02 -5.12141434e-04 9.98797861e-01 1.33324011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.320385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.53, Y:118.97, Z:13.33 [[ 2.22283258e-01 -9.74909589e-01 -1.18931252e-02 2.22531721e+02] [ 9.73749423e-01 2.22598909e-01 -4.75582503e-02 1.18974470e+02] [ 4.90123910e-02 -1.00952101e-03 9.98797660e-01 1.33348369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.350385723 meters Centerline goodness : 0.999819 Centerline is valid? [True, True] Translation: X:222.54, Y:119.00, Z:13.33 [[ 2.23057693e-01 -9.74740421e-01 -1.12418115e-02 2.22537499e+02] [ 9.73572067e-01 2.23340595e-01 -4.77117238e-02 1.19001580e+02] [ 4.90172986e-02 -3.02246634e-04 9.98797884e-01 1.33338526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.380385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.54, Y:119.03, Z:13.33 [[ 2.24389213e-01 -9.74434908e-01 -1.12290226e-02 2.22543744e+02] [ 9.73266019e-01 2.24669892e-01 -4.77147335e-02 1.19030957e+02] [ 4.90177253e-02 -2.22154684e-04 9.98797884e-01 1.33327575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.410385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:222.55, Y:119.06, Z:13.34 [[ 2.26079765e-01 -9.74041750e-01 -1.14284397e-02 2.22550247e+02] [ 9.72874724e-01 2.26368179e-01 -4.76678039e-02 1.19055971e+02] [ 4.90174663e-02 -3.41714237e-04 9.98797863e-01 1.33381025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.440385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.56, Y:119.08, Z:13.34 [[ 2.25916626e-01 -9.74082136e-01 -1.12102812e-02 2.22556738e+02] [ 9.72912594e-01 2.26194554e-01 -4.77190556e-02 1.19083486e+02] [ 4.90179841e-02 -1.26095727e-04 9.98797888e-01 1.33419664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.470385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.56, Y:119.11, Z:13.34 [[ 2.25140885e-01 -9.74261879e-01 -1.11970474e-02 2.22563430e+02] [ 9.73092404e-01 2.25419097e-01 -4.77221606e-02 1.19110456e+02] [ 4.90179101e-02 -1.51552291e-04 9.98797888e-01 1.33431773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.500385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.57, Y:119.14, Z:13.35 [[ 2.23983069e-01 -9.74528863e-01 -1.11838919e-02 2.22572111e+02] [ 9.73359566e-01 2.24262025e-01 -4.77252435e-02 1.19137343e+02] [ 4.90177495e-02 -1.96301705e-04 9.98797888e-01 1.33460135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.530385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.58, Y:119.16, Z:13.35 [[ 2.23440667e-01 -9.74653520e-01 -1.11706913e-02 2.22580117e+02] [ 9.73484224e-01 2.23719628e-01 -4.77283330e-02 1.19164393e+02] [ 4.90176907e-02 -2.10041224e-04 9.98797888e-01 1.33481910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.560385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.59, Y:119.19, Z:13.35 [[ 2.22038835e-01 -9.74973983e-01 -1.11574503e-02 2.22587897e+02] [ 9.73804934e-01 2.22318829e-01 -4.77314282e-02 1.19191259e+02] [ 4.90174119e-02 -2.66949460e-04 9.98797889e-01 1.33498686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.590385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.59, Y:119.22, Z:13.35 [[ 2.22132157e-01 -9.74952876e-01 -1.11443032e-02 2.22594232e+02] [ 9.73783646e-01 2.22411395e-01 -4.77344976e-02 1.19217215e+02] [ 4.90175057e-02 -2.48773335e-04 9.98797889e-01 1.33511951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.620385723 meters Centerline goodness : 0.999887 Centerline is valid? [True, True] Translation: X:222.60, Y:119.25, Z:13.35 [[ 2.21156064e-01 -9.75174912e-01 -1.11304571e-02 2.22599755e+02] [ 9.74005800e-01 2.21435795e-01 -4.77377259e-02 1.19245238e+02] [ 4.90173143e-02 -2.83642242e-04 9.98797889e-01 1.33511154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.650385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:222.61, Y:119.27, Z:13.36 [[ 2.23227677e-01 -9.74702933e-01 -1.11174513e-02 2.22605879e+02] [ 9.73533078e-01 2.23504286e-01 -4.77407546e-02 1.19272356e+02] [ 4.90178515e-02 -1.66148821e-04 9.98797889e-01 1.33552479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.68038572300003 meters Centerline goodness : 0.998424 Centerline is valid? [True, True] Translation: X:222.61, Y:119.30, Z:13.35 [[ 2.23415290e-01 -9.74660095e-01 -1.11043595e-02 2.22613801e+02] [ 9.73490037e-01 2.23691032e-01 -4.77437995e-02 1.19303219e+02] [ 4.90179218e-02 -1.43288555e-04 9.98797889e-01 1.33514177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.710385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.62, Y:119.32, Z:13.36 [[ 2.24770883e-01 -9.74341098e-01 -1.17249879e-02 2.22617970e+02] [ 9.73177982e-01 2.25075362e-01 -4.75993244e-02 1.19324329e+02] [ 4.90169839e-02 -7.11557902e-04 9.98797692e-01 1.33575735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.740385723 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:222.62, Y:119.35, Z:13.36 [[ 2.23748595e-01 -9.74583984e-01 -1.10735845e-02 2.22623313e+02] [ 9.73413504e-01 2.24022430e-01 -4.77503997e-02 1.19352040e+02] [ 4.90175061e-02 -9.50918776e-05 9.98797915e-01 1.33565327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.770385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.63, Y:119.38, Z:13.36 [[ 2.22664989e-01 -9.74832276e-01 -1.10605752e-02 2.22629141e+02] [ 9.73661952e-01 2.22939488e-01 -4.77534129e-02 1.19378265e+02] [ 4.90174072e-02 -1.36248056e-04 9.98797915e-01 1.33576269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.800385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:222.64, Y:119.41, Z:13.36 [[ 2.21000282e-01 -9.75211131e-01 -1.10510784e-02 2.22635411e+02] [ 9.74041167e-01 2.21276313e-01 -4.77556106e-02 1.19405558e+02] [ 4.90171448e-02 -2.10201864e-04 9.98797915e-01 1.33579451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.830385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:222.64, Y:119.43, Z:13.36 [[ 2.18270419e-01 -9.75825897e-01 -1.10382180e-02 2.22642075e+02] [ 9.74656561e-01 2.18549094e-01 -4.77585829e-02 1.19431673e+02] [ 4.90164546e-02 -3.34185670e-04 9.98797915e-01 1.33603934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.860385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.65, Y:119.46, Z:13.36 [[ 2.17004215e-01 -9.76108410e-01 -1.10246336e-02 2.22648161e+02] [ 9.74939277e-01 2.17283742e-01 -4.77617185e-02 1.19458979e+02] [ 4.90160888e-02 -3.83854074e-04 9.98797915e-01 1.33624430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.890385723 meters Centerline goodness : 0.999821 Centerline is valid? [True, True] Translation: X:222.65, Y:119.49, Z:13.36 [[ 2.14567481e-01 -9.76647089e-01 -1.10118150e-02 2.22653161e+02] [ 9.75478506e-01 2.14849298e-01 -4.77646738e-02 1.19486230e+02] [ 4.90151103e-02 -4.93043088e-04 9.98797915e-01 1.33617227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.920385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:222.66, Y:119.51, Z:13.37 [[ 2.13266332e-01 -9.76932184e-01 -1.09990903e-02 2.22659671e+02] [ 9.75763827e-01 2.13549083e-01 -4.77676038e-02 1.19513583e+02] [ 4.90145552e-02 -5.45292774e-04 9.98797916e-01 1.33662231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.950385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.67, Y:119.54, Z:13.37 [[ 2.10997508e-01 -9.77424857e-01 -1.09863546e-02 2.22666001e+02] [ 9.76257008e-01 2.11282349e-01 -4.77705328e-02 1.19543183e+02] [ 4.90133290e-02 -6.46042232e-04 9.98797916e-01 1.33655957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.980385723 meters Centerline goodness : 0.995363 Centerline is valid? [True, True] Translation: X:222.67, Y:119.57, Z:13.37 [[ 2.08958450e-01 -9.77860100e-01 -1.12246025e-02 2.22671276e+02] [ 9.76695746e-01 2.09257355e-01 -4.77156046e-02 1.19568361e+02] [ 4.90080165e-02 -9.92442714e-04 9.98797892e-01 1.33690998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.010385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.68, Y:119.59, Z:13.37 [[ 2.07003460e-01 -9.78276516e-01 -1.11636257e-02 2.22675478e+02] [ 9.77112009e-01 2.07301718e-01 -4.77296526e-02 1.19592732e+02] [ 4.90070370e-02 -1.02790954e-03 9.98797904e-01 1.33703781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.040385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:222.68, Y:119.62, Z:13.37 [[ 2.01873101e-01 -9.79350185e-01 -1.09757078e-02 2.22679438e+02] [ 9.78184919e-01 2.02168301e-01 -4.77728273e-02 1.19620665e+02] [ 4.90052674e-02 -1.09222304e-03 9.98797923e-01 1.33707432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.070385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.68, Y:119.65, Z:13.37 [[ 1.99948479e-01 -9.79743866e-01 -1.10708140e-02 2.22684204e+02] [ 9.78580369e-01 2.00250601e-01 -4.77509947e-02 1.19646353e+02] [ 4.90006813e-02 -1.28594247e-03 9.98797917e-01 1.33734772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.100385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.69, Y:119.67, Z:13.37 [[ 1.97504826e-01 -9.80240711e-01 -1.09540517e-02 2.22689523e+02] [ 9.79076503e-01 1.97804164e-01 -4.77777652e-02 1.19674266e+02] [ 4.90004676e-02 -1.28851546e-03 9.98797924e-01 1.33749678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.130385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.69, Y:119.70, Z:13.38 [[ 1.93508135e-01 -9.81037659e-01 -1.09413265e-02 2.22693474e+02] [ 9.79874519e-01 1.93811596e-01 -4.77806792e-02 1.19701945e+02] [ 4.89952016e-02 -1.47517696e-03 9.98797925e-01 1.33772721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.160385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.70, Y:119.73, Z:13.38 [[ 1.93245158e-01 -9.81089637e-01 -1.09285164e-02 2.22699768e+02] [ 9.79926415e-01 1.93548308e-01 -4.77836090e-02 1.19729800e+02] [ 4.89951994e-02 -1.47519081e-03 9.98797925e-01 1.33786682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.190385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.70, Y:119.76, Z:13.38 [[ 1.90516435e-01 -9.81623317e-01 -1.09156919e-02 2.22703326e+02] [ 9.80460778e-01 1.90822194e-01 -4.77865384e-02 1.19757393e+02] [ 4.89913366e-02 -1.59828684e-03 9.98797925e-01 1.33776276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.220385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:222.71, Y:119.79, Z:13.38 [[ 1.88921362e-01 -9.81931706e-01 -1.09015358e-02 2.22705463e+02] [ 9.80769484e-01 1.89228322e-01 -4.77897676e-02 1.19785723e+02] [ 4.89891674e-02 -1.66338566e-03 9.98797925e-01 1.33767660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.250385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.71, Y:119.81, Z:13.38 [[ 1.89843071e-01 -9.81754079e-01 -1.08874476e-02 2.22709627e+02] [ 9.80591389e-01 1.90148254e-01 -4.77929770e-02 1.19812620e+02] [ 4.89911793e-02 -1.60297182e-03 9.98797925e-01 1.33798763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.280385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:222.71, Y:119.84, Z:13.38 [[ 1.92192966e-01 -9.81296861e-01 -1.08782043e-02 2.22712356e+02] [ 9.80133327e-01 1.92494915e-01 -4.77950808e-02 1.19841072e+02] [ 4.89951617e-02 -1.47621227e-03 9.98797925e-01 1.33780658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.310385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:222.72, Y:119.87, Z:13.38 [[ 1.94515886e-01 -9.80839189e-01 -1.08653536e-02 2.22716146e+02] [ 9.79674783e-01 1.94814453e-01 -4.77980020e-02 1.19867619e+02] [ 4.89988814e-02 -1.34704221e-03 9.98797925e-01 1.33821794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.340385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:222.72, Y:119.90, Z:13.38 [[ 1.96498410e-01 -9.80444077e-01 -1.08529623e-02 2.22720283e+02] [ 9.79278916e-01 1.96794019e-01 -4.78008154e-02 1.19895579e+02] [ 4.90018244e-02 -1.23529294e-03 9.98797925e-01 1.33833167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.370385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:222.72, Y:119.92, Z:13.38 [[ 1.99814512e-01 -9.79773780e-01 -1.08397678e-02 2.22722063e+02] [ 9.78607465e-01 2.00105534e-01 -4.78038073e-02 1.19922737e+02] [ 4.90060145e-02 -1.05598328e-03 9.98797925e-01 1.33847517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.400385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:222.72, Y:119.95, Z:13.39 [[ 2.01999052e-01 -9.79325835e-01 -1.08301286e-02 2.22723508e+02] [ 9.78158758e-01 2.02287002e-01 -4.78059910e-02 1.19949799e+02] [ 4.90084363e-02 -9.36820286e-04 9.98797925e-01 1.33862881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.43038572300003 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:222.73, Y:119.98, Z:13.39 [[ 2.02431975e-01 -9.79236592e-01 -1.08163260e-02 2.22728064e+02] [ 9.78069222e-01 2.02718735e-01 -4.78091137e-02 1.19977933e+02] [ 4.90091055e-02 -9.01022225e-04 9.98797925e-01 1.33875845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.460385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:222.73, Y:120.01, Z:13.39 [[ 2.02988461e-01 -9.79121529e-01 -1.08035304e-02 2.22734856e+02] [ 9.77953844e-01 2.03273933e-01 -4.78120050e-02 1.20006728e+02] [ 4.90098395e-02 -8.60068789e-04 9.98797925e-01 1.33887767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.490385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.74, Y:120.03, Z:13.39 [[ 2.01990033e-01 -9.79326524e-01 -1.09355195e-02 2.22737206e+02] [ 9.78160720e-01 2.02283135e-01 -4.77821998e-02 1.20032715e+02] [ 4.90064469e-02 -1.04516752e-03 9.98797915e-01 1.33938668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.520385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.74, Y:120.06, Z:13.39 [[ 2.01027419e-01 -9.79526282e-01 -1.07814982e-02 2.22741165e+02] [ 9.78358908e-01 2.01314153e-01 -4.78169283e-02 1.20061085e+02] [ 4.90084062e-02 -9.35661141e-04 9.98797928e-01 1.33938849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.550385723 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:222.74, Y:120.09, Z:13.39 [[ 1.98754931e-01 -9.79990062e-01 -1.07683183e-02 2.22742841e+02] [ 9.78823197e-01 1.99043729e-01 -4.78198963e-02 1.20089791e+02] [ 4.90063893e-02 -1.03583956e-03 9.98797928e-01 1.33937169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.580385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:222.75, Y:120.12, Z:13.39 [[ 1.99632756e-01 -9.79811755e-01 -1.07558288e-02 2.22747436e+02] [ 9.78644482e-01 1.99919900e-01 -4.78227053e-02 1.20116135e+02] [ 4.90075530e-02 -9.79154046e-04 9.98797928e-01 1.33947409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.610385723 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:222.75, Y:120.14, Z:13.40 [[ 2.01394331e-01 -9.79451339e-01 -1.07423488e-02 2.22750587e+02] [ 9.78283392e-01 2.01678717e-01 -4.78257331e-02 1.20143867e+02] [ 4.90094814e-02 -8.77229888e-04 9.98797928e-01 1.33956377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.640385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.75, Y:120.17, Z:13.39 [[ 2.01544174e-01 -9.79420657e-01 -1.07294891e-02 2.22754753e+02] [ 9.78252514e-01 2.01827754e-01 -4.78286179e-02 1.20172869e+02] [ 4.90098451e-02 -8.56570412e-04 9.98797928e-01 1.33947909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.670385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.75, Y:120.20, Z:13.39 [[ 2.00128979e-01 -9.79710810e-01 -1.07294074e-02 2.22750964e+02] [ 9.78543077e-01 2.00414242e-01 -4.78286362e-02 1.20196060e+02] [ 4.90085580e-02 -9.27291203e-04 9.98797928e-01 1.33932874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.700385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:222.76, Y:120.23, Z:13.39 [[ 2.02372205e-01 -9.79257065e-01 -1.00544463e-02 2.22759707e+02] [ 9.78080971e-01 2.02621780e-01 -4.79794633e-02 1.20227569e+02] [ 4.90214782e-02 -1.24352878e-04 9.98797717e-01 1.33948602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.730385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:222.77, Y:120.26, Z:13.40 [[ 2.02245278e-01 -9.79276397e-01 -1.07045164e-02 2.22765923e+02] [ 9.78107767e-01 2.02526802e-01 -4.78339987e-02 1.20255244e+02] [ 4.90106573e-02 -7.95970304e-04 9.98797938e-01 1.33978380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.760385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.77, Y:120.28, Z:13.40 [[ 2.00535970e-01 -9.79628000e-01 -1.06914194e-02 2.22771262e+02] [ 9.78459708e-01 2.00818894e-01 -4.78369258e-02 1.20282696e+02] [ 4.90094310e-02 -8.68098779e-04 9.98797939e-01 1.34015017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.790385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.78, Y:120.31, Z:13.40 [[ 1.99343233e-01 -9.79871174e-01 -1.07124675e-02 2.22775501e+02] [ 9.78703478e-01 1.99628606e-01 -4.78322247e-02 1.20309691e+02] [ 4.90079331e-02 -9.49298824e-04 9.98797938e-01 1.34020004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.820385723 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:222.78, Y:120.34, Z:13.40 [[ 1.97200307e-01 -9.80305112e-01 -1.06736613e-02 2.22777458e+02] [ 9.79137577e-01 1.97486340e-01 -4.78408827e-02 1.20338144e+02] [ 4.90065641e-02 -1.01674608e-03 9.98797939e-01 1.34014855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.850385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.78, Y:120.36, Z:13.40 [[ 1.93950551e-01 -9.80953379e-01 -1.06608110e-02 2.22779064e+02] [ 9.79786643e-01 1.94239825e-01 -4.78437460e-02 1.20363255e+02] [ 4.90032384e-02 -1.16599930e-03 9.98797939e-01 1.33995696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.880385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:222.79, Y:120.39, Z:13.40 [[ 1.92829274e-01 -9.81179040e-01 -1.02255632e-02 2.22786110e+02] [ 9.80007456e-01 1.93098648e-01 -4.79405779e-02 1.20391117e+02] [ 4.90128326e-02 -7.76781305e-04 9.98797847e-01 1.34019448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.910385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.80, Y:120.42, Z:13.41 [[ 1.94307494e-01 -9.80887301e-01 -1.02322931e-02 2.22795814e+02] [ 9.79715391e-01 1.94575430e-01 -4.79390811e-02 1.20420293e+02] [ 4.90137887e-02 -7.09812290e-04 9.98797850e-01 1.34064263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.940385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.80, Y:120.45, Z:13.41 [[ 1.91544129e-01 -9.81426224e-01 -1.06495660e-02 2.22798455e+02] [ 9.80260067e-01 1.91835715e-01 -4.78462095e-02 1.20445006e+02] [ 4.90004918e-02 -1.27468376e-03 9.98797941e-01 1.34053581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.970385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.80, Y:120.47, Z:13.41 [[ 1.90916510e-01 -9.81552907e-01 -1.02360758e-02 2.22801154e+02] [ 9.80381983e-01 1.91188679e-01 -4.79380387e-02 1.20472043e+02] [ 4.90107430e-02 -8.83101266e-04 9.98797861e-01 1.34077425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.000385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:222.81, Y:120.50, Z:13.41 [[ 1.92390390e-01 -9.81265426e-01 -1.02029738e-02 2.22806621e+02] [ 9.80093709e-01 1.92659184e-01 -4.79453828e-02 1.20500278e+02] [ 4.90128431e-02 -7.75639531e-04 9.98797847e-01 1.34087142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.030385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.81, Y:120.53, Z:13.41 [[ 1.93835409e-01 -9.80979690e-01 -1.03286736e-02 2.22811282e+02] [ 9.79809043e-01 1.94108617e-01 -4.79174806e-02 1.20528001e+02] [ 4.90109598e-02 -8.32023351e-04 9.98797894e-01 1.34092877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.060385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.82, Y:120.56, Z:13.41 [[ 1.95093250e-01 -9.80730902e-01 -1.02723454e-02 2.22818268e+02] [ 9.79559251e-01 1.95362204e-01 -4.79299875e-02 1.20555188e+02] [ 4.90132479e-02 -7.11553904e-04 9.98797875e-01 1.34103934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.090385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:222.82, Y:120.58, Z:13.41 [[ 1.98059945e-01 -9.80136448e-01 -1.02372274e-02 2.22824595e+02] [ 9.78963587e-01 1.98323636e-01 -4.79377772e-02 1.20582774e+02] [ 4.90158468e-02 -5.27319375e-04 9.98797862e-01 1.34125050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.120385723 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:222.83, Y:120.61, Z:13.41 [[ 1.99130278e-01 -9.79919378e-01 -1.02539798e-02 2.22829731e+02] [ 9.78746420e-01 1.99393507e-01 -4.79340634e-02 1.20610696e+02] [ 4.90160946e-02 -4.90922630e-04 9.98797868e-01 1.34140750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.150385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.84, Y:120.64, Z:13.42 [[ 2.00249869e-01 -9.79692062e-01 -1.01712026e-02 2.22835318e+02] [ 9.78517873e-01 2.00507707e-01 -4.79523951e-02 1.20637913e+02] [ 4.90179854e-02 -3.50242712e-04 9.98797835e-01 1.34154675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.18038572300003 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:222.84, Y:120.67, Z:13.42 [[ 2.03843503e-01 -9.78950988e-01 -1.01385550e-02 2.22842927e+02] [ 9.77775501e-01 2.04095432e-01 -4.79596181e-02 1.20665056e+02] [ 4.90193482e-02 -1.36974136e-04 9.98797820e-01 1.34178027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.210385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.85, Y:120.69, Z:13.42 [[ 2.05944238e-01 -9.78510046e-01 -1.02498742e-02 2.22850830e+02] [ 9.77335239e-01 2.06199098e-01 -4.79349923e-02 1.20692966e+02] [ 4.90183864e-02 -1.45627817e-04 9.98797866e-01 1.34199943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.240385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:222.86, Y:120.72, Z:13.43 [[ 2.09535978e-01 -9.77746308e-01 -1.03358817e-02 2.22861908e+02] [ 9.76571506e-01 2.09790738e-01 -4.79159696e-02 1.20720398e+02] [ 4.90180347e-02 -5.36080479e-05 9.98797892e-01 1.34257297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.270385723 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:222.87, Y:120.75, Z:13.42 [[ 2.09370229e-01 -9.77779128e-01 -1.05869579e-02 2.22869373e+02] [ 9.76607139e-01 2.09637485e-01 -4.78604320e-02 1.20746125e+02] [ 4.90163547e-02 -3.18748998e-04 9.98797925e-01 1.34247220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.300385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:222.88, Y:120.77, Z:13.43 [[ 2.09644633e-01 -9.77720486e-01 -1.05725584e-02 2.22877093e+02] [ 9.76548262e-01 2.09910854e-01 -4.78636127e-02 1.20772875e+02] [ 4.90165295e-02 -2.90264038e-04 9.98797925e-01 1.34278671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.330385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.89, Y:120.80, Z:13.43 [[ 2.08856109e-01 -9.77889376e-01 -1.05590414e-02 2.22886154e+02] [ 9.76717217e-01 2.09122614e-01 -4.78665945e-02 1.20799263e+02] [ 4.90163686e-02 -3.15966837e-04 9.98797925e-01 1.34308271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.360385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.90, Y:120.83, Z:13.43 [[ 2.07559302e-01 -9.78165590e-01 -1.05458460e-02 2.22895295e+02] [ 9.76993637e-01 2.07826715e-01 -4.78695015e-02 1.20825409e+02] [ 4.90160077e-02 -3.67464157e-04 9.98797925e-01 1.34325609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.390385723 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:222.90, Y:120.85, Z:13.43 [[ 2.06494796e-01 -9.78391009e-01 -1.05324141e-02 2.22903560e+02] [ 9.77219198e-01 2.06762828e-01 -4.78724566e-02 1.20852857e+02] [ 4.90156929e-02 -4.07064094e-04 9.98797926e-01 1.34317818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.420385723 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:222.91, Y:120.88, Z:13.43 [[ 2.06127962e-01 -9.78468449e-01 -1.05241006e-02 2.22912409e+02] [ 9.77296646e-01 2.06396026e-01 -4.78742842e-02 1.20878571e+02] [ 4.90156092e-02 -4.16939568e-04 9.98797926e-01 1.34347207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.450385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.93, Y:120.91, Z:13.44 [[ 2.06491817e-01 -9.78391833e-01 -1.05143489e-02 2.22925527e+02] [ 9.77219820e-01 2.06758968e-01 -4.78764258e-02 1.20905410e+02] [ 4.90158399e-02 -3.88740012e-04 9.98797926e-01 1.34391605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.480385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.93, Y:120.93, Z:13.44 [[ 2.06748493e-01 -9.78337758e-01 -1.05019948e-02 2.22934184e+02] [ 9.77165538e-01 2.07014732e-01 -4.78791356e-02 1.20930920e+02] [ 4.90160338e-02 -3.63248243e-04 9.98797926e-01 1.34426432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.510385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:222.94, Y:120.96, Z:13.44 [[ 2.06928182e-01 -9.78299878e-01 -1.04917454e-02 2.22942355e+02] [ 9.77127495e-01 2.07193704e-01 -4.78813815e-02 1.20958044e+02] [ 4.90161732e-02 -3.43765632e-04 9.98797926e-01 1.34438800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.540385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:222.95, Y:120.99, Z:13.44 [[ 2.06493147e-01 -9.78391937e-01 -1.04784460e-02 2.22951808e+02] [ 9.77219525e-01 2.06758540e-01 -4.78842917e-02 1.20985572e+02] [ 4.90161131e-02 -3.51963927e-04 9.98797926e-01 1.34421101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.570385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:222.97, Y:121.01, Z:13.45 [[ 2.07288796e-01 -9.78222587e-01 -1.05794807e-02 2.22966264e+02] [ 9.77051081e-01 2.07558179e-01 -4.78621729e-02 1.21010538e+02] [ 4.90157163e-02 -4.15400850e-04 9.98797921e-01 1.34532064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.600385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:222.97, Y:121.04, Z:13.45 [[ 2.06189233e-01 -9.78453883e-01 -1.06770366e-02 2.22973496e+02] [ 9.77283778e-01 2.06464703e-01 -4.78408106e-02 1.21035180e+02] [ 4.90144580e-02 -5.70234629e-04 9.98797906e-01 1.34508115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.630385723 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:222.98, Y:121.06, Z:13.45 [[ 2.04142432e-01 -9.78885260e-01 -1.04649368e-02 2.22982595e+02] [ 9.77713342e-01 2.04409980e-01 -4.78871626e-02 1.21062597e+02] [ 4.90151751e-02 -4.55906455e-04 9.98797930e-01 1.34472054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.660385723 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:222.99, Y:121.09, Z:13.45 [[ 2.03016869e-01 -9.79119456e-01 -1.04518703e-02 2.22989999e+02] [ 9.77947701e-01 2.03285124e-01 -4.78900143e-02 1.21090225e+02] [ 4.90147545e-02 -4.98901814e-04 9.98797930e-01 1.34475634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.690385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:223.00, Y:121.12, Z:13.45 [[ 2.01623557e-01 -9.79407460e-01 -1.04387580e-02 2.22998469e+02] [ 9.78235940e-01 2.01892838e-01 -4.78928723e-02 1.21116707e+02] [ 4.90141469e-02 -5.55236972e-04 9.98797930e-01 1.34501864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.720385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:223.01, Y:121.14, Z:13.45 [[ 1.98064692e-01 -9.80133507e-01 -1.04252751e-02 2.23011571e+02] [ 9.78962819e-01 1.98337568e-01 -4.78958071e-02 1.21141984e+02] [ 4.90120091e-02 -7.19488441e-04 9.98797930e-01 1.34529160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.750385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:223.02, Y:121.17, Z:13.45 [[ 1.98139350e-01 -9.80118548e-01 -1.04129924e-02 2.23024175e+02] [ 9.78947699e-01 1.98411536e-01 -4.78984773e-02 1.21172492e+02] [ 4.90122438e-02 -7.03201800e-04 9.98797930e-01 1.34467597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.780385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.03, Y:121.20, Z:13.45 [[ 1.92627340e-01 -9.81212045e-01 -1.08457877e-02 2.23029898e+02] [ 9.80047877e-01 1.92927199e-01 -4.78043298e-02 1.21195594e+02] [ 4.89986316e-02 -1.42097028e-03 9.98797835e-01 1.34512145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.810385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.04, Y:121.22, Z:13.45 [[ 1.91406276e-01 -9.81455883e-01 -1.03916786e-02 2.23036646e+02] [ 9.80286695e-01 1.91685454e-01 -4.79028462e-02 1.21222010e+02] [ 4.90064638e-02 -1.01791884e-03 9.98797943e-01 1.34528042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.840385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.04, Y:121.25, Z:13.45 [[ 1.89304198e-01 -9.81863648e-01 -1.03777691e-02 2.23043973e+02] [ 9.80694897e-01 1.89585201e-01 -4.79058594e-02 1.21249423e+02] [ 4.90044933e-02 -1.10864488e-03 9.98797943e-01 1.34480405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.870385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.05, Y:121.28, Z:13.45 [[ 1.88418134e-01 -9.82034198e-01 -1.03653372e-02 2.23050607e+02] [ 9.80865555e-01 1.88699586e-01 -4.79085491e-02 1.21275759e+02] [ 4.90037685e-02 -1.14016282e-03 9.98797943e-01 1.34486907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.900385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.06, Y:121.30, Z:13.45 [[ 1.88540457e-01 -9.82010845e-01 -1.03535821e-02 2.23056683e+02] [ 9.80842029e-01 1.88821190e-01 -4.79110894e-02 1.21302784e+02] [ 4.90041851e-02 -1.12204980e-03 9.98797943e-01 1.34485041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.93038572300003 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:223.06, Y:121.33, Z:13.45 [[ 1.90672960e-01 -9.81599153e-01 -1.03404546e-02 2.23060663e+02] [ 9.80429578e-01 1.90950513e-01 -4.79139225e-02 1.21331496e+02] [ 4.90067808e-02 -1.00219809e-03 9.98797943e-01 1.34476704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.960385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.07, Y:121.36, Z:13.45 [[ 1.91505362e-01 -9.81437228e-01 -1.03278559e-02 2.23065044e+02] [ 9.80267273e-01 1.91781308e-01 -4.79166380e-02 1.21359411e+02] [ 4.90078621e-02 -9.47766023e-04 9.98797943e-01 1.34476114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.990385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.07, Y:121.39, Z:13.45 [[ 1.93837768e-01 -9.80979365e-01 -1.03153038e-02 2.23066615e+02] [ 9.79808615e-01 1.94110319e-01 -4.79193400e-02 1.21387903e+02] [ 4.90101906e-02 -8.18445617e-04 9.98797943e-01 1.34451486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.020385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.07, Y:121.42, Z:13.44 [[ 1.96003395e-01 -9.80549087e-01 -1.03032068e-02 2.23073087e+02] [ 9.79377602e-01 1.96272770e-01 -4.79219409e-02 1.21417931e+02] [ 4.90120543e-02 -6.97866887e-04 9.98797943e-01 1.34440569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.050385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.07, Y:121.44, Z:13.44 [[ 1.96389615e-01 -9.80469047e-01 -1.05625217e-02 2.23072159e+02] [ 9.79300399e-01 1.96671192e-01 -4.78661683e-02 1.21444187e+02] [ 4.90086401e-02 -9.43463404e-04 9.98797909e-01 1.34403036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.080385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.08, Y:121.47, Z:13.44 [[ 1.96127364e-01 -9.80524478e-01 -1.02861125e-02 2.23077946e+02] [ 9.79352773e-01 1.96395755e-01 -4.79254952e-02 1.21472157e+02] [ 4.90122700e-02 -6.74231700e-04 9.98797949e-01 1.34415911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.110385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.08, Y:121.50, Z:13.44 [[ 1.96642442e-01 -9.80421445e-01 -1.02732798e-02 2.23081121e+02] [ 9.79249456e-01 1.96909590e-01 -4.79282459e-02 1.21499925e+02] [ 4.90127874e-02 -6.35376295e-04 9.98797949e-01 1.34398833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.140385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:223.08, Y:121.53, Z:13.44 [[ 1.97263518e-01 -9.80296806e-01 -1.02604195e-02 2.23082165e+02] [ 9.79124505e-01 1.97529294e-01 -4.79309988e-02 1.21527473e+02] [ 4.90133385e-02 -5.91190736e-04 9.98797949e-01 1.34353230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.170385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.09, Y:121.56, Z:13.44 [[ 1.96096943e-01 -9.80530974e-01 -1.02468554e-02 2.23085564e+02] [ 9.79358839e-01 1.96363452e-01 -4.79338984e-02 1.21555443e+02] [ 4.90127800e-02 -6.35657459e-04 9.98797949e-01 1.34355600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.200385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:223.09, Y:121.58, Z:13.43 [[ 1.97695767e-01 -9.80210012e-01 -1.02330820e-02 2.23090606e+02] [ 9.79037293e-01 1.97959690e-01 -4.79368386e-02 1.21582484e+02] [ 4.90139069e-02 -5.41658801e-04 9.98797949e-01 1.34322016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.230385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.09, Y:121.61, Z:13.43 [[ 1.99463535e-01 -9.79851968e-01 -1.02185248e-02 2.23092283e+02] [ 9.78678616e-01 1.99724630e-01 -4.79399416e-02 1.21611215e+02] [ 4.90149372e-02 -4.38381450e-04 9.98797949e-01 1.34277893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.260385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.10, Y:121.64, Z:13.43 [[ 2.00690291e-01 -9.79601575e-01 -1.02059137e-02 2.23096134e+02] [ 9.78427761e-01 2.00949299e-01 -4.79426262e-02 1.21638020e+02] [ 4.90155433e-02 -3.64129710e-04 9.98797950e-01 1.34262840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.290385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.10, Y:121.67, Z:13.42 [[ 2.04413511e-01 -9.78831563e-01 -1.01925110e-02 2.23098358e+02] [ 9.77656631e-01 2.04667398e-01 -4.79454754e-02 1.21666414e+02] [ 4.90166193e-02 -1.64073022e-04 9.98797950e-01 1.34233782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.320385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.10, Y:121.69, Z:13.42 [[ 2.06057090e-01 -9.78487019e-01 -1.01798864e-02 2.23101550e+02] [ 9.77311529e-01 2.06308385e-01 -4.79481557e-02 1.21694960e+02] [ 4.90168439e-02 -6.88629004e-05 9.98797950e-01 1.34222043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.350385723 meters Centerline goodness : 0.999757 Centerline is valid? [True, True] Translation: X:223.10, Y:121.72, Z:13.42 [[ 2.07477651e-01 -9.78186926e-01 -1.01666735e-02 2.23104927e+02] [ 9.77010936e-01 2.07726591e-01 -4.79509572e-02 1.21723318e+02] [ 4.90168878e-02 1.58007454e-05 9.98797950e-01 1.34197834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.380385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.11, Y:121.75, Z:13.42 [[ 2.12708689e-01 -9.77062084e-01 -1.02322116e-02 2.23107964e+02] [ 9.75885443e-01 2.12954549e-01 -4.79370646e-02 1.21751436e+02] [ 4.90164843e-02 2.11163791e-04 9.98797947e-01 1.34155456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.410385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.11, Y:121.78, Z:13.42 [[ 2.12394128e-01 -9.77131331e-01 -1.01536083e-02 2.23113364e+02] [ 9.75953973e-01 2.12636510e-01 -4.79537081e-02 1.21779190e+02] [ 4.90160985e-02 2.75631684e-04 9.98797951e-01 1.34185848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.440385723 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:223.11, Y:121.80, Z:13.42 [[ 2.12094139e-01 -9.77196628e-01 -1.01403129e-02 2.23113242e+02] [ 9.76019210e-01 2.12336230e-01 -4.79565194e-02 1.21804807e+02] [ 4.90161049e-02 2.74156490e-04 9.98797951e-01 1.34184111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.470385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.12, Y:121.83, Z:13.42 [[ 2.15966505e-01 -9.76353132e-01 -9.64519377e-03 2.23120780e+02] [ 9.75170006e-01 2.16179585e-01 -4.80608632e-02 1.21834675e+02] [ 4.90094683e-02 9.73832998e-04 9.98797839e-01 1.34189599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.500385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.12, Y:121.86, Z:13.41 [[ 2.16780874e-01 -9.76167915e-01 -1.01120898e-02 2.23121945e+02] [ 9.74989073e-01 2.17015926e-01 -4.79624316e-02 1.21862058e+02] [ 4.90138714e-02 5.38160742e-04 9.98797953e-01 1.34147261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.530385723 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:223.13, Y:121.89, Z:13.42 [[ 2.16578661e-01 -9.76212938e-01 -1.00987066e-02 2.23126305e+02] [ 9.75034014e-01 2.16813299e-01 -4.79652493e-02 1.21888874e+02] [ 4.90138308e-02 5.41667036e-04 9.98797953e-01 1.34153017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.560385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.13, Y:121.91, Z:13.42 [[ 2.14865408e-01 -9.76591600e-01 -1.00848311e-02 2.23131188e+02] [ 9.75412953e-01 2.15101433e-01 -4.79681665e-02 1.21914892e+02] [ 4.90145701e-02 4.69824793e-04 9.98797953e-01 1.34172295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.590385723 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:223.14, Y:121.94, Z:13.42 [[ 2.13541041e-01 -9.76882151e-01 -1.00741155e-02 2.23136545e+02] [ 9.75703719e-01 2.13778138e-01 -4.79704168e-02 1.21942025e+02] [ 4.90150696e-02 4.14300776e-04 9.98797953e-01 1.34208611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.620385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.14, Y:121.97, Z:13.43 [[ 2.12100769e-01 -9.77196008e-01 -1.00610649e-02 2.23141315e+02] [ 9.76017798e-01 2.12338963e-01 -4.79731539e-02 1.21969695e+02] [ 4.90155305e-02 3.55364438e-04 9.98797953e-01 1.34250612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.650385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.14, Y:122.00, Z:13.43 [[ 2.08624807e-01 -9.77944126e-01 -1.00487287e-02 2.23143540e+02] [ 9.76766645e-01 2.08866583e-01 -4.79757377e-02 1.21997420e+02] [ 4.90164345e-02 1.93665960e-04 9.98797953e-01 1.34257064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.68038572300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.15, Y:122.03, Z:13.43 [[ 2.06807215e-01 -9.78330229e-01 -1.00369032e-02 2.23146723e+02] [ 9.77153079e-01 2.07050599e-01 -4.79782116e-02 1.22025232e+02] [ 4.90166815e-02 1.14649494e-04 9.98797953e-01 1.34258937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.710385723 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:223.15, Y:122.05, Z:13.43 [[ 2.04034747e-01 -9.78912323e-01 -1.00242778e-02 2.23150030e+02] [ 9.77735738e-01 2.04280846e-01 -4.79808493e-02 1.22053249e+02] [ 4.90168126e-02 -1.13341822e-05 9.98797954e-01 1.34260647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.740385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.16, Y:122.08, Z:13.43 [[ 2.03291883e-01 -9.79066999e-01 -1.00111047e-02 2.23156404e+02] [ 9.77890466e-01 2.03538229e-01 -4.79835977e-02 1.22079402e+02] [ 4.90167995e-02 -3.50878761e-05 9.98797954e-01 1.34283488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.770385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:223.16, Y:122.11, Z:13.43 [[ 2.02035530e-01 -9.79327168e-01 -9.99718644e-03 2.23162518e+02] [ 9.78150808e-01 2.02282703e-01 -4.79864974e-02 1.22106407e+02] [ 4.90167384e-02 -8.37785817e-05 9.98797954e-01 1.34349476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.800385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:223.17, Y:122.13, Z:13.44 [[ 2.01808631e-01 -9.79374085e-01 -9.98392330e-03 2.23165922e+02] [ 9.78197647e-01 2.02055427e-01 -4.79892567e-02 1.22133492e+02] [ 4.90167402e-02 -8.16041035e-05 9.98797954e-01 1.34364584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.830385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:223.17, Y:122.16, Z:13.44 [[ 2.02143067e-01 -9.79305232e-01 -9.97213191e-03 2.23169172e+02] [ 9.78128589e-01 2.02388884e-01 -4.79917068e-02 1.22160629e+02] [ 4.90167782e-02 -5.28364943e-05 9.98797954e-01 1.34355380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.860385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.17, Y:122.19, Z:13.44 [[ 2.04709309e-01 -9.78772133e-01 -9.96047515e-03 2.23173941e+02] [ 9.77594732e-01 2.04951468e-01 -4.79941260e-02 1.22188638e+02] [ 4.90167271e-02 8.75363185e-05 9.98797954e-01 1.34425415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.890385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:223.18, Y:122.21, Z:13.44 [[ 2.06823208e-01 -9.78327756e-01 -9.94799993e-03 2.23179831e+02] [ 9.77149710e-01 2.07062211e-01 -4.79967117e-02 1.22214909e+02] [ 4.90163701e-02 2.06148615e-04 9.98797954e-01 1.34430660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.920385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.18, Y:122.24, Z:13.45 [[ 2.11414558e-01 -9.77345999e-01 -9.93396038e-03 2.23184098e+02] [ 9.76166707e-01 2.11647339e-01 -4.79996173e-02 1.22241260e+02] [ 4.90147302e-02 4.50616498e-04 9.98797954e-01 1.34468258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.950385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.19, Y:122.27, Z:13.45 [[ 2.13517562e-01 -9.76888851e-01 -9.92091354e-03 2.23189350e+02] [ 9.75708936e-01 2.13747163e-01 -4.80023138e-02 1.22268933e+02] [ 4.90134922e-02 5.69413007e-04 9.98797954e-01 1.34516280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.980385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.20, Y:122.30, Z:13.45 [[ 2.17769848e-01 -9.75949861e-01 -9.90767774e-03 2.23195220e+02] [ 9.74768835e-01 2.17993657e-01 -4.80050455e-02 1.22296122e+02] [ 4.90103284e-02 7.96355986e-04 9.98797954e-01 1.34547567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.010385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:223.20, Y:122.32, Z:13.46 [[ 2.18749923e-01 -9.75730788e-01 -9.89449637e-03 2.23200816e+02] [ 9.74549415e-01 2.18971898e-01 -4.80077622e-02 1.22323174e+02] [ 4.90092683e-02 8.59018634e-04 9.98797954e-01 1.34570127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.040385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:223.21, Y:122.35, Z:13.46 [[ 2.19310820e-01 -9.75605005e-01 -9.88123525e-03 2.23206422e+02] [ 9.74423383e-01 2.19531463e-01 -4.80104915e-02 1.22349132e+02] [ 4.90085179e-02 9.00713597e-04 9.98797954e-01 1.34593959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.070385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.21, Y:122.38, Z:13.46 [[ 2.18082663e-01 -9.75880418e-01 -9.86717321e-03 2.23212594e+02] [ 9.74698946e-01 2.18304102e-01 -4.80133814e-02 1.22375568e+02] [ 4.90093631e-02 8.53362757e-04 9.98797955e-01 1.34635305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.100385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.22, Y:122.40, Z:13.47 [[ 2.16358416e-01 -9.76264261e-01 -9.85534735e-03 2.23218580e+02] [ 9.75083072e-01 2.16581360e-01 -4.80158087e-02 1.22401824e+02] [ 4.90106025e-02 7.78841936e-04 9.98797955e-01 1.34659751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.130385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.23, Y:122.43, Z:13.47 [[ 2.13425743e-01 -9.76909717e-01 -9.84161643e-03 2.23226947e+02] [ 9.75729073e-01 2.13651558e-01 -4.80186229e-02 1.22427792e+02] [ 4.90125360e-02 6.45659008e-04 9.98797955e-01 1.34683670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.160385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.23, Y:122.46, Z:13.47 [[ 2.11814955e-01 -9.77260371e-01 -9.82817072e-03 2.23234274e+02] [ 9.76079973e-01 2.12042056e-01 -4.80213747e-02 1.22455032e+02] [ 4.90133720e-02 5.78564727e-04 9.98797955e-01 1.34702884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.190385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.24, Y:122.48, Z:13.47 [[ 2.08783843e-01 -9.77912553e-01 -9.81555984e-03 2.23240100e+02] [ 9.76732745e-01 2.09013983e-01 -4.80239523e-02 1.22480988e+02] [ 4.90148150e-02 4.39446580e-04 9.98797955e-01 1.34733129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.220385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:223.25, Y:122.51, Z:13.47 [[ 2.05289635e-01 -9.78653522e-01 -9.66690556e-03 2.23247926e+02] [ 9.77473107e-01 2.05516692e-01 -4.80542960e-02 1.22507041e+02] [ 4.90152165e-02 4.15908696e-04 9.98797945e-01 1.34746822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.250385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.26, Y:122.54, Z:13.48 [[ 2.05673507e-01 -9.78573422e-01 -9.61589888e-03 2.23255795e+02] [ 9.77392432e-01 2.05897595e-01 -4.80646916e-02 1.22536139e+02] [ 4.90147202e-02 4.87126872e-04 9.98797937e-01 1.34775933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.280385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.26, Y:122.56, Z:13.48 [[ 2.03136582e-01 -9.79101477e-01 -9.78907475e-03 2.23260438e+02] [ 9.77922755e-01 2.03372228e-01 -4.80293967e-02 1.22562509e+02] [ 4.90164792e-02 1.83568532e-04 9.98797953e-01 1.34794653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.310385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.27, Y:122.59, Z:13.48 [[ 2.02410039e-01 -9.79253290e-01 -9.65251104e-03 2.23266497e+02] [ 9.78073409e-01 2.02639860e-01 -4.80572022e-02 1.22589375e+02] [ 4.90161568e-02 2.86395806e-04 9.98797945e-01 1.34813480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.340385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:223.27, Y:122.62, Z:13.48 [[ 2.03154170e-01 -9.79099500e-01 -9.62043987e-03 2.23274918e+02] [ 9.77919136e-01 2.03381520e-01 -4.80637254e-02 1.22616915e+02] [ 4.90157892e-02 3.56333988e-04 9.98797940e-01 1.34829756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.370385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:223.28, Y:122.64, Z:13.48 [[ 2.01535665e-01 -9.79432512e-01 -9.76374267e-03 2.23284362e+02] [ 9.78253924e-01 2.01771996e-01 -4.80345975e-02 1.22642181e+02] [ 4.90166963e-02 1.29264988e-04 9.98797951e-01 1.34847647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.400385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.29, Y:122.67, Z:13.49 [[ 1.98543254e-01 -9.80043629e-01 -9.74993145e-03 2.23292410e+02] [ 9.78865631e-01 1.98782507e-01 -4.80374007e-02 1.22668768e+02] [ 4.90168643e-02 -6.37093295e-06 9.98797951e-01 1.34875997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.43038572300003 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:223.30, Y:122.70, Z:13.49 [[ 1.96384696e-01 -9.80478581e-01 -9.73668918e-03 2.23298289e+02] [ 9.79300980e-01 1.96625893e-01 -4.80400846e-02 1.22695925e+02] [ 4.90167592e-02 -1.00811837e-04 9.98797951e-01 1.34895692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.460385723 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:223.30, Y:122.72, Z:13.49 [[ 1.93655600e-01 -9.81021387e-01 -9.72352321e-03 2.23303583e+02] [ 9.79844328e-01 1.93899428e-01 -4.80427493e-02 1.22723099e+02] [ 4.90163502e-02 -2.23791631e-04 9.98797951e-01 1.34900879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.490385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.31, Y:122.75, Z:13.50 [[ 1.89528816e-01 -9.81827142e-01 -9.71033466e-03 2.23308666e+02] [ 9.80650982e-01 1.89776946e-01 -4.80454149e-02 1.22749975e+02] [ 4.90150900e-02 -4.16458649e-04 9.98797951e-01 1.34952294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.520385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:223.31, Y:122.78, Z:13.50 [[ 1.87157411e-01 -9.82282058e-01 -9.69859828e-03 2.23314850e+02] [ 9.81106378e-01 1.87407806e-01 -4.80477839e-02 1.22777584e+02] [ 4.90140690e-02 -5.22857814e-04 9.98797951e-01 1.34978402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.550385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.32, Y:122.80, Z:13.50 [[ 1.83657264e-01 -9.82942621e-01 -9.68574929e-03 2.23322282e+02] [ 9.81767705e-01 1.83911218e-01 -4.80503739e-02 1.22803182e+02] [ 4.90120784e-02 -6.84355651e-04 9.98797951e-01 1.35017155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.580385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:223.32, Y:122.83, Z:13.50 [[ 1.80000658e-01 -9.83618895e-01 -9.67635964e-03 2.23324947e+02] [ 9.82444831e-01 1.80258521e-01 -4.80522647e-02 1.22828900e+02] [ 4.90093618e-02 -8.57050231e-04 9.98797952e-01 1.35032876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.610385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.33, Y:122.86, Z:13.50 [[ 1.81834343e-01 -9.83284850e-01 -9.33679437e-03 2.23331603e+02] [ 9.82106761e-01 1.82073414e-01 -4.81204883e-02 1.22857840e+02] [ 4.90161291e-02 -4.19771489e-04 9.98797899e-01 1.35039130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.640385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:223.33, Y:122.88, Z:13.50 [[ 1.78498807e-01 -9.83892707e-01 -9.66008305e-03 2.23327988e+02] [ 9.82718864e-01 1.78757668e-01 -4.80555038e-02 1.22883201e+02] [ 4.90082736e-02 -9.15295718e-04 9.98797953e-01 1.35029599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.670385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:223.34, Y:122.91, Z:13.51 [[ 1.83100116e-01 -9.83052257e-01 -9.08882282e-03 2.23336292e+02] [ 9.81871380e-01 1.83325526e-01 -4.81699612e-02 1.22913501e+02] [ 4.90198023e-02 -1.04129496e-04 9.98797801e-01 1.35064232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.700385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.34, Y:122.94, Z:13.51 [[ 1.84357689e-01 -9.82811910e-01 -9.64319922e-03 2.23339968e+02] [ 9.81636377e-01 1.84608725e-01 -4.80587311e-02 1.22940227e+02] [ 4.90129121e-02 -6.06118549e-04 9.98797961e-01 1.35097860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.730385723 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:223.34, Y:122.97, Z:13.51 [[ 1.84657545e-01 -9.82755756e-01 -9.62889380e-03 2.23344641e+02] [ 9.81579997e-01 1.84907523e-01 -4.80615971e-02 1.22967847e+02] [ 4.90132661e-02 -5.76593018e-04 9.98797961e-01 1.35105082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.760385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.35, Y:122.99, Z:13.51 [[ 1.85879319e-01 -9.82525532e-01 -9.61546181e-03 2.23348012e+02] [ 9.81349325e-01 1.86127177e-01 -4.80642843e-02 1.22994582e+02] [ 4.90140853e-02 -5.01970558e-04 9.98797961e-01 1.35138605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.790385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.35, Y:123.02, Z:13.52 [[ 1.86194236e-01 -9.82466041e-01 -9.60128375e-03 2.23346342e+02] [ 9.81289609e-01 1.86441025e-01 -4.80671163e-02 1.23021809e+02] [ 4.90143826e-02 -4.71819954e-04 9.98797961e-01 1.35150412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.820385723 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:223.35, Y:123.05, Z:13.52 [[ 1.89946603e-01 -9.81750365e-01 -9.30102680e-03 2.23352509e+02] [ 9.80570024e-01 1.90174185e-01 -4.81269928e-02 1.23051383e+02] [ 4.90175079e-02 2.12507129e-05 9.98797919e-01 1.35172060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.850385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.35, Y:123.08, Z:13.52 [[ 1.91325412e-01 -9.81479814e-01 -9.58959734e-03 2.23353234e+02] [ 9.80301993e-01 1.91565478e-01 -4.80694266e-02 1.23079919e+02] [ 4.90162077e-02 -2.03798512e-04 9.98797962e-01 1.35188537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.880385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.36, Y:123.11, Z:13.52 [[ 1.93813466e-01 -9.80991653e-01 -9.57688510e-03 2.23357764e+02] [ 9.79813102e-01 1.94049921e-01 -4.80719592e-02 1.23107994e+02] [ 4.90165845e-02 -6.65644702e-05 9.98797963e-01 1.35213954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.910385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.36, Y:123.14, Z:13.52 [[ 1.94142623e-01 -9.80926698e-01 -9.56325369e-03 2.23360534e+02] [ 9.79747934e-01 1.94378014e-01 -4.80746708e-02 1.23136514e+02] [ 4.90166143e-02 -3.62353641e-05 9.98797963e-01 1.35227912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.940385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.36, Y:123.16, Z:13.52 [[ 1.93744617e-01 -9.81005517e-01 -9.54983267e-03 2.23361124e+02] [ 9.79826717e-01 1.93979829e-01 -4.80773367e-02 1.23164951e+02] [ 4.90166074e-02 -4.24560209e-05 9.98797963e-01 1.35244532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.970385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.37, Y:123.19, Z:13.53 [[ 1.93469989e-01 -9.81059846e-01 -9.53636037e-03 2.23366617e+02] [ 9.79880980e-01 1.93704871e-01 -4.80800088e-02 1.23192963e+02] [ 4.90166055e-02 -4.24593759e-05 9.98797963e-01 1.35258493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.000385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.37, Y:123.22, Z:13.53 [[ 1.92990572e-01 -9.81154398e-01 -9.52288404e-03 2.23370047e+02] [ 9.79975516e-01 1.93225370e-01 -4.80826779e-02 1.23221360e+02] [ 4.90165937e-02 -5.26896792e-05 9.98797963e-01 1.35275134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.030385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:223.37, Y:123.25, Z:13.53 [[ 1.91826527e-01 -9.81382776e-01 -9.50945272e-03 2.23370974e+02] [ 9.80204042e-01 1.92062065e-01 -4.80853341e-02 1.23250169e+02] [ 4.90165238e-02 -9.71613570e-05 9.98797963e-01 1.35288848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.060385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.37, Y:123.28, Z:13.53 [[ 1.89467343e-01 -9.81841103e-01 -9.49607088e-03 2.23372516e+02] [ 9.80662805e-01 1.89705057e-01 -4.80879766e-02 1.23278176e+02] [ 4.90162047e-02 -2.01342370e-04 9.98797963e-01 1.35298202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.090385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.38, Y:123.31, Z:13.53 [[ 1.89828447e-01 -9.81771484e-01 -9.48224474e-03 2.23376115e+02] [ 9.80592964e-01 1.90065051e-01 -4.80907028e-02 1.23305095e+02] [ 4.90163240e-02 -1.69239031e-04 9.98797963e-01 1.35307426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.120385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.38, Y:123.33, Z:13.53 [[ 1.87070796e-01 -9.82300788e-01 -9.46989095e-03 2.23375157e+02] [ 9.81122814e-01 1.87310104e-01 -4.80931353e-02 1.23334183e+02] [ 4.90157310e-02 -2.94304946e-04 9.98797963e-01 1.35306273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.150385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.38, Y:123.36, Z:13.53 [[ 1.85578344e-01 -9.82583964e-01 -9.45684704e-03 2.23377375e+02] [ 9.81406224e-01 1.85818802e-01 -4.80957001e-02 1.23362645e+02] [ 4.90153237e-02 -3.55488187e-04 9.98797963e-01 1.35309198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.18038572300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.38, Y:123.39, Z:13.53 [[ 1.84215803e-01 -9.82840451e-01 -9.44381929e-03 2.23377014e+02] [ 9.81662915e-01 1.84457257e-01 -4.80982580e-02 1.23391336e+02] [ 4.90148946e-02 -4.10187923e-04 9.98797963e-01 1.35317743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.210385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.38, Y:123.42, Z:13.53 [[ 1.84068719e-01 -9.82868136e-01 -9.43048714e-03 2.23379602e+02] [ 9.81690502e-01 1.84309696e-01 -4.81008719e-02 1.23418059e+02] [ 4.90149445e-02 -4.03953797e-04 9.98797964e-01 1.35336033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.240385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.38, Y:123.45, Z:13.54 [[ 1.86698992e-01 -9.82372036e-01 -9.41642508e-03 2.23378539e+02] [ 9.81193623e-01 1.86936128e-01 -4.81036246e-02 1.23446577e+02] [ 4.90159257e-02 -2.58438015e-04 9.98797964e-01 1.35359291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.270385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.38, Y:123.47, Z:13.54 [[ 1.88704368e-01 -9.81988921e-01 -9.40326836e-03 2.23379089e+02] [ 9.80809898e-01 1.88938452e-01 -4.81061963e-02 1.23474609e+02] [ 4.90163908e-02 -1.44969320e-04 9.98797964e-01 1.35373998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.300385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.38, Y:123.50, Z:13.54 [[ 1.91439380e-01 -9.81459524e-01 -9.38967923e-03 2.23380138e+02] [ 9.80279724e-01 1.91669514e-01 -4.81088486e-02 1.23502412e+02] [ 4.90166029e-02 5.41601413e-06 9.98797964e-01 1.35380260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.330385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.38, Y:123.53, Z:13.54 [[ 1.97389228e-01 -9.80280345e-01 -9.37756950e-03 2.23378849e+02] [ 9.79099058e-01 1.97611606e-01 -4.81112090e-02 1.23531658e+02] [ 4.90155891e-02 3.15064922e-04 9.98797964e-01 1.35396037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.360385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.38, Y:123.56, Z:13.54 [[ 2.00061962e-01 -9.79738499e-01 -9.36401881e-03 2.23381516e+02] [ 9.78556487e-01 2.00280452e-01 -4.81138462e-02 1.23559718e+02] [ 4.90144174e-02 4.62529123e-04 9.98797964e-01 1.35414493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.390385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.38, Y:123.59, Z:13.54 [[ 2.04572915e-01 -9.78806668e-01 -9.35034368e-03 2.23383235e+02] [ 9.77623541e-01 2.04785286e-01 -4.81165037e-02 1.23587621e+02] [ 4.90115675e-02 7.02217314e-04 9.98797964e-01 1.35426645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.420385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.39, Y:123.62, Z:13.54 [[ 2.05893686e-01 -9.78529823e-01 -9.33675988e-03 2.23386993e+02] [ 9.77346292e-01 2.06103793e-01 -4.81191394e-02 1.23615791e+02] [ 4.90103546e-02 7.82179354e-04 9.98797964e-01 1.35438325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.450385723 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:223.39, Y:123.64, Z:13.54 [[ 2.07752080e-01 -9.78137082e-01 -9.32325472e-03 2.23388997e+02] [ 9.76953037e-01 2.07959274e-01 -4.81217560e-02 1.23643177e+02] [ 4.90085312e-02 8.89012868e-04 9.98797964e-01 1.35431749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.480385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.39, Y:123.67, Z:13.55 [[ 2.08726042e-01 -9.77929808e-01 -9.31285372e-03 2.23393215e+02] [ 9.76745470e-01 2.08931545e-01 -4.81237687e-02 1.23670751e+02] [ 4.90074169e-02 9.48396092e-04 9.98797964e-01 1.35473534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.510385723 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:223.40, Y:123.70, Z:13.55 [[ 2.09642174e-01 -9.77733949e-01 -9.29972542e-03 2.23396883e+02] [ 9.76549307e-01 2.09845921e-01 -4.81263056e-02 1.23698432e+02] [ 4.90062323e-02 1.00766292e-03 9.98797964e-01 1.35478964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.540385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.40, Y:123.73, Z:13.55 [[ 2.10041184e-01 -9.77648437e-01 -9.28629341e-03 2.23401362e+02] [ 9.76463599e-01 2.10243787e-01 -4.81288973e-02 1.23725246e+02] [ 4.90055267e-02 1.04132308e-03 9.98797965e-01 1.35497135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.570385723 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:223.41, Y:123.75, Z:13.55 [[ 2.09830007e-01 -9.77693899e-01 -9.27405590e-03 2.23406369e+02] [ 9.76509002e-01 2.10032264e-01 -4.81312552e-02 1.23753277e+02] [ 4.90054855e-02 1.04318257e-03 9.98797965e-01 1.35507738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.600385723 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:223.41, Y:123.78, Z:13.55 [[ 2.09699803e-01 -9.77721960e-01 -9.26070815e-03 2.23412730e+02] [ 9.76536978e-01 2.09901561e-01 -4.81338233e-02 1.23780976e+02] [ 4.90053331e-02 1.05022931e-03 9.98797965e-01 1.35516637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.630385723 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:223.42, Y:123.81, Z:13.55 [[ 2.09319125e-01 -9.77803656e-01 -9.24744461e-03 2.23419002e+02] [ 9.76618641e-01 2.09520691e-01 -4.81363713e-02 1.23807600e+02] [ 4.90054508e-02 1.04463633e-03 9.98797965e-01 1.35525854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.660385723 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:223.43, Y:123.83, Z:13.56 [[ 2.09129443e-01 -9.77844376e-01 -9.23326409e-03 2.23426153e+02] [ 9.76659282e-01 2.09330541e-01 -4.81390912e-02 1.23834670e+02] [ 4.90053438e-02 1.04954825e-03 9.98797965e-01 1.35554249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.690385723 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:223.43, Y:123.86, Z:13.56 [[ 2.08311327e-01 -9.78019112e-01 -9.21998743e-03 2.23432092e+02] [ 9.76834075e-01 2.08512764e-01 -4.81416339e-02 1.23862073e+02] [ 4.90059231e-02 1.02204975e-03 9.98797965e-01 1.35565716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.720385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.44, Y:123.89, Z:13.56 [[ 2.08065560e-01 -9.78070960e-01 -9.26926760e-03 2.23440578e+02] [ 9.76886388e-01 2.08269718e-01 -4.81322049e-02 1.23888806e+02] [ 4.90072196e-02 9.59632809e-04 9.98797963e-01 1.35615208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.750385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.45, Y:123.92, Z:13.56 [[ 2.07149847e-01 -9.78266021e-01 -9.19421367e-03 2.23448224e+02] [ 9.77081009e-01 2.07351423e-01 -4.81465376e-02 1.23916355e+02] [ 4.90065550e-02 9.90056336e-04 9.98797966e-01 1.35635214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.780385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.46, Y:123.95, Z:13.57 [[ 2.08656801e-01 -9.77945304e-01 -9.23694087e-03 2.23462669e+02] [ 9.76760338e-01 2.08858653e-01 -4.81383909e-02 1.23945924e+02] [ 4.90059283e-02 1.02212514e-03 9.98797965e-01 1.35682759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.810385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.47, Y:123.97, Z:13.57 [[ 2.07753726e-01 -9.78132910e-01 -9.71598088e-03 2.23469975e+02] [ 9.76952246e-01 2.07980218e-01 -4.80472495e-02 1.23971719e+02] [ 4.90173278e-02 4.89945788e-04 9.98797808e-01 1.35690020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.840385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.47, Y:123.99, Z:13.57 [[ 2.03790635e-01 -9.78966445e-01 -9.69930609e-03 2.23471636e+02] [ 9.77786558e-01 2.04021088e-01 -4.80504179e-02 1.23994591e+02] [ 4.90186098e-02 3.08374042e-04 9.98797818e-01 1.35679020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.870385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.48, Y:124.02, Z:13.57 [[ 2.02745839e-01 -9.79188933e-01 -9.11910412e-03 2.23480882e+02] [ 9.78004227e-01 2.02949052e-01 -4.81602873e-02 1.24021795e+02] [ 4.90087339e-02 8.45775475e-04 9.98797992e-01 1.35688687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.900385723 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:223.49, Y:124.05, Z:13.57 [[ 2.01643475e-01 -9.79416657e-01 -9.10604511e-03 2.23488734e+02] [ 9.78232071e-01 2.01847380e-01 -4.81627564e-02 1.24049322e+02] [ 4.90094372e-02 8.03880204e-04 9.98797992e-01 1.35700417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.93038572300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.50, Y:124.07, Z:13.57 [[ 2.01767117e-01 -9.79391313e-01 -9.09327703e-03 2.23498686e+02] [ 9.78206592e-01 2.01970244e-01 -4.81651669e-02 1.24074635e+02] [ 4.90091174e-02 8.23043312e-04 9.98797992e-01 1.35710468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.960385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.51, Y:124.10, Z:13.58 [[ 2.02033224e-01 -9.79336583e-01 -9.07934249e-03 2.23508203e+02] [ 9.78151690e-01 2.02235345e-01 -4.81677935e-02 1.24104377e+02] [ 4.90086462e-02 8.50520401e-04 9.98797992e-01 1.35766987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.990385723 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:223.52, Y:124.13, Z:13.58 [[ 2.00441994e-01 -9.79660650e-01 -9.38180025e-03 2.23518361e+02] [ 9.78478702e-01 2.00660899e-01 -4.81106395e-02 1.24130546e+02] [ 4.90146608e-02 4.63500779e-04 9.98797952e-01 1.35758889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.020385723 meters Centerline goodness : 0.996575 Centerline is valid? [True, True] Translation: X:223.53, Y:124.16, Z:13.57 [[ 2.00365204e-01 -9.79676660e-01 -9.35023117e-03 2.23527437e+02] [ 9.78494452e-01 2.00582652e-01 -4.81166104e-02 1.24158015e+02] [ 4.90142143e-02 4.91745143e-04 9.98797960e-01 1.35744828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.050385723 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:223.53, Y:124.18, Z:13.58 [[ 1.99184951e-01 -9.79914932e-01 -9.59588564e-03 2.23532564e+02] [ 9.78735187e-01 1.99415877e-01 -4.80701638e-02 1.24179883e+02] [ 4.90182432e-02 1.83022278e-04 9.98797867e-01 1.35800318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.080385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.54, Y:124.21, Z:13.58 [[ 1.98056830e-01 -9.80148578e-01 -9.06956941e-03 2.23544018e+02] [ 9.78964450e-01 1.98263278e-01 -4.81692686e-02 1.24205098e+02] [ 4.90112027e-02 6.61466599e-04 9.98798010e-01 1.35819793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.110385723 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:223.55, Y:124.23, Z:13.58 [[ 1.97681712e-01 -9.80224433e-01 -9.05547594e-03 2.23552278e+02] [ 9.79040263e-01 1.97887921e-01 -4.81719179e-02 1.24232192e+02] [ 4.90112602e-02 6.57031674e-04 9.98798010e-01 1.35841616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.140385723 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:223.56, Y:124.26, Z:13.59 [[ 1.97506949e-01 -9.80259782e-01 -9.04236585e-03 2.23562024e+02] [ 9.79075537e-01 1.97712725e-01 -4.81743787e-02 1.24257416e+02] [ 4.90111968e-02 6.61615382e-04 9.98798010e-01 1.35851769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.170385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:223.57, Y:124.28, Z:13.59 [[ 1.97475492e-01 -9.80266247e-01 -9.02854657e-03 2.23569872e+02] [ 9.79081891e-01 1.97680627e-01 -4.81769685e-02 1.24284327e+02] [ 4.90110249e-02 6.74084099e-04 9.98798010e-01 1.35869079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.200385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:223.58, Y:124.31, Z:13.59 [[ 1.98012599e-01 -9.80158011e-01 -9.01580500e-03 2.23578031e+02] [ 9.78973434e-01 1.98216459e-01 -4.81793528e-02 1.24311616e+02] [ 4.90104596e-02 7.13885313e-04 9.98798010e-01 1.35914337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.230385723 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:223.59, Y:124.34, Z:13.59 [[ 2.00106816e-01 -9.79732731e-01 -9.00214000e-03 2.23590366e+02] [ 9.78547608e-01 2.00307472e-01 -4.81819060e-02 1.24336937e+02] [ 4.90085862e-02 8.32505217e-04 9.98798010e-01 1.35919571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.260385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.60, Y:124.36, Z:13.59 [[ 2.01134682e-01 -9.79522322e-01 -8.99218027e-03 2.23599504e+02] [ 9.78336907e-01 2.01333605e-01 -4.81837647e-02 1.24363610e+02] [ 4.90075011e-02 8.94044366e-04 9.98798010e-01 1.35939766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.290385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:223.61, Y:124.39, Z:13.59 [[ 2.04154118e-01 -9.78897576e-01 -8.97948921e-03 2.23611059e+02] [ 9.77711451e-01 2.04348760e-01 -4.81861297e-02 1.24389251e+02] [ 4.90042330e-02 1.05804739e-03 9.98798010e-01 1.35921698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.320385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:223.62, Y:124.41, Z:13.60 [[ 2.03694422e-01 -9.78993473e-01 -8.96445079e-03 2.23616290e+02] [ 9.77807318e-01 2.03888881e-01 -4.81889272e-02 1.24414016e+02] [ 4.90043971e-02 1.05031011e-03 9.98798011e-01 1.35971530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.350385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.63, Y:124.44, Z:13.60 [[ 2.08084239e-01 -9.78072060e-01 -8.71756287e-03 2.23630086e+02] [ 9.76883135e-01 2.08261214e-01 -4.82349141e-02 1.24441223e+02] [ 4.89927520e-02 1.52088524e-03 9.98797976e-01 1.35958882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.380385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.64, Y:124.47, Z:13.60 [[ 2.07969343e-01 -9.78094161e-01 -8.97571792e-03 2.23639735e+02] [ 9.76907257e-01 2.08159173e-01 -4.81868295e-02 1.24467791e+02] [ 4.89996346e-02 1.25293932e-03 9.98798011e-01 1.35981375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.410385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.65, Y:124.49, Z:13.60 [[ 2.07843286e-01 -9.78121079e-01 -8.96237224e-03 2.23654313e+02] [ 9.76934093e-01 2.08032612e-01 -4.81893116e-02 1.24493693e+02] [ 4.89994471e-02 1.26017785e-03 9.98798011e-01 1.36009480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.440385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.66, Y:124.52, Z:13.60 [[ 2.07760136e-01 -9.78138865e-01 -8.94911345e-03 2.23663595e+02] [ 9.76951792e-01 2.07948910e-01 -4.81917737e-02 1.24520221e+02] [ 4.89992052e-02 1.26947703e-03 9.98798011e-01 1.36030251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.470385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:223.68, Y:124.55, Z:13.60 [[ 2.08252447e-01 -9.78034290e-01 -8.93568094e-03 2.23675485e+02] [ 9.76847017e-01 2.08439962e-01 -4.81942642e-02 1.24546388e+02] [ 4.89981960e-02 1.30778019e-03 9.98798011e-01 1.36044997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.500385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.68, Y:124.57, Z:13.61 [[ 2.08168198e-01 -9.78052348e-01 -8.92222986e-03 2.23683217e+02] [ 9.76864987e-01 2.08355153e-01 -4.81967543e-02 1.24573416e+02] [ 4.89979413e-02 1.31721754e-03 9.98798011e-01 1.36054330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.530385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.69, Y:124.60, Z:13.61 [[ 2.07292527e-01 -9.78238438e-01 -8.90882358e-03 2.23694005e+02] [ 9.77051141e-01 2.07479884e-01 -4.81992322e-02 1.24599410e+02] [ 4.89987433e-02 1.28696438e-03 9.98798011e-01 1.36051620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.560385723 meters Centerline goodness : 0.999732 Centerline is valid? [True, True] Translation: X:223.70, Y:124.62, Z:13.60 [[ 2.04897694e-01 -9.78742979e-01 -8.89470635e-03 2.23701905e+02] [ 9.77556033e-01 2.05087263e-01 -4.82018373e-02 1.24624427e+02] [ 4.90014008e-02 1.18137147e-03 9.98798011e-01 1.36029414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.590385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.71, Y:124.65, Z:13.61 [[ 1.98270384e-01 -9.80108231e-01 -8.75845929e-03 2.23714764e+02] [ 9.78921490e-01 1.98461279e-01 -4.82269382e-02 1.24650158e+02] [ 4.90058341e-02 9.88129514e-04 9.98798004e-01 1.36075447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.620385723 meters Centerline goodness : 0.999752 Centerline is valid? [True, True] Translation: X:223.72, Y:124.68, Z:13.61 [[ 1.94460231e-01 -9.80870265e-01 -8.87364658e-03 2.23723287e+02] [ 9.79685229e-01 1.94661398e-01 -4.82057350e-02 1.24676540e+02] [ 4.90109285e-02 6.80717901e-04 9.98798010e-01 1.36068893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.650385723 meters Centerline goodness : 0.999548 Centerline is valid? [True, True] Translation: X:223.73, Y:124.70, Z:13.61 [[ 1.92973055e-01 -9.81164058e-01 -8.85957590e-03 2.23730690e+02] [ 9.79979209e-01 1.93175327e-01 -4.82083209e-02 1.24701895e+02] [ 4.90117232e-02 6.20706785e-04 9.98798010e-01 1.36082652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.68038572300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.73, Y:124.73, Z:13.61 [[ 1.88613439e-01 -9.82012560e-01 -8.73510186e-03 2.23734472e+02] [ 9.80827562e-01 1.88814859e-01 -4.82311473e-02 1.24728369e+02] [ 4.90129095e-02 5.29413890e-04 9.98798005e-01 1.36107287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.710385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.74, Y:124.76, Z:13.61 [[ 1.87177212e-01 -9.82286435e-01 -8.83465951e-03 2.23737505e+02] [ 9.81102585e-01 1.87385252e-01 -4.82129044e-02 1.24756844e+02] [ 4.90143668e-02 3.56649747e-04 9.98798010e-01 1.36116691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.740385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.74, Y:124.79, Z:13.61 [[ 1.85822999e-01 -9.82543633e-01 -8.82172601e-03 2.23736797e+02] [ 9.81359959e-01 1.86032036e-01 -4.82152707e-02 1.24785323e+02] [ 4.90147309e-02 3.02217521e-04 9.98798010e-01 1.36093661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.770385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:223.74, Y:124.81, Z:13.61 [[ 1.84922397e-01 -9.82713661e-01 -8.80728539e-03 2.23739378e+02] [ 9.81530054e-01 1.85131811e-01 -4.82179084e-02 1.24811783e+02] [ 4.90149060e-02 2.71955909e-04 9.98798010e-01 1.36103898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.800385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.75, Y:124.84, Z:13.61 [[ 1.83198524e-01 -9.83036630e-01 -8.79113982e-03 2.23745446e+02] [ 9.81853251e-01 1.83409221e-01 -4.82208519e-02 1.24838903e+02] [ 4.90152399e-02 2.02379705e-04 9.98798010e-01 1.36127876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.830385723 meters Centerline goodness : 0.999101 Centerline is valid? [True, True] Translation: X:223.75, Y:124.86, Z:13.61 [[ 1.83536255e-01 -9.82972933e-01 -8.86883856e-03 2.23752466e+02] [ 9.81790162e-01 1.83750357e-01 -4.82066885e-02 1.24864332e+02] [ 4.90155222e-02 1.40336651e-04 9.98798007e-01 1.36119579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.860385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.76, Y:124.89, Z:13.61 [[ 1.82450251e-01 -9.83176108e-01 -8.75479405e-03 2.23758390e+02] [ 9.81992574e-01 1.82660066e-01 -4.82274336e-02 1.24890473e+02] [ 4.90152117e-02 2.01964598e-04 9.98798012e-01 1.36143706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.890385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.76, Y:124.92, Z:13.62 [[ 1.82150777e-01 -9.83231775e-01 -8.73902728e-03 2.23763188e+02] [ 9.82048168e-01 1.82360179e-01 -4.82302966e-02 1.24917795e+02] [ 4.90152107e-02 2.03040275e-04 9.98798012e-01 1.36157253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.920385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.77, Y:124.95, Z:13.62 [[ 1.80366161e-01 -9.83560845e-01 -8.72420854e-03 2.23767977e+02] [ 9.82377490e-01 1.80576984e-01 -4.82329828e-02 1.24945726e+02] [ 4.90154645e-02 1.29131831e-04 9.98798011e-01 1.36166455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.950385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.77, Y:124.97, Z:13.62 [[ 1.77093307e-01 -9.84155369e-01 -8.72758670e-03 2.23772162e+02] [ 9.82972751e-01 1.77308231e-01 -4.82323715e-02 1.24974847e+02] [ 4.90156203e-02 -3.73497197e-05 9.98798011e-01 1.36164247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.980385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.78, Y:125.00, Z:13.62 [[ 1.76297441e-01 -9.84296823e-01 -8.88687094e-03 2.23776253e+02] [ 9.83115815e-01 1.76521124e-01 -4.82035941e-02 1.25001750e+02] [ 4.90153649e-02 -2.38653072e-04 9.98797996e-01 1.36181870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.010385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.78, Y:125.03, Z:13.62 [[ 1.75594704e-01 -9.84423421e-01 -8.77656849e-03 2.23779668e+02] [ 9.83241574e-01 1.75813828e-01 -4.82234835e-02 1.25027051e+02] [ 4.90153687e-02 -1.61698722e-04 9.98798011e-01 1.36203054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.040385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.78, Y:125.05, Z:13.62 [[ 1.75929473e-01 -9.84364489e-01 -8.68178962e-03 2.23784519e+02] [ 9.83181723e-01 1.76143551e-01 -4.82405410e-02 1.25052354e+02] [ 4.90155167e-02 -4.88439137e-05 9.98798016e-01 1.36222047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.070385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.79, Y:125.08, Z:13.62 [[ 1.76637076e-01 -9.84239283e-01 -8.50745566e-03 2.23790690e+02] [ 9.83054845e-01 1.76841756e-01 -4.82717925e-02 1.25079124e+02] [ 4.90154678e-02 1.63292770e-04 9.98798006e-01 1.36243020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.100385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.80, Y:125.11, Z:13.63 [[ 1.77676841e-01 -9.84050933e-01 -8.64296874e-03 2.23795091e+02] [ 9.82867449e-01 1.77886916e-01 -4.82475174e-02 1.25107110e+02] [ 4.90154856e-02 7.75738497e-05 9.98798016e-01 1.36270217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.130385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.80, Y:125.14, Z:13.63 [[ 1.78826895e-01 -9.83842705e-01 -8.62979306e-03 2.23798201e+02] [ 9.82658863e-01 1.79034940e-01 -4.82498739e-02 1.25135360e+02] [ 4.90153210e-02 1.48232496e-04 9.98798016e-01 1.36274089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.160385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.80, Y:125.16, Z:13.63 [[ 1.81547791e-01 -9.83344371e-01 -8.61667569e-03 2.23799977e+02] [ 9.82159847e-01 1.81751917e-01 -4.82522164e-02 1.25163836e+02] [ 4.90146427e-02 2.97130419e-04 9.98798016e-01 1.36264466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.190385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:223.80, Y:125.19, Z:13.63 [[ 1.82653000e-01 -9.83139796e-01 -8.60365140e-03 2.23804320e+02] [ 9.81954934e-01 1.82855155e-01 -4.82545386e-02 1.25192012e+02] [ 4.90141792e-02 3.65438278e-04 9.98798016e-01 1.36273493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.220385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:223.81, Y:125.22, Z:13.63 [[ 1.83363306e-01 -9.83007680e-01 -8.59069320e-03 2.23810344e+02] [ 9.81822564e-01 1.83563969e-01 -4.82568454e-02 1.25219168e+02] [ 4.90137914e-02 4.13998290e-04 9.98798016e-01 1.36296155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.250385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.82, Y:125.25, Z:13.63 [[ 1.83261320e-01 -9.83026813e-01 -8.57748518e-03 2.23817400e+02] [ 9.81841608e-01 1.83461457e-01 -4.82591930e-02 1.25246896e+02] [ 4.90137186e-02 4.22311565e-04 9.98798016e-01 1.36322306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.280385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.82, Y:125.27, Z:13.63 [[ 1.82617417e-01 -9.83146517e-01 -8.59097564e-03 2.23823468e+02] [ 9.81961556e-01 1.82818993e-01 -4.82567984e-02 1.25271949e+02] [ 4.90140968e-02 3.76524068e-04 9.98798016e-01 1.36344736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.310385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.83, Y:125.30, Z:13.64 [[ 1.81335698e-01 -9.83384069e-01 -8.55199707e-03 2.23829953e+02] [ 9.82199046e-01 1.81536905e-01 -4.82637052e-02 1.25298249e+02] [ 4.90142619e-02 3.52169294e-04 9.98798017e-01 1.36357411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.340385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.83, Y:125.33, Z:13.64 [[ 1.80224273e-01 -9.83588488e-01 -8.53805562e-03 2.23834586e+02] [ 9.82403576e-01 1.80426136e-01 -4.82661714e-02 1.25326217e+02] [ 4.90145389e-02 3.10919282e-04 9.98798017e-01 1.36365705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.370385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.84, Y:125.35, Z:13.64 [[ 1.78119469e-01 -9.83971941e-01 -8.52488259e-03 2.23839233e+02] [ 9.82787353e-01 1.78323220e-01 -4.82684979e-02 1.25352775e+02] [ 4.90150321e-02 2.19412427e-04 9.98798017e-01 1.36360337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.400385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.84, Y:125.38, Z:13.64 [[ 1.76934074e-01 -9.84185906e-01 -8.51097240e-03 2.23844338e+02] [ 9.83001446e-01 1.77138570e-01 -4.82709505e-02 1.25379297e+02] [ 4.90152106e-02 1.74477774e-04 9.98798017e-01 1.36365949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.43038572300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.85, Y:125.41, Z:13.64 [[ 1.75536201e-01 -9.84436305e-01 -8.49728410e-03 2.23850921e+02] [ 9.83252020e-01 1.75741707e-01 -4.82733600e-02 1.25406094e+02] [ 4.90153753e-02 1.18750473e-04 9.98798017e-01 1.36398299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.460385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.86, Y:125.43, Z:13.64 [[ 1.74895819e-01 -9.84550392e-01 -8.48395293e-03 2.23855845e+02] [ 9.83366128e-01 1.75101442e-01 -4.82757028e-02 1.25432499e+02] [ 4.90154145e-02 1.00386624e-04 9.98798017e-01 1.36417810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.490385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.86, Y:125.46, Z:13.64 [[ 1.71564435e-01 -9.85136492e-01 -8.46980980e-03 2.23858468e+02] [ 9.83952807e-01 1.71773369e-01 -4.82781840e-02 1.25460741e+02] [ 4.90154886e-02 -5.10737695e-05 9.98798017e-01 1.36434419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.520385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.86, Y:125.49, Z:13.65 [[ 1.72623355e-01 -9.84951607e-01 -8.45629710e-03 2.23864418e+02] [ 9.83767583e-01 1.72830355e-01 -4.82805508e-02 1.25486953e+02] [ 4.90155109e-02 1.53197178e-05 9.98798017e-01 1.36455376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.550385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.87, Y:125.51, Z:13.65 [[ 1.71832906e-01 -9.85089946e-01 -8.44096283e-03 2.23868335e+02] [ 9.83905957e-01 1.72040104e-01 -4.82832316e-02 1.25514258e+02] [ 4.90155101e-02 -8.46561629e-06 9.98798017e-01 1.36461218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.580385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.87, Y:125.54, Z:13.65 [[ 1.71057674e-01 -9.85224979e-01 -8.42688800e-03 2.23872389e+02] [ 9.84041032e-01 1.71265114e-01 -4.82856879e-02 1.25542232e+02] [ 4.90154978e-02 -3.27660956e-05 9.98798018e-01 1.36478658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.610385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.87, Y:125.57, Z:13.65 [[ 1.68030389e-01 -9.85745911e-01 -8.41358528e-03 2.23874770e+02] [ 9.84562490e-01 1.68240813e-01 -4.82880058e-02 1.25569931e+02] [ 4.90152126e-02 -1.69848097e-04 9.98798018e-01 1.36497402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.640385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.88, Y:125.60, Z:13.65 [[ 1.68687835e-01 -9.85633738e-01 -8.39939028e-03 2.23879686e+02] [ 9.84450054e-01 1.68896775e-01 -4.82904748e-02 1.25597104e+02] [ 4.90153511e-02 -1.22764562e-04 9.98798018e-01 1.36495759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.670385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.88, Y:125.62, Z:13.65 [[ 1.67718933e-01 -9.85799181e-01 -8.38655599e-03 2.23882719e+02] [ 9.84615593e-01 1.67928407e-01 -4.82927036e-02 1.25624949e+02] [ 4.90152486e-02 -1.57933079e-04 9.98798018e-01 1.36500071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.700385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.89, Y:125.65, Z:13.65 [[ 1.66916253e-01 -9.85935520e-01 -8.37346405e-03 2.23886064e+02] [ 9.84751989e-01 1.67126050e-01 -4.82949735e-02 1.25651578e+02] [ 4.90151538e-02 -1.84569343e-04 9.98798018e-01 1.36507371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.730385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:223.89, Y:125.68, Z:13.65 [[ 1.66654096e-01 -9.85979984e-01 -8.35966018e-03 2.23890849e+02] [ 9.84796389e-01 1.66863530e-01 -4.82973628e-02 1.25679178e+02] [ 4.90151554e-02 -1.83609836e-04 9.98798018e-01 1.36519925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.760385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.90, Y:125.71, Z:13.65 [[ 1.66613860e-01 -9.85986893e-01 -8.34681905e-03 2.23895312e+02] [ 9.84803195e-01 1.66822714e-01 -4.82995819e-02 1.25706618e+02] [ 4.90151937e-02 -1.72594282e-04 9.98798018e-01 1.36536222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.790385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.90, Y:125.73, Z:13.65 [[ 1.66434969e-01 -9.86017216e-01 -8.33375903e-03 2.23899872e+02] [ 9.84833443e-01 1.66643398e-01 -4.83018352e-02 1.25733545e+02] [ 4.90152070e-02 -1.68250148e-04 9.98798018e-01 1.36548518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.820385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.91, Y:125.76, Z:13.66 [[ 1.65970251e-01 -9.86095661e-01 -8.31999943e-03 2.23905374e+02] [ 9.84911868e-01 1.66178564e-01 -4.83042052e-02 1.25761713e+02] [ 4.90151727e-02 -1.77405114e-04 9.98798018e-01 1.36565555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.850385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.91, Y:125.79, Z:13.66 [[ 1.66670453e-01 -9.85976435e-01 -8.45157333e-03 2.23909573e+02] [ 9.84793632e-01 1.66884370e-01 -4.82815599e-02 1.25788307e+02] [ 4.90149158e-02 -2.75946145e-04 9.98798009e-01 1.36560080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.880385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.91, Y:125.82, Z:13.66 [[ 1.67600575e-01 -9.85820323e-01 -8.26662254e-03 2.23912886e+02] [ 9.84635737e-01 1.67804315e-01 -4.83133284e-02 1.25816855e+02] [ 4.90154360e-02 -4.22703287e-05 9.98798020e-01 1.36554701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.910385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:223.92, Y:125.84, Z:13.66 [[ 1.67947944e-01 -9.85760995e-01 -8.29144852e-03 2.23916999e+02] [ 9.84576547e-01 1.68152483e-01 -4.83090675e-02 1.25843566e+02] [ 4.90154221e-02 -5.01572026e-05 9.98798021e-01 1.36559129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.940385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.92, Y:125.87, Z:13.66 [[ 1.68609610e-01 -9.85648117e-01 -8.28181693e-03 2.23922919e+02] [ 9.84463450e-01 1.68812882e-01 -4.83107186e-02 1.25871782e+02] [ 4.90154462e-02 -7.49462882e-06 9.98798021e-01 1.36596419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.970385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.93, Y:125.90, Z:13.66 [[ 1.69984836e-01 -9.85410868e-01 -8.40101708e-03 2.23927908e+02] [ 9.84226919e-01 1.70192297e-01 -4.82903033e-02 1.25898786e+02] [ 4.90155781e-02 -5.98878513e-05 9.98798012e-01 1.36618377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.000385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.93, Y:125.93, Z:13.66 [[ 1.70670429e-01 -9.85293534e-01 -8.26170477e-03 2.23932199e+02] [ 9.84108280e-01 1.70870236e-01 -4.83141262e-02 1.25926443e+02] [ 4.90152756e-02 1.15380552e-04 9.98798022e-01 1.36644833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.030385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:223.93, Y:125.95, Z:13.67 [[ 1.68974715e-01 -9.85585232e-01 -8.32443659e-03 2.23934707e+02] [ 9.84400848e-01 1.69179637e-01 -4.83034197e-02 1.25954640e+02] [ 4.90154623e-02 -3.25258347e-05 9.98798019e-01 1.36662200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.060385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.94, Y:125.98, Z:13.67 [[ 1.70230908e-01 -9.85369831e-01 -8.23004578e-03 2.23941181e+02] [ 9.84184407e-01 1.70429692e-01 -4.83194971e-02 1.25980841e+02] [ 4.90152189e-02 1.25589125e-04 9.98798024e-01 1.36666585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.090385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.95, Y:126.01, Z:13.67 [[ 1.69403605e-01 -9.85512521e-01 -8.21520298e-03 2.23946829e+02] [ 9.84327141e-01 1.69602657e-01 -4.83220206e-02 1.26008180e+02] [ 4.90152766e-02 9.94772443e-05 9.98798024e-01 1.36691647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.120385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.95, Y:126.03, Z:13.67 [[ 1.67934656e-01 -9.85764008e-01 -8.20196620e-03 2.23952883e+02] [ 9.84578816e-01 1.68134825e-01 -4.83242672e-02 1.26034492e+02] [ 4.90153595e-02 3.98370261e-05 9.98798024e-01 1.36726488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.150385723 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:223.96, Y:126.06, Z:13.67 [[ 1.66992870e-01 -9.85924068e-01 -8.19230709e-03 2.23956607e+02] [ 9.84738988e-01 1.67193698e-01 -4.83259047e-02 1.26060127e+02] [ 4.90153746e-02 2.79732114e-06 9.98798024e-01 1.36738379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.18038572300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.96, Y:126.09, Z:13.67 [[ 1.66057242e-01 -9.86082210e-01 -8.17726252e-03 2.23960108e+02] [ 9.84897196e-01 1.66258457e-01 -4.83284502e-02 1.26087226e+02] [ 4.90153641e-02 -2.84737793e-05 9.98798024e-01 1.36746002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.210385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.96, Y:126.12, Z:13.67 [[ 1.63675727e-01 -9.86480422e-01 -8.16287631e-03 2.23963829e+02] [ 9.85295777e-01 1.63879098e-01 -4.83308800e-02 1.26115337e+02] [ 4.90151917e-02 -1.32255623e-04 9.98798024e-01 1.36746771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.240385723 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:223.97, Y:126.14, Z:13.68 [[ 1.62113093e-01 -9.86738528e-01 -8.14996820e-03 2.23968538e+02] [ 9.85554097e-01 1.62317707e-01 -4.83330566e-02 1.26142783e+02] [ 4.90149733e-02 -1.96813276e-04 9.98798024e-01 1.36755521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.270385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.97, Y:126.17, Z:13.68 [[ 1.57837914e-01 -9.87431508e-01 -8.13699948e-03 2.23972233e+02] [ 9.86247861e-01 1.58047022e-01 -4.83352398e-02 1.26170184e+02] [ 4.90137672e-02 -3.95964916e-04 9.98798025e-01 1.36775377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.300385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.98, Y:126.20, Z:13.68 [[ 1.58498587e-01 -9.87325783e-01 -8.12386679e-03 2.23978020e+02] [ 9.86141884e-01 1.58706259e-01 -4.83374470e-02 1.26196314e+02] [ 4.90141162e-02 -3.49868272e-04 9.98798025e-01 1.36780675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.330385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.98, Y:126.22, Z:13.68 [[ 1.57388659e-01 -9.87503445e-01 -8.10896466e-03 2.23980927e+02] [ 9.86319652e-01 1.57596933e-01 -4.83399468e-02 1.26224079e+02] [ 4.90138120e-02 -3.89871816e-04 9.98798025e-01 1.36779688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.360385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.98, Y:126.25, Z:13.68 [[ 1.57016498e-01 -9.87562798e-01 -8.09559431e-03 2.23984156e+02] [ 9.86378969e-01 1.57224563e-01 -4.83421859e-02 1.26251088e+02] [ 4.90137706e-02 -3.94803259e-04 9.98798025e-01 1.36780932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.390385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.99, Y:126.28, Z:13.68 [[ 1.56859275e-01 -9.87587899e-01 -8.08149091e-03 2.23987797e+02] [ 9.86403981e-01 1.57066839e-01 -4.83445434e-02 1.26278817e+02] [ 4.90138203e-02 -3.88324779e-04 9.98798025e-01 1.36791284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.420385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:223.99, Y:126.31, Z:13.68 [[ 1.57361368e-01 -9.87508127e-01 -8.06834784e-03 2.23993986e+02] [ 9.86323992e-01 1.57567686e-01 -4.83467368e-02 1.26305074e+02] [ 4.90141065e-02 -3.50096432e-04 9.98798025e-01 1.36810069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.450385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:224.00, Y:126.33, Z:13.68 [[ 1.57236071e-01 -9.87528199e-01 -8.05450468e-03 2.23999880e+02] [ 9.86343972e-01 1.57441862e-01 -4.83490430e-02 1.26332232e+02] [ 4.90141595e-02 -3.42298566e-04 9.98798025e-01 1.36845646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.480385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.00, Y:126.36, Z:13.69 [[ 1.57125887e-01 -9.87545842e-01 -8.04145878e-03 2.24003058e+02] [ 9.86361527e-01 1.57331172e-01 -4.83512127e-02 1.26359029e+02] [ 4.90142112e-02 -3.34558377e-04 9.98798025e-01 1.36860423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.510385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:224.00, Y:126.39, Z:13.69 [[ 1.54704596e-01 -9.87928157e-01 -8.02768850e-03 2.24003472e+02] [ 9.86744231e-01 1.54912109e-01 -4.83534988e-02 1.26387764e+02] [ 4.90133692e-02 -4.40766827e-04 9.98798025e-01 1.36855347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.540385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.01, Y:126.41, Z:13.69 [[ 1.57327500e-01 -9.87513967e-01 -8.01391468e-03 2.24005562e+02] [ 9.86329378e-01 1.57531194e-01 -4.83557816e-02 1.26413133e+02] [ 4.90144512e-02 -2.96665247e-04 9.98798025e-01 1.36859907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.570385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.01, Y:126.44, Z:13.69 [[ 1.63111021e-01 -9.86578283e-01 -7.62138857e-03 2.24013165e+02] [ 9.85389416e-01 1.63288519e-01 -4.84206417e-02 1.26442169e+02] [ 4.90152388e-02 3.87904675e-04 9.98797955e-01 1.36892108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.600385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.02, Y:126.47, Z:13.69 [[ 1.64231813e-01 -9.86389405e-01 -7.99085156e-03 2.24017178e+02] [ 9.85203234e-01 1.64426085e-01 -4.83595958e-02 1.26468371e+02] [ 4.90152974e-02 6.95713165e-05 9.98798026e-01 1.36904658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.630385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.02, Y:126.49, Z:13.69 [[ 1.61591120e-01 -9.86825565e-01 -7.97584519e-03 2.24016399e+02] [ 9.85639796e-01 1.61787830e-01 -4.83620707e-02 1.26493464e+02] [ 4.90153224e-02 -4.64292565e-05 9.98798026e-01 1.36904447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.660385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.02, Y:126.52, Z:13.69 [[ 1.65089681e-01 -9.86250360e-01 -7.45812943e-03 2.24021468e+02] [ 9.85059930e-01 1.65256776e-01 -4.84472163e-02 1.26524323e+02] [ 4.90135910e-02 6.51431044e-04 9.98797899e-01 1.36933977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.690385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.02, Y:126.55, Z:13.70 [[ 1.64860741e-01 -9.86284714e-01 -7.96241525e-03 2.24024653e+02] [ 9.85098197e-01 1.65052861e-01 -4.83642000e-02 1.26552512e+02] [ 4.90150906e-02 1.29596929e-04 9.98798030e-01 1.36953811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.720385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:224.03, Y:126.58, Z:13.70 [[ 1.64268522e-01 -9.86383629e-01 -7.94911160e-03 2.24027557e+02] [ 9.85197122e-01 1.64460703e-01 -4.83663865e-02 1.26579909e+02] [ 4.90151283e-02 1.13632953e-04 9.98798030e-01 1.36975186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.750385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:224.03, Y:126.61, Z:13.70 [[ 1.60945183e-01 -9.86931448e-01 -7.93507468e-03 2.24028570e+02] [ 9.85745481e-01 1.61140671e-01 -4.83686893e-02 1.26606080e+02] [ 4.90152438e-02 -3.72564706e-05 9.98798030e-01 1.36984485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.780385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:224.03, Y:126.63, Z:13.70 [[ 1.60761897e-01 -9.86964091e-01 -7.58252533e-03 2.24032848e+02] [ 9.85775378e-01 1.60940318e-01 -4.84264242e-02 1.26633277e+02] [ 4.90154758e-02 3.10457050e-04 9.98797971e-01 1.36996584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.810385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:224.04, Y:126.66, Z:13.70 [[ 1.58937293e-01 -9.87259416e-01 -7.60146629e-03 2.24037135e+02] [ 9.86071183e-01 1.59118839e-01 -4.84233196e-02 1.26660847e+02] [ 4.90159147e-02 2.00684467e-04 9.98797977e-01 1.37036148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.840385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:224.04, Y:126.69, Z:13.70 [[ 1.57742428e-01 -9.87451996e-01 -7.47539688e-03 2.24041180e+02] [ 9.86262998e-01 1.57919229e-01 -4.84439519e-02 1.26688834e+02] [ 4.90165859e-02 2.68959248e-04 9.98797929e-01 1.37044067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.870385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.04, Y:126.72, Z:13.70 [[ 1.55437506e-01 -9.87816794e-01 -7.56057484e-03 2.24043412e+02] [ 9.86628884e-01 1.55621258e-01 -4.84300360e-02 1.26715948e+02] [ 4.90165891e-02 6.83625012e-05 9.98797962e-01 1.37042819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.900385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.05, Y:126.75, Z:13.70 [[ 1.53873283e-01 -9.88063054e-01 -7.37660014e-03 2.24045709e+02] [ 9.86873982e-01 1.54049895e-01 -4.84600181e-02 1.26746450e+02] [ 4.90179179e-02 1.76927318e-04 9.98797884e-01 1.37035555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.93038572300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.05, Y:126.77, Z:13.70 [[ 1.52734770e-01 -9.88238434e-01 -7.54232486e-03 2.24049357e+02] [ 9.87050884e-01 1.52920877e-01 -4.84330239e-02 1.26773931e+02] [ 4.90167546e-02 -4.72516445e-05 9.98797955e-01 1.37040835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.960385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:224.05, Y:126.80, Z:13.71 [[ 1.50906864e-01 -9.88519259e-01 -7.53605255e-03 2.24054273e+02] [ 9.87332004e-01 1.51094859e-01 -4.84340442e-02 1.26802158e+02] [ 4.90166443e-02 -1.31556144e-04 9.98797953e-01 1.37066583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.990385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.06, Y:126.83, Z:13.71 [[ 1.51095349e-01 -9.88490504e-01 -7.53117553e-03 2.24061148e+02] [ 9.87303174e-01 1.51282878e-01 -4.84348359e-02 1.26831497e+02] [ 4.90167133e-02 -1.17275072e-04 9.98797952e-01 1.37103219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.020385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.06, Y:126.86, Z:13.71 [[ 1.50047003e-01 -9.88647672e-01 -7.85347436e-03 2.24063597e+02] [ 9.87463213e-01 1.50251572e-01 -4.83825229e-02 1.26858351e+02] [ 4.90132655e-02 -4.95364448e-04 9.98798005e-01 1.37119347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.050385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.07, Y:126.89, Z:13.71 [[ 1.49207046e-01 -9.88774897e-01 -7.83971611e-03 2.24065515e+02] [ 9.87590495e-01 1.49411947e-01 -4.83847521e-02 1.26886462e+02] [ 4.90129755e-02 -5.23083189e-04 9.98798005e-01 1.37134733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.080385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.06, Y:126.91, Z:13.71 [[ 1.45360753e-01 -9.89347766e-01 -7.82620055e-03 2.24061903e+02] [ 9.88164053e-01 1.45569598e-01 -4.83869382e-02 1.26912546e+02] [ 4.90107660e-02 -7.00008284e-04 9.98798005e-01 1.37100139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.110385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.07, Y:126.94, Z:13.71 [[ 1.48931217e-01 -9.88820332e-01 -7.33785812e-03 2.24070422e+02] [ 9.87631879e-01 1.49111873e-01 -4.84656644e-02 1.26942468e+02] [ 4.90179962e-02 -2.90522332e-05 9.98797895e-01 1.37148996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.140385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.07, Y:126.97, Z:13.72 [[ 1.45822158e-01 -9.89279976e-01 -7.81200827e-03 2.24071478e+02] [ 9.88096049e-01 1.46029757e-01 -4.83891227e-02 1.26968553e+02] [ 4.90111758e-02 -6.62808198e-04 9.98798010e-01 1.37157500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.170385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.08, Y:127.00, Z:13.72 [[ 1.47694902e-01 -9.89004729e-01 -7.47404896e-03 2.24077863e+02] [ 9.87817610e-01 1.47883716e-01 -4.84435313e-02 1.26997398e+02] [ 4.90161717e-02 -2.28134567e-04 9.98797959e-01 1.37202223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.200385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.08, Y:127.03, Z:13.72 [[ 1.46834496e-01 -9.89130371e-01 -7.79362338e-03 2.24077984e+02] [ 9.87946077e-01 1.47039984e-01 -4.83920659e-02 1.27025161e+02] [ 4.90120364e-02 -5.94055042e-04 9.98798011e-01 1.37213740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.230385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:224.08, Y:127.05, Z:13.72 [[ 1.46461574e-01 -9.89185768e-01 -7.77970593e-03 2.24079817e+02] [ 9.88001434e-01 1.46666827e-01 -4.83943033e-02 1.27052871e+02] [ 4.90119808e-02 -5.98454803e-04 9.98798011e-01 1.37210628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.260385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.08, Y:127.08, Z:13.72 [[ 1.47196573e-01 -9.89076766e-01 -7.76665399e-03 2.24082185e+02] [ 9.87892169e-01 1.47400308e-01 -4.83963979e-02 1.27080003e+02] [ 4.90125598e-02 -5.48832762e-04 9.98798011e-01 1.37223091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.290385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.08, Y:127.11, Z:13.72 [[ 1.47842581e-01 -9.88980517e-01 -7.75289181e-03 2.24082071e+02] [ 9.87795673e-01 1.48044869e-01 -4.83986024e-02 1.27106091e+02] [ 4.90130507e-02 -5.02898670e-04 9.98798012e-01 1.37223338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.320385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.09, Y:127.14, Z:13.73 [[ 1.51832285e-01 -9.88378126e-01 -7.45905018e-03 2.24087278e+02] [ 9.87190119e-01 1.52015395e-01 -4.84457339e-02 1.27135706e+02] [ 4.90165941e-02 -7.87414380e-06 9.98797964e-01 1.37258456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.350385723 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:224.09, Y:127.16, Z:13.72 [[ 1.53449186e-01 -9.88126058e-01 -7.76146159e-03 2.24090836e+02] [ 9.86940155e-01 1.53645170e-01 -4.83972385e-02 1.27162536e+02] [ 4.90150836e-02 -2.33581250e-04 9.98798011e-01 1.37218728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.380385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:224.09, Y:127.19, Z:13.73 [[ 1.54538488e-01 -9.87956381e-01 -7.74891998e-03 2.24090730e+02] [ 9.86770161e-01 1.54732551e-01 -4.83992465e-02 1.27190332e+02] [ 4.90153545e-02 -1.66856644e-04 9.98798011e-01 1.37264491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.410385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:224.09, Y:127.22, Z:13.73 [[ 1.57113386e-01 -9.87550279e-01 -7.73501307e-03 2.24090806e+02] [ 9.86363448e-01 1.57303675e-01 -4.84014689e-02 1.27217469e+02] [ 4.90156301e-02 -2.50154705e-05 9.98798011e-01 1.37265141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.440385723 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:224.09, Y:127.24, Z:13.73 [[ 1.59027624e-01 -9.87243942e-01 -7.72096898e-03 2.24094535e+02] [ 9.86056636e-01 1.59214922e-01 -4.84037091e-02 1.27244009e+02] [ 4.90155621e-02 8.42141618e-05 9.98798011e-01 1.37310619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.470385723 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:224.10, Y:127.27, Z:13.73 [[ 1.58131775e-01 -9.87387945e-01 -7.70640164e-03 2.24098519e+02] [ 9.86200696e-01 1.58319436e-01 -4.84060283e-02 1.27270996e+02] [ 4.90156020e-02 5.44725159e-05 9.98798012e-01 1.37302211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.500385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.10, Y:127.30, Z:13.73 [[ 1.56692493e-01 -9.87617448e-01 -7.69667851e-03 2.24100313e+02] [ 9.86430398e-01 1.56881408e-01 -4.84075743e-02 1.27298000e+02] [ 4.90156307e-02 -7.13414401e-06 9.98798012e-01 1.37346781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.530385723 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:224.11, Y:127.33, Z:13.74 [[ 1.58140313e-01 -9.87388299e-01 -7.48260709e-03 2.24106716e+02] [ 9.86199345e-01 1.58316989e-01 -4.84415502e-02 1.27326244e+02] [ 4.90152436e-02 2.81219687e-04 9.98797991e-01 1.37370683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.560385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.11, Y:127.35, Z:13.73 [[ 1.54499274e-01 -9.87963053e-01 -7.67990057e-03 2.24106215e+02] [ 9.86776292e-01 1.54690002e-01 -4.84102521e-02 1.27352932e+02] [ 4.90155443e-02 -9.89950193e-05 9.98798011e-01 1.37346624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.590385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.11, Y:127.38, Z:13.73 [[ 1.53056506e-01 -9.88189774e-01 -7.39435359e-03 2.24106813e+02] [ 9.87001070e-01 1.53234972e-01 -4.84554638e-02 1.27382415e+02] [ 4.90162674e-02 1.18189079e-04 9.98797973e-01 1.37338553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.620385723 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:224.11, Y:127.41, Z:13.73 [[ 1.52762842e-01 -9.88234548e-01 -7.48277560e-03 2.24113000e+02] [ 9.87046578e-01 1.52945996e-01 -4.84414686e-02 1.27410961e+02] [ 4.90159934e-02 1.42083607e-05 9.98797994e-01 1.37349953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.650385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.12, Y:127.44, Z:13.74 [[ 1.47192725e-01 -9.89078158e-01 -7.66151992e-03 2.24117592e+02] [ 9.87892688e-01 1.47391320e-01 -4.84131826e-02 1.27437707e+02] [ 4.90136631e-02 -4.42691225e-04 9.98798010e-01 1.37366939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.68038572300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.12, Y:127.46, Z:13.74 [[ 1.43522654e-01 -9.89618695e-01 -7.48903490e-03 2.24121849e+02] [ 9.88432543e-01 1.43717206e-01 -4.84404078e-02 1.27464627e+02] [ 4.90138363e-02 -4.50109908e-04 9.98797998e-01 1.37374554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.710385723 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:224.12, Y:127.49, Z:13.73 [[ 1.37214177e-01 -9.90513681e-01 -7.41066637e-03 2.24123313e+02] [ 9.89328129e-01 1.37412451e-01 -4.84527809e-02 1.27492888e+02] [ 4.90114601e-02 -6.83172220e-04 9.98797983e-01 1.37340629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.740385723 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:224.13, Y:127.52, Z:13.74 [[ 1.37728397e-01 -9.90442717e-01 -7.35610875e-03 2.24127971e+02] [ 9.89256607e-01 1.37923386e-01 -4.84613687e-02 1.27521150e+02] [ 4.90127892e-02 -6.02572569e-04 9.98797969e-01 1.37389135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.770385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:224.13, Y:127.55, Z:13.74 [[ 1.38188263e-01 -9.90376848e-01 -7.59618323e-03 2.24133843e+02] [ 9.89192667e-01 1.38394442e-01 -4.84236032e-02 1.27549700e+02] [ 4.90088851e-02 -8.22515126e-04 9.98798004e-01 1.37418019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.800385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:224.14, Y:127.58, Z:13.75 [[ 1.39643518e-01 -9.90171726e-01 -7.72274886e-03 2.24138784e+02] [ 9.88988321e-01 1.39854143e-01 -4.84037130e-02 1.27575400e+02] [ 4.90080465e-02 -8.78443637e-04 9.98797997e-01 1.37468336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.830385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.14, Y:127.60, Z:13.74 [[ 1.40803301e-01 -9.90008466e-01 -7.59386612e-03 2.24140607e+02] [ 9.88823728e-01 1.41006239e-01 -4.84239249e-02 1.27603017e+02] [ 4.90108781e-02 -6.90746506e-04 9.98798006e-01 1.37437251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.860385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.15, Y:127.63, Z:13.75 [[ 1.44017297e-01 -9.89546695e-01 -7.50707727e-03 2.24145383e+02] [ 9.88360596e-01 1.44212139e-01 -4.84375076e-02 1.27631491e+02] [ 4.90137872e-02 -4.43860449e-04 9.98798003e-01 1.37493846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.890385723 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:224.15, Y:127.66, Z:13.75 [[ 1.45998789e-01 -9.89255815e-01 -7.56879107e-03 2.24148486e+02] [ 9.88069823e-01 1.46194276e-01 -4.84278624e-02 1.27659306e+02] [ 4.90140584e-02 -4.08084808e-04 9.98798005e-01 1.37484730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.920385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.15, Y:127.69, Z:13.75 [[ 1.47824538e-01 -9.88984744e-01 -7.55526019e-03 2.24153842e+02] [ 9.87798286e-01 1.48017173e-01 -4.84299733e-02 1.27686812e+02] [ 4.90148130e-02 -3.03934646e-04 9.98798005e-01 1.37524730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.950385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.16, Y:127.71, Z:13.75 [[ 1.49061387e-01 -9.88799183e-01 -7.54181176e-03 2.24159336e+02] [ 9.87612379e-01 1.49251879e-01 -4.84320675e-02 1.27713651e+02] [ 4.90152183e-02 -2.29035511e-04 9.98798006e-01 1.37536353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.980385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.17, Y:127.74, Z:13.76 [[ 1.51827128e-01 -9.88378365e-01 -7.53199566e-03 2.24167077e+02] [ 9.87190957e-01 1.52013819e-01 -4.84335940e-02 1.27739777e+02] [ 4.90156839e-02 -8.19845287e-05 9.98798006e-01 1.37580015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.010385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:224.17, Y:127.77, Z:13.76 [[ 1.53019478e-01 -9.88195385e-01 -7.41080449e-03 2.24172834e+02] [ 9.87006836e-01 1.53198795e-01 -4.84524078e-02 1.27767398e+02] [ 4.90157721e-02 9.96474723e-05 9.98798000e-01 1.37576361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.040385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.18, Y:127.80, Z:13.76 [[ 1.53809593e-01 -9.88071920e-01 -7.51594833e-03 2.24177055e+02] [ 9.86884018e-01 1.53993115e-01 -4.84360926e-02 1.27795587e+02] [ 4.90157474e-02 3.25664245e-05 9.98798005e-01 1.37584253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.070385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:224.18, Y:127.82, Z:13.76 [[ 1.54927336e-01 -9.87897377e-01 -7.50283144e-03 2.24181645e+02] [ 9.86709170e-01 1.55108871e-01 -4.84381244e-02 1.27823783e+02] [ 4.90156518e-02 1.01277000e-04 9.98798005e-01 1.37590701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.100385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:224.19, Y:127.85, Z:13.76 [[ 1.57076465e-01 -9.87558043e-01 -7.48971400e-03 2.24189817e+02] [ 9.86369347e-01 1.57254770e-01 -4.84401526e-02 1.27850640e+02] [ 4.90152555e-02 2.21183615e-04 9.98798006e-01 1.37616083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.130385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.20, Y:127.88, Z:13.76 [[ 1.57546804e-01 -9.87483220e-01 -7.47627253e-03 2.24196947e+02] [ 9.86294341e-01 1.57723884e-01 -4.84422271e-02 1.27878182e+02] [ 4.90150731e-02 2.58112761e-04 9.98798006e-01 1.37640937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.160385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:224.21, Y:127.91, Z:13.77 [[ 1.57298739e-01 -9.87522867e-01 -7.46285150e-03 2.24205473e+02] [ 9.86333934e-01 1.57475458e-01 -4.84442946e-02 1.27905611e+02] [ 4.90150646e-02 2.59362744e-04 9.98798006e-01 1.37670679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.190385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.21, Y:127.93, Z:13.77 [[ 1.56471587e-01 -9.87654367e-01 -7.44948289e-03 2.24211205e+02] [ 9.86465485e-01 1.56648647e-01 -4.84463502e-02 1.27932020e+02] [ 4.90152008e-02 2.31819541e-04 9.98798006e-01 1.37671095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.220385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.22, Y:127.96, Z:13.77 [[ 1.55634199e-01 -9.87786774e-01 -7.43540096e-03 2.24219321e+02] [ 9.86597940e-01 1.55811576e-01 -4.84485114e-02 1.27959525e+02] [ 4.90153203e-02 2.04493990e-04 9.98798006e-01 1.37706085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.250385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:224.23, Y:127.99, Z:13.77 [[ 1.55206369e-01 -9.87854182e-01 -7.42275870e-03 2.24225038e+02] [ 9.86665332e-01 1.55383641e-01 -4.84504482e-02 1.27986517e+02] [ 4.90153532e-02 1.96039475e-04 9.98798006e-01 1.37718047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.280385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.23, Y:128.01, Z:13.77 [[ 1.54718548e-01 -9.87930810e-01 -7.40852704e-03 2.24230663e+02] [ 9.86741943e-01 1.54895709e-01 -4.84526243e-02 1.28013462e+02] [ 4.90153894e-02 1.86215331e-04 9.98798006e-01 1.37734766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.310385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.24, Y:128.04, Z:13.78 [[ 1.53685801e-01 -9.88092099e-01 -7.39452766e-03 2.24238478e+02] [ 9.86903315e-01 1.53863519e-01 -4.84547607e-02 1.28040685e+02] [ 4.90155142e-02 1.49124869e-04 9.98798006e-01 1.37750566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.340385723 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:224.25, Y:128.07, Z:13.77 [[ 1.51193803e-01 -9.88476796e-01 -7.35240351e-03 2.24247549e+02] [ 9.87288152e-01 1.51372452e-01 -4.84611800e-02 1.28068817e+02] [ 4.90157033e-02 6.80892053e-05 9.98798006e-01 1.37744863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.370385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.26, Y:128.10, Z:13.78 [[ 1.52925377e-01 -9.88210200e-01 -7.37763601e-03 2.24259125e+02] [ 9.87021430e-01 1.53103181e-01 -4.84573384e-02 1.28100135e+02] [ 4.90155756e-02 1.28471916e-04 9.98798006e-01 1.37777496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.400385723 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:224.26, Y:128.12, Z:13.78 [[ 1.47974240e-01 -9.88958972e-01 -7.98598277e-03 2.24260848e+02] [ 9.87775914e-01 1.48187774e-01 -4.83645331e-02 1.28123240e+02] [ 4.90139640e-02 -7.31656399e-04 9.98797825e-01 1.37772745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.43038572300003 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:224.26, Y:128.14, Z:13.77 [[ 1.38724732e-01 -9.90303635e-01 -7.35934652e-03 2.24262572e+02] [ 9.89117412e-01 1.38918686e-01 -4.84597074e-02 1.28143743e+02] [ 4.90121751e-02 -5.56697892e-04 9.98798026e-01 1.37734302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.460385723 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:224.28, Y:128.18, Z:13.78 [[ 1.41206133e-01 -9.89959801e-01 -6.35768348e-03 2.24277333e+02] [ 9.88765752e-01 1.41348004e-01 -4.86110076e-02 1.28176187e+02] [ 4.90215893e-02 5.77912747e-04 9.98797552e-01 1.37810852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.490385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:224.29, Y:128.21, Z:13.78 [[ 1.42184634e-01 -9.89812898e-01 -7.34555840e-03 2.24287951e+02] [ 9.88625922e-01 1.42373767e-01 -4.84612944e-02 1.28207351e+02] [ 4.90134291e-02 -3.71558016e-04 9.98798051e-01 1.37832212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.520385723 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:224.29, Y:128.23, Z:13.79 [[ 1.41439536e-01 -9.89915690e-01 -7.86031143e-03 2.24294951e+02] [ 9.88733026e-01 1.41654738e-01 -4.83832363e-02 1.28234468e+02] [ 4.90087751e-02 -9.28447007e-04 9.98797916e-01 1.37852691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.550385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:224.30, Y:128.26, Z:13.79 [[ 1.37981887e-01 -9.90403217e-01 -7.90353493e-03 2.24301546e+02] [ 9.89221682e-01 1.38203329e-01 -4.83766898e-02 1.28257057e+02] [ 4.90047241e-02 -1.14324116e-03 9.98797892e-01 1.37871878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.580385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:224.31, Y:128.28, Z:13.79 [[ 1.36978629e-01 -9.90546761e-01 -7.34643811e-03 2.24306991e+02] [ 9.89360827e-01 1.37174042e-01 -4.84606638e-02 1.28284300e+02] [ 4.90102941e-02 -6.30202781e-04 9.98798075e-01 1.37912722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.610385723 meters Centerline goodness : 0.999372 Centerline is valid? [True, True] Translation: X:224.32, Y:128.31, Z:13.79 [[ 1.35824378e-01 -9.90706084e-01 -7.29344343e-03 2.24315072e+02] [ 9.89519953e-01 1.36018580e-01 -4.84686384e-02 1.28314600e+02] [ 4.90102187e-02 -6.33785155e-04 9.98798076e-01 1.37896566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.640385723 meters Centerline goodness : 0.999079 Centerline is valid? [True, True] Translation: X:224.32, Y:128.34, Z:13.79 [[ 1.34823865e-01 -9.90838856e-01 -7.80295140e-03 2.24320476e+02] [ 9.89657165e-01 1.35044162e-01 -4.83918458e-02 1.28339751e+02] [ 4.90022642e-02 -1.19787108e-03 9.98797949e-01 1.37910893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.670385723 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:224.33, Y:128.36, Z:13.80 [[ 1.35551464e-01 -9.90739961e-01 -7.75437989e-03 2.24328128e+02] [ 9.89557694e-01 1.35768521e-01 -4.83991546e-02 1.28363062e+02] [ 4.90037772e-02 -1.11283004e-03 9.98797973e-01 1.37958650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.700385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:224.33, Y:128.39, Z:13.80 [[ 1.37417158e-01 -9.90486654e-01 -7.26035842e-03 2.24333982e+02] [ 9.89299973e-01 1.37607834e-01 -4.84731558e-02 1.28389552e+02] [ 4.90110961e-02 -5.21629079e-04 9.98798098e-01 1.37951622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.730385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:224.34, Y:128.42, Z:13.80 [[ 1.37101705e-01 -9.90530851e-01 -7.19408432e-03 2.24337894e+02] [ 9.89343713e-01 1.37289516e-01 -4.84830593e-02 1.28417024e+02] [ 4.90116384e-02 -4.70311979e-04 9.98798097e-01 1.37964955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.760385723 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:224.34, Y:128.44, Z:13.80 [[ 1.40671003e-01 -9.90030362e-01 -7.17996034e-03 2.24340632e+02] [ 9.88842447e-01 1.40853842e-01 -4.84851655e-02 1.28444485e+02] [ 4.90131110e-02 -2.79392704e-04 9.98798096e-01 1.38002918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.790385723 meters Centerline goodness : 0.999775 Centerline is valid? [True, True] Translation: X:224.34, Y:128.47, Z:13.80 [[ 1.41982461e-01 -9.89842848e-01 -7.21927007e-03 2.24342483e+02] [ 9.88654987e-01 1.42165652e-01 -4.84793118e-02 1.28471623e+02] [ 4.90132322e-02 -2.54155345e-04 9.98798097e-01 1.37998882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.820385723 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:224.34, Y:128.50, Z:13.80 [[ 1.44736615e-01 -9.89443399e-01 -7.28514172e-03 2.24343704e+02] [ 9.88255523e-01 1.44919726e-01 -4.84695192e-02 1.28499046e+02] [ 4.90136066e-02 -1.84267412e-04 9.98798094e-01 1.38013991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.850385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.35, Y:128.53, Z:13.80 [[ 1.44854091e-01 -9.89426914e-01 -7.18840792e-03 2.24348211e+02] [ 9.88238302e-01 1.45032322e-01 -4.84838616e-02 1.28525286e+02] [ 4.90137891e-02 -8.07743187e-05 9.98798099e-01 1.38039933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.880385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:224.35, Y:128.55, Z:13.81 [[ 1.43716424e-01 -9.89592904e-01 -7.17457129e-03 2.24353532e+02] [ 9.88404394e-01 1.43895343e-01 -4.84859090e-02 1.28552816e+02] [ 4.90136989e-02 -1.23156339e-04 9.98798099e-01 1.38074399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.910385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.36, Y:128.58, Z:13.81 [[ 1.42094344e-01 -9.89827215e-01 -7.16119593e-03 2.24358367e+02] [ 9.88638901e-01 1.42274555e-01 -4.84878844e-02 1.28580313e+02] [ 4.90134836e-02 -1.89982761e-04 9.98798099e-01 1.38095154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.940385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:224.36, Y:128.61, Z:13.81 [[ 1.38951183e-01 -9.90273435e-01 -7.14789961e-03 2.24362027e+02] [ 9.89085599e-01 1.39134515e-01 -4.84898445e-02 1.28608398e+02] [ 4.90127244e-02 -3.32163324e-04 9.98798099e-01 1.38107292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.970385723 meters Centerline goodness : 0.997525 Centerline is valid? [True, True] Translation: X:224.36, Y:128.64, Z:13.81 [[ 1.35923530e-01 -9.90693642e-01 -7.13457273e-03 2.24364107e+02] [ 9.89506269e-01 1.36109840e-01 -4.84918052e-02 1.28636939e+02] [ 4.90116087e-02 -4.68527112e-04 9.98798099e-01 1.38068380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.000385723 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:224.37, Y:128.66, Z:13.81 [[ 1.33492481e-01 -9.91023463e-01 -7.22870083e-03 2.24365367e+02] [ 9.89837288e-01 1.33686308e-01 -4.84779846e-02 1.28663001e+02] [ 4.90091985e-02 -6.83791189e-04 9.98798093e-01 1.38112180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.030385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:224.37, Y:128.69, Z:13.81 [[ 1.31230758e-01 -9.91326431e-01 -7.09893055e-03 2.24368274e+02] [ 9.90139676e-01 1.31420945e-01 -4.84969807e-02 1.28691262e+02] [ 4.90092869e-02 -6.64637280e-04 9.98798102e-01 1.38115948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.060385723 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:224.37, Y:128.72, Z:13.81 [[ 1.27257901e-01 -9.91844351e-01 -7.08589819e-03 2.24372089e+02] [ 9.90658263e-01 1.27452205e-01 -4.84988848e-02 1.28718447e+02] [ 4.90064582e-02 -8.47837298e-04 9.98798102e-01 1.38133589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.090385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:224.38, Y:128.74, Z:13.82 [[ 1.24199230e-01 -9.92232098e-01 -7.07212450e-03 2.24377701e+02] [ 9.91046503e-01 1.24396516e-01 -4.85008932e-02 1.28743889e+02] [ 4.90038906e-02 -9.85030691e-04 9.98798102e-01 1.38165541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.120385723 meters Centerline goodness : 0.999797 Centerline is valid? [True, True] Translation: X:224.38, Y:128.77, Z:13.82 [[ 1.21668285e-01 -9.92545731e-01 -7.05693806e-03 2.24381215e+02] [ 9.91360517e-01 1.21867853e-01 -4.85031027e-02 1.28770673e+02] [ 4.90015614e-02 -1.09468046e-03 9.98798102e-01 1.38151866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.150385723 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:224.38, Y:128.80, Z:13.81 [[ 1.19416848e-01 -9.92819226e-01 -7.04272953e-03 2.24382663e+02] [ 9.91634350e-01 1.19618410e-01 -4.85051657e-02 1.28797314e+02] [ 4.89993012e-02 -1.19147849e-03 9.98798102e-01 1.38149492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.18038572300003 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:224.38, Y:128.83, Z:13.82 [[ 1.22255409e-01 -9.92475442e-01 -6.79062051e-03 2.24384030e+02] [ 9.91287974e-01 1.22441261e-01 -4.85416368e-02 1.28825979e+02] [ 4.90078345e-02 -7.96982801e-04 9.98798076e-01 1.38175399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.210385723 meters Centerline goodness : 0.999821 Centerline is valid? [True, True] Translation: X:224.39, Y:128.85, Z:13.82 [[ 1.23195037e-01 -9.92357701e-01 -7.01255016e-03 2.24385634e+02] [ 9.91171821e-01 1.23390613e-01 -4.85095558e-02 1.28852848e+02] [ 4.90041142e-02 -9.74505577e-04 9.98798101e-01 1.38173615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.240385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:224.39, Y:128.88, Z:13.82 [[ 1.26347553e-01 -9.91961348e-01 -6.99857224e-03 2.24387385e+02] [ 9.90774743e-01 1.26538676e-01 -4.85115724e-02 1.28879868e+02] [ 4.90071948e-02 -8.04690169e-04 9.98798101e-01 1.38173321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.270385723 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:224.39, Y:128.91, Z:13.82 [[ 1.28177940e-01 -9.91726591e-01 -6.98455951e-03 2.24391349e+02] [ 9.90539526e-01 1.28366188e-01 -4.85135898e-02 1.28908036e+02] [ 4.90087983e-02 -7.00110264e-04 9.98798101e-01 1.38211053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.300385723 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:224.39, Y:128.94, Z:13.82 [[ 1.30965984e-01 -9.91362346e-01 -6.97203333e-03 2.24393976e+02] [ 9.90174662e-01 1.31150280e-01 -4.85153899e-02 1.28935184e+02] [ 4.90107149e-02 -5.49664983e-04 9.98798102e-01 1.38214025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.330385723 meters Centerline goodness : 0.994880 Centerline is valid? [True, True] Translation: X:224.40, Y:128.97, Z:13.82 [[ 1.31974809e-01 -9.91228650e-01 -6.95792437e-03 2.24398261e+02] [ 9.90040673e-01 1.32157206e-01 -4.85174133e-02 1.28965593e+02] [ 4.90113900e-02 -4.85551769e-04 9.98798102e-01 1.38197875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.360385723 meters Centerline goodness : 0.999622 Centerline is valid? [True, True] Translation: X:224.40, Y:128.99, Z:13.82 [[ 1.32523225e-01 -9.91151854e-01 -7.45640724e-03 2.24398314e+02] [ 9.89967632e-01 1.32729345e-01 -4.84459303e-02 1.28989057e+02] [ 4.90069577e-02 -9.61390888e-04 9.98797974e-01 1.38241862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.390385723 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:224.40, Y:129.02, Z:13.83 [[ 1.34712562e-01 -9.90860551e-01 -6.92058234e-03 2.24400156e+02] [ 9.89671819e-01 1.34889849e-01 -4.85223605e-02 1.29017437e+02] [ 4.90124091e-02 -3.12533804e-04 9.98798121e-01 1.38260162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.420385723 meters Centerline goodness : 0.999711 Centerline is valid? [True, True] Translation: X:224.40, Y:129.04, Z:13.83 [[ 1.36556865e-01 -9.90608153e-01 -6.90720983e-03 2.24404045e+02] [ 9.89418997e-01 1.36731283e-01 -4.85242640e-02 1.29043938e+02] [ 4.90129632e-02 -2.07803229e-04 9.98798121e-01 1.38292934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.450385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:224.41, Y:129.07, Z:13.83 [[ 1.37550732e-01 -9.90470737e-01 -6.89312018e-03 2.24407691e+02] [ 9.89281307e-01 1.37723266e-01 -4.85262654e-02 1.29071474e+02] [ 4.90131889e-02 -1.44411629e-04 9.98798121e-01 1.38308165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.480385723 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:224.41, Y:129.10, Z:13.83 [[ 1.39241905e-01 -9.90234496e-01 -6.87995881e-03 2.24410850e+02] [ 9.89044681e-01 1.39411763e-01 -4.85281314e-02 1.29099758e+02] [ 4.90133769e-02 -4.74372017e-05 9.98798121e-01 1.38306490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.510385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:224.41, Y:129.13, Z:13.83 [[ 1.39612548e-01 -9.90182399e-01 -6.86687861e-03 2.24413847e+02] [ 9.88992428e-01 1.39781320e-01 -4.85299822e-02 1.29127183e+02] [ 4.90133955e-02 -1.58964760e-05 9.98798121e-01 1.38311997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.540385723 meters Centerline goodness : 0.999778 Centerline is valid? [True, True] Translation: X:224.42, Y:129.15, Z:13.83 [[ 1.41027909e-01 -9.89981901e-01 -6.85307516e-03 2.24417112e+02] [ 9.88791596e-01 1.41194302e-01 -4.85319313e-02 1.29154486e+02] [ 4.90133488e-02 6.80936562e-05 9.98798121e-01 1.38315101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.570385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:224.42, Y:129.18, Z:13.83 [[ 1.39770534e-01 -9.90160310e-01 -6.83795425e-03 2.24419882e+02] [ 9.88970114e-01 1.39937698e-01 -4.85340617e-02 1.29180454e+02] [ 4.90133892e-02 2.10993112e-05 9.98798121e-01 1.38338231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.600385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:224.42, Y:129.21, Z:13.84 [[ 1.39266383e-01 -9.90231462e-01 -6.82104835e-03 2.24424865e+02] [ 9.89041234e-01 1.39433325e-01 -4.85364376e-02 1.29207683e+02] [ 4.90133890e-02 1.31960589e-05 9.98798122e-01 1.38385079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.630385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:224.43, Y:129.24, Z:13.84 [[ 1.38508045e-01 -9.90337909e-01 -6.80794129e-03 2.24429028e+02] [ 9.89147719e-01 1.38675255e-01 -4.85382760e-02 1.29235028e+02] [ 4.90133877e-02 -1.11178908e-05 9.98798122e-01 1.38402157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.660385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:224.43, Y:129.26, Z:13.84 [[ 1.37386738e-01 -9.90494178e-01 -6.79470838e-03 2.24432885e+02] [ 9.89304086e-01 1.37554647e-01 -4.85401284e-02 1.29262375e+02] [ 4.90133582e-02 -5.32628842e-05 9.98798122e-01 1.38413250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.690385723 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:224.43, Y:129.29, Z:13.84 [[ 1.32023528e-01 -9.91223386e-01 -6.78145458e-03 2.24432304e+02] [ 9.90034125e-01 1.32197227e-01 -4.85419799e-02 1.29288958e+02] [ 4.90124352e-02 -3.05188015e-04 9.98798122e-01 1.38387936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.720385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:224.44, Y:129.32, Z:13.84 [[ 1.33806660e-01 -9.90986562e-01 -6.43514894e-03 2.24439660e+02] [ 9.89794612e-01 1.33961248e-01 -4.85902213e-02 1.29318027e+02] [ 4.90143169e-02 1.32219461e-04 9.98798067e-01 1.38437379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.750385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.44, Y:129.35, Z:13.85 [[ 1.31139629e-01 -9.91340818e-01 -6.76615691e-03 2.24442561e+02] [ 9.90151604e-01 1.31313640e-01 -4.85440876e-02 1.29345439e+02] [ 4.90122242e-02 -3.33467489e-04 9.98798123e-01 1.38459348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.780385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:224.45, Y:129.37, Z:13.85 [[ 1.29419519e-01 -9.91566936e-01 -6.75271897e-03 2.24445917e+02] [ 9.90377929e-01 1.29594934e-01 -4.85459568e-02 1.29373561e+02] [ 4.90116838e-02 -4.04949477e-04 9.98798123e-01 1.38476155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.810385723 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:224.45, Y:129.40, Z:13.85 [[ 1.26641694e-01 -9.91925635e-01 -6.73916661e-03 2.24448345e+02] [ 9.90737025e-01 1.26819776e-01 -4.85478381e-02 1.29400574e+02] [ 4.90105047e-02 -5.28561426e-04 9.98798123e-01 1.38469425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.840385723 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:224.45, Y:129.43, Z:13.85 [[ 1.25282776e-01 -9.92098253e-01 -6.72927610e-03 2.24452054e+02] [ 9.90909814e-01 1.25462002e-01 -4.85492090e-02 1.29428524e+02] [ 4.90098538e-02 -5.85726060e-04 9.98798123e-01 1.38504950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.870385723 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:224.46, Y:129.46, Z:13.85 [[ 1.23336787e-01 -9.92342146e-01 -6.71584167e-03 2.24455426e+02] [ 9.91153961e-01 1.23517687e-01 -4.85510673e-02 1.29455293e+02] [ 4.90087955e-02 -6.68300413e-04 9.98798123e-01 1.38511693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.900385723 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:224.45, Y:129.48, Z:13.85 [[ 1.16264455e-01 -9.93195683e-01 -6.70166684e-03 2.24453510e+02] [ 9.92008707e-01 1.16453122e-01 -4.85530238e-02 1.29479623e+02] [ 4.90030837e-02 -1.00312100e-03 9.98798124e-01 1.38544934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.93038572300003 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:224.46, Y:129.51, Z:13.86 [[ 1.14631457e-01 -9.93389736e-01 -6.03833104e-03 2.24455564e+02] [ 9.92198106e-01 1.14789634e-01 -4.86442054e-02 1.29508253e+02] [ 4.90157922e-02 -4.15064493e-04 9.98797917e-01 1.38575878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.960385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:224.46, Y:129.54, Z:13.86 [[ 1.14582684e-01 -9.93394798e-01 -6.13061695e-03 2.24458333e+02] [ 9.92203839e-01 1.14745437e-01 -4.86315388e-02 1.29535488e+02] [ 4.90137780e-02 -5.10489415e-04 9.98797972e-01 1.38571001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.990385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:224.46, Y:129.56, Z:13.86 [[ 1.13555298e-01 -9.93512423e-01 -6.18549948e-03 2.24459280e+02] [ 9.92322034e-01 1.13721969e-01 -4.86240047e-02 1.29563060e+02] [ 4.90119799e-02 -6.16494066e-04 9.98798000e-01 1.38569046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.020385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:224.46, Y:129.59, Z:13.86 [[ 1.17388926e-01 -9.93067751e-01 -6.02349056e-03 2.24464010e+02] [ 9.91875585e-01 1.17543067e-01 -4.86461932e-02 1.29594530e+02] [ 4.90169853e-02 -2.64028852e-04 9.98797910e-01 1.38579054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.050385723 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:224.46, Y:129.62, Z:13.86 [[ 1.14222964e-01 -9.93432800e-01 -6.66233088e-03 2.24461064e+02] [ 9.92245901e-01 1.14412148e-01 -4.85585534e-02 1.29619597e+02] [ 4.90019112e-02 -1.06416864e-03 9.98798118e-01 1.38599688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.080385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.46, Y:129.65, Z:13.86 [[ 1.12320005e-01 -9.93653288e-01 -6.11224395e-03 2.24461172e+02] [ 9.92462579e-01 1.12484571e-01 -4.86338431e-02 1.29646494e+02] [ 4.90127112e-02 -6.03619903e-04 9.98797972e-01 1.38615236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.110385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:224.47, Y:129.68, Z:13.86 [[ 1.16515532e-01 -9.93171577e-01 -5.86076892e-03 2.24468444e+02] [ 9.91978447e-01 1.16662751e-01 -4.86678953e-02 1.29678853e+02] [ 4.90193037e-02 -1.43190724e-04 9.98797821e-01 1.38608888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.140385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.46, Y:129.70, Z:13.86 [[ 1.12741354e-01 -9.93602485e-01 -6.59459624e-03 2.24462909e+02] [ 9.92415318e-01 1.12928999e-01 -4.85682698e-02 1.29700520e+02] [ 4.90022748e-02 -1.06892585e-03 9.98798095e-01 1.38625109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.170385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:224.47, Y:129.73, Z:13.87 [[ 1.15789504e-01 -9.93255372e-01 -6.04620707e-03 2.24470125e+02] [ 9.92063607e-01 1.15946678e-01 -4.86432720e-02 1.29733007e+02] [ 4.90162289e-02 -3.65841655e-04 9.98797915e-01 1.38652413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.200385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:224.46, Y:129.76, Z:13.87 [[ 1.12321920e-01 -9.93649579e-01 -6.65585477e-03 2.24464416e+02] [ 9.92462979e-01 1.12513059e-01 -4.85597198e-02 1.29757045e+02] [ 4.90002157e-02 -1.15136849e-03 9.98798104e-01 1.38677666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.230385723 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:224.46, Y:129.78, Z:13.87 [[ 1.11800654e-01 -9.93712245e-01 -6.04884693e-03 2.24464778e+02] [ 9.92521151e-01 1.11962741e-01 -4.86426791e-02 1.29784700e+02] [ 4.90140713e-02 -5.65325163e-04 9.98797928e-01 1.38677036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.260385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.47, Y:129.82, Z:13.87 [[ 1.17815054e-01 -9.93017798e-01 -5.93853627e-03 2.24469593e+02] [ 9.91824983e-01 1.17964522e-01 -4.86577268e-02 1.29817125e+02] [ 4.90185253e-02 -1.57375900e-04 9.98797857e-01 1.38706748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.290385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.47, Y:129.84, Z:13.87 [[ 1.18531983e-01 -9.92928028e-01 -6.64079917e-03 2.24470848e+02] [ 9.91740147e-01 1.18714964e-01 -4.85617050e-02 1.29843779e+02] [ 4.90066402e-02 -8.29831934e-04 9.98798108e-01 1.38716803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.320385723 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:224.47, Y:129.87, Z:13.87 [[ 1.17865522e-01 -9.93007455e-01 -6.62666182e-03 2.24466373e+02] [ 9.91819590e-01 1.18048609e-01 -4.85636341e-02 1.29870098e+02] [ 4.90063189e-02 -8.48474929e-04 9.98798108e-01 1.38710083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.350385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.47, Y:129.90, Z:13.87 [[ 1.20637859e-01 -9.92677143e-01 -6.21257820e-03 2.24471182e+02] [ 9.91485805e-01 1.20797362e-01 -4.86199134e-02 1.29899976e+02] [ 4.90143398e-02 -2.94280838e-04 9.98798032e-01 1.38740576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.380385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.47, Y:129.93, Z:13.87 [[ 1.19585573e-01 -9.92801924e-01 -6.60534663e-03 2.24470700e+02] [ 9.91613587e-01 1.19765559e-01 -4.85664983e-02 1.29927547e+02] [ 4.90080060e-02 -7.42098933e-04 9.98798110e-01 1.38743527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.410385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.47, Y:129.95, Z:13.88 [[ 1.21284742e-01 -9.92597571e-01 -6.33039402e-03 2.24469636e+02] [ 9.91406957e-01 1.21449237e-01 -4.86037957e-02 1.29954722e+02] [ 4.90128311e-02 -3.81097870e-04 9.98798076e-01 1.38758736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.440385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.47, Y:129.98, Z:13.88 [[ 1.24165192e-01 -9.92241427e-01 -6.32103068e-03 2.24469462e+02] [ 9.91050276e-01 1.24325772e-01 -4.86050640e-02 1.29984260e+02] [ 4.90138251e-02 -2.29402099e-04 9.98798074e-01 1.38779117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.470385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.47, Y:130.01, Z:13.88 [[ 1.23863556e-01 -9.92278544e-01 -6.41179670e-03 2.24470132e+02] [ 9.91088071e-01 1.24028944e-01 -4.85927714e-02 1.30011680e+02] [ 4.90128129e-02 -3.35781738e-04 9.98798093e-01 1.38796086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.500385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:224.47, Y:130.04, Z:13.88 [[ 1.25985616e-01 -9.92012536e-01 -6.22515741e-03 2.24474088e+02] [ 9.90820450e-01 1.26139313e-01 -4.86179969e-02 1.30041329e+02] [ 4.90148995e-02 -4.28449837e-05 9.98798047e-01 1.38820574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.530385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:224.47, Y:130.07, Z:13.88 [[ 1.25447620e-01 -9.92078485e-01 -6.57074814e-03 2.24474514e+02] [ 9.90888858e-01 1.25618891e-01 -4.85712481e-02 1.30068979e+02] [ 4.90119004e-02 -4.17733613e-04 9.98798107e-01 1.38796982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.560385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.47, Y:130.09, Z:13.88 [[ 1.22383279e-01 -9.92461338e-01 -6.54406861e-03 2.24473914e+02] [ 9.91272055e-01 1.22556916e-01 -4.85748510e-02 1.30094644e+02] [ 4.90106825e-02 -5.42202806e-04 9.98798107e-01 1.38820136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.590385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.48, Y:130.12, Z:13.88 [[ 1.22261544e-01 -9.92478939e-01 -6.13757277e-03 2.24477402e+02] [ 9.91286854e-01 1.22415422e-01 -4.86295884e-02 1.30121921e+02] [ 4.90151759e-02 -1.38566662e-04 9.98798024e-01 1.38832284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.620385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:224.48, Y:130.15, Z:13.88 [[ 1.20778378e-01 -9.92660625e-01 -6.12104087e-03 2.24479930e+02] [ 9.91468659e-01 1.20933228e-01 -4.86318111e-02 1.30150797e+02] [ 4.90151212e-02 -1.95148926e-04 9.98798018e-01 1.38845816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.650385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.48, Y:130.18, Z:13.89 [[ 1.20677496e-01 -9.92672244e-01 -6.22551150e-03 2.24484517e+02] [ 9.91481007e-01 1.20837584e-01 -4.86178094e-02 1.30180328e+02] [ 4.90138257e-02 -3.05400920e-04 9.98798053e-01 1.38865977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.68038572300003 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:224.49, Y:130.21, Z:13.89 [[ 1.19490582e-01 -9.92814460e-01 -6.43804224e-03 2.24486116e+02] [ 9.91624912e-01 1.19662497e-01 -4.85893031e-02 1.30209169e+02] [ 4.90105550e-02 -5.78158982e-04 9.98798093e-01 1.38876429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.710385723 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:224.49, Y:130.24, Z:13.89 [[ 1.18726665e-01 -9.92905693e-01 -6.50106518e-03 2.24489008e+02] [ 9.91716732e-01 1.18902579e-01 -4.85808618e-02 1.30236805e+02] [ 4.90092077e-02 -6.79371419e-04 9.98798096e-01 1.38886394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.740385723 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:224.49, Y:130.26, Z:13.89 [[ 1.19152889e-01 -9.92854554e-01 -6.51332472e-03 2.24492834e+02] [ 9.91665606e-01 1.19328893e-01 -4.85792211e-02 1.30264414e+02] [ 4.90093288e-02 -6.70685543e-04 9.98798096e-01 1.38932969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.770385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:224.50, Y:130.29, Z:13.89 [[ 1.20713079e-01 -9.92666228e-01 -6.48947002e-03 2.24495868e+02] [ 9.91476835e-01 1.20886046e-01 -4.85824076e-02 1.30291044e+02] [ 4.90106016e-02 -5.69627206e-04 9.98798096e-01 1.38936308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.800385723 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:224.50, Y:130.32, Z:13.89 [[ 1.21625319e-01 -9.92554960e-01 -6.47566085e-03 2.24498057e+02] [ 9.91365311e-01 1.21796517e-01 -4.85842482e-02 1.30319523e+02] [ 4.90112494e-02 -5.10670873e-04 9.98798096e-01 1.38938903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.830385723 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:224.50, Y:130.34, Z:13.89 [[ 1.25562037e-01 -9.92064722e-01 -6.46239339e-03 2.24498071e+02] [ 9.90874313e-01 1.25727865e-01 -4.85860129e-02 1.30343388e+02] [ 4.90129723e-02 -3.02860838e-04 9.98798096e-01 1.38891519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.860385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:224.50, Y:130.37, Z:13.89 [[ 1.23554477e-01 -9.92319980e-01 -5.94545570e-03 2.24502284e+02] [ 9.91126470e-01 1.23697385e-01 -4.86546769e-02 1.30374655e+02] [ 4.90164454e-02 1.18804615e-04 9.98797965e-01 1.38937873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.890385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.51, Y:130.40, Z:13.90 [[ 1.23367927e-01 -9.92339965e-01 -6.46132494e-03 2.24509469e+02] [ 9.91149922e-01 1.23536334e-01 -4.85860796e-02 1.30401339e+02] [ 4.90121169e-02 -4.10177800e-04 9.98798100e-01 1.38957020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.920385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.51, Y:130.43, Z:13.90 [[ 1.22999390e-01 -9.92385805e-01 -6.44698962e-03 2.24514254e+02] [ 9.91195725e-01 1.23167537e-01 -4.85879817e-02 1.30428294e+02] [ 4.90120832e-02 -4.13936447e-04 9.98798100e-01 1.38975073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.950385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.52, Y:130.46, Z:13.90 [[ 1.23139832e-01 -9.92368479e-01 -6.43296161e-03 2.24517787e+02] [ 9.91178279e-01 1.23307124e-01 -4.85898390e-02 1.30456061e+02] [ 4.90122546e-02 -3.92867226e-04 9.98798100e-01 1.38992306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.980385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.52, Y:130.48, Z:13.90 [[ 1.23695863e-01 -9.92299412e-01 -6.41956732e-03 2.24520568e+02] [ 9.91109026e-01 1.23861833e-01 -4.85916085e-02 1.30484463e+02] [ 4.90125639e-02 -3.51910143e-04 9.98798100e-01 1.38999758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.010385723 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:224.52, Y:130.51, Z:13.90 [[ 1.24510372e-01 -9.92197625e-01 -6.40625364e-03 2.24523737e+02] [ 9.91007014e-01 1.24674712e-01 -4.85933637e-02 1.30511176e+02] [ 4.90129179e-02 -2.98264500e-04 9.98798100e-01 1.39003980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.040385723 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:224.53, Y:130.54, Z:13.90 [[ 1.25781394e-01 -9.92037361e-01 -6.39653018e-03 2.24531016e+02] [ 9.90846475e-01 1.25943732e-01 -4.85946436e-02 1.30538572e+02] [ 4.90133049e-02 -2.25677388e-04 9.98798100e-01 1.39029333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.070385723 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:224.54, Y:130.57, Z:13.90 [[ 1.26206920e-01 -9.91983401e-01 -6.38317759e-03 2.24538388e+02] [ 9.90792357e-01 1.26368094e-01 -4.85963975e-02 1.30565449e+02] [ 4.90134497e-02 -1.91201894e-04 9.98798100e-01 1.39049401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.100385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.54, Y:130.59, Z:13.91 [[ 1.26461746e-01 -9.91951033e-01 -6.36982771e-03 2.24542464e+02] [ 9.90759860e-01 1.26621960e-01 -4.85981473e-02 1.30593387e+02] [ 4.90135425e-02 -1.65163041e-04 9.98798100e-01 1.39083039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.130385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.55, Y:130.62, Z:13.91 [[ 1.27050466e-01 -9.91875706e-01 -6.38460553e-03 2.24546068e+02] [ 9.90684534e-01 1.27210697e-01 -4.85962122e-02 1.30620038e+02] [ 4.90135924e-02 -1.50958531e-04 9.98798100e-01 1.39078081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.160385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.55, Y:130.65, Z:13.91 [[ 1.28770181e-01 -9.91654121e-01 -6.35169001e-03 2.24550394e+02] [ 9.90462462e-01 1.28926733e-01 -4.86005140e-02 1.30648133e+02] [ 4.90138026e-02 -3.28135453e-05 9.98798101e-01 1.39086838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.190385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.55, Y:130.68, Z:13.91 [[ 1.29554794e-01 -9.91552005e-01 -6.33855949e-03 2.24554643e+02] [ 9.90360138e-01 1.29709759e-01 -4.86022264e-02 1.30675492e+02] [ 4.90138081e-02 1.91947788e-05 9.98798101e-01 1.39095340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.220385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.56, Y:130.70, Z:13.91 [[ 1.32207363e-01 -9.91201899e-01 -6.32527762e-03 2.24561898e+02] [ 9.90009538e-01 1.32358488e-01 -4.86039549e-02 1.30702586e+02] [ 4.90135366e-02 1.63715556e-04 9.98798101e-01 1.39106873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.250385723 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:224.57, Y:130.73, Z:13.91 [[ 1.32659531e-01 -9.91141568e-01 -6.31199230e-03 2.24567763e+02] [ 9.89949057e-01 1.32809460e-01 -4.86056802e-02 1.30730363e+02] [ 4.90134023e-02 1.99455912e-04 9.98798101e-01 1.39135504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.280385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.57, Y:130.76, Z:13.92 [[ 1.33012229e-01 -9.91094384e-01 -6.29832075e-03 2.24573202e+02] [ 9.89901736e-01 1.33161063e-01 -4.86074517e-02 1.30756663e+02] [ 4.90132635e-02 2.30666845e-04 9.98798101e-01 1.39151582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.310385723 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:224.58, Y:130.78, Z:13.92 [[ 1.33088204e-01 -9.91084276e-01 -6.28390276e-03 2.24577115e+02] [ 9.89891529e-01 1.33236239e-01 -4.86093155e-02 1.30784304e+02] [ 4.90131719e-02 2.48944392e-04 9.98798101e-01 1.39164725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.340385723 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:224.58, Y:130.81, Z:13.92 [[ 1.33898840e-01 -9.90975168e-01 -6.27037536e-03 2.24582615e+02] [ 9.89782218e-01 1.34045236e-01 -4.86110605e-02 1.30810896e+02] [ 4.90128677e-02 3.02658560e-04 9.98798101e-01 1.39160521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.370385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:224.59, Y:130.84, Z:13.92 [[ 1.34472283e-01 -9.90897606e-01 -6.25611185e-03 2.24587796e+02] [ 9.89704487e-01 1.34617289e-01 -4.86128961e-02 1.30838245e+02] [ 4.90125832e-02 3.45385123e-04 9.98798101e-01 1.39188769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.400385723 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:224.59, Y:130.86, Z:13.92 [[ 1.34702516e-01 -9.90866421e-01 -6.24246329e-03 2.24593210e+02] [ 9.89673187e-01 1.34846576e-01 -4.86146486e-02 1.30864950e+02] [ 4.90123977e-02 3.70516962e-04 9.98798102e-01 1.39204435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.43038572300003 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:224.60, Y:130.89, Z:13.92 [[ 1.34434716e-01 -9.90902880e-01 -6.22808147e-03 2.24600612e+02] [ 9.89709600e-01 1.34578393e-01 -4.86164911e-02 1.30891647e+02] [ 4.90123862e-02 3.71752169e-04 9.98798102e-01 1.39216877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.460385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:224.61, Y:130.92, Z:13.92 [[ 1.34187155e-01 -9.90936525e-01 -6.21381637e-03 2.24607111e+02] [ 9.89743197e-01 1.34330430e-01 -4.86183143e-02 1.30918289e+02] [ 4.90123680e-02 3.73870798e-04 9.98798102e-01 1.39214182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.490385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:224.61, Y:130.95, Z:13.92 [[ 1.33873617e-01 -9.90979020e-01 -6.19968807e-03 2.24612290e+02] [ 9.89785654e-01 1.34016576e-01 -4.86201158e-02 1.30945433e+02] [ 4.90123757e-02 3.72588435e-04 9.98798102e-01 1.39222211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.520385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.62, Y:130.97, Z:13.92 [[ 1.33830256e-01 -9.90984960e-01 -6.18645936e-03 2.24618246e+02] [ 9.89791523e-01 1.33972618e-01 -4.86217990e-02 1.30972137e+02] [ 4.90122877e-02 3.83762776e-04 9.98798102e-01 1.39229469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.550385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.63, Y:131.00, Z:13.92 [[ 1.33962847e-01 -9.90967131e-01 -6.17256448e-03 2.24627269e+02] [ 9.89773594e-01 1.34104368e-01 -4.86235629e-02 1.30998135e+02] [ 4.90121205e-02 4.04309608e-04 9.98798102e-01 1.39233452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.580385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:224.63, Y:131.03, Z:13.92 [[ 1.33814987e-01 -9.90987192e-01 -6.15910252e-03 2.24632392e+02] [ 9.89793598e-01 1.33956026e-01 -4.86252680e-02 1.31026044e+02] [ 4.90120667e-02 4.10549372e-04 9.98798102e-01 1.39242208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.610385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.64, Y:131.05, Z:13.93 [[ 1.34831094e-01 -9.90849535e-01 -6.14609937e-03 2.24638216e+02] [ 9.89655723e-01 1.34970270e-01 -4.86269116e-02 1.31053836e+02] [ 4.90114934e-02 4.73897272e-04 9.98798102e-01 1.39261756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.640385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:224.64, Y:131.08, Z:13.93 [[ 1.35237724e-01 -9.90794202e-01 -6.13243348e-03 2.24643459e+02] [ 9.89600255e-01 1.35375740e-01 -4.86286349e-02 1.31081732e+02] [ 4.90111523e-02 5.07768181e-04 9.98798102e-01 1.39282910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.670385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.65, Y:131.11, Z:13.93 [[ 1.35721981e-01 -9.90728069e-01 -6.11861054e-03 2.24651434e+02] [ 9.89533977e-01 1.35858735e-01 -4.86303741e-02 1.31108399e+02] [ 4.90107433e-02 5.45637683e-04 9.98798102e-01 1.39286045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.700385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:224.66, Y:131.14, Z:13.93 [[ 1.35344808e-01 -9.90779755e-01 -6.10406124e-03 2.24656714e+02] [ 9.89585633e-01 1.35481302e-01 -4.86322003e-02 1.31135792e+02] [ 4.90107857e-02 5.41624485e-04 9.98798102e-01 1.39313560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.730385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.66, Y:131.16, Z:13.93 [[ 1.34041886e-01 -9.90956950e-01 -6.09063117e-03 2.24663682e+02] [ 9.89762933e-01 1.34179291e-01 -4.86338822e-02 1.31162798e+02] [ 4.90113201e-02 4.90696330e-04 9.98798103e-01 1.39327305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.760385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.67, Y:131.19, Z:13.93 [[ 1.32949699e-01 -9.91104155e-01 -6.07720064e-03 2.24669137e+02] [ 9.89910213e-01 1.33087761e-01 -4.86355604e-02 1.31190060e+02] [ 4.90117070e-02 4.50200148e-04 9.98798103e-01 1.39342922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.790385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.67, Y:131.22, Z:13.94 [[ 1.31327682e-01 -9.91320468e-01 -6.06381137e-03 2.24674752e+02] [ 9.90126677e-01 1.31467040e-01 -4.86372297e-02 1.31217892e+02] [ 4.90122726e-02 3.83473209e-04 9.98798103e-01 1.39357330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.820385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.68, Y:131.24, Z:13.94 [[ 1.27147686e-01 -9.91865343e-01 -6.05041198e-03 2.24682897e+02] [ 9.90672071e-01 1.27291419e-01 -4.86388965e-02 1.31244209e+02] [ 4.90134013e-02 1.90348996e-04 9.98798103e-01 1.39361795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.850385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.69, Y:131.27, Z:13.94 [[ 1.24604878e-01 -9.92188054e-01 -6.04062965e-03 2.24689597e+02] [ 9.90995096e-01 1.24751190e-01 -4.86401114e-02 1.31271802e+02] [ 4.90137132e-02 7.45608044e-05 9.98798103e-01 1.39381660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.880385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.70, Y:131.30, Z:13.94 [[ 1.19353307e-01 -9.92833549e-01 -6.02755584e-03 2.24699077e+02] [ 9.91641300e-01 1.19505288e-01 -4.86417315e-02 1.31298370e+02] [ 4.90134677e-02 -1.71621785e-04 9.98798103e-01 1.39404568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.910385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.70, Y:131.33, Z:13.94 [[ 1.16633129e-01 -9.93156855e-01 -6.01456200e-03 2.24704283e+02] [ 9.91964944e-01 1.16787739e-01 -4.86433381e-02 1.31325937e+02] [ 4.90128918e-02 -2.92809954e-04 9.98798103e-01 1.39417441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.940385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.71, Y:131.35, Z:13.94 [[ 1.12756315e-01 -9.93604549e-01 -6.00117852e-03 2.24709717e+02] [ 9.92413163e-01 1.12914920e-01 -4.86449892e-02 1.31352894e+02] [ 4.90115051e-02 -4.70618830e-04 9.98798103e-01 1.39406064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.970385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.71, Y:131.38, Z:13.94 [[ 1.10936812e-01 -9.93809428e-01 -5.98707228e-03 2.24714060e+02] [ 9.92618241e-01 1.11096908e-01 -4.86467253e-02 1.31379835e+02] [ 4.90107194e-02 -5.46164564e-04 9.98798103e-01 1.39411006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.000385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.72, Y:131.41, Z:13.94 [[ 1.09058338e-01 -9.94017407e-01 -5.97274684e-03 2.24719042e+02] [ 9.92826430e-01 1.09219984e-01 -4.86484841e-02 1.31407052e+02] [ 4.90097833e-02 -6.24378123e-04 9.98798103e-01 1.39431512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.030385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.73, Y:131.43, Z:13.95 [[ 1.06374981e-01 -9.94308225e-01 -5.95970423e-03 2.24728661e+02] [ 9.93117600e-01 1.06539203e-01 -4.86500818e-02 1.31434076e+02] [ 4.90081186e-02 -7.43535626e-04 9.98798103e-01 1.39472696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.060385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.73, Y:131.46, Z:13.95 [[ 1.05201216e-01 -9.94433179e-01 -5.94622246e-03 2.24734189e+02] [ 9.93242657e-01 1.05366184e-01 -4.86517296e-02 1.31460508e+02] [ 4.90074248e-02 -7.87820687e-04 9.98798104e-01 1.39484493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.090385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.74, Y:131.49, Z:13.95 [[ 1.04580806e-01 -9.94498701e-01 -5.93200323e-03 2.24739546e+02] [ 9.93308187e-01 1.04745821e-01 -4.86534632e-02 1.31488185e+02] [ 4.90071585e-02 -8.04088982e-04 9.98798104e-01 1.39500062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.120385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.74, Y:131.52, Z:13.95 [[ 1.05346332e-01 -9.94417979e-01 -5.91885080e-03 2.24743578e+02] [ 9.93227250e-01 1.05509788e-01 -4.86550632e-02 1.31516344e+02] [ 4.90079663e-02 -7.53131445e-04 9.98798104e-01 1.39515947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.150385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.75, Y:131.54, Z:13.95 [[ 1.06952724e-01 -9.94246397e-01 -5.93439873e-03 2.24748117e+02] [ 9.93055508e-01 1.07115016e-01 -4.86531736e-02 1.31542648e+02] [ 4.90089058e-02 -6.89597918e-04 9.98798104e-01 1.39517876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.18038572300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.75, Y:131.57, Z:13.95 [[ 1.07512486e-01 -9.94186223e-01 -5.90078805e-03 2.24752281e+02] [ 9.92995021e-01 1.07672464e-01 -4.86572497e-02 1.31569990e+02] [ 4.90097197e-02 -6.28191260e-04 9.98798104e-01 1.39537370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.210385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.76, Y:131.60, Z:13.96 [[ 1.08400509e-01 -9.94089868e-01 -5.88758353e-03 2.24756661e+02] [ 9.92898438e-01 1.08558776e-01 -4.86588474e-02 1.31596422e+02] [ 4.90104161e-02 -5.71128657e-04 9.98798104e-01 1.39550123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.240385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.75, Y:131.62, Z:13.96 [[ 1.05493315e-01 -9.94402665e-01 -5.87363667e-03 2.24754298e+02] [ 9.93211611e-01 1.05654383e-01 -4.86605309e-02 1.31618406e+02] [ 4.90087371e-02 -7.00403411e-04 9.98798104e-01 1.39566503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.270385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.76, Y:131.65, Z:13.96 [[ 1.10851157e-01 -9.93824135e-01 -5.06056683e-03 2.24763817e+02] [ 9.92627428e-01 1.10965953e-01 -4.87580479e-02 1.31650201e+02] [ 4.90184754e-02 3.81628606e-04 9.98797799e-01 1.39588207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.300385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.77, Y:131.68, Z:13.96 [[ 1.11954833e-01 -9.93696036e-01 -5.85688900e-03 2.24768432e+02] [ 9.92503871e-01 1.12107335e-01 -4.86622200e-02 1.31677227e+02] [ 4.90120553e-02 -3.65014289e-04 9.98798120e-01 1.39596517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.330385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.77, Y:131.70, Z:13.96 [[ 1.11850529e-01 -9.93707865e-01 -5.84270746e-03 2.24771901e+02] [ 9.92515628e-01 1.12002462e-01 -4.86639227e-02 1.31704679e+02] [ 4.90121203e-02 -3.55892948e-04 9.98798120e-01 1.39613420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.360385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.77, Y:131.73, Z:13.96 [[ 1.11829088e-01 -9.93710357e-01 -5.82941828e-03 2.24774864e+02] [ 9.92518039e-01 1.11980396e-01 -4.86655145e-02 1.31731599e+02] [ 4.90122064e-02 -3.43582694e-04 9.98798121e-01 1.39616519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.390385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.77, Y:131.76, Z:13.96 [[ 1.08227640e-01 -9.94109128e-01 -5.81541202e-03 2.24772561e+02] [ 9.92917278e-01 1.08382581e-01 -4.86671882e-02 1.31755368e+02] [ 4.90107854e-02 -5.07088157e-04 9.98798121e-01 1.39611489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.420385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.78, Y:131.79, Z:13.96 [[ 1.11615396e-01 -9.93738011e-01 -5.17388010e-03 2.24780513e+02] [ 9.92541894e-01 1.11734832e-01 -4.87433705e-02 1.31786768e+02] [ 4.90162426e-02 3.05217856e-04 9.98797935e-01 1.39639654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.450385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.78, Y:131.81, Z:13.97 [[ 1.11970735e-01 -9.93694603e-01 -5.79569694e-03 2.24784957e+02] [ 9.92502067e-01 1.12120221e-01 -4.86693322e-02 1.31813988e+02] [ 4.90122676e-02 -3.02700271e-04 9.98798131e-01 1.39661988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.480385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.79, Y:131.84, Z:13.97 [[ 1.12123904e-01 -9.93677409e-01 -5.78249997e-03 2.24788847e+02] [ 9.92484769e-01 1.12272560e-01 -4.86709001e-02 1.31841678e+02] [ 4.90123900e-02 -2.81871824e-04 9.98798131e-01 1.39673532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.510385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.79, Y:131.87, Z:13.97 [[ 1.13295221e-01 -9.93544618e-01 -5.76935358e-03 2.24791832e+02] [ 9.92351724e-01 1.13441826e-01 -4.86724584e-02 1.31867341e+02] [ 4.90127451e-02 -2.10871053e-04 9.98798131e-01 1.39674818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.540385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.79, Y:131.89, Z:13.97 [[ 1.12991475e-01 -9.93579294e-01 -5.75448627e-03 2.24794965e+02] [ 9.92386355e-01 1.13137717e-01 -4.86742161e-02 1.31894908e+02] [ 4.90127427e-02 -2.10902201e-04 9.98798131e-01 1.39688369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.570385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.80, Y:131.92, Z:13.97 [[ 1.13519393e-01 -9.93519202e-01 -5.73958744e-03 2.24797165e+02] [ 9.92326097e-01 1.13664271e-01 -4.86759729e-02 1.31921618e+02] [ 4.90128998e-02 -1.69875511e-04 9.98798131e-01 1.39695545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.600385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.80, Y:131.95, Z:13.97 [[ 1.15503353e-01 -9.93290594e-01 -5.72470359e-03 2.24798553e+02] [ 9.92097115e-01 1.15645119e-01 -4.86777233e-02 1.31948808e+02] [ 4.90131587e-02 -5.70216350e-05 9.98798131e-01 1.39694459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.630385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.80, Y:131.98, Z:13.97 [[ 1.16232892e-01 -9.93205572e-01 -5.71017335e-03 2.24801232e+02] [ 9.92011906e-01 1.16373069e-01 -4.86794278e-02 1.31975637e+02] [ 4.90131893e-02 -6.40927030e-06 9.98798131e-01 1.39702413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.660385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:224.80, Y:132.00, Z:13.97 [[ 1.16576099e-01 -9.93165430e-01 -5.69572296e-03 2.24804450e+02] [ 9.91971633e-01 1.16715155e-01 -4.86811185e-02 1.32002858e+02] [ 4.90131812e-02 2.50592760e-05 9.98798131e-01 1.39713389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.690385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.81, Y:132.03, Z:13.97 [[ 1.16927919e-01 -9.93124154e-01 -5.68129023e-03 2.24807314e+02] [ 9.91930226e-01 1.17065845e-01 -4.86828028e-02 1.32028523e+02] [ 4.90131523e-02 5.69353228e-05 9.98798132e-01 1.39729148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.720385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.81, Y:132.06, Z:13.97 [[ 1.16183344e-01 -9.93211621e-01 -5.66625873e-03 2.24810318e+02] [ 9.92017711e-01 1.16321429e-01 -4.86845522e-02 1.32055781e+02] [ 4.90131704e-02 3.53050887e-05 9.98798132e-01 1.39747125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.750385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.81, Y:132.08, Z:13.98 [[ 1.14095246e-01 -9.93453738e-01 -5.65208517e-03 2.24813965e+02] [ 9.92260039e-01 1.14235145e-01 -4.86861977e-02 1.32081376e+02] [ 4.90131518e-02 -5.34745473e-05 9.98798132e-01 1.39765980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.780385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:224.82, Y:132.11, Z:13.98 [[ 1.12928744e-01 -9.93587098e-01 -5.63724044e-03 2.24817245e+02] [ 9.92393479e-01 1.13069317e-01 -4.86879165e-02 1.32108859e+02] [ 4.90130845e-02 -9.60954036e-05 9.98798132e-01 1.39787919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.810385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.82, Y:132.14, Z:13.98 [[ 1.11561532e-01 -9.93741614e-01 -5.62401363e-03 2.24820325e+02] [ 9.92548112e-01 1.11703100e-01 -4.86894443e-02 1.32136186e+02] [ 4.90129467e-02 -1.50235095e-04 9.98798132e-01 1.39796428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.840385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.82, Y:132.16, Z:13.98 [[ 1.08747565e-01 -9.94053567e-01 -5.61005802e-03 2.24822592e+02] [ 9.92860389e-01 1.08891827e-01 -4.86910522e-02 1.32164070e+02] [ 4.90124036e-02 -2.74971036e-04 9.98798132e-01 1.39831958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.870385723 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:224.83, Y:132.19, Z:13.98 [[ 1.07626865e-01 -9.94175607e-01 -5.59652589e-03 2.24825320e+02] [ 9.92982511e-01 1.07771810e-01 -4.86926075e-02 1.32190668e+02] [ 4.90121504e-02 -3.16619619e-04 9.98798132e-01 1.39844811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.900385723 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:224.83, Y:132.22, Z:13.99 [[ 1.05113246e-01 -9.94444590e-01 -5.58232844e-03 2.24828129e+02] [ 9.93251779e-01 1.05260511e-01 -4.86942351e-02 1.32218632e+02] [ 4.90113175e-02 -4.26248530e-04 9.98798132e-01 1.39864037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.93038572300003 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:224.83, Y:132.25, Z:13.99 [[ 1.03605556e-01 -9.94602873e-01 -5.56900730e-03 2.24831400e+02] [ 9.93410205e-01 1.03753977e-01 -4.86957586e-02 1.32246674e+02] [ 4.90107481e-02 -4.87157532e-04 9.98798132e-01 1.39877502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.960385723 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:224.83, Y:132.27, Z:13.99 [[ 1.01019190e-01 -9.94868965e-01 -5.55571409e-03 2.24833669e+02] [ 9.93676604e-01 1.01170061e-01 -4.86972752e-02 1.32273833e+02] [ 4.90094797e-02 -6.01223799e-04 9.98798132e-01 1.39889788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.990385723 meters Centerline goodness : 0.999821 Centerline is valid? [True, True] Translation: X:224.84, Y:132.30, Z:13.99 [[ 9.96757895e-02 -9.95004512e-01 -5.54600692e-03 2.24835754e+02] [ 9.93812296e-01 9.98277953e-02 -4.86983807e-02 1.32301225e+02] [ 4.90087542e-02 -6.57640322e-04 9.98798133e-01 1.39898823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.020385723 meters Centerline goodness : 0.999821 Centerline is valid? [True, True] Translation: X:224.84, Y:132.33, Z:13.99 [[ 9.79247865e-02 -9.95178418e-01 -5.53644328e-03 2.24837197e+02] [ 9.93986411e-01 9.80784220e-02 -4.86994679e-02 1.32328895e+02] [ 4.90076651e-02 -7.34264384e-04 9.98798133e-01 1.39918707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.050385723 meters Centerline goodness : 0.999597 Centerline is valid? [True, True] Translation: X:224.84, Y:132.36, Z:13.99 [[ 9.73996482e-02 -9.95230026e-01 -5.52306515e-03 2.24839970e+02] [ 9.94038015e-01 9.75532582e-02 -4.87009851e-02 1.32355741e+02] [ 4.90074757e-02 -7.46677905e-04 9.98798133e-01 1.39936927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.080385723 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:224.84, Y:132.38, Z:14.00 [[ 9.71248090e-02 -9.95256963e-01 -5.50907367e-03 2.24842502e+02] [ 9.94064906e-01 9.72780637e-02 -4.87025678e-02 1.32382219e+02] [ 4.90074817e-02 -7.46149207e-04 9.98798133e-01 1.39958139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.110385723 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:224.84, Y:132.41, Z:14.00 [[ 9.75468046e-02 -9.95215767e-01 -5.49520691e-03 2.24844062e+02] [ 9.94023560e-01 9.76988754e-02 -4.87041324e-02 1.32408582e+02] [ 4.90079960e-02 -7.11432653e-04 9.98798133e-01 1.39981290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.140385723 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:224.84, Y:132.44, Z:14.00 [[ 9.77983991e-02 -9.95191159e-01 -5.47996476e-03 2.24843665e+02] [ 9.93998818e-01 9.79494226e-02 -4.87058473e-02 1.32436162e+02] [ 4.90083880e-02 -6.83724610e-04 9.98798133e-01 1.39996617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.170385723 meters Centerline goodness : 0.999800 Centerline is valid? [True, True] Translation: X:224.85, Y:132.46, Z:14.00 [[ 9.84164416e-02 -9.95130305e-01 -5.46632410e-03 2.24845009e+02] [ 9.93937787e-01 9.85660571e-02 -4.87073782e-02 1.32463785e+02] [ 4.90089821e-02 -6.39579240e-04 9.98798133e-01 1.40004616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.200385723 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:224.85, Y:132.49, Z:14.00 [[ 9.88014157e-02 -9.95092236e-01 -5.45184362e-03 2.24846071e+02] [ 9.93899572e-01 9.89498611e-02 -4.87089989e-02 1.32490911e+02] [ 4.90094058e-02 -6.06066987e-04 9.98798133e-01 1.40020300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.230385723 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:224.85, Y:132.52, Z:14.01 [[ 1.00334683e-01 -9.94938886e-01 -5.43730407e-03 2.24848053e+02] [ 9.93745908e-01 1.00480578e-01 -4.87106219e-02 1.32517588e+02] [ 4.90104353e-02 -5.15933885e-04 9.98798133e-01 1.40050710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.260385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.85, Y:132.55, Z:14.01 [[ 1.00820279e-01 -9.94889878e-01 -5.42230062e-03 2.24850912e+02] [ 9.93696739e-01 1.00964858e-01 -4.87122920e-02 1.32545107e+02] [ 4.90108280e-02 -4.76935572e-04 9.98798133e-01 1.40078983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.290385723 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:224.85, Y:132.57, Z:14.01 [[ 1.02454847e-01 -9.94722960e-01 -5.40718632e-03 2.24852596e+02] [ 9.93529497e-01 1.02596726e-01 -4.87139696e-02 1.32573111e+02] [ 4.90116637e-02 -3.81216779e-04 9.98798134e-01 1.40115582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.320385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.85, Y:132.60, Z:14.01 [[ 1.03222419e-01 -9.94643672e-01 -5.39417528e-03 2.24853899e+02] [ 9.93450025e-01 1.03362739e-01 -4.87154103e-02 1.32599103e+02] [ 4.90120314e-02 -3.30321068e-04 9.98798134e-01 1.40125436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.350385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:224.85, Y:132.63, Z:14.01 [[ 1.06454481e-01 -9.94303034e-01 -5.37767703e-03 2.24854714e+02] [ 9.93108846e-01 1.06590113e-01 -4.87172315e-02 1.32627517e+02] [ 4.90128983e-02 -1.54451016e-04 9.98798134e-01 1.40149465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.380385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.86, Y:132.66, Z:14.02 [[ 1.07594212e-01 -9.94180421e-01 -5.36426700e-03 2.24856786e+02] [ 9.92986004e-01 1.07727817e-01 -4.87187081e-02 1.32655741e+02] [ 4.90130665e-02 -8.47910640e-05 9.98798134e-01 1.40159257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.410385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:224.86, Y:132.68, Z:14.02 [[ 1.08315123e-01 -9.94102209e-01 -5.35083893e-03 2.24858378e+02] [ 9.92907623e-01 1.08447204e-01 -4.87201828e-02 1.32683116e+02] [ 4.90131249e-02 -3.57561733e-05 9.98798134e-01 1.40160423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.440385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:224.86, Y:132.71, Z:14.02 [[ 1.07801174e-01 -9.94158149e-01 -5.33686159e-03 2.24859548e+02] [ 9.92963555e-01 1.07933187e-01 -4.87217139e-02 1.32711430e+02] [ 4.90131134e-02 -4.70511165e-05 9.98798134e-01 1.40159350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.470385723 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:224.86, Y:132.74, Z:14.02 [[ 1.06329193e-01 -9.94316732e-01 -5.32353315e-03 2.24862858e+02] [ 9.93122262e-01 1.06462322e-01 -4.87231702e-02 1.32738774e+02] [ 4.90130190e-02 -1.06223923e-04 9.98798134e-01 1.40179376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.500385723 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:224.87, Y:132.77, Z:14.02 [[ 1.02277444e-01 -9.94741739e-01 -5.31015193e-03 2.24869129e+02] [ 9.93547746e-01 1.02414783e-01 -4.87246285e-02 1.32765749e+02] [ 4.90122597e-02 -2.92459013e-04 9.98798134e-01 1.40222026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.530385723 meters Centerline goodness : 0.999757 Centerline is valid? [True, True] Translation: X:224.87, Y:132.79, Z:14.02 [[ 9.99635128e-02 -9.94977006e-01 -5.29665452e-03 2.24873177e+02] [ 9.93783258e-01 1.00102967e-01 -4.87260957e-02 1.32792144e+02] [ 4.90115556e-02 -3.92894897e-04 9.98798134e-01 1.40241340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.560385723 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:224.88, Y:132.83, Z:14.03 [[ 1.02216739e-01 -9.94748126e-01 -5.28247554e-03 2.24883568e+02] [ 9.93553986e-01 1.02352795e-01 -4.87276328e-02 1.32826840e+02] [ 4.90123976e-02 -2.67644892e-04 9.98798134e-01 1.40263485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.590385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:224.88, Y:132.85, Z:14.03 [[ 9.55448968e-02 -9.95404771e-01 -6.36508833e-03 2.24877051e+02] [ 9.94218591e-01 9.57418725e-02 -4.86095358e-02 1.32847102e+02] [ 4.89955694e-02 -1.68389607e-03 9.98797576e-01 1.40264837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.620385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:224.88, Y:132.88, Z:14.03 [[ 9.44063994e-02 -9.95519842e-01 -5.26081623e-03 2.24879045e+02] [ 9.94326736e-01 9.45507626e-02 -4.87287847e-02 1.32875362e+02] [ 4.90078863e-02 -6.30661117e-04 9.98798193e-01 1.40277644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.650385723 meters Centerline goodness : 0.996944 Centerline is valid? [True, True] Translation: X:224.89, Y:132.91, Z:14.02 [[ 9.26919510e-02 -9.95681007e-01 -5.24727384e-03 2.24886094e+02] [ 9.94488071e-01 9.28377059e-02 -4.87302430e-02 1.32905697e+02] [ 4.90069223e-02 -7.01449940e-04 9.98798193e-01 1.40249878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.68038572300003 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:224.88, Y:132.91, Z:14.02 [[ 8.42106400e-02 -9.96431046e-01 -5.80853576e-03 2.24881598e+02] [ 9.95243142e-01 8.43939603e-02 -4.86697812e-02 1.32912534e+02] [ 4.89862863e-02 -1.68239196e-03 9.98798034e-01 1.40192196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.710385723 meters Centerline goodness : 0.999669 Centerline is valid? [True, True] Translation: X:224.90, Y:132.96, Z:14.03 [[ 9.37553442e-02 -9.95590018e-01 -3.23281513e-03 2.24895791e+02] [ 9.94386717e-01 9.38009867e-02 -4.89533636e-02 1.32957590e+02] [ 4.90407214e-02 1.37497103e-03 9.98795834e-01 1.40336046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.740385723 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:224.90, Y:132.98, Z:14.04 [[ 9.22716359e-02 -9.95716454e-01 -5.88969578e-03 2.24898201e+02] [ 9.94527889e-01 9.24492951e-02 -4.86559961e-02 1.32984354e+02] [ 4.89920741e-02 -1.36789835e-03 9.98798231e-01 1.40362409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.770385723 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:224.90, Y:133.01, Z:14.03 [[ 8.83395082e-02 -9.96073701e-01 -5.77185059e-03 2.24895616e+02] [ 9.94885030e-01 8.85161054e-02 -4.86690551e-02 1.33010087e+02] [ 4.89888676e-02 -1.44292735e-03 9.98798282e-01 1.40334768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.800385723 meters Centerline goodness : 0.999779 Centerline is valid? [True, True] Translation: X:224.90, Y:133.04, Z:14.03 [[ 8.94374348e-02 -9.95978608e-01 -5.24959814e-03 2.24899840e+02] [ 9.94786335e-01 8.95871983e-02 -4.87265996e-02 1.33039003e+02] [ 4.90009476e-02 -8.64246416e-04 9.98798358e-01 1.40347923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.830385723 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:224.90, Y:133.06, Z:14.04 [[ 8.94657133e-02 -9.95974521e-01 -5.53531255e-03 2.24901310e+02] [ 9.94784073e-01 8.96294109e-02 -4.86951518e-02 1.33064631e+02] [ 4.89952573e-02 -1.14989427e-03 9.98798349e-01 1.40412423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.860385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:224.90, Y:133.09, Z:14.04 [[ 8.88760562e-02 -9.96028390e-01 -5.33782304e-03 2.24902797e+02] [ 9.94836765e-01 8.90308055e-02 -4.87167914e-02 1.33092053e+02] [ 4.89985380e-02 -9.80506322e-04 9.98798369e-01 1.40418566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.890385723 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:224.90, Y:133.12, Z:14.04 [[ 8.89997393e-02 -9.96017423e-01 -5.32343020e-03 2.24903461e+02] [ 9.94825688e-01 8.91536369e-02 -4.87183641e-02 1.33120560e+02] [ 4.89989426e-02 -9.59963411e-04 9.98798369e-01 1.40420227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.920385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:224.90, Y:133.15, Z:14.03 [[ 8.66888989e-02 -9.96221280e-01 -5.31006762e-03 2.24903754e+02] [ 9.95029819e-01 8.68449075e-02 -4.87198205e-02 1.33148676e+02] [ 4.89968742e-02 -1.06020803e-03 9.98798369e-01 1.40347913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.950385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:224.91, Y:133.18, Z:14.04 [[ 8.82389919e-02 -9.96085696e-01 -5.21211531e-03 2.24905013e+02] [ 9.94893382e-01 8.83883567e-02 -4.87304589e-02 1.33175337e+02] [ 4.90004034e-02 -8.85572451e-04 9.98798366e-01 1.40356643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.980385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.91, Y:133.20, Z:14.04 [[ 8.98556163e-02 -9.95941751e-01 -5.09880564e-03 2.24907718e+02] [ 9.94748508e-01 8.99975024e-02 -4.87427407e-02 1.33204099e+02] [ 4.90038103e-02 -6.92220294e-04 9.98798352e-01 1.40378545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.010385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.91, Y:133.23, Z:14.04 [[ 9.13452369e-02 -9.95805586e-01 -5.22332830e-03 2.24909695e+02] [ 9.94612878e-01 9.14914309e-02 -4.87292578e-02 1.33232496e+02] [ 4.90027569e-02 -7.44003997e-04 9.98798366e-01 1.40395983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.040385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.91, Y:133.26, Z:14.04 [[ 9.45236317e-02 -9.95508557e-01 -5.29105385e-03 2.24909288e+02] [ 9.94315790e-01 9.46693318e-02 -4.87219432e-02 1.33260463e+02] [ 4.90040120e-02 -6.55603369e-04 9.98798367e-01 1.40411449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.070385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.91, Y:133.29, Z:14.05 [[ 9.75961520e-02 -9.95211912e-01 -5.31429235e-03 2.24913015e+02] [ 9.94018835e-01 9.77393071e-02 -4.87194385e-02 1.33288989e+02] [ 4.90055808e-02 -5.27676968e-04 9.98798365e-01 1.40452219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.100385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.91, Y:133.31, Z:14.05 [[ 1.00329377e-01 -9.94938625e-01 -5.58112421e-03 2.24914452e+02] [ 9.93746707e-01 1.00482315e-01 -4.86907299e-02 1.33312810e+02] [ 4.90050921e-02 -6.61113233e-04 9.98798310e-01 1.40514266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.130385723 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:224.92, Y:133.34, Z:14.05 [[ 1.00627813e-01 -9.94910468e-01 -5.21567116e-03 2.24917249e+02] [ 9.93716418e-01 1.00762503e-01 -4.87298485e-02 1.33340441e+02] [ 4.90073805e-02 -2.79319985e-04 9.98798377e-01 1.40524714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.160385723 meters Centerline goodness : 0.999561 Centerline is valid? [True, True] Translation: X:224.92, Y:133.37, Z:14.05 [[ 1.01569447e-01 -9.94814848e-01 -5.20249813e-03 2.24921692e+02] [ 9.93620599e-01 1.01702361e-01 -4.87312548e-02 1.33371179e+02] [ 4.90076822e-02 -2.19702702e-04 9.98798377e-01 1.40522356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.190385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:224.92, Y:133.39, Z:14.06 [[ 1.00355676e-01 -9.94934764e-01 -5.79262860e-03 2.24921317e+02] [ 9.93744109e-01 1.00518931e-01 -4.86681590e-02 1.33394419e+02] [ 4.90039121e-02 -8.72264546e-04 9.98798206e-01 1.40564314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.220385723 meters Centerline goodness : 0.999649 Centerline is valid? [True, True] Translation: X:224.93, Y:133.43, Z:14.06 [[ 1.00836392e-01 -9.94889562e-01 -5.17499541e-03 2.24925257e+02] [ 9.93695283e-01 1.00968839e-01 -4.87337544e-02 1.33425837e+02] [ 4.90072169e-02 -2.28232558e-04 9.98798398e-01 1.40559675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.250385723 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:224.93, Y:133.45, Z:14.06 [[ 1.00895890e-01 -9.94881025e-01 -5.63608306e-03 2.24926036e+02] [ 9.93689348e-01 1.01050839e-01 -4.86847686e-02 1.33448749e+02] [ 4.90050834e-02 -6.88422651e-04 9.98798292e-01 1.40585738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.280385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.93, Y:133.48, Z:14.06 [[ 1.02721955e-01 -9.94696820e-01 -5.14160781e-03 2.24929199e+02] [ 9.93502131e-01 1.02850502e-01 -4.87369404e-02 1.33476763e+02] [ 4.90072966e-02 -1.01844521e-04 9.98798415e-01 1.40587831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.310385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.93, Y:133.50, Z:14.06 [[ 1.03468274e-01 -9.94619533e-01 -5.12840651e-03 2.24931318e+02] [ 9.93424679e-01 1.03595278e-01 -4.87383295e-02 1.33503555e+02] [ 4.90073732e-02 -5.18147489e-05 9.98798415e-01 1.40590151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.340385723 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:224.93, Y:133.53, Z:14.06 [[ 1.04354697e-01 -9.94526993e-01 -5.11447959e-03 2.24933555e+02] [ 9.93331955e-01 1.04479953e-01 -4.87397909e-02 1.33531894e+02] [ 4.90073983e-02 5.85007690e-06 9.98798416e-01 1.40596643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.370385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:224.94, Y:133.56, Z:14.06 [[ 1.05987544e-01 -9.94354372e-01 -5.10133778e-03 2.24935309e+02] [ 9.93159064e-01 1.06110194e-01 -4.87411664e-02 1.33560457e+02] [ 4.90072958e-02 9.95166781e-05 9.98798416e-01 1.40599376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.400385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:224.94, Y:133.59, Z:14.06 [[ 1.05716431e-01 -9.94383300e-01 -5.08803221e-03 2.24938203e+02] [ 9.93187959e-01 1.05838755e-01 -4.87425553e-02 1.33588861e+02] [ 4.90072940e-02 9.95166745e-05 9.98798416e-01 1.40613334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.43038572300003 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:224.94, Y:133.62, Z:14.06 [[ 1.06313679e-01 -9.94319691e-01 -5.07472625e-03 2.24940723e+02] [ 9.93124210e-01 1.06434632e-01 -4.87439406e-02 1.33615391e+02] [ 4.90071866e-02 1.42314157e-04 9.98798416e-01 1.40607441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.460385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:224.95, Y:133.65, Z:14.06 [[ 1.08590667e-01 -9.94074335e-01 -4.92777362e-03 2.24948791e+02] [ 9.92877881e-01 1.08701675e-01 -4.87591875e-02 1.33649199e+02] [ 4.90059142e-02 4.02115260e-04 9.98798407e-01 1.40626710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.490385723 meters Centerline goodness : 0.999759 Centerline is valid? [True, True] Translation: X:224.94, Y:133.67, Z:14.07 [[ 1.03046590e-01 -9.94659272e-01 -5.85949704e-03 2.24944955e+02] [ 9.93468413e-01 1.03209898e-01 -4.86644544e-02 1.33668871e+02] [ 4.90093089e-02 -8.06519134e-04 9.98797996e-01 1.40679083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.520385723 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:224.95, Y:133.70, Z:14.07 [[ 1.01167948e-01 -9.94857241e-01 -4.91081393e-03 2.24948150e+02] [ 9.93661609e-01 1.01287052e-01 -4.87600224e-02 1.33696331e+02] [ 4.90066632e-02 5.32641267e-05 9.98798450e-01 1.40705758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.550385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:224.95, Y:133.72, Z:14.07 [[ 9.91700634e-02 -9.95058448e-01 -4.89730179e-03 2.24951084e+02] [ 9.93862990e-01 9.92909061e-02 -4.87613795e-02 1.33724594e+02] [ 4.90066801e-02 -3.15779098e-05 9.98798450e-01 1.40717251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.580385723 meters Centerline goodness : 0.999693 Centerline is valid? [True, True] Translation: X:224.95, Y:133.75, Z:14.07 [[ 9.67628696e-02 -9.95295482e-01 -4.88378273e-03 2.24954065e+02] [ 9.94100252e-01 9.68859413e-02 -4.87627335e-02 1.33751885e+02] [ 4.90064982e-02 -1.36547622e-04 9.98798450e-01 1.40726379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.610385723 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:224.96, Y:133.78, Z:14.07 [[ 9.39669697e-02 -9.95563407e-01 -4.86950081e-03 2.24957249e+02] [ 9.94368453e-01 9.40926984e-02 -4.87641597e-02 1.33777739e+02] [ 4.90059974e-02 -2.59857683e-04 9.98798450e-01 1.40728039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.640385723 meters Centerline goodness : 0.999758 Centerline is valid? [True, True] Translation: X:224.96, Y:133.81, Z:14.07 [[ 9.21035058e-02 -9.95738405e-01 -4.68755543e-03 2.24961444e+02] [ 9.94542754e-01 9.22225591e-02 -4.87822717e-02 1.33805396e+02] [ 4.90066797e-02 -1.68956043e-04 9.98798437e-01 1.40732731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.670385723 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:224.97, Y:133.83, Z:14.07 [[ 9.13996526e-02 -9.95803011e-01 -4.73994525e-03 2.24965361e+02] [ 9.94607712e-01 9.15221173e-02 -4.87770671e-02 1.33832952e+02] [ 4.90061601e-02 -2.56179111e-04 9.98798443e-01 1.40745656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.700385723 meters Centerline goodness : 0.997207 Centerline is valid? [True, True] Translation: X:224.97, Y:133.86, Z:14.07 [[ 9.19876100e-02 -9.95748436e-01 -4.83034799e-03 2.24968744e+02] [ 9.94553528e-01 9.21137967e-02 -4.87681132e-02 1.33857959e+02] [ 4.90057141e-02 -3.17977463e-04 9.98798448e-01 1.40722122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.730385723 meters Centerline goodness : 0.998631 Centerline is valid? [True, True] Translation: X:224.97, Y:133.89, Z:14.08 [[ 9.03216723e-02 -9.95901906e-01 -4.62493712e-03 2.24972443e+02] [ 9.94706152e-01 9.04397975e-02 -4.87884671e-02 1.33888781e+02] [ 4.90068057e-02 -1.93797465e-04 9.98798426e-01 1.40756741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.760385723 meters Centerline goodness : 0.999735 Centerline is valid? [True, True] Translation: X:224.97, Y:133.91, Z:14.08 [[ 8.96499812e-02 -9.95959985e-01 -5.15646584e-03 2.24974824e+02] [ 9.94767144e-01 8.97949343e-02 -4.87360214e-02 1.33912637e+02] [ 4.90021516e-02 -7.60299397e-04 9.98798384e-01 1.40756134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.790385723 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:224.98, Y:133.94, Z:14.08 [[ 8.93230461e-02 -9.95991212e-01 -4.78527381e-03 2.24979126e+02] [ 9.94796415e-01 8.94502225e-02 -4.87724440e-02 1.33939034e+02] [ 4.90049695e-02 -4.03869959e-04 9.98798453e-01 1.40762783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.820385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:224.99, Y:133.96, Z:14.08 [[ 8.83344962e-02 -9.96079447e-01 -4.76995259e-03 2.24985478e+02] [ 9.94884696e-01 8.84621082e-02 -4.87739424e-02 1.33964033e+02] [ 4.90046817e-02 -4.37131197e-04 9.98798453e-01 1.40764938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.850385723 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:224.99, Y:133.99, Z:14.08 [[ 8.72067747e-02 -9.96179709e-01 -4.57886709e-03 2.24988989e+02] [ 9.94984115e-01 8.73263824e-02 -4.87925552e-02 1.33992152e+02] [ 4.90060093e-02 -3.00858654e-04 9.98798438e-01 1.40810623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.880385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:225.00, Y:134.03, Z:14.08 [[ 8.92840311e-02 -9.95994930e-01 -4.73938791e-03 2.24996845e+02] [ 9.94799898e-01 8.94090074e-02 -4.87769589e-02 1.34025717e+02] [ 4.90053477e-02 -3.59739092e-04 9.98798451e-01 1.40835366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.910385723 meters Centerline goodness : 0.999732 Centerline is valid? [True, True] Translation: X:225.00, Y:134.05, Z:14.08 [[ 9.17605919e-02 -9.95765378e-01 -5.59523392e-03 2.25001053e+02] [ 9.94574706e-01 9.19244800e-02 -4.86933611e-02 1.34049062e+02] [ 4.90015021e-02 -1.09674649e-03 9.98798103e-01 1.40835698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.940385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:225.00, Y:134.07, Z:14.09 [[ 8.89194207e-02 -9.96025590e-01 -5.13425525e-03 2.24999516e+02] [ 9.94832725e-01 8.90641621e-02 -4.87383172e-02 1.34074165e+02] [ 4.90018893e-02 -7.73942204e-04 9.98798386e-01 1.40862788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.970385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.00, Y:134.10, Z:14.09 [[ 8.95458850e-02 -9.95971468e-01 -4.72970127e-03 2.25004150e+02] [ 9.94776371e-01 8.96700725e-02 -4.87775488e-02 1.34100632e+02] [ 4.90051595e-02 -3.37166297e-04 9.98798469e-01 1.40871040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.000385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:225.01, Y:134.13, Z:14.09 [[ 9.16423212e-02 -9.95780803e-01 -4.71987681e-03 2.25012139e+02] [ 9.94585399e-01 9.17635114e-02 -4.87784994e-02 1.34133683e+02] [ 4.90058058e-02 -2.24145655e-04 9.98798469e-01 1.40870115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.030385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:225.02, Y:134.16, Z:14.09 [[ 9.30561765e-02 -9.95645689e-01 -5.49645191e-03 2.25018089e+02] [ 9.94454235e-01 9.32136840e-02 -4.87030153e-02 1.34163082e+02] [ 4.90032917e-02 -9.33853493e-04 9.98798180e-01 1.40876586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.060385723 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:225.02, Y:134.19, Z:14.09 [[ 9.03063080e-02 -9.95897813e-01 -5.68475337e-03 2.25018089e+02] [ 9.94707915e-01 9.04763106e-02 -4.86847163e-02 1.34186497e+02] [ 4.89993381e-02 -1.25813218e-03 9.98798019e-01 1.40859777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.090385723 meters Centerline goodness : 0.998278 Centerline is valid? [True, True] Translation: X:225.03, Y:134.21, Z:14.09 [[ 9.22124217e-02 -9.95726454e-01 -5.06941384e-03 2.25026510e+02] [ 9.94532784e-01 9.23500439e-02 -4.87443363e-02 1.34214052e+02] [ 4.90041857e-02 -5.46864971e-04 9.98798423e-01 1.40885512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.120385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:225.03, Y:134.23, Z:14.09 [[ 9.08177477e-02 -9.95852101e-01 -5.54346350e-03 2.25026233e+02] [ 9.94661293e-01 9.09802316e-02 -4.86981450e-02 1.34234635e+02] [ 4.90004956e-02 -1.09121272e-03 9.98798158e-01 1.40924040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.150385723 meters Centerline goodness : 0.999798 Centerline is valid? [True, True] Translation: X:225.03, Y:134.27, Z:14.09 [[ 9.05775093e-02 -9.95878322e-01 -4.69927018e-03 2.25032327e+02] [ 9.94682994e-01 9.06989681e-02 -4.87794898e-02 1.34265940e+02] [ 4.90046554e-02 -2.55959442e-04 9.98798517e-01 1.40920929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.18038572300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.04, Y:134.29, Z:14.09 [[ 9.03840783e-02 -9.95893248e-01 -5.23048462e-03 2.25037409e+02] [ 9.94700743e-01 9.05317731e-02 -4.87281188e-02 1.34294882e+02] [ 4.90015295e-02 -7.98520831e-04 9.98798384e-01 1.40931737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.210385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:225.04, Y:134.32, Z:14.09 [[ 8.87772121e-02 -9.96037105e-01 -5.35647938e-03 2.25039573e+02] [ 9.94845555e-01 8.89329929e-02 -4.87159626e-02 1.34321331e+02] [ 4.89992741e-02 -1.00400236e-03 9.98798310e-01 1.40941943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.240385723 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:225.04, Y:134.35, Z:14.10 [[ 8.88111447e-02 -9.96035625e-01 -5.06110698e-03 2.25043551e+02] [ 9.94842429e-01 8.89524358e-02 -4.87442808e-02 1.34345256e+02] [ 4.90012380e-02 -7.05968585e-04 9.98798468e-01 1.40966728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.270385723 meters Centerline goodness : 0.999819 Centerline is valid? [True, True] Translation: X:225.05, Y:134.37, Z:14.10 [[ 8.91682040e-02 -9.96005455e-01 -4.70802067e-03 2.25047159e+02] [ 9.94810379e-01 8.92917825e-02 -4.87779317e-02 1.34371365e+02] [ 4.90034736e-02 -3.34147264e-04 9.98798552e-01 1.40987911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.300385723 meters Centerline goodness : 0.999887 Centerline is valid? [True, True] Translation: X:225.05, Y:134.40, Z:14.10 [[ 8.94823032e-02 -9.95977619e-01 -4.63671460e-03 2.25050160e+02] [ 9.94782153e-01 8.96020124e-02 -4.87847091e-02 1.34398611e+02] [ 4.90039373e-02 -2.47152810e-04 9.98798555e-01 1.41001485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.330385723 meters Centerline goodness : 0.999864 Centerline is valid? [True, True] Translation: X:225.05, Y:134.42, Z:14.10 [[ 8.96041697e-02 -9.95966731e-01 -4.62204481e-03 2.25052569e+02] [ 9.94771178e-01 8.97230140e-02 -4.87860989e-02 1.34424532e+02] [ 4.90040352e-02 -2.26439085e-04 9.98798555e-01 1.41010203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.360385723 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:225.06, Y:134.45, Z:14.10 [[ 8.91261155e-02 -9.96009677e-01 -4.61073368e-03 2.25055393e+02] [ 9.94814126e-01 8.92449797e-02 -4.87871679e-02 1.34450856e+02] [ 4.90039761e-02 -2.38612238e-04 9.98798555e-01 1.41018454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.390385723 meters Centerline goodness : 0.999886 Centerline is valid? [True, True] Translation: X:225.06, Y:134.48, Z:14.10 [[ 8.86287109e-02 -9.96054131e-01 -4.59551913e-03 2.25059836e+02] [ 9.94858566e-01 8.87474269e-02 -4.87886010e-02 1.34476520e+02] [ 4.90039281e-02 -2.47820758e-04 9.98798555e-01 1.41029685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.420385723 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:225.06, Y:134.51, Z:14.10 [[ 8.63008929e-02 -9.96258589e-01 -4.58038762e-03 2.25062854e+02] [ 9.95063229e-01 8.64216613e-02 -4.87900215e-02 1.34506016e+02] [ 4.90033227e-02 -3.47152881e-04 9.98798555e-01 1.41033754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.450385723 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:225.06, Y:134.53, Z:14.11 [[ 8.64645946e-02 -9.96243202e-01 -4.83294595e-03 2.25064873e+02] [ 9.95049099e-01 8.65975316e-02 -4.87663527e-02 1.34531470e+02] [ 4.90016685e-02 -5.92455603e-04 9.98798521e-01 1.41054476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.480385723 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:225.07, Y:134.56, Z:14.11 [[ 8.49657514e-02 -9.96373485e-01 -4.54973574e-03 2.25066752e+02] [ 9.95178141e-01 8.50866206e-02 -4.87927629e-02 1.34557563e+02] [ 4.90029369e-02 -3.82083792e-04 9.98798561e-01 1.41060087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.510385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.07, Y:134.58, Z:14.11 [[ 8.22825111e-02 -9.96598729e-01 -4.53461032e-03 2.25068004e+02] [ 9.95403639e-01 8.24058582e-02 -4.87941686e-02 1.34583739e+02] [ 4.90018848e-02 -4.98860895e-04 9.98798561e-01 1.41062640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.540385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:225.07, Y:134.61, Z:14.11 [[ 8.13943600e-02 -9.96671727e-01 -4.51959663e-03 2.25070326e+02] [ 9.95476671e-01 8.15180371e-02 -4.87955592e-02 1.34610922e+02] [ 4.90015829e-02 -5.27469692e-04 9.98798562e-01 1.41064134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.570385723 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:225.07, Y:134.64, Z:14.11 [[ 8.08692974e-02 -9.96714503e-01 -4.51180855e-03 2.25073564e+02] [ 9.95519473e-01 8.09932228e-02 -4.87962790e-02 1.34640160e+02] [ 4.90013849e-02 -5.45472477e-04 9.98798562e-01 1.41092906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.600385723 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:225.08, Y:134.67, Z:14.11 [[ 8.08641034e-02 -9.96714631e-01 -4.57605052e-03 2.25075594e+02] [ 9.95519929e-01 8.09911796e-02 -4.87903578e-02 1.34666936e+02] [ 4.90006832e-02 -6.10160955e-04 9.98798559e-01 1.41110004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.630385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.08, Y:134.69, Z:14.11 [[ 7.99997541e-02 -9.96784806e-01 -4.48207695e-03 2.25076617e+02] [ 9.95589735e-01 8.01232666e-02 -4.87989892e-02 1.34693643e+02] [ 4.90012097e-02 -5.58402666e-04 9.98798563e-01 1.41118091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.660385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.08, Y:134.72, Z:14.11 [[ 7.92011753e-02 -9.96848682e-01 -4.45856404e-03 2.25078515e+02] [ 9.95653591e-01 7.93244944e-02 -4.88011429e-02 1.34721601e+02] [ 4.90010283e-02 -5.74077423e-04 9.98798563e-01 1.41134376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.690385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.08, Y:134.75, Z:14.11 [[ 7.87993133e-02 -9.96880544e-01 -4.45533202e-03 2.25080386e+02] [ 9.95685486e-01 7.89229559e-02 -4.88014380e-02 1.34747645e+02] [ 4.90008320e-02 -5.90589625e-04 9.98798563e-01 1.41149165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.720385723 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:225.08, Y:134.77, Z:14.12 [[ 7.92007576e-02 -9.96848798e-01 -4.43997996e-03 2.25083213e+02] [ 9.95653614e-01 7.93231674e-02 -4.88028347e-02 1.34773882e+02] [ 4.90012404e-02 -5.55460612e-04 9.98798563e-01 1.41171531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.750385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.09, Y:134.80, Z:14.12 [[ 7.73441100e-02 -9.96995558e-01 -4.21248569e-03 2.25085856e+02] [ 9.95799472e-01 7.74576089e-02 -4.88234543e-02 1.34802791e+02] [ 4.90030561e-02 -4.18584407e-04 9.98798541e-01 1.41185880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.780385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.09, Y:134.83, Z:14.12 [[ 7.74972200e-02 -9.96982777e-01 -4.41853954e-03 2.25087334e+02] [ 9.95787693e-01 7.76206227e-02 -4.88048003e-02 1.34829452e+02] [ 4.90005151e-02 -6.17690951e-04 9.98798562e-01 1.41198185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.810385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.09, Y:134.86, Z:14.12 [[ 7.69249851e-02 -9.97027161e-01 -4.40309523e-03 2.25088487e+02] [ 9.95832070e-01 7.70483178e-02 -4.88061936e-02 1.34857419e+02] [ 4.90003517e-02 -6.30327726e-04 9.98798562e-01 1.41202721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.840385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.09, Y:134.88, Z:14.12 [[ 8.03391795e-02 -9.96758371e-01 -4.28557905e-03 2.25091339e+02] [ 9.95562300e-01 8.04526641e-02 -4.88167597e-02 1.34884759e+02] [ 4.90033001e-02 -3.44662523e-04 9.98798557e-01 1.41240148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.870385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.09, Y:134.91, Z:14.13 [[ 8.01564592e-02 -9.96773257e-01 -4.24454364e-03 2.25093304e+02] [ 9.95577013e-01 8.02681534e-02 -4.88204287e-02 1.34912279e+02] [ 4.90035994e-02 -3.12497382e-04 9.98798553e-01 1.41254335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.900385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.09, Y:134.94, Z:14.13 [[ 8.07920820e-02 -9.96721458e-01 -4.35610488e-03 2.25094742e+02] [ 9.95525668e-01 8.09084768e-02 -4.88104727e-02 1.34940254e+02] [ 4.90028913e-02 -3.93114513e-04 9.98798559e-01 1.41269316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.93038572300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.10, Y:134.97, Z:14.13 [[ 7.94880803e-02 -9.96826357e-01 -4.34273140e-03 2.25096830e+02] [ 9.95630657e-01 7.96053846e-02 -4.88116625e-02 1.34967352e+02] [ 4.90024565e-02 -4.43811164e-04 9.98798559e-01 1.41287626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.960385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.10, Y:134.99, Z:14.13 [[ 7.96583150e-02 -9.96812829e-01 -4.32855501e-03 2.25100320e+02] [ 9.95617041e-01 7.97747210e-02 -4.88129196e-02 1.34994618e+02] [ 4.90026538e-02 -4.21228205e-04 9.98798560e-01 1.41303979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.990385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.10, Y:135.02, Z:14.13 [[ 7.97568642e-02 -9.96804709e-01 -4.38352384e-03 2.25102537e+02] [ 9.95609172e-01 7.98758434e-02 -4.88080581e-02 1.35021449e+02] [ 4.90022398e-02 -4.71498876e-04 9.98798557e-01 1.41325739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.020385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.10, Y:135.05, Z:14.13 [[ 8.08226315e-02 -9.96719232e-01 -4.29814096e-03 2.25102921e+02] [ 9.95523168e-01 8.09361511e-02 -4.88155761e-02 1.35049988e+02] [ 4.90032986e-02 -3.33495584e-04 9.98798561e-01 1.41345036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.050385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.10, Y:135.08, Z:14.14 [[ 8.13431655e-02 -9.96676943e-01 -4.28493860e-03 2.25103786e+02] [ 9.95480759e-01 8.14554138e-02 -4.88167350e-02 1.35076750e+02] [ 4.90035456e-02 -2.94666179e-04 9.98798561e-01 1.41356867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.080385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.10, Y:135.11, Z:14.13 [[ 8.29750598e-02 -9.96542472e-01 -4.27100722e-03 2.25103520e+02] [ 9.95346043e-01 8.30846669e-02 -4.88179538e-02 1.35105256e+02] [ 4.90040196e-02 -2.00457498e-04 9.98798561e-01 1.41345662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.110385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.10, Y:135.13, Z:14.13 [[ 8.36593569e-02 -9.96485314e-01 -4.25794823e-03 2.25104651e+02] [ 9.95288753e-01 8.37675026e-02 -4.88190928e-02 1.35133104e+02] [ 4.90041867e-02 -1.53714069e-04 9.98798561e-01 1.41342504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.140385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:225.11, Y:135.16, Z:14.13 [[ 8.55565802e-02 -9.96324271e-01 -4.24486919e-03 2.25106002e+02] [ 9.95127449e-01 8.56618065e-02 -4.88202300e-02 1.35161695e+02] [ 4.90044032e-02 -4.72939212e-05 9.98798561e-01 1.41338870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.170385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.11, Y:135.19, Z:14.14 [[ 8.63769417e-02 -9.96253540e-01 -4.23182318e-03 2.25107987e+02] [ 9.95056576e-01 8.64805431e-02 -4.88213609e-02 1.35189813e+02] [ 4.90044239e-02 6.13635187e-06 9.98798561e-01 1.41352144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.200385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:225.11, Y:135.22, Z:14.14 [[ 8.68930363e-02 -9.96208716e-01 -4.21832976e-03 2.25109526e+02] [ 9.95011643e-01 8.69953564e-02 -4.88225267e-02 1.35217116e+02] [ 4.90044018e-02 4.50503589e-05 9.98798562e-01 1.41354389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.230385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.11, Y:135.24, Z:14.14 [[ 8.68689210e-02 -9.96211029e-01 -4.16839724e-03 2.25108834e+02] [ 9.95013751e-01 8.69688229e-02 -4.88268291e-02 1.35244682e+02] [ 4.90043463e-02 9.39213840e-05 9.98798561e-01 1.41369635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.260385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:225.11, Y:135.27, Z:14.14 [[ 8.61415740e-02 -9.96274507e-01 -4.09107725e-03 2.25109220e+02] [ 9.95076984e-01 8.62385603e-02 -4.88334658e-02 1.35271656e+02] [ 4.90043456e-02 1.35654799e-04 9.98798556e-01 1.41355743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.290385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:225.11, Y:135.30, Z:14.14 [[ 8.66351743e-02 -9.96231317e-01 -4.18446309e-03 2.25111688e+02] [ 9.95034128e-01 8.67361445e-02 -4.88254626e-02 1.35299580e+02] [ 4.90043991e-02 6.63188824e-05 9.98798561e-01 1.41371491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.320385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.12, Y:135.33, Z:14.14 [[ 8.74737179e-02 -9.96158095e-01 -4.17123180e-03 2.25115099e+02] [ 9.94960767e-01 8.75730318e-02 -4.88265930e-02 1.35326073e+02] [ 4.90042932e-02 1.20831626e-04 9.98798561e-01 1.41382700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.350385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.12, Y:135.35, Z:14.14 [[ 8.72320314e-02 -9.96179988e-01 -4.00047427e-03 2.25117307e+02] [ 9.94982006e-01 8.73232652e-02 -4.88411227e-02 1.35353535e+02] [ 4.90038835e-02 2.80110438e-04 9.98798549e-01 1.41395525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.380385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.12, Y:135.38, Z:14.14 [[ 8.58577526e-02 -9.96299415e-01 -3.99016042e-03 2.25120325e+02] [ 9.95101519e-01 8.59501332e-02 -4.88419979e-02 1.35382493e+02] [ 4.90042088e-02 2.22849481e-04 9.98798547e-01 1.41447039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.410385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.12, Y:135.41, Z:14.15 [[ 8.51077062e-02 -9.96363175e-01 -4.13542599e-03 2.25121655e+02] [ 9.95165935e-01 8.52081087e-02 -4.88296958e-02 1.35410227e+02] [ 4.90044826e-02 4.03483346e-05 9.98798558e-01 1.41466926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.440385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.12, Y:135.44, Z:14.15 [[ 8.34119143e-02 -9.96506628e-01 -4.12217481e-03 2.25120599e+02] [ 9.95309506e-01 8.35137048e-02 -4.88308144e-02 1.35438177e+02] [ 4.90044883e-02 -2.97680604e-05 9.98798558e-01 1.41476661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.470385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.12, Y:135.47, Z:14.15 [[ 8.23708981e-02 -9.96593273e-01 -4.10896834e-03 2.25121692e+02] [ 9.95396202e-01 8.24732920e-02 -4.88319257e-02 1.35466558e+02] [ 4.90044488e-02 -6.77219025e-05 9.98798558e-01 1.41487683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.500385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.12, Y:135.49, Z:14.15 [[ 7.47574563e-02 -9.97193337e-01 -4.09540047e-03 2.25117452e+02] [ 9.95997021e-01 7.48683249e-02 -4.88330636e-02 1.35490459e+02] [ 4.90026214e-02 -4.28371055e-04 9.98798558e-01 1.41460552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.530385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:225.12, Y:135.52, Z:14.15 [[ 7.07779267e-02 -9.97486515e-01 -3.33737778e-03 2.25117407e+02] [ 9.96287377e-01 7.08564363e-02 -4.88961005e-02 1.35515111e+02] [ 4.90096756e-02 1.35777263e-04 9.98798295e-01 1.41461813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.560385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.12, Y:135.55, Z:14.15 [[ 7.17113707e-02 -9.97420959e-01 -2.98485012e-03 2.25123770e+02] [ 9.96220448e-01 7.17714698e-02 -4.89252053e-02 1.35545824e+02] [ 4.90132523e-02 5.34924812e-04 9.98797985e-01 1.41498508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.590385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:225.13, Y:135.58, Z:14.16 [[ 7.21550297e-02 -9.97387901e-01 -3.32068037e-03 2.25131367e+02] [ 9.96188590e-01 7.22310650e-02 -4.88975036e-02 1.35577047e+02] [ 4.90096347e-02 2.20176928e-04 9.98798282e-01 1.41552873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.620385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.12, Y:135.60, Z:14.15 [[ 6.38352677e-02 -9.97952254e-01 -4.04440549e-03 2.25121597e+02] [ 9.96756955e-01 6.39567332e-02 -4.88375824e-02 1.35600351e+02] [ 4.89962424e-02 -9.13729150e-04 9.98798545e-01 1.41493015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.650385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:225.12, Y:135.63, Z:14.15 [[ 6.35450148e-02 -9.97973782e-01 -3.21903507e-03 2.25122646e+02] [ 9.96774772e-01 6.36264167e-02 -4.89053383e-02 1.35629532e+02] [ 4.90110611e-02 -1.00962499e-04 9.98798231e-01 1.41486850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.68038572300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.13, Y:135.66, Z:14.15 [[ 6.73422551e-02 -9.97724340e-01 -3.34088347e-03 2.25131308e+02] [ 9.96525517e-01 6.74250658e-02 -4.88953361e-02 1.35660931e+02] [ 4.90093263e-02 -3.65534250e-05 9.98798320e-01 1.41542869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.710385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:225.13, Y:135.68, Z:14.15 [[ 6.22024347e-02 -9.98055446e-01 -4.02303754e-03 2.25131579e+02] [ 9.96860248e-01 6.23248103e-02 -4.88391564e-02 1.35684904e+02] [ 4.89949211e-02 -9.72491762e-04 9.98798554e-01 1.41543881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.740385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.14, Y:135.72, Z:14.16 [[ 6.55710755e-02 -9.97842235e-01 -3.36267892e-03 2.25139261e+02] [ 9.96643676e-01 6.56570819e-02 -4.88930552e-02 1.35716492e+02] [ 4.90083391e-02 -1.45422466e-04 9.98798359e-01 1.41598600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.770385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.13, Y:135.74, Z:14.16 [[ 6.12707814e-02 -9.98113171e-01 -3.99862522e-03 2.25134626e+02] [ 9.96917974e-01 6.13930783e-02 -4.88410001e-02 1.35743358e+02] [ 4.89943334e-02 -9.93775110e-04 9.98798562e-01 1.41575634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.800385723 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:225.14, Y:135.77, Z:14.16 [[ 6.35542488e-02 -9.97971711e-01 -3.64982795e-03 2.25137160e+02] [ 9.96774599e-01 6.36567400e-02 -4.88694024e-02 1.35772910e+02] [ 4.90026173e-02 -5.32197637e-04 9.98798508e-01 1.41606048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.830385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.14, Y:135.80, Z:14.16 [[ 6.16798570e-02 -9.98088041e-01 -3.98212592e-03 2.25135923e+02] [ 9.96892714e-01 6.18008570e-02 -4.88423128e-02 1.35798808e+02] [ 4.89950271e-02 -9.57165450e-04 9.98798564e-01 1.41583064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.860385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:225.14, Y:135.83, Z:14.16 [[ 6.55648959e-02 -9.97841536e-01 -3.67597554e-03 2.25142384e+02] [ 9.96644341e-01 6.56662553e-02 -4.88671753e-02 1.35827672e+02] [ 4.90030848e-02 -4.59668958e-04 9.98798521e-01 1.41639087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.890385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.14, Y:135.85, Z:14.16 [[ 6.67176217e-02 -9.97763998e-01 -3.97020414e-03 2.25143674e+02] [ 9.96568020e-01 6.68320024e-02 -4.88432612e-02 1.35852875e+02] [ 4.89993842e-02 -6.97872256e-04 9.98798565e-01 1.41641054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.920385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:225.15, Y:135.88, Z:14.17 [[ 7.05299918e-02 -9.97502994e-01 -3.64655729e-03 2.25145621e+02] [ 9.96305191e-01 7.06239507e-02 -4.88694668e-02 1.35883293e+02] [ 4.90049738e-02 -1.86320859e-04 9.98798517e-01 1.41673688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.950385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:225.14, Y:135.91, Z:14.17 [[ 7.38995379e-02 -9.97257866e-01 -3.95048729e-03 2.25143161e+02] [ 9.96061010e-01 7.40043392e-02 -4.88448878e-02 1.35907297e+02] [ 4.90033018e-02 -3.25311716e-04 9.98798564e-01 1.41657456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.980385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.14, Y:135.94, Z:14.17 [[ 7.47412289e-02 -9.97196256e-01 -3.65723646e-03 2.25144961e+02] [ 9.95998106e-01 7.48306527e-02 -4.88686708e-02 1.35937811e+02] [ 4.90053290e-02 9.90392931e-06 9.98798517e-01 1.41669838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.010385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:225.15, Y:135.97, Z:14.17 [[ 7.48314126e-02 -9.97188364e-01 -3.95290232e-03 2.25146628e+02] [ 9.95991421e-01 7.49352137e-02 -4.88446928e-02 1.35966111e+02] [ 4.90035709e-02 -2.81939438e-04 9.98798564e-01 1.41685633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.040385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.15, Y:135.99, Z:14.17 [[ 7.44341234e-02 -9.97218470e-01 -3.85799497e-03 2.25149407e+02] [ 9.96021168e-01 7.45337525e-02 -4.88523616e-02 1.35993520e+02] [ 4.90040281e-02 -2.06361950e-04 9.98798560e-01 1.41705366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.070385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.15, Y:136.02, Z:14.17 [[ 7.62564969e-02 -9.97081167e-01 -3.75397407e-03 2.25152610e+02] [ 9.95883268e-01 7.63488407e-02 -4.88607374e-02 1.36022302e+02] [ 4.90047326e-02 -1.25713007e-05 9.98798546e-01 1.41736870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.100385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.15, Y:136.05, Z:14.17 [[ 7.31743070e-02 -9.97311415e-01 -3.93216048e-03 2.25151050e+02] [ 9.96114555e-01 7.32790811e-02 -4.88463940e-02 1.36048785e+02] [ 4.90032115e-02 -3.42581254e-04 9.98798562e-01 1.41713915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.130385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.15, Y:136.08, Z:14.18 [[ 7.57292097e-02 -9.97121791e-01 -3.63590875e-03 2.25154908e+02] [ 9.95923483e-01 7.58164010e-02 -4.88701312e-02 1.36077640e+02] [ 4.90051342e-02 7.98094977e-05 9.98798523e-01 1.41753629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.160385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.16, Y:136.10, Z:14.18 [[ 7.25275828e-02 -9.97358727e-01 -3.91404052e-03 2.25155853e+02] [ 9.96161857e-01 7.26322456e-02 -4.88478472e-02 1.36104472e+02] [ 4.90031122e-02 -3.56201588e-04 9.98798562e-01 1.41754889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.190385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.16, Y:136.13, Z:14.18 [[ 7.18921965e-02 -9.97405248e-01 -3.77930291e-03 2.25158709e+02] [ 9.96207874e-01 7.19910226e-02 -4.88586159e-02 1.36132650e+02] [ 4.90039158e-02 -2.52418108e-04 9.98798555e-01 1.41776694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.220385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:225.16, Y:136.16, Z:14.18 [[ 7.20637316e-02 -9.97392802e-01 -3.79697872e-03 2.25161348e+02] [ 9.96195485e-01 7.21632175e-02 -4.88572050e-02 1.36160929e+02] [ 4.90038268e-02 -2.61700554e-04 9.98798557e-01 1.41803360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.250385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:225.16, Y:136.19, Z:14.18 [[ 6.90163583e-02 -9.97607923e-01 -3.89544063e-03 2.25160248e+02] [ 9.96411345e-01 6.91243229e-02 -4.88493535e-02 1.36187796e+02] [ 4.90017718e-02 -5.10056749e-04 9.98798561e-01 1.41804440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.280385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.16, Y:136.22, Z:14.18 [[ 6.95767952e-02 -9.97569711e-01 -3.70679923e-03 2.25163108e+02] [ 9.96372266e-01 6.96748494e-02 -4.88643290e-02 1.36216546e+02] [ 4.90038452e-02 -2.93528535e-04 9.98798547e-01 1.41819214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.310385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.16, Y:136.24, Z:14.18 [[ 6.65607703e-02 -9.97774838e-01 -3.87763107e-03 2.25163957e+02] [ 9.96578449e-01 6.66708078e-02 -4.88507696e-02 1.36243901e+02] [ 4.90005935e-02 -6.12818708e-04 9.98798561e-01 1.41830560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.340385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.17, Y:136.27, Z:14.19 [[ 6.75950616e-02 -9.97705934e-01 -3.71166228e-03 2.25169006e+02] [ 9.96508710e-01 6.76957323e-02 -4.88638740e-02 1.36272537e+02] [ 4.90030407e-02 -3.95747220e-04 9.98798551e-01 1.41854723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.370385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.17, Y:136.30, Z:14.19 [[ 6.56209804e-02 -9.97837193e-01 -3.84996916e-03 2.25173123e+02] [ 9.96640783e-01 6.57307907e-02 -4.88529749e-02 1.36300463e+02] [ 4.90003768e-02 -6.31256170e-04 9.98798561e-01 1.41884324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.400385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.17, Y:136.33, Z:14.19 [[ 6.31446134e-02 -9.97997013e-01 -3.83674903e-03 2.25174350e+02] [ 9.96800817e-01 6.32567453e-02 -4.88540131e-02 1.36327979e+02] [ 4.89988594e-02 -7.39606799e-04 9.98798561e-01 1.41901910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.43038572300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.18, Y:136.36, Z:14.19 [[ 6.44037636e-02 -9.97916858e-01 -3.75506786e-03 2.25177758e+02] [ 9.96720157e-01 6.45103878e-02 -4.88603999e-02 1.36355923e+02] [ 4.90008576e-02 -5.95958181e-04 9.98798559e-01 1.41915852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.460385723 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:225.18, Y:136.38, Z:14.19 [[ 6.43469955e-02 -9.97920295e-01 -3.81425942e-03 2.25179885e+02] [ 9.96723864e-01 6.44565852e-02 -4.88557788e-02 1.36382930e+02] [ 4.90000273e-02 -6.58040818e-04 9.98798560e-01 1.41890715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.490385723 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:225.18, Y:136.41, Z:14.19 [[ 6.73567643e-02 -9.97721716e-01 -3.80040413e-03 2.25183313e+02] [ 9.96524900e-01 6.74620664e-02 -4.88568565e-02 1.36411669e+02] [ 4.90019299e-02 -4.96357582e-04 9.98798561e-01 1.41913457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.520385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.19, Y:136.44, Z:14.19 [[ 6.87263300e-02 -9.97627909e-01 -3.90461666e-03 2.25185029e+02] [ 9.96431396e-01 6.88350918e-02 -4.88487702e-02 1.36439488e+02] [ 4.90016711e-02 -5.33485934e-04 9.98798554e-01 1.41946643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.550385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.19, Y:136.47, Z:14.19 [[ 7.09628629e-02 -9.97471857e-01 -3.76390383e-03 2.25187528e+02] [ 9.96274520e-01 7.10620503e-02 -4.88596477e-02 1.36467422e+02] [ 4.90035943e-02 -2.82660999e-04 9.98798562e-01 1.41943285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.580385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.19, Y:136.49, Z:14.20 [[ 7.58484311e-02 -9.97112112e-01 -3.80156688e-03 2.25190615e+02] [ 9.95914449e-01 7.59435972e-02 -4.88567412e-02 1.36494245e+02] [ 4.90043531e-02 -8.03282129e-05 9.98798562e-01 1.41959868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.610385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.19, Y:136.52, Z:14.20 [[ 7.66880467e-02 -9.97048050e-01 -3.75893907e-03 2.25192983e+02] [ 9.95850146e-01 7.67801154e-02 -4.88600208e-02 1.36520828e+02] [ 4.90044002e-02 3.63953665e-06 9.98798563e-01 1.41974788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.640385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.20, Y:136.55, Z:14.20 [[ 7.88647979e-02 -9.96878288e-01 -3.74480397e-03 2.25199757e+02] [ 9.95680133e-01 7.89535581e-02 -4.88611041e-02 1.36551197e+02] [ 4.90042394e-02 1.24794184e-04 9.98798563e-01 1.41999962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.670385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:225.20, Y:136.58, Z:14.20 [[ 7.86004153e-02 -9.96897809e-01 -4.09065291e-03 2.25200782e+02] [ 9.95700998e-01 7.87064398e-02 -4.88346008e-02 1.36575693e+02] [ 4.90050672e-02 -2.34647282e-04 9.98798502e-01 1.42041643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.700385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.20, Y:136.60, Z:14.21 [[ 7.96227369e-02 -9.96818141e-01 -3.71674352e-03 2.25202025e+02] [ 9.95619829e-01 7.97092106e-02 -4.88630455e-02 1.36604047e+02] [ 4.90038288e-02 1.90145861e-04 9.98798573e-01 1.42067197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.730385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.20, Y:136.63, Z:14.21 [[ 7.97998130e-02 -9.96804030e-01 -3.70357931e-03 2.25203796e+02] [ 9.95605657e-01 7.98854285e-02 -4.88640432e-02 1.36631093e+02] [ 4.90037372e-02 2.12036999e-04 9.98798573e-01 1.42075583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.760385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.21, Y:136.66, Z:14.21 [[ 8.04398974e-02 -9.96752632e-01 -3.68969883e-03 2.25206897e+02] [ 9.95554156e-01 8.05240630e-02 -4.88650913e-02 1.36659261e+02] [ 4.90035179e-02 2.57407931e-04 9.98798573e-01 1.42080672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.790385723 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:225.21, Y:136.69, Z:14.21 [[ 8.04108495e-02 -9.96755025e-01 -3.67644121e-03 2.25209403e+02] [ 9.95556506e-01 8.04944000e-02 -4.88660888e-02 1.36686509e+02] [ 4.90034524e-02 2.69258739e-04 9.98798573e-01 1.42065902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.820385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.21, Y:136.71, Z:14.21 [[ 8.03239501e-02 -9.96762067e-01 -3.66676180e-03 2.25212043e+02] [ 9.95563523e-01 8.04071306e-02 -4.88668151e-02 1.36713723e+02] [ 4.90034214e-02 2.74681316e-04 9.98798573e-01 1.42096193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.850385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:225.22, Y:136.75, Z:14.21 [[ 8.14404244e-02 -9.96671520e-01 -3.65211579e-03 2.25217458e+02] [ 9.95472835e-01 8.15215442e-02 -4.88679096e-02 1.36745590e+02] [ 4.90029799e-02 3.44241240e-04 9.98798573e-01 1.42095682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.880385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.22, Y:136.77, Z:14.21 [[ 7.76809397e-02 -9.96969656e-01 -4.14458563e-03 2.25216738e+02] [ 9.95773136e-01 7.77907099e-02 -4.88310076e-02 1.36768941e+02] [ 4.90054431e-02 -3.33828479e-04 9.98798456e-01 1.42114746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.910385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.22, Y:136.80, Z:14.21 [[ 7.74287358e-02 -9.96991259e-01 -3.63610356e-03 2.25223129e+02] [ 9.95792866e-01 7.75138942e-02 -4.88688477e-02 1.36800213e+02] [ 4.90036626e-02 1.63047116e-04 9.98798586e-01 1.42131777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.940385723 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:225.23, Y:136.82, Z:14.21 [[ 7.25949273e-02 -9.97353328e-01 -4.03914518e-03 2.25226379e+02] [ 9.96156943e-01 7.27056361e-02 -4.88388686e-02 1.36823580e+02] [ 4.90032768e-02 -4.78168397e-04 9.98798503e-01 1.42140790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.970385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:225.23, Y:136.85, Z:14.22 [[ 7.13049356e-02 -9.97448031e-01 -3.60980944e-03 2.25229474e+02] [ 9.96250096e-01 7.13961632e-02 -4.88705859e-02 1.36850938e+02] [ 4.90035963e-02 -1.11559020e-04 9.98798596e-01 1.42193529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.000385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:225.23, Y:136.88, Z:14.22 [[ 6.96240413e-02 -9.97566820e-01 -3.59608875e-03 2.25231762e+02] [ 9.96368988e-01 6.97166152e-02 -4.88715955e-02 1.36878033e+02] [ 4.90033893e-02 -1.80393325e-04 9.98798596e-01 1.42197435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.030385723 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:225.23, Y:136.91, Z:14.22 [[ 6.78860452e-02 -9.97686653e-01 -3.58163481e-03 2.25234419e+02] [ 9.96488928e-01 6.79799977e-02 -4.88726548e-02 1.36905744e+02] [ 4.90030749e-02 -2.51288183e-04 9.98798596e-01 1.42208803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.060385723 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:225.24, Y:136.93, Z:14.22 [[ 6.72113447e-02 -9.97732381e-01 -3.56805567e-03 2.25237451e+02] [ 9.96534668e-01 6.73054421e-02 -4.88736462e-02 1.36933513e+02] [ 4.90029689e-02 -2.70827692e-04 9.98798596e-01 1.42223586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.090385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:225.24, Y:136.96, Z:14.22 [[ 6.62758850e-02 -9.97795005e-01 -3.55448436e-03 2.25242338e+02] [ 9.96597328e-01 6.63704405e-02 -4.88746332e-02 1.36960518e+02] [ 4.90027776e-02 -3.03180050e-04 9.98798596e-01 1.42247065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.120385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:225.24, Y:136.99, Z:14.23 [[ 6.55792502e-02 -9.97841084e-01 -3.54016620e-03 2.25244483e+02] [ 9.96643418e-01 6.56739406e-02 -4.88756703e-02 1.36988174e+02] [ 4.90026485e-02 -3.23053533e-04 9.98798596e-01 1.42267941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.150385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.25, Y:137.02, Z:14.23 [[ 6.53902889e-02 -9.97853532e-01 -3.52685868e-03 2.25245872e+02] [ 9.96655832e-01 6.54845543e-02 -4.88766305e-02 1.37016211e+02] [ 4.90026732e-02 -3.19007281e-04 9.98798596e-01 1.42301679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.18038572300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.25, Y:137.04, Z:14.23 [[ 6.50117550e-02 -9.97878313e-01 -3.51332894e-03 2.25248438e+02] [ 9.96680597e-01 6.51058121e-02 -4.88776030e-02 1.37044240e+02] [ 4.90026382e-02 -3.24048030e-04 9.98798597e-01 1.42314562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.210385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.25, Y:137.07, Z:14.23 [[ 6.47333574e-02 -9.97896460e-01 -3.49967939e-03 2.25250416e+02] [ 9.96698718e-01 6.48270800e-02 -4.88785804e-02 1.37072733e+02] [ 4.90026363e-02 -3.24051352e-04 9.98798597e-01 1.42328520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.240385723 meters Centerline goodness : 0.999779 Centerline is valid? [True, True] Translation: X:225.25, Y:137.10, Z:14.23 [[ 6.40520171e-02 -9.97940473e-01 -3.48602624e-03 2.25253028e+02] [ 9.96742742e-01 6.41458888e-02 -4.88795541e-02 1.37100003e+02] [ 4.90024995e-02 -3.43837319e-04 9.98798597e-01 1.42332432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.270385723 meters Centerline goodness : 0.999688 Centerline is valid? [True, True] Translation: X:225.26, Y:137.13, Z:14.23 [[ 6.31222729e-02 -9.97999763e-01 -3.47167902e-03 2.25255694e+02] [ 9.96802065e-01 6.32165577e-02 -4.88805731e-02 1.37128162e+02] [ 4.90022679e-02 -3.75123945e-04 9.98798597e-01 1.42340284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.300385723 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:225.26, Y:137.16, Z:14.23 [[ 6.26354600e-02 -9.98030481e-01 -3.45805829e-03 2.25257504e+02] [ 9.96832777e-01 6.27296620e-02 -4.88815367e-02 1.37155366e+02] [ 4.90021864e-02 -3.85388309e-04 9.98798597e-01 1.42345133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.330385723 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:225.26, Y:137.18, Z:14.23 [[ 6.24386382e-02 -9.98042864e-01 -3.44369314e-03 2.25259650e+02] [ 9.96845123e-01 6.25323729e-02 -4.88825487e-02 1.37182078e+02] [ 4.90022212e-02 -3.80668940e-04 9.98798597e-01 1.42344758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.360385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:225.26, Y:137.21, Z:14.24 [[ 6.22337239e-02 -9.98055712e-01 -3.42918985e-03 2.25261796e+02] [ 9.96857935e-01 6.23269941e-02 -4.88835661e-02 1.37210067e+02] [ 4.90022534e-02 -3.76208761e-04 9.98798597e-01 1.42363609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.390385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:225.26, Y:137.24, Z:14.24 [[ 6.17260449e-02 -9.98087284e-01 -3.41584871e-03 2.25263910e+02] [ 9.96889504e-01 6.18192710e-02 -4.88844983e-02 1.37237258e+02] [ 4.90021614e-02 -3.87776992e-04 9.98798597e-01 1.42372865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.420385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:225.27, Y:137.26, Z:14.24 [[ 6.06924074e-02 -9.98150720e-01 -3.40177964e-03 2.25267510e+02] [ 9.96952983e-01 6.07861849e-02 -4.88854773e-02 1.37264641e+02] [ 4.90018556e-02 -4.24437050e-04 9.98798597e-01 1.42384149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.450385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:225.27, Y:137.29, Z:14.24 [[ 5.94951498e-02 -9.98222848e-01 -3.38723168e-03 2.25271560e+02] [ 9.97025168e-01 5.95896514e-02 -4.88864853e-02 1.37292181e+02] [ 4.90014506e-02 -4.68646462e-04 9.98798597e-01 1.42410187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.480385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.27, Y:137.32, Z:14.24 [[ 5.91320284e-02 -9.98244468e-01 -3.37412545e-03 2.25274387e+02] [ 9.97046772e-01 5.92263240e-02 -4.88873899e-02 1.37320096e+02] [ 4.90014036e-02 -4.73350353e-04 9.98798598e-01 1.42425314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.510385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:225.28, Y:137.35, Z:14.24 [[ 5.82966489e-02 -9.98293646e-01 -3.36099154e-03 2.25276610e+02] [ 9.97095979e-01 5.83913036e-02 -4.88882928e-02 1.37347656e+02] [ 4.90011248e-02 -5.01207500e-04 9.98798598e-01 1.42437491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.540385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.28, Y:137.37, Z:14.24 [[ 5.69955063e-02 -9.98368823e-01 -3.34755378e-03 2.25278402e+02] [ 9.97171227e-01 5.70910639e-02 -4.88892130e-02 1.37374450e+02] [ 4.90005814e-02 -5.51618863e-04 9.98798598e-01 1.42438130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.570385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:225.28, Y:137.40, Z:14.24 [[ 5.26765077e-02 -9.98606066e-01 -3.33337696e-03 2.25275777e+02] [ 9.97408836e-01 5.27765506e-02 -4.88901796e-02 1.37399433e+02] [ 4.89979540e-02 -7.49375711e-04 9.98798598e-01 1.42393541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.600385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:225.28, Y:137.43, Z:14.24 [[ 5.54973447e-02 -9.98454657e-01 -2.88841281e-03 2.25280977e+02] [ 9.97255502e-01 5.55722124e-02 -4.89202657e-02 1.37429036e+02] [ 4.90051826e-02 -1.65540722e-04 9.98798511e-01 1.42435269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.630385723 meters Centerline goodness : 0.999798 Centerline is valid? [True, True] Translation: X:225.28, Y:137.46, Z:14.24 [[ 5.50106058e-02 -9.98480275e-01 -3.31271661e-03 2.25283513e+02] [ 9.97282736e-01 5.51068385e-02 -4.88915208e-02 1.37457107e+02] [ 4.89997725e-02 -6.14162909e-04 9.98798601e-01 1.42444101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.660385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.29, Y:137.49, Z:14.25 [[ 5.35343798e-02 -9.98560556e-01 -3.29931311e-03 2.25287045e+02] [ 9.97363108e-01 5.36317266e-02 -4.88924253e-02 1.37485356e+02] [ 4.89989953e-02 -6.73187518e-04 9.98798601e-01 1.42457586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.690385723 meters Centerline goodness : 0.999820 Centerline is valid? [True, True] Translation: X:225.29, Y:137.51, Z:14.25 [[ 5.22386679e-02 -9.98629223e-01 -3.28591405e-03 2.25289649e+02] [ 9.97431847e-01 5.23369126e-02 -4.88933258e-02 1.37513591e+02] [ 4.89982785e-02 -7.23353115e-04 9.98798601e-01 1.42465540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.720385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.29, Y:137.54, Z:14.25 [[ 5.13167617e-02 -9.98677066e-01 -3.27236838e-03 2.25291556e+02] [ 9.97479727e-01 5.14154487e-02 -4.88942324e-02 1.37541259e+02] [ 4.89977988e-02 -7.55027444e-04 9.98798601e-01 1.42504743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.750385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:225.29, Y:137.57, Z:14.25 [[ 4.90559332e-02 -9.98790717e-01 -3.25872904e-03 2.25290019e+02] [ 9.97593548e-01 4.91566628e-02 -4.88951414e-02 1.37567367e+02] [ 4.89962016e-02 -8.52290277e-04 9.98798601e-01 1.42493296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.780385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:225.29, Y:137.60, Z:14.25 [[ 5.44808247e-02 -9.98510337e-01 -2.99105628e-03 2.25292658e+02] [ 9.97311649e-01 5.45619412e-02 -4.89128825e-02 1.37595716e+02] [ 4.90032167e-02 -3.18201090e-04 9.98798570e-01 1.42526720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.810385723 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:225.29, Y:137.62, Z:14.25 [[ 5.66892911e-02 -9.98386610e-01 -3.24044211e-03 2.25293710e+02] [ 9.97188639e-01 5.67799710e-02 -4.88963569e-02 1.37624286e+02] [ 4.90014602e-02 -4.59432250e-04 9.98798601e-01 1.42530834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.840385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:225.29, Y:137.65, Z:14.25 [[ 6.04547889e-02 -9.98165720e-01 -3.22692151e-03 2.25292988e+02] [ 9.96967368e-01 6.05402872e-02 -4.88972491e-02 1.37651465e+02] [ 4.90029167e-02 -2.61062573e-04 9.98798601e-01 1.42523582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.870385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.29, Y:137.68, Z:14.25 [[ 6.09995118e-02 -9.98132626e-01 -3.21266461e-03 2.25293648e+02] [ 9.96934177e-01 6.10836577e-02 -4.88981858e-02 1.37680077e+02] [ 4.90031159e-02 -2.20049682e-04 9.98798601e-01 1.42528841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.900385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.30, Y:137.71, Z:14.25 [[ 6.03810654e-02 -9.98170272e-01 -3.19909967e-03 2.25295380e+02] [ 9.96971830e-01 6.04652892e-02 -4.88990733e-02 1.37708328e+02] [ 4.90030358e-02 -2.36834108e-04 9.98798602e-01 1.42507893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.93038572300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.30, Y:137.74, Z:14.25 [[ 5.80655442e-02 -9.98307019e-01 -3.38933449e-03 2.25296511e+02] [ 9.97109468e-01 5.81618641e-02 -4.88866711e-02 1.37735029e+02] [ 4.90010369e-02 -5.40906349e-04 9.98798581e-01 1.42526070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.960385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.30, Y:137.76, Z:14.26 [[ 5.57458246e-02 -9.98439921e-01 -3.18242546e-03 2.25300303e+02] [ 9.97241826e-01 5.58347955e-02 -4.89000640e-02 1.37760662e+02] [ 4.90014661e-02 -4.47673387e-04 9.98798606e-01 1.42575473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.990385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.30, Y:137.79, Z:14.26 [[ 5.40156655e-02 -9.98535122e-01 -3.14923880e-03 2.25302872e+02] [ 9.97337062e-01 5.41050871e-02 -4.89022012e-02 1.37786722e+02] [ 4.90009553e-02 -4.99367628e-04 9.98798607e-01 1.42595165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.020385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.31, Y:137.82, Z:14.26 [[ 5.27531155e-02 -9.98602668e-01 -3.13372436e-03 2.25305148e+02] [ 9.97404664e-01 5.28432922e-02 -4.89031954e-02 1.37815058e+02] [ 4.90004577e-02 -5.45795384e-04 9.98798607e-01 1.42611436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.050385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.31, Y:137.84, Z:14.26 [[ 5.15719430e-02 -9.98664407e-01 -3.12034945e-03 2.25306524e+02] [ 9.97466461e-01 5.16628818e-02 -4.89040488e-02 1.37843218e+02] [ 4.89999391e-02 -5.90367104e-04 9.98798607e-01 1.42618689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.080385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.31, Y:137.87, Z:14.26 [[ 5.13514117e-02 -9.98675813e-01 -3.10704056e-03 2.25307827e+02] [ 9.97477837e-01 5.14419633e-02 -4.89048943e-02 1.37871441e+02] [ 4.89999674e-02 -5.87868738e-04 9.98798607e-01 1.42627945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.110385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.31, Y:137.90, Z:14.26 [[ 5.09905321e-02 -9.98694345e-01 -3.09367942e-03 2.25309408e+02] [ 9.97496353e-01 5.10808625e-02 -4.89057395e-02 1.37899206e+02] [ 4.89999133e-02 -5.92204255e-04 9.98798607e-01 1.42639918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.140385723 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:225.31, Y:137.93, Z:14.27 [[ 5.09598887e-02 -9.98695950e-01 -3.08040454e-03 2.25311189e+02] [ 9.97497912e-01 5.10496059e-02 -4.89065757e-02 1.37925716e+02] [ 4.90000525e-02 -5.80423437e-04 9.98798607e-01 1.42654485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.170385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.31, Y:137.95, Z:14.27 [[ 5.06774251e-02 -9.98710366e-01 -3.06649767e-03 2.25312396e+02] [ 9.97512302e-01 5.07668002e-02 -4.89074476e-02 1.37953484e+02] [ 4.90000512e-02 -5.80365632e-04 9.98798607e-01 1.42671482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.200385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.31, Y:137.98, Z:14.27 [[ 5.05090829e-02 -9.98718934e-01 -3.05335531e-03 2.25313865e+02] [ 9.97520838e-01 5.05980164e-02 -4.89082681e-02 1.37980083e+02] [ 4.90001071e-02 -5.75473778e-04 9.98798608e-01 1.42689747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.230385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.32, Y:138.01, Z:14.27 [[ 5.04662344e-02 -9.98721148e-01 -3.03787441e-03 2.25315867e+02] [ 9.97522999e-01 5.05544613e-02 -4.89092297e-02 1.38007362e+02] [ 4.90002601e-02 -5.62084937e-04 9.98798608e-01 1.42712429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.260385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.32, Y:138.03, Z:14.27 [[ 5.00242897e-02 -9.98743425e-01 -3.02342876e-03 2.25317945e+02] [ 9.97545264e-01 5.01123394e-02 -4.89101227e-02 1.38033542e+02] [ 4.90001745e-02 -5.69312894e-04 9.98798608e-01 1.42746349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.290385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:225.32, Y:138.06, Z:14.28 [[ 4.94327693e-02 -9.98772923e-01 -3.00828978e-03 2.25317829e+02] [ 9.97574759e-01 4.95207874e-02 -4.89110538e-02 1.38061161e+02] [ 4.90000090e-02 -5.83185118e-04 9.98798608e-01 1.42762689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.320385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.32, Y:138.09, Z:14.28 [[ 4.90322752e-02 -9.98792707e-01 -2.99407842e-03 2.25318120e+02] [ 9.97594528e-01 4.91200779e-02 -4.89119237e-02 1.38087985e+02] [ 4.89999421e-02 -5.88613344e-04 9.98798608e-01 1.42772704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.350385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:225.32, Y:138.12, Z:14.28 [[ 4.83125003e-02 -9.98827824e-01 -2.97992624e-03 2.25319266e+02] [ 9.97629658e-01 4.84004735e-02 -4.89127859e-02 1.38116854e+02] [ 4.89996814e-02 -6.09763809e-04 9.98798608e-01 1.42779749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.380385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.32, Y:138.14, Z:14.27 [[ 4.84314074e-02 -9.98821612e-01 -3.12832752e-03 2.25319304e+02] [ 9.97623977e-01 4.85265033e-02 -4.89037652e-02 1.38141762e+02] [ 4.89979444e-02 -7.52416371e-04 9.98798596e-01 1.42745603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.410385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:225.32, Y:138.17, Z:14.28 [[ 4.65050895e-02 -9.98914249e-01 -2.75683067e-03 2.25321055e+02] [ 9.97715462e-01 4.65843067e-02 -4.89260641e-02 1.38173239e+02] [ 4.90013677e-02 -4.75221595e-04 9.98798598e-01 1.42770861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.440385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.32, Y:138.20, Z:14.28 [[ 4.62888362e-02 -9.98923006e-01 -3.18941779e-03 2.25320974e+02] [ 9.97725812e-01 4.63894907e-02 -4.89000987e-02 1.38198848e+02] [ 4.89953890e-02 -9.18635801e-04 9.98798582e-01 1.42772908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.470385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.32, Y:138.23, Z:14.28 [[ 4.59986588e-02 -9.98937264e-01 -2.90968522e-03 2.25321414e+02] [ 9.97739062e-01 4.60859682e-02 -4.89167398e-02 1.38226920e+02] [ 4.89988498e-02 -6.53002180e-04 9.98798622e-01 1.42782560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.500385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:225.32, Y:138.25, Z:14.28 [[ 4.48225625e-02 -9.98990766e-01 -2.89622676e-03 2.25319241e+02] [ 9.97792619e-01 4.49106236e-02 -4.89175366e-02 1.38251845e+02] [ 4.89982387e-02 -6.97224340e-04 9.98798622e-01 1.42755094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.530385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:225.32, Y:138.28, Z:14.28 [[ 4.63682949e-02 -9.98921100e-01 -2.57228137e-03 2.25322335e+02] [ 9.97721736e-01 4.64386370e-02 -4.89365977e-02 1.38281976e+02] [ 4.90032532e-02 -2.97314439e-04 9.98798575e-01 1.42787115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.560385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:225.32, Y:138.31, Z:14.28 [[ 4.68145928e-02 -9.98899457e-01 -2.87538357e-03 2.25322407e+02] [ 9.97701064e-01 4.68992440e-02 -4.89187840e-02 1.38309874e+02] [ 4.89998001e-02 -5.78660295e-04 9.98798621e-01 1.42812922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.590385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.32, Y:138.34, Z:14.28 [[ 4.71642074e-02 -9.98883050e-01 -2.86194541e-03 2.25322516e+02] [ 9.97684581e-01 4.72477811e-02 -4.89195702e-02 1.38337331e+02] [ 4.90001500e-02 -5.48066051e-04 9.98798621e-01 1.42834969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.620385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.32, Y:138.37, Z:14.28 [[ 4.70050841e-02 -9.98890578e-01 -2.85210676e-03 2.25322496e+02] [ 9.97692089e-01 4.70883669e-02 -4.89201438e-02 1.38365887e+02] [ 4.90001718e-02 -5.46028885e-04 9.98798621e-01 1.42845561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.650385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:225.32, Y:138.39, Z:14.29 [[ 4.72252686e-02 -9.98880231e-01 -2.83882169e-03 2.25323383e+02] [ 9.97681679e-01 4.73076367e-02 -4.89209147e-02 1.38394945e+02] [ 4.90004325e-02 -5.21937047e-04 9.98798621e-01 1.42859337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.68038572300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.32, Y:138.42, Z:14.29 [[ 4.74266633e-02 -9.98870506e-01 -2.90236773e-03 2.25324553e+02] [ 9.97672152e-01 4.75119014e-02 -4.89172410e-02 1.38421946e+02] [ 4.89998863e-02 -5.75629942e-04 9.98798618e-01 1.42902292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.710385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:225.32, Y:138.45, Z:14.29 [[ 4.62253559e-02 -9.98927067e-01 -2.81636762e-03 2.25323533e+02] [ 9.97728522e-01 4.63078241e-02 -4.89221920e-02 1.38449414e+02] [ 4.90001217e-02 -5.48524567e-04 9.98798622e-01 1.42916497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.740385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.32, Y:138.48, Z:14.29 [[ 4.52202784e-02 -9.98973110e-01 -2.80225476e-03 2.25322960e+02] [ 9.97774601e-01 4.53032614e-02 -4.89230004e-02 1.38477158e+02] [ 4.89997131e-02 -5.83706924e-04 9.98798622e-01 1.42924169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.770385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.32, Y:138.51, Z:14.29 [[ 4.50646700e-02 -9.98980182e-01 -2.78767004e-03 2.25323903e+02] [ 9.97781637e-01 4.51471256e-02 -4.89238315e-02 1.38506901e+02] [ 4.89997934e-02 -5.76749651e-04 9.98798622e-01 1.42935186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.800385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:225.32, Y:138.53, Z:14.29 [[ 4.34033173e-02 -9.99052660e-01 -3.15195216e-03 2.25323761e+02] [ 9.97855573e-01 4.35055971e-02 -4.89031532e-02 1.38534112e+02] [ 4.89939528e-02 -1.02263395e-03 9.98798552e-01 1.42941174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.830385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:225.32, Y:138.56, Z:14.29 [[ 4.16511190e-02 -9.99127584e-01 -3.04230639e-03 2.25320339e+02] [ 9.97930260e-01 4.17501327e-02 -4.89093304e-02 1.38558547e+02] [ 4.89936778e-02 -9.98881265e-04 9.98798589e-01 1.42923215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.860385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:225.32, Y:138.59, Z:14.29 [[ 4.06602224e-02 -9.99169306e-01 -2.72836230e-03 2.25319523e+02] [ 9.97970944e-01 4.07450574e-02 -4.89268396e-02 1.38586201e+02] [ 4.89973637e-02 -7.33450117e-04 9.98798639e-01 1.42924037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.890385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.32, Y:138.61, Z:14.29 [[ 3.84265717e-02 -9.99257741e-01 -2.71401220e-03 2.25317264e+02] [ 9.98059520e-01 3.85133828e-02 -4.89276357e-02 1.38612510e+02] [ 4.89958445e-02 -8.28624417e-04 9.98798639e-01 1.42938121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.920385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:225.32, Y:138.64, Z:14.29 [[ 3.76183458e-02 -9.99288534e-01 -2.69938522e-03 2.25316648e+02] [ 9.98090331e-01 3.77054100e-02 -4.89284426e-02 1.38640560e+02] [ 4.89954131e-02 -8.53623213e-04 9.98798639e-01 1.42946866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.950385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.32, Y:138.67, Z:14.30 [[ 3.62791132e-02 -9.99338089e-01 -2.68506615e-03 2.25315567e+02] [ 9.98139953e-01 3.63670823e-02 -4.89292284e-02 1.38667872e+02] [ 4.89944896e-02 -9.04962786e-04 9.98798639e-01 1.42956780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.980385723 meters Centerline goodness : 0.999739 Centerline is valid? [True, True] Translation: X:225.31, Y:138.70, Z:14.29 [[ 3.35986432e-02 -9.99431826e-01 -2.67499376e-03 2.25311295e+02] [ 9.98233893e-01 3.36893326e-02 -4.89297791e-02 1.38695943e+02] [ 4.89920972e-02 -1.02629525e-03 9.98798639e-01 1.42946443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.010385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.31, Y:138.72, Z:14.30 [[ 3.35121155e-02 -9.99434768e-01 -2.66137085e-03 2.25311409e+02] [ 9.98236792e-01 3.36022420e-02 -4.89305200e-02 1.38724375e+02] [ 4.89922910e-02 -1.01691306e-03 9.98798639e-01 1.43006022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.040385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:225.31, Y:138.75, Z:14.30 [[ 3.50575998e-02 -9.99381341e-01 -2.81054481e-03 2.25311015e+02] [ 9.98183775e-01 3.51531738e-02 -4.89224402e-02 1.38751774e+02] [ 4.89909735e-02 -1.09033691e-03 9.98798626e-01 1.43046817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.070385723 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:225.31, Y:138.78, Z:14.31 [[ 3.54749091e-02 -9.99367104e-01 -2.63100613e-03 2.25310336e+02] [ 9.98168849e-01 3.55611963e-02 -4.89320945e-02 1.38779758e+02] [ 4.89946873e-02 -8.90326760e-04 9.98798642e-01 1.43064424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.100385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.31, Y:138.81, Z:14.31 [[ 3.73462453e-02 -9.99298958e-01 -2.61730494e-03 2.25306734e+02] [ 9.98100497e-01 3.74296179e-02 -4.89328273e-02 1.38810100e+02] [ 4.89964881e-02 -7.84875985e-04 9.98798642e-01 1.43062270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.130385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.30, Y:138.84, Z:14.31 [[ 3.75481384e-02 -9.99290813e-01 -2.82986053e-03 2.25303832e+02] [ 9.98093079e-01 3.76416730e-02 -4.89214608e-02 1.38835134e+02] [ 4.89932871e-02 -9.87554431e-04 9.98798620e-01 1.43074698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.160385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.31, Y:138.86, Z:14.31 [[ 3.72725082e-02 -9.99301764e-01 -2.59709018e-03 2.25305174e+02] [ 9.98103245e-01 3.73549795e-02 -4.89338161e-02 1.38863653e+02] [ 4.89966630e-02 -7.68278077e-04 9.98798647e-01 1.43087877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.190385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:225.31, Y:138.89, Z:14.31 [[ 3.83827309e-02 -9.99259772e-01 -2.58357710e-03 2.25305211e+02] [ 9.98061117e-01 3.84632090e-02 -4.89345296e-02 1.38892141e+02] [ 4.89976795e-02 -7.00326967e-04 9.98798647e-01 1.43097914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.220385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:225.30, Y:138.92, Z:14.31 [[ 3.94887659e-02 -9.99216709e-01 -2.57004927e-03 2.25304851e+02] [ 9.98017923e-01 3.95672548e-02 -4.89352400e-02 1.38920247e+02] [ 4.89985993e-02 -6.32562992e-04 9.98798647e-01 1.43109194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.250385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.30, Y:138.95, Z:14.31 [[ 3.61813941e-02 -9.99341969e-01 -2.55648875e-03 2.25299045e+02] [ 9.98143404e-01 3.62631864e-02 -4.89359485e-02 1.38945562e+02] [ 4.89964535e-02 -7.81171547e-04 9.98798647e-01 1.43079580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.280385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.30, Y:138.98, Z:14.31 [[ 3.85561949e-02 -9.99254136e-01 -2.14285930e-03 2.25301278e+02] [ 9.98054152e-01 3.86148801e-02 -4.89571305e-02 1.38976964e+02] [ 4.90033614e-02 -2.51088955e-04 9.98798582e-01 1.43106466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.310385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.30, Y:139.00, Z:14.31 [[ 3.64303874e-02 -9.99332682e-01 -2.64918719e-03 2.25296359e+02] [ 9.98134404e-01 3.65164190e-02 -4.89312038e-02 1.39004703e+02] [ 4.89952899e-02 -8.61662167e-04 9.98798638e-01 1.43128363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.340385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:225.30, Y:139.03, Z:14.31 [[ 3.59310065e-02 -9.99351166e-01 -2.49200037e-03 2.25295911e+02] [ 9.98152412e-01 3.60099418e-02 -4.89392084e-02 1.39032355e+02] [ 4.89971917e-02 -7.28961165e-04 9.98798650e-01 1.43144448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.370385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:225.30, Y:139.06, Z:14.31 [[ 3.71688615e-02 -9.99305927e-01 -2.47783294e-03 2.25297443e+02] [ 9.98107032e-01 3.72456182e-02 -4.89399257e-02 1.39059884e+02] [ 4.89982462e-02 -6.54101166e-04 9.98798650e-01 1.43143521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.400385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.30, Y:139.09, Z:14.32 [[ 3.49587275e-02 -9.99385717e-01 -2.46511106e-03 2.25295611e+02] [ 9.98186953e-01 3.50375126e-02 -4.89405665e-02 1.39088369e+02] [ 4.89968745e-02 -7.49741770e-04 9.98798650e-01 1.43151741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.43038572300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.29, Y:139.12, Z:14.32 [[ 3.20990708e-02 -9.99481685e-01 -2.45187503e-03 2.25292579e+02] [ 9.98283107e-01 3.21806377e-02 -4.89412296e-02 1.39116778e+02] [ 4.89947655e-02 -8.76697430e-04 9.98798651e-01 1.43153494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.460385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.29, Y:139.14, Z:14.32 [[ 3.07426805e-02 -9.99524358e-01 -2.43833077e-03 2.25292529e+02] [ 9.98325847e-01 3.08252109e-02 -4.89419044e-02 1.39144666e+02] [ 4.89937876e-02 -9.29643297e-04 9.98798651e-01 1.43163870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.490385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.29, Y:139.17, Z:14.32 [[ 2.95683648e-02 -9.99559819e-01 -2.42487188e-03 2.25293115e+02] [ 9.98361360e-01 2.96516445e-02 -4.89425712e-02 1.39172533e+02] [ 4.89929291e-02 -9.73746588e-04 9.98798651e-01 1.43179062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.520385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.29, Y:139.20, Z:14.32 [[ 2.79247403e-02 -9.99607120e-01 -2.41150050e-03 2.25292234e+02] [ 9.98408753e-01 2.80093361e-02 -4.89432300e-02 1.39200590e+02] [ 4.89915457e-02 -1.04093622e-03 9.98798651e-01 1.43190477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.550385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:225.29, Y:139.23, Z:14.32 [[ 2.72908498e-02 -9.99624659e-01 -2.39809721e-03 2.25291872e+02] [ 9.98426299e-01 2.73755495e-02 -4.89438868e-02 1.39227526e+02] [ 4.89911653e-02 -1.05860306e-03 9.98798651e-01 1.43197823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.580385723 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:225.29, Y:139.26, Z:14.32 [[ 2.85977037e-02 -9.99588159e-01 -2.38396679e-03 2.25290052e+02] [ 9.98389642e-01 2.86801451e-02 -4.89445750e-02 1.39255512e+02] [ 4.89927902e-02 -9.80425297e-04 9.98798651e-01 1.43186969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.610385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.29, Y:139.28, Z:14.32 [[ 3.02357877e-02 -9.99539983e-01 -2.37058547e-03 2.25290328e+02] [ 9.98341289e-01 3.03156098e-02 -4.89452231e-02 1.39283798e+02] [ 4.89945732e-02 -8.86755976e-04 9.98798651e-01 1.43211835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.640385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.29, Y:139.31, Z:14.32 [[ 3.01619870e-02 -9.99542244e-01 -2.35726543e-03 2.25289147e+02] [ 9.98343513e-01 3.02412455e-02 -4.89458646e-02 1.39311000e+02] [ 4.89947460e-02 -8.77056121e-04 9.98798651e-01 1.43209948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.670385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.29, Y:139.34, Z:14.32 [[ 3.33847795e-02 -9.99440266e-01 -2.14715491e-03 2.25289045e+02] [ 9.98240663e-01 3.34498834e-02 -4.89559405e-02 1.39338489e+02] [ 4.90003603e-02 -5.08994067e-04 9.98798631e-01 1.43240759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.700385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.29, Y:139.37, Z:14.33 [[ 3.74482179e-02 -9.99296357e-01 -2.10264287e-03 2.25290129e+02] [ 9.98096382e-01 3.75062631e-02 -4.89580710e-02 1.39367548e+02] [ 4.90024843e-02 -2.65247730e-04 9.98798621e-01 1.43267843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.730385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.29, Y:139.39, Z:14.33 [[ 3.58733913e-02 -9.99353590e-01 -2.34563805e-03 2.25288720e+02] [ 9.98154391e-01 3.59452290e-02 -4.89464275e-02 1.39393816e+02] [ 4.89991025e-02 -5.85434570e-04 9.98798651e-01 1.43265577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.760385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.29, Y:139.42, Z:14.33 [[ 3.60829909e-02 -9.99346775e-01 -2.01045722e-03 2.25289431e+02] [ 9.98146644e-01 3.61381593e-02 -4.89623395e-02 1.39420837e+02] [ 4.90030103e-02 -2.40023471e-04 9.98798602e-01 1.43273931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.790385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.29, Y:139.45, Z:14.33 [[ 3.57959087e-02 -9.99357173e-01 -1.97326622e-03 2.25289318e+02] [ 9.98156963e-01 3.58495998e-02 -4.89640988e-02 1.39448521e+02] [ 4.90033642e-02 -2.16915003e-04 9.98798590e-01 1.43286905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.820385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.29, Y:139.48, Z:14.33 [[ 3.87697991e-02 -9.99246070e-01 -2.04805384e-03 2.25293218e+02] [ 9.98045886e-01 3.88235826e-02 -4.89605756e-02 1.39478575e+02] [ 4.90031755e-02 -1.45860034e-04 9.98798612e-01 1.43325400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.850385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.29, Y:139.51, Z:14.33 [[ 3.86458575e-02 -9.99250305e-01 -2.30790058e-03 2.25294863e+02] [ 9.98050801e-01 3.87125195e-02 -4.89483255e-02 1.39506053e+02] [ 4.90009738e-02 -4.11752017e-04 9.98798646e-01 1.43334655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.880385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.30, Y:139.53, Z:14.33 [[ 3.96762335e-02 -9.99209712e-01 -2.39766283e-03 2.25296925e+02] [ 9.98010384e-01 3.97460553e-02 -4.89441038e-02 1.39533679e+02] [ 4.90007215e-02 -4.50974715e-04 9.98798641e-01 1.43341531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.910385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.30, Y:139.56, Z:14.33 [[ 3.97831206e-02 -9.99205717e-01 -2.28888621e-03 2.25298332e+02] [ 9.98006089e-01 3.98474860e-02 -4.89491906e-02 1.39562041e+02] [ 4.90015174e-02 -3.36970819e-04 9.98798647e-01 1.43349908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.940385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.30, Y:139.59, Z:14.34 [[ 4.03140712e-02 -9.99184466e-01 -2.27565411e-03 2.25299310e+02] [ 9.97984771e-01 4.03771509e-02 -4.89498057e-02 1.39589422e+02] [ 4.90017699e-02 -2.97702189e-04 9.98798647e-01 1.43350788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.970385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:225.30, Y:139.62, Z:14.34 [[ 3.98152749e-02 -9.99204498e-01 -2.26170279e-03 2.25300169e+02] [ 9.98004798e-01 3.98782700e-02 -4.89504503e-02 1.39617139e+02] [ 4.90017030e-02 -3.08214602e-04 9.98798647e-01 1.43368299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.000385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:225.30, Y:139.65, Z:14.34 [[ 3.81412707e-02 -9.99269827e-01 -2.24869591e-03 2.25300634e+02] [ 9.98070200e-01 3.82056384e-02 -4.89510479e-02 1.39645167e+02] [ 4.90012180e-02 -3.77301207e-04 9.98798648e-01 1.43375117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.030385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.30, Y:139.67, Z:14.34 [[ 3.71577007e-02 -9.99306915e-01 -2.23515221e-03 2.25302134e+02] [ 9.98107316e-01 3.72225858e-02 -4.89516663e-02 1.39673228e+02] [ 4.90009367e-02 -4.11990412e-04 9.98798648e-01 1.43379210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.060385723 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:225.31, Y:139.70, Z:14.34 [[ 3.56375992e-02 -9.99362310e-01 -2.22160180e-03 2.25305368e+02] [ 9.98162774e-01 3.57036452e-02 -4.89522812e-02 1.39700070e+02] [ 4.90003841e-02 -4.72978442e-04 9.98798648e-01 1.43352915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.090385723 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:225.31, Y:139.73, Z:14.34 [[ 3.46734979e-02 -9.99396255e-01 -2.20784214e-03 2.25307887e+02] [ 9.98196746e-01 3.47400272e-02 -4.89529018e-02 1.39728169e+02] [ 4.90000472e-02 -5.06492504e-04 9.98798648e-01 1.43384073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.120385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.31, Y:139.76, Z:14.34 [[ 3.28304188e-02 -9.99458527e-01 -2.19453730e-03 2.25311052e+02] [ 9.98259106e-01 3.28985085e-02 -4.89534983e-02 1.39756504e+02] [ 4.89991883e-02 -5.83552990e-04 9.98798648e-01 1.43411989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.150385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.31, Y:139.78, Z:14.34 [[ 3.22702689e-02 -9.99476800e-01 -2.18083015e-03 2.25312090e+02] [ 9.98277379e-01 3.23383595e-02 -4.89541089e-02 1.39784386e+02] [ 4.89990206e-02 -5.97311146e-04 9.98798648e-01 1.43425020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.18038572300003 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:225.31, Y:139.81, Z:14.34 [[ 3.21013911e-02 -9.99482268e-01 -2.16719234e-03 2.25313045e+02] [ 9.98282821e-01 3.21690165e-02 -4.89547126e-02 1.39812852e+02] [ 4.89990837e-02 -5.91956503e-04 9.98798648e-01 1.43430028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.210385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:225.31, Y:139.84, Z:14.34 [[ 3.25764544e-02 -9.99466926e-01 -2.15361660e-03 2.25314738e+02] [ 9.98267410e-01 3.26428448e-02 -4.89553099e-02 1.39840746e+02] [ 4.89995132e-02 -5.55094849e-04 9.98798648e-01 1.43437833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.240385723 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:225.32, Y:139.87, Z:14.35 [[ 3.36593644e-02 -9.99431072e-01 -2.13998178e-03 2.25319181e+02] [ 9.98231449e-01 3.37237872e-02 -4.89559059e-02 1.39867857e+02] [ 4.90002218e-02 -4.88372439e-04 9.98798648e-01 1.43451788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.270385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:225.32, Y:139.90, Z:14.35 [[ 3.37750822e-02 -9.99427199e-01 -2.12560573e-03 2.25322115e+02] [ 9.98227531e-01 3.38386620e-02 -4.89565301e-02 1.39895159e+02] [ 4.90004154e-02 -4.68327330e-04 9.98798648e-01 1.43465400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.300385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:225.32, Y:139.92, Z:14.35 [[ 3.38672080e-02 -9.99424111e-01 -2.11146471e-03 2.25324384e+02] [ 9.98224401e-01 3.39299846e-02 -4.89571400e-02 1.39922835e+02] [ 4.90005881e-02 -4.49673949e-04 9.98798648e-01 1.43475703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.330385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.33, Y:139.95, Z:14.35 [[ 3.41818584e-02 -9.99413427e-01 -2.09800489e-03 2.25326184e+02] [ 9.98213664e-01 3.42435980e-02 -4.89577168e-02 1.39949916e+02] [ 4.90008427e-02 -4.20791404e-04 9.98798649e-01 1.43473908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.360385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.33, Y:139.98, Z:14.35 [[ 3.26493647e-02 -9.99465042e-01 -1.90994118e-03 2.25330213e+02] [ 9.98264907e-01 3.27037317e-02 -4.89657123e-02 1.39978694e+02] [ 4.90019800e-02 -3.07927860e-04 9.98798634e-01 1.43483156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.390385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:225.33, Y:140.01, Z:14.35 [[ 3.16989473e-02 -9.99495298e-01 -2.07974684e-03 2.25333889e+02] [ 9.98295643e-01 3.17627730e-02 -4.89584997e-02 1.40006645e+02] [ 4.89998488e-02 -5.24269306e-04 9.98798648e-01 1.43500916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.420385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:225.34, Y:140.03, Z:14.35 [[ 2.98599249e-02 -9.99551957e-01 -2.06630428e-03 2.25338550e+02] [ 9.98352386e-01 2.99252994e-02 -4.89590671e-02 1.40033900e+02] [ 4.89989661e-02 -6.00985740e-04 9.98798648e-01 1.43537085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.450385723 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:225.34, Y:140.06, Z:14.35 [[ 3.01749145e-02 -9.99542522e-01 -2.05436242e-03 2.25340147e+02] [ 9.98342899e-01 3.02393261e-02 -4.89595682e-02 1.40060937e+02] [ 4.89992928e-02 -5.73607349e-04 9.98798649e-01 1.43547919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.480385723 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:225.34, Y:140.09, Z:14.35 [[ 2.94573524e-02 -9.99564313e-01 -1.85680714e-03 2.25341681e+02] [ 9.98364232e-01 2.95129492e-02 -4.89677970e-02 1.40089883e+02] [ 4.90012622e-02 -4.11308182e-04 9.98798632e-01 1.43537577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.510385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:225.34, Y:140.12, Z:14.36 [[ 3.21728122e-02 -9.99480242e-01 -2.03876162e-03 2.25344334e+02] [ 9.98280453e-01 3.22340617e-02 -4.89602210e-02 1.40118240e+02] [ 4.90004911e-02 -4.60067874e-04 9.98798648e-01 1.43554412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.540385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.35, Y:140.15, Z:14.36 [[ 3.41215739e-02 -9.99415638e-01 -2.02521213e-03 2.25346873e+02] [ 9.98215699e-01 3.41798202e-02 -4.89607815e-02 1.40145809e+02] [ 4.90013920e-02 -3.50979616e-04 9.98798649e-01 1.43569449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.570385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.35, Y:140.17, Z:14.36 [[ 3.70342032e-02 -9.99312043e-01 -1.97685668e-03 2.25351140e+02] [ 9.98111834e-01 3.70865828e-02 -4.89627718e-02 1.40173543e+02] [ 4.90024024e-02 -1.59826809e-04 9.98798648e-01 1.43584028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.600385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.35, Y:140.20, Z:14.36 [[ 3.80544623e-02 -9.99273650e-01 -2.00765342e-03 2.25353240e+02] [ 9.98073453e-01 3.81071254e-02 -4.89615090e-02 1.40201642e+02] [ 4.90024517e-02 -1.40581679e-04 9.98798648e-01 1.43604286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.630385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:225.36, Y:140.23, Z:14.36 [[ 3.92876757e-02 -9.99225951e-01 -1.99436032e-03 2.25355310e+02] [ 9.98025663e-01 3.93382062e-02 -4.89620505e-02 1.40229728e+02] [ 4.90026060e-02 -6.68176188e-05 9.98798648e-01 1.43624201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.660385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:225.36, Y:140.26, Z:14.36 [[ 3.92801566e-02 -9.99226274e-01 -1.98074172e-03 2.25357492e+02] [ 9.98025958e-01 3.93300288e-02 -4.89626014e-02 1.40257624e+02] [ 4.90026204e-02 -5.35730017e-05 9.98798649e-01 1.43634720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.690385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:225.36, Y:140.29, Z:14.36 [[ 3.88685868e-02 -9.99242395e-01 -1.96721747e-03 2.25360192e+02] [ 9.98042072e-01 3.89182907e-02 -4.89631448e-02 1.40285456e+02] [ 4.90026108e-02 -6.02375578e-05 9.98798649e-01 1.43645109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.720385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.37, Y:140.31, Z:14.36 [[ 3.79544551e-02 -9.99277560e-01 -1.95357716e-03 2.25365583e+02] [ 9.98077256e-01 3.80045887e-02 -4.89636891e-02 1.40312406e+02] [ 4.90025606e-02 -9.14307977e-05 9.98798649e-01 1.43647927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.750385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.37, Y:140.34, Z:14.36 [[ 3.69111897e-02 -9.99316668e-01 -1.93929883e-03 2.25368556e+02] [ 9.98116387e-01 3.69618769e-02 -4.89642546e-02 1.40339379e+02] [ 4.90024759e-02 -1.28317052e-04 9.98798649e-01 1.43649788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.780385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.37, Y:140.36, Z:14.37 [[ 3.07637566e-02 -9.99524830e-01 -1.92504471e-03 2.25368228e+02] [ 9.98324849e-01 3.08211274e-02 -4.89648150e-02 1.40362634e+02] [ 4.90008804e-02 -4.15478319e-04 9.98798649e-01 1.43660288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.810385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:225.38, Y:140.39, Z:14.37 [[ 3.36495949e-02 -9.99432894e-01 -1.26322546e-03 2.25375747e+02] [ 9.98231534e-01 3.36710677e-02 -4.89904420e-02 1.40394748e+02] [ 4.90051934e-02 3.87517038e-04 9.98798449e-01 1.43691402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.840385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.38, Y:140.42, Z:14.37 [[ 3.17512802e-02 -9.99493975e-01 -1.91029576e-03 2.25379827e+02] [ 9.98293914e-01 3.18067428e-02 -4.89652079e-02 1.40422227e+02] [ 4.90011906e-02 -3.52328600e-04 9.98798658e-01 1.43710177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.870385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.38, Y:140.45, Z:14.37 [[ 3.08068075e-02 -9.99523558e-01 -1.89679835e-03 2.25383644e+02] [ 9.98323519e-01 3.08627429e-02 -4.89657308e-02 1.40449783e+02] [ 4.90009418e-02 -3.85140560e-04 9.98798658e-01 1.43730561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.900385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.38, Y:140.47, Z:14.37 [[ 2.68516470e-02 -9.99637656e-01 -1.88325540e-03 2.25382637e+02] [ 9.98437814e-01 2.69116670e-02 -4.89662516e-02 1.40473878e+02] [ 4.89991905e-02 -5.65488904e-04 9.98798658e-01 1.43734354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.93038572300003 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:225.39, Y:140.51, Z:14.37 [[ 2.99205069e-02 -9.99551429e-01 -1.30525913e-03 2.25390082e+02] [ 9.98350264e-01 2.99485222e-02 -4.89881157e-02 1.40505156e+02] [ 4.90052317e-02 1.62643457e-04 9.98798509e-01 1.43746047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.960385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.39, Y:140.53, Z:14.38 [[ 2.90968366e-02 -9.99574860e-01 -1.86351345e-03 2.25393382e+02] [ 9.98374848e-01 2.91531944e-02 -4.89668781e-02 1.40532006e+02] [ 4.90003877e-02 -4.35703710e-04 9.98798664e-01 1.43775155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.990385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:225.39, Y:140.56, Z:14.38 [[ 2.48326750e-02 -9.99689912e-01 -1.84903515e-03 2.25393838e+02] [ 9.98490114e-01 2.48934421e-02 -4.89674248e-02 1.40557359e+02] [ 4.89982694e-02 -6.30251171e-04 9.98798665e-01 1.43766742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.020385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:225.39, Y:140.58, Z:14.38 [[ 2.47226236e-02 -9.99693394e-01 -1.38192065e-03 2.25394649e+02] [ 9.98492560e-01 2.47606407e-02 -4.89848686e-02 1.40584850e+02] [ 4.90040668e-02 -1.68803019e-04 9.98798565e-01 1.43778501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.050385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:225.40, Y:140.61, Z:14.38 [[ 2.41207057e-02 -9.99708116e-01 -1.36916090e-03 2.25397978e+02] [ 9.98507280e-01 2.41588207e-02 -4.89853433e-02 1.40612864e+02] [ 4.90041226e-02 -1.85556078e-04 9.98798559e-01 1.43774696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.080385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.40, Y:140.64, Z:14.38 [[ 2.42443300e-02 -9.99705222e-01 -1.29651995e-03 2.25401120e+02] [ 9.98504238e-01 2.42787371e-02 -4.89880479e-02 1.40641189e+02] [ 4.90050852e-02 -1.06898269e-04 9.98798523e-01 1.43775992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.110385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.41, Y:140.67, Z:14.38 [[ 2.51924911e-02 -9.99681617e-01 -1.41545178e-03 2.25405027e+02] [ 9.98480831e-01 2.52315868e-02 -4.89836430e-02 1.40669619e+02] [ 4.90037616e-02 -1.79281472e-04 9.98798578e-01 1.43790777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.140385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:225.41, Y:140.70, Z:14.38 [[ 2.47231397e-02 -9.99693194e-01 -1.51121747e-03 2.25410102e+02] [ 9.98492624e-01 2.47674910e-02 -4.89801111e-02 1.40696728e+02] [ 4.90025127e-02 -2.97997372e-04 9.98798611e-01 1.43812394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.170385723 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:225.41, Y:140.73, Z:14.38 [[ 2.51731908e-02 -9.99681948e-01 -1.52096119e-03 2.25414154e+02] [ 9.98481378e-01 2.52174791e-02 -4.89797527e-02 1.40725665e+02] [ 4.90025294e-02 -2.85674763e-04 9.98798614e-01 1.43834101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.200385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.42, Y:140.75, Z:14.39 [[ 2.36107365e-02 -9.99719599e-01 -1.80447549e-03 2.25416088e+02] [ 9.98519755e-01 2.36707881e-02 -4.89693074e-02 1.40753155e+02] [ 4.89982897e-02 -6.45603007e-04 9.98798654e-01 1.43855394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.230385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:225.42, Y:140.78, Z:14.39 [[ 2.22976112e-02 -9.99749773e-01 -1.79105078e-03 2.25420324e+02] [ 9.98549975e-01 2.23585812e-02 -4.89697984e-02 1.40780104e+02] [ 4.89975902e-02 -6.96544183e-04 9.98798654e-01 1.43865812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.260385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.42, Y:140.81, Z:14.39 [[ 2.21627093e-02 -9.99752798e-01 -1.77696975e-03 2.25423274e+02] [ 9.98552973e-01 2.22231517e-02 -4.89703094e-02 1.40807801e+02] [ 4.89976937e-02 -6.89083699e-04 9.98798654e-01 1.43881167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.290385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:225.42, Y:140.83, Z:14.39 [[ 2.03526899e-02 -9.99791307e-01 -1.76373511e-03 2.25423651e+02] [ 9.98591560e-01 2.04146562e-02 -4.89707860e-02 1.40832830e+02] [ 4.89965722e-02 -7.64563775e-04 9.98798654e-01 1.43876850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.320385723 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:225.43, Y:140.86, Z:14.39 [[ 2.05271199e-02 -9.99788153e-01 -1.51210890e-03 2.25425502e+02] [ 9.98587791e-01 2.05765534e-02 -4.89798791e-02 1.40860885e+02] [ 4.90006169e-02 -5.04557632e-04 9.98798621e-01 1.43894808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.350385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:225.43, Y:140.89, Z:14.39 [[ 2.09683102e-02 -9.99779006e-01 -1.50643574e-03 2.25426929e+02] [ 9.98578610e-01 2.10169360e-02 -4.89800838e-02 1.40890018e+02] [ 4.90009201e-02 -4.77264916e-04 9.98798619e-01 1.43918422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.380385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.43, Y:140.92, Z:14.39 [[ 2.19704200e-02 -9.99757437e-01 -1.53901104e-03 2.25430318e+02] [ 9.98557064e-01 2.20194382e-02 -4.89789115e-02 1.40918558e+02] [ 4.90009191e-02 -4.60703093e-04 9.98798627e-01 1.43937972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.410385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:225.43, Y:140.95, Z:14.40 [[ 2.27852724e-02 -9.99738980e-01 -1.67417618e-03 2.25434096e+02] [ 9.98538871e-01 2.28399330e-02 -4.89740708e-02 1.40948017e+02] [ 4.89995257e-02 -5.55842453e-04 9.98798647e-01 1.43964474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.440385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:225.44, Y:140.97, Z:14.40 [[ 2.17983828e-02 -9.99760653e-01 -1.86185467e-03 2.25435619e+02] [ 9.98561060e-01 2.18634193e-02 -4.89673485e-02 1.40974639e+02] [ 4.89963348e-02 -7.91766564e-04 9.98798645e-01 1.44015746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.470385723 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:225.44, Y:141.00, Z:14.40 [[ 2.12788066e-02 -9.99772069e-01 -1.73880673e-03 2.25437667e+02] [ 9.98572202e-01 2.13384408e-02 -4.89717178e-02 1.41001650e+02] [ 4.89976591e-02 -6.94264354e-04 9.98798652e-01 1.44015293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.500385723 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:225.44, Y:141.03, Z:14.40 [[ 2.16825500e-02 -9.99763419e-01 -1.72425304e-03 2.25438690e+02] [ 9.98563493e-01 2.17409869e-02 -4.89722303e-02 1.41028637e+02] [ 4.89981313e-02 -6.59933303e-04 9.98798652e-01 1.44020333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.530385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.44, Y:141.06, Z:14.40 [[ 2.21411874e-02 -9.99753392e-01 -1.70992887e-03 2.25440849e+02] [ 9.98553406e-01 2.21983723e-02 -4.89727304e-02 1.41056160e+02] [ 4.89986110e-02 -6.23140890e-04 9.98798652e-01 1.44040158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.560385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.44, Y:141.08, Z:14.41 [[ 2.19594150e-02 -9.99757423e-01 -1.69658108e-03 2.25442927e+02] [ 9.98557417e-01 2.20161643e-02 -4.89731928e-02 1.41083798e+02] [ 4.89986653e-02 -6.18710960e-04 9.98798652e-01 1.44052149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.590385723 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:225.45, Y:141.11, Z:14.41 [[ 2.09740899e-02 -9.99778603e-01 -1.68317285e-03 2.25446151e+02] [ 9.98578621e-01 2.10313652e-02 -4.89736537e-02 1.41110963e+02] [ 4.89982104e-02 -6.53602606e-04 9.98798652e-01 1.44069459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.620385723 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:225.45, Y:141.14, Z:14.41 [[ 1.99422942e-02 -9.99799739e-01 -1.66921963e-03 2.25447392e+02] [ 9.98599785e-01 2.00001245e-02 -4.89741292e-02 1.41137921e+02] [ 4.89977062e-02 -6.90225873e-04 9.98798653e-01 1.44085459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.650385723 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:225.45, Y:141.16, Z:14.41 [[ 1.93524724e-02 -9.99811354e-01 -1.65452693e-03 2.25448550e+02] [ 9.98611399e-01 1.94102911e-02 -4.89746256e-02 1.41164759e+02] [ 4.89975016e-02 -7.04449358e-04 9.98798653e-01 1.44099702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.68038572300003 meters Centerline goodness : 0.999533 Centerline is valid? [True, True] Translation: X:225.45, Y:141.19, Z:14.41 [[ 1.86418299e-02 -9.99824881e-01 -1.63983011e-03 2.25449844e+02] [ 9.98624933e-01 1.86997816e-02 -4.89751177e-02 1.41190904e+02] [ 4.89972057e-02 -7.24589419e-04 9.98798653e-01 1.44106369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.710385723 meters Centerline goodness : 0.999711 Centerline is valid? [True, True] Translation: X:225.45, Y:141.22, Z:14.41 [[ 1.81315836e-02 -9.99834290e-01 -1.62444947e-03 2.25451416e+02] [ 9.98634334e-01 1.81893946e-02 -4.89756279e-02 1.41217787e+02] [ 4.89970599e-02 -7.34225322e-04 9.98798653e-01 1.44131516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.740385723 meters Centerline goodness : 0.999777 Centerline is valid? [True, True] Translation: X:225.45, Y:141.24, Z:14.42 [[ 1.84060551e-02 -9.99829298e-01 -1.60988959e-03 2.25452877e+02] [ 9.98629293e-01 1.84628236e-02 -4.89761065e-02 1.41244079e+02] [ 4.89974693e-02 -7.06225987e-04 9.98798653e-01 1.44163160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.770385723 meters Centerline goodness : 0.999643 Centerline is valid? [True, True] Translation: X:225.45, Y:141.27, Z:14.42 [[ 1.84303816e-02 -9.99828868e-01 -1.59866225e-03 2.25452848e+02] [ 9.98628836e-01 1.84865710e-02 -4.89764730e-02 1.41272354e+02] [ 4.89976453e-02 -6.93815141e-04 9.98798653e-01 1.44184637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.800385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.45, Y:141.30, Z:14.42 [[ 1.82773689e-02 -9.99831698e-01 -1.58528805e-03 2.25452967e+02] [ 9.98631644e-01 1.83330869e-02 -4.89769059e-02 1.41299929e+02] [ 4.89977262e-02 -6.87949840e-04 9.98798653e-01 1.44182546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.830385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:225.45, Y:141.33, Z:14.42 [[ 1.86696574e-02 -9.99824472e-01 -1.57119947e-03 2.25454465e+02] [ 9.98624365e-01 1.87242146e-02 -4.89773578e-02 1.41327855e+02] [ 4.89981804e-02 -6.54647577e-04 9.98798653e-01 1.44211036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.860385723 meters Centerline goodness : 0.999710 Centerline is valid? [True, True] Translation: X:225.46, Y:141.36, Z:14.42 [[ 1.88082182e-02 -9.99821896e-01 -1.55783625e-03 2.25455918e+02] [ 9.98621752e-01 1.88619545e-02 -4.89777829e-02 1.41355115e+02] [ 4.89984436e-02 -6.34504338e-04 9.98798653e-01 1.44226680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.890385723 meters Centerline goodness : 0.999778 Centerline is valid? [True, True] Translation: X:225.46, Y:141.38, Z:14.42 [[ 1.85281962e-02 -9.99827140e-01 -1.54803607e-03 2.25456259e+02] [ 9.98626989e-01 1.85817887e-02 -4.89780926e-02 1.41382036e+02] [ 4.89983915e-02 -6.38434892e-04 9.98798653e-01 1.44238906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.920385723 meters Centerline goodness : 0.999532 Centerline is valid? [True, True] Translation: X:225.46, Y:141.41, Z:14.43 [[ 1.80484901e-02 -9.99835937e-01 -1.53316799e-03 2.25456139e+02] [ 9.98635780e-01 1.81019302e-02 -4.89785580e-02 1.41409851e+02] [ 4.89982758e-02 -6.47087393e-04 9.98798654e-01 1.44258712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.950385723 meters Centerline goodness : 0.999644 Centerline is valid? [True, True] Translation: X:225.45, Y:141.44, Z:14.43 [[ 1.77592934e-02 -9.99841136e-01 -1.51967836e-03 2.25454992e+02] [ 9.98640965e-01 1.78124200e-02 -4.89789766e-02 1.41438241e+02] [ 4.89982648e-02 -6.47781043e-04 9.98798654e-01 1.44272935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.980385723 meters Centerline goodness : 0.999689 Centerline is valid? [True, True] Translation: X:225.45, Y:141.47, Z:14.43 [[ 1.76676045e-02 -9.99842781e-01 -1.50625911e-03 2.25454833e+02] [ 9.98642586e-01 1.77201838e-02 -4.89793893e-02 1.41466078e+02] [ 4.89983800e-02 -6.38866021e-04 9.98798654e-01 1.44289840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.010385723 meters Centerline goodness : 0.999734 Centerline is valid? [True, True] Translation: X:225.45, Y:141.49, Z:14.43 [[ 1.75783398e-02 -9.99844375e-01 -1.49282201e-03 2.25454362e+02] [ 9.98644156e-01 1.76303682e-02 -4.89797988e-02 1.41494198e+02] [ 4.89984953e-02 -6.29814427e-04 9.98798654e-01 1.44316462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.040385723 meters Centerline goodness : 0.999756 Centerline is valid? [True, True] Translation: X:225.45, Y:141.51, Z:14.42 [[ 7.33471253e-03 -9.99972006e-01 -1.47948013e-03 2.25445142e+02] [ 9.98772348e-01 7.39838040e-03 -4.89802018e-02 1.41510445e+02] [ 4.89897764e-02 -1.11840814e-03 9.98798654e-01 1.44232691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.070385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.45, Y:141.55, Z:14.43 [[ 1.38967825e-02 -9.99903425e-01 1.42419944e-04 2.25453882e+02] [ 9.98701109e-01 1.38730895e-02 -4.90268501e-02 1.41548658e+02] [ 4.90201395e-02 8.23550428e-04 9.98797451e-01 1.44340782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.100385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.45, Y:141.58, Z:14.44 [[ 1.19138608e-02 -9.99927961e-01 -1.46035088e-03 2.25454337e+02] [ 9.98728060e-01 1.19710962e-02 -4.89791253e-02 1.41576630e+02] [ 4.89930789e-02 -8.74962923e-04 9.98798735e-01 1.44369336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.130385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:225.45, Y:141.60, Z:14.44 [[ 8.36884540e-03 -9.99963934e-01 -1.44675704e-03 2.25453593e+02] [ 9.98764210e-01 8.42966876e-03 -4.89795268e-02 1.41604278e+02] [ 4.89899560e-02 -1.03506706e-03 9.98798735e-01 1.44382976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.160385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:225.46, Y:141.64, Z:14.44 [[ 7.20704095e-03 -9.99973002e-01 -1.43318125e-03 2.25456890e+02] [ 9.98773315e-01 7.26859353e-03 -4.89799240e-02 1.41636414e+02] [ 4.89890189e-02 -1.07842287e-03 9.98798735e-01 1.44398099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.190385723 meters Centerline goodness : 0.999223 Centerline is valid? [True, True] Translation: X:225.45, Y:141.66, Z:14.44 [[ 3.86438086e-03 -9.99990352e-01 -2.08848179e-03 2.25454390e+02] [ 9.98792853e-01 3.96200752e-03 -4.89605966e-02 1.41663816e+02] [ 4.89683988e-02 -1.89675829e-03 9.98798527e-01 1.44389849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.220385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:225.45, Y:141.69, Z:14.44 [[ 7.53957136e-04 -9.99998073e-01 -1.81269987e-03 2.25449770e+02] [ 9.98799962e-01 8.41819422e-04 -4.89686358e-02 1.41685985e+02] [ 4.89700673e-02 -1.77360431e-03 9.98798672e-01 1.44354183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.250385723 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:225.45, Y:141.71, Z:14.44 [[ 1.90987398e-03 -9.99997609e-01 -1.06477988e-03 2.25447583e+02] [ 9.98797326e-01 1.95974572e-03 -4.89904202e-02 1.41712779e+02] [ 4.89923898e-02 -9.69933769e-04 9.98798681e-01 1.44354200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.280385723 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:225.45, Y:141.74, Z:14.45 [[ 8.90629602e-03 -9.99959947e-01 -8.83976193e-04 2.25452987e+02] [ 9.98758992e-01 8.93891223e-03 -4.89956240e-02 1.41743610e+02] [ 4.90015634e-02 -4.46509641e-04 9.98798602e-01 1.44465325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.310385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:225.45, Y:141.77, Z:14.44 [[ 7.94296236e-03 -9.99967449e-01 -1.41755000e-03 2.25452135e+02] [ 9.98767688e-01 8.00286652e-03 -4.89801887e-02 1.41773384e+02] [ 4.89899388e-02 -1.02675534e-03 9.98798744e-01 1.44417391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.340385723 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:225.45, Y:141.80, Z:14.44 [[ 1.09153686e-02 -9.99939096e-01 -1.63084712e-03 2.25449461e+02] [ 9.98739674e-01 1.09821498e-02 -4.89740368e-02 1.41800832e+02] [ 4.89889643e-02 -1.09422205e-03 9.98798721e-01 1.44429276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.370385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:225.45, Y:141.83, Z:14.45 [[ 1.69549022e-02 -9.99855001e-01 -1.58402367e-03 2.25449195e+02] [ 9.98655096e-01 1.70121444e-02 -4.89753711e-02 1.41825887e+02] [ 4.89952174e-02 -7.51520683e-04 9.98798730e-01 1.44522218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.400385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:225.45, Y:141.85, Z:14.45 [[ 1.86101906e-02 -9.99825868e-01 -1.37661697e-03 2.25448869e+02] [ 9.98625466e-01 1.86552871e-02 -4.89812013e-02 1.41854275e+02] [ 4.89983533e-02 -4.63175272e-04 9.98798752e-01 1.44545259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.43038572300003 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:225.45, Y:141.88, Z:14.46 [[ 1.99009648e-02 -9.99801027e-01 -1.36282170e-03 2.25449040e+02] [ 9.98600545e-01 1.99438357e-02 -4.89815852e-02 1.41882665e+02] [ 4.89990191e-02 -3.86133685e-04 9.98798752e-01 1.44562088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.460385723 meters Centerline goodness : 0.997451 Centerline is valid? [True, True] Translation: X:225.45, Y:141.92, Z:14.45 [[ 2.03416601e-02 -9.99792177e-01 -1.34907495e-03 2.25448918e+02] [ 9.98591652e-01 2.03833284e-02 -4.89819638e-02 1.41915208e+02] [ 4.89992829e-02 -3.50800521e-04 9.98798752e-01 1.44533773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.490385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:225.45, Y:141.94, Z:14.45 [[ 2.05297185e-02 -9.99787038e-01 -2.09974930e-03 2.25447157e+02] [ 9.98588061e-01 2.06079267e-02 -4.89611912e-02 1.41939992e+02] [ 4.89940358e-02 -1.09162511e-03 9.98798475e-01 1.44530801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.520385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.45, Y:141.97, Z:14.46 [[ 2.36569036e-02 -9.99719084e-01 -1.45066261e-03 2.25445318e+02] [ 9.98518623e-01 2.36995677e-02 -4.89784676e-02 1.41965198e+02] [ 4.89990889e-02 -2.89834739e-04 9.98798781e-01 1.44571780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.550385723 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:225.44, Y:141.99, Z:14.46 [[ 2.32363369e-02 -9.99729174e-01 -1.28542364e-03 2.25444295e+02] [ 9.98528480e-01 2.32714103e-02 -4.89828046e-02 1.41993223e+02] [ 4.89994524e-02 -1.45351168e-04 9.98798795e-01 1.44573677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.580385723 meters Centerline goodness : 0.998540 Centerline is valid? [True, True] Translation: X:225.44, Y:142.03, Z:14.45 [[ 1.97964081e-02 -9.99803223e-01 -1.27209346e-03 2.25443135e+02] [ 9.98602636e-01 1.98349596e-02 -4.89831508e-02 1.42027253e+02] [ 4.89987439e-02 -3.00625440e-04 9.98798795e-01 1.44529726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.610385723 meters Centerline goodness : 0.998235 Centerline is valid? [True, True] Translation: X:225.44, Y:142.06, Z:14.46 [[ 1.71493862e-02 -9.99850820e-01 -2.05805462e-03 2.25443068e+02] [ 9.98651959e-01 1.72296076e-02 -4.89633020e-02 1.42055318e+02] [ 4.89914572e-02 -1.21558970e-03 9.98798458e-01 1.44554852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.640385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:225.44, Y:142.08, Z:14.46 [[ 1.38912951e-02 -9.99901321e-01 -2.09298633e-03 2.25442271e+02] [ 9.98702819e-01 1.39771325e-02 -4.89624310e-02 1.42076398e+02] [ 4.89868534e-02 -1.41011977e-03 9.98798428e-01 1.44610081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.670385723 meters Centerline goodness : 0.996473 Centerline is valid? [True, True] Translation: X:225.44, Y:142.11, Z:14.46 [[ 9.78927878e-03 -9.99951401e-01 -1.16867031e-03 2.25442797e+02] [ 9.98751118e-01 9.83477782e-03 -4.89845042e-02 1.42109441e+02] [ 4.89936172e-02 -6.87687807e-04 9.98798855e-01 1.44574532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.700385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:225.44, Y:142.13, Z:14.46 [[ 8.63709992e-03 -9.99960452e-01 -2.12016552e-03 2.25438848e+02] [ 9.98762516e-01 8.73056309e-03 -4.89613476e-02 1.42128994e+02] [ 4.89779215e-02 -1.69465780e-03 9.98798424e-01 1.44632551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.730385723 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:225.44, Y:142.16, Z:14.46 [[ 8.01331256e-03 -9.99967241e-01 -1.14156686e-03 2.25436246e+02] [ 9.98767036e-01 8.05961517e-03 -4.89841771e-02 1.42156915e+02] [ 4.89917730e-02 -7.47633831e-04 9.98798902e-01 1.44634260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.760385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.44, Y:142.19, Z:14.46 [[ 7.76404983e-03 -9.99969223e-01 -1.12800098e-03 2.25435292e+02] [ 9.98769004e-01 7.80998724e-03 -4.89844895e-02 1.42188460e+02] [ 4.89917916e-02 -7.46294399e-04 9.98798902e-01 1.44593078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.790385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.43, Y:142.22, Z:14.46 [[ 4.87737978e-03 -9.99986637e-01 -1.71395653e-03 2.25433598e+02] [ 9.98787890e-01 4.95546887e-03 -4.89713692e-02 1.42218218e+02] [ 4.89792083e-02 -1.47302706e-03 9.98798712e-01 1.44627287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.820385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:225.43, Y:142.24, Z:14.46 [[ 4.85158136e-03 -9.99986512e-01 -1.85423172e-03 2.25433531e+02] [ 9.98788134e-01 4.93656704e-03 -4.89682973e-02 1.42244591e+02] [ 4.89767904e-02 -1.61441097e-03 9.98798612e-01 1.44622266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.850385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:225.43, Y:142.27, Z:14.47 [[ 4.50706315e-03 -9.99988050e-01 -1.89394839e-03 2.25428233e+02] [ 9.98789810e-01 4.59440541e-03 -4.89674154e-02 1.42265917e+02] [ 4.89755318e-02 -1.67095711e-03 9.98798581e-01 1.44679124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.880385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.43, Y:142.29, Z:14.47 [[ 4.80665400e-03 -9.99987910e-01 -1.03731757e-03 2.25426442e+02] [ 9.98787702e-01 4.85169916e-03 -4.89855734e-02 1.42294428e+02] [ 4.89900139e-02 -8.00603335e-04 9.98798948e-01 1.44687566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.910385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:225.42, Y:142.33, Z:14.47 [[ 7.13081298e-03 -9.99974051e-01 -1.02382910e-03 2.25422621e+02] [ 9.98773719e-01 7.17240786e-03 -4.89858553e-02 1.42325091e+02] [ 4.89919275e-02 -6.73264626e-04 9.98798948e-01 1.44653175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.940385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.42, Y:142.36, Z:14.47 [[ 8.13583399e-03 -9.99966194e-01 -1.19115475e-03 2.25419722e+02] [ 9.98766107e-01 8.18441758e-03 -4.89824304e-02 1.42355391e+02] [ 4.89905234e-02 -7.91172073e-04 9.98798930e-01 1.44663597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.970385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.42, Y:142.38, Z:14.47 [[ 7.70944467e-03 -9.99969267e-01 -1.42453555e-03 2.25420316e+02] [ 9.98769649e-01 7.76996863e-03 -4.89777116e-02 1.42383978e+02] [ 4.89872749e-02 -1.04519192e-03 9.98798856e-01 1.44678433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.000385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:225.42, Y:142.41, Z:14.47 [[ 1.17020032e-02 -9.99930536e-01 -1.40923161e-03 2.25417582e+02] [ 9.98730658e-01 1.17569874e-02 -4.89780157e-02 1.42408366e+02] [ 4.89911819e-02 -8.34301918e-04 9.98798863e-01 1.44703307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.030385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:225.41, Y:142.43, Z:14.47 [[ 1.10634826e-02 -9.99938351e-01 -9.45777536e-04 2.25408394e+02] [ 9.98737775e-01 1.10965329e-02 -4.89869688e-02 1.42434691e+02] [ 4.89944436e-02 -4.02617273e-04 9.98798970e-01 1.44650703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.060385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:225.41, Y:142.47, Z:14.47 [[ 2.07154750e-02 -9.99785217e-01 -6.24277618e-04 2.25411856e+02] [ 9.98584152e-01 2.07211809e-02 -4.89930945e-02 1.42466426e+02] [ 4.89955074e-02 3.91521487e-04 9.98798922e-01 1.44727107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.090385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.41, Y:142.49, Z:14.47 [[ 1.91643810e-02 -9.99815768e-01 -1.07545356e-03 2.25405919e+02] [ 9.98615092e-01 1.91940568e-02 -4.89845586e-02 1.42489518e+02] [ 4.89961764e-02 -1.35205415e-04 9.98798957e-01 1.44691423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.120385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.40, Y:142.52, Z:14.47 [[ 1.84792710e-02 -9.99829181e-01 -3.54852150e-04 2.25403662e+02] [ 9.98628010e-01 1.84744604e-02 -4.89978867e-02 1.42518631e+02] [ 4.89960726e-02 5.51079931e-04 9.98798819e-01 1.44691607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.150385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.40, Y:142.55, Z:14.47 [[ 2.36961744e-02 -9.99719029e-01 -5.95739091e-04 2.25402191e+02] [ 9.98517951e-01 2.36969010e-02 -4.89934460e-02 1.42546530e+02] [ 4.89937975e-02 5.66101065e-04 9.98798922e-01 1.44709607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.18038572300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.41, Y:142.58, Z:14.48 [[ 2.98401135e-02 -9.99554523e-01 -5.68681012e-04 2.25406619e+02] [ 9.98353464e-01 2.98321321e-02 -4.89939314e-02 1.42577860e+02] [ 4.89890707e-02 8.94239818e-04 9.98798914e-01 1.44752284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.210385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:225.40, Y:142.60, Z:14.48 [[ 2.99389960e-02 -9.99551060e-01 -1.15560738e-03 2.25400710e+02] [ 9.98350171e-01 2.99596572e-02 -4.89832072e-02 1.42598945e+02] [ 4.89958383e-02 3.12807218e-04 9.98798934e-01 1.44754299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.240385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.40, Y:142.62, Z:14.47 [[ 3.11215169e-02 -9.99515507e-01 -4.50136749e-04 2.25399957e+02] [ 9.98314488e-01 3.11061867e-02 -4.89957996e-02 1.42624955e+02] [ 4.89860635e-02 1.07544557e-03 9.98798883e-01 1.44741852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.270385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:225.40, Y:142.65, Z:14.47 [[ 3.16864211e-02 -9.99497818e-01 -2.87498021e-04 2.25400581e+02] [ 9.98296861e-01 3.16624421e-02 -4.89986357e-02 1.42653971e+02] [ 4.89831324e-02 1.26558303e-03 9.98798804e-01 1.44746596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.300385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:225.41, Y:142.69, Z:14.48 [[ 3.62366047e-02 -9.99343110e-01 -5.06502900e-04 2.25407481e+02] [ 9.98142161e-01 3.62178901e-02 -4.89948092e-02 1.42686177e+02] [ 4.89809694e-02 1.26984363e-03 9.98798905e-01 1.44807908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.330385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.40, Y:142.71, Z:14.48 [[ 3.13039160e-02 -9.99509345e-01 -1.06485597e-03 2.25402480e+02] [ 9.98308381e-01 3.13184903e-02 -4.89849790e-02 1.42708399e+02] [ 4.89942940e-02 4.70367027e-04 9.98798948e-01 1.44757972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.360385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.41, Y:142.74, Z:14.48 [[ 3.10036851e-02 -9.99519228e-01 -2.88935458e-04 2.25406927e+02] [ 9.98318275e-01 3.09805973e-02 -4.89982152e-02 1.42735184e+02] [ 4.89836096e-02 1.23067569e-03 9.98798824e-01 1.44790948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.390385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.41, Y:142.77, Z:14.49 [[ 3.35128496e-02 -9.99438201e-01 -4.13081374e-04 2.25414031e+02] [ 9.98237257e-01 3.34928306e-02 -4.89960069e-02 1.42765270e+02] [ 4.89823163e-02 1.22964259e-03 9.98798889e-01 1.44853983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.420385723 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:225.41, Y:142.79, Z:14.48 [[ 2.87310343e-02 -9.99586868e-01 -7.88182722e-04 2.25411954e+02] [ 9.98385869e-01 2.87351426e-02 -4.89892601e-02 1.42790388e+02] [ 4.89916696e-02 6.20601623e-04 9.98798994e-01 1.44836212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.450385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.41, Y:142.82, Z:14.49 [[ 2.81974354e-02 -9.99602350e-01 -2.16627118e-04 2.25413824e+02] [ 9.98401357e-01 2.81741759e-02 -4.89994595e-02 1.42816860e+02] [ 4.89860781e-02 1.16537829e-03 9.98798782e-01 1.44868201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.480385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:225.42, Y:142.84, Z:14.49 [[ 2.70493540e-02 -9.99634089e-01 -1.40416896e-04 2.25419426e+02] [ 9.98433092e-01 2.70237390e-02 -4.90008049e-02 1.42844523e+02] [ 4.89866696e-02 1.18524324e-03 9.98798729e-01 1.44878525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.510385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.42, Y:142.87, Z:14.49 [[ 2.52753223e-02 -9.99680496e-01 -2.54148640e-04 2.25421274e+02] [ 9.98479434e-01 2.52574124e-02 -4.89988089e-02 1.42872776e+02] [ 4.89895727e-02 9.84698499e-04 9.98798805e-01 1.44886029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.540385723 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:225.43, Y:142.90, Z:14.49 [[ 2.44380807e-02 -9.99701296e-01 -3.15507599e-04 2.25425370e+02] [ 9.98500216e-01 2.44241836e-02 -4.89977288e-02 1.42899491e+02] [ 4.89907990e-02 8.82376043e-04 9.98798840e-01 1.44897223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.570385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:225.43, Y:142.93, Z:14.49 [[ 2.69353632e-02 -9.99637161e-01 -1.82804377e-04 2.25433939e+02] [ 9.98436148e-01 2.69119624e-02 -4.90000395e-02 1.42931392e+02] [ 4.89871800e-02 1.13731536e-03 9.98798760e-01 1.44928048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.600385723 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:225.43, Y:142.95, Z:14.49 [[ 2.07007604e-02 -9.99785339e-01 -8.69007099e-04 2.25432488e+02] [ 9.98584464e-01 2.07184760e-02 -4.89878784e-02 1.42954981e+02] [ 4.89953671e-02 1.46309345e-04 9.98798995e-01 1.44916490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.630385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.44, Y:142.99, Z:14.50 [[ 2.19976138e-02 -9.99758000e-01 -2.15902974e-04 2.25444026e+02] [ 9.98556904e-01 2.19817677e-02 -4.89991045e-02 1.42986782e+02] [ 4.89919927e-02 8.62271970e-04 9.98798799e-01 1.44957562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.660385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.45, Y:143.01, Z:14.50 [[ 1.68018502e-02 -9.99858476e-01 -8.52522479e-04 2.25445262e+02] [ 9.98657671e-01 1.68234409e-02 -4.89880356e-02 1.43012692e+02] [ 4.89954449e-02 -2.82884803e-05 9.98799002e-01 1.44959040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.690385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:225.45, Y:143.04, Z:14.50 [[ 1.56628644e-02 -9.99877218e-01 -4.72622631e-04 2.25447208e+02] [ 9.98676161e-01 1.56672089e-02 -4.89945215e-02 1.43039262e+02] [ 4.89959105e-02 2.95397593e-04 9.98798935e-01 1.44972953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.720385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:225.45, Y:143.07, Z:14.50 [[ 1.58700451e-02 -9.99873995e-01 -3.69805382e-04 2.25451036e+02] [ 9.98672888e-01 1.58691025e-02 -4.89962726e-02 1.43068357e+02] [ 4.89959673e-02 4.08258448e-04 9.98798893e-01 1.44988074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.750385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.46, Y:143.10, Z:14.50 [[ 1.84346377e-02 -9.99829993e-01 -3.87145031e-04 2.25459497e+02] [ 9.98628898e-01 1.84314640e-02 -4.89959784e-02 1.43097486e+02] [ 4.89947843e-02 5.16608894e-04 9.98798901e-01 1.45005484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.780385723 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:225.46, Y:143.13, Z:14.50 [[ 2.04860656e-02 -9.99789929e-01 -6.46622986e-04 2.25464929e+02] [ 9.98588932e-01 2.04931425e-02 -4.89915836e-02 1.43126428e+02] [ 4.89945433e-02 3.57934239e-04 9.98798982e-01 1.45038199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.810385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:225.47, Y:143.15, Z:14.50 [[ 1.98406680e-02 -9.99802811e-01 -8.28472428e-04 2.25466607e+02] [ 9.98601927e-01 1.98574306e-02 -4.89885091e-02 1.43150400e+02] [ 4.89953005e-02 1.44650580e-04 9.98798999e-01 1.45047807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.840385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:225.47, Y:143.18, Z:14.51 [[ 2.12905495e-02 -9.99773295e-01 -2.66975640e-04 2.25472646e+02] [ 9.98572217e-01 2.12780563e-02 -4.89976750e-02 1.43183491e+02] [ 4.89922477e-02 7.76592970e-04 9.98798857e-01 1.45062683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.870385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:225.48, Y:143.21, Z:14.51 [[ 1.96638555e-02 -9.99806323e-01 -8.05771435e-04 2.25475532e+02] [ 9.98605430e-01 1.96797182e-02 -4.89888200e-02 1.43208648e+02] [ 4.89951893e-02 1.58661347e-04 9.98799002e-01 1.45058765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.900385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:225.48, Y:143.24, Z:14.51 [[ 2.23044606e-02 -9.99751089e-01 -5.21315864e-04 2.25481069e+02] [ 9.98550055e-01 2.23032129e-02 -4.89934074e-02 1.43238273e+02] [ 4.89928394e-02 5.72211541e-04 9.98798966e-01 1.45088741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.93038572300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.48, Y:143.27, Z:14.51 [[ 2.29325303e-02 -9.99736703e-01 -7.89219753e-04 2.25483799e+02] [ 9.98535757e-01 2.29436557e-02 -4.89890932e-02 1.43266689e+02] [ 4.89943021e-02 3.35379722e-04 9.98799002e-01 1.45109728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.960385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:225.49, Y:143.29, Z:14.51 [[ 2.37448580e-02 -9.99717750e-01 -7.75984674e-04 2.25488742e+02] [ 9.98516789e-01 2.37543590e-02 -4.89893029e-02 1.43294897e+02] [ 4.89939086e-02 3.88410316e-04 9.98799002e-01 1.45134239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.990385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.49, Y:143.32, Z:14.51 [[ 2.20399365e-02 -9.99756800e-01 -7.62666883e-04 2.25488819e+02] [ 9.98555852e-01 2.20508330e-02 -4.89895102e-02 1.43319607e+02] [ 4.89944134e-02 3.18160216e-04 9.98799002e-01 1.45111686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.020385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.49, Y:143.35, Z:14.51 [[ 2.31259785e-02 -9.99732522e-01 -2.71308401e-04 2.25492119e+02] [ 9.98531505e-01 2.31114932e-02 -4.89968687e-02 1.43350946e+02] [ 4.89900334e-02 8.62190545e-04 9.98798895e-01 1.45133935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.050385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.49, Y:143.38, Z:14.51 [[ 2.22169428e-02 -9.99752901e-01 -7.37394936e-04 2.25493734e+02] [ 9.98551942e-01 2.22263884e-02 -4.89898585e-02 1.43377796e+02] [ 4.89941428e-02 3.52077740e-04 9.98799004e-01 1.45140750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.080385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:225.50, Y:143.41, Z:14.51 [[ 1.87386358e-02 -9.99824155e-01 -7.22997785e-04 2.25498017e+02] [ 9.98623228e-01 1.87515541e-02 -4.89900709e-02 1.43405921e+02] [ 4.89950136e-02 1.96004716e-04 9.98799004e-01 1.45149645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.110385723 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:225.50, Y:143.43, Z:14.52 [[ 1.88046673e-02 -9.99822925e-01 -7.08851073e-04 2.25502552e+02] [ 9.98621991e-01 1.88168131e-02 -4.89902756e-02 1.43433201e+02] [ 4.89949390e-02 2.13371565e-04 9.98799004e-01 1.45184308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.140385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:225.51, Y:143.46, Z:14.52 [[ 1.50348526e-02 -9.99886729e-01 -6.93987392e-04 2.25505832e+02] [ 9.98685839e-01 1.50507980e-02 -4.89904862e-02 1.43460086e+02] [ 4.89953821e-02 4.34893595e-05 9.98799004e-01 1.45203916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.170385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.51, Y:143.49, Z:14.52 [[ 1.16361281e-02 -9.99932067e-01 -6.79840180e-04 2.25505295e+02] [ 9.98731227e-01 1.16554621e-02 -4.89906825e-02 1.43488493e+02] [ 4.89952783e-02 -1.08915759e-04 9.98799004e-01 1.45203684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.200385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:225.51, Y:143.52, Z:14.52 [[ 1.17764386e-02 -9.99930434e-01 -6.66079260e-04 2.25506777e+02] [ 9.98729580e-01 1.17949299e-02 -4.89908696e-02 1.43515870e+02] [ 4.89953179e-02 -8.82950942e-05 9.98799004e-01 1.45224347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.230385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.51, Y:143.54, Z:14.52 [[ 1.00602981e-02 -9.99949179e-01 -6.56046787e-04 2.25505333e+02] [ 9.98748351e-01 1.00803588e-02 -4.89910040e-02 1.43543925e+02] [ 4.89951274e-02 -1.62361545e-04 9.98799004e-01 1.45220133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.260385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.50, Y:143.57, Z:14.52 [[ 8.73127426e-03 -9.99961675e-01 -6.42690740e-04 2.25503799e+02] [ 9.98760863e-01 8.75227663e-03 -4.89911792e-02 1.43569369e+02] [ 4.89949266e-02 -2.14138936e-04 9.98799004e-01 1.45220024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.290385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.50, Y:143.60, Z:14.53 [[ 6.40594821e-03 -9.99979461e-01 -2.01715551e-04 2.25504124e+02] [ 9.98778379e-01 6.40813760e-03 -4.89967939e-02 1.43600178e+02] [ 4.89970802e-02 1.12401793e-04 9.98798915e-01 1.45254191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.320385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.51, Y:143.63, Z:14.53 [[ 7.24997182e-03 -9.99973521e-01 -6.29018080e-04 2.25505555e+02] [ 9.98772731e-01 7.27208314e-03 -4.89913121e-02 1.43628580e+02] [ 4.89945891e-02 -2.73060473e-04 9.98799007e-01 1.45283987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.350385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.50, Y:143.65, Z:14.53 [[ 7.04542193e-03 -9.99974991e-01 -6.15805671e-04 2.25502323e+02] [ 9.98774194e-01 7.06713158e-03 -4.89914782e-02 1.43654653e+02] [ 4.89946049e-02 -2.69885178e-04 9.98799007e-01 1.45283924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.380385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.50, Y:143.68, Z:14.53 [[ 7.40940282e-03 -9.99972370e-01 -6.00179498e-04 2.25500741e+02] [ 9.98771552e-01 7.42990984e-03 -4.89916696e-02 1.43681725e+02] [ 4.89947752e-02 -2.36443193e-04 9.98799007e-01 1.45290204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.410385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.50, Y:143.71, Z:14.53 [[ 9.35382947e-03 -9.99956081e-01 -5.85372347e-04 2.25498649e+02] [ 9.98755214e-01 9.37127601e-03 -4.89918465e-02 1.43708853e+02] [ 4.89951805e-02 -1.26382306e-04 9.98799007e-01 1.45296662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.440385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.50, Y:143.74, Z:14.53 [[ 8.76827388e-03 -9.99961395e-01 -5.70629259e-04 2.25497140e+02] [ 9.98760529e-01 8.78570131e-03 -4.89920182e-02 1.43737320e+02] [ 4.89951403e-02 -1.40346546e-04 9.98799007e-01 1.45313511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.470385723 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:225.50, Y:143.76, Z:14.53 [[ 9.62118865e-03 -9.99953558e-01 -5.61632833e-04 2.25495411e+02] [ 9.98752671e-01 9.63715102e-03 -4.89921214e-02 1.43764021e+02] [ 4.89952586e-02 -8.95698493e-05 9.98799007e-01 1.45312239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.500385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.49, Y:143.79, Z:14.53 [[ 9.47957631e-03 -9.99954916e-01 -5.51007204e-04 2.25493706e+02] [ 9.98754025e-01 9.49518815e-03 -4.89922409e-02 1.43789379e+02] [ 4.89952640e-02 -8.58949771e-05 9.98799007e-01 1.45321730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.530385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.49, Y:143.82, Z:14.53 [[ 8.21733202e-03 -9.99966204e-01 -2.58376170e-04 2.25492828e+02] [ 9.98765181e-01 8.22012214e-03 -4.89953440e-02 1.43817868e+02] [ 4.89958120e-02 1.44553886e-04 9.98798974e-01 1.45328344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.560385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.49, Y:143.84, Z:14.54 [[ 6.29393788e-03 -9.99980124e-01 -3.72194485e-04 2.25492201e+02] [ 9.98779167e-01 6.30461470e-03 -4.89941495e-02 1.43844508e+02] [ 4.89955222e-02 -6.33739643e-05 9.98798996e-01 1.45354470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.590385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.49, Y:143.87, Z:14.54 [[ 4.42350913e-03 -9.99990190e-01 -2.31201979e-04 2.25491679e+02] [ 9.98789172e-01 4.42952436e-03 -4.89956073e-02 1.43872739e+02] [ 4.89961508e-02 -1.41895169e-05 9.98798967e-01 1.45370758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.620385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.49, Y:143.90, Z:14.54 [[ 2.54435235e-03 -9.99996701e-01 -3.53219038e-04 2.25491337e+02] [ 9.98795780e-01 2.55860256e-03 -4.89943271e-02 1.43903016e+02] [ 4.89950692e-02 -2.28134853e-04 9.98798994e-01 1.45398152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.650385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.49, Y:143.93, Z:14.54 [[ 1.57402945e-03 -9.99998633e-01 -5.07033683e-04 2.25490996e+02] [ 9.98797858e-01 1.59698040e-03 -4.89927358e-02 1.43930029e+02] [ 4.89934785e-02 -4.29308147e-04 9.98799006e-01 1.45403284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.68038572300003 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:225.49, Y:143.96, Z:14.54 [[ 2.71872433e-04 -9.99999846e-01 -4.83949190e-04 2.25490157e+02] [ 9.98799080e-01 2.95256090e-04 -4.89929680e-02 1.43957829e+02] [ 4.89931034e-02 -4.70048168e-04 9.98799006e-01 1.45402511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.710385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.49, Y:143.98, Z:14.54 [[ 8.85206393e-04 -9.99999494e-01 -4.77396985e-04 2.25488349e+02] [ 9.98798708e-01 9.07532587e-04 -4.89930319e-02 1.43984992e+02] [ 4.89934404e-02 -4.33454547e-04 9.98799006e-01 1.45423662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.740385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.49, Y:144.01, Z:14.54 [[ 1.27555198e-04 -9.99999914e-01 -3.95594460e-04 2.25488015e+02] [ 9.98799072e-01 1.46783706e-04 -4.89938071e-02 1.44013989e+02] [ 4.89938610e-02 -3.88869965e-04 9.98799004e-01 1.45437117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.770385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:225.49, Y:144.04, Z:14.55 [[ 8.68641881e-04 -9.99999519e-01 -4.54525399e-04 2.25486600e+02] [ 9.98798713e-01 8.89867503e-04 -4.89932605e-02 1.44040542e+02] [ 4.89936414e-02 -4.11421786e-04 9.98799006e-01 1.45456067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.800385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:225.49, Y:144.07, Z:14.55 [[ 1.71399251e-04 -9.99999905e-01 -3.99922881e-04 2.25487186e+02] [ 9.98799066e-01 1.90787157e-04 -4.89937619e-02 1.44069725e+02] [ 4.89938336e-02 -3.91045106e-04 9.98799004e-01 1.45473327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.830385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:225.49, Y:144.10, Z:14.55 [[-1.28425481e-04 -9.99999894e-01 -4.41781364e-04 2.25487441e+02] [ 9.98799097e-01 -1.06626900e-04 -4.89933845e-02 1.44098289e+02] [ 4.89933322e-02 -4.47542826e-04 9.98799005e-01 1.45487502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.860385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:225.49, Y:144.12, Z:14.55 [[ 1.36167965e-03 -9.99998982e-01 -4.27074224e-04 2.25489084e+02] [ 9.98798142e-01 1.38096838e-03 -4.89935127e-02 1.44124903e+02] [ 4.89940526e-02 -3.59847472e-04 9.98799005e-01 1.45498958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.890385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.49, Y:144.15, Z:14.55 [[ 1.85374522e-03 -9.99998195e-01 -4.17090653e-04 2.25486635e+02] [ 9.98797338e-01 1.87195394e-03 -4.89935977e-02 1.44153265e+02] [ 4.89942900e-02 -3.25767386e-04 9.98799006e-01 1.45517604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.920385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.48, Y:144.18, Z:14.55 [[ 2.13858236e-03 -9.99997646e-01 -3.66507890e-04 2.25483571e+02] [ 9.98796749e-01 2.15397088e-03 -4.89940191e-02 1.44182679e+02] [ 4.89946933e-02 -2.61289143e-04 9.98799005e-01 1.45509618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.950385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:225.48, Y:144.21, Z:14.55 [[ 5.46583341e-04 -9.99999770e-01 -4.01078082e-04 2.25482381e+02] [ 9.98798926e-01 5.65577299e-04 -4.89937362e-02 1.44211072e+02] [ 4.89939517e-02 -3.73817197e-04 9.98799005e-01 1.45507243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.980385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.48, Y:144.24, Z:14.55 [[ 7.34658583e-04 -9.99999655e-01 -3.86554170e-04 2.25482486e+02] [ 9.98798797e-01 7.52715146e-04 -4.89938508e-02 1.44237743e+02] [ 4.89941248e-02 -3.50096086e-04 9.98799005e-01 1.45530815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.010385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:225.48, Y:144.27, Z:14.55 [[-2.53156551e-03 -9.99996726e-01 -3.73599423e-04 2.25482181e+02] [ 9.98795921e-01 -2.51022141e-03 -4.89939496e-02 1.44266172e+02] [ 4.89928513e-02 -4.97180972e-04 9.98799005e-01 1.45535315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.040385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.48, Y:144.29, Z:14.56 [[-7.39685056e-03 -9.99972578e-01 -3.59567567e-04 2.25483137e+02] [ 9.98771876e-01 -7.37035175e-03 -4.89940525e-02 1.44294192e+02] [ 4.89900589e-02 -7.21527658e-04 9.98799006e-01 1.45559193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.070385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:225.48, Y:144.32, Z:14.56 [[-1.17315138e-02 -9.99931124e-01 -3.45964589e-04 2.25480483e+02] [ 9.98730530e-01 -1.17004766e-02 -4.89941486e-02 1.44321475e+02] [ 4.89867261e-02 -9.20300927e-04 9.98799006e-01 1.45573725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.100385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.48, Y:144.35, Z:14.56 [[-1.12826983e-02 -9.99936294e-01 -3.30528169e-04 2.25480368e+02] [ 9.98735668e-01 -1.12529561e-02 -4.89942527e-02 1.44348885e+02] [ 4.89874121e-02 -8.82897644e-04 9.98799006e-01 1.45596047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.130385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.48, Y:144.38, Z:14.56 [[-1.22418003e-02 -9.99925016e-01 -3.15870534e-04 2.25479339e+02] [ 9.98724402e-01 -1.22116245e-02 -4.89943472e-02 1.44376144e+02] [ 4.89868162e-02 -9.15246626e-04 9.98799006e-01 1.45602454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.160385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:225.48, Y:144.40, Z:14.56 [[-1.22408253e-02 -9.99925033e-01 -3.01510396e-04 2.25479265e+02] [ 9.98724401e-01 -1.22113540e-02 -4.89944356e-02 1.44404036e+02] [ 4.89870808e-02 -9.00858116e-04 9.98799006e-01 1.45619050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.190385723 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:225.48, Y:144.43, Z:14.56 [[-1.22283796e-02 -9.99925189e-01 -2.88177125e-04 2.25478389e+02] [ 9.98724541e-01 -1.21995763e-02 -4.89945141e-02 1.44430665e+02] [ 4.89873331e-02 -8.86933082e-04 9.98799006e-01 1.45629073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.220385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.47, Y:144.46, Z:14.56 [[-1.36016096e-02 -9.99907456e-01 -2.74119888e-04 2.25473599e+02] [ 9.98706831e-01 -1.35718461e-02 -4.89945927e-02 1.44458903e+02] [ 4.89863383e-02 -9.40170729e-04 9.98799006e-01 1.45606025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.250385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:225.47, Y:144.48, Z:14.56 [[-1.09669371e-02 -9.99939827e-01 -2.60872282e-04 2.25474281e+02] [ 9.98739114e-01 -1.09409860e-02 -4.89946632e-02 1.44484983e+02] [ 4.89888609e-02 -7.97864742e-04 9.98799006e-01 1.45631506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.280385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.47, Y:144.51, Z:14.56 [[-1.06713092e-02 -9.99943030e-01 -2.44074440e-04 2.25472480e+02] [ 9.98742292e-01 -1.06465360e-02 -4.89947469e-02 1.44513181e+02] [ 4.89893572e-02 -7.66605562e-04 9.98799006e-01 1.45638911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.310385723 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:225.47, Y:144.54, Z:14.56 [[-9.47910741e-03 -9.99955046e-01 -2.30809952e-04 2.25468671e+02] [ 9.98754267e-01 -9.45641558e-03 -4.89948094e-02 1.44541683e+02] [ 4.89904243e-02 -6.94949485e-04 9.98799007e-01 1.45642460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.340385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:225.46, Y:144.57, Z:14.56 [[-1.17017970e-02 -9.99931508e-01 -2.17470243e-04 2.25464873e+02] [ 9.98730769e-01 -1.16770896e-02 -4.89948686e-02 1.44569668e+02] [ 4.89889735e-02 -7.90522229e-04 9.98799007e-01 1.45633038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.370385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.47, Y:144.60, Z:14.57 [[-7.90758267e-03 -9.99968714e-01 -2.04935508e-04 2.25468859e+02] [ 9.98767879e-01 -7.88804556e-03 -4.89949211e-02 1.44597910e+02] [ 4.89917717e-02 -5.92114392e-04 9.98799007e-01 1.45684239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.400385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.47, Y:144.63, Z:14.57 [[-8.52196249e-03 -9.99963669e-01 -1.91455745e-04 2.25467975e+02] [ 9.98762836e-01 -8.50234795e-03 -4.89949738e-02 1.44625537e+02] [ 4.89915659e-02 -6.08752212e-04 9.98799007e-01 1.45683215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.43038572300003 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:225.46, Y:144.65, Z:14.57 [[-8.16970272e-03 -9.99966612e-01 -1.76643018e-04 2.25463622e+02] [ 9.98765761e-01 -8.15123688e-03 -4.89950272e-02 1.44653082e+02] [ 4.89919515e-02 -5.76699805e-04 9.98799007e-01 1.45702182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.460385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.46, Y:144.68, Z:14.57 [[-6.16622967e-03 -9.99980976e-01 -1.60707925e-04 2.25462373e+02] [ 9.98780080e-01 -6.15095049e-03 -4.89950794e-02 1.44679702e+02] [ 4.89931588e-02 -4.62626787e-04 9.98799007e-01 1.45728787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.490385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.46, Y:144.71, Z:14.57 [[-8.28364274e-03 -9.99965680e-01 -1.44281030e-04 2.25457818e+02] [ 9.98764807e-01 -8.26662549e-03 -4.89951278e-02 1.44705427e+02] [ 4.89922536e-02 -5.49960950e-04 9.98799007e-01 1.45713064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.520385723 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:225.46, Y:144.74, Z:14.57 [[-5.31342935e-03 -9.99985872e-01 1.53321098e-04 2.25459740e+02] [ 9.98784840e-01 -5.31455987e-03 -4.89959105e-02 1.44735409e+02] [ 4.89960331e-02 -1.07201520e-04 9.98798967e-01 1.45749344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.550385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.46, Y:144.76, Z:14.58 [[-7.99939270e-03 -9.99967996e-01 -1.28543729e-04 2.25458971e+02] [ 9.98767108e-01 -7.98348779e-03 -4.89951729e-02 1.44763968e+02] [ 4.89925787e-02 -5.20316877e-04 9.98799007e-01 1.45761298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.580385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:225.46, Y:144.79, Z:14.58 [[-1.12643799e-02 -9.99936548e-01 -1.14460878e-04 2.25456444e+02] [ 9.98735708e-01 -1.12452439e-02 -4.89952058e-02 1.44788194e+02] [ 4.89908099e-02 -6.66216778e-04 9.98799007e-01 1.45767892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.610385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:225.46, Y:144.82, Z:14.58 [[-8.66127157e-03 -9.99962430e-01 3.49041163e-04 2.25457987e+02] [ 9.98761370e-01 -8.66797068e-03 -4.89958310e-02 1.44817813e+02] [ 4.89970157e-02 -7.57573678e-05 9.98798922e-01 1.45812268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.640385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.45, Y:144.84, Z:14.58 [[-1.24470536e-02 -9.99922530e-01 -6.91308076e-05 2.25452010e+02] [ 9.98721679e-01 -1.24287180e-02 -4.89952452e-02 1.44843371e+02] [ 4.89905904e-02 -6.78888878e-04 9.98799009e-01 1.45787755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.670385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.45, Y:144.87, Z:14.58 [[-8.88460990e-03 -9.99960478e-01 3.26967308e-04 2.25452244e+02] [ 9.98759431e-01 -8.88995924e-03 -4.89955782e-02 1.44873524e+02] [ 4.89965485e-02 -1.08744917e-04 9.98798942e-01 1.45824909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.700385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.45, Y:144.90, Z:14.59 [[-9.23254043e-03 -9.99957378e-01 -4.16205735e-05 2.25452014e+02] [ 9.98756460e-01 -9.21941313e-03 -4.89952685e-02 1.44900691e+02] [ 4.89927965e-02 -4.93919614e-04 9.98799010e-01 1.45856942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.730385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.45, Y:144.93, Z:14.59 [[-9.62468880e-03 -9.99953681e-01 -2.70805430e-05 2.25451504e+02] [ 9.98752760e-01 -9.61180289e-03 -4.89952765e-02 1.44928283e+02] [ 4.89927468e-02 -4.98611056e-04 9.98799010e-01 1.45880349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.760385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.45, Y:144.96, Z:14.59 [[-1.03710673e-02 -9.99946219e-01 -1.24484720e-05 2.25450039e+02] [ 9.98745300e-01 -1.03580019e-02 -4.89952802e-02 1.44955420e+02] [ 4.89925163e-02 -5.20566201e-04 9.98799010e-01 1.45897785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.790385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.45, Y:144.95, Z:14.59 [[-1.13259777e-02 -9.99935859e-01 2.10987480e-06 2.25446202e+02] [ 9.98734945e-01 -1.13124787e-02 -4.89952796e-02 1.44950551e+02] [ 4.89921609e-02 -5.52812240e-04 9.98799010e-01 1.45884134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.820385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:225.44, Y:144.95, Z:14.59 [[-1.17471465e-02 -9.99931000e-01 1.99217673e-05 2.25444443e+02] [ 9.98730082e-01 -1.17340143e-02 -4.89952724e-02 1.44948739e+02] [ 4.89921254e-02 -5.55658173e-04 9.98799010e-01 1.45873430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.850385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.44, Y:144.95, Z:14.59 [[-1.15636058e-02 -9.99933139e-01 3.77223526e-05 2.25444147e+02] [ 9.98732209e-01 -1.15515662e-02 -4.89952587e-02 1.44946294e+02] [ 4.89924185e-02 -5.28887329e-04 9.98799010e-01 1.45874165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.880385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.44, Y:144.94, Z:14.59 [[-1.19490159e-02 -9.99928606e-01 5.55229304e-05 2.25444483e+02] [ 9.98727673e-01 -1.19373855e-02 -4.89952385e-02 1.44943554e+02] [ 4.89924034e-02 -5.29992599e-04 9.98799011e-01 1.45872828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.910385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.44, Y:144.94, Z:14.59 [[-1.18761992e-02 -9.99929473e-01 7.33234979e-05 2.25441711e+02] [ 9.98728531e-01 -1.18655284e-02 -4.89952119e-02 1.44940631e+02] [ 4.89926264e-02 -5.08646628e-04 9.98799011e-01 1.45866442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.940385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.44, Y:144.93, Z:14.58 [[-1.47607937e-02 -9.99891049e-01 9.11184077e-05 2.25436565e+02] [ 9.98690134e-01 -1.47475301e-02 -4.89951788e-02 1.44934057e+02] [ 4.89911845e-02 -6.32208670e-04 9.98799011e-01 1.45843636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.970385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.43, Y:144.93, Z:14.58 [[-1.49246361e-02 -9.99888581e-01 2.82997989e-04 2.25432978e+02] [ 9.98687583e-01 -1.49205766e-02 -4.89947681e-02 1.44928093e+02] [ 4.89935317e-02 -4.48602505e-04 9.98798995e-01 1.45822413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.000385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:225.43, Y:144.93, Z:14.58 [[-1.43139874e-02 -9.99897491e-01 3.42430503e-04 2.25433535e+02] [ 9.98696475e-01 -1.43135733e-02 -4.89946236e-02 1.44929810e+02] [ 4.89945026e-02 -3.59324290e-04 9.98798984e-01 1.45833164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.030385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.44, Y:144.94, Z:14.59 [[-1.17909675e-02 -9.99930440e-01 2.97692445e-04 2.25435939e+02] [ 9.98729432e-01 -1.17913918e-02 -4.89947404e-02 1.44936897e+02] [ 4.89948425e-02 -2.80381183e-04 9.98798992e-01 1.45859827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.060385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.43, Y:144.94, Z:14.59 [[-1.57037201e-02 -9.99876680e-01 1.33778044e-04 2.25434874e+02] [ 9.98675749e-01 -1.56914140e-02 -4.89951886e-02 1.44941187e+02] [ 4.89912457e-02 -6.35805840e-04 9.98799006e-01 1.45859054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.090385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.44, Y:144.93, Z:14.59 [[-1.46551588e-02 -9.99892571e-01 2.68408231e-04 2.25435480e+02] [ 9.98691579e-01 -1.46507082e-02 -4.89947690e-02 1.44932968e+02] [ 4.89934379e-02 -4.49969080e-04 9.98798999e-01 1.45868025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.120385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.43, Y:144.93, Z:14.59 [[-1.58390000e-02 -9.99874543e-01 1.56309973e-04 2.25431908e+02] [ 9.98673602e-01 -1.58276353e-02 -4.89951269e-02 1.44928576e+02] [ 4.89914542e-02 -6.19931173e-04 9.98799005e-01 1.45857690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.150385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.43, Y:144.92, Z:14.58 [[-1.72537845e-02 -9.99851127e-01 1.74130056e-04 2.25429765e+02] [ 9.98650195e-01 -1.72415935e-02 -4.89950636e-02 1.44923675e+02] [ 4.89907718e-02 -6.71455252e-04 9.98799006e-01 1.45847609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.18038572300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.43, Y:144.92, Z:14.58 [[-1.85475097e-02 -9.99827957e-01 2.15545475e-04 2.25427930e+02] [ 9.98627019e-01 -1.85357939e-02 -4.89949054e-02 1.44923816e+02] [ 4.89904715e-02 -6.93483949e-04 9.98799005e-01 1.45821987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.210385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.43, Y:144.92, Z:14.58 [[-1.86760480e-02 -9.99825540e-01 3.08361247e-04 2.25427671e+02] [ 9.98624561e-01 -1.86687252e-02 -4.89945308e-02 1.44921966e+02] [ 4.89917399e-02 -6.07087094e-04 9.98798999e-01 1.45814623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.240385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.43, Y:144.92, Z:14.58 [[-1.88482026e-02 -9.99822325e-01 2.51392465e-04 2.25428336e+02] [ 9.98621373e-01 -1.88378819e-02 -4.89947729e-02 1.44920788e+02] [ 4.89908035e-02 -6.72417518e-04 9.98799003e-01 1.45837827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.270385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.43, Y:144.92, Z:14.59 [[-1.78970061e-02 -9.99839784e-01 3.20359473e-04 2.25429371e+02] [ 9.98638797e-01 -1.78912070e-02 -4.89944617e-02 1.44920106e+02] [ 4.89923436e-02 -5.56930782e-04 9.98798999e-01 1.45854680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.300385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.43, Y:144.92, Z:14.58 [[-1.81675013e-02 -9.99834930e-01 2.34267824e-04 2.25428606e+02] [ 9.98633977e-01 -1.81571592e-02 -4.89948735e-02 1.44915916e+02] [ 4.89910396e-02 -6.56166622e-04 9.98799003e-01 1.45839225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.330385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.43, Y:145.13, Z:14.59 [[-1.81446069e-02 -9.99835341e-01 2.52079538e-04 2.25425424e+02] [ 9.98634381e-01 -1.81351649e-02 -4.89947819e-02 1.45129078e+02] [ 4.89912860e-02 -6.37255762e-04 9.98799003e-01 1.45936494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.360385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.43, Y:144.91, Z:14.58 [[-1.77627670e-02 -9.99842176e-01 3.26990143e-04 2.25427024e+02] [ 9.98641189e-01 -1.77574540e-02 -4.89943752e-02 1.44909408e+02] [ 4.89924492e-02 -5.43729844e-04 9.98799001e-01 1.45830393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.390385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.43, Y:144.91, Z:14.59 [[-1.71924947e-02 -9.99852160e-01 2.76257929e-04 2.25428449e+02] [ 9.98651183e-01 -1.71853810e-02 -4.89946613e-02 1.44906648e+02] [ 4.89921655e-02 -5.66455147e-04 9.98799002e-01 1.45850652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.420385723 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:225.43, Y:144.91, Z:14.59 [[-1.45066076e-02 -9.99894730e-01 2.94027468e-04 2.25431616e+02] [ 9.98693737e-01 -1.45035907e-02 -4.89945547e-02 1.44905334e+02] [ 4.89936615e-02 -4.17101388e-04 9.98799002e-01 1.45871030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.450385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.43, Y:144.91, Z:14.59 [[-1.29135189e-02 -9.99916568e-01 3.11802596e-04 2.25431645e+02] [ 9.98715571e-01 -1.29132864e-02 -4.89944416e-02 1.44907153e+02] [ 4.89943803e-02 -3.21288540e-04 9.98799003e-01 1.45875940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.480385723 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:225.43, Y:144.91, Z:14.59 [[-8.58092710e-03 -9.99963129e-01 3.29608490e-04 2.25430361e+02] [ 9.98762146e-01 -8.58677071e-03 -4.89943218e-02 1.44908202e+02] [ 4.89953456e-02 -9.12162203e-05 9.98799003e-01 1.45855729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.510385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:225.43, Y:144.91, Z:14.59 [[-6.84534254e-03 -9.99976510e-01 3.47464904e-04 2.25430679e+02] [ 9.98775545e-01 -6.85414549e-03 -4.89941951e-02 1.44905907e+02] [ 4.89954258e-02 1.16574010e-05 9.98799003e-01 1.45850860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.540385723 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:225.43, Y:144.90, Z:14.59 [[-5.16955070e-03 -9.99986571e-01 3.65338335e-04 2.25431859e+02] [ 9.98785631e-01 -5.18124194e-03 -4.89940619e-02 1.44903199e+02] [ 4.89952968e-02 1.11617393e-04 9.98799003e-01 1.45850057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.570385723 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:225.44, Y:144.90, Z:14.58 [[-2.32449381e-03 -9.99997225e-01 3.83211715e-04 2.25436342e+02] [ 9.98796334e-01 -2.34047744e-03 -4.89939221e-02 1.44903847e+02] [ 4.89946830e-02 2.68864388e-04 9.98799003e-01 1.45836523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.600385723 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:225.44, Y:144.90, Z:14.59 [[-7.72145780e-04 -9.99999621e-01 4.01099067e-04 2.25440821e+02] [ 9.98798771e-01 -7.90869912e-04 -4.89937756e-02 1.44903407e+02] [ 4.89940743e-02 3.62786918e-04 9.98799003e-01 1.45868147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.630385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:225.44, Y:144.90, Z:14.59 [[-3.76074675e-04 -9.99999842e-01 4.16762373e-04 2.25441719e+02] [ 9.98799012e-01 -3.96041781e-04 -4.89936424e-02 1.44899699e+02] [ 4.89937998e-02 3.97836578e-04 9.98799003e-01 1.45869731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.660385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:225.44, Y:144.91, Z:14.59 [[ 3.78235610e-05 -9.99999905e-01 4.34680818e-04 2.25442564e+02] [ 9.98799098e-01 1.64816139e-05 -4.89934834e-02 1.44907112e+02] [ 4.89934716e-02 4.36011917e-04 9.98799004e-01 1.45874899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.690385723 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:225.45, Y:144.91, Z:14.59 [[ 1.22208028e-03 -9.99999151e-01 4.52647756e-04 2.25445313e+02] [ 9.98798387e-01 1.19843612e-03 -4.89933175e-02 1.44914211e+02] [ 4.89927334e-02 5.11977616e-04 9.98799004e-01 1.45888072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.720385723 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:225.45, Y:144.90, Z:14.59 [[ 1.42466123e-03 -9.99998874e-01 4.70735376e-04 2.25447352e+02] [ 9.98798134e-01 1.39988775e-03 -4.89931437e-02 1.44900054e+02] [ 4.89924296e-02 5.39968247e-04 9.98799004e-01 1.45886770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.750385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:225.45, Y:144.90, Z:14.59 [[ 2.01184843e-03 -9.99997857e-01 4.88811274e-04 2.25451211e+02] [ 9.98797150e-01 1.98548442e-03 -4.89929633e-02 1.44895999e+02] [ 4.89918878e-02 5.86789724e-04 9.98799004e-01 1.45889051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.780385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:225.45, Y:144.89, Z:14.59 [[ 1.64527828e-03 -9.99998518e-01 5.06803720e-04 2.25451302e+02] [ 9.98797822e-01 1.61847304e-03 -4.89927772e-02 1.44893616e+02] [ 4.89918844e-02 5.86801204e-04 9.98799004e-01 1.45887819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.810385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:225.45, Y:144.89, Z:14.59 [[ 1.58965075e-03 -9.99998599e-01 5.24784562e-04 2.25453770e+02] [ 9.98797921e-01 1.56203150e-03 -4.89925846e-02 1.44890983e+02] [ 4.89916963e-02 6.02034828e-04 9.98799004e-01 1.45888476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.840385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:225.46, Y:144.89, Z:14.59 [[ 3.25415115e-04 -9.99999800e-01 5.42765331e-04 2.25457873e+02] [ 9.98799108e-01 2.98433019e-04 -4.89923854e-02 1.44888877e+02] [ 4.89922136e-02 5.58056391e-04 9.98799005e-01 1.45888855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.870385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.46, Y:144.88, Z:14.58 [[-7.63500714e-03 -9.99970697e-01 5.58478407e-04 2.25456064e+02] [ 9.98769839e-01 -7.65320020e-03 -4.89922063e-02 1.44875685e+02] [ 4.89950449e-02 1.83735544e-04 9.98799005e-01 1.45840590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.900385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:225.46, Y:144.88, Z:14.59 [[-2.01079450e-03 -9.99997435e-01 1.04285641e-03 2.25463214e+02] [ 9.98797321e-01 -2.05946727e-03 -4.89864379e-02 1.44881757e+02] [ 4.89884600e-02 9.43100533e-04 9.98798899e-01 1.45872279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.93038572300003 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:225.47, Y:144.88, Z:14.59 [[-3.12568671e-03 -9.99994948e-01 5.77852875e-04 2.25465742e+02] [ 9.98794207e-01 -3.15024382e-03 -4.89919278e-02 1.44877676e+02] [ 4.89935007e-02 4.24022686e-04 9.98799007e-01 1.45881050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.960385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.47, Y:144.88, Z:14.59 [[-6.26951073e-03 -9.99980169e-01 5.95750884e-04 2.25470235e+02] [ 9.98779372e-01 -6.29116960e-03 -4.89917102e-02 1.44875680e+02] [ 4.89944866e-02 2.87869641e-04 9.98799008e-01 1.45891397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.990385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:225.47, Y:144.87, Z:14.59 [[-7.80854523e-03 -9.99969326e-01 6.11386266e-04 2.25473043e+02] [ 9.98768510e-01 -7.82912198e-03 -4.89915151e-02 1.44870762e+02] [ 4.89947989e-02 2.28080888e-04 9.98799008e-01 1.45899691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.020385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:225.47, Y:144.85, Z:14.58 [[-2.03217594e-02 -9.99793294e-01 6.29252991e-04 2.25472131e+02] [ 9.98592319e-01 -2.03281828e-02 -4.89912856e-02 1.44853211e+02] [ 4.89939504e-02 -3.67221917e-04 9.98799008e-01 1.45843377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.050385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:225.48, Y:144.87, Z:14.59 [[-1.15776776e-02 -9.99932296e-01 1.16620376e-03 2.25479073e+02] [ 9.98731956e-01 -1.16209088e-02 -4.89840238e-02 1.44866305e+02] [ 4.89942598e-02 5.97603722e-04 9.98798881e-01 1.45906583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.080385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:225.48, Y:144.87, Z:14.59 [[-1.28239819e-02 -9.99917558e-01 6.50493415e-04 2.25480208e+02] [ 9.98716685e-01 -1.28404515e-02 -4.89908779e-02 1.44869122e+02] [ 4.89951916e-02 2.14004957e-05 9.98799014e-01 1.45904897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.110385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:225.48, Y:144.86, Z:14.59 [[-1.52792283e-02 -9.99883042e-01 6.68354214e-04 2.25482287e+02] [ 9.98682143e-01 -1.52936242e-02 -4.89906342e-02 1.44864263e+02] [ 4.89951259e-02 -8.10656635e-05 9.98799014e-01 1.45891916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.140385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:225.48, Y:144.84, Z:14.58 [[-2.50934597e-02 -9.99684876e-01 6.83975565e-04 2.25481981e+02] [ 9.98483895e-01 -2.50968323e-02 -4.89904161e-02 1.44843510e+02] [ 4.89921437e-02 -5.46400448e-04 9.98799014e-01 1.45816043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.170385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:225.48, Y:144.98, Z:14.59 [[-2.25882184e-02 -9.99744136e-01 1.19779758e-03 2.25484021e+02] [ 9.98543437e-01 -2.26197767e-02 -4.89831711e-02 1.44980243e+02] [ 4.89977320e-02 8.96103436e-05 9.98798886e-01 1.45913467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.200385723 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:225.49, Y:144.99, Z:14.59 [[-2.17550947e-02 -9.99762842e-01 9.87697306e-04 2.25485815e+02] [ 9.98562021e-01 -2.17773594e-02 -4.89860887e-02 1.44993370e+02] [ 4.89959807e-02 -7.94199803e-05 9.98798973e-01 1.45927392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.230385723 meters Centerline goodness : 0.995206 Centerline is valid? [True, True] Translation: X:225.48, Y:145.60, Z:14.62 [[-1.50595962e-02 -9.99886304e-01 7.66394567e-04 2.25481006e+02] [ 9.98685486e-01 -1.50790595e-02 -4.89890035e-02 1.45598524e+02] [ 4.89949901e-02 2.76325210e-05 9.98799024e-01 1.46188093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.260385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:225.49, Y:144.86, Z:14.59 [[-1.43728063e-02 -9.99896426e-01 7.48365875e-04 2.25489879e+02] [ 9.98695608e-01 -1.43922111e-02 -4.89892467e-02 1.44855898e+02] [ 4.89949433e-02 4.32767591e-05 9.98799026e-01 1.45859747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.290385723 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:225.49, Y:144.85, Z:14.58 [[-1.28432320e-02 -9.99917295e-01 6.74601230e-04 2.25491148e+02] [ 9.98716453e-01 -1.28608596e-02 -4.89902626e-02 1.44852578e+02] [ 4.89948868e-02 4.45420410e-05 9.98799028e-01 1.45849117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.320385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.49, Y:144.86, Z:14.59 [[-1.27040923e-02 -9.99919060e-01 6.92462223e-04 2.25492968e+02] [ 9.98718234e-01 -1.27227622e-02 -4.89900102e-02 1.44864823e+02] [ 4.89948549e-02 6.92010357e-05 9.98799029e-01 1.45869327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.350385723 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:225.50, Y:144.85, Z:14.59 [[-1.33372956e-02 -9.99910802e-01 7.10422100e-04 2.25496560e+02] [ 9.98709978e-01 -1.33560849e-02 -4.89897497e-02 1.44851143e+02] [ 4.89948684e-02 5.61148675e-05 9.98799029e-01 1.45878917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.380385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:225.50, Y:144.85, Z:14.59 [[-1.38775172e-02 -9.99903439e-01 7.26134315e-04 2.25497440e+02] [ 9.98702617e-01 -1.38964275e-02 -4.89895168e-02 1.44849478e+02] [ 4.89948770e-02 4.53393784e-05 9.98799029e-01 1.45884829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.410385723 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:225.50, Y:144.85, Z:14.58 [[-1.60622196e-02 -9.99870717e-01 7.44037135e-04 2.25496162e+02] [ 9.98669869e-01 -1.60793833e-02 -4.89892449e-02 1.44848263e+02] [ 4.89948751e-02 -4.38285405e-05 9.98799029e-01 1.45839747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.440385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:225.50, Y:144.86, Z:14.58 [[-1.52110858e-02 -9.99883872e-01 9.30152709e-04 2.25496252e+02] [ 9.98683197e-01 -1.52383902e-02 -4.89863690e-02 1.44858541e+02] [ 4.89948543e-02 1.83792019e-04 9.98799014e-01 1.45834095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.470385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.50, Y:144.85, Z:14.58 [[-1.65127462e-02 -9.99863400e-01 7.14205501e-04 2.25496918e+02] [ 9.98662524e-01 -1.65279072e-02 -4.89897019e-02 1.44851841e+02] [ 4.89948143e-02 -9.57042459e-05 9.98799028e-01 1.45847164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.500385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.50, Y:144.99, Z:14.59 [[-1.87306954e-02 -9.99824268e-01 7.70304334e-04 2.25497114e+02] [ 9.98623395e-01 -1.87459411e-02 -4.89888199e-02 1.44987504e+02] [ 4.89946511e-02 -1.48350733e-04 9.98799030e-01 1.45924527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.530385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.50, Y:144.86, Z:14.59 [[-1.74515141e-02 -9.99847384e-01 8.07971680e-04 2.25500654e+02] [ 9.98646559e-01 -1.74701418e-02 -4.89882145e-02 1.44855319e+02] [ 4.89948535e-02 -4.80403778e-05 9.98799030e-01 1.45853318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.560385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:225.50, Y:144.85, Z:14.58 [[-2.21925253e-02 -9.99753527e-01 6.13820151e-04 2.25499492e+02] [ 9.98552548e-01 -2.21959452e-02 -4.89913252e-02 1.44848285e+02] [ 4.89928744e-02 -4.74309546e-04 9.98799015e-01 1.45828704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.590385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:225.50, Y:144.82, Z:14.58 [[-2.49443104e-02 -9.99688523e-01 7.99154890e-04 2.25499776e+02] [ 9.98487591e-01 -2.49535061e-02 -4.89883026e-02 1.44822457e+02] [ 4.89929856e-02 -4.24033186e-04 9.98799033e-01 1.45800092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.620385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:225.50, Y:144.85, Z:14.58 [[-2.12965233e-02 -9.99772581e-01 1.11520182e-03 2.25501389e+02] [ 9.98571925e-01 -2.13255860e-02 -4.89829643e-02 1.44845301e+02] [ 4.89956070e-02 7.04423894e-05 9.98798992e-01 1.45794963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.650385723 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:225.50, Y:145.17, Z:14.59 [[-2.90395383e-02 -9.99577917e-01 8.32988432e-04 2.25496072e+02] [ 9.98376963e-01 -2.90454719e-02 -4.89877650e-02 1.45165167e+02] [ 4.89912826e-02 -5.90945620e-04 9.98799031e-01 1.45936785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.68038572300003 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:225.50, Y:144.82, Z:14.58 [[-2.18011139e-02 -9.99761302e-01 1.43198952e-03 2.25504007e+02] [ 9.98560987e-01 -2.18450907e-02 -4.89770090e-02 1.44818811e+02] [ 4.89966002e-02 3.62175521e-04 9.98798880e-01 1.45789550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.710385723 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:225.50, Y:144.83, Z:14.58 [[-2.37910550e-02 -9.99716910e-01 2.91998384e-04 2.25503644e+02] [ 9.98515954e-01 -2.37767855e-02 -4.89954514e-02 1.44830034e+02] [ 4.89885241e-02 -8.74088433e-04 9.98798959e-01 1.45817727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.740385723 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:225.50, Y:144.82, Z:14.58 [[-2.67474836e-02 -9.99642128e-01 4.33276088e-04 2.25504969e+02] [ 9.98441200e-01 -2.67365854e-02 -4.89931115e-02 1.44818990e+02] [ 4.89871625e-02 -8.77841748e-04 9.98799022e-01 1.45826350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.770385723 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:225.50, Y:144.79, Z:14.58 [[-3.67904875e-02 -9.99321911e-01 1.47588232e-03 2.25496484e+02] [ 9.98121176e-01 -3.68186117e-02 -4.89745569e-02 1.44791458e+02] [ 4.89956878e-02 -3.28688434e-04 9.98798936e-01 1.45762555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.800385723 meters Centerline goodness : 0.999621 Centerline is valid? [True, True] Translation: X:225.49, Y:145.09, Z:14.59 [[-2.82416718e-02 -9.99600284e-01 1.29646294e-03 2.25493372e+02] [ 9.98399686e-01 -2.82712743e-02 -4.89775687e-02 1.45086414e+02] [ 4.89946442e-02 -8.88202259e-05 9.98799037e-01 1.45935232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.830385723 meters Centerline goodness : 0.999444 Centerline is valid? [True, True] Translation: X:225.49, Y:145.24, Z:14.60 [[-1.97628195e-02 -9.99804304e-01 8.85419937e-04 2.25494118e+02] [ 9.98603622e-01 -1.97824661e-02 -4.89842751e-02 1.45244004e+02] [ 4.89922049e-02 -8.38838303e-05 9.98799157e-01 1.45992555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.860385723 meters Centerline goodness : 0.999844 Centerline is valid? [True, True] Translation: X:224.76, Y:144.72, Z:15.59 [[-8.44182608e-02 9.96430283e-01 -4.97412965e-04 2.24761084e+02] [ 9.95231915e-01 8.43411896e-02 4.89897775e-02 1.44722273e+02] [ 4.88568503e-02 3.64059055e-03 -9.98799156e-01 1.55857956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.890385723 meters Centerline goodness : 0.999555 Centerline is valid? [True, True] Translation: X:224.81, Y:144.69, Z:15.59 [[-1.62516273e-01 9.86695237e-01 -4.57930093e-03 2.24805947e+02] [ 9.85503146e-01 1.62545508e-01 4.86056211e-02 1.44690773e+02] [ 4.87032796e-02 3.38628892e-03 -9.98807551e-01 1.55856572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.920385723 meters Centerline goodness : 0.999800 Centerline is valid? [True, True] Translation: X:224.85, Y:144.67, Z:15.58 [[-2.39387005e-01 9.70889852e-01 -8.17054557e-03 2.24850615e+02] [ 9.69710034e-01 2.39499895e-01 4.79817648e-02 1.44672101e+02] [ 4.85418533e-02 3.56315092e-03 -9.98814794e-01 1.55844383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.950385723 meters Centerline goodness : 0.999357 Centerline is valid? [True, True] Translation: X:224.75, Y:145.12, Z:15.61 [[-3.15407115e-01 9.48879974e-01 -1.20476895e-02 2.24748878e+02] [ 9.47721955e-01 3.15618786e-01 4.69880705e-02 1.45123943e+02] [ 4.83885162e-02 3.40251194e-03 -9.98822794e-01 1.56079089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.980385723 meters Centerline goodness : 0.999601 Centerline is valid? [True, True] Translation: X:224.97, Y:144.64, Z:15.59 [[-3.84002602e-01 9.23205718e-01 -1.52709996e-02 2.24974233e+02] [ 9.22071323e-01 3.84289820e-01 4.58890971e-02 1.44636288e+02] [ 4.82335665e-02 3.54058188e-03 -9.98829809e-01 1.55850760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.010385723 meters Centerline goodness : 0.998919 Centerline is valid? [True, True] Translation: X:224.77, Y:145.13, Z:15.61 [[-4.61567095e-01 8.86911780e-01 -1.85286512e-02 2.24771739e+02] [ 8.85804988e-01 4.61920464e-01 4.44860355e-02 1.45128964e+02] [ 4.80139521e-02 4.12051852e-03 -9.98838166e-01 1.56081111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.040385723 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:225.09, Y:144.65, Z:15.59 [[-5.26656607e-01 8.49783248e-01 -2.23886299e-02 2.25089254e+02] [ 8.48729220e-01 5.27121617e-01 4.24442312e-02 1.44652777e+02] [ 4.78699274e-02 3.35165040e-03 -9.98847955e-01 1.55869458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.070385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:224.92, Y:144.95, Z:15.60 [[-5.93655376e-01 8.04322870e-01 -2.52589595e-02 2.24923311e+02] [ 8.03305158e-01 5.94180155e-01 4.06296169e-02 1.44951873e+02] [ 4.76877026e-02 3.82933801e-03 -9.98854954e-01 1.56027250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.100385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.17, Y:144.70, Z:15.59 [[-6.52998933e-01 7.56824295e-01 -2.84496095e-02 2.25174106e+02] [ 7.55865557e-01 6.53609187e-01 3.82399069e-02 1.44697976e+02] [ 4.75358167e-02 3.46653843e-03 -9.98863519e-01 1.55865612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.130385723 meters Centerline goodness : 0.995693 Centerline is valid? [True, True] Translation: X:224.75, Y:145.19, Z:15.62 [[-7.09418204e-01 7.04088636e-01 -3.13847688e-02 2.24749978e+02] [ 7.03192603e-01 7.10104772e-01 3.56563666e-02 1.45185304e+02] [ 4.73917167e-02 3.22573831e-03 -9.98871173e-01 1.56222730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.160385723 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:225.25, Y:144.77, Z:15.59 [[-7.53457865e-01 6.56746711e-01 -3.13847688e-02 2.25249663e+02] [ 6.55808161e-01 7.54085061e-01 3.56563666e-02 1.44771773e+02] [ 4.70839868e-02 6.28318235e-03 -9.98871173e-01 1.55905419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.190385723 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:225.31, Y:144.77, Z:15.59 [[-8.02415128e-01 5.95690134e-01 -3.58221474e-02 2.25311557e+02] [ 5.94921037e-01 8.03208362e-01 3.04185392e-02 1.44774808e+02] [ 4.68926720e-02 3.09694696e-03 -9.98895133e-01 1.55889223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.220385723 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:225.36, Y:144.79, Z:15.59 [[-8.45685053e-01 5.32317545e-01 -3.81421455e-02 2.25356538e+02] [ 5.31629423e-01 8.46540390e-01 2.71942022e-02 1.44792941e+02] [ 4.67648177e-02 2.72024350e-03 -9.98902224e-01 1.55869396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.250385723 meters Centerline goodness : 0.999780 Centerline is valid? [True, True] Translation: X:225.41, Y:144.81, Z:15.59 [[-8.85498355e-01 4.62905870e-01 -4.01349976e-02 2.25409265e+02] [ 4.62295561e-01 8.86403587e-01 2.39059442e-02 1.44810781e+02] [ 4.66420078e-02 2.61444304e-03 -9.98908248e-01 1.55851537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.280385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:225.45, Y:144.84, Z:15.59 [[-9.19313556e-01 3.91292419e-01 -4.18668001e-02 2.25450847e+02] [ 3.90764688e-01 9.20263132e-01 2.04628007e-02 1.44838431e+02] [ 4.65354114e-02 2.45166297e-03 -9.98913632e-01 1.55868964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.310385723 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:225.51, Y:144.86, Z:15.59 [[-9.47634724e-01 3.16422550e-01 -4.31879601e-02 2.25506511e+02] [ 3.15964558e-01 9.48614561e-01 1.72282224e-02 1.44862831e+02] [ 4.64201259e-02 2.68019709e-03 -9.98918409e-01 1.55874413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.340385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:225.48, Y:144.92, Z:15.59 [[-9.69784296e-01 2.39915827e-01 -4.42584982e-02 2.25477763e+02] [ 2.39530974e-01 9.70789478e-01 1.38817103e-02 1.44916844e+02] [ 4.62961264e-02 2.86098348e-03 -9.98923662e-01 1.55890006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.370385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:225.57, Y:144.94, Z:15.59 [[-9.86065756e-01 1.60139812e-01 -4.50507010e-02 2.25566068e+02] [ 1.59825354e-01 9.87089239e-01 1.05209766e-02 1.44937156e+02] [ 4.61538893e-02 3.17413057e-03 -9.98929299e-01 1.55902436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.400385723 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:225.58, Y:144.98, Z:15.59 [[-9.95593549e-01 8.19216716e-02 -4.56324880e-02 2.25579280e+02] [ 8.16984790e-02 9.96634315e-01 6.73797257e-03 1.44976229e+02] [ 4.60308894e-02 2.98017717e-03 -9.98935571e-01 1.55858690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.43038572300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.63, Y:145.71, Z:14.59 [[-9.96560725e-01 -6.90035612e-02 4.58827764e-02 2.25631862e+02] [ 6.89202349e-02 -9.97616389e-01 -3.39744721e-03 1.45706805e+02] [ 4.60078456e-02 -2.23510731e-04 9.98941053e-01 1.45899743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.460385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.66, Y:145.02, Z:15.59 [[-9.98946872e-01 9.76047947e-04 -4.58715059e-02 2.25657346e+02] [ 8.14195897e-04 9.99993378e-01 3.54693046e-03 1.45017253e+02] [ 4.58746642e-02 3.50584669e-03 -9.98941051e-01 1.55859688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.490385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:225.59, Y:145.73, Z:14.59 [[-9.98904845e-01 9.28253654e-03 4.58578880e-02 2.25592220e+02] [-9.27807842e-03 -9.99956910e-01 3.10068335e-04 1.45732686e+02] [ 4.58587902e-02 -1.15744319e-04 9.98947926e-01 1.45905605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.520385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.66, Y:145.06, Z:15.59 [[-9.95971144e-01 -7.70615726e-02 -4.58584082e-02 2.25656921e+02] [-7.71349820e-02 9.97020645e-01 -1.69271301e-04 1.45062155e+02] [ 4.57348240e-02 3.36869816e-03 -9.98947935e-01 1.55881703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.550385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:225.69, Y:145.10, Z:15.58 [[-9.86861909e-01 -1.55008051e-01 -4.55639842e-02 2.25687500e+02] [-1.54999136e-01 9.87907488e-01 -3.75012124e-03 1.45103441e+02] [ 4.55943001e-02 3.36152640e-03 -9.98954383e-01 1.55846193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.580385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:225.71, Y:145.15, Z:15.58 [[-9.72172017e-01 -2.29901689e-01 -4.50198027e-02 2.25712970e+02] [-2.29816921e-01 9.73207834e-01 -7.12010102e-03 1.45149323e+02] [ 4.54505479e-02 3.42434945e-03 -9.98960721e-01 1.55827470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.610385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:225.73, Y:145.20, Z:15.58 [[-9.51736013e-01 -3.03727824e-01 -4.41358271e-02 2.25727067e+02] [-3.03554015e-01 9.52753581e-01 -1.07505552e-02 1.45197084e+02] [ 4.53158101e-02 3.16591692e-03 -9.98967694e-01 1.55842142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.640385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:225.74, Y:145.24, Z:15.58 [[-9.25081106e-01 -3.77324211e-01 -4.30277524e-02 2.25738043e+02] [-3.77072889e-01 9.26075849e-01 -1.41265357e-02 1.45242654e+02] [ 4.51772463e-02 3.15640765e-03 -9.98974000e-01 1.55843476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.670385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:225.74, Y:145.29, Z:15.59 [[-8.93739126e-01 -4.46648138e-01 -4.16631237e-02 2.25742722e+02] [-4.46319664e-01 8.94704505e-01 -1.73956073e-02 1.45292191e+02] [ 4.50459001e-02 3.04793652e-03 -9.98980269e-01 1.55860002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.700385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.74, Y:145.34, Z:15.59 [[-8.58328024e-01 -5.11529929e-01 -4.01264856e-02 2.25738852e+02] [-5.11131998e-01 8.59260210e-01 -2.03954021e-02 1.45339398e+02] [ 4.49119510e-02 3.00398560e-03 -9.98986433e-01 1.55899910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.730385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.36, Y:145.91, Z:14.59 [[-8.41422910e-01 5.39024579e-01 3.82098091e-02 2.25357403e+02] [-5.38512175e-01 -8.42289661e-01 2.35109432e-02 1.45909971e+02] [ 4.48567034e-02 -7.93801114e-04 9.98993116e-01 1.45884525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.760385723 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:225.25, Y:145.84, Z:14.59 [[-8.39871134e-01 5.41444642e-01 3.81336842e-02 2.25249660e+02] [-5.40929112e-01 -8.40736043e-01 2.36347383e-02 1.45843737e+02] [ 4.48572651e-02 -7.77485500e-04 9.98993104e-01 1.45947659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.790385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.27, Y:145.86, Z:14.59 [[-8.38885711e-01 5.42970765e-01 3.81249480e-02 2.25274181e+02] [-5.42456162e-01 -8.39751177e-01 2.36489558e-02 1.45856636e+02] [ 4.48561615e-02 -8.42341857e-04 9.98993101e-01 1.45942655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.820385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:225.34, Y:145.89, Z:14.59 [[-8.39668223e-01 5.41762555e-01 3.80868514e-02 2.25344114e+02] [-5.41243895e-01 -8.40531282e-01 2.37109519e-02 1.45893855e+02] [ 4.48588959e-02 -7.04942984e-04 9.98993084e-01 1.45903446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.850385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.34, Y:145.89, Z:14.59 [[-8.39655348e-01 5.41772271e-01 3.82322115e-02 2.25339871e+02] [-5.41264374e-01 -8.40524740e-01 2.34742086e-02 1.45887778e+02] [ 4.48527949e-02 -9.83489222e-04 9.98993123e-01 1.45904798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.880385723 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:225.34, Y:145.89, Z:14.59 [[-8.39766628e-01 5.41599171e-01 3.82406791e-02 2.25342451e+02] [-5.41091722e-01 -8.40636281e-01 2.34604063e-02 1.45886836e+02] [ 4.48526389e-02 -9.90448634e-04 9.98993123e-01 1.45894282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.910385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.36, Y:145.89, Z:14.59 [[-8.39799533e-01 5.41547548e-01 3.82491418e-02 2.25358693e+02] [-5.41040675e-01 -8.40669522e-01 2.34466010e-02 1.45893544e+02] [ 4.48523370e-02 -1.00389691e-03 9.98993123e-01 1.45904337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.940385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.34, Y:145.88, Z:14.59 [[-8.43355607e-01 5.35999111e-01 3.81611403e-02 2.25340531e+02] [-5.35480009e-01 -8.44218373e-01 2.35902130e-02 1.45879310e+02] [ 4.48606690e-02 -5.39589315e-04 9.98993108e-01 1.45922666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.970385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:225.34, Y:145.87, Z:14.59 [[-8.44958293e-01 5.33462061e-01 3.82585030e-02 2.25339194e+02] [-5.32947556e-01 -8.45823788e-01 2.34312408e-02 1.45874441e+02] [ 4.48596299e-02 -5.91354461e-04 9.98993125e-01 1.45914804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.000385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.68, Y:145.38, Z:15.59 [[-8.15895777e-01 -5.76931296e-01 -3.82669604e-02 2.25676157e+02] [-5.76463413e-01 8.16787339e-01 -2.34174203e-02 1.45375454e+02] [ 4.47662114e-02 2.95332832e-03 -9.98993125e-01 1.55931676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.030385723 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:225.29, Y:145.88, Z:14.59 [[-8.05249134e-01 5.91830137e-01 3.62066489e-02 2.25290197e+02] [-5.91247375e-01 -8.06062665e-01 2.62587338e-02 1.45877328e+02] [ 4.47255380e-02 -2.62263493e-04 9.98999278e-01 1.45914935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.060385723 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:225.65, Y:145.40, Z:15.59 [[-7.63859294e-01 -6.44365858e-01 -3.62162969e-02 2.25648394e+02] [-6.43839443e-01 7.64710370e-01 -2.62454205e-02 1.45403809e+02] [ 4.46066307e-02 3.26967211e-03 -9.98999278e-01 1.55904243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.090385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.26, Y:145.89, Z:14.59 [[-7.59417869e-01 6.49716855e-01 3.39486023e-02 2.25255841e+02] [-6.49073398e-01 -7.60176296e-01 2.89088672e-02 1.45892012e+02] [ 4.45895010e-02 -8.12243463e-05 9.99005390e-01 1.45943693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.120385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.24, Y:145.88, Z:14.59 [[-7.62175286e-01 6.46479389e-01 3.39592706e-02 2.25240993e+02] [-6.45833269e-01 -7.62931446e-01 2.88963297e-02 1.45879841e+02] [ 4.45894770e-02 9.20416469e-05 9.99005390e-01 1.45947616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.150385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.24, Y:145.88, Z:14.60 [[-7.65257348e-01 6.42827540e-01 3.39697564e-02 2.25240361e+02] [-6.42178359e-01 -7.66010881e-01 2.88839976e-02 1.45876329e+02] [ 4.45886322e-02 2.89049016e-04 9.99005391e-01 1.45956559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.18038572300003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:225.24, Y:145.87, Z:14.60 [[-7.66927822e-01 6.40833095e-01 3.39803007e-02 2.25238604e+02] [-6.40182503e-01 -7.67680138e-01 2.88715875e-02 1.45873040e+02] [ 4.45878707e-02 3.88829772e-04 9.99005391e-01 1.45960970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.210385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:225.24, Y:145.87, Z:14.60 [[-7.68465199e-01 6.38988154e-01 3.39908472e-02 2.25237706e+02] [-6.38336306e-01 -7.69216425e-01 2.88591657e-02 1.45870718e+02] [ 4.45869830e-02 4.79672642e-04 9.99005391e-01 1.45952366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.240385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.23, Y:145.87, Z:14.60 [[-7.70564334e-01 6.36454643e-01 3.40013925e-02 2.25233601e+02] [-6.35800874e-01 -7.71313889e-01 2.88467360e-02 1.45865882e+02] [ 4.45853854e-02 6.10150831e-04 9.99005391e-01 1.45958156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.270385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.23, Y:145.86, Z:14.60 [[-7.71410199e-01 6.35428590e-01 3.40119450e-02 2.25232153e+02] [-6.34774372e-01 -7.72159362e-01 2.88342887e-02 1.45864115e+02] [ 4.45847732e-02 6.53153384e-04 9.99005391e-01 1.45957877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.300385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.23, Y:145.86, Z:14.59 [[-7.72332562e-01 6.34306615e-01 3.40225079e-02 2.25229590e+02] [-6.33651858e-01 -7.73081254e-01 2.88218198e-02 1.45860511e+02] [ 4.45840340e-02 7.01604527e-04 9.99005391e-01 1.45943380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.330385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.23, Y:145.86, Z:14.59 [[-7.72343500e-01 6.34292730e-01 3.40330731e-02 2.25228550e+02] [-6.33638509e-01 -7.73092660e-01 2.88093390e-02 1.45859635e+02] [ 4.45842733e-02 6.86039996e-04 9.99005391e-01 1.45945085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.360385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.45, Y:145.28, Z:15.61 [[-7.00305927e-01 -7.13030602e-01 -3.40436336e-02 2.25446515e+02] [-7.12460591e-01 7.01120993e-01 -2.87968543e-02 1.45275260e+02] [ 4.44017446e-02 4.08813961e-03 -9.99005391e-01 1.56065773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.390385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.18, Y:145.87, Z:14.59 [[-7.18618296e-01 6.94692713e-01 3.14607468e-02 2.25179325e+02] [-6.93982822e-01 -7.19306258e-01 3.14062069e-02 1.45874183e+02] [ 4.44475751e-02 7.35857090e-04 9.99011447e-01 1.45943441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.420385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.49, Y:145.35, Z:15.61 [[-6.46082581e-01 -7.62612497e-01 -3.16145035e-02 2.25485417e+02] [-7.61981903e-01 6.46843857e-01 -3.12506616e-02 1.45351168e+02] [ 4.42817924e-02 3.89917144e-03 -9.99011471e-01 1.56054294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.450385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.13, Y:145.88, Z:14.59 [[-6.60507544e-01 7.50264328e-01 2.88656154e-02 2.25129397e+02] [-7.49510551e-01 -6.61137737e-01 3.36277708e-02 1.45881341e+02] [ 4.43138644e-02 5.76312986e-04 9.99017492e-01 1.45928776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.480385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.13, Y:145.88, Z:14.59 [[-6.59573003e-01 7.51080455e-01 2.90104186e-02 2.25128490e+02] [-7.50332959e-01 -6.60210604e-01 3.35023837e-02 1.45883188e+02] [ 4.43159716e-02 3.29794584e-04 9.99017510e-01 1.45919253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.510385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.13, Y:145.88, Z:14.59 [[-6.58718378e-01 7.51829624e-01 2.90226618e-02 2.25125111e+02] [-7.51083320e-01 -6.59357375e-01 3.34917742e-02 1.45882179e+02] [ 4.43164141e-02 2.63209976e-04 9.99017510e-01 1.45919037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.540385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.12, Y:145.88, Z:14.59 [[-6.56745662e-01 7.53552991e-01 2.90348895e-02 2.25120264e+02] [-7.52808833e-01 -6.57387156e-01 3.34811704e-02 1.45881870e+02] [ 4.43169995e-02 1.30892135e-04 9.99017511e-01 1.45924964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.570385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.12, Y:145.88, Z:14.59 [[-6.55800526e-01 7.54375195e-01 2.90471211e-02 2.25120384e+02] [-7.53632311e-01 -6.56443495e-01 3.34705553e-02 1.45882948e+02] [ 4.43171504e-02 5.91588072e-05 9.99017511e-01 1.45919234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.600385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.12, Y:145.88, Z:14.59 [[-6.54353177e-01 7.55630514e-01 2.90593410e-02 2.25118602e+02] [-7.54889335e-01 -6.54998110e-01 3.34599426e-02 1.45881624e+02] [ 4.43171670e-02 -4.19668450e-05 9.99017511e-01 1.45892116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.630385723 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:225.12, Y:145.88, Z:14.59 [[-6.53795151e-01 7.56112919e-01 2.90715396e-02 2.25117736e+02] [-7.55372687e-01 -6.54441170e-01 3.34493404e-02 1.45881284e+02] [ 4.43170909e-02 -9.08304268e-05 9.99017511e-01 1.45859153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.660385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.11, Y:145.88, Z:14.59 [[-6.54031062e-01 7.55908398e-01 2.90837249e-02 2.25113768e+02] [-7.55168435e-01 -6.54677390e-01 3.34387422e-02 1.45882325e+02] [ 4.43170832e-02 -9.31349413e-05 9.99017511e-01 1.45890442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.690385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.11, Y:145.88, Z:14.59 [[-6.54550102e-01 7.55458532e-01 2.90958985e-02 2.25110359e+02] [-7.54718595e-01 -6.55196460e-01 3.34281463e-02 1.45881769e+02] [ 4.43171080e-02 -7.88191229e-05 9.99017511e-01 1.45899721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.720385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.11, Y:145.88, Z:14.59 [[-6.55079333e-01 7.54999197e-01 2.91080683e-02 2.25107614e+02] [-7.54259279e-01 -6.55725711e-01 3.34175459e-02 1.45880611e+02] [ 4.43171291e-02 -6.38869144e-05 9.99017511e-01 1.45902167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.750385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.10, Y:145.88, Z:14.59 [[-6.55689585e-01 7.54468806e-01 2.91202342e-02 2.25104613e+02] [-7.53728836e-01 -6.56335904e-01 3.34069411e-02 1.45876850e+02] [ 4.43171502e-02 -4.41768803e-05 9.99017511e-01 1.45888025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.780385723 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:225.10, Y:145.88, Z:14.59 [[-6.56325385e-01 7.53915308e-01 2.91324097e-02 2.25101446e+02] [-7.53175263e-01 -6.56971619e-01 3.33963202e-02 1.45876775e+02] [ 4.43171633e-02 -2.29576259e-05 9.99017512e-01 1.45870414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.810385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.10, Y:145.88, Z:14.59 [[-6.56576422e-01 7.53696222e-01 2.91445890e-02 2.25098689e+02] [-7.52956434e-01 -6.57222949e-01 3.33856880e-02 1.45876497e+02] [ 4.43171596e-02 -2.43501980e-05 9.99017512e-01 1.45871924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.840385723 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:225.10, Y:145.87, Z:14.59 [[-6.56644539e-01 7.53636406e-01 2.91567606e-02 2.25095342e+02] [-7.52897031e-01 -6.57291538e-01 3.33750548e-02 1.45874992e+02] [ 4.43171484e-02 -3.64909847e-05 9.99017512e-01 1.45880430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.870385723 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:225.11, Y:145.88, Z:14.59 [[-6.51466375e-01 7.58116571e-01 2.91689321e-02 2.25105701e+02] [-7.57382122e-01 -6.52118960e-01 3.33644138e-02 1.45884887e+02] [ 4.43157287e-02 -3.56233993e-04 9.99017512e-01 1.45860580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.900385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.09, Y:145.88, Z:14.59 [[-6.55509411e-01 7.54633787e-01 2.89008588e-02 2.25092663e+02] [-7.53885487e-01 -6.56146167e-01 3.35988039e-02 1.45875286e+02] [ 4.43179804e-02 2.36394181e-04 9.99017448e-01 1.45899956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.93038572300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.10, Y:145.88, Z:14.58 [[-6.50819527e-01 7.58671061e-01 2.91918648e-02 2.25102258e+02] [-7.57938080e-01 -6.51473746e-01 3.33440399e-02 1.45884628e+02] [ 4.43148916e-02 -4.24673727e-04 9.99017522e-01 1.45844461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.960385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.10, Y:145.89, Z:14.58 [[-6.52223998e-01 7.57475298e-01 2.88968873e-02 2.25097106e+02] [-7.56729622e-01 -6.52863823e-01 3.36022023e-02 1.45886966e+02] [ 4.43185705e-02 4.90321168e-05 9.99017448e-01 1.45816446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.990385723 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:225.09, Y:145.89, Z:14.58 [[-6.52028816e-01 7.57636810e-01 2.90669408e-02 2.25094296e+02] [-7.56897914e-01 -6.52676358e-01 3.34532440e-02 1.45886997e+02] [ 4.43167141e-02 -1.88227730e-04 9.99017514e-01 1.45835546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.020385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.08, Y:145.87, Z:14.59 [[-6.56899153e-01 7.53422907e-01 2.89383193e-02 2.25076217e+02] [-7.52674879e-01 -6.57536198e-01 3.35659719e-02 1.45872835e+02] [ 4.43173645e-02 2.68312527e-04 9.99017467e-01 1.45881186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.050385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.08, Y:145.87, Z:14.59 [[-6.57340298e-01 7.53026751e-01 2.92308857e-02 2.25075574e+02] [-7.52289699e-01 -6.57989896e-01 3.33092315e-02 1.45874999e+02] [ 4.43163698e-02 -9.45940314e-05 9.99017543e-01 1.45887424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.080385723 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:225.07, Y:145.88, Z:14.59 [[-6.57633027e-01 7.52770647e-01 2.92430409e-02 2.25070997e+02] [-7.52033817e-01 -6.58282876e-01 3.32985566e-02 1.45876183e+02] [ 4.43163691e-02 -9.35251328e-05 9.99017543e-01 1.45897185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.110385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.08, Y:145.89, Z:14.59 [[-6.52995533e-01 7.56796518e-01 2.92551769e-02 2.25082186e+02] [-7.56064171e-01 -6.53650430e-01 3.32878909e-02 1.45887159e+02] [ 4.43148189e-02 -3.81947002e-04 9.99017543e-01 1.45859338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.140385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:225.07, Y:145.88, Z:14.59 [[-6.54626961e-01 7.55397887e-01 2.89408779e-02 2.25074331e+02] [-7.54651864e-01 -6.55266369e-01 3.35640965e-02 1.45882357e+02] [ 4.43182315e-02 1.31675025e-04 9.99017456e-01 1.45855833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.170385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.06, Y:145.88, Z:14.59 [[-6.57939502e-01 7.52507818e-01 2.91135018e-02 2.25059200e+02] [-7.51765686e-01 -6.58583309e-01 3.34122568e-02 1.45875713e+02] [ 4.43166507e-02 9.67119549e-05 9.99017530e-01 1.45903008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.200385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:225.05, Y:145.87, Z:14.59 [[-6.57874133e-01 7.52558343e-01 2.92842209e-02 2.25052427e+02] [-7.51822931e-01 -6.58525567e-01 3.32619551e-02 1.45870065e+02] [ 4.43159700e-02 -1.34368936e-04 9.99017556e-01 1.45903684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.230385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:225.06, Y:145.88, Z:14.59 [[-6.56852426e-01 7.53449808e-01 2.92963762e-02 2.25055798e+02] [-7.52715758e-01 -6.57505393e-01 3.32512455e-02 1.45876057e+02] [ 4.43156700e-02 -2.10682782e-04 9.99017556e-01 1.45893396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.260385723 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:225.05, Y:145.87, Z:14.59 [[-6.56646352e-01 7.53628940e-01 2.93085160e-02 2.25051589e+02] [-7.52895545e-01 -6.57300056e-01 3.32405418e-02 1.45873491e+02] [ 4.43155235e-02 -2.38970652e-04 9.99017556e-01 1.45894304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.290385723 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:225.05, Y:145.87, Z:14.59 [[-6.54472813e-01 7.55516682e-01 2.93237163e-02 2.25047407e+02] [-7.54785774e-01 -6.55129295e-01 3.32271272e-02 1.45872901e+02] [ 4.43144745e-02 -3.86872504e-04 9.99017556e-01 1.45881778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.320385723 meters Centerline goodness : 0.995435 Centerline is valid? [True, True] Translation: X:224.55, Y:145.31, Z:14.62 [[-6.56373572e-01 7.53865629e-01 2.93316780e-02 2.24545212e+02] [-7.53133384e-01 -6.57028562e-01 3.32200939e-02 1.45311042e+02] [ 4.43152372e-02 -2.85874187e-04 9.99017556e-01 1.46208377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.350385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.04, Y:145.87, Z:14.59 [[-6.56321248e-01 7.53912924e-01 2.92869130e-02 2.25036007e+02] [-7.53178961e-01 -6.56974315e-01 3.32596137e-02 1.45865465e+02] [ 4.43156022e-02 -2.29295572e-04 9.99017555e-01 1.45907320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.380385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.04, Y:145.87, Z:14.59 [[-6.54355285e-01 7.55616687e-01 2.93697740e-02 2.25044791e+02] [-7.54887718e-01 -6.55013904e-01 3.31861130e-02 1.45873979e+02] [ 4.43135911e-02 -4.55373270e-04 9.99017567e-01 1.45873994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.410385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.04, Y:145.87, Z:14.59 [[-6.57070901e-01 7.53263534e-01 2.91869939e-02 2.25035447e+02] [-7.52524980e-01 -6.57718820e-01 3.33482764e-02 1.45866391e+02] [ 4.43168757e-02 -5.17600006e-05 9.99017523e-01 1.45895258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.440385723 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:225.02, Y:145.85, Z:14.59 [[-6.57618713e-01 7.52775986e-01 2.94269065e-02 2.25022277e+02] [-7.52046448e-01 -6.58276689e-01 3.31351998e-02 1.45853024e+02] [ 4.43144293e-02 -3.40073059e-04 9.99017575e-01 1.45885934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.470385723 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:225.03, Y:145.87, Z:14.59 [[-6.59248079e-01 7.51351711e-01 2.93696450e-02 2.25029746e+02] [-7.50618482e-01 -6.59901946e-01 3.31860848e-02 1.45866630e+02] [ 4.43155075e-02 -1.67535672e-04 9.99017571e-01 1.45875337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.500385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:225.02, Y:145.86, Z:14.59 [[-6.62821702e-01 7.48202245e-01 2.93392515e-02 2.25018330e+02] [-7.47464713e-01 -6.63470717e-01 3.32131037e-02 1.45860125e+02] [ 4.43158530e-02 8.43106764e-05 9.99017566e-01 1.45914570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.530385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.02, Y:145.87, Z:14.59 [[-6.62923836e-01 7.48107201e-01 2.94550991e-02 2.25024880e+02] [-7.47374146e-01 -6.63577886e-01 3.31100449e-02 1.45869624e+02] [ 4.43156155e-02 -6.45415299e-05 9.99017578e-01 1.45903273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.560385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:225.02, Y:145.86, Z:14.59 [[-6.63813326e-01 7.47319985e-01 2.94059454e-02 2.25018538e+02] [-7.46584214e-01 -6.64464324e-01 3.31537942e-02 1.45862748e+02] [ 4.43156946e-02 5.39157373e-05 9.99017576e-01 1.45899881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.590385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:225.02, Y:145.86, Z:14.59 [[-6.64086441e-01 7.47076576e-01 2.94242802e-02 2.25017003e+02] [-7.46341290e-01 -6.64737984e-01 3.31374638e-02 1.45860933e+02] [ 4.43156597e-02 4.55851655e-05 9.99017578e-01 1.45901029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.620385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.02, Y:145.86, Z:14.59 [[-6.64920463e-01 7.46333895e-01 2.94362857e-02 2.25016721e+02] [-7.45598355e-01 -6.65571717e-01 3.31267630e-02 1.45861864e+02] [ 4.43155853e-02 7.90163842e-05 9.99017579e-01 1.45909370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.650385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.00, Y:145.85, Z:14.59 [[-6.66953307e-01 7.44516933e-01 2.94588338e-02 2.25002930e+02] [-7.43780506e-01 -6.67603556e-01 3.31066515e-02 1.45853587e+02] [ 4.43152848e-02 1.69684404e-04 9.99017581e-01 1.45940742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.68038572300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.01, Y:145.86, Z:14.59 [[-6.66090094e-01 7.45287428e-01 2.95065486e-02 2.25008485e+02] [-7.44553638e-01 -6.66743314e-01 3.30640707e-02 1.45861296e+02] [ 4.43155302e-02 5.44418324e-05 9.99017583e-01 1.45931261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.710385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.00, Y:145.85, Z:14.59 [[-6.66457553e-01 7.44958377e-01 2.95185896e-02 2.24996928e+02] [-7.44224741e-01 -6.67110945e-01 3.30533174e-02 1.45853988e+02] [ 4.43155199e-02 6.01683226e-05 9.99017583e-01 1.45949784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.740385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:224.99, Y:145.85, Z:14.59 [[-6.65787055e-01 7.45557200e-01 2.95306228e-02 2.24993837e+02] [-7.44824629e-01 -6.66441641e-01 3.30425631e-02 1.45852320e+02] [ 4.43155576e-02 4.17563936e-06 9.99017583e-01 1.45949910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.770385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.98, Y:145.84, Z:14.59 [[-6.64932814e-01 7.46318687e-01 2.95427017e-02 2.24984504e+02] [-7.45587345e-01 -6.65588772e-01 3.30317601e-02 1.45843831e+02] [ 4.43155104e-02 -6.27633683e-05 9.99017583e-01 1.45939410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.800385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:224.98, Y:145.85, Z:14.60 [[-6.64985026e-01 7.46271624e-01 2.95563677e-02 2.24984772e+02] [-7.45540779e-01 -6.65641538e-01 3.30195274e-02 1.45849631e+02] [ 4.43154824e-02 -7.79860691e-05 9.99017583e-01 1.45951074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.830385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.99, Y:145.86, Z:14.60 [[-6.64399840e-01 7.46792178e-01 2.95684939e-02 2.24993622e+02] [-7.46062331e-01 -6.65057461e-01 3.30086650e-02 1.45861115e+02] [ 4.43153603e-02 -1.28987717e-04 9.99017584e-01 1.45954755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.860385723 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:224.98, Y:145.85, Z:14.60 [[-6.65065007e-01 7.46199388e-01 2.95805550e-02 2.24978438e+02] [-7.45469436e-01 -6.65722511e-01 3.29978530e-02 1.45848262e+02] [ 4.43154191e-02 -1.05682269e-04 9.99017584e-01 1.45965849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.890385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.98, Y:145.85, Z:14.60 [[-6.65115358e-01 7.46154032e-01 2.95925756e-02 2.24981902e+02] [-7.45424515e-01 -6.65773344e-01 3.29870693e-02 1.45854066e+02] [ 4.43153829e-02 -1.18824909e-04 9.99017584e-01 1.45965136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.920385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:224.98, Y:145.85, Z:14.60 [[-6.64869537e-01 7.46372605e-01 2.96046266e-02 2.24976664e+02] [-7.45643785e-01 -6.65528296e-01 3.29762506e-02 1.45852189e+02] [ 4.43152867e-02 -1.49601384e-04 9.99017584e-01 1.45956596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.950385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.99, Y:145.86, Z:14.60 [[-6.64258168e-01 7.46916226e-01 2.96181796e-02 2.24987718e+02] [-7.46188489e-01 -6.64918122e-01 3.29640732e-02 1.45864541e+02] [ 4.43150655e-02 -2.04089768e-04 9.99017584e-01 1.45953525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.980385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.97, Y:145.85, Z:14.60 [[-6.66407046e-01 7.44999071e-01 2.96316429e-02 2.24969935e+02] [-7.44269973e-01 -6.67065496e-01 3.29519665e-02 1.45847434e+02] [ 4.43154310e-02 -9.45194479e-05 9.99017584e-01 1.45957241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.010385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.97, Y:145.85, Z:14.60 [[-6.68241693e-01 7.43353414e-01 2.96435846e-02 2.24969312e+02] [-7.42623171e-01 -6.68898873e-01 3.29412202e-02 1.45848991e+02] [ 4.43155288e-02 -1.31601872e-06 9.99017584e-01 1.45956889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.040385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:224.97, Y:145.85, Z:14.60 [[-6.69287728e-01 7.42411201e-01 2.96571324e-02 2.24966692e+02] [-7.41680574e-01 -6.69944480e-01 3.29290185e-02 1.45846511e+02] [ 4.43155044e-02 4.28689966e-05 9.99017585e-01 1.45959201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.070385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.97, Y:145.84, Z:14.60 [[-6.70450377e-01 7.41360934e-01 2.96691336e-02 2.24965777e+02] [-7.40629756e-01 -6.71106517e-01 3.29182019e-02 1.45843766e+02] [ 4.43154178e-02 9.61777388e-05 9.99017585e-01 1.45959868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.100385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.98, Y:145.86, Z:14.59 [[-6.66852217e-01 7.44598651e-01 2.96811346e-02 2.24981798e+02] [-7.43871140e-01 -6.67512420e-01 3.29073775e-02 1.45856670e+02] [ 4.43153149e-02 -1.34581791e-04 9.99017585e-01 1.45937780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.130385723 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:224.62, Y:145.46, Z:14.62 [[-6.68798302e-01 7.42856285e-01 2.95528628e-02 2.24623662e+02] [-7.42121915e-01 -6.69450907e-01 3.30234204e-02 1.45461660e+02] [ 4.43158462e-02 1.54180382e-04 9.99017558e-01 1.46206047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.160385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:224.94, Y:145.82, Z:14.60 [[-6.72123478e-01 7.39846311e-01 2.96220662e-02 2.24943900e+02] [-7.39111774e-01 -6.72775868e-01 3.29608427e-02 1.45818593e+02] [ 4.43149692e-02 2.59738323e-04 9.99017575e-01 1.46018327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.190385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.91, Y:145.78, Z:14.60 [[-6.70856853e-01 7.40988363e-01 2.97880565e-02 2.24910059e+02] [-7.40261610e-01 -6.71517866e-01 3.28101431e-02 1.45779518e+02] [ 4.43151463e-02 -4.00452855e-05 9.99017601e-01 1.46034255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.220385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.72, Y:145.57, Z:14.62 [[-6.70103187e-01 7.41669505e-01 2.98003946e-02 2.24720480e+02] [-7.40943922e-01 -6.70765484e-01 3.27989329e-02 1.45569866e+02] [ 4.43150445e-02 -1.01751752e-04 9.99017601e-01 1.46165546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.250385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.95, Y:145.82, Z:14.60 [[-6.70263092e-01 7.41524507e-01 2.98126159e-02 2.24951183e+02] [-7.40799275e-01 -6.70925773e-01 3.27878206e-02 1.45821830e+02] [ 4.43150249e-02 -1.08698202e-04 9.99017601e-01 1.45983204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.280385723 meters Centerline goodness : 0.998927 Centerline is valid? [True, True] Translation: X:224.55, Y:145.38, Z:14.62 [[-6.67492553e-01 7.44017811e-01 2.98527779e-02 2.24552834e+02] [-7.43296690e-01 -6.68159703e-01 3.27512130e-02 1.45383990e+02] [ 4.43139090e-02 -3.28280213e-04 9.99017602e-01 1.46221636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.310385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.94, Y:145.81, Z:14.60 [[-6.68992258e-01 7.42670153e-01 2.98396288e-02 2.24940792e+02] [-7.41947153e-01 -6.69657372e-01 3.27631888e-02 1.45810984e+02] [ 4.43145698e-02 -2.21107964e-04 9.99017602e-01 1.45981840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.340385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.71, Y:145.56, Z:14.61 [[-6.70244540e-01 7.41536659e-01 2.99272577e-02 2.24711650e+02] [-7.40816112e-01 -6.70912300e-01 3.26829488e-02 1.45564813e+02] [ 4.43141699e-02 -2.65026752e-04 9.99017610e-01 1.46102975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.370385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:225.46, Y:145.24, Z:15.61 [[-6.32313873e-01 -7.74134049e-01 -2.99272577e-02 2.25464511e+02] [-7.73447805e-01 6.33016839e-01 -3.26829488e-02 1.45236802e+02] [ 4.42454415e-02 2.48128989e-03 -9.99017610e-01 1.56104203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.400385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.26, Y:145.01, Z:15.63 [[-5.65171565e-01 -8.24512622e-01 -2.75687981e-02 2.25263017e+02] [-8.23793942e-01 5.65834647e-01 -3.45643331e-02 1.45014960e+02] [ 4.40981100e-02 3.17623065e-03 -9.99022156e-01 1.56257474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.43038572300003 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:224.74, Y:145.69, Z:14.61 [[-5.51042069e-01 8.34120774e-01 2.43961520e-02 2.24735466e+02] [-8.33312400e-01 -5.51581838e-01 3.67140387e-02 1.45687261e+02] [ 4.40804167e-02 -9.86361622e-05 9.99027981e-01 1.46073984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.460385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:225.21, Y:144.99, Z:15.63 [[-5.07179511e-01 -8.61484208e-01 -2.47770677e-02 2.25212050e+02] [-8.60717207e-01 5.07776439e-01 -3.64551516e-02 1.44987367e+02] [ 4.39867486e-02 2.83674256e-03 -9.99028087e-01 1.56259892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.490385723 meters Centerline goodness : 0.999822 Centerline is valid? [True, True] Translation: X:225.32, Y:145.25, Z:15.61 [[-4.40680893e-01 -8.97321819e-01 -2.47770677e-02 2.25316166e+02] [-8.96602082e-01 4.41334033e-01 -3.64551516e-02 1.45248099e+02] [ 4.36469662e-02 6.15008175e-03 -9.99028087e-01 1.56147992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.520385723 meters Centerline goodness : 0.999844 Centerline is valid? [True, True] Translation: X:224.56, Y:145.56, Z:14.61 [[-4.28466185e-01 9.03361949e-01 1.88127114e-02 2.24564550e+02] [-9.02505172e-01 -4.28878974e-01 3.93349786e-02 1.45555280e+02] [ 4.36020993e-02 -1.24861105e-04 9.99048968e-01 1.46149489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.550385723 meters Centerline goodness : 0.998936 Centerline is valid? [True, True] Translation: X:225.07, Y:144.77, Z:15.64 [[-3.68645714e-01 -9.29374680e-01 -1.90536845e-02 2.25068968e+02] [-9.28552459e-01 3.69123614e-01 -3.92184790e-02 1.44771166e+02] [ 4.34818263e-02 3.23462146e-03 -9.99048982e-01 1.56438127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.580385723 meters Centerline goodness : 0.998807 Centerline is valid? [True, True] Translation: X:224.31, Y:145.05, Z:14.63 [[-3.64419306e-01 9.31102577e-01 1.57022221e-02 2.24314553e+02] [-9.30220148e-01 -3.64757404e-01 4.05279283e-02 1.45049517e+02] [ 4.34631602e-02 1.62636159e-04 9.99055017e-01 1.46343246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.610385723 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:225.18, Y:145.19, Z:15.62 [[-3.11295405e-01 -9.50183462e-01 -1.57022221e-02 2.25177406e+02] [-9.49321517e-01 3.11682761e-01 -4.05279283e-02 1.45187004e+02] [ 4.34030791e-02 2.29029942e-03 -9.99055017e-01 1.56231673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.640385723 meters Centerline goodness : 0.999093 Centerline is valid? [True, True] Translation: X:225.02, Y:144.72, Z:15.65 [[-2.32006749e-01 -9.72625535e-01 -1.31315622e-02 2.25020348e+02] [-9.71751561e-01 2.32356473e-01 -4.13445682e-02 1.44721545e+02] [ 4.32639862e-02 3.16839720e-03 -9.99058651e-01 1.56454956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.670385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:224.35, Y:145.36, Z:14.63 [[-2.19408800e-01 9.75585613e-01 9.61722044e-03 2.24354689e+02] [-9.74673972e-01 -2.19619438e-01 4.21657509e-02 1.45357320e+02] [ 4.32484285e-02 -1.22117622e-04 9.99064342e-01 1.46258721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.700385723 meters Centerline goodness : 0.996504 Centerline is valid? [True, True] Translation: X:224.97, Y:144.53, Z:15.65 [[-1.63660815e-01 -9.86466746e-01 -9.92451518e-03 2.24967552e+02] [-9.85572504e-01 1.63935942e-01 -4.20933009e-02 1.44528617e+02] [ 4.31506263e-02 2.89230533e-03 -9.99064391e-01 1.56532770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.730385723 meters Centerline goodness : 0.996097 Centerline is valid? [True, True] Translation: X:224.94, Y:144.45, Z:15.66 [[-9.46908869e-02 -9.95457252e-01 -9.92451518e-03 2.24939948e+02] [-9.94584298e-01 9.50275110e-02 -4.20933009e-02 1.44450413e+02] [ 4.28451836e-02 5.88491497e-03 -9.99064391e-01 1.56592985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.760385723 meters Centerline goodness : 0.997864 Centerline is valid? [True, True] Translation: X:224.17, Y:144.57, Z:14.66 [[-7.36783163e-02 9.97275544e-01 3.60495884e-03 2.24165730e+02] [-9.96364149e-01 -7.37650770e-02 4.26285884e-02 1.44573501e+02] [ 4.27783687e-02 -4.51049127e-04 9.99084485e-01 1.46561155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.790385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:224.94, Y:145.10, Z:15.64 [[-3.13505241e-02 -9.99501950e-01 -3.60495885e-03 2.24941325e+02] [-9.98595051e-01 3.14758291e-02 -4.26285884e-02 1.45104337e+02] [ 4.27208263e-02 2.26346547e-03 -9.99084485e-01 1.56363592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.820385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:224.17, Y:145.07, Z:14.64 [[-1.34287668e-03 9.99998794e-01 7.80294492e-04 2.24169722e+02] [-9.99087830e-01 -1.37495669e-03 4.26804000e-02 1.45072307e+02] [ 4.26814214e-02 -7.22268217e-04 9.99088472e-01 1.46372689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.850385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:224.17, Y:145.07, Z:14.64 [[ 4.66733469e-04 9.99999719e-01 5.87167977e-04 2.24171531e+02] [-9.99088525e-01 4.41245492e-04 4.26840105e-02 1.45072258e+02] [ 4.26837394e-02 -6.06554844e-04 9.99088450e-01 1.46369403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.880385723 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:224.17, Y:145.07, Z:14.64 [[ 1.93361109e-03 9.99997954e-01 5.94310335e-04 2.24173524e+02] [-9.99086809e-01 1.90648176e-03 4.26838735e-02 1.45065288e+02] [ 4.26826531e-02 -6.76301627e-04 9.99088451e-01 1.46369849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.910385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:224.18, Y:145.07, Z:14.64 [[ 2.13504926e-03 9.99997543e-01 5.97011108e-04 2.24175471e+02] [-9.99086407e-01 2.10762116e-03 4.26838203e-02 1.45065283e+02] [ 4.26824571e-02 -6.87597742e-04 9.99088452e-01 1.46361271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.940385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:224.18, Y:145.06, Z:14.64 [[ 9.76756428e-04 9.99999344e-01 5.98496913e-04 2.24176841e+02] [-9.99088180e-01 9.50320307e-04 4.26837903e-02 1.45057050e+02] [ 4.26831935e-02 -6.39642858e-04 9.99088452e-01 1.46380388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.970385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:224.18, Y:145.05, Z:14.64 [[-2.60884735e-03 9.99996447e-01 5.48328400e-04 2.24179607e+02] [-9.99085126e-01 -2.62987523e-03 4.26848215e-02 1.45053752e+02] [ 4.26861118e-02 -4.36468565e-04 9.99088437e-01 1.46389644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.000385723 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:224.18, Y:145.06, Z:14.64 [[-3.54968174e-03 9.99993427e-01 7.39177792e-04 2.24182563e+02] [-9.99082353e-01 -3.57799660e-03 4.26807837e-02 1.45055387e+02] [ 4.26831479e-02 -5.86996289e-04 9.99088487e-01 1.46381585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.030385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.19, Y:145.04, Z:14.64 [[-8.35020329e-03 9.99964888e-01 7.04590530e-04 2.24186256e+02] [-9.99053645e-01 -8.37266801e-03 4.26815262e-02 1.45041773e+02] [ 4.26859269e-02 -3.47524316e-04 9.99088480e-01 1.46358177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.060385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:224.19, Y:145.04, Z:14.64 [[-1.15720547e-02 9.99932713e-01 8.11193880e-04 2.24187918e+02] [-9.99021530e-01 -1.15961331e-02 4.26791827e-02 1.45037605e+02] [ 4.26857177e-02 -3.16514315e-04 9.99088499e-01 1.46366002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.090385723 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:224.19, Y:145.04, Z:14.64 [[-1.10606232e-02 9.99938396e-01 9.31031310e-04 2.24189658e+02] [-9.99027388e-01 -1.10902819e-02 4.26764913e-02 1.45042079e+02] [ 4.26841876e-02 -4.58097189e-04 9.99088510e-01 1.46358228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.120385723 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:224.19, Y:145.04, Z:14.64 [[-1.21334142e-02 9.99926099e-01 7.60133608e-04 2.24190190e+02] [-9.99014838e-01 -1.21548019e-02 4.26803749e-02 1.45043383e+02] [ 4.26864600e-02 -2.41526086e-04 9.99088488e-01 1.46352361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.150385723 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:224.19, Y:145.03, Z:14.64 [[-1.18782775e-02 9.99929117e-01 8.17555290e-04 2.24192294e+02] [-9.99017934e-01 -1.19023485e-02 4.26790486e-02 1.45032475e+02] [ 4.26857542e-02 -3.09798813e-04 9.99088500e-01 1.46381603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.18038572300003 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:224.19, Y:145.03, Z:14.64 [[-1.33574868e-02 9.99910432e-01 8.40279277e-04 2.24193162e+02] [-9.98999243e-01 -1.33811797e-02 4.26785142e-02 1.45028055e+02] [ 4.26859355e-02 -2.69360670e-04 9.99088504e-01 1.46405554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.210385723 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:224.20, Y:145.03, Z:14.64 [[-1.32148524e-02 9.99912152e-01 1.02783347e-03 2.24196232e+02] [-9.99001229e-01 -1.32466793e-02 4.26739976e-02 1.45030605e+02] [ 4.26838641e-02 -4.62876322e-04 9.99088521e-01 1.46388381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.240385723 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:224.20, Y:145.03, Z:14.64 [[-1.34822468e-02 9.99908562e-01 1.04719174e-03 2.24197518e+02] [-9.98997660e-01 -1.35146561e-02 4.26735225e-02 1.45030588e+02] [ 4.26837730e-02 -4.70807137e-04 9.99088522e-01 1.46389612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.270385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:224.20, Y:145.03, Z:14.64 [[-1.18312606e-02 9.99929466e-01 1.04101476e-03 2.24200427e+02] [-9.99018609e-01 -1.18649103e-02 4.26736773e-02 1.45027633e+02] [ 4.26830189e-02 -5.35109724e-04 9.99088521e-01 1.46408081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.300385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.20, Y:145.02, Z:14.64 [[-1.10036261e-02 9.99938922e-01 1.03541816e-03 2.24201912e+02] [-9.99028084e-01 -1.10377909e-02 4.26738195e-02 1.45022221e+02] [ 4.26826419e-02 -5.64845066e-04 9.99088521e-01 1.46419015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.330385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:224.20, Y:145.02, Z:14.64 [[-9.90301515e-03 9.99950418e-01 1.04460535e-03 2.24204022e+02] [-9.99039634e-01 -9.93857446e-03 4.26735821e-02 1.45023545e+02] [ 4.26818481e-02 -6.21005017e-04 9.99088522e-01 1.46418309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.360385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.21, Y:145.02, Z:14.64 [[-6.90798038e-03 9.99975609e-01 1.03032676e-03 2.24209213e+02] [-9.99064908e-01 -6.94565832e-03 4.26739580e-02 1.45021920e+02] [ 4.26800734e-02 -7.34572446e-04 9.99088520e-01 1.46398307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.390385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.21, Y:145.02, Z:14.64 [[-5.21375772e-03 9.99985960e-01 9.47025554e-04 2.24212719e+02] [-9.99075166e-01 -5.24942499e-03 4.26761808e-02 1.45016457e+02] [ 4.26805529e-02 -7.23646446e-04 9.99088508e-01 1.46394425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.420385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.21, Y:145.01, Z:14.64 [[-9.47713026e-03 9.99954643e-01 9.46689034e-04 2.24210993e+02] [-9.99043705e-01 -9.50889970e-03 4.26761899e-02 1.45007425e+02] [ 4.26832562e-02 -5.41335909e-04 9.99088508e-01 1.46421902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.450385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.21, Y:145.00, Z:14.64 [[-8.86066836e-03 9.99960049e-01 1.17836154e-03 2.24213057e+02] [-9.99049562e-01 -8.90288297e-03 4.26697932e-02 1.45004294e+02] [ 4.26785794e-02 -7.99158694e-04 9.99088535e-01 1.46427393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.480385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.21, Y:145.00, Z:14.64 [[-9.26685208e-03 9.99956347e-01 1.19570964e-03 2.24213023e+02] [-9.99045877e-01 -9.30943685e-03 4.26693071e-02 1.45001080e+02] [ 4.26785758e-02 -7.99158627e-04 9.99088535e-01 1.46428825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.510385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.22, Y:144.94, Z:14.64 [[-1.60295190e-02 9.99870783e-01 1.21305754e-03 2.24217216e+02] [-9.98960076e-01 -1.60666854e-02 4.26688139e-02 1.44940661e+02] [ 4.26827902e-02 -5.27835485e-04 9.99088535e-01 1.46441292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.540385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.22, Y:144.95, Z:14.64 [[-1.18455882e-02 9.99928646e-01 1.54414975e-03 2.24222386e+02] [-9.99018903e-01 -1.19006842e-02 4.26568309e-02 1.44945390e+02] [ 4.26721637e-02 -1.03733954e-03 9.99088590e-01 1.46400256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.570385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.22, Y:144.94, Z:14.64 [[-1.71320944e-02 9.99852317e-01 1.35492308e-03 2.24222948e+02] [-9.98941865e-01 -1.71743088e-02 4.26637238e-02 1.44935463e+02] [ 4.26806929e-02 -6.22570445e-04 9.99088570e-01 1.46417791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.600385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.85, Y:144.85, Z:15.64 [[ 1.01458463e-02 -9.99939802e-01 -4.17775700e-03 2.24845113e+02] [-9.99044300e-01 -9.95894649e-03 -4.25594306e-02 1.44853121e+02] [ 4.25152625e-02 4.60556576e-03 -9.99085202e-01 1.56438209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.630385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.19, Y:144.76, Z:14.65 [[ 5.10030118e-02 9.98697632e-01 -1.31614803e-03 2.24194340e+02] [-9.97797960e-01 5.10129302e-02 4.23900087e-02 1.44762301e+02] [ 4.24019419e-02 -8.48768295e-04 9.99100273e-01 1.46471817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.660385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.20, Y:144.73, Z:14.65 [[ 5.05609415e-02 9.98720167e-01 -1.27219384e-03 2.24197733e+02] [-9.97820479e-01 5.05693932e-02 4.23913796e-02 1.44734858e+02] [ 4.24014598e-02 -8.73927000e-04 9.99100271e-01 1.46482150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.690385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.20, Y:144.71, Z:14.65 [[ 4.69253355e-02 9.98897422e-01 -1.39748602e-03 2.24198929e+02] [-9.97997855e-01 4.69423777e-02 4.23874451e-02 1.44707045e+02] [ 4.24063110e-02 -5.94357033e-04 9.99100271e-01 1.46515554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.720385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.20, Y:144.68, Z:14.65 [[ 4.28995824e-02 9.99078499e-01 -1.33339256e-03 2.24204418e+02] [-9.98178951e-01 4.29175305e-02 4.23894613e-02 1.44681216e+02] [ 4.24076253e-02 -4.87525800e-04 9.99100273e-01 1.46492541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.750385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.21, Y:144.65, Z:14.65 [[ 3.99563227e-02 9.99200182e-01 -1.57757006e-03 2.24207915e+02] [-9.98300964e-01 3.99872780e-02 4.23816364e-02 1.44653731e+02] [ 4.24108216e-02 -1.18524625e-04 9.99100249e-01 1.46518132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.780385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.21, Y:144.62, Z:14.65 [[ 3.99050610e-02 9.99202096e-01 -1.66068935e-03 2.24209887e+02] [-9.98302987e-01 3.99395879e-02 4.23789524e-02 1.44623400e+02] [ 4.24114653e-02 -3.32635424e-05 9.99100228e-01 1.46533083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.810385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.21, Y:144.60, Z:14.65 [[ 3.87506264e-02 9.99247979e-01 -1.36606894e-03 2.24212572e+02] [-9.98348547e-01 3.87736957e-02 4.23884423e-02 1.44596857e+02] [ 4.24095328e-02 -2.78765751e-04 9.99100272e-01 1.46546868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.840385723 meters Centerline goodness : 0.995885 Centerline is valid? [True, True] Translation: X:224.22, Y:144.57, Z:14.66 [[ 3.66992926e-02 9.99325373e-01 -1.40007679e-03 2.24216802e+02] [-9.98426032e-01 3.67256507e-02 4.23873357e-02 1.44569518e+02] [ 4.24101588e-02 -1.57712125e-04 9.99100272e-01 1.46554565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.870385723 meters Centerline goodness : 0.994877 Centerline is valid? [True, True] Translation: X:224.22, Y:144.54, Z:14.66 [[ 3.69432460e-02 9.99316068e-01 -1.61000332e-03 2.24219869e+02] [-9.98416999e-01 3.69782881e-02 4.23804465e-02 1.44539243e+02] [ 4.24109963e-02 4.17834209e-05 9.99100248e-01 1.46579546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.900385723 meters Centerline goodness : 0.999703 Centerline is valid? [True, True] Translation: X:224.86, Y:144.60, Z:15.65 [[ 1.07300909e-01 -9.94225631e-01 1.38163803e-03 2.24860127e+02] [-9.93326712e-01 -1.07262798e-01 -4.23879226e-02 1.44599314e+02] [ 4.22913575e-02 3.17584465e-03 -9.99100273e-01 1.56533341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.93038572300003 meters Centerline goodness : 0.996721 Centerline is valid? [True, True] Translation: X:224.88, Y:144.60, Z:15.65 [[ 1.84975963e-01 -9.82732230e-01 4.61053394e-03 2.24879329e+02] [-9.81838495e-01 -1.85004915e-01 -4.20279723e-02 1.44597754e+02] [ 4.21552144e-02 3.24736496e-03 -9.99105796e-01 1.56535637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.960385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.90, Y:144.60, Z:15.65 [[ 2.59798427e-01 -9.65631849e-01 7.74013422e-03 2.24900767e+02] [-9.64748348e-01 -2.59892804e-01 -4.14289226e-02 1.44598842e+02] [ 4.20166923e-02 3.29588722e-03 -9.99111473e-01 1.56545238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.990385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.33, Y:144.37, Z:14.67 [[ 2.70704432e-01 9.62597923e-01 -1.11511868e-02 2.24331674e+02] [-9.61745906e-01 2.70933908e-01 4.04923505e-02 1.44371439e+02] [ 4.19990871e-02 -2.36850483e-04 9.99117621e-01 1.46662888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.020385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.34, Y:144.34, Z:14.67 [[ 2.73060854e-01 9.61931775e-01 -1.11817024e-02 2.24339976e+02] [-9.61079541e-01 2.73289526e-01 4.04839641e-02 1.44343702e+02] [ 4.19986536e-02 -3.08080352e-04 9.99117620e-01 1.46668552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.050385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:224.35, Y:144.31, Z:14.66 [[ 2.75020899e-01 9.61373195e-01 -1.11841680e-02 2.24347674e+02] [-9.60520524e-01 2.75247938e-01 4.04832862e-02 1.44314430e+02] [ 4.19979654e-02 -3.91126909e-04 9.99117620e-01 1.46647341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.080385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.36, Y:144.29, Z:14.67 [[ 2.74821847e-01 9.61432269e-01 -1.09974822e-02 2.24355689e+02] [-9.60577577e-01 2.75041198e-01 4.05346573e-02 1.44287222e+02] [ 4.19960882e-02 -5.75874574e-04 9.99117609e-01 1.46669027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.110385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.36, Y:144.26, Z:14.67 [[ 2.77893721e-01 9.60544404e-01 -1.13810083e-02 2.24362938e+02] [-9.59693260e-01 2.78126500e-01 4.04289098e-02 1.44257123e+02] [ 4.19991231e-02 -3.12663182e-04 9.99117599e-01 1.46682737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.140385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.37, Y:144.23, Z:14.67 [[ 2.79210586e-01 9.60165012e-01 -1.11623625e-02 2.24369621e+02] [-9.59311124e-01 2.79432985e-01 4.04891888e-02 1.44229829e+02] [ 4.19954348e-02 -5.96831639e-04 9.99117624e-01 1.46690453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.170385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.94, Y:144.43, Z:15.67 [[ 3.26406399e-01 -9.45163487e-01 1.11734657e-02 2.24940742e+02] [-9.44299733e-01 -3.26586723e-01 -4.04861245e-02 1.44427518e+02] [ 4.19151122e-02 2.66382941e-03 -9.99117624e-01 1.56661249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.200385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.94, Y:144.42, Z:15.67 [[ 3.97745916e-01 -9.17388680e-01 1.40070121e-02 2.24935163e+02] [-9.16544030e-01 -3.97982217e-01 -3.94613172e-02 1.44420704e+02] [ 4.17759075e-02 2.85753445e-03 -9.99122919e-01 1.56669045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.230385723 meters Centerline goodness : 0.999767 Centerline is valid? [True, True] Translation: X:224.93, Y:144.41, Z:15.67 [[ 4.68459918e-01 -8.83316309e-01 1.72511779e-02 2.24925812e+02] [-8.82502804e-01 -4.68770395e-01 -3.79883763e-02 1.44412865e+02] [ 4.16425939e-02 2.57181875e-03 -9.99129261e-01 1.56702054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.260385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.92, Y:144.40, Z:15.67 [[ 5.35925413e-01 -8.44025740e-01 2.01122409e-02 2.24918127e+02] [-8.43243981e-01 -5.36296593e-01 -3.64081492e-02 1.44398805e+02] [ 4.15155413e-02 2.55252636e-03 -9.99134598e-01 1.56664903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.290385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.91, Y:144.39, Z:15.67 [[ 6.00622356e-01 -7.99204715e-01 2.29043402e-02 2.24912409e+02] [-7.98460686e-01 -6.01053831e-01 -3.45662504e-02 1.44386673e+02] [ 4.13922517e-02 2.47304756e-03 -9.99139913e-01 1.56691799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.320385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.92, Y:144.38, Z:15.67 [[ 6.62073107e-01 -7.49008919e-01 2.53936940e-02 2.24917376e+02] [-7.48302387e-01 -6.62554809e-01 -3.26291681e-02 1.44377213e+02] [ 4.12642520e-02 2.60073286e-03 -9.99144883e-01 1.56716165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.350385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.92, Y:144.37, Z:15.67 [[ 7.17677565e-01 -6.95781788e-01 2.87509280e-02 2.24915420e+02] [-6.95155054e-01 -7.18252192e-01 -2.95506293e-02 1.44369230e+02] [ 4.12112068e-02 1.22147079e-03 -9.99149711e-01 1.56705168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.380385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.92, Y:144.36, Z:15.67 [[ 7.69969056e-01 -6.37373002e-01 3.00551033e-02 2.24915595e+02] [-6.36755761e-01 -7.70551222e-01 -2.81587330e-02 1.44358260e+02] [ 4.11066128e-02 2.54359290e-03 -9.99151528e-01 1.56710132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.410385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.92, Y:144.35, Z:15.67 [[ 8.16613565e-01 -5.76293278e-01 3.20677928e-02 2.24915555e+02] [-5.75727858e-01 -8.17239206e-01 -2.56420134e-02 1.44348563e+02] [ 4.09843775e-02 2.47729430e-03 -9.99156716e-01 1.56726091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.440385723 meters Centerline goodness : 0.994886 Centerline is valid? [True, True] Translation: X:224.94, Y:144.37, Z:15.67 [[ 8.58492400e-01 -5.11706438e-01 3.38721332e-02 2.24936260e+02] [-5.11195742e-01 -8.59156963e-01 -2.29831917e-02 1.44366800e+02] [ 4.08621263e-02 2.41560513e-03 -9.99161875e-01 1.56742731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.470385723 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:224.96, Y:144.39, Z:15.67 [[ 8.96367638e-01 -4.41876641e-01 3.56383581e-02 2.24955820e+02] [-4.41434240e-01 -8.97073399e-01 -1.98778369e-02 1.44389507e+02] [ 4.07537748e-02 2.08585822e-03 -9.99167043e-01 1.56746738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.500385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.96, Y:144.38, Z:15.68 [[ 9.27885713e-01 -3.71040361e-01 3.68395762e-02 2.24957095e+02] [-3.70643620e-01 -9.28613587e-01 -1.73237904e-02 1.44377508e+02] [ 4.06375564e-02 2.42014376e-03 -9.99171022e-01 1.56754911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.530385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.96, Y:144.37, Z:15.68 [[ 9.53893541e-01 -2.97734323e-01 3.79655863e-02 2.24960019e+02] [-2.97398210e-01 -9.54645773e-01 -1.43440735e-02 1.44365748e+02] [ 4.05144095e-02 2.39182169e-03 -9.99176091e-01 1.56770891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.560385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.96, Y:144.35, Z:15.68 [[ 9.74382011e-01 -2.21517982e-01 3.88520353e-02 2.24963183e+02] [-2.21242924e-01 -9.75153307e-01 -1.12958716e-02 1.44352479e+02] [ 4.03889294e-02 2.41075625e-03 -9.99181126e-01 1.56788064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.590385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.96, Y:144.34, Z:15.68 [[ 9.88743428e-01 -1.44314001e-01 3.94956123e-02 2.24963567e+02] [-1.44101300e-01 -9.89529006e-01 -8.19526201e-03 1.44338040e+02] [ 4.02647450e-02 2.41164240e-03 -9.99186136e-01 1.56806927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.620385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.97, Y:144.32, Z:15.68 [[ 9.96993814e-01 -6.64216760e-02 3.98935475e-02 2.24965598e+02] [-6.62722194e-02 -9.97788757e-01 -5.05868023e-03 1.44320737e+02] [ 4.01413391e-02 2.39963897e-03 -9.99191130e-01 1.56826418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.650385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.97, Y:144.31, Z:15.68 [[ 9.99120853e-01 1.24097001e-02 4.00439706e-02 2.24968670e+02] [ 1.24962297e-02 -9.99920092e-01 -1.91127905e-03 1.44305700e+02] [ 4.00170524e-02 2.40999741e-03 -9.99196091e-01 1.56846823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.68038572300003 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:224.97, Y:144.29, Z:15.69 [[ 9.94977153e-01 9.17859106e-02 3.99476180e-02 2.24971562e+02] [ 9.18102609e-02 -9.95775761e-01 1.22843611e-03 1.44293118e+02] [ 3.98916228e-02 2.44533536e-03 -9.99201020e-01 1.56857439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.710385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.98, Y:144.28, Z:15.69 [[ 9.84605646e-01 1.70244012e-01 3.96067873e-02 2.24976423e+02] [ 1.70206564e-01 -9.85398846e-01 4.34037566e-03 1.44279708e+02] [ 3.97674055e-02 2.46777681e-03 -9.99205916e-01 1.56861279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.740385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.98, Y:144.26, Z:15.69 [[ 9.68600664e-01 2.45539841e-01 3.90248773e-02 2.24982336e+02] [ 2.45439858e-01 -9.69383520e-01 7.40720700e-03 1.44257046e+02] [ 3.96488373e-02 2.40363473e-03 -9.99210785e-01 1.56881085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.770385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.99, Y:144.24, Z:15.69 [[ 9.45483648e-01 3.23399431e-01 3.83859247e-02 2.24989717e+02] [ 3.23267379e-01 -9.46257232e-01 9.76998301e-03 1.44243432e+02] [ 3.94825658e-02 3.17155806e-03 -9.99215226e-01 1.56877787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.800385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.00, Y:144.24, Z:15.69 [[ 9.17300616e-01 3.96462030e-01 3.71138528e-02 2.24995661e+02] [ 3.96246168e-01 -9.18047740e-01 1.33162230e-02 1.44236478e+02] [ 3.93516655e-02 2.49124238e-03 -9.99222318e-01 1.56888686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.830385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.01, Y:144.22, Z:15.69 [[ 8.83903079e-01 4.66294303e-01 3.58464841e-02 2.25005005e+02] [ 4.66021557e-01 -8.84626273e-01 1.61327371e-02 1.44222458e+02] [ 3.92333450e-02 2.44545831e-03 -9.99227083e-01 1.56882476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.860385723 meters Centerline goodness : 0.994680 Centerline is valid? [True, True] Translation: X:225.37, Y:143.69, Z:14.70 [[ 8.69487139e-01 -4.92755286e-01 -3.44142945e-02 2.25372142e+02] [ 4.92398878e-01 8.70167693e-01 -1.87491524e-02 1.43691540e+02] [ 3.91849512e-02 -6.43413164e-04 9.99231768e-01 1.47019604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.890385723 meters Centerline goodness : 0.993653 Centerline is valid? [True, True] Translation: X:225.40, Y:143.71, Z:14.70 [[ 8.69967993e-01 -4.91908979e-01 -3.43692856e-02 2.25400133e+02] [ 4.91548662e-01 8.70646481e-01 -1.88312991e-02 1.43705740e+02] [ 3.91867827e-02 -5.11548889e-04 9.99231772e-01 1.47034941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.920385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.42, Y:143.72, Z:14.70 [[ 8.71440394e-01 -4.89286908e-01 -3.44958160e-02 2.25422744e+02] [ 4.88933661e-01 8.72122635e-01 -1.86006598e-02 1.43720922e+02] [ 3.91856413e-02 -6.56799275e-04 9.99231732e-01 1.47036335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.950385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.45, Y:143.74, Z:14.70 [[ 8.72641507e-01 -4.87149264e-01 -3.43859699e-02 2.25448245e+02] [ 4.86786465e-01 8.73318661e-01 -1.88003447e-02 1.43735958e+02] [ 3.91884833e-02 -3.32663609e-04 9.99231781e-01 1.47038001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.980385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.47, Y:143.75, Z:14.70 [[ 8.74624691e-01 -4.83576344e-01 -3.44320877e-02 2.25472428e+02] [ 4.83214077e-01 8.75302146e-01 -1.87165322e-02 1.43749408e+02] [ 3.91893525e-02 -2.68128271e-04 9.99231766e-01 1.47041379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.010385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.50, Y:143.76, Z:14.70 [[ 8.75092980e-01 -4.82726244e-01 -3.44622910e-02 2.25497989e+02] [ 4.82365481e-01 8.75771253e-01 -1.86616086e-02 1.43762026e+02] [ 3.91895320e-02 -2.92776826e-04 9.99231752e-01 1.47048990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.040385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.52, Y:143.78, Z:14.71 [[ 8.75295732e-01 -4.82359440e-01 -3.44492772e-02 2.25520678e+02] [ 4.81997461e-01 8.75973349e-01 -1.86852561e-02 1.43775074e+02] [ 3.91896584e-02 -2.49339224e-04 9.99231759e-01 1.47074985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.070385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:225.55, Y:143.79, Z:14.71 [[ 8.75242489e-01 -4.82464907e-01 -3.43249086e-02 2.25547731e+02] [ 4.82094141e-01 8.75915300e-01 -1.89109974e-02 1.43789078e+02] [ 3.91896052e-02 3.87112497e-06 9.99231792e-01 1.47073554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.100385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.57, Y:143.80, Z:14.71 [[ 8.75314302e-01 -4.82330172e-01 -3.43871775e-02 2.25572626e+02] [ 4.81963736e-01 8.75989493e-01 -1.87980435e-02 1.43802863e+02] [ 3.91896697e-02 -1.19176168e-04 9.99231783e-01 1.47081288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.130385723 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:225.60, Y:143.82, Z:14.71 [[ 8.74224137e-01 -4.84304311e-01 -3.43728514e-02 2.25596647e+02] [ 4.83938378e-01 8.74899596e-01 -1.88239998e-02 1.43816230e+02] [ 3.91893381e-02 -1.77947023e-04 9.99231787e-01 1.47052868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.160385723 meters Centerline goodness : 0.998626 Centerline is valid? [True, True] Translation: X:225.63, Y:143.83, Z:14.71 [[ 8.74981109e-01 -4.82935994e-01 -3.43639884e-02 2.25626112e+02] [ 4.82568375e-01 8.75655649e-01 -1.88400560e-02 1.43827642e+02] [ 3.91895617e-02 -9.82808903e-05 9.99231789e-01 1.47077514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.190385723 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:225.65, Y:143.84, Z:14.71 [[ 8.73923825e-01 -4.84836323e-01 -3.45092556e-02 2.25646744e+02] [ 4.84480540e-01 8.74604771e-01 -1.85768976e-02 1.43839315e+02] [ 3.91887143e-02 -4.84269368e-04 9.99231710e-01 1.47084612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.220385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.68, Y:143.85, Z:14.71 [[ 8.73013513e-01 -4.86491103e-01 -3.42609584e-02 2.25676238e+02] [ 4.86118910e-01 8.73685530e-01 -1.90263260e-02 1.43851053e+02] [ 3.91894419e-02 -4.46600403e-05 9.99231798e-01 1.47100645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.250385723 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:225.70, Y:143.86, Z:14.71 [[ 8.71801948e-01 -4.88647171e-01 -3.44282793e-02 2.25696937e+02] [ 4.88288574e-01 8.72481349e-01 -1.87233485e-02 1.43864814e+02] [ 3.91871428e-02 -4.87883702e-04 9.99231770e-01 1.47102157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.280385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:225.72, Y:143.88, Z:14.71 [[ 8.70729593e-01 -4.90564538e-01 -3.42988258e-02 2.25721688e+02] [ 4.90198195e-01 8.71404808e-01 -1.89575641e-02 1.43878119e+02] [ 3.91880704e-02 -3.06310407e-04 9.99231806e-01 1.47118621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.310385723 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:225.75, Y:143.89, Z:14.71 [[ 8.70298805e-01 -4.91328747e-01 -3.42936247e-02 2.25746050e+02] [ 4.90962627e-01 8.70974140e-01 -1.89669680e-02 1.43890216e+02] [ 3.91878770e-02 -3.29958477e-04 9.99231806e-01 1.47111101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.340385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:225.77, Y:143.90, Z:14.71 [[ 8.70268659e-01 -4.91382298e-01 -3.42913725e-02 2.25771590e+02] [ 4.91016058e-01 8.70943930e-01 -1.89710391e-02 1.43902167e+02] [ 3.91878955e-02 -3.27713801e-04 9.99231806e-01 1.47095647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.370385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.80, Y:143.91, Z:14.72 [[ 8.69857095e-01 -4.92113252e-01 -3.42517395e-02 2.25799697e+02] [ 4.91744757e-01 8.70531142e-01 -1.90426964e-02 1.43912666e+02] [ 3.91883691e-02 -2.78688738e-04 9.99231802e-01 1.47170741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.400385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.82, Y:143.93, Z:14.72 [[ 8.69719262e-01 -4.92353968e-01 -3.42924930e-02 2.25824678e+02] [ 4.91988563e-01 8.70394985e-01 -1.89690219e-02 1.43926496e+02] [ 3.91874871e-02 -3.73790613e-04 9.99231806e-01 1.47182223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.43038572300003 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:225.85, Y:143.94, Z:14.72 [[ 8.69603220e-01 -4.92559266e-01 -3.42871735e-02 2.25850128e+02] [ 4.92193641e-01 8.70278824e-01 -1.89786321e-02 1.43938993e+02] [ 3.91875021e-02 -3.72049184e-04 9.99231806e-01 1.47200339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.460385723 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:225.88, Y:143.95, Z:14.72 [[ 8.69575353e-01 -4.92608829e-01 -3.42818752e-02 2.25875080e+02] [ 4.92242866e-01 8.70250774e-01 -1.89881978e-02 1.43952816e+02] [ 3.91875823e-02 -3.63339732e-04 9.99231806e-01 1.47215956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.490385723 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:225.90, Y:143.97, Z:14.72 [[ 8.69426570e-01 -4.92871755e-01 -3.42764164e-02 2.25897101e+02] [ 4.92505608e-01 8.70101891e-01 -1.89980479e-02 1.43965947e+02] [ 3.91875760e-02 -3.63919629e-04 9.99231806e-01 1.47225569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.520385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.93, Y:143.98, Z:14.72 [[ 8.70861333e-01 -4.90337341e-01 -3.42027973e-02 2.25926357e+02] [ 4.89964011e-01 8.71532720e-01 -1.91307559e-02 1.43978124e+02] [ 3.91893809e-02 -9.79041755e-05 9.99231796e-01 1.47239529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.550385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.95, Y:143.99, Z:14.73 [[ 8.72426042e-01 -4.87539476e-01 -3.43228903e-02 2.25953918e+02] [ 4.87172492e-01 8.73100917e-01 -1.89143298e-02 1.43988024e+02] [ 3.91888295e-02 -2.19814106e-04 9.99231799e-01 1.47253879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.580385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.98, Y:144.00, Z:14.73 [[ 8.73185826e-01 -4.86174786e-01 -3.43597158e-02 2.25979958e+02] [ 4.85809355e-01 8.73861558e-01 -1.88480156e-02 1.44000403e+02] [ 3.91890647e-02 -2.34451315e-04 9.99231786e-01 1.47273495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.610385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.99, Y:144.01, Z:14.72 [[ 8.71110613e-01 -4.89882328e-01 -3.43744723e-02 2.25994644e+02] [ 4.89520821e-01 8.71788460e-01 -1.88214539e-02 1.44013586e+02] [ 3.91875659e-02 -4.31451648e-04 9.99231779e-01 1.47237053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.640385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:226.03, Y:144.02, Z:14.73 [[ 8.75460727e-01 -4.82096817e-01 -3.39289740e-02 2.26029047e+02] [ 4.81697981e-01 8.76117549e-01 -1.96238650e-02 1.44022662e+02] [ 3.91863724e-02 8.36404867e-04 9.99231569e-01 1.47297663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.670385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:226.05, Y:144.03, Z:14.73 [[ 8.75984199e-01 -4.81120663e-01 -3.42722950e-02 2.26053810e+02] [ 4.80745193e-01 8.76654366e-01 -1.90047561e-02 1.44034726e+02] [ 3.91885379e-02 1.71624976e-04 9.99231819e-01 1.47299657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.700385723 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:226.08, Y:144.05, Z:14.73 [[ 8.76852144e-01 -4.79537111e-01 -3.42706504e-02 2.26079777e+02] [ 4.79160315e-01 8.77521566e-01 -1.90077212e-02 1.44045833e+02] [ 3.91881425e-02 2.45825412e-04 9.99231819e-01 1.47310084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.730385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.11, Y:144.06, Z:14.73 [[ 8.76756955e-01 -4.79711502e-01 -3.42653887e-02 2.26105347e+02] [ 4.79334469e-01 8.77426244e-01 -1.90172019e-02 1.44058243e+02] [ 3.91881217e-02 2.48882161e-04 9.99231820e-01 1.47321005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.760385723 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:226.12, Y:144.07, Z:14.73 [[ 8.74224009e-01 -4.84310449e-01 -3.42895107e-02 2.26121447e+02] [ 4.83938641e-01 8.74896216e-01 -1.89737516e-02 1.44072277e+02] [ 3.91889493e-02 -6.71006123e-06 9.99231818e-01 1.47289608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.790385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:226.16, Y:144.08, Z:14.73 [[ 8.76535563e-01 -4.80143822e-01 -3.38720721e-02 2.26156924e+02] [ 4.79739628e-01 8.77189164e-01 -1.97245884e-02 1.44080880e+02] [ 3.91828539e-02 1.03952790e-03 9.99231516e-01 1.47330323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.820385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.18, Y:144.10, Z:14.74 [[ 8.73650960e-01 -4.85349809e-01 -3.41988702e-02 2.26178790e+02] [ 4.84972439e-01 8.74320047e-01 -1.91360528e-02 1.44095156e+02] [ 3.91884374e-02 1.32721435e-04 9.99231829e-01 1.47357653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.850385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:226.21, Y:144.10, Z:14.74 [[ 8.74963728e-01 -4.82990400e-01 -3.40404058e-02 2.26211121e+02] [ 4.82600110e-01 8.75625465e-01 -1.94210887e-02 1.44103571e+02] [ 3.91868455e-02 5.64844548e-04 9.99231741e-01 1.47367701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.880385723 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:226.24, Y:144.12, Z:14.74 [[ 8.74511817e-01 -4.83793453e-01 -3.42487453e-02 2.26237375e+02] [ 4.83418408e-01 8.75182201e-01 -1.90462016e-02 1.44115694e+02] [ 3.91883200e-02 9.96544790e-05 9.99231838e-01 1.47380866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.910385723 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:226.26, Y:144.13, Z:14.74 [[ 8.74319199e-01 -4.84141202e-01 -3.42525208e-02 2.26262811e+02] [ 4.83766690e-01 8.74989881e-01 -1.90394094e-02 1.44127418e+02] [ 3.91883716e-02 7.62925532e-05 9.99231838e-01 1.47380215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.940385723 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:226.29, Y:144.14, Z:14.74 [[ 8.73679667e-01 -4.85294463e-01 -3.42508948e-02 2.26288806e+02] [ 4.84920722e-01 8.74350778e-01 -1.90423341e-02 1.44139062e+02] [ 3.91884358e-02 2.79315248e-05 9.99231838e-01 1.47373259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.970385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:226.32, Y:144.15, Z:14.74 [[ 8.73192354e-01 -4.86171087e-01 -3.42459716e-02 2.26316155e+02] [ 4.85797673e-01 8.73863647e-01 -1.90511839e-02 1.44149153e+02] [ 3.91884444e-02 -1.26519920e-06 9.99231838e-01 1.47400371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.000385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:226.34, Y:144.16, Z:14.74 [[ 8.71121190e-01 -4.89872851e-01 -3.42412399e-02 2.26338567e+02] [ 4.89501955e-01 8.71793877e-01 -1.90596845e-02 1.44161113e+02] [ 3.91881253e-02 -1.57858883e-04 9.99231838e-01 1.47387166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.030385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:226.37, Y:144.17, Z:14.74 [[ 8.72401463e-01 -4.87602725e-01 -3.40480474e-02 2.26368220e+02] [ 4.87216511e-01 8.73065556e-01 -1.94063316e-02 1.44172182e+02] [ 3.91887576e-02 3.41341205e-04 9.99231767e-01 1.47397756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.060385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:226.39, Y:144.19, Z:14.74 [[ 8.69739651e-01 -4.92322033e-01 -3.42338386e-02 2.26386015e+02] [ 4.91952512e-01 8.70413093e-01 -1.90728612e-02 1.44186644e+02] [ 3.91875711e-02 -2.52999196e-04 9.99231840e-01 1.47406805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.090385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:226.42, Y:144.19, Z:14.74 [[ 8.70477734e-01 -4.91037335e-01 -3.39241926e-02 2.26415099e+02] [ 4.90645087e-01 8.71138417e-01 -1.96279808e-02 1.44194542e+02] [ 3.91907388e-02 4.40981795e-04 9.99231651e-01 1.47418184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.120385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:226.45, Y:144.20, Z:14.74 [[ 8.72291197e-01 -4.87803849e-01 -3.39922534e-02 2.26446784e+02] [ 4.87413901e-01 8.72953152e-01 -1.95059823e-02 1.44204466e+02] [ 3.91887380e-02 4.46599808e-04 9.99231727e-01 1.47442786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.150385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:226.47, Y:144.22, Z:14.75 [[ 8.72384214e-01 -4.87621002e-01 -3.42277777e-02 2.26471900e+02] [ 4.87247432e-01 8.73055415e-01 -1.90835617e-02 1.44216451e+02] [ 3.91882921e-02 -2.91988275e-05 9.99231843e-01 1.47467578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.18038572300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.50, Y:144.23, Z:14.75 [[ 8.72233825e-01 -4.87890331e-01 -3.42225019e-02 2.26497544e+02] [ 4.87516597e-01 8.72904934e-01 -1.90930180e-02 1.44227467e+02] [ 3.91882896e-02 -3.04615150e-05 9.99231843e-01 1.47471042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.210385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:226.52, Y:144.24, Z:14.75 [[ 8.70640751e-01 -4.90727640e-01 -3.42208599e-02 2.26519306e+02] [ 4.90355977e-01 8.71313009e-01 -1.90959606e-02 1.44240987e+02] [ 3.91879960e-02 -1.54681737e-04 9.99231843e-01 1.47467328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.240385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.55, Y:144.25, Z:14.75 [[ 8.70968298e-01 -4.90157410e-01 -3.40578456e-02 2.26549633e+02] [ 4.89773867e-01 8.71633909e-01 -1.93878396e-02 1.44252676e+02] [ 3.91890663e-02 2.05550884e-04 9.99231792e-01 1.47500603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.270385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.58, Y:144.26, Z:14.75 [[ 8.71108288e-01 -4.89897435e-01 -3.42177404e-02 2.26575430e+02] [ 4.89524918e-01 8.71780070e-01 -1.91014128e-02 1.44264190e+02] [ 3.91880773e-02 -1.11037601e-04 9.99231846e-01 1.47499451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.300385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:226.60, Y:144.28, Z:14.75 [[ 8.71132415e-01 -4.89854649e-01 -3.42160563e-02 2.26602347e+02] [ 4.89481980e-01 8.71804113e-01 -1.91044289e-02 1.44275281e+02] [ 3.91880920e-02 -1.05655726e-04 9.99231846e-01 1.47487664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.330385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:226.63, Y:144.29, Z:14.75 [[ 8.71455636e-01 -4.89279741e-01 -3.42112462e-02 2.26627878e+02] [ 4.88906291e-01 8.72126900e-01 -1.91130388e-02 1.44285412e+02] [ 3.91881708e-02 -6.99281661e-05 9.99231846e-01 1.47545125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.360385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:226.65, Y:144.30, Z:14.75 [[ 8.70875696e-01 -4.90311370e-01 -3.42093970e-02 2.26652499e+02] [ 4.89938585e-01 8.71547330e-01 -1.91163480e-02 1.44297978e+02] [ 3.91880714e-02 -1.12540757e-04 9.99231846e-01 1.47530355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.390385723 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:226.67, Y:144.31, Z:14.76 [[ 8.69011412e-01 -4.93608274e-01 -3.42057980e-02 2.26672267e+02] [ 4.93237784e-01 8.69684315e-01 -1.91227857e-02 1.44311947e+02] [ 3.91874112e-02 -2.53673038e-04 9.99231846e-01 1.47562188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.420385723 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:226.70, Y:144.32, Z:14.76 [[ 8.68589185e-01 -4.94368007e-01 -3.39573404e-02 2.26695581e+02] [ 4.93980677e-01 8.69252682e-01 -1.95669672e-02 1.44324929e+02] [ 3.91907918e-02 2.21386056e-04 9.99231721e-01 1.47567105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.450385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:226.72, Y:144.34, Z:14.76 [[ 8.68857227e-01 -4.93902330e-01 -3.38763467e-02 2.26724188e+02] [ 4.93508995e-01 8.69517292e-01 -1.97116868e-02 1.44337942e+02] [ 3.91917173e-02 4.08359690e-04 9.99231626e-01 1.47583275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.480385723 meters Centerline goodness : 0.999752 Centerline is valid? [True, True] Translation: X:226.75, Y:144.35, Z:14.76 [[ 8.70154676e-01 -4.91603505e-01 -3.40122565e-02 2.26753048e+02] [ 4.91217873e-01 8.70819120e-01 -1.94695135e-02 1.44350027e+02] [ 3.91898043e-02 2.34059947e-04 9.99231757e-01 1.47574478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.510385723 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:226.78, Y:144.36, Z:14.76 [[ 8.69410421e-01 -4.92905734e-01 -3.41973227e-02 2.26777380e+02] [ 4.92534040e-01 8.70082695e-01 -1.91395736e-02 1.44364182e+02] [ 3.91885043e-02 -2.03200753e-04 9.99231815e-01 1.47601733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.540385723 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:226.80, Y:144.38, Z:14.76 [[ 8.69012304e-01 -4.93608831e-01 -3.41751100e-02 2.26800347e+02] [ 4.93236124e-01 8.69684015e-01 -1.91791543e-02 1.44378586e+02] [ 3.91885468e-02 -1.89477736e-04 9.99231816e-01 1.47602183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.570385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.82, Y:144.39, Z:14.76 [[ 8.68954160e-01 -4.93711340e-01 -3.41728106e-02 2.26823467e+02] [ 4.93338551e-01 8.69625826e-01 -1.91832504e-02 1.44393867e+02] [ 3.91885469e-02 -1.89399595e-04 9.99231816e-01 1.47634441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.600385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:226.84, Y:144.41, Z:14.76 [[ 8.64963730e-01 -5.00669872e-01 -3.41676065e-02 2.26835298e+02] [ 5.00302120e-01 8.65638167e-01 -1.91925151e-02 1.44412460e+02] [ 3.91858983e-02 -4.93296507e-04 9.99231816e-01 1.47621257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.630385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.87, Y:144.43, Z:14.76 [[ 8.66024093e-01 -4.98867616e-01 -3.36655804e-02 2.26865002e+02] [ 4.98463498e-01 8.66677982e-01 -2.00852119e-02 1.44427149e+02] [ 3.91970791e-02 6.13214437e-04 9.99231311e-01 1.47636779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.660385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:226.89, Y:144.44, Z:14.77 [[ 8.65954221e-01 -4.98973335e-01 -3.38954141e-02 2.26890425e+02] [ 4.98585248e-01 8.66617327e-01 -1.96763511e-02 1.44441528e+02] [ 3.91923277e-02 1.39065808e-04 9.99231676e-01 1.47655080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.690385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.91, Y:144.46, Z:14.77 [[ 8.65578803e-01 -4.99620873e-01 -3.39458195e-02 2.26914935e+02] [ 4.99236798e-01 8.66244182e-01 -1.95866257e-02 1.44455704e+02] [ 3.91912557e-02 6.76577142e-06 9.99231728e-01 1.47672494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.720385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:226.94, Y:144.47, Z:14.77 [[ 8.64519184e-01 -5.01451879e-01 -3.39498521e-02 2.26937650e+02] [ 5.01069496e-01 8.65185532e-01 -1.95794475e-02 1.44469902e+02] [ 3.91910716e-02 -8.44273207e-05 9.99231731e-01 1.47681498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.750385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.96, Y:144.48, Z:14.77 [[ 8.63641403e-01 -5.02963883e-01 -3.39243304e-02 2.26962483e+02] [ 5.02580879e-01 8.64307424e-01 -1.96249288e-02 1.44484526e+02] [ 3.91916810e-02 -1.00818752e-04 9.99231706e-01 1.47703293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.780385723 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:226.99, Y:144.50, Z:14.77 [[ 8.63387582e-01 -5.03397917e-01 -3.39473205e-02 2.26988331e+02] [ 5.03016857e-01 8.64054691e-01 -1.95839665e-02 1.44498943e+02] [ 3.91908695e-02 -1.67521017e-04 9.99231729e-01 1.47692071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.810385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:227.01, Y:144.51, Z:14.77 [[ 8.63166988e-01 -5.03769320e-01 -3.40473508e-02 2.27011294e+02] [ 5.03395567e-01 8.63838133e-01 -1.94057316e-02 1.44514774e+02] [ 3.91874122e-02 -3.88898580e-04 9.99231803e-01 1.47723545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.840385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:227.04, Y:144.53, Z:14.77 [[ 8.64559945e-01 -5.01380702e-01 -3.39631038e-02 2.27036753e+02] [ 5.00999193e-01 8.65226779e-01 -1.95557765e-02 1.44528098e+02] [ 3.91906759e-02 -1.08346544e-04 9.99231744e-01 1.47733770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.870385723 meters Centerline goodness : 0.999798 Centerline is valid? [True, True] Translation: X:227.06, Y:144.54, Z:14.77 [[ 8.64392919e-01 -5.01663199e-01 -3.40428559e-02 2.27061459e+02] [ 5.01287498e-01 8.65062977e-01 -1.94136526e-02 1.44541180e+02] [ 3.91883293e-02 -2.84234251e-04 9.99231802e-01 1.47724746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.900385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:227.09, Y:144.56, Z:14.78 [[ 8.65306216e-01 -5.00089688e-01 -3.39920237e-02 2.27087039e+02] [ 4.99709209e-01 8.65973610e-01 -1.95042045e-02 1.44555808e+02] [ 3.91900470e-02 -1.09017878e-04 9.99231769e-01 1.47751412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.93038572300003 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:227.11, Y:144.57, Z:14.77 [[ 8.66473453e-01 -4.98059699e-01 -3.40630348e-02 2.27109496e+02] [ 4.97682624e-01 8.67142727e-01 -1.93777160e-02 1.44571621e+02] [ 3.91887723e-02 -1.62303994e-04 9.99231812e-01 1.47738079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.960385723 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:227.13, Y:144.59, Z:14.77 [[ 8.66866753e-01 -4.97378368e-01 -3.40116479e-02 2.27131804e+02] [ 4.96997174e-01 8.67533722e-01 -1.94692108e-02 1.44586504e+02] [ 3.91898158e-02 -2.64813569e-05 9.99231784e-01 1.47736850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.990385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:227.16, Y:144.60, Z:14.78 [[ 8.70300830e-01 -4.91346881e-01 -3.39809768e-02 2.27159128e+02] [ 4.90958934e-01 8.70963918e-01 -1.95237888e-02 1.44597098e+02] [ 3.91891575e-02 3.08305481e-04 9.99231762e-01 1.47759804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.020385723 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:227.18, Y:144.61, Z:14.78 [[ 8.68357229e-01 -4.94768178e-01 -3.40613236e-02 2.27181562e+02] [ 4.94388446e-01 8.69025000e-01 -1.93807606e-02 1.44612126e+02] [ 3.91891254e-02 -1.01012687e-05 9.99231811e-01 1.47779545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.050385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.21, Y:144.63, Z:14.78 [[ 8.69645286e-01 -4.92507076e-01 -3.39684685e-02 2.27207888e+02] [ 4.92119138e-01 8.70308394e-01 -1.95461905e-02 1.44625696e+02] [ 3.91896804e-02 2.81718994e-04 9.99231750e-01 1.47834125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.080385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:227.23, Y:144.64, Z:14.78 [[ 8.69504358e-01 -4.92752179e-01 -3.40214789e-02 2.27232407e+02] [ 4.92368119e-01 8.70169675e-01 -1.94517638e-02 1.44639188e+02] [ 3.91893583e-02 1.62301841e-04 9.99231789e-01 1.47832426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.110385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.26, Y:144.65, Z:14.78 [[ 8.69150135e-01 -4.93375072e-01 -3.40452659e-02 2.27255296e+02] [ 4.92993148e-01 8.69816665e-01 -1.94094032e-02 1.44654196e+02] [ 3.91892554e-02 8.56025786e-05 9.99231802e-01 1.47844005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.140385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:227.28, Y:144.67, Z:14.79 [[ 8.69624932e-01 -4.92543308e-01 -3.39641950e-02 2.27283411e+02] [ 4.92155103e-01 8.70287887e-01 -1.95537432e-02 1.44667506e+02] [ 3.91896929e-02 2.88770734e-04 9.99231747e-01 1.47851130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.170385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.31, Y:144.68, Z:14.79 [[ 8.68169813e-01 -4.95095109e-01 -3.40882502e-02 2.27308680e+02] [ 4.94717512e-01 8.68838781e-01 -1.93327759e-02 1.44679392e+02] [ 3.91887565e-02 -7.99219045e-05 9.99231822e-01 1.47880179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.200385723 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:227.34, Y:144.69, Z:14.79 [[ 8.66924406e-01 -4.97276509e-01 -3.40315581e-02 2.27335357e+02] [ 4.96896630e-01 8.67592110e-01 -1.94337192e-02 1.44692174e+02] [ 3.91894433e-02 -6.26010181e-05 9.99231797e-01 1.47858235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.230385723 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:227.36, Y:144.70, Z:14.79 [[ 8.67085979e-01 -4.96992202e-01 -3.40684060e-02 2.27362453e+02] [ 4.96614679e-01 8.67754997e-01 -1.93681497e-02 1.44704901e+02] [ 3.91888489e-02 -1.25019457e-04 9.99231814e-01 1.47889906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.260385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:227.38, Y:144.72, Z:14.79 [[ 8.65509469e-01 -4.99726030e-01 -3.41651089e-02 2.27384522e+02] [ 4.99357404e-01 8.66183408e-01 -1.91960395e-02 1.44719423e+02] [ 3.91860110e-02 -4.46246069e-04 9.99231834e-01 1.47918516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.290385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:227.41, Y:144.73, Z:14.79 [[ 8.65402580e-01 -4.99917041e-01 -3.40782564e-02 2.27409360e+02] [ 4.99542472e-01 8.66073251e-01 -1.93505441e-02 1.44733496e+02] [ 3.91879330e-02 -2.77525671e-04 9.99231819e-01 1.47928996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.320385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:227.44, Y:144.75, Z:14.80 [[ 8.65145568e-01 -5.00362094e-01 -3.40723037e-02 2.27436023e+02] [ 4.99987453e-01 8.65816201e-01 -1.93611272e-02 1.44747868e+02] [ 3.91879267e-02 -2.85530990e-04 9.99231817e-01 1.47971253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.350385723 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:227.46, Y:144.76, Z:14.80 [[ 8.64482968e-01 -5.01500362e-01 -3.41553041e-02 2.27461918e+02] [ 5.01132425e-01 8.65157287e-01 -1.92135814e-02 1.44761289e+02] [ 3.91853282e-02 -5.06516554e-04 9.99231832e-01 1.47986562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.380385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.49, Y:144.77, Z:14.80 [[ 8.64555213e-01 -5.01376138e-01 -3.41504488e-02 2.27486048e+02] [ 5.01007764e-01 8.65229292e-01 -1.92222073e-02 1.44774887e+02] [ 3.91855247e-02 -4.90980467e-04 9.99231832e-01 1.48019016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.410385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.51, Y:144.79, Z:14.80 [[ 8.64144628e-01 -5.02088683e-01 -3.40737047e-02 2.27509624e+02] [ 5.01715486e-01 8.64816061e-01 -1.93584924e-02 1.44789485e+02] [ 3.91871671e-02 -3.66768087e-04 9.99231821e-01 1.48028237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.440385723 meters Centerline goodness : 0.999844 Centerline is valid? [True, True] Translation: X:227.54, Y:144.80, Z:14.80 [[ 8.64817613e-01 -5.00932069e-01 -3.40229077e-02 2.27537044e+02] [ 5.00554425e-01 8.65486578e-01 -1.94486527e-02 1.44802504e+02] [ 3.91888238e-02 -2.10779614e-04 9.99231801e-01 1.47992892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.470385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.56, Y:144.82, Z:14.80 [[ 8.64223582e-01 -5.01948109e-01 -3.41423094e-02 2.27559218e+02] [ 5.01579607e-01 8.64897593e-01 -1.92367349e-02 1.44818085e+02] [ 3.91854439e-02 -5.00246196e-04 9.99231830e-01 1.48029269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.500385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.58, Y:144.83, Z:14.80 [[ 8.64018015e-01 -5.02307321e-01 -3.40620769e-02 2.27581711e+02] [ 5.01933483e-01 8.64689095e-01 -1.93790732e-02 1.44832277e+02] [ 3.91873568e-02 -3.53028497e-04 9.99231818e-01 1.48041539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.530385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:227.61, Y:144.85, Z:14.81 [[ 8.64696643e-01 -5.01142565e-01 -3.39977149e-02 2.27606205e+02] [ 5.00763329e-01 8.65364721e-01 -1.94932741e-02 1.44848030e+02] [ 3.91893325e-02 -1.69040236e-04 9.99231789e-01 1.48068178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.560385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.63, Y:144.86, Z:14.81 [[ 8.64781295e-01 -5.00996074e-01 -3.40036254e-02 2.27630207e+02] [ 5.00617137e-01 8.65449538e-01 -1.94827881e-02 1.44863160e+02] [ 3.91892223e-02 -1.74446836e-04 9.99231792e-01 1.48073726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.590385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.65, Y:144.88, Z:14.81 [[ 8.64663818e-01 -5.01197633e-01 -3.40208064e-02 2.27653554e+02] [ 5.00820049e-01 8.65332818e-01 -1.94523350e-02 1.44878583e+02] [ 3.91887845e-02 -2.18571732e-04 9.99231801e-01 1.48083653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.620385723 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:227.68, Y:144.89, Z:14.81 [[ 8.65085216e-01 -5.00472443e-01 -3.39838682e-02 2.27676908e+02] [ 5.00091726e-01 8.65752460e-01 -1.95177896e-02 1.44893302e+02] [ 3.91897334e-02 -1.10500137e-04 9.99231781e-01 1.48087370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.650385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:227.70, Y:144.91, Z:14.81 [[ 8.65533133e-01 -4.99697077e-01 -3.39886351e-02 2.27702391e+02] [ 4.99316094e-01 8.66200222e-01 -1.95093410e-02 1.44907531e+02] [ 3.91897239e-02 -8.50914730e-05 9.99231784e-01 1.48111069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.68038572300003 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:227.73, Y:144.92, Z:14.81 [[ 8.65788804e-01 -4.99253324e-01 -3.39980207e-02 2.27726176e+02] [ 4.98872652e-01 8.66456064e-01 -1.94927082e-02 1.44921071e+02] [ 3.91895906e-02 -8.41142642e-05 9.99231789e-01 1.48106418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.710385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:227.75, Y:144.93, Z:14.81 [[ 8.66307261e-01 -4.98353830e-01 -3.39880726e-02 2.27751017e+02] [ 4.97971773e-01 8.66973736e-01 -1.95103356e-02 1.44934806e+02] [ 3.91898168e-02 -2.31553349e-05 9.99231784e-01 1.48139628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.740385723 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:227.77, Y:144.95, Z:14.81 [[ 8.66271741e-01 -4.98415638e-01 -3.39870981e-02 2.27774928e+02] [ 4.98033562e-01 8.66938205e-01 -1.95120617e-02 1.44949050e+02] [ 3.91898305e-02 -2.39679197e-05 9.99231783e-01 1.48135934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.770385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.80, Y:144.96, Z:14.81 [[ 8.67372722e-01 -4.96499767e-01 -3.39491052e-02 2.27797389e+02] [ 4.96113585e-01 8.68036843e-01 -1.95793181e-02 1.44964029e+02] [ 3.91902010e-02 1.39954208e-04 9.99231759e-01 1.48132900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.800385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.82, Y:144.98, Z:14.81 [[ 8.68039274e-01 -4.95334776e-01 -3.39304908e-02 2.27821382e+02] [ 4.94946415e-01 8.68702139e-01 -1.96122436e-02 1.44977683e+02] [ 3.91901163e-02 2.30422953e-04 9.99231746e-01 1.48146393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.830385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.85, Y:144.99, Z:14.82 [[ 8.68548855e-01 -4.94440951e-01 -3.39268768e-02 2.27846144e+02] [ 4.94051658e-01 8.69211176e-01 -1.96186344e-02 1.44991644e+02] [ 3.91898768e-02 2.78112678e-04 9.99231743e-01 1.48153585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.860385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:227.87, Y:145.01, Z:14.81 [[ 8.68882044e-01 -4.93856339e-01 -3.39103305e-02 2.27868394e+02] [ 4.93465458e-01 8.69543445e-01 -1.96478826e-02 1.45005367e+02] [ 3.91897370e-02 3.38115640e-04 9.99231730e-01 1.48149221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.890385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.89, Y:145.02, Z:14.82 [[ 8.69524056e-01 -4.92729960e-01 -3.38393616e-02 2.27892874e+02] [ 4.92333334e-01 8.70182109e-01 -1.97733695e-02 1.45018887e+02] [ 3.91893386e-02 5.33174703e-04 9.99231661e-01 1.48169922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.920385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.92, Y:145.03, Z:14.82 [[ 8.69633951e-01 -4.92535240e-01 -3.38500892e-02 2.27916693e+02] [ 4.92139205e-01 8.70292346e-01 -1.97543960e-02 1.45032700e+02] [ 3.91892097e-02 5.20137440e-04 9.99231672e-01 1.48180368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.950385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:227.94, Y:145.05, Z:14.82 [[ 8.69185920e-01 -4.93326483e-01 -3.38351671e-02 2.27940047e+02] [ 4.92930020e-01 8.69844076e-01 -1.97807859e-02 1.45046476e+02] [ 3.91897051e-02 5.14811014e-04 9.99231656e-01 1.48173274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.980385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:227.96, Y:145.06, Z:14.82 [[ 8.68898849e-01 -4.93838120e-01 -3.37446487e-02 2.27964215e+02] [ 4.93435820e-01 8.69553595e-01 -1.99408467e-02 1.45059878e+02] [ 3.91903309e-02 6.75760357e-04 9.99231535e-01 1.48177836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.010385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.00, Y:145.07, Z:14.83 [[ 8.71725956e-01 -4.88834885e-01 -3.36795646e-02 2.27999538e+02] [ 4.88424385e-01 8.72375715e-01 -2.00557386e-02 1.45070043e+02] [ 3.91851789e-02 1.03318728e-03 9.99231432e-01 1.48276713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.040385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.03, Y:145.08, Z:14.83 [[ 8.70771352e-01 -4.90508245e-01 -3.40428205e-02 2.28025703e+02] [ 4.90123960e-01 8.71436523e-01 -1.94136553e-02 1.45084460e+02] [ 3.91887151e-02 2.19652882e-04 9.99231803e-01 1.48287303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.070385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.05, Y:145.10, Z:14.83 [[ 8.70103588e-01 -4.91687193e-01 -3.41093812e-02 2.28049840e+02] [ 4.91308417e-01 8.70771901e-01 -1.92959972e-02 1.45098034e+02] [ 3.91890854e-02 3.12902729e-05 9.99231812e-01 1.48302653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.100385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.07, Y:145.11, Z:14.83 [[ 8.66347453e-01 -4.98276035e-01 -3.41040087e-02 2.28065469e+02] [ 4.97901968e-01 8.67018413e-01 -1.93054879e-02 1.45114420e+02] [ 3.91882655e-02 -2.55192769e-04 9.99231812e-01 1.48277457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.130385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:228.09, Y:145.13, Z:14.83 [[ 8.64806591e-01 -5.00970449e-01 -3.37367591e-02 2.28091359e+02] [ 5.00573059e-01 8.65464311e-01 -1.99534058e-02 1.45128405e+02] [ 3.91940277e-02 3.68124159e-04 9.99231551e-01 1.48290403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.160385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.11, Y:145.14, Z:14.83 [[ 8.63520755e-01 -5.03180129e-01 -3.37884995e-02 2.28113703e+02] [ 5.02787994e-01 8.64181538e-01 -1.98620884e-02 1.45142257e+02] [ 3.91936056e-02 1.62873716e-04 9.99231622e-01 1.48293701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.190385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.15, Y:145.15, Z:14.84 [[ 8.64772695e-01 -5.01032470e-01 -3.36845590e-02 2.28148788e+02] [ 5.00631540e-01 8.65428357e-01 -2.00454259e-02 1.45153657e+02] [ 3.91949819e-02 4.71184335e-04 9.99231470e-01 1.48350662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.220385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.17, Y:145.17, Z:14.84 [[ 8.63857114e-01 -5.02581172e-01 -3.41035576e-02 2.28172642e+02] [ 5.02210457e-01 8.64529909e-01 -1.93052766e-02 1.45167155e+02] [ 3.91860141e-02 -4.50162683e-04 9.99231832e-01 1.48373151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.250385723 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:228.19, Y:145.18, Z:14.83 [[ 8.59827447e-01 -5.09444663e-01 -3.41012632e-02 2.28185917e+02] [ 5.09079158e-01 8.60503086e-01 -1.93093288e-02 1.45184138e+02] [ 3.91812767e-02 -7.57551458e-04 9.99231832e-01 1.48349211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.280385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.22, Y:145.20, Z:14.84 [[ 8.61719256e-01 -5.06267457e-01 -3.36628176e-02 2.28220443e+02] [ 5.05869059e-01 8.62376476e-01 -2.00825615e-02 1.45198290e+02] [ 3.91971693e-02 2.76552096e-04 9.99231457e-01 1.48385718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.310385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.24, Y:145.21, Z:14.84 [[ 8.61317657e-01 -5.06920978e-01 -3.41030212e-02 2.28243548e+02] [ 5.06553666e-01 8.61992287e-01 -1.93049549e-02 1.45212028e+02] [ 3.91826278e-02 -6.47311859e-04 9.99231856e-01 1.48399921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.340385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.27, Y:145.23, Z:14.84 [[ 8.60995850e-01 -5.07467613e-01 -3.40993910e-02 2.28267374e+02] [ 5.07100475e-01 8.61670575e-01 -1.93113650e-02 1.45226830e+02] [ 3.91823341e-02 -6.64812237e-04 9.99231856e-01 1.48413040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.370385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.29, Y:145.24, Z:14.84 [[ 8.60863413e-01 -5.07692598e-01 -3.40941329e-02 2.28290454e+02] [ 5.07325269e-01 8.61538034e-01 -1.93206436e-02 1.45241321e+02] [ 3.91823400e-02 -6.64379997e-04 9.99231856e-01 1.48423809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.400385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.31, Y:145.26, Z:14.84 [[ 8.60805353e-01 -5.07791186e-01 -3.40918564e-02 2.28312762e+02] [ 5.07423775e-01 8.61479930e-01 -1.93246597e-02 1.45258106e+02] [ 3.91823420e-02 -6.64247920e-04 9.99231856e-01 1.48435030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.43038572300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.34, Y:145.27, Z:14.84 [[ 8.60807227e-01 -5.07788365e-01 -3.40865785e-02 2.28335273e+02] [ 5.07420583e-01 8.61481602e-01 -1.93339649e-02 1.45273503e+02] [ 3.91825227e-02 -6.53414872e-04 9.99231856e-01 1.48442741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.460385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:228.35, Y:145.29, Z:14.84 [[ 8.57984220e-01 -5.12543988e-01 -3.40842896e-02 2.28347639e+02] [ 5.12179783e-01 8.58660533e-01 -1.93379993e-02 1.45294041e+02] [ 3.91784095e-02 -8.65585801e-04 9.99231856e-01 1.48403926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.490385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:228.38, Y:145.31, Z:14.85 [[ 8.61087037e-01 -5.07339032e-01 -3.37078850e-02 2.28379690e+02] [ 5.06944660e-01 8.61746534e-01 -2.00005742e-02 1.45307713e+02] [ 3.91947250e-02 1.34202878e-04 9.99231583e-01 1.48450520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.520385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.40, Y:145.32, Z:14.85 [[ 8.60962959e-01 -5.07524413e-01 -3.40845138e-02 2.28402783e+02] [ 5.07156315e-01 8.61637141e-01 -1.93367199e-02 1.45324113e+02] [ 3.91823405e-02 -6.37976883e-04 9.99231874e-01 1.48458204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.550385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.43, Y:145.34, Z:14.85 [[ 8.61192355e-01 -5.07135418e-01 -3.40792489e-02 2.28425469e+02] [ 5.06766648e-01 8.61866171e-01 -1.93459944e-02 1.45341567e+02] [ 3.91827907e-02 -6.09604254e-04 9.99231874e-01 1.48475470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.580385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:228.44, Y:145.36, Z:14.85 [[ 8.59060312e-01 -5.10739023e-01 -3.40739064e-02 2.28441775e+02] [ 5.10372707e-01 8.59735464e-01 -1.93553996e-02 1.45359287e+02] [ 3.91801036e-02 -7.62936246e-04 9.99231874e-01 1.48452202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.610385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:228.46, Y:145.38, Z:14.85 [[ 8.59353516e-01 -5.10265810e-01 -3.37688873e-02 2.28464321e+02] [ 5.09877959e-01 8.60016737e-01 -1.98916675e-02 1.45376327e+02] [ 3.91918461e-02 -1.24036981e-04 9.99231697e-01 1.48474899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.640385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.49, Y:145.40, Z:14.85 [[ 8.60408556e-01 -5.08484654e-01 -3.37708955e-02 2.28485095e+02] [ 5.08095569e-01 8.61071051e-01 -1.98881377e-02 1.45398283e+02] [ 3.91919533e-02 -4.69185070e-05 9.99231699e-01 1.48474594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.670385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.51, Y:145.41, Z:14.85 [[ 8.62474606e-01 -5.04969754e-01 -3.38097797e-02 2.28513863e+02] [ 5.04580648e-01 8.63137038e-01 -1.98197736e-02 1.45413770e+02] [ 3.91908593e-02 3.42908261e-05 9.99231743e-01 1.48520333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.700385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:228.53, Y:145.43, Z:14.85 [[ 8.59902311e-01 -5.09320392e-01 -3.40698256e-02 2.28528507e+02] [ 5.08952693e-01 8.60576703e-01 -1.93622066e-02 1.45432852e+02] [ 3.91812649e-02 -6.90323221e-04 9.99231881e-01 1.48515468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.730385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.56, Y:145.45, Z:14.86 [[ 8.61987142e-01 -5.05806095e-01 -3.37395939e-02 2.28559084e+02] [ 5.05412826e-01 8.62647190e-01 -1.99424270e-02 1.45449580e+02] [ 3.91923670e-02 1.37692146e-04 9.99231675e-01 1.48552661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.760385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.58, Y:145.47, Z:14.86 [[ 8.61294392e-01 -5.06963027e-01 -3.40655258e-02 2.28581819e+02] [ 5.06593204e-01 8.61967609e-01 -1.93692127e-02 1.45466324e+02] [ 3.91828545e-02 -5.74769609e-04 9.99231892e-01 1.48560710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.790385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.60, Y:145.48, Z:14.86 [[ 8.60711497e-01 -5.07952387e-01 -3.40601114e-02 2.28603528e+02] [ 5.07582961e-01 8.61384933e-01 -1.93787291e-02 1.45483442e+02] [ 3.91823385e-02 -6.08837226e-04 9.99231892e-01 1.48565236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.820385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.62, Y:145.51, Z:14.86 [[ 8.59777571e-01 -5.09531743e-01 -3.40577656e-02 2.28623389e+02] [ 5.09163391e-01 8.60451594e-01 -1.93828509e-02 1.45505197e+02] [ 3.91812365e-02 -6.76026998e-04 9.99231892e-01 1.48553896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.850385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.65, Y:145.52, Z:14.86 [[ 8.59452962e-01 -5.10079439e-01 -3.40524757e-02 2.28645995e+02] [ 5.09711150e-01 8.60127019e-01 -1.93921400e-02 1.45523180e+02] [ 3.91809863e-02 -6.90294323e-04 9.99231892e-01 1.48556503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.880385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.67, Y:145.54, Z:14.86 [[ 8.58906090e-01 -5.11000118e-01 -3.40471345e-02 2.28665428e+02] [ 5.10632179e-01 8.59580339e-01 -1.94015131e-02 1.45542779e+02] [ 3.91804229e-02 -7.21484698e-04 9.99231892e-01 1.48567018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.910385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.69, Y:145.56, Z:14.86 [[ 8.58681914e-01 -5.11376888e-01 -3.40448205e-02 2.28687021e+02] [ 5.11009084e-01 8.59356236e-01 -1.94055727e-02 1.45558512e+02] [ 3.91801902e-02 -7.33998245e-04 9.99231892e-01 1.48583997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.940385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.71, Y:145.58, Z:14.86 [[ 8.57035588e-01 -5.14131496e-01 -3.40412477e-02 2.28705451e+02] [ 5.13765610e-01 8.57710953e-01 -1.94118381e-02 1.45576556e+02] [ 3.91777883e-02 -8.52586341e-04 9.99231892e-01 1.48581763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.970385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.73, Y:145.59, Z:14.86 [[ 8.57060029e-01 -5.14101037e-01 -3.38855496e-02 2.28728532e+02] [ 5.13724311e-01 8.57729465e-01 -1.96849231e-02 1.45592977e+02] [ 3.91846738e-02 -5.36669849e-04 9.99231842e-01 1.48588766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.000385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.75, Y:145.61, Z:14.86 [[ 8.58625595e-01 -5.11482363e-01 -3.38803683e-02 2.28753102e+02] [ 5.11103238e-01 8.59293679e-01 -1.96940057e-02 1.45612348e+02] [ 3.91863229e-02 -4.06588585e-04 9.99231838e-01 1.48602166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.030385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.78, Y:145.63, Z:14.86 [[ 8.58939512e-01 -5.10944331e-01 -3.40412174e-02 2.28775891e+02] [ 5.10575935e-01 8.59613512e-01 -1.94119412e-02 1.45630025e+02] [ 3.91807118e-02 -7.06943103e-04 9.99231891e-01 1.48607082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.060385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.80, Y:145.65, Z:14.86 [[ 8.59219662e-01 -5.10473439e-01 -3.40358637e-02 2.28797727e+02] [ 5.10104303e-01 8.59893256e-01 -1.94213235e-02 1.45647755e+02] [ 3.91812795e-02 -6.74657507e-04 9.99231891e-01 1.48613614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.090385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.82, Y:145.67, Z:14.86 [[ 8.60360113e-01 -5.08551991e-01 -3.39904305e-02 2.28817220e+02] [ 5.08178205e-01 8.61031142e-01 -1.95009000e-02 1.45666890e+02] [ 3.91840407e-02 -4.95399395e-04 9.99231888e-01 1.48637884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.120385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.84, Y:145.68, Z:14.87 [[ 8.61636445e-01 -5.06389234e-01 -3.39496768e-02 2.28842263e+02] [ 5.06010951e-01 8.62304961e-01 -1.95722305e-02 1.45682559e+02] [ 3.91861415e-02 -3.14761136e-04 9.99231879e-01 1.48662349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.150385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.86, Y:145.70, Z:14.87 [[ 8.63015838e-01 -5.04029759e-01 -3.40244824e-02 2.28862466e+02] [ 5.03654804e-01 8.63686213e-01 -1.94413132e-02 1.45701392e+02] [ 3.91854768e-02 -3.58432795e-04 9.99231890e-01 1.48664135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.18038572300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.89, Y:145.72, Z:14.87 [[ 8.63561979e-01 -5.03093714e-01 -3.40209196e-02 2.28886056e+02] [ 5.02717787e-01 8.64231809e-01 -1.94475459e-02 1.45718243e+02] [ 3.91858990e-02 -3.08760143e-04 9.99231890e-01 1.48671293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.210385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.91, Y:145.73, Z:14.87 [[ 8.63451165e-01 -5.03282591e-01 -3.40399812e-02 2.28909931e+02] [ 5.02908124e-01 8.64121813e-01 -1.94142154e-02 1.45731946e+02] [ 3.91855269e-02 -3.55756164e-04 9.99231889e-01 1.48682194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.240385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.93, Y:145.75, Z:14.87 [[ 8.63877544e-01 -5.02550630e-01 -3.40360644e-02 2.28932124e+02] [ 5.02175325e-01 8.64547723e-01 -1.94210609e-02 1.45748279e+02] [ 3.91858684e-02 -3.14653305e-04 9.99231889e-01 1.48690043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.270385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:228.96, Y:145.76, Z:14.87 [[ 8.64146466e-01 -5.02089884e-01 -3.40093032e-02 2.28955154e+02] [ 5.01712381e-01 8.64815408e-01 -1.94678116e-02 1.45763741e+02] [ 3.91863607e-02 -2.39847866e-04 9.99231891e-01 1.48699507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.300385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.98, Y:145.78, Z:14.87 [[ 8.64754892e-01 -5.01041630e-01 -3.40038526e-02 2.28977044e+02] [ 5.00662942e-01 8.65423163e-01 -1.94773274e-02 1.45780097e+02] [ 3.91866735e-02 -1.81354769e-04 9.99231891e-01 1.48709103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.330385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:229.00, Y:145.80, Z:14.87 [[ 8.65127312e-01 -5.00398474e-01 -3.40014896e-02 2.28999864e+02] [ 5.00019127e-01 8.65795210e-01 -1.94814515e-02 1.45795495e+02] [ 3.91868154e-02 -1.47459398e-04 9.99231891e-01 1.48713555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.360385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.02, Y:145.81, Z:14.87 [[ 8.66541141e-01 -4.97946288e-01 -3.39991841e-02 2.29022524e+02] [ 4.97564894e-01 8.67207872e-01 -1.94854742e-02 1.45813440e+02] [ 3.91870797e-02 -3.18353325e-05 9.99231891e-01 1.48710538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.390385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.05, Y:145.83, Z:14.87 [[ 8.67393553e-01 -4.96460308e-01 -3.39939197e-02 2.29046219e+02] [ 4.96077411e-01 8.68059422e-01 -1.94946540e-02 1.45828467e+02] [ 3.91870643e-02 4.59215200e-05 9.99231891e-01 1.48717884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.420385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.07, Y:145.84, Z:14.87 [[ 8.68447774e-01 -4.94614240e-01 -3.39884874e-02 2.29069630e+02] [ 4.94229557e-01 8.69112613e-01 -1.95041206e-02 1.45842641e+02] [ 3.91868389e-02 1.40195058e-04 9.99231891e-01 1.48723628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.450385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.09, Y:145.86, Z:14.87 [[ 8.70062228e-01 -4.91768912e-01 -3.39861308e-02 2.29093540e+02] [ 4.91381895e-01 8.70725710e-01 -1.95082262e-02 1.45857498e+02] [ 3.91861370e-02 2.73201388e-04 9.99231891e-01 1.48740349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.480385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.12, Y:145.87, Z:14.87 [[ 8.70583184e-01 -4.90846440e-01 -3.39807691e-02 2.29116705e+02] [ 4.90458355e-01 8.71246043e-01 -1.95175610e-02 1.45871730e+02] [ 3.91857360e-02 3.25508232e-04 9.99231891e-01 1.48749121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.510385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.14, Y:145.89, Z:14.88 [[ 8.70864079e-01 -4.90348062e-01 -3.39784425e-02 2.29140457e+02] [ 4.89959440e-01 8.71526623e-01 -1.95216106e-02 1.45886276e+02] [ 3.91855012e-02 3.52610789e-04 9.99231891e-01 1.48758904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.540385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.16, Y:145.90, Z:14.88 [[ 8.70768143e-01 -4.90518778e-01 -3.39730701e-02 2.29164739e+02] [ 4.90129921e-01 8.71430549e-01 -1.95309556e-02 1.45900407e+02] [ 3.91854716e-02 3.55715702e-04 9.99231891e-01 1.48766234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.570385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:229.19, Y:145.91, Z:14.88 [[ 8.70458427e-01 -4.91068551e-01 -3.39677119e-02 2.29189251e+02] [ 4.90679750e-01 8.71120865e-01 -1.95402701e-02 1.45914479e+02] [ 3.91855947e-02 3.41724376e-04 9.99231891e-01 1.48775730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.600385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.21, Y:145.93, Z:14.88 [[ 8.69832371e-01 -4.92177006e-01 -3.39623542e-02 2.29214276e+02] [ 4.91788685e-01 8.70495091e-01 -1.95495776e-02 1.45928073e+02] [ 3.91859152e-02 3.02553952e-04 9.99231891e-01 1.48788362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.630385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:229.24, Y:145.94, Z:14.88 [[ 8.68707701e-01 -4.94159748e-01 -3.39569458e-02 2.29239899e+02] [ 4.93772573e-01 8.69371091e-01 -1.95589674e-02 1.45939395e+02] [ 3.91864414e-02 2.24017142e-04 9.99231891e-01 1.48807764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.660385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.26, Y:145.95, Z:14.88 [[ 8.67904834e-01 -4.95568857e-01 -3.39515373e-02 2.29264909e+02] [ 4.95182392e-01 8.68568638e-01 -1.95683512e-02 1.45952690e+02] [ 3.91867060e-02 1.71263128e-04 9.99231891e-01 1.48821089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.690385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.29, Y:145.96, Z:14.88 [[ 8.67041817e-01 -4.97077618e-01 -3.39459660e-02 2.29288938e+02] [ 4.96691929e-01 8.67706073e-01 -1.95780113e-02 1.45964812e+02] [ 3.91869120e-02 1.14267184e-04 9.99231891e-01 1.48821164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.720385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.31, Y:145.98, Z:14.88 [[ 8.67009499e-01 -4.97134151e-01 -3.39435547e-02 2.29314068e+02] [ 4.96748342e-01 8.67673684e-01 -1.95821909e-02 1.45978261e+02] [ 3.91869050e-02 1.16541029e-04 9.99231891e-01 1.48834491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.750385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.34, Y:145.99, Z:14.88 [[ 8.67105683e-01 -4.96966742e-01 -3.39380561e-02 2.29338583e+02] [ 4.96580432e-01 8.67769577e-01 -1.95917160e-02 1.45991247e+02] [ 3.91868439e-02 1.35113770e-04 9.99231892e-01 1.48846125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.780385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.36, Y:146.00, Z:14.89 [[ 8.68116800e-01 -4.95198752e-01 -3.39325441e-02 2.29364942e+02] [ 4.94810718e-01 8.68779687e-01 -1.96012581e-02 1.46002501e+02] [ 3.91864236e-02 2.25995007e-04 9.99231892e-01 1.48862297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.810385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.39, Y:146.01, Z:14.89 [[ 8.68882759e-01 -4.93853934e-01 -3.39270233e-02 2.29389233e+02] [ 4.93464500e-01 8.69544825e-01 -1.96108091e-02 1.46014645e+02] [ 3.91859428e-02 2.97712336e-04 9.99231892e-01 1.48875022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.840385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.41, Y:146.03, Z:14.89 [[ 8.69527235e-01 -4.92718487e-01 -3.39246315e-02 2.29414087e+02] [ 4.92328028e-01 8.70188696e-01 -1.96149458e-02 1.46027129e+02] [ 3.91854773e-02 3.53682691e-04 9.99231892e-01 1.48889359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.870385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.44, Y:146.04, Z:14.89 [[ 8.70945154e-01 -4.90208143e-01 -3.39192277e-02 2.29439119e+02] [ 4.89815414e-01 8.71605271e-01 -1.96242860e-02 1.46037561e+02] [ 3.91841624e-02 4.77516226e-04 9.99231892e-01 1.48902673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.900385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.46, Y:146.05, Z:14.89 [[ 8.71542493e-01 -4.89145600e-01 -3.39155505e-02 2.29464052e+02] [ 4.88751818e-01 8.72201982e-01 -1.96306389e-02 1.46049384e+02] [ 3.91834511e-02 5.32648953e-04 9.99231892e-01 1.48911306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.93038572300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.49, Y:146.06, Z:14.89 [[ 8.72231438e-01 -4.87916193e-01 -3.39132285e-02 2.29490502e+02] [ 4.87521325e-01 8.72890278e-01 -1.96346495e-02 1.46059760e+02] [ 3.91825909e-02 5.92536424e-04 9.99231892e-01 1.48910101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.960385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.52, Y:146.07, Z:14.89 [[ 8.72239667e-01 -4.87901849e-01 -3.39079443e-02 2.29515532e+02] [ 4.87506616e-01 8.72898288e-01 -1.96437708e-02 1.46071603e+02] [ 3.91824186e-02 6.03728893e-04 9.99231892e-01 1.48917508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.990385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.54, Y:146.08, Z:14.89 [[ 8.72226692e-01 -4.87925429e-01 -3.39024102e-02 2.29540830e+02] [ 4.87529843e-01 8.72885101e-01 -1.96533172e-02 1.46082898e+02] [ 3.91822620e-02 6.13711104e-04 9.99231892e-01 1.48920023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.020385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.57, Y:146.09, Z:14.89 [[ 8.71650148e-01 -4.88954765e-01 -3.39006976e-02 2.29568231e+02] [ 4.88559842e-01 8.72308954e-01 -1.96562710e-02 1.46091404e+02] [ 3.91829094e-02 5.70872064e-04 9.99231892e-01 1.48934665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.050385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.59, Y:146.10, Z:14.89 [[ 8.71069836e-01 -4.89987952e-01 -3.38990855e-02 2.29593442e+02] [ 4.89593702e-01 8.71729045e-01 -1.96590509e-02 1.46102948e+02] [ 3.91835155e-02 5.27627451e-04 9.99231892e-01 1.48946761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.080385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.62, Y:146.12, Z:14.90 [[ 8.70328267e-01 -4.91304294e-01 -3.38939377e-02 2.29618746e+02] [ 4.90910696e-01 8.70987865e-01 -1.96679221e-02 1.46115287e+02] [ 3.91841430e-02 4.78651996e-04 9.99231892e-01 1.48956329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.110385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.65, Y:146.13, Z:14.90 [[ 8.69049828e-01 -4.93562517e-01 -3.38886159e-02 2.29645358e+02] [ 4.93170275e-01 8.69710234e-01 -1.96770874e-02 1.46125667e+02] [ 3.91851489e-02 3.87511363e-04 9.99231892e-01 1.48973120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.140385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.67, Y:146.14, Z:14.90 [[ 8.68384883e-01 -4.94731872e-01 -3.38831709e-02 2.29670367e+02] [ 4.94340154e-01 8.69045600e-01 -1.96864590e-02 1.46137171e+02] [ 3.91855393e-02 3.45611505e-04 9.99231892e-01 1.48990288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.170385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.70, Y:146.15, Z:14.90 [[ 8.68055283e-01 -4.95310121e-01 -3.38808119e-02 2.29701732e+02] [ 4.94918685e-01 8.68716167e-01 -1.96905182e-02 1.46146002e+02] [ 3.91857220e-02 3.24211450e-04 9.99231892e-01 1.48999072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.200385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.73, Y:146.16, Z:14.90 [[ 8.67646384e-01 -4.96017613e-01 -3.40041120e-02 2.29726895e+02] [ 4.95635019e-01 8.68312459e-01 -1.94782577e-02 1.46157531e+02] [ 3.91877529e-02 4.66111809e-05 9.99231864e-01 1.48992110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.230385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:229.75, Y:146.17, Z:14.90 [[ 8.66283823e-01 -4.98392403e-01 -3.40198541e-02 2.29748959e+02] [ 4.98012699e-01 8.66951558e-01 -1.94511636e-02 1.46171303e+02] [ 3.91878777e-02 -9.20909293e-05 9.99231856e-01 1.49031319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.260385723 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:229.78, Y:146.18, Z:14.90 [[ 8.65471231e-01 -4.99812077e-01 -3.38738193e-02 2.29775405e+02] [ 4.99423620e-01 8.66133863e-01 -1.97022427e-02 1.46184799e+02] [ 3.91866808e-02 1.34338764e-04 9.99231898e-01 1.49024896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.290385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.80, Y:146.19, Z:14.90 [[ 8.64910666e-01 -5.00777230e-01 -3.39367946e-02 2.29800575e+02] [ 5.00393755e-01 8.65576204e-01 -1.95939987e-02 1.46193540e+02] [ 3.91871103e-02 -3.47016740e-05 9.99231890e-01 1.49043971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.320385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.83, Y:146.21, Z:14.91 [[ 8.65184149e-01 -5.00309358e-01 -3.38664245e-02 2.29830571e+02] [ 4.99920786e-01 8.65846713e-01 -1.97148819e-02 1.46205473e+02] [ 3.91866723e-02 1.26473728e-04 9.99231899e-01 1.49052585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.350385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.86, Y:146.22, Z:14.91 [[ 8.62916011e-01 -5.04204050e-01 -3.39740290e-02 2.29855069e+02] [ 5.03825736e-01 8.63584510e-01 -1.95300185e-02 1.46215083e+02] [ 3.91865596e-02 -2.64224572e-04 9.99231877e-01 1.49086960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.380385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.88, Y:146.23, Z:14.91 [[ 8.61854732e-01 -5.06023663e-01 -3.38596023e-02 2.29880615e+02] [ 5.05639031e-01 8.62519587e-01 -1.97264293e-02 1.46226973e+02] [ 3.91866102e-02 -1.19420049e-04 9.99231903e-01 1.49102442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.410385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.91, Y:146.24, Z:14.91 [[ 8.60721295e-01 -5.07949558e-01 -3.38540940e-02 2.29906164e+02] [ 5.07566042e-01 8.61386794e-01 -1.97358779e-02 1.46239775e+02] [ 3.91863000e-02 -1.96098130e-04 9.99231903e-01 1.49112666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.440385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.93, Y:146.25, Z:14.91 [[ 8.58868983e-01 -5.11075674e-01 -3.38485818e-02 2.29931908e+02] [ 5.10694207e-01 8.59535659e-01 -1.97453273e-02 1.46250433e+02] [ 3.91854195e-02 -3.27625519e-04 9.99231903e-01 1.49113826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.470385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.96, Y:146.26, Z:14.91 [[ 8.58184059e-01 -5.12225311e-01 -3.38430489e-02 2.29956274e+02] [ 5.11844364e-01 8.58851032e-01 -1.97548060e-02 1.46261339e+02] [ 3.91850491e-02 -3.69114214e-04 9.99231903e-01 1.49121384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.500385723 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:229.98, Y:146.27, Z:14.91 [[ 8.57639319e-01 -5.13137027e-01 -3.38406554e-02 2.29982909e+02] [ 5.12756627e-01 8.58306604e-01 -1.97589052e-02 1.46269911e+02] [ 3.91846839e-02 -4.06006317e-04 9.99231903e-01 1.49147797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.530385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.01, Y:146.28, Z:14.92 [[ 8.57546523e-01 -5.13292204e-01 -3.38389644e-02 2.30009347e+02] [ 5.12911810e-01 8.58213811e-01 -1.97618009e-02 1.46282653e+02] [ 3.91846449e-02 -4.09740827e-04 9.99231903e-01 1.49165292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.560385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.03, Y:146.29, Z:14.92 [[ 8.57577253e-01 -5.13241170e-01 -3.38342500e-02 2.30033251e+02] [ 5.12860419e-01 8.58244338e-01 -1.97698692e-02 1.46294739e+02] [ 3.91847642e-02 -3.98057502e-04 9.99231903e-01 1.49177763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.590385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.06, Y:146.31, Z:14.92 [[ 8.58045532e-01 -5.12458152e-01 -3.38305846e-02 2.30058894e+02] [ 5.12076545e-01 8.58712127e-01 -1.97761395e-02 1.46307968e+02] [ 3.91851771e-02 -3.55020731e-04 9.99231903e-01 1.49184494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.620385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.08, Y:146.32, Z:14.92 [[ 8.58500993e-01 -5.11695076e-01 -3.38259234e-02 2.30083996e+02] [ 5.11312563e-01 8.59167069e-01 -1.97841090e-02 1.46321127e+02] [ 3.91855506e-02 -3.10942340e-04 9.99231903e-01 1.49191023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.650385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.11, Y:146.33, Z:14.92 [[ 8.59868192e-01 -5.09394600e-01 -3.38206286e-02 2.30110838e+02] [ 5.09009948e-01 8.60533035e-01 -1.97931561e-02 1.46330631e+02] [ 3.91862950e-02 -1.95531080e-04 9.99231903e-01 1.49212348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.68038572300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.14, Y:146.34, Z:14.92 [[ 8.60504110e-01 -5.08319986e-01 -3.38152268e-02 2.30136579e+02] [ 5.07934142e-01 8.61168261e-01 -1.98023805e-02 1.46342921e+02] [ 3.91865458e-02 -1.35878349e-04 9.99231903e-01 1.49222265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.710385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.16, Y:146.36, Z:14.92 [[ 8.60893579e-01 -5.07660459e-01 -3.38098268e-02 2.30160964e+02] [ 5.07273744e-01 8.61557223e-01 -1.98115959e-02 1.46356096e+02] [ 3.91866644e-02 -9.51617584e-05 9.99231903e-01 1.49233474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.740385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:230.19, Y:146.37, Z:14.92 [[ 8.60149081e-01 -5.08921235e-01 -3.38043558e-02 2.30186513e+02] [ 5.08535126e-01 8.60813079e-01 -1.98209267e-02 1.46371890e+02] [ 3.91865221e-02 -1.41750497e-04 9.99231903e-01 1.49184934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.770385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:230.21, Y:146.38, Z:14.92 [[ 8.61327054e-01 -5.06924061e-01 -3.38186664e-02 2.30212059e+02] [ 5.06537370e-01 8.61990714e-01 -1.97965263e-02 1.46383702e+02] [ 3.91867119e-02 -7.91346375e-05 9.99231903e-01 1.49201151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.800385723 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:230.24, Y:146.40, Z:14.92 [[ 8.61303632e-01 -5.06965222e-01 -3.37981926e-02 2.30237064e+02] [ 5.06577193e-01 8.61966509e-01 -1.98314195e-02 1.46395825e+02] [ 3.91867500e-02 -4.05199386e-05 9.99231904e-01 1.49213382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.830385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:230.27, Y:146.41, Z:14.92 [[ 8.61533310e-01 -5.06575169e-01 -3.37928115e-02 2.30267938e+02] [ 5.06186481e-01 8.62195800e-01 -1.98405847e-02 1.46408467e+02] [ 3.91867677e-02 -1.21397115e-05 9.99231904e-01 1.49232803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.860385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:230.29, Y:146.42, Z:14.92 [[ 8.60638285e-01 -5.08080176e-01 -3.40040748e-02 2.30294394e+02] [ 5.07706822e-01 8.61309635e-01 -1.94806534e-02 1.46418288e+02] [ 3.91857711e-02 -4.98304643e-04 9.99231818e-01 1.49245814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.890385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:230.32, Y:146.43, Z:14.93 [[ 8.60224776e-01 -5.08781230e-01 -3.39852207e-02 2.30315382e+02] [ 5.08407155e-01 8.60895706e-01 -1.95127476e-02 1.46430523e+02] [ 3.91854503e-02 -4.92980473e-04 9.99231834e-01 1.49278553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.920385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:230.34, Y:146.44, Z:14.93 [[ 8.59411964e-01 -5.10166859e-01 -3.37765083e-02 2.30341271e+02] [ 5.09779878e-01 8.60075436e-01 -1.98675823e-02 1.46442678e+02] [ 3.91861272e-02 -1.44146323e-04 9.99231918e-01 1.49294118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.950385723 meters Centerline goodness : 0.999517 Centerline is valid? [True, True] Translation: X:230.37, Y:146.46, Z:14.93 [[ 8.58810809e-01 -5.11178559e-01 -3.37709098e-02 2.30366752e+02] [ 5.10791986e-01 8.59474519e-01 -1.98770941e-02 1.46455795e+02] [ 3.91859808e-02 -1.79246850e-04 9.99231918e-01 1.49264298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.980385723 meters Centerline goodness : 0.999404 Centerline is valid? [True, True] Translation: X:230.39, Y:146.47, Z:14.93 [[ 8.57956499e-01 -5.12610292e-01 -3.37836540e-02 2.30394063e+02] [ 5.12225678e-01 8.58621346e-01 -1.98554474e-02 1.46469031e+02] [ 3.91854732e-02 -2.69744961e-04 9.99231918e-01 1.49303494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.010385723 meters Centerline goodness : 0.999049 Centerline is valid? [True, True] Translation: X:230.42, Y:146.48, Z:14.93 [[ 8.57543117e-01 -5.13297502e-01 -3.38448911e-02 2.30419065e+02] [ 5.12917520e-01 8.58210637e-01 -1.97514727e-02 1.46480787e+02] [ 3.91844271e-02 -4.21898123e-04 9.99231906e-01 1.49330357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.040385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.45, Y:146.49, Z:14.94 [[ 8.57619801e-01 -5.13171359e-01 -3.38146823e-02 2.30445831e+02] [ 5.12789258e-01 8.58286100e-01 -1.98027378e-02 1.46490408e+02] [ 3.91848697e-02 -3.56585773e-04 9.99231914e-01 1.49365210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.070385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.47, Y:146.50, Z:14.94 [[ 8.57466002e-01 -5.13432235e-01 -3.37549477e-02 2.30470885e+02] [ 5.13046344e-01 8.58130105e-01 -1.99040413e-02 1.46503536e+02] [ 3.91855132e-02 -2.50813873e-04 9.99231921e-01 1.49373324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.100385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.50, Y:146.52, Z:14.94 [[ 8.57325734e-01 -5.13666587e-01 -3.37523765e-02 2.30495459e+02] [ 5.13280706e-01 8.57989844e-01 -1.99084005e-02 1.46518107e+02] [ 3.91854764e-02 -2.56459551e-04 9.99231921e-01 1.49384508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.130385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.52, Y:146.53, Z:14.94 [[ 8.58098666e-01 -5.12374691e-01 -3.37469322e-02 2.30521088e+02] [ 5.11987448e-01 8.58761982e-01 -1.99176249e-02 1.46529468e+02] [ 3.91858693e-02 -1.86718313e-04 9.99231921e-01 1.49367674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.160385723 meters Centerline goodness : 0.999844 Centerline is valid? [True, True] Translation: X:230.54, Y:146.54, Z:14.94 [[ 8.58092150e-01 -5.12385295e-01 -3.37516258e-02 2.30544688e+02] [ 5.11998373e-01 8.58755653e-01 -1.99096745e-02 1.46542225e+02] [ 3.91858239e-02 -1.96442160e-04 9.99231921e-01 1.49355995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.190385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:230.57, Y:146.55, Z:14.94 [[ 8.59149061e-01 -5.10611924e-01 -3.37395168e-02 2.30572485e+02] [ 5.10222827e-01 8.59811290e-01 -1.99301737e-02 1.46554741e+02] [ 3.91862018e-02 -9.16816588e-05 9.99231922e-01 1.49407153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.220385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.60, Y:146.56, Z:14.94 [[ 8.61133475e-01 -5.07250942e-01 -3.38470059e-02 2.30599439e+02] [ 5.06866402e-01 8.61798387e-01 -1.97482026e-02 1.46564748e+02] [ 3.91865895e-02 -1.50071821e-04 9.99231899e-01 1.49420401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.250385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.62, Y:146.58, Z:14.94 [[ 8.61739818e-01 -5.06217310e-01 -3.38898501e-02 2.30620326e+02] [ 5.05834823e-01 8.62405937e-01 -1.96756756e-02 1.46577433e+02] [ 3.91869755e-02 -1.87353198e-04 9.99231878e-01 1.49426748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.280385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.65, Y:146.59, Z:14.94 [[ 8.62719788e-01 -5.04556080e-01 -3.37302493e-02 2.30645106e+02] [ 5.04161732e-01 8.63378898e-01 -1.99455825e-02 1.46590303e+02] [ 3.91856504e-02 2.01947792e-04 9.99231927e-01 1.49428640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.310385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.67, Y:146.60, Z:14.94 [[ 8.65136355e-01 -5.00401564e-01 -3.37248033e-02 2.30670875e+02] [ 5.00003693e-01 8.65793343e-01 -1.99547866e-02 1.46601872e+02] [ 3.91841166e-02 4.01085201e-04 9.99231927e-01 1.49418023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.340385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.70, Y:146.62, Z:14.94 [[ 8.66012615e-01 -4.98886325e-01 -3.36836114e-02 2.30696640e+02] [ 4.98484598e-01 8.66667255e-01 -2.00243535e-02 1.46615747e+02] [ 3.91823591e-02 5.50581268e-04 9.99231925e-01 1.49440982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.370385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.72, Y:146.63, Z:14.94 [[ 8.67973733e-01 -4.95464402e-01 -3.37138688e-02 2.30719949e+02] [ 4.95062076e-01 8.68628004e-01 -1.99732806e-02 1.46629952e+02] [ 3.91808601e-02 6.45825079e-04 9.99231927e-01 1.49442501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.400385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.74, Y:146.65, Z:14.94 [[ 8.68616034e-01 -4.94337658e-01 -3.37115011e-02 2.30743796e+02] [ 4.93934328e-01 8.69269687e-01 -1.99772761e-02 1.46645688e+02] [ 3.91799059e-02 7.01314698e-04 9.99231927e-01 1.49449136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.43038572300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.77, Y:146.66, Z:14.95 [[ 8.68820333e-01 -4.93978828e-01 -3.37067661e-02 2.30767336e+02] [ 4.93574918e-01 8.69473628e-01 -1.99852620e-02 1.46660988e+02] [ 3.91794405e-02 7.26787662e-04 9.99231927e-01 1.49468179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.460385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.79, Y:146.68, Z:14.95 [[ 8.68338810e-01 -4.94825153e-01 -3.37013119e-02 2.30790321e+02] [ 4.94421524e-01 8.68992278e-01 -1.99944554e-02 1.46676367e+02] [ 3.91799392e-02 6.99307632e-04 9.99231927e-01 1.49488180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.490385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.81, Y:146.69, Z:14.95 [[ 8.67720799e-01 -4.95908414e-01 -3.36965911e-02 2.30813990e+02] [ 4.95505292e-01 8.68374579e-01 -2.00024081e-02 1.46691763e+02] [ 3.91806256e-02 6.59666295e-04 9.99231927e-01 1.49510921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.520385723 meters Centerline goodness : 0.999238 Centerline is valid? [True, True] Translation: X:230.84, Y:146.71, Z:14.95 [[ 8.66782363e-01 -4.97547227e-01 -3.36911393e-02 2.30837179e+02] [ 4.97144984e-01 8.67436684e-01 -2.00115867e-02 1.46707086e+02] [ 3.91816396e-02 5.96309509e-04 9.99231927e-01 1.49496637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.550385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.86, Y:146.72, Z:14.96 [[ 8.64501354e-01 -5.01500478e-01 -3.36850227e-02 2.30861761e+02] [ 5.01100826e-01 8.65157261e-01 -2.00218773e-02 1.46722315e+02] [ 3.91838230e-02 4.29347386e-04 9.99231927e-01 1.49559677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.580385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.89, Y:146.73, Z:14.96 [[ 8.64206851e-01 -5.02008190e-01 -3.36793055e-02 2.30889663e+02] [ 5.01608549e-01 8.64862765e-01 -2.00314898e-02 1.46734987e+02] [ 3.91839492e-02 4.17523159e-04 9.99231927e-01 1.49584011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.610385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:230.92, Y:146.75, Z:14.96 [[ 8.63594886e-01 -5.03054802e-01 -3.37600243e-02 2.30917328e+02] [ 5.02661250e-01 8.64254488e-01 -1.98959065e-02 1.46749115e+02] [ 3.91859839e-02 2.12147053e-04 9.99231912e-01 1.49597667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.640385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.94, Y:146.76, Z:14.96 [[ 8.62649568e-01 -5.04667058e-01 -3.38656770e-02 2.30936925e+02] [ 5.04281694e-01 8.63314054e-01 -1.97184542e-02 1.46762929e+02] [ 3.91879691e-02 -6.77249388e-05 9.99231854e-01 1.49598154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.670385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.96, Y:146.78, Z:14.96 [[ 8.62945158e-01 -5.04175344e-01 -3.36582364e-02 2.30964927e+02] [ 5.03775988e-01 8.63601235e-01 -2.00664093e-02 1.46777831e+02] [ 3.91842833e-02 3.59999509e-04 9.99231936e-01 1.49601571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.700385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.98, Y:146.79, Z:14.96 [[ 8.61499033e-01 -5.06630948e-01 -3.38304529e-02 2.30984798e+02] [ 5.06244775e-01 8.62163021e-01 -1.97775850e-02 1.46794206e+02] [ 3.91873022e-02 -8.81196310e-05 9.99231879e-01 1.49582193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.730385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.01, Y:146.81, Z:14.96 [[ 8.61381508e-01 -5.06843012e-01 -3.36460905e-02 2.31012858e+02] [ 5.06444907e-01 8.62038336e-01 -2.00864094e-02 1.46808823e+02] [ 3.91848761e-02 2.62170444e-04 9.99231943e-01 1.49580754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.760385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:231.03, Y:146.82, Z:14.96 [[ 8.59795412e-01 -5.09517376e-01 -3.38214779e-02 2.31032504e+02] [ 5.09132844e-01 8.60460343e-01 -1.97925439e-02 1.46822208e+02] [ 3.91866855e-02 -2.02086801e-04 9.99231886e-01 1.49608527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.790385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:231.06, Y:146.84, Z:14.96 [[ 8.59261242e-01 -5.10429869e-01 -3.36372913e-02 2.31061512e+02] [ 5.10033943e-01 8.59919377e-01 -2.01007726e-02 1.46835071e+02] [ 3.91853933e-02 1.15654523e-04 9.99231951e-01 1.49628145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.820385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.09, Y:146.85, Z:14.97 [[ 8.57236321e-01 -5.13813001e-01 -3.37948170e-02 2.31085500e+02] [ 5.13430041e-01 8.57902139e-01 -1.98371454e-02 1.46846429e+02] [ 3.91852290e-02 -3.46152749e-04 9.99231904e-01 1.49663223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.850385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.11, Y:146.86, Z:14.97 [[ 8.55725149e-01 -5.16327345e-01 -3.37719266e-02 2.31109433e+02] [ 5.15944830e-01 8.56391207e-01 -1.98754279e-02 1.46862660e+02] [ 3.91842079e-02 -4.16547422e-04 9.99231917e-01 1.49665963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.880385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.13, Y:146.88, Z:14.97 [[ 8.54947045e-01 -5.17614864e-01 -3.37698597e-02 2.31134094e+02] [ 5.17233216e-01 8.55613599e-01 -1.98788807e-02 1.46878824e+02] [ 3.91835553e-02 -4.71502800e-04 9.99231918e-01 1.49681054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.910385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.16, Y:146.89, Z:14.97 [[ 8.54431914e-01 -5.18465270e-01 -3.37619231e-02 2.31157563e+02] [ 5.18083762e-01 8.55098543e-01 -1.98921302e-02 1.46893008e+02] [ 3.91831500e-02 -4.95033261e-04 9.99231923e-01 1.49694513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.940385723 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:231.18, Y:146.91, Z:14.97 [[ 8.53720362e-01 -5.19636784e-01 -3.37514012e-02 2.31178534e+02] [ 5.19255497e-01 8.54387110e-01 -1.99096844e-02 1.46906995e+02] [ 3.91825665e-02 -5.28297627e-04 9.99231929e-01 1.49693829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.970385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.21, Y:146.92, Z:14.97 [[ 8.54225065e-01 -5.18816484e-01 -3.36005052e-02 2.31206836e+02] [ 5.18424643e-01 8.54885616e-01 -2.01611703e-02 1.46920590e+02] [ 3.91845361e-02 -1.97152900e-04 9.99231972e-01 1.49728662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.000385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.23, Y:146.94, Z:14.97 [[ 8.54176235e-01 -5.18887341e-01 -3.37474000e-02 2.31226771e+02] [ 5.18505207e-01 8.54842495e-01 -1.99163236e-02 1.46937379e+02] [ 3.91830398e-02 -4.86152366e-04 9.99231932e-01 1.49749142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.030385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.25, Y:146.95, Z:14.98 [[ 8.54757843e-01 -5.17938611e-01 -3.35950166e-02 2.31250199e+02] [ 5.17545739e-01 8.55417777e-01 -2.01701340e-02 1.46952177e+02] [ 3.91846656e-02 -1.46377422e-04 9.99231975e-01 1.49759297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.060385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.28, Y:146.97, Z:14.98 [[ 8.56320840e-01 -5.15350712e-01 -3.35896174e-02 2.31279946e+02] [ 5.14955493e-01 8.56979372e-01 -2.01791215e-02 1.46966136e+02] [ 3.91849338e-02 -1.73557224e-05 9.99231975e-01 1.49761956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.090385723 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:231.30, Y:146.98, Z:14.98 [[ 8.57456797e-01 -5.13445534e-01 -3.37864724e-02 2.31300639e+02] [ 5.13061728e-01 8.58122128e-01 -1.98513868e-02 1.46980571e+02] [ 3.91855255e-02 -3.12839423e-04 9.99231903e-01 1.49780494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.120385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.33, Y:146.99, Z:14.98 [[ 8.59711045e-01 -5.09675685e-01 -3.35799819e-02 2.31331298e+02] [ 5.09275509e-01 8.60366566e-01 -2.01947468e-02 1.46994664e+02] [ 3.91838652e-02 2.60184525e-04 9.99231984e-01 1.49785805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.150385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.36, Y:147.01, Z:14.98 [[ 8.60196777e-01 -5.08839548e-01 -3.38204003e-02 2.31355425e+02] [ 5.08454408e-01 8.60861363e-01 -1.97946727e-02 1.47009489e+02] [ 3.91869883e-02 -1.68817950e-04 9.99231881e-01 1.49792169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.18038572300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.37, Y:147.03, Z:14.98 [[ 8.58169721e-01 -5.12249539e-01 -3.38399247e-02 2.31371498e+02] [ 5.11868320e-01 8.58836585e-01 -1.97621879e-02 1.47028093e+02] [ 3.91861369e-02 -3.62274143e-04 9.99231863e-01 1.49833553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.210385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.40, Y:147.04, Z:14.98 [[ 8.57888588e-01 -5.12737701e-01 -3.35741236e-02 2.31395556e+02] [ 5.12339506e-01 8.58545301e-01 -2.02038968e-02 1.47042569e+02] [ 3.91842056e-02 1.31342646e-04 9.99231995e-01 1.49842293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.240385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.42, Y:147.05, Z:14.99 [[ 8.57037447e-01 -5.14159472e-01 -3.35686110e-02 2.31421339e+02] [ 5.13762008e-01 8.57694603e-01 -2.02130518e-02 1.47054797e+02] [ 3.91843485e-02 7.70653557e-05 9.99231996e-01 1.49875428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.270385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:231.45, Y:147.07, Z:14.99 [[ 8.56526344e-01 -5.15010815e-01 -3.35631102e-02 2.31445331e+02] [ 5.14613647e-01 8.57183678e-01 -2.02221815e-02 1.47068367e+02] [ 3.91843925e-02 4.87966697e-05 9.99231996e-01 1.49895566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.300385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:231.47, Y:147.08, Z:14.99 [[ 8.56032901e-01 -5.15830943e-01 -3.35575743e-02 2.31468886e+02] [ 5.15434044e-01 8.56690398e-01 -2.02313640e-02 1.47083077e+02] [ 3.91844152e-02 2.19969562e-05 9.99231996e-01 1.49903244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.330385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.50, Y:147.10, Z:14.99 [[ 8.58291347e-01 -5.12064666e-01 -3.35520815e-02 2.31501869e+02] [ 5.11664527e-01 8.58946876e-01 -2.02404692e-02 1.47096625e+02] [ 3.91838847e-02 2.04809676e-04 9.99231996e-01 1.49900909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.360385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.52, Y:147.11, Z:14.99 [[ 8.55414349e-01 -5.16834103e-01 -3.38939795e-02 2.31517418e+02] [ 5.16459985e-01 8.56085307e-01 -1.96731236e-02 1.47114446e+02] [ 3.91838791e-02 -6.76211938e-04 9.99231788e-01 1.49908006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.390385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.54, Y:147.13, Z:14.99 [[ 8.55152378e-01 -5.17290122e-01 -3.35460795e-02 2.31541084e+02] [ 5.16893634e-01 8.55810101e-01 -2.02494854e-02 1.47128502e+02] [ 3.91839325e-02 -2.33593614e-05 9.99232015e-01 1.49911776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.420385723 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:231.57, Y:147.14, Z:14.99 [[ 8.54925304e-01 -5.17665464e-01 -3.35438818e-02 2.31565362e+02] [ 5.17269122e-01 8.55583115e-01 -2.02531253e-02 1.47141729e+02] [ 3.91839224e-02 -3.63050445e-05 9.99232015e-01 1.49920197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.450385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.59, Y:147.16, Z:14.99 [[ 8.54798790e-01 -5.17874454e-01 -3.35421766e-02 2.31589708e+02] [ 5.17478163e-01 8.55456631e-01 -2.02559490e-02 1.47156570e+02] [ 3.91839159e-02 -4.25832136e-05 9.99232015e-01 1.49938205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.480385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.62, Y:147.17, Z:14.99 [[ 8.57313720e-01 -5.13700774e-01 -3.35365533e-02 2.31622529e+02] [ 5.13300916e-01 8.57969399e-01 -2.02652549e-02 1.47168962e+02] [ 3.91836136e-02 1.59337516e-04 9.99232015e-01 1.49912935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.510385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.64, Y:147.19, Z:14.99 [[ 8.54787192e-01 -5.17872680e-01 -3.38635973e-02 2.31638769e+02] [ 5.17497378e-01 8.55457448e-01 -1.97235591e-02 1.47186443e+02] [ 3.91831589e-02 -6.64877102e-04 9.99231824e-01 1.49948607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.540385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.67, Y:147.20, Z:15.00 [[ 8.57321021e-01 -5.13689023e-01 -3.35298899e-02 2.31670755e+02] [ 5.13288758e-01 8.57976432e-01 -2.02754334e-02 1.47199865e+02] [ 3.91831229e-02 1.72039688e-04 9.99232032e-01 1.49962584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.570385723 meters Centerline goodness : 0.999665 Centerline is valid? [True, True] Translation: X:231.70, Y:147.21, Z:14.99 [[ 8.58395339e-01 -5.11872897e-01 -3.38168465e-02 2.31697197e+02] [ 5.11489932e-01 8.59061142e-01 -1.97990719e-02 1.47213274e+02] [ 3.91853471e-02 -3.01545523e-04 9.99231914e-01 1.49916006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.600385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:231.71, Y:147.23, Z:15.00 [[ 8.55224449e-01 -5.17143672e-01 -3.39641613e-02 2.31711468e+02] [ 5.16774505e-01 8.55898204e-01 -1.95544098e-02 1.47230863e+02] [ 3.91823040e-02 -8.28403289e-04 9.99231735e-01 1.49970567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.630385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.74, Y:147.25, Z:15.00 [[ 8.54819507e-01 -5.17839903e-01 -3.35476719e-02 2.31735219e+02] [ 5.17444030e-01 8.55477546e-01 -2.02446059e-02 1.47245849e+02] [ 3.91827448e-02 -5.35585227e-05 9.99232060e-01 1.49986263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.660385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.76, Y:147.26, Z:15.00 [[ 8.54056410e-01 -5.19097842e-01 -3.35421942e-02 2.31758812e+02] [ 5.18702582e-01 8.54714818e-01 -2.02536775e-02 1.47261023e+02] [ 3.91826508e-02 -1.00639651e-04 9.99232060e-01 1.50000553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.690385723 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:231.78, Y:147.28, Z:15.00 [[ 8.53783537e-01 -5.19546879e-01 -3.35367352e-02 2.31782346e+02] [ 5.19151610e-01 8.54441939e-01 -2.02627127e-02 1.47275881e+02] [ 3.91826223e-02 -1.10679598e-04 9.99232060e-01 1.50016257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.720385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:231.81, Y:147.29, Z:15.00 [[ 8.53620267e-01 -5.19815441e-01 -3.35312904e-02 2.31806787e+02] [ 5.19420026e-01 8.54278581e-01 -2.02717190e-02 1.47291490e+02] [ 3.91826157e-02 -1.12473529e-04 9.99232060e-01 1.50047605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.750385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.84, Y:147.30, Z:15.00 [[ 8.55960635e-01 -5.15952871e-01 -3.35265022e-02 2.31839741e+02] [ 5.15554175e-01 8.56616968e-01 -2.02796349e-02 1.47304516e+02] [ 3.91827065e-02 7.38410339e-05 9.99232060e-01 1.50042560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.780385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.86, Y:147.32, Z:15.01 [[ 8.53803260e-01 -5.19497065e-01 -3.38052231e-02 2.31856341e+02] [ 5.19119270e-01 8.54472004e-01 -1.98186435e-02 1.47322370e+02] [ 3.91813438e-02 -6.27720329e-04 9.99231919e-01 1.50084419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.810385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:231.89, Y:147.34, Z:15.01 [[ 8.56533082e-01 -5.15002550e-01 -3.35179621e-02 2.31887918e+02] [ 5.14602598e-01 8.57188635e-01 -2.02931215e-02 1.47336738e+02] [ 3.91822255e-02 1.33299501e-04 9.99232073e-01 1.50090173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.840385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:231.90, Y:147.35, Z:15.01 [[ 8.54372085e-01 -5.18561128e-01 -3.38038033e-02 2.31903974e+02] [ 5.18182524e-01 8.55040360e-01 -1.98205586e-02 1.47353748e+02] [ 3.91817873e-02 -5.82408147e-04 9.99231929e-01 1.50113198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.870385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.93, Y:147.37, Z:15.01 [[ 8.53770008e-01 -5.19570614e-01 -3.35134230e-02 2.31927637e+02] [ 5.19173901e-01 8.54427511e-01 -2.02999622e-02 1.47370203e+02] [ 3.91820545e-02 -6.77956277e-05 9.99232086e-01 1.50113995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.900385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.95, Y:147.38, Z:15.01 [[ 8.53307876e-01 -5.20329551e-01 -3.35086043e-02 2.31950371e+02] [ 5.19933110e-01 8.53965544e-01 -2.03079132e-02 1.47384955e+02] [ 3.91820009e-02 -9.33305868e-05 9.99232086e-01 1.50117553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.930385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.97, Y:147.40, Z:15.01 [[ 8.49867875e-01 -5.25929672e-01 -3.35048611e-02 2.31965619e+02] [ 5.25537321e-01 8.50527990e-01 -2.03140870e-02 1.47400722e+02] [ 3.91806033e-02 -3.43765003e-04 9.99232086e-01 1.50095051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.960385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:232.00, Y:147.41, Z:15.01 [[ 8.51579018e-01 -5.23180272e-01 -3.30995264e-02 2.31998971e+02] [ 5.22759688e-01 8.52221852e-01 -2.09815117e-02 1.47414264e+02] [ 3.91852526e-02 5.64317022e-04 9.99231804e-01 1.50147956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.990385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:232.02, Y:147.43, Z:15.02 [[ 8.51440528e-01 -5.23380037e-01 -3.35017068e-02 2.32023539e+02] [ 5.22985539e-01 8.52099342e-01 -2.03184051e-02 1.47428817e+02] [ 3.91810299e-02 -2.20994603e-04 9.99232104e-01 1.50162277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.020385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.05, Y:147.44, Z:15.02 [[ 8.48917181e-01 -5.27463379e-01 -3.34963173e-02 2.32048170e+02] [ 5.27071700e-01 8.49577674e-01 -2.03272861e-02 1.47443834e+02] [ 3.91796224e-02 -3.98778474e-04 9.99232104e-01 1.50195916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.050385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.07, Y:147.46, Z:15.02 [[ 8.47468005e-01 -5.29788928e-01 -3.34913738e-02 2.32070913e+02] [ 5.29398739e-01 8.48129380e-01 -2.03354278e-02 1.47459968e+02] [ 3.91785026e-02 -4.96666583e-04 9.99232104e-01 1.50187517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.080385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.09, Y:147.48, Z:15.02 [[ 8.44668592e-01 -5.34240971e-01 -3.34896226e-02 2.32093473e+02] [ 5.33854154e-01 8.45331944e-01 -2.03383113e-02 1.47477860e+02] [ 3.91754070e-02 -6.99441375e-04 9.99232104e-01 1.50207233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.110385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.12, Y:147.49, Z:15.02 [[ 8.43878598e-01 -5.35488269e-01 -3.34847004e-02 2.32119022e+02] [ 5.35102111e-01 8.44542334e-01 -2.03464121e-02 1.47492417e+02] [ 3.91745120e-02 -7.47832144e-04 9.99232104e-01 1.50228846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.140385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.14, Y:147.51, Z:15.02 [[ 8.42304448e-01 -5.37954336e-01 -3.35909093e-02 2.32139901e+02] [ 5.37577073e-01 8.42973306e-01 -2.01716964e-02 1.47507724e+02] [ 3.91676914e-02 -1.06699312e-03 9.99232082e-01 1.50245554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.170385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:232.16, Y:147.53, Z:15.02 [[ 8.39827091e-01 -5.41821047e-01 -3.34725314e-02 2.32162104e+02] [ 5.41439102e-01 8.40493257e-01 -2.03662559e-02 1.47525142e+02] [ 3.91683030e-02 -1.01920389e-03 9.99232108e-01 1.50221912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.200385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.19, Y:147.54, Z:15.03 [[ 8.40110039e-01 -5.41383827e-01 -3.34465959e-02 2.32185096e+02] [ 5.40999840e-01 8.40775030e-01 -2.04088632e-02 1.47541033e+02] [ 3.91700912e-02 -9.48912194e-04 9.99232107e-01 1.50271751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.230385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.21, Y:147.56, Z:15.03 [[ 8.40571776e-01 -5.40665516e-01 -3.34647436e-02 2.32212746e+02] [ 5.40282145e-01 8.41237123e-01 -2.03790626e-02 1.47557683e+02] [ 3.91700411e-02 -9.50338617e-04 9.99232108e-01 1.50270207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.260385723 meters Centerline goodness : 0.999736 Centerline is valid? [True, True] Translation: X:232.24, Y:147.58, Z:15.03 [[ 8.42640171e-01 -5.37423601e-01 -3.36662215e-02 2.32240727e+02] [ 5.37050846e-01 8.43311605e-01 -2.00480627e-02 1.47575970e+02] [ 3.91654173e-02 -1.18716973e-03 9.99232035e-01 1.50253904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.290385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.25, Y:147.59, Z:15.03 [[ 8.41200788e-01 -5.39657935e-01 -3.39197204e-02 2.32253599e+02] [ 5.39303683e-01 8.41882502e-01 -1.96313339e-02 1.47593854e+02] [ 3.91506242e-02 -1.77913662e-03 9.99231737e-01 1.50286777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.320385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.28, Y:147.61, Z:15.03 [[ 8.42831063e-01 -5.37137374e-01 -3.34550468e-02 2.32275404e+02] [ 5.36750639e-01 8.43494428e-01 -2.03936444e-02 1.47612735e+02] [ 3.91733342e-02 -7.68620714e-04 9.99232135e-01 1.50283584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.350385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:232.31, Y:147.63, Z:15.03 [[ 8.45321379e-01 -5.33209997e-01 -3.34494373e-02 2.32308228e+02] [ 5.32819816e-01 8.45982723e-01 -2.04028409e-02 1.47628315e+02] [ 3.91766448e-02 -5.75565413e-04 9.99232135e-01 1.50269406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.380385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.33, Y:147.65, Z:15.03 [[ 8.44721504e-01 -5.34134759e-01 -3.38472984e-02 2.32328475e+02] [ 5.33771277e-01 8.45398218e-01 -1.97503761e-02 1.47645974e+02] [ 3.91638082e-02 -1.38314827e-03 9.99231846e-01 1.50277999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.410385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:232.34, Y:147.66, Z:15.03 [[ 8.44088196e-01 -5.35146032e-01 -3.36725737e-02 2.32344558e+02] [ 5.34771940e-01 8.44758856e-01 -2.00361294e-02 1.47663775e+02] [ 3.91674600e-02 -1.09488730e-03 9.99232061e-01 1.50316680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.440385723 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:232.37, Y:147.68, Z:15.03 [[ 8.44873313e-01 -5.33921830e-01 -3.34150278e-02 2.32365374e+02] [ 5.33530070e-01 8.45533668e-01 -2.04568248e-02 1.47682104e+02] [ 3.91758763e-02 -5.44496766e-04 9.99232182e-01 1.50310449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.470385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:232.39, Y:147.70, Z:15.03 [[ 8.45130085e-01 -5.33515453e-01 -3.34125977e-02 2.32387692e+02] [ 5.33123218e-01 8.45790157e-01 -2.04607931e-02 1.47698329e+02] [ 3.91761955e-02 -5.20999790e-04 9.99232182e-01 1.50319105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.500385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:232.41, Y:147.71, Z:15.03 [[ 8.45001712e-01 -5.33718901e-01 -3.34101930e-02 2.32410883e+02] [ 5.33326670e-01 8.45661787e-01 -2.04647189e-02 1.47714390e+02] [ 3.91761308e-02 -5.25824475e-04 9.99232182e-01 1.50332707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.530385723 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:232.43, Y:147.73, Z:15.03 [[ 8.44808164e-01 -5.34025554e-01 -3.34046913e-02 2.32434268e+02] [ 5.33633208e-01 8.45468170e-01 -2.04736954e-02 1.47730852e+02] [ 3.91760798e-02 -5.29507564e-04 9.99232182e-01 1.50346380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.560385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.46, Y:147.75, Z:15.04 [[ 8.44743110e-01 -5.34128781e-01 -3.33994615e-02 2.32456997e+02] [ 5.33736178e-01 8.45402964e-01 -2.04822235e-02 1.47746566e+02] [ 3.91761488e-02 -5.24283744e-04 9.99232182e-01 1.50370539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.590385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:232.48, Y:147.76, Z:15.04 [[ 8.44457417e-01 -5.34580454e-01 -3.33977363e-02 2.32479431e+02] [ 5.34188093e-01 8.45117414e-01 -2.04850362e-02 1.47762795e+02] [ 3.91759085e-02 -5.41932319e-04 9.99232182e-01 1.50377564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.620385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:232.50, Y:147.78, Z:15.04 [[ 8.43858113e-01 -5.35526334e-01 -3.33920780e-02 2.32499760e+02] [ 5.35134348e-01 8.44518333e-01 -2.04942554e-02 1.47780566e+02] [ 3.91754355e-02 -5.75004250e-04 9.99232183e-01 1.50370127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.650385723 meters Centerline goodness : 0.999761 Centerline is valid? [True, True] Translation: X:232.52, Y:147.80, Z:15.04 [[ 8.43409606e-01 -5.36232570e-01 -3.33896254e-02 2.32524618e+02] [ 5.35840979e-01 8.44070060e-01 -2.04982504e-02 1.47796257e+02] [ 3.91750127e-02 -6.03108263e-04 9.99232183e-01 1.50366313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.680385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.55, Y:147.81, Z:15.04 [[ 8.42675209e-01 -5.37386221e-01 -3.33847607e-02 2.32548589e+02] [ 5.36995220e-01 8.43336013e-01 -2.05061703e-02 1.47809743e+02] [ 3.91743044e-02 -6.47415597e-04 9.99232183e-01 1.50406428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.710385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.57, Y:147.82, Z:15.04 [[ 8.42548769e-01 -5.37584547e-01 -3.33830388e-02 2.32572424e+02] [ 5.37193591e-01 8.43209599e-01 -2.05089732e-02 1.47824700e+02] [ 3.91742058e-02 -6.53344398e-04 9.99232183e-01 1.50419458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.740385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.59, Y:147.84, Z:15.04 [[ 8.42023718e-01 -5.38409332e-01 -3.33384025e-02 2.32594913e+02] [ 5.38016148e-01 8.42683228e-01 -2.05815863e-02 1.47840770e+02] [ 3.91750307e-02 -6.06415070e-04 9.99232180e-01 1.50420407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.770385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:232.61, Y:147.86, Z:15.03 [[ 8.40313126e-01 -5.41072915e-01 -3.33759213e-02 2.32609042e+02] [ 5.40684241e-01 8.40975301e-01 -2.05205634e-02 1.47859989e+02] [ 3.91714466e-02 -8.02135890e-04 9.99232182e-01 1.50348791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.800385723 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:232.64, Y:147.87, Z:15.04 [[ 8.41750831e-01 -5.38852646e-01 -3.30660705e-02 2.32635037e+02] [ 5.38442318e-01 8.42400033e-01 -2.10251203e-02 1.47874433e+02] [ 3.91843005e-02 -1.06259143e-04 9.99231995e-01 1.50385135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.830385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.66, Y:147.89, Z:15.04 [[ 8.41982925e-01 -5.38486323e-01 -3.31245302e-02 2.32658038e+02] [ 5.38079450e-01 8.42634226e-01 -2.09300247e-02 1.47889459e+02] [ 3.91823949e-02 -2.00905631e-04 9.99232055e-01 1.50367357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.860385723 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:232.68, Y:147.90, Z:15.04 [[ 8.42721679e-01 -5.37333432e-01 -3.30598588e-02 2.32683064e+02] [ 5.36921539e-01 8.43369896e-01 -2.10351735e-02 1.47903588e+02] [ 3.91845917e-02 -2.37535212e-05 9.99231989e-01 1.50377701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.890385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.71, Y:147.92, Z:15.04 [[ 8.46533560e-01 -5.31306246e-01 -3.30847964e-02 2.32714139e+02] [ 5.30891324e-01 8.47179809e-01 -2.09945817e-02 1.47916943e+02] [ 3.91833239e-02 2.08186662e-04 9.99232017e-01 1.50441672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.920385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.73, Y:147.93, Z:15.04 [[ 8.44253427e-01 -5.34902932e-01 -3.33916842e-02 2.32728676e+02] [ 5.34510445e-01 8.44913342e-01 -2.04945844e-02 1.47934623e+02] [ 3.91756928e-02 -5.45580831e-04 9.99232189e-01 1.50406386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.950385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.76, Y:147.95, Z:15.04 [[ 8.48112490e-01 -5.28785335e-01 -3.30344261e-02 2.32758364e+02] [ 5.28365332e-01 8.48755496e-01 -2.10756655e-02 1.47950282e+02] [ 3.91826536e-02 4.20289656e-04 9.99231977e-01 1.50443549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.980385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.78, Y:147.96, Z:15.05 [[ 8.48262545e-01 -5.28522532e-01 -3.33854483e-02 2.32781839e+02] [ 5.28124705e-01 8.48919240e-01 -2.05041376e-02 1.47964736e+02] [ 3.91784481e-02 -2.38788076e-04 9.99232201e-01 1.50455434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.010385723 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:232.80, Y:147.98, Z:15.04 [[ 8.46272499e-01 -5.31703535e-01 -3.33797637e-02 2.32798929e+02] [ 5.31307811e-01 8.46930464e-01 -2.05133877e-02 1.47980105e+02] [ 3.91773795e-02 -3.75013294e-04 9.99232201e-01 1.50433254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.040385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:232.82, Y:147.99, Z:15.05 [[ 8.47032384e-01 -5.30510422e-01 -3.30882590e-02 2.32824091e+02] [ 5.30095231e-01 8.47678380e-01 -2.09859370e-02 1.47993227e+02] [ 3.91814601e-02 2.35839922e-04 9.99232084e-01 1.50452767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.070385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:232.85, Y:148.01, Z:15.05 [[ 8.47532591e-01 -5.29709576e-01 -3.31100032e-02 2.32847214e+02] [ 5.29295153e-01 8.48179056e-01 -2.09506672e-02 1.48007862e+02] [ 3.91809803e-02 2.31409040e-04 9.99232104e-01 1.50462993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.100385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:232.88, Y:148.02, Z:15.05 [[ 8.49503541e-01 -5.26546242e-01 -3.30573649e-02 2.32876359e+02] [ 5.26126088e-01 8.50146356e-01 -2.10359996e-02 1.48022213e+02] [ 3.91800248e-02 4.77814089e-04 9.99232054e-01 1.50491857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.130385723 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:232.90, Y:148.04, Z:15.05 [[ 8.49799734e-01 -5.26049599e-01 -3.33501228e-02 2.32898996e+02] [ 5.25647622e-01 8.50453888e-01 -2.05611590e-02 1.48038736e+02] [ 3.91789310e-02 -5.75453002e-05 9.99232209e-01 1.50478268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.160385723 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:232.92, Y:148.05, Z:15.05 [[ 8.50752675e-01 -5.24507419e-01 -3.33444510e-02 2.32920764e+02] [ 5.24103896e-01 8.51405876e-01 -2.05703529e-02 1.48052676e+02] [ 3.91789643e-02 2.43260894e-05 9.99232209e-01 1.50484573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.190385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:232.95, Y:148.07, Z:15.05 [[ 8.50658037e-01 -5.24668035e-01 -3.32318748e-02 2.32946381e+02] [ 5.24257502e-01 8.51306877e-01 -2.07526531e-02 1.48065552e+02] [ 3.91787773e-02 2.31351483e-04 9.99232190e-01 1.50509487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.220385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:232.97, Y:148.08, Z:15.05 [[ 8.50773284e-01 -5.24474600e-01 -3.33348637e-02 2.32971561e+02] [ 5.24070443e-01 8.51426093e-01 -2.05858838e-02 1.48078179e+02] [ 3.91789460e-02 4.41031909e-05 9.99232209e-01 1.50534764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.250385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.99, Y:148.09, Z:15.06 [[ 8.51062906e-01 -5.24004865e-01 -3.33291578e-02 2.32994940e+02] [ 5.23599986e-01 8.51715267e-01 -2.05951177e-02 1.48090761e+02] [ 3.91788944e-02 7.65941051e-05 9.99232209e-01 1.50550458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.280385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:233.02, Y:148.10, Z:15.06 [[ 8.51179065e-01 -5.23816314e-01 -3.33266845e-02 2.33017469e+02] [ 5.23411134e-01 8.51831240e-01 -2.05991192e-02 1.48104925e+02] [ 3.91788657e-02 8.99813330e-05 9.99232209e-01 1.50558508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.310385723 meters Centerline goodness : 0.999112 Centerline is valid? [True, True] Translation: X:233.04, Y:148.12, Z:15.05 [[ 8.50949781e-01 -5.24188864e-01 -3.33242321e-02 2.33041605e+02] [ 5.23783814e-01 8.51602037e-01 -2.06030858e-02 1.48121572e+02] [ 3.91788921e-02 7.74979004e-05 9.99232209e-01 1.50546108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.340385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.07, Y:148.14, Z:15.06 [[ 8.50994091e-01 -5.24116611e-01 -3.33291856e-02 2.33065476e+02] [ 5.23711819e-01 8.51646507e-01 -2.05950756e-02 1.48135952e+02] [ 3.91789057e-02 7.13992510e-05 9.99232209e-01 1.50560539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.370385723 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:233.09, Y:148.15, Z:15.06 [[ 8.50756661e-01 -5.24502754e-01 -3.33161297e-02 2.33091881e+02] [ 5.24097432e-01 8.51408747e-01 -2.06161741e-02 1.48147267e+02] [ 3.91788844e-02 7.84494067e-05 9.99232210e-01 1.50581436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.400385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:233.12, Y:148.16, Z:15.06 [[ 8.50444277e-01 -5.25009471e-01 -3.33104550e-02 2.33116584e+02] [ 5.24604179e-01 8.51096382e-01 -2.06253390e-02 1.48160231e+02] [ 3.91789060e-02 6.58976164e-05 9.99232210e-01 1.50604744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.430385723 meters Centerline goodness : 0.999761 Centerline is valid? [True, True] Translation: X:233.14, Y:148.17, Z:15.06 [[ 8.50221709e-01 -5.25370190e-01 -3.33048027e-02 2.33139384e+02] [ 5.24964817e-01 8.50873763e-01 -2.06344620e-02 1.48173135e+02] [ 3.91789140e-02 6.00178532e-05 9.99232210e-01 1.50617652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.460385723 meters Centerline goodness : 0.999544 Centerline is valid? [True, True] Translation: X:233.16, Y:148.19, Z:15.06 [[ 8.49908053e-01 -5.25882416e-01 -3.32262808e-02 2.33164889e+02] [ 5.25472479e-01 8.50557259e-01 -2.07610995e-02 1.48188741e+02] [ 3.91787515e-02 1.85529462e-04 9.99232201e-01 1.50614028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.490385723 meters Centerline goodness : 0.999432 Centerline is valid? [True, True] Translation: X:233.19, Y:148.20, Z:15.06 [[ 8.49818431e-01 -5.26022731e-01 -3.32974538e-02 2.33189189e+02] [ 5.25617395e-01 8.50470508e-01 -2.06463155e-02 1.48202404e+02] [ 3.91789337e-02 4.38985124e-05 9.99232210e-01 1.50616069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.520385723 meters Centerline goodness : 0.999673 Centerline is valid? [True, True] Translation: X:233.22, Y:148.21, Z:15.06 [[ 8.49828825e-01 -5.26006301e-01 -3.32917270e-02 2.33215632e+02] [ 5.25600590e-01 8.50480669e-01 -2.06555457e-02 1.48212948e+02] [ 3.91789175e-02 5.55267583e-05 9.99232210e-01 1.50618424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.550385723 meters Centerline goodness : 0.999606 Centerline is valid? [True, True] Translation: X:233.24, Y:148.23, Z:15.06 [[ 8.49699421e-01 -5.26215425e-01 -3.32899539e-02 2.33241053e+02] [ 5.25809762e-01 8.50351295e-01 -2.06584030e-02 1.48225160e+02] [ 3.91789257e-02 4.92503176e-05 9.99232210e-01 1.50643215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.580385723 meters Centerline goodness : 0.999693 Centerline is valid? [True, True] Translation: X:233.27, Y:148.24, Z:15.07 [[ 8.49473005e-01 -5.26581211e-01 -3.32842675e-02 2.33265854e+02] [ 5.26175470e-01 8.50124830e-01 -2.06675607e-02 1.48238115e+02] [ 3.91789314e-02 4.31697158e-05 9.99232210e-01 1.50662829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.610385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:233.29, Y:148.25, Z:15.07 [[ 8.49202931e-01 -5.27017000e-01 -3.32785902e-02 2.33289815e+02] [ 5.26611235e-01 8.49854741e-01 -2.06766982e-02 1.48252319e+02] [ 3.91789391e-02 3.38331713e-05 9.99232210e-01 1.50672063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.640385723 meters Centerline goodness : 0.999737 Centerline is valid? [True, True] Translation: X:233.31, Y:148.27, Z:15.07 [[ 8.48689921e-01 -5.27843094e-01 -3.32729178e-02 2.33313885e+02] [ 5.27437606e-01 8.49341903e-01 -2.06858222e-02 1.48266298e+02] [ 3.91789517e-02 6.46062452e-06 9.99232210e-01 1.50665605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.670385723 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:233.34, Y:148.28, Z:15.07 [[ 8.48226649e-01 -5.28587591e-01 -3.32672651e-02 2.33338847e+02] [ 5.28182319e-01 8.48878765e-01 -2.06949089e-02 1.48279213e+02] [ 3.91789470e-02 -1.72079967e-05 9.99232210e-01 1.50675210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.700385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.36, Y:148.29, Z:15.07 [[ 8.47799619e-01 -5.29272587e-01 -3.32616260e-02 2.33364539e+02] [ 5.28867486e-01 8.48451842e-01 -2.07039684e-02 1.48290899e+02] [ 3.91789307e-02 -3.81760251e-05 9.99232210e-01 1.50691730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.730385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:233.39, Y:148.30, Z:15.07 [[ 8.46929194e-01 -5.30664656e-01 -3.32560411e-02 2.33391618e+02] [ 5.30260275e-01 8.47581863e-01 -2.07129352e-02 1.48299670e+02] [ 3.91788400e-02 -9.19679964e-05 9.99232210e-01 1.50722036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.760385723 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:233.42, Y:148.31, Z:15.07 [[ 8.46518742e-01 -5.31319526e-01 -3.32502821e-02 2.33416311e+02] [ 5.30915287e-01 8.47171499e-01 -2.07221761e-02 1.48313307e+02] [ 3.91787881e-02 -1.11372577e-04 9.99232210e-01 1.50732518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.790385723 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:233.44, Y:148.33, Z:15.07 [[ 8.46029928e-01 -5.32097890e-01 -3.32445079e-02 2.33439536e+02] [ 5.31693888e-01 8.46682831e-01 -2.07314355e-02 1.48327411e+02] [ 3.91787071e-02 -1.36486774e-04 9.99232210e-01 1.50736639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.820385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:233.47, Y:148.34, Z:15.07 [[ 8.45987422e-01 -5.32165621e-01 -3.32420484e-02 2.33465053e+02] [ 5.31761516e-01 8.46640262e-01 -2.07353785e-02 1.48340284e+02] [ 3.91787121e-02 -1.34972673e-04 9.99232210e-01 1.50747151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.850385723 meters Centerline goodness : 0.999758 Centerline is valid? [True, True] Translation: X:233.49, Y:148.36, Z:15.07 [[ 8.43899132e-01 -5.35471381e-01 -3.32363524e-02 2.33485012e+02] [ 5.35069475e-01 8.44553327e-01 -2.07445044e-02 1.48355210e+02] [ 3.91779604e-02 -2.77488409e-04 9.99232210e-01 1.50740507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.880385723 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:233.52, Y:148.36, Z:15.08 [[ 8.46471531e-01 -5.31414054e-01 -3.29401002e-02 2.33517474e+02] [ 5.30990484e-01 8.47112083e-01 -2.12184912e-02 1.48364572e+02] [ 3.91797614e-02 4.69968978e-04 9.99232068e-01 1.50762643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.910385723 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:233.54, Y:148.38, Z:15.08 [[ 8.46323443e-01 -5.31631888e-01 -3.32289815e-02 2.33541809e+02] [ 5.31226561e-01 8.46975518e-01 -2.07560230e-02 1.48379527e+02] [ 3.91786975e-02 -8.58087441e-05 9.99232216e-01 1.50775994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.940385723 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:233.57, Y:148.39, Z:15.08 [[ 8.46513025e-01 -5.31330328e-01 -3.32231902e-02 2.33565603e+02] [ 5.30924405e-01 8.47164729e-01 -2.07652887e-02 1.48392080e+02] [ 3.91787426e-02 -6.09151500e-05 9.99232216e-01 1.50768376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.970385723 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:233.59, Y:148.41, Z:15.08 [[ 8.46617454e-01 -5.31164162e-01 -3.32192528e-02 2.33590356e+02] [ 5.30757864e-01 8.47268925e-01 -2.07715856e-02 1.48405840e+02] [ 3.91787625e-02 -4.57927573e-05 9.99232216e-01 1.50775142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.000385723 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:233.62, Y:148.42, Z:15.08 [[ 8.47635379e-01 -5.29538592e-01 -3.32135928e-02 2.33616194e+02] [ 5.29130691e-01 8.48285847e-01 -2.07806320e-02 1.48419079e+02] [ 3.91787673e-02 4.00675700e-05 9.99232217e-01 1.50760085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.030385723 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:233.64, Y:148.43, Z:15.08 [[ 8.47879964e-01 -5.29145368e-01 -3.32377378e-02 2.33640306e+02] [ 5.28738676e-01 8.48531190e-01 -2.07420480e-02 1.48431057e+02] [ 3.91788158e-02 1.26893617e-05 9.99232215e-01 1.50762123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.060385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:233.67, Y:148.44, Z:15.08 [[ 8.48234798e-01 -5.28578252e-01 -3.32078268e-02 2.33665502e+02] [ 5.28169254e-01 8.48884576e-01 -2.07898252e-02 1.48444526e+02] [ 3.91786615e-02 9.53000960e-05 9.99232217e-01 1.50772319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.090385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.69, Y:148.46, Z:15.08 [[ 8.48652052e-01 -5.27908419e-01 -3.32023502e-02 2.33690824e+02] [ 5.27498566e-01 8.49301291e-01 -2.07985680e-02 1.48457748e+02] [ 3.91785380e-02 1.36555324e-04 9.99232217e-01 1.50796783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.120385723 meters Centerline goodness : 0.999556 Centerline is valid? [True, True] Translation: X:233.72, Y:148.47, Z:15.08 [[ 8.49410707e-01 -5.26687223e-01 -3.31966774e-02 2.33721281e+02] [ 5.26276083e-01 8.50059132e-01 -2.08076184e-02 1.48471290e+02] [ 3.91782456e-02 2.03596538e-04 9.99232217e-01 1.50788477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.150385723 meters Centerline goodness : 0.999822 Centerline is valid? [True, True] Translation: X:233.74, Y:148.48, Z:15.08 [[ 8.49905454e-01 -5.25869427e-01 -3.34972456e-02 2.33740232e+02] [ 5.25476490e-01 8.50565247e-01 -2.03277695e-02 1.48483809e+02] [ 3.91813455e-02 -3.25332901e-04 9.99232063e-01 1.50825969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.180385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.76, Y:148.50, Z:15.08 [[ 8.49882758e-01 -5.25925683e-01 -3.31884431e-02 2.33763737e+02] [ 5.25513478e-01 8.50530488e-01 -2.08200326e-02 1.48499097e+02] [ 3.91775725e-02 2.53612558e-04 9.99232232e-01 1.50795540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.210385723 meters Centerline goodness : 0.998438 Centerline is valid? [True, True] Translation: X:233.79, Y:148.51, Z:15.08 [[ 8.50757117e-01 -5.24513633e-01 -3.31326991e-02 2.33789424e+02] [ 5.24096892e-01 8.51401943e-01 -2.09088181e-02 1.48513438e+02] [ 3.91762045e-02 4.23581216e-04 9.99232228e-01 1.50828734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.240385723 meters Centerline goodness : 0.999821 Centerline is valid? [True, True] Translation: X:233.81, Y:148.53, Z:15.09 [[ 8.51202419e-01 -5.23784651e-01 -3.32277035e-02 2.33813220e+02] [ 5.23373255e-01 8.51850669e-01 -2.07575101e-02 1.48527628e+02] [ 3.91775067e-02 2.78351489e-04 9.99232228e-01 1.50862564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.270385723 meters Centerline goodness : 0.998533 Centerline is valid? [True, True] Translation: X:233.84, Y:148.54, Z:15.08 [[ 8.51022734e-01 -5.24079964e-01 -3.31737532e-02 2.33838538e+02] [ 5.23665443e-01 8.51668984e-01 -2.08433763e-02 1.48543332e+02] [ 3.91766526e-02 3.66238911e-04 9.99232233e-01 1.50849069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.300385723 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:233.86, Y:148.56, Z:15.09 [[ 8.51733144e-01 -5.22920737e-01 -3.32348397e-02 2.33860643e+02] [ 5.22509126e-01 8.52381258e-01 -2.07461716e-02 1.48557661e+02] [ 3.91773578e-02 3.04694887e-04 9.99232226e-01 1.50893798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.330385723 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:233.89, Y:148.57, Z:15.09 [[ 8.52527149e-01 -5.21629607e-01 -3.31664477e-02 2.33892496e+02] [ 5.21212780e-01 8.53171911e-01 -2.08549387e-02 1.48572964e+02] [ 3.91752351e-02 4.92625031e-04 9.99232234e-01 1.50926469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.360385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:233.91, Y:148.59, Z:15.09 [[ 8.51017580e-01 -5.24069440e-01 -3.34708915e-02 2.33913382e+02] [ 5.23673419e-01 8.51675516e-01 -2.03706909e-02 1.48590050e+02] [ 3.91819954e-02 -1.92000152e-04 9.99232072e-01 1.50924226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.390385723 meters Centerline goodness : 0.999599 Centerline is valid? [True, True] Translation: X:233.93, Y:148.61, Z:15.09 [[ 8.48215313e-01 -5.28602390e-01 -3.33211006e-02 2.33925830e+02] [ 5.28200516e-01 8.48869542e-01 -2.06086374e-02 1.48608751e+02] [ 3.91790424e-02 -1.19660743e-04 9.99232199e-01 1.50926664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.420385723 meters Centerline goodness : 0.999710 Centerline is valid? [True, True] Translation: X:233.96, Y:148.62, Z:15.09 [[ 8.49486021e-01 -5.26589277e-01 -3.28212518e-02 2.33956926e+02] [ 5.26154995e-01 8.50119347e-01 -2.14013508e-02 1.48623890e+02] [ 3.91717029e-02 9.11082754e-04 9.99232079e-01 1.50932159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.450385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:233.97, Y:148.64, Z:15.09 [[ 8.46588232e-01 -5.31215243e-01 -3.31471067e-02 2.33974856e+02] [ 5.30804571e-01 8.47236896e-01 -2.08841714e-02 1.48639685e+02] [ 3.91774420e-02 8.56580033e-05 9.99232266e-01 1.50944851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.480385723 meters Centerline goodness : 0.999599 Centerline is valid? [True, True] Translation: X:233.98, Y:148.66, Z:15.09 [[ 8.40290393e-01 -5.41139075e-01 -3.28718342e-02 2.33984371e+02] [ 5.40718921e-01 8.40933102e-01 -2.13205609e-02 1.48657823e+02] [ 3.91804021e-02 1.41039754e-04 9.99232143e-01 1.50887844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.510385723 meters Centerline goodness : 0.999641 Centerline is valid? [True, True] Translation: X:234.03, Y:148.67, Z:15.10 [[ 8.44459937e-01 -5.34648309e-01 -3.22273279e-02 2.34029855e+02] [ 5.34183959e-01 8.45073054e-01 -2.23390164e-02 1.48667629e+02] [ 3.91779638e-02 1.64908275e-03 9.99230888e-01 1.50961834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.540385723 meters Centerline goodness : 0.997694 Centerline is valid? [True, True] Translation: X:234.06, Y:148.68, Z:15.10 [[ 8.42416116e-01 -5.37807689e-01 -3.31357293e-02 2.34057242e+02] [ 5.37401517e-01 8.43067523e-01 -2.08988246e-02 1.48683285e+02] [ 3.91752058e-02 -2.01684570e-04 9.99232337e-01 1.50953846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.570385723 meters Centerline goodness : 0.993886 Centerline is valid? [True, True] Translation: X:234.08, Y:148.70, Z:15.10 [[ 8.42140998e-01 -5.38228136e-01 -3.33018396e-02 2.34079521e+02] [ 5.37832692e-01 8.42799021e-01 -2.06350741e-02 1.48696086e+02] [ 3.91731352e-02 -5.33176129e-04 9.99232296e-01 1.50957071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.600385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:234.10, Y:148.71, Z:15.09 [[ 8.40213524e-01 -5.41239499e-01 -3.31819153e-02 2.34101946e+02] [ 5.40838887e-01 8.40868363e-01 -2.08253384e-02 1.48713064e+02] [ 3.91731185e-02 -4.48339206e-04 9.99232338e-01 1.50940830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.630385723 meters Centerline goodness : 0.995865 Centerline is valid? [True, True] Translation: X:234.13, Y:148.73, Z:15.10 [[ 8.39164270e-01 -5.42868888e-01 -3.31164308e-02 2.34127300e+02] [ 5.42465446e-01 8.39817367e-01 -2.09291810e-02 1.48730174e+02] [ 3.91735549e-02 -4.01498459e-04 9.99232341e-01 1.50956425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.660385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:234.14, Y:148.74, Z:15.09 [[ 8.36816730e-01 -5.46473280e-01 -3.32372359e-02 2.34142780e+02] [ 5.46080242e-01 8.37476160e-01 -2.07376376e-02 1.48744407e+02] [ 3.91679575e-02 -7.96595767e-04 9.99232324e-01 1.50949013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.690385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:234.17, Y:148.76, Z:15.10 [[ 8.38200949e-01 -5.44372278e-01 -3.28328003e-02 2.34174043e+02] [ 5.43952187e-01 8.38843739e-01 -2.13822157e-02 1.48759146e+02] [ 3.91814744e-02 6.31199960e-05 9.99232109e-01 1.50994463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.720385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:234.20, Y:148.77, Z:15.10 [[ 8.38999111e-01 -5.43122411e-01 -3.31442175e-02 2.34200731e+02] [ 5.42720886e-01 8.39653399e-01 -2.08856185e-02 1.48773591e+02] [ 3.91731023e-02 -4.65043744e-04 9.99232331e-01 1.51036313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.750385723 meters Centerline goodness : 0.994712 Centerline is valid? [True, True] Translation: X:234.23, Y:148.79, Z:15.10 [[ 8.37974958e-01 -5.44695520e-01 -3.32379339e-02 2.34225034e+02] [ 5.44301142e-01 8.38633579e-01 -2.07361291e-02 1.48790453e+02] [ 3.91693241e-02 -7.15088452e-04 9.99232332e-01 1.51045231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.780385723 meters Centerline goodness : 0.997452 Centerline is valid? [True, True] Translation: X:234.25, Y:148.81, Z:15.10 [[ 8.37881442e-01 -5.44834840e-01 -3.33119471e-02 2.34247783e+02] [ 5.44445256e-01 8.38542936e-01 -2.06181416e-02 1.48806904e+02] [ 3.91669798e-02 -8.60973355e-04 9.99232309e-01 1.51047500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.810385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:234.27, Y:148.82, Z:15.11 [[ 8.38073000e-01 -5.44540757e-01 -3.33018233e-02 2.34270239e+02] [ 5.44150300e-01 8.38733973e-01 -2.06342561e-02 1.48823050e+02] [ 3.91675640e-02 -8.28184292e-04 9.99232313e-01 1.51058003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.840385723 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:234.29, Y:148.84, Z:15.11 [[ 8.38345854e-01 -5.44122802e-01 -3.32656936e-02 2.34294309e+02] [ 5.43729740e-01 8.39005261e-01 -2.06915987e-02 1.48839539e+02] [ 3.91688626e-02 -7.40830939e-04 9.99232331e-01 1.51059809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.870385723 meters Centerline goodness : 0.997199 Centerline is valid? [True, True] Translation: X:234.32, Y:148.86, Z:15.11 [[ 8.38030527e-01 -5.44606819e-01 -3.32903765e-02 2.34315315e+02] [ 5.44215696e-01 8.38691097e-01 -2.06523377e-02 1.48855475e+02] [ 3.91677463e-02 -8.09855964e-04 9.99232321e-01 1.51093010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.900385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:234.34, Y:148.87, Z:15.11 [[ 8.37592942e-01 -5.45282445e-01 -3.32433333e-02 2.34342205e+02] [ 5.44888887e-01 8.38252043e-01 -2.07271075e-02 1.48873270e+02] [ 3.91684199e-02 -7.53043893e-04 9.99232339e-01 1.51090182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.930385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:234.37, Y:148.89, Z:15.11 [[ 8.37733997e-01 -5.45057690e-01 -3.33746115e-02 2.34365589e+02] [ 5.44672205e-01 8.38397959e-01 -2.05195346e-02 1.48888890e+02] [ 3.91655363e-02 -9.88311527e-04 9.99232247e-01 1.51093263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.960385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:234.39, Y:148.90, Z:15.11 [[ 8.37541457e-01 -5.45354787e-01 -3.33536118e-02 2.34389181e+02] [ 5.44968217e-01 8.38204765e-01 -2.05527033e-02 1.48904955e+02] [ 3.91656715e-02 -9.62917342e-04 9.99232267e-01 1.51116664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.990385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:234.41, Y:148.92, Z:15.11 [[ 8.37575116e-01 -5.45302600e-01 -3.33616304e-02 2.34413754e+02] [ 5.44916493e-01 8.38238703e-01 -2.05400440e-02 1.48919786e+02] [ 3.91655491e-02 -9.75472876e-04 9.99232259e-01 1.51123847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.020385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:234.44, Y:148.93, Z:15.12 [[ 8.37040264e-01 -5.46119448e-01 -3.34237184e-02 2.34435296e+02] [ 5.45737907e-01 8.37706554e-01 -2.04417494e-02 1.48934649e+02] [ 3.91629049e-02 -1.13002283e-03 9.99232200e-01 1.51150373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.050385723 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:234.45, Y:148.95, Z:15.12 [[ 8.37208065e-01 -5.45869187e-01 -3.33089578e-02 2.34453478e+02] [ 5.45480217e-01 8.37869927e-01 -2.06232620e-02 1.48951108e+02] [ 3.91661773e-02 -9.03416266e-04 9.99232303e-01 1.51163238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.080385723 meters Centerline goodness : 0.995492 Centerline is valid? [True, True] Translation: X:234.48, Y:148.97, Z:15.12 [[ 8.36920591e-01 -5.46322483e-01 -3.31008795e-02 2.34478190e+02] [ 5.45920833e-01 8.37574748e-01 -2.09519988e-02 1.48968874e+02] [ 3.91710088e-02 -5.35300453e-04 9.99232378e-01 1.51157355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.110385723 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:234.50, Y:148.99, Z:15.12 [[ 8.37371236e-01 -5.45626516e-01 -3.31831146e-02 2.34503534e+02] [ 5.45229455e-01 8.38028206e-01 -2.08222566e-02 1.48985502e+02] [ 3.91695613e-02 -6.56452756e-04 9.99232363e-01 1.51183755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.140385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:234.53, Y:149.00, Z:15.12 [[ 8.37072193e-01 -5.46083156e-01 -3.32164369e-02 2.34526088e+02] [ 5.45688528e-01 8.37730649e-01 -2.07699535e-02 1.49003013e+02] [ 3.91685489e-02 -7.39877993e-04 9.99232344e-01 1.51188838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.170385723 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:234.55, Y:149.02, Z:15.12 [[ 8.38153415e-01 -5.44425711e-01 -3.31586694e-02 2.34549001e+02] [ 5.44026194e-01 8.38808880e-01 -2.08605712e-02 1.49019154e+02] [ 3.91708177e-02 -5.54825655e-04 9.99232375e-01 1.51196336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.200385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:234.57, Y:149.04, Z:15.12 [[ 8.37543998e-01 -5.45361351e-01 -3.31820501e-02 2.34572007e+02] [ 5.44964018e-01 8.38200802e-01 -2.08239010e-02 1.49035892e+02] [ 3.91697718e-02 -6.42090023e-04 9.99232364e-01 1.51220943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.230385723 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:234.60, Y:149.05, Z:15.12 [[ 8.37042232e-01 -5.46132591e-01 -3.31586279e-02 2.34595294e+02] [ 5.45734409e-01 8.37698508e-01 -2.08606091e-02 1.49052291e+02] [ 3.91695916e-02 -6.34593357e-04 9.99232376e-01 1.51226231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.260385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:234.62, Y:149.07, Z:15.12 [[ 8.37303161e-01 -5.45733762e-01 -3.31372556e-02 2.34615380e+02] [ 5.45333942e-01 8.37958429e-01 -2.08940877e-02 1.49066958e+02] [ 3.91702517e-02 -5.76184542e-04 9.99232385e-01 1.51233858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.290385723 meters Centerline goodness : 0.999756 Centerline is valid? [True, True] Translation: X:234.64, Y:149.08, Z:15.12 [[ 8.36235676e-01 -5.47375706e-01 -3.30110584e-02 2.34641342e+02] [ 5.46969362e-01 8.36886887e-01 -2.10916025e-02 1.49083535e+02] [ 3.91715527e-02 -4.18487047e-04 9.99232413e-01 1.51227246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.320385723 meters Centerline goodness : 0.999712 Centerline is valid? [True, True] Translation: X:234.66, Y:149.10, Z:15.12 [[ 8.36336807e-01 -5.47213761e-01 -3.31337460e-02 2.34661278e+02] [ 5.46814883e-01 8.36992647e-01 -2.08995723e-02 1.49098830e+02] [ 3.91692353e-02 -6.38943905e-04 9.99232387e-01 1.51249681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.350385723 meters Centerline goodness : 0.999736 Centerline is valid? [True, True] Translation: X:234.68, Y:149.12, Z:15.12 [[ 8.35907422e-01 -5.47877225e-01 -3.30049638e-02 2.34684608e+02] [ 5.47470902e-01 8.36558641e-01 -2.11009826e-02 1.49115866e+02] [ 3.91713355e-02 -4.30789350e-04 9.99232416e-01 1.51248791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.380385723 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:234.70, Y:149.13, Z:15.13 [[ 8.36423022e-01 -5.47088408e-01 -3.30273041e-02 2.34704329e+02] [ 5.46682848e-01 8.37074719e-01 -2.10660579e-02 1.49130820e+02] [ 3.91713174e-02 -4.35324896e-04 9.99232415e-01 1.51259097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.410385723 meters Centerline goodness : 0.999647 Centerline is valid? [True, True] Translation: X:234.73, Y:149.15, Z:15.12 [[ 8.35476106e-01 -5.48541766e-01 -3.28877974e-02 2.34730769e+02] [ 5.48128747e-01 8.36123120e-01 -2.12839247e-02 1.49148663e+02] [ 3.91733694e-02 -2.44536594e-04 9.99232399e-01 1.51228070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.440385723 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:234.75, Y:149.16, Z:15.12 [[ 8.35927934e-01 -5.47843031e-01 -3.30530337e-02 2.34752761e+02] [ 5.47439651e-01 8.36580985e-01 -2.10257904e-02 1.49162769e+02] [ 3.91703722e-02 -5.18495650e-04 9.99232412e-01 1.51242432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.470385723 meters Centerline goodness : 0.999735 Centerline is valid? [True, True] Translation: X:234.78, Y:149.18, Z:15.13 [[ 8.36236244e-01 -5.47377486e-01 -3.29671271e-02 2.34778140e+02] [ 5.46968449e-01 8.36885759e-01 -2.11599223e-02 1.49177948e+02] [ 3.91721842e-02 -3.37284363e-04 9.99232419e-01 1.51281972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.500385723 meters Centerline goodness : 0.999780 Centerline is valid? [True, True] Translation: X:234.80, Y:149.19, Z:15.13 [[ 8.35555762e-01 -5.48413392e-01 -3.30048345e-02 2.34804481e+02] [ 5.48007483e-01 8.36207237e-01 -2.11010656e-02 1.49194636e+02] [ 3.91709884e-02 -4.55779360e-04 9.99232418e-01 1.51300605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.530385723 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:234.83, Y:149.21, Z:15.13 [[ 8.36018187e-01 -5.47701474e-01 -3.31162475e-02 2.34827030e+02] [ 5.47301886e-01 8.36673592e-01 -2.09271541e-02 1.49210654e+02] [ 3.91693229e-02 -6.29103299e-04 9.99232390e-01 1.51296981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.560385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:234.85, Y:149.23, Z:15.13 [[ 8.35954630e-01 -5.47799158e-01 -3.31049631e-02 2.34850059e+02] [ 5.47398949e-01 8.36609650e-01 -2.09447662e-02 1.49227320e+02] [ 3.91694569e-02 -6.12747708e-04 9.99232394e-01 1.51318678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.590385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:234.87, Y:149.24, Z:15.13 [[ 8.36400346e-01 -5.47121697e-01 -3.30501079e-02 2.34873544e+02] [ 5.46717577e-01 8.37052937e-01 -2.10302636e-02 1.49244336e+02] [ 3.91708034e-02 -4.79355148e-04 9.99232415e-01 1.51320955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.620385723 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:234.90, Y:149.26, Z:15.13 [[ 8.36316035e-01 -5.47250109e-01 -3.30576370e-02 2.34896462e+02] [ 5.46846553e-01 8.36968977e-01 -2.10185336e-02 1.49259804e+02] [ 3.91706114e-02 -4.99318107e-04 9.99232412e-01 1.51312550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.650385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:234.92, Y:149.28, Z:15.13 [[ 8.36486909e-01 -5.46990718e-01 -3.30273375e-02 2.34920414e+02] [ 5.46585096e-01 8.37138560e-01 -2.10657172e-02 1.49275975e+02] [ 3.91712095e-02 -4.31053691e-04 9.99232421e-01 1.51340595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.680385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.94, Y:149.29, Z:15.14 [[ 8.36426294e-01 -5.47082886e-01 -3.30359025e-02 2.34942173e+02] [ 5.46677862e-01 8.37078319e-01 -2.10523836e-02 1.49291221e+02] [ 3.91710365e-02 -4.51229350e-04 9.99232419e-01 1.51358305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.710385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:234.97, Y:149.31, Z:15.14 [[ 8.36090556e-01 -5.47599344e-01 -3.29778728e-02 2.34966137e+02] [ 5.47191159e-01 8.36740595e-01 -2.11426676e-02 1.49307263e+02] [ 3.91716358e-02 -3.68015717e-04 9.99232429e-01 1.51361809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.740385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.99, Y:149.32, Z:15.14 [[ 8.35966309e-01 -5.47788432e-01 -3.29873447e-02 2.34988974e+02] [ 5.47380975e-01 8.36616805e-01 -2.11279353e-02 1.49322691e+02] [ 3.91714055e-02 -3.94402782e-04 9.99232428e-01 1.51378013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.770385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:235.01, Y:149.34, Z:15.14 [[ 8.36028128e-01 -5.47693872e-01 -3.29907802e-02 2.35011860e+02] [ 5.47286553e-01 8.36678711e-01 -2.11225932e-02 1.49337726e+02] [ 3.91713983e-02 -3.96328282e-04 9.99232428e-01 1.51399478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.800385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:235.03, Y:149.35, Z:15.14 [[ 8.35963732e-01 -5.47795437e-01 -3.29362664e-02 2.35034933e+02] [ 5.47384856e-01 8.36612257e-01 -2.12073108e-02 1.49352722e+02] [ 3.91721523e-02 -3.00270726e-04 9.99232432e-01 1.51409887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.830385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:235.06, Y:149.37, Z:15.14 [[ 8.36037127e-01 -5.47683570e-01 -3.29337257e-02 2.35059695e+02] [ 5.47272747e-01 8.36685499e-01 -2.12112582e-02 1.49368070e+02] [ 3.91722283e-02 -2.90331157e-04 9.99232432e-01 1.51433726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.860385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:235.08, Y:149.38, Z:15.15 [[ 8.35956916e-01 -5.47804531e-01 -3.29580042e-02 2.35083015e+02] [ 5.47395288e-01 8.36606287e-01 -2.11735541e-02 1.49383431e+02] [ 3.91718424e-02 -3.40877165e-04 9.99232431e-01 1.51452815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.890385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.10, Y:149.40, Z:15.15 [[ 8.35991837e-01 -5.47751858e-01 -3.29476979e-02 2.35104649e+02] [ 5.47341943e-01 8.36640783e-01 -2.11895504e-02 1.49399469e+02] [ 3.91720034e-02 -3.19365866e-04 9.99232432e-01 1.51483104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.920385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:235.13, Y:149.41, Z:15.15 [[ 8.36523653e-01 -5.46940661e-01 -3.29255537e-02 2.35127584e+02] [ 5.46528764e-01 8.37171342e-01 -2.12239038e-02 1.49414825e+02] [ 3.91725459e-02 -2.40464689e-04 9.99232432e-01 1.51484645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.950385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.15, Y:149.43, Z:15.15 [[ 8.36178312e-01 -5.47468590e-01 -3.29237584e-02 2.35151485e+02] [ 5.47056993e-01 8.36826191e-01 -2.12266884e-02 1.49430602e+02] [ 3.91724085e-02 -2.61875815e-04 9.99232432e-01 1.51475356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.980385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.18, Y:149.45, Z:15.15 [[ 8.36157377e-01 -5.47499737e-01 -3.29374961e-02 2.35176428e+02] [ 5.47089002e-01 8.36805805e-01 -2.12053884e-02 1.49446085e+02] [ 3.91722325e-02 -2.88699926e-04 9.99232432e-01 1.51495986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.010385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.20, Y:149.46, Z:15.15 [[ 8.35805304e-01 -5.48035972e-01 -3.29555274e-02 2.35201202e+02] [ 5.47626755e-01 8.36454693e-01 -2.11774415e-02 1.49459108e+02] [ 3.91718053e-02 -3.47110625e-04 9.99232430e-01 1.51501314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.040385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.22, Y:149.47, Z:15.15 [[ 8.35261712e-01 -5.48863089e-01 -3.29724340e-02 2.35224542e+02] [ 5.48455549e-01 8.35912158e-01 -2.11512483e-02 1.49473689e+02] [ 3.91711979e-02 -4.17086539e-04 9.99232427e-01 1.51517554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.070385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:235.25, Y:149.49, Z:15.15 [[ 8.33385424e-01 -5.51706041e-01 -3.30027215e-02 2.35245932e+02] [ 5.51302577e-01 8.34038414e-01 -2.11043301e-02 1.49489787e+02] [ 3.91689240e-02 -6.06444309e-04 9.99232419e-01 1.51529574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.100385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:235.27, Y:149.51, Z:15.15 [[ 8.32331526e-01 -5.53296062e-01 -3.29802811e-02 2.35269332e+02] [ 5.52892467e-01 8.32984429e-01 -2.11390753e-02 1.49505358e+02] [ 3.91682278e-02 -6.39830179e-04 9.99232426e-01 1.51545111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.130385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.29, Y:149.52, Z:15.16 [[ 8.30974072e-01 -5.55331333e-01 -3.30030648e-02 2.35292246e+02] [ 5.54930737e-01 8.31628827e-01 -2.11038182e-02 1.49520717e+02] [ 3.91659116e-02 -7.77689291e-04 9.99232419e-01 1.51555141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.160385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:235.31, Y:149.53, Z:15.16 [[ 8.29199611e-01 -5.57980481e-01 -3.29512942e-02 2.35314612e+02] [ 5.57578794e-01 8.29853681e-01 -2.11838870e-02 1.49534555e+02] [ 3.91649482e-02 -8.07272004e-04 9.99232433e-01 1.51577916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.190385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.34, Y:149.55, Z:15.16 [[ 8.28211510e-01 -5.59449547e-01 -3.28922446e-02 2.35336584e+02] [ 5.59045393e-01 8.28864051e-01 -2.12751803e-02 1.49550676e+02] [ 3.91655891e-02 -7.67908630e-04 9.99232439e-01 1.51588208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.220385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:235.36, Y:149.57, Z:15.16 [[ 8.27828623e-01 -5.60017956e-01 -3.28581895e-02 2.35359152e+02] [ 5.59612161e-01 8.28480147e-01 -2.13278138e-02 1.49567338e+02] [ 3.91663163e-02 -7.32067753e-04 9.99232437e-01 1.51593493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.250385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.38, Y:149.58, Z:15.16 [[ 8.27924960e-01 -5.59876822e-01 -3.28360237e-02 2.35382460e+02] [ 5.59469558e-01 8.28575570e-01 -2.13620614e-02 1.49584023e+02] [ 3.91672501e-02 -6.84571881e-04 9.99232434e-01 1.51608068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.280385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.40, Y:149.60, Z:15.16 [[ 8.28150281e-01 -5.59541862e-01 -3.28635942e-02 2.35404718e+02] [ 5.59136024e-01 8.28801778e-01 -2.13194810e-02 1.49601454e+02] [ 3.91665474e-02 -7.19485241e-04 9.99232437e-01 1.51605742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.310385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.43, Y:149.62, Z:15.16 [[ 8.28347315e-01 -5.59252772e-01 -3.28186318e-02 2.35427982e+02] [ 5.58843956e-01 8.28996953e-01 -2.13888867e-02 1.49617565e+02] [ 3.91683400e-02 -6.23067171e-04 9.99232432e-01 1.51613535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.340385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.45, Y:149.63, Z:15.17 [[ 8.29849905e-01 -5.57022074e-01 -3.27955087e-02 2.35452818e+02] [ 5.56610101e-01 8.30497552e-01 -2.14245687e-02 1.49632747e+02] [ 3.91705473e-02 -4.75135099e-04 9.99232427e-01 1.51651704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.370385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:235.48, Y:149.65, Z:15.17 [[ 8.30854245e-01 -5.55518500e-01 -3.28697328e-02 2.35476736e+02] [ 5.55109880e-01 8.31504001e-01 -2.13100282e-02 1.49648297e+02] [ 3.91694293e-02 -5.40786045e-04 9.99232437e-01 1.51668749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.400385723 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:235.50, Y:149.66, Z:15.17 [[ 8.32020577e-01 -5.53770183e-01 -3.28685772e-02 2.35498358e+02] [ 5.53360127e-01 8.32669428e-01 -2.13118105e-02 1.49663734e+02] [ 3.91705046e-02 -4.56295223e-04 9.99232437e-01 1.51682873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.430385723 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:235.52, Y:149.68, Z:15.17 [[ 8.34916843e-01 -5.49393914e-01 -3.28662976e-02 2.35521673e+02] [ 5.48980318e-01 8.35563443e-01 -2.13153254e-02 1.49682244e+02] [ 3.91723868e-02 -2.46426312e-04 9.99232437e-01 1.51668333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.460385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:235.54, Y:149.70, Z:15.17 [[ 8.35912769e-01 -5.47872392e-01 -3.29497253e-02 2.35542105e+02] [ 5.47462683e-01 8.36561853e-01 -2.11867022e-02 1.49697680e+02] [ 3.91720924e-02 -3.28510139e-04 9.99232425e-01 1.51681367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.490385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.56, Y:149.71, Z:15.17 [[ 8.37033608e-01 -5.46163978e-01 -3.28580051e-02 2.35564329e+02] [ 5.45747390e-01 8.37678281e-01 -2.13280076e-02 1.49712881e+02] [ 3.91730267e-02 -7.99114034e-05 9.99232439e-01 1.51686292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.520385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.59, Y:149.73, Z:15.17 [[ 8.38252306e-01 -5.44291885e-01 -3.28544614e-02 2.35586788e+02] [ 5.43873643e-01 8.38895908e-01 -2.13334651e-02 1.49729218e+02] [ 3.91731051e-02 1.41507475e-05 9.99232439e-01 1.51701996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.550385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.61, Y:149.75, Z:15.17 [[ 8.38458941e-01 -5.43973827e-01 -3.28493407e-02 2.35608376e+02] [ 5.43555032e-01 8.39102183e-01 -2.13413470e-02 1.49745636e+02] [ 3.91730877e-02 3.84188019e-05 9.99232439e-01 1.51715203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.580385723 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:235.63, Y:149.76, Z:15.17 [[ 8.38167585e-01 -5.44428488e-01 -3.27524393e-02 2.35631086e+02] [ 5.44004208e-01 8.38807239e-01 -2.14904102e-02 1.49762016e+02] [ 3.91729747e-02 1.95100422e-04 9.99232425e-01 1.51710333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.610385723 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:235.66, Y:149.78, Z:15.17 [[ 8.39063010e-01 -5.43048544e-01 -3.27344386e-02 2.35655232e+02] [ 5.42622134e-01 8.39701252e-01 -2.15180663e-02 1.49777552e+02] [ 3.91725036e-02 2.92582539e-04 9.99232420e-01 1.51722333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.640385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.68, Y:149.79, Z:15.17 [[ 8.37697648e-01 -5.45146540e-01 -3.28313870e-02 2.35678962e+02] [ 5.44727557e-01 8.38340772e-01 -2.13691165e-02 1.49794631e+02] [ 3.91731902e-02 1.66974014e-05 9.99232436e-01 1.51725155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.670385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.70, Y:149.81, Z:15.18 [[ 8.36297982e-01 -5.47290051e-01 -3.28524742e-02 2.35702368e+02] [ 5.46873988e-01 8.36943000e-01 -2.13367304e-02 1.49807853e+02] [ 3.91730285e-02 -1.22298983e-04 9.99232435e-01 1.51750754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.700385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:235.73, Y:149.82, Z:15.18 [[ 8.34720426e-01 -5.49694816e-01 -3.28240736e-02 2.35726602e+02] [ 5.49278896e-01 8.35365534e-01 -2.13803324e-02 1.49822787e+02] [ 3.91727576e-02 -1.82970709e-04 9.99232436e-01 1.51764262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.730385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:235.75, Y:149.84, Z:15.18 [[ 8.32897592e-01 -5.52453198e-01 -3.28186723e-02 2.35749003e+02] [ 5.52039087e-01 8.33543864e-01 -2.13886202e-02 1.49837073e+02] [ 3.91720145e-02 -3.02659649e-04 9.99232436e-01 1.51771719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.760385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.77, Y:149.85, Z:15.18 [[ 8.29773082e-01 -5.57135281e-01 -3.28163241e-02 2.35770860e+02] [ 5.56724675e-01 8.30421585e-01 -2.13922223e-02 1.49852334e+02] [ 3.91697457e-02 -5.18967149e-04 9.99232436e-01 1.51762967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.790385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:235.80, Y:149.87, Z:15.18 [[ 8.28557162e-01 -5.58942099e-01 -3.28140069e-02 2.35795506e+02] [ 5.58532766e-01 8.29206470e-01 -2.13957761e-02 1.49868702e+02] [ 3.91685868e-02 -6.00074590e-04 9.99232436e-01 1.51755881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.820385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.82, Y:149.88, Z:15.18 [[ 8.27853287e-01 -5.59981265e-01 -3.28620903e-02 2.35818051e+02] [ 5.59575671e-01 8.28504942e-01 -2.13220491e-02 1.49883595e+02] [ 3.91663523e-02 -7.37297733e-04 9.99232432e-01 1.51776029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.850385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:235.84, Y:149.90, Z:15.18 [[ 8.27830691e-01 -5.60017953e-01 -3.28060899e-02 2.35841826e+02] [ 5.59608985e-01 8.28480227e-01 -2.14078663e-02 1.49897186e+02] [ 3.91679863e-02 -6.36493976e-04 9.99232437e-01 1.51789862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.880385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.87, Y:149.91, Z:15.18 [[ 8.28141222e-01 -5.59558788e-01 -3.28036418e-02 2.35865262e+02] [ 5.59149312e-01 8.28790438e-01 -2.14116169e-02 1.49911847e+02] [ 3.91684031e-02 -6.10291165e-04 9.99232437e-01 1.51804450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.910385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:235.89, Y:149.93, Z:15.18 [[ 8.27863803e-01 -5.59969486e-01 -3.27978485e-02 2.35888149e+02] [ 5.59559980e-01 8.28513000e-01 -2.14204872e-02 1.49928745e+02] [ 3.91682631e-02 -6.19117495e-04 9.99232437e-01 1.51796708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.940385723 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:235.91, Y:149.95, Z:15.18 [[ 8.29389719e-01 -5.57708588e-01 -3.27692723e-02 2.35910476e+02] [ 5.57295583e-01 8.30036698e-01 -2.14642265e-02 1.49946198e+02] [ 3.91704821e-02 -4.59961945e-04 9.99232436e-01 1.51795775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.970385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:235.93, Y:149.96, Z:15.18 [[ 8.30561704e-01 -5.55960605e-01 -3.27881357e-02 2.35934088e+02] [ 5.55547378e-01 8.31208539e-01 -2.14353652e-02 1.49962001e+02] [ 3.91709970e-02 -4.11969423e-04 9.99232437e-01 1.51792202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.000385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.96, Y:149.98, Z:15.18 [[ 8.31279280e-01 -5.54887308e-01 -3.27846579e-02 2.35956261e+02] [ 5.54473036e-01 8.31925447e-01 -2.14406830e-02 1.49977052e+02] [ 3.91715541e-02 -3.55013246e-04 9.99232437e-01 1.51811076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.030385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:235.98, Y:149.99, Z:15.18 [[ 8.31777060e-01 -5.54141089e-01 -3.27807289e-02 2.35981616e+02] [ 5.53726001e-01 8.32422702e-01 -2.14466885e-02 1.49990306e+02] [ 3.91719142e-02 -3.12678372e-04 9.99232437e-01 1.51828310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.060385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.01, Y:150.00, Z:15.19 [[ 8.31756331e-01 -5.54172538e-01 -3.27750403e-02 2.36005474e+02] [ 5.53757132e-01 8.32401769e-01 -2.14553783e-02 1.50004274e+02] [ 3.91719830e-02 -3.03765576e-04 9.99232437e-01 1.51851937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.090385723 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:236.03, Y:150.02, Z:15.18 [[ 8.31526798e-01 -5.54517225e-01 -3.27693671e-02 2.36029039e+02] [ 5.54101745e-01 8.32172189e-01 -2.14640397e-02 1.50019016e+02] [ 3.91719356e-02 -3.09639231e-04 9.99232437e-01 1.51845148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.120385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:236.05, Y:150.04, Z:15.19 [[ 8.31750637e-01 -5.54181753e-01 -3.27637310e-02 2.36052227e+02] [ 5.53765674e-01 8.32395641e-01 -2.14726395e-02 1.50035332e+02] [ 3.91721318e-02 -2.83548010e-04 9.99232437e-01 1.51881860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.150385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:236.07, Y:150.05, Z:15.19 [[ 8.32537841e-01 -5.52998779e-01 -3.27581264e-02 2.36074433e+02] [ 5.52581447e-01 8.33182035e-01 -2.14811862e-02 1.50051214e+02] [ 3.91725522e-02 -2.17632533e-04 9.99232437e-01 1.51890589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.180385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:236.10, Y:150.07, Z:15.19 [[ 8.32508689e-01 -5.53042802e-01 -3.27558013e-02 2.36099514e+02] [ 5.52625365e-01 8.33152815e-01 -2.14847312e-02 1.50066829e+02] [ 3.91725640e-02 -2.15461255e-04 9.99232437e-01 1.51869138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.210385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:236.12, Y:150.08, Z:15.19 [[ 8.33254391e-01 -5.51917505e-01 -3.27748156e-02 2.36123690e+02] [ 5.51500337e-01 8.33898692e-01 -2.14557511e-02 1.50079236e+02] [ 3.91726805e-02 -1.97223014e-04 9.99232437e-01 1.51917530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.240385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.15, Y:150.09, Z:15.19 [[ 8.32270070e-01 -5.53402200e-01 -3.27496019e-02 2.36146378e+02] [ 5.52984670e-01 8.32914135e-01 -2.14941576e-02 1.50094414e+02] [ 3.91725205e-02 -2.21083743e-04 9.99232438e-01 1.51914358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.270385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:236.17, Y:150.11, Z:15.19 [[ 8.33137213e-01 -5.52101263e-01 -3.26585514e-02 2.36171977e+02] [ 5.51677287e-01 8.33777066e-01 -2.16327475e-02 1.50108212e+02] [ 3.91734184e-02 6.06589179e-06 9.99232427e-01 1.51942200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.300385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.20, Y:150.12, Z:15.19 [[ 8.32613061e-01 -5.52886633e-01 -3.27392873e-02 2.36195005e+02] [ 5.52468087e-01 8.33256467e-01 -2.15098635e-02 1.50122335e+02] [ 3.91727388e-02 -1.78018125e-04 9.99232438e-01 1.51943540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.330385723 meters Centerline goodness : 0.999369 Centerline is valid? [True, True] Translation: X:236.22, Y:150.14, Z:15.19 [[ 8.31486112e-01 -5.54580146e-01 -3.27369418e-02 2.36219367e+02] [ 5.54162770e-01 8.32130276e-01 -2.15134326e-02 1.50138869e+02] [ 3.91723230e-02 -2.53473943e-04 9.99232438e-01 1.51923820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.360385723 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:236.24, Y:150.15, Z:15.19 [[ 8.29520599e-01 -5.57516197e-01 -3.27302022e-02 2.36239768e+02] [ 5.57100696e-01 8.30165975e-01 -2.15236822e-02 1.50152265e+02] [ 3.91713017e-02 -3.79680657e-04 9.99232438e-01 1.51904685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.390385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:236.26, Y:150.17, Z:15.19 [[ 8.29675557e-01 -5.57297114e-01 -3.25330070e-02 2.36264987e+02] [ 5.56869617e-01 8.30313150e-01 -2.18243738e-02 1.50165761e+02] [ 3.91752440e-02 -9.49364311e-06 9.99232355e-01 1.51930490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.420385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.29, Y:150.18, Z:15.20 [[ 8.31398133e-01 -5.54722635e-01 -3.25567646e-02 2.36293974e+02] [ 5.54294581e-01 8.32035332e-01 -2.17881616e-02 1.50177571e+02] [ 3.91747648e-02 6.85986436e-05 9.99232372e-01 1.52000184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.450385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:236.32, Y:150.19, Z:15.20 [[ 8.30633836e-01 -5.55854645e-01 -3.27573563e-02 2.36318018e+02] [ 5.55439484e-01 8.31279430e-01 -2.14822934e-02 1.50190846e+02] [ 3.91715490e-02 -3.50809305e-04 9.99232439e-01 1.52009515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.480385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:236.34, Y:150.21, Z:15.20 [[ 8.30179478e-01 -5.56533159e-01 -3.27548143e-02 2.36341706e+02] [ 5.56118372e-01 8.30825313e-01 -2.14861685e-02 1.50206422e+02] [ 3.91712941e-02 -3.78177819e-04 9.99232439e-01 1.52017156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.510385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:236.36, Y:150.22, Z:15.20 [[ 8.28831058e-01 -5.58539689e-01 -3.27489478e-02 2.36364131e+02] [ 5.58126113e-01 8.29477668e-01 -2.14951064e-02 1.50222333e+02] [ 3.91703909e-02 -4.62231234e-04 9.99232439e-01 1.51969602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.540385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:236.39, Y:150.24, Z:15.20 [[ 8.29016007e-01 -5.58270069e-01 -3.26648094e-02 2.36389392e+02] [ 5.57851230e-01 8.29659233e-01 -2.16232015e-02 1.50236509e+02] [ 3.91722469e-02 -2.96123917e-04 9.99232429e-01 1.51973733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.570385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.41, Y:150.25, Z:15.20 [[ 8.30078679e-01 -5.56686357e-01 -3.27060663e-02 2.36414006e+02] [ 5.56268763e-01 8.30722705e-01 -2.15603983e-02 1.50249133e+02] [ 3.91720515e-02 -2.96536139e-04 9.99232437e-01 1.52033649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.600385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.44, Y:150.26, Z:15.20 [[ 8.30130914e-01 -5.56606503e-01 -3.27393814e-02 2.36436932e+02] [ 5.56190846e-01 8.30776189e-01 -2.15096904e-02 1.50263046e+02] [ 3.91715321e-02 -3.53485342e-04 9.99232438e-01 1.52033917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.630385723 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:236.46, Y:150.28, Z:15.20 [[ 8.30325605e-01 -5.56316175e-01 -3.27368940e-02 2.36461222e+02] [ 5.55900143e-01 8.30970638e-01 -2.15134755e-02 1.50277280e+02] [ 3.91716921e-02 -3.35254503e-04 9.99232439e-01 1.52043580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.660385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.48, Y:150.29, Z:15.20 [[ 8.30445986e-01 -5.56136792e-01 -3.27312080e-02 2.36483740e+02] [ 5.55720280e-01 8.31090710e-01 -2.15221228e-02 1.50291506e+02] [ 3.91718472e-02 -3.16435565e-04 9.99232439e-01 1.52047452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.690385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:236.51, Y:150.31, Z:15.21 [[ 8.30526787e-01 -5.56016345e-01 -3.27273444e-02 2.36506946e+02] [ 5.55599509e-01 8.31171301e-01 -2.15279963e-02 1.50306478e+02] [ 3.91719473e-02 -3.03718829e-04 9.99232439e-01 1.52053869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.720385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:236.53, Y:150.32, Z:15.21 [[ 8.30382520e-01 -5.56232108e-01 -3.27217546e-02 2.36530755e+02] [ 5.55815104e-01 8.31026925e-01 -2.15364893e-02 1.50322252e+02] [ 3.91719459e-02 -3.03721126e-04 9.99232439e-01 1.52065026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.750385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:236.55, Y:150.34, Z:15.21 [[ 8.30432713e-01 -5.56157498e-01 -3.27161613e-02 2.36553539e+02] [ 5.55740101e-01 8.31076864e-01 -2.15449828e-02 1.50336900e+02] [ 3.91720484e-02 -2.90024235e-04 9.99232439e-01 1.52073891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.780385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.58, Y:150.35, Z:15.20 [[ 8.30096706e-01 -5.56659026e-01 -3.27137368e-02 2.36579980e+02] [ 5.56241873e-01 8.30741015e-01 -2.15486635e-02 1.50351485e+02] [ 3.91719009e-02 -3.09275659e-04 9.99232439e-01 1.52049724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.810385723 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:236.60, Y:150.37, Z:15.21 [[ 8.28611227e-01 -5.58865536e-01 -3.27528028e-02 2.36600653e+02] [ 5.58452439e-01 8.29258149e-01 -2.14894295e-02 1.50366581e+02] [ 3.91702301e-02 -4.84500045e-04 9.99232435e-01 1.52063641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.840385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:236.63, Y:150.38, Z:15.21 [[ 8.29868130e-01 -5.57007414e-01 -3.25826317e-02 2.36627292e+02] [ 5.56582712e-01 8.30507516e-01 -2.17474355e-02 1.50379931e+02] [ 3.91736033e-02 -8.74259066e-05 9.99232416e-01 1.52115283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.870385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:236.65, Y:150.40, Z:15.21 [[ 8.29575381e-01 -5.57436343e-01 -3.27018577e-02 2.36650960e+02] [ 5.57019085e-01 8.30219621e-01 -2.15666529e-02 1.50395187e+02] [ 3.91717600e-02 -3.24394573e-04 9.99232439e-01 1.52126452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.900385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:236.67, Y:150.41, Z:15.21 [[ 8.29331382e-01 -5.57799618e-01 -3.26962427e-02 2.36673785e+02] [ 5.57382307e-01 8.29975588e-01 -2.15751623e-02 1.50410052e+02] [ 3.91717005e-02 -3.31348006e-04 9.99232439e-01 1.52134789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.930385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:236.70, Y:150.42, Z:15.21 [[ 8.28334995e-01 -5.59278331e-01 -3.26937989e-02 2.36697073e+02] [ 5.58862023e-01 8.28979850e-01 -2.15788648e-02 1.50423500e+02] [ 3.91710920e-02 -3.96793681e-04 9.99232439e-01 1.52135915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.960385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.72, Y:150.44, Z:15.22 [[ 8.27628093e-01 -5.60324025e-01 -3.26913856e-02 2.36720742e+02] [ 5.59908389e-01 8.28273380e-01 -2.15825202e-02 1.50437648e+02] [ 3.91706091e-02 -4.41880974e-04 9.99232439e-01 1.52154170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.990385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.74, Y:150.45, Z:15.22 [[ 8.27226734e-01 -5.60916738e-01 -3.26855324e-02 2.36744378e+02] [ 5.60501214e-01 8.27872093e-01 -2.15913809e-02 1.50451554e+02] [ 3.91704071e-02 -4.59313049e-04 9.99232440e-01 1.52163810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.020385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.77, Y:150.47, Z:15.22 [[ 8.26475655e-01 -5.62022966e-01 -3.26829949e-02 2.36769121e+02] [ 5.61608153e-01 8.27121472e-01 -2.15952213e-02 1.50465159e+02] [ 3.91698172e-02 -5.07111760e-04 9.99232440e-01 1.52172499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.050385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.79, Y:150.48, Z:15.22 [[ 8.26434786e-01 -5.62083398e-01 -3.26771848e-02 2.36792827e+02] [ 5.61668286e-01 8.27080410e-01 -2.16040095e-02 1.50480069e+02] [ 3.91699144e-02 -4.99433423e-04 9.99232440e-01 1.52178994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.080385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:236.82, Y:150.50, Z:15.22 [[ 8.26502395e-01 -5.61984315e-01 -3.26713959e-02 2.36815829e+02] [ 5.61568779e-01 8.27147747e-01 -2.16127603e-02 1.50495609e+02] [ 3.91701038e-02 -4.84237748e-04 9.99232440e-01 1.52182807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.110385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.84, Y:150.51, Z:15.22 [[ 8.27303042e-01 -5.60805342e-01 -3.26656507e-02 2.36838959e+02] [ 5.60388544e-01 8.27947579e-01 -2.16214401e-02 1.50510980e+02] [ 3.91708656e-02 -4.17973273e-04 9.99232440e-01 1.52183513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.140385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.86, Y:150.53, Z:15.22 [[ 8.27189145e-01 -5.60973663e-01 -3.26598793e-02 2.36862306e+02] [ 5.60556651e-01 8.27833544e-01 -2.16301545e-02 1.50525950e+02] [ 3.91708907e-02 -4.15483592e-04 9.99232440e-01 1.52194965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.170385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:236.89, Y:150.54, Z:15.22 [[ 8.26754323e-01 -5.61614633e-01 -3.26541408e-02 2.36886544e+02] [ 5.61197779e-01 8.27398824e-01 -2.16388142e-02 1.50538989e+02] [ 3.91706724e-02 -4.35448131e-04 9.99232440e-01 1.52213711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.200385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.91, Y:150.55, Z:15.22 [[ 8.24648387e-01 -5.64702495e-01 -3.26516541e-02 2.36907138e+02] [ 5.64287906e-01 8.25294347e-01 -2.16425658e-02 1.50554974e+02] [ 3.91688365e-02 -5.77426567e-04 9.99232440e-01 1.52217012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.230385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:236.93, Y:150.57, Z:15.23 [[ 8.25948554e-01 -5.62808340e-01 -3.24924312e-02 2.36933715e+02] [ 5.62382808e-01 8.26587401e-01 -2.18825323e-02 1.50569007e+02] [ 3.91735060e-02 -1.99338781e-04 9.99232404e-01 1.52252586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.260385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.96, Y:150.59, Z:15.23 [[ 8.25915308e-01 -5.62848389e-01 -3.26434439e-02 2.36956298e+02] [ 5.62431862e-01 8.26560019e-01 -2.16548923e-02 1.50585088e+02] [ 3.91701869e-02 -4.74605890e-04 9.99232441e-01 1.52265198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.290385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.98, Y:150.60, Z:15.23 [[ 8.25120959e-01 -5.64012585e-01 -3.26375146e-02 2.36978258e+02] [ 5.63596614e-01 8.25766029e-01 -2.16638251e-02 1.50602057e+02] [ 3.91696209e-02 -5.19116555e-04 9.99232441e-01 1.52260073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.320385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.00, Y:150.61, Z:15.23 [[ 8.26771972e-01 -5.61589974e-01 -3.26313873e-02 2.37002318e+02] [ 5.61171750e-01 8.27415583e-01 -2.16730505e-02 1.50614973e+02] [ 3.91710862e-02 -3.93141975e-04 9.99232441e-01 1.52289311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.350385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.03, Y:150.63, Z:15.23 [[ 8.28019670e-01 -5.59748876e-01 -3.26285316e-02 2.37025436e+02] [ 5.59329051e-01 8.28662238e-01 -2.16773489e-02 1.50628772e+02] [ 3.91719037e-02 -3.00814355e-04 9.99232441e-01 1.52304757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.380385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.05, Y:150.64, Z:15.23 [[ 8.28503845e-01 -5.59032133e-01 -3.26259653e-02 2.37048654e+02] [ 5.58611600e-01 8.29145949e-01 -2.16812107e-02 1.50644746e+02] [ 3.91721804e-02 -2.62276267e-04 9.99232441e-01 1.52316195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.410385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.07, Y:150.66, Z:15.23 [[ 8.29463058e-01 -5.57608258e-01 -3.26200302e-02 2.37070490e+02] [ 5.57186272e-01 8.30104208e-01 -2.16901366e-02 1.50661461e+02] [ 3.91726236e-02 -1.84266014e-04 9.99232441e-01 1.52321737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.440385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:237.09, Y:150.68, Z:15.23 [[ 8.29691124e-01 -5.57269002e-01 -3.26174537e-02 2.37093084e+02] [ 5.56846601e-01 8.30332002e-01 -2.16940105e-02 1.50677206e+02] [ 3.91727151e-02 -1.63590276e-04 9.99232441e-01 1.52306959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.470385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:237.11, Y:150.70, Z:15.23 [[ 8.28494504e-01 -5.59046621e-01 -3.26149139e-02 2.37111570e+02] [ 5.58625445e-01 8.29136187e-01 -2.16978281e-02 1.50695065e+02] [ 3.91723028e-02 -2.42989412e-04 9.99232441e-01 1.52307833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.500385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.14, Y:150.71, Z:15.23 [[ 8.30150155e-01 -5.56596748e-01 -3.24157546e-02 2.37140192e+02] [ 5.56161962e-01 8.30782767e-01 -2.19969378e-02 1.50710550e+02] [ 3.91738744e-02 2.32351667e-04 9.99232382e-01 1.52332306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.530385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.16, Y:150.73, Z:15.23 [[ 8.28288194e-01 -5.59352514e-01 -3.26103098e-02 2.37163041e+02] [ 5.58931307e-01 8.28929854e-01 -2.17046310e-02 1.50727097e+02] [ 3.91721993e-02 -2.49233451e-04 9.99232444e-01 1.52338598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.560385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:237.18, Y:150.74, Z:15.23 [[ 8.26997763e-01 -5.61259008e-01 -3.26040612e-02 2.37184323e+02] [ 5.60838911e-01 8.27640150e-01 -2.17140136e-02 1.50741888e+02] [ 3.91716158e-02 -3.28185502e-04 9.99232444e-01 1.52347582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.590385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.21, Y:150.76, Z:15.24 [[ 8.26124514e-01 -5.62552633e-01 -3.24472261e-02 2.37207922e+02] [ 5.62124278e-01 8.26761467e-01 -2.19493349e-02 1.50757911e+02] [ 3.91737724e-02 -1.06489936e-04 9.99232408e-01 1.52355451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.620385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.23, Y:150.77, Z:15.24 [[ 8.25771040e-01 -5.63070907e-01 -3.24552453e-02 2.37233609e+02] [ 5.62643424e-01 8.26408575e-01 -2.19373050e-02 1.50773738e+02] [ 3.91735513e-02 -1.45539144e-04 9.99232411e-01 1.52353443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.650385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.25, Y:150.79, Z:15.23 [[ 8.23538554e-01 -5.66322977e-01 -3.25965617e-02 2.37253529e+02] [ 5.65906383e-01 8.24183218e-01 -2.17252766e-02 1.50790656e+02] [ 3.91690624e-02 -5.54999465e-04 9.99232444e-01 1.52343036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.680385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:237.28, Y:150.80, Z:15.24 [[ 8.21984419e-01 -5.68582301e-01 -3.24928172e-02 2.37276627e+02] [ 5.68161317e-01 8.22626247e-01 -2.18809530e-02 1.50804961e+02] [ 3.91705668e-02 -4.75359416e-04 9.99232426e-01 1.52357970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.710385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.30, Y:150.82, Z:15.24 [[ 8.22885928e-01 -5.67279665e-01 -3.24427397e-02 2.37303729e+02] [ 5.66854702e-01 8.23525153e-01 -2.19560809e-02 1.50818177e+02] [ 3.91726504e-02 -3.22969480e-04 9.99232405e-01 1.52391338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.740385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.32, Y:150.83, Z:15.24 [[ 8.20631227e-01 -5.70527666e-01 -3.25971021e-02 2.37323610e+02] [ 5.70114407e-01 8.21278035e-01 -2.17244660e-02 1.50834830e+02] [ 3.91656929e-02 -7.56302303e-04 9.99232444e-01 1.52389995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.770385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.35, Y:150.85, Z:15.24 [[ 8.20140144e-01 -5.71242243e-01 -3.24413978e-02 2.37346176e+02] [ 5.70820295e-01 8.20781359e-01 -2.19579515e-02 1.50850743e+02] [ 3.91706041e-02 -5.09610745e-04 9.99232407e-01 1.52402197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.800385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:237.37, Y:150.87, Z:15.24 [[ 8.21251239e-01 -5.69644215e-01 -3.24325588e-02 2.37370591e+02] [ 5.69220495e-01 8.21891291e-01 -2.19712111e-02 1.50867880e+02] [ 3.91718109e-02 -4.17392842e-04 9.99232403e-01 1.52435821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.830385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:237.39, Y:150.88, Z:15.24 [[ 8.21327475e-01 -5.69529178e-01 -3.25222019e-02 2.37392511e+02] [ 5.69110684e-01 8.21970916e-01 -2.18367375e-02 1.50884864e+02] [ 3.91689632e-02 -5.73620106e-04 9.99232437e-01 1.52444354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.860385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:237.42, Y:150.90, Z:15.25 [[ 8.23549549e-01 -5.66313501e-01 -3.24831915e-02 2.37417262e+02] [ 5.65890186e-01 8.24189842e-01 -2.18952442e-02 1.50900903e+02] [ 3.91718889e-02 -3.50100748e-04 9.99232426e-01 1.52474520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.890385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.44, Y:150.92, Z:15.25 [[ 8.24574559e-01 -5.64813849e-01 -3.25900676e-02 2.37440095e+02] [ 5.64395691e-01 8.25218210e-01 -2.17349924e-02 1.50915134e+02] [ 3.91701420e-02 -4.71571989e-04 9.99232444e-01 1.52493426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.920385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.46, Y:150.93, Z:15.25 [[ 8.26392333e-01 -5.62151126e-01 -3.25856392e-02 2.37463521e+02] [ 5.61730633e-01 8.27034460e-01 -2.17416296e-02 1.50928100e+02] [ 3.91715281e-02 -3.37235737e-04 9.99232444e-01 1.52513766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.950385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.48, Y:150.95, Z:15.25 [[ 8.26571466e-01 -5.61887857e-01 -3.25829446e-02 2.37484115e+02] [ 5.61467000e-01 8.27213355e-01 -2.17456671e-02 1.50947423e+02] [ 3.91716732e-02 -3.19900201e-04 9.99232444e-01 1.52511194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.980385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:237.51, Y:150.96, Z:15.25 [[ 8.27759480e-01 -5.60136592e-01 -3.25766841e-02 2.37505869e+02] [ 5.59714008e-01 8.28400234e-01 -2.17550417e-02 1.50963173e+02] [ 3.91723277e-02 -2.25684408e-04 9.99232444e-01 1.52519585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.010385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.53, Y:150.98, Z:15.25 [[ 8.28071312e-01 -5.59675655e-01 -3.25739794e-02 2.37528636e+02] [ 5.59252555e-01 8.28711724e-01 -2.17590908e-02 1.50980150e+02] [ 3.91724720e-02 -1.99002367e-04 9.99232444e-01 1.52527094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.040385723 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:237.55, Y:151.00, Z:15.25 [[ 8.27543083e-01 -5.60456745e-01 -3.25681073e-02 2.37551421e+02] [ 5.60033904e-01 8.28183667e-01 -2.17678763e-02 1.50997243e+02] [ 3.91723277e-02 -2.25388840e-04 9.99232444e-01 1.52526623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.070385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.57, Y:151.01, Z:15.26 [[ 8.27876734e-01 -5.59964146e-01 -3.25617698e-02 2.37574916e+02] [ 5.59540550e-01 8.28516819e-01 -2.17773523e-02 1.51011057e+02] [ 3.91725104e-02 -1.90667266e-04 9.99232444e-01 1.52560924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.100385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:237.60, Y:151.03, Z:15.26 [[ 8.27212470e-01 -5.60945143e-01 -3.25588168e-02 2.37598789e+02] [ 5.60522133e-01 8.27852942e-01 -2.17817663e-02 1.51026444e+02] [ 3.91722883e-02 -2.31788713e-04 9.99232444e-01 1.52581941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.130385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.62, Y:151.04, Z:15.26 [[ 8.24249222e-01 -5.65290660e-01 -3.25528726e-02 2.37620855e+02] [ 5.64870676e-01 8.24891682e-01 -2.17906464e-02 1.51044160e+02] [ 3.91706427e-02 -4.27239748e-04 9.99232445e-01 1.52598062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.160385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:237.64, Y:151.06, Z:15.26 [[ 8.23654611e-01 -5.66157060e-01 -3.25463541e-02 2.37643254e+02] [ 5.65737367e-01 8.24297261e-01 -2.18003780e-02 1.51060154e+02] [ 3.91703085e-02 -4.56706847e-04 9.99232445e-01 1.52604079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.190385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.67, Y:151.08, Z:15.26 [[ 8.22439395e-01 -5.67921056e-01 -3.25440791e-02 2.37665132e+02] [ 5.67502607e-01 8.23082855e-01 -2.18037736e-02 1.51077425e+02] [ 3.91692957e-02 -5.36567430e-04 9.99232445e-01 1.52598689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.220385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:237.69, Y:151.09, Z:15.26 [[ 8.21904949e-01 -5.68694597e-01 -3.25378347e-02 2.37688360e+02] [ 5.68276385e-01 8.22548564e-01 -2.18130882e-02 1.51094006e+02] [ 3.91689346e-02 -5.62197938e-04 9.99232445e-01 1.52607501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.250385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.71, Y:151.11, Z:15.26 [[ 8.21478048e-01 -5.69311436e-01 -3.25315992e-02 2.37712055e+02] [ 5.68893340e-01 8.22121738e-01 -2.18223837e-02 1.51109507e+02] [ 3.91686675e-02 -5.80400973e-04 9.99232445e-01 1.52613454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.280385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.74, Y:151.13, Z:15.26 [[ 8.20231051e-01 -5.71106684e-01 -3.25296703e-02 2.37735742e+02] [ 5.70689882e-01 8.20875579e-01 -2.18252586e-02 1.51126706e+02] [ 3.91673631e-02 -6.62598899e-04 9.99232445e-01 1.52608539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.310385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:237.76, Y:151.14, Z:15.26 [[ 8.18672513e-01 -5.73339093e-01 -3.25207688e-02 2.37757907e+02] [ 5.72923522e-01 8.19317836e-01 -2.18385192e-02 1.51144203e+02] [ 3.91657227e-02 -7.53317989e-04 9.99232445e-01 1.52612093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.340385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:237.78, Y:151.16, Z:15.26 [[ 8.18304826e-01 -5.73863115e-01 -3.25320946e-02 2.37780528e+02] [ 5.73448627e-01 8.18950846e-01 -2.18216526e-02 1.51160355e+02] [ 3.91648279e-02 -7.98721293e-04 9.99232445e-01 1.52649751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.370385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:237.80, Y:151.18, Z:15.26 [[ 8.17600206e-01 -5.74867440e-01 -3.25166200e-02 2.37804181e+02] [ 5.74452830e-01 8.18246146e-01 -2.18446871e-02 1.51177279e+02] [ 3.91643984e-02 -8.19043731e-04 9.99232445e-01 1.52644349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.400385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:237.83, Y:151.20, Z:15.27 [[ 8.17485447e-01 -5.75030534e-01 -3.25181395e-02 2.37825616e+02] [ 5.74616143e-01 8.18131528e-01 -2.18424258e-02 1.51195023e+02] [ 3.91641769e-02 -8.29582639e-04 9.99232445e-01 1.52665426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.430385723 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:237.85, Y:151.21, Z:15.27 [[ 8.18363046e-01 -5.73783638e-01 -3.24693959e-02 2.37848210e+02] [ 5.73365385e-01 8.19006637e-01 -2.19149191e-02 1.51211993e+02] [ 3.91670727e-02 -6.82467757e-04 9.99232443e-01 1.52694952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.460385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.87, Y:151.23, Z:15.27 [[ 8.18896501e-01 -5.73019938e-01 -3.25064660e-02 2.37870627e+02] [ 5.72603271e-01 8.19541117e-01 -2.18597943e-02 1.51229457e+02] [ 3.91664835e-02 -7.12399692e-04 9.99232445e-01 1.52686317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.490385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.89, Y:151.25, Z:15.27 [[ 8.20603068e-01 -5.70575200e-01 -3.24737822e-02 2.37891526e+02] [ 5.70154690e-01 8.21245184e-01 -2.19083793e-02 1.51246988e+02] [ 3.91693151e-02 -5.36995904e-04 9.99232444e-01 1.52684466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.520385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.92, Y:151.26, Z:15.27 [[ 8.21810625e-01 -5.68835542e-01 -3.24564711e-02 2.37915153e+02] [ 5.68412656e-01 8.22451183e-01 -2.19340974e-02 1.51263770e+02] [ 3.91707572e-02 -4.22994651e-04 9.99232442e-01 1.52716794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.550385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.94, Y:151.28, Z:15.27 [[ 8.22345131e-01 -5.68060285e-01 -3.24961306e-02 2.37935655e+02] [ 5.67639121e-01 8.22986819e-01 -2.18751824e-02 1.51281077e+02] [ 3.91703095e-02 -4.57125281e-04 9.99232444e-01 1.52730407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.580385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:237.96, Y:151.30, Z:15.27 [[ 8.22302699e-01 -5.68121860e-01 -3.24934415e-02 2.37959110e+02] [ 5.67700588e-01 8.22944314e-01 -2.18791761e-02 1.51297946e+02] [ 3.91703311e-02 -4.55240322e-04 9.99232444e-01 1.52741907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.610385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:237.98, Y:151.31, Z:15.28 [[ 8.22220817e-01 -5.68239316e-01 -3.25116529e-02 2.37981899e+02] [ 5.67819204e-01 8.22863194e-01 -2.18521386e-02 1.51313383e+02] [ 3.91698869e-02 -4.93457585e-04 9.99232444e-01 1.52752816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.640385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.00, Y:151.33, Z:15.28 [[ 8.22521455e-01 -5.67804219e-01 -3.25088513e-02 2.38004109e+02] [ 5.67383603e-01 8.23163501e-01 -2.18562968e-02 1.51330965e+02] [ 3.91701974e-02 -4.67716137e-04 9.99232444e-01 1.52769837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.670385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:238.02, Y:151.35, Z:15.28 [[ 8.22415911e-01 -5.67958551e-01 -3.24831310e-02 2.38024709e+02] [ 5.67536547e-01 8.23057046e-01 -2.18944561e-02 1.51350130e+02] [ 3.91706134e-02 -4.29014966e-04 9.99232445e-01 1.52778073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.700385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:238.05, Y:151.37, Z:15.28 [[ 8.22960205e-01 -5.67173270e-01 -3.24188673e-02 2.38047737e+02] [ 5.66746897e-01 8.23598449e-01 -2.19897473e-02 1.51367005e+02] [ 3.91721257e-02 -2.76605525e-04 9.99232439e-01 1.52793325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.730385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:238.07, Y:151.38, Z:15.28 [[ 8.22688726e-01 -5.67563749e-01 -3.24753948e-02 2.38069816e+02] [ 5.67140984e-01 8.23329359e-01 -2.19059460e-02 1.51383617e+02] [ 3.91709669e-02 -3.96352536e-04 9.99232445e-01 1.52804555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.760385723 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:238.09, Y:151.40, Z:15.28 [[ 8.21484893e-01 -5.69305108e-01 -3.24694400e-02 2.38090356e+02] [ 5.68883353e-01 8.22126191e-01 -2.19147689e-02 1.51402398e+02] [ 3.91701669e-02 -4.68672287e-04 9.99232445e-01 1.52809567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.790385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.11, Y:151.42, Z:15.28 [[ 8.20821681e-01 -5.70261055e-01 -3.24668632e-02 2.38112597e+02] [ 5.69839896e-01 8.21463370e-01 -2.19185857e-02 1.51419789e+02] [ 3.91696547e-02 -5.09663574e-04 9.99232445e-01 1.52817634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.820385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.13, Y:151.44, Z:15.28 [[ 8.20290307e-01 -5.71025478e-01 -3.24609860e-02 2.38134591e+02] [ 5.70604572e-01 8.20932163e-01 -2.19272863e-02 1.51436561e+02] [ 3.91693066e-02 -5.35646596e-04 9.99232445e-01 1.52823561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.850385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.16, Y:151.45, Z:15.28 [[ 8.19625576e-01 -5.71979527e-01 -3.24551303e-02 2.38156670e+02] [ 5.71559025e-01 8.20267697e-01 -2.19359501e-02 1.51454616e+02] [ 3.91688093e-02 -5.70756881e-04 9.99232445e-01 1.52827792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.880385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.18, Y:151.47, Z:15.28 [[ 8.19514300e-01 -5.72139283e-01 -3.24492243e-02 2.38178469e+02] [ 5.71718561e-01 8.20156277e-01 -2.19446831e-02 1.51471620e+02] [ 3.91688503e-02 -5.67842187e-04 9.99232445e-01 1.52832437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.910385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.20, Y:151.49, Z:15.28 [[ 8.19885287e-01 -5.71607861e-01 -3.24433216e-02 2.38199536e+02] [ 5.71186377e-01 8.20526764e-01 -2.19534063e-02 1.51491319e+02] [ 3.91693533e-02 -5.31908459e-04 9.99232445e-01 1.52834613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.940385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:238.22, Y:151.51, Z:15.28 [[ 8.20066201e-01 -5.71348621e-01 -3.24373184e-02 2.38221662e+02] [ 5.70926584e-01 8.20707313e-01 -2.19622728e-02 1.51508489e+02] [ 3.91696587e-02 -5.08809810e-04 9.99232445e-01 1.52839540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.970385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.24, Y:151.53, Z:15.28 [[ 8.20733812e-01 -5.70389531e-01 -3.24313454e-02 2.38243283e+02] [ 5.69966396e-01 8.21374201e-01 -2.19710895e-02 1.51525272e+02] [ 3.91703499e-02 -4.52361052e-04 9.99232445e-01 1.52848595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.000385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.27, Y:151.54, Z:15.28 [[ 8.21065251e-01 -5.69916433e-01 -3.23591211e-02 2.38266656e+02] [ 5.69488727e-01 8.21702603e-01 -2.20776157e-02 1.51544366e+02] [ 3.91719701e-02 -3.00991614e-04 9.99232439e-01 1.52838842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.030385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.29, Y:151.56, Z:15.28 [[ 8.21365835e-01 -5.69479646e-01 -3.24206444e-02 2.38289022e+02] [ 5.69055178e-01 8.22005341e-01 -2.19868974e-02 1.51560267e+02] [ 3.91710334e-02 -3.89849186e-04 9.99232445e-01 1.52848761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.060385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:238.31, Y:151.58, Z:15.29 [[ 8.21431654e-01 -5.69384937e-01 -3.24165345e-02 2.38312081e+02] [ 5.68960156e-01 8.22070953e-01 -2.19929552e-02 1.51576637e+02] [ 3.91711488e-02 -3.78006885e-04 9.99232445e-01 1.52864885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.090385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.33, Y:151.59, Z:15.29 [[ 8.21639880e-01 -5.69084759e-01 -3.24105531e-02 2.38334473e+02] [ 5.68659397e-01 8.22278792e-01 -2.20017663e-02 1.51592389e+02] [ 3.91713803e-02 -3.53036976e-04 9.99232445e-01 1.52887068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.120385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.35, Y:151.61, Z:15.29 [[ 8.19363851e-01 -5.72357143e-01 -3.24064931e-02 2.38351187e+02] [ 5.71934097e-01 8.20004298e-01 -2.20077447e-02 1.51610899e+02] [ 3.91697535e-02 -5.02027931e-04 9.99232445e-01 1.52898200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.150385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.37, Y:151.63, Z:15.29 [[ 8.19918871e-01 -5.71578396e-01 -3.21120373e-02 2.38373594e+02] [ 5.71137698e-01 8.20547460e-01 -2.24409598e-02 1.51628746e+02] [ 3.91762185e-02 5.93713392e-05 9.99232316e-01 1.52919643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.180385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.40, Y:151.64, Z:15.30 [[ 8.22094222e-01 -5.68444210e-01 -3.21289579e-02 2.38401655e+02] [ 5.68002088e-01 8.22721793e-01 -2.24160727e-02 1.51643509e+02] [ 3.91754806e-02 1.78808743e-04 9.99232330e-01 1.52957954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.210385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:238.42, Y:151.66, Z:15.30 [[ 8.22018612e-01 -5.68541134e-01 -3.23478079e-02 2.38424388e+02] [ 5.68111714e-01 8.22654808e-01 -2.20940543e-02 1.51660877e+02] [ 3.91724584e-02 -2.15444766e-04 9.99232441e-01 1.52956429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.240385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.45, Y:151.68, Z:15.30 [[ 8.22286103e-01 -5.68151395e-01 -3.23968603e-02 2.38447524e+02] [ 5.67724515e-01 8.22924001e-01 -2.20218926e-02 1.51677546e+02] [ 3.91719229e-02 -2.84195527e-04 9.99232445e-01 1.52965073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.270385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.47, Y:151.69, Z:15.30 [[ 8.22701370e-01 -5.67550255e-01 -3.23908018e-02 2.38469280e+02] [ 5.67122558e-01 8.23338720e-01 -2.20308002e-02 1.51692995e+02] [ 3.91721875e-02 -2.44784896e-04 9.99232445e-01 1.52972857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.300385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.49, Y:151.71, Z:15.30 [[ 8.23493557e-01 -5.66400445e-01 -3.23866836e-02 2.38491763e+02] [ 5.65971620e-01 8.24130149e-01 -2.20368524e-02 1.51709132e+02] [ 3.91725254e-02 -1.82737849e-04 9.99232445e-01 1.52978357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.330385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.51, Y:151.73, Z:15.30 [[ 8.23074847e-01 -5.67009088e-01 -3.23803951e-02 2.38512619e+02] [ 5.66580370e-01 8.23711512e-01 -2.20460887e-02 1.51725691e+02] [ 3.91724369e-02 -2.00515117e-04 9.99232445e-01 1.52963875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.360385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.54, Y:151.74, Z:15.30 [[ 8.23593802e-01 -5.66260946e-01 -3.22767687e-02 2.38538096e+02] [ 5.65825679e-01 8.24226025e-01 -2.21982044e-02 1.51741645e+02] [ 3.91733290e-02 1.92789910e-05 9.99232430e-01 1.52978870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.390385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:238.56, Y:151.76, Z:15.30 [[ 8.23347606e-01 -5.66613222e-01 -3.23755406e-02 2.38561264e+02] [ 5.66183919e-01 8.23983875e-01 -2.20532018e-02 1.51757252e+02] [ 3.91725592e-02 -1.73059532e-04 9.99232446e-01 1.52995998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.420385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.58, Y:151.77, Z:15.30 [[ 8.21954298e-01 -5.68632880e-01 -3.23694121e-02 2.38580493e+02] [ 5.68204786e-01 8.22591381e-01 -2.20621935e-02 1.51773619e+02] [ 3.91720881e-02 -2.58340045e-04 9.99232446e-01 1.52998528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.450385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:238.61, Y:151.79, Z:15.30 [[ 8.23940595e-01 -5.65762850e-01 -3.21604478e-02 2.38608434e+02] [ 5.65320540e-01 8.24567969e-01 -2.23685364e-02 1.51788498e+02] [ 3.91737620e-02 2.49383511e-04 9.99232382e-01 1.53003146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.480385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.63, Y:151.80, Z:15.30 [[ 8.24124803e-01 -5.65482927e-01 -3.23630759e-02 2.38632514e+02] [ 5.65052035e-01 8.24759995e-01 -2.20714297e-02 1.51803828e+02] [ 3.91727870e-02 -9.72092170e-05 9.99232447e-01 1.53012650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.510385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.66, Y:151.82, Z:15.30 [[ 8.24413655e-01 -5.65062083e-01 -3.23568848e-02 2.38655775e+02] [ 5.64630511e-01 8.25048385e-01 -2.20805022e-02 1.51818167e+02] [ 3.91728501e-02 -6.62169446e-05 9.99232447e-01 1.53011475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.540385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.68, Y:151.83, Z:15.30 [[ 8.23268029e-01 -5.66730145e-01 -3.23526781e-02 2.38676023e+02] [ 5.66299616e-01 8.23903468e-01 -2.20866643e-02 1.51831973e+02] [ 3.91726621e-02 -1.38064600e-04 9.99232447e-01 1.53012650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.570385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:238.71, Y:151.85, Z:15.30 [[ 8.24963990e-01 -5.64270816e-01 -3.21381739e-02 2.38705056e+02] [ 5.63826122e-01 8.25589678e-01 -2.24006033e-02 1.51846328e+02] [ 3.91729513e-02 3.59349126e-04 9.99232381e-01 1.53044437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.600385723 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:238.73, Y:151.86, Z:15.31 [[ 8.25612180e-01 -5.63310139e-01 -3.23452447e-02 2.38729223e+02] [ 5.62876553e-01 8.26245536e-01 -2.20975079e-02 1.51860978e+02] [ 3.91728643e-02 3.75917969e-05 9.99232448e-01 1.53058594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.630385723 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:238.75, Y:151.87, Z:15.31 [[ 8.27292048e-01 -5.60840483e-01 -3.23391428e-02 2.38753992e+02] [ 5.60404657e-01 8.27923865e-01 -2.21064342e-02 1.51874781e+02] [ 3.91725313e-02 1.65470955e-04 9.99232448e-01 1.53061807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.660385723 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:238.78, Y:151.89, Z:15.31 [[ 8.28160565e-01 -5.59557549e-01 -3.23330676e-02 2.38776907e+02] [ 5.59120398e-01 8.28791465e-01 -2.21153163e-02 1.51888782e+02] [ 3.91721627e-02 2.36955269e-04 9.99232448e-01 1.53070514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.690385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:238.80, Y:151.90, Z:15.31 [[ 8.29478380e-01 -5.57602332e-01 -3.23304290e-02 2.38801576e+02] [ 5.57163544e-01 8.30108142e-01 -2.21191730e-02 1.51901367e+02] [ 3.91714548e-02 3.34039438e-04 9.99232448e-01 1.53071013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.720385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.82, Y:151.91, Z:15.31 [[ 8.30051507e-01 -5.56748919e-01 -3.23285676e-02 2.38824977e+02] [ 5.56309378e-01 8.30680744e-01 -2.21218933e-02 1.51914494e+02] [ 3.91710587e-02 3.77625544e-04 9.99232448e-01 1.53079553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.750385723 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:238.85, Y:151.93, Z:15.31 [[ 8.30218403e-01 -5.56500164e-01 -3.23260061e-02 2.38849502e+02] [ 5.56060288e-01 8.30847406e-01 -2.21256356e-02 1.51928209e+02] [ 3.91708982e-02 3.93901592e-04 9.99232448e-01 1.53094327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.780385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.88, Y:151.94, Z:15.31 [[ 8.30437936e-01 -5.56172853e-01 -3.23201511e-02 2.38875294e+02] [ 5.55732396e-01 8.31066533e-01 -2.21341851e-02 1.51940342e+02] [ 3.91706288e-02 4.19712015e-04 9.99232448e-01 1.53120405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.810385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.90, Y:151.95, Z:15.31 [[ 8.30492459e-01 -5.56091787e-01 -3.23140826e-02 2.38900123e+02] [ 5.55650924e-01 8.31120771e-01 -2.21430410e-02 1.51954756e+02] [ 3.91704685e-02 4.34278645e-04 9.99232448e-01 1.53133160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.840385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.93, Y:151.97, Z:15.32 [[ 8.30520324e-01 -5.56050476e-01 -3.23088108e-02 2.38925687e+02] [ 5.55609284e-01 8.31148404e-01 -2.21507304e-02 1.51966539e+02] [ 3.91703407e-02 4.45556585e-04 9.99232448e-01 1.53152017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.870385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:238.95, Y:151.98, Z:15.32 [[ 8.30482683e-01 -5.56107045e-01 -3.23027616e-02 2.38949043e+02] [ 5.55665552e-01 8.31110552e-01 -2.21595486e-02 1.51979417e+02] [ 3.91702471e-02 4.53589502e-04 9.99232448e-01 1.53160343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.900385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.97, Y:151.99, Z:15.32 [[ 8.30246118e-01 -5.56460317e-01 -3.23001462e-02 2.38973844e+02] [ 5.56018943e-01 8.30874070e-01 -2.21633601e-02 1.51993368e+02] [ 3.91703844e-02 4.41550493e-04 9.99232448e-01 1.53172163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.930385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:239.00, Y:152.00, Z:15.32 [[ 8.29846332e-01 -5.57056695e-01 -3.22940262e-02 2.38998759e+02] [ 5.56615425e-01 8.30474358e-01 -2.21722740e-02 1.52004983e+02] [ 3.91705743e-02 4.24227116e-04 9.99232449e-01 1.53167516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.960385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:239.02, Y:152.02, Z:15.32 [[ 8.29471586e-01 -5.57614789e-01 -3.22898669e-02 2.39022148e+02] [ 5.57173706e-01 8.30099743e-01 -2.21783295e-02 1.52018368e+02] [ 3.91707748e-02 4.05229323e-04 9.99232449e-01 1.53171058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.990385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.05, Y:152.03, Z:15.32 [[ 8.28810375e-01 -5.58597256e-01 -3.22872826e-02 2.39046501e+02] [ 5.58156771e-01 8.29438951e-01 -2.21820911e-02 1.52031727e+02] [ 3.91711851e-02 3.63381828e-04 9.99232449e-01 1.53183767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.020385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.07, Y:152.04, Z:15.32 [[ 8.27467759e-01 -5.60584540e-01 -3.22812825e-02 2.39073878e+02] [ 5.60145224e-01 8.28097153e-01 -2.21908197e-02 1.52041843e+02] [ 3.91718685e-02 2.79981636e-04 9.99232449e-01 1.53186885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.050385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.10, Y:152.06, Z:15.32 [[ 8.26483529e-01 -5.62034765e-01 -3.22784798e-02 2.39098997e+02] [ 5.61596394e-01 8.27113581e-01 -2.21948956e-02 1.52055403e+02] [ 3.91722720e-02 2.16237794e-04 9.99232449e-01 1.53207539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.080385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.12, Y:152.07, Z:15.32 [[ 8.24525895e-01 -5.64903114e-01 -3.22725813e-02 2.39124586e+02] [ 5.64466600e-01 8.25157236e-01 -2.22034690e-02 1.52067887e+02] [ 3.91727628e-02 9.05409081e-05 9.99232449e-01 1.53227053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.110385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:239.15, Y:152.08, Z:15.32 [[ 8.23676272e-01 -5.66141567e-01 -3.22664634e-02 2.39148653e+02] [ 5.65705654e-01 8.24308028e-01 -2.22123562e-02 1.52081888e+02] [ 3.91728429e-02 4.24699585e-05 9.99232449e-01 1.53236935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.140385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.17, Y:152.09, Z:15.33 [[ 8.22960545e-01 -5.67181631e-01 -3.22635992e-02 2.39172686e+02] [ 5.66746353e-01 8.23592738e-01 -2.22165156e-02 1.52094912e+02] [ 3.91728656e-02 -1.96140152e-06 9.99232449e-01 1.53251632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.170385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.20, Y:152.11, Z:15.33 [[ 8.21451463e-01 -5.69365194e-01 -3.22609735e-02 2.39199807e+02] [ 5.68931447e-01 8.22084707e-01 -2.22203278e-02 1.52106420e+02] [ 3.91727342e-02 -1.01361606e-04 9.99232449e-01 1.53275275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.200385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.22, Y:152.12, Z:15.33 [[ 8.20709997e-01 -5.70433765e-01 -3.22555711e-02 2.39224371e+02] [ 5.70000534e-01 8.21343594e-01 -2.22281673e-02 1.52120211e+02] [ 3.91726039e-02 -1.42813584e-04 9.99232449e-01 1.53289467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.230385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.25, Y:152.13, Z:15.33 [[ 8.20055168e-01 -5.71375093e-01 -3.22494073e-02 2.39249175e+02] [ 5.70942238e-01 8.20689023e-01 -2.22371064e-02 1.52134530e+02] [ 3.91724633e-02 -1.76894765e-04 9.99232449e-01 1.53304568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.260385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.27, Y:152.15, Z:15.33 [[ 8.19752378e-01 -5.71809772e-01 -3.22431947e-02 2.39273751e+02] [ 5.71376899e-01 8.20386220e-01 -2.22461108e-02 1.52146705e+02] [ 3.91724162e-02 -1.86714416e-04 9.99232449e-01 1.53322698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.290385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.30, Y:152.16, Z:15.33 [[ 8.19844311e-01 -5.71678191e-01 -3.22389716e-02 2.39297865e+02] [ 5.71244976e-01 8.20477919e-01 -2.22522292e-02 1.52161370e+02] [ 3.91724785e-02 -1.72987071e-04 9.99232449e-01 1.53333456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.320385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.32, Y:152.18, Z:15.33 [[ 8.20525655e-01 -5.70700178e-01 -3.22328513e-02 2.39320803e+02] [ 5.70265860e-01 8.21158507e-01 -2.22610912e-02 1.52175798e+02] [ 3.91726887e-02 -1.15498224e-04 9.99232449e-01 1.53349451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.350385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.34, Y:152.19, Z:15.34 [[ 8.21018161e-01 -5.69991572e-01 -3.22302022e-02 2.39344142e+02] [ 5.69556557e-01 8.21650535e-01 -2.22649259e-02 1.52192345e+02] [ 3.91727830e-02 -7.70144232e-05 9.99232449e-01 1.53375810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.380385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.37, Y:152.21, Z:15.34 [[ 8.21732803e-01 -5.68961125e-01 -3.22248020e-02 2.39366132e+02] [ 5.68525011e-01 8.22364419e-01 -2.22727390e-02 1.52207856e+02] [ 3.91728532e-02 -1.83656112e-05 9.99232449e-01 1.53392942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.410385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.39, Y:152.22, Z:15.34 [[ 8.22587017e-01 -5.67725573e-01 -3.22222497e-02 2.39389525e+02] [ 5.67288364e-01 8.23217876e-01 -2.22764309e-02 1.52223342e+02] [ 3.91728314e-02 4.49955434e-05 9.99232449e-01 1.53414466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.440385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.41, Y:152.24, Z:15.34 [[ 8.22763573e-01 -5.67470020e-01 -3.22161292e-02 2.39412430e+02] [ 5.67032269e-01 8.23394056e-01 -2.22852788e-02 1.52238737e+02] [ 3.91727969e-02 6.79307861e-05 9.99232449e-01 1.53418804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.470385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.43, Y:152.26, Z:15.34 [[ 8.23109894e-01 -5.66967916e-01 -3.22100128e-02 2.39434377e+02] [ 5.66529435e-01 8.23739869e-01 -2.22941156e-02 1.52255955e+02] [ 3.91727200e-02 1.02586710e-04 9.99232449e-01 1.53442027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.500385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:239.46, Y:152.27, Z:15.34 [[ 8.23040185e-01 -5.67069454e-01 -3.22038523e-02 2.39455406e+02] [ 5.66630703e-01 8.23669972e-01 -2.23030110e-02 1.52272330e+02] [ 3.91727024e-02 1.08582875e-04 9.99232449e-01 1.53447894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.530385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:239.48, Y:152.29, Z:15.35 [[ 8.22886620e-01 -5.67292423e-01 -3.22012098e-02 2.39478848e+02] [ 5.66853693e-01 8.23516421e-01 -2.23068256e-02 1.52288658e+02] [ 3.91727182e-02 1.02613599e-04 9.99232449e-01 1.53459074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.560385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.50, Y:152.31, Z:15.35 [[ 8.22517301e-01 -5.67828109e-01 -3.21951631e-02 2.39501105e+02] [ 5.67389448e-01 8.23147150e-01 -2.23155492e-02 1.52305919e+02] [ 3.91727529e-02 8.77294808e-05 9.99232449e-01 1.53477756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.590385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.52, Y:152.32, Z:15.35 [[ 8.22129239e-01 -5.68390172e-01 -3.21889287e-02 2.39523344e+02] [ 5.67951590e-01 8.22759143e-01 -2.23245385e-02 1.52322267e+02] [ 3.91727836e-02 7.19025926e-05 9.99232449e-01 1.53487757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.620385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.55, Y:152.34, Z:15.35 [[ 8.20808564e-01 -5.70295799e-01 -3.21870020e-02 2.39546594e+02] [ 5.69858570e-01 8.21439408e-01 -2.23273159e-02 1.52338224e+02] [ 3.91728464e-02 -1.55867868e-05 9.99232449e-01 1.53515758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.650385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.57, Y:152.35, Z:15.35 [[ 8.19960522e-01 -5.71514778e-01 -3.21807643e-02 2.39570050e+02] [ 5.71078134e-01 8.20591771e-01 -2.23363029e-02 1.52354094e+02] [ 3.91727975e-02 -6.28442074e-05 9.99232449e-01 1.53537940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.680385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.60, Y:152.37, Z:15.36 [[ 8.18328540e-01 -5.73849272e-01 -3.21778507e-02 2.39598053e+02] [ 5.73414264e-01 8.18960917e-01 -2.23404994e-02 1.52370179e+02] [ 3.91724815e-02 -1.69370371e-04 9.99232449e-01 1.53573898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.710385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.62, Y:152.39, Z:15.35 [[ 8.15984321e-01 -5.77165611e-01 -3.23951355e-02 2.39618231e+02] [ 5.76745575e-01 8.16626814e-01 -2.20269982e-02 1.52388041e+02] [ 3.91679622e-02 -7.10065863e-04 9.99232389e-01 1.53549396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.740385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.64, Y:152.40, Z:15.36 [[ 8.16319604e-01 -5.76699024e-01 -3.22574113e-02 2.39644712e+02] [ 5.76270759e-01 8.16956570e-01 -2.22255539e-02 1.52404462e+02] [ 3.91703593e-02 -4.45847561e-04 9.99232448e-01 1.53599614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.770385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.66, Y:152.42, Z:15.36 [[ 8.14681494e-01 -5.79003792e-01 -3.23832170e-02 2.39661534e+02] [ 5.78584509e-01 8.15324478e-01 -2.20445349e-02 1.52422244e+02] [ 3.91666988e-02 -7.77153074e-04 9.99232388e-01 1.53580935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.800385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:239.68, Y:152.44, Z:15.36 [[ 8.13960009e-01 -5.80030231e-01 -3.21564165e-02 2.39683829e+02] [ 5.79598837e-01 8.14594836e-01 -2.23705532e-02 1.52439170e+02] [ 3.91700480e-02 -4.29085888e-04 9.99232467e-01 1.53577326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.830385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.71, Y:152.46, Z:15.36 [[ 8.13172645e-01 -5.81133891e-01 -3.21504210e-02 2.39710334e+02] [ 5.80703018e-01 8.13807826e-01 -2.23791666e-02 1.52456364e+02] [ 3.91695564e-02 -4.71720401e-04 9.99232467e-01 1.53576672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.860385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:239.73, Y:152.47, Z:15.36 [[ 8.12556633e-01 -5.81985055e-01 -3.23282299e-02 2.39730385e+02] [ 5.81564982e-01 8.13199063e-01 -2.21236402e-02 1.52471614e+02] [ 3.91649142e-02 -8.24255888e-04 9.99232420e-01 1.53593213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.890385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.75, Y:152.49, Z:15.36 [[ 8.11512698e-01 -5.83450067e-01 -3.21427941e-02 2.39753329e+02] [ 5.83020583e-01 8.12148813e-01 -2.23898548e-02 1.52488558e+02] [ 3.91680943e-02 -5.70259066e-04 9.99232473e-01 1.53603700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.920385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:239.78, Y:152.51, Z:15.36 [[ 8.10960581e-01 -5.84217529e-01 -3.21374310e-02 2.39777143e+02] [ 5.83788342e-01 8.11596896e-01 -2.23975501e-02 1.52505499e+02] [ 3.91676806e-02 -5.97927306e-04 9.99232473e-01 1.53614632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.950385723 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:239.80, Y:152.52, Z:15.36 [[ 8.10104476e-01 -5.85404364e-01 -3.21320355e-02 2.39800131e+02] [ 5.84975803e-01 8.10741212e-01 -2.24052879e-02 1.52521701e+02] [ 3.91669188e-02 -6.45839291e-04 9.99232473e-01 1.53618773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.980385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.82, Y:152.54, Z:15.36 [[ 8.07351083e-01 -5.89196198e-01 -3.21258257e-02 2.39816691e+02] [ 5.88770273e-01 8.07989585e-01 -2.24141883e-02 1.52539840e+02] [ 3.91636871e-02 -8.18611928e-04 9.99232473e-01 1.53593556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.010385723 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:239.84, Y:152.56, Z:15.36 [[ 8.08161296e-01 -5.88099924e-01 -3.18401997e-02 2.39840812e+02] [ 5.87656924e-01 8.08788235e-01 -2.28239069e-02 1.52555218e+02] [ 3.91747168e-02 -2.65715648e-04 9.99232341e-01 1.53624062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.040385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:239.86, Y:152.57, Z:15.36 [[ 8.08067413e-01 -5.88226355e-01 -3.18874758e-02 2.39864800e+02] [ 5.87786127e-01 8.08696253e-01 -2.27560920e-02 1.52571691e+02] [ 3.91730152e-02 -3.54559479e-04 9.99232380e-01 1.53632138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.070385723 meters Centerline goodness : 0.996668 Centerline is valid? [True, True] Translation: X:239.89, Y:152.59, Z:15.36 [[ 8.09644271e-01 -5.86052776e-01 -3.19107706e-02 2.39889785e+02] [ 5.85612170e-01 8.10272830e-01 -2.27228210e-02 1.52588568e+02] [ 3.91732027e-02 -2.89933749e-04 9.99232393e-01 1.53591997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.100385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.91, Y:152.61, Z:15.36 [[ 8.09348589e-01 -5.86456855e-01 -3.19878048e-02 2.39912657e+02] [ 5.86020900e-01 8.09980346e-01 -2.26129042e-02 1.52605824e+02] [ 3.91709859e-02 -4.43800084e-04 9.99232424e-01 1.53626983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.130385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.94, Y:152.62, Z:15.36 [[ 8.09951630e-01 -5.85618719e-01 -3.20791550e-02 2.39936469e+02] [ 5.85187265e-01 8.10586454e-01 -2.24825624e-02 1.52622518e+02] [ 3.91691379e-02 -5.62524862e-04 9.99232437e-01 1.53623977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.160385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.96, Y:152.64, Z:15.36 [[ 8.09780330e-01 -5.85855843e-01 -3.20741081e-02 2.39960058e+02] [ 5.85424290e-01 8.10415086e-01 -2.24897600e-02 1.52639375e+02] [ 3.91690984e-02 -5.65196720e-04 9.99232437e-01 1.53629648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.190385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.99, Y:152.66, Z:15.36 [[ 8.10255469e-01 -5.85199020e-01 -3.20652583e-02 2.39985125e+02] [ 5.84766453e-01 8.10889535e-01 -2.25023751e-02 1.52655598e+02] [ 3.91697503e-02 -5.18014822e-04 9.99232437e-01 1.53643811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.220385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.01, Y:152.67, Z:15.36 [[ 8.10715735e-01 -5.84556590e-01 -3.21494864e-02 2.40007117e+02] [ 5.84128274e-01 8.11352692e-01 -2.23823256e-02 1.52670386e+02] [ 3.91683083e-02 -6.33720469e-04 9.99232426e-01 1.53647624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.250385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.03, Y:152.69, Z:15.37 [[ 8.10482435e-01 -5.84884842e-01 -3.20615728e-02 2.40030216e+02] [ 5.84451825e-01 8.11116191e-01 -2.25075330e-02 1.52686634e+02] [ 3.91699757e-02 -4.96484624e-04 9.99232439e-01 1.53688469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.280385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:240.05, Y:152.70, Z:15.37 [[ 8.10201122e-01 -5.85275757e-01 -3.20379458e-02 2.40053809e+02] [ 5.84841715e-01 8.10834178e-01 -2.25411744e-02 1.52702690e+02] [ 3.91702643e-02 -4.74242331e-04 9.99232438e-01 1.53688722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.310385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.08, Y:152.72, Z:15.37 [[ 8.10958625e-01 -5.84223053e-01 -3.20863186e-02 2.40079437e+02] [ 5.83790912e-01 8.11592981e-01 -2.24723138e-02 1.52719319e+02] [ 3.91698748e-02 -5.07584457e-04 9.99232437e-01 1.53723037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.340385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:240.10, Y:152.74, Z:15.37 [[ 8.09560334e-01 -5.86153622e-01 -3.21869055e-02 2.40097834e+02] [ 5.85728674e-01 8.10199561e-01 -2.23291750e-02 1.52736590e+02] [ 3.91661436e-02 -7.75979073e-04 9.99232411e-01 1.53742612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.370385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.13, Y:152.75, Z:15.38 [[ 8.11823035e-01 -5.83029126e-01 -3.19436881e-02 2.40127713e+02] [ 5.82588059e-01 8.12451228e-01 -2.26749962e-02 1.52753383e+02] [ 3.91728718e-02 -2.01927086e-04 9.99232428e-01 1.53750610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.400385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:240.15, Y:152.77, Z:15.38 [[ 8.13968027e-01 -5.80014693e-01 -3.22336318e-02 2.40149190e+02] [ 5.79587563e-01 8.14605820e-01 -2.22624148e-02 1.52769471e+02] [ 3.91702317e-02 -5.61318239e-04 9.99232394e-01 1.53757271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.430385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.17, Y:152.79, Z:15.38 [[ 8.14510399e-01 -5.79256655e-01 -3.21642389e-02 2.40171947e+02] [ 5.78825030e-01 8.15145119e-01 -2.23611357e-02 1.52787083e+02] [ 3.91713590e-02 -4.04088953e-04 9.99232426e-01 1.53767537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.460385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.19, Y:152.80, Z:15.38 [[ 8.14578221e-01 -5.79159695e-01 -3.21927102e-02 2.40194631e+02] [ 5.78729593e-01 8.15213988e-01 -2.23206588e-02 1.52804871e+02] [ 3.91711736e-02 -4.48951499e-04 9.99232414e-01 1.53784033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.490385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.21, Y:152.82, Z:15.38 [[ 8.16024771e-01 -5.77118313e-01 -3.22183978e-02 2.40214118e+02] [ 5.76688061e-01 8.16660453e-01 -2.22841588e-02 1.52819672e+02] [ 3.91720875e-02 -3.95539793e-04 9.99232401e-01 1.53782945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.520385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.24, Y:152.83, Z:15.38 [[ 8.16209097e-01 -5.76867809e-01 -3.20349939e-02 2.40236618e+02] [ 5.76427114e-01 8.16837515e-01 -2.25445269e-02 1.52834264e+02] [ 3.91725967e-02 -6.47910791e-05 9.99232457e-01 1.53795940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.550385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.26, Y:152.85, Z:15.38 [[ 8.14679918e-01 -5.79025926e-01 -3.20251157e-02 2.40260120e+02] [ 5.78586344e-01 8.15309116e-01 -2.25585418e-02 1.52851665e+02] [ 3.91723493e-02 -1.51303669e-04 9.99232458e-01 1.53840772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.580385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.28, Y:152.87, Z:15.38 [[ 8.15003140e-01 -5.78569531e-01 -3.20496496e-02 2.40281844e+02] [ 5.78130965e-01 8.15633048e-01 -2.25237460e-02 1.52867205e+02] [ 3.91723066e-02 -1.71971083e-04 9.99232456e-01 1.53848325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.610385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.31, Y:152.88, Z:15.38 [[ 8.15141388e-01 -5.78376935e-01 -3.20099842e-02 2.40307123e+02] [ 5.77936010e-01 8.15769644e-01 -2.25799770e-02 1.52883682e+02] [ 3.91725113e-02 -9.38487342e-05 9.99232458e-01 1.53837264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.640385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.33, Y:152.90, Z:15.39 [[ 8.13873427e-01 -5.80156467e-01 -3.20705203e-02 2.40332179e+02] [ 5.79720293e-01 8.14504998e-01 -2.24942102e-02 1.52900732e+02] [ 3.91717606e-02 -2.84491523e-04 9.99232452e-01 1.53850162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.670385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.36, Y:152.92, Z:15.39 [[ 8.14081329e-01 -5.79862089e-01 -3.21177158e-02 2.40359047e+02] [ 5.79428320e-01 8.14714572e-01 -2.24273849e-02 1.52915740e+02] [ 3.91715614e-02 -3.52198800e-04 9.99232438e-01 1.53880427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.700385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:240.38, Y:152.93, Z:15.39 [[ 8.11859674e-01 -5.82961438e-01 -3.22464074e-02 2.40375689e+02] [ 5.82537310e-01 8.12499499e-01 -2.22451388e-02 1.52933438e+02] [ 3.91682480e-02 -7.24804290e-04 9.99232367e-01 1.53894468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.730385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.41, Y:152.95, Z:15.39 [[ 8.13048553e-01 -5.81316521e-01 -3.19867674e-02 2.40405618e+02] [ 5.80876591e-01 8.13677494e-01 -2.26124237e-02 1.52948958e+02] [ 3.91718882e-02 -1.95366049e-04 9.99232468e-01 1.53872113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.760385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.42, Y:152.97, Z:15.39 [[ 8.10324607e-01 -5.85092402e-01 -3.22631778e-02 2.40421569e+02] [ 5.84670902e-01 8.10966181e-01 -2.22213836e-02 1.52967844e+02] [ 3.91659088e-02 -8.56807329e-04 9.99232354e-01 1.53910874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.790385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.44, Y:152.98, Z:15.39 [[ 8.10080586e-01 -5.85446748e-01 -3.19616818e-02 2.40444028e+02] [ 5.85008650e-01 8.10710788e-01 -2.26472612e-02 1.52984652e+02] [ 3.91704457e-02 -3.51753632e-04 9.99232482e-01 1.53917929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.820385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.47, Y:153.00, Z:15.39 [[ 8.10041612e-01 -5.85500318e-01 -3.19681724e-02 2.40466762e+02] [ 5.85062623e-01 8.10672094e-01 -2.26380957e-02 1.53001239e+02] [ 3.91703174e-02 -3.65583258e-04 9.99232482e-01 1.53923842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.850385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.49, Y:153.02, Z:15.39 [[ 8.09166224e-01 -5.86712253e-01 -3.19179088e-02 2.40490015e+02] [ 5.86272703e-01 8.09795417e-01 -2.27090356e-02 1.53017552e+02] [ 3.91706457e-02 -3.37214061e-04 9.99232479e-01 1.53941268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.880385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.51, Y:153.03, Z:15.39 [[ 8.09135635e-01 -5.86752132e-01 -3.19602732e-02 2.40513024e+02] [ 5.86314972e-01 8.09766488e-01 -2.26492555e-02 1.53033100e+02] [ 3.91698571e-02 -4.12466949e-04 9.99232482e-01 1.53949247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.910385723 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:240.54, Y:153.05, Z:15.40 [[ 8.08532481e-01 -5.87583316e-01 -3.19542422e-02 2.40535509e+02] [ 5.87146468e-01 8.09163550e-01 -2.26577611e-02 1.53048373e+02] [ 3.91695304e-02 -4.42284640e-04 9.99232482e-01 1.53969604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.940385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.56, Y:153.07, Z:15.40 [[ 8.08302641e-01 -5.87899603e-01 -3.19514761e-02 2.40558257e+02] [ 5.87462848e-01 8.08933775e-01 -2.26616611e-02 1.53065496e+02] [ 3.91694097e-02 -4.52824594e-04 9.99232482e-01 1.53984181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.970385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.58, Y:153.08, Z:15.40 [[ 8.08290141e-01 -5.87917125e-01 -3.19453064e-02 2.40579911e+02] [ 5.87480040e-01 8.08921046e-01 -2.26703549e-02 1.53082761e+02] [ 3.91695205e-02 -4.43005560e-04 9.99232482e-01 1.53992773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.000385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.60, Y:153.10, Z:15.40 [[ 8.09093485e-01 -5.86811407e-01 -3.19390830e-02 2.40600853e+02] [ 5.86373114e-01 8.09723551e-01 -2.26791194e-02 1.53098712e+02] [ 3.91701936e-02 -3.78691778e-04 9.99232482e-01 1.53988436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.030385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.62, Y:153.12, Z:15.40 [[ 8.08889998e-01 -5.87096450e-01 -3.18548141e-02 2.40624992e+02] [ 5.86653704e-01 8.09516953e-01 -2.27976911e-02 1.53116315e+02] [ 3.91714555e-02 -2.46920381e-04 9.99232474e-01 1.54020361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.060385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.65, Y:153.13, Z:15.41 [[ 8.09043085e-01 -5.86880607e-01 -3.19443127e-02 2.40648744e+02] [ 5.86442658e-01 8.09673391e-01 -2.26717696e-02 1.53132513e+02] [ 3.91700819e-02 -3.91069161e-04 9.99232481e-01 1.54063978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.090385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.67, Y:153.15, Z:15.41 [[ 8.09401186e-01 -5.86385373e-01 -3.19673775e-02 2.40672420e+02] [ 5.85948319e-01 8.10032116e-01 -2.26393359e-02 1.53149649e+02] [ 3.91699778e-02 -4.06925730e-04 9.99232479e-01 1.54064726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.120385723 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:240.69, Y:153.17, Z:15.40 [[ 8.07429892e-01 -5.89095804e-01 -3.19860022e-02 2.40687347e+02] [ 5.88661903e-01 8.08062998e-01 -2.26131544e-02 1.53166354e+02] [ 3.91680192e-02 -5.70404090e-04 9.99232476e-01 1.54007231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.150385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.72, Y:153.18, Z:15.41 [[ 8.11764053e-01 -5.83130208e-01 -3.15956071e-02 2.40718317e+02] [ 5.82670113e-01 8.12378610e-01 -2.31632011e-02 1.53182073e+02] [ 3.91747576e-02 3.93238032e-04 9.99232297e-01 1.54083685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.180385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.74, Y:153.20, Z:15.40 [[ 8.09958112e-01 -5.85613560e-01 -3.20096021e-02 2.40735628e+02] [ 5.85178271e-01 8.10590255e-01 -2.25794149e-02 1.53199623e+02] [ 3.91694831e-02 -4.42943353e-04 9.99232483e-01 1.54042947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.210385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.76, Y:153.22, Z:15.41 [[ 8.09885094e-01 -5.85730470e-01 -3.17167277e-02 2.40759289e+02] [ 5.85279043e-01 8.10505899e-01 -2.29919300e-02 1.53216970e+02] [ 3.91736688e-02 5.76853842e-05 9.99232416e-01 1.54052478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.240385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.79, Y:153.23, Z:15.41 [[ 8.12295659e-01 -5.82378640e-01 -3.17943879e-02 2.40786564e+02] [ 5.81928924e-01 8.12917654e-01 -2.28826332e-02 1.53230989e+02] [ 3.91725760e-02 8.53896713e-05 9.99232456e-01 1.54143490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.270385723 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:240.80, Y:153.25, Z:15.41 [[ 8.08450451e-01 -5.87697403e-01 -3.19316706e-02 2.40802195e+02] [ 5.87259392e-01 8.09080710e-01 -2.26894320e-02 1.53250587e+02] [ 3.91698190e-02 -4.08891941e-04 9.99232485e-01 1.54083784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.300385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.83, Y:153.27, Z:15.41 [[ 8.08231336e-01 -5.88015412e-01 -3.16225093e-02 2.40825016e+02] [ 5.87560562e-01 8.08849716e-01 -2.31240554e-02 1.53269062e+02] [ 3.91751587e-02 1.09446819e-04 9.99232353e-01 1.54095493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.330385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:240.85, Y:153.29, Z:15.41 [[ 8.08229038e-01 -5.88019182e-01 -3.16111269e-02 2.40847933e+02] [ 5.87563710e-01 8.08846973e-01 -2.31400518e-02 1.53287259e+02] [ 3.91753587e-02 1.28910799e-04 9.99232343e-01 1.54105311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.360385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:240.87, Y:153.30, Z:15.41 [[ 8.08196360e-01 -5.88061913e-01 -3.16517109e-02 2.40871451e+02] [ 5.87608705e-01 8.08815914e-01 -2.30830397e-02 1.53304001e+02] [ 3.91746640e-02 5.68078317e-05 9.99232377e-01 1.54124296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.390385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.89, Y:153.32, Z:15.42 [[ 8.07729368e-01 -5.88702794e-01 -3.16589493e-02 2.40894762e+02] [ 5.88250476e-01 8.08349566e-01 -2.30728694e-02 1.53320947e+02] [ 3.91745606e-02 1.32422252e-05 9.99232382e-01 1.54169994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.420385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.92, Y:153.34, Z:15.42 [[ 8.07716441e-01 -5.88718592e-01 -3.16949578e-02 2.40917983e+02] [ 5.88268270e-01 8.08338058e-01 -2.30222814e-02 1.53337428e+02] [ 3.91738858e-02 -4.96628009e-05 9.99232408e-01 1.54181395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.450385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.94, Y:153.35, Z:15.42 [[ 8.07082826e-01 -5.89587134e-01 -3.16910529e-02 2.40940316e+02] [ 5.89137266e-01 8.07704775e-01 -2.30277662e-02 1.53354330e+02] [ 3.91738894e-02 -8.50656531e-05 9.99232405e-01 1.54204905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.480385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.96, Y:153.37, Z:15.42 [[ 8.06474563e-01 -5.90416348e-01 -3.17382361e-02 2.40961139e+02] [ 5.89969727e-01 8.07098813e-01 -2.29614286e-02 1.53370995e+02] [ 3.91726955e-02 -2.06790364e-04 9.99232434e-01 1.54230982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.510385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.99, Y:153.39, Z:15.43 [[ 8.08016536e-01 -5.88310731e-01 -3.16189966e-02 2.40988935e+02] [ 5.87855916e-01 8.08634945e-01 -2.31289590e-02 1.53388046e+02] [ 3.91752404e-02 1.01167183e-04 9.99232351e-01 1.54279412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.540385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:241.01, Y:153.41, Z:15.43 [[ 8.07482217e-01 -5.89027506e-01 -3.19228187e-02 2.41010896e+02] [ 5.88590048e-01 8.08112855e-01 -2.27017386e-02 1.53405508e+02] [ 3.91691886e-02 -4.58203108e-04 9.99232488e-01 1.54295102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.570385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:241.03, Y:153.42, Z:15.43 [[ 8.04696976e-01 -5.92827217e-01 -3.19165635e-02 2.41026995e+02] [ 5.92392388e-01 8.05329430e-01 -2.27105294e-02 1.53424778e+02] [ 3.91667679e-02 -6.32034909e-04 9.99232488e-01 1.54272868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.600385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.05, Y:153.44, Z:15.43 [[ 8.04285445e-01 -5.93399705e-01 -3.16498511e-02 2.41048084e+02] [ 5.92950538e-01 8.04907914e-01 -2.30848218e-02 1.53444369e+02] [ 3.91737421e-02 -2.00010033e-04 9.99232394e-01 1.54268782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.630385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:241.07, Y:153.46, Z:15.43 [[ 8.04245128e-01 -5.93453972e-01 -3.16568544e-02 2.41069877e+02] [ 5.93005234e-01 8.04867900e-01 -2.30750082e-02 1.53462090e+02] [ 3.91735412e-02 -2.14717411e-04 9.99232399e-01 1.54286559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.660385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.10, Y:153.48, Z:15.43 [[ 8.05995383e-01 -5.91073814e-01 -3.16731425e-02 2.41095647e+02] [ 5.90624134e-01 8.06617462e-01 -2.30521744e-02 1.53481556e+02] [ 3.91736465e-02 -1.26976251e-04 9.99232410e-01 1.54330623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.690385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:241.11, Y:153.50, Z:15.43 [[ 8.03001182e-01 -5.95123332e-01 -3.18954754e-02 2.41111637e+02] [ 5.94689127e-01 8.03634070e-01 -2.27403364e-02 1.53501835e+02] [ 3.91655955e-02 -7.07375392e-04 9.99232483e-01 1.54307151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.720385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.13, Y:153.52, Z:15.43 [[ 8.02031476e-01 -5.96442387e-01 -3.16542302e-02 2.41132336e+02] [ 5.95995827e-01 8.02655812e-01 -2.30785962e-02 1.53520770e+02] [ 3.91725049e-02 -3.56028555e-04 9.99232399e-01 1.54312806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.750385723 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:241.16, Y:153.54, Z:15.43 [[ 8.02610127e-01 -5.95666335e-01 -3.16006595e-02 2.41158327e+02] [ 5.95216213e-01 8.03231951e-01 -2.31536814e-02 1.53541495e+02] [ 3.91745279e-02 -2.25845661e-04 9.99232358e-01 1.54341575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.780385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.18, Y:153.56, Z:15.44 [[ 8.02156649e-01 -5.96261109e-01 -3.18967046e-02 2.41179178e+02] [ 5.95827878e-01 8.02790199e-01 -2.27384076e-02 1.53560163e+02] [ 3.91643900e-02 -7.65180963e-04 9.99232488e-01 1.54358144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.810385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.20, Y:153.58, Z:15.44 [[ 8.01341362e-01 -5.97356690e-01 -3.18905206e-02 2.41200137e+02] [ 5.96923981e-01 8.01975269e-01 -2.27470773e-02 1.53579686e+02] [ 3.91635277e-02 -8.08042632e-04 9.99232488e-01 1.54367623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.840385723 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:241.22, Y:153.60, Z:15.44 [[ 8.00140448e-01 -5.98964653e-01 -3.18842888e-02 2.41219395e+02] [ 5.98532870e-01 8.00774985e-01 -2.27558091e-02 1.53601400e+02] [ 3.91620662e-02 -8.75951598e-04 9.99232488e-01 1.54379169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.870385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:241.24, Y:153.62, Z:15.44 [[ 7.99125493e-01 -6.00318218e-01 -3.18823607e-02 2.41240109e+02] [ 5.99887401e-01 7.99760687e-01 -2.27585102e-02 1.53620836e+02] [ 3.91606069e-02 -9.38920826e-04 9.99232488e-01 1.54394361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.900385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:241.26, Y:153.64, Z:15.44 [[ 7.96875408e-01 -6.03302153e-01 -3.18762548e-02 2.41257351e+02] [ 6.02873373e-01 7.97511979e-01 -2.27670590e-02 1.53644010e+02] [ 3.91571108e-02 -1.07483586e-03 9.99232488e-01 1.54404139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.930385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.28, Y:153.66, Z:15.44 [[ 7.95595955e-01 -6.04988553e-01 -3.18736107e-02 2.41277576e+02] [ 6.04560974e-01 7.96233333e-01 -2.27707601e-02 1.53664155e+02] [ 3.91548805e-02 -1.15321655e-03 9.99232488e-01 1.54409256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.960385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.30, Y:153.68, Z:15.44 [[ 7.94512469e-01 -6.06411076e-01 -3.18675988e-02 2.41297790e+02] [ 6.05984302e-01 7.95150386e-01 -2.27791706e-02 1.53683942e+02] [ 3.91530749e-02 -1.21292956e-03 9.99232488e-01 1.54420867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.990385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.32, Y:153.70, Z:15.44 [[ 7.93270760e-01 -6.08034833e-01 -3.18612975e-02 2.41318991e+02] [ 6.07609011e-01 7.93909313e-01 -2.27879809e-02 1.53703878e+02] [ 3.91508670e-02 -1.28217254e-03 9.99232488e-01 1.54431292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.020385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.34, Y:153.73, Z:15.44 [[ 7.92520575e-01 -6.09007936e-01 -3.19448266e-02 2.41335535e+02] [ 6.08587591e-01 7.93162758e-01 -2.26711974e-02 1.53726695e+02] [ 3.91443859e-02 -1.47383462e-03 9.99232478e-01 1.54437870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.050385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.36, Y:153.75, Z:15.44 [[ 7.92100409e-01 -6.09559110e-01 -3.18533046e-02 2.41355673e+02] [ 6.09134071e-01 7.92739482e-01 -2.27990665e-02 1.53746814e+02] [ 3.91487509e-02 -1.34378321e-03 9.99232490e-01 1.54444256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.080385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.37, Y:153.77, Z:15.45 [[ 7.92195704e-01 -6.09435581e-01 -3.18471268e-02 2.41372863e+02] [ 6.09010097e-01 7.92834479e-01 -2.28076929e-02 1.53768849e+02] [ 3.91493197e-02 -1.32706545e-03 9.99232490e-01 1.54453917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.110385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.39, Y:153.79, Z:15.45 [[ 7.92224030e-01 -6.09398899e-01 -3.18444464e-02 2.41392918e+02] [ 6.08973235e-01 7.92862685e-01 -2.28114347e-02 1.53788844e+02] [ 3.91495364e-02 -1.32064879e-03 9.99232490e-01 1.54454882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.140385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.41, Y:153.81, Z:15.45 [[ 7.92799789e-01 -6.08649993e-01 -3.18383405e-02 2.41412913e+02] [ 6.08223384e-01 7.93437814e-01 -2.28199535e-02 1.53809536e+02] [ 3.91511079e-02 -1.27316886e-03 9.99232490e-01 1.54452122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.170385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.43, Y:153.83, Z:15.44 [[ 7.95426998e-01 -6.05212862e-01 -3.18321131e-02 2.41429552e+02] [ 6.04783148e-01 7.96062936e-01 -2.28286370e-02 1.53833612e+02] [ 3.91565501e-02 -1.09301140e-03 9.99232490e-01 1.54432646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.200385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.45, Y:153.85, Z:15.44 [[ 7.96946905e-01 -6.03210178e-01 -3.18294106e-02 2.41450133e+02] [ 6.02778716e-01 7.97581658e-01 -2.28324045e-02 1.53852788e+02] [ 3.91592928e-02 -9.89877114e-04 9.99232490e-01 1.54442312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.230385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.47, Y:153.87, Z:15.44 [[ 7.99759868e-01 -5.99475965e-01 -3.18232742e-02 2.41467699e+02] [ 5.99041199e-01 8.00392362e-01 -2.28409541e-02 1.53874901e+02] [ 3.91637086e-02 -7.96173902e-04 9.99232490e-01 1.54446713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.260385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.49, Y:153.89, Z:15.45 [[ 8.00817870e-01 -5.98062026e-01 -3.18206093e-02 2.41488556e+02] [ 5.97625996e-01 8.01449494e-01 -2.28446660e-02 1.53894623e+02] [ 3.91651384e-02 -7.22406544e-04 9.99232491e-01 1.54453270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.290385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.51, Y:153.91, Z:15.45 [[ 8.01332528e-01 -5.97372595e-01 -3.18144903e-02 2.41508788e+02] [ 5.96935682e-01 8.01963542e-01 -2.28531844e-02 1.53913986e+02] [ 3.91659274e-02 -6.78204408e-04 9.99232491e-01 1.54461172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.320385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.53, Y:153.93, Z:15.45 [[ 8.02332330e-01 -5.96029416e-01 -3.18082978e-02 2.41526976e+02] [ 5.95591106e-01 8.02962373e-01 -2.28618003e-02 1.53934230e+02] [ 3.91671717e-02 -6.01977757e-04 9.99232491e-01 1.54467954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.350385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.55, Y:153.95, Z:15.45 [[ 8.02552250e-01 -5.95733405e-01 -3.18056131e-02 2.41548595e+02] [ 5.95294714e-01 8.03182028e-01 -2.28655346e-02 1.53952810e+02] [ 3.91674596e-02 -5.82927164e-04 9.99232491e-01 1.54478125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.380385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.57, Y:153.97, Z:15.45 [[ 8.02033436e-01 -5.96432023e-01 -3.17995253e-02 2.41568473e+02] [ 5.95993545e-01 8.02663363e-01 -2.28739978e-02 1.53972897e+02] [ 3.91670987e-02 -6.06600795e-04 9.99232491e-01 1.54489608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.410385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.59, Y:153.99, Z:15.45 [[ 8.01546034e-01 -5.97087217e-01 -3.17932378e-02 2.41589337e+02] [ 5.96648908e-01 8.02176078e-01 -2.28827338e-02 1.53990159e+02] [ 3.91667626e-02 -6.27836101e-04 9.99232491e-01 1.54501924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.440385723 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:241.61, Y:154.01, Z:15.45 [[ 8.01023777e-01 -5.97787815e-01 -3.17905136e-02 2.41610321e+02] [ 5.97349906e-01 8.01654100e-01 -2.28865177e-02 1.54007681e+02] [ 3.91662770e-02 -6.57415458e-04 9.99232491e-01 1.54512757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.470385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.63, Y:154.03, Z:15.45 [[ 7.99515150e-01 -5.99804266e-01 -3.17862855e-02 2.41631346e+02] [ 5.99367714e-01 8.00146413e-01 -2.28923885e-02 1.54026742e+02] [ 3.91646346e-02 -7.48861822e-04 9.99232491e-01 1.54535768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.500385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.65, Y:154.04, Z:15.46 [[ 7.98777715e-01 -6.00786312e-01 -3.17800235e-02 2.41652330e+02] [ 6.00350191e-01 7.99409275e-01 -2.29010783e-02 1.54043080e+02] [ 3.91639000e-02 -7.86272188e-04 9.99232491e-01 1.54559130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.530385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.67, Y:154.06, Z:15.46 [[ 7.97437009e-01 -6.02564949e-01 -3.17757679e-02 2.41673549e+02] [ 6.02130001e-01 7.98069378e-01 -2.29069816e-02 1.54061387e+02] [ 3.91622115e-02 -8.66268294e-04 9.99232491e-01 1.54572113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.560385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.70, Y:154.08, Z:15.46 [[ 7.96997278e-01 -6.03146772e-01 -3.17696521e-02 2.41695313e+02] [ 6.02711948e-01 7.97629732e-01 -2.29154604e-02 1.54079233e+02] [ 3.91618051e-02 -8.84389378e-04 9.99232491e-01 1.54576332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.590385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.72, Y:154.10, Z:15.46 [[ 7.97155509e-01 -6.02937963e-01 -3.17633147e-02 2.41716964e+02] [ 6.02502624e-01 7.97787608e-01 -2.29242415e-02 1.54096741e+02] [ 3.91622743e-02 -8.63295045e-04 9.99232491e-01 1.54583989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.620385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.74, Y:154.11, Z:15.46 [[ 7.97683888e-01 -6.02239078e-01 -3.17570065e-02 2.41739095e+02] [ 6.01802837e-01 7.98315366e-01 -2.29329768e-02 1.54114451e+02] [ 3.91632411e-02 -8.18190507e-04 9.99232491e-01 1.54591063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.650385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.76, Y:154.13, Z:15.46 [[ 7.98427219e-01 -6.01253584e-01 -3.17506527e-02 2.41760120e+02] [ 6.00816214e-01 7.99057915e-01 -2.29417702e-02 1.54132949e+02] [ 3.91644320e-02 -7.58973160e-04 9.99232491e-01 1.54594259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.680385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.78, Y:154.15, Z:15.46 [[ 7.98910001e-01 -6.00612279e-01 -3.17442912e-02 2.41781542e+02] [ 6.00174054e-01 7.99540103e-01 -2.29505693e-02 1.54149779e+02] [ 3.91652276e-02 -7.16660628e-04 9.99232491e-01 1.54601669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.710385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.80, Y:154.17, Z:15.46 [[ 7.98809532e-01 -6.00746041e-01 -3.17415292e-02 2.41803486e+02] [ 6.00307770e-01 7.99439602e-01 -2.29543886e-02 1.54166934e+02] [ 3.91651936e-02 -7.18502181e-04 9.99232491e-01 1.54613352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.740385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.82, Y:154.18, Z:15.46 [[ 7.99385150e-01 -5.99980213e-01 -3.17352443e-02 2.41824693e+02] [ 5.99540993e-01 8.00014559e-01 -2.29630745e-02 1.54183778e+02] [ 3.91660478e-02 -6.70239144e-04 9.99232491e-01 1.54629428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.770385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.85, Y:154.20, Z:15.46 [[ 7.99749607e-01 -5.99494464e-01 -3.17325212e-02 2.41845932e+02] [ 5.99054713e-01 8.00378645e-01 -2.29668369e-02 1.54199959e+02] [ 3.91665239e-02 -6.41797602e-04 9.99232491e-01 1.54643488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.800385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.87, Y:154.22, Z:15.47 [[ 8.00291769e-01 -5.98770659e-01 -3.17298369e-02 2.41867196e+02] [ 5.98330192e-01 8.00920305e-01 -2.29705447e-02 1.54217989e+02] [ 3.91671589e-02 -6.01781522e-04 9.99232491e-01 1.54663731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.830385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.90, Y:154.23, Z:15.46 [[ 8.03035956e-01 -5.95085602e-01 -3.17234873e-02 2.41898398e+02] [ 5.94641903e-01 8.03662216e-01 -2.29793106e-02 1.54234902e+02] [ 3.91696249e-02 -4.10902212e-04 9.99232491e-01 1.54644008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.860385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.91, Y:154.25, Z:15.47 [[ 8.00990864e-01 -5.97813055e-01 -3.21432233e-02 2.41911830e+02] [ 5.97394607e-01 8.01634556e-01 -2.23991524e-02 1.54251738e+02] [ 3.91576243e-02 -1.26067181e-03 9.99232251e-01 1.54682464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.890385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.93, Y:154.27, Z:15.47 [[ 8.01414100e-01 -5.97268454e-01 -3.17148990e-02 2.41933815e+02] [ 5.96826036e-01 8.02041234e-01 -2.29900459e-02 1.54268471e+02] [ 3.91678859e-02 -5.03730556e-04 9.99232517e-01 1.54705740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.920385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:241.96, Y:154.28, Z:15.47 [[ 8.01770239e-01 -5.96790622e-01 -3.17086238e-02 2.41955034e+02] [ 5.96347489e-01 8.02396867e-01 -2.29986977e-02 1.54284483e+02] [ 3.91683075e-02 -4.69686793e-04 9.99232517e-01 1.54716560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.950385723 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:241.98, Y:154.30, Z:15.47 [[ 8.01977143e-01 -5.96512698e-01 -3.17059010e-02 2.41977112e+02] [ 5.96069199e-01 8.02603512e-01 -2.30024506e-02 1.54301090e+02] [ 3.91685214e-02 -4.51471418e-04 9.99232517e-01 1.54736931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.980385723 meters Centerline goodness : 0.995559 Centerline is valid? [True, True] Translation: X:242.00, Y:154.32, Z:15.47 [[ 8.03370381e-01 -5.94635322e-01 -3.16996045e-02 2.41998817e+02] [ 5.94190017e-01 8.03995467e-01 -2.30111246e-02 1.54316820e+02] [ 3.91695658e-02 -3.49132561e-04 9.99232517e-01 1.54739827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.010385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.02, Y:154.34, Z:15.48 [[ 8.02675629e-01 -5.95576863e-01 -3.16233330e-02 2.42022355e+02] [ 5.95128150e-01 8.03298282e-01 -2.31161250e-02 1.54335123e+02] [ 3.91703983e-02 -2.65185533e-04 9.99232510e-01 1.54757405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.040385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:242.05, Y:154.35, Z:15.48 [[ 8.02538892e-01 -5.95757559e-01 -3.16900257e-02 2.42045322e+02] [ 5.95312606e-01 8.03164230e-01 -2.30243315e-02 1.54351033e+02] [ 3.91692146e-02 -3.87550297e-04 9.99232517e-01 1.54787104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.070385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.07, Y:154.37, Z:15.48 [[ 8.02372791e-01 -5.95981573e-01 -3.16838822e-02 2.42067249e+02] [ 5.95536462e-01 8.02998016e-01 -2.30327826e-02 1.54366641e+02] [ 3.91692085e-02 -3.88029033e-04 9.99232517e-01 1.54804303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.100385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.09, Y:154.38, Z:15.48 [[ 8.02508235e-01 -5.95799403e-01 -3.16797049e-02 2.42089799e+02] [ 5.95353923e-01 8.03133198e-01 -2.30385266e-02 1.54382916e+02] [ 3.91693631e-02 -3.72029244e-04 9.99232517e-01 1.54820638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.130385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.11, Y:154.40, Z:15.48 [[ 8.02618573e-01 -5.95651103e-01 -3.16731591e-02 2.42111800e+02] [ 5.95205153e-01 8.03243200e-01 -2.30475222e-02 1.54399118e+02] [ 3.91695317e-02 -3.53658062e-04 9.99232517e-01 1.54826669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.160385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.14, Y:154.41, Z:15.48 [[ 8.02900023e-01 -5.95271823e-01 -3.16703218e-02 2.42135437e+02] [ 5.94825424e-01 8.03524329e-01 -2.30514203e-02 1.54414864e+02] [ 3.91697351e-02 -3.30326666e-04 9.99232517e-01 1.54843859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.190385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.16, Y:154.43, Z:15.48 [[ 8.02004492e-01 -5.96478142e-01 -3.16641924e-02 2.42158293e+02] [ 5.96032349e-01 8.02629231e-01 -2.30598369e-02 1.54430231e+02] [ 3.91692950e-02 -3.78790191e-04 9.99232517e-01 1.54845446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.220385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.18, Y:154.45, Z:15.49 [[ 8.00911769e-01 -5.97944798e-01 -3.16600245e-02 2.42181578e+02] [ 5.97499923e-01 8.01537162e-01 -2.30655577e-02 1.54446589e+02] [ 3.91686165e-02 -4.43385566e-04 9.99232517e-01 1.54865947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.250385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.20, Y:154.46, Z:15.49 [[ 7.99716600e-01 -5.99542667e-01 -3.16535947e-02 2.42203501e+02] [ 5.99098693e-01 8.00342633e-01 -2.30743783e-02 1.54461919e+02] [ 3.91677956e-02 -5.10663832e-04 9.99232517e-01 1.54866447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.280385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.23, Y:154.48, Z:15.49 [[ 7.98317296e-01 -6.01404790e-01 -3.16508090e-02 2.42226180e+02] [ 6.00962124e-01 7.98944255e-01 -2.30781986e-02 1.54477769e+02] [ 3.91665712e-02 -5.97212313e-04 9.99232517e-01 1.54871431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.310385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.25, Y:154.49, Z:15.49 [[ 7.95680171e-01 -6.04889791e-01 -3.16450013e-02 2.42250214e+02] [ 6.04449554e-01 7.96308838e-01 -2.30861594e-02 1.54493076e+02] [ 3.91637764e-02 -7.58607664e-04 9.99232517e-01 1.54886384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.340385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.27, Y:154.51, Z:15.49 [[ 7.95511888e-01 -6.05111425e-01 -3.16385673e-02 2.42273219e+02] [ 6.04671014e-01 7.96140432e-01 -2.30949737e-02 1.54509941e+02] [ 3.91637751e-02 -7.58598464e-04 9.99232517e-01 1.54897541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.370385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.30, Y:154.53, Z:15.49 [[ 7.94468281e-01 -6.06481293e-01 -3.16321362e-02 2.42295711e+02] [ 6.06041614e-01 7.95097338e-01 -2.31037787e-02 1.54525124e+02] [ 3.91626369e-02 -8.15171580e-04 9.99232517e-01 1.54905056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.400385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.32, Y:154.54, Z:15.49 [[ 7.92966023e-01 -6.08444304e-01 -3.16293496e-02 2.42319943e+02] [ 6.08006031e-01 7.93596060e-01 -2.31075930e-02 1.54541847e+02] [ 3.91606105e-02 -9.07299210e-04 9.99232517e-01 1.54907812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.430385723 meters Centerline goodness : 0.999896 Centerline is valid? [True, True] Translation: X:242.34, Y:154.56, Z:15.49 [[ 7.92560121e-01 -6.08970337e-01 -3.16793885e-02 2.42342122e+02] [ 6.08535215e-01 7.93192343e-01 -2.30390925e-02 1.54558066e+02] [ 3.91579723e-02 -1.01815759e-03 9.99232514e-01 1.54899833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.460385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.36, Y:154.57, Z:15.49 [[ 7.92054815e-01 -6.09626679e-01 -3.16935574e-02 2.42364631e+02] [ 6.09192856e-01 7.92687932e-01 -2.30197043e-02 1.54574785e+02] [ 3.91565264e-02 -1.07462111e-03 9.99232511e-01 1.54927838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.490385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.39, Y:154.59, Z:15.50 [[ 7.92193494e-01 -6.09448306e-01 -3.16580241e-02 2.42386099e+02] [ 6.09012399e-01 7.92825171e-01 -2.30682912e-02 1.54590883e+02] [ 3.91582094e-02 -1.00557903e-03 9.99232517e-01 1.54952103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.520385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.41, Y:154.61, Z:15.50 [[ 7.92513152e-01 -6.09035028e-01 -3.16107559e-02 2.42409346e+02] [ 6.08596216e-01 7.93142809e-01 -2.31328829e-02 1.54608375e+02] [ 3.91605797e-02 -9.05072491e-04 9.99232520e-01 1.54961915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.550385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.43, Y:154.62, Z:15.50 [[ 7.94261587e-01 -6.06750768e-01 -3.16549677e-02 2.42430967e+02] [ 6.06312549e-01 7.94891662e-01 -2.30724821e-02 1.54624324e+02] [ 3.91615161e-02 -8.67217961e-04 9.99232517e-01 1.54969287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.580385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.45, Y:154.64, Z:15.50 [[ 7.95060337e-01 -6.05706452e-01 -3.16030838e-02 2.42454368e+02] [ 6.05264589e-01 7.95687856e-01 -2.31433291e-02 1.54641194e+02] [ 3.91642537e-02 -7.27884503e-04 9.99232521e-01 1.54991238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.610385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.48, Y:154.66, Z:15.50 [[ 7.95942231e-01 -6.04545037e-01 -3.16427308e-02 2.42477385e+02] [ 6.04104408e-01 7.96570620e-01 -2.30891988e-02 1.54657506e+02] [ 3.91641303e-02 -7.37844719e-04 9.99232519e-01 1.55010273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.640385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.50, Y:154.67, Z:15.50 [[ 7.97828041e-01 -6.02054833e-01 -3.16290157e-02 2.42500376e+02] [ 6.01611500e-01 7.98454524e-01 -2.31079119e-02 1.54673802e+02] [ 3.91665608e-02 -5.92239502e-04 9.99232520e-01 1.54973281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.670385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.52, Y:154.69, Z:15.50 [[ 7.98478892e-01 -6.01190039e-01 -3.16543202e-02 2.42523325e+02] [ 6.00747395e-01 7.99105866e-01 -2.30733997e-02 1.54690540e+02] [ 3.91666510e-02 -5.92627772e-04 9.99232517e-01 1.55013768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.700385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.55, Y:154.71, Z:15.50 [[ 8.00572199e-01 -5.98399966e-01 -3.16486038e-02 2.42545557e+02] [ 5.97954829e-01 8.01197405e-01 -2.30811919e-02 1.54705856e+02] [ 3.91685637e-02 -4.46274923e-04 9.99232518e-01 1.55011781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.730385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.57, Y:154.72, Z:15.50 [[ 8.01028663e-01 -5.97792733e-01 -3.15741856e-02 2.42568074e+02] [ 5.97343122e-01 8.01650649e-01 -2.31825486e-02 1.54721672e+02] [ 3.91698255e-02 -2.90736671e-04 9.99232526e-01 1.55028962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.760385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.59, Y:154.74, Z:15.50 [[ 8.01338351e-01 -5.97377869e-01 -3.15678608e-02 2.42590190e+02] [ 5.96927597e-01 8.01959858e-01 -2.31911579e-02 1.54736444e+02] [ 3.91700417e-02 -2.59763032e-04 9.99232526e-01 1.55046238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.790385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.61, Y:154.75, Z:15.51 [[ 8.01288382e-01 -5.97445037e-01 -3.15651188e-02 2.42613563e+02] [ 5.96994670e-01 8.01909821e-01 -2.31948894e-02 1.54751859e+02] [ 3.91700503e-02 -2.58412346e-04 9.99232526e-01 1.55061406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.820385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.64, Y:154.77, Z:15.51 [[ 8.01454670e-01 -5.97222280e-01 -3.15588286e-02 2.42637689e+02] [ 5.96771404e-01 8.02075739e-01 -2.32034446e-02 1.54765685e+02] [ 3.91701849e-02 -2.36897419e-04 9.99232526e-01 1.55074661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.850385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.66, Y:154.78, Z:15.51 [[ 8.01410681e-01 -5.97281637e-01 -3.15525816e-02 2.42660770e+02] [ 5.96830473e-01 8.02031541e-01 -2.32119363e-02 1.54781320e+02] [ 3.91702290e-02 -2.29248504e-04 9.99232526e-01 1.55084327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.880385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.69, Y:154.80, Z:15.51 [[ 8.01594324e-01 -5.97035482e-01 -3.15463607e-02 2.42685850e+02] [ 5.96583794e-01 8.02214803e-01 -2.32203878e-02 1.54796691e+02] [ 3.91703530e-02 -2.06716503e-04 9.99232526e-01 1.55093598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.910385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.71, Y:154.81, Z:15.51 [[ 8.01436031e-01 -5.97248056e-01 -3.15443808e-02 2.42710466e+02] [ 5.96796427e-01 8.02056553e-01 -2.32230767e-02 1.54812676e+02] [ 3.91703148e-02 -2.13763353e-04 9.99232526e-01 1.55110722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.940385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.73, Y:154.83, Z:15.51 [[ 8.01768978e-01 -5.96799630e-01 -3.15706821e-02 2.42732226e+02] [ 5.96349059e-01 8.02390270e-01 -2.31873694e-02 1.54826771e+02] [ 3.91702217e-02 -2.36233121e-04 9.99232524e-01 1.55124868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.970385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.76, Y:154.84, Z:15.51 [[ 8.00390382e-01 -5.98652492e-01 -3.14711142e-02 2.42757577e+02] [ 5.98198039e-01 8.01008844e-01 -2.33224716e-02 1.54842412e+02] [ 3.91706966e-02 -1.58876842e-04 9.99232521e-01 1.55134189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.000385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.78, Y:154.86, Z:15.52 [[ 7.99821594e-01 -5.99408824e-01 -3.15353727e-02 2.42779721e+02] [ 5.98958389e-01 8.00442983e-01 -2.32353027e-02 1.54857218e+02] [ 3.91697133e-02 -3.04279174e-04 9.99232526e-01 1.55156080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.030385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.80, Y:154.87, Z:15.52 [[ 7.98931324e-01 -6.00596439e-01 -3.15064509e-02 2.42803907e+02] [ 6.00145380e-01 7.99552262e-01 -2.32745201e-02 1.54872589e+02] [ 3.91696480e-02 -3.13707776e-04 9.99232526e-01 1.55172508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.060385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.83, Y:154.89, Z:15.52 [[ 7.97161924e-01 -6.02942147e-01 -3.15219502e-02 2.42829241e+02] [ 6.02493746e-01 7.97784783e-01 -2.32535096e-02 1.54886389e+02] [ 3.91682532e-02 -4.54965372e-04 9.99232526e-01 1.55181275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.090385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.85, Y:154.90, Z:15.52 [[ 7.96906085e-01 -6.03280122e-01 -3.15243719e-02 2.42852580e+02] [ 6.02832115e-01 7.97529227e-01 -2.32502274e-02 1.54900259e+02] [ 3.91680080e-02 -4.75656110e-04 9.99232526e-01 1.55204135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.120385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.88, Y:154.91, Z:15.52 [[ 7.93855825e-01 -6.07288808e-01 -3.15155899e-02 2.42876166e+02] [ 6.06843475e-01 7.94480881e-01 -2.32621253e-02 1.54914795e+02] [ 3.91653620e-02 -6.58256392e-04 9.99232526e-01 1.55216647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.150385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.90, Y:154.93, Z:15.52 [[ 7.92736218e-01 -6.08749912e-01 -3.15092666e-02 2.42899766e+02] [ 6.08305391e-01 7.93361851e-01 -2.32706873e-02 1.54929791e+02] [ 3.91642789e-02 -7.19740113e-04 9.99232526e-01 1.55221519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.180385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.92, Y:154.94, Z:15.52 [[ 7.91827951e-01 -6.09931199e-01 -3.15028294e-02 2.42922361e+02] [ 6.09487265e-01 7.92454001e-01 -2.32793984e-02 1.54944710e+02] [ 3.91633746e-02 -7.67294937e-04 9.99232526e-01 1.55225282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.210385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.95, Y:154.96, Z:15.52 [[ 7.91144262e-01 -6.10817980e-01 -3.14984521e-02 2.42945267e+02] [ 6.10374512e-01 7.91770642e-01 -2.32853196e-02 1.54960402e+02] [ 3.91626415e-02 -8.03805366e-04 9.99232526e-01 1.55225963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.240385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.97, Y:154.97, Z:15.52 [[ 7.90305585e-01 -6.11903036e-01 -3.14921684e-02 2.42968388e+02] [ 6.11460089e-01 7.90932334e-01 -2.32938148e-02 1.54974011e+02] [ 3.91617303e-02 -8.46972146e-04 9.99232526e-01 1.55226215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.270385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.99, Y:154.99, Z:15.52 [[ 7.89835678e-01 -6.12509599e-01 -3.14895501e-02 2.42992179e+02] [ 6.12066993e-01 7.90462668e-01 -2.32973538e-02 1.54989340e+02] [ 3.91611667e-02 -8.72633012e-04 9.99232526e-01 1.55233532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.300385723 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:243.02, Y:155.00, Z:15.52 [[ 7.89010726e-01 -6.13572242e-01 -3.14829682e-02 2.43015093e+02] [ 6.13130126e-01 7.89638061e-01 -2.33062450e-02 1.55003251e+02] [ 3.91602150e-02 -9.14278900e-04 9.99232526e-01 1.55239470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.330385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.04, Y:155.02, Z:15.53 [[ 7.88525882e-01 -6.14195357e-01 -3.14801158e-02 2.43037685e+02] [ 6.13753583e-01 7.89153457e-01 -2.33100971e-02 1.55020052e+02] [ 3.91595956e-02 -9.40419037e-04 9.99232526e-01 1.55261753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.360385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.06, Y:155.04, Z:15.53 [[ 7.88074310e-01 -6.14774991e-01 -3.14736778e-02 2.43060068e+02] [ 6.14333332e-01 7.88701967e-01 -2.33187866e-02 1.55036650e+02] [ 3.91591584e-02 -9.58392662e-04 9.99232526e-01 1.55270589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.390385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.08, Y:155.05, Z:15.53 [[ 7.87592460e-01 -6.15392507e-01 -3.14671130e-02 2.43082114e+02] [ 6.14950987e-01 7.88220214e-01 -2.33276419e-02 1.55051889e+02] [ 3.91586706e-02 -9.78057328e-04 9.99232526e-01 1.55280169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.420385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.11, Y:155.07, Z:15.53 [[ 7.87081817e-01 -6.16045626e-01 -3.14642683e-02 2.43106154e+02] [ 6.15604473e-01 7.87709830e-01 -2.33314782e-02 1.55067915e+02] [ 3.91579685e-02 -1.00576202e-03 9.99232526e-01 1.55292453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.450385723 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:243.13, Y:155.08, Z:15.53 [[ 7.85297074e-01 -6.18317364e-01 -3.14983018e-02 2.43128986e+02] [ 6.17879864e-01 7.85927640e-01 -2.32856038e-02 1.55083203e+02] [ 3.91532791e-02 -1.17604987e-03 9.99232524e-01 1.55265695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.480385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.15, Y:155.10, Z:15.53 [[ 7.84759388e-01 -6.19001822e-01 -3.14554687e-02 2.43150627e+02] [ 6.18562560e-01 7.85388724e-01 -2.33433222e-02 1.55100266e+02] [ 3.91543294e-02 -1.13828399e-03 9.99232527e-01 1.55298241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.510385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.17, Y:155.12, Z:15.53 [[ 7.84078341e-01 -6.19864590e-01 -3.14490857e-02 2.43171823e+02] [ 6.19425676e-01 7.84707920e-01 -2.33519185e-02 1.55117492e+02] [ 3.91533740e-02 -1.17063761e-03 9.99232527e-01 1.55301619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.540385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.19, Y:155.13, Z:15.53 [[ 7.83047663e-01 -6.21166310e-01 -3.14447463e-02 2.43192039e+02] [ 6.20728209e-01 7.83677808e-01 -2.33577603e-02 1.55134896e+02] [ 3.91516036e-02 -1.22840143e-03 9.99232527e-01 1.55307654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.570385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.21, Y:155.15, Z:15.53 [[ 7.82445668e-01 -6.21924574e-01 -3.14420211e-02 2.43214625e+02] [ 6.21486935e-01 7.83076135e-01 -2.33614281e-02 1.55151897e+02] [ 3.91505426e-02 -1.26175716e-03 9.99232527e-01 1.55323619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.600385723 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:243.24, Y:155.17, Z:15.53 [[ 7.80497410e-01 -6.24368157e-01 -3.14356164e-02 2.43237523e+02] [ 6.23932146e-01 7.81129002e-01 -2.33700432e-02 1.55167284e+02] [ 3.91467825e-02 -1.37343349e-03 9.99232527e-01 1.55313020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.630385723 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:243.26, Y:155.18, Z:15.54 [[ 7.79679707e-01 -6.25389789e-01 -3.14192064e-02 2.43260732e+02] [ 6.24953718e-01 7.80311258e-01 -2.33921054e-02 1.55184832e+02] [ 3.91459444e-02 -1.39719996e-03 9.99232527e-01 1.55361852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.660385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.28, Y:155.20, Z:15.54 [[ 7.79002299e-01 -6.26232974e-01 -3.14273821e-02 2.43281867e+02] [ 6.25798029e-01 7.79634626e-01 -2.33811163e-02 1.55202837e+02] [ 3.91439012e-02 -1.45325044e-03 9.99232527e-01 1.55366070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.690385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.30, Y:155.22, Z:15.54 [[ 7.78052873e-01 -6.27414345e-01 -3.13841739e-02 2.43302523e+02] [ 6.26978022e-01 7.78684253e-01 -2.34391605e-02 1.55222075e+02] [ 3.91444275e-02 -1.44028112e-03 9.99232525e-01 1.55368514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.720385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.32, Y:155.24, Z:15.54 [[ 7.75639118e-01 -6.30396522e-01 -3.13716992e-02 2.43321290e+02] [ 6.29961950e-01 7.76271706e-01 -2.34559166e-02 1.55243971e+02] [ 3.91394907e-02 -1.56965034e-03 9.99232524e-01 1.55385852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.750385723 meters Centerline goodness : 0.999896 Centerline is valid? [True, True] Translation: X:243.34, Y:155.26, Z:15.54 [[ 7.75508101e-01 -6.30557805e-01 -3.13693911e-02 2.43343397e+02] [ 6.30123240e-01 7.76140694e-01 -2.34590152e-02 1.55261317e+02] [ 3.91393261e-02 -1.57392605e-03 9.99232523e-01 1.55369325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.780385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.36, Y:155.28, Z:15.54 [[ 7.75646829e-01 -6.30385059e-01 -3.14113746e-02 2.43364365e+02] [ 6.29952627e-01 7.76280879e-01 -2.34026645e-02 1.55278612e+02] [ 3.91367395e-02 -1.63547543e-03 9.99232526e-01 1.55405255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.810385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.39, Y:155.30, Z:15.54 [[ 7.75108726e-01 -6.31050159e-01 -3.13394259e-02 2.43387177e+02] [ 6.30614375e-01 7.75740484e-01 -2.34991797e-02 1.55297793e+02] [ 3.91404225e-02 -1.54867321e-03 9.99232520e-01 1.55429454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.840385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.41, Y:155.32, Z:15.54 [[ 7.75671817e-01 -6.30354760e-01 -3.14023594e-02 2.43408376e+02] [ 6.29921814e-01 7.76305517e-01 -2.34147779e-02 1.55316692e+02] [ 3.91374415e-02 -1.61884789e-03 9.99232526e-01 1.55424000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.870385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.43, Y:155.34, Z:15.54 [[ 7.77007165e-01 -6.28710694e-01 -3.13485053e-02 2.43428359e+02] [ 6.28273498e-01 7.77637945e-01 -2.34869801e-02 1.55338691e+02] [ 3.91443028e-02 -1.44588329e-03 9.99232522e-01 1.55439934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.900385723 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:243.45, Y:155.36, Z:15.54 [[ 7.78026329e-01 -6.27446634e-01 -3.13967056e-02 2.43449211e+02] [ 6.27011014e-01 7.78658193e-01 -2.34223698e-02 1.55357619e+02] [ 3.91435892e-02 -1.46285982e-03 9.99232525e-01 1.55437342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.930385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.47, Y:155.38, Z:15.55 [[ 7.79716531e-01 -6.25345325e-01 -3.13903768e-02 2.43470185e+02] [ 6.24907661e-01 7.80346981e-01 -2.34308486e-02 1.55376094e+02] [ 3.91477574e-02 -1.34666702e-03 9.99232525e-01 1.55470071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.960385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.49, Y:155.40, Z:15.55 [[ 7.82504786e-01 -6.21853122e-01 -3.13839844e-02 2.43490764e+02] [ 6.21412300e-01 7.83133033e-01 -2.34394077e-02 1.55395598e+02] [ 3.91537037e-02 -1.16094517e-03 9.99232525e-01 1.55483418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.990385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.51, Y:155.41, Z:15.55 [[ 7.83694452e-01 -6.20353489e-01 -3.13776001e-02 2.43512046e+02] [ 6.19911124e-01 7.84321613e-01 -2.34479511e-02 1.55413536e+02] [ 3.91561481e-02 -1.07529415e-03 9.99232525e-01 1.55501167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.020385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.53, Y:155.43, Z:15.55 [[ 7.86333887e-01 -6.17004755e-01 -3.13711831e-02 2.43531968e+02] [ 6.16559376e-01 7.86958911e-01 -2.34565332e-02 1.55432751e+02] [ 3.91606246e-02 -8.97530211e-04 9.99232525e-01 1.55514090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.050385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.55, Y:155.45, Z:15.55 [[ 7.87494089e-01 -6.15523503e-01 -3.13668192e-02 2.43553212e+02] [ 6.15076716e-01 7.88118107e-01 -2.34623673e-02 1.55451114e+02] [ 3.91623967e-02 -8.16524618e-04 9.99232525e-01 1.55519910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.080385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.57, Y:155.47, Z:15.55 [[ 7.88771179e-01 -6.13886430e-01 -3.13604677e-02 2.43574533e+02] [ 6.13438010e-01 7.89394025e-01 -2.34708538e-02 1.55468666e+02] [ 3.91642045e-02 -7.24569920e-04 9.99232526e-01 1.55545647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.110385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.59, Y:155.49, Z:15.55 [[ 7.90651748e-01 -6.11462804e-01 -3.13536513e-02 2.43594845e+02] [ 6.11012115e-01 7.91272954e-01 -2.34799560e-02 1.55487188e+02] [ 3.91664160e-02 -5.92992504e-04 9.99232526e-01 1.55549149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.140385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.62, Y:155.50, Z:15.55 [[ 7.90907626e-01 -6.11132147e-01 -3.13468605e-02 2.43615625e+02] [ 6.10680839e-01 7.91528382e-01 -2.34890186e-02 1.55504418e+02] [ 3.91668241e-02 -5.65283057e-04 9.99232526e-01 1.55542294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.170385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.64, Y:155.52, Z:15.56 [[ 7.91137521e-01 -6.10834658e-01 -3.13439414e-02 2.43637217e+02] [ 6.10382962e-01 7.91757995e-01 -2.34929132e-02 1.55521256e+02] [ 3.91671018e-02 -5.45682722e-04 9.99232526e-01 1.55551158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.200385723 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:243.66, Y:155.54, Z:15.56 [[ 7.91154288e-01 -6.10813086e-01 -3.13411433e-02 2.43660136e+02] [ 6.10361225e-01 7.91774641e-01 -2.34966455e-02 1.55538100e+02] [ 3.91671810e-02 -5.39946781e-04 9.99232526e-01 1.55550042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.230385723 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:243.68, Y:155.56, Z:15.56 [[ 7.90982994e-01 -6.11035228e-01 -3.13345478e-02 2.43682921e+02] [ 6.10583193e-01 7.91603221e-01 -2.35054377e-02 1.55555263e+02] [ 3.91671795e-02 -5.39946760e-04 9.99232526e-01 1.55561199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.260385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.71, Y:155.57, Z:15.56 [[ 7.91389345e-01 -6.10509184e-01 -3.13279499e-02 2.43705470e+02] [ 6.10056389e-01 7.92009017e-01 -2.35142281e-02 1.55572304e+02] [ 3.91676711e-02 -5.02906412e-04 9.99232526e-01 1.55593438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.290385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.73, Y:155.59, Z:15.56 [[ 7.91900036e-01 -6.09846935e-01 -3.13216902e-02 2.43727754e+02] [ 6.09393292e-01 7.92519088e-01 -2.35225633e-02 1.55589495e+02] [ 3.91682005e-02 -4.59709144e-04 9.99232526e-01 1.55593668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.320385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.75, Y:155.61, Z:15.56 [[ 7.92473647e-01 -6.09101718e-01 -3.13147954e-02 2.43749418e+02] [ 6.08647130e-01 7.93092005e-01 -2.35317386e-02 1.55605804e+02] [ 3.91687363e-02 -4.11377613e-04 9.99232526e-01 1.55611453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.350385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.77, Y:155.62, Z:15.56 [[ 7.92536187e-01 -6.09020688e-01 -3.13080437e-02 2.43771124e+02] [ 6.08565682e-01 7.93154238e-01 -2.35407180e-02 1.55623049e+02] [ 3.91688918e-02 -3.96130141e-04 9.99232526e-01 1.55618424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.380385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.79, Y:155.64, Z:15.56 [[ 7.93044650e-01 -6.08358781e-01 -3.13013751e-02 2.43792245e+02] [ 6.07902910e-01 7.93662062e-01 -2.35495818e-02 1.55639133e+02] [ 3.91693088e-02 -3.52327141e-04 9.99232526e-01 1.55630102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.410385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.82, Y:155.65, Z:15.56 [[ 7.93594465e-01 -6.07641528e-01 -3.12985458e-02 2.43815837e+02] [ 6.07184951e-01 7.94211355e-01 -2.35533413e-02 1.55654616e+02] [ 3.91696488e-02 -3.12204697e-04 9.99232526e-01 1.55640521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.440385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.84, Y:155.67, Z:15.56 [[ 7.93797651e-01 -6.07376422e-01 -3.12917132e-02 2.43838704e+02] [ 6.06919281e-01 7.94414123e-01 -2.35624153e-02 1.55670176e+02] [ 3.91698344e-02 -2.87754118e-04 9.99232526e-01 1.55643176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.470385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.86, Y:155.69, Z:15.57 [[ 7.93847355e-01 -6.07311565e-01 -3.12896038e-02 2.43861997e+02] [ 6.06854263e-01 7.94463708e-01 -2.35652162e-02 1.55685936e+02] [ 3.91698830e-02 -2.81044941e-04 9.99232526e-01 1.55653023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.500385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:243.89, Y:155.70, Z:15.57 [[ 7.94032623e-01 -6.07069640e-01 -3.12833029e-02 2.43885128e+02] [ 6.06611821e-01 7.94648592e-01 -2.35735778e-02 1.55699285e+02] [ 3.91700360e-02 -2.58631544e-04 9.99232526e-01 1.55671596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.530385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.91, Y:155.72, Z:15.57 [[ 7.94115616e-01 -6.06961214e-01 -3.12805721e-02 2.43908631e+02] [ 6.06503168e-01 7.94731416e-01 -2.35772008e-02 1.55715481e+02] [ 3.91700998e-02 -2.48742720e-04 9.99232526e-01 1.55684225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.560385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.93, Y:155.73, Z:15.57 [[ 7.94634663e-01 -6.06281845e-01 -3.12742030e-02 2.43932829e+02] [ 6.05822940e-01 7.95249824e-01 -2.35856462e-02 1.55729975e+02] [ 3.91703535e-02 -2.04657615e-04 9.99232526e-01 1.55684148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.590385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.96, Y:155.75, Z:15.57 [[ 7.94795302e-01 -6.06071578e-01 -3.12677230e-02 2.43956542e+02] [ 6.05612172e-01 7.95410088e-01 -2.35942336e-02 1.55745222e+02] [ 3.91704567e-02 -1.83527666e-04 9.99232526e-01 1.55688399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.620385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.98, Y:155.76, Z:15.57 [[ 7.94872851e-01 -6.05970204e-01 -3.12612097e-02 2.43980399e+02] [ 6.05510381e-01 7.95487325e-01 -2.36028603e-02 1.55760656e+02] [ 3.91705261e-02 -1.67714137e-04 9.99232526e-01 1.55696703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.650385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.01, Y:155.77, Z:15.57 [[ 7.95259144e-01 -6.05463490e-01 -3.12546963e-02 2.44005198e+02] [ 6.05002936e-01 7.95873071e-01 -2.36114822e-02 1.55774220e+02] [ 3.91706615e-02 -1.31935881e-04 9.99232526e-01 1.55707269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.680385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.03, Y:155.79, Z:15.57 [[ 7.95379101e-01 -6.05306240e-01 -3.12480492e-02 2.44028572e+02] [ 6.04845220e-01 7.95992677e-01 -2.36202759e-02 1.55789863e+02] [ 3.91707187e-02 -1.13159388e-04 9.99232526e-01 1.55697988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.710385723 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:244.05, Y:155.81, Z:15.57 [[ 7.95997815e-01 -6.04495681e-01 -3.11841300e-02 2.44053429e+02] [ 6.04030721e-01 7.96608417e-01 -2.37047981e-02 1.55805318e+02] [ 3.91709885e-02 3.27949680e-05 9.99232522e-01 1.55718877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.740385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.08, Y:155.82, Z:15.58 [[ 7.97242916e-01 -6.02849591e-01 -3.12426696e-02 2.44078829e+02] [ 6.02386401e-01 7.97854856e-01 -2.36273911e-02 1.55816967e+02] [ 3.91708787e-02 1.66109045e-05 9.99232526e-01 1.55763795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.770385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.10, Y:155.83, Z:15.58 [[ 7.96494289e-01 -6.03838604e-01 -3.12376171e-02 2.44102197e+02] [ 6.03375912e-01 7.97106605e-01 -2.36340684e-02 1.55833197e+02] [ 3.91708738e-02 -2.36252208e-05 9.99232527e-01 1.55761468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.800385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.13, Y:155.85, Z:15.58 [[ 7.98197336e-01 -6.01585971e-01 -3.12303166e-02 2.44127260e+02] [ 6.01121173e-01 7.98808056e-01 -2.36437115e-02 1.55845612e+02] [ 3.91707536e-02 9.91430277e-05 9.99232527e-01 1.55776911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.830385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.15, Y:155.86, Z:15.58 [[ 7.98396754e-01 -6.01321440e-01 -3.12273598e-02 2.44150007e+02] [ 6.00856288e-01 7.99007204e-01 -2.36476160e-02 1.55860887e+02] [ 3.91707040e-02 1.17024356e-04 9.99232527e-01 1.55774734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.860385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.17, Y:155.88, Z:15.58 [[ 7.98202774e-01 -6.01579057e-01 -3.12244949e-02 2.44173950e+02] [ 6.01113954e-01 7.98813261e-01 -2.36513983e-02 1.55876109e+02] [ 3.91707265e-02 1.09132171e-04 9.99232527e-01 1.55777892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.890385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.20, Y:155.89, Z:15.58 [[ 7.96420545e-01 -6.03936866e-01 -3.12182204e-02 2.44200113e+02] [ 6.03473245e-01 7.97032159e-01 -2.36596772e-02 1.55888246e+02] [ 3.91708769e-02 3.69222282e-06 9.99232527e-01 1.55797613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.920385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.22, Y:155.90, Z:15.58 [[ 7.94959652e-01 -6.05858887e-01 -3.12115508e-02 2.44224040e+02] [ 6.05396400e-01 7.95572123e-01 -2.36684724e-02 1.55902870e+02] [ 3.91707941e-02 -7.98798907e-05 9.99232527e-01 1.55799981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.950385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.25, Y:155.92, Z:15.58 [[ 7.93987774e-01 -6.07132343e-01 -3.12047038e-02 2.44248075e+02] [ 6.06670483e-01 7.94600718e-01 -2.36774962e-02 1.55917770e+02] [ 3.91706538e-02 -1.31330180e-04 9.99232527e-01 1.55822521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.980385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.27, Y:155.93, Z:15.58 [[ 7.91771582e-01 -6.10019803e-01 -3.12025890e-02 2.44273550e+02] [ 6.09560069e-01 7.92386122e-01 -2.36802828e-02 1.55930874e+02] [ 3.91699399e-02 -2.70477274e-04 9.99232527e-01 1.55840483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.010385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.30, Y:155.95, Z:15.58 [[ 7.89747985e-01 -6.12637687e-01 -3.11959168e-02 2.44295928e+02] [ 6.12179642e-01 7.90363786e-01 -2.36890693e-02 1.55946718e+02] [ 3.91689395e-02 -3.89110478e-04 9.99232527e-01 1.55839072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.040385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.32, Y:155.96, Z:15.59 [[ 7.89119113e-01 -6.13451989e-01 -3.11075950e-02 2.44323092e+02] [ 6.12989993e-01 7.89731965e-01 -2.38052962e-02 1.55959129e+02] [ 3.91700684e-02 -2.83430251e-04 9.99232518e-01 1.55877401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.070385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.34, Y:155.98, Z:15.59 [[ 7.86542107e-01 -6.16748607e-01 -3.11876673e-02 2.44344838e+02] [ 6.16293350e-01 7.87159971e-01 -2.36999264e-02 1.55975701e+02] [ 3.91665799e-02 -5.79761944e-04 9.99232527e-01 1.55852143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.100385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.37, Y:155.99, Z:15.59 [[ 7.86860607e-01 -6.16348306e-01 -3.10668735e-02 2.44370586e+02] [ 6.15886454e-01 7.87473578e-01 -2.38587584e-02 1.55990015e+02] [ 3.91696473e-02 -3.60149427e-04 9.99232510e-01 1.55901909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.130385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.39, Y:156.01, Z:15.59 [[ 7.85732370e-01 -6.17780272e-01 -3.11797669e-02 2.44393842e+02] [ 6.17325416e-01 7.86350528e-01 -2.37103013e-02 1.56005034e+02] [ 3.91659825e-02 -6.18111331e-04 9.99232527e-01 1.55908724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.160385723 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:244.42, Y:156.02, Z:15.59 [[ 7.83784437e-01 -6.20250099e-01 -3.11732495e-02 2.44417756e+02] [ 6.19796849e-01 7.84403774e-01 -2.37188669e-02 1.56018203e+02] [ 3.91640441e-02 -7.30603141e-04 9.99232527e-01 1.55892681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.190385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.44, Y:156.04, Z:15.59 [[ 7.80692893e-01 -6.24140969e-01 -3.10911207e-02 2.44439405e+02] [ 6.23686505e-01 7.81311351e-01 -2.38268054e-02 1.56035208e+02] [ 3.91631310e-02 -7.89694790e-04 9.99232518e-01 1.55886689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.220385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.47, Y:156.05, Z:15.59 [[ 7.80772722e-01 -6.24043759e-01 -3.10377705e-02 2.44465997e+02] [ 6.23586431e-01 7.81389084e-01 -2.38968940e-02 1.56049928e+02] [ 3.91652827e-02 -6.96689552e-04 9.99232503e-01 1.55928651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.250385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.49, Y:156.06, Z:15.59 [[ 7.76360655e-01 -6.29517746e-01 -3.11695572e-02 2.44488682e+02] [ 6.29071691e-01 7.76985194e-01 -2.37237470e-02 1.56064885e+02] [ 3.91528042e-02 -1.18970230e-03 9.99232527e-01 1.55939918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.280385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.51, Y:156.08, Z:15.60 [[ 7.74825977e-01 -6.31410499e-01 -3.10722741e-02 2.44511991e+02] [ 6.30960847e-01 7.75447946e-01 -2.38514754e-02 1.56079950e+02] [ 3.91550031e-02 -1.12464563e-03 9.99232516e-01 1.55953933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.310385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:244.53, Y:156.10, Z:15.60 [[ 7.73322458e-01 -6.33249682e-01 -3.11000907e-02 2.44534971e+02] [ 6.32802974e-01 7.73946538e-01 -2.38149649e-02 1.56095066e+02] [ 3.91506265e-02 -1.26358270e-03 9.99232521e-01 1.55976378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.340385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.56, Y:156.11, Z:15.60 [[ 7.71448605e-01 -6.35531799e-01 -3.10866854e-02 2.44559328e+02] [ 6.35086230e-01 7.72073501e-01 -2.38325510e-02 1.56109106e+02] [ 3.91475501e-02 -1.35713758e-03 9.99232519e-01 1.56012011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.370385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.58, Y:156.13, Z:15.60 [[ 7.70187121e-01 -6.37056946e-01 -3.11487707e-02 2.44582659e+02] [ 6.36615896e-01 7.70815208e-01 -2.37511286e-02 1.56126455e+02] [ 3.91407677e-02 -1.53698918e-03 9.99232524e-01 1.56012360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.400385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.60, Y:156.14, Z:15.60 [[ 7.69231134e-01 -6.38209736e-01 -3.11736384e-02 2.44603324e+02] [ 6.37770944e-01 7.69860802e-01 -2.37185284e-02 1.56142317e+02] [ 3.91367580e-02 -1.63661022e-03 9.99232523e-01 1.56023584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.430385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.63, Y:156.16, Z:15.60 [[ 7.67733053e-01 -6.40015626e-01 -3.10798593e-02 2.44627221e+02] [ 6.39573349e-01 7.68360281e-01 -2.38413469e-02 1.56159557e+02] [ 3.91393640e-02 -1.57405971e-03 9.99232522e-01 1.56040946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.460385723 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:244.65, Y:156.18, Z:15.60 [[ 7.66484858e-01 -6.41507462e-01 -3.11309927e-02 2.44650005e+02] [ 6.41069115e-01 7.67114833e-01 -2.37743914e-02 1.56178250e+02] [ 3.91324957e-02 -1.73440694e-03 9.99232525e-01 1.56007049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.490385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.67, Y:156.19, Z:15.60 [[ 7.66608352e-01 -6.41359686e-01 -3.11349940e-02 2.44670771e+02] [ 6.40921430e-01 7.67238391e-01 -2.37691529e-02 1.56194763e+02] [ 3.91325392e-02 -1.73345373e-03 9.99232525e-01 1.56043271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.520385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.69, Y:156.21, Z:15.60 [[ 7.65866812e-01 -6.42245622e-01 -3.11221345e-02 2.44692412e+02] [ 6.41807413e-01 7.66496883e-01 -2.37859787e-02 1.56213811e+02] [ 3.91314597e-02 -1.75752497e-03 9.99232525e-01 1.56049750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.550385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.71, Y:156.23, Z:15.61 [[ 7.65794208e-01 -6.42329870e-01 -3.11699984e-02 2.44714351e+02] [ 6.41894269e-01 7.66426089e-01 -2.37233643e-02 1.56231460e+02] [ 3.91277255e-02 -1.84062841e-03 9.99232522e-01 1.56061782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.580385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.73, Y:156.25, Z:15.61 [[ 7.65918560e-01 -6.42181207e-01 -3.11778286e-02 2.44733887e+02] [ 6.41745898e-01 7.66550644e-01 -2.37131234e-02 1.56248280e+02] [ 3.91275068e-02 -1.84592227e-03 9.99232521e-01 1.56087773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.610385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.76, Y:156.27, Z:15.61 [[ 7.67852709e-01 -6.39870543e-01 -3.11111830e-02 2.44757125e+02] [ 6.39429808e-01 7.68481014e-01 -2.38002415e-02 1.56267866e+02] [ 3.91374269e-02 -1.61833788e-03 9.99232527e-01 1.56101487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.640385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.78, Y:156.29, Z:15.61 [[ 7.68884795e-01 -6.38627708e-01 -3.11580342e-02 2.44779826e+02] [ 6.38188430e-01 7.69514124e-01 -2.37390327e-02 1.56286377e+02] [ 3.91369514e-02 -1.63211566e-03 9.99232523e-01 1.56101790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.670385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.80, Y:156.30, Z:15.61 [[ 7.70754916e-01 -6.36366830e-01 -3.12108526e-02 2.44799342e+02] [ 6.35928490e-01 7.71384913e-01 -2.36700460e-02 1.56303282e+02] [ 3.91384130e-02 -1.60406612e-03 9.99232511e-01 1.56122256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.700385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.82, Y:156.32, Z:15.61 [[ 7.72757212e-01 -6.33939610e-01 -3.10944193e-02 2.44818408e+02] [ 6.33493175e-01 7.73381477e-01 -2.38220253e-02 1.56324088e+02] [ 3.91495733e-02 -1.28946056e-03 9.99232530e-01 1.56130247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.730385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.84, Y:156.34, Z:15.61 [[ 7.75941609e-01 -6.30038001e-01 -3.10924059e-02 2.44840781e+02] [ 6.29588321e-01 7.76563540e-01 -2.38246529e-02 1.56341198e+02] [ 3.91556655e-02 -1.08887610e-03 9.99232530e-01 1.56131533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.760385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.86, Y:156.36, Z:15.62 [[ 7.78301097e-01 -6.27121252e-01 -3.10859715e-02 2.44861756e+02] [ 6.26668906e-01 7.78921092e-01 -2.38330454e-02 1.56361566e+02] [ 3.91597282e-02 -9.31326344e-04 9.99232530e-01 1.56150980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.790385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.88, Y:156.38, Z:15.62 [[ 7.80195602e-01 -6.24763022e-01 -3.10803594e-02 2.44883409e+02] [ 6.24308511e-01 7.80814011e-01 -2.38403618e-02 1.56378799e+02] [ 3.91625566e-02 -8.03587424e-04 9.99232530e-01 1.56168243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.820385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.90, Y:156.40, Z:15.62 [[ 7.81795054e-01 -6.22760725e-01 -3.10736708e-02 2.44903716e+02] [ 6.22304284e-01 7.82412040e-01 -2.38490766e-02 1.56395974e+02] [ 3.91646824e-02 -6.92188320e-04 9.99232530e-01 1.56169628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.850385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.92, Y:156.41, Z:15.62 [[ 7.83627288e-01 -6.20453885e-01 -3.10684690e-02 2.44924033e+02] [ 6.19995358e-01 7.84242727e-01 -2.38558511e-02 1.56413171e+02] [ 3.91666763e-02 -5.68210651e-04 9.99232530e-01 1.56168035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.880385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.95, Y:156.43, Z:15.62 [[ 7.86929659e-01 -6.16260199e-01 -3.10657125e-02 2.44945601e+02] [ 6.15798251e-01 7.87542533e-01 -2.38594402e-02 1.56431394e+02] [ 3.91691933e-02 -3.54510257e-04 9.99232530e-01 1.56173587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.910385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.97, Y:156.45, Z:15.62 [[ 7.88194382e-01 -6.14642142e-01 -3.10588780e-02 2.44969379e+02] [ 6.14178585e-01 7.88806040e-01 -2.38683337e-02 1.56447115e+02] [ 3.91699143e-02 -2.62811198e-04 9.99232530e-01 1.56184176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.940385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.99, Y:156.46, Z:15.62 [[ 7.90229917e-01 -6.12023245e-01 -3.10519783e-02 2.44992672e+02] [ 6.11557309e-01 7.90839764e-01 -2.38773065e-02 1.56461729e+02] [ 3.91706059e-02 -1.21502356e-04 9.99232530e-01 1.56194620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.970385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.02, Y:156.48, Z:15.62 [[ 7.90865891e-01 -6.11201446e-01 -3.10473000e-02 2.45015260e+02] [ 6.10734637e-01 7.91475070e-01 -2.38833881e-02 1.56478844e+02] [ 3.91707253e-02 -7.31045126e-05 9.99232530e-01 1.56209243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.000385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.04, Y:156.50, Z:15.62 [[ 7.91274488e-01 -6.10672711e-01 -3.10406831e-02 2.45037814e+02] [ 6.10205158e-01 7.91883097e-01 -2.38919849e-02 1.56496260e+02] [ 3.91707754e-02 -3.60667973e-05 9.99232530e-01 1.56228463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.030385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.06, Y:156.51, Z:15.62 [[ 7.92951413e-01 -6.08491532e-01 -3.10823293e-02 2.45060929e+02] [ 6.08024424e-01 7.93560366e-01 -2.38378801e-02 1.56512073e+02] [ 3.91708528e-02 3.46538701e-06 9.99232528e-01 1.56201604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.060385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.08, Y:156.53, Z:15.62 [[ 7.93598781e-01 -6.07649502e-01 -3.10331564e-02 2.45083885e+02] [ 6.07179250e-01 7.94205305e-01 -2.39017248e-02 1.56527597e+02] [ 3.91705686e-02 1.25691042e-04 9.99232531e-01 1.56214736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.090385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.11, Y:156.54, Z:15.62 [[ 7.94286843e-01 -6.06750172e-01 -3.10264252e-02 2.45107763e+02] [ 6.06278892e-01 7.94892568e-01 -2.39104592e-02 1.56543006e+02] [ 3.91703501e-02 1.81096462e-04 9.99232531e-01 1.56224889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.120385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.13, Y:156.56, Z:15.63 [[ 7.94687712e-01 -6.06225395e-01 -3.10195342e-02 2.45134646e+02] [ 6.05753365e-01 7.95292854e-01 -2.39193957e-02 1.56556932e+02] [ 3.91701590e-02 2.18262650e-04 9.99232531e-01 1.56252063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.150385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.16, Y:156.57, Z:15.63 [[ 7.94487203e-01 -6.06478694e-01 -3.12038134e-02 2.45157259e+02] [ 6.06016234e-01 7.95099732e-01 -2.36799422e-02 1.56574372e+02] [ 3.91715241e-02 -9.66063960e-05 9.99232497e-01 1.56264206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.180385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.18, Y:156.59, Z:15.63 [[ 7.95639673e-01 -6.04968126e-01 -3.11621067e-02 2.45179934e+02] [ 6.04502384e-01 7.96249687e-01 -2.37340202e-02 1.56588485e+02] [ 3.91711435e-02 4.61602769e-05 9.99232515e-01 1.56254229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.210385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.20, Y:156.60, Z:15.63 [[ 7.96317701e-01 -6.04083404e-01 -3.10058152e-02 2.45203303e+02] [ 6.03609082e-01 7.96921026e-01 -2.39364727e-02 1.56603636e+02] [ 3.91688119e-02 3.45645285e-04 9.99232548e-01 1.56258285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.240385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.23, Y:156.62, Z:15.63 [[ 7.98006374e-01 -6.01851207e-01 -3.09992200e-02 2.45228820e+02] [ 6.01374865e-01 7.98608107e-01 -2.39450108e-02 1.56618376e+02] [ 3.91675620e-02 4.66119524e-04 9.99232548e-01 1.56262863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.270385723 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:245.25, Y:156.63, Z:15.63 [[ 7.98980921e-01 -6.00557159e-01 -3.09933241e-02 2.45251372e+02] [ 6.00079548e-01 7.99581645e-01 -2.39526397e-02 1.56632797e+02] [ 3.91666224e-02 5.39242183e-04 9.99232548e-01 1.56260161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.300385723 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:245.28, Y:156.65, Z:15.63 [[ 7.99982582e-01 -5.99222468e-01 -3.09887443e-02 2.45275448e+02] [ 5.98743624e-01 8.00582325e-01 -2.39585634e-02 1.56648152e+02] [ 3.91655505e-02 6.12120312e-04 9.99232548e-01 1.56279214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.330385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.30, Y:156.66, Z:15.63 [[ 8.01404913e-01 -5.97319238e-01 -3.09821289e-02 2.45302740e+02] [ 5.96838640e-01 8.02003251e-01 -2.39671151e-02 1.56660512e+02] [ 3.91637870e-02 7.16032163e-04 9.99232548e-01 1.56308912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.360385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:245.33, Y:156.67, Z:15.63 [[ 8.01725090e-01 -5.96889725e-01 -3.09763769e-02 2.45326284e+02] [ 5.96408519e-01 8.02322939e-01 -2.39745470e-02 1.56673715e+02] [ 3.91632185e-02 7.46420721e-04 9.99232548e-01 1.56322823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.390385723 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:245.35, Y:156.69, Z:15.63 [[ 8.00362552e-01 -5.98715648e-01 -3.09735214e-02 2.45348316e+02] [ 5.98235663e-01 8.00961382e-01 -2.39782355e-02 1.56689579e+02] [ 3.91647393e-02 6.61816617e-04 9.99232548e-01 1.56323009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.420385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.38, Y:156.70, Z:15.63 [[ 8.00773100e-01 -5.98174092e-01 -3.08252841e-02 2.45376307e+02] [ 5.97686324e-01 8.01365640e-01 -2.41695953e-02 1.56702260e+02] [ 3.91599492e-02 9.30511006e-04 9.99232522e-01 1.56345597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.450385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.40, Y:156.72, Z:15.63 [[ 8.02076711e-01 -5.96422321e-01 -3.08765909e-02 2.45402937e+02] [ 5.95935804e-01 8.02670260e-01 -2.41033523e-02 1.56715493e+02] [ 3.91594986e-02 9.32271515e-04 9.99232538e-01 1.56341910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.480385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.43, Y:156.73, Z:15.63 [[ 8.01468551e-01 -5.97234626e-01 -3.09671353e-02 2.45427652e+02] [ 5.96753218e-01 8.02066236e-01 -2.39864579e-02 1.56730139e+02] [ 3.91632369e-02 7.44654066e-04 9.99232549e-01 1.56348042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.510385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.46, Y:156.74, Z:15.64 [[ 8.00654747e-01 -5.98325513e-01 -3.09605695e-02 2.45455362e+02] [ 5.97844592e-01 8.01252824e-01 -2.39949298e-02 1.56741459e+02] [ 3.91640224e-02 7.02045369e-04 9.99232549e-01 1.56365233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.540385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.48, Y:156.76, Z:15.64 [[ 8.00067732e-01 -5.99110524e-01 -3.09548730e-02 2.45480823e+02] [ 5.98629905e-01 8.00666052e-01 -2.40022763e-02 1.56755310e+02] [ 3.91645323e-02 6.72934109e-04 9.99232549e-01 1.56397848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.570385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:245.51, Y:156.77, Z:15.64 [[ 7.99457174e-01 -5.99925317e-01 -3.09490064e-02 2.45506077e+02] [ 5.99445015e-01 8.00055749e-01 -2.40098384e-02 1.56768772e+02] [ 3.91650404e-02 6.42609984e-04 9.99232549e-01 1.56410096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.600385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.53, Y:156.78, Z:15.64 [[ 7.97044335e-01 -6.03127417e-01 -3.09458638e-02 2.45532218e+02] [ 6.02649364e-01 7.97644707e-01 -2.40138882e-02 1.56780750e+02] [ 3.91672388e-02 4.90628416e-04 9.99232549e-01 1.56448133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.630385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:245.56, Y:156.79, Z:15.65 [[ 7.97916497e-01 -6.01976909e-01 -3.08717499e-02 2.45557633e+02] [ 6.01494293e-01 7.98513215e-01 -2.41093592e-02 1.56794541e+02] [ 3.91647778e-02 6.68074074e-04 9.99232542e-01 1.56473554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.660385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.58, Y:156.81, Z:15.65 [[ 7.97499167e-01 -6.02526259e-01 -3.09384220e-02 2.45582962e+02] [ 6.02047380e-01 7.98098881e-01 -2.40234966e-02 1.56808041e+02] [ 3.91667075e-02 5.32322615e-04 9.99232548e-01 1.56482417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.690385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.61, Y:156.82, Z:15.65 [[ 7.97405359e-01 -6.02650746e-01 -3.09317414e-02 2.45606664e+02] [ 6.02171627e-01 7.98004881e-01 -2.40320952e-02 1.56822030e+02] [ 3.91666407e-02 5.37104484e-04 9.99232548e-01 1.56489837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.720385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.63, Y:156.84, Z:15.65 [[ 7.97052122e-01 -6.03118192e-01 -3.09250833e-02 2.45631290e+02] [ 6.02639093e-01 7.97651660e-01 -2.40406600e-02 1.56836058e+02] [ 3.91668034e-02 5.24994953e-04 9.99232548e-01 1.56510983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.750385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.66, Y:156.85, Z:15.65 [[ 7.95803986e-01 -6.04764476e-01 -3.09183402e-02 2.45657077e+02] [ 6.04286280e-01 7.96404245e-01 -2.40493291e-02 1.56847026e+02] [ 3.91676773e-02 4.55023163e-04 9.99232549e-01 1.56516058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.780385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.68, Y:156.86, Z:15.65 [[ 7.93726193e-01 -6.07489041e-01 -3.09159333e-02 2.45680789e+02] [ 6.07012785e-01 7.94327993e-01 -2.40524227e-02 1.56863093e+02] [ 3.91689745e-02 3.24671128e-04 9.99232549e-01 1.56514348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.810385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:245.70, Y:156.88, Z:15.65 [[ 7.92213332e-01 -6.09459602e-01 -3.09359079e-02 2.45704347e+02] [ 6.08985845e-01 7.92817101e-01 -2.40267572e-02 1.56878218e+02] [ 3.91698547e-02 1.94787363e-04 9.99232548e-01 1.56524624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.840385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.73, Y:156.89, Z:15.65 [[ 7.91068919e-01 -6.10942893e-01 -3.09636303e-02 2.45725453e+02] [ 6.10471661e-01 7.91674665e-01 -2.39911486e-02 1.56894780e+02] [ 3.91703434e-02 7.62331992e-05 9.99232545e-01 1.56530903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.870385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:245.75, Y:156.91, Z:15.65 [[ 7.90314526e-01 -6.11921605e-01 -3.09014563e-02 2.45746142e+02] [ 6.11447999e-01 7.90918411e-01 -2.40709657e-02 1.56912945e+02] [ 3.91700747e-02 1.29000195e-04 9.99232550e-01 1.56528819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.900385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:245.77, Y:156.93, Z:15.65 [[ 7.88566515e-01 -6.14172718e-01 -3.08985919e-02 2.45766935e+02] [ 6.13700693e-01 7.89171636e-01 -2.40746420e-02 1.56933370e+02] [ 3.91702807e-02 2.19693051e-05 9.99232550e-01 1.56529048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.930385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.79, Y:156.95, Z:15.65 [[ 7.86457053e-01 -6.16871897e-01 -3.08928343e-02 2.45786923e+02] [ 6.16401658e-01 7.87063563e-01 -2.40820281e-02 1.56953560e+02] [ 3.91701505e-02 -1.02913423e-04 9.99232550e-01 1.56526805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.960385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.81, Y:156.97, Z:15.66 [[ 7.85624786e-01 -6.17933505e-01 -3.08525342e-02 2.45808338e+02] [ 6.17462055e-01 7.86230357e-01 -2.41337023e-02 1.56972257e+02] [ 3.91702223e-02 -9.02344327e-05 9.99232548e-01 1.56552261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.990385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.83, Y:156.99, Z:15.66 [[ 7.85977212e-01 -6.17484690e-01 -3.08622791e-02 2.45830628e+02] [ 6.17013384e-01 7.86582895e-01 -2.41212100e-02 1.56988795e+02] [ 3.91702187e-02 -8.37179428e-05 9.99232549e-01 1.56558955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.020385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.85, Y:157.01, Z:15.66 [[ 7.84361601e-01 -6.19534721e-01 -3.08805652e-02 2.45852605e+02] [ 6.19065920e-01 7.84969224e-01 -2.40977770e-02 1.57005825e+02] [ 3.91697028e-02 -2.15734627e-04 9.99232549e-01 1.56571150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.050385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:245.87, Y:157.02, Z:15.66 [[ 7.83664808e-01 -6.20415979e-01 -3.08784956e-02 2.45874616e+02] [ 6.19947757e-01 7.84272878e-01 -2.41004286e-02 1.57022628e+02] [ 3.91694576e-02 -2.56396330e-04 9.99232549e-01 1.56574685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.080385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.90, Y:157.04, Z:15.66 [[ 7.82031162e-01 -6.22474247e-01 -3.08718971e-02 2.45896503e+02] [ 6.22007292e-01 7.82640205e-01 -2.41088782e-02 1.57040010e+02] [ 3.91687436e-02 -3.48651078e-04 9.99232549e-01 1.56560756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.110385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.92, Y:157.06, Z:15.65 [[ 7.79593974e-01 -6.25524011e-01 -3.08698560e-02 2.45916654e+02] [ 6.25059335e-01 7.80204758e-01 -2.41114914e-02 1.57060261e+02] [ 3.91671253e-02 -4.98318225e-04 9.99232550e-01 1.56547675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.140385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.94, Y:157.08, Z:15.66 [[ 7.80269170e-01 -6.24681900e-01 -3.08633510e-02 2.45938267e+02] [ 6.24216236e-01 7.80879200e-01 -2.41198151e-02 1.57078384e+02] [ 3.91677608e-02 -4.45456688e-04 9.99232550e-01 1.56552463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.170385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:245.96, Y:157.10, Z:15.66 [[ 7.78801890e-01 -6.26510330e-01 -3.08613495e-02 2.45959559e+02] [ 6.26045996e-01 7.79412934e-01 -2.41223757e-02 1.57098012e+02] [ 3.91666525e-02 -5.34072546e-04 9.99232550e-01 1.56561062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.200385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:245.98, Y:157.12, Z:15.66 [[ 7.78948250e-01 -6.26328625e-01 -3.08557697e-02 2.45982559e+02] [ 6.25863866e-01 7.79558970e-01 -2.41295110e-02 1.57115189e+02] [ 3.91668954e-02 -5.15870936e-04 9.99232550e-01 1.56599669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.230385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.01, Y:157.13, Z:15.66 [[ 7.81483820e-01 -6.23162366e-01 -3.08497091e-02 2.46006478e+02] [ 6.22694827e-01 7.82092415e-01 -2.41372570e-02 1.57129438e+02] [ 3.91687536e-02 -3.47078486e-04 9.99232550e-01 1.56640304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.260385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.03, Y:157.15, Z:15.67 [[ 7.82027563e-01 -6.22479975e-01 -3.08475620e-02 2.46028630e+02] [ 6.22011797e-01 7.82635666e-01 -2.41400006e-02 1.57146510e+02] [ 3.91690692e-02 -3.09401657e-04 9.99232550e-01 1.56653785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.290385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.05, Y:157.16, Z:15.67 [[ 7.82540414e-01 -6.21835284e-01 -3.08444629e-02 2.46050428e+02] [ 6.21366448e-01 7.83148010e-01 -2.41439598e-02 1.57164312e+02] [ 3.91693459e-02 -2.72090064e-04 9.99232550e-01 1.56670471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.320385723 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:246.07, Y:157.18, Z:15.67 [[ 7.81497082e-01 -6.23146317e-01 -3.08379324e-02 2.46070592e+02] [ 6.22678172e-01 7.82105211e-01 -2.41522981e-02 1.57184137e+02] [ 3.91689232e-02 -3.27156865e-04 9.99232550e-01 1.56679076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.350385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.09, Y:157.20, Z:15.67 [[ 7.83458817e-01 -6.20678425e-01 -3.08313942e-02 2.46093628e+02] [ 6.20208036e-01 7.84065211e-01 -2.41606414e-02 1.57200275e+02] [ 3.91698125e-02 -1.93010929e-04 9.99232550e-01 1.56667830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.380385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.12, Y:157.22, Z:15.67 [[ 7.83252649e-01 -6.20938675e-01 -3.08293619e-02 2.46116047e+02] [ 6.20468385e-01 7.83859121e-01 -2.41632345e-02 1.57217554e+02] [ 3.91697633e-02 -2.02726978e-04 9.99232550e-01 1.56672455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.410385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.14, Y:157.23, Z:15.67 [[ 7.82862923e-01 -6.21430280e-01 -3.08229012e-02 2.46138880e+02] [ 6.20960047e-01 7.83469438e-01 -2.41714730e-02 1.57234231e+02] [ 3.91696863e-02 -2.16840123e-04 9.99232550e-01 1.56681597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.440385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:246.16, Y:157.25, Z:15.67 [[ 7.81725781e-01 -6.22860455e-01 -3.08164873e-02 2.46161382e+02] [ 6.22391010e-01 7.82332906e-01 -2.41796473e-02 1.57248981e+02] [ 3.91692982e-02 -2.78050997e-04 9.99232550e-01 1.56696450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.470385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.18, Y:157.27, Z:15.67 [[ 7.81112562e-01 -6.23629442e-01 -3.08137063e-02 2.46182997e+02] [ 6.23160454e-01 7.81720041e-01 -2.41831908e-02 1.57265240e+02] [ 3.91690415e-02 -3.12089106e-04 9.99232550e-01 1.56708141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.500385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:246.21, Y:157.28, Z:15.67 [[ 7.80192632e-01 -6.24780075e-01 -3.08109583e-02 2.46205175e+02] [ 6.24311845e-01 7.80800694e-01 -2.41866914e-02 1.57282650e+02] [ 3.91685805e-02 -3.65367798e-04 9.99232550e-01 1.56710564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.530385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.23, Y:157.30, Z:15.67 [[ 7.78177250e-01 -6.27288800e-01 -3.08046820e-02 2.46226624e+02] [ 6.26822214e-01 7.78786575e-01 -2.41946824e-02 1.57300520e+02] [ 3.91673261e-02 -4.81307557e-04 9.99232550e-01 1.56698718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.560385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:246.25, Y:157.32, Z:15.67 [[ 7.76972927e-01 -6.28780190e-01 -3.07984332e-02 2.46247683e+02] [ 6.28314459e-01 7.77582905e-01 -2.42026342e-02 1.57317586e+02] [ 3.91664721e-02 -5.46309378e-04 9.99232550e-01 1.56700030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.590385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.27, Y:157.33, Z:15.67 [[ 7.75768760e-01 -6.30265417e-01 -3.07950464e-02 2.46269915e+02] [ 6.29800682e-01 7.76379498e-01 -2.42069428e-02 1.57334472e+02] [ 3.91654415e-02 -6.15751194e-04 9.99232550e-01 1.56710080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.620385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.29, Y:157.35, Z:15.67 [[ 7.73695845e-01 -6.32808663e-01 -3.07885544e-02 2.46293284e+02] [ 6.32345607e-01 7.74307857e-01 -2.42151971e-02 1.57350895e+02] [ 3.91634060e-02 -7.33809745e-04 9.99232550e-01 1.56724886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.650385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.31, Y:157.37, Z:15.67 [[ 7.73340757e-01 -6.33242883e-01 -3.07819031e-02 2.46314895e+02] [ 6.32779834e-01 7.73952774e-01 -2.42236490e-02 1.57367591e+02] [ 3.91631927e-02 -7.45032484e-04 9.99232550e-01 1.56732882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.680385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.34, Y:157.39, Z:15.67 [[ 7.72943096e-01 -6.33728351e-01 -3.07790194e-02 2.46335071e+02] [ 6.33265541e-01 7.73555294e-01 -2.42273126e-02 1.57386395e+02] [ 3.91628083e-02 -7.64958352e-04 9.99232550e-01 1.56728449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.710385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.36, Y:157.41, Z:15.67 [[ 7.73210814e-01 -6.33401817e-01 -3.07762307e-02 2.46356288e+02] [ 6.32938607e-01 7.73822709e-01 -2.42308546e-02 1.57405261e+02] [ 3.91632136e-02 -7.43905842e-04 9.99232550e-01 1.56736835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.740385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.38, Y:157.42, Z:15.67 [[ 7.73715492e-01 -6.32785563e-01 -3.07696185e-02 2.46376219e+02] [ 6.32321532e-01 7.74326765e-01 -2.42392482e-02 1.57423732e+02] [ 3.91639855e-02 -7.02010501e-04 9.99232550e-01 1.56741436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.770385723 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:246.39, Y:157.44, Z:15.67 [[ 7.73939107e-01 -6.32512186e-01 -3.07667427e-02 2.46393913e+02] [ 6.32047795e-01 7.74550106e-01 -2.42428979e-02 1.57444140e+02] [ 3.91643122e-02 -6.83525142e-04 9.99232550e-01 1.56749664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.800385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.42, Y:157.46, Z:15.68 [[ 7.75129072e-01 -6.31058671e-01 -3.06574035e-02 2.46416501e+02] [ 6.30587640e-01 7.75734985e-01 -2.43815825e-02 1.57461804e+02] [ 3.91682295e-02 -4.33306355e-04 9.99232537e-01 1.56760938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.830385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:246.44, Y:157.48, Z:15.68 [[ 7.75122368e-01 -6.31062000e-01 -3.07582076e-02 2.46437662e+02] [ 6.30596035e-01 7.75732168e-01 -2.42537452e-02 1.57480046e+02] [ 3.91657480e-02 -5.96383396e-04 9.99232550e-01 1.56778354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.860385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:246.46, Y:157.50, Z:15.68 [[ 7.75087907e-01 -6.31104642e-01 -3.07516978e-02 2.46457921e+02] [ 6.30638384e-01 7.75697483e-01 -2.42619963e-02 1.57499008e+02] [ 3.91658731e-02 -5.88021117e-04 9.99232550e-01 1.56799925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.890385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:246.48, Y:157.52, Z:15.68 [[ 7.75003158e-01 -6.31209034e-01 -3.07450826e-02 2.46478931e+02] [ 6.30742525e-01 7.75612542e-01 -2.42703763e-02 1.57517081e+02] [ 3.91659524e-02 -5.82612767e-04 9.99232550e-01 1.56815903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.920385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:246.50, Y:157.54, Z:15.68 [[ 7.75464767e-01 -6.30642169e-01 -3.07383971e-02 2.46498873e+02] [ 6.30174879e-01 7.76073553e-01 -2.42788405e-02 1.57535916e+02] [ 3.91665177e-02 -5.43180270e-04 9.99232550e-01 1.56840782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.950385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:246.52, Y:157.55, Z:15.69 [[ 7.75514346e-01 -6.30581338e-01 -3.07355596e-02 2.46519596e+02] [ 6.30113858e-01 7.76122986e-01 -2.42824320e-02 1.57554240e+02] [ 3.91666228e-02 -5.35527665e-04 9.99232550e-01 1.56859761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.980385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:246.54, Y:157.57, Z:15.69 [[ 7.75710173e-01 -6.30340748e-01 -3.07289661e-02 2.46540195e+02] [ 6.29872749e-01 7.76318413e-01 -2.42907731e-02 1.57572540e+02] [ 3.91669263e-02 -5.12738553e-04 9.99232550e-01 1.56872940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.010385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.56, Y:157.59, Z:15.69 [[ 7.75155538e-01 -6.31022820e-01 -3.07260856e-02 2.46557799e+02] [ 6.30555212e-01 7.75764079e-01 -2.42944162e-02 1.57591438e+02] [ 3.91665245e-02 -5.42542173e-04 9.99232550e-01 1.56851786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.040385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.58, Y:157.61, Z:15.69 [[ 7.75119571e-01 -6.31072100e-01 -3.06211640e-02 2.46579279e+02] [ 6.30599283e-01 7.75724090e-01 -2.44270444e-02 1.57608605e+02] [ 3.91688008e-02 -3.75803934e-04 9.99232537e-01 1.56861924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.070385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:246.60, Y:157.63, Z:15.69 [[ 7.74602639e-01 -6.31705855e-01 -3.06343815e-02 2.46598801e+02] [ 6.31234193e-01 7.75208055e-01 -2.44103274e-02 1.57626634e+02] [ 3.91681660e-02 -4.29165062e-04 9.99232541e-01 1.56870841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.100385723 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:246.62, Y:157.64, Z:15.69 [[ 7.76573905e-01 -6.29285369e-01 -3.05433008e-02 2.46623243e+02] [ 6.28807287e-01 7.77174304e-01 -2.45254430e-02 1.57643608e+02] [ 3.91709710e-02 -1.60031082e-04 9.99232510e-01 1.56918736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.130385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:246.64, Y:157.66, Z:15.69 [[ 7.76960377e-01 -6.28799552e-01 -3.07196380e-02 2.46642662e+02] [ 6.28329881e-01 7.77567326e-01 -2.43025465e-02 1.57661804e+02] [ 3.91680172e-02 -4.19950800e-04 9.99232551e-01 1.56935804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.160385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.66, Y:157.68, Z:15.70 [[ 7.76983525e-01 -6.28771089e-01 -3.07167845e-02 2.46664768e+02] [ 6.28301253e-01 7.77590346e-01 -2.43061526e-02 1.57679679e+02] [ 3.91680812e-02 -4.13914037e-04 9.99232551e-01 1.56955956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.190385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:246.69, Y:157.70, Z:15.70 [[ 7.77138666e-01 -6.28579655e-01 -3.07101186e-02 2.46685871e+02] [ 6.28109337e-01 7.77745114e-01 -2.43145718e-02 1.57696841e+02] [ 3.91682899e-02 -3.93518322e-04 9.99232551e-01 1.56970563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.220385723 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:246.71, Y:157.72, Z:15.70 [[ 7.77647700e-01 -6.27949935e-01 -3.07072304e-02 2.46706873e+02] [ 6.27478982e-01 7.78253655e-01 -2.43182189e-02 1.57715534e+02] [ 3.91686383e-02 -3.57134709e-04 9.99232551e-01 1.56992692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.250385723 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:246.73, Y:157.73, Z:15.70 [[ 7.77705864e-01 -6.27878220e-01 -3.07006358e-02 2.46727688e+02] [ 6.27406883e-01 7.78311520e-01 -2.43265415e-02 1.57733833e+02] [ 3.91687641e-02 -3.42896218e-04 9.99232551e-01 1.57005199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.280385723 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:246.75, Y:157.75, Z:15.70 [[ 7.77489843e-01 -6.28146018e-01 -3.06940271e-02 2.46747848e+02] [ 6.27674560e-01 7.78095406e-01 -2.43348770e-02 1.57752384e+02] [ 3.91687376e-02 -3.45740251e-04 9.99232551e-01 1.57018114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.310385723 meters Centerline goodness : 0.999782 Centerline is valid? [True, True] Translation: X:246.77, Y:157.77, Z:15.70 [[ 7.76707448e-01 -6.29113339e-01 -3.06911622e-02 2.46768830e+02] [ 6.28642492e-01 7.77313486e-01 -2.43384897e-02 1.57770348e+02] [ 3.91683228e-02 -3.89882461e-04 9.99232551e-01 1.57028028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.340385723 meters Centerline goodness : 0.999761 Centerline is valid? [True, True] Translation: X:246.79, Y:157.79, Z:15.70 [[ 7.75935996e-01 -6.30064903e-01 -3.06846630e-02 2.46790239e+02] [ 6.29594475e-01 7.76542359e-01 -2.43466809e-02 1.57788435e+02] [ 3.91679297e-02 -4.27428201e-04 9.99232551e-01 1.57037782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.370385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:246.81, Y:157.81, Z:15.70 [[ 7.74840066e-01 -6.31412485e-01 -3.06781099e-02 2.46811123e+02] [ 6.30942785e-01 7.75446993e-01 -2.43549353e-02 1.57806794e+02] [ 3.91672583e-02 -4.84952435e-04 9.99232551e-01 1.57043789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.400385723 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:246.83, Y:157.83, Z:15.71 [[ 7.73336895e-01 -6.33252951e-01 -3.06715881e-02 2.46832288e+02] [ 6.32784370e-01 7.73944687e-01 -2.43631458e-02 1.57825673e+02] [ 3.91661466e-02 -5.67582043e-04 9.99232551e-01 1.57055322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.430385723 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:246.85, Y:157.84, Z:15.71 [[ 7.72285073e-01 -6.34535599e-01 -3.06649485e-02 2.46853937e+02] [ 6.34067696e-01 7.72893386e-01 -2.43715000e-02 1.57844305e+02] [ 3.91653202e-02 -6.21907586e-04 9.99232551e-01 1.57067429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.460385723 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:246.88, Y:157.86, Z:15.71 [[ 7.71450699e-01 -6.35550069e-01 -3.06582774e-02 2.46875396e+02] [ 6.35082632e-01 7.72059370e-01 -2.43798891e-02 1.57862687e+02] [ 3.91646505e-02 -6.62657035e-04 9.99232551e-01 1.57081542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.490385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:246.89, Y:157.88, Z:15.71 [[ 7.69798077e-01 -6.37551099e-01 -3.06515529e-02 2.46894136e+02] [ 6.37084908e-01 7.70407703e-01 -2.43883405e-02 1.57882953e+02] [ 3.91630057e-02 -7.53544139e-04 9.99232551e-01 1.57093686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.520385723 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:246.91, Y:157.90, Z:15.71 [[ 7.68884757e-01 -6.38652397e-01 -3.06487573e-02 2.46914963e+02] [ 6.38186940e-01 7.69494943e-01 -2.43918532e-02 1.57902473e+02] [ 3.91619793e-02 -8.05112482e-04 9.99232551e-01 1.57113021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.550385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.93, Y:157.92, Z:15.71 [[ 7.67552694e-01 -6.40253024e-01 -3.06419158e-02 2.46934515e+02] [ 6.39788496e-01 7.68163588e-01 -2.44004448e-02 1.57922541e+02] [ 3.91604625e-02 -8.75718070e-04 9.99232551e-01 1.57124599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.580385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.95, Y:157.94, Z:15.71 [[ 7.63728648e-01 -6.44810082e-01 -3.06351230e-02 2.46947149e+02] [ 6.44348857e-01 7.64342039e-01 -2.44089702e-02 1.57943948e+02] [ 3.91548625e-02 -1.09787668e-03 9.99232551e-01 1.57059672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.610385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:246.97, Y:157.96, Z:15.71 [[ 7.63909279e-01 -6.44615357e-01 -3.02267274e-02 2.46968780e+02] [ 6.44133599e-01 7.64506936e-01 -2.49209054e-02 1.57963572e+02] [ 3.91729411e-02 -4.32739833e-04 9.99232352e-01 1.57064454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.640385723 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:246.99, Y:157.98, Z:15.71 [[ 7.64026870e-01 -6.44477034e-01 -3.02042137e-02 2.46988091e+02] [ 6.43994053e-01 7.64623568e-01 -2.49491240e-02 1.57982080e+02] [ 3.91739911e-02 -3.89532915e-04 9.99232329e-01 1.57073877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.670385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.01, Y:158.00, Z:15.71 [[ 7.65047298e-01 -6.43266250e-01 -3.01854808e-02 2.47006784e+02] [ 6.42781399e-01 7.65642503e-01 -2.49725899e-02 1.58004070e+02] [ 3.91753113e-02 -2.97453172e-04 9.99232309e-01 1.57083378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.700385723 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:247.04, Y:158.02, Z:15.72 [[ 7.68709866e-01 -6.38882518e-01 -3.02368845e-02 2.47036029e+02] [ 6.38396803e-01 7.69304298e-01 -2.49082003e-02 1.58023288e+02] [ 3.91747790e-02 -1.55951029e-04 9.99232362e-01 1.57165926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.730385723 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:247.05, Y:158.04, Z:15.72 [[ 7.69208603e-01 -6.38263611e-01 -3.06217051e-02 2.47053925e+02] [ 6.37796495e-01 7.69817519e-01 -2.44257767e-02 1.58044004e+02] [ 3.91632095e-02 -7.41898635e-04 9.99232552e-01 1.57166898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.760385723 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:247.07, Y:158.07, Z:15.71 [[ 7.65334787e-01 -6.42903768e-01 -3.06171341e-02 2.47065480e+02] [ 6.42440114e-01 7.65946344e-01 -2.44315050e-02 1.58065108e+02] [ 3.91581886e-02 -9.71394485e-04 9.99232552e-01 1.57093326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.790385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:247.09, Y:158.08, Z:15.72 [[ 7.67169563e-01 -6.40732619e-01 -3.02088239e-02 2.47094633e+02] [ 6.40246989e-01 7.67764071e-01 -2.49424261e-02 1.58084858e+02] [ 3.91746756e-02 -2.06038404e-04 9.99232357e-01 1.57193009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.820385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:247.12, Y:158.10, Z:15.72 [[ 7.65944663e-01 -6.42177403e-01 -3.06097373e-02 2.47115085e+02] [ 6.41712817e-01 7.66555498e-01 -2.44403239e-02 1.58104060e+02] [ 3.91590862e-02 -9.22725070e-04 9.99232563e-01 1.57214042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.850385723 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:247.13, Y:158.12, Z:15.72 [[ 7.64593324e-01 -6.43786062e-01 -3.06032041e-02 2.47134166e+02] [ 6.43322433e-01 7.65204886e-01 -2.44485019e-02 1.58122962e+02] [ 3.91573260e-02 -9.94566441e-04 9.99232563e-01 1.57229260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.880385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.15, Y:158.14, Z:15.73 [[ 7.62022676e-01 -6.46826908e-01 -3.06005306e-02 2.47152460e+02] [ 6.46365586e-01 7.62635979e-01 -2.44518476e-02 1.58144465e+02] [ 3.91531786e-02 -1.14626758e-03 9.99232563e-01 1.57250666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.910385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:247.17, Y:158.16, Z:15.73 [[ 7.60472013e-01 -6.48649616e-01 -3.05940079e-02 2.47172666e+02] [ 6.48189436e-01 7.61086174e-01 -2.44600061e-02 1.58164282e+02] [ 3.91506500e-02 -1.22956267e-03 9.99232563e-01 1.57265925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.940385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.19, Y:158.18, Z:15.73 [[ 7.59144504e-01 -6.50203065e-01 -3.05875273e-02 2.47193256e+02] [ 6.49743815e-01 7.59759361e-01 -2.44681075e-02 1.58184073e+02] [ 3.91483987e-02 -1.29922737e-03 9.99232563e-01 1.57277725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.970385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.21, Y:158.21, Z:15.73 [[ 7.56996385e-01 -6.52703062e-01 -3.05808138e-02 2.47212062e+02] [ 6.52245505e-01 7.57612502e-01 -2.44764953e-02 1.58205779e+02] [ 3.91442903e-02 -1.41757992e-03 9.99232563e-01 1.57286362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.000385723 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:247.23, Y:158.23, Z:15.73 [[ 7.56195625e-01 -6.53630939e-01 -3.05740482e-02 2.47232274e+02] [ 6.53173796e-01 7.56812050e-01 -2.44849435e-02 1.58225182e+02] [ 3.91429247e-02 -1.45475995e-03 9.99232563e-01 1.57296712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.030385723 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:247.25, Y:158.25, Z:15.73 [[ 7.55490433e-01 -6.54446215e-01 -3.05672646e-02 2.47250859e+02] [ 6.53989396e-01 7.56107098e-01 -2.44934092e-02 1.58247389e+02] [ 3.91417447e-02 -1.48613065e-03 9.99232563e-01 1.57296050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.060385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:247.27, Y:158.27, Z:15.73 [[ 7.55781983e-01 -6.54109816e-01 -3.05604674e-02 2.47270206e+02] [ 6.53652381e-01 7.56398191e-01 -2.45018872e-02 1.58266832e+02] [ 3.91428072e-02 -1.45783741e-03 9.99232563e-01 1.57297226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.090385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.29, Y:158.29, Z:15.73 [[ 7.56098111e-01 -6.53744510e-01 -3.05575250e-02 2.47290019e+02] [ 6.53286628e-01 7.56713988e-01 -2.45055562e-02 1.58286527e+02] [ 3.91436794e-02 -1.43421769e-03 9.99232563e-01 1.57300768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.120385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.31, Y:158.31, Z:15.73 [[ 7.56552951e-01 -6.53218401e-01 -3.05508379e-02 2.47309424e+02] [ 6.52759755e-01 7.57168258e-01 -2.45138902e-02 1.58306168e+02] [ 3.91450488e-02 -1.39630152e-03 9.99232563e-01 1.57289362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.150385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.33, Y:158.33, Z:15.73 [[ 7.58158871e-01 -6.51354013e-01 -3.05462933e-02 2.47327939e+02] [ 6.50893627e-01 7.58772877e-01 -2.45195517e-02 1.58328597e+02] [ 3.91486073e-02 -1.29267198e-03 9.99232563e-01 1.57285728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.180385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.35, Y:158.35, Z:15.73 [[ 7.58757936e-01 -6.50656378e-01 -3.05396783e-02 2.47347867e+02] [ 6.50195096e-01 7.59371269e-01 -2.45277881e-02 1.58348424e+02] [ 3.91501161e-02 -1.24609520e-03 9.99232563e-01 1.57292967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.210385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.37, Y:158.37, Z:15.73 [[ 7.60487722e-01 -6.48634070e-01 -3.05330750e-02 2.47366129e+02] [ 6.48170827e-01 7.61099575e-01 -2.45360054e-02 1.58370105e+02] [ 3.91535995e-02 -1.13131758e-03 9.99232563e-01 1.57296649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.240385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.39, Y:158.39, Z:15.73 [[ 7.60974059e-01 -6.48063529e-01 -3.05310304e-02 2.47386309e+02] [ 6.47599726e-01 7.61585488e-01 -2.45385493e-02 1.58389271e+02] [ 3.91545286e-02 -1.09868749e-03 9.99232563e-01 1.57319923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.270385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.40, Y:158.41, Z:15.73 [[ 7.61994139e-01 -6.46864118e-01 -3.05245058e-02 2.47404973e+02] [ 6.46399027e-01 7.62604589e-01 -2.45466629e-02 1.58410918e+02] [ 3.91564836e-02 -1.02659757e-03 9.99232563e-01 1.57320816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.300385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.42, Y:158.43, Z:15.73 [[ 7.64080702e-01 -6.44398426e-01 -3.05180007e-02 2.47423026e+02] [ 6.43931043e-01 7.64689399e-01 -2.45547478e-02 1.58428809e+02] [ 3.91598324e-02 -8.89679082e-04 9.99232564e-01 1.57307526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.330385723 meters Centerline goodness : 0.995126 Centerline is valid? [True, True] Translation: X:247.44, Y:158.45, Z:15.73 [[ 7.62416759e-01 -6.46377859e-01 -3.02712616e-02 2.47443871e+02] [ 6.45899877e-01 7.63017238e-01 -2.48604573e-02 1.58451053e+02] [ 3.91667436e-02 -5.98174832e-04 9.99232510e-01 1.57332891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.360385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.46, Y:158.47, Z:15.73 [[ 7.61518209e-01 -6.47432254e-01 -3.03561137e-02 2.47464575e+02] [ 6.46959284e-01 7.62122599e-01 -2.47553587e-02 1.58470966e+02] [ 3.91624980e-02 -7.87513201e-04 9.99232545e-01 1.57349716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.390385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:247.48, Y:158.49, Z:15.74 [[ 7.61860708e-01 -6.47023584e-01 -3.04752970e-02 2.47483651e+02] [ 6.46556178e-01 7.62469388e-01 -2.46077582e-02 1.58489725e+02] [ 3.91582809e-02 -9.56307493e-04 9.99232563e-01 1.57376871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.420385723 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:247.51, Y:158.51, Z:15.74 [[ 7.61319904e-01 -6.47666497e-01 -3.03333512e-02 2.47507721e+02] [ 6.47192593e-01 7.61923570e-01 -2.47835026e-02 1.58509974e+02] [ 3.91631395e-02 -7.63346348e-04 9.99232538e-01 1.57380717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.450385723 meters Centerline goodness : 0.994523 Centerline is valid? [True, True] Translation: X:247.52, Y:158.53, Z:15.74 [[ 7.60151726e-01 -6.49028348e-01 -3.05213969e-02 2.47524704e+02] [ 6.48564840e-01 7.60763379e-01 -2.45505292e-02 1.58528664e+02] [ 3.91535505e-02 -1.13297772e-03 9.99232563e-01 1.57392613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.480385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.55, Y:158.55, Z:15.74 [[ 7.58663274e-01 -6.50776974e-01 -3.03210513e-02 2.47546105e+02] [ 6.50304944e-01 7.59268406e-01 -2.47985411e-02 1.58550036e+02] [ 3.91601358e-02 -9.04187198e-04 9.99232539e-01 1.57420396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.510385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.57, Y:158.57, Z:15.74 [[ 7.59800638e-01 -6.49441886e-01 -3.04668315e-02 2.47571574e+02] [ 6.48976001e-01 7.60410480e-01 -2.46181286e-02 1.58569770e+02] [ 3.91553418e-02 -1.06737268e-03 9.99232565e-01 1.57424896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.540385723 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:247.59, Y:158.59, Z:15.74 [[ 7.59125196e-01 -6.50221662e-01 -3.06712751e-02 2.47587619e+02] [ 6.49766577e-01 7.59743205e-01 -2.43651149e-02 1.58589585e+02] [ 3.91450183e-02 -1.43299679e-03 9.99232513e-01 1.57427148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.570385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:247.61, Y:158.61, Z:15.75 [[ 7.60225137e-01 -6.48945394e-01 -3.04567856e-02 2.47609100e+02] [ 6.48478622e-01 7.60834294e-01 -2.46303467e-02 1.58606899e+02] [ 3.91563170e-02 -1.02596562e-03 9.99232571e-01 1.57461979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.600385723 meters Centerline goodness : 0.994390 Centerline is valid? [True, True] Translation: X:247.63, Y:158.62, Z:15.75 [[ 7.61562831e-01 -6.47375355e-01 -3.04500220e-02 2.47630743e+02] [ 6.46906993e-01 7.62170766e-01 -2.46387055e-02 1.58624941e+02] [ 3.91586073e-02 -9.34409829e-04 9.99232571e-01 1.57467736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.630385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.65, Y:158.65, Z:15.75 [[ 7.63278247e-01 -6.45354390e-01 -3.03978306e-02 2.47650377e+02] [ 6.44881850e-01 7.63882944e-01 -2.47031877e-02 1.58646661e+02] [ 3.91626950e-02 -7.47603403e-04 9.99232568e-01 1.57490399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.660385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.67, Y:158.67, Z:15.75 [[ 7.64107716e-01 -6.44370090e-01 -3.04398656e-02 2.47669813e+02] [ 6.43898835e-01 7.64713413e-01 -2.46512823e-02 1.58665159e+02] [ 3.91623225e-02 -7.63959000e-04 9.99232570e-01 1.57493169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.690385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.69, Y:158.68, Z:15.75 [[ 7.65527118e-01 -6.42683305e-01 -3.04368434e-02 2.47690757e+02] [ 6.42210568e-01 7.66131657e-01 -2.46550132e-02 1.58684261e+02] [ 3.91639947e-02 -6.72781353e-04 9.99232570e-01 1.57510364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.720385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.72, Y:158.70, Z:15.75 [[ 7.68171301e-01 -6.39520819e-01 -3.04298274e-02 2.47717315e+02] [ 6.39045250e-01 7.68773616e-01 -2.46636696e-02 1.58701070e+02] [ 3.91665785e-02 -5.00113483e-04 9.99232570e-01 1.57528448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.750385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.74, Y:158.72, Z:15.75 [[ 7.68853213e-01 -6.38690831e-01 -3.06391841e-02 2.47737988e+02] [ 6.38224873e-01 7.69463058e-01 -2.44052049e-02 1.58717530e+02] [ 3.91631008e-02 -7.90669198e-04 9.99232519e-01 1.57539894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.780385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.75, Y:158.74, Z:15.76 [[ 7.67308783e-01 -6.40546955e-01 -3.06076997e-02 2.47753864e+02] [ 6.40080922e-01 7.67918551e-01 -2.44440596e-02 1.58737461e+02] [ 3.91617884e-02 -8.35263044e-04 9.99232534e-01 1.57552838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.810385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.79, Y:158.76, Z:15.76 [[ 7.70458140e-01 -6.36764260e-01 -3.04225584e-02 2.47785435e+02] [ 6.36286193e-01 7.71058465e-01 -2.46723532e-02 1.58755683e+02] [ 3.91680439e-02 -3.48438517e-04 9.99232577e-01 1.57552708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.840385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:247.80, Y:158.77, Z:15.76 [[ 7.67808778e-01 -6.39932166e-01 -3.09273724e-02 2.47797404e+02] [ 6.39481464e-01 7.68430283e-01 -2.40490457e-02 1.58773562e+02] [ 3.91552874e-02 -1.31241293e-03 9.99232276e-01 1.57572878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.870385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.82, Y:158.79, Z:15.76 [[ 7.68145491e-01 -6.39552459e-01 -3.04163950e-02 2.47818227e+02] [ 6.39076313e-01 7.68747306e-01 -2.46788400e-02 1.58790178e+02] [ 3.91659346e-02 -4.81457911e-04 9.99232604e-01 1.57576283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.900385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.84, Y:158.81, Z:15.76 [[ 7.67979960e-01 -6.39751359e-01 -3.04134598e-02 2.47840801e+02] [ 6.39275227e-01 7.68581786e-01 -2.46824568e-02 1.58807402e+02] [ 3.91658665e-02 -4.86939154e-04 9.99232604e-01 1.57590677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.930385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.86, Y:158.83, Z:15.76 [[ 7.67799722e-01 -6.39967993e-01 -3.04064978e-02 2.47862912e+02] [ 6.39491690e-01 7.68401413e-01 -2.46910304e-02 1.58825428e+02] [ 3.91658650e-02 -4.86936415e-04 9.99232605e-01 1.57601833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.960385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.88, Y:158.84, Z:15.76 [[ 7.67624888e-01 -6.40178022e-01 -3.03995351e-02 2.47884626e+02] [ 6.39701545e-01 7.68226440e-01 -2.46995998e-02 1.58842265e+02] [ 3.91658676e-02 -4.86602024e-04 9.99232605e-01 1.57610888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.990385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.91, Y:158.86, Z:15.76 [[ 7.67797019e-01 -6.39971791e-01 -3.03948068e-02 2.47907299e+02] [ 6.39494922e-01 7.68398261e-01 -2.47054170e-02 1.58859066e+02] [ 3.91660867e-02 -4.68579095e-04 9.99232605e-01 1.57623877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.020385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.94, Y:158.88, Z:15.76 [[ 7.70390647e-01 -6.36847566e-01 -3.03879582e-02 2.47939369e+02] [ 6.36367927e-01 7.70989681e-01 -2.47138380e-02 1.58876482e+02] [ 3.91677498e-02 -2.98612274e-04 9.99232605e-01 1.57609430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.050385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.95, Y:158.89, Z:15.76 [[ 7.67939934e-01 -6.39774989e-01 -3.09228367e-02 2.47953178e+02] [ 6.39323907e-01 7.68561177e-01 -2.40553345e-02 1.58892745e+02] [ 3.91560931e-02 -1.29665675e-03 9.99232265e-01 1.57643473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.080385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.98, Y:158.91, Z:15.76 [[ 7.67608211e-01 -6.40198976e-01 -3.03793649e-02 2.47975829e+02] [ 6.39721582e-01 7.68208996e-01 -2.47231655e-02 1.58909979e+02] [ 3.91654467e-02 -4.56630542e-04 9.99232635e-01 1.57647920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.110385723 meters Centerline goodness : 0.999811 Centerline is valid? [True, True] Translation: X:248.00, Y:158.93, Z:15.76 [[ 7.66801711e-01 -6.41165067e-01 -3.03725693e-02 2.47997704e+02] [ 6.40688099e-01 7.67402835e-01 -2.47315111e-02 1.58926741e+02] [ 3.91649768e-02 -4.95178690e-04 9.99232635e-01 1.57620502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.140385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.02, Y:158.94, Z:15.77 [[ 7.66363152e-01 -6.41689297e-01 -3.03704665e-02 2.48020945e+02] [ 6.41212639e-01 7.66964521e-01 -2.47340931e-02 1.58943545e+02] [ 3.91646731e-02 -5.18629419e-04 9.99232635e-01 1.57671192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.170385723 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:248.04, Y:158.96, Z:15.77 [[ 7.65710595e-01 -6.42468117e-01 -3.03645124e-02 2.48042915e+02] [ 6.41991780e-01 7.66312219e-01 -2.47414005e-02 1.58959896e+02] [ 3.91642578e-02 -5.49014893e-04 9.99232635e-01 1.57670189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.200385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.07, Y:158.98, Z:15.77 [[ 7.64039242e-01 -6.44454973e-01 -3.03615620e-02 2.48066504e+02] [ 6.43980057e-01 7.64641988e-01 -2.47450205e-02 1.58976332e+02] [ 3.91627767e-02 -6.46073737e-04 9.99232635e-01 1.57704955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.230385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.09, Y:158.99, Z:15.77 [[ 7.63289540e-01 -6.45342016e-01 -3.03769730e-02 2.48089236e+02] [ 6.44868552e-01 7.63893429e-01 -2.47261157e-02 1.58993996e+02] [ 3.91615713e-02 -7.15969094e-04 9.99232635e-01 1.57700504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.260385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.11, Y:159.01, Z:15.77 [[ 7.61559509e-01 -6.47383754e-01 -3.03543846e-02 2.48112307e+02] [ 6.46910805e-01 7.62163800e-01 -2.47538147e-02 1.59009760e+02] [ 3.91602306e-02 -7.85076410e-04 9.99232636e-01 1.57700466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.290385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.13, Y:159.03, Z:15.77 [[ 7.60737895e-01 -6.48349180e-01 -3.03512231e-02 2.48134598e+02] [ 6.47876843e-01 7.61342664e-01 -2.47576905e-02 1.59026737e+02] [ 3.91593094e-02 -8.29741250e-04 9.99232636e-01 1.57720816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.320385723 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:248.16, Y:159.04, Z:15.77 [[ 7.59777222e-01 -6.49475014e-01 -3.03443475e-02 2.48156956e+02] [ 6.49003238e-01 7.60382428e-01 -2.47661147e-02 1.59043044e+02] [ 3.91582813e-02 -8.76849998e-04 9.99232636e-01 1.57721556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.350385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.18, Y:159.06, Z:15.77 [[ 7.60100387e-01 -6.49095277e-01 -3.03763671e-02 2.48178957e+02] [ 6.48624763e-01 7.60706578e-01 -2.47269004e-02 1.59060160e+02] [ 3.91576165e-02 -9.07937373e-04 9.99232634e-01 1.57748231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.380385723 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:248.20, Y:159.08, Z:15.77 [[ 7.60328906e-01 -6.48829703e-01 -3.03310230e-02 2.48201218e+02] [ 6.48356763e-01 7.60933204e-01 -2.47823968e-02 1.59077320e+02] [ 3.91594377e-02 -8.22551231e-04 9.99232637e-01 1.57744586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.410385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.22, Y:159.09, Z:15.78 [[ 7.60942878e-01 -6.48109849e-01 -3.03242355e-02 2.48223490e+02] [ 6.47636007e-01 7.61546468e-01 -2.47906994e-02 1.59094186e+02] [ 3.91604109e-02 -7.74760663e-04 9.99232637e-01 1.57763977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.440385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.25, Y:159.11, Z:15.78 [[ 7.62576408e-01 -6.46187335e-01 -3.03174882e-02 2.48246633e+02] [ 6.45711644e-01 7.63178541e-01 -2.47989482e-02 1.59111188e+02] [ 3.91624227e-02 -6.65262311e-04 9.99232637e-01 1.57771730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.470385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.27, Y:159.13, Z:15.78 [[ 7.63211146e-01 -6.45437799e-01 -3.03116034e-02 2.48268660e+02] [ 6.44961231e-01 7.63812586e-01 -2.48061390e-02 1.59128759e+02] [ 3.91632040e-02 -6.17487262e-04 9.99232637e-01 1.57780609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.500385723 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:248.29, Y:159.15, Z:15.78 [[ 7.64197732e-01 -6.44269477e-01 -3.03095195e-02 2.48292753e+02] [ 6.43791888e-01 7.64798362e-01 -2.48086851e-02 1.59147064e+02] [ 3.91641494e-02 -5.54281879e-04 9.99232637e-01 1.57782094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.530385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.31, Y:159.16, Z:15.78 [[ 7.65479405e-01 -6.42741700e-01 -3.04037296e-02 2.48314127e+02] [ 6.42267475e-01 7.66082709e-01 -2.46936045e-02 1.59163245e+02] [ 3.91633808e-02 -6.24880938e-04 9.99232625e-01 1.57812667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.560385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.34, Y:159.18, Z:15.78 [[ 7.65531079e-01 -6.42685045e-01 -3.03001577e-02 2.48338095e+02] [ 6.42205763e-01 7.66130356e-01 -2.48200452e-02 1.59181137e+02] [ 3.91653425e-02 -4.58419957e-04 9.99232638e-01 1.57828905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.590385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.36, Y:159.20, Z:15.78 [[ 7.66008102e-01 -6.42112558e-01 -3.03817605e-02 2.48362195e+02] [ 6.41636774e-01 7.66610169e-01 -2.47204208e-02 1.59197581e+02] [ 3.91642592e-02 -5.58012134e-04 9.99232630e-01 1.57829163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.620385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.38, Y:159.21, Z:15.78 [[ 7.66466767e-01 -6.41565028e-01 -3.03810792e-02 2.48383358e+02] [ 6.41088781e-01 7.67068468e-01 -2.47212521e-02 1.59213785e+02] [ 3.91646587e-02 -5.28950881e-04 9.99232630e-01 1.57838717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.650385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.41, Y:159.23, Z:15.78 [[ 7.65867161e-01 -6.42285234e-01 -3.02848105e-02 2.48406280e+02] [ 6.41804905e-01 7.66465594e-01 -2.48386296e-02 1.59231004e+02] [ 3.91657503e-02 -4.13849224e-04 9.99232642e-01 1.57848074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.680385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.43, Y:159.25, Z:15.79 [[ 7.66074632e-01 -6.42033454e-01 -3.03760086e-02 2.48427980e+02] [ 6.41557329e-01 7.66676429e-01 -2.47274250e-02 1.59246549e+02] [ 3.91644039e-02 -5.44897896e-04 9.99232632e-01 1.57864969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.710385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.45, Y:159.27, Z:15.79 [[ 7.65585398e-01 -6.42621383e-01 -3.02779784e-02 2.48451833e+02] [ 6.42140990e-01 7.66183778e-01 -2.48468836e-02 1.59265152e+02] [ 3.91656346e-02 -4.20319792e-04 9.99232644e-01 1.57880537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.740385723 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:248.47, Y:159.28, Z:15.79 [[ 7.65743472e-01 -6.42430158e-01 -3.03385562e-02 2.48473841e+02] [ 6.41952535e-01 7.66344072e-01 -2.47730927e-02 1.59281676e+02] [ 3.91647546e-02 -5.06079078e-04 9.99232639e-01 1.57874437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.770385723 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:248.50, Y:159.30, Z:15.79 [[ 7.64977532e-01 -6.43345403e-01 -3.02666240e-02 2.48496322e+02] [ 6.42865030e-01 7.65575927e-01 -2.48606670e-02 1.59297602e+02] [ 3.91653945e-02 -4.39502407e-04 9.99232645e-01 1.57858647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.800385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.52, Y:159.32, Z:15.79 [[ 7.64129065e-01 -6.44353034e-01 -3.02644785e-02 2.48519175e+02] [ 6.43873348e-01 7.64728010e-01 -2.48632786e-02 1.59315229e+02] [ 3.91648234e-02 -4.87737197e-04 9.99232645e-01 1.57892036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.830385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.54, Y:159.33, Z:15.79 [[ 7.62403663e-01 -6.46391742e-01 -3.03046347e-02 2.48542095e+02] [ 6.45915597e-01 7.63005430e-01 -2.48144224e-02 1.59330778e+02] [ 3.91624385e-02 -6.55629679e-04 9.99232642e-01 1.57914386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.860385723 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:248.57, Y:159.35, Z:15.79 [[ 7.60887776e-01 -6.48177952e-01 -3.02512056e-02 2.48566117e+02] [ 6.47700635e-01 7.61488610e-01 -2.48793878e-02 1.59347790e+02] [ 3.91622191e-02 -6.63303088e-04 9.99232646e-01 1.57921502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.890385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.59, Y:159.36, Z:15.79 [[ 7.60336442e-01 -6.48820494e-01 -3.03391087e-02 2.48587626e+02] [ 6.48347942e-01 7.60941042e-01 -2.47725107e-02 1.59363683e+02] [ 3.91591856e-02 -8.34856053e-04 9.99232636e-01 1.57939486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.920385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.61, Y:159.38, Z:15.80 [[ 7.58563829e-01 -6.50896525e-01 -3.02428704e-02 2.48610158e+02] [ 6.50420961e-01 7.59166049e-01 -2.48894363e-02 1.59380698e+02] [ 3.91598080e-02 -7.90370678e-04 9.99232648e-01 1.57957598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.950385723 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:248.63, Y:159.40, Z:15.80 [[ 7.57772580e-01 -6.51815851e-01 -3.02789455e-02 2.48632043e+02] [ 6.51342766e-01 7.58376751e-01 -2.48456102e-02 1.59398002e+02] [ 3.91576109e-02 -8.94650016e-04 9.99232646e-01 1.57953545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.980385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:248.65, Y:159.42, Z:15.80 [[ 7.57426218e-01 -6.52218305e-01 -3.02788325e-02 2.48653931e+02] [ 6.51745536e-01 7.58030636e-01 -2.48457474e-02 1.59415096e+02] [ 3.91571339e-02 -9.15273473e-04 9.99232646e-01 1.57960842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.010385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.68, Y:159.43, Z:15.80 [[ 7.55795894e-01 -6.54109194e-01 -3.02279511e-02 2.48677390e+02] [ 6.53635468e-01 7.56399558e-01 -2.49074978e-02 1.59430398e+02] [ 3.91566321e-02 -9.33076388e-04 9.99232649e-01 1.57973172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.040385723 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:248.70, Y:159.45, Z:15.80 [[ 7.54366170e-01 -6.55757852e-01 -3.02212070e-02 2.48702407e+02] [ 6.55285118e-01 7.54970611e-01 -2.49156779e-02 1.59448014e+02] [ 3.91547746e-02 -1.00796269e-03 9.99232649e-01 1.57976215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.070385723 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:248.73, Y:159.46, Z:15.80 [[ 7.53404412e-01 -6.56859309e-01 -3.02925816e-02 2.48725083e+02] [ 6.56390929e-01 7.54012243e-01 -2.48291350e-02 1.59464068e+02] [ 3.91502259e-02 -1.17739591e-03 9.99232642e-01 1.57985904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.100385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.75, Y:159.48, Z:15.80 [[ 7.53109731e-01 -6.57201056e-01 -3.02077132e-02 2.48746220e+02] [ 6.56728827e-01 7.53714565e-01 -2.49319626e-02 1.59481956e+02] [ 3.91533056e-02 -1.06177238e-03 9.99232651e-01 1.58003158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.130385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.77, Y:159.50, Z:15.80 [[ 7.52880305e-01 -6.57463968e-01 -3.02055672e-02 2.48768400e+02] [ 6.56991847e-01 7.53485223e-01 -2.49345623e-02 1.59499438e+02] [ 3.91530248e-02 -1.07207051e-03 9.99232651e-01 1.58009789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.160385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:248.79, Y:159.52, Z:15.80 [[ 7.52510598e-01 -6.57887399e-01 -3.01988316e-02 2.48792492e+02] [ 6.57415291e-01 7.53115526e-01 -2.49427172e-02 1.59517969e+02] [ 3.91527084e-02 -1.08351463e-03 9.99232651e-01 1.58019590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.190385723 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:248.82, Y:159.53, Z:15.80 [[ 7.52975056e-01 -6.57353244e-01 -3.02535580e-02 2.48815350e+02] [ 6.56883363e-01 7.53581721e-01 -2.48764649e-02 1.59534620e+02] [ 3.91511531e-02 -1.14170136e-03 9.99232647e-01 1.58011704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.220385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.84, Y:159.55, Z:15.80 [[ 7.52955424e-01 -6.57378599e-01 -3.01911746e-02 2.48838094e+02] [ 6.56905712e-01 7.53559742e-01 -2.49519473e-02 1.59552869e+02] [ 3.91537299e-02 -1.04505102e-03 9.99232652e-01 1.58038569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.250385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.86, Y:159.57, Z:15.81 [[ 7.52852390e-01 -6.57496871e-01 -3.01851655e-02 2.48861031e+02] [ 6.57023788e-01 7.53456555e-01 -2.49592147e-02 1.59570344e+02] [ 3.91538163e-02 -1.04176736e-03 9.99232652e-01 1.58060496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.280385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.88, Y:159.59, Z:15.81 [[ 7.52886889e-01 -6.57457648e-01 -3.01790118e-02 2.48882868e+02] [ 6.56984236e-01 7.53490796e-01 -2.49666531e-02 1.59586877e+02] [ 3.91541246e-02 -1.03006923e-03 9.99232652e-01 1.58073943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.310385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.91, Y:159.60, Z:15.81 [[ 7.53395524e-01 -6.56874831e-01 -3.01768313e-02 2.48905525e+02] [ 6.56400846e-01 7.53998981e-01 -2.49692883e-02 1.59603949e+02] [ 3.91549971e-02 -9.96347520e-04 9.99232652e-01 1.58100306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.340385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.93, Y:159.62, Z:15.81 [[ 7.53769130e-01 -6.56446353e-01 -3.01709214e-02 2.48926767e+02] [ 6.55971740e-01 7.54372093e-01 -2.49764273e-02 1.59621490e+02] [ 3.91557858e-02 -9.64811942e-04 9.99232652e-01 1.58116318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.370385723 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:248.95, Y:159.64, Z:15.81 [[ 7.55795431e-01 -6.54112684e-01 -3.01639465e-02 2.48949460e+02] [ 6.53635872e-01 7.56396658e-01 -2.49848481e-02 1.59638588e+02] [ 3.91588143e-02 -8.32803475e-04 9.99232652e-01 1.58100139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.400385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:248.97, Y:159.66, Z:15.81 [[ 7.56992283e-01 -6.52727538e-01 -3.01569785e-02 2.48971484e+02] [ 6.52249292e-01 7.57592369e-01 -2.49932557e-02 1.59656583e+02] [ 3.91604830e-02 -7.50166224e-04 9.99232653e-01 1.58129968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.430385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.99, Y:159.67, Z:15.81 [[ 7.58112915e-01 -6.51425971e-01 -3.01498504e-02 2.48993202e+02] [ 6.50946353e-01 7.58711904e-01 -2.50018515e-02 1.59673726e+02] [ 3.91619058e-02 -6.71708690e-04 9.99232653e-01 1.58131564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.460385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.02, Y:159.69, Z:15.81 [[ 7.60417008e-01 -6.48734995e-01 -3.01476435e-02 2.49018709e+02] [ 6.48253151e-01 7.61014209e-01 -2.50045123e-02 1.59690815e+02] [ 3.91640872e-02 -5.29448496e-04 9.99232653e-01 1.58138811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.490385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.04, Y:159.71, Z:15.82 [[ 7.60565643e-01 -6.48553609e-01 -3.03004821e-02 2.49041117e+02] [ 6.48078942e-01 7.61168601e-01 -2.48202745e-02 1.59709298e+02] [ 3.91610542e-02 -7.59656321e-04 9.99232623e-01 1.58162395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.520385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.06, Y:159.73, Z:15.82 [[ 7.60650642e-01 -6.48454460e-01 -3.02888604e-02 2.49059987e+02] [ 6.47979156e-01 7.61253093e-01 -2.48342760e-02 1.59727342e+02] [ 3.91613857e-02 -7.36342229e-04 9.99232627e-01 1.58194939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.550385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.08, Y:159.74, Z:15.82 [[ 7.61466641e-01 -6.47503470e-01 -3.01299081e-02 2.49080355e+02] [ 6.47019824e-01 7.62062375e-01 -2.50256503e-02 1.59743687e+02] [ 3.91650648e-02 -4.38449983e-04 9.99232658e-01 1.58217357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.580385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.10, Y:159.76, Z:15.82 [[ 7.61625531e-01 -6.47320192e-01 -3.00519507e-02 2.49104410e+02] [ 6.46832697e-01 7.62218128e-01 -2.51194629e-02 1.59762007e+02] [ 3.91664772e-02 -3.06960050e-04 9.99232652e-01 1.58225901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.610385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.13, Y:159.78, Z:15.82 [[ 7.63301786e-01 -6.45339527e-01 -3.01210726e-02 2.49132935e+02] [ 6.44853771e-01 7.63895802e-01 -2.50363031e-02 1.59777053e+02] [ 3.91662769e-02 -3.13432406e-04 9.99232658e-01 1.58238564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.640385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.15, Y:159.79, Z:15.83 [[ 7.62152683e-01 -6.46685372e-01 -3.03532025e-02 2.49151459e+02] [ 6.46211745e-01 7.62756496e-01 -2.47569815e-02 1.59793583e+02] [ 3.91620802e-02 -7.45996130e-04 9.99232593e-01 1.58254879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.670385723 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:249.17, Y:159.81, Z:15.82 [[ 7.61565014e-01 -6.47388561e-01 -3.01128125e-02 2.49173791e+02] [ 6.46904020e-01 7.62160014e-01 -2.50460067e-02 1.59809084e+02] [ 3.91652798e-02 -4.05937014e-04 9.99232664e-01 1.58229891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.700385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.20, Y:159.83, Z:15.83 [[ 7.60933938e-01 -6.48130323e-01 -3.01102366e-02 2.49195640e+02] [ 6.47646239e-01 7.61529311e-01 -2.50491031e-02 1.59827234e+02] [ 3.91649110e-02 -4.40068846e-04 9.99232664e-01 1.58259431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.730385723 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:249.22, Y:159.84, Z:15.83 [[ 7.60987907e-01 -6.48067269e-01 -3.01034946e-02 2.49217613e+02] [ 6.47582816e-01 7.61582979e-01 -2.50572029e-02 1.59843329e+02] [ 3.91650621e-02 -4.26277406e-04 9.99232664e-01 1.58280933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.760385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:249.24, Y:159.86, Z:15.83 [[ 7.59855080e-01 -6.49399235e-01 -3.00148374e-02 2.49242096e+02] [ 6.48911616e-01 7.60447570e-01 -2.51636243e-02 1.59861177e+02] [ 3.91659485e-02 -3.56268894e-04 9.99232656e-01 1.58288364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.790385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.26, Y:159.87, Z:15.83 [[ 7.59221104e-01 -6.50136531e-01 -3.00966163e-02 2.49264655e+02] [ 6.49653373e-01 7.59817227e-01 -2.50654519e-02 1.59874588e+02] [ 3.91638935e-02 -5.22148232e-04 9.99232664e-01 1.58309703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.820385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.29, Y:159.89, Z:15.83 [[ 7.57270854e-01 -6.52411535e-01 -3.00007087e-02 2.49289756e+02] [ 6.51925603e-01 7.57864730e-01 -2.51805188e-02 1.59890733e+02] [ 3.91645399e-02 -4.89757101e-04 9.99232655e-01 1.58309092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.850385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.31, Y:159.91, Z:15.83 [[ 7.57096159e-01 -6.52610283e-01 -3.00869533e-02 2.49311683e+02] [ 6.52128611e-01 7.57693484e-01 -2.50770447e-02 1.59909012e+02] [ 3.91622257e-02 -6.34828857e-04 9.99232664e-01 1.58320720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.880385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.33, Y:159.93, Z:15.83 [[ 7.56383162e-01 -6.53436831e-01 -3.00802297e-02 2.49334096e+02] [ 6.52955492e-01 7.56980755e-01 -2.50851072e-02 1.59925905e+02] [ 3.91616879e-02 -6.67098475e-04 9.99232664e-01 1.58328605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.910385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.36, Y:159.94, Z:15.83 [[ 7.56046509e-01 -6.53826627e-01 -3.00735366e-02 2.49356622e+02] [ 6.53345277e-01 7.56644093e-01 -2.50931288e-02 1.59942272e+02] [ 3.91615196e-02 -6.76830689e-04 9.99232664e-01 1.58338956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.940385723 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:249.38, Y:159.96, Z:15.83 [[ 7.56687684e-01 -6.53084790e-01 -3.00666998e-02 2.49377791e+02] [ 6.52602529e-01 7.57284533e-01 -2.51013180e-02 1.59957537e+02] [ 3.91623357e-02 -6.27746101e-04 9.99232664e-01 1.58326651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.970385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:249.40, Y:159.97, Z:15.84 [[ 7.55959019e-01 -6.53935343e-01 -2.99086543e-02 2.49402446e+02] [ 6.53446254e-01 7.56550319e-01 -2.52904545e-02 1.59974826e+02] [ 3.91657241e-02 -4.25150928e-04 9.99232638e-01 1.58354287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.000385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.43, Y:159.99, Z:15.84 [[ 7.56569657e-01 -6.53220851e-01 -3.00811210e-02 2.49425875e+02] [ 6.52739382e-01 7.57167147e-01 -2.50840674e-02 1.59992096e+02] [ 3.91618724e-02 -6.57288081e-04 9.99232663e-01 1.58369756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.030385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.45, Y:160.01, Z:15.84 [[ 7.58112738e-01 -6.51430720e-01 -3.00515007e-02 2.49449678e+02] [ 6.50946436e-01 7.58707946e-01 -2.51195034e-02 1.60008058e+02] [ 3.91639286e-02 -5.18501726e-04 9.99232665e-01 1.58382225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.060385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:249.47, Y:160.02, Z:15.84 [[ 7.58757104e-01 -6.50680389e-01 -3.00447774e-02 2.49471862e+02] [ 6.50195198e-01 7.59351573e-01 -2.51275424e-02 1.60024526e+02] [ 3.91645480e-02 -4.69268745e-04 9.99232665e-01 1.58385018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.090385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.49, Y:160.04, Z:15.84 [[ 7.59455491e-01 -6.49865424e-01 -3.00381116e-02 2.49494425e+02] [ 6.49379280e-01 7.60049181e-01 -2.51355083e-02 1.60041093e+02] [ 3.91651399e-02 -4.16827462e-04 9.99232665e-01 1.58405049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.120385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.52, Y:160.06, Z:15.84 [[ 7.60562260e-01 -6.48570090e-01 -3.00314490e-02 2.49518025e+02] [ 6.48082620e-01 7.61154862e-01 -2.51434662e-02 1.60056169e+02] [ 3.91658835e-02 -3.39688720e-04 9.99232665e-01 1.58425328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.150385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:249.54, Y:160.07, Z:15.84 [[ 7.60542686e-01 -6.48593358e-01 -3.00246339e-02 2.49541254e+02] [ 6.48105585e-01 7.61135039e-01 -2.51516017e-02 1.60072382e+02] [ 3.91659627e-02 -3.30266244e-04 9.99232665e-01 1.58438419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.180385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.57, Y:160.09, Z:15.85 [[ 7.60453920e-01 -6.48699894e-01 -2.99713688e-02 2.49566096e+02] [ 6.48209698e-01 7.61044272e-01 -2.52151622e-02 1.60088426e+02] [ 3.91666116e-02 -2.52763035e-04 9.99232662e-01 1.58456482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.210385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:249.59, Y:160.11, Z:15.85 [[ 7.60640037e-01 -6.48479486e-01 -3.00181535e-02 2.49587713e+02] [ 6.47991320e-01 7.61232065e-01 -2.51593425e-02 1.60105138e+02] [ 3.91660985e-02 -3.14299640e-04 9.99232665e-01 1.58461105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.240385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.61, Y:160.12, Z:15.85 [[ 7.60806632e-01 -6.48284166e-01 -3.00151400e-02 2.49610128e+02] [ 6.47795706e-01 7.61398417e-01 -2.51629371e-02 1.60122004e+02] [ 3.91662138e-02 -2.99549420e-04 9.99232665e-01 1.58469454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.270385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.63, Y:160.14, Z:15.85 [[ 7.61346963e-01 -6.47649838e-01 -3.00081520e-02 2.49633036e+02] [ 6.47160556e-01 7.61938070e-01 -2.51712679e-02 1.60136476e+02] [ 3.91665210e-02 -2.56023965e-04 9.99232665e-01 1.58472800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.300385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.66, Y:160.15, Z:15.85 [[ 7.60687045e-01 -6.48425130e-01 -3.00011835e-02 2.49659158e+02] [ 6.47936123e-01 7.61278378e-01 -2.51795708e-02 1.60154105e+02] [ 3.91663188e-02 -2.85077273e-04 9.99232665e-01 1.58503028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.330385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:249.68, Y:160.17, Z:15.85 [[ 7.60856847e-01 -6.48218985e-01 -3.01497193e-02 2.49679260e+02] [ 6.47736814e-01 7.61453801e-01 -2.50025579e-02 1.60168251e+02] [ 3.91647511e-02 -5.05715742e-04 9.99232639e-01 1.58502055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.360385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:249.71, Y:160.19, Z:15.85 [[ 7.60274399e-01 -6.48911190e-01 -2.99517231e-02 2.49705694e+02] [ 6.48420244e-01 7.60864123e-01 -2.52383529e-02 1.60185511e+02] [ 3.91666412e-02 -2.33229987e-04 9.99232666e-01 1.58525918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.390385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:249.73, Y:160.20, Z:15.85 [[ 7.58753780e-01 -6.50678973e-01 -3.01591704e-02 2.49729589e+02] [ 6.50199187e-01 7.59352655e-01 -2.49912422e-02 1.60199049e+02] [ 3.91627219e-02 -6.47268553e-04 9.99232637e-01 1.58536405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.420385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.76, Y:160.22, Z:15.85 [[ 7.59315978e-01 -6.50025704e-01 -3.00969898e-02 2.49755542e+02] [ 6.49542467e-01 7.59912045e-01 -2.50652639e-02 1.60215021e+02] [ 3.91641309e-02 -5.16817648e-04 9.99232657e-01 1.58540616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.450385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:249.78, Y:160.23, Z:15.86 [[ 7.59239281e-01 -6.50109927e-01 -3.02125279e-02 2.49780016e+02] [ 6.49632217e-01 7.59839846e-01 -2.49276981e-02 1.60230529e+02] [ 3.91624266e-02 -7.00943943e-04 9.99232612e-01 1.58553127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.480385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.81, Y:160.25, Z:15.86 [[ 7.57962887e-01 -6.51594893e-01 -3.02713900e-02 2.49805681e+02] [ 6.51121153e-01 7.58566635e-01 -2.48576575e-02 1.60245299e+02] [ 3.91599891e-02 -8.69160557e-04 9.99232575e-01 1.58590450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.510385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.83, Y:160.26, Z:15.86 [[ 7.57232655e-01 -6.52443042e-01 -3.02784312e-02 2.49827741e+02] [ 6.51970314e-01 7.57837201e-01 -2.48492804e-02 1.60261009e+02] [ 3.91588616e-02 -9.23951733e-04 9.99232570e-01 1.58603361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.540385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:249.85, Y:160.28, Z:15.86 [[ 7.55423346e-01 -6.54538268e-01 -3.02526679e-02 2.49846622e+02] [ 6.54065990e-01 7.56028221e-01 -2.48799137e-02 1.60275788e+02] [ 3.91567263e-02 -9.92373478e-04 9.99232589e-01 1.58631067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.570385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.87, Y:160.29, Z:15.86 [[ 7.55160373e-01 -6.54855123e-01 -2.99596261e-02 2.49867972e+02] [ 6.54369231e-01 7.55754233e-01 -2.52279242e-02 1.60291789e+02] [ 3.91627496e-02 -5.53528883e-04 9.99232692e-01 1.58640409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.600385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:249.89, Y:160.31, Z:15.87 [[ 7.55068413e-01 -6.54961325e-01 -2.99558773e-02 2.49890813e+02] [ 6.54475340e-01 7.55662198e-01 -2.52323748e-02 1.60308571e+02] [ 3.91627537e-02 -5.53213792e-04 9.99232692e-01 1.58657570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.630385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.91, Y:160.32, Z:15.87 [[ 7.55308013e-01 -6.54685320e-01 -2.99489195e-02 2.49914437e+02] [ 6.54198791e-01 7.55901351e-01 -2.52406305e-02 1.60323666e+02] [ 3.91630989e-02 -5.28096467e-04 9.99232692e-01 1.58663628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.660385723 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:249.94, Y:160.34, Z:15.87 [[ 7.56698942e-01 -6.53077478e-01 -2.99419393e-02 2.49941611e+02] [ 6.52589360e-01 7.57290974e-01 -2.52489080e-02 1.60341185e+02] [ 3.91642536e-02 -4.33969070e-04 9.99232692e-01 1.58652497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.690385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.96, Y:160.36, Z:15.87 [[ 7.57291646e-01 -6.52377724e-01 -3.02103947e-02 2.49964848e+02] [ 6.51901701e-01 7.57893555e-01 -2.49305167e-02 1.60358509e+02] [ 3.91603772e-02 -8.14535693e-04 9.99232606e-01 1.58654517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.720385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.98, Y:160.38, Z:15.87 [[ 7.55637130e-01 -6.54292390e-01 -3.02323685e-02 2.49982095e+02] [ 6.53818933e-01 7.56241079e-01 -2.49044878e-02 1.60375152e+02] [ 3.91577758e-02 -9.47739190e-04 9.99232591e-01 1.58695791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.750385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.00, Y:160.39, Z:15.87 [[ 7.56256341e-01 -6.53591334e-01 -2.99117977e-02 2.50003103e+02] [ 6.53102240e-01 7.56847539e-01 -2.52837448e-02 1.60391748e+02] [ 3.91639070e-02 -4.14469731e-04 9.99232714e-01 1.58707347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.780385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:250.02, Y:160.41, Z:15.87 [[ 7.56626683e-01 -6.53162799e-01 -2.99068804e-02 2.50024754e+02] [ 6.52673140e-01 7.57217413e-01 -2.52895599e-02 1.60409492e+02] [ 3.91642104e-02 -3.84661762e-04 9.99232714e-01 1.58735037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.810385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:250.05, Y:160.43, Z:15.88 [[ 7.56214646e-01 -6.53639936e-01 -2.99039024e-02 2.50046215e+02] [ 6.53150511e-01 7.56805570e-01 -2.52930809e-02 1.60427710e+02] [ 3.91640076e-02 -4.04750896e-04 9.99232714e-01 1.58751235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.840385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.07, Y:160.45, Z:15.88 [[ 7.54869781e-01 -6.55192936e-01 -2.98970021e-02 2.50065934e+02] [ 6.54704403e-01 7.55461443e-01 -2.53012345e-02 1.60446441e+02] [ 3.91632225e-02 -4.74561583e-04 9.99232714e-01 1.58751441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.870385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.09, Y:160.47, Z:15.88 [[ 7.55447756e-01 -6.54531164e-01 -2.97933341e-02 2.50088988e+02] [ 6.54037276e-01 7.56034971e-01 -2.54237011e-02 1.60465104e+02] [ 3.91654072e-02 -2.79673081e-04 9.99232702e-01 1.58764328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.900385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.11, Y:160.48, Z:15.88 [[ 7.55681010e-01 -6.54257301e-01 -2.98930764e-02 2.50109455e+02] [ 6.53767852e-01 7.56271914e-01 -2.53058792e-02 1.60483196e+02] [ 3.91638504e-02 -4.19959980e-04 9.99232714e-01 1.58757019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.930385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:250.13, Y:160.50, Z:15.88 [[ 7.54004174e-01 -6.56189226e-01 -2.98898841e-02 2.50128346e+02] [ 6.55701142e-01 7.54596206e-01 -2.53096493e-02 1.60502699e+02] [ 3.91627123e-02 -5.15249894e-04 9.99232714e-01 1.58764993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.960385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.15, Y:160.52, Z:15.88 [[ 7.52510048e-01 -6.57906250e-01 -2.97992188e-02 2.50149150e+02] [ 6.57415275e-01 7.53099695e-01 -2.54166510e-02 1.60522513e+02] [ 3.91635561e-02 -4.64176374e-04 9.99232706e-01 1.58772835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.990385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:250.17, Y:160.54, Z:15.88 [[ 7.51630559e-01 -6.58910226e-01 -2.98130348e-02 2.50170603e+02] [ 6.58420685e-01 7.52221394e-01 -2.54003424e-02 1.60540939e+02] [ 3.91625479e-02 -5.37845247e-04 9.99232708e-01 1.58790539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.020385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.19, Y:160.56, Z:15.88 [[ 7.49404657e-01 -6.61441173e-01 -2.98032835e-02 2.50191435e+02] [ 6.60953169e-01 7.49996764e-01 -2.54118468e-02 1.60558877e+02] [ 3.91608079e-02 -6.54818370e-04 9.99232707e-01 1.58804176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.050385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.21, Y:160.58, Z:15.88 [[ 7.47508894e-01 -6.63583815e-01 -2.97821094e-02 2.50210810e+02] [ 6.63096514e-01 7.48101585e-01 -2.54368129e-02 1.60578315e+02] [ 3.91595006e-02 -7.34169074e-04 9.99232703e-01 1.58793200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.080385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.23, Y:160.60, Z:15.88 [[ 7.46716833e-01 -6.64479555e-01 -2.96798405e-02 2.50231224e+02] [ 6.63988169e-01 7.47306185e-01 -2.55573358e-02 1.60596825e+02] [ 3.91622555e-02 -6.22970143e-04 9.99232670e-01 1.58804006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.110385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:250.25, Y:160.62, Z:15.88 [[ 7.46545915e-01 -6.64672005e-01 -2.96702294e-02 2.50254013e+02] [ 6.64180322e-01 7.47135023e-01 -2.55686592e-02 1.60616193e+02] [ 3.91624395e-02 -6.18204402e-04 9.99232666e-01 1.58825054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.140385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.28, Y:160.63, Z:15.88 [[ 7.47305939e-01 -6.63812050e-01 -2.97891849e-02 2.50276299e+02] [ 6.63325260e-01 7.47899050e-01 -2.54285359e-02 1.60634058e+02] [ 3.91590716e-02 -7.57022977e-04 9.99232703e-01 1.58824707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.170385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.30, Y:160.65, Z:15.88 [[ 7.46099337e-01 -6.65164977e-01 -2.98551863e-02 2.50296421e+02] [ 6.64682367e-01 7.46695847e-01 -2.53508075e-02 1.60654120e+02] [ 3.91552130e-02 -9.29995233e-04 9.99232708e-01 1.58836307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.200385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.32, Y:160.67, Z:15.88 [[ 7.47404702e-01 -6.63700734e-01 -2.97917097e-02 2.50318423e+02] [ 6.63213976e-01 7.47997838e-01 -2.54255273e-02 1.60671462e+02] [ 3.91590756e-02 -7.55119556e-04 9.99232704e-01 1.58829231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.230385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.34, Y:160.69, Z:15.88 [[ 7.45384870e-01 -6.65965910e-01 -2.98463126e-02 2.50335960e+02] [ 6.65483522e-01 7.45981560e-01 -2.53612683e-02 1.60691085e+02] [ 3.91545390e-02 -9.58323555e-04 9.99232707e-01 1.58837965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.260385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.36, Y:160.71, Z:15.88 [[ 7.46615394e-01 -6.64596425e-01 -2.96149461e-02 2.50357812e+02] [ 6.64102116e-01 7.47202323e-01 -2.56333284e-02 1.60710136e+02] [ 3.91641750e-02 -5.29110737e-04 9.99232649e-01 1.58847144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.290385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:250.38, Y:160.73, Z:15.89 [[ 7.49032784e-01 -6.61867968e-01 -2.96762703e-02 2.50383537e+02] [ 6.61374376e-01 7.49620278e-01 -2.55611685e-02 1.60728050e+02] [ 3.91640526e-02 -4.80971568e-04 9.99232678e-01 1.58892982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.320385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:250.40, Y:160.75, Z:15.89 [[ 7.50057746e-01 -6.60698469e-01 -2.98481263e-02 2.50404407e+02] [ 6.60211984e-01 7.50651093e-01 -2.53588913e-02 1.60745846e+02] [ 3.91601093e-02 -6.85457869e-04 9.99232714e-01 1.58897560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.350385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:250.43, Y:160.76, Z:15.89 [[ 7.50553356e-01 -6.60135537e-01 -2.98451472e-02 2.50425018e+02] [ 6.59648468e-01 7.51146223e-01 -2.53623969e-02 1.60764896e+02] [ 3.91606891e-02 -6.51473543e-04 9.99232714e-01 1.58917073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.380385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.45, Y:160.78, Z:15.89 [[ 7.51851108e-01 -6.58658453e-01 -2.98153454e-02 2.50446117e+02] [ 6.58168828e-01 7.52441867e-01 -2.53974528e-02 1.60783261e+02] [ 3.91625611e-02 -5.28427942e-04 9.99232713e-01 1.58931965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.410385723 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:250.47, Y:160.80, Z:15.89 [[ 7.53142004e-01 -6.57181059e-01 -2.98358327e-02 2.50466930e+02] [ 6.56691229e-01 7.53732593e-01 -2.53733624e-02 1.60802816e+02] [ 3.91631327e-02 -4.83184618e-04 9.99232713e-01 1.58926504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.440385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:250.49, Y:160.82, Z:15.89 [[ 7.54056119e-01 -6.56132314e-01 -2.98287862e-02 2.50487193e+02] [ 6.55641335e-01 7.54645753e-01 -2.53816434e-02 1.60820857e+02] [ 3.91638833e-02 -4.17801682e-04 9.99232713e-01 1.58930601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.470385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.51, Y:160.84, Z:15.89 [[ 7.54421997e-01 -6.55711733e-01 -2.98257262e-02 2.50508482e+02] [ 6.55220283e-01 7.55011239e-01 -2.53852388e-02 1.60839841e+02] [ 3.91641574e-02 -3.91238224e-04 9.99232713e-01 1.58943841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.500385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.53, Y:160.86, Z:15.89 [[ 7.52972624e-01 -6.57375900e-01 -2.98186968e-02 2.50526246e+02] [ 6.56885425e-01 7.53562677e-01 -2.53934931e-02 1.60859269e+02] [ 3.91633274e-02 -4.66862193e-04 9.99232714e-01 1.58913933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.530385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.55, Y:160.88, Z:15.90 [[ 7.55716758e-01 -6.54228018e-01 -2.96290926e-02 2.50551731e+02] [ 6.53726336e-01 7.56297363e-01 -2.56159538e-02 1.60875923e+02] [ 3.91670793e-02 -1.09125732e-05 9.99232676e-01 1.58974372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.560385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.57, Y:160.90, Z:15.90 [[ 7.53878644e-01 -6.56337066e-01 -2.98101629e-02 2.50569792e+02] [ 6.55845384e-01 7.54467691e-01 -2.54034760e-02 1.60895386e+02] [ 3.91640477e-02 -3.99719695e-04 9.99232714e-01 1.58953981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.590385723 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:250.60, Y:160.91, Z:15.90 [[ 7.56096797e-01 -6.53789407e-01 -2.96149351e-02 2.50595603e+02] [ 6.53286746e-01 7.56676556e-01 -2.56323583e-02 1.60913423e+02] [ 3.91670915e-02 3.34994425e-05 9.99232675e-01 1.59000567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.620385723 meters Centerline goodness : 0.999623 Centerline is valid? [True, True] Translation: X:250.62, Y:160.93, Z:15.90 [[ 7.56343891e-01 -6.53492479e-01 -2.98579827e-02 2.50618312e+02] [ 6.53000796e-01 7.56932939e-01 -2.53473132e-02 1.60932085e+02] [ 3.91647691e-02 -3.26001034e-04 9.99232713e-01 1.59011618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.650385723 meters Centerline goodness : 0.999733 Centerline is valid? [True, True] Translation: X:250.64, Y:160.95, Z:15.90 [[ 7.56364927e-01 -6.53466968e-01 -2.98834108e-02 2.50640881e+02] [ 6.52976443e-01 7.56954945e-01 -2.53175016e-02 1.60949405e+02] [ 3.91645466e-02 -3.63893079e-04 9.99232709e-01 1.59016620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.680385723 meters Centerline goodness : 0.999579 Centerline is valid? [True, True] Translation: X:250.66, Y:160.97, Z:15.90 [[ 7.55638138e-01 -6.54307875e-01 -2.98698475e-02 2.50659971e+02] [ 6.53817379e-01 7.56228176e-01 -2.53333926e-02 1.60966384e+02] [ 3.91642586e-02 -3.86547783e-04 9.99232711e-01 1.59029095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.710385723 meters Centerline goodness : 0.999756 Centerline is valid? [True, True] Translation: X:250.69, Y:160.99, Z:15.90 [[ 7.57059147e-01 -6.52667115e-01 -2.97839536e-02 2.50686909e+02] [ 6.52171377e-01 7.57644777e-01 -2.54339776e-02 1.60985097e+02] [ 3.91655776e-02 -1.69216638e-04 9.99232720e-01 1.59028724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.740385723 meters Centerline goodness : 0.999756 Centerline is valid? [True, True] Translation: X:250.71, Y:161.00, Z:15.90 [[ 7.56699116e-01 -6.53069651e-01 -3.01077999e-02 2.50708695e+02] [ 6.52589237e-01 7.57297535e-01 -2.50545825e-02 1.61003734e+02] [ 3.91629501e-02 -6.89245747e-04 9.99232600e-01 1.59041929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.770385723 meters Centerline goodness : 0.999578 Centerline is valid? [True, True] Translation: X:250.72, Y:161.02, Z:15.91 [[ 7.52884154e-01 -6.57464889e-01 -3.00893730e-02 2.50724823e+02] [ 6.56987106e-01 7.53484658e-01 -2.50761454e-02 1.61023341e+02] [ 3.91585660e-02 -8.88897551e-04 9.99232614e-01 1.59056863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.800385723 meters Centerline goodness : 0.999712 Centerline is valid? [True, True] Translation: X:250.75, Y:161.04, Z:15.91 [[ 7.51946931e-01 -6.58551163e-01 -2.97687438e-02 2.50746750e+02] [ 6.58059338e-01 7.52535821e-01 -2.54508598e-02 1.61040592e+02] [ 3.91627394e-02 -4.51903929e-04 9.99232743e-01 1.59075052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.830385723 meters Centerline goodness : 0.999667 Centerline is valid? [True, True] Translation: X:250.77, Y:161.06, Z:15.91 [[ 7.50600167e-01 -6.60086523e-01 -2.97518246e-02 2.50767890e+02] [ 6.59595119e-01 7.51189408e-01 -2.54706228e-02 1.61056943e+02] [ 3.91620704e-02 -5.05904596e-04 9.99232744e-01 1.59089705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.860385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:250.79, Y:161.07, Z:15.91 [[ 7.47795633e-01 -6.63262165e-01 -2.97488263e-02 2.50790010e+02] [ 6.62773124e-01 7.48386836e-01 -2.54741242e-02 1.61074687e+02] [ 3.91596528e-02 -6.67283713e-04 9.99232744e-01 1.59102316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.890385723 meters Centerline goodness : 0.999822 Centerline is valid? [True, True] Translation: X:250.81, Y:161.09, Z:15.91 [[ 7.46762203e-01 -6.64425785e-01 -2.97420272e-02 2.50811735e+02] [ 6.63937349e-01 7.47353906e-01 -2.54820600e-02 1.61092913e+02] [ 3.91587579e-02 -7.17803368e-04 9.99232744e-01 1.59112193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.920385723 meters Centerline goodness : 0.999777 Centerline is valid? [True, True] Translation: X:250.83, Y:161.11, Z:15.91 [[ 7.45421276e-01 -6.65930129e-01 -2.97352298e-02 2.50832041e+02] [ 6.65442572e-01 7.46013703e-01 -2.54899895e-02 1.61110061e+02] [ 3.91574409e-02 -7.86307283e-04 9.99232744e-01 1.59118700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.950385723 meters Centerline goodness : 0.999733 Centerline is valid? [True, True] Translation: X:250.85, Y:161.13, Z:15.91 [[ 7.45142797e-01 -6.66241871e-01 -2.97318370e-02 2.50852451e+02] [ 6.65754403e-01 7.45735297e-01 -2.54939463e-02 1.61128124e+02] [ 3.91572148e-02 -7.97470983e-04 9.99232744e-01 1.59125971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.980385723 meters Centerline goodness : 0.999777 Centerline is valid? [True, True] Translation: X:250.87, Y:161.15, Z:15.91 [[ 7.44878347e-01 -6.66537661e-01 -2.97286821e-02 2.50873188e+02] [ 6.66050282e-01 7.45470921e-01 -2.54976248e-02 1.61146921e+02] [ 3.91569951e-02 -8.08168469e-04 9.99232744e-01 1.59130576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.010385723 meters Centerline goodness : 0.999844 Centerline is valid? [True, True] Translation: X:250.89, Y:161.17, Z:15.92 [[ 7.45160762e-01 -6.66222213e-01 -2.97220606e-02 2.50894288e+02] [ 6.65734275e-01 7.45752876e-01 -2.55053409e-02 1.61165527e+02] [ 3.91575368e-02 -7.81415172e-04 9.99232744e-01 1.59155643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.040385723 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:250.91, Y:161.18, Z:15.92 [[ 7.45448045e-01 -6.65901067e-01 -2.97149921e-02 2.50914762e+02] [ 6.65412546e-01 7.46039678e-01 -2.55135735e-02 1.61183805e+02] [ 3.91580789e-02 -7.53685047e-04 9.99232744e-01 1.59155253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.070385723 meters Centerline goodness : 0.999844 Centerline is valid? [True, True] Translation: X:250.93, Y:161.20, Z:15.91 [[ 7.42059125e-01 -6.69675635e-01 -2.97119312e-02 2.50928244e+02] [ 6.69189980e-01 7.42653113e-01 -2.55171375e-02 1.61203089e+02] [ 3.91538635e-02 -9.47701978e-04 9.99232744e-01 1.59132034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.100385723 meters Centerline goodness : 0.999779 Centerline is valid? [True, True] Translation: X:250.96, Y:161.22, Z:15.92 [[ 7.43999800e-01 -6.67537932e-01 -2.92815037e-02 2.50956192e+02] [ 6.67030787e-01 7.44575771e-01 -2.60163524e-02 1.61222309e+02] [ 3.91692002e-02 -1.75503472e-04 9.99232577e-01 1.59174065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.130385723 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:250.98, Y:161.24, Z:15.92 [[ 7.43558606e-01 -6.68011187e-01 -2.96926415e-02 2.50977078e+02] [ 6.67523325e-01 7.44150767e-01 -2.55391289e-02 1.61241218e+02] [ 3.91562257e-02 -8.30691685e-04 9.99232756e-01 1.59218497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.160385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:251.00, Y:161.26, Z:15.92 [[ 7.43066197e-01 -6.68560046e-01 -2.96663228e-02 2.50996600e+02] [ 6.68071403e-01 7.43657712e-01 -2.55696643e-02 1.61259490e+02] [ 3.91564457e-02 -8.19268635e-04 9.99232756e-01 1.59223051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.190385723 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:251.02, Y:161.28, Z:15.92 [[ 7.42236076e-01 -6.69481666e-01 -2.96632375e-02 2.51017864e+02] [ 6.68993613e-01 7.42828079e-01 -2.55732431e-02 1.61279449e+02] [ 3.91555031e-02 -8.63132820e-04 9.99232756e-01 1.59240548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.220385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:251.04, Y:161.30, Z:15.93 [[ 7.42685815e-01 -6.68982983e-01 -2.96571808e-02 2.51042132e+02] [ 6.68494254e-01 7.43277259e-01 -2.55802650e-02 1.61298783e+02] [ 3.91562701e-02 -8.27554997e-04 9.99232757e-01 1.59255250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.250385723 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:251.06, Y:161.32, Z:15.93 [[ 7.42533710e-01 -6.69145561e-01 -2.97977822e-02 2.51064296e+02] [ 6.68663481e-01 7.43130616e-01 -2.54172615e-02 1.61318665e+02] [ 3.91514920e-02 -1.05151529e-03 9.99232733e-01 1.59268254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.280385723 meters Centerline goodness : 0.994894 Centerline is valid? [True, True] Translation: X:251.09, Y:161.34, Z:15.93 [[ 7.42637037e-01 -6.69028393e-01 -2.98536482e-02 2.51086916e+02] [ 6.68548824e-01 7.43235986e-01 -2.53523107e-02 1.61337658e+02] [ 3.91497214e-02 -1.13105649e-03 9.99232716e-01 1.59256427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.310385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:251.10, Y:161.36, Z:15.93 [[ 7.41848538e-01 -6.69898691e-01 -2.99414476e-02 2.51103814e+02] [ 6.69423934e-01 7.42451361e-01 -2.52502334e-02 1.61355841e+02] [ 3.91451668e-02 -1.31167293e-03 9.99232673e-01 1.59290030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.340385723 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:251.12, Y:161.38, Z:15.93 [[ 7.42217380e-01 -6.69501794e-01 -2.96767242e-02 2.51123850e+02] [ 6.69014382e-01 7.42809912e-01 -2.55576269e-02 1.61375889e+02] [ 3.91550419e-02 -8.84840444e-04 9.99232756e-01 1.59299574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.370385723 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:251.14, Y:161.40, Z:15.93 [[ 7.42817938e-01 -6.68835717e-01 -2.96697609e-02 2.51144861e+02] [ 6.68347451e-01 7.43409766e-01 -2.55657080e-02 1.61395050e+02] [ 3.91560486e-02 -8.39042560e-04 9.99232756e-01 1.59314844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.400385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.17, Y:161.42, Z:15.93 [[ 7.44700455e-01 -6.66739340e-01 -2.96628404e-02 2.51166895e+02] [ 6.66249088e-01 7.45290639e-01 -2.55737351e-02 1.61415377e+02] [ 3.91584525e-02 -7.18068172e-04 9.99232756e-01 1.59334493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.430385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:251.19, Y:161.43, Z:15.93 [[ 7.45735251e-01 -6.65577545e-01 -2.97567939e-02 2.51185228e+02] [ 6.65090712e-01 7.46328273e-01 -2.54647633e-02 1.61434366e+02] [ 3.91571112e-02 -8.00995583e-04 9.99232745e-01 1.59340664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.460385723 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:251.20, Y:161.45, Z:15.93 [[ 7.44853843e-01 -6.66568445e-01 -2.96523302e-02 2.51203302e+02] [ 6.66077577e-01 7.45443510e-01 -2.55858307e-02 1.61454955e+02] [ 3.91588445e-02 -6.93047876e-04 9.99232758e-01 1.59317748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.490385723 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:251.23, Y:161.47, Z:15.94 [[ 7.47710463e-01 -6.63369485e-01 -2.94956051e-02 2.51226339e+02] [ 6.62868915e-01 7.48291952e-01 -2.57673487e-02 1.61474529e+02] [ 3.91645968e-02 -2.85203477e-04 9.99232732e-01 1.59352464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.520385723 meters Centerline goodness : 0.999781 Centerline is valid? [True, True] Translation: X:251.25, Y:161.49, Z:15.94 [[ 7.47598153e-01 -6.63489396e-01 -2.96449376e-02 2.51246341e+02] [ 6.62995759e-01 7.48185505e-01 -2.55943845e-02 1.61493146e+02] [ 3.91615153e-02 -5.20153314e-04 9.99232758e-01 1.59364612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.550385723 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:251.26, Y:161.51, Z:15.93 [[ 7.44007541e-01 -6.67513402e-01 -2.96418331e-02 2.51261349e+02] [ 6.67022798e-01 7.44597429e-01 -2.55979795e-02 1.61514937e+02] [ 3.91582270e-02 -7.26688646e-04 9.99232758e-01 1.59327047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.580385723 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:251.28, Y:161.53, Z:15.93 [[ 7.43434250e-01 -6.68161071e-01 -2.94329663e-02 2.51282574e+02] [ 6.67661386e-01 7.44016524e-01 -2.58396082e-02 1.61534055e+02] [ 3.91636336e-02 -4.41205375e-04 9.99232713e-01 1.59348437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.610385723 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:251.31, Y:161.55, Z:15.94 [[ 7.43480467e-01 -6.68108045e-01 -2.94692405e-02 2.51306367e+02] [ 6.67609979e-01 7.44064108e-01 -2.57976634e-02 1.61551292e+02] [ 3.91626306e-02 -4.93900195e-04 9.99232728e-01 1.59425318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.640385723 meters Centerline goodness : 0.999738 Centerline is valid? [True, True] Translation: X:251.33, Y:161.57, Z:15.94 [[ 7.42340113e-01 -6.69368047e-01 -2.96238651e-02 2.51326165e+02] [ 6.68878084e-01 7.42930537e-01 -2.56188680e-02 1.61569939e+02] [ 3.91569256e-02 -7.96840788e-04 9.99232756e-01 1.59428167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.670385723 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:251.35, Y:161.59, Z:15.94 [[ 7.41170989e-01 -6.70662490e-01 -2.96207519e-02 2.51346372e+02] [ 6.70173414e-01 7.41762148e-01 -2.56224670e-02 1.61589921e+02] [ 3.91555801e-02 -8.60411237e-04 9.99232756e-01 1.59440720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.700385723 meters Centerline goodness : 0.999737 Centerline is valid? [True, True] Translation: X:251.37, Y:161.61, Z:15.94 [[ 7.40073888e-01 -6.71873249e-01 -2.96138070e-02 2.51366203e+02] [ 6.71384820e-01 7.40665580e-01 -2.56304912e-02 1.61609612e+02] [ 3.91543690e-02 -9.13803261e-04 9.99232756e-01 1.59448853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.730385723 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:251.39, Y:161.63, Z:15.95 [[ 7.38496956e-01 -6.73606478e-01 -2.96067319e-02 2.51385019e+02] [ 6.73119109e-01 7.39089523e-01 -2.56386613e-02 1.61630024e+02] [ 3.91523937e-02 -9.94783660e-04 9.99232756e-01 1.59456395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.760385723 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:251.40, Y:161.65, Z:15.95 [[ 7.37757671e-01 -6.74416399e-01 -2.95996494e-02 2.51404250e+02] [ 6.73929353e-01 7.38350504e-01 -2.56468354e-02 1.61649342e+02] [ 3.91515624e-02 -1.02692299e-03 9.99232756e-01 1.59463979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.790385723 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:251.42, Y:161.67, Z:15.95 [[ 7.36959493e-01 -6.75288641e-01 -2.95965763e-02 2.51422537e+02] [ 6.74802155e-01 7.37552785e-01 -2.56503813e-02 1.61671501e+02] [ 3.91504484e-02 -1.06854150e-03 9.99232756e-01 1.59465541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.820385723 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:251.44, Y:161.69, Z:15.95 [[ 7.36934720e-01 -6.75315981e-01 -2.95895935e-02 2.51442367e+02] [ 6.74829194e-01 7.37527764e-01 -2.56584340e-02 1.61691777e+02] [ 3.91506973e-02 -1.05933071e-03 9.99232756e-01 1.59475393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.850385723 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:251.46, Y:161.71, Z:15.95 [[ 7.36086222e-01 -6.76241039e-01 -2.95826142e-02 2.51460776e+02] [ 6.75754675e-01 7.36679613e-01 -2.56664781e-02 1.61713663e+02] [ 3.91496346e-02 -1.09784896e-03 9.99232756e-01 1.59452633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.880385723 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:251.48, Y:161.74, Z:15.95 [[ 7.37337272e-01 -6.74880608e-01 -2.94942616e-02 2.51479701e+02] [ 6.74389075e-01 7.37926400e-01 -2.57682841e-02 1.61735628e+02] [ 3.91551095e-02 -8.90691523e-04 9.99232748e-01 1.59473732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.910385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:251.50, Y:161.76, Z:15.95 [[ 7.38088665e-01 -6.74056780e-01 -2.95394660e-02 2.51501003e+02] [ 6.73566670e-01 7.38678968e-01 -2.57161995e-02 1.61755170e+02] [ 3.91543609e-02 -9.15964350e-04 9.99232754e-01 1.59505663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.940385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.52, Y:161.78, Z:15.95 [[ 7.38800351e-01 -6.73274429e-01 -2.95902969e-02 2.51523361e+02] [ 6.72786034e-01 7.39392073e-01 -2.56576463e-02 1.61775013e+02] [ 3.91534681e-02 -9.52060402e-04 9.99232755e-01 1.59523022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.970385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:251.54, Y:161.80, Z:15.95 [[ 7.39219452e-01 -6.72810885e-01 -2.96667326e-02 2.51541942e+02] [ 6.72325644e-01 7.39813775e-01 -2.55696256e-02 1.61796060e+02] [ 3.91513798e-02 -1.04414051e-03 9.99232745e-01 1.59522662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.000385723 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:251.56, Y:161.82, Z:15.95 [[ 7.38882654e-01 -6.73180097e-01 -2.96813287e-02 2.51559384e+02] [ 6.72695827e-01 7.39477774e-01 -2.55528179e-02 1.61815548e+02] [ 3.91503313e-02 -1.08597207e-03 9.99232742e-01 1.59518510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.030385723 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:251.58, Y:161.84, Z:15.95 [[ 7.39147515e-01 -6.72894489e-01 -2.95627814e-02 2.51579423e+02] [ 6.72404527e-01 7.39737937e-01 -2.56892413e-02 1.61836549e+02] [ 3.91548598e-02 -8.90009146e-04 9.99232758e-01 1.59531528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.060385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.60, Y:161.86, Z:15.96 [[ 7.39325960e-01 -6.72698698e-01 -2.95565054e-02 2.51602283e+02] [ 6.72208291e-01 7.39916012e-01 -2.56964600e-02 1.61855720e+02] [ 3.91553068e-02 -8.70068073e-04 9.99232758e-01 1.59552184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.090385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.62, Y:161.87, Z:15.96 [[ 7.39747016e-01 -6.72228954e-01 -2.97083408e-02 2.51623153e+02] [ 6.71745161e-01 7.40342539e-01 -2.55218312e-02 1.61874726e+02] [ 3.91508624e-02 -1.07673567e-03 9.99232731e-01 1.59572395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.120385723 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:251.64, Y:161.90, Z:15.96 [[ 7.39341006e-01 -6.72679324e-01 -2.96209916e-02 2.51643206e+02] [ 6.72191871e-01 7.39933504e-01 -2.56222079e-02 1.61896194e+02] [ 3.91530936e-02 -9.67440760e-04 9.99232755e-01 1.59605504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.150385723 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:251.66, Y:161.92, Z:15.96 [[ 7.38685806e-01 -6.73399229e-01 -2.96101079e-02 2.51661670e+02] [ 6.72911852e-01 7.39278365e-01 -2.56347103e-02 1.61915092e+02] [ 3.91525063e-02 -9.88995874e-04 9.99232757e-01 1.59592878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.180385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:251.68, Y:161.94, Z:15.96 [[ 7.38211982e-01 -6.73922029e-01 -2.95324961e-02 2.51682640e+02] [ 6.73431507e-01 7.38801930e-01 -2.57238138e-02 1.61935391e+02] [ 3.91545099e-02 -8.98485816e-04 9.99232764e-01 1.59621435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.210385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.70, Y:161.95, Z:15.96 [[ 7.37396966e-01 -6.74810722e-01 -2.96007299e-02 2.51701338e+02] [ 6.74324046e-01 7.37990100e-01 -2.56455192e-02 1.61954045e+02] [ 3.91509169e-02 -1.04955588e-03 9.99232758e-01 1.59634668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.240385723 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:251.72, Y:161.97, Z:15.96 [[ 7.37800530e-01 -6.74373063e-01 -2.95186162e-02 2.51722171e+02] [ 6.73882267e-01 7.38390248e-01 -2.57396887e-02 1.61972819e+02] [ 3.91544111e-02 -9.01316071e-04 9.99232766e-01 1.59635348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.270385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.74, Y:161.99, Z:15.96 [[ 7.36435772e-01 -6.75862957e-01 -2.95231640e-02 2.51743146e+02] [ 6.75373562e-01 7.37026654e-01 -2.57344746e-02 1.61994373e+02] [ 3.91523369e-02 -9.87376781e-04 9.99232765e-01 1.59642131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.300385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.76, Y:162.01, Z:15.97 [[ 7.35430415e-01 -6.76953716e-01 -2.95934278e-02 2.51761841e+02] [ 6.76468430e-01 7.36024686e-01 -2.56539388e-02 1.62013681e+02] [ 3.91480226e-02 -1.15233277e-03 9.99232758e-01 1.59654046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.330385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.78, Y:162.03, Z:15.97 [[ 7.34549405e-01 -6.77913364e-01 -2.95066597e-02 2.51781418e+02] [ 6.77424861e-01 7.35141023e-01 -2.57533530e-02 1.62034385e+02] [ 3.91500981e-02 -1.07143471e-03 9.99232767e-01 1.59654421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.360385723 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:251.80, Y:162.05, Z:15.97 [[ 7.34491602e-01 -6.77976298e-01 -2.94995845e-02 2.51802196e+02] [ 6.77487521e-01 7.35082993e-01 -2.57614548e-02 1.62053412e+02] [ 3.91502987e-02 -1.06402817e-03 9.99232767e-01 1.59660926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.390385723 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:251.82, Y:162.07, Z:15.97 [[ 7.34747619e-01 -6.77699141e-01 -2.94925590e-02 2.51822698e+02] [ 6.77209818e-01 7.35338558e-01 -2.57694953e-02 1.62072945e+02] [ 3.91509807e-02 -1.03857518e-03 9.99232767e-01 1.59670338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.420385723 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:251.85, Y:162.09, Z:15.97 [[ 7.38272568e-01 -6.73857712e-01 -2.94855677e-02 2.51851203e+02] [ 6.73364994e-01 7.38860681e-01 -2.57774924e-02 1.62091931e+02] [ 3.91560886e-02 -8.23733613e-04 9.99232767e-01 1.59655972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.450385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.86, Y:162.11, Z:15.97 [[ 7.35934670e-01 -6.76394047e-01 -2.98538865e-02 2.51864872e+02] [ 6.75920333e-01 7.36538381e-01 -2.53558129e-02 1.62111878e+02] [ 3.91390541e-02 -1.51862709e-03 9.99232620e-01 1.59682266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.480385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.88, Y:162.13, Z:15.97 [[ 7.37515619e-01 -6.74686433e-01 -2.94776006e-02 2.51884982e+02] [ 6.74194036e-01 7.38103980e-01 -2.57859790e-02 1.62130524e+02] [ 3.91549846e-02 -8.56060266e-04 9.99232783e-01 1.59685587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.510385723 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:251.90, Y:162.15, Z:15.97 [[ 7.38545825e-01 -6.73558654e-01 -2.94754726e-02 2.51904611e+02] [ 6.73065262e-01 7.39133351e-01 -2.57884114e-02 1.62148218e+02] [ 3.91563125e-02 -7.92993133e-04 9.99232783e-01 1.59693974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.540385723 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:251.93, Y:162.17, Z:15.97 [[ 7.38316452e-01 -6.73815813e-01 -2.93439244e-02 2.51928215e+02] [ 6.73316645e-01 7.38899101e-01 -2.59386603e-02 1.62167457e+02] [ 3.91600789e-02 -6.06813097e-04 9.99232766e-01 1.59707065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.570385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:251.95, Y:162.19, Z:15.97 [[ 7.38561059e-01 -6.73542255e-01 -2.94685233e-02 2.51949813e+02] [ 6.73048534e-01 7.39148307e-01 -2.57963255e-02 1.62185071e+02] [ 3.91565243e-02 -7.81584947e-04 9.99232784e-01 1.59719153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.600385723 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:251.97, Y:162.20, Z:15.97 [[ 7.38346765e-01 -6.73777274e-01 -2.94659083e-02 2.51971549e+02] [ 6.73283621e-01 7.38934071e-01 -2.57993121e-02 1.62202629e+02] [ 3.91563537e-02 -7.90074833e-04 9.99232784e-01 1.59740923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.630385723 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:251.99, Y:162.22, Z:15.97 [[ 7.37720378e-01 -6.74463350e-01 -2.94589983e-02 2.51993747e+02] [ 6.73969929e-01 7.38307878e-01 -2.58071998e-02 1.62219356e+02] [ 3.91558210e-02 -8.15981813e-04 9.99232784e-01 1.59725774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.660385723 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:252.02, Y:162.24, Z:15.97 [[ 7.37547568e-01 -6.74652413e-01 -2.94568588e-02 2.52015158e+02] [ 6.74159045e-01 7.38135113e-01 -2.58096417e-02 1.62238228e+02] [ 3.91556788e-02 -8.22769298e-04 9.99232784e-01 1.59736950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.690385723 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:252.04, Y:162.26, Z:15.98 [[ 7.37406485e-01 -6.74806905e-01 -2.94502398e-02 2.52036939e+02] [ 6.74313359e-01 7.37993880e-01 -2.58171921e-02 1.62255968e+02] [ 3.91557162e-02 -8.20925280e-04 9.99232784e-01 1.59786822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.720385723 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:252.06, Y:162.27, Z:15.98 [[ 7.37854048e-01 -6.74319618e-01 -2.94016307e-02 2.52063145e+02] [ 6.73823475e-01 7.38439254e-01 -2.58726204e-02 1.62273820e+02] [ 3.91577338e-02 -7.21291265e-04 9.99232782e-01 1.59815047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.750385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:252.08, Y:162.29, Z:15.98 [[ 7.36781843e-01 -6.75483169e-01 -2.95804801e-02 2.52081266e+02] [ 6.74996107e-01 7.37374651e-01 -2.56686481e-02 1.62292159e+02] [ 3.91506360e-02 -1.05451504e-03 9.99232764e-01 1.59820294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.780385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:252.10, Y:162.31, Z:15.98 [[ 7.36933285e-01 -6.75324203e-01 -2.94372960e-02 2.52103131e+02] [ 6.74830485e-01 7.37520531e-01 -2.58318185e-02 1.62310475e+02] [ 3.91554625e-02 -8.28857850e-04 9.99232787e-01 1.59833038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.810385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.13, Y:162.33, Z:15.98 [[ 7.37953570e-01 -6.74209555e-01 -2.94279484e-02 2.52129010e+02] [ 6.73714526e-01 7.38539711e-01 -2.58424669e-02 1.62328224e+02] [ 3.91569466e-02 -7.55495546e-04 9.99232787e-01 1.59842590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.840385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:252.15, Y:162.35, Z:15.98 [[ 7.37125004e-01 -6.75109116e-01 -2.95704217e-02 2.52147791e+02] [ 6.74621293e-01 7.37717183e-01 -2.56801382e-02 1.62346478e+02] [ 3.91515036e-02 -1.01936416e-03 9.99232766e-01 1.59848169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.870385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.17, Y:162.36, Z:15.99 [[ 7.37167430e-01 -6.75069211e-01 -2.94234645e-02 2.52169538e+02] [ 6.74574667e-01 7.37753976e-01 -2.58474287e-02 1.62364126e+02] [ 3.91560812e-02 -7.94441196e-04 9.99232791e-01 1.59855334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.900385723 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:252.19, Y:162.38, Z:15.99 [[ 7.37034291e-01 -6.75213098e-01 -2.94572023e-02 2.52190836e+02] [ 6.74720201e-01 7.37622224e-01 -2.58090310e-02 1.62381931e+02] [ 3.91548828e-02 -8.53228549e-04 9.99232789e-01 1.59861038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.930385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:252.21, Y:162.40, Z:15.99 [[ 7.36649785e-01 -6.75634533e-01 -2.94121076e-02 2.52211549e+02] [ 6.75139924e-01 7.37236276e-01 -2.58603193e-02 1.62400348e+02] [ 3.91557974e-02 -8.07289464e-04 9.99232792e-01 1.59863002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.960385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.23, Y:162.42, Z:15.99 [[ 7.35094758e-01 -6.77326182e-01 -2.94098640e-02 2.52232281e+02] [ 6.76832821e-01 7.35682299e-01 -2.58628706e-02 1.62418643e+02] [ 3.91539158e-02 -8.93900636e-04 9.99232792e-01 1.59874001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.990385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:252.25, Y:162.44, Z:15.99 [[ 7.34001879e-01 -6.78510447e-01 -2.94077412e-02 2.52253278e+02] [ 6.78017938e-01 7.34590133e-01 -2.58652842e-02 1.62436999e+02] [ 3.91525020e-02 -9.53808803e-04 9.99232792e-01 1.59890657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.020385723 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:252.28, Y:162.45, Z:15.99 [[ 7.32545803e-01 -6.80082525e-01 -2.94007617e-02 2.52275526e+02] [ 6.79590960e-01 7.33134847e-01 -2.58732153e-02 1.62454966e+02] [ 3.91506445e-02 -1.02717656e-03 9.99232792e-01 1.59895178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.050385723 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:252.30, Y:162.47, Z:15.99 [[ 7.31737712e-01 -6.80952185e-01 -2.93946115e-02 2.52297803e+02] [ 6.80461039e-01 7.32327105e-01 -2.58802006e-02 1.62472854e+02] [ 3.91496499e-02 -1.06436912e-03 9.99232792e-01 1.59906496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.080385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.32, Y:162.49, Z:15.99 [[ 7.31278023e-01 -6.81446091e-01 -2.93884020e-02 2.52319100e+02] [ 6.80955060e-01 7.31867513e-01 -2.58872499e-02 1.62490376e+02] [ 3.91491819e-02 -1.08140413e-03 9.99232792e-01 1.59932219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.110385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.34, Y:162.51, Z:15.99 [[ 7.31175946e-01 -6.81556000e-01 -2.93794928e-02 2.52341233e+02] [ 6.81064652e-01 7.31765171e-01 -2.58973596e-02 1.62508239e+02] [ 3.91493904e-02 -1.07380763e-03 9.99232792e-01 1.59942167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.140385723 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:252.36, Y:162.53, Z:15.99 [[ 7.31603486e-01 -6.81097195e-01 -2.93760088e-02 2.52361366e+02] [ 6.80605320e-01 7.32192270e-01 -2.59013110e-02 1.62526272e+02] [ 3.91501968e-02 -1.04397841e-03 9.99232792e-01 1.59948244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.170385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.38, Y:162.55, Z:16.00 [[ 7.31868245e-01 -6.80812901e-01 -2.93711845e-02 2.52381871e+02] [ 6.80320577e-01 7.32456655e-01 -2.59067803e-02 1.62545173e+02] [ 3.91507898e-02 -1.02147135e-03 9.99232792e-01 1.59952823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.200385723 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:252.40, Y:162.56, Z:16.00 [[ 7.33178976e-01 -6.79401451e-01 -2.93642061e-02 2.52402225e+02] [ 6.78907679e-01 7.33766170e-01 -2.59146877e-02 1.62562557e+02] [ 3.91529375e-02 -9.35480825e-04 9.99232792e-01 1.59952284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.230385723 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:252.42, Y:162.58, Z:16.00 [[ 7.33886094e-01 -6.78637695e-01 -2.93611800e-02 2.52424332e+02] [ 6.78143174e-01 7.34472659e-01 -2.59181157e-02 1.62580710e+02] [ 3.91539943e-02 -8.90139119e-04 9.99232792e-01 1.59983531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.260385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:252.45, Y:162.60, Z:16.00 [[ 7.35477264e-01 -6.76913198e-01 -2.93550139e-02 2.52446373e+02] [ 6.76417023e-01 7.36062429e-01 -2.59250977e-02 1.62597508e+02] [ 3.91561636e-02 -7.88911214e-04 9.99232792e-01 1.60005846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.290385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:252.47, Y:162.62, Z:16.00 [[ 7.36097175e-01 -6.76239129e-01 -2.93528294e-02 2.52467281e+02] [ 6.75742320e-01 7.36681802e-01 -2.59275707e-02 1.62615734e+02] [ 3.91569331e-02 -7.49737525e-04 9.99232792e-01 1.60026830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.320385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:252.49, Y:162.63, Z:16.00 [[ 7.36572514e-01 -6.75721652e-01 -2.93458763e-02 2.52487798e+02] [ 6.75224119e-01 7.37156525e-01 -2.59354382e-02 1.62634290e+02] [ 3.91576413e-02 -7.11712526e-04 9.99232792e-01 1.60038128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.350385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:252.51, Y:162.65, Z:16.01 [[ 7.37193128e-01 -6.75044828e-01 -2.93389210e-02 2.52508925e+02] [ 6.74546445e-01 7.37776415e-01 -2.59433038e-02 1.62652903e+02] [ 3.91584570e-02 -6.65239549e-04 9.99232792e-01 1.60050002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.380385723 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:252.53, Y:162.67, Z:16.01 [[ 7.36880553e-01 -6.75386327e-01 -2.93318842e-02 2.52530485e+02] [ 6.74887899e-01 7.37463800e-01 -2.59512573e-02 1.62670272e+02] [ 3.91583271e-02 -6.72756863e-04 9.99232792e-01 1.60053150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.410385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.55, Y:162.69, Z:16.01 [[ 7.36538173e-01 -6.75759995e-01 -2.93248922e-02 2.52552444e+02] [ 6.75261548e-01 7.37121404e-01 -2.59591559e-02 1.62686640e+02] [ 3.91581647e-02 -6.82062828e-04 9.99232792e-01 1.60081335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.440385723 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:252.58, Y:162.70, Z:16.01 [[ 7.36882893e-01 -6.75384191e-01 -2.93222930e-02 2.52576309e+02] [ 6.74885329e-01 7.37465770e-01 -2.59620915e-02 1.62704260e+02] [ 3.91585735e-02 -6.58164243e-04 9.99232792e-01 1.60092349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.470385723 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:252.60, Y:162.72, Z:16.01 [[ 7.35685383e-01 -6.76685995e-01 -2.93782445e-02 2.52595948e+02] [ 6.76190684e-01 7.36271285e-01 -2.58989097e-02 1.62722722e+02] [ 3.91557873e-02 -8.11845968e-04 9.99232788e-01 1.60102495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.500385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.62, Y:162.74, Z:16.01 [[ 7.36338744e-01 -6.75977724e-01 -2.93150273e-02 2.52617513e+02] [ 6.75479008e-01 7.36921743e-01 -2.59702691e-02 1.62740778e+02] [ 3.91582044e-02 -6.78770164e-04 9.99232793e-01 1.60106604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.530385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:252.64, Y:162.76, Z:16.01 [[ 7.36761772e-01 -6.75516927e-01 -2.93082257e-02 2.52638847e+02] [ 6.75017541e-01 7.37344198e-01 -2.59779427e-02 1.62759755e+02] [ 3.91587902e-02 -6.44011339e-04 9.99232793e-01 1.60111113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.560385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:252.66, Y:162.78, Z:16.01 [[ 7.38442219e-01 -6.73679830e-01 -2.93014628e-02 2.52661250e+02] [ 6.73178692e-01 7.39023138e-01 -2.59855685e-02 1.62777445e+02] [ 3.91604124e-02 -5.36279492e-04 9.99232793e-01 1.60105214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.590385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.68, Y:162.79, Z:16.01 [[ 7.41536746e-01 -6.70272350e-01 -2.92955771e-02 2.52679218e+02] [ 6.69768280e-01 7.42115124e-01 -2.59922022e-02 1.62791702e+02] [ 3.91625453e-02 -3.47075193e-04 9.99232793e-01 1.60090756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.620385723 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:252.70, Y:162.81, Z:16.01 [[ 7.41102426e-01 -6.70767142e-01 -2.89591997e-02 2.52703136e+02] [ 6.70248578e-01 7.41668000e-01 -2.63708450e-02 1.62811362e+02] [ 3.91668081e-02 1.33634850e-04 9.99232677e-01 1.60123684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.650385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:252.73, Y:162.83, Z:16.01 [[ 7.41771640e-01 -6.70017974e-01 -2.91676040e-02 2.52727466e+02] [ 6.69508036e-01 7.42344862e-01 -2.61360954e-02 1.62828191e+02] [ 3.91640747e-02 -1.40930889e-04 9.99232783e-01 1.60122478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.680385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.75, Y:162.85, Z:16.02 [[ 7.42602483e-01 -6.69091682e-01 -2.92894864e-02 2.52751316e+02] [ 6.68586433e-01 7.43179820e-01 -2.59987872e-02 1.62845755e+02] [ 3.91629275e-02 -2.75789312e-04 9.99232800e-01 1.60172633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.710385723 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:252.77, Y:162.86, Z:16.02 [[ 7.42192736e-01 -6.69545459e-01 -2.93056452e-02 2.52772413e+02] [ 6.69041281e-01 7.42771010e-01 -2.59805878e-02 1.62863647e+02] [ 3.91625683e-02 -3.24082905e-04 9.99232800e-01 1.60177690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.740385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.80, Y:162.88, Z:16.02 [[ 7.41856101e-01 -6.69919459e-01 -2.92821490e-02 2.52796259e+02] [ 6.69414528e-01 7.42433716e-01 -2.60070401e-02 1.62881360e+02] [ 3.91626770e-02 -3.08414640e-04 9.99232801e-01 1.60191620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.770385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.82, Y:162.90, Z:16.02 [[ 7.38748275e-01 -6.73342156e-01 -2.93483618e-02 2.52818952e+02] [ 6.72842858e-01 7.39330774e-01 -2.59325133e-02 1.62896598e+02] [ 3.91596015e-02 -5.89236158e-04 9.99232795e-01 1.60231980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.800385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.84, Y:162.91, Z:16.02 [[ 7.38108949e-01 -6.74046233e-01 -2.92720751e-02 2.52844116e+02] [ 6.73544084e-01 7.38688983e-01 -2.60183405e-02 1.62913855e+02] [ 3.91605238e-02 -5.11663038e-04 9.99232802e-01 1.60245172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.830385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.87, Y:162.93, Z:16.03 [[ 7.34999294e-01 -6.77432370e-01 -2.93499762e-02 2.52867555e+02] [ 6.76936384e-01 7.35584617e-01 -2.59307265e-02 1.62930860e+02] [ 3.91557045e-02 -8.09001079e-04 9.99232794e-01 1.60273045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.860385723 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:252.89, Y:162.95, Z:16.03 [[ 7.33131726e-01 -6.79452581e-01 -2.93609088e-02 2.52887184e+02] [ 6.78958699e-01 7.33718829e-01 -2.59184292e-02 1.62948508e+02] [ 3.91529952e-02 -9.33221721e-04 9.99232792e-01 1.60269334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.890385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.91, Y:162.97, Z:16.03 [[ 7.31066892e-01 -6.81679152e-01 -2.92358291e-02 2.52909240e+02] [ 6.81181429e-01 7.31650728e-01 -2.60590303e-02 1.62967291e+02] [ 3.91543133e-02 -8.64009568e-04 9.99232802e-01 1.60288565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.920385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:252.93, Y:162.98, Z:16.03 [[ 7.27461353e-01 -6.85524634e-01 -2.92567417e-02 2.52929716e+02] [ 6.85030940e-01 7.28048599e-01 -2.60355303e-02 1.62983384e+02] [ 3.91483272e-02 -1.10193119e-03 9.99232803e-01 1.60286444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.950385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:252.95, Y:163.00, Z:16.03 [[ 7.27172197e-01 -6.85837522e-01 -2.91116712e-02 2.52954534e+02] [ 6.85337551e-01 7.27754136e-01 -2.61984531e-02 1.63001326e+02] [ 3.91540213e-02 -9.00534765e-04 9.99232782e-01 1.60295536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.980385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:252.98, Y:163.02, Z:16.03 [[ 7.24727598e-01 -6.88414371e-01 -2.92499966e-02 2.52978333e+02] [ 6.87922713e-01 7.25316550e-01 -2.60430959e-02 1.63018830e+02] [ 3.91439480e-02 -1.24758669e-03 9.99232803e-01 1.60304844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.010385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:253.00, Y:163.04, Z:16.03 [[ 7.22746951e-01 -6.90493751e-01 -2.92442254e-02 2.52996074e+02] [ 6.90003526e-01 7.23337095e-01 -2.60495748e-02 1.63036033e+02] [ 3.91405017e-02 -1.35136793e-03 9.99232803e-01 1.60307475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.040385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.02, Y:163.05, Z:16.03 [[ 7.21886920e-01 -6.91401241e-01 -2.90447645e-02 2.53018426e+02] [ 6.90902740e-01 7.22470147e-01 -2.62734029e-02 1.63053973e+02] [ 3.91494386e-02 -1.10068147e-03 9.99232761e-01 1.60310917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.070385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.04, Y:163.07, Z:16.03 [[ 7.22182329e-01 -6.91090736e-01 -2.90908718e-02 2.53042559e+02] [ 6.90594065e-01 7.22767089e-01 -2.62216031e-02 1.63071941e+02] [ 3.91474317e-02 -1.15320497e-03 9.99232780e-01 1.60349305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.100385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.07, Y:163.09, Z:16.03 [[ 7.22128240e-01 -6.91142926e-01 -2.91934936e-02 2.53065710e+02] [ 6.90650941e-01 7.22716914e-01 -2.61063073e-02 1.63090171e+02] [ 3.91418213e-02 -1.31041210e-03 9.99232806e-01 1.60345094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.130385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.09, Y:163.11, Z:16.04 [[ 7.22948965e-01 -6.90284161e-01 -2.91988349e-02 2.53087580e+02] [ 6.89791718e-01 7.23537255e-01 -2.61003071e-02 1.63107779e+02] [ 3.91430735e-02 -1.27192448e-03 9.99232807e-01 1.60353407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.160385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.11, Y:163.12, Z:16.03 [[ 7.24386375e-01 -6.88773733e-01 -2.92425137e-02 2.53109701e+02] [ 6.88282039e-01 7.24975288e-01 -2.60512463e-02 1.63124507e+02] [ 3.91435140e-02 -1.25592906e-03 9.99232810e-01 1.60347942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.190385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.13, Y:163.14, Z:16.04 [[ 7.25065216e-01 -6.88057076e-01 -2.92898137e-02 2.53132535e+02] [ 6.87566940e-01 7.25655428e-01 -2.59981283e-02 1.63142857e+02] [ 3.91425085e-02 -1.28836909e-03 9.99232808e-01 1.60370875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.220385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.15, Y:163.16, Z:16.04 [[ 7.24447541e-01 -6.88706474e-01 -2.93113266e-02 2.53151617e+02] [ 6.88217842e-01 7.25039002e-01 -2.59739779e-02 1.63160332e+02] [ 3.91403017e-02 -1.35579350e-03 9.99232805e-01 1.60389943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.250385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.18, Y:163.18, Z:16.04 [[ 7.24976339e-01 -6.88156394e-01 -2.91562311e-02 2.53175776e+02] [ 6.87660310e-01 7.25561564e-01 -2.61479600e-02 1.63177358e+02] [ 3.91485265e-02 -1.09293064e-03 9.99232805e-01 1.60439308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.280385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.20, Y:163.20, Z:16.05 [[ 7.25343208e-01 -6.87768414e-01 -2.91863083e-02 2.53198009e+02] [ 6.87273370e-01 7.25929309e-01 -2.61142301e-02 1.63195618e+02] [ 3.91477393e-02 -1.11719303e-03 9.99232809e-01 1.60463999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.310385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.22, Y:163.21, Z:16.05 [[ 7.26245429e-01 -6.86814534e-01 -2.92125496e-02 2.53219124e+02] [ 6.86319902e-01 7.26831875e-01 -2.60848122e-02 1.63213589e+02] [ 3.91480403e-02 -1.10517862e-03 9.99232810e-01 1.60487390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.340385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.24, Y:163.23, Z:16.05 [[ 7.26628369e-01 -6.86409298e-01 -2.92145375e-02 2.53241741e+02] [ 6.85914429e-01 7.27214614e-01 -2.60825841e-02 1.63232213e+02] [ 3.91485669e-02 -1.08632726e-03 9.99232811e-01 1.60503359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.370385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.26, Y:163.25, Z:16.05 [[ 7.26140427e-01 -6.86924207e-01 -2.92440452e-02 2.53263043e+02] [ 6.86431082e-01 7.26728142e-01 -2.60495240e-02 1.63250862e+02] [ 3.91465192e-02 -1.15840915e-03 9.99232810e-01 1.60518491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.400385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.29, Y:163.27, Z:16.05 [[ 7.26468400e-01 -6.86579848e-01 -2.91852082e-02 2.53286273e+02] [ 6.86083798e-01 7.27053648e-01 -2.61154103e-02 1.63268188e+02] [ 3.91495266e-02 -1.05147813e-03 9.99232810e-01 1.60538040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.430385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.31, Y:163.29, Z:16.05 [[ 7.26007138e-01 -6.87064463e-01 -2.92585004e-02 2.53307598e+02] [ 6.86572102e-01 7.26595495e-01 -2.60333430e-02 1.63286860e+02] [ 3.91456794e-02 -1.18767726e-03 9.99232808e-01 1.60546948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.460385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.33, Y:163.31, Z:16.05 [[ 7.25478979e-01 -6.87622404e-01 -2.92520261e-02 2.53328723e+02] [ 6.87130204e-01 7.26067470e-01 -2.60405883e-02 1.63305635e+02] [ 3.91450365e-02 -1.20805122e-03 9.99232809e-01 1.60548105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.490385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.35, Y:163.32, Z:16.05 [[ 7.25419241e-01 -6.87684253e-01 -2.92795516e-02 2.53351141e+02] [ 6.87193344e-01 7.26008814e-01 -2.60097926e-02 1.63324988e+02] [ 3.91437373e-02 -1.25270899e-03 9.99232805e-01 1.60534370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.520385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.37, Y:163.34, Z:16.05 [[ 7.24178636e-01 -6.88988048e-01 -2.93389348e-02 2.53369029e+02] [ 6.88500883e-01 7.24771326e-01 -2.59433733e-02 1.63344182e+02] [ 3.91386928e-02 -1.41224587e-03 9.99232790e-01 1.60548901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.550385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.39, Y:163.36, Z:16.06 [[ 7.23997989e-01 -6.89184310e-01 -2.91873015e-02 2.53390196e+02] [ 6.88690468e-01 7.24585094e-01 -2.61128609e-02 1.63363367e+02] [ 3.91452576e-02 -1.19535752e-03 9.99232816e-01 1.60559203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.580385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.41, Y:163.38, Z:16.06 [[ 7.22840801e-01 -6.90398202e-01 -2.91804563e-02 2.53411667e+02] [ 6.89905037e-01 7.23428475e-01 -2.61205080e-02 1.63380892e+02] [ 3.91435247e-02 -1.25077487e-03 9.99232816e-01 1.60557309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.610385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.43, Y:163.40, Z:16.06 [[ 7.22066056e-01 -6.91208533e-01 -2.91783364e-02 2.53433243e+02] [ 6.90715933e-01 7.22654202e-01 -2.61228759e-02 1.63399230e+02] [ 3.91422021e-02 -1.29149988e-03 9.99232816e-01 1.60566897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.640385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:253.46, Y:163.42, Z:16.06 [[ 7.21110970e-01 -6.92205162e-01 -2.91716042e-02 2.53456507e+02] [ 6.91713071e-01 7.21699543e-01 -2.61303916e-02 1.63418500e+02] [ 3.91407253e-02 -1.33546792e-03 9.99232816e-01 1.60574613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.670385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.48, Y:163.44, Z:16.06 [[ 7.20071908e-01 -6.93283450e-01 -2.92319026e-02 2.53475647e+02] [ 6.92794964e-01 7.20663482e-01 -2.60630834e-02 1.63437270e+02] [ 3.91354691e-02 -1.48442069e-03 9.99232811e-01 1.60577274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.700385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.50, Y:163.46, Z:16.06 [[ 7.18584044e-01 -6.94828346e-01 -2.91640183e-02 2.53496897e+02] [ 6.94338062e-01 7.19174122e-01 -2.61388246e-02 1.63455453e+02] [ 3.91360035e-02 -1.46674566e-03 9.99232817e-01 1.60582776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.730385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.52, Y:163.47, Z:16.06 [[ 7.19295596e-01 -6.94090695e-01 -2.91882267e-02 2.53518279e+02] [ 6.93600898e-01 7.19886079e-01 -2.61118238e-02 1.63473642e+02] [ 3.91361720e-02 -1.46286041e-03 9.99232816e-01 1.60608888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.760385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:253.54, Y:163.49, Z:16.07 [[ 7.19990404e-01 -6.93371312e-01 -2.91554840e-02 2.53542757e+02] [ 6.92879448e-01 7.20579166e-01 -2.61483321e-02 1.63492337e+02] [ 3.91393377e-02 -1.37468745e-03 9.99232817e-01 1.60661462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.790385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.56, Y:163.51, Z:16.07 [[ 7.19832849e-01 -6.93527629e-01 -2.93274145e-02 2.53560388e+02] [ 6.93043664e-01 7.20428162e-01 -2.59565811e-02 1.63509985e+02] [ 3.91299014e-02 -1.64077905e-03 9.99232785e-01 1.60658252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.820385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.58, Y:163.53, Z:16.07 [[ 7.20827314e-01 -6.92501557e-01 -2.91475144e-02 2.53580632e+02] [ 6.92008631e-01 7.21415181e-01 -2.61570508e-02 1.63529124e+02] [ 3.91412577e-02 -1.31561487e-03 9.99232821e-01 1.60695346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.850385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:253.60, Y:163.55, Z:16.07 [[ 7.21754966e-01 -6.91534961e-01 -2.91404579e-02 2.53599713e+02] [ 6.91040931e-01 7.22341906e-01 -2.61649098e-02 1.63549234e+02] [ 3.91433237e-02 -1.25259557e-03 9.99232821e-01 1.60705156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.880385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.62, Y:163.57, Z:16.07 [[ 7.21777997e-01 -6.91511219e-01 -2.91334337e-02 2.53619962e+02] [ 6.91016855e-01 7.22364654e-01 -2.61727285e-02 1.63568943e+02] [ 3.91436982e-02 -1.24079421e-03 9.99232821e-01 1.60725748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.910385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:253.64, Y:163.59, Z:16.07 [[ 7.21416713e-01 -6.91888429e-01 -2.91260759e-02 2.53639831e+02] [ 6.91394042e-01 7.22003351e-01 -2.61809140e-02 1.63587902e+02] [ 3.91433959e-02 -1.25024642e-03 9.99232821e-01 1.60734360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.940385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.66, Y:163.61, Z:16.08 [[ 7.20811494e-01 -6.92519054e-01 -2.91229952e-02 2.53660621e+02] [ 6.92025042e-01 7.21398448e-01 -2.61843405e-02 1.63607304e+02] [ 3.91424383e-02 -1.27986834e-03 9.99232821e-01 1.60755812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.970385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.68, Y:163.63, Z:16.08 [[ 7.19458373e-01 -6.93924999e-01 -2.91160770e-02 2.53680600e+02] [ 6.93431823e-01 7.20046029e-01 -2.61920310e-02 1.63627686e+02] [ 3.91402207e-02 -1.34593839e-03 9.99232822e-01 1.60786722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.000385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.70, Y:163.65, Z:16.08 [[ 7.18456263e-01 -6.94962788e-01 -2.91087841e-02 2.53698340e+02] [ 6.94470134e-01 7.19044357e-01 -2.62001336e-02 1.63648947e+02] [ 3.91386248e-02 -1.39153108e-03 9.99232822e-01 1.60795692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.030385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.72, Y:163.67, Z:16.08 [[ 7.17996760e-01 -6.95437643e-01 -2.91056212e-02 2.53717986e+02] [ 6.94945235e-01 7.18585060e-01 -2.62036468e-02 1.63669714e+02] [ 3.91378669e-02 -1.41267931e-03 9.99232822e-01 1.60804434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.060385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:253.74, Y:163.69, Z:16.08 [[ 7.17656250e-01 -6.95789328e-01 -2.90984147e-02 2.53737264e+02] [ 6.95296885e-01 7.18244521e-01 -2.62116470e-02 1.63689599e+02] [ 3.91375611e-02 -1.42108480e-03 9.99232822e-01 1.60812518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.090385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:253.76, Y:163.71, Z:16.08 [[ 7.17178640e-01 -6.96281913e-01 -2.90911722e-02 2.53757314e+02] [ 6.95789548e-01 7.17766977e-01 -2.62196826e-02 1.63709782e+02] [ 3.91369735e-02 -1.43713727e-03 9.99232822e-01 1.60820837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.120385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.78, Y:163.73, Z:16.08 [[ 7.16141893e-01 -6.97348488e-01 -2.90839371e-02 2.53775127e+02] [ 6.96856675e-01 7.16730690e-01 -2.62277057e-02 1.63730395e+02] [ 3.91352012e-02 -1.48457693e-03 9.99232822e-01 1.60827124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.150385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.79, Y:163.75, Z:16.08 [[ 7.15676845e-01 -6.97825881e-01 -2.90808051e-02 2.53794003e+02] [ 6.97334320e-01 7.16265853e-01 -2.62311778e-02 1.63750015e+02] [ 3.91343825e-02 -1.50599688e-03 9.99232822e-01 1.60834039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.180385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.81, Y:163.77, Z:16.08 [[ 7.15061003e-01 -6.98457087e-01 -2.90767757e-02 2.53812044e+02] [ 6.97965865e-01 7.15650294e-01 -2.62356436e-02 1.63771382e+02] [ 3.91332743e-02 -1.53451126e-03 9.99232822e-01 1.60845828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.210385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:253.83, Y:163.79, Z:16.09 [[ 7.15071731e-01 -6.98446401e-01 -2.90696555e-02 2.53830592e+02] [ 6.97954850e-01 7.15660747e-01 -2.62435305e-02 1.63790454e+02] [ 3.91337109e-02 -1.52330025e-03 9.99232822e-01 1.60858098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.240385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.85, Y:163.81, Z:16.09 [[ 7.15189285e-01 -6.98326191e-01 -2.90657313e-02 2.53849927e+02] [ 6.97834365e-01 7.15778072e-01 -2.62478761e-02 1.63810840e+02] [ 3.91341924e-02 -1.51086638e-03 9.99232822e-01 1.60870582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.270385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.87, Y:163.83, Z:16.09 [[ 7.16132342e-01 -6.97359187e-01 -2.90625778e-02 2.53866619e+02] [ 6.96866424e-01 7.16720345e-01 -2.62513673e-02 1.63832937e+02] [ 3.91363729e-02 -1.45328150e-03 9.99232822e-01 1.60890748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.300385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:253.89, Y:163.85, Z:16.09 [[ 7.16421914e-01 -6.97064147e-01 -2.90037143e-02 2.53886185e+02] [ 6.96568509e-01 7.17007499e-01 -2.63165084e-02 1.63854371e+02] [ 3.91401751e-02 -1.34935063e-03 9.99232819e-01 1.60903992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.330385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:253.90, Y:163.88, Z:16.09 [[ 7.17750610e-01 -6.95693794e-01 -2.90552457e-02 2.53903517e+02] [ 6.95199338e-01 7.18337190e-01 -2.62594908e-02 1.63876209e+02] [ 3.91400283e-02 -1.35142201e-03 9.99232822e-01 1.60914528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.360385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.92, Y:163.90, Z:16.09 [[ 7.18009610e-01 -6.95426647e-01 -2.90513084e-02 2.53922510e+02] [ 6.94931798e-01 7.18595858e-01 -2.62638460e-02 1.63896742e+02] [ 3.91407282e-02 -1.33098417e-03 9.99232822e-01 1.60924399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.390385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:253.94, Y:163.92, Z:16.09 [[ 7.18033515e-01 -6.95402262e-01 -2.90441923e-02 2.53938960e+02] [ 6.94907075e-01 7.18619478e-01 -2.62717131e-02 1.63920106e+02] [ 3.91411310e-02 -1.31904416e-03 9.99232822e-01 1.60930482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.420385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.96, Y:163.94, Z:16.09 [[ 7.17720725e-01 -6.95725387e-01 -2.90369877e-02 2.53956797e+02] [ 6.95230142e-01 7.18306639e-01 -2.62796736e-02 1.63941539e+02] [ 3.91408971e-02 -1.32592264e-03 9.99232822e-01 1.60930946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.450385723 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:253.97, Y:163.96, Z:16.09 [[ 7.17498505e-01 -6.95954865e-01 -2.90296800e-02 2.53974670e+02] [ 6.95459482e-01 7.18084302e-01 -2.62877435e-02 1.63962572e+02] [ 3.91408405e-02 -1.32754956e-03 9.99232822e-01 1.60931662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.480385723 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:253.99, Y:163.99, Z:16.09 [[ 7.17902389e-01 -6.95538369e-01 -2.90265107e-02 2.53990507e+02] [ 6.95042504e-01 7.18487778e-01 -2.62912425e-02 1.63985518e+02] [ 3.91417611e-02 -1.30011294e-03 9.99232822e-01 1.60923970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.510385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:254.01, Y:164.01, Z:16.09 [[ 7.18219125e-01 -6.95211430e-01 -2.90233803e-02 2.54008633e+02] [ 6.94715160e-01 7.18804170e-01 -2.62946977e-02 1.64006622e+02] [ 3.91425012e-02 -1.27762753e-03 9.99232822e-01 1.60928260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.540385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.03, Y:164.03, Z:16.09 [[ 7.19544530e-01 -6.93839843e-01 -2.90162315e-02 2.54025217e+02] [ 6.93342140e-01 7.20128357e-01 -2.63025841e-02 1.64029330e+02] [ 3.91451920e-02 -1.19229552e-03 9.99232822e-01 1.60930451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.570385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.04, Y:164.05, Z:16.09 [[ 7.20047747e-01 -6.93317734e-01 -2.90131313e-02 2.54044611e+02] [ 6.92819470e-01 7.20631096e-01 -2.63060034e-02 1.64049787e+02] [ 3.91461832e-02 -1.15928379e-03 9.99232822e-01 1.60939368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.600385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.06, Y:164.07, Z:16.09 [[ 7.20460850e-01 -6.92888747e-01 -2.90059887e-02 2.54062497e+02] [ 6.92389820e-01 7.21043631e-01 -2.63138768e-02 1.64069816e+02] [ 3.91471725e-02 -1.12533322e-03 9.99232822e-01 1.60949738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.630385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.08, Y:164.09, Z:16.10 [[ 7.21588179e-01 -6.91714777e-01 -2.90028951e-02 2.54079216e+02] [ 6.91214764e-01 7.22170029e-01 -2.63172860e-02 1.64092602e+02] [ 3.91490772e-02 -1.05698678e-03 9.99232822e-01 1.60964377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.660385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.10, Y:164.11, Z:16.10 [[ 7.22159802e-01 -6.91118278e-01 -2.89956252e-02 2.54098208e+02] [ 6.90617464e-01 7.22740962e-01 -2.63252934e-02 1.64112953e+02] [ 3.91502175e-02 -1.01381649e-03 9.99232822e-01 1.60974502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.690385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.12, Y:164.13, Z:16.10 [[ 7.23313510e-01 -6.89911041e-01 -2.89883102e-02 2.54116981e+02] [ 6.89408934e-01 7.23893553e-01 -2.63333459e-02 1.64134056e+02] [ 3.91521169e-02 -9.37535218e-04 9.99232822e-01 1.60990741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.720385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.14, Y:164.15, Z:16.10 [[ 7.23320358e-01 -6.89904172e-01 -2.89809307e-02 2.54136608e+02] [ 6.89401734e-01 7.23900115e-01 -2.63414648e-02 1.64154391e+02] [ 3.91523855e-02 -9.26186116e-04 9.99232822e-01 1.61002857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.750385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.16, Y:164.17, Z:16.10 [[ 7.23536781e-01 -6.89677503e-01 -2.89735864e-02 2.54156251e+02] [ 6.89174561e-01 7.24116100e-01 -2.63495405e-02 1.64174789e+02] [ 3.91529257e-02 -9.02996923e-04 9.99232822e-01 1.61011366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.780385723 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:254.17, Y:164.20, Z:16.10 [[ 7.23672480e-01 -6.89535423e-01 -2.89662122e-02 2.54174580e+02] [ 6.89032043e-01 7.24251419e-01 -2.63576445e-02 1.64195969e+02] [ 3.91533499e-02 -8.84346374e-04 9.99232822e-01 1.61004811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.810385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.19, Y:164.22, Z:16.10 [[ 7.24225725e-01 -6.88954631e-01 -2.89588767e-02 2.54194240e+02] [ 6.88450464e-01 7.24803979e-01 -2.63657015e-02 1.64216116e+02] [ 3.91542812e-02 -8.42032837e-04 9.99232822e-01 1.61030268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.840385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.21, Y:164.24, Z:16.10 [[ 7.22776471e-01 -6.90475184e-01 -2.89515584e-02 2.54206438e+02] [ 6.89971913e-01 7.23355504e-01 -2.63737351e-02 1.64236822e+02] [ 3.91526787e-02 -9.13446966e-04 9.99232822e-01 1.61034610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.870385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.23, Y:164.26, Z:16.11 [[ 7.25800327e-01 -6.87310384e-01 -2.86063235e-02 2.54233596e+02] [ 6.86789581e-01 7.26363809e-01 -2.67523437e-02 1.64257184e+02] [ 3.91657617e-02 -2.29665150e-04 9.99232701e-01 1.61056810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.900385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.25, Y:164.28, Z:16.11 [[ 7.26448449e-01 -6.86611011e-01 -2.89477422e-02 2.54252537e+02] [ 6.86104502e-01 7.27024643e-01 -2.63776667e-02 1.64276054e+02] [ 3.91569183e-02 -6.99161190e-04 9.99232829e-01 1.61064824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.930385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.27, Y:164.30, Z:16.11 [[ 7.26282098e-01 -6.86787103e-01 -2.89445980e-02 2.54268479e+02] [ 6.86280597e-01 7.26858294e-01 -2.63811164e-02 1.64296653e+02] [ 3.91568316e-02 -7.03983446e-04 9.99232829e-01 1.61053861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.960385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.29, Y:164.32, Z:16.11 [[ 7.27100455e-01 -6.85927760e-01 -2.87756150e-02 2.54291780e+02] [ 6.85413221e-01 7.27669528e-01 -2.65664032e-02 1.64316056e+02] [ 3.91617716e-02 -4.06743038e-04 9.99232801e-01 1.61073126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.990385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.31, Y:164.34, Z:16.11 [[ 7.24953533e-01 -6.88189630e-01 -2.89380187e-02 2.54312295e+02] [ 6.87683951e-01 7.25530455e-01 -2.63883093e-02 1.64335441e+02] [ 3.91555747e-02 -7.69912991e-04 9.99232830e-01 1.61094147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.020385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.33, Y:164.35, Z:16.11 [[ 7.22884743e-01 -6.90362705e-01 -2.89306862e-02 2.54332497e+02] [ 6.89858439e-01 7.23462900e-01 -2.63963458e-02 1.64354710e+02] [ 3.91533308e-02 -8.76562383e-04 9.99232830e-01 1.61103438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.050385723 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:254.35, Y:164.37, Z:16.11 [[ 7.20943459e-01 -6.92392275e-01 -2.88698396e-02 2.54354667e+02] [ 6.91886967e-01 7.21520710e-01 -2.64630067e-02 1.64373250e+02] [ 3.91529685e-02 -8.96334146e-04 9.99232827e-01 1.61103536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.080385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.37, Y:164.39, Z:16.11 [[ 7.17529687e-01 -6.95928457e-01 -2.88916966e-02 2.54374499e+02] [ 6.95426956e-01 7.18110246e-01 -2.64390684e-02 1.64392303e+02] [ 3.91471234e-02 -1.12124808e-03 9.99232828e-01 1.61111572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.110385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.39, Y:164.41, Z:16.11 [[ 7.15698117e-01 -6.97810983e-01 -2.89143014e-02 2.54394378e+02] [ 6.97312006e-01 7.16280846e-01 -2.64143201e-02 1.64411803e+02] [ 3.91429629e-02 -1.25761032e-03 9.99232829e-01 1.61103072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.140385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.42, Y:164.43, Z:16.11 [[ 7.15415554e-01 -6.98099674e-01 -2.89383780e-02 2.54416267e+02] [ 6.97601996e-01 7.15999393e-01 -2.63879661e-02 1.64431071e+02] [ 3.91412916e-02 -1.30910886e-03 9.99232828e-01 1.61106134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.170385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.44, Y:164.45, Z:16.11 [[ 7.14966790e-01 -6.98557145e-01 -2.89897209e-02 2.54436963e+02] [ 6.98062111e-01 7.15552882e-01 -2.63317771e-02 1.64450038e+02] [ 3.91379294e-02 -1.41027962e-03 9.99232823e-01 1.61117886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.200385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:254.46, Y:164.47, Z:16.11 [[ 7.14930163e-01 -6.98594890e-01 -2.89834699e-02 2.54458862e+02] [ 6.98099611e-01 7.15516045e-01 -2.63386137e-02 1.64469593e+02] [ 3.91381587e-02 -1.40307965e-03 9.99232824e-01 1.61133587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.230385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.48, Y:164.49, Z:16.12 [[ 7.14520339e-01 -6.99013340e-01 -2.90006252e-02 2.54476892e+02] [ 6.98519163e-01 7.15107156e-01 -2.63198659e-02 1.64489757e+02] [ 3.91364919e-02 -1.45141288e-03 9.99232820e-01 1.61159770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.260385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.50, Y:164.51, Z:16.12 [[ 7.14923827e-01 -6.98605483e-01 -2.88842594e-02 2.54496962e+02] [ 6.98105836e-01 7.15505975e-01 -2.64469566e-02 1.64509497e+02] [ 3.91428491e-02 -1.25671067e-03 9.99232835e-01 1.61165554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.290385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.52, Y:164.53, Z:16.12 [[ 7.17522946e-01 -6.95936025e-01 -2.88768201e-02 2.54523058e+02] [ 6.95433886e-01 7.18102945e-01 -2.64550769e-02 1.64529676e+02] [ 3.91475706e-02 -1.09979446e-03 9.99232835e-01 1.61165542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.320385723 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:254.54, Y:164.55, Z:16.12 [[ 7.15729600e-01 -6.97769179e-01 -2.91429467e-02 2.54538156e+02] [ 6.97280280e-01 7.16320900e-01 -2.61644711e-02 1.64548038e+02] [ 3.91324633e-02 -1.59411558e-03 9.99232760e-01 1.61174702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.350385723 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:254.56, Y:164.57, Z:16.12 [[ 7.17835106e-01 -6.95614428e-01 -2.88674357e-02 2.54564771e+02] [ 6.95111630e-01 7.18414523e-01 -2.64649973e-02 1.64567393e+02] [ 3.91482190e-02 -1.06858614e-03 9.99232843e-01 1.61182676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.380385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.58, Y:164.59, Z:16.12 [[ 7.15637226e-01 -6.97863612e-01 -2.91502956e-02 2.54580310e+02] [ 6.97375123e-01 7.16228864e-01 -2.61563077e-02 1.64586010e+02] [ 3.91318185e-02 -1.61026352e-03 9.99232760e-01 1.61218090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.410385723 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:254.60, Y:164.61, Z:16.12 [[ 7.14594063e-01 -6.98943828e-01 -2.88591530e-02 2.54600949e+02] [ 6.98443378e-01 7.15175497e-01 -2.64736897e-02 1.64605159e+02] [ 3.91429811e-02 -1.23854283e-03 9.99232852e-01 1.61213657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.440385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:254.62, Y:164.62, Z:16.13 [[ 7.14172150e-01 -6.99375228e-01 -2.88518687e-02 2.54620468e+02] [ 6.98874809e-01 7.14753611e-01 -2.64816259e-02 1.64623314e+02] [ 3.91425705e-02 -1.25140454e-03 9.99232852e-01 1.61254158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.470385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:254.64, Y:164.64, Z:16.13 [[ 7.13983116e-01 -6.99568339e-01 -2.88487163e-02 2.54641449e+02] [ 6.99067939e-01 7.14564593e-01 -2.64850597e-02 1.64642662e+02] [ 3.91423805e-02 -1.25732717e-03 9.99232852e-01 1.61265330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.500385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.67, Y:164.66, Z:16.13 [[ 7.14626819e-01 -6.98911064e-01 -2.88415512e-02 2.54668679e+02] [ 6.98409815e-01 7.15207564e-01 -2.64928600e-02 1.64662241e+02] [ 3.91438485e-02 -1.21071414e-03 9.99232852e-01 1.61286593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.530385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.69, Y:164.68, Z:16.13 [[ 7.14180950e-01 -6.99353643e-01 -2.91556732e-02 2.54689924e+02] [ 6.98866621e-01 7.14773806e-01 -2.61505944e-02 1.64682006e+02] [ 3.91282250e-02 -1.69967047e-03 9.99232752e-01 1.61296821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.560385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.70, Y:164.70, Z:16.13 [[ 7.13074942e-01 -7.00480787e-01 -2.91683774e-02 2.54703376e+02] [ 6.99995266e-01 7.13669039e-01 -2.61367546e-02 1.64701905e+02] [ 3.91248623e-02 -1.78026128e-03 9.99232744e-01 1.61300792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.590385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.73, Y:164.72, Z:16.13 [[ 7.14427839e-01 -6.99114758e-01 -2.88343073e-02 2.54728234e+02] [ 6.98613376e-01 7.15008453e-01 -2.65002554e-02 1.64721276e+02] [ 3.91434931e-02 -1.21151256e-03 9.99232865e-01 1.61321405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.620385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.74, Y:164.74, Z:16.13 [[ 7.15583020e-01 -6.97922332e-01 -2.90750614e-02 2.54743525e+02] [ 6.97430565e-01 7.16171880e-01 -2.62382485e-02 1.64740807e+02] [ 3.91350009e-02 -1.50219139e-03 9.99232803e-01 1.61318248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.650385723 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:254.77, Y:164.76, Z:16.13 [[ 7.17156504e-01 -6.96315834e-01 -2.88237329e-02 2.54767595e+02] [ 6.95811734e-01 7.17734750e-01 -2.65115009e-02 1.64761845e+02] [ 3.91481726e-02 -1.04299624e-03 9.99232872e-01 1.61333734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.680385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.78, Y:164.78, Z:16.13 [[ 7.18108310e-01 -6.95326226e-01 -2.90154021e-02 2.54784344e+02] [ 6.94829710e-01 7.18693134e-01 -2.63031097e-02 1.64782564e+02] [ 3.91424122e-02 -1.27228179e-03 9.99232832e-01 1.61331008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.710385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.80, Y:164.80, Z:16.13 [[ 7.21086963e-01 -6.92245177e-01 -2.88133056e-02 2.54803244e+02] [ 6.91737366e-01 7.21661947e-01 -2.65226628e-02 1.64802367e+02] [ 3.91536517e-02 -8.06093741e-04 9.99232877e-01 1.61336970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.740385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.82, Y:164.82, Z:16.13 [[ 7.22127389e-01 -6.91159903e-01 -2.88101081e-02 2.54822971e+02] [ 6.90651089e-01 7.22701485e-01 -2.65261357e-02 1.64820632e+02] [ 3.91549093e-02 -7.42483373e-04 9.99232877e-01 1.61348652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.770385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.84, Y:164.84, Z:16.14 [[ 7.22812374e-01 -6.90443649e-01 -2.88069364e-02 2.54843908e+02] [ 6.89934129e-01 7.23385844e-01 -2.65295797e-02 1.64838572e+02] [ 3.91557098e-02 -6.98980076e-04 9.99232877e-01 1.61357922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.800385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.86, Y:164.86, Z:16.14 [[ 7.22548097e-01 -6.90720509e-01 -2.87997500e-02 2.54864477e+02] [ 6.90210898e-01 7.23121486e-01 -2.65373788e-02 1.64857349e+02] [ 3.91556298e-02 -7.03368765e-04 9.99232877e-01 1.61367817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.830385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.88, Y:164.88, Z:16.14 [[ 7.22107967e-01 -6.91180925e-01 -2.87925783e-02 2.54884495e+02] [ 6.90671370e-01 7.22681405e-01 -2.65451576e-02 1.64877122e+02] [ 3.91553676e-02 -7.17739660e-04 9.99232877e-01 1.61374386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.860385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.90, Y:164.90, Z:16.14 [[ 7.22429522e-01 -6.90845124e-01 -2.87854045e-02 2.54904681e+02] [ 6.90334993e-01 7.23002448e-01 -2.65529346e-02 1.64896389e+02] [ 3.91558833e-02 -6.88948164e-04 9.99232877e-01 1.61384098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.890385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.93, Y:164.91, Z:16.14 [[ 7.22816411e-01 -6.90440629e-01 -2.87779932e-02 2.54925003e+02] [ 6.89929857e-01 7.23388766e-01 -2.65609645e-02 1.64914990e+02] [ 3.91564460e-02 -6.56095720e-04 9.99232877e-01 1.61387091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.920385723 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:254.95, Y:164.93, Z:16.14 [[ 7.23609069e-01 -6.89610059e-01 -2.87729514e-02 2.54946661e+02] [ 6.89098413e-01 7.24180642e-01 -2.65664251e-02 1.64933148e+02] [ 3.91572884e-02 -6.03688987e-04 9.99232877e-01 1.61359460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.950385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.97, Y:164.95, Z:16.14 [[ 7.24193734e-01 -6.88996352e-01 -2.87656625e-02 2.54967725e+02] [ 6.88483908e-01 7.24764592e-01 -2.65743150e-02 1.64951615e+02] [ 3.91579397e-02 -5.59743330e-04 9.99232877e-01 1.61390841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.980385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.99, Y:164.97, Z:16.14 [[ 7.24375062e-01 -6.88808027e-01 -2.87101311e-02 2.54989500e+02] [ 6.88293053e-01 7.24943641e-01 -2.66343912e-02 1.64970175e+02] [ 3.91592095e-02 -4.67695013e-04 9.99232875e-01 1.61418361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.010385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.01, Y:164.99, Z:16.14 [[ 7.24188134e-01 -6.89003491e-01 -2.87356390e-02 2.55010416e+02] [ 6.88489763e-01 7.24757838e-01 -2.66068051e-02 1.64989708e+02] [ 3.91585612e-02 -5.15860795e-04 9.99232876e-01 1.61422363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.040385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.03, Y:165.01, Z:16.14 [[ 7.23771906e-01 -6.89440102e-01 -2.87501872e-02 2.55030734e+02] [ 6.88927343e-01 7.24342482e-01 -2.65910756e-02 1.65009269e+02] [ 3.91579359e-02 -5.60916586e-04 9.99232876e-01 1.61431024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.070385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.05, Y:165.03, Z:16.14 [[ 7.23489127e-01 -6.89739616e-01 -2.86835521e-02 2.55053766e+02] [ 6.89224235e-01 7.24057341e-01 -2.66630861e-02 1.65027361e+02] [ 3.91591232e-02 -4.78946434e-04 9.99232873e-01 1.61440342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.100385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.08, Y:165.05, Z:16.15 [[ 7.22915887e-01 -6.90337901e-01 -2.87437363e-02 2.55075634e+02] [ 6.89825573e-01 7.23486850e-01 -2.65980470e-02 1.65045468e+02] [ 3.91573552e-02 -6.00013572e-04 9.99232877e-01 1.61456153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.130385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.10, Y:165.06, Z:16.15 [[ 7.22406370e-01 -6.90871383e-01 -2.87361918e-02 2.55095377e+02] [ 6.90359153e-01 7.22977421e-01 -2.66061955e-02 1.65062946e+02] [ 3.91570769e-02 -6.17807947e-04 9.99232877e-01 1.61465588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.160385723 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:255.12, Y:165.08, Z:16.14 [[ 7.22321862e-01 -6.90963256e-01 -2.86514541e-02 2.55118459e+02] [ 6.90447466e-01 7.22889708e-01 -2.66976786e-02 1.65082118e+02] [ 3.91589563e-02 -4.98006931e-04 9.99232870e-01 1.61448766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.190385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.13, Y:165.10, Z:16.15 [[ 7.20066333e-01 -6.93310332e-01 -2.87273305e-02 2.55134184e+02] [ 6.92799654e-01 7.20638772e-01 -2.66157830e-02 1.65100745e+02] [ 3.91550255e-02 -7.37155315e-04 9.99232876e-01 1.61477698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.220385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.16, Y:165.12, Z:16.15 [[ 7.21133709e-01 -6.92212673e-01 -2.84216295e-02 2.55160700e+02] [ 6.91688080e-01 7.21693538e-01 -2.69450699e-02 1.65119394e+02] [ 3.91634253e-02 -2.27904169e-04 9.99232793e-01 1.61495109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.250385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.18, Y:165.14, Z:16.15 [[ 7.20795488e-01 -6.92552196e-01 -2.87283994e-02 2.55182623e+02] [ 6.92040969e-01 7.21367430e-01 -2.66144212e-02 1.65138622e+02] [ 3.91556075e-02 -6.97674624e-04 9.99232882e-01 1.61507185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.280385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.20, Y:165.16, Z:16.15 [[ 7.21202781e-01 -6.92127647e-01 -2.87379461e-02 2.55203541e+02] [ 6.91616493e-01 7.21774789e-01 -2.66041344e-02 1.65155227e+02] [ 3.91557819e-02 -6.88661760e-04 9.99232881e-01 1.61509413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.310385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.22, Y:165.17, Z:16.15 [[ 7.21895343e-01 -6.91406763e-01 -2.87019410e-02 2.55224739e+02] [ 6.90893496e-01 7.22465454e-01 -2.66429178e-02 1.65173481e+02] [ 3.91572544e-02 -5.96586078e-04 9.99232883e-01 1.61514869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.340385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.25, Y:165.19, Z:16.15 [[ 7.21314381e-01 -6.92015615e-01 -2.86348113e-02 2.55246079e+02] [ 6.91499957e-01 7.21882336e-01 -2.67152096e-02 1.65192719e+02] [ 3.91583067e-02 -5.30905932e-04 9.99232878e-01 1.61527771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.370385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.27, Y:165.21, Z:16.15 [[ 7.21315356e-01 -6.92012121e-01 -2.86946284e-02 2.55267098e+02] [ 6.91499018e-01 7.21885616e-01 -2.66508054e-02 1.65211662e+02] [ 3.91569199e-02 -6.18672249e-04 9.99232882e-01 1.61538451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.400385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.29, Y:165.23, Z:16.15 [[ 7.20257534e-01 -6.93113360e-01 -2.86872034e-02 2.55285283e+02] [ 6.92600811e-01 7.20828291e-01 -2.66587954e-02 1.65230359e+02] [ 3.91561150e-02 -6.67582099e-04 9.99232882e-01 1.61527088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.430385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.31, Y:165.25, Z:16.16 [[ 7.20679006e-01 -6.92681735e-01 -2.85268973e-02 2.55309681e+02] [ 6.92162004e-01 7.21243265e-01 -2.68312032e-02 1.65248977e+02] [ 3.91603170e-02 -4.08549538e-04 9.99232857e-01 1.61567871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.460385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.33, Y:165.26, Z:16.16 [[ 7.21784825e-01 -6.91523024e-01 -2.86805533e-02 2.55331756e+02] [ 6.91008934e-01 7.22354194e-01 -2.66659400e-02 1.65264753e+02] [ 3.91576294e-02 -5.71447781e-04 9.99232883e-01 1.61586885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.490385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.36, Y:165.28, Z:16.16 [[ 7.21870051e-01 -6.91434273e-01 -2.86753353e-02 2.55355106e+02] [ 6.90919891e-01 7.22439155e-01 -2.66715500e-02 1.65281462e+02] [ 3.91578088e-02 -5.58966412e-04 9.99232883e-01 1.61601917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.520385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.37, Y:165.30, Z:16.16 [[ 7.19830152e-01 -6.93558003e-01 -2.86679144e-02 2.55372425e+02] [ 6.93044982e-01 7.20400483e-01 -2.66795240e-02 1.65300217e+02] [ 3.91561768e-02 -6.63428328e-04 9.99232883e-01 1.61592081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.550385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.40, Y:165.32, Z:16.16 [[ 7.22617139e-01 -6.90662647e-01 -2.84530802e-02 2.55397311e+02] [ 6.90138225e-01 7.23177068e-01 -2.69102050e-02 1.65316781e+02] [ 3.91624885e-02 -1.90782870e-04 9.99232837e-01 1.61615582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.580385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:255.42, Y:165.34, Z:16.16 [[ 7.22564980e-01 -6.90708593e-01 -2.86616350e-02 2.55420130e+02] [ 6.90193057e-01 7.23133037e-01 -2.66862148e-02 1.65336195e+02] [ 3.91585731e-02 -4.99537258e-04 9.99232884e-01 1.61621472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.610385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.44, Y:165.35, Z:16.16 [[ 7.22491507e-01 -6.90782261e-01 -2.87382952e-02 2.55438655e+02] [ 6.90270051e-01 7.23062576e-01 -2.66039198e-02 1.65352412e+02] [ 3.91571016e-02 -6.16078335e-04 9.99232877e-01 1.61618070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.640385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.46, Y:165.37, Z:16.16 [[ 7.23078012e-01 -6.90180057e-01 -2.84548226e-02 2.55461237e+02] [ 6.89655349e-01 7.23637659e-01 -2.69079755e-02 1.65370957e+02] [ 3.91623293e-02 -1.67455214e-04 9.99232848e-01 1.61635841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.670385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.48, Y:165.39, Z:16.16 [[ 7.22960473e-01 -6.90302921e-01 -2.84610681e-02 2.55483448e+02] [ 6.89778571e-01 7.23520452e-01 -2.69012775e-02 1.65389511e+02] [ 3.91621953e-02 -1.83274647e-04 9.99232850e-01 1.61636174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.700385723 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:255.50, Y:165.41, Z:16.16 [[ 7.23621107e-01 -6.89606415e-01 -2.85567088e-02 2.55504798e+02] [ 6.89085569e-01 7.24184307e-01 -2.67986615e-02 1.65405486e+02] [ 3.91608493e-02 -2.85938777e-04 9.99232879e-01 1.61647374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.730385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.53, Y:165.42, Z:16.16 [[ 7.24181441e-01 -6.89023758e-01 -2.84165601e-02 2.55528848e+02] [ 6.88496548e-01 7.24738752e-01 -2.69489285e-02 1.65422622e+02] [ 3.91630343e-02 -4.87896785e-05 9.99232833e-01 1.61648923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.760385723 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:255.55, Y:165.44, Z:16.17 [[ 7.24399606e-01 -6.88793081e-01 -2.84482409e-02 2.55550400e+02] [ 6.88267026e-01 7.24957989e-01 -2.69149708e-02 1.65439746e+02] [ 3.91626252e-02 -8.27919047e-05 9.99232847e-01 1.61654431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.790385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:255.57, Y:165.46, Z:16.17 [[ 7.24625950e-01 -6.88555119e-01 -2.84443423e-02 2.55572022e+02] [ 6.88028717e-01 7.25184007e-01 -2.69191476e-02 1.65456427e+02] [ 3.91626990e-02 -6.42114831e-05 9.99232845e-01 1.61666371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.820385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.60, Y:165.47, Z:16.17 [[ 7.26614985e-01 -6.86455847e-01 -2.84435067e-02 2.55600117e+02] [ 6.85927798e-01 7.27171484e-01 -2.69200427e-02 1.65471240e+02] [ 3.91627277e-02 5.03145063e-05 9.99232845e-01 1.61700906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.850385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:255.62, Y:165.49, Z:16.17 [[ 7.26446206e-01 -6.86626722e-01 -2.86296126e-02 2.55621575e+02] [ 6.86106636e-01 7.27010104e-01 -2.67206431e-02 1.65487527e+02] [ 3.91611253e-02 -2.31857409e-04 9.99232882e-01 1.61710252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.880385723 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:255.64, Y:165.50, Z:16.17 [[ 7.24138965e-01 -6.89059717e-01 -2.86263145e-02 2.55641368e+02] [ 6.88541386e-01 7.24704476e-01 -2.67241761e-02 1.65504450e+02] [ 3.91601714e-02 -3.58385072e-04 9.99232882e-01 1.61699789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.910385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:255.66, Y:165.52, Z:16.17 [[ 7.24061710e-01 -6.89150039e-01 -2.84053653e-02 2.55662945e+02] [ 6.88622464e-01 7.24618674e-01 -2.69607003e-02 1.65521861e+02] [ 3.91630258e-02 -3.93619591e-05 9.99232834e-01 1.61700171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.940385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:255.68, Y:165.54, Z:16.17 [[ 7.24228575e-01 -6.88974012e-01 -2.84215033e-02 2.55684753e+02] [ 6.88446980e-01 7.24786043e-01 -2.69434236e-02 1.65538546e+02] [ 3.91628276e-02 -5.35008524e-05 9.99232841e-01 1.61716309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.970385723 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:255.71, Y:165.55, Z:16.17 [[ 7.22900035e-01 -6.90368554e-01 -2.84041962e-02 2.55708593e+02] [ 6.89841869e-01 7.23457842e-01 -2.69619481e-02 1.65552952e+02] [ 3.91629196e-02 -1.03610561e-04 9.99232833e-01 1.61708348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.000385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.73, Y:165.57, Z:16.18 [[ 7.23466496e-01 -6.89780822e-01 -2.82603389e-02 2.55732962e+02] [ 6.89247658e-01 7.24018231e-01 -2.71158174e-02 1.65570724e+02] [ 3.91649714e-02 1.39013032e-04 9.99232749e-01 1.61761195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.030385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:255.75, Y:165.59, Z:16.18 [[ 7.22245498e-01 -6.91054255e-01 -2.83805804e-02 2.55754750e+02] [ 6.90527107e-01 7.22802881e-01 -2.69872038e-02 1.65586488e+02] [ 3.91631873e-02 -1.06173678e-04 9.99232822e-01 1.61765410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.060385723 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:255.78, Y:165.60, Z:16.18 [[ 7.22192778e-01 -6.91111359e-01 -2.83316357e-02 2.55778939e+02] [ 6.90582201e-01 7.22748288e-01 -2.70395328e-02 1.65604485e+02] [ 3.91639694e-02 -3.75680296e-05 9.99232797e-01 1.61768401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.090385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:255.80, Y:165.62, Z:16.18 [[ 7.21081809e-01 -6.92267115e-01 -2.84124248e-02 2.55798975e+02] [ 6.91742245e-01 7.21641319e-01 -2.69531799e-02 1.65621807e+02] [ 3.91623798e-02 -2.18626778e-04 9.99232836e-01 1.61789645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.120385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.82, Y:165.64, Z:16.18 [[ 7.19993726e-01 -6.93401324e-01 -2.83485284e-02 2.55823139e+02] [ 6.92874642e-01 7.20551573e-01 -2.70214864e-02 1.65638113e+02] [ 3.91633111e-02 -1.86675802e-04 9.99232806e-01 1.61810540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.150385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.85, Y:165.66, Z:16.18 [[ 7.19380160e-01 -6.94036246e-01 -2.83879310e-02 2.55845611e+02] [ 6.93511718e-01 7.19940005e-01 -2.69793734e-02 1.65655886e+02] [ 3.91622703e-02 -2.78936852e-04 9.99232825e-01 1.61817574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.180385723 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:255.87, Y:165.67, Z:16.18 [[ 7.16618818e-01 -6.96885408e-01 -2.84288112e-02 2.55867320e+02] [ 6.96364836e-01 7.17182322e-01 -2.69356929e-02 1.65673292e+02] [ 3.91597322e-02 -4.94200060e-04 9.99232841e-01 1.61822474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.210385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:255.89, Y:165.69, Z:16.18 [[ 7.15329365e-01 -6.98212010e-01 -2.83529337e-02 2.55889054e+02] [ 6.97689267e-01 7.15890901e-01 -2.70167477e-02 1.65691708e+02] [ 3.91610250e-02 -4.55664520e-04 9.99232809e-01 1.61834155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.240385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.92, Y:165.71, Z:16.18 [[ 7.15254044e-01 -6.98289859e-01 -2.83359554e-02 2.55916963e+02] [ 6.97766459e-01 7.15814979e-01 -2.70348712e-02 1.65707482e+02] [ 3.91614777e-02 -4.35078372e-04 9.99232800e-01 1.61848408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.270385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.94, Y:165.73, Z:16.19 [[ 7.11599422e-01 -7.02005039e-01 -2.85515074e-02 2.55935047e+02] [ 7.01493758e-01 7.12171338e-01 -2.68047114e-02 1.65726163e+02] [ 3.91506076e-02 -9.54487081e-04 9.99232865e-01 1.61851181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.300385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:255.96, Y:165.74, Z:16.19 [[ 7.10193046e-01 -7.03435884e-01 -2.83512554e-02 2.55955657e+02] [ 7.02917203e-01 7.10758334e-01 -2.70184554e-02 1.65744820e+02] [ 3.91566421e-02 -7.40266053e-04 9.99232810e-01 1.61860840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.330385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.98, Y:165.76, Z:16.19 [[ 7.09454420e-01 -7.04181378e-01 -2.83374823e-02 2.55979486e+02] [ 7.03662704e-01 7.10019723e-01 -2.70331551e-02 1.65762350e+02] [ 3.91564158e-02 -7.61238063e-04 9.99232804e-01 1.61863378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.360385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.00, Y:165.78, Z:16.19 [[ 7.09322570e-01 -7.04311480e-01 -2.84047671e-02 2.56000353e+02] [ 7.03795779e-01 7.09890546e-01 -2.69613381e-02 1.65781807e+02] [ 3.91534556e-02 -8.66869541e-04 9.99232833e-01 1.61874935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.390385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.02, Y:165.80, Z:16.19 [[ 7.07044334e-01 -7.06598836e-01 -2.83970959e-02 2.56022939e+02] [ 7.06084644e-01 7.07613680e-01 -2.69695207e-02 1.65798829e+02] [ 3.91508055e-02 -9.82106566e-04 9.99232831e-01 1.61876697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.420385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:256.04, Y:165.82, Z:16.19 [[ 7.04566982e-01 -7.09068374e-01 -2.84149508e-02 2.56042202e+02] [ 7.08556943e-01 7.05138802e-01 -2.69504921e-02 1.65817079e+02] [ 3.91462259e-02 -1.14518379e-03 9.99232837e-01 1.61900119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.450385723 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:256.06, Y:165.84, Z:16.19 [[ 7.03455059e-01 -7.10174667e-01 -2.83358744e-02 2.56064725e+02] [ 7.09660742e-01 7.04024681e-01 -2.70347853e-02 1.65835196e+02] [ 3.91485746e-02 -1.09110115e-03 9.99232805e-01 1.61919883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.480385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:256.09, Y:165.85, Z:16.19 [[ 6.99819446e-01 -7.13755941e-01 -2.83760477e-02 2.56085865e+02] [ 7.13246661e-01 7.00393200e-01 -2.69919643e-02 1.65853557e+02] [ 3.91400658e-02 -1.34961976e-03 9.99232823e-01 1.61921028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.510385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.11, Y:165.87, Z:16.19 [[ 6.98119496e-01 -7.15416242e-01 -2.84388964e-02 2.56107454e+02] [ 7.14911042e-01 6.98696820e-01 -2.69249914e-02 1.65872217e+02] [ 3.91327426e-02 -1.53441969e-03 9.99232843e-01 1.61938770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.540385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:256.13, Y:165.89, Z:16.20 [[ 6.95187991e-01 -7.18263412e-01 -2.84838466e-02 2.56130331e+02] [ 7.17762528e-01 6.95769052e-01 -2.68771153e-02 1.65889215e+02] [ 3.91230275e-02 -1.75998997e-03 9.99232851e-01 1.61971291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.570385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.15, Y:165.91, Z:16.20 [[ 6.92923446e-01 -7.20445718e-01 -2.85493435e-02 2.56150289e+02] [ 7.19949521e-01 6.93508509e-01 -2.68073627e-02 1.65908237e+02] [ 3.91124623e-02 -1.97863602e-03 9.99232856e-01 1.61992253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.600385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.17, Y:165.93, Z:16.20 [[ 6.87165390e-01 -7.25939970e-01 -2.85462324e-02 2.56165267e+02] [ 7.25448310e-01 6.87754271e-01 -2.68106751e-02 1.65929674e+02] [ 3.90957339e-02 -2.28544805e-03 9.99232856e-01 1.62014771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.630385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.19, Y:165.95, Z:16.20 [[ 6.88331515e-01 -7.24842360e-01 -2.83421709e-02 2.56187760e+02] [ 7.24340842e-01 6.88912074e-01 -2.70277366e-02 1.65948568e+02] [ 3.91161121e-02 -1.92534910e-03 9.99232817e-01 1.62026245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.660385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.21, Y:165.97, Z:16.20 [[ 6.85262420e-01 -7.27742473e-01 -2.83955759e-02 2.56205994e+02] [ 7.27245745e-01 6.85847061e-01 -2.69709982e-02 1.65971738e+02] [ 3.91029632e-02 -2.16835025e-03 9.99232834e-01 1.62043326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.690385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.23, Y:165.99, Z:16.21 [[ 6.84883678e-01 -7.28094126e-01 -2.85182430e-02 2.56225315e+02] [ 7.27603078e-01 6.85473077e-01 -2.68406652e-02 1.65992981e+02] [ 3.90910184e-02 -2.36722787e-03 9.99232850e-01 1.62079274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.720385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.24, Y:166.02, Z:16.21 [[ 6.84025516e-01 -7.28901073e-01 -2.85012210e-02 2.56241757e+02] [ 7.28409972e-01 6.84614870e-01 -2.68587446e-02 1.66016410e+02] [ 3.90897275e-02 -2.38850693e-03 9.99232850e-01 1.62067051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.750385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:256.26, Y:166.04, Z:16.21 [[ 6.82927880e-01 -7.29929235e-01 -2.85100606e-02 2.56258675e+02] [ 7.29439409e-01 6.83518295e-01 -2.68493583e-02 1.66038513e+02] [ 3.90852795e-02 -2.46018644e-03 9.99232850e-01 1.62080677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.780385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:256.28, Y:166.06, Z:16.21 [[ 6.83317783e-01 -7.29565825e-01 -2.84695414e-02 2.56277346e+02] [ 7.29073905e-01 6.83906457e-01 -2.68923680e-02 1.66059438e+02] [ 3.90902558e-02 -2.38036649e-03 9.99232849e-01 1.62097735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.810385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.29, Y:166.08, Z:16.21 [[ 6.83035998e-01 -7.29828471e-01 -2.84996214e-02 2.56292873e+02] [ 7.29338099e-01 6.83625960e-01 -2.68604524e-02 1.66083054e+02] [ 3.90866039e-02 -2.43920386e-03 9.99232850e-01 1.62089245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.840385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.31, Y:166.11, Z:16.21 [[ 6.82482246e-01 -7.30346471e-01 -2.84958956e-02 2.56308018e+02] [ 7.29856383e-01 6.83072444e-01 -2.68644044e-02 1.66107334e+02] [ 3.90850841e-02 -2.46343224e-03 9.99232850e-01 1.62118880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.870385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.33, Y:166.13, Z:16.21 [[ 6.82325017e-01 -7.30493646e-01 -2.84886821e-02 2.56326977e+02] [ 7.30003368e-01 6.82915057e-01 -2.68720519e-02 1.66129701e+02] [ 3.90852132e-02 -2.46136064e-03 9.99232850e-01 1.62123764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.900385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:256.35, Y:166.15, Z:16.22 [[ 6.81424697e-01 -7.31333706e-01 -2.84849757e-02 2.56345418e+02] [ 7.30843992e-01 6.82015205e-01 -2.68759802e-02 1.66151153e+02] [ 3.90824968e-02 -2.50411667e-03 9.99232850e-01 1.62150855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.930385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.36, Y:166.17, Z:16.21 [[ 6.81258486e-01 -7.31488673e-01 -2.84815100e-02 2.56364464e+02] [ 7.30998942e-01 6.81848980e-01 -2.68796524e-02 1.66172575e+02] [ 3.90822499e-02 -2.50796237e-03 9.99232850e-01 1.62144019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.960385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.38, Y:166.20, Z:16.22 [[ 6.81947891e-01 -7.30844654e-01 -2.85160760e-02 2.56378732e+02] [ 7.30355883e-01 6.82539182e-01 -2.68430425e-02 1.66197082e+02] [ 3.90814333e-02 -2.52132762e-03 9.99232848e-01 1.62172267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.990385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:256.39, Y:166.22, Z:16.22 [[ 6.85090444e-01 -7.27901403e-01 -2.84715871e-02 2.56394814e+02] [ 7.27408144e-01 6.85677994e-01 -2.68901480e-02 1.66221649e+02] [ 3.90957171e-02 -2.28828088e-03 9.99232850e-01 1.62185426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.020385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.41, Y:166.24, Z:16.22 [[ 6.87473528e-01 -7.25651431e-01 -2.84631126e-02 2.56413777e+02] [ 7.25155880e-01 6.88059146e-01 -2.68991171e-02 1.66243399e+02] [ 3.91036877e-02 -2.14776251e-03 9.99232850e-01 1.62191344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.050385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.43, Y:166.27, Z:16.22 [[ 6.89939057e-01 -7.23307807e-01 -2.84589797e-02 2.56431408e+02] [ 7.22810087e-01 6.90522832e-01 -2.69034889e-02 1.66265072e+02] [ 3.91110788e-02 -2.00866986e-03 9.99232850e-01 1.62203093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.080385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.45, Y:166.29, Z:16.22 [[ 6.96255001e-01 -7.17230426e-01 -2.84515382e-02 2.56446531e+02] [ 7.16727285e-01 6.96834110e-01 -2.69113563e-02 1.66289430e+02] [ 3.91276458e-02 -1.65482736e-03 9.99232850e-01 1.62210558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.110385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.46, Y:166.31, Z:16.22 [[ 6.99407665e-01 -7.14156537e-01 -2.84492342e-02 2.56464372e+02] [ 7.13650751e-01 6.99984467e-01 -2.69137917e-02 1.66310922e+02] [ 3.91346823e-02 -1.47910510e-03 9.99232850e-01 1.62223182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.140385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.48, Y:166.33, Z:16.22 [[ 7.05661658e-01 -7.07977884e-01 -2.84418754e-02 2.56480158e+02] [ 7.07466732e-01 7.06233709e-01 -2.69215660e-02 1.66334160e+02] [ 3.91464846e-02 -1.12416374e-03 9.99232850e-01 1.62228910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.170385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.50, Y:166.35, Z:16.22 [[ 7.08258927e-01 -7.05379709e-01 -2.84386802e-02 2.56499185e+02] [ 7.04866323e-01 7.08828974e-01 -2.69249409e-02 1.66354793e+02] [ 3.91504675e-02 -9.75638166e-04 9.99232850e-01 1.62239703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.200385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.52, Y:166.37, Z:16.23 [[ 7.10468609e-01 -7.03154326e-01 -2.84314815e-02 2.56518390e+02] [ 7.02638850e-01 7.11036767e-01 -2.69325403e-02 1.66374714e+02] [ 3.91535609e-02 -8.42339021e-04 9.99232850e-01 1.62255037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.230385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.54, Y:166.39, Z:16.23 [[ 7.14425690e-01 -6.99133748e-01 -2.84242100e-02 2.56535873e+02] [ 6.98614769e-01 7.14990650e-01 -2.69402124e-02 1.66394956e+02] [ 3.91578560e-02 -6.10793057e-04 9.99232850e-01 1.62277553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.260385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.55, Y:166.42, Z:16.23 [[ 7.16028790e-01 -6.97491946e-01 -2.84210546e-02 2.56554698e+02] [ 6.96971540e-01 7.16592435e-01 -2.69435408e-02 1.66415670e+02] [ 3.91592154e-02 -5.16315284e-04 9.99232850e-01 1.62300944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.290385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.57, Y:166.44, Z:16.23 [[ 7.19229269e-01 -6.94191564e-01 -2.84135661e-02 2.56571921e+02] [ 6.93668259e-01 7.19790224e-01 -2.69514355e-02 1.66437922e+02] [ 3.91612663e-02 -3.25327626e-04 9.99232850e-01 1.62319754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.320385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.59, Y:166.46, Z:16.23 [[ 7.20147898e-01 -6.93241069e-01 -2.83518087e-02 2.56591675e+02] [ 6.92714459e-01 7.20705755e-01 -2.70165081e-02 1.66458332e+02] [ 3.91622646e-02 -1.83826289e-04 9.99232847e-01 1.62315654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.350385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.61, Y:166.48, Z:16.23 [[ 7.21367134e-01 -6.91970146e-01 -2.84038025e-02 2.56611455e+02] [ 6.91444708e-01 7.21926091e-01 -2.69617335e-02 1.66476635e+02] [ 3.91621608e-02 -1.90350441e-04 9.99232850e-01 1.62329054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.380385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.63, Y:166.50, Z:16.24 [[ 7.21401091e-01 -6.91934875e-01 -2.84006024e-02 2.56632627e+02] [ 6.91409277e-01 7.21959898e-01 -2.69651039e-02 1.66495445e+02] [ 3.91621919e-02 -1.83784634e-04 9.99232850e-01 1.62352583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.410385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.65, Y:166.51, Z:16.24 [[ 7.21731204e-01 -6.91590849e-01 -2.83930825e-02 2.56652703e+02] [ 6.91064673e-01 7.22289467e-01 -2.69730197e-02 1.66513592e+02] [ 3.91623181e-02 -1.54186294e-04 9.99232850e-01 1.62363063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.440385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.67, Y:166.53, Z:16.24 [[ 7.21648569e-01 -6.91677209e-01 -2.83898221e-02 2.56673559e+02] [ 6.91150964e-01 7.22206768e-01 -2.69764510e-02 1.66533404e+02] [ 3.91623180e-02 -1.54135648e-04 9.99232850e-01 1.62370356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.470385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.70, Y:166.55, Z:16.24 [[ 7.22842088e-01 -6.90427539e-01 -2.84451946e-02 2.56696868e+02] [ 6.89902620e-01 7.23401538e-01 -2.69181828e-02 1.66551857e+02] [ 3.91623522e-02 -1.66818838e-04 9.99232847e-01 1.62369383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.500385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.72, Y:166.57, Z:16.24 [[ 7.22513985e-01 -6.90767367e-01 -2.85304336e-02 2.56717025e+02] [ 6.90246248e-01 7.23077001e-01 -2.68284972e-02 1.66569689e+02] [ 3.91619507e-02 -3.09060336e-04 9.99232829e-01 1.62363858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.530385723 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:256.74, Y:166.59, Z:16.24 [[ 7.23704183e-01 -6.89525636e-01 -2.84016404e-02 2.56738422e+02] [ 6.88998225e-01 7.24261275e-01 -2.69638977e-02 1.66585837e+02] [ 3.91625070e-02 -5.47942788e-05 9.99232853e-01 1.62386057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.560385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.76, Y:166.60, Z:16.24 [[ 7.25082893e-01 -6.88076942e-01 -2.83711084e-02 2.56761641e+02] [ 6.87547162e-01 7.25637731e-01 -2.69959849e-02 1.66601196e+02] [ 3.91624615e-02 6.78517479e-05 9.99232854e-01 1.62425464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.590385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.78, Y:166.62, Z:16.24 [[ 7.25919719e-01 -6.87194129e-01 -2.83688191e-02 2.56783791e+02] [ 6.86663580e-01 7.26473822e-01 -2.69983905e-02 1.66618093e+02] [ 3.91623399e-02 1.18829198e-04 9.99232854e-01 1.62441612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.620385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.80, Y:166.64, Z:16.24 [[ 7.25753912e-01 -6.87369540e-01 -2.83614850e-02 2.56804394e+02] [ 6.86838824e-01 7.26307855e-01 -2.70060926e-02 1.66635426e+02] [ 3.91623348e-02 1.20008344e-04 9.99232854e-01 1.62444223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.650385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.83, Y:166.65, Z:16.25 [[ 7.24021897e-01 -6.89193878e-01 -2.83564961e-02 2.56828479e+02] [ 6.88664353e-01 7.24576978e-01 -2.70113299e-02 1.66650751e+02] [ 3.91625075e-02 2.86862709e-05 9.99232854e-01 1.62461336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.680385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.85, Y:166.67, Z:16.25 [[ 7.22571397e-01 -6.90714789e-01 -2.83488364e-02 2.56850777e+02] [ 6.90186117e-01 7.23127291e-01 -2.70193665e-02 1.66666530e+02] [ 3.91624933e-02 -4.25519167e-05 9.99232854e-01 1.62470959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.710385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:256.87, Y:166.68, Z:16.25 [[ 7.21161237e-01 -6.92187114e-01 -2.83455196e-02 2.56873016e+02] [ 6.91659440e-01 7.21718079e-01 -2.70228457e-02 1.66681677e+02] [ 3.91623395e-02 -1.17617355e-04 9.99232854e-01 1.62488202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.740385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:256.90, Y:166.70, Z:16.25 [[ 7.18240831e-01 -6.95217103e-01 -2.83423578e-02 2.56896520e+02] [ 6.94691646e-01 7.18799766e-01 -2.70261615e-02 1.66696185e+02] [ 3.91615298e-02 -2.77906517e-04 9.99232854e-01 1.62508923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.770385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.92, Y:166.71, Z:16.25 [[ 7.17161389e-01 -6.96330728e-01 -2.83383006e-02 2.56917640e+02] [ 6.95805972e-01 7.17720981e-01 -2.70304151e-02 1.66714520e+02] [ 3.91611015e-02 -3.32788757e-04 9.99232854e-01 1.62529793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.800385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.94, Y:166.73, Z:16.25 [[ 7.16603602e-01 -6.96905053e-01 -2.83306336e-02 2.56940842e+02] [ 6.96380428e-01 7.17163316e-01 -2.70384485e-02 1.66730494e+02] [ 3.91609225e-02 -3.53049147e-04 9.99232855e-01 1.62543636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.830385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.96, Y:166.75, Z:16.26 [[ 7.16672756e-01 -6.96834247e-01 -2.83230196e-02 2.56962723e+02] [ 6.96309251e-01 7.17232123e-01 -2.70464219e-02 1.66747089e+02] [ 3.91610525e-02 -3.38146854e-04 9.99232855e-01 1.62556301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.860385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:256.99, Y:166.76, Z:16.26 [[ 7.16622168e-01 -6.96886405e-01 -2.83197215e-02 2.56987733e+02] [ 6.96361313e-01 7.17181446e-01 -2.70498748e-02 1.66761398e+02] [ 3.91610688e-02 -3.36218538e-04 9.99232855e-01 1.62573069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.890385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:257.01, Y:166.78, Z:16.26 [[ 7.16244084e-01 -6.97275289e-01 -2.83122377e-02 2.57009827e+02] [ 6.96750192e-01 7.16803356e-01 -2.70577056e-02 1.66779061e+02] [ 3.91609765e-02 -3.46635493e-04 9.99232855e-01 1.62587471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.920385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.03, Y:166.80, Z:16.26 [[ 7.15751544e-01 -6.97781182e-01 -2.83045921e-02 2.57032216e+02] [ 6.97256163e-01 7.16310890e-01 -2.70657011e-02 1.66796353e+02] [ 3.91608245e-02 -3.63233918e-04 9.99232855e-01 1.62595946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.950385723 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:257.05, Y:166.81, Z:16.26 [[ 7.15621880e-01 -6.97914264e-01 -2.83020218e-02 2.57053337e+02] [ 6.97389244e-01 7.16181224e-01 -2.70683886e-02 1.66814448e+02] [ 3.91607911e-02 -3.66794426e-04 9.99232855e-01 1.62605952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.980385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.07, Y:166.83, Z:16.26 [[ 7.15435566e-01 -6.98105555e-01 -2.82946111e-02 2.57074997e+02] [ 6.97580378e-01 7.15994762e-01 -2.70761327e-02 1.66832815e+02] [ 3.91607920e-02 -3.66537137e-04 9.99232855e-01 1.62617064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.010385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.10, Y:166.85, Z:16.27 [[ 7.14893237e-01 -6.98661221e-01 -2.82870758e-02 2.57099027e+02] [ 6.98136167e-01 7.15452549e-01 -2.70840028e-02 1.66848040e+02] [ 3.91606029e-02 -3.86060229e-04 9.99232855e-01 1.62650871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.040385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:257.12, Y:166.86, Z:16.27 [[ 7.14050816e-01 -6.99520254e-01 -2.83345378e-02 2.57122535e+02] [ 6.98997837e-01 7.14612596e-01 -2.70344442e-02 1.66864249e+02] [ 3.91593589e-02 -5.01813754e-04 9.99232852e-01 1.62653524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.070385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:257.14, Y:166.88, Z:16.26 [[ 7.10869453e-01 -7.02755379e-01 -2.82753894e-02 2.57139663e+02] [ 7.02233062e-01 7.11431321e-01 -2.70961669e-02 1.66884126e+02] [ 3.91579747e-02 -5.94075923e-04 9.99232856e-01 1.62615901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.100385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.17, Y:166.90, Z:16.27 [[ 7.12610409e-01 -7.00998695e-01 -2.80577167e-02 2.57165129e+02] [ 7.00466022e-01 7.13162532e-01 -2.73231657e-02 1.66902292e+02] [ 3.91632158e-02 -1.82704900e-04 9.99232810e-01 1.62673136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.130385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.19, Y:166.92, Z:16.27 [[ 7.11156736e-01 -7.02464929e-01 -2.82687322e-02 2.57187954e+02] [ 7.01942108e-01 7.11718133e-01 -2.71030775e-02 1.66918817e+02] [ 3.91583307e-02 -5.68477338e-04 9.99232857e-01 1.62686496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.160385723 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:257.21, Y:166.94, Z:16.27 [[ 7.09793662e-01 -7.03842498e-01 -2.82611975e-02 2.57210470e+02] [ 7.03320454e-01 7.10355782e-01 -2.71109318e-02 1.66935969e+02] [ 3.91573310e-02 -6.33510706e-04 9.99232857e-01 1.62658676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.190385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.23, Y:166.95, Z:16.27 [[ 7.09950520e-01 -7.03684579e-01 -2.82537085e-02 2.57231647e+02] [ 7.03162099e-01 7.10512235e-01 -2.71187342e-02 1.66953937e+02] [ 3.91576407e-02 -6.13977530e-04 9.99232857e-01 1.62703730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.220385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:257.25, Y:166.97, Z:16.27 [[ 7.08478834e-01 -7.05166574e-01 -2.82461431e-02 2.57250518e+02] [ 7.04644956e-01 7.09041348e-01 -2.71266119e-02 1.66973133e+02] [ 3.91564634e-02 -6.84871893e-04 9.99232857e-01 1.62680472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.250385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.27, Y:166.99, Z:16.27 [[ 7.08617086e-01 -7.05030965e-01 -2.81631684e-02 2.57271986e+02] [ 7.04505802e-01 7.09176303e-01 -2.72129844e-02 1.66991007e+02] [ 3.91586482e-02 -5.57529825e-04 9.99232850e-01 1.62684193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.280385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.29, Y:167.01, Z:16.27 [[ 7.08532098e-01 -7.05118404e-01 -2.81123220e-02 2.57291788e+02] [ 7.04591210e-01 7.09089414e-01 -2.72659140e-02 1.67010111e+02] [ 3.91598477e-02 -4.88919743e-04 9.99232839e-01 1.62694696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.310385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:257.32, Y:167.03, Z:16.27 [[ 7.10528415e-01 -7.03106957e-01 -2.81065612e-02 2.57315438e+02] [ 7.02577947e-01 7.11084011e-01 -2.72719087e-02 1.67027741e+02] [ 3.91611951e-02 -3.69583996e-04 9.99232838e-01 1.62738917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.340385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.34, Y:167.05, Z:16.28 [[ 7.10660781e-01 -7.02967921e-01 -2.82375160e-02 2.57337335e+02] [ 7.02444203e-01 7.11221343e-01 -2.71356374e-02 1.67045278e+02] [ 3.91586066e-02 -5.51046167e-04 9.99232856e-01 1.62752218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.370385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:257.36, Y:167.06, Z:16.28 [[ 7.10506045e-01 -7.03124617e-01 -2.82300022e-02 2.57358373e+02] [ 7.02600712e-01 7.11066433e-01 -2.71434520e-02 1.67063735e+02] [ 3.91586362e-02 -5.48832926e-04 9.99232856e-01 1.62765412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.400385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.38, Y:167.08, Z:16.27 [[ 7.09093079e-01 -7.04549852e-01 -2.82225239e-02 2.57378348e+02] [ 7.04026765e-01 7.09654230e-01 -2.71512253e-02 1.67081769e+02] [ 3.91576253e-02 -6.16666256e-04 9.99232856e-01 1.62747911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.430385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:257.40, Y:167.10, Z:16.28 [[ 7.10358130e-01 -7.03278683e-01 -2.81144250e-02 2.57401247e+02] [ 7.02750141e-01 7.10914159e-01 -2.72635037e-02 1.67099315e+02] [ 3.91607838e-02 -3.90564572e-04 9.99232846e-01 1.62780079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.460385723 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:257.42, Y:167.12, Z:16.28 [[ 7.10146505e-01 -7.03488462e-01 -2.82121416e-02 2.57422336e+02] [ 7.02964107e-01 7.10706472e-01 -2.71620098e-02 1.67117731e+02] [ 3.91587121e-02 -5.43116624e-04 9.99232856e-01 1.62772844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.490385723 meters Centerline goodness : 0.996117 Centerline is valid? [True, True] Translation: X:257.45, Y:167.14, Z:16.28 [[ 7.10206026e-01 -7.03428671e-01 -2.82047168e-02 2.57445120e+02] [ 7.02903963e-01 7.10765661e-01 -2.71697174e-02 1.67137617e+02] [ 3.91589024e-02 -5.29110198e-04 9.99232856e-01 1.62757408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.520385723 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:257.47, Y:167.15, Z:16.28 [[ 7.09235347e-01 -7.04401995e-01 -2.83381859e-02 2.57465821e+02] [ 7.03883575e-01 7.09800838e-01 -2.70311628e-02 1.67153786e+02] [ 3.91552731e-02 -7.75327510e-04 9.99232837e-01 1.62787465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.550385723 meters Centerline goodness : 0.999401 Centerline is valid? [True, True] Translation: X:257.49, Y:167.17, Z:16.28 [[ 7.08730745e-01 -7.04915533e-01 -2.81926003e-02 2.57488798e+02] [ 7.04391504e-01 7.09291012e-01 -2.71821615e-02 1.67172798e+02] [ 3.91578858e-02 -5.93794481e-04 9.99232859e-01 1.62775931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.580385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:257.51, Y:167.19, Z:16.28 [[ 7.07215194e-01 -7.06432209e-01 -2.82878680e-02 2.57509564e+02] [ 7.05913324e-01 7.07780241e-01 -2.70833776e-02 1.67190200e+02] [ 3.91541643e-02 -8.15006821e-04 9.99232849e-01 1.62787572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.610385723 meters Centerline goodness : 0.999711 Centerline is valid? [True, True] Translation: X:257.53, Y:167.21, Z:16.28 [[ 7.07328969e-01 -7.06319222e-01 -2.82645669e-02 2.57529323e+02] [ 7.05799283e-01 7.07893039e-01 -2.71075187e-02 1.67208123e+02] [ 3.91548517e-02 -7.75177752e-04 9.99232854e-01 1.62796419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.640385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.55, Y:167.23, Z:16.28 [[ 7.06580812e-01 -7.07071592e-01 -2.81659382e-02 2.57550491e+02] [ 7.06548178e-01 7.07141647e-01 -2.72096144e-02 1.67226691e+02] [ 3.91564533e-02 -6.74800857e-04 9.99232864e-01 1.62808727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.670385723 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:257.57, Y:167.24, Z:16.28 [[ 7.04921691e-01 -7.08725976e-01 -2.81584889e-02 2.57573410e+02] [ 7.08203571e-01 7.05483465e-01 -2.72173213e-02 1.67243498e+02] [ 3.91549709e-02 -7.55862198e-04 9.99232864e-01 1.62824363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.700385723 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:257.60, Y:167.26, Z:16.28 [[ 7.03185837e-01 -7.10448587e-01 -2.81510893e-02 2.57595989e+02] [ 7.09927252e-01 7.03748605e-01 -2.72249726e-02 1.67259393e+02] [ 3.91532331e-02 -8.41010329e-04 9.99232864e-01 1.62843444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.730385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.62, Y:167.28, Z:16.29 [[ 7.02006107e-01 -7.11614483e-01 -2.81469915e-02 2.57617376e+02] [ 7.11093912e-01 7.02569582e-01 -2.72292086e-02 1.67278064e+02] [ 3.91519192e-02 -9.00083556e-04 9.99232864e-01 1.62854495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.760385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:257.64, Y:167.30, Z:16.29 [[ 7.00802334e-01 -7.12800283e-01 -2.81397518e-02 2.57637969e+02] [ 7.12280366e-01 7.01366411e-01 -2.72366883e-02 1.67296458e+02] [ 3.91505959e-02 -9.55857968e-04 9.99232864e-01 1.62863532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.790385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.66, Y:167.31, Z:16.29 [[ 6.98850832e-01 -7.14713993e-01 -2.81322416e-02 2.57658447e+02] [ 7.14195308e-01 6.99416043e-01 -2.72444432e-02 1.67313816e+02] [ 3.91481259e-02 -1.05211315e-03 9.99232864e-01 1.62863056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.820385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.68, Y:167.33, Z:16.29 [[ 6.98342120e-01 -7.15211225e-01 -2.81280374e-02 2.57680394e+02] [ 7.14692769e-01 6.98907540e-01 -2.72487831e-02 1.67331603e+02] [ 3.91475330e-02 -1.07393192e-03 9.99232864e-01 1.62891201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.850385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:257.70, Y:167.35, Z:16.29 [[ 6.98543305e-01 -7.15015023e-01 -2.81206100e-02 2.57701033e+02] [ 7.14496100e-01 6.99108296e-01 -2.72564460e-02 1.67350779e+02] [ 3.91481201e-02 -1.05225832e-03 9.99232864e-01 1.62912169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.880385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:257.72, Y:167.37, Z:16.29 [[ 6.99228578e-01 -7.14345184e-01 -2.81132094e-02 2.57719569e+02] [ 7.13825413e-01 6.99792790e-01 -2.72640770e-02 1.67369805e+02] [ 3.91493834e-02 -1.00410151e-03 9.99232865e-01 1.62924055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.910385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.74, Y:167.39, Z:16.29 [[ 7.01950084e-01 -7.11671308e-01 -2.81074533e-02 2.57738482e+02] [ 7.11149150e-01 7.02512088e-01 -2.72700099e-02 1.67391271e+02] [ 3.91531093e-02 -8.46405714e-04 9.99232865e-01 1.62921258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.940385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.76, Y:167.41, Z:16.29 [[ 7.02971952e-01 -7.10662239e-01 -2.81001233e-02 2.57758311e+02] [ 7.10138973e-01 7.03532923e-01 -2.72775610e-02 1.67411180e+02] [ 3.91544944e-02 -7.79632360e-04 9.99232865e-01 1.62927273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.970385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.78, Y:167.43, Z:16.29 [[ 7.04536351e-01 -7.09111645e-01 -2.80928006e-02 2.57779060e+02] [ 7.08586844e-01 7.05095886e-01 -2.72851005e-02 1.67430777e+02] [ 3.91563006e-02 -6.82843797e-04 9.99232865e-01 1.62945013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.000385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.80, Y:167.45, Z:16.30 [[ 7.04637420e-01 -7.09011505e-01 -2.80854571e-02 2.57799153e+02] [ 7.08486323e-01 7.05196598e-01 -2.72926573e-02 1.67450661e+02] [ 3.91565768e-02 -6.66734613e-04 9.99232865e-01 1.62962340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.030385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:257.82, Y:167.47, Z:16.30 [[ 7.04221465e-01 -7.09424948e-01 -2.80779414e-02 2.57818620e+02] [ 7.08899786e-01 7.04780662e-01 -2.73003870e-02 1.67471105e+02] [ 3.91563658e-02 -6.78928065e-04 9.99232865e-01 1.62979418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.060385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.84, Y:167.49, Z:16.30 [[ 7.02530479e-01 -7.11099835e-01 -2.80704672e-02 2.57836735e+02] [ 7.10575699e-01 7.03090638e-01 -2.73080699e-02 1.67492769e+02] [ 3.91548467e-02 -7.61440491e-04 9.99232865e-01 1.62988117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.090385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.86, Y:167.51, Z:16.30 [[ 6.99294691e-01 -7.14282440e-01 -2.80629714e-02 2.57856095e+02] [ 7.13760545e-01 6.99856938e-01 -2.73157707e-02 1.67512612e+02] [ 3.91512406e-02 -9.28468299e-04 9.99232865e-01 1.62986950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.120385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.88, Y:167.53, Z:16.30 [[ 6.96946102e-01 -7.16574503e-01 -2.80555276e-02 2.57876279e+02] [ 7.16054149e-01 6.97509776e-01 -2.73234140e-02 1.67532260e+02] [ 3.91482666e-02 -1.04633001e-03 9.99232865e-01 1.62996854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.150385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.90, Y:167.55, Z:16.30 [[ 6.94837104e-01 -7.18620001e-01 -2.80480737e-02 2.57896323e+02] [ 7.18100997e-01 6.95402021e-01 -2.73310634e-02 1.67551463e+02] [ 3.91453360e-02 -1.15071278e-03 9.99232865e-01 1.63005757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.180385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.91, Y:167.57, Z:16.30 [[ 6.91692116e-01 -7.21647935e-01 -2.80406027e-02 2.57914405e+02] [ 7.21131094e-01 6.92259012e-01 -2.73387262e-02 1.67572219e+02] [ 3.91402953e-02 -1.31096916e-03 9.99232865e-01 1.63004314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.210385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.93, Y:167.59, Z:16.30 [[ 6.90577992e-01 -7.22714360e-01 -2.80355347e-02 2.57932069e+02] [ 7.22198184e-01 6.91145493e-01 -2.73439224e-02 1.67592317e+02] [ 3.91384789e-02 -1.36410120e-03 9.99232865e-01 1.63005211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.240385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:257.95, Y:167.61, Z:16.30 [[ 6.88949057e-01 -7.24267515e-01 -2.80314844e-02 2.57949134e+02] [ 7.23752449e-01 6.89517567e-01 -2.73480740e-02 1.67614512e+02] [ 3.91355225e-02 -1.44642567e-03 9.99232865e-01 1.63002102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.270385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.97, Y:167.64, Z:16.30 [[ 6.86549733e-01 -7.26542572e-01 -2.80241946e-02 2.57966534e+02] [ 7.26029086e-01 6.87119669e-01 -2.73555419e-02 1.67636857e+02] [ 3.91309411e-02 -1.56544039e-03 9.99232865e-01 1.62995316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.300385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.99, Y:167.66, Z:16.30 [[ 6.87829596e-01 -7.25331197e-01 -2.80196788e-02 2.57987382e+02] [ 7.24816519e-01 6.88398457e-01 -2.73601665e-02 1.67655239e+02] [ 3.91338860e-02 -1.48999379e-03 9.99232865e-01 1.63027172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.330385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.01, Y:167.68, Z:16.31 [[ 6.88099509e-01 -7.25075430e-01 -2.80122537e-02 2.58006766e+02] [ 7.24560232e-01 6.88667899e-01 -2.73677666e-02 1.67675314e+02] [ 3.91348350e-02 -1.46481824e-03 9.99232865e-01 1.63058778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.360385723 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:258.02, Y:167.70, Z:16.30 [[ 6.90271795e-01 -7.23008387e-01 -2.79950381e-02 2.58024181e+02] [ 7.22490774e-01 6.90837986e-01 -2.73853796e-02 1.67697511e+02] [ 3.91398949e-02 -1.32280165e-03 9.99232865e-01 1.63034097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.390385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:258.04, Y:167.72, Z:16.30 [[ 6.91521306e-01 -7.21813083e-01 -2.80027879e-02 2.58042444e+02] [ 7.21294812e-01 6.92086895e-01 -2.73774528e-02 1.67718657e+02] [ 3.91417661e-02 -1.26617369e-03 9.99232865e-01 1.63038899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.420385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:258.06, Y:167.74, Z:16.31 [[ 6.94548522e-01 -7.18900960e-01 -2.79957278e-02 2.58060690e+02] [ 7.18380026e-01 6.95111659e-01 -2.73846705e-02 1.67740784e+02] [ 3.91470227e-02 -1.09158925e-03 9.99232865e-01 1.63054930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.450385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.07, Y:167.76, Z:16.30 [[ 6.91772362e-01 -7.21573044e-01 -2.79882342e-02 2.58071863e+02] [ 7.21053975e-01 6.92337219e-01 -2.73923271e-02 1.67761610e+02] [ 3.91428611e-02 -1.23177270e-03 9.99232865e-01 1.63027132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.480385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.09, Y:167.78, Z:16.31 [[ 6.93371859e-01 -7.20052574e-01 -2.75636597e-02 2.58089809e+02] [ 7.19514910e-01 6.93919304e-01 -2.78261242e-02 1.67783268e+02] [ 3.91632279e-02 -5.38612654e-04 9.99232681e-01 1.63051710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.510385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.11, Y:167.80, Z:16.31 [[ 6.93527629e-01 -7.19905469e-01 -2.74871375e-02 2.58108715e+02] [ 7.19364589e-01 6.94071998e-01 -2.79042997e-02 1.67803891e+02] [ 3.91665104e-02 -4.20870606e-04 9.99232609e-01 1.63057564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.540385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:258.12, Y:167.82, Z:16.30 [[ 6.91861765e-01 -7.21504779e-01 -2.75345795e-02 2.58121784e+02] [ 7.20967082e-01 6.92409214e-01 -2.78558269e-02 1.67823957e+02] [ 3.91633087e-02 -5.79143914e-04 9.99232656e-01 1.63045935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.570385723 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:258.15, Y:167.85, Z:16.31 [[ 6.94459156e-01 -7.19018135e-01 -2.71919675e-02 2.58148849e+02] [ 7.18464698e-01 6.94991309e-01 -2.82056541e-02 1.67845348e+02] [ 3.91785579e-02 5.12060241e-05 9.99232224e-01 1.63084332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.600385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:258.17, Y:167.86, Z:16.31 [[ 6.95490630e-01 -7.18002565e-01 -2.76604316e-02 2.58173832e+02] [ 7.17467220e-01 6.96040229e-01 -2.77270188e-02 1.67864866e+02] [ 3.91608437e-02 -5.61571164e-04 9.99232762e-01 1.63127747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.630385723 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:258.19, Y:167.89, Z:16.31 [[ 6.94420705e-01 -7.19024474e-01 -2.79944878e-02 2.58193556e+02] [ 7.18503604e-01 6.94983887e-01 -2.73855408e-02 1.67885202e+02] [ 3.91465920e-02 -1.09705388e-03 9.99232876e-01 1.63147940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.660385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:258.21, Y:167.91, Z:16.32 [[ 6.93214241e-01 -7.20187993e-01 -2.79869762e-02 2.58210398e+02] [ 7.19667759e-01 6.93778011e-01 -2.73932153e-02 1.67906591e+02] [ 3.91450134e-02 -1.15195748e-03 9.99232876e-01 1.63154033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.690385723 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:258.23, Y:167.93, Z:16.32 [[ 6.92758136e-01 -7.20626900e-01 -2.79827818e-02 2.58229666e+02] [ 7.20106851e-01 6.93322076e-01 -2.73974992e-02 1.67927633e+02] [ 3.91444553e-02 -1.17075236e-03 9.99232876e-01 1.63161448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.720385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:258.25, Y:167.95, Z:16.32 [[ 6.92604292e-01 -7.20775051e-01 -2.79753604e-02 2.58247539e+02] [ 7.20254817e-01 6.93168061e-01 -2.74050751e-02 1.67948274e+02] [ 3.91445207e-02 -1.16851548e-03 9.99232876e-01 1.63172444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.750385723 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:258.26, Y:167.97, Z:16.32 [[ 6.90765964e-01 -7.22537189e-01 -2.79712928e-02 2.58261926e+02] [ 7.22018226e-01 6.91330902e-01 -2.74092261e-02 1.67969468e+02] [ 3.91416043e-02 -1.26242272e-03 9.99232876e-01 1.63161650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.780385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.29, Y:167.99, Z:16.32 [[ 6.93437332e-01 -7.19983978e-01 -2.77080736e-02 2.58285862e+02] [ 7.19452171e-01 6.93990289e-01 -2.76776575e-02 1.67991406e+02] [ 3.91566039e-02 -7.41912746e-04 9.99232811e-01 1.63214342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.810385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.30, Y:168.01, Z:16.32 [[ 6.93589181e-01 -7.19827347e-01 -2.79756801e-02 2.58304105e+02] [ 7.19306360e-01 6.94152250e-01 -2.74046309e-02 1.68011002e+02] [ 3.91459841e-02 -1.11552912e-03 9.99232880e-01 1.63209476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.840385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:258.32, Y:168.03, Z:16.32 [[ 6.94420275e-01 -7.19026195e-01 -2.79609139e-02 2.58323257e+02] [ 7.18503953e-01 6.94982180e-01 -2.74196886e-02 1.68033097e+02] [ 3.91478113e-02 -1.04923945e-03 9.99232880e-01 1.63208526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.870385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:258.34, Y:168.05, Z:16.32 [[ 6.94511424e-01 -7.18938412e-01 -2.79542773e-02 2.58341541e+02] [ 7.18415827e-01 6.95073010e-01 -2.74264529e-02 1.68053476e+02] [ 3.91481942e-02 -1.03481038e-03 9.99232880e-01 1.63204053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.900385723 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:258.36, Y:168.08, Z:16.32 [[ 6.94658004e-01 -7.18796939e-01 -2.79502819e-02 2.58358649e+02] [ 7.18274076e-01 6.95219331e-01 -2.74305240e-02 1.68075722e+02] [ 3.91485530e-02 -1.02112981e-03 9.99232880e-01 1.63205272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.930385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:258.37, Y:168.10, Z:16.32 [[ 6.91714986e-01 -7.21629805e-01 -2.79428358e-02 2.58371362e+02] [ 7.21108935e-01 6.92278163e-01 -2.74381071e-02 1.68096650e+02] [ 3.91443709e-02 -1.17047874e-03 9.99232880e-01 1.63203136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.960385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:258.39, Y:168.12, Z:16.32 [[ 6.92830752e-01 -7.20571959e-01 -2.75971010e-02 2.58393535e+02] [ 7.20036141e-01 6.93379889e-01 -2.77900260e-02 1.68117683e+02] [ 3.91599883e-02 -6.17125474e-04 9.99232763e-01 1.63219143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.990385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.42, Y:168.14, Z:16.32 [[ 6.93166790e-01 -7.20241058e-01 -2.77960193e-02 2.58415428e+02] [ 7.19713061e-01 6.93723316e-01 -2.75875185e-02 1.68138061e+02] [ 3.91524102e-02 -8.82406473e-04 9.99232861e-01 1.63235995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.020385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:258.43, Y:168.16, Z:16.33 [[ 6.91991738e-01 -7.21364512e-01 -2.79405662e-02 2.58434449e+02] [ 7.20843336e-01 6.92554629e-01 -2.74403377e-02 1.68158636e+02] [ 3.91448543e-02 -1.15228397e-03 9.99232882e-01 1.63250747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.050385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:258.45, Y:168.18, Z:16.33 [[ 6.90186843e-01 -7.23091871e-01 -2.79332872e-02 2.58452112e+02] [ 7.22571804e-01 6.90750758e-01 -2.74477455e-02 1.68180461e+02] [ 3.91421809e-02 -1.23973295e-03 9.99232882e-01 1.63272749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.080385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:258.47, Y:168.20, Z:16.33 [[ 6.89455218e-01 -7.23790246e-01 -2.79138416e-02 2.58470305e+02] [ 7.23269951e-01 6.90018923e-01 -2.74675261e-02 1.68201608e+02] [ 3.91418064e-02 -1.25161364e-03 9.99232882e-01 1.63267526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.110385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.49, Y:168.22, Z:16.33 [[ 6.88800211e-01 -7.24413239e-01 -2.79236322e-02 2.58487218e+02] [ 7.23893856e-01 6.89364756e-01 -2.74575694e-02 1.68223732e+02] [ 3.91401947e-02 -1.30096621e-03 9.99232882e-01 1.63276454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.140385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:258.51, Y:168.24, Z:16.33 [[ 6.88606316e-01 -7.24597829e-01 -2.79164323e-02 2.58506308e+02] [ 7.24078302e-01 6.89170728e-01 -2.74648877e-02 1.68244946e+02] [ 3.91401860e-02 -1.30118779e-03 9.99232882e-01 1.63295243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.170385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:258.53, Y:168.27, Z:16.33 [[ 6.88409283e-01 -7.24785313e-01 -2.79089576e-02 2.58526614e+02] [ 7.24265632e-01 6.88973554e-01 -2.74724812e-02 1.68265024e+02] [ 3.91401845e-02 -1.30118774e-03 9.99232882e-01 1.63306397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.200385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.54, Y:168.29, Z:16.33 [[ 6.88358375e-01 -7.24833950e-01 -2.79014808e-02 2.58542392e+02] [ 7.24314002e-01 6.88922399e-01 -2.74800726e-02 1.68287530e+02] [ 3.91404447e-02 -1.29329510e-03 9.99232882e-01 1.63320328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.230385723 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:258.56, Y:168.31, Z:16.33 [[ 6.88230967e-01 -7.24955090e-01 -2.78971887e-02 2.58559182e+02] [ 7.24435065e-01 6.88794921e-01 -2.74844292e-02 1.68308808e+02] [ 3.91404187e-02 -1.29406639e-03 9.99232882e-01 1.63322514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.260385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:258.58, Y:168.33, Z:16.33 [[ 6.88811240e-01 -7.24403934e-01 -2.78929401e-02 2.58576156e+02] [ 7.23883283e-01 6.89374616e-01 -2.74887402e-02 1.68331738e+02] [ 3.91416364e-02 -1.25667986e-03 9.99232882e-01 1.63325168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.290385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:258.60, Y:168.35, Z:16.33 [[ 6.88981144e-01 -7.24242611e-01 -2.78859103e-02 2.58595396e+02] [ 7.23721541e-01 6.89544131e-01 -2.74958697e-02 1.68352856e+02] [ 3.91422463e-02 -1.23749821e-03 9.99232882e-01 1.63335543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.320385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.61, Y:168.37, Z:16.33 [[ 6.89984567e-01 -7.23286995e-01 -2.78786716e-02 2.58613353e+02] [ 7.22764848e-01 6.90546557e-01 -2.75032073e-02 1.68373965e+02] [ 3.91442328e-02 -1.17293522e-03 9.99232882e-01 1.63334317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.350385723 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:258.63, Y:168.39, Z:16.33 [[ 6.90448293e-01 -7.22844614e-01 -2.78714671e-02 2.58632755e+02] [ 7.22321813e-01 6.91009675e-01 -2.75105063e-02 1.68394544e+02] [ 3.91452747e-02 -1.13758646e-03 9.99232882e-01 1.63344121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.380385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:258.64, Y:168.42, Z:16.33 [[ 6.87454533e-01 -7.25692666e-01 -2.78643005e-02 2.58643198e+02] [ 7.25171897e-01 6.88017799e-01 -2.75177631e-02 1.68416665e+02] [ 3.91405736e-02 -1.28919665e-03 9.99232883e-01 1.63314046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.410385723 meters Centerline goodness : 0.999742 Centerline is valid? [True, True] Translation: X:258.66, Y:168.44, Z:16.33 [[ 6.87867025e-01 -7.25316906e-01 -2.74652848e-02 2.58661727e+02] [ 7.24779611e-01 6.88414770e-01 -2.79216761e-02 1.68436952e+02] [ 3.91595715e-02 -6.99878147e-04 9.99232725e-01 1.63321561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.440385723 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:258.69, Y:168.46, Z:16.34 [[ 6.92718157e-01 -7.20686295e-01 -2.74375635e-02 2.58688930e+02] [ 7.20144226e-01 6.93261211e-01 -2.79497222e-02 1.68456816e+02] [ 3.91643802e-02 -3.97722921e-04 9.99232702e-01 1.63379119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.470385723 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:258.70, Y:168.48, Z:16.33 [[ 6.87231964e-01 -7.25903479e-01 -2.78633632e-02 2.58695604e+02] [ 7.25382849e-01 6.87795354e-01 -2.75185981e-02 1.68477672e+02] [ 3.91401379e-02 -1.29994555e-03 9.99232886e-01 1.63313268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.500385723 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:258.73, Y:168.50, Z:16.34 [[ 6.94874523e-01 -7.18617063e-01 -2.71829876e-02 2.58728673e+02] [ 7.18063303e-01 6.95406004e-01 -2.82060611e-02 1.68498127e+02] [ 3.91725696e-02 8.05674001e-05 9.99232457e-01 1.63408490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.530385723 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:258.75, Y:168.52, Z:16.34 [[ 6.95641048e-01 -7.17849345e-01 -2.78540837e-02 2.58748571e+02] [ 7.17321850e-01 6.96197979e-01 -2.75270167e-02 1.68518014e+02] [ 3.91522077e-02 -8.31420123e-04 9.99232912e-01 1.63423736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.560385723 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:258.77, Y:168.54, Z:16.34 [[ 6.96147628e-01 -7.17358386e-01 -2.78464598e-02 2.58767463e+02] [ 7.16830190e-01 6.96703895e-01 -2.75347270e-02 1.68538118e+02] [ 3.91530043e-02 -7.92948176e-04 9.99232913e-01 1.63433123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.590385723 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:258.79, Y:168.56, Z:16.34 [[ 6.96295764e-01 -7.17214895e-01 -2.78388792e-02 2.58786520e+02] [ 7.16686278e-01 6.96851631e-01 -2.75423891e-02 1.68559467e+02] [ 3.91533801e-02 -7.74093886e-04 9.99232913e-01 1.63441219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.620385723 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:258.81, Y:168.58, Z:16.35 [[ 6.95555874e-01 -7.17932720e-01 -2.78322812e-02 2.58806259e+02] [ 7.17404410e-01 6.96112032e-01 -2.75490550e-02 1.68579198e+02] [ 3.91527538e-02 -8.05094285e-04 9.99232913e-01 1.63457757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.650385723 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:258.83, Y:168.60, Z:16.35 [[ 6.94285063e-01 -7.19162036e-01 -2.78247444e-02 2.58827151e+02] [ 7.18634407e-01 6.94841867e-01 -2.75566650e-02 1.68597354e+02] [ 3.91515047e-02 -8.63637764e-04 9.99232913e-01 1.63480043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.680385723 meters Centerline goodness : 0.999700 Centerline is valid? [True, True] Translation: X:258.85, Y:168.62, Z:16.35 [[ 6.93312458e-01 -7.20100018e-01 -2.78172491e-02 2.58847623e+02] [ 7.19572838e-01 6.93869688e-01 -2.75642292e-02 1.68616986e+02] [ 3.91505479e-02 -9.05913421e-04 9.99232913e-01 1.63492950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.710385723 meters Centerline goodness : 0.999700 Centerline is valid? [True, True] Translation: X:258.87, Y:168.64, Z:16.35 [[ 6.91525476e-01 -7.21816549e-01 -2.78097975e-02 2.58867502e+02] [ 7.21290451e-01 6.92083727e-01 -2.75717451e-02 1.68637400e+02] [ 3.91484502e-02 -9.92377222e-04 9.99232913e-01 1.63492654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.740385723 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:258.89, Y:168.66, Z:16.35 [[ 6.90578305e-01 -7.22723068e-01 -2.78023517e-02 2.58886422e+02] [ 7.22197401e-01 6.91136961e-01 -2.75792511e-02 1.68657074e+02] [ 3.91473939e-02 -1.03315367e-03 9.99232913e-01 1.63493554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.770385723 meters Centerline goodness : 0.999658 Centerline is valid? [True, True] Translation: X:258.91, Y:168.68, Z:16.35 [[ 6.88113311e-01 -7.25070567e-01 -2.77982695e-02 2.58906835e+02] [ 7.24546639e-01 6.88673599e-01 -2.75833651e-02 1.68676500e+02] [ 3.91438205e-02 -1.16066204e-03 9.99232913e-01 1.63488818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.800385723 meters Centerline goodness : 0.999721 Centerline is valid? [True, True] Translation: X:258.93, Y:168.70, Z:16.35 [[ 6.87765303e-01 -7.25400958e-01 -2.77909618e-02 2.58931841e+02] [ 7.24877002e-01 6.88325565e-01 -2.75907259e-02 1.68696073e+02] [ 3.91435685e-02 -1.16908516e-03 9.99232913e-01 1.63481860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.830385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:258.95, Y:168.71, Z:16.35 [[ 6.82138672e-01 -7.30684538e-01 -2.80524180e-02 2.58947182e+02] [ 7.30175670e-01 6.82712760e-01 -2.73272544e-02 1.68714434e+02] [ 3.91193460e-02 -1.84221601e-03 9.99232847e-01 1.63504708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.860385723 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:258.97, Y:168.73, Z:16.35 [[ 6.79495357e-01 -7.33153669e-01 -2.77805219e-02 2.58966044e+02] [ 7.32635684e-01 6.80061132e-01 -2.76009238e-02 1.68734840e+02] [ 3.91281718e-02 -1.59830213e-03 9.99232922e-01 1.63509123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.890385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:258.99, Y:168.76, Z:16.35 [[ 6.76739519e-01 -7.35698499e-01 -2.77730473e-02 2.58985229e+02] [ 7.35182333e-01 6.77306955e-01 -2.76084431e-02 1.68756045e+02] [ 3.91223682e-02 -1.73452919e-03 9.99232922e-01 1.63518842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.920385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.00, Y:168.78, Z:16.35 [[ 6.70680311e-01 -7.41226668e-01 -2.77659466e-02 2.59004338e+02] [ 7.40714882e-01 6.71251699e-01 -2.76155823e-02 1.68776391e+02] [ 3.91073449e-02 -2.04542256e-03 9.99232922e-01 1.63538253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.950385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.02, Y:168.79, Z:16.36 [[ 6.67409848e-01 -7.44173075e-01 -2.77584158e-02 2.59023321e+02] [ 7.43663498e-01 6.67983206e-01 -2.76231501e-02 1.68794920e+02] [ 3.90985601e-02 -2.20695815e-03 9.99232922e-01 1.63556263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.980385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.04, Y:168.82, Z:16.36 [[ 6.61726253e-01 -7.49231653e-01 -2.77542143e-02 2.59042822e+02] [ 7.48726279e-01 6.62303320e-01 -2.76273709e-02 1.68815728e+02] [ 3.90810090e-02 -2.49855299e-03 9.99232922e-01 1.63587337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.010385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:259.06, Y:168.84, Z:16.36 [[ 6.59171470e-01 -7.51480566e-01 -2.77476389e-02 2.59060271e+02] [ 7.50976885e-01 6.59750015e-01 -2.76339733e-02 1.68836161e+02] [ 3.90728991e-02 -2.62230854e-03 9.99232922e-01 1.63601340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.040385723 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:259.08, Y:168.86, Z:16.36 [[ 6.54992338e-01 -7.55126044e-01 -2.77433765e-02 2.59075556e+02] [ 7.54625401e-01 6.55573513e-01 -2.76382519e-02 1.68860010e+02] [ 3.90581866e-02 -2.83301344e-03 9.99232922e-01 1.63615496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.070385723 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:259.09, Y:168.88, Z:16.36 [[ 6.53194230e-01 -7.56682250e-01 -2.77357255e-02 2.59092733e+02] [ 7.56182668e-01 6.53776319e-01 -2.76459278e-02 1.68881318e+02] [ 3.90521433e-02 -2.91511440e-03 9.99232922e-01 1.63627489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.100385723 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:259.11, Y:168.90, Z:16.36 [[ 6.51486665e-01 -7.58153045e-01 -2.77324056e-02 2.59110417e+02] [ 7.57654637e-01 6.52069758e-01 -2.76492576e-02 1.68902896e+02] [ 3.90458319e-02 -2.99846309e-03 9.99232922e-01 1.63640358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.130385723 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:259.12, Y:168.93, Z:16.37 [[ 6.49514755e-01 -7.59843355e-01 -2.77246866e-02 2.59124467e+02] [ 7.59346138e-01 6.50098865e-01 -2.76569955e-02 1.68926392e+02] [ 3.90387716e-02 -3.08900703e-03 9.99232922e-01 1.63663737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.160385723 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:259.14, Y:168.95, Z:16.37 [[ 6.49646046e-01 -7.59731230e-01 -2.77213452e-02 2.59138754e+02] [ 7.59233771e-01 6.50229949e-01 -2.76603443e-02 1.68951869e+02] [ 3.90396763e-02 -3.07754816e-03 9.99232922e-01 1.63668525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.190385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.15, Y:168.97, Z:16.37 [[ 6.50484309e-01 -7.59013904e-01 -2.77138562e-02 2.59154467e+02] [ 7.58515485e-01 6.51067393e-01 -2.76678458e-02 1.68974050e+02] [ 3.90438677e-02 -3.02388957e-03 9.99232922e-01 1.63672771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.220385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:259.17, Y:169.00, Z:16.37 [[ 6.51927513e-01 -7.57774862e-01 -2.77087747e-02 2.59170969e+02] [ 7.57275121e-01 6.52509464e-01 -2.76729338e-02 1.68997667e+02] [ 3.90500914e-02 -2.94241884e-03 9.99232922e-01 1.63672488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.250385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:259.18, Y:169.02, Z:16.37 [[ 6.55887925e-01 -7.54349828e-01 -2.77013873e-02 2.59182794e+02] [ 7.53846736e-01 6.56466982e-01 -2.76803269e-02 1.69024996e+02] [ 3.90656959e-02 -2.72740824e-03 9.99232922e-01 1.63661531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.280385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.20, Y:169.05, Z:16.37 [[ 6.61518449e-01 -7.49417368e-01 -2.76938638e-02 2.59196082e+02] [ 7.48909642e-01 6.62093446e-01 -2.76878521e-02 1.69051307e+02] [ 3.90856829e-02 -2.42417664e-03 9.99232922e-01 1.63668109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.310385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.21, Y:169.07, Z:16.37 [[ 6.63799499e-01 -7.47400282e-01 -2.76232450e-02 2.59213521e+02] [ 7.46887885e-01 6.64370345e-01 -2.77584619e-02 1.69074282e+02] [ 3.90987471e-02 -2.20541396e-03 9.99232918e-01 1.63680062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.340385723 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:259.23, Y:169.10, Z:16.37 [[ 6.66292432e-01 -7.45176403e-01 -2.76861735e-02 2.59229505e+02] [ 7.44664695e-01 6.66863890e-01 -2.76955549e-02 1.69095871e+02] [ 3.91009834e-02 -2.16357729e-03 9.99232922e-01 1.63687206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.370385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.24, Y:169.12, Z:16.37 [[ 6.70585873e-01 -7.41315215e-01 -2.76828186e-02 2.59243425e+02] [ 7.40800078e-01 6.71154241e-01 -2.76989079e-02 1.69122391e+02] [ 3.91130630e-02 -1.93293783e-03 9.99232922e-01 1.63677323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.400385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.26, Y:169.15, Z:16.37 [[ 6.74137943e-01 -7.38084681e-01 -2.77315213e-02 2.59263950e+02] [ 7.37568811e-01 6.74705649e-01 -2.76502525e-02 1.69145846e+02] [ 3.91188419e-02 -1.81382081e-03 9.99232919e-01 1.63683952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.430385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.28, Y:169.17, Z:16.37 [[ 6.76839882e-01 -7.35601215e-01 -2.79038706e-02 2.59276082e+02] [ 7.35090313e-01 6.77412127e-01 -2.74780335e-02 1.69169980e+02] [ 3.91152952e-02 -1.91363598e-03 9.99232872e-01 1.63686185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.460385723 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:259.29, Y:169.19, Z:16.37 [[ 6.77999588e-01 -7.34537679e-01 -2.77660997e-02 2.59291788e+02] [ 7.34020251e-01 6.78565878e-01 -2.76155851e-02 1.69191134e+02] [ 3.91258155e-02 -1.65752415e-03 9.99232917e-01 1.63712710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.490385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.31, Y:169.21, Z:16.37 [[ 6.79510125e-01 -7.33144613e-01 -2.76580228e-02 2.59312334e+02] [ 7.32621639e-01 6.80071281e-01 -2.77234076e-02 1.69213638e+02] [ 3.91346940e-02 -1.42452978e-03 9.99232929e-01 1.63720632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.520385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.33, Y:169.24, Z:16.38 [[ 6.82353103e-01 -7.30494603e-01 -2.77826947e-02 2.59325949e+02] [ 7.29974489e-01 6.82916933e-01 -2.75990449e-02 1.69236436e+02] [ 3.91342260e-02 -1.44836446e-03 9.99232913e-01 1.63762335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.550385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.34, Y:169.26, Z:16.38 [[ 6.83715368e-01 -7.29224839e-01 -2.76483309e-02 2.59343050e+02] [ 7.28698259e-01 6.84273138e-01 -2.77329994e-02 1.69258549e+02] [ 3.91426022e-02 -1.18581272e-03 9.99232931e-01 1.63771702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.580385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.36, Y:169.28, Z:16.38 [[ 6.86854972e-01 -7.26268708e-01 -2.76407555e-02 2.59357856e+02] [ 7.25739423e-01 6.87410177e-01 -2.77405475e-02 1.69281847e+02] [ 3.91476283e-02 -1.00625299e-03 9.99232931e-01 1.63784554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.610385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.38, Y:169.30, Z:16.38 [[ 6.87913011e-01 -7.25266821e-01 -2.76356070e-02 2.59376527e+02] [ 7.24736523e-01 6.88467247e-01 -2.77456756e-02 1.69303027e+02] [ 3.91492283e-02 -9.41922460e-04 9.99232931e-01 1.63806087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.640385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.40, Y:169.32, Z:16.38 [[ 6.89954721e-01 -7.23325086e-01 -2.76279409e-02 2.59395128e+02] [ 7.22792922e-01 6.90507166e-01 -2.77533071e-02 1.69324450e+02] [ 3.91519544e-02 -8.20754902e-04 9.99232931e-01 1.63845666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.670385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.41, Y:169.34, Z:16.39 [[ 6.90321069e-01 -7.22976929e-01 -2.75895269e-02 2.59414354e+02] [ 7.22442958e-01 6.90871770e-01 -2.77915315e-02 1.69344957e+02] [ 3.91534614e-02 -7.46779757e-04 9.99232930e-01 1.63857686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.700385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.43, Y:169.37, Z:16.39 [[ 6.90306145e-01 -7.22990046e-01 -2.76191893e-02 2.59433250e+02] [ 7.22457265e-01 6.90857996e-01 -2.77620218e-02 1.69365512e+02] [ 3.91526032e-02 -7.89389714e-04 9.99232931e-01 1.63873506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.730385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.45, Y:169.39, Z:16.39 [[ 6.90254059e-01 -7.23040063e-01 -2.76116337e-02 2.59453539e+02] [ 7.22507021e-01 6.90805658e-01 -2.77695344e-02 1.69386330e+02] [ 3.91527587e-02 -7.81565443e-04 9.99232931e-01 1.63886391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.760385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.47, Y:169.41, Z:16.39 [[ 6.90620176e-01 -7.22690034e-01 -2.76204174e-02 2.59472202e+02] [ 7.22157062e-01 6.91171842e-01 -2.77608022e-02 1.69405577e+02] [ 3.91529098e-02 -7.74109403e-04 9.99232931e-01 1.63899488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.790385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.49, Y:169.43, Z:16.39 [[ 6.90984559e-01 -7.22343267e-01 -2.75779744e-02 2.59491985e+02] [ 7.21808334e-01 6.91534325e-01 -2.78029834e-02 1.69426979e+02] [ 3.91544137e-02 -6.94579568e-04 9.99232931e-01 1.63903318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.820385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.51, Y:169.45, Z:16.39 [[ 6.91485850e-01 -7.21861824e-01 -2.76193064e-02 2.59511923e+02] [ 7.21328146e-01 6.92036835e-01 -2.77619287e-02 1.69446890e+02] [ 3.91538538e-02 -7.25602233e-04 9.99232930e-01 1.63913804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.850385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.53, Y:169.46, Z:16.39 [[ 6.92422132e-01 -7.20964309e-01 -2.76053651e-02 2.59528911e+02] [ 7.20429366e-01 6.92971887e-01 -2.77757689e-02 1.69464187e+02] [ 3.91550799e-02 -6.55158573e-04 9.99232931e-01 1.63870759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.880385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.55, Y:169.48, Z:16.39 [[ 6.93429376e-01 -7.20006334e-01 -2.73236073e-02 2.59553285e+02] [ 7.19459578e-01 6.93967461e-01 -2.80549272e-02 1.69484190e+02] [ 3.91614196e-02 -2.04120324e-04 9.99232877e-01 1.63903619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.910385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.57, Y:169.50, Z:16.39 [[ 6.93649159e-01 -7.19785398e-01 -2.75649396e-02 2.59573463e+02] [ 7.19247930e-01 6.94196441e-01 -2.78157744e-02 1.69503137e+02] [ 3.91568711e-02 -5.31637229e-04 9.99232934e-01 1.63914311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.940385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.59, Y:169.52, Z:16.39 [[ 6.93889665e-01 -7.19553839e-01 -2.75573044e-02 2.59593376e+02] [ 7.19015888e-01 6.94436473e-01 -2.78233365e-02 1.69522467e+02] [ 3.91571859e-02 -5.07814098e-04 9.99232934e-01 1.63913587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.970385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.61, Y:169.54, Z:16.39 [[ 6.94520336e-01 -7.18945429e-01 -2.75494426e-02 2.59613702e+02] [ 7.18406691e-01 6.95066368e-01 -2.78311187e-02 1.69541372e+02] [ 3.91577466e-02 -4.62425973e-04 9.99232934e-01 1.63940409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.000385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.63, Y:169.56, Z:16.40 [[ 6.95506650e-01 -7.17991621e-01 -2.75414553e-02 2.59634083e+02] [ 7.17451821e-01 6.96051632e-01 -2.78390207e-02 1.69558787e+02] [ 3.91584585e-02 -3.97443266e-04 9.99232934e-01 1.63960235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.030385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.65, Y:169.58, Z:16.40 [[ 6.95707383e-01 -7.17797253e-01 -2.75380062e-02 2.59654567e+02] [ 7.17257165e-01 6.96252080e-01 -2.78424321e-02 1.69576969e+02] [ 3.91586153e-02 -3.81646647e-04 9.99232934e-01 1.63972661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.060385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.68, Y:169.59, Z:16.40 [[ 6.95058152e-01 -7.18426138e-01 -2.75327148e-02 2.59676445e+02] [ 7.17886335e-01 6.95603132e-01 -2.78476636e-02 1.69593903e+02] [ 3.91583321e-02 -4.09614140e-04 9.99232934e-01 1.63981920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.090385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.70, Y:169.61, Z:16.40 [[ 6.94869807e-01 -7.18608434e-01 -2.75294338e-02 2.59696438e+02] [ 7.18068647e-01 6.95414801e-01 -2.78509067e-02 1.69614242e+02] [ 3.91582722e-02 -4.15269144e-04 9.99232934e-01 1.63993087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.120385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.72, Y:169.63, Z:16.40 [[ 6.94553593e-01 -7.18914347e-01 -2.75221258e-02 2.59717071e+02] [ 7.18374514e-01 6.95098542e-01 -2.78581266e-02 1.69632901e+02] [ 3.91581964e-02 -4.22231842e-04 9.99232934e-01 1.64015621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.150385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.73, Y:169.65, Z:16.40 [[ 6.89733969e-01 -7.23539923e-01 -2.75142154e-02 2.59726212e+02] [ 7.23003432e-01 6.90282208e-01 -2.78659371e-02 1.69649761e+02] [ 3.91546914e-02 -6.72788772e-04 9.99232935e-01 1.63977831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.180385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.76, Y:169.67, Z:16.40 [[ 6.95418349e-01 -7.18107739e-01 -2.67319270e-02 2.59760292e+02] [ 7.17536908e-01 6.95931561e-01 -2.86364812e-02 1.69669631e+02] [ 3.91676705e-02 7.33190175e-04 9.99232383e-01 1.64036859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.210385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.78, Y:169.69, Z:16.41 [[ 6.96320859e-01 -7.17203448e-01 -2.75040758e-02 2.59781796e+02] [ 7.16661623e-01 6.96863776e-01 -2.78746293e-02 1.69687562e+02] [ 3.91583744e-02 -3.01429776e-04 9.99232971e-01 1.64050529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.240385723 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:259.80, Y:169.70, Z:16.40 [[ 6.98927425e-01 -7.14663841e-01 -2.74963511e-02 2.59803964e+02] [ 7.14119744e-01 6.99468064e-01 -2.78822472e-02 1.69704782e+02] [ 3.91592533e-02 -1.48019936e-04 9.99232971e-01 1.64039940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.270385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.83, Y:169.72, Z:16.41 [[ 7.00745998e-01 -7.12881070e-01 -2.74886776e-02 2.59825246e+02] [ 7.12335300e-01 7.01284949e-01 -2.78898103e-02 1.69723371e+02] [ 3.91595137e-02 -3.74824777e-05 9.99232971e-01 1.64082638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.300385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.85, Y:169.74, Z:16.41 [[ 7.04230969e-01 -7.09438888e-01 -2.74810168e-02 2.59848337e+02] [ 7.08890190e-01 7.04766938e-01 -2.78973567e-02 1.69740357e+02] [ 3.91591818e-02 1.65159336e-04 9.99232971e-01 1.64082988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.330385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.87, Y:169.76, Z:16.41 [[ 7.05576884e-01 -7.08100413e-01 -2.74784683e-02 2.59869682e+02] [ 7.07550600e-01 7.06111710e-01 -2.78998668e-02 1.69758488e+02] [ 3.91587754e-02 2.43094387e-04 9.99232971e-01 1.64099404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.360385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.89, Y:169.78, Z:16.41 [[ 7.07015054e-01 -7.06664757e-01 -2.74706147e-02 2.59890356e+02] [ 7.06113557e-01 7.07548451e-01 -2.79075974e-02 1.69775748e+02] [ 3.91581064e-02 3.33718066e-04 9.99232972e-01 1.64114131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.390385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:259.91, Y:169.79, Z:16.41 [[ 7.09102643e-01 -7.04570077e-01 -2.74672085e-02 2.59914088e+02] [ 7.04017172e-01 7.09634272e-01 -2.79109495e-02 1.69791110e+02] [ 3.91568923e-02 4.54341619e-04 9.99232972e-01 1.64122417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.420385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.94, Y:169.81, Z:16.41 [[ 7.09587431e-01 -7.04082137e-01 -2.74594718e-02 2.59935690e+02] [ 7.03528572e-01 7.10118372e-01 -2.79185590e-02 1.69808208e+02] [ 3.91564341e-02 4.92135590e-04 9.99232972e-01 1.64138741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.450385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.96, Y:169.82, Z:16.42 [[ 7.08515668e-01 -7.05160769e-01 -2.74561165e-02 2.59960501e+02] [ 7.04607884e-01 7.09047318e-01 -2.79218583e-02 1.69823100e+02] [ 3.91570848e-02 4.37277995e-04 9.99232972e-01 1.64162719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.480385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.98, Y:169.84, Z:16.42 [[ 7.07540817e-01 -7.06139203e-01 -2.74484659e-02 2.59982708e+02] [ 7.05586763e-01 7.08072927e-01 -2.79293771e-02 1.69839855e+02] [ 3.91575437e-02 3.93900082e-04 9.99232972e-01 1.64183042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.510385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.00, Y:169.86, Z:16.42 [[ 7.06197493e-01 -7.07482933e-01 -2.74408495e-02 2.60004688e+02] [ 7.06931214e-01 7.06730352e-01 -2.79368583e-02 1.69856937e+02] [ 3.91581317e-02 3.30146233e-04 9.99232972e-01 1.64199645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.540385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.03, Y:169.87, Z:16.42 [[ 7.03090458e-01 -7.10571058e-01 -2.74331830e-02 2.60028089e+02] [ 7.10021386e-01 7.03625428e-01 -2.79443846e-02 1.69872124e+02] [ 3.91591561e-02 1.69283492e-04 9.99232972e-01 1.64223212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.570385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.05, Y:169.89, Z:16.42 [[ 7.02017335e-01 -7.11631411e-01 -2.74298621e-02 2.60053189e+02] [ 7.11082419e-01 7.02553003e-01 -2.79476439e-02 1.69885205e+02] [ 3.91593533e-02 1.14837790e-04 9.99232972e-01 1.64237729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.600385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:260.08, Y:169.90, Z:16.43 [[ 7.00883567e-01 -7.12748242e-01 -2.74257145e-02 2.60075527e+02] [ 7.12199945e-01 7.01419946e-01 -2.79517136e-02 1.69902435e+02] [ 3.91594778e-02 5.83043899e-05 9.99232972e-01 1.64254946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.630385723 meters Centerline goodness : 0.999811 Centerline is valid? [True, True] Translation: X:260.10, Y:169.92, Z:16.43 [[ 7.00000230e-01 -7.13616102e-01 -2.74178222e-02 2.60096729e+02] [ 7.13068167e-01 7.00536979e-01 -2.79594529e-02 1.69919004e+02] [ 3.91595141e-02 2.08472412e-05 9.99232972e-01 1.64261673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.660385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.12, Y:169.94, Z:16.43 [[ 6.98697953e-01 -7.14891410e-01 -2.74124572e-02 2.60121205e+02] [ 7.14344248e-01 6.99235490e-01 -2.79647120e-02 1.69935318e+02] [ 3.91594953e-02 -4.30441075e-05 9.99232972e-01 1.64283676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.690385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.14, Y:169.95, Z:16.43 [[ 6.98426012e-01 -7.15155108e-01 -2.74640996e-02 2.60143669e+02] [ 7.14610138e-01 6.98965774e-01 -2.79140937e-02 1.69950833e+02] [ 3.91593724e-02 -1.30194830e-04 9.99232969e-01 1.64283477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.720385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.17, Y:169.97, Z:16.43 [[ 6.97800411e-01 -7.15767894e-01 -2.74027127e-02 2.60165269e+02] [ 7.15221033e-01 6.98338253e-01 -2.79742267e-02 1.69969344e+02] [ 3.91594158e-02 -7.85696206e-05 9.99232973e-01 1.64286369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.750385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.19, Y:169.99, Z:16.43 [[ 6.96429422e-01 -7.17102207e-01 -2.73949808e-02 2.60189645e+02] [ 7.16556079e-01 6.96968008e-01 -2.79817965e-02 1.69985823e+02] [ 3.91592332e-02 -1.42693693e-04 9.99232973e-01 1.64274727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.780385723 meters Centerline goodness : 0.999724 Centerline is valid? [True, True] Translation: X:260.21, Y:170.00, Z:16.43 [[ 6.95339000e-01 -7.18159849e-01 -2.73880730e-02 2.60211409e+02] [ 7.17614274e-01 6.95878147e-01 -2.79885560e-02 1.70003842e+02] [ 3.91590186e-02 -1.92537526e-04 9.99232973e-01 1.64279630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.810385723 meters Centerline goodness : 0.999637 Centerline is valid? [True, True] Translation: X:260.23, Y:170.02, Z:16.43 [[ 6.94226336e-01 -7.19235788e-01 -2.73802069e-02 2.60232407e+02] [ 7.18690745e-01 6.94766020e-01 -2.79962490e-02 1.70021998e+02] [ 3.91587416e-02 -2.42167936e-04 9.99232973e-01 1.64253634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.840385723 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:260.25, Y:170.04, Z:16.43 [[ 6.92576727e-01 -7.20824482e-01 -2.73777739e-02 2.60254980e+02] [ 7.20280584e-01 6.93117564e-01 -2.79986281e-02 1.70040701e+02] [ 3.91581126e-02 -3.28480685e-04 9.99232973e-01 1.64279389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.870385723 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:260.28, Y:170.06, Z:16.43 [[ 6.89981345e-01 -7.23309462e-01 -2.73709020e-02 2.60278132e+02] [ 7.22767244e-01 6.90523867e-01 -2.80053443e-02 1.70057309e+02] [ 3.91567916e-02 -4.59626319e-04 9.99232973e-01 1.64280608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.900385723 meters Centerline goodness : 0.999401 Centerline is valid? [True, True] Translation: X:260.30, Y:170.07, Z:16.43 [[ 6.88414549e-01 -7.24800921e-01 -2.73684714e-02 2.60299816e+02] [ 7.24259784e-01 6.88958150e-01 -2.80077195e-02 1.70074368e+02] [ 3.91557523e-02 -5.40961616e-04 9.99232973e-01 1.64290556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.930385723 meters Centerline goodness : 0.999615 Centerline is valid? [True, True] Translation: X:260.32, Y:170.09, Z:16.43 [[ 6.83544500e-01 -7.29395686e-01 -2.73651229e-02 2.60319668e+02] [ 7.28858071e-01 6.84091585e-01 -2.80109907e-02 1.70092779e+02] [ 3.91513461e-02 -7.98532055e-04 9.99232973e-01 1.64318898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.960385723 meters Centerline goodness : 0.999657 Centerline is valid? [True, True] Translation: X:260.34, Y:170.11, Z:16.43 [[ 6.81406993e-01 -7.31399500e-01 -2.71897469e-02 2.60337644e+02] [ 7.30856645e-01 6.81948917e-01 -2.81822478e-02 1.70112042e+02] [ 3.91545004e-02 -6.68226477e-04 9.99232945e-01 1.64323914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.990385723 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:260.36, Y:170.13, Z:16.44 [[ 6.81121957e-01 -7.31670623e-01 -2.70366240e-02 2.60359888e+02] [ 7.31122039e-01 6.81658183e-01 -2.83317060e-02 1.70131593e+02] [ 3.91592130e-02 -4.69724668e-04 9.99232873e-01 1.64354593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.020385723 meters Centerline goodness : 0.999636 Centerline is valid? [True, True] Translation: X:260.38, Y:170.15, Z:16.44 [[ 6.78369940e-01 -7.34218614e-01 -2.71523581e-02 2.60381159e+02] [ 7.33676551e-01 6.78912675e-01 -2.82187494e-02 1.70150501e+02] [ 3.91528112e-02 -7.78297048e-04 9.99232932e-01 1.64368174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.050385723 meters Centerline goodness : 0.999721 Centerline is valid? [True, True] Translation: X:260.41, Y:170.17, Z:16.44 [[ 6.78413548e-01 -7.34176590e-01 -2.71991265e-02 2.60406312e+02] [ 7.33636318e-01 6.78958045e-01 -2.81731321e-02 1.70169117e+02] [ 3.91511199e-02 -8.41232508e-04 9.99232947e-01 1.64398386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.080385723 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:260.41, Y:170.19, Z:16.43 [[ 6.71694926e-01 -7.40320716e-01 -2.74073497e-02 2.60413607e+02] [ 7.39793656e-01 6.72252201e-01 -2.79700787e-02 1.70187234e+02] [ 3.91314799e-02 -1.48842349e-03 9.99232962e-01 1.64326020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.110385723 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:260.44, Y:170.21, Z:16.44 [[ 6.74897330e-01 -7.37432527e-01 -2.65868826e-02 2.60442153e+02] [ 7.36871162e-01 6.75420786e-01 -2.87689582e-02 1.70208997e+02] [ 3.91724987e-02 -1.75013970e-04 9.99232448e-01 1.64405143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.140385723 meters Centerline goodness : 0.999613 Centerline is valid? [True, True] Translation: X:260.47, Y:170.23, Z:16.44 [[ 6.77236517e-01 -7.35265679e-01 -2.71123915e-02 2.60465936e+02] [ 7.34722932e-01 6.77778554e-01 -2.82567826e-02 1.70228950e+02] [ 3.91524399e-02 -7.83570802e-04 9.99232942e-01 1.64436314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.170385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:260.48, Y:170.25, Z:16.44 [[ 6.78137536e-01 -7.34424054e-01 -2.74005681e-02 2.60483946e+02] [ 7.33891915e-01 6.78689925e-01 -2.79757511e-02 1.70248962e+02] [ 3.91425540e-02 -1.13764846e-03 9.99232989e-01 1.64435478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.200385723 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:260.50, Y:170.27, Z:16.44 [[ 6.80301529e-01 -7.32422545e-01 -2.73321383e-02 2.60503536e+02] [ 7.31886100e-01 6.80849732e-01 -2.80424478e-02 1.70269683e+02] [ 3.91480000e-02 -9.26691964e-04 9.99232994e-01 1.64442361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.230385723 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:260.52, Y:170.29, Z:16.45 [[ 6.82306562e-01 -7.30555317e-01 -2.73255171e-02 2.60524034e+02] [ 7.30017114e-01 6.82853038e-01 -2.80488983e-02 1.70288985e+02] [ 3.91505841e-02 -8.10147778e-04 9.99232994e-01 1.64458311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.260385723 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:260.54, Y:170.31, Z:16.45 [[ 6.82519046e-01 -7.30356896e-01 -2.73231727e-02 2.60544212e+02] [ 7.29818443e-01 6.83065276e-01 -2.80511817e-02 1.70309547e+02] [ 3.91508846e-02 -7.95489568e-04 9.99232994e-01 1.64476827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.290385723 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:260.56, Y:170.33, Z:16.45 [[ 6.79748872e-01 -7.32936063e-01 -2.73166164e-02 2.60558540e+02] [ 7.32399426e-01 6.80296886e-01 -2.80575649e-02 1.70331000e+02] [ 3.91478103e-02 -9.34576084e-04 9.99232994e-01 1.64470261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.320385723 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:260.57, Y:170.35, Z:16.44 [[ 6.75743968e-01 -7.36640683e-01 -2.70294807e-02 2.60570165e+02] [ 7.36095833e-01 6.76283923e-01 -2.83368927e-02 1.70353535e+02] [ 3.91537112e-02 -7.47803774e-04 9.99232920e-01 1.64382717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.350385723 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:260.60, Y:170.37, Z:16.45 [[ 6.79666373e-01 -7.33034528e-01 -2.67208095e-02 2.60598472e+02] [ 7.32474939e-01 6.80191421e-01 -2.86372884e-02 1.70373286e+02] [ 3.91673865e-02 -1.08521379e-04 9.99232658e-01 1.64482679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.380385723 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:260.62, Y:170.39, Z:16.45 [[ 6.80124276e-01 -7.32594742e-01 -2.71277150e-02 2.60622388e+02] [ 7.32050491e-01 6.80664763e-01 -2.82410970e-02 1.70391547e+02] [ 3.91541589e-02 -6.51401424e-04 9.99232970e-01 1.64543744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.410385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.64, Y:170.41, Z:16.46 [[ 6.78997384e-01 -7.33632136e-01 -2.73210758e-02 2.60641259e+02] [ 7.33096253e-01 6.79546117e-01 -2.80527816e-02 1.70410350e+02] [ 3.91463531e-02 -9.81212976e-04 9.99233006e-01 1.64558121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.440385723 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:260.66, Y:170.43, Z:16.46 [[ 6.77218556e-01 -7.35274655e-01 -2.73168400e-02 2.60660572e+02] [ 7.34739936e-01 6.77768424e-01 -2.80569057e-02 1.70430740e+02] [ 3.91440233e-02 -1.07011607e-03 9.99233006e-01 1.64567603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.470385723 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:260.68, Y:170.45, Z:16.46 [[ 6.76413505e-01 -7.36015602e-01 -2.73094146e-02 2.60679191e+02] [ 7.35481194e-01 6.76963675e-01 -2.80641314e-02 1.70450861e+02] [ 3.91431203e-02 -1.10260334e-03 9.99233006e-01 1.64569156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.500385723 meters Centerline goodness : 0.999700 Centerline is valid? [True, True] Translation: X:260.70, Y:170.47, Z:16.46 [[ 6.76858332e-01 -7.35606697e-01 -2.73054148e-02 2.60698413e+02] [ 7.35071800e-01 6.77408027e-01 -2.80680226e-02 1.70471306e+02] [ 3.91439325e-02 -1.07336545e-03 9.99233006e-01 1.64561505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.530385723 meters Centerline goodness : 0.999741 Centerline is valid? [True, True] Translation: X:260.71, Y:170.49, Z:16.45 [[ 6.74546829e-01 -7.37726991e-01 -2.73031562e-02 2.60712259e+02] [ 7.37193733e-01 6.75098114e-01 -2.80702194e-02 1.70492164e+02] [ 3.91404678e-02 -1.19303818e-03 9.99233006e-01 1.64518855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.560385723 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:260.74, Y:170.51, Z:16.46 [[ 6.79426872e-01 -7.33247910e-01 -2.69560278e-02 2.60738906e+02] [ 7.32697559e-01 6.79961249e-01 -2.84075270e-02 1.70511317e+02] [ 3.91588141e-02 -4.49778501e-04 9.99232898e-01 1.64579233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.590385723 meters Centerline goodness : 0.999700 Centerline is valid? [True, True] Translation: X:260.76, Y:170.53, Z:16.46 [[ 6.80382346e-01 -7.32348714e-01 -2.72987942e-02 2.60757790e+02] [ 7.31810935e-01 6.80929213e-01 -2.80742344e-02 1.70530475e+02] [ 3.91486759e-02 -8.76342676e-04 9.99233012e-01 1.64568929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.620385723 meters Centerline goodness : 0.999294 Centerline is valid? [True, True] Translation: X:260.78, Y:170.55, Z:16.45 [[ 6.82001450e-01 -7.30841289e-01 -2.72952907e-02 2.60776183e+02] [ 7.30302165e-01 6.82546991e-01 -2.80776403e-02 1.70552056e+02] [ 3.91506173e-02 -7.84818505e-04 9.99233012e-01 1.64535686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.650385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.80, Y:170.57, Z:16.46 [[ 6.83066562e-01 -7.29846199e-01 -2.72873201e-02 2.60795568e+02] [ 7.29305971e-01 6.83611009e-01 -2.80853843e-02 1.70572590e+02] [ 3.91519235e-02 -7.16618583e-04 9.99233013e-01 1.64598947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.680385723 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:260.82, Y:170.59, Z:16.46 [[ 6.84293158e-01 -7.28696615e-01 -2.72784916e-02 2.60815994e+02] [ 7.28155131e-01 6.84836356e-01 -2.80939566e-02 1.70591604e+02] [ 3.91532739e-02 -6.38471360e-04 9.99233013e-01 1.64560377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.710385723 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:260.84, Y:170.61, Z:16.46 [[ 6.84899882e-01 -7.28125587e-01 -2.72998383e-02 2.60835556e+02] [ 7.27584475e-01 6.85443451e-01 -2.80732365e-02 1.70610968e+02] [ 3.91533373e-02 -6.35582163e-04 9.99233012e-01 1.64616019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.740385723 meters Centerline goodness : 0.999677 Centerline is valid? [True, True] Translation: X:260.86, Y:170.63, Z:16.46 [[ 6.85156627e-01 -7.27885203e-01 -2.72677049e-02 2.60855296e+02] [ 7.27342659e-01 6.85698766e-01 -2.81044133e-02 1.70630104e+02] [ 3.91542182e-02 -5.77039973e-04 9.99233013e-01 1.64607238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.770385723 meters Centerline goodness : 0.999614 Centerline is valid? [True, True] Translation: X:260.87, Y:170.65, Z:16.46 [[ 6.82264739e-01 -7.30596685e-01 -2.72636932e-02 2.60870024e+02] [ 7.30056140e-01 6.82808872e-01 -2.81083045e-02 1.70651008e+02] [ 3.91517257e-02 -7.26721562e-04 9.99233013e-01 1.64600786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.800385723 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:260.90, Y:170.67, Z:16.46 [[ 6.84393129e-01 -7.28613679e-01 -2.69843025e-02 2.60895567e+02] [ 7.28060831e-01 6.84924855e-01 -2.83790404e-02 1.70669487e+02] [ 3.91595765e-02 -2.23793418e-04 9.99232945e-01 1.64613784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.830385723 meters Centerline goodness : 0.999635 Centerline is valid? [True, True] Translation: X:260.92, Y:170.69, Z:16.47 [[ 6.83651526e-01 -7.29299462e-01 -2.72559327e-02 2.60916325e+02] [ 7.28757589e-01 6.84194331e-01 -2.81157207e-02 1.70689747e+02] [ 3.91531346e-02 -6.41612435e-04 9.99233016e-01 1.64663797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.860385723 meters Centerline goodness : 0.999678 Centerline is valid? [True, True] Translation: X:260.94, Y:170.71, Z:16.47 [[ 6.82376447e-01 -7.30492879e-01 -2.72495621e-02 2.60936879e+02] [ 7.29951709e-01 6.82919953e-01 -2.81218936e-02 1.70707419e+02] [ 3.91521127e-02 -7.01146600e-04 9.99233016e-01 1.64678445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.890385723 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:260.96, Y:170.73, Z:16.47 [[ 6.81837469e-01 -7.30996133e-01 -2.72455239e-02 2.60957210e+02] [ 7.30455208e-01 6.82381219e-01 -2.81258055e-02 1.70726763e+02] [ 3.91516889e-02 -7.24406832e-04 9.99233016e-01 1.64687091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.920385723 meters Centerline goodness : 0.999633 Centerline is valid? [True, True] Translation: X:260.97, Y:170.75, Z:16.47 [[ 6.78697661e-01 -7.33912494e-01 -2.72385140e-02 2.60971316e+02] [ 7.33373632e-01 6.79243456e-01 -2.81325926e-02 1.70745578e+02] [ 3.91484436e-02 -8.82483201e-04 9.99233016e-01 1.64704163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.950385723 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:261.00, Y:170.76, Z:16.47 [[ 6.82134273e-01 -7.30734286e-01 -2.68372430e-02 2.60998501e+02] [ 7.30177504e-01 6.82661983e-01 -2.85206683e-02 1.70764894e+02] [ 3.91617957e-02 -1.41025807e-04 9.99232873e-01 1.64735848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.980385723 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:261.02, Y:170.79, Z:16.47 [[ 6.81938758e-01 -7.30902133e-01 -2.72323913e-02 2.61018494e+02] [ 7.30360635e-01 6.82481927e-01 -2.81382493e-02 1.70785268e+02] [ 3.91519213e-02 -7.00903835e-04 9.99233024e-01 1.64748985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.010385723 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:261.04, Y:170.80, Z:16.48 [[ 6.82532759e-01 -7.30347753e-01 -2.72248456e-02 2.61038708e+02] [ 7.29805524e-01 6.83075198e-01 -2.81455482e-02 1.70803493e+02] [ 3.91526547e-02 -6.58584044e-04 9.99233024e-01 1.64754683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.040385723 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:261.05, Y:170.82, Z:16.47 [[ 6.78006746e-01 -7.34551476e-01 -2.72209834e-02 2.61049507e+02] [ 7.34012459e-01 6.78552377e-01 -2.81492830e-02 1.70822711e+02] [ 3.91479604e-02 -8.95137185e-04 9.99233024e-01 1.64709386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.070385723 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:261.08, Y:170.84, Z:16.48 [[ 6.82389796e-01 -7.30502847e-01 -2.66412522e-02 2.61081742e+02] [ 7.29938497e-01 6.82909635e-01 -2.87092411e-02 1.70840627e+02] [ 3.91657501e-02 1.44417578e-04 9.99232717e-01 1.64773740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.100385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.10, Y:170.86, Z:16.48 [[ 6.81951813e-01 -7.30890332e-01 -2.72221860e-02 2.61102212e+02] [ 7.30348459e-01 6.82494580e-01 -2.81474209e-02 1.70859011e+02] [ 3.91516722e-02 -6.86496827e-04 9.99233044e-01 1.64789355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.130385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:261.12, Y:170.88, Z:16.48 [[ 6.82076570e-01 -7.30774029e-01 -2.72189446e-02 2.61122219e+02] [ 7.30231939e-01 6.82619119e-01 -2.81505551e-02 1.70876380e+02] [ 3.91518665e-02 -6.75308642e-04 9.99233044e-01 1.64775076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.160385723 meters Centerline goodness : 0.998606 Centerline is valid? [True, True] Translation: X:261.14, Y:170.90, Z:16.48 [[ 6.81663787e-01 -7.31164693e-01 -2.70679525e-02 2.61143014e+02] [ 7.30617111e-01 6.82200817e-01 -2.82963518e-02 1.70896492e+02] [ 3.91550726e-02 -4.87710906e-04 9.99233027e-01 1.64757373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.190385723 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:261.16, Y:170.91, Z:16.48 [[ 6.79972508e-01 -7.32733030e-01 -2.71973389e-02 2.61163982e+02] [ 7.32191667e-01 6.80515784e-01 -2.81714401e-02 1.70913909e+02] [ 3.91503631e-02 -7.57860129e-04 9.99233043e-01 1.64824183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.220385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:261.19, Y:170.93, Z:16.48 [[ 6.79797628e-01 -7.32895554e-01 -2.71899110e-02 2.61185492e+02] [ 7.32354035e-01 6.80340748e-01 -2.81786074e-02 1.70932860e+02] [ 3.91503805e-02 -7.56890589e-04 9.99233043e-01 1.64846760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.250385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:261.21, Y:170.95, Z:16.49 [[ 6.79999740e-01 -7.32708264e-01 -2.71836865e-02 2.61207775e+02] [ 7.32166355e-01 6.80542472e-01 -2.81846109e-02 1.70951602e+02] [ 3.91507505e-02 -7.37452595e-04 9.99233043e-01 1.64885778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.280385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:261.23, Y:170.97, Z:16.49 [[ 6.80586907e-01 -7.32163148e-01 -2.71769698e-02 2.61228412e+02] [ 7.31620546e-01 6.81128945e-01 -2.81910860e-02 1.70971888e+02] [ 3.91514950e-02 -6.96745461e-04 9.99233043e-01 1.64896150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.310385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.25, Y:170.99, Z:16.49 [[ 6.80928559e-01 -7.31845665e-01 -2.71702090e-02 2.61248226e+02] [ 7.31302550e-01 6.81470084e-01 -2.81976004e-02 1.70991584e+02] [ 3.91519762e-02 -6.69091772e-04 9.99233043e-01 1.64900730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.340385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:261.27, Y:171.01, Z:16.49 [[ 6.81893073e-01 -7.30947355e-01 -2.71625150e-02 2.61269219e+02] [ 7.30403232e-01 6.82433584e-01 -2.82050100e-02 1.71008491e+02] [ 3.91529899e-02 -6.06787827e-04 9.99233043e-01 1.64903158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.370385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:261.29, Y:171.03, Z:16.49 [[ 6.82756987e-01 -7.30140625e-01 -2.71581540e-02 2.61291979e+02] [ 7.29595696e-01 6.83296686e-01 -2.82092085e-02 1.71026538e+02] [ 3.91537658e-02 -5.54438062e-04 9.99233044e-01 1.64927029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.400385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:261.31, Y:171.05, Z:16.49 [[ 6.83351073e-01 -7.29584885e-01 -2.71515403e-02 2.61312239e+02] [ 7.29039265e-01 6.83890073e-01 -2.82155728e-02 1.71045614e+02] [ 3.91543243e-02 -5.13397019e-04 9.99233044e-01 1.64935122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.430385723 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:261.33, Y:171.06, Z:16.49 [[ 6.84714585e-01 -7.28305664e-01 -2.71439985e-02 2.61332539e+02] [ 7.27758749e-01 6.85252271e-01 -2.82228264e-02 1.71064782e+02] [ 3.91553309e-02 -4.29701547e-04 9.99233044e-01 1.64928647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.460385723 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:261.35, Y:171.08, Z:16.49 [[ 6.86565642e-01 -7.26563755e-01 -2.70689551e-02 2.61352843e+02] [ 7.26012628e-01 6.87099017e-01 -2.82949648e-02 1.71083830e+02] [ 3.91571483e-02 -2.26052548e-04 9.99233039e-01 1.64911790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.490385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:261.37, Y:171.10, Z:16.49 [[ 6.87696754e-01 -7.25493819e-01 -2.70535392e-02 2.61370372e+02] [ 7.24941279e-01 6.88228667e-01 -2.83097761e-02 1.71101290e+02] [ 3.91575888e-02 -1.43686168e-04 9.99233037e-01 1.64871040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.520385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:261.39, Y:171.12, Z:16.49 [[ 6.87391266e-01 -7.25791836e-01 -2.68227107e-02 2.61393993e+02] [ 7.25230844e-01 6.87914373e-01 -2.85313418e-02 1.71120934e+02] [ 3.91595431e-02 1.59538039e-04 9.99232958e-01 1.64912574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.550385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.41, Y:171.14, Z:16.49 [[ 6.84270192e-01 -7.28724029e-01 -2.71218292e-02 2.61412244e+02] [ 7.28176599e-01 6.84807353e-01 -2.82441134e-02 1.71139179e+02] [ 3.91553922e-02 -4.22876432e-04 9.99233044e-01 1.64895314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.580385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:261.44, Y:171.16, Z:16.50 [[ 6.85978495e-01 -7.27124313e-01 -2.69023780e-02 2.61436650e+02] [ 7.26567340e-01 6.86505814e-01 -2.84546584e-02 1.71157144e+02] [ 3.91587129e-02 -2.71055150e-05 9.99233003e-01 1.64955720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.610385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.46, Y:171.18, Z:16.50 [[ 6.84926617e-01 -7.28107488e-01 -2.71111563e-02 2.61457481e+02] [ 7.27559170e-01 6.85462871e-01 -2.82543296e-02 1.71175588e+02] [ 3.91558800e-02 -3.72827996e-04 9.99233045e-01 1.64972233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.640385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.48, Y:171.19, Z:16.50 [[ 6.82245464e-01 -7.30620644e-01 -2.71035325e-02 2.61479706e+02] [ 7.30074011e-01 6.82783435e-01 -2.82616410e-02 1.71192236e+02] [ 3.91543813e-02 -5.06208337e-04 9.99233045e-01 1.64989992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.670385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:261.50, Y:171.21, Z:16.50 [[ 6.80753984e-01 -7.32010653e-01 -2.71001329e-02 2.61500207e+02] [ 7.31464989e-01 6.81292937e-01 -2.82649005e-02 1.71210812e+02] [ 3.91533374e-02 -5.81354833e-04 9.99233045e-01 1.65005548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.700385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.53, Y:171.23, Z:16.50 [[ 6.80563143e-01 -7.32188362e-01 -2.70926258e-02 2.61527402e+02] [ 7.31642552e-01 6.81101948e-01 -2.82720944e-02 1.71228539e+02] [ 3.91533387e-02 -5.81172459e-04 9.99233045e-01 1.65028880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.730385723 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:261.54, Y:171.25, Z:16.50 [[ 6.76866816e-01 -7.35598374e-01 -2.73193246e-02 2.61543635e+02] [ 7.35064000e-01 6.77417036e-01 -2.80548617e-02 1.71248130e+02] [ 3.91436865e-02 -1.09204713e-03 9.99232995e-01 1.65004129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.760385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.56, Y:171.27, Z:16.50 [[ 6.76677141e-01 -7.35781672e-01 -2.70809409e-02 2.61564911e+02] [ 7.35238282e-01 6.77218380e-01 -2.82831158e-02 1.71267072e+02] [ 3.91499092e-02 -7.72406528e-04 9.99233050e-01 1.65022847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.790385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:261.58, Y:171.29, Z:16.50 [[ 6.76386632e-01 -7.36049016e-01 -2.70734367e-02 2.61583851e+02] [ 7.35505552e-01 6.76927797e-01 -2.82902972e-02 1.71285939e+02] [ 3.91498073e-02 -7.77484190e-04 9.99233050e-01 1.65019705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.820385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.61, Y:171.30, Z:16.50 [[ 6.79761267e-01 -7.32933742e-01 -2.70693371e-02 2.61606524e+02] [ 7.32387642e-01 6.80299772e-01 -2.82942193e-02 1.71304864e+02] [ 3.91530519e-02 -5.91933597e-04 9.99233050e-01 1.65018270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.850385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.63, Y:171.33, Z:16.50 [[ 6.80039986e-01 -7.32675281e-01 -2.70656615e-02 2.61627652e+02] [ 7.32128837e-01 6.80578140e-01 -2.82977349e-02 1.71326809e+02] [ 3.91533485e-02 -5.71960033e-04 9.99233050e-01 1.65034002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.880385723 meters Centerline goodness : 0.999865 Centerline is valid? [True, True] Translation: X:261.64, Y:171.35, Z:16.50 [[ 6.78600058e-01 -7.34002954e-01 -2.72327856e-02 2.61643375e+02] [ 7.33463953e-01 6.79145705e-01 -2.81378864e-02 1.71347959e+02] [ 3.91483211e-02 -8.79895221e-04 9.99233023e-01 1.65032857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.910385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.66, Y:171.37, Z:16.51 [[ 6.78309058e-01 -7.34278419e-01 -2.70559674e-02 2.61661918e+02] [ 7.33732880e-01 6.78848127e-01 -2.83068924e-02 1.71369548e+02] [ 3.91520330e-02 -6.51031337e-04 9.99233053e-01 1.65058330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.940385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.68, Y:171.39, Z:16.51 [[ 6.77445632e-01 -7.35075381e-01 -2.70480897e-02 2.61678354e+02] [ 7.34530177e-01 6.77985039e-01 -2.83144177e-02 1.71390858e+02] [ 3.91514316e-02 -6.86159490e-04 9.99233053e-01 1.65050103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.970385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:261.70, Y:171.41, Z:16.51 [[ 6.76833996e-01 -7.35638791e-01 -2.70427535e-02 2.61696713e+02] [ 7.35093833e-01 6.77373651e-01 -2.83195134e-02 1.71412370e+02] [ 3.91509813e-02 -7.11351901e-04 9.99233053e-01 1.65058571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.000385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:261.71, Y:171.43, Z:16.51 [[ 6.75559296e-01 -7.36809837e-01 -2.70352014e-02 2.61714906e+02] [ 7.36265525e-01 6.76099603e-01 -2.83267211e-02 1.71433811e+02] [ 3.91498957e-02 -7.68706981e-04 9.99233053e-01 1.65072995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.030385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.74, Y:171.46, Z:16.51 [[ 6.74896544e-01 -7.37417225e-01 -2.70276026e-02 2.61737097e+02] [ 7.36873109e-01 6.75437049e-01 -2.83339696e-02 1.71455906e+02] [ 3.91494014e-02 -7.93415414e-04 9.99233053e-01 1.65081416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.060385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.75, Y:171.48, Z:16.51 [[ 6.74316486e-01 -7.37942228e-01 -2.71761875e-02 2.61751971e+02] [ 7.37404224e-01 6.74863104e-01 -2.81922281e-02 1.71475648e+02] [ 3.91444419e-02 -1.02935127e-03 9.99233032e-01 1.65104200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.090385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.77, Y:171.50, Z:16.51 [[ 6.74116826e-01 -7.38130479e-01 -2.70166785e-02 2.61770274e+02] [ 7.37586523e-01 6.74657486e-01 -2.83442673e-02 1.71497404e+02] [ 3.91487721e-02 -8.19790472e-04 9.99233057e-01 1.65112090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.120385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:261.79, Y:171.52, Z:16.51 [[ 6.75037390e-01 -7.37288972e-01 -2.70091373e-02 2.61790443e+02] [ 7.36744055e-01 6.75577082e-01 -2.83514515e-02 1.71519217e+02] [ 3.91499667e-02 -7.60531466e-04 9.99233057e-01 1.65102718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.150385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.81, Y:171.54, Z:16.51 [[ 6.77159492e-01 -7.35333107e-01 -2.72074198e-02 2.61808810e+02] [ 7.34794188e-01 6.77705226e-01 -2.81625477e-02 1.71537374e+02] [ 3.91474642e-02 -9.21317398e-04 9.99233019e-01 1.65131160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.180385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.83, Y:171.56, Z:16.51 [[ 6.77100966e-01 -7.35392240e-01 -2.70653757e-02 2.61826635e+02] [ 7.34847953e-01 6.77641293e-01 -2.82977625e-02 1.71557835e+02] [ 3.91505712e-02 -7.28493592e-04 9.99233057e-01 1.65126928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.210385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:261.85, Y:171.58, Z:16.52 [[ 6.77401330e-01 -7.35119071e-01 -2.69701612e-02 2.61848585e+02] [ 7.34570955e-01 6.77937765e-01 -2.83883379e-02 1.71578738e+02] [ 3.91528994e-02 -5.81199279e-04 9.99233062e-01 1.65158934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.240385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.86, Y:171.60, Z:16.52 [[ 6.75766697e-01 -7.36616777e-01 -2.71126208e-02 2.61863887e+02] [ 7.36075270e-01 6.76309822e-01 -2.82528158e-02 1.71599554e+02] [ 3.91480298e-02 -8.64617640e-04 9.99233048e-01 1.65186188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.270385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:261.88, Y:171.62, Z:16.52 [[ 6.76072120e-01 -7.36341284e-01 -2.69815018e-02 2.61881532e+02] [ 7.35794571e-01 6.76609982e-01 -2.83774854e-02 1.71620202e+02] [ 3.91514675e-02 -6.67615849e-04 9.99233064e-01 1.65182304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.300385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:261.91, Y:171.64, Z:16.52 [[ 6.77740057e-01 -7.34806620e-01 -2.69749061e-02 2.61906251e+02] [ 7.34258440e-01 6.78276423e-01 -2.83837538e-02 1.71642109e+02] [ 3.91530130e-02 -5.69745560e-04 9.99233064e-01 1.65189241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.330385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.92, Y:171.66, Z:16.52 [[ 6.79017780e-01 -7.33613865e-01 -2.73047865e-02 2.61924221e+02] [ 7.33077270e-01 6.79565878e-01 -2.80701622e-02 1.71660134e+02] [ 3.91480614e-02 -9.56379095e-04 9.99232963e-01 1.65210504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.360385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.94, Y:171.68, Z:16.52 [[ 6.78883489e-01 -7.33741402e-01 -2.72169468e-02 2.61939137e+02] [ 7.33201558e-01 6.79428322e-01 -2.81537030e-02 1.71679228e+02] [ 3.91495021e-02 -8.42423668e-04 9.99233009e-01 1.65206621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.390385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:261.96, Y:171.70, Z:16.52 [[ 6.80537111e-01 -7.32217006e-01 -2.69721622e-02 2.61964515e+02] [ 7.31666683e-01 6.81071276e-01 -2.83862962e-02 1.71700975e+02] [ 3.91548937e-02 -4.16704408e-04 9.99233066e-01 1.65227425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.420385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.98, Y:171.72, Z:16.52 [[ 6.79349647e-01 -7.33304197e-01 -2.73680916e-02 2.61978044e+02] [ 7.32769778e-01 6.79899921e-01 -2.80098126e-02 1.71719618e+02] [ 3.91472765e-02 -1.02605411e-03 9.99232925e-01 1.65241934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.450385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.00, Y:171.74, Z:16.53 [[ 6.79100351e-01 -7.33550152e-01 -2.69608570e-02 2.61998307e+02] [ 7.33000474e-01 6.79635156e-01 -2.83964676e-02 1.71740479e+02] [ 3.91537794e-02 -4.78269876e-04 9.99233082e-01 1.65264449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.480385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:262.02, Y:171.76, Z:16.53 [[ 6.79430251e-01 -7.33242466e-01 -2.70188859e-02 2.62018598e+02] [ 7.32694733e-01 6.79967054e-01 -2.83413780e-02 1.71759311e+02] [ 3.91530541e-02 -5.40605826e-04 9.99233079e-01 1.65279513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.510385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:262.04, Y:171.78, Z:16.53 [[ 6.79086175e-01 -7.33562294e-01 -2.69875268e-02 2.62036463e+02] [ 7.33013632e-01 6.79622023e-01 -2.83711240e-02 1.71777838e+02] [ 3.91533043e-02 -5.15786947e-04 9.99233082e-01 1.65280915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.540385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:262.06, Y:171.80, Z:16.53 [[ 6.80556820e-01 -7.32206450e-01 -2.67605774e-02 2.62059418e+02] [ 7.31648217e-01 6.81082740e-01 -2.85865048e-02 1.71797546e+02] [ 3.91573906e-02 -1.24587900e-04 9.99233048e-01 1.65315127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.570385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:262.08, Y:171.82, Z:16.53 [[ 6.80278465e-01 -7.32457853e-01 -2.69574370e-02 2.62079383e+02] [ 7.31907190e-01 6.80812254e-01 -2.83996442e-02 1.71817630e+02] [ 3.91544959e-02 -4.10675550e-04 9.99233084e-01 1.65325522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.600385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:262.10, Y:171.84, Z:16.53 [[ 6.79932632e-01 -7.32779187e-01 -2.69495715e-02 2.62098288e+02] [ 7.32228481e-01 6.80466376e-01 -2.84071062e-02 1.71837588e+02] [ 3.91544134e-02 -4.18325291e-04 9.99233084e-01 1.65326828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.630385723 meters Centerline goodness : 0.999821 Centerline is valid? [True, True] Translation: X:262.12, Y:171.86, Z:16.53 [[ 6.78972249e-01 -7.33669297e-01 -2.69452672e-02 2.62118360e+02] [ 7.33119129e-01 6.79506547e-01 -2.84111883e-02 1.71857145e+02] [ 3.91539021e-02 -4.63682427e-04 9.99233084e-01 1.65330756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.660385723 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:262.14, Y:171.88, Z:16.53 [[ 6.78586815e-01 -7.34026086e-01 -2.69376811e-02 2.62138654e+02] [ 7.33475914e-01 6.79121109e-01 -2.84183792e-02 1.71876946e+02] [ 3.91537795e-02 -4.73802779e-04 9.99233084e-01 1.65346377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.690385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.16, Y:171.90, Z:16.54 [[ 6.76968601e-01 -7.35519057e-01 -2.69300991e-02 2.62160963e+02] [ 7.34969776e-01 6.77503812e-01 -2.84255623e-02 1.71897503e+02] [ 3.91527876e-02 -5.49595747e-04 9.99233085e-01 1.65389409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.720385723 meters Centerline goodness : 0.999079 Centerline is valid? [True, True] Translation: X:262.18, Y:171.92, Z:16.54 [[ 6.76610406e-01 -7.35844702e-01 -2.70357858e-02 2.62180038e+02] [ 7.35299674e-01 6.77149957e-01 -2.83253494e-02 1.71917074e+02] [ 3.91503395e-02 -7.14178288e-04 9.99233076e-01 1.65390983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.750385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.20, Y:171.94, Z:16.54 [[ 6.77097835e-01 -7.35395397e-01 -2.70579444e-02 2.62197973e+02] [ 7.34850849e-01 6.77637878e-01 -2.83043472e-02 1.71937729e+02] [ 3.91503747e-02 -7.18741219e-04 9.99233072e-01 1.65395535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.780385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.22, Y:171.96, Z:16.54 [[ 6.77028329e-01 -7.35464237e-01 -2.69257805e-02 2.62217212e+02] [ 7.34914756e-01 6.77563328e-01 -2.84295214e-02 1.71958327e+02] [ 3.91528177e-02 -5.40562024e-04 9.99233088e-01 1.65400482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.810385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.24, Y:171.98, Z:16.54 [[ 6.76954729e-01 -7.35532264e-01 -2.69180852e-02 2.62236784e+02] [ 7.34982547e-01 6.77489486e-01 -2.84368057e-02 1.71978271e+02] [ 3.91529078e-02 -5.33892695e-04 9.99233088e-01 1.65411984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.840385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:262.26, Y:172.00, Z:16.54 [[ 6.76975105e-01 -7.35513797e-01 -2.69102405e-02 2.62255109e+02] [ 7.34963771e-01 6.77509544e-01 -2.84442274e-02 1.71997798e+02] [ 3.91530664e-02 -5.22017986e-04 9.99233088e-01 1.65423472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.870385723 meters Centerline goodness : 0.996167 Centerline is valid? [True, True] Translation: X:262.28, Y:172.02, Z:16.54 [[ 6.76089209e-01 -7.36328359e-01 -2.69059404e-02 2.62275036e+02] [ 7.35778814e-01 6.76624143e-01 -2.84482943e-02 1.72021156e+02] [ 3.91524947e-02 -5.63236142e-04 9.99233088e-01 1.65401430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.900385723 meters Centerline goodness : 0.996167 Centerline is valid? [True, True] Translation: X:262.29, Y:172.04, Z:16.54 [[ 6.75848748e-01 -7.36542706e-01 -2.70797538e-02 2.62294562e+02] [ 7.35999892e-01 6.76390552e-01 -2.82839285e-02 1.72042053e+02] [ 3.91488108e-02 -8.15038212e-04 9.99233059e-01 1.65413625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.930385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:262.31, Y:172.06, Z:16.54 [[ 6.74929553e-01 -7.37385412e-01 -2.70712528e-02 2.62311169e+02] [ 7.36842953e-01 6.75471707e-01 -2.82919627e-02 1.72062164e+02] [ 3.91479459e-02 -8.52180101e-04 9.99233062e-01 1.65447903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.960385723 meters Centerline goodness : 0.995965 Centerline is valid? [True, True] Translation: X:262.33, Y:172.08, Z:16.54 [[ 6.74431434e-01 -7.37847983e-01 -2.68811303e-02 2.62332721e+02] [ 7.37298720e-01 6.74966646e-01 -2.84714673e-02 1.72084098e+02] [ 3.91514811e-02 -6.17370479e-04 9.99233096e-01 1.65431938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.990385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.35, Y:172.10, Z:16.54 [[ 6.72141742e-01 -7.39925981e-01 -2.71112709e-02 2.62348402e+02] [ 7.39387092e-01 6.72687468e-01 -2.82541709e-02 1.72104042e+02] [ 3.91434073e-02 -1.05491617e-03 9.99233046e-01 1.65448949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.020385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:262.37, Y:172.12, Z:16.55 [[ 6.70732160e-01 -7.41212981e-01 -2.68642194e-02 2.62366465e+02] [ 7.40665775e-01 6.71269463e-01 -2.84871508e-02 1.72124189e+02] [ 3.91481761e-02 -7.90159655e-04 9.99233104e-01 1.65488306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.050385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:262.38, Y:172.15, Z:16.55 [[ 6.68631387e-01 -7.43108864e-01 -2.68567293e-02 2.62384000e+02] [ 7.42562898e-01 6.69169950e-01 -2.84942105e-02 1.72145923e+02] [ 3.91460166e-02 -8.90687290e-04 9.99233104e-01 1.65503500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.080385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.40, Y:172.17, Z:16.55 [[ 6.67704754e-01 -7.43941851e-01 -2.68492637e-02 2.62401301e+02] [ 7.43396274e-01 6.68243712e-01 -2.85012434e-02 1.72166614e+02] [ 3.91451194e-02 -9.29226854e-04 9.99233104e-01 1.65507913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.110385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:262.42, Y:172.19, Z:16.55 [[ 6.67259106e-01 -7.44341831e-01 -2.68425785e-02 2.62418531e+02] [ 7.43796324e-01 6.67798135e-01 -2.85075381e-02 1.72188819e+02] [ 3.91447770e-02 -9.43496841e-04 9.99233104e-01 1.65532871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.140385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:262.44, Y:172.21, Z:16.55 [[ 6.65852028e-01 -7.45601046e-01 -2.68357406e-02 2.62437090e+02] [ 7.45056300e-01 6.66391824e-01 -2.85139736e-02 1.72211232e+02] [ 3.91431667e-02 -1.00805048e-03 9.99233104e-01 1.65525390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.170385723 meters Centerline goodness : 0.994564 Centerline is valid? [True, True] Translation: X:262.45, Y:172.23, Z:16.55 [[ 6.65926915e-01 -7.45534415e-01 -2.68287173e-02 2.62454795e+02] [ 7.44989349e-01 6.66466388e-01 -2.85205803e-02 1.72231374e+02] [ 3.91435124e-02 -9.94486587e-04 9.99233104e-01 1.65528410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.200385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:262.47, Y:172.25, Z:16.56 [[ 6.66001713e-01 -7.45467947e-01 -2.68189965e-02 2.62471350e+02] [ 7.44922459e-01 6.66540761e-01 -2.85297182e-02 1.72254511e+02] [ 3.91439447e-02 -9.77231603e-04 9.99233104e-01 1.65555463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.230385723 meters Centerline goodness : 0.999690 Centerline is valid? [True, True] Translation: X:262.49, Y:172.28, Z:16.55 [[ 6.66681237e-01 -7.44860650e-01 -2.68093198e-02 2.62487762e+02] [ 7.44314306e-01 6.67219416e-01 -2.85388085e-02 1.72279073e+02] [ 3.91451341e-02 -9.28272108e-04 9.99233104e-01 1.65545799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.260385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.50, Y:172.30, Z:16.56 [[ 6.67827366e-01 -7.43830187e-01 -2.68935360e-02 2.62503463e+02] [ 7.43286189e-01 6.68367927e-01 -2.84597147e-02 1.72299607e+02] [ 3.91439718e-02 -9.83417625e-04 9.99233097e-01 1.65558885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.290385723 meters Centerline goodness : 0.994905 Centerline is valid? [True, True] Translation: X:262.52, Y:172.32, Z:16.56 [[ 6.69809691e-01 -7.42049102e-01 -2.67975321e-02 2.62524194e+02] [ 7.41500058e-01 6.70345114e-01 -2.85498267e-02 1.72322120e+02] [ 3.91489680e-02 -7.47420943e-04 9.99233106e-01 1.65565784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.320385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:262.54, Y:172.34, Z:16.56 [[ 6.70803053e-01 -7.41143472e-01 -2.70114631e-02 2.62538057e+02] [ 7.40601753e-01 6.71345945e-01 -2.83489994e-02 1.72343948e+02] [ 3.91447121e-02 -9.88141607e-04 9.99233063e-01 1.65590755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.350385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:262.56, Y:172.37, Z:16.56 [[ 6.71281777e-01 -7.40718131e-01 -2.67848170e-02 2.62556051e+02] [ 7.40167557e-01 6.71815618e-01 -2.85615492e-02 1.72365779e+02] [ 3.91505157e-02 -6.52405085e-04 9.99233112e-01 1.65601694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.380385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.57, Y:172.39, Z:16.56 [[ 6.72067315e-01 -7.40005755e-01 -2.67769708e-02 2.62571429e+02] [ 7.39454323e-01 6.72600269e-01 -2.85689032e-02 1.72389322e+02] [ 3.91513506e-02 -6.00120686e-04 9.99233112e-01 1.65610142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.410385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:262.59, Y:172.41, Z:16.56 [[ 6.72418298e-01 -7.39687132e-01 -2.67689991e-02 2.62588097e+02] [ 7.39135150e-01 6.72950683e-01 -2.85763707e-02 1.72410705e+02] [ 3.91517899e-02 -5.70633545e-04 9.99233112e-01 1.65613867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.440385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:262.61, Y:172.43, Z:16.56 [[ 6.72441261e-01 -7.39666416e-01 -2.67645938e-02 2.62606186e+02] [ 7.39114253e-01 6.72973459e-01 -2.85804961e-02 1.72432814e+02] [ 3.91518944e-02 -5.63387861e-04 9.99233112e-01 1.65625757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.470385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:262.62, Y:172.45, Z:16.56 [[ 6.70160506e-01 -7.41733754e-01 -2.67569411e-02 2.62621556e+02] [ 7.41182947e-01 6.70694107e-01 -2.85876587e-02 1.72454994e+02] [ 3.91501542e-02 -6.73468641e-04 9.99233112e-01 1.65622978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.500385723 meters Centerline goodness : 0.999782 Centerline is valid? [True, True] Translation: X:262.64, Y:172.48, Z:16.56 [[ 6.70544360e-01 -7.41392202e-01 -2.66057257e-02 2.62640880e+02] [ 7.40835499e-01 6.71071832e-01 -2.87290764e-02 1.72478087e+02] [ 3.91538663e-02 -4.46345886e-04 9.99233094e-01 1.65645475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.530385723 meters Centerline goodness : 0.996962 Centerline is valid? [True, True] Translation: X:262.66, Y:172.50, Z:16.57 [[ 6.71208417e-01 -7.40785944e-01 -2.67478102e-02 2.62663761e+02] [ 7.40234044e-01 6.71740886e-01 -2.85961768e-02 1.72502260e+02] [ 3.91512436e-02 -6.05645184e-04 9.99233113e-01 1.65662612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.560385723 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:262.68, Y:172.52, Z:16.57 [[ 6.69500092e-01 -7.42316612e-01 -2.71233105e-02 2.62676225e+02] [ 7.41780051e-01 6.70048196e-01 -2.82448471e-02 1.72523547e+02] [ 3.91405444e-02 -1.20960290e-03 9.99232983e-01 1.65696610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.590385723 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:262.69, Y:172.55, Z:16.57 [[ 6.68609058e-01 -7.43133567e-01 -2.67288044e-02 2.62690925e+02] [ 7.42582849e-01 6.69142725e-01 -2.86133775e-02 1.72546696e+02] [ 3.91489463e-02 -7.17188385e-04 9.99233129e-01 1.65696031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.620385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:262.71, Y:172.57, Z:16.57 [[ 6.67977941e-01 -7.43701098e-01 -2.67235493e-02 2.62708299e+02] [ 7.43150637e-01 6.68511873e-01 -2.86182846e-02 1.72569111e+02] [ 3.91484597e-02 -7.43239895e-04 9.99233129e-01 1.65705053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.650385723 meters Centerline goodness : 0.999740 Centerline is valid? [True, True] Translation: X:262.72, Y:172.59, Z:16.57 [[ 6.65724709e-01 -7.45719028e-01 -2.67159563e-02 2.62724462e+02] [ 7.45169902e-01 6.66260014e-01 -2.86253712e-02 1.72593317e+02] [ 3.91462574e-02 -8.51309592e-04 9.99233129e-01 1.65707604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.680385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.75, Y:172.62, Z:16.57 [[ 6.66490544e-01 -7.45034002e-01 -2.67337085e-02 2.62745321e+02] [ 7.44484988e-01 6.67025965e-01 -2.86088055e-02 1.72615098e+02] [ 3.91466106e-02 -8.35346308e-04 9.99233129e-01 1.65713831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.710385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.76, Y:172.64, Z:16.57 [[ 6.64374327e-01 -7.46914027e-01 -2.69479129e-02 2.62759043e+02] [ 7.46374594e-01 6.64919469e-01 -2.84088855e-02 1.72639278e+02] [ 3.91371870e-02 -1.23910337e-03 9.99233079e-01 1.65725689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.740385723 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:262.77, Y:172.66, Z:16.58 [[ 6.64683990e-01 -7.46643380e-01 -2.68115051e-02 2.62774498e+02] [ 7.46098588e-01 6.65223713e-01 -2.85360774e-02 1.72660619e+02] [ 3.91419223e-02 -1.03655233e-03 9.99233124e-01 1.65767283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.770385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.79, Y:172.68, Z:16.57 [[ 6.63404569e-01 -7.47786451e-01 -2.66420790e-02 2.62792585e+02] [ 7.47236238e-01 6.63938749e-01 -2.86939374e-02 1.72684536e+02] [ 3.91456462e-02 -8.72237659e-04 9.99233135e-01 1.65744444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.800385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.81, Y:172.71, Z:16.58 [[ 6.62070781e-01 -7.48962375e-01 -2.67888340e-02 2.62806650e+02] [ 7.48418619e-01 6.62611542e-01 -2.85572265e-02 1.72708696e+02] [ 3.91388788e-02 -1.14235696e-03 9.99233128e-01 1.65758797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.830385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.82, Y:172.73, Z:16.58 [[ 6.61758592e-01 -7.49240089e-01 -2.67367532e-02 2.62820907e+02] [ 7.48694602e-01 6.62297596e-01 -2.86057116e-02 1.72731607e+02] [ 3.91402333e-02 -1.08758736e-03 9.99233136e-01 1.65783925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.860385723 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:262.84, Y:172.76, Z:16.58 [[ 6.60397846e-01 -7.50441998e-01 -2.66738286e-02 2.62838957e+02] [ 7.49895128e-01 6.60935441e-01 -2.86642670e-02 1.72755158e+02] [ 3.91405484e-02 -1.07275393e-03 9.99233139e-01 1.65779747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.890385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.86, Y:172.78, Z:16.58 [[ 6.59939492e-01 -7.50843710e-01 -2.67131205e-02 2.62855317e+02] [ 7.50298643e-01 6.60478918e-01 -2.86277199e-02 1.72776971e+02] [ 3.91383963e-02 -1.15025519e-03 9.99233137e-01 1.65789841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.920385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.87, Y:172.80, Z:16.58 [[ 6.60921646e-01 -7.49980573e-01 -2.66780451e-02 2.62868879e+02] [ 7.49433486e-01 6.61459020e-01 -2.86603307e-02 1.72801062e+02] [ 3.91411248e-02 -1.05118740e-03 9.99233140e-01 1.65815234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.950385723 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:262.88, Y:172.83, Z:16.58 [[ 6.59769568e-01 -7.50995132e-01 -2.66538569e-02 2.62884231e+02] [ 7.50447965e-01 6.60306859e-01 -2.86828080e-02 1.72825176e+02] [ 3.91403737e-02 -1.07828882e-03 9.99233140e-01 1.65795971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.980385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.90, Y:172.85, Z:16.58 [[ 6.62165182e-01 -7.48886391e-01 -2.65790518e-02 2.62899469e+02] [ 7.48334722e-01 6.62697857e-01 -2.87522881e-02 1.72848546e+02] [ 3.91460779e-02 -8.51263243e-04 9.99233136e-01 1.65835658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.010385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.92, Y:172.87, Z:16.59 [[ 6.62614531e-01 -7.48486544e-01 -2.66435002e-02 2.62917332e+02] [ 7.47936955e-01 6.63149346e-01 -2.86924422e-02 1.72870374e+02] [ 3.91445266e-02 -9.15629266e-04 9.99233140e-01 1.65852736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.040385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.93, Y:172.89, Z:16.59 [[ 6.63462754e-01 -7.47735056e-01 -2.66356980e-02 2.62932353e+02] [ 7.47184571e-01 6.63996645e-01 -2.86996833e-02 1.72893457e+02] [ 3.91457734e-02 -8.60611643e-04 9.99233140e-01 1.65866648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.070385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.95, Y:172.92, Z:16.59 [[ 6.63815214e-01 -7.47422326e-01 -2.66313421e-02 2.62949282e+02] [ 7.46871427e-01 6.64348679e-01 -2.87037247e-02 1.72916219e+02] [ 3.91463016e-02 -8.36219332e-04 9.99233140e-01 1.65873273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.100385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.97, Y:172.94, Z:16.59 [[ 6.64523473e-01 -7.46792964e-01 -2.66237228e-02 2.62966013e+02] [ 7.46241278e-01 6.65056123e-01 -2.87107901e-02 1.72938856e+02] [ 3.91472859e-02 -7.88726992e-04 9.99233140e-01 1.65874707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.130385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.98, Y:172.96, Z:16.59 [[ 6.66283864e-01 -7.45223050e-01 -2.66161280e-02 2.62980680e+02] [ 7.44669827e-01 6.66814919e-01 -2.87178291e-02 1.72962350e+02] [ 3.91492194e-02 -6.86001234e-04 9.99233140e-01 1.65865774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.160385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.00, Y:172.99, Z:16.59 [[ 6.67315536e-01 -7.44301251e-01 -2.65635726e-02 2.62997436e+02] [ 7.43745356e-01 6.67843794e-01 -2.87665048e-02 1.72985486e+02] [ 3.91512627e-02 -5.60198225e-04 9.99233138e-01 1.65886105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.190385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.02, Y:173.01, Z:16.59 [[ 6.67861280e-01 -7.43810246e-01 -2.66012732e-02 2.63015317e+02] [ 7.43255351e-01 6.68390588e-01 -2.87315996e-02 1.73006687e+02] [ 3.91508988e-02 -5.82815771e-04 9.99233140e-01 1.65907992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.220385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.03, Y:173.03, Z:16.59 [[ 6.68106078e-01 -7.43590642e-01 -2.65937205e-02 2.63033478e+02] [ 7.43035295e-01 6.68634911e-01 -2.87385886e-02 1.73028588e+02] [ 3.91512355e-02 -5.59647246e-04 9.99233140e-01 1.65930058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.250385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.05, Y:173.05, Z:16.59 [[ 6.67764525e-01 -7.43897666e-01 -2.65857315e-02 2.63048812e+02] [ 7.43342268e-01 6.68293305e-01 -2.87459773e-02 1.73052370e+02] [ 3.91511318e-02 -5.66754041e-04 9.99233140e-01 1.65902106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.280385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.07, Y:173.07, Z:16.59 [[ 6.69190600e-01 -7.42618079e-01 -2.65015193e-02 2.63067462e+02] [ 7.42058583e-01 6.69715049e-01 -2.88238088e-02 1.73073815e+02] [ 3.91535478e-02 -3.77058020e-04 9.99233135e-01 1.65938788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.310385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.08, Y:173.09, Z:16.59 [[ 6.68933761e-01 -7.42846882e-01 -2.65731795e-02 2.63084853e+02] [ 7.42290192e-01 6.69461180e-01 -2.87575891e-02 1.73093888e+02] [ 3.91521975e-02 -4.88088339e-04 9.99233140e-01 1.65947244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.340385723 meters Centerline goodness : 0.999457 Centerline is valid? [True, True] Translation: X:263.10, Y:173.12, Z:16.60 [[ 6.68772598e-01 -7.42992108e-01 -2.65695181e-02 2.63103595e+02] [ 7.42435399e-01 6.69299996e-01 -2.87609716e-02 1.73115220e+02] [ 3.91521532e-02 -4.91601064e-04 9.99233140e-01 1.65954542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.370385723 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:263.12, Y:173.14, Z:16.60 [[ 6.67502008e-01 -7.44134576e-01 -2.65481128e-02 2.63122717e+02] [ 7.43577983e-01 6.68029530e-01 -2.87807378e-02 1.73137529e+02] [ 3.91516654e-02 -5.29391904e-04 9.99233139e-01 1.65962603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.400385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.14, Y:173.16, Z:16.60 [[ 6.65823587e-01 -7.45635422e-01 -2.65851036e-02 2.63140165e+02] [ 7.45081379e-01 6.66353788e-01 -2.87466023e-02 1.73158704e+02] [ 3.91495695e-02 -6.67899796e-04 9.99233139e-01 1.65969360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.430385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.16, Y:173.18, Z:16.60 [[ 6.66406314e-01 -7.45118319e-01 -2.64823381e-02 2.63160489e+02] [ 7.44560091e-01 6.66932112e-01 -2.88414475e-02 1.73177695e+02] [ 3.91522126e-02 -4.97569335e-04 9.99233134e-01 1.66001168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.460385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.18, Y:173.20, Z:16.60 [[ 6.66044337e-01 -7.45439425e-01 -2.65519277e-02 2.63179122e+02] [ 7.44884005e-01 6.66573094e-01 -2.87772394e-02 1.73198011e+02] [ 3.91504894e-02 -6.11188853e-04 9.99233139e-01 1.66009891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.490385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.20, Y:173.22, Z:16.60 [[ 6.65935947e-01 -7.45536534e-01 -2.65441245e-02 2.63197798e+02] [ 7.44980904e-01 6.66464484e-01 -2.87844353e-02 1.73218824e+02] [ 3.91505644e-02 -6.06275699e-04 9.99233139e-01 1.66022222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.520385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.22, Y:173.24, Z:16.60 [[ 6.66196927e-01 -7.45303613e-01 -2.65363596e-02 2.63216331e+02] [ 7.44747514e-01 6.66724970e-01 -2.87915920e-02 1.73238975e+02] [ 3.91509311e-02 -5.82017739e-04 9.99233139e-01 1.66043169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.550385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.24, Y:173.26, Z:16.60 [[ 6.66299351e-01 -7.45211578e-01 -2.65495626e-02 2.63235210e+02] [ 7.44655890e-01 6.66827827e-01 -2.87794259e-02 1.73258594e+02] [ 3.91507485e-02 -5.94575392e-04 9.99233139e-01 1.66048044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.580385723 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:263.25, Y:173.28, Z:16.60 [[ 6.65612167e-01 -7.45826249e-01 -2.65263900e-02 2.63254362e+02] [ 7.45270198e-01 6.66140261e-01 -2.88007685e-02 1.73278585e+02] [ 3.91506656e-02 -5.99185977e-04 9.99233139e-01 1.66032288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.610385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.27, Y:173.30, Z:16.61 [[ 6.65986340e-01 -7.45492418e-01 -2.65188458e-02 2.63273176e+02] [ 7.44935826e-01 6.66513864e-01 -2.88077133e-02 1.73299155e+02] [ 3.91511103e-02 -5.69294740e-04 9.99233139e-01 1.66074592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.640385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.29, Y:173.32, Z:16.61 [[ 6.66382145e-01 -7.45138921e-01 -2.65108597e-02 2.63291987e+02] [ 7.44581757e-01 6.66909064e-01 -2.88150611e-02 1.73319172e+02] [ 3.91515562e-02 -5.37660279e-04 9.99233139e-01 1.66075714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.670385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.31, Y:173.34, Z:16.61 [[ 6.66373553e-01 -7.45146722e-01 -2.65075548e-02 2.63312018e+02] [ 7.44589443e-01 6.66900351e-01 -2.88181011e-02 1.73336931e+02] [ 3.91516111e-02 -5.33625039e-04 9.99233139e-01 1.66080607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.700385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.33, Y:173.36, Z:16.61 [[ 6.65646708e-01 -7.45796236e-01 -2.65034896e-02 2.63332399e+02] [ 7.45239322e-01 6.66173892e-01 -2.88218393e-02 1.73357812e+02] [ 3.91511521e-02 -5.66280191e-04 9.99233139e-01 1.66086536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.730385723 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:263.35, Y:173.38, Z:16.61 [[ 6.65009356e-01 -7.46364831e-01 -2.64970870e-02 2.63351635e+02] [ 7.45808134e-01 6.65536768e-01 -2.88277242e-02 1.73377554e+02] [ 3.91507852e-02 -5.91036707e-04 9.99233139e-01 1.66074158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.760385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.37, Y:173.40, Z:16.61 [[ 6.65855912e-01 -7.45610713e-01 -2.64682525e-02 2.63371181e+02] [ 7.45052366e-01 6.66381577e-01 -2.88542156e-02 1.73397035e+02] [ 3.91519681e-02 -5.07484058e-04 9.99233139e-01 1.66089298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.790385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.39, Y:173.42, Z:16.61 [[ 6.65668698e-01 -7.45777230e-01 -2.64859761e-02 2.63390422e+02] [ 7.45219661e-01 6.66195189e-01 -2.88379374e-02 1.73418104e+02] [ 3.91515070e-02 -5.41357906e-04 9.99233139e-01 1.66100546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.820385723 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:263.41, Y:173.44, Z:16.61 [[ 6.65801218e-01 -7.45659181e-01 -2.64787285e-02 2.63410462e+02] [ 7.45101255e-01 6.66327330e-01 -2.88445906e-02 1.73438056e+02] [ 3.91517343e-02 -5.24570281e-04 9.99233139e-01 1.66098318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.850385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.43, Y:173.46, Z:16.61 [[ 6.66727530e-01 -7.44831296e-01 -2.64715209e-02 2.63432025e+02] [ 7.44272453e-01 6.67252669e-01 -2.88512038e-02 1.73455782e+02] [ 3.91524724e-02 -4.66131932e-04 9.99233139e-01 1.66106811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.880385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.45, Y:173.47, Z:16.61 [[ 6.67920757e-01 -7.43761730e-01 -2.64641608e-02 2.63451072e+02] [ 7.43201779e-01 6.68444713e-01 -2.88579533e-02 1.73473329e+02] [ 3.91532696e-02 -3.93385322e-04 9.99233139e-01 1.66139759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.910385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.47, Y:173.49, Z:16.61 [[ 6.68133952e-01 -7.43573392e-01 -2.63748421e-02 2.63472699e+02] [ 7.43010057e-01 6.68654277e-01 -2.89398065e-02 1.73493309e+02] [ 3.91545210e-02 -2.61105663e-04 9.99233134e-01 1.66136302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.940385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.49, Y:173.51, Z:16.62 [[ 6.67167603e-01 -7.44437800e-01 -2.64528224e-02 2.63488517e+02] [ 7.43877967e-01 6.67691686e-01 -2.88683514e-02 1.73513104e+02] [ 3.91530216e-02 -4.17642944e-04 9.99233139e-01 1.66154419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.970385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.51, Y:173.53, Z:16.62 [[ 6.67420961e-01 -7.44218034e-01 -2.62446167e-02 2.63509430e+02] [ 7.43650496e-01 6.67936751e-01 -2.90591954e-02 1.73533487e+02] [ 3.91561213e-02 -1.22106100e-04 9.99233098e-01 1.66162309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.000385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.53, Y:173.55, Z:16.62 [[ 6.68783947e-01 -7.42992839e-01 -2.62616167e-02 2.63532441e+02] [ 7.42424968e-01 6.69299361e-01 -2.90436057e-02 1.73551082e+02] [ 3.91560743e-02 -7.33826942e-05 9.99233104e-01 1.66190787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.030385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.56, Y:173.57, Z:16.62 [[ 6.69716951e-01 -7.42149872e-01 -2.63205915e-02 2.63555834e+02] [ 7.41583475e-01 6.70233957e-01 -2.89895428e-02 1.73569580e+02] [ 3.91555397e-02 -1.04127442e-04 9.99233122e-01 1.66206705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.060385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.58, Y:173.59, Z:16.62 [[ 6.70638792e-01 -7.41312119e-01 -2.64566198e-02 2.63577375e+02] [ 7.40749982e-01 6.71160401e-01 -2.88648645e-02 1.73587976e+02] [ 3.91545094e-02 -2.39842833e-04 9.99233139e-01 1.66223121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.090385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.60, Y:173.61, Z:16.62 [[ 6.71714075e-01 -7.40338225e-01 -2.64483339e-02 2.63599333e+02] [ 7.39775032e-01 6.72234545e-01 -2.88724547e-02 1.73605883e+02] [ 3.91548656e-02 -1.71782879e-04 9.99233139e-01 1.66238305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.120385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.62, Y:173.62, Z:16.62 [[ 6.72205354e-01 -7.39892476e-01 -2.64402393e-02 2.63619104e+02] [ 7.39328647e-01 6.72725134e-01 -2.88798655e-02 1.73624647e+02] [ 3.91550087e-02 -1.34826155e-04 9.99233140e-01 1.66248215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.150385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:263.64, Y:173.64, Z:16.63 [[ 6.73205332e-01 -7.38982940e-01 -2.64347377e-02 2.63639846e+02] [ 7.38418210e-01 6.73724134e-01 -2.88849004e-02 1.73644013e+02] [ 3.91551694e-02 -7.44227006e-05 9.99233140e-01 1.66260831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.180385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:263.66, Y:173.66, Z:16.63 [[ 6.74067485e-01 -7.38197342e-01 -2.64141888e-02 2.63662607e+02] [ 7.37631271e-01 6.74584824e-01 -2.89036984e-02 1.73663259e+02] [ 3.91552443e-02 -8.88378998e-07 9.99233139e-01 1.66266384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.210385723 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:263.68, Y:173.68, Z:16.63 [[ 6.72590903e-01 -7.39539165e-01 -2.65198174e-02 2.63681549e+02] [ 7.38977924e-01 6.73113492e-01 -2.88072026e-02 1.73680764e+02] [ 3.91549015e-02 -2.22097172e-04 9.99233128e-01 1.66272940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.240385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:263.70, Y:173.70, Z:16.63 [[ 6.72715879e-01 -7.39430829e-01 -2.63703412e-02 2.63702497e+02] [ 7.38864138e-01 6.73232537e-01 -2.89436752e-02 1.73698970e+02] [ 3.91552174e-02 -1.32295515e-05 9.99233140e-01 1.66278393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.270385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:263.72, Y:173.72, Z:16.63 [[ 6.69712193e-01 -7.42151518e-01 -2.63951426e-02 2.63720954e+02] [ 7.41587818e-01 6.70232111e-01 -2.89210399e-02 1.73718006e+02] [ 3.91546658e-02 -2.05543170e-04 9.99233141e-01 1.66267320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.300385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:263.75, Y:173.73, Z:16.63 [[ 6.70257092e-01 -7.41666926e-01 -2.61839862e-02 2.63747683e+02] [ 7.41095299e-01 6.70768334e-01 -2.91135677e-02 1.73733546e+02] [ 3.91559591e-02 1.08746111e-04 9.99233105e-01 1.66305449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.330385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.77, Y:173.75, Z:16.63 [[ 6.69382746e-01 -7.42449044e-01 -2.63847599e-02 2.63767565e+02] [ 7.41885204e-01 6.69902510e-01 -2.89304628e-02 1.73751447e+02] [ 3.91546113e-02 -2.08910344e-04 9.99233142e-01 1.66314772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.360385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.79, Y:173.77, Z:16.63 [[ 6.67688712e-01 -7.43973026e-01 -2.63803035e-02 2.63789835e+02] [ 7.43410211e-01 6.68209587e-01 -2.89345258e-02 1.73769814e+02] [ 3.91540784e-02 -2.92130747e-04 9.99233142e-01 1.66317650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.390385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:263.81, Y:173.79, Z:16.63 [[ 6.62945523e-01 -7.48203003e-01 -2.63723359e-02 2.63807986e+02] [ 7.47643222e-01 6.63469657e-01 -2.89417860e-02 1.73787149e+02] [ 3.91515759e-02 -5.30270745e-04 9.99233142e-01 1.66278350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.420385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.83, Y:173.81, Z:16.63 [[ 6.62112593e-01 -7.48951178e-01 -2.60585218e-02 2.63829555e+02] [ 7.48380683e-01 6.62625166e-01 -2.92274456e-02 1.73805874e+02] [ 3.91569621e-02 -1.49834482e-04 9.99233061e-01 1.66286845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.450385723 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:263.86, Y:173.82, Z:16.63 [[ 6.63957694e-01 -7.47315343e-01 -2.60759972e-02 2.63856684e+02] [ 7.46744209e-01 6.64469542e-01 -2.92115542e-02 1.73824604e+02] [ 3.91569486e-02 -7.68637270e-05 9.99233070e-01 1.66337394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.480385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.88, Y:173.84, Z:16.64 [[ 6.63605984e-01 -7.47618213e-01 -2.63458781e-02 2.63879101e+02] [ 7.47057006e-01 6.64128599e-01 -2.89660897e-02 1.73840734e+02] [ 3.91526274e-02 -4.59802383e-04 9.99233136e-01 1.66372455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.510385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:263.89, Y:173.86, Z:16.63 [[ 6.59093283e-01 -7.51599749e-01 -2.63412656e-02 2.63892122e+02] [ 7.51041530e-01 6.59619089e-01 -2.89702837e-02 1.73861756e+02] [ 3.91492595e-02 -6.89265022e-04 9.99233136e-01 1.66315050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.540385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:263.91, Y:173.88, Z:16.63 [[ 6.59282373e-01 -7.51448964e-01 -2.59076520e-02 2.63912679e+02] [ 7.50875027e-01 6.59791213e-01 -2.93640708e-02 1.73881044e+02] [ 3.91592417e-02 -9.41946805e-05 9.99232978e-01 1.66320238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.570385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:263.94, Y:173.90, Z:16.64 [[ 6.63670043e-01 -7.47577076e-01 -2.58957572e-02 2.63940892e+02] [ 7.46999748e-01 6.64175047e-01 -2.93748690e-02 1.73899692e+02] [ 3.91592944e-02 1.51096501e-04 9.99232969e-01 1.66398526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.600385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:263.96, Y:173.92, Z:16.64 [[ 6.59729575e-01 -7.51041664e-01 -2.63307208e-02 2.63956306e+02] [ 7.50482626e-01 6.60254501e-01 -2.89796734e-02 1.73916202e+02] [ 3.91499190e-02 -6.42000891e-04 9.99233142e-01 1.66360505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.630385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.98, Y:173.93, Z:16.64 [[ 6.64016085e-01 -7.47270406e-01 -2.58762193e-02 2.63984531e+02] [ 7.46692176e-01 6.64520054e-01 -2.93920429e-02 1.73934931e+02] [ 3.91590705e-02 1.95218741e-04 9.99232970e-01 1.66434953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.660385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:264.00, Y:173.95, Z:16.64 [[ 6.62663489e-01 -7.48454612e-01 -2.63209708e-02 2.64001822e+02] [ 7.47893185e-01 6.63185847e-01 -2.89882232e-02 1.73954610e+02] [ 3.91520647e-02 -4.75837499e-04 9.99233151e-01 1.66410719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.690385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:264.03, Y:173.97, Z:16.64 [[ 6.65464337e-01 -7.45973318e-01 -2.60964508e-02 2.64025062e+02] [ 7.45401922e-01 6.65975831e-01 -2.91919088e-02 1.73973825e+02] [ 3.91559906e-02 -2.61703253e-05 9.99233110e-01 1.66441651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.720385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:264.04, Y:173.99, Z:16.64 [[ 6.64286087e-01 -7.47015244e-01 -2.63100740e-02 2.64042207e+02] [ 7.46452294e-01 6.64806802e-01 -2.89980899e-02 1.73993544e+02] [ 3.91531314e-02 -3.76187456e-04 9.99233151e-01 1.66433349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.750385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.06, Y:174.01, Z:16.64 [[ 6.65385250e-01 -7.46042907e-01 -2.61237655e-02 2.64064045e+02] [ 7.45472540e-01 6.65897873e-01 -2.91670153e-02 1.74011484e+02] [ 3.91556048e-02 -6.72480388e-05 9.99233123e-01 1.66438954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.780385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:264.09, Y:174.03, Z:16.65 [[ 6.66876864e-01 -7.44711171e-01 -2.60867684e-02 2.64086800e+02] [ 7.44138469e-01 6.67386895e-01 -2.92005382e-02 1.74029197e+02] [ 3.91559343e-02 6.09954781e-05 9.99233110e-01 1.66458227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.810385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:264.11, Y:174.05, Z:16.65 [[ 6.68743431e-01 -7.43033445e-01 -2.61442752e-02 2.64108803e+02] [ 7.42461497e-01 6.69254282e-01 -2.91484453e-02 1.74047812e+02] [ 3.91554378e-02 8.17136212e-05 9.99233128e-01 1.66478816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.840385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.13, Y:174.07, Z:16.65 [[ 6.69295103e-01 -7.42531451e-01 -2.62889721e-02 2.64128648e+02] [ 7.41964255e-01 6.69811195e-01 -2.90173547e-02 1.74067224e+02] [ 3.91549463e-02 -8.43042287e-05 9.99233148e-01 1.66486615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.870385723 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:264.15, Y:174.09, Z:16.65 [[ 6.70213537e-01 -7.41702851e-01 -2.62810974e-02 2.64149296e+02] [ 7.41134737e-01 6.70728619e-01 -2.90244850e-02 1.74086054e+02] [ 3.91550275e-02 -2.52314513e-05 9.99233148e-01 1.66479304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.900385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.17, Y:174.10, Z:16.65 [[ 6.67890831e-01 -7.43795373e-01 -2.62731928e-02 2.64166540e+02] [ 7.43228592e-01 6.68407379e-01 -2.90316386e-02 1.74104033e+02] [ 3.91547944e-02 -1.37022890e-04 9.99233148e-01 1.66457856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.930385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.19, Y:174.12, Z:16.65 [[ 6.70099422e-01 -7.41816824e-01 -2.59723632e-02 2.64191462e+02] [ 7.41237916e-01 6.70602454e-01 -2.93035926e-02 1.74122595e+02] [ 3.91550285e-02 3.84620114e-04 9.99233074e-01 1.66493344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.960385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:264.21, Y:174.14, Z:16.65 [[ 6.69217716e-01 -7.42602102e-01 -2.62634138e-02 2.64214193e+02] [ 7.42034056e-01 6.69732869e-01 -2.90403775e-02 1.74140467e+02] [ 3.91549169e-02 -5.40123710e-05 9.99233151e-01 1.66514019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.990385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.23, Y:174.16, Z:16.65 [[ 6.68443869e-01 -7.43299032e-01 -2.62553477e-02 2.64233384e+02] [ 7.42731238e-01 6.68959298e-01 -2.90476683e-02 1.74159538e+02] [ 3.91548627e-02 -8.39311327e-05 9.99233151e-01 1.66525611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.020385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.25, Y:174.18, Z:16.65 [[ 6.67721074e-01 -7.43948561e-01 -2.62508126e-02 2.64253082e+02] [ 7.43381107e-01 6.68236878e-01 -2.90517661e-02 1.74179523e+02] [ 3.91547807e-02 -1.15881650e-04 9.99233151e-01 1.66536830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.050385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.27, Y:174.20, Z:16.65 [[ 6.66787060e-01 -7.44786098e-01 -2.62428022e-02 2.64273374e+02] [ 7.44219007e-01 6.67303263e-01 -2.90590002e-02 1.74197828e+02] [ 3.91546469e-02 -1.54226882e-04 9.99233151e-01 1.66544466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.080385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.29, Y:174.22, Z:16.66 [[ 6.66266136e-01 -7.45252330e-01 -2.62373837e-02 2.64294028e+02] [ 7.44685407e-01 6.66782524e-01 -2.90638917e-02 1.74216456e+02] [ 3.91545620e-02 -1.74309944e-04 9.99233151e-01 1.66559430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.110385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.31, Y:174.24, Z:16.66 [[ 6.65786889e-01 -7.45680782e-01 -2.62295554e-02 2.64313289e+02] [ 7.45113913e-01 6.66303336e-01 -2.90709549e-02 1.74236481e+02] [ 3.91544927e-02 -1.88946007e-04 9.99233151e-01 1.66569339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.140385723 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:264.33, Y:174.26, Z:16.66 [[ 6.65120850e-01 -7.46275200e-01 -2.62217697e-02 2.64332605e+02] [ 7.45708516e-01 6.65637500e-01 -2.90779759e-02 1.74256353e+02] [ 3.91543655e-02 -2.13428891e-04 9.99233151e-01 1.66568936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.170385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.35, Y:174.28, Z:16.66 [[ 6.64883711e-01 -7.46486761e-01 -2.62138543e-02 2.64351087e+02] [ 7.45919960e-01 6.65400232e-01 -2.90851099e-02 1.74276676e+02] [ 3.91543542e-02 -2.15221360e-04 9.99233151e-01 1.66569239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.200385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.37, Y:174.30, Z:16.66 [[ 6.64695542e-01 -7.46654459e-01 -2.62098312e-02 2.64369165e+02] [ 7.46087646e-01 6.65212049e-01 -2.90887348e-02 1.74297915e+02] [ 3.91543291e-02 -2.19678962e-04 9.99233151e-01 1.66579147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.230385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.39, Y:174.32, Z:16.66 [[ 6.64630700e-01 -7.46712454e-01 -2.62019742e-02 2.64386026e+02] [ 7.46145407e-01 6.65146950e-01 -2.90958104e-02 1.74319443e+02] [ 3.91543672e-02 -2.12513847e-04 9.99233151e-01 1.66584370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.260385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.41, Y:174.34, Z:16.66 [[ 6.63643439e-01 -7.47590176e-01 -2.61975909e-02 2.64405600e+02] [ 7.47023656e-01 6.64160268e-01 -2.90997566e-02 1.74341513e+02] [ 3.91540911e-02 -2.58357567e-04 9.99233151e-01 1.66610293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.290385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.42, Y:174.36, Z:16.66 [[ 6.61671531e-01 -7.49334631e-01 -2.62373030e-02 2.64423843e+02] [ 7.48770888e-01 6.62191392e-01 -2.90640212e-02 1.74362881e+02] [ 3.91527938e-02 -4.14893322e-04 9.99233149e-01 1.66621461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.320385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:264.44, Y:174.38, Z:16.66 [[ 6.60074834e-01 -7.50743433e-01 -2.61822831e-02 2.64441405e+02] [ 7.50178836e-01 6.60593762e-01 -2.91135017e-02 1.74383416e+02] [ 3.91526231e-02 -4.24304893e-04 9.99233152e-01 1.66631504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.350385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.46, Y:174.41, Z:16.66 [[ 6.56863380e-01 -7.53555085e-01 -2.61769548e-02 2.64459474e+02] [ 7.52992519e-01 6.57384509e-01 -2.91182918e-02 1.74405391e+02] [ 3.91505614e-02 -5.84311500e-04 9.99233152e-01 1.66640403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.380385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.48, Y:174.43, Z:16.66 [[ 6.55571839e-01 -7.54679234e-01 -2.61690265e-02 2.64476983e+02] [ 7.54117277e-01 6.56093624e-01 -2.91254153e-02 1.74425442e+02] [ 3.91496776e-02 -6.40712961e-04 9.99233152e-01 1.66640594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.410385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.50, Y:174.45, Z:16.66 [[ 6.54258589e-01 -7.55818159e-01 -2.61650401e-02 2.64495506e+02] [ 7.55256967e-01 6.54781197e-01 -2.91289961e-02 1.74446545e+02] [ 3.91486005e-02 -7.03432990e-04 9.99233152e-01 1.66646633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.440385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.51, Y:174.47, Z:16.67 [[ 6.54205890e-01 -7.55864043e-01 -2.61572444e-02 2.64513156e+02] [ 7.55302608e-01 6.54728237e-01 -2.91359948e-02 1.74466626e+02] [ 3.91487373e-02 -6.95695431e-04 9.99233152e-01 1.66653409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.470385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:264.53, Y:174.49, Z:16.67 [[ 6.54139743e-01 -7.55921434e-01 -2.61530451e-02 2.64530663e+02] [ 7.55359894e-01 6.54661977e-01 -2.91397637e-02 1.74488488e+02] [ 3.91487762e-02 -6.93483839e-04 9.99233152e-01 1.66659630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.500385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.55, Y:174.51, Z:16.67 [[ 6.54221872e-01 -7.55850620e-01 -2.61454073e-02 2.64548268e+02] [ 7.55288750e-01 6.54743751e-01 -2.91466150e-02 1.74510047e+02] [ 3.91490291e-02 -6.78978971e-04 9.99233152e-01 1.66667718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.530385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.57, Y:174.53, Z:16.67 [[ 6.54889715e-01 -7.55272320e-01 -2.61377993e-02 2.64565782e+02] [ 7.54709717e-01 6.55410803e-01 -2.91534360e-02 1.74531331e+02] [ 3.91497793e-02 -6.34165730e-04 9.99233152e-01 1.66678778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.560385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.58, Y:174.55, Z:16.67 [[ 6.55360711e-01 -7.54863906e-01 -2.61308736e-02 2.64584349e+02] [ 7.54300731e-01 6.55881181e-01 -2.91596424e-02 1.74552205e+02] [ 3.91503098e-02 -6.00453060e-04 9.99233152e-01 1.66694282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.590385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.60, Y:174.57, Z:16.67 [[ 6.56270970e-01 -7.54072931e-01 -2.61233617e-02 2.64603214e+02] [ 7.53508860e-01 6.56790469e-01 -2.91663706e-02 1.74572174e+02] [ 3.91511455e-02 -5.43142204e-04 9.99233152e-01 1.66726788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.620385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.62, Y:174.59, Z:16.68 [[ 6.56528593e-01 -7.53848877e-01 -2.61166038e-02 2.64621857e+02] [ 7.53284389e-01 6.57047639e-01 -2.91724206e-02 1.74593208e+02] [ 3.91514493e-02 -5.20701653e-04 9.99233152e-01 1.66751887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.650385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:264.63, Y:174.61, Z:16.67 [[ 6.51242761e-01 -7.58420204e-01 -2.61086401e-02 2.64626243e+02] [ 7.57859072e-01 6.51765434e-01 -2.91795461e-02 1.74614111e+02] [ 3.91470665e-02 -7.83701586e-04 9.99233152e-01 1.66722894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.680385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.65, Y:174.64, Z:16.67 [[ 6.51523823e-01 -7.58205308e-01 -2.53262596e-02 2.64646343e+02] [ 7.57616420e-01 6.52015823e-01 -2.98785254e-02 1.74636965e+02] [ 3.91671785e-02 2.78980934e-04 9.99232633e-01 1.66719387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.710385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.67, Y:174.66, Z:16.67 [[ 6.51581969e-01 -7.58152906e-01 -2.53990059e-02 2.64665372e+02] [ 7.57566500e-01 6.52076788e-01 -2.98137784e-02 1.74658091e+02] [ 3.91655050e-02 1.84684416e-04 9.99232720e-01 1.66730916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.740385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.68, Y:174.68, Z:16.67 [[ 6.50876330e-01 -7.58758825e-01 -2.53977986e-02 2.64682755e+02] [ 7.58172838e-01 6.51371647e-01 -2.98148530e-02 1.74678917e+02] [ 3.91656887e-02 1.49861092e-04 9.99232719e-01 1.66715201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.770385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.72, Y:174.70, Z:16.68 [[ 6.56441796e-01 -7.53950362e-01 -2.53578419e-02 2.64715585e+02] [ 7.53359370e-01 6.56931207e-01 -2.98504623e-02 1.74699201e+02] [ 3.91641245e-02 4.91523319e-04 9.99232670e-01 1.66773640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.800385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.73, Y:174.72, Z:16.68 [[ 6.52859373e-01 -7.57030332e-01 -2.60713760e-02 2.64726257e+02] [ 7.56466724e-01 6.53379411e-01 -2.92137023e-02 1.74718417e+02] [ 3.91501591e-02 -6.49689039e-04 9.99233127e-01 1.66760688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.830385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.75, Y:174.74, Z:16.68 [[ 6.55312903e-01 -7.54925391e-01 -2.55470829e-02 2.64754152e+02] [ 7.54341707e-01 6.55810660e-01 -2.96811033e-02 1.74739755e+02] [ 3.91610678e-02 1.79179857e-04 9.99232895e-01 1.66804123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.860385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.77, Y:174.76, Z:16.68 [[ 6.53296402e-01 -7.56653202e-01 -2.60718685e-02 2.64772247e+02] [ 7.56089332e-01 6.53816134e-01 -2.92127544e-02 1.74760736e+02] [ 3.91501324e-02 -6.28074259e-04 9.99233142e-01 1.66813390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.890385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.79, Y:174.78, Z:16.68 [[ 6.52505446e-01 -7.57335663e-01 -2.60640684e-02 2.64790826e+02] [ 7.56772059e-01 6.53025466e-01 -2.92197121e-02 1.74781094e+02] [ 3.91496304e-02 -6.58537420e-04 9.99233142e-01 1.66821694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.920385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.81, Y:174.80, Z:16.68 [[ 6.51756812e-01 -7.57980268e-01 -2.60570602e-02 2.64809641e+02] [ 7.57416929e-01 6.52277119e-01 -2.92259604e-02 1.74801462e+02] [ 3.91491254e-02 -6.87839773e-04 9.99233142e-01 1.66835256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.950385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.83, Y:174.82, Z:16.69 [[ 6.50821681e-01 -7.58783612e-01 -2.60493609e-02 2.64827607e+02] [ 7.58220640e-01 6.51342386e-01 -2.92328212e-02 1.74821345e+02] [ 3.91484386e-02 -7.25809265e-04 9.99233142e-01 1.66850407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.980385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.84, Y:174.84, Z:16.69 [[ 6.49861905e-01 -7.59606014e-01 -2.60424472e-02 2.64844441e+02] [ 7.59043454e-01 6.50383054e-01 -2.92389791e-02 1.74842460e+02] [ 3.91476707e-02 -7.66050392e-04 9.99233142e-01 1.66853572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.010385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:264.86, Y:174.86, Z:16.69 [[ 6.49768694e-01 -7.59685925e-01 -2.60372808e-02 2.64861683e+02] [ 7.59123245e-01 6.50289714e-01 -2.92435791e-02 1.74863117e+02] [ 3.91477113e-02 -7.63942918e-04 9.99233143e-01 1.66858936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.040385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:264.88, Y:174.88, Z:16.69 [[ 6.49565600e-01 -7.59859762e-01 -2.60321593e-02 2.64878975e+02] [ 7.59297039e-01 6.50086574e-01 -2.92481374e-02 1.74884708e+02] [ 3.91476400e-02 -7.67557496e-04 9.99233143e-01 1.66859038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.070385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:264.90, Y:174.91, Z:16.69 [[ 6.49182077e-01 -7.60187703e-01 -2.60247317e-02 2.64897276e+02] [ 7.59624979e-01 6.49703049e-01 -2.92547449e-02 1.74906648e+02] [ 3.91474449e-02 -7.77380191e-04 9.99233143e-01 1.66872028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.100385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:264.91, Y:174.93, Z:16.69 [[ 6.46001626e-01 -7.62892532e-01 -2.60169913e-02 2.64908203e+02] [ 7.62331712e-01 6.46524646e-01 -2.92616271e-02 1.74927748e+02] [ 3.91441029e-02 -9.30518820e-04 9.99233143e-01 1.66874360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.130385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:264.93, Y:174.95, Z:16.69 [[ 6.45596543e-01 -7.63249064e-01 -2.56119223e-02 2.64926246e+02] [ 7.62674156e-01 6.46104248e-01 -2.96214910e-02 1.74950521e+02] [ 3.91565471e-02 -4.10019016e-04 9.99233004e-01 1.66882148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.160385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.94, Y:174.97, Z:16.69 [[ 6.45592731e-01 -7.63252006e-01 -2.56203178e-02 2.64944879e+02] [ 7.62677397e-01 6.46100764e-01 -2.96140310e-02 1.74972140e+02] [ 3.91562755e-02 -4.21434126e-04 9.99233010e-01 1.66896775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.190385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.96, Y:174.99, Z:16.69 [[ 6.44839674e-01 -7.63885863e-01 -2.56940256e-02 2.64961796e+02] [ 7.63314357e-01 6.45351126e-01 -2.95485315e-02 1.74993879e+02] [ 3.91533738e-02 -5.58553226e-04 9.99233057e-01 1.66889211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.220385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.98, Y:175.02, Z:16.69 [[ 6.46226317e-01 -7.62715899e-01 -2.56125684e-02 2.64982479e+02] [ 7.62140596e-01 6.46733572e-01 -2.96208987e-02 1.75015081e+02] [ 3.91568383e-02 -3.78573915e-04 9.99233005e-01 1.66917040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.250385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.00, Y:175.04, Z:16.69 [[ 6.46846338e-01 -7.62184765e-01 -2.57720725e-02 2.64999499e+02] [ 7.61614673e-01 6.47359306e-01 -2.94791337e-02 1.75037084e+02] [ 3.91523375e-02 -5.59918915e-04 9.99233096e-01 1.66923559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.280385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:265.02, Y:175.06, Z:16.69 [[ 6.46581328e-01 -7.62409894e-01 -2.57631415e-02 2.65016865e+02] [ 7.61839665e-01 6.47094149e-01 -2.94870687e-02 1.75059102e+02] [ 3.91524111e-02 -5.61595044e-04 9.99233093e-01 1.66929924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.310385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.04, Y:175.08, Z:16.70 [[ 6.49924597e-01 -7.59563715e-01 -2.57095798e-02 2.65039896e+02] [ 7.58989356e-01 6.50432827e-01 -2.95346348e-02 1.75080612e+02] [ 3.91557916e-02 -3.18011768e-04 9.99233067e-01 1.66966936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.340385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.05, Y:175.10, Z:16.70 [[ 6.47735987e-01 -7.61420897e-01 -2.60059391e-02 2.65054367e+02] [ 7.60858498e-01 6.48257306e-01 -2.92713404e-02 1.75102580e+02] [ 3.91463502e-02 -8.26739189e-04 9.99233146e-01 1.66955130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.370385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.07, Y:175.12, Z:16.70 [[ 6.48228485e-01 -7.61009253e-01 -2.57827280e-02 2.65071505e+02] [ 7.60438610e-01 6.48740830e-01 -2.94695868e-02 1.75124810e+02] [ 3.91529366e-02 -5.03156232e-04 9.99233103e-01 1.66957997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.400385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:265.09, Y:175.15, Z:16.70 [[ 6.51550450e-01 -7.58168946e-01 -2.57266682e-02 2.65093275e+02] [ 7.57594105e-01 6.52058114e-01 -2.95192866e-02 1.75146767e+02] [ 3.91558891e-02 -2.57067715e-04 9.99233081e-01 1.67023923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.430385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.11, Y:175.17, Z:16.70 [[ 6.49880496e-01 -7.59592300e-01 -2.59784392e-02 2.65109238e+02] [ 7.59027446e-01 6.50399167e-01 -2.92960606e-02 1.75168484e+02] [ 3.91494173e-02 -6.79410005e-04 9.99233137e-01 1.66996787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.460385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.13, Y:175.19, Z:16.71 [[ 6.52432079e-01 -7.57408242e-01 -2.57902407e-02 2.65131260e+02] [ 7.56835033e-01 6.52941549e-01 -2.94629729e-02 1.75188735e+02] [ 3.91550182e-02 -2.96369040e-04 9.99233104e-01 1.67055697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.490385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.15, Y:175.21, Z:16.71 [[ 6.52428632e-01 -7.57404587e-01 -2.59840710e-02 2.65148237e+02] [ 7.56838195e-01 6.52945620e-01 -2.92910278e-02 1.75209522e+02] [ 3.91513442e-02 -5.55432170e-04 9.99233138e-01 1.67072076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.520385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.17, Y:175.23, Z:16.71 [[ 6.51907419e-01 -7.57853427e-01 -2.59788311e-02 2.65165589e+02] [ 7.57287206e-01 6.52424595e-01 -2.92956744e-02 1.75231294e+02] [ 3.91510556e-02 -5.75368962e-04 9.99233138e-01 1.67080210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.550385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.18, Y:175.25, Z:16.70 [[ 6.49260495e-01 -7.60122559e-01 -2.59712376e-02 2.65180806e+02] [ 7.59557875e-01 6.49779350e-01 -2.93024047e-02 1.75254524e+02] [ 3.91489927e-02 -7.01764222e-04 9.99233138e-01 1.67048140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.580385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.20, Y:175.28, Z:16.71 [[ 6.48259241e-01 -7.60979869e-01 -2.58765446e-02 2.65199567e+02] [ 7.60412518e-01 6.48775189e-01 -2.93863331e-02 1.75275404e+02] [ 3.91504680e-02 -6.26886436e-04 9.99233130e-01 1.67076523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.610385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.22, Y:175.30, Z:16.71 [[ 6.49161512e-01 -7.60210535e-01 -2.58703135e-02 2.65219757e+02] [ 7.59642353e-01 6.49676546e-01 -2.93918527e-02 1.75296368e+02] [ 3.91513320e-02 -5.72126203e-04 9.99233129e-01 1.67115522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.640385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.24, Y:175.32, Z:16.71 [[ 6.46358257e-01 -7.62592209e-01 -2.59639307e-02 2.65236172e+02] [ 7.62029247e-01 6.46878980e-01 -2.93089203e-02 1.75318290e+02] [ 3.91462753e-02 -8.41211910e-04 9.99233137e-01 1.67108474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.670385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:265.25, Y:175.34, Z:16.71 [[ 6.43944826e-01 -7.64634452e-01 -2.58691980e-02 2.65252950e+02] [ 7.64069770e-01 6.44463693e-01 -2.93927897e-02 1.75341196e+02] [ 3.91464986e-02 -8.38537309e-04 9.99233130e-01 1.67106726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.700385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.27, Y:175.36, Z:16.71 [[ 6.43484085e-01 -7.65023436e-01 -2.58335986e-02 2.65271097e+02] [ 7.64457803e-01 6.44001925e-01 -2.94242984e-02 1.75363571e+02] [ 3.91471650e-02 -8.14628304e-04 9.99233124e-01 1.67118485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.730385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.29, Y:175.39, Z:16.71 [[ 6.43067359e-01 -7.65373080e-01 -2.58538329e-02 2.65288704e+02] [ 7.64808447e-01 6.43586283e-01 -2.94063926e-02 1.75385860e+02] [ 3.91460335e-02 -8.62938517e-04 9.99233128e-01 1.67125354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.760385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.31, Y:175.41, Z:16.71 [[ 6.43280553e-01 -7.65194087e-01 -2.58483805e-02 2.65307749e+02] [ 7.64629116e-01 6.43799111e-01 -2.94112151e-02 1.75407280e+02] [ 3.91464522e-02 -8.44761610e-04 9.99233127e-01 1.67147068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.790385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.32, Y:175.43, Z:16.72 [[ 6.43470827e-01 -7.65033805e-01 -2.58567643e-02 2.65324730e+02] [ 7.64469002e-01 6.43989566e-01 -2.94038007e-02 1.75428274e+02] [ 3.91463879e-02 -8.46206829e-04 9.99233128e-01 1.67169958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.820385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.34, Y:175.45, Z:16.72 [[ 6.44098030e-01 -7.64509952e-01 -2.57344282e-02 2.65344172e+02] [ 7.63940401e-01 6.44611595e-01 -2.95119465e-02 1.75450828e+02] [ 3.91508876e-02 -6.50982778e-04 9.99233098e-01 1.67191960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.850385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.36, Y:175.47, Z:16.72 [[ 6.46568222e-01 -7.62418524e-01 -2.58365727e-02 2.65362619e+02] [ 7.61850910e-01 6.47083888e-01 -2.94216465e-02 1.75472687e+02] [ 3.91500382e-02 -6.60514774e-04 9.99233125e-01 1.67220604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.880385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.38, Y:175.49, Z:16.72 [[ 6.46275904e-01 -7.62663011e-01 -2.59343068e-02 2.65380107e+02] [ 7.62099049e-01 6.46795550e-01 -2.93352435e-02 1.75494939e+02] [ 3.91470994e-02 -8.05849528e-04 9.99233134e-01 1.67229726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.910385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.40, Y:175.52, Z:16.72 [[ 6.45804679e-01 -7.63062342e-01 -2.59264118e-02 2.65396719e+02] [ 7.62498422e-01 6.46324369e-01 -2.93422194e-02 1.75517325e+02] [ 3.91468145e-02 -8.19505545e-04 9.99233134e-01 1.67238901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.940385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:265.41, Y:175.54, Z:16.73 [[ 6.46155738e-01 -7.62765357e-01 -2.59185609e-02 2.65413563e+02] [ 7.62200920e-01 6.46674867e-01 -2.93491527e-02 1.75538233e+02] [ 3.91473989e-02 -7.91027525e-04 9.99233134e-01 1.67253751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.970385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.43, Y:175.56, Z:16.73 [[ 6.45002577e-01 -7.63744443e-01 -2.58089343e-02 2.65431142e+02] [ 7.63176918e-01 6.45518342e-01 -2.94459052e-02 1.75561086e+02] [ 3.91492869e-02 -7.04098254e-04 9.99233125e-01 1.67262976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.000385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:265.44, Y:175.58, Z:16.72 [[ 6.41795154e-01 -7.66438330e-01 -2.59088181e-02 2.65443740e+02] [ 7.65876517e-01 6.42317121e-01 -2.93577562e-02 1.75583800e+02] [ 3.91425870e-02 -1.00128971e-03 9.99233134e-01 1.67239551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.030385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.46, Y:175.61, Z:16.73 [[ 6.44696331e-01 -7.64009860e-01 -2.56042031e-02 2.65464715e+02] [ 7.63435358e-01 6.45204413e-01 -2.96263466e-02 1.75607302e+02] [ 3.91547657e-02 -4.47157012e-04 9.99233058e-01 1.67266444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.060385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.48, Y:175.63, Z:16.73 [[ 6.44501595e-01 -7.64164112e-01 -2.59017990e-02 2.65482000e+02] [ 7.63600212e-01 6.45021303e-01 -2.93638418e-02 1.75629531e+02] [ 3.91460062e-02 -8.53576372e-04 9.99233137e-01 1.67285236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.090385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.50, Y:175.65, Z:16.73 [[ 6.41919564e-01 -7.66334651e-01 -2.58935708e-02 2.65496570e+02] [ 7.65772215e-01 6.42440856e-01 -2.93710958e-02 1.75654744e+02] [ 3.91431762e-02 -9.74696055e-04 9.99233137e-01 1.67289111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.120385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:265.51, Y:175.67, Z:16.73 [[ 6.43659152e-01 -7.64874406e-01 -2.58851259e-02 2.65514867e+02] [ 7.64310489e-01 6.44178841e-01 -2.93785364e-02 1.75674079e+02] [ 3.91455410e-02 -8.74509412e-04 9.99233137e-01 1.67295090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.150385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.53, Y:175.70, Z:16.73 [[ 6.42313863e-01 -7.66007139e-01 -2.58062831e-02 2.65532241e+02] [ 7.65441349e-01 6.42831518e-01 -2.94479286e-02 1.75696790e+02] [ 3.91464156e-02 -8.38383370e-04 9.99233134e-01 1.67307848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.180385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.55, Y:175.72, Z:16.73 [[ 6.40442173e-01 -7.67570680e-01 -2.58664510e-02 2.65547044e+02] [ 7.67008287e-01 6.40963511e-01 -2.93949833e-02 1.75721350e+02] [ 3.91421786e-02 -1.01399531e-03 9.99233137e-01 1.67335814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.210385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:265.56, Y:175.74, Z:16.73 [[ 6.39326741e-01 -7.68500268e-01 -2.58583990e-02 2.65563337e+02] [ 7.67938347e-01 6.39848587e-01 -2.94020648e-02 1.75743913e+02] [ 3.91409548e-02 -1.06012992e-03 9.99233137e-01 1.67345024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.240385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:265.58, Y:175.77, Z:16.73 [[ 6.37544960e-01 -7.69979338e-01 -2.58503727e-02 2.65579608e+02] [ 7.69418342e-01 6.38067801e-01 -2.94091199e-02 1.75768614e+02] [ 3.91387051e-02 -1.14011473e-03 9.99233137e-01 1.67347643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.270385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.60, Y:175.79, Z:16.74 [[ 6.37710439e-01 -7.69840181e-01 -2.59131506e-02 2.65596188e+02] [ 7.69281306e-01 6.38235551e-01 -2.93539520e-02 1.75790594e+02] [ 3.91365457e-02 -1.21518068e-03 9.99233133e-01 1.67357250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.300385723 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:265.61, Y:175.81, Z:16.74 [[ 6.37674661e-01 -7.69872286e-01 -2.58397031e-02 2.65610610e+02] [ 7.69310824e-01 6.38197000e-01 -2.94184648e-02 1.75814816e+02] [ 3.91392817e-02 -1.11935374e-03 9.99233138e-01 1.67364287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.330385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:265.63, Y:175.84, Z:16.74 [[ 6.37741115e-01 -7.69817505e-01 -2.58317449e-02 2.65626541e+02] [ 7.69255716e-01 6.38263102e-01 -2.94254511e-02 1.75837587e+02] [ 3.91396770e-02 -1.10539743e-03 9.99233138e-01 1.67373930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.360385723 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:265.64, Y:175.86, Z:16.74 [[ 6.38309054e-01 -7.69346920e-01 -2.58238034e-02 2.65640882e+02] [ 7.68784464e-01 6.38830323e-01 -2.94324189e-02 1.75861727e+02] [ 3.91407695e-02 -1.06595940e-03 9.99233138e-01 1.67391136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.390385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:265.66, Y:175.88, Z:16.74 [[ 6.38853218e-01 -7.68895390e-01 -2.58156018e-02 2.65657866e+02] [ 7.68332276e-01 6.39373775e-01 -2.94396109e-02 1.75883777e+02] [ 3.91417999e-02 -1.02736995e-03 9.99233138e-01 1.67402837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.420385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.68, Y:175.91, Z:16.74 [[ 6.39157405e-01 -7.68642824e-01 -2.58073873e-02 2.65675314e+02] [ 7.68079213e-01 6.39677425e-01 -2.94468101e-02 1.75906013e+02] [ 3.91424823e-02 -1.00097098e-03 9.99233138e-01 1.67406865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.450385723 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:265.69, Y:175.93, Z:16.74 [[ 6.40622409e-01 -7.67421198e-01 -2.58386171e-02 2.65690901e+02] [ 7.66857697e-01 6.41142549e-01 -2.94194525e-02 1.75930123e+02] [ 3.91433483e-02 -9.67781934e-04 9.99233137e-01 1.67419521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.480385723 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:265.70, Y:175.95, Z:16.74 [[ 6.41913140e-01 -7.66343332e-01 -2.57957012e-02 2.65704301e+02] [ 7.65777448e-01 6.42430683e-01 -2.94570343e-02 1.75954179e+02] [ 3.91461518e-02 -8.44908841e-04 9.99233138e-01 1.67415749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.510385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.72, Y:175.98, Z:16.74 [[ 6.42092409e-01 -7.66193252e-01 -2.57922266e-02 2.65720259e+02] [ 7.65627124e-01 6.42609687e-01 -2.94600763e-02 1.75977231e+02] [ 3.91464463e-02 -8.31136911e-04 9.99233138e-01 1.67427436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.540385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.73, Y:176.00, Z:16.74 [[ 6.41245390e-01 -7.66902560e-01 -2.57839603e-02 2.65734997e+02] [ 7.66336715e-01 6.41762976e-01 -2.94673093e-02 1.76000373e+02] [ 3.91457461e-02 -8.63419208e-04 9.99233139e-01 1.67413552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.570385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.75, Y:176.02, Z:16.74 [[ 6.42159589e-01 -7.66143177e-01 -2.56065324e-02 2.65753538e+02] [ 7.65570517e-01 6.42669662e-01 -2.96224436e-02 1.76024290e+02] [ 3.91515746e-02 -5.81270007e-04 9.99233114e-01 1.67449665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.600385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.77, Y:176.05, Z:16.75 [[ 6.41947586e-01 -7.66315194e-01 -2.57744098e-02 2.65772367e+02] [ 7.65748540e-01 6.42464287e-01 -2.94756478e-02 1.76045742e+02] [ 3.91467746e-02 -8.14895710e-04 9.99233139e-01 1.67461541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.630385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.79, Y:176.07, Z:16.75 [[ 6.40547692e-01 -7.67485996e-01 -2.57662416e-02 2.65789644e+02] [ 7.66920000e-01 6.41065113e-01 -2.94827863e-02 1.76068106e+02] [ 3.91454642e-02 -8.75515251e-04 9.99233139e-01 1.67485545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.660385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.81, Y:176.09, Z:16.75 [[ 6.39442426e-01 -7.68407385e-01 -2.57579890e-02 2.65806067e+02] [ 7.67841844e-01 6.39960345e-01 -2.94899945e-02 1.76090131e+02] [ 3.91444211e-02 -9.20908153e-04 9.99233139e-01 1.67491309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.690385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.82, Y:176.11, Z:16.75 [[ 6.38230331e-01 -7.69414586e-01 -2.57534238e-02 2.65822824e+02] [ 7.68849702e-01 6.38748965e-01 -2.94939808e-02 1.76112976e+02] [ 3.91430718e-02 -9.76559046e-04 9.99233139e-01 1.67496928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.720385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.84, Y:176.13, Z:16.75 [[ 6.36518173e-01 -7.70831884e-01 -2.57453427e-02 2.65838892e+02] [ 7.70267870e-01 6.37037753e-01 -2.95010331e-02 1.76134901e+02] [ 3.91410922e-02 -1.05286663e-03 9.99233139e-01 1.67504214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.750385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.86, Y:176.16, Z:16.75 [[ 6.35344297e-01 -7.71799861e-01 -2.57410149e-02 2.65856876e+02] [ 7.71236485e-01 6.35864569e-01 -2.95048089e-02 1.76155828e+02] [ 3.91396067e-02 -1.10669778e-03 9.99233139e-01 1.67526151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.780385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.87, Y:176.18, Z:16.75 [[ 6.34549332e-01 -7.72453860e-01 -2.57328494e-02 2.65873998e+02] [ 7.71890732e-01 6.35069873e-01 -2.95119287e-02 1.76177247e+02] [ 3.91387606e-02 -1.13617327e-03 9.99233139e-01 1.67546413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.810385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.89, Y:176.20, Z:16.76 [[ 6.34762802e-01 -7.72278608e-01 -2.57281291e-02 2.65891166e+02] [ 7.71715171e-01 6.35283007e-01 -2.95160432e-02 1.76199453e+02] [ 3.91392520e-02 -1.11910123e-03 9.99233139e-01 1.67567501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.840385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.91, Y:176.22, Z:16.76 [[ 6.36821075e-01 -7.70582509e-01 -2.57199497e-02 2.65906968e+02] [ 7.70017398e-01 6.37339462e-01 -2.95231690e-02 1.76222101e+02] [ 3.91423765e-02 -1.00383255e-03 9.99233139e-01 1.67574740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.870385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.93, Y:176.24, Z:16.76 [[ 6.40476978e-01 -7.67546713e-01 -2.57154435e-02 2.65930517e+02] [ 7.66978987e-01 6.40992499e-01 -2.95270935e-02 1.76244853e+02] [ 3.91468299e-02 -8.11781174e-04 9.99233139e-01 1.67580345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.900385723 meters Centerline goodness : 0.994157 Centerline is valid? [True, True] Translation: X:265.95, Y:176.27, Z:16.75 [[ 6.42572420e-01 -7.65785498e-01 -2.59471921e-02 2.65945400e+02] [ 7.65224488e-01 6.43095286e-01 -2.93246795e-02 1.76266255e+02] [ 3.91429312e-02 -1.01219657e-03 9.99233109e-01 1.67537763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.930385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.96, Y:176.29, Z:16.76 [[ 6.42695995e-01 -7.65690084e-01 -2.57012313e-02 2.65962228e+02] [ 7.65120381e-01 6.43209323e-01 -2.95392752e-02 1.76288156e+02] [ 3.91492017e-02 -6.79762015e-04 9.99233145e-01 1.67621185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.960385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.98, Y:176.31, Z:16.76 [[ 6.44673244e-01 -7.64024977e-01 -2.57340809e-02 2.65978756e+02] [ 7.63455090e-01 6.45186367e-01 -2.95106294e-02 1.76309456e+02] [ 3.91501362e-02 -6.22101868e-04 9.99233146e-01 1.67634314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.990385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.00, Y:176.33, Z:16.76 [[ 6.45336549e-01 -7.63464988e-01 -2.57283977e-02 2.65995966e+02] [ 7.62894459e-01 6.45848956e-01 -2.95155834e-02 1.76329817e+02] [ 3.91507734e-02 -5.80567326e-04 9.99233146e-01 1.67641568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.020385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.01, Y:176.35, Z:16.76 [[ 6.43728283e-01 -7.64821633e-01 -2.57248455e-02 2.66010661e+02] [ 7.64252060e-01 6.44241753e-01 -2.95186791e-02 1.76350649e+02] [ 3.91495439e-02 -6.58257560e-04 9.99233146e-01 1.67633413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.050385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.03, Y:176.37, Z:16.77 [[ 6.45702704e-01 -7.63164179e-01 -2.54647730e-02 2.66032926e+02] [ 7.62584305e-01 6.46204605e-01 -2.97453479e-02 1.76371643e+02] [ 3.91560375e-02 -2.12384648e-04 9.99233086e-01 1.67694796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.080385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.05, Y:176.39, Z:16.77 [[ 6.44554483e-01 -7.64128521e-01 -2.56343796e-02 2.66050515e+02] [ 7.63555257e-01 6.45063840e-01 -2.95975001e-02 1.76392738e+02] [ 3.91521053e-02 -4.96063936e-04 9.99233139e-01 1.67658276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.110385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.07, Y:176.41, Z:16.77 [[ 6.44721801e-01 -7.63992207e-01 -2.54893476e-02 2.66070279e+02] [ 7.63413828e-01 6.45225403e-01 -2.97238463e-02 1.76412562e+02] [ 3.91551615e-02 -2.95308670e-04 9.99233099e-01 1.67672651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.140385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.09, Y:176.43, Z:16.77 [[ 6.43811645e-01 -7.64757861e-01 -2.55338801e-02 2.66089395e+02] [ 7.64181618e-01 6.44317665e-01 -2.96850473e-02 1.76433984e+02] [ 3.91538033e-02 -4.00942648e-04 9.99233115e-01 1.67683531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.170385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.11, Y:176.45, Z:16.77 [[ 6.44878810e-01 -7.63856643e-01 -2.55802402e-02 2.66110408e+02] [ 7.63281292e-01 6.45385825e-01 -2.96446751e-02 1.76454290e+02] [ 3.91534064e-02 -4.07696003e-04 9.99233128e-01 1.67723504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.200385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.13, Y:176.47, Z:16.77 [[ 6.44037373e-01 -7.64561802e-01 -2.57121120e-02 2.66130833e+02] [ 7.63991576e-01 6.44550122e-01 -2.95298530e-02 1.76473837e+02] [ 3.91501425e-02 -6.25508008e-04 9.99233144e-01 1.67741579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.230385723 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:266.15, Y:176.49, Z:16.77 [[ 6.43147870e-01 -7.65310477e-01 -2.57038942e-02 2.66149109e+02] [ 7.64740562e-01 6.43660965e-01 -2.95370044e-02 1.76493248e+02] [ 3.91495722e-02 -6.60149038e-04 9.99233144e-01 1.67740361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.260385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.17, Y:176.51, Z:16.78 [[ 6.42227209e-01 -7.66083367e-01 -2.56999411e-02 2.66168898e+02] [ 7.65513932e-01 6.42740836e-01 -2.95404435e-02 1.76514089e+02] [ 3.91488440e-02 -7.01986321e-04 9.99233144e-01 1.67775918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.290385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.18, Y:176.54, Z:16.77 [[ 6.39210531e-01 -7.68602481e-01 -2.56928646e-02 2.66184807e+02] [ 7.68034822e-01 6.39726121e-01 -2.95465970e-02 1.76536551e+02] [ 3.91459844e-02 -8.46518743e-04 9.99233144e-01 1.67728875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.320385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.20, Y:176.56, Z:16.77 [[ 6.39534296e-01 -7.68339217e-01 -2.55094407e-02 2.66203936e+02] [ 7.67764974e-01 6.40042579e-01 -2.97059273e-02 1.76557736e+02] [ 3.91513571e-02 -5.87295790e-04 9.99233119e-01 1.67738594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.350385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.22, Y:176.58, Z:16.77 [[ 6.39969203e-01 -7.67973157e-01 -2.56251443e-02 2.66223561e+02] [ 7.67402637e-01 6.40481626e-01 -2.96054014e-02 1.76578877e+02] [ 3.91485877e-02 -7.18258136e-04 9.99233142e-01 1.67743013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.380385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.24, Y:176.60, Z:16.78 [[ 6.41244283e-01 -7.66907979e-01 -2.56499620e-02 2.66243650e+02] [ 7.66337469e-01 6.41756714e-01 -2.95838441e-02 1.76598236e+02] [ 3.91491214e-02 -6.86056099e-04 9.99233144e-01 1.67800682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.410385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.26, Y:176.62, Z:16.78 [[ 6.40230702e-01 -7.67753608e-01 -2.56718876e-02 2.66264766e+02] [ 7.67184536e-01 6.40744731e-01 -2.95648055e-02 1.76618837e+02] [ 3.91476128e-02 -7.66779017e-04 9.99233144e-01 1.67783658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.440385723 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:266.28, Y:176.64, Z:16.78 [[ 6.41454936e-01 -7.66730196e-01 -2.56976913e-02 2.66282992e+02] [ 7.66161201e-01 6.41969050e-01 -2.95424062e-02 1.76638526e+02] [ 3.91481774e-02 -7.38451746e-04 9.99233143e-01 1.67843713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.470385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.30, Y:176.66, Z:16.78 [[ 6.42259397e-01 -7.66057712e-01 -2.56602418e-02 2.66300048e+02] [ 7.65486880e-01 6.42771469e-01 -2.95748988e-02 1.76660612e+02] [ 3.91497506e-02 -6.47821752e-04 9.99233145e-01 1.67843965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.500385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.32, Y:176.68, Z:16.79 [[ 6.42664358e-01 -7.65718287e-01 -2.56520618e-02 2.66319362e+02] [ 7.65146902e-01 6.43175812e-01 -2.95819921e-02 1.76681170e+02] [ 3.91502580e-02 -6.16303637e-04 9.99233145e-01 1.67852320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.530385723 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:266.34, Y:176.70, Z:16.79 [[ 6.42735137e-01 -7.65659153e-01 -2.56438235e-02 2.66338685e+02] [ 7.65087435e-01 6.43246220e-01 -2.95891320e-02 1.76700665e+02] [ 3.91504822e-02 -6.01792344e-04 9.99233145e-01 1.67859607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.560385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.36, Y:176.72, Z:16.79 [[ 6.42640948e-01 -7.65738365e-01 -2.56391953e-02 2.66358503e+02] [ 7.65166551e-01 6.43151923e-01 -2.95931418e-02 1.76720394e+02] [ 3.91505018e-02 -6.00489930e-04 9.99233145e-01 1.67876758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.590385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.38, Y:176.74, Z:16.79 [[ 6.41901242e-01 -7.66358819e-01 -2.56311359e-02 2.66378514e+02] [ 7.65787220e-01 6.42412458e-01 -2.96001205e-02 1.76739589e+02] [ 3.91500744e-02 -6.27642204e-04 9.99233145e-01 1.67899106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.620385723 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:266.40, Y:176.76, Z:16.79 [[ 6.41104034e-01 -7.67025975e-01 -2.56275530e-02 2.66397150e+02] [ 7.66454784e-01 6.41615705e-01 -2.96032222e-02 1.76761029e+02] [ 3.91494809e-02 -6.63615464e-04 9.99233145e-01 1.67912188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.650385723 meters Centerline goodness : 0.999622 Centerline is valid? [True, True] Translation: X:266.41, Y:176.78, Z:16.79 [[ 6.40806743e-01 -7.67274257e-01 -2.56306902e-02 2.66414607e+02] [ 7.66703373e-01 6.41318757e-01 -2.96005074e-02 1.76782135e+02] [ 3.91491497e-02 -6.82931861e-04 9.99233145e-01 1.67895621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.680385723 meters Centerline goodness : 0.999345 Centerline is valid? [True, True] Translation: X:266.43, Y:176.80, Z:16.79 [[ 6.40708861e-01 -7.67356491e-01 -2.56158387e-02 2.66433182e+02] [ 7.66785159e-01 6.41220375e-01 -2.96133541e-02 1.76803160e+02] [ 3.91493972e-02 -6.68306622e-04 9.99233145e-01 1.67899948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.710385723 meters Centerline goodness : 0.999259 Centerline is valid? [True, True] Translation: X:266.45, Y:176.82, Z:16.79 [[ 6.40431315e-01 -7.67588408e-01 -2.56079518e-02 2.66452946e+02] [ 7.67016988e-01 6.40942731e-01 -2.96201726e-02 1.76822345e+02] [ 3.91493317e-02 -6.72047966e-04 9.99233145e-01 1.67918262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.740385723 meters Centerline goodness : 0.999215 Centerline is valid? [True, True] Translation: X:266.47, Y:176.84, Z:16.79 [[ 6.39942111e-01 -7.67996455e-01 -2.56035067e-02 2.66472116e+02] [ 7.67425209e-01 6.40453720e-01 -2.96240145e-02 1.76842515e+02] [ 3.91489992e-02 -6.91122124e-04 9.99233145e-01 1.67938300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.770385723 meters Centerline goodness : 0.999385 Centerline is valid? [True, True] Translation: X:266.49, Y:176.86, Z:16.80 [[ 6.38897540e-01 -7.68865917e-01 -2.55956151e-02 2.66491056e+02] [ 7.68295093e-01 6.39409621e-01 -2.96308314e-02 1.76863275e+02] [ 3.91482189e-02 -7.33920265e-04 9.99233145e-01 1.67954955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.800385723 meters Centerline goodness : 0.999575 Centerline is valid? [True, True] Translation: X:266.51, Y:176.89, Z:16.80 [[ 6.36955832e-01 -7.70475528e-01 -2.55876769e-02 2.66509308e+02] [ 7.69905723e-01 6.37469046e-01 -2.96376849e-02 1.76885045e+02] [ 3.91464629e-02 -8.22202650e-04 9.99233145e-01 1.67954173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.830385723 meters Centerline goodness : 0.999595 Centerline is valid? [True, True] Translation: X:266.53, Y:176.91, Z:16.79 [[ 6.35812449e-01 -7.71419605e-01 -2.55797293e-02 2.66527164e+02] [ 7.70850287e-01 6.36326203e-01 -2.96445427e-02 1.76906302e+02] [ 3.91454334e-02 -8.69772372e-04 9.99233145e-01 1.67949826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.860385723 meters Centerline goodness : 0.999319 Centerline is valid? [True, True] Translation: X:266.55, Y:176.93, Z:16.80 [[ 6.35466217e-01 -7.71705116e-01 -2.55714796e-02 2.66546028e+02] [ 7.71135743e-01 6.35979910e-01 -2.96516572e-02 1.76927452e+02] [ 3.91452828e-02 -8.76455468e-04 9.99233145e-01 1.67954506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.890385723 meters Centerline goodness : 0.999510 Centerline is valid? [True, True] Translation: X:266.57, Y:176.95, Z:16.80 [[ 6.35073202e-01 -7.72028851e-01 -2.55632892e-02 2.66565913e+02] [ 7.71459455e-01 6.35586870e-01 -2.96587166e-02 1.76947799e+02] [ 3.91450759e-02 -8.85585001e-04 9.99233145e-01 1.67965873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.920385723 meters Centerline goodness : 0.999489 Centerline is valid? [True, True] Translation: X:266.59, Y:176.97, Z:16.80 [[ 6.35183193e-01 -7.71938628e-01 -2.55551330e-02 2.66585614e+02] [ 7.71368878e-01 6.35696467e-01 -2.96657427e-02 1.76968787e+02] [ 3.91454405e-02 -8.69253089e-04 9.99233145e-01 1.67987701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.950385723 meters Centerline goodness : 0.999574 Centerline is valid? [True, True] Translation: X:266.60, Y:176.99, Z:16.80 [[ 6.35483846e-01 -7.71691241e-01 -2.55520972e-02 2.66604313e+02] [ 7.71121185e-01 6.35996782e-01 -2.96683566e-02 1.76989593e+02] [ 3.91458625e-02 -8.50002084e-04 9.99233145e-01 1.67996091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.980385723 meters Centerline goodness : 0.999341 Centerline is valid? [True, True] Translation: X:266.62, Y:177.01, Z:16.80 [[ 6.37080038e-01 -7.70374411e-01 -2.55400195e-02 2.66622315e+02] [ 7.69802878e-01 6.37591327e-01 -2.96787500e-02 1.77010511e+02] [ 3.91478445e-02 -7.53041350e-04 9.99233146e-01 1.68004030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.010385723 meters Centerline goodness : 0.999317 Centerline is valid? [True, True] Translation: X:266.64, Y:177.03, Z:16.80 [[ 6.39114401e-01 -7.68687786e-01 -2.55317473e-02 2.66641231e+02] [ 7.68114620e-01 6.39623858e-01 -2.96858646e-02 1.77031315e+02] [ 3.91498763e-02 -6.38644770e-04 9.99233146e-01 1.67997244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.040385723 meters Centerline goodness : 0.999449 Centerline is valid? [True, True] Translation: X:266.66, Y:177.05, Z:16.80 [[ 6.40183749e-01 -7.67797707e-01 -2.55234951e-02 2.66659810e+02] [ 7.67223550e-01 6.40692089e-01 -2.96929581e-02 1.77050861e+02] [ 3.91508865e-02 -5.73277220e-04 9.99233146e-01 1.68008964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.070385723 meters Centerline goodness : 0.999595 Centerline is valid? [True, True] Translation: X:266.68, Y:177.07, Z:16.80 [[ 6.40710752e-01 -7.67358175e-01 -2.55178991e-02 2.66678948e+02] [ 7.66783478e-01 6.41218481e-01 -2.96977664e-02 1.77070911e+02] [ 3.91513724e-02 -5.39025166e-04 9.99233146e-01 1.68022316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.100385723 meters Centerline goodness : 0.999233 Centerline is valid? [True, True] Translation: X:266.70, Y:177.09, Z:16.80 [[ 6.41613767e-01 -7.66603564e-01 -2.55097921e-02 2.66698888e+02] [ 7.66027993e-01 6.42120505e-01 -2.97047285e-02 1.77089172e+02] [ 3.91521114e-02 -4.82252116e-04 9.99233146e-01 1.68037694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.130385723 meters Centerline goodness : 0.999401 Centerline is valid? [True, True] Translation: X:266.72, Y:177.11, Z:16.81 [[ 6.41777747e-01 -7.66468617e-01 -2.54398007e-02 2.66720181e+02] [ 7.65890555e-01 6.42281647e-01 -2.97648238e-02 1.77110360e+02] [ 3.91533204e-02 -3.81701481e-04 9.99233142e-01 1.68050637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.160385723 meters Centerline goodness : 0.999550 Centerline is valid? [True, True] Translation: X:266.74, Y:177.13, Z:16.81 [[ 6.41826378e-01 -7.66424023e-01 -2.55561665e-02 2.66739434e+02] [ 7.65849893e-01 6.42334752e-01 -2.96649226e-02 1.77129079e+02] [ 3.91515232e-02 -5.32457530e-04 9.99233143e-01 1.68077958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.190385723 meters Centerline goodness : 0.999574 Centerline is valid? [True, True] Translation: X:266.76, Y:177.15, Z:16.81 [[ 6.42036681e-01 -7.66249857e-01 -2.54961948e-02 2.66758884e+02] [ 7.65673545e-01 6.42542574e-01 -2.97163776e-02 1.77149165e+02] [ 3.91525607e-02 -4.42757417e-04 9.99233146e-01 1.68090575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.220385723 meters Centerline goodness : 0.999507 Centerline is valid? [True, True] Translation: X:266.78, Y:177.17, Z:16.81 [[ 6.42189507e-01 -7.66122049e-01 -2.54881077e-02 2.66778606e+02] [ 7.65545360e-01 6.42694972e-01 -2.97233124e-02 1.77169632e+02] [ 3.91527636e-02 -4.24303226e-04 9.99233147e-01 1.68109664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.250385723 meters Centerline goodness : 0.999742 Centerline is valid? [True, True] Translation: X:266.80, Y:177.19, Z:16.81 [[ 6.42293696e-01 -7.66034973e-01 -2.54799551e-02 2.66797924e+02] [ 7.65457939e-01 6.42798765e-01 -2.97302994e-02 1.77188609e+02] [ 3.91529328e-02 -4.08250053e-04 9.99233147e-01 1.68121188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.280385723 meters Centerline goodness : 0.999679 Centerline is valid? [True, True] Translation: X:266.82, Y:177.21, Z:16.81 [[ 6.42279086e-01 -7.66047377e-01 -2.54753255e-02 2.66817007e+02] [ 7.65470195e-01 6.42783987e-01 -2.97342659e-02 1.77208827e+02] [ 3.91529877e-02 -4.02905187e-04 9.99233147e-01 1.68133236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.310385723 meters Centerline goodness : 0.999636 Centerline is valid? [True, True] Translation: X:266.84, Y:177.23, Z:16.81 [[ 6.42193916e-01 -7.66119047e-01 -2.54672249e-02 2.66836000e+02] [ 7.65541647e-01 6.42698567e-01 -2.97412024e-02 1.77228529e+02] [ 3.91530506e-02 -3.96602006e-04 9.99233147e-01 1.68145339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.340385723 meters Centerline goodness : 0.999484 Centerline is valid? [True, True] Translation: X:266.86, Y:177.25, Z:16.81 [[ 6.40690161e-01 -7.67380895e-01 -2.53511380e-02 2.66856266e+02] [ 7.66800549e-01 6.41191437e-01 -2.98405541e-02 1.77250446e+02] [ 3.91540037e-02 -3.20717155e-04 9.99233137e-01 1.68147217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.370385723 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:266.88, Y:177.27, Z:16.82 [[ 6.39479979e-01 -7.68386104e-01 -2.54588290e-02 2.66876352e+02] [ 7.67810206e-01 6.39986345e-01 -2.97483921e-02 1.77269700e+02] [ 3.91515540e-02 -5.24047595e-04 9.99233147e-01 1.68174700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.400385723 meters Centerline goodness : 0.999570 Centerline is valid? [True, True] Translation: X:266.90, Y:177.29, Z:16.82 [[ 6.38486201e-01 -7.69212346e-01 -2.54506909e-02 2.66895799e+02] [ 7.68636826e-01 6.38992995e-01 -2.97553529e-02 1.77290167e+02] [ 3.91509980e-02 -5.63956089e-04 9.99233147e-01 1.68175057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.430385723 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:266.91, Y:177.31, Z:16.82 [[ 6.36825061e-01 -7.70588427e-01 -2.54424452e-02 2.66914409e+02] [ 7.70013721e-01 6.37332777e-01 -2.97624017e-02 1.77309199e+02] [ 3.91498666e-02 -6.37588668e-04 9.99233147e-01 1.68187793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.460385723 meters Centerline goodness : 0.999741 Centerline is valid? [True, True] Translation: X:266.93, Y:177.33, Z:16.82 [[ 6.35883303e-01 -7.71365897e-01 -2.54377215e-02 2.66933387e+02] [ 7.70791650e-01 6.36391539e-01 -2.97664385e-02 1.77330215e+02] [ 3.91491663e-02 -6.79202086e-04 9.99233147e-01 1.68195600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.490385723 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:266.95, Y:177.35, Z:16.82 [[ 6.34253904e-01 -7.72706490e-01 -2.54296332e-02 2.66952550e+02] [ 7.72133040e-01 6.34763040e-01 -2.97733468e-02 1.77349485e+02] [ 3.91478495e-02 -7.51198515e-04 9.99233147e-01 1.68198582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.520385723 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:266.97, Y:177.37, Z:16.82 [[ 6.34045862e-01 -7.72877389e-01 -2.54241397e-02 2.66971039e+02] [ 7.72303889e-01 6.34554940e-01 -2.97780371e-02 1.77371248e+02] [ 3.91477850e-02 -7.54520774e-04 9.99233147e-01 1.68209746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.550385723 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:266.99, Y:177.39, Z:16.82 [[ 6.33293772e-01 -7.73494033e-01 -2.54161153e-02 2.66990433e+02] [ 7.72920754e-01 6.33803100e-01 -2.97848845e-02 1.77391122e+02] [ 3.91472431e-02 -7.82061176e-04 9.99233147e-01 1.68218489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.580385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:267.01, Y:177.41, Z:16.82 [[ 6.32371341e-01 -7.74248619e-01 -2.54079332e-02 2.67011400e+02] [ 7.73675667e-01 6.32881037e-01 -2.97918625e-02 1.77410115e+02] [ 3.91465075e-02 -8.17979634e-04 9.99233147e-01 1.68224107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.610385723 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:267.03, Y:177.43, Z:16.82 [[ 6.32003087e-01 -7.74549515e-01 -2.53997424e-02 2.67030151e+02] [ 7.73976526e-01 6.32512740e-01 -2.97988442e-02 1.77430558e+02] [ 3.91463410e-02 -8.25842913e-04 9.99233147e-01 1.68231710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.640385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:267.05, Y:177.45, Z:16.82 [[ 6.32280577e-01 -7.74323282e-01 -2.53914916e-02 2.67048065e+02] [ 7.73749828e-01 6.32789707e-01 -2.98058730e-02 1.77450834e+02] [ 3.91468559e-02 -8.00987719e-04 9.99233147e-01 1.68234576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.670385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:267.06, Y:177.47, Z:16.82 [[ 6.31408384e-01 -7.75034812e-01 -2.53868595e-02 2.67064547e+02] [ 7.74461773e-01 6.31917982e-01 -2.98098178e-02 1.77471766e+02] [ 3.91460596e-02 -8.38983329e-04 9.99233147e-01 1.68241248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.700385723 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:267.08, Y:177.49, Z:16.83 [[ 6.31697136e-01 -7.74804835e-01 -2.52229448e-02 2.67083830e+02] [ 7.74226031e-01 6.32200203e-01 -2.99492392e-02 1.77493195e+02] [ 3.91507661e-02 -6.09411791e-04 9.99233129e-01 1.68258221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.730385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.10, Y:177.51, Z:16.83 [[ 6.33667829e-01 -7.73189275e-01 -2.53658885e-02 2.67104651e+02] [ 7.72614037e-01 6.34174944e-01 -2.98276787e-02 1.77510821e+02] [ 3.91488522e-02 -6.97201137e-04 9.99233147e-01 1.68260287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.760385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:267.12, Y:177.53, Z:16.83 [[ 6.31732572e-01 -7.74771478e-01 -2.53597168e-02 2.67122489e+02] [ 7.74197300e-01 6.32240886e-01 -2.98329250e-02 1.77532692e+02] [ 3.91471492e-02 -7.86993897e-04 9.99233147e-01 1.68270642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.790385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.14, Y:177.55, Z:16.83 [[ 6.32750394e-01 -7.73940732e-01 -2.53511840e-02 2.67143367e+02] [ 7.73365596e-01 6.33257624e-01 -2.98401742e-02 1.77553101e+02] [ 3.91483568e-02 -7.24351566e-04 9.99233147e-01 1.68264271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.820385723 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:267.16, Y:177.57, Z:16.83 [[ 6.32439010e-01 -7.74195738e-01 -2.53349366e-02 2.67162370e+02] [ 7.73620254e-01 6.32945845e-01 -2.98539716e-02 1.77574099e+02] [ 3.91484605e-02 -7.18803869e-04 9.99233147e-01 1.68278507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.850385723 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:267.18, Y:177.59, Z:16.83 [[ 6.30511476e-01 -7.75766127e-01 -2.53415644e-02 2.67182855e+02] [ 7.75192131e-01 6.31019996e-01 -2.98483446e-02 1.77593758e+02] [ 3.91463686e-02 -8.24857509e-04 9.99233147e-01 1.68283677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.880385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.20, Y:177.61, Z:16.83 [[ 6.26968245e-01 -7.78632804e-01 -2.53333217e-02 2.67201058e+02] [ 7.78060850e-01 6.27479061e-01 -2.98553388e-02 1.77613661e+02] [ 3.91424751e-02 -9.92516392e-04 9.99233147e-01 1.68312391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.910385723 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:267.22, Y:177.64, Z:16.83 [[ 6.24631321e-01 -7.80511924e-01 -2.52358698e-02 2.67220190e+02] [ 7.79938168e-01 6.25140121e-01 -2.99379855e-02 1.77636813e+02] [ 3.91429094e-02 -9.82214571e-04 9.99233140e-01 1.68342368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.940385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:267.24, Y:177.66, Z:16.83 [[ 6.21394991e-01 -7.83088171e-01 -2.53215660e-02 2.67238660e+02] [ 7.82519473e-01 6.21909429e-01 -2.98653276e-02 1.77657435e+02] [ 3.91349054e-02 -1.25645354e-03 9.99233146e-01 1.68338392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.970385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.26, Y:177.68, Z:16.83 [[ 6.21882692e-01 -7.82701200e-01 -2.53129995e-02 2.67257614e+02] [ 7.82131887e-01 6.22396450e-01 -2.98725866e-02 1.77676660e+02] [ 3.91360304e-02 -1.22085948e-03 9.99233146e-01 1.68335336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.000385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.28, Y:177.70, Z:16.83 [[ 6.20832830e-01 -7.83534371e-01 -2.53078303e-02 2.67275594e+02] [ 7.82965569e-01 6.21347154e-01 -2.98769652e-02 1.77697264e+02] [ 3.91345775e-02 -1.26655885e-03 9.99233146e-01 1.68337538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.030385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:267.29, Y:177.72, Z:16.83 [[ 6.18731421e-01 -7.85194988e-01 -2.53033349e-02 2.67293818e+02] [ 7.84627411e-01 6.19247096e-01 -2.98807720e-02 1.77718169e+02] [ 3.91312490e-02 -1.36551760e-03 9.99233146e-01 1.68335509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.060385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.31, Y:177.74, Z:16.83 [[ 6.17503695e-01 -7.86161137e-01 -2.52953035e-02 2.67312207e+02] [ 7.85594089e-01 6.18019952e-01 -2.98875694e-02 1.77739421e+02] [ 3.91294477e-02 -1.41615637e-03 9.99233146e-01 1.68332841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.090385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:267.33, Y:177.76, Z:16.83 [[ 6.13941292e-01 -7.88946541e-01 -2.52872534e-02 2.67327652e+02] [ 7.88381554e-01 6.14459804e-01 -2.98943788e-02 1.77763392e+02] [ 3.91230675e-02 -1.58261059e-03 9.99233146e-01 1.68345691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.120385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:267.35, Y:177.78, Z:16.83 [[ 6.16868248e-01 -7.86660380e-01 -2.52786743e-02 2.67347657e+02] [ 7.86093175e-01 6.17384331e-01 -2.99016315e-02 1.77781906e+02] [ 3.91290863e-02 -1.42602630e-03 9.99233147e-01 1.68347110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.150385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:267.36, Y:177.80, Z:16.83 [[ 6.15358861e-01 -7.87841802e-01 -2.52738555e-02 2.67362769e+02] [ 7.87275420e-01 6.15875849e-01 -2.99057040e-02 1.77802565e+02] [ 3.91265209e-02 -1.49474526e-03 9.99233147e-01 1.68346262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.180385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:267.38, Y:177.82, Z:16.84 [[ 6.15979541e-01 -7.87363648e-01 -2.50537767e-02 2.67382474e+02] [ 7.86789297e-01 6.16487715e-01 -3.00915089e-02 1.77824072e+02] [ 3.91383058e-02 -1.17628948e-03 9.99233111e-01 1.68358956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.210385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:267.40, Y:177.85, Z:16.84 [[ 6.17100234e-01 -7.86482986e-01 -2.51359047e-02 2.67401942e+02] [ 7.85910722e-01 6.17610723e-01 -3.00222070e-02 1.77845523e+02] [ 3.91361592e-02 -1.22786602e-03 9.99233133e-01 1.68388170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.240385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.42, Y:177.87, Z:16.84 [[ 6.17496398e-01 -7.86168309e-01 -2.52505167e-02 2.67420061e+02] [ 7.85599719e-01 6.18010960e-01 -2.99255003e-02 1.77867342e+02] [ 3.91315760e-02 -1.35791017e-03 9.99233144e-01 1.68401116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.270385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:267.44, Y:177.89, Z:16.84 [[ 6.18374930e-01 -7.85477735e-01 -2.52422813e-02 2.67437045e+02] [ 7.84908288e-01 6.18888543e-01 -2.99324453e-02 1.77889753e+02] [ 3.91334280e-02 -1.30340198e-03 9.99233144e-01 1.68407971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.300385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:267.45, Y:177.91, Z:16.84 [[ 6.18715291e-01 -7.85209931e-01 -2.52339695e-02 2.67454608e+02] [ 7.84639976e-01 6.19228340e-01 -2.99394507e-02 1.77911632e+02] [ 3.91343431e-02 -1.27558526e-03 9.99233144e-01 1.68415862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.330385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.47, Y:177.93, Z:16.84 [[ 6.19947737e-01 -7.84237510e-01 -2.52255954e-02 2.67470592e+02] [ 7.83666464e-01 6.20459572e-01 -2.99465048e-02 1.77933153e+02] [ 3.91366344e-02 -1.20318524e-03 9.99233144e-01 1.68421001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.360385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:267.49, Y:177.95, Z:16.84 [[ 6.20601466e-01 -7.83720437e-01 -2.52209572e-02 2.67488263e+02] [ 7.83148806e-01 6.21112647e-01 -2.99504105e-02 1.77954877e+02] [ 3.91378043e-02 -1.16449386e-03 9.99233144e-01 1.68431344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.390385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:267.50, Y:177.98, Z:16.84 [[ 6.22862986e-01 -7.81924560e-01 -2.52127492e-02 2.67504547e+02] [ 7.81351176e-01 6.23372200e-01 -2.99573185e-02 1.77976152e+02] [ 3.91412901e-02 -1.04070634e-03 9.99233144e-01 1.68437511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.420385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:267.52, Y:178.00, Z:16.84 [[ 6.26055751e-01 -7.79370733e-01 -2.52082512e-02 2.67520388e+02] [ 7.78795119e-01 6.26562443e-01 -2.99611030e-02 1.77998094e+02] [ 3.91453503e-02 -8.74742179e-04 9.99233144e-01 1.68441101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.450385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:267.54, Y:178.02, Z:16.85 [[ 6.27280019e-01 -7.78385894e-01 -2.52027231e-02 2.67537059e+02] [ 7.77809298e-01 6.27785592e-01 -2.99657524e-02 1.78020258e+02] [ 3.91468254e-02 -8.05994643e-04 9.99233144e-01 1.68450835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.480385723 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:267.55, Y:178.04, Z:16.85 [[ 6.28834730e-01 -7.77130691e-01 -2.51946670e-02 2.67554305e+02] [ 7.76552814e-01 6.29338839e-01 -2.99725243e-02 1.78042411e+02] [ 3.91485510e-02 -7.17225328e-04 9.99233144e-01 1.68458075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.510385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.56, Y:178.06, Z:16.84 [[ 6.27712227e-01 -7.78037912e-01 -2.51866400e-02 2.67562116e+02] [ 7.77460494e-01 6.28216861e-01 -2.99792681e-02 1.78062493e+02] [ 3.91476791e-02 -7.63264381e-04 9.99233144e-01 1.68443452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.540385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.58, Y:178.08, Z:16.84 [[ 6.27796657e-01 -7.77989027e-01 -2.45851878e-02 2.67578153e+02] [ 7.77391570e-01 6.28277863e-01 -3.04839869e-02 1.78084530e+02] [ 3.91625366e-02 2.54272481e-05 9.99232853e-01 1.68448066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.570385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:267.61, Y:178.11, Z:16.85 [[ 6.34498207e-01 -7.72537206e-01 -2.44599826e-02 2.67607153e+02] [ 7.71931556e-01 6.34969280e-01 -3.05889905e-02 1.78108227e+02] [ 3.91624708e-02 5.27227232e-04 9.99232717e-01 1.68499546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.600385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:267.63, Y:178.13, Z:16.85 [[ 6.34919943e-01 -7.72167376e-01 -2.51835053e-02 2.67625191e+02] [ 7.71585210e-01 6.35419064e-01 -2.99812727e-02 1.78130053e+02] [ 3.91526400e-02 -3.95512274e-04 9.99233163e-01 1.68517778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.630385723 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:267.64, Y:178.15, Z:16.85 [[ 6.35235989e-01 -7.71907666e-01 -2.51752693e-02 2.67642128e+02] [ 7.71325022e-01 6.35734551e-01 -2.99881869e-02 1.78151351e+02] [ 3.91528999e-02 -3.68739574e-04 9.99233163e-01 1.68528244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.660385723 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:267.66, Y:178.17, Z:16.85 [[ 6.34675547e-01 -7.72368719e-01 -2.51696644e-02 2.67660050e+02] [ 7.71786251e-01 6.35174314e-01 -2.99928904e-02 1.78172784e+02] [ 3.91526947e-02 -3.89846769e-04 9.99233163e-01 1.68537756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.690385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:267.68, Y:178.19, Z:16.85 [[ 6.33526109e-01 -7.73312076e-01 -2.51615423e-02 2.67680360e+02] [ 7.72730079e-01 6.34025427e-01 -2.99997027e-02 1.78193746e+02] [ 3.91521899e-02 -4.37485689e-04 9.99233163e-01 1.68536489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.720385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:267.70, Y:178.21, Z:16.86 [[ 6.32807311e-01 -7.73900067e-01 -2.51712945e-02 2.67698914e+02] [ 7.73318859e-01 6.33307548e-01 -2.99915251e-02 1.78214252e+02] [ 3.91516141e-02 -4.86580356e-04 9.99233163e-01 1.68561298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.750385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:267.72, Y:178.24, Z:16.86 [[ 6.31245175e-01 -7.75175330e-01 -2.51542545e-02 2.67716984e+02] [ 7.74594564e-01 6.31745924e-01 -3.00058100e-02 1.78235555e+02] [ 3.91508614e-02 -5.43325994e-04 9.99233163e-01 1.68562630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.780385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.74, Y:178.26, Z:16.86 [[ 6.29672047e-01 -7.76455711e-01 -2.50926721e-02 2.67735910e+02] [ 7.75873906e-01 6.30171591e-01 -3.00574071e-02 1.78256421e+02] [ 3.91509345e-02 -5.42440461e-04 9.99233161e-01 1.68583351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.810385723 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:267.75, Y:178.28, Z:16.86 [[ 6.28186515e-01 -7.77656408e-01 -2.51438476e-02 2.67753762e+02] [ 7.77077271e-01 6.28689147e-01 -3.00145363e-02 1.78276113e+02] [ 3.91486606e-02 -6.83985505e-04 9.99233163e-01 1.68587805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.840385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:267.77, Y:178.30, Z:16.86 [[ 6.27566413e-01 -7.78157058e-01 -2.51394338e-02 2.67772202e+02] [ 7.77578173e-01 6.28069336e-01 -3.00182328e-02 1.78296891e+02] [ 3.91482072e-02 -7.09440334e-04 9.99233163e-01 1.68596080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.870385723 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:267.79, Y:178.32, Z:16.86 [[ 6.26214233e-01 -7.79245881e-01 -2.51314832e-02 2.67789041e+02] [ 7.78667604e-01 6.26717854e-01 -3.00248876e-02 1.78317865e+02] [ 3.91471192e-02 -7.67059881e-04 9.99233163e-01 1.68596210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.900385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:267.81, Y:178.34, Z:16.86 [[ 6.27447895e-01 -7.78258081e-01 -2.49699524e-02 2.67809909e+02] [ 7.77673621e-01 6.27944356e-01 -3.01599763e-02 1.78338784e+02] [ 3.91519859e-02 -4.94659649e-04 9.99233145e-01 1.68615832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.930385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.83, Y:178.36, Z:16.86 [[ 6.26659576e-01 -7.78888155e-01 -2.51200912e-02 2.67826108e+02] [ 7.78309209e-01 6.27162427e-01 -3.00344045e-02 1.78359794e+02] [ 3.91478193e-02 -7.29851144e-04 9.99233164e-01 1.68616938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.960385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.84, Y:178.38, Z:16.86 [[ 6.25262944e-01 -7.80013701e-01 -2.49975391e-02 2.67840414e+02] [ 7.79431558e-01 6.25762109e-01 -3.01368561e-02 1.78380952e+02] [ 3.91496734e-02 -6.40411487e-04 9.99233152e-01 1.68615623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.990385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:267.87, Y:178.40, Z:16.86 [[ 6.28253363e-01 -7.77615609e-01 -2.47320900e-02 2.67865081e+02] [ 7.77022791e-01 6.28739965e-01 -3.03585146e-02 1.78403769e+02] [ 3.91573082e-02 -1.44558673e-04 9.99233048e-01 1.68642228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.020385723 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:267.88, Y:178.42, Z:16.86 [[ 6.27270247e-01 -7.78393808e-01 -2.52015477e-02 2.67876705e+02] [ 7.77817204e-01 6.27775781e-01 -2.99660648e-02 1.78422145e+02] [ 3.91463206e-02 -8.05376496e-04 9.99233164e-01 1.68638905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.050385723 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:267.90, Y:178.44, Z:16.86 [[ 6.29590891e-01 -7.76532328e-01 -2.47558789e-02 2.67897926e+02] [ 7.75939450e-01 6.30077402e-01 -3.03387137e-02 1.78443563e+02] [ 3.91571119e-02 -1.08085255e-04 9.99233060e-01 1.68648649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.080385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:267.91, Y:178.46, Z:16.86 [[ 6.29402540e-01 -7.76680760e-01 -2.48885424e-02 2.67913777e+02] [ 7.76092373e-01 6.29894366e-01 -3.02277465e-02 1.78464007e+02] [ 3.91544618e-02 -2.90387522e-04 9.99233128e-01 1.68649845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.110385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:267.93, Y:178.49, Z:16.87 [[ 6.29867404e-01 -7.76310108e-01 -2.46914696e-02 2.67932473e+02] [ 7.75714950e-01 6.30351184e-01 -3.03924356e-02 1.78485033e+02] [ 3.91582521e-02 -1.03375803e-05 9.99233021e-01 1.68657648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.140385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:267.95, Y:178.50, Z:16.86 [[ 6.28701646e-01 -7.77253427e-01 -2.47255082e-02 2.67949275e+02] [ 7.76660113e-01 6.29187648e-01 -3.03639944e-02 1.78504176e+02] [ 3.91575031e-02 -1.13422699e-04 9.99233044e-01 1.68629848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.170385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:267.97, Y:178.52, Z:16.87 [[ 6.30478408e-01 -7.75819913e-01 -2.45038619e-02 2.67973395e+02] [ 7.75218267e-01 6.30954351e-01 -3.05490869e-02 1.78524499e+02] [ 3.91614082e-02 2.64698277e-04 9.99232863e-01 1.68685773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.200385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:268.00, Y:178.54, Z:16.87 [[ 6.31862509e-01 -7.74684645e-01 -2.47683396e-02 2.68000778e+02] [ 7.74090760e-01 6.32347769e-01 -3.03281280e-02 1.78543387e+02] [ 3.91569393e-02 -9.73581819e-06 9.99233073e-01 1.68710342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.230385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.01, Y:178.56, Z:16.87 [[ 6.28060879e-01 -7.77758900e-01 -2.51122586e-02 2.68013382e+02] [ 7.77178801e-01 6.28562385e-01 -3.00406365e-02 1.78563701e+02] [ 3.91489935e-02 -6.49366466e-04 9.99233173e-01 1.68716883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.260385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:268.03, Y:178.58, Z:16.87 [[ 6.26186293e-01 -7.79279214e-01 -2.47917876e-02 2.68031943e+02] [ 7.78689659e-01 6.26676791e-01 -3.03086618e-02 1.78583621e+02] [ 3.91553481e-02 -3.26240053e-04 9.99233082e-01 1.68712717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.290385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.05, Y:178.60, Z:16.87 [[ 6.25972211e-01 -7.79455475e-01 -2.46567231e-02 2.68052534e+02] [ 7.78861600e-01 6.26457610e-01 -3.04215488e-02 1.78604389e+02] [ 3.91586346e-02 -1.61130664e-04 9.99232994e-01 1.68736854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.320385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.07, Y:178.62, Z:16.87 [[ 6.25959220e-01 -7.79462677e-01 -2.47586246e-02 2.68073852e+02] [ 7.78872172e-01 6.26448600e-01 -3.03363034e-02 1.78623060e+02] [ 3.91560220e-02 -2.94514845e-04 9.99233066e-01 1.68742655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.350385723 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:268.10, Y:178.64, Z:16.88 [[ 6.28786460e-01 -7.77184599e-01 -2.47323174e-02 2.68099545e+02] [ 7.76591455e-01 6.29272664e-01 -3.03583054e-02 1.78643679e+02] [ 3.91573786e-02 -1.18014986e-04 9.99233049e-01 1.68770971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.380385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.11, Y:178.66, Z:16.88 [[ 6.25270083e-01 -7.80003718e-01 -2.51301293e-02 2.68111342e+02] [ 7.79426031e-01 6.25774352e-01 -3.00253582e-02 1.78663958e+02] [ 3.91456814e-02 -8.13118689e-04 9.99233183e-01 1.68763473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.410385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.13, Y:178.69, Z:16.88 [[ 6.25265522e-01 -7.80023150e-01 -2.46356082e-02 2.68129419e+02] [ 7.79429038e-01 6.25750635e-01 -3.04387574e-02 1.78685962e+02] [ 3.91586829e-02 -1.69402827e-04 9.99232990e-01 1.68772098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.440385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.16, Y:178.71, Z:16.88 [[ 6.29467448e-01 -7.76636777e-01 -2.46180468e-02 2.68156178e+02] [ 7.76039481e-01 6.29948659e-01 -3.04534318e-02 1.78707298e+02] [ 3.91593607e-02 6.48677457e-05 9.99232976e-01 1.68782945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.470385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.17, Y:178.73, Z:16.88 [[ 6.29583925e-01 -7.76526272e-01 -2.51203190e-02 2.68174982e+02] [ 7.75945481e-01 6.30084604e-01 -3.00333350e-02 1.78727563e+02] [ 3.91495999e-02 -5.83493075e-04 9.99233190e-01 1.68791823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.500385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.20, Y:178.75, Z:16.88 [[ 6.29245480e-01 -7.76800802e-01 -2.51125666e-02 2.68195073e+02] [ 7.76219971e-01 6.29746112e-01 -3.00398159e-02 1.78746176e+02] [ 3.91494942e-02 -5.90457383e-04 9.99233190e-01 1.68803874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.530385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:268.22, Y:178.77, Z:16.88 [[ 6.28041910e-01 -7.77774435e-01 -2.51055452e-02 2.68215024e+02] [ 7.77194146e-01 6.28543170e-01 -3.00456828e-02 1.78765611e+02] [ 3.91486829e-02 -6.41934783e-04 9.99233190e-01 1.68834950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.560385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.24, Y:178.78, Z:16.88 [[ 6.27831691e-01 -7.77944406e-01 -2.50971889e-02 2.68235018e+02] [ 7.77363974e-01 6.28332786e-01 -3.00526612e-02 1.78784432e+02] [ 3.91486863e-02 -6.41637432e-04 9.99233190e-01 1.68844179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.590385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.25, Y:178.81, Z:16.89 [[ 6.27618452e-01 -7.78116606e-01 -2.50923483e-02 2.68253281e+02] [ 7.77536150e-01 6.28119519e-01 -3.00567023e-02 1.78806407e+02] [ 3.91486129e-02 -6.46066853e-04 9.99233190e-01 1.68855349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.620385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:268.27, Y:178.83, Z:16.89 [[ 6.28083038e-01 -7.77741914e-01 -2.50841024e-02 2.68272028e+02] [ 7.77160885e-01 6.28583439e-01 -3.00635825e-02 1.78827097e+02] [ 3.91491595e-02 -6.11956985e-04 9.99233190e-01 1.68867321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.650385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.29, Y:178.85, Z:16.89 [[ 6.28812635e-01 -7.77152411e-01 -2.50758800e-02 2.68289952e+02] [ 7.76570639e-01 6.29312173e-01 -3.00704391e-02 1.78847163e+02] [ 3.91498708e-02 -5.64520134e-04 9.99233190e-01 1.68876303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.680385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.31, Y:178.87, Z:16.89 [[ 6.30041857e-01 -7.76156355e-01 -2.50712979e-02 2.68308786e+02] [ 7.75573642e-01 6.30540297e-01 -3.00742590e-02 1.78867496e+02] [ 3.91507908e-02 -4.96595800e-04 9.99233190e-01 1.68883212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.710385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.33, Y:178.89, Z:16.89 [[ 6.30375548e-01 -7.75885625e-01 -2.50632371e-02 2.68327896e+02] [ 7.75302430e-01 6.30873424e-01 -3.00809752e-02 1.78888262e+02] [ 3.91511264e-02 -4.69277408e-04 9.99233191e-01 1.68884384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.740385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.35, Y:178.91, Z:16.89 [[ 6.30429424e-01 -7.75842112e-01 -2.50551036e-02 2.68345656e+02] [ 7.75258614e-01 6.30926945e-01 -3.00877482e-02 1.78908437e+02] [ 3.91512821e-02 -4.55983074e-04 9.99233191e-01 1.68879403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.770385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.36, Y:178.93, Z:16.89 [[ 6.30188798e-01 -7.76037813e-01 -2.50478053e-02 2.68364223e+02] [ 7.75454228e-01 6.30686216e-01 -3.00938228e-02 1.78929424e+02] [ 3.91512499e-02 -4.58636542e-04 9.99233191e-01 1.68891261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.800385723 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:268.38, Y:178.95, Z:16.89 [[ 6.29355512e-01 -7.76713983e-01 -2.50405278e-02 2.68383858e+02] [ 7.76130692e-01 6.29853274e-01 -3.00998771e-02 1.78949893e+02] [ 3.91508538e-02 -4.91198602e-04 9.99233191e-01 1.68921912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.830385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:268.40, Y:178.97, Z:16.89 [[ 6.28949192e-01 -7.77043300e-01 -2.50324601e-02 2.68402233e+02] [ 7.76460002e-01 6.29446947e-01 -3.01065850e-02 1.78970802e+02] [ 3.91507258e-02 -5.01191713e-04 9.99233191e-01 1.68937523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.860385723 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:268.42, Y:178.99, Z:16.89 [[ 6.27942500e-01 -7.77857315e-01 -2.50242861e-02 2.68419685e+02] [ 7.77274391e-01 6.28440693e-01 -3.01133776e-02 1.78992248e+02] [ 3.91501908e-02 -5.41267159e-04 9.99233191e-01 1.68945973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.890385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.44, Y:179.01, Z:16.90 [[ 6.27469016e-01 -7.78239569e-01 -2.50161381e-02 2.68437621e+02] [ 7.77656680e-01 6.27967248e-01 -3.01201449e-02 1.79014114e+02] [ 3.91500040e-02 -5.54509208e-04 9.99233191e-01 1.68954353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.920385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.46, Y:179.04, Z:16.90 [[ 6.26848105e-01 -7.78740042e-01 -2.50080235e-02 2.68455982e+02] [ 7.78157281e-01 6.27346488e-01 -3.01268808e-02 1.79035868e+02] [ 3.91497041e-02 -5.75197469e-04 9.99233191e-01 1.68965674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.950385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.47, Y:179.06, Z:16.90 [[ 6.26047703e-01 -7.79383910e-01 -2.49998947e-02 2.68474185e+02] [ 7.78801393e-01 6.26546371e-01 -3.01336247e-02 1.79055753e+02] [ 3.91492555e-02 -6.04866310e-04 9.99233191e-01 1.68978554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.980385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.48, Y:179.08, Z:16.89 [[ 6.21674111e-01 -7.82877173e-01 -2.49926323e-02 2.68484036e+02] [ 7.82297216e-01 6.22175754e-01 -3.01396469e-02 1.79078058e+02] [ 3.91454514e-02 -8.14628448e-04 9.99233191e-01 1.68943681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.010385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.51, Y:179.10, Z:16.90 [[ 6.25245896e-01 -7.80041741e-01 -2.45448802e-02 2.68508917e+02] [ 7.79444825e-01 6.25727480e-01 -3.05104276e-02 1.79100141e+02] [ 3.91578131e-02 -5.48601878e-05 9.99233037e-01 1.68993127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.040385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.53, Y:179.12, Z:16.90 [[ 6.25015819e-01 -7.80212143e-01 -2.49847627e-02 2.68526670e+02] [ 7.79629797e-01 6.25514673e-01 -3.01458632e-02 1.79122446e+02] [ 3.91485042e-02 -6.37224139e-04 9.99233200e-01 1.69009062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.070385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.54, Y:179.14, Z:16.90 [[ 6.25226177e-01 -7.80043836e-01 -2.49768230e-02 2.68542980e+02] [ 7.79461094e-01 6.25724567e-01 -3.01524400e-02 1.79144648e+02] [ 3.91488368e-02 -6.16367001e-04 9.99233200e-01 1.69017207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.100385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.55, Y:179.17, Z:16.90 [[ 6.22074669e-01 -7.82559661e-01 -2.49696564e-02 2.68553651e+02] [ 7.81978696e-01 6.22575129e-01 -3.01583736e-02 1.79167597e+02] [ 3.91462137e-02 -7.64979090e-04 9.99233200e-01 1.68980726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.130385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.58, Y:179.19, Z:16.90 [[ 6.26033576e-01 -7.79409192e-01 -2.45616169e-02 2.68576457e+02] [ 7.78812367e-01 6.26515211e-01 -3.04956870e-02 1.79189800e+02] [ 3.91568454e-02 -3.75670540e-05 9.99233076e-01 1.69031302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.160385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.59, Y:179.21, Z:16.90 [[ 6.26288693e-01 -7.79191759e-01 -2.49534622e-02 2.68593959e+02] [ 7.78607574e-01 6.26785385e-01 -3.01716176e-02 1.79212242e+02] [ 3.91499412e-02 -5.32811699e-04 9.99233205e-01 1.69039875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.190385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.61, Y:179.24, Z:16.90 [[ 6.24185352e-01 -7.80877941e-01 -2.49456872e-02 2.68605655e+02] [ 7.80294841e-01 6.24683317e-01 -3.01780445e-02 1.79236137e+02] [ 3.91485239e-02 -6.28297657e-04 9.99233205e-01 1.69011817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.220385723 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:268.63, Y:179.26, Z:16.90 [[ 6.24649338e-01 -7.80512227e-01 -2.47763480e-02 2.68625446e+02] [ 7.79923271e-01 6.25140396e-01 -3.03179381e-02 1.79259116e+02] [ 3.91522174e-02 -3.85570369e-04 9.99233184e-01 1.69027731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.250385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.64, Y:179.28, Z:16.91 [[ 6.24128319e-01 -7.80923768e-01 -2.49381100e-02 2.68641800e+02] [ 7.80340456e-01 6.24626034e-01 -3.01842923e-02 1.79280244e+02] [ 3.91486240e-02 -6.21344482e-04 9.99233206e-01 1.69065691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.280385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.66, Y:179.30, Z:16.91 [[ 6.22996743e-01 -7.81826956e-01 -2.49332919e-02 2.68659754e+02] [ 7.81244206e-01 6.23495115e-01 -3.01882717e-02 1.79303341e+02] [ 3.91477903e-02 -6.71794869e-04 9.99233206e-01 1.69065259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.310385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.68, Y:179.33, Z:16.91 [[ 6.21951036e-01 -7.82659227e-01 -2.49287582e-02 2.68675779e+02] [ 7.82076994e-01 6.22450013e-01 -3.01920150e-02 1.79325595e+02] [ 3.91469650e-02 -7.18253240e-04 9.99233206e-01 1.69089999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.340385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.69, Y:179.35, Z:16.91 [[ 6.20798317e-01 -7.83574065e-01 -2.49225779e-02 2.68692482e+02] [ 7.82992362e-01 6.21297912e-01 -3.01971158e-02 1.79348488e+02] [ 3.91460224e-02 -7.67869443e-04 9.99233206e-01 1.69104162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.370385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:268.71, Y:179.37, Z:16.91 [[ 6.19834761e-01 -7.84336755e-01 -2.49143513e-02 2.68709065e+02] [ 7.83755394e-01 6.20334754e-01 -3.02039017e-02 1.79371257e+02] [ 3.91452682e-02 -8.05328990e-04 9.99233206e-01 1.69117807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.400385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.72, Y:179.39, Z:16.91 [[ 6.18960816e-01 -7.85026873e-01 -2.49061759e-02 2.68724286e+02] [ 7.84445798e-01 6.19461142e-01 -3.02106416e-02 1.79394926e+02] [ 3.91445737e-02 -8.38341671e-04 9.99233206e-01 1.69134366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.430385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:268.74, Y:179.42, Z:16.91 [[ 6.18810213e-01 -7.85145852e-01 -2.48980199e-02 2.68740391e+02] [ 7.84564604e-01 6.19310337e-01 -3.02173620e-02 1.79416159e+02] [ 3.91446375e-02 -8.35292892e-04 9.99233206e-01 1.69146324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.460385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.76, Y:179.44, Z:16.92 [[ 6.19644023e-01 -7.84488201e-01 -2.48906966e-02 2.68757293e+02] [ 7.83906180e-01 6.20143247e-01 -3.02233931e-02 1.79439152e+02] [ 3.91456927e-02 -7.84226027e-04 9.99233206e-01 1.69162384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.490385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.77, Y:179.46, Z:16.92 [[ 6.21275742e-01 -7.83196856e-01 -2.48824657e-02 2.68771690e+02] [ 7.82613526e-01 6.21773436e-01 -3.02301679e-02 1.79461711e+02] [ 3.91474287e-02 -6.92084196e-04 9.99233206e-01 1.69167634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.520385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:268.79, Y:179.48, Z:16.92 [[ 6.21663988e-01 -7.82888866e-01 -2.48778776e-02 2.68787578e+02] [ 7.82305139e-01 6.22161216e-01 -3.02339432e-02 1.79484403e+02] [ 3.91478681e-02 -6.66737759e-04 9.99233206e-01 1.69175344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.550385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.80, Y:179.51, Z:16.92 [[ 6.22399421e-01 -7.82304580e-01 -2.48697409e-02 2.68803560e+02] [ 7.81720119e-01 6.22895786e-01 -3.02406348e-02 1.79506407e+02] [ 3.91486439e-02 -6.19423200e-04 9.99233206e-01 1.69178583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.580385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:268.82, Y:179.53, Z:16.92 [[ 6.23822972e-01 -7.81170122e-01 -2.48624185e-02 2.68820457e+02] [ 7.80584518e-01 6.24317988e-01 -3.02466537e-02 1.79529427e+02] [ 3.91498373e-02 -5.38661551e-04 9.99233206e-01 1.69187910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.610385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.84, Y:179.55, Z:16.92 [[ 6.24309103e-01 -7.80781919e-01 -2.48543649e-02 2.68837184e+02] [ 7.80195744e-01 6.24803442e-01 -3.02532701e-02 1.79550439e+02] [ 3.91502991e-02 -5.03877805e-04 9.99233206e-01 1.69204177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.640385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.85, Y:179.57, Z:16.92 [[ 6.25340751e-01 -7.79956130e-01 -2.48471279e-02 2.68854276e+02] [ 7.79369066e-01 6.25834035e-01 -3.02592128e-02 1.79572941e+02] [ 3.91510368e-02 -4.42764003e-04 9.99233206e-01 1.69224155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.670385723 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:268.87, Y:179.59, Z:16.92 [[ 6.24919930e-01 -7.80293610e-01 -2.48387648e-02 2.68870467e+02] [ 7.79706539e-01 6.25413205e-01 -3.02660762e-02 1.79594992e+02] [ 3.91509173e-02 -4.53073103e-04 9.99233206e-01 1.69214508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.700385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:268.89, Y:179.62, Z:16.92 [[ 6.25105371e-01 -7.80145238e-01 -2.48330812e-02 2.68887418e+02] [ 7.79557866e-01 6.25598287e-01 -3.02707389e-02 1.79616552e+02] [ 3.91511058e-02 -4.36422296e-04 9.99233206e-01 1.69244354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.730385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.90, Y:179.64, Z:16.93 [[ 6.24256391e-01 -7.80824887e-01 -2.48284811e-02 2.68904284e+02] [ 7.80237901e-01 6.24749767e-01 -3.02745114e-02 1.79639059e+02] [ 3.91506797e-02 -4.73064747e-04 9.99233206e-01 1.69255892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.760385723 meters Centerline goodness : 0.997850 Centerline is valid? [True, True] Translation: X:268.93, Y:179.66, Z:16.92 [[ 6.25022629e-01 -7.80211938e-01 -2.48202576e-02 2.68926258e+02] [ 7.79624200e-01 6.25515109e-01 -3.02812518e-02 1.79662497e+02] [ 3.91512404e-02 -4.24005898e-04 9.99233206e-01 1.69247415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.790385723 meters Centerline goodness : 0.998791 Centerline is valid? [True, True] Translation: X:268.94, Y:179.69, Z:16.93 [[ 6.24516036e-01 -7.80606844e-01 -2.51530407e-02 2.68943838e+02] [ 7.80030318e-01 6.25021745e-01 -3.00086786e-02 1.79685752e+02] [ 3.91461773e-02 -8.79233311e-04 9.99233108e-01 1.69269660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.820385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.96, Y:179.71, Z:16.93 [[ 6.23167491e-01 -7.81683226e-01 -2.51716653e-02 2.68955571e+02] [ 7.81108189e-01 6.23674908e-01 -2.99934375e-02 1.79705349e+02] [ 3.91443031e-02 -9.70858692e-04 9.99233096e-01 1.69302079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.850385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.97, Y:179.73, Z:16.93 [[ 6.23579391e-01 -7.81367353e-01 -2.47750415e-02 2.68971619e+02] [ 7.80779085e-01 6.24071203e-01 -3.03175590e-02 1.79727892e+02] [ 3.91505408e-02 -4.38429193e-04 9.99233228e-01 1.69318396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.880385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.99, Y:179.75, Z:16.93 [[ 6.23896981e-01 -7.81114059e-01 -2.47665780e-02 2.68991123e+02] [ 7.80525316e-01 6.24388226e-01 -3.03244713e-02 1.79751120e+02] [ 3.91508306e-02 -4.11594988e-04 9.99233228e-01 1.69313259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.910385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.01, Y:179.77, Z:16.93 [[ 6.24065300e-01 -7.80974683e-01 -2.49208123e-02 2.69009862e+02] [ 7.80390843e-01 6.24562393e-01 -3.01985140e-02 1.79773941e+02] [ 3.91488770e-02 -6.02129059e-04 9.99233207e-01 1.69337478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.940385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:269.02, Y:179.80, Z:16.94 [[ 6.24552443e-01 -7.80580933e-01 -2.50529992e-02 2.69023237e+02] [ 7.80001097e-01 6.25054275e-01 -3.00905702e-02 1.79795365e+02] [ 3.91476096e-02 -7.48227747e-04 9.99233158e-01 1.69354453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.970385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.04, Y:179.82, Z:16.94 [[ 6.24848331e-01 -7.80353847e-01 -2.47474541e-02 2.69040378e+02] [ 7.79763899e-01 6.25338115e-01 -3.03397999e-02 1.79817649e+02] [ 3.91513059e-02 -3.39397979e-04 9.99233236e-01 1.69360468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.000385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.06, Y:179.84, Z:16.93 [[ 6.26632418e-01 -7.78920557e-01 -2.47906925e-02 2.69060800e+02] [ 7.78330882e-01 6.27122534e-01 -3.03045478e-02 1.79841054e+02] [ 3.91516372e-02 -3.05549424e-04 9.99233234e-01 1.69341449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.030385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.07, Y:179.86, Z:16.94 [[ 6.26803732e-01 -7.78777699e-01 -2.49474794e-02 2.69074730e+02] [ 7.78192979e-01 6.27299806e-01 -3.01768261e-02 1.79861967e+02] [ 3.91505882e-02 -4.99006134e-04 9.99233197e-01 1.69373091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.060385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.09, Y:179.88, Z:16.94 [[ 6.26897059e-01 -7.78710024e-01 -2.47138857e-02 2.69092373e+02] [ 7.78117721e-01 6.27383983e-01 -3.03669367e-02 1.79883592e+02] [ 3.91521340e-02 -1.93369091e-04 9.99233243e-01 1.69382808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.090385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.12, Y:179.91, Z:16.94 [[ 6.28162376e-01 -7.77689954e-01 -2.47055527e-02 2.69115184e+02] [ 7.77096594e-01 6.28648011e-01 -3.03737146e-02 1.79906956e+02] [ 3.91524293e-02 -1.18976106e-04 9.99233243e-01 1.69376567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.120385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.13, Y:179.93, Z:16.94 [[ 6.26680021e-01 -7.78875751e-01 -2.49943290e-02 2.69127906e+02] [ 7.78292623e-01 6.27178001e-01 -3.01387951e-02 1.79927418e+02] [ 3.91502699e-02 -5.65521131e-04 9.99233174e-01 1.69401648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.150385723 meters Centerline goodness : 0.995257 Centerline is valid? [True, True] Translation: X:269.15, Y:179.95, Z:16.94 [[ 6.26324972e-01 -7.79170888e-01 -2.46932532e-02 2.69148859e+02] [ 7.78578291e-01 6.26811526e-01 -3.03834890e-02 1.79950995e+02] [ 3.91519458e-02 -1.95692941e-04 9.99233249e-01 1.69374590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.180385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.17, Y:179.97, Z:16.94 [[ 6.26446423e-01 -7.79065820e-01 -2.49264329e-02 2.69169225e+02] [ 7.78480648e-01 6.26941950e-01 -3.01939253e-02 1.79973238e+02] [ 3.91504816e-02 -4.89869105e-04 9.99233206e-01 1.69423208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.210385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.18, Y:179.99, Z:16.94 [[ 6.21115143e-01 -7.83317785e-01 -2.50843821e-02 2.69179021e+02] [ 7.82741142e-01 6.21620725e-01 -3.00662490e-02 1.79992743e+02] [ 3.91443994e-02 -9.59975362e-04 9.99233103e-01 1.69443643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.240385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:269.20, Y:180.02, Z:16.94 [[ 6.22839764e-01 -7.81962949e-01 -2.45881033e-02 2.69204635e+02] [ 7.81369237e-01 6.23324867e-01 -3.04667793e-02 1.80015505e+02] [ 3.91502688e-02 -2.36465889e-04 9.99233306e-01 1.69449637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.270385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.22, Y:180.04, Z:16.95 [[ 6.21553488e-01 -7.82972216e-01 -2.50154090e-02 2.69223842e+02] [ 7.82393051e-01 6.22056096e-01 -3.01218728e-02 1.80037656e+02] [ 3.91455771e-02 -8.49527082e-04 9.99233157e-01 1.69472517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.300385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.24, Y:180.06, Z:16.95 [[ 6.18658478e-01 -7.85263285e-01 -2.49652030e-02 2.69242592e+02] [ 7.84684347e-01 6.19161295e-01 -3.01623170e-02 1.80060287e+02] [ 3.91428475e-02 -9.29630865e-04 9.99233193e-01 1.69504000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.330385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.26, Y:180.08, Z:16.95 [[ 6.18370310e-01 -7.85490572e-01 -2.49543886e-02 2.69260322e+02] [ 7.84911468e-01 6.18872924e-01 -3.01710202e-02 1.80082532e+02] [ 3.91426474e-02 -9.30122674e-04 9.99233200e-01 1.69515091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.360385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:269.27, Y:180.10, Z:16.95 [[ 6.13595903e-01 -7.89225911e-01 -2.49505356e-02 2.69270724e+02] [ 7.88649740e-01 6.14101873e-01 -3.01741194e-02 1.80103220e+02] [ 3.91363675e-02 -1.16251738e-03 9.99233203e-01 1.69526531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.390385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.29, Y:180.13, Z:16.95 [[ 6.12732587e-01 -7.89909919e-01 -2.45172785e-02 2.69288476e+02] [ 7.89320278e-01 6.13222551e-01 -3.05221460e-02 1.80125414e+02] [ 3.91442940e-02 -6.50071636e-04 9.99233357e-01 1.69536019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.420385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:269.31, Y:180.15, Z:16.95 [[ 6.11597333e-01 -7.90789490e-01 -2.45088630e-02 2.69306333e+02] [ 7.90200283e-01 6.12087820e-01 -3.05289021e-02 1.80146887e+02] [ 3.91435114e-02 -6.95515341e-04 9.99233357e-01 1.69540800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.450385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:269.32, Y:180.17, Z:16.95 [[ 6.11016632e-01 -7.91238524e-01 -2.45004766e-02 2.69323631e+02] [ 7.90649408e-01 6.11507227e-01 -3.05356310e-02 1.80168952e+02] [ 3.91431861e-02 -7.13508956e-04 9.99233357e-01 1.69546311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.480385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:269.34, Y:180.19, Z:16.95 [[ 6.11281438e-01 -7.91034226e-01 -2.44919749e-02 2.69341177e+02] [ 7.90444673e-01 6.11771508e-01 -3.05424484e-02 1.80190505e+02] [ 3.91436145e-02 -6.89519335e-04 9.99233357e-01 1.69548600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.510385723 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:269.36, Y:180.21, Z:16.96 [[ 6.11902776e-01 -7.90553952e-01 -2.44834888e-02 2.69359531e+02] [ 7.89963742e-01 6.12392055e-01 -3.05492496e-02 1.80212252e+02] [ 3.91443240e-02 -6.47897844e-04 9.99233357e-01 1.69561338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.540385723 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:269.38, Y:180.23, Z:16.96 [[ 6.12547631e-01 -7.90054666e-01 -2.44749947e-02 2.69376583e+02] [ 7.89463786e-01 6.13036099e-01 -3.05560533e-02 1.80232793e+02] [ 3.91450077e-02 -6.05083886e-04 9.99233357e-01 1.69571711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.570385723 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:269.39, Y:180.25, Z:16.95 [[ 6.11815365e-01 -7.90622008e-01 -2.44703955e-02 2.69390751e+02] [ 7.90031433e-01 6.12304203e-01 -3.05597361e-02 1.80254694e+02] [ 3.91445259e-02 -6.35465522e-04 9.99233357e-01 1.69528562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.600385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:269.41, Y:180.28, Z:16.95 [[ 6.13579330e-01 -7.89261425e-01 -2.42241286e-02 2.69410472e+02] [ 7.88661963e-01 6.14057284e-01 -3.07564668e-02 1.80277234e+02] [ 3.91498955e-02 -2.33116529e-04 9.99233322e-01 1.69545018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.630385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.43, Y:180.30, Z:16.96 [[ 6.16428113e-01 -7.87033479e-01 -2.43861434e-02 2.69429677e+02] [ 7.86437391e-01 6.16910215e-01 -3.06270731e-02 1.80298246e+02] [ 3.91485929e-02 -2.98786093e-04 9.99233355e-01 1.69583262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.660385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:269.45, Y:180.32, Z:16.96 [[ 6.17174123e-01 -7.86447400e-01 -2.44251804e-02 2.69447337e+02] [ 7.85852085e-01 6.17657178e-01 -3.05959093e-02 1.80319968e+02] [ 3.91484613e-02 -3.11575448e-04 9.99233357e-01 1.69587741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.690385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:269.46, Y:180.34, Z:16.95 [[ 6.17055418e-01 -7.86540797e-01 -2.44169290e-02 2.69464616e+02] [ 7.85945295e-01 6.17538242e-01 -3.06024929e-02 1.80343125e+02] [ 3.91484966e-02 -3.06936471e-04 9.99233357e-01 1.69549723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.720385723 meters Centerline goodness : 0.999118 Centerline is valid? [True, True] Translation: X:269.48, Y:180.36, Z:16.96 [[ 6.18300039e-01 -7.85563335e-01 -2.43989389e-02 2.69483100e+02] [ 7.84966504e-01 6.18781219e-01 -3.06168388e-02 1.80363749e+02] [ 3.91490711e-02 -2.21957123e-04 9.99233357e-01 1.69597371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.750385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.50, Y:180.39, Z:16.96 [[ 6.17911074e-01 -7.85868555e-01 -2.44237186e-02 2.69502279e+02] [ 7.85272742e-01 6.18393515e-01 -3.05970855e-02 1.80386003e+02] [ 3.91487566e-02 -2.73002494e-04 9.99233356e-01 1.69599934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.780385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:269.52, Y:180.41, Z:16.96 [[ 6.17847557e-01 -7.85917162e-01 -2.44665157e-02 2.69519974e+02] [ 7.85322734e-01 6.18331711e-01 -3.05630188e-02 1.80407815e+02] [ 3.91484235e-02 -3.30824528e-04 9.99233352e-01 1.69608403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.810385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.54, Y:180.43, Z:16.97 [[ 6.18721924e-01 -7.85229445e-01 -2.44519608e-02 2.69536921e+02] [ 7.84634022e-01 6.19204850e-01 -3.05746020e-02 1.80428142e+02] [ 3.91488505e-02 -2.68663782e-04 9.99233354e-01 1.69650798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.840385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.55, Y:180.45, Z:16.96 [[ 6.19686409e-01 -7.84469096e-01 -2.44334309e-02 2.69553610e+02] [ 7.83872498e-01 6.20167880e-01 -3.05893465e-02 1.80448502e+02] [ 3.91492260e-02 -1.96892229e-04 9.99233356e-01 1.69646925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.870385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.57, Y:180.47, Z:16.97 [[ 6.18013085e-01 -7.85790035e-01 -2.43689899e-02 2.69573380e+02] [ 7.85192443e-01 6.18493316e-01 -3.06405977e-02 1.80471350e+02] [ 3.91491337e-02 -1.98056374e-04 9.99233359e-01 1.69676332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.900385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:269.59, Y:180.49, Z:16.97 [[ 6.17643395e-01 -7.86076039e-01 -2.45173023e-02 2.69589428e+02] [ 7.85483332e-01 6.18129676e-01 -3.05227683e-02 1.80492060e+02] [ 3.91480890e-02 -4.05746054e-04 9.99233337e-01 1.69695943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.930385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:269.61, Y:180.51, Z:16.97 [[ 6.17332059e-01 -7.86326055e-01 -2.43405948e-02 2.69611363e+02] [ 7.85727994e-01 6.17811700e-01 -3.06630416e-02 1.80514902e+02] [ 3.91490528e-02 -1.95808173e-04 9.99233363e-01 1.69687658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.960385723 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:269.63, Y:180.54, Z:16.97 [[ 6.16564071e-01 -7.86922667e-01 -2.45247304e-02 2.69629711e+02] [ 7.86330859e-01 6.17051454e-01 -3.05169290e-02 1.80536726e+02] [ 3.91474836e-02 -4.68910352e-04 9.99233333e-01 1.69702572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.990385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.65, Y:180.56, Z:16.97 [[ 6.15716811e-01 -7.87586925e-01 -2.44876435e-02 2.69647606e+02] [ 7.86994473e-01 6.16203393e-01 -3.05463211e-02 1.80557957e+02] [ 3.91472521e-02 -4.63756696e-04 9.99233345e-01 1.69718629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.020385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.67, Y:180.58, Z:16.97 [[ 6.14687661e-01 -7.88391081e-01 -2.44659743e-02 2.69665070e+02] [ 7.87798583e-01 6.15174176e-01 -3.05634839e-02 1.80578279e+02] [ 3.91468137e-02 -4.87263503e-04 9.99233351e-01 1.69710955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.050385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.68, Y:180.60, Z:16.97 [[ 6.15152014e-01 -7.88031312e-01 -2.43854632e-02 2.69684684e+02] [ 7.87435999e-01 6.15635054e-01 -3.06272327e-02 1.80599786e+02] [ 3.91477643e-02 -3.61587754e-04 9.99233367e-01 1.69733602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.080385723 meters Centerline goodness : 0.999844 Centerline is valid? [True, True] Translation: X:269.70, Y:180.62, Z:16.97 [[ 6.15531081e-01 -7.87732909e-01 -2.44612555e-02 2.69701418e+02] [ 7.87139741e-01 6.16016778e-01 -3.05672404e-02 1.80618739e+02] [ 3.91473650e-02 -4.39339810e-04 9.99233352e-01 1.69728729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.110385723 meters Centerline goodness : 0.999264 Centerline is valid? [True, True] Translation: X:269.72, Y:180.64, Z:16.97 [[ 6.15527546e-01 -7.87741136e-01 -2.42846217e-02 2.69718966e+02] [ 7.87142444e-01 6.16006377e-01 -3.07069327e-02 1.80640295e+02] [ 3.91485959e-02 -2.14493498e-04 9.99233377e-01 1.69737552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.140385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.74, Y:180.66, Z:16.98 [[ 6.16716094e-01 -7.86809985e-01 -2.43168068e-02 2.69736176e+02] [ 7.86211572e-01 6.17195277e-01 -3.06814890e-02 1.80661603e+02] [ 3.91487202e-02 -1.96386850e-04 9.99233376e-01 1.69768739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.170385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.75, Y:180.68, Z:16.98 [[ 6.16756124e-01 -7.86780005e-01 -2.42715176e-02 2.69753804e+02] [ 7.86180161e-01 6.17233509e-01 -3.07172748e-02 1.80682910e+02] [ 3.91489316e-02 -1.36718227e-04 9.99233377e-01 1.69777325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.200385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.77, Y:180.71, Z:16.98 [[ 6.15898153e-01 -7.87452071e-01 -2.42631651e-02 2.69772284e+02] [ 7.86852487e-01 6.16375865e-01 -3.07238709e-02 1.80705101e+02] [ 3.91488051e-02 -1.68756437e-04 9.99233377e-01 1.69773183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.230385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.79, Y:180.72, Z:16.98 [[ 6.17227933e-01 -7.86409409e-01 -2.42882682e-02 2.69791450e+02] [ 7.85809798e-01 6.17705612e-01 -3.07040535e-02 1.80724086e+02] [ 3.91489561e-02 -1.34559647e-04 9.99233377e-01 1.69810616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.260385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.81, Y:180.74, Z:16.98 [[ 6.16376274e-01 -7.87078255e-01 -2.42509857e-02 2.69810091e+02] [ 7.86478003e-01 6.16853146e-01 -3.07334722e-02 1.80744790e+02] [ 3.91489445e-02 -1.29483748e-04 9.99233378e-01 1.69816897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.290385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.83, Y:180.77, Z:16.98 [[ 6.16458711e-01 -7.87012058e-01 -2.43038742e-02 2.69827945e+02] [ 7.86413398e-01 6.16937585e-01 -3.06917546e-02 1.80766165e+02] [ 3.91487544e-02 -1.92692797e-04 9.99233375e-01 1.69847367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.320385723 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:269.84, Y:180.79, Z:16.98 [[ 6.15402815e-01 -7.87840111e-01 -2.42349864e-02 2.69844981e+02] [ 7.87239954e-01 6.15879805e-01 -3.07460543e-02 1.80787432e+02] [ 3.91488135e-02 -1.57541219e-04 9.99233379e-01 1.69832586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.350385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.86, Y:180.81, Z:16.99 [[ 6.15301880e-01 -7.87919122e-01 -2.42291783e-02 2.69861488e+02] [ 7.87318847e-01 6.15778720e-01 -3.07506306e-02 1.80808184e+02] [ 3.91488223e-02 -1.55167845e-04 9.99233379e-01 1.69859147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.380385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.88, Y:180.83, Z:16.99 [[ 6.14756130e-01 -7.88345236e-01 -2.42216617e-02 2.69879705e+02] [ 7.87745058e-01 6.15233093e-01 -3.07565501e-02 1.80830118e+02] [ 3.91487477e-02 -1.72716566e-04 9.99233379e-01 1.69865338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.410385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.90, Y:180.85, Z:16.99 [[ 6.14253155e-01 -7.88737455e-01 -2.42133951e-02 2.69897466e+02] [ 7.88137325e-01 6.14730178e-01 -3.07630568e-02 1.80851726e+02] [ 3.91486798e-02 -1.87175748e-04 9.99233379e-01 1.69877080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.440385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.91, Y:180.87, Z:16.99 [[ 6.13335051e-01 -7.89451854e-01 -2.42050665e-02 2.69914777e+02] [ 7.88852021e-01 6.13812447e-01 -3.07696085e-02 1.80872114e+02] [ 3.91484956e-02 -2.22136253e-04 9.99233379e-01 1.69882635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.470385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.93, Y:180.89, Z:16.99 [[ 6.12775855e-01 -7.89886212e-01 -2.41976168e-02 2.69932174e+02] [ 7.89286485e-01 6.13253385e-01 -3.07754659e-02 1.80894107e+02] [ 3.91483866e-02 -2.40389468e-04 9.99233379e-01 1.69892942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.500385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.95, Y:180.92, Z:16.99 [[ 6.11977378e-01 -7.90505256e-01 -2.41894310e-02 2.69948857e+02] [ 7.89905759e-01 6.12455196e-01 -3.07818986e-02 1.80916627e+02] [ 3.91481953e-02 -2.69545214e-04 9.99233379e-01 1.69907239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.530385723 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:269.96, Y:180.94, Z:16.99 [[ 6.11682188e-01 -7.90733949e-01 -2.41810322e-02 2.69964653e+02] [ 7.90134370e-01 6.12159903e-01 -3.07884949e-02 1.80938225e+02] [ 3.91481665e-02 -2.73490697e-04 9.99233379e-01 1.69909028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.560385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:269.98, Y:180.96, Z:16.99 [[ 6.11199438e-01 -7.91107382e-01 -2.41734743e-02 2.69980812e+02] [ 7.90507860e-01 6.11677224e-01 -3.07944279e-02 1.80961546e+02] [ 3.91480629e-02 -2.87784460e-04 9.99233379e-01 1.69922745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.590385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.00, Y:180.98, Z:16.99 [[ 6.10673422e-01 -7.91513746e-01 -2.41652991e-02 2.69998074e+02] [ 7.90914288e-01 6.11151288e-01 -3.08008419e-02 1.80984168e+02] [ 3.91479434e-02 -3.03424806e-04 9.99233379e-01 1.69933923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.620385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.01, Y:181.01, Z:16.99 [[ 6.09791549e-01 -7.92193602e-01 -2.41570790e-02 2.70014693e+02] [ 7.91594421e-01 6.10269764e-01 -3.08072875e-02 1.81005817e+02] [ 3.91476709e-02 -3.36585405e-04 9.99233379e-01 1.69947570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.650385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.03, Y:181.03, Z:17.00 [[ 6.09435573e-01 -7.92467714e-01 -2.41496472e-02 2.70030905e+02] [ 7.91868517e-01 6.09913767e-01 -3.08131122e-02 1.81027242e+02] [ 3.91475989e-02 -3.44738599e-04 9.99233379e-01 1.69958780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.680385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.05, Y:181.05, Z:17.00 [[ 6.09784139e-01 -7.92199757e-01 -2.41422629e-02 2.70046794e+02] [ 7.91600121e-01 6.10261783e-01 -3.08188968e-02 1.81049884e+02] [ 3.91478229e-02 -3.18143772e-04 9.99233380e-01 1.69969623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.710385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.06, Y:181.07, Z:17.00 [[ 6.11405133e-01 -7.90949622e-01 -2.41342067e-02 2.70061694e+02] [ 7.90348760e-01 6.11881234e-01 -3.08252042e-02 1.81070790e+02] [ 3.91484518e-02 -2.27752321e-04 9.99233380e-01 1.69964364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.740385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.08, Y:181.10, Z:17.00 [[ 6.11760873e-01 -7.90680430e-01 -2.39393483e-02 2.70079312e+02] [ 7.90073363e-01 6.12229089e-01 -3.09778036e-02 1.81096613e+02] [ 3.91499084e-02 3.71667812e-05 9.99233348e-01 1.69994816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.770385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.10, Y:181.12, Z:17.00 [[ 6.12389514e-01 -7.90187640e-01 -2.41366055e-02 2.70095458e+02] [ 7.89586260e-01 6.12864960e-01 -3.08233404e-02 1.81118498e+02] [ 3.91487024e-02 -1.82041667e-04 9.99233379e-01 1.69998572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.800385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:270.11, Y:181.14, Z:17.00 [[ 6.14030042e-01 -7.88913661e-01 -2.41318049e-02 2.70112156e+02] [ 7.88311146e-01 6.14504050e-01 -3.08270984e-02 1.81141154e+02] [ 3.91490108e-02 -9.46062498e-05 9.99233379e-01 1.70011983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.830385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.13, Y:181.16, Z:17.00 [[ 6.14419743e-01 -7.88610450e-01 -2.41233904e-02 2.70127928e+02] [ 7.88007442e-01 6.14893125e-01 -3.08336816e-02 1.81163646e+02] [ 3.91490704e-02 -6.45884154e-05 9.99233379e-01 1.70030464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.860385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.14, Y:181.19, Z:17.00 [[ 6.14908635e-01 -7.88229452e-01 -2.41184844e-02 2.70143477e+02] [ 7.87626001e-01 6.15381450e-01 -3.08375187e-02 1.81185886e+02] [ 3.91491084e-02 -3.40888550e-05 9.99233379e-01 1.70042018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.890385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.16, Y:181.21, Z:17.01 [[ 6.14891881e-01 -7.88242666e-01 -2.41137653e-02 2.70160436e+02] [ 7.87639081e-01 6.15364524e-01 -3.08412084e-02 1.81208817e+02] [ 3.91491121e-02 -2.89353676e-05 9.99233379e-01 1.70052904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.920385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.18, Y:181.23, Z:17.01 [[ 6.15129490e-01 -7.88057512e-01 -2.41053683e-02 2.70177770e+02] [ 7.87453527e-01 6.15601623e-01 -3.08477701e-02 1.81231020e+02] [ 3.91491208e-02 -6.48420265e-06 9.99233379e-01 1.70078646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.950385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.19, Y:181.25, Z:17.01 [[ 6.14385822e-01 -7.88637693e-01 -2.40966951e-02 2.70192899e+02] [ 7.88033888e-01 6.14858186e-01 -3.08545436e-02 1.81254066e+02] [ 3.91491063e-02 -3.24182131e-05 9.99233379e-01 1.70085513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.980385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.21, Y:181.28, Z:17.01 [[ 6.14581476e-01 -7.88485487e-01 -2.40882945e-02 2.70210794e+02] [ 7.87881308e-01 6.15053361e-01 -3.08611007e-02 1.81276782e+02] [ 3.91491164e-02 -1.20561611e-05 9.99233379e-01 1.70105352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.010385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.23, Y:181.30, Z:17.01 [[ 6.13363655e-01 -7.89433335e-01 -2.40839406e-02 2.70225776e+02] [ 7.88829752e-01 6.13836302e-01 -3.08644981e-02 1.81300376e+02] [ 3.91490606e-02 -6.69675218e-05 9.99233379e-01 1.70102833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.040385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.24, Y:181.32, Z:17.01 [[ 6.12195457e-01 -7.90339741e-01 -2.40793952e-02 2.70241561e+02] [ 7.89736718e-01 6.12668818e-01 -3.08680438e-02 1.81322493e+02] [ 3.91489363e-02 -1.19106315e-04 9.99233379e-01 1.70109068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.070385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:270.26, Y:181.34, Z:17.01 [[ 6.11171763e-01 -7.91131776e-01 -2.40746666e-02 2.70258049e+02] [ 7.90529221e-01 6.11645720e-01 -3.08717313e-02 1.81344724e+02] [ 3.91487744e-02 -1.63796988e-04 9.99233379e-01 1.70119662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.100385723 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:270.27, Y:181.37, Z:17.01 [[ 6.09528756e-01 -7.92398579e-01 -2.40663409e-02 2.70273976e+02] [ 7.91796753e-01 6.10003637e-01 -3.08782203e-02 1.81367704e+02] [ 3.91484134e-02 -2.34487351e-04 9.99233380e-01 1.70122490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.130385723 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:270.29, Y:181.39, Z:17.01 [[ 6.08477368e-01 -7.93206469e-01 -2.40580733e-02 2.70290392e+02] [ 7.92605019e-01 6.08952726e-01 -3.08846604e-02 1.81390878e+02] [ 3.91481418e-02 -2.75932782e-04 9.99233380e-01 1.70128286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.160385723 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:270.31, Y:181.41, Z:17.01 [[ 6.06580329e-01 -7.94658362e-01 -2.40498022e-02 2.70305453e+02] [ 7.94057794e-01 6.07056801e-01 -3.08910998e-02 1.81413783e+02] [ 3.91474668e-02 -3.58999362e-04 9.99233380e-01 1.70128664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.190385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:270.32, Y:181.44, Z:17.01 [[ 6.05357124e-01 -7.95590784e-01 -2.40428389e-02 2.70321959e+02] [ 7.94990735e-01 6.05834249e-01 -3.08965185e-02 1.81436326e+02] [ 3.91469606e-02 -4.10406570e-04 9.99233380e-01 1.70133720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.220385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:270.34, Y:181.46, Z:17.01 [[ 6.05149027e-01 -7.95749324e-01 -2.40347561e-02 2.70339428e+02] [ 7.95149150e-01 6.05625995e-01 -3.09028049e-02 1.81458924e+02] [ 3.91469592e-02 -4.10413583e-04 9.99233380e-01 1.70144871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.250385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.36, Y:181.48, Z:17.02 [[ 6.03926002e-01 -7.96678168e-01 -2.40266661e-02 2.70355501e+02] [ 7.96078478e-01 6.04403578e-01 -3.09090935e-02 1.81480798e+02] [ 3.91464030e-02 -4.60306514e-04 9.99233380e-01 1.70155035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.280385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:270.37, Y:181.50, Z:17.02 [[ 6.03252246e-01 -7.97188682e-01 -2.40194444e-02 2.70372047e+02] [ 7.96589172e-01 6.03730048e-01 -3.09147045e-02 1.81503434e+02] [ 3.91461128e-02 -4.84264381e-04 9.99233380e-01 1.70172250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.310385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:270.39, Y:181.53, Z:17.02 [[ 6.02294702e-01 -7.97912617e-01 -2.40114015e-02 2.70386067e+02] [ 7.97313433e-01 6.02772912e-01 -3.09209501e-02 1.81526274e+02] [ 3.91456387e-02 -5.21088546e-04 9.99233380e-01 1.70185108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.340385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:270.40, Y:181.55, Z:17.01 [[ 5.99310904e-01 -8.00156282e-01 -2.40075786e-02 2.70397769e+02] [ 7.99558770e-01 5.99791201e-01 -3.09239181e-02 1.81549669e+02] [ 3.91435017e-02 -6.62428685e-04 9.99233380e-01 1.70142591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.370385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:270.42, Y:181.57, Z:17.02 [[ 6.00512972e-01 -7.99261487e-01 -2.37749090e-02 2.70417191e+02] [ 7.98656083e-01 6.00983344e-01 -3.11043510e-02 1.81572567e+02] [ 3.91488342e-02 -3.09409437e-04 9.99233343e-01 1.70203414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.400385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.43, Y:181.60, Z:17.02 [[ 5.98589759e-01 -8.00696291e-01 -2.39947926e-02 2.70433816e+02] [ 8.00098816e-01 5.99070100e-01 -3.09337932e-02 1.81595619e+02] [ 3.91431363e-02 -6.81553302e-04 9.99233381e-01 1.70170087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.430385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:270.45, Y:181.62, Z:17.02 [[ 5.98490827e-01 -8.00772906e-01 -2.39057098e-02 2.70451643e+02] [ 8.00172731e-01 5.98967799e-01 -3.10028573e-02 1.81617428e+02] [ 3.91449985e-02 -5.73771372e-04 9.99233376e-01 1.70238714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.460385723 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:270.47, Y:181.64, Z:17.03 [[ 5.97925964e-01 -8.01192453e-01 -2.39832213e-02 2.70467336e+02] [ 8.00595016e-01 5.98406354e-01 -3.09427797e-02 1.81640691e+02] [ 3.91428336e-02 -6.99356051e-04 9.99233381e-01 1.70253956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.490385723 meters Centerline goodness : 0.999714 Centerline is valid? [True, True] Translation: X:270.48, Y:181.66, Z:17.03 [[ 5.97816740e-01 -8.01274201e-01 -2.39750184e-02 2.70482363e+02] [ 8.00676575e-01 5.98296894e-01 -3.09491342e-02 1.81663932e+02] [ 3.91429218e-02 -6.94325137e-04 9.99233381e-01 1.70271080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.520385723 meters Centerline goodness : 0.999781 Centerline is valid? [True, True] Translation: X:270.50, Y:181.69, Z:17.03 [[ 5.98905952e-01 -8.00460658e-01 -2.39665570e-02 2.70496510e+02] [ 7.99862118e-01 5.99384966e-01 -3.09556852e-02 1.81688490e+02] [ 3.91440021e-02 -6.30396899e-04 9.99233381e-01 1.70283561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.550385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:270.51, Y:181.71, Z:17.03 [[ 5.99812315e-01 -7.99781972e-01 -2.39579861e-02 2.70512261e+02] [ 7.99182625e-01 6.00290319e-01 -3.09623172e-02 1.81710673e+02] [ 3.91448502e-02 -5.75227021e-04 9.99233381e-01 1.70299568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.580385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.53, Y:181.73, Z:17.03 [[ 6.02452620e-01 -7.97795140e-01 -2.39532000e-02 2.70527859e+02] [ 7.97194069e-01 6.02928455e-01 -3.09660194e-02 1.81733840e+02] [ 3.91466056e-02 -4.39789519e-04 9.99233381e-01 1.70332523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.610385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.54, Y:181.76, Z:17.03 [[ 6.05474180e-01 -7.95504665e-01 -2.39446530e-02 2.70540742e+02] [ 7.94901532e-01 6.05947399e-01 -3.09726270e-02 1.81757419e+02] [ 3.91480694e-02 -2.80515405e-04 9.99233381e-01 1.70344078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.640385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.56, Y:181.78, Z:17.03 [[ 6.06458755e-01 -7.94754463e-01 -2.39399618e-02 2.70555893e+02] [ 7.94150603e-01 6.06931044e-01 -3.09762526e-02 1.81781762e+02] [ 3.91484210e-02 -2.26115491e-04 9.99233381e-01 1.70348421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.670385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:270.57, Y:181.81, Z:17.04 [[ 6.07365696e-01 -7.94061833e-01 -2.39314970e-02 2.70570995e+02] [ 7.93457176e-01 6.07836965e-01 -3.09827909e-02 1.81805373e+02] [ 3.91487002e-02 -1.70733645e-04 9.99233381e-01 1.70352669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.700385723 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:270.58, Y:181.83, Z:17.04 [[ 6.08342837e-01 -7.93313734e-01 -2.39230264e-02 2.70584709e+02] [ 7.92708241e-01 6.08813031e-01 -3.09893300e-02 1.81828660e+02] [ 3.91489113e-02 -1.11843169e-04 9.99233381e-01 1.70356346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.730385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.60, Y:181.85, Z:17.04 [[ 6.06894044e-01 -7.94422757e-01 -2.39186533e-02 2.70600939e+02] [ 7.93817990e-01 6.07365171e-01 -3.09927049e-02 1.81851444e+02] [ 3.91486671e-02 -1.77769243e-04 9.99233381e-01 1.70369451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.760385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:270.62, Y:181.87, Z:17.04 [[ 6.05466232e-01 -7.95511751e-01 -2.39101689e-02 2.70617463e+02] [ 7.94907573e-01 6.05938114e-01 -3.09992491e-02 1.81873778e+02] [ 3.91483496e-02 -2.37375781e-04 9.99233381e-01 1.70382172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.790385723 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:270.63, Y:181.90, Z:17.03 [[ 5.99393238e-01 -8.00097781e-01 -2.39016157e-02 2.70628201e+02] [ 7.99496950e-01 5.99869374e-01 -3.10058426e-02 1.81898616e+02] [ 3.91455531e-02 -5.24576455e-04 9.99233381e-01 1.70319468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.820385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.65, Y:181.92, Z:17.04 [[ 6.00974576e-01 -7.98917811e-01 -2.36620133e-02 2.70648056e+02] [ 7.98308743e-01 6.01440197e-01 -3.11903796e-02 1.81920977e+02] [ 3.91498357e-02 -1.44966972e-04 9.99233341e-01 1.70381924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.850385723 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:270.66, Y:181.94, Z:17.04 [[ 5.99485527e-01 -8.00028980e-01 -2.38900271e-02 2.70664160e+02] [ 7.99427739e-01 5.99961145e-01 -3.10147472e-02 1.81943530e+02] [ 3.91457846e-02 -5.05458300e-04 9.99233382e-01 1.70375641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.880385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:270.68, Y:181.97, Z:17.04 [[ 5.98041746e-01 -8.01109070e-01 -2.38815255e-02 2.70680953e+02] [ 8.00508427e-01 5.98518118e-01 -3.10212921e-02 1.81966478e+02] [ 3.91449642e-02 -5.65334729e-04 9.99233382e-01 1.70414745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.910385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:270.70, Y:181.99, Z:17.04 [[ 5.97623678e-01 -8.01421218e-01 -2.38740440e-02 2.70695700e+02] [ 8.00820594e-01 5.98100074e-01 -3.10270488e-02 1.81989764e+02] [ 3.91448028e-02 -5.76327097e-04 9.99233382e-01 1.70430220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.940385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:270.71, Y:182.01, Z:17.04 [[ 5.97118754e-01 -8.01799028e-01 -2.38225214e-02 2.70712242e+02] [ 8.01197123e-01 5.97593534e-01 -3.10666712e-02 1.82013798e+02] [ 3.91454115e-02 -5.36043553e-04 9.99233381e-01 1.70434122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.970385723 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:270.73, Y:182.04, Z:17.04 [[ 5.97336497e-01 -8.01635721e-01 -2.38595922e-02 2.70728607e+02] [ 8.01034823e-01 5.97812549e-01 -3.10381743e-02 1.82037075e+02] [ 3.91448729e-02 -5.72129845e-04 9.99233382e-01 1.70435736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.000385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:270.74, Y:182.06, Z:17.04 [[ 5.93448462e-01 -8.04518525e-01 -2.38509023e-02 2.70738129e+02] [ 8.03919671e-01 5.93927083e-01 -3.10448505e-02 1.82060854e+02] [ 3.91418542e-02 -7.50690799e-04 9.99233382e-01 1.70361117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.030385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.76, Y:182.08, Z:17.04 [[ 5.97380979e-01 -8.01613343e-01 -2.34949702e-02 2.70760362e+02] [ 8.01001337e-01 5.97842819e-01 -3.13180753e-02 1.82084144e+02] [ 3.91512863e-02 -1.10680053e-04 9.99233288e-01 1.70433452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.060385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.78, Y:182.11, Z:17.04 [[ 5.97138844e-01 -8.01783364e-01 -2.38461365e-02 2.70775980e+02] [ 8.01182177e-01 5.97614523e-01 -3.10483733e-02 1.82108057e+02] [ 3.91448667e-02 -5.64909796e-04 9.99233386e-01 1.70441743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.090385723 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:270.79, Y:182.13, Z:17.04 [[ 5.96621678e-01 -8.02168527e-01 -2.38375357e-02 2.70792360e+02] [ 8.01567383e-01 5.97097412e-01 -3.10549752e-02 1.82130805e+02] [ 3.91446546e-02 -5.79319760e-04 9.99233386e-01 1.70446295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.120385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:270.80, Y:182.15, Z:17.04 [[ 5.91542418e-01 -8.05921676e-01 -2.38289897e-02 2.70802161e+02] [ 8.05323286e-01 5.92021610e-01 -3.10615313e-02 1.82153960e+02] [ 3.91404382e-02 -8.15826893e-04 9.99233386e-01 1.70379110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.150385723 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:270.82, Y:182.18, Z:17.04 [[ 5.91633267e-01 -8.05867965e-01 -2.33858927e-02 2.70819247e+02] [ 8.05255997e-01 5.92095227e-01 -3.14009802e-02 1.82176202e+02] [ 3.91517195e-02 -2.53765870e-04 9.99233245e-01 1.70391648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.180385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.84, Y:182.20, Z:17.05 [[ 5.95510662e-01 -8.03005870e-01 -2.34227366e-02 2.70842739e+02] [ 8.02392789e-01 5.95971108e-01 -3.13727700e-02 1.82198996e+02] [ 3.91517928e-02 -1.11415934e-04 9.99233268e-01 1.70463955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.210385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.85, Y:182.22, Z:17.04 [[ 5.92966224e-01 -8.04875308e-01 -2.38074743e-02 2.70852599e+02] [ 8.04275409e-01 5.93443528e-01 -3.10780459e-02 1.82221117e+02] [ 3.91423433e-02 -7.19534611e-04 9.99233386e-01 1.70417680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.240385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.88, Y:182.24, Z:17.05 [[ 5.99043234e-01 -8.00374603e-01 -2.34029717e-02 2.70875014e+02] [ 7.99758920e-01 5.99500198e-01 -3.13876043e-02 1.82244461e+02] [ 3.91519275e-02 8.57966695e-05 9.99233266e-01 1.70483546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.270385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.89, Y:182.27, Z:17.05 [[ 6.00112358e-01 -7.99561475e-01 -2.38034884e-02 2.70891920e+02] [ 7.98957236e-01 6.00584144e-01 -3.10808723e-02 1.82267133e+02] [ 3.91470658e-02 -3.65953766e-04 9.99233393e-01 1.70500481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.300385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.91, Y:182.29, Z:17.05 [[ 6.02064660e-01 -7.98092685e-01 -2.37951984e-02 2.70907814e+02] [ 7.97487045e-01 6.02534645e-01 -3.10872177e-02 1.82288736e+02] [ 3.91479125e-02 -2.59847338e-04 9.99233393e-01 1.70525064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.330385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.93, Y:182.31, Z:17.05 [[ 6.03530375e-01 -7.96988382e-01 -2.36770999e-02 2.70925110e+02] [ 7.96378328e-01 6.03994634e-01 -3.11775786e-02 1.82312910e+02] [ 3.91490092e-02 -3.93134924e-05 9.99233383e-01 1.70542548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.360385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.94, Y:182.34, Z:17.06 [[ 6.04259935e-01 -7.96432059e-01 -2.37888031e-02 2.70941966e+02] [ 7.95824934e-01 6.04728001e-01 -3.10921141e-02 1.82335595e+02] [ 3.91485118e-02 -1.44003764e-04 9.99233393e-01 1.70556467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.390385723 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:270.96, Y:182.36, Z:17.06 [[ 6.04354756e-01 -7.96360366e-01 -2.37801580e-02 2.70958464e+02] [ 7.95752926e-01 6.04822413e-01 -3.10987247e-02 1.82357370e+02] [ 3.91485643e-02 -1.28468126e-04 9.99233393e-01 1.70564342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.420385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.98, Y:182.38, Z:17.06 [[ 6.04083372e-01 -7.96566391e-01 -2.37753033e-02 2.70975575e+02] [ 7.95958964e-01 6.04551046e-01 -3.11024357e-02 1.82379501e+02] [ 3.91485395e-02 -1.35701557e-04 9.99233393e-01 1.70585256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.450385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:270.99, Y:182.40, Z:17.06 [[ 6.03725358e-01 -7.96838300e-01 -2.37574329e-02 2.70992742e+02] [ 7.96230546e-01 6.04192607e-01 -3.11160891e-02 1.82401914e+02] [ 3.91485569e-02 -1.30821723e-04 9.99233393e-01 1.70574779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.480385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.01, Y:182.42, Z:17.06 [[ 6.02953343e-01 -7.97422429e-01 -2.37641839e-02 2.71009971e+02] [ 7.96815331e-01 6.03421443e-01 -3.11109323e-02 1.82424522e+02] [ 3.91483734e-02 -1.77225438e-04 9.99233393e-01 1.70594302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.510385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.02, Y:182.45, Z:17.06 [[ 5.99591906e-01 -7.99953938e-01 -2.37327739e-02 2.71024843e+02] [ 7.99347866e-01 6.00061336e-01 -3.11349178e-02 1.82447317e+02] [ 3.91476201e-02 -3.02497453e-04 9.99233392e-01 1.70588188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.540385723 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:271.05, Y:182.47, Z:17.06 [[ 6.01442078e-01 -7.98569137e-01 -2.35533281e-02 2.71045529e+02] [ 7.97956602e-01 6.01903092e-01 -3.12718508e-02 1.82469599e+02] [ 3.91495560e-02 1.36732554e-05 9.99233362e-01 1.70608099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.570385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.05, Y:182.49, Z:17.06 [[ 5.96661294e-01 -8.02141622e-01 -2.37511884e-02 2.71054329e+02] [ 8.01537831e-01 5.97133653e-01 -3.11208470e-02 1.82490112e+02] [ 3.91459605e-02 -4.68871191e-04 9.99233393e-01 1.70563181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.600385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.07, Y:182.51, Z:17.06 [[ 5.97502389e-01 -8.01528310e-01 -2.33080103e-02 2.71073180e+02] [ 8.00910707e-01 5.97956814e-01 -3.14593011e-02 1.82511936e+02] [ 3.91527040e-02 1.29372607e-04 9.99233231e-01 1.70600979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.630385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.09, Y:182.53, Z:17.06 [[ 5.96525148e-01 -8.02253910e-01 -2.33754277e-02 2.71093951e+02] [ 8.01638875e-01 5.96982967e-01 -3.14078086e-02 1.82533347e+02] [ 3.91517695e-02 -3.10387048e-06 9.99233276e-01 1.70621515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.660385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.12, Y:182.55, Z:17.06 [[ 5.97386541e-01 -8.01609132e-01 -2.34972531e-02 2.71116938e+02] [ 8.00997253e-01 5.97848465e-01 -3.13147566e-02 1.82554643e+02] [ 3.91499915e-02 -1.14221069e-04 9.99233339e-01 1.70645048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.690385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:271.13, Y:182.58, Z:17.07 [[ 5.96350252e-01 -8.02372385e-01 -2.37683088e-02 2.71134431e+02] [ 8.01769302e-01 5.96823508e-01 -3.11076549e-02 1.82576790e+02] [ 3.91454087e-02 -5.05642487e-04 9.99233397e-01 1.70658678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.720385723 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:271.15, Y:182.60, Z:17.06 [[ 5.94776648e-01 -8.03539797e-01 -2.37599087e-02 2.71152164e+02] [ 8.02937387e-01 5.95250760e-01 -3.11140696e-02 1.82599244e+02] [ 3.91444969e-02 -5.71797000e-04 9.99233397e-01 1.70649569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.750385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.17, Y:182.62, Z:17.07 [[ 5.93621228e-01 -8.04393999e-01 -2.37514852e-02 2.71169342e+02] [ 8.03792013e-01 5.94095879e-01 -3.11204985e-02 1.82619484e+02] [ 3.91438017e-02 -6.17465532e-04 9.99233397e-01 1.70673654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.780385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:271.18, Y:182.64, Z:17.06 [[ 5.87792769e-01 -8.08662940e-01 -2.37468080e-02 2.71176649e+02] [ 8.08064256e-01 5.88271579e-01 -3.11240671e-02 1.82640077e+02] [ 3.91384518e-02 -8.94445139e-04 9.99233397e-01 1.70632020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.810385723 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:271.21, Y:182.66, Z:17.07 [[ 5.91940345e-01 -8.05651133e-01 -2.30841736e-02 2.71206038e+02] [ 8.05030052e-01 5.92390270e-01 -3.16288412e-02 1.82662749e+02] [ 3.91566516e-02 1.38933713e-04 9.99233075e-01 1.70692867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.840385723 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:271.22, Y:182.68, Z:17.07 [[ 5.91668838e-01 -8.05831424e-01 -2.37424126e-02 2.71223416e+02] [ 8.05230340e-01 5.92144597e-01 -3.11267764e-02 1.82683968e+02] [ 3.91418759e-02 -7.01367288e-04 9.99233417e-01 1.70706219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.870385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.24, Y:182.71, Z:17.07 [[ 5.90965900e-01 -8.06347313e-01 -2.37342696e-02 2.71240437e+02] [ 8.05746395e-01 5.91441869e-01 -3.11329843e-02 1.82706106e+02] [ 3.91414390e-02 -7.25270083e-04 9.99233417e-01 1.70717096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.900385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:271.26, Y:182.73, Z:17.07 [[ 5.90997167e-01 -8.06324644e-01 -2.37258862e-02 2.71256728e+02] [ 8.05723451e-01 5.91472789e-01 -3.11393718e-02 1.82727336e+02] [ 3.91416589e-02 -7.13222446e-04 9.99233417e-01 1.70727755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.930385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:271.27, Y:182.75, Z:17.07 [[ 5.92228247e-01 -8.05421612e-01 -2.37008648e-02 2.71274117e+02] [ 8.04818931e-01 5.92701983e-01 -3.11584265e-02 1.82748545e+02] [ 3.91432197e-02 -6.22004401e-04 9.99233417e-01 1.70725638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.960385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.29, Y:182.77, Z:17.07 [[ 5.94600404e-01 -8.03671174e-01 -2.37276862e-02 2.71291973e+02] [ 8.03067913e-01 5.95073400e-01 -3.11380079e-02 1.82770166e+02] [ 3.91444343e-02 -5.40271315e-04 9.99233417e-01 1.70720159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.990385723 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:271.31, Y:182.79, Z:17.07 [[ 5.95969752e-01 -8.02655027e-01 -2.37689540e-02 2.71308684e+02] [ 8.02052209e-01 5.96443319e-01 -3.11066138e-02 1.82792132e+02] [ 3.91447138e-02 -5.25341194e-04 9.99233414e-01 1.70744116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.020385723 meters Centerline goodness : 0.999632 Centerline is valid? [True, True] Translation: X:271.33, Y:182.81, Z:17.08 [[ 5.97335365e-01 -8.01641513e-01 -2.36927435e-02 2.71325661e+02] [ 8.01035591e-01 5.97804945e-01 -3.11645528e-02 1.82813387e+02] [ 3.91464385e-02 -3.63041293e-04 9.99233418e-01 1.70755391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.050385723 meters Centerline goodness : 0.999653 Centerline is valid? [True, True] Translation: X:271.34, Y:182.84, Z:17.08 [[ 5.96487257e-01 -8.02272950e-01 -2.36868352e-02 2.71339784e+02] [ 8.01667346e-01 5.96957248e-01 -3.11690428e-02 1.82835017e+02] [ 3.91461079e-02 -3.97025514e-04 9.99233418e-01 1.70751344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.080385723 meters Centerline goodness : 0.999545 Centerline is valid? [True, True] Translation: X:271.36, Y:182.86, Z:17.08 [[ 5.97834256e-01 -8.01276384e-01 -2.34597175e-02 2.71360003e+02] [ 8.00663198e-01 5.98294370e-01 -3.13414910e-02 1.82856964e+02] [ 3.91490135e-02 -4.63154508e-05 9.99233382e-01 1.70802850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.110385723 meters Centerline goodness : 0.999718 Centerline is valid? [True, True] Translation: X:271.38, Y:182.88, Z:17.08 [[ 5.97573092e-01 -8.01466528e-01 -2.36178836e-02 2.71379632e+02] [ 8.00858220e-01 5.98039579e-01 -3.12213730e-02 1.82877736e+02] [ 3.91473146e-02 -2.57523888e-04 9.99233417e-01 1.70815695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.140385723 meters Centerline goodness : 0.999718 Centerline is valid? [True, True] Translation: X:271.40, Y:182.90, Z:17.08 [[ 5.97373005e-01 -8.01615063e-01 -2.36386074e-02 2.71396873e+02] [ 8.01007493e-01 5.97840450e-01 -3.12056384e-02 1.82900492e+02] [ 3.91470255e-02 -2.93295726e-04 9.99233418e-01 1.70826972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.170385723 meters Centerline goodness : 0.999566 Centerline is valid? [True, True] Translation: X:271.41, Y:182.92, Z:17.08 [[ 5.96017932e-01 -8.02623333e-01 -2.36307136e-02 2.71413614e+02] [ 8.02016316e-01 5.96486097e-01 -3.12116287e-02 1.82921889e+02] [ 3.91465735e-02 -3.49527474e-04 9.99233418e-01 1.70825744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.200385723 meters Centerline goodness : 0.999761 Centerline is valid? [True, True] Translation: X:271.44, Y:182.94, Z:17.09 [[ 5.95095498e-01 -8.03310301e-01 -2.35352632e-02 2.71435271e+02] [ 8.02700956e-01 5.95560648e-01 -3.12840302e-02 1.82941720e+02] [ 3.91474603e-02 -2.74792741e-04 9.99233407e-01 1.70876387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.230385723 meters Centerline goodness : 0.999739 Centerline is valid? [True, True] Translation: X:271.45, Y:182.96, Z:17.09 [[ 5.94048257e-01 -8.04082584e-01 -2.36191941e-02 2.71454333e+02] [ 8.03476369e-01 5.94517462e-01 -3.12203704e-02 1.82963588e+02] [ 3.91457794e-02 -4.31057733e-04 9.99233417e-01 1.70910669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.260385723 meters Centerline goodness : 0.999719 Centerline is valid? [True, True] Translation: X:271.48, Y:182.98, Z:17.09 [[ 5.92983247e-01 -8.04867559e-01 -2.36449257e-02 2.71475012e+02] [ 8.04262742e-01 5.93454251e-01 -3.12008597e-02 1.82984648e+02] [ 3.91447414e-02 -5.15145744e-04 9.99233418e-01 1.70916713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.290385723 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:271.49, Y:183.01, Z:17.09 [[ 5.91495943e-01 -8.05957915e-01 -2.37568753e-02 2.71492543e+02] [ 8.05357365e-01 5.91972390e-01 -3.11159762e-02 1.83005950e+02] [ 3.91415816e-02 -7.27800763e-04 9.99233410e-01 1.70936429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.320385723 meters Centerline goodness : 0.994660 Centerline is valid? [True, True] Translation: X:271.51, Y:183.03, Z:17.09 [[ 5.90950422e-01 -8.06358846e-01 -2.37278257e-02 2.71513045e+02] [ 8.05757736e-01 5.91426154e-01 -3.11380151e-02 1.83028295e+02] [ 3.91416706e-02 -7.17856000e-04 9.99233413e-01 1.70912523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.350385723 meters Centerline goodness : 0.999694 Centerline is valid? [True, True] Translation: X:271.53, Y:183.05, Z:17.09 [[ 5.88580849e-01 -8.08086110e-01 -2.38625629e-02 2.71531133e+02] [ 8.07490523e-01 5.89063523e-01 -3.10358031e-02 1.83049134e+02] [ 3.91361668e-02 -1.00171401e-03 9.99233385e-01 1.70936558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.380385723 meters Centerline goodness : 0.999496 Centerline is valid? [True, True] Translation: X:271.55, Y:183.07, Z:17.10 [[ 5.86923354e-01 -8.09293327e-01 -2.37757940e-02 2.71547841e+02] [ 8.08696070e-01 5.87403919e-01 -3.11014916e-02 1.83068683e+02] [ 3.91362242e-02 -9.73199364e-04 9.99233411e-01 1.70956661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.410385723 meters Centerline goodness : 0.999517 Centerline is valid? [True, True] Translation: X:271.56, Y:183.09, Z:17.10 [[ 5.85151300e-01 -8.10580092e-01 -2.36192860e-02 2.71564810e+02] [ 8.09979103e-01 5.85627160e-01 -3.12198980e-02 1.83091323e+02] [ 3.91383232e-02 -8.62764125e-04 9.99233430e-01 1.70959810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.440385723 meters Centerline goodness : 0.999584 Centerline is valid? [True, True] Translation: X:271.58, Y:183.11, Z:17.10 [[ 5.85986516e-01 -8.09977292e-01 -2.35921548e-02 2.71583952e+02] [ 8.09374988e-01 5.86460710e-01 -3.12404169e-02 1.83112501e+02] [ 3.91399001e-02 -7.88437019e-04 9.99233429e-01 1.70980452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.470385723 meters Centerline goodness : 0.999693 Centerline is valid? [True, True] Translation: X:271.60, Y:183.13, Z:17.10 [[ 5.83950157e-01 -8.11446109e-01 -2.36098803e-02 2.71599328e+02] [ 8.10845539e-01 5.84426544e-01 -3.12270152e-02 1.83132860e+02] [ 3.91372807e-02 -9.08945706e-04 9.99233430e-01 1.71002633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.500385723 meters Centerline goodness : 0.999627 Centerline is valid? [True, True] Translation: X:271.62, Y:183.15, Z:17.10 [[ 5.85960268e-01 -8.10004019e-01 -2.33249545e-02 2.71621354e+02] [ 8.09393663e-01 5.86424149e-01 -3.14422569e-02 1.83154729e+02] [ 3.91466711e-02 -4.55157108e-04 9.99233372e-01 1.71014719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.530385723 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:271.64, Y:183.17, Z:17.10 [[ 5.85488113e-01 -8.10337384e-01 -2.36007092e-02 2.71639445e+02] [ 8.09735634e-01 5.85963008e-01 -3.12338963e-02 1.83174565e+02] [ 3.91391364e-02 -8.23260224e-04 9.99233431e-01 1.71030348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.560385723 meters Centerline goodness : 0.999692 Centerline is valid? [True, True] Translation: X:271.66, Y:183.20, Z:17.10 [[ 5.85281754e-01 -8.10486653e-01 -2.35935249e-02 2.71657171e+02] [ 8.09884806e-01 5.85756525e-01 -3.12393222e-02 1.83195904e+02] [ 3.91391149e-02 -8.24232045e-04 9.99233431e-01 1.71042719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.590385723 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:271.68, Y:183.22, Z:17.11 [[ 5.84512209e-01 -8.11042059e-01 -2.35850655e-02 2.71675252e+02] [ 8.10440406e-01 5.84987226e-01 -3.12457076e-02 1.83215900e+02] [ 3.91385451e-02 -8.50792429e-04 9.99233431e-01 1.71052605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.620385723 meters Centerline goodness : 0.999647 Centerline is valid? [True, True] Translation: X:271.69, Y:183.24, Z:17.11 [[ 5.83027648e-01 -8.12110131e-01 -2.35774658e-02 2.71690573e+02] [ 8.11509116e-01 5.83503472e-01 -3.12514412e-02 1.83237530e+02] [ 3.91371451e-02 -9.12874138e-04 9.99233431e-01 1.71077607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.650385723 meters Centerline goodness : 0.999516 Centerline is valid? [True, True] Translation: X:271.71, Y:183.26, Z:17.11 [[ 5.83223522e-01 -8.11973681e-01 -2.34321206e-02 2.71710733e+02] [ 8.11368144e-01 5.83693601e-01 -3.13610396e-02 1.83259060e+02] [ 3.91415176e-02 -7.21580235e-04 9.99233417e-01 1.71098396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.680385723 meters Centerline goodness : 0.999670 Centerline is valid? [True, True] Translation: X:271.73, Y:183.28, Z:17.11 [[ 5.83521117e-01 -8.11757884e-01 -2.34998667e-02 2.71729888e+02] [ 8.11154224e-01 5.83993588e-01 -3.13099631e-02 1.83281309e+02] [ 3.91398809e-02 -7.91991510e-04 9.99233427e-01 1.71110681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.710385723 meters Centerline goodness : 0.999515 Centerline is valid? [True, True] Translation: X:271.74, Y:183.30, Z:17.11 [[ 5.81875481e-01 -8.12936392e-01 -2.35658164e-02 2.71744070e+02] [ 8.12335696e-01 5.82351710e-01 -3.12602465e-02 1.83302850e+02] [ 3.91361854e-02 -9.53782884e-04 9.99233431e-01 1.71131566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.740385723 meters Centerline goodness : 0.999779 Centerline is valid? [True, True] Translation: X:271.76, Y:183.32, Z:17.11 [[ 5.83007047e-01 -8.12131112e-01 -2.33632377e-02 2.71762492e+02] [ 8.11523624e-01 5.83474627e-01 -3.14128581e-02 1.83324741e+02] [ 3.91432158e-02 -6.45901708e-04 9.99233402e-01 1.71126895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.770385723 meters Centerline goodness : 0.999470 Centerline is valid? [True, True] Translation: X:271.78, Y:183.35, Z:17.11 [[ 5.83871379e-01 -8.11507561e-01 -2.34454801e-02 2.71779442e+02] [ 8.10902054e-01 5.84341491e-01 -3.13509270e-02 1.83346307e+02] [ 3.91416811e-02 -7.07078995e-04 9.99233421e-01 1.71143586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.800385723 meters Centerline goodness : 0.999582 Centerline is valid? [True, True] Translation: X:271.80, Y:183.37, Z:17.12 [[ 5.84697725e-01 -8.10912353e-01 -2.34462285e-02 2.71797568e+02] [ 8.10306390e-01 5.85167249e-01 -3.13503635e-02 1.83369027e+02] [ 3.91423621e-02 -6.68142579e-04 9.99233421e-01 1.71160758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.830385723 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:271.81, Y:183.39, Z:17.12 [[ 5.83959175e-01 -8.11443273e-01 -2.34839712e-02 2.71812012e+02] [ 8.10838877e-01 5.84430707e-01 -3.13219539e-02 1.83390936e+02] [ 3.91407427e-02 -7.50974491e-04 9.99233425e-01 1.71159492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.860385723 meters Centerline goodness : 0.993928 Centerline is valid? [True, True] Translation: X:271.83, Y:183.41, Z:17.11 [[ 5.85152643e-01 -8.10587584e-01 -2.33270927e-02 2.71831254e+02] [ 8.09977796e-01 5.85617214e-01 -3.14396151e-02 1.83414619e+02] [ 3.91453086e-02 -4.97453241e-04 9.99233405e-01 1.71111239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.890385723 meters Centerline goodness : 0.999735 Centerline is valid? [True, True] Translation: X:271.85, Y:183.44, Z:17.12 [[ 5.83067446e-01 -8.12084166e-01 -2.34874610e-02 2.71845917e+02] [ 8.11480393e-01 5.83539776e-01 -3.13193503e-02 1.83435927e+02] [ 3.91398162e-02 -7.98320459e-04 9.99233425e-01 1.71184856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.920385723 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:271.86, Y:183.46, Z:17.12 [[ 5.83188444e-01 -8.12001266e-01 -2.33491442e-02 2.71864589e+02] [ 8.11393254e-01 5.83655344e-01 -3.14233510e-02 1.83458447e+02] [ 3.91436536e-02 -6.19602920e-04 9.99233401e-01 1.71209912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.950385723 meters Centerline goodness : 0.999646 Centerline is valid? [True, True] Translation: X:271.88, Y:183.48, Z:17.12 [[ 5.81017460e-01 -8.13554200e-01 -2.34152649e-02 2.71881489e+02] [ 8.12949434e-01 5.81488532e-01 -3.13736411e-02 1.83479203e+02] [ 3.91398655e-02 -8.06793077e-04 9.99233416e-01 1.71219322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.980385723 meters Centerline goodness : 0.999691 Centerline is valid? [True, True] Translation: X:271.90, Y:183.50, Z:17.12 [[ 5.78738833e-01 -8.15176976e-01 -2.34064196e-02 2.71897084e+02] [ 8.14573262e-01 5.79211255e-01 -3.13802875e-02 1.83501481e+02] [ 3.91377496e-02 -9.05252571e-04 9.99233415e-01 1.71225937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.010385723 meters Centerline goodness : 0.999625 Centerline is valid? [True, True] Translation: X:271.92, Y:183.52, Z:17.12 [[ 5.77621178e-01 -8.15971527e-01 -2.33289992e-02 2.71915649e+02] [ 8.15366114e-01 5.78091450e-01 -3.14384528e-02 1.83524163e+02] [ 3.91391773e-02 -8.62159308e-04 9.99233397e-01 1.71247039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.040385723 meters Centerline goodness : 0.999779 Centerline is valid? [True, True] Translation: X:271.93, Y:183.55, Z:17.12 [[ 5.75503743e-01 -8.17463807e-01 -2.34172162e-02 2.71930209e+02] [ 8.16862298e-01 5.75978968e-01 -3.13721912e-02 1.83546376e+02] [ 3.91334548e-02 -1.07382760e-03 9.99233416e-01 1.71234060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.070385723 meters Centerline goodness : 0.999735 Centerline is valid? [True, True] Translation: X:271.94, Y:183.57, Z:17.12 [[ 5.74444547e-01 -8.18214102e-01 -2.32195135e-02 2.71944943e+02] [ 8.17607207e-01 5.74912961e-01 -3.15205046e-02 1.83568786e+02] [ 3.91397206e-02 -8.77659564e-04 9.99233362e-01 1.71211456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.100385723 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:271.97, Y:183.59, Z:17.13 [[ 5.76470260e-01 -8.16790631e-01 -2.31323411e-02 2.71967106e+02] [ 8.16179954e-01 5.76933804e-01 -3.15858863e-02 1.83592790e+02] [ 3.91448855e-02 -6.71828951e-04 9.99233319e-01 1.71275498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.130385723 meters Centerline goodness : 0.999780 Centerline is valid? [True, True] Translation: X:271.98, Y:183.62, Z:17.13 [[ 5.77232521e-01 -8.16241697e-01 -2.34969930e-02 2.71983151e+02] [ 8.15641613e-01 5.77709531e-01 -3.13122534e-02 1.83616072e+02] [ 3.91328036e-02 -1.09067429e-03 9.99233423e-01 1.71285349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.160385723 meters Centerline goodness : 0.999736 Centerline is valid? [True, True] Translation: X:272.00, Y:183.64, Z:17.13 [[ 5.77876835e-01 -8.15785912e-01 -2.34885008e-02 2.71998511e+02] [ 8.15185193e-01 5.78353046e-01 -3.13186224e-02 1.83637833e+02] [ 3.91339369e-02 -1.04917169e-03 9.99233423e-01 1.71292781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.190385723 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:272.01, Y:183.66, Z:17.13 [[ 5.79946069e-01 -8.14316405e-01 -2.34808306e-02 2.72013110e+02] [ 8.13714247e-01 5.80420459e-01 -3.13243720e-02 1.83661750e+02] [ 3.91367044e-02 -9.40239967e-04 9.99233423e-01 1.71297023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.220385723 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:272.02, Y:183.68, Z:17.12 [[ 5.77830521e-01 -8.15819181e-01 -2.34723720e-02 2.72023355e+02] [ 8.15218000e-01 5.78306147e-01 -3.13307090e-02 1.83684864e+02] [ 3.91344104e-02 -1.03126023e-03 9.99233423e-01 1.71240122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.250385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:272.04, Y:183.71, Z:17.12 [[ 5.78777071e-01 -8.15156962e-01 -2.31566356e-02 2.72038762e+02] [ 8.14545733e-01 5.79239827e-01 -3.15669452e-02 1.83708007e+02] [ 3.91452607e-02 -5.91914594e-04 9.99233355e-01 1.71232381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.280385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.06, Y:183.73, Z:17.13 [[ 5.82061780e-01 -8.12814877e-01 -2.31529648e-02 2.72061141e+02] [ 8.12201677e-01 5.82521923e-01 -3.15696888e-02 1.83731175e+02] [ 3.91474223e-02 -4.29367606e-04 9.99233354e-01 1.71317593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.310385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.08, Y:183.75, Z:17.13 [[ 5.81946440e-01 -8.12889238e-01 -2.34398817e-02 2.72077378e+02] [ 8.12284675e-01 5.82417769e-01 -3.13552045e-02 1.83754643e+02] [ 3.91401119e-02 -7.92807029e-04 9.99233418e-01 1.71333372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.340385723 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:272.09, Y:183.78, Z:17.13 [[ 5.81724709e-01 -8.13048180e-01 -2.34311814e-02 2.72093067e+02] [ 8.12443484e-01 5.82195868e-01 -3.13617047e-02 1.83776924e+02] [ 3.91401139e-02 -7.92632101e-04 9.99233418e-01 1.71339248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.370385723 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:272.11, Y:183.80, Z:17.14 [[ 5.81379391e-01 -8.13295282e-01 -2.34262361e-02 2.72109283e+02] [ 8.12690638e-01 5.81850616e-01 -3.13653982e-02 1.83800275e+02] [ 3.91399003e-02 -8.03086651e-04 9.99233418e-01 1.71351511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.400385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.12, Y:183.82, Z:17.14 [[ 5.81308027e-01 -8.13346537e-01 -2.34177005e-02 2.72124720e+02] [ 8.12741677e-01 5.81778977e-01 -3.13717698e-02 1.83824610e+02] [ 3.91400461e-02 -7.95879578e-04 9.99233418e-01 1.71367768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.430385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:272.13, Y:183.85, Z:17.13 [[ 5.77516384e-01 -8.16043375e-01 -2.34101560e-02 2.72133421e+02] [ 8.15440487e-01 5.77989854e-01 -3.13773986e-02 1.83846695e+02] [ 3.91361509e-02 -9.68627227e-04 9.99233418e-01 1.71310271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.460385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:272.16, Y:183.87, Z:17.14 [[ 5.81676346e-01 -8.13095116e-01 -2.29991388e-02 2.72156382e+02] [ 8.12477614e-01 5.82130798e-01 -3.16837544e-02 1.83870196e+02] [ 3.91504130e-02 -2.56594964e-04 9.99233296e-01 1.71391596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.490385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:272.17, Y:183.89, Z:17.13 [[ 5.77833272e-01 -8.15819136e-01 -2.34061104e-02 2.72166289e+02] [ 8.15215950e-01 5.78306352e-01 -3.13802055e-02 1.83893634e+02] [ 3.91364745e-02 -9.48507740e-04 9.99233425e-01 1.71333815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.520385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.18, Y:183.92, Z:17.13 [[ 5.77625151e-01 -8.15976877e-01 -2.30417266e-02 2.72178786e+02] [ 8.15362920e-01 5.78084320e-01 -3.16516578e-02 1.83917047e+02] [ 3.91470817e-02 -5.04575917e-04 9.99233332e-01 1.71324504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.550385723 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:272.20, Y:183.94, Z:17.14 [[ 5.80595582e-01 -8.13869841e-01 -2.29052933e-02 2.72202571e+02] [ 8.13250201e-01 5.81047197e-01 -3.17531813e-02 1.83942179e+02] [ 3.91520130e-02 -1.91977573e-04 9.99233248e-01 1.71402718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.580385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:272.22, Y:183.97, Z:17.14 [[ 5.80807785e-01 -8.13704706e-01 -2.33873591e-02 2.72218500e+02] [ 8.13099234e-01 5.81277937e-01 -3.13942018e-02 1.83965296e+02] [ 3.91401656e-02 -7.82246917e-04 9.99233424e-01 1.71434199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.610385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.23, Y:183.99, Z:17.14 [[ 5.77293049e-01 -8.16202433e-01 -2.33735711e-02 2.72231025e+02] [ 8.15598580e-01 5.77765278e-01 -3.14044639e-02 1.83988270e+02] [ 3.91368376e-02 -9.33872714e-04 9.99233424e-01 1.71427380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.640385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:272.25, Y:184.01, Z:17.15 [[ 5.79133197e-01 -8.14904746e-01 -2.31299683e-02 2.72250649e+02] [ 8.14292568e-01 5.79594653e-01 -3.15856329e-02 1.84011703e+02] [ 3.91452881e-02 -5.42272659e-04 9.99233382e-01 1.71457012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.670385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.26, Y:184.04, Z:17.15 [[ 5.76603756e-01 -8.16689818e-01 -2.33634288e-02 2.72263781e+02] [ 8.16086059e-01 5.77076105e-01 -3.14119931e-02 1.84035171e+02] [ 3.91363314e-02 -9.54295379e-04 9.99233425e-01 1.71454278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.700385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.28, Y:184.06, Z:17.15 [[ 5.79311051e-01 -8.14775682e-01 -2.32227191e-02 2.72282079e+02] [ 8.14166160e-01 5.79775963e-01 -3.15166079e-02 1.84058831e+02] [ 3.91429400e-02 -6.49232754e-04 9.99233411e-01 1.71470751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.730385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.30, Y:184.08, Z:17.15 [[ 5.79557458e-01 -8.14596643e-01 -2.33551221e-02 2.72298658e+02] [ 8.13990929e-01 5.80027297e-01 -3.14181850e-02 1.84081688e+02] [ 3.91397564e-02 -8.02214142e-04 9.99233424e-01 1.71484518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.760385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.31, Y:184.10, Z:17.15 [[ 5.80867065e-01 -8.13663566e-01 -2.33464023e-02 2.72313416e+02] [ 8.13056837e-01 5.81335592e-01 -3.14246632e-02 1.84103960e+02] [ 3.91411982e-02 -7.28400098e-04 9.99233424e-01 1.71481923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.790385723 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:272.33, Y:184.13, Z:17.15 [[ 5.81185460e-01 -8.13436342e-01 -2.33404731e-02 2.72328925e+02] [ 8.12829253e-01 5.81653521e-01 -3.14290665e-02 1.84128396e+02] [ 3.91416133e-02 -7.05702841e-04 9.99233424e-01 1.71482353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.820385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:272.34, Y:184.15, Z:17.15 [[ 5.83919322e-01 -8.11476310e-01 -2.33329042e-02 2.72344394e+02] [ 8.10867425e-01 5.84385044e-01 -3.14346846e-02 1.84151237e+02] [ 3.91439022e-02 -5.64572251e-04 9.99233424e-01 1.71496395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.850385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.36, Y:184.17, Z:17.15 [[ 5.84834230e-01 -8.10817310e-01 -2.33283576e-02 2.72361019e+02] [ 8.10207766e-01 5.85299089e-01 -3.14380584e-02 1.84174406e+02] [ 3.91445884e-02 -5.14763846e-04 9.99233424e-01 1.71505265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.880385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:272.38, Y:184.20, Z:17.15 [[ 5.86002260e-01 -8.09973793e-01 -2.33196490e-02 2.72376355e+02] [ 8.09363323e-01 5.86465902e-01 -3.14445168e-02 1.84196947e+02] [ 3.91454136e-02 -4.47510677e-04 9.99233424e-01 1.71514018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.910385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:272.39, Y:184.22, Z:17.15 [[ 5.86014151e-01 -8.09965330e-01 -2.33147736e-02 2.72391687e+02] [ 8.09354709e-01 5.86477595e-01 -3.14481313e-02 1.84219062e+02] [ 3.91454884e-02 -4.40871872e-04 9.99233424e-01 1.71528514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.940385723 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:272.41, Y:184.24, Z:17.15 [[ 5.85799551e-01 -8.10120773e-01 -2.33070806e-02 2.72406882e+02] [ 8.09510048e-01 5.86262858e-01 -3.14538318e-02 1.84242986e+02] [ 3.91454782e-02 -4.41675402e-04 9.99233424e-01 1.71530124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.970385723 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:272.42, Y:184.27, Z:17.15 [[ 5.85742645e-01 -8.10162161e-01 -2.32986326e-02 2.72423454e+02] [ 8.09551220e-01 5.86205667e-01 -3.14600882e-02 1.84265152e+02] [ 3.91455635e-02 -4.33921164e-04 9.99233424e-01 1.71547941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.000385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:272.44, Y:184.29, Z:17.16 [[ 5.85222042e-01 -8.10538548e-01 -2.32900173e-02 2.72440600e+02] [ 8.09927651e-01 5.85685122e-01 -3.14664648e-02 1.84287799e+02] [ 3.91453993e-02 -4.48360219e-04 9.99233425e-01 1.71555142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.030385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:272.46, Y:184.31, Z:17.16 [[ 5.85001836e-01 -8.10697740e-01 -2.32814592e-02 2.72457529e+02] [ 8.10086718e-01 5.85464750e-01 -3.14727956e-02 1.84310799e+02] [ 3.91453979e-02 -4.48357674e-04 9.99233425e-01 1.71566292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.060385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:272.47, Y:184.33, Z:17.16 [[ 5.83774680e-01 -8.11582094e-01 -2.32729014e-02 2.72474334e+02] [ 8.10971520e-01 5.84238186e-01 -3.14791225e-02 1.84332543e+02] [ 3.91448098e-02 -4.96945533e-04 9.99233425e-01 1.71579551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.090385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:272.49, Y:184.36, Z:17.16 [[ 5.82674013e-01 -8.12372897e-01 -2.32652225e-02 2.72490733e+02] [ 8.11762726e-01 5.83138049e-01 -3.14847966e-02 1.84355252e+02] [ 3.91442319e-02 -5.40467629e-04 9.99233425e-01 1.71592306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.120385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:272.51, Y:184.38, Z:17.16 [[ 5.81579047e-01 -8.13157386e-01 -2.32567750e-02 2.72506796e+02] [ 8.12547592e-01 5.82043578e-01 -3.14910353e-02 1.84378165e+02] [ 3.91436245e-02 -5.82710251e-04 9.99233425e-01 1.71604877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.150385723 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:272.52, Y:184.40, Z:17.16 [[ 5.79920006e-01 -8.14341637e-01 -2.32483475e-02 2.72522766e+02] [ 8.13732542e-01 5.80385452e-01 -3.14972557e-02 1.84400324e+02] [ 3.91425294e-02 -6.52048166e-04 9.99233425e-01 1.71619735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.180385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:272.54, Y:184.42, Z:17.16 [[ 5.79456383e-01 -8.14671762e-01 -2.32426227e-02 2.72539581e+02] [ 8.14062763e-01 5.79921955e-01 -3.15014796e-02 1.84422357e+02] [ 3.91422731e-02 -6.67220179e-04 9.99233425e-01 1.71629463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.210385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:272.56, Y:184.44, Z:17.16 [[ 5.79151316e-01 -8.14888900e-01 -2.32343157e-02 2.72555945e+02] [ 8.14279830e-01 5.79616795e-01 -3.15076053e-02 1.84443850e+02] [ 3.91421975e-02 -6.71563528e-04 9.99233425e-01 1.71634308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.240385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:272.57, Y:184.47, Z:17.16 [[ 5.78989028e-01 -8.15004419e-01 -2.32272097e-02 2.72572950e+02] [ 8.14395231e-01 5.79454354e-01 -3.15128430e-02 1.84466712e+02] [ 3.91422141e-02 -6.70538458e-04 9.99233425e-01 1.71645791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.270385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:272.59, Y:184.49, Z:17.17 [[ 5.79518349e-01 -8.14628356e-01 -2.32190692e-02 2.72588743e+02] [ 8.14018627e-01 5.79982964e-01 -3.15188398e-02 1.84488171e+02] [ 3.91428053e-02 -6.35008822e-04 9.99233425e-01 1.71666707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.300385723 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:272.60, Y:184.51, Z:17.17 [[ 5.79363213e-01 -8.14738805e-01 -2.32152420e-02 2.72604424e+02] [ 8.14129051e-01 5.79827796e-01 -3.15216586e-02 1.84511329e+02] [ 3.91427610e-02 -6.37713559e-04 9.99233425e-01 1.71689809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.330385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.62, Y:184.53, Z:17.17 [[ 5.79940682e-01 -8.14328109e-01 -2.32063901e-02 2.72620359e+02] [ 8.13717766e-01 5.80404490e-01 -3.15281740e-02 1.84533610e+02] [ 3.91433713e-02 -5.98981158e-04 9.99233425e-01 1.71694868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.360385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:272.64, Y:184.56, Z:17.17 [[ 5.79862362e-01 -8.14384052e-01 -2.32003770e-02 2.72637452e+02] [ 8.13773576e-01 5.80325996e-01 -3.15325982e-02 1.84555692e+02] [ 3.91434270e-02 -5.95286842e-04 9.99233425e-01 1.71724140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.390385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.65, Y:184.58, Z:17.17 [[ 5.79828292e-01 -8.14408559e-01 -2.31915926e-02 2.72653982e+02] [ 8.13797845e-01 5.80291612e-01 -3.15390576e-02 1.84576566e+02] [ 3.91435651e-02 -5.86030191e-04 9.99233425e-01 1.71743894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.420385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:272.67, Y:184.60, Z:17.18 [[ 5.79223228e-01 -8.14839134e-01 -2.31870144e-02 2.72670171e+02] [ 8.14228630e-01 5.79686824e-01 -3.15424231e-02 1.84599048e+02] [ 3.91432075e-02 -6.09426840e-04 9.99233425e-01 1.71755859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.450385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:272.69, Y:184.62, Z:17.18 [[ 5.78652465e-01 -8.15244803e-01 -2.31783653e-02 2.72685974e+02] [ 8.14634369e-01 5.79116154e-01 -3.15487775e-02 1.84621257e+02] [ 3.91429426e-02 -6.26115123e-04 9.99233425e-01 1.71771198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.480385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:272.70, Y:184.64, Z:17.18 [[ 5.78207741e-01 -8.15560420e-01 -2.31734856e-02 2.72701918e+02] [ 8.14950096e-01 5.78671574e-01 -3.15523614e-02 1.84643988e+02] [ 3.91426944e-02 -6.41414691e-04 9.99233425e-01 1.71785397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.510385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.72, Y:184.67, Z:17.18 [[ 5.76900520e-01 -8.16485868e-01 -2.31649853e-02 2.72719261e+02] [ 8.15876038e-01 5.77365002e-01 -3.15586008e-02 1.84669712e+02] [ 3.91418034e-02 -6.93583226e-04 9.99233425e-01 1.71787773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.540385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:272.74, Y:184.69, Z:17.18 [[ 5.75833099e-01 -8.17233660e-01 -2.33535368e-02 2.72737592e+02] [ 8.16630016e-01 5.76305638e-01 -3.14201982e-02 1.84693481e+02] [ 3.91364185e-02 -9.78408993e-04 9.99233398e-01 1.71800687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.570385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:272.75, Y:184.72, Z:17.18 [[ 5.75638789e-01 -8.17366802e-01 -2.34839534e-02 2.72754570e+02] [ 8.16767155e-01 5.76116473e-01 -3.13244935e-02 1.84716294e+02] [ 3.91330935e-02 -1.14932826e-03 9.99233346e-01 1.71803961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.600385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:272.77, Y:184.74, Z:17.18 [[ 5.75489466e-01 -8.17470871e-01 -2.35212742e-02 2.72766323e+02] [ 8.16872427e-01 5.75968688e-01 -3.12971158e-02 1.84735916e+02] [ 3.91319979e-02 -1.20271989e-03 9.99233326e-01 1.71825586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.630385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.78, Y:184.76, Z:17.18 [[ 5.71597477e-01 -8.20208023e-01 -2.31327591e-02 2.72782773e+02] [ 8.19600281e-01 5.72064661e-01 -3.15816985e-02 1.84761759e+02] [ 3.91369964e-02 -9.07596675e-04 9.99233442e-01 1.71772602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.660385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.79, Y:184.78, Z:17.18 [[ 5.68359308e-01 -8.22450169e-01 -2.33113107e-02 2.72794755e+02] [ 8.21849601e-01 5.68835718e-01 -3.14508946e-02 1.84783167e+02] [ 3.91270998e-02 -1.28298271e-03 9.99233418e-01 1.71770478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.690385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.81, Y:184.81, Z:17.18 [[ 5.69430552e-01 -8.21716947e-01 -2.30240137e-02 2.72814022e+02] [ 8.21107223e-01 5.69895158e-01 -3.16612913e-02 1.84806280e+02] [ 3.91378936e-02 -8.76277361e-04 9.99233435e-01 1.71819280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.720385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.83, Y:184.83, Z:17.18 [[ 5.69913386e-01 -8.21380112e-01 -2.30964044e-02 2.72830401e+02] [ 8.20772255e-01 5.70380419e-01 -3.16082875e-02 1.84828498e+02] [ 3.91361555e-02 -9.42901748e-04 9.99233442e-01 1.71826395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.750385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:272.85, Y:184.85, Z:17.19 [[ 5.72707657e-01 -8.19433135e-01 -2.31360572e-02 2.72846798e+02] [ 8.18824859e-01 5.73174145e-01 -3.15792654e-02 1.84849902e+02] [ 3.91380863e-02 -8.58691664e-04 9.99233443e-01 1.71875132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.780385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.87, Y:184.88, Z:17.19 [[ 5.72009024e-01 -8.19921624e-01 -2.31129200e-02 2.72865908e+02] [ 8.19313063e-01 5.72475139e-01 -3.15961906e-02 1.84875767e+02] [ 3.91379720e-02 -8.63411156e-04 9.99233443e-01 1.71893025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.810385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:272.88, Y:184.90, Z:17.19 [[ 5.72045227e-01 -8.19888657e-01 -2.33847879e-02 2.72880221e+02] [ 8.19288140e-01 5.72521750e-01 -3.13972895e-02 1.84898797e+02] [ 3.91305812e-02 -1.19820980e-03 9.99233387e-01 1.71922419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.840385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:272.90, Y:184.92, Z:17.19 [[ 5.71713772e-01 -8.20123440e-01 -2.32573801e-02 2.72895756e+02] [ 8.19519329e-01 5.72185658e-01 -3.14903506e-02 1.84922630e+02] [ 3.91335140e-02 -1.05640537e-03 9.99233432e-01 1.71941061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.870385723 meters Centerline goodness : 0.998556 Centerline is valid? [True, True] Translation: X:272.91, Y:184.95, Z:17.20 [[ 5.74164299e-01 -8.18411889e-01 -2.31805451e-02 2.72912004e+02] [ 8.17804105e-01 5.74631419e-01 -3.15464549e-02 1.84945895e+02] [ 3.91382633e-02 -8.44296789e-04 9.99233448e-01 1.71952443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.900385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.93, Y:184.97, Z:17.20 [[ 5.74301459e-01 -8.18315938e-01 -2.31702432e-02 2.72928350e+02] [ 8.17707773e-01 5.74768080e-01 -3.15539743e-02 1.84970225e+02] [ 3.91386363e-02 -8.24994510e-04 9.99233449e-01 1.71952235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.930385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:272.94, Y:184.99, Z:17.20 [[ 5.76822862e-01 -8.16536228e-01 -2.33232706e-02 2.72941547e+02] [ 8.15931119e-01 5.77293505e-01 -3.14423055e-02 1.84990330e+02] [ 3.91381542e-02 -8.93541623e-04 9.99233409e-01 1.71958099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.960385723 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:272.96, Y:185.01, Z:17.20 [[ 5.77022151e-01 -8.16402959e-01 -2.30574406e-02 2.72957149e+02] [ 8.15789961e-01 5.77482380e-01 -3.16360541e-02 1.85012967e+02] [ 3.91430339e-02 -5.55324591e-04 9.99233463e-01 1.71960944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.990385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.97, Y:185.04, Z:17.20 [[ 5.76106935e-01 -8.17049261e-01 -2.30500451e-02 2.72972805e+02] [ 8.16436564e-01 5.76567565e-01 -3.16414416e-02 1.85036107e+02] [ 3.91425249e-02 -5.90045697e-04 9.99233464e-01 1.71989835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.020385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.99, Y:185.06, Z:17.20 [[ 5.74844896e-01 -8.17937921e-01 -2.30413232e-02 2.72988536e+02] [ 8.17325682e-01 5.75306134e-01 -3.16477916e-02 1.85057854e+02] [ 3.91417435e-02 -6.39693738e-04 9.99233464e-01 1.71988161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.050385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.00, Y:185.08, Z:17.20 [[ 5.71898696e-01 -8.20000763e-01 -2.30353943e-02 2.73004594e+02] [ 8.19390013e-01 5.72361905e-01 -3.16521065e-02 1.85080700e+02] [ 3.91393337e-02 -7.73173597e-04 9.99233464e-01 1.72014991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.080385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.02, Y:185.10, Z:17.20 [[ 5.70749006e-01 -8.20801634e-01 -2.30271718e-02 2.73019498e+02] [ 8.20191292e-01 5.71212753e-01 -3.16580873e-02 1.85103821e+02] [ 3.91384240e-02 -8.17863918e-04 9.99233464e-01 1.72021269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.110385723 meters Centerline goodness : 0.994783 Centerline is valid? [True, True] Translation: X:273.04, Y:185.13, Z:17.20 [[ 5.69254556e-01 -8.21841024e-01 -2.29473746e-02 2.73035410e+02] [ 8.21229191e-01 5.69716338e-01 -3.17160722e-02 1.85127760e+02] [ 3.91390635e-02 -7.90535356e-04 9.99233461e-01 1.71998686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.140385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.05, Y:185.15, Z:17.20 [[ 5.68199654e-01 -8.22571653e-01 -2.29135064e-02 2.73050611e+02] [ 8.21959423e-01 5.68660916e-01 -3.17406772e-02 1.85150406e+02] [ 3.91389969e-02 -7.98930719e-04 9.99233457e-01 1.72035761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.170385723 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:273.07, Y:185.17, Z:17.20 [[ 5.67088538e-01 -8.23338761e-01 -2.28883005e-02 2.73065163e+02] [ 8.22726415e-01 5.67549655e-01 -3.17590055e-02 1.85174018e+02] [ 3.91386673e-02 -8.20641448e-04 9.99233452e-01 1.72040735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.200385723 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:273.08, Y:185.20, Z:17.20 [[ 5.65293489e-01 -8.24573871e-01 -2.28298445e-02 2.73076944e+02] [ 8.23960818e-01 5.65753688e-01 -3.18014843e-02 1.85196777e+02] [ 3.91387418e-02 -8.33725338e-04 9.99233438e-01 1.71982842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.230385723 meters Centerline goodness : 0.993297 Centerline is valid? [True, True] Translation: X:273.09, Y:185.22, Z:17.20 [[ 5.67438449e-01 -8.23106104e-01 -2.25820081e-02 2.73094180e+02] [ 8.22484697e-01 5.67887453e-01 -3.19806875e-02 1.85221157e+02] [ 3.91475382e-02 -4.26284342e-04 9.99233350e-01 1.72019388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.260385723 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:273.11, Y:185.24, Z:17.21 [[ 5.69053197e-01 -8.21984670e-01 -2.27960829e-02 2.73110414e+02] [ 8.21368545e-01 5.69509285e-01 -3.18258864e-02 1.85243702e+02] [ 3.91429716e-02 -6.13363072e-04 9.99233432e-01 1.72067561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.290385723 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:273.12, Y:185.27, Z:17.20 [[ 5.69158593e-01 -8.21912837e-01 -2.27549006e-02 2.73123798e+02] [ 8.21295460e-01 5.69613007e-01 -3.18557532e-02 1.85267394e+02] [ 3.91441398e-02 -5.57520912e-04 9.99233419e-01 1.72030246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.320385723 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:273.14, Y:185.29, Z:17.20 [[ 5.69697145e-01 -8.21543662e-01 -2.26091954e-02 2.73138856e+02] [ 8.20921784e-01 5.70145498e-01 -3.19614712e-02 1.85289221e+02] [ 3.91482751e-02 -3.52022152e-04 9.99233350e-01 1.72042353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.350385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.16, Y:185.31, Z:17.21 [[ 5.70900987e-01 -8.20711278e-01 -2.24735754e-02 2.73156459e+02] [ 8.20084866e-01 5.71343139e-01 -3.20597991e-02 1.85312002e+02] [ 3.91519618e-02 -1.27268076e-04 9.99233260e-01 1.72059382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.380385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:273.17, Y:185.34, Z:17.21 [[ 5.70946800e-01 -8.20678137e-01 -2.25199139e-02 2.73174101e+02] [ 8.20053024e-01 5.71390726e-01 -3.20261936e-02 1.85335006e+02] [ 3.91508669e-02 -1.82270715e-04 9.99233294e-01 1.72082975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.410385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.19, Y:185.36, Z:17.21 [[ 5.71322246e-01 -8.20414770e-01 -2.25941459e-02 2.73191588e+02] [ 8.19791578e-01 5.71768781e-01 -3.19723246e-02 1.85357053e+02] [ 3.91491946e-02 -2.55990246e-04 9.99233344e-01 1.72116127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.440385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.21, Y:185.38, Z:17.21 [[ 5.70653842e-01 -8.20880298e-01 -2.25772023e-02 2.73208190e+02] [ 8.20256983e-01 5.71100224e-01 -3.19846167e-02 1.85380229e+02] [ 3.91493870e-02 -2.66963416e-04 9.99233333e-01 1.72111478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.470385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.22, Y:185.40, Z:17.21 [[ 5.69859164e-01 -8.21431018e-01 -2.26189365e-02 2.73224730e+02] [ 8.20809334e-01 5.70307773e-01 -3.19543679e-02 1.85403037e+02] [ 3.91480643e-02 -3.56344809e-04 9.99233357e-01 1.72143315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.500385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.24, Y:185.43, Z:17.21 [[ 5.68923625e-01 -8.22077659e-01 -2.26766892e-02 2.73240755e+02] [ 8.21458150e-01 5.69375184e-01 -3.19124960e-02 1.85425554e+02] [ 3.91460941e-02 -4.72178267e-04 9.99233386e-01 1.72143375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.530385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.26, Y:185.45, Z:17.22 [[ 5.68171929e-01 -8.22599269e-01 -2.26075588e-02 2.73257977e+02] [ 8.21978179e-01 5.68621371e-01 -3.19626142e-02 1.85447836e+02] [ 3.91475642e-02 -4.22659873e-04 9.99233351e-01 1.72158427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.560385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:273.28, Y:185.47, Z:17.22 [[ 5.66352340e-01 -8.23852595e-01 -2.26258425e-02 2.73276795e+02] [ 8.23233029e-01 5.66803863e-01 -3.19493509e-02 1.85469449e+02] [ 3.91459706e-02 -5.31751268e-04 9.99233361e-01 1.72181116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.590385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.30, Y:185.49, Z:17.22 [[ 5.65784018e-01 -8.24241185e-01 -2.26917107e-02 2.73296049e+02] [ 8.23623842e-01 5.66238518e-01 -3.19015410e-02 1.85493361e+02] [ 3.91434846e-02 -6.40051881e-04 9.99233395e-01 1.72203646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.620385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:273.31, Y:185.51, Z:17.22 [[ 5.67076284e-01 -8.23347211e-01 -2.28879338e-02 2.73312026e+02] [ 8.22734868e-01 5.67537396e-01 -3.17591111e-02 1.85513739e+02] [ 3.91385339e-02 -8.20862500e-04 9.99233457e-01 1.72202568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.650385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.33, Y:185.54, Z:17.22 [[ 5.67480250e-01 -8.23071817e-01 -2.27804660e-02 2.73330893e+02] [ 8.22456115e-01 5.67936912e-01 -3.18371297e-02 1.85538116e+02] [ 3.91421117e-02 -6.68991288e-04 9.99233430e-01 1.72234041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.680385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.35, Y:185.56, Z:17.22 [[ 5.69683726e-01 -8.21543043e-01 -2.29669531e-02 2.73348526e+02] [ 8.20931545e-01 5.70145944e-01 -3.17017592e-02 1.85561615e+02] [ 3.91388749e-02 -7.94320022e-04 9.99233465e-01 1.72227003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.710385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:273.36, Y:185.58, Z:17.22 [[ 5.69636171e-01 -8.21574548e-01 -2.30194322e-02 2.73361219e+02] [ 8.20964611e-01 5.70100447e-01 -3.16636824e-02 1.85582546e+02] [ 3.91374642e-02 -8.61360446e-04 9.99233465e-01 1.72213671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.740385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.38, Y:185.61, Z:17.22 [[ 5.70932186e-01 -8.20683168e-01 -2.27063143e-02 2.73380689e+02] [ 8.20063424e-01 5.71383380e-01 -3.18906620e-02 1.85606138e+02] [ 3.91461402e-02 -4.13212524e-04 9.99233411e-01 1.72212207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.770385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.40, Y:185.63, Z:17.22 [[ 5.70438391e-01 -8.21021110e-01 -2.28993445e-02 2.73397181e+02] [ 8.20407222e-01 5.70897435e-01 -3.17507256e-02 1.85628896e+02] [ 3.91411930e-02 -6.74954799e-04 9.99233462e-01 1.72223947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.800385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.42, Y:185.65, Z:17.23 [[ 5.72800694e-01 -8.19377083e-01 -2.28158026e-02 2.73417367e+02] [ 8.18759462e-01 5.73254730e-01 -3.18112872e-02 1.85650677e+02] [ 3.91447065e-02 -4.59126813e-04 9.99233447e-01 1.72294380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.830385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.43, Y:185.67, Z:17.23 [[ 5.72492467e-01 -8.19587908e-01 -2.29790404e-02 2.73434491e+02] [ 8.18975184e-01 5.72953057e-01 -3.16929322e-02 1.85672132e+02] [ 3.91410554e-02 -6.75298952e-04 9.99233467e-01 1.72311749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.860385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.45, Y:185.70, Z:17.22 [[ 5.67558009e-01 -8.23015838e-01 -2.28656173e-02 2.73446614e+02] [ 8.22402580e-01 5.68017901e-01 -3.17751433e-02 1.85695673e+02] [ 3.91395262e-02 -7.70505615e-04 9.99233458e-01 1.72236223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.890385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:273.46, Y:185.72, Z:17.23 [[ 5.66516912e-01 -8.23738558e-01 -2.26578192e-02 2.73463748e+02] [ 8.23119841e-01 5.66969551e-01 -3.19257837e-02 1.85717984e+02] [ 3.91447926e-02 -5.63604147e-04 9.99233390e-01 1.72253718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.920385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.48, Y:185.74, Z:17.23 [[ 5.65367884e-01 -8.24527808e-01 -2.26505808e-02 2.73479215e+02] [ 8.23909514e-01 5.65821104e-01 -3.19310317e-02 1.85740490e+02] [ 3.91442002e-02 -6.09249229e-04 9.99233386e-01 1.72269044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.950385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.50, Y:185.76, Z:17.23 [[ 5.65305109e-01 -8.24573821e-01 -2.25421229e-02 2.73496511e+02] [ 8.23952425e-01 5.65754174e-01 -3.20096234e-02 1.85761916e+02] [ 3.91475976e-02 -4.78433192e-04 9.99233324e-01 1.72284307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.980385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.51, Y:185.78, Z:17.23 [[ 5.65359105e-01 -8.24535888e-01 -2.25754673e-02 2.73512646e+02] [ 8.23915425e-01 5.65809422e-01 -3.19854667e-02 1.85784122e+02] [ 3.91465773e-02 -5.17000983e-04 9.99233345e-01 1.72295203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.010385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:273.53, Y:185.81, Z:17.23 [[ 5.66200359e-01 -8.23958480e-01 -2.25738196e-02 2.73528720e+02] [ 8.23337510e-01 5.66649979e-01 -3.19866604e-02 1.85806121e+02] [ 3.91471345e-02 -4.75013814e-04 9.99233344e-01 1.72286656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.040385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.55, Y:185.83, Z:17.23 [[ 5.66045182e-01 -8.24068741e-01 -2.24401983e-02 2.73545769e+02] [ 8.23444014e-01 5.66489726e-01 -3.20834305e-02 1.85830542e+02] [ 3.91510940e-02 -3.17575686e-04 9.99233252e-01 1.72318036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.070385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.56, Y:185.85, Z:17.23 [[ 5.66801468e-01 -8.23545781e-01 -2.25486729e-02 2.73562686e+02] [ 8.22923760e-01 5.67249657e-01 -3.20048653e-02 1.85852743e+02] [ 3.91481987e-02 -4.15434084e-04 9.99233329e-01 1.72344291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.100385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:273.59, Y:185.88, Z:17.24 [[ 5.69488398e-01 -8.21687816e-01 -2.26295877e-02 2.73586409e+02] [ 8.21066655e-01 5.69937701e-01 -3.19462704e-02 1.85876342e+02] [ 3.91473163e-02 -3.87369525e-04 9.99233375e-01 1.72401354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.130385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:273.60, Y:185.90, Z:17.24 [[ 5.68981910e-01 -8.22029311e-01 -2.29651593e-02 2.73602731e+02] [ 8.21418150e-01 5.69444581e-01 -3.17031932e-02 1.85897953e+02] [ 3.91383395e-02 -8.25455234e-04 9.99233461e-01 1.72412713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.160385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.62, Y:185.92, Z:17.24 [[ 5.68098778e-01 -8.22640044e-01 -2.29594494e-02 2.73619940e+02] [ 8.22029214e-01 5.68561885e-01 -3.17073277e-02 1.85920524e+02] [ 3.91375853e-02 -8.60444064e-04 9.99233461e-01 1.72422670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.190385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.63, Y:185.94, Z:17.24 [[ 5.66671448e-01 -8.23624147e-01 -2.29506937e-02 2.73634258e+02] [ 8.23013864e-01 5.67135277e-01 -3.17136641e-02 1.85943375e+02] [ 3.91362876e-02 -9.17511099e-04 9.99233461e-01 1.72404749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.220385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:273.65, Y:185.97, Z:17.24 [[ 5.68022522e-01 -8.22695597e-01 -2.28554018e-02 2.73652030e+02] [ 8.22081780e-01 5.68481674e-01 -3.17825900e-02 1.85965849e+02] [ 3.91402739e-02 -7.35782500e-04 9.99233455e-01 1.72433357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.250385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:273.67, Y:185.99, Z:17.24 [[ 5.69074215e-01 -8.21966135e-01 -2.29392788e-02 2.73668072e+02] [ 8.21354167e-01 5.69535820e-01 -3.17219357e-02 1.85988827e+02] [ 3.91390979e-02 -7.89136600e-04 9.99233460e-01 1.72430723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.280385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:273.68, Y:186.01, Z:17.24 [[ 5.70141961e-01 -8.21226120e-01 -2.29304375e-02 2.73684086e+02] [ 8.20613296e-01 5.70602428e-01 -3.17283255e-02 1.86010233e+02] [ 3.91402929e-02 -7.27372202e-04 9.99233460e-01 1.72438703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.310385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.70, Y:186.03, Z:17.25 [[ 5.72869443e-01 -8.19325956e-01 -2.29255244e-02 2.73701593e+02] [ 8.18711463e-01 5.73327680e-01 -3.17318751e-02 1.86031200e+02] [ 3.91425866e-02 -5.91168020e-04 9.99233460e-01 1.72451201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.340385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:273.72, Y:186.05, Z:17.25 [[ 5.74631650e-01 -8.18091218e-01 -2.29177935e-02 2.73718885e+02] [ 8.17475518e-01 5.75088264e-01 -3.17374576e-02 1.86053513e+02] [ 3.91438894e-02 -4.97387492e-04 9.99233460e-01 1.72457453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.370385723 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:273.73, Y:186.08, Z:17.24 [[ 5.76303981e-01 -8.16914252e-01 -2.29090960e-02 2.73734247e+02] [ 8.16297370e-01 5.76758996e-01 -3.17437344e-02 1.86075865e+02] [ 3.91449363e-02 -4.06594339e-04 9.99233461e-01 1.72436626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.400385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.75, Y:186.10, Z:17.24 [[ 5.79502977e-01 -8.14651812e-01 -2.27755179e-02 2.73754384e+02] [ 8.14029356e-01 5.79950358e-01 -3.18400848e-02 1.86099048e+02] [ 3.91472525e-02 -8.85161914e-05 9.99233449e-01 1.72442192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.430385723 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:273.77, Y:186.12, Z:17.25 [[ 5.80689593e-01 -8.13800545e-01 -2.29841244e-02 2.73770138e+02] [ 8.13183360e-01 5.81144208e-01 -3.16896274e-02 1.86119827e+02] [ 3.91461268e-02 -2.88470669e-04 9.99233455e-01 1.72453791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.460385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.79, Y:186.14, Z:17.24 [[ 5.83037790e-01 -8.12122506e-01 -2.28904072e-02 2.73789164e+02] [ 8.11501355e-01 5.83486959e-01 -3.17571786e-02 1.86139224e+02] [ 3.91469735e-02 -5.99612282e-05 9.99233462e-01 1.72440587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.490385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.81, Y:186.16, Z:17.25 [[ 5.81508956e-01 -8.13221815e-01 -2.27511215e-02 2.73809939e+02] [ 8.12597574e-01 5.81953845e-01 -3.18575657e-02 1.86160804e+02] [ 3.91473700e-02 3.79536169e-05 9.99233447e-01 1.72486540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.520385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.83, Y:186.18, Z:17.25 [[ 5.80396605e-01 -8.14012261e-01 -2.28871087e-02 2.73826697e+02] [ 8.13392479e-01 5.80847661e-01 -3.17595690e-02 1.86180937e+02] [ 3.91466021e-02 -1.83056050e-04 9.99233461e-01 1.72500521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.550385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.85, Y:186.20, Z:17.25 [[ 5.81584565e-01 -8.13167989e-01 -2.27423754e-02 2.73847003e+02] [ 8.12543463e-01 5.82029053e-01 -3.18638031e-02 1.86202076e+02] [ 3.91473479e-02 5.23275932e-05 9.99233447e-01 1.72534269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.580385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:273.87, Y:186.22, Z:17.25 [[ 5.80301070e-01 -8.14080706e-01 -2.28751406e-02 2.73866064e+02] [ 8.13460636e-01 5.80751732e-01 -3.17682043e-02 1.86222515e+02] [ 3.91466597e-02 -1.72903516e-04 9.99233461e-01 1.72533594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.610385723 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:273.88, Y:186.24, Z:17.25 [[ 5.79709461e-01 -8.14502344e-01 -2.28663838e-02 2.73884669e+02] [ 8.13882354e-01 5.80160232e-01 -3.17745061e-02 1.86244661e+02] [ 3.91465762e-02 -1.90564487e-04 9.99233461e-01 1.72544545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.640385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:273.90, Y:186.27, Z:17.26 [[ 5.79675707e-01 -8.14525805e-01 -2.28863995e-02 2.73904707e+02] [ 8.13906401e-01 5.80127284e-01 -3.17601065e-02 1.86265136e+02] [ 3.91464511e-02 -2.16824884e-04 9.99233460e-01 1.72567226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.670385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:273.92, Y:186.29, Z:17.26 [[ 5.80023993e-01 -8.14278581e-01 -2.28595864e-02 2.73922511e+02] [ 8.13658224e-01 5.80474259e-01 -3.17793868e-02 1.86286287e+02] [ 3.91466755e-02 -1.67083595e-04 9.99233461e-01 1.72572569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.700385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:273.94, Y:186.31, Z:17.26 [[ 5.79584070e-01 -8.14592170e-01 -2.28451981e-02 2.73941440e+02] [ 8.13971649e-01 5.80034109e-01 -3.17897267e-02 1.86307158e+02] [ 3.91466566e-02 -1.70524406e-04 9.99233461e-01 1.72579839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.730385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.96, Y:186.33, Z:17.26 [[ 5.79913337e-01 -8.14358997e-01 -2.28023169e-02 2.73959475e+02] [ 8.13737083e-01 5.80361451e-01 -3.18205319e-02 1.86328679e+02] [ 3.91469222e-02 -1.01939949e-04 9.99233460e-01 1.72583057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.760385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.98, Y:186.35, Z:17.26 [[ 5.79135412e-01 -8.14911523e-01 -2.28338426e-02 2.73977916e+02] [ 8.14290928e-01 5.79585350e-01 -3.17978936e-02 1.86349550e+02] [ 3.91466305e-02 -1.78104657e-04 9.99233461e-01 1.72585764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.790385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:274.00, Y:186.37, Z:17.26 [[ 5.77876734e-01 -8.15804816e-01 -2.28250660e-02 2.73995076e+02] [ 8.15184668e-01 5.78327287e-01 -3.18041923e-02 1.86370859e+02] [ 3.91463717e-02 -2.27741116e-04 9.99233461e-01 1.72589850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.820385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:274.01, Y:186.39, Z:17.26 [[ 5.75425283e-01 -8.17536872e-01 -2.27860959e-02 2.74014671e+02] [ 8.16916973e-01 5.75876179e-01 -3.18321537e-02 1.86390475e+02] [ 3.91459292e-02 -2.97322429e-04 9.99233460e-01 1.72609427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.850385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.03, Y:186.41, Z:17.26 [[ 5.74794488e-01 -8.17982984e-01 -2.26965713e-02 2.74034249e+02] [ 8.17360894e-01 5.75242375e-01 -3.18963609e-02 1.86411962e+02] [ 3.91467100e-02 -2.17437397e-04 9.99233450e-01 1.72629188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.880385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:274.05, Y:186.43, Z:17.26 [[ 5.72734671e-01 -8.19423276e-01 -2.28142663e-02 2.74052100e+02] [ 8.18805665e-01 5.73188697e-01 -3.18119552e-02 1.86433479e+02] [ 3.91443361e-02 -4.60640831e-04 9.99233461e-01 1.72642608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.910385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.07, Y:186.46, Z:17.27 [[ 5.69089411e-01 -8.21959335e-01 -2.28055754e-02 2.74070868e+02] [ 8.21343497e-01 5.69545839e-01 -3.18181844e-02 1.86455042e+02] [ 3.91420742e-02 -6.23819221e-04 9.99233461e-01 1.72657793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.940385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.09, Y:186.48, Z:17.27 [[ 5.67503228e-01 -8.23055521e-01 -2.27968372e-02 2.74088442e+02] [ 8.22440313e-01 5.67960506e-01 -3.18244438e-02 1.86477082e+02] [ 3.91409874e-02 -6.88563277e-04 9.99233461e-01 1.72673238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.970385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.10, Y:186.50, Z:17.27 [[ 5.64029788e-01 -8.25439944e-01 -2.27880794e-02 2.74104404e+02] [ 8.24826417e-01 5.64489316e-01 -3.18307136e-02 1.86497339e+02] [ 3.91379699e-02 -8.42739261e-04 9.99233461e-01 1.72666874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.000385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.13, Y:186.52, Z:17.27 [[ 5.64524322e-01 -8.25107138e-01 -2.25942768e-02 2.74125167e+02] [ 8.24487772e-01 5.64975994e-01 -3.19693610e-02 1.86520786e+02] [ 3.91433719e-02 -5.81223137e-04 9.99233436e-01 1.72698942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.030385723 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:274.14, Y:186.54, Z:17.27 [[ 5.62784843e-01 -8.26289538e-01 -2.27776427e-02 2.74142847e+02] [ 8.25676402e-01 5.63244893e-01 -3.18381787e-02 1.86541117e+02] [ 3.91369449e-02 -8.88917701e-04 9.99233461e-01 1.72697521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.060385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.16, Y:186.56, Z:17.27 [[ 5.62086448e-01 -8.26764946e-01 -2.27716852e-02 2.74159906e+02] [ 8.26152026e-01 5.62546788e-01 -3.18424392e-02 1.86563736e+02] [ 3.91363508e-02 -9.14670334e-04 9.99233461e-01 1.72725529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.090385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:274.18, Y:186.59, Z:17.27 [[ 5.62063872e-01 -8.26780533e-01 -2.27629931e-02 2.74176357e+02] [ 8.26167375e-01 5.62523894e-01 -3.18486516e-02 1.86586106e+02] [ 3.91365727e-02 -9.05065804e-04 9.99233461e-01 1.72733096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.12038572299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.19, Y:186.61, Z:17.27 [[ 5.62426822e-01 -8.26533914e-01 -2.27543239e-02 2.74192531e+02] [ 8.25920304e-01 5.62886240e-01 -3.18548441e-02 1.86609196e+02] [ 3.91372048e-02 -8.77239429e-04 9.99233461e-01 1.72743648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.150385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.21, Y:186.63, Z:17.28 [[ 5.64527746e-01 -8.25100638e-01 -2.27455736e-02 2.74207914e+02] [ 8.24485611e-01 5.64985264e-01 -3.18610910e-02 1.86631414e+02] [ 3.91395204e-02 -7.66928237e-04 9.99233461e-01 1.72752993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.180385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.22, Y:186.65, Z:17.28 [[ 5.65527135e-01 -8.24416190e-01 -2.27377511e-02 2.74223923e+02] [ 8.23800385e-01 5.65983605e-01 -3.18666725e-02 1.86654369e+02] [ 3.91405951e-02 -7.09900073e-04 9.99233461e-01 1.72761058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.210385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.24, Y:186.68, Z:17.28 [[ 5.66523057e-01 -8.23732368e-01 -2.27290975e-02 2.74239729e+02] [ 8.23115764e-01 5.66978448e-01 -3.18728436e-02 1.86677385e+02] [ 3.91416013e-02 -6.51977643e-04 9.99233461e-01 1.72772069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.240385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:274.26, Y:186.70, Z:17.28 [[ 5.69342658e-01 -8.21786297e-01 -2.27204513e-02 2.74255175e+02] [ 8.21167891e-01 5.69795599e-01 -3.18790058e-02 1.86699765e+02] [ 3.91437433e-02 -5.07227166e-04 9.99233461e-01 1.72786637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.270385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:274.27, Y:186.72, Z:17.28 [[ 5.72081298e-01 -8.19882381e-01 -2.27127446e-02 2.74270204e+02] [ 8.19262249e-01 5.72531873e-01 -3.18844956e-02 1.86723950e+02] [ 3.91453064e-02 -3.67170547e-04 9.99233461e-01 1.72794552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.300385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.29, Y:186.75, Z:17.28 [[ 5.73053200e-01 -8.19203608e-01 -2.27041570e-02 2.74285266e+02] [ 8.18582700e-01 5.73502705e-01 -3.18906095e-02 1.86747541e+02] [ 3.91457978e-02 -3.10214283e-04 9.99233461e-01 1.72800675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.330385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:274.30, Y:186.77, Z:17.28 [[ 5.73514286e-01 -8.18881113e-01 -2.26955415e-02 2.74300657e+02] [ 8.18259709e-01 5.73963105e-01 -3.18967397e-02 1.86771116e+02] [ 3.91460411e-02 -2.77611299e-04 9.99233461e-01 1.72804773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.360385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.31, Y:186.79, Z:17.28 [[ 5.70348152e-01 -8.21089696e-01 -2.26869305e-02 2.74310915e+02] [ 8.20469787e-01 5.70799034e-01 -3.19028632e-02 1.86794100e+02] [ 3.91447902e-02 -4.18201906e-04 9.99233461e-01 1.72779854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.390385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.33, Y:186.82, Z:17.28 [[ 5.72294262e-01 -8.19743670e-01 -2.23515971e-02 2.74331912e+02] [ 8.19113327e-01 5.72730573e-01 -3.21410659e-02 1.86816725e+02] [ 3.91488783e-02 8.56565320e-05 9.99233385e-01 1.72835989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.420385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:274.35, Y:186.84, Z:17.29 [[ 5.69265424e-01 -8.21840997e-01 -2.26771454e-02 2.74348305e+02] [ 8.21221410e-01 5.69716742e-01 -3.19097136e-02 1.86839407e+02] [ 3.91442603e-02 -4.57860709e-04 9.99233465e-01 1.72862857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.450385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:274.36, Y:186.86, Z:17.29 [[ 5.65697705e-01 -8.24301066e-01 -2.26684392e-02 2.74364673e+02] [ 8.23683194e-01 5.66151368e-01 -3.19158973e-02 1.86862617e+02] [ 3.91420760e-02 -6.16862483e-04 9.99233465e-01 1.72877241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.480385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:274.38, Y:186.88, Z:17.29 [[ 5.63408904e-01 -8.25867387e-01 -2.26597763e-02 2.74379778e+02] [ 8.25250529e-01 5.63863944e-01 -3.19220467e-02 1.86884670e+02] [ 3.91404081e-02 -7.14827048e-04 9.99233465e-01 1.72887365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.510385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:274.40, Y:186.91, Z:17.29 [[ 5.61299142e-01 -8.27302945e-01 -2.26519490e-02 2.74395892e+02] [ 8.26687026e-01 5.61755453e-01 -3.19275999e-02 1.86907838e+02] [ 3.91386533e-02 -8.05137955e-04 9.99233465e-01 1.72905186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.540385723 meters Centerline goodness : 0.999732 Centerline is valid? [True, True] Translation: X:274.41, Y:186.93, Z:17.29 [[ 5.57681409e-01 -8.29746183e-01 -2.26432942e-02 2.74411727e+02] [ 8.29132014e-01 5.58140072e-01 -3.19337368e-02 1.86931051e+02] [ 3.91350261e-02 -9.65428780e-04 9.99233465e-01 1.72933837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.570385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:274.43, Y:186.95, Z:17.29 [[ 5.56191250e-01 -8.30746034e-01 -2.26344991e-02 2.74426910e+02] [ 8.30132436e-01 5.56650678e-01 -3.19399695e-02 1.86953224e+02] [ 3.91335123e-02 -1.02490028e-03 9.99233465e-01 1.72947196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.600385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.44, Y:186.98, Z:17.30 [[ 5.54287957e-01 -8.32017366e-01 -2.26266179e-02 2.74441254e+02] [ 8.31404594e-01 5.54748486e-01 -3.19455517e-02 1.86977122e+02] [ 3.91313358e-02 -1.10483944e-03 9.99233465e-01 1.72952518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.630385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.46, Y:187.00, Z:17.29 [[ 5.53984437e-01 -8.32219726e-01 -2.26179244e-02 2.74456301e+02] [ 8.31606872e-01 5.54444856e-01 -3.19517056e-02 1.87000293e+02] [ 3.91312316e-02 -1.10847373e-03 9.99233465e-01 1.72945917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.660385723 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:274.47, Y:187.02, Z:17.30 [[ 5.54800974e-01 -8.31675811e-01 -2.26102802e-02 2.74471512e+02] [ 8.31062286e-01 5.55260498e-01 -3.19571140e-02 1.87024351e+02] [ 3.91325542e-02 -1.06071316e-03 9.99233465e-01 1.72951482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.690385723 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:274.49, Y:187.05, Z:17.30 [[ 5.55447146e-01 -8.31244624e-01 -2.26018501e-02 2.74487200e+02] [ 8.30630500e-01 5.55905869e-01 -3.19630752e-02 1.87047967e+02] [ 3.91336355e-02 -1.01998716e-03 9.99233465e-01 1.72964854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.720385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:274.50, Y:187.07, Z:17.30 [[ 5.56928058e-01 -8.30253388e-01 -2.25931364e-02 2.74500998e+02] [ 8.29638198e-01 5.57385350e-01 -3.19692333e-02 1.87071099e+02] [ 3.91356475e-02 -9.39565998e-04 9.99233465e-01 1.72979823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.750385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:274.52, Y:187.09, Z:17.30 [[ 5.57190710e-01 -8.30077357e-01 -2.25852472e-02 2.74515630e+02] [ 8.29461797e-01 5.57647504e-01 -3.19748058e-02 1.87094581e+02] [ 3.91361690e-02 -9.17534995e-04 9.99233465e-01 1.73000736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.780385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.53, Y:187.12, Z:17.30 [[ 5.57790941e-01 -8.29674374e-01 -2.25765396e-02 2.74529646e+02] [ 8.29058235e-01 5.58246954e-01 -3.19809528e-02 1.87119179e+02] [ 3.91370615e-02 -8.78580316e-04 9.99233465e-01 1.73015554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.810385723 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:274.54, Y:187.14, Z:17.30 [[ 5.57824260e-01 -8.29652212e-01 -2.25677242e-02 2.74544838e+02] [ 8.29035804e-01 5.58279909e-01 -3.19871723e-02 1.87142566e+02] [ 3.91373353e-02 -8.66230628e-04 9.99233466e-01 1.73016132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.840385723 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:274.56, Y:187.17, Z:17.30 [[ 5.57596496e-01 -8.29805545e-01 -2.25589302e-02 2.74561250e+02] [ 8.29189011e-01 5.58051976e-01 -3.19933731e-02 1.87165951e+02] [ 3.91373339e-02 -8.66224255e-04 9.99233466e-01 1.73027282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.87038572299997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:274.58, Y:187.19, Z:17.30 [[ 5.58309761e-01 -8.29326053e-01 -2.25501396e-02 2.74576973e+02] [ 8.28708879e-01 5.58764371e-01 -3.19995678e-02 1.87188870e+02] [ 3.91382898e-02 -8.21829909e-04 9.99233466e-01 1.73048164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.900385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.59, Y:187.21, Z:17.31 [[ 5.58503909e-01 -8.29195555e-01 -2.25414088e-02 2.74593099e+02] [ 8.28578026e-01 5.58958038e-01 -3.20057168e-02 1.87212195e+02] [ 3.91386998e-02 -8.01998084e-04 9.99233466e-01 1.73066123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.930385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:274.61, Y:187.24, Z:17.31 [[ 5.59614135e-01 -8.28446921e-01 -2.25326264e-02 2.74607013e+02] [ 8.27828536e-01 5.60067097e-01 -3.20118986e-02 1.87235957e+02] [ 3.91399415e-02 -7.38840226e-04 9.99233466e-01 1.73077796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.960385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.62, Y:187.26, Z:17.31 [[ 5.59888277e-01 -8.28261890e-01 -2.25246437e-02 2.74621692e+02] [ 8.27643129e-01 5.60340726e-01 -3.20175145e-02 1.87260152e+02] [ 3.91403623e-02 -7.16135585e-04 9.99233466e-01 1.73088538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.990385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:274.64, Y:187.28, Z:17.31 [[ 5.60986970e-01 -8.27518366e-01 -2.25160514e-02 2.74636060e+02] [ 8.26898764e-01 5.61438266e-01 -3.20235559e-02 1.87283836e+02] [ 3.91414535e-02 -6.53697480e-04 9.99233466e-01 1.73091456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.020385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:274.65, Y:187.31, Z:17.31 [[ 5.61419198e-01 -8.27225420e-01 -2.25075032e-02 2.74652202e+02] [ 8.26605342e-01 5.61869839e-01 -3.20295628e-02 1.87306416e+02] [ 3.91419557e-02 -6.22810947e-04 9.99233466e-01 1.73107032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.050385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:274.67, Y:187.33, Z:17.31 [[ 5.62223110e-01 -8.26679485e-01 -2.24989948e-02 2.74668454e+02] [ 8.26058730e-01 5.62672818e-01 -3.20355383e-02 1.87328745e+02] [ 3.91426951e-02 -5.74371104e-04 9.99233466e-01 1.73130523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.080385723 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:274.68, Y:187.35, Z:17.31 [[ 5.62196865e-01 -8.26697564e-01 -2.24905063e-02 2.74684207e+02] [ 8.26076585e-01 5.62646264e-01 -3.20414965e-02 1.87352617e+02] [ 3.91428265e-02 -5.65251764e-04 9.99233466e-01 1.73138222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.110385723 meters Centerline goodness : 0.999782 Centerline is valid? [True, True] Translation: X:274.69, Y:187.38, Z:17.31 [[ 5.56584857e-01 -8.30486513e-01 -2.24822058e-02 2.74689525e+02] [ 8.29868357e-01 5.57038131e-01 -3.20473196e-02 1.87375670e+02] [ 3.91383126e-02 -8.20218406e-04 9.99233466e-01 1.73088794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.140385723 meters Centerline goodness : 0.994297 Centerline is valid? [True, True] Translation: X:274.71, Y:187.40, Z:17.31 [[ 5.58562608e-01 -8.29173446e-01 -2.18908640e-02 2.74708914e+02] [ 8.28537904e-01 5.58991410e-01 -3.24583514e-02 1.87402460e+02] [ 3.91504080e-02 -7.38919414e-06 9.99233329e-01 1.73106325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.170385723 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:274.72, Y:187.42, Z:17.31 [[ 5.53494930e-01 -8.32550200e-01 -2.24393877e-02 2.74716734e+02] [ 8.31932539e-01 5.53948851e-01 -3.20767964e-02 1.87424191e+02] [ 3.91358162e-02 -9.13712593e-04 9.99233483e-01 1.73073869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.200385723 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:274.74, Y:187.45, Z:17.32 [[ 5.58031663e-01 -8.29529468e-01 -2.19436578e-02 2.74742981e+02] [ 8.28895557e-01 5.58462937e-01 -3.24238033e-02 1.87447447e+02] [ 3.91512199e-02 -9.54915764e-05 9.99233293e-01 1.73158088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.230385723 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:274.76, Y:187.47, Z:17.32 [[ 5.56682886e-01 -8.30421292e-01 -2.24642554e-02 2.74757976e+02] [ 8.29802610e-01 5.57135395e-01 -3.20590221e-02 1.87469608e+02] [ 3.91381264e-02 -7.94188765e-04 9.99233494e-01 1.73165885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.260385723 meters Centerline goodness : 0.999673 Centerline is valid? [True, True] Translation: X:274.76, Y:187.49, Z:17.31 [[ 5.49269886e-01 -8.35343176e-01 -2.24582209e-02 2.74760410e+02] [ 8.34728373e-01 5.49727651e-01 -3.20632489e-02 1.87492934e+02] [ 3.91297212e-02 -1.13513715e-03 9.99233494e-01 1.73101175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.290385723 meters Centerline goodness : 0.994216 Centerline is valid? [True, True] Translation: X:274.78, Y:187.52, Z:17.32 [[ 5.50509301e-01 -8.34543805e-01 -2.18207773e-02 2.74781588e+02] [ 8.33910584e-01 5.50941509e-01 -3.25052564e-02 1.87519639e+02] [ 3.91490323e-02 -3.02131147e-04 9.99233337e-01 1.73161985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.320385723 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:274.79, Y:187.54, Z:17.31 [[ 5.47829242e-01 -8.36292556e-01 -2.23132831e-02 2.74789305e+02] [ 8.35674458e-01 5.48282507e-01 -3.21635292e-02 1.87542667e+02] [ 3.91321028e-02 -1.02651893e-03 9.99233519e-01 1.73109433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.350385723 meters Centerline goodness : 0.999717 Centerline is valid? [True, True] Translation: X:274.80, Y:187.57, Z:17.31 [[ 5.47918588e-01 -8.36243906e-01 -2.19397177e-02 2.74804304e+02] [ 8.35615255e-01 5.48357373e-01 -3.24243355e-02 1.87566956e+02] [ 3.91454589e-02 -5.67266698e-04 9.99233362e-01 1.73115434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.380385723 meters Centerline goodness : 0.999586 Centerline is valid? [True, True] Translation: X:274.82, Y:187.59, Z:17.31 [[ 5.48550484e-01 -8.35829410e-01 -2.19445589e-02 2.74819065e+02] [ 8.35200562e-01 5.48988982e-01 -3.24209558e-02 1.87590547e+02] [ 3.91457094e-02 -5.43576970e-04 9.99233365e-01 1.73116270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.410385723 meters Centerline goodness : 0.999695 Centerline is valid? [True, True] Translation: X:274.83, Y:187.61, Z:17.31 [[ 5.47954063e-01 -8.36219881e-01 -2.19694432e-02 2.74833456e+02] [ 8.35592040e-01 5.48393972e-01 -3.24036032e-02 1.87613628e+02] [ 3.91444474e-02 -6.01805840e-04 9.99233381e-01 1.73132832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.440385723 meters Centerline goodness : 0.999696 Centerline is valid? [True, True] Translation: X:274.85, Y:187.64, Z:17.31 [[ 5.48311010e-01 -8.35985882e-01 -2.19690965e-02 2.74845955e+02] [ 8.35357844e-01 5.48750638e-01 -3.24038448e-02 1.87638427e+02] [ 3.91447125e-02 -5.84672189e-04 9.99233381e-01 1.73134428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.470385723 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:274.87, Y:187.66, Z:17.32 [[ 5.52231044e-01 -8.33401883e-01 -2.19584782e-02 2.74868733e+02] [ 8.32771494e-01 5.52667305e-01 -3.24112465e-02 1.87663134e+02] [ 3.91473268e-02 -3.87898208e-04 9.99233374e-01 1.73213886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.500385723 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:274.87, Y:187.69, Z:17.31 [[ 5.48913588e-01 -8.35579068e-01 -2.23940446e-02 2.74873863e+02] [ 8.34962660e-01 5.49369154e-01 -3.21074580e-02 1.87688200e+02] [ 3.91309171e-02 -1.07397107e-03 9.99233515e-01 1.73149593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.530385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.89, Y:187.71, Z:17.32 [[ 5.50231148e-01 -8.34724974e-01 -2.19066465e-02 2.74888734e+02] [ 8.34094213e-01 5.50666906e-01 -3.24469202e-02 1.87711411e+02] [ 3.91475199e-02 -4.18900955e-04 9.99233354e-01 1.73158893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.560385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:274.91, Y:187.74, Z:17.32 [[ 5.53548445e-01 -8.32528061e-01 -2.19350591e-02 2.74905533e+02] [ 8.31896353e-01 5.53982797e-01 -3.24271296e-02 1.87736792e+02] [ 3.91481407e-02 -2.97708558e-04 9.99233373e-01 1.73188646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.590385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:274.92, Y:187.76, Z:17.32 [[ 5.53728874e-01 -8.32402773e-01 -2.21349638e-02 2.74919919e+02] [ 8.31776506e-01 5.54170857e-01 -3.22878578e-02 1.87760812e+02] [ 3.91430542e-02 -5.32623670e-04 9.99233475e-01 1.73198948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.62038572299997 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:274.93, Y:187.79, Z:17.32 [[ 5.52807808e-01 -8.33014894e-01 -2.21294881e-02 2.74932385e+02] [ 8.32388962e-01 5.53250272e-01 -3.22916715e-02 1.87785700e+02] [ 3.91425886e-02 -5.69253475e-04 9.99233473e-01 1.73196981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.650385723 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:274.95, Y:187.81, Z:17.32 [[ 5.52227227e-01 -8.33400544e-01 -2.21048159e-02 2.74948492e+02] [ 8.32774235e-01 5.52669171e-01 -3.23088521e-02 1.87809789e+02] [ 3.91428651e-02 -5.66493337e-04 9.99233464e-01 1.73206945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.680385723 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:274.96, Y:187.83, Z:17.32 [[ 5.50325089e-01 -8.34656875e-01 -2.21404083e-02 2.74964771e+02] [ 8.34032569e-01 5.50769836e-01 -3.22840753e-02 1.87833443e+02] [ 3.91403944e-02 -6.99085056e-04 9.99233477e-01 1.73234364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.710385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:274.98, Y:187.86, Z:17.33 [[ 5.49897602e-01 -8.34935614e-01 -2.22519190e-02 2.74981307e+02] [ 8.34314662e-01 5.50346972e-01 -3.22064487e-02 1.87856779e+02] [ 3.91365873e-02 -8.54853363e-04 9.99233505e-01 1.73254258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.740385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:274.99, Y:187.88, Z:17.33 [[ 5.47894735e-01 -8.36248447e-01 -2.23583189e-02 2.74994860e+02] [ 8.35631580e-01 5.48349681e-01 -3.21323778e-02 1.87880796e+02] [ 3.91308281e-02 -1.07815676e-03 9.99233514e-01 1.73271939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.770385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:275.01, Y:187.90, Z:17.33 [[ 5.46629344e-01 -8.37075054e-01 -2.23989632e-02 2.75009523e+02] [ 8.36460030e-01 5.47086780e-01 -3.21040926e-02 1.87904819e+02] [ 3.91277117e-02 -1.18679835e-03 9.99233513e-01 1.73279984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.800385723 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:275.02, Y:187.93, Z:17.33 [[ 5.45981674e-01 -8.37498815e-01 -2.23549964e-02 2.75024883e+02] [ 8.36882896e-01 5.46437902e-01 -3.21346788e-02 1.87929929e+02] [ 3.91283728e-02 -1.16356841e-03 9.99233515e-01 1.73289159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.830385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:275.04, Y:187.95, Z:17.33 [[ 5.45664385e-01 -8.37703643e-01 -2.24273575e-02 2.75039210e+02] [ 8.37089954e-01 5.46123616e-01 -3.20843525e-02 1.87953208e+02] [ 3.91252885e-02 -1.26642713e-03 9.99233510e-01 1.73302765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.860385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.05, Y:187.98, Z:17.33 [[ 5.47399905e-01 -8.36571533e-01 -2.23922709e-02 2.75053254e+02] [ 8.35955899e-01 5.47856518e-01 -3.21087435e-02 1.87976369e+02] [ 3.91290124e-02 -1.14262782e-03 9.99233514e-01 1.73323510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.890385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.07, Y:188.00, Z:17.33 [[ 5.47994275e-01 -8.36183767e-01 -2.23379070e-02 2.75068534e+02] [ 8.35566271e-01 5.48448364e-01 -3.21465199e-02 1.88000239e+02] [ 3.91315867e-02 -1.04869278e-03 9.99233516e-01 1.73331985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.920385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.08, Y:188.03, Z:17.33 [[ 5.48737211e-01 -8.35696643e-01 -2.23292316e-02 2.75081046e+02] [ 8.35078499e-01 5.49190417e-01 -3.21525448e-02 1.88025596e+02] [ 3.91327738e-02 -1.00336344e-03 9.99233516e-01 1.73315459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.950385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:275.10, Y:188.05, Z:17.33 [[ 5.49954288e-01 -8.34896570e-01 -2.23158907e-02 2.75095590e+02] [ 8.34277392e-01 5.50406079e-01 -3.21618048e-02 1.88049208e+02] [ 3.91345824e-02 -9.30120621e-04 9.99233516e-01 1.73327390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.980385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.11, Y:188.07, Z:17.33 [[ 5.52494023e-01 -8.33218820e-01 -2.22879714e-02 2.75111634e+02] [ 8.32597488e-01 5.52942850e-01 -3.21811809e-02 1.88073499e+02] [ 3.91379400e-02 -7.76998865e-04 9.99233515e-01 1.73329283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.010385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.13, Y:188.10, Z:17.33 [[ 5.52946686e-01 -8.32916382e-01 -2.23665442e-02 2.75126188e+02] [ 8.32297003e-01 5.53398207e-01 -3.21266655e-02 1.88095883e+02] [ 3.91364314e-02 -8.51274461e-04 9.99233514e-01 1.73347278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.040385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.14, Y:188.12, Z:17.34 [[ 5.55706902e-01 -8.31078113e-01 -2.23385112e-02 2.75141551e+02] [ 8.30456459e-01 5.56155282e-01 -3.21461067e-02 1.88119383e+02] [ 3.91396068e-02 -6.87347524e-04 9.99233516e-01 1.73355026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.070385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:275.16, Y:188.14, Z:17.34 [[ 5.55603160e-01 -8.31149237e-01 -2.22727217e-02 2.75156205e+02] [ 8.30525811e-01 5.56049073e-01 -3.21917048e-02 1.88143100e+02] [ 3.91408371e-02 -6.12257380e-04 9.99233516e-01 1.73376749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.100385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:275.17, Y:188.17, Z:17.34 [[ 5.56743041e-01 -8.30385552e-01 -2.22939709e-02 2.75168970e+02] [ 8.29762104e-01 5.57188920e-01 -3.21769822e-02 1.88165797e+02] [ 3.91412547e-02 -5.84381232e-04 9.99233517e-01 1.73380084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.130385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:275.19, Y:188.19, Z:17.34 [[ 5.54899083e-01 -8.31624759e-01 -2.20741548e-02 2.75187690e+02] [ 8.30996227e-01 5.55337823e-01 -3.23291508e-02 1.88192203e+02] [ 3.91443352e-02 -4.04123194e-04 9.99233485e-01 1.73362213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.160385723 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:275.20, Y:188.21, Z:17.34 [[ 5.54318450e-01 -8.32004011e-01 -2.23691871e-02 2.75201877e+02] [ 8.31383960e-01 5.54769052e-01 -3.21249009e-02 1.88214748e+02] [ 3.91377792e-02 -7.89958047e-04 9.99233511e-01 1.73394907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.190385723 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:275.22, Y:188.24, Z:17.34 [[ 5.53556101e-01 -8.32513970e-01 -2.22740177e-02 2.75216908e+02] [ 8.31891682e-01 5.54003596e-01 -3.21907526e-02 1.88237320e+02] [ 3.91391372e-02 -7.10182493e-04 9.99233518e-01 1.73408273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.220385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.23, Y:188.26, Z:17.34 [[ 5.52562232e-01 -8.33174091e-01 -2.22691278e-02 2.75232429e+02] [ 8.32552201e-01 5.53010280e-01 -3.21941351e-02 1.88261255e+02] [ 3.91383758e-02 -7.50948247e-04 9.99233518e-01 1.73409009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.250385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.25, Y:188.29, Z:17.34 [[ 5.50743534e-01 -8.34377639e-01 -2.22601743e-02 2.75248303e+02] [ 8.33756478e-01 5.51192593e-01 -3.22003246e-02 1.88286891e+02] [ 3.91368740e-02 -8.25443984e-04 9.99233518e-01 1.73412647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.280385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.26, Y:188.31, Z:17.34 [[ 5.51045378e-01 -8.34175679e-01 -2.23590394e-02 2.75262501e+02] [ 8.33557116e-01 5.51498022e-01 -3.21320016e-02 1.88309141e+02] [ 3.91347003e-02 -9.31345481e-04 9.99233510e-01 1.73424494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.310385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.28, Y:188.33, Z:17.34 [[ 5.49877501e-01 -8.34949033e-01 -2.22451457e-02 2.75277283e+02] [ 8.34327921e-01 5.50326625e-01 -3.22106587e-02 1.88332764e+02] [ 3.91363543e-02 -8.47829710e-04 9.99233520e-01 1.73427453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.340385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.29, Y:188.36, Z:17.34 [[ 5.49307608e-01 -8.35324309e-01 -2.22362415e-02 2.75294173e+02] [ 8.34703256e-01 5.49756812e-01 -3.22168044e-02 1.88357600e+02] [ 3.91360051e-02 -8.63727354e-04 9.99233520e-01 1.73441633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.37038572299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.31, Y:188.38, Z:17.34 [[ 5.50505443e-01 -8.34531966e-01 -2.23641614e-02 2.75306466e+02] [ 8.33913837e-01 5.50958684e-01 -3.21285142e-02 1.88379759e+02] [ 3.91340011e-02 -9.62861679e-04 9.99233508e-01 1.73433224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.400385723 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:275.32, Y:188.40, Z:17.34 [[ 5.50508910e-01 -8.34535651e-01 -2.21401493e-02 2.75322336e+02] [ 8.33911290e-01 5.50953509e-01 -3.22829761e-02 1.88404121e+02] [ 3.91394875e-02 -6.90854483e-04 9.99233518e-01 1.73422335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.430385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.34, Y:188.43, Z:17.34 [[ 5.49878638e-01 -8.34950329e-01 -2.21682437e-02 2.75337660e+02] [ 8.34327083e-01 5.50324794e-01 -3.22636093e-02 1.88429040e+02] [ 3.91382454e-02 -7.54496581e-04 9.99233521e-01 1.73443799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.460385723 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:275.35, Y:188.45, Z:17.35 [[ 5.51635349e-01 -8.33789612e-01 -2.22109018e-02 2.75353581e+02] [ 8.33166608e-01 5.52081840e-01 -3.22342160e-02 1.88451056e+02] [ 3.91387900e-02 -7.23848708e-04 9.99233522e-01 1.73455626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.490385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.37, Y:188.47, Z:17.35 [[ 5.52607870e-01 -8.33146023e-01 -2.21866305e-02 2.75370260e+02] [ 8.32521827e-01 5.53052696e-01 -3.22509321e-02 1.88474068e+02] [ 3.91401116e-02 -6.48735233e-04 9.99233522e-01 1.73480423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.520385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.39, Y:188.50, Z:17.35 [[ 5.54642573e-01 -8.31792509e-01 -2.21999334e-02 2.75386033e+02] [ 8.31167595e-01 5.55086387e-01 -3.22417724e-02 1.88496060e+02] [ 3.91413456e-02 -5.69205623e-04 9.99233522e-01 1.73470141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.550385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:275.40, Y:188.52, Z:17.35 [[ 5.54726647e-01 -8.31738661e-01 -2.21166449e-02 2.75403411e+02] [ 8.31111416e-01 5.55167168e-01 -3.22990852e-02 1.88519406e+02] [ 3.91428329e-02 -4.64232796e-04 9.99233518e-01 1.73503706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.580385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.42, Y:188.54, Z:17.35 [[ 5.56909638e-01 -8.30276678e-01 -2.21876634e-02 2.75418396e+02] [ 8.29650219e-01 5.57351269e-01 -3.22502257e-02 1.88542541e+02] [ 3.91429326e-02 -4.47538264e-04 9.99233522e-01 1.73489871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.610385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.44, Y:188.57, Z:17.35 [[ 5.58475082e-01 -8.29226709e-01 -2.21054031e-02 2.75435440e+02] [ 8.28597176e-01 5.58912328e-01 -3.23067944e-02 1.88566512e+02] [ 3.91446391e-02 -2.73934942e-04 9.99233517e-01 1.73507282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.640385723 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:275.45, Y:188.59, Z:17.35 [[ 5.60521526e-01 -8.27842841e-01 -2.21776728e-02 2.75451748e+02] [ 8.27214192e-01 5.60960034e-01 -3.22571071e-02 1.88588781e+02] [ 3.91446033e-02 -2.64882811e-04 9.99233521e-01 1.73511530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.670385723 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:275.46, Y:188.61, Z:17.35 [[ 5.58937475e-01 -8.28914647e-01 -2.21225525e-02 2.75462208e+02] [ 8.28285338e-01 5.59375038e-01 -3.22949789e-02 1.88609547e+02] [ 3.91445847e-02 -2.72911951e-04 9.99233520e-01 1.73500963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.700385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.49, Y:188.63, Z:17.35 [[ 5.63514851e-01 -8.25820288e-01 -2.17224353e-02 2.75486291e+02] [ 8.25177893e-01 5.63933212e-01 -3.25695706e-02 1.88633657e+02] [ 3.91466149e-02 4.28563312e-04 9.99233386e-01 1.73538129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.730385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.50, Y:188.66, Z:17.36 [[ 5.64208128e-01 -8.25335198e-01 -2.21585061e-02 2.75503334e+02] [ 8.24704087e-01 5.64643079e-01 -3.22701464e-02 1.88655689e+02] [ 3.91453348e-02 -6.71317102e-05 9.99233525e-01 1.73551677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.760385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:275.52, Y:188.68, Z:17.36 [[ 5.65152005e-01 -8.24690982e-01 -2.20906113e-02 2.75523222e+02] [ 8.24057551e-01 5.65583575e-01 -3.23167421e-02 1.88679925e+02] [ 3.91454127e-02 5.99365880e-05 9.99233523e-01 1.73563423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.790385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:275.54, Y:188.70, Z:17.36 [[ 5.64870382e-01 -8.24878857e-01 -2.22783031e-02 2.75539362e+02] [ 8.24250629e-01 5.65309507e-01 -3.21879254e-02 1.88703500e+02] [ 3.91452756e-02 -1.80899630e-04 9.99233514e-01 1.73575360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.820385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.56, Y:188.72, Z:17.36 [[ 5.66658086e-01 -8.23652256e-01 -2.22615261e-02 2.75556192e+02] [ 8.23022625e-01 5.67095191e-01 -3.21994295e-02 1.88724132e+02] [ 3.91455371e-02 -7.56725183e-05 9.99233517e-01 1.73588504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.850385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.57, Y:188.75, Z:17.36 [[ 5.66961186e-01 -8.23447314e-01 -2.21254444e-02 2.75572896e+02] [ 8.22813875e-01 5.67392731e-01 -3.22926670e-02 1.88745527e+02] [ 3.91451262e-02 1.03566115e-04 9.99233530e-01 1.73604953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.880385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.59, Y:188.77, Z:17.36 [[ 5.66568489e-01 -8.23717691e-01 -2.21204188e-02 2.75591721e+02] [ 8.23084324e-01 5.67000139e-01 -3.22961092e-02 1.88768614e+02] [ 3.91451570e-02 9.09878819e-05 9.99233530e-01 1.73620263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.910385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.61, Y:188.79, Z:17.36 [[ 5.66683167e-01 -8.23635568e-01 -2.22404946e-02 2.75609056e+02] [ 8.23005357e-01 5.67119431e-01 -3.22138640e-02 1.88789745e+02] [ 3.91455008e-02 -4.89917141e-05 9.99233520e-01 1.73634565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.940385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.62, Y:188.81, Z:17.36 [[ 5.63764614e-01 -8.25638024e-01 -2.21655956e-02 2.75624179e+02] [ 8.25007344e-01 5.64200181e-01 -3.22651259e-02 1.88810348e+02] [ 3.91451478e-02 -9.68428950e-05 9.99233530e-01 1.73602019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.970385723 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:275.65, Y:188.83, Z:17.36 [[ 5.63008496e-01 -8.26160472e-01 -2.19159077e-02 2.75645814e+02] [ 8.25523511e-01 5.63434863e-01 -3.24359142e-02 1.88830881e+02] [ 3.91454567e-02 1.69598224e-04 9.99233508e-01 1.73605609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.000385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.66, Y:188.85, Z:17.36 [[ 5.61686220e-01 -8.27056756e-01 -2.20388681e-02 2.75663363e+02] [ 8.26423766e-01 5.62118422e-01 -3.23517910e-02 1.88851564e+02] [ 3.91452211e-02 -4.18891362e-05 9.99233531e-01 1.73622141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.030385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:275.68, Y:188.87, Z:17.36 [[ 5.60907565e-01 -8.27588200e-01 -2.19197302e-02 2.75683444e+02] [ 8.26952428e-01 5.61335699e-01 -3.24332383e-02 1.88874097e+02] [ 3.91456924e-02 6.54746223e-05 9.99233511e-01 1.73643744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.060385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.71, Y:188.89, Z:17.37 [[ 5.57529062e-01 -8.29863377e-01 -2.20934451e-02 2.75705125e+02] [ 8.29234039e-01 5.57966561e-01 -3.23144703e-02 1.88893674e+02] [ 3.91439990e-02 -3.04380430e-04 9.99233534e-01 1.73664762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.090385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.72, Y:188.91, Z:17.37 [[ 5.55995125e-01 -8.30892121e-01 -2.20840098e-02 2.75723412e+02] [ 8.30263337e-01 5.56433418e-01 -3.23209172e-02 1.88914482e+02] [ 3.91434765e-02 -3.65271300e-04 9.99233534e-01 1.73674728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.12038572299997 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:275.74, Y:188.93, Z:17.37 [[ 5.53189889e-01 -8.32762548e-01 -2.20790597e-02 2.75744335e+02] [ 8.32135111e-01 5.53630108e-01 -3.23242984e-02 1.88934625e+02] [ 3.91420973e-02 -4.91285775e-04 9.99233534e-01 1.73697275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.150385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.76, Y:188.96, Z:17.37 [[ 5.51478160e-01 -8.33897334e-01 -2.20697559e-02 2.75762398e+02] [ 8.33270549e-01 5.51919307e-01 -3.23306494e-02 1.88956130e+02] [ 3.91411667e-02 -5.60430542e-04 9.99233534e-01 1.73708159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.180385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.78, Y:188.98, Z:17.37 [[ 5.49979416e-01 -8.34886805e-01 -2.20604687e-02 2.75780589e+02] [ 8.34260559e-01 5.50421328e-01 -3.23369851e-02 1.88977791e+02] [ 3.91402747e-02 -6.19502792e-04 9.99233534e-01 1.73720501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.210385723 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:275.80, Y:189.00, Z:17.37 [[ 5.48473100e-01 -8.35877381e-01 -2.20513556e-02 2.75801847e+02] [ 8.35251684e-01 5.48915788e-01 -3.23431984e-02 1.88997433e+02] [ 3.91392852e-02 -6.79057627e-04 9.99233534e-01 1.73722240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.240385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:275.82, Y:189.02, Z:17.37 [[ 5.47932500e-01 -8.36231934e-01 -2.20483236e-02 2.75819651e+02] [ 8.35606440e-01 5.48375475e-01 -3.23452652e-02 1.89019801e+02] [ 3.91389036e-02 -7.00699133e-04 9.99233534e-01 1.73746761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.270385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.84, Y:189.04, Z:17.38 [[ 5.47212819e-01 -8.36703266e-01 -2.20403233e-02 2.75838894e+02] [ 8.36077934e-01 5.47656023e-01 -3.23507157e-02 1.89041524e+02] [ 3.91384653e-02 -7.24701637e-04 9.99233534e-01 1.73759671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.300385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.86, Y:189.06, Z:17.37 [[ 5.47460565e-01 -8.36541403e-01 -2.20320603e-02 2.75856651e+02] [ 8.35915714e-01 5.47903264e-01 -3.23563422e-02 1.89063021e+02] [ 3.91388576e-02 -7.03124030e-04 9.99233534e-01 1.73737655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.330385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.88, Y:189.09, Z:17.38 [[ 5.47670567e-01 -8.36405682e-01 -2.19655678e-02 2.75875318e+02] [ 8.35778067e-01 5.48110536e-01 -3.24015890e-02 1.89085320e+02] [ 3.91404323e-02 -6.12943236e-04 9.99233532e-01 1.73775813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.360385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:275.89, Y:189.11, Z:17.38 [[ 5.47741779e-01 -8.36357735e-01 -2.20155103e-02 2.75894205e+02] [ 8.35731444e-01 5.48183628e-01 -3.23676197e-02 1.89105274e+02] [ 3.91394514e-02 -6.69956655e-04 9.99233534e-01 1.73797564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.390385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:275.91, Y:189.13, Z:17.38 [[ 5.48101938e-01 -8.36121984e-01 -2.20066511e-02 2.75911084e+02] [ 8.35495262e-01 5.48543175e-01 -3.23736419e-02 1.89127643e+02] [ 3.91399120e-02 -6.42396894e-04 9.99233534e-01 1.73812990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.420385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.93, Y:189.15, Z:17.38 [[ 5.49715604e-01 -8.35062210e-01 -2.19968084e-02 2.75928189e+02] [ 8.34434370e-01 5.50155248e-01 -3.23803283e-02 1.89150172e+02] [ 3.91412481e-02 -5.54921279e-04 9.99233534e-01 1.73781322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.450385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.95, Y:189.17, Z:17.38 [[ 5.52019885e-01 -8.33540914e-01 -2.19907017e-02 2.75945347e+02] [ 8.32911697e-01 5.52457556e-01 -3.23844751e-02 1.89170796e+02] [ 3.91427143e-02 -4.39438436e-04 9.99233534e-01 1.73798464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.480385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.96, Y:189.19, Z:17.38 [[ 5.53056197e-01 -8.32853856e-01 -2.19840250e-02 2.75962222e+02] [ 8.32223915e-01 5.53492825e-01 -3.23890068e-02 1.89191699e+02] [ 3.91433094e-02 -3.82690444e-04 9.99233534e-01 1.73801272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.510385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.98, Y:189.21, Z:17.38 [[ 5.54817793e-01 -8.31681588e-01 -2.19761816e-02 2.75981229e+02] [ 8.31050514e-01 5.55252782e-01 -3.23943278e-02 1.89212040e+02] [ 3.91441020e-02 -2.90367577e-04 9.99233534e-01 1.73817595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.540385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:276.00, Y:189.23, Z:17.38 [[ 5.55657626e-01 -8.31120876e-01 -2.19702667e-02 2.75998317e+02] [ 8.30489204e-01 5.56091746e-01 -3.23983389e-02 1.89233282e+02] [ 3.91444198e-02 -2.43685253e-04 9.99233534e-01 1.73830468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.570385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.01, Y:189.26, Z:17.39 [[ 5.55978334e-01 -8.30906528e-01 -2.19643984e-02 2.76014370e+02] [ 8.30274531e-01 5.56411982e-01 -3.24023168e-02 1.89256092e+02] [ 3.91445510e-02 -2.21494458e-04 9.99233534e-01 1.73853808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.600385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.03, Y:189.28, Z:17.39 [[ 5.56359041e-01 -8.30651897e-01 -2.19555094e-02 2.76030407e+02] [ 8.30019464e-01 5.56792052e-01 -3.24083388e-02 1.89279122e+02] [ 3.91447012e-02 -1.92827809e-04 9.99233534e-01 1.73866988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.630385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.05, Y:189.30, Z:17.39 [[ 5.56574191e-01 -8.30507986e-01 -2.19466556e-02 2.76047048e+02] [ 8.29875205e-01 5.57006693e-01 -3.24143334e-02 1.89301597e+02] [ 3.91447968e-02 -1.72003882e-04 9.99233534e-01 1.73890788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.660385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.06, Y:189.33, Z:17.39 [[ 5.54786388e-01 -8.31703551e-01 -2.19377907e-02 2.76061754e+02] [ 8.31071465e-01 5.55219905e-01 -3.24203320e-02 1.89325197e+02] [ 3.91444033e-02 -2.45512982e-04 9.99233534e-01 1.73899720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.690385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:276.08, Y:189.35, Z:17.39 [[ 5.55028968e-01 -8.31541923e-01 -2.19288730e-02 2.76078470e+02] [ 8.30909472e-01 5.55461953e-01 -3.24263627e-02 1.89346252e+02] [ 3.91445346e-02 -2.23337656e-04 9.99233534e-01 1.73932546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.720385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:276.09, Y:189.37, Z:17.39 [[ 5.54691089e-01 -8.31767579e-01 -2.19201001e-02 2.76094163e+02] [ 8.31135070e-01 5.55123988e-01 -3.24322921e-02 1.89369993e+02] [ 3.91445025e-02 -2.28660554e-04 9.99233534e-01 1.73938933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.750385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.11, Y:189.39, Z:17.39 [[ 5.54456445e-01 -8.31924240e-01 -2.19113895e-02 2.76108790e+02] [ 8.31291621e-01 5.54889184e-01 -3.24381760e-02 1.89392572e+02] [ 3.91444979e-02 -2.29198736e-04 9.99233534e-01 1.73946345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.780385723 meters Centerline goodness : 0.999844 Centerline is valid? [True, True] Translation: X:276.12, Y:189.42, Z:17.39 [[ 5.52971306e-01 -8.32912340e-01 -2.19036119e-02 2.76123337e+02] [ 8.32280286e-01 5.53404870e-01 -3.24434268e-02 1.89416136e+02] [ 3.91440961e-02 -2.89660275e-04 9.99233534e-01 1.73924795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.810385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.14, Y:189.44, Z:17.40 [[ 5.52739489e-01 -8.33066353e-01 -2.18976744e-02 2.76139232e+02] [ 8.32434261e-01 5.53172997e-01 -3.24474339e-02 1.89439513e+02] [ 3.91440676e-02 -2.93396349e-04 9.99233534e-01 1.73977042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.840385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.15, Y:189.46, Z:17.40 [[ 5.48502830e-01 -8.35862141e-01 -2.18889597e-02 2.76152040e+02] [ 8.35232024e-01 5.48939203e-01 -3.24533118e-02 1.89464978e+02] [ 3.91422027e-02 -4.81626737e-04 9.99233534e-01 1.73980160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.87038572299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.17, Y:189.49, Z:17.40 [[ 5.49032057e-01 -8.35514843e-01 -2.18802908e-02 2.76170204e+02] [ 8.34884217e-01 5.49467695e-01 -3.24591553e-02 1.89486710e+02] [ 3.91426190e-02 -4.46392598e-04 9.99233534e-01 1.74001579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.900385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:276.18, Y:189.51, Z:17.40 [[ 5.46105123e-01 -8.37431078e-01 -2.18720229e-02 2.76183178e+02] [ 8.36801757e-01 5.46542644e-01 -3.24647256e-02 1.89511589e+02] [ 3.91409633e-02 -5.73394215e-04 9.99233534e-01 1.74015075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.930385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.20, Y:189.53, Z:17.40 [[ 5.46066128e-01 -8.37456752e-01 -2.18625806e-02 2.76198615e+02] [ 8.36827197e-01 5.46503313e-01 -3.24710830e-02 1.89533634e+02] [ 3.91411004e-02 -5.63843526e-04 9.99233534e-01 1.74008399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.960385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.21, Y:189.56, Z:17.40 [[ 5.42707739e-01 -8.39637139e-01 -2.18582890e-02 2.76209583e+02] [ 8.39009224e-01 5.43147276e-01 -3.24739717e-02 1.89557637e+02] [ 3.91386228e-02 -7.15430325e-04 9.99233534e-01 1.74012997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.990385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:276.23, Y:189.58, Z:17.40 [[ 5.42494461e-01 -8.39781585e-01 -2.16020552e-02 2.76227225e+02] [ 8.39146889e-01 5.42924226e-01 -3.26463312e-02 1.89582491e+02] [ 3.91440668e-02 -4.16843586e-04 9.99233490e-01 1.74026115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.020385723 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:276.24, Y:189.61, Z:17.40 [[ 5.38781810e-01 -8.42161924e-01 -2.18507689e-02 2.76238910e+02] [ 8.41535864e-01 5.39223983e-01 -3.24790072e-02 1.89606168e+02] [ 3.91350418e-02 -8.89107416e-04 9.99233535e-01 1.74045184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.050385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.25, Y:189.63, Z:17.41 [[ 5.36924322e-01 -8.43353378e-01 -2.16183210e-02 2.76254882e+02] [ 8.42721986e-01 5.37358908e-01 -3.26352420e-02 1.89632112e+02] [ 3.91398390e-02 -6.95579241e-04 9.99233501e-01 1.74064472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.080385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.27, Y:189.65, Z:17.41 [[ 5.35946238e-01 -8.43969575e-01 -2.18400347e-02 2.76271091e+02] [ 8.43344714e-01 5.36390102e-01 -3.24861885e-02 1.89654129e+02] [ 3.91321331e-02 -1.00782731e-03 9.99233536e-01 1.74073135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.110385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:276.28, Y:189.68, Z:17.41 [[ 5.32522751e-01 -8.46134085e-01 -2.18318531e-02 2.76280655e+02] [ 8.45510803e-01 5.32968829e-01 -3.24916859e-02 1.89677210e+02] [ 3.91280201e-02 -1.15650563e-03 9.99233537e-01 1.74087283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.140385723 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:276.30, Y:189.70, Z:17.41 [[ 5.33641613e-01 -8.45436309e-01 -2.15424456e-02 2.76296649e+02] [ 8.44804562e-01 5.34075721e-01 -3.26860282e-02 1.89704577e+02] [ 3.91392522e-02 -7.56531487e-04 9.99233480e-01 1.74120360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.170385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:276.31, Y:189.73, Z:17.41 [[ 5.34405026e-01 -8.44946638e-01 -2.18276730e-02 2.76309725e+02] [ 8.44322252e-01 5.34849555e-01 -3.24944335e-02 1.89727030e+02] [ 3.91305835e-02 -1.06440146e-03 9.99233539e-01 1.74114244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.200385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:276.32, Y:189.75, Z:17.41 [[ 5.35765527e-01 -8.44088729e-01 -2.16683339e-02 2.76323536e+02] [ 8.43459297e-01 5.36202911e-01 -3.26014135e-02 1.89751617e+02] [ 3.91371094e-02 -8.09644164e-04 9.99233522e-01 1.74129072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.230385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:276.34, Y:189.78, Z:17.41 [[ 5.41009954e-01 -8.40737662e-01 -2.16428513e-02 2.76338909e+02] [ 8.40104836e-01 5.41442423e-01 -3.26185225e-02 1.89778527e+02] [ 3.91419781e-02 -5.35318670e-04 9.99233516e-01 1.74149990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.260385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:276.35, Y:189.80, Z:17.42 [[ 5.43604860e-01 -8.39057538e-01 -2.18220947e-02 2.76353314e+02] [ 8.38428183e-01 5.44042325e-01 -3.24981639e-02 1.89802664e+02] [ 3.91399725e-02 -6.30099364e-04 9.99233539e-01 1.74165910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.290385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.37, Y:189.83, Z:17.42 [[ 5.49482218e-01 -8.35220471e-01 -2.18187155e-02 2.76368215e+02] [ 8.34587971e-01 5.49915121e-01 -3.25004325e-02 1.89826566e+02] [ 3.91434681e-02 -3.51227767e-04 9.99233539e-01 1.74179549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.320385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.38, Y:189.85, Z:17.42 [[ 5.51274627e-01 -8.34038613e-01 -2.18146230e-02 2.76383411e+02] [ 8.33405076e-01 5.51706012e-01 -3.25031792e-02 1.89850320e+02] [ 3.91441651e-02 -2.62239527e-04 9.99233539e-01 1.74199589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.350385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.40, Y:189.87, Z:17.42 [[ 5.53277394e-01 -8.32711618e-01 -2.18056401e-02 2.76397333e+02] [ 8.32076809e-01 5.53706904e-01 -3.25092045e-02 1.89874705e+02] [ 3.91447258e-02 -1.57359436e-04 9.99233539e-01 1.74210893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.380385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.41, Y:189.90, Z:17.42 [[ 5.53428435e-01 -8.32611476e-01 -2.17967377e-02 2.76411898e+02] [ 8.31976353e-01 5.53857483e-01 -3.25151723e-02 1.89898678e+02] [ 3.91447919e-02 -1.39549365e-04 9.99233539e-01 1.74224456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.410385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:276.43, Y:189.92, Z:17.42 [[ 5.53434079e-01 -8.32607963e-01 -2.17876047e-02 2.76426469e+02] [ 8.31972597e-01 5.53862766e-01 -3.25212909e-02 1.89922240e+02] [ 3.91448288e-02 -1.28299358e-04 9.99233539e-01 1.74245294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.440385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.44, Y:189.95, Z:17.42 [[ 5.53702338e-01 -8.32429842e-01 -2.17779551e-02 2.76441388e+02] [ 8.31794084e-01 5.54130443e-01 -3.25277515e-02 1.89945884e+02] [ 3.91448990e-02 -1.04082141e-04 9.99233539e-01 1.74245860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.470385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:276.46, Y:189.97, Z:17.42 [[ 5.52888984e-01 -8.32970415e-01 -2.17728880e-02 2.76455812e+02] [ 8.32334942e-01 5.53317512e-01 -3.25311429e-02 1.89968893e+02] [ 3.91447998e-02 -1.36224944e-04 9.99233539e-01 1.74242673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.500385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.47, Y:189.99, Z:17.43 [[ 5.51530364e-01 -8.33870750e-01 -2.17676231e-02 2.76471851e+02] [ 8.33235838e-01 5.51959722e-01 -3.25346655e-02 1.89990959e+02] [ 3.91445571e-02 -1.93707759e-04 9.99233539e-01 1.74264360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.530385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:276.49, Y:190.01, Z:17.43 [[ 5.49622465e-01 -8.35129732e-01 -2.17595255e-02 2.76487877e+02] [ 8.34495588e-01 5.50052958e-01 -3.25400803e-02 1.90014354e+02] [ 3.91440799e-02 -2.73468847e-04 9.99233539e-01 1.74276175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.560385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.50, Y:190.04, Z:17.43 [[ 5.45414645e-01 -8.37884104e-01 -2.17507161e-02 2.76503577e+02] [ 8.37251899e-01 5.45847980e-01 -3.25459677e-02 1.90037742e+02] [ 3.91423334e-02 -4.59780960e-04 9.99233539e-01 1.74294172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.590385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.52, Y:190.06, Z:17.43 [[ 5.42700957e-01 -8.39644545e-01 -2.17418844e-02 2.76519211e+02] [ 8.39013510e-01 5.43135993e-01 -3.25518665e-02 1.90062210e+02] [ 3.91407971e-02 -5.75805628e-04 9.99233540e-01 1.74277261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.62038572299997 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:276.53, Y:190.09, Z:17.43 [[ 5.40108172e-01 -8.41315160e-01 -2.17247523e-02 2.76534006e+02] [ 8.40685010e-01 5.40544490e-01 -3.25633036e-02 1.90085507e+02] [ 3.91391961e-02 -6.75967262e-04 9.99233539e-01 1.74287440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.650385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:276.55, Y:190.11, Z:17.43 [[ 5.39966808e-01 -8.41407594e-01 -2.16588917e-02 2.76549223e+02] [ 8.40775755e-01 5.40400682e-01 -3.26072434e-02 1.90108452e+02] [ 3.91404621e-02 -6.03441917e-04 9.99233536e-01 1.74297925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.680385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:276.56, Y:190.13, Z:17.43 [[ 5.35263585e-01 -8.44407408e-01 -2.16569610e-02 2.76564144e+02] [ 8.43777948e-01 5.35700904e-01 -3.26085311e-02 1.90132904e+02] [ 3.91365388e-02 -8.19506852e-04 9.99233536e-01 1.74325555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.710385723 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:276.58, Y:190.15, Z:17.43 [[ 5.34777237e-01 -8.44714077e-01 -2.17125444e-02 2.76579875e+02] [ 8.44086368e-01 5.35217060e-01 -3.25714787e-02 1.90154421e+02] [ 3.91345107e-02 -9.08777366e-04 9.99233538e-01 1.74304054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.740385723 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:276.59, Y:190.18, Z:17.43 [[ 5.31512185e-01 -8.46774919e-01 -2.16109711e-02 2.76593200e+02] [ 8.46146164e-01 5.31950521e-01 -3.26391349e-02 1.90179936e+02] [ 3.91339681e-02 -9.37942383e-04 9.99233533e-01 1.74333853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.770385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:276.61, Y:190.20, Z:17.43 [[ 5.31273348e-01 -8.46922594e-01 -2.16967492e-02 2.76609475e+02] [ 8.46296284e-01 5.31715161e-01 -3.25820145e-02 1.90201216e+02] [ 3.91309347e-02 -1.05192225e-03 9.99233538e-01 1.74325797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.800385723 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:276.62, Y:190.23, Z:17.43 [[ 5.27648442e-01 -8.49185840e-01 -2.16917036e-02 2.76622558e+02] [ 8.48561286e-01 5.28092735e-01 -3.25853733e-02 1.90226341e+02] [ 3.91262687e-02 -1.21311848e-03 9.99233538e-01 1.74348971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.830385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:276.64, Y:190.25, Z:17.44 [[ 5.26729715e-01 -8.49756258e-01 -2.16819938e-02 2.76637033e+02] [ 8.49131920e-01 5.27174312e-01 -3.25918328e-02 1.90250866e+02] [ 3.91253040e-02 -1.24378620e-03 9.99233538e-01 1.74359773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.860385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.65, Y:190.27, Z:17.44 [[ 5.26554930e-01 -8.49864821e-01 -2.16723567e-02 2.76651633e+02] [ 8.49240312e-01 5.26999286e-01 -3.25982399e-02 1.90274766e+02] [ 3.91254138e-02 -1.24027507e-03 9.99233538e-01 1.74362828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.890385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.67, Y:190.30, Z:17.44 [[ 5.26612118e-01 -8.49829515e-01 -2.16673318e-02 2.76666916e+02] [ 8.49204839e-01 5.27056239e-01 -3.26015795e-02 1.90298843e+02] [ 3.91256869e-02 -1.23161623e-03 9.99233538e-01 1.74384307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.920385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.68, Y:190.32, Z:17.44 [[ 5.28563296e-01 -8.48617574e-01 -2.16576782e-02 2.76678869e+02] [ 8.47991617e-01 5.29005610e-01 -3.26079912e-02 1.90320161e+02] [ 3.91287477e-02 -1.13014228e-03 9.99233538e-01 1.74373324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.950385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.70, Y:190.35, Z:17.44 [[ 5.30023431e-01 -8.47714476e-01 -2.13384657e-02 2.76695334e+02] [ 8.47079202e-01 5.30452358e-01 -3.28195251e-02 1.90345696e+02] [ 3.91406259e-02 -6.80253249e-04 9.99233481e-01 1.74386503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.980385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.71, Y:190.37, Z:17.44 [[ 5.32404115e-01 -8.46218158e-01 -2.14636394e-02 2.76707856e+02] [ 8.45585009e-01 5.32836101e-01 -3.27365645e-02 1.90368338e+02] [ 3.91388772e-02 -7.20250122e-04 9.99233521e-01 1.74385208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.010385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.72, Y:190.39, Z:17.44 [[ 5.31479672e-01 -8.46804099e-01 -2.12644161e-02 2.76724773e+02] [ 8.46166130e-01 5.31904637e-01 -3.28685071e-02 1.90394559e+02] [ 3.91438281e-02 -5.24285285e-04 9.99233449e-01 1.74413785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.040385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:276.74, Y:190.42, Z:17.44 [[ 5.32637339e-01 -8.46070498e-01 -2.14983208e-02 2.76741334e+02] [ 8.45438161e-01 5.33070491e-01 -3.27134209e-02 1.90418772e+02] [ 3.91379808e-02 -7.51111352e-04 9.99233533e-01 1.74443899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.070385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.76, Y:190.44, Z:17.44 [[ 5.33654299e-01 -8.45426045e-01 -2.16307818e-02 2.76756282e+02] [ 8.44796729e-01 5.34091806e-01 -3.26255999e-02 1.90441287e+02] [ 3.91353552e-02 -8.62822048e-04 9.99233546e-01 1.74449728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.100385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.77, Y:190.46, Z:17.45 [[ 5.33216005e-01 -8.45702685e-01 -2.16254654e-02 2.76766966e+02] [ 8.45073453e-01 5.33653633e-01 -3.26291234e-02 1.90464046e+02] [ 3.91350454e-02 -8.76735891e-04 9.99233546e-01 1.74450002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.130385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.78, Y:190.49, Z:17.45 [[ 5.33210512e-01 -8.45710649e-01 -2.14487413e-02 2.76781693e+02] [ 8.45076697e-01 5.33641318e-01 -3.27462956e-02 1.90487873e+02] [ 3.91398255e-02 -6.65162397e-04 9.99233522e-01 1.74454020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.160385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.80, Y:190.51, Z:17.45 [[ 5.34991713e-01 -8.44586584e-01 -2.13861751e-02 2.76797839e+02] [ 8.43950069e-01 5.35418756e-01 -3.27877509e-02 1.90510732e+02] [ 3.91426538e-02 -5.07688959e-04 9.99233504e-01 1.74470116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.190385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.82, Y:190.54, Z:17.45 [[ 5.35287776e-01 -8.44399459e-01 -2.13670405e-02 2.76816328e+02] [ 8.43762290e-01 5.35713852e-01 -3.28004148e-02 1.90535366e+02] [ 3.91432721e-02 -4.71041940e-04 9.99233497e-01 1.74495850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.220385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.83, Y:190.56, Z:17.45 [[ 5.33357684e-01 -8.45613838e-01 -2.16059591e-02 2.76831162e+02] [ 8.44984001e-01 5.33794455e-01 -3.26422762e-02 1.90558406e+02] [ 3.91359016e-02 -8.46680934e-04 9.99233538e-01 1.74499135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.250385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.85, Y:190.58, Z:17.45 [[ 5.31572934e-01 -8.46737118e-01 -2.15979101e-02 2.76846536e+02] [ 8.46107987e-01 5.32010721e-01 -3.26476010e-02 1.90582329e+02] [ 3.91342553e-02 -9.19583166e-04 9.99233538e-01 1.74503518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.280385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:276.86, Y:190.61, Z:17.45 [[ 5.29862760e-01 -8.47808565e-01 -2.15892021e-02 2.76862601e+02] [ 8.47180085e-01 5.30301481e-01 -3.26533584e-02 1.90606430e+02] [ 3.91325828e-02 -9.88143524e-04 9.99233539e-01 1.74527593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.310385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.88, Y:190.63, Z:17.45 [[ 5.29866409e-01 -8.47804646e-01 -2.16534319e-02 2.76878308e+02] [ 8.47177891e-01 5.30307598e-01 -3.26109232e-02 1.90629170e+02] [ 3.91306716e-02 -1.06487604e-03 9.99233535e-01 1.74543137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.340385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:276.89, Y:190.65, Z:17.46 [[ 5.29588565e-01 -8.47980375e-01 -2.15693324e-02 2.76893167e+02] [ 8.47351505e-01 5.30026725e-01 -3.26664535e-02 1.90652264e+02] [ 3.91328341e-02 -9.77026105e-04 9.99233540e-01 1.74551785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.37038572299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.91, Y:190.68, Z:17.46 [[ 5.29906102e-01 -8.47782113e-01 -2.15641336e-02 2.76908718e+02] [ 8.47152940e-01 5.30343827e-01 -3.26698850e-02 1.90675217e+02] [ 3.91333493e-02 -9.56147691e-04 9.99233540e-01 1.74565269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.400385723 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:276.92, Y:190.70, Z:17.45 [[ 5.30000378e-01 -8.47721713e-01 -2.16216544e-02 2.76923393e+02] [ 8.47094034e-01 5.30440247e-01 -3.26319199e-02 1.90697715e+02] [ 3.91317827e-02 -1.02064450e-03 9.99233537e-01 1.74547239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.430385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.94, Y:190.72, Z:17.46 [[ 5.31022009e-01 -8.47083870e-01 -2.15532554e-02 2.76937673e+02] [ 8.46453832e-01 5.31458486e-01 -3.26770350e-02 1.90720023e+02] [ 3.91348497e-02 -8.91610849e-04 9.99233541e-01 1.74595476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.460385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:276.95, Y:190.74, Z:17.46 [[ 5.31659956e-01 -8.46683826e-01 -2.15450719e-02 2.76952879e+02] [ 8.46053241e-01 5.32095642e-01 -3.26824297e-02 1.90742972e+02] [ 3.91357235e-02 -8.52338748e-04 9.99233541e-01 1.74614015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.490385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.97, Y:190.77, Z:17.46 [[ 5.32656907e-01 -8.46057196e-01 -2.15369459e-02 2.76966912e+02] [ 8.45425882e-01 5.33091537e-01 -3.26877837e-02 1.90767271e+02] [ 3.91368982e-02 -7.96517768e-04 9.99233541e-01 1.74613271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.520385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:276.98, Y:190.79, Z:17.46 [[ 5.34480924e-01 -8.44906651e-01 -2.15149514e-02 2.76983629e+02] [ 8.44273819e-01 5.34913339e-01 -3.27022678e-02 1.90792278e+02] [ 3.91389980e-02 -6.85771870e-04 9.99233541e-01 1.74642442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.550385723 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:277.00, Y:190.81, Z:17.46 [[ 5.37058187e-01 -8.43267908e-01 -2.16272692e-02 2.76997832e+02] [ 8.42636724e-01 5.37493018e-01 -3.26283025e-02 1.90813903e+02] [ 3.91389066e-02 -7.00634248e-04 9.99233534e-01 1.74629390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.580385723 meters Centerline goodness : 0.999588 Centerline is valid? [True, True] Translation: X:277.02, Y:190.84, Z:17.47 [[ 5.38969596e-01 -8.42050245e-01 -2.15211458e-02 2.77016128e+02] [ 8.41415284e-01 5.39398879e-01 -3.26981508e-02 1.90839257e+02] [ 3.91419678e-02 -4.84911932e-04 9.99233542e-01 1.74651237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.610385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.03, Y:190.86, Z:17.47 [[ 5.38777036e-01 -8.42167846e-01 -2.17399177e-02 2.77030598e+02] [ 8.41538750e-01 5.39214937e-01 -3.25543247e-02 1.90862740e+02] [ 3.91386938e-02 -7.55460576e-04 9.99233502e-01 1.74664651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.640385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:277.04, Y:190.88, Z:17.47 [[ 5.40784064e-01 -8.40883697e-01 -2.16148967e-02 2.77044617e+02] [ 8.40250272e-01 5.41215618e-01 -3.26364219e-02 1.90884438e+02] [ 3.91417548e-02 -5.12665945e-04 9.99233536e-01 1.74698707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.670385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:277.06, Y:190.91, Z:17.47 [[ 5.40983315e-01 -8.40759190e-01 -2.14717766e-02 2.77061040e+02] [ 8.40121928e-01 5.41409155e-01 -3.27303124e-02 1.90909286e+02] [ 3.91433274e-02 -3.32357440e-04 9.99233551e-01 1.74683351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.700385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.07, Y:190.93, Z:17.47 [[ 5.40999901e-01 -8.40744667e-01 -2.16220199e-02 2.77074844e+02] [ 8.40111317e-01 5.41431569e-01 -3.26317550e-02 1.90931467e+02] [ 3.91418182e-02 -5.11127371e-04 9.99233535e-01 1.74715737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.730385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:277.09, Y:190.95, Z:17.47 [[ 5.39331986e-01 -8.41819767e-01 -2.14590261e-02 2.77090225e+02] [ 8.41183012e-01 5.39758580e-01 -3.27385927e-02 1.90953887e+02] [ 3.91426880e-02 -3.93997979e-04 9.99233554e-01 1.74720251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.760385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.11, Y:190.98, Z:17.47 [[ 5.37722505e-01 -8.42848959e-01 -2.14509035e-02 2.77106617e+02] [ 8.42212808e-01 5.38150000e-01 -3.27439140e-02 1.90976958e+02] [ 3.91419775e-02 -4.59086204e-04 9.99233554e-01 1.74736496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.790385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.12, Y:191.00, Z:17.48 [[ 5.34114933e-01 -8.45139918e-01 -2.14419559e-02 2.77123577e+02] [ 8.44505366e-01 5.34544797e-01 -3.27497721e-02 1.90999543e+02] [ 3.91398257e-02 -6.15704480e-04 9.99233554e-01 1.74757287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.820385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.14, Y:191.02, Z:17.48 [[ 5.31614211e-01 -8.46715391e-01 -2.14330605e-02 2.77139694e+02] [ 8.46081878e-01 5.32045606e-01 -3.27555927e-02 1.91024165e+02] [ 3.91380301e-02 -7.20785512e-04 9.99233554e-01 1.74754212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.850385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.15, Y:191.05, Z:17.48 [[ 5.29960003e-01 -8.47750436e-01 -2.14847078e-02 2.77154650e+02] [ 8.47119131e-01 5.30394627e-01 -3.27218162e-02 1.91047043e+02] [ 3.91353075e-02 -8.58853220e-04 9.99233551e-01 1.74760502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.880385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.17, Y:191.07, Z:17.48 [[ 5.29331498e-01 -8.48143222e-01 -2.14764792e-02 2.77173148e+02] [ 8.47512022e-01 5.29766272e-01 -3.27271948e-02 1.91071346e+02] [ 3.91348628e-02 -8.78039292e-04 9.99233552e-01 1.74788885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.910385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:277.19, Y:191.10, Z:17.48 [[ 5.27692380e-01 -8.49159831e-01 -2.16410404e-02 2.77188177e+02] [ 8.48533851e-01 5.28134699e-01 -3.26196818e-02 1.91095343e+02] [ 3.91287078e-02 -1.14999784e-03 9.99233517e-01 1.74786886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.940385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.20, Y:191.12, Z:17.48 [[ 5.28592966e-01 -8.48601233e-01 -2.15736705e-02 2.77204816e+02] [ 8.47972990e-01 5.29032031e-01 -3.26637111e-02 1.91118918e+02] [ 3.91316282e-02 -1.02808198e-03 9.99233536e-01 1.74811295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.970385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.22, Y:191.14, Z:17.48 [[ 5.27172344e-01 -8.49479541e-01 -2.17676182e-02 2.77215471e+02] [ 8.48857227e-01 5.27619896e-01 -3.25369582e-02 1.91140954e+02] [ 3.91245088e-02 -1.32501551e-03 9.99233465e-01 1.74827287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.000385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:277.23, Y:191.17, Z:17.48 [[ 5.27825652e-01 -8.49083195e-01 -2.13964607e-02 2.77232871e+02] [ 8.48450659e-01 5.28258461e-01 -3.27792338e-02 1.91166603e+02] [ 3.91351580e-02 -8.52120718e-04 9.99233563e-01 1.74818678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.030385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.25, Y:191.19, Z:17.48 [[ 5.28966805e-01 -8.48366941e-01 -2.16252955e-02 2.77247148e+02] [ 8.47739883e-01 5.29407578e-01 -3.26298498e-02 1.91189371e+02] [ 3.91306812e-02 -1.07251814e-03 9.99233526e-01 1.74834091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.060385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:277.26, Y:191.21, Z:17.49 [[ 5.29287101e-01 -8.48167946e-01 -2.15939833e-02 2.77259939e+02] [ 8.47539890e-01 5.29726433e-01 -3.26502878e-02 1.91211958e+02] [ 3.91318313e-02 -1.02038608e-03 9.99233536e-01 1.74867015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.090385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.28, Y:191.24, Z:17.49 [[ 5.30540218e-01 -8.47390060e-01 -2.13813861e-02 2.77277925e+02] [ 8.46755751e-01 5.30970417e-01 -3.27889222e-02 1.91237864e+02] [ 3.91378903e-02 -7.08969689e-04 9.99233568e-01 1.74857577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.12038572299997 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:277.29, Y:191.26, Z:17.49 [[ 5.31002951e-01 -8.47094236e-01 -2.16153001e-02 2.77289011e+02] [ 8.46465856e-01 5.31441832e-01 -3.26363867e-02 1.91261030e+02] [ 3.91333697e-02 -9.66595848e-04 9.99233529e-01 1.74852785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.150385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.30, Y:191.28, Z:17.49 [[ 5.32368175e-01 -8.46243214e-01 -2.13670331e-02 2.77302873e+02] [ 8.45607609e-01 5.32796448e-01 -3.27981275e-02 1.91284535e+02] [ 3.91394721e-02 -6.07446554e-04 9.99233573e-01 1.74890809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.180385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.32, Y:191.31, Z:17.49 [[ 5.33490597e-01 -8.45536194e-01 -2.13618122e-02 2.77317959e+02] [ 8.44899886e-01 5.33917824e-01 -3.28015275e-02 1.91308671e+02] [ 3.91403311e-02 -5.49286208e-04 9.99233573e-01 1.74893420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.210385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.33, Y:191.33, Z:17.49 [[ 5.33739586e-01 -8.45379275e-01 -2.13526625e-02 2.77333616e+02] [ 8.44742603e-01 5.34166270e-01 -3.28074826e-02 1.91331767e+02] [ 3.91406380e-02 -5.26851475e-04 9.99233573e-01 1.74904183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.240385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:277.35, Y:191.36, Z:17.49 [[ 5.33844081e-01 -8.45313524e-01 -2.13434743e-02 2.77348764e+02] [ 8.44676560e-01 5.34270330e-01 -3.28134591e-02 1.91355038e+02] [ 3.91408458e-02 -5.11061608e-04 9.99233573e-01 1.74916773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.270385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:277.36, Y:191.38, Z:17.49 [[ 5.33891348e-01 -8.45283903e-01 -2.13342823e-02 2.77362338e+02] [ 8.44646677e-01 5.34317205e-01 -3.28194344e-02 1.91378192e+02] [ 3.91410136e-02 -4.97918588e-04 9.99233573e-01 1.74921215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.300385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.38, Y:191.40, Z:17.49 [[ 5.34337998e-01 -8.45001837e-01 -2.13260108e-02 2.77379389e+02] [ 8.44364172e-01 5.34763197e-01 -3.28248083e-02 1.91402338e+02] [ 3.91413890e-02 -4.67377079e-04 9.99233573e-01 1.74939361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.330385723 meters Centerline goodness : 0.998307 Centerline is valid? [True, True] Translation: X:277.39, Y:191.42, Z:17.49 [[ 5.34883653e-01 -8.44653253e-01 -2.14560048e-02 2.77392834e+02] [ 8.44018690e-01 5.35313484e-01 -3.27402591e-02 1.91423850e+02] [ 3.91398550e-02 -5.97039646e-04 9.99233564e-01 1.74931282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.360385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:277.41, Y:191.45, Z:17.50 [[ 5.33899823e-01 -8.45282613e-01 -2.11727129e-02 2.77409311e+02] [ 8.44641213e-01 5.34319391e-01 -3.29243083e-02 1.91448183e+02] [ 3.91433364e-02 -3.05063487e-04 9.99233559e-01 1.74960392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.390385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:277.43, Y:191.47, Z:17.50 [[ 5.34815772e-01 -8.44699459e-01 -2.13287183e-02 2.77429177e+02] [ 8.44061626e-01 5.35240715e-01 -3.28229782e-02 1.91472822e+02] [ 3.91415504e-02 -4.48506281e-04 9.99233575e-01 1.74969982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.420385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:277.44, Y:191.50, Z:17.50 [[ 5.33844536e-01 -8.45307788e-01 -2.15581759e-02 2.77441096e+02] [ 8.44676422e-01 5.34279099e-01 -3.26739451e-02 1.91495049e+02] [ 3.91376230e-02 -7.66875778e-04 9.99233535e-01 1.74987527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.450385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.46, Y:191.52, Z:17.50 [[ 5.34048383e-01 -8.45185078e-01 -2.13192151e-02 2.77456105e+02] [ 8.44547392e-01 5.34473536e-01 -3.28289786e-02 1.91518434e+02] [ 3.91411191e-02 -4.72824553e-04 9.99233581e-01 1.74982629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.480385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:277.47, Y:191.54, Z:17.50 [[ 5.34429560e-01 -8.44944673e-01 -2.12966096e-02 2.77471287e+02] [ 8.44306212e-01 5.34853547e-01 -3.28436366e-02 1.91541131e+02] [ 3.91416229e-02 -4.28249560e-04 9.99233581e-01 1.74979131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.510385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:277.49, Y:191.57, Z:17.50 [[ 5.35998036e-01 -8.43950720e-01 -2.12905428e-02 2.77491832e+02] [ 8.43311317e-01 5.36420600e-01 -3.28475688e-02 1.91566400e+02] [ 3.91424151e-02 -3.48323314e-04 9.99233581e-01 1.74988096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.540385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.50, Y:191.59, Z:17.50 [[ 5.36112246e-01 -8.43869640e-01 -2.16261257e-02 2.77503395e+02] [ 8.43238878e-01 5.36547741e-01 -3.26299837e-02 1.91587287e+02] [ 3.91389015e-02 -7.42656087e-04 9.99233504e-01 1.75002272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.570385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:277.52, Y:191.61, Z:17.50 [[ 5.36335976e-01 -8.43736307e-01 -2.12782798e-02 2.77518354e+02] [ 8.43096429e-01 5.36757807e-01 -3.28552655e-02 1.91609652e+02] [ 3.91424631e-02 -3.18180839e-04 9.99233589e-01 1.75005077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.600385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:277.53, Y:191.63, Z:17.50 [[ 5.36106755e-01 -8.43882177e-01 -2.12701268e-02 2.77533815e+02] [ 8.43242205e-01 5.36528442e-01 -3.28605428e-02 1.91633667e+02] [ 3.91424544e-02 -3.19109624e-04 9.99233590e-01 1.75016230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.630385723 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:277.55, Y:191.66, Z:17.50 [[ 5.36533437e-01 -8.43611186e-01 -2.12611918e-02 2.77550220e+02] [ 8.42970771e-01 5.36954453e-01 -3.28663228e-02 1.91656180e+02] [ 3.91426892e-02 -2.88682131e-04 9.99233590e-01 1.75014213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.660385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.57, Y:191.68, Z:17.50 [[ 5.36190243e-01 -8.43829588e-01 -2.12520659e-02 2.77566131e+02] [ 8.43189111e-01 5.36611164e-01 -3.28722228e-02 1.91679561e+02] [ 3.91426500e-02 -2.93745413e-04 9.99233590e-01 1.75015829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.690385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:277.58, Y:191.70, Z:17.50 [[ 5.35529680e-01 -8.44249193e-01 -2.12429240e-02 2.77582612e+02] [ 8.43608811e-01 5.35950746e-01 -3.28781295e-02 1.91700970e+02] [ 3.91424952e-02 -3.13503695e-04 9.99233590e-01 1.75013271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.720385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.60, Y:191.72, Z:17.50 [[ 5.34816319e-01 -8.44701474e-01 -2.12349740e-02 2.77599241e+02] [ 8.44061245e-01 5.35237616e-01 -3.28832633e-02 1.91723446e+02] [ 3.91422979e-02 -3.37112700e-04 9.99233590e-01 1.75025017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.750385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:277.62, Y:191.75, Z:17.50 [[ 5.34041933e-01 -8.45191499e-01 -2.12260139e-02 2.77615598e+02] [ 8.44551426e-01 5.34463468e-01 -3.28890460e-02 1.91745514e+02] [ 3.91420711e-02 -3.62330553e-04 9.99233590e-01 1.75037117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.780385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:277.63, Y:191.77, Z:17.50 [[ 5.31229792e-01 -8.46962045e-01 -2.12179770e-02 2.77632501e+02] [ 8.46323170e-01 5.31653140e-01 -3.28942301e-02 1.91767475e+02] [ 3.91407685e-02 -4.82870548e-04 9.99233590e-01 1.75039462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.810385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:277.65, Y:191.79, Z:17.51 [[ 5.30055571e-01 -8.47697625e-01 -2.12091475e-02 2.77648779e+02] [ 8.47059111e-01 5.30479461e-01 -3.28999221e-02 1.91790691e+02] [ 3.91402030e-02 -5.26614602e-04 9.99233590e-01 1.75063724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.840385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.67, Y:191.81, Z:17.51 [[ 5.28943581e-01 -8.48392146e-01 -2.12003543e-02 2.77665350e+02] [ 8.47753960e-01 5.29367968e-01 -3.29055874e-02 1.91813638e+02] [ 3.91396303e-02 -5.67485111e-04 9.99233590e-01 1.75077556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.87038572299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.68, Y:191.83, Z:17.51 [[ 5.26930808e-01 -8.49643950e-01 -2.11915617e-02 2.77682145e+02] [ 8.49006545e-01 5.27356365e-01 -3.29112489e-02 1.91834924e+02] [ 3.91383485e-02 -6.49823606e-04 9.99233590e-01 1.75079577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.900385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:277.70, Y:191.86, Z:17.51 [[ 5.26213145e-01 -8.50088806e-01 -2.11836755e-02 2.77697974e+02] [ 8.49451557e-01 5.26638936e-01 -3.29163242e-02 1.91857512e+02] [ 3.91379470e-02 -6.73503647e-04 9.99233590e-01 1.75085175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.930385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.72, Y:191.88, Z:17.51 [[ 5.25268702e-01 -8.50672848e-01 -2.11777270e-02 2.77715043e+02] [ 8.50035918e-01 5.25694970e-01 -3.29201509e-02 1.91879512e+02] [ 3.91373031e-02 -7.09903661e-04 9.99233590e-01 1.75101838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.960385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:277.73, Y:191.90, Z:17.51 [[ 5.24732389e-01 -8.51003997e-01 -2.11687822e-02 2.77731338e+02] [ 8.50367104e-01 5.25158712e-01 -3.29259017e-02 1.91902566e+02] [ 3.91370444e-02 -7.23948992e-04 9.99233590e-01 1.75117870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.990385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:277.75, Y:191.93, Z:17.51 [[ 5.24583496e-01 -8.51096015e-01 -2.11596077e-02 2.77747561e+02] [ 8.50458960e-01 5.25009576e-01 -3.29317966e-02 1.91925448e+02] [ 3.91371175e-02 -7.19901024e-04 9.99233590e-01 1.75128621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.020385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:277.76, Y:191.95, Z:17.51 [[ 5.24923108e-01 -8.50886824e-01 -2.11504703e-02 2.77763219e+02] [ 8.50249363e-01 5.25348581e-01 -3.29376640e-02 1.91947520e+02] [ 3.91375939e-02 -6.93432900e-04 9.99233590e-01 1.75125622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.050385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.78, Y:191.97, Z:17.51 [[ 5.25330682e-01 -8.50635456e-01 -2.11422939e-02 2.77778628e+02] [ 8.49997579e-01 5.25755532e-01 -3.29429115e-02 1.91969951e+02] [ 3.91380865e-02 -6.64976505e-04 9.99233590e-01 1.75129442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.080385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:277.80, Y:191.99, Z:17.51 [[ 5.26548259e-01 -8.49882508e-01 -2.11341654e-02 2.77795536e+02] [ 8.49243815e-01 5.26971881e-01 -3.29481255e-02 1.91992995e+02] [ 3.91391464e-02 -5.99281099e-04 9.99233590e-01 1.75134346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.110385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.81, Y:192.02, Z:17.51 [[ 5.27137259e-01 -8.49517530e-01 -2.11252340e-02 2.77810851e+02] [ 8.48878315e-01 5.27560092e-01 -3.29538510e-02 1.92015773e+02] [ 3.91397045e-02 -5.61550393e-04 9.99233590e-01 1.75145085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.140385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:277.83, Y:192.04, Z:17.52 [[ 5.27881597e-01 -8.49055407e-01 -2.11171936e-02 2.77826698e+02] [ 8.48415615e-01 5.28303557e-01 -3.29590026e-02 1.92039382e+02] [ 3.91403078e-02 -5.17705843e-04 9.99233590e-01 1.75164003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.170385723 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:277.84, Y:192.06, Z:17.52 [[ 5.28634595e-01 -8.48587013e-01 -2.11079876e-02 2.77842605e+02] [ 8.47946612e-01 5.29055630e-01 -3.29648973e-02 1.92062867e+02] [ 3.91408834e-02 -4.72061464e-04 9.99233591e-01 1.75180923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.200385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.86, Y:192.09, Z:17.52 [[ 5.29182191e-01 -8.48244292e-01 -2.11620091e-02 2.77858245e+02] [ 8.47604999e-01 5.29604910e-01 -3.29303142e-02 1.92086559e+02] [ 3.91404550e-02 -5.10888833e-04 9.99233588e-01 1.75176263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.230385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:277.87, Y:192.11, Z:17.52 [[ 5.28938165e-01 -8.48398156e-01 -2.10946881e-02 2.77873704e+02] [ 8.47757267e-01 5.29358454e-01 -3.29733829e-02 1.92108909e+02] [ 3.91412087e-02 -4.42294534e-04 9.99233591e-01 1.75179092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.260385723 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:277.89, Y:192.13, Z:17.52 [[ 5.27532845e-01 -8.49272900e-01 -2.10864457e-02 2.77889086e+02] [ 8.48632497e-01 5.27953874e-01 -3.29786531e-02 1.92131995e+02] [ 3.91405470e-02 -4.97320401e-04 9.99233591e-01 1.75168205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.290385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:277.90, Y:192.16, Z:17.52 [[ 5.26407734e-01 -8.49970964e-01 -2.10774384e-02 2.77904623e+02] [ 8.49330888e-01 5.26829262e-01 -3.29844089e-02 1.92155322e+02] [ 3.91400011e-02 -5.38471506e-04 9.99233591e-01 1.75198632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.320385723 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:277.92, Y:192.18, Z:17.52 [[ 5.24940217e-01 -8.50878304e-01 -2.10684740e-02 2.77920153e+02] [ 8.50238727e-01 5.25362501e-01 -3.29901338e-02 1.92178585e+02] [ 3.91391753e-02 -5.95384571e-04 9.99233592e-01 1.75211707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.350385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:277.94, Y:192.20, Z:17.52 [[ 5.22599695e-01 -8.52318048e-01 -2.10595334e-02 2.77935564e+02] [ 8.51679405e-01 5.23023389e-01 -3.29958401e-02 1.92200904e+02] [ 3.91375786e-02 -6.92354969e-04 9.99233592e-01 1.75225760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.380385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:277.95, Y:192.22, Z:17.52 [[ 5.21430868e-01 -8.53033813e-01 -2.10514599e-02 2.77950853e+02] [ 8.52395544e-01 5.21855125e-01 -3.30009902e-02 1.92224711e+02] [ 3.91367728e-02 -7.36435686e-04 9.99233592e-01 1.75231714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.410385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.96, Y:192.25, Z:17.52 [[ 5.16967616e-01 -8.55746277e-01 -2.10426622e-02 2.77958209e+02] [ 8.55110005e-01 5.17394862e-01 -3.30065990e-02 1.92245870e+02] [ 3.91326395e-02 -9.30448229e-04 9.99233592e-01 1.75207072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.440385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.97, Y:192.27, Z:17.52 [[ 5.17627784e-01 -8.55360234e-01 -2.05023816e-02 2.77973065e+02] [ 8.54709848e-01 5.18033593e-01 -3.33507515e-02 1.92269635e+02] [ 3.91478290e-02 -2.60311807e-04 9.99233396e-01 1.75225291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.470385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.99, Y:192.30, Z:17.53 [[ 5.22093475e-01 -8.52642157e-01 -2.04879132e-02 2.77994733e+02] [ 8.51989297e-01 5.22495311e-01 -3.33599727e-02 1.92295508e+02] [ 3.91489577e-02 -3.84586902e-05 9.99233385e-01 1.75253048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.500385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.01, Y:192.32, Z:17.53 [[ 5.21804429e-01 -8.52805304e-01 -2.10535302e-02 2.78006570e+02] [ 8.52166924e-01 5.22228486e-01 -3.29991179e-02 1.92321311e+02] [ 3.91365760e-02 -7.22036178e-04 9.99233610e-01 1.75252840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.530385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.02, Y:192.34, Z:17.53 [[ 5.23957204e-01 -8.51484501e-01 -2.10474125e-02 2.78022184e+02] [ 8.50844895e-01 5.24379410e-01 -3.30030194e-02 1.92343264e+02] [ 3.91383893e-02 -6.15913659e-04 9.99233610e-01 1.75256915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.560385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:278.04, Y:192.37, Z:17.53 [[ 5.24385395e-01 -8.51221033e-01 -2.10406894e-02 2.78036030e+02] [ 8.50581043e-01 5.24807019e-01 -3.30073051e-02 1.92367850e+02] [ 3.91388138e-02 -5.88262835e-04 9.99233610e-01 1.75251480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.590385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.05, Y:192.39, Z:17.53 [[ 5.23955378e-01 -8.51486014e-01 -2.10316463e-02 2.78050773e+02] [ 8.50846006e-01 5.24376975e-01 -3.30130662e-02 1.92392029e+02] [ 3.91386752e-02 -5.97318734e-04 9.99233610e-01 1.75256929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.62038572299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.07, Y:192.41, Z:17.53 [[ 5.22553179e-01 -8.52347481e-01 -2.10225346e-02 2.78065352e+02] [ 8.51707935e-01 5.22975476e-01 -3.30188674e-02 1.92414942e+02] [ 3.91378185e-02 -6.50945385e-04 9.99233610e-01 1.75270728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.650385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:278.08, Y:192.44, Z:17.53 [[ 5.21748327e-01 -8.52840546e-01 -2.10163489e-02 2.78080438e+02] [ 8.52201240e-01 5.22170988e-01 -3.30228041e-02 1.92438747e+02] [ 3.91373140e-02 -6.80565798e-04 9.99233610e-01 1.75285719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.680385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:278.09, Y:192.46, Z:17.53 [[ 5.20802325e-01 -8.53418787e-01 -2.10074341e-02 2.78094702e+02] [ 8.52779722e-01 5.21225350e-01 -3.30284743e-02 1.92462797e+02] [ 3.91367277e-02 -7.13407573e-04 9.99233610e-01 1.75298456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.710385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.10, Y:192.49, Z:17.53 [[ 5.17499016e-01 -8.55426111e-01 -2.09984947e-02 2.78102845e+02] [ 8.54788457e-01 5.17924163e-01 -3.30341568e-02 1.92486526e+02] [ 3.91339080e-02 -8.54127226e-04 9.99233610e-01 1.75286546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.740385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.12, Y:192.51, Z:17.53 [[ 5.20109766e-01 -8.53850347e-01 -2.06256246e-02 2.78122662e+02] [ 8.53201935e-01 5.20518491e-01 -3.32709836e-02 1.92511793e+02] [ 3.91444598e-02 -2.93259310e-04 9.99233519e-01 1.75313232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.770385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.14, Y:192.54, Z:17.53 [[ 5.19425791e-01 -8.54257570e-01 -2.09964672e-02 2.78137088e+02] [ 8.53618913e-01 5.19849421e-01 -3.30352890e-02 1.92536404e+02] [ 3.91356471e-02 -7.63600387e-04 9.99233615e-01 1.75328603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.800385723 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:278.14, Y:192.56, Z:17.53 [[ 5.14118386e-01 -8.57462431e-01 -2.09872555e-02 2.78143562e+02] [ 8.56826175e-01 5.14545614e-01 -3.30411401e-02 1.92559027e+02] [ 3.91304366e-02 -9.95372228e-04 9.99233615e-01 1.75296691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.830385723 meters Centerline goodness : 0.999822 Centerline is valid? [True, True] Translation: X:278.16, Y:192.58, Z:17.53 [[ 5.14650908e-01 -8.57156787e-01 -2.04128759e-02 2.78160149e+02] [ 8.56505647e-01 5.15055490e-01 -3.34053758e-02 1.92584672e+02] [ 3.91474084e-02 -2.91636502e-04 9.99233404e-01 1.75295738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.860385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:278.17, Y:192.61, Z:17.54 [[ 5.15830142e-01 -8.56444079e-01 -2.05622139e-02 2.78174256e+02] [ 8.55796137e-01 5.16239642e-01 -3.33107057e-02 1.92609326e+02] [ 3.91437866e-02 -4.14397121e-04 9.99233502e-01 1.75352492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.890385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:278.19, Y:192.63, Z:17.53 [[ 5.15124229e-01 -8.56866250e-01 -2.06702048e-02 2.78188366e+02] [ 8.56221383e-01 5.15538455e-01 -3.32421957e-02 1.92633388e+02] [ 3.91404010e-02 -5.74410944e-04 9.99233556e-01 1.75348109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.920385723 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:278.20, Y:192.66, Z:17.54 [[ 5.15308662e-01 -8.56755646e-01 -2.06578214e-02 2.78202445e+02] [ 8.56110376e-01 5.15722269e-01 -3.32500480e-02 1.92657461e+02] [ 3.91408649e-02 -5.51337468e-04 9.99233551e-01 1.75376618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.950385723 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:278.22, Y:192.68, Z:17.54 [[ 5.16489298e-01 -8.56043297e-01 -2.07045597e-02 2.78220750e+02] [ 8.55398641e-01 5.16903829e-01 -3.32204190e-02 1.92681848e+02] [ 3.91403832e-02 -5.52661387e-04 9.99233569e-01 1.75370724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.980385723 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:278.23, Y:192.71, Z:17.54 [[ 5.14760382e-01 -8.57077876e-01 -2.09586368e-02 2.78231186e+02] [ 8.56440561e-01 5.15186031e-01 -3.30593438e-02 1.92705486e+02] [ 3.91320291e-02 -9.32186228e-04 9.99233614e-01 1.75407537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.010385723 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:278.24, Y:192.73, Z:17.54 [[ 5.11926230e-01 -8.58779522e-01 -2.07187826e-02 2.78242204e+02] [ 8.58137449e-01 5.12344736e-01 -3.32112899e-02 1.92729521e+02] [ 3.91363349e-02 -7.77832857e-04 9.99233577e-01 1.75377845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.040385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:278.26, Y:192.75, Z:17.54 [[ 5.13716309e-01 -8.57715428e-01 -2.04889965e-02 2.78256901e+02] [ 8.57066664e-01 5.14124562e-01 -3.33566949e-02 1.92754750e+02] [ 3.91444482e-02 -4.24557658e-04 9.99233472e-01 1.75418308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.070385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.27, Y:192.78, Z:17.54 [[ 5.13796893e-01 -8.57664764e-01 -2.05889484e-02 2.78274272e+02] [ 8.57018484e-01 5.14208967e-01 -3.32934740e-02 1.92780150e+02] [ 3.91416614e-02 -5.39025800e-04 9.99233526e-01 1.75427824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.100385723 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:278.29, Y:192.80, Z:17.54 [[ 5.12471642e-01 -8.58449050e-01 -2.09295002e-02 2.78287665e+02] [ 8.57812113e-01 5.12897869e-01 -3.30779998e-02 1.92804218e+02] [ 3.91304736e-02 -1.00204191e-03 9.99233607e-01 1.75401744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.130385723 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:278.30, Y:192.83, Z:17.54 [[ 5.12147843e-01 -8.58642464e-01 -2.09214344e-02 2.78301667e+02] [ 8.58005480e-01 5.12573999e-01 -3.30831006e-02 1.92828824e+02] [ 3.91303383e-02 -1.00726675e-03 9.99233607e-01 1.75413386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.160385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:278.31, Y:192.85, Z:17.55 [[ 5.11133338e-01 -8.59246982e-01 -2.09125542e-02 2.78313993e+02] [ 8.58610273e-01 5.11559904e-01 -3.30887130e-02 1.92854128e+02] [ 3.91294010e-02 -1.04298954e-03 9.99233607e-01 1.75460446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.190385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:278.33, Y:192.88, Z:17.55 [[ 5.09898398e-01 -8.59980630e-01 -2.09030849e-02 2.78325854e+02] [ 8.59344291e-01 5.10325515e-01 -3.30946940e-02 1.92879827e+02] [ 3.91281733e-02 -1.08801522e-03 9.99233607e-01 1.75457761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.220385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:278.34, Y:192.90, Z:17.55 [[ 5.11483999e-01 -8.59038753e-01 -2.08935440e-02 2.78341384e+02] [ 8.58401381e-01 5.11909574e-01 -3.31007163e-02 1.92902158e+02] [ 3.91304032e-02 -1.00456024e-03 9.99233608e-01 1.75452342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.250385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:278.35, Y:192.93, Z:17.55 [[ 5.09821792e-01 -8.60026408e-01 -2.08882258e-02 2.78352993e+02] [ 8.59389723e-01 5.10248395e-01 -3.31040720e-02 1.92928266e+02] [ 3.91285598e-02 -1.07394932e-03 9.99233608e-01 1.75480618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.280385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.37, Y:192.95, Z:17.55 [[ 5.09426169e-01 -8.60261039e-01 -2.08787627e-02 2.78365840e+02] [ 8.59624307e-01 5.09852701e-01 -3.31100393e-02 1.92952503e+02] [ 3.91283704e-02 -1.08077144e-03 9.99233608e-01 1.75483525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.310385723 meters Centerline goodness : 0.999781 Centerline is valid? [True, True] Translation: X:278.38, Y:192.98, Z:17.55 [[ 5.09521303e-01 -8.60204825e-01 -2.08734564e-02 2.78381029e+02] [ 8.59567909e-01 5.09947560e-01 -3.31133842e-02 1.92975690e+02] [ 3.91286610e-02 -1.07017855e-03 9.99233608e-01 1.75490515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.340385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:278.39, Y:193.00, Z:17.55 [[ 5.10766708e-01 -8.59466146e-01 -2.08641905e-02 2.78392206e+02] [ 8.58828375e-01 5.11191686e-01 -3.31192215e-02 1.92997937e+02] [ 3.91304503e-02 -1.00256305e-03 9.99233608e-01 1.75480752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.37038572299997 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:278.41, Y:193.02, Z:17.55 [[ 5.12376856e-01 -8.58512569e-01 -2.06428415e-02 2.78408175e+02] [ 8.57868376e-01 5.12792085e-01 -3.32584923e-02 1.93023080e+02] [ 3.91383194e-02 -6.67959182e-04 9.99233579e-01 1.75493945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.400385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.42, Y:193.05, Z:17.55 [[ 5.12004763e-01 -8.58731544e-01 -2.07667505e-02 2.78418180e+02] [ 8.58090678e-01 5.12425062e-01 -3.31804907e-02 1.93051190e+02] [ 3.91345375e-02 -8.31185733e-04 9.99233605e-01 1.75529991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.430385723 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:278.43, Y:193.07, Z:17.55 [[ 5.12217698e-01 -8.58602552e-01 -2.08491809e-02 2.78433017e+02] [ 8.57963683e-01 5.12641019e-01 -3.31286141e-02 1.93074638e+02] [ 3.91324580e-02 -9.18777576e-04 9.99233610e-01 1.75510205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.460385723 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:278.45, Y:193.10, Z:17.55 [[ 5.12082946e-01 -8.58685045e-01 -2.07617491e-02 2.78447592e+02] [ 8.58044013e-01 5.12502994e-01 -3.31836131e-02 1.93097988e+02] [ 3.91347309e-02 -8.21732186e-04 9.99233605e-01 1.75520622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.490385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:278.46, Y:193.12, Z:17.56 [[ 5.12963269e-01 -8.58159611e-01 -2.07549534e-02 2.78460980e+02] [ 8.57517976e-01 5.13382396e-01 -3.31878863e-02 1.93121695e+02] [ 3.91357312e-02 -7.73579017e-04 9.99233604e-01 1.75560031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.520385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.48, Y:193.15, Z:17.56 [[ 5.13868323e-01 -8.57618463e-01 -2.07344762e-02 2.78475689e+02] [ 8.56975869e-01 5.14285981e-01 -3.32007575e-02 1.93147043e+02] [ 3.91370330e-02 -7.08128163e-04 9.99233602e-01 1.75600070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.550385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.49, Y:193.17, Z:17.56 [[ 5.13341257e-01 -8.57931813e-01 -2.08268338e-02 2.78490471e+02] [ 8.57291820e-01 5.13762879e-01 -3.31427204e-02 1.93171789e+02] [ 3.91342483e-02 -8.41148486e-04 9.99233608e-01 1.75611445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.580385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.50, Y:193.20, Z:17.56 [[ 5.13761511e-01 -8.57680330e-01 -2.08221391e-02 2.78503746e+02] [ 8.57040011e-01 5.14182637e-01 -3.31456696e-02 1.93195462e+02] [ 3.91347712e-02 -8.16437080e-04 9.99233608e-01 1.75607279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.610385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:278.52, Y:193.22, Z:17.56 [[ 5.12254814e-01 -8.58582016e-01 -2.07828790e-02 2.78516347e+02] [ 8.57941438e-01 5.12675549e-01 -3.31703274e-02 1.93221658e+02] [ 3.91343204e-02 -8.38833210e-04 9.99233607e-01 1.75620095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.640385723 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:278.53, Y:193.24, Z:17.56 [[ 5.12066700e-01 -8.58693488e-01 -2.08131580e-02 2.78532544e+02] [ 8.58053773e-01 5.12488745e-01 -3.31513175e-02 1.93244976e+02] [ 3.91333297e-02 -8.83122959e-04 9.99233608e-01 1.75582255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.670385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:278.54, Y:193.27, Z:17.56 [[ 5.09140230e-01 -8.60432015e-01 -2.08080210e-02 2.78543316e+02] [ 8.59793609e-01 5.09564252e-01 -3.31545415e-02 1.93269196e+02] [ 3.91302527e-02 -1.01029259e-03 9.99233608e-01 1.75604262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.700385723 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:278.56, Y:193.29, Z:17.56 [[ 5.11243211e-01 -8.59190788e-01 -2.05321423e-02 2.78560965e+02] [ 8.58544369e-01 5.11655004e-01 -3.33275227e-02 1.93293100e+02] [ 3.91400738e-02 -5.89285441e-04 9.99233560e-01 1.75619250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.730385723 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:278.57, Y:193.32, Z:17.56 [[ 5.09312072e-01 -8.60330630e-01 -2.07947349e-02 2.78569871e+02] [ 8.59691800e-01 5.09735455e-01 -3.31628666e-02 1.93316015e+02] [ 3.91308435e-02 -9.86814738e-04 9.99233608e-01 1.75608545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.760385723 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:278.59, Y:193.34, Z:17.56 [[ 5.11216470e-01 -8.59208007e-01 -2.04773570e-02 2.78586046e+02] [ 8.58560222e-01 5.11626157e-01 -3.33619539e-02 1.93343138e+02] [ 3.91416093e-02 -5.25863841e-04 9.99233535e-01 1.75635749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.790385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.60, Y:193.37, Z:17.57 [[ 5.13789641e-01 -8.57663946e-01 -2.08029002e-02 2.78600717e+02] [ 8.57023126e-01 5.14210003e-01 -3.31577139e-02 1.93365904e+02] [ 3.91352351e-02 -7.92476631e-04 9.99233609e-01 1.75681725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.820385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:278.61, Y:193.39, Z:17.57 [[ 5.13618277e-01 -8.57766713e-01 -2.07973833e-02 2.78612629e+02] [ 8.57125837e-01 5.14038554e-01 -3.31611739e-02 1.93390029e+02] [ 3.91352080e-02 -7.93789605e-04 9.99233609e-01 1.75679851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.850385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.63, Y:193.42, Z:17.57 [[ 5.15020912e-01 -8.56928027e-01 -2.06837112e-02 2.78628796e+02] [ 8.56283601e-01 5.15435739e-01 -3.32324324e-02 1.93415154e+02] [ 3.91389267e-02 -5.95725036e-04 9.99233601e-01 1.75710082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.880385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.64, Y:193.44, Z:17.57 [[ 5.18662840e-01 -8.54726155e-01 -2.07860151e-02 2.78642711e+02] [ 8.54082528e-01 5.19078893e-01 -3.31683207e-02 1.93437884e+02] [ 3.91394129e-02 -5.49796956e-04 9.99233608e-01 1.75717809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.910385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:278.66, Y:193.46, Z:17.57 [[ 5.19242379e-01 -8.54376254e-01 -2.07019110e-02 2.78657525e+02] [ 8.53730244e-01 5.19654729e-01 -3.32209715e-02 1.93462553e+02] [ 3.91410551e-02 -4.24111275e-04 9.99233605e-01 1.75711204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.940385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.67, Y:193.49, Z:17.57 [[ 5.20927028e-01 -8.53348542e-01 -2.07676883e-02 2.78671297e+02] [ 8.52703357e-01 5.21340662e-01 -3.31798007e-02 1.93486819e+02] [ 3.91409750e-02 -4.24422547e-04 9.99233608e-01 1.75739790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.970385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:278.68, Y:193.51, Z:17.57 [[ 5.23727560e-01 -8.51632856e-01 -2.07586762e-02 2.78684985e+02] [ 8.50986092e-01 5.24138720e-01 -3.31854382e-02 1.93510879e+02] [ 3.91422354e-02 -2.85216169e-04 9.99233608e-01 1.75737444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.000385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:278.70, Y:193.53, Z:17.57 [[ 5.22354070e-01 -8.52476202e-01 -2.07497111e-02 2.78696516e+02] [ 8.51829880e-01 5.22765923e-01 -3.31910428e-02 1.93534863e+02] [ 3.91418160e-02 -3.37747641e-04 9.99233608e-01 1.75714740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.030385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.71, Y:193.56, Z:17.58 [[ 5.27292042e-01 -8.49436362e-01 -2.05175534e-02 2.78714736e+02] [ 8.48781991e-01 5.27691047e-01 -3.33360405e-02 1.93558188e+02] [ 3.91437742e-02 1.62899075e-04 9.99233576e-01 1.75779213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.060385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:278.73, Y:193.58, Z:17.58 [[ 5.28278107e-01 -8.48818083e-01 -2.07389389e-02 2.78729424e+02] [ 8.48168645e-01 5.28685028e-01 -3.31977405e-02 1.93581631e+02] [ 3.91432090e-02 -5.24782037e-05 9.99233610e-01 1.75793150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.090385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.74, Y:193.61, Z:17.58 [[ 5.29040560e-01 -8.48343305e-01 -2.07297255e-02 2.78744217e+02] [ 8.47693277e-01 5.29446537e-01 -3.32034927e-02 1.93605933e+02] [ 3.91432421e-02 -6.45454135e-06 9.99233610e-01 1.75810441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.12038572299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.76, Y:193.63, Z:17.58 [[ 5.27598577e-01 -8.49241517e-01 -2.07023596e-02 2.78755867e+02] [ 8.48591509e-01 5.28004588e-01 -3.32205698e-02 1.93630854e+02] [ 3.91432279e-02 -4.07211979e-05 9.99233609e-01 1.75789579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.150385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.77, Y:193.65, Z:17.58 [[ 5.27873497e-01 -8.49074231e-01 -2.05553062e-02 2.78770393e+02] [ 8.48420510e-01 5.28273536e-01 -3.33123053e-02 1.93654754e+02] [ 3.91434443e-02 1.45139724e-04 9.99233591e-01 1.75799690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.180385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.78, Y:193.68, Z:17.58 [[ 5.27882858e-01 -8.49069080e-01 -2.05276862e-02 2.78784647e+02] [ 8.48414684e-01 5.28281806e-01 -3.33295279e-02 1.93678005e+02] [ 3.91434747e-02 1.78096049e-04 9.99233585e-01 1.75810009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.210385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:278.80, Y:193.70, Z:17.58 [[ 5.30361825e-01 -8.47523944e-01 -2.04816523e-02 2.78803811e+02] [ 8.46867277e-01 5.30757048e-01 -3.33582189e-02 1.93701789e+02] [ 3.91426705e-02 3.46684764e-04 9.99233572e-01 1.75848827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.240385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.81, Y:193.73, Z:17.58 [[ 5.27768191e-01 -8.49136005e-01 -2.07070442e-02 2.78814776e+02] [ 8.48486028e-01 5.28174255e-01 -3.32177171e-02 1.93725210e+02] [ 3.91432873e-02 -3.83832678e-05 9.99233607e-01 1.75838002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.270385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.83, Y:193.75, Z:17.58 [[ 5.26629778e-01 -8.49848600e-01 -2.04556659e-02 2.78828618e+02] [ 8.49193052e-01 5.27026864e-01 -3.33743225e-02 1.93748838e+02] [ 3.91438068e-02 2.05102686e-04 9.99233566e-01 1.75823723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.300385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.85, Y:193.77, Z:17.59 [[ 5.30068025e-01 -8.47712118e-01 -2.02991094e-02 2.78850394e+02] [ 8.47051223e-01 5.30456280e-01 -3.34717961e-02 1.93772681e+02] [ 3.91422372e-02 5.47943441e-04 9.99233499e-01 1.75884049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.330385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.86, Y:193.80, Z:17.59 [[ 5.26487070e-01 -8.49931162e-01 -2.06974784e-02 2.78863339e+02] [ 8.49281566e-01 5.26893739e-01 -3.32236274e-02 1.93795338e+02] [ 3.91431680e-02 -8.61766327e-05 9.99233609e-01 1.75878082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.360385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:278.88, Y:193.82, Z:17.59 [[ 5.24961418e-01 -8.50880710e-01 -2.04334737e-02 2.78878347e+02] [ 8.50225411e-01 5.25358919e-01 -3.33879728e-02 1.93818713e+02] [ 3.91440897e-02 1.54338950e-04 9.99233565e-01 1.75884682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.390385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.89, Y:193.84, Z:17.59 [[ 5.23828386e-01 -8.51580099e-01 -2.03754243e-02 2.78894075e+02] [ 8.50923923e-01 5.24224481e-01 -3.34241081e-02 1.93841478e+02] [ 3.91446015e-02 1.70560645e-04 9.99233542e-01 1.75902407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.420385723 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:278.92, Y:193.86, Z:17.59 [[ 5.23330016e-01 -8.51886642e-01 -2.03677386e-02 2.78915854e+02] [ 8.51230512e-01 5.23726193e-01 -3.34288897e-02 1.93863971e+02] [ 3.91447428e-02 1.56700839e-04 9.99233539e-01 1.75896938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.450385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.92, Y:193.89, Z:17.59 [[ 5.17922887e-01 -8.55177184e-01 -2.06849704e-02 2.78924586e+02] [ 8.54531394e-01 5.18335575e-01 -3.32314314e-02 1.93885729e+02] [ 3.91405179e-02 -4.64637669e-04 9.99233608e-01 1.75895699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.480385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:278.95, Y:193.91, Z:17.59 [[ 5.19032459e-01 -8.54515935e-01 -2.01946629e-02 2.78949486e+02] [ 8.53857619e-01 5.19425154e-01 -3.35361872e-02 1.93909187e+02] [ 3.91468223e-02 1.63002918e-04 9.99233456e-01 1.75938299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.510385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.97, Y:193.93, Z:17.60 [[ 5.17907134e-01 -8.55186936e-01 -2.06762164e-02 2.78965096e+02] [ 8.54540946e-01 5.18319494e-01 -3.32366244e-02 1.93931402e+02] [ 3.91404130e-02 -4.55188591e-04 9.99233617e-01 1.75968619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.540385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:278.98, Y:193.95, Z:17.60 [[ 5.13891890e-01 -8.57605939e-01 -2.06683189e-02 2.78976463e+02] [ 8.56961693e-01 5.14306968e-01 -3.32415348e-02 1.93954641e+02] [ 3.91379981e-02 -6.29402395e-04 9.99233617e-01 1.75972667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.570385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.99, Y:193.98, Z:17.60 [[ 5.12102661e-01 -8.58682871e-01 -2.03615549e-02 2.78992448e+02] [ 8.58031871e-01 5.12507176e-01 -3.34320695e-02 1.93977501e+02] [ 3.91429884e-02 -3.50211331e-04 9.99233558e-01 1.75970602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.600385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.01, Y:194.00, Z:17.60 [[ 5.12234960e-01 -8.58603086e-01 -2.03982172e-02 2.79009351e+02] [ 8.57952928e-01 5.12640802e-01 -3.34093099e-02 1.94001289e+02] [ 3.91422950e-02 -3.87293680e-04 9.99233572e-01 1.75993053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.630385723 meters Centerline goodness : 0.999717 Centerline is valid? [True, True] Translation: X:279.03, Y:194.02, Z:17.60 [[ 5.13426761e-01 -8.57889219e-01 -2.04706816e-02 2.79029297e+02] [ 8.57240286e-01 5.13834519e-01 -3.33643238e-02 1.94024138e+02] [ 3.91414365e-02 -4.18156200e-04 9.99233593e-01 1.75969507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.660385723 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:279.04, Y:194.05, Z:17.60 [[ 5.11787657e-01 -8.58863835e-01 -2.06472345e-02 2.79042515e+02] [ 8.58220078e-01 5.12203498e-01 -3.32547063e-02 1.94047179e+02] [ 3.91368503e-02 -7.00522987e-04 9.99233614e-01 1.76015895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.690385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.06, Y:194.07, Z:17.60 [[ 5.14013039e-01 -8.57538246e-01 -2.04634205e-02 2.79060987e+02] [ 8.56888860e-01 5.14420071e-01 -3.33687208e-02 1.94069770e+02] [ 3.91417485e-02 -3.82919499e-04 9.99233595e-01 1.76028857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.720385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:279.08, Y:194.09, Z:17.60 [[ 5.14994985e-01 -8.56944792e-01 -2.06346674e-02 2.79077793e+02] [ 8.56299173e-01 5.15407929e-01 -3.32624872e-02 1.94092375e+02] [ 3.91393864e-02 -5.39434519e-04 9.99233615e-01 1.76049555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.750385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.09, Y:194.12, Z:17.61 [[ 5.14031654e-01 -8.57523203e-01 -2.06256211e-02 2.79091361e+02] [ 8.56877824e-01 5.14444972e-01 -3.32680958e-02 1.94116844e+02] [ 3.91389111e-02 -5.72783015e-04 9.99233615e-01 1.76065387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.780385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.11, Y:194.14, Z:17.61 [[ 5.16164465e-01 -8.56243471e-01 -2.05271491e-02 2.79106583e+02] [ 8.55594636e-01 5.16572347e-01 -3.33291167e-02 1.94140287e+02] [ 3.91415961e-02 -3.59612997e-04 9.99233609e-01 1.76072559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.810385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.13, Y:194.16, Z:17.61 [[ 5.18962768e-01 -8.54550111e-01 -2.05366163e-02 2.79125147e+02] [ 8.53900177e-01 5.19368895e-01 -3.33232508e-02 1.94164928e+02] [ 3.91424674e-02 -2.42693793e-04 9.99233611e-01 1.76096469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.840385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.14, Y:194.19, Z:17.61 [[ 5.20071771e-01 -8.53870894e-01 -2.07328238e-02 2.79139347e+02] [ 8.53225252e-01 5.20484696e-01 -3.32016619e-02 1.94186369e+02] [ 3.91410503e-02 -4.22521713e-04 9.99233606e-01 1.76123840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.87038572299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.16, Y:194.21, Z:17.61 [[ 5.21573927e-01 -8.52957167e-01 -2.06084798e-02 2.79155920e+02] [ 8.52307751e-01 5.21980869e-01 -3.32786650e-02 1.94209570e+02] [ 3.91425080e-02 -2.07483150e-04 9.99233617e-01 1.76143497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.900385723 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:279.17, Y:194.23, Z:17.61 [[ 5.22068502e-01 -8.52654768e-01 -2.05991756e-02 2.79170814e+02] [ 8.52004889e-01 5.22474705e-01 -3.32844232e-02 1.94232963e+02] [ 3.91426703e-02 -1.73849323e-04 9.99233617e-01 1.76149835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.930385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.19, Y:194.26, Z:17.62 [[ 5.22572637e-01 -8.52346112e-01 -2.05899091e-02 2.79185844e+02] [ 8.51695767e-01 5.22978093e-01 -3.32901545e-02 1.94256655e+02] [ 3.91428052e-02 -1.39814551e-04 9.99233617e-01 1.76156382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.960385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.20, Y:194.28, Z:17.62 [[ 5.23817110e-01 -8.51582098e-01 -2.05807263e-02 2.79202070e+02] [ 8.50930939e-01 5.24221256e-01 -3.32958305e-02 1.94279823e+02] [ 3.91429874e-02 -7.18510675e-05 9.99233617e-01 1.76161340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.990385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:279.22, Y:194.30, Z:17.62 [[ 5.23993296e-01 -8.51473919e-01 -2.05715923e-02 2.79217765e+02] [ 8.50822455e-01 5.24396951e-01 -3.33014730e-02 1.94302936e+02] [ 3.91430160e-02 -5.30241214e-05 9.99233617e-01 1.76170433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.020385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:279.23, Y:194.32, Z:17.62 [[ 5.24043938e-01 -8.51442974e-01 -2.05623966e-02 2.79234960e+02] [ 8.50791263e-01 5.24447195e-01 -3.33071500e-02 1.94324309e+02] [ 3.91430301e-02 -3.98973328e-05 9.99233617e-01 1.76185237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.050385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:279.25, Y:194.35, Z:17.62 [[ 5.23390960e-01 -8.51844673e-01 -2.05561569e-02 2.79251453e+02] [ 8.51193120e-01 5.23794472e-01 -3.33110005e-02 1.94347493e+02] [ 3.91429997e-02 -6.25828289e-05 9.99233617e-01 1.76207406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.080385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:279.27, Y:194.37, Z:17.62 [[ 5.23157211e-01 -8.51988470e-01 -2.05470068e-02 2.79267419e+02] [ 8.51336806e-01 5.23560544e-01 -3.33166436e-02 1.94369651e+02] [ 3.91429982e-02 -6.25808197e-05 9.99233617e-01 1.76222333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.110385723 meters Centerline goodness : 0.999715 Centerline is valid? [True, True] Translation: X:279.28, Y:194.39, Z:17.62 [[ 5.22880409e-01 -8.52158576e-01 -2.05387346e-02 2.79284624e+02] [ 8.51506843e-01 5.23283630e-01 -3.33217423e-02 1.94391714e+02] [ 3.91429921e-02 -6.55868286e-05 9.99233617e-01 1.76245722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.140385723 meters Centerline goodness : 0.999759 Centerline is valid? [True, True] Translation: X:279.30, Y:194.41, Z:17.63 [[ 5.22897942e-01 -8.52148040e-01 -2.05294891e-02 2.79299570e+02] [ 8.51496076e-01 5.23300788e-01 -3.33274376e-02 1.94414296e+02] [ 3.91430084e-02 -5.39308576e-05 9.99233617e-01 1.76250118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.170385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.32, Y:194.44, Z:17.63 [[ 5.23339046e-01 -8.51877409e-01 -2.05212823e-02 2.79315767e+02] [ 8.51225038e-01 5.23741234e-01 -3.33324901e-02 1.94436536e+02] [ 3.91430370e-02 -2.40356831e-05 9.99233617e-01 1.76251991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.200385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:279.33, Y:194.46, Z:17.63 [[ 5.23463187e-01 -8.51801319e-01 -2.05135176e-02 2.79331797e+02] [ 8.51148703e-01 5.23864976e-01 -3.33372679e-02 1.94459247e+02] [ 3.91430422e-02 -9.22138566e-06 9.99233617e-01 1.76265263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.230385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.35, Y:194.48, Z:17.63 [[ 5.23336156e-01 -8.51879591e-01 -2.05043940e-02 2.79348032e+02] [ 8.51226815e-01 5.23737685e-01 -3.33428786e-02 1.94481940e+02] [ 3.91430416e-02 -4.35603646e-06 9.99233617e-01 1.76281366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.260385723 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:279.37, Y:194.50, Z:17.63 [[ 5.22082779e-01 -8.52648530e-01 -2.04952688e-02 2.79365681e+02] [ 8.51996125e-01 5.22484911e-01 -3.33484867e-02 1.94503704e+02] [ 3.91430069e-02 -5.12189174e-05 9.99233618e-01 1.76280206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.290385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:279.38, Y:194.53, Z:17.63 [[ 5.22121414e-01 -8.52625090e-01 -2.04862344e-02 2.79381749e+02] [ 8.51972449e-01 5.22523162e-01 -3.33540357e-02 1.94526134e+02] [ 3.91430197e-02 -3.88510535e-05 9.99233618e-01 1.76324817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.320385723 meters Centerline goodness : 0.999182 Centerline is valid? [True, True] Translation: X:279.40, Y:194.55, Z:17.63 [[ 5.20712224e-01 -8.53486535e-01 -2.04820306e-02 2.79398182e+02] [ 8.52834457e-01 5.21114886e-01 -3.33566170e-02 1.94547801e+02] [ 3.91429145e-02 -9.85831925e-05 9.99233618e-01 1.76314586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.350385723 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:279.41, Y:194.57, Z:17.64 [[ 5.19661149e-01 -8.54126927e-01 -2.04812510e-02 2.79412878e+02] [ 8.53475327e-01 5.20064583e-01 -3.33570953e-02 1.94569843e+02] [ 3.91427666e-02 -1.45855856e-04 9.99233618e-01 1.76358723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.380385723 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:279.43, Y:194.59, Z:17.64 [[ 5.18595926e-01 -8.54774602e-01 -2.04608263e-02 2.79428551e+02] [ 8.54123011e-01 5.18999375e-01 -3.33696189e-02 1.94592899e+02] [ 3.91426587e-02 -1.70714193e-04 9.99233618e-01 1.76377143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.410385723 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:279.44, Y:194.62, Z:17.64 [[ 5.18362304e-01 -8.54916516e-01 -2.04517360e-02 2.79443416e+02] [ 8.54264815e-01 5.18765575e-01 -3.33751893e-02 1.94617296e+02] [ 3.91426571e-02 -1.70758441e-04 9.99233618e-01 1.76388292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.440385723 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:279.46, Y:194.64, Z:17.64 [[ 5.16594401e-01 -8.55986171e-01 -2.04426063e-02 2.79460894e+02] [ 8.55335084e-01 5.16998662e-01 -3.33807804e-02 1.94638455e+02] [ 3.91422865e-02 -2.40954163e-04 9.99233618e-01 1.76396573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.470385723 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:279.48, Y:194.66, Z:17.64 [[ 5.15494846e-01 -8.56648979e-01 -2.04350149e-02 2.79477252e+02] [ 8.55998228e-01 5.15899648e-01 -3.33854270e-02 1.94661493e+02] [ 3.91420090e-02 -2.82320996e-04 9.99233618e-01 1.76403137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.500385723 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:279.49, Y:194.68, Z:17.64 [[ 5.13735877e-01 -8.57705206e-01 -2.04261424e-02 2.79494327e+02] [ 8.57055072e-01 5.14141668e-01 -3.33908546e-02 1.94684773e+02] [ 3.91414407e-02 -3.52248976e-04 9.99233618e-01 1.76409823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.530385723 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:279.51, Y:194.71, Z:17.64 [[ 5.12659720e-01 -8.58349067e-01 -2.04179115e-02 2.79509879e+02] [ 8.57699242e-01 5.13066005e-01 -3.33958869e-02 1.94708662e+02] [ 3.91410646e-02 -3.91701163e-04 9.99233618e-01 1.76393427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.560385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:279.52, Y:194.73, Z:17.64 [[ 5.12742703e-01 -8.58297431e-01 -2.05046647e-02 2.79524709e+02] [ 8.57649680e-01 5.13152298e-01 -3.33428575e-02 1.94731941e+02] [ 3.91401048e-02 -4.89512163e-04 9.99233613e-01 1.76408117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.590385723 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:279.54, Y:194.76, Z:17.64 [[ 5.12656974e-01 -8.58350971e-01 -2.04068187e-02 2.79539786e+02] [ 8.57700878e-01 5.13062830e-01 -3.34026353e-02 1.94755387e+02] [ 3.91411646e-02 -3.78852396e-04 9.99233619e-01 1.76436431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.62038572299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.55, Y:194.78, Z:17.64 [[ 5.12719592e-01 -8.58313787e-01 -2.03976094e-02 2.79554357e+02] [ 8.57663442e-01 5.13125042e-01 -3.34082581e-02 1.94778802e+02] [ 3.91412927e-02 -3.65215468e-04 9.99233619e-01 1.76434302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.650385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.57, Y:194.80, Z:17.65 [[ 5.13066042e-01 -8.58106886e-01 -2.03913803e-02 2.79568684e+02] [ 8.57456226e-01 5.13470987e-01 -3.34120597e-02 1.94804156e+02] [ 3.91415007e-02 -3.42122765e-04 9.99233619e-01 1.76474993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.680385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.58, Y:194.83, Z:17.65 [[ 5.13521506e-01 -8.57834586e-01 -2.03834767e-02 2.79582344e+02] [ 8.57183520e-01 5.13925798e-01 -3.34168807e-02 1.94829331e+02] [ 3.91417506e-02 -3.12093392e-04 9.99233619e-01 1.76466428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.710385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:279.59, Y:194.85, Z:17.64 [[ 5.13320502e-01 -8.57955029e-01 -2.03772106e-02 2.79589958e+02] [ 8.57303906e-01 5.13724702e-01 -3.34207013e-02 1.94850149e+02] [ 3.91417352e-02 -3.13931131e-04 9.99233619e-01 1.76422992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.740385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:279.61, Y:194.88, Z:17.65 [[ 5.15333054e-01 -8.56760791e-01 -1.98189160e-02 2.79609633e+02] [ 8.56095436e-01 5.15713835e-01 -3.37615915e-02 1.94878465e+02] [ 3.91464971e-02 4.31580528e-04 9.99233389e-01 1.76516317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.770385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.62, Y:194.90, Z:17.65 [[ 5.14132022e-01 -8.57468144e-01 -2.04119083e-02 2.79622945e+02] [ 8.56817491e-01 5.14536958e-01 -3.33991955e-02 1.94903613e+02] [ 3.91414274e-02 -3.17684134e-04 9.99233630e-01 1.76496529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.800385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.64, Y:194.93, Z:17.65 [[ 5.14278693e-01 -8.57380525e-01 -2.03976048e-02 2.79637348e+02] [ 8.56729456e-01 5.14682960e-01 -3.34079323e-02 1.94928139e+02] [ 3.91416102e-02 -2.94241083e-04 9.99233630e-01 1.76542937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.830385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:279.65, Y:194.95, Z:17.65 [[ 5.13213738e-01 -8.58018498e-01 -2.03940003e-02 2.79650218e+02] [ 8.57367845e-01 5.13618673e-01 -3.34101326e-02 1.94951961e+02] [ 3.91412511e-02 -3.38621021e-04 9.99233630e-01 1.76543706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.860385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:279.66, Y:194.98, Z:17.66 [[ 5.12279496e-01 -8.58576806e-01 -2.03859173e-02 2.79663996e+02] [ 8.57926398e-01 5.12684825e-01 -3.34150639e-02 1.94976639e+02] [ 3.91409492e-02 -3.71764469e-04 9.99233630e-01 1.76553222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.890385723 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:279.68, Y:195.00, Z:17.65 [[ 5.11578822e-01 -8.58994695e-01 -2.03770030e-02 2.79677470e+02] [ 8.58344401e-01 5.11984334e-01 -3.34204990e-02 1.95001035e+02] [ 3.91407377e-02 -3.93266896e-04 9.99233630e-01 1.76533681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.920385723 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:279.69, Y:195.02, Z:17.66 [[ 5.10631332e-01 -8.59558417e-01 -2.03708159e-02 2.79690869e+02] [ 8.58908420e-01 5.11037321e-01 -3.34242698e-02 1.95024692e+02] [ 3.91403597e-02 -4.29185908e-04 9.99233630e-01 1.76578557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.950385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:279.70, Y:195.05, Z:17.66 [[ 5.09709169e-01 -8.60105744e-01 -2.03635085e-02 2.79704449e+02] [ 8.59456005e-01 5.10115571e-01 -3.34287212e-02 1.95049239e+02] [ 3.91399779e-02 -4.62613927e-04 9.99233630e-01 1.76595358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.980385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.72, Y:195.07, Z:17.66 [[ 5.09389743e-01 -8.60295172e-01 -2.03545146e-02 2.79718117e+02] [ 8.59645366e-01 5.09796037e-01 -3.34341966e-02 1.95072860e+02] [ 3.91399288e-02 -4.66627348e-04 9.99233630e-01 1.76600848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.010385723 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:279.73, Y:195.10, Z:17.66 [[ 5.10245880e-01 -8.59787862e-01 -2.03463664e-02 2.79732138e+02] [ 8.59137454e-01 5.10651210e-01 -3.34391545e-02 1.95096267e+02] [ 3.91404758e-02 -4.18134572e-04 9.99233631e-01 1.76615371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.040385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.75, Y:195.12, Z:17.66 [[ 5.07972271e-01 -8.61136114e-01 -2.02179284e-02 2.79745739e+02] [ 8.60483666e-01 5.08374326e-01 -3.35172524e-02 1.95121890e+02] [ 3.91411922e-02 -3.71362282e-04 9.99233621e-01 1.76614453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.070385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.76, Y:195.15, Z:17.66 [[ 5.07389880e-01 -8.61476652e-01 -2.03343798e-02 2.79759942e+02] [ 8.60827301e-01 5.07796901e-01 -3.34464541e-02 1.95145840e+02] [ 3.91390743e-02 -5.33996880e-04 9.99233630e-01 1.76635415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.100385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:279.77, Y:195.17, Z:17.66 [[ 5.06329226e-01 -8.62100694e-01 -2.03250456e-02 2.79773047e+02] [ 8.61451617e-01 5.06736684e-01 -3.34521254e-02 1.95169409e+02] [ 3.91385468e-02 -5.71254649e-04 9.99233630e-01 1.76636781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.130385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.79, Y:195.19, Z:17.67 [[ 5.05940322e-01 -8.62329188e-01 -2.03165588e-02 2.79787195e+02] [ 8.61680088e-01 5.06347742e-01 -3.34572790e-02 1.95193568e+02] [ 3.91384319e-02 -5.78987684e-04 9.99233630e-01 1.76656747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.160385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:279.80, Y:195.22, Z:17.67 [[ 5.05737147e-01 -8.62448578e-01 -2.03073729e-02 2.79801447e+02] [ 8.61799350e-01 5.06144364e-01 -3.34628535e-02 1.95217691e+02] [ 3.91384528e-02 -5.77472698e-04 9.99233630e-01 1.76669306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.190385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:279.81, Y:195.24, Z:17.67 [[ 5.06050037e-01 -8.62265240e-01 -2.02981591e-02 2.79814263e+02] [ 8.61615641e-01 5.06456662e-01 -3.34684416e-02 1.95241361e+02] [ 3.91388117e-02 -5.52505300e-04 9.99233630e-01 1.76683326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.220385723 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:279.83, Y:195.26, Z:17.67 [[ 5.06418925e-01 -8.62048787e-01 -2.02919041e-02 2.79827672e+02] [ 8.61398862e-01 5.06825028e-01 -3.34722336e-02 1.95264531e+02] [ 3.91391432e-02 -5.28450547e-04 9.99233630e-01 1.76690175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.250385723 meters Centerline goodness : 0.994530 Centerline is valid? [True, True] Translation: X:279.84, Y:195.29, Z:17.67 [[ 5.08100822e-01 -8.61058724e-01 -2.02836928e-02 2.79840323e+02] [ 8.60407810e-01 5.08505337e-01 -3.34772087e-02 1.95288258e+02] [ 3.91402087e-02 -4.42450464e-04 9.99233630e-01 1.76684372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.280385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:279.85, Y:195.31, Z:17.67 [[ 5.07369624e-01 -8.61492795e-01 -2.01551135e-02 2.79853251e+02] [ 8.60839126e-01 5.07769690e-01 -3.35550369e-02 1.95314360e+02] [ 3.91415782e-02 -3.25503857e-04 9.99233622e-01 1.76714206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.310385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.87, Y:195.34, Z:17.67 [[ 5.07997495e-01 -8.61120174e-01 -2.02630284e-02 2.79866484e+02] [ 8.60468809e-01 5.08401285e-01 -3.34897431e-02 1.95339004e+02] [ 3.91404431e-02 -4.22998292e-04 9.99233630e-01 1.76726915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.340385723 meters Centerline goodness : 0.994807 Centerline is valid? [True, True] Translation: X:279.88, Y:195.36, Z:17.67 [[ 5.09340372e-01 -8.60326777e-01 -2.02539225e-02 2.79878461e+02] [ 8.59674564e-01 5.09742791e-01 -3.34952493e-02 1.95363765e+02] [ 3.91411509e-02 -3.51299232e-04 9.99233630e-01 1.76733242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.37038572299997 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:279.89, Y:195.39, Z:17.68 [[ 5.10241642e-01 -8.59791244e-01 -2.03096762e-02 2.79891382e+02] [ 8.59139947e-01 5.10645548e-01 -3.34615641e-02 1.95387577e+02] [ 3.91410056e-02 -3.75370669e-04 9.99233627e-01 1.76759769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.400385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.90, Y:195.41, Z:17.68 [[ 5.10881022e-01 -8.59413424e-01 -2.02274256e-02 2.79903217e+02] [ 8.58759858e-01 5.11281238e-01 -3.35112109e-02 1.95413727e+02] [ 3.91418877e-02 -2.50259493e-04 9.99233631e-01 1.76768246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.430385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.91, Y:195.44, Z:17.68 [[ 5.11085303e-01 -8.59290491e-01 -2.02895183e-02 2.79914928e+02] [ 8.58638315e-01 5.11487784e-01 -3.34737417e-02 1.95436540e+02] [ 3.91415087e-02 -3.13420416e-04 9.99233628e-01 1.76764256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.460385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.93, Y:195.46, Z:17.68 [[ 5.10423348e-01 -8.59685697e-01 -2.02115940e-02 2.79927965e+02] [ 8.59031968e-01 5.10823295e-01 -3.35207269e-02 1.95461111e+02] [ 3.91418426e-02 -2.52643721e-04 9.99233633e-01 1.76776477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.490385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:279.94, Y:195.49, Z:17.68 [[ 5.08310747e-01 -8.60936726e-01 -2.02024387e-02 2.79940548e+02] [ 8.60283762e-01 5.08711942e-01 -3.35262438e-02 1.95487111e+02] [ 3.91411964e-02 -3.38079942e-04 9.99233633e-01 1.76760036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.520385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:279.95, Y:195.51, Z:17.68 [[ 5.07381981e-01 -8.61483737e-01 -2.02310569e-02 2.79954667e+02] [ 8.60831892e-01 5.07784993e-01 -3.35090057e-02 1.95511696e+02] [ 3.91404905e-02 -4.13673249e-04 9.99233632e-01 1.76765119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.550385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:279.97, Y:195.54, Z:17.68 [[ 5.05547982e-01 -8.62560673e-01 -2.02564541e-02 2.79968097e+02] [ 8.61910298e-01 5.05953366e-01 -3.34937137e-02 1.95535395e+02] [ 3.91391814e-02 -5.26567007e-04 9.99233630e-01 1.76779419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.580385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.98, Y:195.56, Z:17.68 [[ 5.04285841e-01 -8.63300970e-01 -2.01798614e-02 2.79981863e+02] [ 8.62649344e-01 5.04689203e-01 -3.35397974e-02 1.95559532e+02] [ 3.91394978e-02 -4.94499323e-04 9.99233634e-01 1.76790232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.610385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.00, Y:195.58, Z:17.68 [[ 5.02225865e-01 -8.64501210e-01 -2.01702369e-02 2.79995179e+02] [ 8.63850316e-01 5.02630406e-01 -3.35455844e-02 1.95584134e+02] [ 3.91383727e-02 -5.76605334e-04 9.99233634e-01 1.76788383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.640385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:280.01, Y:195.61, Z:17.68 [[ 5.00007421e-01 -8.65786422e-01 -2.01606214e-02 2.80007984e+02] [ 8.65136335e-01 5.00413258e-01 -3.35513623e-02 1.95608795e+02] [ 3.91369561e-02 -6.65755950e-04 9.99233634e-01 1.76811563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.670385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:280.02, Y:195.63, Z:17.68 [[ 4.99684890e-01 -8.65972832e-01 -2.01510363e-02 2.80021267e+02] [ 8.65322665e-01 5.00090597e-01 -3.35571181e-02 1.95633219e+02] [ 3.91368964e-02 -6.69163609e-04 9.99233634e-01 1.76830939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.700385723 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:280.03, Y:195.66, Z:17.68 [[ 4.98276365e-01 -8.66783581e-01 -2.01714669e-02 2.80034713e+02] [ 8.66134569e-01 4.98683919e-01 -3.35448555e-02 1.95660073e+02] [ 3.91353162e-02 -7.56596136e-04 9.99233634e-01 1.76831923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.730385723 meters Centerline goodness : 0.999369 Centerline is valid? [True, True] Translation: X:280.05, Y:195.68, Z:17.68 [[ 4.99462995e-01 -8.66097125e-01 -2.03097677e-02 2.80049904e+02] [ 8.65450916e-01 4.99875007e-01 -3.34617414e-02 1.95684500e+02] [ 3.91334633e-02 -8.64205494e-04 9.99233619e-01 1.76827605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.760385723 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:280.06, Y:195.71, Z:17.68 [[ 4.96850341e-01 -8.67593993e-01 -2.05037168e-02 2.80057550e+02] [ 8.66953808e-01 4.97271761e-01 -3.33450194e-02 1.95710723e+02] [ 3.91258579e-02 -1.20829110e-03 9.99233560e-01 1.76835745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.790385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:280.07, Y:195.74, Z:17.68 [[ 4.97549649e-01 -8.67198908e-01 -2.02583533e-02 2.80072695e+02] [ 8.66552364e-01 4.97961104e-01 -3.34923840e-02 1.95737031e+02] [ 3.91324308e-02 -8.90799977e-04 9.99233636e-01 1.76848460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.820385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.08, Y:195.76, Z:17.69 [[ 4.96298675e-01 -8.67911715e-01 -2.04176444e-02 2.80081180e+02] [ 8.67269673e-01 4.96717195e-01 -3.33967312e-02 1.95760098e+02] [ 3.91272093e-02 -1.13285032e-03 9.99233595e-01 1.76880645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.850385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.09, Y:195.79, Z:17.69 [[ 4.95688054e-01 -8.68267268e-01 -2.01321894e-02 2.80091670e+02] [ 8.67618538e-01 4.96096025e-01 -3.35679338e-02 1.95786185e+02] [ 3.91334373e-02 -8.27837017e-04 9.99233651e-01 1.76899149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.880385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:280.11, Y:195.81, Z:17.69 [[ 4.96585894e-01 -8.67754291e-01 -2.01231392e-02 2.80110370e+02] [ 8.67104920e-01 4.96992844e-01 -3.35733583e-02 1.95813407e+02] [ 3.91344819e-02 -7.76816861e-04 9.99233651e-01 1.76904279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.910385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:280.12, Y:195.84, Z:17.69 [[ 4.94475844e-01 -8.68949054e-01 -2.05227278e-02 2.80116349e+02] [ 8.68310491e-01 4.94899741e-01 -3.33337383e-02 1.95836230e+02] [ 3.91220131e-02 -1.33737147e-03 9.99233546e-01 1.76924429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.940385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:280.13, Y:195.86, Z:17.69 [[ 4.94886798e-01 -8.68724823e-01 -2.01056872e-02 2.80128740e+02] [ 8.68075842e-01 4.95294344e-01 -3.35834172e-02 1.95861074e+02] [ 3.91329813e-02 -8.33271469e-04 9.99233664e-01 1.76945056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.970385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:280.14, Y:195.89, Z:17.70 [[ 4.95531899e-01 -8.68357232e-01 -2.00961545e-02 2.80140481e+02] [ 8.67707717e-01 4.95938594e-01 -3.35891206e-02 1.95885015e+02] [ 3.91338143e-02 -7.93107620e-04 9.99233664e-01 1.76950897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.000385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.16, Y:195.91, Z:17.69 [[ 4.98152093e-01 -8.66856879e-01 -2.00908917e-02 2.80157195e+02] [ 8.66206012e-01 4.98556622e-01 -3.35922681e-02 1.95913872e+02] [ 3.91361358e-02 -6.68792456e-04 9.99233664e-01 1.76933391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.030385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:280.16, Y:195.94, Z:17.70 [[ 4.96106244e-01 -8.68019182e-01 -2.05254628e-02 2.80164535e+02] [ 8.67379889e-01 4.96529047e-01 -3.33321750e-02 1.95936169e+02] [ 3.91244558e-02 -1.26707349e-03 9.99233542e-01 1.76957020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.060385723 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:280.18, Y:195.96, Z:17.70 [[ 4.94867562e-01 -8.68736397e-01 -2.00790699e-02 2.80175703e+02] [ 8.68086795e-01 4.95274093e-01 -3.35989500e-02 1.95960915e+02] [ 3.91332739e-02 -8.03344990e-04 9.99233677e-01 1.76958942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.090385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:280.19, Y:195.99, Z:17.70 [[ 4.92058404e-01 -8.70330720e-01 -2.00739790e-02 2.80188040e+02] [ 8.69682311e-01 4.92466835e-01 -3.36019914e-02 1.95986215e+02] [ 3.91306143e-02 -9.23842210e-04 9.99233677e-01 1.76969394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.12038572299997 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:280.20, Y:196.01, Z:17.70 [[ 4.91539189e-01 -8.70624273e-01 -2.00649456e-02 2.80202058e+02] [ 8.69975888e-01 4.91947659e-01 -3.36073847e-02 1.96011162e+02] [ 3.91303078e-02 -9.36672247e-04 9.99233677e-01 1.76953601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.150385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:280.21, Y:196.04, Z:17.70 [[ 4.90889937e-01 -8.70990703e-01 -2.00565509e-02 2.80213913e+02] [ 8.70342419e-01 4.91298566e-01 -3.36123936e-02 1.96036420e+02] [ 3.91298371e-02 -9.56081206e-04 9.99233677e-01 1.76987446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.180385723 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:280.23, Y:196.06, Z:17.70 [[ 4.89958607e-01 -8.71515072e-01 -2.00510051e-02 2.80226162e+02] [ 8.70867090e-01 4.90367715e-01 -3.36157016e-02 1.96060315e+02] [ 3.91289561e-02 -9.91458134e-04 9.99233677e-01 1.76997286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.210385723 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:280.24, Y:196.09, Z:17.70 [[ 4.87604247e-01 -8.72834616e-01 -2.00457459e-02 2.80237720e+02] [ 8.72187612e-01 4.88014901e-01 -3.36188375e-02 1.96086586e+02] [ 3.91263078e-02 -1.09096335e-03 9.99233677e-01 1.77013269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.240385723 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:280.25, Y:196.11, Z:17.70 [[ 4.86582868e-01 -8.73404631e-01 -2.00365398e-02 2.80250060e+02] [ 8.72757883e-01 4.86993925e-01 -3.36243233e-02 1.96110688e+02] [ 3.91253129e-02 -1.12602840e-03 9.99233677e-01 1.77020263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.270385723 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:280.26, Y:196.14, Z:17.70 [[ 4.86345755e-01 -8.73536877e-01 -2.00282699e-02 2.80264611e+02] [ 8.72890038e-01 4.86756669e-01 -3.36292486e-02 1.96135250e+02] [ 3.91252827e-02 -1.12703501e-03 9.99233677e-01 1.77031415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.300385723 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:280.28, Y:196.16, Z:17.71 [[ 4.85818589e-01 -8.73830380e-01 -2.00191326e-02 2.80278088e+02] [ 8.73183566e-01 4.86229542e-01 -3.36346870e-02 1.96160790e+02] [ 3.91249050e-02 -1.14002142e-03 9.99233677e-01 1.77054340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.330385723 meters Centerline goodness : 0.999789 Centerline is valid? [True, True] Translation: X:280.29, Y:196.19, Z:17.71 [[ 4.85573778e-01 -8.73966194e-01 -2.00298992e-02 2.80288566e+02] [ 8.73319759e-01 4.85985326e-01 -3.36282803e-02 1.96185828e+02] [ 3.91242173e-02 -1.16349559e-03 9.99233677e-01 1.77052816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.360385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:280.30, Y:196.21, Z:17.71 [[ 4.85967699e-01 -8.73747739e-01 -2.00071103e-02 2.80301039e+02] [ 8.73100562e-01 4.86378080e-01 -3.36418332e-02 1.96211052e+02] [ 3.91254955e-02 -1.11937494e-03 9.99233678e-01 1.77067645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.390385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.31, Y:196.24, Z:17.71 [[ 4.86296205e-01 -8.73565077e-01 -2.00014262e-02 2.80313146e+02] [ 8.72917608e-01 4.86706123e-01 -3.36452122e-02 1.96236360e+02] [ 3.91260990e-02 -1.09805815e-03 9.99233678e-01 1.77078641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.420385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.32, Y:196.26, Z:17.71 [[ 4.88056174e-01 -8.72583224e-01 -1.99921821e-02 2.80324686e+02] [ 8.71934705e-01 4.88464430e-01 -3.36507042e-02 1.96262855e+02] [ 3.91285098e-02 -1.00844349e-03 9.99233678e-01 1.77091647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.450385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.34, Y:196.29, Z:17.71 [[ 4.89419819e-01 -8.71819917e-01 -1.99567909e-02 2.80336992e+02] [ 8.71169905e-01 4.89825696e-01 -3.36717218e-02 1.96288632e+02] [ 3.91310266e-02 -9.06147609e-04 9.99233677e-01 1.77098021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.480385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.35, Y:196.32, Z:17.71 [[ 4.92227473e-01 -8.70237254e-01 -1.99809172e-02 2.80349550e+02] [ 8.69586517e-01 4.92632184e-01 -3.36573991e-02 1.96315040e+02] [ 3.91331654e-02 -8.08039682e-04 9.99233678e-01 1.77096370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.510385723 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:280.36, Y:196.34, Z:17.71 [[ 4.93389745e-01 -8.69578625e-01 -1.99893757e-02 2.80361800e+02] [ 8.68927551e-01 4.93793914e-01 -3.36523785e-02 1.96339408e+02] [ 3.91340210e-02 -7.65580828e-04 9.99233678e-01 1.77114348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.540385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.37, Y:196.37, Z:17.71 [[ 4.94126564e-01 -8.69160603e-01 -1.99696110e-02 2.80373821e+02] [ 8.68508713e-01 4.94529416e-01 -3.36641029e-02 1.96365075e+02] [ 3.91350721e-02 -7.09453614e-04 9.99233678e-01 1.77103736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.570385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.39, Y:196.39, Z:17.71 [[ 4.94331313e-01 -8.69044994e-01 -1.99336587e-02 2.80387072e+02] [ 8.68392151e-01 4.94732619e-01 -3.36854205e-02 1.96390028e+02] [ 3.91359772e-02 -6.58474590e-04 9.99233677e-01 1.77138293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.600385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.40, Y:196.41, Z:17.71 [[ 4.94118945e-01 -8.69165201e-01 -1.99579894e-02 2.80400015e+02] [ 8.68513037e-01 4.94521353e-01 -3.36709988e-02 1.96413810e+02] [ 3.91353124e-02 -6.96295590e-04 9.99233678e-01 1.77145667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.630385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.41, Y:196.44, Z:17.72 [[ 4.93489345e-01 -8.69522944e-01 -1.99528202e-02 2.80412754e+02] [ 8.68870948e-01 4.93892025e-01 -3.36740617e-02 1.96437465e+02] [ 3.91349081e-02 -7.18635167e-04 9.99233678e-01 1.77158038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.660385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.43, Y:196.46, Z:17.72 [[ 4.91744686e-01 -8.70510983e-01 -1.99447260e-02 2.80425189e+02] [ 8.69859602e-01 4.92148359e-01 -3.36788551e-02 1.96462502e+02] [ 3.91335775e-02 -7.87713402e-04 9.99233678e-01 1.77160860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.690385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.44, Y:196.49, Z:17.72 [[ 4.91919962e-01 -8.70415040e-01 -1.98093252e-02 2.80439799e+02] [ 8.69760347e-01 4.92318261e-01 -3.37589822e-02 1.96487359e+02] [ 3.91368184e-02 -6.22648313e-04 9.99233667e-01 1.77194169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.720385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.45, Y:196.51, Z:17.72 [[ 4.90639600e-01 -8.71134535e-01 -1.99349906e-02 2.80452095e+02] [ 8.70483433e-01 4.91043724e-01 -3.36846122e-02 1.96511230e+02] [ 3.91327811e-02 -8.26074379e-04 9.99233678e-01 1.77211372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.750385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.47, Y:196.54, Z:17.72 [[ 4.89996722e-01 -8.71496496e-01 -1.99266189e-02 2.80465619e+02] [ 8.70845491e-01 4.90401003e-01 -3.36895639e-02 1.96535748e+02] [ 3.91323708e-02 -8.45230390e-04 9.99233678e-01 1.77202671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.780385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.48, Y:196.56, Z:17.72 [[ 4.89781523e-01 -8.71618995e-01 -1.98591981e-02 2.80479835e+02] [ 8.70966476e-01 4.90183358e-01 -3.37294131e-02 1.96560430e+02] [ 3.91338455e-02 -7.76652510e-04 9.99233676e-01 1.77230513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.810385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.49, Y:196.59, Z:17.72 [[ 4.89490875e-01 -8.71781024e-01 -1.99130550e-02 2.80491429e+02] [ 8.71129929e-01 4.89895009e-01 -3.36975873e-02 1.96585861e+02] [ 3.91322234e-02 -8.52196762e-04 9.99233678e-01 1.77229962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.840385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.50, Y:196.61, Z:17.72 [[ 4.89751725e-01 -8.71634723e-01 -1.99037007e-02 2.80503705e+02] [ 8.70983283e-01 4.90155303e-01 -3.37031115e-02 1.96609774e+02] [ 3.91327068e-02 -8.29633577e-04 9.99233678e-01 1.77228324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.87038572299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.52, Y:196.63, Z:17.72 [[ 4.89907602e-01 -8.71547238e-01 -1.98985846e-02 2.80516718e+02] [ 8.70895603e-01 4.90310866e-01 -3.37061319e-02 1.96634564e+02] [ 3.91329784e-02 -8.16699605e-04 9.99233678e-01 1.77238162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.900385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.53, Y:196.66, Z:17.73 [[ 4.90652957e-01 -8.71128059e-01 -1.98892325e-02 2.80529943e+02] [ 8.70475856e-01 4.91055302e-01 -3.37116495e-02 1.96658611e+02] [ 3.91338768e-02 -7.72376155e-04 9.99233678e-01 1.77250367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.930385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.54, Y:196.68, Z:17.73 [[ 4.91092636e-01 -8.70881082e-01 -1.98535472e-02 2.80543195e+02] [ 8.70227827e-01 4.91493271e-01 -3.37326921e-02 1.96682088e+02] [ 3.91350483e-02 -7.11232553e-04 9.99233677e-01 1.77261756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.960385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.56, Y:196.71, Z:17.73 [[ 4.92045622e-01 -8.70343479e-01 -1.98326689e-02 2.80556456e+02] [ 8.69689290e-01 4.92444732e-01 -3.37449966e-02 1.96706096e+02] [ 3.91362310e-02 -6.44181903e-04 9.99233677e-01 1.77264484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.990385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.57, Y:196.73, Z:17.73 [[ 4.94039810e-01 -8.69214014e-01 -1.97905068e-02 2.80569319e+02] [ 8.68557917e-01 4.94435782e-01 -3.37698478e-02 1.96732379e+02] [ 3.91383596e-02 -5.05552166e-04 9.99233673e-01 1.77289210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.020385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.58, Y:196.76, Z:17.73 [[ 4.95713422e-01 -8.68259940e-01 -1.98212302e-02 2.80582906e+02] [ 8.67603803e-01 4.96109323e-01 -3.37517438e-02 1.96756926e+02] [ 3.91387841e-02 -4.65782289e-04 9.99233676e-01 1.77290890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.050385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.60, Y:196.78, Z:17.73 [[ 4.96790793e-01 -8.67642752e-01 -1.98736605e-02 2.80596049e+02] [ 8.66987358e-01 4.97187918e-01 -3.37208525e-02 1.96781512e+02] [ 3.91385971e-02 -4.78003359e-04 9.99233677e-01 1.77299046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.080385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.61, Y:196.81, Z:17.73 [[ 4.99435644e-01 -8.66123632e-01 -1.98467340e-02 2.80610693e+02] [ 8.65466398e-01 4.99829719e-01 -3.37367096e-02 1.96806520e+02] [ 3.91401489e-02 -3.27366125e-04 9.99233677e-01 1.77305364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.110385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.62, Y:196.83, Z:17.73 [[ 5.00991772e-01 -8.65224254e-01 -1.98553169e-02 2.80624903e+02] [ 8.64566514e-01 5.01385000e-01 -3.37316563e-02 1.96829366e+02] [ 3.91406052e-02 -2.66959889e-04 9.99233677e-01 1.77309544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.140385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.64, Y:196.85, Z:17.73 [[ 5.00970392e-01 -8.65237372e-01 -1.98231350e-02 2.80639538e+02] [ 8.64578892e-01 5.01362381e-01 -3.37505928e-02 1.96854363e+02] [ 3.91408483e-02 -2.30616349e-04 9.99233677e-01 1.77335276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.170385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.65, Y:196.88, Z:17.73 [[ 5.00591304e-01 -8.65456238e-01 -1.98455666e-02 2.80653786e+02] [ 8.64798452e-01 5.00984456e-01 -3.37373977e-02 1.96878576e+02] [ 3.91405617e-02 -2.73767365e-04 9.99233677e-01 1.77344714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.200385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.67, Y:196.90, Z:17.73 [[ 5.00056426e-01 -8.65765612e-01 -1.98362159e-02 2.80667713e+02] [ 8.65107851e-01 5.00449620e-01 -3.37428947e-02 1.96901765e+02] [ 3.91404645e-02 -2.87114774e-04 9.99233677e-01 1.77344418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.230385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.68, Y:196.93, Z:17.74 [[ 4.98392966e-01 -8.66724395e-01 -1.98311339e-02 2.80682771e+02] [ 8.66067272e-01 4.98787225e-01 -3.37458811e-02 1.96925066e+02] [ 3.91398947e-02 -3.56386304e-04 9.99233677e-01 1.77372984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.260385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.70, Y:196.95, Z:17.74 [[ 4.97473592e-01 -8.67252628e-01 -1.98218500e-02 2.80697764e+02] [ 8.66595706e-01 4.97868186e-01 -3.37513335e-02 1.96948092e+02] [ 3.91396011e-02 -3.87133030e-04 9.99233677e-01 1.77385974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.290385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.71, Y:196.97, Z:17.74 [[ 4.95806449e-01 -8.68206950e-01 -1.98155495e-02 2.80714020e+02] [ 8.67550640e-01 4.96202060e-01 -3.37550321e-02 1.96971315e+02] [ 3.91388700e-02 -4.55030063e-04 9.99233677e-01 1.77416296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.320385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.73, Y:197.00, Z:17.74 [[ 4.95235058e-01 -8.68533218e-01 -1.98062286e-02 2.80728770e+02] [ 8.67876950e-01 4.95630738e-01 -3.37605004e-02 1.96995566e+02] [ 3.91386918e-02 -4.69985931e-04 9.99233677e-01 1.77427148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.350385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.74, Y:197.02, Z:17.74 [[ 4.94961600e-01 -8.68689297e-01 -1.97969352e-02 2.80742949e+02] [ 8.68032936e-01 4.95357126e-01 -3.37659491e-02 1.97019663e+02] [ 3.91386715e-02 -4.71543595e-04 9.99233677e-01 1.77435778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.380385723 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:280.76, Y:197.04, Z:17.74 [[ 4.94821955e-01 -8.68769063e-01 -1.97875619e-02 2.80757744e+02] [ 8.68112546e-01 4.95217222e-01 -3.37714412e-02 1.97042821e+02] [ 3.91387247e-02 -4.66980203e-04 9.99233677e-01 1.77416485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.410385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.77, Y:197.07, Z:17.74 [[ 4.94487966e-01 -8.68959298e-01 -1.97835613e-02 2.80772188e+02] [ 8.68302840e-01 4.94883330e-01 -3.37737846e-02 1.97066728e+02] [ 3.91385989e-02 -4.77392412e-04 9.99233677e-01 1.77443174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.440385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.79, Y:197.09, Z:17.74 [[ 4.94503023e-01 -8.68950940e-01 -1.97743183e-02 2.80788405e+02] [ 8.68294259e-01 4.94898016e-01 -3.37791955e-02 1.97088900e+02] [ 3.91387345e-02 -4.66012736e-04 9.99233678e-01 1.77448122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.470385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:280.80, Y:197.11, Z:17.75 [[ 4.92587837e-01 -8.70038184e-01 -1.97681917e-02 2.80801704e+02] [ 8.69382230e-01 4.92984037e-01 -3.37827804e-02 1.97112455e+02] [ 3.91377119e-02 -5.45127882e-04 9.99233678e-01 1.77453412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.500385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:280.82, Y:197.14, Z:17.75 [[ 4.92490627e-01 -8.70096554e-01 -1.96206612e-02 2.80817065e+02] [ 8.69437199e-01 4.92881166e-01 -3.38690577e-02 1.97136414e+02] [ 3.91400048e-02 -3.78739272e-04 9.99233665e-01 1.77464929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.530385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.83, Y:197.16, Z:17.75 [[ 4.92407601e-01 -8.70143074e-01 -1.96414212e-02 2.80831678e+02] [ 8.69484240e-01 4.92799011e-01 -3.38569177e-02 1.97159863e+02] [ 3.91396354e-02 -4.06502503e-04 9.99233668e-01 1.77480967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.560385723 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:280.85, Y:197.18, Z:17.75 [[ 4.94681622e-01 -8.68852591e-01 -1.96282263e-02 2.80849808e+02] [ 8.68192430e-01 4.95070794e-01 -3.38646295e-02 1.97182982e+02] [ 3.91407327e-02 -2.88867609e-04 9.99233666e-01 1.77478461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.590385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.86, Y:197.21, Z:17.75 [[ 4.95065052e-01 -8.68631395e-01 -1.97507948e-02 2.80864459e+02] [ 8.67973908e-01 4.95458705e-01 -3.37929930e-02 1.97205461e+02] [ 3.91393579e-02 -4.13444704e-04 9.99233676e-01 1.77495512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.62038572299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.88, Y:197.23, Z:17.75 [[ 4.95053099e-01 -8.68638398e-01 -1.97423868e-02 2.80879665e+02] [ 8.67980721e-01 4.95446435e-01 -3.37979044e-02 1.97229077e+02] [ 3.91394527e-02 -4.04253800e-04 9.99233676e-01 1.77506698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.650385723 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:280.90, Y:197.25, Z:17.75 [[ 4.95130573e-01 -8.68594449e-01 -1.97332090e-02 2.80896112e+02] [ 8.67936523e-01 4.95523492e-01 -3.38032621e-02 1.97251179e+02] [ 3.91395944e-02 -3.90144345e-04 9.99233676e-01 1.77480154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.680385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.91, Y:197.28, Z:17.75 [[ 4.94789307e-01 -8.68789077e-01 -1.97251565e-02 2.80910529e+02] [ 8.68131118e-01 4.95182172e-01 -3.38079603e-02 1.97275139e+02] [ 3.91395325e-02 -3.96204907e-04 9.99233676e-01 1.77522648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.710385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.93, Y:197.30, Z:17.75 [[ 4.93691817e-01 -8.69413394e-01 -1.97164936e-02 2.80925383e+02] [ 8.68755731e-01 4.94085175e-01 -3.38130117e-02 1.97298686e+02] [ 3.91391124e-02 -4.35609694e-04 9.99233676e-01 1.77532776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.740385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.94, Y:197.32, Z:17.75 [[ 4.92769122e-01 -8.69936826e-01 -1.97106769e-02 2.80939615e+02] [ 8.69279445e-01 4.93162952e-01 -3.38164021e-02 1.97321280e+02] [ 3.91387091e-02 -4.70407445e-04 9.99233676e-01 1.77541072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.770385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.95, Y:197.35, Z:17.76 [[ 4.91213364e-01 -8.70816425e-01 -1.97024217e-02 2.80954578e+02] [ 8.70159556e-01 4.91608048e-01 -3.38212111e-02 1.97345210e+02] [ 3.91379352e-02 -5.30819622e-04 9.99233677e-01 1.77559149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.800385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.97, Y:197.37, Z:17.76 [[ 4.88652464e-01 -8.72256230e-01 -1.96936142e-02 2.80970831e+02] [ 8.71600318e-01 4.89048735e-01 -3.38263388e-02 1.97368367e+02] [ 3.91363719e-02 -6.35636554e-04 9.99233677e-01 1.77593485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.830385723 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:280.99, Y:197.39, Z:17.76 [[ 4.86914911e-01 -8.73227570e-01 -1.96845074e-02 2.80985920e+02] [ 8.72572234e-01 4.87312134e-01 -3.38316375e-02 1.97392255e+02] [ 3.91352179e-02 -7.03025817e-04 9.99233677e-01 1.77580316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.860385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.00, Y:197.42, Z:17.76 [[ 4.84907932e-01 -8.74343858e-01 -1.96752463e-02 2.81000378e+02] [ 8.73689218e-01 4.85306302e-01 -3.38370226e-02 1.97415676e+02] [ 3.91337139e-02 -7.82209882e-04 9.99233677e-01 1.77618789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.890385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.01, Y:197.44, Z:17.76 [[ 4.83931691e-01 -8.74884775e-01 -1.96659273e-02 2.81014533e+02] [ 8.74230361e-01 4.84330430e-01 -3.38424379e-02 1.97439745e+02] [ 3.91330407e-02 -8.15122564e-04 9.99233677e-01 1.77628789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.920385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.03, Y:197.46, Z:17.76 [[ 4.83338823e-01 -8.75212658e-01 -1.96566677e-02 2.81028647e+02] [ 8.74558296e-01 4.83737648e-01 -3.38478153e-02 1.97463886e+02] [ 3.91327066e-02 -8.30938616e-04 9.99233677e-01 1.77641156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.950385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.04, Y:197.49, Z:17.77 [[ 4.83175625e-01 -8.75302972e-01 -1.96474525e-02 2.81043282e+02] [ 8.74648467e-01 4.83574216e-01 -3.38531635e-02 1.97488095e+02] [ 3.91327761e-02 -8.27590815e-04 9.99233677e-01 1.77652973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.980385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.06, Y:197.51, Z:17.77 [[ 4.83685653e-01 -8.75021447e-01 -1.96381336e-02 2.81057658e+02] [ 8.74366491e-01 4.84083502e-01 -3.38585685e-02 1.97512556e+02] [ 3.91334701e-02 -7.94022175e-04 9.99233677e-01 1.77661643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.010385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.07, Y:197.54, Z:17.77 [[ 4.84660309e-01 -8.74482185e-01 -1.96288696e-02 2.81071994e+02] [ 8.73826569e-01 4.85057069e-01 -3.38639383e-02 1.97536790e+02] [ 3.91345327e-02 -7.39720989e-04 9.99233677e-01 1.77670932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.040385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.09, Y:197.56, Z:17.77 [[ 4.87124413e-01 -8.73112182e-01 -1.96194691e-02 2.81086073e+02] [ 8.72455231e-01 4.87518958e-01 -3.38693837e-02 1.97559687e+02] [ 3.91366347e-02 -6.18504813e-04 9.99233677e-01 1.77680712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.070385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:281.10, Y:197.58, Z:17.77 [[ 4.87638503e-01 -8.72826679e-01 -1.95519481e-02 2.81100989e+02] [ 8.72167928e-01 4.88030041e-01 -3.39084692e-02 1.97584360e+02] [ 3.91381546e-02 -5.17506892e-04 9.99233675e-01 1.77670687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.100385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.11, Y:197.61, Z:17.77 [[ 4.88857214e-01 -8.72143565e-01 -1.96017142e-02 2.81114886e+02] [ 8.71485419e-01 4.89249764e-01 -3.38796762e-02 1.97607277e+02] [ 3.91380756e-02 -5.20284069e-04 9.99233677e-01 1.77692800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.130385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:281.13, Y:197.63, Z:17.77 [[ 4.90684995e-01 -8.71116717e-01 -1.95933890e-02 2.81129795e+02] [ 8.70457558e-01 4.91075841e-01 -3.38844901e-02 1.97630489e+02] [ 3.91391858e-02 -4.28602703e-04 9.99233677e-01 1.77706855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.160385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.14, Y:197.65, Z:17.77 [[ 4.90945760e-01 -8.70969994e-01 -1.95839248e-02 2.81144518e+02] [ 8.70310500e-01 4.91336040e-01 -3.38899592e-02 1.97654853e+02] [ 3.91394257e-02 -4.05963586e-04 9.99233677e-01 1.77713107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.190385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.16, Y:197.68, Z:17.77 [[ 4.90791012e-01 -8.71057416e-01 -1.95744772e-02 2.81159180e+02] [ 8.70397774e-01 4.91181042e-01 -3.38954152e-02 1.97678953e+02] [ 3.91394649e-02 -4.02016316e-04 9.99233677e-01 1.77727978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.220385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.17, Y:197.70, Z:17.77 [[ 4.90546230e-01 -8.71195505e-01 -1.95649498e-02 2.81173401e+02] [ 8.70535754e-01 4.90936075e-01 -3.39009136e-02 1.97703708e+02] [ 3.91394633e-02 -4.02022939e-04 9.99233677e-01 1.77739126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.250385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.19, Y:197.73, Z:17.78 [[ 4.89775562e-01 -8.71629213e-01 -1.95554151e-02 2.81189049e+02] [ 8.70969587e-01 4.90165619e-01 -3.39064128e-02 1.97726605e+02] [ 3.91392120e-02 -4.25639461e-04 9.99233677e-01 1.77761802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.280385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.20, Y:197.75, Z:17.78 [[ 4.88718631e-01 -8.72222362e-01 -1.95512126e-02 2.81203535e+02] [ 8.71563113e-01 4.89109324e-01 -3.39088358e-02 1.97749567e+02] [ 3.91387253e-02 -4.68235906e-04 9.99233677e-01 1.77774807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.310385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.22, Y:197.77, Z:17.78 [[ 4.87142025e-01 -8.73104079e-01 -1.95426439e-02 2.81218534e+02] [ 8.72445339e-01 4.87533575e-01 -3.39137735e-02 1.97773510e+02] [ 3.91379491e-02 -5.29064301e-04 9.99233677e-01 1.77796586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.340385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:281.23, Y:197.80, Z:17.78 [[ 4.84085808e-01 -8.74802481e-01 -1.95333206e-02 2.81234269e+02] [ 8.74144897e-01 4.84479298e-01 -3.39191426e-02 1.97796858e+02] [ 3.91360396e-02 -6.55176945e-04 9.99233677e-01 1.77826021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.37038572299997 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:281.25, Y:197.82, Z:17.78 [[ 4.82746016e-01 -8.75542746e-01 -1.95239319e-02 2.81248787e+02] [ 8.74885548e-01 4.83140149e-01 -3.39245459e-02 1.97820290e+02] [ 3.91351855e-02 -7.04266492e-04 9.99233677e-01 1.77837462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.400385723 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:281.26, Y:197.84, Z:17.78 [[ 4.79442407e-01 -8.77356348e-01 -1.95145316e-02 2.81260265e+02] [ 8.76700420e-01 4.79838651e-01 -3.39299524e-02 1.97844066e+02] [ 3.91324857e-02 -8.40940041e-04 9.99233677e-01 1.77833544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.430385723 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:281.28, Y:197.87, Z:17.78 [[ 4.79763676e-01 -8.77186244e-01 -1.92641781e-02 2.81277133e+02] [ 8.76524371e-01 4.80149980e-01 -3.40737898e-02 1.97868491e+02] [ 3.91387544e-02 -5.38154971e-04 9.99233640e-01 1.77836895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.460385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.29, Y:197.89, Z:17.79 [[ 4.78580189e-01 -8.77827253e-01 -1.95017355e-02 2.81291109e+02] [ 8.77171416e-01 4.78976583e-01 -3.39372814e-02 1.97892281e+02] [ 3.91319451e-02 -8.64654461e-04 9.99233678e-01 1.77851175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.490385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.30, Y:197.92, Z:17.79 [[ 4.77385873e-01 -8.78477537e-01 -1.94921835e-02 2.81304619e+02] [ 8.77822017e-01 4.77782790e-01 -3.39427667e-02 1.97915447e+02] [ 3.91309880e-02 -9.06870555e-04 9.99233678e-01 1.77852664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.520385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.32, Y:197.94, Z:17.79 [[ 4.76809482e-01 -8.78790631e-01 -1.94870439e-02 2.81318434e+02] [ 8.78135252e-01 4.77206630e-01 -3.39457172e-02 1.97939908e+02] [ 3.91305248e-02 -9.26620354e-04 9.99233678e-01 1.77860561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.550385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.33, Y:197.96, Z:17.79 [[ 4.76605873e-01 -8.78901281e-01 -1.94776749e-02 2.81332620e+02] [ 8.78245775e-01 4.77002812e-01 -3.39510922e-02 1.97963989e+02] [ 3.91305641e-02 -9.24895759e-04 9.99233678e-01 1.77866520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.580385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.35, Y:197.99, Z:17.79 [[ 4.76427148e-01 -8.78998383e-01 -1.94683291e-02 2.81347421e+02] [ 8.78342739e-01 4.76823859e-01 -3.39564505e-02 1.97988396e+02] [ 3.91306289e-02 -9.22090592e-04 9.99233678e-01 1.77877219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.610385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:281.36, Y:198.01, Z:17.79 [[ 4.77008526e-01 -8.78683216e-01 -1.94595044e-02 2.81362127e+02] [ 8.78027104e-01 4.77404462e-01 -3.39615069e-02 1.98010789e+02] [ 3.91314603e-02 -8.86043924e-04 9.99233678e-01 1.77893556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.640385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.38, Y:198.03, Z:17.79 [[ 4.76947814e-01 -8.78716719e-01 -1.94347512e-02 2.81375949e+02] [ 8.78060058e-01 4.77342840e-01 -3.39756852e-02 1.98034665e+02] [ 3.91320420e-02 -8.60249997e-04 9.99233678e-01 1.77886243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.670385723 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:281.39, Y:198.06, Z:17.79 [[ 4.76473228e-01 -8.78973818e-01 -1.94496877e-02 2.81389666e+02] [ 8.78317718e-01 4.76869185e-01 -3.39671325e-02 1.98059255e+02] [ 3.91311769e-02 -8.98576050e-04 9.99233678e-01 1.77893536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.700385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.40, Y:198.08, Z:17.79 [[ 4.75402798e-01 -8.79553436e-01 -1.94405213e-02 2.81403005e+02] [ 8.78897604e-01 4.75799200e-01 -3.39723780e-02 1.98082467e+02] [ 3.91303062e-02 -9.35664009e-04 9.99233678e-01 1.77897480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.730385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.42, Y:198.11, Z:17.79 [[ 4.74170250e-01 -8.80218685e-01 -1.94329619e-02 2.81417662e+02] [ 8.79563233e-01 4.74567279e-01 -3.39767015e-02 1.98106612e+02] [ 3.91291754e-02 -9.81777776e-04 9.99233678e-01 1.77915596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.760385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:281.43, Y:198.13, Z:17.79 [[ 4.72678240e-01 -8.81020999e-01 -1.94236997e-02 2.81432592e+02] [ 8.80366004e-01 4.73076022e-01 -3.39819958e-02 1.98130549e+02] [ 3.91277384e-02 -1.03741492e-03 9.99233678e-01 1.77941113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.790385723 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:281.45, Y:198.15, Z:17.80 [[ 4.69685653e-01 -8.82620229e-01 -1.94144041e-02 2.81446999e+02] [ 8.81966369e-01 4.70085298e-01 -3.39873056e-02 1.98153407e+02] [ 3.91243094e-02 -1.15950170e-03 9.99233678e-01 1.77963519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.820385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:281.46, Y:198.18, Z:17.80 [[ 4.68598488e-01 -8.83198039e-01 -1.94082993e-02 2.81460976e+02] [ 8.82544528e-01 4.68998703e-01 -3.39907914e-02 1.98177480e+02] [ 3.91230675e-02 -1.20065486e-03 9.99233678e-01 1.77988174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.850385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.47, Y:198.20, Z:17.80 [[ 4.67681167e-01 -8.83684338e-01 -1.93988840e-02 2.81474268e+02] [ 8.83031021e-01 4.68081698e-01 -3.39961640e-02 1.98201048e+02] [ 3.91221402e-02 -1.23045069e-03 9.99233678e-01 1.77999607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.880385723 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:281.49, Y:198.23, Z:17.80 [[ 4.66900032e-01 -8.84097490e-01 -1.93904282e-02 2.81488277e+02] [ 8.83444328e-01 4.67300816e-01 -3.40009862e-02 1.98225584e+02] [ 3.91213495e-02 -1.25530228e-03 9.99233678e-01 1.78014463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.910385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:281.50, Y:198.25, Z:17.80 [[ 4.66071105e-01 -8.84534962e-01 -1.93810596e-02 2.81501261e+02] [ 8.83881955e-01 4.66472142e-01 -3.40063256e-02 1.98248764e+02] [ 3.91205083e-02 -1.28120311e-03 9.99233679e-01 1.78028470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.940385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:281.51, Y:198.27, Z:17.80 [[ 4.65862901e-01 -8.84644818e-01 -1.93727283e-02 2.81513469e+02] [ 8.83991709e-01 4.66263772e-01 -3.40110711e-02 1.98272385e+02] [ 3.91205192e-02 -1.28083492e-03 9.99233679e-01 1.78046086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.970385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.53, Y:198.30, Z:17.81 [[ 4.65596614e-01 -8.84785181e-01 -1.93643072e-02 2.81526501e+02] [ 8.84131994e-01 4.65997358e-01 -3.40158650e-02 1.98296968e+02] [ 3.91204493e-02 -1.28293193e-03 9.99233679e-01 1.78075748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.000385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.54, Y:198.32, Z:17.81 [[ 4.65466547e-01 -8.84853820e-01 -1.93548566e-02 2.81539285e+02] [ 8.84200470e-01 4.65867024e-01 -3.40212415e-02 1.98320723e+02] [ 3.91206150e-02 -1.27782353e-03 9.99233679e-01 1.78078002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.030385723 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:281.55, Y:198.34, Z:17.81 [[ 4.62326742e-01 -8.86498565e-01 -1.93462790e-02 2.81546744e+02] [ 8.85846436e-01 4.62729204e-01 -3.40261185e-02 1.98343361e+02] [ 3.91161935e-02 -1.40664777e-03 9.99233679e-01 1.78111042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.060385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.57, Y:198.37, Z:17.81 [[ 4.65633926e-01 -8.84776348e-01 -1.88642849e-02 2.81565685e+02] [ 8.84111536e-01 4.66015358e-01 -3.42998161e-02 1.98370097e+02] [ 3.91387125e-02 -7.06973887e-04 9.99233537e-01 1.78113759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.090385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.57, Y:198.39, Z:17.81 [[ 4.62335899e-01 -8.86493956e-01 -1.93386277e-02 2.81572778e+02] [ 8.85841650e-01 4.62738060e-01 -3.40302646e-02 1.98393003e+02] [ 3.91163429e-02 -1.39754891e-03 9.99233686e-01 1.78112366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.12038572299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.59, Y:198.42, Z:17.81 [[ 4.65418541e-01 -8.84889551e-01 -1.88696653e-02 2.81592008e+02] [ 8.84224972e-01 4.65800344e-01 -3.42963289e-02 1.98419322e+02] [ 3.91379597e-02 -7.22881956e-04 9.99233555e-01 1.78131876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.150385723 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:281.60, Y:198.44, Z:17.82 [[ 4.60801586e-01 -8.87292764e-01 -1.93248169e-02 2.81597690e+02] [ 8.86640835e-01 4.61204347e-01 -3.40379256e-02 1.98442233e+02] [ 3.91142947e-02 -1.44944169e-03 9.99233692e-01 1.78152690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.180385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.61, Y:198.47, Z:17.81 [[ 4.59253077e-01 -8.88107297e-01 -1.87627639e-02 2.81608088e+02] [ 8.87442929e-01 4.59635365e-01 -3.43566379e-02 1.98466247e+02] [ 3.91364107e-02 -8.72490490e-04 9.99233496e-01 1.78097260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.210385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.62, Y:198.49, Z:17.81 [[ 4.57765361e-01 -8.88877993e-01 -1.86222237e-02 2.81621198e+02] [ 8.88211026e-01 4.58143329e-01 -3.44363718e-02 1.98490904e+02] [ 3.91413806e-02 -7.76686286e-04 9.99233381e-01 1.78087858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.240385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.64, Y:198.52, Z:17.81 [[ 4.58298346e-01 -8.88605215e-01 -1.85309978e-02 2.81638179e+02] [ 8.87935930e-01 4.58672379e-01 -3.44881480e-02 1.98515520e+02] [ 3.91460050e-02 -6.48477643e-04 9.99233291e-01 1.78115208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.270385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.65, Y:198.54, Z:17.81 [[ 4.56351179e-01 -8.89603749e-01 -1.86753974e-02 2.81652230e+02] [ 8.88938612e-01 4.56732262e-01 -3.44061753e-02 1.98539448e+02] [ 3.91375190e-02 -8.99983188e-04 9.99233429e-01 1.78127071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.300385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.67, Y:198.56, Z:17.81 [[ 4.53273081e-01 -8.91175755e-01 -1.86892177e-02 2.81666032e+02] [ 8.90512260e-01 4.53656994e-01 -3.43983449e-02 1.98563863e+02] [ 3.91334653e-02 -1.05113368e-03 9.99233440e-01 1.78141954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.330385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.68, Y:198.59, Z:17.81 [[ 4.51363096e-01 -8.92143464e-01 -1.87455442e-02 2.81679013e+02] [ 8.91482107e-01 4.51750596e-01 -3.43664381e-02 1.98588392e+02] [ 3.91281039e-02 -1.19957535e-03 9.99233482e-01 1.78144373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.360385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.70, Y:198.62, Z:17.83 [[ 4.54165897e-01 -8.90720387e-01 -1.87224560e-02 2.81701043e+02] [ 8.90057279e-01 4.54550426e-01 -3.43795137e-02 1.98615960e+02] [ 3.91328341e-02 -1.05005562e-03 9.99233466e-01 1.78260732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.390385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.71, Y:198.64, Z:17.82 [[ 4.50229864e-01 -8.92704045e-01 -1.93017552e-02 2.81707217e+02] [ 8.92056385e-01 4.50639463e-01 -3.40511503e-02 1.98640212e+02] [ 3.90957322e-02 -1.88740922e-03 9.99233687e-01 1.78193055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.420385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.73, Y:198.67, Z:17.83 [[ 4.55468882e-01 -8.90052698e-01 -1.88226547e-02 2.81727212e+02] [ 8.89391371e-01 4.55856301e-01 -3.43223350e-02 1.98666996e+02] [ 3.91291126e-02 -1.10795106e-03 9.99233549e-01 1.78272434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.450385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.74, Y:198.69, Z:17.83 [[ 4.57975220e-01 -8.88755587e-01 -1.92926014e-02 2.81738388e+02] [ 8.88104181e-01 4.58378821e-01 -3.40561194e-02 1.98692925e+02] [ 3.91108863e-02 -1.53698123e-03 9.99233695e-01 1.78284809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.480385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.75, Y:198.72, Z:17.83 [[ 4.59279165e-01 -8.88082649e-01 -1.92836253e-02 2.81750781e+02] [ 8.87430439e-01 4.59681466e-01 -3.40612012e-02 1.98718550e+02] [ 3.91134869e-02 -1.46927606e-03 9.99233695e-01 1.78292896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.510385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.76, Y:198.74, Z:17.83 [[ 4.60802413e-01 -8.87293427e-01 -1.92746366e-02 2.81763033e+02] [ 8.86640316e-01 4.61203250e-01 -3.40662870e-02 1.98743910e+02] [ 3.91163175e-02 -1.39184266e-03 9.99233695e-01 1.78306294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.540385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.78, Y:198.77, Z:17.83 [[ 4.61736934e-01 -8.86807677e-01 -1.92652004e-02 2.81775208e+02] [ 8.86153923e-01 4.62136722e-01 -3.40716225e-02 1.98769604e+02] [ 3.91181329e-02 -1.33980638e-03 9.99233695e-01 1.78311290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.570385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.79, Y:198.79, Z:17.83 [[ 4.64273182e-01 -8.85482708e-01 -1.92557899e-02 2.81785819e+02] [ 8.84827594e-01 4.64670735e-01 -3.40769401e-02 1.98794889e+02] [ 3.91221432e-02 -1.21704479e-03 9.99233695e-01 1.78306198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.600385723 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:281.80, Y:198.82, Z:17.83 [[ 4.64803086e-01 -8.85204854e-01 -1.92473119e-02 2.81798402e+02] [ 8.84549303e-01 4.65199920e-01 -3.40817280e-02 1.98820111e+02] [ 3.91231589e-02 -1.18390399e-03 9.99233695e-01 1.78304844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.630385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.81, Y:198.85, Z:17.83 [[ 4.64565756e-01 -8.85329631e-01 -1.92380451e-02 2.81808005e+02] [ 8.84673972e-01 4.64962410e-01 -3.40869579e-02 1.98845761e+02] [ 3.91231617e-02 -1.18376436e-03 9.99233695e-01 1.78298739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.660385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.82, Y:198.87, Z:17.83 [[ 4.64936291e-01 -8.85138292e-01 -1.90905382e-02 2.81821582e+02] [ 8.84479052e-01 4.65326989e-01 -3.41701516e-02 1.98870336e+02] [ 3.91286523e-02 -9.98237599e-04 9.99233682e-01 1.78307737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.690385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.84, Y:198.90, Z:17.83 [[ 4.66565959e-01 -8.84280038e-01 -1.91055394e-02 2.81837182e+02] [ 8.83620424e-01 4.66956021e-01 -3.41616980e-02 1.98895565e+02] [ 3.91299543e-02 -9.43359457e-04 9.99233685e-01 1.78343061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.720385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.85, Y:198.92, Z:17.83 [[ 4.67772472e-01 -8.83639998e-01 -1.92163635e-02 2.81848715e+02] [ 8.82982402e-01 4.68165911e-01 -3.40992444e-02 1.98920898e+02] [ 3.91279025e-02 -1.01702292e-03 9.99233693e-01 1.78344023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.750385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.86, Y:198.95, Z:17.83 [[ 4.68580392e-01 -8.83212038e-01 -1.92070865e-02 2.81860996e+02] [ 8.82553869e-01 4.68972871e-01 -3.41044690e-02 1.98945126e+02] [ 3.91290801e-02 -9.70603068e-04 9.99233693e-01 1.78341421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.780385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.87, Y:198.97, Z:17.84 [[ 4.69420529e-01 -8.82765980e-01 -1.91987514e-02 2.81874027e+02] [ 8.82107246e-01 4.69812060e-01 -3.41091606e-02 1.98970411e+02] [ 3.91302115e-02 -9.23817531e-04 9.99233693e-01 1.78355726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.810385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.89, Y:199.00, Z:17.84 [[ 4.70762023e-01 -8.82051517e-01 -1.91895531e-02 2.81885850e+02] [ 8.81391978e-01 4.71152197e-01 -3.41143346e-02 1.98995272e+02] [ 3.91318007e-02 -8.53784991e-04 9.99233693e-01 1.78360440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.840385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.90, Y:199.02, Z:17.84 [[ 4.72677879e-01 -8.81027786e-01 -1.91223064e-02 2.81900396e+02] [ 8.80365873e-01 4.73064014e-01 -3.41521429e-02 1.99019108e+02] [ 3.91350619e-02 -6.91663493e-04 9.99233691e-01 1.78378984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.87038572299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.91, Y:199.04, Z:17.84 [[ 4.73814159e-01 -8.80415964e-01 -1.91800365e-02 2.81914232e+02] [ 8.79754861e-01 4.74201677e-01 -3.41196907e-02 1.99043636e+02] [ 3.91347258e-02 -7.07337764e-04 9.99233693e-01 1.78391526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.900385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.93, Y:199.07, Z:17.84 [[ 4.74140507e-01 -8.80240459e-01 -1.91706721e-02 2.81927568e+02] [ 8.79579001e-01 4.74527417e-01 -3.41249514e-02 1.99067475e+02] [ 3.91351724e-02 -6.82098858e-04 9.99233693e-01 1.78400453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.930385723 meters Centerline goodness : 0.993766 Centerline is valid? [True, True] Translation: X:281.94, Y:199.09, Z:17.84 [[ 4.74110814e-01 -8.80256635e-01 -1.91622520e-02 2.81942037e+02] [ 8.79594999e-01 4.74497421e-01 -3.41296789e-02 1.99092390e+02] [ 3.91353155e-02 -6.73771193e-04 9.99233693e-01 1.78385333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.960385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.95, Y:199.11, Z:17.84 [[ 4.73695978e-01 -8.80476108e-01 -1.93376238e-02 2.81953718e+02] [ 8.79818645e-01 4.74089681e-01 -3.40312405e-02 1.99114131e+02] [ 3.91314621e-02 -8.93140281e-04 9.99233672e-01 1.78406988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.990385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.97, Y:199.14, Z:17.84 [[ 4.72914849e-01 -8.80900131e-01 -1.91443010e-02 2.81968061e+02] [ 8.80238618e-01 4.73301658e-01 -3.41396501e-02 1.99138523e+02] [ 3.91346517e-02 -7.06405603e-04 9.99233696e-01 1.78419596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.020385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.98, Y:199.16, Z:17.84 [[ 4.72538208e-01 -8.81102434e-01 -1.91348389e-02 2.81982895e+02] [ 8.80440872e-01 4.72924933e-01 -3.41449527e-02 1.99162344e+02] [ 3.91345434e-02 -7.12299473e-04 9.99233696e-01 1.78428091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.050385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.00, Y:199.19, Z:17.84 [[ 4.71199468e-01 -8.81819304e-01 -1.91252845e-02 2.81996750e+02] [ 8.81158113e-01 4.71586828e-01 -3.41503035e-02 1.99185058e+02] [ 3.91336291e-02 -7.60794764e-04 9.99233697e-01 1.78431134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.080385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.01, Y:199.21, Z:17.84 [[ 4.70956872e-01 -8.81949002e-01 -1.91201914e-02 2.82010641e+02] [ 8.81287803e-01 4.71344217e-01 -3.41531548e-02 1.99209993e+02] [ 3.91335324e-02 -7.65728538e-04 9.99233697e-01 1.78442297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.110385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.02, Y:199.23, Z:17.85 [[ 4.69849254e-01 -8.82539776e-01 -1.91107877e-02 2.82024760e+02] [ 8.81878850e-01 4.70237065e-01 -3.41584159e-02 1.99234252e+02] [ 3.91327615e-02 -8.04093260e-04 9.99233697e-01 1.78453974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.140385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.04, Y:199.26, Z:17.85 [[ 4.68188725e-01 -8.83422014e-01 -1.91013702e-02 2.82043493e+02] [ 8.82761604e-01 4.68577415e-01 -3.41636814e-02 1.99258743e+02] [ 3.91314189e-02 -8.66905748e-04 9.99233697e-01 1.78469741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.170385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.05, Y:199.28, Z:17.85 [[ 4.65726144e-01 -8.84717406e-01 -1.93460780e-02 2.82054167e+02] [ 8.84063708e-01 4.66126093e-01 -3.40268429e-02 1.99280745e+02] [ 3.91218519e-02 -1.25597512e-03 9.99233658e-01 1.78492860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.200385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.07, Y:199.31, Z:17.85 [[ 4.64681597e-01 -8.85275056e-01 -1.89496354e-02 2.82073504e+02] [ 8.84612745e-01 4.65067044e-01 -3.42481480e-02 1.99307160e+02] [ 3.91318820e-02 -8.48604902e-04 9.99233694e-01 1.78478203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.230385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.09, Y:199.33, Z:17.85 [[ 4.62244711e-01 -8.86541885e-01 -1.93213361e-02 2.82085028e+02] [ 8.85889191e-01 4.62646278e-01 -3.40406030e-02 1.99329563e+02] [ 3.91173646e-02 -1.38147416e-03 9.99233668e-01 1.78491650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.260385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.10, Y:199.35, Z:17.85 [[ 4.62116989e-01 -8.86613937e-01 -1.90687188e-02 2.82103764e+02] [ 8.85955474e-01 4.62508942e-01 -3.41815316e-02 1.99352461e+02] [ 3.91252752e-02 -1.09816934e-03 9.99233710e-01 1.78508451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.290385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.12, Y:199.38, Z:17.85 [[ 4.60823856e-01 -8.87285141e-01 -1.91429175e-02 2.82119363e+02] [ 8.86628959e-01 4.61219622e-01 -3.41401489e-02 1.99377299e+02] [ 3.91211360e-02 -1.24006991e-03 9.99233706e-01 1.78521294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.320385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.14, Y:199.40, Z:17.85 [[ 4.59113940e-01 -8.88168041e-01 -1.92852761e-02 2.82135065e+02] [ 8.87515925e-01 4.59516427e-01 -3.40607697e-02 1.99400940e+02] [ 3.91135883e-02 -1.47821545e-03 9.99233677e-01 1.78533544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.350385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.15, Y:199.43, Z:17.85 [[ 4.58133979e-01 -8.88674659e-01 -1.92511898e-02 2.82150849e+02] [ 8.88022194e-01 4.58535881e-01 -3.40797485e-02 1.99426219e+02] [ 3.91131701e-02 -1.48239303e-03 9.99233688e-01 1.78547129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.380385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.16, Y:199.45, Z:17.86 [[ 4.56401251e-01 -8.89562888e-01 -1.93846890e-02 2.82160257e+02] [ 8.88914333e-01 4.56809523e-01 -3.40054186e-02 1.99447643e+02] [ 3.91050689e-02 -1.71121227e-03 9.99233639e-01 1.78567707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.410385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.18, Y:199.47, Z:17.86 [[ 4.58985965e-01 -8.88241441e-01 -1.89480158e-02 2.82181968e+02] [ 8.87581615e-01 4.59375594e-01 -3.42482088e-02 1.99474290e+02] [ 3.91249343e-02 -1.09846336e-03 9.99233723e-01 1.78592955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.440385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.19, Y:199.49, Z:17.86 [[ 4.57954659e-01 -8.88762923e-01 -1.94421405e-02 2.82190421e+02] [ 8.88115008e-01 4.58363990e-01 -3.39732963e-02 1.99494812e+02] [ 3.91057832e-02 -1.70862742e-03 9.99233615e-01 1.78613765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.470385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.21, Y:199.52, Z:17.86 [[ 4.59353115e-01 -8.88053911e-01 -1.88405599e-02 2.82205767e+02] [ 8.87391509e-01 4.59738328e-01 -3.43071406e-02 1.99520704e+02] [ 3.91283179e-02 -9.59860924e-04 9.99233733e-01 1.78639134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.500385723 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:282.22, Y:199.54, Z:17.86 [[ 4.60115904e-01 -8.87656803e-01 -1.89408171e-02 2.82220161e+02] [ 8.86996345e-01 4.60504415e-01 -3.42515229e-02 1.99544255e+02] [ 3.91259272e-02 -1.04076509e-03 9.99233746e-01 1.78636653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.530385723 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:282.24, Y:199.57, Z:17.87 [[ 4.61143558e-01 -8.87122534e-01 -1.89796907e-02 2.82235085e+02] [ 8.86462510e-01 4.61532803e-01 -3.42299685e-02 1.99568117e+02] [ 3.91259262e-02 -1.03985483e-03 9.99233747e-01 1.78656744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.560385723 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:282.25, Y:199.59, Z:17.87 [[ 4.62043579e-01 -8.86655519e-01 -1.89135357e-02 2.82254428e+02] [ 8.85993601e-01 4.62429601e-01 -3.42666479e-02 1.99593844e+02] [ 3.91288913e-02 -9.24586948e-04 9.99233744e-01 1.78701059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.590385723 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:282.27, Y:199.62, Z:17.87 [[ 4.61601262e-01 -8.86879415e-01 -1.92139941e-02 2.82268982e+02] [ 8.86224542e-01 4.61999183e-01 -3.41000717e-02 1.99617574e+02] [ 3.91195013e-02 -1.28727702e-03 9.99233710e-01 1.78709920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.62038572299997 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:282.28, Y:199.64, Z:17.87 [[ 4.57931646e-01 -8.88779155e-01 -1.92411240e-02 2.82279455e+02] [ 8.88126560e-01 4.58333310e-01 -3.40850390e-02 1.99639757e+02] [ 3.91129202e-02 -1.47993528e-03 9.99233701e-01 1.78720973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.650385723 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:282.29, Y:199.66, Z:17.87 [[ 4.57272571e-01 -8.89124589e-01 -1.89541762e-02 2.82293183e+02] [ 8.88465694e-01 4.57663707e-01 -3.42438686e-02 1.99663026e+02] [ 3.91217042e-02 -1.18135348e-03 9.99233755e-01 1.78728623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.680385723 meters Centerline goodness : 0.999699 Centerline is valid? [True, True] Translation: X:282.32, Y:199.69, Z:17.87 [[ 4.62470326e-01 -8.86432321e-01 -1.89456842e-02 2.82318453e+02] [ 8.85770954e-01 4.62857270e-01 -3.42485662e-02 1.99690366e+02] [ 3.91281837e-02 -9.42591228e-04 9.99233755e-01 1.78733656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.710385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.33, Y:199.71, Z:17.88 [[ 4.60728260e-01 -8.87322085e-01 -1.97227522e-02 2.82328977e+02] [ 8.86679447e-01 4.61146269e-01 -3.38182959e-02 1.99714559e+02] [ 3.91027944e-02 -1.90671441e-03 9.99233374e-01 1.78770644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.740385723 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:282.33, Y:199.74, Z:17.88 [[ 4.58664255e-01 -8.88396274e-01 -1.94720724e-02 2.82332630e+02] [ 8.87748735e-01 4.59074210e-01 -3.39566220e-02 1.99736563e+02] [ 3.91060627e-02 -1.71161888e-03 9.99233599e-01 1.78774440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.770385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.35, Y:199.76, Z:17.88 [[ 4.59540496e-01 -8.87956084e-01 -1.88818735e-02 2.82345368e+02] [ 8.87294637e-01 4.59927160e-01 -3.42817053e-02 1.99761593e+02] [ 3.91249352e-02 -9.99953197e-04 9.99233826e-01 1.78775255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.800385723 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:282.36, Y:199.79, Z:17.88 [[ 4.63411521e-01 -8.85942203e-01 -1.88725907e-02 2.82363859e+02] [ 8.85278867e-01 4.63794935e-01 -3.42868149e-02 1.99788980e+02] [ 3.91291483e-02 -8.18600684e-04 9.99233826e-01 1.78766110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.830385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.37, Y:199.81, Z:17.88 [[ 4.61159150e-01 -8.87108825e-01 -1.92398146e-02 2.82371168e+02] [ 8.86454791e-01 4.61558388e-01 -3.40845676e-02 1.99811571e+02] [ 3.91170186e-02 -1.33681563e-03 9.99233742e-01 1.78782925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.860385723 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:282.38, Y:199.84, Z:17.88 [[ 4.61201015e-01 -8.87095206e-01 -1.88604895e-02 2.82384641e+02] [ 8.86432568e-01 4.61585615e-01 -3.42931922e-02 1.99835084e+02] [ 3.91270570e-02 -9.02497093e-04 9.99233836e-01 1.78792423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.890385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.40, Y:199.86, Z:17.88 [[ 4.61153655e-01 -8.87120001e-01 -1.88523079e-02 2.82398817e+02] [ 8.86457200e-01 4.61537974e-01 -3.42976893e-02 1.99859110e+02] [ 3.91272222e-02 -8.95259312e-04 9.99233836e-01 1.78806534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.920385723 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:282.41, Y:199.88, Z:17.88 [[ 4.61270982e-01 -8.87059192e-01 -1.88433227e-02 2.82411515e+02] [ 8.86396138e-01 4.61654867e-01 -3.43026252e-02 1.99883447e+02] [ 3.91275706e-02 -8.79842850e-04 9.99233836e-01 1.78817132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.950385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.42, Y:199.91, Z:17.88 [[ 4.61811624e-01 -8.86777979e-01 -1.88372074e-02 2.82424463e+02] [ 8.86114555e-01 4.62194867e-01 -3.43059830e-02 1.99908397e+02] [ 3.91282509e-02 -8.49021919e-04 9.99233836e-01 1.78834911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.980385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:282.44, Y:199.93, Z:17.88 [[ 4.62377998e-01 -8.86482992e-01 -1.88279636e-02 2.82436908e+02] [ 8.85819117e-01 4.62760460e-01 -3.43110555e-02 1.99933203e+02] [ 3.91290042e-02 -8.13492971e-04 9.99233836e-01 1.78845005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.010385723 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:282.45, Y:199.96, Z:17.89 [[ 4.63391291e-01 -8.85953931e-01 -1.88187163e-02 2.82450025e+02] [ 8.85289413e-01 4.63772636e-01 -3.43161266e-02 1.99958584e+02] [ 3.91301129e-02 -7.58216096e-04 9.99233836e-01 1.78860557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.040385723 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:282.46, Y:199.98, Z:17.89 [[ 4.63534404e-01 -8.85879237e-01 -1.88104698e-02 2.82463729e+02] [ 8.85214475e-01 4.63915323e-01 -3.43206461e-02 1.99982945e+02] [ 3.91304130e-02 -7.42499838e-04 9.99233836e-01 1.78867836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.070385723 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:282.48, Y:200.01, Z:17.89 [[ 4.64008478e-01 -8.85631137e-01 -1.88048054e-02 2.82477644e+02] [ 8.84966046e-01 4.64388821e-01 -3.43237495e-02 2.00006492e+02] [ 3.91309227e-02 -7.15103488e-04 9.99233836e-01 1.78883849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.100385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.49, Y:200.03, Z:17.89 [[ 4.64365820e-01 -8.85443997e-01 -1.87966057e-02 2.82490820e+02] [ 8.84778571e-01 4.64745577e-01 -3.43282392e-02 2.00031014e+02] [ 3.91313727e-02 -6.89972940e-04 9.99233836e-01 1.78903279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.130385723 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:282.50, Y:200.05, Z:17.89 [[ 4.64880250e-01 -8.85174221e-01 -1.87870256e-02 2.82503098e+02] [ 8.84508363e-01 4.65259248e-01 -3.43334814e-02 2.00054979e+02] [ 3.91319500e-02 -6.56323895e-04 9.99233836e-01 1.78892899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.160385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.51, Y:200.08, Z:17.89 [[ 4.65942954e-01 -8.84615472e-01 -1.87784536e-02 2.82514608e+02] [ 8.83948971e-01 4.66320820e-01 -3.43381692e-02 2.00079074e+02] [ 3.91328596e-02 -5.99566696e-04 9.99233836e-01 1.78889655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.190385723 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:282.53, Y:200.10, Z:17.89 [[ 4.65976805e-01 -8.84597841e-01 -1.87690478e-02 2.82527943e+02] [ 8.83931119e-01 4.66354280e-01 -3.43433095e-02 2.00104483e+02] [ 3.91330433e-02 -5.87359816e-04 9.99233836e-01 1.78910599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.220385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.54, Y:200.13, Z:17.89 [[ 4.66263193e-01 -8.84447100e-01 -1.87606242e-02 2.82541219e+02] [ 8.83780071e-01 4.66640126e-01 -3.43479105e-02 2.00129545e+02] [ 3.91333699e-02 -5.65099366e-04 9.99233837e-01 1.78903951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.250385723 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:282.55, Y:200.15, Z:17.89 [[ 4.65112718e-01 -8.85052753e-01 -1.87558947e-02 2.82554429e+02] [ 8.84386110e-01 4.65490335e-01 -3.43504929e-02 2.00154581e+02] [ 3.91326860e-02 -6.10601616e-04 9.99233837e-01 1.78935011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.280385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.57, Y:200.18, Z:17.89 [[ 4.63798136e-01 -8.85742548e-01 -1.87463969e-02 2.82567787e+02] [ 8.85076258e-01 4.64176373e-01 -3.43556754e-02 2.00178872e+02] [ 3.91319180e-02 -6.57892661e-04 9.99233837e-01 1.78945399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.310385723 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:282.58, Y:200.20, Z:17.90 [[ 4.63966479e-01 -8.85654581e-01 -1.87368347e-02 2.82584915e+02] [ 8.84988009e-01 4.64344219e-01 -3.43608896e-02 2.00204403e+02] [ 3.91322202e-02 -6.39573095e-04 9.99233837e-01 1.78967234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.340385723 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:282.60, Y:200.23, Z:17.90 [[ 4.63196585e-01 -8.86053345e-01 -1.89313013e-02 2.82602846e+02] [ 8.85391403e-01 4.63582430e-01 -3.42548349e-02 2.00230554e+02] [ 3.91278297e-02 -8.94888883e-04 9.99233813e-01 1.78967456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.37038572299997 meters Centerline goodness : 0.999680 Centerline is valid? [True, True] Translation: X:282.61, Y:200.25, Z:17.90 [[ 4.58973389e-01 -8.88242259e-01 -1.92124180e-02 2.82610792e+02] [ 8.87588505e-01 4.59373189e-01 -3.41016027e-02 2.00252754e+02] [ 3.91161543e-02 -1.40099322e-03 9.99233688e-01 1.78977270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.400385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.63, Y:200.28, Z:17.90 [[ 4.61732316e-01 -8.86819053e-01 -1.88476732e-02 2.82631771e+02] [ 8.86155901e-01 4.62116024e-01 -3.43001557e-02 2.00280282e+02] [ 3.91278434e-02 -8.64486472e-04 9.99233839e-01 1.78957327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.430385723 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:282.64, Y:200.31, Z:17.90 [[ 4.57531965e-01 -8.88981567e-01 -1.93977825e-02 2.82643616e+02] [ 8.88332711e-01 4.57939915e-01 -3.40004140e-02 2.00305208e+02] [ 3.91087602e-02 -1.67540847e-03 9.99233555e-01 1.78993991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.460385723 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:282.66, Y:200.33, Z:17.90 [[ 4.58945948e-01 -8.88255878e-01 -1.92382780e-02 2.82661631e+02] [ 8.87602735e-01 4.59346759e-01 -3.40872338e-02 2.00329705e+02] [ 3.91152265e-02 -1.43175028e-03 9.99233681e-01 1.78966878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.490385723 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:282.68, Y:200.36, Z:17.90 [[ 4.55892375e-01 -8.89821642e-01 -1.94830146e-02 2.82676293e+02] [ 8.89175506e-01 4.56304771e-01 -3.39540184e-02 2.00355051e+02] [ 3.91032130e-02 -1.84444129e-03 9.99233475e-01 1.79010558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.520385723 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:282.69, Y:200.38, Z:17.90 [[ 4.53821839e-01 -8.90879697e-01 -1.94706073e-02 2.82689039e+02] [ 8.90234234e-01 4.54235263e-01 -3.39607611e-02 2.00381653e+02] [ 3.90991890e-02 -1.92126613e-03 9.99233487e-01 1.79046812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.550385723 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:282.70, Y:200.41, Z:17.90 [[ 4.53501148e-01 -8.91043725e-01 -1.94367958e-02 2.82702366e+02] [ 8.90397630e-01 4.53913518e-01 -3.39790882e-02 2.00405952e+02] [ 3.90994777e-02 -1.89692144e-03 9.99233523e-01 1.79048510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.580385723 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:282.70, Y:200.43, Z:17.91 [[ 4.46805084e-01 -8.94419940e-01 -1.94470373e-02 2.82703099e+02] [ 8.93777196e-01 4.47222677e-01 -3.39735384e-02 2.00426681e+02] [ 3.90837663e-02 -2.20176879e-03 9.99233512e-01 1.79070083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.610385723 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:282.73, Y:200.46, Z:17.91 [[ 4.52222209e-01 -8.91711191e-01 -1.86071387e-02 2.82728501e+02] [ 8.91046922e-01 4.52603722e-01 -3.44275013e-02 2.00455440e+02] [ 3.91210484e-02 -1.01095296e-03 9.99233967e-01 1.79100321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.640385723 meters Centerline goodness : 0.999742 Centerline is valid? [True, True] Translation: X:282.74, Y:200.48, Z:17.91 [[ 4.51038130e-01 -8.92293898e-01 -1.93960232e-02 2.82744063e+02] [ 8.91648047e-01 4.51450731e-01 -3.39999846e-02 2.00479999e+02] [ 3.90943276e-02 -1.95913675e-03 9.99233604e-01 1.79103691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.670385723 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:282.75, Y:200.50, Z:17.91 [[ 4.44468308e-01 -8.95583919e-01 -1.94259534e-02 2.82745368e+02] [ 8.94941819e-01 4.44886777e-01 -3.39837723e-02 2.00500560e+02] [ 3.90776698e-02 -2.28038826e-03 9.99233574e-01 1.79109467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.700385723 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:282.76, Y:200.53, Z:17.91 [[ 4.43027980e-01 -8.96314779e-01 -1.86017636e-02 2.82757886e+02] [ 8.95654399e-01 4.43416097e-01 -3.44290950e-02 2.00525647e+02] [ 3.91076281e-02 -1.40769896e-03 9.99234013e-01 1.79119557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.730385723 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:282.77, Y:200.55, Z:17.91 [[ 4.41487386e-01 -8.97074807e-01 -1.85924628e-02 2.82770375e+02] [ 8.96414884e-01 4.41876280e-01 -3.44341169e-02 2.00549286e+02] [ 3.91055470e-02 -1.46433210e-03 9.99234013e-01 1.79121273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.760385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.78, Y:200.57, Z:17.91 [[ 4.40711969e-01 -8.97456174e-01 -1.85842830e-02 2.82783686e+02] [ 8.96796403e-01 4.41101120e-01 -3.44385310e-02 2.00574239e+02] [ 3.91046203e-02 -1.48884534e-03 9.99234013e-01 1.79131772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.790385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.81, Y:200.60, Z:17.91 [[ 4.44454296e-01 -8.95608924e-01 -1.85751075e-02 2.82808439e+02] [ 8.94947328e-01 4.44840338e-01 -3.44434793e-02 2.00601978e+02] [ 3.91108445e-02 -1.31519052e-03 9.99234013e-01 1.79149890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.820385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.82, Y:200.62, Z:17.91 [[ 4.44016841e-01 -8.95810653e-01 -1.92955540e-02 2.82819634e+02] [ 8.95165717e-01 4.44430694e-01 -3.40543382e-02 2.00622745e+02] [ 3.90817754e-02 -2.15201870e-03 9.99233698e-01 1.79139761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.850385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.83, Y:200.65, Z:17.92 [[ 4.37779249e-01 -8.98882249e-01 -1.89745242e-02 2.82825205e+02] [ 8.98232718e-01 4.38185419e-01 -3.42275071e-02 2.00646986e+02] [ 3.90808584e-02 -2.05944606e-03 9.99233929e-01 1.79158766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.880385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.85, Y:200.67, Z:17.92 [[ 4.40313398e-01 -8.97652359e-01 -1.85567774e-02 2.82846220e+02] [ 8.96992173e-01 4.40701788e-01 -3.44525184e-02 2.00674005e+02] [ 3.91043894e-02 -1.47537863e-03 9.99234042e-01 1.79173693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.910385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.86, Y:200.70, Z:17.92 [[ 4.39422606e-01 -8.98078422e-01 -1.90504882e-02 2.82858869e+02] [ 8.97429910e-01 4.39830474e-01 -3.41864257e-02 2.00698579e+02] [ 3.90810765e-02 -2.07418964e-03 9.99233890e-01 1.79204184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.940385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:282.88, Y:200.72, Z:17.92 [[ 4.42652185e-01 -8.96493186e-01 -1.89475521e-02 2.82877463e+02] [ 8.95840849e-01 4.43053796e-01 -3.42418795e-02 2.00724761e+02] [ 3.90923966e-02 -1.81674838e-03 9.99233949e-01 1.79165828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.970385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.89, Y:200.75, Z:17.92 [[ 4.43213489e-01 -8.96208612e-01 -1.92854007e-02 2.82892176e+02] [ 8.95563806e-01 4.43627536e-01 -3.40599353e-02 2.00750705e+02] [ 3.90803421e-02 -2.17548404e-03 9.99233703e-01 1.79171816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.000385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:282.90, Y:200.77, Z:17.92 [[ 4.40355296e-01 -8.97613862e-01 -1.94053735e-02 2.82895932e+02] [ 8.96973183e-01 4.40775931e-01 -3.39954028e-02 2.00770888e+02] [ 3.90681664e-02 -2.43604399e-03 9.99233578e-01 1.79209856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.030385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:282.91, Y:200.80, Z:17.92 [[ 4.40051709e-01 -8.97779030e-01 -1.86361621e-02 2.82908961e+02] [ 8.97120816e-01 4.40443327e-01 -3.44080952e-02 2.00796333e+02] [ 3.90990396e-02 -1.57754785e-03 9.99234095e-01 1.79218142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.060385723 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:282.93, Y:200.83, Z:17.92 [[ 4.44515267e-01 -8.95577958e-01 -1.86091013e-02 2.82931076e+02] [ 8.94917198e-01 4.44902566e-01 -3.44225944e-02 2.00825537e+02] [ 3.91073537e-02 -1.35223602e-03 9.99234100e-01 1.79209365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.090385723 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:282.95, Y:200.85, Z:17.92 [[ 4.46162463e-01 -8.94743643e-01 -1.93098584e-02 2.82948345e+02] [ 8.94098083e-01 4.46575311e-01 -3.40456945e-02 2.00851690e+02] [ 3.90854748e-02 -2.07499649e-03 9.99233716e-01 1.79197578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.12038572299997 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:282.95, Y:200.87, Z:17.93 [[ 4.39982086e-01 -8.97793162e-01 -1.95755430e-02 2.82946126e+02] [ 8.97156711e-01 4.40409399e-01 -3.39027647e-02 2.00870040e+02] [ 3.90589234e-02 -2.64572061e-03 9.99233407e-01 1.79275924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.150385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.96, Y:200.89, Z:17.93 [[ 4.39388754e-01 -8.98106728e-01 -1.84885872e-02 2.82957695e+02] [ 8.97445550e-01 4.39775206e-01 -3.44855434e-02 2.00894842e+02] [ 3.91025208e-02 -1.43994041e-03 9.99234166e-01 1.79272842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.180385723 meters Centerline goodness : 0.993925 Centerline is valid? [True, True] Translation: X:282.97, Y:200.92, Z:17.92 [[ 4.39619946e-01 -8.97993821e-01 -1.84770299e-02 2.82973642e+02] [ 8.97332285e-01 4.40005784e-01 -3.44917354e-02 2.00921875e+02] [ 3.91033653e-02 -1.41678062e-03 9.99234167e-01 1.79235943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.210385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:282.98, Y:200.94, Z:17.93 [[ 4.37679459e-01 -8.98933849e-01 -1.88315122e-02 2.82980358e+02] [ 8.98281177e-01 4.38080259e-01 -3.43018068e-02 2.00944483e+02] [ 3.90847690e-02 -1.90279674e-03 9.99234087e-01 1.79291060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.240385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.99, Y:200.97, Z:17.93 [[ 4.36785282e-01 -8.99376332e-01 -1.84615996e-02 2.82991680e+02] [ 8.98715684e-01 4.37172614e-01 -3.44996307e-02 2.00969724e+02] [ 3.90990571e-02 -1.52279823e-03 9.99234179e-01 1.79291644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.270385723 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:283.00, Y:201.00, Z:17.93 [[ 4.35126564e-01 -9.00179146e-01 -1.85034807e-02 2.83002827e+02] [ 8.99520156e-01 4.35516714e-01 -3.44772525e-02 2.00995819e+02] [ 3.90942789e-02 -1.64228543e-03 9.99234177e-01 1.79330791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.300385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.01, Y:201.02, Z:17.93 [[ 4.33926667e-01 -9.00758773e-01 -1.84737747e-02 2.83014931e+02] [ 9.00099634e-01 4.34316560e-01 -3.44931108e-02 2.01020608e+02] [ 3.90934385e-02 -1.66075728e-03 9.99234179e-01 1.79330254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.330385723 meters Centerline goodness : 0.994006 Centerline is valid? [True, True] Translation: X:283.03, Y:201.05, Z:17.93 [[ 4.33154048e-01 -9.01129790e-01 -1.85114186e-02 2.83027249e+02] [ 9.00471836e-01 4.33545943e-01 -3.44730074e-02 2.01046341e+02] [ 3.90902044e-02 -1.73688841e-03 9.99234176e-01 1.79307549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.360385723 meters Centerline goodness : 0.998451 Centerline is valid? [True, True] Translation: X:283.04, Y:201.08, Z:17.93 [[ 4.34621415e-01 -9.00423116e-01 -1.85050777e-02 2.83040632e+02] [ 8.99764381e-01 4.35011996e-01 -3.44763892e-02 2.01075184e+02] [ 3.90932686e-02 -1.66603271e-03 9.99234177e-01 1.79290305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.390385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.05, Y:201.10, Z:17.93 [[ 4.31871135e-01 -9.01738433e-01 -1.88446493e-02 2.83046494e+02] [ 9.01088615e-01 4.32276639e-01 -3.42959885e-02 2.01097851e+02] [ 3.90721125e-02 -2.16925145e-03 9.99234039e-01 1.79329484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.420385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.07, Y:201.13, Z:17.93 [[ 4.37696657e-01 -8.98935876e-01 -1.83283035e-02 2.83065149e+02] [ 8.98271907e-01 4.38078205e-01 -3.45697539e-02 2.01126587e+02] [ 3.91052223e-02 -1.33273448e-03 9.99234209e-01 1.79324108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.450385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.07, Y:201.15, Z:17.93 [[ 4.37755222e-01 -8.98897082e-01 -1.88255672e-02 2.83074668e+02] [ 8.98244203e-01 4.38155743e-01 -3.43059194e-02 2.01151443e+02] [ 3.90860212e-02 -1.89236127e-03 9.99234058e-01 1.79327359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.480385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.08, Y:201.18, Z:17.94 [[ 4.36370777e-01 -8.99573245e-01 -1.86687251e-02 2.83080713e+02] [ 8.98917440e-01 4.36766327e-01 -3.43891137e-02 2.01175394e+02] [ 3.90893971e-02 -1.77523834e-03 9.99234141e-01 1.79351564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.510385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.09, Y:201.20, Z:17.94 [[ 4.40430993e-01 -8.97599659e-01 -1.83137289e-02 2.83092180e+02] [ 8.96934224e-01 4.40809957e-01 -3.45771404e-02 2.01200896e+02] [ 3.91093035e-02 -1.19736591e-03 9.99234221e-01 1.79370990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.540385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.10, Y:201.23, Z:17.94 [[ 4.41919409e-01 -8.96867985e-01 -1.83044479e-02 2.83104195e+02] [ 8.96201720e-01 4.42296912e-01 -3.45820529e-02 2.01225824e+02] [ 3.91115369e-02 -1.12199732e-03 9.99234221e-01 1.79394078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.570385723 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:283.12, Y:201.25, Z:17.94 [[ 4.44610109e-01 -8.95537352e-01 -1.82948942e-02 2.83115256e+02] [ 8.94869749e-01 4.44985240e-01 -3.45871064e-02 2.01252596e+02] [ 3.91150035e-02 -9.93770256e-04 9.99234221e-01 1.79411840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.600385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.13, Y:201.28, Z:17.94 [[ 4.46122080e-01 -8.94784324e-01 -1.83331276e-02 2.83126442e+02] [ 8.94116916e-01 4.46497560e-01 -3.45668920e-02 2.01276730e+02] [ 3.91156098e-02 -9.70905692e-04 9.99234220e-01 1.79425472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.630385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.14, Y:201.30, Z:17.94 [[ 4.49668710e-01 -8.93008322e-01 -1.82808074e-02 2.83140881e+02] [ 8.92338307e-01 4.50039514e-01 -3.45945397e-02 2.01304389e+02] [ 3.91202975e-02 -7.56582695e-04 9.99234222e-01 1.79427009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.660385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.15, Y:201.33, Z:17.94 [[ 4.49813523e-01 -8.92931722e-01 -1.84590070e-02 2.83152814e+02] [ 8.92265482e-01 4.50191110e-01 -3.45003661e-02 2.01329811e+02] [ 3.91165521e-02 -9.51603581e-04 9.99234202e-01 1.79441554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.690385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.16, Y:201.35, Z:17.94 [[ 4.45254971e-01 -8.95214449e-01 -1.84146917e-02 2.83157196e+02] [ 8.94549177e-01 4.45634243e-01 -3.45237713e-02 2.01352098e+02] [ 3.91123961e-02 -1.10096650e-03 9.99234211e-01 1.79400832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.720385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.18, Y:201.38, Z:17.95 [[ 4.51231539e-01 -8.92227915e-01 -1.78730584e-02 2.83179960e+02] [ 8.91548628e-01 4.51585314e-01 -3.48101731e-02 2.01380482e+02] [ 3.91298189e-02 -2.27252666e-04 9.99234110e-01 1.79475311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.750385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.19, Y:201.40, Z:17.95 [[ 4.49066490e-01 -8.93305654e-01 -1.85552094e-02 2.83188836e+02] [ 8.92641846e-01 4.49448343e-01 -3.44488213e-02 2.01403907e+02] [ 3.91129350e-02 -1.09334508e-03 9.99234198e-01 1.79483950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.780385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.20, Y:201.43, Z:17.95 [[ 4.48066250e-01 -8.93812758e-01 -1.83136130e-02 2.83200121e+02] [ 8.93144135e-01 4.48439524e-01 -3.45766978e-02 2.01429092e+02] [ 3.91176415e-02 -8.64044723e-04 9.99234239e-01 1.79513173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.810385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.21, Y:201.45, Z:17.95 [[ 4.47714692e-01 -8.93989374e-01 -1.82908387e-02 2.83212631e+02] [ 8.93320406e-01 4.48087348e-01 -3.45887451e-02 2.01453766e+02] [ 3.91178640e-02 -8.53690089e-04 9.99234239e-01 1.79513447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.840385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.23, Y:201.48, Z:17.95 [[ 4.48693280e-01 -8.93498592e-01 -1.82922649e-02 2.83229186e+02] [ 8.92829247e-01 4.49065259e-01 -3.45879908e-02 2.01480612e+02] [ 3.91187418e-02 -8.12470054e-04 9.99234239e-01 1.79515509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.87038572299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.24, Y:201.51, Z:17.95 [[ 4.49195425e-01 -8.93241462e-01 -1.85245981e-02 2.83241944e+02] [ 8.92576928e-01 4.49576002e-01 -3.44651382e-02 2.01505105e+02] [ 3.91139052e-02 -1.05304643e-03 9.99234204e-01 1.79504930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.900385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.25, Y:201.53, Z:17.95 [[ 4.48055475e-01 -8.93815988e-01 -1.84193224e-02 2.83253382e+02] [ 8.93149656e-01 4.48432840e-01 -3.45207151e-02 2.01530239e+02] [ 3.91149961e-02 -9.84016043e-04 9.99234231e-01 1.79515982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.930385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.27, Y:201.55, Z:17.95 [[ 4.48215062e-01 -8.93738376e-01 -1.83022943e-02 2.83265978e+02] [ 8.93069456e-01 4.48587786e-01 -3.45824413e-02 2.01554479e+02] [ 3.91178406e-02 -8.44848948e-04 9.99234247e-01 1.79535959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.960385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.28, Y:201.58, Z:17.95 [[ 4.48910743e-01 -8.93389221e-01 -1.82987597e-02 2.83281058e+02] [ 8.92719935e-01 4.49282809e-01 -3.45843044e-02 2.01580720e+02] [ 3.91185629e-02 -8.10401847e-04 9.99234247e-01 1.79521202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.990385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.29, Y:201.60, Z:17.96 [[ 4.47770160e-01 -8.93959713e-01 -1.83824676e-02 2.83293253e+02] [ 8.93292704e-01 4.48146315e-01 -3.45402015e-02 2.01604865e+02] [ 3.91155837e-02 -9.54852629e-04 9.99234236e-01 1.79557607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.020385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.31, Y:201.63, Z:17.96 [[ 4.46621754e-01 -8.94535678e-01 -1.83010880e-02 2.83308066e+02] [ 8.93867398e-01 4.46995623e-01 -3.45830470e-02 2.01629984e+02] [ 3.91162756e-02 -9.13204785e-04 9.99234248e-01 1.79561958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.050385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.32, Y:201.65, Z:17.96 [[ 4.45317331e-01 -8.95186072e-01 -1.82858256e-02 2.83321674e+02] [ 8.94518009e-01 4.45691585e-01 -3.45910778e-02 2.01653859e+02] [ 3.91152897e-02 -9.52993871e-04 9.99234250e-01 1.79598117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.080385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.34, Y:201.68, Z:17.96 [[ 4.44834563e-01 -8.95425869e-01 -1.82954682e-02 2.83337155e+02] [ 8.94758216e-01 4.45209549e-01 -3.45860077e-02 2.01678477e+02] [ 3.91145232e-02 -9.84968831e-04 9.99234249e-01 1.79607109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.110385723 meters Centerline goodness : 0.994824 Centerline is valid? [True, True] Translation: X:283.35, Y:201.70, Z:17.96 [[ 4.46690628e-01 -8.94501520e-01 -1.82896966e-02 2.83350571e+02] [ 8.93832967e-01 4.47064006e-01 -3.45890444e-02 2.01702245e+02] [ 3.91166178e-02 -8.97331815e-04 9.99234249e-01 1.79616922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.140385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.36, Y:201.73, Z:17.96 [[ 4.42702460e-01 -8.96483757e-01 -1.82045561e-02 2.83359496e+02] [ 8.95815036e-01 4.43075526e-01 -3.46337970e-02 2.01727021e+02] [ 3.91146297e-02 -9.75447968e-04 9.99234254e-01 1.79587851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.170385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.38, Y:201.75, Z:17.96 [[ 4.47449249e-01 -8.94127661e-01 -1.80248412e-02 2.83378178e+02] [ 8.93453145e-01 4.47811797e-01 -3.47285511e-02 2.01752991e+02] [ 3.91234947e-02 -5.65086971e-04 9.99234223e-01 1.79622851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.200385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.39, Y:201.78, Z:17.96 [[ 4.49031648e-01 -8.93327216e-01 -1.83593329e-02 2.83392670e+02] [ 8.92659190e-01 4.49405966e-01 -3.45521011e-02 2.01778878e+02] [ 3.91171260e-02 -8.73640361e-04 9.99234250e-01 1.79633468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.230385723 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:283.41, Y:201.80, Z:17.96 [[ 4.50878515e-01 -8.92392798e-01 -1.85380575e-02 2.83406502e+02] [ 8.91727839e-01 4.51258358e-01 -3.44580250e-02 2.01803348e+02] [ 3.91155467e-02 -9.94518808e-04 9.99234199e-01 1.79637560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.260385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.42, Y:201.83, Z:17.96 [[ 4.53089387e-01 -8.91274425e-01 -1.84365604e-02 2.83420291e+02] [ 8.90606353e-01 4.53463655e-01 -3.45114124e-02 2.01828639e+02] [ 3.91194493e-02 -7.82963113e-04 9.99234235e-01 1.79635912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.290385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.43, Y:201.85, Z:17.97 [[ 4.54345591e-01 -8.90632246e-01 -1.85549401e-02 2.83433220e+02] [ 8.89966177e-01 4.54723499e-01 -3.44491416e-02 2.01853507e+02] [ 3.91188836e-02 -8.61453482e-04 9.99234192e-01 1.79663995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.320385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.44, Y:201.88, Z:17.97 [[ 4.52249790e-01 -8.91699546e-01 -1.84944959e-02 2.83442143e+02] [ 8.91033070e-01 4.52626927e-01 -3.44809061e-02 2.01878150e+02] [ 3.91177151e-02 -8.85224896e-04 9.99234217e-01 1.79655553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.350385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.45, Y:201.90, Z:17.97 [[ 4.54571916e-01 -8.90520468e-01 -1.83757714e-02 2.83454822e+02] [ 8.89850485e-01 4.54942715e-01 -3.45433235e-02 2.01900758e+02] [ 3.91214600e-02 -6.49264281e-04 9.99234252e-01 1.79657966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.380385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.47, Y:201.93, Z:17.97 [[ 4.57768851e-01 -8.88885069e-01 -1.81937609e-02 2.83474541e+02] [ 8.88209943e-01 4.58130158e-01 -3.46389237e-02 2.01927047e+02] [ 3.91251327e-02 -3.03259063e-04 9.99234273e-01 1.79684967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.410385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.49, Y:201.95, Z:17.97 [[ 4.56382316e-01 -8.89589602e-01 -1.85882065e-02 2.83489707e+02] [ 8.88923379e-01 4.56759985e-01 -3.44316984e-02 2.01951005e+02] [ 3.91204298e-02 -8.09473072e-04 9.99234175e-01 1.79690347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.440385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.50, Y:201.97, Z:17.97 [[ 4.52147490e-01 -8.91749794e-01 -1.85728758e-02 2.83498191e+02] [ 8.91085044e-01 4.52527731e-01 -3.44397476e-02 2.01973383e+02] [ 3.91163792e-02 -9.78166440e-04 9.99234183e-01 1.79690600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.470385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.52, Y:202.00, Z:17.97 [[ 4.50661506e-01 -8.92510080e-01 -1.81649318e-02 2.83518428e+02] [ 8.91837267e-01 4.51027070e-01 -3.46535909e-02 2.01998334e+02] [ 3.91215551e-02 -5.83123677e-04 9.99234289e-01 1.79731708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.500385723 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:283.53, Y:202.02, Z:17.98 [[ 4.49306177e-01 -8.93187061e-01 -1.84616552e-02 2.83534485e+02] [ 8.92521131e-01 4.49684243e-01 -3.44980113e-02 2.02024118e+02] [ 3.91150928e-02 -9.77247853e-04 9.99234234e-01 1.79762415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.530385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.55, Y:202.05, Z:17.98 [[ 4.44096556e-01 -8.95785805e-01 -1.86021765e-02 2.83547818e+02] [ 8.95125148e-01 4.44483895e-01 -3.44243609e-02 2.02046129e+02] [ 3.91052217e-02 -1.36353592e-03 9.99234168e-01 1.79768036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.560385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:283.56, Y:202.07, Z:17.98 [[ 4.41489226e-01 -8.97077362e-01 -1.84247309e-02 2.83562317e+02] [ 8.96413954e-01 4.41871674e-01 -3.45173417e-02 2.02070487e+02] [ 3.91060925e-02 -1.27715145e-03 9.99234248e-01 1.79811404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.590385723 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:283.57, Y:202.10, Z:17.98 [[ 4.35307613e-01 -9.00093682e-01 -1.84023221e-02 2.83572578e+02] [ 8.99432429e-01 4.35693757e-01 -3.45290543e-02 2.02095166e+02] [ 3.90971605e-02 -1.52088500e-03 9.99234256e-01 1.79805763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.62038572299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.58, Y:202.12, Z:17.98 [[ 4.31600070e-01 -9.01882532e-01 -1.81460093e-02 2.83584754e+02] [ 9.01217249e-01 4.31979117e-01 -3.46628584e-02 2.02120113e+02] [ 3.91005236e-02 -1.39300444e-03 9.99234311e-01 1.79793048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.650385723 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:283.60, Y:202.14, Z:17.98 [[ 4.32448464e-01 -9.01476982e-01 -1.80991122e-02 2.83600197e+02] [ 9.00810322e-01 4.32825083e-01 -3.46873284e-02 2.02144840e+02] [ 3.91035778e-02 -1.30338525e-03 9.99234313e-01 1.79834032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.680385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.61, Y:202.17, Z:17.98 [[ 4.31144928e-01 -9.02100446e-01 -1.81338148e-02 2.83612766e+02] [ 9.01435088e-01 4.31523843e-01 -3.46692305e-02 2.02170739e+02] [ 3.91003018e-02 -1.39899404e-03 9.99234311e-01 1.79848184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.710385723 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:283.62, Y:202.19, Z:17.98 [[ 4.29771009e-01 -9.02754424e-01 -1.82024600e-02 2.83622695e+02] [ 9.02091145e-01 4.30153567e-01 -3.46334396e-02 2.02194817e+02] [ 3.90953439e-02 -1.53582967e-03 9.99234305e-01 1.79841457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.740385723 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:283.64, Y:202.22, Z:17.98 [[ 4.30132281e-01 -9.02585407e-01 -1.80500336e-02 2.83635362e+02] [ 9.01918652e-01 4.30508727e-01 -3.47128399e-02 2.02220018e+02] [ 3.91019998e-02 -1.34854895e-03 9.99234314e-01 1.79824496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.770385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.65, Y:202.25, Z:17.98 [[ 4.29890627e-01 -9.02700126e-01 -1.80701806e-02 2.83646952e+02] [ 9.02033909e-01 4.30268025e-01 -3.47023490e-02 2.02245725e+02] [ 3.91008358e-02 -1.38170114e-03 9.99234315e-01 1.79844699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.800385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.66, Y:202.27, Z:17.98 [[ 4.29825476e-01 -9.02733079e-01 -1.79735705e-02 2.83658789e+02] [ 9.02064795e-01 4.30199211e-01 -3.47526279e-02 2.02271091e+02] [ 3.91045626e-02 -1.27576038e-03 9.99234310e-01 1.79837427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.830385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.67, Y:202.29, Z:17.99 [[ 4.30802095e-01 -9.02266417e-01 -1.80240785e-02 2.83668971e+02] [ 9.01598820e-01 4.31177049e-01 -3.47263496e-02 2.02294575e+02] [ 3.91039880e-02 -1.29030379e-03 9.99234313e-01 1.79862274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.860385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.68, Y:202.32, Z:17.99 [[ 4.33125272e-01 -9.01156635e-01 -1.78666788e-02 2.83681053e+02] [ 9.00484696e-01 4.33492439e-01 -3.48082997e-02 2.02320610e+02] [ 3.91128004e-02 -1.01231648e-03 9.99234289e-01 1.79882285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.890385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.69, Y:202.35, Z:17.99 [[ 4.33045023e-01 -9.01194255e-01 -1.79143375e-02 2.83693743e+02] [ 9.00523368e-01 4.33414088e-01 -3.47834951e-02 2.02345004e+02] [ 3.91110122e-02 -1.06946013e-03 9.99234299e-01 1.79893217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.920385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.70, Y:202.37, Z:17.99 [[ 4.33760098e-01 -9.00850404e-01 -1.79088632e-02 2.83704426e+02] [ 9.00179108e-01 4.34128419e-01 -3.47863434e-02 2.02369729e+02] [ 3.91120380e-02 -1.03225682e-03 9.99234298e-01 1.79886768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.950385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.72, Y:202.40, Z:17.99 [[ 4.35559641e-01 -8.99984339e-01 -1.77760590e-02 2.83716767e+02] [ 8.99309494e-01 4.35921486e-01 -3.48553173e-02 2.02395695e+02] [ 3.91182058e-02 -8.04609103e-04 9.99234266e-01 1.79900878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.980385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.73, Y:202.42, Z:17.99 [[ 4.36371431e-01 -8.99589061e-01 -1.78744620e-02 2.83732000e+02] [ 8.98915970e-01 4.36736474e-01 -3.48041825e-02 2.02422728e+02] [ 3.91158913e-02 -8.80088380e-04 9.99234293e-01 1.79933114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.010385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.75, Y:202.45, Z:18.00 [[ 4.37045940e-01 -8.99258149e-01 -1.80451620e-02 2.83746097e+02] [ 8.98588416e-01 4.37417070e-01 -3.47154989e-02 2.02448456e+02] [ 3.91114572e-02 -1.04290566e-03 9.99234310e-01 1.79954836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.040385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.76, Y:202.47, Z:17.99 [[ 4.35001210e-01 -9.00247752e-01 -1.81088960e-02 2.83755986e+02] [ 8.99580233e-01 4.35376315e-01 -3.46823928e-02 2.02473653e+02] [ 3.91069306e-02 -1.20352207e-03 9.99234307e-01 1.79936776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.070385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.77, Y:202.50, Z:17.99 [[ 4.34111286e-01 -9.00678906e-01 -1.80249908e-02 2.83767550e+02] [ 9.00009954e-01 4.34483822e-01 -3.47259452e-02 2.02499208e+02] [ 3.91084932e-02 -1.14774640e-03 9.99234311e-01 1.79938525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.100385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.78, Y:202.53, Z:17.99 [[ 4.31965542e-01 -9.01710161e-01 -1.80154123e-02 2.83777927e+02] [ 9.01041892e-01 4.32339302e-01 -3.47309137e-02 2.02525172e+02] [ 3.91059885e-02 -1.23008319e-03 9.99234311e-01 1.79938622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.130385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.79, Y:202.55, Z:18.00 [[ 4.30429335e-01 -9.02444669e-01 -1.80057538e-02 2.83789021e+02] [ 9.01776829e-01 4.30803861e-01 -3.47359203e-02 2.02550199e+02] [ 3.91041943e-02 -1.28581248e-03 9.99234311e-01 1.79952382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.160385723 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:283.80, Y:202.58, Z:18.00 [[ 4.29299683e-01 -9.02982773e-01 -1.79970860e-02 2.83801006e+02] [ 9.02315215e-01 4.29674711e-01 -3.47404106e-02 2.02575066e+02] [ 3.91028850e-02 -1.32499725e-03 9.99234311e-01 1.79955186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.190385723 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:283.81, Y:202.60, Z:18.00 [[ 4.27177229e-01 -9.03988974e-01 -1.79874725e-02 2.83810665e+02] [ 9.03322091e-01 4.27553455e-01 -3.47453874e-02 2.02601794e+02] [ 3.91000532e-02 -1.40604293e-03 9.99234311e-01 1.79971007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.220385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.82, Y:202.63, Z:18.00 [[ 4.26532941e-01 -9.04293340e-01 -1.79779207e-02 2.83821131e+02] [ 9.03626518e-01 4.26909276e-01 -3.47503290e-02 2.02628190e+02] [ 3.90994322e-02 -1.42316581e-03 9.99234311e-01 1.79985819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.250385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.83, Y:202.65, Z:18.00 [[ 4.26683698e-01 -9.04222407e-01 -1.79683331e-02 2.83829203e+02] [ 9.03555315e-01 4.27059554e-01 -3.47552857e-02 2.02654922e+02] [ 3.91000565e-02 -1.40586908e-03 9.99234311e-01 1.79977288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.280385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.84, Y:202.68, Z:18.00 [[ 4.27309169e-01 -9.03927167e-01 -1.79596965e-02 2.83839221e+02] [ 9.03259629e-01 4.27684232e-01 -3.47597481e-02 2.02680017e+02] [ 3.91013597e-02 -1.36910974e-03 9.99234311e-01 1.79978613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.310385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.85, Y:202.71, Z:18.00 [[ 4.27759423e-01 -9.03714311e-01 -1.79532760e-02 2.83850709e+02] [ 9.03046448e-01 4.28133906e-01 -3.47630640e-02 2.02705479e+02] [ 3.91022846e-02 -1.34241390e-03 9.99234311e-01 1.79990317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.340385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.86, Y:202.73, Z:18.00 [[ 4.28091893e-01 -9.03558177e-01 -1.78871965e-02 2.83861330e+02] [ 9.02888758e-01 4.28463590e-01 -3.47971658e-02 2.02732142e+02] [ 3.91052762e-02 -1.25376403e-03 9.99234310e-01 1.79995271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.37038572299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.87, Y:202.76, Z:18.00 [[ 4.27630029e-01 -9.03776952e-01 -1.78823887e-02 2.83873407e+02] [ 9.03107619e-01 4.28001884e-01 -3.47996454e-02 2.02758456e+02] [ 3.91048135e-02 -1.26834813e-03 9.99234309e-01 1.80011808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.400385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.88, Y:202.78, Z:18.00 [[ 4.27617051e-01 -9.03782209e-01 -1.79269936e-02 2.83883917e+02] [ 9.03113838e-01 4.27990630e-01 -3.47766521e-02 2.02784177e+02] [ 3.91031047e-02 -1.31902654e-03 9.99234311e-01 1.80022448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.430385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.90, Y:202.81, Z:18.00 [[ 4.27321524e-01 -9.03922163e-01 -1.79175447e-02 2.83895500e+02] [ 9.03253712e-01 4.27694959e-01 -3.47815196e-02 2.02810179e+02] [ 3.91030300e-02 -1.32119678e-03 9.99234311e-01 1.80031127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.460385723 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:283.91, Y:202.84, Z:18.00 [[ 4.27448082e-01 -9.03862512e-01 -1.79080159e-02 2.83907392e+02] [ 9.03193804e-01 4.27821056e-01 -3.47864251e-02 2.02835984e+02] [ 3.91035718e-02 -1.30501835e-03 9.99234311e-01 1.80034420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.490385723 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:283.92, Y:202.86, Z:18.01 [[ 4.27967833e-01 -9.03616721e-01 -1.78984756e-02 2.83916985e+02] [ 9.02947595e-01 4.28340057e-01 -3.47913331e-02 2.02861533e+02] [ 3.91046644e-02 -1.27181399e-03 9.99234311e-01 1.80050785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.520385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.93, Y:202.89, Z:18.01 [[ 4.27147460e-01 -9.04004976e-01 -1.78899653e-02 2.83925914e+02] [ 9.03336006e-01 4.27519964e-01 -3.47957086e-02 2.02888246e+02] [ 3.91038110e-02 -1.29775121e-03 9.99234311e-01 1.80062500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.550385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.94, Y:202.91, Z:18.01 [[ 4.25595561e-01 -9.04736814e-01 -1.78806061e-02 2.83936713e+02] [ 9.04068283e-01 4.25968852e-01 -3.48005174e-02 2.02914539e+02] [ 3.91018905e-02 -1.35434313e-03 9.99234311e-01 1.80066490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.580385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.95, Y:202.94, Z:18.01 [[ 4.23350304e-01 -9.05789786e-01 -1.78713128e-02 2.83947159e+02] [ 9.05121983e-01 4.23724896e-01 -3.48052892e-02 2.02940831e+02] [ 3.90987956e-02 -1.44088834e-03 9.99234311e-01 1.80070195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.610385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.96, Y:202.97, Z:18.01 [[ 4.18175889e-01 -9.08190443e-01 -1.78618517e-02 2.83955777e+02] [ 9.07524582e-01 4.18553923e-01 -3.48101439e-02 2.02968330e+02] [ 3.90903881e-02 -1.65330660e-03 9.99234311e-01 1.80074118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.640385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.97, Y:202.99, Z:18.01 [[ 4.14580582e-01 -9.09837477e-01 -1.78523747e-02 2.83966319e+02] [ 9.09172910e-01 4.14960885e-01 -3.48150035e-02 2.02994908e+02] [ 3.90840321e-02 -1.79727104e-03 9.99234311e-01 1.80083060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.670385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.97, Y:203.02, Z:18.01 [[ 4.07579800e-01 -9.12995256e-01 -1.78428762e-02 2.83973924e+02] [ 9.12333420e-01 4.07964836e-01 -3.48198708e-02 2.03022047e+02] [ 3.90696430e-02 -2.08677629e-03 9.99234311e-01 1.80102515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.700385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.98, Y:203.05, Z:18.01 [[ 4.03008185e-01 -9.15024184e-01 -1.77523281e-02 2.83983660e+02] [ 9.14362269e-01 4.03393092e-01 -3.48662450e-02 2.03048580e+02] [ 3.90646239e-02 -2.18067686e-03 9.99234307e-01 1.80108305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.730385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.99, Y:203.07, Z:18.01 [[ 3.99165187e-01 -9.16705636e-01 -1.78305893e-02 2.83992857e+02] [ 9.16047093e-01 3.99555829e-01 -3.48261763e-02 2.03074490e+02] [ 3.90496680e-02 -2.43226227e-03 9.99234311e-01 1.80117561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.760385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.00, Y:203.10, Z:18.01 [[ 3.92736017e-01 -9.19478542e-01 -1.78222292e-02 2.83998184e+02] [ 9.18822561e-01 3.93130946e-01 -3.48304541e-02 2.03102602e+02] [ 3.90323249e-02 -2.69629244e-03 9.99234311e-01 1.80124517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.790385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.01, Y:203.13, Z:18.01 [[ 3.89535755e-01 -9.20839052e-01 -1.78139590e-02 2.84005087e+02] [ 9.20184260e-01 3.89932652e-01 -3.48346833e-02 2.03129674e+02] [ 3.90233810e-02 -2.82277001e-03 9.99234311e-01 1.80137387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.820385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.02, Y:203.16, Z:18.01 [[ 3.89991868e-01 -9.20648855e-01 -1.76643455e-02 2.84015450e+02] [ 9.19990476e-01 3.90382809e-01 -3.49111311e-02 2.03157418e+02] [ 3.90367497e-02 -2.63597238e-03 9.99234299e-01 1.80145117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.850385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.02, Y:203.19, Z:18.02 [[ 3.91509858e-01 -9.20001717e-01 -1.78008795e-02 2.84018912e+02] [ 9.19345779e-01 3.91904858e-01 -3.48413747e-02 2.03187790e+02] [ 3.90303758e-02 -2.72442177e-03 9.99234311e-01 1.80180547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.880385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.03, Y:203.21, Z:18.02 [[ 3.93231830e-01 -9.19266810e-01 -1.78117699e-02 2.84026541e+02] [ 9.18610380e-01 3.93626011e-01 -3.48358122e-02 2.03214721e+02] [ 3.90345819e-02 -2.66352656e-03 9.99234310e-01 1.80189811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.910385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.03, Y:203.24, Z:18.02 [[ 3.98368531e-01 -9.17052923e-01 -1.77890477e-02 2.84028961e+02] [ 9.16393789e-01 3.98758175e-01 -3.48474116e-02 2.03243487e+02] [ 3.90504488e-02 -2.41966068e-03 9.99234311e-01 1.80213776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.940385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.04, Y:203.27, Z:18.02 [[ 4.01400168e-01 -9.15730173e-01 -1.77807567e-02 2.84036692e+02] [ 9.15069569e-01 4.01787315e-01 -3.48516415e-02 2.03270504e+02] [ 3.90587822e-02 -2.28117460e-03 9.99234311e-01 1.80222267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.970385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:284.04, Y:203.30, Z:18.02 [[ 4.04536778e-01 -9.14349043e-01 -1.77713945e-02 2.84044375e+02] [ 9.13686910e-01 4.04921302e-01 -3.48564148e-02 2.03297434e+02] [ 3.90669457e-02 -2.13678879e-03 9.99234311e-01 1.80233162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.000385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.05, Y:203.32, Z:18.02 [[ 4.07570577e-01 -9.13000892e-01 -1.77650521e-02 2.84052553e+02] [ 9.12337346e-01 4.07952659e-01 -3.48596470e-02 2.03324655e+02] [ 3.90741890e-02 -1.99995409e-03 9.99234311e-01 1.80243227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.030385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:284.06, Y:203.35, Z:18.03 [[ 4.13690466e-01 -9.10244437e-01 -1.77556713e-02 2.84055605e+02] [ 9.09578138e-01 4.14067727e-01 -3.48644244e-02 2.03353624e+02] [ 3.90871988e-02 -1.72709050e-03 9.99234311e-01 1.80251887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.060385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.06, Y:203.38, Z:18.02 [[ 4.18936353e-01 -9.07842109e-01 -1.77492909e-02 2.84059191e+02] [ 9.07173508e-01 4.19309519e-01 -3.48676723e-02 2.03382927e+02] [ 3.90967878e-02 -1.49435098e-03 9.99234311e-01 1.80249419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.090385723 meters Centerline goodness : 0.999875 Centerline is valid? [True, True] Translation: X:284.07, Y:203.41, Z:18.02 [[ 4.21033316e-01 -9.06871671e-01 -1.77403175e-02 2.84068280e+02] [ 9.06202019e-01 4.21404590e-01 -3.48722373e-02 2.03409721e+02] [ 3.91004954e-02 -1.39393787e-03 9.99234311e-01 1.80224725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.12038572299997 meters Centerline goodness : 0.999959 Centerline is valid? [True, True] Translation: X:284.08, Y:203.44, Z:18.03 [[ 4.23378417e-01 -9.05779401e-01 -1.77311432e-02 2.84076236e+02] [ 9.05108595e-01 4.23747605e-01 -3.48769014e-02 2.03435927e+02] [ 3.91043084e-02 -1.28248284e-03 9.99234311e-01 1.80255056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.150385723 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:284.08, Y:203.46, Z:18.03 [[ 4.25409478e-01 -9.04827428e-01 -1.77229285e-02 2.84084747e+02] [ 9.04155623e-01 4.25776843e-01 -3.48810753e-02 2.03462440e+02] [ 3.91073662e-02 -1.18554547e-03 9.99234311e-01 1.80270047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.180385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:284.09, Y:203.49, Z:18.03 [[ 4.29793855e-01 -9.02753262e-01 -1.77141189e-02 2.84090130e+02] [ 9.02079499e-01 4.30157617e-01 -3.48855487e-02 2.03490605e+02] [ 3.91129060e-02 -9.85949027e-04 9.99234311e-01 1.80297416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.210385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.10, Y:203.52, Z:18.03 [[ 4.33877931e-01 -9.00797684e-01 -1.77051719e-02 2.84096743e+02] [ 9.00122096e-01 4.34238291e-01 -3.48900889e-02 2.03518580e+02] [ 3.91171748e-02 -7.98776853e-04 9.99234311e-01 1.80302221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.240385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.11, Y:203.55, Z:18.03 [[ 4.35973200e-01 -8.99785648e-01 -1.76962435e-02 2.84106483e+02] [ 8.99109039e-01 4.36331642e-01 -3.48946167e-02 2.03545082e+02] [ 3.91191063e-02 -6.97734789e-04 9.99234311e-01 1.80297439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.270385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.12, Y:203.57, Z:18.03 [[ 4.38034072e-01 -8.98784363e-01 -1.76867110e-02 2.84116586e+02] [ 8.98106741e-01 4.38390592e-01 -3.48994477e-02 2.03571388e+02] [ 3.91207656e-02 -5.97407117e-04 9.99234311e-01 1.80299294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.300385723 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:284.13, Y:203.60, Z:18.03 [[ 4.39471327e-01 -8.98082663e-01 -1.76771771e-02 2.84127569e+02] [ 8.97404277e-01 4.39826392e-01 -3.49042762e-02 2.03596820e+02] [ 3.91218143e-02 -5.24145748e-04 9.99234311e-01 1.80273323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.330385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.14, Y:203.62, Z:18.03 [[ 4.42900894e-01 -8.96396481e-01 -1.76676845e-02 2.84137943e+02] [ 8.95716551e-01 4.43252994e-01 -3.49090804e-02 2.03622826e+02] [ 3.91236309e-02 -3.63974536e-04 9.99234311e-01 1.80301140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.360385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.15, Y:203.65, Z:18.03 [[ 4.44700186e-01 -8.95505407e-01 -1.76581907e-02 2.84149088e+02] [ 8.94824580e-01 4.45050549e-01 -3.49138820e-02 2.03646737e+02] [ 3.91243576e-02 -2.74773267e-04 9.99234311e-01 1.80310583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.390385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.16, Y:203.67, Z:18.03 [[ 4.44216907e-01 -8.95749798e-01 -1.74252581e-02 2.84162236e+02] [ 8.95064516e-01 4.44558544e-01 -3.50316129e-02 2.03674945e+02] [ 3.91261076e-02 -3.50954804e-05 9.99234280e-01 1.80316504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.420385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.17, Y:203.70, Z:18.03 [[ 4.43852617e-01 -8.95925901e-01 -1.76531769e-02 2.84173977e+02] [ 8.95245307e-01 4.44203430e-01 -3.49163822e-02 2.03698879e+02] [ 3.91240929e-02 -3.06196189e-04 9.99234313e-01 1.80327586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.450385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.19, Y:203.72, Z:18.03 [[ 4.43294531e-01 -8.96202272e-01 -1.76478713e-02 2.84186826e+02] [ 8.95521790e-01 4.43645560e-01 -3.49190636e-02 2.03724260e+02] [ 3.91239439e-02 -3.24623412e-04 9.99234313e-01 1.80342277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.480385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.20, Y:203.75, Z:18.04 [[ 4.41972781e-01 -8.96855031e-01 -1.76384183e-02 2.84200629e+02] [ 8.96174877e-01 4.42324446e-01 -3.49238379e-02 2.03748831e+02] [ 3.91235233e-02 -3.71721611e-04 9.99234313e-01 1.80368250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.510385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.21, Y:203.77, Z:18.04 [[ 4.40551010e-01 -8.97554471e-01 -1.76289227e-02 2.84213779e+02] [ 8.96874684e-01 4.40903382e-01 -3.49286304e-02 2.03773497e+02] [ 3.91230001e-02 -4.23091111e-04 9.99234313e-01 1.80379521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.540385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.23, Y:203.80, Z:18.04 [[ 4.39062829e-01 -8.98283581e-01 -1.76193388e-02 2.84227068e+02] [ 8.97604185e-01 4.39415954e-01 -3.49334643e-02 2.03798120e+02] [ 3.91223759e-02 -4.77206623e-04 9.99234313e-01 1.80394310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.570385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.24, Y:203.82, Z:18.04 [[ 4.34292891e-01 -9.00599567e-01 -1.76097934e-02 2.84239865e+02] [ 8.99921859e-01 4.34649244e-01 -3.49382754e-02 2.03821346e+02] [ 3.91194791e-02 -6.73993346e-04 9.99234313e-01 1.80403896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.600385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.25, Y:203.84, Z:18.04 [[ 4.31376887e-01 -9.02000034e-01 -1.76045227e-02 2.84252473e+02] [ 9.01323374e-01 4.31735227e-01 -3.49409310e-02 2.03844892e+02] [ 3.91172135e-02 -7.94657760e-04 9.99234313e-01 1.80417392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.630385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.27, Y:203.87, Z:18.04 [[ 4.29199723e-01 -9.03038188e-01 -1.75962999e-02 2.84265688e+02] [ 9.02362225e-01 4.29559376e-01 -3.49450715e-02 2.03869341e+02] [ 3.91153896e-02 -8.79821314e-04 9.99234313e-01 1.80427618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.660385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.28, Y:203.89, Z:18.04 [[ 4.24653377e-01 -9.05186633e-01 -1.75119628e-02 2.84279394e+02] [ 9.04510740e-01 4.25013170e-01 -3.49875131e-02 2.03893762e+02] [ 3.91130440e-02 -9.82192794e-04 9.99234309e-01 1.80449384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.690385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.29, Y:203.92, Z:18.05 [[ 4.23544812e-01 -9.05704474e-01 -1.75840169e-02 2.84292431e+02] [ 9.05030518e-01 4.23908211e-01 -3.49512628e-02 2.03918522e+02] [ 3.91095242e-02 -1.11064588e-03 9.99234313e-01 1.80463859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.720385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.31, Y:203.94, Z:18.05 [[ 4.23791014e-01 -9.05589482e-01 -1.75746060e-02 2.84305080e+02] [ 9.04915231e-01 4.24153867e-01 -3.49559942e-02 2.03943514e+02] [ 3.91101178e-02 -1.08949242e-03 9.99234313e-01 1.80474672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.750385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.32, Y:203.97, Z:18.05 [[ 4.25192836e-01 -9.04933637e-01 -1.74975835e-02 2.84319060e+02] [ 9.04257235e-01 4.25551671e-01 -3.49947025e-02 2.03970403e+02] [ 3.91140093e-02 -9.42819683e-04 9.99234310e-01 1.80488266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.780385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.33, Y:203.99, Z:18.05 [[ 4.27927209e-01 -9.03641725e-01 -1.76050063e-02 2.84331229e+02] [ 9.02966447e-01 4.28288151e-01 -3.49407383e-02 2.03993247e+02] [ 3.91139246e-02 -9.44637366e-04 9.99234311e-01 1.80496464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.810385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.34, Y:204.02, Z:18.05 [[ 4.32985542e-01 -9.01231414e-01 -1.74773958e-02 2.84344539e+02] [ 9.00551534e-01 4.33337743e-01 -3.50047964e-02 2.04018883e+02] [ 3.91210374e-02 -5.82724885e-04 9.99234309e-01 1.80507771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.840385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.36, Y:204.04, Z:18.05 [[ 4.32747990e-01 -9.01344103e-01 -1.75495340e-02 2.84357291e+02] [ 9.00665777e-01 4.33103169e-01 -3.49685929e-02 2.04044365e+02] [ 3.91194937e-02 -6.73676410e-04 9.99234313e-01 1.80519032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.87038572299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.37, Y:204.07, Z:18.05 [[ 4.35604598e-01 -8.99967206e-01 -1.75403081e-02 2.84369736e+02] [ 8.99287572e-01 4.35957266e-01 -3.49732200e-02 2.04069738e+02] [ 3.91215758e-02 -5.39285657e-04 9.99234313e-01 1.80526258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.900385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.38, Y:204.10, Z:18.05 [[ 4.38214572e-01 -8.98699431e-01 -1.75305918e-02 2.84381916e+02] [ 8.98018581e-01 4.38564888e-01 -3.49780897e-02 2.04095044e+02] [ 3.91230913e-02 -4.14888534e-04 9.99234313e-01 1.80531074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.930385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.39, Y:204.12, Z:18.05 [[ 4.41043532e-01 -8.97314672e-01 -1.75209206e-02 2.84394756e+02] [ 8.96632530e-01 4.41391324e-01 -3.49829334e-02 2.04119960e+02] [ 3.91242818e-02 -2.80830899e-04 9.99234313e-01 1.80537530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.960385723 meters Centerline goodness : 0.996139 Centerline is valid? [True, True] Translation: X:284.41, Y:204.15, Z:18.06 [[ 4.46386123e-01 -8.94669093e-01 -1.75112458e-02 2.84409297e+02] [ 8.93984699e-01 4.46729463e-01 -3.49877756e-02 2.04145168e+02] [ 3.91252709e-02 -3.67283433e-05 9.99234313e-01 1.80553731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.990385723 meters Centerline goodness : 0.999896 Centerline is valid? [True, True] Translation: X:284.42, Y:204.17, Z:18.05 [[ 4.48996682e-01 -8.93360662e-01 -1.75700463e-02 2.84422826e+02] [ 8.92676417e-01 4.49340325e-01 -3.49583633e-02 2.04168845e+02] [ 3.91253569e-02 1.18231148e-05 9.99234310e-01 1.80540289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.020385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.44, Y:204.19, Z:18.06 [[ 4.55039982e-01 -8.90299271e-01 -1.74877831e-02 2.84437953e+02] [ 8.89611131e-01 4.55375748e-01 -3.49994734e-02 2.04192956e+02] [ 3.91235180e-02 3.68833232e-04 9.99234314e-01 1.80580187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.050385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.45, Y:204.22, Z:18.06 [[ 4.57347640e-01 -8.89116191e-01 -1.74795799e-02 2.84452870e+02] [ 8.88427026e-01 4.57681297e-01 -3.50035698e-02 2.04218205e+02] [ 3.91223174e-02 4.79468826e-04 9.99234314e-01 1.80592625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.080385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.47, Y:204.24, Z:18.06 [[ 4.62157894e-01 -8.86624527e-01 -1.75222766e-02 2.84469519e+02] [ 8.85934370e-01 4.62489497e-01 -3.49822589e-02 2.04240315e+02] [ 3.91199976e-02 6.43739966e-04 9.99234313e-01 1.80594899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.110385723 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:284.48, Y:204.26, Z:18.06 [[ 4.64433251e-01 -8.85435485e-01 -1.74859075e-02 2.84484019e+02] [ 8.84743797e-01 4.64761643e-01 -3.50004034e-02 2.04262646e+02] [ 3.91173782e-02 7.84802935e-04 9.99234314e-01 1.80579265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.140385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.50, Y:204.29, Z:18.06 [[ 4.66660488e-01 -8.84265530e-01 -1.73914063e-02 2.84499210e+02] [ 8.83571263e-01 4.66983399e-01 -3.50475208e-02 2.04285997e+02] [ 3.91128126e-02 9.88746354e-04 9.99234312e-01 1.80614128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.170385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.51, Y:204.31, Z:18.06 [[ 4.67116078e-01 -8.84023700e-01 -1.74547556e-02 2.84514993e+02] [ 8.83330440e-01 4.67441139e-01 -3.50159425e-02 2.04309040e+02] [ 3.91139939e-02 9.38192787e-04 9.99234315e-01 1.80628702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.200385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.53, Y:204.33, Z:18.06 [[ 4.70426441e-01 -8.82266756e-01 -1.74452024e-02 2.84534620e+02] [ 8.81572107e-01 4.70748523e-01 -3.50207014e-02 2.04330122e+02] [ 3.91099038e-02 1.09546012e-03 9.99234315e-01 1.80638848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.230385723 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:284.55, Y:204.35, Z:18.06 [[ 4.71687870e-01 -8.81593191e-01 -1.74355426e-02 2.84550497e+02] [ 8.80897905e-01 4.72008575e-01 -3.50255100e-02 2.04352521e+02] [ 3.91079767e-02 1.16217524e-03 9.99234315e-01 1.80645105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.260385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.58, Y:204.38, Z:18.06 [[ 4.76500891e-01 -8.79001255e-01 -1.74268246e-02 2.84578516e+02] [ 8.78304068e-01 4.76817442e-01 -3.50298470e-02 2.04377780e+02] [ 3.91006934e-02 1.38570234e-03 9.99234315e-01 1.80625332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.290385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.59, Y:204.40, Z:18.07 [[ 4.74810809e-01 -8.79904628e-01 -1.79594214e-02 2.84588971e+02] [ 8.79217869e-01 4.75149799e-01 -3.47650240e-02 2.04398046e+02] [ 3.91233210e-02 7.16564919e-04 9.99234133e-01 1.80671255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.320385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.61, Y:204.42, Z:18.07 [[ 4.75720520e-01 -8.79423119e-01 -1.74632560e-02 2.84605589e+02] [ 8.78726889e-01 4.76039139e-01 -3.50113286e-02 2.04420593e+02] [ 3.91029651e-02 1.31017487e-03 9.99234328e-01 1.80682108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.350385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.63, Y:204.44, Z:18.07 [[ 4.77404349e-01 -8.78510038e-01 -1.74700144e-02 2.84628110e+02] [ 8.77813321e-01 4.77721902e-01 -3.50079747e-02 2.04440450e+02] [ 3.91006657e-02 1.37754799e-03 9.99234327e-01 1.80711610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.380385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.65, Y:204.47, Z:18.07 [[ 4.81122463e-01 -8.76479975e-01 -1.74364226e-02 2.84653755e+02] [ 8.75781320e-01 4.81435723e-01 -3.50246367e-02 2.04466259e+02] [ 3.90929094e-02 1.58064633e-03 9.99234330e-01 1.80691157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.410385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.66, Y:204.49, Z:18.07 [[ 4.76958066e-01 -8.78741415e-01 -1.80147134e-02 2.84662085e+02] [ 8.78054826e-01 4.77297562e-01 -3.47384615e-02 2.04485471e+02] [ 3.91245036e-02 7.50883343e-04 9.99234061e-01 1.80735937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.440385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.68, Y:204.50, Z:18.07 [[ 4.77681328e-01 -8.78362464e-01 -1.73184918e-02 2.84684444e+02] [ 8.77662970e-01 4.77992628e-01 -3.50821680e-02 2.04504888e+02] [ 3.90929709e-02 1.55829763e-03 9.99234363e-01 1.80746115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.470385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.70, Y:204.53, Z:18.08 [[ 4.77940611e-01 -8.78221515e-01 -1.73130865e-02 2.84702179e+02] [ 8.77521833e-01 4.78251490e-01 -3.50848353e-02 2.04527374e+02] [ 3.90922666e-02 1.57585626e-03 9.99234363e-01 1.80756901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.500385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.73, Y:204.55, Z:18.08 [[ 4.82984182e-01 -8.75458092e-01 -1.73034448e-02 2.84734605e+02] [ 8.74756465e-01 4.83290646e-01 -3.50895898e-02 2.04549932e+02] [ 3.90820584e-02 1.81141665e-03 9.99234363e-01 1.80764609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.530385723 meters Centerline goodness : 0.999478 Centerline is valid? [True, True] Translation: X:284.75, Y:204.57, Z:18.07 [[ 4.83880386e-01 -8.74951305e-01 -1.78881444e-02 2.84753931e+02] [ 8.74259803e-01 4.84209432e-01 -3.47997558e-02 2.04570984e+02] [ 3.91096999e-02 1.20003368e-03 9.99234202e-01 1.80698505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.560385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.76, Y:204.59, Z:18.08 [[ 4.80242415e-01 -8.76951688e-01 -1.79710734e-02 2.84764268e+02] [ 8.76263087e-01 4.80577614e-01 -3.47585861e-02 2.04589570e+02] [ 3.91180964e-02 9.45159050e-04 9.99234147e-01 1.80769668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.590385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.79, Y:204.61, Z:18.08 [[ 4.79624644e-01 -8.77301694e-01 -1.73764189e-02 2.84788134e+02] [ 8.76602554e-01 4.79936706e-01 -3.50531150e-02 2.04609978e+02] [ 3.90917384e-02 1.58012466e-03 9.99234377e-01 1.80788228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.62038572299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.81, Y:204.63, Z:18.08 [[ 4.79459072e-01 -8.77392014e-01 -1.73853655e-02 2.84806850e+02] [ 8.76693093e-01 4.79771624e-01 -3.50486864e-02 2.04632280e+02] [ 3.90924426e-02 1.56278084e-03 9.99234376e-01 1.80810523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.650385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.83, Y:204.65, Z:18.08 [[ 4.78531228e-01 -8.77898783e-01 -1.73663628e-02 2.84825107e+02] [ 8.77199854e-01 4.78843760e-01 -3.50580867e-02 2.04654638e+02] [ 3.90932261e-02 1.54261839e-03 9.99234377e-01 1.80819605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.680385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.85, Y:204.67, Z:18.08 [[ 4.77640244e-01 -8.78383708e-01 -1.73740690e-02 2.84849048e+02] [ 8.77685234e-01 4.77953792e-01 -3.50542750e-02 2.04673490e+02] [ 3.90951062e-02 1.49436863e-03 9.99234377e-01 1.80845174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.710385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.87, Y:204.70, Z:18.09 [[ 4.77459577e-01 -8.78482651e-01 -1.73373706e-02 2.84868643e+02] [ 8.77783587e-01 4.77771807e-01 -3.50724162e-02 2.04697011e+02] [ 3.90938160e-02 1.52720168e-03 9.99234378e-01 1.80870022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.740385723 meters Centerline goodness : 0.999210 Centerline is valid? [True, True] Translation: X:284.89, Y:204.72, Z:18.09 [[ 4.75586459e-01 -8.79495371e-01 -1.74760513e-02 2.84891517e+02] [ 8.78799469e-01 4.75905694e-01 -3.50037775e-02 2.04716113e+02] [ 3.91026126e-02 1.28937799e-03 9.99234369e-01 1.80865526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.770385723 meters Centerline goodness : 0.999721 Centerline is valid? [True, True] Translation: X:284.91, Y:204.74, Z:18.09 [[ 4.76296284e-01 -8.79110652e-01 -1.75017330e-02 2.84910003e+02] [ 8.78414955e-01 4.76615978e-01 -3.49910732e-02 2.04738673e+02] [ 3.91026308e-02 1.29233414e-03 9.99234364e-01 1.80918809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.800385723 meters Centerline goodness : 0.999679 Centerline is valid? [True, True] Translation: X:284.93, Y:204.76, Z:18.09 [[ 4.75321981e-01 -8.79638848e-01 -1.74502735e-02 2.84927142e+02] [ 8.78942578e-01 4.75640401e-01 -3.50164785e-02 2.04761897e+02] [ 3.91019099e-02 1.30631348e-03 9.99234374e-01 1.80933447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.830385723 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:284.95, Y:204.78, Z:18.09 [[ 4.76548386e-01 -8.78972013e-01 -1.76021464e-02 2.84947265e+02] [ 8.78278040e-01 4.76871870e-01 -3.49414516e-02 2.04781278e+02] [ 3.91065265e-02 1.19171375e-03 9.99234337e-01 1.80915028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.860385723 meters Centerline goodness : 0.999720 Centerline is valid? [True, True] Translation: X:284.97, Y:204.81, Z:18.10 [[ 4.77354144e-01 -8.78540489e-01 -1.73098006e-02 2.84965556e+02] [ 8.77840987e-01 4.77665360e-01 -3.50856850e-02 2.04805789e+02] [ 3.90924870e-02 1.55304469e-03 9.99234390e-01 1.80967635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.890385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:284.98, Y:204.83, Z:18.10 [[ 4.77799071e-01 -8.78296396e-01 -1.74209165e-02 2.84983189e+02] [ 8.77598710e-01 4.78114360e-01 -3.50308940e-02 2.04829184e+02] [ 3.90966982e-02 1.44915477e-03 9.99234381e-01 1.80988021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.920385723 meters Centerline goodness : 0.999740 Centerline is valid? [True, True] Translation: X:285.00, Y:204.85, Z:18.10 [[ 4.76357000e-01 -8.79078016e-01 -1.74885731e-02 2.85001969e+02] [ 8.78382061e-01 4.76676123e-01 -3.49975405e-02 2.04848345e+02] [ 3.91019537e-02 1.30967452e-03 9.99234368e-01 1.80985605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.950385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:285.02, Y:204.87, Z:18.10 [[ 4.75326868e-01 -8.79639494e-01 -1.72837999e-02 2.85019759e+02] [ 8.78940253e-01 4.75638661e-01 -3.50983799e-02 2.04871740e+02] [ 3.90947646e-02 1.49177557e-03 9.99234394e-01 1.81004676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.980385723 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:285.04, Y:204.89, Z:18.10 [[ 4.72820680e-01 -8.80988318e-01 -1.73259636e-02 2.85041424e+02] [ 8.80290721e-01 4.73136139e-01 -3.50776276e-02 2.04890876e+02] [ 3.91005196e-02 1.33354271e-03 9.99234392e-01 1.81014814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.010385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.06, Y:204.92, Z:18.10 [[ 4.71757416e-01 -8.81559233e-01 -1.72702033e-02 2.85060298e+02] [ 8.80861018e-01 4.72071500e-01 -3.51050594e-02 2.04915504e+02] [ 3.90999600e-02 1.34842325e-03 9.99234394e-01 1.81042488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.040385723 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:285.07, Y:204.94, Z:18.11 [[ 4.70124318e-01 -8.82427617e-01 -1.74535530e-02 2.85074893e+02] [ 8.81733298e-01 4.70446971e-01 -3.50148452e-02 2.04937361e+02] [ 3.91090375e-02 1.07195136e-03 9.99234374e-01 1.81058239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.070385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:285.09, Y:204.96, Z:18.11 [[ 4.67826587e-01 -8.83651779e-01 -1.72573975e-02 2.85094535e+02] [ 8.82954743e-01 4.68143270e-01 -3.51112578e-02 2.04957998e+02] [ 3.91050599e-02 1.18847891e-03 9.99234398e-01 1.81053066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.100385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:285.11, Y:204.98, Z:18.11 [[ 4.65995841e-01 -8.84618764e-01 -1.72487339e-02 2.85109908e+02] [ 8.83922229e-01 4.66313622e-01 -3.51155134e-02 2.04981038e+02] [ 3.91071616e-02 1.11714382e-03 9.99234398e-01 1.81092766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.130385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.13, Y:205.00, Z:18.11 [[ 4.64948545e-01 -8.85171749e-01 -1.71413484e-02 2.85131028e+02] [ 8.84473649e-01 4.65262892e-01 -3.51682372e-02 2.05003244e+02] [ 3.91051633e-02 1.19034972e-03 9.99234392e-01 1.81085820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.160385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.15, Y:205.03, Z:18.11 [[ 4.62773876e-01 -8.86308749e-01 -1.72377756e-02 2.85147041e+02] [ 8.85613175e-01 4.63093756e-01 -3.51209098e-02 2.05026484e+02] [ 3.91106759e-02 9.87038338e-04 9.99234397e-01 1.81104334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.190385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:285.16, Y:205.05, Z:18.11 [[ 4.59304512e-01 -8.88111797e-01 -1.72279435e-02 2.85163406e+02] [ 8.87417298e-01 4.59626721e-01 -3.51257321e-02 2.05050779e+02] [ 3.91140002e-02 8.45032118e-04 9.99234397e-01 1.81122456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.220385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.18, Y:205.07, Z:18.11 [[ 4.52412704e-01 -8.91641329e-01 -1.72767158e-02 2.85178873e+02] [ 8.90950257e-01 4.52742203e-01 -3.51018256e-02 2.05074502e+02] [ 3.91201368e-02 4.87817486e-04 9.99234395e-01 1.81127915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.250385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.19, Y:205.10, Z:18.11 [[ 4.50970084e-01 -8.92373147e-01 -1.72090213e-02 2.85190877e+02] [ 8.91681342e-01 4.51298036e-01 -3.51349795e-02 2.05100269e+02] [ 3.91199098e-02 4.99861425e-04 9.99234398e-01 1.81129134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.280385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:285.20, Y:205.13, Z:18.11 [[ 4.48490335e-01 -8.93622186e-01 -1.71990739e-02 2.85201911e+02] [ 8.92931108e-01 4.48819815e-01 -3.51398483e-02 2.05126691e+02] [ 3.91210332e-02 4.02294198e-04 9.99234398e-01 1.81131258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.310385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.21, Y:205.15, Z:18.11 [[ 4.42350422e-01 -8.96677535e-01 -1.71901840e-02 2.85208054e+02] [ 8.95988565e-01 4.42684286e-01 -3.51441966e-02 2.05153343e+02] [ 3.91228359e-02 1.43841911e-04 9.99234398e-01 1.81139759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.340385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.22, Y:205.18, Z:18.12 [[ 4.42971116e-01 -8.96373768e-01 -1.70486998e-02 2.85221224e+02] [ 8.95681897e-01 4.43298951e-01 -3.52133525e-02 2.05179682e+02] [ 3.91219962e-02 3.28286292e-04 9.99234388e-01 1.81150030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.37038572299997 meters Centerline goodness : 0.999689 Centerline is valid? [True, True] Translation: X:285.23, Y:205.21, Z:18.11 [[ 4.40361724e-01 -8.97656065e-01 -1.71796738e-02 2.85233732e+02] [ 8.96967636e-01 4.40696703e-01 -3.51493378e-02 2.05206095e+02] [ 3.91230418e-02 6.88115992e-05 9.99234398e-01 1.81128352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.400385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.24, Y:205.23, Z:18.12 [[ 4.38000061e-01 -8.98808776e-01 -1.72838546e-02 2.85243249e+02] [ 8.98123231e-01 4.38340920e-01 -3.50984393e-02 2.05229552e+02] [ 3.91230060e-02 -1.49912845e-04 9.99234391e-01 1.81186066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.430385723 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:285.26, Y:205.26, Z:18.12 [[ 4.39470042e-01 -8.98095776e-01 -1.70311223e-02 2.85259180e+02] [ 8.97404863e-01 4.39799885e-01 -3.52217631e-02 2.05256701e+02] [ 3.91228023e-02 1.95097755e-04 9.99234391e-01 1.81171402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.460385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.27, Y:205.28, Z:18.12 [[ 4.38364246e-01 -8.98630119e-01 -1.73406084e-02 2.85270551e+02] [ 8.97945528e-01 4.38707044e-01 -3.50707539e-02 2.05283035e+02] [ 3.91230828e-02 -1.97157198e-04 9.99234380e-01 1.81171616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.490385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.28, Y:205.31, Z:18.11 [[ 4.36439390e-01 -8.99566664e-01 -1.73342684e-02 2.85280242e+02] [ 8.98882686e-01 4.36783405e-01 -3.50738433e-02 2.05309291e+02] [ 3.91225810e-02 -2.73867000e-04 9.99234381e-01 1.81132972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.520385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.29, Y:205.33, Z:18.12 [[ 4.34049857e-01 -9.00721568e-01 -1.73602340e-02 2.85288698e+02] [ 9.00039011e-01 4.34396698e-01 -3.50611917e-02 2.05333075e+02] [ 3.91215999e-02 -4.06582582e-04 9.99234374e-01 1.81164286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.550385723 meters Centerline goodness : 0.999844 Centerline is valid? [True, True] Translation: X:285.30, Y:205.36, Z:18.11 [[ 4.32866549e-01 -9.01295415e-01 -1.71209340e-02 2.85304426e+02] [ 9.00608680e-01 4.33204961e-01 -3.51776603e-02 2.05360544e+02] [ 3.91223375e-02 -1.92029370e-04 9.99234410e-01 1.81139588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.580385723 meters Centerline goodness : 0.996835 Centerline is valid? [True, True] Translation: X:285.32, Y:205.38, Z:18.12 [[ 4.31721808e-01 -9.01838238e-01 -1.74376976e-02 2.85316533e+02] [ 9.01158107e-01 4.32073420e-01 -3.50232140e-02 2.05383577e+02] [ 3.91196393e-02 -5.93837247e-04 9.99234357e-01 1.81158365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.610385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:285.33, Y:205.41, Z:18.12 [[ 4.30094314e-01 -9.02615865e-01 -1.74207377e-02 2.85325403e+02] [ 9.01936035e-01 4.30446494e-01 -3.50314778e-02 2.05405586e+02] [ 3.91186631e-02 -6.45551655e-04 9.99234364e-01 1.81232007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.640385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:285.34, Y:205.43, Z:18.13 [[ 4.29977377e-01 -9.02677440e-01 -1.71141656e-02 2.85337045e+02] [ 9.01991675e-01 4.30317723e-01 -3.51806172e-02 2.05430842e+02] [ 3.91212782e-02 -3.09965442e-04 9.99234422e-01 1.81272381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.670385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:285.35, Y:205.46, Z:18.13 [[ 4.30338627e-01 -9.02505444e-01 -1.71052357e-02 2.85348106e+02] [ 9.01819370e-01 4.30678351e-01 -3.51849585e-02 2.05455883e+02] [ 3.91214713e-02 -2.84386156e-04 9.99234422e-01 1.81280932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.700385723 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:285.36, Y:205.48, Z:18.13 [[ 4.30619042e-01 -9.02371844e-01 -1.70966442e-02 2.85356495e+02] [ 9.01685499e-01 4.30958218e-01 -3.51891326e-02 2.05481247e+02] [ 3.91216218e-02 -2.62685620e-04 9.99234422e-01 1.81287766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.730385723 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:285.37, Y:205.51, Z:18.13 [[ 4.30452551e-01 -9.02455637e-01 -1.68649159e-02 2.85368846e+02] [ 9.01764921e-01 4.30782804e-01 -3.53016061e-02 2.05506973e+02] [ 3.91232491e-02 -1.25231533e-05 9.99234393e-01 1.81297926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.760385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:285.38, Y:205.53, Z:18.13 [[ 4.33155970e-01 -9.01161407e-01 -1.68530281e-02 2.85383896e+02] [ 9.00469480e-01 4.33483685e-01 -3.53073723e-02 2.05533447e+02] [ 3.91231541e-02 1.17961665e-04 9.99234389e-01 1.81287018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.790385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:285.40, Y:205.56, Z:18.13 [[ 4.35216682e-01 -9.00163779e-01 -1.70766395e-02 2.85397837e+02] [ 8.99475329e-01 4.35551570e-01 -3.51988893e-02 2.05557542e+02] [ 3.91225223e-02 -4.08721110e-05 9.99234420e-01 1.81302541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.820385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.41, Y:205.58, Z:18.13 [[ 4.36120800e-01 -8.99726275e-01 -1.70668842e-02 2.85409857e+02] [ 8.99037304e-01 4.36454614e-01 -3.52036187e-02 2.05581568e+02] [ 3.91225411e-02 9.26475420e-06 9.99234420e-01 1.81301910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.850385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:285.42, Y:205.61, Z:18.13 [[ 4.36828620e-01 -8.99383017e-01 -1.70571289e-02 2.85422981e+02] [ 8.98693600e-01 4.37161511e-01 -3.52083448e-02 2.05606708e+02] [ 3.91225076e-02 5.08800764e-05 9.99234420e-01 1.81313870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.880385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:285.44, Y:205.63, Z:18.13 [[ 4.38699001e-01 -8.98472346e-01 -1.70478725e-02 2.85435323e+02] [ 8.97782064e-01 4.39030093e-01 -3.52128261e-02 2.05629703e+02] [ 3.91222796e-02 1.42557476e-04 9.99234420e-01 1.81340250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.910385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.45, Y:205.66, Z:18.13 [[ 4.37706788e-01 -8.98959442e-01 -1.68727629e-02 2.85448855e+02] [ 8.98266246e-01 4.38031775e-01 -3.52975229e-02 2.05657209e+02] [ 3.91218478e-02 2.93731948e-04 9.99234404e-01 1.81333391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.940385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:285.46, Y:205.68, Z:18.13 [[ 4.38244168e-01 -8.98694605e-01 -1.70310506e-02 2.85461406e+02] [ 8.98004173e-01 4.38574951e-01 -3.52209838e-02 2.05680308e+02] [ 3.91223003e-02 1.41436204e-04 9.99234420e-01 1.81339611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.970385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:285.48, Y:205.71, Z:18.13 [[ 4.36877911e-01 -8.99361847e-01 -1.69103593e-02 2.85475365e+02] [ 8.98669654e-01 4.37205012e-01 -3.52793194e-02 2.05706985e+02] [ 3.91221677e-02 2.15928587e-04 9.99234412e-01 1.81346904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.000385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:285.49, Y:205.73, Z:18.14 [[ 4.35769270e-01 -8.99897484e-01 -1.70194390e-02 2.85488061e+02] [ 8.99207746e-01 4.36101497e-01 -3.52266188e-02 2.05730674e+02] [ 3.91225485e-02 4.66665812e-05 9.99234419e-01 1.81353251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.030385723 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:285.50, Y:205.76, Z:18.14 [[ 4.34207008e-01 -9.00652513e-01 -1.70095616e-02 2.85500984e+02] [ 8.99963165e-01 4.34540045e-01 -3.52313876e-02 2.05755461e+02] [ 3.91225734e-02 -1.02634802e-05 9.99234419e-01 1.81364542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.060385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:285.51, Y:205.78, Z:18.14 [[ 4.31653407e-01 -9.01879339e-01 -1.69998380e-02 2.85514592e+02] [ 9.01190752e-01 4.31988017e-01 -3.52360788e-02 2.05780044e+02] [ 3.91224177e-02 -1.10323327e-04 9.99234419e-01 1.81393486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.090385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:285.53, Y:205.80, Z:18.14 [[ 4.29649899e-01 -9.02835697e-01 -1.69902297e-02 2.85527322e+02] [ 9.02147673e-01 4.29985661e-01 -3.52407111e-02 2.05804353e+02] [ 3.91221272e-02 -1.86528211e-04 9.99234419e-01 1.81402386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.12038572299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.53, Y:205.83, Z:18.14 [[ 4.24188830e-01 -9.05414486e-01 -1.69836767e-02 2.85531092e+02] [ 9.04728376e-01 4.24528487e-01 -3.52438689e-02 2.05825285e+02] [ 3.91203641e-02 -4.15558749e-04 9.99234419e-01 1.81414772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.150385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:285.55, Y:205.85, Z:18.14 [[ 4.28130182e-01 -9.03570786e-01 -1.62598034e-02 2.85551203e+02] [ 9.02869690e-01 4.28438471e-01 -3.55921351e-02 2.05854368e+02] [ 3.91263388e-02 5.57583587e-04 9.99234116e-01 1.81425723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.180385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:285.56, Y:205.88, Z:18.14 [[ 4.27290120e-01 -9.03955115e-01 -1.69794948e-02 2.85563271e+02] [ 9.03267782e-01 4.27627259e-01 -3.52454375e-02 2.05880198e+02] [ 3.91211883e-02 -2.77003456e-04 9.99234435e-01 1.81447134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.210385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:285.57, Y:205.91, Z:18.14 [[ 4.26430240e-01 -9.04361249e-01 -1.69700234e-02 2.85572993e+02] [ 9.03674055e-01 4.26767664e-01 -3.52499972e-02 2.05905382e+02] [ 3.91209887e-02 -3.03705037e-04 9.99234435e-01 1.81448204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.240385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.58, Y:205.93, Z:18.15 [[ 4.26242142e-01 -9.04450081e-01 -1.69613328e-02 2.85584596e+02] [ 9.03762792e-01 4.26579371e-01 -3.52541784e-02 2.05931447e+02] [ 3.91209992e-02 -3.02204968e-04 9.99234435e-01 1.81453809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.270385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.60, Y:205.96, Z:18.15 [[ 4.25874962e-01 -9.04623211e-01 -1.69518015e-02 2.85595519e+02] [ 9.03935876e-01 4.26212098e-01 -3.52587609e-02 2.05957314e+02] [ 3.91209563e-02 -3.07518046e-04 9.99234435e-01 1.81459274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.300385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.61, Y:205.98, Z:18.15 [[ 4.25502421e-01 -9.04798679e-01 -1.69422644e-02 2.85606836e+02] [ 9.04111301e-01 4.25839468e-01 -3.52633430e-02 2.05982724e+02] [ 3.91209110e-02 -3.13054857e-04 9.99234435e-01 1.81472648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.330385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.62, Y:206.01, Z:18.15 [[ 4.24991478e-01 -9.05038966e-01 -1.69325864e-02 2.85617331e+02] [ 9.04351594e-01 4.25328537e-01 -3.52679895e-02 2.06007590e+02] [ 3.91208170e-02 -3.24416451e-04 9.99234435e-01 1.81471566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.360385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:285.62, Y:206.03, Z:18.15 [[ 4.20166674e-01 -9.07289120e-01 -1.69239155e-02 2.85620891e+02] [ 9.06603384e-01 4.20507050e-01 -3.52721499e-02 2.06031366e+02] [ 3.91186636e-02 -5.23097218e-04 9.99234435e-01 1.81467912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.390385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.64, Y:206.06, Z:18.15 [[ 4.23325634e-01 -9.05828561e-01 -1.64324612e-02 2.85638641e+02] [ 9.05132375e-01 4.23644418e-01 -3.55076218e-02 2.06059134e+02] [ 3.91253384e-02 1.57733921e-04 9.99234298e-01 1.81496236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.420385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:285.64, Y:206.08, Z:18.15 [[ 4.17400522e-01 -9.08565197e-01 -1.69141337e-02 2.85641057e+02] [ 9.07880318e-01 4.17742606e-01 -3.52766802e-02 2.06080844e+02] [ 3.91169181e-02 -6.31504344e-04 9.99234441e-01 1.81499942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.450385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.65, Y:206.11, Z:18.15 [[ 4.16120041e-01 -9.09165470e-01 -1.61944158e-02 2.85650794e+02] [ 9.08467384e-01 4.16435032e-01 -3.56213010e-02 2.06106442e+02] [ 3.91295790e-02 1.10638739e-04 9.99234139e-01 1.81502015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.480385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:285.66, Y:206.13, Z:18.15 [[ 4.16571091e-01 -9.08958624e-01 -1.62094590e-02 2.85663057e+02] [ 9.08260662e-01 4.16886325e-01 -3.56140813e-02 2.06131867e+02] [ 3.91292281e-02 1.13382784e-04 9.99234152e-01 1.81519162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.510385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.68, Y:206.16, Z:18.15 [[ 4.20223072e-01 -9.07275461e-01 -1.62421740e-02 2.85682459e+02] [ 9.06576842e-01 4.20536780e-01 -3.55984056e-02 2.06159683e+02] [ 3.91279914e-02 2.34492523e-04 9.99234179e-01 1.81546366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.540385723 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:285.69, Y:206.18, Z:18.15 [[ 4.14916035e-01 -9.09703149e-01 -1.68779018e-02 2.85686033e+02] [ 9.09018524e-01 4.15258585e-01 -3.52934894e-02 2.06181850e+02] [ 3.91152921e-02 -6.98490738e-04 9.99234460e-01 1.81547725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.570385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.70, Y:206.21, Z:18.15 [[ 4.14413521e-01 -9.09942498e-01 -1.63120697e-02 2.85695769e+02] [ 9.09247238e-01 4.14734422e-01 -3.55642959e-02 2.06205554e+02] [ 3.91266411e-02 -9.33792401e-05 9.99234255e-01 1.81531243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.600385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.72, Y:206.24, Z:18.16 [[ 4.16463312e-01 -9.09010698e-01 -1.60580199e-02 2.85716305e+02] [ 9.08309999e-01 4.16772689e-01 -3.56857309e-02 2.06236331e+02] [ 3.91312553e-02 2.76137651e-04 9.99234041e-01 1.81585174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.630385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:285.72, Y:206.26, Z:18.16 [[ 4.12481496e-01 -9.10809295e-01 -1.68950684e-02 2.85721222e+02] [ 9.10125936e-01 4.12826540e-01 -3.52849558e-02 2.06258855e+02] [ 3.91125983e-02 -8.22248605e-04 9.99234471e-01 1.81587680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.660385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:285.73, Y:206.28, Z:18.16 [[ 4.11644214e-01 -9.11196048e-01 -1.64560951e-02 2.85729592e+02] [ 9.10504533e-01 4.11972843e-01 -3.54946792e-02 2.06284705e+02] [ 3.91220757e-02 -3.72169812e-04 9.99234369e-01 1.81572638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.690385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.74, Y:206.31, Z:18.16 [[ 4.14466173e-01 -9.09917027e-01 -1.63949546e-02 2.85743771e+02] [ 9.09223339e-01 4.14790272e-01 -3.55239416e-02 2.06309823e+02] [ 3.91243070e-02 -1.83203212e-04 9.99234334e-01 1.81624355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.720385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.76, Y:206.34, Z:18.16 [[ 4.18775933e-01 -9.07939684e-01 -1.64999591e-02 2.85761168e+02] [ 9.07246442e-01 4.19100845e-01 -3.54735764e-02 2.06336382e+02] [ 3.91230146e-02 -1.14049124e-04 9.99234395e-01 1.81649040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.750385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:285.77, Y:206.36, Z:18.16 [[ 4.16673838e-01 -9.08898441e-01 -1.69274112e-02 2.85765921e+02] [ 9.08214167e-01 4.17016984e-01 -3.52684217e-02 2.06360371e+02] [ 3.91144314e-02 -6.78286038e-04 9.99234508e-01 1.81620039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.780385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:285.78, Y:206.39, Z:18.16 [[ 4.17417302e-01 -9.08565448e-01 -1.64809941e-02 2.85777436e+02] [ 9.07872345e-01 4.17742509e-01 -3.54824075e-02 2.06386145e+02] [ 3.91229013e-02 -1.51667930e-04 9.99234395e-01 1.81622815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.810385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.79, Y:206.41, Z:18.16 [[ 4.19667755e-01 -9.07527056e-01 -1.65413895e-02 2.85788802e+02] [ 9.06834287e-01 4.19993604e-01 -3.54534741e-02 2.06412435e+02] [ 3.91222648e-02 -1.21619275e-04 9.99234424e-01 1.81630411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.840385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:285.80, Y:206.44, Z:18.17 [[ 4.21194636e-01 -9.06818441e-01 -1.65949739e-02 2.85801618e+02] [ 9.06126133e-01 4.21521412e-01 -3.54278155e-02 2.06437722e+02] [ 3.91217333e-02 -1.15133714e-04 9.99234445e-01 1.81660596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.87038572299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.82, Y:206.46, Z:18.17 [[ 4.22375684e-01 -9.06267386e-01 -1.66795384e-02 2.85815087e+02] [ 9.05576245e-01 4.22704863e-01 -3.53873406e-02 2.06464468e+02] [ 3.91209146e-02 -1.57841544e-04 9.99234472e-01 1.81684170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.900385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.83, Y:206.49, Z:18.17 [[ 4.21636155e-01 -9.06609882e-01 -1.67771745e-02 2.85827572e+02] [ 9.05920862e-01 4.21969705e-01 -3.53406166e-02 2.06492153e+02] [ 3.91196117e-02 -2.97910693e-04 9.99234491e-01 1.81694781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.930385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.84, Y:206.52, Z:18.17 [[ 4.20610603e-01 -9.07084178e-01 -1.68823547e-02 2.85838548e+02] [ 9.06397546e-01 4.20949027e-01 -3.52903003e-02 2.06516358e+02] [ 3.91178838e-02 -4.58650434e-04 9.99234497e-01 1.81718994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.960385723 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:285.85, Y:206.54, Z:18.17 [[ 4.17711405e-01 -9.08423063e-01 -1.68736692e-02 2.85850609e+02] [ 9.07737348e-01 4.18051683e-01 -3.52944527e-02 2.06541971e+02] [ 3.91163606e-02 -5.73964326e-04 9.99234497e-01 1.81721994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.990385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.86, Y:206.57, Z:18.17 [[ 4.16203431e-01 -9.09115123e-01 -1.68640854e-02 2.85861952e+02] [ 9.08429788e-01 4.16544474e-01 -3.52990313e-02 2.06566139e+02] [ 3.91155248e-02 -6.28259550e-04 9.99234498e-01 1.81731323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.020385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.87, Y:206.59, Z:18.17 [[ 4.14246272e-01 -9.10008747e-01 -1.68554730e-02 2.85872547e+02] [ 9.09323981e-01 4.14588454e-01 -3.53031433e-02 2.06591613e+02] [ 3.91142537e-02 -7.02890309e-04 9.99234498e-01 1.81719259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.050385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:285.88, Y:206.62, Z:18.17 [[ 4.12609448e-01 -9.10753527e-01 -1.67766480e-02 2.85883386e+02] [ 9.10067849e-01 4.12949805e-01 -3.53407514e-02 2.06616932e+02] [ 3.91146276e-02 -6.85959984e-04 9.99234495e-01 1.81746636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.080385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.90, Y:206.64, Z:18.18 [[ 4.12278007e-01 -9.10902394e-01 -1.68426206e-02 2.85897209e+02] [ 9.10218119e-01 4.12621172e-01 -3.53092825e-02 2.06644069e+02] [ 3.91129317e-02 -7.73217805e-04 9.99234497e-01 1.81750005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.110385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.91, Y:206.67, Z:18.18 [[ 4.12055646e-01 -9.10999353e-01 -1.70388853e-02 2.85906265e+02] [ 9.10318998e-01 4.12406570e-01 -3.52156569e-02 2.06667516e+02] [ 3.91083889e-02 -1.00001071e-03 9.99234474e-01 1.81784227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.140385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.92, Y:206.69, Z:18.18 [[ 4.12188737e-01 -9.10943040e-01 -1.68292309e-02 2.85918090e+02] [ 9.10258542e-01 4.12531449e-01 -3.53155665e-02 2.06693145e+02] [ 3.91130565e-02 -7.62272421e-04 9.99234501e-01 1.81800145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.170385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.93, Y:206.72, Z:18.18 [[ 4.12435297e-01 -9.10831604e-01 -1.68200932e-02 2.85929727e+02] [ 9.10146836e-01 4.12777470e-01 -3.53199181e-02 2.06718897e+02] [ 3.91134531e-02 -7.41573732e-04 9.99234501e-01 1.81818396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.200385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.94, Y:206.74, Z:18.18 [[ 4.12972157e-01 -9.10588488e-01 -1.68108096e-02 2.85940893e+02] [ 9.09903339e-01 4.13313567e-01 -3.53243361e-02 2.06743574e+02] [ 3.91140695e-02 -7.08244536e-04 9.99234501e-01 1.81841862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.230385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.95, Y:206.77, Z:18.18 [[ 4.13802862e-01 -9.10212109e-01 -1.67662859e-02 2.85953777e+02] [ 9.09525792e-01 4.14141918e-01 -3.53455141e-02 2.06772230e+02] [ 3.91155367e-02 -6.23294583e-04 9.99234500e-01 1.81839806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.260385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.96, Y:206.80, Z:18.19 [[ 4.13758336e-01 -9.10228248e-01 -1.69875408e-02 2.85962945e+02] [ 9.09546225e-01 4.14106002e-01 -3.52403701e-02 2.06796010e+02] [ 3.91114229e-02 -8.69956741e-04 9.99234477e-01 1.81858582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.290385723 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:285.98, Y:206.82, Z:18.18 [[ 4.14870183e-01 -9.09725904e-01 -1.67782941e-02 2.85980067e+02] [ 9.09039424e-01 4.15208900e-01 -3.53397157e-02 2.06824629e+02] [ 3.91159518e-02 -5.90736476e-04 9.99234504e-01 1.81835420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.320385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.99, Y:206.85, Z:18.19 [[ 4.13259368e-01 -9.10450200e-01 -1.72374260e-02 2.85985032e+02] [ 9.09773271e-01 4.13617057e-01 -3.51215666e-02 2.06846590e+02] [ 3.91061307e-02 -1.16783307e-03 9.99234380e-01 1.81886086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.350385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:286.00, Y:206.88, Z:18.19 [[ 4.16123097e-01 -9.09153739e-01 -1.67644769e-02 2.86003105e+02] [ 9.08466543e-01 4.16460331e-01 -3.53458912e-02 2.06876207e+02] [ 3.91165888e-02 -5.21724638e-04 9.99234517e-01 1.81879704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.380385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.01, Y:206.90, Z:18.19 [[ 4.14071561e-01 -9.10077499e-01 -1.74266753e-02 2.86007759e+02] [ 9.09404010e-01 4.14435936e-01 -3.50314428e-02 2.06900537e+02] [ 3.91035683e-02 -1.34236422e-03 9.99234261e-01 1.81892712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.410385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.02, Y:206.93, Z:18.19 [[ 4.15945652e-01 -9.09228927e-01 -1.70872094e-02 2.86022262e+02] [ 9.08548035e-01 4.16295535e-01 -3.51922731e-02 2.06927524e+02] [ 3.91111617e-02 -8.86477559e-04 9.99234473e-01 1.81900098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.440385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:286.03, Y:206.95, Z:18.19 [[ 4.13755829e-01 -9.10222991e-01 -1.73268943e-02 2.86029902e+02] [ 9.09547650e-01 4.14116597e-01 -3.50787141e-02 2.06952696e+02] [ 3.91048065e-02 -1.24561358e-03 9.99234338e-01 1.81919127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.470385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:286.04, Y:206.98, Z:18.19 [[ 4.11692901e-01 -9.11162588e-01 -1.70790193e-02 2.86037262e+02] [ 9.10483196e-01 4.12045645e-01 -3.51956817e-02 2.06977690e+02] [ 3.91063239e-02 -1.06034776e-03 9.99234493e-01 1.81930996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.500385723 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:286.05, Y:207.00, Z:18.19 [[ 4.10703053e-01 -9.11611882e-01 -1.69345148e-02 2.86048700e+02] [ 9.10930062e-01 4.11050953e-01 -3.52638047e-02 2.07004058e+02] [ 3.91078518e-02 -9.43206327e-04 9.99234550e-01 1.81934864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.530385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:286.05, Y:207.03, Z:18.20 [[ 4.07199620e-01 -9.13181261e-01 -1.69839700e-02 2.86054353e+02] [ 9.12501748e-01 4.07552043e-01 -3.52405058e-02 2.07027955e+02] [ 3.91028212e-02 -1.14798175e-03 9.99234533e-01 1.81961231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.560385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:286.07, Y:207.05, Z:18.20 [[ 4.05355709e-01 -9.14007310e-01 -1.66548967e-02 2.86066262e+02] [ 9.13322111e-01 4.05696797e-01 -3.53953506e-02 2.07054871e+02] [ 3.91084474e-02 -8.63578020e-04 9.99234599e-01 1.81950201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.590385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.08, Y:207.08, Z:18.20 [[ 4.04792565e-01 -9.14255844e-01 -1.67102033e-02 2.86076906e+02] [ 9.13571923e-01 4.05136214e-01 -3.53693382e-02 2.07081062e+02] [ 3.91065327e-02 -9.48727467e-04 9.99234597e-01 1.81983231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.62038572299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.09, Y:207.11, Z:18.20 [[ 4.04548454e-01 -9.14365191e-01 -1.66386611e-02 2.86088955e+02] [ 9.13679981e-01 4.04889518e-01 -3.54029617e-02 2.07106953e+02] [ 3.91080553e-02 -8.80198116e-04 9.99234600e-01 1.81994129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.650385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.10, Y:207.13, Z:18.20 [[ 4.04393141e-01 -9.14434064e-01 -1.66292016e-02 2.86103062e+02] [ 9.13748730e-01 4.04733955e-01 -3.54074044e-02 2.07134056e+02] [ 3.91081392e-02 -8.76400384e-04 9.99234600e-01 1.81994233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.680385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:286.11, Y:207.16, Z:18.20 [[ 4.02357478e-01 -9.15327833e-01 -1.68350085e-02 2.86109905e+02] [ 9.14647260e-01 4.02707761e-01 -3.53107551e-02 2.07158521e+02] [ 3.91005056e-02 -1.19054797e-03 9.99234574e-01 1.82012070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.710385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.12, Y:207.19, Z:18.20 [[ 4.03771766e-01 -9.14708922e-01 -1.66117296e-02 2.86124887e+02] [ 9.14023488e-01 4.04112370e-01 -3.54154860e-02 2.07186690e+02] [ 3.91078664e-02 -8.83737673e-04 9.99234604e-01 1.82015944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.740385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.13, Y:207.21, Z:18.20 [[ 4.01961829e-01 -9.15499980e-01 -1.69255943e-02 2.86131272e+02] [ 9.14821334e-01 4.02315894e-01 -3.52682511e-02 2.07212244e+02] [ 3.90975188e-02 -1.30740400e-03 9.99234544e-01 1.82024708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.770385723 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:286.14, Y:207.24, Z:18.20 [[ 4.03448956e-01 -9.14850915e-01 -1.66356048e-02 2.86141619e+02] [ 9.14166065e-01 4.03790725e-01 -3.54041892e-02 2.07236725e+02] [ 3.91068578e-02 -9.23922195e-04 9.99234607e-01 1.82025345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.800385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:286.15, Y:207.26, Z:18.20 [[ 4.03484799e-01 -9.14836685e-01 -1.65486049e-02 2.86153933e+02] [ 9.14150151e-01 4.03823175e-01 -3.54449443e-02 2.07264022e+02] [ 3.91090455e-02 -8.26413450e-04 9.99234607e-01 1.82045007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.830385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:286.16, Y:207.29, Z:18.20 [[ 4.04601499e-01 -9.14339743e-01 -1.67469640e-02 2.86163202e+02] [ 9.13656601e-01 4.04946711e-01 -3.53521780e-02 2.07290369e+02] [ 3.91055294e-02 -9.97430042e-04 9.99234588e-01 1.82043500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.860385723 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:286.17, Y:207.32, Z:18.21 [[ 4.04818361e-01 -9.14245438e-01 -1.66545698e-02 2.86173125e+02] [ 9.13560438e-01 4.05159838e-01 -3.53953640e-02 2.07315443e+02] [ 3.91078129e-02 -8.86262809e-04 9.99234604e-01 1.82053849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.890385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.18, Y:207.34, Z:18.21 [[ 4.07515182e-01 -9.13047922e-01 -1.65791517e-02 2.86183623e+02] [ 9.12360485e-01 4.07851712e-01 -3.54305916e-02 2.07339929e+02] [ 3.91116634e-02 -6.87658856e-04 9.99234610e-01 1.82069972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.920385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.19, Y:207.36, Z:18.21 [[ 4.07897968e-01 -9.12877532e-01 -1.65487026e-02 2.86194823e+02] [ 9.12189377e-01 4.08233028e-01 -3.54448079e-02 2.07364873e+02] [ 3.91124957e-02 -6.37685597e-04 9.99234610e-01 1.82072056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.950385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:286.21, Y:207.39, Z:18.21 [[ 4.08234790e-01 -9.12727115e-01 -1.65399311e-02 2.86206700e+02] [ 9.12038672e-01 4.08569255e-01 -3.54489005e-02 2.07390722e+02] [ 3.91128801e-02 -6.13582334e-04 9.99234610e-01 1.82085726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.980385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:286.22, Y:207.42, Z:18.21 [[ 4.08216277e-01 -9.12735555e-01 -1.65311492e-02 2.86217425e+02] [ 9.12046952e-01 4.08550415e-01 -3.54529954e-02 2.07416574e+02] [ 3.91130173e-02 -6.04694526e-04 9.99234610e-01 1.82111465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.010385723 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:286.23, Y:207.44, Z:18.21 [[ 4.07993319e-01 -9.12835261e-01 -1.65298968e-02 2.86229038e+02] [ 9.12146717e-01 4.08327578e-01 -3.54535789e-02 2.07442638e+02] [ 3.91128897e-02 -6.12867779e-04 9.99234610e-01 1.82116370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.040385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:286.24, Y:207.47, Z:18.21 [[ 4.07332519e-01 -9.13130650e-01 -1.65116659e-02 2.86240698e+02] [ 9.12442004e-01 4.07666568e-01 -3.54620675e-02 2.07468314e+02] [ 3.91127549e-02 -6.21084266e-04 9.99234610e-01 1.82121734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.070385723 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:286.25, Y:207.49, Z:18.21 [[ 4.05954924e-01 -9.13744104e-01 -1.65018997e-02 2.86252607e+02] [ 9.13055778e-01 4.06289632e-01 -3.54666115e-02 2.07493243e+02] [ 3.91119579e-02 -6.69309320e-04 9.99234610e-01 1.82133133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.100385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.26, Y:207.52, Z:18.21 [[ 4.02422688e-01 -9.15305412e-01 -1.64919091e-02 2.86261348e+02] [ 9.14618195e-01 4.02759665e-01 -3.54712565e-02 2.07517274e+02] [ 3.91093088e-02 -8.09361754e-04 9.99234611e-01 1.82125510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.130385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:286.28, Y:207.54, Z:18.22 [[ 4.02565702e-01 -9.15246415e-01 -1.62743509e-02 2.86277600e+02] [ 9.14555045e-01 4.02894132e-01 -3.55722976e-02 2.07544295e+02] [ 3.91142584e-02 -5.63602750e-04 9.99234586e-01 1.82166015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.160385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.29, Y:207.57, Z:18.22 [[ 4.01776193e-01 -9.15588261e-01 -1.65537826e-02 2.86289583e+02] [ 9.14902459e-01 4.02116050e-01 -3.54425157e-02 2.07569908e+02] [ 3.91072929e-02 -9.05137390e-04 9.99234607e-01 1.82189600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.190385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.30, Y:207.60, Z:18.22 [[ 4.01360414e-01 -9.15771466e-01 -1.65057844e-02 2.86301171e+02] [ 9.15084904e-01 4.01698725e-01 -3.54647966e-02 2.07595016e+02] [ 3.91080013e-02 -8.70028674e-04 9.99234611e-01 1.82183955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.220385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.31, Y:207.62, Z:18.22 [[ 3.98597860e-01 -9.16978021e-01 -1.64637810e-02 2.86310157e+02] [ 9.16291680e-01 3.98936615e-01 -3.54842851e-02 2.07619381e+02] [ 3.91063146e-02 -9.41665482e-04 9.99234612e-01 1.82186209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.250385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:286.33, Y:207.65, Z:18.22 [[ 4.00828418e-01 -9.16007848e-01 -1.63156659e-02 2.86325372e+02] [ 9.15317885e-01 4.01159762e-01 -3.55529735e-02 2.07645822e+02] [ 3.91119914e-02 -6.83378683e-04 9.99234600e-01 1.82202614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.280385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.33, Y:207.67, Z:18.22 [[ 3.97785729e-01 -9.17330762e-01 -1.64555856e-02 2.86332406e+02] [ 9.16644565e-01 3.98124776e-01 -3.54880943e-02 2.07668496e+02] [ 3.91056969e-02 -9.67265619e-04 9.99234612e-01 1.82196181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.310385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:286.35, Y:207.69, Z:18.22 [[ 4.01898190e-01 -9.15543485e-01 -1.60615052e-02 2.86349881e+02] [ 9.14848408e-01 4.02218845e-01 -3.56705972e-02 2.07694994e+02] [ 3.91182229e-02 -3.57894027e-04 9.99234525e-01 1.82206423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.340385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:286.36, Y:207.72, Z:18.22 [[ 3.99298147e-01 -9.16673662e-01 -1.64434626e-02 2.86356901e+02] [ 9.15986678e-01 3.99635592e-01 -3.54936481e-02 2.07718443e+02] [ 3.91074853e-02 -8.89444767e-04 9.99234614e-01 1.82197957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.37038572299997 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:286.37, Y:207.74, Z:18.22 [[ 3.99971007e-01 -9.16387264e-01 -1.60491740e-02 2.86368858e+02] [ 9.15692641e-01 4.00292644e-01 -3.56761456e-02 2.07744159e+02] [ 3.91175317e-02 -4.26686618e-04 9.99234525e-01 1.82199467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.400385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.39, Y:207.77, Z:18.22 [[ 4.05263089e-01 -9.14060100e-01 -1.59988278e-02 2.86386305e+02] [ 9.13362708e-01 4.05578738e-01 -3.56994440e-02 2.07771478e+02] [ 3.91202217e-02 -1.45065790e-04 9.99234501e-01 1.82225038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.430385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.39, Y:207.80, Z:18.22 [[ 4.02863482e-01 -9.15112476e-01 -1.64368838e-02 2.86393171e+02] [ 9.14424063e-01 4.03197995e-01 -3.54966050e-02 2.07795583e+02] [ 3.91107046e-02 -7.29996176e-04 9.99234617e-01 1.82223099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.460385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.41, Y:207.82, Z:18.22 [[ 4.08056375e-01 -9.12815364e-01 -1.60656787e-02 2.86410635e+02] [ 9.12118235e-01 4.08372503e-01 -3.56682493e-02 2.07821314e+02] [ 3.91193074e-02 -9.91420479e-05 9.99234542e-01 1.82244349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.490385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:286.41, Y:207.84, Z:18.22 [[ 4.03866121e-01 -9.14670651e-01 -1.64242683e-02 2.86414509e+02] [ 9.13981638e-01 4.04199390e-01 -3.55023603e-02 2.07843466e+02] [ 3.91116462e-02 -6.73279125e-04 9.99234620e-01 1.82214665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.520385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.44, Y:207.87, Z:18.23 [[ 4.09309014e-01 -9.12258656e-01 -1.58201062e-02 2.86435986e+02] [ 9.11556685e-01 4.09614567e-01 -3.57814958e-02 2.07871884e+02] [ 3.91221252e-02 2.24765141e-04 9.99234411e-01 1.82270742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.550385723 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:286.45, Y:207.90, Z:18.23 [[ 4.08682834e-01 -9.12528745e-01 -1.64204389e-02 2.86449528e+02] [ 9.11837925e-01 4.09012317e-01 -3.55038529e-02 2.07895590e+02] [ 3.91144481e-02 -4.62963724e-04 9.99234630e-01 1.82259945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.580385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.46, Y:207.92, Z:18.23 [[ 4.07983839e-01 -9.12841633e-01 -1.64115847e-02 2.86461490e+02] [ 9.12150901e-01 4.08313506e-01 -3.55079453e-02 2.07920721e+02] [ 3.91142025e-02 -4.83173962e-04 9.99234630e-01 1.82291263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.610385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.47, Y:207.94, Z:18.23 [[ 4.01725079e-01 -9.15613421e-01 -1.64019373e-02 2.86466111e+02] [ 9.14924781e-01 4.02059094e-01 -3.55124011e-02 2.07942685e+02] [ 3.91101791e-02 -7.40316746e-04 9.99234630e-01 1.82274289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.640385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:286.48, Y:207.97, Z:18.23 [[ 4.01158803e-01 -9.15872712e-01 -1.57731039e-02 2.86477806e+02] [ 9.15172672e-01 4.01468767e-01 -3.58023820e-02 2.07967902e+02] [ 3.91228333e-02 -7.26729642e-05 9.99234406e-01 1.82271027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.670385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.49, Y:207.99, Z:18.23 [[ 4.00423389e-01 -9.16194789e-01 -1.57549260e-02 2.86489817e+02] [ 9.15494668e-01 4.00733204e-01 -3.58107661e-02 2.07992200e+02] [ 3.91231593e-02 -8.40823952e-05 9.99234393e-01 1.82282919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.700385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.50, Y:208.02, Z:18.23 [[ 4.00665633e-01 -9.16089146e-01 -1.57393564e-02 2.86504341e+02] [ 9.15388661e-01 4.00974654e-01 -3.58179466e-02 2.08017417e+02] [ 3.91235151e-02 -5.66082078e-05 9.99234381e-01 1.82298903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.730385723 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:286.52, Y:208.04, Z:18.23 [[ 3.99750192e-01 -9.16487166e-01 -1.58447943e-02 2.86518092e+02] [ 9.15788908e-01 4.00064031e-01 -3.57693602e-02 2.08042225e+02] [ 3.91210918e-02 -2.11678225e-04 9.99234455e-01 1.82301556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.760385723 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:286.53, Y:208.07, Z:18.23 [[ 3.99341630e-01 -9.16664889e-01 -1.58664569e-02 2.86529868e+02] [ 9.15967166e-01 3.99656625e-01 -3.57593615e-02 2.08066613e+02] [ 3.91204857e-02 -2.52951853e-04 9.99234469e-01 1.82306124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.790385723 meters Centerline goodness : 0.999609 Centerline is valid? [True, True] Translation: X:286.55, Y:208.09, Z:18.23 [[ 4.03953301e-01 -9.14644571e-01 -1.57174753e-02 2.86552627e+02] [ 9.13942587e-01 4.04258948e-01 -3.58280702e-02 2.08093402e+02] [ 3.91238800e-02 1.07997182e-04 9.99234362e-01 1.82311703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.820385723 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:286.57, Y:208.12, Z:18.23 [[ 4.03615569e-01 -9.14781641e-01 -1.64018968e-02 2.86565933e+02] [ 9.14092329e-01 4.03948158e-01 -3.55119690e-02 2.08118382e+02] [ 3.91112133e-02 -6.59664450e-04 9.99234646e-01 1.82320385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.850385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:286.57, Y:208.14, Z:18.23 [[ 3.98511112e-01 -9.17017005e-01 -1.63922687e-02 2.86571463e+02] [ 9.16329375e-01 3.98847165e-01 -3.55164128e-02 2.08139747e+02] [ 3.91071644e-02 -8.67032165e-04 9.99234646e-01 1.82313676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.880385723 meters Centerline goodness : 0.999715 Centerline is valid? [True, True] Translation: X:286.59, Y:208.17, Z:18.23 [[ 4.02297225e-01 -9.15373385e-01 -1.57641684e-02 2.86592062e+02] [ 9.14672832e-01 4.02605968e-01 -3.58056587e-02 2.08166872e+02] [ 3.91222953e-02 -1.45394734e-05 9.99234430e-01 1.82328355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.910385723 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:286.60, Y:208.19, Z:18.23 [[ 3.98655120e-01 -9.16954677e-01 -1.63772588e-02 2.86597826e+02] [ 9.16266724e-01 3.98990484e-01 -3.55230140e-02 2.08189091e+02] [ 3.91073643e-02 -8.44505900e-04 9.99234658e-01 1.82333213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.940385723 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:286.61, Y:208.21, Z:18.24 [[ 4.00973567e-01 -9.15950205e-01 -1.59818605e-02 2.86613341e+02] [ 9.15254046e-01 4.01291820e-01 -3.57058338e-02 2.08211844e+02] [ 3.91181557e-02 -3.10366958e-04 9.99234544e-01 1.82363846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.970385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.63, Y:208.24, Z:18.24 [[ 4.05687705e-01 -9.13873097e-01 -1.59200505e-02 2.86633404e+02] [ 9.13174182e-01 4.05999951e-01 -3.57344832e-02 2.08239193e+02] [ 3.91203226e-02 -4.07386568e-05 9.99234506e-01 1.82404420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.000385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:286.65, Y:208.26, Z:18.24 [[ 4.06413195e-01 -9.13541072e-01 -1.64628237e-02 2.86647545e+02] [ 9.12851927e-01 4.06746039e-01 -3.54826615e-02 2.08262936e+02] [ 3.91110569e-02 -6.07498549e-04 9.99234685e-01 1.82413907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.030385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:286.66, Y:208.29, Z:18.24 [[ 4.06502304e-01 -9.13501581e-01 -1.64541113e-02 2.86660265e+02] [ 9.12812240e-01 4.06834743e-01 -3.54867012e-02 2.08287852e+02] [ 3.91112618e-02 -5.94088362e-04 9.99234685e-01 1.82436286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.060385723 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:286.67, Y:208.31, Z:18.24 [[ 4.06379533e-01 -9.13556394e-01 -1.64435611e-02 2.86673667e+02] [ 9.12866900e-01 4.06711655e-01 -3.54915891e-02 2.08311671e+02] [ 3.91113561e-02 -5.87727275e-04 9.99234685e-01 1.82418856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.090385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:286.69, Y:208.33, Z:18.24 [[ 4.06168754e-01 -9.13650342e-01 -1.64315861e-02 2.86687401e+02] [ 9.12960701e-01 4.06500569e-01 -3.54971324e-02 2.08334522e+02] [ 3.91114162e-02 -5.83566375e-04 9.99234685e-01 1.82430347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.12038572299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.70, Y:208.36, Z:18.25 [[ 4.07477754e-01 -9.13070222e-01 -1.62680566e-02 2.86701696e+02] [ 9.12377076e-01 4.07802218e-01 -3.55727670e-02 2.08360198e+02] [ 3.91145839e-02 -3.47490707e-04 9.99234671e-01 1.82452957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.150385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.72, Y:208.38, Z:18.25 [[ 4.07803157e-01 -9.12922255e-01 -1.64177316e-02 2.86715563e+02] [ 9.12231763e-01 4.08133199e-01 -3.55035522e-02 2.08384627e+02] [ 3.91126042e-02 -4.98315532e-04 9.99234685e-01 1.82458846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.180385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.73, Y:208.41, Z:18.25 [[ 4.07903393e-01 -9.12877648e-01 -1.64079524e-02 2.86728452e+02] [ 9.12186939e-01 4.08232979e-01 -3.55080711e-02 2.08409853e+02] [ 3.91127917e-02 -4.83257202e-04 9.99234685e-01 1.82467517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.210385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:286.74, Y:208.43, Z:18.25 [[ 4.07736004e-01 -9.12952599e-01 -1.63982547e-02 2.86741040e+02] [ 9.12261770e-01 4.08065340e-01 -3.55125491e-02 2.08434489e+02] [ 3.91128334e-02 -4.79755968e-04 9.99234685e-01 1.82473725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.240385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:286.75, Y:208.46, Z:18.25 [[ 4.07367396e-01 -9.13117309e-01 -1.63885384e-02 2.86753568e+02] [ 9.12426433e-01 4.07696633e-01 -3.55170324e-02 2.08459108e+02] [ 3.91127690e-02 -4.84854649e-04 9.99234685e-01 1.82492580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.270385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.77, Y:208.48, Z:18.25 [[ 4.06199107e-01 -9.13639078e-01 -1.63070715e-02 2.86766104e+02] [ 9.12947114e-01 4.06526060e-01 -3.55545957e-02 2.08482676e+02] [ 3.91133175e-02 -4.45248814e-04 9.99234682e-01 1.82480685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.300385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.78, Y:208.51, Z:18.25 [[ 4.05088418e-01 -9.14134519e-01 -1.61695945e-02 2.86779968e+02] [ 9.13440416e-01 4.05410860e-01 -3.56179970e-02 2.08508107e+02] [ 3.91149697e-02 -3.41523052e-04 9.99234658e-01 1.82491374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.330385723 meters Centerline goodness : 0.999844 Centerline is valid? [True, True] Translation: X:286.80, Y:208.53, Z:18.25 [[ 4.02501491e-01 -9.15274976e-01 -1.62563401e-02 2.86796399e+02] [ 9.14583395e-01 4.02829268e-01 -3.55780023e-02 2.08532813e+02] [ 3.91121848e-02 -5.47579709e-04 9.99234676e-01 1.82460723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.360385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.81, Y:208.56, Z:18.25 [[ 4.01480647e-01 -9.15721077e-01 -1.63767934e-02 2.86809179e+02] [ 9.15032114e-01 4.01813869e-01 -3.55224706e-02 2.08558122e+02] [ 3.91090977e-02 -7.23707416e-04 9.99234685e-01 1.82492180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.390385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.82, Y:208.58, Z:18.25 [[ 4.00309564e-01 -9.16233797e-01 -1.63671272e-02 2.86821893e+02] [ 9.15545078e-01 4.00643292e-01 -3.55269237e-02 2.08582784e+02] [ 3.91083480e-02 -7.63075419e-04 9.99234685e-01 1.82499777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.420385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.84, Y:208.61, Z:18.25 [[ 3.98512981e-01 -9.17016814e-01 -1.63574916e-02 2.86836209e+02] [ 9.16328569e-01 3.98847686e-01 -3.55313597e-02 2.08607357e+02] [ 3.91070019e-02 -8.29128782e-04 9.99234685e-01 1.82514585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.450385723 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:286.85, Y:208.63, Z:18.25 [[ 3.97905695e-01 -9.17280658e-01 -1.63478898e-02 2.86848825e+02] [ 9.16592454e-01 3.98240483e-01 -3.55357769e-02 2.08632320e+02] [ 3.91066723e-02 -8.44464391e-04 9.99234685e-01 1.82530452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.480385723 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:286.86, Y:208.66, Z:18.25 [[ 3.97081520e-01 -9.17637910e-01 -1.63380799e-02 2.86861398e+02] [ 9.16949822e-01 3.97416546e-01 -3.55402866e-02 2.08655922e+02] [ 3.91061376e-02 -8.68808434e-04 9.99234685e-01 1.82523406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.510385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.87, Y:208.68, Z:18.25 [[ 3.94088477e-01 -9.18927433e-01 -1.63293037e-02 2.86867169e+02] [ 9.18240274e-01 3.94425405e-01 -3.55443184e-02 2.08677878e+02] [ 3.91033415e-02 -9.86618038e-04 9.99234685e-01 1.82539462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.540385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.88, Y:208.70, Z:18.25 [[ 3.94095305e-01 -9.18934290e-01 -1.57689782e-02 2.86878398e+02] [ 9.18236694e-01 3.94410488e-01 -3.58014018e-02 2.08702952e+02] [ 3.91185861e-02 -3.70490099e-04 9.99234506e-01 1.82547725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.570385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.89, Y:208.73, Z:18.26 [[ 3.96813311e-01 -9.17763918e-01 -1.57666281e-02 2.86894361e+02] [ 9.17065350e-01 3.97126336e-01 -3.58024803e-02 2.08729232e+02] [ 3.91195678e-02 -2.52127518e-04 9.99234505e-01 1.82573658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.600385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:286.91, Y:208.75, Z:18.26 [[ 3.98198997e-01 -9.17158729e-01 -1.60444422e-02 2.86905890e+02] [ 9.16464774e-01 3.98521789e-01 -3.56749543e-02 2.08752842e+02] [ 3.91136556e-02 -4.98435108e-04 9.99234644e-01 1.82591682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.630385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.92, Y:208.78, Z:18.26 [[ 4.02150781e-01 -9.15434701e-01 -1.59392032e-02 2.86921857e+02] [ 9.14737442e-01 4.02466474e-01 -3.57232398e-02 2.08779610e+02] [ 3.91172882e-02 -2.14057189e-04 9.99234603e-01 1.82601462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.660385723 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:286.93, Y:208.81, Z:18.26 [[ 4.04893848e-01 -9.14218076e-01 -1.63181696e-02 2.86932965e+02] [ 9.13526793e-01 4.05222219e-01 -3.55492868e-02 2.08805043e+02] [ 3.91122855e-02 -5.13397617e-04 9.99234690e-01 1.82601845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.690385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.94, Y:208.83, Z:18.26 [[ 4.07052034e-01 -9.13259365e-01 -1.63087191e-02 2.86943187e+02] [ 9.12567135e-01 4.07378404e-01 -3.55536218e-02 2.08830105e+02] [ 3.91134980e-02 -4.10626998e-04 9.99234690e-01 1.82624577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.720385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.95, Y:208.86, Z:18.26 [[ 4.08443267e-01 -9.12638180e-01 -1.62987626e-02 2.86953350e+02] [ 9.11945272e-01 4.08768194e-01 -3.55581856e-02 2.08855940e+02] [ 3.91141735e-02 -3.40077993e-04 9.99234690e-01 1.82627245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.750385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:286.96, Y:208.88, Z:18.26 [[ 4.09620474e-01 -9.12110586e-01 -1.62894652e-02 2.86964129e+02] [ 9.11417089e-01 4.09944145e-01 -3.55624443e-02 2.08882388e+02] [ 3.91146527e-02 -2.79391669e-04 9.99234690e-01 1.82630054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.780385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.98, Y:208.91, Z:18.26 [[ 4.10405572e-01 -9.11757770e-01 -1.62799310e-02 2.86975071e+02] [ 9.11063822e-01 4.10728273e-01 -3.55668083e-02 2.08908471e+02] [ 3.91149418e-02 -2.35239837e-04 9.99234690e-01 1.82632290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.810385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:286.98, Y:208.93, Z:18.26 [[ 4.06038634e-01 -9.13711065e-01 -1.62701383e-02 2.86979193e+02] [ 9.13018490e-01 4.06364270e-01 -3.55712875e-02 2.08929723e+02] [ 3.91134818e-02 -4.11620168e-04 9.99234690e-01 1.82629962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.840385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.00, Y:208.96, Z:18.27 [[ 4.07799681e-01 -9.12936022e-01 -1.57238641e-02 2.86997987e+02] [ 9.12233042e-01 4.08102622e-01 -3.58207679e-02 2.08957147e+02] [ 3.91190195e-02 2.63869353e-04 9.99234523e-01 1.82655458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.87038572299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.01, Y:208.98, Z:18.27 [[ 4.06289716e-01 -9.13599601e-01 -1.62614950e-02 2.87009101e+02] [ 9.12906787e-01 4.06614826e-01 -3.55750220e-02 2.08981978e+02] [ 3.91134909e-02 -3.91463575e-04 9.99234698e-01 1.82665789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.900385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.02, Y:209.01, Z:18.27 [[ 4.04662622e-01 -9.14321581e-01 -1.62545025e-02 2.87020024e+02] [ 9.13629219e-01 4.04988693e-01 -3.55782167e-02 2.09007688e+02] [ 3.91128210e-02 -4.53413945e-04 9.99234698e-01 1.82672574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.930385723 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:287.03, Y:209.03, Z:18.27 [[ 4.01117188e-01 -9.15882689e-01 -1.62450279e-02 2.87029488e+02] [ 9.15191421e-01 4.01445570e-01 -3.55825422e-02 2.09033881e+02] [ 3.91109290e-02 -5.94540862e-04 9.99234698e-01 1.82658943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.960385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.04, Y:209.06, Z:18.27 [[ 3.99799439e-01 -9.16458844e-01 -1.62356088e-02 2.87040245e+02] [ 9.15767875e-01 4.00128450e-01 -3.55868395e-02 2.09059971e+02] [ 3.91102028e-02 -6.40450473e-04 9.99234698e-01 1.82680939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.990385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.05, Y:209.09, Z:18.27 [[ 3.97216897e-01 -9.17581304e-01 -1.62261099e-02 2.87050649e+02] [ 9.16891087e-01 3.97547484e-01 -3.55911700e-02 2.09085429e+02] [ 3.91084414e-02 -7.40161458e-04 9.99234698e-01 1.82692230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.020385723 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:287.06, Y:209.11, Z:18.27 [[ 3.95964494e-01 -9.18122627e-01 -1.62160925e-02 2.87061524e+02] [ 9.17432675e-01 3.96295635e-01 -3.55957336e-02 2.09109900e+02] [ 3.91076151e-02 -7.82526517e-04 9.99234698e-01 1.82684367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.050385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:287.07, Y:209.13, Z:18.27 [[ 3.96471311e-01 -9.17904057e-01 -1.62062012e-02 2.87071872e+02] [ 9.17213740e-01 3.96801687e-01 -3.56002364e-02 2.09133875e+02] [ 3.91082494e-02 -7.50078056e-04 9.99234698e-01 1.82703668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.080385723 meters Centerline goodness : 0.999822 Centerline is valid? [True, True] Translation: X:287.08, Y:209.16, Z:18.27 [[ 3.94196628e-01 -9.18886353e-01 -1.60277528e-02 2.87083393e+02] [ 9.18193547e-01 3.94521795e-01 -3.56814099e-02 2.09161705e+02] [ 3.91104584e-02 -6.51087749e-04 9.99234681e-01 1.82679918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.110385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.09, Y:209.19, Z:18.27 [[ 3.94383434e-01 -9.18803276e-01 -1.61940547e-02 2.87094718e+02] [ 9.18113484e-01 3.94714909e-01 -3.56057740e-02 2.09187650e+02] [ 3.91067366e-02 -8.25652537e-04 9.99234698e-01 1.82710494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.140385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:287.11, Y:209.21, Z:18.27 [[ 3.95335007e-01 -9.18394414e-01 -1.61843083e-02 2.87106456e+02] [ 9.17704099e-01 3.95665389e-01 -3.56102036e-02 2.09213172e+02] [ 3.91077827e-02 -7.74445966e-04 9.99234698e-01 1.82725906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.170385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:287.12, Y:209.24, Z:18.27 [[ 3.95637651e-01 -9.18264250e-01 -1.61745653e-02 2.87118095e+02] [ 9.17573645e-01 3.95967428e-01 -3.56146284e-02 2.09238323e+02] [ 3.91082410e-02 -7.50866941e-04 9.99234698e-01 1.82740314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.200385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.13, Y:209.26, Z:18.28 [[ 3.97028603e-01 -9.17663875e-01 -1.61648131e-02 2.87130186e+02] [ 9.16972592e-01 3.97356955e-01 -3.56190542e-02 2.09263052e+02] [ 3.91095202e-02 -6.80907240e-04 9.99234698e-01 1.82756539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.230385723 meters Centerline goodness : 0.999822 Centerline is valid? [True, True] Translation: X:287.14, Y:209.29, Z:18.28 [[ 3.97352065e-01 -9.17524016e-01 -1.61559949e-02 2.87141921e+02] [ 9.16832455e-01 3.97679831e-01 -3.56230535e-02 2.09288239e+02] [ 3.91099204e-02 -6.57446591e-04 9.99234698e-01 1.82757216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.260385723 meters Centerline goodness : 0.999844 Centerline is valid? [True, True] Translation: X:287.15, Y:209.31, Z:18.28 [[ 3.98562089e-01 -9.16999215e-01 -1.61462357e-02 2.87153503e+02] [ 9.16307043e-01 3.98888563e-01 -3.56274763e-02 2.09313040e+02] [ 3.91109166e-02 -5.95148107e-04 9.99234698e-01 1.82764427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.290385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.16, Y:209.34, Z:18.28 [[ 4.00956221e-01 -9.15955033e-01 -1.61396008e-02 2.87164626e+02] [ 9.15261890e-01 4.01280628e-01 -3.56304817e-02 2.09337592e+02] [ 3.91124282e-02 -4.85698180e-04 9.99234698e-01 1.82797922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.320385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:287.18, Y:209.36, Z:18.28 [[ 4.02170693e-01 -9.15422619e-01 -1.61295850e-02 2.87175802e+02] [ 9.14728864e-01 4.02493790e-01 -3.56350152e-02 2.09362629e+02] [ 3.91131567e-02 -4.22838193e-04 9.99234698e-01 1.82808705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.350385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.19, Y:209.39, Z:18.28 [[ 4.03443700e-01 -9.14862415e-01 -1.61227264e-02 2.87187222e+02] [ 9.14168088e-01 4.03765565e-01 -3.56381181e-02 2.09388506e+02] [ 3.91137765e-02 -3.60907746e-04 9.99234698e-01 1.82819356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.380385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:287.20, Y:209.41, Z:18.28 [[ 4.03406111e-01 -9.14879161e-01 -1.61130288e-02 2.87198528e+02] [ 9.14184673e-01 4.03727627e-01 -3.56425021e-02 2.09413504e+02] [ 3.91138573e-02 -3.51880769e-04 9.99234698e-01 1.82828362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.410385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.21, Y:209.44, Z:18.28 [[ 4.02402112e-01 -9.15321386e-01 -1.61027949e-02 2.87209696e+02] [ 9.14627066e-01 4.02723990e-01 -3.56471250e-02 2.09438770e+02] [ 3.91135577e-02 -3.83573668e-04 9.99234698e-01 1.82832518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.440385723 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:287.22, Y:209.46, Z:18.28 [[ 4.01358818e-01 -9.15779511e-01 -1.60930338e-02 2.87221146e+02] [ 9.15085382e-01 4.01681108e-01 -3.56515312e-02 2.09464496e+02] [ 3.91132094e-02 -4.17443544e-04 9.99234698e-01 1.82824873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.470385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:287.23, Y:209.49, Z:18.28 [[ 4.00687635e-01 -9.16073551e-01 -1.60831529e-02 2.87232548e+02] [ 9.15379480e-01 4.01010048e-01 -3.56559881e-02 2.09489934e+02] [ 3.91130136e-02 -4.35274628e-04 9.99234699e-01 1.82840756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.500385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:287.24, Y:209.52, Z:18.29 [[ 3.99111649e-01 -9.16761441e-01 -1.60733334e-02 2.87243220e+02] [ 9.16067747e-01 3.99434874e-01 -3.56604141e-02 2.09515789e+02] [ 3.91123425e-02 -4.91775611e-04 9.99234699e-01 1.82863167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.530385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.25, Y:209.54, Z:18.29 [[ 3.98294026e-01 -9.17117132e-01 -1.60634891e-02 2.87254283e+02] [ 9.16423547e-01 3.98617486e-01 -3.56648480e-02 2.09542111e+02] [ 3.91120307e-02 -5.15863791e-04 9.99234699e-01 1.82873969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.560385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:287.26, Y:209.57, Z:18.29 [[ 3.94280302e-01 -9.18850001e-01 -1.60536388e-02 2.87258845e+02] [ 9.18157657e-01 3.94606410e-01 -3.56692813e-02 2.09565311e+02] [ 3.91095879e-02 -6.76076459e-04 9.99234699e-01 1.82865732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.590385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.27, Y:209.59, Z:18.29 [[ 3.94396441e-01 -9.18809547e-01 -1.55068960e-02 2.87270540e+02] [ 9.18107344e-01 3.94701167e-01 -3.59150903e-02 2.09592380e+02] [ 3.91197178e-02 -7.22112926e-05 9.99234528e-01 1.82863159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.62038572299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.28, Y:209.62, Z:18.29 [[ 3.92101054e-01 -9.19789782e-01 -1.56051401e-02 2.87278356e+02] [ 9.19090091e-01 3.92411366e-01 -3.58709306e-02 2.09616026e+02] [ 3.91173498e-02 -2.77499880e-04 9.99234585e-01 1.82861825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.650385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.29, Y:209.64, Z:18.29 [[ 3.92435971e-01 -9.19650907e-01 -1.53693701e-02 2.87289533e+02] [ 9.18946927e-01 3.92736819e-01 -3.59768932e-02 2.09642263e+02] [ 3.91223000e-02 -5.00838509e-06 9.99234430e-01 1.82877513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.680385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:287.31, Y:209.67, Z:18.29 [[ 3.95781594e-01 -9.18216072e-01 -1.53680047e-02 2.87308233e+02] [ 9.17510977e-01 3.96079823e-01 -3.59775068e-02 2.09672129e+02] [ 3.91220815e-02 1.38922010e-04 9.99234429e-01 1.82909690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.710385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.31, Y:209.69, Z:18.29 [[ 3.90957750e-01 -9.20268698e-01 -1.60487402e-02 2.87311540e+02] [ 9.19577456e-01 3.91286167e-01 -3.56712512e-02 2.09693078e+02] [ 3.91067859e-02 -8.12107588e-04 9.99234707e-01 1.82914348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.740385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.33, Y:209.72, Z:18.29 [[ 3.92576341e-01 -9.19591664e-01 -1.53293372e-02 2.87325699e+02] [ 9.18886956e-01 3.92875515e-01 -3.59943407e-02 2.09720788e+02] [ 3.91226169e-02 4.45985756e-05 9.99234416e-01 1.82935746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.770385723 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:287.34, Y:209.75, Z:18.29 [[ 3.92144801e-01 -9.19771233e-01 -1.55991715e-02 2.87336044e+02] [ 9.19071438e-01 3.92454846e-01 -3.58731999e-02 2.09746137e+02] [ 3.91171077e-02 -2.69264172e-04 9.99234597e-01 1.82947426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.800385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.35, Y:209.77, Z:18.30 [[ 3.93343391e-01 -9.19259389e-01 -1.55933799e-02 2.87346403e+02] [ 9.18559087e-01 3.93652298e-01 -3.58758007e-02 2.09772200e+02] [ 3.91175365e-02 -2.11931726e-04 9.99234594e-01 1.82951434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.830385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.36, Y:209.80, Z:18.30 [[ 3.93759018e-01 -9.19082112e-01 -1.55533609e-02 2.87356770e+02] [ 9.18380961e-01 3.94066046e-01 -3.58937712e-02 2.09797881e+02] [ 3.91183745e-02 -1.50414402e-04 9.99234572e-01 1.82962118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.860385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.37, Y:209.83, Z:18.30 [[ 3.97898913e-01 -9.17298306e-01 -1.55007459e-02 2.87373984e+02] [ 9.16594856e-01 3.98200717e-01 -3.59173816e-02 2.09826707e+02] [ 3.91193614e-02 8.35831543e-05 9.99234541e-01 1.82984119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.890385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.38, Y:209.85, Z:18.30 [[ 3.98792174e-01 -9.16901269e-01 -1.60269909e-02 2.87384823e+02] [ 9.16206860e-01 3.99113838e-01 -3.56810130e-02 2.09852769e+02] [ 3.91125600e-02 -4.54730260e-04 9.99234708e-01 1.82996098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.920385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.39, Y:209.88, Z:18.30 [[ 3.96722438e-01 -9.17798861e-01 -1.60174059e-02 2.87386937e+02] [ 9.17105006e-01 3.97045295e-01 -3.56853153e-02 2.09876057e+02] [ 3.91115774e-02 -5.32477887e-04 9.99234708e-01 1.82994003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.950385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.40, Y:209.90, Z:18.30 [[ 3.97033943e-01 -9.17675257e-01 -1.53678529e-02 2.87396001e+02] [ 9.16969795e-01 3.97331205e-01 -3.59765042e-02 2.09901331e+02] [ 3.91208752e-02 1.92036389e-04 9.99234467e-01 1.83001662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.980385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.42, Y:209.93, Z:18.30 [[ 4.04232225e-01 -9.14530183e-01 -1.51938318e-02 2.87416364e+02] [ 9.13819462e-01 4.04517080e-01 -3.60544514e-02 2.09931246e+02] [ 3.91190486e-02 6.89951929e-04 9.99234319e-01 1.83044115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.010385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.42, Y:209.95, Z:18.30 [[ 3.99804822e-01 -9.16460382e-01 -1.60147860e-02 2.87418220e+02] [ 9.15765415e-01 4.00125243e-01 -3.56860502e-02 2.09953228e+02] [ 3.91127713e-02 -3.98332260e-04 9.99234723e-01 1.83030827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.040385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:287.43, Y:209.98, Z:18.30 [[ 3.99409098e-01 -9.16645354e-01 -1.52861706e-02 2.87426549e+02] [ 9.15937744e-01 3.99701324e-01 -3.60125205e-02 2.09978713e+02] [ 3.91206122e-02 3.82547754e-04 9.99234423e-01 1.83030594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.070385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.45, Y:210.01, Z:18.31 [[ 4.04405125e-01 -9.14453051e-01 -1.52352206e-02 2.87447090e+02] [ 9.13742996e-01 4.04691478e-01 -3.60353257e-02 2.10007737e+02] [ 3.91181774e-02 6.51794318e-04 9.99234379e-01 1.83066853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.100385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.46, Y:210.03, Z:18.31 [[ 4.03848316e-01 -9.14686009e-01 -1.60013110e-02 2.87458442e+02] [ 9.13989403e-01 4.04165139e-01 -3.56918887e-02 2.10033528e+02] [ 3.91140434e-02 -2.10919576e-04 9.99234731e-01 1.83080300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.130385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.47, Y:210.06, Z:18.31 [[ 4.03017127e-01 -9.15052713e-01 -1.59914863e-02 2.87469436e+02] [ 9.14356221e-01 4.03334200e-01 -3.56962901e-02 2.10059348e+02] [ 3.91139004e-02 -2.35698755e-04 9.99234731e-01 1.83091091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.160385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.47, Y:210.08, Z:18.31 [[ 3.97067474e-01 -9.17650264e-01 -1.59817071e-02 2.87471493e+02] [ 9.16955668e-01 3.97388682e-01 -3.57006678e-02 2.10081740e+02] [ 3.91116768e-02 -4.78942917e-04 9.99234731e-01 1.83081493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.190385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:287.49, Y:210.11, Z:18.31 [[ 3.97473426e-01 -9.17486526e-01 -1.52757957e-02 2.87485451e+02] [ 9.16779380e-01 3.97766737e-01 -3.60165419e-02 2.10109255e+02] [ 3.91208953e-02 3.11083786e-04 9.99234436e-01 1.83100447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.220385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.50, Y:210.13, Z:18.31 [[ 3.96009710e-01 -9.18115613e-01 -1.54929523e-02 2.87496371e+02] [ 9.17412709e-01 3.96312657e-01 -3.59193359e-02 2.10134887e+02] [ 3.91181561e-02 1.09744049e-05 9.99234592e-01 1.83113058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.250385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.52, Y:210.16, Z:18.31 [[ 3.98723746e-01 -9.16941284e-01 -1.54290602e-02 2.87515076e+02] [ 9.16236381e-01 3.99022108e-01 -3.59479142e-02 2.10162946e+02] [ 3.91186628e-02 1.96620705e-04 9.99234553e-01 1.83147765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.280385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.53, Y:210.19, Z:18.32 [[ 3.96454508e-01 -9.17915227e-01 -1.59831006e-02 2.87525729e+02] [ 9.17220878e-01 3.96776233e-01 -3.56998741e-02 2.10187652e+02] [ 3.91111725e-02 -5.06657573e-04 9.99234737e-01 1.83159804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.310385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.54, Y:210.21, Z:18.32 [[ 3.95754110e-01 -9.18217591e-01 -1.59731259e-02 2.87536586e+02] [ 9.17523308e-01 3.96075977e-01 -3.57043365e-02 2.10213301e+02] [ 3.91109213e-02 -5.25577388e-04 9.99234737e-01 1.83175604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.340385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.55, Y:210.24, Z:18.32 [[ 3.94278912e-01 -9.18852162e-01 -1.59638093e-02 2.87545930e+02] [ 9.18158229e-01 3.94601533e-01 -3.57085016e-02 2.10239376e+02] [ 3.91101775e-02 -5.78193692e-04 9.99234737e-01 1.83198298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.37038572299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.56, Y:210.27, Z:18.32 [[ 3.93701400e-01 -9.19099929e-01 -1.59539494e-02 2.87556103e+02] [ 9.18406020e-01 3.94024073e-01 -3.57129063e-02 2.10265046e+02] [ 3.91099698e-02 -5.91981948e-04 9.99234737e-01 1.83212368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.400385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:287.57, Y:210.29, Z:18.32 [[ 3.93339439e-01 -9.19255065e-01 -1.59440204e-02 2.87566559e+02] [ 9.18561104e-01 3.93662000e-01 -3.57173385e-02 2.10290393e+02] [ 3.91098993e-02 -5.96519135e-04 9.99234737e-01 1.83213643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.430385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:287.58, Y:210.32, Z:18.32 [[ 3.93106259e-01 -9.19354959e-01 -1.59351562e-02 2.87578107e+02] [ 9.18660920e-01 3.93428652e-01 -3.57212928e-02 2.10316511e+02] [ 3.91098947e-02 -5.96741494e-04 9.99234737e-01 1.83224785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.460385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:287.59, Y:210.34, Z:18.33 [[ 3.93046928e-01 -9.19380483e-01 -1.59260878e-02 2.87587968e+02] [ 9.18686301e-01 3.93369014e-01 -3.57253355e-02 2.10342450e+02] [ 3.91100056e-02 -5.89345270e-04 9.99234737e-01 1.83257779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.490385723 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:287.60, Y:210.37, Z:18.33 [[ 3.93238114e-01 -9.19299314e-01 -1.58920696e-02 2.87597653e+02] [ 9.18604453e-01 3.93558733e-01 -3.57404919e-02 2.10366682e+02] [ 3.91106724e-02 -5.44002273e-04 9.99234737e-01 1.83264359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.520385723 meters Centerline goodness : 0.999762 Centerline is valid? [True, True] Translation: X:287.61, Y:210.39, Z:18.33 [[ 3.90850828e-01 -9.20319519e-01 -1.57357127e-02 2.87606370e+02] [ 9.19622687e-01 3.91167173e-01 -3.58099998e-02 2.10394107e+02] [ 3.91119361e-02 -4.74550303e-04 9.99234723e-01 1.83299568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.550385723 meters Centerline goodness : 0.999719 Centerline is valid? [True, True] Translation: X:287.62, Y:210.42, Z:18.33 [[ 3.90471131e-01 -9.20478129e-01 -1.58842866e-02 2.87616691e+02] [ 9.19784094e-01 3.90793536e-01 -3.57439755e-02 2.10420504e+02] [ 3.91090242e-02 -6.53123627e-04 9.99234736e-01 1.83325342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.580385723 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:287.63, Y:210.45, Z:18.33 [[ 3.89955298e-01 -9.20696943e-01 -1.58746625e-02 2.87625905e+02] [ 9.20002916e-01 3.90277719e-01 -3.57482493e-02 2.10446290e+02] [ 3.91088309e-02 -6.64516525e-04 9.99234736e-01 1.83340076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.610385723 meters Centerline goodness : 0.999717 Centerline is valid? [True, True] Translation: X:287.64, Y:210.47, Z:18.34 [[ 3.89625801e-01 -9.20836603e-01 -1.58646018e-02 2.87636587e+02] [ 9.20142510e-01 3.89948080e-01 -3.57527136e-02 2.10472734e+02] [ 3.91087783e-02 -6.67514856e-04 9.99234736e-01 1.83354825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.640385723 meters Centerline goodness : 0.999740 Centerline is valid? [True, True] Translation: X:287.65, Y:210.50, Z:18.34 [[ 3.89286559e-01 -9.20980173e-01 -1.58586327e-02 2.87646630e+02] [ 9.20286091e-01 3.89608862e-01 -3.57553610e-02 2.10498739e+02] [ 3.91086424e-02 -6.75397679e-04 9.99234736e-01 1.83371131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.670385723 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:287.65, Y:210.52, Z:18.33 [[ 3.89845135e-01 -9.20744039e-01 -1.58488069e-02 2.87654803e+02] [ 9.20049585e-01 3.90166636e-01 -3.57597158e-02 2.10523306e+02] [ 3.91092209e-02 -6.40936978e-04 9.99234736e-01 1.83336257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.700385723 meters Centerline goodness : 0.999438 Centerline is valid? [True, True] Translation: X:287.66, Y:210.54, Z:18.33 [[ 3.83383282e-01 -9.23455436e-01 -1.57263442e-02 2.87655110e+02] [ 9.22761026e-01 3.83704897e-01 -3.58139647e-02 2.10544835e+02] [ 3.91068756e-02 -7.81182171e-04 9.99234728e-01 1.83296676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.730385723 meters Centerline goodness : 0.999655 Centerline is valid? [True, True] Translation: X:287.67, Y:210.57, Z:18.34 [[ 3.88742111e-01 -9.21225588e-01 -1.49327528e-02 2.87674585e+02] [ 9.20515412e-01 3.89028684e-01 -3.61670966e-02 2.10574470e+02] [ 3.91273240e-02 3.13844359e-04 9.99234184e-01 1.83371397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.760385723 meters Centerline goodness : 0.999676 Centerline is valid? [True, True] Translation: X:287.69, Y:210.60, Z:18.34 [[ 3.91485736e-01 -9.20050990e-01 -1.56554860e-02 2.87688491e+02] [ 9.19352539e-01 3.91798476e-01 -3.58449953e-02 2.10601224e+02] [ 3.91130190e-02 -3.60106418e-04 9.99234728e-01 1.83427305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.790385723 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:287.70, Y:210.63, Z:18.34 [[ 3.91609926e-01 -9.19993520e-01 -1.59244870e-02 2.87698698e+02] [ 9.19299851e-01 3.91933033e-01 -3.57250897e-02 2.10626919e+02] [ 3.91081836e-02 -6.49078803e-04 9.99234772e-01 1.83441623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.820385723 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:287.71, Y:210.65, Z:18.35 [[ 3.92274107e-01 -9.19710686e-01 -1.59147208e-02 2.87708265e+02] [ 9.19016608e-01 3.92596334e-01 -3.57294399e-02 2.10652088e+02] [ 3.91088087e-02 -6.10158567e-04 9.99234772e-01 1.83452880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.850385723 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:287.70, Y:210.67, Z:18.33 [[ 3.81417747e-01 -9.24265883e-01 -1.59085017e-02 2.87700623e+02] [ 9.23575532e-01 3.81747883e-01 -3.57322087e-02 2.10669740e+02] [ 3.90990983e-02 -1.06380437e-03 9.99234772e-01 1.83337074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.880385723 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:287.73, Y:210.70, Z:18.35 [[ 3.92794314e-01 -9.19512007e-01 -1.45015800e-02 2.87729302e+02] [ 9.18793477e-01 3.93060751e-01 -3.63564653e-02 2.10702238e+02] [ 3.91302083e-02 9.56655792e-04 9.99233662e-01 1.83486441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.910385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:287.74, Y:210.73, Z:18.35 [[ 3.92814164e-01 -9.19480243e-01 -1.59095805e-02 2.87740321e+02] [ 9.18785968e-01 3.93135782e-01 -3.57295648e-02 2.10727026e+02] [ 3.91072543e-02 -5.82420146e-04 9.99234849e-01 1.83513635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.940385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:287.75, Y:210.75, Z:18.35 [[ 3.92227059e-01 -9.19730974e-01 -1.59018899e-02 2.87750761e+02] [ 9.19036766e-01 3.92548821e-01 -3.57329873e-02 2.10751911e+02] [ 3.91070033e-02 -5.98976940e-04 9.99234849e-01 1.83525560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.970385723 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:287.76, Y:210.78, Z:18.36 [[ 3.91042480e-01 -9.20235385e-01 -1.58938510e-02 2.87761128e+02] [ 9.19541447e-01 3.91364824e-01 -3.57365626e-02 2.10777856e+02] [ 3.91063437e-02 -6.40540688e-04 9.99234849e-01 1.83558698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.000385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.77, Y:210.80, Z:18.35 [[ 3.91009669e-01 -9.20249494e-01 -1.58841792e-02 2.87772367e+02] [ 9.19555393e-01 3.91331662e-01 -3.57408610e-02 2.10802806e+02] [ 3.91064915e-02 -6.31360455e-04 9.99234849e-01 1.83533589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.030385723 meters Centerline goodness : 0.999742 Centerline is valid? [True, True] Translation: X:287.78, Y:210.83, Z:18.36 [[ 3.86675797e-01 -9.22080944e-01 -1.57657962e-02 2.87779020e+02] [ 9.21386221e-01 3.86996462e-01 -3.57934289e-02 2.10828269e+02] [ 3.91057460e-02 -6.85934754e-04 9.99234842e-01 1.83578270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.060385723 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:287.77, Y:210.84, Z:18.34 [[ 3.73733083e-01 -9.27405187e-01 -1.55949388e-02 2.87770416e+02] [ 9.26711853e-01 3.74056847e-01 -3.58694386e-02 2.10844675e+02] [ 3.90988970e-02 -1.04641879e-03 9.99234798e-01 1.83434414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.090385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.80, Y:210.88, Z:18.36 [[ 3.85042571e-01 -9.22793590e-01 -1.39358719e-02 2.87799413e+02] [ 9.22068542e-01 3.85292682e-01 -3.65944498e-02 2.10880087e+02] [ 3.91385132e-02 1.24059194e-03 9.99233025e-01 1.83561072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.12038572299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.81, Y:210.90, Z:18.36 [[ 3.83267667e-01 -9.23504242e-01 -1.56783421e-02 2.87810216e+02] [ 9.22809221e-01 3.83587505e-01 -3.58297092e-02 2.10904991e+02] [ 3.91029046e-02 -7.35749574e-04 9.99234918e-01 1.83615663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.150385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.82, Y:210.93, Z:18.36 [[ 3.82897647e-01 -9.23657156e-01 -1.57114673e-02 2.87820917e+02] [ 9.22962857e-01 3.83219047e-01 -3.58151778e-02 2.10929833e+02] [ 3.91018788e-02 -7.87553438e-04 9.99234919e-01 1.83618187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.180385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.83, Y:210.95, Z:18.36 [[ 3.82938242e-01 -9.23640440e-01 -1.57048205e-02 2.87831838e+02] [ 9.22946007e-01 3.83259354e-01 -3.58180922e-02 2.10954361e+02] [ 3.91020578e-02 -7.78584097e-04 9.99234919e-01 1.83596474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.210385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.84, Y:210.98, Z:18.36 [[ 3.82859067e-01 -9.23673410e-01 -1.56960707e-02 2.87843465e+02] [ 9.22978848e-01 3.83179899e-01 -3.58219261e-02 2.10979759e+02] [ 3.91021794e-02 -7.72392063e-04 9.99234919e-01 1.83638108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.240385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:287.85, Y:211.00, Z:18.36 [[ 3.82963379e-01 -9.23630332e-01 -1.56863357e-02 2.87854071e+02] [ 9.22935560e-01 3.83283755e-01 -3.58261885e-02 2.11004731e+02] [ 3.91024720e-02 -7.57358854e-04 9.99234919e-01 1.83642870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.270385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:287.86, Y:211.03, Z:18.36 [[ 3.84251298e-01 -9.23095420e-01 -1.56775655e-02 2.87864940e+02] [ 9.22400045e-01 3.84570365e-01 -3.58300259e-02 2.11031143e+02] [ 3.91036599e-02 -6.93253181e-04 9.99234919e-01 1.83641113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.300385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:287.88, Y:211.06, Z:18.37 [[ 3.84696877e-01 -9.22909978e-01 -1.56679675e-02 2.87876327e+02] [ 9.22214279e-01 3.85015236e-01 -3.58342225e-02 2.11056915e+02] [ 3.91041677e-02 -6.63909911e-04 9.99234919e-01 1.83654923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.330385723 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:287.89, Y:211.08, Z:18.37 [[ 3.84871325e-01 -9.22837406e-01 -1.56583598e-02 2.87887842e+02] [ 9.22141477e-01 3.85189180e-01 -3.58384203e-02 2.11082282e+02] [ 3.91044656e-02 -6.46042688e-04 9.99234919e-01 1.83657958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.360385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:287.90, Y:211.11, Z:18.37 [[ 3.85226142e-01 -9.22689511e-01 -1.56488120e-02 2.87900628e+02] [ 9.21993291e-01 3.85543357e-01 -3.58425888e-02 2.11106182e+02] [ 3.91048763e-02 -6.20597521e-04 9.99234919e-01 1.83659884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.390385723 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:287.91, Y:211.13, Z:18.37 [[ 3.82160318e-01 -9.23963655e-01 -1.56414404e-02 2.87909877e+02] [ 9.23268361e-01 3.82479558e-01 -3.58458054e-02 2.11131421e+02] [ 3.91027526e-02 -7.42402656e-04 9.99234919e-01 1.83675294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.420385723 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:287.91, Y:211.15, Z:18.35 [[ 3.71965151e-01 -9.28117321e-01 -1.54972797e-02 2.87905590e+02] [ 9.27422968e-01 3.72286458e-01 -3.59086492e-02 2.11148245e+02] [ 3.90968667e-02 -1.01576698e-03 9.99234909e-01 1.83517743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.450385723 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:287.94, Y:211.18, Z:18.37 [[ 3.84747867e-01 -9.22914412e-01 -1.40736253e-02 2.87938064e+02] [ 9.22191897e-01 3.85003678e-01 -3.65276954e-02 2.11181577e+02] [ 3.91303341e-02 1.07536967e-03 9.99233537e-01 1.83668718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.480385723 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:287.95, Y:211.21, Z:18.37 [[ 3.84861916e-01 -9.22841510e-01 -1.56477783e-02 2.87950801e+02] [ 9.22145496e-01 3.85179364e-01 -3.58404911e-02 2.11206981e+02] [ 3.91022942e-02 -6.35888264e-04 9.99235011e-01 1.83687105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.510385723 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:287.96, Y:211.23, Z:18.37 [[ 3.85852848e-01 -9.22427787e-01 -1.56383062e-02 2.87963539e+02] [ 9.21731266e-01 3.86169181e-01 -3.58446236e-02 2.11232294e+02] [ 3.91031087e-02 -5.83565623e-04 9.99235011e-01 1.83721245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.540385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:287.97, Y:211.26, Z:18.37 [[ 3.85804546e-01 -9.22448080e-01 -1.56330231e-02 2.87974483e+02] [ 9.21751482e-01 3.86120710e-01 -3.58469276e-02 2.11258388e+02] [ 3.91031635e-02 -5.79854592e-04 9.99235011e-01 1.83682558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.570385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:287.99, Y:211.28, Z:18.37 [[ 3.89148659e-01 -9.21042384e-01 -1.56284183e-02 2.87986566e+02] [ 9.20344563e-01 3.89462115e-01 -3.58489341e-02 2.11281348e+02] [ 3.91050646e-02 -4.32965195e-04 9.99235011e-01 1.83684190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.600385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.00, Y:211.31, Z:18.37 [[ 3.88908469e-01 -9.21148187e-01 -1.53694478e-02 2.87998149e+02] [ 9.20445968e-01 3.89212013e-01 -3.59615012e-02 2.11308418e+02] [ 3.91078454e-02 -1.61013916e-04 9.99234983e-01 1.83735189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.630385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:288.01, Y:211.33, Z:18.38 [[ 3.89164877e-01 -9.21037665e-01 -1.55022200e-02 2.88010938e+02] [ 9.20337647e-01 3.89473405e-01 -3.59037825e-02 2.11334487e+02] [ 3.91064384e-02 -2.94785543e-04 9.99235007e-01 1.83781831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.660385723 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:288.02, Y:211.36, Z:18.38 [[ 3.89482812e-01 -9.20901810e-01 -1.55882881e-02 2.88023442e+02] [ 9.20203178e-01 3.89794452e-01 -3.58663757e-02 2.11359566e+02] [ 3.91056385e-02 -3.75055404e-04 9.99235012e-01 1.83765746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.690385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.04, Y:211.38, Z:18.38 [[ 3.89696648e-01 -9.20811761e-01 -1.55635495e-02 2.88035833e+02] [ 9.20112627e-01 3.90007163e-01 -3.58771206e-02 2.11382383e+02] [ 3.91059703e-02 -3.39024774e-04 9.99235011e-01 1.83761301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.720385723 meters Centerline goodness : 0.999020 Centerline is valid? [True, True] Translation: X:288.05, Y:211.41, Z:18.38 [[ 3.88757024e-01 -9.21210509e-01 -1.54652420e-02 2.88046923e+02] [ 9.20509993e-01 3.89064421e-01 -3.59197768e-02 2.11408060e+02] [ 3.91066513e-02 -2.71844248e-04 9.99235005e-01 1.83775643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.750385723 meters Centerline goodness : 0.997200 Centerline is valid? [True, True] Translation: X:288.06, Y:211.43, Z:18.38 [[ 3.88547738e-01 -9.21297662e-01 -1.55329787e-02 2.88058090e+02] [ 9.20598385e-01 3.88857934e-01 -3.58904113e-02 2.11432018e+02] [ 3.91058740e-02 -3.54496974e-04 9.99235010e-01 1.83781300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.780385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:288.07, Y:211.46, Z:18.38 [[ 3.86746912e-01 -9.22055323e-01 -1.55179630e-02 2.88067989e+02] [ 9.21356393e-01 3.87057889e-01 -3.58969145e-02 2.11456019e+02] [ 3.91052911e-02 -4.14553600e-04 9.99235010e-01 1.83797721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.810385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:288.09, Y:211.48, Z:18.39 [[ 3.90153266e-01 -9.20621999e-01 -1.53480949e-02 2.88085064e+02] [ 9.19919009e-01 3.90455027e-01 -3.59706545e-02 2.11482045e+02] [ 3.91081167e-02 -8.49359483e-05 9.99234981e-01 1.83854984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.840385723 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:288.10, Y:211.51, Z:18.39 [[ 3.90436724e-01 -9.20498075e-01 -1.55711044e-02 2.88097078e+02] [ 9.19798821e-01 3.90746971e-01 -3.58738581e-02 2.11507104e+02] [ 3.91061792e-02 -3.15811841e-04 9.99235011e-01 1.83870511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.87038572299997 meters Centerline goodness : 0.999693 Centerline is valid? [True, True] Translation: X:288.11, Y:211.53, Z:18.39 [[ 3.89864374e-01 -9.20740797e-01 -1.55612975e-02 2.88108215e+02] [ 9.20041567e-01 3.90174673e-01 -3.58781117e-02 2.11532611e+02] [ 3.91060653e-02 -3.29443016e-04 9.99235011e-01 1.83867175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.900385723 meters Centerline goodness : 0.996116 Centerline is valid? [True, True] Translation: X:288.12, Y:211.56, Z:18.39 [[ 3.89559455e-01 -9.20870012e-01 -1.55516110e-02 2.88120197e+02] [ 9.20170717e-01 3.89869608e-01 -3.58823098e-02 2.11556837e+02] [ 3.91060436e-02 -3.31844017e-04 9.99235011e-01 1.83865274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.930385723 meters Centerline goodness : 0.996830 Centerline is valid? [True, True] Translation: X:288.13, Y:211.58, Z:18.39 [[ 3.87977111e-01 -9.21537846e-01 -1.55486473e-02 2.88131897e+02] [ 9.20839033e-01 3.88288350e-01 -3.58835931e-02 2.11583245e+02] [ 3.91054476e-02 -3.95788538e-04 9.99235011e-01 1.83862956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.960385723 meters Centerline goodness : 0.995309 Centerline is valid? [True, True] Translation: X:288.14, Y:211.61, Z:18.39 [[ 3.87046018e-01 -9.21928332e-01 -1.56054672e-02 2.88144268e+02] [ 9.21230822e-01 3.87360173e-01 -3.58590118e-02 2.11606444e+02] [ 3.91043754e-02 -4.97149702e-04 9.99235008e-01 1.83895269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.990385723 meters Centerline goodness : 0.998682 Centerline is valid? [True, True] Translation: X:288.16, Y:211.64, Z:18.39 [[ 3.85885646e-01 -9.22416899e-01 -1.54704013e-02 2.88160091e+02] [ 9.21717437e-01 3.86195424e-01 -3.59174064e-02 2.11635564e+02] [ 3.91054208e-02 -3.99327055e-04 9.99235011e-01 1.83906633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.020385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.17, Y:211.66, Z:18.39 [[ 3.82843329e-01 -9.23674025e-01 -1.60400154e-02 2.88167520e+02] [ 9.22985671e-01 3.83177477e-01 -3.56717300e-02 2.11656745e+02] [ 3.90952231e-02 -1.14802054e-03 9.99234830e-01 1.83935552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.050385723 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:288.18, Y:211.68, Z:18.39 [[ 3.79763571e-01 -9.24954420e-01 -1.54580614e-02 2.88179295e+02] [ 9.24256833e-01 3.80077499e-01 -3.59221656e-02 2.11681714e+02] [ 3.91016271e-02 -6.45288997e-04 9.99235031e-01 1.83926838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.080385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.19, Y:211.71, Z:18.39 [[ 3.78886256e-01 -9.25314307e-01 -1.54479253e-02 2.88191096e+02] [ 9.24616841e-01 3.79200452e-01 -3.59265240e-02 2.11706866e+02] [ 3.91011869e-02 -6.71345743e-04 9.99235031e-01 1.83940428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.110385723 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:288.20, Y:211.73, Z:18.39 [[ 3.77581166e-01 -9.25847782e-01 -1.54385017e-02 2.88203535e+02] [ 9.25150595e-01 3.77895979e-01 -3.59305731e-02 2.11730418e+02] [ 3.91003891e-02 -7.16231374e-04 9.99235031e-01 1.83945345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.140385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.22, Y:211.76, Z:18.40 [[ 3.77149280e-01 -9.26023899e-01 -1.54323855e-02 2.88215997e+02] [ 9.25326751e-01 3.77464181e-01 -3.59331998e-02 2.11756048e+02] [ 3.91001746e-02 -7.27818689e-04 9.99235031e-01 1.83955487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.170385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.23, Y:211.78, Z:18.40 [[ 3.77561679e-01 -9.25855987e-01 -1.54230599e-02 2.88228307e+02] [ 9.25158536e-01 3.77875908e-01 -3.59372021e-02 2.11781227e+02] [ 3.91006764e-02 -7.00265206e-04 9.99235031e-01 1.83970616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.200385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:288.24, Y:211.81, Z:18.40 [[ 3.79374291e-01 -9.25114892e-01 -1.54137564e-02 2.88240684e+02] [ 9.24416665e-01 3.79686792e-01 -3.59411920e-02 2.11806659e+02] [ 3.91021316e-02 -6.13569021e-04 9.99235031e-01 1.83979763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.230385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:288.25, Y:211.83, Z:18.40 [[ 3.80139706e-01 -9.24800797e-01 -1.54042380e-02 2.88251937e+02] [ 9.24102146e-01 3.80451260e-01 -3.59452711e-02 2.11832485e+02] [ 3.91027770e-02 -5.70864598e-04 9.99235031e-01 1.83983524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.260385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:288.26, Y:211.86, Z:18.40 [[ 3.82380517e-01 -9.23876693e-01 -1.53947043e-02 2.88264213e+02] [ 9.23177125e-01 3.82690005e-01 -3.59493537e-02 2.11856345e+02] [ 3.91041695e-02 -4.65706371e-04 9.99235031e-01 1.83975086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.290385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:288.28, Y:211.88, Z:18.40 [[ 3.82813182e-01 -9.23697667e-01 -1.53846742e-02 2.88276058e+02] [ 9.22997782e-01 3.83121952e-01 -3.59536456e-02 2.11881013e+02] [ 3.91045050e-02 -4.36490695e-04 9.99235031e-01 1.83979419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.320385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.29, Y:211.91, Z:18.40 [[ 3.83496134e-01 -9.23414497e-01 -1.53747208e-02 2.88289351e+02] [ 9.22714214e-01 3.83803999e-01 -3.59579014e-02 2.11905678e+02] [ 3.91049268e-02 -3.96757233e-04 9.99235031e-01 1.83989635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.350385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.30, Y:211.93, Z:18.40 [[ 3.83255733e-01 -9.23514455e-01 -1.53653657e-02 2.88300492e+02] [ 9.22814092e-01 3.83563415e-01 -3.59618986e-02 2.11931980e+02] [ 3.91049253e-02 -3.96772168e-04 9.99235031e-01 1.84000774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.380385723 meters Centerline goodness : 0.995197 Centerline is valid? [True, True] Translation: X:288.32, Y:211.96, Z:18.40 [[ 3.84858622e-01 -9.22847785e-01 -1.53559957e-02 2.88317267e+02] [ 9.22146729e-01 3.85164723e-01 -3.59658992e-02 2.11959744e+02] [ 3.91056382e-02 -3.18694850e-04 9.99235031e-01 1.83983638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.410385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:288.32, Y:211.98, Z:18.40 [[ 3.81717356e-01 -9.24143182e-01 -1.58505324e-02 2.88324544e+02] [ 9.23451788e-01 3.82045025e-01 -3.57546358e-02 2.11981363e+02] [ 3.90980199e-02 -9.89037436e-04 9.99234891e-01 1.84030292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.440385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:288.34, Y:212.01, Z:18.40 [[ 3.80935954e-01 -9.24474374e-01 -1.53274178e-02 2.88336513e+02] [ 9.23774158e-01 3.81243918e-01 -3.59775041e-02 2.12005521e+02] [ 3.91037654e-02 -4.53947603e-04 9.99235052e-01 1.84043896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.470385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.35, Y:212.03, Z:18.41 [[ 3.79657375e-01 -9.25000324e-01 -1.53192101e-02 2.88348500e+02] [ 9.24300393e-01 3.79965987e-01 -3.59809986e-02 2.12031215e+02] [ 3.91032141e-02 -4.99100433e-04 9.99235052e-01 1.84060947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.500385723 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:288.35, Y:212.05, Z:18.41 [[ 3.72473294e-01 -9.27916617e-01 -1.53100535e-02 2.88353223e+02] [ 9.27218940e-01 3.72786970e-01 -3.59848943e-02 2.12051773e+02] [ 3.90983698e-02 -7.92359484e-04 9.99235052e-01 1.84061620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.530385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.37, Y:212.08, Z:18.41 [[ 3.77360440e-01 -9.25951762e-01 -1.45750856e-02 2.88373707e+02] [ 9.25240100e-01 3.77641748e-01 -3.62969384e-02 2.12080941e+02] [ 3.91133749e-02 2.11575005e-04 9.99234757e-01 1.84096637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.560385723 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:288.37, Y:212.10, Z:18.41 [[ 3.70577486e-01 -9.28675473e-01 -1.53033191e-02 2.88374587e+02] [ 9.27978340e-01 3.70892325e-01 -3.59872758e-02 2.12101413e+02] [ 3.90963841e-02 -8.65074466e-04 9.99235070e-01 1.84077952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.590385723 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:288.38, Y:212.13, Z:18.41 [[ 3.69837055e-01 -9.28982249e-01 -1.45785515e-02 2.88384853e+02] [ 9.28272960e-01 3.70124262e-01 -3.62952024e-02 2.12126312e+02] [ 3.91134744e-02 -1.09564393e-04 9.99234769e-01 1.84082011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.62038572299997 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:288.41, Y:212.16, Z:18.41 [[ 3.76616846e-01 -9.26257551e-01 -1.43770552e-02 2.88408384e+02] [ 9.25542894e-01 3.76890956e-01 -3.63807476e-02 2.12156025e+02] [ 3.91165243e-02 3.95021175e-04 9.99234578e-01 1.84130513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.650385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:288.42, Y:212.18, Z:18.41 [[ 3.76452509e-01 -9.26309411e-01 -1.53095850e-02 2.88419879e+02] [ 9.25610428e-01 3.76763169e-01 -3.59840199e-02 2.12181884e+02] [ 3.91004240e-02 -6.24436895e-04 9.99235091e-01 1.84141372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.680385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:288.43, Y:212.21, Z:18.42 [[ 3.76226047e-01 -9.26401577e-01 -1.52996407e-02 2.88430814e+02] [ 9.25702499e-01 3.76536491e-01 -3.59882475e-02 2.12207371e+02] [ 3.91004423e-02 -6.23199545e-04 9.99235091e-01 1.84152939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.710385723 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:288.44, Y:212.23, Z:18.41 [[ 3.77015872e-01 -9.26080591e-01 -1.52895685e-02 2.88442247e+02] [ 9.25381075e-01 3.77325328e-01 -3.59925262e-02 2.12231895e+02] [ 3.91011214e-02 -5.78923712e-04 9.99235091e-01 1.84146850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.740385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:288.45, Y:212.26, Z:18.42 [[ 3.77222479e-01 -9.25996602e-01 -1.52805135e-02 2.88452667e+02] [ 9.25296862e-01 3.77531428e-01 -3.59963700e-02 2.12257651e+02] [ 3.91013904e-02 -5.60371289e-04 9.99235091e-01 1.84165625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.770385723 meters Centerline goodness : 0.995296 Centerline is valid? [True, True] Translation: X:288.47, Y:212.29, Z:18.42 [[ 3.77341613e-01 -9.25948228e-01 -1.52704415e-02 2.88465772e+02] [ 9.25248275e-01 3.77650080e-01 -3.60006423e-02 2.12286555e+02] [ 3.91016144e-02 -5.44409226e-04 9.99235091e-01 1.84170363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.800385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:288.47, Y:212.31, Z:18.42 [[ 3.79434220e-01 -9.25084306e-01 -1.57702200e-02 2.88473270e+02] [ 9.24392314e-01 3.79760491e-01 -3.57885252e-02 2.12307384e+02] [ 3.90963095e-02 -9.98478992e-04 9.99234948e-01 1.84182605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.830385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:288.48, Y:212.33, Z:18.42 [[ 3.75950235e-01 -9.26514451e-01 -1.52444068e-02 2.88476356e+02] [ 9.25814538e-01 3.76258742e-01 -3.60111220e-02 2.12330673e+02] [ 3.91006663e-02 -5.75103685e-04 9.99235111e-01 1.84169789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.860385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:288.49, Y:212.36, Z:18.42 [[ 3.76730385e-01 -9.26206697e-01 -1.46755294e-02 2.88486774e+02] [ 9.25496998e-01 3.77016112e-01 -3.62513104e-02 2.12357502e+02] [ 3.91091175e-02 7.48117629e-05 9.99234943e-01 1.84181901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.890385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.50, Y:212.38, Z:18.42 [[ 3.78756352e-01 -9.25379639e-01 -1.47020312e-02 2.88498501e+02] [ 9.24669750e-01 3.79041563e-01 -3.62401210e-02 2.12383774e+02] [ 3.91085510e-02 1.31652491e-04 9.99234959e-01 1.84175179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.920385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.51, Y:212.41, Z:18.42 [[ 3.79658378e-01 -9.25009068e-01 -1.47559953e-02 2.88509241e+02] [ 9.24299785e-01 3.79945011e-01 -3.62173463e-02 2.12410917e+02] [ 3.91078406e-02 1.11255692e-04 9.99234990e-01 1.84196852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.950385723 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:288.52, Y:212.44, Z:18.42 [[ 3.84479009e-01 -9.23014728e-01 -1.48223987e-02 2.88524357e+02] [ 9.22305036e-01 3.84764542e-01 -3.61893334e-02 2.12438577e+02] [ 3.91064211e-02 2.43266086e-04 9.99235022e-01 1.84204154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.980385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.53, Y:212.46, Z:18.42 [[ 3.81520385e-01 -9.24235343e-01 -1.52061088e-02 2.88529790e+02] [ 9.23532937e-01 3.81823181e-01 -3.60273842e-02 2.12462436e+02] [ 3.91038266e-02 -2.98160850e-04 9.99235108e-01 1.84225722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.010385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.54, Y:212.49, Z:18.42 [[ 3.81377221e-01 -9.24299877e-01 -1.48712204e-02 2.88538718e+02] [ 9.23591944e-01 3.81667047e-01 -3.61688714e-02 2.12488000e+02] [ 3.91067381e-02 5.90442730e-05 9.99235037e-01 1.84234128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.040385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.55, Y:212.51, Z:18.42 [[ 3.80593367e-01 -9.24625096e-01 -1.47350217e-02 2.88548231e+02] [ 9.23915174e-01 3.80878460e-01 -3.62263622e-02 2.12514321e+02] [ 3.91080561e-02 1.73602985e-04 9.99234972e-01 1.84226340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.070385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.56, Y:212.54, Z:18.43 [[ 3.83812691e-01 -9.23293177e-01 -1.47488365e-02 2.88564395e+02] [ 9.22582489e-01 3.84095852e-01 -3.62205416e-02 2.12542855e+02] [ 3.91071458e-02 2.94885252e-04 9.99234979e-01 1.84263820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.100385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.57, Y:212.57, Z:18.43 [[ 3.81718339e-01 -9.24153859e-01 -1.51906237e-02 2.88571629e+02] [ 9.23451113e-01 3.82020380e-01 -3.60343066e-02 2.12568147e+02] [ 3.91043714e-02 -2.72842653e-04 9.99235094e-01 1.84281783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.130385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.58, Y:212.60, Z:18.43 [[ 3.81233759e-01 -9.24357684e-01 -1.49563674e-02 2.88583863e+02] [ 9.23651199e-01 3.81527025e-01 -3.61329884e-02 2.12595234e+02] [ 3.91060638e-02 -3.93517184e-05 9.99235065e-01 1.84283875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.160385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.59, Y:212.62, Z:18.43 [[ 3.80343061e-01 -9.24720879e-01 -1.51806157e-02 2.88594340e+02] [ 9.24018415e-01 3.80645758e-01 -3.60385289e-02 2.12621809e+02] [ 3.91040170e-02 -3.20164062e-04 9.99235094e-01 1.84288833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.190385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:288.60, Y:212.65, Z:18.43 [[ 3.79667952e-01 -9.24998429e-01 -1.51708114e-02 2.88603602e+02] [ 9.24296021e-01 3.79970779e-01 -3.60426556e-02 2.12647792e+02] [ 3.91038648e-02 -3.38079374e-04 9.99235094e-01 1.84311972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.220385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:288.62, Y:212.68, Z:18.43 [[ 3.83046523e-01 -9.23606126e-01 -1.50693372e-02 2.88620507e+02] [ 9.22900933e-01 3.83342818e-01 -3.60853394e-02 2.12676683e+02] [ 3.91053627e-02 -8.51415927e-05 9.99235089e-01 1.84313078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.250385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:288.62, Y:212.70, Z:18.43 [[ 3.77839060e-01 -9.25738404e-01 -1.56860313e-02 2.88622776e+02] [ 9.25045454e-01 3.78163269e-01 -3.58252797e-02 2.12700391e+02] [ 3.90967181e-02 -9.74101908e-04 9.99234956e-01 1.84294981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.280385723 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:288.63, Y:212.73, Z:18.43 [[ 3.75567289e-01 -9.26671030e-01 -1.51661771e-02 2.88631117e+02] [ 9.25969915e-01 3.75873044e-01 -3.60440245e-02 2.12726030e+02] [ 3.91015105e-02 -5.06467129e-04 9.99235115e-01 1.84277955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.310385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:288.64, Y:212.75, Z:18.43 [[ 3.74692371e-01 -9.27025312e-01 -1.51558013e-02 2.88641194e+02] [ 9.26324309e-01 3.74998384e-01 -3.60483868e-02 2.12751930e+02] [ 3.91011680e-02 -5.32131604e-04 9.99235115e-01 1.84307999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.340385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:288.65, Y:212.78, Z:18.43 [[ 3.73132768e-01 -9.27654316e-01 -1.51462015e-02 2.88651198e+02] [ 9.26953666e-01 3.73439586e-01 -3.60524198e-02 2.12777982e+02] [ 3.91003741e-02 -5.87487865e-04 9.99235115e-01 1.84324109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.37038572299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.66, Y:212.80, Z:18.43 [[ 3.69952776e-01 -9.28927249e-01 -1.51363681e-02 2.88659529e+02] [ 9.28227485e-01 3.70261612e-01 -3.60565478e-02 2.12804013e+02] [ 3.90983258e-02 -7.10772908e-04 9.99235115e-01 1.84332673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.400385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.68, Y:212.83, Z:18.44 [[ 3.73091076e-01 -9.27671363e-01 -1.51291912e-02 2.88675440e+02] [ 9.26970437e-01 3.73397265e-01 -3.60595590e-02 2.12833017e+02] [ 3.91006188e-02 -5.70813351e-04 9.99235115e-01 1.84399475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.430385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.68, Y:212.86, Z:18.44 [[ 3.65279287e-01 -9.30767899e-01 -1.55615424e-02 2.88676234e+02] [ 9.30077154e-01 3.65608052e-01 -3.58781258e-02 2.12857286e+02] [ 3.90836330e-02 -1.36789885e-03 9.99235007e-01 1.84362028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.460385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.69, Y:212.89, Z:18.44 [[ 3.68724831e-01 -9.29415817e-01 -1.51075341e-02 2.88691582e+02] [ 9.28715982e-01 3.69033472e-01 -3.60682965e-02 2.12885441e+02] [ 3.90976310e-02 -7.31331847e-04 9.99235128e-01 1.84425063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.490385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.69, Y:212.91, Z:18.44 [[ 3.64482115e-01 -9.31081405e-01 -1.54985513e-02 2.88694806e+02] [ 9.30389838e-01 3.64809045e-01 -3.59041683e-02 2.12907884e+02] [ 3.90837152e-02 -1.33326747e-03 9.99235050e-01 1.84384161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.520385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.70, Y:212.93, Z:18.44 [[ 3.62981440e-01 -9.31675355e-01 -1.50168861e-02 2.88700874e+02] [ 9.30975884e-01 3.63290885e-01 -3.61058930e-02 2.12934549e+02] [ 3.90944685e-02 -8.74589803e-04 9.99235136e-01 1.84402658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.550385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.71, Y:212.96, Z:18.44 [[ 3.62823622e-01 -9.31735492e-01 -1.50994411e-02 2.88708182e+02] [ 9.31037501e-01 3.63136381e-01 -3.60713357e-02 2.12960666e+02] [ 3.90921001e-02 -9.70613248e-04 9.99235140e-01 1.84419474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.580385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:288.72, Y:212.99, Z:18.44 [[ 3.62978369e-01 -9.31675379e-01 -1.50894675e-02 2.88717022e+02] [ 9.30977163e-01 3.63290627e-01 -3.60755074e-02 2.12986685e+02] [ 3.90925241e-02 -9.53320868e-04 9.99235140e-01 1.84428047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.610385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.73, Y:213.01, Z:18.44 [[ 3.63607881e-01 -9.31430037e-01 -1.50796007e-02 2.88725793e+02] [ 9.30731440e-01 3.63919285e-01 -3.60796312e-02 2.13013682e+02] [ 3.90934098e-02 -9.16220267e-04 9.99235140e-01 1.84438294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.640385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:288.73, Y:213.04, Z:18.44 [[ 3.64378850e-01 -9.31128859e-01 -1.50698816e-02 2.88733545e+02] [ 9.30429837e-01 3.64689299e-01 -3.60836903e-02 2.13039486e+02] [ 3.90943899e-02 -8.73333881e-04 9.99235140e-01 1.84440940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.670385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.74, Y:213.07, Z:18.44 [[ 3.66800943e-01 -9.30177551e-01 -1.50596375e-02 2.88739933e+02] [ 9.29477548e-01 3.67109175e-01 -3.60879652e-02 2.13067501e+02] [ 3.90967462e-02 -7.60495276e-04 9.99235141e-01 1.84434957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.700385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.75, Y:213.09, Z:18.44 [[ 3.69132301e-01 -9.29254994e-01 -1.50499184e-02 2.88746688e+02] [ 9.28554056e-01 3.69438399e-01 -3.60920179e-02 2.13094569e+02] [ 3.90987057e-02 -6.51933112e-04 9.99235141e-01 1.84428383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.730385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:288.76, Y:213.12, Z:18.44 [[ 3.69908904e-01 -9.28946291e-01 -1.50396744e-02 2.88755732e+02] [ 9.28244924e-01 3.70214018e-01 -3.60962861e-02 2.13121072e+02] [ 3.90994094e-02 -6.08163814e-04 9.99235141e-01 1.84434632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.760385723 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:288.76, Y:213.15, Z:18.44 [[ 3.70713788e-01 -9.28625535e-01 -1.50300465e-02 2.88764902e+02] [ 9.27923742e-01 3.71017920e-01 -3.61002947e-02 2.13147707e+02] [ 3.91000720e-02 -5.63859961e-04 9.99235141e-01 1.84441687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.790385723 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:288.77, Y:213.17, Z:18.44 [[ 3.72466031e-01 -9.27924265e-01 -1.50204640e-02 2.88772400e+02] [ 9.27221739e-01 3.72768465e-01 -3.61042813e-02 2.13174599e+02] [ 3.91011940e-02 -4.79682392e-04 9.99235141e-01 1.84444987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.820385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.78, Y:213.20, Z:18.45 [[ 3.73669204e-01 -9.27440572e-01 -1.50103593e-02 2.88781292e+02] [ 9.26737486e-01 3.73970333e-01 -3.61084818e-02 2.13199728e+02] [ 3.91019001e-02 -4.18035001e-04 9.99235141e-01 1.84464363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.850385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.79, Y:213.23, Z:18.45 [[ 3.76300666e-01 -9.26376151e-01 -1.50011868e-02 2.88792332e+02] [ 9.25672061e-01 3.76599441e-01 -3.61122921e-02 2.13228363e+02] [ 3.91030047e-02 -2.97099971e-04 9.99235141e-01 1.84467128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.880385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:288.80, Y:213.25, Z:18.45 [[ 3.75790332e-01 -9.26579633e-01 -1.52252973e-02 2.88797997e+02] [ 9.25879445e-01 3.76098217e-01 -3.60192200e-02 2.13252692e+02] [ 3.91008828e-02 -5.61115141e-04 9.99235111e-01 1.84487427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.910385723 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:288.82, Y:213.28, Z:18.45 [[ 3.81279714e-01 -9.24338343e-01 -1.49802659e-02 2.88815184e+02] [ 9.23632319e-01 3.81573878e-01 -3.61208424e-02 2.13283688e+02] [ 3.91039578e-02 -6.41132969e-05 9.99235146e-01 1.84496273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.940385723 meters Centerline goodness : 0.999612 Centerline is valid? [True, True] Translation: X:288.82, Y:213.31, Z:18.45 [[ 3.76447935e-01 -9.26304930e-01 -1.56884795e-02 2.88816061e+02] [ 9.25612416e-01 3.76773282e-01 -3.58266645e-02 2.13305157e+02] [ 3.90974159e-02 -1.03457754e-03 9.99234868e-01 1.84523895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.970385723 meters Centerline goodness : 0.999677 Centerline is valid? [True, True] Translation: X:288.83, Y:213.33, Z:18.45 [[ 3.75885933e-01 -9.26545102e-01 -1.49646188e-02 2.88825514e+02] [ 9.25840578e-01 3.76183597e-01 -3.61265210e-02 2.13331819e+02] [ 3.91022952e-02 -2.75400269e-04 9.99235175e-01 1.84532806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.000385723 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:288.83, Y:213.36, Z:18.45 [[ 3.74644185e-01 -9.27048057e-01 -1.49544237e-02 2.88834016e+02] [ 9.26343764e-01 3.74942395e-01 -3.61307407e-02 2.13357889e+02] [ 3.91019804e-02 -3.16765248e-04 9.99235175e-01 1.84539206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.030385723 meters Centerline goodness : 0.999762 Centerline is valid? [True, True] Translation: X:288.84, Y:213.38, Z:18.46 [[ 3.73635479e-01 -9.27455175e-01 -1.49475082e-02 2.88843840e+02] [ 9.26751092e-01 3.73934186e-01 -3.61336014e-02 2.13384513e+02] [ 3.91016799e-02 -3.51824087e-04 9.99235175e-01 1.84556838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.060385723 meters Centerline goodness : 0.999550 Centerline is valid? [True, True] Translation: X:288.85, Y:213.41, Z:18.46 [[ 3.72123991e-01 -9.28062829e-01 -1.49372141e-02 2.88851992e+02] [ 9.27359064e-01 3.72423444e-01 -3.61378564e-02 2.13410952e+02] [ 3.91011700e-02 -4.04397549e-04 9.99235175e-01 1.84562596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.090385723 meters Centerline goodness : 0.999399 Centerline is valid? [True, True] Translation: X:288.86, Y:213.44, Z:18.46 [[ 3.70852049e-01 -9.28571976e-01 -1.49279287e-02 2.88860137e+02] [ 9.27868468e-01 3.71152104e-01 -3.61416916e-02 2.13438094e+02] [ 3.91006942e-02 -4.47933946e-04 9.99235175e-01 1.84580976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.12038572299997 meters Centerline goodness : 0.999507 Centerline is valid? [True, True] Translation: X:288.87, Y:213.46, Z:18.46 [[ 3.70375707e-01 -9.28762236e-01 -1.49179337e-02 2.88869713e+02] [ 9.28058716e-01 3.70675734e-01 -3.61458167e-02 2.13463922e+02] [ 3.91005856e-02 -4.57185937e-04 9.99235175e-01 1.84591150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.150385723 meters Centerline goodness : 0.999485 Centerline is valid? [True, True] Translation: X:288.88, Y:213.49, Z:18.46 [[ 3.69775618e-01 -9.29001460e-01 -1.49090236e-02 2.88879761e+02] [ 9.28297986e-01 3.70075753e-01 -3.61494915e-02 2.13490627e+02] [ 3.91003985e-02 -4.72816024e-04 9.99235175e-01 1.84598353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.180385723 meters Centerline goodness : 0.999142 Centerline is valid? [True, True] Translation: X:288.89, Y:213.52, Z:18.46 [[ 3.70097660e-01 -9.28873371e-01 -1.48990967e-02 2.88888233e+02] [ 9.28169628e-01 3.70397165e-01 -3.61535824e-02 2.13516536e+02] [ 3.91006832e-02 -4.48532801e-04 9.99235175e-01 1.84583546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.210385723 meters Centerline goodness : 0.999144 Centerline is valid? [True, True] Translation: X:288.90, Y:213.54, Z:18.46 [[ 3.70215492e-01 -9.28828980e-01 -1.47382360e-02 2.88898115e+02] [ 9.28122552e-01 3.70508642e-01 -3.62198138e-02 2.13543232e+02] [ 3.91026565e-02 -2.69753005e-04 9.99235162e-01 1.84607177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.240385723 meters Centerline goodness : 0.999144 Centerline is valid? [True, True] Translation: X:288.91, Y:213.57, Z:18.46 [[ 3.69961814e-01 -9.28927704e-01 -1.48854960e-02 2.88908999e+02] [ 9.28223779e-01 3.70260892e-01 -3.61591924e-02 2.13569624e+02] [ 3.91007926e-02 -4.39550944e-04 9.99235175e-01 1.84618869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.270385723 meters Centerline goodness : 0.999249 Centerline is valid? [True, True] Translation: X:288.92, Y:213.60, Z:18.46 [[ 3.70399704e-01 -9.28753345e-01 -1.48756111e-02 2.88919540e+02] [ 9.28049116e-01 3.70698066e-01 -3.61632585e-02 2.13595375e+02] [ 3.91011076e-02 -4.10437518e-04 9.99235175e-01 1.84630715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.300385723 meters Centerline goodness : 0.999120 Centerline is valid? [True, True] Translation: X:288.93, Y:213.62, Z:18.46 [[ 3.71577293e-01 -9.28282998e-01 -1.48657835e-02 2.88928669e+02] [ 9.27578230e-01 3.71874378e-01 -3.61672979e-02 2.13620423e+02] [ 3.91016918e-02 -3.50230491e-04 9.99235175e-01 1.84631780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.330385723 meters Centerline goodness : 0.998990 Centerline is valid? [True, True] Translation: X:288.94, Y:213.65, Z:18.46 [[ 3.73372155e-01 -9.27562669e-01 -1.48569225e-02 2.88938217e+02] [ 9.26857184e-01 3.73667532e-01 -3.61709375e-02 2.13645071e+02] [ 3.91023609e-02 -2.65024423e-04 9.99235175e-01 1.84645685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.360385723 meters Centerline goodness : 0.999034 Centerline is valid? [True, True] Translation: X:288.95, Y:213.67, Z:18.47 [[ 3.73497904e-01 -9.27514764e-01 -1.46859977e-02 2.88948680e+02] [ 9.26806467e-01 3.73786512e-01 -3.62410926e-02 2.13673127e+02] [ 3.91035763e-02 -7.51055130e-05 9.99235160e-01 1.84664477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.390385723 meters Centerline goodness : 0.999031 Centerline is valid? [True, True] Translation: X:288.96, Y:213.70, Z:18.47 [[ 3.76098659e-01 -9.26460694e-01 -1.48452555e-02 2.88959617e+02] [ 9.25754153e-01 3.76391503e-01 -3.61757394e-02 2.13698285e+02] [ 3.91030286e-02 -1.37409834e-04 9.99235175e-01 1.84678082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.420385723 meters Centerline goodness : 0.999078 Centerline is valid? [True, True] Translation: X:288.97, Y:213.72, Z:18.47 [[ 3.76918261e-01 -9.26127694e-01 -1.48363667e-02 2.88970933e+02] [ 9.25420752e-01 3.77210134e-01 -3.61793845e-02 2.13724430e+02] [ 3.91031578e-02 -9.32109176e-05 9.99235175e-01 1.84697695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.450385723 meters Centerline goodness : 0.998990 Centerline is valid? [True, True] Translation: X:288.98, Y:213.75, Z:18.47 [[ 3.78202106e-01 -9.25604311e-01 -1.48265531e-02 2.88982092e+02] [ 9.24896806e-01 3.78492614e-01 -3.61834057e-02 2.13749846e+02] [ 3.91032572e-02 -2.83913925e-05 9.99235175e-01 1.84707181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.480385723 meters Centerline goodness : 0.998881 Centerline is valid? [True, True] Translation: X:288.99, Y:213.78, Z:18.47 [[ 3.78142889e-01 -9.25628665e-01 -1.48165406e-02 2.88992712e+02] [ 9.24921018e-01 3.78433051e-01 -3.61875052e-02 2.13775007e+02] [ 3.91032608e-02 -2.00820715e-05 9.99235175e-01 1.84700035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.510385723 meters Centerline goodness : 0.999052 Centerline is valid? [True, True] Translation: X:289.00, Y:213.80, Z:18.47 [[ 3.77888513e-01 -9.25732652e-01 -1.48097375e-02 2.89004873e+02] [ 9.25024977e-01 3.78178603e-01 -3.61902892e-02 2.13800431e+02] [ 3.91032582e-02 -2.34825594e-05 9.99235175e-01 1.84712707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.540385723 meters Centerline goodness : 0.999137 Centerline is valid? [True, True] Translation: X:289.02, Y:213.82, Z:18.47 [[ 3.78806426e-01 -9.25357578e-01 -1.48001334e-02 2.89015757e+02] [ 9.24649462e-01 3.79095439e-01 -3.61942164e-02 2.13823478e+02] [ 3.91032555e-02 2.56663618e-05 9.99235175e-01 1.84716178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.570385723 meters Centerline goodness : 0.999050 Centerline is valid? [True, True] Translation: X:289.03, Y:213.85, Z:18.47 [[ 3.75787618e-01 -9.26591133e-01 -1.45787096e-02 2.89028345e+02] [ 9.25880430e-01 3.76070278e-01 -3.62846563e-02 2.13850523e+02] [ 3.91036601e-02 1.37182692e-04 9.99235150e-01 1.84717993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.600385723 meters Centerline goodness : 0.999138 Centerline is valid? [True, True] Translation: X:289.04, Y:213.88, Z:18.47 [[ 3.74934343e-01 -9.26933443e-01 -1.47861729e-02 2.89039850e+02] [ 9.26226316e-01 3.75225769e-01 -3.61999171e-02 2.13875749e+02] [ 3.91030669e-02 -1.22750312e-04 9.99235175e-01 1.84746134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.630385723 meters Centerline goodness : 0.999180 Centerline is valid? [True, True] Translation: X:289.05, Y:213.90, Z:18.47 [[ 3.69601398e-01 -9.29072904e-01 -1.47765374e-02 2.89048977e+02] [ 9.28367306e-01 3.69896507e-01 -3.62038499e-02 2.13901285e+02] [ 3.91018055e-02 -3.37060684e-04 9.99235175e-01 1.84709434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.660385723 meters Centerline goodness : 0.999200 Centerline is valid? [True, True] Translation: X:289.06, Y:213.93, Z:18.47 [[ 3.67638219e-01 -9.29854725e-01 -1.45715464e-02 2.89058144e+02] [ 9.29146421e-01 3.67926828e-01 -3.62874338e-02 2.13925682e+02] [ 3.91033047e-02 -1.98452634e-04 9.99235154e-01 1.84705554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.690385723 meters Centerline goodness : 0.999200 Centerline is valid? [True, True] Translation: X:289.07, Y:213.95, Z:18.48 [[ 3.71096722e-01 -9.28481992e-01 -1.44365418e-02 2.89073907e+02] [ 9.27770470e-01 3.71377412e-01 -3.63424293e-02 2.13952010e+02] [ 3.91046967e-02 9.27591669e-05 9.99235115e-01 1.84771820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.720385723 meters Centerline goodness : 0.999246 Centerline is valid? [True, True] Translation: X:289.09, Y:213.98, Z:18.48 [[ 3.69435906e-01 -9.29139038e-01 -1.47566366e-02 2.89085775e+02] [ 9.28433169e-01 3.69730366e-01 -3.62119910e-02 2.13976461e+02] [ 3.91019511e-02 -3.22541136e-04 9.99235174e-01 1.84776124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.750385723 meters Centerline goodness : 0.997303 Centerline is valid? [True, True] Translation: X:289.10, Y:214.00, Z:18.47 [[ 3.70028708e-01 -9.28903273e-01 -1.47466935e-02 2.89095637e+02] [ 9.28197054e-01 3.70322329e-01 -3.62160397e-02 2.13996337e+02] [ 3.91022277e-02 -2.86863122e-04 9.99235174e-01 1.84704393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.780385723 meters Centerline goodness : 0.999374 Centerline is valid? [True, True] Translation: X:289.11, Y:214.02, Z:18.48 [[ 3.67138581e-01 -9.30055982e-01 -1.43224580e-02 2.89107280e+02] [ 9.29343864e-01 3.67417838e-01 -3.63883862e-02 2.14023978e+02] [ 3.91055628e-02 4.90919623e-05 9.99235084e-01 1.84782381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.810385723 meters Centerline goodness : 0.999438 Centerline is valid? [True, True] Translation: X:289.12, Y:214.05, Z:18.48 [[ 3.66117955e-01 -9.30452004e-01 -1.47211395e-02 2.89118509e+02] [ 9.29746611e-01 3.66413549e-01 -3.62263798e-02 2.14049266e+02] [ 3.91009327e-02 -4.23801418e-04 9.99235176e-01 1.84807434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.840385723 meters Centerline goodness : 0.999418 Centerline is valid? [True, True] Translation: X:289.13, Y:214.07, Z:18.48 [[ 3.64555035e-01 -9.31065631e-01 -1.47111546e-02 2.89130680e+02] [ 9.30360572e-01 3.64851425e-01 -3.62304341e-02 2.14073223e+02] [ 3.91002977e-02 -4.78691065e-04 9.99235176e-01 1.84816610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.87038572299997 meters Centerline goodness : 0.999394 Centerline is valid? [True, True] Translation: X:289.14, Y:214.10, Z:18.48 [[ 3.62284781e-01 -9.31951493e-01 -1.47021206e-02 2.89141710e+02] [ 9.31247010e-01 3.62582537e-01 -3.62340997e-02 2.14099740e+02] [ 3.90991555e-02 -5.64243030e-04 9.99235176e-01 1.84805144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.900385723 meters Centerline goodness : 0.999394 Centerline is valid? [True, True] Translation: X:289.15, Y:214.12, Z:18.48 [[ 3.63959028e-01 -9.31298614e-01 -1.47213120e-02 2.89154378e+02] [ 9.30593911e-01 3.64256265e-01 -3.62263152e-02 2.14123821e+02] [ 3.90998472e-02 -5.14668828e-04 9.99235176e-01 1.84844446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.930385723 meters Centerline goodness : 0.999242 Centerline is valid? [True, True] Translation: X:289.17, Y:214.15, Z:18.48 [[ 3.64234664e-01 -9.31191358e-01 -1.46888960e-02 2.89166786e+02] [ 9.30486038e-01 3.64530431e-01 -3.62394543e-02 2.14148119e+02] [ 3.91004163e-02 -4.68147135e-04 9.99235177e-01 1.84849920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.960385723 meters Centerline goodness : 0.999134 Centerline is valid? [True, True] Translation: X:289.18, Y:214.17, Z:18.49 [[ 3.64274211e-01 -9.31175997e-01 -1.46820588e-02 2.89178585e+02] [ 9.30470552e-01 3.64569681e-01 -3.62422242e-02 2.14173779e+02] [ 3.91005227e-02 -4.59115733e-04 9.99235177e-01 1.84862719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.990385723 meters Centerline goodness : 0.999371 Centerline is valid? [True, True] Translation: X:289.19, Y:214.20, Z:18.49 [[ 3.64359712e-01 -9.31142705e-01 -1.46718661e-02 2.89189805e+02] [ 9.30437067e-01 3.64654721e-01 -3.62463500e-02 2.14199799e+02] [ 3.91006896e-02 -4.44538403e-04 9.99235177e-01 1.84878912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.020385723 meters Centerline goodness : 0.999415 Centerline is valid? [True, True] Translation: X:289.20, Y:214.22, Z:18.49 [[ 3.65182917e-01 -9.30820322e-01 -1.46617327e-02 2.89201835e+02] [ 9.30114259e-01 3.65476907e-01 -3.62504485e-02 2.14224743e+02] [ 3.91011788e-02 -3.99042146e-04 9.99235177e-01 1.84899342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.050385723 meters Centerline goodness : 0.999307 Centerline is valid? [True, True] Translation: X:289.21, Y:214.25, Z:18.49 [[ 3.65669035e-01 -9.30629619e-01 -1.46516326e-02 2.89213002e+02] [ 9.29923239e-01 3.65962263e-01 -3.62545303e-02 2.14250619e+02] [ 3.91014843e-02 -3.67734525e-04 9.99235177e-01 1.84915203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.080385723 meters Centerline goodness : 0.999331 Centerline is valid? [True, True] Translation: X:289.22, Y:214.28, Z:18.49 [[ 3.67736022e-01 -9.29814952e-01 -1.46415203e-02 2.89224643e+02] [ 9.29107760e-01 3.68027285e-01 -3.62586137e-02 2.14276004e+02] [ 3.91022801e-02 -2.69951781e-04 9.99235177e-01 1.84926971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.110385723 meters Centerline goodness : 0.999438 Centerline is valid? [True, True] Translation: X:289.23, Y:214.30, Z:18.49 [[ 3.68670609e-01 -9.29444943e-01 -1.46314398e-02 2.89234920e+02] [ 9.28737298e-01 3.68960769e-01 -3.62626810e-02 2.14300653e+02] [ 3.91025928e-02 -2.19779132e-04 9.99235177e-01 1.84931508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.140385723 meters Centerline goodness : 0.999350 Centerline is valid? [True, True] Translation: X:289.25, Y:214.33, Z:18.50 [[ 3.70148900e-01 -9.28857351e-01 -1.46223764e-02 2.89247224e+02] [ 9.28149100e-01 3.70437580e-01 -3.62663353e-02 2.14328178e+02] [ 3.91029299e-02 -1.47801359e-04 9.99235177e-01 1.84956655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.170385723 meters Centerline goodness : 0.999351 Centerline is valid? [True, True] Translation: X:289.26, Y:214.35, Z:18.50 [[ 3.71527149e-01 -9.28305233e-01 -1.47300072e-02 2.89257601e+02] [ 9.27598267e-01 3.71818979e-01 -3.62229531e-02 2.14352141e+02] [ 3.91028531e-02 -2.05718673e-04 9.99235170e-01 1.84950313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.200385723 meters Centerline goodness : 0.999415 Centerline is valid? [True, True] Translation: X:289.27, Y:214.38, Z:18.50 [[ 3.72043443e-01 -9.28100404e-01 -1.46053547e-02 2.89269839e+02] [ 9.27391299e-01 3.72330012e-01 -3.62731447e-02 2.14377769e+02] [ 3.91031321e-02 -4.96932227e-05 9.99235179e-01 1.84960011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.230385723 meters Centerline goodness : 0.999393 Centerline is valid? [True, True] Translation: X:289.28, Y:214.40, Z:18.50 [[ 3.71250694e-01 -9.28417954e-01 -1.45953629e-02 2.89280855e+02] [ 9.27708936e-01 3.71537478e-01 -3.62771647e-02 2.14403931e+02] [ 3.91030953e-02 -7.23260295e-05 9.99235179e-01 1.84964199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.260385723 meters Centerline goodness : 0.999393 Centerline is valid? [True, True] Translation: X:289.29, Y:214.43, Z:18.50 [[ 3.69305366e-01 -9.29193637e-01 -1.45853196e-02 2.89292005e+02] [ 9.28485062e-01 3.69593241e-01 -3.62812021e-02 2.14428262e+02] [ 3.91028977e-02 -1.43408783e-04 9.99235179e-01 1.84960883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.290385723 meters Centerline goodness : 0.999326 Centerline is valid? [True, True] Translation: X:289.30, Y:214.45, Z:18.50 [[ 3.67929015e-01 -9.29739624e-01 -1.45763829e-02 2.89303546e+02] [ 9.29031334e-01 3.68217591e-01 -3.62847922e-02 2.14453637e+02] [ 3.91026897e-02 -1.91688583e-04 9.99235179e-01 1.84976261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.320385723 meters Centerline goodness : 0.999456 Centerline is valid? [True, True] Translation: X:289.32, Y:214.48, Z:18.50 [[ 3.65724763e-01 -9.30609058e-01 -1.45663820e-02 2.89317268e+02] [ 9.29901294e-01 3.66014627e-01 -3.62888066e-02 2.14477685e+02] [ 3.91022010e-02 -2.73582240e-04 9.99235179e-01 1.84990478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.350385723 meters Centerline goodness : 0.999413 Centerline is valid? [True, True] Translation: X:289.33, Y:214.50, Z:18.50 [[ 3.64762607e-01 -9.30986746e-01 -1.45574492e-02 2.89329390e+02] [ 9.30279139e-01 3.65052854e-01 -3.62923897e-02 2.14502986e+02] [ 3.91019721e-02 -3.04384668e-04 9.99235179e-01 1.85002704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.380385723 meters Centerline goodness : 0.999432 Centerline is valid? [True, True] Translation: X:289.34, Y:214.53, Z:18.50 [[ 3.63665384e-01 -9.31416049e-01 -1.45475993e-02 2.89341858e+02] [ 9.30708626e-01 3.63956080e-01 -3.62963375e-02 2.14527050e+02] [ 3.91016785e-02 -3.39854657e-04 9.99235179e-01 1.85008153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.410385723 meters Centerline goodness : 0.999456 Centerline is valid? [True, True] Translation: X:289.35, Y:214.55, Z:18.50 [[ 3.61420166e-01 -9.32289726e-01 -1.45372047e-02 2.89349804e+02] [ 9.31582839e-01 3.61712162e-01 -3.63005003e-02 2.14550427e+02] [ 3.91008672e-02 -4.22877556e-04 9.99235179e-01 1.84996145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.440385723 meters Centerline goodness : 0.999386 Centerline is valid? [True, True] Translation: X:289.37, Y:214.58, Z:18.50 [[ 3.63285712e-01 -9.31568332e-01 -1.42805534e-02 2.89366802e+02] [ 9.30856793e-01 3.63566277e-01 -3.64031857e-02 2.14577195e+02] [ 3.91039826e-02 -6.83929230e-05 9.99235144e-01 1.85017904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.470385723 meters Centerline goodness : 0.999407 Centerline is valid? [True, True] Translation: X:289.38, Y:214.60, Z:18.50 [[ 3.63305647e-01 -9.31556737e-01 -1.45276535e-02 2.89379058e+02] [ 9.30849108e-01 3.63595840e-01 -3.63043067e-02 2.14602650e+02] [ 3.91017159e-02 -3.33493692e-04 9.99235180e-01 1.85040298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.500385723 meters Centerline goodness : 0.999540 Centerline is valid? [True, True] Translation: X:289.39, Y:214.63, Z:18.51 [[ 3.63251380e-01 -9.31578051e-01 -1.45179013e-02 2.89393271e+02] [ 9.30870284e-01 3.63541233e-01 -3.63082062e-02 2.14628408e+02] [ 3.91017837e-02 -3.25276888e-04 9.99235180e-01 1.85069188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.530385723 meters Centerline goodness : 0.999517 Centerline is valid? [True, True] Translation: X:289.41, Y:214.65, Z:18.51 [[ 3.65380537e-01 -9.30743609e-01 -1.46081505e-02 2.89406188e+02] [ 9.30036616e-01 3.65672290e-01 -3.62721563e-02 2.14652390e+02] [ 3.91018735e-02 -3.32974963e-04 9.99235174e-01 1.85079566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.560385723 meters Centerline goodness : 0.999516 Centerline is valid? [True, True] Translation: X:289.42, Y:214.68, Z:18.51 [[ 3.66166806e-01 -9.30436014e-01 -1.45153227e-02 2.89419366e+02] [ 9.29727303e-01 3.66454341e-01 -3.63091948e-02 2.14679355e+02] [ 3.91025855e-02 -2.00069961e-04 9.99235181e-01 1.85096625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.590385723 meters Centerline goodness : 0.999580 Centerline is valid? [True, True] Translation: X:289.43, Y:214.70, Z:18.51 [[ 3.66122232e-01 -9.30450021e-01 -1.47400880e-02 2.89430113e+02] [ 9.29744905e-01 3.66418561e-01 -3.62194615e-02 2.14704410e+02] [ 3.91014405e-02 -4.43771634e-04 9.99235148e-01 1.85105604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.62038572299997 meters Centerline goodness : 0.999579 Centerline is valid? [True, True] Translation: X:289.44, Y:214.73, Z:18.51 [[ 3.67237315e-01 -9.30011315e-01 -1.46870415e-02 2.89441473e+02] [ 9.29304997e-01 3.67530732e-01 -3.62406240e-02 2.14728012e+02] [ 3.91021295e-02 -3.39831644e-04 9.99235162e-01 1.85145703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.650385723 meters Centerline goodness : 0.999602 Centerline is valid? [True, True] Translation: X:289.45, Y:214.75, Z:18.51 [[ 3.68446691e-01 -9.29534983e-01 -1.45516950e-02 2.89453140e+02] [ 9.28826147e-01 3.68733909e-01 -3.62945369e-02 2.14753114e+02] [ 3.91027451e-02 -1.43392732e-04 9.99235185e-01 1.85144664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.680385723 meters Centerline goodness : 0.999602 Centerline is valid? [True, True] Translation: X:289.46, Y:214.78, Z:18.52 [[ 3.68716924e-01 -9.29429403e-01 -1.44504437e-02 2.89464068e+02] [ 9.28718900e-01 3.68999980e-01 -3.63348379e-02 2.14779195e+02] [ 3.91028802e-02 -2.31305038e-05 9.99235190e-01 1.85157331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.710385723 meters Centerline goodness : 0.999623 Centerline is valid? [True, True] Translation: X:289.48, Y:214.80, Z:18.52 [[ 3.68649178e-01 -9.29456785e-01 -1.44176360e-02 2.89476157e+02] [ 9.28745792e-01 3.68931003e-01 -3.63478883e-02 2.14804967e+02] [ 3.91029043e-02 9.30033801e-06 9.99235189e-01 1.85153318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.740385723 meters Centerline goodness : 0.999624 Centerline is valid? [True, True] Translation: X:289.49, Y:214.83, Z:18.52 [[ 3.68713437e-01 -9.29429801e-01 -1.45136745e-02 2.89487591e+02] [ 9.28720285e-01 3.68998966e-01 -3.63097121e-02 2.14829179e+02] [ 3.91028593e-02 -9.12652399e-05 9.99235187e-01 1.85167444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.770385723 meters Centerline goodness : 0.999534 Centerline is valid? [True, True] Translation: X:289.50, Y:214.85, Z:18.52 [[ 3.68170687e-01 -9.29647847e-01 -1.43257126e-02 2.89500180e+02] [ 9.28935578e-01 3.68449281e-01 -3.63843356e-02 2.14854475e+02] [ 3.91029178e-02 8.79817581e-05 9.99235185e-01 1.85151120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.800385723 meters Centerline goodness : 0.999644 Centerline is valid? [True, True] Translation: X:289.51, Y:214.88, Z:18.52 [[ 3.67826172e-01 -9.29783767e-01 -1.43545802e-02 2.89511380e+02] [ 9.29072047e-01 3.68106160e-01 -3.63728751e-02 2.14880588e+02] [ 3.91029182e-02 4.24561809e-05 9.99235188e-01 1.85195876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.830385723 meters Centerline goodness : 0.999665 Centerline is valid? [True, True] Translation: X:289.52, Y:214.90, Z:18.52 [[ 3.66468490e-01 -9.30320282e-01 -1.43184549e-02 2.89522757e+02] [ 9.29608412e-01 3.66748104e-01 -3.63872089e-02 2.14904830e+02] [ 3.91030247e-02 2.42094492e-05 9.99235184e-01 1.85209906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.860385723 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:289.54, Y:214.93, Z:18.52 [[ 3.65746440e-01 -9.30604665e-01 -1.43003056e-02 2.89535445e+02] [ 9.29892731e-01 3.66025896e-01 -3.63944054e-02 2.14929525e+02] [ 3.91030857e-02 1.33740126e-05 9.99235182e-01 1.85238226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.890385723 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:289.55, Y:214.95, Z:18.53 [[ 3.65002655e-01 -9.30896092e-01 -1.43362556e-02 2.89546412e+02] [ 9.30184939e-01 3.65284085e-01 -3.63801542e-02 2.14954729e+02] [ 3.91029494e-02 -5.65162022e-05 9.99235186e-01 1.85266249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.920385723 meters Centerline goodness : 0.999799 Centerline is valid? [True, True] Translation: X:289.56, Y:214.98, Z:18.53 [[ 3.64272410e-01 -9.31182444e-01 -1.43131754e-02 2.89557160e+02] [ 9.30471153e-01 3.64553496e-01 -3.63892996e-02 2.14980097e+02] [ 3.91029951e-02 -6.23789926e-05 9.99235183e-01 1.85275053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.950385723 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:289.57, Y:215.01, Z:18.53 [[ 3.64372627e-01 -9.31143432e-01 -1.43002533e-02 2.89569087e+02] [ 9.30431911e-01 3.64653132e-01 -3.63944156e-02 2.15005751e+02] [ 3.91030532e-02 -4.42831694e-05 9.99235182e-01 1.85287672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.980385723 meters Centerline goodness : 0.999710 Centerline is valid? [True, True] Translation: X:289.58, Y:215.03, Z:18.53 [[ 3.64207085e-01 -9.31207041e-01 -1.43751781e-02 2.89579556e+02] [ 9.30496736e-01 3.64490643e-01 -3.63647604e-02 2.15031172e+02] [ 3.91027388e-02 -1.31752902e-04 9.99235187e-01 1.85298827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.010385723 meters Centerline goodness : 0.999688 Centerline is valid? [True, True] Translation: X:289.59, Y:215.06, Z:18.53 [[ 3.64681341e-01 -9.31022128e-01 -1.43288710e-02 2.89591122e+02] [ 9.30310958e-01 3.64962729e-01 -3.63830792e-02 2.15056381e+02] [ 3.91029557e-02 -6.20755408e-05 9.99235185e-01 1.85310529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.040385723 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:289.60, Y:215.08, Z:18.53 [[ 3.64437854e-01 -9.31116712e-01 -1.43777245e-02 2.89600521e+02] [ 9.30406376e-01 3.64721336e-01 -3.63637633e-02 2.15082416e+02] [ 3.91027706e-02 -1.24794638e-04 9.99235186e-01 1.85323465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.070385723 meters Centerline goodness : 0.999778 Centerline is valid? [True, True] Translation: X:289.61, Y:215.11, Z:18.53 [[ 3.64939883e-01 -9.30921349e-01 -1.42941560e-02 2.89610859e+02] [ 9.30209564e-01 3.65219716e-01 -3.63967806e-02 2.15109842e+02] [ 3.91030477e-02 -1.39237505e-05 9.99235183e-01 1.85333602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.100385723 meters Centerline goodness : 0.999822 Centerline is valid? [True, True] Translation: X:289.62, Y:215.14, Z:18.53 [[ 3.65155151e-01 -9.30836099e-01 -1.43482469e-02 2.89618873e+02] [ 9.30125086e-01 3.65436934e-01 -3.63754236e-02 2.15136838e+02] [ 3.91029368e-02 -6.29911029e-05 9.99235186e-01 1.85341346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.130385723 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:289.63, Y:215.16, Z:18.54 [[ 3.63209718e-01 -9.31596802e-01 -1.43561850e-02 2.89626731e+02] [ 9.30886503e-01 3.63493295e-01 -3.63722905e-02 2.15163764e+02] [ 3.91026865e-02 -1.53209442e-04 9.99235186e-01 1.85363761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.160385723 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:289.64, Y:215.19, Z:18.54 [[ 3.62942555e-01 -9.31701080e-01 -1.43457195e-02 2.89637169e+02] [ 9.30990699e-01 3.63225928e-01 -3.63764177e-02 2.15190365e+02] [ 3.91026850e-02 -1.53181472e-04 9.99235186e-01 1.85374898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.190385723 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:289.65, Y:215.22, Z:18.54 [[ 3.61584345e-01 -9.32229189e-01 -1.43352790e-02 2.89645839e+02] [ 9.31519059e-01 3.61868345e-01 -3.63805317e-02 2.15215935e+02] [ 3.91024772e-02 -1.98954862e-04 9.99235186e-01 1.85372669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.220385723 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:289.66, Y:215.24, Z:18.54 [[ 3.60136491e-01 -9.32789619e-01 -1.43259899e-02 2.89656650e+02] [ 9.32079786e-01 3.60421231e-01 -3.63841892e-02 2.15241139e+02] [ 3.91021849e-02 -2.49691418e-04 9.99235186e-01 1.85394899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.250385723 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:289.67, Y:215.27, Z:18.54 [[ 3.56401644e-01 -9.34223163e-01 -1.43160635e-02 2.89665726e+02] [ 9.33514318e-01 3.56688835e-01 -3.63880945e-02 2.15268254e+02] [ 3.91009808e-02 -3.95473605e-04 9.99235186e-01 1.85408573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.280385723 meters Centerline goodness : 0.999778 Centerline is valid? [True, True] Translation: X:289.67, Y:215.29, Z:18.54 [[ 3.52919863e-01 -9.35544167e-01 -1.43067208e-02 2.89672729e+02] [ 9.34836247e-01 3.53209329e-01 -3.63917674e-02 2.15294252e+02] [ 3.90993730e-02 -5.31063553e-04 9.99235186e-01 1.85418837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.310385723 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:289.68, Y:215.32, Z:18.54 [[ 3.51902039e-01 -9.35929983e-01 -1.41428918e-02 2.89680957e+02] [ 9.35219783e-01 3.52185900e-01 -3.64561227e-02 2.15320313e+02] [ 3.91013054e-02 -3.97728264e-04 9.99235172e-01 1.85417586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.340385723 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:289.69, Y:215.35, Z:18.54 [[ 3.53373345e-01 -9.35376451e-01 -1.40773919e-02 2.89693525e+02] [ 9.34664781e-01 3.53653536e-01 -3.64818197e-02 2.15348543e+02] [ 3.91027545e-02 -2.65939813e-04 9.99235159e-01 1.85428201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.37038572299997 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:289.70, Y:215.37, Z:18.54 [[ 3.53704767e-01 -9.35248087e-01 -1.42812344e-02 2.89702523e+02] [ 9.34539518e-01 3.53992647e-01 -3.64018489e-02 2.15374320e+02] [ 3.91002115e-02 -4.70870443e-04 9.99235183e-01 1.85438972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.400385723 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:289.71, Y:215.40, Z:18.55 [[ 3.53654118e-01 -9.35267605e-01 -1.42573692e-02 2.89710452e+02] [ 9.34558675e-01 3.53941108e-01 -3.64112039e-02 2.15400781e+02] [ 3.91004885e-02 -4.47375830e-04 9.99235183e-01 1.85457594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.430385723 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:289.72, Y:215.43, Z:18.55 [[ 3.54242459e-01 -9.35044809e-01 -1.42648232e-02 2.89718648e+02] [ 9.34335816e-01 3.54529293e-01 -3.64082834e-02 2.15428068e+02] [ 3.91006741e-02 -4.30775429e-04 9.99235183e-01 1.85469972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.460385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:289.73, Y:215.45, Z:18.55 [[ 3.52695037e-01 -9.35629737e-01 -1.42550283e-02 2.89725658e+02] [ 9.34921065e-01 3.52982662e-01 -3.64121180e-02 2.15454668e+02] [ 3.91000382e-02 -4.84952954e-04 9.99235183e-01 1.85479292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.490385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.74, Y:215.48, Z:18.55 [[ 3.55031409e-01 -9.34747919e-01 -1.41076803e-02 2.89737386e+02] [ 9.34036231e-01 3.55311519e-01 -3.64697492e-02 2.15481464e+02] [ 3.91026435e-02 -2.29178130e-04 9.99235173e-01 1.85479006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.520385723 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:289.74, Y:215.51, Z:18.55 [[ 3.53168669e-01 -9.35451255e-01 -1.42422231e-02 2.89743926e+02] [ 9.34742236e-01 3.53455437e-01 -3.64171319e-02 2.15508009e+02] [ 3.91004429e-02 -4.51417471e-04 9.99235183e-01 1.85491279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.550385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.75, Y:215.53, Z:18.55 [[ 3.52977383e-01 -9.35526084e-01 -1.40681339e-02 2.89752343e+02] [ 9.34814399e-01 3.53257514e-01 -3.64851894e-02 2.15534756e+02] [ 3.91025203e-02 -2.72647492e-04 9.99235167e-01 1.85480084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.580385723 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:289.76, Y:215.56, Z:18.55 [[ 3.51767356e-01 -9.35982382e-01 -1.40252739e-02 2.89759730e+02] [ 9.35270391e-01 3.52046736e-01 -3.65019362e-02 2.15560870e+02] [ 3.91027210e-02 -2.77233809e-04 9.99235158e-01 1.85483979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.610385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.77, Y:215.59, Z:18.55 [[ 3.52532443e-01 -9.35695557e-01 -1.39535328e-02 2.89769294e+02] [ 9.34982228e-01 3.52808441e-01 -3.65299449e-02 2.15586968e+02] [ 3.91038313e-02 -1.68314452e-04 9.99235139e-01 1.85515510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.640385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.78, Y:215.61, Z:18.56 [[ 3.54612936e-01 -9.34907935e-01 -1.40292154e-02 2.89782991e+02] [ 9.34195159e-01 3.54890302e-01 -3.65003900e-02 2.15614297e+02] [ 3.91033367e-02 -1.62514622e-04 9.99235159e-01 1.85557412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.670385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.79, Y:215.64, Z:18.56 [[ 3.54945066e-01 -9.34777968e-01 -1.42881120e-02 2.89793027e+02] [ 9.34069123e-01 3.55232273e-01 -3.63992597e-02 2.15638716e+02] [ 3.91008245e-02 -4.26346619e-04 9.99235179e-01 1.85577478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.700385723 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:289.80, Y:215.66, Z:18.56 [[ 3.54881453e-01 -9.34803167e-01 -1.42194642e-02 2.89801779e+02] [ 9.34093266e-01 3.55166035e-01 -3.64260575e-02 2.15664217e+02] [ 3.91014646e-02 -3.55373601e-04 9.99235182e-01 1.85579192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.730385723 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:289.81, Y:215.69, Z:18.56 [[ 3.55058763e-01 -9.34736023e-01 -1.42070946e-02 2.89811442e+02] [ 9.34025875e-01 3.55342729e-01 -3.64308824e-02 2.15691116e+02] [ 3.91016459e-02 -3.34689895e-04 9.99235182e-01 1.85594316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.760385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.82, Y:215.72, Z:18.56 [[ 3.54276284e-01 -9.35032971e-01 -1.42006101e-02 2.89818775e+02] [ 9.34322960e-01 3.54560591e-01 -3.64334099e-02 2.15718278e+02] [ 3.91014162e-02 -3.60462984e-04 9.99235182e-01 1.85596267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.790385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.83, Y:215.74, Z:18.56 [[ 3.54388680e-01 -9.34991279e-01 -1.41411186e-02 2.89827927e+02] [ 9.34280309e-01 3.54670584e-01 -3.64565806e-02 2.15744647e+02] [ 3.91020237e-02 -2.91969166e-04 9.99235181e-01 1.85608903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.820385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:289.84, Y:215.77, Z:18.56 [[ 3.56332937e-01 -9.34252995e-01 -1.40776363e-02 2.89839231e+02] [ 9.33540462e-01 3.56610883e-01 -3.64812818e-02 2.15770823e+02] [ 3.91029851e-02 -1.42560818e-04 9.99235176e-01 1.85619234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.850385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:289.85, Y:215.80, Z:18.56 [[ 3.54591508e-01 -9.34913863e-01 -1.41750310e-02 2.89847563e+02] [ 9.34203357e-01 3.54874579e-01 -3.64433994e-02 2.15796772e+02] [ 3.91017975e-02 -3.19841567e-04 9.99235181e-01 1.85618577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.880385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.86, Y:215.82, Z:18.56 [[ 3.53661896e-01 -9.35267918e-01 -1.40422751e-02 2.89858190e+02] [ 9.34555638e-01 3.53940497e-01 -3.64949836e-02 2.15822411e+02] [ 3.91027171e-02 -2.16402266e-04 9.99235173e-01 1.85610572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.910385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.87, Y:215.85, Z:18.56 [[ 3.53647024e-01 -9.35273101e-01 -1.40715941e-02 2.89867113e+02] [ 9.34561278e-01 3.53926780e-01 -3.64835972e-02 2.15845772e+02] [ 3.91024411e-02 -2.48451374e-04 9.99235176e-01 1.85617809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.940385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:289.88, Y:215.87, Z:18.56 [[ 3.48597149e-01 -9.37170240e-01 -1.38552873e-02 2.89877366e+02] [ 9.36456582e-01 3.48872311e-01 -3.65674719e-02 2.15873765e+02] [ 3.91036725e-02 -2.27558567e-04 9.99235133e-01 1.85647133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.970385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.89, Y:215.90, Z:18.57 [[ 3.47074095e-01 -9.37731185e-01 -1.41349492e-02 2.89886878e+02] [ 9.37022338e-01 3.47361304e-01 -3.64590506e-02 2.15898637e+02] [ 3.90987231e-02 -5.90771186e-04 9.99235178e-01 1.85651725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.000385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.90, Y:215.93, Z:18.56 [[ 3.44562287e-01 -9.38657185e-01 -1.41251597e-02 2.89896821e+02] [ 9.37948954e-01 3.44851012e-01 -3.64628429e-02 2.15925293e+02] [ 3.90971851e-02 -6.84958165e-04 9.99235178e-01 1.85647805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.030385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.91, Y:215.95, Z:18.57 [[ 3.43607495e-01 -9.39007256e-01 -1.41160099e-02 2.89906584e+02] [ 9.38299175e-01 3.43896585e-01 -3.64663848e-02 2.15951365e+02] [ 3.90966475e-02 -7.14917373e-04 9.99235178e-01 1.85671786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.060385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.92, Y:215.98, Z:18.57 [[ 3.45038226e-01 -9.38482626e-01 -1.41061719e-02 2.89920201e+02] [ 9.37773949e-01 3.45325854e-01 -3.64701900e-02 2.15980596e+02] [ 3.90978655e-02 -6.44790836e-04 9.99235178e-01 1.85685381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.090385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:289.93, Y:216.01, Z:18.57 [[ 3.45264657e-01 -9.38393045e-01 -1.45192665e-02 2.89929625e+02] [ 9.37690903e-01 3.45568127e-01 -3.63103344e-02 2.16005418e+02] [ 3.90907610e-02 -1.07790891e-03 9.99235083e-01 1.85700187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.12038572299997 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:289.94, Y:216.03, Z:18.57 [[ 3.47104897e-01 -9.37715156e-01 -1.44387127e-02 2.89939799e+02] [ 9.37011125e-01 3.47403870e-01 -3.63414656e-02 2.16032203e+02] [ 3.90940077e-02 -9.14933769e-04 9.99235118e-01 1.85728753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.150385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.94, Y:216.06, Z:18.57 [[ 3.46452419e-01 -9.37955910e-01 -1.44718056e-02 2.89944819e+02] [ 9.37252618e-01 3.46753163e-01 -3.63286819e-02 2.16055318e+02] [ 3.90928463e-02 -9.77577933e-04 9.99235104e-01 1.85746455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.180385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.95, Y:216.08, Z:18.58 [[ 3.49597260e-01 -9.36794472e-01 -1.40667650e-02 2.89952808e+02] [ 9.36083815e-01 3.49879904e-01 -3.64848496e-02 2.16082045e+02] [ 3.91004838e-02 -4.12667619e-04 9.99235198e-01 1.85756847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.210385723 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:289.96, Y:216.11, Z:18.58 [[ 3.51894796e-01 -9.35934000e-01 -1.40570144e-02 2.89964139e+02] [ 9.35222502e-01 3.52175317e-01 -3.64886060e-02 2.16110710e+02] [ 3.91014605e-02 -3.06285608e-04 9.99235199e-01 1.85773435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.240385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.97, Y:216.14, Z:18.58 [[ 3.55313646e-01 -9.34637648e-01 -1.43066784e-02 2.89968958e+02] [ 9.33928964e-01 3.55601297e-01 -3.63924178e-02 2.16135668e+02] [ 3.91011971e-02 -4.30698688e-04 9.99235163e-01 1.85775014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.270385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.98, Y:216.16, Z:18.58 [[ 3.58984391e-01 -9.33237926e-01 -1.40420785e-02 2.89982164e+02] [ 9.32524101e-01 3.59258922e-01 -3.64942310e-02 2.16164927e+02] [ 3.91025424e-02 6.28270059e-06 9.99235203e-01 1.85778559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.300385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:289.99, Y:216.19, Z:18.58 [[ 3.59267825e-01 -9.33123273e-01 -1.44078954e-02 2.89986362e+02] [ 9.32414930e-01 3.59556418e-01 -3.63535478e-02 2.16188844e+02] [ 3.91027928e-02 -3.73476745e-04 9.99235124e-01 1.85818830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.330385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.00, Y:216.21, Z:18.58 [[ 3.61021815e-01 -9.32453496e-01 -1.39186076e-02 2.89995595e+02] [ 9.31737246e-01 3.61289951e-01 -3.65414398e-02 2.16214821e+02] [ 3.91018463e-02 2.23771803e-04 9.99235205e-01 1.85771373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.360385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:290.01, Y:216.24, Z:18.58 [[ 3.62978295e-01 -9.31695181e-01 -1.38147086e-02 2.90007263e+02] [ 9.30976849e-01 3.63240850e-01 -3.65813039e-02 2.16243069e+02] [ 3.91006910e-02 4.17045447e-04 9.99235189e-01 1.85816094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.390385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:290.02, Y:216.27, Z:18.58 [[ 3.63315872e-01 -9.31559387e-01 -1.40955603e-02 2.90017576e+02] [ 9.30845094e-01 3.63589178e-01 -3.64735505e-02 2.16270194e+02] [ 3.91022715e-02 1.30636689e-04 9.99235205e-01 1.85844707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.420385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:290.03, Y:216.30, Z:18.59 [[ 3.62958810e-01 -9.31698523e-01 -1.40983799e-02 2.90027151e+02] [ 9.30984377e-01 3.63232500e-01 -3.64724693e-02 2.16295748e+02] [ 3.91023356e-02 1.12632668e-04 9.99235205e-01 1.85859593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.450385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.04, Y:216.32, Z:18.59 [[ 3.61037781e-01 -9.32444378e-01 -1.41138913e-02 2.90036101e+02] [ 9.31731030e-01 3.61313549e-01 -3.64665261e-02 2.16322572e+02] [ 3.91025474e-02 1.54432306e-05 9.99235203e-01 1.85880611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.480385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.05, Y:216.35, Z:18.59 [[ 3.60493199e-01 -9.32656513e-01 -1.40172157e-02 2.90045376e+02] [ 9.31941883e-01 3.60765602e-01 -3.65035358e-02 2.16347669e+02] [ 3.91021897e-02 9.60460229e-05 9.99235212e-01 1.85892473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.510385723 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:290.06, Y:216.37, Z:18.59 [[ 3.57976668e-01 -9.33625995e-01 -1.39716075e-02 2.90056144e+02] [ 9.32911420e-01 3.58249214e-01 -3.65209839e-02 2.16372517e+02] [ 3.91022574e-02 3.93879077e-05 9.99235214e-01 1.85909893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.540385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:290.07, Y:216.40, Z:18.59 [[ 3.56010828e-01 -9.34377667e-01 -1.39522838e-02 2.90067008e+02] [ 9.33663378e-01 3.56284122e-01 -3.65283707e-02 2.16398725e+02] [ 3.91022710e-02 -2.22408686e-05 9.99235214e-01 1.85915187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.570385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:290.08, Y:216.42, Z:18.59 [[ 3.51836822e-01 -9.35957363e-01 -1.39522601e-02 2.90076359e+02] [ 9.35244300e-01 3.52113300e-01 -3.65283798e-02 2.16424396e+02] [ 3.91017823e-02 -1.96742685e-04 9.99235214e-01 1.85920289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.600385723 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:290.09, Y:216.45, Z:18.59 [[ 3.49271087e-01 -9.36917995e-01 -1.39419896e-02 2.90085730e+02] [ 9.36205536e-01 3.49549117e-01 -3.65322993e-02 2.16450664e+02] [ 3.91011788e-02 -2.92891978e-04 9.99235214e-01 1.85913439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.630385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.10, Y:216.48, Z:18.59 [[ 3.47828842e-01 -9.37454525e-01 -1.39323514e-02 2.90095416e+02] [ 9.36742348e-01 3.48107593e-01 -3.65359747e-02 2.16476957e+02] [ 3.91007721e-02 -3.42757752e-04 9.99235214e-01 1.85938675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.660385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.10, Y:216.50, Z:18.59 [[ 3.42079727e-01 -9.39567782e-01 -1.39227800e-02 2.90101541e+02] [ 9.38857178e-01 3.42362463e-01 -3.65396217e-02 2.16501715e+02] [ 3.90980886e-02 -5.72038144e-04 9.99235214e-01 1.85931137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.690385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:290.11, Y:216.53, Z:18.60 [[ 3.43863749e-01 -9.38921283e-01 -1.35848044e-02 2.90114873e+02] [ 9.38205009e-01 3.44131960e-01 -3.66681649e-02 2.16528698e+02] [ 3.91034858e-02 -1.36478878e-04 9.99235157e-01 1.85979479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.720385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:290.12, Y:216.55, Z:18.60 [[ 3.43104345e-01 -9.39194355e-01 -1.39058537e-02 2.90124201e+02] [ 9.38483184e-01 3.43385647e-01 -3.65460072e-02 2.16553617e+02] [ 3.90988743e-02 -5.11315965e-04 9.99235216e-01 1.85992490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.750385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.13, Y:216.58, Z:18.60 [[ 3.42683572e-01 -9.39348072e-01 -1.38985610e-02 2.90133490e+02] [ 9.38636915e-01 3.42964909e-01 -3.65487805e-02 2.16579365e+02] [ 3.90987452e-02 -5.21035761e-04 9.99235216e-01 1.85980869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.780385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.14, Y:216.61, Z:18.60 [[ 3.42385168e-01 -9.39457033e-01 -1.38881292e-02 2.90142104e+02] [ 9.38745805e-01 3.42666326e-01 -3.65527440e-02 2.16606577e+02] [ 3.90987266e-02 -5.22305671e-04 9.99235216e-01 1.85988262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.810385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:290.15, Y:216.63, Z:18.60 [[ 3.41938592e-01 -9.39619811e-01 -1.38783977e-02 2.90151674e+02] [ 9.38908567e-01 3.42219709e-01 -3.65564385e-02 2.16633313e+02] [ 3.90986151e-02 -5.30489427e-04 9.99235216e-01 1.85981041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.840385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:290.16, Y:216.66, Z:18.60 [[ 3.42367156e-01 -9.39463876e-01 -1.38692931e-02 2.90161198e+02] [ 9.38752364e-01 3.42647594e-01 -3.65598924e-02 2.16659039e+02] [ 3.90989781e-02 -5.02925342e-04 9.99235216e-01 1.85987772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.87038572299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.17, Y:216.69, Z:18.60 [[ 3.42397148e-01 -9.39453090e-01 -1.38594364e-02 2.90171146e+02] [ 9.38741419e-01 3.42677180e-01 -3.65636286e-02 2.16685047e+02] [ 3.90991265e-02 -4.91144817e-04 9.99235216e-01 1.85998383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.900385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.18, Y:216.71, Z:18.60 [[ 3.42516228e-01 -9.39409823e-01 -1.38498622e-02 2.90180387e+02] [ 9.38697969e-01 3.42795797e-01 -3.65672548e-02 2.16710663e+02] [ 3.90993129e-02 -4.75959320e-04 9.99235216e-01 1.86001735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.930385723 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:290.19, Y:216.74, Z:18.60 [[ 3.42286621e-01 -9.39493656e-01 -1.38397516e-02 2.90189671e+02] [ 9.38781717e-01 3.42565971e-01 -3.65710810e-02 2.16736916e+02] [ 3.90993266e-02 -4.74714017e-04 9.99235216e-01 1.86026266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.960385723 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:290.20, Y:216.76, Z:18.60 [[ 3.40613203e-01 -9.40101794e-01 -1.38297673e-02 2.90198467e+02] [ 9.39390200e-01 3.40893432e-01 -3.65748563e-02 2.16763067e+02] [ 3.90985649e-02 -5.33668873e-04 9.99235216e-01 1.86009712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.990385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:290.21, Y:216.79, Z:18.60 [[ 3.40388482e-01 -9.40183339e-01 -1.38192362e-02 2.90209266e+02] [ 9.39471650e-01 3.40668471e-01 -3.65788349e-02 2.16790163e+02] [ 3.90985892e-02 -5.31766540e-04 9.99235216e-01 1.86038919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.020385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.22, Y:216.82, Z:18.61 [[ 3.38931706e-01 -9.40709210e-01 -1.38376714e-02 2.90218477e+02] [ 9.39998239e-01 3.39213514e-01 -3.65718740e-02 2.16816466e+02] [ 3.90974239e-02 -6.12019064e-04 9.99235216e-01 1.86084789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.050385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.23, Y:216.84, Z:18.61 [[ 3.38707307e-01 -9.40791824e-01 -1.37151345e-02 2.90228446e+02] [ 9.40079045e-01 3.38984519e-01 -3.66181015e-02 2.16843218e+02] [ 3.90992287e-02 -4.90491998e-04 9.99235212e-01 1.86095487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.080385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:290.24, Y:216.87, Z:18.61 [[ 3.38706439e-01 -9.40792291e-01 -1.37045114e-02 2.90239182e+02] [ 9.40079351e-01 3.38983239e-01 -3.66221058e-02 2.16869718e+02] [ 3.90993945e-02 -4.79185060e-04 9.99235211e-01 1.86114458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.110385723 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:290.25, Y:216.90, Z:18.61 [[ 3.38789265e-01 -9.40760928e-01 -1.38097766e-02 2.90247747e+02] [ 9.40049570e-01 3.39070096e-01 -3.65824421e-02 2.16895573e+02] [ 3.90978145e-02 -5.88135909e-04 9.99235215e-01 1.86101657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.140385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.26, Y:216.92, Z:18.61 [[ 3.39628696e-01 -9.40458665e-01 -1.37785353e-02 2.90256848e+02] [ 9.39746580e-01 3.39907677e-01 -3.65942052e-02 2.16921634e+02] [ 3.90987673e-02 -5.19889269e-04 9.99235216e-01 1.86119821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.170385723 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:290.27, Y:216.95, Z:18.61 [[ 3.39597847e-01 -9.40469948e-01 -1.37687926e-02 2.90266045e+02] [ 9.39757724e-01 3.39876472e-01 -3.65978705e-02 2.16947897e+02] [ 3.90988861e-02 -5.10771184e-04 9.99235216e-01 1.86113208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.200385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:290.28, Y:216.97, Z:18.61 [[ 3.41600851e-01 -9.39744408e-01 -1.37588704e-02 2.90275999e+02] [ 9.39031442e-01 3.41877572e-01 -3.66016004e-02 2.16972789e+02] [ 3.90999985e-02 -4.16874014e-04 9.99235216e-01 1.86136620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.230385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:290.28, Y:217.00, Z:18.61 [[ 3.42739665e-01 -9.39329816e-01 -1.37484076e-02 2.90284354e+02] [ 9.38616358e-01 3.43015113e-01 -3.66055301e-02 2.16996473e+02] [ 3.91005774e-02 -3.58313167e-04 9.99235216e-01 1.86123486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.260385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.29, Y:217.02, Z:18.61 [[ 3.42842051e-01 -9.39294103e-01 -1.36351216e-02 2.90294283e+02] [ 9.38578920e-01 3.43113005e-01 -3.66480192e-02 2.17023849e+02] [ 3.91016559e-02 -2.33155668e-04 9.99235211e-01 1.86146942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.290385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.30, Y:217.05, Z:18.61 [[ 3.43483195e-01 -9.39058502e-01 -1.37267953e-02 2.90304586e+02] [ 9.38344501e-01 3.43757237e-01 -3.66136501e-02 2.17048534e+02] [ 3.91010447e-02 -3.04289331e-04 9.99235215e-01 1.86138398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.320385723 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:290.32, Y:217.07, Z:18.62 [[ 3.43501108e-01 -9.39052095e-01 -1.37168579e-02 2.90315316e+02] [ 9.38337940e-01 3.43774748e-01 -3.66173727e-02 2.17074481e+02] [ 3.91011299e-02 -2.92940086e-04 9.99235215e-01 1.86156966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.350385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:290.33, Y:217.10, Z:18.62 [[ 3.43312594e-01 -9.39121169e-01 -1.37074112e-02 2.90326502e+02] [ 9.38406928e-01 3.43586009e-01 -3.66209086e-02 2.17100111e+02] [ 3.91011452e-02 -2.90710546e-04 9.99235216e-01 1.86169450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.380385723 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:290.34, Y:217.13, Z:18.62 [[ 3.42433559e-01 -9.39442189e-01 -1.36978816e-02 2.90336629e+02] [ 9.38728062e-01 3.42707271e-01 -3.66244728e-02 2.17125956e+02] [ 3.91009385e-02 -3.17137256e-04 9.99235216e-01 1.86170057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.410385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.35, Y:217.15, Z:18.62 [[ 3.42225588e-01 -9.39518111e-01 -1.36881635e-02 2.90348325e+02] [ 9.38803900e-01 3.42499080e-01 -3.66281045e-02 2.17150809e+02] [ 3.91009510e-02 -3.15426653e-04 9.99235216e-01 1.86198717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.440385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.36, Y:217.18, Z:18.62 [[ 3.41723428e-01 -9.39701000e-01 -1.36795027e-02 2.90358798e+02] [ 9.38986806e-01 3.41996964e-01 -3.66313388e-02 2.17176337e+02] [ 3.91008541e-02 -3.27085836e-04 9.99235216e-01 1.86208424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.470385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:290.37, Y:217.20, Z:18.62 [[ 3.41161665e-01 -9.39905244e-01 -1.36692984e-02 2.90369395e+02] [ 9.39191062e-01 3.41435230e-01 -3.66351462e-02 2.17200865e+02] [ 3.91007461e-02 -3.39575361e-04 9.99235216e-01 1.86214020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.500385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:290.38, Y:217.23, Z:18.62 [[ 3.41082298e-01 -9.39934196e-01 -1.36591643e-02 2.90380210e+02] [ 9.39219885e-01 3.41355528e-01 -3.66389243e-02 2.17226767e+02] [ 3.91008091e-02 -3.32070214e-04 9.99235216e-01 1.86225376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.530385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:290.39, Y:217.25, Z:18.63 [[ 3.41501289e-01 -9.39782185e-01 -1.36496961e-02 2.90392567e+02] [ 9.39067612e-01 3.41773831e-01 -3.66424513e-02 2.17252158e+02] [ 3.91010319e-02 -3.04543206e-04 9.99235216e-01 1.86252822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.560385723 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:290.40, Y:217.28, Z:18.63 [[ 3.41978701e-01 -9.39608709e-01 -1.36397406e-02 2.90403225e+02] [ 9.38893849e-01 3.42250492e-01 -3.66461567e-02 2.17276976e+02] [ 3.91012559e-02 -2.74063465e-04 9.99235216e-01 1.86253159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.590385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.41, Y:217.30, Z:18.63 [[ 3.43290844e-01 -9.39130210e-01 -1.36324740e-02 2.90414517e+02] [ 9.38414865e-01 3.43561353e-01 -3.66488597e-02 2.17302373e+02] [ 3.91016425e-02 -2.11698294e-04 9.99235216e-01 1.86265605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.62038572299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.42, Y:217.33, Z:18.63 [[ 3.44017280e-01 -9.38864489e-01 -1.36228458e-02 2.90424711e+02] [ 9.38148793e-01 3.44286860e-01 -3.66524383e-02 2.17328064e+02] [ 3.91018396e-02 -1.71184248e-04 9.99235216e-01 1.86270253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.650385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:290.44, Y:217.35, Z:18.63 [[ 3.46051419e-01 -9.38116781e-01 -1.36132528e-02 2.90436616e+02] [ 9.37400362e-01 3.46319071e-01 -3.66560009e-02 2.17353101e+02] [ 3.91021387e-02 -7.62069624e-05 9.99235216e-01 1.86270365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.680385723 meters Centerline goodness : 0.999757 Centerline is valid? [True, True] Translation: X:290.45, Y:217.38, Z:18.62 [[ 3.46455968e-01 -9.37967592e-01 -1.36036686e-02 2.90446790e+02] [ 9.37250917e-01 3.46722937e-01 -3.66595575e-02 2.17377855e+02] [ 3.91021807e-02 -4.91283974e-05 9.99235216e-01 1.86243328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.710385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.46, Y:217.40, Z:18.63 [[ 3.49014630e-01 -9.37018674e-01 -1.35938483e-02 2.90460226e+02] [ 9.36301132e-01 3.49279258e-01 -3.66631986e-02 2.17402285e+02] [ 3.91021510e-02 6.80571363e-05 9.99235216e-01 1.86296729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.740385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.47, Y:217.43, Z:18.63 [[ 3.49594884e-01 -9.36802480e-01 -1.35841832e-02 2.90470908e+02] [ 9.36084635e-01 3.49858690e-01 -3.66667793e-02 2.17427897e+02] [ 3.91020743e-02 1.02573245e-04 9.99235216e-01 1.86310111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.770385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.48, Y:217.45, Z:18.63 [[ 3.50149124e-01 -9.36595598e-01 -1.35748685e-02 2.90482220e+02] [ 9.35877464e-01 3.50412140e-01 -3.66702275e-02 2.17453951e+02] [ 3.91019723e-02 1.35634576e-04 9.99235216e-01 1.86321080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.800385723 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:290.49, Y:217.48, Z:18.63 [[ 3.49662378e-01 -9.36777570e-01 -1.35648321e-02 2.90494328e+02] [ 9.36059429e-01 3.49925374e-01 -3.66739397e-02 2.17479002e+02] [ 3.91020031e-02 1.26008019e-04 9.99235216e-01 1.86327056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.830385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:290.51, Y:217.50, Z:18.63 [[ 3.50061818e-01 -9.36628524e-01 -1.35547420e-02 2.90505891e+02] [ 9.35910126e-01 3.50324113e-01 -3.66776686e-02 2.17503169e+02] [ 3.91019036e-02 1.53431105e-04 9.99235216e-01 1.86345609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.860385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.52, Y:217.53, Z:18.64 [[ 3.49164018e-01 -9.36963690e-01 -1.35474044e-02 2.90518089e+02] [ 9.36245439e-01 3.49426714e-01 -3.66803787e-02 2.17528042e+02] [ 3.91020080e-02 1.23772843e-04 9.99235216e-01 1.86365936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.890385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.53, Y:217.55, Z:18.63 [[ 3.47338636e-01 -9.37642057e-01 -1.35367966e-02 2.90528266e+02] [ 9.36924166e-01 3.47602315e-01 -3.66842931e-02 2.17554721e+02] [ 3.91021578e-02 5.89204733e-05 9.99235216e-01 1.86348412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.920385723 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:290.54, Y:217.58, Z:18.64 [[ 3.47778763e-01 -9.37478712e-01 -1.35497971e-02 2.90539276e+02] [ 9.36760884e-01 3.48042614e-01 -3.66794977e-02 2.17579479e+02] [ 3.91021551e-02 6.34304392e-05 9.99235216e-01 1.86391403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.950385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.55, Y:217.60, Z:18.64 [[ 3.47439029e-01 -9.37605071e-01 -1.35222354e-02 2.90551402e+02] [ 9.36886944e-01 3.47702062e-01 -3.66896558e-02 2.17604676e+02] [ 3.91021165e-02 7.86125882e-05 9.99235217e-01 1.86413375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.980385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.56, Y:217.63, Z:18.64 [[ 3.46916731e-01 -9.37798598e-01 -1.35119283e-02 2.90561792e+02] [ 9.37080469e-01 3.47179760e-01 -3.66934513e-02 2.17629611e+02] [ 3.91021352e-02 6.78080766e-05 9.99235217e-01 1.86422319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.010385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:290.57, Y:217.66, Z:18.64 [[ 3.44335916e-01 -9.38749411e-01 -1.35026129e-02 2.90572887e+02] [ 9.38031874e-01 3.44600555e-01 -3.66968789e-02 2.17655434e+02] [ 3.91021813e-02 -2.98279053e-05 9.99235217e-01 1.86395763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.040385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.59, Y:217.68, Z:18.64 [[ 3.43404963e-01 -9.39090878e-01 -1.34668024e-02 2.90586054e+02] [ 9.38373087e-01 3.43668914e-01 -3.67100469e-02 2.17680186e+02] [ 3.91021915e-02 -3.04726325e-05 9.99235216e-01 1.86447332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.070385723 meters Centerline goodness : 0.999865 Centerline is valid? [True, True] Translation: X:290.60, Y:217.71, Z:18.64 [[ 3.41260945e-01 -9.39871809e-01 -1.34888649e-02 2.90596158e+02] [ 9.39154943e-01 3.41527395e-01 -3.67019383e-02 2.17706793e+02] [ 3.91019341e-02 -1.43196015e-04 9.99235217e-01 1.86439084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.100385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.61, Y:217.73, Z:18.65 [[ 3.38785607e-01 -9.40767047e-01 -1.34787491e-02 2.90606245e+02] [ 9.40050736e-01 3.39053548e-01 -3.67056530e-02 2.17731397e+02] [ 3.91014865e-02 -2.35361127e-04 9.99235217e-01 1.86457197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.130385723 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:290.62, Y:217.76, Z:18.65 [[ 3.37183337e-01 -9.41342653e-01 -1.34687007e-02 2.90615961e+02] [ 9.40626653e-01 3.37452106e-01 -3.67093398e-02 2.17757551e+02] [ 3.91011087e-02 -2.91241138e-04 9.99235217e-01 1.86457721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.160385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.63, Y:217.78, Z:18.65 [[ 3.35621751e-01 -9.41900688e-01 -1.34586249e-02 2.90625775e+02] [ 9.41184986e-01 3.35891314e-01 -3.67130335e-02 2.17782679e+02] [ 3.91006667e-02 -3.45363086e-04 9.99235217e-01 1.86477327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.190385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:290.63, Y:217.81, Z:18.65 [[ 3.34612114e-01 -9.42259988e-01 -1.34479879e-02 2.90634639e+02] [ 9.41544419e-01 3.34882030e-01 -3.67169294e-02 2.17808351e+02] [ 3.91003829e-02 -3.75948572e-04 9.99235217e-01 1.86477705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.220385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.64, Y:217.83, Z:18.65 [[ 3.33892644e-01 -9.42515324e-01 -1.34375216e-02 2.90644582e+02] [ 9.41799807e-01 3.34162699e-01 -3.67207594e-02 2.17834436e+02] [ 3.91001969e-02 -3.94663812e-04 9.99235217e-01 1.86493245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.250385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.65, Y:217.86, Z:18.65 [[ 3.33326624e-01 -9.42715788e-01 -1.34277249e-02 2.90654199e+02] [ 9.42000290e-01 3.33596727e-01 -3.67243414e-02 2.17860313e+02] [ 3.91000616e-02 -4.07720034e-04 9.99235217e-01 1.86515167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.280385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:290.66, Y:217.89, Z:18.65 [[ 3.31144288e-01 -9.43484728e-01 -1.34174954e-02 2.90662263e+02] [ 9.42769705e-01 3.31415647e-01 -3.67280785e-02 2.17887149e+02] [ 3.90991490e-02 -4.87314758e-04 9.99235217e-01 1.86500415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.310385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:290.67, Y:217.91, Z:18.65 [[ 3.31972775e-01 -9.43193728e-01 -1.34039972e-02 2.90671287e+02] [ 9.42478269e-01 3.32242981e-01 -3.67330054e-02 2.17912171e+02] [ 3.90997244e-02 -4.38618351e-04 9.99235217e-01 1.86536630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.340385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:290.68, Y:217.94, Z:18.65 [[ 3.31943817e-01 -9.43204027e-01 -1.33964473e-02 2.90679360e+02] [ 9.42488466e-01 3.32213751e-01 -3.67357587e-02 2.17939257e+02] [ 3.90997995e-02 -4.31789089e-04 9.99235217e-01 1.86536326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.37038572299997 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:290.69, Y:217.97, Z:18.65 [[ 3.31428790e-01 -9.43385266e-01 -1.33864168e-02 2.90688011e+02] [ 9.42669705e-01 3.31698724e-01 -3.67394134e-02 2.17965351e+02] [ 3.90996787e-02 -4.42470229e-04 9.99235217e-01 1.86533669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.400385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.70, Y:217.99, Z:18.65 [[ 3.31306089e-01 -9.43428515e-01 -1.33758247e-02 2.90696507e+02] [ 9.42712833e-01 3.31575703e-01 -3.67432693e-02 2.17991809e+02] [ 3.90997465e-02 -4.36292720e-04 9.99235217e-01 1.86541093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.430385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:290.70, Y:218.02, Z:18.65 [[ 3.30267075e-01 -9.43792885e-01 -1.33659442e-02 2.90704530e+02] [ 9.43077355e-01 3.30537093e-01 -3.67468631e-02 2.18018572e+02] [ 3.90993683e-02 -4.68840325e-04 9.99235217e-01 1.86539665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.460385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:290.71, Y:218.04, Z:18.66 [[ 3.29491931e-01 -9.44063918e-01 -1.33561360e-02 2.90713219e+02] [ 9.43348466e-01 3.29762154e-01 -3.67504277e-02 2.18043925e+02] [ 3.90991010e-02 -4.90521031e-04 9.99235217e-01 1.86558941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.490385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:290.72, Y:218.07, Z:18.66 [[ 3.28493403e-01 -9.44411973e-01 -1.33457795e-02 2.90722351e+02] [ 9.43696654e-01 3.28763980e-01 -3.67541882e-02 2.18070294e+02] [ 3.90987070e-02 -5.20859110e-04 9.99235217e-01 1.86573379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.520385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.73, Y:218.10, Z:18.66 [[ 3.26531258e-01 -9.45092317e-01 -1.33360661e-02 2.90730869e+02] [ 9.44377418e-01 3.26802942e-01 -3.67577124e-02 2.18097125e+02] [ 3.90976972e-02 -5.91737571e-04 9.99235218e-01 1.86596565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.550385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:290.74, Y:218.12, Z:18.66 [[ 3.25731825e-01 -9.45368288e-01 -1.33258679e-02 2.90739396e+02] [ 9.44653468e-01 3.26003717e-01 -3.67614092e-02 2.18122889e+02] [ 3.90973529e-02 -6.13966380e-04 9.99235218e-01 1.86600013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.580385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:290.75, Y:218.15, Z:18.66 [[ 3.24812700e-01 -9.45684629e-01 -1.33151136e-02 2.90747561e+02] [ 9.44969915e-01 3.25084869e-01 -3.67653040e-02 2.18148963e+02] [ 3.90969249e-02 -6.40544092e-04 9.99235218e-01 1.86598583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.610385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.76, Y:218.18, Z:18.66 [[ 3.24206693e-01 -9.45892705e-01 -1.33045414e-02 2.90756434e+02] [ 9.45178009e-01 3.24478909e-01 -3.67691295e-02 2.18176009e+02] [ 3.90966944e-02 -6.54362088e-04 9.99235218e-01 1.86613015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.640385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.76, Y:218.20, Z:18.66 [[ 3.23619933e-01 -9.46093756e-01 -1.32945467e-02 2.90764604e+02] [ 9.45379081e-01 3.23892204e-01 -3.67727429e-02 2.18203299e+02] [ 3.90964624e-02 -6.67993781e-04 9.99235218e-01 1.86623193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.670385723 meters Centerline goodness : 0.999822 Centerline is valid? [True, True] Translation: X:290.77, Y:218.23, Z:18.66 [[ 3.22934850e-01 -9.46327958e-01 -1.32845405e-02 2.90772022e+02] [ 9.45613332e-01 3.23207250e-01 -3.67763574e-02 2.18229909e+02] [ 3.90961550e-02 -6.85671116e-04 9.99235218e-01 1.86626136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.700385723 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:290.78, Y:218.26, Z:18.66 [[ 3.22796708e-01 -9.46375236e-01 -1.32739813e-02 2.90780674e+02] [ 9.45660493e-01 3.23068802e-01 -3.67801682e-02 2.18256429e+02] [ 3.90962496e-02 -6.80162505e-04 9.99235218e-01 1.86630534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.730385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.79, Y:218.28, Z:18.67 [[ 3.22839028e-01 -9.46360830e-01 -1.32718625e-02 2.90788479e+02] [ 9.45646044e-01 3.23111007e-01 -3.67809322e-02 2.18281903e+02] [ 3.90963184e-02 -6.76163904e-04 9.99235218e-01 1.86663556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.760385723 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:290.80, Y:218.31, Z:18.67 [[ 3.23732577e-01 -9.46055814e-01 -1.32519897e-02 2.90795610e+02] [ 9.45340479e-01 3.24003108e-01 -3.67880909e-02 2.18308714e+02] [ 3.90972731e-02 -6.18138858e-04 9.99235218e-01 1.86687083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.790385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:290.80, Y:218.33, Z:18.67 [[ 3.24773609e-01 -9.45699082e-01 -1.32419556e-02 2.90802423e+02] [ 9.44983303e-01 3.25042964e-01 -3.67917023e-02 2.18334823e+02] [ 3.90980836e-02 -5.64452992e-04 9.99235218e-01 1.86699821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.820385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:290.81, Y:218.36, Z:18.67 [[ 3.24903059e-01 -9.45654764e-01 -1.32313732e-02 2.90810261e+02] [ 9.44938794e-01 3.25171903e-01 -3.67955077e-02 2.18362152e+02] [ 3.90983180e-02 -5.47864865e-04 9.99235218e-01 1.86705734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.850385723 meters Centerline goodness : 0.999758 Centerline is valid? [True, True] Translation: X:290.82, Y:218.39, Z:18.67 [[ 3.26161190e-01 -9.45221706e-01 -1.32213655e-02 2.90815127e+02] [ 9.44505233e-01 3.26428692e-01 -3.67991033e-02 2.18389144e+02] [ 3.90991443e-02 -4.85209634e-04 9.99235218e-01 1.86703566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.880385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:290.82, Y:218.41, Z:18.67 [[ 3.27028738e-01 -9.44922004e-01 -1.32140595e-02 2.90822422e+02] [ 9.44205180e-01 3.27295297e-01 -3.68017266e-02 2.18414940e+02] [ 3.90996608e-02 -4.41561184e-04 9.99235218e-01 1.86730829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.910385723 meters Centerline goodness : 0.999582 Centerline is valid? [True, True] Translation: X:290.83, Y:218.44, Z:18.67 [[ 3.26998074e-01 -9.44932761e-01 -1.32036357e-02 2.90830174e+02] [ 9.44215795e-01 3.27264251e-01 -3.68054660e-02 2.18441943e+02] [ 3.90997686e-02 -4.31764906e-04 9.99235218e-01 1.86715982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.940385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:290.84, Y:218.47, Z:18.67 [[ 3.29189107e-01 -9.44171836e-01 -1.31938017e-02 2.90838589e+02] [ 9.43454113e-01 3.29453237e-01 -3.68089910e-02 2.18469455e+02] [ 3.91007532e-02 -3.30627614e-04 9.99235218e-01 1.86721817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.970385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:290.85, Y:218.50, Z:18.67 [[ 3.28889190e-01 -9.44274999e-01 -1.32901264e-02 2.90847835e+02] [ 9.43558747e-01 3.29157300e-01 -3.67744734e-02 2.18495438e+02] [ 3.90997580e-02 -4.45288225e-04 9.99235213e-01 1.86732996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.000385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.85, Y:218.53, Z:18.68 [[ 3.28674286e-01 -9.44350258e-01 -1.32590999e-02 2.90854703e+02] [ 9.43633620e-01 3.28941351e-01 -3.67855712e-02 2.18525344e+02] [ 3.90999299e-02 -4.21261029e-04 9.99235217e-01 1.86773035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.030385723 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:290.86, Y:218.55, Z:18.68 [[ 3.27310216e-01 -9.44821136e-01 -1.34552318e-02 2.90859227e+02] [ 9.44107741e-01 3.27585943e-01 -3.67154259e-02 2.18549724e+02] [ 3.90972552e-02 -6.85854554e-04 9.99235175e-01 1.86784040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.060385723 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:290.87, Y:218.58, Z:18.68 [[ 3.27065460e-01 -9.44910173e-01 -1.31510598e-02 2.90865690e+02] [ 9.44192439e-01 3.27329538e-01 -3.68240577e-02 2.18576202e+02] [ 3.91001571e-02 -3.73253796e-04 9.99235227e-01 1.86821732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.090385723 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:290.87, Y:218.60, Z:18.68 [[ 3.26028969e-01 -9.45268431e-01 -1.31417515e-02 2.90873239e+02] [ 9.44550854e-01 3.26293471e-01 -3.68273794e-02 2.18603354e+02] [ 3.90998268e-02 -4.06260076e-04 9.99235227e-01 1.86816988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.12038572299997 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:290.88, Y:218.63, Z:18.68 [[ 3.25327345e-01 -9.45510277e-01 -1.31314609e-02 2.90880818e+02] [ 9.44792748e-01 3.25591978e-01 -3.68310483e-02 2.18629906e+02] [ 3.90996330e-02 -4.24361850e-04 9.99235227e-01 1.86836217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.150385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:290.89, Y:218.66, Z:18.69 [[ 3.23721188e-01 -9.46061534e-01 -1.31211991e-02 2.90886357e+02] [ 9.45344308e-01 3.23986640e-01 -3.68347037e-02 2.18656341e+02] [ 3.90989895e-02 -4.79876822e-04 9.99235227e-01 1.86864326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.180385723 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:290.89, Y:218.68, Z:18.69 [[ 3.22413887e-01 -9.46507983e-01 -1.31119912e-02 2.90893601e+02] [ 9.45790991e-01 3.22679972e-01 -3.68379812e-02 2.18683296e+02] [ 3.90984202e-02 -5.24126449e-04 9.99235227e-01 1.86855678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.210385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:290.90, Y:218.71, Z:18.69 [[ 3.21895069e-01 -9.46684691e-01 -1.31019613e-02 2.90898794e+02] [ 9.45967700e-01 3.22161156e-01 -3.68415481e-02 2.18711174e+02] [ 3.90982726e-02 -5.34919583e-04 9.99235227e-01 1.86886561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.240385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:290.91, Y:218.74, Z:18.69 [[ 3.21664129e-01 -9.46763323e-01 -1.30919128e-02 2.90905751e+02] [ 9.46046253e-01 3.21930000e-01 -3.68451186e-02 2.18737652e+02] [ 3.90982864e-02 -5.33802119e-04 9.99235227e-01 1.86893240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.270385723 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:290.91, Y:218.77, Z:18.69 [[ 3.21893589e-01 -9.46685480e-01 -1.30812988e-02 2.90911580e+02] [ 9.45968192e-01 3.22158873e-01 -3.68488865e-02 2.18765554e+02] [ 3.90985623e-02 -5.13072207e-04 9.99235227e-01 1.86904580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.300385723 meters Centerline goodness : 0.999675 Centerline is valid? [True, True] Translation: X:290.92, Y:218.79, Z:18.69 [[ 3.21498507e-01 -9.46819862e-01 -1.30712588e-02 2.90918579e+02] [ 9.46102541e-01 3.21763701e-01 -3.68524476e-02 2.18791698e+02] [ 3.90984860e-02 -5.18744228e-04 9.99235227e-01 1.86889182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.330385723 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:290.92, Y:218.82, Z:18.69 [[ 3.20332116e-01 -9.47215263e-01 -1.30606615e-02 2.90924137e+02] [ 9.46498116e-01 3.20597781e-01 -3.68562030e-02 2.18818780e+02] [ 3.90979771e-02 -5.55666033e-04 9.99235227e-01 1.86893635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.360385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:290.93, Y:218.85, Z:18.69 [[ 3.18797915e-01 -9.47732864e-01 -1.30501902e-02 2.90932361e+02] [ 9.47015997e-01 3.19064333e-01 -3.68599103e-02 2.18846487e+02] [ 3.90971986e-02 -6.07876380e-04 9.99235227e-01 1.86902221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.390385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:290.94, Y:218.87, Z:18.69 [[ 3.17557248e-01 -9.48148181e-01 -1.31309092e-02 2.90936948e+02] [ 9.47432837e-01 3.17827739e-01 -3.68313413e-02 2.18873673e+02] [ 3.90949364e-02 -7.44595154e-04 9.99235223e-01 1.86925112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.420385723 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:290.94, Y:218.90, Z:18.69 [[ 3.16573679e-01 -9.48478346e-01 -1.30358769e-02 2.90944167e+02] [ 9.47761898e-01 3.16841222e-01 -3.68649460e-02 2.18900953e+02] [ 3.90959062e-02 -6.84435838e-04 9.99235228e-01 1.86926257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.450385723 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:290.95, Y:218.93, Z:18.69 [[ 3.15550788e-01 -9.48819280e-01 -1.30258741e-02 2.90949529e+02] [ 9.48102977e-01 3.15818715e-01 -3.68684801e-02 2.18928331e+02] [ 3.90953396e-02 -7.15992020e-04 9.99235228e-01 1.86947235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.480385723 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:290.96, Y:218.96, Z:18.70 [[ 3.15515304e-01 -9.48831218e-01 -1.30158443e-02 2.90958384e+02] [ 9.48114779e-01 3.15782868e-01 -3.68720206e-02 2.18956893e+02] [ 3.90955049e-02 -7.06827550e-04 9.99235229e-01 1.86978220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.510385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:290.96, Y:218.99, Z:18.70 [[ 3.14606199e-01 -9.49131583e-01 -1.31216210e-02 2.90964287e+02] [ 9.48416944e-01 3.14878554e-01 -3.68347163e-02 2.18985973e+02] [ 3.90927097e-02 -8.56337626e-04 9.99235221e-01 1.87003366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.540385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.97, Y:219.01, Z:18.70 [[ 3.14498647e-01 -9.49167257e-01 -1.31194450e-02 2.90971145e+02] [ 9.48452616e-01 3.14770999e-01 -3.68354826e-02 2.19012616e+02] [ 3.90926548e-02 -8.58462496e-04 9.99235221e-01 1.87013262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.570385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.98, Y:219.04, Z:18.70 [[ 3.16410292e-01 -9.48532157e-01 -1.30871959e-02 2.90977990e+02] [ 9.47816501e-01 3.16679951e-01 -3.68468272e-02 2.19042110e+02] [ 3.90948531e-02 -7.45544889e-04 9.99235226e-01 1.87031288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.600385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.98, Y:219.07, Z:18.70 [[ 3.16089317e-01 -9.48636699e-01 -1.32648547e-02 2.90982247e+02] [ 9.47923733e-01 3.16366110e-01 -3.67842430e-02 2.19067258e+02] [ 3.90914333e-02 -9.46964382e-04 9.99235189e-01 1.87042220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.630385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.99, Y:219.09, Z:18.70 [[ 3.16721588e-01 -9.48430283e-01 -1.29396056e-02 2.90988318e+02] [ 9.47712417e-01 3.16985277e-01 -3.68986326e-02 2.19094856e+02] [ 3.90974450e-02 -5.76431399e-04 9.99235236e-01 1.87038150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.660385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:291.00, Y:219.12, Z:18.71 [[ 3.17359548e-01 -9.48215699e-01 -1.30347962e-02 2.90995674e+02] [ 9.47499020e-01 3.17626455e-01 -3.68651826e-02 2.19121487e+02] [ 3.90963410e-02 -6.50938936e-04 9.99235234e-01 1.87070132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.690385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.00, Y:219.15, Z:18.71 [[ 3.17664096e-01 -9.48114836e-01 -1.29529730e-02 2.91003122e+02] [ 9.47396900e-01 3.17927590e-01 -3.68939099e-02 2.19148806e+02] [ 3.90977708e-02 -5.51735951e-04 9.99235238e-01 1.87080986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.720385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.01, Y:219.18, Z:18.71 [[ 3.18687833e-01 -9.47771359e-01 -1.29427860e-02 2.91008940e+02] [ 9.47052994e-01 3.18950155e-01 -3.68974832e-02 2.19175449e+02] [ 3.90984814e-02 -4.98725307e-04 9.99235238e-01 1.87091495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.750385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.02, Y:219.20, Z:18.71 [[ 3.19162174e-01 -9.47611855e-01 -1.29336175e-02 2.91015349e+02] [ 9.46893229e-01 3.19423781e-01 -3.69006968e-02 2.19202873e+02] [ 3.90988427e-02 -4.69448206e-04 9.99235238e-01 1.87097863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.780385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.02, Y:219.23, Z:18.71 [[ 3.18858177e-01 -9.47714325e-01 -1.29236471e-02 2.91023207e+02] [ 9.46995642e-01 3.19119626e-01 -3.69041883e-02 2.19229499e+02] [ 3.90988174e-02 -4.71435285e-04 9.99235238e-01 1.87103020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.810385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.03, Y:219.26, Z:18.71 [[ 3.19505978e-01 -9.47496265e-01 -1.29135108e-02 2.91031278e+02] [ 9.46777259e-01 3.19766540e-01 -3.69077349e-02 2.19255159e+02] [ 3.90992496e-02 -4.33976385e-04 9.99235238e-01 1.87097145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.840385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.04, Y:219.28, Z:18.71 [[ 3.17640334e-01 -9.48123487e-01 -1.29024221e-02 2.91038115e+02] [ 9.47404838e-01 3.17901880e-01 -3.69116109e-02 2.19282672e+02] [ 3.90984695e-02 -4.99200720e-04 9.99235238e-01 1.87117716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.87038572299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.05, Y:219.31, Z:18.71 [[ 3.17127668e-01 -9.48295239e-01 -1.28911458e-02 2.91046133e+02] [ 9.47576573e-01 3.17389163e-01 -3.69155487e-02 2.19309943e+02] [ 3.90983491e-02 -5.08405914e-04 9.99235238e-01 1.87126523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.900385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.05, Y:219.34, Z:18.71 [[ 3.16741990e-01 -9.48424267e-01 -1.28810088e-02 2.91053139e+02] [ 9.47705564e-01 3.17003383e-01 -3.69190855e-02 2.19336026e+02] [ 3.90982800e-02 -5.13579036e-04 9.99235238e-01 1.87133237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.930385723 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:291.06, Y:219.36, Z:18.71 [[ 3.16832563e-01 -9.48394138e-01 -1.28719266e-02 2.91061645e+02] [ 9.47675281e-01 3.17093534e-01 -3.69222518e-02 2.19362846e+02] [ 3.90984518e-02 -5.00234993e-04 9.99235238e-01 1.87148007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.960385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.07, Y:219.39, Z:18.72 [[ 3.16869401e-01 -9.48381967e-01 -1.28618798e-02 2.91069979e+02] [ 9.47662958e-01 3.17129953e-01 -3.69257512e-02 2.19389796e+02] [ 3.90986039e-02 -4.88086406e-04 9.99235238e-01 1.87159306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.990385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.08, Y:219.42, Z:18.71 [[ 3.15370933e-01 -9.48881450e-01 -1.28517748e-02 2.91075569e+02] [ 9.48162711e-01 3.15632227e-01 -3.69292679e-02 2.19416432e+02] [ 3.90979316e-02 -5.39156003e-04 9.99235238e-01 1.87140183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.020385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.09, Y:219.44, Z:18.72 [[ 3.17627740e-01 -9.48130037e-01 -1.27299567e-02 2.91086178e+02] [ 9.47408976e-01 3.17882577e-01 -3.69716181e-02 2.19444427e+02] [ 3.91005331e-02 -3.17263770e-04 9.99235231e-01 1.87195262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.050385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.09, Y:219.47, Z:18.72 [[ 3.18779238e-01 -9.47742081e-01 -1.28352868e-02 2.91094553e+02] [ 9.47022176e-01 3.19037305e-01 -3.69350151e-02 2.19470379e+02] [ 3.90998034e-02 -3.81185215e-04 9.99235238e-01 1.87208044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.080385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.10, Y:219.50, Z:18.72 [[ 3.19783886e-01 -9.47403695e-01 -1.28259611e-02 2.91103163e+02] [ 9.46683387e-01 3.20040825e-01 -3.69382533e-02 2.19496089e+02] [ 3.91002688e-02 -3.29866127e-04 9.99235238e-01 1.87214615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.110385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.11, Y:219.52, Z:18.72 [[ 3.21390727e-01 -9.46860444e-01 -1.27789196e-02 2.91112084e+02] [ 9.46139052e-01 3.21644609e-01 -3.69545771e-02 2.19524128e+02] [ 3.91010979e-02 -2.13776530e-04 9.99235237e-01 1.87227710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.140385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.12, Y:219.55, Z:18.72 [[ 3.22992040e-01 -9.46314946e-01 -1.28126932e-02 2.91120533e+02] [ 9.45593589e-01 3.23246020e-01 -3.69428636e-02 2.19549497e+02] [ 3.91012360e-02 -1.83349634e-04 9.99235237e-01 1.87238203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.170385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.13, Y:219.58, Z:18.72 [[ 3.25312308e-01 -9.45520913e-01 -1.27320745e-02 2.91129934e+02] [ 9.44797839e-01 3.25561367e-01 -3.69708030e-02 2.19575766e+02] [ 3.91017390e-02 -2.17920896e-06 9.99235235e-01 1.87247506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.200385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.14, Y:219.60, Z:18.73 [[ 3.25290748e-01 -9.45528494e-01 -1.27199162e-02 2.91139164e+02] [ 9.44805261e-01 3.25539348e-01 -3.69750132e-02 2.19601759e+02] [ 3.91017617e-02 9.78599326e-06 9.99235234e-01 1.87250051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.230385723 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:291.15, Y:219.63, Z:18.73 [[ 3.26034427e-01 -9.45271357e-01 -1.27911841e-02 2.91149626e+02] [ 9.44548893e-01 3.26285245e-01 -3.69503423e-02 2.19627347e+02] [ 3.91016748e-02 -3.48151193e-05 9.99235236e-01 1.87259145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.260385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.16, Y:219.65, Z:18.73 [[ 3.25979209e-01 -9.45290542e-01 -1.27807390e-02 2.91158949e+02] [ 9.44567951e-01 3.26229660e-01 -3.69539548e-02 2.19652246e+02] [ 3.91016801e-02 -2.60554596e-05 9.99235237e-01 1.87264290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.290385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.17, Y:219.68, Z:18.73 [[ 3.25941442e-01 -9.45303690e-01 -1.27714281e-02 2.91168563e+02] [ 9.44580984e-01 3.26191559e-01 -3.69571724e-02 2.19678394e+02] [ 3.91016835e-02 -1.77740000e-05 9.99235237e-01 1.87271392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.320385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:291.18, Y:219.70, Z:18.73 [[ 3.25651097e-01 -9.45403892e-01 -1.27610268e-02 2.91178821e+02] [ 9.44681122e-01 3.25901029e-01 -3.69607635e-02 2.19703880e+02] [ 3.91016815e-02 -1.87879008e-05 9.99235237e-01 1.87272477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.350385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:291.19, Y:219.73, Z:18.73 [[ 3.25081159e-01 -9.45600145e-01 -1.27517248e-02 2.91189182e+02] [ 9.44877399e-01 3.25331163e-01 -3.69639725e-02 2.19729071e+02] [ 3.91016712e-02 -3.25255789e-05 9.99235237e-01 1.87284741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.380385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.20, Y:219.76, Z:18.73 [[ 3.24410256e-01 -9.45830618e-01 -1.27447177e-02 2.91199103e+02] [ 9.45107955e-01 3.24660499e-01 -3.69663883e-02 2.19756063e+02] [ 3.91016483e-02 -5.28585370e-05 9.99235237e-01 1.87315919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.410385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.21, Y:219.78, Z:18.73 [[ 3.23992777e-01 -9.45973155e-01 -1.27855411e-02 2.91208794e+02] [ 9.45251157e-01 3.24244933e-01 -3.69523246e-02 2.19782417e+02] [ 3.91015540e-02 -1.13261269e-04 9.99235235e-01 1.87324809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.440385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.22, Y:219.81, Z:18.73 [[ 3.21263774e-01 -9.46904187e-01 -1.27298238e-02 2.91219771e+02] [ 9.46182157e-01 3.21515836e-01 -3.69715090e-02 2.19806723e+02] [ 3.91013166e-02 -1.67125610e-04 9.99235237e-01 1.87334887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.470385723 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:291.23, Y:219.83, Z:18.73 [[ 3.19331111e-01 -9.47557826e-01 -1.27203882e-02 2.91230439e+02] [ 9.46836183e-01 3.19584278e-01 -3.69747551e-02 2.19833120e+02] [ 3.91009546e-02 -2.36934165e-04 9.99235237e-01 1.87349788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.500385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:291.24, Y:219.86, Z:18.74 [[ 3.16382905e-01 -9.48546053e-01 -1.27374683e-02 2.91241860e+02] [ 9.47825437e-01 3.16638980e-01 -3.69688814e-02 2.19857245e+02] [ 3.90998655e-02 -3.76574362e-04 9.99235237e-01 1.87350764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.530385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.25, Y:219.88, Z:18.74 [[ 3.15073389e-01 -9.48982243e-01 -1.27067378e-02 2.91252040e+02] [ 9.48261556e-01 3.15329262e-01 -3.69794409e-02 2.19882881e+02] [ 3.90996390e-02 -3.98073192e-04 9.99235237e-01 1.87361819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.560385723 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:291.26, Y:219.91, Z:18.74 [[ 3.13689741e-01 -9.49440649e-01 -1.26965052e-02 2.91262720e+02] [ 9.48720193e-01 3.13946265e-01 -3.69829538e-02 2.19909118e+02] [ 3.90991401e-02 -4.44257702e-04 9.99235238e-01 1.87382715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.590385723 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:291.27, Y:219.93, Z:18.74 [[ 3.13793495e-01 -9.49406502e-01 -1.26860814e-02 2.91272329e+02] [ 9.48685874e-01 3.14049534e-01 -3.69865291e-02 2.19934738e+02] [ 3.90993092e-02 -4.28974017e-04 9.99235238e-01 1.87398999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.62038572299997 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:291.28, Y:219.96, Z:18.74 [[ 3.14366669e-01 -9.49216974e-01 -1.26781104e-02 2.91282226e+02] [ 9.48496081e-01 3.14621963e-01 -3.69892612e-02 2.19962055e+02] [ 3.90996466e-02 -3.96947156e-04 9.99235238e-01 1.87400958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.650385723 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:291.29, Y:219.99, Z:18.74 [[ 3.15014162e-01 -9.49002732e-01 -1.26448582e-02 2.91292876e+02] [ 9.48281208e-01 3.15267668e-01 -3.70006521e-02 2.19989387e+02] [ 3.91002349e-02 -3.35152006e-04 9.99235237e-01 1.87383856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.680385723 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:291.30, Y:220.02, Z:18.74 [[ 3.16637891e-01 -9.48461912e-01 -1.26668068e-02 2.91303929e+02] [ 9.47740255e-01 3.16891017e-01 -3.69931367e-02 2.20016105e+02] [ 3.91005784e-02 -2.91413960e-04 9.99235237e-01 1.87397096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.710385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.31, Y:220.04, Z:18.74 [[ 3.17878984e-01 -9.48046083e-01 -1.27112488e-02 2.91313116e+02] [ 9.47324702e-01 3.18132899e-01 -3.69779291e-02 2.20040994e+02] [ 3.91006473e-02 -2.87173516e-04 9.99235236e-01 1.87404241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.740385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.32, Y:220.07, Z:18.74 [[ 3.19414725e-01 -9.47529972e-01 -1.26958476e-02 2.91322349e+02] [ 9.46807972e-01 3.19666871e-01 -3.69831956e-02 2.20067017e+02] [ 3.91011282e-02 -2.07552493e-04 9.99235237e-01 1.87406729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.770385723 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:291.33, Y:220.09, Z:18.74 [[ 3.15705844e-01 -9.48772604e-01 -1.26635532e-02 2.91325394e+02] [ 9.48051153e-01 3.15959553e-01 -3.69942295e-02 2.20090044e+02] [ 3.91002821e-02 -3.26401710e-04 9.99235238e-01 1.87384754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.800385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.33, Y:220.12, Z:18.74 [[ 3.16845765e-01 -9.48399613e-01 -1.21216839e-02 2.91334753e+02] [ 9.47670636e-01 3.17077417e-01 -3.71790063e-02 2.20116870e+02] [ 3.91040675e-02 2.92646774e-04 9.99235101e-01 1.87408452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.830385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:291.35, Y:220.14, Z:18.74 [[ 3.19776854e-01 -9.47414303e-01 -1.22025659e-02 2.91345045e+02] [ 9.46685663e-01 3.20009424e-01 -3.71513670e-02 2.20142243e+02] [ 3.91026726e-02 3.28153080e-04 9.99235144e-01 1.87429424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.860385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:291.35, Y:220.17, Z:18.74 [[ 3.19842805e-01 -9.47392240e-01 -1.21870223e-02 2.91353923e+02] [ 9.46663382e-01 3.20074714e-01 -3.71566774e-02 2.20168218e+02] [ 3.91027056e-02 3.47288158e-04 9.99235136e-01 1.87440115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.890385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:291.37, Y:220.20, Z:18.75 [[ 3.24936867e-01 -9.45657254e-01 -1.21815547e-02 2.91370136e+02] [ 9.44927088e-01 3.25164636e-01 -3.71585451e-02 2.20196612e+02] [ 3.91002585e-02 5.63500197e-04 9.99235134e-01 1.87469998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.920385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:291.37, Y:220.22, Z:18.75 [[ 3.21772904e-01 -9.46732395e-01 -1.26479204e-02 2.91373456e+02] [ 9.46009142e-01 3.22021378e-01 -3.69991259e-02 2.20219834e+02] [ 3.91011718e-02 -5.97321860e-05 9.99235255e-01 1.87462448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.950385723 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:291.39, Y:220.25, Z:18.75 [[ 3.27256789e-01 -9.44858551e-01 -1.20545461e-02 2.91389432e+02] [ 9.44126237e-01 3.27477768e-01 -3.72016105e-02 2.20249398e+02] [ 3.90978557e-02 7.93466333e-04 9.99235071e-01 1.87492739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.980385723 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:291.39, Y:220.27, Z:18.75 [[ 3.25146226e-01 -9.45579720e-01 -1.26065657e-02 2.91393193e+02] [ 9.44855047e-01 3.25390501e-01 -3.70129961e-02 2.20272574e+02] [ 3.91007952e-02 1.23258782e-04 9.99235264e-01 1.87453675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.010385723 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:291.41, Y:220.30, Z:18.75 [[ 3.30498416e-01 -9.43729033e-01 -1.20958738e-02 2.91409533e+02] [ 9.42996491e-01 3.30718508e-01 -3.71871831e-02 2.20302078e+02] [ 3.90949537e-02 8.83938616e-04 9.99235109e-01 1.87476312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.040385723 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:291.42, Y:220.33, Z:18.75 [[ 3.32531182e-01 -9.43007613e-01 -1.26354734e-02 2.91420385e+02] [ 9.42281433e-01 3.32770917e-01 -3.70029315e-02 2.20327625e+02] [ 3.90987642e-02 3.98456594e-04 9.99235272e-01 1.87505282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.070385723 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:291.42, Y:220.35, Z:18.75 [[ 3.28990133e-01 -9.44248959e-01 -1.26252379e-02 2.91423192e+02] [ 9.43523550e-01 3.29232190e-01 -3.70064235e-02 2.20349374e+02] [ 3.90999116e-02 2.62538891e-04 9.99235272e-01 1.87500137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.100385723 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:291.44, Y:220.38, Z:18.75 [[ 3.34638566e-01 -9.42269889e-01 -1.20202305e-02 2.91442313e+02] [ 9.41535483e-01 3.34852455e-01 -3.72124621e-02 2.20378140e+02] [ 3.90891862e-02 1.13525144e-03 9.99235081e-01 1.87507660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.130385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.45, Y:220.40, Z:18.75 [[ 3.30055918e-01 -9.43876995e-01 -1.26218130e-02 2.91445597e+02] [ 9.43151280e-01 3.30297022e-01 -3.70072930e-02 2.20400237e+02] [ 3.90992797e-02 3.10197006e-04 9.99235283e-01 1.87524308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.160385723 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:291.46, Y:220.43, Z:18.75 [[ 3.30790495e-01 -9.43628257e-01 -1.19733474e-02 2.91457795e+02] [ 9.42894170e-01 3.31005531e-01 -3.72279812e-02 2.20427279e+02] [ 3.90926192e-02 1.02506282e-03 9.99235066e-01 1.87502063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.190385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:291.47, Y:220.45, Z:18.75 [[ 3.29825747e-01 -9.43963859e-01 -1.21330336e-02 2.91469737e+02] [ 9.43231972e-01 3.30047825e-01 -3.71736578e-02 2.20452903e+02] [ 3.90950708e-02 8.16564229e-04 9.99235162e-01 1.87519510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.220385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.48, Y:220.48, Z:18.75 [[ 3.27478205e-01 -9.44781931e-01 -1.20469507e-02 2.91484152e+02] [ 9.44049519e-01 3.27698714e-01 -3.72029308e-02 2.20479580e+02] [ 3.90964271e-02 8.10230996e-04 9.99235114e-01 1.87508470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.250385723 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:291.50, Y:220.51, Z:18.75 [[ 3.26055575e-01 -9.45272527e-01 -1.21495827e-02 2.91495408e+02] [ 9.44541737e-01 3.26281224e-01 -3.71681292e-02 2.20505204e+02] [ 3.90981921e-02 6.43087835e-04 9.99235166e-01 1.87522080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.280385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.51, Y:220.53, Z:18.76 [[ 3.26483515e-01 -9.45123910e-01 -1.22191823e-02 2.91506378e+02] [ 9.44393901e-01 3.26711569e-01 -3.71444498e-02 2.20529918e+02] [ 3.90982559e-02 5.87329336e-04 9.99235198e-01 1.87564421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.310385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.52, Y:220.55, Z:18.76 [[ 3.23842209e-01 -9.46032975e-01 -1.21587225e-02 2.91516843e+02] [ 9.45302832e-01 3.24069927e-01 -3.71650151e-02 2.20554837e+02] [ 3.90996061e-02 5.41925755e-04 9.99235171e-01 1.87590026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.340385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.53, Y:220.58, Z:18.76 [[ 3.27934732e-01 -9.44624332e-01 -1.19867684e-02 2.91534696e+02] [ 9.43891063e-01 3.28152517e-01 -3.72234654e-02 2.20583908e+02] [ 3.90956793e-02 8.92663581e-04 9.99235073e-01 1.87625295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.37038572299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.55, Y:220.61, Z:18.76 [[ 3.27210072e-01 -9.44867542e-01 -1.26054105e-02 2.91547395e+02] [ 9.44142343e-01 3.27452720e-01 -3.70128679e-02 2.20607922e+02] [ 3.90999335e-02 2.09681369e-04 9.99235283e-01 1.87627841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.400385723 meters Centerline goodness : 0.991486 Centerline is valid? [True, True] Translation: X:291.56, Y:220.63, Z:18.76 [[ 3.27138643e-01 -9.44892428e-01 -1.25939453e-02 2.91559366e+02] [ 9.44167097e-01 3.27380896e-01 -3.70167686e-02 2.20634587e+02] [ 3.90998815e-02 2.18826680e-04 9.99235283e-01 1.87619056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.430385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:291.57, Y:220.66, Z:18.76 [[ 3.26794194e-01 -9.45009515e-01 -1.27503538e-02 2.91571273e+02] [ 9.44286332e-01 3.27042834e-01 -3.69635966e-02 2.20656888e+02] [ 3.91008624e-02 3.95039185e-05 9.99235268e-01 1.87636970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.460385723 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:291.58, Y:220.68, Z:18.76 [[ 3.25381603e-01 -9.45500403e-01 -1.24819920e-02 2.91582863e+02] [ 9.44774061e-01 3.25620819e-01 -3.70547767e-02 2.20683945e+02] [ 3.90997028e-02 2.64280414e-04 9.99235279e-01 1.87619566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.490385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.59, Y:220.71, Z:18.76 [[ 3.20681593e-01 -9.47103584e-01 -1.25744988e-02 2.91587470e+02] [ 9.46379665e-01 3.20928031e-01 -3.70233582e-02 2.20706113e+02] [ 3.91004644e-02 -2.75404752e-05 9.99235284e-01 1.87643394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.520385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.61, Y:220.73, Z:18.77 [[ 3.22942199e-01 -9.46342072e-01 -1.20423888e-02 2.91606488e+02] [ 9.45610697e-01 3.23166040e-01 -3.72037542e-02 2.20733485e+02] [ 3.90991689e-02 6.27250532e-04 9.99235138e-01 1.87676557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.550385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:291.62, Y:220.76, Z:18.77 [[ 3.20724610e-01 -9.47089142e-01 -1.25651049e-02 2.91619169e+02] [ 9.46365094e-01 3.20970648e-01 -3.70263738e-02 2.20758489e+02] [ 3.91003065e-02 -1.59073580e-05 9.99235291e-01 1.87690519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.580385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:291.63, Y:220.78, Z:18.77 [[ 3.19570499e-01 -9.47479327e-01 -1.25546944e-02 2.91629850e+02] [ 9.46755441e-01 3.19817013e-01 -3.70299034e-02 2.20783934e+02] [ 3.91002729e-02 -5.25605083e-05 9.99235291e-01 1.87696841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.610385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:291.64, Y:220.81, Z:18.77 [[ 3.15909781e-01 -9.48706289e-01 -1.25453786e-02 2.91639367e+02] [ 9.47983235e-01 3.16158724e-01 -3.70330593e-02 2.20807350e+02] [ 3.90998271e-02 -1.93702913e-04 9.99235291e-01 1.87673388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.640385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.65, Y:220.83, Z:18.77 [[ 3.17575522e-01 -9.48154178e-01 -1.22246660e-02 2.91653265e+02] [ 9.47426459e-01 3.17810650e-01 -3.71415574e-02 2.20834926e+02] [ 3.91010519e-02 2.13277498e-04 9.99235239e-01 1.87695416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.670385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.66, Y:220.86, Z:18.77 [[ 3.14881114e-01 -9.49048313e-01 -1.25373125e-02 2.91660168e+02] [ 9.48325422e-01 3.15130526e-01 -3.70357227e-02 2.20858946e+02] [ 3.90995800e-02 -2.27602556e-04 9.99235293e-01 1.87694668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.700385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:291.67, Y:220.88, Z:18.77 [[ 3.13408118e-01 -9.49539746e-01 -1.22320568e-02 2.91670217e+02] [ 9.48813167e-01 3.13646728e-01 -3.71389939e-02 2.20883702e+02] [ 3.91014954e-02 3.37256160e-05 9.99235244e-01 1.87706375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.730385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.69, Y:220.91, Z:18.77 [[ 3.16249201e-01 -9.48599535e-01 -1.20567191e-02 2.91687827e+02] [ 9.47869970e-01 3.16478765e-01 -3.71982678e-02 2.20911994e+02] [ 3.91019552e-02 3.35720531e-04 9.99235170e-01 1.87738175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.760385723 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:291.70, Y:220.94, Z:18.77 [[ 3.15440326e-01 -9.48862675e-01 -1.25309728e-02 2.91698620e+02] [ 9.48139555e-01 3.15689064e-01 -3.70378192e-02 2.20937892e+02] [ 3.90996953e-02 -1.97889260e-04 9.99235295e-01 1.87734246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.790385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:291.71, Y:220.96, Z:18.78 [[ 3.15549274e-01 -9.48826585e-01 -1.25206970e-02 2.91709544e+02] [ 9.48103298e-01 3.15797528e-01 -3.70412926e-02 2.20964198e+02] [ 3.90997683e-02 -1.82561104e-04 9.99235295e-01 1.87761398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.820385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.72, Y:220.99, Z:18.78 [[ 3.15353910e-01 -9.48891670e-01 -1.25103965e-02 2.91721994e+02] [ 9.48168297e-01 3.15601911e-01 -3.70447712e-02 2.20988553e+02] [ 3.90997798e-02 -1.79747933e-04 9.99235295e-01 1.87771038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.850385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.73, Y:221.01, Z:18.78 [[ 3.13127482e-01 -9.49628844e-01 -1.24995282e-02 2.91729454e+02] [ 9.48905908e-01 3.13376755e-01 -3.70484380e-02 2.21012802e+02] [ 3.90993269e-02 -2.59992058e-04 9.99235295e-01 1.87758149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.880385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.74, Y:221.04, Z:18.78 [[ 3.12963539e-01 -9.49686861e-01 -1.21938278e-02 2.91740598e+02] [ 9.48959906e-01 3.13200994e-01 -3.71515047e-02 2.21037392e+02] [ 3.91014148e-02 5.56127139e-05 9.99235246e-01 1.87770657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.910385723 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:291.76, Y:221.07, Z:18.78 [[ 3.15865526e-01 -9.48727666e-01 -1.20326667e-02 2.91756581e+02] [ 9.47997907e-01 3.16094443e-01 -3.72057990e-02 2.21066294e+02] [ 3.91016300e-02 3.45086387e-04 9.99235179e-01 1.87787415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.940385723 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:291.77, Y:221.09, Z:18.78 [[ 3.15969757e-01 -9.48687024e-01 -1.24917403e-02 2.91769712e+02] [ 9.47963242e-01 3.16216560e-01 -3.70510274e-02 2.21091669e+02] [ 3.90999240e-02 -1.34706467e-04 9.99235297e-01 1.87812329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.970385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.78, Y:221.12, Z:18.78 [[ 3.16322212e-01 -9.48569700e-01 -1.24812473e-02 2.91780194e+02] [ 9.47845688e-01 3.16568336e-01 -3.70545618e-02 2.21117084e+02] [ 3.91000023e-02 -1.09115477e-04 9.99235297e-01 1.87839309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.000385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.79, Y:221.14, Z:18.78 [[ 3.16687736e-01 -9.48447853e-01 -1.24719117e-02 2.91791234e+02] [ 9.47723622e-01 3.16933216e-01 -3.70577037e-02 2.21142975e+02] [ 3.91000626e-02 -8.42050021e-05 9.99235297e-01 1.87849367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.030385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:291.80, Y:221.17, Z:18.79 [[ 3.17140312e-01 -9.48296750e-01 -1.24617693e-02 2.91804113e+02] [ 9.47572268e-01 3.17385050e-01 -3.70611141e-02 2.21168302e+02] [ 3.91001133e-02 -5.48537517e-05 9.99235297e-01 1.87853573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.060385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.81, Y:221.19, Z:18.79 [[ 3.17197872e-01 -9.48277632e-01 -1.24515983e-02 2.91814475e+02] [ 9.47553001e-01 3.17442169e-01 -3.70645310e-02 2.21194712e+02] [ 3.91001280e-02 -4.17589929e-05 9.99235297e-01 1.87863679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.090385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:291.83, Y:221.22, Z:18.79 [[ 3.16629716e-01 -9.48467624e-01 -1.24414577e-02 2.91825979e+02] [ 9.47743006e-01 3.16874050e-01 -3.70679346e-02 2.21219904e+02] [ 3.91001109e-02 -5.44949054e-05 9.99235297e-01 1.87860745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.12038572299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.84, Y:221.25, Z:18.79 [[ 3.16278435e-01 -9.48584960e-01 -1.24308142e-02 2.91836499e+02] [ 9.47860292e-01 3.16522622e-01 -3.70715036e-02 2.21245901e+02] [ 3.91001046e-02 -5.77580298e-05 9.99235297e-01 1.87875557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.150385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.85, Y:221.27, Z:18.79 [[ 3.16416968e-01 -9.48538890e-01 -1.24207706e-02 2.91846364e+02] [ 9.47814055e-01 3.16660657e-01 -3.70748683e-02 2.21271732e+02] [ 3.91001239e-02 -4.14635068e-05 9.99235297e-01 1.87905199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.180385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.86, Y:221.30, Z:18.79 [[ 3.16517297e-01 -9.48505549e-01 -1.24106535e-02 2.91855088e+02] [ 9.47780555e-01 3.16760514e-01 -3.70782547e-02 2.21298674e+02] [ 3.91001353e-02 -2.66671367e-05 9.99235297e-01 1.87922647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.210385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.86, Y:221.32, Z:18.79 [[ 3.16237706e-01 -9.48598936e-01 -1.24004826e-02 2.91863791e+02] [ 9.47873880e-01 3.16480739e-01 -3.70816560e-02 2.21324014e+02] [ 3.91001333e-02 -2.74757038e-05 9.99235297e-01 1.87934362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.240385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.87, Y:221.35, Z:18.79 [[ 3.15174290e-01 -9.48952929e-01 -1.23897169e-02 2.91872245e+02] [ 9.48228005e-01 3.15417714e-01 -3.70852526e-02 2.21349493e+02] [ 3.91000953e-02 -5.99583532e-05 9.99235297e-01 1.87949381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.270385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.88, Y:221.38, Z:18.80 [[ 3.14442526e-01 -9.49195792e-01 -1.23792503e-02 2.91880894e+02] [ 9.48470919e-01 3.14686100e-01 -3.70887461e-02 2.21376592e+02] [ 3.91000598e-02 -7.90799270e-05 9.99235297e-01 1.87967081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.300385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.88, Y:221.40, Z:18.80 [[ 3.10571408e-01 -9.50469570e-01 -1.23692209e-02 2.91884095e+02] [ 9.49745561e-01 3.10817544e-01 -3.70920907e-02 2.21400626e+02] [ 3.90994743e-02 -2.27869803e-04 9.99235297e-01 1.87973312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.330385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:291.90, Y:221.43, Z:18.80 [[ 3.14095995e-01 -9.49316958e-01 -1.18751609e-02 2.91898810e+02] [ 9.48585700e-01 3.14320095e-01 -3.72565192e-02 2.21429168e+02] [ 3.91008472e-02 4.37515647e-04 9.99235174e-01 1.87979964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.360385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.91, Y:221.45, Z:18.80 [[ 3.14149753e-01 -9.49292987e-01 -1.23595495e-02 2.91906942e+02] [ 9.48567937e-01 3.14392781e-01 -3.70951335e-02 2.21454862e+02] [ 3.90999032e-02 -7.04453524e-05 9.99235304e-01 1.87991350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.390385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.91, Y:221.48, Z:18.80 [[ 3.14414580e-01 -9.49205444e-01 -1.23489594e-02 2.91914022e+02] [ 9.48480188e-01 3.14656991e-01 -3.70986586e-02 2.21480995e+02] [ 3.90999351e-02 -4.83841656e-05 9.99235304e-01 1.87993596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.420385723 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:291.92, Y:221.51, Z:18.80 [[ 3.13375412e-01 -9.49549161e-01 -1.23386543e-02 2.91921389e+02] [ 9.48824035e-01 3.13618215e-01 -3.71020857e-02 2.21507984e+02] [ 3.90998810e-02 -8.03303433e-05 9.99235304e-01 1.88000091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.450385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.93, Y:221.53, Z:18.80 [[ 3.13347350e-01 -9.49558554e-01 -1.23284732e-02 2.91929476e+02] [ 9.48833303e-01 3.13589777e-01 -3.71054684e-02 2.21534128e+02] [ 3.90998981e-02 -7.07657704e-05 9.99235304e-01 1.88032352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.480385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.94, Y:221.56, Z:18.81 [[ 3.12636903e-01 -9.49792841e-01 -1.23177006e-02 2.91937995e+02] [ 9.49067631e-01 3.12879451e-01 -3.71090442e-02 2.21561237e+02] [ 3.90998599e-02 -8.86743188e-05 9.99235304e-01 1.88050441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.510385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.95, Y:221.59, Z:18.81 [[ 3.11042941e-01 -9.50316165e-01 -1.23075526e-02 2.91946272e+02] [ 9.49591229e-01 3.11286309e-01 -3.71124095e-02 2.21588034e+02] [ 3.90996953e-02 -1.43591052e-04 9.99235304e-01 1.88070019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.540385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.95, Y:221.61, Z:18.81 [[ 3.08070791e-01 -9.51283955e-01 -1.22973554e-02 2.91954649e+02] [ 9.50559649e-01 3.08316026e-01 -3.71157881e-02 2.21614148e+02] [ 3.90991255e-02 -2.55079634e-04 9.99235304e-01 1.88090719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.570385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.96, Y:221.64, Z:18.81 [[ 3.01927533e-01 -9.53251700e-01 -1.22866271e-02 2.91956447e+02] [ 9.52528847e-01 3.02177018e-01 -3.71193392e-02 2.21638001e+02] [ 3.90968096e-02 -4.96016218e-04 9.99235304e-01 1.88087268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.600385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:291.97, Y:221.67, Z:18.81 [[ 3.01200205e-01 -9.53488942e-01 -1.17164121e-02 2.91965278e+02] [ 9.52758782e-01 3.01427988e-01 -3.73077867e-02 2.21665765e+02] [ 3.91042166e-02 7.41984982e-05 9.99235135e-01 1.88099152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.630385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:291.97, Y:221.69, Z:18.81 [[ 3.00265496e-01 -9.53783117e-01 -1.17642850e-02 2.91971819e+02] [ 9.53053799e-01 3.00495868e-01 -3.72919539e-02 2.21691504e+02] [ 3.91035550e-02 -1.45094621e-05 9.99235163e-01 1.88085126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.660385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.99, Y:221.72, Z:18.81 [[ 3.05467061e-01 -9.52131496e-01 -1.16399835e-02 2.91987532e+02] [ 9.51399359e-01 3.05688577e-01 -3.73330227e-02 2.21721521e+02] [ 3.91041567e-02 3.29735873e-04 9.99235086e-01 1.88130470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.690385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.99, Y:221.75, Z:18.81 [[ 3.01536342e-01 -9.53375584e-01 -1.22812824e-02 2.91989125e+02] [ 9.52652772e-01 3.01785915e-01 -3.71208610e-02 2.21745244e+02] [ 3.90964406e-02 -5.06509134e-04 9.99235314e-01 1.88111341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.720385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:292.00, Y:221.77, Z:18.81 [[ 3.01713081e-01 -9.53326111e-01 -1.17704694e-02 2.91997595e+02] [ 9.52596536e-01 3.01942587e-01 -3.72895992e-02 2.21771845e+02] [ 3.91031545e-02 3.82514326e-05 9.99235178e-01 1.88129257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.750385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.01, Y:221.80, Z:18.81 [[ 3.01677236e-01 -9.53337572e-01 -1.17609014e-02 2.92006198e+02] [ 9.52607883e-01 3.01906395e-01 -3.72927586e-02 2.21798505e+02] [ 3.91032793e-02 4.68489162e-05 9.99235173e-01 1.88140805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.780385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.02, Y:221.83, Z:18.82 [[ 3.01662009e-01 -9.53343336e-01 -1.16840531e-02 2.92015154e+02] [ 9.52612665e-01 3.01888172e-01 -3.73181315e-02 2.21825532e+02] [ 3.91042694e-02 1.27085518e-04 9.99235127e-01 1.88151617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.810385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.02, Y:221.85, Z:18.82 [[ 3.01885861e-01 -9.53272399e-01 -1.16901668e-02 2.92023756e+02] [ 9.52541753e-01 3.02112092e-01 -3.73161123e-02 2.21852109e+02] [ 3.91041607e-02 1.29834742e-04 9.99235131e-01 1.88161594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.840385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:292.03, Y:221.88, Z:18.82 [[ 3.01531712e-01 -9.53384951e-01 -1.16517230e-02 2.92033132e+02] [ 9.52653898e-01 3.01756709e-01 -3.73288071e-02 2.21878997e+02] [ 3.91047085e-02 1.55759764e-04 9.99235106e-01 1.88170284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.87038572299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.04, Y:221.91, Z:18.82 [[ 3.01560902e-01 -9.53375014e-01 -1.17092169e-02 2.92043260e+02] [ 9.52644689e-01 3.01788128e-01 -3.73098166e-02 2.21905966e+02] [ 3.91039496e-02 9.64586775e-05 9.99235143e-01 1.88192575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.900385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.06, Y:221.93, Z:18.82 [[ 3.04198847e-01 -9.52535475e-01 -1.17995715e-02 2.92058905e+02] [ 9.51805677e-01 3.04427588e-01 -3.72799787e-02 2.21934048e+02] [ 3.91026174e-02 1.09627437e-04 9.99235194e-01 1.88244854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.930385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.06, Y:221.96, Z:18.82 [[ 3.00261494e-01 -9.53778022e-01 -1.22686415e-02 2.92063396e+02] [ 9.53055376e-01 3.00511542e-01 -3.71249708e-02 2.21958438e+02] [ 3.90958496e-02 -5.45495557e-04 9.99235316e-01 1.88243326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.960385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:292.08, Y:221.99, Z:18.83 [[ 3.01738214e-01 -9.53316314e-01 -1.19186795e-02 2.92075925e+02] [ 9.52588660e-01 3.01973494e-01 -3.72404787e-02 2.21986573e+02] [ 3.91010812e-02 -1.16723365e-04 9.99235253e-01 1.88256823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.990385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.09, Y:222.02, Z:18.82 [[ 3.02324263e-01 -9.53126282e-01 -1.22609176e-02 2.92086157e+02] [ 9.52402996e-01 3.02572446e-01 -3.71274612e-02 2.22015275e+02] [ 3.90969749e-02 -4.52802272e-04 9.99235318e-01 1.88239458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.020385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.09, Y:222.04, Z:18.83 [[ 3.00408139e-01 -9.53729996e-01 -1.24114853e-02 2.92093294e+02] [ 9.53009245e-01 3.00663631e-01 -3.70777480e-02 2.22039640e+02] [ 3.90938427e-02 -6.89803005e-04 9.99235305e-01 1.88292361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.050385723 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:292.10, Y:222.06, Z:18.83 [[ 2.98468235e-01 -9.54340968e-01 -1.22486647e-02 2.92102280e+02] [ 9.53618527e-01 2.98718864e-01 -3.71314587e-02 2.22064977e+02] [ 3.90949794e-02 -5.97992646e-04 9.99235320e-01 1.88276690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.080385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.11, Y:222.09, Z:18.83 [[ 2.96636793e-01 -9.54911955e-01 -1.22381125e-02 2.92108960e+02] [ 9.54189853e-01 2.96888397e-01 -3.71349363e-02 2.22091990e+02] [ 3.90939482e-02 -6.61894388e-04 9.99235320e-01 1.88296398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.110385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.12, Y:222.12, Z:18.83 [[ 2.98423957e-01 -9.54355087e-01 -1.22274491e-02 2.92118792e+02] [ 9.53632372e-01 2.98673794e-01 -3.71384471e-02 2.22117011e+02] [ 3.90952845e-02 -5.77488972e-04 9.99235320e-01 1.88306996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.140385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.13, Y:222.14, Z:18.83 [[ 2.99288300e-01 -9.54084500e-01 -1.22180128e-02 2.92126422e+02] [ 9.53361433e-01 2.99537114e-01 -3.71415512e-02 2.22142056e+02] [ 3.90959266e-02 -5.32150460e-04 9.99235320e-01 1.88309078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.170385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.13, Y:222.17, Z:18.83 [[ 2.99090498e-01 -9.54148354e-01 -1.20744815e-02 2.92133357e+02] [ 9.53423428e-01 2.99333873e-01 -3.71887081e-02 2.22168985e+02] [ 3.90978459e-02 -3.89304282e-04 9.99235311e-01 1.88324780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.200385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.14, Y:222.20, Z:18.83 [[ 2.99588247e-01 -9.53990559e-01 -1.22023022e-02 2.92141171e+02] [ 9.53267203e-01 2.99836223e-01 -3.71467207e-02 2.22195974e+02] [ 3.90963131e-02 -5.03333560e-04 9.99235320e-01 1.88340030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.230385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.15, Y:222.22, Z:18.83 [[ 2.99736693e-01 -9.53944056e-01 -1.21923436e-02 2.92149356e+02] [ 9.53220529e-01 2.99984169e-01 -3.71499891e-02 2.22221822e+02] [ 3.90965213e-02 -4.86777359e-04 9.99235320e-01 1.88341385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.260385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.16, Y:222.25, Z:18.84 [[ 2.99882740e-01 -9.53898288e-01 -1.21818455e-02 2.92157837e+02] [ 9.53174584e-01 3.00129697e-01 -3.71534312e-02 2.22248845e+02] [ 3.90967280e-02 -4.69752792e-04 9.99235320e-01 1.88357831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.290385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:292.16, Y:222.27, Z:18.84 [[ 3.00984879e-01 -9.53551230e-01 -1.21718444e-02 2.92164825e+02] [ 9.52827109e-01 3.01230609e-01 -3.71567074e-02 2.22273840e+02] [ 3.90973561e-02 -4.14056274e-04 9.99235320e-01 1.88355433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.320385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:292.17, Y:222.30, Z:18.83 [[ 2.99665638e-01 -9.53968727e-01 -1.20072228e-02 2.92173360e+02] [ 9.53242777e-01 2.99905954e-01 -3.72105779e-02 2.22302717e+02] [ 3.90987653e-02 -2.95066831e-04 9.99235307e-01 1.88340111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.350385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.18, Y:222.33, Z:18.84 [[ 3.00297145e-01 -9.53768217e-01 -1.21578043e-02 2.92181011e+02] [ 9.53044087e-01 3.00542850e-01 -3.71613138e-02 2.22328450e+02] [ 3.90972211e-02 -4.27487041e-04 9.99235320e-01 1.88363051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.380385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.19, Y:222.36, Z:18.84 [[ 3.00318185e-01 -9.53761725e-01 -1.21473954e-02 2.92189537e+02] [ 9.53037452e-01 3.00563469e-01 -3.71647159e-02 2.22355405e+02] [ 3.90973469e-02 -4.15682751e-04 9.99235320e-01 1.88376171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.410385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.20, Y:222.38, Z:18.84 [[ 3.01155258e-01 -9.53497870e-01 -1.21376418e-02 2.92197396e+02] [ 9.52773254e-01 3.01399526e-01 -3.71679011e-02 2.22382292e+02] [ 3.90977940e-02 -3.71111638e-04 9.99235320e-01 1.88397877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.440385723 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:292.20, Y:222.41, Z:18.84 [[ 2.97726669e-01 -9.54574116e-01 -1.21279414e-02 2.92201161e+02] [ 9.53850254e-01 2.97973162e-01 -3.71710661e-02 2.22407645e+02] [ 3.90963386e-02 -5.01422327e-04 9.99235320e-01 1.88382522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.470385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:292.21, Y:222.44, Z:18.84 [[ 2.99687128e-01 -9.53964566e-01 -1.17996283e-02 2.92210425e+02] [ 9.53235935e-01 2.99919323e-01 -3.72780465e-02 2.22435957e+02] [ 3.91008720e-02 -7.60789926e-05 9.99235266e-01 1.88411939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.500385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.22, Y:222.46, Z:18.84 [[ 3.01141524e-01 -9.53504740e-01 -1.19370260e-02 2.92216771e+02] [ 9.52777518e-01 3.01377976e-01 -3.72332739e-02 2.22461734e+02] [ 3.90996599e-02 -1.60845126e-04 9.99235303e-01 1.88420765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.530385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.22, Y:222.49, Z:18.84 [[ 3.00530658e-01 -9.53699414e-01 -1.17792928e-02 2.92223957e+02] [ 9.52970318e-01 3.00761413e-01 -3.72846632e-02 2.22488565e+02] [ 3.91011182e-02 -2.01320930e-05 9.99235259e-01 1.88433321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.560385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.23, Y:222.52, Z:18.84 [[ 3.02180733e-01 -9.53178477e-01 -1.17300785e-02 2.92233655e+02] [ 9.52448360e-01 3.02408301e-01 -3.73006948e-02 2.22516769e+02] [ 3.91014926e-02 9.92573337e-05 9.99235239e-01 1.88441066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.590385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:292.24, Y:222.54, Z:18.84 [[ 3.00094718e-01 -9.53835364e-01 -1.18851903e-02 2.92239462e+02] [ 9.53107733e-01 3.00329944e-01 -3.72501612e-02 2.22542399e+02] [ 3.90999996e-02 -1.49290138e-04 9.99235291e-01 1.88439430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.62038572299997 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:292.25, Y:222.57, Z:18.84 [[ 2.99464453e-01 -9.54036621e-01 -1.16261407e-02 2.92246307e+02] [ 9.53305839e-01 2.99690033e-01 -3.73344483e-02 2.22570032e+02] [ 3.91026694e-02 9.70722846e-05 9.99235193e-01 1.88448522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.650385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.26, Y:222.60, Z:18.85 [[ 3.00930603e-01 -9.53574588e-01 -1.16737595e-02 2.92257409e+02] [ 9.52844060e-01 3.01156924e-01 -3.73189633e-02 2.22600026e+02] [ 3.91020485e-02 1.07145682e-04 9.99235217e-01 1.88475720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.680385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.26, Y:222.62, Z:18.85 [[ 2.96232332e-01 -9.55039239e-01 -1.21019806e-02 2.92260908e+02] [ 9.54315416e-01 2.96478946e-01 -3.71795812e-02 2.22621797e+02] [ 3.90959413e-02 -5.35312606e-04 9.99235318e-01 1.88456127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.710385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:292.27, Y:222.65, Z:18.85 [[ 2.95332678e-01 -9.55323393e-01 -1.16543775e-02 2.92270584e+02] [ 9.54593956e-01 2.95562522e-01 -3.73252590e-02 2.22650112e+02] [ 3.91022903e-02 -1.01829632e-04 9.99235208e-01 1.88482392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.740385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.28, Y:222.68, Z:18.85 [[ 2.92605781e-01 -9.56160270e-01 -1.18065419e-02 2.92277963e+02] [ 9.55433474e-01 2.92843641e-01 -3.72756997e-02 2.22677465e+02] [ 3.90990138e-02 -3.73280088e-04 9.99235271e-01 1.88505257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.770385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.29, Y:222.70, Z:18.85 [[ 2.95189826e-01 -9.55365499e-01 -1.18207038e-02 2.92289060e+02] [ 9.54638247e-01 2.95426273e-01 -3.72710872e-02 2.22704697e+02] [ 3.90996573e-02 -2.82450201e-04 9.99235276e-01 1.88522483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.800385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:292.30, Y:222.73, Z:18.85 [[ 2.91656374e-01 -9.56447774e-01 -1.20089832e-02 2.92296055e+02] [ 9.55723897e-01 2.91902836e-01 -3.72097741e-02 2.22733435e+02] [ 3.90946619e-02 -6.24804476e-04 9.99235316e-01 1.88520121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.830385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:292.30, Y:222.76, Z:18.85 [[ 2.88496227e-01 -9.57404543e-01 -1.21023611e-02 2.92297649e+02] [ 9.56682748e-01 2.88748705e-01 -3.71793786e-02 2.22756466e+02] [ 3.90902471e-02 -8.52009591e-04 9.99235321e-01 1.88535650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.860385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:292.31, Y:222.79, Z:18.85 [[ 2.89961182e-01 -9.56968608e-01 -1.15584156e-02 2.92309403e+02] [ 9.56239256e-01 2.90191377e-01 -3.73557260e-02 2.22785842e+02] [ 3.91024097e-02 -2.20900235e-04 9.99235184e-01 1.88534597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.890385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.32, Y:222.81, Z:18.86 [[ 2.86718297e-01 -9.57941541e-01 -1.18584407e-02 2.92316365e+02] [ 9.57216930e-01 2.86962642e-01 -3.72584457e-02 2.22813890e+02] [ 3.90943424e-02 -6.68422060e-04 9.99235300e-01 1.88560664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.920385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:292.32, Y:222.84, Z:18.86 [[ 2.83804260e-01 -9.58807166e-01 -1.19983516e-02 2.92323559e+02] [ 9.58085196e-01 2.84056237e-01 -3.72130659e-02 2.22842324e+02] [ 3.90883609e-02 -9.34216437e-04 9.99235321e-01 1.88595004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.950385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.33, Y:222.87, Z:18.86 [[ 2.79118525e-01 -9.60180988e-01 -1.20548483e-02 2.92325335e+02] [ 9.59461038e-01 2.79376211e-01 -3.71947554e-02 2.22866555e+02] [ 3.90815348e-02 -1.18441200e-03 9.99235323e-01 1.88599189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.980385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.34, Y:222.90, Z:18.86 [[ 2.82295534e-01 -9.59257241e-01 -1.16093520e-02 2.92337742e+02] [ 9.58530443e-01 2.82533539e-01 -3.73388322e-02 2.22896138e+02] [ 3.90975764e-02 -5.87331716e-04 9.99235225e-01 1.88619882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.010385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:292.34, Y:222.93, Z:18.86 [[ 2.82771718e-01 -9.59111631e-01 -1.20430526e-02 2.92343698e+02] [ 9.58390549e-01 2.83026205e-01 -3.71984251e-02 2.22925114e+02] [ 3.90859417e-02 -1.02328521e-03 9.99235329e-01 1.88594798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.040385723 meters Centerline goodness : 0.994043 Centerline is valid? [True, True] Translation: X:292.35, Y:222.95, Z:18.86 [[ 2.81473293e-01 -9.59493162e-01 -1.20688863e-02 2.92349537e+02] [ 9.58772780e-01 2.81729756e-01 -3.71900603e-02 2.22952405e+02] [ 3.90837729e-02 -1.10331091e-03 9.99235328e-01 1.88608859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.070385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.35, Y:222.98, Z:18.86 [[ 2.83880786e-01 -9.58782494e-01 -1.21585074e-02 2.92354945e+02] [ 9.58062698e-01 2.84138912e-01 -3.71610659e-02 2.22977620e+02] [ 3.90840845e-02 -1.09929983e-03 9.99235321e-01 1.88649480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.100385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.37, Y:223.01, Z:18.87 [[ 2.89125158e-01 -9.57215860e-01 -1.20183110e-02 2.92367623e+02] [ 9.56492778e-01 2.89373897e-01 -3.72063523e-02 2.23006913e+02] [ 3.90922960e-02 -7.38135136e-04 9.99235331e-01 1.88652952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.130385723 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:292.37, Y:223.03, Z:18.87 [[ 2.89133126e-01 -9.57208300e-01 -1.24220037e-02 2.92367624e+02] [ 9.56490701e-01 2.89397514e-01 -3.70758499e-02 2.23031196e+02] [ 3.90842082e-02 -1.16167465e-03 9.99235245e-01 1.88675759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.160385723 meters Centerline goodness : 0.993492 Centerline is valid? [True, True] Translation: X:292.37, Y:223.06, Z:18.87 [[ 2.91671153e-01 -9.56443311e-01 -1.20054527e-02 2.92374752e+02] [ 9.55719410e-01 2.91917466e-01 -3.72102491e-02 2.23057910e+02] [ 3.90940952e-02 -6.20687942e-04 9.99235341e-01 1.88671729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.190385723 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:292.38, Y:223.08, Z:18.87 [[ 2.92973494e-01 -9.56045375e-01 -1.19905074e-02 2.92380635e+02] [ 9.55320943e-01 2.93218239e-01 -3.72150644e-02 2.23083808e+02] [ 3.90951257e-02 -5.51755370e-04 9.99235341e-01 1.88692791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.220385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.38, Y:223.11, Z:18.87 [[ 2.95415540e-01 -9.55293822e-01 -1.19737936e-02 2.92382510e+02] [ 9.54568549e-01 2.95657782e-01 -3.72204413e-02 2.23109515e+02] [ 3.90966029e-02 -4.34309981e-04 9.99235341e-01 1.88702708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.250385723 meters Centerline goodness : 0.999762 Centerline is valid? [True, True] Translation: X:292.38, Y:223.13, Z:18.87 [[ 2.94976814e-01 -9.55434209e-01 -1.15823901e-02 2.92382647e+02] [ 9.54704038e-01 2.95204117e-01 -3.73460758e-02 2.23133609e+02] [ 3.91008877e-02 -4.15281789e-05 9.99235267e-01 1.88662685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.280385723 meters Centerline goodness : 0.999739 Centerline is valid? [True, True] Translation: X:292.39, Y:223.16, Z:18.87 [[ 2.95522434e-01 -9.55270706e-01 -1.11521110e-02 2.92387905e+02] [ 9.54535075e-01 2.95732466e-01 -3.74846627e-02 2.23157847e+02] [ 3.91060414e-02 4.32477674e-04 9.99234973e-01 1.88664593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.310385723 meters Centerline goodness : 0.998738 Centerline is valid? [True, True] Translation: X:292.40, Y:223.19, Z:18.87 [[ 2.97800595e-01 -9.54566649e-01 -1.08313782e-02 2.92398895e+02] [ 9.53826747e-01 2.97996258e-01 -3.75868026e-02 2.23188705e+02] [ 3.91068184e-02 8.62113896e-04 9.99234664e-01 1.88705734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.340385723 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:292.41, Y:223.22, Z:18.87 [[ 2.99588114e-01 -9.54002063e-01 -1.12705440e-02 2.92410595e+02] [ 9.53266943e-01 2.99799662e-01 -3.74472713e-02 2.23217887e+02] [ 3.91036793e-02 4.74920346e-04 9.99235046e-01 1.88731301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.37038572299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.42, Y:223.24, Z:18.87 [[ 2.98921054e-01 -9.54204252e-01 -1.18510716e-02 2.92417189e+02] [ 9.53476416e-01 2.99155843e-01 -3.72626470e-02 2.23244087e+02] [ 3.91014935e-02 -1.61127519e-04 9.99235231e-01 1.88739477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.400385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:292.43, Y:223.27, Z:18.88 [[ 2.99400961e-01 -9.54055700e-01 -1.16955346e-02 2.92429757e+02] [ 9.53325806e-01 2.99629305e-01 -3.73120207e-02 2.23272710e+02] [ 3.91020709e-02 2.15999267e-05 9.99235221e-01 1.88778936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.430385723 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:292.44, Y:223.30, Z:18.88 [[ 2.97496394e-01 -9.54646942e-01 -1.20462122e-02 2.92439520e+02] [ 9.53921944e-01 2.97739880e-01 -3.72006502e-02 2.23298877e+02] [ 3.91001248e-02 -4.24086867e-04 9.99235208e-01 1.88771453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.460385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:292.44, Y:223.32, Z:18.88 [[ 2.91615290e-01 -9.56458694e-01 -1.21362995e-02 2.92444358e+02] [ 9.55736390e-01 2.91866735e-01 -3.71720661e-02 2.23322523e+02] [ 3.90957279e-02 -7.59160246e-04 9.99235181e-01 1.88803328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.490385723 meters Centerline goodness : 0.999696 Centerline is valid? [True, True] Translation: X:292.45, Y:223.35, Z:18.88 [[ 2.88848088e-01 -9.57302141e-01 -1.18064422e-02 2.92452424e+02] [ 9.56576252e-01 2.89088798e-01 -3.72765429e-02 2.23349407e+02] [ 3.90980245e-02 -5.26504077e-04 9.99235241e-01 1.88783702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.520385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:292.46, Y:223.38, Z:18.88 [[ 2.87929840e-01 -9.57578851e-01 -1.17962486e-02 2.92460357e+02] [ 9.56853061e-01 2.88170849e-01 -3.72797684e-02 2.23376945e+02] [ 3.90976528e-02 -5.53318838e-04 9.99235241e-01 1.88832491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.550385723 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:292.47, Y:223.40, Z:18.88 [[ 2.86587781e-01 -9.57981482e-01 -1.17865946e-02 2.92468383e+02] [ 9.57255906e-01 2.86829431e-01 -3.72828204e-02 2.23402309e+02] [ 3.90969938e-02 -5.97986546e-04 9.99235241e-01 1.88835704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.580385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:292.48, Y:223.43, Z:18.88 [[ 2.86063746e-01 -9.58138226e-01 -1.17759446e-02 2.92477021e+02] [ 9.57412644e-01 2.86305379e-01 -3.72861840e-02 2.23428833e+02] [ 3.90968344e-02 -6.08212816e-04 9.99235241e-01 1.88842616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.610385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.49, Y:223.46, Z:18.89 [[ 2.86712607e-01 -9.57944385e-01 -1.17659136e-02 2.92485560e+02] [ 9.57218510e-01 2.86953358e-01 -3.72893491e-02 2.23455069e+02] [ 3.90973910e-02 -5.71223816e-04 9.99235241e-01 1.88861517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.640385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.49, Y:223.48, Z:18.89 [[ 2.87436869e-01 -9.57727437e-01 -1.17559457e-02 2.92494483e+02] [ 9.57001252e-01 2.87676683e-01 -3.72924913e-02 2.23481344e+02] [ 3.90979536e-02 -5.31217839e-04 9.99235241e-01 1.88877151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.670385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.50, Y:223.51, Z:18.89 [[ 2.87175796e-01 -9.57805877e-01 -1.17457851e-02 2.92502997e+02] [ 9.57079627e-01 2.87415412e-01 -3.72956912e-02 2.23508603e+02] [ 3.90979519e-02 -5.31231822e-04 9.99235242e-01 1.88888287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.700385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:292.51, Y:223.53, Z:18.89 [[ 2.87553693e-01 -9.57692617e-01 -1.17356103e-02 2.92510939e+02] [ 9.56966142e-01 2.87792626e-01 -3.72988926e-02 2.23534017e+02] [ 3.90982962e-02 -5.05147372e-04 9.99235242e-01 1.88890013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.730385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:292.52, Y:223.56, Z:18.88 [[ 2.86165614e-01 -9.58108433e-01 -1.17248821e-02 2.92515076e+02] [ 9.57382167e-01 2.86405182e-01 -3.73022647e-02 2.23560235e+02] [ 3.90976814e-02 -5.50567596e-04 9.99235242e-01 1.88839019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.760385723 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:292.53, Y:223.59, Z:18.89 [[ 2.90359382e-01 -9.56849367e-01 -1.14331905e-02 2.92526746e+02] [ 9.56118413e-01 2.90584382e-01 -3.73938080e-02 2.23587574e+02] [ 3.91025481e-02 -7.38410118e-05 9.99235200e-01 1.88900556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.790385723 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:292.54, Y:223.62, Z:18.89 [[ 2.94962376e-01 -9.55437102e-01 -1.17107140e-02 2.92538398e+02] [ 9.54708488e-01 2.95194703e-01 -3.73066941e-02 2.23616397e+02] [ 3.91011404e-02 -1.76246965e-04 9.99235242e-01 1.88906522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.820385723 meters Centerline goodness : 0.999414 Centerline is valid? [True, True] Translation: X:292.55, Y:223.64, Z:18.89 [[ 2.96344490e-01 -9.55005376e-01 -1.20280907e-02 2.92547329e+02] [ 9.54280412e-01 2.96588144e-01 -3.72070953e-02 2.23644069e+02] [ 3.91003651e-02 -4.52053736e-04 9.99235186e-01 1.88924513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.850385723 meters Centerline goodness : 0.999436 Centerline is valid? [True, True] Translation: X:292.56, Y:223.67, Z:18.89 [[ 2.97741471e-01 -9.54570106e-01 -1.20801070e-02 2.92555270e+02] [ 9.53845446e-01 2.97986091e-01 -3.71907819e-02 2.23669561e+02] [ 3.91009125e-02 -4.49316934e-04 9.99235166e-01 1.88933725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.880385723 meters Centerline goodness : 0.998853 Centerline is valid? [True, True] Translation: X:292.56, Y:223.70, Z:18.89 [[ 2.99692886e-01 -9.53959848e-01 -1.20325426e-02 2.92564419e+02] [ 9.53234091e-01 2.99934169e-01 -3.72056809e-02 2.23697023e+02] [ 3.91016963e-02 -3.19551875e-04 9.99235185e-01 1.88936854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.910385723 meters Centerline goodness : 0.998394 Centerline is valid? [True, True] Translation: X:292.57, Y:223.72, Z:18.89 [[ 2.99599269e-01 -9.53988572e-01 -1.20864901e-02 2.92572828e+02] [ 9.53263517e-01 2.99842727e-01 -3.71887936e-02 2.23724404e+02] [ 3.91017302e-02 -3.79874690e-04 9.99235163e-01 1.88946311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.940385723 meters Centerline goodness : 0.998637 Centerline is valid? [True, True] Translation: X:292.58, Y:223.75, Z:18.90 [[ 2.99744111e-01 -9.53942298e-01 -1.21474435e-02 2.92580628e+02] [ 9.53217976e-01 2.99989835e-01 -3.71697395e-02 2.23751641e+02] [ 3.91018963e-02 -4.37751012e-04 9.99235133e-01 1.88962383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.970385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:292.59, Y:223.77, Z:18.90 [[ 2.98575178e-01 -9.54309331e-01 -1.21063380e-02 2.92585393e+02] [ 9.53584790e-01 2.98820188e-01 -3.71825673e-02 2.23774098e+02] [ 3.91012891e-02 -4.42628087e-04 9.99235154e-01 1.89018254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.000385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:292.59, Y:223.80, Z:18.90 [[ 2.98042598e-01 -9.54481829e-01 -1.16210123e-02 2.92593990e+02] [ 9.53751416e-01 2.98269067e-01 -3.73336421e-02 2.23799874e+02] [ 3.91004715e-02 4.34588015e-05 9.99235283e-01 1.89020698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.030385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.60, Y:223.83, Z:18.90 [[ 2.97719931e-01 -9.54582656e-01 -1.16101363e-02 2.92603279e+02] [ 9.53852188e-01 2.97946221e-01 -3.73370240e-02 2.23826610e+02] [ 3.91004718e-02 4.16222760e-05 9.99235283e-01 1.89039999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.060385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.61, Y:223.85, Z:18.90 [[ 2.96698219e-01 -9.54900839e-01 -1.15997725e-02 2.92612695e+02] [ 9.54170487e-01 2.96924885e-01 -3.73402436e-02 2.23852133e+02] [ 3.91004910e-02 1.06231484e-05 9.99235283e-01 1.89040499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.090385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:292.62, Y:223.88, Z:18.91 [[ 2.96147696e-01 -9.55071851e-01 -1.15888347e-02 2.92622038e+02] [ 9.54341497e-01 2.96374356e-01 -3.73436379e-02 2.23878967e+02] [ 3.91004908e-02 -4.73546911e-07 9.99235283e-01 1.89056026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.12038572299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.63, Y:223.90, Z:18.91 [[ 2.95384826e-01 -9.55308194e-01 -1.15783632e-02 2.92631430e+02] [ 9.54577894e-01 2.95611660e-01 -3.73468843e-02 2.23904333e+02] [ 3.91004838e-02 -2.07466474e-05 9.99235283e-01 1.89057040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.150385723 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:292.64, Y:223.93, Z:18.90 [[ 2.93663493e-01 -9.55838854e-01 -1.15688744e-02 2.92642091e+02] [ 9.55108848e-01 2.93891271e-01 -3.73498234e-02 2.23931706e+02] [ 3.91004036e-02 -8.12547363e-05 9.99235284e-01 1.89039585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.180385723 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:292.65, Y:223.96, Z:18.91 [[ 2.94415594e-01 -9.55605993e-01 -1.16895122e-02 2.92650598e+02] [ 9.54877282e-01 2.94647511e-01 -3.73124815e-02 2.23956391e+02] [ 3.91003166e-02 -1.76673249e-04 9.99235275e-01 1.89081115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.210385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.66, Y:223.98, Z:18.91 [[ 2.94233610e-01 -9.55663798e-01 -1.15450249e-02 2.92659438e+02] [ 9.54933370e-01 2.94460020e-01 -3.73571350e-02 2.23983476e+02] [ 3.91004098e-02 -3.30048767e-05 9.99235286e-01 1.89091146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.240385723 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:292.67, Y:224.01, Z:18.91 [[ 2.93809331e-01 -9.55794448e-01 -1.15347556e-02 2.92669499e+02] [ 9.55063996e-01 2.94035664e-01 -3.73603056e-02 2.24010150e+02] [ 3.91004021e-02 -3.96233697e-05 9.99235286e-01 1.89080707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.270385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.68, Y:224.04, Z:18.91 [[ 2.91268810e-01 -9.56571830e-01 -1.15244829e-02 2.92677271e+02] [ 9.55841857e-01 2.91496682e-01 -3.73634741e-02 2.24036695e+02] [ 3.91001953e-02 -1.32768477e-04 9.99235286e-01 1.89084245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.300385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.69, Y:224.06, Z:18.91 [[ 2.91439032e-01 -9.56521039e-01 -1.14364663e-02 2.92688057e+02] [ 9.55789957e-01 2.91663335e-01 -3.73905962e-02 2.24062602e+02] [ 3.91004898e-02 -3.37804820e-05 9.99235283e-01 1.89105387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.330385723 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:292.70, Y:224.09, Z:18.91 [[ 2.90942590e-01 -9.56671624e-01 -1.14810023e-02 2.92696719e+02] [ 9.55941199e-01 2.91169012e-01 -3.73768760e-02 2.24088811e+02] [ 3.91003088e-02 -1.00638011e-04 9.99235285e-01 1.89111725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.360385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:292.71, Y:224.11, Z:18.91 [[ 2.91297598e-01 -9.56564044e-01 -1.14429068e-02 2.92707536e+02] [ 9.55833073e-01 2.91522261e-01 -3.73886029e-02 2.24114354e+02] [ 3.91004553e-02 -4.62985814e-05 9.99235284e-01 1.89128286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.390385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.72, Y:224.14, Z:18.91 [[ 2.91351701e-01 -9.56546694e-01 -1.15155909e-02 2.92717197e+02] [ 9.55816592e-01 2.91579162e-01 -3.73662355e-02 2.24141182e+02] [ 3.91002554e-02 -1.20076641e-04 9.99235285e-01 1.89141058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.420385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.73, Y:224.17, Z:18.92 [[ 2.91224637e-01 -9.56585037e-01 -1.15446026e-02 2.92727660e+02] [ 9.55855318e-01 2.91453329e-01 -3.73573126e-02 2.24166627e+02] [ 3.91001591e-02 -1.55599996e-04 9.99235284e-01 1.89156404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.450385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:292.74, Y:224.19, Z:18.92 [[ 2.92042415e-01 -9.56335656e-01 -1.15473350e-02 2.92738345e+02] [ 9.55605775e-01 2.92270590e-01 -3.73564727e-02 2.24193759e+02] [ 3.91002732e-02 -1.25025473e-04 9.99235284e-01 1.89169516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.480385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.75, Y:224.22, Z:18.92 [[ 2.93302257e-01 -9.55949104e-01 -1.16231208e-02 2.92749296e+02] [ 9.55219841e-01 2.93532431e-01 -3.73331855e-02 2.24218892e+02] [ 3.91003881e-02 -1.52728007e-04 9.99235276e-01 1.89163203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.510385723 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:292.76, Y:224.25, Z:18.91 [[ 2.91907625e-01 -9.56376499e-01 -1.15728259e-02 2.92761606e+02] [ 9.55646960e-01 2.92136898e-01 -3.73486286e-02 2.24247118e+02] [ 3.91002001e-02 -1.57186442e-04 9.99235282e-01 1.89146711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.540385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.77, Y:224.27, Z:18.92 [[ 2.91654008e-01 -9.56452306e-01 -1.17015258e-02 2.92770375e+02] [ 9.55724403e-01 2.91888498e-01 -3.73091224e-02 2.24271442e+02] [ 3.90999369e-02 -3.02078701e-04 9.99235259e-01 1.89170309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.570385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:292.78, Y:224.30, Z:18.92 [[ 2.90339063e-01 -9.56853782e-01 -1.15787824e-02 2.92781058e+02] [ 9.56124695e-01 2.90569765e-01 -3.73467494e-02 2.24299925e+02] [ 3.90998224e-02 -2.27539568e-04 9.99235284e-01 1.89179107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.600385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:292.79, Y:224.32, Z:18.92 [[ 2.87742218e-01 -9.57636545e-01 -1.16903539e-02 2.92791110e+02] [ 9.56909466e-01 2.87979245e-01 -3.73125691e-02 2.24323326e+02] [ 3.90984590e-02 -4.50208883e-04 9.99235262e-01 1.89200176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.630385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:292.80, Y:224.35, Z:18.92 [[ 2.84914656e-01 -9.58484649e-01 -1.14375125e-02 2.92803090e+02] [ 9.57755140e-01 2.85143976e-01 -3.73899143e-02 2.24347570e+02] [ 3.90989966e-02 -3.01401839e-04 9.99235296e-01 1.89203036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.660385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:292.81, Y:224.37, Z:18.92 [[ 2.82340770e-01 -9.59246710e-01 -1.13770839e-02 2.92812928e+02] [ 9.58517075e-01 2.82569692e-01 -3.74083709e-02 2.24373199e+02] [ 3.90986759e-02 -3.43220953e-04 9.99235295e-01 1.89230961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.690385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:292.82, Y:224.40, Z:18.93 [[ 2.80453465e-01 -9.59799775e-01 -1.14125474e-02 2.92822984e+02] [ 9.59071030e-01 2.80685203e-01 -3.73975486e-02 2.24399018e+02] [ 3.90974920e-02 -4.57171499e-04 9.99235296e-01 1.89251919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.720385723 meters Centerline goodness : 0.999776 Centerline is valid? [True, True] Translation: X:292.84, Y:224.42, Z:18.93 [[ 2.78342129e-01 -9.60414591e-01 -1.13785583e-02 2.92835531e+02] [ 9.59685935e-01 2.78574146e-01 -3.74079131e-02 2.24424095e+02] [ 3.90968777e-02 -5.07644201e-04 9.99235296e-01 1.89276917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.750385723 meters Centerline goodness : 0.999798 Centerline is valid? [True, True] Translation: X:292.85, Y:224.45, Z:18.93 [[ 2.77949109e-01 -9.60527424e-01 -1.14612200e-02 2.92845373e+02] [ 9.59799895e-01 2.78184642e-01 -3.73827178e-02 2.24449923e+02] [ 3.90954610e-02 -6.09984623e-04 9.99235294e-01 1.89280288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.780385723 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:292.86, Y:224.48, Z:18.93 [[ 2.77031813e-01 -9.60793255e-01 -1.13883962e-02 2.92856752e+02] [ 9.60065039e-01 2.77265206e-01 -3.74048900e-02 2.24476943e+02] [ 3.90959720e-02 -5.71256562e-04 9.99235297e-01 1.89300582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.810385723 meters Centerline goodness : 0.999820 Centerline is valid? [True, True] Translation: X:292.87, Y:224.50, Z:18.93 [[ 2.77971178e-01 -9.60521608e-01 -1.14133227e-02 2.92866488e+02] [ 9.59793475e-01 2.78204829e-01 -3.73973049e-02 2.24502077e+02] [ 3.90961610e-02 -5.59059722e-04 9.99235296e-01 1.89290664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.840385723 meters Centerline goodness : 0.999729 Centerline is valid? [True, True] Translation: X:292.88, Y:224.53, Z:18.93 [[ 2.79476579e-01 -9.60085111e-01 -1.13763620e-02 2.92876838e+02] [ 9.59356155e-01 2.79707650e-01 -3.74085451e-02 2.24528004e+02] [ 3.90974427e-02 -4.59170707e-04 9.99235297e-01 1.89309177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.87038572299997 meters Centerline goodness : 0.999909 Centerline is valid? [True, True] Translation: X:292.89, Y:224.55, Z:18.93 [[ 2.79975268e-01 -9.59939927e-01 -1.13660331e-02 2.92886392e+02] [ 9.59210723e-01 2.80205557e-01 -3.74116831e-02 2.24554675e+02] [ 3.90977940e-02 -4.28074833e-04 9.99235297e-01 1.89323605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.900385723 meters Centerline goodness : 0.999909 Centerline is valid? [True, True] Translation: X:292.90, Y:224.58, Z:18.93 [[ 2.81571353e-01 -9.59473096e-01 -1.13556995e-02 2.92897096e+02] [ 9.58743384e-01 2.81800026e-01 -3.74148195e-02 2.24580973e+02] [ 3.90985491e-02 -3.52260436e-04 9.99235297e-01 1.89338135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.930385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.91, Y:224.61, Z:18.93 [[ 2.82514276e-01 -9.59196000e-01 -1.13454033e-02 2.92905204e+02] [ 9.58465939e-01 2.82741830e-01 -3.74179414e-02 2.24607836e+02] [ 3.90989598e-02 -3.03080032e-04 9.99235297e-01 1.89345465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.960385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.91, Y:224.64, Z:18.93 [[ 2.83909905e-01 -9.58783959e-01 -1.13351794e-02 2.92912512e+02] [ 9.58053444e-01 2.84135997e-01 -3.74210383e-02 2.24635294e+02] [ 3.90994237e-02 -2.35504249e-04 9.99235297e-01 1.89336387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.990385723 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:292.92, Y:224.66, Z:18.93 [[ 2.84458517e-01 -9.58620602e-01 -1.13970901e-02 2.92919269e+02] [ 9.57890705e-01 2.84686607e-01 -3.74023022e-02 2.24660945e+02] [ 3.90992164e-02 -2.77763244e-04 9.99235295e-01 1.89337796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.020385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.93, Y:224.69, Z:18.94 [[ 2.86232490e-01 -9.58093423e-01 -1.13116879e-02 2.92927081e+02] [ 9.57362083e-01 2.86455894e-01 -3.74281130e-02 2.24688101e+02] [ 3.90999286e-02 -1.16239150e-04 9.99235299e-01 1.89367562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.050385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.93, Y:224.72, Z:18.94 [[ 2.88260122e-01 -9.57485445e-01 -1.13015740e-02 2.92934310e+02] [ 9.56753513e-01 2.88481582e-01 -3.74311667e-02 2.24715112e+02] [ 3.91000932e-02 -2.29079264e-05 9.99235299e-01 1.89383965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.080385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.94, Y:224.74, Z:18.94 [[ 2.86804708e-01 -9.57922525e-01 -1.12914043e-02 2.92937465e+02] [ 9.57190810e-01 2.87026882e-01 -3.74342342e-02 2.24741872e+02] [ 3.91000327e-02 -7.17138852e-05 9.99235299e-01 1.89358363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.110385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.95, Y:224.77, Z:18.94 [[ 2.89377461e-01 -9.57151145e-01 -1.10621303e-02 2.92947382e+02] [ 9.56416170e-01 2.89588694e-01 -3.75033155e-02 2.24769696e+02] [ 3.90998092e-02 2.72613949e-04 9.99235273e-01 1.89391092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.140385723 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:292.95, Y:224.80, Z:18.94 [[ 2.88567978e-01 -9.57392970e-01 -1.12792706e-02 2.92953211e+02] [ 9.56660705e-01 2.88788331e-01 -3.74378966e-02 2.24795827e+02] [ 3.91001008e-02 1.29431868e-05 9.99235299e-01 1.89393349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.170385723 meters Centerline goodness : 0.999820 Centerline is valid? [True, True] Translation: X:292.96, Y:224.82, Z:18.94 [[ 2.87728760e-01 -9.57645604e-01 -1.12719850e-02 2.92960418e+02] [ 9.56913446e-01 2.87949469e-01 -3.74400901e-02 2.24822498e+02] [ 3.91000998e-02 -1.37232889e-05 9.99235299e-01 1.89414109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.200385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:292.97, Y:224.85, Z:18.94 [[ 2.85989221e-01 -9.58166657e-01 -1.12615975e-02 2.92968164e+02] [ 9.57434777e-01 2.86210854e-01 -3.74432143e-02 2.24848736e+02] [ 3.91000309e-02 -7.38893860e-05 9.99235299e-01 1.89422646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.230385723 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:292.97, Y:224.87, Z:18.94 [[ 2.80652651e-01 -9.59743461e-01 -1.12506924e-02 2.92969982e+02] [ 9.59012696e-01 2.80877928e-01 -3.74464907e-02 2.24873070e+02] [ 3.90990958e-02 -2.80099941e-04 9.99235299e-01 1.89373480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.260385723 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:292.98, Y:224.90, Z:18.95 [[ 2.82171494e-01 -9.59303013e-01 -1.08156368e-02 2.92983667e+02] [ 9.58566790e-01 2.82378601e-01 -3.75770510e-02 2.24902496e+02] [ 3.91018826e-02 2.35662351e-04 9.99235201e-01 1.89454426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.290385723 meters Centerline goodness : 0.999775 Centerline is valid? [True, True] Translation: X:292.99, Y:224.93, Z:18.95 [[ 2.80799886e-01 -9.59700430e-01 -1.12476130e-02 2.92991220e+02] [ 9.58969597e-01 2.81024930e-01 -3.74473075e-02 2.24929080e+02] [ 3.90990567e-02 -2.70919248e-04 9.99235303e-01 1.89465332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.320385723 meters Centerline goodness : 0.999887 Centerline is valid? [True, True] Translation: X:292.99, Y:224.95, Z:18.94 [[ 2.74234548e-01 -9.61597179e-01 -1.12373458e-02 2.92992442e+02] [ 9.60867775e-01 2.74464182e-01 -3.74503882e-02 2.24953986e+02] [ 3.90964366e-02 -5.27413202e-04 9.99235303e-01 1.89420993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.350385723 meters Centerline goodness : 0.999864 Centerline is valid? [True, True] Translation: X:293.01, Y:224.98, Z:18.95 [[ 2.77789620e-01 -9.60581510e-01 -1.07745200e-02 2.93006379e+02] [ 9.59845777e-01 2.77998477e-01 -3.75889849e-02 2.24982666e+02] [ 3.91025840e-02 9.99523239e-05 9.99235197e-01 1.89494104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.380385723 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:293.01, Y:225.01, Z:18.95 [[ 2.76659582e-01 -9.60902405e-01 -1.12269602e-02 2.93014499e+02] [ 9.60172303e-01 2.76886970e-01 -3.74533667e-02 2.25008685e+02] [ 3.90976291e-02 -4.17983470e-04 9.99235308e-01 1.89498660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.410385723 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:293.02, Y:225.03, Z:18.95 [[ 2.73884090e-01 -9.61696041e-01 -1.13238657e-02 2.93018499e+02] [ 9.60967790e-01 2.74117357e-01 -3.74243451e-02 2.25034011e+02] [ 3.90949127e-02 -6.31937520e-04 9.99235302e-01 1.89484743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.440385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.03, Y:225.06, Z:18.95 [[ 2.74274714e-01 -9.61587528e-01 -1.10818272e-02 2.93026527e+02] [ 9.60856228e-01 2.74498258e-01 -3.74968631e-02 2.25061679e+02] [ 3.90984581e-02 -3.63601249e-04 9.99235297e-01 1.89504795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.470385723 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:293.04, Y:225.09, Z:18.95 [[ 2.74616663e-01 -9.61489839e-01 -1.10895690e-02 2.93036800e+02] [ 9.60758553e-01 2.74840248e-01 -3.74945465e-02 2.25090068e+02] [ 3.90984853e-02 -3.57771027e-04 9.99235298e-01 1.89541254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.500385723 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:293.04, Y:225.12, Z:18.95 [[ 2.74838736e-01 -9.61423048e-01 -1.13750597e-02 2.93044403e+02] [ 9.60695190e-01 2.75073272e-01 -3.74091860e-02 2.25115787e+02] [ 3.90950285e-02 -6.46471708e-04 9.99235288e-01 1.89546300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.530385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.05, Y:225.14, Z:18.96 [[ 2.74927632e-01 -9.61399837e-01 -1.11870735e-02 2.93053204e+02] [ 9.60669660e-01 2.75154781e-01 -3.74653190e-02 2.25142625e+02] [ 3.90973284e-02 -4.46830685e-04 9.99235307e-01 1.89560197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.560385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.06, Y:225.17, Z:18.96 [[ 2.74571663e-01 -9.61501690e-01 -1.11759150e-02 2.93061982e+02] [ 9.60771463e-01 2.74798649e-01 -3.74686473e-02 2.25168689e+02] [ 3.90972941e-02 -4.49671415e-04 9.99235307e-01 1.89568490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.590385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.07, Y:225.20, Z:18.96 [[ 2.74309903e-01 -9.61576516e-01 -1.11660290e-02 2.93070073e+02] [ 9.60846231e-01 2.74536702e-01 -3.74715932e-02 2.25196093e+02] [ 3.90972889e-02 -4.50007764e-04 9.99235307e-01 1.89579628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.62038572299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.08, Y:225.22, Z:18.96 [[ 2.73963131e-01 -9.61675491e-01 -1.11558195e-02 2.93078291e+02] [ 9.60945164e-01 2.74189795e-01 -3.74746325e-02 2.25223386e+02] [ 3.90972475e-02 -4.53463159e-04 9.99235307e-01 1.89595134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.650385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.09, Y:225.25, Z:18.96 [[ 2.74421217e-01 -9.61544994e-01 -1.11453759e-02 2.93086577e+02] [ 9.60814433e-01 2.74647126e-01 -3.74777383e-02 2.25249676e+02] [ 3.90975771e-02 -4.23951464e-04 9.99235307e-01 1.89607054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.680385723 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:293.09, Y:225.28, Z:18.96 [[ 2.74877258e-01 -9.61414852e-01 -1.11344006e-02 2.93094492e+02] [ 9.60684052e-01 2.75102393e-01 -3.74809987e-02 2.25275317e+02] [ 3.90978891e-02 -3.93966948e-04 9.99235308e-01 1.89617012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.710385723 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:293.10, Y:225.30, Z:18.96 [[ 2.76452391e-01 -9.60963237e-01 -1.11235554e-02 2.93101975e+02] [ 9.60231939e-01 2.76675905e-01 -3.74842170e-02 2.25302495e+02] [ 3.90985743e-02 -3.18591795e-04 9.99235308e-01 1.89638522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.740385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.11, Y:225.33, Z:18.96 [[ 2.77179714e-01 -9.60753821e-01 -1.11130953e-02 2.93108988e+02] [ 9.60022231e-01 2.77402266e-01 -3.74873180e-02 2.25328821e+02] [ 3.90988818e-02 -2.78094437e-04 9.99235308e-01 1.89637738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.770385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.12, Y:225.36, Z:18.97 [[ 2.77681256e-01 -9.60609111e-01 -1.11020682e-02 2.93116209e+02] [ 9.59877274e-01 2.77902996e-01 -3.74905834e-02 2.25355455e+02] [ 3.90990940e-02 -2.46190632e-04 9.99235308e-01 1.89656833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.800385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.13, Y:225.38, Z:18.97 [[ 2.78949079e-01 -9.60241838e-01 -1.10916113e-02 2.93126310e+02] [ 9.59509586e-01 2.79169444e-01 -3.74936768e-02 2.25384045e+02] [ 3.90994361e-02 -1.83680737e-04 9.99235308e-01 1.89655047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.830385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.13, Y:225.41, Z:18.97 [[ 2.78020364e-01 -9.60509322e-01 -1.12480767e-02 2.93132190e+02] [ 9.59779140e-01 2.78247541e-01 -3.74474063e-02 2.25408989e+02] [ 3.90983325e-02 -3.84527821e-04 9.99235294e-01 1.89685138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.860385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.14, Y:225.43, Z:18.97 [[ 2.78160384e-01 -9.60470786e-01 -1.10756348e-02 2.93139476e+02] [ 9.59738530e-01 2.78380728e-01 -3.74983400e-02 2.25434259e+02] [ 3.90993033e-02 -1.99160807e-04 9.99235310e-01 1.89699028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.890385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.15, Y:225.46, Z:18.97 [[ 2.76181712e-01 -9.61043086e-01 -1.09475353e-02 2.93147988e+02] [ 9.60309778e-01 2.76398562e-01 -3.75361781e-02 2.25463344e+02] [ 3.90997675e-02 -1.46219208e-04 9.99235301e-01 1.89702891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.920385723 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:293.15, Y:225.49, Z:18.97 [[ 2.74545173e-01 -9.61510352e-01 -1.10810776e-02 2.93154064e+02] [ 9.60778994e-01 2.74768482e-01 -3.74967365e-02 2.25489806e+02] [ 3.90982312e-02 -3.51918609e-04 9.99235310e-01 1.89704562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.950385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.16, Y:225.52, Z:18.97 [[ 2.74877383e-01 -9.61416910e-01 -1.09521753e-02 2.93161944e+02] [ 9.60683953e-01 2.75095409e-01 -3.75347586e-02 2.25517277e+02] [ 3.90994448e-02 -2.04122832e-04 9.99235304e-01 1.89710844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.980385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.17, Y:225.54, Z:18.97 [[ 2.74997261e-01 -9.61381768e-01 -1.10273220e-02 2.93169440e+02] [ 9.60649669e-01 2.75218129e-01 -3.75125986e-02 2.25543786e+02] [ 3.90988473e-02 -2.77531367e-04 9.99235309e-01 1.89716670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.010385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.18, Y:225.57, Z:18.97 [[ 2.73914697e-01 -9.61690479e-01 -1.10526386e-02 2.93176759e+02] [ 9.60958929e-01 2.74137376e-01 -3.75051379e-02 2.25570316e+02] [ 3.90982754e-02 -3.47923294e-04 9.99235310e-01 1.89726524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.040385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.18, Y:225.60, Z:18.97 [[ 2.72724567e-01 -9.62028786e-01 -1.10419453e-02 2.93184210e+02] [ 9.61297385e-01 2.72947735e-01 -3.75082859e-02 2.25597146e+02] [ 3.90979247e-02 -3.85162101e-04 9.99235310e-01 1.89734804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.070385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.19, Y:225.62, Z:18.97 [[ 2.70671519e-01 -9.62608552e-01 -1.10319468e-02 2.93190251e+02] [ 9.61877509e-01 2.70895856e-01 -3.75112264e-02 2.25623426e+02] [ 3.90971360e-02 -4.58160871e-04 9.99235310e-01 1.89745469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.100385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.20, Y:225.65, Z:18.98 [[ 2.71856684e-01 -9.62276304e-01 -1.08746681e-02 2.93199322e+02] [ 9.61543127e-01 2.72073987e-01 -3.75574324e-02 2.25649824e+02] [ 3.90993416e-02 -2.46223282e-04 9.99235298e-01 1.89753281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.130385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.21, Y:225.68, Z:18.98 [[ 2.70180909e-01 -9.62748355e-01 -1.08572774e-02 2.93206792e+02] [ 9.62015353e-01 2.70398810e-01 -3.75625339e-02 2.25678270e+02] [ 3.90990626e-02 -2.96187967e-04 9.99235295e-01 1.89792767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.160385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.21, Y:225.70, Z:18.98 [[ 2.66567076e-01 -9.63753545e-01 -1.10044431e-02 2.93209820e+02] [ 9.63023130e-01 2.66793457e-01 -3.75193706e-02 2.25703261e+02] [ 3.90953399e-02 -5.96104333e-04 9.99235307e-01 1.89800402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.190385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.22, Y:225.73, Z:18.98 [[ 2.68201801e-01 -9.63303631e-01 -1.06728257e-02 2.93220351e+02] [ 9.62568917e-01 2.68414011e-01 -3.76164761e-02 2.25732036e+02] [ 3.91008240e-02 -1.84523680e-04 9.99235253e-01 1.89811767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.220385723 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:293.23, Y:225.76, Z:18.98 [[ 2.67410935e-01 -9.63519877e-01 -1.09927024e-02 2.93225686e+02] [ 9.62789124e-01 2.67636218e-01 -3.75227670e-02 2.25758618e+02] [ 3.90959771e-02 -5.49656160e-04 9.99235309e-01 1.89812625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.250385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.23, Y:225.78, Z:18.98 [[ 2.63953582e-01 -9.64472858e-01 -1.09823765e-02 2.93228517e+02] [ 9.63742793e-01 2.64181084e-01 -3.75257890e-02 2.25784166e+02] [ 3.90939411e-02 -6.79119807e-04 9.99235309e-01 1.89817420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.280385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.24, Y:225.81, Z:18.98 [[ 2.65466153e-01 -9.64060878e-01 -1.06932533e-02 2.93236241e+02] [ 9.63327005e-01 2.65681245e-01 -3.76105963e-02 2.25813229e+02] [ 3.90999013e-02 -3.16759308e-04 9.99235256e-01 1.89829951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.310385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.24, Y:225.84, Z:18.99 [[ 2.63757645e-01 -9.64528470e-01 -1.08044051e-02 2.93240584e+02] [ 9.63796304e-01 2.63978368e-01 -3.75779947e-02 2.25839468e+02] [ 3.90971749e-02 -5.01762366e-04 9.99235287e-01 1.89851194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.340385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.24, Y:225.87, Z:18.99 [[ 2.62861491e-01 -9.64774792e-01 -1.06507036e-02 2.93244559e+02] [ 9.64041001e-01 2.63076905e-01 -3.76230152e-02 2.25866988e+02] [ 3.90996908e-02 -3.78073042e-04 9.99235243e-01 1.89867818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.37038572299997 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:293.25, Y:225.89, Z:18.99 [[ 2.62570877e-01 -9.64854937e-01 -1.05586450e-02 2.93248383e+02] [ 9.64120124e-01 2.62782921e-01 -3.76499959e-02 2.25894572e+02] [ 3.91014160e-02 -2.94009680e-04 9.99235204e-01 1.89877335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.400385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:293.25, Y:225.92, Z:18.99 [[ 2.62852219e-01 -9.64778244e-01 -1.05664787e-02 2.93254459e+02] [ 9.64043462e-01 2.63064355e-01 -3.76476966e-02 2.25921783e+02] [ 3.91013426e-02 -2.90764056e-04 9.99235208e-01 1.89895375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.430385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:293.26, Y:225.95, Z:18.99 [[ 2.63504187e-01 -9.64600481e-01 -1.05572704e-02 2.93259151e+02] [ 9.63865447e-01 2.63715467e-01 -3.76503967e-02 2.25950583e+02] [ 3.91017063e-02 -2.54751025e-04 9.99235203e-01 1.89897650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.460385723 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:293.27, Y:225.98, Z:18.99 [[ 2.67014729e-01 -9.63634549e-01 -1.05635918e-02 2.93270259e+02] [ 9.62898824e-01 2.67223579e-01 -3.76485518e-02 2.25981156e+02] [ 3.91022861e-02 -1.18952202e-04 9.99235206e-01 1.89915663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.490385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:293.27, Y:226.01, Z:18.99 [[ 2.62692817e-01 -9.64817296e-01 -1.09576241e-02 2.93268774e+02] [ 9.64087208e-01 2.62920310e-01 -3.75335205e-02 2.26005208e+02] [ 3.90939717e-02 -7.04318988e-04 9.99235290e-01 1.89894229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.520385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.27, Y:226.03, Z:18.99 [[ 2.65399974e-01 -9.64082746e-01 -1.03592127e-02 2.93274405e+02] [ 9.63345031e-01 2.65602069e-01 -3.77079844e-02 2.26034558e+02] [ 3.91050455e-02 2.82019860e-05 9.99235105e-01 1.89929558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.550385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:293.28, Y:226.06, Z:18.99 [[ 2.66305688e-01 -9.63831737e-01 -1.04720396e-02 2.93277181e+02] [ 9.63095118e-01 2.66511501e-01 -3.76750906e-02 2.26061427e+02] [ 3.91033670e-02 -5.24792876e-05 9.99235169e-01 1.89938371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.580385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:293.28, Y:226.09, Z:19.00 [[ 2.67374718e-01 -9.63536586e-01 -1.03926337e-02 2.93282773e+02] [ 9.62798838e-01 2.67576608e-01 -3.76982164e-02 2.26089267e+02] [ 3.91044364e-02 7.35343060e-05 9.99235126e-01 1.89951128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.610385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:293.28, Y:226.12, Z:18.99 [[ 2.69026705e-01 -9.63076004e-01 -1.04519414e-02 2.93284704e+02] [ 9.62338580e-01 2.69229651e-01 -3.76809442e-02 2.26117417e+02] [ 3.91035857e-02 7.88738551e-05 9.99235159e-01 1.89949209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.640385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.29, Y:226.14, Z:18.99 [[ 2.68979232e-01 -9.63090060e-01 -1.03782781e-02 2.93288041e+02] [ 9.62351816e-01 2.69179331e-01 -3.77023819e-02 2.26143838e+02] [ 3.91044073e-02 1.53602954e-04 9.99235118e-01 1.89942885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.670385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:293.29, Y:226.17, Z:19.00 [[ 2.70799012e-01 -9.62581147e-01 -1.02679556e-02 2.93294672e+02] [ 9.61841302e-01 2.70993392e-01 -3.77344748e-02 2.26172316e+02] [ 3.91050422e-02 3.42314745e-04 9.99235047e-01 1.89974781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.700385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:293.30, Y:226.20, Z:19.00 [[ 2.75710649e-01 -9.61184828e-01 -1.03617075e-02 2.93303650e+02] [ 9.60445020e-01 2.75904928e-01 -3.77072111e-02 2.26203680e+02] [ 3.91024454e-02 4.44429265e-04 9.99235108e-01 1.90004552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.730385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.30, Y:226.23, Z:19.00 [[ 2.70411706e-01 -9.62682734e-01 -1.09299362e-02 2.93300371e+02] [ 9.61950514e-01 2.70632265e-01 -3.75417839e-02 2.26227605e+02] [ 3.90988205e-02 -3.62319915e-04 9.99235283e-01 1.89966829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.760385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.30, Y:226.26, Z:19.00 [[ 2.70464802e-01 -9.62674417e-01 -1.03323802e-02 2.93304673e+02] [ 9.61935346e-01 2.70661964e-01 -3.77159319e-02 2.26256194e+02] [ 3.91047450e-02 2.61750286e-04 9.99235083e-01 1.90020309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.790385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.31, Y:226.29, Z:19.00 [[ 2.67344717e-01 -9.63545129e-01 -1.03724139e-02 2.93306713e+02] [ 9.62807152e-01 2.67545839e-01 -3.77042703e-02 2.26285298e+02] [ 3.91048621e-02 9.34031501e-05 9.99235108e-01 1.90028586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.820385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:293.32, Y:226.32, Z:19.01 [[ 2.71381322e-01 -9.62416504e-01 -1.03272023e-02 2.93319536e+02] [ 9.61677190e-01 2.71577577e-01 -3.77174040e-02 2.26316892e+02] [ 3.91044887e-02 3.04364045e-04 9.99235081e-01 1.90066321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.850385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.32, Y:226.34, Z:19.01 [[ 2.69989289e-01 -9.62801361e-01 -1.09235367e-02 2.93321188e+02] [ 9.62069152e-01 2.70209920e-01 -3.75439062e-02 2.26344720e+02] [ 3.90989720e-02 -3.72745117e-04 9.99235273e-01 1.90066156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.880385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:293.33, Y:226.37, Z:19.01 [[ 2.68795130e-01 -9.63135513e-01 -1.09160841e-02 2.93326346e+02] [ 9.62403492e-01 2.69016378e-01 -3.75460729e-02 2.26372608e+02] [ 3.90985617e-02 -4.13475921e-04 9.99235273e-01 1.90074038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.910385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.33, Y:226.40, Z:19.01 [[ 2.66047896e-01 -9.63898114e-01 -1.09061136e-02 2.93329151e+02] [ 9.63166607e-01 2.66270842e-01 -3.75489689e-02 2.26400213e+02] [ 3.90973603e-02 -5.14580262e-04 9.99235273e-01 1.90080727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.940385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.33, Y:226.43, Z:19.01 [[ 2.64165407e-01 -9.64415846e-01 -1.08956038e-02 2.93334698e+02] [ 9.63684651e-01 2.64389372e-01 -3.75520183e-02 2.26428286e+02] [ 3.90964433e-02 -5.79981970e-04 9.99235273e-01 1.90091534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.970385723 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:293.34, Y:226.46, Z:19.01 [[ 2.62125858e-01 -9.64972297e-01 -1.08858033e-02 2.93340428e+02] [ 9.64241460e-01 2.62350987e-01 -3.75548591e-02 2.26455931e+02] [ 3.90952999e-02 -6.52443209e-04 9.99235274e-01 1.90093794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.000385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.34, Y:226.48, Z:19.01 [[ 2.59257504e-01 -9.65746995e-01 -1.08760352e-02 2.93343236e+02] [ 9.65016712e-01 2.59484424e-01 -3.75576878e-02 2.26483459e+02] [ 3.90933858e-02 -7.58443375e-04 9.99235274e-01 1.90108296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.030385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.35, Y:226.51, Z:19.01 [[ 2.58213406e-01 -9.66026797e-01 -1.08657381e-02 2.93347848e+02] [ 9.65296635e-01 2.58440716e-01 -3.75606666e-02 2.26510650e+02] [ 3.90927595e-02 -7.89992803e-04 9.99235274e-01 1.90111212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.060385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.35, Y:226.54, Z:19.01 [[ 2.57532932e-01 -9.66208507e-01 -1.08586735e-02 2.93350399e+02] [ 9.65478419e-01 2.57760480e-01 -3.75627088e-02 2.26538469e+02] [ 3.90923457e-02 -8.10180381e-04 9.99235274e-01 1.90122173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.090385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.36, Y:226.57, Z:19.01 [[ 2.57556706e-01 -9.66202283e-01 -1.08485542e-02 2.93356138e+02] [ 9.65472068e-01 2.57783843e-01 -3.75656312e-02 2.26566408e+02] [ 3.90925806e-02 -7.98695819e-04 9.99235274e-01 1.90136534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.12038572299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.36, Y:226.59, Z:19.01 [[ 2.57152240e-01 -9.66310116e-01 -1.08390918e-02 2.93358762e+02] [ 9.65579881e-01 2.57379316e-01 -3.75683612e-02 2.26594746e+02] [ 3.90924455e-02 -8.05220697e-04 9.99235274e-01 1.90147294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.150385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.36, Y:226.62, Z:19.02 [[ 2.58117417e-01 -9.66053530e-01 -1.07692723e-02 2.93364849e+02] [ 9.65322231e-01 2.58341048e-01 -3.75884820e-02 2.26622548e+02] [ 3.90946308e-02 -6.93576073e-04 9.99235272e-01 1.90173979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.180385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.37, Y:226.65, Z:19.02 [[ 2.59350510e-01 -9.65722662e-01 -1.08191198e-02 2.93369530e+02] [ 9.64991673e-01 2.59575147e-01 -3.75741289e-02 2.26650819e+02] [ 3.90945624e-02 -6.95490982e-04 9.99235273e-01 1.90190911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.210385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.38, Y:226.68, Z:19.02 [[ 2.60102734e-01 -9.65520452e-01 -1.08085528e-02 2.93375482e+02] [ 9.64789162e-01 2.60326390e-01 -3.75771684e-02 2.26677020e+02] [ 3.90952761e-02 -6.54050416e-04 9.99235273e-01 1.90167799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.240385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.38, Y:226.70, Z:19.02 [[ 2.62193962e-01 -9.64954763e-01 -1.07996020e-02 2.93379493e+02] [ 9.64222885e-01 2.62415684e-01 -3.75797406e-02 2.26704620e+02] [ 3.90967347e-02 -5.60042277e-04 9.99235273e-01 1.90199503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.270385723 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:293.39, Y:226.73, Z:19.02 [[ 2.62587525e-01 -9.64847853e-01 -1.07894609e-02 2.93385157e+02] [ 9.64115765e-01 2.62808554e-01 -3.75826520e-02 2.26731904e+02] [ 3.90971037e-02 -5.33553729e-04 9.99235274e-01 1.90199355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.300385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.39, Y:226.76, Z:19.02 [[ 2.64338451e-01 -9.64369740e-01 -1.07790540e-02 2.93389898e+02] [ 9.63637131e-01 2.64557745e-01 -3.75856366e-02 2.26759640e+02] [ 3.90981328e-02 -4.51767697e-04 9.99235274e-01 1.90245461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.330385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.39, Y:226.79, Z:19.03 [[ 2.66254715e-01 -9.63841828e-01 -1.08331091e-02 2.93394547e+02] [ 9.63109412e-01 2.66474660e-01 -3.75701474e-02 2.26786826e+02] [ 3.90984286e-02 -4.30240461e-04 9.99235271e-01 1.90264208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.360385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.40, Y:226.81, Z:19.03 [[ 2.66309807e-01 -9.63827441e-01 -1.07587689e-02 2.93400918e+02] [ 9.63094151e-01 2.66526812e-01 -3.75914239e-02 2.26813917e+02] [ 3.90991462e-02 -3.50742506e-04 9.99235274e-01 1.90279387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.390385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.41, Y:226.84, Z:19.03 [[ 2.65416582e-01 -9.64073915e-01 -1.07482112e-02 2.93407078e+02] [ 9.63340705e-01 2.65633855e-01 -3.75944423e-02 2.26840321e+02] [ 3.90989100e-02 -3.76000985e-04 9.99235275e-01 1.90283308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.420385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.41, Y:226.87, Z:19.03 [[ 2.64508549e-01 -9.64323548e-01 -1.07388202e-02 2.93413414e+02] [ 9.63590434e-01 2.64726146e-01 -3.75971246e-02 2.26866600e+02] [ 3.90986391e-02 -4.03063553e-04 9.99235275e-01 1.90290163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.450385723 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:293.42, Y:226.89, Z:19.03 [[ 2.60944919e-01 -9.65294078e-01 -1.07280732e-02 2.93418615e+02] [ 9.64561647e-01 2.61164804e-01 -3.76001910e-02 2.26894107e+02] [ 3.90970368e-02 -5.36309141e-04 9.99235275e-01 1.90304999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.480385723 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:293.43, Y:226.92, Z:19.03 [[ 2.60678382e-01 -9.65366206e-01 -1.07176727e-02 2.93426377e+02] [ 9.64633714e-01 2.60898064e-01 -3.76031553e-02 2.26921566e+02] [ 3.90970355e-02 -5.36298677e-04 9.99235275e-01 1.90316136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.510385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.43, Y:226.95, Z:19.03 [[ 2.58443893e-01 -9.65966929e-01 -1.07072814e-02 2.93433472e+02] [ 9.65234825e-01 2.58664865e-01 -3.76061140e-02 2.26948647e+02] [ 3.90958599e-02 -6.15970376e-04 9.99235275e-01 1.90333110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.540385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.44, Y:226.98, Z:19.03 [[ 2.56208354e-01 -9.66562393e-01 -1.06967363e-02 2.93440344e+02] [ 9.65830677e-01 2.56430609e-01 -3.76091132e-02 2.26975449e+02] [ 3.90945250e-02 -6.95467114e-04 9.99235275e-01 1.90347113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.570385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.45, Y:227.00, Z:19.04 [[ 2.52711598e-01 -9.67482637e-01 -1.06862135e-02 2.93446548e+02] [ 9.66751604e-01 2.52936089e-01 -3.76121029e-02 2.27002267e+02] [ 3.90919855e-02 -8.25899375e-04 9.99235275e-01 1.90361867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.600385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.45, Y:227.03, Z:19.04 [[ 2.49519567e-01 -9.68310897e-01 -1.06766963e-02 2.93453279e+02] [ 9.67580495e-01 2.49746097e-01 -3.76148043e-02 2.27029215e+02] [ 3.90892881e-02 -9.44933457e-04 9.99235275e-01 1.90379109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.630385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.46, Y:227.06, Z:19.04 [[ 2.48321374e-01 -9.68618977e-01 -1.06664273e-02 2.93460384e+02] [ 9.67888731e-01 2.48548410e-01 -3.76177160e-02 2.27056359e+02] [ 3.90883572e-02 -9.82631866e-04 9.99235275e-01 1.90387748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.660385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.47, Y:227.08, Z:19.04 [[ 2.46970768e-01 -9.68964336e-01 -1.06562180e-02 2.93466775e+02] [ 9.68234284e-01 2.47198425e-01 -3.76206079e-02 2.27083081e+02] [ 3.90872277e-02 -1.02652518e-03 9.99235275e-01 1.90386966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.690385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.47, Y:227.11, Z:19.04 [[ 2.46852752e-01 -9.68994527e-01 -1.06454742e-02 2.93474164e+02] [ 9.68264372e-01 2.47080081e-01 -3.76236478e-02 2.27110428e+02] [ 3.90873934e-02 -1.02013244e-03 9.99235275e-01 1.90402931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.720385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.48, Y:227.14, Z:19.04 [[ 2.48241309e-01 -9.68639842e-01 -1.06352873e-02 2.93480211e+02] [ 9.67909240e-01 2.48467196e-01 -3.76265272e-02 2.27137703e+02] [ 3.90890733e-02 -9.53534486e-04 9.99235275e-01 1.90413431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.750385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.49, Y:227.17, Z:19.04 [[ 2.49963092e-01 -9.68197066e-01 -1.06251435e-02 2.93486528e+02] [ 9.67465943e-01 2.50187286e-01 -3.76293914e-02 2.27165261e+02] [ 3.90909422e-02 -8.73505477e-04 9.99235275e-01 1.90426766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.780385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.49, Y:227.19, Z:19.04 [[ 2.55024253e-01 -9.66876392e-01 -1.06147512e-02 2.93491250e+02] [ 9.66143985e-01 2.55244215e-01 -3.76323227e-02 2.27192913e+02] [ 3.90951582e-02 -6.58223028e-04 9.99235275e-01 1.90440321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.810385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.50, Y:227.22, Z:19.04 [[ 2.58460997e-01 -9.65963488e-01 -1.06043717e-02 2.93497480e+02] [ 9.65230183e-01 2.58677949e-01 -3.76352473e-02 2.27219292e+02] [ 3.90973919e-02 -5.08416098e-04 9.99235275e-01 1.90440836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.840385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.50, Y:227.25, Z:19.05 [[ 2.66485763e-01 -9.63780619e-01 -1.05951230e-02 2.93503287e+02] [ 9.63045432e-01 2.66696247e-01 -3.76378508e-02 2.27246695e+02] [ 3.91003107e-02 -1.73633386e-04 9.99235275e-01 1.90452125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.87038572299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.51, Y:227.27, Z:19.05 [[ 2.70428272e-01 -9.62681937e-01 -1.05847631e-02 2.93510185e+02] [ 9.61945781e-01 2.70635341e-01 -3.76407641e-02 2.27273459e+02] [ 3.91006947e-02 -2.84140844e-06 9.99235275e-01 1.90464930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.900385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.52, Y:227.30, Z:19.05 [[ 2.77165426e-01 -9.60764024e-01 -1.05743314e-02 2.93516650e+02] [ 9.60026323e-01 2.77366924e-01 -3.76436944e-02 2.27301053e+02] [ 3.90996771e-02 2.81894104e-04 9.99235275e-01 1.90489692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.930385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.52, Y:227.33, Z:19.05 [[ 2.79684443e-01 -9.60033860e-01 -1.05641120e-02 2.93523381e+02] [ 9.59295525e-01 2.79883605e-01 -3.76465621e-02 2.27327433e+02] [ 3.90986961e-02 3.95052418e-04 9.99235276e-01 1.90488966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.960385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.53, Y:227.35, Z:19.05 [[ 2.83090842e-01 -9.59035025e-01 -1.05544817e-02 2.93531103e+02] [ 9.58295887e-01 2.83287003e-01 -3.76492618e-02 2.27353840e+02] [ 3.90969083e-02 5.43844808e-04 9.99235276e-01 1.90518832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.990385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.54, Y:227.38, Z:19.05 [[ 2.84100019e-01 -9.58736669e-01 -1.05441112e-02 2.93539608e+02] [ 9.57997218e-01 2.84294995e-01 -3.76521660e-02 2.27380386e+02] [ 3.90961503e-02 5.95751855e-04 9.99235276e-01 1.90533841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.020385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.55, Y:227.41, Z:19.06 [[ 2.85153379e-01 -9.58424013e-01 -1.05338051e-02 2.93549262e+02] [ 9.57684243e-01 2.85347137e-01 -3.76550491e-02 2.27405944e+02] [ 3.90952944e-02 6.49405274e-04 9.99235276e-01 1.90553513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.050385723 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:293.56, Y:227.43, Z:19.05 [[ 2.84917819e-01 -9.58494169e-01 -1.05245090e-02 2.93557437e+02] [ 9.57754350e-01 2.85111394e-01 -3.76576471e-02 2.27432489e+02] [ 3.90952926e-02 6.49440389e-04 9.99235276e-01 1.90546148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.080385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:293.57, Y:227.46, Z:19.06 [[ 2.85148413e-01 -9.58425710e-01 -1.05138562e-02 2.93565079e+02] [ 9.57685736e-01 2.85341391e-01 -3.76606211e-02 2.27458094e+02] [ 3.90949459e-02 6.69896231e-04 9.99235276e-01 1.90575480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.110385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.58, Y:227.48, Z:19.06 [[ 2.85136120e-01 -9.58429473e-01 -1.05041661e-02 2.93575103e+02] [ 9.57689402e-01 2.85328728e-01 -3.76633237e-02 2.27483667e+02] [ 3.90947798e-02 6.79445419e-04 9.99235276e-01 1.90583539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.140385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.59, Y:227.51, Z:19.06 [[ 2.83954520e-01 -9.58780288e-01 -1.04971605e-02 2.93585766e+02] [ 9.58040383e-01 2.84147765e-01 -3.76652761e-02 2.27509423e+02] [ 3.90954690e-02 6.38521725e-04 9.99235276e-01 1.90585190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.170385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.60, Y:227.54, Z:19.06 [[ 2.82887703e-01 -9.59095704e-01 -1.04870123e-02 2.93595028e+02] [ 9.58355910e-01 2.83081372e-01 -3.76681014e-02 2.27535147e+02] [ 3.90959921e-02 6.05552425e-04 9.99235276e-01 1.90590758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.200385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.61, Y:227.56, Z:19.06 [[ 2.80536750e-01 -9.59786111e-01 -1.04762863e-02 2.93607514e+02] [ 9.59046683e-01 2.80731810e-01 -3.76710843e-02 2.27561065e+02] [ 3.90972103e-02 5.20875905e-04 9.99235276e-01 1.90607977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.230385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.62, Y:227.59, Z:19.06 [[ 2.79117304e-01 -9.60199978e-01 -1.04658220e-02 2.93617294e+02] [ 9.59460730e-01 2.79313047e-01 -3.76739913e-02 2.27587513e+02] [ 3.90978062e-02 4.73917708e-04 9.99235276e-01 1.90615427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.260385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.63, Y:227.61, Z:19.06 [[ 2.76023088e-01 -9.61094136e-01 -1.04554310e-02 2.93629381e+02] [ 9.60355414e-01 2.76220804e-01 -3.76768748e-02 2.27613397e+02] [ 3.90990310e-02 3.58757547e-04 9.99235276e-01 1.90624561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.290385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.64, Y:227.64, Z:19.06 [[ 2.74461460e-01 -9.61541371e-01 -1.04450690e-02 2.93639168e+02] [ 9.60802861e-01 2.74659969e-01 -3.76797472e-02 2.27638468e+02] [ 3.90994781e-02 3.05986222e-04 9.99235276e-01 1.90632590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.320385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.65, Y:227.66, Z:19.07 [[ 2.71654160e-01 -9.62338332e-01 -1.04380356e-02 2.93652000e+02] [ 9.61600330e-01 2.71854549e-01 -3.76816955e-02 2.27663001e+02] [ 3.91001675e-02 1.99170852e-04 9.99235276e-01 1.90651025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.350385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.66, Y:227.69, Z:19.07 [[ 2.70522508e-01 -9.62657177e-01 -1.04274888e-02 2.93662105e+02] [ 9.61919299e-01 2.70723351e-01 -3.76846139e-02 2.27688962e+02] [ 3.91003287e-02 1.64133589e-04 9.99235276e-01 1.90666839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.380385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.67, Y:227.71, Z:19.07 [[ 2.69336494e-01 -9.62989788e-01 -1.04173270e-02 2.93674556e+02] [ 9.62252049e-01 2.69537848e-01 -3.76874228e-02 2.27713676e+02] [ 3.91004672e-02 1.26504087e-04 9.99235276e-01 1.90671885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.410385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.68, Y:227.74, Z:19.07 [[ 2.68905282e-01 -9.63110405e-01 -1.04066144e-02 2.93683794e+02] [ 9.62372642e-01 2.69106548e-01 -3.76903806e-02 2.27739304e+02] [ 3.91004858e-02 1.20101474e-04 9.99235276e-01 1.90672511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.440385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.70, Y:227.77, Z:19.07 [[ 2.68797768e-01 -9.63140531e-01 -1.03960041e-02 2.93695834e+02] [ 9.62402677e-01 2.68998701e-01 -3.76933070e-02 2.27765362e+02] [ 3.91004633e-02 1.26734615e-04 9.99235276e-01 1.90691340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.470385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:293.71, Y:227.79, Z:19.07 [[ 2.68705725e-01 -9.63166322e-01 -1.03860199e-02 2.93705478e+02] [ 9.62428381e-01 2.68906338e-01 -3.76960578e-02 2.27791158e+02] [ 3.91004399e-02 1.33346193e-04 9.99235277e-01 1.90697996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.500385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.72, Y:227.82, Z:19.07 [[ 2.67861901e-01 -9.63401449e-01 -1.03754798e-02 2.93717061e+02] [ 9.62663571e-01 2.68062748e-01 -3.76989587e-02 2.27817436e+02] [ 3.91005110e-02 1.10018318e-04 9.99235277e-01 1.90721652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.530385723 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:293.73, Y:227.84, Z:19.07 [[ 2.67053328e-01 -9.63626003e-01 -1.03655985e-02 2.93726189e+02] [ 9.62888190e-01 2.67254407e-01 -3.77016754e-02 2.27842949e+02] [ 3.91005667e-02 8.74455465e-05 9.99235277e-01 1.90728785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.560385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.74, Y:227.87, Z:19.07 [[ 2.65513641e-01 -9.64051456e-01 -1.03583865e-02 2.93737440e+02] [ 9.63313887e-01 2.65715616e-01 -3.77036568e-02 2.27868656e+02] [ 3.91006503e-02 3.24576031e-05 9.99235277e-01 1.90742581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.590385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.75, Y:227.89, Z:19.08 [[ 2.64650104e-01 -9.64288975e-01 -1.03486359e-02 2.93746572e+02] [ 9.63551483e-01 2.64852359e-01 -3.77063329e-02 2.27894122e+02] [ 3.91006617e-02 7.54147031e-06 9.99235277e-01 1.90758429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.62038572299997 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:293.76, Y:227.92, Z:19.08 [[ 2.63180184e-01 -9.64691302e-01 -1.03383511e-02 2.93757957e+02] [ 9.63954009e-01 2.63383161e-01 -3.77091525e-02 2.27919712e+02] [ 3.91006391e-02 -4.13933002e-05 9.99235277e-01 1.90772304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.650385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.77, Y:227.95, Z:19.08 [[ 2.62377018e-01 -9.64910173e-01 -1.03275897e-02 2.93767083e+02] [ 9.64172932e-01 2.62580187e-01 -3.77120996e-02 2.27945868e+02] [ 3.91006090e-02 -6.27941888e-05 9.99235277e-01 1.90799581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.680385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.78, Y:227.97, Z:19.08 [[ 2.62585252e-01 -9.64853635e-01 -1.03173462e-02 2.93777144e+02] [ 9.64116241e-01 2.62787862e-01 -3.77149018e-02 2.27970901e+02] [ 3.91006335e-02 -4.37440400e-05 9.99235277e-01 1.90813728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.710385723 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:293.79, Y:228.00, Z:19.08 [[ 2.63001045e-01 -9.64740497e-01 -1.03065292e-02 2.93785714e+02] [ 9.64002899e-01 2.63202914e-01 -3.77178576e-02 2.27997502e+02] [ 3.91006532e-02 -1.56880179e-05 9.99235277e-01 1.90841671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.740385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.80, Y:228.02, Z:19.08 [[ 2.64543830e-01 -9.64318700e-01 -1.02959670e-02 2.93796187e+02] [ 9.63580668e-01 2.64744105e-01 -3.77207406e-02 2.28022302e+02] [ 3.91006121e-02 5.77944498e-05 9.99235277e-01 1.90842865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.770385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.80, Y:228.05, Z:19.09 [[ 2.64988257e-01 -9.64196746e-01 -1.02887907e-02 2.93804710e+02] [ 9.63458546e-01 2.65187912e-01 -3.77226979e-02 2.28047806e+02] [ 3.91005655e-02 8.32486797e-05 9.99235277e-01 1.90856034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.800385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.81, Y:228.07, Z:19.09 [[ 2.66299485e-01 -9.63835535e-01 -1.02784267e-02 2.93814787e+02] [ 9.63096955e-01 2.66497730e-01 -3.77255216e-02 2.28074492e+02] [ 3.91003757e-02 1.47165490e-04 9.99235277e-01 1.90878068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.830385723 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:293.82, Y:228.10, Z:19.09 [[ 2.66351234e-01 -9.63821348e-01 -1.02678379e-02 2.93824048e+02] [ 9.63082647e-01 2.66549025e-01 -3.77284034e-02 2.28101744e+02] [ 3.91003228e-02 1.60230339e-04 9.99235277e-01 1.90894125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.860385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:293.83, Y:228.13, Z:19.09 [[ 2.66214265e-01 -9.63858688e-01 -1.03147695e-02 2.93832824e+02] [ 9.63120508e-01 2.66413997e-01 -3.77156407e-02 2.28128620e+02] [ 3.91005470e-02 1.06075482e-04 9.99235276e-01 1.90892855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.890385723 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:293.84, Y:228.16, Z:19.09 [[ 2.65078638e-01 -9.64172340e-01 -1.02476862e-02 2.93844118e+02] [ 9.63433689e-01 2.65276616e-01 -3.77338592e-02 2.28155131e+02] [ 3.91004148e-02 1.29473927e-04 9.99235278e-01 1.90901611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.920385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.86, Y:228.18, Z:19.09 [[ 2.63341934e-01 -9.64648239e-01 -1.02372008e-02 2.93855263e+02] [ 9.63909836e-01 2.63540831e-01 -3.77367036e-02 2.28181579e+02] [ 3.91005651e-02 6.99179452e-05 9.99235278e-01 1.90912264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.950385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.86, Y:228.21, Z:19.09 [[ 2.59444427e-01 -9.65703890e-01 -1.02267424e-02 2.93861813e+02] [ 9.64966184e-01 2.59645896e-01 -3.77395377e-02 2.28206531e+02] [ 3.91005500e-02 -7.71478695e-05 9.99235278e-01 1.90884038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.980385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:293.87, Y:228.23, Z:19.09 [[ 2.62125244e-01 -9.64982388e-01 -9.96734577e-03 2.93872781e+02] [ 9.64241424e-01 2.62314509e-01 -3.78097034e-02 2.28234077e+02] [ 3.91002772e-02 2.99950061e-04 9.99235247e-01 1.90922261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.010385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:293.88, Y:228.26, Z:19.09 [[ 2.61883657e-01 -9.65045398e-01 -1.02142092e-02 2.93880719e+02] [ 9.64307054e-01 2.62082771e-01 -3.77428970e-02 2.28261092e+02] [ 3.91005773e-02 3.46139157e-05 9.99235279e-01 1.90933397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.040385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.89, Y:228.29, Z:19.09 [[ 2.58728057e-01 -9.65896306e-01 -1.02038314e-02 2.93885306e+02] [ 9.65158507e-01 2.58929178e-01 -3.77457025e-02 2.28286474e+02] [ 3.91005043e-02 -8.24424183e-05 9.99235279e-01 1.90913511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.070385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:293.89, Y:228.31, Z:19.09 [[ 2.58847272e-01 -9.65867538e-01 -9.89892016e-03 2.93893791e+02] [ 9.65126517e-01 2.59036373e-01 -3.78280723e-02 2.28312361e+02] [ 3.91010874e-02 2.37982989e-04 9.99235232e-01 1.90924241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.100385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.91, Y:228.34, Z:19.10 [[ 2.62654334e-01 -9.64840485e-01 -9.77439894e-03 2.93907070e+02] [ 9.64097467e-01 2.62835626e-01 -3.78616818e-02 2.28341202e+02] [ 3.90995437e-02 5.21061551e-04 9.99235185e-01 1.90975414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.130385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:293.92, Y:228.37, Z:19.10 [[ 2.61025045e-01 -9.65278152e-01 -1.01987627e-02 2.93916499e+02] [ 9.64539825e-01 2.61224211e-01 -3.77470281e-02 2.28367193e+02] [ 3.91005453e-02 1.58069095e-05 9.99235281e-01 1.90993678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.160385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.92, Y:228.39, Z:19.10 [[ 2.59959385e-01 -9.65565800e-01 -1.01883863e-02 2.93924785e+02] [ 9.64827583e-01 2.60158961e-01 -3.77498286e-02 2.28394418e+02] [ 3.91005435e-02 -1.66138702e-05 9.99235281e-01 1.91006268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.190385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.93, Y:228.42, Z:19.10 [[ 2.57026290e-01 -9.66350813e-01 -1.01780473e-02 2.93934492e+02] [ 9.65613095e-01 2.57227702e-01 -3.77526160e-02 2.28421407e+02] [ 3.91003469e-02 -1.24640944e-04 9.99235281e-01 1.91021337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.220385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:293.94, Y:228.45, Z:19.10 [[ 2.51890207e-01 -9.67701561e-01 -1.02475946e-02 2.93937227e+02] [ 9.66965681e-01 2.52098247e-01 -3.77338854e-02 2.28445289e+02] [ 3.90985404e-02 -4.04276101e-04 9.99235278e-01 1.90995650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.250385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.95, Y:228.47, Z:19.10 [[ 2.55456896e-01 -9.66771820e-01 -9.69647928e-03 2.93950649e+02] [ 9.66029403e-01 2.55640668e-01 -3.78819304e-02 2.28474303e+02] [ 3.91019972e-02 3.10116238e-04 9.99235176e-01 1.91047285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.280385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.96, Y:228.50, Z:19.11 [[ 2.54898211e-01 -9.66914567e-01 -1.01549074e-02 2.93959624e+02] [ 9.66177054e-01 2.55100344e-01 -3.77586441e-02 2.28501308e+02] [ 3.90999034e-02 -1.86827665e-04 9.99235289e-01 1.91061955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.310385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.97, Y:228.53, Z:19.11 [[ 2.54730766e-01 -9.66958804e-01 -1.01444038e-02 2.93968029e+02] [ 9.66221213e-01 2.54932616e-01 -3.77614658e-02 2.28527860e+02] [ 3.90999212e-02 -1.82731040e-04 9.99235289e-01 1.91077350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.340385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:293.98, Y:228.55, Z:19.11 [[ 2.54403444e-01 -9.67045084e-01 -1.01337700e-02 2.93975412e+02] [ 9.66307448e-01 2.54605128e-01 -3.77643193e-02 2.28553697e+02] [ 3.90999092e-02 -1.84964498e-04 9.99235289e-01 1.91083540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.37038572299997 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:293.98, Y:228.58, Z:19.11 [[ 2.54137950e-01 -9.67115006e-01 -1.01225876e-02 2.93982742e+02] [ 9.66377307e-01 2.54339400e-01 -3.77673165e-02 2.28581303e+02] [ 3.90999114e-02 -1.84130569e-04 9.99235289e-01 1.91094673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.400385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.99, Y:228.61, Z:19.11 [[ 2.54195212e-01 -9.67100066e-01 -1.01122106e-02 2.93991130e+02] [ 9.66362244e-01 2.54396213e-01 -3.77700947e-02 2.28607615e+02] [ 3.90999692e-02 -1.71081304e-04 9.99235289e-01 1.91105961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.430385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.99, Y:228.63, Z:19.11 [[ 2.50932262e-01 -9.67951940e-01 -1.01016260e-02 2.93992642e+02] [ 9.67214686e-01 2.51135337e-01 -3.77729254e-02 2.28630802e+02] [ 3.90992516e-02 -2.91995439e-04 9.99235289e-01 1.91069559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.460385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.01, Y:228.66, Z:19.11 [[ 2.54891793e-01 -9.66923021e-01 -9.48925975e-03 2.94006387e+02] [ 9.66178670e-01 2.55067875e-01 -3.79362197e-02 2.28661451e+02] [ 3.91018095e-02 5.01310686e-04 9.99235106e-01 1.91122767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.490385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.01, Y:228.69, Z:19.11 [[ 2.52522451e-01 -9.67538413e-01 -1.00911124e-02 2.94009599e+02] [ 9.66800726e-01 2.52723904e-01 -3.77754522e-02 2.28686356e+02] [ 3.90994664e-02 -2.16945036e-04 9.99235300e-01 1.91111584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.520385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:294.02, Y:228.71, Z:19.11 [[ 2.53417974e-01 -9.67308472e-01 -9.67735627e-03 2.94017648e+02] [ 9.66566297e-01 2.53602562e-01 -3.78857949e-02 2.28712402e+02] [ 3.91014527e-02 2.47134975e-04 9.99235215e-01 1.91122856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.550385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.03, Y:228.74, Z:19.11 [[ 2.52505586e-01 -9.67546923e-01 -9.68919432e-03 2.94025117e+02] [ 9.66805044e-01 2.52691338e-01 -3.78826370e-02 2.28739386e+02] [ 3.91016044e-02 1.98015517e-04 9.99235220e-01 1.91130696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.580385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:294.03, Y:228.77, Z:19.11 [[ 2.53167987e-01 -9.67374107e-01 -9.65963401e-03 2.94034142e+02] [ 9.66631800e-01 2.53352073e-01 -3.78905177e-02 2.28766528e+02] [ 3.91015940e-02 2.55356686e-04 9.99235208e-01 1.91146146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.610385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.04, Y:228.79, Z:19.12 [[ 2.53284174e-01 -9.67343056e-01 -9.72308084e-03 2.94041812e+02] [ 9.66601375e-01 2.53470656e-01 -3.78735981e-02 2.28794268e+02] [ 3.91012778e-02 1.94439716e-04 9.99235234e-01 1.91154610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.640385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.05, Y:228.82, Z:19.11 [[ 2.53262253e-01 -9.67348657e-01 -9.73689538e-03 2.94048573e+02] [ 9.66607121e-01 2.53449293e-01 -3.78699147e-02 2.28820832e+02] [ 3.91012204e-02 1.79267535e-04 9.99235239e-01 1.91147310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.670385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:294.06, Y:228.85, Z:19.12 [[ 2.53891990e-01 -9.67184283e-01 -9.66541824e-03 2.94056260e+02] [ 9.66441897e-01 2.54075748e-01 -3.78889727e-02 2.28847018e+02] [ 3.91013672e-02 2.78641545e-04 9.99235210e-01 1.91162364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.700385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:294.07, Y:228.88, Z:19.12 [[ 2.58610001e-01 -9.65933912e-01 -9.61999675e-03 2.94071373e+02] [ 9.65190188e-01 2.58788350e-01 -3.79010764e-02 2.28876051e+02] [ 3.90994781e-02 5.16470942e-04 9.99235190e-01 1.91190204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.730385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:294.08, Y:228.90, Z:19.12 [[ 2.58682760e-01 -9.65909738e-01 -1.00800370e-02 2.94080200e+02] [ 9.65170670e-01 2.58879075e-01 -3.77783328e-02 2.28902950e+02] [ 3.90999702e-02 4.36473408e-05 9.99235303e-01 1.91209893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.760385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.08, Y:228.93, Z:19.12 [[ 2.55987608e-01 -9.66627616e-01 -1.00696084e-02 2.94083971e+02] [ 9.65888989e-01 2.56185576e-01 -3.77811123e-02 2.28925715e+02] [ 3.90999549e-02 -5.46273644e-05 9.99235303e-01 1.91210230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.790385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.09, Y:228.95, Z:19.12 [[ 2.56227557e-01 -9.66567850e-01 -9.69689709e-03 2.94092092e+02] [ 9.65825351e-01 2.56410754e-01 -3.78802986e-02 2.28952744e+02] [ 3.91002675e-02 3.40467331e-04 9.99235234e-01 1.91223525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.820385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:294.10, Y:228.98, Z:19.12 [[ 2.56081292e-01 -9.66606371e-01 -9.72091414e-03 2.94099818e+02] [ 9.65864141e-01 2.56265543e-01 -3.78738959e-02 2.28978098e+02] [ 3.91002844e-02 3.09713808e-04 9.99235243e-01 1.91224925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.850385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:294.11, Y:229.01, Z:19.12 [[ 2.57081636e-01 -9.66342497e-01 -9.55042768e-03 2.94109438e+02] [ 9.65598376e-01 2.57258432e-01 -3.79193358e-02 2.29006911e+02] [ 3.90999937e-02 5.26487425e-04 9.99235164e-01 1.91235495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.880385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:294.12, Y:229.03, Z:19.12 [[ 2.56912590e-01 -9.66386171e-01 -9.67936591e-03 2.94119893e+02] [ 9.65643366e-01 2.57094573e-01 -3.78849654e-02 2.29032922e+02] [ 3.91000191e-02 3.86309103e-04 9.99235227e-01 1.91229692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.910385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.13, Y:229.06, Z:19.13 [[ 2.58813705e-01 -9.65878803e-01 -9.67486892e-03 2.94132963e+02] [ 9.65135597e-01 2.58994050e-01 -3.78861636e-02 2.29061478e+02] [ 3.90991758e-02 4.67897975e-04 9.99235225e-01 1.91259569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.940385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.14, Y:229.09, Z:19.13 [[ 2.54587709e-01 -9.66997229e-01 -1.00725945e-02 2.94139218e+02] [ 9.66258928e-01 2.54786864e-01 -3.77801290e-02 2.29086719e+02] [ 3.90996448e-02 -1.14377900e-04 9.99235310e-01 1.91267899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.970385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:294.15, Y:229.12, Z:19.13 [[ 2.53629201e-01 -9.67252070e-01 -9.78067558e-03 2.94148405e+02] [ 9.66510928e-01 2.53817673e-01 -3.78578400e-02 2.29115899e+02] [ 3.91005824e-02 1.48723872e-04 9.99235269e-01 1.91307694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.000385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.16, Y:229.14, Z:19.13 [[ 2.53879481e-01 -9.67183523e-01 -1.00618930e-02 2.94161079e+02] [ 9.66445256e-01 2.54078758e-01 -3.77829513e-02 2.29140372e+02] [ 3.90995612e-02 -1.31952646e-04 9.99235311e-01 1.91336164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.030385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.17, Y:229.17, Z:19.14 [[ 2.53435271e-01 -9.67300119e-01 -1.00519828e-02 2.94170180e+02] [ 9.66561840e-01 2.53634500e-01 -3.77855877e-02 2.29167467e+02] [ 3.90995331e-02 -1.39662297e-04 9.99235311e-01 1.91358650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.060385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.18, Y:229.19, Z:19.13 [[ 2.50926029e-01 -9.67954071e-01 -1.00520483e-02 2.94176573e+02] [ 9.67216311e-01 2.51127174e-01 -3.77855703e-02 2.29191871e+02] [ 3.90990391e-02 -2.41121998e-04 9.99235311e-01 1.91346830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.090385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:294.18, Y:229.22, Z:19.14 [[ 2.50626731e-01 -9.68035177e-01 -9.70247661e-03 2.94183489e+02] [ 9.67293821e-01 2.50814442e-01 -3.78784711e-02 2.29218376e+02] [ 3.91012137e-02 1.08211694e-04 9.99235249e-01 1.91353796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.12038572299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.20, Y:229.25, Z:19.14 [[ 2.54354083e-01 -9.67063815e-01 -9.56967713e-03 2.94195126e+02] [ 9.66320412e-01 2.54533733e-01 -3.79135835e-02 2.29245870e+02] [ 3.91006604e-02 3.96100414e-04 9.99235198e-01 1.91351131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.150385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:294.20, Y:229.27, Z:19.14 [[ 2.53693304e-01 -9.67234686e-01 -9.83715061e-03 2.94203509e+02] [ 9.66494110e-01 2.53883936e-01 -3.78428646e-02 2.29274237e+02] [ 3.91004258e-02 9.29332246e-05 9.99235282e-01 1.91375995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.180385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.21, Y:229.30, Z:19.14 [[ 2.54372799e-01 -9.67054622e-01 -9.99184012e-03 2.94213089e+02] [ 9.66315505e-01 2.54568962e-01 -3.78019775e-02 2.29300133e+02] [ 3.91001895e-02 -3.94751876e-05 9.99235294e-01 1.91378872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.210385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.22, Y:229.33, Z:19.14 [[ 2.54466598e-01 -9.67030055e-01 -9.98109428e-03 2.94221674e+02] [ 9.66290808e-01 2.54662269e-01 -3.78048146e-02 2.29326994e+02] [ 3.91002001e-02 -2.45770788e-05 9.99235294e-01 1.91393665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.240385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.23, Y:229.35, Z:19.14 [[ 2.54697949e-01 -9.66969254e-01 -9.97079654e-03 2.94230491e+02] [ 9.66229853e-01 2.54893041e-01 -3.78075304e-02 2.29353363e+02] [ 3.91002061e-02 -4.58081776e-06 9.99235295e-01 1.91408009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.270385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.24, Y:229.38, Z:19.14 [[ 2.54609323e-01 -9.66992701e-01 -9.96037617e-03 2.94239115e+02] [ 9.66253210e-01 2.54804075e-01 -3.78102754e-02 2.29379154e+02] [ 3.91002048e-02 2.60317036e-06 9.99235295e-01 1.91415401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.300385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.25, Y:229.41, Z:19.14 [[ 2.54617387e-01 -9.66990690e-01 -9.94945004e-03 2.94247510e+02] [ 9.66251086e-01 2.54811705e-01 -3.78131503e-02 2.29405927e+02] [ 3.91002007e-02 1.42186376e-05 9.99235295e-01 1.91430752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.330385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.26, Y:229.43, Z:19.14 [[ 2.55513762e-01 -9.66754327e-01 -9.93921169e-03 2.94255824e+02] [ 9.66014439e-01 2.55706994e-01 -3.78158413e-02 2.29431292e+02] [ 3.91001542e-02 6.10458602e-05 9.99235295e-01 1.91430680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.360385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.27, Y:229.46, Z:19.15 [[ 2.55673744e-01 -9.66713118e-01 -9.83279892e-03 2.94265010e+02] [ 9.65972118e-01 2.55862689e-01 -3.78437713e-02 2.29457310e+02] [ 3.90999165e-02 1.77449078e-04 9.99235290e-01 1.91466056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.390385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.27, Y:229.48, Z:19.15 [[ 2.55835410e-01 -9.66669455e-01 -9.92009051e-03 2.94272723e+02] [ 9.65929306e-01 2.56027648e-01 -3.78208756e-02 2.29484060e+02] [ 3.91001027e-02 9.38130762e-05 9.99235294e-01 1.91481939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.420385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.28, Y:229.51, Z:19.15 [[ 2.56783644e-01 -9.66418104e-01 -9.91000062e-03 2.94280946e+02] [ 9.65677666e-01 2.56974760e-01 -3.78235192e-02 2.29511210e+02] [ 3.90999538e-02 1.42594815e-04 9.99235294e-01 1.91490563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.450385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.29, Y:229.54, Z:19.15 [[ 2.57002351e-01 -9.66360073e-01 -9.89956464e-03 2.94288085e+02] [ 9.65619486e-01 2.57192892e-01 -3.78262505e-02 2.29536934e+02] [ 3.90998758e-02 1.62222793e-04 9.99235294e-01 1.91490870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.480385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.30, Y:229.56, Z:19.15 [[ 2.57824921e-01 -9.66141049e-01 -9.88855704e-03 2.94296697e+02] [ 9.65400190e-01 2.58014401e-01 -3.78291279e-02 2.29563459e+02] [ 3.90996634e-02 2.06877078e-04 9.99235294e-01 1.91499439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.510385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.31, Y:229.59, Z:19.15 [[ 2.58061105e-01 -9.66078094e-01 -9.87841092e-03 2.94305610e+02] [ 9.65337087e-01 2.58250006e-01 -3.78317772e-02 2.29589854e+02] [ 3.90995508e-02 2.26913804e-04 9.99235294e-01 1.91504253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.540385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.31, Y:229.62, Z:19.15 [[ 2.57849017e-01 -9.66134828e-01 -9.86800387e-03 2.94313596e+02] [ 9.65393759e-01 2.58037673e-01 -3.78344915e-02 2.29616807e+02] [ 3.90995367e-02 2.29077106e-04 9.99235294e-01 1.91508212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.570385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.32, Y:229.64, Z:19.15 [[ 2.57609037e-01 -9.66198951e-01 -9.85749957e-03 2.94321343e+02] [ 9.65457824e-01 2.57797466e-01 -3.78372282e-02 2.29644360e+02] [ 3.90995286e-02 2.30211830e-04 9.99235295e-01 1.91512619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.600385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.33, Y:229.67, Z:19.15 [[ 2.56624032e-01 -9.66461137e-01 -9.84765415e-03 2.94329274e+02] [ 9.65720104e-01 2.56812831e-01 -3.78397904e-02 2.29670300e+02] [ 3.90996908e-02 2.00522003e-04 9.99235295e-01 1.91504367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.630385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.34, Y:229.70, Z:19.15 [[ 2.56114389e-01 -9.66596430e-01 -9.83677455e-03 2.94337141e+02] [ 9.65855388e-01 2.56303152e-01 -3.78426184e-02 2.29697604e+02] [ 3.90997362e-02 1.91137397e-04 9.99235295e-01 1.91513478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.660385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.35, Y:229.72, Z:19.15 [[ 2.55710120e-01 -9.66703562e-01 -9.82638302e-03 2.94346155e+02] [ 9.65962496e-01 2.55898787e-01 -3.78453165e-02 2.29723585e+02] [ 3.90997618e-02 1.85512980e-04 9.99235295e-01 1.91518223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.690385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.35, Y:229.75, Z:19.15 [[ 2.54517000e-01 -9.67018487e-01 -9.81545285e-03 2.94354733e+02] [ 9.66277544e-01 2.54706153e-01 -3.78481511e-02 2.29750604e+02] [ 3.90999181e-02 1.48546220e-04 9.99235295e-01 1.91549886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.720385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.36, Y:229.78, Z:19.16 [[ 2.53770488e-01 -9.67214757e-01 -9.80580893e-03 2.94362216e+02] [ 9.66473864e-01 2.53959835e-01 -3.78506496e-02 2.29778033e+02] [ 3.90999884e-02 1.28319756e-04 9.99235295e-01 1.91571787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.750385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.37, Y:229.80, Z:19.16 [[ 2.53080334e-01 -9.67395679e-01 -9.79516677e-03 2.94369016e+02] [ 9.66654815e-01 2.53269794e-01 -3.78534034e-02 2.29804554e+02] [ 3.91000387e-02 1.11406863e-04 9.99235295e-01 1.91590608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.780385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.38, Y:229.83, Z:19.16 [[ 2.52359651e-01 -9.67584044e-01 -9.78388879e-03 2.94376055e+02] [ 9.66843209e-01 2.52549221e-01 -3.78563182e-02 2.29832040e+02] [ 3.91000829e-02 9.39207889e-05 9.99235295e-01 1.91607330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.810385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.38, Y:229.86, Z:19.16 [[ 2.51080046e-01 -9.67916983e-01 -9.77364846e-03 2.94382992e+02] [ 9.67176296e-01 2.51270195e-01 -3.78589618e-02 2.29858632e+02] [ 3.91001587e-02 5.27887416e-05 9.99235295e-01 1.91634200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.840385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.39, Y:229.89, Z:19.16 [[ 2.50450688e-01 -9.68080099e-01 -9.76601647e-03 2.94389740e+02] [ 9.67339459e-01 2.50641021e-01 -3.78609304e-02 2.29886253e+02] [ 3.91001776e-02 3.52430109e-05 9.99235295e-01 1.91646208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.87038572299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.40, Y:229.91, Z:19.17 [[ 2.48309252e-01 -9.68631688e-01 -9.75540510e-03 2.94395676e+02] [ 9.67891364e-01 2.48500806e-01 -3.78636644e-02 2.29913248e+02] [ 3.91001712e-02 -4.02741761e-05 9.99235295e-01 1.91654450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.900385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.40, Y:229.94, Z:19.17 [[ 2.47411007e-01 -9.68861616e-01 -9.74484944e-03 2.94402614e+02] [ 9.68121363e-01 2.47602835e-01 -3.78663809e-02 2.29940104e+02] [ 3.91001353e-02 -6.56375041e-05 9.99235295e-01 1.91665149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.930385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.41, Y:229.97, Z:19.17 [[ 2.46360077e-01 -9.69129484e-01 -9.73429934e-03 2.94408864e+02] [ 9.68389331e-01 2.46552296e-01 -3.78690928e-02 2.29966020e+02] [ 3.91000682e-02 -9.71590054e-05 9.99235295e-01 1.91673727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.960385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:294.42, Y:229.99, Z:19.17 [[ 2.45880061e-01 -9.69251490e-01 -9.72341940e-03 2.94415231e+02] [ 9.68511323e-01 2.46072222e-01 -3.78718862e-02 2.29993630e+02] [ 3.91000455e-02 -1.05300091e-04 9.99235295e-01 1.91674629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.990385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.42, Y:230.02, Z:19.17 [[ 2.45068673e-01 -9.69457065e-01 -9.71310587e-03 2.94420063e+02] [ 9.68716954e-01 2.45261050e-01 -3.78745311e-02 2.30020327e+02] [ 3.90999783e-02 -1.27389247e-04 9.99235295e-01 1.91667979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.020385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.43, Y:230.05, Z:19.17 [[ 2.44762388e-01 -9.69534547e-01 -9.70232478e-03 2.94426174e+02] [ 9.68794388e-01 2.44954578e-01 -3.78772927e-02 2.30047283e+02] [ 3.90999727e-02 -1.28621169e-04 9.99235295e-01 1.91678525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.050385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.43, Y:230.07, Z:19.17 [[ 2.44201297e-01 -9.69676127e-01 -9.69203406e-03 2.94432540e+02] [ 9.68935974e-01 2.44393513e-01 -3.78799257e-02 2.30074445e+02] [ 3.90999299e-02 -1.40633491e-04 9.99235295e-01 1.91696339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.080385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.44, Y:230.10, Z:19.17 [[ 2.43770209e-01 -9.69784694e-01 -9.68158002e-03 2.94438908e+02] [ 9.69044521e-01 2.43962346e-01 -3.78825975e-02 2.30101013e+02] [ 3.90999042e-02 -1.47233368e-04 9.99235296e-01 1.91705458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.110385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.44, Y:230.13, Z:19.17 [[ 2.43113432e-01 -9.69949658e-01 -9.67055878e-03 2.94444368e+02] [ 9.69209503e-01 2.43305640e-01 -3.78854107e-02 2.30127174e+02] [ 3.90998427e-02 -1.62345230e-04 9.99235296e-01 1.91713050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.140385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.45, Y:230.15, Z:19.17 [[ 2.42743757e-01 -9.70042349e-01 -9.65968754e-03 2.94450126e+02] [ 9.69302157e-01 2.42935822e-01 -3.78881824e-02 2.30154265e+02] [ 3.90998256e-02 -1.66036221e-04 9.99235296e-01 1.91725881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.170385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.46, Y:230.18, Z:19.17 [[ 2.42430747e-01 -9.70120723e-01 -9.64962858e-03 2.94455967e+02] [ 9.69380492e-01 2.42622658e-01 -3.78907441e-02 2.30180577e+02] [ 3.90998146e-02 -1.68280296e-04 9.99235296e-01 1.91733971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.200385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:294.46, Y:230.21, Z:19.18 [[ 2.41910747e-01 -9.70250627e-01 -9.63900738e-03 2.94461875e+02] [ 9.69510391e-01 2.42102640e-01 -3.78934458e-02 2.30208453e+02] [ 3.90997687e-02 -1.78286015e-04 9.99235296e-01 1.91756439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.230385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:294.47, Y:230.23, Z:19.18 [[ 2.40610693e-01 -9.70573947e-01 -9.62849424e-03 2.94466998e+02] [ 9.69833862e-01 2.40803167e-01 -3.78961170e-02 2.30234648e+02] [ 3.90995557e-02 -2.19828771e-04 9.99235296e-01 1.91767282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.260385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.47, Y:230.26, Z:19.18 [[ 2.39845620e-01 -9.70763369e-01 -9.62082663e-03 2.94473649e+02] [ 9.70023357e-01 2.40038378e-01 -3.78980635e-02 2.30262192e+02] [ 3.90994194e-02 -2.42742006e-04 9.99235296e-01 1.91776607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.290385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.48, Y:230.29, Z:19.18 [[ 2.39583233e-01 -9.70828260e-01 -9.61056531e-03 2.94480603e+02] [ 9.70088197e-01 2.39775791e-01 -3.79006655e-02 2.30289906e+02] [ 3.90994180e-02 -2.42731996e-04 9.99235296e-01 1.91787743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.320385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.49, Y:230.32, Z:19.18 [[ 2.37574001e-01 -9.71322000e-01 -9.60031300e-03 2.94487685e+02] [ 9.70582232e-01 2.37767689e-01 -3.79032622e-02 2.30317271e+02] [ 3.90989167e-02 -3.13063546e-04 9.99235296e-01 1.91808629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.350385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.49, Y:230.34, Z:19.18 [[ 2.36464334e-01 -9.71592842e-01 -9.59005028e-03 2.94494741e+02] [ 9.70853190e-01 2.36658466e-01 -3.79058587e-02 2.30344370e+02] [ 3.90986275e-02 -3.47147297e-04 9.99235296e-01 1.91831172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.380385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.50, Y:230.37, Z:19.18 [[ 2.35443911e-01 -9.71840725e-01 -9.57962774e-03 2.94501518e+02] [ 9.71101171e-01 2.35638414e-01 -3.79084925e-02 2.30371780e+02] [ 3.90983451e-02 -3.77463982e-04 9.99235296e-01 1.91847684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.410385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.51, Y:230.40, Z:19.19 [[ 2.34490984e-01 -9.72071195e-01 -9.56920198e-03 2.94507131e+02] [ 9.71331725e-01 2.34685805e-01 -3.79111241e-02 2.30398260e+02] [ 3.90980675e-02 -4.05052676e-04 9.99235296e-01 1.91854527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.440385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:294.51, Y:230.43, Z:19.19 [[ 2.34422694e-01 -9.72087775e-01 -9.55815802e-03 2.94513095e+02] [ 9.71348205e-01 2.34617136e-01 -3.79139083e-02 2.30425506e+02] [ 3.90981544e-02 -3.96419129e-04 9.99235296e-01 1.91859176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.470385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.52, Y:230.45, Z:19.19 [[ 2.34792518e-01 -9.71998618e-01 -9.54780369e-03 2.94519545e+02] [ 9.71258868e-01 2.34986275e-01 -3.79165156e-02 2.30451859e+02] [ 3.90984036e-02 -3.70874833e-04 9.99235296e-01 1.91862585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.500385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:294.53, Y:230.48, Z:19.19 [[ 2.36160802e-01 -9.71667155e-01 -9.54024862e-03 2.94526420e+02] [ 9.70927056e-01 2.36353223e-01 -3.79184164e-02 2.30478885e+02] [ 3.90989483e-02 -3.08041866e-04 9.99235296e-01 1.91865871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.530385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.53, Y:230.51, Z:19.19 [[ 2.36912966e-01 -9.71484136e-01 -9.52992370e-03 2.94533025e+02] [ 9.70743785e-01 2.37104411e-01 -3.79210112e-02 2.30506463e+02] [ 3.90992478e-02 -2.67134961e-04 9.99235296e-01 1.91884798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.560385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.54, Y:230.53, Z:19.19 [[ 2.38783334e-01 -9.71026208e-01 -9.51957236e-03 2.94538314e+02] [ 9.70285386e-01 2.38972949e-01 -3.79236096e-02 2.30534420e+02] [ 3.90997391e-02 -1.81175994e-04 9.99235296e-01 1.91887459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.590385723 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:294.54, Y:230.56, Z:19.19 [[ 2.39410192e-01 -9.70871945e-01 -9.50930414e-03 2.94544612e+02] [ 9.70130898e-01 2.39598927e-01 -3.79261842e-02 2.30561715e+02] [ 3.90998873e-02 -1.45354732e-04 9.99235296e-01 1.91891083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.62038572299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.55, Y:230.59, Z:19.19 [[ 2.40729424e-01 -9.70545785e-01 -9.49863721e-03 2.94551226e+02] [ 9.69804377e-01 2.40916735e-01 -3.79288555e-02 2.30587988e+02] [ 3.91000715e-02 -8.12283869e-05 9.99235297e-01 1.91919192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.650385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.56, Y:230.61, Z:19.19 [[ 2.41342851e-01 -9.70393539e-01 -9.48722408e-03 2.94557808e+02] [ 9.69651901e-01 2.41529247e-01 -3.79317101e-02 2.30614371e+02] [ 3.91001285e-02 -4.47578074e-05 9.99235297e-01 1.91925450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.680385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.56, Y:230.64, Z:19.19 [[ 2.41895698e-01 -9.70255985e-01 -9.47599790e-03 2.94564242e+02] [ 9.69514131e-01 2.42081233e-01 -3.79345144e-02 2.30641387e+02] [ 3.91001509e-02 -1.09180193e-05 9.99235297e-01 1.91949001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.710385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.57, Y:230.67, Z:19.20 [[ 2.41782829e-01 -9.70284220e-01 -9.46554510e-03 2.94570606e+02] [ 9.69542285e-01 2.41968041e-01 -3.79371224e-02 2.30668217e+02] [ 3.91001506e-02 -4.70144029e-06 9.99235297e-01 1.91959236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.740385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.58, Y:230.70, Z:19.20 [[ 2.40999393e-01 -9.70479214e-01 -9.45451075e-03 2.94576574e+02] [ 9.69737321e-01 2.41184772e-01 -3.79398722e-02 2.30696075e+02] [ 3.91001413e-02 -2.49057858e-05 9.99235297e-01 1.91971769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.770385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.58, Y:230.72, Z:19.20 [[ 2.40372977e-01 -9.70634659e-01 -9.44411978e-03 2.94582600e+02] [ 9.69892784e-01 2.40558429e-01 -3.79424585e-02 2.30723457e+02] [ 3.91001279e-02 -3.94419001e-05 9.99235297e-01 1.91983634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.800385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.59, Y:230.75, Z:19.20 [[ 2.39593082e-01 -9.70827565e-01 -9.43366730e-03 2.94588691e+02] [ 9.70085737e-01 2.39778722e-01 -3.79450572e-02 2.30751266e+02] [ 3.91001002e-02 -6.00928818e-05 9.99235297e-01 1.91995111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.830385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.59, Y:230.78, Z:19.20 [[ 2.38076379e-01 -9.71200722e-01 -9.42308897e-03 2.94593766e+02] [ 9.70459081e-01 2.38262764e-01 -3.79476840e-02 2.30778038e+02] [ 3.90999893e-02 -1.10275081e-04 9.99235297e-01 1.91995159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.860385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.60, Y:230.81, Z:19.20 [[ 2.37130512e-01 -9.71432209e-01 -9.41188784e-03 2.94599707e+02] [ 9.70690640e-01 2.37317181e-01 -3.79504619e-02 2.30805399e+02] [ 3.90999037e-02 -1.36818978e-04 9.99235297e-01 1.92012119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.890385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:294.60, Y:230.83, Z:19.20 [[ 2.35274281e-01 -9.71883546e-01 -9.40138416e-03 2.94604103e+02] [ 9.71142231e-01 2.35461956e-01 -3.79530638e-02 2.30832768e+02] [ 3.90996265e-02 -2.00701412e-04 9.99235297e-01 1.92014685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.920385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:294.61, Y:230.86, Z:19.20 [[ 2.34061436e-01 -9.72176453e-01 -9.39090490e-03 2.94609516e+02] [ 9.71435268e-01 2.34249627e-01 -3.79556565e-02 2.30860022e+02] [ 3.90994115e-02 -2.38700751e-04 9.99235297e-01 1.92025411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.950385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:294.61, Y:230.89, Z:19.20 [[ 2.32256600e-01 -9.72609315e-01 -9.38037707e-03 2.94614626e+02] [ 9.71868377e-01 2.32445755e-01 -3.79582582e-02 2.30886617e+02] [ 3.90989844e-02 -3.00435861e-04 9.99235297e-01 1.92020248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.980385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:294.62, Y:230.91, Z:19.20 [[ 2.30815959e-01 -9.72952316e-01 -9.36934414e-03 2.94620717e+02] [ 9.72211547e-01 2.31005782e-01 -3.79609813e-02 2.30914210e+02] [ 3.90985973e-02 -3.46984245e-04 9.99235297e-01 1.92036015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.010385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.63, Y:230.94, Z:19.20 [[ 2.27711973e-01 -9.73683557e-01 -9.35889275e-03 2.94626236e+02] [ 9.72943292e-01 2.27903750e-01 -3.79635578e-02 2.30942042e+02] [ 3.90974188e-02 -4.60915269e-04 9.99235297e-01 1.92040210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.040385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:294.63, Y:230.97, Z:19.20 [[ 2.26321686e-01 -9.74007752e-01 -9.34840822e-03 2.94632267e+02] [ 9.73267656e-01 2.26514111e-01 -3.79661394e-02 2.30969342e+02] [ 3.90968605e-02 -5.05942654e-04 9.99235297e-01 1.92049157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.070385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:294.64, Y:231.00, Z:19.21 [[ 2.24023944e-01 -9.74538904e-01 -9.33799030e-03 2.94636716e+02] [ 9.73799157e-01 2.24217707e-01 -3.79687016e-02 2.30997431e+02] [ 3.90957196e-02 -5.87428816e-04 9.99235297e-01 1.92057929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.100385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.64, Y:231.02, Z:19.20 [[ 2.20127380e-01 -9.75426539e-01 -9.32754800e-03 2.94637483e+02] [ 9.74687465e-01 2.20323693e-01 -3.79712667e-02 2.31021645e+02] [ 3.90932611e-02 -7.32928644e-04 9.99235297e-01 1.92018083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.130385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.65, Y:231.05, Z:19.21 [[ 2.22379628e-01 -9.74918828e-01 -8.97659029e-03 2.94647564e+02] [ 9.74175777e-01 2.22560551e-01 -3.80572827e-02 2.31051705e+02] [ 3.91005963e-02 -2.81612457e-04 9.99235240e-01 1.92092052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.160385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.65, Y:231.08, Z:19.21 [[ 2.22296571e-01 -9.74933526e-01 -9.42621406e-03 2.94651954e+02] [ 9.74195035e-01 2.22495080e-01 -3.79469874e-02 2.31077622e+02] [ 3.90930765e-02 -7.47485743e-04 9.99235294e-01 1.92103387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.190385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.66, Y:231.11, Z:19.21 [[ 2.22493396e-01 -9.74889827e-01 -9.30127360e-03 2.94656313e+02] [ 9.74150015e-01 2.22686891e-01 -3.79775875e-02 2.31105603e+02] [ 3.90952354e-02 -6.11073399e-04 9.99235302e-01 1.92125271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.220385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.66, Y:231.13, Z:19.21 [[ 2.22767132e-01 -9.74827411e-01 -9.29110549e-03 2.94661567e+02] [ 9.74087441e-01 2.22960023e-01 -3.79800749e-02 2.31132723e+02] [ 3.90955632e-02 -5.89636813e-04 9.99235302e-01 1.92140429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.250385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:294.67, Y:231.16, Z:19.21 [[ 2.24032297e-01 -9.74537528e-01 -9.28098369e-03 2.94665013e+02] [ 9.73797206e-01 2.24223833e-01 -3.79825482e-02 2.31159961e+02] [ 3.90964363e-02 -5.28478477e-04 9.99235302e-01 1.92140271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.280385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.67, Y:231.19, Z:19.22 [[ 2.25124212e-01 -9.74285970e-01 -9.27030479e-03 2.94669564e+02] [ 9.73545327e-01 2.25314503e-01 -3.79851544e-02 2.31187634e+02] [ 3.90971371e-02 -4.73683938e-04 9.99235302e-01 1.92160445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.310385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.67, Y:231.22, Z:19.22 [[ 2.27835281e-01 -9.73655653e-01 -9.26038349e-03 2.94672184e+02] [ 9.72914385e-01 2.28023122e-01 -3.79875729e-02 2.31215425e+02] [ 3.90983967e-02 -3.54650958e-04 9.99235302e-01 1.92161600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.340385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:294.68, Y:231.24, Z:19.22 [[ 2.29123631e-01 -9.73353374e-01 -9.25042661e-03 2.94676610e+02] [ 9.72611761e-01 2.29310102e-01 -3.79899974e-02 2.31243631e+02] [ 3.90989084e-02 -2.92667582e-04 9.99235302e-01 1.92168924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.37038572299997 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:294.68, Y:231.27, Z:19.22 [[ 2.30486015e-01 -9.73031766e-01 -9.24004656e-03 2.94678434e+02] [ 9.72289791e-01 2.30671043e-01 -3.79925219e-02 2.31271711e+02] [ 3.90993419e-02 -2.27257969e-04 9.99235303e-01 1.92151766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.400385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.68, Y:231.30, Z:19.22 [[ 2.31522926e-01 -9.72785664e-01 -9.22967701e-03 2.94683170e+02] [ 9.72043392e-01 2.31706758e-01 -3.79950409e-02 2.31298983e+02] [ 3.90996096e-02 -1.74923513e-04 9.99235303e-01 1.92168817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.430385723 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:294.69, Y:231.33, Z:19.22 [[ 2.32125836e-01 -9.72642072e-01 -9.21933849e-03 2.94687452e+02] [ 9.71899586e-01 2.32308804e-01 -3.79975493e-02 2.31327256e+02] [ 3.90997486e-02 -1.40058357e-04 9.99235303e-01 1.92191078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.460385723 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:294.69, Y:231.35, Z:19.22 [[ 2.31321074e-01 -9.72833340e-01 -9.26574190e-03 2.94691694e+02] [ 9.72091455e-01 2.31506468e-01 -3.79863012e-02 2.31352793e+02] [ 3.90994194e-02 -2.20116544e-04 9.99235301e-01 1.92185805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.490385723 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:294.69, Y:231.38, Z:19.22 [[ 2.31710086e-01 -9.72741416e-01 -9.19635250e-03 2.94694701e+02] [ 9.71998789e-01 2.31892473e-01 -3.80030928e-02 2.31380886e+02] [ 3.90997472e-02 -1.33143582e-04 9.99235304e-01 1.92228236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.520385723 meters Centerline goodness : 0.994696 Centerline is valid? [True, True] Translation: X:294.70, Y:231.41, Z:19.22 [[ 2.31425403e-01 -9.72809285e-01 -9.18578098e-03 2.94698850e+02] [ 9.72066609e-01 2.31607595e-01 -3.80056479e-02 2.31405703e+02] [ 3.90997438e-02 -1.33718573e-04 9.99235304e-01 1.92238034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.550385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.70, Y:231.43, Z:19.22 [[ 2.30425446e-01 -9.73046712e-01 -9.17662537e-03 2.94700808e+02] [ 9.72304136e-01 2.30608043e-01 -3.80078565e-02 2.31433145e+02] [ 3.90996234e-02 -1.64493512e-04 9.99235304e-01 1.92249307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.580385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.71, Y:231.46, Z:19.23 [[ 2.29945792e-01 -9.73160379e-01 -9.15475087e-03 2.94705719e+02] [ 9.72417684e-01 2.30127901e-01 -3.80131245e-02 2.31460850e+02] [ 3.90996303e-02 -1.61283614e-04 9.99235304e-01 1.92250642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.610385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.71, Y:231.49, Z:19.23 [[ 2.25808523e-01 -9.74128787e-01 -9.14419314e-03 2.94707940e+02] [ 9.73386770e-01 2.25993374e-01 -3.80156641e-02 2.31488632e+02] [ 3.90986798e-02 -3.16575660e-04 9.99235304e-01 1.92253606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.640385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.71, Y:231.52, Z:19.22 [[ 2.23626490e-01 -9.74632837e-01 -9.05681521e-03 2.94712343e+02] [ 9.73890383e-01 2.23809593e-01 -3.80366554e-02 2.31515749e+02] [ 3.90987755e-02 -3.14341519e-04 9.99235301e-01 1.92237870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.670385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:294.72, Y:231.54, Z:19.23 [[ 2.22307742e-01 -9.74935425e-01 -8.95455076e-03 2.94719065e+02] [ 9.74192229e-01 2.22487859e-01 -3.80611886e-02 2.31544460e+02] [ 3.90994799e-02 -2.62156854e-04 9.99235289e-01 1.92278131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.700385723 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:294.73, Y:231.57, Z:19.23 [[ 2.22205698e-01 -9.74957162e-01 -9.11925713e-03 2.94725174e+02] [ 9.74215586e-01 2.22392318e-01 -3.80216874e-02 2.31570959e+02] [ 3.90975691e-02 -4.35486862e-04 9.99235303e-01 1.92283079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.730385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:294.71, Y:231.59, Z:19.22 [[ 2.09841900e-01 -9.77692899e-01 -9.10888865e-03 2.94712500e+02] [ 9.76953640e-01 2.10037493e-01 -3.80241712e-02 2.31587463e+02] [ 3.90891703e-02 -9.19897595e-04 9.99235303e-01 1.92227094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.760385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.73, Y:231.62, Z:19.23 [[ 2.18491727e-01 -9.75809640e-01 -7.54402008e-03 2.94727747e+02] [ 9.75054481e-01 2.18619484e-01 -3.83963579e-02 2.31622779e+02] [ 3.91168059e-02 1.03345594e-03 9.99234110e-01 1.92276818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.790385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.73, Y:231.65, Z:19.23 [[ 2.19991269e-01 -9.75462616e-01 -8.74796308e-03 2.94731129e+02] [ 9.74717949e-01 2.20165085e-01 -3.81084775e-02 2.31650452e+02] [ 3.90993912e-02 -1.43264302e-04 9.99235316e-01 1.92288718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.820385723 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:294.73, Y:231.67, Z:19.23 [[ 2.14062122e-01 -9.76781441e-01 -8.68478083e-03 2.94727364e+02] [ 9.76037231e-01 2.14237993e-01 -3.81235705e-02 2.31670717e+02] [ 3.90990061e-02 -3.15857049e-04 9.99235292e-01 1.92252524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.850385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.74, Y:231.71, Z:19.24 [[ 2.27852146e-01 -9.73665228e-01 -7.70863168e-03 2.94744441e+02] [ 9.72910272e-01 2.27979137e-01 -3.83551177e-02 2.31707592e+02] [ 3.91024516e-02 1.23948890e-03 9.99234438e-01 1.92367751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.880385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.75, Y:231.74, Z:19.24 [[ 2.28951479e-01 -9.73395606e-01 -9.06724364e-03 2.94748759e+02] [ 9.72652375e-01 2.29130928e-01 -3.80312425e-02 2.31736133e+02] [ 3.90970303e-02 -1.11966843e-04 9.99235413e-01 1.92398881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.910385723 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:294.76, Y:231.76, Z:19.24 [[ 2.28648260e-01 -9.73466750e-01 -9.08073181e-03 2.94755146e+02] [ 9.72723703e-01 2.28828467e-01 -3.80280291e-02 2.31764312e+02] [ 3.90969518e-02 -1.38000397e-04 9.99235412e-01 1.92395077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.940385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.76, Y:231.79, Z:19.24 [[ 2.30924644e-01 -9.72928526e-01 -9.15922992e-03 2.94763606e+02] [ 9.72185797e-01 2.31106180e-01 -3.80093357e-02 2.31793085e+02] [ 3.90971216e-02 -1.27180918e-04 9.99235407e-01 1.92424319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.970385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.77, Y:231.82, Z:19.24 [[ 2.30904079e-01 -9.72930953e-01 -9.41636709e-03 2.94767566e+02] [ 9.72190692e-01 2.31095668e-01 -3.79479980e-02 2.31818228e+02] [ 3.90968635e-02 -3.92156937e-04 9.99235348e-01 1.92440830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.000385723 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:294.77, Y:231.85, Z:19.25 [[ 2.30332633e-01 -9.73068195e-01 -9.22851985e-03 2.94773958e+02] [ 9.72326239e-01 2.30517327e-01 -3.79927272e-02 2.31847149e+02] [ 3.90968482e-02 -2.22167112e-04 9.99235401e-01 1.92458916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.030385723 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:294.77, Y:231.87, Z:19.24 [[ 2.23954693e-01 -9.74554235e-01 -9.39891575e-03 2.94766040e+02] [ 9.73815183e-01 2.24150880e-01 -3.79522230e-02 2.31867099e+02] [ 3.90932749e-02 -6.53228427e-04 9.99235352e-01 1.92389824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.060385723 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:294.77, Y:231.89, Z:19.24 [[ 2.26125483e-01 -9.74061840e-01 -8.41416019e-03 2.94770763e+02] [ 9.73313138e-01 2.26281536e-01 -3.81864155e-02 2.31893819e+02] [ 3.90998992e-02 4.45308970e-04 9.99235207e-01 1.92410840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.090385723 meters Centerline goodness : 0.999722 Centerline is valid? [True, True] Translation: X:294.78, Y:231.93, Z:19.25 [[ 2.33861800e-01 -9.72234033e-01 -8.34524820e-03 2.94781975e+02] [ 9.71483528e-01 2.34009189e-01 -3.82027910e-02 2.31925814e+02] [ 3.90949183e-02 8.26902284e-04 9.99235159e-01 1.92477495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.12038572299997 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:294.78, Y:231.95, Z:19.24 [[ 2.30931427e-01 -9.72927857e-01 -9.05872790e-03 2.94781722e+02] [ 9.72184199e-01 2.31109031e-01 -3.80328641e-02 2.31948297e+02] [ 3.90967868e-02 -2.37685448e-05 9.99235428e-01 1.92430209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.150385723 meters Centerline goodness : 0.999659 Centerline is valid? [True, True] Translation: X:294.79, Y:231.97, Z:19.24 [[ 2.30815568e-01 -9.72961007e-01 -8.42925081e-03 2.94786428e+02] [ 9.72211704e-01 2.30968605e-01 -3.81825342e-02 2.31973851e+02] [ 3.90970092e-02 6.18106995e-04 9.99235228e-01 1.92448054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.180385723 meters Centerline goodness : 0.999659 Centerline is valid? [True, True] Translation: X:294.79, Y:232.00, Z:19.25 [[ 2.30922070e-01 -9.72937548e-01 -8.21736764e-03 2.94792779e+02] [ 9.72186413e-01 2.31066704e-01 -3.82329149e-02 2.32000541e+02] [ 3.90969986e-02 8.40010673e-04 9.99235067e-01 1.92458085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.210385723 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:294.80, Y:232.03, Z:19.25 [[ 2.32206166e-01 -9.72631318e-01 -8.28344655e-03 2.94799248e+02] [ 9.71880554e-01 2.32352405e-01 -3.82171300e-02 2.32028298e+02] [ 3.90958563e-02 8.23732606e-04 9.99235125e-01 1.92472799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.240385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.81, Y:232.06, Z:19.26 [[ 2.38430013e-01 -9.71123631e-01 -8.36789054e-03 2.94811504e+02] [ 9.70372648e-01 2.38574763e-01 -3.81969354e-02 2.32061667e+02] [ 3.90903141e-02 9.87323678e-04 9.99235194e-01 1.92572227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.270385723 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:294.82, Y:232.09, Z:19.26 [[ 2.39938071e-01 -9.70745263e-01 -9.12993730e-03 2.94818248e+02] [ 9.70000696e-01 2.40111565e-01 -3.80142950e-02 2.32087515e+02] [ 3.90944003e-02 2.65031080e-04 9.99235487e-01 1.92561350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.300385723 meters Centerline goodness : 0.999638 Centerline is valid? [True, True] Translation: X:294.82, Y:232.11, Z:19.25 [[ 2.37265672e-01 -9.71402913e-01 -9.02121670e-03 2.94822995e+02] [ 9.70657832e-01 2.37436958e-01 -3.80402967e-02 2.32114691e+02] [ 3.90944253e-02 2.69141918e-04 9.99235485e-01 1.92548783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.330385723 meters Centerline goodness : 0.999744 Centerline is valid? [True, True] Translation: X:294.83, Y:232.14, Z:19.26 [[ 2.37310439e-01 -9.71392364e-01 -8.97944997e-03 2.94829728e+02] [ 9.70646897e-01 2.37480055e-01 -3.80502949e-02 2.32141717e+02] [ 3.90942062e-02 3.13856951e-04 9.99235480e-01 1.92586825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.360385723 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:294.84, Y:232.17, Z:19.26 [[ 2.38023313e-01 -9.71218329e-01 -8.93644636e-03 2.94838942e+02] [ 9.70472351e-01 2.38190697e-01 -3.80605804e-02 2.32169643e+02] [ 3.90937117e-02 3.86731348e-04 9.99235474e-01 1.92606328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.390385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.84, Y:232.20, Z:19.26 [[ 2.35229244e-01 -9.71897391e-01 -9.09200783e-03 2.94842971e+02] [ 9.71153321e-01 2.35404861e-01 -3.80233837e-02 2.32195782e+02] [ 3.90951302e-02 1.14478195e-04 9.99235487e-01 1.92612918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.420385723 meters Centerline goodness : 0.999679 Centerline is valid? [True, True] Translation: X:294.85, Y:232.22, Z:19.26 [[ 2.36977288e-01 -9.71474966e-01 -8.84056842e-03 2.94853362e+02] [ 9.70728314e-01 2.37141718e-01 -3.80834060e-02 2.32224075e+02] [ 3.90935432e-02 4.43112210e-04 9.99235457e-01 1.92646343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.450385723 meters Centerline goodness : 0.999615 Centerline is valid? [True, True] Translation: X:294.86, Y:232.25, Z:19.27 [[ 2.36492639e-01 -9.71590875e-01 -9.07762854e-03 2.94860524e+02] [ 9.70846446e-01 2.36666726e-01 -3.80268171e-02 2.32251512e+02] [ 3.90948811e-02 1.80078908e-04 9.99235487e-01 1.92663471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.480385723 meters Centerline goodness : 0.999274 Centerline is valid? [True, True] Translation: X:294.87, Y:232.28, Z:19.27 [[ 2.36801539e-01 -9.71515734e-01 -9.06697209e-03 2.94869419e+02] [ 9.70771153e-01 2.36974972e-01 -3.80293578e-02 2.32278656e+02] [ 3.90947649e-02 2.03455489e-04 9.99235487e-01 1.92668115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.510385723 meters Centerline goodness : 0.999637 Centerline is valid? [True, True] Translation: X:294.87, Y:232.31, Z:19.27 [[ 2.35220079e-01 -9.71899954e-01 -9.05503468e-03 2.94874637e+02] [ 9.71155547e-01 2.35394257e-01 -3.80322000e-02 2.32305020e+02] [ 3.90949966e-02 1.52089931e-04 9.99235487e-01 1.92684952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.540385723 meters Centerline goodness : 0.998312 Centerline is valid? [True, True] Translation: X:294.88, Y:232.33, Z:19.27 [[ 2.36694524e-01 -9.71542049e-01 -9.04148495e-03 2.94881982e+02] [ 9.70797256e-01 2.36867042e-01 -3.80354209e-02 2.32332471e+02] [ 3.90946406e-02 2.25327067e-04 9.99235487e-01 1.92687418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.570385723 meters Centerline goodness : 0.998806 Centerline is valid? [True, True] Translation: X:294.89, Y:232.36, Z:19.27 [[ 2.38515982e-01 -9.71096598e-01 -9.02905259e-03 2.94888779e+02] [ 9.70351370e-01 2.38686616e-01 -3.80383719e-02 2.32358382e+02] [ 3.90940476e-02 3.11406096e-04 9.99235487e-01 1.92691016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.600385723 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:294.89, Y:232.38, Z:19.27 [[ 2.38286079e-01 -9.71153166e-01 -9.01515984e-03 2.94894551e+02] [ 9.70407854e-01 2.38456345e-01 -3.80416643e-02 2.32383874e+02] [ 3.90940047e-02 3.16417110e-04 9.99235487e-01 1.92713571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.630385723 meters Centerline goodness : 0.999701 Centerline is valid? [True, True] Translation: X:294.90, Y:232.41, Z:19.27 [[ 2.38934579e-01 -9.70993954e-01 -9.00046691e-03 2.94902324e+02] [ 9.70248398e-01 2.39103772e-01 -3.80451402e-02 2.32410846e+02] [ 3.90936467e-02 3.57610976e-04 9.99235487e-01 1.92725976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.660385723 meters Centerline goodness : 0.999744 Centerline is valid? [True, True] Translation: X:294.91, Y:232.44, Z:19.27 [[ 2.39084259e-01 -9.70957208e-01 -8.98989532e-03 2.94909632e+02] [ 9.70211532e-01 2.39252922e-01 -3.80476381e-02 2.32437637e+02] [ 3.90934872e-02 3.74491246e-04 9.99235487e-01 1.92743871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.690385723 meters Centerline goodness : 0.995525 Centerline is valid? [True, True] Translation: X:294.92, Y:232.46, Z:19.27 [[ 2.39970790e-01 -9.70738583e-01 -8.97908587e-03 2.94917520e+02] [ 9.69992658e-01 2.40138349e-01 -3.80501889e-02 2.32463265e+02] [ 3.90930093e-02 4.21286523e-04 9.99235487e-01 1.92727782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.720385723 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:294.92, Y:232.49, Z:19.28 [[ 2.39743115e-01 -9.70795718e-01 -8.88332918e-03 2.94924348e+02] [ 9.70048995e-01 2.39907095e-01 -3.80727382e-02 2.32489544e+02] [ 3.90920249e-02 5.10412304e-04 9.99235484e-01 1.92764238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.750385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:294.93, Y:232.52, Z:19.28 [[ 2.40039171e-01 -9.70721920e-01 -8.95265956e-03 2.94931360e+02] [ 9.69975751e-01 2.40205641e-01 -3.80564285e-02 2.32515708e+02] [ 3.90926887e-02 4.51170882e-04 9.99235487e-01 1.92762044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.780385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:294.94, Y:232.54, Z:19.28 [[ 2.40418738e-01 -9.70628084e-01 -8.94168273e-03 2.94938544e+02] [ 9.69881754e-01 2.40584487e-01 -3.80590075e-02 2.32542497e+02] [ 3.90923716e-02 4.77723627e-04 9.99235487e-01 1.92787692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.810385723 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:294.95, Y:232.57, Z:19.28 [[ 2.41630518e-01 -9.70327227e-01 -8.93119819e-03 2.94946751e+02] [ 9.69580600e-01 2.41794923e-01 -3.80614677e-02 2.32568213e+02] [ 3.90915968e-02 5.37295653e-04 9.99235487e-01 1.92782298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.840385723 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:294.95, Y:232.60, Z:19.28 [[ 2.42935574e-01 -9.70001380e-01 -8.92354639e-03 2.94954267e+02] [ 9.69254468e-01 2.43098674e-01 -3.80632616e-02 2.32595077e+02] [ 3.90907186e-02 5.97733091e-04 9.99235487e-01 1.92798715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.87038572299997 meters Centerline goodness : 0.999080 Centerline is valid? [True, True] Translation: X:294.97, Y:232.62, Z:19.28 [[ 2.45825748e-01 -9.69273744e-01 -8.83807165e-03 2.94965257e+02] [ 9.68525631e-01 2.45983266e-01 -3.80832620e-02 2.32623826e+02] [ 3.90871237e-02 8.01947464e-04 9.99235485e-01 1.92783541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.900385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:294.97, Y:232.65, Z:19.28 [[ 2.44707504e-01 -9.69555362e-01 -8.97981608e-03 2.94970386e+02] [ 9.68808631e-01 2.44871448e-01 -3.80501186e-02 2.32650504e+02] [ 3.90905971e-02 6.11426246e-04 9.99235483e-01 1.92804599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.930385723 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:294.98, Y:232.68, Z:19.28 [[ 2.44780997e-01 -9.69538625e-01 -8.78170684e-03 2.94978798e+02] [ 9.68790214e-01 2.44937107e-01 -3.80963822e-02 2.32677528e+02] [ 3.90868799e-02 8.17638761e-04 9.99235481e-01 1.92812628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.960385723 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:294.97, Y:232.69, Z:19.27 [[ 2.35725932e-01 -9.71778960e-01 -8.88470544e-03 2.94973290e+02] [ 9.71032937e-01 2.35893052e-01 -3.80723463e-02 2.32694670e+02] [ 3.90937454e-02 3.47297689e-04 9.99235487e-01 1.92737313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.990385723 meters Centerline goodness : 0.999052 Centerline is valid? [True, True] Translation: X:294.99, Y:232.73, Z:19.28 [[ 2.42645759e-01 -9.70085512e-01 -7.55881927e-03 2.94988720e+02] [ 9.69328270e-01 2.42755356e-01 -3.83737124e-02 2.32728817e+02] [ 3.90607263e-02 1.98424138e-03 9.99234869e-01 1.92820756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.020385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.00, Y:232.76, Z:19.28 [[ 2.40941812e-01 -9.70502196e-01 -8.51653314e-03 2.94996245e+02] [ 9.69752314e-01 2.41090471e-01 -3.81553920e-02 2.32755477e+02] [ 3.90831467e-02 9.34301563e-04 9.99235525e-01 1.92835097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.050385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:295.01, Y:232.78, Z:19.28 [[ 2.39796335e-01 -9.70784350e-01 -8.68695978e-03 2.95005959e+02] [ 9.70036026e-01 2.39952571e-01 -3.81165514e-02 2.32780770e+02] [ 3.90874100e-02 7.13545406e-04 9.99235540e-01 1.92839512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.080385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:295.01, Y:232.81, Z:19.28 [[ 2.38402635e-01 -9.71127614e-01 -8.67994916e-03 2.95014101e+02] [ 9.70379457e-01 2.38559670e-01 -3.81181478e-02 2.32807299e+02] [ 3.90882718e-02 6.64622540e-04 9.99235540e-01 1.92849261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.110385723 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:295.02, Y:232.83, Z:19.28 [[ 2.32928696e-01 -9.72455174e-01 -8.66934052e-03 2.95022089e+02] [ 9.71707824e-01 2.33089527e-01 -3.81205605e-02 2.32832038e+02] [ 3.90912687e-02 4.55306437e-04 9.99235541e-01 1.92824431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.140385723 meters Centerline goodness : 0.994594 Centerline is valid? [True, True] Translation: X:295.03, Y:232.86, Z:19.29 [[ 2.33935809e-01 -9.72216149e-01 -8.35443656e-03 2.95031743e+02] [ 9.71466059e-01 2.34083510e-01 -3.81917138e-02 2.32857626e+02] [ 3.90862367e-02 8.18357886e-04 9.99235506e-01 1.92860601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.170385723 meters Centerline goodness : 0.996156 Centerline is valid? [True, True] Translation: X:295.04, Y:232.89, Z:19.28 [[ 2.30247885e-01 -9.73096537e-01 -8.30909774e-03 2.95043404e+02] [ 9.72346644e-01 2.30396649e-01 -3.82019411e-02 2.32886306e+02] [ 3.90885648e-02 7.16592810e-04 9.99235493e-01 1.92838052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.200385723 meters Centerline goodness : 0.994405 Centerline is valid? [True, True] Translation: X:295.05, Y:232.91, Z:19.28 [[ 2.27974618e-01 -9.73627462e-01 -8.78283664e-03 2.95053919e+02] [ 9.72881912e-01 2.28143694e-01 -3.80951474e-02 2.32911568e+02] [ 3.90942305e-02 1.40063765e-04 9.99235519e-01 1.92834851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.230385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:295.06, Y:232.93, Z:19.29 [[ 2.24882198e-01 -9.74346518e-01 -8.76692862e-03 2.95058426e+02] [ 9.73601369e-01 2.25053018e-01 -3.80987272e-02 2.32933711e+02] [ 3.90943859e-02 3.22317980e-05 9.99235522e-01 1.92870194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.260385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.07, Y:232.96, Z:19.29 [[ 2.25369788e-01 -9.74237571e-01 -8.34350886e-03 2.95068204e+02] [ 9.73488725e-01 2.25523657e-01 -3.81940250e-02 2.32962062e+02] [ 3.90917128e-02 4.85467501e-04 9.99235509e-01 1.92863357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.290385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.08, Y:232.99, Z:19.29 [[ 2.22534482e-01 -9.74887543e-01 -8.52541818e-03 2.95077511e+02] [ 9.74140695e-01 2.22697652e-01 -3.81531291e-02 2.32987730e+02] [ 3.90936009e-02 1.85430041e-04 9.99235536e-01 1.92864550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.320385723 meters Centerline goodness : 0.996537 Centerline is valid? [True, True] Translation: X:295.09, Y:233.01, Z:19.29 [[ 2.21158869e-01 -9.75200181e-01 -8.56513361e-03 2.95091531e+02] [ 9.74453909e-01 2.21324646e-01 -3.81442112e-02 2.33013878e+02] [ 3.90939169e-02 8.96026938e-05 9.99235537e-01 1.92872802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.350385723 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:295.10, Y:233.04, Z:19.29 [[ 2.17069679e-01 -9.76117840e-01 -8.64386550e-03 2.95097019e+02] [ 9.75372969e-01 2.17241658e-01 -3.81265484e-02 2.33036401e+02] [ 3.90938118e-02 -1.54875115e-04 9.99235533e-01 1.92882971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.380385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:295.11, Y:233.06, Z:19.29 [[ 2.15612755e-01 -9.76443679e-01 -8.29944473e-03 2.95105693e+02] [ 9.75696026e-01 2.15772383e-01 -3.82039639e-02 2.33062800e+02] [ 3.90948100e-02 1.39526659e-04 9.99235496e-01 1.92886658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.410385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:295.12, Y:233.09, Z:19.29 [[ 2.11557353e-01 -9.77330038e-01 -8.33568018e-03 2.95116419e+02] [ 9.76583373e-01 2.11721500e-01 -3.81958281e-02 2.33089787e+02] [ 3.90947728e-02 -5.98783705e-05 9.99235505e-01 1.92904965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.440385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.12, Y:233.12, Z:19.29 [[ 2.11758619e-01 -9.77284471e-01 -8.56441761e-03 2.95124875e+02] [ 9.76539820e-01 2.11931545e-01 -3.81444718e-02 2.33116564e+02] [ 3.90930702e-02 -2.86074181e-04 9.99235533e-01 1.92915627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.470385723 meters Centerline goodness : 0.996161 Centerline is valid? [True, True] Translation: X:295.13, Y:233.14, Z:19.29 [[ 2.09911098e-01 -9.77683065e-01 -8.55304978e-03 2.95133742e+02] [ 9.76938638e-01 2.10084989e-01 -3.81470206e-02 2.33140349e+02] [ 3.90925634e-02 -3.48321810e-04 9.99235533e-01 1.92908527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.500385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.14, Y:233.17, Z:19.29 [[ 2.06188376e-01 -9.78477001e-01 -8.31341215e-03 2.95143147e+02] [ 9.77731058e-01 2.06355751e-01 -3.82005663e-02 2.33166959e+02] [ 3.90938959e-02 -2.51768514e-04 9.99235510e-01 1.92927066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.530385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.15, Y:233.19, Z:19.29 [[ 2.04957971e-01 -9.78733700e-01 -8.51901711e-03 2.95151587e+02] [ 9.77989847e-01 2.05134302e-01 -3.81546606e-02 2.33194237e+02] [ 3.90907947e-02 -5.11410423e-04 9.99235532e-01 1.92944506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.560385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.16, Y:233.22, Z:19.30 [[ 2.02761504e-01 -9.79191185e-01 -8.50860819e-03 2.95161232e+02] [ 9.78447631e-01 2.02939099e-01 -3.81569816e-02 2.33221132e+02] [ 3.90897093e-02 -5.88460536e-04 9.99235532e-01 1.92961062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.590385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:295.17, Y:233.25, Z:19.30 [[ 2.02555048e-01 -9.79234507e-01 -8.43995118e-03 2.95169393e+02] [ 9.78490355e-01 2.02730124e-01 -3.81722672e-02 2.33247904e+02] [ 3.90906336e-02 -5.26425405e-04 9.99235530e-01 1.92972533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.62038572299997 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:295.18, Y:233.28, Z:19.30 [[ 2.01566021e-01 -9.79437862e-01 -8.52137969e-03 2.95176555e+02] [ 9.78694645e-01 2.01745020e-01 -3.81541483e-02 2.33275373e+02] [ 3.90887633e-02 -6.49248819e-04 9.99235531e-01 1.93002037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.650385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.19, Y:233.30, Z:19.30 [[ 2.01186199e-01 -9.79516284e-01 -8.48314370e-03 2.95185660e+02] [ 9.78772779e-01 2.01363997e-01 -3.81626477e-02 2.33302923e+02] [ 3.90891346e-02 -6.25272111e-04 9.99235532e-01 1.93002541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.680385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.19, Y:233.33, Z:19.30 [[ 2.01452133e-01 -9.79461697e-01 -8.47486105e-03 2.95192224e+02] [ 9.78718067e-01 2.01629406e-01 -3.81644875e-02 2.33329368e+02] [ 3.90894348e-02 -6.06182232e-04 9.99235532e-01 1.93011034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.710385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.20, Y:233.36, Z:19.30 [[ 2.01539205e-01 -9.79443841e-01 -8.46825632e-03 2.95199911e+02] [ 9.78700134e-01 2.01716155e-01 -3.81659529e-02 2.33355671e+02] [ 3.90895916e-02 -5.95947800e-04 9.99235532e-01 1.93021109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.740385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.21, Y:233.38, Z:19.30 [[ 2.01910026e-01 -9.79367560e-01 -8.45715551e-03 2.95208034e+02] [ 9.78623684e-01 2.02086263e-01 -3.81684126e-02 2.33381686e+02] [ 3.90899801e-02 -5.69787491e-04 9.99235532e-01 1.93030120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.770385723 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:295.21, Y:233.41, Z:19.30 [[ 2.02060085e-01 -9.79336706e-01 -8.44620318e-03 2.95214646e+02] [ 9.78592702e-01 2.02235780e-01 -3.81708360e-02 2.33408742e+02] [ 3.90902253e-02 -5.52590419e-04 9.99235532e-01 1.93040145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.800385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:295.22, Y:233.44, Z:19.31 [[ 2.02800351e-01 -9.79183767e-01 -8.43617890e-03 2.95221123e+02] [ 9.78439538e-01 2.02975093e-01 -3.81730514e-02 2.33436044e+02] [ 3.90907664e-02 -5.12782773e-04 9.99235532e-01 1.93051157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.830385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.23, Y:233.46, Z:19.31 [[ 2.05180730e-01 -9.78687832e-01 -8.42588555e-03 2.95227074e+02] [ 9.77943088e-01 2.05353261e-01 -3.81753233e-02 2.33463168e+02] [ 3.90920075e-02 -4.07195833e-04 9.99235532e-01 1.93059333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.860385723 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:295.23, Y:233.49, Z:19.31 [[ 2.06339510e-01 -9.78444269e-01 -8.41541649e-03 2.95232643e+02] [ 9.77699227e-01 2.06510750e-01 -3.81776310e-02 2.33490293e+02] [ 3.90925582e-02 -3.50192530e-04 9.99235532e-01 1.93059202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.890385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.24, Y:233.52, Z:19.31 [[ 2.10378912e-01 -9.77583792e-01 -8.40494062e-03 2.95237078e+02] [ 9.76837957e-01 2.10546665e-01 -3.81799371e-02 2.33517896e+02] [ 3.90937199e-02 -1.78011372e-04 9.99235532e-01 1.93066863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.920385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.24, Y:233.54, Z:19.31 [[ 2.12188547e-01 -9.77192685e-01 -8.39506303e-03 2.95242283e+02] [ 9.76446455e-01 2.12354532e-01 -3.81821089e-02 2.33544430e+02] [ 3.90940072e-02 -9.55233242e-05 9.99235533e-01 1.93071712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.950385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.25, Y:233.57, Z:19.31 [[ 2.11678786e-01 -9.77303332e-01 -8.38385505e-03 2.95248049e+02] [ 9.76557091e-01 2.11844723e-01 -3.81845698e-02 2.33572359e+02] [ 3.90939827e-02 -1.04449716e-04 9.99235533e-01 1.93092075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.980385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.25, Y:233.60, Z:19.31 [[ 2.10013573e-01 -9.77662614e-01 -8.37330315e-03 2.95253758e+02] [ 9.76916565e-01 2.10180369e-01 -3.81868835e-02 2.33598831e+02] [ 3.90937923e-02 -1.60254688e-04 9.99235533e-01 1.93105796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.010385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.26, Y:233.63, Z:19.31 [[ 2.08691240e-01 -9.77945826e-01 -8.36223139e-03 2.95259886e+02] [ 9.77199906e-01 2.08858612e-01 -3.81893079e-02 2.33625774e+02] [ 3.90935983e-02 -2.01797723e-04 9.99235533e-01 1.93126361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.040385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.27, Y:233.65, Z:19.31 [[ 2.07037634e-01 -9.78297329e-01 -8.35186453e-03 2.95265745e+02] [ 9.77551602e-01 2.07205862e-01 -3.81915749e-02 2.33652193e+02] [ 3.90932710e-02 -2.57285256e-04 9.99235533e-01 1.93140490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.070385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:295.27, Y:233.68, Z:19.32 [[ 2.03819942e-01 -9.78972860e-01 -8.34093640e-03 2.95271059e+02] [ 9.78227592e-01 2.03990195e-01 -3.81939614e-02 2.33679803e+02] [ 3.90923209e-02 -3.74643123e-04 9.99235533e-01 1.93151506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.100385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:295.28, Y:233.71, Z:19.32 [[ 2.03558859e-01 -9.79027267e-01 -8.33073411e-03 2.95277073e+02] [ 9.78281954e-01 2.03728912e-01 -3.81961866e-02 2.33707737e+02] [ 3.90923196e-02 -3.74634689e-04 9.99235533e-01 1.93162641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.130385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.28, Y:233.74, Z:19.31 [[ 2.01476435e-01 -9.79458021e-01 -8.32053946e-03 2.95282732e+02] [ 9.78712980e-01 2.01647675e-01 -3.81984073e-02 2.33736657e+02] [ 3.90915538e-02 -4.47341068e-04 9.99235533e-01 1.93148441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.160385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.29, Y:233.76, Z:19.32 [[ 2.00142539e-01 -9.79731041e-01 -8.36965202e-03 2.95286804e+02] [ 9.78986677e-01 2.00316708e-01 -3.81877181e-02 2.33762956e+02] [ 3.90902740e-02 -5.50790967e-04 9.99235531e-01 1.93167100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.190385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.29, Y:233.79, Z:19.32 [[ 1.98118257e-01 -9.80142928e-01 -8.30645109e-03 2.95292026e+02] [ 9.79398350e-01 1.98291502e-01 -3.82014605e-02 2.33789057e+02] [ 3.90899900e-02 -5.66917713e-04 9.99235533e-01 1.93173918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.220385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.30, Y:233.82, Z:19.32 [[ 1.97368538e-01 -9.80294273e-01 -8.29449759e-03 2.95297855e+02] [ 9.79549720e-01 1.97541886e-01 -3.82040557e-02 2.33816154e+02] [ 3.90897277e-02 -5.84594156e-04 9.99235534e-01 1.93183430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.250385723 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:295.30, Y:233.84, Z:19.32 [[ 1.96744069e-01 -9.80419890e-01 -8.28317567e-03 2.95303723e+02] [ 9.79675344e-01 1.96917450e-01 -3.82065103e-02 2.33843522e+02] [ 3.90895245e-02 -5.97918686e-04 9.99235534e-01 1.93198127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.280385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.31, Y:233.87, Z:19.32 [[ 1.95902739e-01 -9.80588436e-01 -8.27265425e-03 2.95308390e+02] [ 9.79843944e-01 1.96076349e-01 -3.82087883e-02 2.33870902e+02] [ 3.90891678e-02 -6.20703867e-04 9.99235534e-01 1.93205702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.310385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.31, Y:233.90, Z:19.32 [[ 1.94759424e-01 -9.80816244e-01 -8.26213979e-03 2.95312326e+02] [ 9.80071859e-01 1.94933492e-01 -3.82110618e-02 2.33898130e+02] [ 3.90885979e-02 -6.55526306e-04 9.99235534e-01 1.93207382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.340385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.32, Y:233.93, Z:19.32 [[ 1.97873141e-01 -9.80192910e-01 -8.25101758e-03 2.95323380e+02] [ 9.79447876e-01 1.98044411e-01 -3.82134633e-02 2.33928664e+02] [ 3.90906337e-02 -5.20023627e-04 9.99235534e-01 1.93183962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.37038572299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.32, Y:233.95, Z:19.32 [[ 1.93340275e-01 -9.81093493e-01 -8.66577193e-03 2.95324658e+02] [ 9.80353142e-01 1.93531116e-01 -3.81238131e-02 2.33952351e+02] [ 3.90801214e-02 -1.12464824e-03 9.99235447e-01 1.93233197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.400385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.33, Y:233.98, Z:19.33 [[ 1.92779204e-01 -9.81207630e-01 -8.23202397e-03 2.95330201e+02] [ 9.80463334e-01 1.92953602e-01 -3.82172466e-02 2.33979844e+02] [ 3.90874527e-02 -7.03707291e-04 9.99235546e-01 1.93250094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.430385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.34, Y:234.01, Z:19.33 [[ 1.92668075e-01 -9.81229542e-01 -8.22190808e-03 2.95335297e+02] [ 9.80485174e-01 1.92842163e-01 -3.82194228e-02 2.34007041e+02] [ 3.90875573e-02 -6.97796364e-04 9.99235546e-01 1.93259912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.460385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:295.34, Y:234.03, Z:19.33 [[ 1.93341592e-01 -9.81097138e-01 -8.21186077e-03 2.95338990e+02] [ 9.80352560e-01 1.93514778e-01 -3.82215815e-02 2.34033203e+02] [ 3.90882006e-02 -6.60697329e-04 9.99235546e-01 1.93266092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.490385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.34, Y:234.06, Z:19.33 [[ 1.94258604e-01 -9.80916079e-01 -8.20000532e-03 2.95344240e+02] [ 9.80171233e-01 1.94430632e-01 -3.82241248e-02 2.34060141e+02] [ 3.90889908e-02 -6.12044225e-04 9.99235546e-01 1.93274622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.520385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:295.35, Y:234.09, Z:19.33 [[ 1.96724616e-01 -9.80424586e-01 -8.18881260e-03 2.95349446e+02] [ 9.79679210e-01 1.96894334e-01 -3.82265224e-02 2.34087110e+02] [ 3.90905532e-02 -5.02311516e-04 9.99235546e-01 1.93285701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.550385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.35, Y:234.11, Z:19.33 [[ 2.00053663e-01 -9.79750814e-01 -8.17764690e-03 2.95353574e+02] [ 9.79004768e-01 2.00220413e-01 -3.82289109e-02 2.34113099e+02] [ 3.90921384e-02 -3.58121639e-04 9.99235546e-01 1.93292304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.580385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.36, Y:234.14, Z:19.33 [[ 2.01952271e-01 -9.79361321e-01 -8.16593806e-03 2.95358526e+02] [ 9.78614853e-01 2.02117118e-01 -3.82314118e-02 2.34141106e+02] [ 3.90928419e-02 -2.70387817e-04 9.99235546e-01 1.93316724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.610385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.36, Y:234.17, Z:19.33 [[ 2.03527998e-01 -9.79035158e-01 -8.15557567e-03 2.95363622e+02] [ 9.78288337e-01 2.03691239e-01 -3.82336222e-02 2.34168103e+02] [ 3.90932797e-02 -1.96891950e-04 9.99235546e-01 1.93324568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.640385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.37, Y:234.20, Z:19.33 [[ 2.06966219e-01 -9.78314187e-01 -8.14463553e-03 2.95369625e+02] [ 9.77566705e-01 2.07126407e-01 -3.82359526e-02 2.34195907e+02] [ 3.90937440e-02 -4.83739754e-05 9.99235546e-01 1.93343991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.670385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.38, Y:234.22, Z:19.33 [[ 2.09921857e-01 -9.77684332e-01 -8.13394913e-03 2.95375375e+02] [ 9.76936281e-01 2.10079367e-01 -3.82382258e-02 2.34222617e+02] [ 3.90936891e-02 8.06893370e-05 9.99235546e-01 1.93347932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.700385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:295.38, Y:234.25, Z:19.34 [[ 2.11110398e-01 -9.77428474e-01 -8.12263523e-03 2.95381052e+02] [ 9.76680140e-01 2.11266557e-01 -3.82406290e-02 2.34249900e+02] [ 3.90935208e-02 1.39777902e-04 9.99235546e-01 1.93361808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.730385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.39, Y:234.28, Z:19.34 [[ 2.13364319e-01 -9.76939024e-01 -8.11244171e-03 2.95386889e+02] [ 9.76190249e-01 2.13518352e-01 -3.82427913e-02 2.34277745e+02] [ 3.90930304e-02 2.40360630e-04 9.99235546e-01 1.93382998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.760385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:295.39, Y:234.31, Z:19.34 [[ 2.14353187e-01 -9.76722617e-01 -8.10192414e-03 2.95392801e+02] [ 9.75973603e-01 2.14506050e-01 -3.82450194e-02 2.34305111e+02] [ 3.90926872e-02 2.90677707e-04 9.99235546e-01 1.93397797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.790385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.40, Y:234.33, Z:19.34 [[ 2.15931261e-01 -9.76375042e-01 -8.09118037e-03 2.95399719e+02] [ 9.75625697e-01 2.16082493e-01 -3.82472922e-02 2.34331160e+02] [ 3.90920640e-02 3.64822564e-04 9.99235547e-01 1.93406050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.820385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:295.41, Y:234.36, Z:19.34 [[ 2.15981853e-01 -9.76363917e-01 -8.08340174e-03 2.95406205e+02] [ 9.75614502e-01 2.16132741e-01 -3.82489361e-02 2.34358744e+02] [ 3.90919689e-02 3.74792149e-04 9.99235547e-01 1.93421144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.850385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.41, Y:234.38, Z:19.34 [[ 2.15725243e-01 -9.76420733e-01 -8.07295353e-03 2.95412982e+02] [ 9.75671276e-01 2.15875919e-01 -3.82511412e-02 2.34384902e+02] [ 3.90919636e-02 3.75187871e-04 9.99235547e-01 1.93415643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.880385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.42, Y:234.41, Z:19.34 [[ 2.15120818e-01 -9.76554166e-01 -8.06192606e-03 2.95419537e+02] [ 9.75804716e-01 2.15271525e-01 -3.82534653e-02 2.34412594e+02] [ 3.90920840e-02 3.62251258e-04 9.99235547e-01 1.93437252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.910385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.43, Y:234.44, Z:19.35 [[ 2.13950364e-01 -9.76811351e-01 -8.05151979e-03 2.95428010e+02] [ 9.76061999e-01 2.14101562e-01 -3.82556555e-02 2.34439450e+02] [ 3.90924014e-02 3.26028897e-04 9.99235547e-01 1.93455030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.940385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.43, Y:234.47, Z:19.35 [[ 2.12800696e-01 -9.77062541e-01 -8.04081886e-03 2.95434446e+02] [ 9.76313283e-01 2.12952357e-01 -3.82579045e-02 2.34465464e+02] [ 3.90926767e-02 2.90950468e-04 9.99235547e-01 1.93457180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.970385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.44, Y:234.49, Z:19.35 [[ 2.11807650e-01 -9.77278387e-01 -8.02950558e-03 2.95442456e+02] [ 9.76529194e-01 2.11959629e-01 -3.82602788e-02 2.34492678e+02] [ 3.90928746e-02 2.62773112e-04 9.99235547e-01 1.93460067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.000385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.45, Y:234.52, Z:19.35 [[ 2.10738256e-01 -9.77509632e-01 -8.01921295e-03 2.95448976e+02] [ 9.76760523e-01 2.10890652e-01 -3.82624360e-02 2.34519870e+02] [ 3.90930767e-02 2.30508380e-04 9.99235547e-01 1.93462995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.030385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.46, Y:234.55, Z:19.35 [[ 2.08486481e-01 -9.77992456e-01 -8.00888468e-03 2.95456424e+02] [ 9.77243618e-01 2.08640198e-01 -3.82645977e-02 2.34548184e+02] [ 3.90934632e-02 1.51019899e-04 9.99235547e-01 1.93452817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.060385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.46, Y:234.57, Z:19.35 [[ 2.08323161e-01 -9.78026372e-01 -8.11646343e-03 2.95462908e+02] [ 9.77278428e-01 2.08481211e-01 -3.82421115e-02 2.34574737e+02] [ 3.90939237e-02 3.46729520e-05 9.99235540e-01 1.93470566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.090385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.46, Y:234.59, Z:19.34 [[ 1.96796036e-01 -9.80411951e-01 -7.98289250e-03 2.95456907e+02] [ 9.79664783e-01 1.96957668e-01 -3.82699740e-02 2.34593008e+02] [ 3.90926318e-02 -2.89179451e-04 9.99235549e-01 1.93389500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.12038572299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.48, Y:234.63, Z:19.35 [[ 2.05351747e-01 -9.78664929e-01 -6.75398756e-03 2.95475240e+02] [ 9.77907255e-01 2.05458633e-01 -3.85246911e-02 2.34627709e+02] [ 3.90904291e-02 1.30633917e-03 9.99234823e-01 1.93500618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.150385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.48, Y:234.65, Z:19.35 [[ 2.04685980e-01 -9.78795235e-01 -7.97105659e-03 2.95480939e+02] [ 9.78046740e-01 2.04841126e-01 -3.82712332e-02 2.34654424e+02] [ 3.90925009e-02 3.75189544e-05 9.99235595e-01 1.93519162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.180385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.49, Y:234.68, Z:19.35 [[ 2.04236926e-01 -9.78889125e-01 -7.95983166e-03 2.95486119e+02] [ 9.78140611e-01 2.04391976e-01 -3.82735677e-02 2.34682238e+02] [ 3.90925049e-02 3.10412040e-05 9.99235595e-01 1.93536094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.210385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.49, Y:234.71, Z:19.35 [[ 2.03180230e-01 -9.79109085e-01 -7.94940639e-03 2.95489661e+02] [ 9.78360654e-01 2.03335681e-01 -3.82757329e-02 2.34709314e+02] [ 3.90925158e-02 -5.14220677e-07 9.99235595e-01 1.93544537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.240385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.49, Y:234.74, Z:19.36 [[ 2.03038422e-01 -9.79138591e-01 -7.93841183e-03 2.95494762e+02] [ 9.78390093e-01 2.03193551e-01 -3.82780130e-02 2.34736709e+02] [ 3.90925138e-02 5.04384956e-06 9.99235596e-01 1.93559550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.270385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.50, Y:234.76, Z:19.36 [[ 2.02551362e-01 -9.79239547e-01 -7.92815620e-03 2.95499372e+02] [ 9.78491043e-01 2.02706462e-01 -3.82801371e-02 2.34764308e+02] [ 3.90925126e-02 -3.93593686e-06 9.99235596e-01 1.93574708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.300385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:295.50, Y:234.79, Z:19.36 [[ 2.01397278e-01 -9.79477637e-01 -7.91798401e-03 2.95502540e+02] [ 9.78729234e-01 2.01552863e-01 -3.82822410e-02 2.34792069e+02] [ 3.90924913e-02 -3.96232761e-05 9.99235596e-01 1.93577032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.330385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:295.51, Y:234.82, Z:19.36 [[ 2.00211402e-01 -9.79720808e-01 -7.90777704e-03 2.95507103e+02] [ 9.78972510e-01 2.00367494e-01 -3.82843493e-02 2.34819672e+02] [ 3.90924351e-02 -7.65331019e-05 9.99235596e-01 1.93571823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.360385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.51, Y:234.85, Z:19.36 [[ 1.99289635e-01 -9.79908557e-01 -7.92844179e-03 2.95511495e+02] [ 9.79160576e-01 1.99447238e-01 -3.82800846e-02 2.34846094e+02] [ 3.90922883e-02 -1.34393527e-04 9.99235595e-01 1.93596402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.390385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.52, Y:234.87, Z:19.36 [[ 1.97309654e-01 -9.80309451e-01 -7.89177368e-03 2.95516574e+02] [ 9.79561487e-01 1.97467336e-01 -3.82876426e-02 2.34872991e+02] [ 3.90921054e-02 -1.75956042e-04 9.99235596e-01 1.93566095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.420385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:295.52, Y:234.90, Z:19.36 [[ 1.94454689e-01 -9.80880544e-01 -7.79314176e-03 2.95521381e+02] [ 9.80132225e-01 1.94610697e-01 -3.83079426e-02 2.34900218e+02] [ 3.90921443e-02 -1.89150305e-04 9.99235592e-01 1.93610721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.450385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:295.53, Y:234.93, Z:19.36 [[ 1.91492723e-01 -9.81462434e-01 -7.87576667e-03 2.95525873e+02] [ 9.80715283e-01 1.91654213e-01 -3.82909483e-02 2.34926123e+02] [ 3.90905512e-02 -3.91446795e-04 9.99235596e-01 1.93598824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.480385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.53, Y:234.95, Z:19.36 [[ 1.88534071e-01 -9.82036016e-01 -7.75676452e-03 2.95530593e+02] [ 9.81288346e-01 1.88693172e-01 -3.83153791e-02 2.34954202e+02] [ 3.90907307e-02 -3.87868219e-04 9.99235590e-01 1.93635778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.510385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:295.54, Y:234.98, Z:19.37 [[ 1.84780331e-01 -9.82748456e-01 -7.85501930e-03 2.95535517e+02] [ 9.82002245e-01 1.84946115e-01 -3.82952255e-02 2.34982979e+02] [ 3.90873290e-02 -6.37442161e-04 9.99235595e-01 1.93651730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.540385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.54, Y:235.01, Z:19.37 [[ 1.83388070e-01 -9.83008616e-01 -7.92942683e-03 2.95540335e+02] [ 9.82263292e-01 1.83557809e-01 -3.82799758e-02 2.35010310e+02] [ 3.90850542e-02 -7.68694014e-04 9.99235592e-01 1.93678963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.570385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:295.54, Y:235.04, Z:19.37 [[ 1.80910597e-01 -9.83468308e-01 -7.83857852e-03 2.95544222e+02] [ 9.82722612e-01 1.81078678e-01 -3.82985699e-02 2.35038205e+02] [ 3.90848292e-02 -7.74531200e-04 9.99235596e-01 1.93699514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.600385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.55, Y:235.07, Z:19.37 [[ 1.79757038e-01 -9.83679890e-01 -7.82818451e-03 2.95548440e+02] [ 9.82934301e-01 1.79925589e-01 -3.83006943e-02 2.35066077e+02] [ 3.90841135e-02 -8.09771706e-04 9.99235596e-01 1.93713774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.630385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:295.54, Y:235.09, Z:19.37 [[ 1.74510228e-01 -9.84624326e-01 -7.81780091e-03 2.95543612e+02] [ 9.83879552e-01 1.74682347e-01 -3.83028137e-02 2.35090269e+02] [ 3.90795139e-02 -1.00754172e-03 9.99235596e-01 1.93668926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.660385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.55, Y:235.12, Z:19.37 [[ 1.78002412e-01 -9.84002345e-01 -7.38419898e-03 2.95553788e+02] [ 9.83253241e-01 1.78154996e-01 -3.83908997e-02 2.35121849e+02] [ 3.90922673e-02 -4.26864848e-04 9.99235514e-01 1.93717870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.690385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:295.56, Y:235.15, Z:19.37 [[ 1.80725188e-01 -9.83501430e-01 -7.95883272e-03 2.95556568e+02] [ 9.82756828e-01 1.80898088e-01 -3.82739920e-02 2.35146962e+02] [ 3.90822635e-02 -9.04522808e-04 9.99235587e-01 1.93744712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.720385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:295.56, Y:235.17, Z:19.37 [[ 1.78579973e-01 -9.83894270e-01 -7.82676882e-03 2.95555239e+02] [ 9.83148878e-01 1.78749360e-01 -3.83007884e-02 2.35171505e+02] [ 3.90829562e-02 -8.55125227e-04 9.99235604e-01 1.93685211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.750385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.56, Y:235.20, Z:19.38 [[ 1.84506601e-01 -9.82803166e-01 -7.43313274e-03 2.95563918e+02] [ 9.82053475e-01 1.84656139e-01 -3.83807670e-02 2.35202635e+02] [ 3.90933130e-02 -2.18228953e-04 9.99235540e-01 1.93762436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.780385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.56, Y:235.23, Z:19.37 [[ 1.84554515e-01 -9.82791431e-01 -7.78684148e-03 2.95559958e+02] [ 9.82044683e-01 1.84717815e-01 -3.83088731e-02 2.35229296e+02] [ 3.90880006e-02 -5.76950759e-04 9.99235606e-01 1.93675531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.810385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:295.57, Y:235.26, Z:19.37 [[ 1.87761466e-01 -9.82185622e-01 -7.55219275e-03 2.95565528e+02] [ 9.81436414e-01 1.87913171e-01 -3.83562875e-02 2.35258494e+02] [ 3.90921506e-02 -2.10164184e-04 9.99235588e-01 1.93690960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.840385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.57, Y:235.28, Z:19.37 [[ 1.90258578e-01 -9.81703216e-01 -7.77622092e-03 2.95566329e+02] [ 9.80955444e-01 1.90417124e-01 -3.83110295e-02 2.35283656e+02] [ 3.90907864e-02 -3.39124248e-04 9.99235606e-01 1.93682942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.87038572299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.57, Y:235.31, Z:19.38 [[ 1.94185900e-01 -9.80935086e-01 -7.62850231e-03 2.95574101e+02] [ 9.80185503e-01 1.94335681e-01 -3.83408859e-02 2.35312243e+02] [ 3.90924104e-02 -3.20879228e-05 9.99235599e-01 1.93755637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.900385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:295.58, Y:235.34, Z:19.38 [[ 1.95021402e-01 -9.80768454e-01 -7.73903653e-03 2.95577107e+02] [ 9.80019623e-01 1.95174863e-01 -3.83185620e-02 2.35340623e+02] [ 3.90921022e-02 -1.11467989e-04 9.99235605e-01 1.93769774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.930385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.58, Y:235.37, Z:19.37 [[ 1.92861065e-01 -9.81195639e-01 -7.72831787e-03 2.95578948e+02] [ 9.80447061e-01 1.93015757e-01 -3.83207237e-02 2.35367567e+02] [ 3.90918141e-02 -1.86630973e-04 9.99235605e-01 1.93744389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.960385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.58, Y:235.40, Z:19.38 [[ 1.93055251e-01 -9.81158789e-01 -7.55648143e-03 2.95584302e+02] [ 9.80408812e-01 1.93203081e-01 -3.83553329e-02 2.35396718e+02] [ 3.90926075e-02 -3.74254108e-06 9.99235592e-01 1.93764931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.990385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.59, Y:235.42, Z:19.38 [[ 1.92803664e-01 -9.81207324e-01 -7.67687209e-03 2.95589946e+02] [ 9.80458341e-01 1.92956390e-01 -3.83310999e-02 2.35424714e+02] [ 3.90920575e-02 -1.36476788e-04 9.99235604e-01 1.93776576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.020385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:295.59, Y:235.45, Z:19.38 [[ 1.92266364e-01 -9.81312830e-01 -7.66650814e-03 2.95594202e+02] [ 9.80563847e-01 1.92419096e-01 -3.83331831e-02 2.35452169e+02] [ 3.90920270e-02 -1.47318960e-04 9.99235604e-01 1.93809542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.050385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.60, Y:235.48, Z:19.38 [[ 1.89950123e-01 -9.81763569e-01 -7.69713701e-03 2.95598239e+02] [ 9.81015197e-01 1.90105817e-01 -3.83270320e-02 2.35481089e+02] [ 3.90913543e-02 -2.70783941e-04 9.99235604e-01 1.93824261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.080385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:295.60, Y:235.51, Z:19.39 [[ 1.89662736e-01 -9.81818815e-01 -7.73700838e-03 2.95602921e+02] [ 9.81070814e-01 1.89820206e-01 -3.83190326e-02 2.35507564e+02] [ 3.90909877e-02 -3.22860538e-04 9.99235603e-01 1.93856114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.110385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.60, Y:235.54, Z:19.39 [[ 1.85996925e-01 -9.82520296e-01 -7.68193761e-03 2.95604893e+02] [ 9.81772432e-01 1.86155038e-01 -3.83300697e-02 2.35535334e+02] [ 3.90901028e-02 -4.12639456e-04 9.99235605e-01 1.93863337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.140385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:295.61, Y:235.56, Z:19.39 [[ 1.85633042e-01 -9.82589463e-01 -7.63683045e-03 2.95608961e+02] [ 9.81841286e-01 1.85789672e-01 -3.83391007e-02 2.35563041e+02] [ 3.90904405e-02 -3.81151550e-04 9.99235604e-01 1.93867949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.170385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:295.61, Y:235.59, Z:19.39 [[ 1.81896096e-01 -9.83287862e-01 -7.66756859e-03 2.95611018e+02] [ 9.82540543e-01 1.82056767e-01 -3.83329523e-02 2.35591689e+02] [ 3.90882594e-02 -5.61082645e-04 9.99235604e-01 1.93873012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.200385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.61, Y:235.62, Z:19.39 [[ 1.80367684e-01 -9.83569184e-01 -7.69144053e-03 2.95614949e+02] [ 9.82822318e-01 1.80530446e-01 -3.83281823e-02 2.35618980e+02] [ 3.90869582e-02 -6.46153949e-04 9.99235604e-01 1.93892983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.230385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.62, Y:235.64, Z:19.39 [[ 1.79287224e-01 -9.83766866e-01 -7.67098833e-03 2.95618091e+02] [ 9.83020006e-01 1.79450011e-01 -3.83322637e-02 2.35644961e+02] [ 3.90865699e-02 -6.68249818e-04 9.99235605e-01 1.93885111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.260385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.62, Y:235.67, Z:19.39 [[ 1.77645900e-01 -9.84066686e-01 -7.39543327e-03 2.95621474e+02] [ 9.83317797e-01 1.77799193e-01 -3.83869276e-02 2.35672392e+02] [ 3.90901987e-02 -4.52780873e-04 9.99235584e-01 1.93910957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.290385723 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:295.63, Y:235.70, Z:19.39 [[ 1.75591132e-01 -9.84434912e-01 -7.46043971e-03 2.95625721e+02] [ 9.83686887e-01 1.75748522e-01 -3.83740277e-02 2.35702595e+02] [ 3.90878938e-02 -6.00597771e-04 9.99235596e-01 1.93899956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.320385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:295.63, Y:235.73, Z:19.39 [[ 1.74842259e-01 -9.84567068e-01 -7.60739752e-03 2.95628408e+02] [ 9.83820406e-01 1.75005942e-01 -3.83448725e-02 2.35731134e+02] [ 3.90844385e-02 -7.80008769e-04 9.99235607e-01 1.93929502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.350385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.63, Y:235.75, Z:19.39 [[ 1.72960283e-01 -9.84899086e-01 -7.65057902e-03 2.95625926e+02] [ 9.84153110e-01 1.73127073e-01 -3.83363155e-02 2.35752702e+02] [ 3.90819244e-02 -8.98681159e-04 9.99235606e-01 1.93885083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.380385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.63, Y:235.78, Z:19.39 [[ 1.71891643e-01 -9.85089569e-01 -7.19755582e-03 2.95629896e+02] [ 9.84339928e-01 1.72041599e-01 -3.84264707e-02 2.35781052e+02] [ 3.90917945e-02 -4.79652401e-04 9.99235509e-01 1.93905517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.410385723 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:295.64, Y:235.81, Z:19.39 [[ 1.75055416e-01 -9.84532042e-01 -7.22903983e-03 2.95638701e+02] [ 9.83782181e-01 1.75204192e-01 -3.84202055e-02 2.35810886e+02] [ 3.90924815e-02 -3.86135493e-04 9.99235522e-01 1.93941788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.440385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:295.64, Y:235.84, Z:19.40 [[ 1.73236423e-01 -9.84850661e-01 -7.63664974e-03 2.95640228e+02] [ 9.84104520e-01 1.73402461e-01 -3.83390182e-02 2.35837597e+02] [ 3.90824212e-02 -8.73547170e-04 9.99235608e-01 1.93983847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.470385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.65, Y:235.87, Z:19.40 [[ 1.74753421e-01 -9.84583949e-01 -7.46253782e-03 2.95645643e+02] [ 9.83836074e-01 1.74911530e-01 -3.83736457e-02 2.35866371e+02] [ 3.90873595e-02 -6.35988044e-04 9.99235595e-01 1.93986994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.500385723 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:295.65, Y:235.89, Z:19.40 [[ 1.73026269e-01 -9.84887711e-01 -7.62278470e-03 2.95646328e+02] [ 9.84141486e-01 1.73191927e-01 -3.83417873e-02 2.35890996e+02] [ 3.90825599e-02 -8.67762258e-04 9.99235608e-01 1.93984019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.530385723 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:295.65, Y:235.92, Z:19.40 [[ 1.73977248e-01 -9.84722708e-01 -7.28732871e-03 2.95653940e+02] [ 9.83973503e-01 1.74129117e-01 -3.84082868e-02 2.35922106e+02] [ 3.90904483e-02 -4.88370332e-04 9.99235557e-01 1.94001563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.560385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:295.66, Y:235.95, Z:19.40 [[ 1.75450732e-01 -9.84458827e-01 -7.60653402e-03 2.95660409e+02] [ 9.83712059e-01 1.75613920e-01 -3.83449678e-02 2.35950905e+02] [ 3.90848552e-02 -7.54986567e-04 9.99235610e-01 1.94027727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.590385723 meters Centerline goodness : 0.999740 Centerline is valid? [True, True] Translation: X:295.66, Y:235.98, Z:19.40 [[ 1.74584456e-01 -9.84611360e-01 -7.79342472e-03 2.95662417e+02] [ 9.83866350e-01 1.74755572e-01 -3.83078909e-02 2.35976279e+02] [ 3.90803289e-02 -9.79726027e-04 9.99235592e-01 1.94041997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.62038572299997 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:295.67, Y:236.00, Z:19.41 [[ 1.75414532e-01 -9.84465384e-01 -7.59270893e-03 2.95665709e+02] [ 9.83718508e-01 1.75577209e-01 -3.83476328e-02 2.36003680e+02] [ 3.90850237e-02 -7.42356237e-04 9.99235613e-01 1.94057210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.650385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:295.67, Y:236.03, Z:19.41 [[ 1.76173667e-01 -9.84330180e-01 -7.54559764e-03 2.95667548e+02] [ 9.83582782e-01 1.76333933e-01 -3.83569517e-02 2.36031990e+02] [ 3.90864501e-02 -6.64235072e-04 9.99235612e-01 1.94070884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.680385723 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:295.67, Y:236.06, Z:19.41 [[ 1.78644381e-01 -9.83884521e-01 -7.57854637e-03 2.95671018e+02] [ 9.83136997e-01 1.78804054e-01 -3.83504406e-02 2.36058316e+02] [ 3.90874797e-02 -5.99658583e-04 9.99235613e-01 1.94078436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.710385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:295.68, Y:236.09, Z:19.41 [[ 1.79406896e-01 -9.83746599e-01 -7.46951985e-03 2.95675646e+02] [ 9.82998055e-01 1.79561739e-01 -3.83719511e-02 2.36086016e+02] [ 3.90895164e-02 -4.58330844e-04 9.99235608e-01 1.94073512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.740385723 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:295.68, Y:236.11, Z:19.41 [[ 1.78825504e-01 -9.83852738e-01 -7.43158310e-03 2.95678566e+02] [ 9.83103975e-01 1.78979310e-01 -3.83794286e-02 2.36112148e+02] [ 3.90898055e-02 -4.42798229e-04 9.99235603e-01 1.94088158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.770385723 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:295.68, Y:236.14, Z:19.41 [[ 1.79460066e-01 -9.83738116e-01 -7.30777359e-03 2.95682478e+02] [ 9.82988253e-01 1.79608557e-01 -3.84039269e-02 2.36141273e+02] [ 3.90919453e-02 -2.91484350e-04 9.99235575e-01 1.94106898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.800385723 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:295.68, Y:236.17, Z:19.41 [[ 1.78285792e-01 -9.83950586e-01 -7.44453356e-03 2.95684200e+02] [ 9.83202014e-01 1.78440513e-01 -3.83768572e-02 2.36167879e+02] [ 3.90893375e-02 -4.77432012e-04 9.99235606e-01 1.94073476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.830385723 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:295.69, Y:236.20, Z:19.41 [[ 1.78548016e-01 -9.83904599e-01 -7.23502679e-03 2.95689190e+02] [ 9.83154291e-01 1.78694363e-01 -3.84182787e-02 2.36195191e+02] [ 3.90927796e-02 -2.53640185e-04 9.99235553e-01 1.94092330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.860385723 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:295.69, Y:236.22, Z:19.41 [[ 1.76974620e-01 -9.84189000e-01 -7.21090335e-03 2.95691410e+02] [ 9.83438733e-01 1.77121225e-01 -3.84230426e-02 2.36220802e+02] [ 3.90927399e-02 -2.91578289e-04 9.99235544e-01 1.94078197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.890385723 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:295.70, Y:236.25, Z:19.42 [[ 1.82895416e-01 -9.83108080e-01 -6.91162609e-03 2.95704102e+02] [ 9.82354668e-01 1.83025796e-01 -3.84819971e-02 2.36252332e+02] [ 3.90969681e-02 2.48512692e-04 9.99235390e-01 1.94151030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.920385723 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:295.71, Y:236.28, Z:19.42 [[ 1.83594495e-01 -9.82972911e-01 -7.57080322e-03 2.95709608e+02] [ 9.82224533e-01 1.83750101e-01 -3.83518821e-02 2.36279943e+02] [ 3.90899970e-02 -3.95034256e-04 9.99235616e-01 1.94164977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.950385723 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:295.71, Y:236.31, Z:19.42 [[ 1.85429826e-01 -9.82628425e-01 -7.56032444e-03 2.95714054e+02] [ 9.81879673e-01 1.85583625e-01 -3.83539476e-02 2.36307140e+02] [ 3.90907516e-02 -3.11363039e-04 9.99235616e-01 1.94174143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.980385723 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:295.71, Y:236.33, Z:19.41 [[ 1.83014837e-01 -9.83081165e-01 -7.54927623e-03 2.95714380e+02] [ 9.82332705e-01 1.83170044e-01 -3.83561222e-02 2.36332299e+02] [ 3.90899825e-02 -3.96161497e-04 9.99235616e-01 1.94128252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.010385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.73, Y:236.36, Z:19.42 [[ 1.89828116e-01 -9.81791306e-01 -7.14967405e-03 2.95725364e+02] [ 9.81038752e-01 1.89962501e-01 -3.84345464e-02 2.36361269e+02] [ 3.90928735e-02 2.81850209e-04 9.99235542e-01 1.94193045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.040385723 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:295.73, Y:236.39, Z:19.42 [[ 1.91213149e-01 -9.81519607e-01 -7.53612462e-03 2.95731354e+02] [ 9.80769778e-01 1.91361590e-01 -3.83586255e-02 2.36387979e+02] [ 3.90918678e-02 -5.65297072e-05 9.99235619e-01 1.94206865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.070385723 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:295.74, Y:236.42, Z:19.42 [[ 1.94767421e-01 -9.80820590e-01 -7.52481166e-03 2.95737689e+02] [ 9.80070142e-01 1.94912703e-01 -3.83608446e-02 2.36415668e+02] [ 3.90917876e-02 9.65995594e-05 9.99235619e-01 1.94218064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.100385723 meters Centerline goodness : 0.999741 Centerline is valid? [True, True] Translation: X:295.74, Y:236.44, Z:19.42 [[ 1.98126771e-01 -9.80147600e-01 -7.51426419e-03 2.95744010e+02] [ 9.79396581e-01 1.98269068e-01 -3.83629106e-02 2.36443514e+02] [ 3.90911609e-02 2.41274952e-04 9.99235619e-01 1.94224419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.130385723 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:295.75, Y:236.47, Z:19.42 [[ 1.99744361e-01 -9.79819312e-01 -7.50369350e-03 2.95749824e+02] [ 9.79067982e-01 1.99885004e-01 -3.83649781e-02 2.36471432e+02] [ 3.90906223e-02 3.16561972e-04 9.99235619e-01 1.94229938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.160385723 meters Centerline goodness : 0.999762 Centerline is valid? [True, True] Translation: X:295.76, Y:236.50, Z:19.42 [[ 2.01073588e-01 -9.79547479e-01 -7.49323476e-03 2.95755728e+02] [ 9.78795883e-01 2.01212802e-01 -3.83670207e-02 2.36498522e+02] [ 3.90900532e-02 3.80247196e-04 9.99235619e-01 1.94232005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.190385723 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:295.76, Y:236.53, Z:19.42 [[ 2.03526182e-01 -9.79040909e-01 -7.48274317e-03 2.95763788e+02] [ 9.78288892e-01 2.03663102e-01 -3.83690668e-02 2.36525959e+02] [ 3.90888447e-02 4.88825143e-04 9.99235619e-01 1.94234326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.220385723 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:295.77, Y:236.55, Z:19.42 [[ 2.05779542e-01 -9.78569847e-01 -7.47219091e-03 2.95772783e+02] [ 9.77817443e-01 2.05914317e-01 -3.83711217e-02 2.36552644e+02] [ 3.90874538e-02 5.89553261e-04 9.99235620e-01 1.94245635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.250385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:295.78, Y:236.58, Z:19.43 [[ 2.06478004e-01 -9.78422791e-01 -7.46160405e-03 2.95779979e+02] [ 9.77670216e-01 2.06611827e-01 -3.83731803e-02 2.36580322e+02] [ 3.90868498e-02 6.28229640e-04 9.99235620e-01 1.94254719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.280385723 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:295.79, Y:236.61, Z:19.43 [[ 2.08119396e-01 -9.78075048e-01 -7.45108080e-03 2.95788831e+02] [ 9.77322177e-01 2.08251543e-01 -3.83752235e-02 2.36607449e+02] [ 3.90855477e-02 7.04521821e-04 9.99235620e-01 1.94258737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.310385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:295.80, Y:236.63, Z:19.43 [[ 2.08342840e-01 -9.78027555e-01 -7.44062789e-03 2.95796074e+02] [ 9.77274582e-01 2.08474405e-01 -3.83772502e-02 2.36634702e+02] [ 3.90851886e-02 7.24088793e-04 9.99235620e-01 1.94266985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.340385723 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:295.80, Y:236.66, Z:19.43 [[ 2.08284287e-01 -9.78040107e-01 -7.43002025e-03 2.95804232e+02] [ 9.77287069e-01 2.08415481e-01 -3.83793037e-02 2.36661872e+02] [ 3.90850296e-02 7.32543207e-04 9.99235620e-01 1.94279508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.37038572299997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:295.82, Y:236.69, Z:19.43 [[ 2.07048992e-01 -9.78302442e-01 -7.41935838e-03 2.95816100e+02] [ 9.77549498e-01 2.07180719e-01 -3.83813648e-02 2.36687073e+02] [ 3.90857309e-02 6.94032810e-04 9.99235620e-01 1.94299913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.400385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:295.83, Y:236.71, Z:19.43 [[ 2.05105360e-01 -9.78711863e-01 -7.40811600e-03 2.95826680e+02] [ 9.77959104e-01 2.05238141e-01 -3.83835346e-02 2.36712032e+02] [ 3.90868486e-02 6.27834173e-04 9.99235620e-01 1.94315193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.430385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:295.83, Y:236.74, Z:19.43 [[ 2.03801403e-01 -9.78984274e-01 -7.40132970e-03 2.95834218e+02] [ 9.78231645e-01 2.03934921e-01 -3.83848431e-02 2.36739275e+02] [ 3.90875473e-02 5.82669939e-04 9.99235620e-01 1.94326197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.460385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.84, Y:236.77, Z:19.43 [[ 2.02126414e-01 -9.79331551e-01 -7.39093676e-03 2.95841854e+02] [ 9.78579079e-01 2.02260812e-01 -3.83868441e-02 2.36766036e+02] [ 3.90883445e-02 5.26379069e-04 9.99235620e-01 1.94333132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.490385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.85, Y:236.79, Z:19.43 [[ 1.98990547e-01 -9.79973618e-01 -7.38035949e-03 2.95853940e+02] [ 9.79221505e-01 1.99126938e-01 -3.83888776e-02 2.36792768e+02] [ 3.90897157e-02 4.12017019e-04 9.99235620e-01 1.94340807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.520385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:295.86, Y:236.82, Z:19.44 [[ 1.96989362e-01 -9.80377927e-01 -7.36968978e-03 2.95862743e+02] [ 9.79626017e-01 1.97126871e-01 -3.83909259e-02 2.36819937e+02] [ 3.90903802e-02 3.43064132e-04 9.99235620e-01 1.94350077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.550385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:295.87, Y:236.85, Z:19.44 [[ 1.92519596e-01 -9.81265535e-01 -7.35904139e-03 2.95874123e+02] [ 9.80514182e-01 1.92660114e-01 -3.83929669e-02 2.36846541e+02] [ 3.90914890e-02 1.75754047e-04 9.99235620e-01 1.94354642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.580385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.88, Y:236.87, Z:19.44 [[ 1.90389862e-01 -9.81681059e-01 -7.34843198e-03 2.95881576e+02] [ 9.80929934e-01 1.90531595e-01 -3.83949974e-02 2.36872207e+02] [ 3.90917502e-02 1.01721380e-04 9.99235620e-01 1.94360741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.610385723 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:295.89, Y:236.90, Z:19.44 [[ 1.86846771e-01 -9.82361669e-01 -7.33727644e-03 2.95891769e+02] [ 9.81610977e-01 1.86990777e-01 -3.83971292e-02 2.36898923e+02] [ 3.90918709e-02 -2.79714914e-05 9.99235620e-01 1.94370089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.640385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.90, Y:236.92, Z:19.44 [[ 1.86392632e-01 -9.82448016e-01 -7.32684717e-03 2.95898629e+02] [ 9.81697312e-01 1.86536578e-01 -3.83991191e-02 2.36924106e+02] [ 3.90918634e-02 -3.54332807e-05 9.99235620e-01 1.94378018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.670385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.91, Y:236.95, Z:19.44 [[ 1.82427766e-01 -9.83193581e-01 -7.10579153e-03 2.95908742e+02] [ 9.82441801e-01 1.82566100e-01 -3.84412041e-02 2.36952078e+02] [ 3.90924218e-02 3.17163538e-05 9.99235599e-01 1.94377871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.700385723 meters Centerline goodness : 0.999865 Centerline is valid? [True, True] Translation: X:295.92, Y:236.98, Z:19.44 [[ 1.80570677e-01 -9.83534837e-01 -7.31129948e-03 2.95916093e+02] [ 9.82784879e-01 1.80718459e-01 -3.84020787e-02 2.36979614e+02] [ 3.90910690e-02 -2.51145235e-04 9.99235620e-01 1.94375654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.730385723 meters Centerline goodness : 0.999685 Centerline is valid? [True, True] Translation: X:295.93, Y:237.01, Z:19.44 [[ 1.78767808e-01 -9.83864203e-01 -7.30075452e-03 2.95925623e+02] [ 9.83114436e-01 1.78916553e-01 -3.84040834e-02 2.37005407e+02] [ 3.90906287e-02 -3.12063371e-04 9.99235621e-01 1.94377899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.760385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:295.93, Y:237.03, Z:19.44 [[ 1.78900777e-01 -9.83840116e-01 -7.28964880e-03 2.95933280e+02] [ 9.83090242e-01 1.79048987e-01 -3.84061913e-02 2.37032770e+02] [ 3.90907559e-02 -2.95485141e-04 9.99235621e-01 1.94406729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.790385723 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:295.94, Y:237.06, Z:19.44 [[ 1.79259912e-01 -9.83774820e-01 -7.27925992e-03 2.95941789e+02] [ 9.83024813e-01 1.79407442e-01 -3.84081602e-02 2.37058873e+02] [ 3.90909343e-02 -2.70649717e-04 9.99235621e-01 1.94419578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.820385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.95, Y:237.09, Z:19.44 [[ 1.80307697e-01 -9.83583401e-01 -7.26828133e-03 2.95947548e+02] [ 9.82833154e-01 1.80454000e-01 -3.84102377e-02 2.37086699e+02] [ 3.90912626e-02 -2.17846362e-04 9.99235621e-01 1.94435127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.850385723 meters Centerline goodness : 0.999797 Centerline is valid? [True, True] Translation: X:295.95, Y:237.11, Z:19.44 [[ 1.84055401e-01 -9.82888699e-01 -7.30849826e-03 2.95951871e+02] [ 9.82138200e-01 1.84200415e-01 -3.84026355e-02 2.37111258e+02] [ 3.90917449e-02 -1.09742831e-04 9.99235620e-01 1.94436967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.880385723 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:295.96, Y:237.14, Z:19.45 [[ 1.85845403e-01 -9.82552905e-01 -7.16063712e-03 2.95957621e+02] [ 9.81801059e-01 1.85983269e-01 -3.84305268e-02 2.37138767e+02] [ 3.90917844e-02 1.11815648e-04 9.99235618e-01 1.94453844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.910385723 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:295.96, Y:237.17, Z:19.45 [[ 1.85552169e-01 -9.82607734e-01 -7.24110267e-03 2.95962685e+02] [ 9.81856517e-01 1.85693405e-01 -3.84153595e-02 2.37166052e+02] [ 3.90918544e-02 1.83294341e-05 9.99235621e-01 1.94465044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.940385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:295.97, Y:237.19, Z:19.45 [[ 1.89170985e-01 -9.81917548e-01 -7.22962886e-03 2.95966970e+02] [ 9.81165733e-01 1.89309003e-01 -3.84175187e-02 2.37192309e+02] [ 3.90914696e-02 1.74015755e-04 9.99235621e-01 1.94476943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.970385723 meters Centerline goodness : 0.999842 Centerline is valid? [True, True] Translation: X:295.97, Y:237.22, Z:19.45 [[ 1.90166069e-01 -9.81725406e-01 -7.21760786e-03 2.95970988e+02] [ 9.80973366e-01 1.90302855e-01 -3.84197770e-02 2.37220072e+02] [ 3.90912026e-02 2.25856878e-04 9.99235621e-01 1.94484539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.000385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.98, Y:237.25, Z:19.45 [[ 1.93183780e-01 -9.81136121e-01 -7.20690119e-03 2.95975017e+02] [ 9.80383589e-01 1.93317834e-01 -3.84217853e-02 2.37246355e+02] [ 3.90902239e-02 3.56938061e-04 9.99235621e-01 1.94500719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.030385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:295.98, Y:237.27, Z:19.45 [[ 1.93752612e-01 -9.81024005e-01 -7.19907698e-03 2.95978525e+02] [ 9.80271341e-01 1.93885923e-01 -3.84232513e-02 2.37274721e+02] [ 3.90899315e-02 3.87556458e-04 9.99235621e-01 1.94517902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.060385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.98, Y:237.30, Z:19.45 [[ 1.92815009e-01 -9.81208795e-01 -7.18840292e-03 2.95982423e+02] [ 9.80456185e-01 1.92948622e-01 -3.84252481e-02 2.37301958e+02] [ 3.90901838e-02 3.61050480e-04 9.99235621e-01 1.94525731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.090385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.99, Y:237.33, Z:19.45 [[ 1.91518165e-01 -9.81462827e-01 -7.17711802e-03 2.95986764e+02] [ 9.80710316e-01 1.91652330e-01 -3.84273558e-02 2.37329290e+02] [ 3.90905327e-02 3.20862977e-04 9.99235622e-01 1.94542341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.12038572299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.99, Y:237.36, Z:19.46 [[ 1.88178143e-01 -9.82108767e-01 -7.16629943e-03 2.95990918e+02] [ 9.81356639e-01 1.88314444e-01 -3.84293733e-02 2.37355553e+02] [ 3.90913421e-02 1.98872574e-04 9.99235622e-01 1.94555579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.150385723 meters Centerline goodness : 0.999843 Centerline is valid? [True, True] Translation: X:296.00, Y:237.38, Z:19.46 [[ 1.82508142e-01 -9.83178283e-01 -7.15841238e-03 2.95995277e+02] [ 9.82426896e-01 1.82648472e-01 -3.84308424e-02 2.37382871e+02] [ 3.90918427e-02 -1.86752331e-05 9.99235622e-01 1.94564063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.180385723 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:296.00, Y:237.41, Z:19.46 [[ 1.79627898e-01 -9.83708660e-01 -7.14770524e-03 2.95999987e+02] [ 9.82957609e-01 1.79770010e-01 -3.84328337e-02 2.37410448e+02] [ 3.90916544e-02 -1.22282109e-04 9.99235622e-01 1.94576050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.210385723 meters Centerline goodness : 0.999776 Centerline is valid? [True, True] Translation: X:296.01, Y:237.44, Z:19.46 [[ 1.75622896e-01 -9.84431644e-01 -7.13704007e-03 2.96007655e+02] [ 9.83681096e-01 1.75767647e-01 -3.84348141e-02 2.37441479e+02] [ 3.90909080e-02 -2.70538019e-04 9.99235622e-01 1.94571535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.240385723 meters Centerline goodness : 0.999843 Centerline is valid? [True, True] Translation: X:296.01, Y:237.47, Z:19.46 [[ 1.72936696e-01 -9.84904474e-01 -7.48837969e-03 2.96012931e+02] [ 9.84157067e-01 1.73097191e-01 -3.83696406e-02 2.37469526e+02] [ 3.90866482e-02 -7.34222923e-04 9.99235555e-01 1.94587461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.270385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:296.01, Y:237.49, Z:19.46 [[ 1.65888164e-01 -9.86115857e-01 -7.52547671e-03 2.96013355e+02] [ 9.85369924e-01 1.66055443e-01 -3.83627657e-02 2.37493803e+02] [ 3.90797780e-02 -1.05144965e-03 9.99235541e-01 1.94580543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.300385723 meters Centerline goodness : 0.999821 Centerline is valid? [True, True] Translation: X:296.02, Y:237.52, Z:19.46 [[ 1.63039776e-01 -9.86593968e-01 -7.09746917e-03 2.96017622e+02] [ 9.85845027e-01 1.63192557e-01 -3.84417921e-02 2.37522096e+02] [ 3.90846943e-02 -7.29463503e-04 9.99235635e-01 1.94577309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.330385723 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:296.03, Y:237.55, Z:19.46 [[ 1.64658214e-01 -9.86325220e-01 -7.08755623e-03 2.96029059e+02] [ 9.85575952e-01 1.64809380e-01 -3.84436197e-02 2.37554722e+02] [ 3.90860073e-02 -6.55267215e-04 9.99235635e-01 1.94581440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.360385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:296.03, Y:237.58, Z:19.46 [[ 1.58309361e-01 -9.87359820e-01 -7.66364521e-03 2.96029191e+02] [ 9.86616370e-01 1.58487727e-01 -3.83376995e-02 2.37578205e+02] [ 3.90676978e-02 -1.49186111e-03 9.99235452e-01 1.94624267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.390385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.03, Y:237.61, Z:19.46 [[ 1.58696774e-01 -9.87302446e-01 -7.01529507e-03 2.96032013e+02] [ 9.86553546e-01 1.58849650e-01 -3.84563316e-02 2.37606000e+02] [ 3.90824074e-02 -8.18068446e-04 9.99235656e-01 1.94618590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.420385723 meters Centerline goodness : 0.999865 Centerline is valid? [True, True] Translation: X:296.04, Y:237.63, Z:19.46 [[ 1.58885982e-01 -9.87271910e-01 -7.02991422e-03 2.96035788e+02] [ 9.86523098e-01 1.59039284e-01 -3.84536590e-02 2.37633777e+02] [ 3.90822499e-02 -8.25425380e-04 9.99235656e-01 1.94617636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.450385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.04, Y:237.66, Z:19.46 [[ 1.61616194e-01 -9.86828724e-01 -7.01961766e-03 2.96038905e+02] [ 9.86079410e-01 1.61767022e-01 -3.84555385e-02 2.37661475e+02] [ 3.90845726e-02 -7.06862676e-04 9.99235656e-01 1.94643673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.480385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:296.05, Y:237.69, Z:19.46 [[ 1.63694857e-01 -9.86486121e-01 -7.00901893e-03 2.96045742e+02] [ 9.85736409e-01 1.63843693e-01 -3.84574702e-02 2.37691595e+02] [ 3.90861441e-02 -6.13755090e-04 9.99235656e-01 1.94639184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.510385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.05, Y:237.72, Z:19.47 [[ 1.64477069e-01 -9.86353805e-01 -7.31198048e-03 2.96049382e+02] [ 9.85606356e-01 1.64637112e-01 -3.84022540e-02 2.37719695e+02] [ 3.90820327e-02 -8.90444240e-04 9.99235609e-01 1.94663155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.540385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.05, Y:237.75, Z:19.47 [[ 1.66139687e-01 -9.86075815e-01 -7.21748254e-03 2.96053373e+02] [ 9.85327353e-01 1.66294789e-01 -3.84194074e-02 2.37746003e+02] [ 3.90846782e-02 -7.28594630e-04 9.99235636e-01 1.94686971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.570385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.06, Y:237.77, Z:19.47 [[ 1.66994648e-01 -9.85931968e-01 -7.13736726e-03 2.96055350e+02] [ 9.85182752e-01 1.67145979e-01 -3.84339211e-02 2.37771250e+02] [ 3.90862137e-02 -6.13351969e-04 9.99235654e-01 1.94726450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.600385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.06, Y:237.80, Z:19.47 [[ 1.66807946e-01 -9.85964872e-01 -6.95559852e-03 2.96058897e+02] [ 9.85214304e-01 1.66952331e-01 -3.84667894e-02 2.37798135e+02] [ 3.90881565e-02 -4.36189036e-04 9.99235671e-01 1.94738613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.630385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.06, Y:237.83, Z:19.47 [[ 1.66847777e-01 -9.85958209e-01 -6.94470639e-03 2.96060556e+02] [ 9.85207554e-01 1.66991707e-01 -3.84687557e-02 2.37826263e+02] [ 3.90882939e-02 -4.23550818e-04 9.99235671e-01 1.94749707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.660385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:296.06, Y:237.85, Z:19.48 [[ 1.66882158e-01 -9.85952465e-01 -6.93415950e-03 2.96064336e+02] [ 9.85201726e-01 1.67025650e-01 -3.84706568e-02 2.37854258e+02] [ 3.90884214e-02 -4.11479696e-04 9.99235671e-01 1.94754335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.690385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.07, Y:237.88, Z:19.48 [[ 1.66915377e-01 -9.85946917e-01 -6.92350055e-03 2.96068585e+02] [ 9.85196094e-01 1.67058428e-01 -3.84725749e-02 2.37881861e+02] [ 3.90885458e-02 -3.99341362e-04 9.99235671e-01 1.94759672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.720385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:296.07, Y:237.91, Z:19.48 [[ 1.67145620e-01 -9.85907984e-01 -6.91290852e-03 2.96072139e+02] [ 9.85157049e-01 1.67288082e-01 -3.84744781e-02 2.37909386e+02] [ 3.90887423e-02 -3.79460082e-04 9.99235671e-01 1.94764878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.750385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.08, Y:237.94, Z:19.48 [[ 1.66824344e-01 -9.85962472e-01 -6.90237637e-03 2.96075823e+02] [ 9.85211505e-01 1.66966640e-01 -3.84763675e-02 2.37937370e+02] [ 3.90887210e-02 -3.81505853e-04 9.99235671e-01 1.94773479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.780385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.08, Y:237.96, Z:19.48 [[ 1.66024199e-01 -9.86097595e-01 -6.89191815e-03 2.96077623e+02] [ 9.85346667e-01 1.66166696e-01 -3.84782407e-02 2.37964636e+02] [ 3.90885078e-02 -4.02609505e-04 9.99235671e-01 1.94777758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.81038572299997 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:296.08, Y:237.99, Z:19.48 [[ 1.65663878e-01 -9.86158270e-01 -6.88089396e-03 2.96081202e+02] [ 9.85407312e-01 1.65806220e-01 -3.84802120e-02 2.37993004e+02] [ 3.90884743e-02 -4.05702067e-04 9.99235671e-01 1.94775085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.840385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:296.09, Y:238.02, Z:19.48 [[ 1.65063586e-01 -9.86258996e-01 -6.87057953e-03 2.96085547e+02] [ 9.85508049e-01 1.65205982e-01 -3.84820535e-02 2.38020420e+02] [ 3.90883323e-02 -4.19025700e-04 9.99235671e-01 1.94791645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.87038572299997 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:296.09, Y:238.04, Z:19.48 [[ 1.61042354e-01 -9.86923653e-01 -6.86031109e-03 2.96085695e+02] [ 9.86173215e-01 1.61187410e-01 -3.84838840e-02 2.38044857e+02] [ 3.90864512e-02 -5.67919778e-04 9.99235671e-01 1.94797663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.900385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.09, Y:238.07, Z:19.48 [[ 1.56799547e-01 -9.87609585e-01 -6.41945072e-03 2.96086367e+02] [ 9.86856486e-01 1.56930635e-01 -3.85623102e-02 2.38070193e+02] [ 3.90919156e-02 -2.88523814e-04 9.99235577e-01 1.94776651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.930385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.09, Y:238.10, Z:19.48 [[ 1.56317852e-01 -9.87687830e-01 -6.12209114e-03 2.96091227e+02] [ 9.86932672e-01 1.56437690e-01 -3.86154221e-02 2.38099561e+02] [ 3.90977083e-02 -5.81190921e-06 9.99235392e-01 1.94812435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.960385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.10, Y:238.13, Z:19.48 [[ 1.59405063e-01 -9.87193240e-01 -6.28747326e-03 2.96101129e+02] [ 9.86438860e-01 1.59529006e-01 -3.85858938e-02 2.38131365e+02] [ 3.90947679e-02 -5.14211362e-05 9.99235506e-01 1.94816057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.990385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:296.11, Y:238.16, Z:19.48 [[ 1.58350168e-01 -9.87359000e-01 -6.88694002e-03 2.96105496e+02] [ 9.86609185e-01 1.58498307e-01 -3.84786080e-02 2.38158048e+02] [ 3.90837683e-02 -7.01624229e-04 9.99235691e-01 1.94827795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.020385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:296.10, Y:238.18, Z:19.48 [[ 1.53154612e-01 -9.88178317e-01 -6.87588999e-03 2.96102104e+02] [ 9.87429205e-01 1.53306263e-01 -3.84805825e-02 2.38181238e+02] [ 3.90797943e-02 -8.95975904e-04 9.99235691e-01 1.94840216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.050385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:296.11, Y:238.21, Z:19.48 [[ 1.57419238e-01 -9.87512237e-01 -6.22614351e-03 2.96111965e+02] [ 9.86757700e-01 1.57542301e-01 -3.85961832e-02 2.38213386e+02] [ 3.90950842e-02 -6.79133042e-05 9.99235493e-01 1.94849212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.080385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.11, Y:238.24, Z:19.49 [[ 1.54711457e-01 -9.87935854e-01 -6.86391621e-03 2.96110305e+02] [ 9.87186421e-01 1.54861461e-01 -3.84824352e-02 2.38237691e+02] [ 3.90811336e-02 -8.22291261e-04 9.99235702e-01 1.94866173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.110385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.12, Y:238.27, Z:19.49 [[ 1.58341593e-01 -9.87363982e-01 -6.34881987e-03 2.96118443e+02] [ 9.86610210e-01 1.58468745e-01 -3.85739500e-02 2.38268574e+02] [ 3.90926183e-02 -1.55949838e-04 9.99235579e-01 1.94872658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.140385723 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:296.11, Y:238.29, Z:19.48 [[ 1.53871672e-01 -9.88067088e-01 -6.85117292e-03 2.96111771e+02] [ 9.87317690e-01 1.54021816e-01 -3.84845242e-02 2.38290028e+02] [ 3.90805218e-02 -8.42606148e-04 9.99235709e-01 1.94830027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.170385723 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:296.12, Y:238.32, Z:19.49 [[ 1.59455606e-01 -9.87186697e-01 -6.02778891e-03 2.96123071e+02] [ 9.86430599e-01 1.59569354e-01 -3.86302361e-02 2.38323451e+02] [ 3.90971056e-02 2.13812280e-04 9.99235393e-01 1.94876261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.200385723 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:296.13, Y:238.35, Z:19.49 [[ 1.60156041e-01 -9.87068066e-01 -6.83197905e-03 2.96125651e+02] [ 9.86317601e-01 1.60300666e-01 -3.84874962e-02 2.38351286e+02] [ 3.90849492e-02 -5.74496153e-04 9.99235726e-01 1.94878383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.230385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.13, Y:238.38, Z:19.49 [[ 1.60113304e-01 -9.87075072e-01 -6.82142213e-03 2.96129273e+02] [ 9.86324534e-01 1.60257549e-01 -3.84893672e-02 2.38379159e+02] [ 3.90850793e-02 -5.65476254e-04 9.99235726e-01 1.94893039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.260385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:296.13, Y:238.40, Z:19.49 [[ 1.57254155e-01 -9.87534679e-01 -6.81092453e-03 2.96127808e+02] [ 9.86784482e-01 1.57400164e-01 -3.84912247e-02 2.38403990e+02] [ 3.90834599e-02 -6.68009632e-04 9.99235726e-01 1.94902554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.290385723 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:296.13, Y:238.43, Z:19.49 [[ 1.56870084e-01 -9.87598542e-01 -6.39512235e-03 2.96132414e+02] [ 9.86845328e-01 1.57000167e-01 -3.85648204e-02 2.38431696e+02] [ 3.90905957e-02 -2.61330006e-04 9.99235636e-01 1.94912933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.320385723 meters Centerline goodness : 0.999717 Centerline is valid? [True, True] Translation: X:296.14, Y:238.46, Z:19.49 [[ 1.56644998e-01 -9.87634329e-01 -6.38573331e-03 2.96138354e+02] [ 9.86881078e-01 1.56774886e-01 -3.85664761e-02 2.38460797e+02] [ 3.90906983e-02 -2.60713797e-04 9.99235633e-01 1.94898022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.350385723 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:296.14, Y:238.49, Z:19.49 [[ 1.53890638e-01 -9.88065788e-01 -6.60828091e-03 2.96140105e+02] [ 9.87314542e-01 1.54031306e-01 -3.85272980e-02 2.38485621e+02] [ 3.90853872e-02 -5.95461364e-04 9.99235697e-01 1.94896953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.380385723 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:296.14, Y:238.51, Z:19.49 [[ 1.53845310e-01 -9.88073437e-01 -6.51943808e-03 2.96144881e+02] [ 9.87321533e-01 1.53982548e-01 -3.85430269e-02 2.38513257e+02] [ 3.90872207e-02 -5.07117707e-04 9.99235674e-01 1.94907804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.410385723 meters Centerline goodness : 0.999672 Centerline is valid? [True, True] Translation: X:296.15, Y:238.54, Z:19.49 [[ 1.54334592e-01 -9.87997173e-01 -6.51299210e-03 2.96150786e+02] [ 9.87245154e-01 1.54471207e-01 -3.85441678e-02 2.38541809e+02] [ 3.90875986e-02 -4.81221477e-04 9.99235672e-01 1.94921281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.440385723 meters Centerline goodness : 0.999738 Centerline is valid? [True, True] Translation: X:296.16, Y:238.57, Z:19.50 [[ 1.55719926e-01 -9.87779075e-01 -6.61848324e-03 2.96157825e+02] [ 9.87027644e-01 1.55859600e-01 -3.85255085e-02 2.38570470e+02] [ 3.90862453e-02 -5.33436603e-04 9.99235698e-01 1.94951581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.470385723 meters Centerline goodness : 0.999716 Centerline is valid? [True, True] Translation: X:296.16, Y:238.60, Z:19.50 [[ 1.55838904e-01 -9.87759048e-01 -6.80428546e-03 2.96162629e+02] [ 9.87009000e-01 1.55985729e-01 -3.84926652e-02 2.38597894e+02] [ 3.90828498e-02 -7.17236243e-04 9.99235716e-01 1.94959686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.500385723 meters Centerline goodness : 0.999738 Centerline is valid? [True, True] Translation: X:296.17, Y:238.63, Z:19.50 [[ 1.55580190e-01 -9.87799904e-01 -6.79372074e-03 2.96167683e+02] [ 9.87049814e-01 1.55726800e-01 -3.84945298e-02 2.38625709e+02] [ 3.90828572e-02 -7.16754543e-04 9.99235716e-01 1.94976906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.530385723 meters Centerline goodness : 0.999718 Centerline is valid? [True, True] Translation: X:296.17, Y:238.65, Z:19.50 [[ 1.55954643e-01 -9.87740929e-01 -6.78288593e-03 2.96172412e+02] [ 9.86990701e-01 1.56100547e-01 -3.84964388e-02 2.38652781e+02] [ 3.90833204e-02 -6.90946983e-04 9.99235716e-01 1.94984291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.56038572299997 meters Centerline goodness : 0.999630 Centerline is valid? [True, True] Translation: X:296.17, Y:238.68, Z:19.49 [[ 1.51742015e-01 -9.88396938e-01 -6.77148998e-03 2.96168845e+02] [ 9.87647252e-01 1.51890672e-01 -3.84984432e-02 2.38676005e+02] [ 3.90802696e-02 -8.46012134e-04 9.99235716e-01 1.94921979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.590385723 meters Centerline goodness : 0.999545 Centerline is valid? [True, True] Translation: X:296.17, Y:238.70, Z:19.49 [[ 1.53176160e-01 -9.88180283e-01 -6.06560997e-03 2.96172766e+02] [ 9.87425253e-01 1.53296191e-01 -3.86218512e-02 2.38704517e+02] [ 3.90951868e-02 -7.33895904e-05 9.99235488e-01 1.94913733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.62038572299997 meters Centerline goodness : 0.999695 Centerline is valid? [True, True] Translation: X:296.18, Y:238.74, Z:19.50 [[ 1.59628553e-01 -9.87158207e-01 -6.11551073e-03 2.96184689e+02] [ 9.86402740e-01 1.59745602e-01 -3.86131761e-02 2.38736103e+02] [ 3.90942396e-02 1.31408895e-04 9.99235519e-01 1.94995198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.650385723 meters Centerline goodness : 0.999738 Centerline is valid? [True, True] Translation: X:296.19, Y:238.76, Z:19.50 [[ 1.61221996e-01 -9.86895364e-01 -6.70886422e-03 2.96189369e+02] [ 9.86143813e-01 1.61361009e-01 -3.85098141e-02 2.38762659e+02] [ 3.90877061e-02 -4.07275827e-04 9.99235701e-01 1.95003175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.680385723 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:296.19, Y:238.79, Z:19.50 [[ 1.61437323e-01 -9.86860215e-01 -6.70119942e-03 2.96193952e+02] [ 9.86108579e-01 1.61575872e-01 -3.85111478e-02 2.38789150e+02] [ 3.90878718e-02 -3.90973625e-04 9.99235701e-01 1.95011578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.710385723 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:296.20, Y:238.82, Z:19.50 [[ 1.61846115e-01 -9.86793330e-01 -6.69026164e-03 2.96198717e+02] [ 9.86041557e-01 1.61983926e-01 -3.85130479e-02 2.38816977e+02] [ 3.90881336e-02 -3.63688833e-04 9.99235701e-01 1.95022657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.740385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.20, Y:238.84, Z:19.50 [[ 1.61805524e-01 -9.86800058e-01 -6.67962799e-03 2.96203480e+02] [ 9.86048216e-01 1.61942951e-01 -3.85148921e-02 2.38844801e+02] [ 3.90882164e-02 -3.54512954e-04 9.99235701e-01 1.95027760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.770385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:296.21, Y:238.87, Z:19.50 [[ 1.61850650e-01 -9.86792729e-01 -6.66906341e-03 2.96209066e+02] [ 9.86040805e-01 1.61987630e-01 -3.85167213e-02 2.38872787e+02] [ 3.90883263e-02 -3.42012291e-04 9.99235701e-01 1.95039477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.800385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:296.21, Y:238.90, Z:19.51 [[ 1.61581660e-01 -9.86836882e-01 -6.65856087e-03 2.96213863e+02] [ 9.86084920e-01 1.61718435e-01 -3.85185368e-02 2.38900941e+02] [ 3.90883248e-02 -3.42017356e-04 9.99235701e-01 1.95050611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.830385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:296.22, Y:238.93, Z:19.51 [[ 1.61629171e-01 -9.86829172e-01 -6.64805282e-03 2.96219710e+02] [ 9.86077130e-01 1.61765500e-01 -3.85203504e-02 2.38928454e+02] [ 3.90884310e-02 -3.29480536e-04 9.99235701e-01 1.95064416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.860385723 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:296.23, Y:238.96, Z:19.51 [[ 1.61754543e-01 -9.86808700e-01 -6.63760119e-03 2.96225874e+02] [ 9.86056567e-01 1.61890369e-01 -3.85221513e-02 2.38955753e+02] [ 3.90885577e-02 -3.13917264e-04 9.99235701e-01 1.95071497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.890385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:296.23, Y:238.98, Z:19.51 [[ 1.61810941e-01 -9.86799523e-01 -6.62721154e-03 2.96231006e+02] [ 9.86047309e-01 1.61946318e-01 -3.85239386e-02 2.38983470e+02] [ 3.90886567e-02 -3.01149366e-04 9.99235701e-01 1.95091481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.920385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:296.24, Y:239.01, Z:19.51 [[ 1.61167360e-01 -9.86904988e-01 -6.60509642e-03 2.96237294e+02] [ 9.86152707e-01 1.61302364e-01 -3.85277379e-02 2.39011378e+02] [ 3.90886344e-02 -3.04219922e-04 9.99235701e-01 1.95088858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.950385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.24, Y:239.04, Z:19.51 [[ 1.60213473e-01 -9.87060237e-01 -6.61296190e-03 2.96243647e+02] [ 9.86308142e-01 1.60349511e-01 -3.85263878e-02 2.39038514e+02] [ 3.90882507e-02 -3.49971786e-04 9.99235701e-01 1.95107337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.980385723 meters Centerline goodness : 0.999781 Centerline is valid? [True, True] Translation: X:296.25, Y:239.07, Z:19.51 [[ 1.57703964e-01 -9.87464363e-01 -6.60234623e-03 2.96250985e+02] [ 9.86712541e-01 1.57841499e-01 -3.85282070e-02 2.39065433e+02] [ 3.90873556e-02 -4.38566861e-04 9.99235701e-01 1.95125531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.010385723 meters Centerline goodness : 0.999540 Centerline is valid? [True, True] Translation: X:296.26, Y:239.09, Z:19.51 [[ 1.56671732e-01 -9.87628736e-01 -6.59147007e-03 2.96256730e+02] [ 9.86876980e-01 1.56809628e-01 -3.85300676e-02 2.39091806e+02] [ 3.90870079e-02 -4.68397679e-04 9.99235701e-01 1.95124858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.040385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:296.26, Y:239.12, Z:19.52 [[ 1.54298588e-01 -9.88002329e-01 -6.58353131e-03 2.96263877e+02] [ 9.87250849e-01 1.54437981e-01 -3.85314240e-02 2.39119108e+02] [ 3.90858840e-02 -5.54252552e-04 9.99235701e-01 1.95153012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.070385723 meters Centerline goodness : 0.999716 Centerline is valid? [True, True] Translation: X:296.27, Y:239.15, Z:19.52 [[ 1.53098742e-01 -9.88189036e-01 -6.57294210e-03 2.96269719e+02] [ 9.87437649e-01 1.53238635e-01 -3.85332303e-02 2.39146234e+02] [ 3.90853444e-02 -5.90981403e-04 9.99235701e-01 1.95170471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.100385723 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:296.28, Y:239.17, Z:19.52 [[ 1.51760846e-01 -9.88395458e-01 -6.56237250e-03 2.96276035e+02] [ 9.87644184e-01 1.51901344e-01 -3.85350303e-02 2.39173576e+02] [ 3.90846821e-02 -6.33180235e-04 9.99235701e-01 1.95182769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.130385723 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:296.28, Y:239.20, Z:19.52 [[ 1.51753007e-01 -9.88396731e-01 -6.55184008e-03 2.96282266e+02] [ 9.87645381e-01 1.51893100e-01 -3.85368209e-02 2.39200918e+02] [ 3.90848471e-02 -6.22816118e-04 9.99235701e-01 1.95200602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.160385723 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:296.29, Y:239.23, Z:19.52 [[ 1.51746893e-01 -9.88397740e-01 -6.54128584e-03 2.96287265e+02] [ 9.87646314e-01 1.51886579e-01 -3.85386123e-02 2.39228674e+02] [ 3.90850109e-02 -6.12362173e-04 9.99235701e-01 1.95210806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.190385723 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:296.29, Y:239.26, Z:19.52 [[ 1.53553983e-01 -9.88118679e-01 -6.53070853e-03 2.96293676e+02] [ 9.87366924e-01 1.53691882e-01 -3.85404047e-02 2.39256513e+02] [ 3.90862107e-02 -5.30172961e-04 9.99235701e-01 1.95223959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.220385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.30, Y:239.28, Z:19.52 [[ 1.54130427e-01 -9.88028999e-01 -6.51988458e-03 2.96298539e+02] [ 9.87277086e-01 1.54267466e-01 -3.85422357e-02 2.39283235e+02] [ 3.90866526e-02 -4.96401395e-04 9.99235702e-01 1.95222022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.250385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:296.30, Y:239.31, Z:19.52 [[ 1.54665515e-01 -9.87945430e-01 -6.51199500e-03 2.96304037e+02] [ 9.87193387e-01 1.54801838e-01 -3.85435686e-02 2.39310865e+02] [ 3.90870113e-02 -4.67237523e-04 9.99235702e-01 1.95228710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.280385723 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:296.31, Y:239.33, Z:19.52 [[ 1.52523125e-01 -9.88278516e-01 -6.50161524e-03 2.96306054e+02] [ 9.87526697e-01 1.52660674e-01 -3.85453195e-02 2.39334172e+02] [ 3.90860521e-02 -5.41466057e-04 9.99235702e-01 1.95212738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.31038572299997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:296.32, Y:239.37, Z:19.53 [[ 1.57039877e-01 -9.87573959e-01 -6.01276744e-03 2.96317238e+02] [ 9.86818247e-01 1.57154888e-01 -3.86275552e-02 2.39365084e+02] [ 3.90925034e-02 1.32557889e-04 9.99235587e-01 1.95254685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.340385723 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:296.32, Y:239.39, Z:19.53 [[ 1.57482277e-01 -9.87500476e-01 -6.49178234e-03 2.96322733e+02] [ 9.86747911e-01 1.57615667e-01 -3.85468877e-02 2.39392646e+02] [ 3.90882765e-02 -3.35301006e-04 9.99235705e-01 1.95265449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.37038572299997 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:296.32, Y:239.42, Z:19.52 [[ 1.55384883e-01 -9.87832745e-01 -6.48121660e-03 2.96324225e+02] [ 9.87080391e-01 1.55519458e-01 -3.85486641e-02 2.39417642e+02] [ 3.90875880e-02 -4.07602151e-04 9.99235705e-01 1.95234039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.400385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:296.33, Y:239.45, Z:19.53 [[ 1.58022839e-01 -9.87416872e-01 -6.05835360e-03 2.96332284e+02] [ 9.86661353e-01 1.58138881e-01 -3.86195510e-02 2.39447600e+02] [ 3.90916575e-02 1.25227711e-04 9.99235621e-01 1.95262855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.430385723 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:296.34, Y:239.47, Z:19.53 [[ 1.57403412e-01 -9.87513202e-01 -6.46857464e-03 2.96337819e+02] [ 9.86760490e-01 1.57535955e-01 -3.85507218e-02 2.39474970e+02] [ 3.90883798e-02 -3.14918752e-04 9.99235708e-01 1.95271021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.460385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.35, Y:239.50, Z:19.53 [[ 1.55665289e-01 -9.87788749e-01 -6.45790249e-03 2.96345377e+02] [ 9.87036198e-01 1.55798740e-01 -3.85525095e-02 2.39501270e+02] [ 3.90878682e-02 -3.72896000e-04 9.99235708e-01 1.95282790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.490385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.35, Y:239.53, Z:19.53 [[ 1.54002552e-01 -9.88049419e-01 -6.44664532e-03 2.96350902e+02] [ 9.87297015e-01 1.54136831e-01 -3.85543918e-02 2.39529183e+02] [ 3.90873099e-02 -4.27278957e-04 9.99235708e-01 1.95297816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.520385723 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:296.36, Y:239.56, Z:19.53 [[ 1.50966048e-01 -9.88517996e-01 -6.43614868e-03 2.96356360e+02] [ 9.87765934e-01 1.51102229e-01 -3.85561440e-02 2.39556440e+02] [ 3.90859586e-02 -5.36739706e-04 9.99235708e-01 1.95311750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.550385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:296.36, Y:239.58, Z:19.53 [[ 1.48241892e-01 -9.88930257e-01 -6.42553877e-03 2.96361819e+02] [ 9.88178497e-01 1.48379731e-01 -3.85579121e-02 2.39582658e+02] [ 3.90845057e-02 -6.33681391e-04 9.99235708e-01 1.95317822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.580385723 meters Centerline goodness : 0.999757 Centerline is valid? [True, True] Translation: X:296.37, Y:239.61, Z:19.53 [[ 1.46662497e-01 -9.89165794e-01 -6.41436238e-03 2.96367195e+02] [ 9.88414175e-01 1.46801101e-01 -3.85597713e-02 2.39610144e+02] [ 3.90836422e-02 -6.84774362e-04 9.99235708e-01 1.95327528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.610385723 meters Centerline goodness : 0.999690 Centerline is valid? [True, True] Translation: X:296.37, Y:239.64, Z:19.53 [[ 1.44538185e-01 -9.89478502e-01 -6.40375403e-03 2.96373718e+02] [ 9.88727105e-01 1.44677989e-01 -3.85615330e-02 2.39636749e+02] [ 3.90822901e-02 -7.57951198e-04 9.99235708e-01 1.95336481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.640385723 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:296.38, Y:239.66, Z:19.53 [[ 1.42086654e-01 -9.89833559e-01 -6.39602158e-03 2.96376874e+02] [ 9.89082454e-01 1.42228018e-01 -3.85628155e-02 2.39661884e+02] [ 3.90804623e-02 -8.46931285e-04 9.99235708e-01 1.95345180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.670385723 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:296.38, Y:239.69, Z:19.54 [[ 1.42602727e-01 -9.89761339e-01 -6.07903575e-03 2.96384054e+02] [ 9.89007900e-01 1.42731345e-01 -3.86152310e-02 2.39691652e+02] [ 3.90875316e-02 -5.05577135e-04 9.99235663e-01 1.95350062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.700385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:296.39, Y:239.72, Z:19.54 [[ 1.41916200e-01 -9.89858106e-01 -6.38141982e-03 2.96388700e+02] [ 9.89106920e-01 1.42057125e-01 -3.85651970e-02 2.39719642e+02] [ 3.90805990e-02 -8.38880285e-04 9.99235709e-01 1.95352166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.730385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:296.39, Y:239.75, Z:19.54 [[ 1.41646872e-01 -9.89896748e-01 -6.37110537e-03 2.96393590e+02] [ 9.89145526e-01 1.41787600e-01 -3.85669010e-02 2.39746737e+02] [ 3.90805936e-02 -8.39069469e-04 9.99235710e-01 1.95362276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.760385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.40, Y:239.77, Z:19.54 [[ 1.41709090e-01 -9.89888401e-01 -6.28390602e-03 2.96398691e+02] [ 9.89136538e-01 1.41846374e-01 -3.85812796e-02 2.39773890e+02] [ 3.90825104e-02 -7.48323014e-04 9.99235707e-01 1.95369783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.790385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.40, Y:239.80, Z:19.54 [[ 1.42449492e-01 -9.89781667e-01 -6.35563260e-03 2.96404037e+02] [ 9.89030218e-01 1.42589008e-01 -3.85694603e-02 2.39801164e+02] [ 3.90815880e-02 -7.91712653e-04 9.99235709e-01 1.95391320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.820385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.41, Y:239.83, Z:19.54 [[ 1.42812294e-01 -9.89729451e-01 -6.34528819e-03 2.96408254e+02] [ 9.88977876e-01 1.42951131e-01 -3.85711620e-02 2.39828077e+02] [ 3.90820811e-02 -7.66913510e-04 9.99235709e-01 1.95402226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.850385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:296.41, Y:239.85, Z:19.54 [[ 1.40604716e-01 -9.90045549e-01 -6.33438043e-03 2.96406741e+02] [ 9.89294207e-01 1.40744803e-01 -3.85729533e-02 2.39851970e+02] [ 3.90805118e-02 -8.43026742e-04 9.99235709e-01 1.95412905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.880385723 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:296.41, Y:239.88, Z:19.54 [[ 1.44034965e-01 -9.89555669e-01 -5.78852300e-03 2.96414745e+02] [ 9.88800118e-01 1.44151151e-01 -3.86622995e-02 2.39884030e+02] [ 3.90929198e-02 -1.54969263e-04 9.99235568e-01 1.95411722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.910385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.42, Y:239.91, Z:19.54 [[ 1.42235450e-01 -9.89812646e-01 -6.32471929e-03 2.96415922e+02] [ 9.89061010e-01 1.42373924e-01 -3.85743897e-02 2.39909505e+02] [ 3.90818938e-02 -7.68887562e-04 9.99235715e-01 1.95429881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.940385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.43, Y:239.94, Z:19.55 [[ 1.45423567e-01 -9.89351527e-01 -5.96177540e-03 2.96425035e+02] [ 9.88596962e-01 1.45545459e-01 -3.86337525e-02 2.39940995e+02] [ 3.90900713e-02 -2.75534952e-04 9.99235653e-01 1.95450613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.970385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:296.42, Y:239.96, Z:19.54 [[ 1.40845679e-01 -9.90010723e-01 -6.42359303e-03 2.96420894e+02] [ 9.89260006e-01 1.40989057e-01 -3.85580923e-02 2.39961755e+02] [ 3.90785812e-02 -9.23862998e-04 9.99235713e-01 1.95445458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.000385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.43, Y:239.99, Z:19.55 [[ 1.45934618e-01 -9.89278442e-01 -5.59031123e-03 2.96430674e+02] [ 9.88521445e-01 1.46041603e-01 -3.86937117e-02 2.39994261e+02] [ 3.90952728e-02 1.20609520e-04 9.99235480e-01 1.95452593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.030385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.43, Y:240.02, Z:19.55 [[ 1.45253707e-01 -9.89374398e-01 -6.29776449e-03 2.96430660e+02] [ 9.88622176e-01 1.45388837e-01 -3.85782325e-02 2.40019308e+02] [ 3.90839402e-02 -6.22478340e-04 9.99235737e-01 1.95455278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.06038572299997 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:296.44, Y:240.05, Z:19.55 [[ 1.48167386e-01 -9.88944331e-01 -5.96120425e-03 2.96436569e+02] [ 9.88189461e-01 1.48287162e-01 -3.86329687e-02 2.40049058e+02] [ 3.90898255e-02 -1.66653229e-04 9.99235687e-01 1.95450610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.090385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:296.44, Y:240.08, Z:19.55 [[ 1.50701245e-01 -9.88559439e-01 -6.27451575e-03 2.96439653e+02] [ 9.87806327e-01 1.50831322e-01 -3.85820175e-02 2.40077418e+02] [ 3.90870111e-02 -3.83648277e-04 9.99235737e-01 1.95451691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.12038572299997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:296.44, Y:240.11, Z:19.55 [[ 1.51188953e-01 -9.88485033e-01 -6.26421587e-03 2.96444043e+02] [ 9.87731788e-01 1.51318256e-01 -3.85836897e-02 2.40105601e+02] [ 3.90872900e-02 -3.53937487e-04 9.99235737e-01 1.95457590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.150385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.45, Y:240.13, Z:19.55 [[ 1.53744463e-01 -9.88090282e-01 -6.34316369e-03 2.96447645e+02] [ 9.87337228e-01 1.53874900e-01 -3.85708835e-02 2.40130394e+02] [ 3.90875688e-02 -3.32781900e-04 9.99235734e-01 1.95468313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.180385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.45, Y:240.16, Z:19.55 [[ 1.54166503e-01 -9.88025136e-01 -6.24655392e-03 2.96451419e+02] [ 9.87271390e-01 1.54292847e-01 -3.85865233e-02 2.40157656e+02] [ 3.90882535e-02 -2.18294611e-04 9.99235738e-01 1.95473586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.210385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.45, Y:240.18, Z:19.55 [[ 1.54592375e-01 -9.87958663e-01 -6.23515899e-03 2.96454748e+02] [ 9.87204789e-01 1.54717948e-01 -3.85883645e-02 2.40184379e+02] [ 3.90884000e-02 -1.89911902e-04 9.99235738e-01 1.95486890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.240385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.46, Y:240.21, Z:19.55 [[ 1.54860521e-01 -9.87916780e-01 -6.21727146e-03 2.96459159e+02] [ 9.87162756e-01 1.54985191e-01 -3.85912497e-02 2.40212619e+02] [ 3.90885282e-02 -1.61197797e-04 9.99235738e-01 1.95486365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.270385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:296.46, Y:240.24, Z:19.55 [[ 1.54811986e-01 -9.87924409e-01 -6.21386095e-03 2.96463297e+02] [ 9.87170368e-01 1.54936560e-01 -3.85917989e-02 2.40238691e+02] [ 3.90885343e-02 -1.59666374e-04 9.99235738e-01 1.95485721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.300385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.46, Y:240.26, Z:19.55 [[ 1.52561890e-01 -9.88274458e-01 -6.20213070e-03 2.96462606e+02] [ 9.87520626e-01 1.52687722e-01 -3.85936840e-02 2.40260876e+02] [ 3.90881413e-02 -2.36806635e-04 9.99235739e-01 1.95484117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.330385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:296.47, Y:240.29, Z:19.55 [[ 1.50246612e-01 -9.88631241e-01 -5.85025974e-03 2.96465824e+02] [ 9.87875430e-01 1.50360464e-01 -3.86505589e-02 2.40286902e+02] [ 3.90907978e-02 2.77876575e-05 9.99235662e-01 1.95480818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.360385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.47, Y:240.31, Z:19.55 [[ 1.47920803e-01 -9.88983051e-01 -5.65336876e-03 2.96470034e+02] [ 9.88226278e-01 1.48028734e-01 -3.86822673e-02 2.40314313e+02] [ 3.90929678e-02 1.35104470e-04 9.99235569e-01 1.95467197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.390385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.48, Y:240.34, Z:19.55 [[ 1.44269204e-01 -9.89523226e-01 -5.49381173e-03 2.96476380e+02] [ 9.88765878e-01 1.44373689e-01 -3.87075716e-02 2.40341988e+02] [ 3.90952030e-02 1.52216960e-04 9.99235479e-01 1.95478443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.420385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.48, Y:240.37, Z:19.55 [[ 1.42299704e-01 -9.89807639e-01 -5.62427604e-03 2.96480646e+02] [ 9.89051309e-01 1.42410796e-01 -3.86868501e-02 2.40368763e+02] [ 3.90934974e-02 -5.75702576e-05 9.99235555e-01 1.95484305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.450385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.49, Y:240.40, Z:19.56 [[ 1.44685746e-01 -9.89461751e-01 -5.61058417e-03 2.96493285e+02] [ 9.88705072e-01 1.44794479e-01 -3.86890220e-02 2.40399496e+02] [ 3.90936891e-02 5.05369842e-05 9.99235548e-01 1.95553977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.480385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.50, Y:240.43, Z:19.56 [[ 1.43716554e-01 -9.89599864e-01 -6.13684072e-03 2.96498002e+02] [ 9.88846695e-01 1.43846579e-01 -3.86053721e-02 2.40425200e+02] [ 3.90866346e-02 -5.20163606e-04 9.99235690e-01 1.95582868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.510385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.50, Y:240.45, Z:19.56 [[ 1.43207645e-01 -9.89673707e-01 -6.12569690e-03 2.96502206e+02] [ 9.88920530e-01 1.43337622e-01 -3.86071403e-02 2.40452489e+02] [ 3.90865145e-02 -5.28989765e-04 9.99235690e-01 1.95606364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.540385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.50, Y:240.47, Z:19.56 [[ 1.34989104e-01 -9.90828211e-01 -6.11535321e-03 2.96495026e+02] [ 9.90076066e-01 1.35124925e-01 -3.86087787e-02 2.40472176e+02] [ 3.90810038e-02 -8.42900398e-04 9.99235690e-01 1.95556833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.570385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.51, Y:240.51, Z:19.56 [[ 1.43241701e-01 -9.89674822e-01 -5.05595483e-03 2.96507926e+02] [ 9.88915162e-01 1.43329832e-01 -3.87732065e-02 2.40506917e+02] [ 3.90975353e-02 5.54029660e-04 9.99235245e-01 1.95615715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.600385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:296.50, Y:240.53, Z:19.56 [[ 1.37832431e-01 -9.90437507e-01 -5.98048542e-03 2.96503312e+02] [ 9.89684092e-01 1.37960835e-01 -3.86290861e-02 2.40526862e+02] [ 3.90847685e-02 -5.94450435e-04 9.99235722e-01 1.95569360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.630385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.52, Y:240.56, Z:19.56 [[ 1.45856543e-01 -9.89292841e-01 -5.05408720e-03 2.96517430e+02] [ 9.88532932e-01 1.45942593e-01 -3.87737177e-02 2.40561469e+02] [ 3.90961679e-02 6.59268803e-04 9.99235235e-01 1.95644372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.660385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.51, Y:240.58, Z:19.56 [[ 1.39865583e-01 -9.90152007e-01 -6.05154359e-03 2.96514574e+02] [ 9.89398833e-01 1.39995210e-01 -3.86172263e-02 2.40583196e+02] [ 3.90841112e-02 -5.86169309e-04 9.99235752e-01 1.95601626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.690385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.53, Y:240.62, Z:19.57 [[ 1.45667383e-01 -9.89319661e-01 -5.25570611e-03 2.96526058e+02] [ 9.88560930e-01 1.45761478e-01 -3.87411778e-02 2.40615863e+02] [ 3.90934884e-02 4.47740271e-04 9.99235457e-01 1.95671016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.720385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.53, Y:240.64, Z:19.57 [[ 1.45334181e-01 -9.89364207e-01 -6.03673198e-03 2.96530580e+02] [ 9.88610249e-01 1.45459067e-01 -3.86191044e-02 2.40643242e+02] [ 3.90864570e-02 -3.55299177e-04 9.99235769e-01 1.95685005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.750385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.53, Y:240.67, Z:19.57 [[ 1.43764627e-01 -9.89593577e-01 -6.02371322e-03 2.96534341e+02] [ 9.88839733e-01 1.43890201e-01 -3.86211349e-02 2.40670287e+02] [ 3.90859804e-02 -4.04133901e-04 9.99235769e-01 1.95717261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.780385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.54, Y:240.70, Z:19.57 [[ 1.42791961e-01 -9.89734474e-01 -6.01058485e-03 2.96537948e+02] [ 9.88980669e-01 1.42917763e-01 -3.86231780e-02 2.40697523e+02] [ 3.90857101e-02 -4.29272900e-04 9.99235769e-01 1.95729773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.81038572299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.54, Y:240.73, Z:19.58 [[ 1.41352617e-01 -9.89941133e-01 -5.99917890e-03 2.96540710e+02] [ 9.89187437e-01 1.41479070e-01 -3.86249496e-02 2.40725590e+02] [ 3.90851846e-02 -4.74574685e-04 9.99235770e-01 1.95750373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.840385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.54, Y:240.75, Z:19.58 [[ 1.41103562e-01 -9.89976728e-01 -5.98855638e-03 2.96543858e+02] [ 9.89222994e-01 1.41229790e-01 -3.86265964e-02 2.40751205e+02] [ 3.90851941e-02 -4.73667325e-04 9.99235770e-01 1.95762944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.87038572299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.55, Y:240.78, Z:19.58 [[ 1.39087854e-01 -9.90262520e-01 -5.89161810e-03 2.96547421e+02] [ 9.89508409e-01 1.39211836e-01 -3.86415928e-02 2.40778405e+02] [ 3.90855040e-02 -4.55229421e-04 9.99235766e-01 1.95778752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.900385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:296.55, Y:240.81, Z:19.57 [[ 1.35257028e-01 -9.90792557e-01 -5.97042904e-03 2.96547984e+02] [ 9.90039459e-01 1.35386997e-01 -3.86294122e-02 2.40805342e+02] [ 3.90820525e-02 -6.86060830e-04 9.99235769e-01 1.95740729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.930385723 meters Centerline goodness : 0.998067 Centerline is valid? [True, True] Translation: X:296.55, Y:240.83, Z:19.58 [[ 1.34619529e-01 -9.90880677e-01 -5.75032603e-03 2.96551553e+02] [ 9.90126209e-01 1.34741401e-01 -3.86632262e-02 2.40834248e+02] [ 3.90854507e-02 -4.88723196e-04 9.99235752e-01 1.95766589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.960385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.55, Y:240.86, Z:19.58 [[ 1.32338454e-01 -9.91186612e-01 -5.96944512e-03 2.96552369e+02] [ 9.90433892e-01 1.32470603e-01 -3.86295978e-02 2.40859856e+02] [ 3.90799162e-02 -8.00159493e-04 9.99235768e-01 1.95750979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.990385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.56, Y:240.89, Z:19.58 [[ 1.33702826e-01 -9.91004993e-01 -5.71466851e-03 2.96557067e+02] [ 9.90250407e-01 1.33824005e-01 -3.86686965e-02 2.40888857e+02] [ 3.90856311e-02 -4.88838809e-04 9.99235745e-01 1.95758101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.020385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.56, Y:240.91, Z:19.58 [[ 1.34848570e-01 -9.90848026e-01 -6.00438684e-03 2.96561130e+02] [ 9.90095208e-01 1.34980173e-01 -3.86242525e-02 2.40914312e+02] [ 3.90812375e-02 -7.36489424e-04 9.99235765e-01 1.95817229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.050385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.56, Y:240.94, Z:19.58 [[ 1.31927584e-01 -9.91241726e-01 -5.91206342e-03 2.96562203e+02] [ 9.90488673e-01 1.32057808e-01 -3.86383791e-02 2.40943452e+02] [ 3.90807078e-02 -7.58363853e-04 9.99235770e-01 1.95758900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.080385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:296.57, Y:240.97, Z:19.58 [[ 1.32469972e-01 -9.91169445e-01 -5.90236239e-03 2.96567396e+02] [ 9.90416255e-01 1.32599406e-01 -3.86398608e-02 2.40972015e+02] [ 3.90812992e-02 -7.27174375e-04 9.99235770e-01 1.95777941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.110385723 meters Centerline goodness : 0.995453 Centerline is valid? [True, True] Translation: X:296.57, Y:241.00, Z:19.58 [[ 1.31708689e-01 -9.91269801e-01 -6.08303474e-03 2.96570433e+02] [ 9.90517945e-01 1.31845739e-01 -3.86122066e-02 2.40999301e+02] [ 3.90771366e-02 -9.39791941e-04 9.99235755e-01 1.95791317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.140385723 meters Centerline goodness : 0.999085 Centerline is valid? [True, True] Translation: X:296.57, Y:241.03, Z:19.58 [[ 1.29908903e-01 -9.91506102e-01 -6.27104376e-03 2.96571840e+02] [ 9.90755828e-01 1.30054632e-01 -3.85834335e-02 2.41025240e+02] [ 3.90712880e-02 -1.20074165e-03 9.99235704e-01 1.95799874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.170385723 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:296.57, Y:241.05, Z:19.58 [[ 1.28371313e-01 -9.91707003e-01 -6.16652466e-03 2.96573139e+02] [ 9.90956208e-01 1.28514141e-01 -3.85993377e-02 2.41052065e+02] [ 3.90717191e-02 -1.15570824e-03 9.99235741e-01 1.95830119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.200385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:296.58, Y:241.08, Z:19.58 [[ 1.27847516e-01 -9.91774641e-01 -6.17036187e-03 2.96575561e+02] [ 9.91023949e-01 1.27990889e-01 -3.85987600e-02 2.41079789e+02] [ 3.90710215e-02 -1.18022080e-03 9.99235739e-01 1.95844728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.230385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.58, Y:241.11, Z:19.59 [[ 1.29784442e-01 -9.91523499e-01 -6.09510075e-03 2.96577566e+02] [ 9.90772006e-01 1.29923420e-01 -3.86100759e-02 2.41108366e+02] [ 3.90746938e-02 -1.02786805e-03 9.99235764e-01 1.95882344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.260385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.58, Y:241.14, Z:19.59 [[ 1.29997479e-01 -9.91494547e-01 -6.26254731e-03 2.96579383e+02] [ 9.90744190e-01 1.30142810e-01 -3.85849671e-02 2.41136578e+02] [ 3.90718100e-02 -1.18863392e-03 9.99235698e-01 1.95893642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.290385723 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:296.58, Y:241.17, Z:19.59 [[ 1.31633028e-01 -9.91279371e-01 -6.16065283e-03 2.96579967e+02] [ 9.90528074e-01 1.31773156e-01 -3.86001189e-02 2.41166328e+02] [ 3.90753102e-02 -1.02124906e-03 9.99235747e-01 1.95918925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.320385723 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:296.58, Y:241.19, Z:19.60 [[ 1.31162292e-01 -9.91341308e-01 -6.23412551e-03 2.96579000e+02] [ 9.90590586e-01 1.31305637e-01 -3.85891300e-02 2.41189384e+02] [ 3.90735744e-02 -1.11402729e-03 9.99235715e-01 1.95966193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.350385723 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:296.58, Y:241.22, Z:19.60 [[ 1.33598055e-01 -9.91018895e-01 -5.75405890e-03 2.96584062e+02] [ 9.90264660e-01 1.33720848e-01 -3.86605595e-02 2.41219988e+02] [ 3.90827826e-02 -5.33065632e-04 9.99235834e-01 1.95966228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.380385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:296.58, Y:241.24, Z:19.60 [[ 1.31038804e-01 -9.91357754e-01 -6.21573053e-03 2.96579511e+02] [ 9.90606929e-01 1.31181526e-01 -3.85917047e-02 2.41242739e+02] [ 3.90735747e-02 -1.10033490e-03 9.99235730e-01 1.95968650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.410385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:296.58, Y:241.27, Z:19.60 [[ 1.30622877e-01 -9.91416167e-01 -5.62570443e-03 2.96584069e+02] [ 9.90661499e-01 1.30742929e-01 -3.86791956e-02 2.41274805e+02] [ 3.90827009e-02 -5.20780954e-04 9.99235844e-01 1.95970951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.440385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:296.58, Y:241.30, Z:19.60 [[ 1.28577443e-01 -9.91680444e-01 -6.14313256e-03 2.96581315e+02] [ 9.90929447e-01 1.28719205e-01 -3.86030717e-02 2.41298419e+02] [ 3.90726505e-02 -1.12392669e-03 9.99235740e-01 1.95990768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.470385723 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:296.58, Y:241.33, Z:19.60 [[ 1.25785896e-01 -9.92041229e-01 -5.66643181e-03 2.96581268e+02] [ 9.91287431e-01 1.25911214e-01 -3.86729235e-02 2.41326409e+02] [ 3.90786018e-02 -7.52554297e-04 9.99235856e-01 1.95996185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.500385723 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:296.58, Y:241.35, Z:19.60 [[ 1.24472393e-01 -9.92206991e-01 -5.64888798e-03 2.96584169e+02] [ 9.91453246e-01 1.24598025e-01 -3.86754884e-02 2.41354475e+02] [ 3.90779303e-02 -7.86577718e-04 9.99235856e-01 1.96012908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.530385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.59, Y:241.39, Z:19.60 [[ 1.21542025e-01 -9.92570253e-01 -5.64170577e-03 2.96588819e+02] [ 9.91816835e-01 1.21669603e-01 -3.86765361e-02 2.41387224e+02] [ 3.90756033e-02 -8.94714230e-04 9.99235856e-01 1.96006173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.56038572299997 meters Centerline goodness : 0.999740 Centerline is valid? [True, True] Translation: X:296.59, Y:241.41, Z:19.60 [[ 1.17204084e-01 -9.93089211e-01 -6.08463689e-03 2.96586731e+02] [ 9.92339473e-01 1.17352171e-01 -3.86113847e-02 2.41411630e+02] [ 3.90585949e-02 -1.51261341e-03 9.99235777e-01 1.96021910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.590385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:296.59, Y:241.44, Z:19.60 [[ 1.16347908e-01 -9.93192011e-01 -5.72657385e-03 2.96588262e+02] [ 9.92439863e-01 1.16482726e-01 -3.86638428e-02 2.41437616e+02] [ 3.90676667e-02 -1.18482296e-03 9.99235865e-01 1.96046921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.62038572299997 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:296.59, Y:241.47, Z:19.60 [[ 1.13705297e-01 -9.93498319e-01 -5.67406145e-03 2.96588695e+02] [ 9.92746167e-01 1.13840074e-01 -3.86715191e-02 2.41465811e+02] [ 3.90660249e-02 -1.23574619e-03 9.99235867e-01 1.96019997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.650385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.59, Y:241.49, Z:19.61 [[ 1.13606492e-01 -9.93509822e-01 -5.63909466e-03 2.96591746e+02] [ 9.92757440e-01 1.13739984e-01 -3.86766216e-02 2.41493363e+02] [ 3.90669939e-02 -1.20433788e-03 9.99235868e-01 1.96080601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.680385723 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:296.59, Y:241.52, Z:19.61 [[ 1.14700917e-01 -9.93383213e-01 -5.78724224e-03 2.96591618e+02] [ 9.92631712e-01 1.14839341e-01 -3.86550207e-02 2.41518846e+02] [ 3.90638518e-02 -1.31083387e-03 9.99235857e-01 1.96093783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.710385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.60, Y:241.55, Z:19.61 [[ 1.17054359e-01 -9.93109554e-01 -5.62942342e-03 2.96595333e+02] [ 9.92356652e-01 1.17184862e-01 -3.86779562e-02 2.41547925e+02] [ 3.90711310e-02 -1.05897240e-03 9.99235871e-01 1.96098782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.740385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.59, Y:241.58, Z:19.61 [[ 1.17892058e-01 -9.93009579e-01 -5.78271094e-03 2.96594721e+02] [ 9.92257602e-01 1.18027890e-01 -3.86557813e-02 2.41577791e+02] [ 3.90680822e-02 -1.18072930e-03 9.99235853e-01 1.96103478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.770385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.60, Y:241.61, Z:19.61 [[ 1.18665567e-01 -9.92917105e-01 -5.84002849e-03 2.96596817e+02] [ 9.92165413e-01 1.18803043e-01 -3.86475096e-02 2.41606305e+02] [ 3.90675865e-02 -1.20814566e-03 9.99235840e-01 1.96113064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.800385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.60, Y:241.63, Z:19.61 [[ 1.21283664e-01 -9.92600892e-01 -5.80878065e-03 2.96596915e+02] [ 9.91848630e-01 1.21417942e-01 -3.86520108e-02 2.41633778e+02] [ 3.90713106e-02 -1.07357362e-03 9.99235848e-01 1.96130934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.830385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.60, Y:241.66, Z:19.61 [[ 1.23289230e-01 -9.92353826e-01 -5.80091107e-03 2.96598794e+02] [ 9.91601242e-01 1.23421680e-01 -3.86531419e-02 2.41662026e+02] [ 3.90735515e-02 -9.86674529e-04 9.99235850e-01 1.96131381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.860385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.60, Y:241.69, Z:19.61 [[ 1.25922807e-01 -9.92023336e-01 -5.75738615e-03 2.96598308e+02] [ 9.91270122e-01 1.26051565e-01 -3.86593877e-02 2.41690072e+02] [ 3.90767423e-02 -8.39026240e-04 9.99235860e-01 1.96132195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.890385723 meters Centerline goodness : 0.999338 Centerline is valid? [True, True] Translation: X:296.60, Y:241.72, Z:19.61 [[ 1.25868319e-01 -9.92030695e-01 -5.68042062e-03 2.96598595e+02] [ 9.91276994e-01 1.25994119e-01 -3.86704425e-02 2.41716533e+02] [ 3.90779655e-02 -7.63486694e-04 9.99235873e-01 1.96129984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.920385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.60, Y:241.74, Z:19.62 [[ 1.26572731e-01 -9.91941281e-01 -5.64249824e-03 2.96600534e+02] [ 9.91187252e-01 1.26696518e-01 -3.86758779e-02 2.41744095e+02] [ 3.90790847e-02 -6.97460829e-04 9.99235877e-01 1.96150461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.950385723 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:296.60, Y:241.77, Z:19.62 [[ 1.26080230e-01 -9.92003655e-01 -5.70293944e-03 2.96604043e+02] [ 9.91250067e-01 1.26206746e-01 -3.86673144e-02 2.41772510e+02] [ 3.90778666e-02 -7.77855219e-04 9.99235866e-01 1.96153036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.980385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.61, Y:241.80, Z:19.62 [[ 1.25565574e-01 -9.92069322e-01 -5.63438226e-03 2.96606589e+02] [ 9.91315368e-01 1.25689810e-01 -3.86770277e-02 2.41799013e+02] [ 3.90784771e-02 -7.28946522e-04 9.99235879e-01 1.96163661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.010385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.61, Y:241.83, Z:19.62 [[ 1.26062474e-01 -9.92006467e-01 -5.60558294e-03 2.96611490e+02] [ 9.91252271e-01 1.26185209e-01 -3.86811044e-02 2.41827774e+02] [ 3.90792474e-02 -6.80311121e-04 9.99235883e-01 1.96186880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.040385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.61, Y:241.86, Z:19.62 [[ 1.25780991e-01 -9.92041820e-01 -5.67179493e-03 2.96613717e+02] [ 9.91288070e-01 1.25906521e-01 -3.86718375e-02 2.41855719e+02] [ 3.90781961e-02 -7.58200593e-04 9.99235868e-01 1.96207398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.070385723 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:296.62, Y:241.88, Z:19.62 [[ 1.24512893e-01 -9.92202048e-01 -5.62445841e-03 2.96615839e+02] [ 9.91448162e-01 1.24637542e-01 -3.86784830e-02 2.41882031e+02] [ 3.90778887e-02 -7.60389126e-04 9.99235878e-01 1.96208485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.100385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:296.62, Y:241.91, Z:19.62 [[ 1.25967739e-01 -9.92018867e-01 -5.54035731e-03 2.96620887e+02] [ 9.91264284e-01 1.26088003e-01 -3.86902522e-02 2.41910474e+02] [ 3.90800328e-02 -6.18234723e-04 9.99235892e-01 1.96235355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.130385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.63, Y:241.94, Z:19.62 [[ 1.26202275e-01 -9.91988651e-01 -5.61268886e-03 2.96625012e+02] [ 9.91234477e-01 1.26325182e-01 -3.86802235e-02 2.41938567e+02] [ 3.90793666e-02 -6.81958495e-04 9.99235877e-01 1.96244884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.160385723 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:296.63, Y:241.97, Z:19.63 [[ 1.27976878e-01 -9.91761337e-01 -5.60081778e-03 2.96627700e+02] [ 9.91006873e-01 1.28097972e-01 -3.86818654e-02 2.41965671e+02] [ 3.90806319e-02 -6.00064551e-04 9.99235880e-01 1.96253777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.190385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.63, Y:241.99, Z:19.63 [[ 1.29177931e-01 -9.91605967e-01 -5.53785298e-03 2.96630769e+02] [ 9.90850985e-01 1.29295654e-01 -3.86905605e-02 2.41992850e+02] [ 3.90818110e-02 -4.89220542e-04 9.99235894e-01 1.96255056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.220385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.63, Y:242.02, Z:19.63 [[ 1.29735864e-01 -9.91533296e-01 -5.50712156e-03 2.96632847e+02] [ 9.90778068e-01 1.29851963e-01 -3.86947969e-02 2.42018929e+02] [ 3.90822901e-02 -4.36232364e-04 9.99235900e-01 1.96268028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.250385723 meters Centerline goodness : 0.995152 Centerline is valid? [True, True] Translation: X:296.64, Y:242.05, Z:19.63 [[ 1.31474036e-01 -9.91305311e-01 -5.32527350e-03 2.96636852e+02] [ 9.90548853e-01 1.31581712e-01 -3.87198078e-02 2.42045820e+02] [ 3.90838597e-02 -1.84294137e-04 9.99235917e-01 1.96251778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.280385723 meters Centerline goodness : 0.999570 Centerline is valid? [True, True] Translation: X:296.64, Y:242.07, Z:19.63 [[ 1.31517720e-01 -9.91299143e-01 -5.39438688e-03 2.96641577e+02] [ 9.90543065e-01 1.31628060e-01 -3.87103238e-02 2.42072351e+02] [ 3.90835634e-02 -2.52279013e-04 9.99235914e-01 1.96274939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.31038572299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.65, Y:242.10, Z:19.63 [[ 1.31020146e-01 -9.91365235e-01 -5.35657958e-03 2.96645694e+02] [ 9.90609001e-01 1.31129390e-01 -3.87154927e-02 2.42097912e+02] [ 3.90835985e-02 -2.33766440e-04 9.99235917e-01 1.96298591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.340385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.65, Y:242.13, Z:19.63 [[ 1.28732860e-01 -9.91665264e-01 -5.27780015e-03 2.96650330e+02] [ 9.90908843e-01 1.28840773e-01 -3.87262292e-02 2.42125602e+02] [ 3.90834522e-02 -2.44480584e-04 9.99235920e-01 1.96329115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.37038572299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.65, Y:242.15, Z:19.63 [[ 1.25867499e-01 -9.92033355e-01 -5.21492580e-03 2.96651963e+02] [ 9.91276894e-01 1.25975142e-01 -3.87347775e-02 2.42152213e+02] [ 3.90831423e-02 -2.93985869e-04 9.99235919e-01 1.96290394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.400385723 meters Centerline goodness : 0.999570 Centerline is valid? [True, True] Translation: X:296.66, Y:242.18, Z:19.63 [[ 1.27484907e-01 -9.91828028e-01 -4.97606985e-03 2.96658900e+02] [ 9.91070109e-01 1.27581984e-01 -3.87669449e-02 2.42182468e+02] [ 3.90849994e-02 1.05662758e-05 9.99235889e-01 1.96337973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.430385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.66, Y:242.21, Z:19.64 [[ 1.26446691e-01 -9.91959211e-01 -5.30649196e-03 2.96664126e+02] [ 9.91203199e-01 1.26557466e-01 -3.87224300e-02 2.42209094e+02] [ 3.90826472e-02 -3.63488684e-04 9.99235915e-01 1.96372008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.460385723 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:296.67, Y:242.24, Z:19.64 [[ 1.24499578e-01 -9.92205650e-01 -5.27295025e-03 2.96668583e+02] [ 9.91449667e-01 1.24610528e-01 -3.87269295e-02 2.42237940e+02] [ 3.90821434e-02 -4.06378396e-04 9.99235919e-01 1.96389095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.490385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.68, Y:242.27, Z:19.64 [[ 1.24384213e-01 -9.92219964e-01 -5.30190858e-03 2.96675260e+02] [ 9.91464158e-01 1.24496381e-01 -3.87230593e-02 2.42265653e+02] [ 3.90818609e-02 -4.40115074e-04 9.99235915e-01 1.96398530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.520385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.68, Y:242.29, Z:19.64 [[ 1.22818372e-01 -9.92415188e-01 -5.26712316e-03 2.96681404e+02] [ 9.91659361e-01 1.22930376e-01 -3.87276994e-02 2.42293204e+02] [ 3.90814465e-02 -4.66719005e-04 9.99235919e-01 1.96406682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.550385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:296.69, Y:242.32, Z:19.64 [[ 1.22261021e-01 -9.92483774e-01 -5.31038855e-03 2.96685111e+02] [ 9.91728258e-01 1.22375137e-01 -3.87219331e-02 2.42319735e+02] [ 3.90807498e-02 -5.32279317e-04 9.99235914e-01 1.96419189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.580385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.69, Y:242.35, Z:19.64 [[ 1.22373752e-01 -9.92470724e-01 -5.15047257e-03 2.96690050e+02] [ 9.91714292e-01 1.22481542e-01 -3.87431926e-02 2.42348353e+02] [ 3.90823223e-02 -3.66647389e-04 9.99235927e-01 1.96426998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.610385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.69, Y:242.38, Z:19.64 [[ 1.22073119e-01 -9.92507488e-01 -5.19998625e-03 2.96693765e+02] [ 9.91751366e-01 1.22183071e-01 -3.87366218e-02 2.42376667e+02] [ 3.90817375e-02 -4.28393216e-04 9.99235925e-01 1.96438329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.640385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.70, Y:242.41, Z:19.65 [[ 1.22449121e-01 -9.92461270e-01 -5.18068832e-03 2.96699025e+02] [ 9.91704999e-01 1.22558033e-01 -3.87391749e-02 2.42405337e+02] [ 3.90820657e-02 -3.94136579e-04 9.99235927e-01 1.96466544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.670385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.70, Y:242.43, Z:19.65 [[ 1.22840347e-01 -9.92412830e-01 -5.19841071e-03 2.96704083e+02] [ 9.91656614e-01 1.22949653e-01 -3.87368327e-02 2.42433147e+02] [ 3.90820726e-02 -3.96592382e-04 9.99235925e-01 1.96471201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.700385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.71, Y:242.46, Z:19.65 [[ 1.21411260e-01 -9.92588333e-01 -5.26371079e-03 2.96709388e+02] [ 9.91832644e-01 1.21524202e-01 -3.87282062e-02 2.42460979e+02] [ 3.90808339e-02 -5.18679869e-04 9.99235918e-01 1.96479898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.730385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.71, Y:242.49, Z:19.65 [[ 1.20723922e-01 -9.92672133e-01 -5.26991460e-03 2.96714310e+02] [ 9.91916557e-01 1.20837629e-01 -3.87273883e-02 2.42489646e+02] [ 3.90804031e-02 -5.51993340e-04 9.99235917e-01 1.96488734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.760385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.72, Y:242.52, Z:19.65 [[ 1.19233541e-01 -9.92852097e-01 -5.29869142e-03 2.96720410e+02] [ 9.92096860e-01 1.19349504e-01 -3.87236006e-02 2.42517579e+02] [ 3.90792042e-02 -6.39663120e-04 9.99235911e-01 1.96497976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.790385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.72, Y:242.54, Z:19.65 [[ 1.17713002e-01 -9.93033438e-01 -5.31407251e-03 2.96723858e+02] [ 9.92278469e-01 1.17830722e-01 -3.87215794e-02 2.42544254e+02] [ 3.90779841e-02 -7.15006390e-04 9.99235908e-01 1.96506870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.820385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.73, Y:242.57, Z:19.65 [[ 1.17063312e-01 -9.93110827e-01 -5.20246605e-03 2.96728541e+02] [ 9.92355287e-01 1.17177174e-01 -3.87362131e-02 2.42571874e+02] [ 3.90789629e-02 -6.28105287e-04 9.99235928e-01 1.96516361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.850385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:296.73, Y:242.60, Z:19.65 [[ 1.14742179e-01 -9.93381413e-01 -5.25369163e-03 2.96731258e+02] [ 9.92626441e-01 1.14859803e-01 -3.87295078e-02 2.42596787e+02] [ 3.90766111e-02 -7.71045121e-04 9.99235920e-01 1.96526885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.880385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.74, Y:242.62, Z:19.65 [[ 1.13979138e-01 -9.93470270e-01 -5.05764411e-03 2.96736452e+02] [ 9.92714251e-01 1.14089699e-01 -3.87550933e-02 2.42623912e+02] [ 3.90790581e-02 -6.03523271e-04 9.99235940e-01 1.96537005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.910385723 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:296.74, Y:242.65, Z:19.66 [[ 1.13483726e-01 -9.93526813e-01 -5.09081261e-03 2.96739519e+02] [ 9.92771039e-01 1.13595958e-01 -3.87507709e-02 2.42650175e+02] [ 3.90782257e-02 -6.56429437e-04 9.99235939e-01 1.96553704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.940385723 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:296.74, Y:242.68, Z:19.66 [[ 1.13293605e-01 -9.93549180e-01 -4.95834509e-03 2.96744311e+02] [ 9.92792675e-01 1.13400815e-01 -3.87680178e-02 2.42678263e+02] [ 3.90802127e-02 -5.30440188e-04 9.99235936e-01 1.96562452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.970385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:296.75, Y:242.71, Z:19.66 [[ 1.14545227e-01 -9.93405361e-01 -5.01795806e-03 2.96748005e+02] [ 9.92649055e-01 1.14653809e-01 -3.87602697e-02 2.42705478e+02] [ 3.90799877e-02 -5.41267446e-04 9.99235939e-01 1.96592882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.000385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:296.75, Y:242.73, Z:19.66 [[ 1.15906700e-01 -9.93247586e-01 -4.98693662e-03 2.96750668e+02] [ 9.92490960e-01 1.16013035e-01 -3.87642967e-02 2.42733166e+02] [ 3.90810938e-02 -4.56447805e-04 9.99235938e-01 1.96604039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.030385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:296.76, Y:242.76, Z:19.66 [[ 1.18125436e-01 -9.92986631e-01 -4.89208644e-03 2.96755734e+02] [ 9.92229258e-01 1.18226377e-01 -3.87765856e-02 2.42761952e+02] [ 3.90830047e-02 -2.73570220e-04 9.99235930e-01 1.96619925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.06038572299997 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:296.76, Y:242.79, Z:19.66 [[ 1.19101284e-01 -9.92869409e-01 -5.02208877e-03 2.96759689e+02] [ 9.92112634e-01 1.19206557e-01 -3.87597416e-02 2.42789535e+02] [ 3.90820276e-02 -3.66142726e-04 9.99235939e-01 1.96630876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.090385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.76, Y:242.82, Z:19.66 [[ 1.21420479e-01 -9.92588514e-01 -5.01093165e-03 2.96762477e+02] [ 9.91831436e-01 1.21523547e-01 -3.87611839e-02 2.42816752e+02] [ 3.90828521e-02 -2.63598033e-04 9.99235939e-01 1.96645745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.12038572299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.77, Y:242.84, Z:19.67 [[ 1.22770820e-01 -9.92422882e-01 -4.91424300e-03 2.96765257e+02] [ 9.91665161e-01 1.22869082e-01 -3.87736592e-02 2.42844999e+02] [ 3.90836752e-02 -1.13009639e-04 9.99235935e-01 1.96655601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.150385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.77, Y:242.87, Z:19.67 [[ 1.25199959e-01 -9.92119576e-01 -4.87012175e-03 2.96766199e+02] [ 9.91361395e-01 1.25294641e-01 -3.87793450e-02 2.42871514e+02] [ 3.90839475e-02 2.71216914e-05 9.99235930e-01 1.96659440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.180385723 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:296.77, Y:242.90, Z:19.67 [[ 1.26470137e-01 -9.91959278e-01 -4.70048359e-03 2.96769159e+02] [ 9.91200152e-01 1.26557214e-01 -3.88011752e-02 2.42899601e+02] [ 3.90840659e-02 2.48069880e-04 9.99235895e-01 1.96663092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.210385723 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:296.77, Y:242.93, Z:19.67 [[ 1.28450237e-01 -9.91705154e-01 -4.62870876e-03 2.96773074e+02] [ 9.90945520e-01 1.28532990e-01 -3.88103916e-02 2.42927497e+02] [ 3.90834071e-02 3.98405781e-04 9.99235872e-01 1.96665089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.240385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:296.77, Y:242.95, Z:19.66 [[ 1.26911721e-01 -9.91903140e-01 -4.64493456e-03 2.96774507e+02] [ 9.91143712e-01 1.26996288e-01 -3.88083078e-02 2.42953298e+02] [ 3.90839718e-02 3.21431460e-04 9.99235878e-01 1.96624107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.270385723 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:296.78, Y:242.98, Z:19.66 [[ 1.25769342e-01 -9.92049811e-01 -4.38700690e-03 2.96776884e+02] [ 9.91289295e-01 1.25844689e-01 -3.88413275e-02 2.42980320e+02] [ 3.90846131e-02 5.36255235e-04 9.99235761e-01 1.96611458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.300385723 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:296.79, Y:243.01, Z:19.67 [[ 1.32292665e-01 -9.91201850e-01 -4.18853211e-03 2.96789500e+02] [ 9.90440042e-01 1.32355228e-01 -3.88666652e-02 2.43013433e+02] [ 3.90790846e-02 9.93284813e-04 9.99235627e-01 1.96704197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.330385723 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:296.79, Y:243.04, Z:19.67 [[ 1.25717682e-01 -9.92053614e-01 -4.96906253e-03 2.96787880e+02] [ 9.91295881e-01 1.25815835e-01 -3.87666299e-02 2.43035857e+02] [ 3.90837621e-02 -5.21603818e-05 9.99235937e-01 1.96650924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.360385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:296.79, Y:243.06, Z:19.67 [[ 1.24638462e-01 -9.92192733e-01 -4.33983359e-03 2.96791644e+02] [ 9.91432113e-01 1.24712828e-01 -3.88468251e-02 2.43062524e+02] [ 3.90847705e-02 5.39158137e-04 9.99235753e-01 1.96650861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.390385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:296.80, Y:243.09, Z:19.67 [[ 1.24905904e-01 -9.92159281e-01 -4.29842285e-03 2.96797727e+02] [ 9.91398458e-01 1.24978445e-01 -3.88520931e-02 2.43091350e+02] [ 3.90846750e-02 5.91406034e-04 9.99235727e-01 1.96676328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.420385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.81, Y:243.12, Z:19.67 [[ 1.25528513e-01 -9.92080025e-01 -4.45157703e-03 2.96805312e+02] [ 9.91319842e-01 1.25606572e-01 -3.88324703e-02 2.43119719e+02] [ 3.90840654e-02 4.61645612e-04 9.99235819e-01 1.96727996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.450385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:296.81, Y:243.15, Z:19.68 [[ 1.28717986e-01 -9.91670461e-01 -4.62345105e-03 2.96813588e+02] [ 9.90910803e-01 1.28800329e-01 -3.88105138e-02 2.43147717e+02] [ 3.90827421e-02 4.14183593e-04 9.99235892e-01 1.96752622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.480385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:296.82, Y:243.17, Z:19.67 [[ 1.24562070e-01 -9.92200214e-01 -4.79858070e-03 2.96817830e+02] [ 9.91441751e-01 1.24654443e-01 -3.87881970e-02 2.43174448e+02] [ 3.90838218e-02 7.40248621e-05 9.99235933e-01 1.96736864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.510385723 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:296.83, Y:243.20, Z:19.68 [[ 1.26506550e-01 -9.91954481e-01 -4.73282691e-03 2.96826445e+02] [ 9.91195523e-01 1.26594865e-01 -3.87965797e-02 2.43203088e+02] [ 3.90835926e-02 2.16864594e-04 9.99235921e-01 1.96764065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.540385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.83, Y:243.23, Z:19.68 [[ 1.27400141e-01 -9.91839360e-01 -4.88751288e-03 2.96831945e+02] [ 9.91081066e-01 1.27493822e-01 -3.87768677e-02 2.43230101e+02] [ 3.90835514e-02 9.62569520e-05 9.99235941e-01 1.96801030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.570385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:296.84, Y:243.26, Z:19.68 [[ 1.27718198e-01 -9.91798214e-01 -4.93601285e-03 2.96836742e+02] [ 9.91040128e-01 1.27813531e-01 -3.87706931e-02 2.43257259e+02] [ 3.90835934e-02 5.99362551e-05 9.99235943e-01 1.96818428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.600385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:296.84, Y:243.28, Z:19.68 [[ 1.29540167e-01 -9.91561945e-01 -4.92495314e-03 2.96842589e+02] [ 9.90803631e-01 1.29633675e-01 -3.87720979e-02 2.43284371e+02] [ 3.90833766e-02 1.42882584e-04 9.99235943e-01 1.96831455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.630385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:296.85, Y:243.31, Z:19.68 [[ 1.30496796e-01 -9.91436552e-01 -4.91427880e-03 2.96847375e+02] [ 9.90678097e-01 1.30589154e-01 -3.87734508e-02 2.43312557e+02] [ 3.90831679e-02 1.91342724e-04 9.99235943e-01 1.96836091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.660385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.85, Y:243.34, Z:19.68 [[ 1.32701264e-01 -9.91143950e-01 -4.90350764e-03 2.96855000e+02] [ 9.90385242e-01 1.32791514e-01 -3.87748130e-02 2.43340064e+02] [ 3.90825655e-02 2.89105092e-04 9.99235943e-01 1.96840730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.690385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:296.86, Y:243.37, Z:19.69 [[ 1.33275790e-01 -9.91066912e-01 -4.89280459e-03 2.96860740e+02] [ 9.90308102e-01 1.33365182e-01 -3.87761635e-02 2.43367710e+02] [ 3.90823024e-02 3.22539793e-04 9.99235943e-01 1.96856358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.720385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.87, Y:243.39, Z:19.69 [[ 1.34804885e-01 -9.90860136e-01 -4.88191723e-03 2.96867521e+02] [ 9.90101140e-01 1.34892679e-01 -3.87775342e-02 2.43394600e+02] [ 3.90816477e-02 3.93809206e-04 9.99235943e-01 1.96865675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.750385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:296.87, Y:243.42, Z:19.69 [[ 1.35052016e-01 -9.90826522e-01 -4.87397956e-03 2.96871845e+02] [ 9.90067469e-01 1.35139310e-01 -3.87785318e-02 2.43421091e+02] [ 3.90814641e-02 4.11550282e-04 9.99235943e-01 1.96859882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.780385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:296.88, Y:243.45, Z:19.69 [[ 1.35541236e-01 -9.90759773e-01 -4.86268615e-03 2.96878434e+02] [ 9.90000626e-01 1.35627714e-01 -3.87799479e-02 2.43448819e+02] [ 3.90811274e-02 4.42219737e-04 9.99235943e-01 1.96862166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.81038572299997 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:296.88, Y:243.48, Z:19.69 [[ 1.35238071e-01 -9.90801252e-01 -4.85211579e-03 2.96884095e+02] [ 9.90042084e-01 1.35324368e-01 -3.87812704e-02 2.43476634e+02] [ 3.90811408e-02 4.40905391e-04 9.99235943e-01 1.96869915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.840385723 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:296.89, Y:243.50, Z:19.69 [[ 1.33217428e-01 -9.91075011e-01 -4.84154508e-03 2.96892204e+02] [ 9.90315973e-01 1.33304858e-01 -3.87825901e-02 2.43502961e+02] [ 3.90818573e-02 3.71857458e-04 9.99235943e-01 1.96861990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.87038572299997 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:296.90, Y:243.53, Z:19.69 [[ 1.32086655e-01 -9.91226387e-01 -4.83383718e-03 2.96897970e+02] [ 9.90467414e-01 1.32174650e-01 -3.87835508e-02 2.43530508e+02] [ 3.90821896e-02 3.35031272e-04 9.99235943e-01 1.96904657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.900385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:296.91, Y:243.56, Z:19.69 [[ 1.28996344e-01 -9.91633340e-01 -4.82308910e-03 2.96905284e+02] [ 9.90874595e-01 1.29086284e-01 -3.87848873e-02 2.43557800e+02] [ 3.90829820e-02 2.24032206e-04 9.99235943e-01 1.96921937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.930385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:296.91, Y:243.59, Z:19.69 [[ 1.27800481e-01 -9.91788223e-01 -4.81222840e-03 2.96910563e+02] [ 9.91029537e-01 1.27890911e-01 -3.87862348e-02 2.43585484e+02] [ 3.90831712e-02 1.87838993e-04 9.99235943e-01 1.96934729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.960385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:296.91, Y:243.61, Z:19.69 [[ 1.21161919e-01 -9.92621144e-01 -4.80145108e-03 2.96911026e+02] [ 9.91863027e-01 1.21257003e-01 -3.87875689e-02 2.43607108e+02] [ 3.90835706e-02 -6.28055028e-05 9.99235943e-01 1.96895545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.990385723 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:296.92, Y:243.64, Z:19.69 [[ 1.21302762e-01 -9.92606978e-01 -4.12648153e-03 2.96917614e+02] [ 9.91845795e-01 1.21371334e-01 -3.88705356e-02 2.43636508e+02] [ 3.90840014e-02 6.22269969e-04 9.99235735e-01 1.96920751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.020385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:296.93, Y:243.67, Z:19.70 [[ 1.23953704e-01 -9.92278824e-01 -4.26796347e-03 2.96930180e+02] [ 9.91518047e-01 1.24025783e-01 -3.88531482e-02 2.43667564e+02] [ 3.90824937e-02 5.84228826e-04 9.99235817e-01 1.96955570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.050385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:296.94, Y:243.70, Z:19.70 [[ 1.24060542e-01 -9.92263140e-01 -4.77942901e-03 2.96936612e+02] [ 9.91504649e-01 1.24152550e-01 -3.87901345e-02 2.43695496e+02] [ 3.90833990e-02 7.34990325e-05 9.99235949e-01 1.96955378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.080385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.94, Y:243.72, Z:19.70 [[ 1.24121592e-01 -9.92255555e-01 -4.76899899e-03 2.96941141e+02] [ 9.91497010e-01 1.24213145e-01 -3.87914168e-02 2.43723732e+02] [ 3.90833712e-02 8.64041654e-05 9.99235949e-01 1.96957427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.110385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.94, Y:243.75, Z:19.69 [[ 1.20287442e-01 -9.92727700e-01 -4.75859887e-03 2.96941387e+02] [ 9.91969464e-01 1.20381519e-01 -3.87926925e-02 2.43747192e+02] [ 3.90834278e-02 -5.41110034e-05 9.99235949e-01 1.96940342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.140385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.95, Y:243.78, Z:19.69 [[ 1.24895825e-01 -9.92160642e-01 -4.27701910e-03 2.96952518e+02] [ 9.91399859e-01 1.24967536e-01 -3.88514347e-02 2.43777328e+02] [ 3.90813529e-02 6.12145837e-04 9.99235845e-01 1.96937775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.170385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.95, Y:243.80, Z:19.69 [[ 1.21218941e-01 -9.92614488e-01 -4.73784855e-03 2.96952363e+02] [ 9.91856067e-01 1.21311495e-01 -3.87951602e-02 2.43800294e+02] [ 3.90833936e-02 3.44439314e-06 9.99235952e-01 1.96946418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.200385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:296.96, Y:243.83, Z:19.69 [[ 1.23531546e-01 -9.92331550e-01 -4.24866105e-03 2.96963772e+02] [ 9.91570763e-01 1.23603194e-01 -3.88545086e-02 2.43830489e+02] [ 3.90817028e-02 5.86909442e-04 9.99235846e-01 1.96933722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.230385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:296.96, Y:243.85, Z:19.70 [[ 1.18587690e-01 -9.92932381e-01 -4.71664599e-03 2.96963877e+02] [ 9.92174110e-01 1.18681425e-01 -3.87976198e-02 2.43853823e+02] [ 3.90831913e-02 -7.88139464e-05 9.99235957e-01 1.97000960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.260385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.98, Y:243.89, Z:19.70 [[ 1.22157611e-01 -9.92502054e-01 -4.14608402e-03 2.96976897e+02] [ 9.91740950e-01 1.22226296e-01 -3.88666921e-02 2.43885109e+02] [ 3.90820323e-02 6.36020957e-04 9.99235803e-01 1.96994662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.290385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.98, Y:243.91, Z:19.70 [[ 1.21697094e-01 -9.92556116e-01 -4.70901030e-03 2.96984190e+02] [ 9.91797525e-01 1.21788156e-01 -3.87983753e-02 2.43911951e+02] [ 3.90830664e-02 5.12647881e-05 9.99235964e-01 1.97004784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.320385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.99, Y:243.94, Z:19.70 [[ 1.21204392e-01 -9.92616453e-01 -4.69824607e-03 2.96988666e+02] [ 9.91857857e-01 1.21295409e-01 -3.87996788e-02 2.43939278e+02] [ 3.90830752e-02 4.26991870e-05 9.99235964e-01 1.97014721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.350385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.99, Y:243.96, Z:19.70 [[ 1.20135215e-01 -9.92746147e-01 -4.75577067e-03 2.96993874e+02] [ 9.91987923e-01 1.20229297e-01 -3.87927294e-02 2.43964368e+02] [ 3.90831156e-02 -5.72941827e-05 9.99235962e-01 1.97037015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.380385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.00, Y:243.99, Z:19.71 [[ 1.19615321e-01 -9.92809323e-01 -4.67151988e-03 2.96998990e+02] [ 9.92050749e-01 1.19706508e-01 -3.88028726e-02 2.43991071e+02] [ 3.90830650e-02 7.03325839e-06 9.99235965e-01 1.97081237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.410385723 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:297.00, Y:244.01, Z:19.71 [[ 1.13854514e-01 -9.93486504e-01 -4.65995388e-03 2.96997729e+02] [ 9.92728416e-01 1.13949647e-01 -3.88042616e-02 2.44013893e+02] [ 3.90825103e-02 -2.08028304e-04 9.99235965e-01 1.97076394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.440385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.01, Y:244.05, Z:19.71 [[ 1.20218200e-01 -9.92739495e-01 -3.98482776e-03 2.97007744e+02] [ 9.91977922e-01 1.20282058e-01 -3.88848151e-02 2.44046232e+02] [ 3.90817950e-02 7.21801314e-04 9.99235754e-01 1.97098037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.470385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.01, Y:244.07, Z:19.71 [[ 1.22096004e-01 -9.92507410e-01 -4.64822233e-03 2.97009525e+02] [ 9.91748517e-01 1.22184385e-01 -3.88053605e-02 2.44073275e+02] [ 3.90825480e-02 1.28111859e-04 9.99235977e-01 1.97109157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.500385723 meters Centerline goodness : 0.999819 Centerline is valid? [True, True] Translation: X:297.01, Y:244.10, Z:19.71 [[ 1.21867511e-01 -9.92535498e-01 -4.64695869e-03 2.97011595e+02] [ 9.91776619e-01 1.21956017e-01 -3.88055114e-02 2.44099127e+02] [ 3.90825722e-02 1.20386112e-04 9.99235977e-01 1.97077949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.530385723 meters Centerline goodness : 0.999819 Centerline is valid? [True, True] Translation: X:297.01, Y:244.13, Z:19.71 [[ 1.21564427e-01 -9.92572777e-01 -4.62315122e-03 2.97014591e+02] [ 9.91813816e-01 1.21652233e-01 -3.88083475e-02 2.44125881e+02] [ 3.90825259e-02 1.32409263e-04 9.99235977e-01 1.97088377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.56038572299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.02, Y:244.15, Z:19.71 [[ 1.22349260e-01 -9.92476395e-01 -4.61129128e-03 2.97017177e+02] [ 9.91717313e-01 1.22436003e-01 -3.88097567e-02 2.44153337e+02] [ 3.90823555e-02 1.75247626e-04 9.99235978e-01 1.97143448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.590385723 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:297.01, Y:244.17, Z:19.71 [[ 1.17852083e-01 -9.93020503e-01 -4.60079095e-03 2.97012144e+02] [ 9.92261773e-01 1.17941853e-01 -3.88110015e-02 2.44173502e+02] [ 3.90827460e-02 8.76837213e-06 9.99235978e-01 1.97095897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.62038572299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.02, Y:244.21, Z:19.72 [[ 1.19777747e-01 -9.92793683e-01 -3.74095016e-03 2.97022882e+02] [ 9.92031278e-01 1.19832390e-01 -3.89119745e-02 2.44208603e+02] [ 3.90798495e-02 9.49649086e-04 9.99235640e-01 1.97178400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.650385723 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:297.03, Y:244.23, Z:19.72 [[ 1.17245625e-01 -9.93091820e-01 -4.70119710e-03 2.97025687e+02] [ 9.92333637e-01 1.17339782e-01 -3.87985620e-02 2.44234549e+02] [ 3.90821720e-02 -1.16194358e-04 9.99235993e-01 1.97168399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.680385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.03, Y:244.26, Z:19.72 [[ 1.15976766e-01 -9.93241415e-01 -4.56958953e-03 2.97028439e+02] [ 9.92482735e-01 1.16066749e-01 -3.88140566e-02 2.44262007e+02] [ 3.90821059e-02 -3.37099563e-05 9.99236002e-01 1.97190436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.710385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.03, Y:244.29, Z:19.72 [[ 1.12951168e-01 -9.93590084e-01 -4.55829726e-03 2.97030553e+02] [ 9.92831628e-01 1.13043020e-01 -3.88153827e-02 2.44289913e+02] [ 3.90818631e-02 -1.41378895e-04 9.99236002e-01 1.97212059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.740385723 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:297.02, Y:244.31, Z:19.72 [[ 1.04765644e-01 -9.94486540e-01 -4.54771980e-03 2.97024970e+02] [ 9.93728813e-01 1.04863325e-01 -3.88166219e-02 2.44311556e+02] [ 3.90794971e-02 -4.52551815e-04 9.99236002e-01 1.97181311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.770385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.03, Y:244.34, Z:19.72 [[ 1.09331771e-01 -9.93998100e-01 -3.78693351e-03 2.97034088e+02] [ 9.93236554e-01 1.09396228e-01 -3.89051842e-02 2.44344758e+02] [ 3.90859554e-02 4.92251905e-04 9.99235731e-01 1.97214117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.800385723 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:297.04, Y:244.37, Z:19.72 [[ 1.07368288e-01 -9.94208950e-01 -4.54028082e-03 2.97036678e+02] [ 9.93450949e-01 1.07463696e-01 -3.88170795e-02 2.44371742e+02] [ 3.90802032e-02 -3.42822912e-04 9.99236018e-01 1.97202606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.830385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.04, Y:244.40, Z:19.72 [[ 1.05878963e-01 -9.94368709e-01 -4.52952672e-03 2.97038646e+02] [ 9.93610798e-01 1.05975086e-01 -3.88183343e-02 2.44399604e+02] [ 3.90797539e-02 -3.90541684e-04 9.99236018e-01 1.97235639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.860385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.03, Y:244.42, Z:19.72 [[ 9.80193499e-02 -9.95174249e-01 -4.51907558e-03 2.97031635e+02] [ 9.94417066e-01 9.81210507e-02 -3.88195510e-02 2.44420129e+02] [ 3.90756339e-02 -6.88778732e-04 9.99236018e-01 1.97221475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.890385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.03, Y:244.45, Z:19.72 [[ 9.79672688e-02 -9.95182806e-01 -3.68746334e-03 2.97032151e+02] [ 9.94421607e-01 9.80365337e-02 -3.89166380e-02 2.44446896e+02] [ 3.90906752e-02 1.45663519e-04 9.99235657e-01 1.97234527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.920385723 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:297.04, Y:244.48, Z:19.73 [[ 1.05369508e-01 -9.94426816e-01 -3.54604602e-03 2.97044218e+02] [ 9.93664550e-01 1.05427571e-01 -3.89331283e-02 2.44481842e+02] [ 3.90899979e-02 5.78784353e-04 9.99235526e-01 1.97283535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.950385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:297.05, Y:244.51, Z:19.73 [[ 1.06142227e-01 -9.94340527e-01 -4.55455048e-03 2.97046922e+02] [ 9.93582739e-01 1.06239126e-01 -3.88148102e-02 2.44509202e+02] [ 3.90790103e-02 -4.05432345e-04 9.99236041e-01 1.97307952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.980385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.05, Y:244.54, Z:19.73 [[ 1.06941475e-01 -9.94254937e-01 -4.54329071e-03 2.97047945e+02] [ 9.93497015e-01 1.07037326e-01 -3.88161281e-02 2.44537525e+02] [ 3.90794287e-02 -3.62691752e-04 9.99236042e-01 1.97326662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.010385723 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:297.04, Y:244.56, Z:19.73 [[ 1.02123470e-01 -9.94761404e-01 -4.53272663e-03 2.97041095e+02] [ 9.94003902e-01 1.02222579e-01 -3.88173617e-02 2.44559801e+02] [ 3.90773602e-02 -5.41384286e-04 9.99236042e-01 1.97304273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.040385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:297.05, Y:244.59, Z:19.73 [[ 1.09022115e-01 -9.94031895e-01 -3.84313824e-03 2.97050409e+02] [ 9.93270648e-01 1.09089009e-01 -3.88973990e-02 2.44592223e+02] [ 3.90844994e-02 4.23400295e-04 9.99235819e-01 1.97340346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.070385723 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:297.05, Y:244.62, Z:19.73 [[ 1.09658206e-01 -9.93959057e-01 -4.52443264e-03 2.97052514e+02] [ 9.93200799e-01 1.09751248e-01 -3.88180000e-02 2.44618955e+02] [ 3.90800648e-02 -2.36957883e-04 9.99236054e-01 1.97340403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.100385723 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:297.05, Y:244.65, Z:19.73 [[ 1.11509155e-01 -9.93753158e-01 -4.51318102e-03 2.97054789e+02] [ 9.92994675e-01 1.11600346e-01 -3.88193082e-02 2.44646728e+02] [ 3.90804826e-02 -1.52856467e-04 9.99236054e-01 1.97349495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.130385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.06, Y:244.67, Z:19.74 [[ 1.12919866e-01 -9.93593895e-01 -4.50275151e-03 2.97058513e+02] [ 9.92835235e-01 1.13009572e-01 -3.88205179e-02 2.44674709e+02] [ 3.90806836e-02 -8.68826777e-05 9.99236055e-01 1.97386950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.160385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.06, Y:244.70, Z:19.74 [[ 1.13659367e-01 -9.93509621e-01 -4.49234834e-03 2.97061789e+02] [ 9.92750847e-01 1.13748102e-01 -3.88217217e-02 2.44702192e+02] [ 3.90807501e-02 -4.73302925e-05 9.99236055e-01 1.97411535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.190385723 meters Centerline goodness : 0.999844 Centerline is valid? [True, True] Translation: X:297.06, Y:244.73, Z:19.74 [[ 1.12647827e-01 -9.93624869e-01 -4.48176280e-03 2.97064541e+02] [ 9.92866137e-01 1.12736921e-01 -3.88229437e-02 2.44730032e+02] [ 3.90807025e-02 -7.64702799e-05 9.99236055e-01 1.97401378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.220385723 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:297.07, Y:244.76, Z:19.74 [[ 1.12149414e-01 -9.93681296e-01 -4.47122939e-03 2.97067188e+02] [ 9.92922560e-01 1.12238476e-01 -3.88241568e-02 2.44757694e+02] [ 3.90806824e-02 -8.54781163e-05 9.99236055e-01 1.97423098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.250385723 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:297.07, Y:244.78, Z:19.74 [[ 1.10196225e-01 -9.93899842e-01 -4.46042724e-03 2.97069092e+02] [ 9.93141233e-01 1.10286356e-01 -3.88253978e-02 2.44784918e+02] [ 3.90804810e-02 -1.51421951e-04 9.99236055e-01 1.97438430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.280385723 meters Centerline goodness : 0.999800 Centerline is valid? [True, True] Translation: X:297.07, Y:244.81, Z:19.75 [[ 1.06273719e-01 -9.94326944e-01 -4.45257043e-03 2.97072060e+02] [ 9.93568658e-01 1.06366536e-01 -3.88262988e-02 2.44812374e+02] [ 3.90796395e-02 -2.97719275e-04 9.99236055e-01 1.97450138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.31038572299997 meters Centerline goodness : 0.999778 Centerline is valid? [True, True] Translation: X:297.07, Y:244.84, Z:19.75 [[ 1.02609229e-01 -9.94711825e-01 -4.44195095e-03 2.97072385e+02] [ 9.93953835e-01 1.02704425e-01 -3.88275137e-02 2.44838604e+02] [ 3.90783950e-02 -4.31032954e-04 9.99236055e-01 1.97479135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.340385723 meters Centerline goodness : 0.999822 Centerline is valid? [True, True] Translation: X:297.08, Y:244.87, Z:19.75 [[ 1.01562339e-01 -9.94820354e-01 -4.18986626e-03 2.97076205e+02] [ 9.94061253e-01 1.01648492e-01 -3.88562709e-02 2.44866891e+02] [ 3.90809028e-02 -2.18649952e-04 9.99236026e-01 1.97509184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.37038572299997 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:297.08, Y:244.90, Z:19.75 [[ 9.85598222e-02 -9.95122145e-01 -4.22834902e-03 2.97080225e+02] [ 9.94363492e-01 9.86497676e-02 -3.88518867e-02 2.44895609e+02] [ 3.90794985e-02 -3.75280846e-04 9.99236034e-01 1.97525376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.400385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:297.08, Y:244.92, Z:19.75 [[ 9.69876366e-02 -9.95275750e-01 -4.42482592e-03 2.97082448e+02] [ 9.94518221e-01 9.70864462e-02 -3.88294979e-02 2.44922346e+02] [ 3.90756483e-02 -6.34588765e-04 9.99236054e-01 1.97537485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.430385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:297.09, Y:244.95, Z:19.76 [[ 9.72544346e-02 -9.95249750e-01 -4.41713653e-03 2.97086723e+02] [ 9.94492155e-01 9.73527412e-02 -3.88303726e-02 2.44952532e+02] [ 3.90759390e-02 -6.16381687e-04 9.99236054e-01 1.97568936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.460385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:297.09, Y:244.98, Z:19.76 [[ 9.47443019e-02 -9.95490883e-01 -4.62817415e-03 2.97087551e+02] [ 9.94734650e-01 9.48527447e-02 -3.88063588e-02 2.44977987e+02] [ 3.90703714e-02 -9.27123823e-04 9.99236031e-01 1.97561100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.490385723 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:297.09, Y:245.01, Z:19.76 [[ 9.69747702e-02 -9.95277107e-01 -4.40165227e-03 2.97092566e+02] [ 9.94519465e-01 9.70726857e-02 -3.88320363e-02 2.45007883e+02] [ 3.90759169e-02 -6.11801066e-04 9.99236057e-01 1.97599258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.520385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.09, Y:245.04, Z:19.76 [[ 9.95986924e-02 -9.95016913e-01 -4.63062435e-03 2.97094903e+02] [ 9.94260172e-01 9.97035409e-02 -3.88061027e-02 2.45036539e+02] [ 3.90744182e-02 -7.39008280e-04 9.99236030e-01 1.97610414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.550385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:297.10, Y:245.06, Z:19.76 [[ 1.01336305e-01 -9.94841122e-01 -4.70050227e-03 2.97096821e+02] [ 9.94084558e-01 1.01442557e-01 -3.87981979e-02 2.45064327e+02] [ 3.90748738e-02 -7.41030681e-04 9.99236011e-01 1.97620256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.580385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:297.09, Y:245.09, Z:19.76 [[ 1.03200766e-01 -9.94649381e-01 -4.71278443e-03 2.97094421e+02] [ 9.93892681e-01 1.03306078e-01 -3.87968100e-02 2.45088830e+02] [ 3.90760823e-02 -6.80141457e-04 9.99236007e-01 1.97607927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.610385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.10, Y:245.12, Z:19.76 [[ 1.08092583e-01 -9.94131240e-01 -4.36702124e-03 2.97101049e+02] [ 9.93372403e-01 1.08180671e-01 -3.88356930e-02 2.45119747e+02] [ 3.90802029e-02 -1.40228033e-04 9.99236067e-01 1.97644804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.640385723 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:297.10, Y:245.14, Z:19.76 [[ 1.09110208e-01 -9.94018234e-01 -4.76582683e-03 2.97098598e+02] [ 9.93261183e-01 1.09213091e-01 -3.87907713e-02 2.45143629e+02] [ 3.90792247e-02 -5.01241680e-04 9.99235990e-01 1.97634495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.670385723 meters Centerline goodness : 0.999625 Centerline is valid? [True, True] Translation: X:297.10, Y:245.17, Z:19.76 [[ 1.10838644e-01 -9.93828880e-01 -4.35348621e-03 2.97099936e+02] [ 9.93069751e-01 1.10924107e-01 -3.88369966e-02 2.45169901e+02] [ 3.90802354e-02 -1.86754482e-05 9.99236076e-01 1.97642887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.700385723 meters Centerline goodness : 0.999648 Centerline is valid? [True, True] Translation: X:297.10, Y:245.20, Z:19.77 [[ 1.11722152e-01 -9.93729999e-01 -4.34155918e-03 2.97101478e+02] [ 9.92970743e-01 1.11806474e-01 -3.88383298e-02 2.45197451e+02] [ 3.90802279e-02 2.80605487e-05 9.99236076e-01 1.97669802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.730385723 meters Centerline goodness : 0.999780 Centerline is valid? [True, True] Translation: X:297.10, Y:245.22, Z:19.77 [[ 1.13914980e-01 -9.93481063e-01 -4.33073873e-03 2.97103836e+02] [ 9.92721576e-01 1.13997203e-01 -3.88395364e-02 2.45223932e+02] [ 3.90800360e-02 1.25187220e-04 9.99236076e-01 1.97690809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.760385723 meters Centerline goodness : 0.999672 Centerline is valid? [True, True] Translation: X:297.11, Y:245.26, Z:19.77 [[ 1.16032779e-01 -9.93235993e-01 -4.31934458e-03 2.97112194e+02] [ 9.92476286e-01 1.16112937e-01 -3.88408035e-02 2.45255105e+02] [ 3.90796158e-02 2.19959296e-04 9.99236076e-01 1.97681466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.790385723 meters Centerline goodness : 0.999714 Centerline is valid? [True, True] Translation: X:297.12, Y:245.28, Z:19.77 [[ 1.15251126e-01 -9.93324999e-01 -4.75645312e-03 2.97116380e+02] [ 9.92567283e-01 1.15348963e-01 -3.87918315e-02 2.45283329e+02] [ 3.90815479e-02 -2.50297500e-04 9.99235993e-01 1.97703967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.820385723 meters Centerline goodness : 0.999781 Centerline is valid? [True, True] Translation: X:297.12, Y:245.31, Z:19.78 [[ 1.12093610e-01 -9.93686291e-01 -4.75165593e-03 2.97115421e+02] [ 9.92928866e-01 1.12193667e-01 -3.87923676e-02 2.45306644e+02] [ 3.90805496e-02 -3.69679807e-04 9.99235995e-01 1.97763303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.850385723 meters Centerline goodness : 0.999758 Centerline is valid? [True, True] Translation: X:297.12, Y:245.34, Z:19.77 [[ 1.10042187e-01 -9.93917569e-01 -4.31078634e-03 2.97119819e+02] [ 9.93158340e-01 1.10126590e-01 -3.88413012e-02 2.45335330e+02] [ 3.90797839e-02 -7.11166121e-06 9.99236093e-01 1.97725835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.880385723 meters Centerline goodness : 0.999649 Centerline is valid? [True, True] Translation: X:297.12, Y:245.36, Z:19.78 [[ 1.09667187e-01 -9.93957820e-01 -4.57822015e-03 2.97121792e+02] [ 9.93199823e-01 1.09762322e-01 -3.88116452e-02 2.45360209e+02] [ 3.90796544e-02 -2.90723501e-04 9.99236056e-01 1.97794598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.910385723 meters Centerline goodness : 0.999429 Centerline is valid? [True, True] Translation: X:297.12, Y:245.39, Z:19.78 [[ 1.07795725e-01 -9.94163830e-01 -4.28485679e-03 2.97124397e+02] [ 9.93404686e-01 1.07880830e-01 -3.88440077e-02 2.45389023e+02] [ 3.90795614e-02 -6.93788351e-05 9.99236100e-01 1.97776390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.940385723 meters Centerline goodness : 0.999736 Centerline is valid? [True, True] Translation: X:297.13, Y:245.41, Z:19.78 [[ 1.09225870e-01 -9.94006568e-01 -4.54444992e-03 2.97127478e+02] [ 9.93248457e-01 1.09320024e-01 -3.88154020e-02 2.45414118e+02] [ 3.90795639e-02 -2.74121804e-04 9.99236064e-01 1.97801007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.970385723 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:297.13, Y:245.44, Z:19.78 [[ 1.09503248e-01 -9.93977321e-01 -4.25717268e-03 2.97132000e+02] [ 9.93217919e-01 1.09585967e-01 -3.88468859e-02 2.45443864e+02] [ 3.90794500e-02 2.55599977e-05 9.99236106e-01 1.97789487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.000385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:297.13, Y:245.47, Z:19.78 [[ 1.08145353e-01 -9.94125240e-01 -4.42610508e-03 2.97133555e+02] [ 9.93366694e-01 1.08235710e-01 -3.88283747e-02 2.45469216e+02] [ 3.90793299e-02 -1.97637070e-04 9.99236092e-01 1.97807999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.030385723 meters Centerline goodness : 0.999714 Centerline is valid? [True, True] Translation: X:297.14, Y:245.50, Z:19.78 [[ 1.07194464e-01 -9.94229029e-01 -4.24093143e-03 2.97136779e+02] [ 9.93469753e-01 1.07278312e-01 -3.88485900e-02 2.45496799e+02] [ 3.90793558e-02 -4.88833314e-05 9.99236109e-01 1.97810191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.06038572299997 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:297.14, Y:245.52, Z:19.78 [[ 1.06005533e-01 -9.94356542e-01 -4.23021308e-03 2.97141608e+02] [ 9.93597321e-01 1.06089871e-01 -3.88497570e-02 2.45524462e+02] [ 3.90792928e-02 -8.48391631e-05 9.99236109e-01 1.97827012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.090385723 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:297.15, Y:245.55, Z:19.78 [[ 1.04915103e-01 -9.94472230e-01 -4.21955940e-03 2.97145097e+02] [ 9.93713055e-01 1.04999857e-01 -3.88509141e-02 2.45553015e+02] [ 3.90792083e-02 -1.16983599e-04 9.99236109e-01 1.97847603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.12038572299997 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:297.15, Y:245.58, Z:19.78 [[ 1.04002032e-01 -9.94568178e-01 -4.20923060e-03 2.97150612e+02] [ 9.93809036e-01 1.04087079e-01 -3.88520332e-02 2.45581939e+02] [ 3.90791223e-02 -1.42481004e-04 9.99236109e-01 1.97840210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.150385723 meters Centerline goodness : 0.999736 Centerline is valid? [True, True] Translation: X:297.15, Y:245.61, Z:19.79 [[ 1.00786747e-01 -9.94898317e-01 -4.40112529e-03 2.97149851e+02] [ 9.94140335e-01 1.00881739e-01 -3.88312918e-02 2.45606517e+02] [ 3.90771801e-02 -4.61656566e-04 9.99236089e-01 1.97854157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.180385723 meters Centerline goodness : 0.999736 Centerline is valid? [True, True] Translation: X:297.15, Y:245.63, Z:19.78 [[ 9.51101849e-02 -9.95458927e-01 -3.94689732e-03 2.97146343e+02] [ 9.94699383e-01 9.51917709e-02 -3.88801263e-02 2.45626919e+02] [ 3.90792809e-02 -2.28080333e-04 9.99236087e-01 1.97799959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.210385723 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:297.16, Y:245.66, Z:19.78 [[ 1.00122276e-01 -9.94970153e-01 -3.15045200e-03 2.97158111e+02] [ 9.94207192e-01 1.00168878e-01 -3.89647892e-02 2.45662761e+02] [ 3.90843795e-02 7.69041339e-04 9.99235618e-01 1.97849128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.240385723 meters Centerline goodness : 0.999670 Centerline is valid? [True, True] Translation: X:297.15, Y:245.68, Z:19.78 [[ 9.18112335e-02 -9.95767737e-01 -4.16071981e-03 2.97152225e+02] [ 9.95009485e-01 9.19036803e-02 -3.88566312e-02 2.45682070e+02] [ 3.90745652e-02 -5.72480435e-04 9.99236134e-01 1.97779082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.270385723 meters Centerline goodness : 0.999737 Centerline is valid? [True, True] Translation: X:297.17, Y:245.72, Z:19.79 [[ 1.00440446e-01 -9.94937281e-01 -3.39476312e-03 2.97165897e+02] [ 9.94175120e-01 1.00496369e-01 -3.89398413e-02 2.45716886e+02] [ 3.90838612e-02 5.36146015e-04 9.99235790e-01 1.97882430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.300385723 meters Centerline goodness : 0.999670 Centerline is valid? [True, True] Translation: X:297.17, Y:245.74, Z:19.79 [[ 9.96835608e-02 -9.95010134e-01 -4.24509632e-03 2.97169065e+02] [ 9.94251580e-01 9.97733022e-02 -3.88469334e-02 2.45743965e+02] [ 3.90766397e-02 -3.48293073e-04 9.99236156e-01 1.97884415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.330385723 meters Centerline goodness : 0.999692 Centerline is valid? [True, True] Translation: X:297.17, Y:245.77, Z:19.79 [[ 9.98880714e-02 -9.94989657e-01 -4.23739378e-03 2.97171210e+02] [ 9.94231049e-01 9.99773562e-02 -3.88477736e-02 2.45771727e+02] [ 3.90767763e-02 -3.32519279e-04 9.99236156e-01 1.97894856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.360385723 meters Centerline goodness : 0.999560 Centerline is valid? [True, True] Translation: X:297.17, Y:245.80, Z:19.79 [[ 1.00023798e-01 -9.94976067e-01 -4.22685849e-03 2.97173309e+02] [ 9.94217398e-01 1.00112568e-01 -3.88489199e-02 2.45799257e+02] [ 3.90769071e-02 -3.16599732e-04 9.99236156e-01 1.97905152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.390385723 meters Centerline goodness : 0.999714 Centerline is valid? [True, True] Translation: X:297.17, Y:245.82, Z:19.78 [[ 9.28609953e-02 -9.95670156e-01 -4.21614005e-03 2.97166766e+02] [ 9.94912094e-01 9.29548045e-02 -3.88500831e-02 2.45821299e+02] [ 3.90737787e-02 -5.87031351e-04 9.99236156e-01 1.97848083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.420385723 meters Centerline goodness : 0.999714 Centerline is valid? [True, True] Translation: X:297.17, Y:245.85, Z:19.79 [[ 9.29804355e-02 -9.95662286e-01 -3.35415767e-03 2.97169394e+02] [ 9.94900448e-01 9.30404813e-02 -3.89431408e-02 2.45848609e+02] [ 3.90862891e-02 2.83897230e-04 9.99235799e-01 1.97855469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.450385723 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:297.18, Y:245.88, Z:19.79 [[ 1.00593279e-01 -9.94922085e-01 -3.32206612e-03 2.97182067e+02] [ 9.94159694e-01 1.00646240e-01 -3.89466001e-02 2.45882176e+02] [ 3.90831861e-02 6.15101978e-04 9.99235771e-01 1.97938469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.480385723 meters Centerline goodness : 0.999650 Centerline is valid? [True, True] Translation: X:297.18, Y:245.90, Z:19.79 [[ 9.40862934e-02 -9.95555134e-01 -4.21240692e-03 2.97176096e+02] [ 9.94796956e-01 9.41790237e-02 -3.88500787e-02 2.45904031e+02] [ 3.90741157e-02 -5.35229679e-04 9.99236172e-01 1.97874204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.510385723 meters Centerline goodness : 0.999692 Centerline is valid? [True, True] Translation: X:297.19, Y:245.94, Z:19.80 [[ 9.98796034e-02 -9.94993062e-01 -3.58760398e-03 2.97187193e+02] [ 9.94231730e-01 9.99435020e-02 -3.89173881e-02 2.45936444e+02] [ 3.90810889e-02 3.20143587e-04 9.99235991e-01 1.97962036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.540385723 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:297.18, Y:245.96, Z:19.79 [[ 9.07479285e-02 -9.95865038e-01 -4.19999697e-03 2.97180632e+02] [ 9.95107123e-01 9.08427161e-02 -3.88511930e-02 2.45957455e+02] [ 3.90720840e-02 -6.53781612e-04 9.99236181e-01 1.97923757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.570385723 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:297.19, Y:245.99, Z:19.80 [[ 9.44592633e-02 -9.95523294e-01 -3.28929615e-03 2.97190596e+02] [ 9.94761176e-01 9.45156402e-02 -3.89486399e-02 2.45990168e+02] [ 3.90851682e-02 4.06995724e-04 9.99235800e-01 1.97956732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.600385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:297.20, Y:246.02, Z:19.80 [[ 9.45542895e-02 -9.95511887e-01 -3.94571872e-03 2.97195917e+02] [ 9.94752466e-01 9.46362531e-02 -3.88781597e-02 2.46019480e+02] [ 3.90770782e-02 -2.48916660e-04 9.99236168e-01 1.98003272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.630385723 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:297.19, Y:246.04, Z:19.80 [[ 8.82254464e-02 -9.96091793e-01 -4.17270991e-03 2.97191199e+02] [ 9.95333999e-01 8.83210890e-02 -3.88537829e-02 2.46041686e+02] [ 3.90704726e-02 -7.25347699e-04 9.99236194e-01 1.97957851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.660385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:297.20, Y:246.07, Z:19.80 [[ 9.19830811e-02 -9.95753741e-01 -3.68785254e-03 2.97199063e+02] [ 9.94993380e-01 9.20569348e-02 -3.89062258e-02 2.46071839e+02] [ 3.90805122e-02 -9.06743447e-05 9.99236061e-01 1.97982177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.690385723 meters Centerline goodness : 0.999737 Centerline is valid? [True, True] Translation: X:297.20, Y:246.10, Z:19.80 [[ 8.80652113e-02 -9.96106470e-01 -4.05214706e-03 2.97199274e+02] [ 9.95348103e-01 8.81562739e-02 -3.88667557e-02 2.46099357e+02] [ 3.90726489e-02 -6.10487838e-04 9.99236186e-01 1.97991245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.720385723 meters Centerline goodness : 0.999737 Centerline is valid? [True, True] Translation: X:297.20, Y:246.13, Z:19.80 [[ 8.89156829e-02 -9.96031551e-01 -3.89229002e-03 2.97204608e+02] [ 9.95272354e-01 8.89998602e-02 -3.88840203e-02 2.46128938e+02] [ 3.90761244e-02 -4.16489428e-04 9.99236150e-01 1.98027422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.750385723 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:297.20, Y:246.15, Z:19.80 [[ 8.40918326e-02 -9.96449167e-01 -4.19773648e-03 2.97203071e+02] [ 9.95691907e-01 8.41915938e-02 -3.88510196e-02 2.46154332e+02] [ 3.90664803e-02 -9.12598804e-04 9.99236197e-01 1.97994454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.780385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.21, Y:246.18, Z:19.80 [[ 8.59918677e-02 -9.96288547e-01 -3.81168084e-03 2.97208646e+02] [ 9.95529229e-01 8.60751273e-02 -3.88925104e-02 2.46184435e+02] [ 3.90762536e-02 -4.50200082e-04 9.99236130e-01 1.98042766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.81038572299997 meters Centerline goodness : 0.999715 Centerline is valid? [True, True] Translation: X:297.21, Y:246.21, Z:19.80 [[ 8.39428518e-02 -9.96461795e-01 -4.18186684e-03 2.97210069e+02] [ 9.95704471e-01 8.40421077e-02 -3.88526685e-02 2.46212595e+02] [ 3.90666528e-02 -9.02499713e-04 9.99236199e-01 1.98047421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.840385723 meters Centerline goodness : 0.999693 Centerline is valid? [True, True] Translation: X:297.21, Y:246.24, Z:19.80 [[ 8.30871683e-02 -9.96533553e-01 -4.17133637e-03 2.97211620e+02] [ 9.95776261e-01 8.31866642e-02 -3.88537991e-02 2.46240367e+02] [ 3.90661140e-02 -9.25465584e-04 9.99236199e-01 1.98049867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.87038572299997 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:297.21, Y:246.27, Z:19.81 [[ 8.26042019e-02 -9.96573747e-01 -4.16073706e-03 2.97212907e+02] [ 9.95816449e-01 8.27036518e-02 -3.88549341e-02 2.46267075e+02] [ 3.90659154e-02 -9.33749577e-04 9.99236199e-01 1.98054626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.900385723 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:297.21, Y:246.29, Z:19.80 [[ 8.29378270e-02 -9.96546084e-01 -4.14956204e-03 2.97212555e+02] [ 9.95788696e-01 8.30365878e-02 -3.88561275e-02 2.46294545e+02] [ 3.90664872e-02 -9.09444190e-04 9.99236200e-01 1.98048171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.930385723 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:297.21, Y:246.32, Z:19.80 [[ 8.02055445e-02 -9.96769740e-01 -4.14198195e-03 2.97209523e+02] [ 9.96012586e-01 8.03060860e-02 -3.88569355e-02 2.46318621e+02] [ 3.90640439e-02 -1.00892448e-03 9.99236200e-01 1.98010075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.960385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:297.21, Y:246.35, Z:19.80 [[ 8.31518096e-02 -9.96530364e-01 -3.60689803e-03 2.97212268e+02] [ 9.95770369e-01 8.32292406e-02 -3.89135804e-02 2.46350755e+02] [ 3.90787639e-02 -3.55907549e-04 9.99236070e-01 1.98039038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.990385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:297.21, Y:246.38, Z:19.81 [[ 8.29946120e-02 -9.96541748e-01 -4.05454287e-03 2.97214017e+02] [ 9.95783881e-01 8.30896261e-02 -3.88661257e-02 2.46377721e+02] [ 3.90686073e-02 -8.11769418e-04 9.99236201e-01 1.98052188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.020385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:297.21, Y:246.41, Z:19.81 [[ 8.30461924e-02 -9.96537597e-01 -4.01840017e-03 2.97214775e+02] [ 9.95779548e-01 8.31397583e-02 -3.88699472e-02 2.46405555e+02] [ 3.90694526e-02 -7.73439584e-04 9.99236198e-01 1.98066005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.050385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.22, Y:246.43, Z:19.81 [[ 8.40889109e-02 -9.96449801e-01 -4.10470137e-03 2.97216121e+02] [ 9.95692078e-01 8.41850482e-02 -3.88608318e-02 2.46433894e+02] [ 3.90684226e-02 -8.19253616e-04 9.99236202e-01 1.98064136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.080385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.22, Y:246.46, Z:19.81 [[ 8.46407739e-02 -9.96403295e-01 -4.05127910e-03 2.97217355e+02] [ 9.95645257e-01 8.47344087e-02 -3.88664605e-02 2.46461301e+02] [ 3.90699521e-02 -7.43949519e-04 9.99236201e-01 1.98081508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.110385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:297.22, Y:246.49, Z:19.81 [[ 8.66684915e-02 -9.96228824e-01 -4.08683157e-03 2.97217056e+02] [ 9.95470768e-01 8.67619698e-02 -3.88627218e-02 2.46488645e+02] [ 3.90707452e-02 -7.00147887e-04 9.99236202e-01 1.98091393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.140385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:297.22, Y:246.52, Z:19.81 [[ 8.75961491e-02 -9.96147718e-01 -4.07894834e-03 2.97218366e+02] [ 9.95389538e-01 8.76886140e-02 -3.88635492e-02 2.46516649e+02] [ 3.90715132e-02 -6.55845251e-04 9.99236202e-01 1.98100144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.170385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.22, Y:246.55, Z:19.81 [[ 8.89913692e-02 -9.96024089e-01 -4.06830227e-03 2.97217588e+02] [ 9.95265729e-01 8.90823568e-02 -3.88646636e-02 2.46545269e+02] [ 3.90725551e-02 -5.90422194e-04 9.99236202e-01 1.98096012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.200385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:297.22, Y:246.57, Z:19.81 [[ 8.92759573e-02 -9.95998665e-01 -4.05749676e-03 2.97218607e+02] [ 9.95240229e-01 8.93663066e-02 -3.88657917e-02 2.46572097e+02] [ 3.90728801e-02 -5.68403245e-04 9.99236202e-01 1.98104722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.230385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:297.22, Y:246.60, Z:19.81 [[ 8.93360870e-02 -9.95993320e-01 -4.04609780e-03 2.97220118e+02] [ 9.95234826e-01 8.94259458e-02 -3.88669784e-02 2.46599917e+02] [ 3.90730769e-02 -5.54593677e-04 9.99236202e-01 1.98114189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.260385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:297.22, Y:246.63, Z:19.81 [[ 8.69029326e-02 -9.96208610e-01 -4.03546469e-03 2.97218835e+02] [ 9.95450288e-01 8.69942291e-02 -3.88680823e-02 2.46627347e+02] [ 3.90717804e-02 -6.39354148e-04 9.99236202e-01 1.98106502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.290385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:297.22, Y:246.65, Z:19.81 [[ 8.52947588e-02 -9.96348181e-01 -3.88660361e-03 2.97219019e+02] [ 9.95589310e-01 8.53814726e-02 -3.88835367e-02 2.46653268e+02] [ 3.90733850e-02 -5.52899128e-04 9.99236191e-01 1.98105837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.320385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:297.22, Y:246.68, Z:19.81 [[ 8.36604525e-02 -9.96487640e-01 -3.64869285e-03 2.97218187e+02] [ 9.95727831e-01 8.37391269e-02 -3.89081645e-02 2.46680204e+02] [ 3.90770434e-02 -3.78030361e-04 9.99236129e-01 1.98123324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.350385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.22, Y:246.71, Z:19.82 [[ 8.74992822e-02 -9.96158210e-01 -3.56316037e-03 2.97224816e+02] [ 9.95397745e-01 8.75716876e-02 -3.89169504e-02 2.46711925e+02] [ 3.90794716e-02 -1.41556573e-04 9.99236096e-01 1.98155384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.380385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.23, Y:246.74, Z:19.81 [[ 8.67308349e-02 -9.96223745e-01 -4.00155166e-03 2.97226269e+02] [ 9.95465271e-01 8.68209397e-02 -3.88718253e-02 2.46740151e+02] [ 3.90724538e-02 -6.12019844e-04 9.99236193e-01 1.98149757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.410385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:297.22, Y:246.76, Z:19.81 [[ 8.30438130e-02 -9.96537906e-01 -3.99075324e-03 2.97223642e+02] [ 9.95779720e-01 8.31363028e-02 -3.88729338e-02 2.46764619e+02] [ 3.90701286e-02 -7.45754491e-04 9.99236193e-01 1.98133662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.440385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:297.23, Y:246.79, Z:19.81 [[ 8.28916043e-02 -9.96551791e-01 -3.67545954e-03 2.97226460e+02] [ 9.95792172e-01 8.29719095e-02 -3.89051699e-02 2.46792500e+02] [ 3.90759766e-02 -4.35081890e-04 9.99236148e-01 1.98142023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.470385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:297.23, Y:246.82, Z:19.82 [[ 8.23686642e-02 -9.96595189e-01 -3.66496860e-03 2.97229100e+02] [ 9.95835566e-01 8.24489586e-02 -3.89062399e-02 2.46819645e+02] [ 3.90759444e-02 -4.45051067e-04 9.99236145e-01 1.98154202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.500385723 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:297.23, Y:246.85, Z:19.81 [[ 8.03581890e-02 -9.96759314e-01 -3.66499773e-03 2.97229784e+02] [ 9.95999854e-01 8.04400166e-02 -3.89062370e-02 2.46845282e+02] [ 3.90749665e-02 -5.23902461e-04 9.99236145e-01 1.98149453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.530385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:297.23, Y:246.87, Z:19.81 [[ 8.15640819e-02 -9.96661452e-01 -3.64028454e-03 2.97233736e+02] [ 9.95901782e-01 8.16440261e-02 -3.89087756e-02 2.46874924e+02] [ 3.90760842e-02 -4.51807310e-04 9.99236136e-01 1.98118733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.56038572299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.24, Y:246.90, Z:19.81 [[ 8.11582531e-02 -9.96693918e-01 -3.81743097e-03 2.97236554e+02] [ 9.95935090e-01 8.12454183e-02 -3.88905893e-02 2.46903565e+02] [ 3.90721626e-02 -6.45621171e-04 9.99236183e-01 1.98143587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.590385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:297.24, Y:246.93, Z:19.82 [[ 8.26631410e-02 -9.96569567e-01 -3.98777279e-03 2.97241276e+02] [ 9.95811407e-01 8.27558041e-02 -3.88731155e-02 2.46930210e+02] [ 3.90697752e-02 -7.57695809e-04 9.99236198e-01 1.98194280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.62038572299997 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:297.24, Y:246.96, Z:19.82 [[ 8.25557470e-02 -9.96578510e-01 -3.97769801e-03 2.97242696e+02] [ 9.95820311e-01 8.26480989e-02 -3.88741463e-02 2.46956838e+02] [ 3.90698880e-02 -7.51788278e-04 9.99236198e-01 1.98209407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.650385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.24, Y:246.98, Z:19.82 [[ 8.15324185e-02 -9.96662788e-01 -3.96880133e-03 2.97244114e+02] [ 9.95904642e-01 8.16252021e-02 -3.88750546e-02 2.46984955e+02] [ 3.90692745e-02 -7.82970447e-04 9.99236198e-01 1.98213806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.680385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.25, Y:247.01, Z:19.82 [[ 8.16380491e-02 -9.96654183e-01 -3.95828339e-03 2.97246409e+02] [ 9.95895978e-01 8.17303422e-02 -3.88761255e-02 2.47012758e+02] [ 3.90695650e-02 -7.68267464e-04 9.99236198e-01 1.98220959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.710385723 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:297.25, Y:247.04, Z:19.82 [[ 8.29886791e-02 -9.96542670e-01 -3.94781673e-03 2.97249198e+02] [ 9.95784291e-01 8.30795364e-02 -3.88771884e-02 2.47040838e+02] [ 3.90707599e-02 -7.04807381e-04 9.99236198e-01 1.98220181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.740385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.25, Y:247.07, Z:19.82 [[ 8.35860199e-02 -9.96492787e-01 -3.93723427e-03 2.97251365e+02] [ 9.95734305e-01 8.36760098e-02 -3.88782601e-02 2.47068395e+02] [ 3.90713578e-02 -6.70760212e-04 9.99236198e-01 1.98216928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.770385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.25, Y:247.10, Z:19.82 [[ 8.47815612e-02 -9.96391826e-01 -3.92626633e-03 2.97253803e+02] [ 9.95633186e-01 8.48702131e-02 -3.88793677e-02 2.47095649e+02] [ 3.90723072e-02 -6.12867566e-04 9.99236198e-01 1.98227520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.800385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.26, Y:247.12, Z:19.82 [[ 8.52406557e-02 -9.96352702e-01 -3.91469544e-03 2.97256242e+02] [ 9.95593969e-01 8.53285067e-02 -3.88805327e-02 2.47123949e+02] [ 3.90727589e-02 -5.83245066e-04 9.99236198e-01 1.98233397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.830385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.26, Y:247.15, Z:19.82 [[ 8.56498056e-02 -9.96317656e-01 -3.90385677e-03 2.97259354e+02] [ 9.95558838e-01 8.57369221e-02 -3.88816209e-02 2.47152040e+02] [ 3.90731501e-02 -5.56315837e-04 9.99236198e-01 1.98236799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.860385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.26, Y:247.18, Z:19.83 [[ 8.61569743e-02 -9.96273942e-01 -3.89980364e-03 2.97263793e+02] [ 9.95515062e-01 8.62435463e-02 -3.88820267e-02 2.47179417e+02] [ 3.90734829e-02 -5.32355492e-04 9.99236198e-01 1.98253586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.890385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.27, Y:247.21, Z:19.83 [[ 8.62387652e-02 -9.96266481e-01 -3.99682315e-03 2.97266650e+02] [ 9.95508029e-01 8.63290602e-02 -3.88723292e-02 2.47206209e+02] [ 3.90722406e-02 -6.26567862e-04 9.99236192e-01 1.98276576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.920385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.27, Y:247.23, Z:19.83 [[ 8.68589549e-02 -9.96213097e-01 -3.87126238e-03 2.97271037e+02] [ 9.95454033e-01 8.69438783e-02 -3.88848300e-02 2.47232554e+02] [ 3.90741595e-02 -4.76168056e-04 9.99236200e-01 1.98290590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.950385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:297.27, Y:247.26, Z:19.83 [[ 8.82417467e-02 -9.96091596e-01 -3.86356205e-03 2.97274682e+02] [ 9.95332381e-01 8.83253158e-02 -3.88855951e-02 2.47259737e+02] [ 3.90748648e-02 -4.14195586e-04 9.99236200e-01 1.98308225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.980385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:297.28, Y:247.29, Z:19.83 [[ 8.78250432e-02 -9.96128722e-01 -3.78574518e-03 2.97278878e+02] [ 9.95369210e-01 8.79058923e-02 -3.88933122e-02 2.47289965e+02] [ 3.90755346e-02 -3.52407367e-04 9.99236198e-01 1.98301936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.010385723 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:297.28, Y:247.32, Z:19.83 [[ 8.84457869e-02 -9.96073305e-01 -3.91340551e-03 2.97282849e+02] [ 9.95314286e-01 8.85311460e-02 -3.88806932e-02 2.47318056e+02] [ 3.90744789e-02 -4.56234903e-04 9.99236197e-01 1.98316149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.040385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:297.29, Y:247.35, Z:19.83 [[ 8.89038303e-02 -9.96032423e-01 -3.93983338e-03 2.97287122e+02] [ 9.95273479e-01 8.89898718e-02 -3.88780881e-02 2.47346765e+02] [ 3.90744416e-02 -4.64800730e-04 9.99236194e-01 1.98333639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.070385723 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:297.29, Y:247.37, Z:19.83 [[ 8.72140064e-02 -9.96181622e-01 -3.98658602e-03 2.97289649e+02] [ 9.95423031e-01 8.73031596e-02 -3.88734900e-02 2.47373046e+02] [ 3.90730979e-02 -5.78026729e-04 9.99236188e-01 1.98340354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.100385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:297.29, Y:247.40, Z:19.84 [[ 8.60103672e-02 -9.96286948e-01 -3.81222269e-03 2.97292815e+02] [ 9.95527704e-01 8.60936330e-02 -3.88905825e-02 2.47400433e+02] [ 3.90743878e-02 -4.50180022e-04 9.99236203e-01 1.98350737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.130385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.30, Y:247.43, Z:19.84 [[ 8.53630592e-02 -9.96342660e-01 -3.80156040e-03 2.97297733e+02] [ 9.95583424e-01 8.54464021e-02 -3.88916247e-02 2.47429621e+02] [ 3.90742144e-02 -4.64862460e-04 9.99236203e-01 1.98373351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.160385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:297.30, Y:247.46, Z:19.84 [[ 8.46567056e-02 -9.96402565e-01 -3.89483424e-03 2.97303508e+02] [ 9.95643795e-01 8.47442264e-02 -3.88825215e-02 2.47459202e+02] [ 3.90727089e-02 -5.86201369e-04 9.99236198e-01 1.98393809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.190385723 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:297.31, Y:247.49, Z:19.84 [[ 8.35267858e-02 -9.96497286e-01 -4.05405144e-03 2.97306561e+02] [ 9.95739334e-01 8.36213767e-02 -3.88670091e-02 2.47487479e+02] [ 3.90698744e-02 -7.90342137e-04 9.99236168e-01 1.98389468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.220385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.31, Y:247.51, Z:19.84 [[ 8.20894683e-02 -9.96616785e-01 -4.03777217e-03 2.97309835e+02] [ 9.95858895e-01 8.21845175e-02 -3.88685895e-02 2.47514938e+02] [ 3.90689310e-02 -8.30349494e-04 9.99236173e-01 1.98408891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.250385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.31, Y:247.54, Z:19.84 [[ 8.15311538e-02 -9.96662724e-01 -4.01073358e-03 2.97313281e+02] [ 9.95904762e-01 8.16255735e-02 -3.88712067e-02 2.47542022e+02] [ 3.90688611e-02 -8.25094340e-04 9.99236180e-01 1.98419214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.280385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.31, Y:247.57, Z:19.84 [[ 8.06382541e-02 -9.96735382e-01 -4.00635384e-03 2.97314650e+02] [ 9.95977485e-01 8.07331820e-02 -3.88716298e-02 2.47568345e+02] [ 3.90681744e-02 -8.55697859e-04 9.99236181e-01 1.98432177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.31038572299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.32, Y:247.60, Z:19.84 [[ 8.29891356e-02 -9.96543439e-01 -3.73874989e-03 2.97320375e+02] [ 9.95784146e-01 8.30718359e-02 -3.88973528e-02 2.47598349e+02] [ 3.90734866e-02 -4.94930177e-04 9.99236217e-01 1.98439603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.340385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.32, Y:247.63, Z:19.85 [[ 8.26100804e-02 -9.96574134e-01 -3.94593783e-03 2.97323022e+02] [ 9.95815778e-01 8.27011526e-02 -3.88774507e-02 2.47625817e+02] [ 3.90705953e-02 -7.17757828e-04 9.99236195e-01 1.98451145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.37038572299997 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:297.33, Y:247.65, Z:19.85 [[ 8.41030322e-02 -9.96449309e-01 -3.93114849e-03 2.97326156e+02] [ 9.95690753e-01 8.41923912e-02 -3.88788659e-02 2.47653954e+02] [ 3.90717919e-02 -6.44377688e-04 9.99236198e-01 1.98466417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.400385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.33, Y:247.68, Z:19.85 [[ 8.83721174e-02 -9.96079732e-01 -3.94167192e-03 2.97329472e+02] [ 9.95320844e-01 8.84586358e-02 -3.88778606e-02 2.47682502e+02] [ 3.90741239e-02 -4.87509357e-04 9.99236196e-01 1.98474190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.430385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.33, Y:247.71, Z:19.85 [[ 9.02328509e-02 -9.95912797e-01 -3.96653700e-03 2.97332557e+02] [ 9.95153852e-01 9.03189220e-02 -3.88754900e-02 2.47710754e+02] [ 3.90748514e-02 -4.39468280e-04 9.99236190e-01 1.98489401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.460385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:297.33, Y:247.74, Z:19.85 [[ 9.15915651e-02 -9.95788810e-01 -3.95349715e-03 2.97333494e+02] [ 9.95029695e-01 9.16760915e-02 -3.88767290e-02 2.47735180e+02] [ 3.90754529e-02 -3.73066608e-04 9.99236193e-01 1.98505437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.490385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.34, Y:247.77, Z:19.85 [[ 9.51705001e-02 -9.95454180e-01 -3.68117275e-03 2.97340600e+02] [ 9.94693733e-01 9.52416582e-02 -3.89024994e-02 2.47765778e+02] [ 3.90762566e-02 4.07308568e-05 9.99236231e-01 1.98514034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.520385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:297.34, Y:247.79, Z:19.85 [[ 9.50581972e-02 -9.95463908e-01 -3.94299172e-03 2.97343072e+02] [ 9.94704462e-01 9.51396697e-02 -3.88777084e-02 2.47791570e+02] [ 3.90764905e-02 -2.26466586e-04 9.99236197e-01 1.98527189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.550385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.35, Y:247.82, Z:19.85 [[ 9.54161479e-02 -9.95430053e-01 -3.84296471e-03 2.97345641e+02] [ 9.94670193e-01 9.54934401e-02 -3.88871484e-02 2.47816788e+02] [ 3.90764141e-02 -1.12020549e-04 9.99236219e-01 1.98535011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.580385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:297.35, Y:247.84, Z:19.85 [[ 9.50672665e-02 -9.95464147e-01 -3.65334504e-03 2.97348617e+02] [ 9.94703612e-01 9.51374160e-02 -3.89049552e-02 2.47843673e+02] [ 3.90760579e-02 6.45922336e-05 9.99236237e-01 1.98543411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.610385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.35, Y:247.87, Z:19.86 [[ 9.47593971e-02 -9.95493543e-01 -3.64178678e-03 2.97352129e+02] [ 9.94732989e-01 9.48293301e-02 -3.89060371e-02 2.47871017e+02] [ 3.90760569e-02 6.41071710e-05 9.99236237e-01 1.98552698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.640385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.36, Y:247.90, Z:19.86 [[ 9.43526387e-02 -9.95532220e-01 -3.63028900e-03 2.97355642e+02] [ 9.94771653e-01 9.44224331e-02 -3.89071099e-02 2.47897573e+02] [ 3.90760622e-02 5.96798956e-05 9.99236237e-01 1.98569521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.670385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:297.36, Y:247.92, Z:19.86 [[ 9.38880176e-02 -9.95576187e-01 -3.61886252e-03 2.97360150e+02] [ 9.94815612e-01 9.39577203e-02 -3.89081727e-02 2.47924892e+02] [ 3.90760703e-02 5.29102759e-05 9.99236237e-01 1.98587335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.700385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.36, Y:247.95, Z:19.86 [[ 9.28342243e-02 -9.95675044e-01 -3.60748959e-03 2.97363759e+02] [ 9.94914502e-01 9.29042876e-02 -3.89092272e-02 2.47952495e+02] [ 3.90760977e-02 2.29642126e-05 9.99236237e-01 1.98597056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.730385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.37, Y:247.98, Z:19.86 [[ 8.99502492e-02 -9.95939765e-01 -3.59687773e-03 2.97365818e+02] [ 9.95179389e-01 9.00221002e-02 -3.89102081e-02 2.47979492e+02] [ 3.90760220e-02 -7.95556694e-05 9.99236237e-01 1.98558867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.760385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.37, Y:248.01, Z:19.86 [[ 9.15513874e-02 -9.95793965e-01 -3.56680547e-03 2.97371094e+02] [ 9.95033367e-01 9.16208407e-02 -3.89129811e-02 2.48007900e+02] [ 3.90761055e-02 1.34469525e-05 9.99236237e-01 1.98613123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.790385723 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:297.37, Y:248.04, Z:19.86 [[ 9.11297632e-02 -9.95832579e-01 -3.58347706e-03 2.97374897e+02] [ 9.95072070e-01 9.12001900e-02 -3.89114458e-02 2.48035487e+02] [ 3.90760992e-02 -1.98271028e-05 9.99236237e-01 1.98623639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.820385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:297.38, Y:248.06, Z:19.86 [[ 9.07597966e-02 -9.95866403e-01 -3.57298251e-03 2.97379216e+02] [ 9.95105883e-01 9.08300959e-02 -3.89124094e-02 2.48063184e+02] [ 3.90760955e-02 -2.38135491e-05 9.99236237e-01 1.98626576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.850385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.38, Y:248.09, Z:19.86 [[ 8.86237427e-02 -9.96058804e-01 -3.56246061e-03 2.97381624e+02] [ 9.95298397e-01 8.86952618e-02 -3.89133726e-02 2.48092488e+02] [ 3.90759808e-02 -9.70626119e-05 9.99236237e-01 1.98590559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.880385723 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:297.38, Y:248.12, Z:19.86 [[ 8.82251004e-02 -9.96093872e-01 -3.65112340e-03 2.97384781e+02] [ 9.95333823e-01 8.83003872e-02 -3.89052924e-02 2.48119389e+02] [ 3.90757190e-02 -2.01663285e-04 9.99236232e-01 1.98579319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.910385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.39, Y:248.15, Z:19.86 [[ 8.93191064e-02 -9.95996840e-01 -3.52009902e-03 2.97389279e+02] [ 9.95236233e-01 8.93884395e-02 -3.89171777e-02 2.48146248e+02] [ 3.90760422e-02 -2.72825471e-05 9.99236239e-01 1.98632723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.940385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.39, Y:248.17, Z:19.86 [[ 8.54891984e-02 -9.96332861e-01 -3.52507818e-03 2.97393137e+02] [ 9.95572545e-01 8.55616498e-02 -3.89167267e-02 2.48174422e+02] [ 3.90756252e-02 -1.82511279e-04 9.99236239e-01 1.98612752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.970385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.40, Y:248.20, Z:19.86 [[ 8.43739745e-02 -9.96428127e-01 -3.46709189e-03 2.97397249e+02] [ 9.95667676e-01 8.44450120e-02 -3.89219699e-02 2.48201871e+02] [ 3.90757242e-02 -1.68070028e-04 9.99236238e-01 1.98629115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.000385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.40, Y:248.23, Z:19.86 [[ 8.23987910e-02 -9.96593365e-01 -3.47900806e-03 2.97400454e+02] [ 9.95833102e-01 8.24718011e-02 -3.89208942e-02 2.48229291e+02] [ 3.90752250e-02 -2.57476760e-04 9.99236239e-01 1.98629170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.030385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:297.41, Y:248.26, Z:19.87 [[ 8.25951262e-02 -9.96577171e-01 -3.46220827e-03 2.97406253e+02] [ 9.95816830e-01 8.26673303e-02 -3.89224047e-02 2.48257099e+02] [ 3.90753915e-02 -2.32924340e-04 9.99236238e-01 1.98667348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.06038572299997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:297.41, Y:248.28, Z:19.86 [[ 8.03517087e-02 -9.96760457e-01 -3.49215924e-03 2.97407595e+02] [ 9.96000395e-01 8.04267935e-02 -3.89197173e-02 2.48282860e+02] [ 3.90744983e-02 -3.50926201e-04 9.99236239e-01 1.98641346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.090385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.42, Y:248.31, Z:19.87 [[ 8.23742646e-02 -9.96595636e-01 -3.40868851e-03 2.97415000e+02] [ 9.95835112e-01 8.24445470e-02 -3.89271993e-02 2.48311807e+02] [ 3.90757047e-02 -1.87892283e-04 9.99236235e-01 1.98686632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.12038572299997 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:297.42, Y:248.34, Z:19.87 [[ 8.31727472e-02 -9.96528690e-01 -3.58657902e-03 2.97418582e+02] [ 9.95768776e-01 8.32493674e-02 -3.89112749e-02 2.48337170e+02] [ 3.90747822e-02 -3.35045776e-04 9.99236233e-01 1.98726288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.150385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:297.42, Y:248.36, Z:19.87 [[ 8.36245557e-02 -9.96491278e-01 -3.47369309e-03 2.97422090e+02] [ 9.95730906e-01 8.36964229e-02 -3.89213501e-02 2.48363591e+02] [ 3.90755216e-02 -2.04082960e-04 9.99236239e-01 1.98742958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.180385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.43, Y:248.39, Z:19.88 [[ 8.45358312e-02 -9.96414424e-01 -3.46246727e-03 2.97426195e+02] [ 9.95653946e-01 8.46065645e-02 -3.89223487e-02 2.48391551e+02] [ 3.90757372e-02 -1.57086099e-04 9.99236239e-01 1.98758000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.210385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.43, Y:248.42, Z:19.88 [[ 8.49078874e-02 -9.96382825e-01 -3.45192296e-03 2.97429011e+02] [ 9.95622283e-01 8.49779249e-02 -3.89232839e-02 2.48418061e+02] [ 3.90758288e-02 -1.31917616e-04 9.99236239e-01 1.98764350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.240385723 meters Centerline goodness : 0.998911 Centerline is valid? [True, True] Translation: X:297.43, Y:248.45, Z:19.88 [[ 8.50334780e-02 -9.96372154e-01 -3.44078316e-03 2.97432573e+02] [ 9.95611563e-01 8.51029844e-02 -3.89242686e-02 2.48445835e+02] [ 3.90758782e-02 -1.15817559e-04 9.99236240e-01 1.98763008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.270385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:297.44, Y:248.48, Z:19.88 [[ 8.55527953e-02 -9.96327531e-01 -3.48853909e-03 2.97437122e+02] [ 9.95567074e-01 8.56237709e-02 -3.89200654e-02 2.48475498e+02] [ 3.90758346e-02 -1.43354259e-04 9.99236238e-01 1.98770729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.300385723 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:297.44, Y:248.50, Z:19.88 [[ 8.41542581e-02 -9.96445933e-01 -3.68289823e-03 2.97438755e+02] [ 9.95686290e-01 8.42338907e-02 -3.89032507e-02 2.48499204e+02] [ 3.90752108e-02 -3.93137075e-04 9.99236195e-01 1.98787219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.330385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.45, Y:248.53, Z:19.88 [[ 8.40981443e-02 -9.96451863e-01 -3.34457403e-03 2.97445155e+02] [ 9.95691013e-01 8.41646060e-02 -3.89323175e-02 2.48529358e+02] [ 3.90756751e-02 -5.60266560e-05 9.99236253e-01 1.98794989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.360385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:297.45, Y:248.56, Z:19.88 [[ 8.33484406e-02 -9.96513977e-01 -3.59600457e-03 2.97448361e+02] [ 9.95754073e-01 8.34252949e-02 -3.89107470e-02 2.48557518e+02] [ 3.90751010e-02 -3.37586113e-04 9.99236220e-01 1.98805402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.390385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:297.45, Y:248.58, Z:19.88 [[ 8.15632715e-02 -9.96661796e-01 -3.56321361e-03 2.97452314e+02] [ 9.95901908e-01 8.16402067e-02 -3.89135658e-02 2.48583555e+02] [ 3.90745659e-02 -3.74693499e-04 9.99236227e-01 1.98812817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.420385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.46, Y:248.61, Z:19.88 [[ 8.19649437e-02 -9.96629381e-01 -3.40964267e-03 2.97456218e+02] [ 9.95868905e-01 8.20355756e-02 -3.89267142e-02 2.48609455e+02] [ 3.90752191e-02 -2.04931174e-04 9.99236251e-01 1.98825163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.450385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.46, Y:248.64, Z:19.88 [[ 8.18060690e-02 -9.96642741e-01 -3.31883527e-03 2.97460138e+02] [ 9.95881958e-01 8.18732751e-02 -3.89344550e-02 2.48636326e+02] [ 3.90754658e-02 -1.20093452e-04 9.99236255e-01 1.98841437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.480385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.46, Y:248.66, Z:19.89 [[ 8.16292172e-02 -9.96657278e-01 -3.30761050e-03 2.97464083e+02] [ 9.95896470e-01 8.16961198e-02 -3.89354085e-02 2.48664392e+02] [ 3.90754773e-02 -1.15770693e-04 9.99236255e-01 1.98868831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.510385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.47, Y:248.69, Z:19.89 [[ 8.26167984e-02 -9.96576033e-01 -3.26718830e-03 2.97466952e+02] [ 9.95815022e-01 8.26813677e-02 -3.89388343e-02 2.48692307e+02] [ 3.90756446e-02 -3.65133728e-05 9.99236255e-01 1.98873961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.540385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.47, Y:248.72, Z:19.89 [[ 8.37422009e-02 -9.96482010e-01 -3.29344390e-03 2.97468358e+02] [ 9.95721014e-01 8.38069367e-02 -3.89366135e-02 2.48718500e+02] [ 3.90756483e-02 -1.87135949e-05 9.99236255e-01 1.98864074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.570385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.47, Y:248.75, Z:19.89 [[ 8.40475500e-02 -9.96456343e-01 -3.28121476e-03 2.97469618e+02] [ 9.95695286e-01 8.41115748e-02 -3.89376440e-02 2.48745476e+02] [ 3.90756505e-02 5.52351701e-06 9.99236255e-01 1.98868171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.600385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.47, Y:248.77, Z:19.89 [[ 8.41243617e-02 -9.96449897e-01 -3.27040424e-03 2.97470984e+02] [ 9.95688800e-01 8.41879053e-02 -3.89385520e-02 2.48772509e+02] [ 3.90756446e-02 1.93759589e-05 9.99236255e-01 1.98871271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.630385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:297.47, Y:248.80, Z:19.89 [[ 8.39209029e-02 -9.96467088e-01 -3.25955515e-03 2.97472654e+02] [ 9.95705969e-01 8.39841779e-02 -3.89394601e-02 2.48799404e+02] [ 3.90756415e-02 2.22761356e-05 9.99236255e-01 1.98876835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.660385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.47, Y:248.83, Z:19.89 [[ 8.24258766e-02 -9.96591903e-01 -3.24876184e-03 2.97474658e+02] [ 9.95830844e-01 8.24898717e-02 -3.89403606e-02 2.48827620e+02] [ 3.90756380e-02 -2.55238918e-05 9.99236255e-01 1.98911377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.690385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.48, Y:248.85, Z:19.89 [[ 8.45471552e-02 -9.96414218e-01 -3.23810499e-03 2.97476813e+02] [ 9.95652990e-01 8.46091136e-02 -3.89412468e-02 2.48847171e+02] [ 3.90755851e-02 6.83427121e-05 9.99236255e-01 1.98911373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.720385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:297.48, Y:248.88, Z:19.89 [[ 7.93348156e-02 -9.96845062e-01 -2.43099766e-03 2.97476215e+02] [ 9.96081795e-01 7.93691977e-02 -3.90075434e-02 2.48881192e+02] [ 3.90774233e-02 6.73183747e-04 9.99235959e-01 1.98929334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.750385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.48, Y:248.91, Z:19.89 [[ 7.82705552e-02 -9.96926951e-01 -3.22095812e-03 2.97477638e+02] [ 9.96166088e-01 7.83366363e-02 -3.89422171e-02 2.48909452e+02] [ 3.90748648e-02 -1.60580296e-04 9.99236273e-01 1.98942107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.780385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.48, Y:248.94, Z:19.89 [[ 7.78746239e-02 -9.96957852e-01 -3.25341894e-03 2.97478473e+02] [ 9.96197126e-01 7.79422751e-02 -3.89395380e-02 2.48936034e+02] [ 3.90746570e-02 -2.08644722e-04 9.99236272e-01 1.98941871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.81038572299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.48, Y:248.96, Z:19.90 [[ 7.70482618e-02 -9.97022216e-01 -3.20398046e-03 2.97479504e+02] [ 9.96261377e-01 7.71146126e-02 -3.89436055e-02 2.48964426e+02] [ 3.90747135e-02 -1.91464878e-04 9.99236273e-01 1.98966192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.840385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.48, Y:248.99, Z:19.90 [[ 7.69019843e-02 -9.97033544e-01 -3.19318554e-03 2.97481074e+02] [ 9.96272678e-01 7.69680251e-02 -3.89444906e-02 2.48991550e+02] [ 3.90747366e-02 -1.86374911e-04 9.99236273e-01 1.98969326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.87038572299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.48, Y:249.02, Z:19.90 [[ 7.43206761e-02 -9.97229318e-01 -3.18184395e-03 2.97479252e+02] [ 9.96468586e-01 7.43882434e-02 -3.89454172e-02 2.49018476e+02] [ 3.90742036e-02 -2.76157807e-04 9.99236274e-01 1.98952720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.900385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.48, Y:249.05, Z:19.90 [[ 7.61835414e-02 -9.97089260e-01 -3.01252868e-03 2.97482620e+02] [ 9.96327847e-01 7.62430731e-02 -3.89591470e-02 2.49047457e+02] [ 3.90754315e-02 -3.34204233e-05 9.99236263e-01 1.99004396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.930385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.48, Y:249.07, Z:19.90 [[ 7.60364443e-02 -9.97099924e-01 -3.19370455e-03 2.97484440e+02] [ 9.96339118e-01 7.61031658e-02 -3.89444518e-02 2.49074601e+02] [ 3.90745610e-02 -2.20815141e-04 9.99236273e-01 1.99007045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.960385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.49, Y:249.10, Z:19.90 [[ 7.50956861e-02 -9.97171360e-01 -3.14922214e-03 2.97486353e+02] [ 9.96410465e-01 7.51613881e-02 -3.89480485e-02 2.49102774e+02] [ 3.90745784e-02 -2.13087473e-04 9.99236274e-01 1.99014646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.990385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.49, Y:249.13, Z:19.90 [[ 7.45143786e-02 -9.97215000e-01 -3.13854415e-03 2.97488566e+02] [ 9.96454108e-01 7.45801071e-02 -3.89489090e-02 2.49129808e+02] [ 3.90745093e-02 -2.25161460e-04 9.99236274e-01 1.99022304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.020385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.49, Y:249.16, Z:19.90 [[ 7.35728322e-02 -9.97284933e-01 -3.13075403e-03 2.97490299e+02] [ 9.96524077e-01 7.36389748e-02 -3.89495352e-02 2.49156914e+02] [ 3.90743301e-02 -2.54244150e-04 9.99236274e-01 1.99035781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.050385723 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:297.48, Y:249.18, Z:19.90 [[ 6.64614672e-02 -9.97784116e-01 -3.11962649e-03 2.97484570e+02] [ 9.97023710e-01 6.65325979e-02 -3.89504264e-02 2.49176636e+02] [ 3.90716736e-02 -5.21639085e-04 9.99236274e-01 1.98986299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.080385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.49, Y:249.21, Z:19.91 [[ 7.29972944e-02 -9.97329897e-01 -2.11479217e-03 2.97494983e+02] [ 9.96566173e-01 7.30241565e-02 -3.90299175e-02 2.49212078e+02] [ 3.90801345e-02 7.41548039e-04 9.99235805e-01 1.99066151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.110385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:297.50, Y:249.24, Z:19.91 [[ 7.18125688e-02 -9.97413301e-01 -3.10847148e-03 2.97498977e+02] [ 9.96652513e-01 7.18791839e-02 -3.89506360e-02 2.49239349e+02] [ 3.90733168e-02 -3.00920685e-04 9.99236301e-01 1.99090842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.140385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.50, Y:249.27, Z:19.91 [[ 7.10992719e-02 -9.97464436e-01 -3.09703265e-03 2.97501751e+02] [ 9.96703657e-01 7.11659844e-02 -3.89515455e-02 2.49267130e+02] [ 3.90731847e-02 -3.17397245e-04 9.99236301e-01 1.99105908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.170385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:297.51, Y:249.30, Z:19.91 [[ 7.08024303e-02 -9.97485584e-01 -3.08632312e-03 2.97506682e+02] [ 9.96724788e-01 7.08689510e-02 -3.89523940e-02 2.49296464e+02] [ 3.90731760e-02 -3.18290591e-04 9.99236301e-01 1.99122330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.200385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.51, Y:249.32, Z:19.91 [[ 7.01362503e-02 -9.97532158e-01 -3.24054206e-03 2.97508199e+02] [ 9.96771948e-01 7.02092997e-02 -3.89401859e-02 2.49322253e+02] [ 3.90716038e-02 -4.98962794e-04 9.99236289e-01 1.99126614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.230385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.51, Y:249.35, Z:19.91 [[ 6.98445313e-02 -9.97553160e-01 -3.07147143e-03 2.97510184e+02] [ 9.96792379e-01 6.99112026e-02 -3.89535176e-02 2.49349929e+02] [ 3.90729349e-02 -3.40929132e-04 9.99236303e-01 1.99136778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.260385723 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:297.51, Y:249.38, Z:19.92 [[ 6.91996903e-02 -9.97598135e-01 -3.06007116e-03 2.97512687e+02] [ 9.96837358e-01 6.92664083e-02 -3.89544132e-02 2.49378514e+02] [ 3.90728101e-02 -3.54759927e-04 9.99236303e-01 1.99162370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.290385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:297.52, Y:249.41, Z:19.92 [[ 6.89412300e-02 -9.97615867e-01 -3.11257584e-03 2.97515144e+02] [ 9.96855289e-01 6.90101950e-02 -3.89502963e-02 2.49405673e+02] [ 3.90722331e-02 -4.17506357e-04 9.99236302e-01 1.99170307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.320385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:297.52, Y:249.43, Z:19.92 [[ 6.74734727e-02 -9.97716438e-01 -3.03963661e-03 2.97517865e+02] [ 9.96955708e-01 6.75407092e-02 -3.89559876e-02 2.49433130e+02] [ 3.90723285e-02 -4.01887297e-04 9.99236304e-01 1.99178299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.350385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:297.52, Y:249.46, Z:19.92 [[ 6.63239491e-02 -9.97793545e-01 -3.02914867e-03 2.97519963e+02] [ 9.97032856e-01 6.63916525e-02 -3.89568032e-02 2.49461348e+02] [ 3.90719569e-02 -4.36391720e-04 9.99236304e-01 1.99193438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.380385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.52, Y:249.49, Z:19.92 [[ 6.41141487e-02 -9.97938006e-01 -3.01856268e-03 2.97521643e+02] [ 9.97177432e-01 6.41831234e-02 -3.89576234e-02 2.49488436e+02] [ 3.90710338e-02 -5.12307720e-04 9.99236304e-01 1.99201208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.410385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.52, Y:249.52, Z:19.92 [[ 6.31338215e-02 -9.98000539e-01 -3.00754680e-03 2.97523583e+02] [ 9.97239993e-01 6.32031133e-02 -3.89584738e-02 2.49516750e+02] [ 3.90706642e-02 -5.39648616e-04 9.99236304e-01 1.99222201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.440385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.52, Y:249.54, Z:19.92 [[ 5.94265408e-02 -9.98228183e-01 -2.99688873e-03 2.97521740e+02] [ 9.97467861e-01 5.94982411e-02 -3.89592937e-02 2.49541110e+02] [ 3.90685745e-02 -6.74084141e-04 9.99236304e-01 1.99208921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.470385723 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:297.53, Y:249.57, Z:19.93 [[ 6.32200296e-02 -9.97996334e-01 -2.55827941e-03 2.97526514e+02] [ 9.97234300e-01 6.32717119e-02 -3.89928360e-02 2.49572150e+02] [ 3.90765741e-02 -8.60757334e-05 9.99236215e-01 1.99251886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.500385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.53, Y:249.60, Z:19.93 [[ 6.37480133e-02 -9.97961564e-01 -2.98468238e-03 2.97527768e+02] [ 9.97200898e-01 6.38159445e-02 -3.89601735e-02 2.49598671e+02] [ 3.90712260e-02 -4.92694293e-04 9.99236307e-01 1.99265219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.530385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.53, Y:249.63, Z:19.93 [[ 6.55018607e-02 -9.97848004e-01 -2.97778247e-03 2.97529775e+02] [ 9.97087196e-01 6.55681856e-02 -3.89607008e-02 2.49629013e+02] [ 3.90721054e-02 -4.17110377e-04 9.99236307e-01 1.99275880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.56038572299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.53, Y:249.66, Z:19.93 [[ 6.42583587e-02 -9.97928219e-01 -3.18327183e-03 2.97528649e+02] [ 9.97168224e-01 6.43336512e-02 -3.89450064e-02 2.49655577e+02] [ 3.90691124e-02 -6.71715328e-04 9.99236285e-01 1.99283967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.590385723 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:297.53, Y:249.68, Z:19.93 [[ 6.44994508e-02 -9.97913350e-01 -2.96075750e-03 2.97529372e+02] [ 9.97152554e-01 6.45658752e-02 -3.89619165e-02 2.49683796e+02] [ 3.90717805e-02 -4.39304692e-04 9.99236310e-01 1.99290991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.62038572299997 meters Centerline goodness : 0.999799 Centerline is valid? [True, True] Translation: X:297.53, Y:249.71, Z:19.93 [[ 6.38025833e-02 -9.97958179e-01 -2.95030319e-03 2.97531078e+02] [ 9.97197393e-01 6.38691309e-02 -3.89627081e-02 2.49711456e+02] [ 3.90715865e-02 -4.56113221e-04 9.99236310e-01 1.99289459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.650385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:297.54, Y:249.74, Z:19.93 [[ 6.71592453e-02 -9.97737938e-01 -2.93992367e-03 2.97538579e+02] [ 9.96976899e-01 6.72228281e-02 -3.89634913e-02 2.49744357e+02] [ 3.90729834e-02 -3.14277313e-04 9.99236310e-01 1.99287669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.680385723 meters Centerline goodness : 0.999733 Centerline is valid? [True, True] Translation: X:297.53, Y:249.77, Z:19.93 [[ 6.13083337e-02 -9.98112549e-01 -3.55357428e-03 2.97534804e+02] [ 9.97354236e-01 6.14003107e-02 -3.89169527e-02 2.49766108e+02] [ 3.90616894e-02 -1.15823885e-03 9.99236130e-01 1.99314675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.710385723 meters Centerline goodness : 0.999378 Centerline is valid? [True, True] Translation: X:297.54, Y:249.80, Z:19.93 [[ 6.33764692e-02 -9.97985412e-01 -2.92231211e-03 2.97540689e+02] [ 9.97224581e-01 6.34422488e-02 -3.89643050e-02 2.49798413e+02] [ 3.90712061e-02 -4.44781389e-04 9.99236330e-01 1.99311125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.740385723 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:297.54, Y:249.82, Z:19.93 [[ 5.78031029e-02 -9.98321911e-01 -3.48761572e-03 2.97536042e+02] [ 9.97563655e-01 5.78951719e-02 -3.89217501e-02 2.49821135e+02] [ 3.90583521e-02 -1.22932076e-03 9.99236175e-01 1.99345988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.770385723 meters Centerline goodness : 0.998780 Centerline is valid? [True, True] Translation: X:297.54, Y:249.85, Z:19.93 [[ 5.83867523e-02 -9.98289822e-01 -2.90146503e-03 2.97539819e+02] [ 9.97529273e-01 5.84555206e-02 -3.89654032e-02 2.49851882e+02] [ 3.90683721e-02 -6.19232955e-04 9.99236348e-01 1.99348767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.800385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:297.54, Y:249.87, Z:19.94 [[ 5.36563839e-02 -9.98553978e-01 -3.30844858e-03 2.97538683e+02] [ 9.97795359e-01 5.37446213e-02 -3.89350437e-02 2.49874991e+02] [ 3.90565540e-02 -1.21204099e-03 9.99236267e-01 1.99390310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.830385723 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:297.54, Y:249.90, Z:19.94 [[ 5.19412679e-02 -9.98645989e-01 -2.87991818e-03 2.97540486e+02] [ 9.97885829e-01 5.20141038e-02 -3.89667187e-02 2.49903011e+02] [ 3.90637537e-02 -8.49848768e-04 9.99236359e-01 1.99409389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.860385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.54, Y:249.93, Z:19.94 [[ 5.15369752e-02 -9.98666966e-01 -2.86918282e-03 2.97541933e+02] [ 9.97906795e-01 5.16097002e-02 -3.89675092e-02 2.49929742e+02] [ 3.90636418e-02 -8.54909480e-04 9.99236359e-01 1.99419445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.890385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:297.54, Y:249.96, Z:19.94 [[ 5.11255085e-02 -9.98688147e-01 -2.85784938e-03 2.97542345e+02] [ 9.97927965e-01 5.11981046e-02 -3.89683404e-02 2.49957655e+02] [ 3.90635361e-02 -8.59651596e-04 9.99236359e-01 1.99425910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.920385723 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:297.54, Y:249.99, Z:19.94 [[ 5.11915440e-02 -9.98684794e-01 -2.84744308e-03 2.97543448e+02] [ 9.97924568e-01 5.12636841e-02 -3.89691007e-02 2.49985863e+02] [ 3.90638188e-02 -8.46644968e-04 9.99236359e-01 1.99436671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.950385723 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:297.54, Y:250.01, Z:19.94 [[ 5.24533616e-02 -9.98619346e-01 -2.83683128e-03 2.97543182e+02] [ 9.97858991e-01 5.25241271e-02 -3.89698732e-02 2.50014519e+02] [ 3.90650714e-02 -7.86656746e-04 9.99236359e-01 1.99434372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.980385723 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:297.54, Y:250.04, Z:19.94 [[ 5.29710179e-02 -9.98592051e-01 -2.82628044e-03 2.97544860e+02] [ 9.97831621e-01 5.30409776e-02 -3.89706384e-02 2.50043017e+02] [ 3.90656784e-02 -7.55837605e-04 9.99236359e-01 1.99442822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.010385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:297.55, Y:250.07, Z:19.95 [[ 5.29822817e-02 -9.98591483e-01 -2.81577492e-03 2.97546665e+02] [ 9.97831015e-01 5.30518231e-02 -3.89713975e-02 2.50070598e+02] [ 3.90658876e-02 -7.44873988e-04 9.99236359e-01 1.99457795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.040385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:297.55, Y:250.10, Z:19.95 [[ 5.33977805e-02 -9.98569380e-01 -2.80529616e-03 2.97547786e+02] [ 9.97808847e-01 5.34665966e-02 -3.89721518e-02 2.50097144e+02] [ 3.90663871e-02 -7.18122924e-04 9.99236359e-01 1.99473878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.070385723 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:297.55, Y:250.12, Z:19.95 [[ 5.34852439e-02 -9.98564721e-01 -2.79764603e-03 2.97548717e+02] [ 9.97804154e-01 5.35536949e-02 -3.89727009e-02 2.50124351e+02] [ 3.90665885e-02 -7.07038414e-04 9.99236359e-01 1.99485080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.100385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:297.54, Y:250.15, Z:19.95 [[ 5.01237784e-02 -9.98739127e-01 -2.78609682e-03 2.97542614e+02] [ 9.97978754e-01 5.01943386e-02 -3.89735265e-02 2.50148298e+02] [ 3.90642322e-02 -8.26965025e-04 9.99236359e-01 1.99468838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.130385723 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:297.55, Y:250.18, Z:19.95 [[ 5.45068293e-02 -9.98510770e-01 -2.29069320e-03 2.97548553e+02] [ 9.97748518e-01 5.45547096e-02 -3.90087028e-02 2.50179861e+02] [ 3.90755780e-02 -1.59295041e-04 9.99236245e-01 1.99500296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.160385723 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:297.55, Y:250.21, Z:19.95 [[ 5.46046697e-02 -9.98504196e-01 -2.77490469e-03 2.97549451e+02] [ 9.97743479e-01 5.46713805e-02 -3.89742324e-02 2.50207809e+02] [ 3.90676424e-02 -6.40467977e-04 9.99236363e-01 1.99515028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.190385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:297.55, Y:250.24, Z:19.95 [[ 5.55640399e-02 -9.98451299e-01 -2.76436250e-03 2.97549786e+02] [ 9.97690482e-01 5.56296084e-02 -3.89749801e-02 2.50235694e+02] [ 3.90683999e-02 -5.92370806e-04 9.99236363e-01 1.99523116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.220385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.55, Y:250.26, Z:19.95 [[ 5.56502591e-02 -9.98446527e-01 -2.75357073e-03 2.97550818e+02] [ 9.97685668e-01 5.57153407e-02 -3.89757425e-02 2.50263267e+02] [ 3.90686109e-02 -5.78187886e-04 9.99236363e-01 1.99526943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.250385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:297.55, Y:250.29, Z:19.95 [[ 5.59652565e-02 -9.98428951e-01 -2.74218178e-03 2.97549622e+02] [ 9.97668034e-01 5.60296535e-02 -3.89765438e-02 2.50291549e+02] [ 3.90689532e-02 -5.54454834e-04 9.99236363e-01 1.99533029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.280385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.55, Y:250.32, Z:19.95 [[ 5.58309619e-02 -9.98436499e-01 -2.73148201e-03 2.97549851e+02] [ 9.97675556e-01 5.58950437e-02 -3.89772936e-02 2.50319639e+02] [ 3.90690289e-02 -5.48993036e-04 9.99236363e-01 1.99540454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.31038572299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.55, Y:250.35, Z:19.96 [[ 5.52905808e-02 -9.98466599e-01 -2.72076285e-03 2.97548677e+02] [ 9.97705655e-01 5.53546561e-02 -3.89780418e-02 2.50347898e+02] [ 3.90688797e-02 -5.59401911e-04 9.99236363e-01 1.99553601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.340385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:297.55, Y:250.38, Z:19.96 [[ 5.45876622e-02 -9.98505304e-01 -2.71004349e-03 2.97548588e+02] [ 9.97744371e-01 5.46518547e-02 -3.89787871e-02 2.50375874e+02] [ 3.90686346e-02 -5.76169772e-04 9.99236363e-01 1.99564578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.37038572299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.55, Y:250.40, Z:19.96 [[ 5.37671850e-02 -9.98549850e-01 -2.69936851e-03 2.97548229e+02] [ 9.97788934e-01 5.38315862e-02 -3.89795264e-02 2.50403563e+02] [ 3.90683115e-02 -5.97580618e-04 9.99236363e-01 1.99576489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.400385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:297.55, Y:250.43, Z:19.96 [[ 5.27503564e-02 -9.98604111e-01 -2.68860897e-03 2.97546178e+02] [ 9.97843225e-01 5.28151125e-02 -3.89802685e-02 2.50430574e+02] [ 3.90678556e-02 -6.26587188e-04 9.99236363e-01 1.99584377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.430385723 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:297.55, Y:250.46, Z:19.96 [[ 5.15391639e-02 -9.98667386e-01 -2.67726619e-03 2.97546141e+02] [ 9.97906541e-01 5.16044001e-02 -3.89810475e-02 2.50459170e+02] [ 3.90672595e-02 -6.62610841e-04 9.99236364e-01 1.99593467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.460385723 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:297.54, Y:250.49, Z:19.96 [[ 4.99854630e-02 -9.98746386e-01 -2.66631611e-03 2.97543658e+02] [ 9.97985607e-01 5.00514556e-02 -3.89817965e-02 2.50487209e+02] [ 3.90663814e-02 -7.12421954e-04 9.99236364e-01 1.99592927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.490385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:297.54, Y:250.51, Z:19.96 [[ 4.97039951e-02 -9.98760463e-01 -2.65543872e-03 2.97543006e+02] [ 9.97999665e-01 4.97697777e-02 -3.89825375e-02 2.50514129e+02] [ 3.90663777e-02 -7.12539097e-04 9.99236364e-01 1.99595233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.520385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.54, Y:250.54, Z:19.96 [[ 4.98389968e-02 -9.98753765e-01 -2.64397256e-03 2.97540596e+02] [ 9.97992920e-01 4.99042292e-02 -3.89833151e-02 2.50542504e+02] [ 3.90666782e-02 -6.95776579e-04 9.99236364e-01 1.99596825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.550385723 meters Centerline goodness : 0.999761 Centerline is valid? [True, True] Translation: X:297.54, Y:250.57, Z:19.96 [[ 4.59428710e-02 -9.98940598e-01 -2.63328750e-03 2.97536595e+02] [ 9.98179976e-01 4.60106538e-02 -3.89840369e-02 2.50567072e+02] [ 3.90638964e-02 -8.37456274e-04 9.99236364e-01 1.99559834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.580385723 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:297.54, Y:250.60, Z:19.96 [[ 4.79449301e-02 -9.98847514e-01 -2.21967810e-03 2.97538186e+02] [ 9.98085443e-01 4.79950442e-02 -3.90118437e-02 2.50597033e+02] [ 3.90734166e-02 -3.45008282e-04 9.99236283e-01 1.99581195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.610385723 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:297.54, Y:250.63, Z:19.96 [[ 5.05406793e-02 -9.98719115e-01 -2.40194617e-03 2.97537666e+02] [ 9.97957455e-01 5.05959302e-02 -3.89996111e-02 2.50626608e+02] [ 3.90711858e-02 -4.25973256e-04 9.99236339e-01 1.99617400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.640385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:297.53, Y:250.65, Z:19.96 [[ 4.78874824e-02 -9.98849308e-01 -2.61702055e-03 2.97534295e+02] [ 9.98088499e-01 4.79531497e-02 -3.89851744e-02 2.50653190e+02] [ 3.90658088e-02 -7.45116266e-04 9.99236362e-01 1.99593106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.670385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.53, Y:250.68, Z:19.96 [[ 5.18179980e-02 -9.98653771e-01 -2.35386138e-03 2.97534163e+02] [ 9.97891903e-01 5.18703971e-02 -3.90027155e-02 2.50683221e+02] [ 3.90723047e-02 -3.27856578e-04 9.99236332e-01 1.99631589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.700385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.53, Y:250.71, Z:19.96 [[ 5.23354102e-02 -9.98626177e-01 -2.60064820e-03 2.97533965e+02] [ 9.97865032e-01 5.23970496e-02 -3.89862544e-02 2.50711420e+02] [ 3.90689605e-02 -5.54734283e-04 9.99236363e-01 1.99638881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.730385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:297.53, Y:250.74, Z:19.96 [[ 5.23500443e-02 -9.98625438e-01 -2.58988042e-03 2.97533250e+02] [ 9.97864258e-01 5.24112522e-02 -3.89869697e-02 2.50739354e+02] [ 3.90691186e-02 -5.43379514e-04 9.99236363e-01 1.99643188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.760385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:297.52, Y:250.76, Z:19.96 [[ 4.75012843e-02 -9.98867847e-01 -2.57917267e-03 2.97524301e+02] [ 9.98106937e-01 4.75657691e-02 -3.89876780e-02 2.50762757e+02] [ 3.90662184e-02 -7.22325351e-04 9.99236363e-01 1.99596614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.790385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:297.52, Y:250.79, Z:19.96 [[ 4.81891682e-02 -9.98836181e-01 -2.02170719e-03 2.97523868e+02] [ 9.98073560e-01 4.82313632e-02 -3.90244143e-02 2.50791706e+02] [ 3.90765066e-02 -1.37258423e-04 9.99236212e-01 1.99612920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.820385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.52, Y:250.82, Z:19.96 [[ 4.83491790e-02 -9.98828354e-01 -2.06773648e-03 2.97521540e+02] [ 9.98065852e-01 4.83930500e-02 -3.90213880e-02 2.50819883e+02] [ 3.90757328e-02 -1.77085091e-04 9.99236236e-01 1.99609278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.850385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.53, Y:250.85, Z:19.97 [[ 5.18085163e-02 -9.98654746e-01 -2.13892618e-03 2.97526725e+02] [ 9.97892284e-01 5.18525273e-02 -3.90167373e-02 2.50850081e+02] [ 3.90751586e-02 -1.13018663e-04 9.99236268e-01 1.99660239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.880385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.52, Y:250.88, Z:19.96 [[ 4.69676704e-02 -9.98893139e-01 -2.55626941e-03 2.97521740e+02] [ 9.98132181e-01 4.70316682e-02 -3.89893784e-02 2.50875782e+02] [ 3.90664482e-02 -7.20254492e-04 9.99236355e-01 1.99637766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.910385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.52, Y:250.90, Z:19.97 [[ 4.74479659e-02 -9.98871219e-01 -2.23140409e-03 2.97523464e+02] [ 9.98109219e-01 4.74989169e-02 -3.90107571e-02 2.50904363e+02] [ 3.90727117e-02 -3.76203920e-04 9.99236299e-01 1.99655647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.940385723 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:297.52, Y:250.93, Z:19.97 [[ 4.53602876e-02 -9.98967977e-01 -2.32940185e-03 2.97523307e+02] [ 9.98206387e-01 4.54166566e-02 -3.90043129e-02 2.50932755e+02] [ 3.90698532e-02 -5.55976949e-04 9.99236327e-01 1.99668589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.970385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.52, Y:250.96, Z:19.97 [[ 4.46972076e-02 -9.98997841e-01 -2.33934279e-03 2.97523936e+02] [ 9.98236321e-01 4.47544700e-02 -3.90036605e-02 2.50961694e+02] [ 3.90692687e-02 -5.91862233e-04 9.99236329e-01 1.99693337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.000385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.52, Y:250.99, Z:19.97 [[ 4.41349024e-02 -9.99022758e-01 -2.37488353e-03 2.97524777e+02] [ 9.98261383e-01 4.41939805e-02 -3.90013312e-02 2.50990190e+02] [ 3.90681730e-02 -6.49434574e-04 9.99236336e-01 1.99704977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.030385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.53, Y:251.02, Z:19.97 [[ 4.63088146e-02 -9.98924324e-01 -2.38510698e-03 2.97526204e+02] [ 9.98162854e-01 4.63666347e-02 -3.90006654e-02 2.51017489e+02] [ 3.90693027e-02 -5.74650606e-04 9.99236338e-01 1.99738306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.06038572299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.53, Y:251.05, Z:19.98 [[ 4.57218334e-02 -9.98951491e-01 -2.33076837e-03 2.97527012e+02] [ 9.98189886e-01 4.57779800e-02 -3.90041954e-02 2.51047034e+02] [ 3.90699970e-02 -5.43206091e-04 9.99236329e-01 1.99754967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.090385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.53, Y:251.07, Z:19.97 [[ 4.53747095e-02 -9.98966835e-01 -2.52942995e-03 2.97525545e+02] [ 9.98205884e-01 4.54388737e-02 -3.89913087e-02 2.51072815e+02] [ 3.90659587e-02 -7.55672552e-04 9.99236348e-01 1.99741339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.12038572299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.53, Y:251.10, Z:19.97 [[ 4.60023090e-02 -9.98938433e-01 -2.40737451e-03 2.97526572e+02] [ 9.98177051e-01 4.60612319e-02 -3.89991939e-02 2.51101203e+02] [ 3.90686802e-02 -6.08933022e-04 9.99236342e-01 1.99744021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.150385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.53, Y:251.13, Z:19.98 [[ 4.57892705e-02 -9.98948258e-01 -2.39175896e-03 2.97528313e+02] [ 9.98186841e-01 4.58477463e-02 -3.90001991e-02 2.51128677e+02] [ 3.90688378e-02 -6.01631652e-04 9.99236340e-01 1.99754739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.180385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.53, Y:251.16, Z:19.98 [[ 4.75045543e-02 -9.98868183e-01 -2.38135908e-03 2.97530944e+02] [ 9.98106634e-01 4.75613166e-02 -3.90008661e-02 2.51157130e+02] [ 3.90699849e-02 -5.24131536e-04 9.99236339e-01 1.99772024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.210385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.53, Y:251.19, Z:19.98 [[ 4.88900030e-02 -9.98801048e-01 -2.49666106e-03 2.97532148e+02] [ 9.98039771e-01 4.89502099e-02 -3.89934839e-02 2.51185496e+02] [ 3.90689447e-02 -5.85375486e-04 9.99236346e-01 1.99779150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.240385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.53, Y:251.21, Z:19.98 [[ 4.92630577e-02 -9.98782745e-01 -2.48573020e-03 2.97533929e+02] [ 9.98021412e-01 4.93225535e-02 -3.89941807e-02 2.51212255e+02] [ 3.90693174e-02 -5.59839392e-04 9.99236346e-01 1.99790265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.270385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.54, Y:251.24, Z:19.98 [[ 5.06722158e-02 -9.98712273e-01 -2.47420554e-03 2.97537864e+02] [ 9.97950823e-01 5.07301875e-02 -3.89949119e-02 2.51239965e+02] [ 3.90702140e-02 -4.93176864e-04 9.99236346e-01 1.99814583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.300385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.54, Y:251.27, Z:19.98 [[ 5.05448912e-02 -9.98718752e-01 -2.46322755e-03 2.97539896e+02] [ 9.97957277e-01 5.06025315e-02 -3.89956054e-02 2.51268271e+02] [ 3.90702879e-02 -4.87167222e-04 9.99236346e-01 1.99821930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.330385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.54, Y:251.30, Z:19.98 [[ 5.26715236e-02 -9.98609044e-01 -2.38477554e-03 2.97543108e+02] [ 9.97847227e-01 5.27244787e-02 -3.90005373e-02 2.51296286e+02] [ 3.90720253e-02 -3.25423934e-04 9.99236344e-01 1.99839242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.360385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.55, Y:251.32, Z:19.99 [[ 5.41073899e-02 -9.98532125e-01 -2.44647651e-03 2.97546160e+02] [ 9.97770402e-01 5.41616591e-02 -3.89966665e-02 2.51323890e+02] [ 3.90719295e-02 -3.31014009e-04 9.99236346e-01 1.99856212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.390385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.55, Y:251.35, Z:19.99 [[ 5.36630453e-02 -9.98556131e-01 -2.43515527e-03 2.97547558e+02] [ 9.97794401e-01 5.37172114e-02 -3.89973735e-02 2.51351151e+02] [ 3.90718761e-02 -3.37066477e-04 9.99236346e-01 1.99853200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.420385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.55, Y:251.38, Z:19.99 [[ 5.38578908e-02 -9.98545912e-01 -2.32135539e-03 2.97550041e+02] [ 9.97783863e-01 5.39074637e-02 -3.90044526e-02 2.51378856e+02] [ 3.90728751e-02 -2.15513406e-04 9.99236340e-01 1.99865658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.450385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.55, Y:251.41, Z:19.99 [[ 5.49208450e-02 -9.98488031e-01 -2.31366852e-03 2.97554360e+02] [ 9.97725910e-01 5.49693064e-02 -3.90049286e-02 2.51406464e+02] [ 3.90731351e-02 -1.66223396e-04 9.99236340e-01 1.99870482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.480385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.56, Y:251.43, Z:19.99 [[ 5.53048677e-02 -9.98466769e-01 -2.34137541e-03 2.97557766e+02] [ 9.97704701e-01 5.53541183e-02 -3.90032177e-02 2.51434751e+02] [ 3.90730215e-02 -1.78933462e-04 9.99236342e-01 1.99875250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.510385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.56, Y:251.46, Z:19.99 [[ 5.59112485e-02 -9.98432971e-01 -2.35274698e-03 2.97563710e+02] [ 9.97670902e-01 5.59604805e-02 -3.90025166e-02 2.51462545e+02] [ 3.90730594e-02 -1.66587805e-04 9.99236343e-01 1.99897776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.540385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.57, Y:251.49, Z:19.99 [[ 5.53950331e-02 -9.98461640e-01 -2.39645483e-03 2.97566885e+02] [ 9.97699711e-01 5.54463663e-02 -3.89998309e-02 2.51490730e+02] [ 3.90727098e-02 -2.30545367e-04 9.99236344e-01 1.99904439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.570385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.57, Y:251.52, Z:19.99 [[ 5.51173804e-02 -9.98477032e-01 -2.38551684e-03 2.97571734e+02] [ 9.97715089e-01 5.51684983e-02 -3.90004999e-02 2.51517323e+02] [ 3.90727088e-02 -2.30460757e-04 9.99236344e-01 1.99907189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.600385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.58, Y:251.54, Z:19.99 [[ 5.49395735e-02 -9.98486859e-01 -2.37396916e-03 2.97575246e+02] [ 9.97724894e-01 5.49903760e-02 -3.90012028e-02 2.51543754e+02] [ 3.90727340e-02 -2.25858679e-04 9.99236344e-01 1.99917561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.630385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.58, Y:251.57, Z:19.99 [[ 5.45174794e-02 -9.98510021e-01 -2.36257565e-03 2.97581845e+02] [ 9.97748049e-01 5.45681590e-02 -3.90018930e-02 2.51571613e+02] [ 3.90727024e-02 -2.30970345e-04 9.99236344e-01 1.99922262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.660385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.59, Y:251.60, Z:19.99 [[ 5.37566330e-02 -9.98551297e-01 -2.35193368e-03 2.97585773e+02] [ 9.97789335e-01 5.38074775e-02 -3.90025347e-02 2.51598468e+02] [ 3.90725833e-02 -2.50089403e-04 9.99236344e-01 1.99924010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.690385723 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:297.59, Y:251.63, Z:19.99 [[ 5.14489814e-02 -9.98672881e-01 -2.34070463e-03 2.97593287e+02] [ 9.97911009e-01 5.15011480e-02 -3.90032086e-02 2.51627929e+02] [ 3.90719957e-02 -3.29139565e-04 9.99236344e-01 1.99934435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.720385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:297.60, Y:251.66, Z:19.99 [[ 4.96269219e-02 -9.98764828e-01 -2.44685813e-03 2.97597264e+02] [ 9.98003349e-01 4.96846231e-02 -3.89968522e-02 2.51655503e+02] [ 3.90702556e-02 -5.06678869e-04 9.99236338e-01 1.99938772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.750385723 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:297.60, Y:251.68, Z:19.99 [[ 4.99023576e-02 -9.98751287e-01 -2.37075452e-03 2.97603545e+02] [ 9.97989580e-01 4.99568774e-02 -3.90013836e-02 2.51683884e+02] [ 3.90711176e-02 -4.19727320e-04 9.99236344e-01 1.99947490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.780385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:297.61, Y:251.71, Z:20.00 [[ 4.73041738e-02 -9.98877238e-01 -2.56473360e-03 2.97608690e+02] [ 9.98116243e-01 4.73682463e-02 -3.89899262e-02 2.51708792e+02] [ 3.90676367e-02 -7.15516016e-04 9.99236312e-01 1.99953130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.81038572299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.62, Y:251.74, Z:20.00 [[ 4.74430102e-02 -9.98871334e-01 -2.28430839e-03 2.97615447e+02] [ 9.98109529e-01 4.74960302e-02 -3.90063501e-02 2.51739269e+02] [ 3.90708206e-02 -4.29411306e-04 9.99236352e-01 1.99967674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.840385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.62, Y:251.77, Z:20.00 [[ 4.54745420e-02 -9.98962229e-01 -2.55544946e-03 2.97622538e+02] [ 9.98201325e-01 4.55396459e-02 -3.89904495e-02 2.51765626e+02] [ 3.90663607e-02 -7.77780203e-04 9.99236316e-01 1.99987576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.87038572299997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:297.62, Y:251.79, Z:20.00 [[ 4.42850313e-02 -9.99015839e-01 -2.48802290e-03 2.97624711e+02] [ 9.98254806e-01 4.43484102e-02 -3.89943794e-02 2.51790401e+02] [ 3.90663424e-02 -7.56813511e-04 9.99236332e-01 2.00005519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.900385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.63, Y:251.82, Z:20.00 [[ 4.40398406e-02 -9.99027227e-01 -2.25644868e-03 2.97628745e+02] [ 9.98265536e-01 4.40943679e-02 -3.90077761e-02 2.51819459e+02] [ 3.90693271e-02 -5.34638707e-04 9.99236359e-01 2.00013934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.930385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.63, Y:251.85, Z:20.00 [[ 4.66623897e-02 -9.98908069e-01 -2.30016988e-03 2.97634728e+02] [ 9.98146356e-01 4.67166243e-02 -3.90052542e-02 2.51846490e+02] [ 3.90701193e-02 -4.75827809e-04 9.99236358e-01 2.00023853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.960385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.64, Y:251.87, Z:20.00 [[ 4.92227369e-02 -9.98785309e-01 -2.24246495e-03 2.97641923e+02] [ 9.98023309e-01 4.92727653e-02 -3.90085715e-02 2.51874641e+02] [ 3.90716806e-02 -3.17923639e-04 9.99236360e-01 2.00041056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.990385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.65, Y:251.90, Z:20.00 [[ 4.99278417e-02 -9.98750334e-01 -2.23180089e-03 2.97646350e+02] [ 9.97988272e-01 4.99769157e-02 -3.90091816e-02 2.51902419e+02] [ 3.90719717e-02 -2.79666863e-04 9.99236360e-01 2.00049918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.020385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.65, Y:251.93, Z:20.00 [[ 5.27946415e-02 -9.98602741e-01 -2.30041909e-03 2.97650337e+02] [ 9.97840709e-01 5.28442080e-02 -3.90052537e-02 2.51927474e+02] [ 3.90723170e-02 -2.36183429e-04 9.99236358e-01 2.00045111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.050385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.66, Y:251.96, Z:20.01 [[ 5.39027908e-02 -9.98544201e-01 -1.99189001e-03 2.97656608e+02] [ 9.97781418e-01 5.39394571e-02 -3.90227822e-02 2.51956198e+02] [ 3.90734143e-02 1.15966030e-04 9.99236336e-01 2.00061148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.080385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.66, Y:251.98, Z:20.01 [[ 5.58185163e-02 -9.98438473e-01 -2.21558543e-03 2.97660481e+02] [ 9.97676099e-01 5.58624606e-02 -3.90100783e-02 2.51980980e+02] [ 3.90729311e-02 -3.29519336e-05 9.99236361e-01 2.00052137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.110385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.67, Y:252.01, Z:20.01 [[ 5.69869940e-02 -9.98372900e-01 -2.00860183e-03 2.97668156e+02] [ 9.97610044e-01 5.70219572e-02 -3.90217382e-02 2.52010074e+02] [ 3.90727803e-02 2.19930194e-04 9.99236343e-01 2.00074000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.140385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.67, Y:252.04, Z:20.01 [[ 5.75307892e-02 -9.98341328e-01 -2.19130842e-03 2.97672955e+02] [ 9.97578826e-01 5.75724772e-02 -3.90114760e-02 2.52037980e+02] [ 3.90729278e-02 5.83581203e-05 9.99236360e-01 2.00091810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.170385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.68, Y:252.07, Z:20.01 [[ 5.81626085e-02 -9.98304741e-01 -2.18082139e-03 2.97677394e+02] [ 9.97542191e-01 5.82034042e-02 -3.90120623e-02 2.52065978e+02] [ 3.90728579e-02 9.35819582e-05 9.99236360e-01 2.00109535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.200385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.68, Y:252.09, Z:20.01 [[ 5.82577076e-02 -9.98299219e-01 -2.17015383e-03 2.97683418e+02] [ 9.97536643e-01 5.82980137e-02 -3.90126557e-02 2.52093780e+02] [ 3.90728193e-02 1.07979920e-04 9.99236360e-01 2.00120959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.230385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.69, Y:252.12, Z:20.01 [[ 5.71772143e-02 -9.98361709e-01 -2.15958265e-03 2.97687481e+02] [ 9.97599156e-01 5.72179326e-02 -3.90132408e-02 2.52123078e+02] [ 3.90728927e-02 7.62706024e-05 9.99236360e-01 2.00130684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.260385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.69, Y:252.15, Z:20.01 [[ 5.67536451e-02 -9.98385613e-01 -2.27844442e-03 2.97693951e+02] [ 9.97623333e-01 5.67993312e-02 -3.90066797e-02 2.52147605e+02] [ 3.90731220e-02 -5.92580551e-05 9.99236352e-01 2.00129860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.290385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.70, Y:252.18, Z:20.01 [[ 5.57533669e-02 -9.98442285e-01 -2.13688121e-03 2.97697902e+02] [ 9.97679744e-01 5.57942856e-02 -3.90144338e-02 2.52175369e+02] [ 3.90728862e-02 4.32629412e-05 9.99236362e-01 2.00145461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.320385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.70, Y:252.20, Z:20.02 [[ 5.51894388e-02 -9.98473638e-01 -2.12600006e-03 2.97700836e+02] [ 9.97711098e-01 5.52303631e-02 -3.90150267e-02 2.52202011e+02] [ 3.90728954e-02 3.20835783e-05 9.99236362e-01 2.00160545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.350385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.70, Y:252.23, Z:20.02 [[ 5.44748971e-02 -9.98512901e-01 -2.11462952e-03 2.97702463e+02] [ 9.97750366e-01 5.45159227e-02 -3.90156430e-02 2.52230140e+02] [ 3.90729039e-02 1.55007569e-05 9.99236362e-01 2.00181012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.380385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.70, Y:252.26, Z:20.02 [[ 5.37789851e-02 -9.98550647e-01 -2.10404887e-03 2.97703610e+02] [ 9.97788118e-01 5.38201288e-02 -3.90162136e-02 2.52257336e+02] [ 3.90729055e-02 -1.14258919e-06 9.99236362e-01 2.00182887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.410385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.70, Y:252.28, Z:20.02 [[ 5.17386568e-02 -9.98658461e-01 -2.09502134e-03 2.97703359e+02] [ 9.97895999e-01 5.17810057e-02 -3.90166983e-02 2.52284403e+02] [ 3.90728382e-02 -7.19418432e-05 9.99236363e-01 2.00202370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.440385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.71, Y:252.31, Z:20.02 [[ 4.98888436e-02 -9.98752606e-01 -2.08210157e-03 2.97705179e+02] [ 9.97990195e-01 4.99320999e-02 -3.90173878e-02 2.52312487e+02] [ 3.90726814e-02 -1.31384600e-04 9.99236363e-01 2.00216668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.470385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.71, Y:252.34, Z:20.02 [[ 4.95707208e-02 -9.98768243e-01 -2.17739091e-03 2.97707296e+02] [ 9.98006061e-01 4.96179422e-02 -3.90123214e-02 2.52338398e+02] [ 3.90723054e-02 -2.39180430e-04 9.99236357e-01 2.00228348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.500385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.71, Y:252.37, Z:20.02 [[ 4.70340101e-02 -9.98891174e-01 -2.05535325e-03 2.97708368e+02] [ 9.98128830e-01 4.70784006e-02 -3.90187502e-02 2.52365165e+02] [ 3.90722479e-02 -2.16299044e-04 9.99236365e-01 2.00231383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.530385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.71, Y:252.39, Z:20.02 [[ 4.56349436e-02 -9.98956092e-01 -2.04417461e-03 2.97708882e+02] [ 9.98193785e-01 4.56799651e-02 -3.90193358e-02 2.52392770e+02] [ 3.90719810e-02 -2.59837201e-04 9.99236365e-01 2.00236121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.56038572299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.71, Y:252.42, Z:20.02 [[ 4.32627080e-02 -9.99061663e-01 -2.03240158e-03 2.97709433e+02] [ 9.98299438e-01 4.33090797e-02 -3.90199490e-02 2.52421029e+02] [ 3.90713566e-02 -3.40836696e-04 9.99236365e-01 2.00232875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.590385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.71, Y:252.45, Z:20.03 [[ 4.04314910e-02 -9.99180268e-01 -2.02169385e-03 2.97710529e+02] [ 9.98418150e-01 4.04796043e-02 -3.90205038e-02 2.52450193e+02] [ 3.90703548e-02 -4.40838683e-04 9.99236365e-01 2.00250524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.62038572299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.71, Y:252.48, Z:20.03 [[ 4.08067466e-02 -9.99164518e-01 -2.25307619e-03 2.97710928e+02] [ 9.98402975e-01 4.08636072e-02 -3.90085354e-02 2.52475738e+02] [ 3.90680133e-02 -6.57666549e-04 9.99236337e-01 2.00251574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.650385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:297.71, Y:252.50, Z:20.03 [[ 3.90753878e-02 -9.99234268e-01 -1.99776186e-03 2.97710330e+02] [ 9.98472162e-01 3.91236010e-02 -3.90216078e-02 2.52502308e+02] [ 3.90698874e-02 -4.69925144e-04 9.99236370e-01 2.00259639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.680385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.71, Y:252.53, Z:20.03 [[ 3.60398965e-02 -9.99348380e-01 -1.98536536e-03 2.97708527e+02] [ 9.98586391e-01 3.60899405e-02 -3.90222385e-02 2.52529845e+02] [ 3.90684626e-02 -5.76201392e-04 9.99236370e-01 2.00261105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.710385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.71, Y:252.56, Z:20.03 [[ 3.81928402e-02 -9.99268750e-01 -1.80868286e-03 2.97709116e+02] [ 9.98506236e-01 3.82343429e-02 -3.90311707e-02 2.52559137e+02] [ 3.90717829e-02 -3.15269856e-04 9.99236357e-01 2.00284516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.740385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:297.71, Y:252.59, Z:20.03 [[ 3.79257068e-02 -9.99278619e-01 -1.97033161e-03 2.97709330e+02] [ 9.98516500e-01 3.79737258e-02 -3.90230093e-02 2.52586539e+02] [ 3.90696797e-02 -4.87433410e-04 9.99236370e-01 2.00293516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.770385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:297.71, Y:252.61, Z:20.03 [[ 3.70706883e-02 -9.99310726e-01 -1.95880816e-03 2.97708275e+02] [ 9.98548620e-01 3.71189094e-02 -3.90235877e-02 2.52612365e+02] [ 3.90693986e-02 -5.09333928e-04 9.99236370e-01 2.00302820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.800385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.71, Y:252.64, Z:20.03 [[ 3.68097580e-02 -9.99320390e-01 -1.94926450e-03 2.97708781e+02] [ 9.98558273e-01 3.68578055e-02 -3.90240644e-02 2.52639592e+02] [ 3.90693889e-02 -5.09987829e-04 9.99236370e-01 2.00318884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.830385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:297.71, Y:252.67, Z:20.03 [[ 3.62407234e-02 -9.99341210e-01 -1.93795598e-03 2.97709009e+02] [ 9.98579093e-01 3.62887633e-02 -3.90246260e-02 2.52666769e+02] [ 3.90692430e-02 -5.20921649e-04 9.99236370e-01 2.00335813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.860385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:297.71, Y:252.69, Z:20.04 [[ 3.55471273e-02 -9.99366144e-01 -1.92669719e-03 2.97708430e+02] [ 9.98604032e-01 3.55952566e-02 -3.90251819e-02 2.52692535e+02] [ 3.90690268e-02 -5.36774480e-04 9.99236370e-01 2.00350466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.890385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:297.71, Y:252.72, Z:20.04 [[ 3.52571119e-02 -9.99376435e-01 -1.91738223e-03 2.97708899e+02] [ 9.98614315e-01 3.53050987e-02 -3.90256395e-02 2.52720871e+02] [ 3.90689979e-02 -5.38794006e-04 9.99236370e-01 2.00370723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.920385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:297.71, Y:252.75, Z:20.04 [[ 3.51459255e-02 -9.99380373e-01 -1.90631186e-03 2.97708148e+02] [ 9.98618231e-01 3.51935649e-02 -3.90261803e-02 2.52748503e+02] [ 3.90690885e-02 -5.32066554e-04 9.99236370e-01 2.00373514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.950385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.70, Y:252.77, Z:20.04 [[ 3.13046375e-02 -9.99508094e-01 -1.89463238e-03 2.97704445e+02] [ 9.98746110e-01 3.13547499e-02 -3.90267473e-02 2.52774043e+02] [ 3.90669555e-02 -6.70538545e-04 9.99236370e-01 2.00364839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.980385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:297.71, Y:252.80, Z:20.04 [[ 3.48218580e-02 -9.99392438e-01 -1.48057877e-03 2.97707925e+02] [ 9.98629370e-01 3.48531172e-02 -3.90466611e-02 2.52804928e+02] [ 3.90745406e-02 -1.18872159e-04 9.99236291e-01 2.00391715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.010385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:297.71, Y:252.83, Z:20.04 [[ 3.26313070e-02 -9.99465680e-01 -1.88479836e-03 2.97706801e+02] [ 9.98703609e-01 3.26800240e-02 -3.90271427e-02 2.52832634e+02] [ 3.90678850e-02 -6.08848244e-04 9.99236373e-01 2.00394761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.040385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:297.71, Y:252.86, Z:20.04 [[ 3.23332647e-02 -9.99475386e-01 -1.87398521e-03 2.97708114e+02] [ 9.98713303e-01 3.23817868e-02 -3.90276619e-02 2.52861181e+02] [ 3.90678705e-02 -6.09682235e-04 9.99236373e-01 2.00405893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.070385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:297.71, Y:252.89, Z:20.04 [[ 3.36331851e-02 -9.99432509e-01 -1.86233811e-03 2.97709933e+02] [ 9.98670335e-01 3.36802613e-02 -3.90282177e-02 2.52888606e+02] [ 3.90687936e-02 -5.47218549e-04 9.99236373e-01 2.00429327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.100385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.71, Y:252.92, Z:20.04 [[ 3.23291357e-02 -9.99475565e-01 -1.85006750e-03 2.97709292e+02] [ 9.98713423e-01 3.23767272e-02 -3.90287994e-02 2.52915413e+02] [ 3.90682304e-02 -5.85919895e-04 9.99236373e-01 2.00434617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.130385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:297.71, Y:252.94, Z:20.04 [[ 3.15635397e-02 -9.99500056e-01 -1.83860583e-03 2.97710040e+02] [ 9.98737923e-01 3.16112675e-02 -3.90293393e-02 2.52943423e+02] [ 3.90679475e-02 -6.04381263e-04 9.99236374e-01 2.00444475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.160385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:297.71, Y:252.97, Z:20.04 [[ 2.64770982e-02 -9.99647749e-01 -1.82789163e-03 2.97706398e+02] [ 9.98885840e-01 2.65282854e-02 -3.90298411e-02 2.52966260e+02] [ 3.90645836e-02 -7.92458133e-04 9.99236374e-01 2.00424461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.190385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:297.71, Y:253.00, Z:20.05 [[ 2.91288503e-02 -9.99574827e-01 -1.29471348e-03 2.97710229e+02] [ 9.98811595e-01 2.91571947e-02 -3.90545204e-02 2.52997796e+02] [ 3.90756657e-02 -1.55561559e-04 9.99236242e-01 2.00467805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.220385723 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:297.71, Y:253.03, Z:20.05 [[ 2.88622977e-02 -9.99581744e-01 -1.81817614e-03 2.97710507e+02] [ 9.98819696e-01 2.89112875e-02 -3.90301409e-02 2.53025099e+02] [ 3.90663821e-02 -6.89530593e-04 9.99236380e-01 2.00478460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.250385723 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:297.71, Y:253.05, Z:20.05 [[ 2.89306046e-02 -9.99579789e-01 -1.80681609e-03 2.97711074e+02] [ 9.98817711e-01 2.89790988e-02 -3.90306668e-02 2.53051166e+02] [ 3.90666256e-02 -6.75499122e-04 9.99236380e-01 2.00488107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.280385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.71, Y:253.08, Z:20.05 [[ 2.91485190e-02 -9.99573481e-01 -1.79456069e-03 2.97711453e+02] [ 9.98811361e-01 2.91963686e-02 -3.90312302e-02 2.53079478e+02] [ 3.90669773e-02 -6.54725053e-04 9.99236380e-01 2.00506238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.31038572299997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:297.71, Y:253.11, Z:20.05 [[ 3.04217943e-02 -9.99535558e-01 -1.78393206e-03 2.97710379e+02] [ 9.98773353e-01 3.04682582e-02 -3.90317160e-02 2.53107908e+02] [ 3.90679414e-02 -5.94328968e-04 9.99236380e-01 2.00522375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.340385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:297.71, Y:253.14, Z:20.05 [[ 3.09806743e-02 -9.99518411e-01 -1.77328946e-03 2.97710295e+02] [ 9.98756155e-01 3.10262964e-02 -3.90321995e-02 2.53136129e+02] [ 3.90684206e-02 -5.61839906e-04 9.99236380e-01 2.00532305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.37038572299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.70, Y:253.16, Z:20.05 [[ 2.83113956e-02 -9.99597598e-01 -1.76266679e-03 2.97703943e+02] [ 9.98835441e-01 2.83586385e-02 -3.90326792e-02 2.53160150e+02] [ 3.90669592e-02 -6.55544431e-04 9.99236380e-01 2.00502969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.400385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.71, Y:253.19, Z:20.06 [[ 3.36631514e-02 -9.99432456e-01 -1.24820770e-03 2.97709408e+02] [ 9.98669064e-01 3.36862158e-02 -3.90555899e-02 2.53191596e+02] [ 3.90754716e-02 6.81878239e-05 9.99236260e-01 2.00556721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.430385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.71, Y:253.22, Z:20.06 [[ 3.35199273e-02 -9.99436521e-01 -1.74811956e-03 2.97710242e+02] [ 9.98674100e-01 3.35626298e-02 -3.90332061e-02 2.53220754e+02] [ 3.90698831e-02 -4.37411499e-04 9.99236385e-01 2.00582191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.460385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.71, Y:253.25, Z:20.06 [[ 3.11137511e-02 -9.99514182e-01 -1.82632076e-03 2.97706409e+02] [ 9.98752047e-01 3.11613421e-02 -3.90297210e-02 2.53245320e+02] [ 3.90676702e-02 -6.09680569e-04 9.99236381e-01 2.00558675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.490385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.71, Y:253.28, Z:20.06 [[ 3.33715529e-02 -9.99442079e-01 -1.36771734e-03 2.97710249e+02] [ 9.98678916e-01 3.33995098e-02 -3.90499215e-02 2.53276502e+02] [ 3.90738158e-02 -6.27539481e-05 9.99236325e-01 2.00593879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.520385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.71, Y:253.30, Z:20.06 [[ 3.10590690e-02 -9.99516060e-01 -1.72626075e-03 2.97710901e+02] [ 9.98753702e-01 3.11027950e-02 -3.90340676e-02 2.53303837e+02] [ 3.90688690e-02 -5.11747514e-04 9.99236389e-01 2.00606317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.550385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:297.71, Y:253.33, Z:20.06 [[ 2.96217693e-02 -9.99559708e-01 -1.71487547e-03 2.97711654e+02] [ 9.98797388e-01 2.96661470e-02 -3.90345678e-02 2.53331430e+02] [ 3.90682550e-02 -5.56540179e-04 9.99236389e-01 2.00617498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.580385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:297.71, Y:253.36, Z:20.06 [[ 2.81141376e-02 -9.99603267e-01 -1.70422703e-03 2.97712154e+02] [ 9.98840990e-01 2.81592493e-02 -3.90350327e-02 2.53358397e+02] [ 3.90675360e-02 -6.04815536e-04 9.99236389e-01 2.00618468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.610385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.70, Y:253.38, Z:20.06 [[ 2.17256203e-02 -9.99762537e-01 -1.69304849e-03 2.97704869e+02] [ 9.99000536e-01 2.17751661e-02 -3.90355176e-02 2.53381417e+02] [ 3.90631145e-02 -8.43285518e-04 9.99236389e-01 2.00593363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.640385723 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:297.71, Y:253.41, Z:20.06 [[ 2.08639241e-02 -9.99781769e-01 -1.05407146e-03 2.97705070e+02] [ 9.99018385e-01 2.08891775e-02 -3.90628838e-02 2.53410795e+02] [ 3.90763777e-02 -2.38031727e-04 9.99236198e-01 2.00587535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.670385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:297.71, Y:253.44, Z:20.06 [[ 2.18136470e-02 -9.99761469e-01 -1.08134049e-03 2.97707431e+02] [ 9.98998113e-01 2.18392406e-02 -3.90617282e-02 2.53440250e+02] [ 3.90760264e-02 -2.28178355e-04 9.99236214e-01 2.00631626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.700385723 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:297.71, Y:253.47, Z:20.06 [[ 2.05406646e-02 -9.99788211e-01 -1.27035542e-03 2.97705707e+02] [ 9.99025270e-01 2.05746126e-02 -3.90537592e-02 2.53465308e+02] [ 3.90716251e-02 -4.66926999e-04 9.99236303e-01 2.00613993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.730385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.71, Y:253.49, Z:20.06 [[ 1.81337638e-02 -9.99835027e-01 -1.04227911e-03 2.97705144e+02] [ 9.99071685e-01 1.81606411e-02 -3.90635287e-02 2.53491853e+02] [ 3.90760127e-02 -3.32942747e-04 9.99236185e-01 2.00607403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.760385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.71, Y:253.53, Z:20.07 [[ 2.28327401e-02 -9.99738882e-01 -9.13398723e-04 2.97714224e+02] [ 9.98975198e-01 2.28509934e-02 -3.90689994e-02 2.53525280e+02] [ 3.90796698e-02 -2.04103609e-05 9.99236098e-01 2.00693563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.790385723 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:297.71, Y:253.55, Z:20.07 [[ 2.10389650e-02 -9.99777251e-01 -1.67637581e-03 2.97712237e+02] [ 9.99015241e-01 2.10883835e-02 -3.90362454e-02 2.53549401e+02] [ 3.90629022e-02 -8.53442785e-04 9.99236389e-01 2.00675306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.820385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:297.72, Y:253.58, Z:20.07 [[ 2.13089944e-02 -9.99772016e-01 -1.35783235e-03 2.97715044e+02] [ 9.99009248e-01 2.13457719e-02 -3.90497271e-02 2.53577359e+02] [ 3.90698084e-02 -5.24376658e-04 9.99236346e-01 2.00718248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.850385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:297.72, Y:253.61, Z:20.07 [[ 2.02557845e-02 -9.99793528e-01 -1.61357908e-03 2.97715974e+02] [ 9.99031401e-01 2.03033492e-02 -3.90388797e-02 2.53605495e+02] [ 3.90635804e-02 -8.21253028e-04 9.99236390e-01 2.00748682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.880385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:297.72, Y:253.63, Z:20.08 [[ 1.96201544e-02 -9.99806189e-01 -1.62302364e-03 2.97716523e+02] [ 9.99044115e-01 1.96685722e-02 -3.90384807e-02 2.53633042e+02] [ 3.90628372e-02 -8.55531193e-04 9.99236390e-01 2.00753145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.910385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:297.72, Y:253.66, Z:20.08 [[ 2.03614963e-02 -9.99791331e-01 -1.64428204e-03 2.97716709e+02] [ 9.99029275e-01 2.04101787e-02 -3.90375853e-02 2.53659000e+02] [ 3.90629995e-02 -8.47822247e-04 9.99236390e-01 2.00758982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.940385723 meters Centerline goodness : 0.999760 Centerline is valid? [True, True] Translation: X:297.72, Y:253.69, Z:20.08 [[ 2.03275981e-02 -9.99792185e-01 -1.54129728e-03 2.97716676e+02] [ 9.99029880e-01 2.03722868e-02 -3.90418946e-02 2.53687239e+02] [ 3.90651808e-02 -7.46174097e-04 9.99236386e-01 2.00787333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.970385723 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:297.72, Y:253.72, Z:20.08 [[ 2.05264743e-02 -9.99788053e-01 -1.58545362e-03 2.97716560e+02] [ 9.99025844e-01 2.05727348e-02 -3.90400540e-02 2.53715866e+02] [ 3.90643967e-02 -7.82554474e-04 9.99236389e-01 2.00791467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.000385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:297.72, Y:253.74, Z:20.08 [[ 2.20934411e-02 -9.99754596e-01 -1.62081256e-03 2.97716089e+02] [ 9.98992399e-01 2.21398871e-02 -3.90385860e-02 2.53744047e+02] [ 3.90648904e-02 -7.56682727e-04 9.99236389e-01 2.00793851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.030385723 meters Centerline goodness : 0.999739 Centerline is valid? [True, True] Translation: X:297.71, Y:253.77, Z:20.07 [[ 1.96819651e-02 -9.99805034e-01 -1.58572469e-03 2.97713838e+02] [ 9.99042865e-01 1.97288800e-02 -3.90400367e-02 2.53770648e+02] [ 3.90637098e-02 -8.15822301e-04 9.99236389e-01 2.00743838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.06038572299997 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:297.71, Y:253.80, Z:20.07 [[ 1.94682088e-02 -9.99809553e-01 -1.35897165e-03 2.97714129e+02] [ 9.99046867e-01 1.95064350e-02 -3.90494033e-02 2.53796640e+02] [ 3.90684751e-02 -5.97454427e-04 9.99236357e-01 2.00741888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.090385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.72, Y:253.82, Z:20.08 [[ 2.04766487e-02 -9.99789567e-01 -1.23638514e-03 2.97715173e+02] [ 9.99026587e-01 2.05093186e-02 -3.90544040e-02 2.53824247e+02] [ 3.90715430e-02 -4.35478312e-04 9.99236321e-01 2.00776355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.12038572299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.72, Y:253.85, Z:20.08 [[ 1.98827512e-02 -9.99801464e-01 -1.30698134e-03 2.97715980e+02] [ 9.99038653e-01 1.99186311e-02 -3.90514768e-02 2.53853021e+02] [ 3.90697570e-02 -5.29274078e-04 9.99236345e-01 2.00792284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.150385723 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:297.72, Y:253.88, Z:20.08 [[ 2.21959400e-02 -9.99752708e-01 -1.36483453e-03 2.97719661e+02] [ 9.98989936e-01 2.22323142e-02 -3.90490975e-02 2.53881129e+02] [ 3.90697844e-02 -4.96724529e-04 9.99236361e-01 2.00847370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.180385723 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:297.72, Y:253.91, Z:20.08 [[ 2.01749268e-02 -9.99795315e-01 -1.51678484e-03 2.97719825e+02] [ 9.99032961e-01 2.02187749e-02 -3.90428368e-02 2.53909634e+02] [ 3.90655129e-02 -7.27631676e-04 9.99236387e-01 2.00845105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.210385723 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:297.72, Y:253.94, Z:20.08 [[ 1.82417029e-02 -9.99832397e-01 -1.55485704e-03 2.97719814e+02] [ 9.99070222e-01 1.82885109e-02 -3.90412730e-02 2.53936202e+02] [ 3.90631656e-02 -8.41232068e-04 9.99236389e-01 2.00823857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.240385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:297.72, Y:253.97, Z:20.09 [[ 1.93028946e-02 -9.99812698e-01 -1.40276220e-03 2.97724179e+02] [ 9.99050122e-01 1.93429565e-02 -3.90474488e-02 2.53965231e+02] [ 3.90672687e-02 -6.47700962e-04 9.99236373e-01 2.00874948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.270385723 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:297.72, Y:253.99, Z:20.08 [[ 1.87230440e-02 -9.99823459e-01 -1.58089965e-03 2.97723507e+02] [ 9.99061324e-01 1.87705016e-02 -3.90402359e-02 2.53991031e+02] [ 3.90630179e-02 -8.48463644e-04 9.99236389e-01 2.00838152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.300385723 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:297.72, Y:254.02, Z:20.08 [[ 1.70751729e-02 -9.99853284e-01 -1.36006523e-03 2.97722803e+02] [ 9.99090698e-01 1.71152671e-02 -3.90492564e-02 2.54019107e+02] [ 3.90668051e-02 -6.92055711e-04 9.99236361e-01 2.00840181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.330385723 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:297.73, Y:254.05, Z:20.09 [[ 2.05711448e-02 -9.99787523e-01 -1.31828957e-03 2.97727614e+02] [ 9.99024712e-01 2.06069410e-02 -3.90509680e-02 2.54049052e+02] [ 3.90698365e-02 -5.13680745e-04 9.99236350e-01 2.00898054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.360385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.72, Y:254.07, Z:20.09 [[ 1.70858829e-02 -9.99852740e-01 -1.60315709e-03 2.97724972e+02] [ 9.99090742e-01 1.71354569e-02 -3.90392714e-02 2.54074356e+02] [ 3.90609934e-02 -9.34678984e-04 9.99236391e-01 2.00860236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.390385723 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:297.73, Y:254.10, Z:20.09 [[ 1.67472750e-02 -9.99859016e-01 -1.21522075e-03 2.97725302e+02] [ 9.99096128e-01 1.67819640e-02 -3.90549938e-02 2.54101866e+02] [ 3.90698815e-02 -5.60057630e-04 9.99236324e-01 2.00853257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.420385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:297.73, Y:254.13, Z:20.09 [[ 1.77804181e-02 -9.99841185e-01 -1.20911911e-03 2.97726718e+02] [ 9.99078249e-01 1.78140805e-02 -3.90552404e-02 2.54129516e+02] [ 3.90705772e-02 -5.13586100e-04 9.99236322e-01 2.00879457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.450385723 meters Centerline goodness : 0.999760 Centerline is valid? [True, True] Translation: X:297.73, Y:254.16, Z:20.10 [[ 2.21008827e-02 -9.99755036e-01 -1.19111249e-03 2.97732638e+02] [ 9.98991927e-01 2.21305447e-02 -3.90559672e-02 2.54159836e+02] [ 3.90727599e-02 -3.26740410e-04 9.99236315e-01 2.00950426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.480385723 meters Centerline goodness : 0.999565 Centerline is valid? [True, True] Translation: X:297.73, Y:254.19, Z:20.10 [[ 2.31112035e-02 -9.99731648e-01 -1.58243930e-03 2.97734418e+02] [ 9.98969318e-01 2.31553756e-02 -3.90401083e-02 2.54187804e+02] [ 3.90662738e-02 -6.78544424e-04 9.99236391e-01 2.00968258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.510385723 meters Centerline goodness : 0.999717 Centerline is valid? [True, True] Translation: X:297.74, Y:254.22, Z:20.10 [[ 2.38026912e-02 -9.99715440e-01 -1.57170296e-03 2.97736168e+02] [ 9.98953056e-01 2.38459169e-02 -3.90405405e-02 2.54216075e+02] [ 3.90669099e-02 -6.40787541e-04 9.99236391e-01 2.00990501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.540385723 meters Centerline goodness : 0.999608 Centerline is valid? [True, True] Translation: X:297.74, Y:254.24, Z:20.10 [[ 2.42591962e-02 -9.99704484e-01 -1.56099716e-03 2.97738461e+02] [ 9.98942057e-01 2.43016557e-02 -3.90409686e-02 2.54244305e+02] [ 3.90673662e-02 -6.12243197e-04 9.99236391e-01 2.01003807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.570385723 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:297.74, Y:254.27, Z:20.10 [[ 2.41094682e-02 -9.99708123e-01 -1.55010866e-03 2.97740182e+02] [ 9.98945678e-01 2.41516168e-02 -3.90414009e-02 2.54271743e+02] [ 3.90674432e-02 -6.07206931e-04 9.99236392e-01 2.01016838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.600385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:297.74, Y:254.30, Z:20.10 [[ 2.34510662e-02 -9.99723802e-01 -1.53861009e-03 2.97741458e+02] [ 9.98961361e-01 2.34932680e-02 -3.90418541e-02 2.54299494e+02] [ 3.90672177e-02 -6.21438926e-04 9.99236392e-01 2.01026861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.630385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:297.74, Y:254.33, Z:20.10 [[ 1.99600115e-02 -9.99799612e-01 -1.52779593e-03 2.97739694e+02] [ 9.99037298e-01 2.00044532e-02 -3.90422772e-02 2.54326184e+02] [ 3.90650163e-02 -7.47040813e-04 9.99236392e-01 2.00994721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.660385723 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:297.74, Y:254.36, Z:20.11 [[ 2.28642788e-02 -9.99737750e-01 -1.28720385e-03 2.97744248e+02] [ 9.98974822e-01 2.28971110e-02 -3.90515907e-02 2.54355838e+02] [ 3.90708227e-02 -3.92997779e-04 9.99236367e-01 2.01050030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.690385723 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:297.75, Y:254.38, Z:20.11 [[ 2.26827651e-02 -9.99741571e-01 -1.51096514e-03 2.97746226e+02] [ 9.98979103e-01 2.27244734e-02 -3.90429321e-02 2.54383941e+02] [ 3.90671782e-02 -6.23820943e-04 9.99236392e-01 2.01059002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.720385723 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:297.75, Y:254.41, Z:20.11 [[ 2.24837658e-02 -9.99746082e-01 -1.50041060e-03 2.97748110e+02] [ 9.98983600e-01 2.25252138e-02 -3.90433377e-02 2.54411794e+02] [ 3.90672210e-02 -6.21044317e-04 9.99236392e-01 2.01068708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.750385723 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:297.75, Y:254.44, Z:20.11 [[ 2.12116217e-02 -9.99773898e-01 -1.48981997e-03 2.97749363e+02] [ 9.99011446e-01 2.12536265e-02 -3.90437418e-02 2.54438582e+02] [ 3.90665781e-02 -6.60166118e-04 9.99236392e-01 2.01059030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.780385723 meters Centerline goodness : 0.999608 Centerline is valid? [True, True] Translation: X:297.75, Y:254.47, Z:20.11 [[ 1.92375384e-02 -9.99813848e-01 -1.47865405e-03 2.97751247e+02] [ 9.99051456e-01 1.92806127e-02 -3.90441647e-02 2.54467026e+02] [ 3.90654059e-02 -7.26137861e-04 9.99236392e-01 2.01060866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.81038572299997 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:297.75, Y:254.50, Z:20.11 [[ 1.83622244e-02 -9.99830322e-01 -1.46820453e-03 2.97753187e+02] [ 9.99067945e-01 1.84055582e-02 -3.90445577e-02 2.54495239e+02] [ 3.90649558e-02 -7.49891157e-04 9.99236392e-01 2.01093153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.840385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:297.76, Y:254.52, Z:20.11 [[ 1.66037045e-02 -9.99861086e-01 -1.45783677e-03 2.97755135e+02] [ 9.99098763e-01 1.66479745e-02 -3.90449448e-02 2.54523362e+02] [ 3.90637909e-02 -8.08232185e-04 9.99236392e-01 2.01099236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.87038572299997 meters Centerline goodness : 0.999716 Centerline is valid? [True, True] Translation: X:297.76, Y:254.55, Z:20.11 [[ 1.29547467e-02 -9.99915037e-01 -1.44717418e-03 2.97757876e+02] [ 9.99152854e-01 1.30013822e-02 -3.90453400e-02 2.54551596e+02] [ 3.90608378e-02 -9.40125726e-04 9.99236392e-01 2.01100113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.900385723 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:297.76, Y:254.58, Z:20.11 [[ 1.11993653e-02 -9.99936253e-01 -1.43659670e-03 2.97759369e+02] [ 9.99174128e-01 1.12469260e-02 -3.90457291e-02 2.54578612e+02] [ 3.90593974e-02 -9.98122875e-04 9.99236392e-01 2.01102490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.930385723 meters Centerline goodness : 0.999760 Centerline is valid? [True, True] Translation: X:297.75, Y:254.60, Z:20.11 [[ 2.78204619e-03 -9.99995114e-01 -1.42544454e-03 2.97754630e+02] [ 9.99233386e-01 2.83558539e-03 -3.90461363e-02 2.54600934e+02] [ 3.90499875e-02 -1.31572362e-03 9.99236392e-01 2.01081533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.960385723 meters Centerline goodness : 0.999760 Centerline is valid? [True, True] Translation: X:297.76, Y:254.63, Z:20.11 [[ 2.73603492e-03 -9.99995947e-01 -7.87797049e-04 2.97755376e+02] [ 9.99232687e-01 2.76472525e-03 -3.90690905e-02 2.54628414e+02] [ 3.90711102e-02 -6.80298166e-04 9.99236201e-01 2.01089968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.990385723 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:297.76, Y:254.66, Z:20.11 [[ 1.33626901e-03 -9.99998815e-01 -7.64073953e-04 2.97756856e+02] [ 9.99235546e-01 1.36510143e-03 -3.90699396e-02 2.54656602e+02] [ 3.90709364e-02 -7.11281904e-04 9.99236186e-01 2.01098105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.020385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:297.76, Y:254.68, Z:20.11 [[-1.25482625e-04 -9.99999698e-01 -7.67625434e-04 2.97757148e+02] [ 9.99236479e-01 -9.53958594e-05 -3.90698164e-02 2.54683827e+02] [ 3.90697313e-02 -7.71941919e-04 9.99236188e-01 2.01097704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.050385723 meters Centerline goodness : 0.999410 Centerline is valid? [True, True] Translation: X:297.76, Y:254.71, Z:20.11 [[ 1.41001078e-03 -9.99998717e-01 -7.60846813e-04 2.97760631e+02] [ 9.99235438e-01 1.43866092e-03 -3.90700576e-02 2.54713688e+02] [ 3.90711020e-02 -7.05175896e-04 9.99236184e-01 2.01100939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.080385723 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:297.76, Y:254.74, Z:20.11 [[ 2.59212071e-04 -9.99999549e-01 -9.13336796e-04 2.97762509e+02] [ 9.99236643e-01 2.94693499e-04 -3.90646318e-02 2.54740869e+02] [ 3.90648833e-02 -9.02513569e-04 9.99236269e-01 2.01096691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.110385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:297.76, Y:254.77, Z:20.11 [[ 9.77173116e-04 -9.99999073e-01 -9.48742506e-04 2.97764933e+02] [ 9.99236222e-01 1.01348877e-03 -3.90633459e-02 2.54768451e+02] [ 3.90642712e-02 -9.09846226e-04 9.99236286e-01 2.01128597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.140385723 meters Centerline goodness : 0.999714 Centerline is valid? [True, True] Translation: X:297.77, Y:254.80, Z:20.11 [[ 1.06411395e-04 -9.99999584e-01 -9.06168586e-04 2.97767524e+02] [ 9.99236666e-01 1.41729601e-04 -3.90648865e-02 2.54797339e+02] [ 3.90649986e-02 -9.01319927e-04 9.99236265e-01 2.01120165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.170385723 meters Centerline goodness : 0.999780 Centerline is valid? [True, True] Translation: X:297.77, Y:254.83, Z:20.12 [[ 3.78104051e-03 -9.99992391e-01 -9.59549281e-04 2.97774600e+02] [ 9.99229465e-01 3.81563898e-03 -3.90629955e-02 2.54828741e+02] [ 3.90663596e-02 -8.11111146e-04 9.99236289e-01 2.01204917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.200385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:297.77, Y:254.85, Z:20.12 [[ 3.18780583e-03 -9.99993957e-01 -1.38705490e-03 2.97773397e+02] [ 9.99232092e-01 3.23953892e-03 -3.90478133e-02 2.54853723e+02] [ 3.90520707e-02 -1.26151292e-03 9.99236381e-01 2.01184225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.230385723 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:297.78, Y:254.88, Z:20.12 [[ 7.55056078e-03 -9.99970818e-01 -1.16317928e-03 2.97775825e+02] [ 9.99208211e-01 7.59023250e-03 -3.90556039e-02 2.54879644e+02] [ 3.90632930e-02 -8.67366574e-04 9.99236362e-01 2.01193854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.260385723 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:297.78, Y:254.91, Z:20.12 [[ 8.43955080e-03 -9.99963899e-01 -9.87371790e-04 2.97776624e+02] [ 9.99200890e-01 8.47168088e-03 -3.90616573e-02 2.54909100e+02] [ 3.90686118e-02 -6.56919930e-04 9.99236314e-01 2.01215182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.290385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.78, Y:254.94, Z:20.12 [[ 1.16276464e-02 -9.99931540e-01 -1.30889848e-03 2.97779194e+02] [ 9.99169088e-01 1.16698970e-02 -3.90505737e-02 2.54936570e+02] [ 3.90631750e-02 -8.53744633e-04 9.99236378e-01 2.01248653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.320385723 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:297.78, Y:254.96, Z:20.13 [[ 1.29383432e-02 -9.99915399e-01 -1.33919854e-03 2.97779808e+02] [ 9.99152958e-01 1.29807771e-02 -3.90495346e-02 2.54964406e+02] [ 3.90636148e-02 -8.32827900e-04 9.99236379e-01 2.01268613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.350385723 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:297.78, Y:254.99, Z:20.13 [[ 1.77087187e-02 -9.99842356e-01 -1.28975826e-03 2.97782383e+02] [ 9.99079625e-01 1.77455842e-02 -3.90512208e-02 2.54992605e+02] [ 3.90679522e-02 -5.97024114e-04 9.99236378e-01 2.01255812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.380385723 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:297.78, Y:255.02, Z:20.13 [[ 1.92000182e-02 -9.99814781e-01 -1.32787721e-03 2.97784095e+02] [ 9.99052067e-01 1.92372345e-02 -3.90499247e-02 2.55019625e+02] [ 3.90682365e-02 -5.76859204e-04 9.99236379e-01 2.01270992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.410385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.79, Y:255.05, Z:20.13 [[ 2.18049783e-02 -9.99761376e-01 -1.31663306e-03 2.97786940e+02] [ 9.98998548e-01 2.18397681e-02 -3.90503038e-02 2.55046104e+02] [ 3.90697404e-02 -4.63823492e-04 9.99236379e-01 2.01300506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.440385723 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:297.79, Y:255.07, Z:20.13 [[ 2.26120856e-02 -9.99743463e-01 -1.30483013e-03 2.97788984e+02] [ 9.98980586e-01 2.26457985e-02 -3.90506981e-02 2.55073854e+02] [ 3.90702291e-02 -4.20482244e-04 9.99236379e-01 2.01335080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.470385723 meters Centerline goodness : 0.999183 Centerline is valid? [True, True] Translation: X:297.79, Y:255.10, Z:20.13 [[ 2.33696864e-02 -9.99726054e-01 -1.29411269e-03 2.97792172e+02] [ 9.98963134e-01 2.34024026e-02 -3.90510533e-02 2.55102966e+02] [ 3.90706408e-02 -3.80159994e-04 9.99236379e-01 2.01312149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.500385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.79, Y:255.13, Z:20.13 [[ 2.09896914e-02 -9.99778572e-01 -1.49682526e-03 2.97792151e+02] [ 9.99016108e-01 2.10321396e-02 -3.90444053e-02 2.55127156e+02] [ 3.90672412e-02 -6.75822525e-04 9.99236355e-01 2.01320654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.530385723 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:297.79, Y:255.16, Z:20.13 [[ 2.10091585e-02 -9.99778746e-01 -1.03655023e-03 2.97793724e+02] [ 9.99015482e-01 2.10336156e-02 -3.90596120e-02 2.55155375e+02] [ 3.90727723e-02 -2.14920148e-04 9.99236345e-01 2.01327389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.56038572299997 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:297.80, Y:255.18, Z:20.13 [[ 2.17796628e-02 -9.99762292e-01 -1.00314561e-03 2.97795799e+02] [ 9.98998961e-01 2.18022266e-02 -3.90607093e-02 2.55182448e+02] [ 3.90732950e-02 -1.51412349e-04 9.99236336e-01 2.01326640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.590385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.80, Y:255.21, Z:20.14 [[ 2.40327994e-02 -9.99710719e-01 -9.50521444e-04 2.97801813e+02] [ 9.98947270e-01 2.40515867e-02 -3.90624174e-02 2.55213164e+02] [ 3.90739789e-02 -1.07415590e-05 9.99236320e-01 2.01393581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.62038572299997 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:297.80, Y:255.24, Z:20.13 [[ 2.00474024e-02 -9.99798219e-01 -1.27422728e-03 2.97801477e+02] [ 9.99035370e-01 2.00818772e-02 -3.90518572e-02 2.55239747e+02] [ 3.90695662e-02 -4.90109825e-04 9.99236373e-01 2.01345284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.650385723 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:297.81, Y:255.27, Z:20.14 [[ 2.24304178e-02 -9.99747870e-01 -1.03567666e-03 2.97806578e+02] [ 9.98984574e-01 2.24537557e-02 -3.90595548e-02 2.55269449e+02] [ 3.90729616e-02 -1.58502875e-04 9.99236348e-01 2.01394370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.680385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.81, Y:255.30, Z:20.14 [[ 2.12934784e-02 -9.99772470e-01 -1.26317314e-03 2.97808571e+02] [ 9.99009561e-01 2.13265706e-02 -3.90521973e-02 2.55297330e+02] [ 3.90702509e-02 -4.30364922e-04 9.99236374e-01 2.01405547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.710385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:297.81, Y:255.32, Z:20.14 [[ 1.72562364e-02 -9.99850316e-01 -1.25242455e-03 2.97807495e+02] [ 9.99087527e-01 1.72919893e-02 -3.90525420e-02 2.55323270e+02] [ 3.90683534e-02 -5.77381848e-04 9.99236374e-01 2.01364521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.740385723 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:297.81, Y:255.35, Z:20.14 [[ 1.57373651e-02 -9.99875683e-01 -9.76459249e-04 2.97810962e+02] [ 9.99112470e-01 1.57634991e-02 -3.90612923e-02 2.55352264e+02] [ 3.90718287e-02 -3.60870794e-04 9.99236339e-01 2.01374050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.770385723 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:297.81, Y:255.38, Z:20.14 [[ 1.51460459e-02 -9.99884785e-01 -1.00672970e-03 2.97813644e+02] [ 9.99121637e-01 1.51738136e-02 -3.90603360e-02 2.55380423e+02] [ 3.90711116e-02 -4.14235788e-04 9.99236347e-01 2.01411186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.800385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:297.82, Y:255.41, Z:20.14 [[ 1.47770681e-02 -9.99890261e-01 -1.05094067e-03 2.97819179e+02] [ 9.99127197e-01 1.48068442e-02 -3.90589500e-02 2.55409631e+02] [ 3.90702248e-02 -4.72846639e-04 9.99236355e-01 2.01431501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.830385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.82, Y:255.44, Z:20.14 [[ 1.34994809e-02 -9.99908129e-01 -1.22413105e-03 2.97821214e+02] [ 9.99145421e-01 1.35369948e-02 -3.90535219e-02 2.55436372e+02] [ 3.90665051e-02 -6.95882661e-04 9.99236370e-01 2.01438669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.860385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:297.82, Y:255.46, Z:20.14 [[ 1.23001873e-02 -9.99923610e-01 -1.21635827e-03 2.97823038e+02] [ 9.99160933e-01 1.23383125e-02 -3.90537640e-02 2.55463025e+02] [ 3.90657885e-02 -7.34969049e-04 9.99236370e-01 2.01447557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.890385723 meters Centerline goodness : 0.995117 Centerline is valid? [True, True] Translation: X:297.83, Y:255.49, Z:20.14 [[ 1.06423162e-02 -9.99942640e-01 -1.20723854e-03 2.97827009e+02] [ 9.99180009e-01 1.06813499e-02 -3.90540459e-02 2.55491888e+02] [ 3.90647007e-02 -7.90623109e-04 9.99236370e-01 2.01432271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.920385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:297.83, Y:255.52, Z:20.15 [[ 7.74029670e-03 -9.99968999e-01 -1.44553737e-03 2.97826293e+02] [ 9.99207013e-01 7.79084380e-03 -3.90467440e-02 2.55516659e+02] [ 3.90567954e-02 -1.14215770e-03 9.99236340e-01 2.01464255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.950385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:297.83, Y:255.54, Z:20.15 [[ 8.80051474e-03 -9.99960587e-01 -1.17289290e-03 2.97828816e+02] [ 9.99197965e-01 8.83961207e-03 -3.90549334e-02 2.55543164e+02] [ 3.90637621e-02 -8.28248679e-04 9.99236377e-01 2.01482607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.980385723 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:297.83, Y:255.57, Z:20.15 [[ 1.02526366e-02 -9.99946766e-01 -1.16117639e-03 2.97828378e+02] [ 9.99184066e-01 1.02901689e-02 -3.90552818e-02 2.55571408e+02] [ 3.90651514e-02 -7.59809335e-04 9.99236377e-01 2.01486548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.010385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.83, Y:255.60, Z:20.15 [[ 1.11211743e-02 -9.99937496e-01 -1.15041801e-03 2.97828428e+02] [ 9.99174743e-01 1.11576241e-02 -3.90555987e-02 2.55598689e+02] [ 3.90659935e-02 -7.15124501e-04 9.99236377e-01 2.01488608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.040385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.83, Y:255.63, Z:20.15 [[ 1.21495932e-02 -9.99925538e-01 -1.14256668e-03 2.97828530e+02] [ 9.99162734e-01 1.21849520e-02 -3.90558284e-02 2.55626894e+02] [ 3.90668423e-02 -6.67097621e-04 9.99236377e-01 2.01498408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.070385723 meters Centerline goodness : 0.993870 Centerline is valid? [True, True] Translation: X:297.83, Y:255.65, Z:20.14 [[ 1.57448078e-02 -9.99875402e-01 -1.13188978e-03 2.97828157e+02] [ 9.99112458e-01 1.57770066e-02 -3.90561378e-02 2.55651375e+02] [ 3.90691293e-02 -5.15953798e-04 9.99236377e-01 2.01436898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.100385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:297.83, Y:255.68, Z:20.15 [[ 1.48173172e-02 -9.99889820e-01 -8.91982100e-04 2.97826739e+02] [ 9.99126536e-01 1.48408535e-02 -3.90629402e-02 2.55679263e+02] [ 3.90718741e-02 -3.12395008e-04 9.99236354e-01 2.01509510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.130385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.83, Y:255.71, Z:20.15 [[ 1.62872306e-02 -9.99866749e-01 -1.10007535e-03 2.97825183e+02] [ 9.99103736e-01 1.63177730e-02 -3.90570800e-02 2.55707632e+02] [ 3.90698264e-02 -4.62957719e-04 9.99236376e-01 2.01518533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.160385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.82, Y:255.73, Z:20.15 [[ 1.68739670e-02 -9.99857031e-01 -1.08956265e-03 2.97824956e+02] [ 9.99093984e-01 1.69036511e-02 -3.90573732e-02 2.55733568e+02] [ 3.90702068e-02 -4.29522664e-04 9.99236376e-01 2.01519798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.190385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:297.82, Y:255.76, Z:20.15 [[ 1.70201416e-02 -9.99854567e-01 -1.07717710e-03 2.97824517e+02] [ 9.99091497e-01 1.70492304e-02 -3.90577148e-02 2.55759344e+02] [ 3.90703996e-02 -4.11430648e-04 9.99236376e-01 2.01523569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.220385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:297.82, Y:255.79, Z:20.15 [[ 1.69606297e-02 -9.99855588e-01 -1.06766069e-03 2.97824717e+02] [ 9.99092506e-01 1.69893921e-02 -3.90579750e-02 2.55786729e+02] [ 3.90704734e-02 -4.04243945e-04 9.99236376e-01 2.01534724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.250385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.83, Y:255.81, Z:20.16 [[ 1.66028135e-02 -9.99861606e-01 -1.05605144e-03 2.97825367e+02] [ 9.99098517e-01 1.66313956e-02 -3.90582889e-02 2.55814273e+02] [ 3.90704470e-02 -4.06621939e-04 9.99236376e-01 2.01554872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.280385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:297.83, Y:255.84, Z:20.16 [[ 1.59199863e-02 -9.99872723e-01 -1.04474798e-03 2.97825689e+02] [ 9.99109637e-01 1.59486480e-02 -3.90585912e-02 2.55841416e+02] [ 3.90702823e-02 -4.22005540e-04 9.99236376e-01 2.01567564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.31038572299997 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:297.83, Y:255.87, Z:20.16 [[ 1.51499217e-02 -9.99884699e-01 -1.03353190e-03 2.97826206e+02] [ 9.99121619e-01 1.51787330e-02 -3.90588880e-02 2.55869350e+02] [ 3.90700722e-02 -4.40884970e-04 9.99236376e-01 2.01581020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.340385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:297.83, Y:255.90, Z:20.16 [[ 1.50306720e-02 -9.99886510e-01 -1.02267648e-03 2.97826709e+02] [ 9.99123417e-01 1.50591503e-02 -3.90591722e-02 2.55896579e+02] [ 3.90701400e-02 -4.34694415e-04 9.99236376e-01 2.01587457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.37038572299997 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:297.83, Y:255.92, Z:20.16 [[ 1.39147883e-02 -9.99902673e-01 -1.01124830e-03 2.97826490e+02] [ 9.99139596e-01 1.39436719e-02 -3.90594681e-02 2.55924261e+02] [ 3.90697671e-02 -4.66873989e-04 9.99236376e-01 2.01593737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.400385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.83, Y:255.95, Z:20.16 [[ 1.16802766e-02 -9.99931282e-01 -1.00130922e-03 2.97826181e+02] [ 9.99168256e-01 1.17104772e-02 -3.90597229e-02 2.55952342e+02] [ 3.90687646e-02 -5.44248014e-04 9.99236376e-01 2.01618916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.430385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:297.83, Y:255.98, Z:20.16 [[ 1.23608584e-02 -9.99923112e-01 -9.89643661e-04 2.97827362e+02] [ 9.99160048e-01 1.23900840e-02 -3.90600185e-02 2.55979222e+02] [ 3.90692770e-02 -5.05997050e-04 9.99236376e-01 2.01632684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.460385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:297.83, Y:256.01, Z:20.17 [[ 1.29534433e-02 -9.99915620e-01 -9.79920902e-04 2.97828696e+02] [ 9.99152525e-01 1.29818369e-02 -3.90602624e-02 2.56006240e+02] [ 3.90696877e-02 -4.73125550e-04 9.99236376e-01 2.01650216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.490385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.83, Y:256.03, Z:20.17 [[ 1.19088551e-02 -9.99928710e-01 -8.68923841e-04 2.97829171e+02] [ 9.99165486e-01 1.19337106e-02 -3.90630115e-02 2.56033105e+02] [ 3.90705961e-02 -4.03002968e-04 9.99236371e-01 2.01651387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.520385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.83, Y:256.06, Z:20.17 [[ 1.11948156e-02 -9.99936875e-01 -9.60574831e-04 2.97829484e+02] [ 9.99173801e-01 1.12237957e-02 -3.90607578e-02 2.56059282e+02] [ 3.90690733e-02 -5.22503225e-04 9.99236376e-01 2.01659869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.550385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.83, Y:256.09, Z:20.16 [[ 8.74602073e-03 -9.99961300e-01 -9.51556834e-04 2.97828725e+02] [ 9.99198285e-01 8.77651730e-03 -3.90609774e-02 2.56087117e+02] [ 3.90678171e-02 -6.09165838e-04 9.99236376e-01 2.01635618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.580385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.83, Y:256.11, Z:20.17 [[ 8.01873302e-03 -9.99967473e-01 -8.67220900e-04 2.97829704e+02] [ 9.99204351e-01 8.04649091e-03 -3.90630073e-02 2.56113413e+02] [ 3.90687148e-02 -5.53295071e-04 9.99236373e-01 2.01654623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.610385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:297.83, Y:256.14, Z:20.17 [[ 5.33304087e-03 -9.99985536e-01 -6.98194424e-04 2.97830163e+02] [ 9.99222240e-01 5.35624684e-03 -3.90669386e-02 2.56142820e+02] [ 3.90701132e-02 -4.89305816e-04 9.99236352e-01 2.01661038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.640385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.83, Y:256.17, Z:20.17 [[ 5.26248572e-03 -9.99985742e-01 -9.06839654e-04 2.97830549e+02] [ 9.99222762e-01 5.29389406e-03 -3.90620957e-02 2.56167769e+02] [ 3.90663395e-02 -7.00571102e-04 9.99236374e-01 2.01672626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.670385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.83, Y:256.20, Z:20.17 [[ 2.01907394e-03 -9.99997737e-01 -6.70462553e-04 2.97830878e+02] [ 9.99234485e-01 2.04372621e-03 -3.90674627e-02 2.56196825e+02] [ 3.90687445e-02 -5.91069209e-04 9.99236350e-01 2.01670053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.700385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.83, Y:256.22, Z:20.17 [[-8.71459909e-04 -9.99999229e-01 -8.84757428e-04 2.97831079e+02] [ 9.99236415e-01 -8.36234184e-04 -3.90626099e-02 2.56223165e+02] [ 3.90618399e-02 -9.18123339e-04 9.99236373e-01 2.01671774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.730385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.83, Y:256.25, Z:20.17 [[-2.14650750e-03 -9.99997315e-01 -8.73075621e-04 2.97831806e+02] [ 9.99234525e-01 -2.11076523e-03 -3.90628710e-02 2.56250053e+02] [ 3.90609232e-02 -9.56256050e-04 9.99236373e-01 2.01680637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.760385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.83, Y:256.28, Z:20.17 [[-3.93319813e-03 -9.99991893e-01 -8.62064529e-04 2.97832511e+02] [ 9.99229148e-01 -3.89652287e-03 -3.90631140e-02 2.56276733e+02] [ 3.90594383e-02 -1.01504297e-03 9.99236373e-01 2.01698409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.790385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.83, Y:256.30, Z:20.17 [[-4.03467657e-03 -9.99991499e-01 -8.50551390e-04 2.97831174e+02] [ 9.99228736e-01 -3.99837335e-03 -3.90633647e-02 2.56299929e+02] [ 3.90596318e-02 -1.00750343e-03 9.99236373e-01 2.01692446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.820385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:297.83, Y:256.33, Z:20.17 [[-4.00288408e-03 -9.99991734e-01 -7.13185478e-04 2.97831722e+02] [ 9.99228722e-01 -3.97196797e-03 -3.90664191e-02 2.56328628e+02] [ 3.90632634e-02 -8.69013760e-04 9.99236362e-01 2.01721737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.850385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:297.83, Y:256.36, Z:20.17 [[-4.23634716e-03 -9.99990712e-01 -7.92690202e-04 2.97832340e+02] [ 9.99227849e-01 -4.20214892e-03 -3.90646551e-02 2.56356175e+02] [ 3.90609613e-02 -9.57569566e-04 9.99236371e-01 2.01732823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.880385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:297.83, Y:256.38, Z:20.17 [[-2.45215687e-03 -9.99996687e-01 -7.82458722e-04 2.97831987e+02] [ 9.99233747e-01 -2.41971925e-03 -3.90648794e-02 2.56384179e+02] [ 3.90628567e-02 -8.77652372e-04 9.99236370e-01 2.01743136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.910385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:297.83, Y:256.41, Z:20.18 [[-3.12854340e-03 -9.99994775e-01 -8.13685050e-04 2.97830104e+02] [ 9.99231912e-01 -3.09437061e-03 -3.90641995e-02 2.56409807e+02] [ 3.90614776e-02 -9.35274112e-04 9.99236372e-01 2.01765453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.940385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:297.83, Y:256.44, Z:20.18 [[-1.24120537e-03 -9.99999070e-01 -5.65042304e-04 2.97828714e+02] [ 9.99235752e-01 -1.21818197e-03 -3.90695283e-02 2.56435637e+02] [ 3.90688036e-02 -6.13103779e-04 9.99236335e-01 2.01772247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.970385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.83, Y:256.47, Z:20.18 [[ 3.15114269e-03 -9.99994940e-01 -4.36466598e-04 2.97831702e+02] [ 9.99231373e-01 3.16579039e-03 -3.90722465e-02 2.56466950e+02] [ 3.90734305e-02 -3.13008894e-04 9.99236293e-01 2.01791766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.000385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.83, Y:256.49, Z:20.18 [[ 2.39773010e-03 -9.99996778e-01 -8.34213887e-04 2.97829044e+02] [ 9.99233769e-01 2.42848824e-03 -3.90637556e-02 2.56492656e+02] [ 3.90656556e-02 -7.39910344e-04 9.99236372e-01 2.01786746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.030385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.83, Y:256.52, Z:20.18 [[ 7.99930452e-03 -9.99967854e-01 -5.49910943e-04 2.97830409e+02] [ 9.99204345e-01 8.01468233e-03 -3.90697058e-02 2.56522340e+02] [ 3.90728572e-02 -2.36942929e-04 9.99236336e-01 2.01797512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.06038572299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.83, Y:256.55, Z:20.18 [[ 9.54437114e-03 -9.99954115e-01 -8.20583604e-04 2.97830165e+02] [ 9.99190890e-01 9.56914306e-03 -3.90640214e-02 2.56548950e+02] [ 3.90700813e-02 -4.47078143e-04 9.99236373e-01 2.01798582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.090385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.83, Y:256.58, Z:20.18 [[ 1.20412318e-02 -9.99927171e-01 -8.12779106e-04 2.97828566e+02] [ 9.99163878e-01 1.20637930e-02 -3.90641838e-02 2.56575967e+02] [ 3.90711440e-02 -3.41718629e-04 9.99236373e-01 2.01825115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.12038572299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.83, Y:256.60, Z:20.18 [[ 1.28024620e-02 -9.99917724e-01 -8.01628899e-04 2.97828505e+02] [ 9.99154401e-01 1.28240065e-02 -3.90644126e-02 2.56603335e+02] [ 3.90714787e-02 -3.00830385e-04 9.99236373e-01 2.01847453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.150385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.83, Y:256.63, Z:20.19 [[ 1.32786166e-02 -9.99911523e-01 -7.89908287e-04 2.97828567e+02] [ 9.99148178e-01 1.32993397e-02 -3.90646496e-02 2.56630528e+02] [ 3.90716986e-02 -2.70510921e-04 9.99236373e-01 2.01864556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.180385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.83, Y:256.66, Z:20.19 [[ 1.34652142e-02 -9.99909037e-01 -7.78241141e-04 2.97828749e+02] [ 9.99145675e-01 1.34853391e-02 -3.90648821e-02 2.56657357e+02] [ 3.90718235e-02 -2.51559266e-04 9.99236373e-01 2.01879464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.210385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.83, Y:256.68, Z:20.19 [[ 1.34659532e-02 -9.99909036e-01 -7.66638502e-04 2.97828455e+02] [ 9.99145663e-01 1.34856243e-02 -3.90651098e-02 2.56683325e+02] [ 3.90718949e-02 -2.39934592e-04 9.99236373e-01 2.01893354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.240385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:297.83, Y:256.71, Z:20.19 [[ 1.21424139e-02 -9.99925994e-01 -7.54476681e-04 2.97828681e+02] [ 9.99162634e-01 1.21626203e-02 -3.90653447e-02 2.56710470e+02] [ 3.90716300e-02 -2.79497325e-04 9.99236373e-01 2.01900487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.270385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.83, Y:256.74, Z:20.19 [[ 1.11126340e-02 -9.99937977e-01 -7.43077762e-04 2.97829256e+02] [ 9.99174626e-01 1.11331812e-02 -3.90655615e-02 2.56737400e+02] [ 3.90714113e-02 -3.08343159e-04 9.99236373e-01 2.01916551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.300385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.83, Y:256.76, Z:20.19 [[ 9.96185618e-03 -9.99950112e-01 -7.31544702e-04 2.97829565e+02] [ 9.99186773e-01 9.98283132e-03 -3.90657775e-02 2.56764580e+02] [ 3.90711314e-02 -3.41782134e-04 9.99236373e-01 2.01927211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.330385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:297.83, Y:256.79, Z:20.19 [[ 8.48486417e-03 -9.99963744e-01 -7.20106191e-04 2.97829294e+02] [ 9.99200424e-01 8.50651995e-03 -3.90659883e-02 2.56790366e+02] [ 3.90706975e-02 -3.88060807e-04 9.99236373e-01 2.01934593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.360385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.83, Y:256.82, Z:20.19 [[ 6.36281395e-03 -9.99979506e-01 -7.08120964e-04 2.97828685e+02] [ 9.99216221e-01 6.38562137e-03 -3.90662056e-02 2.56818338e+02] [ 3.90699267e-02 -4.58994956e-04 9.99236374e-01 2.01943965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.390385723 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:297.83, Y:256.85, Z:20.19 [[ 5.41173499e-03 -9.99985113e-01 -6.97311787e-04 2.97828269e+02] [ 9.99221837e-01 5.43484614e-03 -3.90663985e-02 2.56845708e+02] [ 3.90696067e-02 -4.85352168e-04 9.99236374e-01 2.01948248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.420385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:297.83, Y:256.87, Z:20.19 [[ 3.79532565e-03 -9.99992563e-01 -6.85899372e-04 2.97826739e+02] [ 9.99229310e-01 3.81922479e-03 -3.90665989e-02 2.56872662e+02] [ 3.90689279e-02 -5.37100291e-04 9.99236374e-01 2.01948561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.450385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:297.83, Y:256.90, Z:20.20 [[ 3.57622302e-03 -9.99993452e-01 -5.53073509e-04 2.97827244e+02] [ 9.99230052e-01 3.59510102e-03 -3.90688865e-02 2.56900200e+02] [ 3.90706190e-02 -4.12928620e-04 9.99236367e-01 2.01964150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.480385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:297.83, Y:256.93, Z:20.20 [[ 3.18346473e-03 -9.99994740e-01 -6.20968051e-04 2.97827310e+02] [ 9.99231424e-01 3.20529467e-03 -3.90677221e-02 2.56928257e+02] [ 3.90695070e-02 -4.96120075e-04 9.99236372e-01 2.01983976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.510385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:297.83, Y:256.96, Z:20.20 [[ 1.41317441e-03 -9.99998782e-01 -6.61977773e-04 2.97826834e+02] [ 9.99235558e-01 1.43795737e-03 -3.90670272e-02 2.56956400e+02] [ 3.90679316e-02 -6.06263206e-04 9.99236373e-01 2.01991415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.540385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.83, Y:256.99, Z:20.20 [[ 7.15956281e-05 -9.99999785e-01 -6.51556125e-04 2.97826820e+02] [ 9.99236581e-01 9.69954670e-05 -3.90672011e-02 2.56985608e+02] [ 3.90672559e-02 -6.48261673e-04 9.99236373e-01 2.01981948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.570385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:297.83, Y:257.01, Z:20.20 [[-4.33330217e-04 -9.99999680e-01 -6.72883119e-04 2.97825976e+02] [ 9.99236517e-01 -4.06712082e-04 -3.90668480e-02 2.57012730e+02] [ 3.90665619e-02 -6.89298230e-04 9.99236373e-01 2.02009049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.600385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:297.82, Y:257.04, Z:20.20 [[-2.84783247e-03 -9.99995740e-01 -6.39509021e-04 2.97822117e+02] [ 9.99232597e-01 -2.82067510e-03 -3.90673944e-02 2.57039055e+02] [ 3.90654241e-02 -7.50275654e-04 9.99236373e-01 2.02006265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.630385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:297.82, Y:257.07, Z:20.20 [[-1.38660003e-03 -9.99998953e-01 -4.12968630e-04 2.97822012e+02] [ 9.99235498e-01 -1.36940631e-03 -3.90710072e-02 2.57067753e+02] [ 3.90704008e-02 -4.66828774e-04 9.99236351e-01 2.02041545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.660385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.82, Y:257.10, Z:20.21 [[-5.78454320e-04 -9.99999638e-01 -6.23481788e-04 2.97819123e+02] [ 9.99236415e-01 -5.53654852e-04 -3.90676485e-02 2.57096271e+02] [ 3.90672892e-02 -6.45604557e-04 9.99236373e-01 2.02069862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.690385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.82, Y:257.12, Z:20.21 [[-3.57447460e-05 -9.99999811e-01 -6.13033378e-04 2.97817863e+02] [ 9.99236562e-01 -1.17675848e-05 -3.90678124e-02 2.57123331e+02] [ 3.90677979e-02 -6.13961833e-04 9.99236374e-01 2.02086403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.720385723 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:297.81, Y:257.15, Z:20.21 [[-1.46027385e-03 -9.99998753e-01 -6.01320793e-04 2.97814668e+02] [ 9.99235523e-01 -1.43566690e-03 -3.90679927e-02 2.57149273e+02] [ 3.90670807e-02 -6.57911066e-04 9.99236374e-01 2.02065223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.750385723 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:297.81, Y:257.18, Z:20.21 [[-7.67634616e-04 -9.99999641e-01 -3.57688017e-04 2.97810077e+02] [ 9.99236130e-01 -7.53073067e-04 -3.90716038e-02 2.57176597e+02] [ 3.90713205e-02 -3.87407505e-04 9.99236349e-01 2.02070867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.780385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.81, Y:257.21, Z:20.21 [[ 2.05779991e-03 -9.99997847e-01 -2.69091616e-04 2.97810816e+02] [ 9.99234227e-01 2.06674273e-03 -3.90728586e-02 2.57206070e+02] [ 3.90733306e-02 -1.88481428e-04 9.99236328e-01 2.02106311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.81038572299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.81, Y:257.23, Z:20.21 [[ 2.20449647e-03 -9.99997416e-01 -5.54440702e-04 2.97809245e+02] [ 9.99234047e-01 2.22447501e-03 -3.90688107e-02 2.57234130e+02] [ 3.90699431e-02 -4.67888971e-04 9.99236369e-01 2.02115033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.840385723 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:297.80, Y:257.26, Z:20.21 [[-1.80446010e-03 -9.99998224e-01 -5.43771665e-04 2.97800291e+02] [ 9.99234928e-01 -1.78183813e-03 -3.90689592e-02 2.57258227e+02] [ 3.90679209e-02 -6.13854019e-04 9.99236369e-01 2.02103635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.87038572299997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:297.80, Y:257.29, Z:20.21 [[ 5.84821259e-04 -9.99999823e-01 -1.07499900e-04 2.97801028e+02] [ 9.99236114e-01 5.88575168e-04 -3.90748253e-02 2.57289906e+02] [ 3.90748817e-02 -8.45659938e-05 9.99236282e-01 2.02108521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.900385723 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:297.80, Y:257.32, Z:20.21 [[ 2.27550894e-04 -9.99999868e-01 -4.60441924e-04 2.97798253e+02] [ 9.99236445e-01 2.45366661e-04 -3.90700321e-02 2.57318264e+02] [ 3.90701400e-02 -4.51199930e-04 9.99236369e-01 2.02128927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.930385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:297.80, Y:257.35, Z:20.22 [[ 5.80849014e-04 -9.99999693e-01 -5.25123692e-04 2.97796488e+02] [ 9.99236328e-01 6.00921765e-04 -3.90691628e-02 2.57346353e+02] [ 3.90694664e-02 -5.02029385e-04 9.99236371e-01 2.02151868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.960385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:297.79, Y:257.37, Z:20.21 [[-2.38889500e-03 -9.99997014e-01 -5.14637188e-04 2.97794767e+02] [ 9.99233700e-01 -2.36696494e-03 -3.90693010e-02 2.57373744e+02] [ 3.90679662e-02 -6.07575279e-04 9.99236371e-01 2.02149056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.990385723 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:297.79, Y:257.40, Z:20.21 [[-6.23640295e-03 -9.99980427e-01 -5.03654525e-04 2.97790010e+02] [ 9.99217189e-01 -6.21196511e-03 -3.90694426e-02 2.57400625e+02] [ 3.90655491e-02 -7.46913045e-04 9.99236371e-01 2.02141088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.020385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:297.79, Y:257.43, Z:20.22 [[-8.26392606e-03 -9.99965732e-01 -4.92120340e-04 2.97788127e+02] [ 9.99202530e-01 -8.23839120e-03 -3.90695878e-02 2.57429051e+02] [ 3.90641947e-02 -8.14596074e-04 9.99236371e-01 2.02168089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.050385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.78, Y:257.46, Z:20.22 [[-1.18260408e-02 -9.99929954e-01 -4.81451095e-04 2.97784727e+02] [ 9.99166833e-01 -1.17982040e-02 -3.90697193e-02 2.57456046e+02] [ 3.90613024e-02 -9.43090061e-04 9.99236371e-01 2.02170586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.080385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:297.78, Y:257.48, Z:20.22 [[-1.34708786e-02 -9.99909153e-01 -4.70245764e-04 2.97783539e+02] [ 9.99146062e-01 -1.34422241e-02 -3.90698542e-02 2.57484029e+02] [ 3.90599837e-02 -9.96149466e-04 9.99236371e-01 2.02185761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.110385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:297.78, Y:257.51, Z:20.22 [[-1.50197573e-02 -9.99887092e-01 -4.59534580e-04 2.97782156e+02] [ 9.99124030e-01 -1.49903389e-02 -3.90699802e-02 2.57512203e+02] [ 3.90586803e-02 -1.04595366e-03 9.99236371e-01 2.02199950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.140385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.78, Y:257.54, Z:20.22 [[-1.74988391e-02 -9.99846783e-01 -4.48804185e-04 2.97778205e+02] [ 9.99083779e-01 -1.74679479e-02 -3.90701034e-02 2.57540292e+02] [ 3.90562775e-02 -1.13207443e-03 9.99236371e-01 2.02217644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.170385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:297.78, Y:257.57, Z:20.22 [[-1.84946737e-02 -9.99828863e-01 -4.37924765e-04 2.97775928e+02] [ 9.99065873e-01 -1.84634473e-02 -3.90702254e-02 2.57567044e+02] [ 3.90554534e-02 -1.16010676e-03 9.99236371e-01 2.02223171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.200385723 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:297.77, Y:257.60, Z:20.22 [[-2.00166866e-02 -9.99799555e-01 -4.26463284e-04 2.97772354e+02] [ 9.99036595e-01 -1.99847462e-02 -3.90703505e-02 2.57595590e+02] [ 3.90539963e-02 -1.20811139e-03 9.99236371e-01 2.02233091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.230385723 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:297.77, Y:257.62, Z:20.22 [[-2.04204502e-02 -9.99791394e-01 -4.15963023e-04 2.97771164e+02] [ 9.99028430e-01 -2.03886116e-02 -3.90704623e-02 2.57623414e+02] [ 3.90538311e-02 -1.21339532e-03 9.99236371e-01 2.02244079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.260385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:297.77, Y:257.65, Z:20.23 [[-1.96593672e-02 -9.99806654e-01 -4.05169549e-04 2.97769695e+02] [ 9.99043648e-01 -1.96285308e-02 -3.90705742e-02 2.57650014e+02] [ 3.90550672e-02 -1.17288483e-03 9.99236371e-01 2.02270589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.290385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.77, Y:257.68, Z:20.23 [[-1.86194935e-02 -9.99826565e-01 -3.93791476e-04 2.97768092e+02] [ 9.99063510e-01 -1.85898950e-02 -3.90706889e-02 2.57677598e+02] [ 3.90565921e-02 -1.12089913e-03 9.99236372e-01 2.02275884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.320385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.76, Y:257.71, Z:20.23 [[-1.55664866e-02 -9.99878761e-01 -3.83353147e-04 2.97764194e+02] [ 9.99115606e-01 -1.55396258e-02 -3.90707913e-02 2.57706345e+02] [ 3.90600973e-02 -9.91209061e-04 9.99236372e-01 2.02284710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.350385723 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:297.76, Y:257.73, Z:20.23 [[-1.32778837e-02 -9.99911750e-01 -4.35256927e-04 2.97762275e+02] [ 9.99148603e-01 -1.32507427e-02 -3.90702927e-02 2.57733412e+02] [ 3.90610773e-02 -9.53657154e-04 9.99236370e-01 2.02269524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.380385723 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:297.76, Y:257.76, Z:20.23 [[-9.49237790e-03 -9.99954881e-01 -3.62958780e-04 2.97758473e+02] [ 9.99191554e-01 -9.47094999e-03 -3.90709644e-02 2.57761903e+02] [ 3.90657640e-02 -7.33541706e-04 9.99236372e-01 2.02279818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.410385723 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:297.76, Y:257.79, Z:20.23 [[-7.63776720e-03 -9.99970757e-01 -3.86136425e-04 2.97757237e+02] [ 9.99207416e-01 -7.61684973e-03 -3.90707525e-02 2.57789455e+02] [ 3.90666688e-02 -6.84243691e-04 9.99236372e-01 2.02277816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.440385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.76, Y:257.82, Z:20.23 [[-6.23814452e-03 -9.99980482e-01 -3.48886595e-04 2.97756163e+02] [ 9.99217076e-01 -6.21975055e-03 -3.90710851e-02 2.57817371e+02] [ 3.90681525e-02 -5.92344519e-04 9.99236373e-01 2.02309525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.470385723 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:297.75, Y:257.84, Z:20.23 [[-4.69901392e-03 -9.99988903e-01 -3.37872533e-04 2.97754762e+02] [ 9.99225460e-01 -4.68222522e-03 -3.90711804e-02 2.57844851e+02] [ 3.90691648e-02 -5.21206857e-04 9.99236373e-01 2.02307332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.500385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:297.75, Y:257.87, Z:20.23 [[-4.58561596e-03 -9.99989433e-01 -3.26260724e-04 2.97753958e+02] [ 9.99225979e-01 -4.56936745e-03 -3.90712773e-02 2.57872527e+02] [ 3.90693736e-02 -5.05174064e-04 9.99236373e-01 2.02324662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.530385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.75, Y:257.90, Z:20.23 [[-4.16248676e-03 -9.99991287e-01 -3.15558035e-04 2.97752532e+02] [ 9.99227817e-01 -4.14697941e-03 -3.90713638e-02 2.57901084e+02] [ 3.90697147e-02 -4.77948401e-04 9.99236373e-01 2.02331870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.56038572299997 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:297.75, Y:257.93, Z:20.23 [[-4.29580981e-03 -9.99990727e-01 -3.04761714e-04 2.97752355e+02] [ 9.99227251e-01 -4.28062244e-03 -3.90714480e-02 2.57928151e+02] [ 3.90697811e-02 -4.72369719e-04 9.99236373e-01 2.02323938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.590385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.75, Y:257.96, Z:20.24 [[-3.97897080e-03 -9.99992040e-01 -2.96887096e-04 2.97751746e+02] [ 9.99228553e-01 -3.96433297e-03 -3.90715078e-02 2.57956299e+02] [ 3.90700198e-02 -4.52122452e-04 9.99236373e-01 2.02354113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.62038572299997 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:297.75, Y:257.99, Z:20.24 [[-3.94869273e-03 -9.99992163e-01 -2.85980970e-04 2.97751612e+02] [ 9.99228668e-01 -3.93450407e-03 -3.90715877e-02 2.57985678e+02] [ 3.90701563e-02 -4.40042078e-04 9.99236373e-01 2.02370205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.650385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.75, Y:258.01, Z:20.24 [[-3.66617201e-03 -9.99993226e-01 -3.28486728e-04 2.97750936e+02] [ 9.99229758e-01 -3.65053850e-03 -3.90712837e-02 2.58013548e+02] [ 3.90698199e-02 -4.71475761e-04 9.99236372e-01 2.02378736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.680385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.75, Y:258.04, Z:20.24 [[-3.80632703e-03 -9.99992721e-01 -2.65496144e-04 2.97751779e+02] [ 9.99229210e-01 -3.79304737e-03 -3.90717118e-02 2.58042068e+02] [ 3.90704204e-02 -4.14011215e-04 9.99236374e-01 2.02406778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.710385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.75, Y:258.07, Z:20.24 [[-4.67448135e-03 -9.99989035e-01 -2.80991669e-04 2.97752319e+02] [ 9.99225547e-01 -4.65993348e-03 -3.90716085e-02 2.58069682e+02] [ 3.90698707e-02 -4.63413559e-04 9.99236374e-01 2.02411679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.740385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:297.75, Y:258.10, Z:20.24 [[-4.37386163e-03 -9.99990369e-01 -3.61372487e-04 2.97752906e+02] [ 9.99226937e-01 -4.35640310e-03 -3.90710804e-02 2.58096323e+02] [ 3.90691299e-02 -5.31984623e-04 9.99236368e-01 2.02419369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.770385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:297.75, Y:258.12, Z:20.24 [[-4.63722152e-03 -9.99989227e-01 -2.05819735e-04 2.97752943e+02] [ 9.99225689e-01 -4.62563890e-03 -3.90720536e-02 2.58124862e+02] [ 3.90706807e-02 -3.86846134e-04 9.99236375e-01 2.02430073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.800385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.75, Y:258.15, Z:20.24 [[-5.65542713e-03 -9.99983989e-01 -1.94700060e-04 2.97753368e+02] [ 9.99220456e-01 -5.64350149e-03 -3.90721201e-02 2.58153230e+02] [ 3.90703958e-02 -4.15517811e-04 9.99236374e-01 2.02436788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.830385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:297.75, Y:258.18, Z:20.24 [[-7.38023573e-03 -9.99972740e-01 -2.26837337e-04 2.97754992e+02] [ 9.99209252e-01 -7.36573764e-03 -3.90719336e-02 2.58180857e+02] [ 3.90691977e-02 -5.15018047e-04 9.99236375e-01 2.02443539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.860385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.75, Y:258.20, Z:20.24 [[-1.14913324e-02 -9.99933949e-01 -2.16064221e-04 2.97751133e+02] [ 9.99170518e-01 -1.14741164e-02 -3.90719932e-02 2.58204794e+02] [ 3.90669333e-02 -6.64874261e-04 9.99236375e-01 2.02441403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.890385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.76, Y:258.24, Z:20.25 [[-9.10436010e-03 -9.99958521e-01 2.59344146e-04 2.97758147e+02] [ 9.99194798e-01 -9.10754074e-03 -3.90744065e-02 2.58236291e+02] [ 3.90751477e-02 -9.66121454e-05 9.99236270e-01 2.02465892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.920385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.76, Y:258.27, Z:20.25 [[-9.89647024e-03 -9.99951013e-01 -1.78535683e-04 2.97759783e+02] [ 9.99187531e-01 -9.88193799e-03 -3.90720640e-02 2.58265435e+02] [ 3.90683857e-02 -5.65066147e-04 9.99236379e-01 2.02474355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.950385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.76, Y:258.29, Z:20.25 [[-1.42542936e-02 -9.99898382e-01 -2.03747056e-04 2.97756058e+02] [ 9.99134994e-01 -1.42354494e-02 -3.90719325e-02 2.58289023e+02] [ 3.90650617e-02 -7.60513612e-04 9.99236380e-01 2.02483066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.980385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.76, Y:258.32, Z:20.25 [[-1.09201616e-02 -9.99940328e-01 2.99981324e-04 2.97762293e+02] [ 9.99176602e-01 -1.09235433e-02 -3.90742211e-02 2.58319829e+02] [ 3.90751663e-02 -1.26962490e-04 9.99236266e-01 2.02499370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.010385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.76, Y:258.35, Z:20.25 [[-1.31269542e-02 -9.99913834e-01 -8.92495113e-05 2.97761185e+02] [ 9.99150331e-01 -1.31134433e-02 -3.90724136e-02 2.58346969e+02] [ 3.90678766e-02 -6.02075462e-04 9.99236378e-01 2.02516864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.040385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.76, Y:258.38, Z:20.25 [[-1.22075466e-02 -9.99925485e-01 1.62631142e-05 2.97763293e+02] [ 9.99161896e-01 -1.21988598e-02 -3.90729355e-02 2.58375739e+02] [ 3.90702224e-02 -4.60735197e-04 9.99236361e-01 2.02536797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.070385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.77, Y:258.41, Z:20.26 [[-1.00778340e-02 -9.99949217e-01 2.19394348e-05 2.97767217e+02] [ 9.99185608e-01 -1.00709954e-02 -3.90729627e-02 2.58405820e+02] [ 3.90711994e-02 -3.71849265e-04 9.99236360e-01 2.02559090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.100385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.77, Y:258.43, Z:20.26 [[-9.34700423e-03 -9.99956304e-01 -1.53993884e-04 2.97769319e+02] [ 9.99192798e-01 -9.33385029e-03 -3.90721336e-02 2.58433804e+02] [ 3.90689889e-02 -5.19076978e-04 9.99236381e-01 2.02567320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.130385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.77, Y:258.46, Z:20.26 [[-7.97865386e-03 -9.99968150e-01 -2.00321224e-04 2.97773242e+02] [ 9.99204658e-01 -7.96473484e-03 -3.90719246e-02 2.58462630e+02] [ 3.90690847e-02 -5.11903263e-04 9.99236381e-01 2.02580081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.160385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:297.77, Y:258.49, Z:20.26 [[-7.52273016e-03 -9.99971672e-01 -2.52127613e-04 2.97774672e+02] [ 9.99208209e-01 -7.50713534e-03 -3.90717023e-02 2.58490151e+02] [ 3.90687028e-02 -5.45853855e-04 9.99236378e-01 2.02588412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.190385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.77, Y:258.52, Z:20.26 [[-7.14695081e-03 -9.99974425e-01 -2.66806188e-04 2.97774729e+02] [ 9.99210966e-01 -7.13106945e-03 -3.90716411e-02 2.58515634e+02] [ 3.90687392e-02 -5.45838766e-04 9.99236376e-01 2.02606110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.220385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.78, Y:258.54, Z:20.26 [[-6.22264930e-03 -9.99980639e-01 -3.04653582e-05 2.97778222e+02] [ 9.99217038e-01 -6.21670720e-03 -3.90725396e-02 2.58544998e+02] [ 3.90715937e-02 -2.73576216e-04 9.99236376e-01 2.02612869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.250385723 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:297.78, Y:258.57, Z:20.26 [[-5.44079011e-03 -9.99985189e-01 -1.43086768e-04 2.97780131e+02] [ 9.99221633e-01 -5.43104491e-03 -3.90721274e-02 2.58573114e+02] [ 3.90707716e-02 -3.55558638e-04 9.99236383e-01 2.02629271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.280385723 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:297.78, Y:258.60, Z:20.26 [[-4.48080122e-03 -9.99989952e-01 -1.32278608e-04 2.97781732e+02] [ 9.99226383e-01 -4.47221132e-03 -3.90721640e-02 2.58601269e+02] [ 3.90711799e-02 -3.07250876e-04 9.99236383e-01 2.02645224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.31038572299997 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:297.79, Y:258.63, Z:20.27 [[-3.05394400e-03 -9.99995329e-01 -1.21524616e-04 2.97786013e+02] [ 9.99231745e-01 -3.04686379e-03 -3.90721975e-02 2.58629979e+02] [ 3.90716447e-02 -2.40755558e-04 9.99236383e-01 2.02669760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.340385723 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:297.79, Y:258.66, Z:20.27 [[-1.78312000e-03 -9.99998402e-01 -1.30571989e-04 2.97788944e+02] [ 9.99234812e-01 -1.77665669e-03 -3.90721705e-02 2.58658735e+02] [ 3.90718761e-02 -2.00142445e-04 9.99236383e-01 2.02685152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.37038572299997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:297.79, Y:258.69, Z:20.27 [[ 1.41963315e-03 -9.99998982e-01 -1.45352723e-04 2.97793771e+02] [ 9.99235378e-01 1.42422835e-03 -3.90721283e-02 2.58686265e+02] [ 3.90722956e-02 -8.97734946e-05 9.99236382e-01 2.02666937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.400385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.80, Y:258.72, Z:20.27 [[ 2.94771246e-03 -9.99995650e-01 -1.02391753e-04 2.97797565e+02] [ 9.99232035e-01 2.94946222e-03 -3.90722409e-02 2.58715811e+02] [ 3.90723730e-02 1.28606117e-05 9.99236383e-01 2.02694668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.430385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.80, Y:258.74, Z:20.27 [[ 4.58495990e-03 -9.99989455e-01 -2.60581760e-04 2.97800995e+02] [ 9.99225855e-01 4.59164030e-03 -3.90718340e-02 2.58743394e+02] [ 3.90726185e-02 -8.12372402e-05 9.99236370e-01 2.02691517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.460385723 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:297.80, Y:258.77, Z:20.27 [[ 4.98189376e-03 -9.99987540e-01 -3.16377434e-04 2.97804619e+02] [ 9.99223947e-01 4.99045114e-03 -3.90717078e-02 2.58772340e+02] [ 3.90727998e-02 -1.21480811e-04 9.99236359e-01 2.02688312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.490385723 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:297.81, Y:258.80, Z:20.27 [[ 5.20533851e-03 -9.99986403e-01 -3.13628461e-04 2.97808540e+02] [ 9.99222808e-01 5.21361785e-03 -3.90717131e-02 2.58797601e+02] [ 3.90728170e-02 -1.10003218e-04 9.99236360e-01 2.02713155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.520385723 meters Centerline goodness : 0.994624 Centerline is valid? [True, True] Translation: X:297.82, Y:258.83, Z:20.27 [[ 7.76554752e-03 -9.99969846e-01 -6.06445837e-05 2.97816075e+02] [ 9.99206246e-01 7.76198715e-03 -3.90721070e-02 2.58830936e+02] [ 3.90713996e-02 2.42819857e-04 9.99236392e-01 2.02696580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.550385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:297.82, Y:258.85, Z:20.27 [[ 7.05786086e-03 -9.99974791e-01 -7.76803815e-04 2.97821212e+02] [ 9.99211347e-01 7.08282346e-03 -3.90706882e-02 2.58850617e+02] [ 3.90752052e-02 -5.00435705e-04 9.99236147e-01 2.02699048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.580385723 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:297.82, Y:258.88, Z:20.28 [[ 5.84704552e-03 -9.99982893e-01 1.61342574e-04 2.97823875e+02] [ 9.99219354e-01 5.83627692e-03 -3.90719836e-02 2.58880382e+02] [ 3.90703736e-02 3.89672289e-04 9.99236385e-01 2.02772404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.610385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:297.83, Y:258.91, Z:20.28 [[ 5.25663265e-03 -9.99986182e-01 -5.35171049e-05 2.97827826e+02] [ 9.99222593e-01 5.25470972e-03 -3.90716902e-02 2.58907162e+02] [ 3.90714316e-02 1.51910022e-04 9.99236409e-01 2.02773915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.640385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:297.83, Y:258.93, Z:20.28 [[ 3.82847155e-03 -9.99992671e-01 -4.20882081e-05 2.97834944e+02] [ 9.99229080e-01 3.82719262e-03 -3.90717025e-02 2.58934620e+02] [ 3.90715772e-02 1.07529140e-04 9.99236409e-01 2.02806648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.670385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.84, Y:258.96, Z:20.28 [[ 3.27080757e-03 -9.99994650e-01 -3.06593047e-05 2.97838551e+02] [ 9.99231060e-01 3.26950792e-03 -3.90717115e-02 2.58961475e+02] [ 3.90716027e-02 9.71603201e-05 9.99236409e-01 2.02801708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.700385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:297.85, Y:258.99, Z:20.28 [[ 2.12677538e-03 -9.99997738e-01 -1.93197737e-05 2.97846202e+02] [ 9.99234147e-01 2.12590625e-03 -3.90717171e-02 2.58989403e+02] [ 3.90716698e-02 6.37917886e-05 9.99236409e-01 2.02837210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.730385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:297.85, Y:259.02, Z:20.29 [[ 1.70302538e-03 -9.99998550e-01 -8.48050454e-06 2.97849791e+02] [ 9.99234959e-01 1.70205631e-03 -3.90717195e-02 2.59017034e+02] [ 3.90716772e-02 5.80661132e-05 9.99236409e-01 2.02854215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.760385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.85, Y:259.01, Z:20.28 [[ 1.07999657e-03 -9.99999417e-01 2.41645733e-06 2.97852951e+02] [ 9.99235826e-01 1.07907748e-03 -3.90717188e-02 2.59014016e+02] [ 3.90716934e-02 4.46119331e-05 9.99236409e-01 2.02847892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.790385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.86, Y:259.01, Z:20.29 [[ 1.86383227e-04 -9.99999983e-01 1.66796236e-05 2.97858955e+02] [ 9.99236392e-01 1.85589206e-04 -3.90717127e-02 2.59010946e+02] [ 3.90717089e-02 2.39491988e-05 9.99236409e-01 2.02854949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.820385723 meters Centerline goodness : 0.999779 Centerline is valid? [True, True] Translation: X:297.86, Y:259.01, Z:20.29 [[-8.26361666e-04 -9.99999658e-01 3.09336905e-05 2.97861813e+02] [ 9.99236067e-01 -8.26939294e-04 -3.90717014e-02 2.59008414e+02] [ 3.90717136e-02 -1.37729693e-06 9.99236409e-01 2.02851666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.850385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:297.87, Y:259.01, Z:20.29 [[-2.72934081e-03 -9.99996274e-01 4.51811203e-05 2.97866978e+02] [ 9.99232684e-01 -2.72902201e-03 -3.90716850e-02 2.59008057e+02] [ 3.90716627e-02 -6.14934922e-05 9.99236409e-01 2.02855491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.880385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:297.87, Y:259.01, Z:20.29 [[-3.58800149e-03 -9.99993561e-01 5.94397204e-05 2.97869615e+02] [ 9.99229971e-01 -3.58758413e-03 -3.90716633e-02 2.59006561e+02] [ 3.90716249e-02 -8.07952361e-05 9.99236409e-01 2.02854046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.910385723 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:297.87, Y:259.03, Z:20.29 [[-5.41394541e-03 -9.99985345e-01 -1.47448330e-06 2.97870058e+02] [ 9.99221763e-01 -5.40975374e-03 -3.90717712e-02 2.59034550e+02] [ 3.90711906e-02 -2.13005772e-04 9.99236407e-01 2.02871137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.940385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:297.87, Y:259.04, Z:20.29 [[-4.39344940e-03 -9.99990329e-01 1.98789429e-04 2.97869489e+02] [ 9.99226746e-01 -4.39786165e-03 -3.90713428e-02 2.59035614e+02] [ 3.90718392e-02 2.69777467e-05 9.99236404e-01 2.02876520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.970385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:297.87, Y:259.05, Z:20.29 [[-2.17529419e-03 -9.99997630e-01 8.61641424e-05 2.97869864e+02] [ 9.99234042e-01 -2.17699973e-03 -3.90715987e-02 2.59052369e+02] [ 3.90716937e-02 1.10592270e-06 9.99236410e-01 2.02879895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.000385723 meters Centerline goodness : 0.999688 Centerline is valid? [True, True] Translation: X:297.87, Y:259.01, Z:20.29 [[-3.01009072e-03 -9.99995464e-01 1.03193926e-04 2.97869449e+02] [ 9.99231876e-01 -3.01182421e-03 -3.90715538e-02 2.59012976e+02] [ 3.90716874e-02 -1.44942615e-05 9.99236410e-01 2.02858569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.030385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:297.87, Y:259.02, Z:20.29 [[-4.40406952e-04 -9.99999890e-01 1.63955387e-04 2.97870506e+02] [ 9.99236323e-01 -4.46476634e-04 -3.90713767e-02 2.59022984e+02] [ 3.90714456e-02 1.46622872e-04 9.99236409e-01 2.02853644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.06038572299997 meters Centerline goodness : 0.999332 Centerline is valid? [True, True] Translation: X:297.87, Y:259.60, Z:20.30 [[-5.40484645e-03 -9.99985391e-01 7.79013839e-05 2.97867028e+02] [ 9.99221799e-01 -5.40376307e-03 -3.90716689e-02 2.59595361e+02] [ 3.90715190e-02 -1.33335610e-04 9.99236408e-01 2.03044695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.090385723 meters Centerline goodness : 0.999844 Centerline is valid? [True, True] Translation: X:297.87, Y:259.04, Z:20.29 [[-3.79820648e-03 -9.99992715e-01 3.77866354e-04 2.97869246e+02] [ 9.99229192e-01 -3.81006999e-03 -3.90705280e-02 2.59038359e+02] [ 3.90716831e-02 2.29177158e-04 9.99236384e-01 2.02861217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.12038572299997 meters Centerline goodness : 0.999799 Centerline is valid? [True, True] Translation: X:297.87, Y:259.01, Z:20.28 [[-6.18712525e-03 -9.99980859e-01 1.74316377e-05 2.97867586e+02] [ 9.99217278e-01 -6.18308188e-03 -3.90717372e-02 2.59014970e+02] [ 3.90710971e-02 -2.24323738e-04 9.99236408e-01 2.02840456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.150385723 meters Centerline goodness : 0.999800 Centerline is valid? [True, True] Translation: X:297.87, Y:258.99, Z:20.28 [[-9.14216994e-03 -9.99958209e-01 -6.72959649e-06 2.97866126e+02] [ 9.99194649e-01 -9.13492610e-03 -3.90718202e-02 2.58991271e+02] [ 3.90701259e-02 -3.63925397e-04 9.99236405e-01 2.02819644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.180385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:297.87, Y:258.98, Z:20.28 [[-1.19604942e-02 -9.99928460e-01 1.47103040e-04 2.97865794e+02] [ 9.99164884e-01 -1.19571087e-02 -3.90712415e-02 2.58983017e+02] [ 3.90702053e-02 -3.20331165e-04 9.99236417e-01 2.02821081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.210385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.87, Y:258.98, Z:20.28 [[-1.32164057e-02 -9.99912646e-01 1.61366014e-04 2.97866033e+02] [ 9.99149073e-01 -1.32126184e-02 -3.90711826e-02 2.58978664e+02] [ 3.90699017e-02 -3.55151898e-04 9.99236417e-01 2.02826379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.240385723 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:297.87, Y:258.99, Z:20.28 [[-1.26031636e-02 -9.99920562e-01 1.75588489e-04 2.97866614e+02] [ 9.99156983e-01 -1.26004003e-02 -3.90711187e-02 2.58985545e+02] [ 3.90702275e-02 -3.16979235e-04 9.99236417e-01 2.02837616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.270385723 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:297.87, Y:258.99, Z:20.28 [[-1.33760175e-02 -9.99910537e-01 2.36386058e-05 2.97865808e+02] [ 9.99146998e-01 -1.33667272e-02 -3.90718310e-02 2.58990802e+02] [ 3.90686515e-02 -4.99007053e-04 9.99236404e-01 2.02847125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.300385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.87, Y:258.99, Z:20.28 [[-1.31718530e-02 -9.99913247e-01 -7.35968733e-06 2.97865440e+02] [ 9.99149716e-01 -1.31615075e-02 -3.90719823e-02 2.58994084e+02] [ 3.90684958e-02 -5.22003838e-04 9.99236399e-01 2.02848973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.330385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:297.86, Y:258.99, Z:20.28 [[-1.25918834e-02 -9.99920719e-01 9.01546309e-06 2.97864933e+02] [ 9.99157177e-01 -1.25826205e-02 -3.90718965e-02 2.58987664e+02] [ 3.90689123e-02 -4.82980902e-04 9.99236402e-01 2.02843187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.360385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.86, Y:258.99, Z:20.28 [[-1.33498568e-02 -9.99910885e-01 -5.73483190e-05 2.97862367e+02] [ 9.99147372e-01 -1.33374221e-02 -3.90722600e-02 2.58985924e+02] [ 3.90680132e-02 -5.78908496e-04 9.99236386e-01 2.02832376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.390385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:297.86, Y:258.99, Z:20.28 [[-1.07818810e-02 -9.99941874e-01 1.99353826e-05 2.97863182e+02] [ 9.99178315e-01 -1.07744268e-02 -3.90718191e-02 2.58993026e+02] [ 3.90697628e-02 -4.01348700e-04 9.99236405e-01 2.02823390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.420385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.86, Y:258.99, Z:20.28 [[-1.27861971e-02 -9.99918251e-01 6.24992209e-05 2.97862048e+02] [ 9.99154699e-01 -1.27788755e-02 -3.90715629e-02 2.58991302e+02] [ 3.90691676e-02 -4.37130313e-04 9.99236413e-01 2.02829551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.450385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.86, Y:258.97, Z:20.28 [[-1.27068091e-02 -9.99919265e-01 -2.39226077e-05 2.97863092e+02] [ 9.99155733e-01 -1.26961714e-02 -3.90721030e-02 2.58966828e+02] [ 3.90686448e-02 -5.20384163e-04 9.99236394e-01 2.02830177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.480385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:297.86, Y:259.36, Z:20.30 [[-1.49902546e-02 -9.99887637e-01 8.10004897e-05 2.97862019e+02] [ 9.99124103e-01 -1.49819729e-02 -3.90713235e-02 2.59362924e+02] [ 3.90681468e-02 -5.04759546e-04 9.99236421e-01 2.02963265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.510385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.11, Y:258.90, Z:21.27 [[-7.60707917e-02 9.97102412e-01 1.23857656e-04 2.97113112e+02] [ 9.96341386e-01 7.60078781e-02 3.90723173e-02 2.58900911e+02] [ 3.89496877e-02 3.09566662e-03 -9.99236378e-01 2.12728275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.540385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:297.16, Y:258.89, Z:21.27 [[-1.49225854e-01 9.88794662e-01 -4.09414150e-03 2.97156404e+02] [ 9.88038580e-01 1.49271984e-01 3.86993440e-02 2.58886241e+02] [ 3.88768454e-02 1.72977289e-03 -9.99242512e-01 2.12744821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.570385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.20, Y:258.84, Z:21.27 [[-2.28041711e-01 9.73630402e-01 -6.38897408e-03 2.97202805e+02] [ 9.72879408e-01 2.28117251e-01 3.83168085e-02 2.58838416e+02] [ 3.87638448e-02 2.52212926e-03 -9.99245217e-01 2.12726199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.600385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.25, Y:258.81, Z:21.27 [[-3.02802264e-01 9.53002806e-01 -9.82040268e-03 2.97251313e+02] [ 9.52268399e-01 3.02954925e-01 3.74594390e-02 2.58812339e+02] [ 3.86740898e-02 1.99114380e-03 -9.99249894e-01 2.12734761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.630385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:297.30, Y:258.80, Z:21.27 [[-3.75271344e-01 9.26827960e-01 -1.27024183e-02 2.97298917e+02] [ 9.26111237e-01 3.75481297e-01 3.64934731e-02 2.58798547e+02] [ 3.85926917e-02 1.93110244e-03 -9.99253159e-01 2.12739331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.660385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:297.35, Y:258.79, Z:21.27 [[-4.46702321e-01 8.94551139e-01 -1.53393688e-02 2.97347886e+02] [ 8.93853904e-01 4.46960725e-01 3.53738459e-02 2.58785316e+02] [ 3.84998095e-02 2.09042435e-03 -9.99256421e-01 2.12738607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.690385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:297.40, Y:258.78, Z:21.27 [[-5.15220560e-01 8.56867971e-01 -1.80292899e-02 2.97395453e+02] [ 8.56196702e-01 5.15531771e-01 3.39735305e-02 2.58778610e+02] [ 3.84055019e-02 2.06724284e-03 -9.99260098e-01 2.12748769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.720385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:297.44, Y:258.78, Z:21.28 [[-5.82402245e-01 8.12641289e-01 -2.05367904e-02 2.97436602e+02] [ 8.11997812e-01 5.82760072e-01 3.24075797e-02 2.58783119e+02] [ 3.83037588e-02 2.19841827e-03 -9.99263723e-01 2.12762077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.750385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.49, Y:258.78, Z:21.28 [[-6.43745052e-01 7.64890623e-01 -2.31223512e-02 2.97490269e+02] [ 7.64285042e-01 6.44157202e-01 3.04938346e-02 2.58778372e+02] [ 3.82188771e-02 1.95818798e-03 -9.99267473e-01 2.12755035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.780385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.54, Y:258.78, Z:21.27 [[-7.03074953e-01 7.10666866e-01 -2.52629374e-02 2.97538905e+02] [ 7.10093156e-01 7.03525264e-01 2.86341253e-02 2.58782202e+02] [ 3.81224388e-02 2.19289739e-03 -9.99270669e-01 2.12749631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.81038572299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.60, Y:258.78, Z:21.28 [[-7.57971941e-01 6.51717477e-01 -2.72555743e-02 2.97595297e+02] [ 6.51178518e-01 7.58457955e-01 2.66095572e-02 2.58781780e+02] [ 3.80141206e-02 2.42105328e-03 -9.99274269e-01 2.12753884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.840385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:297.41, Y:258.97, Z:21.29 [[-8.08173557e-01 5.88216229e-01 -2.92774711e-02 2.97410712e+02] [ 5.87722720e-01 8.08700268e-01 2.42049981e-02 2.58969428e+02] [ 3.79144714e-02 2.35480447e-03 -9.99278213e-01 2.12864990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.87038572299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.46, Y:258.98, Z:21.29 [[-8.52195864e-01 5.22298790e-01 -3.10834933e-02 2.97456121e+02] [ 5.21853440e-01 8.52759569e-01 2.16818696e-02 2.58977178e+02] [ 3.78311607e-02 2.25617171e-03 -9.99281598e-01 2.12857671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.900385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:297.46, Y:259.01, Z:21.29 [[-8.91120405e-01 4.52595440e-01 -3.25851596e-02 2.97458464e+02] [ 4.52194477e-01 8.91712821e-01 1.91937423e-02 2.59010042e+02] [ 3.77436048e-02 2.36910621e-03 -9.99284648e-01 2.12868273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.930385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.08, Y:259.59, Z:20.28 [[-8.96500378e-01 -4.41747103e-01 3.38610246e-02 2.98082009e+02] [ 4.41433211e-01 -8.97139619e-01 -1.66500321e-02 2.59592455e+02] [ 3.77331701e-02 2.06207576e-05 9.99287850e-01 2.02809376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.960385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.46, Y:259.03, Z:21.29 [[-9.24007849e-01 3.80883876e-01 -3.37189558e-02 2.97458731e+02] [ 3.80517712e-01 9.24618595e-01 1.69329411e-02 2.59032575e+02] [ 3.76266578e-02 2.81551051e-03 -9.99287900e-01 2.12892109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.990385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.58, Y:259.02, Z:21.29 [[-9.50333880e-01 3.09249841e-01 -3.50720932e-02 2.97584683e+02] [ 3.08957376e-01 9.50978516e-01 1.36089228e-02 2.59020274e+02] [ 3.75613643e-02 2.09723850e-03 -9.99292122e-01 2.12854420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.020385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.06, Y:259.70, Z:20.28 [[-9.54396345e-01 -2.96384910e-01 3.58273890e-02 2.98063571e+02] [ 2.96171612e-01 -9.55068569e-01 -1.12430038e-02 2.59704640e+02] [ 3.75498698e-02 -1.19226202e-04 9.99294748e-01 2.02813686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.050385723 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:298.07, Y:259.70, Z:20.28 [[-9.54787598e-01 -2.95129542e-01 3.57658451e-02 2.98065208e+02] [ 2.94908144e-01 -9.55457176e-01 -1.14354922e-02 2.59704063e+02] [ 3.75476849e-02 -3.70827114e-04 9.99294768e-01 2.02809574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.080385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.90, Y:258.96, Z:21.27 [[-9.70052707e-01 2.40246233e-01 -3.57700015e-02 2.97902994e+02] [ 2.39987520e-01 9.70708771e-01 1.14224763e-02 2.58963020e+02] [ 3.74664611e-02 2.49605007e-03 -9.99294768e-01 2.12737459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.110385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.94, Y:258.99, Z:21.27 [[-9.85685431e-01 1.64609090e-01 -3.64428256e-02 2.97942101e+02] [ 1.64404640e-01 9.86355855e-01 8.55811296e-03 2.58994410e+02] [ 3.73543376e-02 2.44423765e-03 -9.99299094e-01 2.12734454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.140385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:297.89, Y:259.04, Z:21.28 [[-9.95537304e-01 8.68606545e-02 -3.68877028e-02 2.97887181e+02] [ 8.67102967e-02 9.96217493e-01 5.65956889e-03 2.59038297e+02] [ 3.72397686e-02 2.43576831e-03 -9.99303391e-01 2.12761241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.170385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:297.85, Y:259.08, Z:21.28 [[-9.99259269e-01 1.02100518e-02 -3.71034753e-02 2.97847599e+02] [ 1.01152435e-02 9.99945080e-01 2.74206978e-03 2.59075774e+02] [ 3.71294342e-02 2.36472796e-03 -9.99307667e-01 2.12794429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.200385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:297.89, Y:259.87, Z:20.28 [[-9.99134952e-01 1.88064566e-02 3.70899475e-02 2.97893056e+02] [-1.88094443e-02 -9.99823051e-01 2.68417573e-04 2.59870401e+02] [ 3.70884325e-02 -4.29455923e-04 9.99311895e-01 2.02838828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.230385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:297.90, Y:259.11, Z:21.28 [[-9.97020127e-01 -6.76398973e-02 -3.70905805e-02 2.97896659e+02] [-6.76826128e-02 9.97706897e-01 -1.04201377e-04 2.59109909e+02] [ 3.70125761e-02 2.40649653e-03 -9.99311902e-01 2.12797464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.260385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:297.62, Y:259.88, Z:20.29 [[-9.94512828e-01 9.79112530e-02 3.68459184e-02 2.97617414e+02] [-9.78649053e-02 -9.95194993e-01 3.06370424e-03 2.59883231e+02] [ 3.69688447e-02 -5.59029148e-04 9.99316262e-01 2.02905687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.290385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.94, Y:259.16, Z:21.28 [[-9.90327299e-01 -1.33769279e-01 -3.68459184e-02 2.97944449e+02] [-1.33747602e-01 9.91010693e-01 -3.06370424e-03 2.59156663e+02] [ 3.69245287e-02 1.89398328e-03 -9.99316262e-01 2.12817666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.320385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.97, Y:259.20, Z:21.28 [[-9.77098381e-01 -2.09639250e-01 -3.64710814e-02 2.97968898e+02] [-2.09578106e-01 9.77776246e-01 -5.53454284e-03 2.59200572e+02] [ 3.68208144e-02 2.23574731e-03 -9.99319383e-01 2.12809526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.350385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.75, Y:259.96, Z:20.28 [[-9.69066143e-01 2.44188429e-01 3.58165028e-02 2.97752040e+02] [-2.44046680e-01 -9.69727582e-01 8.34473830e-03 2.59962400e+02] [ 3.67699392e-02 -6.54295255e-04 9.99323543e-01 2.02830024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.380385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.73, Y:259.96, Z:20.28 [[-9.69005005e-01 2.44430486e-01 3.58195142e-02 2.97734021e+02] [-2.44289381e-01 -9.69666582e-01 8.33179187e-03 2.59958327e+02] [ 3.67695298e-02 -6.76778935e-04 9.99323543e-01 2.02849033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.410385723 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:297.98, Y:259.24, Z:21.28 [[-9.58808363e-01 -2.81785856e-01 -3.58225375e-02 2.97980562e+02] [-2.81670971e-01 9.59474993e-01 -8.31877288e-03 2.59244298e+02] [ 3.67149415e-02 2.11405992e-03 -9.99323543e-01 2.12812114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.440385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.71, Y:259.99, Z:20.29 [[-9.46627665e-01 3.20428241e-01 3.49543484e-02 2.97706654e+02] [-3.20238035e-01 -9.47272517e-01 1.10625051e-02 2.59985905e+02] [ 3.66560326e-02 -7.21638459e-04 9.99327681e-01 2.02851344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.470385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.00, Y:259.29, Z:21.28 [[-9.32756797e-01 -3.58807290e-01 -3.49583459e-02 2.98001600e+02] [-3.58644041e-01 9.33408995e-01 -1.10498580e-02 2.59293585e+02] [ 3.65952042e-02 2.23077230e-03 -9.99327681e-01 2.12784496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.500385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.67, Y:260.01, Z:20.29 [[-9.20260601e-01 3.89838912e-01 3.38533376e-02 2.97665291e+02] [-3.89595526e-01 -9.20882928e-01 1.37825566e-02 2.60009166e+02] [ 3.65479376e-02 -5.05565030e-04 9.99331773e-01 2.02856767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.530385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:298.00, Y:259.34, Z:21.28 [[-9.01939229e-01 -4.30528410e-01 -3.39251454e-02 2.97999934e+02] [-4.30319708e-01 9.02574023e-01 -1.36044720e-02 2.59337801e+02] [ 3.64770667e-02 2.32825169e-03 -9.99331778e-01 2.12797101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.56038572299997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:297.61, Y:260.02, Z:20.29 [[-8.86460658e-01 4.61654601e-01 3.25964927e-02 2.97609110e+02] [-4.61368089e-01 -8.87059555e-01 1.62736956e-02 2.60019489e+02] [ 3.64278567e-02 -6.12990641e-04 9.99336097e-01 2.02851146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.590385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.61, Y:260.02, Z:20.29 [[-8.87698461e-01 4.59268432e-01 3.26182563e-02 2.97610029e+02] [-4.58981916e-01 -8.88297354e-01 1.62299561e-02 2.60020257e+02] [ 3.64286173e-02 -5.63882778e-04 9.99336099e-01 2.02861685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.62038572299997 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:297.97, Y:259.37, Z:21.28 [[-8.66030215e-01 -4.98923739e-01 -3.26614214e-02 2.97971536e+02] [-4.98667848e-01 8.66642822e-01 -1.61430107e-02 2.59368093e+02] [ 3.63599176e-02 2.30686572e-03 -9.99336097e-01 2.12819834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.650385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:297.54, Y:260.02, Z:20.28 [[-8.49444139e-01 5.26759060e-01 3.11375510e-02 2.97537722e+02] [-5.26427392e-01 -8.50014490e-01 1.86967424e-02 2.60019543e+02] [ 3.63160480e-02 -5.09821488e-04 9.99340225e-01 2.02836917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.680385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.55, Y:260.02, Z:20.29 [[-8.49387118e-01 5.26849818e-01 3.11575444e-02 2.97546810e+02] [-5.26519440e-01 -8.49958213e-01 1.86632231e-02 2.60023788e+02] [ 3.63153265e-02 -5.52751546e-04 9.99340228e-01 2.02867280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.710385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:297.53, Y:260.01, Z:20.28 [[-8.49354545e-01 5.26903231e-01 3.11423033e-02 2.97533637e+02] [-5.26571951e-01 -8.49925120e-01 1.86887859e-02 2.60014029e+02] [ 3.63158075e-02 -5.25258217e-04 9.99340225e-01 2.02843180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.740385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.54, Y:260.02, Z:20.29 [[-8.49843002e-01 5.26111513e-01 3.12017269e-02 2.97542616e+02] [-5.25783359e-01 -8.50415373e-01 1.85890439e-02 2.60019366e+02] [ 3.63143382e-02 -6.07579914e-04 9.99340232e-01 2.02857599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.770385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.49, Y:259.99, Z:20.29 [[-8.51126530e-01 5.24038882e-01 3.10947127e-02 2.97488145e+02] [-5.23702759e-01 -8.51694285e-01 1.87687561e-02 2.59986603e+02] [ 3.63187470e-02 -3.09800552e-04 9.99340209e-01 2.02862347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.800385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.53, Y:260.01, Z:20.28 [[-8.51708409e-01 5.23085400e-01 3.12161815e-02 2.97528859e+02] [-5.22756111e-01 -8.52280123e-01 1.85645085e-02 2.60010380e+02] [ 3.63157544e-02 -5.06901652e-04 9.99340237e-01 2.02840747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.830385723 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:297.52, Y:260.00, Z:20.28 [[-8.51677384e-01 5.23135506e-01 3.12230190e-02 2.97516301e+02] [-5.22806672e-01 -8.52249359e-01 1.85530017e-02 2.59999729e+02] [ 3.63155318e-02 -5.22430737e-04 9.99340237e-01 2.02834431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.860385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.53, Y:260.01, Z:20.28 [[-8.52890745e-01 5.21158251e-01 3.11681747e-02 2.97527091e+02] [-5.20824715e-01 -8.53459998e-01 1.86453198e-02 2.60006160e+02] [ 3.63179526e-02 -3.30735000e-04 9.99340231e-01 2.02835321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.890385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.89, Y:259.37, Z:21.29 [[-8.24891629e-01 -5.64427536e-01 -3.12306969e-02 2.97890726e+02] [-5.64127748e-01 8.25479347e-01 -1.85400015e-02 2.59370956e+02] [ 3.62447827e-02 2.32461066e-03 -9.99340238e-01 2.12879866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.920385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.46, Y:260.01, Z:20.28 [[-8.09018871e-01 5.87037198e-01 2.95938072e-02 2.97461496e+02] [-5.86666578e-01 -8.09559815e-01 2.08622397e-02 2.60006610e+02] [ 3.62048678e-02 -4.83751929e-04 9.99344272e-01 2.02847446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.950385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:297.49, Y:260.02, Z:20.28 [[-8.04227085e-01 5.93584484e-01 2.96016177e-02 2.97485596e+02] [-5.93218674e-01 -8.04771293e-01 2.08511514e-02 2.60018647e+02] [ 3.61994521e-02 -7.91171684e-04 9.99344272e-01 2.02826881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.980385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.45, Y:259.99, Z:20.29 [[-8.05062033e-01 5.92461279e-01 2.94067331e-02 2.97452544e+02] [-5.92084575e-01 -8.05598828e-01 2.11278162e-02 2.59994320e+02] [ 3.62074427e-02 -4.02070387e-04 9.99344215e-01 2.02852702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.010385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:297.49, Y:260.02, Z:20.28 [[-8.03945512e-01 5.93965255e-01 2.96123066e-02 2.97490362e+02] [-5.93600273e-01 -8.04490268e-01 2.08356524e-02 2.60020693e+02] [ 3.61984661e-02 -8.27143990e-04 9.99344278e-01 2.02811867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.040385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:297.49, Y:260.01, Z:20.28 [[-8.02418932e-01 5.96029670e-01 2.95379308e-02 2.97488079e+02] [-5.95662196e-01 -8.02962021e-01 2.09413766e-02 2.60014531e+02] [ 3.61995184e-02 -7.90871718e-04 9.99344270e-01 2.02831410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.070385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.48, Y:260.01, Z:20.28 [[-8.03171170e-01 5.95011564e-01 2.96194172e-02 2.97481089e+02] [-5.94647666e-01 -8.03716649e-01 2.08254817e-02 2.60010860e+02] [ 3.61970212e-02 -8.86690758e-04 9.99344280e-01 2.02823743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.100385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.49, Y:260.02, Z:20.28 [[-8.00785639e-01 5.98217860e-01 2.96269039e-02 2.97491622e+02] [-5.97856539e-01 -8.01332828e-01 2.08148255e-02 2.60015425e+02] [ 3.61928110e-02 -1.04442484e-03 9.99344280e-01 2.02805422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.130385723 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:297.48, Y:260.00, Z:20.28 [[-8.02055506e-01 5.96517738e-01 2.95559464e-02 2.97477718e+02] [-5.96151533e-01 -8.02599449e-01 2.09158617e-02 2.60004087e+02] [ 3.61982688e-02 -8.44140715e-04 9.99344271e-01 2.02826134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.160385723 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:297.48, Y:260.00, Z:20.28 [[-8.02117877e-01 5.96429843e-01 2.96370199e-02 2.97476122e+02] [-5.96067837e-01 -8.02664612e-01 2.08003461e-02 2.60000984e+02] [ 3.61945342e-02 -9.81344831e-04 9.99344281e-01 2.02824028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.190385723 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:297.48, Y:260.00, Z:20.28 [[-8.02691622e-01 5.95657084e-01 2.96445256e-02 2.97479775e+02] [-5.95294947e-01 -8.03238269e-01 2.07896435e-02 2.59999229e+02] [ 3.61951159e-02 -9.59563630e-04 9.99344281e-01 2.02809026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.220385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:297.48, Y:259.99, Z:20.28 [[-8.03319372e-01 5.94809839e-01 2.96520169e-02 2.97476982e+02] [-5.94447519e-01 -8.03865898e-01 2.07789532e-02 2.59994966e+02] [ 3.61957710e-02 -9.34432275e-04 9.99344282e-01 2.02800952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.250385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:297.48, Y:259.99, Z:20.28 [[-8.04021026e-01 5.93860677e-01 2.96594997e-02 2.97476898e+02] [-5.93498105e-01 -8.04567386e-01 2.07682669e-02 2.59992517e+02] [ 3.61965232e-02 -9.04733620e-04 9.99344282e-01 2.02801025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.280385723 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:297.47, Y:259.98, Z:20.28 [[-8.05359146e-01 5.92044353e-01 2.96669810e-02 2.97471571e+02] [-5.91680943e-01 -8.05904948e-01 2.07575746e-02 2.59984070e+02] [ 3.61981716e-02 -8.36084774e-04 9.99344282e-01 2.02802079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.31038572299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.47, Y:259.98, Z:20.28 [[-8.06080208e-01 5.91061861e-01 2.96744737e-02 2.97473331e+02] [-5.90698180e-01 -8.06625829e-01 2.07468577e-02 2.59983243e+02] [ 3.61988733e-02 -8.05026190e-04 9.99344282e-01 2.02802610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.340385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.47, Y:259.98, Z:20.28 [[-8.07117743e-01 5.89643901e-01 2.96819707e-02 2.97473836e+02] [-5.89279655e-01 -8.07662987e-01 2.07361265e-02 2.59978841e+02] [ 3.61999596e-02 -7.54485833e-04 9.99344282e-01 2.02805818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.37038572299997 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:297.49, Y:259.98, Z:20.28 [[-8.05083424e-01 5.92418109e-01 2.96894556e-02 2.97485331e+02] [-5.92056137e-01 -8.05630181e-01 2.07254042e-02 2.59979281e+02] [ 3.61968262e-02 -8.92144987e-04 9.99344282e-01 2.02794213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.400385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:297.47, Y:259.97, Z:20.28 [[-8.07956350e-01 5.88493527e-01 2.96969039e-02 2.97473111e+02] [-5.88129291e-01 -8.08501600e-01 2.07147262e-02 2.59973078e+02] [ 3.62004766e-02 -7.29024475e-04 9.99344282e-01 2.02804769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.430385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:297.47, Y:259.97, Z:20.28 [[-8.08297225e-01 5.88024870e-01 2.97043484e-02 2.97471344e+02] [-5.87660710e-01 -8.08842526e-01 2.07040455e-02 2.59967519e+02] [ 3.62006339e-02 -7.21055996e-04 9.99344282e-01 2.02810919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.460385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:297.47, Y:259.96, Z:20.28 [[-8.08473854e-01 5.87781621e-01 2.97118217e-02 2.97470081e+02] [-5.87417692e-01 -8.09019309e-01 2.06933151e-02 2.59964152e+02] [ 3.62005878e-02 -7.23245482e-04 9.99344282e-01 2.02816412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.490385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:297.47, Y:259.96, Z:20.28 [[-8.09319658e-01 5.86616105e-01 2.97192993e-02 2.97471344e+02] [-5.86251784e-01 -8.09864851e-01 2.06825704e-02 2.59959561e+02] [ 3.62013448e-02 -6.84181462e-04 9.99344282e-01 2.02818557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.520385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:297.47, Y:259.96, Z:20.28 [[-8.10107262e-01 5.85527577e-01 2.97267731e-02 2.97471035e+02] [-5.85162917e-01 -8.10652229e-01 2.06718229e-02 2.59956372e+02] [ 3.62019972e-02 -6.48611388e-04 9.99344282e-01 2.02817315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.550385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:297.47, Y:259.95, Z:20.28 [[-8.11671259e-01 5.83357217e-01 2.97342406e-02 2.97468172e+02] [-5.82991494e-01 -8.12215512e-01 2.06610761e-02 2.59949033e+02] [ 3.62033993e-02 -5.64807642e-04 9.99344282e-01 2.02804638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.580385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:297.47, Y:259.95, Z:20.28 [[-8.11882412e-01 5.83062929e-01 2.97417112e-02 2.97466243e+02] [-5.82697402e-01 -8.12426798e-01 2.06503165e-02 2.59947611e+02] [ 3.62033972e-02 -5.64789120e-04 9.99344283e-01 2.02805550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.610385723 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:297.46, Y:259.94, Z:20.28 [[-8.12967771e-01 5.81548269e-01 2.97491886e-02 2.97464860e+02] [-5.81182122e-01 -8.13511739e-01 2.06395389e-02 2.59944223e+02] [ 3.62042023e-02 -5.10416613e-04 9.99344283e-01 2.02809223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.640385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.47, Y:259.94, Z:20.28 [[-8.13541120e-01 5.80745544e-01 2.97566643e-02 2.97465823e+02] [-5.80379255e-01 -8.14084992e-01 2.06287552e-02 2.59942455e+02] [ 3.62045115e-02 -4.87810060e-04 9.99344283e-01 2.02798773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.670385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.46, Y:259.94, Z:20.28 [[-8.13684058e-01 5.80544873e-01 2.97641338e-02 2.97463917e+02] [-5.80178844e-01 -8.14228106e-01 2.06179722e-02 2.59936961e+02] [ 3.62044524e-02 -4.92005451e-04 9.99344283e-01 2.02793539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.700385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:297.47, Y:259.93, Z:20.28 [[-8.12919866e-01 5.81614299e-01 2.97674127e-02 2.97465872e+02] [-5.81249159e-01 -8.13464510e-01 2.06132372e-02 2.59934712e+02] [ 3.62036873e-02 -5.45373551e-04 9.99344283e-01 2.02766534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.730385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.46, Y:259.93, Z:20.28 [[-8.12594582e-01 5.82068298e-01 2.97748695e-02 2.97463467e+02] [-5.81703857e-01 -8.13139694e-01 2.06024606e-02 2.59931736e+02] [ 3.62031675e-02 -5.78708585e-04 9.99344283e-01 2.02771374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.760385723 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:297.46, Y:259.93, Z:20.28 [[-8.10670731e-01 5.84744371e-01 2.97823166e-02 2.97464525e+02] [-5.84382125e-01 -8.11217304e-01 2.05916896e-02 2.59931039e+02] [ 3.62008052e-02 -7.11173379e-04 9.99344283e-01 2.02751428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.790385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.46, Y:259.93, Z:20.28 [[-8.10186312e-01 5.85418230e-01 2.97260268e-02 2.97458798e+02] [-5.85053449e-01 -8.10731203e-01 2.06731199e-02 2.59928801e+02] [ 3.62022387e-02 -6.42235709e-04 9.99344278e-01 2.02791681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.820385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.48, Y:259.94, Z:20.28 [[-8.07231562e-01 5.89483936e-01 2.97639673e-02 2.97484863e+02] [-5.89123921e-01 -8.07779608e-01 2.06182101e-02 2.59944919e+02] [ 3.61968295e-02 -8.90995170e-04 9.99344283e-01 2.02755595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.850385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.46, Y:259.93, Z:20.28 [[-8.08958566e-01 5.87116388e-01 2.96712995e-02 2.97461512e+02] [-5.86749846e-01 -8.09502292e-01 2.07523157e-02 2.59929567e+02] [ 3.62030096e-02 -6.21866820e-04 9.99344263e-01 2.02788545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.880385723 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:297.46, Y:259.93, Z:20.28 [[-8.09412508e-01 5.86484147e-01 2.97949234e-02 2.97460496e+02] [-5.86123752e-01 -8.09960300e-01 2.05732809e-02 2.59927909e+02] [ 3.61986082e-02 -8.11241411e-04 9.99344286e-01 2.02783905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.910385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.46, Y:259.93, Z:20.28 [[-8.10444453e-01 5.85056929e-01 2.98023344e-02 2.97458897e+02] [-5.84695964e-01 -8.10991869e-01 2.05625398e-02 2.59925404e+02] [ 3.61997073e-02 -7.60508365e-04 9.99344286e-01 2.02775443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.940385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.45, Y:259.92, Z:20.28 [[-8.11248764e-01 5.83940770e-01 2.98097415e-02 2.97454388e+02] [-5.83579447e-01 -8.11795943e-01 2.05517960e-02 2.59922635e+02] [ 3.62004588e-02 -7.23733375e-04 9.99344287e-01 2.02780886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.970385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.45, Y:259.92, Z:20.28 [[-8.12073550e-01 5.82792834e-01 2.98171528e-02 2.97451594e+02] [-5.82431132e-01 -8.12620479e-01 2.05410378e-02 2.59921556e+02] [ 3.62011987e-02 -6.85604597e-04 9.99344287e-01 2.02785342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.000385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.45, Y:259.92, Z:20.28 [[-8.13262051e-01 5.81132800e-01 2.98245673e-02 2.97449290e+02] [-5.80770376e-01 -8.13808503e-01 2.05302668e-02 2.59920749e+02] [ 3.62022978e-02 -6.24738294e-04 9.99344287e-01 2.02785217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.030385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.45, Y:259.92, Z:20.28 [[-8.13767705e-01 5.80424134e-01 2.98319813e-02 2.97446913e+02] [-5.80061629e-01 -8.14314102e-01 2.05194881e-02 2.59918356e+02] [ 3.62026091e-02 -6.06290941e-04 9.99344287e-01 2.02777624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.06038572299997 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:297.44, Y:259.92, Z:20.28 [[-8.14456957e-01 5.79456190e-01 2.98393913e-02 2.97444681e+02] [-5.79093430e-01 -8.15003185e-01 2.05087067e-02 2.59916881e+02] [ 3.62030960e-02 -5.76336655e-04 9.99344287e-01 2.02771253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.090385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.44, Y:259.92, Z:20.28 [[-8.15405715e-01 5.78119960e-01 2.98468022e-02 2.97438181e+02] [-5.77756700e-01 -8.15951611e-01 2.04979158e-02 2.59915137e+02] [ 3.62038006e-02 -5.30072241e-04 9.99344287e-01 2.02776538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.12038572299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.44, Y:259.92, Z:20.28 [[-8.16016273e-01 5.77257453e-01 2.98542196e-02 2.97438370e+02] [-5.76894012e-01 -8.16562048e-01 2.04871070e-02 2.59916858e+02] [ 3.62041579e-02 -5.04907783e-04 9.99344287e-01 2.02779960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.150385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.43, Y:259.92, Z:20.28 [[-8.17522947e-01 5.75121304e-01 2.98616331e-02 2.97433760e+02] [-5.74756831e-01 -8.18068033e-01 2.04762956e-02 2.59916539e+02] [ 3.62052012e-02 -4.23336092e-04 9.99344287e-01 2.02787616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.180385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.43, Y:259.92, Z:20.28 [[-8.18561216e-01 5.73642203e-01 2.98690369e-02 2.97431110e+02] [-5.73277139e-01 -8.19105906e-01 2.04654898e-02 2.59915543e+02] [ 3.62057732e-02 -3.70979776e-04 9.99344287e-01 2.02791772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.210385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:297.44, Y:259.92, Z:20.28 [[-8.19661802e-01 5.72068115e-01 2.98764425e-02 2.97436007e+02] [-5.71702399e-01 -8.20206055e-01 2.04546730e-02 2.59919644e+02] [ 3.62063053e-02 -3.14519731e-04 9.99344287e-01 2.02794194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.240385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.43, Y:259.92, Z:20.28 [[-8.20461710e-01 5.70919955e-01 2.98828903e-02 2.97433930e+02] [-5.70553821e-01 -8.21005682e-01 2.04452490e-02 2.59920083e+02] [ 3.62066233e-02 -2.75253263e-04 9.99344287e-01 2.02798889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.270385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:297.42, Y:259.91, Z:20.28 [[-8.21525096e-01 5.69388347e-01 2.98902482e-02 2.97420252e+02] [-5.69021590e-01 -8.22068648e-01 2.04344863e-02 2.59914296e+02] [ 3.62069943e-02 -2.20753179e-04 9.99344287e-01 2.02796643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.300385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.41, Y:259.92, Z:20.28 [[-8.21587382e-01 5.69298081e-01 2.98976299e-02 2.97414834e+02] [-5.68931658e-01 -8.22131159e-01 2.04236805e-02 2.59915095e+02] [ 3.62069352e-02 -2.29869913e-04 9.99344288e-01 2.02802758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.330385723 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:297.41, Y:259.92, Z:20.28 [[-8.21404588e-01 5.69561402e-01 2.99050436e-02 2.97410887e+02] [-5.69195548e-01 -8.21948748e-01 2.04128192e-02 2.59916545e+02] [ 3.62067671e-02 -2.54634330e-04 9.99344288e-01 2.02794448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.360385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:297.42, Y:259.92, Z:20.28 [[-8.21268993e-01 5.69756514e-01 2.99124582e-02 2.97417270e+02] [-5.69391186e-01 -8.21813506e-01 2.04019484e-02 2.59922292e+02] [ 3.62066051e-02 -2.76402420e-04 9.99344288e-01 2.02788804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.390385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:297.42, Y:259.93, Z:20.28 [[-8.20821208e-01 5.70401919e-01 2.99030980e-02 2.97419998e+02] [-5.70036519e-01 -8.21365672e-01 2.04156767e-02 2.59925952e+02] [ 3.62065193e-02 -2.88237431e-04 9.99344287e-01 2.02793687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.420385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.42, Y:259.93, Z:20.28 [[-8.19858322e-01 5.71787458e-01 2.98569058e-02 2.97415817e+02] [-5.71420509e-01 -8.20401750e-01 2.04834367e-02 2.59926834e+02] [ 3.62068300e-02 -2.67332267e-04 9.99344282e-01 2.02805146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.450385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:297.34, Y:259.88, Z:20.28 [[-8.21980216e-01 5.68736637e-01 2.97852591e-02 2.97338667e+02] [-5.68363854e-01 -8.22519688e-01 2.05886277e-02 2.59878603e+02] [ 3.62084689e-02 -5.42001359e-06 9.99344258e-01 2.02828606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.480385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.40, Y:259.93, Z:20.28 [[-8.21675293e-01 5.69169193e-01 2.99356259e-02 2.97403507e+02] [-5.68804725e-01 -8.22220375e-01 2.03676260e-02 2.59928599e+02] [ 3.62063068e-02 -2.91950357e-04 9.99344294e-01 2.02832811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.510385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.40, Y:259.93, Z:20.28 [[-8.21968709e-01 5.68744975e-01 2.99431921e-02 2.97396322e+02] [-5.68380631e-01 -8.22513873e-01 2.03564966e-02 2.59927463e+02] [ 3.62063461e-02 -2.86727158e-04 9.99344294e-01 2.02828060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.540385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:297.39, Y:259.93, Z:20.28 [[-8.21981350e-01 5.68726319e-01 2.99505456e-02 2.97389759e+02] [-5.68362357e-01 -8.22526769e-01 2.03456717e-02 2.59925980e+02] [ 3.62062444e-02 -2.98999995e-04 9.99344294e-01 2.02825053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.570385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:297.39, Y:259.94, Z:20.28 [[-8.22277837e-01 5.68297178e-01 2.99579148e-02 2.97394554e+02] [-5.67933327e-01 -8.22823329e-01 2.03348151e-02 2.59935593e+02] [ 3.62062893e-02 -2.93230504e-04 9.99344294e-01 2.02830772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.600385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.38, Y:259.93, Z:20.28 [[-8.23548680e-01 5.66453626e-01 2.99643321e-02 2.97379710e+02] [-5.66088898e-01 -8.24093587e-01 2.03253545e-02 2.59932273e+02] [ 3.62067847e-02 -2.23556895e-04 9.99344294e-01 2.02815925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.630385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:297.39, Y:259.94, Z:20.28 [[-8.23131213e-01 5.67059702e-01 2.99716767e-02 2.97389493e+02] [-5.66695769e-01 -8.23676651e-01 2.03145185e-02 2.59939996e+02] [ 3.62065151e-02 -2.63308158e-04 9.99344294e-01 2.02817439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.660385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.38, Y:259.94, Z:20.28 [[-8.23334316e-01 5.66764429e-01 2.99780839e-02 2.97379570e+02] [-5.66400645e-01 -8.23879854e-01 2.03050589e-02 2.59936460e+02] [ 3.62065245e-02 -2.61754269e-04 9.99344295e-01 2.02825264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.690385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:297.38, Y:259.94, Z:20.28 [[-8.23675830e-01 5.66267608e-01 2.99854005e-02 2.97377263e+02] [-5.65903888e-01 -8.24221410e-01 2.02942484e-02 2.59941017e+02] [ 3.62065846e-02 -2.52972833e-04 9.99344295e-01 2.02837096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.720385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.37, Y:259.94, Z:20.29 [[-8.24566740e-01 5.64969188e-01 2.99918014e-02 2.97366267e+02] [-5.64604954e-01 -8.25111976e-01 2.02847846e-02 2.59937828e+02] [ 3.62068728e-02 -2.07360964e-04 9.99344295e-01 2.02868489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.750385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.36, Y:259.94, Z:20.29 [[-8.23140594e-01 5.67044631e-01 2.99991416e-02 2.97364809e+02] [-5.66682167e-01 -8.23687009e-01 2.02739233e-02 2.59941653e+02] [ 3.62061226e-02 -3.11689284e-04 9.99344295e-01 2.02858614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.780385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.37, Y:259.95, Z:20.29 [[-8.23238495e-01 5.66906538e-01 2.99225254e-02 2.97366404e+02] [-5.66539856e-01 -8.23782100e-01 2.03873332e-02 2.59945897e+02] [ 3.62073533e-02 -1.68665748e-04 9.99344285e-01 2.02859321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.81038572299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.36, Y:259.95, Z:20.29 [[-8.23846898e-01 5.66022379e-01 2.99157990e-02 2.97363867e+02] [-5.65654752e-01 -8.24389867e-01 2.03972924e-02 2.59947568e+02] [ 3.62076056e-02 -1.17767771e-04 9.99344283e-01 2.02858942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.840385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.36, Y:259.95, Z:20.29 [[-8.25916173e-01 5.62997618e-01 2.99358937e-02 2.97358643e+02] [-5.62629081e-01 -8.26458518e-01 2.03675206e-02 2.59950237e+02] [ 3.62076399e-02 -2.09397150e-05 9.99344288e-01 2.02857796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.87038572299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.36, Y:259.95, Z:20.29 [[-8.26424204e-01 5.62247329e-01 3.00162638e-02 2.97355856e+02] [-5.61882620e-01 -8.26969119e-01 2.02483803e-02 2.59951034e+02] [ 3.62071210e-02 -1.31865403e-04 9.99344299e-01 2.02866789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.900385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.35, Y:259.95, Z:20.29 [[-8.27865223e-01 5.60122984e-01 3.00235726e-02 2.97353392e+02] [-5.59757271e-01 -8.28409464e-01 2.02375374e-02 2.59954319e+02] [ 3.62073215e-02 -5.19596284e-05 9.99344299e-01 2.02888135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.930385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:297.63, Y:259.19, Z:21.31 [[-7.82147330e-01 -6.22369469e-01 -3.00299482e-02 2.97625619e+02] [-6.22047228e-01 7.82718386e-01 -2.02280724e-02 2.59188578e+02] [ 3.60943272e-02 2.85871320e-03 -9.99344299e-01 2.13067715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.960385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.73, Y:259.32, Z:21.30 [[-7.40308149e-01 -6.71596640e-01 -3.00299482e-02 2.97725910e+02] [-6.71311962e-01 7.40898829e-01 -2.02280724e-02 2.59320567e+02] [ 3.58342589e-02 5.18445659e-03 -9.99344299e-01 2.12994403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.990385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.63, Y:259.28, Z:21.30 [[-6.87411610e-01 -7.25736390e-01 -2.77843539e-02 2.97633228e+02] [-7.25395588e-01 6.87957834e-01 -2.26993204e-02 2.59280098e+02] [ 3.55881868e-02 4.55087135e-03 -9.99356178e-01 2.13025576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.020385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.99, Y:259.79, Z:20.30 [[-6.94018506e-01 7.19537423e-01 2.45806778e-02 2.96992954e+02] [-7.19076291e-01 -6.94453639e-01 2.57571496e-02 2.59787570e+02] [ 3.56033742e-02 2.00555811e-04 9.99365979e-01 2.02973453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.050385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:297.01, Y:259.81, Z:20.30 [[-6.91716642e-01 7.21750282e-01 2.45889741e-02 2.97014427e+02] [-7.21290824e-01 -6.92153541e-01 2.57492271e-02 2.59805775e+02] [ 3.56038574e-02 7.53675219e-05 9.99365979e-01 2.02961577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.080385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:296.98, Y:259.77, Z:20.30 [[-6.94403142e-01 7.19169130e-01 2.44957021e-02 2.96975686e+02] [-7.18704899e-01 -6.94834980e-01 2.58383320e-02 2.59767579e+02] [ 3.56026014e-02 3.37037765e-04 9.99365970e-01 2.02986994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.110385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.01, Y:259.80, Z:20.30 [[-6.94414618e-01 7.19154438e-01 2.46014822e-02 2.97010489e+02] [-7.18693772e-01 -6.94850241e-01 2.57372204e-02 2.59803545e+02] [ 3.56033821e-02 1.91370021e-04 9.99365980e-01 2.02981111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.140385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:297.01, Y:259.80, Z:20.30 [[-6.92285208e-01 7.21204190e-01 2.46111086e-02 2.97007812e+02] [-7.20745141e-01 -6.92722535e-01 2.57280119e-02 2.59796942e+02] [ 3.56038195e-02 7.27851296e-05 9.99365980e-01 2.02995797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.170385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.02, Y:259.80, Z:20.30 [[-6.90410624e-01 7.22998646e-01 2.46196730e-02 2.97016099e+02] [-7.22541026e-01 -6.90849446e-01 2.57198137e-02 2.59803615e+02] [ 3.56038780e-02 -3.14911412e-05 9.99365980e-01 2.02995124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.200385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:297.01, Y:259.80, Z:20.30 [[-6.90085617e-01 7.23310972e-01 2.45576814e-02 2.97010107e+02] [-7.22851436e-01 -6.90522438e-01 2.57791638e-02 2.59798439e+02] [ 3.56039820e-02 3.82748734e-05 9.99365977e-01 2.02997952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.230385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.01, Y:259.80, Z:20.30 [[-6.89207777e-01 7.24144971e-01 2.46313246e-02 2.97010866e+02] [-7.23688481e-01 -6.89647773e-01 2.57086068e-02 2.59799182e+02] [ 3.56036964e-02 -1.06834175e-04 9.99365982e-01 2.02990698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.260385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.01, Y:259.80, Z:20.30 [[-6.88635359e-01 7.24689022e-01 2.46407131e-02 2.97008925e+02] [-7.24233202e-01 -6.89076048e-01 2.56996051e-02 2.59798394e+02] [ 3.56035469e-02 -1.47965717e-04 9.99365982e-01 2.02999405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.290385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:297.02, Y:259.81, Z:20.30 [[-6.86227959e-01 7.26968708e-01 2.46512823e-02 2.97020329e+02] [-7.26514716e-01 -6.86670531e-01 2.56894630e-02 2.59813148e+02] [ 3.56027449e-02 -2.80691602e-04 9.99365982e-01 2.03026372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.320385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.01, Y:259.80, Z:20.30 [[-6.86412023e-01 7.26794559e-01 2.46617635e-02 2.97008623e+02] [-7.26340817e-01 -6.86854851e-01 2.56793972e-02 2.59802733e+02] [ 3.56026981e-02 -2.86198435e-04 9.99365982e-01 2.03019292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.350385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.01, Y:259.80, Z:20.30 [[-6.85504565e-01 7.27650212e-01 2.46710253e-02 2.97006581e+02] [-7.27197342e-01 -6.85948286e-01 2.56704960e-02 2.59800307e+02] [ 3.56021894e-02 -3.43461885e-04 9.99365982e-01 2.03017845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.380385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.01, Y:259.80, Z:20.30 [[-6.85071705e-01 7.28057443e-01 2.46803291e-02 2.97008478e+02] [-7.27605159e-01 -6.85516023e-01 2.56615480e-02 2.59801124e+02] [ 3.56018420e-02 -3.77534349e-04 9.99365982e-01 2.02998351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.410385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:297.01, Y:259.80, Z:20.30 [[-6.84667398e-01 7.28437351e-01 2.46896504e-02 2.97006483e+02] [-7.27985638e-01 -6.85112295e-01 2.56525765e-02 2.59798077e+02] [ 3.56014780e-02 -4.10228070e-04 9.99365982e-01 2.02993929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.440385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:297.01, Y:259.80, Z:20.30 [[-6.83513443e-01 7.29519936e-01 2.46989273e-02 2.97005376e+02] [-7.29069249e-01 -6.83959380e-01 2.56436414e-02 2.59797536e+02] [ 3.56006106e-02 -4.79454787e-04 9.99365982e-01 2.03014759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.470385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:297.00, Y:259.80, Z:20.30 [[-6.83777860e-01 7.29271790e-01 2.47082010e-02 2.97003780e+02] [-7.28821264e-01 -6.84223960e-01 2.56347029e-02 2.59795781e+02] [ 3.56006088e-02 -4.79419998e-04 9.99365982e-01 2.03015656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.500385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.98, Y:259.77, Z:20.31 [[-6.81992163e-01 7.30941676e-01 2.47174965e-02 2.96982138e+02] [-7.30492568e-01 -6.82439690e-01 2.56257369e-02 2.59771504e+02] [ 3.55991197e-02 -5.79395719e-04 9.99365983e-01 2.03059996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.530385723 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:297.00, Y:259.79, Z:20.30 [[-6.81690316e-01 7.31222894e-01 2.47263728e-02 2.97002843e+02] [-7.30774280e-01 -6.82138338e-01 2.56171692e-02 2.59794325e+02] [ 3.55986674e-02 -6.06421141e-04 9.99365983e-01 2.03029935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.56038572299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.00, Y:259.79, Z:20.30 [[-6.81211470e-01 7.31668694e-01 2.47357219e-02 2.96999701e+02] [-7.31220701e-01 -6.81660113e-01 2.56081386e-02 2.59790532e+02] [ 3.55980283e-02 -6.42714162e-04 9.99365983e-01 2.03036107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.590385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.00, Y:259.79, Z:20.30 [[-6.80727769e-01 7.32118387e-01 2.47461479e-02 2.97001645e+02] [-7.31671057e-01 -6.81177072e-01 2.55980596e-02 2.59791630e+02] [ 3.55973187e-02 -6.80730239e-04 9.99365983e-01 2.03036018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.62038572299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.00, Y:259.79, Z:20.30 [[-6.80542120e-01 7.32290648e-01 2.47554112e-02 2.97001358e+02] [-7.31843757e-01 -6.80991860e-01 2.55890981e-02 2.59787412e+02] [ 3.55968907e-02 -7.02634016e-04 9.99365983e-01 2.03036136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.650385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:296.99, Y:259.78, Z:20.30 [[-6.81276705e-01 7.31606974e-01 2.47646275e-02 2.96994904e+02] [-7.31159956e-01 -6.81726319e-01 2.55801757e-02 2.59779741e+02] [ 3.55973332e-02 -6.79726118e-04 9.99365983e-01 2.03042366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.680385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.00, Y:259.78, Z:20.30 [[-6.82188655e-01 7.30756384e-01 2.47739002e-02 2.96997498e+02] [-7.30309131e-01 -6.82638035e-01 2.55711920e-02 2.59781310e+02] [ 3.55979184e-02 -6.48228435e-04 9.99365983e-01 2.03047732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.710385723 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:296.99, Y:259.77, Z:20.31 [[-6.82817917e-01 7.30168123e-01 2.47831447e-02 2.96990453e+02] [-7.29720808e-01 -6.83267235e-01 2.55622293e-02 2.59773277e+02] [ 3.55982358e-02 -6.30428256e-04 9.99365983e-01 2.03056010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.740385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:296.99, Y:259.78, Z:20.31 [[-6.83358674e-01 7.29661744e-01 2.47923962e-02 2.96993792e+02] [-7.29214421e-01 -6.83807984e-01 2.55532533e-02 2.59776485e+02] [ 3.55984698e-02 -6.16935513e-04 9.99365983e-01 2.03055135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.770385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:296.99, Y:259.77, Z:20.31 [[-6.84377154e-01 7.28706242e-01 2.48016811e-02 2.96993191e+02] [-7.28258619e-01 -6.84826165e-01 2.55442383e-02 2.59774091e+02] [ 3.55990861e-02 -5.80144834e-04 9.99365983e-01 2.03054063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.800385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:296.99, Y:259.77, Z:20.30 [[-6.85611730e-01 7.27544483e-01 2.48109071e-02 2.96988551e+02] [-7.27096423e-01 -6.86060304e-01 2.55352740e-02 2.59767457e+02] [ 3.55998262e-02 -5.32638429e-04 9.99365983e-01 2.03038134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.830385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:296.99, Y:259.77, Z:20.30 [[-6.86084282e-01 7.27098036e-01 2.48355286e-02 2.96986864e+02] [-7.26650551e-01 -6.86533430e-01 2.55113047e-02 2.59765225e+02] [ 3.55996402e-02 -5.43845331e-04 9.99365984e-01 2.03034445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.860385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:296.99, Y:259.76, Z:20.30 [[-6.78282935e-01 7.34380689e-01 2.48447691e-02 2.96990845e+02] [-7.33938354e-01 -6.78737155e-01 2.55023025e-02 2.59760971e+02] [ 3.55914664e-02 -9.36752368e-04 9.99365984e-01 2.03040278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.890385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:296.98, Y:259.76, Z:20.31 [[-6.86766652e-01 7.26468260e-01 2.44014930e-02 2.96983175e+02] [-7.26005217e-01 -6.87200014e-01 2.59338703e-02 2.59760490e+02] [ 3.56088399e-02 9.49061073e-05 9.99365800e-01 2.03053373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.920385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.98, Y:259.75, Z:20.31 [[-6.86959825e-01 7.26270107e-01 2.48582191e-02 2.96977423e+02] [-7.25822906e-01 -6.87409229e-01 2.54884474e-02 2.59754817e+02] [ 3.55992666e-02 -5.33125455e-04 9.99366003e-01 2.03062083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.950385723 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:296.88, Y:259.65, Z:20.31 [[-6.80185710e-01 7.32617875e-01 2.48686217e-02 2.96880416e+02] [-7.32175238e-01 -6.80639609e-01 2.54782937e-02 2.59647642e+02] [ 3.55924223e-02 -8.78217711e-04 9.99366003e-01 2.03104472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.980385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.98, Y:259.75, Z:20.31 [[-6.87527289e-01 7.25745373e-01 2.44924699e-02 2.96975775e+02] [-7.25285024e-01 -6.87963410e-01 2.58453246e-02 2.59752632e+02] [ 3.56070479e-02 5.34430791e-06 9.99365868e-01 2.03069867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.010385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:296.97, Y:259.75, Z:20.31 [[-6.87158835e-01 7.26080686e-01 2.48912229e-02 2.96970775e+02] [-7.25634556e-01 -6.87609273e-01 2.54554173e-02 2.59747920e+02] [ 3.55981226e-02 -5.70016630e-04 9.99366023e-01 2.03074682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.040385723 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:296.84, Y:259.61, Z:20.31 [[-6.81741061e-01 7.31169636e-01 2.49016156e-02 2.96840885e+02] [-7.30727238e-01 -6.82195165e-01 2.54452467e-02 2.59609181e+02] [ 3.55925535e-02 -8.49219342e-04 9.99366024e-01 2.03117002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.070385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.84, Y:259.61, Z:20.31 [[-6.82605371e-01 7.30371448e-01 2.46466117e-02 2.96837673e+02] [-7.29919457e-01 -6.83050031e-01 2.56951589e-02 2.59606141e+02] [ 3.56018793e-02 -4.50387921e-04 9.99365951e-01 2.03116360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.100385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:296.83, Y:259.59, Z:20.31 [[-6.81231418e-01 7.31649932e-01 2.47412919e-02 2.96827277e+02] [-7.31202139e-01 -6.81680244e-01 2.56022838e-02 2.59594135e+02] [ 3.55975591e-02 -6.49805449e-04 9.99365995e-01 2.03115930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.130385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:296.97, Y:259.74, Z:20.30 [[-6.80710451e-01 7.32137975e-01 2.46428013e-02 2.96974365e+02] [-7.31687006e-01 -6.81156147e-01 2.56988045e-02 2.59743286e+02] [ 3.56006663e-02 -5.37372653e-04 9.99365951e-01 2.03037857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.160385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:296.97, Y:259.74, Z:20.31 [[-6.86232910e-01 7.26965254e-01 2.46153037e-02 2.96966498e+02] [-7.26509958e-01 -6.86674207e-01 2.57257341e-02 2.59738062e+02] [ 3.56044090e-02 -2.29417904e-04 9.99365936e-01 2.03063098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.190385723 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:296.97, Y:259.74, Z:20.31 [[-6.86661386e-01 7.26549958e-01 2.49258657e-02 2.96965519e+02] [-7.26105376e-01 -6.87113342e-01 2.54212285e-02 2.59735741e+02] [ 3.55966874e-02 -6.43029109e-04 9.99366030e-01 2.03057123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.220385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:296.99, Y:259.75, Z:20.30 [[-6.81294949e-01 7.31584194e-01 2.49350837e-02 2.96988094e+02] [-7.31143281e-01 -6.81750485e-01 2.54121836e-02 2.59749085e+02] [ 3.55906573e-02 -9.17926606e-04 9.99366030e-01 2.03021637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.250385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:296.97, Y:259.73, Z:20.31 [[-6.86502993e-01 7.26708087e-01 2.46778470e-02 2.96965468e+02] [-7.26254821e-01 -6.86946332e-01 2.56645993e-02 2.59730220e+02] [ 3.56030284e-02 -3.03581115e-04 9.99365965e-01 2.03052801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.280385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:296.96, Y:259.73, Z:20.31 [[-6.86340133e-01 7.26852539e-01 2.49521113e-02 2.96962739e+02] [-7.26409104e-01 -6.86793202e-01 2.53951232e-02 2.59726687e+02] [ 3.55954502e-02 -6.95748558e-04 9.99366039e-01 2.03051057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.31038572299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.96, Y:259.73, Z:20.31 [[-6.85643816e-01 7.27509100e-01 2.49612993e-02 2.96964231e+02] [-7.27066427e-01 -6.86097629e-01 2.53860890e-02 2.59726232e+02] [ 3.55944990e-02 -7.42707766e-04 9.99366039e-01 2.03052581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.340385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.97, Y:259.72, Z:20.30 [[-6.85112300e-01 7.28009348e-01 2.49704797e-02 2.96965597e+02] [-7.27567335e-01 -6.85566757e-01 2.53770556e-02 2.59722837e+02] [ 3.55936645e-02 -7.81572467e-04 9.99366039e-01 2.03049118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.37038572299997 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:296.96, Y:259.72, Z:20.30 [[-6.85083460e-01 7.28036174e-01 2.49796454e-02 2.96964297e+02] [-7.27594507e-01 -6.85538253e-01 2.53680303e-02 2.59719133e+02] [ 3.55933462e-02 -7.95834771e-04 9.99366039e-01 2.03046580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.400385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.96, Y:259.72, Z:20.31 [[-6.85015347e-01 7.28099948e-01 2.49888077e-02 2.96963712e+02] [-7.27658653e-01 -6.85470500e-01 2.53590017e-02 2.59717244e+02] [ 3.55929783e-02 -8.12016813e-04 9.99366039e-01 2.03051069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.430385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.96, Y:259.72, Z:20.31 [[-6.84622125e-01 7.28469386e-01 2.49979697e-02 2.96964661e+02] [-7.28028666e-01 -6.85077835e-01 2.53499670e-02 2.59717254e+02] [ 3.55922298e-02 -8.44090284e-04 9.99366039e-01 2.03054105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.460385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.98, Y:259.72, Z:20.30 [[-6.77814846e-01 7.34807239e-01 2.50071155e-02 2.96980385e+02] [-7.34371110e-01 -6.78274951e-01 2.53409416e-02 2.59724045e+02] [ 3.55824074e-02 -1.18803676e-03 9.99366039e-01 2.03025276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.490385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.98, Y:259.72, Z:20.30 [[-6.77379290e-01 7.35218108e-01 2.47311815e-02 2.96976863e+02] [-7.34772284e-01 -6.77830110e-01 2.56131325e-02 2.59717079e+02] [ 3.55947783e-02 -8.21981204e-04 9.99365967e-01 2.03040248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.520385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.97, Y:259.71, Z:20.31 [[-6.81611510e-01 7.31294696e-01 2.47753504e-02 2.96965773e+02] [-7.30847858e-01 -6.82061293e-01 2.55695402e-02 2.59709135e+02] [ 3.55971766e-02 -6.78518859e-04 9.99365989e-01 2.03065733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.550385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:296.95, Y:259.69, Z:20.30 [[-6.75860477e-01 7.36604721e-01 2.50219880e-02 2.96954727e+02] [-7.36170371e-01 -6.76322249e-01 2.53258650e-02 2.59688465e+02] [ 3.55780789e-02 -1.30369499e-03 9.99366049e-01 2.03035225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.580385723 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:296.98, Y:259.71, Z:20.30 [[-6.76867551e-01 7.35688682e-01 2.47483771e-02 2.96984637e+02] [-7.35243795e-01 -6.77319279e-01 2.55960447e-02 2.59712878e+02] [ 3.55932734e-02 -8.70958593e-04 9.99365979e-01 2.03025004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.610385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.97, Y:259.70, Z:20.31 [[-6.81997484e-01 7.30933346e-01 2.48168465e-02 2.96967239e+02] [-7.30487764e-01 -6.82448480e-01 2.55283961e-02 2.59698579e+02] [ 3.55957751e-02 -7.18100803e-04 9.99366012e-01 2.03073867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.640385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.98, Y:259.70, Z:20.30 [[-6.77749899e-01 7.34866096e-01 2.50378839e-02 2.96982161e+02] [-7.34431155e-01 -6.78211100e-01 2.53097352e-02 2.59703334e+02] [ 3.55802371e-02 -1.23493152e-03 9.99366060e-01 2.03017105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.670385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.97, Y:259.70, Z:20.31 [[-6.82473401e-01 7.30488060e-01 2.48445157e-02 2.96971671e+02] [-7.30043178e-01 -6.82925073e-01 2.55010352e-02 2.59695220e+02] [ 3.55951444e-02 -7.33790969e-04 9.99366023e-01 2.03066683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.700385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.98, Y:259.69, Z:20.30 [[-6.78281468e-01 7.34375097e-01 2.50493013e-02 2.96978605e+02] [-7.33940244e-01 -6.78742747e-01 2.52982669e-02 2.59693744e+02] [ 3.55804488e-02 -1.22534472e-03 9.99366064e-01 2.03007825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.730385723 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:296.86, Y:259.57, Z:20.31 [[-6.81095853e-01 7.31771072e-01 2.48905059e-02 2.96857585e+02] [-7.31328696e-01 -6.81549961e-01 2.54556367e-02 2.59569197e+02] [ 3.55918219e-02 -8.65412650e-04 9.99366036e-01 2.03086911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.760385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:296.97, Y:259.68, Z:20.31 [[-6.83951817e-01 7.29099459e-01 2.49778133e-02 2.96968905e+02] [-7.28658462e-01 -6.84407231e-01 2.53690522e-02 2.59682371e+02] [ 3.55915583e-02 -8.49085644e-04 9.99366059e-01 2.03070550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.790385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.97, Y:259.68, Z:20.30 [[-6.82651925e-01 7.30312960e-01 2.50864506e-02 2.96974726e+02] [-7.29876721e-01 -6.83111884e-01 2.52611669e-02 2.59679209e+02] [ 3.55854101e-02 -1.06543211e-03 9.99366071e-01 2.03045558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.820385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:296.97, Y:259.68, Z:20.30 [[-6.83497606e-01 7.29524674e-01 2.49954564e-02 2.96974072e+02] [-7.29084597e-01 -6.83953908e-01 2.53515878e-02 2.59675461e+02] [ 3.55903489e-02 -8.96052674e-04 9.99366061e-01 2.03044691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.850385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.97, Y:259.67, Z:20.31 [[-6.86042613e-01 7.27131117e-01 2.50174281e-02 2.96970762e+02] [-7.26690244e-01 -6.86498138e-01 2.53297409e-02 2.59672102e+02] [ 3.55924606e-02 -8.02639329e-04 9.99366065e-01 2.03073141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.880385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.97, Y:259.67, Z:20.31 [[-6.87489885e-01 7.25759724e-01 2.51093708e-02 2.96968707e+02] [-7.25321273e-01 -6.87947731e-01 2.52382682e-02 2.59665620e+02] [ 3.55908532e-02 -8.61306718e-04 9.99366074e-01 2.03070272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.910385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.97, Y:259.66, Z:20.31 [[-6.88454767e-01 7.24844188e-01 2.51184607e-02 2.96967539e+02] [-7.24405458e-01 -6.88912345e-01 2.52292182e-02 2.59662039e+02] [ 3.55916698e-02 -8.26774459e-04 9.99366074e-01 2.03074090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.940385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.97, Y:259.66, Z:20.31 [[-6.90242185e-01 7.23141985e-01 2.51275600e-02 2.96967922e+02] [-7.22702456e-01 -6.90698996e-01 2.52201523e-02 2.59657398e+02] [ 3.55933315e-02 -7.51736339e-04 9.99366074e-01 2.03068151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.970385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.97, Y:259.65, Z:20.31 [[-6.91531288e-01 7.21909015e-01 2.51366619e-02 2.96966179e+02] [-7.21469001e-01 -6.91987632e-01 2.52110773e-02 2.59653339e+02] [ 3.55943631e-02 -7.01073557e-04 9.99366074e-01 2.03071991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.000385723 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:296.97, Y:259.65, Z:20.31 [[-6.93027757e-01 7.20472218e-01 2.51457978e-02 2.96967342e+02] [-7.20031588e-01 -6.93483506e-01 2.52019617e-02 2.59650839e+02] [ 3.55955093e-02 -6.40109790e-04 9.99366074e-01 2.03056601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.030385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:296.96, Y:259.65, Z:20.31 [[-6.94079036e-01 7.19459188e-01 2.51549002e-02 2.96963319e+02] [-7.19018221e-01 -6.94534460e-01 2.51928731e-02 2.59645850e+02] [ 3.55961890e-02 -6.00986522e-04 9.99366074e-01 2.03080552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.06038572299997 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:296.96, Y:259.64, Z:20.31 [[-6.95242081e-01 7.18335034e-01 2.51640078e-02 2.96963131e+02] [-7.17893661e-01 -6.95697110e-01 2.51837726e-02 2.59644806e+02] [ 3.55969137e-02 -5.56263278e-04 9.99366074e-01 2.03080152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.090385723 meters Centerline goodness : 0.995065 Centerline is valid? [True, True] Translation: X:296.42, Y:259.10, Z:20.33 [[-6.99387855e-01 7.14298916e-01 2.51731497e-02 2.96416784e+02] [-7.13855245e-01 -6.99840644e-01 2.51746312e-02 2.59100339e+02] [ 3.55994051e-02 -3.63153631e-04 9.99366074e-01 2.03346807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.12038572299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.34, Y:259.16, Z:21.31 [[-6.65749140e-01 -7.45750893e-01 -2.51731497e-02 2.97337223e+02] [-7.45328546e-01 6.66221882e-01 -2.51746312e-02 2.59155678e+02] [ 3.55449069e-02 2.00227799e-03 -9.99366074e-01 2.13092210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.150385723 meters Centerline goodness : 0.995642 Centerline is valid? [True, True] Translation: X:296.85, Y:258.60, Z:21.34 [[-6.03283159e-01 -7.97185575e-01 -2.33364346e-02 2.96854787e+02] [-7.96739519e-01 6.03729415e-01 -2.67755728e-02 2.58603317e+02] [ 3.54339924e-02 2.43980752e-03 -9.99369041e-01 2.13376456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.180385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.20, Y:259.15, Z:21.31 [[-5.46393759e-01 -8.37203243e-01 -2.33364346e-02 2.97199474e+02] [-8.36789296e-01 5.46869950e-01 -2.67755728e-02 2.59150754e+02] [ 3.51785912e-02 4.89767280e-03 -9.99369041e-01 2.13134242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.210385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.62, Y:259.47, Z:20.32 [[-5.33681244e-01 8.45473079e-01 1.89631873e-02 2.96624846e+02] [-8.44955514e-01 -5.34017993e-01 2.95797656e-02 2.59472205e+02] [ 3.51355787e-02 -2.36883555e-04 9.99382527e-01 2.03185659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.240385723 meters Centerline goodness : 0.999699 Centerline is valid? [True, True] Translation: X:296.37, Y:259.08, Z:20.33 [[-5.33468550e-01 8.45607058e-01 1.89739309e-02 2.96371292e+02] [-8.45089823e-01 -5.33805804e-01 2.95728725e-02 2.59078673e+02] [ 3.51354242e-02 -2.58478510e-04 9.99382527e-01 2.03337409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.270385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.43, Y:259.18, Z:20.33 [[-5.34218845e-01 8.45134905e-01 1.89002088e-02 2.96432151e+02] [-8.44615695e-01 -5.34553058e-01 2.96201756e-02 2.59179517e+02] [ 3.51362087e-02 -1.39756995e-04 9.99382523e-01 2.03296011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.300385723 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:296.61, Y:259.47, Z:20.32 [[-5.34955238e-01 8.44669449e-01 1.88789502e-02 2.96614747e+02] [-8.44149467e-01 -5.35288254e-01 2.96338183e-02 2.59465256e+02] [ 3.51364612e-02 -8.38894253e-05 9.99382520e-01 2.03170757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.330385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:296.61, Y:259.47, Z:20.32 [[-5.35088845e-01 8.44581872e-01 1.90102544e-02 2.96614169e+02] [-8.44064825e-01 -5.35426379e-01 2.95493456e-02 2.59466054e+02] [ 3.51354333e-02 -2.34361877e-04 9.99382533e-01 2.03168568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.360385723 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:296.61, Y:259.46, Z:20.32 [[-5.34904122e-01 8.44698634e-01 1.90209752e-02 2.96610224e+02] [-8.44181907e-01 -5.35242144e-01 2.95424430e-02 2.59464230e+02] [ 3.51352888e-02 -2.54788610e-04 9.99382533e-01 2.03178795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.390385723 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:296.61, Y:259.46, Z:20.32 [[-5.35210146e-01 8.44504465e-01 1.90344292e-02 2.96608983e+02] [-8.43987923e-01 -5.35548450e-01 2.95337720e-02 2.59462181e+02] [ 3.51352613e-02 -2.58053927e-04 9.99382533e-01 2.03179691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.420385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.61, Y:259.46, Z:20.32 [[-5.34985226e-01 8.44646726e-01 1.90451341e-02 2.96605959e+02] [-8.44130519e-01 -5.35324043e-01 2.95268672e-02 2.59460740e+02] [ 3.51350899e-02 -2.80141257e-04 9.99382533e-01 2.03183740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.450385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.60, Y:259.46, Z:20.32 [[-5.34299910e-01 8.45080163e-01 1.90558366e-02 2.96601594e+02] [-8.44564477e-01 -5.34639519e-01 2.95199585e-02 2.59462372e+02] [ 3.51347346e-02 -3.21371508e-04 9.99382533e-01 2.03196782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.480385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.54, Y:259.38, Z:20.32 [[-5.36563052e-01 8.43644805e-01 1.90665673e-02 2.96543410e+02] [-8.43128458e-01 -5.36901653e-01 2.95130260e-02 2.59380555e+02] [ 3.51353826e-02 -2.39966142e-04 9.99382533e-01 2.03233522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.510385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:297.04, Y:258.92, Z:21.33 [[-4.92664180e-01 -8.70007893e-01 -1.91904228e-02 2.97040505e+02] [-8.69512634e-01 4.93032949e-01 -2.94328265e-02 2.58916383e+02] [ 3.50683021e-02 2.18581575e-03 -9.99382528e-01 2.13253093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.540385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.92, Y:258.74, Z:21.33 [[-4.22699664e-01 -9.06108089e-01 -1.71208947e-02 2.96923978e+02] [-9.05595787e-01 4.23038380e-01 -3.05744822e-02 2.58739168e+02] [ 3.49465812e-02 2.58078681e-03 -9.99385849e-01 2.13338705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.570385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:296.40, Y:259.31, Z:20.33 [[-4.12664132e-01 9.10771819e-01 1.42480517e-02 2.96400625e+02] [-9.10213137e-01 -4.12909985e-01 3.18965511e-02 2.59305690e+02] [ 3.49336427e-02 1.93798739e-04 9.99389615e-01 2.03269510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.600385723 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:296.92, Y:258.77, Z:21.34 [[-3.53800374e-01 -9.35203651e-01 -1.48130746e-02 2.96922748e+02] [-9.34672231e-01 3.54100399e-01 -3.16342758e-02 2.58771968e+02] [ 3.48298059e-02 2.65315084e-03 -9.99389737e-01 2.13366000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.630385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:296.34, Y:259.29, Z:20.33 [[-3.41402448e-01 9.39843265e-01 1.17900867e-02 2.96340187e+02] [-9.39272240e-01 -3.41605951e-01 3.27571814e-02 2.59292203e+02] [ 3.48141801e-02 1.09280772e-04 9.99393797e-01 2.03287377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.660385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:296.97, Y:258.98, Z:21.32 [[-2.95602550e-01 -9.55238256e-01 -1.17900867e-02 2.96967475e+02] [-9.54677729e-01 2.95833400e-01 -3.27571814e-02 2.58975110e+02] [ 3.47788143e-02 1.57262683e-03 -9.99393797e-01 2.13244084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.690385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:296.25, Y:259.15, Z:20.33 [[-2.77155127e-01 9.60775836e-01 9.73802701e-03 2.96251354e+02] [-9.60196124e-01 -2.77326132e-01 3.33709613e-02 2.59148186e+02] [ 3.47626226e-02 -1.01482765e-04 9.99395592e-01 2.03338794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.720385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.90, Y:258.86, Z:21.33 [[-2.36785947e-01 -9.71513040e-01 -9.73802701e-03 2.96903483e+02] [-9.70940975e-01 2.36981015e-01 -3.33709613e-02 2.58862059e+02] [ 3.47280516e-02 1.55327476e-03 -9.99395592e-01 2.13287139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.750385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.85, Y:258.77, Z:21.33 [[-1.71114382e-01 -9.85222901e-01 -7.46344193e-03 2.96852174e+02] [-9.84641134e-01 1.71270056e-01 -3.38881375e-02 2.58770537e+02] [ 3.46656333e-02 1.55006420e-03 -9.99397764e-01 2.13325845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.780385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.10, Y:258.83, Z:20.35 [[-1.39171975e-01 9.90253660e-01 5.37117545e-03 2.96102840e+02] [-9.89662488e-01 -1.39274483e-01 3.42166507e-02 2.58828283e+02] [ 3.46312313e-02 -5.53651999e-04 9.99400006e-01 2.03456625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.81038572299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.10, Y:258.85, Z:20.34 [[-1.39636445e-01 9.90188196e-01 5.38522706e-03 2.96103814e+02] [-9.89597059e-01 -1.39739161e-01 3.42144390e-02 2.58846949e+02] [ 3.46312608e-02 -5.51622240e-04 9.99400006e-01 2.03446361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.840385723 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:296.10, Y:258.84, Z:20.35 [[-1.40304555e-01 9.90093663e-01 5.40087749e-03 2.96101247e+02] [-9.89502552e-01 -1.40407413e-01 3.42119684e-02 2.58842393e+02] [ 3.46313764e-02 -5.44087041e-04 9.99400006e-01 2.03461488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.87038572299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.10, Y:258.84, Z:20.35 [[-1.41453397e-01 9.89930098e-01 5.41640714e-03 2.96097921e+02] [-9.89338960e-01 -1.41556105e-01 3.42095096e-02 2.58835813e+02] [ 3.46317487e-02 -5.19611276e-04 9.99400006e-01 2.03452581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.900385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.09, Y:258.84, Z:20.34 [[-1.41734005e-01 9.89889876e-01 5.43195788e-03 2.96094787e+02] [-9.89298802e-01 -1.41837083e-01 3.42070402e-02 2.58835999e+02] [ 3.46316558e-02 -5.25528631e-04 9.99400006e-01 2.03423357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.930385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.08, Y:258.74, Z:20.35 [[-1.57018408e-01 9.87580652e-01 5.44750194e-03 2.96081413e+02] [-9.86988142e-01 -1.57112875e-01 3.42045646e-02 2.58739616e+02] [ 3.46356389e-02 -5.87355838e-06 9.99400006e-01 2.03464294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.960385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.08, Y:258.73, Z:20.35 [[-1.58863994e-01 9.87282338e-01 5.98466658e-03 2.96076437e+02] [-9.86693031e-01 -1.58975937e-01 3.41103241e-02 2.58731851e+02] [ 3.46279385e-02 -4.86126495e-04 9.99400155e-01 2.03474147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.990385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.80, Y:258.53, Z:21.34 [[-1.22737067e-01 -9.92421179e-01 -5.98466658e-03 2.96803941e+02] [-9.91836348e-01 1.22870436e-01 -3.41103241e-02 2.58530022e+02] [ 3.45871467e-02 1.74920872e-03 -9.99400155e-01 2.13408312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.020385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.02, Y:258.57, Z:20.36 [[-8.94778793e-02 9.95982224e-01 3.62192201e-03 2.96015185e+02] [-9.95389394e-01 -8.95495829e-02 3.43631554e-02 2.58571535e+02] [ 3.45494336e-02 -5.30480479e-04 9.99402849e-01 2.03561743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.050385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.76, Y:258.41, Z:21.34 [[-5.58156862e-02 -9.98434520e-01 -3.62192200e-03 2.96762044e+02] [-9.97844447e-01 5.59073551e-02 -3.43631554e-02 2.58411352e+02] [ 3.45118527e-02 1.69611166e-03 -9.99402849e-01 2.13447617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.080385723 meters Centerline goodness : 0.999219 Centerline is valid? [True, True] Translation: X:296.73, Y:257.89, Z:21.37 [[ 2.30600562e-02 -9.99733299e-01 -1.25054785e-03 2.96731882e+02] [-9.99141416e-01 -2.30033022e-02 -3.44569097e-02 2.57893722e+02] [ 3.44189533e-02 2.04405243e-03 -9.99405402e-01 2.13666103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.110385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.94, Y:257.80, Z:20.38 [[ 5.37844141e-02 9.98551543e-01 -1.43278730e-03 2.95936881e+02] [-9.97960556e-01 5.38018732e-02 3.43524047e-02 2.57799952e+02] [ 3.43797334e-02 -4.17758756e-04 9.99408755e-01 2.03809458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.140385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.93, Y:257.77, Z:20.38 [[ 4.90243326e-02 9.98796559e-01 -1.43136519e-03 2.95933067e+02] [-9.98205660e-01 4.90445595e-02 3.43524597e-02 2.57771245e+02] [ 3.43813192e-02 -2.55309574e-04 9.99408755e-01 2.03817939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.170385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.73, Y:257.84, Z:21.37 [[ 1.08141505e-01 -9.94134626e-01 1.32705946e-03 2.96725444e+02] [-9.93543673e-01 -1.08123083e-01 -3.43564888e-02 2.57839042e+02] [ 3.42984609e-02 2.39687086e-03 -9.99408761e-01 2.13671211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.200385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:296.71, Y:257.84, Z:21.37 [[ 1.89146132e-01 -9.81940796e-01 4.00176049e-03 2.96712455e+02] [-9.81353741e-01 -1.89171784e-01 -3.40421950e-02 2.57840976e+02] [ 3.41844402e-02 2.51180686e-03 -9.99412385e-01 2.13690950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.230385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:296.70, Y:257.84, Z:21.37 [[ 2.67132261e-01 -9.63637036e-01 6.63455852e-03 2.96698925e+02] [-9.63057239e-01 -2.67202324e-01 -3.35212342e-02 2.57842854e+02] [ 3.40750723e-02 2.56514347e-03 -9.99415984e-01 2.13713644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.260385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.69, Y:257.84, Z:21.37 [[ 3.43374440e-01 -9.39153407e-01 9.21256071e-03 2.96686290e+02] [-9.38584202e-01 -3.43488048e-01 -3.27972142e-02 2.57841991e+02] [ 3.39660199e-02 2.61496112e-03 -9.99419567e-01 2.13728120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.290385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:296.67, Y:257.84, Z:21.38 [[ 4.19126386e-01 -9.07852323e-01 1.17146022e-02 2.96674601e+02] [-9.07296592e-01 -4.19281163e-01 -3.18778833e-02 2.57838227e+02] [ 3.38521224e-02 2.73224330e-03 -9.99423118e-01 2.13764575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.320385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:296.67, Y:257.83, Z:21.38 [[ 4.89727616e-01 -8.71760984e-01 1.41297169e-02 2.96667949e+02] [-8.71222184e-01 -4.89923645e-01 -3.07689458e-02 2.57833951e+02] [ 3.37456488e-02 2.75827965e-03 -9.99426647e-01 2.13754989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.350385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.66, Y:257.83, Z:21.38 [[ 5.58032421e-01 -8.29654486e-01 1.65303012e-02 2.96662490e+02] [-8.29136820e-01 -5.58270592e-01 -2.94292479e-02 2.57832278e+02] [ 3.36444886e-02 2.71659314e-03 -9.99430172e-01 2.13777954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.380385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.66, Y:257.83, Z:21.38 [[ 6.20842974e-01 -7.83713198e-01 1.86447199e-02 2.96655001e+02] [-7.83217035e-01 -6.21116585e-01 -2.80225564e-02 2.57826430e+02] [ 3.35421921e-02 2.79474502e-03 -9.99433395e-01 2.13792999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.410385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.65, Y:257.82, Z:21.38 [[ 6.79901705e-01 -7.33010590e-01 2.07158508e-02 2.96647357e+02] [-7.32540368e-01 -6.80211577e-01 -2.63973422e-02 2.57822017e+02] [ 3.34406929e-02 2.77240099e-03 -9.99436858e-01 2.13811188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.440385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:296.64, Y:257.81, Z:21.38 [[ 7.33894498e-01 -6.78885814e-01 2.26476532e-02 2.96639606e+02] [-6.78444611e-01 -7.34238886e-01 -2.46204915e-02 2.57814509e+02] [ 3.33432901e-02 2.70366498e-03 -9.99440301e-01 2.13809691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.470385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.63, Y:257.81, Z:21.38 [[ 7.83102656e-01 -6.21412492e-01 2.44283679e-02 2.96633361e+02] [-6.21003053e-01 -7.83479229e-01 -2.27047636e-02 2.57806560e+02] [ 3.32481426e-02 2.61006965e-03 -9.99443720e-01 2.13810945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.500385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.63, Y:257.80, Z:21.38 [[ 8.28567064e-01 -5.59283522e-01 2.60492378e-02 2.96625431e+02] [-5.58907612e-01 -8.28972489e-01 -2.06614047e-02 2.57796093e+02] [ 3.31496847e-02 2.56024210e-03 -9.99447119e-01 2.13819150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.530385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.62, Y:257.79, Z:21.38 [[ 8.69125771e-01 -4.93825942e-01 2.75015162e-02 2.96617916e+02] [-4.93485560e-01 -8.69557151e-01 -1.85030503e-02 2.57786100e+02] [ 3.30514263e-02 2.50987674e-03 -9.99450501e-01 2.13834341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.56038572299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.62, Y:257.79, Z:21.39 [[ 9.03165480e-01 -4.28327020e-01 2.87763789e-02 2.96619660e+02] [-4.28025328e-01 -9.03620727e-01 -1.62449834e-02 2.57786175e+02] [ 3.29610977e-02 2.35488922e-03 -9.99453861e-01 2.13865765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.590385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.62, Y:257.78, Z:21.38 [[ 9.33484567e-01 -3.57350426e-01 3.01203674e-02 2.96618524e+02] [-3.57105089e-01 -9.33968826e-01 -1.33487114e-02 2.57784603e+02] [ 3.29016518e-02 1.70467957e-03 -9.99457140e-01 2.13839060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.62038572299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.61, Y:257.77, Z:21.38 [[ 9.57974592e-01 -2.85194157e-01 3.08054138e-02 2.96612863e+02] [-2.84970452e-01 -9.58467116e-01 -1.15164579e-02 2.57771195e+02] [ 3.28104026e-02 2.25384136e-03 -9.99459053e-01 2.13847633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.650385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:296.61, Y:257.76, Z:21.39 [[ 9.76338975e-01 -2.13936921e-01 3.15150693e-02 2.96606079e+02] [-2.13755925e-01 -9.76845234e-01 -9.04394290e-03 2.57758961e+02] [ 3.27201785e-02 2.09342114e-03 -9.99462359e-01 2.13861746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.680385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.60, Y:257.75, Z:21.39 [[ 9.89756891e-01 -1.39124075e-01 3.20279333e-02 2.96600319e+02] [-1.38985354e-01 -9.90272918e-01 -6.52840425e-03 2.57746273e+02] [ 3.26246531e-02 2.01011945e-03 -9.99465653e-01 2.13870375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.710385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:296.60, Y:257.73, Z:21.39 [[ 9.97469989e-01 -6.33060677e-02 3.23413576e-02 2.96595170e+02] [-6.32099557e-02 -9.97992289e-01 -3.98664895e-03 2.57733097e+02] [ 3.25288046e-02 1.93226690e-03 -9.99468931e-01 2.13888506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.740385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:296.59, Y:257.72, Z:21.39 [[ 9.99415592e-01 1.07325586e-02 3.24543829e-02 2.96591095e+02] [ 1.07848889e-02 -9.99940808e-01 -1.43779726e-03 2.57718588e+02] [ 3.24370306e-02 1.78697391e-03 -9.99472184e-01 2.13904719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.770385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:296.59, Y:257.70, Z:21.39 [[ 9.95685743e-01 8.69610571e-02 3.23678102e-02 2.96588318e+02] [ 8.69709813e-02 -9.96210234e-01 1.10384036e-03 2.57702633e+02] [ 3.23411349e-02 1.71598211e-03 -9.99475416e-01 2.13905840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.800385723 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:296.59, Y:257.69, Z:21.39 [[ 9.86266633e-01 1.62014817e-01 3.20831416e-02 2.96586145e+02] [ 1.61982391e-01 -9.86786992e-01 3.62454638e-03 2.57686069e+02] [ 3.22464570e-02 1.62213483e-03 -9.99478631e-01 2.13915073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.830385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:296.59, Y:257.67, Z:21.39 [[ 9.70682531e-01 2.38278492e-01 3.16035568e-02 2.96586396e+02] [ 2.38205595e-01 -9.71195552e-01 6.10694812e-03 2.57670589e+02] [ 3.21483881e-02 1.60023618e-03 -9.99481826e-01 2.13922156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.860385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:296.59, Y:257.65, Z:21.39 [[ 9.49430274e-01 3.12450502e-01 3.09328112e-02 2.96589484e+02] [ 3.12337713e-01 -9.49932768e-01 8.53754395e-03 2.57647457e+02] [ 3.20516509e-02 1.55568082e-03 -9.99485003e-01 2.13910865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.890385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.59, Y:257.63, Z:21.39 [[ 9.21111576e-01 3.88128753e-01 3.01584955e-02 2.96592924e+02] [ 3.87986287e-01 -9.21603274e-01 1.06792112e-02 2.57630145e+02] [ 3.19390771e-02 1.86433759e-03 -9.99488079e-01 2.13920069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.920385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:296.60, Y:257.62, Z:21.39 [[ 8.87302583e-01 4.60273503e-01 2.90246249e-02 2.96597199e+02] [ 4.60087845e-01 -8.87775614e-01 1.31770401e-02 2.57616170e+02] [ 3.18323966e-02 1.66185541e-03 -9.99491839e-01 2.13924682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.950385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:296.61, Y:257.60, Z:21.39 [[ 8.48532249e-01 5.28411935e-01 2.78181565e-02 2.96606275e+02] [ 5.28191189e-01 -8.48986500e-01 1.53619725e-02 2.57595066e+02] [ 3.17346890e-02 1.65817613e-03 -9.99494952e-01 2.13926884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.980385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:296.61, Y:257.58, Z:21.39 [[ 8.01534943e-01 5.97358981e-01 2.65326918e-02 2.96614958e+02] [ 5.97111253e-01 -8.01971561e-01 1.73137767e-02 2.57576914e+02] [ 3.16210042e-02 1.96537179e-03 -9.99497999e-01 2.13943722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.010385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:296.62, Y:257.56, Z:21.40 [[ 7.51159024e-01 6.59650889e-01 2.49163591e-02 2.96622579e+02] [ 6.59368457e-01 -7.51569845e-01 1.93908668e-02 2.57561818e+02] [ 3.15175867e-02 1.86343667e-03 -9.99501460e-01 2.13956793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.040385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:296.64, Y:257.55, Z:21.40 [[ 6.94746036e-01 7.18879301e-01 2.32485578e-02 2.96635534e+02] [ 7.18568778e-01 -6.95132140e-01 2.12183860e-02 2.57548570e+02] [ 3.14142782e-02 1.96429814e-03 -9.99504520e-01 2.13961866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.070385723 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:296.64, Y:257.54, Z:21.39 [[ 6.36738934e-01 7.70789904e-01 2.11294414e-02 2.96642493e+02] [ 7.70442230e-01 -6.37087630e-01 2.31974341e-02 2.57537558e+02] [ 3.13416538e-02 1.50830449e-03 -9.99507592e-01 2.13946758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.100385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:296.64, Y:257.53, Z:21.40 [[ 5.72650387e-01 8.19569724e-01 1.94165442e-02 2.96644410e+02] [ 8.19203588e-01 -5.72976513e-01 2.45641522e-02 2.57530896e+02] [ 3.12572593e-02 1.83943141e-03 -9.99509680e-01 2.13954554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.130385723 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:296.65, Y:257.52, Z:21.39 [[ 5.05089252e-01 8.62889330e-01 1.75171862e-02 2.96652314e+02] [ 8.62504444e-01 -5.05388757e-01 2.58512827e-02 2.57521398e+02] [ 3.11597850e-02 2.05144587e-03 -9.99512311e-01 2.13946621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.160385723 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:296.66, Y:257.51, Z:21.39 [[ 4.35215351e-01 9.00194823e-01 1.53908514e-02 2.96663295e+02] [ 8.99790379e-01 -4.35482480e-01 2.70607469e-02 2.57513046e+02] [ 3.10623904e-02 2.07128752e-03 -9.99515301e-01 2.13944898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.190385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:296.68, Y:257.51, Z:21.39 [[ 3.61319426e-01 9.32348903e-01 1.31831211e-02 2.96675808e+02] [ 9.31927897e-01 -3.61553550e-01 2.80967266e-02 2.57505315e+02] [ 3.09623565e-02 2.13382517e-03 -9.99518274e-01 2.13944099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.220385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:296.68, Y:257.50, Z:21.40 [[ 2.84959046e-01 9.58477947e-01 1.08796839e-02 2.96683517e+02] [ 9.58042665e-01 -2.85158409e-01 2.89643617e-02 2.57502250e+02] [ 3.08641353e-02 2.16954450e-03 -9.99521235e-01 2.13969320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.250385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:296.69, Y:257.50, Z:21.40 [[ 2.08689353e-01 9.77949084e-01 8.02144781e-03 2.96691947e+02] [ 9.77496693e-01 -2.08837137e-01 2.97870068e-02 2.57497576e+02] [ 3.08053522e-02 1.62470754e-03 -9.99524082e-01 2.13978739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.280385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:296.71, Y:257.49, Z:21.40 [[ 1.31532057e-01 9.91294131e-01 5.93836569e-03 2.96705622e+02] [ 9.90835381e-01 -1.31652191e-01 3.02150336e-02 2.57494427e+02] [ 3.07337843e-02 1.90969730e-03 -9.99525781e-01 2.13986538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.31038572299997 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:296.72, Y:257.49, Z:21.40 [[ 5.06830099e-02 9.98708610e-01 3.51341251e-03 2.96722473e+02] [ 9.98244157e-01 -5.07667998e-02 3.05177960e-02 2.57489587e+02] [ 3.06567503e-02 1.96050975e-03 -9.99528049e-01 2.14009634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.340385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.74, Y:257.49, Z:21.40 [[-2.82678578e-02 9.99599359e-01 1.43168850e-03 2.96735482e+02] [ 9.99133053e-01 2.82108220e-02 3.06152123e-02 2.57486811e+02] [ 3.05625575e-02 2.29587377e-03 -9.99530219e-01 2.14018342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.37038572299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.77, Y:257.50, Z:21.40 [[-1.06731347e-01 9.94287424e-01 -9.68147926e-04 2.96774722e+02] [ 9.93820968e-01 1.06711011e-01 3.05392213e-02 2.57499916e+02] [ 3.04680757e-02 2.29732650e-03 -9.99533100e-01 2.14008388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.400385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.81, Y:257.51, Z:21.40 [[-1.84082935e-01 9.82904632e-01 -3.45797428e-03 2.96811653e+02] [ 9.82441030e-01 1.84102579e-01 3.02632258e-02 2.57506386e+02] [ 3.03824868e-02 2.17368763e-03 -9.99535982e-01 2.14024148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.430385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.87, Y:257.42, Z:21.40 [[-2.59552418e-01 9.65711582e-01 -5.80375288e-03 2.96870317e+02] [ 9.65253594e-01 2.59608507e-01 2.98148001e-02 2.57418391e+02] [ 3.02992014e-02 2.13641013e-03 -9.99538591e-01 2.14008763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.460385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.91, Y:257.42, Z:21.40 [[-3.31888171e-01 9.43283400e-01 -8.16506567e-03 2.96912457e+02] [ 9.42834430e-01 3.31982677e-01 2.91674354e-02 2.57417807e+02] [ 3.02238180e-02 1.98202174e-03 -9.99541191e-01 2.14024765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.490385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.96, Y:257.41, Z:21.40 [[-4.03410936e-01 9.14961715e-01 -1.02311956e-02 2.96955996e+02] [ 9.14522541e-01 4.03535140e-01 2.84238059e-02 2.57409219e+02] [ 3.01353412e-02 2.10981513e-03 -9.99543601e-01 2.14020804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.520385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:297.01, Y:257.38, Z:21.40 [[-4.71906615e-01 8.81559929e-01 -1.24995083e-02 2.97014475e+02] [ 8.81136126e-01 4.72068237e-01 2.73990278e-02 2.57378523e+02] [ 3.00545059e-02 1.91601420e-03 -9.99546425e-01 2.14020816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.550385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.06, Y:257.37, Z:21.40 [[-5.38630393e-01 8.42418324e-01 -1.44453615e-02 2.97062770e+02] [ 8.42009162e-01 5.38820277e-01 2.63302120e-02 2.57372905e+02] [ 2.99645067e-02 2.01912575e-03 -9.99548924e-01 2.14015293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.580385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.12, Y:257.36, Z:21.40 [[-6.01927488e-01 7.98380370e-01 -1.64949589e-02 2.97116396e+02] [ 7.97991556e-01 6.02150534e-01 2.49842131e-02 2.57364099e+02] [ 2.98793536e-02 1.87584676e-03 -9.99551752e-01 2.14021358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.610385723 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:297.17, Y:257.36, Z:21.40 [[-6.61433110e-01 7.49779273e-01 -1.83652599e-02 2.97168726e+02] [ 7.49412013e-01 6.61685568e-01 2.35338942e-02 2.57362048e+02] [ 2.97972535e-02 1.80295039e-03 -9.99554337e-01 2.14018177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.640385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:297.22, Y:257.37, Z:21.40 [[-7.17544091e-01 6.96225228e-01 -2.00227275e-02 2.97217933e+02] [ 6.95879206e-01 7.17820957e-01 2.20273683e-02 2.57367486e+02] [ 2.97087430e-02 1.87220826e-03 -9.99556845e-01 2.14019446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.670385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.27, Y:257.38, Z:21.40 [[-7.69039272e-01 6.38835763e-01 -2.16209647e-02 2.97267538e+02] [ 6.38514887e-01 7.69340971e-01 2.03275559e-02 2.57376751e+02] [ 2.96198636e-02 1.82738101e-03 -9.99559565e-01 2.14018058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.700385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.32, Y:257.39, Z:21.40 [[-8.16480502e-01 5.76911689e-01 -2.30758173e-02 2.97315763e+02] [ 5.76617371e-01 8.16804520e-01 1.85143968e-02 2.57389944e+02] [ 2.95296038e-02 1.81072688e-03 -9.99562266e-01 2.14021413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.730385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:297.36, Y:257.41, Z:21.40 [[-8.59072220e-01 5.11273454e-01 -2.43798540e-02 2.97362107e+02] [ 5.11007099e-01 8.59416203e-01 1.65992575e-02 2.57407280e+02] [ 2.94392013e-02 1.80168255e-03 -9.99564949e-01 2.14016438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.760385723 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:297.41, Y:257.43, Z:21.40 [[-8.96610768e-01 4.42083124e-01 -2.55272831e-02 2.97406510e+02] [ 4.41845917e-01 8.96972271e-01 1.45921164e-02 2.57428637e+02] [ 2.93481935e-02 1.80432287e-03 -9.99567621e-01 2.14030341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.790385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.45, Y:257.45, Z:21.40 [[-9.28604482e-01 3.70122811e-01 -2.65107793e-02 2.97446380e+02] [ 3.69915829e-01 9.28981074e-01 1.25077275e-02 2.57454148e+02] [ 2.92574075e-02 1.80797489e-03 -9.99570275e-01 2.14026319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.820385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.49, Y:257.48, Z:21.40 [[-9.54868382e-01 2.95769678e-01 -2.73252835e-02 2.97490589e+02] [ 2.95593769e-01 9.55257559e-01 1.03595316e-02 2.57481402e+02] [ 2.91667189e-02 1.81480565e-03 -9.99572913e-01 2.14014378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.850385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.50, Y:257.52, Z:21.40 [[-9.75174108e-01 2.19666358e-01 -2.79669539e-02 2.97497165e+02] [ 2.19522250e-01 9.75573361e-01 8.16081114e-03 2.57519971e+02] [ 2.90764709e-02 1.81884307e-03 -9.99575535e-01 2.14019804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.880385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.56, Y:257.55, Z:21.40 [[-9.89415961e-01 1.42294161e-01 -2.84328548e-02 2.97564342e+02] [ 1.42182369e-01 9.89822740e-01 5.92592501e-03 2.57548411e+02] [ 2.89867108e-02 1.82055412e-03 -9.99578139e-01 2.14014776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.910385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:297.60, Y:257.59, Z:21.40 [[-9.97541278e-01 6.39256505e-02 -2.87212514e-02 2.97596481e+02] [ 6.38464023e-02 9.97952993e-01 3.66880047e-03 2.57585548e+02] [ 2.88969893e-02 1.82603134e-03 -9.99580727e-01 2.14013481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.940385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.62, Y:257.62, Z:21.40 [[-9.99483319e-01 -1.42069210e-02 -2.88315580e-02 2.97624489e+02] [-1.42532538e-02 9.99897434e-01 1.40212929e-03 2.57624544e+02] [ 2.88086809e-02 1.81234835e-03 -9.99583301e-01 2.14016652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.970385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.65, Y:257.67, Z:21.40 [[-9.95333241e-01 -9.21105737e-02 -2.87642400e-02 2.97651922e+02] [-9.21240904e-02 9.95747165e-01 -8.57768446e-04 2.57666339e+02] [ 2.87209199e-02 1.79611400e-03 -9.99585856e-01 2.14023711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.000385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:297.67, Y:257.71, Z:21.40 [[-9.85130702e-01 -1.69422740e-01 -2.85207763e-02 2.97671877e+02] [-1.69403730e-01 9.85541867e-01 -3.09905389e-03 2.57708509e+02] [ 2.86334693e-02 1.77855276e-03 -9.99588396e-01 2.14026196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.030385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.68, Y:257.75, Z:21.40 [[-9.68947741e-01 -2.45663135e-01 -2.81051350e-02 2.97680793e+02] [-2.45612246e-01 9.69353655e-01 -5.30249172e-03 2.57750106e+02] [ 2.85464421e-02 1.76512795e-03 -9.99590909e-01 2.14028131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.06038572299997 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:297.48, Y:258.42, Z:20.42 [[-9.60398171e-01 2.77268802e-01 2.75202605e-02 2.97477524e+02] [-2.77168805e-01 -9.60792276e-01 7.46030360e-03 2.58416887e+02] [ 2.85097631e-02 -4.62895775e-04 9.99593407e-01 2.04203193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.090385723 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:297.70, Y:257.80, Z:21.40 [[-9.47068922e-01 -3.19848312e-01 -2.75229665e-02 2.97698716e+02] [-3.19766291e-01 9.47467156e-01 -7.45030680e-03 2.57797528e+02] [ 2.84600749e-02 1.74496289e-03 -9.99593407e-01 2.14027486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.12038572299997 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:297.71, Y:257.84, Z:21.40 [[-9.19496739e-01 -3.92184823e-01 -2.67733266e-02 2.97711595e+02] [-3.92072236e-01 9.19884844e-01 -9.55174205e-03 2.57844377e+02] [ 2.83744256e-02 1.71428235e-03 -9.99595895e-01 2.14023809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.150385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:297.70, Y:257.89, Z:21.41 [[-8.89215285e-01 -4.56757217e-01 -2.58654412e-02 2.97699934e+02] [-4.56612915e-01 8.89590104e-01 -1.15798243e-02 2.57886328e+02] [ 2.82988089e-02 1.51353771e-03 -9.99598363e-01 2.14054156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.180385723 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:297.67, Y:257.91, Z:21.41 [[-8.52317711e-01 -5.22419790e-01 -2.51412527e-02 2.97673275e+02] [-5.22264442e-01 8.52685790e-01 -1.29149227e-02 2.57913883e+02] [ 2.81846002e-02 2.12276492e-03 -9.99600481e-01 2.14061766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.210385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.63, Y:257.93, Z:21.40 [[-8.07164873e-01 -5.89834541e-01 -2.40848923e-02 2.97631893e+02] [-5.89660068e-01 8.07520396e-01 -1.45538398e-02 2.57925098e+02] [ 2.80333992e-02 2.45455097e-03 -9.99603973e-01 2.14048982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.240385723 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:297.19, Y:258.46, Z:20.42 [[-7.85557573e-01 6.18386981e-01 2.22899453e-02 2.97187190e+02] [-6.18155684e-01 -7.85873593e-01 1.69188225e-02 2.58457564e+02] [ 2.79794589e-02 -4.87947237e-04 9.99608379e-01 2.04245724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.270385723 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:297.17, Y:258.44, Z:20.43 [[-7.86802830e-01 6.16801583e-01 2.22960615e-02 2.97167534e+02] [-6.16569877e-01 -7.87118551e-01 1.69107586e-02 2.58441719e+02] [ 2.79802262e-02 -4.41647185e-04 9.99608379e-01 2.04268487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.300385723 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:297.54, Y:257.90, Z:21.41 [[-7.60940680e-01 -6.48437535e-01 -2.23169173e-02 2.97538766e+02] [-6.48219727e-01 7.61266144e-01 -1.68832356e-02 2.57899652e+02] [ 2.79368372e-02 1.61912526e-03 -9.99608379e-01 2.14069845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.330385723 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:297.06, Y:258.39, Z:20.42 [[-7.37057207e-01 6.75505660e-01 2.09470041e-02 2.97059889e+02] [-6.75254062e-01 -7.37354596e-01 1.84431861e-02 2.58392053e+02] [ 2.79038463e-02 -5.50866368e-04 9.99610460e-01 2.04241662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.360385723 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:297.00, Y:258.35, Z:20.43 [[-7.43653448e-01 6.68241899e-01 2.07921296e-02 2.97002644e+02] [-6.67982447e-01 -7.43944058e-01 1.86195794e-02 2.58348151e+02] [ 2.79105644e-02 -4.22631944e-05 9.99610423e-01 2.04305753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.390385723 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:297.08, Y:258.41, Z:20.43 [[-7.44593279e-01 6.67188918e-01 2.09713019e-02 2.97075926e+02] [-6.66934784e-01 -7.44888496e-01 1.84152690e-02 2.58412761e+02] [ 2.79077449e-02 -2.74605158e-04 9.99610465e-01 2.04273715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.420385723 meters Centerline goodness : 0.999740 Centerline is valid? [True, True] Translation: X:297.03, Y:258.37, Z:20.43 [[-7.41591219e-01 6.70523613e-01 2.09892431e-02 2.97027888e+02] [-6.70271385e-01 -7.41888066e-01 1.83947974e-02 2.58365272e+02] [ 2.79058149e-02 -4.27068819e-04 9.99610466e-01 2.04252481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.450385723 meters Centerline goodness : 0.999655 Centerline is valid? [True, True] Translation: X:296.98, Y:258.33, Z:20.43 [[-7.44171937e-01 6.67663662e-01 2.08173712e-02 2.96984637e+02] [-6.67404780e-01 -7.44463049e-01 1.85910924e-02 2.58328956e+02] [ 2.79103605e-02 -5.86437890e-05 9.99610428e-01 2.04268678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.480385723 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:297.07, Y:258.41, Z:20.43 [[-7.49550965e-01 6.61617894e-01 2.08593661e-02 2.97067618e+02] [-6.61357998e-01 -7.49841151e-01 1.85431076e-02 2.58407460e+02] [ 2.79096629e-02 1.03495565e-04 9.99610444e-01 2.04281335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.510385723 meters Centerline goodness : 0.999611 Centerline is valid? [True, True] Translation: X:297.06, Y:258.40, Z:20.43 [[-7.50787625e-01 6.60209391e-01 2.10119585e-02 2.97059517e+02] [-6.59953818e-01 -7.51081590e-01 1.83685569e-02 2.58400707e+02] [ 2.79087889e-02 -7.60370460e-05 9.99610471e-01 2.04255123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.540385723 meters Centerline goodness : 0.999632 Centerline is valid? [True, True] Translation: X:297.06, Y:258.40, Z:20.43 [[-7.52944802e-01 6.57749284e-01 2.09762612e-02 2.97059204e+02] [-6.57491612e-01 -7.53236931e-01 1.84094160e-02 2.58404232e+02] [ 2.79088748e-02 6.95583265e-05 9.99610469e-01 2.04267101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.570385723 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:297.05, Y:258.40, Z:20.43 [[-7.55490300e-01 6.54822397e-01 2.10246299e-02 2.97054098e+02] [-6.54565132e-01 -7.55782785e-01 1.83540095e-02 2.58404473e+02] [ 2.79086698e-02 1.04286483e-04 9.99610472e-01 2.04290063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.600385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:297.05, Y:258.40, Z:20.43 [[-7.56424071e-01 6.53743305e-01 2.10313231e-02 2.97047362e+02] [-6.53485836e-01 -7.56716376e-01 1.83463368e-02 2.58400331e+02] [ 2.79085414e-02 1.33939015e-04 9.99610472e-01 2.04295446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.630385723 meters Centerline goodness : 0.999696 Centerline is valid? [True, True] Translation: X:297.05, Y:258.40, Z:20.43 [[-7.57461963e-01 6.52540248e-01 2.10380304e-02 2.97047381e+02] [-6.52282529e-01 -7.57754047e-01 1.83386422e-02 2.58402516e+02] [ 2.79083548e-02 1.68084256e-04 9.99610472e-01 2.04293537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.660385723 meters Centerline goodness : 0.999588 Centerline is valid? [True, True] Translation: X:297.04, Y:258.40, Z:20.43 [[-7.57907243e-01 6.52022799e-01 2.10447391e-02 2.97040549e+02] [-6.51765094e-01 -7.58199340e-01 1.83309402e-02 2.58400351e+02] [ 2.79082983e-02 1.76925982e-04 9.99610472e-01 2.04272733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.690385723 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:297.04, Y:258.40, Z:20.43 [[-7.59087780e-01 6.50647961e-01 2.10469329e-02 2.97038453e+02] [-6.50389798e-01 -7.59379470e-01 1.83284199e-02 2.58402541e+02] [ 2.79079578e-02 2.24169171e-04 9.99610472e-01 2.04294406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.720385723 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:297.04, Y:258.40, Z:20.43 [[-7.59489541e-01 6.50178652e-01 2.10560526e-02 2.97036212e+02] [-6.49920599e-01 -7.59781329e-01 1.83179370e-02 2.58403140e+02] [ 2.79079273e-02 2.27519279e-04 9.99610472e-01 2.04296569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.750385723 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:297.01, Y:258.39, Z:20.43 [[-7.60360770e-01 6.49159348e-01 2.10627538e-02 2.97012769e+02] [-6.48901117e-01 -7.60652401e-01 1.83102285e-02 2.58389815e+02] [ 2.79076903e-02 2.54734953e-04 9.99610472e-01 2.04308673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.780385723 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:297.45, Y:257.82, Z:21.41 [[-7.02160828e-01 -7.11705408e-01 -2.11088629e-02 2.97445524e+02] [-7.11474597e-01 7.02474609e-01 -1.82571059e-02 2.57823294e+02] [ 2.78221212e-02 2.19899510e-03 -9.99610471e-01 2.14094230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.81038572299997 meters Centerline goodness : 0.999693 Centerline is valid? [True, True] Translation: X:296.60, Y:258.04, Z:20.44 [[-7.15266089e-01 6.98574492e-01 1.97003008e-02 2.96595461e+02] [-6.98297633e-01 -7.15537269e-01 1.96680556e-02 2.58041763e+02] [ 2.78359013e-02 3.11219740e-04 9.99612458e-01 2.04432632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.840385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:297.35, Y:257.77, Z:21.41 [[-6.53387362e-01 -7.56767370e-01 -1.97003008e-02 2.97348098e+02] [-7.56514530e-01 6.53681064e-01 -1.96680556e-02 2.57773564e+02] [ 2.77618563e-02 2.05270486e-03 -9.99612458e-01 2.14141374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.87038572299997 meters Centerline goodness : 0.999736 Centerline is valid? [True, True] Translation: X:296.75, Y:258.26, Z:20.44 [[-6.61705333e-01 7.49541357e-01 1.82703668e-02 2.96752406e+02] [-7.49249453e-01 -6.61957499e-01 2.09171191e-02 2.58256745e+02] [ 2.77724521e-02 1.51906920e-04 9.99614260e-01 2.04360417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.900385723 meters Centerline goodness : 0.999691 Centerline is valid? [True, True] Translation: X:296.75, Y:258.26, Z:20.44 [[-6.60916818e-01 7.50236522e-01 1.82789885e-02 2.96745902e+02] [-7.49945091e-01 -6.61169531e-01 2.09095820e-02 2.58257865e+02] [ 2.77726423e-02 1.11256637e-04 9.99614260e-01 2.04368434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.930385723 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:296.74, Y:258.26, Z:20.44 [[-6.59073962e-01 7.51855755e-01 1.82876010e-02 2.96738120e+02] [-7.51565155e-01 -6.59327629e-01 2.09020467e-02 2.58256223e+02] [ 2.77728448e-02 3.16710495e-05 9.99614260e-01 2.04360177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.960385723 meters Centerline goodness : 0.999800 Centerline is valid? [True, True] Translation: X:296.73, Y:258.26, Z:20.44 [[-6.58020217e-01 7.52777950e-01 1.82962196e-02 2.96734916e+02] [-7.52487915e-01 -6.58274530e-01 2.08944999e-02 2.58256169e+02] [ 2.77728542e-02 -1.86807197e-05 9.99614260e-01 2.04358217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.990385723 meters Centerline goodness : 0.999756 Centerline is valid? [True, True] Translation: X:296.73, Y:258.26, Z:20.44 [[-6.56866512e-01 7.53784663e-01 1.83048409e-02 2.96733150e+02] [-7.53495228e-01 -6.57121508e-01 2.08869444e-02 2.58258374e+02] [ 2.77727630e-02 -7.26759238e-05 9.99614260e-01 2.04355743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.020385723 meters Centerline goodness : 0.999799 Centerline is valid? [True, True] Translation: X:296.73, Y:258.26, Z:20.44 [[-6.55886546e-01 7.54637324e-01 1.83124974e-02 2.96733142e+02] [-7.54348408e-01 -6.56142130e-01 2.08802294e-02 2.58263576e+02] [ 2.77726015e-02 -1.18941723e-04 9.99614260e-01 2.04367259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.050385723 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:296.73, Y:258.27, Z:20.44 [[-6.53311796e-01 7.56867274e-01 1.83201284e-02 2.96729537e+02] [-7.56579418e-01 -6.53568573e-01 2.08735319e-02 2.58268376e+02] [ 2.77719534e-02 -2.23707485e-04 9.99614260e-01 2.04367212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.080385723 meters Centerline goodness : 0.999685 Centerline is valid? [True, True] Translation: X:296.72, Y:258.27, Z:20.44 [[-6.52026579e-01 7.57974561e-01 1.83277304e-02 2.96723733e+02] [-7.57687329e-01 -6.52284053e-01 2.08668549e-02 2.58268003e+02] [ 2.77714315e-02 -2.80945114e-04 9.99614260e-01 2.04370380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.110385723 meters Centerline goodness : 0.999753 Centerline is valid? [True, True] Translation: X:296.72, Y:258.27, Z:20.44 [[-6.52050322e-01 7.57953952e-01 1.83353265e-02 2.96720590e+02] [-7.57666899e-01 -6.52307997e-01 2.08601783e-02 2.58265874e+02] [ 2.77713347e-02 -2.90183965e-04 9.99614260e-01 2.04369441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.140385723 meters Centerline goodness : 0.999820 Centerline is valid? [True, True] Translation: X:296.71, Y:258.26, Z:20.44 [[-6.52992701e-01 7.57142041e-01 1.83429284e-02 2.96712386e+02] [-7.56854856e-01 -6.53250227e-01 2.08534915e-02 2.58255529e+02] [ 2.77715773e-02 -2.65756701e-04 9.99614260e-01 2.04367685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.170385723 meters Centerline goodness : 0.999865 Centerline is valid? [True, True] Translation: X:296.72, Y:258.26, Z:20.44 [[-6.54171902e-01 7.56123257e-01 1.83505594e-02 2.96717437e+02] [-7.55835859e-01 -6.54429191e-01 2.08467743e-02 2.58259924e+02] [ 2.77718726e-02 -2.32636771e-04 9.99614260e-01 2.04362480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.200385723 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:296.72, Y:258.26, Z:20.44 [[-6.56544058e-01 7.54064239e-01 1.83581939e-02 2.96718739e+02] [-7.53776223e-01 -6.56800654e-01 2.08400490e-02 2.58260063e+02] [ 2.77724095e-02 -1.55559668e-04 9.99614260e-01 2.04361120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.230385723 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:296.72, Y:258.26, Z:20.44 [[-6.56818407e-01 7.53825075e-01 1.83667300e-02 2.96717226e+02] [-7.53537175e-01 -6.57075134e-01 2.08325233e-02 2.58258241e+02] [ 2.77724000e-02 -1.56829100e-04 9.99614260e-01 2.04361825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.260385723 meters Centerline goodness : 0.999777 Centerline is valid? [True, True] Translation: X:296.71, Y:258.25, Z:20.44 [[-6.57806275e-01 7.52963006e-01 1.83743111e-02 2.96711487e+02] [-7.52674957e-01 -6.58062835e-01 2.08258346e-02 2.58251068e+02] [ 2.77725343e-02 -1.30519150e-04 9.99614260e-01 2.04367464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.290385723 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:296.71, Y:258.25, Z:20.44 [[-6.59061516e-01 7.51864342e-01 1.83828472e-02 2.96711831e+02] [-7.51576075e-01 -6.59317831e-01 2.08182971e-02 2.58249806e+02] [ 2.77726742e-02 -9.55697557e-05 9.99614260e-01 2.04380955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.320385723 meters Centerline goodness : 0.999711 Centerline is valid? [True, True] Translation: X:296.71, Y:258.25, Z:20.44 [[-6.59063108e-01 7.51862690e-01 1.83933442e-02 2.96708644e+02] [-7.51574681e-01 -6.59319712e-01 2.08090187e-02 2.58245389e+02] [ 2.77726192e-02 -1.09515308e-04 9.99614260e-01 2.04390108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.350385723 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:296.71, Y:258.25, Z:20.44 [[-6.59091804e-01 7.51837349e-01 1.84009359e-02 2.96709458e+02] [-7.51549518e-01 -6.59348607e-01 2.08023033e-02 2.58245750e+02] [ 2.77725801e-02 -1.18586907e-04 9.99614260e-01 2.04389423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.380385723 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:296.71, Y:258.24, Z:20.44 [[-6.57810201e-01 7.52958741e-01 1.84085252e-02 2.96709916e+02] [-7.52671536e-01 -6.58067704e-01 2.07955852e-02 2.58242641e+02] [ 2.77722736e-02 -1.76024830e-04 9.99614261e-01 2.04397564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.410385723 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:296.71, Y:258.24, Z:20.44 [[-6.56883422e-01 7.53767229e-01 1.84156122e-02 2.96709965e+02] [-7.53480516e-01 -6.57141474e-01 2.07893073e-02 2.58240732e+02] [ 2.77719612e-02 -2.19653670e-04 9.99614261e-01 2.04395407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.440385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:296.52, Y:258.02, Z:20.44 [[-6.51418635e-01 7.58494791e-01 1.84231884e-02 2.96515131e+02] [-7.58210141e-01 -6.51678960e-01 2.07825913e-02 2.58017500e+02] [ 2.77694915e-02 -4.30480981e-04 9.99614261e-01 2.04443019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.470385723 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:296.71, Y:258.24, Z:20.44 [[-6.52767403e-01 7.57335715e-01 1.83665977e-02 2.96705778e+02] [-7.57049189e-01 -6.53025667e-01 2.08327694e-02 2.58235466e+02] [ 2.77712600e-02 -3.05465123e-04 9.99614258e-01 2.04395083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.500385723 meters Centerline goodness : 0.999800 Centerline is valid? [True, True] Translation: X:296.71, Y:258.24, Z:20.44 [[-6.51263101e-01 7.58627712e-01 1.84490755e-02 2.96705869e+02] [-7.58343769e-01 -6.51524192e-01 2.07594711e-02 2.58235228e+02] [ 2.77687291e-02 -4.70863932e-04 9.99614264e-01 2.04390741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.530385723 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:296.71, Y:258.23, Z:20.44 [[-6.48375530e-01 7.61096900e-01 1.84575402e-02 2.96707288e+02] [-7.60814165e-01 -6.48637929e-01 2.07519422e-02 2.58234949e+02] [ 2.77664996e-02 -5.87706522e-04 9.99614264e-01 2.04387301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.56038572299997 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:296.71, Y:258.23, Z:20.44 [[-6.47283746e-01 7.62025455e-01 1.84650529e-02 2.96705829e+02] [-7.61743286e-01 -6.47546755e-01 2.07452554e-02 2.58232642e+02] [ 2.77653977e-02 -6.37563435e-04 9.99614264e-01 2.04389881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.590385723 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:296.71, Y:258.23, Z:20.44 [[-6.45173629e-01 7.63812642e-01 1.84725560e-02 2.96705751e+02] [-7.63531394e-01 -6.45437621e-01 2.07385721e-02 2.58231244e+02] [ 2.77632661e-02 -7.24396576e-04 9.99614264e-01 2.04390432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.62038572299997 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:296.71, Y:258.23, Z:20.44 [[-6.44689466e-01 7.64221159e-01 1.84800531e-02 2.96705080e+02] [-7.63940269e-01 -6.44953839e-01 2.07318892e-02 2.58230191e+02] [ 2.77625296e-02 -7.52026160e-04 9.99614264e-01 2.04395094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.650385723 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:296.70, Y:258.23, Z:20.44 [[-6.44852765e-01 7.64083190e-01 1.84875432e-02 2.96702201e+02] [-7.63802435e-01 -6.45117281e-01 2.07252079e-02 2.58227651e+02] [ 2.77624166e-02 -7.56122896e-04 9.99614264e-01 2.04396206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.680385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:296.70, Y:258.22, Z:20.44 [[-6.45334572e-01 7.63676056e-01 1.84978808e-02 2.96697598e+02] [-7.63395397e-01 -6.45599191e-01 2.07159772e-02 2.58222721e+02] [ 2.77625126e-02 -7.52460756e-04 9.99614264e-01 2.04401256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.710385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.70, Y:258.22, Z:20.44 [[-6.46314912e-01 7.62846371e-01 1.85053674e-02 2.96697453e+02] [-7.62565564e-01 -6.46579373e-01 2.07092873e-02 2.58221936e+02] [ 2.77631935e-02 -7.26834752e-04 9.99614264e-01 2.04403592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.740385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:296.69, Y:258.22, Z:20.44 [[-6.47437451e-01 7.61893707e-01 1.85128599e-02 2.96694473e+02] [-7.61612703e-01 -6.47701702e-01 2.07025873e-02 2.58217655e+02] [ 2.77639818e-02 -6.95998873e-04 9.99614264e-01 2.04398556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.770385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:296.69, Y:258.22, Z:20.44 [[-6.49806428e-01 7.59874070e-01 1.85203522e-02 2.96693629e+02] [-7.59592435e-01 -6.50070007e-01 2.06958825e-02 2.58216775e+02] [ 2.77657900e-02 -6.19601947e-04 9.99614264e-01 2.04392392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.800385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.68, Y:258.21, Z:20.44 [[-6.52745585e-01 7.57350593e-01 1.85278445e-02 2.96683259e+02] [-7.57068129e-01 -6.53008275e-01 2.06891729e-02 2.58206305e+02] [ 2.77677932e-02 -5.22074319e-04 9.99614264e-01 2.04396299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.830385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:296.68, Y:258.20, Z:20.44 [[-6.54137137e-01 7.56148826e-01 1.85353412e-02 2.96679131e+02] [-7.55866069e-01 -6.54399512e-01 2.06824545e-02 2.58201597e+02] [ 2.77685319e-02 -4.81073936e-04 9.99614264e-01 2.04386544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.860385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.67, Y:258.19, Z:20.44 [[-6.55398282e-01 7.55055795e-01 1.85429023e-02 2.96671953e+02] [-7.54772792e-01 -6.55660392e-01 2.06756734e-02 2.58193795e+02] [ 2.77691336e-02 -4.44877331e-04 9.99614264e-01 2.04386440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.890385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:296.67, Y:258.19, Z:20.44 [[-6.56996578e-01 7.53665295e-01 1.85504667e-02 2.96666775e+02] [-7.53381929e-01 -6.57258294e-01 2.06688843e-02 2.58189566e+02] [ 2.77698689e-02 -3.96200141e-04 9.99614264e-01 2.04393840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.920385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.65, Y:258.18, Z:20.44 [[-6.57418712e-01 7.53296910e-01 1.85580868e-02 2.96654326e+02] [-7.53013591e-01 -6.57680479e-01 2.06620401e-02 2.58175983e+02] [ 2.77699424e-02 -3.90879851e-04 9.99614264e-01 2.04401464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.950385723 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:296.67, Y:258.20, Z:20.44 [[-6.57103730e-01 7.53571497e-01 1.85657348e-02 2.96673433e+02] [-7.53288481e-01 -6.57365826e-01 2.06551657e-02 2.58198446e+02] [ 2.77696238e-02 -4.12767742e-04 9.99614264e-01 2.04392957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.980385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.67, Y:258.20, Z:20.44 [[-6.56720899e-01 7.53904938e-01 1.85743053e-02 2.96672643e+02] [-7.53622273e-01 -6.56983373e-01 2.06474558e-02 2.58198481e+02] [ 2.77692286e-02 -4.38394419e-04 9.99614264e-01 2.04391710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.010385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:296.67, Y:258.19, Z:20.44 [[-6.56224292e-01 7.54337056e-01 1.85818345e-02 2.96665717e+02] [-7.54054756e-01 -6.56487157e-01 2.06406777e-02 2.58191743e+02] [ 2.77687637e-02 -4.66806563e-04 9.99614265e-01 2.04395222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.040385723 meters Centerline goodness : 0.999191 Centerline is valid? [True, True] Translation: X:296.94, Y:257.28, Z:21.43 [[-6.24259588e-01 -7.80995776e-01 -1.85893778e-02 2.96937812e+02] [-7.80724861e-01 6.24534174e-01 -2.06338817e-02 2.57284043e+02] [ 2.77246762e-02 1.63229093e-03 -9.99614265e-01 2.14340031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.070385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:297.18, Y:257.67, Z:21.42 [[-5.69311454e-01 -8.21911737e-01 -1.85893778e-02 2.97175952e+02] [-8.21660262e-01 5.69603947e-01 -2.06338817e-02 2.57668160e+02] [ 2.75478126e-02 3.52704787e-03 -9.99614265e-01 2.14195602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.100385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.43, Y:258.03, Z:20.44 [[-5.33977062e-01 8.45362266e-01 1.52031689e-02 2.96432375e+02] [-8.45052712e-01 -5.34193078e-01 2.28838264e-02 2.58030307e+02] [ 2.74665510e-02 -6.28040678e-04 9.99622526e-01 2.04431855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.130385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:296.48, Y:258.10, Z:20.44 [[-5.36425771e-01 8.43811286e-01 1.51626393e-02 2.96475046e+02] [-8.43500346e-01 -5.36639789e-01 2.29107692e-02 2.58097001e+02] [ 2.74692412e-02 -4.99764457e-04 9.99622524e-01 2.04443664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.160385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.47, Y:258.09, Z:20.44 [[-5.37018221e-01 8.43433285e-01 1.52224787e-02 2.96469996e+02] [-8.43123320e-01 -5.37233644e-01 2.28709413e-02 2.58089754e+02] [ 2.74681409e-02 -5.52314642e-04 9.99622527e-01 2.04446632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.190385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:296.46, Y:258.08, Z:20.44 [[-5.38358178e-01 8.42578403e-01 1.52350269e-02 2.96463777e+02] [-8.42268332e-01 -5.38573449e-01 2.28625795e-02 2.58081095e+02] [ 2.74686967e-02 -5.23724095e-04 9.99622527e-01 2.04445698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.220385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.35, Y:257.91, Z:20.45 [[-5.38014586e-01 8.42797671e-01 1.52443859e-02 2.96348718e+02] [-8.42487863e-01 -5.38230237e-01 2.28563374e-02 2.57906442e+02] [ 2.74682573e-02 -5.46167187e-04 9.99622527e-01 2.04456052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.250385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.46, Y:258.08, Z:20.44 [[-5.41430709e-01 8.40607755e-01 1.52115100e-02 2.96462572e+02] [-8.40296458e-01 -5.41644206e-01 2.28782766e-02 2.58077113e+02] [ 2.74708830e-02 -3.95176475e-04 9.99622526e-01 2.04438987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.280385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.46, Y:258.08, Z:20.44 [[-5.42385557e-01 8.39990922e-01 1.52695408e-02 2.96462219e+02] [-8.39680472e-01 -5.42600279e-01 2.28394796e-02 2.58075944e+02] [ 2.74702127e-02 -4.33731390e-04 9.99622528e-01 2.04439837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.31038572299997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:296.46, Y:258.07, Z:20.44 [[-5.42879151e-01 8.39671811e-01 1.52799327e-02 2.96460364e+02] [-8.39361431e-01 -5.43093974e-01 2.28325252e-02 2.58072413e+02] [ 2.74702672e-02 -4.30084232e-04 9.99622528e-01 2.04441213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.340385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.45, Y:258.06, Z:20.45 [[-5.43898359e-01 8.39011808e-01 1.52892501e-02 2.96452600e+02] [-8.38701342e-01 -5.44113057e-01 2.28262843e-02 2.58061013e+02] [ 2.74706027e-02 -4.07936007e-04 9.99622529e-01 2.04450086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.37038572299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.45, Y:258.06, Z:20.45 [[-5.44246304e-01 8.38785679e-01 1.53148674e-02 2.96452287e+02] [-8.38475607e-01 -5.44461570e-01 2.28090840e-02 2.58060945e+02] [ 2.74702897e-02 -4.27383095e-04 9.99622529e-01 2.04457061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.400385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:296.45, Y:258.05, Z:20.45 [[-5.44676287e-01 8.38506358e-01 1.53241847e-02 2.96447367e+02] [-8.38196351e-01 -5.44891648e-01 2.28028224e-02 2.58053211e+02] [ 2.74703318e-02 -4.24519079e-04 9.99622529e-01 2.04463457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.430385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:296.45, Y:258.05, Z:20.45 [[-5.45452993e-01 8.38001143e-01 1.53335093e-02 2.96447971e+02] [-8.37691114e-01 -5.45668320e-01 2.27965505e-02 2.58051643e+02] [ 2.74705456e-02 -4.10297841e-04 9.99622529e-01 2.04455866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.460385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.44, Y:258.05, Z:20.45 [[-5.46508442e-01 8.37313036e-01 1.53428444e-02 2.96444852e+02] [-8.37002911e-01 -5.46723633e-01 2.27902659e-02 2.58046245e+02] [ 2.74708824e-02 -3.86932714e-04 9.99622529e-01 2.04454597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.490385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.23, Y:257.72, Z:20.45 [[-5.40943520e-01 8.40918794e-01 1.53521801e-02 2.96231515e+02] [-8.40610282e-01 -5.41161015e-01 2.27839754e-02 2.57719784e+02] [ 2.74674745e-02 -5.80356567e-04 9.99622529e-01 2.04504677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.520385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.43, Y:258.01, Z:20.44 [[-5.40795934e-01 8.41017883e-01 1.51221064e-02 2.96428941e+02] [-8.40705047e-01 -5.41007232e-01 2.29390158e-02 2.58012055e+02] [ 2.74732915e-02 -3.07904726e-04 9.99622490e-01 2.04401042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.550385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.23, Y:257.72, Z:20.45 [[-5.46345964e-01 8.37422207e-01 1.51702156e-02 2.96228668e+02] [-8.37108881e-01 -5.46556506e-01 2.29064896e-02 2.57718015e+02] [ 2.74737831e-02 -1.84254058e-04 9.99622507e-01 2.04498738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.580385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.43, Y:258.01, Z:20.45 [[-5.53083119e-01 8.32985330e-01 1.53135263e-02 2.96425831e+02] [-8.32672988e-01 -5.53295059e-01 2.28095003e-02 2.58013699e+02] [ 2.74728776e-02 -1.35610141e-04 9.99622540e-01 2.04477292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.610385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.44, Y:258.02, Z:20.44 [[-5.48881607e-01 8.35757591e-01 1.54347503e-02 2.96437880e+02] [-8.35448624e-01 -5.49098418e-01 2.27271736e-02 2.58023584e+02] [ 2.74696049e-02 -4.20413317e-04 9.99622551e-01 2.04411310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.640385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.43, Y:258.02, Z:20.44 [[-5.53077853e-01 8.32989602e-01 1.52712612e-02 2.96433581e+02] [-8.32676468e-01 -5.53288636e-01 2.28382159e-02 2.58016863e+02] [ 2.74734117e-02 -8.47084064e-05 9.99622531e-01 2.04413023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.670385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.43, Y:258.01, Z:20.45 [[-5.59696165e-01 8.28556265e-01 1.53205296e-02 2.96427106e+02] [-8.28242377e-01 -5.59905805e-01 2.28047166e-02 2.58013568e+02] [ 2.74730443e-02 7.46005916e-05 9.99622542e-01 2.04481929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.700385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.43, Y:258.01, Z:20.45 [[-5.61402643e-01 8.27398337e-01 1.54617301e-02 2.96425089e+02] [-8.27086652e-01 -5.61615519e-01 2.27085770e-02 2.58010788e+02] [ 2.74725864e-02 -3.95353999e-05 9.99622556e-01 2.04469950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.730385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.43, Y:258.01, Z:20.44 [[-5.59696052e-01 8.28553544e-01 1.54710583e-02 2.96430367e+02] [-8.28242475e-01 -5.59909825e-01 2.27022201e-02 2.58013227e+02] [ 2.74724025e-02 -1.07444706e-04 9.99622557e-01 2.04418051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.760385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.42, Y:258.01, Z:20.45 [[-5.65208453e-01 8.24805155e-01 1.53577446e-02 2.96421170e+02] [-8.24490562e-01 -5.65417023e-01 2.27794597e-02 2.58005336e+02] [ 2.74721460e-02 2.12827694e-04 9.99622547e-01 2.04477829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.790385723 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:296.42, Y:258.00, Z:20.45 [[-5.67481447e-01 8.23240583e-01 1.54838710e-02 2.96419159e+02] [-8.22927752e-01 -5.67692632e-01 2.26934032e-02 2.58003114e+02] [ 2.74722099e-02 1.35978138e-04 9.99622558e-01 2.04490851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.820385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.39, Y:257.96, Z:20.45 [[-5.68490490e-01 8.22543934e-01 1.54931994e-02 2.96387790e+02] [-8.22231018e-01 -5.68701549e-01 2.26870327e-02 2.57957158e+02] [ 2.74720876e-02 1.58373279e-04 9.99622558e-01 2.04515544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.850385723 meters Centerline goodness : 0.999152 Centerline is valid? [True, True] Translation: X:296.78, Y:257.12, Z:21.44 [[-4.92570654e-01 -8.70134002e-01 -1.55232031e-02 2.96783560e+02] [-8.69841868e-01 4.92809652e-01 -2.26665221e-02 2.57115283e+02] [ 2.73728959e-02 2.33786832e-03 -9.99622558e-01 2.14387649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.880385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.35, Y:257.99, Z:20.45 [[-5.03970523e-01 8.63613425e-01 1.36222036e-02 2.96345978e+02] [-8.63286616e-01 -5.04154547e-01 2.37573413e-02 2.57985996e+02] [ 2.73848547e-02 2.13133658e-04 9.99624942e-01 2.04527527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.910385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.17, Y:257.69, Z:20.46 [[-5.04089154e-01 8.63543272e-01 1.36799662e-02 2.96174681e+02] [-8.63217340e-01 -5.04274721e-01 2.37240337e-02 2.57690831e+02] [ 2.73851908e-02 1.50244006e-04 9.99624944e-01 2.04628700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.940385723 meters Centerline goodness : 0.999264 Centerline is valid? [True, True] Translation: X:296.74, Y:257.07, Z:21.44 [[-4.34867612e-01 -9.00390239e-01 -1.36959050e-02 2.96742524e+02] [-9.00080134e-01 4.35078567e-01 -2.37148371e-02 2.57067271e+02] [ 2.73114025e-02 2.01459742e-03 -9.99624944e-01 2.14359349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.970385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.24, Y:257.91, Z:20.46 [[-4.41504256e-01 8.97179490e-01 1.19563788e-02 2.96240628e+02] [-8.96843208e-01 -4.41666105e-01 2.45623894e-02 2.57909335e+02] [ 2.73175993e-02 1.21402381e-04 9.99626797e-01 2.04576942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.000385723 meters Centerline goodness : 0.998146 Centerline is valid? [True, True] Translation: X:296.71, Y:257.01, Z:21.44 [[-3.66825841e-01 -9.30212008e-01 -1.20175979e-02 2.96708551e+02] [-9.29891002e-01 3.67016193e-01 -2.45324003e-02 2.57005315e+02] [ 2.72309864e-02 2.17593772e-03 -9.99626800e-01 2.14382488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.030385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.17, Y:257.89, Z:20.46 [[-3.69454100e-01 9.29195866e-01 9.93528949e-03 2.96173018e+02] [-9.28849810e-01 -3.69587638e-01 2.53575934e-02 2.57885303e+02] [ 2.72341312e-02 1.40075092e-04 9.99629072e-01 2.04574824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.06038572299997 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:296.00, Y:257.46, Z:20.47 [[-3.69535898e-01 9.29161578e-01 1.00986092e-02 2.96004651e+02] [-9.28817277e-01 -3.69673857e-01 2.52923845e-02 2.57463326e+02] [ 2.72339037e-02 -3.33186638e-05 9.99629088e-01 2.04695896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.090385723 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:296.73, Y:257.12, Z:21.44 [[-3.07168788e-01 -9.51601468e-01 -1.00986092e-02 2.96728160e+02] [-9.51267063e-01 3.07329253e-01 -2.52923845e-02 2.57117867e+02] [ 2.71718682e-02 1.83744322e-03 -9.99629088e-01 2.14367921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.12038572299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.07, Y:257.76, Z:20.46 [[-3.04480214e-01 9.52483254e-01 8.21276133e-03 2.96071972e+02] [-9.52131103e-01 -3.04590948e-01 2.58982176e-02 2.57763959e+02] [ 2.71691513e-02 6.58693386e-05 9.99630848e-01 2.04588035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.150385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.07, Y:257.76, Z:20.46 [[-3.04351549e-01 9.52523125e-01 8.35648308e-03 2.96070622e+02] [-9.52172252e-01 -3.04466235e-01 2.58517604e-02 2.57760422e+02] [ 2.71686666e-02 -8.87879762e-05 9.99630860e-01 2.04585938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.180385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:296.07, Y:257.76, Z:20.46 [[-3.03468053e-01 9.52804866e-01 8.36831312e-03 2.96069884e+02] [-9.52454205e-01 -3.03583386e-01 2.58479304e-02 2.57756839e+02] [ 2.71685147e-02 -1.26413896e-04 9.99630860e-01 2.04575172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.210385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.07, Y:257.76, Z:20.46 [[-3.03045352e-01 9.52939289e-01 8.38013715e-03 2.96070059e+02] [-9.52588785e-01 -3.03161161e-01 2.58440964e-02 2.57756534e+02] [ 2.71683869e-02 -1.50891377e-04 9.99630860e-01 2.04577495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.240385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.79, Y:257.44, Z:21.43 [[-2.54603528e-01 -9.66993750e-01 -1.00065944e-02 2.96794751e+02] [-9.66667697e-01 2.54779652e-01 -2.53158432e-02 2.57439895e+02] [ 2.70297388e-02 3.22754854e-03 -9.99629419e-01 2.14318583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.270385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.74, Y:257.33, Z:21.43 [[-1.84778934e-01 -9.82729166e-01 -1.00065944e-02 2.96737469e+02] [-9.82416548e-01 1.84977931e-01 -2.53158432e-02 2.57328256e+02] [ 2.67296166e-02 5.15280937e-03 -9.99629419e-01 2.14334454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.300385723 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:295.92, Y:257.44, Z:20.46 [[-1.66609552e-01 9.86011667e-01 4.71705964e-03 2.95920502e+02] [-9.85661793e-01 -1.66676089e-01 2.62661660e-02 2.57439180e+02] [ 2.66849672e-02 -2.73231317e-04 9.99643856e-01 2.04640157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.330385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.92, Y:257.44, Z:20.47 [[-1.67293851e-01 9.85895725e-01 4.73153326e-03 2.95919968e+02] [-9.85545878e-01 -1.67360531e-01 2.62635585e-02 2.57438112e+02] [ 2.66850020e-02 -2.69411266e-04 9.99643856e-01 2.04672694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.360385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:295.92, Y:257.43, Z:20.47 [[-1.68479492e-01 9.85693739e-01 4.74475698e-03 2.95918491e+02] [-9.85343880e-01 -1.68546104e-01 2.62611693e-02 2.57428433e+02] [ 2.66851805e-02 -2.50748787e-04 9.99643856e-01 2.04686906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.390385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.92, Y:257.42, Z:20.47 [[-1.69755851e-01 9.85474598e-01 4.77151095e-03 2.95917220e+02] [-9.85124789e-01 -1.69822722e-01 2.62563074e-02 2.57419406e+02] [ 2.66852349e-02 -2.43371928e-04 9.99643856e-01 2.04692761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.420385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.92, Y:257.42, Z:20.47 [[-1.70875549e-01 9.85281005e-01 4.78415546e-03 2.95917787e+02] [-9.84931184e-01 -1.70942360e-01 2.62540032e-02 2.57416288e+02] [ 2.66853855e-02 -2.25896677e-04 9.99643856e-01 2.04693296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.450385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.92, Y:257.41, Z:20.47 [[-1.73281793e-01 9.84860602e-01 4.79740246e-03 2.95920352e+02] [-9.84510685e-01 -1.73348103e-01 2.62515824e-02 2.57413506e+02] [ 2.66857698e-02 -1.74172709e-04 9.99643856e-01 2.04686444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.480385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.88, Y:257.17, Z:20.48 [[-1.76828959e-01 9.84229840e-01 4.81063002e-03 2.95877073e+02] [-9.83879752e-01 -1.76894359e-01 2.62491582e-02 2.57168223e+02] [ 2.66861780e-02 -9.14701741e-05 9.99643856e-01 2.04759050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.510385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.92, Y:257.41, Z:20.47 [[-1.75854942e-01 9.84404285e-01 4.82105157e-03 2.95924324e+02] [-9.84054315e-01 -1.75920967e-01 2.62472440e-02 2.57410900e+02] [ 2.66860235e-02 -1.28469049e-04 9.99643856e-01 2.04688135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.540385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.92, Y:257.37, Z:20.47 [[-1.78243972e-01 9.83974691e-01 4.78483443e-03 2.95918235e+02] [-9.83624381e-01 -1.78308182e-01 2.62539249e-02 2.57374004e+02] [ 2.66863727e-02 -2.68759437e-05 9.99643855e-01 2.04701138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.570385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.92, Y:257.38, Z:20.47 [[-1.80704438e-01 9.83525467e-01 4.85405742e-03 2.95918612e+02] [-9.83175340e-01 -1.80769619e-01 2.62411201e-02 2.57376382e+02] [ 2.66862760e-02 -3.05026818e-05 9.99643857e-01 2.04715980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.600385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.88, Y:257.13, Z:20.48 [[-1.81578553e-01 9.83364397e-01 4.86746223e-03 2.95875062e+02] [-9.83014278e-01 -1.81643780e-01 2.62386334e-02 2.57129608e+02] [ 2.66862822e-02 -2.04117826e-05 9.99643858e-01 2.04766972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.630385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.92, Y:257.37, Z:20.47 [[-1.80441983e-01 9.83573533e-01 4.87802335e-03 2.95922316e+02] [-9.83223544e-01 -1.80507896e-01 2.62366699e-02 2.57372879e+02] [ 2.66862158e-02 -6.19906550e-05 9.99643858e-01 2.04706159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.660385723 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:295.87, Y:257.09, Z:20.47 [[-1.79021480e-01 9.83832932e-01 4.90620733e-03 2.95870122e+02] [-9.83483182e-01 -1.79088650e-01 2.62313985e-02 2.57092306e+02] [ 2.66859597e-02 -1.29188629e-04 9.99643858e-01 2.04735458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.690385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.65, Y:257.15, Z:21.44 [[-1.24081012e-01 -9.92259962e-01 -4.90620733e-03 2.96649433e+02] [-9.91914484e-01 1.24167511e-01 -2.62313985e-02 2.57147677e+02] [ 2.66375580e-02 1.61171965e-03 -9.99643858e-01 2.14386285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.720385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.86, Y:257.21, Z:20.48 [[-1.07736556e-01 9.94174606e-01 3.11232463e-03 2.95856279e+02] [-9.93822921e-01 -1.07781224e-01 2.64425844e-02 2.57210283e+02] [ 2.66239961e-02 -2.44266588e-04 9.99645489e-01 2.04753282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.750385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.86, Y:257.22, Z:20.47 [[-1.02065441e-01 9.94772772e-01 3.12688167e-03 2.95858975e+02] [-9.94421399e-01 -1.02112501e-01 2.64408629e-02 2.57216128e+02] [ 2.66219442e-02 -4.10739713e-04 9.99645489e-01 2.04741304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.780385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:295.86, Y:257.21, Z:20.48 [[-1.01756250e-01 9.94804406e-01 3.14012562e-03 2.95857381e+02] [-9.94453094e-01 -1.01803771e-01 2.64392899e-02 2.57205122e+02] [ 2.66215988e-02 -4.32344640e-04 9.99645489e-01 2.04763948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.81038572299997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:296.60, Y:257.02, Z:21.44 [[-7.09298101e-02 -9.97469518e-01 -4.84998940e-03 2.96599733e+02] [-9.97128878e-01 7.10331510e-02 -2.62353073e-02 2.57020289e+02] [ 2.65134294e-02 2.97519913e-03 -9.99644030e-01 2.14393252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.840385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:295.81, Y:257.04, Z:20.48 [[-2.95214827e-02 9.99563239e-01 1.34628604e-03 2.95810711e+02] [-9.99214335e-01 -2.95467544e-02 2.64140490e-02 2.57036001e+02] [ 2.64422907e-02 -5.65446420e-04 9.99650182e-01 2.04811400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.87038572299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.56, Y:256.91, Z:21.45 [[-5.99717496e-03 -9.99981111e-01 -1.34628604e-03 2.96558625e+02] [-9.99632897e-01 6.03064816e-03 -2.64140490e-02 2.56910984e+02] [ 2.64216690e-02 1.18738214e-03 -9.99650182e-01 2.14454055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.900385723 meters Centerline goodness : 0.994653 Centerline is valid? [True, True] Translation: X:295.78, Y:256.84, Z:20.48 [[ 3.97420706e-02 9.99209837e-01 -5.18630711e-04 2.95777338e+02] [-9.98861640e-01 3.97419149e-02 2.63818783e-02 2.56844147e+02] [ 2.63816437e-02 -5.30430148e-04 9.99651803e-01 2.04827029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.930385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.78, Y:256.81, Z:20.48 [[ 4.06892259e-02 9.99171729e-01 -4.93192609e-04 2.95779882e+02] [-9.98823535e-01 4.06880688e-02 2.63823257e-02 2.56814851e+02] [ 2.63805411e-02 -5.80864027e-04 9.99651804e-01 2.04848528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.960385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.53, Y:256.85, Z:21.45 [[ 7.16228836e-02 -9.97431673e-01 4.68852306e-04 2.96531332e+02] [-9.97083705e-01 -7.16102985e-02 -2.63827583e-02 2.56851464e+02] [ 2.63485734e-02 1.42212423e-03 -9.99651805e-01 2.14484851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.990385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:296.51, Y:256.85, Z:21.45 [[ 1.49437214e-01 -9.88768286e-01 2.40741325e-03 2.96510216e+02] [-9.88422381e-01 -1.49448719e-01 -2.61968925e-02 2.56847740e+02] [ 2.62624413e-02 1.53524949e-03 -9.99653904e-01 2.14501713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.020385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.50, Y:256.85, Z:21.45 [[ 2.27895160e-01 -9.73675433e-01 4.46624373e-03 2.96495330e+02] [-9.73333842e-01 -2.27933714e-01 -2.58351425e-02 2.56846863e+02] [ 2.61730511e-02 1.54055776e-03 -9.99656240e-01 2.14503441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.050385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.48, Y:256.85, Z:21.45 [[ 3.03262601e-01 -9.52885500e-01 6.40456534e-03 2.96478722e+02] [-9.52549934e-01 -3.03326093e-01 -2.53358405e-02 2.56845624e+02] [ 2.60848269e-02 1.58274462e-03 -9.99658480e-01 2.14517205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.080385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:296.47, Y:256.84, Z:21.45 [[ 3.76871340e-01 -9.26229016e-01 8.23425528e-03 2.96465218e+02] [-9.25900916e-01 -3.76957504e-01 -2.47089952e-02 2.56843257e+02] [ 2.59901526e-02 1.68800761e-03 -9.99660774e-01 2.14538757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.110385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:296.47, Y:256.85, Z:21.46 [[ 4.49683361e-01 -8.93131776e-01 1.00252538e-02 2.96468699e+02] [-8.92812830e-01 -4.49791447e-01 -2.39354415e-02 2.56847458e+02] [ 2.58867768e-02 1.81269459e-03 -9.99663238e-01 2.14560246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.140385723 meters Centerline goodness : 0.995024 Centerline is valid? [True, True] Translation: X:296.49, Y:256.86, Z:21.46 [[ 5.17782106e-01 -8.55428977e-01 1.19564270e-02 2.96485966e+02] [-8.55123618e-01 -5.17917538e-01 -2.29133681e-02 2.56855020e+02] [ 2.57932022e-02 1.63990891e-03 -9.99665955e-01 2.14568999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.170385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:295.88, Y:256.41, Z:20.49 [[ 5.54629591e-01 8.31979855e-01 -1.39834684e-02 2.95883853e+02] [-8.31698757e-01 5.54805720e-01 2.16284752e-02 2.56408921e+02] [ 2.57525639e-02 -3.65759063e-04 9.99668281e-01 2.04879137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.200385723 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:295.90, Y:256.38, Z:20.49 [[ 5.53779742e-01 8.32547735e-01 -1.38659982e-02 2.95901659e+02] [-8.32264951e-01 5.53953103e-01 2.17027854e-02 2.56383704e+02] [ 2.57497175e-02 -4.78378614e-04 9.99668307e-01 2.04866808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.230385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:295.92, Y:256.36, Z:20.49 [[ 5.54155629e-01 8.32295938e-01 -1.39646416e-02 2.95921483e+02] [-8.32014642e-01 5.54331428e-01 2.16403099e-02 2.56356345e+02] [ 2.57521818e-02 -3.73313211e-04 9.99668288e-01 2.04879208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.260385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.94, Y:256.33, Z:20.49 [[ 5.52174302e-01 8.33612966e-01 -1.38911388e-02 2.95940361e+02] [-8.33330917e-01 5.52348861e-01 2.16868392e-02 2.56329649e+02] [ 2.57511850e-02 -3.98999853e-04 9.99668304e-01 2.04914513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.290385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.54, Y:256.74, Z:21.46 [[ 5.82919053e-01 -8.12413595e-01 1.37669740e-02 2.96543244e+02] [-8.12123382e-01 -5.83079652e-01 -2.17653759e-02 2.56741598e+02] [ 2.57097297e-02 1.50697081e-03 -9.99668314e-01 2.14589553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.320385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:296.55, Y:256.74, Z:21.46 [[ 6.44183232e-01 -7.64718254e-01 1.52955861e-02 2.96547276e+02] [-7.64441788e-01 -6.44362830e-01 -2.06227171e-02 2.56739502e+02] [ 2.56264754e-02 1.59222332e-03 -9.99670320e-01 2.14573317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.350385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:296.55, Y:256.73, Z:21.46 [[ 7.02103365e-01 -7.11873889e-01 1.69242675e-02 2.96546532e+02] [-7.11616573e-01 -7.02305858e-01 -1.91920505e-02 2.56733518e+02] [ 2.55483318e-02 1.43121400e-03 -9.99672564e-01 2.14564536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.380385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.54, Y:256.72, Z:21.46 [[ 7.55318497e-01 -6.55103106e-01 1.82726470e-02 2.96539139e+02] [-6.54862730e-01 -7.55538033e-01 -1.78069164e-02 2.56719088e+02] [ 2.54710460e-02 1.48381786e-03 -9.99674459e-01 2.14619725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.410385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:296.53, Y:256.71, Z:21.46 [[ 8.04327146e-01 -5.93862192e-01 1.96351227e-02 2.96531564e+02] [-5.93643623e-01 -8.04565648e-01 -1.61668430e-02 2.56705675e+02] [ 2.53986221e-02 1.34716533e-03 -9.99676495e-01 2.14607728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.440385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:296.53, Y:256.70, Z:21.46 [[ 8.47404149e-01 -5.30544237e-01 2.07128127e-02 2.96531441e+02] [-5.30344050e-01 -8.47656055e-01 -1.46424485e-02 2.56698999e+02] [ 2.53258077e-02 1.42315461e-03 -9.99678237e-01 2.14604851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.470385723 meters Centerline goodness : 0.999742 Centerline is valid? [True, True] Translation: X:296.53, Y:256.69, Z:21.46 [[ 8.86761898e-01 -4.61715542e-01 2.17277483e-02 2.96533267e+02] [-4.61536494e-01 -8.87026871e-01 -1.29381020e-02 2.56687266e+02] [ 2.52468194e-02 1.44486714e-03 -9.99680204e-01 2.14630579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.500385723 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:296.53, Y:256.67, Z:21.46 [[ 9.19754898e-01 -3.91827892e-01 2.28436168e-02 2.96530074e+02] [-3.91683575e-01 -9.20038127e-01 -1.06687878e-02 2.56673561e+02] [ 2.51973271e-02 8.65200344e-04 -9.99682123e-01 2.14606582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.530385723 meters Centerline goodness : 0.999443 Centerline is valid? [True, True] Translation: X:296.53, Y:256.66, Z:21.46 [[ 9.47538319e-01 -3.18786626e-01 2.33713574e-02 2.96531562e+02] [-3.18652617e-01 -9.47825455e-01 -9.34966290e-03 2.56662522e+02] [ 2.51325149e-02 1.41181969e-03 -9.99683132e-01 2.14608074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.56038572299997 meters Centerline goodness : 0.999678 Centerline is valid? [True, True] Translation: X:296.53, Y:256.65, Z:21.46 [[ 9.69776224e-01 -2.42816442e-01 2.39635164e-02 2.96533118e+02] [-2.42706203e-01 -9.70071229e-01 -7.45047790e-03 2.56652545e+02] [ 2.50554163e-02 1.40920226e-03 -9.99685071e-01 2.14616319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.590385723 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:296.53, Y:256.64, Z:21.46 [[ 9.85884334e-01 -1.65641116e-01 2.43946835e-02 2.96531536e+02] [-1.65554103e-01 -9.86185045e-01 -5.55837779e-03 2.56635221e+02] [ 2.49783680e-02 1.44127764e-03 -9.99686953e-01 2.14622515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.62038572299997 meters Centerline goodness : 0.999743 Centerline is valid? [True, True] Translation: X:296.53, Y:256.62, Z:21.46 [[ 9.95845007e-01 -8.76565196e-02 2.46790737e-02 2.96531119e+02] [-8.75936349e-02 -9.96149714e-01 -3.61978369e-03 2.56620613e+02] [ 2.49013498e-02 1.44301374e-03 -9.99688872e-01 2.14625382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.650385723 meters Centerline goodness : 0.999614 Centerline is valid? [True, True] Translation: X:296.53, Y:256.61, Z:21.46 [[ 9.99649350e-01 -9.25324219e-03 2.48103719e-02 2.96532471e+02] [-9.21461289e-03 -9.99956149e-01 -1.67085908e-03 2.56606194e+02] [ 2.48247448e-02 1.44165522e-03 -9.99690779e-01 2.14629891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.680385723 meters Centerline goodness : 0.999744 Centerline is valid? [True, True] Translation: X:296.53, Y:256.59, Z:21.46 [[ 9.97331534e-01 6.86682710e-02 2.47887070e-02 2.96534877e+02] [ 6.86825383e-02 -9.97638528e-01 2.76395173e-04 2.56591550e+02] [ 2.47491487e-02 1.42689370e-03 -9.99692675e-01 2.14634726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.710385723 meters Centerline goodness : 0.999659 Centerline is valid? [True, True] Translation: X:296.54, Y:256.58, Z:21.46 [[ 9.89044157e-01 1.45553252e-01 2.46151507e-02 2.96539076e+02] [ 1.45543176e-01 -9.89349433e-01 2.20999936e-03 2.56575692e+02] [ 2.46746580e-02 1.39678026e-03 -9.99694558e-01 2.14646910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.740385723 meters Centerline goodness : 0.999616 Centerline is valid? [True, True] Translation: X:296.54, Y:256.56, Z:21.47 [[ 9.74661157e-01 2.22363535e-01 2.42917262e-02 2.96544576e+02] [ 2.22329726e-01 -9.74962837e-01 4.11808810e-03 2.56560494e+02] [ 2.45992429e-02 1.38703231e-03 -9.99696431e-01 2.14653318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.770385723 meters Centerline goodness : 0.999744 Centerline is valid? [True, True] Translation: X:296.55, Y:256.55, Z:21.47 [[ 9.54636959e-01 2.96817827e-01 2.38212837e-02 2.96550235e+02] [ 2.96760471e-01 -9.54933166e-01 5.98935303e-03 2.56545397e+02] [ 2.45254806e-02 1.35155761e-03 -9.99698292e-01 2.14669713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.800385723 meters Centerline goodness : 0.999617 Centerline is valid? [True, True] Translation: X:296.56, Y:256.53, Z:21.47 [[ 9.28711395e-01 3.70076395e-01 2.32079081e-02 2.96557656e+02] [ 3.69996335e-01 -9.29000370e-01 7.81176704e-03 2.56531731e+02] [ 2.44511058e-02 1.33196388e-03 -9.99700140e-01 2.14662243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.830385723 meters Centerline goodness : 0.999658 Centerline is valid? [True, True] Translation: X:296.57, Y:256.52, Z:21.47 [[ 8.97107703e-01 4.41240879e-01 2.24556422e-02 2.96566756e+02] [ 4.41138918e-01 -8.97387740e-01 9.57594837e-03 2.56517316e+02] [ 2.43767179e-02 1.31540066e-03 -9.99701978e-01 2.14658495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.860385723 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:296.58, Y:256.50, Z:21.47 [[ 8.60226976e-01 5.09454863e-01 2.15706319e-02 2.96576486e+02] [ 5.09331832e-01 -8.60496411e-01 1.12699500e-02 2.56503182e+02] [ 2.43029822e-02 1.29189448e-03 -9.99703804e-01 2.14664562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.890385723 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:296.59, Y:256.49, Z:21.47 [[ 8.17616462e-01 5.75396097e-01 2.05585200e-02 2.96586175e+02] [ 5.75253262e-01 -8.17873868e-01 1.28849084e-02 2.56491249e+02] [ 2.42282023e-02 1.29144242e-03 -9.99705620e-01 2.14668885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.920385723 meters Centerline goodness : 0.999744 Centerline is valid? [True, True] Translation: X:296.60, Y:256.48, Z:21.47 [[ 7.69314275e-01 6.38575103e-01 1.94263638e-02 2.96598813e+02] [ 6.38413825e-01 -7.69558385e-01 1.44111399e-02 2.56480497e+02] [ 2.41523163e-02 1.31536353e-03 -9.99707425e-01 2.14689057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.950385723 meters Centerline goodness : 0.999767 Centerline is valid? [True, True] Translation: X:296.61, Y:256.47, Z:21.47 [[ 7.16438831e-01 6.97412946e-01 1.81819819e-02 2.96610534e+02] [ 6.97234315e-01 -7.16668275e-01 1.58396079e-02 2.56472052e+02] [ 2.40771972e-02 1.32899154e-03 -9.99709219e-01 2.14694644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.980385723 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:296.62, Y:256.46, Z:21.47 [[ 6.58701304e-01 7.52216212e-01 1.68333800e-02 2.96622064e+02] [ 7.52021619e-01 -6.58914969e-01 1.71624147e-02 2.56464862e+02] [ 2.40016126e-02 1.35416069e-03 -9.99711003e-01 2.14691691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.010385723 meters Centerline goodness : 0.999660 Centerline is valid? [True, True] Translation: X:296.63, Y:256.46, Z:21.47 [[ 5.97327471e-01 8.01849757e-01 1.53902176e-02 2.96633635e+02] [ 8.01640432e-01 -5.97524148e-01 1.83714433e-02 2.56457781e+02] [ 2.39271640e-02 1.36365288e-03 -9.99712774e-01 2.14710360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.040385723 meters Centerline goodness : 0.999660 Centerline is valid? [True, True] Translation: X:296.65, Y:256.45, Z:21.47 [[ 5.32691474e-01 8.46195994e-01 1.38612502e-02 2.96645235e+02] [ 8.45973283e-01 -5.32870051e-01 1.94605398e-02 2.56453701e+02] [ 2.38536759e-02 1.35978372e-03 -9.99714536e-01 2.14717175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.070385723 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:296.66, Y:256.45, Z:21.47 [[ 4.64115152e-01 8.85690074e-01 1.22563339e-02 2.96656842e+02] [ 8.85455627e-01 -4.64274925e-01 2.04237042e-02 2.56448585e+02] [ 2.37793806e-02 1.37348930e-03 -9.99716287e-01 2.14722954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.100385723 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:296.67, Y:256.45, Z:21.47 [[ 3.92425494e-01 9.19722873e-01 1.05862200e-02 2.96668124e+02] [ 9.19478279e-01 -3.92565787e-01 2.12555425e-02 2.56446522e+02] [ 2.37049964e-02 1.39258260e-03 -9.99718027e-01 2.14705717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.130385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.68, Y:256.45, Z:21.47 [[ 3.19096092e-01 9.47680932e-01 8.86200557e-03 2.96679074e+02] [ 9.47427681e-01 -3.19216094e-01 2.19516614e-02 2.56445030e+02] [ 2.36320657e-02 1.39142003e-03 -9.99719755e-01 2.14709541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.160385723 meters Centerline goodness : 0.999684 Centerline is valid? [True, True] Translation: X:296.69, Y:256.44, Z:21.47 [[ 2.43315807e-01 9.69921180e-01 7.09382343e-03 2.96687455e+02] [ 9.69660976e-01 -2.43415158e-01 2.25089564e-02 2.56444625e+02] [ 2.35586577e-02 1.40181885e-03 -9.99721473e-01 2.14728674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.190385723 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:296.70, Y:256.44, Z:21.47 [[ 1.66770963e-01 9.85981130e-01 5.35325899e-03 2.96698488e+02] [ 9.85715976e-01 -1.66850508e-01 2.29111857e-02 2.56444703e+02] [ 2.34831908e-02 1.45587241e-03 -9.99723172e-01 2.14706126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.220385723 meters Centerline goodness : 0.999450 Centerline is valid? [True, True] Translation: X:296.71, Y:256.44, Z:21.47 [[ 8.74518405e-02 9.96162718e-01 3.46638987e-03 2.96713030e+02] [ 9.95893700e-01 -8.75089303e-02 2.31932346e-02 2.56444860e+02] [ 2.34075756e-02 1.42386479e-03 -9.99724991e-01 2.14720980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.250385723 meters Centerline goodness : 0.999238 Centerline is valid? [True, True] Translation: X:296.73, Y:256.45, Z:21.47 [[ 9.42654159e-03 9.99954234e-01 1.63423870e-03 2.96728919e+02] [ 9.99683234e-01 -9.46210179e-03 2.33216600e-02 2.56446617e+02] [ 2.33360560e-02 1.41387843e-03 -9.99726677e-01 2.14744624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.280385723 meters Centerline goodness : 0.999348 Centerline is valid? [True, True] Translation: X:296.77, Y:256.42, Z:21.48 [[-6.60365459e-02 9.97817186e-01 -1.96949877e-04 2.96772522e+02] [ 9.97545868e-01 6.60231900e-02 2.33062246e-02 2.56420891e+02] [ 2.32683547e-02 1.34259603e-03 -9.99728354e-01 2.14791075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.31038572299997 meters Centerline goodness : 0.999454 Centerline is valid? [True, True] Translation: X:296.81, Y:256.40, Z:21.47 [[-1.50218944e-01 9.88651224e-01 -1.73963455e-03 2.96811178e+02] [ 9.88381158e-01 1.50218686e-01 2.31739663e-02 2.56404122e+02] [ 2.31722957e-02 1.76174672e-03 -9.99729934e-01 2.14744840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.340385723 meters Centerline goodness : 0.999559 Centerline is valid? [True, True] Translation: X:296.85, Y:256.39, Z:21.48 [[-2.27524623e-01 9.73764887e-01 -3.80676931e-03 2.96854367e+02] [ 9.73498378e-01 2.27551599e-01 2.28293250e-02 2.56387469e+02] [ 2.30966315e-02 1.48834980e-03 -9.99732129e-01 2.14752684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.37038572299997 meters Centerline goodness : 0.999726 Centerline is valid? [True, True] Translation: X:296.88, Y:256.44, Z:21.48 [[-3.04578371e-01 9.52471017e-01 -5.56577087e-03 2.96878280e+02] [ 9.52208980e-01 3.04625426e-01 2.23921483e-02 2.56439699e+02] [ 2.30233476e-02 1.52038705e-03 -9.99733772e-01 2.14756420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.400385723 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:296.95, Y:256.37, Z:21.47 [[-3.78197721e-01 9.25695779e-01 -7.33547726e-03 2.96946012e+02] [ 9.25440166e-01 3.78266049e-01 2.18012633e-02 2.56366013e+02] [ 2.29560994e-02 1.45664281e-03 -9.99735413e-01 2.14736678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.430385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.99, Y:256.36, Z:21.47 [[-4.49724973e-01 8.93122342e-01 -8.94043360e-03 2.96990485e+02] [ 8.92873832e-01 4.49811275e-01 2.11219605e-02 2.56359629e+02] [ 2.28860027e-02 1.51639390e-03 -9.99736931e-01 2.14742724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.460385723 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:297.04, Y:256.35, Z:21.48 [[-5.17264868e-01 8.55760526e-01 -1.05346368e-02 2.97037823e+02] [ 8.55521138e-01 5.17370000e-01 2.02944687e-02 2.56351181e+02] [ 2.28175102e-02 1.48501123e-03 -9.99738544e-01 2.14767290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.490385723 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:297.08, Y:256.35, Z:21.48 [[-5.82307664e-01 8.12879125e-01 -1.20545585e-02 2.97084059e+02] [ 8.12650175e-01 5.82430568e-01 1.93475176e-02 2.56350033e+02] [ 2.27481365e-02 1.47006865e-03 -9.99740147e-01 2.14772048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.520385723 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:297.13, Y:256.35, Z:21.48 [[-6.43027669e-01 7.65724101e-01 -1.34914139e-02 2.97130221e+02] [ 7.65507031e-01 6.43167592e-01 1.82875397e-02 2.56351142e+02] [ 2.26804501e-02 1.43162187e-03 -9.99741740e-01 2.14788137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.550385723 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:297.18, Y:256.36, Z:21.48 [[-6.99616933e-01 7.14364072e-01 -1.48364336e-02 2.97177556e+02] [ 7.14160188e-01 6.99772863e-01 1.71221183e-02 2.56356455e+02] [ 2.26135598e-02 1.38333371e-03 -9.99743324e-01 2.14806301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.580385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.09, Y:256.48, Z:21.49 [[-7.53407978e-01 6.57356642e-01 -1.60829996e-02 2.97091538e+02] [ 6.57166784e-01 7.53578360e-01 1.58579090e-02 2.56481818e+02] [ 2.25441023e-02 1.37826202e-03 -9.99744899e-01 2.14857737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.610385723 meters Centerline goodness : 0.999744 Centerline is valid? [True, True] Translation: X:297.27, Y:256.39, Z:21.48 [[-8.02672118e-01 5.96170929e-01 -1.72538409e-02 2.97269445e+02] [ 5.95996852e-01 8.02856436e-01 1.44670487e-02 2.56386116e+02] [ 2.24771911e-02 1.32906177e-03 -9.99746473e-01 2.14786441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.640385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:297.31, Y:256.40, Z:21.48 [[-8.46884409e-01 5.31463654e-01 -1.82532686e-02 2.97312343e+02] [ 5.31304653e-01 8.47079986e-01 1.30714859e-02 2.56401980e+02] [ 2.24089982e-02 1.37199111e-03 -9.99747945e-01 2.14783470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.670385723 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:297.37, Y:256.42, Z:21.48 [[-8.84931904e-01 4.65326074e-01 -1.91617024e-02 2.97365516e+02] [ 4.65184174e-01 8.85138349e-01 1.15666050e-02 2.56416869e+02] [ 2.23430005e-02 1.32193706e-03 -9.99749490e-01 2.14819223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.700385723 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:297.39, Y:256.44, Z:21.48 [[-9.19606660e-01 3.92333657e-01 -1.99472556e-02 2.97393045e+02] [ 3.92208603e-01 9.19821949e-01 9.99966611e-03 2.56444011e+02] [ 2.22711291e-02 1.37227431e-03 -9.99751026e-01 2.14797886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.730385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.43, Y:256.47, Z:21.48 [[-9.47671978e-01 3.18580013e-01 -2.06057522e-02 2.97430718e+02] [ 3.18472750e-01 9.47894969e-01 8.38070083e-03 2.56470984e+02] [ 2.22020127e-02 1.37978476e-03 -9.99752553e-01 2.14805002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.760385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.46, Y:256.50, Z:21.48 [[-9.69994774e-01 2.42205496e-01 -2.11337863e-02 2.97462338e+02] [ 2.42116305e-01 9.70223960e-01 6.72025630e-03 2.56500907e+02] [ 2.21321889e-02 1.40177923e-03 -9.99754070e-01 2.14822258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.790385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:297.50, Y:256.53, Z:21.48 [[-9.86051225e-01 1.65043890e-01 -2.15289353e-02 2.97496146e+02] [ 1.64973263e-01 9.86285220e-01 5.02867922e-03 2.56531848e+02] [ 2.20636234e-02 1.40683662e-03 -9.99755579e-01 2.14826317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.820385723 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:297.53, Y:256.56, Z:21.48 [[-9.96026187e-01 8.63542109e-02 -2.17895781e-02 2.97525805e+02] [ 8.63022324e-02 9.96263482e-01 3.31642057e-03 2.56563605e+02] [ 2.19945479e-02 1.42275250e-03 -9.99757078e-01 2.14828106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.850385723 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:297.56, Y:256.60, Z:21.48 [[-9.99730346e-01 7.67944142e-03 -2.19148924e-02 2.97558169e+02] [ 7.64633835e-03 9.99969496e-01 1.59392496e-03 2.56599899e+02] [ 2.19264644e-02 1.42592647e-03 -9.99758569e-01 2.14827110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.880385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:297.54, Y:257.25, Z:20.51 [[-9.99574515e-01 1.92603742e-02 2.19049418e-02 2.97535077e+02] [-1.92622130e-02 -9.99814458e-01 1.27065180e-04 2.57252420e+02] [ 2.19033249e-02 -2.94926539e-04 9.99760050e-01 2.05124700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.910385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.53, Y:257.25, Z:20.51 [[-9.99590368e-01 1.84193232e-02 2.19049242e-02 2.97534889e+02] [-1.84208951e-02 -9.99830312e-01 1.30036666e-04 2.57253728e+02] [ 2.19036024e-02 -2.73524911e-04 9.99760050e-01 2.05122382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.940385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:297.59, Y:256.64, Z:21.48 [[-9.97142111e-01 -7.23034250e-02 -2.19049061e-02 2.97587989e+02] [-7.23178704e-02 9.97381626e-01 -1.33013533e-04 2.56636582e+02] [ 2.18571682e-02 1.45148276e-03 -9.99760050e-01 2.14846952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.970385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.61, Y:256.67, Z:21.48 [[-9.88329808e-01 -1.50766998e-01 -2.17601110e-02 2.97608504e+02] [-1.50762795e-01 9.88568249e-01 -1.84298737e-03 2.56674338e+02] [ 2.17892165e-02 1.45913578e-03 -9.99761522e-01 2.14848391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.000385723 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:297.62, Y:256.71, Z:21.49 [[-9.73548410e-01 -2.27468663e-01 -2.14825744e-02 2.97622622e+02] [-2.27445858e-01 9.73784324e-01 -3.53148322e-03 2.56714007e+02] [ 2.17226959e-02 1.44805268e-03 -9.99762986e-01 2.14851619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.030385723 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:297.64, Y:256.75, Z:21.49 [[-9.53007700e-01 -3.02212071e-01 -2.10757451e-02 2.97639045e+02] [-3.02170954e-01 9.53239649e-01 -5.18520883e-03 2.56754878e+02] [ 2.16572686e-02 1.42693407e-03 -9.99764436e-01 2.14863842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.06038572299997 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:297.43, Y:257.40, Z:20.51 [[-9.45916095e-01 3.23760309e-01 2.05427407e-02 2.97433086e+02] [-3.23689042e-01 -9.46139109e-01 6.79636976e-03 2.57399564e+02] [ 2.16366852e-02 -2.20664523e-04 9.99765875e-01 2.05115945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.090385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:297.65, Y:256.80, Z:21.49 [[-9.27288726e-01 -3.73781191e-01 -2.05727891e-02 2.97652403e+02] [-3.73723941e-01 9.27515745e-01 -6.70509967e-03 2.56796609e+02] [ 2.15878260e-02 1.47098050e-03 -9.99765874e-01 2.14879642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.12038572299997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:297.36, Y:257.41, Z:20.51 [[-9.15965095e-01 4.00764864e-01 1.98863886e-02 2.97364959e+02] [-4.00678177e-01 -9.16180886e-01 8.34157278e-03 2.57414961e+02] [ 2.15625384e-02 -3.27452444e-04 9.99767448e-01 2.05074146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.150385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:297.31, Y:257.40, Z:20.51 [[-9.16638980e-01 3.99220980e-01 1.98894143e-02 2.97311168e+02] [-3.99134086e-01 -9.16854688e-01 8.33435216e-03 2.57396534e+02] [ 2.15629510e-02 -2.98951148e-04 9.99767448e-01 2.05107803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.180385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.60, Y:256.80, Z:21.49 [[-8.98763652e-01 -4.37981157e-01 -1.99098793e-02 2.97597837e+02] [-4.37904629e-01 8.98983252e-01 -8.28540540e-03 2.56804881e+02] [ 2.15274995e-02 1.27200712e-03 -9.99767447e-01 2.14911087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.210385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.20, Y:257.39, Z:20.51 [[-8.85680275e-01 4.63899498e-01 1.91756586e-02 2.97199660e+02] [-4.63797483e-01 -8.85887792e-01 9.73213558e-03 2.57386755e+02] [ 2.15022147e-02 -2.74061697e-04 9.99768763e-01 2.05136164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.240385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:297.52, Y:256.80, Z:21.49 [[-8.65572722e-01 -5.00414601e-01 -1.92116972e-02 2.97515787e+02] [-5.00322898e-01 8.65784999e-01 -9.66092692e-03 2.56799054e+02] [ 2.14676682e-02 1.24981721e-03 -9.99768762e-01 2.14931635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.270385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:297.11, Y:257.38, Z:20.51 [[-8.52573227e-01 5.22283793e-01 1.83992331e-02 2.97114320e+02] [-5.22167612e-01 -8.52771713e-01 1.10177625e-02 2.57382317e+02] [ 2.14447443e-02 -2.14034263e-04 9.99770012e-01 2.05136950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.300385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.45, Y:256.80, Z:21.50 [[-8.25420250e-01 -5.64216902e-01 -1.84580124e-02 2.97451377e+02] [-5.64112967e-01 8.25625417e-01 -1.09192737e-02 2.56797408e+02] [ 2.14002430e-02 1.39941456e-03 -9.99770009e-01 2.14961752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.330385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:297.03, Y:257.37, Z:20.51 [[-8.11850370e-01 5.83603311e-01 1.74971988e-02 2.97025871e+02] [-5.83473990e-01 -8.12038866e-01 1.22875077e-02 2.57367714e+02] [ 2.13794356e-02 -2.33542715e-04 9.99771406e-01 2.05119903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.360385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:297.02, Y:257.36, Z:20.51 [[-8.12590947e-01 5.82571579e-01 1.75016664e-02 2.97018349e+02] [-5.82442155e-01 -8.12779373e-01 1.22811409e-02 2.57364333e+02] [ 2.13796371e-02 -2.14164425e-04 9.99771407e-01 2.05124798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.390385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.02, Y:257.37, Z:20.51 [[-8.13188704e-01 5.81736768e-01 1.75061361e-02 2.97018941e+02] [-5.81607288e-01 -8.13377091e-01 1.22747664e-02 2.57366486e+02] [ 2.13797729e-02 -1.99994965e-04 9.99771407e-01 2.05131557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.420385723 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:297.02, Y:257.37, Z:20.51 [[-8.13880288e-01 5.80768676e-01 1.75106068e-02 2.97016013e+02] [-5.80639109e-01 -8.14068616e-01 1.22683852e-02 2.57365991e+02] [ 2.13799293e-02 -1.82346250e-04 9.99771407e-01 2.05130167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.450385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:297.03, Y:257.38, Z:20.51 [[-8.13904182e-01 5.80735056e-01 1.75150690e-02 2.97027389e+02] [-5.80605619e-01 -8.14092598e-01 1.22620115e-02 2.57375800e+02] [ 2.13798680e-02 -1.89245006e-04 9.99771407e-01 2.05130603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.480385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:297.01, Y:257.37, Z:20.51 [[-8.15502795e-01 5.78488912e-01 1.74862895e-02 2.97008538e+02] [-5.78358074e-01 -8.15690243e-01 1.23031280e-02 2.57365994e+02] [ 2.13806189e-02 -8.01014723e-05 9.99771405e-01 2.05117707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.510385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:297.01, Y:257.37, Z:20.51 [[-8.16062982e-01 5.77697356e-01 1.75206731e-02 2.97005797e+02] [-5.77567390e-01 -8.16251034e-01 1.22539666e-02 2.57365888e+02] [ 2.13803516e-02 -1.19360913e-04 9.99771407e-01 2.05113251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.540385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:297.00, Y:257.36, Z:20.51 [[-8.16551533e-01 5.77006468e-01 1.75251363e-02 2.96996610e+02] [-5.76876479e-01 -8.16739569e-01 1.22475801e-02 2.57361381e+02] [ 2.13804052e-02 -1.09058595e-04 9.99771407e-01 2.05111881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.570385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.02, Y:257.38, Z:20.51 [[-8.15983807e-01 5.77808913e-01 1.75296092e-02 2.97015898e+02] [-5.77679247e-01 -8.16172066e-01 1.22411748e-02 2.57376588e+02] [ 2.13802373e-02 -1.37891047e-04 9.99771407e-01 2.05103885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.600385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.01, Y:257.38, Z:20.51 [[-8.17579754e-01 5.75549733e-01 1.74885964e-02 2.97010064e+02] [-5.75418289e-01 -8.17766779e-01 1.22999234e-02 2.57375759e+02] [ 2.13808108e-02 -7.08983503e-06 9.99771404e-01 2.05100255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.630385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.01, Y:257.38, Z:20.51 [[-8.17563442e-01 5.75572294e-01 1.75086292e-02 2.97007718e+02] [-5.75441470e-01 -8.17750899e-01 1.22712130e-02 2.57375112e+02] [ 2.13806675e-02 -4.26961508e-05 9.99771406e-01 2.05088754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.660385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.00, Y:257.38, Z:20.51 [[-8.18219386e-01 5.74639894e-01 1.74936480e-02 2.97003608e+02] [-5.74508397e-01 -8.18406373e-01 1.22926941e-02 2.57375988e+02] [ 2.13807855e-02 7.87294051e-06 9.99771405e-01 2.05091190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.690385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:297.00, Y:257.38, Z:20.51 [[-8.19016468e-01 5.73503520e-01 1.74853261e-02 2.97002414e+02] [-5.73371508e-01 -8.19203094e-01 1.23046311e-02 2.57377614e+02] [ 2.13807825e-02 5.21076950e-05 9.99771404e-01 2.05096268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.720385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:296.98, Y:257.37, Z:20.51 [[-8.21392174e-01 5.70095413e-01 1.74961583e-02 2.96980282e+02] [-5.69962958e-01 -8.21578484e-01 1.22890819e-02 2.57366366e+02] [ 2.13804165e-02 1.21993533e-04 9.99771405e-01 2.05101480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.750385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.97, Y:257.37, Z:20.51 [[-8.21813826e-01 5.69485775e-01 1.75495999e-02 2.96970074e+02] [-5.69354819e-01 -8.22001187e-01 1.22122841e-02 2.57365785e+02] [ 2.13805140e-02 4.42746121e-05 9.99771410e-01 2.05109512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.780385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.96, Y:257.37, Z:20.51 [[-8.21713208e-01 5.69630808e-01 1.75540756e-02 2.96964777e+02] [-5.69500023e-01 -8.21900688e-01 1.22058474e-02 2.57365070e+02] [ 2.13805335e-02 3.26595496e-05 9.99771410e-01 2.05114650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.81038572299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.97, Y:257.37, Z:20.51 [[-8.21475576e-01 5.69973311e-01 1.75585631e-02 2.96969714e+02] [-5.69842742e-01 -8.21663206e-01 1.21993885e-02 2.57373717e+02] [ 2.13805511e-02 1.58799089e-05 9.99771410e-01 2.05102237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.840385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:296.97, Y:257.38, Z:20.51 [[-8.19684994e-01 5.72545238e-01 1.75630340e-02 2.96974348e+02] [-5.72415396e-01 -8.19873128e-01 1.21929484e-02 2.57377979e+02] [ 2.13804742e-02 -5.89741977e-05 9.99771410e-01 2.05109004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.87038572299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.97, Y:257.38, Z:20.51 [[-8.20334751e-01 5.71615516e-01 1.75099531e-02 2.96967915e+02] [-5.71483826e-01 -8.20521601e-01 1.22694044e-02 2.57379831e+02] [ 2.13806767e-02 5.83637691e-05 9.99771406e-01 2.05114159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.900385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.97, Y:257.38, Z:20.51 [[-8.20544938e-01 5.71312866e-01 1.75389318e-02 2.96965995e+02] [-5.71182000e-01 -8.20732361e-01 1.22276276e-02 2.57378441e+02] [ 2.13805698e-02 1.53957724e-05 9.99771409e-01 2.05114870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.930385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.94, Y:257.36, Z:20.51 [[-8.21186675e-01 5.70389912e-01 1.75440565e-02 2.96939893e+02] [-5.70258992e-01 -8.21374061e-01 1.22202333e-02 2.57363165e+02] [ 2.13805308e-02 3.04367539e-05 9.99771410e-01 2.05099289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.960385723 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:296.96, Y:257.38, Z:20.51 [[-8.20021841e-01 5.72062252e-01 1.75772966e-02 2.96962028e+02] [-5.71932742e-01 -8.20210202e-01 1.21722331e-02 2.57380405e+02] [ 2.13803531e-02 -7.15345209e-05 9.99771412e-01 2.05113707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.990385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.95, Y:257.38, Z:20.51 [[-8.20318092e-01 5.71638239e-01 1.75485546e-02 2.96950708e+02] [-5.71507744e-01 -8.20505773e-01 1.22137411e-02 2.57379975e+02] [ 2.13805318e-02 -9.98208178e-06 9.99771410e-01 2.05101847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.020385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:296.95, Y:257.38, Z:20.51 [[-8.20324679e-01 5.71627748e-01 1.75823189e-02 2.96946612e+02] [-5.71498295e-01 -8.20513079e-01 1.21649407e-02 2.57380108e+02] [ 2.13803403e-02 -6.90642260e-05 9.99771412e-01 2.05102534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.050385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:296.96, Y:257.39, Z:20.51 [[-8.19292093e-01 5.73106597e-01 1.75867752e-02 2.96960929e+02] [-5.72977623e-01 -8.19480820e-01 1.21584949e-02 2.57393786e+02] [ 2.13801386e-02 -1.15469921e-04 9.99771412e-01 2.05095764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.080385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.94, Y:257.38, Z:20.51 [[-8.20334044e-01 5.71614862e-01 1.75643161e-02 2.96943163e+02] [-5.71484848e-01 -8.20522058e-01 1.21909970e-02 2.57381784e+02] [ 2.13804639e-02 -3.70506516e-05 9.99771411e-01 2.05088927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.110385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.96, Y:257.39, Z:20.51 [[-8.20567960e-01 5.71278099e-01 1.75942165e-02 2.96956051e+02] [-5.71148936e-01 -8.20756557e-01 1.21476906e-02 2.57389373e+02] [ 2.13802782e-02 -8.09123636e-05 9.99771412e-01 2.05095247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.140385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:296.92, Y:257.37, Z:20.51 [[-8.21173355e-01 5.70408190e-01 1.75732357e-02 2.96924724e+02] [-5.70278176e-01 -8.21361368e-01 1.21780938e-02 2.57367052e+02] [ 2.13804614e-02 -2.13066523e-05 9.99771412e-01 2.05097641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.170385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.95, Y:257.38, Z:20.51 [[-8.22793379e-01 5.68068542e-01 1.75837312e-02 2.96947088e+02] [-5.67938318e-01 -8.22981246e-01 1.21628743e-02 2.57381417e+02] [ 2.13804273e-02 2.10576515e-05 9.99771412e-01 2.05088314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.200385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.35, Y:256.70, Z:21.50 [[-7.83376506e-01 -6.21297575e-01 -1.76231109e-02 2.97354024e+02] [-6.21181351e-01 7.83573341e-01 -1.21056937e-02 2.56697270e+02] [ 2.13302380e-02 1.46383181e-03 -9.99771413e-01 2.15042478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.230385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.83, Y:257.34, Z:20.51 [[-7.77237596e-01 6.28986492e-01 1.66647195e-02 2.96830061e+02] [-6.28845749e-01 -7.77416217e-01 1.33060403e-02 2.57335383e+02] [ 2.13247427e-02 -1.37583247e-04 9.99772592e-01 2.05087330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.260385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.82, Y:257.32, Z:20.51 [[-7.76762559e-01 6.29574248e-01 1.66190491e-02 2.96815485e+02] [-6.29432414e-01 -7.76940319e-01 1.33632627e-02 2.57324530e+02] [ 2.13251754e-02 -8.04860823e-05 9.99772589e-01 2.05090559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.290385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.82, Y:257.32, Z:20.51 [[-7.75367576e-01 6.31291155e-01 1.66312953e-02 2.96816367e+02] [-6.31150043e-01 -7.75545909e-01 1.33479085e-02 2.57324390e+02] [ 2.13247496e-02 -1.47307289e-04 9.99772591e-01 2.05094271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.320385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.81, Y:257.32, Z:20.51 [[-7.74129043e-01 6.32809568e-01 1.66215374e-02 2.96811848e+02] [-6.32668543e-01 -7.74307446e-01 1.33601475e-02 2.57319303e+02] [ 2.13246094e-02 -1.73445686e-04 9.99772590e-01 2.05085069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.350385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.82, Y:257.32, Z:20.51 [[-7.72645207e-01 6.34619890e-01 1.66426834e-02 2.96819663e+02] [-6.34479854e-01 -7.72824384e-01 1.33336118e-02 2.57323118e+02] [ 2.13236468e-02 -2.57296052e-04 9.99772592e-01 2.05074586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.380385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.80, Y:257.31, Z:20.51 [[-7.71916609e-01 6.35506119e-01 1.66349289e-02 2.96803507e+02] [-6.35366080e-01 -7.72095784e-01 1.33433464e-02 2.57307751e+02] [ 2.13235367e-02 -2.69318838e-04 9.99772591e-01 2.05084776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.410385723 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:296.82, Y:257.32, Z:20.51 [[-7.73789155e-01 6.33224958e-01 1.66281701e-02 2.96819590e+02] [-6.33084208e-01 -7.73967774e-01 1.33518336e-02 2.57321238e+02] [ 2.13243821e-02 -1.95527833e-04 9.99772590e-01 2.05058515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.440385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.82, Y:257.32, Z:20.51 [[-7.72455863e-01 6.34849142e-01 1.66885000e-02 2.96824057e+02] [-6.34710403e-01 -7.72636042e-01 1.32759965e-02 2.57320250e+02] [ 2.13223916e-02 -3.37243240e-04 9.99772595e-01 2.05093199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.470385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.82, Y:257.32, Z:20.51 [[-7.74704682e-01 6.32104240e-01 1.66398830e-02 2.96819240e+02] [-6.31963547e-01 -7.74883344e-01 1.33371312e-02 2.57318578e+02] [ 2.13244254e-02 -1.83461463e-04 9.99772592e-01 2.05093175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.500385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.81, Y:257.31, Z:20.51 [[-7.76236564e-01 6.30220604e-01 1.66969170e-02 2.96811590e+02] [-6.30081019e-01 -7.76416087e-01 1.32653434e-02 2.57311246e+02] [ 2.13238477e-02 -2.23365927e-04 9.99772596e-01 2.05095815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.530385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.24, Y:256.66, Z:21.51 [[-7.45857495e-01 -6.65895478e-01 -1.67275289e-02 2.97242937e+02] [-6.65765317e-01 7.46043964e-01 -1.32267374e-02 2.56662663e+02] [ 2.12870965e-02 1.27134738e-03 -9.99772596e-01 2.15070155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.56038572299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.68, Y:257.24, Z:20.51 [[-7.31043643e-01 6.82149940e-01 1.57051431e-02 2.96679883e+02] [-6.81999107e-01 -7.31212288e-01 1.43460189e-02 2.57241373e+02] [ 2.12699296e-02 -2.23327651e-04 9.99773745e-01 2.05141840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.590385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.68, Y:257.24, Z:20.51 [[-7.31987129e-01 6.81137304e-01 1.57103831e-02 2.96683182e+02] [-6.80986361e-01 -7.32155675e-01 1.43402784e-02 2.57244087e+02] [ 2.12701447e-02 -2.01657409e-04 9.99773745e-01 2.05146981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.62038572299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.68, Y:257.24, Z:20.51 [[-7.31684320e-01 6.81462453e-01 1.57156142e-02 2.96684180e+02] [-6.81311709e-01 -7.31853043e-01 1.43345432e-02 2.57243620e+02] [ 2.12699731e-02 -2.18871470e-04 9.99773745e-01 2.05149154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.650385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.68, Y:257.25, Z:20.51 [[-7.32831464e-01 6.80228688e-01 1.57154893e-02 2.96684865e+02] [-6.80077657e-01 -7.32999930e-01 1.43346802e-02 2.57245461e+02] [ 2.12703133e-02 -1.82848449e-04 9.99773745e-01 2.05149507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.680385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.69, Y:257.25, Z:20.52 [[-7.33022527e-01 6.80022575e-01 1.57248951e-02 2.96688549e+02] [-6.79871717e-01 -7.33191149e-01 1.43243548e-02 2.57249513e+02] [ 2.12702385e-02 -1.90836699e-04 9.99773745e-01 2.05150478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.710385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.15, Y:256.62, Z:21.51 [[-6.97398661e-01 -7.16510725e-01 -1.57317382e-02 2.97153996e+02] [-7.16368829e-01 6.97574891e-01 -1.43168370e-02 2.56624347e+02] [ 2.12322329e-02 1.28518388e-03 -9.99773745e-01 2.15084946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.740385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.55, Y:257.16, Z:20.52 [[-6.85628847e-01 7.27803372e-01 1.46743103e-02 2.96549908e+02] [-7.27641941e-01 -6.85785843e-01 1.53291261e-02 2.57164187e+02] [ 2.12200240e-02 -1.67552590e-04 9.99774816e-01 2.05161147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.770385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.56, Y:257.17, Z:20.52 [[-6.85596261e-01 7.27833957e-01 1.46798866e-02 2.96556025e+02] [-7.27672647e-01 -6.85753382e-01 1.53237842e-02 2.57170281e+02] [ 2.12199523e-02 -1.76222835e-04 9.99774816e-01 2.05161844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.800385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.06, Y:256.58, Z:21.51 [[-6.48858701e-01 -7.60767104e-01 -1.46900869e-02 2.97062259e+02] [-7.60613961e-01 6.49023792e-01 -1.53140045e-02 2.56576076e+02] [ 2.11846068e-02 1.23686012e-03 -9.99774816e-01 2.15109535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.830385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.98, Y:256.52, Z:21.51 [[-5.94756194e-01 -8.03771903e-01 -1.46900869e-02 2.96977315e+02] [-8.03630530e-01 5.94931469e-01 -1.53140045e-02 2.56520478e+02] [ 2.10485616e-02 2.69730329e-03 -9.99774816e-01 2.15138898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.860385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.30, Y:256.98, Z:20.52 [[-5.80507912e-01 8.14160800e-01 1.23594593e-02 2.96303942e+02] [-8.13983156e-01 -5.80639438e-01 1.70077678e-02 2.56979368e+02] [ 2.10234473e-02 -1.87247903e-04 9.99778965e-01 2.05216713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.890385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.29, Y:256.97, Z:20.52 [[-5.80084542e-01 8.14462397e-01 1.23664056e-02 2.96294628e+02] [-8.14284929e-01 -5.80216306e-01 1.70027156e-02 2.56969153e+02] [ 2.10232627e-02 -2.06765208e-04 9.99778965e-01 2.05239571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.920385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.30, Y:256.97, Z:20.52 [[-5.80506996e-01 8.14161242e-01 1.23733766e-02 2.96295364e+02] [-8.13983814e-01 -5.80638813e-01 1.69976411e-02 2.56971259e+02] [ 2.10232833e-02 -2.04478723e-04 9.99778965e-01 2.05235451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.950385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.30, Y:256.97, Z:20.53 [[-5.81162238e-01 8.13693542e-01 1.23803577e-02 2.96295780e+02] [-8.13516116e-01 -5.81294058e-01 1.69925548e-02 2.56972089e+02] [ 2.10233605e-02 -1.96189308e-04 9.99778965e-01 2.05253070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.980385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.29, Y:256.97, Z:20.53 [[-5.82152731e-01 8.12985087e-01 1.23873148e-02 2.96290857e+02] [-8.12807610e-01 -5.82284480e-01 1.69874817e-02 2.56965409e+02] [ 2.10235104e-02 -1.79194871e-04 9.99778966e-01 2.05250821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.010385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.29, Y:256.96, Z:20.52 [[-5.83355798e-01 8.12122106e-01 1.23974749e-02 2.96289649e+02] [-8.11944591e-01 -5.83487497e-01 1.69800636e-02 2.56962772e+02] [ 2.10236566e-02 -1.60644186e-04 9.99778966e-01 2.05241221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.040385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.29, Y:256.96, Z:20.52 [[-5.83967864e-01 8.11681997e-01 1.24044246e-02 2.96286016e+02] [-8.11504490e-01 -5.84099574e-01 1.69749852e-02 2.56957122e+02] [ 2.10237090e-02 -1.53400404e-04 9.99778966e-01 2.05235969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.070385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.28, Y:256.95, Z:20.52 [[-5.84897186e-01 8.11012490e-01 1.24106139e-02 2.96280538e+02] [-8.10834929e-01 -5.85028822e-01 1.69704588e-02 2.56948656e+02] [ 2.10238209e-02 -1.36985640e-04 9.99778966e-01 2.05228394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.100385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.28, Y:256.95, Z:20.52 [[-5.85161479e-01 8.10821722e-01 1.24168282e-02 2.96283598e+02] [-8.10644215e-01 -5.85293188e-01 1.69659108e-02 2.56952004e+02] [ 2.10238140e-02 -1.37832433e-04 9.99778966e-01 2.05223252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.130385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.28, Y:256.94, Z:20.52 [[-5.85624964e-01 8.10486922e-01 1.24238107e-02 2.96278108e+02] [-8.10309447e-01 -5.85756717e-01 1.69607961e-02 2.56943837e+02] [ 2.10238340e-02 -1.34465624e-04 9.99778966e-01 2.05231685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.160385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:296.28, Y:256.94, Z:20.52 [[-5.85060080e-01 8.10894557e-01 1.24386571e-02 2.96278221e+02] [-8.10717406e-01 -5.85192267e-01 1.69499011e-02 2.56942447e+02] [ 2.10235885e-02 -1.67525268e-04 9.99778966e-01 2.05232990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.190385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.28, Y:256.94, Z:20.52 [[-5.84991024e-01 8.10944270e-01 1.24456209e-02 2.96278986e+02] [-8.10767238e-01 -5.85123372e-01 1.69447863e-02 2.56942723e+02] [ 2.10235010e-02 -1.77953759e-04 9.99778966e-01 2.05236083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.220385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.28, Y:256.94, Z:20.52 [[-5.84091942e-01 8.11591977e-01 1.24525681e-02 2.96280516e+02] [-8.11415201e-01 -5.84224630e-01 1.69396793e-02 2.56943200e+02] [ 2.10232049e-02 -2.09872884e-04 9.99778966e-01 2.05232173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.250385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:296.28, Y:256.94, Z:20.52 [[-5.83642711e-01 8.11914988e-01 1.24594939e-02 2.96276692e+02] [-8.11738394e-01 -5.83775642e-01 1.69345838e-02 2.56937256e+02] [ 2.10229914e-02 -2.30103212e-04 9.99778966e-01 2.05245429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.280385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.27, Y:256.93, Z:20.53 [[-5.83221565e-01 8.12217406e-01 1.24696046e-02 2.96273801e+02] [-8.12041041e-01 -5.83354798e-01 1.69271356e-02 2.56932642e+02] [ 2.10227178e-02 -2.53560220e-04 9.99778966e-01 2.05250652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.31038572299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.27, Y:256.93, Z:20.53 [[-5.81885400e-01 8.13175096e-01 1.24757619e-02 2.96273909e+02] [-8.12999047e-01 -5.82019051e-01 1.69225963e-02 2.56929407e+02] [ 2.10221649e-02 -2.95770826e-04 9.99778966e-01 2.05257648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.340385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.27, Y:256.92, Z:20.53 [[-5.81187262e-01 8.13674055e-01 1.24859296e-02 2.96271328e+02] [-8.13498282e-01 -5.81321276e-01 1.69150909e-02 2.56924616e+02] [ 2.10217072e-02 -3.26446871e-04 9.99778966e-01 2.05254442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.37038572299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.27, Y:256.92, Z:20.53 [[-5.79854006e-01 8.14624625e-01 1.24920786e-02 2.96271802e+02] [-8.14449169e-01 -5.79988434e-01 1.69105486e-02 2.56924918e+02] [ 2.10210104e-02 -3.68513685e-04 9.99778966e-01 2.05265523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.400385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.27, Y:256.92, Z:20.53 [[-5.79249200e-01 8.15054685e-01 1.24989852e-02 2.96271587e+02] [-8.14879439e-01 -5.79383902e-01 1.69054422e-02 2.56924182e+02] [ 2.10205707e-02 -3.92702107e-04 9.99778966e-01 2.05262756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.430385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:296.27, Y:256.92, Z:20.53 [[-5.78012394e-01 8.15932151e-01 1.25058754e-02 2.96271774e+02] [-8.15757220e-01 -5.78147504e-01 1.69003437e-02 2.56920857e+02] [ 2.10197744e-02 -4.33150020e-04 9.99778966e-01 2.05262493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.460385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.27, Y:256.91, Z:20.53 [[-5.77913947e-01 8.16001789e-01 1.25119997e-02 2.96267433e+02] [-8.15826972e-01 -5.78049205e-01 1.68958084e-02 2.56913173e+02] [ 2.10195613e-02 -4.43303512e-04 9.99778966e-01 2.05269161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.490385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:296.27, Y:256.92, Z:20.53 [[-5.77844231e-01 8.16051065e-01 1.25181349e-02 2.96270591e+02] [-8.15876358e-01 -5.77979631e-01 1.68912616e-02 2.56915754e+02] [ 2.10193590e-02 -4.52732250e-04 9.99778966e-01 2.05262593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.520385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:296.27, Y:256.91, Z:20.53 [[-5.77827598e-01 8.16062725e-01 1.25258133e-02 2.96270511e+02] [-8.15888144e-01 -5.77963160e-01 1.68855656e-02 2.56913853e+02] [ 2.10191394e-02 -4.62716774e-04 9.99778966e-01 2.05256978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.550385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.27, Y:256.91, Z:20.53 [[-5.78033017e-01 8.15917130e-01 1.25326789e-02 2.96267068e+02] [-8.15742625e-01 -5.78168677e-01 1.68804684e-02 2.56908140e+02] [ 2.10190657e-02 -4.65972327e-04 9.99778966e-01 2.05259834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.580385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:296.76, Y:256.29, Z:21.52 [[-5.54206171e-01 -8.32284986e-01 -1.25387912e-02 2.96760110e+02] [-8.32114578e-01 5.54346943e-01 -1.68759269e-02 2.56294878e+02] [ 2.09964212e-02 1.08096810e-03 -9.99778966e-01 2.15243245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.610385723 meters Centerline goodness : 0.994403 Centerline is valid? [True, True] Translation: X:296.47, Y:255.83, Z:21.54 [[-4.82921863e-01 -8.75591390e-01 -1.12334953e-02 2.96467705e+02] [-8.75413532e-01 4.83050780e-01 -1.76944275e-02 2.55831971e+02] [ 2.09194370e-02 1.28892793e-03 -9.99780334e-01 2.15369143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.640385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:296.14, Y:256.89, Z:20.53 [[-4.45430315e-01 8.95264523e-01 9.65755768e-03 2.96137768e+02] [-8.95073099e-01 -4.45534821e-01 1.85167645e-02 2.56892375e+02] [ 2.08801805e-02 -3.96291861e-04 9.99781907e-01 2.05251912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.670385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.14, Y:256.89, Z:20.52 [[-4.47305795e-01 8.94328309e-01 9.71602030e-03 2.96136482e+02] [-8.94137331e-01 -4.47411109e-01 1.84860373e-02 2.56885915e+02] [ 2.08796419e-02 -4.18544831e-04 9.99781909e-01 2.05248345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.700385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:296.14, Y:256.88, Z:20.52 [[-4.48677202e-01 8.93640982e-01 9.72439245e-03 2.96135334e+02] [-8.93449938e-01 -4.48782395e-01 1.84816322e-02 2.56883535e+02] [ 2.08800801e-02 -3.95970818e-04 9.99781909e-01 2.05249792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.730385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.13, Y:256.87, Z:20.53 [[-4.49599721e-01 8.93177128e-01 9.73190760e-03 2.96128700e+02] [-8.92986060e-01 -4.49704872e-01 1.84776741e-02 2.56870946e+02] [ 2.08803221e-02 -3.82900719e-04 9.99781909e-01 2.05255201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.760385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:296.13, Y:256.86, Z:20.53 [[-4.50994593e-01 8.92473541e-01 9.73944972e-03 2.96125102e+02] [-8.92282395e-01 -4.51099602e-01 1.84736978e-02 2.56863012e+02] [ 2.08807484e-02 -3.58801695e-04 9.99781909e-01 2.05268193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.790385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.13, Y:256.87, Z:20.53 [[-4.51844193e-01 8.92043611e-01 9.74789837e-03 2.96130297e+02] [-8.91852461e-01 -4.51949195e-01 1.84692387e-02 2.56870474e+02] [ 2.08809212e-02 -3.48468907e-04 9.99781909e-01 2.05273101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.820385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.13, Y:256.86, Z:20.53 [[-4.53613858e-01 8.91144937e-01 9.75545809e-03 2.96130071e+02] [-8.90953665e-01 -4.53718637e-01 1.84652448e-02 2.56864952e+02] [ 2.08814426e-02 -3.15570225e-04 9.99781909e-01 2.05279225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.850385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.13, Y:256.86, Z:20.53 [[-4.53977439e-01 8.90959690e-01 9.76299002e-03 2.96128629e+02] [-8.90768460e-01 -4.54082296e-01 1.84612616e-02 2.56862098e+02] [ 2.08814409e-02 -3.15567307e-04 9.99781909e-01 2.05279925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.880385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.13, Y:256.86, Z:20.53 [[-4.55066259e-01 8.90403974e-01 9.77052287e-03 2.96126588e+02] [-8.90212702e-01 -4.55171038e-01 1.84572740e-02 2.56856116e+02] [ 2.08816892e-02 -2.98560914e-04 9.99781909e-01 2.05279704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.910385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.13, Y:256.86, Z:20.53 [[-4.56004144e-01 8.89923935e-01 9.77806178e-03 2.96127180e+02] [-8.89732639e-01 -4.56108878e-01 1.84532793e-02 2.56855317e+02] [ 2.08818757e-02 -2.85088866e-04 9.99781909e-01 2.05287077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.940385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.13, Y:256.85, Z:20.53 [[-4.57519618e-01 8.89145681e-01 9.78560186e-03 2.96126617e+02] [-8.88954291e-01 -4.57624182e-01 1.84492800e-02 2.56851009e+02] [ 2.08822257e-02 -2.58045234e-04 9.99781909e-01 2.05287720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.970385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.13, Y:256.85, Z:20.53 [[-4.58208080e-01 8.88791004e-01 9.79313494e-03 2.96125629e+02] [-8.88599620e-01 -4.58312653e-01 1.84452805e-02 2.56847512e+02] [ 2.08823170e-02 -2.50399416e-04 9.99781909e-01 2.05283356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.000385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:296.13, Y:256.85, Z:20.53 [[-4.58160340e-01 8.88815532e-01 9.80066894e-03 2.96128138e+02] [-8.88624238e-01 -4.58265079e-01 1.84412765e-02 2.56846239e+02] [ 2.08821973e-02 -2.60050460e-04 9.99781909e-01 2.05261890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.030385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:296.02, Y:256.65, Z:20.53 [[-4.58472496e-01 8.88654471e-01 9.80819363e-03 2.96024068e+02] [-8.88463226e-01 -4.58577324e-01 1.84372736e-02 2.56647433e+02] [ 2.08821808e-02 -2.61236520e-04 9.99781909e-01 2.05302318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.06038572299997 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:296.71, Y:256.42, Z:21.52 [[-4.21113724e-01 -9.06954812e-01 -9.80819363e-03 2.96713167e+02] [-9.06768093e-01 4.21226416e-01 -1.84372736e-02 2.56415389e+02] [ 2.08532442e-02 1.12956810e-03 -9.99781909e-01 2.15222004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.090385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:296.02, Y:256.70, Z:20.53 [[-3.95505999e-01 9.18423862e-01 8.52139162e-03 2.96016515e+02] [-9.18227070e-01 -3.95597670e-01 1.90139948e-02 2.56700075e+02] [ 2.08339493e-02 -3.04423430e-04 9.99782903e-01 2.05268446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.12038572299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.01, Y:256.69, Z:20.53 [[-3.94977661e-01 9.18651123e-01 8.53005119e-03 2.96012124e+02] [-9.18454467e-01 -3.95069624e-01 1.90101092e-02 2.56690200e+02] [ 2.08336223e-02 -3.25895160e-04 9.99782903e-01 2.05284965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.150385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.02, Y:256.70, Z:20.53 [[-3.94204962e-01 9.18982874e-01 8.53962733e-03 2.96015102e+02] [-9.18786388e-01 -3.94297289e-01 1.90058065e-02 2.56695522e+02] [ 2.08331626e-02 -3.53910141e-04 9.99782903e-01 2.05286381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.180385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:296.02, Y:256.69, Z:20.53 [[-3.92951433e-01 9.19519493e-01 8.54829249e-03 2.96016460e+02] [-9.19323218e-01 -3.93044207e-01 1.90019083e-02 2.56694734e+02] [ 2.08324820e-02 -3.91816648e-04 9.99782904e-01 2.05288841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.210385723 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:296.02, Y:256.69, Z:20.53 [[-3.92996536e-01 9.19500145e-01 8.55603279e-03 2.96015459e+02] [-9.19303941e-01 -3.93089460e-01 1.89984225e-02 2.56690802e+02] [ 2.08323385e-02 -3.99280460e-04 9.99782904e-01 2.05289859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.240385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:296.02, Y:256.69, Z:20.53 [[-3.88750271e-01 9.21303356e-01 8.56464650e-03 2.96019017e+02] [-9.21107668e-01 -3.88844277e-01 1.89945385e-02 2.56685823e+02] [ 2.08300459e-02 -5.04829564e-04 9.99782904e-01 2.05284226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.270385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.02, Y:256.68, Z:20.53 [[-3.89751890e-01 9.20881009e-01 8.46357243e-03 2.96018983e+02] [-9.20684222e-01 -3.89843596e-01 1.90403061e-02 2.56683258e+02] [ 2.08333258e-02 -3.71282308e-04 9.99782894e-01 2.05288247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.300385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:296.01, Y:256.66, Z:20.53 [[-3.95970083e-01 9.18224293e-01 8.47589516e-03 2.96007618e+02] [-9.18027010e-01 -3.96060713e-01 1.90347198e-02 2.56663732e+02] [ 2.08351112e-02 -2.43921119e-04 9.99782896e-01 2.05303949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.330385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.02, Y:256.67, Z:20.53 [[-3.89776110e-01 9.20869364e-01 8.61389475e-03 2.96018237e+02] [-9.20674065e-01 -3.89870912e-01 1.89720640e-02 2.56671256e+02] [ 2.08290995e-02 -5.35732193e-04 9.99782907e-01 2.05256621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.360385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.01, Y:256.66, Z:20.53 [[-3.95792948e-01 9.18301748e-01 8.35713845e-03 2.96010631e+02] [-9.18103337e-01 -3.95881151e-01 1.90886555e-02 2.56659881e+02] [ 2.08375793e-02 -1.17561497e-04 9.99782867e-01 2.05304099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.390385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.91, Y:256.45, Z:20.53 [[-4.01975145e-01 9.15610713e-01 8.54430501e-03 2.95911585e+02] [-9.15413503e-01 -4.02065901e-01 1.90034205e-02 2.56446931e+02] [ 2.08351091e-02 -1.82669480e-04 9.99782909e-01 2.05349469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.420385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:296.60, Y:256.28, Z:21.53 [[-3.68703764e-01 -9.29507681e-01 -8.54430501e-03 2.96599034e+02] [-9.29313871e-01 3.68801571e-01 -1.90034205e-02 2.56284581e+02] [ 2.08149784e-02 9.33708519e-04 -9.99782909e-01 2.15255473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.450385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:296.53, Y:256.18, Z:21.53 [[-3.03305710e-01 -9.52854995e-01 -8.54430501e-03 2.96527548e+02] [-9.52668440e-01 3.03416732e-01 -1.90034205e-02 2.56183682e+02] [ 2.06999892e-02 2.37604380e-03 -9.99782909e-01 2.15271544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.480385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.47, Y:256.08, Z:21.53 [[-2.32726746e-01 -9.72504631e-01 -8.54430501e-03 2.96466614e+02] [-9.72326705e-01 2.32851129e-01 -1.90034205e-02 2.56083920e+02] [ 2.04704655e-02 3.88525173e-03 -9.99782909e-01 2.15305020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.510385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:295.75, Y:256.23, Z:20.54 [[-2.09604398e-01 9.77775732e-01 4.54018178e-03 2.95750158e+02] [-9.77572908e-01 -2.09653398e-01 1.99163856e-02 2.56229993e+02] [ 2.04256231e-02 -2.63796680e-04 9.99791340e-01 2.05376520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.540385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.75, Y:256.23, Z:20.54 [[-2.09933643e-01 9.77705411e-01 4.47163739e-03 2.95751323e+02] [-9.77502235e-01 -2.09981178e-01 1.99320286e-02 2.56229057e+02] [ 2.04266119e-02 -1.86632163e-04 9.99791338e-01 2.05370637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.570385723 meters Centerline goodness : 0.995251 Centerline is valid? [True, True] Translation: X:295.57, Y:255.45, Z:20.55 [[-2.15397555e-01 9.76516033e-01 4.50891338e-03 2.95569889e+02] [-9.76312773e-01 -2.15444714e-01 1.99234527e-02 2.55449011e+02] [ 2.04269926e-02 -1.10646727e-04 9.99791341e-01 2.05484021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.600385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.75, Y:256.21, Z:20.54 [[-2.12961780e-01 9.77049988e-01 4.53895821e-03 2.95747169e+02] [-9.76846992e-01 -2.13010058e-01 1.99165484e-02 2.56213145e+02] [ 2.04263071e-02 -1.92404085e-04 9.99791343e-01 2.05365439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.630385723 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:295.75, Y:256.21, Z:20.54 [[-2.12586257e-01 9.77132057e-01 4.47517175e-03 2.95747943e+02] [-9.76928769e-01 -2.12633313e-01 1.99312640e-02 2.56214112e+02] [ 2.04270476e-02 -1.34811202e-04 9.99791337e-01 2.05386554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.660385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.74, Y:256.20, Z:20.54 [[-2.15750963e-01 9.76437987e-01 4.51443322e-03 2.95742522e+02] [-9.76234736e-01 -2.15798161e-01 1.99221832e-02 2.56201488e+02] [ 2.04269828e-02 -1.08916320e-04 9.99791341e-01 2.05396091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.690385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.74, Y:256.20, Z:20.54 [[-2.15333533e-01 9.76529666e-01 4.61318311e-03 2.95741233e+02] [-9.76326920e-01 -2.15382831e-01 1.98992904e-02 2.56195981e+02] [ 2.04258479e-02 -2.18990338e-04 9.99791347e-01 2.05396196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.720385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.74, Y:256.19, Z:20.54 [[-2.16101737e-01 9.76359915e-01 4.62131496e-03 2.95739191e+02] [-9.76157170e-01 -2.16151041e-01 1.98974018e-02 2.56185400e+02] [ 2.04259275e-02 -2.11266657e-04 9.99791347e-01 2.05394721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.750385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.73, Y:256.16, Z:20.54 [[-2.16904123e-01 9.76181827e-01 4.65203521e-03 2.95733478e+02] [-9.75979196e-01 -2.16953886e-01 1.98902167e-02 2.56163790e+02] [ 2.04257453e-02 -2.26019575e-04 9.99791347e-01 2.05403342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.780385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.73, Y:256.17, Z:20.54 [[-2.16875792e-01 9.76187918e-01 4.69472366e-03 2.95733516e+02] [-9.75985504e-01 -2.16926431e-01 1.98801358e-02 2.56168429e+02] [ 2.04251580e-02 -2.70462033e-04 9.99791348e-01 2.05393027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.81038572299997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:296.40, Y:255.92, Z:21.53 [[-1.77044260e-01 -9.84191694e-01 -4.69472366e-03 2.96398504e+02] [-9.83991504e-01 1.77103079e-01 -1.98801358e-02 2.55919288e+02] [ 2.03973146e-02 1.09990427e-03 -9.99791348e-01 2.15344913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.840385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.67, Y:256.02, Z:20.54 [[-1.50415390e-01 9.88617383e-01 3.29844940e-03 2.95665302e+02] [-9.88412813e-01 -1.50451368e-01 2.01121010e-02 2.56018001e+02] [ 2.03794289e-02 -2.35060136e-04 9.99792290e-01 2.05422355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.87038572299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.35, Y:255.80, Z:21.54 [[-1.09730864e-01 -9.93955863e-01 -3.29844940e-03 2.96348728e+02] [-9.93752941e-01 1.09775204e-01 -2.01121010e-02 2.55802403e+02] [ 2.03526286e-02 1.07092558e-03 -9.99792290e-01 2.15374905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.900385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:295.61, Y:255.86, Z:20.55 [[-8.50408759e-02 9.96375663e-01 1.89394831e-03 2.95606847e+02] [-9.96169882e-01 -8.50618041e-02 2.02498287e-02 2.55856383e+02] [ 2.03375392e-02 -1.64631093e-04 9.99793157e-01 2.05464371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.930385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.31, Y:255.69, Z:21.54 [[-4.33275538e-02 -9.99059125e-01 -1.89394831e-03 2.96306334e+02] [-9.98854399e-01 4.33570634e-02 -2.02498287e-02 2.55688028e+02] [ 2.03128922e-02 1.01440306e-03 -9.99793157e-01 2.15406830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.960385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.56, Y:255.69, Z:20.55 [[-1.81492058e-02 9.99835140e-01 5.46628775e-04 2.95559567e+02] [-9.99629229e-01 -1.81565618e-02 2.02914850e-02 2.55692284e+02] [ 2.02980647e-02 -1.78151763e-04 9.99793957e-01 2.05494965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.990385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:296.28, Y:255.33, Z:21.55 [[ 2.50271872e-02 -9.99686552e-01 -6.61443102e-04 2.96278137e+02] [-9.99481352e-01 -2.50086266e-02 -2.02878283e-02 2.55331256e+02] [ 2.02649274e-02 1.16884732e-03 -9.99793962e-01 2.15490728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.020385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.53, Y:255.25, Z:20.56 [[ 5.40236150e-02 9.98539247e-01 -9.05694868e-04 2.95529080e+02] [-9.98334386e-01 5.40308774e-02 2.02266774e-02 2.55251470e+02] [ 2.02460667e-02 -1.88531904e-04 9.99795010e-01 2.05600263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.050385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.53, Y:255.22, Z:20.56 [[ 5.47592818e-02 9.98499274e-01 -7.87982857e-04 2.95529415e+02] [-9.98294345e-01 5.47640090e-02 2.02312499e-02 2.55222570e+02] [ 2.02440414e-02 -3.21209882e-04 9.99795017e-01 2.05627583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.080385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.53, Y:255.19, Z:20.56 [[ 5.27772667e-02 9.98605995e-01 -7.91364603e-04 2.95528124e+02] [-9.98401078e-01 5.27824692e-02 2.02311176e-02 2.55191292e+02] [ 2.02446855e-02 -2.77643817e-04 9.99795017e-01 2.05611512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.110385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:296.28, Y:255.24, Z:21.55 [[ 1.05162678e-01 -9.94454802e-01 6.76436188e-04 2.96279179e+02] [-9.94249968e-01 -1.05154781e-01 -2.02354441e-02 2.55239794e+02] [ 2.01943651e-02 1.45546683e-03 -9.99795014e-01 2.15455808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.140385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.54, Y:255.10, Z:20.57 [[ 1.26959863e-01 9.91904862e-01 -2.43684292e-03 2.95536240e+02] [-9.91702625e-01 1.26983184e-01 2.00293208e-02 2.55100001e+02] [ 2.01766187e-02 -1.26296312e-04 9.99796423e-01 2.05652445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.170385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.28, Y:255.21, Z:21.55 [[ 1.85182549e-01 -9.82701346e-01 2.34260316e-03 2.96281044e+02] [-9.82497994e-01 -1.85192001e-01 -2.00403370e-02 2.55205637e+02] [ 2.01274975e-02 1.40951777e-03 -9.99796428e-01 2.15488145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.200385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:295.55, Y:255.01, Z:20.57 [[ 1.99642143e-01 9.79860456e-01 -4.06212443e-03 2.95550301e+02] [-9.79662366e-01 1.99683459e-01 1.97018943e-02 2.55009550e+02] [ 2.01162462e-02 4.61820339e-05 9.99797647e-01 2.05666723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.230385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:295.56, Y:254.98, Z:20.57 [[ 1.98529519e-01 9.80087221e-01 -3.88192159e-03 2.95555039e+02] [-9.79888469e-01 1.98567434e-01 1.97373367e-02 2.54982326e+02] [ 2.01151347e-02 -1.14593763e-04 9.99797664e-01 2.05674153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.260385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:296.28, Y:255.15, Z:21.55 [[ 2.66258154e-01 -9.63893918e-01 3.88730495e-03 2.96278665e+02] [-9.63693022e-01 -2.66282255e-01 -1.97362764e-02 2.55147332e+02] [ 2.00587971e-02 1.50877587e-03 -9.99797664e-01 2.15474361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.290385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:295.57, Y:254.90, Z:20.57 [[ 2.72107216e-01 9.62251761e-01 -5.40475941e-03 2.95566933e+02] [-9.62057959e-01 2.72160881e-01 1.93116108e-02 2.54898714e+02] [ 2.00535956e-02 -5.51368440e-05 9.99798905e-01 2.05681061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.320385723 meters Centerline goodness : 0.996450 Centerline is valid? [True, True] Translation: X:296.31, Y:255.13, Z:21.55 [[ 3.44231414e-01 -9.38869249e-01 5.40995093e-03 2.96310366e+02] [-9.38671958e-01 -3.44270348e-01 -1.93101563e-02 2.55129692e+02] [ 1.99921977e-02 1.56899319e-03 -9.99798905e-01 2.15512417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.350385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:296.33, Y:255.14, Z:21.55 [[ 4.16890409e-01 -9.08930930e-01 6.85218437e-03 2.96334895e+02] [-9.08738282e-01 -4.16943637e-01 -1.87813546e-02 2.55140183e+02] [ 1.99279288e-02 1.60292435e-03 -9.99800134e-01 2.15484008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.380385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:296.33, Y:255.13, Z:21.55 [[ 4.87094763e-01 -8.73309608e-01 8.30783700e-03 2.96325884e+02] [-8.73123145e-01 -4.87163079e-01 -1.81137504e-02 2.55133605e+02] [ 1.98661837e-02 1.56934820e-03 -9.99801416e-01 2.15490250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.410385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.32, Y:255.13, Z:21.55 [[ 5.54777421e-01 -8.31942613e-01 9.66965289e-03 2.96316983e+02] [-8.31763084e-01 -5.54859420e-01 -1.73550185e-02 2.55125461e+02] [ 1.98036774e-02 1.58531207e-03 -9.99802631e-01 2.15485622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.440385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.31, Y:255.12, Z:21.55 [[ 6.18601102e-01 -7.85628717e-01 1.09633837e-02 2.96308423e+02] [-7.85457145e-01 -6.18696195e-01 -1.64951798e-02 2.55116621e+02] [ 1.97420907e-02 1.59266837e-03 -9.99803837e-01 2.15487001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.470385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.30, Y:255.11, Z:21.55 [[ 6.78444071e-01 -7.34551049e-01 1.21818732e-02 2.96301142e+02] [-7.34388386e-01 -6.78551550e-01 -1.55400327e-02 2.55107449e+02] [ 1.96809762e-02 1.59681686e-03 -9.99805036e-01 2.15493311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.500385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.30, Y:255.11, Z:21.55 [[ 7.34651076e-01 -6.78314378e-01 1.33191981e-02 2.96303997e+02] [-6.78161414e-01 -7.34770027e-01 -1.44949966e-02 2.55107117e+02] [ 1.96187122e-02 1.61619860e-03 -9.99806228e-01 2.15516257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.530385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.31, Y:255.11, Z:21.55 [[ 7.85935591e-01 -6.18140868e-01 1.43914835e-02 2.96307718e+02] [-6.17998910e-01 -7.86065731e-01 -1.33422217e-02 2.55109672e+02] [ 1.95600245e-02 1.59220581e-03 -9.99807417e-01 2.15522391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.56038572299997 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:296.30, Y:255.10, Z:21.55 [[ 8.32541326e-01 -5.53750966e-01 1.53234479e-02 2.96303475e+02] [-5.53619698e-01 -8.32680703e-01 -1.21686777e-02 2.55099518e+02] [ 1.94979564e-02 1.64756445e-03 -9.99808539e-01 2.15521656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.590385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:296.30, Y:255.09, Z:21.55 [[ 8.73415078e-01 -4.86707684e-01 1.61781226e-02 2.96298760e+02] [-4.86588401e-01 -8.73563342e-01 -1.09002077e-02 2.55088107e+02] [ 1.94378297e-02 1.64831901e-03 -9.99809709e-01 2.15526327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.62038572299997 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:296.31, Y:255.10, Z:21.56 [[ 9.08300772e-01 -4.17975016e-01 1.69290798e-02 2.96305176e+02] [-4.17868536e-01 -9.08457077e-01 -9.57212487e-03 2.55098251e+02] [ 1.93802514e-02 1.62023860e-03 -9.99810872e-01 2.15568886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.650385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:296.31, Y:255.11, Z:21.56 [[ 9.38186304e-01 -3.45683064e-01 1.75977054e-02 2.96312359e+02] [-3.45590763e-01 -9.38350046e-01 -8.13731322e-03 2.55109768e+02] [ 1.93257391e-02 1.55271136e-03 -9.99812035e-01 2.15552783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.680385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.31, Y:255.10, Z:21.56 [[ 9.62107269e-01 -2.72069377e-01 1.81068126e-02 2.96309652e+02] [-2.71989635e-01 -9.62276316e-01 -6.77717144e-03 2.55099889e+02] [ 1.92676177e-02 1.59550056e-03 -9.99813089e-01 2.15569591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.710385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.31, Y:255.09, Z:21.56 [[ 9.80419959e-01 -1.96044757e-01 1.85244947e-02 2.96309516e+02] [-1.95978897e-01 -9.80593661e-01 -5.32393780e-03 2.55089727e+02] [ 1.92087322e-02 1.58928483e-03 -9.99814232e-01 2.15575885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.740385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.31, Y:255.08, Z:21.56 [[ 9.92489882e-01 -1.20869393e-01 1.88261492e-02 2.96305640e+02] [-1.20817991e-01 -9.92667217e-01 -3.84835164e-03 2.55082598e+02] [ 1.91532491e-02 1.54491253e-03 -9.99815366e-01 2.15586466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.770385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.30, Y:255.07, Z:21.56 [[ 9.98797717e-01 -4.51851581e-02 1.90111056e-02 2.96302917e+02] [-4.51484440e-02 -9.98977510e-01 -2.35619775e-03 2.55074985e+02] [ 1.90981321e-02 1.49504309e-03 -9.99816496e-01 2.15587871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.800385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.30, Y:255.06, Z:21.56 [[ 9.99298801e-01 3.22167145e-02 1.90785157e-02 2.96300522e+02] [ 3.22389379e-02 -9.99479822e-01 -8.58344572e-04 2.55062668e+02] [ 1.90409384e-02 1.47281378e-03 -9.99817620e-01 2.15577814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.830385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.30, Y:255.05, Z:21.56 [[ 9.93809536e-01 1.09455569e-01 1.90285290e-02 2.96297526e+02] [ 1.09463326e-01 -9.93990631e-01 6.36551781e-04 2.55050860e+02] [ 1.89838536e-02 1.45031484e-03 -9.99818739e-01 2.15582334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.860385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.30, Y:255.04, Z:21.56 [[ 9.81898129e-01 1.88468254e-01 1.88621644e-02 2.96299478e+02] [ 1.88462122e-01 -9.82078175e-01 2.11819128e-03 2.55042334e+02] [ 1.89233318e-02 1.47495548e-03 -9.99819850e-01 2.15582888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.890385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.30, Y:255.02, Z:21.56 [[ 9.64213618e-01 2.64480932e-01 1.84914787e-02 2.96302494e+02] [ 2.64452169e-01 -9.64390390e-01 4.02814092e-03 2.55024347e+02] [ 1.88983708e-02 1.00612333e-03 -9.99820904e-01 2.15577233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.920385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:296.30, Y:255.01, Z:21.56 [[ 9.40523043e-01 3.39247425e-01 1.80994741e-02 2.96304758e+02] [ 3.39205292e-01 -9.40696627e-01 5.44297569e-03 2.55006796e+02] [ 1.88726298e-02 1.02019336e-03 -9.99821376e-01 2.15595612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.950385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.31, Y:254.99, Z:21.56 [[ 9.11209173e-01 4.11567227e-01 1.76142373e-02 2.96309119e+02] [ 4.11512799e-01 -9.11378774e-01 6.77843537e-03 2.54990497e+02] [ 1.88430238e-02 1.07191162e-03 -9.99821880e-01 2.15603996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.980385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.31, Y:254.97, Z:21.56 [[ 8.76737347e-01 4.80668385e-01 1.70155459e-02 2.96311554e+02] [ 4.80601425e-01 -8.76901783e-01 8.09528522e-03 2.54973083e+02] [ 1.88121102e-02 1.08025670e-03 -9.99822453e-01 2.15631464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.010385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.31, Y:254.96, Z:21.56 [[ 8.36266661e-01 5.48075298e-01 1.64784913e-02 2.96312716e+02] [ 5.48002132e-01 -8.36427750e-01 9.07093631e-03 2.54964762e+02] [ 1.87546235e-02 1.44452672e-03 -9.99823073e-01 2.15637239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.040385723 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:296.31, Y:254.96, Z:21.57 [[ 7.90687775e-01 6.12019053e-01 1.56691187e-02 2.96313925e+02] [ 6.11934042e-01 -7.90841702e-01 1.03020103e-02 2.54957123e+02] [ 1.86968191e-02 1.44279354e-03 -9.99824158e-01 2.15669240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.070385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.32, Y:254.95, Z:21.57 [[ 7.39766809e-01 6.72701238e-01 1.47686580e-02 2.96316371e+02] [ 6.72605149e-01 -7.39912785e-01 1.14622512e-02 2.54946557e+02] [ 1.86381894e-02 1.45408243e-03 -9.99825237e-01 2.15665835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.100385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:296.32, Y:254.94, Z:21.57 [[ 6.84640359e-01 7.28750714e-01 1.37831459e-02 2.96317960e+02] [ 7.28644179e-01 -6.84777542e-01 1.25450547e-02 2.54939390e+02] [ 1.85806063e-02 1.45415834e-03 -9.99826308e-01 2.15670758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.130385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.31, Y:254.94, Z:21.57 [[ 6.24624136e-01 7.80821941e-01 1.27194468e-02 2.96312140e+02] [ 7.80705851e-01 -6.24751898e-01 1.35440218e-02 2.54935647e+02] [ 1.85219679e-02 1.47022362e-03 -9.99827373e-01 2.15690640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.160385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:296.31, Y:254.93, Z:21.57 [[ 5.62820445e-01 8.26496756e-01 1.16729901e-02 2.96307154e+02] [ 8.26373040e-01 -5.62939346e-01 1.43837256e-02 2.54933553e+02] [ 1.84592880e-02 1.55078946e-03 -9.99828410e-01 2.15673135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.190385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.31, Y:254.92, Z:21.57 [[ 4.96457536e-01 8.67998956e-01 1.03791897e-02 2.96311608e+02] [ 8.67865921e-01 -4.96563962e-01 1.52635360e-02 2.54924797e+02] [ 1.84026648e-02 1.43004753e-03 -9.99829634e-01 2.15660529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.220385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.32, Y:254.91, Z:21.57 [[ 4.26868459e-01 9.04267699e-01 9.12402487e-03 2.96316916e+02] [ 9.04127614e-01 -4.26963570e-01 1.59802045e-02 2.54914724e+02] [ 1.83460089e-02 1.42783759e-03 -9.99830678e-01 2.15669963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.250385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.32, Y:254.91, Z:21.57 [[ 3.54421349e-01 9.35053127e-01 7.82035349e-03 2.96317788e+02] [ 9.34906955e-01 -3.54504733e-01 1.65945926e-02 2.54907154e+02] [ 1.82891780e-02 1.42982499e-03 -9.99831717e-01 2.15679235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.280385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.31, Y:254.91, Z:21.57 [[ 2.78163871e-01 9.60511797e-01 6.47672202e-03 2.96310113e+02] [ 9.60360622e-01 -2.78235419e-01 1.71034191e-02 2.54906838e+02] [ 1.82300893e-02 1.46243554e-03 -9.99832749e-01 2.15690207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.31038572299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.31, Y:254.90, Z:21.57 [[ 2.02739376e-01 9.79222516e-01 4.47322556e-03 2.96307451e+02] [ 9.79063200e-01 -2.02787160e-01 1.76810231e-02 2.54898718e+02] [ 1.82207686e-02 7.94930954e-04 -9.99833672e-01 2.15679051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.340385723 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:296.32, Y:254.89, Z:21.57 [[ 1.24933729e-01 9.92158152e-01 3.71014758e-03 2.96317487e+02] [ 9.91998815e-01 -1.24980376e-01 1.78397269e-02 2.54889681e+02] [ 1.81635261e-02 1.45167841e-03 -9.99833976e-01 2.15695677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.37038572299997 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:296.33, Y:254.88, Z:21.57 [[ 4.65778982e-02 9.98912025e-01 2.29463592e-03 2.96326949e+02] [ 9.98750531e-01 -4.66117623e-02 1.80199944e-02 2.54881597e+02] [ 1.81073461e-02 1.45243538e-03 -9.99834994e-01 2.15709787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.400385723 meters Centerline goodness : 0.999843 Centerline is valid? [True, True] Translation: X:297.16, Y:254.89, Z:20.59 [[ 5.15016489e-02 -9.98672528e-01 -8.73077327e-04 2.97159248e+02] [ 9.98508700e-01 5.15090140e-02 -1.80886266e-02 2.54890092e+02] [ 1.81095858e-02 5.98187916e-05 9.99836006e-01 2.05862978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.430385723 meters Centerline goodness : 0.999820 Centerline is valid? [True, True] Translation: X:297.16, Y:254.91, Z:20.59 [[ 4.93647291e-02 -9.98780237e-01 -1.07747797e-03 2.97157340e+02] [ 9.98616621e-01 4.93761456e-02 -1.80787523e-02 2.54913641e+02] [ 1.81099022e-02 -1.83534702e-04 9.99835985e-01 2.05856243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.460385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:297.16, Y:254.94, Z:20.59 [[ 4.83985962e-02 -9.98827731e-01 -8.60057059e-04 2.97158130e+02] [ 9.98663918e-01 4.84062344e-02 -1.80890901e-02 2.54940686e+02] [ 1.81095170e-02 1.65786152e-05 9.99836009e-01 2.05883756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.490385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.16, Y:254.97, Z:20.59 [[ 4.59451094e-02 -9.98943601e-01 -8.53653526e-04 2.97158204e+02] [ 9.98779802e-01 4.59530341e-02 -1.80893923e-02 2.54968132e+02] [ 1.81095107e-02 -2.14927899e-05 9.99836009e-01 2.05880569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.520385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.16, Y:255.00, Z:20.59 [[ 4.46865208e-02 -9.99000697e-01 -8.50023833e-04 2.97158921e+02] [ 9.98836904e-01 4.46945861e-02 -1.80895629e-02 2.54995856e+02] [ 1.81094774e-02 -4.06755454e-05 9.99836009e-01 2.05888884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.550385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:297.16, Y:255.02, Z:20.59 [[ 4.16609748e-02 -9.99131447e-01 -8.45090869e-04 2.97159127e+02] [ 9.98967675e-01 4.16694467e-02 -1.80897933e-02 2.55023968e+02] [ 1.81092959e-02 -9.05800378e-05 9.99836009e-01 2.05904984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.580385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:297.16, Y:255.05, Z:20.59 [[ 4.07813811e-02 -9.99167740e-01 -8.40120199e-04 2.97161711e+02] [ 9.99003971e-01 4.07899072e-02 -1.80900242e-02 2.55053634e+02] [ 1.81092370e-02 -1.01547245e-04 9.99836009e-01 2.05902388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.610385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.16, Y:255.08, Z:20.59 [[ 3.82160650e-02 -9.99269080e-01 -9.15033158e-04 2.97159955e+02] [ 9.99105411e-01 3.82263675e-02 -1.80865520e-02 2.55079213e+02] [ 1.81083106e-02 -2.23017730e-04 9.99836006e-01 2.05924466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.640385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.16, Y:255.11, Z:20.59 [[ 3.46019722e-02 -9.99400826e-01 -8.32671294e-04 2.97159259e+02] [ 9.99237105e-01 3.46113761e-02 -1.80903431e-02 2.55107733e+02] [ 1.81083237e-02 -2.06074505e-04 9.99836010e-01 2.05930888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.670385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.16, Y:255.13, Z:20.59 [[ 3.12342053e-02 -9.99511750e-01 -8.27912683e-04 2.97158729e+02] [ 9.99348057e-01 3.12440747e-02 -1.80905609e-02 2.55134469e+02] [ 1.81075955e-02 -2.62328639e-04 9.99836010e-01 2.05938044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.700385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.16, Y:255.16, Z:20.59 [[ 2.94101785e-02 -9.99567089e-01 -8.22513322e-04 2.97158861e+02] [ 9.99403408e-01 2.94202489e-02 -1.80908064e-02 2.55162652e+02] [ 1.81071732e-02 -2.89968773e-04 9.99836010e-01 2.05944806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.730385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.16, Y:255.19, Z:20.59 [[ 3.03718298e-02 -9.99538334e-01 -8.19358302e-04 2.97163894e+02] [ 9.99374640e-01 3.03816856e-02 -1.80909492e-02 2.55194574e+02] [ 1.81074908e-02 -2.69390677e-04 9.99836010e-01 2.05908627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.760385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:297.16, Y:255.22, Z:20.59 [[ 2.39113753e-02 -9.99713558e-01 -1.02408609e-03 2.97158111e+02] [ 9.99550199e-01 2.39259905e-02 -1.80816474e-02 2.55217675e+02] [ 1.81009704e-02 -5.91268398e-04 9.99835989e-01 2.05940282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.790385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.16, Y:255.25, Z:20.60 [[ 2.25013689e-02 -9.99746485e-01 -8.09284196e-04 2.97157910e+02] [ 9.99582864e-01 2.25123309e-02 -1.80912567e-02 2.55245799e+02] [ 1.81048891e-02 -4.01868575e-04 9.99836012e-01 2.05952390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.820385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.16, Y:255.28, Z:20.59 [[ 2.57818705e-02 -9.99667269e-01 -8.04298849e-04 2.97162847e+02] [ 9.99503607e-01 2.57922053e-02 -1.80914783e-02 2.55280415e+02] [ 1.81062034e-02 -3.37467451e-04 9.99836012e-01 2.05921449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.850385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:297.16, Y:255.30, Z:20.60 [[ 2.04301518e-02 -9.99790666e-01 -1.11077117e-03 2.97156536e+02] [ 9.99627491e-01 2.04469018e-02 -1.80777067e-02 2.55301612e+02] [ 1.80966342e-02 -7.41027108e-04 9.99835968e-01 2.05952387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.880385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.16, Y:255.33, Z:20.60 [[ 2.03847752e-02 -9.99791891e-01 -7.97912275e-04 2.97155363e+02] [ 9.99628284e-01 2.03958778e-02 -1.80915060e-02 2.55329052e+02] [ 1.81040151e-02 -4.28824396e-04 9.99836017e-01 2.05964207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.910385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.16, Y:255.36, Z:20.60 [[ 2.07676813e-02 -9.99784014e-01 -7.92734824e-04 2.97155415e+02] [ 9.99620397e-01 2.07786277e-02 -1.80917328e-02 2.55357311e+02] [ 1.81042972e-02 -4.16710557e-04 9.99836017e-01 2.05975282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.940385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.15, Y:255.38, Z:20.60 [[ 2.11093577e-02 -9.99776862e-01 -7.87885653e-04 2.97154839e+02] [ 9.99613235e-01 2.11201604e-02 -1.80919440e-02 2.55384065e+02] [ 1.81045473e-02 -4.05671609e-04 9.99836017e-01 2.05985586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.970385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:297.15, Y:255.41, Z:20.60 [[ 2.40923590e-02 -9.99709431e-01 -7.82773812e-04 2.97151125e+02] [ 9.99545766e-01 2.41025810e-02 -1.80921652e-02 2.55409349e+02] [ 1.81057750e-02 -3.46535310e-04 9.99836017e-01 2.05988039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.000385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.15, Y:255.44, Z:20.60 [[ 2.35661401e-02 -9.99722038e-01 -6.96016067e-04 2.97149845e+02] [ 9.99558284e-01 2.35748785e-02 -1.80959045e-02 2.55439040e+02] [ 1.81072830e-02 -2.69258005e-04 9.99836013e-01 2.06005993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.030385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:297.15, Y:255.47, Z:20.60 [[ 2.55492346e-02 -9.99673262e-01 -7.77900772e-04 2.97147112e+02] [ 9.99509578e-01 2.55591299e-02 -1.80923839e-02 2.55465540e+02] [ 1.81063549e-02 -3.15272713e-04 9.99836017e-01 2.05994761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.06038572299997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:297.15, Y:255.49, Z:20.60 [[ 2.50808492e-02 -9.99685128e-01 -7.72004467e-04 2.97146308e+02] [ 9.99521442e-01 2.50907145e-02 -1.80926355e-02 2.55492466e+02] [ 1.81063087e-02 -3.17856356e-04 9.99836017e-01 2.06025004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.090385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:297.15, Y:255.52, Z:20.61 [[ 3.00246239e-02 -9.99548866e-01 -7.66016991e-04 2.97149106e+02] [ 9.99385127e-01 3.00335712e-02 -1.80928890e-02 2.55524700e+02] [ 1.81077329e-02 -2.22313802e-04 9.99836017e-01 2.06052097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.12038572299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.15, Y:255.55, Z:20.61 [[ 3.11360031e-02 -9.99514710e-01 -9.45381440e-04 2.97148955e+02] [ 9.99351152e-01 3.11480139e-02 -1.80852498e-02 2.55552549e+02] [ 1.81059200e-02 -3.81665636e-04 9.99836002e-01 2.06061061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.150385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:297.14, Y:255.58, Z:20.61 [[ 2.91560311e-02 -9.99574388e-01 -9.83865716e-04 2.97139901e+02] [ 9.99410901e-01 2.91690618e-02 -1.80836195e-02 2.55575095e+02] [ 1.81046213e-02 -4.56039549e-04 9.99835994e-01 2.06069779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.180385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:297.15, Y:255.61, Z:20.60 [[ 3.60618834e-02 -9.99349274e-01 -7.54516982e-04 2.97147066e+02] [ 9.99185477e-01 3.60696332e-02 -1.80931842e-02 2.55610590e+02] [ 1.81086257e-02 -1.01428112e-04 9.99836020e-01 2.06042688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.210385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.14, Y:255.64, Z:20.61 [[ 3.46210494e-02 -9.99399805e-01 -1.18850207e-03 2.97143500e+02] [ 9.99236503e-01 3.46368871e-02 -1.80747686e-02 2.55635129e+02] [ 1.81050862e-02 -5.61827191e-04 9.99835932e-01 2.06050268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.240385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:297.14, Y:255.66, Z:20.61 [[ 3.32600111e-02 -9.99446214e-01 -1.01870304e-03 2.97137529e+02] [ 9.99282723e-01 3.32730005e-02 -1.80817017e-02 2.55661125e+02] [ 1.81055836e-02 -4.16574747e-04 9.99835994e-01 2.06086517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.270385723 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:297.14, Y:255.69, Z:20.61 [[ 3.37721362e-02 -9.99429194e-01 -8.53631525e-04 2.97138146e+02] [ 9.99265524e-01 3.37820551e-02 -1.80882708e-02 2.55690057e+02] [ 1.81067833e-02 -2.42125008e-04 9.99836029e-01 2.06054019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.300385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:297.14, Y:255.72, Z:20.60 [[ 3.37249674e-02 -9.99430758e-01 -8.86858128e-04 2.97136722e+02] [ 9.99267121e-01 3.37354953e-02 -1.80869390e-02 2.55718714e+02] [ 1.81065618e-02 -2.76226740e-04 9.99836025e-01 2.06048430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.330385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:297.13, Y:255.74, Z:20.61 [[ 2.96840585e-02 -9.99558914e-01 -9.13469665e-04 2.97131887e+02] [ 9.99395350e-01 2.96957292e-02 -1.80858775e-02 2.55741718e+02] [ 1.81050262e-02 -3.76055090e-04 9.99836020e-01 2.06078911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.360385723 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:297.13, Y:255.77, Z:20.61 [[ 2.53719778e-02 -9.99677828e-01 -7.08572136e-04 2.97127975e+02] [ 9.99514099e-01 2.53806473e-02 -1.80939018e-02 2.55766573e+02] [ 1.81060565e-02 -2.49149763e-04 9.99836041e-01 2.06099914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.390385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:297.13, Y:255.80, Z:20.61 [[ 2.52141078e-02 -9.99681927e-01 -5.42190655e-04 2.97130196e+02] [ 9.99518054e-01 2.52197916e-02 -1.81003379e-02 2.55797004e+02] [ 1.81082546e-02 -8.55454771e-05 9.99836028e-01 2.06096835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.420385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:297.13, Y:255.82, Z:20.61 [[ 2.22031321e-02 -9.99753248e-01 -6.80874570e-04 2.97130085e+02] [ 9.99589519e-01 2.22118194e-02 -1.80949649e-02 2.55824874e+02] [ 1.81056234e-02 -2.78830188e-04 9.99836041e-01 2.06110035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.450385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.13, Y:255.85, Z:20.61 [[ 1.99266641e-02 -9.99801201e-01 -6.97616833e-04 2.97129312e+02] [ 9.99637510e-01 1.99360271e-02 -1.80943194e-02 2.55852230e+02] [ 1.81046300e-02 -3.36804528e-04 9.99836041e-01 2.06133314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.480385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.13, Y:255.88, Z:20.61 [[ 1.88459159e-02 -9.99822185e-01 -6.54938431e-04 2.97129141e+02] [ 9.99658460e-01 1.88546836e-02 -1.80959528e-02 2.55881070e+02] [ 1.81050838e-02 -3.13679939e-04 9.99836040e-01 2.06126582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.510385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:297.13, Y:255.91, Z:20.61 [[ 1.66395909e-02 -9.99861327e-01 -6.70751639e-04 2.97126884e+02] [ 9.99697639e-01 1.66490060e-02 -1.80953500e-02 2.55907885e+02] [ 1.81040080e-02 -3.69449608e-04 9.99836041e-01 2.06118784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.540385723 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:297.13, Y:255.94, Z:20.61 [[ 1.74234217e-02 -9.99848008e-01 -6.20635643e-04 2.97128574e+02] [ 9.99684261e-01 1.74318017e-02 -1.80972511e-02 2.55938010e+02] [ 1.81053192e-02 -3.05123647e-04 9.99836039e-01 2.06118375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.570385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:297.13, Y:255.97, Z:20.61 [[ 1.87351724e-02 -9.99824238e-01 -6.97348085e-04 2.97128609e+02] [ 9.99660557e-01 1.87447255e-02 -1.80943412e-02 2.55967404e+02] [ 1.81042325e-02 -3.58110773e-04 9.99836041e-01 2.06093056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.600385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.13, Y:255.99, Z:20.61 [[ 1.75029187e-02 -9.99846524e-01 -7.58874601e-04 2.97126105e+02] [ 9.99682923e-01 1.75137864e-02 -1.80920166e-02 2.55993419e+02] [ 1.81025306e-02 -4.41970884e-04 9.99836038e-01 2.06096074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.630385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.12, Y:256.02, Z:20.61 [[ 1.74026202e-02 -9.99848334e-01 -6.76705417e-04 2.97122447e+02] [ 9.99684645e-01 1.74120181e-02 -1.80950895e-02 2.56020482e+02] [ 1.81041279e-02 -3.61590044e-04 9.99836041e-01 2.06118665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.660385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.12, Y:256.05, Z:20.61 [[ 1.71825174e-02 -9.99852191e-01 -5.97886972e-04 2.97123450e+02] [ 9.99688425e-01 1.71905252e-02 -1.80980170e-02 2.56049014e+02] [ 1.81056199e-02 -2.86731193e-04 9.99836039e-01 2.06123571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.690385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:297.12, Y:256.08, Z:20.61 [[ 1.43380167e-02 -9.99897030e-01 -5.92251353e-04 2.97119467e+02] [ 9.99733282e-01 1.43463884e-02 -1.80982249e-02 2.56075483e+02] [ 1.81048580e-02 -3.32600738e-04 9.99836038e-01 2.06113698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.720385723 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:297.12, Y:256.11, Z:20.61 [[ 2.01200206e-02 -9.99797441e-01 -5.10790840e-04 2.97124043e+02] [ 9.99633579e-01 2.01259708e-02 -1.81011873e-02 2.56106808e+02] [ 1.81078009e-02 -1.46407414e-04 9.99836030e-01 2.06115606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.750385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:297.12, Y:256.13, Z:20.61 [[ 2.17484231e-02 -9.99763257e-01 -6.60550770e-04 2.97123175e+02] [ 9.99599513e-01 2.17568171e-02 -1.80957208e-02 2.56134752e+02] [ 1.81058082e-02 -2.66732835e-04 9.99836041e-01 2.06126816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.780385723 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:297.12, Y:256.16, Z:20.61 [[ 2.25152611e-02 -9.99746284e-01 -6.55610886e-04 2.97123589e+02] [ 9.99582529e-01 2.25234401e-02 -1.80958998e-02 2.56162500e+02] [ 1.81060752e-02 -2.47903280e-04 9.99836041e-01 2.06139396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.81038572299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.12, Y:256.19, Z:20.62 [[ 1.98579400e-02 -9.99802600e-01 -6.50652752e-04 2.97119658e+02] [ 9.99638863e-01 1.98664644e-02 -1.80960780e-02 2.56187169e+02] [ 1.81054320e-02 -2.91066946e-04 9.99836041e-01 2.06162376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.840385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.12, Y:256.22, Z:20.62 [[ 2.41073962e-02 -9.99709281e-01 -4.33393298e-04 2.97124478e+02] [ 9.99545346e-01 2.41112913e-02 -1.81037649e-02 2.56218958e+02] [ 1.81089514e-02 3.23837688e-06 9.99836019e-01 2.06151581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.87038572299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.13, Y:256.25, Z:20.62 [[ 2.39591793e-02 -9.99712729e-01 -6.45914920e-04 2.97125330e+02] [ 9.99548955e-01 2.39669463e-02 -1.80961796e-02 2.56247642e+02] [ 1.81064617e-02 -2.12053970e-04 9.99836042e-01 2.06176348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.900385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:297.13, Y:256.27, Z:20.62 [[ 2.42808008e-02 -9.99704958e-01 -6.63109641e-04 2.97125912e+02] [ 9.99541196e-01 2.42888262e-02 -1.80955684e-02 2.56274553e+02] [ 1.81063356e-02 -2.23430512e-04 9.99836042e-01 2.06175065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.930385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:297.13, Y:256.30, Z:20.62 [[ 2.38764108e-02 -9.99714713e-01 -6.39567835e-04 2.97127673e+02] [ 9.99550935e-01 2.38840764e-02 -1.80964005e-02 2.56302738e+02] [ 1.81065133e-02 -2.07203536e-04 9.99836042e-01 2.06187951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.960385723 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:297.13, Y:256.33, Z:20.62 [[ 2.32871728e-02 -9.99728616e-01 -6.34581084e-04 2.97129429e+02] [ 9.99564837e-01 2.32948447e-02 -1.80965753e-02 2.56330930e+02] [ 1.81064467e-02 -2.12886862e-04 9.99836042e-01 2.06203375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.990385723 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:297.13, Y:256.36, Z:20.62 [[ 2.28442192e-02 -9.99738839e-01 -6.29440035e-04 2.97130735e+02] [ 9.99575059e-01 2.28518706e-02 -1.80967541e-02 2.56358487e+02] [ 1.81064119e-02 -2.15766341e-04 9.99836042e-01 2.06202622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.020385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.13, Y:256.39, Z:20.62 [[ 2.22800426e-02 -9.99751574e-01 -6.24339106e-04 2.97131514e+02] [ 9.99587795e-01 2.22876942e-02 -1.80969301e-02 2.56386778e+02] [ 1.81063495e-02 -2.20881375e-04 9.99836042e-01 2.06206422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.050385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.13, Y:256.41, Z:20.62 [[ 2.15241994e-02 -9.99768136e-01 -6.19296144e-04 2.97132349e+02] [ 9.99604358e-01 2.15318835e-02 -1.80971027e-02 2.56414374e+02] [ 1.81062412e-02 -2.29525478e-04 9.99836042e-01 2.06203572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.080385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:297.13, Y:256.44, Z:20.62 [[ 2.09394677e-02 -9.99780557e-01 -6.13972031e-04 2.97133638e+02] [ 9.99616779e-01 2.09471512e-02 -1.80972833e-02 2.56441914e+02] [ 1.81061730e-02 -2.34789263e-04 9.99836042e-01 2.06208836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.110385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:297.14, Y:256.47, Z:20.62 [[ 1.97283706e-02 -9.99805192e-01 -6.08660570e-04 2.97136018e+02] [ 9.99641419e-01 1.97361563e-02 -1.80974620e-02 2.56469207e+02] [ 1.81059490e-02 -2.51408879e-04 9.99836042e-01 2.06211021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.140385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:297.14, Y:256.50, Z:20.62 [[ 1.89674603e-02 -9.99819919e-01 -6.03390755e-04 2.97137956e+02] [ 9.99656148e-01 1.89752753e-02 -1.80976377e-02 2.56497512e+02] [ 1.81058281e-02 -2.59917054e-04 9.99836042e-01 2.06223037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.170385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.14, Y:256.53, Z:20.62 [[ 1.83944474e-02 -9.99830629e-01 -5.98360982e-04 2.97139633e+02] [ 9.99666858e-01 1.84022652e-02 -1.80978040e-02 2.56525879e+02] [ 1.81057499e-02 -2.65262540e-04 9.99836042e-01 2.06227448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.200385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:297.14, Y:256.55, Z:20.62 [[ 1.77782129e-02 -9.99841780e-01 -5.91810102e-04 2.97141795e+02] [ 9.99678008e-01 1.77860132e-02 -1.80980189e-02 2.56553655e+02] [ 1.81056814e-02 -2.69869110e-04 9.99836042e-01 2.06228880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.230385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.14, Y:256.58, Z:20.62 [[ 1.57101004e-02 -9.99876416e-01 -5.88253679e-04 2.97141316e+02] [ 9.99712657e-01 1.57181750e-02 -1.80981346e-02 2.56577983e+02] [ 1.81051442e-02 -3.03761138e-04 9.99836042e-01 2.06195471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.260385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.14, Y:256.60, Z:20.62 [[ 1.42631370e-02 -9.99898183e-01 -4.32664685e-04 2.97141194e+02] [ 9.99734305e-01 1.42686328e-02 -1.81031789e-02 2.56603835e+02] [ 1.81075092e-02 -1.74341607e-04 9.99836030e-01 2.06211095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.290385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.15, Y:256.64, Z:20.62 [[ 1.77238342e-02 -9.99842870e-01 -3.16390028e-04 2.97148328e+02] [ 9.99678901e-01 1.77266574e-02 -1.81069065e-02 2.56635970e+02] [ 1.81096699e-02 4.63537439e-06 9.99836006e-01 2.06219641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.320385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.15, Y:256.66, Z:20.62 [[ 1.45390932e-02 -9.99894131e-01 -5.85212632e-04 2.97149020e+02] [ 9.99730379e-01 1.45473046e-02 -1.80982147e-02 2.56660419e+02] [ 1.81048119e-02 -3.21923215e-04 9.99836043e-01 2.06212771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.350385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.15, Y:256.69, Z:20.62 [[ 1.44134075e-02 -9.99896047e-01 -3.85883490e-04 2.97150651e+02] [ 9.99732136e-01 1.44180317e-02 -1.81045837e-02 2.56688061e+02] [ 1.81082653e-02 -1.24831384e-04 9.99836024e-01 2.06214768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.380385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:297.16, Y:256.72, Z:20.62 [[ 1.64563403e-02 -9.99864524e-01 -3.50695553e-04 2.97155929e+02] [ 9.99700581e-01 1.64599925e-02 -1.81057023e-02 2.56718085e+02] [ 1.81090218e-02 -5.26369507e-05 9.99836017e-01 2.06212313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.410385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.16, Y:256.75, Z:20.62 [[ 1.75841535e-02 -9.99845261e-01 -5.01434240e-04 2.97159122e+02] [ 9.99681418e-01 1.75903498e-02 -1.81008635e-02 2.56748109e+02] [ 1.81068830e-02 -1.82986130e-04 9.99836040e-01 2.06222758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.440385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:297.16, Y:256.78, Z:20.62 [[ 1.75605161e-02 -9.99845655e-01 -5.43530853e-04 2.97161210e+02] [ 9.99681845e-01 1.75674783e-02 -1.80995147e-02 2.56775880e+02] [ 1.81062696e-02 -2.25521106e-04 9.99836043e-01 2.06224780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.470385723 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:297.16, Y:256.80, Z:20.62 [[ 1.67872703e-02 -9.99858917e-01 -5.77979807e-04 2.97164504e+02] [ 9.99695142e-01 1.67949826e-02 -1.80984146e-02 2.56804066e+02] [ 1.81055684e-02 -2.73980627e-04 9.99836043e-01 2.06224517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.500385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:297.17, Y:256.83, Z:20.62 [[ 1.50016874e-02 -9.99887304e-01 -5.73083929e-04 2.97168324e+02] [ 9.99723539e-01 1.50096035e-02 -1.80985696e-02 2.56832038e+02] [ 1.81051317e-02 -3.01416410e-04 9.99836043e-01 2.06233252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.530385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.17, Y:256.86, Z:20.62 [[ 1.38338004e-02 -9.99904147e-01 -5.68154948e-04 2.97170213e+02] [ 9.99740386e-01 1.38418186e-02 -1.80987243e-02 2.56860565e+02] [ 1.81048538e-02 -3.17633307e-04 9.99836043e-01 2.06236529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.56038572299997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:297.17, Y:256.89, Z:20.62 [[ 1.25198277e-02 -9.99921465e-01 -5.63232322e-04 2.97171693e+02] [ 9.99757711e-01 1.25279720e-02 -1.80988775e-02 2.56887716e+02] [ 1.81045123e-02 -3.36501030e-04 9.99836043e-01 2.06232882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.590385723 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:297.18, Y:256.92, Z:20.62 [[ 9.67666559e-03 -9.99953023e-01 -5.59641370e-04 2.97175029e+02] [ 9.99789289e-01 9.68521054e-03 -1.80989886e-02 2.56916150e+02] [ 1.81035586e-02 -3.84385588e-04 9.99836043e-01 2.06247070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.62038572299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.18, Y:256.94, Z:20.63 [[ 8.31218685e-03 -9.99965299e-01 -5.54627529e-04 2.97177518e+02] [ 9.99801572e-01 8.32086450e-03 -1.80991422e-02 2.56944112e+02] [ 1.81031291e-02 -4.04074024e-04 9.99836043e-01 2.06259686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.650385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:297.18, Y:256.97, Z:20.63 [[ 7.40630215e-03 -9.99972422e-01 -5.49600346e-04 2.97181013e+02] [ 9.99808698e-01 7.41503719e-03 -1.80992949e-02 2.56972595e+02] [ 1.81028710e-02 -4.15446360e-04 9.99836043e-01 2.06260377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.680385723 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:297.18, Y:257.00, Z:20.63 [[ 7.66334866e-03 -9.99970472e-01 -5.73553457e-04 2.97181770e+02] [ 9.99806769e-01 7.67247491e-03 -1.80985712e-02 2.56998731e+02] [ 1.81024373e-02 -4.34746967e-04 9.99836043e-01 2.06266564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.710385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.18, Y:257.03, Z:20.63 [[ 9.10578854e-03 -9.99958395e-01 -5.41379290e-04 2.97183156e+02] [ 9.99794649e-01 9.11409657e-03 -1.80995335e-02 2.57025536e+02] [ 1.81037147e-02 -3.76457592e-04 9.99836043e-01 2.06258333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.740385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:297.18, Y:257.05, Z:20.63 [[ 1.05448607e-02 -9.99944258e-01 -5.36230146e-04 2.97184785e+02] [ 9.99780495e-01 1.05528399e-02 -1.80996861e-02 2.57053160e+02] [ 1.81043359e-02 -3.45253773e-04 9.99836043e-01 2.06255501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.770385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.19, Y:257.08, Z:20.63 [[ 1.09617622e-02 -9.99939788e-01 -5.10198375e-04 2.97185753e+02] [ 9.99776000e-01 1.09692021e-02 -1.81004479e-02 2.57079785e+02] [ 1.81049545e-02 -3.11671285e-04 9.99836043e-01 2.06268197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.800385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.19, Y:257.11, Z:20.63 [[ 1.29247643e-02 -9.99916334e-01 -5.25584834e-04 2.97187956e+02] [ 9.99752544e-01 1.29321611e-02 -1.81000011e-02 2.57107861e+02] [ 1.81052837e-02 -2.91516527e-04 9.99836043e-01 2.06278369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.830385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.19, Y:257.13, Z:20.63 [[ 1.39521596e-02 -9.99902528e-01 -5.20636162e-04 2.97190155e+02] [ 9.99738727e-01 1.39592985e-02 -1.81001434e-02 2.57134631e+02] [ 1.81056469e-02 -2.67964045e-04 9.99836043e-01 2.06294470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.860385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.19, Y:257.16, Z:20.63 [[ 1.42861720e-02 -9.99897815e-01 -5.15425633e-04 2.97191090e+02] [ 9.99734007e-01 1.42931619e-02 -1.81002918e-02 2.57161204e+02] [ 1.81058093e-02 -2.56704652e-04 9.99836043e-01 2.06299864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.890385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.19, Y:257.19, Z:20.63 [[ 1.42866556e-02 -9.99897810e-01 -5.10290655e-04 2.97191727e+02] [ 9.99733999e-01 1.42935525e-02 -1.81004366e-02 2.57189476e+02] [ 1.81058808e-02 -2.51560213e-04 9.99836043e-01 2.06308588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.920385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.19, Y:257.22, Z:20.63 [[ 1.48910769e-02 -9.99888994e-01 -5.05369909e-04 2.97194218e+02] [ 9.99725175e-01 1.48977857e-02 -1.81005740e-02 2.57218581e+02] [ 1.81060936e-02 -2.35693981e-04 9.99836043e-01 2.06311300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.950385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:297.20, Y:257.25, Z:20.63 [[ 1.52573221e-02 -9.99883447e-01 -5.53715730e-04 2.97196779e+02] [ 9.99719662e-01 1.52648459e-02 -1.80992336e-02 2.57247629e+02] [ 1.81055765e-02 -2.77414666e-04 9.99836042e-01 2.06319505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.980385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.20, Y:257.28, Z:20.63 [[ 1.60508578e-02 -9.99871002e-01 -5.90907558e-04 2.97199509e+02] [ 9.99707240e-01 1.60589247e-02 -1.80982142e-02 2.57276322e+02] [ 1.81053689e-02 -3.00242701e-04 9.99836039e-01 2.06338881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.010385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.20, Y:257.30, Z:20.63 [[ 1.68519838e-02 -9.99857804e-01 -6.18053818e-04 2.97200803e+02] [ 9.99694057e-01 1.68604107e-02 -1.80974773e-02 2.57304422e+02] [ 1.81053246e-02 -3.12886335e-04 9.99836036e-01 2.06341675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.040385723 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:297.20, Y:257.33, Z:20.63 [[ 1.57242230e-02 -9.99876171e-01 -6.26258928e-04 2.97198914e+02] [ 9.99712440e-01 1.57329832e-02 -1.80972558e-02 2.57328510e+02] [ 1.81048677e-02 -3.41513555e-04 9.99836035e-01 2.06347203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.070385723 meters Centerline goodness : 0.999497 Centerline is valid? [True, True] Translation: X:297.20, Y:257.36, Z:20.63 [[ 1.61847588e-02 -9.99868903e-01 -4.80885306e-04 2.97200101e+02] [ 9.99705060e-01 1.61908124e-02 -1.81011180e-02 2.57355056e+02] [ 1.81065310e-02 -1.87781244e-04 9.99836046e-01 2.06321484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.100385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.20, Y:257.38, Z:20.63 [[ 1.77200874e-02 -9.99842859e-01 -5.05688319e-04 2.97201270e+02] [ 9.99679023e-01 1.77263384e-02 -1.81004697e-02 2.57382625e+02] [ 1.81065894e-02 -1.84784099e-04 9.99836045e-01 2.06348690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.130385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:297.20, Y:257.41, Z:20.64 [[ 1.86314346e-02 -9.99826311e-01 -4.66195181e-04 2.97203468e+02] [ 9.99662446e-01 1.86368213e-02 -1.81014869e-02 2.57411016e+02] [ 1.81070312e-02 -1.28781146e-04 9.99836046e-01 2.06350772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.160385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:297.21, Y:257.44, Z:20.64 [[ 1.87284946e-02 -9.99824500e-01 -4.61225527e-04 2.97206216e+02] [ 9.99660631e-01 1.87337755e-02 -1.81016135e-02 2.57440722e+02] [ 1.81070771e-02 -1.22053031e-04 9.99836046e-01 2.06366510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.190385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:297.21, Y:257.47, Z:20.64 [[ 1.82515069e-02 -9.99833282e-01 -5.38555232e-04 2.97207761e+02] [ 9.99669465e-01 1.82582658e-02 -1.80996490e-02 2.57468605e+02] [ 1.81064645e-02 -2.08031352e-04 9.99836043e-01 2.06370151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.220385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:297.21, Y:257.50, Z:20.64 [[ 1.72254555e-02 -9.99851475e-01 -5.58192478e-04 2.97209783e+02] [ 9.99687678e-01 1.72327379e-02 -1.80991537e-02 2.57496769e+02] [ 1.81060847e-02 -2.46251976e-04 9.99836041e-01 2.06378139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.250385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.21, Y:257.53, Z:20.64 [[ 1.58888626e-02 -9.99873589e-01 -5.91521455e-04 2.97211308e+02] [ 9.99709827e-01 1.58969672e-02 -1.80983229e-02 2.57525818e+02] [ 1.81054385e-02 -3.03788045e-04 9.99836037e-01 2.06395544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.280385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.21, Y:257.55, Z:20.64 [[ 1.31091059e-02 -9.99913897e-01 -5.90867202e-04 2.97214022e+02] [ 9.99750157e-01 1.31176539e-02 -1.80983388e-02 2.57554498e+02] [ 1.81045313e-02 -3.53466538e-04 9.99836037e-01 2.06416086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.31038572299997 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:297.22, Y:257.58, Z:20.64 [[ 1.20994633e-02 -9.99926617e-01 -6.03782976e-04 2.97215824e+02] [ 9.99762896e-01 1.21084103e-02 -1.80980274e-02 2.57582256e+02] [ 1.81040101e-02 -3.84663398e-04 9.99836035e-01 2.06420091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.340385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:297.22, Y:257.61, Z:20.64 [[ 1.05962630e-02 -9.99943670e-01 -6.13427622e-04 2.97216766e+02] [ 9.99779971e-01 1.06056306e-02 -1.80977980e-02 2.57611557e+02] [ 1.81032843e-02 -4.21523623e-04 9.99836033e-01 2.06444268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.37038572299997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:297.22, Y:257.64, Z:20.64 [[ 7.66743328e-03 -9.99970414e-01 -6.17926578e-04 2.97215197e+02] [ 9.99806747e-01 7.67736172e-03 -1.80976925e-02 2.57637775e+02] [ 1.81019011e-02 -4.79044313e-04 9.99836032e-01 2.06410191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.400385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.22, Y:257.67, Z:20.64 [[ 7.37695825e-03 -9.99972662e-01 -5.04980564e-04 2.97216244e+02] [ 9.99808903e-01 7.38489072e-03 -1.81002912e-02 2.57665081e+02] [ 1.81035256e-02 -3.71358971e-04 9.99836049e-01 2.06410947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.430385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.22, Y:257.69, Z:20.64 [[ 7.14066394e-03 -9.99974377e-01 -5.06203309e-04 2.97216709e+02] [ 9.99810621e-01 7.14865723e-03 -1.81002633e-02 2.57690951e+02] [ 1.81034182e-02 -3.76859546e-04 9.99836049e-01 2.06405201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.460385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.22, Y:257.72, Z:20.65 [[ 9.24626716e-03 -9.99957147e-01 -4.60000276e-04 2.97217781e+02] [ 9.99793340e-01 9.25307946e-03 -1.81013076e-02 2.57717627e+02] [ 1.81047884e-02 -2.92535686e-04 9.99836052e-01 2.06466850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.490385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.22, Y:257.75, Z:20.64 [[ 9.71607528e-03 -9.99952717e-01 -4.01751313e-04 2.97220100e+02] [ 9.99788869e-01 9.72175633e-03 -1.81026004e-02 2.57749501e+02] [ 1.81056502e-02 -2.25780263e-04 9.99836054e-01 2.06425431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.520385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.22, Y:257.78, Z:20.64 [[ 9.41173589e-03 -9.99955554e-01 -5.55938203e-04 2.97220658e+02] [ 9.99791818e-01 9.42025724e-03 -1.80991675e-02 2.57778097e+02] [ 1.81036002e-02 -3.85477882e-04 9.99836042e-01 2.06431204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.550385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.22, Y:257.81, Z:20.64 [[ 1.03772337e-02 -9.99946009e-01 -5.40858212e-04 2.97221383e+02] [ 9.99782253e-01 1.03853241e-02 -1.80995072e-02 2.57806179e+02] [ 1.81041470e-02 -3.52917626e-04 9.99836044e-01 2.06432372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.580385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:297.22, Y:257.83, Z:20.64 [[ 9.99908368e-03 -9.99949851e-01 -5.60666588e-04 2.97221243e+02] [ 9.99786113e-01 1.00075944e-02 -1.80990648e-02 2.57832419e+02] [ 1.81037680e-02 -3.79572605e-04 9.99836041e-01 2.06427048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.610385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.22, Y:257.86, Z:20.64 [[ 1.02968998e-02 -9.99946836e-01 -5.47249822e-04 2.97222666e+02] [ 9.99783085e-01 1.03051190e-02 -1.80993590e-02 2.57859369e+02] [ 1.81040362e-02 -3.60763831e-04 9.99836043e-01 2.06432575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.640385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.22, Y:257.88, Z:20.65 [[ 1.06575467e-02 -9.99943037e-01 -5.81939284e-04 2.97221889e+02] [ 9.99779311e-01 1.06663346e-02 -1.80986067e-02 2.57882058e+02] [ 1.81037829e-02 -3.88924109e-04 9.99836037e-01 2.06497603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.670385723 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:297.23, Y:257.91, Z:20.65 [[ 8.60368330e-03 -9.99962915e-01 -3.81523188e-04 2.97225355e+02] [ 9.99799065e-01 8.60918044e-03 -1.81028309e-02 2.57913881e+02] [ 1.81054441e-02 -2.25695503e-04 9.99836058e-01 2.06469019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.700385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.22, Y:257.94, Z:20.65 [[ 7.72614923e-03 -9.99969950e-01 -6.36251501e-04 2.97222807e+02] [ 9.99806297e-01 7.73639965e-03 -1.80974422e-02 2.57935714e+02] [ 1.81018207e-02 -4.96304718e-04 9.99836025e-01 2.06523350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.730385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.22, Y:257.96, Z:20.65 [[ 6.58507379e-03 -9.99978251e-01 -3.67769223e-04 2.97222801e+02] [ 9.99814407e-01 6.59065268e-03 -1.81028972e-02 2.57962525e+02] [ 1.81049273e-02 -2.48492053e-04 9.99836061e-01 2.06527504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.760385723 meters Centerline goodness : 0.999671 Centerline is valid? [True, True] Translation: X:297.23, Y:257.99, Z:20.65 [[ 6.67730454e-03 -9.99977640e-01 -3.64195530e-04 2.97227348e+02] [ 9.99813794e-01 6.68280364e-03 -1.81029691e-02 2.57993287e+02] [ 1.81049982e-02 -2.43248677e-04 9.99836062e-01 2.06512129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.790385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.22, Y:258.02, Z:20.66 [[ 5.05374630e-03 -9.99987092e-01 -5.24554941e-04 2.97224652e+02] [ 9.99823370e-01 5.06241331e-03 -1.80997452e-02 2.58015209e+02] [ 1.81021671e-02 -4.32990769e-04 9.99836049e-01 2.06558597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.820385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.23, Y:258.05, Z:20.65 [[ 5.20027306e-03 -9.99986417e-01 -3.51397661e-04 2.97226407e+02] [ 9.99822573e-01 5.20578250e-03 -1.81031066e-02 2.58046585e+02] [ 1.81046900e-02 -2.57194216e-04 9.99836064e-01 2.06545018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.850385723 meters Centerline goodness : 0.998814 Centerline is valid? [True, True] Translation: X:297.23, Y:258.07, Z:20.66 [[ 7.06416734e-03 -9.99974931e-01 -4.84801295e-04 2.97225869e+02] [ 9.99811166e-01 7.07178575e-03 -1.81003615e-02 2.58071949e+02] [ 1.81033361e-02 -3.56845765e-04 9.99836058e-01 2.06551075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.880385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:297.22, Y:258.10, Z:20.66 [[ 1.15076796e-02 -9.99933670e-01 -4.79391497e-04 2.97224950e+02] [ 9.99769868e-01 1.15144723e-02 -1.81004724e-02 2.58096077e+02] [ 1.81047918e-02 -2.70986736e-04 9.99836058e-01 2.06559068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.910385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:297.22, Y:258.12, Z:20.66 [[ 1.30233435e-02 -9.99915128e-01 -3.60963163e-04 2.97224865e+02] [ 9.99751252e-01 1.30277441e-02 -1.81028340e-02 2.58124488e+02] [ 1.81060001e-02 -1.25113950e-04 9.99836065e-01 2.06557604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.940385723 meters Centerline goodness : 0.996676 Centerline is valid? [True, True] Translation: X:297.22, Y:258.15, Z:20.65 [[ 1.38418392e-02 -9.99904134e-01 -3.55979462e-04 2.97224319e+02] [ 9.99740252e-01 1.38460154e-02 -1.81029320e-02 2.58152732e+02] [ 1.81061254e-02 -1.05309124e-04 9.99836065e-01 2.06514146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.970385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:297.22, Y:258.18, Z:20.65 [[ 1.39861017e-02 -9.99902048e-01 -5.32949806e-04 2.97223924e+02] [ 9.99738264e-01 1.39934578e-02 -1.80993539e-02 2.58179087e+02] [ 1.81050388e-02 -2.79670910e-04 9.99836051e-01 2.06531995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.000385723 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:297.22, Y:258.21, Z:20.65 [[ 1.63867791e-02 -9.99865600e-01 -5.05400623e-04 2.97223717e+02] [ 9.99701784e-01 1.63932432e-02 -1.80998632e-02 2.58206047e+02] [ 1.81057158e-02 -2.08651445e-04 9.99836056e-01 2.06528103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.030385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:297.22, Y:258.23, Z:20.66 [[ 1.66065844e-02 -9.99862008e-01 -4.32118541e-04 2.97223741e+02] [ 9.99698156e-01 1.66116859e-02 -1.81010993e-02 2.58232645e+02] [ 1.81057797e-02 -1.31390676e-04 9.99836068e-01 2.06554123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.06038572299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.23, Y:258.26, Z:20.66 [[ 1.82426269e-02 -9.99833548e-01 -2.88951533e-04 2.97225997e+02] [ 9.99669641e-01 1.82448682e-02 -1.81034335e-02 2.58260142e+02] [ 1.81056920e-02 4.13981068e-05 9.99836078e-01 2.06576789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.090385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.23, Y:258.29, Z:20.66 [[ 1.77103390e-02 -9.99843117e-01 -2.92913604e-04 2.97227851e+02] [ 9.99679212e-01 1.77127393e-02 -1.81033694e-02 2.58287026e+02] [ 1.81057175e-02 2.77971667e-05 9.99836078e-01 2.06583163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.12038572299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.23, Y:258.32, Z:20.66 [[ 1.52507672e-02 -9.99883659e-01 -2.87779018e-04 2.97230000e+02] [ 9.99719759e-01 1.52534778e-02 -1.81034510e-02 2.58317079e+02] [ 1.81057344e-02 -1.16068534e-05 9.99836078e-01 2.06581407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.150385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.23, Y:258.34, Z:20.66 [[ 1.67822074e-02 -9.99859070e-01 -4.44424500e-04 2.97232538e+02] [ 9.99695220e-01 1.67875029e-02 -1.81009948e-02 2.58341890e+02] [ 1.81059046e-02 -1.40514400e-04 9.99836065e-01 2.06603383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.180385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.23, Y:258.37, Z:20.66 [[ 1.39728168e-02 -9.99902338e-01 -2.71958029e-04 2.97234600e+02] [ 9.99738439e-01 1.39754503e-02 -1.81035859e-02 2.58372386e+02] [ 1.81056186e-02 -1.89288065e-05 9.99836080e-01 2.06590596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.210385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.24, Y:258.40, Z:20.66 [[ 1.53366132e-02 -9.99882294e-01 -4.31901167e-04 2.97235040e+02] [ 9.99718447e-01 1.53419189e-02 -1.81011780e-02 2.58396341e+02] [ 1.81056735e-02 -1.54168798e-04 9.99836067e-01 2.06599919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.240385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.24, Y:258.42, Z:20.66 [[ 1.31772949e-02 -9.99913142e-01 -2.61266276e-04 2.97236419e+02] [ 9.99749243e-01 1.31798652e-02 -1.81036408e-02 2.58422756e+02] [ 1.81055118e-02 -2.26437483e-05 9.99836082e-01 2.06603843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.270385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.24, Y:258.46, Z:20.66 [[ 8.04300919e-03 -9.99967622e-01 -2.55625119e-04 2.97238097e+02] [ 9.99803737e-01 8.04631893e-03 -1.81037204e-02 2.58456184e+02] [ 1.81051911e-02 -1.09966560e-04 9.99836082e-01 2.06599209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.300385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:297.24, Y:258.48, Z:20.66 [[ 7.62964699e-03 -9.99970755e-01 -5.27129526e-04 2.97239506e+02] [ 9.99807011e-01 7.63793887e-03 -1.80998104e-02 2.58482160e+02] [ 1.81033072e-02 -3.88932632e-04 9.99836046e-01 2.06621038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.330385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.24, Y:258.51, Z:20.66 [[ 7.07246687e-03 -9.99974900e-01 -4.24705963e-04 2.97240730e+02] [ 9.99811099e-01 7.07899625e-03 -1.81011976e-02 2.58505020e+02] [ 1.81037498e-02 -2.96605615e-04 9.99836070e-01 2.06637810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.360385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.24, Y:258.53, Z:20.66 [[ 4.75525396e-03 -9.99988666e-01 -2.34087532e-04 2.97240871e+02] [ 9.99824791e-01 4.75871257e-03 -1.81036627e-02 2.58533488e+02] [ 1.81045715e-02 -1.47959004e-04 9.99836088e-01 2.06628704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.390385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:297.24, Y:258.56, Z:20.66 [[ 4.01407326e-03 -9.99991917e-01 -2.29129678e-04 2.97240918e+02] [ 9.99828042e-01 4.01756359e-03 -1.81037255e-02 2.58560585e+02] [ 1.81044997e-02 -1.56420597e-04 9.99836088e-01 2.06624400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.420385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.24, Y:258.59, Z:20.66 [[ 2.58626342e-03 -9.99996631e-01 -2.23907205e-04 2.97240983e+02] [ 9.99832759e-01 2.58989318e-03 -1.81037901e-02 2.58588919e+02] [ 1.81043090e-02 -1.77048589e-04 9.99836088e-01 2.06628404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.450385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:297.24, Y:258.62, Z:20.66 [[ 1.96835968e-03 -9.99998039e-01 -2.18836616e-04 2.97241555e+02] [ 9.99834167e-01 1.97199892e-03 -1.81038514e-02 2.58616078e+02] [ 1.81042474e-02 -1.83165434e-04 9.99836088e-01 2.06618566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.480385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.24, Y:258.64, Z:20.66 [[ 5.42788776e-04 -9.99999830e-01 -2.13490696e-04 2.97241677e+02] [ 9.99835961e-01 5.46564849e-04 -1.81039144e-02 2.58643878e+02] [ 1.81040280e-02 -2.03629074e-04 9.99836088e-01 2.06644038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.510385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.24, Y:258.67, Z:20.66 [[-2.02299294e-03 -9.99997932e-01 -2.08467094e-04 2.97239605e+02] [ 9.99834071e-01 -2.01888736e-03 -1.81039723e-02 2.58671150e+02] [ 1.81035140e-02 -2.45056712e-04 9.99836088e-01 2.06630068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.540385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.24, Y:258.70, Z:20.67 [[-1.92977344e-03 -9.99998131e-01 -1.16521309e-04 2.97240578e+02] [ 9.99834234e-01 -1.92734753e-03 -1.81049897e-02 2.58700484e+02] [ 1.81047313e-02 -1.51440522e-04 9.99836084e-01 2.06655658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.570385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:297.24, Y:258.73, Z:20.66 [[-2.53878867e-03 -9.99996758e-01 -1.98412924e-04 2.97240596e+02] [ 9.99832894e-01 -2.53478056e-03 -1.81040922e-02 2.58728885e+02] [ 1.81035306e-02 -2.44342232e-04 9.99836088e-01 2.06649876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.600385723 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:297.24, Y:258.75, Z:20.67 [[-4.58515811e-03 -9.99989469e-01 -1.93456688e-04 2.97237921e+02] [ 9.99825612e-01 -4.58090438e-03 -1.81041452e-02 2.58754530e+02] [ 1.81030684e-02 -2.76433320e-04 9.99836088e-01 2.06654814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.630385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.24, Y:258.78, Z:20.67 [[-3.91403953e-03 -9.99992339e-01 -5.03505228e-05 2.97238434e+02] [ 9.99828425e-01 -3.91248633e-03 -1.81055889e-02 2.58783033e+02] [ 1.81052532e-02 -1.21207875e-04 9.99836079e-01 2.06653855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.660385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.23, Y:258.81, Z:20.67 [[-5.43922564e-03 -9.99985203e-01 -9.05441158e-05 2.97234404e+02] [ 9.99821306e-01 -5.43669481e-03 -1.81052010e-02 2.58807893e+02] [ 1.81044408e-02 -1.89006210e-04 9.99836083e-01 2.06675080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.690385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.23, Y:258.84, Z:20.67 [[-4.86629269e-03 -9.99988160e-01 -9.07163815e-06 2.97233792e+02] [ 9.99824234e-01 -4.86533072e-03 -1.81060762e-02 2.58835664e+02] [ 1.81058177e-02 -9.71795100e-05 9.99836072e-01 2.06684218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.720385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:297.24, Y:258.87, Z:20.67 [[ 4.21409874e-05 -9.99999999e-01 3.16593683e-05 2.97236402e+02] [ 9.99836063e-01 4.15608398e-05 -1.81065042e-02 2.58867264e+02] [ 1.81065029e-02 3.24172042e-05 9.99836063e-01 2.06674582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.750385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.24, Y:258.90, Z:20.67 [[-2.70258536e-04 -9.99999945e-01 -1.94850310e-04 2.97236016e+02] [ 9.99836072e-01 -2.66686663e-04 -1.81040668e-02 2.58896147e+02] [ 1.81040138e-02 -1.99711148e-04 9.99836089e-01 2.06698753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.780385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.23, Y:258.92, Z:20.67 [[ 1.89774878e-03 -9.99998161e-01 -2.77997340e-04 2.97234004e+02] [ 9.99834314e-01 1.90247049e-03 -1.81031773e-02 2.58921741e+02] [ 1.81036729e-02 -2.43595997e-04 9.99836085e-01 2.06690066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.81038572299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.23, Y:258.95, Z:20.67 [[ 1.82721624e-03 -9.99998313e-01 -1.87087373e-04 2.97232752e+02] [ 9.99834432e-01 1.83030385e-03 -1.81041168e-02 2.58948918e+02] [ 1.81044287e-02 -1.53976261e-04 9.99836090e-01 2.06692588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.840385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:297.23, Y:258.98, Z:20.67 [[ 1.33541412e-03 -9.99999092e-01 -1.81631043e-04 2.97230418e+02] [ 9.99835210e-01 1.33848355e-03 -1.81041716e-02 2.58975336e+02] [ 1.81043983e-02 -1.57424546e-04 9.99836090e-01 2.06682615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.87038572299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.23, Y:259.00, Z:20.67 [[ 1.21135246e-03 -9.99999251e-01 -1.75934082e-04 2.97229993e+02] [ 9.99835368e-01 1.21433909e-03 -1.81042269e-02 2.59002461e+02] [ 1.81044270e-02 -1.53974518e-04 9.99836090e-01 2.06692392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.900385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.23, Y:259.03, Z:20.67 [[ 9.70675132e-04 -9.99999514e-01 -1.70603235e-04 2.97229132e+02] [ 9.99835630e-01 9.73604705e-04 -1.81042772e-02 2.59030053e+02] [ 1.81044345e-02 -1.53001821e-04 9.99836090e-01 2.06709688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.930385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:297.23, Y:259.06, Z:20.67 [[ 7.67040460e-04 -9.99999692e-01 -1.65581315e-04 2.97227511e+02] [ 9.99835807e-01 7.69912493e-04 -1.81043231e-02 2.59058038e+02] [ 1.81044450e-02 -1.51667379e-04 9.99836090e-01 2.06722467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.960385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.23, Y:259.08, Z:20.67 [[-5.75438610e-05 -9.99999985e-01 -1.60525909e-04 2.97226569e+02] [ 9.99836101e-01 -5.46282090e-05 -1.81043679e-02 2.59084775e+02] [ 1.81043589e-02 -1.61541394e-04 9.99836090e-01 2.06723081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.990385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:297.23, Y:259.11, Z:20.67 [[-1.47054989e-03 -9.99998907e-01 -1.55189959e-04 2.97225119e+02] [ 9.99835025e-01 -1.46749926e-03 -1.81044137e-02 2.59112648e+02] [ 1.81041661e-02 -1.81787800e-04 9.99836090e-01 2.06719524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.020385723 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:297.22, Y:259.14, Z:20.67 [[-2.55118754e-03 -9.99996734e-01 -1.50111164e-04 2.97224605e+02] [ 9.99832854e-01 -2.54805175e-03 -1.81044558e-02 2.59139792e+02] [ 1.81040142e-02 -1.96273936e-04 9.99836090e-01 2.06697779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.050385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:297.22, Y:259.17, Z:20.67 [[-2.87187642e-03 -9.99995866e-01 -1.44798193e-04 2.97224215e+02] [ 9.99831985e-01 -2.86878426e-03 -1.81044983e-02 2.59167193e+02] [ 1.81040080e-02 -1.96767746e-04 9.99836090e-01 2.06719773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.080385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.22, Y:259.20, Z:20.67 [[-2.97336570e-03 -9.99995570e-01 -1.39518144e-04 2.97222978e+02] [ 9.99831687e-01 -2.97035249e-03 -1.81045390e-02 2.59195088e+02] [ 1.81040443e-02 -1.93326077e-04 9.99836090e-01 2.06728285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.110385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.22, Y:259.22, Z:20.67 [[-3.06145765e-03 -9.99995305e-01 -1.34530390e-04 2.97220854e+02] [ 9.99831421e-01 -3.05852030e-03 -1.81045760e-02 2.59222328e+02] [ 1.81040796e-02 -1.89934104e-04 9.99836090e-01 2.06740034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.140385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:297.22, Y:259.25, Z:20.67 [[-3.71416086e-03 -9.99993094e-01 -1.29265434e-04 2.97219946e+02] [ 9.99829210e-01 -3.71121185e-03 -1.81046136e-02 2.59250259e+02] [ 1.81040089e-02 -1.96486804e-04 9.99836090e-01 2.06742963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.170385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:297.22, Y:259.28, Z:20.67 [[-4.37145568e-03 -9.99990437e-01 -1.24348793e-04 2.97219709e+02] [ 9.99826554e-01 -4.36848795e-03 -1.81046474e-02 2.59278149e+02] [ 1.81039310e-02 -2.03470889e-04 9.99836090e-01 2.06745261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.200385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.22, Y:259.30, Z:20.68 [[-5.58523391e-03 -9.99984395e-01 -1.19456355e-04 2.97219435e+02] [ 9.99820514e-01 -5.58215582e-03 -1.81046797e-02 2.59304845e+02] [ 1.81037303e-02 -2.20553785e-04 9.99836090e-01 2.06751700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.230385723 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:297.22, Y:259.33, Z:20.67 [[-6.68836836e-03 -9.99977626e-01 -1.14295100e-04 2.97219202e+02] [ 9.99813746e-01 -6.68520292e-03 -1.81047123e-02 2.59333362e+02] [ 1.81035431e-02 -2.35364797e-04 9.99836090e-01 2.06745239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.260385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:297.22, Y:259.36, Z:20.68 [[-7.50632011e-03 -9.99971821e-01 -1.09474474e-04 2.97218062e+02] [ 9.99807942e-01 -7.50310788e-03 -1.81047414e-02 2.59361198e+02] [ 1.81034098e-02 -2.45353433e-04 9.99836090e-01 2.06751927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.290385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:297.22, Y:259.39, Z:20.68 [[-7.73268532e-03 -9.99970097e-01 -1.04647703e-04 2.97217315e+02] [ 9.99806217e-01 -7.72952337e-03 -1.81047693e-02 2.59388874e+02] [ 1.81034190e-02 -2.44625908e-04 9.99836090e-01 2.06762483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.320385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.22, Y:259.42, Z:20.68 [[-6.28219689e-03 -9.99980262e-01 -9.95836201e-05 2.97215607e+02] [ 9.99816376e-01 -6.27936433e-03 -1.81047972e-02 2.59416426e+02] [ 1.81038145e-02 -2.13303235e-04 9.99836090e-01 2.06766287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.350385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:297.21, Y:259.44, Z:20.68 [[-4.38816934e-03 -9.99990367e-01 -9.58847411e-05 2.97214320e+02] [ 9.99826476e-01 -4.38571415e-03 -1.81048167e-02 2.59444093e+02] [ 1.81042218e-02 -1.75315104e-04 9.99836090e-01 2.06767287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.380385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.21, Y:259.47, Z:20.67 [[-8.87361176e-03 -9.99960625e-01 -9.08969132e-05 2.97207031e+02] [ 9.99796744e-01 -8.87051174e-03 -1.81048418e-02 2.59465728e+02] [ 1.81033226e-02 -2.51533775e-04 9.99836090e-01 2.06727514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.410385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:297.21, Y:259.50, Z:20.68 [[-2.79634325e-03 -9.99996062e-01 2.39760839e-04 2.97213337e+02] [ 9.99832147e-01 -2.80022608e-03 -1.81062598e-02 2.59499471e+02] [ 1.81068598e-02 1.89089277e-04 9.99836039e-01 2.06781226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.440385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.21, Y:259.52, Z:20.67 [[-7.33971788e-03 -9.99973060e-01 -8.51146731e-05 2.97205925e+02] [ 9.99809176e-01 -7.33697396e-03 -1.81047334e-02 2.59520948e+02] [ 1.81036212e-02 -2.17982067e-04 9.99836092e-01 2.06743308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.470385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.21, Y:259.55, Z:20.67 [[-7.26635920e-03 -9.99973570e-01 2.43627314e-04 2.97205945e+02] [ 9.99809644e-01 -7.26957926e-03 -1.81060344e-02 2.59548408e+02] [ 1.81073270e-02 1.12015988e-04 9.99836043e-01 2.06747121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.500385723 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:297.21, Y:259.58, Z:20.68 [[-6.85362222e-03 -9.99976483e-01 2.48171673e-04 2.97205731e+02] [ 9.99812559e-01 -6.85699223e-03 -1.81060526e-02 2.59577120e+02] [ 1.81073285e-02 1.24033111e-04 9.99836041e-01 2.06751870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.530385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.21, Y:259.61, Z:20.68 [[-1.39495858e-03 -9.99999002e-01 2.22208979e-04 2.97210671e+02] [ 9.99835095e-01 -1.39875324e-03 -1.81059559e-02 2.59610110e+02] [ 1.81062487e-02 1.96915277e-04 9.99836049e-01 2.06803206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.56038572299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.21, Y:259.64, Z:20.68 [[ 1.33672100e-04 -9.99999988e-01 -7.33589540e-05 2.97210115e+02] [ 9.99836086e-01 1.34978339e-04 -1.81047591e-02 2.59635110e+02] [ 1.81047688e-02 -7.09268283e-05 9.99836093e-01 2.06816367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.590385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.21, Y:259.66, Z:20.68 [[-2.99194266e-03 -9.99995524e-01 -5.55636184e-06 2.97205750e+02] [ 9.99831616e-01 -2.99135165e-03 -1.81050023e-02 2.59659846e+02] [ 1.81049047e-02 -5.97245550e-05 9.99836091e-01 2.06790322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.62038572299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.21, Y:259.69, Z:20.68 [[-1.11139865e-03 -9.99999380e-01 6.38283689e-05 2.97205013e+02] [ 9.99835467e-01 -1.11237211e-03 -1.81052911e-02 2.59687240e+02] [ 1.81053509e-02 4.36956709e-05 9.99836084e-01 2.06796130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.650385723 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:297.20, Y:259.71, Z:20.68 [[-1.98052627e-03 -9.99998035e-01 8.95100304e-05 2.97203347e+02] [ 9.99834120e-01 -1.98182224e-03 -1.81053927e-02 2.59712677e+02] [ 1.81055346e-02 5.36369766e-05 9.99836080e-01 2.06776695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.680385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:297.21, Y:259.75, Z:20.68 [[ 2.48936302e-03 -9.99996883e-01 1.93711821e-04 2.97208794e+02] [ 9.99832987e-01 2.48544770e-03 -1.81058418e-02 2.59745597e+02] [ 1.81053039e-02 2.38751482e-04 9.99836057e-01 2.06807751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.710385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.21, Y:259.77, Z:20.68 [[ 2.03365192e-03 -9.99997929e-01 -8.47240231e-05 2.97209151e+02] [ 9.99834029e-01 2.03485250e-03 -1.81045395e-02 2.59772248e+02] [ 1.81046744e-02 -4.78916297e-05 9.99836096e-01 2.06805923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.740385723 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:297.21, Y:259.80, Z:20.68 [[ 3.80336072e-04 -9.99999925e-01 -7.96009356e-05 2.97210140e+02] [ 9.99836026e-01 3.81714877e-04 -1.81045620e-02 2.59799618e+02] [ 1.81045911e-02 -7.27020650e-05 9.99836096e-01 2.06813214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.770385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.21, Y:259.83, Z:20.68 [[-2.87116962e-04 -9.99999956e-01 -7.44364196e-05 2.97210631e+02] [ 9.99836058e-01 -2.85722263e-04 -1.81045833e-02 2.59825616e+02] [ 1.81045612e-02 -7.96223493e-05 9.99836096e-01 2.06816398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.800385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:297.21, Y:259.85, Z:20.68 [[-1.32500238e-03 -9.99999120e-01 -6.90254590e-05 2.97212290e+02] [ 9.99835222e-01 -1.32353553e-03 -1.81046039e-02 2.59853609e+02] [ 1.81044966e-02 -9.30027283e-05 9.99836096e-01 2.06831663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.830385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:297.21, Y:259.88, Z:20.68 [[-2.18975628e-03 -9.99997600e-01 -6.40046749e-05 2.97212888e+02] [ 9.99833703e-01 -2.18823860e-03 -1.81046217e-02 2.59881929e+02] [ 1.81044382e-02 -1.03638740e-04 9.99836096e-01 2.06834473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.860385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.21, Y:259.91, Z:20.68 [[-3.20905224e-03 -9.99994849e-01 -5.89583848e-05 2.97213949e+02] [ 9.99830953e-01 -3.20745886e-03 -1.81046381e-02 2.59909393e+02] [ 1.81043557e-02 -1.17047148e-04 9.99836096e-01 2.06820486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.890385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:297.21, Y:259.94, Z:20.68 [[-3.96482173e-03 -9.99992139e-01 -5.36518126e-05 2.97214764e+02] [ 9.99828243e-01 -3.96320055e-03 -1.81046538e-02 2.59937329e+02] [ 1.81042989e-02 -1.25424322e-04 9.99836096e-01 2.06829911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.920385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.22, Y:259.96, Z:20.68 [[-4.93543045e-03 -9.99987820e-01 -4.86860193e-05 2.97216026e+02] [ 9.99823924e-01 -4.93374009e-03 -1.81046672e-02 2.59963974e+02] [ 1.81042064e-02 -1.38031773e-04 9.99836096e-01 2.06807214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.950385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.22, Y:259.99, Z:20.68 [[-5.35399833e-03 -9.99985666e-01 -4.50532938e-05 2.97216229e+02] [ 9.99821771e-01 -5.35230513e-03 -1.81046762e-02 2.59991623e+02] [ 1.81041756e-02 -1.41977670e-04 9.99836096e-01 2.06827979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.980385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:297.21, Y:260.02, Z:20.68 [[-9.12562840e-03 -9.99958360e-01 -4.01325997e-05 2.97213473e+02] [ 9.99794471e-01 -9.12340613e-03 -1.81046871e-02 2.60015098e+02] [ 1.81035671e-02 -2.05340998e-04 9.99836096e-01 2.06828531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.010385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:297.21, Y:260.04, Z:20.68 [[-8.72078720e-03 -9.99961959e-01 1.71227338e-04 2.97214621e+02] [ 9.99798043e-01 -8.72245787e-03 -1.81050509e-02 2.60043700e+02] [ 1.81058557e-02 1.33024614e-05 9.99836075e-01 2.06834405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.040385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.21, Y:260.07, Z:20.68 [[-9.28532282e-03 -9.99956880e-01 1.46147427e-04 2.97214459e+02] [ 9.99792964e-01 -9.28644685e-03 -1.81050048e-02 2.60071157e+02] [ 1.81055813e-02 -2.19936443e-05 9.99836080e-01 2.06845797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.070385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.22, Y:260.10, Z:20.69 [[-5.72129371e-03 -9.99983612e-01 2.08591081e-04 2.97218477e+02] [ 9.99819704e-01 -5.72413255e-03 -1.81050947e-02 2.60102987e+02] [ 1.81059920e-02 1.04968909e-04 9.99836068e-01 2.06861956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.100385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.22, Y:260.13, Z:20.68 [[-7.62773423e-03 -9.99970908e-01 -3.18219806e-05 2.97216859e+02] [ 9.99807015e-01 -7.62590792e-03 -1.81046727e-02 2.60130035e+02] [ 1.81039033e-02 -1.69913471e-04 9.99836096e-01 2.06846010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.130385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:297.22, Y:260.16, Z:20.69 [[-6.42780474e-03 -9.99979340e-01 5.89710807e-05 2.97219441e+02] [ 9.99815433e-01 -6.42781884e-03 -1.81047938e-02 2.60158758e+02] [ 1.81047988e-02 -5.74138831e-05 9.99836093e-01 2.06859104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.160385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.22, Y:260.19, Z:20.69 [[-8.13102261e-03 -9.99966942e-01 -2.20923733e-05 2.97220137e+02] [ 9.99803048e-01 -8.12928995e-03 -1.81046950e-02 2.60185196e+02] [ 1.81039169e-02 -1.69297706e-04 9.99836096e-01 2.06857288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.190385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.22, Y:260.21, Z:20.69 [[-8.20470142e-03 -9.99966336e-01 9.68547333e-05 2.97220386e+02] [ 9.99802427e-01 -8.20511014e-03 -1.81047968e-02 2.60211208e+02] [ 1.81049821e-02 -5.17088549e-05 9.99836090e-01 2.06851919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.220385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:297.22, Y:260.24, Z:20.69 [[-8.05970211e-03 -9.99967502e-01 1.91466248e-04 2.97222718e+02] [ 9.99803593e-01 -8.06184758e-03 -1.81047699e-02 2.60242474e+02] [ 1.81057251e-02 4.55095898e-05 9.99836077e-01 2.06877201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.250385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:297.22, Y:260.27, Z:20.69 [[-1.01120348e-02 -9.99948872e-01 2.67817150e-06 2.97222217e+02] [ 9.99784975e-01 -1.01104258e-02 -1.81047982e-02 2.60269090e+02] [ 1.81038996e-02 -1.80398753e-04 9.99836095e-01 2.06862301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.280385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:297.22, Y:260.24, Z:20.69 [[-7.01060867e-03 -9.99975424e-01 4.50435801e-05 2.97224302e+02] [ 9.99811519e-01 -7.01027508e-03 -1.81047736e-02 2.60236790e+02] [ 1.81046445e-02 -8.18903927e-05 9.99836094e-01 2.06856169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.31038572299997 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:297.23, Y:260.24, Z:20.69 [[-6.65821847e-03 -9.99977834e-01 1.06492866e-05 2.97225928e+02] [ 9.99813931e-01 -6.65731995e-03 -1.81047939e-02 2.60240286e+02] [ 1.81044635e-02 -1.09898368e-04 9.99836095e-01 2.06863929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.340385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.23, Y:260.23, Z:20.69 [[-5.96327218e-03 -9.99982219e-01 1.72315618e-05 2.97228387e+02] [ 9.99818316e-01 -5.96260674e-03 -1.81047876e-02 2.60233216e+02] [ 1.81045684e-02 -9.07353453e-05 9.99836095e-01 2.06867703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.37038572299997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:297.23, Y:260.23, Z:20.69 [[-5.93046971e-03 -9.99982414e-01 2.38159277e-05 2.97228856e+02] [ 9.99818510e-01 -5.92992885e-03 -1.81047790e-02 2.60231886e+02] [ 1.81046018e-02 -8.35582378e-05 9.99836095e-01 2.06864225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.400385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.23, Y:260.23, Z:20.69 [[-5.60882582e-03 -9.99984270e-01 3.03940161e-05 2.97230522e+02] [ 9.99820365e-01 -5.60845678e-03 -1.81047679e-02 2.60232622e+02] [ 1.81046536e-02 -7.11579335e-05 9.99836095e-01 2.06854135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.430385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.23, Y:260.33, Z:20.69 [[-6.86709162e-03 -9.99976421e-01 3.69804668e-05 2.97231595e+02] [ 9.99812516e-01 -6.86663558e-03 -1.81047545e-02 2.60325514e+02] [ 1.81045815e-02 -8.73534739e-05 9.99836095e-01 2.06871349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.460385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.23, Y:260.23, Z:20.69 [[-6.72946754e-03 -9.99977355e-01 6.25309138e-05 2.97234935e+02] [ 9.99813450e-01 -6.72949665e-03 -1.81046951e-02 2.60225465e+02] [ 1.81047059e-02 -5.93157095e-05 9.99836095e-01 2.06861352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.490385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:297.24, Y:260.22, Z:20.69 [[-6.92467188e-03 -9.99976023e-01 4.55491376e-05 2.97236080e+02] [ 9.99812118e-01 -6.92436154e-03 -1.81047378e-02 2.60223072e+02] [ 1.81046191e-02 -7.98287893e-05 9.99836095e-01 2.06862200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.520385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:297.24, Y:260.22, Z:20.69 [[-7.10058128e-03 -9.99974789e-01 5.21272074e-05 2.97237803e+02] [ 9.99810884e-01 -7.10036120e-03 -1.81047189e-02 2.60220713e+02] [ 1.81046326e-02 -7.64366789e-05 9.99836095e-01 2.06868130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.550385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.24, Y:260.22, Z:20.69 [[-7.62245942e-03 -9.99970947e-01 5.87052697e-05 2.97238946e+02] [ 9.99807042e-01 -7.62227289e-03 -1.81046976e-02 2.60218190e+02] [ 1.81046190e-02 -7.93083805e-05 9.99836095e-01 2.06866125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.580385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.24, Y:260.22, Z:20.69 [[-9.10311759e-03 -9.99958564e-01 6.52833233e-05 2.97241460e+02] [ 9.99794659e-01 -9.10280746e-03 -1.81046739e-02 2.60218169e+02] [ 1.81045179e-02 -9.95390570e-05 9.99836095e-01 2.06862922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.610385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:297.24, Y:260.23, Z:20.69 [[-8.27250038e-03 -9.99965780e-01 7.18676409e-05 2.97244172e+02] [ 9.99801875e-01 -8.27244561e-03 -1.81046477e-02 2.60225142e+02] [ 1.81046227e-02 -7.79173031e-05 9.99836095e-01 2.06868950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.640385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.25, Y:260.22, Z:20.69 [[-8.92372609e-03 -9.99960183e-01 1.44201581e-05 2.97246160e+02] [ 9.99796280e-01 -8.92252449e-03 -1.81048820e-02 2.60216559e+02] [ 1.81042898e-02 -1.47145787e-04 9.99836093e-01 2.06870659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.670385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.25, Y:260.21, Z:20.69 [[-8.39262161e-03 -9.99964778e-01 7.92526532e-05 2.97246889e+02] [ 9.99800873e-01 -8.39268086e-03 -1.81045982e-02 2.60211787e+02] [ 1.81046257e-02 -7.27081706e-05 9.99836095e-01 2.06869337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.700385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.25, Y:260.21, Z:20.69 [[-5.84649177e-03 -9.99982905e-01 8.58441944e-05 2.97247915e+02] [ 9.99819002e-01 -5.84708769e-03 -1.81045670e-02 2.60210627e+02] [ 1.81047594e-02 -2.00195451e-05 9.99836095e-01 2.06857626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.730385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.25, Y:260.21, Z:20.68 [[-2.83469515e-03 -9.99995978e-01 9.24305645e-05 2.97249635e+02] [ 9.99832078e-01 -2.83590396e-03 -1.81045334e-02 2.60211916e+02] [ 1.81047227e-02 4.10942105e-05 9.99836095e-01 2.06843579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.760385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.25, Y:260.22, Z:20.68 [[-1.73299966e-03 -9.99998493e-01 9.90283811e-05 2.97250353e+02] [ 9.99834596e-01 -1.73450848e-03 -1.81044973e-02 2.60220771e+02] [ 1.81046418e-02 6.76369138e-05 9.99836095e-01 2.06836605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.790385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.25, Y:260.23, Z:20.68 [[-7.06034161e-04 -9.99999745e-01 1.05660802e-04 2.97251343e+02] [ 9.99835850e-01 -7.07831376e-04 -1.81044586e-02 2.60228635e+02] [ 1.81045287e-02 9.28610917e-05 9.99836095e-01 2.06834712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.820385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.25, Y:260.23, Z:20.68 [[ 7.76391173e-04 -9.99999692e-01 1.12343083e-04 2.97253966e+02] [ 9.99835802e-01 7.74230024e-04 -1.81044171e-02 2.60234456e+02] [ 1.81043246e-02 1.26380746e-04 9.99836095e-01 2.06829373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.850385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.26, Y:260.21, Z:20.68 [[ 6.88633230e-04 -9.99999756e-01 1.18220631e-04 2.97255207e+02] [ 9.99835867e-01 6.86380060e-04 -1.81043787e-02 2.60205718e+02] [ 1.81042932e-02 1.30668503e-04 9.99836095e-01 2.06822978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.880385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.26, Y:260.21, Z:20.68 [[-1.91891882e-04 -9.99999974e-01 1.24899732e-04 2.97257228e+02] [ 9.99836084e-01 -1.94121658e-04 -1.81043326e-02 2.60206460e+02] [ 1.81043564e-02 1.21405185e-04 9.99836095e-01 2.06829035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.910385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:297.26, Y:260.20, Z:20.68 [[-2.73941367e-03 -9.99996239e-01 1.31525722e-04 2.97261258e+02] [ 9.99832346e-01 -2.74134588e-03 -1.81042845e-02 2.60201907e+02] [ 1.81045770e-02 8.19085467e-05 9.99836095e-01 2.06841320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.940385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.26, Y:260.19, Z:20.68 [[-4.77311185e-03 -9.99988599e-01 1.38153816e-04 2.97263683e+02] [ 9.99824704e-01 -4.77483075e-03 -1.81042339e-02 2.60194755e+02] [ 1.81046872e-02 5.17160641e-05 9.99836095e-01 2.06846220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.970385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.27, Y:260.19, Z:20.68 [[-6.72763661e-03 -9.99977359e-01 1.44766099e-04 2.97265652e+02] [ 9.99813461e-01 -6.72915487e-03 -1.81041811e-02 2.60194719e+02] [ 1.81047453e-02 2.29407432e-05 9.99836095e-01 2.06847830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.000385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.27, Y:260.19, Z:20.69 [[-1.04142797e-02 -9.99945758e-01 1.51371064e-04 2.97267323e+02] [ 9.99781857e-01 -1.04153133e-02 -1.81041258e-02 2.60191429e+02] [ 1.81047204e-02 -3.72033871e-05 9.99836095e-01 2.06850555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.030385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.27, Y:260.20, Z:20.69 [[-1.26540882e-02 -9.99919921e-01 1.57980222e-04 2.97267790e+02] [ 9.99756019e-01 -1.26548743e-02 -1.81040682e-02 2.60199530e+02] [ 1.81046176e-02 -7.11487971e-05 9.99836095e-01 2.06851342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.06038572299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.27, Y:260.18, Z:20.68 [[-1.60467301e-02 -9.99871229e-01 1.64610354e-04 2.97270149e+02] [ 9.99707325e-01 -1.60470802e-02 -1.81040079e-02 2.60178308e+02] [ 1.81043181e-02 -1.25947953e-04 9.99836095e-01 2.06837831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.090385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.27, Y:260.18, Z:20.68 [[-1.79532418e-02 -9.99838813e-01 1.71222552e-04 2.97271427e+02] [ 9.99674909e-01 -1.79533990e-02 -1.81039453e-02 2.60175055e+02] [ 1.81041012e-02 -1.53857619e-04 9.99836095e-01 2.06834298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.12038572299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.27, Y:260.18, Z:20.68 [[-2.02613692e-02 -9.99794702e-01 1.77788927e-04 2.97273582e+02] [ 9.99630797e-01 -2.02612669e-02 -1.81038809e-02 2.60178864e+02] [ 1.81037664e-02 -1.89086126e-04 9.99836096e-01 2.06835430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.150385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:297.27, Y:260.17, Z:20.68 [[-2.11731914e-02 -9.99775806e-01 1.84366667e-04 2.97274489e+02] [ 9.99611901e-01 -2.11730587e-02 -1.81038139e-02 2.60171904e+02] [ 1.81036587e-02 -1.99020401e-04 9.99836096e-01 2.06835846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.180385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.27, Y:260.17, Z:20.68 [[-2.21020448e-02 -9.99755702e-01 1.90948565e-04 2.97274951e+02] [ 9.99591797e-01 -2.21018790e-02 -1.81037444e-02 2.60168913e+02] [ 1.81035421e-02 -2.09259152e-04 9.99836096e-01 2.06848921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.210385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:297.27, Y:260.17, Z:20.68 [[-2.24873198e-02 -9.99747109e-01 1.97516948e-04 2.97274783e+02] [ 9.99583204e-01 -2.24872098e-02 -1.81036728e-02 2.60165815e+02] [ 1.81035361e-02 -2.09668456e-04 9.99836096e-01 2.06836951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.240385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.27, Y:260.16, Z:20.68 [[-2.17105333e-02 -9.99764278e-01 2.04083220e-04 2.97274244e+02] [ 9.99600373e-01 -2.17106696e-02 -1.81035988e-02 2.60164531e+02] [ 1.81037621e-02 -1.89037122e-04 9.99836096e-01 2.06840951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.270385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.27, Y:260.17, Z:20.68 [[-2.00071074e-02 -9.99799816e-01 2.10649466e-04 2.97273497e+02] [ 9.99635912e-01 -2.00076417e-02 -1.81035224e-02 2.60165957e+02] [ 1.81041129e-02 -1.51626345e-04 9.99836096e-01 2.06845289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.300385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.27, Y:260.16, Z:20.68 [[-1.95685062e-02 -9.99808495e-01 2.17227072e-04 2.97272769e+02] [ 9.99644592e-01 -1.95692315e-02 -1.81034434e-02 2.60159013e+02] [ 1.81042275e-02 -1.37107477e-04 9.99836096e-01 2.06847217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.330385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.27, Y:260.16, Z:20.68 [[-1.99310814e-02 -9.99801331e-01 2.23804649e-04 2.97272870e+02] [ 9.99637429e-01 -1.99318664e-02 -1.81033621e-02 2.60156649e+02] [ 1.81042264e-02 -1.37096080e-04 9.99836096e-01 2.06846762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.360385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:297.27, Y:260.16, Z:20.68 [[-1.93963757e-02 -9.99811846e-01 2.30370805e-04 2.97272172e+02] [ 9.99647945e-01 -1.93973673e-02 -1.81032786e-02 2.60156161e+02] [ 1.81043409e-02 -1.20848291e-04 9.99836096e-01 2.06843916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.390385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.27, Y:260.15, Z:20.68 [[-1.86088456e-02 -9.99826812e-01 2.36941097e-04 2.97270714e+02] [ 9.99662913e-01 -1.86100852e-02 -1.81031926e-02 2.60154180e+02] [ 1.81044668e-02 -1.00018288e-04 9.99836096e-01 2.06821793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.420385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:297.27, Y:260.16, Z:20.68 [[-1.86268177e-02 -9.99826476e-01 2.43515529e-04 2.97270124e+02] [ 9.99662577e-01 -1.86281735e-02 -1.81031041e-02 2.60156197e+02] [ 1.81044991e-02 -9.37698596e-05 9.99836096e-01 2.06840864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.450385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:297.27, Y:260.16, Z:20.68 [[-1.88698245e-02 -9.99821918e-01 2.50101347e-04 2.97268803e+02] [ 9.99658020e-01 -1.88712596e-02 -1.81030131e-02 2.60156523e+02] [ 1.81045090e-02 -9.15848639e-05 9.99836096e-01 2.06840760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.480385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.27, Y:260.15, Z:20.68 [[-1.95368220e-02 -9.99809105e-01 2.56703765e-04 2.97268217e+02] [ 9.99645207e-01 -1.95382673e-02 -1.81029195e-02 2.60147866e+02] [ 1.81044793e-02 -9.70608281e-05 9.99836096e-01 2.06846214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.510385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:297.27, Y:260.14, Z:20.69 [[-2.04073563e-02 -9.99791714e-01 2.63298871e-04 2.97267456e+02] [ 9.99627816e-01 -2.04087783e-02 -1.81028236e-02 2.60144980e+02] [ 1.81044266e-02 -1.06229895e-04 9.99836096e-01 2.06851474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.540385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.27, Y:260.14, Z:20.69 [[-2.14077519e-02 -9.99770791e-01 2.69878306e-04 2.97267120e+02] [ 9.99606893e-01 -2.14091290e-02 -1.81027255e-02 2.60144247e+02] [ 1.81043541e-02 -1.17766441e-04 9.99836096e-01 2.06852455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.570385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.27, Y:260.14, Z:20.69 [[-2.37367128e-02 -9.99718206e-01 2.76459795e-04 2.97266357e+02] [ 9.99554306e-01 -2.37378273e-02 -1.81026250e-02 2.60137130e+02] [ 1.81040864e-02 -1.53360231e-04 9.99836096e-01 2.06852085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.600385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.27, Y:260.14, Z:20.69 [[-2.46859001e-02 -9.99695217e-01 2.83034016e-04 2.97265633e+02] [ 9.99531316e-01 -2.46869780e-02 -1.81025222e-02 2.60142424e+02] [ 1.81039921e-02 -1.63975692e-04 9.99836096e-01 2.06853448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.630385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.26, Y:260.13, Z:20.68 [[-2.58957326e-02 -9.99664607e-01 2.89615431e-04 2.97263747e+02] [ 9.99500706e-01 -2.58967313e-02 -1.81024169e-02 2.60132318e+02] [ 1.81038456e-02 -1.79304520e-04 9.99836096e-01 2.06845865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.660385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:297.26, Y:260.13, Z:20.69 [[-2.61845120e-02 -9.99657083e-01 2.96196806e-04 2.97262777e+02] [ 9.99493182e-01 -2.61855826e-02 -1.81023092e-02 2.60132805e+02] [ 1.81038577e-02 -1.77953445e-04 9.99836096e-01 2.06850521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.690385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.26, Y:260.13, Z:20.68 [[-2.63457789e-02 -9.99652844e-01 3.02766737e-04 2.97261859e+02] [ 9.99488944e-01 -2.63469420e-02 -1.81021994e-02 2.60127642e+02] [ 1.81038920e-02 -1.74304536e-04 9.99836096e-01 2.06840523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.720385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.26, Y:260.13, Z:20.68 [[-2.59109192e-02 -9.99664208e-01 3.09336628e-04 2.97259508e+02] [ 9.99500309e-01 -2.59122726e-02 -1.81020871e-02 2.60125382e+02] [ 1.81040242e-02 -1.59859661e-04 9.99836096e-01 2.06842697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.750385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:297.26, Y:260.13, Z:20.68 [[-2.61697834e-02 -9.99657463e-01 3.15899271e-04 2.97258357e+02] [ 9.99493565e-01 -2.61712131e-02 -1.81019726e-02 2.60125894e+02] [ 1.81040394e-02 -1.57985412e-04 9.99836096e-01 2.06845011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.780385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.26, Y:260.13, Z:20.69 [[-2.69360150e-02 -9.99637108e-01 3.22469078e-04 2.97256493e+02] [ 9.99473210e-01 -2.69374381e-02 -1.81018555e-02 2.60127462e+02] [ 1.81039730e-02 -1.65292647e-04 9.99836096e-01 2.06851062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.81038572299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.26, Y:260.13, Z:20.69 [[-2.76657567e-02 -9.99617176e-01 3.29054431e-04 2.97255733e+02] [ 9.99453278e-01 -2.76671793e-02 -1.81017358e-02 2.60127779e+02] [ 1.81039100e-02 -1.71923688e-04 9.99836096e-01 2.06857689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.840385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.25, Y:260.12, Z:20.69 [[-2.84085686e-02 -9.99596339e-01 3.35656372e-04 2.97253807e+02] [ 9.99432441e-01 -2.84099890e-02 -1.81016134e-02 2.60121406e+02] [ 1.81038425e-02 -1.78775058e-04 9.99836096e-01 2.06864625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.87038572299997 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:297.25, Y:260.12, Z:20.69 [[-2.88028000e-02 -9.99585055e-01 3.42256165e-04 2.97252525e+02] [ 9.99421157e-01 -2.88042753e-02 -1.81014886e-02 2.60117085e+02] [ 1.81038359e-02 -1.79315504e-04 9.99836096e-01 2.06865858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.900385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.25, Y:260.11, Z:20.69 [[-2.88217610e-02 -9.99584506e-01 3.48841381e-04 2.97249703e+02] [ 9.99420610e-01 -2.88233523e-02 -1.81013617e-02 2.60114430e+02] [ 1.81038955e-02 -1.73073854e-04 9.99836096e-01 2.06866200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.930385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.25, Y:260.10, Z:20.68 [[-3.16399200e-02 -9.99499269e-01 3.55422366e-04 2.97247330e+02] [ 9.99335370e-01 -3.16411685e-02 -1.81012325e-02 2.60104175e+02] [ 1.81034146e-02 -2.17535407e-04 9.99836096e-01 2.06836592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.960385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:297.25, Y:260.11, Z:20.69 [[-2.80517818e-02 -9.99606367e-01 4.57171655e-04 2.97246551e+02] [ 9.99442500e-01 -2.80554609e-02 -1.80991992e-02 2.60107801e+02] [ 1.81049010e-02 -5.07980063e-05 9.99836092e-01 2.06862720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.990385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:297.24, Y:260.09, Z:20.68 [[-3.09778034e-02 -9.99520007e-01 3.62227368e-04 2.97244229e+02] [ 9.99356110e-01 -3.09792836e-02 -1.81010993e-02 2.60085833e+02] [ 1.81036324e-02 -1.98738162e-04 9.99836096e-01 2.06839358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.020385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:297.24, Y:260.11, Z:20.69 [[-2.81466674e-02 -9.99603698e-01 4.60139214e-04 2.97242958e+02] [ 9.99439832e-01 -2.81503847e-02 -1.80991057e-02 2.60106346e+02] [ 1.81048861e-02 -4.95480502e-05 9.99836092e-01 2.06858421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.050385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:297.24, Y:260.10, Z:20.69 [[-3.05813182e-02 -9.99532214e-01 3.68944693e-04 2.97240879e+02] [ 9.99368319e-01 -3.05829851e-02 -1.81009645e-02 2.60100267e+02] [ 1.81037806e-02 -1.84839718e-04 9.99836096e-01 2.06864436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.080385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.24, Y:260.09, Z:20.68 [[-3.11715829e-02 -9.99513944e-01 4.56168109e-04 2.97240080e+02] [ 9.99350067e-01 -3.11747323e-02 -1.80991496e-02 2.60090780e+02] [ 1.81045733e-02 -1.08307510e-04 9.99836093e-01 2.06844169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.110385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.24, Y:260.10, Z:20.69 [[-3.34779043e-02 -9.99439337e-01 4.91901803e-04 2.97238059e+02] [ 9.99275462e-01 -3.34813227e-02 -1.80983984e-02 2.60097199e+02] [ 1.81047209e-02 -1.14351050e-04 9.99836090e-01 2.06879419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.140385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.24, Y:260.10, Z:20.69 [[-3.35427856e-02 -9.99437176e-01 4.60803688e-04 2.97237445e+02] [ 9.99273293e-01 -3.35456302e-02 -1.80990587e-02 2.60097188e+02] [ 1.81043300e-02 -1.46624025e-04 9.99836092e-01 2.06886717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.170385723 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:297.24, Y:260.10, Z:20.69 [[-3.47342939e-02 -9.99396509e-01 3.83251425e-04 2.97236369e+02] [ 9.99232609e-01 -3.47355389e-02 -1.81007008e-02 2.60095197e+02] [ 1.81030896e-02 -2.45757739e-04 9.99836095e-01 2.06886467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.200385723 meters Centerline goodness : 0.999629 Centerline is valid? [True, True] Translation: X:297.23, Y:260.09, Z:20.69 [[-3.59455123e-02 -9.99353675e-01 3.89802217e-04 2.97233943e+02] [ 9.99189775e-01 -3.59466772e-02 -1.81005597e-02 2.60094015e+02] [ 1.81028729e-02 -2.61147500e-04 9.99836095e-01 2.06879391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.230385723 meters Centerline goodness : 0.999564 Centerline is valid? [True, True] Translation: X:297.23, Y:260.09, Z:20.69 [[-3.67146989e-02 -9.99325710e-01 3.96358063e-04 2.97232843e+02] [ 9.99161809e-01 -3.67158564e-02 -1.81004161e-02 2.60090818e+02] [ 1.81027638e-02 -2.68525489e-04 9.99836095e-01 2.06890156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.260385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:297.23, Y:260.09, Z:20.69 [[-3.81584248e-02 -9.99271621e-01 4.02913854e-04 2.97229631e+02] [ 9.99107720e-01 -3.81594642e-02 -1.81002702e-02 2.60089037e+02] [ 1.81024613e-02 -2.88123456e-04 9.99836096e-01 2.06906682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.290385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.23, Y:260.09, Z:20.69 [[-3.92134583e-02 -9.99230773e-01 4.08642913e-04 2.97227932e+02] [ 9.99066871e-01 -3.92144284e-02 -1.81001408e-02 2.60085194e+02] [ 1.81022424e-02 -3.01507523e-04 9.99836096e-01 2.06905989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.320385723 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:297.23, Y:260.08, Z:20.69 [[-3.98955269e-02 -9.99203770e-01 4.15193499e-04 2.97226647e+02] [ 9.99039869e-01 -3.98965037e-02 -1.80999906e-02 2.60083418e+02] [ 1.81021436e-02 -3.07313801e-04 9.99836096e-01 2.06901497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.350385723 meters Centerline goodness : 0.999545 Centerline is valid? [True, True] Translation: X:297.22, Y:260.08, Z:20.69 [[-4.07661469e-02 -9.99168626e-01 4.21741959e-04 2.97224544e+02] [ 9.99004724e-01 -4.07670995e-02 -1.80998380e-02 2.60080199e+02] [ 1.81019835e-02 -3.16538444e-04 9.99836096e-01 2.06892691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.380385723 meters Centerline goodness : 0.999611 Centerline is valid? [True, True] Translation: X:297.22, Y:260.08, Z:20.69 [[-4.17890051e-02 -9.99126367e-01 4.27464269e-04 2.97222622e+02] [ 9.98962465e-01 -4.17898935e-02 -1.80997029e-02 2.60076012e+02] [ 1.81017540e-02 -3.29347815e-04 9.99836096e-01 2.06888039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.410385723 meters Centerline goodness : 0.999609 Centerline is valid? [True, True] Translation: X:297.22, Y:260.07, Z:20.69 [[-4.24208665e-02 -9.99099736e-01 4.33178311e-04 2.97221366e+02] [ 9.98935834e-01 -4.24217548e-02 -1.80995661e-02 2.60072114e+02] [ 1.81016479e-02 -3.35081941e-04 9.99836096e-01 2.06887630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.440385723 meters Centerline goodness : 0.999675 Centerline is valid? [True, True] Translation: X:297.22, Y:260.07, Z:20.69 [[-4.31999368e-02 -9.99066350e-01 4.39706127e-04 2.97219948e+02] [ 9.98902448e-01 -4.32008155e-02 -1.80994075e-02 2.60071100e+02] [ 1.81015047e-02 -3.42669733e-04 9.99836096e-01 2.06895334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.470385723 meters Centerline goodness : 0.999634 Centerline is valid? [True, True] Translation: X:297.22, Y:260.07, Z:20.69 [[-4.44765076e-02 -9.99010331e-01 4.46233887e-04 2.97217412e+02] [ 9.98846428e-01 -4.44772950e-02 -1.80992466e-02 2.60068409e+02] [ 1.81011816e-02 -3.59272152e-04 9.99836096e-01 2.06906169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.500385723 meters Centerline goodness : 0.999698 Centerline is valid? [True, True] Translation: X:297.21, Y:260.08, Z:20.69 [[-5.21040740e-02 -9.98641558e-01 4.51939582e-04 2.97212187e+02] [ 9.98477654e-01 -5.21037132e-02 -1.80991041e-02 2.60079721e+02] [ 1.80980652e-02 -4.91785486e-04 9.99836096e-01 2.06910794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.530385723 meters Centerline goodness : 0.999569 Centerline is valid? [True, True] Translation: X:297.21, Y:260.07, Z:20.69 [[-4.65900398e-02 -9.98913907e-01 6.11421642e-04 2.97214067e+02] [ 9.98750028e-01 -4.65934721e-02 -1.80950238e-02 2.60069804e+02] [ 1.81038591e-02 -2.32390496e-04 9.99836085e-01 2.06919123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.560385723 meters Centerline goodness : 0.999743 Centerline is valid? [True, True] Translation: X:297.21, Y:260.06, Z:20.69 [[-4.62860571e-02 -9.98928120e-01 4.60052589e-04 2.97212690e+02] [ 9.98764218e-01 -4.62867979e-02 -1.80988716e-02 2.60061932e+02] [ 1.81007661e-02 -3.78241340e-04 9.99836096e-01 2.06907684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.5903857229999 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:297.21, Y:260.06, Z:20.69 [[-4.51447403e-02 -9.98980348e-01 4.65766364e-04 2.97209205e+02] [ 9.98816447e-01 -4.51457719e-02 -1.80987246e-02 2.60061511e+02] [ 1.81012975e-02 -3.51847114e-04 9.99836096e-01 2.06917677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.620385723 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:297.21, Y:260.06, Z:20.69 [[-4.44820296e-02 -9.99010073e-01 4.72291817e-04 2.97207663e+02] [ 9.98846174e-01 -4.44832881e-02 -1.80985543e-02 2.60060590e+02] [ 1.81016471e-02 -3.33313553e-04 9.99836096e-01 2.06910451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.650385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.20, Y:260.06, Z:20.69 [[-4.31071770e-02 -9.99070339e-01 4.78826395e-04 2.97204546e+02] [ 9.98906443e-01 -4.31087794e-02 -1.80983814e-02 2.60059424e+02] [ 1.81021976e-02 -3.01867359e-04 9.99836096e-01 2.06921011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.680385723 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:297.20, Y:260.06, Z:20.69 [[-4.27672492e-02 -9.99084945e-01 4.84541644e-04 2.97203389e+02] [ 9.98921051e-01 -4.27690108e-02 -1.80982284e-02 2.60056760e+02] [ 1.81023909e-02 -2.89992594e-04 9.99836096e-01 2.06900239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.710385723 meters Centerline goodness : 0.999574 Centerline is valid? [True, True] Translation: X:297.20, Y:260.06, Z:20.69 [[-4.24273193e-02 -9.99099435e-01 4.91080230e-04 2.97201312e+02] [ 9.98935543e-01 -4.24292551e-02 -1.80980510e-02 2.60055981e+02] [ 1.81025887e-02 -2.77294290e-04 9.99836096e-01 2.06922044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.740385723 meters Centerline goodness : 0.999659 Centerline is valid? [True, True] Translation: X:297.20, Y:260.05, Z:20.69 [[-4.26951044e-02 -9.99088024e-01 4.97623840e-04 2.97200345e+02] [ 9.98924133e-01 -4.26971148e-02 -1.80978710e-02 2.60053234e+02] [ 1.81026133e-02 -2.75602031e-04 9.99836096e-01 2.06925165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.770385723 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:297.20, Y:260.05, Z:20.69 [[-4.29115882e-02 -9.99078746e-01 5.04169450e-04 2.97198819e+02] [ 9.98914856e-01 -4.29136816e-02 -1.80976887e-02 2.60049375e+02] [ 1.81026519e-02 -2.72978210e-04 9.99836096e-01 2.06924750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.800385723 meters Centerline goodness : 0.999682 Centerline is valid? [True, True] Translation: X:297.19, Y:260.14, Z:20.69 [[-4.82309708e-02 -9.98836079e-01 5.10710858e-04 2.97189009e+02] [ 9.98672181e-01 -4.82323100e-02 -1.80975041e-02 2.60136096e+02] [ 1.81010728e-02 -3.62827465e-04 9.99836096e-01 2.06881559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.830385723 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:297.19, Y:260.05, Z:20.69 [[-4.03392016e-02 -9.99185817e-01 6.72833438e-04 2.97191559e+02] [ 9.99021996e-01 -4.03447713e-02 -1.80928323e-02 2.60049344e+02] [ 1.81052467e-02 -5.76750058e-05 9.99836085e-01 2.06925791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.860385723 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:297.18, Y:260.10, Z:20.69 [[-4.93862963e-02 -9.98779618e-01 5.18300774e-04 2.97183556e+02] [ 9.98615720e-01 -4.93875834e-02 -1.80972583e-02 2.60104092e+02] [ 1.81007703e-02 -3.76173258e-04 9.99836097e-01 2.06860371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.890385723 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:297.19, Y:260.05, Z:20.69 [[-3.95469096e-02 -9.99217429e-01 7.56243123e-04 2.97189437e+02] [ 9.99053659e-01 -3.95541193e-02 -1.80902572e-02 2.60047468e+02] [ 1.81060128e-02 4.01136945e-05 9.99836072e-01 2.06927725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.920385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.19, Y:260.05, Z:20.69 [[-3.98039654e-02 -9.99207370e-01 5.25992358e-04 2.97186832e+02] [ 9.99043496e-01 -3.98069638e-02 -1.80969500e-02 2.60045177e+02] [ 1.81035439e-02 -1.94841126e-04 9.99836098e-01 2.06922354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.950385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:297.19, Y:260.04, Z:20.69 [[-4.07198930e-02 -9.99170459e-01 5.32553110e-04 2.97185462e+02] [ 9.99006585e-01 -4.07228600e-02 -1.80967569e-02 2.60041108e+02] [ 1.81034320e-02 -2.04873940e-04 9.99836098e-01 2.06920842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.980385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:297.18, Y:260.04, Z:20.69 [[-4.27003919e-02 -9.99087777e-01 5.39109635e-04 2.97183283e+02] [ 9.98923899e-01 -4.27031527e-02 -1.80965616e-02 2.60040425e+02] [ 1.81030751e-02 -2.34200771e-04 9.99836098e-01 2.06923040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.010385723 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:297.18, Y:260.04, Z:20.69 [[-4.37738086e-02 -9.99041319e-01 5.44840783e-04 2.97182558e+02] [ 9.98877439e-01 -4.37764972e-02 -1.80963890e-02 2.60036718e+02] [ 1.81028916e-02 -2.47918702e-04 9.99836099e-01 2.06922548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.040385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.18, Y:260.04, Z:20.69 [[-4.51738251e-02 -9.98978990e-01 5.51395097e-04 2.97180454e+02] [ 9.98815108e-01 -4.51764027e-02 -1.80961893e-02 2.60036523e+02] [ 1.81026229e-02 -2.66732335e-04 9.99836099e-01 2.06936109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.070385723 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:297.18, Y:260.03, Z:20.69 [[-4.54137882e-02 -9.98968106e-01 5.57124488e-04 2.97179560e+02] [ 9.98804226e-01 -4.54164302e-02 -1.80960129e-02 2.60032933e+02] [ 1.81026423e-02 -2.65350204e-04 9.99836099e-01 2.06933701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.100385723 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:297.18, Y:260.04, Z:20.69 [[-4.47765034e-02 -9.98996870e-01 5.63680740e-04 2.97177268e+02] [ 9.98832994e-01 -4.47793687e-02 -1.80958087e-02 2.60035193e+02] [ 1.81028975e-02 -2.47244118e-04 9.99836099e-01 2.06930231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.130385723 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:297.18, Y:260.03, Z:20.69 [[-4.47945787e-02 -9.98996056e-01 5.70244111e-04 2.97175990e+02] [ 9.98832182e-01 -4.47975599e-02 -1.80956018e-02 2.60033282e+02] [ 1.81029804e-02 -2.41006692e-04 9.99836099e-01 2.06918654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.160385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.17, Y:260.03, Z:20.69 [[-4.38610672e-02 -9.99037474e-01 5.76820882e-04 2.97174915e+02] [ 9.98873605e-01 -4.38643207e-02 -1.80953922e-02 2.60027472e+02] [ 1.81032768e-02 -2.17512061e-04 9.99836099e-01 2.06910445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.190385723 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:297.17, Y:260.03, Z:20.69 [[-4.21866654e-02 -9.99109576e-01 5.83390350e-04 2.97173285e+02] [ 9.98945715e-01 -4.21903124e-02 -1.80951804e-02 2.60028126e+02] [ 1.81036814e-02 -1.80600030e-04 9.99836099e-01 2.06905117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.220385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.17, Y:260.03, Z:20.69 [[-4.11587220e-02 -9.99152447e-01 5.89957657e-04 2.97171960e+02] [ 9.98988593e-01 -4.11626566e-02 -1.80949663e-02 2.60030092e+02] [ 1.81039141e-02 -1.55404718e-04 9.99836099e-01 2.06914734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.250385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.17, Y:260.03, Z:20.69 [[-4.15227804e-02 -9.99137379e-01 5.96543529e-04 2.97172111e+02] [ 9.98973527e-01 -4.15267745e-02 -1.80947492e-02 2.60027692e+02] [ 1.81039128e-02 -1.55413103e-04 9.99836099e-01 2.06914278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.280385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:297.17, Y:260.02, Z:20.69 [[-4.15768893e-02 -9.99135125e-01 6.03137713e-04 2.97171510e+02] [ 9.98971275e-01 -4.15809940e-02 -1.80945294e-02 2.60021600e+02] [ 1.81039589e-02 -1.49796994e-04 9.99836099e-01 2.06909997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.310385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.17, Y:260.02, Z:20.69 [[-4.14641606e-02 -9.99139806e-01 6.09725519e-04 2.97171290e+02] [ 9.98975959e-01 -4.14684030e-02 -1.80943074e-02 2.60018591e+02] [ 1.81040271e-02 -1.41164132e-04 9.99836099e-01 2.06903182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.3403857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.17, Y:260.02, Z:20.69 [[-4.24383414e-02 -9.99098898e-01 6.16301813e-04 2.97171148e+02] [ 9.98935050e-01 -4.24425432e-02 -1.80940834e-02 2.60016214e+02] [ 1.81039362e-02 -1.52237404e-04 9.99836099e-01 2.06895515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.370385723 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:297.17, Y:260.01, Z:20.69 [[-4.22435566e-02 -9.99107148e-01 6.22878026e-04 2.97170906e+02] [ 9.98943305e-01 -4.22479094e-02 -1.80938570e-02 2.60013668e+02] [ 1.81040172e-02 -1.42129038e-04 9.99836099e-01 2.06887930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.400385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.17, Y:260.00, Z:20.69 [[-4.29468299e-02 -9.99077161e-01 6.29454155e-04 2.97170501e+02] [ 9.98913318e-01 -4.29511865e-02 -1.80936282e-02 2.60003406e+02] [ 1.81039665e-02 -1.48293835e-04 9.99836099e-01 2.06889985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.430385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.17, Y:260.01, Z:20.69 [[-4.21313710e-02 -9.99111877e-01 6.36011610e-04 2.97170413e+02] [ 9.98948041e-01 -4.21359800e-02 -1.80933977e-02 2.60013635e+02] [ 1.81041275e-02 -1.26957100e-04 9.99836099e-01 2.06889996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.460385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.17, Y:259.99, Z:20.69 [[-4.79664441e-02 -9.98848742e-01 6.41751665e-04 2.97168286e+02] [ 9.98684883e-01 -4.79702001e-02 -1.80931941e-02 2.59986702e+02] [ 1.81031491e-02 -2.26958498e-04 9.99836099e-01 2.06851199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.490385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.17, Y:259.99, Z:20.69 [[-4.31088552e-02 -9.99070060e-01 8.00535425e-04 2.97170429e+02] [ 9.98906317e-01 -4.31162830e-02 -1.80874525e-02 2.59993667e+02] [ 1.81051484e-02 1.99305216e-05 9.99836088e-01 2.06874109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.520385723 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:297.17, Y:259.99, Z:20.69 [[-4.39325529e-02 -9.99034272e-01 6.73366280e-04 2.97170463e+02] [ 9.98870447e-01 -4.39375430e-02 -1.80920461e-02 2.59991178e+02] [ 1.81041601e-02 -1.22224093e-04 9.99836099e-01 2.06882760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.550385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.17, Y:259.99, Z:20.69 [[-4.52543286e-02 -9.98975282e-01 6.56875517e-04 2.97170936e+02] [ 9.98811442e-01 -4.52588033e-02 -1.80926448e-02 2.59987816e+02] [ 1.81038343e-02 -1.62675709e-04 9.99836099e-01 2.06876781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.580385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.17, Y:259.98, Z:20.69 [[-4.67780952e-02 -9.98905085e-01 6.63389593e-04 2.97172683e+02] [ 9.98741242e-01 -4.67824379e-02 -1.80924059e-02 2.59982333e+02] [ 1.81036313e-02 -1.83773740e-04 9.99836099e-01 2.06879330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.610385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.17, Y:259.99, Z:20.69 [[-4.77227347e-02 -9.98860397e-01 6.69895391e-04 2.97173389e+02] [ 9.98696552e-01 -4.77270404e-02 -1.80921650e-02 2.59985703e+02] [ 1.81035193e-02 -1.94385375e-04 9.99836099e-01 2.06872754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.640385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.18, Y:259.98, Z:20.69 [[-4.85551259e-02 -9.98820275e-01 6.76405195e-04 2.97175832e+02] [ 9.98656430e-01 -4.85594129e-02 -1.80919217e-02 2.59984546e+02] [ 1.81034240e-02 -2.02959137e-04 9.99836099e-01 2.06876643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.670385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.18, Y:259.98, Z:20.69 [[-4.97164366e-02 -9.98763140e-01 6.82930224e-04 2.97177132e+02] [ 9.98599293e-01 -4.97206513e-02 -1.80916753e-02 2.59981373e+02] [ 1.81032542e-02 -2.17479992e-04 9.99836099e-01 2.06858601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.700385723 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:297.18, Y:259.97, Z:20.68 [[-5.29073051e-02 -9.98599139e-01 7.59346851e-04 2.97176842e+02] [ 9.98435314e-01 -5.29123803e-02 -1.80887494e-02 2.59971076e+02] [ 1.81035884e-02 -1.98868271e-04 9.99836097e-01 2.06840674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.730385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.18, Y:259.98, Z:20.68 [[-5.14448333e-02 -9.98675512e-01 8.06493290e-04 2.97178956e+02] [ 9.98511721e-01 -5.14510022e-02 -1.80869255e-02 2.59978660e+02] [ 1.81044645e-02 -1.25185864e-04 9.99836093e-01 2.06848332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.760385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.18, Y:259.98, Z:20.69 [[-5.03279491e-02 -9.98732454e-01 7.63967870e-04 2.97180185e+02] [ 9.98568645e-01 -5.03335311e-02 -1.80885738e-02 2.59980557e+02] [ 1.81040989e-02 -1.47486460e-04 9.99836096e-01 2.06865011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.790385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.18, Y:259.97, Z:20.69 [[-5.08850654e-02 -9.98704268e-01 7.04321217e-04 2.97183755e+02] [ 9.98540425e-01 -5.08894758e-02 -1.80908960e-02 2.59973134e+02] [ 1.81032976e-02 -2.17263219e-04 9.99836098e-01 2.06867800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.820385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.19, Y:259.97, Z:20.69 [[-5.15505051e-02 -9.98670136e-01 7.10860144e-04 2.97185915e+02] [ 9.98506294e-01 -5.15549248e-02 -1.80906391e-02 2.59970553e+02] [ 1.81032293e-02 -2.22783254e-04 9.99836098e-01 2.06873549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.850385723 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:297.19, Y:259.97, Z:20.69 [[-5.25360388e-02 -9.98618771e-01 7.17384706e-04 2.97189200e+02] [ 9.98454928e-01 -5.25404150e-02 -1.80903803e-02 2.59967943e+02] [ 1.81030851e-02 -2.34120629e-04 9.99836098e-01 2.06859089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.880385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.19, Y:259.97, Z:20.69 [[-5.21278161e-02 -9.98640159e-01 7.23909173e-04 2.97191240e+02] [ 9.98476321e-01 -5.21323774e-02 -1.80901192e-02 2.59965562e+02] [ 1.81032587e-02 -2.20192242e-04 9.99836098e-01 2.06869457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.910385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.19, Y:259.97, Z:20.69 [[-5.16980198e-02 -9.98662496e-01 7.30431489e-04 2.97194369e+02] [ 9.98498663e-01 -5.17027698e-02 -1.80898559e-02 2.59971604e+02] [ 1.81034260e-02 -2.05874863e-04 9.99836098e-01 2.06858242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.940385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.20, Y:259.96, Z:20.69 [[-5.37215854e-02 -9.98555681e-01 7.36972104e-04 2.97196288e+02] [ 9.98391842e-01 -5.37261218e-02 -1.80895894e-02 2.59959917e+02] [ 1.81030569e-02 -2.36014488e-04 9.99836098e-01 2.06855522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.970385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:297.20, Y:260.00, Z:20.69 [[-5.12627399e-02 -9.98684864e-01 8.20973921e-04 2.97199404e+02] [ 9.98521087e-01 -5.12692010e-02 -1.80861313e-02 2.60000064e+02] [ 1.81044362e-02 -1.07384872e-04 9.99836096e-01 2.06892530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.000385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.20, Y:259.97, Z:20.69 [[-5.07233205e-02 -9.98712402e-01 8.26716193e-04 2.97202193e+02] [ 9.98548632e-01 -5.07299740e-02 -1.80858931e-02 2.59967651e+02] [ 1.81045450e-02 -9.18602289e-05 9.99836095e-01 2.06867511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.030385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.21, Y:259.96, Z:20.69 [[-5.08738896e-02 -9.98704801e-01 7.53827816e-04 2.97205308e+02] [ 9.98540985e-01 -5.08791984e-02 -1.80889307e-02 2.59960809e+02] [ 1.81038560e-02 -1.67526292e-04 9.99836098e-01 2.06861835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.060385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.20, Y:260.04, Z:20.69 [[-5.04843273e-02 -9.98724500e-01 8.39869446e-04 2.97204714e+02] [ 9.98560741e-01 -5.04912582e-02 -1.80853175e-02 2.60041048e+02] [ 1.81046558e-02 -7.43644334e-05 9.99836095e-01 2.06859268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.0903857229999 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:297.20, Y:260.15, Z:20.69 [[-4.72309992e-02 -9.98883619e-01 8.65682470e-04 2.97203217e+02] [ 9.98719903e-01 -4.72389308e-02 -1.80842342e-02 2.60151397e+02] [ 1.81049392e-02 1.04378600e-05 9.99836092e-01 2.06879053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.120385723 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:297.21, Y:260.00, Z:20.69 [[-4.96060933e-02 -9.98768570e-01 7.60645855e-04 2.97210769e+02] [ 9.98604765e-01 -4.96117336e-02 -1.80886506e-02 2.60000512e+02] [ 1.81041127e-02 -1.37722716e-04 9.99836098e-01 2.06877011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.150385723 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:297.21, Y:260.02, Z:20.69 [[-4.81496503e-02 -9.98839775e-01 8.46190388e-04 2.97214790e+02] [ 9.98676038e-01 -4.81570784e-02 -1.80850119e-02 2.60023124e+02] [ 1.81047792e-02 -2.57169325e-05 9.99836095e-01 2.06880237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.180385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.22, Y:259.96, Z:20.69 [[-4.87602750e-02 -9.98810211e-01 7.72928075e-04 2.97219294e+02] [ 9.98646419e-01 -4.87662764e-02 -1.80881425e-02 2.59964039e+02] [ 1.81043142e-02 -1.10100948e-04 9.99836097e-01 2.06873486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.210385723 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:297.22, Y:260.02, Z:20.69 [[-5.21552441e-02 -9.98638685e-01 7.79663586e-04 2.97218801e+02] [ 9.98474877e-01 -5.21608107e-02 -1.80878522e-02 2.60021376e+02] [ 1.81038968e-02 -1.64901842e-04 9.99836097e-01 2.06865205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.240385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.22, Y:259.96, Z:20.69 [[-4.87825178e-02 -9.98809066e-01 8.46363530e-04 2.97224590e+02] [ 9.98645325e-01 -4.87898453e-02 -1.80849568e-02 2.59962359e+02] [ 1.81047127e-02 -3.70127415e-05 9.99836096e-01 2.06878782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.270385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.23, Y:259.95, Z:20.69 [[-4.78351614e-02 -9.98854933e-01 7.88122412e-04 2.97227938e+02] [ 9.98691156e-01 -4.78415897e-02 -1.80874945e-02 2.59954214e+02] [ 1.81044881e-02 -7.81273376e-05 9.99836097e-01 2.06872650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.300385723 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:297.23, Y:259.95, Z:20.69 [[-4.74648647e-02 -9.98872592e-01 7.94719098e-04 2.97229151e+02] [ 9.98708823e-01 -4.74714731e-02 -1.80872047e-02 2.59953688e+02] [ 1.81045395e-02 -6.48137468e-05 9.99836097e-01 2.06872663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.330385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.23, Y:260.03, Z:20.69 [[-4.72169157e-02 -9.98884338e-01 8.01306309e-04 2.97227990e+02] [ 9.98720575e-01 -4.72236840e-02 -1.80869128e-02 2.60033758e+02] [ 1.81045746e-02 -5.37271395e-05 9.99836097e-01 2.06880809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.360385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.23, Y:259.95, Z:20.69 [[-4.74818840e-02 -9.98871764e-01 8.18500319e-04 2.97233707e+02] [ 9.98708012e-01 -4.74889202e-02 -1.80861456e-02 2.59950188e+02] [ 1.81046098e-02 -4.13214409e-05 9.99836097e-01 2.06861150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.390385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:297.24, Y:259.95, Z:20.69 [[-4.81651667e-02 -9.98839057e-01 8.09792762e-04 2.97235861e+02] [ 9.98675294e-01 -4.81719332e-02 -1.80865355e-02 2.59950450e+02] [ 1.81045473e-02 -6.24209710e-05 9.99836097e-01 2.06862022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.420385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.24, Y:259.94, Z:20.69 [[-4.98406770e-02 -9.98756848e-01 8.16391199e-04 2.97239787e+02] [ 9.98593078e-01 -4.98472883e-02 -1.80862376e-02 2.59944584e+02] [ 1.81044485e-02 -8.61877271e-05 9.99836097e-01 2.06859685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.450385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:297.24, Y:259.98, Z:20.69 [[-5.32113849e-02 -9.98582932e-01 8.22987425e-04 2.97241982e+02] [ 9.98419145e-01 -5.32175628e-02 -1.80859375e-02 2.59982787e+02] [ 1.81041058e-02 -1.40691377e-04 9.99836097e-01 2.06872414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.480385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.25, Y:259.94, Z:20.69 [[-5.53569838e-02 -9.98466280e-01 8.32212577e-04 2.97245848e+02] [ 9.98302487e-01 -5.53629769e-02 -1.80855144e-02 2.59941400e+02] [ 1.81038500e-02 -1.70359642e-04 9.99836097e-01 2.06864368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.510385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.25, Y:259.94, Z:20.69 [[-5.77433127e-02 -9.98331113e-01 8.36356858e-04 2.97247924e+02] [ 9.98167308e-01 -5.77489893e-02 -1.80853227e-02 2.59936263e+02] [ 1.81034391e-02 -2.09482372e-04 9.99836097e-01 2.06863983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.540385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.25, Y:260.05, Z:20.69 [[-6.10333282e-02 -9.98135373e-01 8.42943378e-04 2.97246282e+02] [ 9.97971554e-01 -6.10385843e-02 -1.80850157e-02 2.60053790e+02] [ 1.81027460e-02 -2.62555188e-04 9.99836097e-01 2.06880076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.570385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:297.25, Y:259.93, Z:20.69 [[-6.22429924e-02 -9.98060663e-01 8.49808701e-04 2.97253701e+02] [ 9.97896843e-01 -6.22481743e-02 -1.80846931e-02 2.59934996e+02] [ 1.81025199e-02 -2.77623997e-04 9.99836097e-01 2.06863397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.600385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.25, Y:260.06, Z:20.69 [[-6.26305521e-02 -9.98036412e-01 8.56681796e-04 2.97250631e+02] [ 9.97872594e-01 -6.26357949e-02 -1.80843675e-02 2.60061318e+02] [ 1.81025162e-02 -2.77774637e-04 9.99836097e-01 2.06887276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.630385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:297.26, Y:259.92, Z:20.69 [[-6.29511835e-02 -9.98016248e-01 8.47033059e-04 2.97259154e+02] [ 9.97852422e-01 -6.29561989e-02 -1.80848261e-02 2.59921841e+02] [ 1.81022763e-02 -2.93247216e-04 9.99836097e-01 2.06861394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.660385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:297.26, Y:259.91, Z:20.69 [[-6.32584341e-02 -9.97996805e-01 8.65206098e-04 2.97260389e+02] [ 9.97832988e-01 -6.32637282e-02 -1.80839566e-02 2.59912536e+02] [ 1.81024671e-02 -2.80631592e-04 9.99836098e-01 2.06869622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.690385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:297.26, Y:259.93, Z:20.68 [[-6.86136024e-02 -9.97642930e-01 8.70916754e-04 2.97257356e+02] [ 9.97479090e-01 -6.86181208e-02 -1.80836816e-02 2.59934071e+02] [ 1.81008178e-02 -3.72065289e-04 9.99836098e-01 2.06828170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.720385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.26, Y:259.92, Z:20.69 [[-6.11095977e-02 -9.98130555e-01 1.00639371e-03 2.97263471e+02] [ 9.97966850e-01 -6.11178017e-02 -1.80770969e-02 2.59916924e+02] [ 1.81048113e-02 -1.00336560e-04 9.99836089e-01 2.06865832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.750385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:297.27, Y:259.92, Z:20.69 [[-5.87867947e-02 -9.98270175e-01 8.78076461e-04 2.97265437e+02] [ 9.98106392e-01 -5.87930558e-02 -1.80833277e-02 2.59915694e+02] [ 1.81036715e-02 -1.86647147e-04 9.99836098e-01 2.06861499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.780385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.25, Y:260.27, Z:20.69 [[-5.72986881e-02 -9.98356689e-01 8.84628074e-04 2.97249103e+02] [ 9.98192920e-01 -5.73053120e-02 -1.80830072e-02 2.60266922e+02] [ 1.81039851e-02 -1.53103111e-04 9.99836098e-01 2.06913578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.810385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.53, Y:259.84, Z:21.65 [[-1.20605816e-01 9.92700096e-01 -8.69851309e-04 2.96527943e+02] [ 9.92536244e-01 1.20601755e-01 1.80837294e-02 2.59835799e+02] [ 1.80566255e-02 1.31764399e-03 -9.99836098e-01 2.16520892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.8403857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.57, Y:259.81, Z:21.65 [[-1.98525900e-01 9.80092955e-01 -2.29498258e-03 2.96570088e+02] [ 9.79930332e-01 1.98534877e-01 1.79010408e-02 2.59807464e+02] [ 1.80003181e-02 1.30489720e-03 -9.99837130e-01 2.16516306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.870385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.61, Y:259.78, Z:21.65 [[-2.74904826e-01 9.61464409e-01 -3.67797773e-03 2.96614045e+02] [ 9.61303970e-01 2.74926327e-01 1.76122473e-02 2.59784408e+02] [ 1.79447219e-02 1.30603719e-03 -9.99838128e-01 2.16514353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.900385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:296.56, Y:260.03, Z:21.66 [[-3.49967195e-01 9.36748446e-01 -5.03108528e-03 2.96564749e+02] [ 9.36591136e-01 3.50000892e-01 1.72168629e-02 2.60030827e+02] [ 1.78887539e-02 1.31326733e-03 -9.99839121e-01 2.16574588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.930385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.71, Y:259.78, Z:21.65 [[-4.19179029e-01 9.07881155e-01 -6.38355950e-03 2.96706939e+02] [ 9.07728290e-01 4.19225895e-01 1.67033111e-02 2.59784738e+02] [ 1.78407748e-02 1.20714019e-03 -9.99840112e-01 2.16534261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.960385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.77, Y:259.74, Z:21.65 [[-4.91261493e-01 8.70979905e-01 -7.49338606e-03 2.96766147e+02] [ 8.70830752e-01 4.91316577e-01 1.61809655e-02 2.59741511e+02] [ 1.77749206e-02 1.42361424e-03 -9.99841000e-01 2.16509195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.990385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.71, Y:259.89, Z:21.66 [[-5.57764771e-01 8.29952280e-01 -8.81323002e-03 2.96711865e+02] [ 8.29809895e-01 5.57832901e-01 1.54269797e-02 2.59892603e+02] [ 1.77199666e-02 1.29132030e-03 -9.99842155e-01 2.16556168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.020385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.85, Y:259.76, Z:21.65 [[-6.20220805e-01 7.84363996e-01 -9.96365268e-03 2.96851059e+02] [ 7.84228304e-01 6.20299534e-01 1.46442775e-02 2.59758853e+02] [ 1.76668931e-02 1.26890712e-03 -9.99843123e-01 2.16533376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.050385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.93, Y:259.73, Z:21.66 [[-6.75776064e-01 7.37024220e-01 -1.10458307e-02 2.96927166e+02] [ 7.36896380e-01 6.75865319e-01 1.37766303e-02 2.59731377e+02] [ 1.76192040e-02 1.17028433e-03 -9.99844085e-01 2.16577252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.080385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:296.97, Y:259.73, Z:21.65 [[-7.34062358e-01 6.78977883e-01 -1.18949197e-02 2.96972975e+02] [ 6.78855338e-01 7.34157286e-01 1.29811420e-02 2.59729754e+02] [ 1.75466503e-02 1.45403803e-03 -9.99844988e-01 2.16535195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.110385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.02, Y:259.73, Z:21.65 [[-7.84583343e-01 6.19887707e-01 -1.29695099e-02 2.97023182e+02] [ 6.19776585e-01 7.84689584e-01 1.18000903e-02 2.59734476e+02] [ 1.74917703e-02 1.21995573e-03 -9.99846263e-01 2.16536994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.140385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.07, Y:259.75, Z:21.65 [[-8.30704373e-01 5.56542445e-01 -1.38112677e-02 2.97073223e+02] [ 5.56440615e-01 8.30818288e-01 1.07151338e-02 2.59745197e+02] [ 1.74380806e-02 1.21595822e-03 -9.99847206e-01 2.16536907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.170385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.12, Y:259.75, Z:21.65 [[-8.70607223e-01 4.91763135e-01 -1.45630332e-02 2.97122327e+02] [ 4.91671380e-01 8.70728226e-01 9.57133264e-03 2.59754576e+02] [ 1.73872726e-02 1.17264470e-03 -9.99848142e-01 2.16535504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.200385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.17, Y:259.77, Z:21.65 [[-9.05968541e-01 4.23071300e-01 -1.52209519e-02 2.97170821e+02] [ 4.22989945e-01 9.06095664e-01 8.37575465e-03 2.59770584e+02] [ 1.73351799e-02 1.14986062e-03 -9.99849073e-01 2.16537611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.230385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.02, Y:259.87, Z:21.66 [[-9.36257302e-01 3.50960399e-01 -1.57817153e-02 2.97023200e+02] [ 3.50889715e-01 9.36389605e-01 7.13555217e-03 2.59866455e+02] [ 1.72821303e-02 1.14307125e-03 -9.99849999e-01 2.16576626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.260385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.48, Y:260.60, Z:20.68 [[-9.44353849e-01 -3.28529991e-01 1.62435443e-02 2.97480347e+02] [ 3.28477859e-01 -9.44493519e-01 -5.85565503e-03 2.60599909e+02] [ 1.72656806e-02 -1.94165721e-04 9.99850918e-01 2.06833021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.290385723 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:297.48, Y:260.60, Z:20.68 [[-9.43431954e-01 -3.31168266e-01 1.62397226e-02 2.97482879e+02] [ 3.31116342e-01 -9.43571701e-01 -5.86623485e-03 2.60598640e+02] [ 1.72660535e-02 -1.57155872e-04 9.99850918e-01 2.06830636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.320385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.26, Y:259.82, Z:21.65 [[-9.62332283e-01 2.71390454e-01 -1.62418568e-02 2.97260142e+02] [ 2.71329974e-01 9.62468546e-01 5.86031969e-03 2.59821466e+02] [ 1.72227112e-02 1.23267224e-03 -9.99850918e-01 2.16546230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.350385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:297.30, Y:259.85, Z:21.66 [[-9.81080765e-01 1.92885912e-01 -1.65999035e-02 2.97300035e+02] [ 1.92836276e-01 9.81220371e-01 4.55575770e-03 2.59852223e+02] [ 1.71669049e-02 1.26850270e-03 -9.99851833e-01 2.16555911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.380385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.34, Y:259.88, Z:21.65 [[-9.93261690e-01 1.14661083e-01 -1.68538299e-02 2.97337983e+02] [ 1.14622661e-01 9.93403847e-01 3.23148647e-03 2.59884514e+02] [ 1.71131852e-02 1.27788088e-03 -9.99852742e-01 2.16545557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.410385723 meters Centerline goodness : 0.999887 Centerline is valid? [True, True] Translation: X:297.38, Y:259.92, Z:21.66 [[-9.99180336e-01 3.67363736e-02 -1.70027929e-02 2.97377878e+02] [ 3.67094121e-02 9.99324185e-01 1.89521339e-03 2.59919998e+02] [ 1.70609254e-02 1.26949742e-03 -9.99853646e-01 2.16558459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.440385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:297.41, Y:259.96, Z:21.65 [[-9.98975948e-01 -4.19102972e-02 -1.70464663e-02 2.97409116e+02] [-4.19258437e-02 9.99120571e-01 5.55506507e-04 2.59957953e+02] [ 1.70081937e-02 1.26962512e-03 -9.99854544e-01 2.16534152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.470385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.44, Y:260.00, Z:21.65 [[-9.92690175e-01 -1.19489418e-01 -1.69851815e-02 2.97437101e+02] [-1.19493470e-01 9.92834680e-01 -7.79761716e-04 2.59998741e+02] [ 1.69566505e-02 1.25555648e-03 -9.99855437e-01 2.16534403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.500385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.32, Y:260.83, Z:20.68 [[-9.91532239e-01 1.28766837e-01 1.68202232e-02 2.97323507e+02] [-1.28749727e-01 -9.91674894e-01 2.10069884e-03 2.60829791e+02] [ 1.69506934e-02 -8.26885169e-05 9.99856323e-01 2.06845862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.530385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.30, Y:260.83, Z:20.68 [[-9.91529508e-01 1.28787766e-01 1.68209864e-02 2.97304388e+02] [-1.28770763e-01 -9.91672175e-01 2.09456953e-03 2.60826396e+02] [ 1.69506591e-02 -8.92237655e-05 9.99856323e-01 2.06847459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.560385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.30, Y:260.83, Z:20.69 [[-9.91364184e-01 1.30054158e-01 1.68217494e-02 2.97304784e+02] [-1.30037441e-01 -9.91506885e-01 2.08842337e-03 2.60825562e+02] [ 1.69504885e-02 -1.17069121e-04 9.99856323e-01 2.06851162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.5903857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.46, Y:260.05, Z:21.65 [[-9.81215664e-01 -1.92179147e-01 -1.68225140e-02 2.97463255e+02] [-1.92171548e-01 9.81359139e-01 -2.08224659e-03 2.60045228e+02] [ 1.69090922e-02 1.18967558e-03 -9.99856323e-01 2.16523340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.620385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:297.41, Y:260.08, Z:21.66 [[-9.65587910e-01 -2.59549306e-01 -1.65573644e-02 2.97407888e+02] [-2.59529340e-01 9.65729305e-01 -3.38085985e-03 2.60075105e+02] [ 1.68674318e-02 1.03260445e-03 -9.99857202e-01 2.16581516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.650385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.44, Y:260.12, Z:21.66 [[-9.43086537e-01 -3.32149122e-01 -1.62709839e-02 2.97441232e+02] [-3.32122626e-01 9.43226032e-01 -4.38329354e-03 2.60124308e+02] [ 1.68031227e-02 1.27013677e-03 -9.99858011e-01 2.16586473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.680385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.22, Y:260.07, Z:21.66 [[-9.14103651e-01 -4.05172560e-01 -1.58022968e-02 2.97224792e+02] [-4.05135236e-01 9.14239378e-01 -5.63913498e-03 2.60068149e+02] [ 1.67319048e-02 1.24731337e-03 -9.99859234e-01 2.16643723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.710385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.40, Y:260.19, Z:21.66 [[-8.82914503e-01 -4.69267800e-01 -1.58022968e-02 2.97396369e+02] [-4.69240241e-01 8.83052545e-01 -5.63913498e-03 2.60187956e+02] [ 1.66005229e-02 2.43619950e-03 -9.99859234e-01 2.16560317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.740385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:296.98, Y:260.91, Z:20.69 [[-8.65139489e-01 5.01322035e-01 1.44872797e-02 2.96984227e+02] [-5.01258052e-01 -8.65260718e-01 8.01591164e-03 2.60907488e+02] [ 1.65538272e-02 -3.26983908e-04 9.99862923e-01 2.06858667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.770385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:296.98, Y:260.91, Z:20.69 [[-8.64449506e-01 5.02510782e-01 1.44901762e-02 2.96982126e+02] [-5.02447054e-01 -8.64570869e-01 8.01067225e-03 2.60906299e+02] [ 1.65532334e-02 -3.55724685e-04 9.99862923e-01 2.06859372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.800385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:296.98, Y:260.91, Z:20.69 [[-8.63949429e-01 5.03369979e-01 1.44930650e-02 2.96981017e+02] [-5.03306459e-01 -8.64070901e-01 8.00544249e-03 2.60905924e+02] [ 1.65527351e-02 -3.78155745e-04 9.99862923e-01 2.06862289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.830385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.98, Y:260.90, Z:20.69 [[-8.63046631e-01 5.04916211e-01 1.44959509e-02 2.96979667e+02] [-5.04852997e-01 -8.63168262e-01 8.00021334e-03 2.60903865e+02] [ 1.65518822e-02 -4.13767082e-04 9.99862923e-01 2.06860324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.860385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.81, Y:260.81, Z:20.69 [[-8.62948955e-01 5.05083047e-01 1.44988340e-02 2.96813121e+02] [-5.05019944e-01 -8.63070644e-01 7.99498479e-03 2.60810030e+02] [ 1.65516493e-02 -4.22936576e-04 9.99862923e-01 2.06884284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.890385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.98, Y:260.90, Z:20.69 [[-8.63255282e-01 5.04559464e-01 1.44936351e-02 2.96978536e+02] [-5.04496128e-01 -8.63376850e-01 8.00441445e-03 2.60899705e+02] [ 1.65521721e-02 -4.02129763e-04 9.99862923e-01 2.06850349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.920385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.98, Y:260.90, Z:20.68 [[-8.60654301e-01 5.08983149e-01 1.45027162e-02 2.96983801e+02] [-5.08920716e-01 -8.60776335e-01 7.98792703e-03 2.60896143e+02] [ 1.65493152e-02 -5.05888961e-04 9.99862923e-01 2.06801397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.950385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.98, Y:260.90, Z:20.68 [[-8.61318378e-01 5.07860548e-01 1.44331650e-02 2.96984940e+02] [-5.07795837e-01 -8.61439231e-01 8.11416754e-03 2.60895855e+02] [ 1.65541601e-02 -3.40219474e-04 9.99862913e-01 2.06800634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.980385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.99, Y:260.90, Z:20.68 [[-8.62249400e-01 5.06278232e-01 1.44334461e-02 2.96990034e+02] [-5.06213308e-01 -8.62370138e-01 8.11365679e-03 2.60896519e+02] [ 1.65547408e-02 -3.10406828e-04 9.99862913e-01 2.06802086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.010385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.97, Y:260.89, Z:20.69 [[-8.67320522e-01 4.97541530e-01 1.44061607e-02 2.96965063e+02] [-4.97474565e-01 -8.67440153e-01 8.16325336e-03 2.60886826e+02] [ 1.65580398e-02 -8.65413744e-05 9.99862903e-01 2.06855310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.040385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.96, Y:260.88, Z:20.69 [[-8.68302393e-01 4.95822904e-01 1.45121492e-02 2.96959784e+02] [-4.95758915e-01 -8.68423614e-01 7.97027203e-03 2.60882729e+02] [ 1.65545365e-02 -2.73921061e-04 9.99862927e-01 2.06856153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.070385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.96, Y:260.88, Z:20.69 [[-8.69681883e-01 4.93399143e-01 1.45157829e-02 2.96959035e+02] [-4.93334927e-01 -8.69802984e-01 7.96364874e-03 2.60879488e+02] [ 1.65551287e-02 -2.35301640e-04 9.99862927e-01 2.06852352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.100385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:296.95, Y:260.87, Z:20.68 [[-8.68627822e-01 4.95252375e-01 1.45186754e-02 2.96952460e+02] [-4.95188505e-01 -8.68749106e-01 7.95837171e-03 2.60870106e+02] [ 1.65544888e-02 -2.76618099e-04 9.99862927e-01 2.06812022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.130385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.96, Y:260.87, Z:20.69 [[-8.71475720e-01 4.90224876e-01 1.44789832e-02 2.96955192e+02] [-4.90159102e-01 -8.71595985e-01 8.03079359e-03 2.60874162e+02] [ 1.65567184e-02 -9.83637776e-05 9.99862923e-01 2.06852923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.160385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:296.95, Y:260.87, Z:20.69 [[-8.72637420e-01 4.88152674e-01 1.45223988e-02 2.96954285e+02] [-4.88087932e-01 -8.72758240e-01 7.95150071e-03 2.60872323e+02] [ 1.65560895e-02 -1.49430519e-04 9.99862927e-01 2.06863458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.190385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.96, Y:260.87, Z:20.68 [[-8.71629629e-01 4.89949799e-01 1.45252901e-02 2.96962901e+02] [-4.89885394e-01 -8.71750629e-01 7.94621547e-03 2.60873523e+02] [ 1.65556775e-02 -1.89570637e-04 9.99862927e-01 2.06836023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.220385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.96, Y:260.87, Z:20.68 [[-8.73118449e-01 4.87292305e-01 1.45045974e-02 2.96960168e+02] [-4.87226902e-01 -8.73238914e-01 7.98405002e-03 2.60871256e+02] [ 1.65565450e-02 -9.60087032e-05 9.99862926e-01 2.06844493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.250385723 meters Centerline goodness : 0.999756 Centerline is valid? [True, True] Translation: X:296.95, Y:260.87, Z:20.68 [[-8.74080585e-01 4.85563898e-01 1.45200464e-02 2.96949367e+02] [-4.85498727e-01 -8.74201174e-01 7.95578899e-03 2.60865229e+02] [ 1.65564855e-02 -9.54633561e-05 9.99862927e-01 2.06840160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.280385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.95, Y:260.86, Z:20.69 [[-8.74674701e-01 4.84492567e-01 1.45299599e-02 2.96948779e+02] [-4.84427549e-01 -8.74795372e-01 7.93764218e-03 2.60863721e+02] [ 1.65564703e-02 -9.58580767e-05 9.99862928e-01 2.06867376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.310385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.95, Y:260.86, Z:20.69 [[-8.74419169e-01 4.84953517e-01 1.45328462e-02 2.96947724e+02] [-4.84888651e-01 -8.74539921e-01 7.93235419e-03 2.60862427e+02] [ 1.65563773e-02 -1.10609654e-04 9.99862928e-01 2.06862859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.3403857229999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:296.95, Y:260.86, Z:20.69 [[-8.73106515e-01 4.87312760e-01 1.45357288e-02 2.96947215e+02] [-4.87248308e-01 -8.73227489e-01 7.92706850e-03 2.60862090e+02] [ 1.65559596e-02 -1.61334112e-04 9.99862928e-01 2.06861343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.370385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.95, Y:260.86, Z:20.68 [[-8.71624630e-01 4.89958297e-01 1.45386072e-02 2.96953184e+02] [-4.89894301e-01 -8.71745846e-01 7.92178591e-03 2.60864232e+02] [ 1.65553151e-02 -2.17557080e-04 9.99862928e-01 2.06849847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.400385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.95, Y:260.86, Z:20.68 [[-8.69323307e-01 4.94029891e-01 1.45414728e-02 2.96949814e+02] [-4.93966550e-01 -8.69444867e-01 7.91652220e-03 2.60861303e+02] [ 1.65540075e-02 -3.00983870e-04 9.99862928e-01 2.06847014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.430385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.14, Y:260.10, Z:21.66 [[-8.50458175e-01 -5.25841569e-01 -1.45443306e-02 2.97138968e+02] [-5.25782856e-01 8.50582036e-01 -7.91126821e-03 2.60104275e+02] [ 1.65312201e-02 9.18956990e-04 -9.99862928e-01 2.16622440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.460385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.90, Y:260.88, Z:20.68 [[-8.24024874e-01 5.66384758e-01 1.38315899e-02 2.96897156e+02] [-5.66313278e-01 -8.24140848e-01 9.00744807e-03 2.60878074e+02] [ 1.65008596e-02 -4.10651777e-04 9.99863767e-01 2.06848290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.490385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.90, Y:260.88, Z:20.69 [[-8.22507141e-01 5.68586582e-01 1.38311869e-02 2.96901224e+02] [-5.68515402e-01 -8.22623299e-01 9.00806860e-03 2.60880342e+02] [ 1.64997236e-02 -4.54042040e-04 9.99863767e-01 2.06861465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.520385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.91, Y:260.88, Z:20.68 [[-8.21067702e-01 5.70662905e-01 1.38448047e-02 2.96908720e+02] [-5.70592371e-01 -8.21184254e-01 8.98709013e-03 2.60882754e+02] [ 1.64977346e-02 -5.20730504e-04 9.99863768e-01 2.06838643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.550385723 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:296.91, Y:260.88, Z:20.68 [[-8.22032587e-01 5.69272329e-01 1.38362291e-02 2.96907169e+02] [-5.69201376e-01 -8.22148885e-01 9.00030649e-03 2.60881098e+02] [ 1.64990658e-02 -4.77055410e-04 9.99863767e-01 2.06838452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.580385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:297.27, Y:260.24, Z:21.66 [[-8.15363108e-01 -5.78783982e-01 -1.38601572e-02 2.97268488e+02] [-5.78715011e-01 8.15480591e-01 -8.96338207e-03 2.60236939e+02] [ 1.64905512e-02 7.12669964e-04 -9.99863768e-01 2.16630638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.610385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.79, Y:260.84, Z:20.68 [[-7.80553930e-01 6.24950731e-01 1.31204789e-02 2.96792519e+02] [-6.24871774e-01 -7.80664072e-01 9.94347452e-03 2.60839060e+02] [ 1.64568681e-02 -4.37198800e-04 9.99864481e-01 2.06845743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.640385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:297.18, Y:260.22, Z:21.66 [[-7.72121627e-01 -6.35338510e-01 -1.31594585e-02 2.97183276e+02] [-6.35261912e-01 7.72233421e-01 -9.89174096e-03 2.60221548e+02] [ 1.64467776e-02 7.22075643e-04 -9.99864482e-01 2.16635214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.670385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:296.67, Y:260.77, Z:20.69 [[-7.37323219e-01 6.75426555e-01 1.23870443e-02 2.96666934e+02] [-6.75340663e-01 -7.37427145e-01 1.07793729e-02 2.60774988e+02] [ 1.64152174e-02 -4.17592787e-04 9.99865174e-01 2.06876322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.700385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.09, Y:260.19, Z:21.67 [[-7.24445400e-01 -6.89220478e-01 -1.24095197e-02 2.97088611e+02] [-6.89137003e-01 7.24551277e-01 -1.07535086e-02 2.60188340e+02] [ 1.64028717e-02 7.61529398e-04 -9.99865174e-01 2.16665069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.730385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.54, Y:260.70, Z:20.69 [[-6.90215482e-01 7.23511479e-01 1.15641097e-02 2.96543103e+02] [-7.23418573e-01 -6.90312256e-01 1.15998791e-02 2.60700120e+02] [ 1.63754924e-02 -3.59275627e-04 9.99865848e-01 2.06895249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.760385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.99, Y:260.15, Z:21.66 [[-6.74781095e-01 -7.37926802e-01 -1.15978144e-02 2.96994665e+02] [-7.37836538e-01 6.74880337e-01 -1.15661039e-02 2.60147929e+02] [ 1.63620750e-02 7.52703021e-04 -9.99865849e-01 2.16649897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.790385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.42, Y:260.62, Z:20.69 [[-6.43092900e-01 7.65712747e-01 1.07475672e-02 2.96420553e+02] [-7.65613878e-01 -6.43182626e-01 1.23085365e-02 2.60615165e+02] [ 1.63374518e-02 -3.12954206e-04 9.99866486e-01 2.06920891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.820385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.90, Y:260.09, Z:21.67 [[-6.20863186e-01 -7.83844957e-01 -1.07697964e-02 2.96896895e+02] [-7.83749036e-01 6.20956058e-01 -1.22890954e-02 2.60092454e+02] [ 1.63203157e-02 8.10970629e-04 -9.99866486e-01 2.16680355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.850385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:296.30, Y:260.51, Z:20.70 [[-5.90127983e-01 8.07249447e-01 9.86379652e-03 2.96299982e+02] [-8.07145179e-01 -5.90210335e-01 1.29777195e-02 2.60514435e+02] [ 1.62979715e-02 -3.03000395e-04 9.99867133e-01 2.06954999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.880385723 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:296.30, Y:260.51, Z:20.70 [[-5.90440655e-01 8.07020722e-01 9.86847670e-03 2.96298019e+02] [-8.06916482e-01 -5.90523042e-01 1.29741596e-02 2.60509446e+02] [ 1.62979785e-02 -3.02565197e-04 9.99867133e-01 2.06957927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.910385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.30, Y:260.51, Z:20.69 [[-5.90364771e-01 8.07076164e-01 9.87437184e-03 2.96300733e+02] [-8.06972006e-01 -5.90447262e-01 1.29696714e-02 2.60510895e+02] [ 1.62978084e-02 -3.11504569e-04 9.99867133e-01 2.06948240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.940385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.80, Y:260.03, Z:21.67 [[-5.67523997e-01 -8.23297485e-01 -9.88760825e-03 2.96799439e+02] [-8.23195854e-01 5.67609581e-01 -1.29595783e-02 2.60027201e+02] [ 1.62818894e-02 7.84566445e-04 -9.99867133e-01 2.16708839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.970385723 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:296.18, Y:260.39, Z:20.70 [[-5.31207276e-01 8.47194849e-01 8.92852992e-03 2.96176722e+02] [-8.47085870e-01 -5.31282195e-01 1.35925620e-02 2.60388272e+02] [ 1.62591175e-02 -3.42763679e-04 9.99867753e-01 2.06968342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.000385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:296.19, Y:260.40, Z:20.70 [[-5.31248806e-01 8.47168441e-01 8.96318694e-03 2.96188445e+02] [-8.47059843e-01 -5.31324276e-01 1.35696700e-02 2.60404459e+02] [ 1.62581550e-02 -3.83484725e-04 9.99867754e-01 2.06980399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.030385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.19, Y:260.40, Z:20.70 [[-5.29968878e-01 8.47969673e-01 8.96780922e-03 2.96190810e+02] [-8.47861241e-01 -5.30044585e-01 1.35666146e-02 2.60403392e+02] [ 1.62574165e-02 -4.13574336e-04 9.99867754e-01 2.06972988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.060385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.19, Y:260.40, Z:20.70 [[-5.30274989e-01 8.47778230e-01 8.97270975e-03 2.96189551e+02] [-8.47669825e-01 -5.30350735e-01 1.35633727e-02 2.60401358e+02] [ 1.62574153e-02 -4.13577998e-04 9.99867754e-01 2.06973398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.0903857229999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:296.18, Y:260.38, Z:20.70 [[-5.27363415e-01 8.49592391e-01 8.97760604e-03 2.96175353e+02] [-8.49484302e-01 -5.27439611e-01 1.35601311e-02 2.60375026e+02] [ 1.62557292e-02 -4.75218362e-04 9.99867754e-01 2.06959022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.120385723 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:296.17, Y:260.36, Z:20.70 [[-5.26860856e-01 8.49904534e-01 8.93991695e-03 2.96166025e+02] [-8.49796067e-01 -5.26936514e-01 1.35850967e-02 2.60358545e+02] [ 1.62568040e-02 -4.39650577e-04 9.99867753e-01 2.06968320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.150385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.19, Y:260.39, Z:20.69 [[-5.23882647e-01 8.51743365e-01 8.95616768e-03 2.96191939e+02] [-8.51635346e-01 -5.23958943e-01 1.35743259e-02 2.60392163e+02] [ 1.62545061e-02 -5.16035204e-04 9.99867754e-01 2.06947809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.180385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.19, Y:260.39, Z:20.70 [[-5.27851983e-01 8.49289612e-01 8.91287958e-03 2.96187707e+02] [-8.49180754e-01 -5.27927082e-01 1.36030248e-02 2.60388262e+02] [ 1.62582581e-02 -3.88262208e-04 9.99867750e-01 2.06981576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.210385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.19, Y:260.39, Z:20.70 [[-5.29073536e-01 8.48528345e-01 8.99122695e-03 2.96189634e+02] [-8.48420256e-01 -5.29149731e-01 1.35510407e-02 2.60386545e+02] [ 1.62561475e-02 -4.58842035e-04 9.99867755e-01 2.06973384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.240385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:296.19, Y:260.38, Z:20.70 [[-5.30303265e-01 8.47760294e-01 8.99611878e-03 2.96189289e+02] [-8.47652151e-01 -5.30379382e-01 1.35477924e-02 2.60384079e+02] [ 1.62566364e-02 -4.41140872e-04 9.99867755e-01 2.06969065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.270385723 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:296.19, Y:260.38, Z:20.69 [[-5.31933291e-01 8.46738423e-01 9.00100562e-03 2.96189438e+02] [-8.46630188e-01 -5.32009277e-01 1.35445449e-02 2.60380617e+02] [ 1.62573051e-02 -4.15728747e-04 9.99867755e-01 2.06940365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.300385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.19, Y:260.38, Z:20.70 [[-5.32805435e-01 8.46189851e-01 9.00587514e-03 2.96187894e+02] [-8.46081592e-01 -5.32881387e-01 1.35413063e-02 2.60376779e+02] [ 1.62575792e-02 -4.04823571e-04 9.99867755e-01 2.06965193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.330385723 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:296.18, Y:260.35, Z:20.69 [[-5.29312272e-01 8.48379234e-01 9.01076345e-03 2.96178227e+02] [-8.48271345e-01 -5.29388749e-01 1.35380527e-02 2.60352432e+02] [ 1.62555996e-02 -4.77714980e-04 9.99867755e-01 2.06922524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.360385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.18, Y:260.35, Z:20.69 [[-5.27924233e-01 8.49244898e-01 8.89425222e-03 2.96182332e+02] [-8.49135822e-01 -5.27999026e-01 1.36155965e-02 2.60353758e+02] [ 1.62591324e-02 -3.64424831e-04 9.99867745e-01 2.06937426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.390385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.19, Y:260.37, Z:20.70 [[-5.36320363e-01 8.43968011e-01 8.85803582e-03 2.96187793e+02] [-8.43857800e-01 -5.36393486e-01 1.36397004e-02 2.60365987e+02] [ 1.62628635e-02 -1.59673566e-04 9.99867738e-01 2.06957202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.420385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:296.19, Y:260.36, Z:20.69 [[-5.31455500e-01 8.47038200e-01 9.01887599e-03 2.96190018e+02] [-8.46930211e-01 -5.31531833e-01 1.35325072e-02 2.60360320e+02] [ 1.62563702e-02 -4.46433172e-04 9.99867757e-01 2.06919425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.450385723 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:296.20, Y:260.37, Z:20.69 [[-5.33178479e-01 8.45956073e-01 8.89001059e-03 2.96195128e+02] [-8.45846489e-01 -5.33252526e-01 1.36183940e-02 2.60365580e+02] [ 1.62611837e-02 -2.58549664e-04 9.99867745e-01 2.06892974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.480385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.19, Y:260.36, Z:20.70 [[-5.38873230e-01 8.42339792e-01 8.90606034e-03 2.96185241e+02] [-8.42229888e-01 -5.38946794e-01 1.36076909e-02 2.60355984e+02] [ 1.62621921e-02 -1.68129878e-04 9.99867748e-01 2.06951747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.510385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.19, Y:260.35, Z:20.70 [[-5.39078920e-01 8.42206843e-01 9.03054409e-03 2.96186100e+02] [-8.42098303e-01 -5.39154463e-01 1.35245715e-02 2.60353209e+02] [ 1.62593449e-02 -3.13794428e-04 9.99867759e-01 2.06958169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.540385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.19, Y:260.35, Z:20.69 [[-5.38487206e-01 8.42585242e-01 9.03543005e-03 2.96186881e+02] [-8.42476809e-01 -5.38562903e-01 1.35213066e-02 2.60350045e+02] [ 1.62590008e-02 -3.31089679e-04 9.99867759e-01 2.06948360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.570385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.19, Y:260.35, Z:20.69 [[-5.38164899e-01 8.42791086e-01 9.04031329e-03 2.96187931e+02] [-8.42682737e-01 -5.38240715e-01 1.35180409e-02 2.60349206e+02] [ 1.62587490e-02 -3.43180850e-04 9.99867759e-01 2.06942918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.600385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.19, Y:260.34, Z:20.69 [[-5.37952762e-01 8.42926456e-01 9.04519001e-03 2.96186249e+02] [-8.42818181e-01 -5.38028684e-01 1.35147770e-02 2.60344897e+02] [ 1.62585347e-02 -3.53138999e-04 9.99867759e-01 2.06942269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.630385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.19, Y:260.35, Z:20.69 [[-5.34578559e-01 8.45070315e-01 9.05131199e-03 2.96193241e+02] [-8.44962414e-01 -5.34655011e-01 1.35106756e-02 2.60351874e+02] [ 1.62568002e-02 -4.25500922e-04 9.99867759e-01 2.06940654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.660385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.18, Y:260.34, Z:20.70 [[-5.35001859e-01 8.44802857e-01 9.00803875e-03 2.96184122e+02] [-8.44694428e-01 -5.35077565e-01 1.35396772e-02 2.60339130e+02] [ 1.62583574e-02 -3.65287696e-04 9.99867757e-01 2.06950007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.690385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.19, Y:260.34, Z:20.70 [[-5.32877601e-01 8.46143849e-01 9.05811857e-03 2.96187688e+02] [-8.46036179e-01 -5.32954378e-01 1.35060902e-02 2.60340870e+02] [ 1.62556591e-02 -4.66403075e-04 9.99867759e-01 2.06950007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.720385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.19, Y:260.33, Z:20.69 [[-5.31900897e-01 8.46758111e-01 9.06298260e-03 2.96185473e+02] [-8.46650585e-01 -5.31977876e-01 1.35028255e-02 2.60334487e+02] [ 1.62549333e-02 -4.91014516e-04 9.99867759e-01 2.06941943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.750385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.18, Y:260.33, Z:20.69 [[-5.32008605e-01 8.46690297e-01 9.07658973e-03 2.96181776e+02] [-8.46582917e-01 -5.32085787e-01 1.34936726e-02 2.60327369e+02] [ 1.62544861e-02 -5.05335875e-04 9.99867759e-01 2.06940739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.780385723 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:296.18, Y:260.33, Z:20.69 [[-5.32994584e-01 8.46069915e-01 9.08143942e-03 2.96184801e+02] [-8.45962500e-01 -5.33071718e-01 1.34904079e-02 2.60326909e+02] [ 1.62548868e-02 -4.92242851e-04 9.99867759e-01 2.06940059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.810385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.19, Y:260.33, Z:20.69 [[-5.33578724e-01 8.45701593e-01 9.08630555e-03 2.96185551e+02] [-8.45594181e-01 -5.33655862e-01 1.34871296e-02 2.60325408e+02] [ 1.62550472e-02 -4.86881701e-04 9.99867759e-01 2.06938280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.8403857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.18, Y:260.32, Z:20.69 [[-5.34349312e-01 8.45214862e-01 9.09114610e-03 2.96182418e+02] [-8.45107435e-01 -5.34426429e-01 1.34838660e-02 2.60318807e+02] [ 1.62553127e-02 -4.77900654e-04 9.99867759e-01 2.06937752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.870385723 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:296.18, Y:260.32, Z:20.69 [[-5.35470249e-01 8.44505093e-01 9.09723083e-03 2.96183413e+02] [-8.44397634e-01 -5.35547320e-01 1.34797595e-02 2.60316140e+02] [ 1.62557232e-02 -4.63670010e-04 9.99867759e-01 2.06919597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.900385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.18, Y:260.31, Z:20.69 [[-5.36401206e-01 8.43914028e-01 9.10269243e-03 2.96183792e+02] [-8.43806546e-01 -5.36478246e-01 1.34760703e-02 2.60311982e+02] [ 1.62560413e-02 -4.52331070e-04 9.99867760e-01 2.06924018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.930385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.18, Y:260.31, Z:20.69 [[-5.36860756e-01 8.43621706e-01 9.10753427e-03 2.96183197e+02] [-8.43514237e-01 -5.36937814e-01 1.34727973e-02 2.60308544e+02] [ 1.62561238e-02 -4.49318689e-04 9.99867760e-01 2.06925717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.960385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.18, Y:260.30, Z:20.69 [[-5.37599771e-01 8.43150906e-01 9.11237646e-03 2.96183724e+02] [-8.43043425e-01 -5.37676813e-01 1.34695215e-02 2.60303041e+02] [ 1.62563528e-02 -4.40917405e-04 9.99867760e-01 2.06916663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.990385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.18, Y:260.30, Z:20.69 [[-5.37708455e-01 8.43081539e-01 9.11783943e-03 2.96184442e+02] [-8.42974111e-01 -5.37785570e-01 1.34658224e-02 2.60300594e+02] [ 1.62562288e-02 -4.45416011e-04 9.99867760e-01 2.06914515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.020385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.19, Y:260.30, Z:20.69 [[-5.37394676e-01 8.43281530e-01 9.12268215e-03 2.96186185e+02] [-8.43174186e-01 -5.37471908e-01 1.34625408e-02 2.60297965e+02] [ 1.62558974e-02 -4.57312326e-04 9.99867760e-01 2.06912526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.050385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.19, Y:260.29, Z:20.69 [[-5.37186993e-01 8.43413791e-01 9.12752065e-03 2.96185126e+02] [-8.43306522e-01 -5.37264328e-01 1.34592596e-02 2.60294822e+02] [ 1.62556164e-02 -4.67158512e-04 9.99867760e-01 2.06915347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.080385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.19, Y:260.29, Z:20.69 [[-5.36977880e-01 8.43546891e-01 9.13235796e-03 2.96185476e+02] [-8.43439696e-01 -5.37055319e-01 1.34559766e-02 2.60293613e+02] [ 1.62553286e-02 -4.77031454e-04 9.99867760e-01 2.06920595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.110385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.19, Y:260.29, Z:20.69 [[-5.36250094e-01 8.44009685e-01 9.13719258e-03 2.96185669e+02] [-8.43902613e-01 -5.36327703e-01 1.34526928e-02 2.60288929e+02] [ 1.62547326e-02 -4.96892880e-04 9.99867760e-01 2.06929563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.140385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.61, Y:259.92, Z:21.68 [[-5.29541755e-01 -8.48234610e-01 -9.14198647e-03 2.96606347e+02] [-8.48128213e-01 5.29620286e-01 -1.34494344e-02 2.59916629e+02] [ 1.62500572e-02 6.31539562e-04 -9.99867760e-01 2.16807732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.170385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.09, Y:260.20, Z:20.69 [[-4.77748447e-01 8.78458694e-01 8.16975701e-03 2.96090862e+02] [-8.78347001e-01 -4.77818054e-01 1.40161414e-02 2.60195222e+02] [ 1.62162586e-02 -4.79691806e-04 9.99868393e-01 2.06936584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.200385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.10, Y:260.20, Z:20.69 [[-4.78689574e-01 8.77946163e-01 8.17478443e-03 2.96095058e+02] [-8.77834446e-01 -4.78759142e-01 1.40132085e-02 2.60197256e+02] [ 1.62165955e-02 -4.68130536e-04 9.99868393e-01 2.06916267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.230385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.09, Y:260.18, Z:20.69 [[-4.80373897e-01 8.77025769e-01 8.16822951e-03 2.96087090e+02] [-8.76913854e-01 -4.80443146e-01 1.40170339e-02 2.60181754e+02] [ 1.62176698e-02 -4.29416413e-04 9.99868393e-01 2.06913837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.260385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.52, Y:259.85, Z:21.69 [[-4.65449872e-01 -8.85036352e-01 -8.18972092e-03 2.96523222e+02] [-8.84925845e-01 4.65521346e-01 -1.40044817e-02 2.59853620e+02] [ 1.62069653e-02 7.28911497e-04 -9.99868393e-01 2.16859675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.290385723 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:296.00, Y:260.08, Z:20.69 [[-4.23697840e-01 9.05775347e-01 7.15273189e-03 2.95996780e+02] [-9.05659047e-01 -4.23758085e-01 1.45181423e-02 2.60075062e+02] [ 1.61812033e-02 -3.26630825e-04 9.99869022e-01 2.06933418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.320385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.00, Y:260.07, Z:20.70 [[-4.25673395e-01 9.04848317e-01 7.18915279e-03 2.95998236e+02] [-9.04732189e-01 -4.25733970e-01 1.45000848e-02 2.60074940e+02] [ 1.61810439e-02 -3.31957632e-04 9.99869023e-01 2.06952139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.350385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.00, Y:260.07, Z:20.69 [[-4.28574901e-01 9.03477612e-01 7.19437917e-03 2.95998321e+02] [-9.03361334e-01 -4.28635186e-01 1.44974912e-02 2.60070734e+02] [ 1.61819228e-02 -2.85863124e-04 9.99869023e-01 2.06941886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.380385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.00, Y:260.07, Z:20.69 [[-4.30016821e-01 9.02792169e-01 7.19960221e-03 2.95997978e+02] [-9.02675838e-01 -4.30077004e-01 1.44948969e-02 2.60070685e+02] [ 1.61822628e-02 -2.65857475e-04 9.99869023e-01 2.06934378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.410385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.43, Y:259.76, Z:21.69 [[-3.97005791e-01 -9.17787722e-01 -7.21802612e-03 2.96433712e+02] [-9.17673813e-01 3.97070442e-01 -1.44857364e-02 2.59761821e+02] [ 1.61608959e-02 8.72872310e-04 -9.99869023e-01 2.16876139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.440385723 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:295.91, Y:259.96, Z:20.70 [[-3.67648187e-01 9.29944527e-01 6.16333594e-03 2.95911373e+02] [-9.29824836e-01 -3.67699763e-01 1.49217530e-02 2.59961849e+02] [ 1.61426597e-02 -2.44867392e-04 9.99869669e-01 2.06952508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.470385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.91, Y:259.96, Z:20.70 [[-3.68009550e-01 9.29801523e-01 6.17250893e-03 2.95910448e+02] [-9.29681875e-01 -3.68061227e-01 1.49179576e-02 2.59958157e+02] [ 1.61426009e-02 -2.48518827e-04 9.99869669e-01 2.06964801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.500385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.91, Y:259.95, Z:20.70 [[-3.68790502e-01 9.29492002e-01 6.17927212e-03 2.95909919e+02] [-9.29372357e-01 -3.68842188e-01 1.49151556e-02 2.59954963e+02] [ 1.61426941e-02 -2.42276964e-04 9.99869669e-01 2.06962727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.530385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.91, Y:259.95, Z:20.70 [[-3.70378284e-01 9.28860418e-01 6.18465504e-03 2.95908208e+02] [-9.28740723e-01 -3.70429852e-01 1.49129232e-02 2.59951694e+02] [ 1.61430049e-02 -2.20518076e-04 9.99869669e-01 2.06963525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.560385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.90, Y:259.94, Z:20.70 [[-3.71489171e-01 9.28416652e-01 6.19004135e-03 2.95904640e+02] [-9.28296932e-01 -3.71540682e-01 1.49106871e-02 2.59944670e+02] [ 1.61431824e-02 -2.07037578e-04 9.99869669e-01 2.06969382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.5903857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.90, Y:259.94, Z:20.70 [[-3.72515756e-01 9.28005183e-01 6.19612725e-03 2.95903643e+02] [-9.27885448e-01 -3.72567231e-01 1.49081577e-02 2.59942965e+02] [ 1.61433216e-02 -1.95772676e-04 9.99869669e-01 2.06976052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.620385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.90, Y:259.93, Z:20.70 [[-3.76553909e-01 9.26373950e-01 6.20153047e-03 2.95897001e+02] [-9.26254029e-01 -3.76604950e-01 1.49059097e-02 2.59926163e+02] [ 1.61439735e-02 -1.31314001e-04 9.99869669e-01 2.06980403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.650385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.90, Y:259.92, Z:20.70 [[-3.78338741e-01 9.25646278e-01 6.22623639e-03 2.95896343e+02] [-9.25526428e-01 -3.78389948e-01 1.48955829e-02 2.59924161e+02] [ 1.61439861e-02 -1.26970261e-04 9.99869669e-01 2.06975053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.680385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.89, Y:259.92, Z:20.70 [[-3.81737973e-01 9.24249580e-01 6.23163847e-03 2.95893445e+02] [-9.24129580e-01 -3.81788827e-01 1.48933225e-02 2.59920769e+02] [ 1.61443170e-02 -7.34946810e-05 9.99869669e-01 2.06967523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.710385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.89, Y:259.92, Z:20.70 [[-3.83138432e-01 9.23669877e-01 6.23706206e-03 2.95891841e+02] [-9.23549837e-01 -3.83189190e-01 1.48910509e-02 2.59919272e+02] [ 1.61443899e-02 -5.49037632e-05 9.99869669e-01 2.06970406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.740385723 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:295.89, Y:259.92, Z:20.70 [[-3.83651280e-01 9.23456944e-01 6.24246842e-03 2.95888368e+02] [-9.23336912e-01 -3.83702060e-01 1.48887841e-02 2.59915373e+02] [ 1.61443991e-02 -5.18004197e-05 9.99869669e-01 2.06963753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.770385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.89, Y:259.92, Z:20.70 [[-3.82870689e-01 9.23780818e-01 6.24787739e-03 2.95888093e+02] [-9.23660867e-01 -3.82921657e-01 1.48865140e-02 2.59915918e+02] [ 1.61443236e-02 -7.13099822e-05 9.99869669e-01 2.06979522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.800385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.88, Y:259.90, Z:20.70 [[-3.80467727e-01 9.24773056e-01 6.25328554e-03 2.95880207e+02] [-9.24653275e-01 -3.80519094e-01 1.48842419e-02 2.59899635e+02] [ 1.61440404e-02 -1.19147277e-04 9.99869669e-01 2.06992985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.830385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.89, Y:259.91, Z:20.70 [[-3.78489204e-01 9.25584545e-01 6.25871767e-03 2.95885023e+02] [-9.25464912e-01 -3.78540915e-01 1.48819574e-02 2.59911464e+02] [ 1.61436904e-02 -1.59563401e-04 9.99869669e-01 2.06985703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.860385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.89, Y:259.92, Z:20.70 [[-3.73911582e-01 9.27443200e-01 6.26415071e-03 2.95885593e+02] [-9.27323862e-01 -3.73963970e-01 1.48796701e-02 2.59916557e+02] [ 1.61426155e-02 -2.45215434e-04 9.99869669e-01 2.06973779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.890385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.88, Y:259.91, Z:20.70 [[-3.71970823e-01 9.28223249e-01 6.26953938e-03 2.95881576e+02] [-9.28104059e-01 -3.72023547e-01 1.48773993e-02 2.59909782e+02] [ 1.61419641e-02 -2.84826497e-04 9.99869669e-01 2.06977836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.920385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.88, Y:259.92, Z:20.70 [[-3.69786577e-01 9.29095525e-01 6.27630033e-03 2.95883193e+02] [-9.28976508e-01 -3.69839689e-01 1.48745465e-02 2.59915084e+02] [ 1.61410995e-02 -3.30127926e-04 9.99869669e-01 2.06990895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.950385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.88, Y:259.91, Z:20.70 [[-3.70121192e-01 9.28962240e-01 6.28169067e-03 2.95882319e+02] [-9.28843242e-01 -3.70174347e-01 1.48722697e-02 2.59912832e+02] [ 1.61410977e-02 -3.30163727e-04 9.99869669e-01 2.06991302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.980385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.88, Y:259.91, Z:20.70 [[-3.65718705e-01 9.30704197e-01 6.28704718e-03 2.95883496e+02] [-9.30585490e-01 -3.65772509e-01 1.48700050e-02 2.59914027e+02] [ 1.61392051e-02 -4.12395913e-04 9.99869670e-01 2.06990682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.010385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.88, Y:259.91, Z:20.70 [[-3.63807336e-01 9.31452966e-01 6.29239536e-03 2.95883477e+02] [-9.31334410e-01 -3.63861468e-01 1.48677415e-02 2.59912621e+02] [ 1.61381621e-02 -4.51330892e-04 9.99869670e-01 2.06985917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.040385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.88, Y:259.91, Z:20.70 [[-3.60959003e-01 9.32560420e-01 6.29773356e-03 2.95883780e+02] [-9.32442068e-01 -3.61013583e-01 1.48654800e-02 2.59912259e+02] [ 1.61365256e-02 -5.06442866e-04 9.99869670e-01 2.06983063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.070385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.88, Y:259.91, Z:20.70 [[-3.60483956e-01 9.32744117e-01 6.30308359e-03 2.95882816e+02] [-9.32625833e-01 -3.60538681e-01 1.48632112e-02 2.59909572e+02] [ 1.61360783e-02 -5.20469414e-04 9.99869670e-01 2.06987645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.100385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.88, Y:259.91, Z:20.70 [[-3.61451216e-01 9.32369681e-01 6.30841103e-03 2.95882547e+02] [-9.32251379e-01 -3.61505903e-01 1.48609497e-02 2.59907585e+02] [ 1.61364268e-02 -5.09516542e-04 9.99869670e-01 2.06987292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.130385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.88, Y:259.91, Z:20.70 [[-3.62759319e-01 9.31861477e-01 6.31373766e-03 2.95883039e+02] [-9.31743138e-01 -3.62813925e-01 1.48586863e-02 2.59906418e+02] [ 1.61369493e-02 -4.92654797e-04 9.99869670e-01 2.06982208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.160385723 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:295.88, Y:259.90, Z:20.70 [[-3.66261064e-01 9.30490678e-01 6.31906014e-03 2.95883387e+02] [-9.30372173e-01 -3.66315309e-01 1.48564225e-02 2.59899102e+02] [ 1.61385311e-02 -4.37748624e-04 9.99869670e-01 2.06962853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.190385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.88, Y:259.90, Z:20.70 [[-3.68215123e-01 9.29719111e-01 6.32438759e-03 2.95883558e+02] [-9.29600531e-01 -3.68269204e-01 1.48541542e-02 2.59895758e+02] [ 1.61392682e-02 -4.09629844e-04 9.99869670e-01 2.06970661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.220385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.88, Y:259.89, Z:20.70 [[-3.70364804e-01 9.28864816e-01 6.32972091e-03 2.95883456e+02] [-9.28746150e-01 -3.70418696e-01 1.48518812e-02 2.59891959e+02] [ 1.61400369e-02 -3.78089846e-04 9.99869670e-01 2.06965467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.250385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.88, Y:259.89, Z:20.70 [[-3.71142030e-01 9.28554500e-01 6.33507523e-03 2.95883788e+02] [-9.28435828e-01 -3.71195909e-01 1.48495970e-02 2.59889340e+02] [ 1.61402141e-02 -3.70401253e-04 9.99869670e-01 2.06983107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.280385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.88, Y:259.88, Z:20.70 [[-3.71924051e-01 9.28241509e-01 6.34041272e-03 2.95881193e+02] [-9.28122830e-01 -3.71977914e-01 1.48473176e-02 2.59880928e+02] [ 1.61403900e-02 -3.62607277e-04 9.99869670e-01 2.06994754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.310385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.88, Y:259.88, Z:20.70 [[-3.72371752e-01 9.28061964e-01 6.34576023e-03 2.95882759e+02] [-9.27943298e-01 -3.72425644e-01 1.48450318e-02 2.59880956e+02] [ 1.61404332e-02 -3.60635196e-04 9.99869670e-01 2.06999174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.3403857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.89, Y:259.88, Z:20.70 [[-3.73243598e-01 9.27711636e-01 6.35111445e-03 2.95885040e+02] [-9.27592958e-01 -3.73297464e-01 1.48427407e-02 2.59879324e+02] [ 1.61406382e-02 -3.51291092e-04 9.99869670e-01 2.06999694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.370385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.89, Y:259.88, Z:20.70 [[-3.73426644e-01 9.27637934e-01 6.35645863e-03 2.95885377e+02] [-9.27519285e-01 -3.73480572e-01 1.48404517e-02 2.59875232e+02] [ 1.61405798e-02 -3.53917886e-04 9.99869670e-01 2.07001922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.400385723 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:295.89, Y:259.87, Z:20.70 [[-3.72887933e-01 9.27854578e-01 6.36180031e-03 2.95885750e+02] [-9.27735998e-01 -3.72942015e-01 1.48381615e-02 2.59873385e+02] [ 1.61402387e-02 -3.69099800e-04 9.99869670e-01 2.06997504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.430385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.89, Y:259.87, Z:20.70 [[-3.72684173e-01 9.27936402e-01 6.36714284e-03 2.95885153e+02] [-9.27817874e-01 -3.72738367e-01 1.48358686e-02 2.59869719e+02] [ 1.61400210e-02 -3.78455502e-04 9.99869670e-01 2.07012178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.460385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.89, Y:259.87, Z:20.70 [[-3.72110635e-01 9.28166503e-01 6.37316484e-03 2.95887204e+02] [-9.28048052e-01 -3.72164999e-01 1.48332812e-02 2.59868210e+02] [ 1.61396237e-02 -3.94981511e-04 9.99869670e-01 2.07013675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.490385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.89, Y:259.86, Z:20.70 [[-3.72746891e-01 9.27911133e-01 6.37850226e-03 2.95887252e+02] [-9.27792684e-01 -3.72801258e-01 1.48309857e-02 2.59864286e+02] [ 1.61397504e-02 -3.89723911e-04 9.99869670e-01 2.07009160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.520385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.89, Y:259.86, Z:20.70 [[-3.74418873e-01 9.27237701e-01 6.38385408e-03 2.95888070e+02] [-9.27119193e-01 -3.74473113e-01 1.48286817e-02 2.59861954e+02] [ 1.61402945e-02 -3.66455334e-04 9.99869670e-01 2.07003178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.550385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.89, Y:259.86, Z:20.70 [[-3.74536242e-01 9.27190262e-01 6.38918739e-03 2.95887117e+02] [-9.27071786e-01 -3.74590551e-01 1.48263834e-02 2.59858102e+02] [ 1.61402076e-02 -3.70217433e-04 9.99869670e-01 2.07005003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.580385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.89, Y:259.86, Z:20.70 [[-3.74160710e-01 9.27341832e-01 6.39452232e-03 2.95887849e+02] [-9.27223418e-01 -3.74215152e-01 1.48240822e-02 2.59857846e+02] [ 1.61399186e-02 -3.82561742e-04 9.99869670e-01 2.06998237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.610385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.89, Y:259.85, Z:20.70 [[-3.74291048e-01 9.27289196e-01 6.39985397e-03 2.95886392e+02] [-9.27170813e-01 -3.74345559e-01 1.48217800e-02 2.59853407e+02] [ 1.61398334e-02 -3.86098236e-04 9.99869670e-01 2.06999877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.640385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.89, Y:259.85, Z:20.70 [[-3.74143925e-01 9.27348530e-01 6.40518479e-03 2.95887090e+02] [-9.27230196e-01 -3.74198540e-01 1.48194760e-02 2.59853500e+02] [ 1.61396301e-02 -3.94463834e-04 9.99869670e-01 2.06982817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.670385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.88, Y:259.85, Z:20.70 [[-3.73829245e-01 9.27475389e-01 6.41085913e-03 2.95884823e+02] [-9.27357114e-01 -3.73883991e-01 1.48170209e-02 2.59847881e+02] [ 1.61393398e-02 -4.06120108e-04 9.99869670e-01 2.06978612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.700385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.88, Y:259.85, Z:20.70 [[-3.73833596e-01 9.27473598e-01 6.41618489e-03 2.95884530e+02] [-9.27355363e-01 -3.73888426e-01 1.48147143e-02 2.59847346e+02] [ 1.61391936e-02 -4.11845547e-04 9.99869670e-01 2.06980470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.730385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.88, Y:259.85, Z:20.70 [[-3.72634240e-01 9.27956080e-01 6.42151317e-03 2.95883659e+02] [-9.27837956e-01 -3.72689308e-01 1.48124044e-02 2.59845414e+02] [ 1.61384900e-02 -4.38514604e-04 9.99869670e-01 2.06986427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.760385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.89, Y:259.85, Z:20.70 [[-3.70462217e-01 9.28825302e-01 6.42683727e-03 2.95885131e+02] [-9.28707346e-01 -3.70517646e-01 1.48100940e-02 2.59848782e+02] [ 1.61372466e-02 -4.82070730e-04 9.99869670e-01 2.06995833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.790385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.88, Y:259.85, Z:20.70 [[-3.69843684e-01 9.29071729e-01 6.43214975e-03 2.95884873e+02] [-9.28953850e-01 -3.69899276e-01 1.48077864e-02 2.59848167e+02] [ 1.61367432e-02 -4.98604011e-04 9.99869670e-01 2.06999607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.820385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.88, Y:259.85, Z:20.70 [[-3.68768038e-01 9.29499163e-01 6.43744658e-03 2.95884056e+02] [-9.29381388e-01 -3.68823851e-01 1.48054833e-02 2.59845786e+02] [ 1.61359682e-02 -5.23054010e-04 9.99869670e-01 2.06994744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.850385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.88, Y:259.84, Z:20.70 [[-3.68548933e-01 9.29586024e-01 6.44273928e-03 2.95883143e+02] [-9.29468302e-01 -3.68604857e-01 1.48031798e-02 2.59843009e+02] [ 1.61356540e-02 -5.32625840e-04 9.99869670e-01 2.06992489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.880385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.88, Y:259.84, Z:20.70 [[-3.68461676e-01 9.29620577e-01 6.44803281e-03 2.95882574e+02] [-9.29502900e-01 -3.68517696e-01 1.48008736e-02 2.59840835e+02] [ 1.61354109e-02 -5.39910495e-04 9.99869670e-01 2.06995165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.910385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.88, Y:259.84, Z:20.70 [[-3.69168613e-01 9.29340029e-01 6.45332551e-03 2.95881576e+02] [-9.29222350e-01 -3.69224628e-01 1.47985656e-02 2.59835865e+02] [ 1.61356261e-02 -5.33408358e-04 9.99869670e-01 2.06995643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.940385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.87, Y:259.80, Z:20.70 [[-3.76278136e-01 9.26484242e-01 6.45862070e-03 2.95866047e+02] [-9.26366177e-01 -3.76333331e-01 1.47962542e-02 2.59802818e+02] [ 1.61390906e-02 -4.15540811e-04 9.99869670e-01 2.06986422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.970385723 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:296.29, Y:259.56, Z:21.69 [[-3.63348667e-01 -9.31630462e-01 -6.51371563e-03 2.96292423e+02] [-9.31513603e-01 3.63406373e-01 -1.47721059e-02 2.59562587e+02] [ 1.61292696e-02 7.00189729e-04 -9.99869670e-01 2.16890181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.000385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.80, Y:259.71, Z:20.70 [[-3.15701534e-01 9.48843075e-01 5.41844904e-03 2.95799043e+02] [-9.48721969e-01 -3.15747832e-01 1.51634947e-02 2.59713079e+02] [ 1.60986405e-02 -3.53463102e-04 9.99870346e-01 2.07044098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.030385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.73, Y:259.52, Z:20.70 [[-3.27599210e-01 9.44801217e-01 5.42389014e-03 2.95726080e+02] [-9.44679570e-01 -3.27644070e-01 1.51615482e-02 2.59524111e+02] [ 1.61017546e-02 -1.56926993e-04 9.99870346e-01 2.07024094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.060385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.21, Y:259.45, Z:21.69 [[-2.88290598e-01 -9.57527604e-01 -5.42389014e-03 2.96211268e+02] [-9.57407915e-01 2.88340444e-01 -1.51615482e-02 2.59448914e+02] [ 1.60815278e-02 8.21943563e-04 -9.99870346e-01 2.16888203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.0903857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.71, Y:259.57, Z:20.71 [[-2.59281901e-01 9.65791766e-01 4.37728287e-03 2.95713301e+02] [-9.65668077e-01 -2.59318755e-01 1.54579300e-02 2.59566652e+02] [ 1.60642530e-02 -2.19040866e-04 9.99870938e-01 2.07085171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.120385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.71, Y:259.57, Z:20.71 [[-2.60035540e-01 9.65589099e-01 4.38286980e-03 2.95712570e+02] [-9.65465408e-01 -2.60072387e-01 1.54563457e-02 2.59565777e+02] [ 1.60643423e-02 -2.12309981e-04 9.99870938e-01 2.07085264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.150385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.71, Y:259.56, Z:20.71 [[-2.59936580e-01 9.65615718e-01 4.38846228e-03 2.95712115e+02] [-9.65492058e-01 -2.59973530e-01 1.54547577e-02 2.59564861e+02] [ 1.60642410e-02 -2.19768614e-04 9.99870938e-01 2.07088324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.180385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.71, Y:259.56, Z:20.71 [[-2.59602104e-01 9.65705670e-01 4.39404807e-03 2.95711301e+02] [-9.65582049e-01 -2.59639185e-01 1.54531694e-02 2.59563190e+02] [ 1.60640804e-02 -2.31138654e-04 9.99870938e-01 2.07088377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.210385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.71, Y:259.56, Z:20.71 [[-2.59945321e-01 9.65613315e-01 4.39962976e-03 2.95710014e+02] [-9.65489708e-01 -2.59982447e-01 1.54515801e-02 2.59559486e+02] [ 1.60640780e-02 -2.31231307e-04 9.99870938e-01 2.07087640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.240385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.71, Y:259.55, Z:20.71 [[-2.60473570e-01 9.65470928e-01 4.40521263e-03 2.95707846e+02] [-9.65347328e-01 -2.60510719e-01 1.54499883e-02 2.59554472e+02] [ 1.60641196e-02 -2.28246640e-04 9.99870938e-01 2.07087938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.270385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.71, Y:259.55, Z:20.71 [[-2.62105429e-01 9.65029165e-01 4.41080457e-03 2.95705769e+02] [-9.64905529e-01 -2.62142458e-01 1.54483917e-02 2.59553891e+02] [ 1.60644076e-02 -2.06902398e-04 9.99870938e-01 2.07099383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.300385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.66, Y:259.38, Z:20.71 [[-2.66121558e-01 9.63929361e-01 4.41639771e-03 2.95655309e+02] [-9.63805598e-01 -2.66158161e-01 1.54467925e-02 2.59380518e+02] [ 1.60650771e-02 -1.45824347e-04 9.99870938e-01 2.07130887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.330385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.14, Y:259.32, Z:21.69 [[-2.16126606e-01 -9.76355358e-01 -4.41639771e-03 2.96143760e+02] [-9.76233645e-01 2.16169534e-01 -1.54467925e-02 2.59321095e+02] [ 1.60362493e-02 9.72973197e-04 -9.99870938e-01 2.16890146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.360385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.09, Y:259.23, Z:21.69 [[-1.43217088e-01 -9.89685603e-01 -3.35747625e-03 2.96092660e+02] [-9.89562071e-01 1.43252384e-01 -1.56736355e-02 2.59227347e+02] [ 1.59929379e-02 1.07769871e-03 -9.99871524e-01 2.16920802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.390385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.57, Y:259.29, Z:20.71 [[-1.42730887e-01 9.89758938e-01 2.26675237e-03 2.95568027e+02] [-9.89632342e-01 -1.42748884e-01 1.58298315e-02 2.59285662e+02] [ 1.59912936e-02 1.61544306e-05 9.99872131e-01 2.07120546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.420385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.56, Y:259.28, Z:20.71 [[-1.45169238e-01 9.89404229e-01 2.27245472e-03 2.95563618e+02] [-9.89277602e-01 -1.45187015e-01 1.58290129e-02 2.59280433e+02] [ 1.59912232e-02 4.97971845e-05 9.99872131e-01 2.07116682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.450385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.56, Y:259.28, Z:20.71 [[-1.45506897e-01 9.89354614e-01 2.27822034e-03 2.95561667e+02] [-9.89227994e-01 -1.45524722e-01 1.58281830e-02 2.59280289e+02] [ 1.59912233e-02 4.94304508e-05 9.99872131e-01 2.07124590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.480385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.56, Y:259.28, Z:20.71 [[-1.45498194e-01 9.89355881e-01 2.28398933e-03 2.95559115e+02] [-9.89229274e-01 -1.45516113e-01 1.58273505e-02 2.59276435e+02] [ 1.59912395e-02 4.34617972e-05 9.99872131e-01 2.07123663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.510385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.56, Y:259.28, Z:20.71 [[-1.44735763e-01 9.89467693e-01 2.28975802e-03 2.95555994e+02] [-9.89341113e-01 -1.44753872e-01 1.58265159e-02 2.59277422e+02] [ 1.59912775e-02 2.53111121e-05 9.99872131e-01 2.07129061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.540385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.55, Y:259.27, Z:20.71 [[-1.45109732e-01 9.89412905e-01 2.29552273e-03 2.95551587e+02] [-9.89286331e-01 -1.45127886e-01 1.58256797e-02 2.59272263e+02] [ 1.59912761e-02 2.55308869e-05 9.99872131e-01 2.07110664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.570385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.55, Y:259.27, Z:20.71 [[-1.46259843e-01 9.89243530e-01 2.30128897e-03 2.95549881e+02] [-9.89116949e-01 -1.46277941e-01 1.58248412e-02 2.59272766e+02] [ 1.59912495e-02 3.82948609e-05 9.99872131e-01 2.07110677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.600385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.55, Y:259.27, Z:20.71 [[-1.48770538e-01 9.88869053e-01 2.30705490e-03 2.95545846e+02] [-9.88742439e-01 -1.48788407e-01 1.58240005e-02 2.59269918e+02] [ 1.59911274e-02 7.30619798e-05 9.99872131e-01 2.07112766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.630385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.05, Y:258.92, Z:21.70 [[-5.72847909e-02 -9.98355199e-01 -2.31281869e-03 2.96052958e+02] [-9.98230784e-01 5.73143084e-02 -1.58231580e-02 2.58922470e+02] [ 1.59296897e-02 1.40230052e-03 -9.99872131e-01 2.17008393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.660385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.49, Y:259.23, Z:20.71 [[-7.71864930e-02 9.97016204e-01 9.66164241e-04 2.95493159e+02] [-9.96889227e-01 -7.71920842e-02 1.59138830e-02 2.59234933e+02] [ 1.59409794e-02 2.65178094e-04 9.99872899e-01 2.07122425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.690385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.49, Y:259.23, Z:20.71 [[-7.91268843e-02 9.96863959e-01 1.08783118e-03 2.95491005e+02] [-9.96737075e-01 -7.91341697e-02 1.59055619e-02 2.59231516e+02] [ 1.59417660e-02 1.74275893e-04 9.99872907e-01 2.07135223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.720385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.49, Y:259.23, Z:20.71 [[-7.96255043e-02 9.96824249e-01 1.09367213e-03 2.95487231e+02] [-9.96697366e-01 -7.96328195e-02 1.59051603e-02 2.59226001e+02] [ 1.59417416e-02 1.76396276e-04 9.99872907e-01 2.07129015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.750385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.47, Y:259.09, Z:20.71 [[-8.33850089e-02 9.96516840e-01 1.06224877e-03 2.95473986e+02] [-9.96389904e-01 -8.33913440e-02 1.59073356e-02 2.59086103e+02] [ 1.59405102e-02 2.68019377e-04 9.99872906e-01 2.07145777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.780385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.04, Y:259.09, Z:21.70 [[ 1.37940171e-02 -9.99904294e-01 -1.06224877e-03 2.96042954e+02] [-9.99778573e-01 -1.37753835e-02 -1.59073356e-02 2.59086198e+02] [ 1.58911803e-02 1.28143962e-03 -9.99872906e-01 2.16962169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.810385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.01, Y:258.98, Z:21.70 [[ 8.21069009e-02 -9.96623528e-01 -2.74724369e-05 2.96013794e+02] [-9.96497436e-01 -8.20960743e-02 -1.59089772e-02 2.58976016e+02] [ 1.58530056e-02 1.33361303e-03 -9.99873444e-01 2.16985104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.8403857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.03, Y:258.97, Z:21.70 [[ 1.60106382e-01 -9.87099207e-01 1.05018695e-03 2.96025087e+02] [-9.86973284e-01 -1.60102807e-01 -1.58375269e-02 2.58972857e+02] [ 1.58013481e-02 1.49918266e-03 -9.99874027e-01 2.16996308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.870385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.03, Y:258.97, Z:21.70 [[ 2.36911140e-01 -9.71528656e-01 2.27666463e-03 2.96032778e+02] [-9.71403607e-01 -2.36917341e-01 -1.56590197e-02 2.58969986e+02] [ 1.57525677e-02 1.49823597e-03 -9.99874798e-01 2.17000790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.900385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.04, Y:258.97, Z:21.70 [[ 3.11295322e-01 -9.50306832e-01 3.48521549e-03 2.96043146e+02] [-9.50183435e-01 -3.11311325e-01 -1.53850493e-02 2.58969520e+02] [ 1.57055045e-02 1.47769985e-03 -9.99875569e-01 2.16977281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.930385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.45, Y:258.74, Z:20.72 [[ 2.84114837e-01 9.58778861e-01 -4.67504517e-03 2.95452769e+02] [-9.58661300e-01 2.84153216e-01 1.50153937e-02 2.58740518e+02] [ 1.57248712e-02 2.15688749e-04 9.99876333e-01 2.07204351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.960385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.46, Y:258.71, Z:20.72 [[ 2.85305011e-01 9.58425505e-01 -4.64786582e-03 2.95458392e+02] [-9.58307759e-01 2.85342818e-01 1.50238423e-02 2.58713349e+02] [ 1.57254688e-02 1.67708388e-04 9.99876333e-01 2.07204192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.990385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:295.46, Y:258.69, Z:20.72 [[ 2.88532180e-01 9.57458807e-01 -4.67065409e-03 2.95461536e+02] [-9.57341048e-01 2.88569948e-01 1.50167545e-02 2.58685242e+02] [ 1.57257343e-02 1.38591973e-04 9.99876333e-01 2.07210656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.020385723 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:295.47, Y:258.66, Z:20.71 [[ 2.95237026e-01 9.55412618e-01 -4.67196446e-03 2.95472454e+02] [-9.55294605e-01 2.95273987e-01 1.50163468e-02 2.58664284e+02] [ 1.57263168e-02 2.97208721e-05 9.99876333e-01 2.07143038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.050385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:295.48, Y:258.63, Z:20.71 [[ 2.98309733e-01 9.54456605e-01 -4.88793691e-03 2.95478067e+02] [-9.54339550e-01 2.98349705e-01 1.49491417e-02 2.58633777e+02] [ 1.57266216e-02 2.05277049e-04 9.99876308e-01 2.07145596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.080385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:295.48, Y:258.60, Z:20.72 [[ 2.93915201e-01 9.55818792e-01 -4.92862216e-03 2.95479019e+02] [-9.55702133e-01 2.93956347e-01 1.49364840e-02 2.58598303e+02] [ 1.57253719e-02 3.20235016e-04 9.99876297e-01 2.07241623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.110385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:295.49, Y:258.57, Z:20.72 [[ 3.00868574e-01 9.53654175e-01 -4.67065823e-03 2.95487322e+02] [-9.53535942e-01 3.00904818e-01 1.50166122e-02 2.58573686e+02] [ 1.57260785e-02 -6.43861991e-05 9.99876336e-01 2.07172035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.140385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:295.49, Y:258.54, Z:20.72 [[ 3.01897954e-01 9.53327790e-01 -4.87336903e-03 2.95490802e+02] [-9.53210513e-01 3.01937257e-01 1.49536494e-02 2.58539676e+02] [ 1.57271812e-02 1.30870452e-04 9.99876312e-01 2.07186916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.170385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.50, Y:258.51, Z:20.72 [[ 3.03476848e-01 9.52826631e-01 -4.81818813e-03 2.95497833e+02] [-9.52709014e-01 3.03515090e-01 1.49707635e-02 2.58511531e+02] [ 1.57269349e-02 4.70511542e-05 9.99876323e-01 2.07177609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.200385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.50, Y:258.48, Z:20.72 [[ 3.03382528e-01 9.52856640e-01 -4.82341351e-03 2.95504538e+02] [-9.52739053e-01 3.03420864e-01 1.49691453e-02 2.58479896e+02] [ 1.57269738e-02 5.40772733e-05 9.99876322e-01 2.07194311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.230385723 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:295.51, Y:258.44, Z:20.72 [[ 2.99532237e-01 9.54073983e-01 -4.82434807e-03 2.95506042e+02] [-9.53956557e-01 2.99571062e-01 1.49688561e-02 2.58443199e+02] [ 1.57266313e-02 1.18563509e-04 9.99876322e-01 2.07248232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.260385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.51, Y:258.42, Z:20.73 [[ 2.99267158e-01 9.54158078e-01 -4.64017094e-03 2.95512623e+02] [-9.54039763e-01 2.99303121e-01 1.50257331e-02 2.58415116e+02] [ 1.57257422e-02 -6.98008531e-05 9.99876340e-01 2.07263627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.290385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.52, Y:258.39, Z:20.73 [[ 2.99145896e-01 9.54196079e-01 -4.64487687e-03 2.95517324e+02] [-9.54077792e-01 2.99181948e-01 1.50242797e-02 2.58386761e+02] [ 1.57257721e-02 -6.28777418e-05 9.99876340e-01 2.07260615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.320385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:295.52, Y:258.36, Z:20.73 [[ 2.99102020e-01 9.54209848e-01 -4.64198879e-03 2.95523915e+02] [-9.54091548e-01 2.99138032e-01 1.50251720e-02 2.58358950e+02] [ 1.57257624e-02 -6.51770090e-05 9.99876340e-01 2.07266763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.350385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:295.53, Y:258.33, Z:20.73 [[ 2.99329968e-01 9.54138361e-01 -4.64301445e-03 2.95528422e+02] [-9.54020058e-01 2.99365968e-01 1.50248550e-02 2.58331032e+02] [ 1.57257511e-02 -6.78604576e-05 9.99876340e-01 2.07267604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.380385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:295.53, Y:258.30, Z:20.73 [[ 2.99450635e-01 9.54100489e-01 -4.64489075e-03 2.95532651e+02] [-9.53982190e-01 2.99486649e-01 1.50242749e-02 2.58302359e+02] [ 1.57257508e-02 -6.78856145e-05 9.99876340e-01 2.07308069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.410385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.23, Y:258.53, Z:21.70 [[ 3.65506880e-01 -9.30797147e-01 4.62524908e-03 2.96230428e+02] [-9.30676545e-01 -3.65534209e-01 -1.50303409e-02 2.58534366e+02] [ 1.56808852e-02 1.18908217e-03 -9.99876340e-01 2.17037498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.440385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.22, Y:258.53, Z:21.70 [[ 4.36743987e-01 -8.99567224e-01 5.78782715e-03 2.96222005e+02] [-8.99449992e-01 -4.36780804e-01 -1.45684802e-02 2.58527619e+02] [ 1.56333391e-02 1.15683502e-03 -9.99877123e-01 2.17038504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.470385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.21, Y:258.52, Z:21.71 [[ 5.03687994e-01 -8.63858185e-01 6.88776212e-03 2.96208847e+02] [-8.63744993e-01 -5.03733848e-01 -1.40284411e-02 2.58518094e+02] [ 1.55881825e-02 1.11668729e-03 -9.99877873e-01 2.17055731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.500385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.20, Y:258.51, Z:21.71 [[ 5.71324506e-01 -8.20687202e-01 7.79905246e-03 2.96201296e+02] [-8.20577364e-01 -5.71376240e-01 -1.34900767e-02 2.58508450e+02] [ 1.55273265e-02 1.30748547e-03 -9.99878589e-01 2.17050409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.530385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:296.20, Y:258.50, Z:21.71 [[ 6.34174782e-01 -7.73138173e-01 8.92810746e-03 2.96195431e+02] [-7.73034777e-01 -6.34236583e-01 -1.26961262e-02 2.58501433e+02] [ 1.54783922e-02 1.14982553e-03 -9.99879541e-01 2.17059735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.560385723 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:296.19, Y:258.49, Z:21.71 [[ 6.90903080e-01 -7.22880114e-01 9.86281912e-03 2.96185069e+02] [-7.22782631e-01 -6.90972584e-01 -1.19229344e-02 2.58492754e+02] [ 1.54337898e-02 1.10891772e-03 -9.99880277e-01 2.17100924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.5903857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.18, Y:258.48, Z:21.71 [[ 7.47161270e-01 -6.64559125e-01 1.05454164e-02 2.96182265e+02] [-6.64465149e-01 -7.47234357e-01 -1.12641762e-02 2.58484936e+02] [ 1.53656085e-02 1.40909445e-03 -9.99880949e-01 2.17083896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.620385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.18, Y:258.48, Z:21.71 [[ 7.95638556e-01 -6.05662143e-01 1.15177220e-02 2.96176471e+02] [-6.05577901e-01 -7.95721142e-01 -1.01622013e-02 2.58477702e+02] [ 1.53197555e-02 1.11056123e-03 -9.99882029e-01 2.17099040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.650385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.17, Y:258.47, Z:21.71 [[ 8.39715775e-01 -5.42888223e-01 1.22390261e-02 2.96171929e+02] [-5.42811297e-01 -8.39804264e-01 -9.20295619e-03 2.58469606e+02] [ 1.52745628e-02 1.08438586e-03 -9.99882749e-01 2.17104792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.680385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:296.17, Y:258.46, Z:21.71 [[ 8.77526150e-01 -4.79355738e-01 1.28814811e-02 2.96169765e+02] [-4.79286795e-01 -8.77620103e-01 -8.19285601e-03 2.58463523e+02] [ 1.52323393e-02 1.01552160e-03 -9.99883465e-01 2.17103874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.710385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:296.17, Y:258.46, Z:21.71 [[ 9.11213268e-01 -4.11715575e-01 1.34411976e-02 2.96165254e+02] [-4.11654824e-01 -9.11311879e-01 -7.13906301e-03 2.58455941e+02] [ 1.51883865e-02 9.72075119e-04 -9.99884177e-01 2.17109325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.740385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.16, Y:258.45, Z:21.71 [[ 9.38908424e-01 -3.43885632e-01 1.39156034e-02 2.96161446e+02] [-3.43833614e-01 -9.39011115e-01 -6.04744899e-03 2.58446028e+02] [ 1.51465371e-02 8.93348592e-04 -9.99884886e-01 2.17124659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.770385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:296.16, Y:258.43, Z:21.71 [[ 9.62381620e-01 -2.71324659e-01 1.43019961e-02 2.96158276e+02] [-2.71281312e-01 -9.62487501e-01 -4.92553510e-03 2.58434884e+02] [ 1.51019116e-02 8.60380182e-04 -9.99885589e-01 2.17149174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.800385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:296.15, Y:258.43, Z:21.71 [[ 9.80163927e-01 -1.97650095e-01 1.45984937e-02 2.96152968e+02] [-1.97615637e-01 -9.80272292e-01 -3.78070724e-03 2.58425314e+02] [ 1.50577560e-02 8.20822222e-04 -9.99886289e-01 2.17149916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.830385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.15, Y:258.42, Z:21.71 [[ 9.92605940e-01 -1.20475250e-01 1.48041098e-02 2.96146498e+02] [-1.20449561e-01 -9.92715996e-01 -2.61811098e-03 2.58415007e+02] [ 1.50116942e-02 8.15603993e-04 -9.99886986e-01 2.17140707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.860385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.14, Y:258.41, Z:21.71 [[ 9.99037319e-01 -4.12540513e-02 1.49177256e-02 2.96142122e+02] [-4.12370366e-02 -9.99148345e-01 -1.44650442e-03 2.58405027e+02] [ 1.49646950e-02 8.29949097e-04 -9.99887678e-01 2.17137865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.890385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.14, Y:258.39, Z:21.71 [[ 9.99140164e-01 3.86749593e-02 1.49392084e-02 2.96137586e+02] [ 3.86833570e-02 -9.99251481e-01 -2.73461900e-04 2.58394145e+02] [ 1.49174500e-02 8.51125501e-04 -9.99888366e-01 2.17145504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.920385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.13, Y:258.38, Z:21.72 [[ 9.92544032e-01 1.20976257e-01 1.48690924e-02 2.96134006e+02] [ 1.20976395e-01 -9.92654982e-01 8.93515991e-04 2.58382267e+02] [ 1.48679729e-02 9.11955231e-04 -9.99889050e-01 2.17152518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.950385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.13, Y:258.37, Z:21.72 [[ 9.79594745e-01 2.00444019e-01 1.47082020e-02 2.96132399e+02] [ 2.00435759e-01 -9.79704705e-01 2.04867894e-03 2.58370315e+02] [ 1.48203402e-02 9.41174510e-04 -9.99889730e-01 2.17150841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.980385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.13, Y:258.36, Z:21.71 [[ 9.59999328e-01 2.79628778e-01 1.44580817e-02 2.96131362e+02] [ 2.79612383e-01 -9.60107689e-01 3.18435803e-03 2.58356722e+02] [ 1.47717535e-02 9.85677112e-04 -9.99890406e-01 2.17131267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.010385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.13, Y:258.34, Z:21.72 [[ 9.35800139e-01 3.52248066e-01 1.41209111e-02 2.96129969e+02] [ 3.52223198e-01 -9.35906184e-01 4.29335213e-03 2.58335818e+02] [ 1.47281730e-02 9.55992942e-04 -9.99891078e-01 2.17155774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.040385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:296.13, Y:258.33, Z:21.71 [[ 9.03668213e-01 4.28010403e-01 1.38150533e-02 2.96130311e+02] [ 4.27982308e-01 -9.03772840e-01 5.07921191e-03 2.58325493e+02] [ 1.46596255e-02 1.32267603e-03 -9.99891667e-01 2.17135213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.070385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.13, Y:258.31, Z:21.71 [[ 8.67505387e-01 4.97253283e-01 1.31747957e-02 2.96130861e+02] [ 4.97213131e-01 -8.67604847e-01 6.39772608e-03 2.58313364e+02] [ 1.46118069e-02 1.00061960e-03 -9.99892741e-01 2.17141041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.100385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.13, Y:258.30, Z:21.71 [[ 8.26842517e-01 5.62292469e-01 1.25949088e-02 2.96130050e+02] [ 5.62244794e-01 -8.26937864e-01 7.38652212e-03 2.58304560e+02] [ 1.45685927e-02 9.73931346e-04 -9.99893398e-01 2.17146618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.130385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.13, Y:258.29, Z:21.71 [[ 7.82149553e-01 6.22976305e-01 1.19415264e-02 2.96132880e+02] [ 6.22921384e-01 -7.82240156e-01 8.32388712e-03 2.58292737e+02] [ 1.45267260e-02 9.28107585e-04 -9.99894051e-01 2.17141064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.160385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.14, Y:258.28, Z:21.71 [[ 7.31963160e-01 6.81251842e-01 1.12187388e-02 2.96138723e+02] [ 6.81190254e-01 -7.32048570e-01 9.20482734e-03 2.58279708e+02] [ 1.44834673e-02 9.04501017e-04 -9.99894700e-01 2.17137599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.190385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.14, Y:258.27, Z:21.71 [[ 6.78318528e-01 7.34693919e-01 1.04317441e-02 2.96144514e+02] [ 7.34626043e-01 -6.78398187e-01 1.00238594e-02 2.58265812e+02] [ 1.44413448e-02 8.64061398e-04 -9.99895345e-01 2.17148774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.220385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:296.15, Y:258.25, Z:21.72 [[ 6.19542071e-01 7.84904930e-01 9.58506687e-03 2.96149850e+02] [ 7.84831397e-01 -6.19615636e-01 1.07769128e-02 2.58254566e+02] [ 1.43979093e-02 8.45910518e-04 -9.99895987e-01 2.17150783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.250385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.16, Y:258.24, Z:21.71 [[ 5.57114378e-01 8.30390358e-01 8.68469130e-03 2.96156026e+02] [ 8.30311697e-01 -5.57181452e-01 1.14592948e-02 2.58244034e+02] [ 1.43546368e-02 8.26862892e-04 -9.99896625e-01 2.17148783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.280385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:296.17, Y:258.23, Z:21.71 [[ 4.90732354e-01 8.71276023e-01 7.73617698e-03 2.96165384e+02] [ 8.71192835e-01 -4.90792648e-01 1.20673808e-02 2.58232702e+02] [ 1.43108783e-02 8.17847782e-04 -9.99897260e-01 2.17146086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.310385723 meters Centerline goodness : 0.999844 Centerline is valid? [True, True] Translation: X:296.18, Y:258.22, Z:21.72 [[ 4.23892810e-01 9.05687235e-01 6.74675316e-03 2.96180055e+02] [ 9.05599949e-01 -4.23945799e-01 1.25972981e-02 2.58217326e+02] [ 1.42694698e-02 7.69955216e-04 -9.99897889e-01 2.17194038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.3403857229999 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:296.19, Y:258.21, Z:21.72 [[ 3.51421830e-01 9.36198482e-01 5.92445563e-03 2.96191121e+02] [ 9.36109306e-01 -3.51470366e-01 1.29594843e-02 2.58207309e+02] [ 1.42149201e-02 9.91692362e-04 -9.99898471e-01 2.17184617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.370385723 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:296.19, Y:258.20, Z:21.72 [[ 2.77026605e-01 9.60850305e-01 4.79072755e-03 2.96190583e+02] [ 9.60757908e-01 -2.77066554e-01 1.33553718e-02 2.58201747e+02] [ 1.41598635e-02 9.02936070e-04 -9.99899336e-01 2.17168519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.400385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:296.18, Y:258.20, Z:21.72 [[ 2.01194947e-01 9.79544543e-01 3.61688164e-03 2.96184536e+02] [ 9.79449562e-01 -2.01225890e-01 1.36637001e-02 2.58196597e+02] [ 1.41120131e-02 7.93485724e-04 -9.99900106e-01 2.17165754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.430385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:296.20, Y:258.19, Z:21.72 [[ 1.26304094e-01 9.91988426e-01 2.49774440e-03 2.96195939e+02] [ 9.91891787e-01 -1.26326701e-01 1.38653145e-02 2.58189698e+02] [ 1.40697633e-02 7.26246181e-04 -9.99900752e-01 2.17157275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.460385723 meters Centerline goodness : 0.999844 Centerline is valid? [True, True] Translation: X:296.21, Y:258.18, Z:21.72 [[ 4.81045355e-02 9.98841326e-01 1.39957945e-03 2.96205378e+02] [ 9.98743817e-01 -4.81194217e-02 1.39753006e-02 2.58182023e+02] [ 1.40264548e-02 7.25545981e-04 -9.99901361e-01 2.17156203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.490385723 meters Centerline goodness : 0.999800 Centerline is valid? [True, True] Translation: X:296.21, Y:258.18, Z:21.72 [[-2.67174667e-02 9.99642942e-01 4.06023280e-04 2.96214516e+02] [ 9.99545243e-01 2.67091702e-02 1.39973939e-02 2.58175756e+02] [ 1.39815515e-02 7.79813543e-04 -9.99901949e-01 2.17154611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.520385723 meters Centerline goodness : 0.999688 Centerline is valid? [True, True] Translation: X:296.26, Y:258.14, Z:21.72 [[-1.03908697e-01 9.94586523e-01 -7.94650767e-04 2.96257904e+02] [ 9.94489200e-01 1.03909658e-01 1.39289049e-02 2.58142818e+02] [ 1.39360730e-02 6.57062762e-04 -9.99902672e-01 2.17156637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.550385723 meters Centerline goodness : 0.999779 Centerline is valid? [True, True] Translation: X:296.30, Y:258.14, Z:21.72 [[-1.80406098e-01 9.83590420e-01 -1.87767955e-03 2.96300854e+02] [ 9.83494076e-01 1.80414736e-01 1.37813530e-02 2.58137188e+02] [ 1.38939678e-02 6.39553404e-04 -9.99903270e-01 2.17166873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.580385723 meters Centerline goodness : 0.999646 Centerline is valid? [True, True] Translation: X:296.35, Y:258.09, Z:21.72 [[-2.56285370e-01 9.66596687e-01 -2.94184193e-03 2.96353894e+02] [ 9.66501909e-01 2.56301481e-01 1.35503266e-02 2.58090240e+02] [ 1.38516992e-02 6.29454621e-04 -9.99903862e-01 2.17167585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.610385723 meters Centerline goodness : 0.999713 Centerline is valid? [True, True] Translation: X:296.40, Y:258.07, Z:21.72 [[-3.31436721e-01 9.43469046e-01 -3.98232677e-03 2.96404136e+02] [ 9.43376389e-01 3.31460045e-01 1.32373146e-02 2.58070331e+02] [ 1.38089788e-02 6.30499105e-04 -9.99904453e-01 2.17169239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.640385723 meters Centerline goodness : 0.999713 Centerline is valid? [True, True] Translation: X:296.45, Y:258.06, Z:21.72 [[-4.04349239e-01 9.14591043e-01 -4.99169109e-03 2.96454095e+02] [ 9.14501053e-01 4.04379560e-01 1.28450769e-02 2.58055534e+02] [ 1.37665301e-02 6.28990313e-04 -9.99905039e-01 2.17157489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.670385723 meters Centerline goodness : 0.999627 Centerline is valid? [True, True] Translation: X:296.51, Y:258.05, Z:21.72 [[-4.74638748e-01 8.80160488e-01 -5.96444300e-03 2.96507132e+02] [ 8.80073691e-01 4.74675811e-01 1.23762925e-02 2.58048275e+02] [ 1.37243004e-02 6.25118606e-04 -9.99905622e-01 2.17154750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.700385723 meters Centerline goodness : 0.999714 Centerline is valid? [True, True] Translation: X:296.56, Y:258.04, Z:21.72 [[-5.42126507e-01 8.40268602e-01 -6.89390483e-03 2.96557874e+02] [ 8.40185485e-01 5.42169980e-01 1.18348834e-02 2.58044516e+02] [ 1.36821492e-02 6.23845253e-04 -9.99906200e-01 2.17151096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.730385723 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:296.40, Y:258.32, Z:21.72 [[-6.09321040e-01 7.92885491e-01 -7.77607339e-03 2.96396544e+02] [ 7.92806335e-01 6.09370284e-01 1.12237037e-02 2.58317173e+02] [ 1.36376199e-02 6.73918581e-04 -9.99906776e-01 2.17212924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.760385723 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:296.44, Y:258.31, Z:21.72 [[-6.69557898e-01 7.42708328e-01 -8.74996355e-03 2.96438977e+02] [ 7.42635262e-01 6.69614893e-01 1.04288956e-02 2.58313017e+02] [ 1.36047336e-02 4.84717968e-04 -9.99907334e-01 2.17213598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.790385723 meters Centerline goodness : 0.999694 Centerline is valid? [True, True] Translation: X:297.22, Y:258.60, Z:20.75 [[-7.13184213e-01 -7.00912875e-01 9.45627222e-03 2.97217164e+02] [ 7.00845076e-01 -7.13246825e-01 -9.75428211e-03 2.58601194e+02] [ 1.35815581e-02 -3.29218189e-04 9.99907712e-01 2.07519741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.820385723 meters Centerline goodness : 0.999717 Centerline is valid? [True, True] Translation: X:297.21, Y:258.60, Z:20.75 [[-7.12614332e-01 -7.01493308e-01 9.37833074e-03 2.97214410e+02] [ 7.01424579e-01 -7.12675913e-01 -9.82865263e-03 2.58597983e+02] [ 1.35784445e-02 -4.25847033e-04 9.99907718e-01 2.07532021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.850385723 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:297.21, Y:258.59, Z:20.75 [[-7.12435032e-01 -7.01675356e-01 9.38186803e-03 2.97213153e+02] [ 7.01606688e-01 -7.12496681e-01 -9.82527498e-03 2.58592592e+02] [ 1.35787031e-02 -4.17488741e-04 9.99907718e-01 2.07526973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.880385723 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:297.21, Y:258.59, Z:20.75 [[-7.12807144e-01 -7.01297291e-01 9.38540572e-03 2.97213150e+02] [ 7.01228634e-01 -7.12868805e-01 -9.82189450e-03 2.58589200e+02] [ 1.35786310e-02 -4.19801331e-04 9.99907718e-01 2.07525465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.910385723 meters Centerline goodness : 0.999741 Centerline is valid? [True, True] Translation: X:297.09, Y:258.71, Z:20.75 [[-7.12091465e-01 -7.02023926e-01 9.38894057e-03 2.97089616e+02] [ 7.01955376e-01 -7.12153246e-01 -9.81851430e-03 2.58713221e+02] [ 1.35791965e-02 -4.01062922e-04 9.99907718e-01 2.07505430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.940385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:296.52, Y:258.29, Z:21.72 [[-7.26725641e-01 6.86864124e-01 -9.35509387e-03 2.96523211e+02] [ 6.86793873e-01 7.26785482e-01 9.85085331e-03 2.58293767e+02] [ 1.35653441e-02 7.33846533e-04 -9.99907717e-01 2.17190828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.970385723 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:297.22, Y:258.63, Z:20.75 [[-7.67490046e-01 -6.40980362e-01 1.01589180e-02 2.97220823e+02] [ 6.40917971e-01 -7.67557194e-01 -8.95029802e-03 2.58634002e+02] [ 1.35345159e-02 -3.58231509e-04 9.99908340e-01 2.07513564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.000385723 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:296.81, Y:258.11, Z:21.71 [[-7.74257854e-01 6.32789740e-01 -1.00955633e-02 2.96805719e+02] [ 6.32725714e-01 7.74323439e-01 9.02119803e-03 2.58107490e+02] [ 1.35257528e-02 5.97010954e-04 -9.99908345e-01 2.17127619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.030385723 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:296.84, Y:258.13, Z:21.71 [[-8.21866131e-01 5.69579453e-01 -1.07382751e-02 2.96843170e+02] [ 5.69521073e-01 8.21936057e-01 8.17720358e-03 2.58132528e+02] [ 1.34837427e-02 6.04892698e-04 -9.99908907e-01 2.17136493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.060385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.90, Y:258.15, Z:21.71 [[-8.62933931e-01 5.05188489e-01 -1.13851214e-02 2.96902710e+02] [ 5.05137776e-01 8.63008922e-01 7.17131093e-03 2.58147285e+02] [ 1.34483251e-02 4.37312614e-04 -9.99909472e-01 2.17142068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.0903857229999 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:296.93, Y:258.18, Z:21.71 [[-9.00688629e-01 4.34304377e-01 -1.18195529e-02 2.96928250e+02] [ 4.34258154e-01 9.00765979e-01 6.36454273e-03 2.58181380e+02] [ 1.34107999e-02 5.99734021e-04 -9.99909891e-01 2.17141467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.120385723 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:296.98, Y:258.21, Z:21.72 [[-9.31212200e-01 3.64269479e-01 -1.23120249e-02 2.96982518e+02] [ 3.64231935e-01 9.31293502e-01 5.24507330e-03 2.58205560e+02] [ 1.33767289e-02 3.99843591e-04 -9.99910448e-01 2.17155024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.150385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.03, Y:258.24, Z:21.72 [[-9.57004541e-01 2.89799065e-01 -1.26020402e-02 2.97026997e+02] [ 2.89765962e-01 9.57087337e-01 4.41780343e-03 2.58237392e+02] [ 1.33415284e-02 5.76215646e-04 -9.99910832e-01 2.17153983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.180385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.95, Y:258.30, Z:21.72 [[-9.77919883e-01 2.08583487e-01 -1.28698155e-02 2.96949927e+02] [ 2.08556678e-01 9.78004351e-01 3.40603391e-03 2.58295192e+02] [ 1.32971779e-02 6.46742321e-04 -9.99911379e-01 2.17157282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.210385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.02, Y:258.94, Z:20.75 [[-9.88236345e-01 -1.52374599e-01 1.30731944e-02 2.97019633e+02] [ 1.52357564e-01 -9.88322774e-01 -2.29512036e-03 2.58944250e+02] [ 1.32702538e-02 -2.76321313e-04 9.99911908e-01 2.07519911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.240385723 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:296.92, Y:258.34, Z:21.72 [[-9.92018824e-01 1.25413656e-01 -1.30410021e-02 2.96918771e+02] [ 1.25391989e-01 9.92104204e-01 2.46929617e-03 2.58341533e+02] [ 1.32477164e-02 8.14351097e-04 -9.99911914e-01 2.17170350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.270385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.14, Y:258.96, Z:20.75 [[-9.96781772e-01 -7.90742325e-02 1.31668323e-02 2.97135280e+02] [ 7.90646218e-02 -9.96868709e-01 -1.24967641e-03 2.58958266e+02] [ 1.32244203e-02 -2.04624048e-04 9.99912533e-01 2.07501869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.300385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.11, Y:258.37, Z:21.71 [[-9.99067058e-01 4.11334799e-02 -1.31548301e-02 2.97105356e+02] [ 4.11190542e-02 9.99153321e-01 1.36531848e-03 2.58370559e+02] [ 1.31998524e-02 8.23130545e-04 -9.99912539e-01 2.17146620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.330385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.11, Y:258.99, Z:20.75 [[-9.99838936e-01 -1.21807357e-02 1.31807538e-02 2.97108999e+02] [ 1.21774446e-02 -9.99925798e-01 -3.29922953e-04 2.58991293e+02] [ 1.31837944e-02 -1.69361916e-04 9.99913076e-01 2.07501356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.360385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.85, Y:258.40, Z:21.72 [[-9.98801494e-01 -4.71363984e-02 -1.31808714e-02 2.96847105e+02] [-4.71447725e-02 9.98888014e-01 3.25153018e-04 2.58404780e+02] [ 1.31508879e-02 9.46172505e-04 -9.99913076e-01 2.17187243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.390385723 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:296.92, Y:259.02, Z:20.75 [[-9.98255173e-01 5.75702280e-02 1.31254858e-02 2.96920260e+02] [-5.75659284e-02 -9.98341458e-01 7.05459819e-04 2.59023081e+02] [ 1.31443301e-02 -5.13518604e-05 9.99913608e-01 2.07523403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.420385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.09, Y:258.46, Z:21.71 [[-9.91969510e-01 -1.25794224e-01 -1.31264897e-02 2.97093833e+02] [-1.25796092e-01 9.92055881e-01 -6.86542303e-04 2.58458778e+02] [ 1.31085743e-02 9.70232073e-04 -9.99913608e-01 2.17142140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.450385723 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:296.65, Y:259.02, Z:20.75 [[-9.91447177e-01 1.29859792e-01 1.29972678e-02 2.96652802e+02] [-1.29848874e-01 -9.91532367e-01 1.68396250e-03 2.59018951e+02] [ 1.31058907e-02 -1.81207263e-05 9.99914114e-01 2.07549066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.480385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.97, Y:258.48, Z:21.72 [[-9.80804844e-01 -1.94558291e-01 -1.29972678e-02 2.96970033e+02] [-1.94552980e-01 9.80890566e-01 -1.68396250e-03 2.58482796e+02] [ 1.30765262e-02 8.77018605e-04 -9.99914114e-01 2.17156338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.510385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.86, Y:259.08, Z:20.75 [[-9.80242121e-01 1.97385761e-01 1.28158430e-02 2.96858135e+02] [-1.97368737e-01 -9.80325895e-01 2.59240225e-03 2.59083485e+02] [ 1.30754060e-02 1.17351424e-05 9.99914513e-01 2.07526481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.540385723 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:296.86, Y:259.08, Z:20.75 [[-9.80099737e-01 1.98091079e-01 1.28230514e-02 2.96858827e+02] [-1.98074588e-01 -9.80183617e-01 2.55624239e-03 2.59083930e+02] [ 1.30753137e-02 -3.45481159e-05 9.99914514e-01 2.07523656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.570385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.85, Y:259.08, Z:20.75 [[-9.80048052e-01 1.98346569e-01 1.28239792e-02 2.96854672e+02] [-1.98330161e-01 -9.80131949e-01 2.55157940e-03 2.59083570e+02] [ 1.30752887e-02 -4.27114282e-05 9.99914514e-01 2.07532649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.600385723 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:297.00, Y:258.53, Z:21.72 [[-9.63676067e-01 -2.66765738e-01 -1.28249045e-02 2.97002688e+02] [-2.66755331e-01 9.63760918e-01 -2.54691972e-03 2.58525884e+02] [ 1.30395727e-02 9.66706077e-04 -9.99914514e-01 2.17152600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.630385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.82, Y:259.12, Z:20.75 [[-9.61356851e-01 2.75019184e-01 1.25480736e-02 2.96821811e+02] [-2.74996525e-01 -9.61438737e-01 3.53077770e-03 2.59116048e+02] [ 1.30352356e-02 -5.63392990e-05 9.99915036e-01 2.07541996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.660385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.82, Y:259.12, Z:20.75 [[-9.61497908e-01 2.74525565e-01 1.25493530e-02 2.96817736e+02] [-2.74502923e-01 -9.61579800e-01 3.52622459e-03 2.59115704e+02] [ 1.30352431e-02 -5.43764966e-05 9.99915036e-01 2.07539692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.690385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.00, Y:258.56, Z:21.72 [[-9.40351799e-01 -3.39972022e-01 -1.25506313e-02 2.97001646e+02] [-3.39955123e-01 9.40435066e-01 -3.52166890e-03 2.58562286e+02] [ 1.30003226e-02 9.55043707e-04 -9.99915036e-01 2.17150278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.720385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.78, Y:259.14, Z:20.75 [[-9.36996034e-01 3.49127498e-01 1.21828694e-02 2.96778650e+02] [-3.49098185e-01 -9.37075232e-01 4.52406558e-03 2.59143374e+02] [ 1.29957409e-02 -1.39861060e-05 9.99915552e-01 2.07528257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.750385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.01, Y:258.60, Z:21.72 [[-9.11464758e-01 -4.11197146e-01 -1.22025241e-02 2.97012746e+02] [-4.11173926e-01 9.11545950e-01 -4.47041600e-03 2.58604638e+02] [ 1.29613837e-02 9.42733092e-04 -9.99915553e-01 2.17167202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.780385723 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:297.01, Y:258.64, Z:21.72 [[-8.76406620e-01 -4.81427764e-01 -1.17790098e-02 2.97014863e+02] [-4.81398455e-01 8.76485265e-01 -5.39508459e-03 2.58644891e+02] [ 1.29214721e-02 9.42109289e-04 -9.99916070e-01 2.17163773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.810385723 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:297.00, Y:258.68, Z:21.72 [[-8.36076292e-01 -5.48497063e-01 -1.12874354e-02 2.97001139e+02] [-5.48461932e-01 8.36151951e-01 -6.27880382e-03 2.58678695e+02] [ 1.28819166e-02 9.41169630e-04 -9.99916582e-01 2.17169492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.8403857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.64, Y:259.20, Z:20.75 [[-8.31921020e-01 5.54790209e-01 1.07349988e-02 2.96637033e+02] [-5.54744616e-01 -8.31990278e-01 7.11260388e-03 2.59200791e+02] [ 1.28774176e-02 -3.80581068e-05 9.99917082e-01 2.07529860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.870385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:296.63, Y:259.20, Z:20.75 [[-8.33253188e-01 5.52787327e-01 1.07375816e-02 2.96632579e+02] [-5.52741617e-01 -8.33322369e-01 7.10870259e-03 2.59200566e+02] [ 1.28774676e-02 -1.17591136e-05 9.99917082e-01 2.07524037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.900385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:296.95, Y:258.69, Z:21.72 [[-7.92944806e-01 -6.09198804e-01 -1.07401638e-02 2.96951628e+02] [-6.09158051e-01 7.93017018e-01 -7.10479913e-03 2.58685216e+02] [ 1.28453678e-02 9.08743679e-04 -9.99917082e-01 2.17194950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.930385723 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:296.90, Y:258.68, Z:21.72 [[-7.42718601e-01 -6.69524129e-01 -1.03208484e-02 2.96897314e+02] [-6.69481606e-01 7.42789287e-01 -7.64560212e-03 2.58677219e+02] [ 1.27851307e-02 1.23108724e-03 -9.99917509e-01 2.17184026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.960385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.45, Y:259.15, Z:20.76 [[-7.44851107e-01 6.67162961e-01 9.50852530e-03 2.96447940e+02] [-6.67108185e-01 -7.44911795e-01 8.54910228e-03 2.59154510e+02] [ 1.27866570e-02 2.45932370e-05 9.99918247e-01 2.07550511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.990385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.38, Y:259.10, Z:20.76 [[-7.45238332e-01 6.66730348e-01 9.51163802e-03 2.96380192e+02] [-6.66675581e-01 -7.45299029e-01 8.54563770e-03 2.59097901e+02] [ 1.27866506e-02 2.73599827e-05 9.99918247e-01 2.07572360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.020385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.37, Y:259.09, Z:20.76 [[-7.42901903e-01 6.69332839e-01 9.50336244e-03 2.96372128e+02] [-6.69278166e-01 -7.42962685e-01 8.55485357e-03 2.59090240e+02] [ 1.27866881e-02 -4.97599441e-06 9.99918247e-01 2.07550812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.050385723 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:296.43, Y:259.15, Z:20.76 [[-7.45224583e-01 6.66746214e-01 9.47666861e-03 2.96434968e+02] [-6.66690951e-01 -7.45284832e-01 8.58457978e-03 2.59153026e+02] [ 1.27865534e-02 7.94306774e-05 9.99918246e-01 2.07551464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.080385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.43, Y:259.15, Z:20.76 [[-7.45298456e-01 6.66663047e-01 9.51807748e-03 2.96433944e+02] [-6.66608366e-01 -7.45359230e-01 8.53841989e-03 2.59154880e+02] [ 1.27866359e-02 1.88410830e-05 9.99918247e-01 2.07557866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.110385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.44, Y:259.17, Z:20.75 [[-7.42569867e-01 6.69700933e-01 9.52119271e-03 2.96444669e+02] [-6.69646546e-01 -7.42630903e-01 8.53494468e-03 2.59168818e+02] [ 1.27865924e-02 -3.80410813e-05 9.99918247e-01 2.07543856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.140385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:296.43, Y:259.16, Z:20.76 [[-7.45095798e-01 6.66890127e-01 9.47688418e-03 2.96426603e+02] [-6.66834878e-01 -7.45156060e-01 8.58438113e-03 2.59157925e+02] [ 1.27865967e-02 7.66693970e-05 9.99918245e-01 2.07562037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.170385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.39, Y:259.13, Z:20.76 [[-7.43397473e-01 6.68782079e-01 9.52513257e-03 2.96394120e+02] [-6.68727673e-01 -7.43458493e-01 8.53050721e-03 2.59130636e+02] [ 1.27865910e-02 -2.81622310e-05 9.99918248e-01 2.07555783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.200385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:296.42, Y:259.16, Z:20.76 [[-7.44971051e-01 6.67028743e-01 9.52828434e-03 2.96419906e+02] [-6.66974239e-01 -7.45031983e-01 8.52698533e-03 2.59158990e+02] [ 1.27866209e-02 -2.76296936e-06 9.99918248e-01 2.07555718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.230385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.41, Y:259.16, Z:20.75 [[-7.45085255e-01 6.66901128e-01 9.53143380e-03 2.96413147e+02] [-6.66846658e-01 -7.45146217e-01 8.52346342e-03 2.59159253e+02] [ 1.27866192e-02 -5.29786800e-06 9.99918248e-01 2.07546830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.260385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:296.41, Y:259.16, Z:20.75 [[-7.44891420e-01 6.67117579e-01 9.53454014e-03 2.96408675e+02] [-6.67063172e-01 -7.44952438e-01 8.51998718e-03 2.59160749e+02] [ 1.27866121e-02 -1.36752387e-05 9.99918248e-01 2.07539779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.290385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.40, Y:259.16, Z:20.75 [[-7.44970288e-01 6.67029433e-01 9.53965692e-03 2.96403945e+02] [-6.66975091e-01 -7.45031365e-01 8.51425417e-03 2.59159288e+02] [ 1.27866017e-02 -1.98471574e-05 9.99918248e-01 2.07535252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.320385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:296.40, Y:259.16, Z:20.75 [[-7.44242337e-01 6.67841508e-01 9.54276589e-03 2.96400271e+02] [-6.67787278e-01 -7.44303512e-01 8.51076822e-03 2.59160795e+02] [ 1.27865584e-02 -3.84636289e-05 9.99918248e-01 2.07522253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.350385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:296.40, Y:259.16, Z:20.75 [[-7.43734930e-01 6.68406486e-01 9.54586562e-03 2.96399811e+02] [-6.68352347e-01 -7.43796186e-01 8.50729006e-03 2.59162339e+02] [ 1.27865063e-02 -5.28329104e-05 9.99918248e-01 2.07522117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.380385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:296.39, Y:259.16, Z:20.75 [[-7.42165802e-01 6.70148296e-01 9.54895969e-03 2.96391800e+02] [-6.70094346e-01 -7.42227225e-01 8.50381572e-03 2.59159407e+02] [ 1.27863155e-02 -8.74626799e-05 9.99918248e-01 2.07509908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.410385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.39, Y:259.16, Z:20.75 [[-7.41449206e-01 6.70941006e-01 9.55205447e-03 2.96391732e+02] [-6.70887166e-01 -7.41510725e-01 8.50033804e-03 2.59161688e+02] [ 1.27861762e-02 -1.05781859e-04 9.99918248e-01 2.07513553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.440385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.39, Y:259.16, Z:20.75 [[-7.40050069e-01 6.72483899e-01 9.55515040e-03 2.96388144e+02] [-6.72430231e-01 -7.40111740e-01 8.49685651e-03 2.59162990e+02] [ 1.27858782e-02 -1.37072749e-04 9.99918248e-01 2.07509539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.470385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.40, Y:259.17, Z:20.75 [[-7.36950156e-01 6.75879507e-01 9.55824068e-03 2.96395985e+02] [-6.75826169e-01 -7.37012111e-01 8.49337879e-03 2.59170855e+02] [ 1.27850398e-02 -2.00512362e-04 9.99918248e-01 2.07481259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.500385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:296.13, Y:258.94, Z:20.75 [[-7.40577682e-01 6.71903185e-01 9.52930741e-03 2.96131227e+02] [-6.71849094e-01 -7.40638983e-01 8.52597727e-03 2.58940338e+02] [ 1.27864078e-02 -8.81080672e-05 9.99918247e-01 2.07535834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.530385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.30, Y:259.09, Z:20.75 [[-7.37818090e-01 6.74931882e-01 9.56140734e-03 2.96302033e+02] [-6.74878510e-01 -7.37880017e-01 8.48982573e-03 2.59091233e+02] [ 1.27852255e-02 -1.88841343e-04 9.99918248e-01 2.07479608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.560385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:296.37, Y:259.16, Z:20.75 [[-7.41486542e-01 6.70900133e-01 9.52466099e-03 2.96374117e+02] [-6.70845892e-01 -7.41547711e-01 8.53122373e-03 2.59159643e+02] [ 1.27865897e-02 -6.37921130e-05 9.99918246e-01 2.07484589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.5903857229999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:296.38, Y:259.16, Z:20.75 [[-7.42815449e-01 6.69427871e-01 9.56735973e-03 2.96377009e+02] [-6.69374127e-01 -7.42877053e-01 8.48306734e-03 2.59164836e+02] [ 1.27861737e-02 -1.02789592e-04 9.99918248e-01 2.07478647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.620385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.80, Y:258.56, Z:21.73 [[-7.05842878e-01 -7.08303703e-01 -9.57579935e-03 2.96804218e+02] [-7.08253469e-01 7.05907376e-01 -8.47353768e-03 2.58558300e+02] [ 1.27614655e-02 8.01106878e-04 -9.99918248e-01 2.17282424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.650385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.24, Y:259.09, Z:20.75 [[-6.97593486e-01 7.16438006e-01 8.93933237e-03 2.96241040e+02] [-7.16380228e-01 -6.97650758e-01 9.09885326e-03 2.59088528e+02] [ 1.27552963e-02 -5.66602042e-05 9.99918646e-01 2.07484678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.680385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.24, Y:259.09, Z:20.75 [[-6.97856256e-01 7.16182012e-01 8.94266660e-03 2.96239426e+02] [-7.16124255e-01 -6.97913549e-01 9.09557508e-03 2.59086782e+02] [ 1.27552955e-02 -5.66564870e-05 9.99918646e-01 2.07484999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.710385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.24, Y:259.09, Z:20.75 [[-6.99025621e-01 7.15040664e-01 8.94600227e-03 2.96238201e+02] [-7.14982855e-01 -6.99082862e-01 9.09229308e-03 2.59087651e+02] [ 1.27553561e-02 -4.04924326e-05 9.99918646e-01 2.07483268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.740385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.19, Y:259.04, Z:20.75 [[-7.00523836e-01 7.13572881e-01 8.94974600e-03 2.96191083e+02] [-7.13515000e-01 -7.00581004e-01 9.08860655e-03 2.59044729e+02] [ 1.27554052e-02 -1.89924924e-05 9.99918646e-01 2.07464113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.770385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:296.23, Y:259.08, Z:20.75 [[-7.01560395e-01 7.12553772e-01 8.95172641e-03 2.96228177e+02] [-7.12495833e-01 -7.01617504e-01 9.08665509e-03 2.59084596e+02] [ 1.27554183e-02 -3.23042977e-06 9.99918646e-01 2.07463194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.800385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.22, Y:259.08, Z:20.75 [[-7.01465239e-01 7.12647387e-01 8.95653366e-03 2.96220087e+02] [-7.12589516e-01 -7.01522417e-01 9.08191420e-03 2.59081903e+02] [ 1.27554116e-02 -1.16848659e-05 9.99918646e-01 2.07461639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.830385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.20, Y:259.06, Z:20.75 [[-6.98036703e-01 7.16005923e-01 8.95986212e-03 2.96196926e+02] [-7.15948368e-01 -6.98094200e-01 9.07862929e-03 2.59063073e+02] [ 1.27551801e-02 -7.75822057e-05 9.99918646e-01 2.07471419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.860385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.21, Y:259.09, Z:20.75 [[-6.99534723e-01 7.14542790e-01 8.93152176e-03 2.96214493e+02] [-7.14484757e-01 -6.99591739e-01 9.10661066e-03 2.59086217e+02] [ 1.27554818e-02 -1.10457898e-05 9.99918645e-01 2.07476033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.890385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.22, Y:259.09, Z:20.75 [[-6.97687443e-01 7.16346188e-01 8.96493742e-03 2.96217993e+02] [-7.16288726e-01 -6.97745032e-01 9.07359518e-03 2.59094323e+02] [ 1.27550759e-02 -9.09501879e-05 9.99918647e-01 2.07474672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.920385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.22, Y:259.10, Z:20.75 [[-6.94024091e-01 7.19895917e-01 8.96825658e-03 2.96220654e+02] [-7.19838792e-01 -6.94082014e-01 9.07031337e-03 2.59096402e+02] [ 1.27543872e-02 -1.60683000e-04 9.99918647e-01 2.07468983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.950385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.21, Y:259.10, Z:20.75 [[-6.94222708e-01 7.19704925e-01 8.92485370e-03 2.96212815e+02] [-7.19647231e-01 -6.94280068e-01 9.11323097e-03 2.59095953e+02] [ 1.27551852e-02 -9.61343660e-05 9.99918645e-01 2.07477162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.980385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.21, Y:259.09, Z:20.75 [[-6.93110999e-01 7.20775026e-01 8.97244679e-03 2.96208934e+02] [-7.20718029e-01 -6.93169047e-01 9.06612971e-03 2.59093686e+02] [ 1.27540623e-02 -1.82769953e-04 9.99918647e-01 2.07476010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.010385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.21, Y:259.09, Z:20.75 [[-6.91263619e-01 7.22546916e-01 8.97574958e-03 2.96206631e+02] [-7.22490109e-01 -6.91321854e-01 9.06285866e-03 2.59094196e+02] [ 1.27534724e-02 -2.20065821e-04 9.99918647e-01 2.07467572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.040385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.21, Y:259.09, Z:20.75 [[-6.91008014e-01 7.22791316e-01 8.97988419e-03 2.96205662e+02] [-7.22734584e-01 -6.91066321e-01 9.05876006e-03 2.59094147e+02] [ 1.27532886e-02 -2.30397065e-04 9.99918647e-01 2.07467829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.070385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.19, Y:259.08, Z:20.75 [[-6.92720622e-01 7.21150084e-01 8.98317856e-03 2.96194805e+02] [-7.21093255e-01 -6.92778836e-01 9.05549200e-03 2.59082432e+02] [ 1.27537248e-02 -2.04783424e-04 9.99918647e-01 2.07475703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.100385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.20, Y:259.08, Z:20.75 [[-6.94416877e-01 7.19516722e-01 8.99380970e-03 2.96195183e+02] [-7.19459893e-01 -6.94475090e-01 9.04492093e-03 2.59080610e+02] [ 1.27539487e-02 -1.89739631e-04 9.99918647e-01 2.07472537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.130385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.19, Y:259.07, Z:20.75 [[-6.97968713e-01 7.16071723e-01 8.99793315e-03 2.96192602e+02] [-7.16014661e-01 -6.98026697e-01 9.04081704e-03 2.59074515e+02] [ 1.27546710e-02 -1.32444623e-04 9.99918647e-01 2.07459479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.160385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.19, Y:259.07, Z:20.75 [[-6.99826388e-01 7.14256250e-01 9.00205347e-03 2.96190181e+02] [-7.14199089e-01 -6.99884275e-01 9.03671252e-03 2.59070680e+02] [ 1.27549241e-02 -1.05128513e-04 9.99918647e-01 2.07454951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.190385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.19, Y:259.07, Z:20.75 [[-7.02567377e-01 7.11560242e-01 9.00575489e-03 2.96187847e+02] [-7.11502906e-01 -7.02625091e-01 9.03302227e-03 2.59066555e+02] [ 1.27552089e-02 -6.13140193e-05 9.99918647e-01 2.07454302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.220385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.18, Y:259.06, Z:20.75 [[-7.03644471e-01 7.10495106e-01 9.00903928e-03 2.96184096e+02] [-7.10437726e-01 -7.03702140e-01 9.02974542e-03 2.59062091e+02] [ 1.27552702e-02 -4.66309359e-05 9.99918647e-01 2.07454603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.250385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.18, Y:259.06, Z:20.74 [[-7.04888011e-01 7.09261350e-01 9.01274821e-03 2.96180272e+02] [-7.09203916e-01 -7.04945627e-01 9.02604195e-03 2.59056790e+02] [ 1.27553201e-02 -2.95275605e-05 9.99918647e-01 2.07449529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.280385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.18, Y:259.05, Z:20.74 [[-7.05339171e-01 7.08812644e-01 9.01605468e-03 2.96179509e+02] [-7.08755215e-01 -7.05396793e-01 9.02273793e-03 2.59054856e+02] [ 1.27553268e-02 -2.60852820e-05 9.99918647e-01 2.07441629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.310385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.18, Y:259.05, Z:20.74 [[-7.05434673e-01 7.08717555e-01 9.01935250e-03 2.96178163e+02] [-7.08660161e-01 -7.05492329e-01 9.01944015e-03 2.59052503e+02] [ 1.27553196e-02 -2.90299836e-05 9.99918647e-01 2.07437010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.3403857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.18, Y:259.05, Z:20.74 [[-7.04996848e-01 7.09153037e-01 9.02306888e-03 2.96179168e+02] [-7.09095725e-01 -7.05054586e-01 9.01572073e-03 2.59053923e+02] [ 1.27552818e-02 -4.21648783e-05 9.99918647e-01 2.07436730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.370385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.16, Y:259.04, Z:20.74 [[-7.02468223e-01 7.11657867e-01 9.02636947e-03 2.96163717e+02] [-7.11600804e-01 -7.02526207e-01 9.01241504e-03 2.59039835e+02] [ 1.27550172e-02 -9.22365957e-05 9.99918647e-01 2.07434849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.400385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:296.15, Y:259.03, Z:20.74 [[-7.01118885e-01 7.12987219e-01 9.02968517e-03 2.96151420e+02] [-7.12930309e-01 -7.01177018e-01 9.00909175e-03 2.59028273e+02] [ 1.27547750e-02 -1.21091880e-04 9.99918647e-01 2.07434938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.430385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.17, Y:259.04, Z:20.74 [[-6.97559195e-01 7.16470213e-01 9.03345257e-03 2.96166252e+02] [-7.16413642e-01 -6.97617659e-01 9.00531258e-03 2.59044406e+02] [ 1.27539343e-02 -1.89950065e-04 9.99918647e-01 2.07440742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.460385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.17, Y:259.05, Z:20.74 [[-6.96223201e-01 7.17768480e-01 9.03679126e-03 2.96171049e+02] [-7.17712061e-01 -6.96281812e-01 9.00196098e-03 2.59049524e+02] [ 1.27534772e-02 -2.18439995e-04 9.99918647e-01 2.07443394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.490385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.15, Y:259.03, Z:20.74 [[-6.94429111e-01 7.19504334e-01 9.04008890e-03 2.96151432e+02] [-7.19448105e-01 -6.94487904e-01 8.99864814e-03 2.59029274e+02] [ 1.27527987e-02 -2.54951600e-04 9.99918647e-01 2.07448449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.520385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:296.18, Y:259.05, Z:20.74 [[-6.94222710e-01 7.19703444e-01 9.04339416e-03 2.96175446e+02] [-7.19647275e-01 -6.94281560e-01 8.99532523e-03 2.59051772e+02] [ 1.27526283e-02 -2.63294907e-04 9.99918647e-01 2.07444136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.550385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.17, Y:259.05, Z:20.74 [[-6.94935867e-01 7.19014806e-01 9.04710569e-03 2.96173897e+02] [-7.18958627e-01 -6.94994708e-01 8.99159079e-03 2.59049268e+02] [ 1.27527775e-02 -2.55915745e-04 9.99918647e-01 2.07443463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.580385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.17, Y:259.04, Z:20.74 [[-6.95728813e-01 7.18247516e-01 9.05118641e-03 2.96170127e+02] [-7.18191326e-01 -6.95787643e-01 8.98748113e-03 2.59044341e+02] [ 1.27529397e-02 -2.47633996e-04 9.99918647e-01 2.07442556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.610385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:296.17, Y:259.04, Z:20.74 [[-6.97693290e-01 7.16339368e-01 9.05444712e-03 2.96169454e+02] [-7.16283059e-01 -6.97752007e-01 8.98419493e-03 2.59041801e+02] [ 1.27534912e-02 -2.17334566e-04 9.99918647e-01 2.07439743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.640385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:296.17, Y:259.03, Z:20.74 [[-6.99415451e-01 7.14657950e-01 9.05769887e-03 2.96165030e+02] [-7.14601543e-01 -6.99474072e-01 8.98091538e-03 2.59034944e+02] [ 1.27539081e-02 -1.91254610e-04 9.99918647e-01 2.07437625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.670385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.17, Y:259.04, Z:20.74 [[-7.00344176e-01 7.13747808e-01 9.06096698e-03 2.96167752e+02] [-7.13691368e-01 -7.00402766e-01 8.97761693e-03 2.59036342e+02] [ 1.27540807e-02 -1.79312180e-04 9.99918647e-01 2.07433170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.700385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.17, Y:259.03, Z:20.74 [[-7.01517653e-01 7.12594430e-01 9.06422300e-03 2.96166909e+02] [-7.12537936e-01 -7.01576191e-01 8.97432829e-03 2.59033280e+02] [ 1.27542994e-02 -1.62953024e-04 9.99918647e-01 2.07412023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.730385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.16, Y:259.03, Z:20.74 [[-7.03187931e-01 7.10946363e-01 9.05548281e-03 2.96163652e+02] [-7.10889618e-01 -7.03246226e-01 8.98315954e-03 2.59029123e+02] [ 1.27547787e-02 -1.20599348e-04 9.99918647e-01 2.07426823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.760385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:296.16, Y:259.02, Z:20.74 [[-7.05239312e-01 7.08911333e-01 9.06832247e-03 2.96160007e+02] [-7.08854587e-01 -7.05297605e-01 8.97017940e-03 2.59023673e+02] [ 1.27549280e-02 -1.01998826e-04 9.99918647e-01 2.07436410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.790385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.16, Y:259.02, Z:20.74 [[-7.06150047e-01 7.08004108e-01 9.07159493e-03 2.96159549e+02] [-7.07947329e-01 -7.06208308e-01 8.96686872e-03 2.59022762e+02] [ 1.27550156e-02 -9.02566345e-05 9.99918647e-01 2.07440519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.820385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:296.14, Y:259.01, Z:20.75 [[-7.06691600e-01 7.07463518e-01 9.07486930e-03 2.96144467e+02] [-7.07406737e-01 -7.06749859e-01 8.96355369e-03 2.59006986e+02] [ 1.27550498e-02 -8.51555878e-05 9.99918647e-01 2.07451431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.850385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:296.16, Y:259.02, Z:20.74 [[-7.06811999e-01 7.07343183e-01 9.07857038e-03 2.96157333e+02] [-7.07286440e-01 -7.06870295e-01 8.95980355e-03 2.59018888e+02] [ 1.27550277e-02 -8.82530689e-05 9.99918647e-01 2.07447296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.880385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.15, Y:259.01, Z:20.74 [[-7.06644727e-01 7.07510247e-01 9.08185937e-03 2.96153949e+02] [-7.07453560e-01 -7.06703079e-01 8.95646851e-03 2.59014205e+02] [ 1.27549712e-02 -9.59524963e-05 9.99918647e-01 2.07448450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.910385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.15, Y:259.01, Z:20.75 [[-7.06752929e-01 7.07402119e-01 9.08512890e-03 2.96153478e+02] [-7.07345467e-01 -7.06811313e-01 8.95315079e-03 2.59013644e+02] [ 1.27549497e-02 -9.86592058e-05 9.99918647e-01 2.07453833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.940385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:296.15, Y:259.01, Z:20.75 [[-7.07179290e-01 7.06975851e-01 9.08838885e-03 2.96148765e+02] [-7.06919206e-01 -7.07237681e-01 8.94984038e-03 2.59008654e+02] [ 1.27549721e-02 -9.56148661e-05 9.99918647e-01 2.07456510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.970385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.15, Y:259.01, Z:20.75 [[-7.07619432e-01 7.06535265e-01 9.09164966e-03 2.96152530e+02] [-7.06478626e-01 -7.07677830e-01 8.94652667e-03 2.59011605e+02] [ 1.27549955e-02 -9.23200370e-05 9.99918647e-01 2.07458889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.000385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.15, Y:259.01, Z:20.75 [[-7.08927322e-01 7.05222898e-01 9.09490719e-03 2.96150673e+02] [-7.05166193e-01 -7.08985655e-01 8.94321388e-03 2.59008928e+02] [ 1.27551179e-02 -7.33324120e-05 9.99918647e-01 2.07464573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.030385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.15, Y:259.00, Z:20.75 [[-7.09777528e-01 7.04367151e-01 9.09816724e-03 2.96145281e+02] [-7.04310419e-01 -7.09835835e-01 8.93989613e-03 2.59003254e+02] [ 1.27551743e-02 -6.25965977e-05 9.99918648e-01 2.07465545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.060385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.14, Y:259.00, Z:20.75 [[-7.10978934e-01 7.03154406e-01 9.10143329e-03 2.96142853e+02] [-7.03097617e-01 -7.11037185e-01 8.93656981e-03 2.59000900e+02] [ 1.27552460e-02 -4.54831793e-05 9.99918648e-01 2.07473168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.0903857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.14, Y:259.00, Z:20.75 [[-7.11887037e-01 7.02234969e-01 9.10469390e-03 2.96142218e+02] [-7.02178147e-01 -7.11945256e-01 8.93324663e-03 2.59001099e+02] [ 1.27552818e-02 -3.36546226e-05 9.99918648e-01 2.07472448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.120385723 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:296.14, Y:259.00, Z:20.75 [[-7.12518226e-01 7.01594486e-01 9.10795226e-03 2.96138791e+02] [-7.01537654e-01 -7.12576435e-01 8.92992331e-03 2.58999760e+02] [ 1.27552971e-02 -2.68383489e-05 9.99918648e-01 2.07475955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.150385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.14, Y:259.00, Z:20.75 [[-7.12365457e-01 7.01749558e-01 9.11120788e-03 2.96139223e+02] [-7.01692781e-01 -7.12423720e-01 8.92660036e-03 2.59000389e+02] [ 1.27552785e-02 -3.42670497e-05 9.99918648e-01 2.07470150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.180385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.14, Y:259.00, Z:20.75 [[-7.12235481e-01 7.01881433e-01 9.11447116e-03 2.96135276e+02] [-7.01824710e-01 -7.12293796e-01 8.92326716e-03 2.58996800e+02] [ 1.27552568e-02 -4.12935903e-05 9.99918648e-01 2.07451574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.210385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.13, Y:258.99, Z:20.74 [[-7.11788520e-01 7.02334657e-01 9.11772228e-03 2.96130432e+02] [-7.02278013e-01 -7.11846913e-01 8.91994395e-03 2.58994128e+02] [ 1.27552082e-02 -5.40621833e-05 9.99918648e-01 2.07443461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.240385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.13, Y:259.00, Z:20.74 [[-7.11375905e-01 7.02752538e-01 9.12098986e-03 2.96132383e+02] [-7.02695972e-01 -7.11434372e-01 8.91660147e-03 2.58997109e+02] [ 1.27551500e-02 -6.62273911e-05 9.99918648e-01 2.07442405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.270385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.13, Y:259.00, Z:20.74 [[-7.10882928e-01 7.03251172e-01 9.12424214e-03 2.96132332e+02] [-7.03194689e-01 -7.10941477e-01 8.91327222e-03 2.58997837e+02] [ 1.27550713e-02 -7.98255570e-05 9.99918648e-01 2.07449479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.300385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.13, Y:259.00, Z:20.75 [[-7.09420136e-01 7.04726727e-01 9.12749383e-03 2.96128053e+02] [-7.04670408e-01 -7.09478843e-01 8.90994113e-03 2.58995756e+02] [ 1.27548374e-02 -1.10983149e-04 9.99918648e-01 2.07459908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.330385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.13, Y:259.00, Z:20.75 [[-7.07791534e-01 7.06362348e-01 9.13114590e-03 2.96127930e+02] [-7.06306214e-01 -7.07850416e-01 8.90619682e-03 2.58997109e+02] [ 1.27544875e-02 -1.45654379e-04 9.99918648e-01 2.07470003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.360385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.06, Y:258.93, Z:20.75 [[-7.06232959e-01 7.07920597e-01 9.13439141e-03 2.96055675e+02] [-7.07864635e-01 -7.06292006e-01 8.90286691e-03 2.58926483e+02] [ 1.27540705e-02 -1.78414604e-04 9.99918648e-01 2.07457022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.390385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:296.11, Y:258.98, Z:20.75 [[-7.05486324e-01 7.08664779e-01 9.12562968e-03 2.96114172e+02] [-7.08608764e-01 -7.05545320e-01 8.91186014e-03 2.58983630e+02] [ 1.27540667e-02 -1.79305716e-04 9.99918648e-01 2.07469654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.420385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.11, Y:258.98, Z:20.75 [[-7.05339572e-01 7.08810654e-01 9.14032087e-03 2.96111519e+02] [-7.08754846e-01 -7.05398763e-01 8.89676677e-03 2.58981140e+02] [ 1.27536941e-02 -2.03005050e-04 9.99918648e-01 2.07469645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.450385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.12, Y:258.99, Z:20.75 [[-7.05774493e-01 7.08377555e-01 9.14358038e-03 2.96124370e+02] [-7.08321754e-01 -7.05833691e-01 8.89341557e-03 2.58992866e+02] [ 1.27537431e-02 -1.99851030e-04 9.99918648e-01 2.07460004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.480385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:296.12, Y:258.99, Z:20.75 [[-7.06374906e-01 7.07778794e-01 9.14723065e-03 2.96123086e+02] [-7.07722991e-01 -7.06434103e-01 8.88965954e-03 2.58990193e+02] [ 1.27538282e-02 -1.94273018e-04 9.99918648e-01 2.07462552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.510385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:296.12, Y:258.99, Z:20.75 [[-7.07268556e-01 7.06885747e-01 9.15044362e-03 2.96121581e+02] [-7.06829913e-01 -7.07327723e-01 8.88635109e-03 2.58985764e+02] [ 1.27539974e-02 -1.82770565e-04 9.99918648e-01 2.07452196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.540385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.12, Y:258.98, Z:20.75 [[-7.07666144e-01 7.06487678e-01 9.15366863e-03 2.96120131e+02] [-7.06431854e-01 -7.07725320e-01 8.88302782e-03 2.58982422e+02] [ 1.27540328e-02 -1.80225052e-04 9.99918648e-01 2.07451621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.570385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.12, Y:258.98, Z:20.75 [[-7.07954759e-01 7.06198422e-01 9.15688475e-03 2.96117883e+02] [-7.06142616e-01 -7.08013952e-01 8.87971131e-03 2.58980156e+02] [ 1.27540403e-02 -1.79632672e-04 9.99918648e-01 2.07452047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.600385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.12, Y:258.98, Z:20.75 [[-7.08924795e-01 7.05224588e-01 9.16051180e-03 2.96117213e+02] [-7.05168750e-01 -7.08983957e-01 8.87596799e-03 2.58976189e+02] [ 1.27542068e-02 -1.67312865e-04 9.99918648e-01 2.07466160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.630385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.11, Y:258.96, Z:20.75 [[-7.09813520e-01 7.04330031e-01 9.16372787e-03 2.96105441e+02] [-7.04274160e-01 -7.09872653e-01 8.87264641e-03 2.58963764e+02] [ 1.27543511e-02 -1.55852366e-04 9.99918648e-01 2.07471495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.660385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.10, Y:258.96, Z:20.75 [[-7.10716284e-01 7.03419029e-01 9.16697037e-03 2.96102932e+02] [-7.03363125e-01 -7.10775386e-01 8.86929508e-03 2.58958018e+02] [ 1.27544878e-02 -1.44156486e-04 9.99918648e-01 2.07480978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.690385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.10, Y:258.96, Z:20.75 [[-7.11140182e-01 7.02990432e-01 9.17023338e-03 2.96103415e+02] [-7.02934537e-01 -7.11199291e-01 8.86592007e-03 2.58956395e+02] [ 1.27545205e-02 -1.41161748e-04 9.99918648e-01 2.07478848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.720385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.12, Y:258.96, Z:20.75 [[-7.11179127e-01 7.02950991e-01 9.17348519e-03 2.96115610e+02] [-7.02895136e-01 -7.11238274e-01 8.86255417e-03 2.58964383e+02] [ 1.27544750e-02 -1.45134581e-04 9.99918648e-01 2.07478720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.750385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:296.12, Y:258.96, Z:20.75 [[-7.10950001e-01 7.03182677e-01 9.17712664e-03 2.96115721e+02] [-7.03126889e-01 -7.11009212e-01 8.85878187e-03 2.58962491e+02] [ 1.27543635e-02 -1.54533528e-04 9.99918648e-01 2.07485570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.780385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.12, Y:258.96, Z:20.75 [[-7.09933288e-01 7.04209089e-01 9.18074255e-03 2.96116073e+02] [-7.04153436e-01 -7.09992625e-01 8.85503296e-03 2.58958763e+02] [ 1.27540542e-02 -1.78168749e-04 9.99918648e-01 2.07504441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.810385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.12, Y:258.96, Z:20.75 [[-7.09514950e-01 7.04630535e-01 9.18394549e-03 2.96116094e+02] [-7.04574960e-01 -7.09574361e-01 8.85170980e-03 2.58956967e+02] [ 1.27538773e-02 -1.90357584e-04 9.99918648e-01 2.07508393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.8403857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.10, Y:258.95, Z:20.75 [[-7.14669161e-01 6.99402307e-01 9.18714622e-03 2.96102917e+02] [-6.99346340e-01 -7.14728202e-01 8.84838654e-03 2.58948673e+02] [ 1.27548945e-02 -1.01328099e-04 9.99918648e-01 2.07503711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.870385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:296.56, Y:258.36, Z:21.73 [[-6.85050212e-01 -7.28437506e-01 -9.21992863e-03 2.96561548e+02] [-7.28384492e-01 6.85111919e-01 -8.81417092e-03 2.58362636e+02] [ 1.27372557e-02 6.77503379e-04 -9.99918648e-01 2.17325830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.900385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:295.98, Y:258.86, Z:20.75 [[-6.58136858e-01 7.52849844e-01 8.54330928e-03 2.95983949e+02] [-7.52790850e-01 -6.58192267e-01 9.42734821e-03 2.58860195e+02] [ 1.27205177e-02 -2.26839728e-04 9.99919065e-01 2.07548236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.930385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:295.97, Y:258.84, Z:20.76 [[-6.64976606e-01 7.46815283e-01 8.54673121e-03 2.95966111e+02] [-7.46755827e-01 -6.65031517e-01 9.42424490e-03 2.58840771e+02] [ 1.27220158e-02 -1.15418945e-04 9.99919065e-01 2.07558303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.960385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.29, Y:258.09, Z:21.74 [[-6.17630799e-01 -7.86421038e-01 -8.61089869e-03 2.96289518e+02] [-7.86365883e-01 6.17690034e-01 -9.36590264e-03 2.58093687e+02] [ 1.26844092e-02 9.86647020e-04 -9.99919063e-01 2.17388008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.990385723 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:295.92, Y:258.84, Z:20.76 [[-6.07887461e-01 7.93986200e-01 7.66483459e-03 2.95918990e+02] [-7.93921989e-01 -6.07935779e-01 1.00977147e-02 2.58842959e+02] [ 1.26771733e-02 5.29933947e-05 9.99919640e-01 2.07567970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.020385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:296.43, Y:258.34, Z:21.73 [[-5.65308554e-01 -8.24843519e-01 -7.70773798e-03 2.96426712e+02] [-8.24782387e-01 5.65360703e-01 -1.00642788e-02 2.58335046e+02] [ 1.26591073e-02 6.67783636e-04 -9.99919647e-01 2.17321910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.050385723 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:295.81, Y:258.73, Z:20.76 [[-5.52803119e-01 8.33282237e-01 7.03028183e-03 2.95807482e+02] [-8.33215813e-01 -5.52847819e-01 1.05213311e-02 2.58734907e+02] [ 1.26539143e-02 -4.15173526e-05 9.99919935e-01 2.07579732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.080385723 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:296.34, Y:258.27, Z:21.74 [[-5.09568097e-01 -8.60401610e-01 -7.03028183e-03 2.96336726e+02] [-8.60337552e-01 5.09616128e-01 -1.05213311e-02 2.58271109e+02] [ 1.26353152e-02 6.87080807e-04 -9.99919935e-01 2.17364261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.110385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.25, Y:258.19, Z:21.74 [[-4.48649431e-01 -8.93680180e-01 -7.03028183e-03 2.96253656e+02] [-8.93619609e-01 4.48701791e-01 -1.05213311e-02 2.58194714e+02] [ 1.25572051e-02 1.56200849e-03 -9.99919935e-01 2.17364111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.140385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:296.18, Y:258.12, Z:21.74 [[-3.85328458e-01 -9.22752705e-01 -7.03028183e-03 2.96182621e+02] [-9.22695927e-01 3.85384908e-01 -1.05213311e-02 2.58123681e+02] [ 1.24179512e-02 2.43264413e-03 -9.99919935e-01 2.17372535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.170385723 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:295.51, Y:258.38, Z:20.76 [[-3.76047355e-01 9.26588400e-01 4.72484337e-03 2.95508111e+02] [-9.26517395e-01 -3.76077031e-01 1.14709728e-02 2.58380142e+02] [ 1.24057754e-02 -6.40206032e-05 9.99923043e-01 2.07610031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.200385723 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:296.11, Y:258.03, Z:21.74 [[-3.23364230e-01 -9.46262781e-01 -4.72484327e-03 2.96106013e+02] [-9.46193557e-01 3.23397850e-01 -1.14709728e-02 2.58032579e+02] [ 1.23825588e-02 7.61313967e-04 -9.99923043e-01 2.17400015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.230385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:296.04, Y:257.94, Z:21.74 [[-2.59866050e-01 -9.65633115e-01 -4.72484327e-03 2.96041389e+02] [-9.65566274e-01 2.59904190e-01 -1.14709728e-02 2.57943191e+02] [ 1.23047578e-02 1.58123291e-03 -9.99923043e-01 2.17420921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.260385723 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:295.98, Y:257.84, Z:21.74 [[-1.90423620e-01 -9.81690644e-01 -4.72484327e-03 2.95984064e+02] [-9.81626690e-01 1.90466424e-01 -1.14709728e-02 2.57842421e+02] [ 1.21608707e-02 2.45368809e-03 -9.99923043e-01 2.17433537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.290385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.21, Y:257.63, Z:20.77 [[-1.84341008e-01 9.82859737e-01 2.26489243e-03 2.95211466e+02] [-9.82787238e-01 -1.84354919e-01 1.19377272e-02 2.57626838e+02] [ 1.21506555e-02 -2.52947106e-05 9.99926178e-01 2.07673200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.320385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:295.89, Y:257.53, Z:21.75 [[-1.22772622e-01 -9.92432241e-01 -2.26489243e-03 2.95893043e+02] [-9.92360749e-01 1.22791021e-01 -1.19377272e-02 2.57534848e+02] [ 1.21254938e-02 7.81964284e-04 -9.99926178e-01 2.17492632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.350385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:295.85, Y:257.38, Z:21.75 [[-5.19145976e-02 -9.98648960e-01 -2.26489243e-03 2.95850989e+02] [-9.98578956e-01 5.19380327e-02 -1.19377272e-02 2.57383317e+02] [ 1.20392329e-02 1.64193162e-03 -9.99926178e-01 2.17540976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.380385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:295.82, Y:257.22, Z:21.76 [[ 1.92650134e-02 -9.99811847e-01 -2.26489243e-03 2.95821903e+02] [-9.99743688e-01 -1.92366573e-02 -1.19377272e-02 2.57215698e+02] [ 1.18919122e-02 2.49429239e-03 -9.99926178e-01 2.17556921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.410385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:295.10, Y:257.16, Z:20.78 [[ 9.86880172e-03 9.99951283e-01 -1.97950978e-04 2.95101258e+02] [-9.99880502e-01 9.87045844e-03 1.18977247e-02 2.57164862e+02] [ 1.18990990e-02 8.05110372e-05 9.99929200e-01 2.07752989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.440385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:295.10, Y:257.14, Z:20.78 [[ 9.44130814e-03 9.99955407e-01 -2.16004890e-04 2.95101910e+02] [-9.99884632e-01 9.44320992e-03 1.18974275e-02 2.57135761e+02] [ 1.18989368e-02 1.03652690e-04 9.99929200e-01 2.07775251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.470385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.10, Y:257.11, Z:20.78 [[ 7.30528080e-03 9.99973296e-01 -1.98588671e-04 2.95101057e+02] [-9.99902520e-01 7.30712656e-03 1.18977182e-02 2.57107706e+02] [ 1.18988516e-02 1.11653140e-04 9.99929200e-01 2.07786076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.500385723 meters Centerline goodness : 0.995577 Centerline is valid? [True, True] Translation: X:295.10, Y:257.08, Z:20.78 [[ 6.29223129e-03 9.99980184e-01 -1.99606076e-04 2.95098771e+02] [-9.99909410e-01 6.29416086e-03 1.18977012e-02 2.57075940e+02] [ 1.18987217e-02 1.24724906e-04 9.99929200e-01 2.07752462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.530385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:295.85, Y:257.10, Z:21.76 [[ 1.03126781e-01 -9.94668214e-01 1.02333318e-04 2.95850658e+02] [-9.94597674e-01 -1.03120692e-01 -1.18991195e-02 2.57100195e+02] [ 1.18462287e-02 1.12533742e-03 -9.99929198e-01 2.17550026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.560385723 meters Centerline goodness : 0.996574 Centerline is valid? [True, True] Translation: X:295.12, Y:256.99, Z:20.78 [[ 8.40874707e-02 9.96457727e-01 -1.13806660e-03 2.95119970e+02] [-9.96387858e-01 8.40950525e-02 1.18008315e-02 2.56986547e+02] [ 1.18547356e-02 1.41653662e-04 9.99929720e-01 2.07758119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.5903857229999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:295.88, Y:257.07, Z:21.75 [[ 1.78619489e-01 -9.83917724e-01 9.95067743e-04 2.95878528e+02] [-9.83847447e-01 -1.78618679e-01 -1.18139315e-02 2.57071709e+02] [ 1.18016743e-02 1.13120356e-03 -9.99929718e-01 2.17514518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.620385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.87, Y:257.07, Z:21.75 [[ 2.53824320e-01 -9.67248221e-01 2.02318207e-03 2.95869084e+02] [-9.67178752e-01 -2.53830426e-01 -1.16351643e-02 2.57071566e+02] [ 1.17676371e-02 9.96508939e-04 -9.99930262e-01 2.17528217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.650385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:295.15, Y:256.85, Z:20.78 [[ 2.42611335e-01 9.70119178e-01 -2.91901686e-03 2.95149713e+02] [-9.70052127e-01 2.42628887e-01 1.14059061e-02 2.56847254e+02] [ 1.17733260e-02 6.43964159e-05 9.99930690e-01 2.07803552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.680385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.15, Y:256.82, Z:20.78 [[ 2.43785314e-01 9.69824827e-01 -2.91998383e-03 2.95152519e+02] [-9.69757757e-01 2.43802795e-01 1.14056585e-02 2.56819035e+02] [ 1.17733910e-02 5.11449331e-05 9.99930690e-01 2.07796259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.710385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.16, Y:256.79, Z:20.78 [[ 2.44617347e-01 9.69615289e-01 -2.92305896e-03 2.95157679e+02] [-9.69548214e-01 2.44634807e-01 1.14048703e-02 2.56790003e+02] [ 1.17734186e-02 4.42174683e-05 9.99930690e-01 2.07799681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.740385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:295.90, Y:256.99, Z:21.76 [[ 3.26232604e-01 -9.45285024e-01 2.91745578e-03 2.95901328e+02] [-9.45216695e-01 -3.26244226e-01 -1.14063063e-02 2.56994490e+02] [ 1.17340136e-02 9.63481101e-04 -9.99930690e-01 2.17564065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.770385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:295.89, Y:256.99, Z:21.76 [[ 3.98827842e-01 -9.17017961e-01 3.79614967e-03 2.95891292e+02] [-9.16951197e-01 -3.98844781e-01 -1.11059637e-02 2.56990501e+02] [ 1.16984427e-02 9.48483555e-04 -9.99931121e-01 2.17572502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.800385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.88, Y:256.99, Z:21.76 [[ 4.68477589e-01 -8.83463203e-01 4.63875475e-03 2.95883379e+02] [-8.83398388e-01 -4.68499622e-01 -1.07421077e-02 2.56985448e+02] [ 1.16635117e-02 9.34568234e-04 -9.99931542e-01 2.17574239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.830385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.89, Y:256.99, Z:21.76 [[ 5.35528140e-01 -8.44499813e-01 5.44759925e-03 2.95885954e+02] [-8.44437322e-01 -5.35555050e-01 -1.03149405e-02 2.56985249e+02] [ 1.16284546e-02 9.23784798e-04 -9.99931961e-01 2.17569467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.860385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:295.89, Y:256.99, Z:21.76 [[ 5.99147664e-01 -8.00614245e-01 6.23763485e-03 2.95890357e+02] [-8.00554573e-01 -5.99179476e-01 -9.81488329e-03 2.56988838e+02] [ 1.15953982e-02 8.86997286e-04 -9.99932378e-01 2.17581823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.890385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.88, Y:256.98, Z:21.76 [[ 6.58797234e-01 -7.52288475e-01 6.94656962e-03 2.95883744e+02] [-7.52231708e-01 -6.58833254e-01 -9.28446934e-03 2.56983153e+02] [ 1.15612304e-02 8.91152794e-04 -9.99932770e-01 2.17584831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.920385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.88, Y:256.98, Z:21.76 [[ 7.14838022e-01 -6.99248469e-01 7.62771400e-03 2.95876762e+02] [-6.99195063e-01 -7.14878180e-01 -8.68634436e-03 2.56976986e+02] [ 1.15267993e-02 8.76069247e-04 -9.99933180e-01 2.17591416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.950385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.87, Y:256.97, Z:21.76 [[ 7.66135348e-01 -6.42626203e-01 8.25777353e-03 2.95871039e+02] [-6.42576483e-01 -7.66179375e-01 -8.03915782e-03 2.56968961e+02] [ 1.14931092e-02 8.52831909e-04 -9.99933588e-01 2.17597601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.980385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.87, Y:256.96, Z:21.76 [[ 8.13634212e-01 -5.81310021e-01 8.83342050e-03 2.95865512e+02] [-5.81264202e-01 -8.13681724e-01 -7.34706090e-03 2.56960632e+02] [ 1.14585129e-02 8.43268990e-04 -9.99933994e-01 2.17602187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.010385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:295.86, Y:256.95, Z:21.76 [[ 8.56115532e-01 -5.16699849e-01 9.35206353e-03 2.95860546e+02] [-5.16658188e-01 -8.56166208e-01 -6.61368287e-03 2.56954480e+02] [ 1.14242097e-02 8.30256435e-04 -9.99934397e-01 2.17612325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.040385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.86, Y:256.95, Z:21.76 [[ 8.93959026e-01 -4.48041314e-01 9.81025775e-03 2.95855008e+02] [-4.48003960e-01 -8.94012468e-01 -5.84460604e-03 2.56945345e+02] [ 1.13891177e-02 8.29804009e-04 -9.99934798e-01 2.17616746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.070385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.85, Y:256.94, Z:21.76 [[ 9.26920896e-01 -3.75117976e-01 1.02056860e-02 2.95850247e+02] [-3.75085012e-01 -9.26976691e-01 -5.04463432e-03 2.56937492e+02] [ 1.13527660e-02 8.47977117e-04 -9.99935196e-01 2.17628948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.100385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.85, Y:256.93, Z:21.76 [[ 9.53839875e-01 -3.00130765e-01 1.05364856e-02 2.95846320e+02] [-3.00102355e-01 -9.53897679e-01 -4.21839173e-03 2.56927096e+02] [ 1.13167983e-02 8.61646078e-04 -9.99935592e-01 2.17635064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.130385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.84, Y:256.92, Z:21.77 [[ 9.74631072e-01 -2.23556736e-01 1.08008590e-02 2.95840559e+02] [-2.23533011e-01 -9.74690528e-01 -3.37145494e-03 2.56919490e+02] [ 1.12812065e-02 8.71576196e-04 -9.99935985e-01 2.17675751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.160385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.84, Y:256.92, Z:21.77 [[ 9.89484490e-01 -1.44221254e-01 1.09851525e-02 2.95835550e+02] [-1.44201598e-01 -9.89545006e-01 -2.56501982e-03 2.56916756e+02] [ 1.12402332e-02 9.53970785e-04 -9.99936372e-01 2.17656563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.190385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.83, Y:256.91, Z:21.77 [[ 9.97774797e-01 -6.57400464e-02 1.11220435e-02 2.95830016e+02] [-6.57259084e-02 -9.97836380e-01 -1.63233794e-03 2.56908635e+02] [ 1.12052896e-02 8.97699238e-04 -9.99936816e-01 2.17658591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.220385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.83, Y:256.91, Z:21.77 [[ 9.99839939e-01 1.39669295e-02 1.11812781e-02 2.95825204e+02] [ 1.39762293e-02 -9.99902043e-01 -7.54018365e-04 2.56914185e+02] [ 1.11696515e-02 9.10169782e-04 -9.99937203e-01 2.17661469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.250385723 meters Centerline goodness : 0.998699 Centerline is valid? [True, True] Translation: X:295.82, Y:256.93, Z:21.77 [[ 9.95863109e-01 9.01766358e-02 1.11732521e-02 2.95820366e+02] [ 9.01817798e-02 -9.95925321e-01 4.36142098e-05 2.56934001e+02] [ 1.11316577e-02 9.64189981e-04 -9.99937576e-01 2.17659688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.280385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.81, Y:256.96, Z:21.77 [[ 9.86022527e-01 1.66242690e-01 1.10880463e-02 2.95811703e+02] [ 1.66241935e-01 -9.86084493e-01 9.96202366e-04 2.56955705e+02] [ 1.10993619e-02 8.61020297e-04 -9.99938029e-01 2.17656749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.310385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.81, Y:256.94, Z:21.77 [[ 9.70292127e-01 2.41688705e-01 1.09434337e-02 2.95809829e+02] [ 2.41683106e-01 -9.70353466e-01 1.85113848e-03 2.56944576e+02] [ 1.10663981e-02 8.48697952e-04 -9.99938405e-01 2.17665913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.3403857229999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:295.81, Y:256.93, Z:21.77 [[ 9.49717283e-01 3.12924770e-01 1.07318017e-02 2.95808865e+02] [ 3.12914193e-01 -9.49777579e-01 2.69416108e-03 2.56931700e+02] [ 1.10358944e-02 7.99441735e-04 -9.99938783e-01 2.17690835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.370385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.81, Y:256.92, Z:21.77 [[ 9.23196829e-01 3.84185227e-01 1.04559431e-02 2.95808376e+02] [ 3.84169925e-01 -9.23255715e-01 3.51480588e-03 2.56920266e+02] [ 1.10038457e-02 7.72001244e-04 -9.99939158e-01 2.17700522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.400385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:295.80, Y:256.92, Z:21.77 [[ 8.91552598e-01 4.52804151e-01 1.01175807e-02 2.95802730e+02] [ 4.52784249e-01 -8.91609698e-01 4.30924917e-03 2.56917358e+02] [ 1.09721790e-02 7.39158890e-04 -9.99939531e-01 2.17704815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.430385723 meters Centerline goodness : 0.995909 Centerline is valid? [True, True] Translation: X:296.22, Y:256.20, Z:20.78 [[ 8.79667256e-01 -4.75489802e-01 -9.74507547e-03 2.96219234e+02] [ 4.75463308e-01 8.79721207e-01 -5.02391437e-03 2.56200393e+02] [ 1.09617696e-02 -2.14052851e-04 9.99939895e-01 2.07801345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.460385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:296.24, Y:256.21, Z:20.78 [[ 8.78683799e-01 -4.77305214e-01 -9.72186106e-03 2.96243366e+02] [ 4.77278339e-01 8.78737559e-01 -5.06841268e-03 2.56214715e+02] [ 1.09621443e-02 -1.86501592e-04 9.99939897e-01 2.07811328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.490385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:296.27, Y:256.23, Z:20.78 [[ 8.78557474e-01 -4.77537751e-01 -9.71908412e-03 2.96268675e+02] [ 4.77510832e-01 8.78611212e-01 -5.07373210e-03 2.56228015e+02] [ 1.09621949e-02 -1.83402689e-04 9.99939897e-01 2.07814438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.520385723 meters Centerline goodness : 0.994321 Centerline is valid? [True, True] Translation: X:296.29, Y:256.24, Z:20.78 [[ 8.77299828e-01 -4.79844326e-01 -9.71774087e-03 2.96293147e+02] [ 4.79817519e-01 8.77353623e-01 -5.07630352e-03 2.56244603e+02] [ 1.09617306e-02 -2.09302107e-04 9.99939897e-01 2.07811142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.550385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:296.32, Y:256.26, Z:20.78 [[ 8.77099234e-01 -4.80210760e-01 -9.72419184e-03 2.96315023e+02] [ 4.80184113e-01 8.77153108e-01 -5.06396007e-03 2.56260027e+02] [ 1.09613732e-02 -2.27806932e-04 9.99939896e-01 2.07815916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.580385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:296.34, Y:256.27, Z:20.78 [[ 8.76938703e-01 -4.80504028e-01 -9.71546876e-03 2.96339735e+02] [ 4.80477214e-01 8.76992494e-01 -5.08064080e-03 2.56274386e+02] [ 1.09616615e-02 -2.12650810e-04 9.99939897e-01 2.07819221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.610385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.36, Y:256.29, Z:20.78 [[ 8.77095486e-01 -4.80217644e-01 -9.72226737e-03 2.96363125e+02] [ 4.80190956e-01 8.77149340e-01 -5.06764798e-03 2.56289878e+02] [ 1.09614544e-02 -2.23733696e-04 9.99939896e-01 2.07823176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.640385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.39, Y:256.30, Z:20.78 [[ 8.77841895e-01 -4.78851931e-01 -9.71778108e-03 2.96386326e+02] [ 4.78825065e-01 8.77895660e-01 -5.07621688e-03 2.56303214e+02] [ 1.09619541e-02 -1.97001316e-04 9.99939897e-01 2.07837136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.670385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:296.41, Y:256.32, Z:20.78 [[ 8.76456451e-01 -4.81383183e-01 -9.71191736e-03 2.96409276e+02] [ 4.81356348e-01 8.76510231e-01 -5.08741076e-03 2.56320490e+02] [ 1.09615889e-02 -2.15999091e-04 9.99939897e-01 2.07806820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.700385723 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:296.43, Y:256.33, Z:20.78 [[ 8.77324890e-01 -4.79798650e-01 -9.71048542e-03 2.96433045e+02] [ 4.79771688e-01 8.77378606e-01 -5.09014248e-03 2.56332728e+02] [ 1.09620157e-02 -1.93107290e-04 9.99939897e-01 2.07819123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.730385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.45, Y:256.35, Z:20.78 [[ 8.75802946e-01 -4.82571154e-01 -9.70986504e-03 2.96453189e+02] [ 4.82544349e-01 8.75856741e-01 -5.09132565e-03 2.56349195e+02] [ 1.09613776e-02 -2.26442503e-04 9.99939897e-01 2.07800259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.760385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:296.48, Y:256.36, Z:20.78 [[ 8.76636720e-01 -4.81055600e-01 -9.67325247e-03 2.96480504e+02] [ 4.81027931e-01 8.76690078e-01 -5.16107363e-03 2.56362655e+02] [ 1.09632078e-02 -1.28717965e-04 9.99939894e-01 2.07812396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.790385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.50, Y:256.38, Z:20.78 [[ 8.75679815e-01 -4.82794588e-01 -9.70809123e-03 2.96500507e+02] [ 4.82767759e-01 8.75733598e-01 -5.09468732e-03 2.56377481e+02] [ 1.09613891e-02 -2.25438594e-04 9.99939897e-01 2.07778301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.820385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:296.53, Y:256.39, Z:20.78 [[ 8.75882276e-01 -4.82428306e-01 -9.65234148e-03 2.96529626e+02] [ 4.82400284e-01 8.75935454e-01 -5.20063547e-03 2.56391455e+02] [ 1.09637619e-02 -1.01147835e-04 9.99939891e-01 2.07811194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.850385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:296.55, Y:256.40, Z:20.78 [[ 8.77036159e-01 -4.80326370e-01 -9.70326958e-03 2.96553234e+02] [ 4.80299289e-01 8.77089816e-01 -5.10381207e-03 2.56404348e+02] [ 1.09621345e-02 -1.84245742e-04 9.99939897e-01 2.07831205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.880385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:296.58, Y:256.42, Z:20.78 [[ 8.75936984e-01 -4.82327974e-01 -9.70183425e-03 2.96575227e+02] [ 4.82300985e-01 8.75990687e-01 -5.10653904e-03 2.56419935e+02] [ 1.09617431e-02 -2.06197810e-04 9.99939897e-01 2.07832142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.910385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:296.60, Y:256.43, Z:20.79 [[ 8.77282223e-01 -4.79877147e-01 -9.68632512e-03 2.96600726e+02] [ 4.79849683e-01 8.77335685e-01 -5.13600052e-03 2.56432497e+02] [ 1.09628080e-02 -1.42258079e-04 9.99939897e-01 2.07857233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.940385723 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:296.62, Y:256.45, Z:20.79 [[ 8.78068305e-01 -4.78436972e-01 -9.70132423e-03 2.96624649e+02] [ 4.78409734e-01 8.78121882e-01 -5.10751086e-03 2.56446748e+02] [ 1.09625671e-02 -1.56464543e-04 9.99939897e-01 2.07862614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.970385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:296.65, Y:256.46, Z:20.79 [[ 8.78584130e-01 -4.77489098e-01 -9.69991064e-03 2.96648951e+02] [ 4.77461773e-01 8.78637662e-01 -5.11019408e-03 2.56460321e+02] [ 1.09627688e-02 -1.41601111e-04 9.99939897e-01 2.07867618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.000385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:296.67, Y:256.47, Z:20.79 [[ 8.79191001e-01 -4.76370783e-01 -9.69850743e-03 2.96672674e+02] [ 4.76343360e-01 8.79244484e-01 -5.11285581e-03 2.56473606e+02] [ 1.09629743e-02 -1.24642800e-04 9.99939897e-01 2.07868197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.030385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.69, Y:256.49, Z:20.78 [[ 8.78902920e-01 -4.76902095e-01 -9.69789939e-03 2.96691312e+02] [ 4.76874692e-01 8.78956412e-01 -5.11400885e-03 2.56489630e+02] [ 1.09629124e-02 -1.29965478e-04 9.99939897e-01 2.07844221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.060385723 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:296.72, Y:256.50, Z:20.79 [[ 8.81226382e-01 -4.72596309e-01 -9.63290244e-03 2.96721218e+02] [ 4.72567295e-01 8.81279028e-01 -5.23712110e-03 2.56501153e+02] [ 1.09643190e-02 6.28946312e-05 9.99939888e-01 2.07857260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.0903857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.75, Y:256.52, Z:20.79 [[ 8.81220535e-01 -4.72605901e-01 -9.69694817e-03 2.96745214e+02] [ 4.72578219e-01 8.81273883e-01 -5.11572142e-03 2.56515199e+02] [ 1.09633873e-02 -7.44877279e-05 9.99939897e-01 2.07854873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.120385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.77, Y:256.53, Z:20.79 [[ 8.81375714e-01 -4.72316472e-01 -9.69543815e-03 2.96769279e+02] [ 4.72288740e-01 8.81429036e-01 -5.11858164e-03 2.56527441e+02] [ 1.09634311e-02 -6.76527214e-05 9.99939898e-01 2.07862282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.150385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:296.79, Y:256.54, Z:20.78 [[ 8.80274644e-01 -4.74365431e-01 -9.69478628e-03 2.96789874e+02] [ 4.74337810e-01 8.80328024e-01 -5.11981600e-03 2.56540704e+02] [ 1.09632558e-02 -9.17594909e-05 9.99939898e-01 2.07845379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.180385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.82, Y:256.55, Z:20.79 [[ 8.80256189e-01 -4.74400772e-01 -9.64104180e-03 2.96816746e+02] [ 4.74372037e-01 8.80308984e-01 -5.22147978e-03 2.56553675e+02] [ 1.09641697e-02 2.27992494e-05 9.99939891e-01 2.07850637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.210385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:296.84, Y:256.57, Z:20.79 [[ 8.81068742e-01 -4.72889656e-01 -9.65632932e-03 2.96844769e+02] [ 4.72861146e-01 8.81121656e-01 -5.19256962e-03 2.56565181e+02] [ 1.09639133e-02 8.90783129e-06 9.99939894e-01 2.07864814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.240385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:296.87, Y:256.58, Z:20.79 [[ 8.79492618e-01 -4.75813818e-01 -9.69253677e-03 2.96869299e+02] [ 4.75786238e-01 8.79546019e-01 -5.12408091e-03 2.56578357e+02] [ 1.09631406e-02 -1.04984273e-04 9.99939897e-01 2.07877053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.270385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:296.89, Y:256.59, Z:20.79 [[ 8.78868287e-01 -4.76965874e-01 -9.69995704e-03 2.96893328e+02] [ 4.76938519e-01 8.78921803e-01 -5.11004645e-03 2.56591154e+02] [ 1.09628215e-02 -1.35225376e-04 9.99939897e-01 2.07870827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.300385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.92, Y:256.60, Z:20.79 [[ 8.77944153e-01 -4.78664953e-01 -9.69153423e-03 2.96917719e+02] [ 4.78637526e-01 8.77997633e-01 -5.12597124e-03 2.56603539e+02] [ 1.09627669e-02 -1.38415489e-04 9.99939897e-01 2.07877126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.330385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.94, Y:256.62, Z:20.79 [[ 8.75019300e-01 -4.83991029e-01 -9.69061358e-03 2.96941899e+02] [ 4.83963908e-01 8.75072935e-01 -5.12771113e-03 2.56618640e+02] [ 1.09617599e-02 -2.03061015e-04 9.99939897e-01 2.07880917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.360385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:296.97, Y:256.63, Z:20.79 [[ 8.74781576e-01 -4.84420596e-01 -9.68921985e-03 2.96966677e+02] [ 4.84393472e-01 8.74835209e-01 -5.13034335e-03 2.56628935e+02] [ 1.09617147e-02 -2.05465002e-04 9.99939897e-01 2.07894788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.390385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:296.99, Y:256.64, Z:20.79 [[ 8.73521417e-01 -4.86689297e-01 -9.68827703e-03 2.96990726e+02] [ 4.86662293e-01 8.73575111e-01 -5.13212318e-03 2.56644198e+02] [ 1.09611871e-02 -2.31899601e-04 9.99939898e-01 2.07900166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.420385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:297.01, Y:256.66, Z:20.79 [[ 8.73352917e-01 -4.86991630e-01 -9.68684190e-03 2.97014586e+02] [ 4.86964614e-01 8.73406605e-01 -5.13483055e-03 2.56657034e+02] [ 1.09611712e-02 -2.32629987e-04 9.99939898e-01 2.07903655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.450385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:297.04, Y:256.67, Z:20.79 [[ 8.73162835e-01 -4.87332372e-01 -9.68617338e-03 2.97038830e+02] [ 4.87305363e-01 8.73216527e-01 -5.13609130e-03 2.56670877e+02] [ 1.09611102e-02 -2.35480192e-04 9.99939898e-01 2.07899336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.480385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:297.06, Y:256.68, Z:20.79 [[ 8.74336117e-01 -4.85224239e-01 -9.68470130e-03 2.97063898e+02] [ 4.85197070e-01 8.74389728e-01 -5.13886558e-03 2.56681798e+02] [ 1.09617055e-02 -2.05892917e-04 9.99939898e-01 2.07893764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.510385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.09, Y:256.70, Z:20.79 [[ 8.74718189e-01 -4.84535147e-01 -9.68406396e-03 2.97088316e+02] [ 4.84507922e-01 8.74771772e-01 -5.14006636e-03 2.56695801e+02] [ 1.09618886e-02 -1.95896176e-04 9.99939898e-01 2.07867866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.540385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.11, Y:256.71, Z:20.78 [[ 8.73234690e-01 -4.87203656e-01 -9.68363408e-03 2.97109870e+02] [ 4.87176586e-01 8.73288352e-01 -5.14087611e-03 2.56711319e+02] [ 1.09612585e-02 -2.28448435e-04 9.99939898e-01 2.07836386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.570385723 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:297.14, Y:256.72, Z:20.78 [[ 8.74245874e-01 -4.85387581e-01 -9.64617735e-03 2.97137650e+02] [ 4.85359620e-01 8.74299080e-01 -5.21134125e-03 2.56723007e+02] [ 1.09631643e-02 -1.25871389e-04 9.99939895e-01 2.07845786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.600385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:297.16, Y:256.74, Z:20.79 [[ 8.73561144e-01 -4.86618119e-01 -9.68160139e-03 2.97162255e+02] [ 4.86590971e-01 8.73614766e-01 -5.14467799e-03 2.56736470e+02] [ 1.09614835e-02 -2.16789029e-04 9.99939898e-01 2.07855058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.630385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.19, Y:256.75, Z:20.79 [[ 8.73142475e-01 -4.87368967e-01 -9.68025941e-03 2.97185856e+02] [ 4.87341837e-01 8.73196106e-01 -5.14720181e-03 2.56749546e+02] [ 1.09613513e-02 -2.23354873e-04 9.99939898e-01 2.07859967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.660385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.21, Y:256.76, Z:20.79 [[ 8.71935947e-01 -4.89524267e-01 -9.67967800e-03 2.97208407e+02] [ 4.89497257e-01 8.71989639e-01 -5.14829497e-03 2.56764550e+02] [ 1.09607942e-02 -2.49192377e-04 9.99939898e-01 2.07855377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.690385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.23, Y:256.78, Z:20.78 [[ 8.71416248e-01 -4.90449310e-01 -9.65383121e-03 2.97231339e+02] [ 4.90421820e-01 8.71469696e-01 -5.19684791e-03 2.56779848e+02] [ 1.09618118e-02 -2.05831760e-04 9.99939896e-01 2.07842546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.720385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:297.26, Y:256.79, Z:20.79 [[ 8.73576535e-01 -4.86591276e-01 -9.64197910e-03 2.97258287e+02] [ 4.86563303e-01 8.73629734e-01 -5.21909775e-03 2.56792961e+02] [ 1.09630871e-02 -1.32151871e-04 9.99939895e-01 2.07867431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.750385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:297.28, Y:256.81, Z:20.79 [[ 8.74042763e-01 -4.85752619e-01 -9.67685361e-03 2.97282368e+02] [ 4.85725319e-01 8.74096307e-01 -5.15361454e-03 2.56806728e+02] [ 1.09618838e-02 -1.95813312e-04 9.99939898e-01 2.07871617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.780385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.30, Y:256.82, Z:20.78 [[ 8.73961665e-01 -4.85898542e-01 -9.67545713e-03 2.97303948e+02] [ 4.85871222e-01 8.74015199e-01 -5.15623498e-03 2.56823069e+02] [ 1.09619037e-02 -1.94674471e-04 9.99939898e-01 2.07843870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.810385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:297.33, Y:256.84, Z:20.79 [[ 8.74498146e-01 -4.84932854e-01 -9.64986794e-03 2.97329225e+02] [ 4.84904945e-01 8.74551377e-01 -5.20422624e-03 2.56837379e+02] [ 1.09630056e-02 -1.28182479e-04 9.99939896e-01 2.07851726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.8403857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.35, Y:256.85, Z:20.79 [[ 8.75592696e-01 -4.82953707e-01 -9.65132018e-03 2.97353009e+02] [ 4.82925708e-01 8.75645879e-01 -5.20150096e-03 2.56852482e+02] [ 1.09632229e-02 -1.06474383e-04 9.99939896e-01 2.07853088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.870385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.38, Y:256.86, Z:20.79 [[ 8.77714268e-01 -4.79087353e-01 -9.64219178e-03 2.97380028e+02] [ 4.79058931e-01 8.77767228e-01 -5.21862192e-03 2.56864640e+02] [ 1.09637757e-02 -3.87191727e-05 9.99939895e-01 2.07891366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.900385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.40, Y:256.88, Z:20.79 [[ 8.78254337e-01 -4.78095931e-01 -9.67474598e-03 2.97401551e+02] [ 4.78068120e-01 8.78307618e-01 -5.15755551e-03 2.56880936e+02] [ 1.09632094e-02 -9.55421344e-05 9.99939898e-01 2.07851189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.930385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:297.43, Y:256.89, Z:20.78 [[ 8.79236795e-01 -4.76287319e-01 -9.64615311e-03 2.97426647e+02] [ 4.76258810e-01 8.79289707e-01 -5.21114280e-03 2.56894916e+02] [ 1.09637644e-02 -1.22369091e-05 9.99939896e-01 2.07848570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.960385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.45, Y:256.91, Z:20.79 [[ 8.81543642e-01 -4.72003846e-01 -9.65284253e-03 2.97452752e+02] [ 4.71975217e-01 8.81596489e-01 -5.19861194e-03 2.56907792e+02] [ 1.09636769e-02 2.69008539e-05 9.99939897e-01 2.07874557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.990385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.47, Y:256.92, Z:20.78 [[ 8.81268301e-01 -4.72517342e-01 -9.67178476e-03 2.97474031e+02] [ 4.72489133e-01 8.81321372e-01 -5.16312861e-03 2.56922488e+02] [ 1.09636184e-02 -1.97116165e-05 9.99939898e-01 2.07832030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.020385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.50, Y:256.93, Z:20.79 [[ 8.82844442e-01 -4.69566600e-01 -9.63848042e-03 2.97501565e+02] [ 4.69537532e-01 8.82897050e-01 -5.22546496e-03 2.56934092e+02] [ 1.09634897e-02 8.76443851e-05 9.99939895e-01 2.07871225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.050385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:297.53, Y:256.95, Z:20.79 [[ 8.83085363e-01 -4.69112710e-01 -9.66994722e-03 2.97526496e+02] [ 4.69084259e-01 8.83138304e-01 -5.16657058e-03 2.56947196e+02] [ 1.09636047e-02 2.65028316e-05 9.99939898e-01 2.07875570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.080385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:297.55, Y:256.96, Z:20.79 [[ 8.82929134e-01 -4.69406714e-01 -9.66854211e-03 2.97550369e+02] [ 4.69378252e-01 8.82982070e-01 -5.16919872e-03 2.56959122e+02] [ 1.09636059e-02 2.58327565e-05 9.99939898e-01 2.07861702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.110385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:297.57, Y:256.97, Z:20.79 [[ 8.82075105e-01 -4.71009603e-01 -9.66758883e-03 2.97574850e+02] [ 4.70981217e-01 8.82128082e-01 -5.17098095e-03 2.56971017e+02] [ 1.09636333e-02 7.94080930e-06 9.99939898e-01 2.07857485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.140385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.60, Y:256.98, Z:20.79 [[ 8.81293728e-01 -4.72470014e-01 -9.66698845e-03 2.97600201e+02] [ 4.72441704e-01 8.81346746e-01 -5.17210310e-03 2.56983606e+02] [ 1.09636324e-02 -8.94646408e-06 9.99939898e-01 2.07862225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.170385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.62, Y:256.99, Z:20.79 [[ 8.79631884e-01 -4.75556857e-01 -9.66562435e-03 2.97624906e+02] [ 4.75528705e-01 8.79684986e-01 -5.17465108e-03 2.56994364e+02] [ 1.09635454e-02 -4.44937431e-05 9.99939898e-01 2.07865693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.200385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.65, Y:257.01, Z:20.79 [[ 8.78046091e-01 -4.78478473e-01 -9.66503299e-03 2.97648891e+02] [ 4.78450486e-01 8.78099279e-01 -5.17575536e-03 2.57008160e+02] [ 1.09633460e-02 -7.96879693e-05 9.99939898e-01 2.07853788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.230385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:297.67, Y:257.02, Z:20.79 [[ 8.76449859e-01 -4.81396374e-01 -9.65280602e-03 2.97674055e+02] [ 4.81368312e-01 8.76503008e-01 -5.19857713e-03 2.57020158e+02] [ 1.09632897e-02 -9.02627497e-05 9.99939897e-01 2.07851951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.260385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.70, Y:257.03, Z:20.79 [[ 8.76414821e-01 -4.81460219e-01 -9.64985074e-03 2.97699357e+02] [ 4.81432100e-01 8.76467941e-01 -5.20408992e-03 2.57031407e+02] [ 1.09633471e-02 -8.48063679e-05 9.99939897e-01 2.07867039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.290385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:297.72, Y:257.04, Z:20.79 [[ 8.75199324e-01 -4.83665988e-01 -9.66208819e-03 2.97724790e+02] [ 4.83638255e-01 8.75252645e-01 -5.18126940e-03 2.57043305e+02] [ 1.09627720e-02 -1.38311993e-04 9.99939897e-01 2.07865305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.320385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.75, Y:257.06, Z:20.79 [[ 8.74541826e-01 -4.84853842e-01 -9.66164886e-03 2.97749644e+02] [ 4.84826172e-01 8.74595180e-01 -5.18208851e-03 2.57056392e+02] [ 1.09625870e-02 -1.52267085e-04 9.99939897e-01 2.07863246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.350385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:297.77, Y:257.07, Z:20.79 [[ 8.73596906e-01 -4.86554339e-01 -9.66024284e-03 2.97774493e+02] [ 4.86526744e-01 8.73650299e-01 -5.18470821e-03 2.57068967e+02] [ 1.09623163e-02 -1.70621447e-04 9.99939897e-01 2.07858271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.380385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:297.80, Y:257.08, Z:20.79 [[ 8.73464796e-01 -4.86791492e-01 -9.65883512e-03 2.97799643e+02] [ 4.86763883e-01 8.73518182e-01 -5.18732940e-03 2.57082548e+02] [ 1.09623159e-02 -1.70622469e-04 9.99939897e-01 2.07861394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.410385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.82, Y:257.10, Z:20.79 [[ 8.73090600e-01 -4.87462345e-01 -9.65742620e-03 2.97824647e+02] [ 4.87434747e-01 8.73143992e-01 -5.18995112e-03 2.57095871e+02] [ 1.09622294e-02 -1.76067561e-04 9.99939897e-01 2.07865614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.440385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.85, Y:257.11, Z:20.79 [[ 8.73024205e-01 -4.87581275e-01 -9.65600228e-03 2.97849312e+02] [ 4.87553656e-01 8.73077585e-01 -5.19259899e-03 2.57108854e+02] [ 1.09622532e-02 -1.74554615e-04 9.99939897e-01 2.07872637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.470385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:297.87, Y:257.12, Z:20.79 [[ 8.72978838e-01 -4.87662523e-01 -9.65458826e-03 2.97873793e+02] [ 4.87634880e-01 8.73032207e-01 -5.19522674e-03 2.57122244e+02] [ 1.09622839e-02 -1.72590979e-04 9.99939897e-01 2.07876615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.500385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:297.90, Y:257.14, Z:20.79 [[ 8.73667015e-01 -4.86428579e-01 -9.65317469e-03 2.97897969e+02] [ 4.86400831e-01 8.73720329e-01 -5.19785195e-03 2.57135188e+02] [ 1.09625587e-02 -1.54120393e-04 9.99939897e-01 2.07884504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.530385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:297.92, Y:257.15, Z:20.79 [[ 8.73107922e-01 -4.87431415e-01 -9.65256266e-03 2.97921735e+02] [ 4.87403716e-01 8.73161261e-01 -5.19898827e-03 2.57150003e+02] [ 1.09623940e-02 -1.65417063e-04 9.99939897e-01 2.07875942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.560385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.95, Y:257.16, Z:20.79 [[ 8.74541218e-01 -4.84855147e-01 -9.65115653e-03 2.97946759e+02] [ 4.84827261e-01 8.74594460e-01 -5.20159723e-03 2.57163044e+02] [ 1.09628692e-02 -1.30132612e-04 9.99939897e-01 2.07899316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.5903857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.97, Y:257.18, Z:20.79 [[ 8.75045078e-01 -4.83945219e-01 -9.65071853e-03 2.97971070e+02] [ 4.83917270e-01 8.75098286e-01 -5.20240974e-03 2.57176726e+02] [ 1.09630086e-02 -1.17806325e-04 9.99939897e-01 2.07915635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.620385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:298.00, Y:257.19, Z:20.79 [[ 8.74931117e-01 -4.84151249e-01 -9.64932181e-03 2.97995368e+02] [ 4.84123283e-01 8.74984317e-01 -5.20499905e-03 2.57190627e+02] [ 1.09630120e-02 -1.17445726e-04 9.99939897e-01 2.07918610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.650385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:298.02, Y:257.21, Z:20.79 [[ 8.74005029e-01 -4.85821086e-01 -9.64790408e-03 2.98019459e+02] [ 4.85793193e-01 8.74058267e-01 -5.20762561e-03 2.57205862e+02] [ 1.09628047e-02 -1.35395153e-04 9.99939897e-01 2.07911789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.680385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.04, Y:257.22, Z:20.79 [[ 8.73673115e-01 -4.86417758e-01 -9.64641393e-03 2.98044234e+02] [ 4.86389871e-01 8.73726356e-01 -5.21038446e-03 2.57219187e+02] [ 1.09627496e-02 -1.39745208e-04 9.99939897e-01 2.07921879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.710385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:298.07, Y:257.23, Z:20.79 [[ 8.74041220e-01 -4.85756030e-01 -9.64491366e-03 2.98068458e+02] [ 4.85728073e-01 8.74094424e-01 -5.21316011e-03 2.57231328e+02] [ 1.09628892e-02 -1.28288495e-04 9.99939898e-01 2.07936375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.740385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:298.09, Y:257.25, Z:20.79 [[ 8.72932941e-01 -4.87744882e-01 -9.64426154e-03 2.98093280e+02] [ 4.87717032e-01 8.72986201e-01 -5.21436625e-03 2.57245165e+02] [ 1.09625877e-02 -1.51878542e-04 9.99939898e-01 2.07936360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.770385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:298.12, Y:257.26, Z:20.80 [[ 8.72640059e-01 -4.88268720e-01 -9.64285833e-03 2.98117810e+02] [ 4.88240873e-01 8.72693321e-01 -5.21695990e-03 2.57257670e+02] [ 1.09625364e-02 -1.55509376e-04 9.99939898e-01 2.07950200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.800385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.14, Y:257.27, Z:20.80 [[ 8.72180878e-01 -4.89088479e-01 -9.64239120e-03 2.98142083e+02] [ 4.89060673e-01 8.72234161e-01 -5.21782313e-03 2.57271478e+02] [ 1.09624002e-02 -1.64828774e-04 9.99939898e-01 2.07954116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.830385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.17, Y:257.29, Z:20.80 [[ 8.71632311e-01 -4.90065471e-01 -9.64095880e-03 2.98166139e+02] [ 4.90037696e-01 8.71685611e-01 -5.22046843e-03 2.57285839e+02] [ 1.09622564e-02 -1.74104271e-04 9.99939898e-01 2.07957042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.860385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:298.19, Y:257.30, Z:20.80 [[ 8.71597456e-01 -4.90127488e-01 -9.63949693e-03 2.98189560e+02] [ 4.90099686e-01 8.71650742e-01 -5.22316635e-03 2.57298397e+02] [ 1.09622921e-02 -1.71815912e-04 9.99939898e-01 2.07960502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.890385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:298.21, Y:257.31, Z:20.80 [[ 8.71664424e-01 -4.90008391e-01 -9.63886403e-03 2.98214177e+02] [ 4.89980570e-01 8.71717700e-01 -5.22433406e-03 2.57312123e+02] [ 1.09623359e-02 -1.68989948e-04 9.99939898e-01 2.07967182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.920385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:298.24, Y:257.33, Z:20.79 [[ 8.71904758e-01 -4.89580651e-01 -9.63743512e-03 2.98240905e+02] [ 4.89552774e-01 8.71958004e-01 -5.22696867e-03 2.57326277e+02] [ 1.09624614e-02 -1.60614241e-04 9.99939898e-01 2.07937716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.950385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:298.26, Y:257.34, Z:20.80 [[ 8.72308963e-01 -4.88859804e-01 -9.65219682e-03 2.98263516e+02] [ 4.88832183e-01 8.72362344e-01 -5.19975772e-03 2.57341710e+02] [ 1.09621656e-02 -1.82509180e-04 9.99939897e-01 2.07951507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.980385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:298.29, Y:257.36, Z:20.80 [[ 8.72523980e-01 -4.88476260e-01 -9.63578985e-03 2.98288275e+02] [ 4.88448282e-01 8.72577173e-01 -5.22998612e-03 2.57355728e+02] [ 1.09626943e-02 -1.43296698e-04 9.99939898e-01 2.07954463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.010385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:298.31, Y:257.37, Z:20.80 [[ 8.73424620e-01 -4.86864059e-01 -9.63437086e-03 2.98312638e+02] [ 4.86835954e-01 8.73477747e-01 -5.23259881e-03 2.57369950e+02] [ 1.09629728e-02 -1.20077495e-04 9.99939898e-01 2.07952903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.040385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.34, Y:257.38, Z:20.80 [[ 8.73963561e-01 -4.85895978e-01 -9.63294863e-03 2.98336314e+02] [ 4.85867785e-01 8.74016640e-01 -5.23521575e-03 2.57383611e+02] [ 1.09631277e-02 -1.04951623e-04 9.99939898e-01 2.07950338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.070385723 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:298.36, Y:257.40, Z:20.79 [[ 8.75019442e-01 -4.83991936e-01 -9.63233190e-03 2.98360778e+02] [ 4.83963616e-01 8.75072454e-01 -5.23635024e-03 2.57397882e+02] [ 1.09633396e-02 -7.97899114e-05 9.99939898e-01 2.07949629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.100385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.38, Y:257.41, Z:20.80 [[ 8.75215179e-01 -4.83637917e-01 -9.63094563e-03 2.98384823e+02] [ 4.83609547e-01 8.75268164e-01 -5.23889870e-03 2.57411988e+02] [ 1.09633902e-02 -7.24535948e-05 9.99939898e-01 2.07955753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.130385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:298.41, Y:257.43, Z:20.80 [[ 8.76118917e-01 -4.81998875e-01 -9.62955307e-03 2.98409105e+02] [ 4.81970378e-01 8.76171834e-01 -5.24145708e-03 2.57426125e+02] [ 1.09635196e-02 -4.90196359e-05 9.99939898e-01 2.07960989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.160385723 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:298.43, Y:257.44, Z:20.80 [[ 8.77060557e-01 -4.80283332e-01 -9.62810435e-03 2.98433170e+02] [ 4.80254702e-01 8.77113402e-01 -5.24411691e-03 2.57439463e+02] [ 1.09636013e-02 -2.45342870e-05 9.99939898e-01 2.07964329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.190385723 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:298.46, Y:257.45, Z:20.80 [[ 8.77348796e-01 -4.79756607e-01 -9.62747612e-03 2.98457591e+02] [ 4.79727932e-01 8.77401617e-01 -5.24526999e-03 2.57452851e+02] [ 1.09636161e-02 -1.66379038e-05 9.99939898e-01 2.07977220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.220385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:298.48, Y:257.47, Z:20.80 [[ 8.77775092e-01 -4.78976229e-01 -9.62602825e-03 2.98481136e+02] [ 4.78947479e-01 8.77827871e-01 -5.24792575e-03 2.57466013e+02] [ 1.09636276e-02 -3.86345551e-06 9.99939898e-01 2.07983993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.250385723 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:298.51, Y:257.48, Z:20.80 [[ 8.77687683e-01 -4.79136392e-01 -9.62540065e-03 2.98505714e+02] [ 4.79107639e-01 8.77740461e-01 -5.24907661e-03 2.57479708e+02] [ 1.09636272e-02 -4.55308995e-06 9.99939898e-01 2.07988743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.280385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:298.53, Y:257.49, Z:20.80 [[ 8.77411361e-01 -4.79642245e-01 -9.62397832e-03 2.98530754e+02] [ 4.79613493e-01 8.77464140e-01 -5.25168311e-03 2.57493443e+02] [ 1.09636249e-02 -7.90344050e-06 9.99939898e-01 2.07996470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.310385723 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:298.56, Y:257.51, Z:20.80 [[ 8.76178134e-01 -4.81891360e-01 -9.62255461e-03 2.98555298e+02] [ 4.81862716e-01 8.76230972e-01 -5.25429045e-03 2.57506704e+02] [ 1.09635775e-02 -3.30558861e-05 9.99939898e-01 2.08009166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.3403857229999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:298.58, Y:257.52, Z:20.80 [[ 8.75103914e-01 -4.83839409e-01 -9.62113853e-03 2.98579613e+02] [ 4.83810854e-01 8.75156799e-01 -5.25688216e-03 2.57520082e+02] [ 1.09634916e-02 -5.44930936e-05 9.99939898e-01 2.08022712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.370385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:298.60, Y:257.53, Z:20.80 [[ 8.72579868e-01 -4.88376736e-01 -9.61967517e-03 2.98603227e+02] [ 4.88348425e-01 8.72632885e-01 -5.25955861e-03 2.57533533e+02] [ 1.09630910e-02 -1.08368263e-04 9.99939898e-01 2.08021501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.400385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.63, Y:257.55, Z:20.80 [[ 8.71106654e-01 -4.90999665e-01 -9.61904012e-03 2.98627875e+02] [ 4.90971502e-01 8.71159749e-01 -5.26071979e-03 2.57547159e+02] [ 1.09627322e-02 -1.40026565e-04 9.99939898e-01 2.08031877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.430385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.65, Y:257.56, Z:20.80 [[ 8.68829594e-01 -4.95017816e-01 -9.61760383e-03 2.98652105e+02] [ 4.94989869e-01 8.68882804e-01 -5.26334430e-03 2.57561267e+02] [ 1.09620198e-02 -1.87667174e-04 9.99939898e-01 2.08026668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.460385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:298.68, Y:257.58, Z:20.80 [[ 8.67646907e-01 -4.97087875e-01 -9.61715949e-03 2.98676196e+02] [ 4.97060046e-01 8.67700178e-01 -5.26415607e-03 2.57575872e+02] [ 1.09615592e-02 -2.12877005e-04 9.99939898e-01 2.08035300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.490385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:298.70, Y:257.59, Z:20.80 [[ 8.67207419e-01 -4.97854227e-01 -9.61568772e-03 2.98700316e+02] [ 4.97826415e-01 8.67260699e-01 -5.26684308e-03 2.57590391e+02] [ 1.09614281e-02 -2.19497954e-04 9.99939898e-01 2.08026093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.520385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:298.72, Y:257.61, Z:20.80 [[ 8.66917334e-01 -4.98359192e-01 -9.61523251e-03 2.98723620e+02] [ 4.98331402e-01 8.66970625e-01 -5.26767398e-03 2.57605531e+02] [ 1.09613179e-02 -2.24934420e-04 9.99939898e-01 2.07997691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.550385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.75, Y:257.62, Z:20.80 [[ 8.66652612e-01 -4.98819417e-01 -9.61456071e-03 2.98748200e+02] [ 4.98791642e-01 8.66705911e-01 -5.26889986e-03 2.57619874e+02] [ 1.09612262e-02 -2.29356697e-04 9.99939898e-01 2.08017738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.580385723 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:298.77, Y:257.63, Z:20.80 [[ 8.66267530e-01 -4.99487892e-01 -9.61313048e-03 2.98772097e+02] [ 4.99460129e-01 8.66320836e-01 -5.27150803e-03 2.57634269e+02] [ 1.09611097e-02 -2.34839149e-04 9.99939898e-01 2.08031328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.610385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.80, Y:257.65, Z:20.80 [[ 8.66412361e-01 -4.99236635e-01 -9.61268809e-03 2.98795741e+02] [ 4.99208847e-01 8.66465654e-01 -5.27231463e-03 2.57648128e+02] [ 1.09611967e-02 -2.30740379e-04 9.99939898e-01 2.08032338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.640385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.82, Y:257.66, Z:20.80 [[ 8.67006889e-01 -4.98203431e-01 -9.61225364e-03 2.98818853e+02] [ 4.98175571e-01 8.67060145e-01 -5.27310658e-03 2.57664172e+02] [ 1.09614818e-02 -2.16770212e-04 9.99939898e-01 2.08047451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.670385723 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:298.84, Y:257.68, Z:20.80 [[ 8.67646845e-01 -4.97088106e-01 -9.61081855e-03 2.98842869e+02] [ 4.97060149e-01 8.67700049e-01 -5.27572089e-03 2.57678977e+02] [ 1.09618058e-02 -1.99692306e-04 9.99939898e-01 2.08045322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.700385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.87, Y:257.69, Z:20.80 [[ 8.68391977e-01 -4.95785251e-01 -9.61037466e-03 2.98865909e+02] [ 4.95757205e-01 8.68445135e-01 -5.27652937e-03 2.57694519e+02] [ 1.09621085e-02 -1.82316707e-04 9.99939898e-01 2.08048816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.730385723 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:298.89, Y:257.71, Z:20.80 [[ 8.68630628e-01 -4.95367036e-01 -9.60892390e-03 2.98890127e+02] [ 4.95338935e-01 8.68683757e-01 -5.27916997e-03 2.57708669e+02] [ 1.09622429e-02 -1.74025404e-04 9.99939898e-01 2.08047465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.760385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.91, Y:257.72, Z:20.81 [[ 8.69109273e-01 -4.94526794e-01 -9.60847452e-03 2.98914652e+02] [ 4.94498633e-01 8.69162369e-01 -5.27998775e-03 2.57724098e+02] [ 1.09624199e-02 -1.62491205e-04 9.99939898e-01 2.08062253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.790385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.94, Y:257.74, Z:20.81 [[ 8.68735093e-01 -4.95183843e-01 -9.60727732e-03 2.98938480e+02] [ 4.95155698e-01 8.68788198e-01 -5.28216524e-03 2.57739159e+02] [ 1.09623320e-02 -1.68295800e-04 9.99939898e-01 2.08070324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.820385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.96, Y:257.75, Z:20.81 [[ 8.68899944e-01 -4.94894552e-01 -9.60577444e-03 2.98961625e+02] [ 4.94866359e-01 8.68953023e-01 -5.28489685e-03 2.57754745e+02] [ 1.09624334e-02 -1.61528047e-04 9.99939898e-01 2.08065223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.850385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.99, Y:257.77, Z:20.81 [[ 8.69388481e-01 -4.94035854e-01 -9.60433017e-03 2.98987489e+02] [ 4.94007580e-01 8.69441518e-01 -5.28752025e-03 2.57769099e+02] [ 1.09626280e-02 -1.47702712e-04 9.99939898e-01 2.08054548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.880385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.01, Y:257.78, Z:20.81 [[ 8.68959639e-01 -4.94789726e-01 -9.60590695e-03 2.99011108e+02] [ 4.94761529e-01 8.69012716e-01 -5.28465664e-03 2.57784325e+02] [ 1.09624491e-02 -1.60479887e-04 9.99939898e-01 2.08081945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.910385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.04, Y:257.80, Z:20.81 [[ 8.68805045e-01 -4.95061172e-01 -9.60364327e-03 2.99035050e+02] [ 4.95032946e-01 8.68858108e-01 -5.28876716e-03 2.57798188e+02] [ 1.09624666e-02 -1.59212228e-04 9.99939898e-01 2.08087403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.940385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.06, Y:257.81, Z:20.81 [[ 8.68798362e-01 -4.95072928e-01 -9.60218880e-03 2.99059212e+02] [ 4.95044674e-01 8.68851410e-01 -5.29140655e-03 2.57812802e+02] [ 1.09625074e-02 -1.56347074e-04 9.99939898e-01 2.08080301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.970385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.08, Y:257.83, Z:20.81 [[ 8.69265933e-01 -4.94251736e-01 -9.58956776e-03 2.99083814e+02] [ 4.94223180e-01 8.69318818e-01 -5.31428678e-03 2.57826738e+02] [ 1.09629872e-02 -1.19858212e-04 9.99939897e-01 2.08070764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.000385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.11, Y:257.84, Z:20.81 [[ 8.69257260e-01 -4.94266948e-01 -9.59164101e-03 2.99106906e+02] [ 4.94238434e-01 8.69310168e-01 -5.31052993e-03 2.57841991e+02] [ 1.09629305e-02 -1.24340935e-04 9.99939898e-01 2.08063687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.030385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.13, Y:257.86, Z:20.81 [[ 8.68516475e-01 -4.95567367e-01 -9.59782354e-03 2.99128719e+02] [ 4.95539055e-01 8.68569492e-01 -5.29933250e-03 2.57857339e+02] [ 1.09625530e-02 -1.53538830e-04 9.99939898e-01 2.08070870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.060385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.16, Y:257.87, Z:20.81 [[ 8.69598728e-01 -4.93666410e-01 -9.56702461e-03 2.99155859e+02] [ 4.93637369e-01 8.69651350e-01 -5.35506955e-03 2.57870366e+02] [ 1.09635938e-02 -6.58791935e-05 9.99939896e-01 2.08063104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.0903857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.18, Y:257.88, Z:20.81 [[ 8.68781046e-01 -4.95103423e-01 -9.59657612e-03 2.99178928e+02] [ 4.95075059e-01 8.68834034e-01 -5.30157734e-03 2.57884801e+02] [ 1.09626610e-02 -1.45115575e-04 9.99939898e-01 2.08077448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.120385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.21, Y:257.90, Z:20.81 [[ 8.69345323e-01 -4.94112557e-01 -9.56505838e-03 2.99206760e+02] [ 4.94083504e-01 8.69397939e-01 -5.35858846e-03 2.57896775e+02] [ 1.09635879e-02 -6.74737452e-05 9.99939896e-01 2.08083162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.150385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.23, Y:257.91, Z:20.81 [[ 8.68324351e-01 -4.95903980e-01 -9.59499876e-03 2.99229923e+02] [ 4.95875633e-01 8.68377348e-01 -5.30443040e-03 2.57911627e+02] [ 1.09625677e-02 -1.51960004e-04 9.99939898e-01 2.08086847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.180385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:299.25, Y:257.93, Z:20.81 [[ 8.66175972e-01 -4.99647343e-01 -9.57692077e-03 2.99251963e+02] [ 4.99618864e-01 8.66228899e-01 -5.33710719e-03 2.57926884e+02] [ 1.09624770e-02 -1.61936263e-04 9.99939897e-01 2.08062784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.210385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:299.28, Y:257.94, Z:20.81 [[ 8.65149214e-01 -5.01423718e-01 -9.54420829e-03 2.99275915e+02] [ 5.01394695e-01 8.65201850e-01 -5.39620364e-03 2.57939691e+02] [ 1.09634512e-02 -1.16894068e-04 9.99939893e-01 2.08067834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.240385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.30, Y:257.95, Z:20.81 [[ 8.64590431e-01 -5.02386554e-01 -9.54660101e-03 2.99301029e+02] [ 5.02357637e-01 8.64643124e-01 -5.39187838e-03 2.57953459e+02] [ 1.09632101e-02 -1.34041465e-04 9.99939893e-01 2.08081855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.270385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:299.33, Y:257.97, Z:20.81 [[ 8.64300226e-01 -5.02885546e-01 -9.55239632e-03 2.99325862e+02] [ 5.02856774e-01 8.64352998e-01 -5.38140078e-03 2.57967266e+02] [ 1.09628711e-02 -1.52341294e-04 9.99939894e-01 2.08088191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.300385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:299.35, Y:257.98, Z:20.81 [[ 8.64225146e-01 -5.03014515e-01 -9.55483003e-03 2.99350837e+02] [ 5.02985801e-01 8.64277949e-01 -5.37700064e-03 2.57981065e+02] [ 1.09627383e-02 -1.59004665e-04 9.99939895e-01 2.08091336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.330385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:299.38, Y:257.99, Z:20.81 [[ 8.65320721e-01 -5.01127512e-01 -9.55337635e-03 2.99379377e+02] [ 5.01098653e-01 8.65373445e-01 -5.37962749e-03 2.57993368e+02] [ 1.09631175e-02 -1.32080884e-04 9.99939895e-01 2.08149738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.360385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.40, Y:258.01, Z:20.81 [[ 8.64611098e-01 -5.02350100e-01 -9.59308864e-03 2.99404108e+02] [ 5.02322110e-01 8.64664284e-01 -5.30785402e-03 2.58009035e+02] [ 1.09612021e-02 -2.29591042e-04 9.99939898e-01 2.08135235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.390385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.43, Y:258.02, Z:20.82 [[ 8.64907310e-01 -5.01840052e-01 -9.58682252e-03 2.99428486e+02] [ 5.01811905e-01 8.64960414e-01 -5.31917501e-03 2.58022000e+02] [ 1.09615970e-02 -2.10188324e-04 9.99939898e-01 2.08156987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.420385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.45, Y:258.04, Z:20.81 [[ 8.65381001e-01 -5.01022684e-01 -9.59132840e-03 2.99451994e+02] [ 5.00994577e-01 8.65434126e-01 -5.31103773e-03 2.58036360e+02] [ 1.09616133e-02 -2.09132367e-04 9.99939898e-01 2.08148634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.450385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.48, Y:258.05, Z:20.81 [[ 8.65873927e-01 -5.00170332e-01 -9.59068340e-03 2.99476789e+02] [ 5.00142161e-01 8.65927018e-01 -5.31220220e-03 2.58050878e+02] [ 1.09618378e-02 -1.97007737e-04 9.99939898e-01 2.08148781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.480385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.50, Y:258.06, Z:20.82 [[ 8.67523966e-01 -4.97302701e-01 -9.60170624e-03 2.99500867e+02] [ 4.97274574e-01 8.67577080e-01 -5.29230920e-03 2.58064790e+02] [ 1.09620999e-02 -1.83479314e-04 9.99939898e-01 2.08154995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.510385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:299.52, Y:258.08, Z:20.81 [[ 8.67792947e-01 -4.96833439e-01 -9.58822264e-03 2.99523901e+02] [ 4.96805015e-01 8.67845903e-01 -5.31662609e-03 2.58078974e+02] [ 1.09625774e-02 -1.49746462e-04 9.99939898e-01 2.08141285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.540385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:299.55, Y:258.09, Z:20.81 [[ 8.68597318e-01 -4.95426239e-01 -9.56765064e-03 2.99550650e+02] [ 4.95397320e-01 8.68650006e-01 -5.35371573e-03 2.58093128e+02] [ 1.09633110e-02 -8.95653546e-05 9.99939897e-01 2.08148624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.570385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:299.57, Y:258.11, Z:20.81 [[ 8.69625810e-01 -4.93618333e-01 -9.58605922e-03 2.99574513e+02] [ 4.93589669e-01 8.69678636e-01 -5.32052557e-03 2.58107725e+02] [ 1.09630999e-02 -1.04713439e-04 9.99939898e-01 2.08147695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.600385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.60, Y:258.12, Z:20.81 [[ 8.69586418e-01 -4.93687933e-01 -9.57533423e-03 2.99598439e+02] [ 4.93659061e-01 8.69639131e-01 -5.33985402e-03 2.58122097e+02] [ 1.09633068e-02 -8.34859788e-05 9.99939898e-01 2.08135091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.630385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.62, Y:258.13, Z:20.81 [[ 8.70177776e-01 -4.92645159e-01 -9.55953433e-03 2.99623507e+02] [ 4.92615911e-01 8.70230283e-01 -5.36831567e-03 2.58134151e+02] [ 1.09636710e-02 -3.77897198e-05 9.99939896e-01 2.08147256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.660385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.65, Y:258.15, Z:20.82 [[ 8.69946045e-01 -4.93054012e-01 -9.57183854e-03 2.99648791e+02] [ 4.93025032e-01 8.69998699e-01 -5.34614909e-03 2.58147113e+02] [ 1.09634273e-02 -6.82947455e-05 9.99939897e-01 2.08161952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.690385723 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:299.67, Y:258.16, Z:20.82 [[ 8.69328996e-01 -4.94141169e-01 -9.57089205e-03 2.99673941e+02] [ 4.94112236e-01 8.69381676e-01 -5.34785304e-03 2.58158394e+02] [ 1.09633525e-02 -8.00511658e-05 9.99939897e-01 2.08171442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.720385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.70, Y:258.17, Z:20.82 [[ 8.69389466e-01 -4.94034701e-01 -9.57444210e-03 2.99699831e+02] [ 4.94005832e-01 8.69442181e-01 -5.34146455e-03 2.58169832e+02] [ 1.09632927e-02 -8.60172244e-05 9.99939898e-01 2.08197756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.750385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.73, Y:258.18, Z:20.82 [[ 8.67749554e-01 -4.96909330e-01 -9.58273547e-03 2.99725355e+02] [ 4.96880801e-01 8.67802453e-01 -5.32654435e-03 2.58181368e+02] [ 1.09627309e-02 -1.39370787e-04 9.99939898e-01 2.08209211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.780385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.75, Y:258.19, Z:20.82 [[ 8.66792472e-01 -4.98576985e-01 -9.58127289e-03 2.99750081e+02] [ 4.98548528e-01 8.66845410e-01 -5.32917391e-03 2.58194861e+02] [ 1.09624859e-02 -1.57441669e-04 9.99939898e-01 2.08189763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.810385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:299.78, Y:258.21, Z:20.82 [[ 8.65009468e-01 -5.01664246e-01 -9.57103574e-03 2.99775352e+02] [ 5.01635774e-01 8.65062399e-01 -5.34756637e-03 2.58206940e+02] [ 1.09622260e-02 -1.75478384e-04 9.99939898e-01 2.08179574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.8403857229999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:299.80, Y:258.22, Z:20.82 [[ 8.64800231e-01 -5.02024697e-01 -9.57938142e-03 2.99801975e+02] [ 5.01996413e-01 8.64853262e-01 -5.33257430e-03 2.58219478e+02] [ 1.09618433e-02 -1.97203623e-04 9.99939898e-01 2.08202636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.870385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.83, Y:258.23, Z:20.82 [[ 8.63942730e-01 -5.03498965e-01 -9.57867295e-03 2.99827522e+02] [ 5.03470758e-01 8.63995802e-01 -5.33384659e-03 2.58231171e+02] [ 1.09615195e-02 -2.14443744e-04 9.99939898e-01 2.08189089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.900385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.85, Y:258.24, Z:20.82 [[ 8.63561895e-01 -5.04151874e-01 -9.57821855e-03 2.99853757e+02] [ 5.04123698e-01 8.63614983e-01 -5.33466244e-03 2.58244323e+02] [ 1.09613731e-02 -2.21795749e-04 9.99939898e-01 2.08198416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.930385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:299.88, Y:258.26, Z:20.82 [[ 8.63920677e-01 -5.03536838e-01 -9.57683260e-03 2.99878819e+02] [ 5.03508597e-01 8.63973731e-01 -5.33714936e-03 2.58256666e+02] [ 1.09615831e-02 -2.11143856e-04 9.99939898e-01 2.08165561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.960385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.90, Y:258.27, Z:20.82 [[ 8.64012555e-01 -5.03379188e-01 -9.57596495e-03 2.99904762e+02] [ 5.03350919e-01 8.64065594e-01 -5.33870520e-03 2.58269981e+02] [ 1.09616549e-02 -2.07362441e-04 9.99939898e-01 2.08172718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.990385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.93, Y:258.28, Z:20.82 [[ 8.65293434e-01 -5.01174234e-01 -9.57396918e-03 2.99930342e+02] [ 5.01145790e-01 8.65346380e-01 -5.34228185e-03 2.58279862e+02] [ 1.09622136e-02 -1.75312943e-04 9.99939898e-01 2.08181192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.020385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.96, Y:258.29, Z:20.82 [[ 8.65852731e-01 -5.00207356e-01 -9.57333221e-03 2.99955631e+02] [ 5.00178841e-01 8.65905639e-01 -5.34342305e-03 2.58292027e+02] [ 1.09624219e-02 -1.61760769e-04 9.99939898e-01 2.08181757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.050385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:299.98, Y:258.30, Z:20.82 [[ 8.67110098e-01 -4.98024535e-01 -9.57288071e-03 2.99981546e+02] [ 4.97995878e-01 8.67162929e-01 -5.34423181e-03 2.58302979e+02] [ 1.09628058e-02 -1.33217761e-04 9.99939898e-01 2.08180244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.080385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.01, Y:258.32, Z:20.82 [[ 8.68070317e-01 -4.96348983e-01 -9.57146345e-03 3.00007003e+02] [ 4.96320196e-01 8.68123076e-01 -5.34676891e-03 2.58315639e+02] [ 1.09630716e-02 -1.09139232e-04 9.99939898e-01 2.08187109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.110385723 meters Centerline goodness : 0.997972 Centerline is valid? [True, True] Translation: X:300.04, Y:258.33, Z:20.82 [[ 8.69868161e-01 -4.93191625e-01 -9.56053452e-03 3.00037736e+02] [ 4.93162431e-01 8.69920697e-01 -5.36631507e-03 2.58326802e+02] [ 1.09635285e-02 -4.69098265e-05 9.99939898e-01 2.08195601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.140385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:300.06, Y:258.34, Z:20.82 [[ 8.69889575e-01 -4.93153100e-01 -9.59940708e-03 3.00062104e+02] [ 4.93124669e-01 8.69942529e-01 -5.29679617e-03 2.58338531e+02] [ 1.09630639e-02 -1.26076676e-04 9.99939896e-01 2.08242629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.170385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:300.09, Y:258.35, Z:20.82 [[ 8.70100572e-01 -4.92781338e-01 -9.56807045e-03 3.00087873e+02] [ 4.92752269e-01 8.70153176e-01 -5.35276745e-03 2.58350165e+02] [ 1.09634308e-02 -5.72424031e-05 9.99939898e-01 2.08234576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.200385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:300.11, Y:258.36, Z:20.83 [[ 8.70715537e-01 -4.91693766e-01 -9.57572355e-03 3.00114327e+02] [ 4.91664781e-01 8.70768188e-01 -5.33910584e-03 2.58360151e+02] [ 1.09634405e-02 -5.92036141e-05 9.99939898e-01 2.08252725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.230385723 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:300.14, Y:258.37, Z:20.83 [[ 8.70614920e-01 -4.91872141e-01 -9.56338774e-03 3.00141086e+02] [ 4.91842925e-01 8.70667443e-01 -5.36111100e-03 2.58372929e+02] [ 1.09635115e-02 -3.62213814e-05 9.99939898e-01 2.08263520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.260385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:300.17, Y:258.39, Z:20.83 [[ 8.70404926e-01 -4.92243442e-01 -9.57381363e-03 3.00166568e+02] [ 4.92214453e-01 8.70457575e-01 -5.34251256e-03 2.58385402e+02] [ 1.09634154e-02 -6.22201802e-05 9.99939898e-01 2.08269537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.290385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.19, Y:258.40, Z:20.82 [[ 8.68803093e-01 -4.95065188e-01 -9.57313996e-03 3.00192232e+02] [ 4.95036357e-01 8.68855828e-01 -5.34371352e-03 2.58398786e+02] [ 1.09631650e-02 -9.64174875e-05 9.99939898e-01 2.08214630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.320385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:300.22, Y:258.41, Z:20.83 [[ 8.70168069e-01 -4.92662080e-01 -9.57113022e-03 3.00218707e+02] [ 4.92633064e-01 8.70220702e-01 -5.34729358e-03 2.58409539e+02] [ 1.09634044e-02 -6.20110811e-05 9.99939898e-01 2.08257845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.350385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.24, Y:258.42, Z:20.83 [[ 8.69589242e-01 -4.93683283e-01 -9.55861301e-03 3.00244421e+02] [ 4.93654083e-01 8.69641773e-01 -5.36957600e-03 2.58418674e+02] [ 1.09634391e-02 -4.93228237e-05 9.99939898e-01 2.08259987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.380385723 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:300.27, Y:258.43, Z:20.83 [[ 8.68679457e-01 -4.95282389e-01 -9.55797693e-03 3.00270545e+02] [ 4.95253274e-01 8.68732036e-01 -5.37070800e-03 2.58429984e+02] [ 1.09633379e-02 -6.81956589e-05 9.99939898e-01 2.08255352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.410385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.30, Y:258.44, Z:20.83 [[ 8.68137072e-01 -4.96232503e-01 -9.55651909e-03 3.00295787e+02] [ 4.96203416e-01 8.68189667e-01 -5.37330081e-03 2.58443259e+02] [ 1.09632776e-02 -7.72157864e-05 9.99939898e-01 2.08254156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.440385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.32, Y:258.46, Z:20.82 [[ 8.67069808e-01 -4.98095021e-01 -9.55503270e-03 3.00319944e+02] [ 4.98066019e-01 8.67122448e-01 -5.37594266e-03 2.58455244e+02] [ 1.09631136e-02 -9.77195256e-05 9.99939898e-01 2.08246687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.470385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.34, Y:258.47, Z:20.82 [[ 8.66641033e-01 -4.98840697e-01 -9.55402369e-03 3.00344551e+02] [ 4.98811720e-01 8.66693688e-01 -5.37773526e-03 2.58467779e+02] [ 1.09630452e-02 -1.05092953e-04 9.99939898e-01 2.08248214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.500385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.37, Y:258.48, Z:20.83 [[ 8.66152679e-01 -4.99688188e-01 -9.55256274e-03 3.00369814e+02] [ 4.99659234e-01 8.66205347e-01 -5.38032912e-03 2.58481028e+02] [ 1.09629678e-02 -1.12839697e-04 9.99939899e-01 2.08250049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.530385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.39, Y:258.49, Z:20.83 [[ 8.65420168e-01 -5.00955796e-01 -9.55109572e-03 3.00394704e+02] [ 5.00926890e-01 8.65472862e-01 -5.38293209e-03 2.58493187e+02] [ 1.09628252e-02 -1.25902687e-04 9.99939899e-01 2.08254556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.560385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.42, Y:258.51, Z:20.83 [[ 8.65721679e-01 -5.00434591e-01 -9.54963680e-03 3.00419454e+02] [ 5.00405625e-01 8.65774339e-01 -5.38551906e-03 2.58506176e+02] [ 1.09629305e-02 -1.16331366e-04 9.99939899e-01 2.08271736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.5903857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.45, Y:258.52, Z:20.83 [[ 8.65987458e-01 -4.99974535e-01 -9.54918524e-03 3.00445281e+02] [ 4.99945533e-01 8.66040098e-01 -5.38631962e-03 2.58520461e+02] [ 1.09630000e-02 -1.09587266e-04 9.99939899e-01 2.08270774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.620385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.47, Y:258.54, Z:20.83 [[ 8.66321269e-01 -4.99395496e-01 -9.57066783e-03 3.00466562e+02] [ 4.99366878e-01 8.66374121e-01 -5.34823661e-03 2.58536512e+02] [ 1.09626642e-02 -1.45983396e-04 9.99939898e-01 2.08293991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.650385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.49, Y:258.55, Z:20.83 [[ 8.66683136e-01 -4.98767673e-01 -9.54725999e-03 3.00490400e+02] [ 4.98738559e-01 8.66735715e-01 -5.38970104e-03 2.58551944e+02] [ 1.09631599e-02 -9.04236977e-05 9.99939899e-01 2.08300406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.680385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:300.51, Y:258.57, Z:20.83 [[ 8.67137467e-01 -4.97977401e-01 -9.54580607e-03 3.00513109e+02] [ 4.97948211e-01 8.67190004e-01 -5.39227488e-03 2.58568093e+02] [ 1.09632586e-02 -7.74734780e-05 9.99939899e-01 2.08306169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.710385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:300.54, Y:258.58, Z:20.83 [[ 8.66854145e-01 -4.98470459e-01 -9.54431997e-03 3.00536794e+02] [ 4.98441270e-01 8.66906682e-01 -5.39490400e-03 2.58582884e+02] [ 1.09632350e-02 -8.06880739e-05 9.99939899e-01 2.08311725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.740385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:300.56, Y:258.60, Z:20.83 [[ 8.65747199e-01 -5.00390570e-01 -9.54284250e-03 3.00559766e+02] [ 5.00361469e-01 8.65799785e-01 -5.39751616e-03 2.58598159e+02] [ 1.09630572e-02 -1.01986194e-04 9.99939899e-01 2.08311324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.770385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.58, Y:258.61, Z:20.83 [[ 8.64692557e-01 -5.02210840e-01 -9.54220229e-03 3.00582499e+02] [ 5.02181838e-01 8.64745197e-01 -5.39864776e-03 2.58612648e+02] [ 1.09628330e-02 -1.23750146e-04 9.99939899e-01 2.08310178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.800385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.61, Y:258.63, Z:20.83 [[ 8.63026171e-01 -5.05069090e-01 -9.54156769e-03 3.00605310e+02] [ 5.05040250e-01 8.63078901e-01 -5.39976912e-03 2.58628726e+02] [ 1.09623822e-02 -1.58733656e-04 9.99939899e-01 2.08315003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.830385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.63, Y:258.64, Z:20.83 [[ 8.61797859e-01 -5.07162141e-01 -9.54006295e-03 3.00629669e+02] [ 5.07133399e-01 8.61850642e-01 -5.40242631e-03 2.58643058e+02] [ 1.09620155e-02 -1.82285127e-04 9.99939899e-01 2.08304186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.860385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:300.66, Y:258.66, Z:20.83 [[ 8.61399117e-01 -5.07839106e-01 -9.53959745e-03 3.00655582e+02] [ 5.07810397e-01 8.61451917e-01 -5.40324817e-03 2.58657261e+02] [ 1.09618852e-02 -1.89953564e-04 9.99939899e-01 2.08282398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.890385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.68, Y:258.67, Z:20.83 [[ 8.60406539e-01 -5.09518660e-01 -9.55629381e-03 3.00678497e+02] [ 5.09490380e-01 8.60459572e-01 -5.37377422e-03 2.58672911e+02] [ 1.09608427e-02 -2.45209282e-04 9.99939898e-01 2.08305392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.920385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:300.70, Y:258.69, Z:20.83 [[ 8.60705055e-01 -5.09014582e-01 -9.53753942e-03 3.00701393e+02] [ 5.08985904e-01 8.60757873e-01 -5.40685643e-03 2.58688748e+02] [ 1.09616809e-02 -2.00764462e-04 9.99939899e-01 2.08302341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.950385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.73, Y:258.70, Z:20.83 [[ 8.61317054e-01 -5.07978342e-01 -9.53608565e-03 3.00725324e+02] [ 5.07949572e-01 8.61369822e-01 -5.40941924e-03 2.58703517e+02] [ 1.09619642e-02 -1.84625583e-04 9.99939899e-01 2.08298569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.980385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.75, Y:258.72, Z:20.83 [[ 8.63458930e-01 -5.04329027e-01 -9.53463271e-03 3.00750927e+02] [ 5.04300006e-01 8.63511560e-01 -5.41197898e-03 2.58718415e+02] [ 1.09626837e-02 -1.35293764e-04 9.99939899e-01 2.08281284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.010385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.78, Y:258.73, Z:20.83 [[ 8.64877080e-01 -5.01892758e-01 -9.55486524e-03 3.00776998e+02] [ 5.01863982e-01 8.64929846e-01 -5.37635122e-03 2.58732570e+02] [ 1.09626399e-02 -1.45359771e-04 9.99939898e-01 2.08304422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.040385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.80, Y:258.75, Z:20.83 [[ 8.66147322e-01 -4.99697099e-01 -9.57211986e-03 3.00797146e+02] [ 4.99668525e-01 8.66200200e-01 -5.34598809e-03 2.58748278e+02] [ 1.09627469e-02 -1.52473745e-04 9.99939896e-01 2.08327015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.070385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:300.82, Y:258.76, Z:20.83 [[ 8.66906438e-01 -4.98379789e-01 -9.52956887e-03 3.00821324e+02] [ 4.98350310e-01 8.66958813e-01 -5.42079139e-03 2.58762493e+02] [ 1.09633566e-02 -4.97446465e-05 9.99939899e-01 2.08332388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.100385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.85, Y:258.78, Z:20.83 [[ 8.67907019e-01 -4.96635301e-01 -9.52810606e-03 3.00845300e+02] [ 4.96605689e-01 8.67959318e-01 -5.42336134e-03 2.58776888e+02] [ 1.09634411e-02 -2.47383021e-05 9.99939899e-01 2.08344513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.130385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.87, Y:258.79, Z:20.84 [[ 8.67888437e-01 -4.96667800e-01 -9.52665311e-03 3.00869381e+02] [ 4.96638161e-01 8.67940722e-01 -5.42591239e-03 2.58791208e+02] [ 1.09634461e-02 -2.22128548e-05 9.99939899e-01 2.08351483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.160385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:300.89, Y:258.81, Z:20.83 [[ 8.67217942e-01 -4.97837636e-01 -9.52519353e-03 3.00892009e+02] [ 4.97808040e-01 8.67270250e-01 -5.42847348e-03 2.58805862e+02] [ 1.09634154e-02 -3.40483270e-05 9.99939899e-01 2.08348722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.190385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:300.92, Y:258.82, Z:20.84 [[ 8.67086592e-01 -4.98066385e-01 -9.52456141e-03 3.00916800e+02] [ 4.98036791e-01 8.67138902e-01 -5.42958234e-03 2.58820084e+02] [ 1.09634102e-02 -3.56639465e-05 9.99939899e-01 2.08351851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.220385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:300.94, Y:258.83, Z:20.83 [[ 8.65358710e-01 -5.01062484e-01 -9.52312845e-03 3.00940812e+02] [ 5.01033043e-01 8.65411106e-01 -5.43209449e-03 2.58834100e+02] [ 1.09632399e-02 -7.06917457e-05 9.99939899e-01 2.08349081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.250385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.97, Y:258.85, Z:20.83 [[ 8.64445567e-01 -5.02636251e-01 -9.52164009e-03 3.00966777e+02] [ 5.02606877e-01 8.64498000e-01 -5.43470210e-03 2.58847929e+02] [ 1.09631171e-02 -8.76376480e-05 9.99939899e-01 2.08334897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.280385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:300.99, Y:258.86, Z:20.83 [[ 8.63390452e-01 -5.04446269e-01 -9.53360729e-03 3.00989761e+02] [ 5.04417235e-01 8.63443075e-01 -5.41374140e-03 2.58861576e+02] [ 1.09626688e-02 -1.34743203e-04 9.99939899e-01 2.08344837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.310385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.02, Y:258.88, Z:20.83 [[ 8.61854440e-01 -5.07066361e-01 -9.51998991e-03 3.01015844e+02] [ 5.07037225e-01 8.61907005e-01 -5.43758238e-03 2.58875887e+02] [ 1.09625611e-02 -1.40584748e-04 9.99939899e-01 2.08315359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.3403857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.04, Y:258.89, Z:20.83 [[ 8.60445698e-01 -5.09452930e-01 -9.53486138e-03 3.01038450e+02] [ 5.09424227e-01 8.60498502e-01 -5.41153827e-03 2.58890510e+02] [ 1.09616580e-02 -2.00954572e-04 9.99939899e-01 2.08323285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.370385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.06, Y:258.90, Z:20.83 [[ 8.59733460e-01 -5.10654254e-01 -9.51901099e-03 3.01061884e+02] [ 5.10625318e-01 8.59786136e-01 -5.43927949e-03 2.58904958e+02] [ 1.09619049e-02 -1.84317438e-04 9.99939900e-01 2.08333599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.400385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.09, Y:258.92, Z:20.83 [[ 8.58536355e-01 -5.12664337e-01 -9.51866634e-03 3.01085703e+02] [ 5.12635518e-01 8.58589095e-01 -5.43988255e-03 2.58919898e+02] [ 1.09614569e-02 -2.09269514e-04 9.99939900e-01 2.08332409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.430385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:301.11, Y:258.93, Z:20.83 [[ 8.57982039e-01 -5.13591516e-01 -9.51718203e-03 3.01110185e+02] [ 5.13562724e-01 8.58034794e-01 -5.44247813e-03 2.58934115e+02] [ 1.09612839e-02 -2.18121452e-04 9.99939900e-01 2.08339349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.460385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.13, Y:258.95, Z:20.83 [[ 8.57135359e-01 -5.15003329e-01 -9.51567778e-03 3.01134095e+02] [ 5.14974596e-01 8.57188146e-01 -5.44510691e-03 2.58949291e+02] [ 1.09609744e-02 -2.33138652e-04 9.99939900e-01 2.08343196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.490385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.16, Y:258.96, Z:20.83 [[ 8.57180469e-01 -5.14928273e-01 -9.51409993e-03 3.01157012e+02] [ 5.14899504e-01 8.57233236e-01 -5.44786247e-03 2.58963664e+02] [ 1.09610611e-02 -2.29004027e-04 9.99939900e-01 2.08336746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.520385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:301.18, Y:258.98, Z:20.83 [[ 8.57018012e-01 -5.15198631e-01 -9.51303054e-03 3.01180723e+02] [ 5.15169858e-01 8.57070778e-01 -5.44972918e-03 2.58978749e+02] [ 1.09610335e-02 -2.30310518e-04 9.99939900e-01 2.08335560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.550385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:301.20, Y:258.99, Z:20.83 [[ 8.57086190e-01 -5.15085229e-01 -9.51152825e-03 3.01204590e+02] [ 5.15056420e-01 8.57138936e-01 -5.45234990e-03 2.58994850e+02] [ 1.09611261e-02 -2.25839885e-04 9.99939900e-01 2.08340989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.580385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.23, Y:259.01, Z:20.84 [[ 8.57230854e-01 -5.14844461e-01 -9.51020870e-03 3.01228146e+02] [ 5.14815612e-01 8.57283578e-01 -5.45465053e-03 2.59009944e+02] [ 1.09612424e-02 -2.20109182e-04 9.99939900e-01 2.08355577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.610385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.25, Y:259.02, Z:20.84 [[ 8.57724452e-01 -5.14021720e-01 -9.50974117e-03 3.01252255e+02] [ 5.13992812e-01 8.57777143e-01 -5.45546553e-03 2.59024742e+02] [ 1.09614664e-02 -2.08652414e-04 9.99939900e-01 2.08364542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.640385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.28, Y:259.04, Z:20.84 [[ 8.58511979e-01 -5.12705349e-01 -9.50825754e-03 3.01275338e+02] [ 5.12676331e-01 8.58564610e-01 -5.45805010e-03 2.59039415e+02] [ 1.09618249e-02 -1.88857200e-04 9.99939900e-01 2.08362065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.670385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:301.30, Y:259.05, Z:20.84 [[ 8.58652663e-01 -5.12469722e-01 -9.50724512e-03 3.01300002e+02] [ 5.12440670e-01 8.58705275e-01 -5.45981303e-03 2.59053651e+02] [ 1.09619104e-02 -1.83816064e-04 9.99939900e-01 2.08367995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.700385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:301.32, Y:259.07, Z:20.84 [[ 8.58734964e-01 -5.12331829e-01 -9.50577608e-03 3.01323210e+02] [ 5.12302740e-01 8.58787555e-01 -5.46236949e-03 2.59067283e+02] [ 1.09619880e-02 -1.79107465e-04 9.99939900e-01 2.08373753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.730385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:301.35, Y:259.08, Z:20.84 [[ 8.58691738e-01 -5.12404285e-01 -9.50513971e-03 3.01347168e+02] [ 5.12375189e-01 8.58744326e-01 -5.46347663e-03 2.59082905e+02] [ 1.09619936e-02 -1.78755504e-04 9.99939900e-01 2.08388149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.760385723 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:301.37, Y:259.10, Z:20.84 [[ 8.59009437e-01 -5.11871535e-01 -9.50364897e-03 3.01369680e+02] [ 5.11842377e-01 8.59061991e-01 -5.46606853e-03 2.59099868e+02] [ 1.09621485e-02 -1.68965825e-04 9.99939900e-01 2.08391812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.790385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.39, Y:259.12, Z:20.84 [[ 8.59227373e-01 -5.11505636e-01 -9.50295014e-03 3.01393029e+02] [ 5.11476442e-01 8.59279907e-01 -5.46728319e-03 2.59115163e+02] [ 1.09622403e-02 -1.62895751e-04 9.99939900e-01 2.08397757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.820385723 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:301.42, Y:259.13, Z:20.84 [[ 8.59423718e-01 -5.11175698e-01 -9.50145483e-03 3.01416713e+02] [ 5.11146456e-01 8.59476225e-01 -5.46988063e-03 2.59130334e+02] [ 1.09623446e-02 -1.55689805e-04 9.99939900e-01 2.08401468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.850385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.44, Y:259.15, Z:20.84 [[ 8.59674665e-01 -5.10753582e-01 -9.49995951e-03 3.01439823e+02] [ 5.10724285e-01 8.59727141e-01 -5.47247642e-03 2.59145914e+02] [ 1.09624600e-02 -1.47310695e-04 9.99939900e-01 2.08399810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.880385723 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:301.46, Y:259.16, Z:20.84 [[ 8.58448724e-01 -5.12811435e-01 -9.49847178e-03 3.01461372e+02] [ 5.12782235e-01 8.58501254e-01 -5.47505744e-03 2.59162991e+02] [ 1.09621220e-02 -1.70591518e-04 9.99939900e-01 2.08357535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.910385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:301.49, Y:259.18, Z:20.84 [[ 8.58443370e-01 -5.12820915e-01 -9.47043643e-03 3.01485517e+02] [ 5.12791179e-01 8.58495600e-01 -5.52366797e-03 2.59177749e+02] [ 1.09629805e-02 -1.14600113e-04 9.99939898e-01 2.08357573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.940385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:301.51, Y:259.19, Z:20.84 [[ 8.59756750e-01 -5.10616065e-01 -9.46385598e-03 3.01512664e+02] [ 5.10586070e-01 8.59808832e-01 -5.53507257e-03 2.59191414e+02] [ 1.09634039e-02 -7.32970229e-05 9.99939897e-01 2.08387992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.970385723 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:301.54, Y:259.21, Z:20.84 [[ 8.59135109e-01 -5.11660716e-01 -9.49612041e-03 3.01535229e+02] [ 5.11631400e-01 8.59187575e-01 -5.47915396e-03 2.59207735e+02] [ 1.09624165e-02 -1.51179845e-04 9.99939899e-01 2.08382929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.000385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:301.56, Y:259.22, Z:20.84 [[ 8.58526387e-01 -5.12681605e-01 -9.48761061e-03 3.01557088e+02] [ 5.12652189e-01 8.58578797e-01 -5.49389665e-03 2.59223391e+02] [ 1.09624810e-02 -1.47189105e-04 9.99939899e-01 2.08363975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.030385723 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:301.58, Y:259.24, Z:20.84 [[ 8.58970599e-01 -5.11937483e-01 -9.46164094e-03 3.01581410e+02] [ 5.11907526e-01 8.59022704e-01 -5.53884379e-03 2.59237278e+02] [ 1.09633061e-02 -8.57812349e-05 9.99939897e-01 2.08376133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.060385723 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:301.61, Y:259.25, Z:20.84 [[ 8.59203967e-01 -5.11545479e-01 -9.47454408e-03 3.01606768e+02] [ 5.11515744e-01 8.59256197e-01 -5.51651880e-03 2.59251492e+02] [ 1.09630110e-02 -1.06563634e-04 9.99939899e-01 2.08379967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.0903857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.63, Y:259.27, Z:20.84 [[ 8.59533725e-01 -5.10991070e-01 -9.48165246e-03 3.01630706e+02] [ 5.10961437e-01 8.59586013e-01 -5.50422541e-03 2.59265056e+02] [ 1.09629059e-02 -1.13691392e-04 9.99939899e-01 2.08393906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.120385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.65, Y:259.28, Z:20.84 [[ 8.57894091e-01 -5.13738898e-01 -9.49074153e-03 3.01654873e+02] [ 5.13709606e-01 8.57946570e-01 -5.48850858e-03 2.59280917e+02] [ 1.09622095e-02 -1.66926016e-04 9.99939899e-01 2.08384133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.150385723 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:301.68, Y:259.30, Z:20.84 [[ 8.56479012e-01 -5.16094439e-01 -9.49908802e-03 3.01677104e+02] [ 5.16065452e-01 8.56531660e-01 -5.47408274e-03 2.59295779e+02] [ 1.09614133e-02 -2.13714176e-04 9.99939899e-01 2.08390002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.180385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:301.70, Y:259.31, Z:20.84 [[ 8.55319732e-01 -5.18013632e-01 -9.48864576e-03 3.01701916e+02] [ 5.17984562e-01 8.55372334e-01 -5.49212366e-03 2.59310730e+02] [ 1.09613200e-02 -2.17450287e-04 9.99939899e-01 2.08401601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.210385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:301.73, Y:259.33, Z:20.84 [[ 8.54549375e-01 -5.19283413e-01 -9.49228357e-03 3.01726027e+02] [ 5.19254491e-01 8.54602059e-01 -5.48584069e-03 2.59325269e+02] [ 1.09608312e-02 -2.40989147e-04 9.99939899e-01 2.08401181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.240385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.75, Y:259.34, Z:20.84 [[ 8.53583427e-01 -5.20869787e-01 -9.48677361e-03 3.01749122e+02] [ 5.20840857e-01 8.53636107e-01 -5.49535268e-03 2.59340422e+02] [ 1.09606157e-02 -2.50357327e-04 9.99939899e-01 2.08411731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.270385723 meters Centerline goodness : 0.999161 Centerline is valid? [True, True] Translation: X:301.77, Y:259.36, Z:20.84 [[ 8.53985920e-01 -5.20209629e-01 -9.48631501e-03 3.01772495e+02] [ 5.20180650e-01 8.54038573e-01 -5.49614423e-03 2.59356446e+02] [ 1.09608261e-02 -2.40967725e-04 9.99939899e-01 2.08416858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.300385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.79, Y:259.37, Z:20.84 [[ 8.53341678e-01 -5.21265890e-01 -9.47907634e-03 3.01794020e+02] [ 5.21236838e-01 8.53394290e-01 -5.50863405e-03 2.59373049e+02] [ 1.09608527e-02 -2.40096753e-04 9.99939899e-01 2.08396498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.330385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.82, Y:259.39, Z:20.84 [[ 8.55428696e-01 -5.17834344e-01 -9.45185732e-03 3.01821259e+02] [ 5.17804561e-01 8.55480901e-01 -5.55566469e-03 2.59386711e+02] [ 1.09627974e-02 -1.41739820e-04 9.99939897e-01 2.08418643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.360385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.84, Y:259.40, Z:20.84 [[ 8.56932325e-01 -5.15341579e-01 -9.48933192e-03 3.01843855e+02] [ 5.15312359e-01 8.56984844e-01 -5.49090144e-03 2.59401176e+02] [ 1.09619035e-02 -1.84639080e-04 9.99939899e-01 2.08419785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.390385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:301.87, Y:259.42, Z:20.84 [[ 8.57598268e-01 -5.14232609e-01 -9.48867247e-03 3.01867947e+02] [ 5.14203308e-01 8.57650742e-01 -5.49204078e-03 2.59416101e+02] [ 1.09621534e-02 -1.69142112e-04 9.99939899e-01 2.08424176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.420385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.89, Y:259.43, Z:20.84 [[ 8.59283103e-01 -5.11412301e-01 -9.48720710e-03 3.01891139e+02] [ 5.11382800e-01 8.59335465e-01 -5.49457097e-03 2.59432480e+02] [ 1.09626847e-02 -1.30202535e-04 9.99939899e-01 2.08423780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.450385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.92, Y:259.45, Z:20.84 [[ 8.60005059e-01 -5.10197334e-01 -9.48572439e-03 3.01915146e+02] [ 5.10167731e-01 8.60057363e-01 -5.49712949e-03 2.59447343e+02] [ 1.09628879e-02 -1.11751319e-04 9.99939900e-01 2.08421975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.480385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.94, Y:259.46, Z:20.84 [[ 8.61193170e-01 -5.08189308e-01 -9.48424221e-03 3.01939349e+02] [ 5.08159555e-01 8.61245389e-01 -5.49968553e-03 2.59461491e+02] [ 1.09631413e-02 -8.32166863e-05 9.99939900e-01 2.08415225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.510385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.96, Y:259.48, Z:20.84 [[ 8.60225827e-01 -5.09825072e-01 -9.48275008e-03 3.01960874e+02] [ 5.09795390e-01 8.60278086e-01 -5.50225710e-03 2.59476733e+02] [ 1.09629907e-02 -1.01078615e-04 9.99939900e-01 2.08414890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.540385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.99, Y:259.49, Z:20.84 [[ 8.60718196e-01 -5.08994032e-01 -9.44791078e-03 3.01988508e+02] [ 5.08963639e-01 8.60770048e-01 -5.56225964e-03 2.59488833e+02] [ 1.09636356e-02 -2.11049790e-05 9.99939897e-01 2.08423407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.570385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.01, Y:259.50, Z:20.84 [[ 8.58147032e-01 -5.13316438e-01 -9.48191661e-03 3.02007702e+02] [ 5.13286953e-01 8.58199402e-01 -5.50367328e-03 2.59504364e+02] [ 1.09625011e-02 -1.43983195e-04 9.99939900e-01 2.08412683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.600385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:302.03, Y:259.52, Z:20.84 [[ 8.56827098e-01 -5.15517654e-01 -9.42726909e-03 3.02034684e+02] [ 5.15487265e-01 8.56878956e-01 -5.59778511e-03 2.59517841e+02] [ 1.09637855e-02 -6.33031830e-05 9.99939894e-01 2.08422598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.630385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:302.06, Y:259.53, Z:20.84 [[ 8.57061010e-01 -5.15128368e-01 -9.44400314e-03 3.02062467e+02] [ 5.15098273e-01 8.57113036e-01 -5.56896883e-03 2.59530093e+02] [ 1.09633120e-02 -9.16436560e-05 9.99939897e-01 2.08443924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.660385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:302.09, Y:259.54, Z:20.84 [[ 8.55853666e-01 -5.17131131e-01 -9.48140496e-03 3.02087325e+02] [ 5.17101869e-01 8.55906161e-01 -5.50454545e-03 2.59542802e+02] [ 1.09617647e-02 -1.91766826e-04 9.99939900e-01 2.08437017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.690385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.11, Y:259.56, Z:20.85 [[ 8.55209383e-01 -5.18195950e-01 -9.47987013e-03 3.02111035e+02] [ 5.18166724e-01 8.55261899e-01 -5.50718745e-03 2.59557860e+02] [ 1.09615740e-02 -2.02354867e-04 9.99939900e-01 2.08459505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.720385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.13, Y:259.57, Z:20.85 [[ 8.55679987e-01 -5.17418506e-01 -9.47888455e-03 3.02134886e+02] [ 5.17389215e-01 8.55732466e-01 -5.50888330e-03 2.59570146e+02] [ 1.09617874e-02 -1.90431439e-04 9.99939900e-01 2.08460203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.750385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:302.16, Y:259.59, Z:20.85 [[ 8.55962407e-01 -5.16951187e-01 -9.47780185e-03 3.02158820e+02] [ 5.16921846e-01 8.56014858e-01 -5.51074541e-03 2.59585226e+02] [ 1.09619256e-02 -1.82291918e-04 9.99939900e-01 2.08477188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.780385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.18, Y:259.60, Z:20.85 [[ 8.56339883e-01 -5.16325595e-01 -9.48077685e-03 3.02182887e+02] [ 5.16296272e-01 8.56392344e-01 -5.50563027e-03 2.59600137e+02] [ 1.09619625e-02 -1.80198965e-04 9.99939900e-01 2.08456043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.810385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.21, Y:259.62, Z:20.84 [[ 8.56507455e-01 -5.16047657e-01 -9.47599674e-03 3.02206457e+02] [ 5.16018226e-01 8.56559856e-01 -5.51384529e-03 2.59615901e+02] [ 1.09621653e-02 -1.67137432e-04 9.99939900e-01 2.08428390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.8403857229999 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:302.23, Y:259.63, Z:20.84 [[ 8.57775291e-01 -5.13937540e-01 -9.47396812e-03 3.02232072e+02] [ 5.13907941e-01 8.57827597e-01 -5.51733108e-03 2.59628453e+02] [ 1.09625949e-02 -1.36117182e-04 9.99939900e-01 2.08446420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.870385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.26, Y:259.64, Z:20.85 [[ 8.58068377e-01 -5.13448033e-01 -9.47507477e-03 3.02255655e+02] [ 5.13418426e-01 8.58120679e-01 -5.51542993e-03 2.59641412e+02] [ 1.09626442e-02 -1.32061969e-04 9.99939900e-01 2.08450157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.900385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.28, Y:259.66, Z:20.85 [[ 8.57950407e-01 -5.13645144e-01 -9.47441199e-03 3.02280324e+02] [ 5.13615536e-01 8.58002709e-01 -5.51656822e-03 2.59656299e+02] [ 1.09626296e-02 -1.33263248e-04 9.99939900e-01 2.08462499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.930385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.30, Y:259.67, Z:20.84 [[ 8.58633279e-01 -5.12502833e-01 -9.47301833e-03 3.02303669e+02] [ 5.12473130e-01 8.58685526e-01 -5.51896038e-03 2.59669542e+02] [ 1.09628266e-02 -1.15904298e-04 9.99939900e-01 2.08447085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.960385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.33, Y:259.68, Z:20.85 [[ 8.58234041e-01 -5.13171312e-01 -9.46232541e-03 3.02328829e+02] [ 5.13141447e-01 8.58286196e-01 -5.53729736e-03 2.59684440e+02] [ 1.09629654e-02 -1.03214260e-04 9.99939900e-01 2.08451085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.990385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:302.36, Y:259.70, Z:20.84 [[ 8.58591099e-01 -5.12573556e-01 -9.46963555e-03 3.02355099e+02] [ 5.12543793e-01 8.58643312e-01 -5.52476756e-03 2.59698370e+02] [ 1.09628890e-02 -1.10086667e-04 9.99939900e-01 2.08441151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.020385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.38, Y:259.71, Z:20.85 [[ 8.58268854e-01 -5.13112693e-01 -9.48358843e-03 3.02378873e+02] [ 5.13083227e-01 8.58321235e-01 -5.50085818e-03 2.59711874e+02] [ 1.09625255e-02 -1.44654902e-04 9.99939899e-01 2.08455061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.050385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.40, Y:259.73, Z:20.85 [[ 8.58239109e-01 -5.13162737e-01 -9.46769105e-03 3.02403290e+02] [ 5.13132973e-01 8.58291321e-01 -5.52808489e-03 2.59725648e+02] [ 1.09628442e-02 -1.13765808e-04 9.99939900e-01 2.08452083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.080385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:302.43, Y:259.74, Z:20.85 [[ 8.57204969e-01 -5.14888369e-01 -9.46617479e-03 3.02428748e+02] [ 5.14858682e-01 8.57257225e-01 -5.53068008e-03 2.59738357e+02] [ 1.09626296e-02 -1.32815825e-04 9.99939900e-01 2.08456141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.110385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:302.45, Y:259.75, Z:20.85 [[ 8.57064188e-01 -5.15122701e-01 -9.46465782e-03 3.02453383e+02] [ 5.15092999e-01 8.57116436e-01 -5.53327486e-03 2.59752831e+02] [ 1.09626293e-02 -1.32807257e-04 9.99939900e-01 2.08459264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.140385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:302.48, Y:259.77, Z:20.85 [[ 8.56506377e-01 -5.16049682e-01 -9.46314446e-03 3.02477963e+02] [ 5.16020008e-01 8.56558641e-01 -5.53586183e-03 2.59766886e+02] [ 1.09625179e-02 -1.41670922e-04 9.99939900e-01 2.08463394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.170385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.50, Y:259.78, Z:20.85 [[ 8.56434067e-01 -5.16169707e-01 -9.46163471e-03 3.02502585e+02] [ 5.16140012e-01 8.56486319e-01 -5.53844103e-03 2.59780499e+02] [ 1.09625362e-02 -1.40218671e-04 9.99939900e-01 2.08484345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.200385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.53, Y:259.79, Z:20.85 [[ 8.56155473e-01 -5.16631914e-01 -9.44833265e-03 3.02528259e+02] [ 5.16601996e-01 8.56207598e-01 -5.56115966e-03 2.59794541e+02] [ 1.09628068e-02 -1.19810226e-04 9.99939899e-01 2.08489845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.230385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.55, Y:259.81, Z:20.85 [[ 8.56913225e-01 -5.15373867e-01 -9.46053382e-03 3.02552368e+02] [ 5.15344103e-01 8.56965437e-01 -5.54032522e-03 2.59807518e+02] [ 1.09626893e-02 -1.27852363e-04 9.99939900e-01 2.08504965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.260385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:302.58, Y:259.82, Z:20.85 [[ 8.57430293e-01 -5.14513170e-01 -9.45995993e-03 3.02576344e+02] [ 5.14483342e-01 8.57482469e-01 -5.54130495e-03 2.59821430e+02] [ 1.09628242e-02 -1.15709072e-04 9.99939900e-01 2.08509788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.290385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.60, Y:259.84, Z:20.85 [[ 8.58360132e-01 -5.12960449e-01 -9.45842432e-03 3.02600651e+02] [ 5.12930498e-01 8.58412238e-01 -5.54392482e-03 2.59835355e+02] [ 1.09630414e-02 -9.28302527e-05 9.99939900e-01 2.08508025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.320385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:302.63, Y:259.85, Z:20.85 [[ 8.58630979e-01 -5.12506984e-01 -9.45689407e-03 3.02625066e+02] [ 5.12476977e-01 8.58683052e-01 -5.54653392e-03 2.59849269e+02] [ 1.09631120e-02 -8.40146302e-05 9.99939900e-01 2.08511663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.350385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.65, Y:259.86, Z:20.85 [[ 8.58785920e-01 -5.12247344e-01 -9.45534548e-03 3.02648581e+02] [ 5.12217291e-01 8.58837967e-01 -5.54917260e-03 2.59862623e+02] [ 1.09631586e-02 -7.76401556e-05 9.99939900e-01 2.08510066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.380385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.67, Y:259.88, Z:20.85 [[ 8.59061155e-01 -5.11785640e-01 -9.45467452e-03 3.02673639e+02] [ 5.11755547e-01 8.59113179e-01 -5.55031555e-03 2.59875584e+02] [ 1.09632073e-02 -7.04216455e-05 9.99939900e-01 2.08504963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.410385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.70, Y:259.89, Z:20.85 [[ 8.58845813e-01 -5.12146939e-01 -9.45420268e-03 3.02698872e+02] [ 5.12116860e-01 8.58897844e-01 -5.55111915e-03 2.59888164e+02] [ 1.09631830e-02 -7.41011480e-05 9.99939900e-01 2.08504990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.440385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:302.72, Y:259.90, Z:20.85 [[ 8.58754670e-01 -5.12299779e-01 -9.45270085e-03 3.02722597e+02] [ 5.12269681e-01 8.58806690e-01 -5.55367534e-03 2.59901402e+02] [ 1.09631894e-02 -7.30874117e-05 9.99939900e-01 2.08502678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.470385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.75, Y:259.92, Z:20.85 [[ 8.58695334e-01 -5.12399241e-01 -9.45204996e-03 3.02747225e+02] [ 5.12369136e-01 8.58747351e-01 -5.55478291e-03 2.59915230e+02] [ 1.09631894e-02 -7.30725135e-05 9.99939900e-01 2.08505657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.500385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.77, Y:259.93, Z:20.85 [[ 8.59392991e-01 -5.11228299e-01 -9.45056337e-03 3.02772274e+02] [ 5.11198096e-01 8.59444951e-01 -5.55731094e-03 2.59928499e+02] [ 1.09632936e-02 -5.51959260e-05 9.99939900e-01 2.08510897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.530385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.79, Y:259.94, Z:20.85 [[ 8.56566514e-01 -5.15950116e-01 -9.44908333e-03 3.02786415e+02] [ 5.15920172e-01 8.56618623e-01 -5.55982632e-03 2.59944738e+02] [ 1.09628538e-02 -1.12611646e-04 9.99939900e-01 2.08468764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.560385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.82, Y:259.96, Z:20.85 [[ 8.60978840e-01 -5.08555132e-01 -9.33356428e-03 3.02822135e+02] [ 5.08522602e-01 8.61029404e-01 -5.75581048e-03 2.59955388e+02] [ 1.09636202e-02 2.09302634e-04 9.99939876e-01 2.08501319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.5903857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.85, Y:259.97, Z:20.85 [[ 8.61242389e-01 -5.08106558e-01 -9.44850230e-03 3.02846860e+02] [ 5.08076131e-01 8.61294216e-01 -5.56050649e-03 2.59968512e+02] [ 1.09632702e-02 -1.16146026e-05 9.99939901e-01 2.08517905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.620385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:302.87, Y:259.98, Z:20.85 [[ 8.61444304e-01 -5.07764184e-01 -9.44694698e-03 3.02872403e+02] [ 5.07733707e-01 8.61496102e-01 -5.56314764e-03 2.59979896e+02] [ 1.09632751e-02 -4.19156778e-06 9.99939901e-01 2.08534045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.650385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.90, Y:259.99, Z:20.85 [[ 8.60854908e-01 -5.08762804e-01 -9.44646592e-03 3.02897490e+02] [ 5.08732379e-01 8.60906736e-01 -5.56396437e-03 2.59992414e+02] [ 1.09632643e-02 -1.59570499e-05 9.99939901e-01 2.08546789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.680385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.92, Y:260.01, Z:20.86 [[ 8.59732012e-01 -5.10658067e-01 -9.44492163e-03 3.02920054e+02] [ 5.10627728e-01 8.59783890e-01 -5.56658460e-03 2.60006416e+02] [ 1.09632128e-02 -3.70678945e-05 9.99939901e-01 2.08556412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.710385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.95, Y:260.02, Z:20.86 [[ 8.59737273e-01 -5.10649662e-01 -9.42037826e-03 3.02946397e+02] [ 5.10618865e-01 8.59788882e-01 -5.60819922e-03 2.60018369e+02] [ 1.09633615e-02 1.13550484e-05 9.99939900e-01 2.08561061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.740385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.97, Y:260.03, Z:20.86 [[ 8.58265206e-01 -5.13119537e-01 -9.44337031e-03 3.02971799e+02] [ 5.13089317e-01 8.58317154e-01 -5.56921303e-03 2.60030784e+02] [ 1.09630787e-02 -6.54306490e-05 9.99939902e-01 2.08569681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.770385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.00, Y:260.04, Z:20.86 [[ 8.57525000e-01 -5.14355891e-01 -9.42821548e-03 3.02996770e+02] [ 5.14325464e-01 8.57576827e-01 -5.59489714e-03 2.60044480e+02] [ 1.09631874e-02 -5.14071269e-05 9.99939901e-01 2.08572325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.800385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.02, Y:260.06, Z:20.86 [[ 8.56541333e-01 -5.15992393e-01 -9.42313092e-03 3.03023039e+02] [ 5.15961970e-01 8.56593163e-01 -5.60351018e-03 2.60056140e+02] [ 1.09631581e-02 -6.23391115e-05 9.99939901e-01 2.08582206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.830385723 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:303.05, Y:260.07, Z:20.86 [[ 8.55570124e-01 -5.17600841e-01 -9.44100808e-03 3.03046895e+02] [ 5.17570849e-01 8.55622204e-01 -5.57322640e-03 2.60070312e+02] [ 1.09626428e-02 -1.18104566e-04 9.99939901e-01 2.08584218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.860385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.07, Y:260.08, Z:20.86 [[ 8.54376394e-01 -5.19569189e-01 -9.42521584e-03 3.03072236e+02] [ 5.19539022e-01 8.54428373e-01 -5.59996292e-03 2.60084591e+02] [ 1.09627400e-02 -1.12291288e-04 9.99939901e-01 2.08573604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.890385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.10, Y:260.10, Z:20.86 [[ 8.54300658e-01 -5.19693676e-01 -9.42699886e-03 3.03098400e+02] [ 5.19663550e-01 8.54352661e-01 -5.59694476e-03 2.60098212e+02] [ 1.09626784e-02 -1.17394103e-04 9.99939901e-01 2.08579157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.920385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.12, Y:260.11, Z:20.86 [[ 8.54012234e-01 -5.20167296e-01 -9.43866906e-03 3.03121926e+02] [ 5.20137416e-01 8.54064379e-01 -5.57719449e-03 2.60110953e+02] [ 1.09623052e-02 -1.46412615e-04 9.99939901e-01 2.08575403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.950385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.15, Y:260.12, Z:20.86 [[ 8.53694584e-01 -5.20688475e-01 -9.43763818e-03 3.03146606e+02] [ 5.20658608e-01 8.53746736e-01 -5.57893839e-03 2.60123108e+02] [ 1.09622417e-02 -1.51078076e-04 9.99939901e-01 2.08568891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.980385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:303.17, Y:260.14, Z:20.86 [[ 8.53963097e-01 -5.20247998e-01 -9.43661651e-03 3.03170793e+02] [ 5.20218085e-01 8.54015222e-01 -5.58066597e-03 2.60136756e+02] [ 1.09623444e-02 -1.43415781e-04 9.99939901e-01 2.08570715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.010385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.20, Y:260.15, Z:20.86 [[ 8.54105489e-01 -5.20014224e-01 -9.43511146e-03 3.03195344e+02] [ 5.19984269e-01 8.54157590e-01 -5.58320937e-03 2.60151150e+02] [ 1.09624204e-02 -1.37459770e-04 9.99939901e-01 2.08567837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.040385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.22, Y:260.16, Z:20.86 [[ 8.54442862e-01 -5.19459722e-01 -9.43360379e-03 3.03219627e+02] [ 5.19429704e-01 8.54494928e-01 -5.58575563e-03 2.60164931e+02] [ 1.09625417e-02 -1.27384998e-04 9.99939901e-01 2.08564239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.070385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.24, Y:260.18, Z:20.86 [[ 8.55341975e-01 -5.17977934e-01 -9.43210195e-03 3.03244514e+02] [ 5.17947799e-01 8.55393973e-01 -5.58829049e-03 2.60177433e+02] [ 1.09627743e-02 -1.05437013e-04 9.99939901e-01 2.08564299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.100385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.27, Y:260.19, Z:20.86 [[ 8.56371907e-01 -5.16273398e-01 -9.43058383e-03 3.03269912e+02] [ 5.16243131e-01 8.56423827e-01 -5.59085124e-03 2.60188686e+02] [ 1.09629845e-02 -8.06261900e-05 9.99939901e-01 2.08574810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.130385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.29, Y:260.20, Z:20.86 [[ 8.57085681e-01 -5.15087594e-01 -9.42904063e-03 3.03293935e+02] [ 5.15057227e-01 8.57137542e-01 -5.59345265e-03 2.60201595e+02] [ 1.09631028e-02 -6.24273463e-05 9.99939901e-01 2.08576618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.160385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.32, Y:260.21, Z:20.86 [[ 8.58635592e-01 -5.12499782e-01 -9.42837199e-03 3.03318749e+02] [ 5.12469246e-01 8.58687354e-01 -5.59457950e-03 2.60214893e+02] [ 1.09632446e-02 -2.80456067e-05 9.99939901e-01 2.08573461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.190385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.34, Y:260.23, Z:20.86 [[ 8.59451409e-01 -5.11130521e-01 -9.42683586e-03 3.03342725e+02] [ 5.11099874e-01 8.59503107e-01 -5.59716667e-03 2.60228458e+02] [ 1.09632774e-02 -7.56184021e-06 9.99939901e-01 2.08573618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.220385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.37, Y:260.24, Z:20.86 [[ 8.60115748e-01 -5.10011811e-01 -9.42615792e-03 3.03367341e+02] [ 5.09981085e-01 8.60167398e-01 -5.59830814e-03 2.60242149e+02] [ 1.09632770e-02 8.03075159e-06 9.99939901e-01 2.08573977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.250385723 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:303.39, Y:260.26, Z:20.86 [[ 8.61218047e-01 -5.08148259e-01 -9.42461267e-03 3.03392179e+02] [ 5.08117392e-01 8.61269613e-01 -5.60090833e-03 2.60255291e+02] [ 1.09632243e-02 3.47937226e-05 9.99939901e-01 2.08569912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.280385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.42, Y:260.27, Z:20.86 [[ 8.61550648e-01 -5.07584168e-01 -9.42304852e-03 3.03415736e+02] [ 5.07553238e-01 8.61602177e-01 -5.60353864e-03 2.60268066e+02] [ 1.09631866e-02 4.50335538e-05 9.99939901e-01 2.08567603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.310385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.44, Y:260.28, Z:20.86 [[ 8.61552404e-01 -5.07581200e-01 -9.42237454e-03 3.03440998e+02] [ 5.07550258e-01 8.61603925e-01 -5.60467170e-03 2.60280584e+02] [ 1.09631809e-02 4.63897461e-05 9.99939901e-01 2.08567829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.3403857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.47, Y:260.29, Z:20.86 [[ 8.61049248e-01 -5.08434303e-01 -9.42083160e-03 3.03465651e+02] [ 5.08403384e-01 8.61100783e-01 -5.60726402e-03 2.60294608e+02] [ 1.09632108e-02 3.85478069e-05 9.99939901e-01 2.08565588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.370385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.49, Y:260.31, Z:20.86 [[ 8.60329384e-01 -5.09651477e-01 -9.41929474e-03 3.03489781e+02] [ 5.09620603e-01 8.60380945e-01 -5.60984450e-03 2.60307517e+02] [ 1.09632473e-02 2.60474027e-05 9.99939901e-01 2.08567180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.400385723 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:303.51, Y:260.32, Z:20.86 [[ 8.59848464e-01 -5.10462446e-01 -9.41862762e-03 3.03514271e+02] [ 5.10431607e-01 8.59900047e-01 -5.61096434e-03 2.60321267e+02] [ 1.09632649e-02 1.70138373e-05 9.99939901e-01 2.08570855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.430385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:303.54, Y:260.33, Z:20.86 [[ 8.59210514e-01 -5.11535542e-01 -9.41710569e-03 3.03537389e+02] [ 5.11504740e-01 8.59262119e-01 -5.61351751e-03 2.60334590e+02] [ 1.09632759e-02 6.29906454e-06 9.99939901e-01 2.08567756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.460385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:303.56, Y:260.35, Z:20.86 [[ 8.58954782e-01 -5.11964862e-01 -9.41607171e-03 3.03561296e+02] [ 5.11934067e-01 8.59006391e-01 -5.61525135e-03 2.60349536e+02] [ 1.09632772e-02 2.83911360e-06 9.99939901e-01 2.08568924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.490385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:303.59, Y:260.37, Z:20.86 [[ 8.59216972e-01 -5.11524741e-01 -9.41453358e-03 3.03585350e+02] [ 5.11493892e-01 8.59268549e-01 -5.61782901e-03 2.60365005e+02] [ 1.09632711e-02 1.14576175e-05 9.99939901e-01 2.08565491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.520385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.61, Y:260.38, Z:20.86 [[ 8.59113988e-01 -5.11697713e-01 -9.41307999e-03 3.03608289e+02] [ 5.11666846e-01 8.59165555e-01 -5.62026355e-03 2.60379973e+02] [ 1.09632701e-02 1.20860829e-05 9.99939901e-01 2.08558989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.550385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:303.63, Y:260.40, Z:20.86 [[ 8.58716800e-01 -5.12363996e-01 -9.41240901e-03 3.03631349e+02] [ 5.12333158e-01 8.58768383e-01 -5.62138702e-03 2.60396519e+02] [ 1.09632756e-02 4.89024724e-06 9.99939901e-01 2.08556088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.580385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:303.66, Y:260.41, Z:20.86 [[ 8.58145897e-01 -5.13319643e-01 -9.41087321e-03 3.03655280e+02] [ 5.13288834e-01 8.58197497e-01 -5.62395696e-03 2.60411613e+02] [ 1.09632754e-02 -4.32054494e-06 9.99939901e-01 2.08557949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.610385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.68, Y:260.43, Z:20.86 [[ 8.57394708e-01 -5.14573395e-01 -9.40933104e-03 3.03678690e+02] [ 5.14542633e-01 8.57446337e-01 -5.62653595e-03 2.60425954e+02] [ 1.09632621e-02 -1.73398208e-05 9.99939901e-01 2.08561268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.640385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.70, Y:260.44, Z:20.86 [[ 8.55603488e-01 -5.17546283e-01 -9.40828371e-03 3.03702082e+02] [ 5.17515681e-01 8.55655212e-01 -5.62828668e-03 2.60440625e+02] [ 1.09631458e-02 -5.33526357e-05 9.99939901e-01 2.08570602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.670385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.73, Y:260.46, Z:20.86 [[ 8.53482145e-01 -5.21037178e-01 -9.40677746e-03 3.03725221e+02] [ 5.21006760e-01 8.53533977e-01 -5.63080300e-03 2.60455185e+02] [ 1.09628619e-02 -9.52048261e-05 9.99939901e-01 2.08569334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.700385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:303.75, Y:260.47, Z:20.86 [[ 8.52403255e-01 -5.22800360e-01 -9.40612757e-03 3.03748614e+02] [ 5.22770037e-01 8.52455142e-01 -5.63188842e-03 2.60469842e+02] [ 1.09626551e-02 -1.16601641e-04 9.99939901e-01 2.08576631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.730385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.77, Y:260.49, Z:20.85 [[ 8.50195587e-01 -5.26382958e-01 -9.40454769e-03 3.03768224e+02] [ 5.26352825e-01 8.50247585e-01 -5.63452540e-03 2.60486349e+02] [ 1.09621121e-02 -1.59661609e-04 9.99939902e-01 2.08546655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.760385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:303.79, Y:260.50, Z:20.85 [[ 8.48750614e-01 -5.28710531e-01 -9.35792980e-03 3.03792606e+02] [ 5.28679681e-01 8.48802194e-01 -5.71226513e-03 2.60502502e+02] [ 1.09631661e-02 -9.90588095e-05 9.99939898e-01 2.08535512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.790385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:303.82, Y:260.52, Z:20.86 [[ 8.49148204e-01 -5.28071605e-01 -9.36521198e-03 3.03819980e+02] [ 5.28040850e-01 8.49199841e-01 -5.70012261e-03 2.60516166e+02] [ 1.09630094e-02 -1.04965615e-04 9.99939899e-01 2.08563123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.820385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:303.84, Y:260.53, Z:20.86 [[ 8.48198101e-01 -5.29595667e-01 -9.40271711e-03 3.03842811e+02] [ 5.29565697e-01 8.48250193e-01 -5.63756908e-03 2.60531874e+02] [ 1.09614888e-02 -1.97581058e-04 9.99939902e-01 2.08556471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.850385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.87, Y:260.55, Z:20.86 [[ 8.48305809e-01 -5.29423383e-01 -9.38808457e-03 3.03865957e+02] [ 5.29393132e-01 8.48357740e-01 -5.66196866e-03 2.60547784e+02] [ 1.09620328e-02 -1.66906585e-04 9.99939901e-01 2.08576455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.880385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:303.89, Y:260.56, Z:20.86 [[ 8.49169215e-01 -5.28037525e-01 -9.38167223e-03 3.03891067e+02] [ 5.28007072e-01 8.49221027e-01 -5.67265652e-03 2.60562383e+02] [ 1.09624888e-02 -1.36543994e-04 9.99939901e-01 2.08587433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.910385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:303.91, Y:260.58, Z:20.86 [[ 8.49573815e-01 -5.27385962e-01 -9.40108547e-03 3.03914305e+02] [ 5.27355826e-01 8.49625811e-01 -5.64029912e-03 2.60577533e+02] [ 1.09620194e-02 -1.65866760e-04 9.99939902e-01 2.08593366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.940385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.94, Y:260.59, Z:20.86 [[ 8.51406896e-01 -5.24421535e-01 -9.39956203e-03 3.03939293e+02] [ 5.24391190e-01 8.51458771e-01 -5.64283680e-03 2.60593597e+02] [ 1.09625647e-02 -1.24697357e-04 9.99939902e-01 2.08600629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.970385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:303.96, Y:260.61, Z:20.86 [[ 8.51697161e-01 -5.23949789e-01 -9.41087320e-03 3.03961418e+02] [ 5.23919624e-01 8.51749141e-01 -5.62399727e-03 2.60608864e+02] [ 1.09623953e-02 -1.40598642e-04 9.99939901e-01 2.08605782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.000385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:303.98, Y:260.62, Z:20.86 [[ 8.51631677e-01 -5.24056453e-01 -9.39786957e-03 3.03984977e+02] [ 5.24026055e-01 8.51683521e-01 -5.64564002e-03 2.60623124e+02] [ 1.09626447e-02 -1.16722636e-04 9.99939902e-01 2.08608707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.030385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.01, Y:260.64, Z:20.86 [[ 8.53426777e-01 -5.21128036e-01 -9.39717143e-03 3.04008134e+02] [ 5.21097447e-01 8.53478508e-01 -5.64680164e-03 2.60638558e+02] [ 1.09629905e-02 -7.77103238e-05 9.99939902e-01 2.08625041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.060385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.03, Y:260.65, Z:20.86 [[ 8.54285004e-01 -5.19719875e-01 -9.40130679e-03 3.04030880e+02] [ 5.19689276e-01 8.54336729e-01 -5.63992336e-03 2.60653315e+02] [ 1.09630620e-02 -6.76563724e-05 9.99939902e-01 2.08635122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.0903857229999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:304.05, Y:260.67, Z:20.86 [[ 8.54971177e-01 -5.18590424e-01 -9.39467701e-03 3.04052379e+02] [ 5.18559636e-01 8.55022790e-01 -5.65094536e-03 2.60671422e+02] [ 1.09631891e-02 -4.03048886e-05 9.99939902e-01 2.08626395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.120385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:304.08, Y:260.69, Z:20.86 [[ 8.55475313e-01 -5.17758660e-01 -9.37861156e-03 3.04077035e+02] [ 5.17727529e-01 8.55526721e-01 -5.67764545e-03 2.60687759e+02] [ 1.09633029e-02 1.52012918e-06 9.99939901e-01 2.08637133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.150385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:304.10, Y:260.70, Z:20.86 [[ 8.54863649e-01 -5.18767682e-01 -9.39332431e-03 3.04100530e+02] [ 5.18736880e-01 8.54915254e-01 -5.65319884e-03 2.60704530e+02] [ 1.09631931e-02 -3.99495556e-05 9.99939902e-01 2.08626282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.180385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:304.12, Y:260.72, Z:20.86 [[ 8.53842123e-01 -5.20447329e-01 -9.39186838e-03 3.04122176e+02] [ 5.20416602e-01 8.53893772e-01 -5.65561660e-03 2.60719065e+02] [ 1.09631085e-02 -5.86805433e-05 9.99939902e-01 2.08619677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.210385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.15, Y:260.73, Z:20.86 [[ 8.53196949e-01 -5.21504727e-01 -9.36939816e-03 3.04148198e+02] [ 5.21473654e-01 8.53248392e-01 -5.69290078e-03 2.60734639e+02] [ 1.09632986e-02 -2.87287130e-05 9.99939901e-01 2.08612012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.240385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:304.17, Y:260.75, Z:20.86 [[ 8.50222807e-01 -5.26339254e-01 -9.38979489e-03 3.04169532e+02] [ 5.26308847e-01 8.50274646e-01 -5.65905752e-03 2.60750074e+02] [ 1.09624886e-02 -1.30472344e-04 9.99939902e-01 2.08603244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.270385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.20, Y:260.76, Z:20.86 [[ 8.50300611e-01 -5.26214238e-01 -9.35127649e-03 3.04196500e+02] [ 5.26183120e-01 8.50352029e-01 -5.72290615e-03 2.60763326e+02] [ 1.09633516e-02 -5.42932356e-05 9.99939899e-01 2.08610202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.300385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.22, Y:260.78, Z:20.86 [[ 8.47384360e-01 -5.30896990e-01 -9.38792875e-03 3.04218935e+02] [ 5.30866828e-01 8.47436341e-01 -5.66213606e-03 2.60779850e+02] [ 1.09616830e-02 -1.85734413e-04 9.99939902e-01 2.08611781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.330385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.24, Y:260.80, Z:20.86 [[ 8.45947126e-01 -5.33184167e-01 -9.38636307e-03 3.04242548e+02] [ 5.33154116e-01 8.45999172e-01 -5.66473037e-03 2.60795958e+02] [ 1.09611999e-02 -2.12315725e-04 9.99939902e-01 2.08612381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.360385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.27, Y:260.81, Z:20.86 [[ 8.44205593e-01 -5.35937349e-01 -9.38479044e-03 3.04265681e+02] [ 5.35907439e-01 8.44257720e-01 -5.66733456e-03 2.60812298e+02] [ 1.09605180e-02 -2.44983484e-04 9.99939902e-01 2.08616872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.390385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.29, Y:260.83, Z:20.86 [[ 8.43773605e-01 -5.36617218e-01 -9.38430404e-03 3.04288961e+02] [ 5.36587342e-01 8.43825750e-01 -5.66813986e-03 2.60827465e+02] [ 1.09603388e-02 -2.52871959e-04 9.99939902e-01 2.08628283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.420385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.31, Y:260.84, Z:20.87 [[ 8.43792190e-01 -5.36588020e-01 -9.38276514e-03 3.04311074e+02] [ 5.36558113e-01 8.43844319e-01 -5.67068613e-03 2.60844193e+02] [ 1.09604153e-02 -2.49518090e-04 9.99939902e-01 2.08650489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.450385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:304.33, Y:260.86, Z:20.87 [[ 8.44227869e-01 -5.35902306e-01 -9.38204940e-03 3.04334072e+02] [ 5.35872344e-01 8.44279966e-01 -5.67187007e-03 2.60860576e+02] [ 1.09606446e-02 -2.39230017e-04 9.99939902e-01 2.08658504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.480385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.36, Y:260.88, Z:20.87 [[ 8.45817545e-01 -5.33389807e-01 -9.38050018e-03 3.04355080e+02] [ 5.33359662e-01 8.45869536e-01 -5.67443110e-03 2.60879459e+02] [ 1.09613630e-02 -2.03647023e-04 9.99939902e-01 2.08657678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.510385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.38, Y:260.90, Z:20.87 [[ 8.46757698e-01 -5.31896076e-01 -9.37895758e-03 3.04376753e+02] [ 5.31865811e-01 8.46809619e-01 -5.67697964e-03 2.60895650e+02] [ 1.09617547e-02 -1.81320667e-04 9.99939902e-01 2.08661398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.540385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:304.40, Y:260.91, Z:20.87 [[ 8.49016411e-01 -5.28283240e-01 -9.37828882e-03 3.04398421e+02] [ 5.28252741e-01 8.49068196e-01 -5.67808421e-03 2.60913256e+02] [ 1.09624435e-02 -1.33320098e-04 9.99939902e-01 2.08665904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.570385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.42, Y:260.93, Z:20.87 [[ 8.49868278e-01 -5.26911916e-01 -9.36707806e-03 3.04421312e+02] [ 5.26881130e-01 8.49919893e-01 -5.69658899e-03 2.60929377e+02] [ 1.09628666e-02 -9.39863917e-05 9.99939902e-01 2.08663744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.600385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:304.44, Y:260.95, Z:20.87 [[ 8.51741838e-01 -5.23877777e-01 -9.37632923e-03 3.04443334e+02] [ 5.23846975e-01 8.51793443e-01 -5.68132107e-03 2.60947460e+02] [ 1.09630136e-02 -7.27428580e-05 9.99939902e-01 2.08657520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.630385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.47, Y:260.96, Z:20.87 [[ 8.52461694e-01 -5.22705628e-01 -9.37476893e-03 3.04465268e+02] [ 5.22674727e-01 8.52513239e-01 -5.68389457e-03 2.60962994e+02] [ 1.09631183e-02 -5.46523984e-05 9.99939902e-01 2.08652522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.660385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.49, Y:260.98, Z:20.86 [[ 8.53325509e-01 -5.21294257e-01 -9.37409212e-03 3.04487163e+02] [ 5.21263258e-01 8.53376996e-01 -5.68501056e-03 2.60980976e+02] [ 1.09631979e-02 -3.52052689e-05 9.99939902e-01 2.08647267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.690385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.51, Y:261.00, Z:20.86 [[ 8.53395834e-01 -5.21179149e-01 -9.37255138e-03 3.04510424e+02] [ 5.21148116e-01 8.53447300e-01 -5.68754956e-03 2.60997583e+02] [ 1.09632109e-02 -3.07563858e-05 9.99939902e-01 2.08648322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.720385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.53, Y:261.02, Z:20.87 [[ 8.53264726e-01 -5.21393798e-01 -9.37100320e-03 3.04532433e+02] [ 5.21362749e-01 8.53316182e-01 -5.69009925e-03 2.61016239e+02] [ 1.09632111e-02 -3.05310166e-05 9.99939902e-01 2.08654992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.750385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.55, Y:261.03, Z:20.87 [[ 8.53074210e-01 -5.21705480e-01 -9.36940016e-03 3.04554715e+02] [ 5.21674421e-01 8.53125660e-01 -5.69273762e-03 2.61032367e+02] [ 1.09632081e-02 -3.14487591e-05 9.99939902e-01 2.08656891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.780385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.58, Y:261.05, Z:20.87 [[ 8.51838794e-01 -5.23720246e-01 -9.36870486e-03 3.04576889e+02] [ 5.23689296e-01 8.51890310e-01 -5.69388167e-03 2.61050110e+02] [ 1.09631100e-02 -5.60211582e-05 9.99939902e-01 2.08663734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.810385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.60, Y:261.07, Z:20.87 [[ 8.50712220e-01 -5.25548262e-01 -9.36711688e-03 3.04600218e+02] [ 5.25517394e-01 8.50763786e-01 -5.69649289e-03 2.61066293e+02] [ 1.09629857e-02 -7.65067382e-05 9.99939902e-01 2.08665671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.8403857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.62, Y:261.08, Z:20.87 [[ 8.49552368e-01 -5.27421142e-01 -9.36553544e-03 3.04623296e+02] [ 5.27390359e-01 8.49603984e-01 -5.69909173e-03 2.61082148e+02] [ 1.09628177e-02 -9.76162279e-05 9.99939902e-01 2.08670265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.870385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.65, Y:261.10, Z:20.87 [[ 8.47305419e-01 -5.31023373e-01 -9.36504611e-03 3.04646093e+02] [ 5.30992801e-01 8.47357160e-01 -5.69989570e-03 2.61098577e+02] [ 1.09623167e-02 -1.43219547e-04 9.99939902e-01 2.08691629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.900385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.67, Y:261.12, Z:20.87 [[ 8.45765506e-01 -5.33472619e-01 -9.36346526e-03 3.04667530e+02] [ 5.33442168e-01 8.45817318e-01 -5.70249145e-03 2.61115010e+02] [ 1.09619041e-02 -1.71896648e-04 9.99939902e-01 2.08700936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.930385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.69, Y:261.13, Z:20.87 [[ 8.45184206e-01 -5.34393118e-01 -9.36239118e-03 3.04690674e+02] [ 5.34362704e-01 8.45236040e-01 -5.70425434e-03 2.61131804e+02] [ 1.09617447e-02 -1.81766985e-04 9.99939902e-01 2.08700753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.960385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.72, Y:261.15, Z:20.87 [[ 8.46461568e-01 -5.32367532e-01 -9.36083441e-03 3.04717773e+02] [ 5.32336965e-01 8.46513312e-01 -5.70680790e-03 2.61148810e+02] [ 1.09621902e-02 -1.52524618e-04 9.99939902e-01 2.08681302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.990385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.74, Y:261.17, Z:20.87 [[ 8.45427803e-01 -5.34006876e-01 -9.40674243e-03 3.04736987e+02] [ 5.33977245e-01 8.45480093e-01 -5.63151155e-03 2.61165501e+02] [ 1.09604794e-02 -2.61949965e-04 9.99939898e-01 2.08699033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.020385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.76, Y:261.18, Z:20.87 [[ 8.46118125e-01 -5.32913252e-01 -9.35860454e-03 3.04760684e+02] [ 5.32882679e-01 8.46169866e-01 -5.71040336e-03 2.61181191e+02] [ 1.09621188e-02 -1.55362475e-04 9.99939902e-01 2.08705125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.050385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.78, Y:261.20, Z:20.87 [[ 8.46748633e-01 -5.31911073e-01 -9.34681831e-03 3.04783405e+02] [ 5.31880226e-01 8.46800210e-01 -5.72970710e-03 2.61198422e+02] [ 1.09625824e-02 -1.19766180e-04 9.99939902e-01 2.08692983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.080385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.81, Y:261.22, Z:20.87 [[ 8.47194738e-01 -5.31200085e-01 -9.35657319e-03 3.04807095e+02] [ 5.31169371e-01 8.47246394e-01 -5.71373292e-03 2.61215143e+02] [ 1.09624583e-02 -1.29280627e-04 9.99939902e-01 2.08685144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.110385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.83, Y:261.23, Z:20.87 [[ 8.47020304e-01 -5.31478208e-01 -9.35521463e-03 3.04831211e+02] [ 5.31447486e-01 8.47071956e-01 -5.71595644e-03 2.61230401e+02] [ 1.09624462e-02 -1.30274132e-04 9.99939902e-01 2.08687738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.140385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.85, Y:261.25, Z:20.87 [[ 8.46596390e-01 -5.32153232e-01 -9.35364650e-03 3.04854250e+02] [ 5.32122523e-01 8.46648049e-01 -5.71852140e-03 2.61245717e+02] [ 1.09623762e-02 -1.36006404e-04 9.99939902e-01 2.08690511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.170385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.88, Y:261.26, Z:20.87 [[ 8.46005877e-01 -5.33091525e-01 -9.35316104e-03 3.04878120e+02] [ 5.33060864e-01 8.46057566e-01 -5.71931530e-03 2.61260768e+02] [ 1.09622312e-02 -1.47229749e-04 9.99939902e-01 2.08693873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.200385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.90, Y:261.28, Z:20.87 [[ 8.45464576e-01 -5.33949621e-01 -9.35159850e-03 3.04904939e+02] [ 5.33918985e-01 8.45516279e-01 -5.72186905e-03 2.61275383e+02] [ 1.09621186e-02 -1.55358386e-04 9.99939902e-01 2.08699164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.230385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.93, Y:261.29, Z:20.87 [[ 8.44343882e-01 -5.35719498e-01 -9.38233261e-03 3.04925998e+02] [ 5.35689527e-01 8.44395975e-01 -5.67163554e-03 2.61290462e+02] [ 1.09608096e-02 -2.37206545e-04 9.99939900e-01 2.08713501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.260385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.95, Y:261.30, Z:20.87 [[ 8.43774369e-01 -5.36616626e-01 -9.34941971e-03 3.04950571e+02] [ 5.36586114e-01 8.43826145e-01 -5.72538161e-03 2.61304957e+02] [ 1.09616198e-02 -1.85838537e-04 9.99939902e-01 2.08724110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.290385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.97, Y:261.32, Z:20.87 [[ 8.43750449e-01 -5.36654263e-01 -9.34782892e-03 3.04974029e+02] [ 5.36623725e-01 8.43802209e-01 -5.72797772e-03 2.61318571e+02] [ 1.09616624e-02 -1.83283009e-04 9.99939902e-01 2.08722931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.320385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.00, Y:261.33, Z:20.87 [[ 8.44033509e-01 -5.36208976e-01 -9.34713998e-03 3.04997280e+02] [ 5.36178398e-01 8.44085246e-01 -5.72910173e-03 2.61332248e+02] [ 1.09617787e-02 -1.76180707e-04 9.99939902e-01 2.08721949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.350385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.02, Y:261.35, Z:20.87 [[ 8.45624210e-01 -5.33696861e-01 -9.34647875e-03 3.05024397e+02] [ 5.33666117e-01 8.45675848e-01 -5.73018027e-03 2.61346750e+02] [ 1.09622706e-02 -1.42319864e-04 9.99939902e-01 2.08708507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.380385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.05, Y:261.36, Z:20.87 [[ 8.45391482e-01 -5.34064803e-01 -9.38231548e-03 3.05046510e+02] [ 5.34034729e-01 8.45443516e-01 -5.67174229e-03 2.61362801e+02] [ 1.09612957e-02 -2.15639684e-04 9.99939900e-01 2.08733699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.410385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.08, Y:261.38, Z:20.87 [[ 8.47636783e-01 -5.30494663e-01 -9.34330179e-03 3.05075915e+02] [ 5.30463668e-01 8.47688270e-01 -5.73529905e-03 2.61376379e+02] [ 1.09627529e-02 -9.48317071e-05 9.99939903e-01 2.08718224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.440385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.10, Y:261.39, Z:20.87 [[ 8.47470338e-01 -5.30759718e-01 -9.38873288e-03 3.05096147e+02] [ 5.30729557e-01 8.47522323e-01 -5.66129068e-03 2.61391370e+02] [ 1.09619457e-02 -1.85102118e-04 9.99939899e-01 2.08736443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.470385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.12, Y:261.41, Z:20.87 [[ 8.47883831e-01 -5.30099772e-01 -9.34027799e-03 3.05120333e+02] [ 5.30068700e-01 8.47935271e-01 -5.74013595e-03 2.61405833e+02] [ 1.09627959e-02 -8.40205484e-05 9.99939903e-01 2.08726602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.500385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.15, Y:261.42, Z:20.87 [[ 8.48123159e-01 -5.29716788e-01 -9.33979713e-03 3.05145561e+02] [ 5.29685683e-01 8.48174580e-01 -5.74091826e-03 2.61419099e+02] [ 1.09628393e-02 -7.81510918e-05 9.99939903e-01 2.08734810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.530385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.17, Y:261.43, Z:20.87 [[ 8.47924408e-01 -5.30034901e-01 -9.33822944e-03 3.05169740e+02] [ 5.30003788e-01 8.47975824e-01 -5.74346714e-03 2.61432359e+02] [ 1.09628308e-02 -7.92709991e-05 9.99939903e-01 2.08734659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.560385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.19, Y:261.44, Z:20.87 [[ 8.47169366e-01 -5.31240880e-01 -9.33774433e-03 3.05194562e+02] [ 5.31209831e-01 8.47220820e-01 -5.74425572e-03 2.61444996e+02] [ 1.09627149e-02 -9.39441173e-05 9.99939903e-01 2.08727974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.5903857229999 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:305.22, Y:261.46, Z:20.87 [[ 8.46522795e-01 -5.32270582e-01 -9.33726576e-03 3.05220194e+02] [ 5.32239588e-01 8.46574283e-01 -5.74503353e-03 2.61459140e+02] [ 1.09626014e-02 -1.06360637e-04 9.99939903e-01 2.08710203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.620385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.25, Y:261.47, Z:20.87 [[ 8.45638989e-01 -5.33673628e-01 -9.33593600e-03 3.05248771e+02] [ 5.33642695e-01 8.45690513e-01 -5.74719364e-03 2.61470809e+02] [ 1.09624382e-02 -1.22003038e-04 9.99939903e-01 2.08703206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.650385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.27, Y:261.49, Z:20.87 [[ 8.44424943e-01 -5.35591847e-01 -9.37494829e-03 3.05271210e+02] [ 5.35561733e-01 8.44476953e-01 -5.68383901e-03 2.61485947e+02] [ 1.09611456e-02 -2.21288116e-04 9.99939900e-01 2.08735065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.680385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.30, Y:261.50, Z:20.87 [[ 8.43735536e-01 -5.36677964e-01 -9.33317137e-03 3.05295705e+02] [ 5.36647165e-01 8.43787141e-01 -5.75163050e-03 2.61498320e+02] [ 1.09619833e-02 -1.55764918e-04 9.99939904e-01 2.08735650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.710385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.32, Y:261.51, Z:20.87 [[ 8.43371978e-01 -5.37249113e-01 -9.33259972e-03 3.05320737e+02] [ 5.37218339e-01 8.43423597e-01 -5.75255790e-03 2.61512085e+02] [ 1.09618915e-02 -1.62097583e-04 9.99939904e-01 2.08743631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.740385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.35, Y:261.52, Z:20.88 [[ 8.43472147e-01 -5.37091862e-01 -9.33111409e-03 3.05347474e+02] [ 5.37061052e-01 8.43523744e-01 -5.75496672e-03 2.61523567e+02] [ 1.09619621e-02 -1.57223818e-04 9.99939904e-01 2.08775663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.770385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.37, Y:261.54, Z:20.88 [[ 8.43714354e-01 -5.36711324e-01 -9.32973621e-03 3.05373088e+02] [ 5.36680466e-01 8.43765923e-01 -5.75719962e-03 2.61536968e+02] [ 1.09620677e-02 -1.49655219e-04 9.99939904e-01 2.08791022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.800385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.40, Y:261.55, Z:20.88 [[ 8.45145875e-01 -5.34454332e-01 -9.32835599e-03 3.05398301e+02] [ 5.34423311e-01 8.45197346e-01 -5.75943511e-03 2.61549441e+02] [ 1.09624568e-02 -1.17728066e-04 9.99939904e-01 2.08801466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.830385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.42, Y:261.56, Z:20.88 [[ 8.45141844e-01 -5.34460713e-01 -9.32786827e-03 3.05421914e+02] [ 5.34429684e-01 8.45193311e-01 -5.76022490e-03 2.61564212e+02] [ 1.09624658e-02 -1.16882600e-04 9.99939904e-01 2.08797590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.860385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:305.45, Y:261.57, Z:20.88 [[ 8.48429643e-01 -5.29226210e-01 -9.31452379e-03 3.05448453e+02] [ 5.29194626e-01 8.48480771e-01 -5.78182245e-03 2.61574880e+02] [ 1.09630863e-02 -2.37263746e-05 9.99939903e-01 2.08805098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.890385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.47, Y:261.59, Z:20.88 [[ 8.49519120e-01 -5.27475391e-01 -9.32607889e-03 3.05473027e+02] [ 5.27443907e-01 8.49570310e-01 -5.76312361e-03 2.61587883e+02] [ 1.09630656e-02 -2.30997912e-05 9.99939904e-01 2.08805614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.920385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.50, Y:261.60, Z:20.88 [[ 8.49375053e-01 -5.27707374e-01 -9.32450439e-03 3.05497292e+02] [ 5.27675876e-01 8.49426234e-01 -5.76566996e-03 2.61602964e+02] [ 1.09630652e-02 -2.30997896e-05 9.99939904e-01 2.08808736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.950385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.52, Y:261.62, Z:20.88 [[ 8.50557611e-01 -5.25799233e-01 -9.32292919e-03 3.05522266e+02] [ 5.25767592e-01 8.50608704e-01 -5.76821588e-03 2.61615893e+02] [ 1.09630882e-02 4.50588667e-06 9.99939904e-01 2.08811769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.980385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:305.55, Y:261.63, Z:20.88 [[ 8.52451457e-01 -5.22723278e-01 -9.32135200e-03 3.05549005e+02] [ 5.22691425e-01 8.52502418e-01 -5.77076348e-03 2.61628199e+02] [ 1.09629875e-02 4.71049767e-05 9.99939904e-01 2.08797447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.010385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.57, Y:261.64, Z:20.88 [[ 8.52707224e-01 -5.22305832e-01 -9.32781633e-03 3.05572954e+02] [ 5.22274069e-01 8.52758240e-01 -5.76032632e-03 2.61641767e+02] [ 1.09630243e-02 4.01952814e-05 9.99939903e-01 2.08818345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.040385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:305.60, Y:261.65, Z:20.88 [[ 8.54088065e-01 -5.20044779e-01 -9.32764255e-03 3.05602554e+02] [ 5.20012877e-01 8.54138995e-01 -5.76060669e-03 2.61653163e+02] [ 1.09628767e-02 6.95711788e-05 9.99939903e-01 2.08812856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.070385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:305.62, Y:261.67, Z:20.88 [[ 8.53442282e-01 -5.21103321e-01 -9.35950087e-03 3.05624348e+02] [ 5.21072045e-01 8.53493602e-01 -5.70920362e-03 2.61665811e+02] [ 1.09633591e-02 -4.49850157e-06 9.99939901e-01 2.08828854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.100385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:305.65, Y:261.68, Z:20.89 [[ 8.53069467e-01 -5.21714192e-01 -9.31590130e-03 3.05650979e+02] [ 5.21682183e-01 8.53120330e-01 -5.77948149e-03 2.61675471e+02] [ 1.09628223e-02 7.03594695e-05 9.99939904e-01 2.08852145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.130385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:305.68, Y:261.69, Z:20.89 [[ 8.52646928e-01 -5.22404499e-01 -9.31430319e-03 3.05675187e+02] [ 5.22372503e-01 8.52697798e-01 -5.78205588e-03 2.61687413e+02] [ 1.09628578e-02 6.45163111e-05 9.99939904e-01 2.08858272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.160385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:305.70, Y:261.70, Z:20.89 [[ 8.51948960e-01 -5.23542000e-01 -9.31361318e-03 3.05700021e+02] [ 5.23510060e-01 8.51999866e-01 -5.78316712e-03 2.61699897e+02] [ 1.09629281e-02 5.11930195e-05 9.99939904e-01 2.08868131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.190385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:305.73, Y:261.71, Z:20.89 [[ 8.50303111e-01 -5.26210895e-01 -9.31203807e-03 3.05727287e+02] [ 5.26179088e-01 8.50354099e-01 -5.78570225e-03 2.61712048e+02] [ 1.09630293e-02 1.98009193e-05 9.99939904e-01 2.08871330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.220385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.75, Y:261.73, Z:20.89 [[ 8.50097398e-01 -5.26542664e-01 -9.34010509e-03 3.05750299e+02] [ 5.26511371e-01 8.50148706e-01 -5.74053116e-03 2.61725189e+02] [ 1.09631128e-02 -3.76609378e-05 9.99939903e-01 2.08873096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.250385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.78, Y:261.74, Z:20.89 [[ 8.48936105e-01 -5.28413497e-01 -9.30945616e-03 3.05775167e+02] [ 5.28381777e-01 8.48987147e-01 -5.78981171e-03 2.61736788e+02] [ 1.09630233e-02 -3.76678270e-06 9.99939904e-01 2.08871524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.280385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.80, Y:261.75, Z:20.89 [[ 8.48077074e-01 -5.29791112e-01 -9.30879973e-03 3.05800234e+02] [ 5.29759463e-01 8.48128161e-01 -5.79086692e-03 2.61749897e+02] [ 1.09630050e-02 -2.03232696e-05 9.99939904e-01 2.08887647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.310385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.83, Y:261.76, Z:20.89 [[ 8.47922619e-01 -5.30038308e-01 -9.30722252e-03 3.05832164e+02] [ 5.30006647e-01 8.47973697e-01 -5.79340074e-03 2.61760841e+02] [ 1.09630042e-02 -2.05342743e-05 9.99939904e-01 2.08870899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.3403857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.85, Y:261.78, Z:20.89 [[ 8.46375361e-01 -5.32504595e-01 -9.35970252e-03 3.05852682e+02] [ 5.32474012e-01 8.46427098e-01 -5.70907693e-03 2.61775658e+02] [ 1.09624155e-02 -1.51776308e-04 9.99939899e-01 2.08883142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.370385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:305.88, Y:261.79, Z:20.89 [[ 8.46118272e-01 -5.32913953e-01 -9.30523339e-03 3.05877731e+02] [ 5.32882431e-01 8.46169437e-01 -5.79651713e-03 2.61789351e+02] [ 1.09628490e-02 -5.40563313e-05 9.99939905e-01 2.08895014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.400385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.91, Y:261.80, Z:20.89 [[ 8.47593103e-01 -5.30565145e-01 -9.30364771e-03 3.05908692e+02] [ 5.30533453e-01 8.47644163e-01 -5.79906110e-03 2.61801576e+02] [ 1.09629624e-02 -2.06521463e-05 9.99939905e-01 2.08893867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.430385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:305.93, Y:261.81, Z:20.89 [[ 8.47751711e-01 -5.30310829e-01 -9.35205902e-03 3.05934922e+02] [ 5.30279976e-01 8.47803287e-01 -5.72140784e-03 2.61814840e+02] [ 1.09628309e-02 -1.08876345e-04 9.99939900e-01 2.08908374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.460385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.96, Y:261.83, Z:20.89 [[ 8.46953608e-01 -5.31584693e-01 -9.34340306e-03 3.05956596e+02] [ 5.31553764e-01 8.47005137e-01 -5.73528631e-03 2.61829791e+02] [ 1.09627008e-02 -1.08999635e-04 9.99939902e-01 2.08895011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.490385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:305.98, Y:261.84, Z:20.89 [[ 8.47044049e-01 -5.31441339e-01 -9.29956431e-03 3.05981621e+02] [ 5.31409628e-01 8.47095097e-01 -5.80550956e-03 2.61843620e+02] [ 1.09629031e-02 -2.43556873e-05 9.99939905e-01 2.08911659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.520385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.01, Y:261.86, Z:20.89 [[ 8.47002507e-01 -5.31507573e-01 -9.29799829e-03 3.06006606e+02] [ 5.31475839e-01 8.47053540e-01 -5.80801658e-03 2.61857490e+02] [ 1.09629072e-02 -2.22568322e-05 9.99939905e-01 2.08916252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.550385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.03, Y:261.87, Z:20.89 [[ 8.47055007e-01 -5.31423928e-01 -9.29643672e-03 3.06032407e+02] [ 5.31392162e-01 8.47106020e-01 -5.81051498e-03 2.61870670e+02] [ 1.09629142e-02 -1.82277957e-05 9.99939905e-01 2.08904418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.580385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:306.06, Y:261.88, Z:20.89 [[ 8.46975645e-01 -5.31550388e-01 -9.29741241e-03 3.06056067e+02] [ 5.31518646e-01 8.47026673e-01 -5.80895442e-03 2.61882904e+02] [ 1.09629083e-02 -2.17051429e-05 9.99939905e-01 2.08913626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.610385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:306.08, Y:261.90, Z:20.89 [[ 8.46764244e-01 -5.31887137e-01 -9.29459038e-03 3.06079595e+02] [ 5.31855366e-01 8.46815253e-01 -5.81346628e-03 2.61895828e+02] [ 1.09629088e-02 -2.07423864e-05 9.99939905e-01 2.08908600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.640385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.10, Y:261.91, Z:20.89 [[ 8.46326283e-01 -5.32583745e-01 -9.29394142e-03 3.06104012e+02] [ 5.32552005e-01 8.46377312e-01 -5.81450358e-03 2.61909605e+02] [ 1.09628912e-02 -2.85399300e-05 9.99939905e-01 2.08933980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.670385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:306.13, Y:261.92, Z:20.90 [[ 8.46005397e-01 -5.33093349e-01 -9.29242638e-03 3.06129107e+02] [ 5.33061613e-01 8.46056428e-01 -5.81692384e-03 2.61923101e+02] [ 1.09628805e-02 -3.22868344e-05 9.99939905e-01 2.08957506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.700385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.15, Y:261.94, Z:20.90 [[ 8.46145916e-01 -5.32870309e-01 -9.29103155e-03 3.06153583e+02] [ 5.32838535e-01 8.46196924e-01 -5.81915087e-03 2.61937206e+02] [ 1.09628950e-02 -2.67688952e-05 9.99939905e-01 2.08966367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.730385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:306.18, Y:261.95, Z:20.90 [[ 8.46794341e-01 -5.31839310e-01 -9.28941861e-03 3.06178656e+02] [ 5.31807445e-01 8.46845292e-01 -5.82172455e-03 2.61950971e+02] [ 1.09629224e-02 -1.03785723e-05 9.99939905e-01 2.08979277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.760385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:306.20, Y:261.97, Z:20.90 [[ 8.46856469e-01 -5.31740404e-01 -9.28780360e-03 3.06203240e+02] [ 5.31708505e-01 8.46907399e-01 -5.82429995e-03 2.61966858e+02] [ 1.09629252e-02 -6.05808080e-06 9.99939905e-01 2.09011576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.790385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:306.23, Y:261.98, Z:20.90 [[ 8.47627998e-01 -5.30509700e-01 -9.28630679e-03 3.06227070e+02] [ 5.30477701e-01 8.47678865e-01 -5.82668549e-03 2.61982039e+02] [ 1.09629192e-02 1.26830873e-05 9.99939905e-01 2.08982814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.820385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.25, Y:262.00, Z:20.90 [[ 8.47991451e-01 -5.29928554e-01 -9.28577784e-03 3.06251293e+02] [ 5.29896512e-01 8.48042291e-01 -5.82752833e-03 2.61997078e+02] [ 1.09629060e-02 2.11929190e-05 9.99939905e-01 2.08991544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.850385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.27, Y:262.01, Z:20.90 [[ 8.46801044e-01 -5.31828728e-01 -9.28418444e-03 3.06272685e+02] [ 5.31796772e-01 8.46851937e-01 -5.83006577e-03 2.62012597e+02] [ 1.09629260e-02 -3.93539167e-07 9.99939905e-01 2.09005474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.880385723 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:306.30, Y:262.03, Z:20.90 [[ 8.46382678e-01 -5.32494907e-01 -9.24857966e-03 3.06296495e+02] [ 5.32462370e-01 8.46433205e-01 -5.88673889e-03 2.62028117e+02] [ 1.09629634e-02 5.79131761e-05 9.99939903e-01 2.09009503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.910385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.32, Y:262.04, Z:20.90 [[ 8.46415568e-01 -5.32442618e-01 -9.24905678e-03 3.06322396e+02] [ 5.32410086e-01 8.46466098e-01 -5.88597995e-03 2.62043538e+02] [ 1.09629596e-02 5.76939432e-05 9.99939903e-01 2.08996348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.940385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:306.34, Y:262.06, Z:20.90 [[ 8.45179997e-01 -5.34401183e-01 -9.28160250e-03 3.06342595e+02] [ 5.34369336e-01 8.45230959e-01 -5.83420317e-03 2.62058666e+02] [ 1.09629029e-02 -2.88519448e-05 9.99939905e-01 2.09011623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.970385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:306.37, Y:262.07, Z:20.90 [[ 8.45149940e-01 -5.34449758e-01 -9.22152231e-03 3.06367851e+02] [ 5.34416868e-01 8.45200242e-01 -5.92971861e-03 2.62074754e+02] [ 1.09631696e-02 8.33642548e-05 9.99939899e-01 2.09005108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.000385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:306.39, Y:262.09, Z:20.90 [[ 8.45666578e-01 -5.33631543e-01 -9.24206525e-03 3.06394444e+02] [ 5.33598961e-01 8.45717076e-01 -5.89706308e-03 2.62089404e+02] [ 1.09630313e-02 5.53927321e-05 9.99939903e-01 2.08996844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.030385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.42, Y:262.10, Z:20.90 [[ 8.45236841e-01 -5.34311308e-01 -9.27951719e-03 3.06418507e+02] [ 5.34279419e-01 8.45287777e-01 -5.83752836e-03 2.62104810e+02] [ 1.09629199e-02 -2.37610224e-05 9.99939905e-01 2.09001232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.060385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:306.44, Y:262.12, Z:20.90 [[ 8.44920038e-01 -5.34812161e-01 -9.27797433e-03 3.06442257e+02] [ 5.34780276e-01 8.44970977e-01 -5.83997950e-03 2.62119746e+02] [ 1.09629111e-02 -2.73619695e-05 9.99939905e-01 2.09009916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.0903857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.46, Y:262.14, Z:20.90 [[ 8.42859464e-01 -5.38053781e-01 -9.27642923e-03 3.06462599e+02] [ 5.38022064e-01 8.42910508e-01 -5.84243275e-03 2.62137596e+02] [ 1.09627427e-02 -6.65738624e-05 9.99939905e-01 2.09020310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.120385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.49, Y:262.15, Z:20.90 [[ 8.43743128e-01 -5.36667851e-01 -9.22776428e-03 3.06490214e+02] [ 5.36635204e-01 8.43793586e-01 -5.91963578e-03 2.62152386e+02] [ 1.09632065e-02 4.27088453e-05 9.99939901e-01 2.09038597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.150385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.52, Y:262.17, Z:20.91 [[ 8.42615770e-01 -5.38435366e-01 -9.27469906e-03 3.06515021e+02] [ 5.38403642e-01 8.42666810e-01 -5.84516301e-03 2.62168065e+02] [ 1.09627236e-02 -6.83052255e-05 9.99939905e-01 2.09068476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.180385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.54, Y:262.18, Z:20.91 [[ 8.41900188e-01 -5.39553532e-01 -9.27679626e-03 3.06539534e+02] [ 5.39521913e-01 8.41951292e-01 -5.84183618e-03 2.62183472e+02] [ 1.09625939e-02 -8.67918848e-05 9.99939905e-01 2.09069547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.210385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:306.56, Y:262.20, Z:20.91 [[ 8.40795713e-01 -5.41273115e-01 -9.27282830e-03 3.06562425e+02] [ 5.41241530e-01 8.40846838e-01 -5.84812779e-03 2.62198250e+02] [ 1.09624627e-02 -1.01759009e-04 9.99939905e-01 2.09067342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.240385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:306.59, Y:262.21, Z:20.91 [[ 8.40222941e-01 -5.42161818e-01 -9.27212859e-03 3.06585807e+02] [ 5.42130275e-01 8.40274093e-01 -5.84923697e-03 2.62213636e+02] [ 1.09623624e-02 -1.12038539e-04 9.99939905e-01 2.09065253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.270385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.61, Y:262.23, Z:20.91 [[ 8.39923978e-01 -5.42624887e-01 -9.27053550e-03 3.06609117e+02] [ 5.42593345e-01 8.39975130e-01 -5.85176079e-03 2.62228742e+02] [ 1.09623303e-02 -1.15096658e-04 9.99939905e-01 2.09079214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.300385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.63, Y:262.24, Z:20.91 [[ 8.39832505e-01 -5.42766479e-01 -9.26893013e-03 3.06632016e+02] [ 5.42734918e-01 8.39883645e-01 -5.85430252e-03 2.62244190e+02] [ 1.09623420e-02 -1.13938481e-04 9.99939905e-01 2.09091987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.330385723 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:306.66, Y:262.26, Z:20.91 [[ 8.39216921e-01 -5.43717942e-01 -9.26055794e-03 3.06655539e+02] [ 5.43686293e-01 8.39268007e-01 -5.86755346e-03 2.62260501e+02] [ 1.09623841e-02 -1.10688266e-04 9.99939905e-01 2.09067520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.360385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.67, Y:262.28, Z:20.91 [[ 8.37473122e-01 -5.46399939e-01 -9.26696148e-03 3.06673338e+02] [ 5.46368565e-01 8.37524377e-01 -5.85742250e-03 2.62278613e+02] [ 1.09618014e-02 -1.57742538e-04 9.99939905e-01 2.09080497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.390385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.70, Y:262.29, Z:20.91 [[ 8.39417575e-01 -5.43409086e-01 -9.20330420e-03 3.06702683e+02] [ 5.43376422e-01 8.39468025e-01 -5.95802932e-03 2.62292646e+02] [ 1.09635269e-02 4.16014654e-07 9.99939899e-01 2.09095295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.420385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.73, Y:262.31, Z:20.91 [[ 8.39252973e-01 -5.43662210e-01 -9.26548010e-03 3.06726433e+02] [ 5.43630644e-01 8.39304109e-01 -5.85971589e-03 2.62309949e+02] [ 1.09622616e-02 -1.19214926e-04 9.99939906e-01 2.09106637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.450385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.75, Y:262.33, Z:20.91 [[ 8.39352773e-01 -5.43508140e-01 -9.26409225e-03 3.06748897e+02] [ 5.43476540e-01 8.39403889e-01 -5.86190922e-03 2.62325735e+02] [ 1.09623104e-02 -1.14607040e-04 9.99939906e-01 2.09098346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.480385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.77, Y:262.34, Z:20.91 [[ 8.39958402e-01 -5.42571721e-01 -9.26340233e-03 3.06771231e+02] [ 5.42540052e-01 8.40009474e-01 -5.86299929e-03 2.62342292e+02] [ 1.09624433e-02 -1.01091267e-04 9.99939906e-01 2.09111201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.510385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:306.79, Y:262.36, Z:20.91 [[ 8.40241736e-01 -5.42132867e-01 -9.26176819e-03 3.06793716e+02] [ 5.42101142e-01 8.40292774e-01 -5.86557959e-03 2.62358185e+02] [ 1.09625204e-02 -9.23103389e-05 9.99939906e-01 2.09108148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.540385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.81, Y:262.38, Z:20.91 [[ 8.38188272e-01 -5.45302350e-01 -9.26106085e-03 3.06810479e+02] [ 5.45270806e-01 8.38239423e-01 -5.86669619e-03 2.62376854e+02] [ 1.09621095e-02 -1.32390171e-04 9.99939906e-01 2.09055355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.570385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:306.83, Y:262.39, Z:20.91 [[ 8.39203025e-01 -5.43740702e-01 -9.18320676e-03 3.06834936e+02] [ 5.43707715e-01 8.39253268e-01 -5.98939725e-03 2.62394060e+02] [ 1.09637154e-02 3.33399286e-05 9.99939896e-01 2.09075417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.600385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.86, Y:262.41, Z:20.91 [[ 8.41189411e-01 -5.40662327e-01 -9.19906249e-03 3.06863109e+02] [ 5.40629429e-01 8.41239708e-01 -5.96441556e-03 2.62408488e+02] [ 1.09633514e-02 4.39193079e-05 9.99939900e-01 2.09112721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.630385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.88, Y:262.43, Z:20.91 [[ 8.39854620e-01 -5.42732472e-01 -9.25646400e-03 3.06880848e+02] [ 5.42700692e-01 8.39905623e-01 -5.87395965e-03 2.62428711e+02] [ 1.09625448e-02 -9.02172651e-05 9.99939905e-01 2.09068369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.660385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:306.91, Y:262.44, Z:20.91 [[ 8.41595067e-01 -5.40030498e-01 -9.20892851e-03 3.06909449e+02] [ 5.39997733e-01 8.41645448e-01 -5.94881202e-03 2.62443814e+02] [ 1.09631927e-02 3.36903305e-05 9.99939902e-01 2.09112018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.690385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:306.93, Y:262.46, Z:20.91 [[ 8.41447090e-01 -5.40260245e-01 -9.25534203e-03 3.06932328e+02] [ 5.40228296e-01 8.41497988e-01 -5.87570202e-03 2.62459967e+02] [ 1.09627599e-02 -5.59052878e-05 9.99939906e-01 2.09114376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.720385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.96, Y:262.48, Z:20.91 [[ 8.41394694e-01 -5.40341872e-01 -9.25372587e-03 3.06955612e+02] [ 5.40309900e-01 8.41445577e-01 -5.87824624e-03 2.62475891e+02] [ 1.09627693e-02 -5.39545019e-05 9.99939906e-01 2.09116978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.750385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.98, Y:262.49, Z:20.91 [[ 8.41211660e-01 -5.40626804e-01 -9.25212203e-03 3.06978361e+02] [ 5.40594821e-01 8.41262537e-01 -5.88076954e-03 2.62492164e+02] [ 1.09627653e-02 -5.46773468e-05 9.99939906e-01 2.09120954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.780385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.00, Y:262.51, Z:20.91 [[ 8.40986504e-01 -5.40977013e-01 -9.25049750e-03 3.07000163e+02] [ 5.40945024e-01 8.41037376e-01 -5.88332382e-03 2.62508942e+02] [ 1.09627571e-02 -5.62146596e-05 9.99939906e-01 2.09117861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.810385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.02, Y:262.52, Z:20.91 [[ 8.40840943e-01 -5.41203250e-01 -9.24939331e-03 3.07024237e+02] [ 5.41171255e-01 8.40891812e-01 -5.88505925e-03 2.62524342e+02] [ 1.09627523e-02 -5.71070123e-05 9.99939906e-01 2.09120986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.8403857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.05, Y:262.54, Z:20.92 [[ 8.40092198e-01 -5.42364801e-01 -9.24780938e-03 3.07048386e+02] [ 5.42332848e-01 8.40143094e-01 -5.88754720e-03 2.62540876e+02] [ 1.09626815e-02 -6.93083373e-05 9.99939906e-01 2.09150478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.870385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.07, Y:262.56, Z:20.92 [[ 8.39757107e-01 -5.42883511e-01 -9.24636614e-03 3.07071822e+02] [ 5.42851565e-01 8.39808007e-01 -5.88981292e-03 2.62556750e+02] [ 1.09626546e-02 -7.33920738e-05 9.99939906e-01 2.09160540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.900385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:307.09, Y:262.57, Z:20.92 [[ 8.39434443e-01 -5.43382305e-01 -9.24585550e-03 3.07094741e+02] [ 5.43350381e-01 8.39485357e-01 -5.89061442e-03 2.62572512e+02] [ 1.09626159e-02 -7.89544698e-05 9.99939906e-01 2.09167675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.930385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:307.12, Y:262.59, Z:20.92 [[ 8.39071828e-01 -5.43942103e-01 -9.24424829e-03 3.07117376e+02] [ 5.43910185e-01 8.39122745e-01 -5.89313557e-03 2.62589229e+02] [ 1.09625836e-02 -8.32767651e-05 9.99939906e-01 2.09169208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.960385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.14, Y:262.61, Z:20.92 [[ 8.38946570e-01 -5.44135301e-01 -9.24262092e-03 3.07140645e+02] [ 5.44103367e-01 8.38997477e-01 -5.89568678e-03 2.62605212e+02] [ 1.09625869e-02 -8.27749539e-05 9.99939906e-01 2.09170328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.990385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:307.16, Y:262.62, Z:20.92 [[ 8.38596553e-01 -5.44674605e-01 -9.24100640e-03 3.07164602e+02] [ 5.44642676e-01 8.38647463e-01 -5.89821633e-03 2.62621939e+02] [ 1.09625552e-02 -8.68225755e-05 9.99939906e-01 2.09156451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.020385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:307.19, Y:262.64, Z:20.92 [[ 8.38406939e-01 -5.44966137e-01 -9.25817564e-03 3.07186989e+02] [ 5.44934522e-01 8.38458046e-01 -5.87133103e-03 2.62638085e+02] [ 1.09622684e-02 -1.22534834e-04 9.99939905e-01 2.09179475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.050385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:307.21, Y:262.65, Z:20.92 [[ 8.38366941e-01 -5.45028017e-01 -9.23763989e-03 3.07210081e+02] [ 5.44996051e-01 8.38417828e-01 -5.90346504e-03 2.62654460e+02] [ 1.09625558e-02 -8.52073322e-05 9.99939906e-01 2.09186106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.080385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:307.23, Y:262.67, Z:20.92 [[ 8.38202246e-01 -5.45281295e-01 -9.23599269e-03 3.07233392e+02] [ 5.45249316e-01 8.38253125e-01 -5.90604096e-03 2.62670644e+02] [ 1.09625534e-02 -8.54618978e-05 9.99939906e-01 2.09190177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.110385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.26, Y:262.69, Z:20.92 [[ 8.38335271e-01 -5.45076784e-01 -9.23434817e-03 3.07255684e+02] [ 5.45044764e-01 8.38386124e-01 -5.90861112e-03 2.62687107e+02] [ 1.09625961e-02 -7.97360197e-05 9.99939906e-01 2.09199482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.140385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.28, Y:262.70, Z:20.92 [[ 8.38043402e-01 -5.45525429e-01 -9.23383906e-03 3.07278366e+02] [ 5.45493427e-01 8.38094267e-01 -5.90940663e-03 2.62703006e+02] [ 1.09625592e-02 -8.46592800e-05 9.99939906e-01 2.09203221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.170385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:307.30, Y:262.72, Z:20.92 [[ 8.37238174e-01 -5.46760465e-01 -9.23221306e-03 3.07299406e+02] [ 5.46728511e-01 8.37289068e-01 -5.91194583e-03 2.62719773e+02] [ 1.09624493e-02 -9.78073715e-05 9.99939906e-01 2.09202082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.200385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.32, Y:262.74, Z:20.92 [[ 8.36714828e-01 -5.47561025e-01 -9.23150791e-03 3.07322406e+02] [ 5.47529107e-01 8.36765746e-01 -5.91304672e-03 2.62736478e+02] [ 1.09623635e-02 -1.06985414e-04 9.99939906e-01 2.09200209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.230385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.35, Y:262.75, Z:20.92 [[ 8.36461368e-01 -5.47948163e-01 -9.22991328e-03 3.07345216e+02] [ 5.47916242e-01 8.36512282e-01 -5.91553480e-03 2.62752799e+02] [ 1.09623422e-02 -1.09103067e-04 9.99939906e-01 2.09197946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.260385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.37, Y:262.77, Z:20.92 [[ 8.35844528e-01 -5.48888662e-01 -9.22832449e-03 3.07367434e+02] [ 5.48856770e-01 8.35895462e-01 -5.91801230e-03 2.62769805e+02] [ 1.09622444e-02 -1.18490174e-04 9.99939906e-01 2.09198511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.290385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:307.39, Y:262.79, Z:20.92 [[ 8.35176062e-01 -5.49905276e-01 -9.22672964e-03 3.07388378e+02] [ 5.49873419e-01 8.35227018e-01 -5.92049776e-03 2.62786679e+02] [ 1.09621268e-02 -1.28875368e-04 9.99939906e-01 2.09194558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.320385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.41, Y:262.80, Z:20.92 [[ 8.34578571e-01 -5.50811671e-01 -9.22564420e-03 3.07410875e+02] [ 5.50779850e-01 8.34629549e-01 -5.92218868e-03 2.62803212e+02] [ 1.09620059e-02 -1.38767170e-04 9.99939906e-01 2.09202630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.350385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.43, Y:262.82, Z:20.92 [[ 8.34054533e-01 -5.51604888e-01 -9.22403505e-03 3.07432537e+02] [ 5.51573089e-01 8.34105524e-01 -5.92469393e-03 2.62818711e+02] [ 1.09619087e-02 -1.46211678e-04 9.99939906e-01 2.09201462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.380385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.45, Y:262.84, Z:20.92 [[ 8.32717669e-01 -5.53621002e-01 -9.22333863e-03 3.07454939e+02] [ 5.53589314e-01 8.32768730e-01 -5.92577789e-03 2.62836613e+02] [ 1.09615431e-02 -1.71441752e-04 9.99939906e-01 2.09220216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.410385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:307.48, Y:262.85, Z:20.92 [[ 8.33002435e-01 -5.53192555e-01 -9.21632251e-03 3.07476485e+02] [ 5.53160720e-01 8.33053404e-01 -5.93669408e-03 2.62852448e+02] [ 1.09618238e-02 -1.52826971e-04 9.99939906e-01 2.09222409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.440385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:307.50, Y:262.87, Z:20.92 [[ 8.33305680e-01 -5.52735789e-01 -9.20826310e-03 3.07500825e+02] [ 5.52703787e-01 8.33356545e-01 -5.94922580e-03 2.62871110e+02] [ 1.09621163e-02 -1.31918241e-04 9.99939906e-01 2.09223491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.470385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:307.52, Y:262.89, Z:20.92 [[ 8.32966514e-01 -5.53246202e-01 -9.24270383e-03 3.07521119e+02] [ 5.53214824e-01 8.33017767e-01 -5.89569327e-03 2.62888010e+02] [ 1.09611064e-02 -2.02285703e-04 9.99939905e-01 2.09229194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.500385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.55, Y:262.90, Z:20.92 [[ 8.34373530e-01 -5.51122355e-01 -9.21749608e-03 3.07545945e+02] [ 5.51090414e-01 8.34424433e-01 -5.93484383e-03 2.62904872e+02] [ 1.09621290e-02 -1.27797129e-04 9.99939906e-01 2.09221923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.530385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:307.57, Y:262.92, Z:20.92 [[ 8.34058727e-01 -5.51598179e-01 -9.24597337e-03 3.07566556e+02] [ 5.51566756e-01 8.34109953e-01 -5.89062558e-03 2.62922297e+02] [ 1.09614168e-02 -1.86643864e-04 9.99939904e-01 2.09231826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.560385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.60, Y:262.94, Z:20.92 [[ 8.36813967e-01 -5.47409792e-01 -9.21437319e-03 3.07598027e+02] [ 5.47377572e-01 8.36864693e-01 -5.93964801e-03 2.62937743e+02] [ 1.09626051e-02 -7.33608105e-05 9.99939906e-01 2.09208056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.5903857229999 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:307.61, Y:262.96, Z:20.92 [[ 8.34712302e-01 -5.50607589e-01 -9.30887453e-03 3.07613463e+02] [ 5.50577191e-01 8.34764158e-01 -5.79292096e-03 2.62955578e+02] [ 1.09603410e-02 -2.89831597e-04 9.99939892e-01 2.09232324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.620385723 meters Centerline goodness : 0.998716 Centerline is valid? [True, True] Translation: X:307.65, Y:262.97, Z:20.92 [[ 8.37353940e-01 -5.46583487e-01 -9.21255504e-03 3.07646853e+02] [ 5.46551189e-01 8.37404614e-01 -5.94224999e-03 2.62970769e+02] [ 1.09625718e-02 -5.93664748e-05 9.99939907e-01 2.09200036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.650385723 meters Centerline goodness : 0.997965 Centerline is valid? [True, True] Translation: X:307.67, Y:262.99, Z:20.92 [[ 8.36112466e-01 -5.48478647e-01 -9.33368572e-03 3.07669954e+02] [ 5.48448546e-01 8.36164505e-01 -5.75440845e-03 2.62987024e+02] [ 1.09606669e-02 -3.07713723e-04 9.99939883e-01 2.09215454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.680385723 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:307.69, Y:263.00, Z:20.93 [[ 8.32659564e-01 -5.53706833e-01 -9.31634106e-03 3.07686186e+02] [ 5.53676758e-01 8.32711609e-01 -5.78128427e-03 2.63001347e+02] [ 1.09589620e-02 -3.44399877e-04 9.99939889e-01 2.09259841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.710385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:307.71, Y:263.02, Z:20.93 [[ 8.32130716e-01 -5.54503126e-01 -9.20623954e-03 3.07710150e+02] [ 5.54471206e-01 8.32181627e-01 -5.95159548e-03 2.63016637e+02] [ 1.09614417e-02 -1.52089339e-04 9.99939910e-01 2.09267288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.740385723 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:307.73, Y:263.03, Z:20.93 [[ 8.31836502e-01 -5.54944417e-01 -9.20480650e-03 3.07733375e+02] [ 5.54912500e-01 8.31887414e-01 -5.95381101e-03 2.63032080e+02] [ 1.09613969e-02 -1.55264856e-04 9.99939910e-01 2.09270167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.770385723 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:307.76, Y:263.05, Z:20.93 [[ 8.32387359e-01 -5.54117846e-01 -9.20312593e-03 3.07755922e+02] [ 5.54085849e-01 8.32438222e-01 -5.95640762e-03 2.63047431e+02] [ 1.09615855e-02 -1.41283440e-04 9.99939910e-01 2.09259548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.800385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:307.78, Y:263.06, Z:20.93 [[ 8.32998260e-01 -5.53199073e-01 -9.20239679e-03 3.07780066e+02] [ 5.53167008e-01 8.33049080e-01 -5.95753390e-03 2.63062282e+02] [ 1.09617504e-02 -1.27846918e-04 9.99939910e-01 2.09253457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.830385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:307.80, Y:263.08, Z:20.92 [[ 8.33087375e-01 -5.53064889e-01 -9.20077108e-03 3.07802990e+02] [ 5.53032788e-01 8.33138172e-01 -5.96004358e-03 2.63076151e+02] [ 1.09618044e-02 -1.23091014e-04 9.99939910e-01 2.09239780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.860385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:307.83, Y:263.09, Z:20.93 [[ 8.32918339e-01 -5.53319438e-01 -9.20006507e-03 3.07827088e+02] [ 5.53287340e-01 8.32969138e-01 -5.96113319e-03 2.63090361e+02] [ 1.09617811e-02 -1.25142375e-04 9.99939910e-01 2.09262892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.890385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.85, Y:263.10, Z:20.93 [[ 8.33039370e-01 -5.53137231e-01 -9.19843477e-03 3.07853561e+02] [ 5.53105095e-01 8.33090145e-01 -5.96364780e-03 2.63103957e+02] [ 1.09618410e-02 -1.19747726e-04 9.99939910e-01 2.09289888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.920385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:307.88, Y:263.12, Z:20.93 [[ 8.32380700e-01 -5.54127640e-01 -9.21567135e-03 3.07875236e+02] [ 5.54095858e-01 8.32431698e-01 -5.93707100e-03 2.63119848e+02] [ 1.09613121e-02 -1.64462007e-04 9.99939909e-01 2.09272341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.950385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.90, Y:263.13, Z:20.93 [[ 8.32024131e-01 -5.54663210e-01 -9.19611887e-03 3.07899323e+02] [ 5.54631128e-01 8.32074939e-01 -5.96720354e-03 2.63134524e+02] [ 1.09616483e-02 -1.35596445e-04 9.99939910e-01 2.09266720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.980385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.92, Y:263.15, Z:20.93 [[ 8.31431067e-01 -5.55551836e-01 -9.19449921e-03 3.07923415e+02] [ 5.55519780e-01 8.31481892e-01 -5.96969812e-03 2.63148673e+02] [ 1.09615364e-02 -1.44333696e-04 9.99939910e-01 2.09273407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.010385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:307.95, Y:263.16, Z:20.93 [[ 8.30527236e-01 -5.56902147e-01 -9.19287372e-03 3.07948680e+02] [ 5.56870146e-01 8.30578096e-01 -5.97220021e-03 2.63161933e+02] [ 1.09613307e-02 -1.59161990e-04 9.99939910e-01 2.09282596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.040385723 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:307.97, Y:263.18, Z:20.93 [[ 8.29916771e-01 -5.57811504e-01 -9.19125386e-03 3.07972530e+02] [ 5.57779531e-01 8.29967649e-01 -5.97469214e-03 2.63176503e+02] [ 1.09611954e-02 -1.68196053e-04 9.99939910e-01 2.09286163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.070385723 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:308.00, Y:263.19, Z:20.93 [[ 8.28836908e-01 -5.59414811e-01 -9.18959864e-03 3.07996911e+02] [ 5.59382908e-01 8.28887830e-01 -5.97723694e-03 2.63191282e+02] [ 1.09609013e-02 -1.86349827e-04 9.99939910e-01 2.09278842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.100385723 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:308.02, Y:263.21, Z:20.93 [[ 8.28308088e-01 -5.60197545e-01 -9.18812687e-03 3.08020397e+02] [ 5.60165666e-01 8.28359024e-01 -5.97949846e-03 2.63205661e+02] [ 1.09607682e-02 -1.94006267e-04 9.99939910e-01 2.09271387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.130385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:308.04, Y:263.22, Z:20.93 [[ 8.27731397e-01 -5.61049305e-01 -9.18760643e-03 3.08044385e+02] [ 5.61017469e-01 8.27782360e-01 -5.98029801e-03 2.63219767e+02] [ 1.09605806e-02 -2.04327278e-04 9.99939910e-01 2.09271918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.160385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:308.07, Y:263.23, Z:20.93 [[ 8.27375094e-01 -5.61574636e-01 -9.18596954e-03 3.08068345e+02] [ 5.61542805e-01 8.27426060e-01 -5.98281129e-03 2.63232142e+02] [ 1.09605057e-02 -2.08286051e-04 9.99939910e-01 2.09270872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.190385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:308.09, Y:263.25, Z:20.93 [[ 8.27978418e-01 -5.60684734e-01 -9.18527915e-03 3.08094192e+02] [ 5.60652835e-01 8.28029342e-01 -5.98387104e-03 2.63245831e+02] [ 1.09607458e-02 -1.95236725e-04 9.99939910e-01 2.09291004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.220385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:308.12, Y:263.26, Z:20.93 [[ 8.28475450e-01 -5.59950073e-01 -9.18388681e-03 3.08117866e+02] [ 5.59918106e-01 8.28526332e-01 -5.98600720e-03 2.63260586e+02] [ 1.09609572e-02 -1.82964500e-04 9.99939910e-01 2.09297083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.250385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.14, Y:263.28, Z:20.93 [[ 8.28990678e-01 -5.59187037e-01 -9.18225185e-03 3.08141260e+02] [ 5.59154996e-01 8.29041512e-01 -5.98851411e-03 2.63275561e+02] [ 1.09611674e-02 -1.69879625e-04 9.99939910e-01 2.09289731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.280385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.17, Y:263.29, Z:20.93 [[ 8.30070123e-01 -5.57583453e-01 -9.18062813e-03 3.08166903e+02] [ 5.57551285e-01 8.30120878e-01 -5.99100230e-03 2.63290025e+02] [ 1.09615148e-02 -1.45718996e-04 9.99939910e-01 2.09289364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.310385723 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:308.19, Y:263.30, Z:20.93 [[ 8.30614089e-01 -5.56772822e-01 -9.17927907e-03 3.08191762e+02] [ 5.56740583e-01 8.30664798e-01 -5.99306860e-03 2.63302189e+02] [ 1.09616817e-02 -1.32549960e-04 9.99939910e-01 2.09288257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.3403857229999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:308.22, Y:263.32, Z:20.93 [[ 8.30587513e-01 -5.56812480e-01 -9.17855832e-03 3.08216703e+02] [ 5.56780230e-01 8.30638216e-01 -5.99417223e-03 2.63316363e+02] [ 1.09616912e-02 -1.31755208e-04 9.99939910e-01 2.09274128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.370385723 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:308.24, Y:263.33, Z:20.93 [[ 8.30486879e-01 -5.56962465e-01 -9.18457318e-03 3.08239506e+02] [ 5.56930326e-01 8.30537652e-01 -5.98496517e-03 2.63330124e+02] [ 1.09615348e-02 -1.44732291e-04 9.99939910e-01 2.09296760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.400385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:308.26, Y:263.34, Z:20.93 [[ 8.30403161e-01 -5.57087413e-01 -9.17629236e-03 3.08264189e+02] [ 5.57055142e-01 8.30453850e-01 -5.99763471e-03 2.63343005e+02] [ 1.09616941e-02 -1.31246026e-04 9.99939910e-01 2.09299733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.430385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:308.29, Y:263.36, Z:20.93 [[ 8.30545881e-01 -5.56874627e-01 -9.17553210e-03 3.08289449e+02] [ 5.56842330e-01 8.30596553e-01 -5.99879757e-03 2.63357345e+02] [ 1.09617435e-02 -1.27048059e-04 9.99939910e-01 2.09293064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.460385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:308.31, Y:263.37, Z:20.93 [[ 8.31310646e-01 -5.55732187e-01 -9.18404148e-03 3.08312409e+02] [ 5.55699965e-01 8.31361365e-01 -5.98578756e-03 2.63369711e+02] [ 1.09617521e-02 -1.27522604e-04 9.99939910e-01 2.09305456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.490385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:308.34, Y:263.38, Z:20.93 [[ 8.30973103e-01 -5.56237197e-01 -9.15879272e-03 3.08337117e+02] [ 5.56204579e-01 8.31023569e-01 -6.02436454e-03 2.63384647e+02] [ 1.09621483e-02 -8.80775594e-05 9.99939910e-01 2.09327595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.520385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:308.36, Y:263.40, Z:20.93 [[ 8.30679927e-01 -5.56674712e-01 -9.17191929e-03 3.08364179e+02] [ 5.56642342e-01 8.30730553e-01 -6.00431299e-03 2.63397748e+02] [ 1.09618428e-02 -1.17816364e-04 9.99939910e-01 2.09323752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.550385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:308.39, Y:263.41, Z:20.93 [[ 8.31225703e-01 -5.55858898e-01 -9.20415787e-03 3.08387474e+02] [ 5.55827022e-01 8.31276644e-01 -5.95508254e-03 2.63410986e+02] [ 1.09613871e-02 -1.65901987e-04 9.99939908e-01 2.09329957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.580385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.41, Y:263.42, Z:20.93 [[ 8.31518750e-01 -5.55421012e-01 -9.16882657e-03 3.08411227e+02] [ 5.55388514e-01 8.31569294e-01 -6.00899287e-03 2.63424845e+02] [ 1.09620355e-02 -9.56707221e-05 9.99939911e-01 2.09326195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.610385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:308.44, Y:263.44, Z:20.93 [[ 8.32415147e-01 -5.54076681e-01 -9.16810574e-03 3.08436234e+02] [ 5.54044090e-01 8.32465630e-01 -6.01009247e-03 2.63438153e+02] [ 1.09621850e-02 -7.66427860e-05 9.99939911e-01 2.09313185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.640385723 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:308.46, Y:263.45, Z:20.93 [[ 8.32875454e-01 -5.53384545e-01 -9.16645854e-03 3.08460863e+02] [ 5.53351884e-01 8.32925892e-01 -6.01260369e-03 2.63452728e+02] [ 1.09622626e-02 -6.45270789e-05 9.99939911e-01 2.09306769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.670385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:308.49, Y:263.46, Z:20.93 [[ 8.33649347e-01 -5.52218046e-01 -9.16492110e-03 3.08486454e+02] [ 5.52185289e-01 8.33699722e-01 -6.01494627e-03 2.63464884e+02] [ 1.09623541e-02 -4.63785721e-05 9.99939911e-01 2.09307275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.700385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:308.51, Y:263.48, Z:20.93 [[ 8.33949933e-01 -5.51764029e-01 -9.16329099e-03 3.08512017e+02] [ 5.51731217e-01 8.34000273e-01 -6.01742859e-03 2.63478912e+02] [ 1.09623878e-02 -3.74395191e-05 9.99939911e-01 2.09314628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.730385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.54, Y:263.49, Z:20.93 [[ 8.34167684e-01 -5.51434796e-01 -9.16186397e-03 3.08537077e+02] [ 5.51401940e-01 8.34217996e-01 -6.01960052e-03 2.63492494e+02] [ 1.09624090e-02 -3.05133443e-05 9.99939911e-01 2.09318859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.760385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.56, Y:263.51, Z:20.93 [[ 8.34016915e-01 -5.51662828e-01 -9.16021730e-03 3.08560926e+02] [ 5.51629959e-01 8.34067217e-01 -6.02210528e-03 2.63508250e+02] [ 1.09624086e-02 -3.05126257e-05 9.99939911e-01 2.09321981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.790385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.59, Y:263.52, Z:20.93 [[ 8.34668211e-01 -5.50676946e-01 -9.15857033e-03 3.08587199e+02] [ 5.50643989e-01 8.34718456e-01 -6.02460898e-03 2.63520221e+02] [ 1.09624410e-02 -1.45621055e-05 9.99939911e-01 2.09319365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.820385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.61, Y:263.53, Z:20.93 [[ 8.35150470e-01 -5.49945309e-01 -9.15689948e-03 3.08610846e+02] [ 5.49912281e-01 8.35200668e-01 -6.02714746e-03 2.63533311e+02] [ 1.09624500e-02 -1.91644564e-06 9.99939911e-01 2.09314859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.850385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.64, Y:263.55, Z:20.93 [[ 8.36390159e-01 -5.48058094e-01 -9.15576021e-03 3.08636168e+02] [ 5.48024934e-01 8.36440270e-01 -6.02887762e-03 2.63545421e+02] [ 1.09624217e-02 2.49090266e-05 9.99939911e-01 2.09318601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.880385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:308.66, Y:263.56, Z:20.93 [[ 8.37116001e-01 -5.46948812e-01 -9.15410845e-03 3.08660501e+02] [ 5.46915557e-01 8.37166050e-01 -6.03138458e-03 2.63559472e+02] [ 1.09623674e-02 4.24442217e-05 9.99939911e-01 2.09321680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.910385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.68, Y:263.57, Z:20.93 [[ 8.37847886e-01 -5.45827035e-01 -9.15245206e-03 3.08684746e+02] [ 5.45793686e-01 8.37897872e-01 -6.03389705e-03 2.63573587e+02] [ 1.09622842e-02 6.01373416e-05 9.99939911e-01 2.09321716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.940385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.71, Y:263.59, Z:20.93 [[ 8.36753242e-01 -5.47503674e-01 -9.15089329e-03 3.08707559e+02] [ 5.47470399e-01 8.36803278e-01 -6.03626012e-03 2.63586703e+02] [ 1.09623721e-02 4.10170286e-05 9.99939911e-01 2.09325397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.970385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.74, Y:263.60, Z:20.93 [[ 8.38005076e-01 -5.45586460e-01 -9.10528930e-03 3.08735472e+02] [ 5.45552319e-01 8.38054528e-01 -6.10535164e-03 2.63599390e+02] [ 1.09617261e-02 1.48903969e-04 9.99939907e-01 2.09330473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.000385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:308.76, Y:263.61, Z:20.93 [[ 8.36627696e-01 -5.47695525e-01 -9.14935574e-03 3.08756822e+02] [ 5.47662237e-01 8.36677722e-01 -6.03858448e-03 2.63613357e+02] [ 1.09623678e-02 4.12903879e-05 9.99939911e-01 2.09334660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.030385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.79, Y:263.62, Z:20.93 [[ 8.36875512e-01 -5.47317441e-01 -9.11021036e-03 3.08785466e+02] [ 5.47283483e-01 8.36925089e-01 -6.09785770e-03 2.63624585e+02] [ 1.09620275e-02 1.17280127e-04 9.99939908e-01 2.09330252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.060385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.81, Y:263.64, Z:20.93 [[ 8.36460300e-01 -5.47951167e-01 -9.14793465e-03 3.08809689e+02] [ 5.47917871e-01 8.36510321e-01 -6.04072900e-03 2.63638207e+02] [ 1.09623663e-02 4.05131207e-05 9.99939911e-01 2.09332211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.0903857229999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:308.84, Y:263.65, Z:20.93 [[ 8.36582177e-01 -5.47765102e-01 -9.14630770e-03 3.08835413e+02] [ 5.47731767e-01 8.36632172e-01 -6.04319137e-03 2.63651058e+02] [ 1.09623446e-02 4.59029199e-05 9.99939911e-01 2.09337860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.120385723 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:308.86, Y:263.66, Z:20.93 [[ 8.37021315e-01 -5.47093861e-01 -9.14467627e-03 3.08858677e+02] [ 5.47060460e-01 8.37071265e-01 -6.04565907e-03 2.63664986e+02] [ 1.09622887e-02 5.76547008e-05 9.99939911e-01 2.09334278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.150385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.88, Y:263.68, Z:20.93 [[ 8.37449182e-01 -5.46438703e-01 -9.14397016e-03 3.08882608e+02] [ 5.46405250e-01 8.37499098e-01 -6.04672686e-03 2.63680457e+02] [ 1.09622323e-02 6.75131519e-05 9.99939911e-01 2.09340242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.180385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.91, Y:263.70, Z:20.93 [[ 8.38959369e-01 -5.44117262e-01 -9.14234955e-03 3.08906479e+02] [ 5.44083644e-01 8.39009175e-01 -6.04917615e-03 2.63696884e+02] [ 1.09619763e-02 1.00810142e-04 9.99939911e-01 2.09338739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.210385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:308.93, Y:263.71, Z:20.93 [[ 8.39456691e-01 -5.43349710e-01 -9.14091378e-03 3.08929628e+02] [ 5.43316024e-01 8.39506450e-01 -6.05134497e-03 2.63713715e+02] [ 1.09618526e-02 1.13437103e-04 9.99939911e-01 2.09331983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.240385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.95, Y:263.73, Z:20.93 [[ 8.39976705e-01 -5.42545488e-01 -9.13937644e-03 3.08950440e+02] [ 5.42511729e-01 8.40026415e-01 -6.05366592e-03 2.63731757e+02] [ 1.09617068e-02 1.26719440e-04 9.99939911e-01 2.09313842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.270385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:308.97, Y:263.75, Z:20.93 [[ 8.39648513e-01 -5.43053275e-01 -9.13866515e-03 3.08973564e+02] [ 5.43019534e-01 8.39698235e-01 -6.05473951e-03 2.63747875e+02] [ 1.09617671e-02 1.21379335e-04 9.99939911e-01 2.09334788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.300385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.00, Y:263.76, Z:20.93 [[ 8.38751156e-01 -5.44438255e-01 -9.13697884e-03 3.08997349e+02] [ 5.44404568e-01 8.38800915e-01 -6.05728319e-03 2.63763668e+02] [ 1.09619229e-02 1.06340255e-04 9.99939911e-01 2.09345115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.330385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.02, Y:263.78, Z:20.94 [[ 8.36444615e-01 -5.47975320e-01 -9.13530337e-03 3.09021608e+02] [ 5.47941817e-01 8.36494498e-01 -6.05980899e-03 2.63778693e+02] [ 1.09622568e-02 6.30798787e-05 9.99939911e-01 2.09362201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.360385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.05, Y:263.79, Z:20.94 [[ 8.34955434e-01 -5.50241765e-01 -9.13362820e-03 3.09045499e+02] [ 5.50208369e-01 8.35005388e-01 -6.06233284e-03 2.63794220e+02] [ 1.09623775e-02 3.63790679e-05 9.99939911e-01 2.09374296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.390385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.07, Y:263.81, Z:20.94 [[ 8.32041506e-01 -5.54638203e-01 -9.13215234e-03 3.09069274e+02] [ 5.54605046e-01 8.32091620e-01 -6.06455522e-03 2.63809669e+02] [ 1.09624214e-02 -1.87761086e-05 9.99939911e-01 2.09377879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.420385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.09, Y:263.83, Z:20.94 [[ 8.29794289e-01 -5.57994688e-01 -9.13047042e-03 3.09091025e+02] [ 5.57961707e-01 8.29844518e-01 -6.06708638e-03 2.63825948e+02] [ 1.09622728e-02 -6.00192294e-05 9.99939911e-01 2.09362554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.450385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:309.12, Y:263.84, Z:20.94 [[ 8.28050879e-01 -5.60579169e-01 -9.09597837e-03 3.09116356e+02] [ 5.60545774e-01 8.28100836e-01 -6.11895857e-03 2.63842392e+02] [ 1.09625480e-02 -3.19032102e-05 9.99939909e-01 2.09377163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.480385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:309.14, Y:263.86, Z:20.94 [[ 8.26796901e-01 -5.62426483e-01 -9.12884168e-03 3.09139819e+02] [ 5.62393743e-01 8.26847288e-01 -6.06953073e-03 2.63858444e+02] [ 1.09618228e-02 -1.15734248e-04 9.99939911e-01 2.09379558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.510385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.16, Y:263.87, Z:20.94 [[ 8.25710424e-01 -5.64020381e-01 -9.12719291e-03 3.09163026e+02] [ 5.63987712e-01 8.25760856e-01 -6.07200909e-03 2.63873807e+02] [ 1.09616155e-02 -1.33903451e-04 9.99939911e-01 2.09382238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.540385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.19, Y:263.89, Z:20.94 [[ 8.24029871e-01 -5.66472856e-01 -9.12553584e-03 3.09186418e+02] [ 5.66440309e-01 8.24080382e-01 -6.07449845e-03 2.63889178e+02] [ 1.09612136e-02 -1.63503171e-04 9.99939911e-01 2.09392788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.570385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.21, Y:263.90, Z:20.94 [[ 8.23574572e-01 -5.67134622e-01 -9.12386324e-03 3.09208928e+02] [ 5.67102088e-01 8.23625092e-01 -6.07700966e-03 2.63904586e+02] [ 1.09611253e-02 -1.69291260e-04 9.99939911e-01 2.09398606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.600385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.23, Y:263.92, Z:20.94 [[ 8.21624927e-01 -5.69955478e-01 -9.12313964e-03 3.09227217e+02] [ 5.69923105e-01 8.21675551e-01 -6.07809578e-03 2.63922677e+02] [ 1.09605048e-02 -2.05573071e-04 9.99939911e-01 2.09386957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.630385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.25, Y:263.94, Z:20.94 [[ 8.23123618e-01 -5.67789947e-01 -9.06014553e-03 3.09254833e+02] [ 5.67756398e-01 8.23173476e-01 -6.17254814e-03 2.63939021e+02] [ 1.09627823e-02 -6.31854406e-05 9.99939905e-01 2.09395493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.660385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.28, Y:263.96, Z:20.94 [[ 8.22998141e-01 -5.67970826e-01 -9.12145576e-03 3.09277645e+02] [ 5.67938304e-01 8.23048668e-01 -6.08057696e-03 2.63955579e+02] [ 1.09609923e-02 -1.76120585e-04 9.99939911e-01 2.09394412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.690385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.30, Y:263.97, Z:20.94 [[ 8.21288690e-01 -5.70439933e-01 -9.11983925e-03 3.09297357e+02] [ 5.70407535e-01 8.21339297e-01 -6.08300048e-03 2.63973214e+02] [ 1.09604687e-02 -2.06125537e-04 9.99939911e-01 2.09387899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.720385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.32, Y:263.99, Z:20.94 [[ 8.21490519e-01 -5.70149679e-01 -9.09236727e-03 3.09319853e+02] [ 5.70116807e-01 8.21540821e-01 -6.12417063e-03 2.63989890e+02] [ 1.09614448e-02 -1.52763295e-04 9.99939910e-01 2.09374037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.750385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.34, Y:264.01, Z:20.94 [[ 8.21624425e-01 -5.69956773e-01 -9.08743903e-03 3.09342052e+02] [ 5.69923808e-01 8.21674666e-01 -6.13156563e-03 2.64006184e+02] [ 1.09616458e-02 -1.41303777e-04 9.99939909e-01 2.09413661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.780385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.37, Y:264.02, Z:20.94 [[ 8.21920685e-01 -5.69529739e-01 -9.06994844e-03 3.09365676e+02] [ 5.69496458e-01 8.21970721e-01 -6.15780084e-03 2.64024260e+02] [ 1.09622828e-02 -1.04079623e-04 9.99939907e-01 2.09397110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.810385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.39, Y:264.04, Z:20.94 [[ 8.22240414e-01 -5.69067559e-01 -9.10030773e-03 3.09388094e+02] [ 5.69034753e-01 8.22290758e-01 -6.11224396e-03 2.64040809e+02] [ 1.09613787e-02 -1.52657364e-04 9.99939911e-01 2.09418794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.8403857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.41, Y:264.06, Z:20.94 [[ 8.21959922e-01 -5.69472965e-01 -9.07902260e-03 3.09410461e+02] [ 5.69439831e-01 8.22010053e-01 -6.14416228e-03 2.64057797e+02] [ 1.09619822e-02 -1.19701949e-04 9.99939909e-01 2.09423602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.870385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.44, Y:264.07, Z:20.95 [[ 8.23207493e-01 -5.67668172e-01 -9.07028501e-03 3.09436851e+02] [ 5.67634784e-01 8.23257457e-01 -6.15725660e-03 2.64073606e+02] [ 1.09624584e-02 -7.99095087e-05 9.99939907e-01 2.09450082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.900385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.45, Y:264.09, Z:20.94 [[ 8.21879443e-01 -5.69588457e-01 -9.11977619e-03 3.09454023e+02] [ 5.69556007e-01 8.21930016e-01 -6.08305906e-03 2.64092508e+02] [ 1.09606580e-02 -1.94682116e-04 9.99939911e-01 2.09434196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.930385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:309.48, Y:264.11, Z:20.95 [[ 8.23150011e-01 -5.67751681e-01 -9.06028088e-03 3.09480835e+02] [ 5.67718134e-01 8.23199869e-01 -6.17218478e-03 2.64108313e+02] [ 1.09626903e-02 -6.30517816e-05 9.99939906e-01 2.09450539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.960385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.50, Y:264.13, Z:20.94 [[ 8.22810217e-01 -5.68243088e-01 -9.11806778e-03 3.09501983e+02] [ 5.68210527e-01 8.22860719e-01 -6.08560270e-03 2.64125130e+02] [ 1.09610015e-02 -1.73686022e-04 9.99939911e-01 2.09444776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.990385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:309.52, Y:264.14, Z:20.94 [[ 8.20920755e-01 -5.70969341e-01 -9.11737843e-03 3.09518944e+02] [ 5.70936936e-01 8.20971357e-01 -6.08663529e-03 2.64142187e+02] [ 1.09603887e-02 -2.08802870e-04 9.99939911e-01 2.09430700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.020385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.54, Y:264.16, Z:20.94 [[ 8.20232109e-01 -5.71959223e-01 -9.05179607e-03 3.09541262e+02] [ 5.71925792e-01 8.20282047e-01 -6.18485065e-03 2.64158686e+02] [ 1.09625082e-02 -1.03942542e-04 9.99939905e-01 2.09434909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.050385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.57, Y:264.17, Z:20.95 [[ 8.21388775e-01 -5.70296988e-01 -9.04577785e-03 3.09569789e+02] [ 5.70263356e-01 8.21438580e-01 -6.19385951e-03 2.64173515e+02] [ 1.09628903e-02 -7.09089627e-05 9.99939903e-01 2.09459874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.080385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.59, Y:264.19, Z:20.95 [[ 8.20703409e-01 -5.71281707e-01 -9.11730432e-03 3.09593126e+02] [ 5.71249320e-01 8.20754023e-01 -6.08672010e-03 2.64189887e+02] [ 1.09602960e-02 -2.12861953e-04 9.99939912e-01 2.09466902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.110385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:309.61, Y:264.21, Z:20.95 [[ 8.18242745e-01 -5.74800588e-01 -9.11561908e-03 3.09611032e+02] [ 5.74768390e-01 8.18293480e-01 -6.08924291e-03 2.64207740e+02] [ 1.09593521e-02 -2.56890871e-04 9.99939912e-01 2.09458249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.140385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.64, Y:264.22, Z:20.95 [[ 8.19244457e-01 -5.73372930e-01 -9.05558808e-03 3.09638077e+02] [ 5.73339649e-01 8.19294493e-01 -6.17901317e-03 2.64222928e+02] [ 1.09620723e-02 -1.29805407e-04 9.99939906e-01 2.09478035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.170385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.66, Y:264.24, Z:20.95 [[ 8.19044601e-01 -5.73657467e-01 -9.11325631e-03 3.09660518e+02] [ 5.73625160e-01 8.19095266e-01 -6.09275586e-03 2.64240142e+02] [ 1.09597800e-02 -2.37354318e-04 9.99939912e-01 2.09479404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.200385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.68, Y:264.26, Z:20.95 [[ 8.19045596e-01 -5.73656074e-01 -9.11159869e-03 3.09683107e+02] [ 5.73623739e-01 8.19096242e-01 -6.09523378e-03 2.64256905e+02] [ 1.09598441e-02 -2.34354931e-04 9.99939912e-01 2.09483925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.230385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.70, Y:264.27, Z:20.95 [[ 8.17993861e-01 -5.75154808e-01 -9.10992599e-03 3.09702867e+02] [ 5.75122538e-01 8.18044549e-01 -6.09773278e-03 2.64274419e+02] [ 1.09594656e-02 -2.51415778e-04 9.99939912e-01 2.09463760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.260385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.72, Y:264.29, Z:20.95 [[ 8.18144083e-01 -5.74941805e-01 -9.06532370e-03 3.09724204e+02] [ 5.74908783e-01 8.18194288e-01 -6.16430124e-03 2.64292102e+02] [ 1.09613106e-02 -1.68447632e-04 9.99939909e-01 2.09466241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.290385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.75, Y:264.31, Z:20.95 [[ 8.19592001e-01 -5.72875921e-01 -9.06256134e-03 3.09750390e+02] [ 5.72842727e-01 8.19642093e-01 -6.16842285e-03 2.64307819e+02] [ 1.09617977e-02 -1.35832326e-04 9.99939908e-01 2.09492194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.320385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:309.77, Y:264.33, Z:20.95 [[ 8.19062459e-01 -5.73632077e-01 -9.10652437e-03 3.09765731e+02] [ 5.73599657e-01 8.19113051e-01 -6.10282204e-03 2.64325258e+02] [ 1.09600474e-02 -2.24906823e-04 9.99939912e-01 2.09475950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.350385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.79, Y:264.34, Z:20.95 [[ 8.19720007e-01 -5.72693425e-01 -9.01947103e-03 3.09791156e+02] [ 5.72659512e-01 8.19769625e-01 -6.23262654e-03 2.64342000e+02] [ 1.09632726e-02 -5.60772053e-05 9.99939900e-01 2.09479739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.380385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:309.82, Y:264.36, Z:20.95 [[ 8.20342792e-01 -5.71800410e-01 -9.05510516e-03 3.09816186e+02] [ 5.71767028e-01 8.20392759e-01 -6.17948546e-03 2.64359484e+02] [ 1.09621750e-02 -1.08114214e-04 9.99939908e-01 2.09500061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.410385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.84, Y:264.37, Z:20.95 [[ 8.22529842e-01 -5.68649049e-01 -9.10593710e-03 3.09839348e+02] [ 5.68616313e-01 8.22580230e-01 -6.10365019e-03 2.64374762e+02] [ 1.09611987e-02 -1.57349950e-04 9.99939912e-01 2.09504186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.440385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.86, Y:264.39, Z:20.95 [[ 8.22953864e-01 -5.68035255e-01 -9.10424759e-03 3.09860759e+02] [ 5.68002453e-01 8.23004209e-01 -6.10616924e-03 2.64391050e+02] [ 1.09613535e-02 -1.46139395e-04 9.99939912e-01 2.09495784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.470385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:309.88, Y:264.41, Z:20.95 [[ 8.23747363e-01 -5.66883946e-01 -9.10352146e-03 3.09883477e+02] [ 5.66851062e-01 8.23797654e-01 -6.10725162e-03 2.64407464e+02] [ 1.09615625e-02 -1.29508399e-04 9.99939912e-01 2.09492547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.500385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.91, Y:264.42, Z:20.95 [[ 8.24967334e-01 -5.65107117e-01 -9.10185260e-03 3.09905300e+02] [ 5.65074097e-01 8.25017537e-01 -6.10973776e-03 2.64424673e+02] [ 1.09618443e-02 -1.02887071e-04 9.99939912e-01 2.09477305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.530385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.93, Y:264.44, Z:20.95 [[ 8.25405812e-01 -5.64466483e-01 -9.10133595e-03 3.09927111e+02] [ 5.64433416e-01 8.25455983e-01 -6.11050729e-03 2.64440563e+02] [ 1.09619288e-02 -9.34499036e-05 9.99939912e-01 2.09473430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.560385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:309.95, Y:264.46, Z:20.95 [[ 8.26557060e-01 -5.62779358e-01 -9.10062499e-03 3.09948267e+02] [ 5.62746177e-01 8.26607155e-01 -6.11156597e-03 2.64456145e+02] [ 1.09621049e-02 -6.97839223e-05 9.99939912e-01 2.09471757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.5903857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.97, Y:264.47, Z:20.95 [[ 8.25222608e-01 -5.64734981e-01 -9.05808702e-03 3.09973835e+02] [ 5.64701222e-01 8.25272319e-01 -6.17488598e-03 2.64473961e+02] [ 1.09625626e-02 -1.94572922e-05 9.99939909e-01 2.09482216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.620385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.00, Y:264.49, Z:20.95 [[ 8.25070002e-01 -5.64957237e-01 -9.10009393e-03 3.09997541e+02] [ 5.64924180e-01 8.25120180e-01 -6.11234592e-03 2.64489920e+02] [ 1.09618852e-02 -9.77498371e-05 9.99939912e-01 2.09485619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.650385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:310.02, Y:264.51, Z:20.95 [[ 8.24599505e-01 -5.65643771e-01 -9.09844172e-03 3.10020769e+02] [ 5.65610728e-01 8.24649692e-01 -6.11480431e-03 2.64505085e+02] [ 1.09618281e-02 -1.03911637e-04 9.99939912e-01 2.09488188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.680385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.04, Y:264.52, Z:20.95 [[ 8.22762316e-01 -5.68312765e-01 -9.09793033e-03 3.10044195e+02] [ 5.68279877e-01 8.22812604e-01 -6.11556508e-03 2.64521433e+02] [ 1.09614455e-02 -1.38514235e-04 9.99939912e-01 2.09517767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.710385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.07, Y:264.54, Z:20.95 [[ 8.20854891e-01 -5.71064359e-01 -9.09650827e-03 3.10065700e+02] [ 5.71031615e-01 8.20905274e-01 -6.11767957e-03 2.64538690e+02] [ 1.09609604e-02 -1.72666620e-04 9.99939912e-01 2.09496111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.740385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:310.09, Y:264.55, Z:20.95 [[ 8.21196425e-01 -5.70573404e-01 -9.07864493e-03 3.10091162e+02] [ 5.70540337e-01 8.21246597e-01 -6.14423034e-03 2.64553771e+02] [ 1.09615407e-02 -1.34113141e-04 9.99939912e-01 2.09546719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.770385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.11, Y:264.57, Z:20.95 [[ 8.18632278e-01 -5.74246009e-01 -9.09477251e-03 3.10112843e+02] [ 5.74213432e-01 8.18682769e-01 -6.12026461e-03 2.64570949e+02] [ 1.09602711e-02 -2.12094374e-04 9.99939912e-01 2.09526803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.800385723 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:310.14, Y:264.59, Z:20.96 [[ 8.18903039e-01 -5.73860013e-01 -9.08284606e-03 3.10136481e+02] [ 5.73827217e-01 8.18953387e-01 -6.13797600e-03 2.64585808e+02] [ 1.09607665e-02 -1.85577072e-04 9.99939912e-01 2.09552117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.830385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.16, Y:264.60, Z:20.96 [[ 8.18472345e-01 -5.74473977e-01 -9.09226855e-03 3.10158533e+02] [ 5.74441374e-01 8.18522819e-01 -6.12398645e-03 2.64601500e+02] [ 1.09603001e-02 -2.10661684e-04 9.99939912e-01 2.09550695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.860385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.18, Y:264.62, Z:20.95 [[ 8.17991668e-01 -5.75158217e-01 -9.09153495e-03 3.10181019e+02] [ 5.75125643e-01 8.18042161e-01 -6.12507534e-03 2.64618238e+02] [ 1.09601463e-02 -2.18514294e-04 9.99939912e-01 2.09541004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.890385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.20, Y:264.63, Z:20.95 [[ 8.18095876e-01 -5.75010010e-01 -9.08986559e-03 3.10202645e+02] [ 5.74977400e-01 8.18146346e-01 -6.12755175e-03 2.64633789e+02] [ 1.09602439e-02 -2.13542465e-04 9.99939912e-01 2.09537750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.920385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.23, Y:264.65, Z:20.95 [[ 8.18151597e-01 -5.74930737e-01 -9.08914254e-03 3.10225643e+02] [ 5.74898110e-01 8.18202055e-01 -6.12862407e-03 2.64650091e+02] [ 1.09602895e-02 -2.11187309e-04 9.99939912e-01 2.09531293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.950385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.25, Y:264.67, Z:20.95 [[ 8.19241287e-01 -5.73376953e-01 -9.08749789e-03 3.10249079e+02] [ 5.73344204e-01 8.19291666e-01 -6.13106178e-03 2.64666279e+02] [ 1.09607208e-02 -1.87445296e-04 9.99939912e-01 2.09519195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.980385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.27, Y:264.68, Z:20.95 [[ 8.18501889e-01 -5.74431981e-01 -9.08606434e-03 3.10270843e+02] [ 5.74399273e-01 8.18552295e-01 -6.13318552e-03 2.64684111e+02] [ 1.09605167e-02 -1.99004816e-04 9.99939912e-01 2.09496763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.010385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.29, Y:264.70, Z:20.95 [[ 8.19276373e-01 -5.73327094e-01 -9.07013614e-03 3.10294797e+02] [ 5.73294057e-01 8.19326564e-01 -6.15677892e-03 2.64701024e+02] [ 1.09612516e-02 -1.55751642e-04 9.99939912e-01 2.09497342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.040385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.32, Y:264.72, Z:20.95 [[ 8.21007744e-01 -5.70844909e-01 -9.07599841e-03 3.10318391e+02] [ 5.70811816e-01 8.21057898e-01 -6.14809846e-03 2.64715788e+02] [ 1.09615309e-02 -1.33050678e-04 9.99939912e-01 2.09526442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.070385723 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:310.34, Y:264.73, Z:20.95 [[ 8.20952306e-01 -5.70924500e-01 -9.08444913e-03 3.10341128e+02] [ 5.70891550e-01 8.21002554e-01 -6.13558620e-03 2.64733286e+02] [ 1.09613124e-02 -1.49211604e-04 9.99939912e-01 2.09519470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.100385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.36, Y:264.75, Z:20.95 [[ 8.20393940e-01 -5.71726580e-01 -9.08300345e-03 3.10361967e+02] [ 5.71693655e-01 8.20444205e-01 -6.13772560e-03 2.64750133e+02] [ 1.09611984e-02 -1.57342558e-04 9.99939912e-01 2.09510110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.130385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.39, Y:264.77, Z:20.95 [[ 8.19312459e-01 -5.73275805e-01 -9.05243524e-03 3.10385795e+02] [ 5.73242474e-01 8.19362457e-01 -6.18299396e-03 2.64766567e+02] [ 1.09617864e-02 -1.23436388e-04 9.99939910e-01 2.09534604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.160385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.41, Y:264.78, Z:20.95 [[ 8.19061759e-01 -5.73633732e-01 -9.06517425e-03 3.10409517e+02] [ 5.73600632e-01 8.19111909e-01 -6.16412565e-03 2.64782285e+02] [ 1.09613426e-02 -1.50990083e-04 9.99939911e-01 2.09533247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.190385723 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:310.43, Y:264.80, Z:20.95 [[ 8.19502052e-01 -5.73004433e-01 -9.07228468e-03 3.10433693e+02] [ 5.72971411e-01 8.19552253e-01 -6.15360004e-03 2.64797429e+02] [ 1.09612515e-02 -1.55271894e-04 9.99939912e-01 2.09536782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.220385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.46, Y:264.81, Z:20.96 [[ 8.19124830e-01 -5.73543524e-01 -9.07407538e-03 3.10457380e+02] [ 5.73510564e-01 8.19175072e-01 -6.15095050e-03 2.64813070e+02] [ 1.09610942e-02 -1.65681798e-04 9.99939912e-01 2.09575856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.250385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.48, Y:264.83, Z:20.96 [[ 8.18698184e-01 -5.74152258e-01 -9.08121556e-03 3.10480361e+02] [ 5.74119452e-01 8.18748527e-01 -6.14039066e-03 2.64829296e+02] [ 1.09607510e-02 -1.86575820e-04 9.99939912e-01 2.09586627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.280385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.50, Y:264.85, Z:20.96 [[ 8.18371381e-01 -5.74617999e-01 -9.07957273e-03 3.10503022e+02] [ 5.74585195e-01 8.18421725e-01 -6.14281889e-03 2.64845120e+02] [ 1.09606939e-02 -1.89880895e-04 9.99939912e-01 2.09595633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.310385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.53, Y:264.86, Z:20.96 [[ 8.18340802e-01 -5.74661573e-01 -9.07789098e-03 3.10525446e+02] [ 5.74628744e-01 8.18391130e-01 -6.14530319e-03 2.64861449e+02] [ 1.09607351e-02 -1.87464756e-04 9.99939912e-01 2.09604836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.3403857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.55, Y:264.88, Z:20.96 [[ 8.17165931e-01 -5.76331037e-01 -9.07618627e-03 3.10547417e+02] [ 5.76298283e-01 8.17216308e-01 -6.14781990e-03 2.64879312e+02] [ 1.09603868e-02 -2.06801585e-04 9.99939912e-01 2.09570373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.370385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.57, Y:264.90, Z:20.96 [[ 8.18633511e-01 -5.74244767e-01 -9.06207998e-03 3.10570207e+02] [ 5.74211655e-01 8.18683653e-01 -6.16863251e-03 2.64895394e+02] [ 1.09612817e-02 -1.53702643e-04 9.99939912e-01 2.09601795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.400385723 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:310.59, Y:264.91, Z:20.96 [[ 8.18763553e-01 -5.74059151e-01 -9.07387540e-03 3.10593201e+02] [ 5.74026220e-01 8.18813814e-01 -6.15123272e-03 2.64911944e+02] [ 1.09609860e-02 -1.72237231e-04 9.99939912e-01 2.09600429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.430385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.62, Y:264.93, Z:20.96 [[ 8.18883863e-01 -5.73887546e-01 -9.07218653e-03 3.10616120e+02] [ 5.73854576e-01 8.18934098e-01 -6.15372256e-03 2.64928383e+02] [ 1.09610676e-02 -1.66931653e-04 9.99939912e-01 2.09601275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.460385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.64, Y:264.94, Z:20.96 [[ 8.18922887e-01 -5.73831884e-01 -9.07048399e-03 3.10638959e+02] [ 5.73798884e-01 8.18973102e-01 -6.15623106e-03 2.64943968e+02] [ 1.09611241e-02 -1.63155075e-04 9.99939912e-01 2.09609288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.490385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:310.66, Y:264.96, Z:20.96 [[ 8.19003284e-01 -5.73717159e-01 -9.06877045e-03 3.10661943e+02] [ 5.73684123e-01 8.19053476e-01 -6.15875423e-03 2.64959352e+02] [ 1.09611909e-02 -1.58569686e-04 9.99939912e-01 2.09624991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.520385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.69, Y:264.98, Z:20.96 [[ 8.19096118e-01 -5.73584689e-01 -9.06391317e-03 3.10685100e+02] [ 5.73551566e-01 8.19146253e-01 -6.16590310e-03 2.64975113e+02] [ 1.09613381e-02 -1.48154297e-04 9.99939912e-01 2.09618517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.550385723 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:310.71, Y:264.99, Z:20.96 [[ 8.19437517e-01 -5.73096806e-01 -9.06680696e-03 3.10707641e+02] [ 5.73063700e-01 8.19487663e-01 -6.16164492e-03 2.64991366e+02] [ 1.09613555e-02 -1.46774933e-04 9.99939912e-01 2.09597588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.580385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.73, Y:265.01, Z:20.96 [[ 8.19726840e-01 -5.72682924e-01 -9.06513021e-03 3.10730347e+02] [ 5.72649765e-01 8.19776951e-01 -6.16411080e-03 2.65007129e+02] [ 1.09614658e-02 -1.38257623e-04 9.99939912e-01 2.09614835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.610385723 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:310.75, Y:265.02, Z:20.96 [[ 8.19827273e-01 -5.72539166e-01 -9.06345239e-03 3.10753728e+02] [ 5.72505972e-01 8.19877360e-01 -6.16657680e-03 2.65022055e+02] [ 1.09615262e-02 -1.33352777e-04 9.99939912e-01 2.09590568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.640385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.78, Y:265.04, Z:20.96 [[ 8.20002033e-01 -5.72288869e-01 -9.06176895e-03 3.10776680e+02] [ 5.72255632e-01 8.20052092e-01 -6.16904964e-03 2.65036360e+02] [ 1.09616010e-02 -1.27015075e-04 9.99939912e-01 2.09629824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.670385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.80, Y:265.05, Z:20.96 [[ 8.19889855e-01 -5.72449588e-01 -9.06062202e-03 3.10800805e+02] [ 5.72416342e-01 8.19939908e-01 -6.17073369e-03 2.65051480e+02] [ 1.09615995e-02 -1.27126167e-04 9.99939912e-01 2.09638690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.700385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.82, Y:265.07, Z:20.97 [[ 8.20211087e-01 -5.71989255e-01 -9.05895012e-03 3.10824904e+02] [ 5.71955954e-01 8.20261104e-01 -6.17318716e-03 2.65065853e+02] [ 1.09617011e-02 -1.18003906e-04 9.99939912e-01 2.09667884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.730385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.85, Y:265.08, Z:20.97 [[ 8.20110372e-01 -5.72133796e-01 -9.04968755e-03 3.10848676e+02] [ 5.72100354e-01 8.20160295e-01 -6.18677562e-03 2.65081254e+02] [ 1.09618578e-02 -1.03490597e-04 9.99939912e-01 2.09657233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.760385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.87, Y:265.10, Z:20.97 [[ 8.20134021e-01 -5.72099782e-01 -9.05682659e-03 3.10872500e+02] [ 5.72066454e-01 8.20184020e-01 -6.17630705e-03 2.65096881e+02] [ 1.09617284e-02 -1.15707131e-04 9.99939912e-01 2.09663331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.790385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.89, Y:265.11, Z:20.97 [[ 8.19974661e-01 -5.72328191e-01 -9.05518009e-03 3.10894269e+02] [ 5.72294850e-01 8.20024651e-01 -6.17872008e-03 2.65113426e+02] [ 1.09617266e-02 -1.15839025e-04 9.99939912e-01 2.09670117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.820385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.92, Y:265.13, Z:20.97 [[ 8.21807279e-01 -5.69694161e-01 -9.01993780e-03 3.10920118e+02] [ 5.69660092e-01 8.21856778e-01 -6.23033197e-03 2.65128443e+02] [ 1.09624808e-02 -1.81664342e-05 9.99939910e-01 2.09673849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.850385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:310.94, Y:265.14, Z:20.96 [[ 8.24147973e-01 -5.66302177e-01 -9.05333006e-03 3.10940669e+02] [ 5.66268440e-01 8.24197697e-01 -6.18142562e-03 2.65142138e+02] [ 1.09622886e-02 -3.22056971e-05 9.99939912e-01 2.09648761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.880385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:310.97, Y:265.16, Z:20.97 [[ 8.23976913e-01 -5.66551827e-01 -9.00412273e-03 3.10966079e+02] [ 5.66517317e-01 8.24026107e-01 -6.25342180e-03 2.65159205e+02] [ 1.09625197e-02 5.16837390e-05 9.99939908e-01 2.09660422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.910385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.99, Y:265.18, Z:20.97 [[ 8.23637850e-01 -5.67043897e-01 -9.05050739e-03 3.10987401e+02] [ 5.67010159e-01 8.23687573e-01 -6.18555329e-03 2.65175649e+02] [ 1.09622707e-02 -3.70738301e-05 9.99939912e-01 2.09659073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.940385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.01, Y:265.19, Z:20.97 [[ 8.24732850e-01 -5.65450513e-01 -9.02458246e-03 3.11011565e+02] [ 5.65416264e-01 8.24782224e-01 -6.22347609e-03 2.65190756e+02] [ 1.09623829e-02 3.00594747e-05 9.99939911e-01 2.09670896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.970385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:311.04, Y:265.21, Z:20.97 [[ 8.25260656e-01 -5.64679880e-01 -9.02679883e-03 3.11036329e+02] [ 5.64645620e-01 8.25310022e-01 -6.22023468e-03 2.65206032e+02] [ 1.09623489e-02 3.63725243e-05 9.99939911e-01 2.09679918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.000385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:311.06, Y:265.22, Z:20.97 [[ 8.26109736e-01 -5.63436614e-01 -9.04905247e-03 3.11060339e+02] [ 5.63402637e-01 8.26159295e-01 -6.18769035e-03 2.65219796e+02] [ 1.09623301e-02 1.34512191e-05 9.99939912e-01 2.09686209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.030385723 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:311.08, Y:265.23, Z:20.97 [[ 8.25660196e-01 -5.64095174e-01 -9.04850660e-03 3.11084546e+02] [ 5.64061227e-01 8.25709776e-01 -6.18848849e-03 2.65234043e+02] [ 1.09623369e-02 5.67687467e-06 9.99939912e-01 2.09701259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.060385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:311.11, Y:265.25, Z:20.97 [[ 8.25116756e-01 -5.64889807e-01 -9.04681195e-03 3.11108371e+02] [ 5.64855880e-01 8.25166351e-01 -6.19096487e-03 2.65249249e+02] [ 1.09623378e-02 -1.87607318e-06 9.99939912e-01 2.09713669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.0903857229999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:311.13, Y:265.26, Z:20.97 [[ 8.23766586e-01 -5.66856947e-01 -9.04508312e-03 3.11132282e+02] [ 5.66823112e-01 8.23816242e-01 -6.19348968e-03 2.65264434e+02] [ 1.09623090e-02 -2.49723196e-05 9.99939912e-01 2.09720092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.120385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:311.15, Y:265.28, Z:20.97 [[ 8.21230284e-01 -5.70525211e-01 -9.04454806e-03 3.11150792e+02] [ 5.70491589e-01 8.21280085e-01 -6.19427094e-03 2.65281727e+02] [ 1.09620949e-02 -7.29157092e-05 9.99939912e-01 2.09690017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.150385723 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:311.18, Y:265.30, Z:20.97 [[ 8.22203576e-01 -5.69122656e-01 -8.98230322e-03 3.11180072e+02] [ 5.69087953e-01 8.22252637e-01 -6.28506181e-03 2.65296224e+02] [ 1.09626936e-02 5.58797429e-05 9.99939906e-01 2.09687594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.180385723 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:311.20, Y:265.31, Z:20.97 [[ 8.21247685e-01 -5.70500186e-01 -9.04307862e-03 3.11203790e+02] [ 5.70466539e-01 8.21297469e-01 -6.19636529e-03 2.65309362e+02] [ 1.09620851e-02 -7.00231071e-05 9.99939912e-01 2.09716705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.210385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.22, Y:265.33, Z:20.97 [[ 8.18895507e-01 -5.73871400e-01 -9.04234302e-03 3.11223740e+02] [ 5.73837947e-01 8.18945421e-01 -6.19743857e-03 2.65325636e+02] [ 1.09617182e-02 -1.13784947e-04 9.99939912e-01 2.09690869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.240385723 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:311.25, Y:265.34, Z:20.97 [[ 8.19094042e-01 -5.73588704e-01 -8.99715980e-03 3.11251437e+02] [ 5.73554508e-01 8.19143454e-01 -6.26330867e-03 2.65339367e+02] [ 1.09625277e-02 -3.01227435e-05 9.99939909e-01 2.09704373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.270385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:311.28, Y:265.35, Z:20.97 [[ 8.17329706e-01 -5.76099315e-01 -9.04056680e-03 3.11275596e+02] [ 5.76065968e-01 8.17379691e-01 -6.20001470e-03 2.65353466e+02] [ 1.09613999e-02 -1.40506676e-04 9.99939912e-01 2.09729264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.300385723 meters Centerline goodness : 0.999652 Centerline is valid? [True, True] Translation: X:311.30, Y:265.37, Z:20.97 [[ 8.16538886e-01 -5.77219668e-01 -9.03890243e-03 3.11298334e+02] [ 5.77186363e-01 8.16588900e-01 -6.20244021e-03 2.65368539e+02] [ 1.09612379e-02 -1.52597602e-04 9.99939912e-01 2.09725220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.330385723 meters Centerline goodness : 0.999782 Centerline is valid? [True, True] Translation: X:311.32, Y:265.38, Z:20.97 [[ 8.15264502e-01 -5.79018223e-01 -9.03818233e-03 3.11321964e+02] [ 5.78985017e-01 8.15314581e-01 -6.20348937e-03 2.65383599e+02] [ 1.09608952e-02 -1.75487475e-04 9.99939912e-01 2.09736048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.360385723 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:311.34, Y:265.40, Z:20.97 [[ 8.14841767e-01 -5.79613006e-01 -9.03649020e-03 3.11344986e+02] [ 5.79579809e-01 8.14891852e-01 -6.20595327e-03 2.65398390e+02] [ 1.09608135e-02 -1.80497340e-04 9.99939912e-01 2.09729076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.390385723 meters Centerline goodness : 0.999628 Centerline is valid? [True, True] Translation: X:311.37, Y:265.41, Z:20.97 [[ 8.13780667e-01 -5.81101875e-01 -9.03534047e-03 3.11368387e+02] [ 5.81068751e-01 8.13830800e-01 -6.20762674e-03 2.65414277e+02] [ 1.09605019e-02 -1.98507380e-04 9.99939912e-01 2.09713401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.420385723 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:311.39, Y:265.43, Z:20.97 [[ 8.13613620e-01 -5.81335765e-01 -9.03364722e-03 3.11391672e+02] [ 5.81302628e-01 8.13663745e-01 -6.21008986e-03 2.65429742e+02] [ 1.09604986e-02 -1.98669179e-04 9.99939912e-01 2.09743322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.450385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:311.41, Y:265.45, Z:20.98 [[ 8.12860183e-01 -5.82388809e-01 -9.03312339e-03 3.11414902e+02] [ 5.82355729e-01 8.12910346e-01 -6.21085173e-03 2.65445927e+02] [ 1.09602500e-02 -2.11937077e-04 9.99939912e-01 2.09751679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.480385723 meters Centerline goodness : 0.999651 Centerline is valid? [True, True] Translation: X:311.44, Y:265.46, Z:20.98 [[ 8.12581320e-01 -5.82777858e-01 -9.03143723e-03 3.11437992e+02] [ 5.82744775e-01 8.12631480e-01 -6.21330266e-03 2.65461289e+02] [ 1.09602054e-02 -2.14209181e-04 9.99939912e-01 2.09750574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.510385723 meters Centerline goodness : 0.999759 Centerline is valid? [True, True] Translation: X:311.46, Y:265.48, Z:20.98 [[ 8.12303405e-01 -5.83165193e-01 -9.02975162e-03 3.11461414e+02] [ 5.83132106e-01 8.12353563e-01 -6.21575139e-03 2.65476451e+02] [ 1.09601608e-02 -2.16462064e-04 9.99939912e-01 2.09772558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.540385723 meters Centerline goodness : 0.999759 Centerline is valid? [True, True] Translation: X:311.48, Y:265.49, Z:20.98 [[ 8.12143374e-01 -5.83388066e-01 -9.02804321e-03 3.11484919e+02] [ 5.83354965e-01 8.12193523e-01 -6.21823177e-03 2.65492713e+02] [ 1.09601604e-02 -2.16458111e-04 9.99939912e-01 2.09775680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.570385723 meters Centerline goodness : 0.999716 Centerline is valid? [True, True] Translation: X:311.51, Y:265.51, Z:20.98 [[ 8.12105159e-01 -5.83441287e-01 -9.02633637e-03 3.11508195e+02] [ 5.83408163e-01 8.12155292e-01 -6.22070843e-03 2.65508654e+02] [ 1.09602050e-02 -2.14168907e-04 9.99939912e-01 2.09786074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.600385723 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:311.53, Y:265.52, Z:20.98 [[ 8.12279243e-01 -5.83198926e-01 -9.02461984e-03 3.11531517e+02] [ 5.83165759e-01 8.12329348e-01 -6.22319766e-03 2.65524789e+02] [ 1.09603257e-02 -2.07874996e-04 9.99939912e-01 2.09790759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.630385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:311.56, Y:265.54, Z:20.98 [[ 8.12763163e-01 -5.82524358e-01 -9.02290815e-03 3.11555418e+02] [ 5.82491122e-01 8.12813222e-01 -6.22567842e-03 2.65541340e+02] [ 1.09605484e-02 -1.95761802e-04 9.99939912e-01 2.09761382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.660385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:311.58, Y:265.56, Z:20.98 [[ 8.13075525e-01 -5.82088072e-01 -9.03700203e-03 3.11577890e+02] [ 5.82055035e-01 8.13125716e-01 -6.20525354e-03 2.65557624e+02] [ 1.09602228e-02 -2.14692751e-04 9.99939912e-01 2.09788939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.690385723 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:311.60, Y:265.57, Z:20.98 [[ 8.12528785e-01 -5.82851264e-01 -9.02094985e-03 3.11601492e+02] [ 5.82818017e-01 8.12578836e-01 -6.22850246e-03 2.65574521e+02] [ 1.09605235e-02 -1.96734567e-04 9.99939912e-01 2.09774649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.720385723 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:311.63, Y:265.59, Z:20.98 [[ 8.13350927e-01 -5.81703387e-01 -9.02433233e-03 3.11625859e+02] [ 5.81670124e-01 8.13400968e-01 -6.22360490e-03 2.65590153e+02] [ 1.09606927e-02 -1.87209686e-04 9.99939912e-01 2.09780232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.750385723 meters Centerline goodness : 0.999629 Centerline is valid? [True, True] Translation: X:311.65, Y:265.61, Z:20.98 [[ 8.13365095e-01 -5.81683659e-01 -9.01901537e-03 3.11650099e+02] [ 5.81650309e-01 8.13415078e-01 -6.23130052e-03 2.65606505e+02] [ 1.09608488e-02 -1.77590738e-04 9.99939912e-01 2.09783261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.780385723 meters Centerline goodness : 0.995291 Centerline is valid? [True, True] Translation: X:311.68, Y:265.62, Z:20.98 [[ 8.13142190e-01 -5.81995243e-01 -9.01752739e-03 3.11676586e+02] [ 5.81961888e-01 8.13192170e-01 -6.23345308e-03 2.65623859e+02] [ 1.09608227e-02 -1.79173574e-04 9.99939912e-01 2.09752967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.810385723 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:311.70, Y:265.64, Z:20.98 [[ 8.12643775e-01 -5.82690025e-01 -9.07908685e-03 3.11696284e+02] [ 5.82657704e-01 8.12694436e-01 -6.14438147e-03 2.65639467e+02] [ 1.09587932e-02 -2.96806543e-04 9.99939907e-01 2.09778286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.8403857229999 meters Centerline goodness : 0.998447 Centerline is valid? [True, True] Translation: X:311.72, Y:265.66, Z:20.98 [[ 8.12582628e-01 -5.82776286e-01 -9.01512673e-03 3.11723819e+02] [ 5.82742941e-01 8.12632615e-01 -6.23683373e-03 2.65656227e+02] [ 1.09606648e-02 -1.85558722e-04 9.99939913e-01 2.09773217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.870385723 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:311.75, Y:265.67, Z:20.98 [[ 8.11475070e-01 -5.84316496e-01 -9.07986156e-03 3.11748353e+02] [ 5.84284290e-01 8.11525804e-01 -6.14321371e-03 2.65669962e+02] [ 1.09581231e-02 -3.20155687e-04 9.99939907e-01 2.09793841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.900385723 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:311.77, Y:265.68, Z:20.98 [[ 8.09901850e-01 -5.86495056e-01 -9.08528520e-03 3.11766654e+02] [ 5.86463073e-01 8.09952728e-01 -6.13538135e-03 2.65684756e+02] [ 1.09570224e-02 -3.59127569e-04 9.99939906e-01 2.09810296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.930385723 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:311.79, Y:265.70, Z:20.98 [[ 8.09969005e-01 -5.86403497e-01 -9.00834735e-03 3.11790041e+02] [ 5.86370271e-01 8.10019067e-01 -6.24633976e-03 2.65699935e+02] [ 1.09598086e-02 -2.22885475e-04 9.99939915e-01 2.09830948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.960385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.81, Y:265.72, Z:20.98 [[ 8.09727102e-01 -5.86737488e-01 -9.00781799e-03 3.11812741e+02] [ 5.86704273e-01 8.09777173e-01 -6.24710306e-03 2.65716072e+02] [ 1.09597349e-02 -2.26476654e-04 9.99939915e-01 2.09838667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.990385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.84, Y:265.73, Z:20.98 [[ 8.09661268e-01 -5.86828358e-01 -9.00611620e-03 3.11835792e+02] [ 5.86795122e-01 8.09711324e-01 -6.24955548e-03 2.65731992e+02] [ 1.09597706e-02 -2.24722033e-04 9.99939915e-01 2.09842902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.020385723 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:311.86, Y:265.75, Z:20.98 [[ 8.09545397e-01 -5.86988221e-01 -9.00440524e-03 3.11859490e+02] [ 5.86954967e-01 8.09595441e-01 -6.25201967e-03 2.65748380e+02] [ 1.09597873e-02 -2.23886637e-04 9.99939915e-01 2.09841580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.050385723 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:311.88, Y:265.76, Z:20.99 [[ 8.09903439e-01 -5.86494133e-01 -9.00288053e-03 3.11882991e+02] [ 5.86460824e-01 8.09953447e-01 -6.25421448e-03 2.65763999e+02] [ 1.09599742e-02 -2.14526921e-04 9.99939915e-01 2.09854016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.080385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.91, Y:265.78, Z:20.99 [[ 8.10067501e-01 -5.86267521e-01 -9.00206748e-03 3.11906216e+02] [ 5.86234186e-01 8.10117491e-01 -6.25538452e-03 2.65779761e+02] [ 1.09600611e-02 -2.10035990e-04 9.99939915e-01 2.09872118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.110385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:311.93, Y:265.80, Z:20.99 [[ 8.10696638e-01 -5.85397263e-01 -9.00032343e-03 3.11929440e+02] [ 5.85363846e-01 8.10746573e-01 -6.25789288e-03 2.65795895e+02] [ 1.09603347e-02 -1.95211227e-04 9.99939915e-01 2.09868990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.140385723 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:311.95, Y:265.81, Z:20.99 [[ 8.10872939e-01 -5.85153041e-01 -8.99978352e-03 3.11952271e+02] [ 5.85119601e-01 8.10922858e-01 -6.25866925e-03 2.65812167e+02] [ 1.09604095e-02 -1.90964209e-04 9.99939915e-01 2.09864187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.170385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.98, Y:265.83, Z:20.99 [[ 8.11033780e-01 -5.84930117e-01 -8.99806742e-03 3.11975410e+02] [ 5.84896636e-01 8.11083672e-01 -6.26113552e-03 2.65828788e+02] [ 1.09605123e-02 -1.84946951e-04 9.99939915e-01 2.09861650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.200385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.00, Y:265.84, Z:20.99 [[ 8.10947697e-01 -5.85049483e-01 -8.99635553e-03 3.11998575e+02] [ 5.85015982e-01 8.10997576e-01 -6.26359429e-03 2.65844536e+02] [ 1.09605351e-02 -1.83564396e-04 9.99939915e-01 2.09865443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.230385723 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:312.02, Y:265.86, Z:20.99 [[ 8.10791577e-01 -5.85265850e-01 -8.99465065e-03 3.12021462e+02] [ 5.85232335e-01 8.10841446e-01 -6.26604158e-03 2.65860012e+02] [ 1.09605357e-02 -1.83506670e-04 9.99939915e-01 2.09870667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.260385723 meters Centerline goodness : 0.999102 Centerline is valid? [True, True] Translation: X:312.05, Y:265.88, Z:20.98 [[ 8.10244040e-01 -5.86023654e-01 -8.99294451e-03 3.12046352e+02] [ 5.85990158e-01 8.10293923e-01 -6.26848925e-03 2.65876091e+02] [ 1.09604113e-02 -1.90770920e-04 9.99939915e-01 2.09816106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.290385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:312.07, Y:265.89, Z:20.99 [[ 8.10081910e-01 -5.86247184e-01 -9.02985860e-03 3.12066996e+02] [ 5.86214291e-01 8.10132195e-01 -6.21552030e-03 2.65891522e+02] [ 1.09592104e-02 -2.58351599e-04 9.99939913e-01 2.09862307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.320385723 meters Centerline goodness : 0.999781 Centerline is valid? [True, True] Translation: X:312.09, Y:265.91, Z:20.98 [[ 8.09660934e-01 -5.86829053e-01 -8.99084200e-03 3.12090113e+02] [ 5.86795574e-01 8.09710827e-01 -6.27145507e-03 2.65908180e+02] [ 1.09602541e-02 -1.98034116e-04 9.99939915e-01 2.09847500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.350385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.11, Y:265.93, Z:20.98 [[ 8.08775422e-01 -5.88048904e-01 -8.98911022e-03 3.12110163e+02] [ 5.88015472e-01 8.08825347e-01 -6.27393631e-03 2.65925635e+02] [ 1.09600016e-02 -2.11530410e-04 9.99939915e-01 2.09827321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.380385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.14, Y:265.94, Z:20.98 [[ 8.09140525e-01 -5.87546869e-01 -8.96033295e-03 3.12135189e+02] [ 5.87512951e-01 8.09190121e-01 -6.31510297e-03 2.65942198e+02] [ 1.09610319e-02 -1.54505922e-04 9.99939914e-01 2.09814962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.410385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.16, Y:265.96, Z:20.99 [[ 8.10556940e-01 -5.85591033e-01 -8.97718732e-03 3.12160262e+02] [ 5.85557261e-01 8.10606636e-01 -6.29099423e-03 2.65956881e+02] [ 1.09609174e-02 -1.57448188e-04 9.99939915e-01 2.09881546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.440385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:312.18, Y:265.97, Z:20.99 [[ 8.09126118e-01 -5.87566361e-01 -8.98315455e-03 3.12182396e+02] [ 5.87532805e-01 8.09175960e-01 -6.28246182e-03 2.65973532e+02] [ 1.09603159e-02 -1.94594045e-04 9.99939915e-01 2.09873408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.470385723 meters Centerline goodness : 0.995720 Centerline is valid? [True, True] Translation: X:312.21, Y:265.99, Z:20.98 [[ 8.10308692e-01 -5.85934612e-01 -8.96959432e-03 3.12210693e+02] [ 5.85900742e-01 8.10358321e-01 -6.30182533e-03 2.65988660e+02] [ 1.09610430e-02 -1.48868121e-04 9.99939915e-01 2.09845872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.500385723 meters Centerline goodness : 0.999715 Centerline is valid? [True, True] Translation: X:312.23, Y:266.01, Z:20.99 [[ 8.09647926e-01 -5.86845762e-01 -9.07129532e-03 3.12230623e+02] [ 5.86813567e-01 8.09698671e-01 -6.15631505e-03 2.66005542e+02] [ 1.09578232e-02 -3.38711453e-04 9.99939904e-01 2.09878029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.530385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.25, Y:266.02, Z:20.99 [[ 8.08368242e-01 -5.88607899e-01 -9.02919826e-03 3.12250084e+02] [ 5.88575142e-01 8.08418616e-01 -6.21642053e-03 2.66022698e+02] [ 1.09584062e-02 -2.89204709e-04 9.99939913e-01 2.09874096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.560385723 meters Centerline goodness : 0.996509 Centerline is valid? [True, True] Translation: X:312.28, Y:266.04, Z:20.99 [[ 8.09289453e-01 -5.87341442e-01 -8.97841578e-03 3.12278890e+02] [ 5.87307801e-01 8.09339235e-01 -6.28885003e-03 2.66038359e+02] [ 1.09602864e-02 -1.83593628e-04 9.99939917e-01 2.09870628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.5903857229999 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:312.30, Y:266.05, Z:20.99 [[ 8.07917788e-01 -5.89225503e-01 -9.06394022e-03 3.12296502e+02] [ 5.89193340e-01 8.07968551e-01 -6.16680315e-03 2.66053383e+02] [ 1.09570163e-02 -3.58143254e-04 9.99939906e-01 2.09914220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.620385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.32, Y:266.07, Z:20.99 [[ 8.06602312e-01 -5.91026397e-01 -8.97258633e-03 3.12320645e+02] [ 5.90992894e-01 8.06652185e-01 -6.29697396e-03 2.66070027e+02] [ 1.09594342e-02 -2.23581004e-04 9.99939919e-01 2.09908049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.650385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.34, Y:266.09, Z:20.99 [[ 8.05893307e-01 -5.91992820e-01 -8.97101011e-03 3.12343916e+02] [ 5.91959352e-01 8.05943203e-01 -6.29921873e-03 2.66086574e+02] [ 1.09592169e-02 -2.33975122e-04 9.99939919e-01 2.09898996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.680385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.37, Y:266.10, Z:20.99 [[ 8.06066415e-01 -5.91756852e-01 -8.98680231e-03 3.12368287e+02] [ 5.91723619e-01 8.06116469e-01 -6.27673447e-03 2.66103196e+02] [ 1.09587100e-02 -2.58238327e-04 9.99939918e-01 2.09917164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.710385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.39, Y:266.12, Z:20.99 [[ 8.05782874e-01 -5.92142511e-01 -9.01144989e-03 3.12387722e+02] [ 5.92109693e-01 8.05833204e-01 -6.24163874e-03 2.66118537e+02] [ 1.09576652e-02 -3.06361225e-04 9.99939916e-01 2.09937507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.740385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.41, Y:266.13, Z:20.99 [[ 8.05662387e-01 -5.92307099e-01 -8.96764928e-03 3.12409436e+02] [ 5.92273597e-01 8.05712260e-01 -6.30394715e-03 2.66134178e+02] [ 1.09592176e-02 -2.32448793e-04 9.99939919e-01 2.09937713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.770385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.43, Y:266.15, Z:20.99 [[ 8.05599326e-01 -5.92392883e-01 -8.96648276e-03 3.12432170e+02] [ 5.92359368e-01 8.05649191e-01 -6.30560591e-03 2.66150818e+02] [ 1.09592356e-02 -2.31588182e-04 9.99939919e-01 2.09937665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.800385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.46, Y:266.17, Z:20.99 [[ 8.05166614e-01 -5.92980907e-01 -8.96479615e-03 3.12455345e+02] [ 5.92947402e-01 8.05216485e-01 -6.30800288e-03 2.66166737e+02] [ 1.09591269e-02 -2.36659263e-04 9.99939919e-01 2.09935436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.830385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.48, Y:266.18, Z:20.99 [[ 8.04443979e-01 -5.93960897e-01 -8.96312347e-03 3.12478735e+02] [ 5.93927426e-01 8.04493873e-01 -6.31037873e-03 2.66183514e+02] [ 1.09588961e-02 -2.47098678e-04 9.99939919e-01 2.09927182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.860385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.50, Y:266.20, Z:20.99 [[ 8.02023439e-01 -5.97225327e-01 -8.96165675e-03 3.12498108e+02] [ 5.97192036e-01 8.02073454e-01 -6.31246100e-03 2.66201826e+02] [ 1.09578686e-02 -2.89088360e-04 9.99939919e-01 2.09898813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.890385723 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:312.52, Y:266.22, Z:20.99 [[ 8.03577376e-01 -5.95133452e-01 -8.92051800e-03 3.12524498e+02] [ 5.95099381e-01 8.03626866e-01 -6.37083046e-03 2.66216660e+02] [ 1.09602622e-02 -1.89139515e-04 9.99939917e-01 2.09886467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.920385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.55, Y:266.23, Z:21.00 [[ 8.03549834e-01 -5.95170035e-01 -8.96067451e-03 3.12548049e+02] [ 5.95136600e-01 8.03599753e-01 -6.31383992e-03 2.66232719e+02] [ 1.09586041e-02 -2.59340349e-04 9.99939919e-01 2.09950583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.950385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.57, Y:266.25, Z:21.00 [[ 8.03728568e-01 -5.94928670e-01 -8.95922204e-03 3.12570750e+02] [ 5.94895197e-01 8.03778461e-01 -6.31590028e-03 2.66248749e+02] [ 1.09587398e-02 -2.53528673e-04 9.99939919e-01 2.09963199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.980385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.59, Y:266.27, Z:20.99 [[ 8.03365676e-01 -5.95418637e-01 -8.95752003e-03 3.12591598e+02] [ 5.95385168e-01 8.03415572e-01 -6.31831323e-03 2.66267455e+02] [ 1.09586525e-02 -2.57258591e-04 9.99939919e-01 2.09942774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.010385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:312.62, Y:266.28, Z:21.00 [[ 8.05626343e-01 -5.92356645e-01 -8.93317066e-03 3.12616334e+02] [ 5.92322604e-01 8.05675850e-01 -6.35281116e-03 2.66282863e+02] [ 1.09603698e-02 -1.73326881e-04 9.99939918e-01 2.09966035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.040385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.64, Y:266.30, Z:21.00 [[ 8.06341083e-01 -5.91383004e-01 -8.95547171e-03 3.12639395e+02] [ 5.91349253e-01 8.06390788e-01 -6.32121656e-03 2.66299687e+02] [ 1.09598699e-02 -1.98754899e-04 9.99939919e-01 2.09970536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.070385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.66, Y:266.32, Z:21.00 [[ 8.07235376e-01 -5.90161740e-01 -8.95375724e-03 3.12661099e+02] [ 5.90127887e-01 8.07285011e-01 -6.32364410e-03 2.66317995e+02] [ 1.09602068e-02 -1.79192617e-04 9.99939919e-01 2.09956065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.100385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:312.68, Y:266.33, Z:21.00 [[ 8.08124740e-01 -5.88943559e-01 -8.93805298e-03 3.12684462e+02] [ 5.88909385e-01 8.08174156e-01 -6.34587348e-03 2.66334921e+02] [ 1.09608647e-02 -1.35445929e-04 9.99939919e-01 2.09960828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.130385723 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:312.70, Y:266.35, Z:21.00 [[ 8.09946477e-01 -5.86435583e-01 -8.94490958e-03 3.12704828e+02] [ 5.86401363e-01 8.09995860e-01 -6.33617167e-03 2.66350518e+02] [ 1.09610963e-02 -1.13347251e-04 9.99939919e-01 2.09968278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.160385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.73, Y:266.37, Z:21.00 [[ 8.10323952e-01 -5.85914300e-01 -8.91773514e-03 3.12729212e+02] [ 5.85879625e-01 8.10373019e-01 -6.37461932e-03 2.66367409e+02] [ 1.09616726e-02 -5.92126007e-05 9.99939917e-01 2.09984549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.190385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.75, Y:266.38, Z:21.00 [[ 8.10773510e-01 -5.85291702e-01 -8.94083818e-03 3.12751655e+02] [ 5.85257349e-01 8.10822802e-01 -6.34193169e-03 2.66383862e+02] [ 1.09613155e-02 -9.08210307e-05 9.99939919e-01 2.09992781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.220385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.77, Y:266.40, Z:21.00 [[ 8.12831849e-01 -5.82429757e-01 -8.94219782e-03 3.12774319e+02] [ 5.82395252e-01 8.12881034e-01 -6.34000910e-03 2.66399749e+02] [ 1.09615530e-02 -5.45322324e-05 9.99939919e-01 2.09974390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.250385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:312.80, Y:266.42, Z:21.00 [[ 8.11503309e-01 -5.84279323e-01 -8.94724782e-03 3.12795550e+02] [ 5.84245008e-01 8.11552626e-01 -6.33287069e-03 2.66417156e+02] [ 1.09613279e-02 -8.82393589e-05 9.99939919e-01 2.09993084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.280385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.82, Y:266.43, Z:21.00 [[ 8.11885866e-01 -5.83747678e-01 -8.94369553e-03 3.12818520e+02] [ 5.83713276e-01 8.11935122e-01 -6.33789193e-03 2.66432695e+02] [ 1.09614302e-02 -7.49089428e-05 9.99939919e-01 2.10015414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.310385723 meters Centerline goodness : 0.999674 Centerline is valid? [True, True] Translation: X:312.85, Y:266.45, Z:21.00 [[ 8.14323588e-01 -5.80342336e-01 -8.93681846e-03 3.12845313e+02] [ 5.80307621e-01 8.14372625e-01 -6.34760455e-03 2.66445582e+02] [ 1.09616840e-02 -1.70997502e-05 9.99939919e-01 2.09958452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.3403857229999 meters Centerline goodness : 0.999651 Centerline is valid? [True, True] Translation: X:312.87, Y:266.46, Z:21.00 [[ 8.13448106e-01 -5.81568310e-01 -8.97103506e-03 3.12868556e+02] [ 5.81534201e-01 8.13497568e-01 -6.29925468e-03 2.66462388e+02] [ 1.09613621e-02 -9.28469171e-05 9.99939918e-01 2.09976035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.370385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:312.89, Y:266.48, Z:21.00 [[ 8.09853415e-01 -5.86563783e-01 -8.96522711e-03 3.12886948e+02] [ 5.86529888e-01 8.09903023e-01 -6.30745378e-03 2.66480522e+02] [ 1.09606885e-02 -1.50260679e-04 9.99939919e-01 2.10010400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.400385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.91, Y:266.50, Z:21.00 [[ 8.10291317e-01 -5.85959463e-01 -8.91567908e-03 3.12912757e+02] [ 5.85924760e-01 8.10340364e-01 -6.37737990e-03 2.66496717e+02] [ 1.09616207e-02 -5.63815675e-05 9.99939918e-01 2.10017921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.430385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.94, Y:266.51, Z:21.00 [[ 8.10115132e-01 -5.86202497e-01 -8.95018824e-03 3.12936049e+02] [ 5.86168346e-01 8.10164562e-01 -6.32866999e-03 2.66513300e+02] [ 1.09610075e-02 -1.19365715e-04 9.99939919e-01 2.10021277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.460385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:312.96, Y:266.53, Z:21.00 [[ 8.09526399e-01 -5.87015278e-01 -8.94835437e-03 3.12959555e+02] [ 5.86981148e-01 8.09575844e-01 -6.33125691e-03 2.66527926e+02] [ 1.09609161e-02 -1.27195712e-04 9.99939919e-01 2.10039283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.490385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:312.98, Y:266.54, Z:21.00 [[ 8.09034692e-01 -5.87692692e-01 -8.95354193e-03 3.12982300e+02] [ 5.87658685e-01 8.09084222e-01 -6.32394225e-03 2.66543362e+02] [ 1.09607042e-02 -1.45337994e-04 9.99939919e-01 2.10043710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.520385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:313.00, Y:266.56, Z:21.00 [[ 8.05870149e-01 -5.92024820e-01 -8.93950259e-03 3.13001640e+02] [ 5.91990859e-01 8.05919711e-01 -6.34372632e-03 2.66560578e+02] [ 1.09601648e-02 -1.79884139e-04 9.99939919e-01 2.10049760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.550385723 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:313.03, Y:266.58, Z:21.00 [[ 8.05711499e-01 -5.92241584e-01 -8.88179150e-03 3.13029952e+02] [ 5.92206739e-01 8.05760448e-01 -6.42490232e-03 2.66575886e+02] [ 1.09616906e-02 -8.32390971e-05 9.99939915e-01 2.10037269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.580385723 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:313.05, Y:266.59, Z:21.01 [[ 8.03300781e-01 -5.95506293e-01 -8.95042268e-03 3.13049708e+02] [ 5.95472718e-01 8.03350605e-01 -6.32832244e-03 2.66592707e+02] [ 1.09588833e-02 -2.46186155e-04 9.99939919e-01 2.10056634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.610385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:313.08, Y:266.61, Z:21.01 [[ 8.02969930e-01 -5.95953301e-01 -8.88564650e-03 3.13075767e+02] [ 5.95918742e-01 8.03019080e-01 -6.41948946e-03 2.66607858e+02] [ 1.09610596e-02 -1.40466281e-04 9.99939916e-01 2.10059003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.640385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:313.10, Y:266.62, Z:21.01 [[ 8.02710453e-01 -5.96302269e-01 -8.91813505e-03 3.13098894e+02] [ 5.96268238e-01 8.02759967e-01 -6.37376223e-03 2.66623746e+02] [ 1.09598107e-02 -2.01315101e-04 9.99939919e-01 2.10071079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.670385723 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:313.13, Y:266.64, Z:21.01 [[ 8.04483587e-01 -5.93908174e-01 -8.90162812e-03 3.13125449e+02] [ 5.93873738e-01 8.04532822e-01 -6.39698546e-03 2.66638822e+02] [ 1.09608739e-02 -1.40173355e-04 9.99939918e-01 2.10075775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.700385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:313.15, Y:266.66, Z:21.01 [[ 8.04057377e-01 -5.94484568e-01 -8.93496503e-03 3.13146334e+02] [ 5.94450688e-01 8.04106993e-01 -6.35007833e-03 2.66656721e+02] [ 1.09596914e-02 -2.05568783e-04 9.99939920e-01 2.10085742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.730385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:313.17, Y:266.67, Z:21.01 [[ 8.05974392e-01 -5.91883353e-01 -8.90924941e-03 3.13171305e+02] [ 5.91848913e-01 8.06023623e-01 -6.38624607e-03 2.66672513e+02] [ 1.09609782e-02 -1.25778780e-04 9.99939919e-01 2.10082307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.760385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:313.19, Y:266.69, Z:21.01 [[ 8.07057920e-01 -5.90404697e-01 -8.93352831e-03 3.13194458e+02] [ 5.90370544e-01 8.07107348e-01 -6.35210049e-03 2.66688434e+02] [ 1.09606263e-02 -1.47578962e-04 9.99939920e-01 2.10082281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.790385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:313.22, Y:266.71, Z:21.01 [[ 8.06124742e-01 -5.91678227e-01 -8.93177092e-03 3.13215768e+02] [ 5.91644124e-01 8.06174206e-01 -6.35457062e-03 2.66705672e+02] [ 1.09604244e-02 -1.61853184e-04 9.99939920e-01 2.10087325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.820385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:313.24, Y:266.72, Z:21.01 [[ 8.08066957e-01 -5.89023290e-01 -8.90827101e-03 3.13241074e+02] [ 5.88988661e-01 8.08116054e-01 -6.38758621e-03 2.66720173e+02] [ 1.09613539e-02 -8.52732677e-05 9.99939919e-01 2.10088410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.850385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:313.26, Y:266.74, Z:21.01 [[ 8.07169546e-01 -5.90252127e-01 -8.93032690e-03 3.13262730e+02] [ 5.90217914e-01 8.07218934e-01 -6.35660011e-03 2.66737978e+02] [ 1.09607257e-02 -1.39984893e-04 9.99939920e-01 2.10095863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.880385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:313.29, Y:266.75, Z:21.01 [[ 8.08662343e-01 -5.88205684e-01 -8.90441581e-03 3.13287903e+02] [ 5.88170946e-01 8.08711363e-01 -6.39298158e-03 2.66753030e+02] [ 1.09614903e-02 -6.75552068e-05 9.99939919e-01 2.10100152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.910385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:313.31, Y:266.77, Z:21.01 [[ 8.07125953e-01 -5.90311764e-01 -8.92844299e-03 3.13308730e+02] [ 5.90277526e-01 8.07175323e-01 -6.35924720e-03 2.66771154e+02] [ 1.09607573e-02 -1.37545778e-04 9.99939920e-01 2.10098338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.940385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:313.33, Y:266.79, Z:21.01 [[ 8.08388783e-01 -5.88581582e-01 -8.90483836e-03 3.13333606e+02] [ 5.88546873e-01 8.08437824e-01 -6.39237312e-03 2.66785971e+02] [ 1.09614412e-02 -7.33920416e-05 9.99939919e-01 2.10098172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.970385723 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:313.36, Y:266.80, Z:21.01 [[ 8.06611588e-01 -5.91014427e-01 -8.92709163e-03 3.13355366e+02] [ 5.90980211e-01 8.06660973e-01 -6.36114337e-03 2.66802862e+02] [ 1.09606639e-02 -1.44762535e-04 9.99939920e-01 2.10125456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.000385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:313.38, Y:266.82, Z:21.01 [[ 8.06267721e-01 -5.91483776e-01 -8.90537155e-03 3.13377867e+02] [ 5.91449251e-01 8.06316892e-01 -6.39161444e-03 2.66818209e+02] [ 1.09610878e-02 -1.13722928e-04 9.99939919e-01 2.10125449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.030385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:313.40, Y:266.83, Z:21.01 [[ 8.05895630e-01 -5.91990780e-01 -8.89659723e-03 3.13401466e+02] [ 5.91956151e-01 8.05944728e-01 -6.40391813e-03 2.66834135e+02] [ 1.09612261e-02 -1.05505819e-04 9.99939918e-01 2.10133026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.060385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:313.43, Y:266.85, Z:21.01 [[ 8.06967146e-01 -5.90529216e-01 -8.90336761e-03 3.13426672e+02] [ 5.90494603e-01 8.07016255e-01 -6.39442829e-03 2.66849115e+02] [ 1.09612591e-02 -9.72969749e-05 9.99939919e-01 2.10126972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.0903857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:313.45, Y:266.87, Z:21.01 [[ 8.06715455e-01 -5.90872697e-01 -8.92360170e-03 3.13449808e+02] [ 5.90838418e-01 8.06764797e-01 -6.36606527e-03 2.66866130e+02] [ 1.09607819e-02 -1.36803474e-04 9.99939919e-01 2.10113297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.120385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:313.47, Y:266.88, Z:21.01 [[ 8.06598071e-01 -5.91032950e-01 -8.92212423e-03 3.13473151e+02] [ 5.90998658e-01 8.06647404e-01 -6.36813529e-03 2.66882523e+02] [ 1.09607861e-02 -1.36437805e-04 9.99939919e-01 2.10120491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.150385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:313.50, Y:266.90, Z:21.01 [[ 8.06677803e-01 -5.90924148e-01 -8.92038866e-03 3.13496812e+02] [ 5.90889822e-01 8.06727112e-01 -6.37056553e-03 2.66897423e+02] [ 1.09608404e-02 -1.31973064e-04 9.99939919e-01 2.10136894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.180385723 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:313.52, Y:266.92, Z:21.01 [[ 8.05316211e-01 -5.92778423e-01 -8.91864012e-03 3.13518239e+02] [ 5.92744183e-01 8.05365580e-01 -6.37301250e-03 2.66915031e+02] [ 1.09605501e-02 -1.54181777e-04 9.99939919e-01 2.10138232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.210385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:313.54, Y:266.93, Z:21.01 [[ 8.05136258e-01 -5.93023239e-01 -8.89071411e-03 3.13540780e+02] [ 5.92988583e-01 8.05185337e-01 -6.41207489e-03 2.66930809e+02] [ 1.09611821e-02 -1.09497974e-04 9.99939918e-01 2.10141631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.240385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:313.56, Y:266.95, Z:21.02 [[ 8.05412196e-01 -5.92648344e-01 -8.89578520e-03 3.13564719e+02] [ 5.92613743e-01 8.05461314e-01 -6.40497970e-03 2.66946796e+02] [ 1.09611114e-02 -1.13115803e-04 9.99939919e-01 2.10168960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.270385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:313.59, Y:266.96, Z:21.02 [[ 8.04752116e-01 -5.93544218e-01 -8.90467012e-03 3.13586400e+02] [ 5.93509810e-01 8.04801367e-01 -6.39255375e-03 2.66963352e+02] [ 1.09607540e-02 -1.40587918e-04 9.99939919e-01 2.10153628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.300385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:313.61, Y:266.98, Z:21.02 [[ 8.05201188e-01 -5.92935103e-01 -8.88880057e-03 3.13610073e+02] [ 5.92900412e-01 8.05250242e-01 -6.41473687e-03 2.66979228e+02] [ 1.09612315e-02 -1.05019775e-04 9.99939918e-01 2.10176422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.330385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:313.64, Y:266.99, Z:21.02 [[ 8.06593060e-01 -5.91040275e-01 -8.88982976e-03 3.13635676e+02] [ 5.91005485e-01 8.06642044e-01 -6.41329846e-03 2.66993201e+02] [ 1.09614281e-02 -8.10161218e-05 9.99939918e-01 2.10175491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.360385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:313.66, Y:267.01, Z:21.02 [[ 8.05231952e-01 -5.92892931e-01 -8.91494105e-03 3.13655437e+02] [ 5.92858641e-01 8.05281286e-01 -6.37819990e-03 2.67010666e+02] [ 1.09606248e-02 -1.49369485e-04 9.99939919e-01 2.10162618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.390385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:313.68, Y:267.03, Z:21.02 [[ 8.04476695e-01 -5.93917941e-01 -8.87279422e-03 3.13680024e+02] [ 5.93883063e-01 8.04525619e-01 -6.43712196e-03 2.67026540e+02] [ 1.09615125e-02 -9.08876105e-05 9.99939917e-01 2.10186987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.420385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:313.70, Y:267.04, Z:21.02 [[ 8.05553436e-01 -5.92456442e-01 -8.88970722e-03 3.13704277e+02] [ 5.92421735e-01 8.05602479e-01 -6.41348506e-03 2.67040336e+02] [ 1.09612807e-02 -1.00050855e-04 9.99939918e-01 2.10181013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.450385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:313.73, Y:267.06, Z:21.02 [[ 8.04081215e-01 -5.94453184e-01 -8.87761703e-03 3.13729272e+02] [ 5.94418413e-01 8.04130214e-01 -6.43036588e-03 2.67057867e+02] [ 1.09613115e-02 -1.06482621e-04 9.99939917e-01 2.10182205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.480385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:313.75, Y:267.07, Z:21.02 [[ 8.02882108e-01 -5.96071219e-01 -8.91195394e-03 3.13753675e+02] [ 5.96037077e-01 8.02931546e-01 -6.38242031e-03 2.67073253e+02] [ 1.09600660e-02 -1.87523909e-04 9.99939919e-01 2.10219155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.510385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:313.78, Y:267.09, Z:21.02 [[ 8.02400981e-01 -5.96718753e-01 -8.91040944e-03 3.13776572e+02] [ 5.96684628e-01 8.02450430e-01 -6.38457584e-03 2.67088874e+02] [ 1.09599580e-02 -1.93714421e-04 9.99939919e-01 2.10228642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.540385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:313.80, Y:267.11, Z:21.02 [[ 8.01449306e-01 -5.97996342e-01 -8.90986270e-03 3.13799587e+02] [ 5.97962287e-01 8.01498803e-01 -6.38533873e-03 2.67105590e+02] [ 1.09596535e-02 -2.10236575e-04 9.99939919e-01 2.10233635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.570385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:313.82, Y:267.12, Z:21.02 [[ 8.00899808e-01 -5.98732113e-01 -8.90809187e-03 3.13821691e+02] [ 5.98698076e-01 8.00949318e-01 -6.38780824e-03 2.67121651e+02] [ 1.09595160e-02 -2.17263071e-04 9.99939919e-01 2.10232821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.600385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:313.84, Y:267.14, Z:21.02 [[ 8.00278829e-01 -5.99561886e-01 -8.90732429e-03 3.13844381e+02] [ 5.99527888e-01 8.00328366e-01 -6.38887840e-03 2.67138270e+02] [ 1.09593123e-02 -2.27305195e-04 9.99939919e-01 2.10236910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.630385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:313.87, Y:267.15, Z:21.02 [[ 8.00021942e-01 -5.99904646e-01 -8.90549794e-03 3.13867125e+02] [ 5.99870642e-01 8.00071474e-01 -6.39142314e-03 2.67154529e+02] [ 1.09592793e-02 -2.28868012e-04 9.99939919e-01 2.10224474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.660385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:313.89, Y:267.17, Z:21.02 [[ 7.99499569e-01 -6.00600650e-01 -8.90493364e-03 3.13889355e+02] [ 6.00566680e-01 7.99549125e-01 -6.39220927e-03 2.67171937e+02] [ 1.09590969e-02 -2.37437873e-04 9.99939919e-01 2.10233116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.690385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:313.91, Y:267.19, Z:21.02 [[ 7.99925781e-01 -6.00033122e-01 -8.88806065e-03 3.13912571e+02] [ 5.99998855e-01 7.99975133e-01 -6.41570968e-03 2.67188979e+02] [ 1.09598658e-02 -2.00734636e-04 9.99939919e-01 2.10241313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.720385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:313.94, Y:267.21, Z:21.02 [[ 8.00039915e-01 -5.99880913e-01 -8.88958714e-03 3.13935149e+02] [ 5.99846660e-01 8.00089276e-01 -6.41358400e-03 2.67205125e+02] [ 1.09598500e-02 -2.01265961e-04 9.99939919e-01 2.10246098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.750385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:313.96, Y:267.22, Z:21.02 [[ 8.00766369e-01 -5.98910801e-01 -8.89242176e-03 3.13959988e+02] [ 5.98876532e-01 8.00815719e-01 -6.40963801e-03 2.67221334e+02] [ 1.09599926e-02 -1.92840153e-04 9.99939919e-01 2.10241461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.780385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:313.98, Y:267.24, Z:21.02 [[ 7.99074220e-01 -6.01166147e-01 -8.92491234e-03 3.13979426e+02] [ 6.01132522e-01 7.99124011e-01 -6.36440243e-03 2.67238287e+02] [ 1.09581750e-02 -2.79425150e-04 9.99939918e-01 2.10245237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.810385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:314.00, Y:267.25, Z:21.03 [[ 7.99447662e-01 -6.00669994e-01 -8.88786103e-03 3.14003121e+02] [ 6.00635764e-01 7.99497039e-01 -6.41595863e-03 2.67254739e+02] [ 1.09596924e-02 -2.09144071e-04 9.99939919e-01 2.10269165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.8403857229999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:314.03, Y:267.27, Z:21.03 [[ 7.99331431e-01 -6.00824466e-01 -8.90085657e-03 3.14025248e+02] [ 6.00790446e-01 7.99380952e-01 -6.39787898e-03 2.67271507e+02] [ 1.09591774e-02 -2.33523836e-04 9.99939919e-01 2.10272864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.870385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:314.05, Y:267.29, Z:21.03 [[ 7.99566690e-01 -6.00511377e-01 -8.89909960e-03 3.14046538e+02] [ 6.00477311e-01 7.99616180e-01 -6.40032190e-03 2.67287760e+02] [ 1.09593301e-02 -2.26223197e-04 9.99939919e-01 2.10274644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.900385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:314.07, Y:267.31, Z:21.03 [[ 8.00080127e-01 -5.99827157e-01 -8.89790829e-03 3.14068066e+02] [ 5.99793030e-01 8.00129575e-01 -6.40197765e-03 2.67305340e+02] [ 1.09595596e-02 -2.14808281e-04 9.99939919e-01 2.10272542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.930385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:314.09, Y:267.32, Z:21.03 [[ 8.00558872e-01 -5.99188076e-01 -8.89616854e-03 3.14089823e+02] [ 5.99153883e-01 8.00608274e-01 -6.40439429e-03 2.67321755e+02] [ 1.09597828e-02 -2.03079261e-04 9.99939919e-01 2.10268388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.960385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:314.11, Y:267.34, Z:21.03 [[ 8.01677952e-01 -5.97690003e-01 -8.89498206e-03 3.14114940e+02] [ 5.97655700e-01 8.01727277e-01 -6.40604176e-03 2.67339685e+02] [ 1.09601769e-02 -1.80554288e-04 9.99939919e-01 2.10267383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.990385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:314.14, Y:267.36, Z:21.03 [[ 8.01543495e-01 -5.97869844e-01 -8.92606300e-03 3.14135693e+02] [ 5.97836031e-01 8.01593160e-01 -6.36288128e-03 2.67357225e+02] [ 1.09592459e-02 -2.36195978e-04 9.99939918e-01 2.10286654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.020385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:314.16, Y:267.37, Z:21.03 [[ 8.00829986e-01 -5.98825728e-01 -8.89275937e-03 3.14157462e+02] [ 5.98791460e-01 8.00879336e-01 -6.40909086e-03 2.67374790e+02] [ 1.09599557e-02 -1.92316223e-04 9.99939919e-01 2.10278236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.050385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:314.18, Y:267.39, Z:21.03 [[ 8.01506863e-01 -5.97919685e-01 -8.87686156e-03 3.14180783e+02] [ 5.97885118e-01 8.01556003e-01 -6.43114017e-03 2.67392344e+02] [ 1.09606070e-02 -1.52740436e-04 9.99939919e-01 2.10311677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.080385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:314.20, Y:267.41, Z:21.03 [[ 8.02085208e-01 -5.97143525e-01 -8.88423125e-03 3.14203164e+02] [ 5.97109023e-01 8.02134394e-01 -6.42092286e-03 2.67408947e+02] [ 1.09605600e-02 -1.54727403e-04 9.99939919e-01 2.10317894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.110385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:314.22, Y:267.43, Z:21.03 [[ 8.00253379e-01 -5.99596124e-01 -8.88921413e-03 3.14222979e+02] [ 5.99561849e-01 8.00302724e-01 -6.41401707e-03 2.67428106e+02] [ 1.09598820e-02 -1.96794833e-04 9.99939919e-01 2.10346475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.140385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:314.24, Y:267.45, Z:21.03 [[ 7.99229748e-01 -6.00960462e-01 -8.85061272e-03 3.14243331e+02] [ 6.00925678e-01 7.99278738e-01 -6.46747590e-03 2.67445195e+02] [ 1.09608039e-02 -1.49561315e-04 9.99939917e-01 2.10324914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.170385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:314.27, Y:267.46, Z:21.03 [[ 7.99812790e-01 -6.00184629e-01 -8.82677244e-03 3.14269454e+02] [ 6.00149433e-01 7.99861489e-01 -6.50045687e-03 2.67462386e+02] [ 1.09616696e-02 -9.82339320e-05 9.99939914e-01 2.10348711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.200385723 meters Centerline goodness : 0.999648 Centerline is valid? [True, True] Translation: X:314.29, Y:267.48, Z:21.04 [[ 7.98407342e-01 -6.02052445e-01 -8.86389990e-03 3.14290679e+02] [ 6.02017933e-01 7.98456522e-01 -6.44907472e-03 2.67480173e+02] [ 1.09601199e-02 -1.87238085e-04 9.99939919e-01 2.10373818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.230385723 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:314.31, Y:267.50, Z:21.03 [[ 7.96454529e-01 -6.04633696e-01 -8.84743949e-03 3.14309962e+02] [ 6.04599090e-01 7.96503645e-01 -6.47184749e-03 2.67498045e+02] [ 1.09601149e-02 -1.94621618e-04 9.99939917e-01 2.10342686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.260385723 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:314.33, Y:267.52, Z:21.04 [[ 7.95290464e-01 -6.06164577e-01 -8.80821504e-03 3.14334481e+02] [ 6.06129464e-01 7.95339226e-01 -6.52605408e-03 2.67515991e+02] [ 1.09613817e-02 -1.48810085e-04 9.99939911e-01 2.10373289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.290385723 meters Centerline goodness : 0.999607 Centerline is valid? [True, True] Translation: X:314.35, Y:267.53, Z:21.04 [[ 7.93312938e-01 -6.08749987e-01 -8.83372892e-03 3.14354263e+02] [ 6.08715425e-01 7.93362087e-01 -6.49079735e-03 2.67533253e+02] [ 1.09596184e-02 -2.27993542e-04 9.99939916e-01 2.10380565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.320385723 meters Centerline goodness : 0.999738 Centerline is valid? [True, True] Translation: X:314.38, Y:267.55, Z:21.04 [[ 7.92132093e-01 -6.10286129e-01 -8.80842536e-03 3.14376599e+02] [ 6.10251273e-01 7.92181039e-01 -6.52576706e-03 2.67550536e+02] [ 1.09604527e-02 -2.06083262e-04 9.99939911e-01 2.10378529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.350385723 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:314.40, Y:267.57, Z:21.04 [[ 7.89328583e-01 -6.13907723e-01 -8.81455960e-03 3.14398173e+02] [ 6.13873186e-01 7.89377753e-01 -6.51728492e-03 2.67568595e+02] [ 1.09590288e-02 -2.66742508e-04 9.99939912e-01 2.10376208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.380385723 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:314.42, Y:267.59, Z:21.04 [[ 7.89339131e-01 -6.13894307e-01 -8.80434801e-03 3.14421259e+02] [ 6.13859612e-01 7.89388192e-01 -6.53140098e-03 2.67585274e+02] [ 1.09596382e-02 -2.49143285e-04 9.99939910e-01 2.10379267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.410385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:314.45, Y:267.60, Z:21.04 [[ 7.90674074e-01 -6.12174009e-01 -8.80298578e-03 3.14449957e+02] [ 6.12139186e-01 7.90723045e-01 -6.53328364e-03 2.67600913e+02] [ 1.09602302e-02 -2.22954554e-04 9.99939910e-01 2.10380841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.440385723 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:314.47, Y:267.62, Z:21.04 [[ 7.88214944e-01 -6.15335923e-01 -8.88281829e-03 3.14471956e+02] [ 6.15302533e-01 7.88264892e-01 -6.42287568e-03 2.67618341e+02] [ 1.09542399e-02 -4.03014006e-04 9.99939919e-01 2.10385893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.470385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:314.49, Y:267.63, Z:21.04 [[ 7.87223925e-01 -6.16603274e-01 -8.88226393e-03 3.14492921e+02] [ 6.16569956e-01 7.87273921e-01 -6.42364222e-03 2.67634967e+02] [ 1.09536136e-02 -4.19692229e-04 9.99939919e-01 2.10390259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.500385723 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:314.52, Y:267.65, Z:21.04 [[ 7.86286111e-01 -6.17798730e-01 -8.88150430e-03 3.14516104e+02] [ 6.17765476e-01 7.86336149e-01 -6.42469233e-03 2.67653022e+02] [ 1.09530147e-02 -4.35040393e-04 9.99939919e-01 2.10379177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.530385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:314.54, Y:267.67, Z:21.04 [[ 7.85639575e-01 -6.18620579e-01 -8.89027443e-03 3.14536998e+02] [ 6.18587514e-01 7.85689739e-01 -6.41257480e-03 2.67672540e+02] [ 1.09519481e-02 -4.61440215e-04 9.99939919e-01 2.10388697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.560385723 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:314.56, Y:267.69, Z:21.04 [[ 7.85465218e-01 -6.18842246e-01 -8.86933543e-03 3.14557560e+02] [ 6.18808870e-01 7.85515175e-01 -6.44149105e-03 2.67690117e+02] [ 1.09532644e-02 -4.28856254e-04 9.99939919e-01 2.10412669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.5903857229999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:314.58, Y:267.71, Z:21.04 [[ 7.87257830e-01 -6.16560429e-01 -8.85138233e-03 3.14582805e+02] [ 6.16526629e-01 7.87307502e-01 -6.46629340e-03 2.67707992e+02] [ 1.09556203e-02 -3.66472796e-04 9.99939918e-01 2.10409858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.620385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:314.60, Y:267.73, Z:21.04 [[ 7.89364983e-01 -6.13859911e-01 -8.88451095e-03 3.14601932e+02] [ 6.13826454e-01 7.89414886e-01 -6.42053149e-03 2.67727288e+02] [ 1.09548721e-02 -3.85405119e-04 9.99939919e-01 2.10419364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.650385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:314.62, Y:267.75, Z:21.04 [[ 7.90538003e-01 -6.12348639e-01 -8.87749588e-03 3.14623141e+02] [ 6.12314978e-01 7.90587769e-01 -6.43021643e-03 2.67745656e+02] [ 1.09559739e-02 -3.52493234e-04 9.99939919e-01 2.10429874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.680385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:314.64, Y:267.77, Z:21.04 [[ 7.93208065e-01 -6.08886021e-01 -8.87573276e-03 3.14642724e+02] [ 6.08852116e-01 7.93257664e-01 -6.43264917e-03 2.67765787e+02] [ 1.09574932e-02 -3.01579472e-04 9.99939919e-01 2.10432962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.710385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:314.66, Y:267.78, Z:21.04 [[ 7.94141275e-01 -6.07668386e-01 -8.87518664e-03 3.14664624e+02] [ 6.07634396e-01 7.94190816e-01 -6.43340257e-03 2.67784378e+02] [ 1.09579671e-02 -2.83838153e-04 9.99939919e-01 2.10443323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.740385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:314.69, Y:267.80, Z:21.04 [[ 7.94972409e-01 -6.06580685e-01 -8.87364674e-03 3.14686473e+02] [ 6.06546603e-01 7.95021888e-01 -6.43552586e-03 2.67803172e+02] [ 1.09584091e-02 -2.66214792e-04 9.99939919e-01 2.10439487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.770385723 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:314.71, Y:267.82, Z:21.05 [[ 7.96631061e-01 -6.04400672e-01 -8.87581778e-03 3.14705225e+02] [ 6.04366489e-01 7.96680469e-01 -6.43253293e-03 2.67823183e+02] [ 1.09590179e-02 -2.39891291e-04 9.99939919e-01 2.10454493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.800385723 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:314.73, Y:267.84, Z:21.05 [[ 7.96240305e-01 -6.04915695e-01 -8.85312121e-03 3.14728284e+02] [ 6.04881196e-01 7.96289494e-01 -6.46380461e-03 2.67842915e+02] [ 1.09597043e-02 -2.08344789e-04 9.99939919e-01 2.10457778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.830385723 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:314.75, Y:267.86, Z:21.05 [[ 7.95758467e-01 -6.05549152e-01 -8.87059788e-03 3.14748475e+02] [ 6.05514959e-01 7.95807869e-01 -6.43973086e-03 2.67862675e+02] [ 1.09588652e-02 -2.46809356e-04 9.99939919e-01 2.10459731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.860385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:314.77, Y:267.88, Z:21.05 [[ 7.95156592e-01 -6.06339294e-01 -8.86880593e-03 3.14768892e+02] [ 6.06305123e-01 7.95206009e-01 -6.44219780e-03 2.67880502e+02] [ 1.09586854e-02 -2.54646416e-04 9.99939919e-01 2.10452876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.890385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:314.79, Y:267.90, Z:21.05 [[ 7.94283322e-01 -6.07482809e-01 -8.86802977e-03 3.14790699e+02] [ 6.07448697e-01 7.94332780e-01 -6.44326604e-03 2.67899058e+02] [ 1.09583401e-02 -2.69094377e-04 9.99939919e-01 2.10454254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.920385723 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:314.81, Y:267.92, Z:21.05 [[ 7.92995684e-01 -6.09162655e-01 -8.87159959e-03 3.14810785e+02] [ 6.09128703e-01 7.93045251e-01 -6.43835379e-03 2.67918881e+02] [ 1.09575846e-02 -2.98359188e-04 9.99939919e-01 2.10458462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.950385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:314.83, Y:267.94, Z:21.04 [[ 7.92374301e-01 -6.09970721e-01 -8.87059188e-03 3.14832523e+02] [ 6.09936804e-01 7.92423892e-01 -6.43974005e-03 2.67937347e+02] [ 1.09573218e-02 -3.07815938e-04 9.99939919e-01 2.10449220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.980385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:314.85, Y:267.96, Z:21.04 [[ 7.91300415e-01 -6.11363299e-01 -8.86393083e-03 3.14852580e+02] [ 6.11329367e-01 7.91349996e-01 -6.44889987e-03 2.67956867e+02] [ 1.09570923e-02 -3.15764080e-04 9.99939919e-01 2.10425566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.010385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:314.87, Y:267.98, Z:21.04 [[ 7.90198686e-01 -6.12786630e-01 -8.86466885e-03 3.14873393e+02] [ 6.12752799e-01 7.90248336e-01 -6.44788522e-03 2.67975972e+02] [ 1.09564677e-02 -3.36740218e-04 9.99939919e-01 2.10418560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.040385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:314.90, Y:267.99, Z:21.04 [[ 7.90322510e-01 -6.12627314e-01 -8.83763443e-03 3.14897077e+02] [ 6.12593057e-01 7.90371869e-01 -6.48503209e-03 2.67993282e+02] [ 1.09579254e-02 -2.88606660e-04 9.99939918e-01 2.10435805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.070385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:314.92, Y:268.01, Z:21.04 [[ 7.89789095e-01 -6.13314467e-01 -8.86285116e-03 3.14918514e+02] [ 6.13280640e-01 7.89838749e-01 -6.45038423e-03 2.68011675e+02] [ 1.09563372e-02 -3.40971911e-04 9.99939919e-01 2.10438104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.100385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:314.94, Y:268.03, Z:21.04 [[ 7.89917986e-01 -6.13148479e-01 -8.86106337e-03 3.14939570e+02] [ 6.13114615e-01 7.89967613e-01 -6.45283923e-03 2.68028660e+02] [ 1.09565016e-02 -3.35633686e-04 9.99939919e-01 2.10425554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.130385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:314.96, Y:268.05, Z:21.04 [[ 7.90886158e-01 -6.11899159e-01 -8.86028829e-03 3.14960637e+02] [ 6.11865204e-01 7.90935724e-01 -6.45390331e-03 2.68047927e+02] [ 1.09570565e-02 -3.16999313e-04 9.99939919e-01 2.10429834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.160385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:314.98, Y:268.07, Z:21.04 [[ 7.91789378e-01 -6.10729979e-01 -8.85852560e-03 3.14982390e+02] [ 6.10695924e-01 7.91838875e-01 -6.45632183e-03 2.68066199e+02] [ 1.09575942e-02 -2.97818430e-04 9.99939919e-01 2.10431254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.190385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.00, Y:268.08, Z:21.04 [[ 7.93130932e-01 -6.08986767e-01 -8.85677410e-03 3.15004519e+02] [ 6.08952577e-01 7.93180335e-01 -6.45872365e-03 2.68084896e+02] [ 1.09582963e-02 -2.70741899e-04 9.99939919e-01 2.10433843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.220385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.02, Y:268.10, Z:21.04 [[ 7.96526506e-01 -6.04538758e-01 -8.85525103e-03 3.15024772e+02] [ 6.04504269e-01 7.96575701e-01 -6.46081118e-03 2.68103940e+02] [ 1.09596886e-02 -2.06829695e-04 9.99939919e-01 2.10441569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.250385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.05, Y:268.12, Z:21.05 [[ 7.97883551e-01 -6.02746574e-01 -8.85471140e-03 3.15046794e+02] [ 6.02711966e-01 7.97932663e-01 -6.46155068e-03 2.68120861e+02] [ 1.09601410e-02 -1.81275513e-04 9.99939919e-01 2.10450911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.280385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.07, Y:268.14, Z:21.05 [[ 7.99853133e-01 -6.00130478e-01 -8.85298450e-03 3.15068472e+02] [ 6.00095683e-01 7.99902112e-01 -6.46391584e-03 2.68139020e+02] [ 1.09607139e-02 -1.42454450e-04 9.99939919e-01 2.10463398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.310385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.09, Y:268.16, Z:21.05 [[ 8.00540797e-01 -5.99212892e-01 -8.85114313e-03 3.15089358e+02] [ 5.99178013e-01 8.00589716e-01 -6.46643628e-03 2.68156673e+02] [ 1.09609062e-02 -1.26764299e-04 9.99939919e-01 2.10459909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.3403857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.11, Y:268.18, Z:21.05 [[ 8.00987560e-01 -5.98615569e-01 -8.85034409e-03 3.15111209e+02] [ 5.98580641e-01 8.01036445e-01 -6.46752970e-03 2.68175034e+02] [ 1.09610121e-02 -1.17233806e-04 9.99939919e-01 2.10458496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.370385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.13, Y:268.19, Z:21.05 [[ 8.00689809e-01 -5.99013801e-01 -8.84854333e-03 3.15130919e+02] [ 5.98978870e-01 8.00738692e-01 -6.46999248e-03 2.68194114e+02] [ 1.09609858e-02 -1.19633444e-04 9.99939919e-01 2.10456542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.400385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.15, Y:268.21, Z:21.05 [[ 8.00010038e-01 -5.99921381e-01 -8.84731892e-03 3.15152904e+02] [ 5.99886488e-01 8.00058947e-01 -6.47166635e-03 2.68211718e+02] [ 1.09608677e-02 -1.29989024e-04 9.99939919e-01 2.10463951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.430385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.17, Y:268.23, Z:21.05 [[ 7.99060407e-01 -6.01185681e-01 -8.84549227e-03 3.15173873e+02] [ 6.01150837e-01 7.99109352e-01 -6.47416206e-03 2.68228199e+02] [ 1.09606891e-02 -1.44228509e-04 9.99939919e-01 2.10469122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.460385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.20, Y:268.25, Z:21.05 [[ 7.96675833e-01 -6.04342112e-01 -8.84470050e-03 3.15196525e+02] [ 6.04307450e-01 7.96724906e-01 -6.47524356e-03 2.68245051e+02] [ 1.09600555e-02 -1.86248348e-04 9.99939919e-01 2.10477164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.490385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.22, Y:268.26, Z:21.05 [[ 7.95390534e-01 -6.06032756e-01 -8.84291098e-03 3.15218742e+02] [ 6.05998171e-01 7.95439662e-01 -6.47768648e-03 2.68261905e+02] [ 1.09596923e-02 -2.06497368e-04 9.99939919e-01 2.10473509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.520385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.24, Y:268.28, Z:21.05 [[ 7.94153617e-01 -6.07652752e-01 -8.84112594e-03 3.15240742e+02] [ 6.07618240e-01 7.94202797e-01 -6.48012190e-03 2.68279044e+02] [ 1.09593109e-02 -2.25817139e-04 9.99939919e-01 2.10473367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.550385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:315.26, Y:268.30, Z:21.05 [[ 7.92267608e-01 -6.10109746e-01 -8.83935422e-03 3.15261805e+02] [ 6.10075360e-01 7.92316876e-01 -6.48253776e-03 2.68297259e+02] [ 1.09586290e-02 -2.56767521e-04 9.99939919e-01 2.10460527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.580385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.28, Y:268.31, Z:21.05 [[ 7.91326785e-01 -6.11329548e-01 -8.83759249e-03 3.15283341e+02] [ 6.11295211e-01 7.91376086e-01 -6.48493862e-03 2.68314547e+02] [ 1.09582940e-02 -2.70672335e-04 9.99939919e-01 2.10458767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.610385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.30, Y:268.33, Z:21.05 [[ 7.89840940e-01 -6.13248088e-01 -8.83584597e-03 3.15304722e+02] [ 6.13213844e-01 7.89890307e-01 -6.48731742e-03 2.68332274e+02] [ 1.09576841e-02 -2.94314182e-04 9.99939919e-01 2.10454292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.640385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.33, Y:268.35, Z:21.05 [[ 7.89156103e-01 -6.14129143e-01 -8.83410511e-03 3.15326062e+02] [ 6.14094928e-01 7.89205489e-01 -6.48968716e-03 2.68348477e+02] [ 1.09574303e-02 -3.03602916e-04 9.99939919e-01 2.10455713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.670385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.35, Y:268.37, Z:21.05 [[ 7.88320874e-01 -6.15200919e-01 -8.83335130e-03 3.15348255e+02] [ 6.15166760e-01 7.88370299e-01 -6.49071304e-03 2.68365056e+02] [ 1.09570444e-02 -3.17219520e-04 9.99939919e-01 2.10455605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.700385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.37, Y:268.38, Z:21.05 [[ 7.87447996e-01 -6.16317821e-01 -8.83163099e-03 3.15369495e+02] [ 6.16283705e-01 7.87497451e-01 -6.49305295e-03 2.68381224e+02] [ 1.09566711e-02 -3.29848737e-04 9.99939919e-01 2.10460765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.730385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.39, Y:268.40, Z:21.05 [[ 7.85553078e-01 -6.18731265e-01 -8.83088536e-03 3.15390465e+02] [ 6.18697290e-01 7.85602629e-01 -6.49406688e-03 2.68399468e+02] [ 1.09556490e-02 -3.62210615e-04 9.99939919e-01 2.10463523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.760385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.41, Y:268.42, Z:21.05 [[ 7.84582169e-01 -6.19961988e-01 -8.82911675e-03 3.15412533e+02] [ 6.19928064e-01 7.84631755e-01 -6.49647053e-03 2.68417336e+02] [ 1.09551702e-02 -3.76402315e-04 9.99939919e-01 2.10466925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.790385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:315.43, Y:268.43, Z:21.05 [[ 7.83885746e-01 -6.20842344e-01 -8.82734160e-03 3.15433887e+02] [ 6.20808448e-01 7.83935352e-01 -6.49888170e-03 2.68434534e+02] [ 1.09548461e-02 -3.85707513e-04 9.99939919e-01 2.10483528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.820385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.46, Y:268.45, Z:21.05 [[ 7.81828139e-01 -6.23431750e-01 -8.80992819e-03 3.15455752e+02] [ 6.23397753e-01 7.81877675e-01 -6.52252372e-03 2.68452832e+02] [ 1.09546346e-02 -3.92596854e-04 9.99939919e-01 2.10475275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.850385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.48, Y:268.47, Z:21.05 [[ 7.81138535e-01 -6.24295365e-01 -8.82530302e-03 3.15477622e+02] [ 6.24261657e-01 7.81188269e-01 -6.50165403e-03 2.68470222e+02] [ 1.09531757e-02 -4.30605786e-04 9.99939919e-01 2.10483093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.880385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:315.50, Y:268.49, Z:21.05 [[ 7.80904782e-01 -6.24587757e-01 -8.82356219e-03 3.15499259e+02] [ 6.24554042e-01 7.80954510e-01 -6.50401570e-03 2.68487664e+02] [ 1.09531293e-02 -4.31774464e-04 9.99939919e-01 2.10489030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.910385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.52, Y:268.51, Z:21.05 [[ 7.81001085e-01 -6.24467357e-01 -8.82182132e-03 3.15519553e+02] [ 6.24433607e-01 7.81050791e-01 -6.50637610e-03 2.68507361e+02] [ 1.09533100e-02 -4.27154910e-04 9.99939919e-01 2.10495869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.940385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.54, Y:268.53, Z:21.05 [[ 7.81618157e-01 -6.23694848e-01 -8.82008145e-03 3.15540206e+02] [ 6.23661022e-01 7.81667810e-01 -6.50873383e-03 2.68525391e+02] [ 1.09538375e-02 -4.13396477e-04 9.99939919e-01 2.10497368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.970385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.56, Y:268.55, Z:21.05 [[ 7.83490236e-01 -6.21341514e-01 -8.81889779e-03 3.15560106e+02] [ 6.21307521e-01 7.83539776e-01 -6.51033720e-03 2.68546366e+02] [ 1.09551000e-02 -3.78461893e-04 9.99939919e-01 2.10498575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.000385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.58, Y:268.57, Z:21.05 [[ 7.84451426e-01 -6.20127582e-01 -8.81713621e-03 3.15581548e+02] [ 6.20093486e-01 7.84500895e-01 -6.51272210e-03 2.68565195e+02] [ 1.09557698e-02 -3.58534588e-04 9.99939919e-01 2.10500988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.030385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.60, Y:268.58, Z:21.05 [[ 7.85656296e-01 -6.18600416e-01 -8.81536670e-03 3.15602075e+02] [ 6.18566196e-01 7.85705679e-01 -6.51511635e-03 2.68582542e+02] [ 1.09565374e-02 -3.34245668e-04 9.99939919e-01 2.10502192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.060385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.62, Y:268.60, Z:21.05 [[ 7.86471839e-01 -6.17563236e-01 -8.81459991e-03 3.15623396e+02] [ 6.17528940e-01 7.86521169e-01 -6.51615361e-03 2.68600468e+02] [ 1.09570063e-02 -3.18499228e-04 9.99939919e-01 2.10507257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.0903857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.64, Y:268.62, Z:21.05 [[ 7.87378992e-01 -6.16406242e-01 -8.81289792e-03 3.15643555e+02] [ 6.16371848e-01 7.87428254e-01 -6.51845469e-03 2.68619904e+02] [ 1.09575410e-02 -2.99527897e-04 9.99939919e-01 2.10519220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.120385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.67, Y:268.64, Z:21.05 [[ 7.87163757e-01 -6.16681103e-01 -8.81115623e-03 3.15665111e+02] [ 6.16646700e-01 7.87213012e-01 -6.52080813e-03 2.68637856e+02] [ 1.09575160e-02 -3.00426584e-04 9.99939919e-01 2.10524577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.150385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.69, Y:268.66, Z:21.05 [[ 7.85589941e-01 -6.18684765e-01 -8.80942096e-03 3.15686332e+02] [ 6.18650461e-01 7.85639266e-01 -6.52315159e-03 2.68656731e+02] [ 1.09568015e-02 -3.25430063e-04 9.99939919e-01 2.10535119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.180385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.71, Y:268.67, Z:21.05 [[ 7.84460745e-01 -6.20115929e-01 -8.80761671e-03 3.15707738e+02] [ 6.20081687e-01 7.84510113e-01 -6.52558679e-03 2.68674411e+02] [ 1.09562847e-02 -3.42375150e-04 9.99939920e-01 2.10538665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.210385723 meters Centerline goodness : 0.999896 Centerline is valid? [True, True] Translation: X:315.73, Y:268.69, Z:21.05 [[ 7.83063159e-01 -6.21879849e-01 -8.80581997e-03 3.15728796e+02] [ 6.21845691e-01 7.83112585e-01 -6.52801046e-03 2.68691902e+02] [ 1.09555866e-02 -3.64016711e-04 9.99939920e-01 2.10515295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.240385723 meters Centerline goodness : 0.999896 Centerline is valid? [True, True] Translation: X:315.75, Y:268.71, Z:21.05 [[ 7.82909097e-01 -6.22073803e-01 -8.80504034e-03 3.15751668e+02] [ 6.22039646e-01 7.82958524e-01 -6.52906186e-03 2.68708978e+02] [ 1.09555397e-02 -3.65422249e-04 9.99939920e-01 2.10518421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.270385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.77, Y:268.73, Z:21.05 [[ 7.81643923e-01 -6.23662792e-01 -8.80342248e-03 3.15772868e+02] [ 6.23628711e-01 7.81693401e-01 -6.53124257e-03 2.68727530e+02] [ 1.09548702e-02 -3.84960948e-04 9.99939920e-01 2.10548110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.300385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.79, Y:268.75, Z:21.05 [[ 7.81255845e-01 -6.24148889e-01 -8.80166082e-03 3.15794393e+02] [ 6.24114812e-01 7.81305326e-01 -6.53361577e-03 2.68745456e+02] [ 1.09547335e-02 -3.88821381e-04 9.99939920e-01 2.10547865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.330385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.82, Y:268.76, Z:21.05 [[ 7.80960300e-01 -6.24518672e-01 -8.79990202e-03 3.15815530e+02] [ 6.24484592e-01 7.81009779e-01 -6.53598377e-03 2.68763907e+02] [ 1.09546534e-02 -3.91059383e-04 9.99939920e-01 2.10548560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.360385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.84, Y:268.78, Z:21.05 [[ 7.80632518e-01 -6.24928368e-01 -8.79813848e-03 3.15835594e+02] [ 6.24894287e-01 7.80681997e-01 -6.53835683e-03 2.68783881e+02] [ 1.09545530e-02 -3.93852518e-04 9.99939920e-01 2.10539884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.390385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.86, Y:268.80, Z:21.05 [[ 7.80311951e-01 -6.25328620e-01 -8.79630402e-03 3.15857554e+02] [ 6.25294537e-01 7.80361429e-01 -6.54082386e-03 2.68801794e+02] [ 1.09544607e-02 -3.96397819e-04 9.99939920e-01 2.10540369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.420385723 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:315.88, Y:268.82, Z:21.05 [[ 7.79742220e-01 -6.26038919e-01 -8.79447223e-03 3.15879635e+02] [ 6.26004853e-01 7.79791709e-01 -6.54328588e-03 2.68819209e+02] [ 1.09542081e-02 -4.03306040e-04 9.99939920e-01 2.10521978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.450385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.90, Y:268.84, Z:21.05 [[ 7.78847995e-01 -6.27151090e-01 -8.79264552e-03 3.15901667e+02] [ 6.27117067e-01 7.78897514e-01 -6.54573962e-03 2.68837093e+02] [ 1.09537375e-02 -4.15881891e-04 9.99939920e-01 2.10535883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.480385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.92, Y:268.85, Z:21.05 [[ 7.77880300e-01 -6.28350985e-01 -8.79080699e-03 3.15922797e+02] [ 6.28317011e-01 7.77929852e-01 -6.54820781e-03 2.68853330e+02] [ 1.09532040e-02 -4.29691714e-04 9.99939920e-01 2.10540362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.510385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.94, Y:268.87, Z:21.05 [[ 7.76390116e-01 -6.30191338e-01 -8.79001074e-03 3.15943392e+02] [ 6.30157470e-01 7.76439741e-01 -6.54927649e-03 2.68871570e+02] [ 1.09522110e-02 -4.54297389e-04 9.99939920e-01 2.10545471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.540385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.96, Y:268.89, Z:21.05 [[ 7.75768574e-01 -6.30956313e-01 -8.78922201e-03 3.15964499e+02] [ 6.30922481e-01 7.75818224e-01 -6.55033480e-03 2.68889796e+02] [ 1.09518137e-02 -4.63773864e-04 9.99939920e-01 2.10549493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.570385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.98, Y:268.91, Z:21.06 [[ 7.75724456e-01 -6.31010578e-01 -8.78742213e-03 3.15984916e+02] [ 6.30976723e-01 7.75774089e-01 -6.55274849e-03 2.68906989e+02] [ 1.09519080e-02 -4.61531556e-04 9.99939920e-01 2.10551280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.600385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.01, Y:268.93, Z:21.06 [[ 7.76149476e-01 -6.30487736e-01 -8.78664259e-03 3.16005997e+02] [ 6.30453835e-01 7.76199079e-01 -6.55379361e-03 2.68926151e+02] [ 1.09522704e-02 -4.52849044e-04 9.99939920e-01 2.10563440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.630385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.03, Y:268.94, Z:21.06 [[ 7.76604617e-01 -6.29927055e-01 -8.78486508e-03 3.16026883e+02] [ 6.29893092e-01 7.76654176e-01 -6.55617536e-03 2.68944254e+02] [ 1.09527144e-02 -4.41969774e-04 9.99939920e-01 2.10570963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.660385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.05, Y:268.96, Z:21.06 [[ 7.77317914e-01 -6.29046673e-01 -8.78309484e-03 3.16048228e+02] [ 6.29012627e-01 7.77367417e-01 -6.55854604e-03 2.68963153e+02] [ 1.09533233e-02 -4.26602223e-04 9.99939920e-01 2.10571760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.690385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.07, Y:268.98, Z:21.06 [[ 7.79269844e-01 -6.26627002e-01 -8.78131665e-03 3.16067790e+02] [ 6.26592775e-01 7.79319222e-01 -6.56092601e-03 2.68982703e+02] [ 1.09547023e-02 -3.89577780e-04 9.99939920e-01 2.10568949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.7203857229999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:316.09, Y:269.00, Z:21.06 [[ 7.79947695e-01 -6.25783103e-01 -8.78076563e-03 3.16088180e+02] [ 6.25748814e-01 7.79997030e-01 -6.56166338e-03 2.68999829e+02] [ 1.09551492e-02 -3.76799455e-04 9.99939920e-01 2.10560818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.750385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.11, Y:269.02, Z:21.06 [[ 7.81291308e-01 -6.24104802e-01 -8.78000539e-03 3.16108861e+02] [ 6.24070396e-01 7.81340561e-01 -6.56268049e-03 2.69018958e+02] [ 1.09559747e-02 -3.51976212e-04 9.99939920e-01 2.10587654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.780385723 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:316.13, Y:269.04, Z:21.06 [[ 7.81635321e-01 -6.23673928e-01 -8.77820318e-03 3.16130175e+02] [ 6.23639468e-01 7.81684536e-01 -6.56509023e-03 2.69036574e+02] [ 1.09562613e-02 -3.42927560e-04 9.99939920e-01 2.10574266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.810385723 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:316.15, Y:269.05, Z:21.06 [[ 7.81873255e-01 -6.23375622e-01 -8.77764487e-03 3.16151479e+02] [ 6.23341135e-01 7.81922451e-01 -6.56583662e-03 2.69054719e+02] [ 1.09564201e-02 -3.37815069e-04 9.99939920e-01 2.10577856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.8403857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.17, Y:269.07, Z:21.06 [[ 7.81991007e-01 -6.23227927e-01 -8.77588153e-03 3.16173019e+02] [ 6.23193403e-01 7.82040179e-01 -6.56819265e-03 2.69073101e+02] [ 1.09565730e-02 -3.32803889e-04 9.99939920e-01 2.10586795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.870385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.19, Y:269.09, Z:21.06 [[ 7.81554089e-01 -6.23775778e-01 -8.77411940e-03 3.16194064e+02] [ 6.23741263e-01 7.81603266e-01 -6.57054575e-03 2.69092185e+02] [ 1.09564277e-02 -3.37543414e-04 9.99939920e-01 2.10585446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.900385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.22, Y:269.11, Z:21.06 [[ 7.82184546e-01 -6.22985057e-01 -8.77235211e-03 3.16219306e+02] [ 6.22950466e-01 7.82233670e-01 -6.57290441e-03 2.69109862e+02] [ 1.09568504e-02 -3.23516574e-04 9.99939920e-01 2.10566739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.930385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.24, Y:269.13, Z:21.06 [[ 7.80604152e-01 -6.24963762e-01 -8.80079918e-03 3.16237761e+02] [ 6.24929722e-01 7.80653661e-01 -6.53494024e-03 2.69127924e+02] [ 1.09544769e-02 -3.98679493e-04 9.99939918e-01 2.10607635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.960385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.26, Y:269.15, Z:21.06 [[ 7.79791751e-01 -6.25977702e-01 -8.76020253e-03 3.16260462e+02] [ 6.25943118e-01 7.79840880e-01 -6.58908555e-03 2.69146384e+02] [ 1.09561847e-02 -3.45273921e-04 9.99939920e-01 2.10607393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.990385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.28, Y:269.16, Z:21.06 [[ 7.79462483e-01 -6.26387535e-01 -8.76888859e-03 3.16282189e+02] [ 6.26353107e-01 7.79511720e-01 -6.57750561e-03 2.69164315e+02] [ 1.09555190e-02 -3.65501750e-04 9.99939920e-01 2.10616236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.020385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.30, Y:269.18, Z:21.06 [[ 7.78545642e-01 -6.27526885e-01 -8.75736314e-03 3.16303046e+02] [ 6.27492356e-01 7.78594810e-01 -6.59285939e-03 2.69181932e+02] [ 1.09556340e-02 -3.62336477e-04 9.99939920e-01 2.10608271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.050385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.32, Y:269.20, Z:21.06 [[ 7.77233327e-01 -6.29151536e-01 -8.75786836e-03 3.16323069e+02] [ 6.29117118e-01 7.77282571e-01 -6.59218666e-03 2.69200421e+02] [ 1.09548228e-02 -3.86057728e-04 9.99939920e-01 2.10558713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.080385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.35, Y:269.22, Z:21.06 [[ 7.78701157e-01 -6.27334254e-01 -8.73164435e-03 3.16347620e+02] [ 6.27299329e-01 7.78750045e-01 -6.62709139e-03 2.69216682e+02] [ 1.09571699e-02 -3.16830910e-04 9.99939918e-01 2.10609212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.110385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.37, Y:269.23, Z:21.06 [[ 7.79798337e-01 -6.25969440e-01 -8.76437293e-03 3.16367870e+02] [ 6.25934918e-01 7.79847508e-01 -6.58352119e-03 2.69234393e+02] [ 1.09559575e-02 -3.52108176e-04 9.99939920e-01 2.10609681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.140385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.39, Y:269.25, Z:21.06 [[ 7.80761242e-01 -6.24768023e-01 -8.76357451e-03 3.16388864e+02] [ 6.24733413e-01 7.80810352e-01 -6.58458383e-03 2.69251687e+02] [ 1.09565271e-02 -3.33909963e-04 9.99939920e-01 2.10610964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.170385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.41, Y:269.27, Z:21.06 [[ 7.81896792e-01 -6.23346309e-01 -8.76278986e-03 3.16409864e+02] [ 6.23311598e-01 7.81945830e-01 -6.58562789e-03 2.69268815e+02] [ 1.09571538e-02 -3.12667227e-04 9.99939920e-01 2.10609530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.200385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.43, Y:269.29, Z:21.06 [[ 7.84651339e-01 -6.19875393e-01 -8.76201813e-03 3.16431184e+02] [ 6.19840453e-01 7.84700216e-01 -6.58665450e-03 2.69286985e+02] [ 1.09584626e-02 -2.62826014e-04 9.99939920e-01 2.10616961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.230385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.45, Y:269.30, Z:21.06 [[ 7.85903440e-01 -6.18287184e-01 -8.76021921e-03 3.16452111e+02] [ 6.18252119e-01 7.85952226e-01 -6.58904618e-03 2.69304735e+02] [ 1.09590366e-02 -2.37670034e-04 9.99939920e-01 2.10618371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.260385723 meters Centerline goodness : 0.995489 Centerline is valid? [True, True] Translation: X:316.47, Y:269.32, Z:21.06 [[ 7.88997957e-01 -6.14333382e-01 -8.75899423e-03 3.16473783e+02] [ 6.14298054e-01 7.89046554e-01 -6.59067417e-03 2.69323451e+02] [ 1.09601254e-02 -1.80604652e-04 9.99939920e-01 2.10583554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.290385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.49, Y:269.34, Z:21.06 [[ 7.90708336e-01 -6.12130141e-01 -8.77602982e-03 3.16494627e+02] [ 6.12094929e-01 7.90757016e-01 -6.56803708e-03 2.69339912e+02] [ 1.09602006e-02 -1.78361680e-04 9.99939919e-01 2.10620015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.320385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:316.52, Y:269.36, Z:21.06 [[ 7.92203318e-01 -6.10194425e-01 -8.75592420e-03 3.16517243e+02] [ 6.10158799e-01 7.92251696e-01 -6.59473161e-03 2.69358063e+02] [ 1.09609643e-02 -1.18135935e-04 9.99939920e-01 2.10626939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.350385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.54, Y:269.38, Z:21.06 [[ 7.93309823e-01 -6.08755236e-01 -8.75135877e-03 3.16539678e+02] [ 6.08719456e-01 7.93358087e-01 -6.60079101e-03 2.69376031e+02] [ 1.09612273e-02 -9.06499895e-05 9.99939920e-01 2.10606454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.380385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.56, Y:269.39, Z:21.06 [[ 7.94573269e-01 -6.07105170e-01 -8.75400506e-03 3.16562362e+02] [ 6.07069328e-01 7.94621487e-01 -6.59727961e-03 2.69392907e+02] [ 1.09613631e-02 -7.22659382e-05 9.99939920e-01 2.10602891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.410385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.59, Y:269.41, Z:21.06 [[ 7.94487239e-01 -6.07217774e-01 -8.75220708e-03 3.16585595e+02] [ 6.07181913e-01 7.94535443e-01 -6.59966403e-03 2.69409083e+02] [ 1.09613720e-02 -7.08329725e-05 9.99939920e-01 2.10609336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.440385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.61, Y:269.42, Z:21.06 [[ 7.93486752e-01 -6.08524613e-01 -8.75042279e-03 3.16610145e+02] [ 6.08488804e-01 7.93534995e-01 -6.60202895e-03 2.69424761e+02] [ 1.09612638e-02 -8.59117925e-05 9.99939920e-01 2.10625070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.4703857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.63, Y:269.44, Z:21.06 [[ 7.92723909e-01 -6.09518056e-01 -8.74886661e-03 3.16633132e+02] [ 6.09482285e-01 7.92772180e-01 -6.60409052e-03 2.69440504e+02] [ 1.09611705e-02 -9.70587610e-05 9.99939920e-01 2.10637810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.500385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:316.66, Y:269.46, Z:21.07 [[ 7.92133285e-01 -6.10285447e-01 -8.74831599e-03 3.16657194e+02] [ 6.10249715e-01 7.92181584e-01 -6.60481984e-03 2.69456470e+02] [ 1.09610802e-02 -1.06759698e-04 9.99939920e-01 2.10670749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.530385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.68, Y:269.47, Z:21.07 [[ 7.90769634e-01 -6.12051416e-01 -8.74359418e-03 3.16681887e+02] [ 6.12015723e-01 7.90817962e-01 -6.61107235e-03 2.69471270e+02] [ 1.09609075e-02 -1.23381846e-04 9.99939920e-01 2.10681170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.560385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.70, Y:269.49, Z:21.07 [[ 7.90078773e-01 -6.12942982e-01 -8.74257798e-03 3.16704907e+02] [ 6.12907328e-01 7.90127131e-01 -6.61241728e-03 2.69487273e+02] [ 1.09607828e-02 -1.34059578e-04 9.99939920e-01 2.10664874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.5903857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.73, Y:269.50, Z:21.07 [[ 7.89604407e-01 -6.13553912e-01 -8.74514108e-03 3.16729815e+02] [ 6.13518334e-01 7.89652819e-01 -6.60902576e-03 2.69501490e+02] [ 1.09606189e-02 -1.46788523e-04 9.99939920e-01 2.10675299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.620385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.75, Y:269.52, Z:21.07 [[ 7.88928627e-01 -6.14422631e-01 -8.74365095e-03 3.16751317e+02] [ 6.14387084e-01 7.88977063e-01 -6.61099660e-03 2.69518603e+02] [ 1.09604860e-02 -1.56381735e-04 9.99939920e-01 2.10675763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.650385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.77, Y:269.53, Z:21.07 [[ 7.88546051e-01 -6.14913572e-01 -8.74214376e-03 3.16773654e+02] [ 6.14878032e-01 7.88594493e-01 -6.61298897e-03 2.69534932e+02] [ 1.09604231e-02 -1.60705819e-04 9.99939920e-01 2.10678417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.680385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.80, Y:269.55, Z:21.07 [[ 7.88419598e-01 -6.15075731e-01 -8.73972204e-03 3.16796773e+02] [ 6.15040166e-01 7.88468021e-01 -6.61618843e-03 2.69551200e+02] [ 1.09604483e-02 -1.58947472e-04 9.99939920e-01 2.10673925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.710385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.82, Y:269.57, Z:21.07 [[ 7.88389808e-01 -6.15113916e-01 -8.73957213e-03 3.16820767e+02] [ 6.15078352e-01 7.88438231e-01 -6.61638646e-03 2.69566007e+02] [ 1.09604442e-02 -1.59229970e-04 9.99939920e-01 2.10691613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.740385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.84, Y:269.58, Z:21.07 [[ 7.88258112e-01 -6.15282830e-01 -8.72862939e-03 3.16843294e+02] [ 6.15247115e-01 7.88306425e-01 -6.63083581e-03 2.69581934e+02] [ 1.09606740e-02 -1.43453938e-04 9.99939920e-01 2.10696556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.770385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.87, Y:269.60, Z:21.07 [[ 7.88319533e-01 -6.15204142e-01 -8.72803014e-03 3.16866194e+02] [ 6.15168414e-01 7.88367836e-01 -6.63162665e-03 2.69598006e+02] [ 1.09607024e-02 -1.41367633e-04 9.99939920e-01 2.10679726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.800385723 meters Centerline goodness : 0.999917 Centerline is valid? [True, True] Translation: X:316.89, Y:269.61, Z:21.07 [[ 7.88363210e-01 -6.15148066e-01 -8.73535899e-03 3.16888719e+02] [ 6.15112442e-01 7.88411589e-01 -6.62195879e-03 2.69614249e+02] [ 1.09605434e-02 -1.52719311e-04 9.99939920e-01 2.10654767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.830385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.91, Y:269.63, Z:21.07 [[ 7.88664681e-01 -6.14761536e-01 -8.73358513e-03 3.16910933e+02] [ 6.14725862e-01 7.88713023e-01 -6.62429748e-03 2.69630157e+02] [ 1.09606556e-02 -1.44411200e-04 9.99939920e-01 2.10677634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.860385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.93, Y:269.65, Z:21.07 [[ 7.88914980e-01 -6.14440308e-01 -8.73281576e-03 3.16933759e+02] [ 6.14404603e-01 7.88963300e-01 -6.62531159e-03 2.69645902e+02] [ 1.09607296e-02 -1.38674643e-04 9.99939920e-01 2.10690460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.890385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.96, Y:269.66, Z:21.07 [[ 7.89033946e-01 -6.14287557e-01 -8.73095580e-03 3.16956503e+02] [ 6.14251816e-01 7.89082239e-01 -6.62776177e-03 2.69661608e+02] [ 1.09607937e-02 -1.33476436e-04 9.99939920e-01 2.10706653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.920385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.98, Y:269.68, Z:21.07 [[ 7.89269132e-01 -6.13985312e-01 -8.73349282e-03 3.16980805e+02] [ 6.13949589e-01 7.89317438e-01 -6.62442032e-03 2.69675618e+02] [ 1.09607950e-02 -1.33473858e-04 9.99939920e-01 2.10702103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.950385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.01, Y:269.69, Z:21.07 [[ 7.89494052e-01 -6.13696137e-01 -8.72885077e-03 3.17005092e+02] [ 6.13660330e-01 7.89542295e-01 -6.63053142e-03 2.69691729e+02] [ 1.09609284e-02 -1.21784321e-04 9.99939920e-01 2.10732205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.980385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.03, Y:269.71, Z:21.07 [[ 7.89781586e-01 -6.13326075e-01 -8.72769304e-03 3.17028971e+02] [ 6.13290227e-01 7.89829800e-01 -6.63205486e-03 2.69708261e+02] [ 1.09610042e-02 -1.14734042e-04 9.99939920e-01 2.10722954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.010385723 meters Centerline goodness : 0.999959 Centerline is valid? [True, True] Translation: X:317.05, Y:269.72, Z:21.07 [[ 7.90814498e-01 -6.11993701e-01 -8.72580729e-03 3.17051509e+02] [ 6.11957745e-01 7.90862631e-01 -6.63453501e-03 2.69722831e+02] [ 1.09612085e-02 -9.31388776e-05 9.99939920e-01 2.10718227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.040385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:317.07, Y:269.74, Z:21.07 [[ 7.91451381e-01 -6.11169851e-01 -8.72501423e-03 3.17074887e+02] [ 6.11133833e-01 7.91499468e-01 -6.63557780e-03 2.69739215e+02] [ 1.09613092e-02 -8.04141778e-05 9.99939920e-01 2.10719069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.070385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.10, Y:269.76, Z:21.07 [[ 7.92047561e-01 -6.10397056e-01 -8.72323133e-03 3.17098254e+02] [ 6.10360966e-01 7.92095594e-01 -6.63792080e-03 2.69755527e+02] [ 1.09614004e-02 -6.67709145e-05 9.99939920e-01 2.10725069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.100385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.12, Y:269.77, Z:21.07 [[ 7.92750512e-01 -6.09483850e-01 -8.72138670e-03 3.17121689e+02] [ 6.09447678e-01 7.92798483e-01 -6.64034352e-03 2.69771647e+02] [ 1.09614843e-02 -5.10931511e-05 9.99939920e-01 2.10733066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.130385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.15, Y:269.79, Z:21.08 [[ 7.94629260e-01 -6.07032379e-01 -8.71950948e-03 3.17145962e+02] [ 6.06996032e-01 7.94677098e-01 -6.64280760e-03 2.69787103e+02] [ 1.09615938e-02 -1.41383657e-05 9.99939920e-01 2.10756055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.160385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.17, Y:269.80, Z:21.08 [[ 7.94447855e-01 -6.07269691e-01 -8.72514515e-03 3.17168615e+02] [ 6.07233439e-01 7.94495766e-01 -6.63541245e-03 2.69804479e+02] [ 1.09615757e-02 -2.67107042e-05 9.99939920e-01 2.10759206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.190385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.19, Y:269.82, Z:21.08 [[ 7.95031704e-01 -6.06505152e-01 -8.72303133e-03 3.17191679e+02] [ 6.06468823e-01 7.95079556e-01 -6.63818444e-03 2.69820813e+02] [ 1.09615969e-02 -1.26794671e-05 9.99939920e-01 2.10766798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.2203857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.22, Y:269.84, Z:21.08 [[ 7.96752713e-01 -6.04242636e-01 -8.71500633e-03 3.17215562e+02] [ 6.04206056e-01 7.96800374e-01 -6.64870348e-03 2.69836163e+02] [ 1.09615504e-02 3.17129309e-05 9.99939920e-01 2.10782335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.250385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.24, Y:269.85, Z:21.08 [[ 7.97970036e-01 -6.02633874e-01 -8.73127304e-03 3.17237154e+02] [ 6.02597432e-01 7.98017802e-01 -6.62737988e-03 2.69851558e+02] [ 1.09615949e-02 2.70078473e-05 9.99939920e-01 2.10770144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.280385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.26, Y:269.87, Z:21.08 [[ 7.99458086e-01 -6.00658748e-01 -8.70843477e-03 3.17257926e+02] [ 6.00621862e-01 7.99505510e-01 -6.65729323e-03 2.69866164e+02] [ 1.09612030e-02 9.17505970e-05 9.99939920e-01 2.10760616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.310385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.28, Y:269.88, Z:21.08 [[ 8.00185331e-01 -5.99690064e-01 -8.67545297e-03 3.17284753e+02] [ 5.99652651e-01 8.00232342e-01 -6.70049146e-03 2.69882508e+02] [ 1.09605962e-02 1.59376601e-04 9.99939918e-01 2.10761832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.3403857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.31, Y:269.90, Z:21.08 [[ 8.00343652e-01 -5.99478213e-01 -8.71275540e-03 3.17307632e+02] [ 5.99441318e-01 8.00391069e-01 -6.65163026e-03 2.69897213e+02] [ 1.09611190e-02 1.00804477e-04 9.99939920e-01 2.10760245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.370385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.33, Y:269.91, Z:21.08 [[ 8.00172437e-01 -5.99706739e-01 -8.71195191e-03 3.17330322e+02] [ 5.99669846e-01 8.00219856e-01 -6.65268246e-03 2.69911736e+02] [ 1.09611354e-02 9.89982858e-05 9.99939920e-01 2.10757571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.400385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.35, Y:269.93, Z:21.08 [[ 7.99065352e-01 -6.01181070e-01 -8.71116963e-03 3.17354530e+02] [ 6.01144254e-01 7.99112830e-01 -6.65370664e-03 2.69926252e+02] [ 1.09612899e-02 8.00768727e-05 9.99939920e-01 2.10761103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.430385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.38, Y:269.94, Z:21.08 [[ 7.98593752e-01 -6.01807416e-01 -8.70936141e-03 3.17377084e+02] [ 6.01770611e-01 7.98641239e-01 -6.65607267e-03 2.69941097e+02] [ 1.09613291e-02 7.44603059e-05 9.99939920e-01 2.10759125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.460385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.40, Y:269.96, Z:21.08 [[ 7.96116348e-01 -6.05081130e-01 -8.69404528e-03 3.17403172e+02] [ 6.05044301e-01 7.96163817e-01 -6.67610859e-03 2.69955399e+02] [ 1.09614716e-02 5.46766481e-05 9.99939920e-01 2.10793302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.490385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.43, Y:269.97, Z:21.08 [[ 7.94825303e-01 -6.06775830e-01 -8.70797657e-03 3.17426249e+02] [ 6.06739302e-01 7.94873004e-01 -6.65788759e-03 2.69970185e+02] [ 1.09615808e-02 8.38589768e-06 9.99939920e-01 2.10799420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.520385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.45, Y:269.99, Z:21.08 [[ 7.93245047e-01 -6.08840275e-01 -8.70716847e-03 3.17449419e+02] [ 6.08803859e-01 7.93292833e-01 -6.65894426e-03 2.69985277e+02] [ 1.09615678e-02 -1.87832174e-05 9.99939920e-01 2.10802265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.550385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.47, Y:270.00, Z:21.08 [[ 7.89984201e-01 -6.13065394e-01 -8.70539972e-03 3.17473995e+02] [ 6.13029209e-01 7.90032162e-01 -6.66125579e-03 2.69999312e+02] [ 1.09613312e-02 -7.43774692e-05 9.99939920e-01 2.10796350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.580385723 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:317.50, Y:270.01, Z:21.08 [[ 7.86089159e-01 -6.18051845e-01 -8.70349178e-03 3.17499544e+02] [ 6.18015937e-01 7.86137327e-01 -6.66374774e-03 2.70014351e+02] [ 1.09606814e-02 -1.40596770e-04 9.99939920e-01 2.10778083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.610385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.52, Y:270.03, Z:21.08 [[ 7.83814415e-01 -6.20934079e-01 -8.70817576e-03 3.17523253e+02] [ 6.20898415e-01 7.83862765e-01 -6.65763118e-03 2.70030377e+02] [ 1.09599648e-02 -1.88545241e-04 9.99939920e-01 2.10791552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.640385723 meters Centerline goodness : 0.999938 Centerline is valid? [True, True] Translation: X:317.55, Y:270.05, Z:21.08 [[ 7.82996228e-01 -6.21965271e-01 -8.72403095e-03 3.17547403e+02] [ 6.21929901e-01 7.83044794e-01 -6.63694333e-03 2.70045622e+02] [ 1.09592553e-02 -2.29034115e-04 9.99939919e-01 2.10781186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.670385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.57, Y:270.06, Z:21.08 [[ 7.80941749e-01 -6.24543117e-01 -8.71089857e-03 3.17569513e+02] [ 6.24507716e-01 7.80990292e-01 -6.65407069e-03 2.70062189e+02] [ 1.09588813e-02 -2.43581774e-04 9.99939920e-01 2.10793719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.700385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.59, Y:270.08, Z:21.08 [[ 7.79323239e-01 -6.26561756e-01 -8.69804173e-03 3.17591751e+02] [ 6.26526294e-01 7.79371736e-01 -6.67083461e-03 2.70078429e+02] [ 1.09586977e-02 -2.50815415e-04 9.99939920e-01 2.10805932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.730385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.62, Y:270.10, Z:21.08 [[ 7.79870239e-01 -6.25881131e-01 -8.67291842e-03 3.17615962e+02] [ 6.25845262e-01 7.79918438e-01 -6.70356961e-03 2.70095029e+02] [ 1.09598067e-02 -1.99990463e-04 9.99939920e-01 2.10809025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.760385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.64, Y:270.11, Z:21.08 [[ 7.79624872e-01 -6.26186426e-01 -8.69595218e-03 3.17637647e+02] [ 6.26150910e-01 7.79673330e-01 -6.67355556e-03 2.70112451e+02] [ 1.09588919e-02 -2.42108473e-04 9.99939920e-01 2.10805935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.790385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.66, Y:270.13, Z:21.08 [[ 7.79789767e-01 -6.25981352e-01 -8.67560340e-03 3.17658290e+02] [ 6.25945529e-01 7.79837999e-01 -6.70006177e-03 2.70129801e+02] [ 1.09596789e-02 -2.05815551e-04 9.99939920e-01 2.10828376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.820385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.69, Y:270.15, Z:21.08 [[ 7.82014248e-01 -6.23200729e-01 -8.63519873e-03 3.17685295e+02] [ 6.23164152e-01 7.82061916e-01 -6.75267857e-03 2.70145547e+02] [ 1.09615343e-02 -1.00455440e-04 9.99939916e-01 2.10841261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.850385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.70, Y:270.16, Z:21.08 [[ 7.80922571e-01 -6.24567321e-01 -8.69482717e-03 3.17703463e+02] [ 6.24531688e-01 7.80970944e-01 -6.67500699e-03 2.70162745e+02] [ 1.09593986e-02 -2.17531471e-04 9.99939920e-01 2.10822413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.880385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.73, Y:270.18, Z:21.08 [[ 7.82945647e-01 -6.22030220e-01 -8.63247487e-03 3.17729850e+02] [ 6.21993533e-01 7.82993231e-01 -6.75613493e-03 2.70178707e+02] [ 1.09616895e-02 -7.96571110e-05 9.99939916e-01 2.10844163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.910385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.75, Y:270.20, Z:21.08 [[ 7.82768106e-01 -6.22252792e-01 -8.69222920e-03 3.17750856e+02] [ 6.22216980e-01 7.82816345e-01 -6.67836171e-03 2.70195364e+02] [ 1.09600483e-02 -1.80844051e-04 9.99939921e-01 2.10847542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.940385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.77, Y:270.21, Z:21.09 [[ 7.82180488e-01 -6.22991287e-01 -8.69144738e-03 3.17773078e+02] [ 6.22955508e-01 7.82228752e-01 -6.67937904e-03 2.70212669e+02] [ 1.09598950e-02 -1.89905069e-04 9.99939921e-01 2.10851758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.9703857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.80, Y:270.23, Z:21.09 [[ 7.81544299e-01 -6.23789227e-01 -8.68958878e-03 3.17795525e+02] [ 6.23753471e-01 7.81592580e-01 -6.68179613e-03 2.70229593e+02] [ 1.09597506e-02 -1.98041483e-04 9.99939921e-01 2.10859150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.000385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.82, Y:270.25, Z:21.09 [[ 7.80848967e-01 -6.24659439e-01 -8.68769776e-03 3.17817223e+02] [ 6.24623709e-01 7.80897267e-01 -6.68425393e-03 2.70246164e+02] [ 1.09595818e-02 -2.07149224e-04 9.99939921e-01 2.10869032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.030385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.84, Y:270.26, Z:21.09 [[ 7.80355417e-01 -6.25275909e-01 -8.68688945e-03 3.17838182e+02] [ 6.25240205e-01 7.80403737e-01 -6.68530425e-03 2.70263104e+02] [ 1.09594407e-02 -2.14479157e-04 9.99939921e-01 2.10877373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.060385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.86, Y:270.28, Z:21.09 [[ 7.79205929e-01 -6.26707811e-01 -8.68561670e-03 3.17859528e+02] [ 6.26672178e-01 7.79254301e-01 -6.68695741e-03 2.70281095e+02] [ 1.09590726e-02 -2.32517476e-04 9.99939921e-01 2.10880942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.0903857229999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:317.88, Y:270.30, Z:21.09 [[ 7.78456702e-01 -6.27638236e-01 -8.68377798e-03 3.17881412e+02] [ 6.27602635e-01 7.78505097e-01 -6.68934435e-03 2.70298352e+02] [ 1.09588537e-02 -2.42597001e-04 9.99939921e-01 2.10874692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.120385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.90, Y:270.32, Z:21.09 [[ 7.77963893e-01 -6.28248999e-01 -8.68194385e-03 3.17902697e+02] [ 6.28213409e-01 7.78012297e-01 -6.69172397e-03 2.70315654e+02] [ 1.09587280e-02 -2.48193911e-04 9.99939921e-01 2.10874504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.150385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.92, Y:270.33, Z:21.09 [[ 7.77239063e-01 -6.29145513e-01 -8.68114914e-03 3.17924597e+02] [ 6.29109968e-01 7.77287499e-01 -6.69275479e-03 2.70333162e+02] [ 1.09584654e-02 -2.59526993e-04 9.99939921e-01 2.10874386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.180385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.95, Y:270.35, Z:21.09 [[ 7.76509250e-01 -6.30046072e-01 -8.67933310e-03 3.17947032e+02] [ 6.30010557e-01 7.76557708e-01 -6.69510905e-03 2.70350060e+02] [ 1.09582302e-02 -2.69257371e-04 9.99939921e-01 2.10881335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.210385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.97, Y:270.37, Z:21.09 [[ 7.76207078e-01 -6.30418332e-01 -8.67750414e-03 3.17967867e+02] [ 6.30382813e-01 7.76255533e-01 -6.69747872e-03 2.70366522e+02] [ 1.09581740e-02 -2.71519091e-04 9.99939921e-01 2.10886894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.240385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.99, Y:270.38, Z:21.09 [[ 7.75958002e-01 -6.30724896e-01 -8.67671183e-03 3.17988784e+02] [ 6.30689385e-01 7.76006463e-01 -6.69850502e-03 2.70384902e+02] [ 1.09580983e-02 -2.74551474e-04 9.99939921e-01 2.10885873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.270385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.01, Y:270.40, Z:21.09 [[ 7.76137434e-01 -6.30504108e-01 -8.67488520e-03 3.18010181e+02] [ 6.30468556e-01 7.76185866e-01 -6.70086976e-03 2.70402205e+02] [ 1.09582492e-02 -2.68446486e-04 9.99939921e-01 2.10884110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.300385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.03, Y:270.42, Z:21.09 [[ 7.76379903e-01 -6.30205527e-01 -8.67409389e-03 3.18032573e+02] [ 6.30169945e-01 7.76428313e-01 -6.70189392e-03 2.70419732e+02] [ 1.09583827e-02 -2.62937516e-04 9.99939921e-01 2.10888484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.330385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:318.05, Y:270.44, Z:21.09 [[ 7.77492647e-01 -6.28832231e-01 -8.67228940e-03 3.18054715e+02] [ 6.28796538e-01 7.77540974e-01 -6.70422813e-03 2.70437479e+02] [ 1.09588951e-02 -2.40617478e-04 9.99939921e-01 2.10894890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.360385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:318.08, Y:270.45, Z:21.09 [[ 7.78830933e-01 -6.27173980e-01 -8.67045927e-03 3.18076033e+02] [ 6.27138157e-01 7.78879165e-01 -6.70659418e-03 2.70454448e+02] [ 1.09594414e-02 -2.14272846e-04 9.99939921e-01 2.10914219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.390385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.10, Y:270.47, Z:21.09 [[ 7.79164266e-01 -6.26760142e-01 -8.64702010e-03 3.18099812e+02] [ 6.26723957e-01 7.79212228e-01 -6.73687532e-03 2.70473078e+02] [ 1.09602687e-02 -1.70162143e-04 9.99939920e-01 2.10917581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.420385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.12, Y:270.49, Z:21.09 [[ 7.80744678e-01 -6.24790067e-01 -8.66717889e-03 3.18121172e+02] [ 6.24754050e-01 7.80792765e-01 -6.71083986e-03 2.70491931e+02] [ 1.09601366e-02 -1.75402607e-04 9.99939921e-01 2.10918567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.450385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.14, Y:270.51, Z:21.09 [[ 7.81766399e-01 -6.23511195e-01 -8.66528081e-03 3.18142243e+02] [ 6.23475072e-01 7.81814407e-01 -6.71328983e-03 2.70509313e+02] [ 1.09604527e-02 -1.54362156e-04 9.99939921e-01 2.10921934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.480385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.16, Y:270.53, Z:21.09 [[ 7.82893397e-01 -6.22095536e-01 -8.66445870e-03 3.18163784e+02] [ 6.22059315e-01 7.82941330e-01 -6.71435071e-03 2.70526712e+02] [ 1.09607304e-02 -1.33186404e-04 9.99939921e-01 2.10934285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.510385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.19, Y:270.54, Z:21.09 [[ 7.83255212e-01 -6.21639953e-01 -8.66261378e-03 3.18185733e+02] [ 6.21603678e-01 7.83303104e-01 -6.71673012e-03 2.70544279e+02] [ 1.09608401e-02 -1.23798707e-04 9.99939921e-01 2.10935895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.540385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:318.21, Y:270.56, Z:21.09 [[ 7.83108001e-01 -6.21825562e-01 -8.65033262e-03 3.18207659e+02] [ 6.21789123e-01 7.83155769e-01 -6.73255904e-03 2.70562104e+02] [ 1.09610352e-02 -1.06361885e-04 9.99939920e-01 2.10928825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.570385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.23, Y:270.58, Z:21.09 [[ 7.82931193e-01 -6.22048074e-01 -8.65680242e-03 3.18230312e+02] [ 6.22011741e-01 7.82979042e-01 -6.72422413e-03 2.70579798e+02] [ 1.09608855e-02 -1.20027913e-04 9.99939920e-01 2.10926894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.600385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.25, Y:270.60, Z:21.09 [[ 7.82666767e-01 -6.22380723e-01 -8.65838421e-03 3.18252813e+02] [ 6.22344432e-01 7.82714648e-01 -6.72218673e-03 2.70597069e+02] [ 1.09608036e-02 -1.27265055e-04 9.99939920e-01 2.10927407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.630385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.27, Y:270.61, Z:21.09 [[ 7.83014839e-01 -6.21942783e-01 -8.65655351e-03 3.18274385e+02] [ 6.21906440e-01 7.83062680e-01 -6.72454340e-03 2.70614434e+02] [ 1.09609052e-02 -1.18149105e-04 9.99939921e-01 2.10920520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.660385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.30, Y:270.63, Z:21.09 [[ 7.83394347e-01 -6.21464716e-01 -8.65470158e-03 3.18295522e+02] [ 6.21428317e-01 7.83442145e-01 -6.72692605e-03 2.70630987e+02] [ 1.09610052e-02 -1.08440796e-04 9.99939921e-01 2.10922138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.690385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.32, Y:270.65, Z:21.09 [[ 7.83874738e-01 -6.20858684e-01 -8.65389853e-03 3.18318065e+02] [ 6.20822237e-01 7.83922499e-01 -6.72795899e-03 2.70648056e+02] [ 1.09610975e-02 -9.86555500e-05 9.99939921e-01 2.10929015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.7203857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.34, Y:270.66, Z:21.09 [[ 7.84207768e-01 -6.20438005e-01 -8.65207679e-03 3.18339199e+02] [ 6.20401507e-01 7.84255490e-01 -6.73030090e-03 2.70664130e+02] [ 1.09611732e-02 -8.98072349e-05 9.99939921e-01 2.10937045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.750385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.36, Y:270.68, Z:21.09 [[ 7.84064461e-01 -6.20619107e-01 -8.65128672e-03 3.18360894e+02] [ 6.20582608e-01 7.84112183e-01 -6.73131633e-03 2.70682308e+02] [ 1.09611628e-02 -9.10521609e-05 9.99939921e-01 2.10941085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.780385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.38, Y:270.70, Z:21.09 [[ 7.85478632e-01 -6.18828335e-01 -8.64934812e-03 3.18383574e+02] [ 6.18791700e-01 7.85526249e-01 -6.73380639e-03 2.70697069e+02] [ 1.09613602e-02 -6.28837896e-05 9.99939921e-01 2.10941859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.810385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.41, Y:270.71, Z:21.09 [[ 7.86297561e-01 -6.17787462e-01 -8.64851076e-03 3.18407193e+02] [ 6.17750753e-01 7.86345121e-01 -6.73488168e-03 2.70712114e+02] [ 1.09614397e-02 -4.70029932e-05 9.99939921e-01 2.10939245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.8403857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.43, Y:270.73, Z:21.09 [[ 7.85586230e-01 -6.18691773e-01 -8.64662419e-03 3.18427713e+02] [ 6.18655092e-01 7.85633812e-01 -6.73730290e-03 2.70728443e+02] [ 1.09613942e-02 -5.65456935e-05 9.99939921e-01 2.10916279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.870385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.45, Y:270.74, Z:21.09 [[ 7.87659291e-01 -6.16050915e-01 -8.60882691e-03 3.18454497e+02] [ 6.16013543e-01 7.87706334e-01 -6.78577252e-03 2.70743013e+02] [ 1.09616089e-02 4.17228008e-05 9.99939919e-01 2.10935968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.900385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:318.48, Y:270.76, Z:21.09 [[ 7.88055103e-01 -6.15544012e-01 -8.64432828e-03 3.18477496e+02] [ 6.15507108e-01 7.88102512e-01 -6.74024221e-03 2.70758740e+02] [ 1.09615326e-02 -8.96323791e-06 9.99939921e-01 2.10941449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.930385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.50, Y:270.77, Z:21.09 [[ 7.87987009e-01 -6.15631206e-01 -8.64245727e-03 3.18499313e+02] [ 6.15594281e-01 7.88034401e-01 -6.74264040e-03 2.70774215e+02] [ 1.09615335e-02 -7.13422812e-06 9.99939921e-01 2.10945259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.960385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.52, Y:270.79, Z:21.10 [[ 7.88280361e-01 -6.15255559e-01 -8.64118584e-03 3.18522689e+02] [ 6.15218593e-01 7.88327722e-01 -6.74426944e-03 2.70790215e+02] [ 1.09615356e-02 1.56949386e-07 9.99939921e-01 2.10955215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.990385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.54, Y:270.81, Z:21.09 [[ 7.86524311e-01 -6.17498883e-01 -8.63932002e-03 3.18540173e+02] [ 6.17462026e-01 7.86571757e-01 -6.74665869e-03 2.70805884e+02] [ 1.09614993e-02 -2.80409620e-05 9.99939921e-01 2.10930831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.020385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.56, Y:270.82, Z:21.09 [[ 7.87038738e-01 -6.16844012e-01 -8.57261374e-03 3.18562665e+02] [ 6.16806181e-01 7.87085419e-01 -6.83213790e-03 2.70821529e+02] [ 1.09617426e-02 8.95160537e-05 9.99939914e-01 2.10942214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.050385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.58, Y:270.84, Z:21.09 [[ 7.87064104e-01 -6.16811682e-01 -8.57001598e-03 3.18584325e+02] [ 6.16773813e-01 7.87110755e-01 -6.83546594e-03 2.70838439e+02] [ 1.09617470e-02 9.41884461e-05 9.99939914e-01 2.10945215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.080385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.61, Y:270.85, Z:21.10 [[ 7.87038403e-01 -6.16844444e-01 -8.57225200e-03 3.18607058e+02] [ 6.16806609e-01 7.87085080e-01 -6.83260014e-03 2.70854828e+02] [ 1.09617431e-02 9.00970192e-05 9.99939914e-01 2.10958346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.110385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.64, Y:270.87, Z:21.10 [[ 7.89387872e-01 -6.13834992e-01 -8.56688553e-03 3.18635971e+02] [ 6.13796903e-01 7.89434344e-01 -6.83947550e-03 2.70869522e+02] [ 1.09613030e-02 1.40671201e-04 9.99939913e-01 2.10989841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.140385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.65, Y:270.89, Z:21.10 [[ 7.87729606e-01 -6.15960535e-01 -8.64213825e-03 3.18654828e+02] [ 6.15923625e-01 7.87777011e-01 -6.74302870e-03 2.70886964e+02] [ 1.09615174e-02 -1.12137785e-05 9.99939921e-01 2.10956747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.170385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.68, Y:270.90, Z:21.10 [[ 7.88347144e-01 -6.15170767e-01 -8.58540464e-03 3.18681300e+02] [ 6.15133016e-01 7.88393886e-01 -6.81568158e-03 2.70901989e+02] [ 1.09614886e-02 9.19572611e-05 9.99939917e-01 2.10957619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.200385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.71, Y:270.92, Z:21.10 [[ 7.89057264e-01 -6.14259344e-01 -8.60766505e-03 3.18706181e+02] [ 6.14221849e-01 7.89104210e-01 -6.78718020e-03 2.70916958e+02] [ 1.09614336e-02 6.84578987e-05 9.99939919e-01 2.10981552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.230385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.73, Y:270.93, Z:21.10 [[ 7.88768609e-01 -6.14629524e-01 -8.63885350e-03 3.18728791e+02] [ 6.14592489e-01 7.88815915e-01 -6.74724802e-03 2.70932476e+02] [ 1.09615230e-02 1.26429590e-05 9.99939921e-01 2.10983881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.260385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.75, Y:270.95, Z:21.10 [[ 7.88016156e-01 -6.15593959e-01 -8.63806978e-03 3.18752297e+02] [ 6.15556970e-01 7.88063499e-01 -6.74825122e-03 2.70947460e+02] [ 1.09615302e-02 5.06927222e-07 9.99939921e-01 2.10985344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.290385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.78, Y:270.96, Z:21.10 [[ 7.87746511e-01 -6.15938997e-01 -8.63629755e-03 3.18775440e+02] [ 6.15902004e-01 7.87793851e-01 -6.75051853e-03 2.70963861e+02] [ 1.09615297e-02 -1.41554667e-06 9.99939921e-01 2.10985063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.320385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.80, Y:270.98, Z:21.10 [[ 7.87692697e-01 -6.16007841e-01 -8.63453037e-03 3.18798906e+02] [ 6.15970827e-01 7.87740021e-01 -6.75277816e-03 2.70979494e+02] [ 1.09615294e-02 4.95224857e-07 9.99939921e-01 2.10985054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.350385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.82, Y:271.00, Z:21.10 [[ 7.87859823e-01 -6.15794101e-01 -8.63277616e-03 3.18822553e+02] [ 6.15757049e-01 7.87907117e-01 -6.75502000e-03 2.70995052e+02] [ 1.09615272e-02 6.31609032e-06 9.99939921e-01 2.10986683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.380385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.85, Y:271.01, Z:21.10 [[ 7.88982710e-01 -6.14354775e-01 -8.63103218e-03 3.18846629e+02] [ 6.14317613e-01 7.89029917e-01 -6.75724759e-03 2.71007898e+02] [ 1.09614899e-02 2.91564246e-05 9.99939921e-01 2.10992273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.410385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.87, Y:271.03, Z:21.10 [[ 7.88076090e-01 -6.15517345e-01 -8.62984690e-03 3.18867559e+02] [ 6.15480237e-01 7.88123339e-01 -6.75876100e-03 2.71025358e+02] [ 1.09615184e-02 1.49177259e-05 9.99939921e-01 2.10965029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.440385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.89, Y:271.04, Z:21.10 [[ 7.90872088e-01 -6.11921183e-01 -8.59103718e-03 3.18894786e+02] [ 6.11883320e-01 7.90918738e-01 -6.80828059e-03 2.71038896e+02] [ 1.09609434e-02 1.27766733e-04 9.99939919e-01 2.11021818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.4703857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.91, Y:271.06, Z:21.10 [[ 7.89142016e-01 -6.14150177e-01 -8.62778076e-03 3.18914133e+02] [ 6.14112958e-01 7.89189178e-01 -6.76139451e-03 2.71056164e+02] [ 1.09614628e-02 3.72685292e-05 9.99939921e-01 2.10971822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.500385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.94, Y:271.07, Z:21.10 [[ 7.91258924e-01 -6.11421091e-01 -8.57704913e-03 3.18943407e+02] [ 6.11383005e-01 7.91305393e-01 -6.82608249e-03 2.71068440e+02] [ 1.09606760e-02 1.57336609e-04 9.99939918e-01 2.11022171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.530385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.96, Y:271.09, Z:21.10 [[ 7.88718653e-01 -6.14693802e-01 -8.62644358e-03 3.18963862e+02] [ 6.14656597e-01 7.88765826e-01 -6.76307894e-03 2.71085105e+02] [ 1.09614666e-02 3.18660630e-05 9.99939921e-01 2.10990587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.560385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.99, Y:271.10, Z:21.10 [[ 7.90216235e-01 -6.12768040e-01 -8.58089792e-03 3.18991230e+02] [ 6.12730088e-01 7.90262812e-01 -6.82111767e-03 2.71099033e+02] [ 1.09609274e-02 1.32383588e-04 9.99939918e-01 2.11047741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.5903857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.01, Y:271.11, Z:21.11 [[ 7.89445047e-01 -6.13760655e-01 -8.62416698e-03 3.19014538e+02] [ 6.13723362e-01 7.89492151e-01 -6.76596526e-03 2.71114673e+02] [ 1.09613954e-02 4.85050124e-05 9.99939921e-01 2.11054177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.620385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.04, Y:271.13, Z:21.11 [[ 7.87438016e-01 -6.16333536e-01 -8.62226802e-03 3.19037738e+02] [ 6.16296371e-01 7.87485221e-01 -6.76838435e-03 2.71129342e+02] [ 1.09614909e-02 1.58106594e-05 9.99939921e-01 2.11053848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.650385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.06, Y:271.14, Z:21.10 [[ 7.86765597e-01 -6.17191683e-01 -8.62097791e-03 3.19058689e+02] [ 6.17154552e-01 7.86812828e-01 -6.77002718e-03 2.71143898e+02] [ 1.09615005e-02 5.94871399e-06 9.99939921e-01 2.11037160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.680385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.08, Y:271.16, Z:21.10 [[ 7.81736734e-01 -6.23549464e-01 -8.58747660e-03 3.19080155e+02] [ 6.23512247e-01 7.81783899e-01 -6.81269343e-03 2.71161285e+02] [ 1.09616023e-02 -2.86641239e-05 9.99939919e-01 2.11008214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.710385723 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:319.11, Y:271.18, Z:21.11 [[ 7.82570688e-01 -6.22502735e-01 -8.57100753e-03 3.19106690e+02] [ 6.22465225e-01 7.82617623e-01 -6.83365543e-03 2.71175242e+02] [ 1.09617907e-02 1.26643034e-05 9.99939918e-01 2.11058791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.740385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.13, Y:271.19, Z:21.11 [[ 7.81084781e-01 -6.24365486e-01 -8.62002602e-03 3.19129455e+02] [ 6.24328774e-01 7.81132339e-01 -6.77125336e-03 2.71189907e+02] [ 1.09611180e-02 -9.28073276e-05 9.99939921e-01 2.11067487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.770385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.15, Y:271.20, Z:21.11 [[ 7.78373519e-01 -6.27742290e-01 -8.61877744e-03 3.19154089e+02] [ 6.27705767e-01 7.78421222e-01 -6.77284224e-03 2.71204546e+02] [ 1.09606388e-02 -1.38255260e-04 9.99939921e-01 2.11077926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.800385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.18, Y:271.22, Z:21.11 [[ 7.76996793e-01 -6.29445576e-01 -8.61688231e-03 3.19175744e+02] [ 6.29409131e-01 7.77044556e-01 -6.77525250e-03 2.71220651e+02] [ 1.09603542e-02 -1.59194946e-04 9.99939921e-01 2.11071983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.830385723 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:319.20, Y:271.24, Z:21.11 [[ 7.75381634e-01 -6.31434150e-01 -8.61606314e-03 3.19198253e+02] [ 6.31397816e-01 7.75429481e-01 -6.77629407e-03 2.71237091e+02] [ 1.09599329e-02 -1.85949483e-04 9.99939921e-01 2.11069235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.860385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.22, Y:271.25, Z:21.11 [[ 7.72306715e-01 -6.35191415e-01 -8.61420430e-03 3.19222459e+02] [ 6.35155287e-01 7.72354718e-01 -6.77865625e-03 2.71252137e+02] [ 1.09589656e-02 -2.36155665e-04 9.99939921e-01 2.11061666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.890385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.25, Y:271.27, Z:21.11 [[ 7.70769241e-01 -6.37056202e-01 -8.61235867e-03 3.19245732e+02] [ 6.37020165e-01 7.70817312e-01 -6.78100034e-03 2.71267693e+02] [ 1.09584335e-02 -2.59659654e-04 9.99939921e-01 2.11064653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.920385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.27, Y:271.28, Z:21.11 [[ 7.68033472e-01 -6.40351813e-01 -8.61052302e-03 3.19269732e+02] [ 6.40315955e-01 7.68081678e-01 -6.78333045e-03 2.71281441e+02] [ 1.09573029e-02 -3.03630434e-04 9.99939921e-01 2.11069316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.950385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.29, Y:271.30, Z:21.11 [[ 7.66795039e-01 -6.41834284e-01 -8.60927367e-03 3.19292380e+02] [ 6.41798502e-01 7.66843300e-01 -6.78491573e-03 2.71297522e+02] [ 1.09567554e-02 -3.22779225e-04 9.99939921e-01 2.11079453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.980385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.31, Y:271.31, Z:21.11 [[ 7.66053822e-01 -6.42718799e-01 -8.60742589e-03 3.19314913e+02] [ 6.42683046e-01 7.66102105e-01 -6.78725903e-03 2.71314198e+02] [ 1.09564661e-02 -3.32440977e-04 9.99939921e-01 2.11089977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.010385723 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:319.34, Y:271.33, Z:21.11 [[ 7.65586635e-01 -6.43275251e-01 -8.60553524e-03 3.19337223e+02] [ 6.43239507e-01 7.65634925e-01 -6.78965534e-03 2.71331592e+02] [ 1.09563156e-02 -3.37350853e-04 9.99939921e-01 2.11095598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.040385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:319.36, Y:271.35, Z:21.10 [[ 7.63338120e-01 -6.45941864e-01 -8.60363219e-03 3.19355703e+02] [ 6.45906262e-01 7.63386514e-01 -6.79206597e-03 2.71350505e+02] [ 1.09551765e-02 -3.72497033e-04 9.99939921e-01 2.11047274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.070385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.38, Y:271.37, Z:21.11 [[ 7.65699271e-01 -6.43141861e-01 -8.55415678e-03 3.19381018e+02] [ 6.43105381e-01 7.65747010e-01 -6.85467991e-03 2.71366630e+02] [ 1.09588516e-02 -2.52600842e-04 9.99939918e-01 2.11101633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.100385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:319.40, Y:271.38, Z:21.11 [[ 7.64478939e-01 -6.44591322e-01 -8.60110295e-03 3.19399717e+02] [ 6.44555598e-01 7.64527243e-01 -6.79525781e-03 2.71384508e+02] [ 1.09559417e-02 -3.49057570e-04 9.99939921e-01 2.11061282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.130385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.42, Y:271.40, Z:21.11 [[ 7.64400561e-01 -6.44684589e-01 -8.57685383e-03 3.19420666e+02] [ 6.44648527e-01 7.64448614e-01 -6.82593748e-03 2.71403774e+02] [ 1.09571407e-02 -3.11305743e-04 9.99939920e-01 2.11056780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.160385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.44, Y:271.42, Z:21.11 [[ 7.64261498e-01 -6.44849639e-01 -8.56184254e-03 3.19442297e+02] [ 6.44813374e-01 7.64309400e-01 -6.84491714e-03 2.71421380e+02] [ 1.09578391e-02 -2.89483952e-04 9.99939919e-01 2.11052844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.190385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:319.47, Y:271.44, Z:21.11 [[ 7.66087571e-01 -6.42679105e-01 -8.56741690e-03 3.19466635e+02] [ 6.42642784e-01 7.66135429e-01 -6.83787343e-03 2.71438791e+02] [ 1.09583600e-02 -2.67378797e-04 9.99939920e-01 2.11110605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.2203857229999 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:319.49, Y:271.46, Z:21.11 [[ 7.65269680e-01 -6.43652423e-01 -8.59507938e-03 3.19486936e+02] [ 6.43616554e-01 7.65317876e-01 -6.80292359e-03 2.71457454e+02] [ 1.09566861e-02 -3.25864217e-04 9.99939921e-01 2.11072289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.250385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.51, Y:271.47, Z:21.11 [[ 7.68083023e-01 -6.40292770e-01 -8.58129927e-03 3.19508864e+02] [ 6.40256496e-01 7.68130915e-01 -6.82032316e-03 2.71474293e+02] [ 1.09585649e-02 -2.55658164e-04 9.99939920e-01 2.11122233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.280385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.53, Y:271.49, Z:21.11 [[ 7.69053600e-01 -6.39126536e-01 -8.59257487e-03 3.19530768e+02] [ 6.39090347e-01 7.69101557e-01 -6.80608791e-03 2.71492568e+02] [ 1.09585141e-02 -2.57185251e-04 9.99939921e-01 2.11123261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.310385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.55, Y:271.51, Z:21.11 [[ 7.70345809e-01 -6.37568454e-01 -8.59074320e-03 3.19551523e+02] [ 6.37532142e-01 7.70393674e-01 -6.80839908e-03 2.71510527e+02] [ 1.09590747e-02 -2.32053222e-04 9.99939921e-01 2.11125657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.3403857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.57, Y:271.53, Z:21.11 [[ 7.71868859e-01 -6.35723742e-01 -8.58994936e-03 3.19572013e+02] [ 6.35687306e-01 7.71916629e-01 -6.80940050e-03 2.71528079e+02] [ 1.09596223e-02 -2.04557570e-04 9.99939921e-01 2.11124133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.370385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.59, Y:271.55, Z:21.11 [[ 7.73413411e-01 -6.33843768e-01 -8.58916378e-03 3.19594200e+02] [ 6.33807204e-01 7.73461083e-01 -6.81039126e-03 2.71546643e+02] [ 1.09601080e-02 -1.76625948e-04 9.99939921e-01 2.11124559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.400385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.62, Y:271.56, Z:21.11 [[ 7.76433094e-01 -6.30141139e-01 -8.59045346e-03 3.19616501e+02] [ 6.30104366e-01 7.76480604e-01 -6.80876518e-03 2.71564172e+02] [ 1.09608035e-02 -1.26331618e-04 9.99939921e-01 2.11123844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.430385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.64, Y:271.58, Z:21.11 [[ 7.77107948e-01 -6.29308765e-01 -8.58576643e-03 3.19639354e+02] [ 6.29271876e-01 7.77155368e-01 -6.81467182e-03 2.71581516e+02] [ 1.09610072e-02 -1.07045715e-04 9.99939921e-01 2.11134638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.460385723 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:319.66, Y:271.60, Z:21.11 [[ 7.78803444e-01 -6.27208912e-01 -8.61252642e-03 3.19660507e+02] [ 6.27172267e-01 7.78851055e-01 -6.78096010e-03 2.71598125e+02] [ 1.09609539e-02 -1.20502634e-04 9.99939920e-01 2.11136270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.490385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.68, Y:271.62, Z:21.11 [[ 7.80134826e-01 -6.25552539e-01 -8.58341995e-03 3.19683158e+02] [ 6.25515389e-01 7.80182042e-01 -6.81760539e-03 2.71615471e+02] [ 1.09614005e-02 -5.04098715e-05 9.99939921e-01 2.11140963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.520385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.71, Y:271.63, Z:21.11 [[ 7.80292081e-01 -6.25356399e-01 -8.58156131e-03 3.19705203e+02] [ 6.25319211e-01 7.80339268e-01 -6.81994414e-03 2.71632807e+02] [ 1.09614250e-02 -4.46667434e-05 9.99939921e-01 2.11142812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.550385723 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:319.73, Y:271.65, Z:21.11 [[ 7.79187007e-01 -6.26732795e-01 -8.57971556e-03 3.19726602e+02] [ 6.26695665e-01 7.79234239e-01 -6.82226536e-03 2.71650309e+02] [ 1.09613456e-02 -6.10500231e-05 9.99939921e-01 2.11141018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.580385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.75, Y:271.66, Z:21.12 [[ 7.79516621e-01 -6.26322972e-01 -8.56579140e-03 3.19750669e+02] [ 6.26285625e-01 7.79563682e-01 -6.83976463e-03 2.71664438e+02] [ 1.09614816e-02 -3.29218079e-05 9.99939921e-01 2.11161412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.610385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:319.77, Y:271.68, Z:21.12 [[ 7.77785860e-01 -6.28470835e-01 -8.57705640e-03 3.19772604e+02] [ 6.28433774e-01 7.77833146e-01 -6.82560904e-03 2.71681016e+02] [ 1.09612150e-02 -8.12497245e-05 9.99939921e-01 2.11159153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.640385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.80, Y:271.70, Z:21.12 [[ 7.76792837e-01 -6.29697964e-01 -8.56518384e-03 3.19797125e+02] [ 6.29660813e-01 7.76840053e-01 -6.84052278e-03 2.71696198e+02] [ 1.09612411e-02 -7.94915249e-05 9.99939921e-01 2.11186341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.670385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.82, Y:271.71, Z:21.12 [[ 7.75578392e-01 -6.31193027e-01 -8.57443661e-03 3.19819056e+02] [ 6.31156095e-01 7.75625779e-01 -6.82890493e-03 2.71712854e+02] [ 1.09609112e-02 -1.15456820e-04 9.99939921e-01 2.11181352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.700385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.84, Y:271.73, Z:21.12 [[ 7.74475921e-01 -6.32545287e-01 -8.57360877e-03 3.19841582e+02] [ 6.32508427e-01 7.74523364e-01 -6.82994411e-03 2.71729650e+02] [ 1.09607093e-02 -1.33252536e-04 9.99939921e-01 2.11180803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.730385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:319.87, Y:271.75, Z:21.12 [[ 7.73299317e-01 -6.33983195e-01 -8.57173946e-03 3.19865064e+02] [ 6.33946397e-01 7.73346808e-01 -6.83228933e-03 2.71745733e+02] [ 1.09604840e-02 -1.50618674e-04 9.99939921e-01 2.11176183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.760385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.89, Y:271.76, Z:21.12 [[ 7.73236547e-01 -6.34059776e-01 -8.56986572e-03 3.19887172e+02] [ 6.34022956e-01 7.73284022e-01 -6.83463880e-03 2.71761824e+02] [ 1.09605098e-02 -1.48699089e-04 9.99939921e-01 2.11178070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.790385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:319.91, Y:271.78, Z:21.12 [[ 7.73264956e-01 -6.34025140e-01 -8.56905436e-03 3.19909847e+02] [ 6.33988307e-01 7.73312421e-01 -6.83565590e-03 2.71777087e+02] [ 1.09605339e-02 -1.46907108e-04 9.99939921e-01 2.11180347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.820385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.93, Y:271.79, Z:21.12 [[ 7.73027925e-01 -6.34314127e-01 -8.56828318e-03 3.19932290e+02] [ 6.34277301e-01 7.73075395e-01 -6.83662241e-03 2.71794279e+02] [ 1.09604951e-02 -1.49767492e-04 9.99939921e-01 2.11184129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.850385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:319.95, Y:271.81, Z:21.12 [[ 7.72863566e-01 -6.34514401e-01 -8.56645142e-03 3.19954722e+02] [ 6.34477562e-01 7.72911025e-01 -6.83891688e-03 2.71811036e+02] [ 1.09604960e-02 -1.49671528e-04 9.99939921e-01 2.11185463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.880385723 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:319.98, Y:271.83, Z:21.12 [[ 7.72695163e-01 -6.34719491e-01 -8.56463301e-03 3.19979458e+02] [ 6.34682639e-01 7.72742613e-01 -6.84119339e-03 2.71826724e+02] [ 1.09604957e-02 -1.49666833e-04 9.99939921e-01 2.11186138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.910385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.00, Y:271.84, Z:21.12 [[ 7.72647449e-01 -6.34777369e-01 -8.57970110e-03 3.20001051e+02] [ 6.34740730e-01 7.72695064e-01 -6.82233379e-03 2.71842476e+02] [ 1.09601558e-02 -1.74626937e-04 9.99939920e-01 2.11198900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.940385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.03, Y:271.86, Z:21.12 [[ 7.72627901e-01 -6.34801400e-01 -8.56207353e-03 3.20026002e+02] [ 6.34764518e-01 7.72675327e-01 -6.84438523e-03 2.71859399e+02] [ 1.09605283e-02 -1.46737477e-04 9.99939921e-01 2.11203272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.9703857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.05, Y:271.88, Z:21.12 [[ 7.72425681e-01 -6.35047192e-01 -8.58087045e-03 3.20048291e+02] [ 6.35010586e-01 7.72473321e-01 -6.82087891e-03 2.71877318e+02] [ 1.09600735e-02 -1.80321537e-04 9.99939920e-01 2.11206519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.000385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.07, Y:271.89, Z:21.12 [[ 7.72746340e-01 -6.34656990e-01 -8.57895999e-03 3.20069961e+02] [ 6.34620333e-01 7.72793941e-01 -6.82326657e-03 2.71891768e+02] [ 1.09602021e-02 -1.71728181e-04 9.99939920e-01 2.11220666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.030385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.09, Y:271.91, Z:21.12 [[ 7.73021438e-01 -6.34322185e-01 -8.55697916e-03 3.20094154e+02] [ 6.34285203e-01 7.73068787e-01 -6.85072202e-03 2.71909045e+02] [ 1.09606984e-02 -1.31810274e-04 9.99939921e-01 2.11222082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.060385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:320.12, Y:271.93, Z:21.12 [[ 7.73328571e-01 -6.33947448e-01 -8.57638823e-03 3.20116990e+02] [ 6.33910712e-01 7.73376110e-01 -6.82649169e-03 2.71926233e+02] [ 1.09604108e-02 -1.57543306e-04 9.99939920e-01 2.11227901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.0903857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.14, Y:271.94, Z:21.12 [[ 7.74042234e-01 -6.33075921e-01 -8.57316254e-03 3.20139577e+02] [ 6.33039087e-01 7.74089697e-01 -6.83051614e-03 2.71942973e+02] [ 1.09606321e-02 -1.40039013e-04 9.99939921e-01 2.11219048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.120385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.16, Y:271.96, Z:21.12 [[ 7.74965457e-01 -6.31945394e-01 -8.57675789e-03 3.20160999e+02] [ 6.31908540e-01 7.75012905e-01 -6.82602914e-03 2.71958050e+02] [ 1.09607757e-02 -1.29789767e-04 9.99939920e-01 2.11223126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.150385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.19, Y:271.98, Z:21.12 [[ 7.74653862e-01 -6.32327647e-01 -8.55223145e-03 3.20185482e+02] [ 6.32290478e-01 7.74701063e-01 -6.85662087e-03 2.71975774e+02] [ 1.09610537e-02 -9.59866802e-05 9.99939921e-01 2.11232078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.180385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:320.21, Y:271.99, Z:21.13 [[ 7.75343260e-01 -6.31481973e-01 -8.56436242e-03 3.20208213e+02] [ 6.31444919e-01 7.75390552e-01 -6.84149223e-03 2.71991036e+02] [ 1.09610047e-02 -1.03418259e-04 9.99939921e-01 2.11251545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.210385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.23, Y:272.01, Z:21.13 [[ 7.75568862e-01 -6.31205066e-01 -8.55013220e-03 3.20230568e+02] [ 6.31167801e-01 7.75615986e-01 -6.85923041e-03 2.72007743e+02] [ 1.09612002e-02 -7.67626144e-05 9.99939921e-01 2.11261355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.240385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.25, Y:272.02, Z:21.13 [[ 7.75612444e-01 -6.31151539e-01 -8.54823959e-03 3.20252490e+02] [ 6.31114244e-01 7.75659545e-01 -6.86158825e-03 2.72024665e+02] [ 1.09612256e-02 -7.29825390e-05 9.99939921e-01 2.11256311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.270385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:320.28, Y:272.04, Z:21.13 [[ 7.76516277e-01 -6.30039231e-01 -8.54634791e-03 3.20276213e+02] [ 6.30001842e-01 7.76563304e-01 -6.86394360e-03 2.72040516e+02] [ 1.09613339e-02 -5.42510022e-05 9.99939921e-01 2.11250889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.300385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.30, Y:272.06, Z:21.12 [[ 7.76519708e-01 -6.30035024e-01 -8.54470680e-03 3.20300793e+02] [ 6.29997613e-01 7.76566717e-01 -6.86598595e-03 2.72058449e+02] [ 1.09613465e-02 -5.15714772e-05 9.99939921e-01 2.11231538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.330385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:320.32, Y:272.08, Z:21.12 [[ 7.75252500e-01 -6.31593342e-01 -8.56807058e-03 3.20319209e+02] [ 6.31556346e-01 7.75299838e-01 -6.83691359e-03 2.72075929e+02] [ 1.09609728e-02 -1.10884993e-04 9.99939921e-01 2.11199146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.360385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.35, Y:272.09, Z:21.13 [[ 7.77948496e-01 -6.28270451e-01 -8.50757246e-03 3.20345188e+02] [ 6.28232427e-01 7.77995013e-01 -6.91215740e-03 2.72091934e+02] [ 1.09615532e-02 3.25695542e-05 9.99939920e-01 2.11253408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.390385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:320.37, Y:272.11, Z:21.12 [[ 7.76906938e-01 -6.29557497e-01 -8.54213882e-03 3.20366371e+02] [ 6.29520022e-01 7.76953896e-01 -6.86917254e-03 2.72109880e+02] [ 1.09613871e-02 -4.07396152e-05 9.99939921e-01 2.11208704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.420385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.39, Y:272.13, Z:21.13 [[ 7.78536927e-01 -6.27541098e-01 -8.51025002e-03 3.20391477e+02] [ 6.27503067e-01 7.78583438e-01 -6.90880349e-03 2.72125284e+02] [ 1.09614978e-02 3.85506475e-05 9.99939920e-01 2.11271458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.450385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.41, Y:272.14, Z:21.13 [[ 7.78503676e-01 -6.27581947e-01 -8.53968334e-03 3.20413245e+02] [ 6.27544320e-01 7.78550512e-01 -6.87222859e-03 2.72141631e+02] [ 1.09614614e-02 -8.97455112e-06 9.99939921e-01 2.11275482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.480385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.44, Y:272.16, Z:21.13 [[ 7.78359548e-01 -6.27760711e-01 -8.53838748e-03 3.20435528e+02] [ 6.27723077e-01 7.78406378e-01 -6.87383825e-03 2.72158086e+02] [ 1.09614609e-02 -9.42523216e-06 9.99939921e-01 2.11280738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.510385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.46, Y:272.17, Z:21.13 [[ 7.76968551e-01 -6.29481532e-01 -8.53650033e-03 3.20458870e+02] [ 6.29443975e-01 7.77015444e-01 -6.87618107e-03 2.72174554e+02] [ 1.09614216e-02 -3.06722574e-05 9.99939921e-01 2.11270917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.540385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.48, Y:272.19, Z:21.13 [[ 7.77162288e-01 -6.29242412e-01 -8.53021662e-03 3.20482368e+02] [ 6.29204756e-01 7.77209101e-01 -6.88397988e-03 2.72190540e+02] [ 1.09614541e-02 -1.72833090e-05 9.99939921e-01 2.11278261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.570385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.50, Y:272.21, Z:21.13 [[ 7.77287239e-01 -6.29087844e-01 -8.54589434e-03 3.20504038e+02] [ 6.29050392e-01 7.77334216e-01 -6.86452504e-03 2.72206114e+02] [ 1.09614053e-02 -4.00904635e-05 9.99939921e-01 2.11295693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.600385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.53, Y:272.22, Z:21.13 [[ 7.76926360e-01 -6.29533642e-01 -8.53370319e-03 3.20526515e+02] [ 6.29496051e-01 7.76973225e-01 -6.87964728e-03 2.72222951e+02] [ 1.09614283e-02 -2.69531366e-05 9.99939921e-01 2.11301373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.630385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:320.55, Y:272.24, Z:21.13 [[ 7.76993800e-01 -6.29450429e-01 -8.53178519e-03 3.20549401e+02] [ 6.29412807e-01 7.77040640e-01 -6.88202505e-03 2.72238395e+02] [ 1.09614375e-02 -2.27240643e-05 9.99939921e-01 2.11280771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.660385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.57, Y:272.26, Z:21.13 [[ 7.77055011e-01 -6.29374875e-01 -8.53089680e-03 3.20571891e+02] [ 6.29337236e-01 7.77101838e-01 -6.88312612e-03 2.72255399e+02] [ 1.09614422e-02 -2.02433732e-05 9.99939921e-01 2.11301139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.690385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:320.59, Y:272.27, Z:21.13 [[ 7.77007200e-01 -6.29433927e-01 -8.52898960e-03 3.20594859e+02] [ 6.29396265e-01 7.77054008e-01 -6.88548855e-03 2.72271574e+02] [ 1.09614457e-02 -1.80400269e-05 9.99939921e-01 2.11302132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.7203857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.62, Y:272.29, Z:21.13 [[ 7.76760520e-01 -6.29738345e-01 -8.52707829e-03 3.20617402e+02] [ 6.29700676e-01 7.76807322e-01 -6.88785473e-03 2.72288672e+02] [ 1.09614431e-02 -1.92933451e-05 9.99939921e-01 2.11305693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.750385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.64, Y:272.30, Z:21.13 [[ 7.76037165e-01 -6.30629559e-01 -8.52517641e-03 3.20640506e+02] [ 6.30591917e-01 7.76083989e-01 -6.89020791e-03 2.72304875e+02] [ 1.09614217e-02 -2.88499310e-05 9.99939921e-01 2.11306884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.780385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.66, Y:272.32, Z:21.13 [[ 7.74022848e-01 -6.33100278e-01 -8.52458845e-03 3.20661492e+02] [ 6.33062778e-01 7.74069786e-01 -6.89093525e-03 2.72322863e+02] [ 1.09612794e-02 -6.28583186e-05 9.99939921e-01 2.11322106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.810385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:320.69, Y:272.34, Z:21.13 [[ 7.75009236e-01 -6.31892811e-01 -8.49464410e-03 3.20686173e+02] [ 6.31854832e-01 7.75055788e-01 -6.92795811e-03 2.72338331e+02] [ 1.09615500e-02 1.84960421e-06 9.99939920e-01 2.11323976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.8403857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.71, Y:272.36, Z:21.14 [[ 7.72711452e-01 -6.34700222e-01 -8.52294460e-03 3.20707946e+02] [ 6.34662797e-01 7.72758449e-01 -6.89296541e-03 2.72356307e+02] [ 1.09611441e-02 -8.29225457e-05 9.99939921e-01 2.11350252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.870385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:320.73, Y:272.37, Z:21.14 [[ 7.71498554e-01 -6.36174194e-01 -8.50745177e-03 3.20731554e+02] [ 6.36136647e-01 7.71545455e-01 -6.91211336e-03 2.72371701e+02] [ 1.09611939e-02 -7.92163854e-05 9.99939921e-01 2.11362203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.900385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:320.75, Y:272.39, Z:21.14 [[ 7.71790520e-01 -6.35819987e-01 -8.50511693e-03 3.20754138e+02] [ 6.35782387e-01 7.71837379e-01 -6.91499752e-03 2.72387668e+02] [ 1.09612608e-02 -7.04740181e-05 9.99939921e-01 2.11355315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.930385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.78, Y:272.40, Z:21.14 [[ 7.70860386e-01 -6.36947166e-01 -8.51898630e-03 3.20776954e+02] [ 6.36909824e-01 7.70907449e-01 -6.89786862e-03 2.72404574e+02] [ 1.09609279e-02 -1.08532402e-04 9.99939921e-01 2.11351783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.960385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.80, Y:272.42, Z:21.14 [[ 7.70670726e-01 -6.37176656e-01 -8.51710578e-03 3.20798582e+02] [ 6.37139302e-01 7.70717781e-01 -6.90018979e-03 2.72421063e+02] [ 1.09609247e-02 -1.08808554e-04 9.99939921e-01 2.11350093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.990385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.82, Y:272.44, Z:21.13 [[ 7.70436737e-01 -6.37459579e-01 -8.51582898e-03 3.20820645e+02] [ 6.37422225e-01 7.70483791e-01 -6.90176519e-03 2.72437799e+02] [ 1.09609045e-02 -1.10805206e-04 9.99939921e-01 2.11349233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.020385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.84, Y:272.46, Z:21.13 [[ 7.71057136e-01 -6.36709043e-01 -8.51396831e-03 3.20843995e+02] [ 6.36671618e-01 7.71104134e-01 -6.90405973e-03 2.72455221e+02] [ 1.09610334e-02 -9.71774596e-05 9.99939921e-01 2.11346853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.050385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.87, Y:272.47, Z:21.13 [[ 7.70658487e-01 -6.37191522e-01 -8.51234757e-03 3.20867361e+02] [ 6.37154104e-01 7.70705491e-01 -6.90605744e-03 2.72473649e+02] [ 1.09609943e-02 -1.01465409e-04 9.99939921e-01 2.11338246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.080385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.89, Y:272.49, Z:21.13 [[ 7.72003912e-01 -6.35560282e-01 -8.54916786e-03 3.20888325e+02] [ 6.35523266e-01 7.72051235e-01 -6.86066757e-03 2.72490304e+02] [ 1.09607634e-02 -1.36732875e-04 9.99939920e-01 2.11343582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.110385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.91, Y:272.51, Z:21.13 [[ 7.72233094e-01 -6.35282323e-01 -8.50984218e-03 3.20912261e+02] [ 6.35244756e-01 7.72279978e-01 -6.90910446e-03 2.72509077e+02] [ 1.09612127e-02 -7.03934982e-05 9.99939922e-01 2.11327120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.140385723 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:320.93, Y:272.53, Z:21.13 [[ 7.73698767e-01 -6.33496282e-01 -8.52523140e-03 3.20933714e+02] [ 6.33458815e-01 7.73745731e-01 -6.89015293e-03 2.72525153e+02] [ 1.09612477e-02 -6.94801538e-05 9.99939921e-01 2.11340279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.170385723 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:320.96, Y:272.54, Z:21.13 [[ 7.73943153e-01 -6.33197925e-01 -8.50785317e-03 3.20955062e+02] [ 6.33160204e-01 7.73989914e-01 -6.91154488e-03 2.72542327e+02] [ 1.09613684e-02 -3.76912082e-05 9.99939922e-01 2.11342136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.200385723 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:320.98, Y:272.56, Z:21.14 [[ 7.74458664e-01 -6.32567315e-01 -8.50705550e-03 3.20978106e+02] [ 6.32529546e-01 7.74505385e-01 -6.91252655e-03 2.72560410e+02] [ 1.09613987e-02 -2.74978754e-05 9.99939922e-01 2.11355472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.230385723 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:321.00, Y:272.58, Z:21.14 [[ 7.74302353e-01 -6.32758660e-01 -8.50547922e-03 3.20999676e+02] [ 6.32720881e-01 7.74349067e-01 -6.91446554e-03 2.72577814e+02] [ 1.09613978e-02 -2.77073611e-05 9.99939922e-01 2.11375249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.260385723 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:321.02, Y:272.60, Z:21.14 [[ 7.74003605e-01 -6.33124086e-01 -8.50360106e-03 3.21021809e+02] [ 6.33086303e-01 7.74050316e-01 -6.91677457e-03 2.72595573e+02] [ 1.09613917e-02 -2.99049047e-05 9.99939922e-01 2.11386520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.290385723 meters Centerline goodness : 0.999843 Centerline is valid? [True, True] Translation: X:321.04, Y:272.61, Z:21.14 [[ 7.72852374e-01 -6.34528904e-01 -8.50169053e-03 3.21043124e+02] [ 6.34491180e-01 7.72899132e-01 -6.91912209e-03 2.72611551e+02] [ 1.09613322e-02 -4.67877217e-05 9.99939922e-01 2.11389861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.320385723 meters Centerline goodness : 0.999774 Centerline is valid? [True, True] Translation: X:321.07, Y:272.63, Z:21.14 [[ 7.72222275e-01 -6.35295601e-01 -8.50039355e-03 3.21065383e+02] [ 6.35257906e-01 7.72269057e-01 -6.92071511e-03 2.72628481e+02] [ 1.09612908e-02 -5.56118405e-05 9.99939922e-01 2.11405864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.350385723 meters Centerline goodness : 0.999819 Centerline is valid? [True, True] Translation: X:321.09, Y:272.64, Z:21.14 [[ 7.70929569e-01 -6.36863702e-01 -8.49849603e-03 3.21086754e+02] [ 6.36826077e-01 7.70976407e-01 -6.92304445e-03 2.72644827e+02] [ 1.09611756e-02 -7.48842073e-05 9.99939922e-01 2.11402681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.380385723 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:321.11, Y:272.66, Z:21.14 [[ 7.70437599e-01 -6.37458785e-01 -8.49720747e-03 3.21108230e+02] [ 6.37421179e-01 7.70484452e-01 -6.92462564e-03 2.72662080e+02] [ 1.09611297e-02 -8.13080464e-05 9.99939922e-01 2.11387184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.410385723 meters Centerline goodness : 0.999887 Centerline is valid? [True, True] Translation: X:321.13, Y:272.68, Z:21.14 [[ 7.69645133e-01 -6.38415368e-01 -8.49623943e-03 3.21129905e+02] [ 6.38377807e-01 7.69692022e-01 -6.92581318e-03 2.72679594e+02] [ 1.09610333e-02 -9.33922810e-05 9.99939922e-01 2.11415090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.440385723 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:321.16, Y:272.70, Z:21.14 [[ 7.72001847e-01 -6.35563525e-01 -8.49434344e-03 3.21161377e+02] [ 6.35525764e-01 7.72048576e-01 -6.92813779e-03 2.72695191e+02] [ 1.09613174e-02 -4.98389367e-05 9.99939922e-01 2.11373460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.4703857229999 meters Centerline goodness : 0.999752 Centerline is valid? [True, True] Translation: X:321.17, Y:272.71, Z:21.14 [[ 7.67707824e-01 -6.40742401e-01 -8.59490371e-03 3.21174534e+02] [ 6.40706329e-01 7.67755883e-01 -6.80479501e-03 2.72714655e+02] [ 1.09589086e-02 -2.82714831e-04 9.99939909e-01 2.11408781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.500385723 meters Centerline goodness : 0.999842 Centerline is valid? [True, True] Translation: X:321.20, Y:272.73, Z:21.14 [[ 7.66566361e-01 -6.42108959e-01 -8.49115493e-03 3.21196740e+02] [ 6.42071556e-01 7.66613374e-01 -6.93188151e-03 2.72732464e+02] [ 1.09604562e-02 -1.38181874e-04 9.99939923e-01 2.11421016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.530385723 meters Centerline goodness : 0.999751 Centerline is valid? [True, True] Translation: X:321.22, Y:272.75, Z:21.14 [[ 7.66054906e-01 -6.42719074e-01 -8.48953836e-03 3.21218016e+02] [ 6.42681687e-01 7.66101932e-01 -6.93386078e-03 2.72750551e+02] [ 1.09603763e-02 -1.44352769e-04 9.99939923e-01 2.11438494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.560385723 meters Centerline goodness : 0.999797 Centerline is valid? [True, True] Translation: X:321.24, Y:272.77, Z:21.14 [[ 7.65653144e-01 -6.43197655e-01 -8.48763474e-03 3.21238347e+02] [ 6.43160271e-01 7.65700173e-01 -6.93619019e-03 2.72767981e+02] [ 1.09603246e-02 -1.48193638e-04 9.99939923e-01 2.11437633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.5903857229999 meters Centerline goodness : 0.999730 Centerline is valid? [True, True] Translation: X:321.26, Y:272.79, Z:21.14 [[ 7.64627957e-01 -6.44416062e-01 -8.48684115e-03 3.21259741e+02] [ 6.44378742e-01 7.64675037e-01 -6.93716105e-03 2.72787113e+02] [ 1.09600936e-02 -1.64392745e-04 9.99939923e-01 2.11437220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.620385723 meters Centerline goodness : 0.999865 Centerline is valid? [True, True] Translation: X:321.28, Y:272.80, Z:21.14 [[ 7.64132426e-01 -6.45003594e-01 -8.48520215e-03 3.21280070e+02] [ 6.44966289e-01 7.64179517e-01 -6.93916522e-03 2.72804731e+02] [ 1.09600042e-02 -1.70228180e-04 9.99939923e-01 2.11430143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.650385723 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:321.30, Y:272.82, Z:21.14 [[ 7.63022914e-01 -6.46315749e-01 -8.48443333e-03 3.21300874e+02] [ 6.46278514e-01 7.63070061e-01 -6.94010512e-03 2.72823017e+02] [ 1.09597163e-02 -1.87847737e-04 9.99939923e-01 2.11428675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.680385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:321.32, Y:272.84, Z:21.14 [[ 7.62098222e-01 -6.47405844e-01 -8.48368716e-03 3.21322388e+02] [ 6.47368666e-01 7.62145414e-01 -6.94101713e-03 2.72841607e+02] [ 1.09594583e-02 -2.02336419e-04 9.99939923e-01 2.11445932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.710385723 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:321.34, Y:272.86, Z:21.14 [[ 7.61373439e-01 -6.48258085e-01 -8.48181523e-03 3.21343155e+02] [ 6.48220935e-01 7.61420653e-01 -6.94330384e-03 2.72860164e+02] [ 1.09592821e-02 -2.11643076e-04 9.99939923e-01 2.11444179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.740385723 meters Centerline goodness : 0.999842 Centerline is valid? [True, True] Translation: X:321.36, Y:272.88, Z:21.15 [[ 7.60815905e-01 -6.48912341e-01 -8.48123582e-03 3.21364678e+02] [ 6.48875224e-01 7.60863145e-01 -6.94401152e-03 2.72879163e+02] [ 1.09591145e-02 -2.20149380e-04 9.99939923e-01 2.11460627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.770385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:321.39, Y:272.90, Z:21.15 [[ 7.59873000e-01 -6.50016247e-01 -8.47959273e-03 3.21385062e+02] [ 6.49979175e-01 7.59920275e-01 -6.94601738e-03 2.72898934e+02] [ 1.09588386e-02 -2.33467626e-04 9.99939923e-01 2.11470202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.800385723 meters Centerline goodness : 0.999843 Centerline is valid? [True, True] Translation: X:321.41, Y:272.92, Z:21.15 [[ 7.59424229e-01 -6.50540503e-01 -8.47901530e-03 3.21407074e+02] [ 6.50503457e-01 7.59471524e-01 -6.94672218e-03 2.72918244e+02] [ 1.09586948e-02 -2.40119625e-04 9.99939923e-01 2.11485779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.830385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:321.43, Y:272.94, Z:21.15 [[ 7.59921995e-01 -6.49958996e-01 -8.47737192e-03 3.21431199e+02] [ 6.49921891e-01 7.59969244e-01 -6.94872708e-03 2.72936914e+02] [ 1.09589296e-02 -2.29139041e-04 9.99939923e-01 2.11503523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.860385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:321.45, Y:272.95, Z:21.15 [[ 7.59796631e-01 -6.50105163e-01 -8.50623491e-03 3.21452521e+02] [ 6.50068460e-01 7.59844195e-01 -6.91352144e-03 2.72954494e+02] [ 1.09579292e-02 -2.76764730e-04 9.99939922e-01 2.11506745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.890385723 meters Centerline goodness : 0.999731 Centerline is valid? [True, True] Translation: X:321.47, Y:272.97, Z:21.15 [[ 7.58421823e-01 -6.51708544e-01 -8.50358984e-03 3.21471550e+02] [ 6.51671906e-01 7.58469436e-01 -6.91674590e-03 2.72974815e+02] [ 1.09574154e-02 -2.95739558e-04 9.99939922e-01 2.11521294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.920385723 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:321.49, Y:272.99, Z:21.15 [[ 7.58221178e-01 -6.51942271e-01 -8.48057584e-03 3.21491922e+02] [ 6.51905333e-01 7.58268558e-01 -6.94478837e-03 2.72993002e+02] [ 1.09581551e-02 -2.62846998e-04 9.99939923e-01 2.11514637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.950385723 meters Centerline goodness : 0.999641 Centerline is valid? [True, True] Translation: X:321.51, Y:273.01, Z:21.15 [[ 7.57402070e-01 -6.52893816e-01 -8.47171628e-03 3.21509698e+02] [ 6.52856817e-01 7.57449402e-01 -6.95557889e-03 2.73013408e+02] [ 1.09581509e-02 -2.62647880e-04 9.99939923e-01 2.11499608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.980385723 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:321.52, Y:273.04, Z:21.14 [[ 7.51753128e-01 -6.59390748e-01 -8.43064044e-03 3.21520597e+02] [ 6.59353597e-01 7.51800343e-01 -7.00557190e-03 2.73035340e+02] [ 1.09575677e-02 -2.92312511e-04 9.99939921e-01 2.11361331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.010385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:321.55, Y:273.05, Z:21.14 [[ 7.55482343e-01 -6.55116542e-01 -8.29131958e-03 3.21547695e+02] [ 6.55077254e-01 7.55527839e-01 -7.17466575e-03 2.73053022e+02] [ 1.09645650e-02 -1.11215688e-05 9.99939887e-01 2.11410742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.040385723 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:321.58, Y:273.07, Z:21.15 [[ 7.59749019e-01 -6.50162776e-01 -8.35419862e-03 3.21576631e+02] [ 6.50124027e-01 7.59794948e-01 -7.09832928e-03 2.73071139e+02] [ 1.09625474e-02 -3.83165373e-05 9.99939909e-01 2.11467583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.070385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:321.59, Y:273.09, Z:21.14 [[ 7.55808887e-01 -6.54737583e-01 -8.46308422e-03 3.21588449e+02] [ 6.54700583e-01 7.55856217e-01 -6.96604383e-03 2.73090641e+02] [ 1.09578055e-02 -2.75788335e-04 9.99939923e-01 2.11386871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.100385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:321.61, Y:273.11, Z:21.14 [[ 7.58513980e-01 -6.51603334e-01 -8.34494409e-03 3.21613897e+02] [ 6.51564547e-01 7.58559881e-01 -7.10967165e-03 2.73107669e+02] [ 1.09628255e-02 -4.44843766e-05 9.99939905e-01 2.11414957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.130385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:321.64, Y:273.13, Z:21.14 [[ 7.59771503e-01 -6.50136133e-01 -8.38283928e-03 3.21638389e+02] [ 6.50097763e-01 7.59817743e-01 -7.06370366e-03 2.73125640e+02] [ 1.09617990e-02 -8.28643199e-05 9.99939914e-01 2.11428671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.160385723 meters Centerline goodness : 0.996412 Centerline is valid? [True, True] Translation: X:321.66, Y:273.14, Z:21.14 [[ 7.60869188e-01 -6.48850449e-01 -8.43641156e-03 3.21662515e+02] [ 6.48812719e-01 7.60915943e-01 -6.99875151e-03 2.73143845e+02] [ 1.09605431e-02 -1.48516744e-04 9.99939920e-01 2.11446582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.190385723 meters Centerline goodness : 0.997498 Centerline is valid? [True, True] Translation: X:321.69, Y:273.16, Z:21.15 [[ 7.62112213e-01 -6.47389565e-01 -8.46910247e-03 3.21686610e+02] [ 6.47352185e-01 7.62159248e-01 -6.95912189e-03 2.73163283e+02] [ 1.09600677e-02 -1.78860204e-04 9.99939921e-01 2.11478952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.2203857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:321.70, Y:273.18, Z:21.15 [[ 7.61676677e-01 -6.47901189e-01 -8.52581896e-03 3.21703572e+02] [ 6.47864607e-01 7.61724342e-01 -6.89041537e-03 2.73181114e+02] [ 1.09586322e-02 -2.75307669e-04 9.99939914e-01 2.11509387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.250385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:321.73, Y:273.20, Z:21.15 [[ 7.61762525e-01 -6.47801262e-01 -8.44867220e-03 3.21726104e+02] [ 6.47763635e-01 7.61809360e-01 -6.98374475e-03 2.73199496e+02] [ 1.09603562e-02 -1.52787577e-04 9.99939922e-01 2.11515413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.280385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:321.75, Y:273.22, Z:21.15 [[ 7.61728964e-01 -6.47840748e-01 -8.44697815e-03 3.21746633e+02] [ 6.47803100e-01 7.61775782e-01 -6.98579313e-03 2.73216490e+02] [ 1.09603848e-02 -1.50697668e-04 9.99939922e-01 2.11516607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.310385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:321.77, Y:273.23, Z:21.15 [[ 7.61754339e-01 -6.47810921e-01 -8.44615947e-03 3.21767815e+02] [ 6.47773260e-01 7.61801147e-01 -6.98678281e-03 2.73234319e+02] [ 1.09604082e-02 -1.48984138e-04 9.99939922e-01 2.11522390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.3403857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:321.79, Y:273.25, Z:21.15 [[ 7.61801281e-01 -6.47755743e-01 -8.44424818e-03 3.21788935e+02] [ 6.47718053e-01 7.61848067e-01 -6.98909204e-03 2.73254169e+02] [ 1.09604587e-02 -1.45192714e-04 9.99939922e-01 2.11523025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.370385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:321.81, Y:273.27, Z:21.15 [[ 7.61882106e-01 -6.47660697e-01 -8.44258368e-03 3.21809933e+02] [ 6.47622979e-01 7.61928869e-01 -6.99110213e-03 2.73272540e+02] [ 1.09605103e-02 -1.41215585e-04 9.99939922e-01 2.11525771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.400385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:321.83, Y:273.29, Z:21.15 [[ 7.61733896e-01 -6.47835031e-01 -8.44066641e-03 3.21831342e+02] [ 6.47797298e-01 7.61780647e-01 -6.99341617e-03 2.73291171e+02] [ 1.09605163e-02 -1.40718745e-04 9.99939922e-01 2.11523394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.430385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:321.85, Y:273.31, Z:21.15 [[ 7.61531220e-01 -6.48073289e-01 -8.43873331e-03 3.21853131e+02] [ 6.48035545e-01 7.61577962e-01 -6.99574800e-03 2.73309518e+02] [ 1.09605107e-02 -1.41118632e-04 9.99939922e-01 2.11511338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.460385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:321.88, Y:273.33, Z:21.15 [[ 7.60605000e-01 -6.49160114e-01 -8.43679073e-03 3.21875667e+02] [ 6.49122411e-01 7.60651775e-01 -6.99808995e-03 2.73326557e+02] [ 1.09603407e-02 -1.53727732e-04 9.99939922e-01 2.11513855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.490385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:321.90, Y:273.34, Z:21.15 [[ 7.59989609e-01 -6.49880547e-01 -8.43021952e-03 3.21897096e+02] [ 6.49842800e-01 7.60036349e-01 -7.00600856e-03 2.73343768e+02] [ 1.09603419e-02 -1.53823749e-04 9.99939922e-01 2.11508651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.520385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:321.92, Y:273.36, Z:21.15 [[ 7.59324489e-01 -6.50657503e-01 -8.43417376e-03 3.21919086e+02] [ 6.50619856e-01 7.59371309e-01 -7.00124501e-03 2.73361968e+02] [ 1.09600822e-02 -1.71224135e-04 9.99939922e-01 2.11503973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.550385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:321.94, Y:273.38, Z:21.15 [[ 7.58107151e-01 -6.52075490e-01 -8.43226213e-03 3.21940177e+02] [ 6.52037906e-01 7.58154021e-01 -7.00354661e-03 2.73379093e+02] [ 1.09597945e-02 -1.88715782e-04 9.99939922e-01 2.11489583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.580385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:321.96, Y:273.40, Z:21.15 [[ 7.57421295e-01 -6.52872034e-01 -8.43143288e-03 3.21962387e+02] [ 6.52834488e-01 7.57468195e-01 -7.00454479e-03 2.73396698e+02] [ 1.09596137e-02 -1.98938788e-04 9.99939922e-01 2.11496966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.610385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:321.99, Y:273.41, Z:21.15 [[ 7.56574458e-01 -6.53853219e-01 -8.42953675e-03 3.21987195e+02] [ 6.53815708e-01 7.56621387e-01 -7.00682592e-03 2.73413750e+02] [ 1.09594035e-02 -2.10178016e-04 9.99939922e-01 2.11515633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.640385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.01, Y:273.43, Z:21.15 [[ 7.56263544e-01 -6.54212428e-01 -8.45880341e-03 3.22006410e+02] [ 6.54175332e-01 7.56310804e-01 -6.97162213e-03 2.73431466e+02] [ 1.09584062e-02 -2.61156868e-04 9.99939921e-01 2.11526524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.670385723 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:322.03, Y:273.45, Z:21.15 [[ 7.55627905e-01 -6.54946913e-01 -8.42672737e-03 3.22028070e+02] [ 6.54909433e-01 7.55674858e-01 -7.01017979e-03 2.73450836e+02] [ 1.09591616e-02 -2.21655777e-04 9.99939922e-01 2.11520022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.700385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:322.05, Y:273.47, Z:21.15 [[ 7.57673181e-01 -6.52579687e-01 -8.43225498e-03 3.22048241e+02] [ 6.52542134e-01 7.57720076e-01 -7.00353717e-03 2.73469234e+02] [ 1.09596550e-02 -1.96009368e-04 9.99939922e-01 2.11539697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.730385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.07, Y:273.49, Z:21.15 [[ 7.57308784e-01 -6.53002638e-01 -8.42379800e-03 3.22067963e+02] [ 6.52964998e-01 7.57355609e-01 -7.01369443e-03 2.73488278e+02] [ 1.09597716e-02 -1.88912849e-04 9.99939922e-01 2.11533594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.760385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:322.09, Y:273.51, Z:21.16 [[ 7.59642998e-01 -6.50286145e-01 -8.39319679e-03 3.22090555e+02] [ 6.50247931e-01 7.59689357e-01 -7.05042577e-03 2.73506044e+02] [ 1.09610165e-02 -1.01852286e-04 9.99939921e-01 2.11561671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.790385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.11, Y:273.53, Z:21.16 [[ 7.61786451e-01 -6.47773483e-01 -8.42130724e-03 3.22110664e+02] [ 6.47735488e-01 7.61832989e-01 -7.01668811e-03 2.73525315e+02] [ 1.09608542e-02 -1.09561628e-04 9.99939922e-01 2.11577713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.820385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.13, Y:273.54, Z:21.16 [[ 7.62760652e-01 -6.46626091e-01 -8.41937490e-03 3.22130931e+02] [ 6.46588001e-01 7.62807112e-01 -7.01900597e-03 2.73543881e+02] [ 1.09610315e-02 -9.00452155e-05 9.99939922e-01 2.11581363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.850385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.15, Y:273.56, Z:21.16 [[ 7.63538911e-01 -6.45706951e-01 -8.41806232e-03 3.22151912e+02] [ 6.45668788e-01 7.63585311e-01 -7.02057984e-03 2.73563073e+02] [ 1.09611459e-02 -7.47942120e-05 9.99939922e-01 2.11577027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.880385723 meters Centerline goodness : 0.999382 Centerline is valid? [True, True] Translation: X:322.17, Y:273.58, Z:21.15 [[ 7.63801269e-01 -6.45396614e-01 -8.41615400e-03 3.22170106e+02] [ 6.45358407e-01 7.63847633e-01 -7.02286675e-03 2.73583826e+02] [ 1.09611937e-02 -6.73611969e-05 9.99939922e-01 2.11543833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.910385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.19, Y:273.60, Z:21.15 [[ 7.63655822e-01 -6.45569198e-01 -8.37835679e-03 3.22188012e+02] [ 6.45530503e-01 7.63701782e-01 -7.06812957e-03 2.73601637e+02] [ 1.09615327e-02 -1.08665779e-05 9.99939921e-01 2.11504472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.940385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.21, Y:273.62, Z:21.15 [[ 7.64764215e-01 -6.44256356e-01 -8.33333483e-03 3.22209434e+02] [ 6.44216992e-01 7.64809612e-01 -7.12212333e-03 2.73619582e+02] [ 1.09618878e-02 7.82691511e-05 9.99939914e-01 2.11511030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.9703857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.23, Y:273.64, Z:21.15 [[ 7.65986461e-01 -6.42802421e-01 -8.35399498e-03 3.22233467e+02] [ 6.42763242e-01 7.66032012e-01 -7.09735680e-03 2.73638550e+02] [ 1.09616257e-02 6.68383170e-05 9.99939917e-01 2.11526260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.000385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.25, Y:273.66, Z:21.15 [[ 7.65240224e-01 -6.43690020e-01 -8.39985551e-03 3.22252748e+02] [ 6.43651495e-01 7.65286324e-01 -7.04237315e-03 2.73656715e+02] [ 1.09613999e-02 -1.74723445e-05 9.99939922e-01 2.11524519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.030385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.27, Y:273.68, Z:21.15 [[ 7.65208783e-01 -6.43727803e-01 -8.36864263e-03 3.22273949e+02] [ 6.43688870e-01 7.65254543e-01 -7.07984168e-03 2.73675671e+02] [ 1.09616327e-02 3.07549245e-05 9.99939919e-01 2.11528540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.060385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.30, Y:273.69, Z:21.15 [[ 7.65590746e-01 -6.43273552e-01 -8.36345412e-03 3.22296538e+02] [ 6.43234524e-01 7.65636425e-01 -7.08606927e-03 2.73694088e+02] [ 1.09616461e-02 4.53666322e-05 9.99939918e-01 2.11534570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.0903857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.32, Y:273.71, Z:21.15 [[ 7.66099333e-01 -6.42667556e-01 -8.38002416e-03 3.22319179e+02] [ 6.42628709e-01 7.66145163e-01 -7.06618151e-03 2.73712914e+02] [ 1.09615206e-02 2.81528286e-05 9.99939920e-01 2.11538302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.120385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.34, Y:273.73, Z:21.16 [[ 7.67122228e-01 -6.41446027e-01 -8.39536341e-03 3.22342748e+02] [ 6.41407308e-01 7.67168165e-01 -7.04777335e-03 2.73730430e+02] [ 1.09614218e-02 2.16561384e-05 9.99939922e-01 2.11562507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.150385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.36, Y:273.75, Z:21.16 [[ 7.66776181e-01 -6.41859313e-01 -8.42085223e-03 3.22363865e+02] [ 6.41820954e-01 7.66822419e-01 -7.01718595e-03 2.73748281e+02] [ 1.09613444e-02 -2.40683699e-05 9.99939922e-01 2.11565294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.180385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:322.38, Y:273.77, Z:21.16 [[ 7.65897292e-01 -6.42907816e-01 -8.41890627e-03 3.22383883e+02] [ 6.42869495e-01 7.65943561e-01 -7.01951984e-03 2.73766100e+02] [ 1.09613112e-02 -3.60267852e-05 9.99939922e-01 2.11562492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.210385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.41, Y:273.78, Z:21.16 [[ 7.64960126e-01 -6.44022626e-01 -8.41806425e-03 3.22405335e+02] [ 6.43984361e-01 7.65006441e-01 -7.02052949e-03 2.73784578e+02] [ 1.09612532e-02 -5.06766084e-05 9.99939922e-01 2.11562647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.240385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.43, Y:273.80, Z:21.16 [[ 7.63526870e-01 -6.45721215e-01 -8.41615437e-03 3.22426329e+02] [ 6.45683028e-01 7.63573250e-01 -7.02281828e-03 2.73802613e+02] [ 1.09611331e-02 -7.20575759e-05 9.99939922e-01 2.11551380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.270385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.45, Y:273.82, Z:21.16 [[ 7.62356580e-01 -6.47102496e-01 -8.41450510e-03 3.22448748e+02] [ 6.47064372e-01 7.62403011e-01 -7.02479357e-03 2.73819258e+02] [ 1.09610055e-02 -8.93288542e-05 9.99939922e-01 2.11573769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.300385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:322.47, Y:273.84, Z:21.16 [[ 7.61662087e-01 -6.47919789e-01 -8.41506077e-03 3.22468246e+02] [ 6.47881721e-01 7.61708564e-01 -7.02412818e-03 2.73835916e+02] [ 1.09608955e-02 -1.01951930e-04 9.99939922e-01 2.11560364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.330385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.49, Y:273.85, Z:21.16 [[ 7.59883554e-01 -6.50005108e-01 -8.38707564e-03 3.22490964e+02] [ 6.49966798e-01 7.59929833e-01 -7.05764642e-03 2.73854855e+02] [ 1.09610952e-02 -8.83312551e-05 9.99939921e-01 2.11566067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.360385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.51, Y:273.87, Z:21.16 [[ 7.59618005e-01 -6.50314975e-01 -8.42137906e-03 3.22511684e+02] [ 6.50277138e-01 7.59664671e-01 -7.01657109e-03 2.73872743e+02] [ 1.09604054e-02 -1.46316531e-04 9.99939922e-01 2.11575003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.390385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.53, Y:273.89, Z:21.16 [[ 7.59094074e-01 -6.50926592e-01 -8.41185819e-03 3.22534212e+02] [ 6.50888666e-01 7.59140667e-01 -7.02796674e-03 2.73890783e+02] [ 1.09604741e-02 -1.40295252e-04 9.99939922e-01 2.11559415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.420385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.55, Y:273.91, Z:21.16 [[ 7.58114977e-01 -6.52066442e-01 -8.42837502e-03 3.22554635e+02] [ 6.52028805e-01 7.58161805e-01 -7.00820286e-03 2.73908585e+02] [ 1.09598859e-02 -1.82519742e-04 9.99939922e-01 2.11560518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.450385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.58, Y:273.93, Z:21.15 [[ 7.57258612e-01 -6.53061010e-01 -8.40906697e-03 3.22578324e+02] [ 6.53023178e-01 7.57305282e-01 -7.03129431e-03 2.73926529e+02] [ 1.09600950e-02 -1.66807473e-04 9.99939922e-01 2.11542000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.480385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.60, Y:273.94, Z:21.15 [[ 7.56433257e-01 -6.54016578e-01 -8.42878667e-03 3.22599028e+02] [ 6.53979067e-01 7.56480186e-01 -7.00771765e-03 2.73943645e+02] [ 1.09593736e-02 -2.11379359e-04 9.99939922e-01 2.11543742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.510385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.62, Y:273.96, Z:21.16 [[ 7.56779002e-01 -6.53616512e-01 -8.42594409e-03 3.22618679e+02] [ 6.53578939e-01 7.56825881e-01 -7.01111613e-03 2.73960042e+02] [ 1.09595538e-02 -2.01154129e-04 9.99939922e-01 2.11567351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.540385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.64, Y:273.98, Z:21.16 [[ 7.56248013e-01 -6.54231162e-01 -8.39821547e-03 3.22641915e+02] [ 6.54193258e-01 7.56294625e-01 -7.04426117e-03 2.73978752e+02] [ 1.09601004e-02 -1.66847425e-04 9.99939922e-01 2.11557195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.570385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.66, Y:274.00, Z:21.16 [[ 7.56844140e-01 -6.53541222e-01 -8.41538558e-03 3.22663099e+02] [ 6.53503504e-01 7.56890902e-01 -7.02374105e-03 2.73996342e+02] [ 1.09598331e-02 -1.83606707e-04 9.99939922e-01 2.11581588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.600385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.68, Y:274.01, Z:21.16 [[ 7.57184106e-01 -6.53147441e-01 -8.40534364e-03 3.22683692e+02] [ 6.53109565e-01 7.57230740e-01 -7.03573781e-03 2.74013362e+02] [ 1.09601587e-02 -1.62261488e-04 9.99939922e-01 2.11583171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.630385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.71, Y:274.03, Z:21.16 [[ 7.57870875e-01 -6.52350444e-01 -8.40449531e-03 3.22706653e+02] [ 6.52312508e-01 7.57917460e-01 -7.03675103e-03 2.74031317e+02] [ 1.09603414e-02 -1.49408750e-04 9.99939922e-01 2.11575586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.660385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.73, Y:274.05, Z:21.16 [[ 7.58635858e-01 -6.51460604e-01 -8.40933292e-03 3.22728170e+02] [ 6.51422677e-01 7.58682451e-01 -7.03097498e-03 2.74049332e+02] [ 1.09604165e-02 -1.44080427e-04 9.99939922e-01 2.11585328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.690385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.75, Y:274.07, Z:21.16 [[ 7.59334423e-01 -6.50646325e-01 -8.40202732e-03 3.22750709e+02] [ 6.50608252e-01 7.59380896e-01 -7.03969437e-03 2.74067994e+02] [ 1.09606903e-02 -1.20946039e-04 9.99939923e-01 2.11568793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.7203857229999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:322.77, Y:274.09, Z:21.16 [[ 7.60061170e-01 -6.49797202e-01 -8.40321466e-03 3.22772285e+02] [ 6.49759093e-01 7.60107614e-01 -7.03827755e-03 2.74086282e+02] [ 1.09608005e-02 -1.10543663e-04 9.99939923e-01 2.11577262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.750385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.79, Y:274.10, Z:21.16 [[ 7.60564833e-01 -6.49207656e-01 -8.39962334e-03 3.22792837e+02] [ 6.49169464e-01 7.60611208e-01 -7.04256090e-03 2.74103561e+02] [ 1.09609321e-02 -9.64548210e-05 9.99939923e-01 2.11578471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.780385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.81, Y:274.12, Z:21.16 [[ 7.60394748e-01 -6.49406873e-01 -8.39880220e-03 3.22814689e+02] [ 6.49368682e-01 7.60441124e-01 -7.04354003e-03 2.74121991e+02] [ 1.09609179e-02 -9.80482598e-05 9.99939923e-01 2.11581599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.810385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.84, Y:274.14, Z:21.16 [[ 7.61531303e-01 -6.48073734e-01 -8.39695647e-03 3.22837802e+02] [ 6.48035438e-01 7.61577592e-01 -7.04573973e-03 2.74139690e+02] [ 1.09610927e-02 -7.59739980e-05 9.99939923e-01 2.11572719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.8403857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.86, Y:274.16, Z:21.16 [[ 7.62088579e-01 -6.47418234e-01 -8.40406541e-03 3.22860583e+02] [ 6.47379990e-01 7.62134913e-01 -7.03727071e-03 2.74157587e+02] [ 1.09610890e-02 -7.76001461e-05 9.99939922e-01 2.11566253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.870385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.88, Y:274.17, Z:21.16 [[ 7.62647484e-01 -6.46759791e-01 -8.40160531e-03 3.22882822e+02] [ 6.46721476e-01 7.62693758e-01 -7.04020003e-03 2.74174534e+02] [ 1.09611702e-02 -6.43077468e-05 9.99939923e-01 2.11597342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.900385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.90, Y:274.19, Z:21.16 [[ 7.62785783e-01 -6.46596792e-01 -8.39272149e-03 3.22904036e+02] [ 6.46558350e-01 7.62831951e-01 -7.05077467e-03 2.74191188e+02] [ 1.09612444e-02 -4.81534874e-05 9.99939923e-01 2.11596557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.930385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.93, Y:274.21, Z:21.16 [[ 7.62434881e-01 -6.47010532e-01 -8.39188813e-03 3.22926930e+02] [ 6.46972104e-01 7.62481062e-01 -7.05176640e-03 2.74209169e+02] [ 1.09612229e-02 -5.28048489e-05 9.99939923e-01 2.11592325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.960385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.95, Y:274.23, Z:21.16 [[ 7.62164720e-01 -6.47328636e-01 -8.40093684e-03 3.22949792e+02] [ 6.47290347e-01 7.62211015e-01 -7.04100028e-03 2.74225757e+02] [ 1.09611277e-02 -7.14433182e-05 9.99939922e-01 2.11601365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.990385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.97, Y:274.24, Z:21.16 [[ 7.62345402e-01 -6.47115900e-01 -8.39643520e-03 3.22971737e+02] [ 6.47077538e-01 7.62391637e-01 -7.04635339e-03 2.74242658e+02] [ 1.09611793e-02 -6.13895118e-05 9.99939923e-01 2.11630153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.020385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.00, Y:274.26, Z:21.16 [[ 7.61963153e-01 -6.47566056e-01 -8.38793312e-03 3.22995615e+02] [ 6.47527610e-01 7.62009318e-01 -7.05645972e-03 2.74258635e+02] [ 1.09612070e-02 -5.46559893e-05 9.99939923e-01 2.11631476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.050385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.02, Y:274.28, Z:21.16 [[ 7.62436775e-01 -6.47008286e-01 -8.39294328e-03 3.23016821e+02] [ 6.46969872e-01 7.62482967e-01 -7.05050578e-03 2.74275399e+02] [ 1.09612120e-02 -5.44165474e-05 9.99939923e-01 2.11639039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.080385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.04, Y:274.29, Z:21.16 [[ 7.62698106e-01 -6.46700307e-01 -8.38528688e-03 3.23038422e+02] [ 6.46661774e-01 7.62744198e-01 -7.05959994e-03 2.74292484e+02] [ 1.09612744e-02 -3.81009849e-05 9.99939923e-01 2.11631579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.110385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.06, Y:274.31, Z:21.16 [[ 7.63109521e-01 -6.46214793e-01 -8.38447244e-03 3.23060934e+02] [ 6.46176221e-01 7.63155580e-01 -7.06056709e-03 2.74309666e+02] [ 1.09612998e-02 -2.98607394e-05 9.99939923e-01 2.11616440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.140385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.08, Y:274.33, Z:21.16 [[ 7.63018062e-01 -6.46322806e-01 -8.38261761e-03 3.23083237e+02] [ 6.46284216e-01 7.63064106e-01 -7.06276854e-03 2.74327545e+02] [ 1.09613030e-02 -2.85334820e-05 9.99939923e-01 2.11616755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.170385723 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:323.11, Y:274.34, Z:21.16 [[ 7.62492152e-01 -6.46943183e-01 -8.38075241e-03 3.23106533e+02] [ 6.46904606e-01 7.62538207e-01 -7.06498111e-03 2.74343118e+02] [ 1.09612853e-02 -3.45546917e-05 9.99939923e-01 2.11609719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.200385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.13, Y:274.36, Z:21.16 [[ 7.61956994e-01 -6.47573420e-01 -8.37889367e-03 3.23128342e+02] [ 6.47534857e-01 7.62003061e-01 -7.06718485e-03 2.74359012e+02] [ 1.09612637e-02 -4.07347872e-05 9.99939923e-01 2.11615170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.230385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.15, Y:274.38, Z:21.16 [[ 7.61293637e-01 -6.48353156e-01 -8.37762309e-03 3.23151229e+02] [ 6.48314623e-01 7.61339729e-01 -7.06869071e-03 2.74376095e+02] [ 1.09612252e-02 -4.99862981e-05 9.99939923e-01 2.11620857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.260385723 meters Centerline goodness : 0.999887 Centerline is valid? [True, True] Translation: X:323.17, Y:274.39, Z:21.16 [[ 7.59730921e-01 -6.50183647e-01 -8.37577139e-03 3.23174116e+02] [ 6.50145201e-01 7.59777086e-01 -7.07088413e-03 2.74392816e+02] [ 1.09610924e-02 -7.34982656e-05 9.99939923e-01 2.11625510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.290385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.20, Y:274.41, Z:21.16 [[ 7.58966132e-01 -6.51076253e-01 -8.37389846e-03 3.23195837e+02] [ 6.51037838e-01 7.59012322e-01 -7.07310150e-03 2.74410404e+02] [ 1.09610205e-02 -8.34802590e-05 9.99939923e-01 2.11625821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.320385723 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:323.22, Y:274.43, Z:21.16 [[ 7.57956597e-01 -6.52251260e-01 -8.37203672e-03 3.23217905e+02] [ 6.52212891e-01 7.58002826e-01 -7.07530445e-03 2.74426855e+02] [ 1.09609037e-02 -9.75765941e-05 9.99939923e-01 2.11623513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.350385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.24, Y:274.44, Z:21.16 [[ 7.54838407e-01 -6.55857382e-01 -8.37100768e-03 3.23235614e+02] [ 6.55819221e-01 7.54884807e-01 -7.07652173e-03 2.74443906e+02] [ 1.09603355e-02 -1.48237348e-04 9.99939923e-01 2.11622864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.380385723 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:323.26, Y:274.46, Z:21.16 [[ 7.56575185e-01 -6.53854022e-01 -8.30109582e-03 3.23262265e+02] [ 6.53814827e-01 7.56620723e-01 -7.15914277e-03 2.74460855e+02] [ 1.09618154e-02 -1.09497657e-05 9.99939917e-01 2.11644399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.410385723 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:323.28, Y:274.48, Z:21.16 [[ 7.53574718e-01 -6.57308985e-01 -8.36908420e-03 3.23277365e+02] [ 6.57270889e-01 7.53621172e-01 -7.07876150e-03 2.74479188e+02] [ 1.09600526e-02 -1.66379708e-04 9.99939923e-01 2.11629620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.440385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.31, Y:274.50, Z:21.16 [[ 7.56323747e-01 -6.54145239e-01 -8.27016173e-03 3.23305703e+02] [ 6.54105663e-01 7.56368961e-01 -7.19558398e-03 2.74497048e+02] [ 1.09622506e-02 3.26314136e-05 9.99939912e-01 2.11641516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.4703857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.33, Y:274.52, Z:21.16 [[ 7.56303726e-01 -6.54167152e-01 -8.36725957e-03 3.23327195e+02] [ 6.54128839e-01 7.56350001e-01 -7.08084607e-03 2.74515076e+02] [ 1.09606337e-02 -1.17995523e-04 9.99939923e-01 2.11642260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.500385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.35, Y:274.53, Z:21.16 [[ 7.56544988e-01 -6.53888142e-01 -8.36538401e-03 3.23348565e+02] [ 6.53849787e-01 7.56591228e-01 -7.08306119e-03 2.74532597e+02] [ 1.09607059e-02 -1.11050119e-04 9.99939923e-01 2.11646998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.530385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.36, Y:274.55, Z:21.16 [[ 7.54589813e-01 -6.56143481e-01 -8.36342615e-03 3.23364946e+02] [ 6.56105239e-01 7.54636146e-01 -7.08537220e-03 2.74550803e+02] [ 1.09603645e-02 -1.40738027e-04 9.99939924e-01 2.11640234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.560385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.39, Y:274.57, Z:21.16 [[ 7.54397415e-01 -6.56365878e-01 -8.26887877e-03 3.23387652e+02] [ 6.56326422e-01 7.54442731e-01 -7.19686460e-03 2.74568972e+02] [ 1.09621718e-02 2.21244021e-06 9.99939914e-01 2.11630011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.5903857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.41, Y:274.59, Z:21.16 [[ 7.56550233e-01 -6.53883293e-01 -8.26949004e-03 3.23413087e+02] [ 6.53843695e-01 7.56595426e-01 -7.19614373e-03 2.74586953e+02] [ 1.09620965e-02 3.72902937e-05 9.99939914e-01 2.11621231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.620385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.44, Y:274.61, Z:21.17 [[ 7.57504368e-01 -6.52776998e-01 -8.32610516e-03 3.23437135e+02] [ 6.52738066e-01 7.57550124e-01 -7.12935509e-03 2.74605183e+02] [ 1.09613210e-02 -3.42481533e-05 9.99939922e-01 2.11659078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.650385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.46, Y:274.62, Z:21.17 [[ 7.58583217e-01 -6.51522510e-01 -8.36195088e-03 3.23458048e+02] [ 6.51483968e-01 7.58629299e-01 -7.08706112e-03 2.74623112e+02] [ 1.09610008e-02 -7.15513106e-05 9.99939924e-01 2.11653417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.680385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.47, Y:274.64, Z:21.17 [[ 7.57165404e-01 -6.53169689e-01 -8.36110484e-03 3.23473892e+02] [ 6.53131235e-01 7.57211562e-01 -7.08805911e-03 2.74641695e+02] [ 1.09608306e-02 -9.40655876e-05 9.99939924e-01 2.11662777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.710385723 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:323.50, Y:274.66, Z:21.17 [[ 7.59293934e-01 -6.50695203e-01 -8.27493360e-03 3.23501277e+02] [ 6.50655487e-01 7.59339020e-01 -7.18959911e-03 2.74659669e+02] [ 1.09617176e-02 7.48880430e-05 9.99939916e-01 2.11661283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.740385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:323.52, Y:274.68, Z:21.17 [[ 7.59246281e-01 -6.50749729e-01 -8.35914703e-03 3.23521880e+02] [ 6.50711104e-01 7.59292294e-01 -7.09031560e-03 2.74678233e+02] [ 1.09610569e-02 -5.60940375e-05 9.99939924e-01 2.11662632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.770385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.53, Y:274.70, Z:21.17 [[ 7.56162469e-01 -6.54330557e-01 -8.35726029e-03 3.23534818e+02] [ 6.54292124e-01 7.56208643e-01 -7.09253878e-03 2.74696742e+02] [ 1.09606973e-02 -1.04977955e-04 9.99939924e-01 2.11662163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.800385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.56, Y:274.72, Z:21.17 [[ 7.56594989e-01 -6.53832089e-01 -8.22325723e-03 3.23558452e+02] [ 6.53791899e-01 7.56639668e-01 -7.25024560e-03 2.74715061e+02] [ 1.09624859e-02 1.09200526e-04 9.99939904e-01 2.11656757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.830385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.58, Y:274.73, Z:21.17 [[ 7.55976185e-01 -6.54546967e-01 -8.26293100e-03 3.23578829e+02] [ 6.54507328e-01 7.56021340e-01 -7.20351930e-03 2.74733052e+02] [ 1.09619939e-02 3.75401467e-05 9.99939915e-01 2.11680989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.860385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.60, Y:274.75, Z:21.17 [[ 7.55959401e-01 -6.54566519e-01 -8.24970000e-03 3.23599818e+02] [ 6.54526711e-01 7.56004411e-01 -7.21910363e-03 2.74751054e+02] [ 1.09621931e-02 5.77002479e-05 9.99939912e-01 2.11684247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.890385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.63, Y:274.77, Z:21.17 [[ 7.59205024e-01 -6.50799318e-01 -8.24494632e-03 3.23629319e+02] [ 6.50759227e-01 7.59249783e-01 -7.22470024e-03 2.74768891e+02] [ 1.09618037e-02 1.19553825e-04 9.99939910e-01 2.11698192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.920385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.64, Y:274.79, Z:21.17 [[ 7.56177331e-01 -6.54313378e-01 -8.35752576e-03 3.23641700e+02] [ 6.54274950e-01 7.56223507e-01 -7.09203252e-03 2.74787460e+02] [ 1.09605692e-02 -1.05285533e-04 9.99939926e-01 2.11690959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.950385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.67, Y:274.81, Z:21.17 [[ 7.59898883e-01 -6.49989236e-01 -8.22685589e-03 3.23672500e+02] [ 6.49948867e-01 7.59943398e-01 -7.24581317e-03 2.74805328e+02] [ 1.09616454e-02 1.59049667e-04 9.99939907e-01 2.11704519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.980385723 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:323.69, Y:274.82, Z:21.17 [[ 7.57411491e-01 -6.52884373e-01 -8.35642039e-03 3.23685259e+02] [ 6.52845845e-01 7.57457582e-01 -7.09317445e-03 2.74824196e+02] [ 1.09606567e-02 -8.30024988e-05 9.99939927e-01 2.11700505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.010385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.71, Y:274.84, Z:21.17 [[ 7.58190167e-01 -6.51981416e-01 -8.24035341e-03 3.23706007e+02] [ 6.51941340e-01 7.58234938e-01 -7.22973382e-03 2.74843402e+02] [ 1.09617760e-02 1.09286049e-04 9.99939912e-01 2.11687100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.040385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.73, Y:274.86, Z:21.17 [[ 7.57945835e-01 -6.52265346e-01 -8.24800158e-03 3.23728645e+02] [ 6.52225383e-01 7.57990706e-01 -7.22073645e-03 2.74862028e+02] [ 1.09617447e-02 9.33711296e-05 9.99939914e-01 2.11678727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.070385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.76, Y:274.88, Z:21.17 [[ 7.59827965e-01 -6.50071632e-01 -8.26664765e-03 3.23757085e+02] [ 6.50031779e-01 7.59872926e-01 -7.19880381e-03 2.74878024e+02] [ 1.09613399e-02 9.62687661e-05 9.99939918e-01 2.11688390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.100385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.78, Y:274.90, Z:21.17 [[ 7.59109288e-01 -6.50909615e-01 -8.35238046e-03 3.23778915e+02] [ 6.50870915e-01 7.59155235e-01 -7.09791903e-03 2.74895759e+02] [ 1.09608571e-02 -4.82252554e-05 9.99939927e-01 2.11691461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.130385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.80, Y:274.91, Z:21.17 [[ 7.58235114e-01 -6.51927742e-01 -8.35048007e-03 3.23799635e+02] [ 6.51889080e-01 7.58281093e-01 -7.10015408e-03 2.74912912e+02] [ 1.09607986e-02 -6.00006318e-05 9.99939927e-01 2.11695835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.160385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.82, Y:274.93, Z:21.17 [[ 7.56227626e-01 -6.54255354e-01 -8.34919039e-03 3.23821240e+02] [ 6.54216817e-01 7.56273709e-01 -7.10167032e-03 2.74930122e+02] [ 1.09605790e-02 -9.17014735e-05 9.99939927e-01 2.11704582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.190385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.84, Y:274.95, Z:21.17 [[ 7.54589791e-01 -6.56143712e-01 -8.34727832e-03 3.23842421e+02] [ 6.56105265e-01 7.54635949e-01 -7.10391704e-03 2.74947584e+02] [ 1.09603468e-02 -1.16149974e-04 9.99939927e-01 2.11700034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.2203857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.86, Y:274.97, Z:21.17 [[ 7.53997743e-01 -6.56823982e-01 -8.34628289e-03 3.23864161e+02] [ 6.56785563e-01 7.54043926e-01 -7.10508637e-03 2.74966092e+02] [ 1.09602550e-02 -1.24499020e-04 9.99939927e-01 2.11700842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.250385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.89, Y:274.98, Z:21.17 [[ 7.53758929e-01 -6.57098051e-01 -8.34440047e-03 3.23885347e+02] [ 6.57059625e-01 7.53805105e-01 -7.10729644e-03 2.74984345e+02] [ 1.09602423e-02 -1.25580489e-04 9.99939927e-01 2.11703695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.280385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.91, Y:275.00, Z:21.17 [[ 7.54211518e-01 -6.56578547e-01 -8.34251640e-03 3.23905728e+02] [ 6.56540065e-01 7.54257647e-01 -7.10950727e-03 2.75002030e+02] [ 1.09603567e-02 -1.15123986e-04 9.99939927e-01 2.11712914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.310385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.93, Y:275.02, Z:21.17 [[ 7.54285809e-01 -6.56493213e-01 -8.34145528e-03 3.23926824e+02] [ 6.56454712e-01 7.54331922e-01 -7.11075204e-03 2.75020487e+02] [ 1.09603864e-02 -1.12248270e-04 9.99939927e-01 2.11727695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.3403857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.95, Y:275.04, Z:21.17 [[ 7.54224529e-01 -6.56563639e-01 -8.33954368e-03 3.23947804e+02] [ 6.56525117e-01 7.54270625e-01 -7.11299328e-03 2.75039403e+02] [ 1.09604056e-02 -1.10325890e-04 9.99939927e-01 2.11732576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.370385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.97, Y:275.06, Z:21.17 [[ 7.54165522e-01 -6.56631428e-01 -8.33870044e-03 3.23969110e+02] [ 6.56592899e-01 7.54211612e-01 -7.11398168e-03 2.75057886e+02] [ 1.09604087e-02 -1.10011793e-04 9.99939927e-01 2.11741696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.400385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.99, Y:275.08, Z:21.17 [[ 7.54266692e-01 -6.56515235e-01 -8.33680367e-03 3.23989766e+02] [ 6.56476675e-01 7.54312756e-01 -7.11620379e-03 2.75075832e+02] [ 1.09604536e-02 -1.05401658e-04 9.99939927e-01 2.11747315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.430385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.01, Y:275.09, Z:21.18 [[ 7.54945748e-01 -6.55734273e-01 -8.33551403e-03 3.24010731e+02] [ 6.55695649e-01 7.54991758e-01 -7.11771408e-03 2.75094779e+02] [ 1.09605735e-02 -9.20722951e-05 9.99939927e-01 2.11754379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.460385723 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:324.03, Y:275.11, Z:21.18 [[ 7.55389379e-01 -6.55223195e-01 -8.33366423e-03 3.24031626e+02] [ 6.55184516e-01 7.55435343e-01 -7.11987924e-03 2.75113616e+02] [ 1.09606545e-02 -8.18066043e-05 9.99939927e-01 2.11752977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.490385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.05, Y:275.13, Z:21.17 [[ 7.54574910e-01 -6.56161022e-01 -8.33182300e-03 3.24046823e+02] [ 6.56122375e-01 7.54620902e-01 -7.12203323e-03 2.75133967e+02] [ 1.09605684e-02 -9.25879179e-05 9.99939927e-01 2.11749483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.520385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.07, Y:275.15, Z:21.18 [[ 7.57106563e-01 -6.53239209e-01 -8.25759338e-03 3.24071921e+02] [ 6.53199435e-01 7.57151591e-01 -7.20876064e-03 2.75152246e+02] [ 1.09612951e-02 6.39446605e-05 9.99939921e-01 2.11752802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.550385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.09, Y:275.17, Z:21.18 [[ 7.57327392e-01 -6.52982280e-01 -8.32850778e-03 3.24092787e+02] [ 6.52943398e-01 7.57373185e-01 -7.12587816e-03 2.75171577e+02] [ 1.09608606e-02 -4.14214462e-05 9.99939927e-01 2.11756361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.580385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:324.11, Y:275.19, Z:21.18 [[ 7.57690369e-01 -6.52561088e-01 -8.32655053e-03 3.24112858e+02] [ 6.52522156e-01 7.57736119e-01 -7.12816446e-03 2.75190112e+02] [ 1.09608908e-02 -3.23171426e-05 9.99939927e-01 2.11762608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.610385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.13, Y:275.21, Z:21.18 [[ 7.57538061e-01 -6.52737909e-01 -8.32522068e-03 3.24133462e+02] [ 6.52698970e-01 7.57583805e-01 -7.12971729e-03 2.75208071e+02] [ 1.09608891e-02 -3.28307501e-05 9.99939927e-01 2.11761401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.640385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:324.15, Y:275.22, Z:21.18 [[ 7.59761726e-01 -6.50148309e-01 -8.32438125e-03 3.24151253e+02] [ 6.50109204e-01 7.59807328e-01 -7.13069725e-03 2.75221834e+02] [ 1.09609366e-02 5.87398818e-06 9.99939927e-01 2.11764353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.670385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:324.17, Y:275.24, Z:21.18 [[ 7.59821976e-01 -6.50079746e-01 -8.17858636e-03 3.24172066e+02] [ 6.50038797e-01 7.59865956e-01 -7.30007789e-03 2.75239730e+02] [ 1.09602621e-02 2.30361164e-04 9.99939908e-01 2.11766410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.700385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.20, Y:275.26, Z:21.18 [[ 7.56227011e-01 -6.54257979e-01 -8.19784374e-03 3.24196592e+02] [ 6.54217517e-01 7.56271431e-01 -7.27763011e-03 2.75262327e+02] [ 1.09612426e-02 1.40367491e-04 9.99939914e-01 2.11782032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.730385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.21, Y:275.28, Z:21.18 [[ 7.57311733e-01 -6.53000522e-01 -8.32209424e-03 3.24213425e+02] [ 6.52961567e-01 7.57357457e-01 -7.13266005e-03 2.75277275e+02] [ 1.09604309e-02 -3.23605469e-05 9.99939932e-01 2.11752102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.760385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.24, Y:275.30, Z:21.18 [[ 7.55798879e-01 -6.54751974e-01 -8.24056247e-03 3.24235665e+02] [ 6.54712083e-01 7.55843798e-01 -7.22781017e-03 2.75297368e+02] [ 1.09610010e-02 6.75750034e-05 9.99939924e-01 2.11802813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.790385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.26, Y:275.32, Z:21.18 [[ 7.54466687e-01 -6.56285982e-01 -8.29018762e-03 3.24257395e+02] [ 6.56246817e-01 7.54512232e-01 -7.16987692e-03 2.75316168e+02] [ 1.09605377e-02 -3.09759522e-05 9.99939931e-01 2.11803199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.820385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.28, Y:275.33, Z:21.18 [[ 7.53967403e-01 -6.56859087e-01 -8.32443592e-03 3.24278932e+02] [ 6.56820396e-01 7.54013350e-01 -7.12989067e-03 2.75334846e+02] [ 1.09600693e-02 -9.19541549e-05 9.99939932e-01 2.11810408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.850385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.30, Y:275.35, Z:21.18 [[ 7.53704320e-01 -6.57160965e-01 -8.32247079e-03 3.24298235e+02] [ 6.57122268e-01 7.53750262e-01 -7.13218376e-03 2.75353131e+02] [ 1.09600573e-02 -9.33231594e-05 9.99939932e-01 2.11810118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.880385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.32, Y:275.37, Z:21.18 [[ 7.53618379e-01 -6.57259529e-01 -8.32161971e-03 3.24318249e+02] [ 6.57220827e-01 7.53664317e-01 -7.13317664e-03 2.75372661e+02] [ 1.09600562e-02 -9.34487670e-05 9.99939932e-01 2.11807974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.910385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.34, Y:275.39, Z:21.18 [[ 7.53578767e-01 -6.57304971e-01 -8.31968080e-03 3.24339416e+02] [ 6.57266247e-01 7.53624686e-01 -7.13543734e-03 2.75391543e+02] [ 1.09600753e-02 -9.11312971e-05 9.99939932e-01 2.11809231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.940385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.36, Y:275.41, Z:21.18 [[ 7.53602555e-01 -6.57277722e-01 -8.31773623e-03 3.24360268e+02] [ 6.57238971e-01 7.53648451e-01 -7.13770340e-03 2.75410151e+02] [ 1.09601025e-02 -8.77488828e-05 9.99939932e-01 2.11810090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.9703857229999 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:324.38, Y:275.43, Z:21.18 [[ 7.53422130e-01 -6.57484557e-01 -8.31580157e-03 3.24380792e+02] [ 6.57445793e-01 7.53468015e-01 -7.13995666e-03 2.75429844e+02] [ 1.09601017e-02 -8.77874026e-05 9.99939932e-01 2.11789295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.000385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.40, Y:275.45, Z:21.18 [[ 7.54419638e-01 -6.56339766e-01 -8.31386722e-03 3.24401010e+02] [ 6.56300908e-01 7.54465444e-01 -7.14220834e-03 2.75447835e+02] [ 1.09602409e-02 -6.81763779e-05 9.99939932e-01 2.11816634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.030385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.42, Y:275.47, Z:21.18 [[ 7.55717871e-01 -6.54844556e-01 -8.31305858e-03 3.24421101e+02] [ 6.54805597e-01 7.55763591e-01 -7.14314942e-03 2.75466598e+02] [ 1.09603595e-02 -4.52316041e-05 9.99939932e-01 2.11821270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.060385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.44, Y:275.49, Z:21.18 [[ 7.56378863e-01 -6.54080981e-01 -8.31175960e-03 3.24441975e+02] [ 6.54041959e-01 7.56424530e-01 -7.14466060e-03 2.75485188e+02] [ 1.09604055e-02 -3.21692696e-05 9.99939932e-01 2.11826722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.0903857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.46, Y:275.50, Z:21.18 [[ 7.57128737e-01 -6.53212845e-01 -8.30988504e-03 3.24462331e+02] [ 6.53173747e-01 7.57174338e-01 -7.14684021e-03 2.75503166e+02] [ 1.09604395e-02 -1.67206474e-05 9.99939932e-01 2.11834625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.120385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.48, Y:275.52, Z:21.18 [[ 7.58614352e-01 -6.51486936e-01 -8.30884079e-03 3.24483120e+02] [ 6.51447721e-01 7.58659853e-01 -7.14805404e-03 2.75522284e+02] [ 1.09604478e-02 9.84098824e-06 9.99939932e-01 2.11844018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.150385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.50, Y:275.54, Z:21.18 [[ 7.59166160e-01 -6.50843864e-01 -8.30698958e-03 3.24503911e+02] [ 6.50804587e-01 7.59211607e-01 -7.15020475e-03 2.75541405e+02] [ 1.09604298e-02 2.19665641e-05 9.99939932e-01 2.11844826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.180385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:324.52, Y:275.56, Z:21.18 [[ 7.60251966e-01 -6.49575226e-01 -8.30512756e-03 3.24524471e+02] [ 6.49535849e-01 7.60297326e-01 -7.15236687e-03 2.75560180e+02] [ 1.09603666e-02 4.31228884e-05 9.99939932e-01 2.11844939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.210385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.55, Y:275.58, Z:21.19 [[ 7.60442540e-01 -6.49352139e-01 -8.30316046e-03 3.24545245e+02] [ 6.49312725e-01 7.60487868e-01 -7.15464974e-03 2.75578356e+02] [ 1.09603399e-02 4.93522768e-05 9.99939932e-01 2.11853354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.240385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:324.57, Y:275.60, Z:21.19 [[ 7.60363127e-01 -6.49445152e-01 -8.30119015e-03 3.24565369e+02] [ 6.49405718e-01 7.60408437e-01 -7.15693507e-03 2.75595712e+02] [ 1.09603318e-02 5.10291764e-05 9.99939932e-01 2.11858370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.270385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.59, Y:275.61, Z:21.19 [[ 7.59936457e-01 -6.49944371e-01 -8.30033388e-03 3.24586953e+02] [ 6.49904956e-01 7.59981785e-01 -7.15792799e-03 2.75614379e+02] [ 1.09603576e-02 4.51423151e-05 9.99939932e-01 2.11864192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.300385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.61, Y:275.63, Z:21.19 [[ 7.58684755e-01 -6.51405081e-01 -8.29839830e-03 3.24607727e+02] [ 6.51365728e-01 7.58730136e-01 -7.16017127e-03 2.75632166e+02] [ 1.09604168e-02 2.70205278e-05 9.99939932e-01 2.11872155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.330385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.63, Y:275.65, Z:21.19 [[ 7.57864518e-01 -6.52359197e-01 -8.29756066e-03 3.24628235e+02] [ 6.52319891e-01 7.57909940e-01 -7.16114183e-03 2.75649961e+02] [ 1.09604404e-02 1.45114394e-05 9.99939932e-01 2.11878634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.360385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.65, Y:275.67, Z:21.19 [[ 7.55620826e-01 -6.54956743e-01 -8.29651320e-03 3.24649141e+02] [ 6.54917580e-01 7.55666371e-01 -7.16235516e-03 2.75668108e+02] [ 1.09604288e-02 -2.15076196e-05 9.99939932e-01 2.11891866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.390385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.67, Y:275.69, Z:21.19 [[ 7.54505217e-01 -6.56241630e-01 -8.29462323e-03 3.24670729e+02] [ 6.56202520e-01 7.54550808e-01 -7.16454324e-03 2.75686300e+02] [ 1.09603862e-02 -3.72674083e-05 9.99939932e-01 2.11896904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.420385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:324.69, Y:275.70, Z:21.19 [[ 7.53331073e-01 -6.57589177e-01 -8.29273073e-03 3.24692070e+02] [ 6.57550125e-01 7.53376713e-01 -7.16673308e-03 2.75704726e+02] [ 1.09603163e-02 -5.39634123e-05 9.99939932e-01 2.11905671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.450385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.71, Y:275.72, Z:21.19 [[ 7.51403450e-01 -6.59790966e-01 -8.29072692e-03 3.24712038e+02] [ 6.59752022e-01 7.51449183e-01 -7.16905040e-03 2.75722962e+02] [ 1.09601347e-02 -8.29746457e-05 9.99939932e-01 2.11896736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.480385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.73, Y:275.74, Z:21.19 [[ 7.50448819e-01 -6.60876582e-01 -8.28936376e-03 3.24732500e+02] [ 6.60837687e-01 7.50494593e-01 -7.17062624e-03 2.75741844e+02] [ 1.09600216e-02 -9.67359764e-05 9.99939932e-01 2.11901149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.510385723 meters Centerline goodness : 0.999844 Centerline is valid? [True, True] Translation: X:324.75, Y:275.76, Z:21.19 [[ 7.48454162e-01 -6.63134743e-01 -8.28735618e-03 3.24751828e+02] [ 6.63095960e-01 7.48500031e-01 -7.17294572e-03 2.75760796e+02] [ 1.09597159e-02 -1.26691328e-04 9.99939932e-01 2.11870429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.540385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.77, Y:275.78, Z:21.19 [[ 7.48368333e-01 -6.63231613e-01 -8.28648594e-03 3.24772499e+02] [ 6.63192825e-01 7.48414198e-01 -7.17395092e-03 2.75778912e+02] [ 1.09597148e-02 -1.26780321e-04 9.99939932e-01 2.11902086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.570385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.79, Y:275.80, Z:21.19 [[ 7.47864702e-01 -6.63799469e-01 -8.28562729e-03 3.24792540e+02] [ 6.63760705e-01 7.47910587e-01 -7.17494249e-03 2.75796725e+02] [ 1.09596314e-02 -1.33787591e-04 9.99939932e-01 2.11896630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.600385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.82, Y:275.82, Z:21.19 [[ 7.47048404e-01 -6.64718019e-01 -8.28478036e-03 3.24815742e+02] [ 6.64679300e-01 7.47094327e-01 -7.17592029e-03 2.75816248e+02] [ 1.09594759e-02 -1.45962209e-04 9.99939932e-01 2.11878193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.630385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.84, Y:275.84, Z:21.19 [[ 7.46816047e-01 -6.64978805e-01 -8.30541425e-03 3.24837517e+02] [ 6.64940367e-01 7.46862207e-01 -7.15210450e-03 2.75835173e+02] [ 1.09589979e-02 -1.81298781e-04 9.99939932e-01 2.11888529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.660385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:324.86, Y:275.85, Z:21.19 [[ 7.46046389e-01 -6.65842086e-01 -8.31269304e-03 3.24855827e+02] [ 6.65803795e-01 7.46092671e-01 -7.14370626e-03 2.75854446e+02] [ 1.09586196e-02 -2.05086305e-04 9.99939932e-01 2.11901180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.690385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.88, Y:275.87, Z:21.19 [[ 7.46430432e-01 -6.65411938e-01 -8.28020821e-03 3.24876850e+02] [ 6.65373204e-01 7.46476342e-01 -7.18116277e-03 2.75873769e+02] [ 1.09594110e-02 -1.49190235e-04 9.99939933e-01 2.11917728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.7203857229999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:324.90, Y:275.89, Z:21.19 [[ 7.46755334e-01 -6.65047324e-01 -8.27822062e-03 3.24896624e+02] [ 6.65008542e-01 7.46801204e-01 -7.18345327e-03 2.75893419e+02] [ 1.09595215e-02 -1.40805380e-04 9.99939933e-01 2.11919837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.750385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.92, Y:275.91, Z:21.19 [[ 7.46718160e-01 -6.65089086e-01 -8.27625273e-03 3.24917391e+02] [ 6.65050282e-01 7.46764011e-01 -7.18571982e-03 2.75912782e+02] [ 1.09595515e-02 -1.38416728e-04 9.99939933e-01 2.11929336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.780385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:324.94, Y:275.93, Z:21.19 [[ 7.46492858e-01 -6.65341979e-01 -8.27427906e-03 3.24937206e+02] [ 6.65303165e-01 7.46538701e-01 -7.18799176e-03 2.75931233e+02] [ 1.09595422e-02 -1.39119528e-04 9.99939933e-01 2.11935429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.810385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:324.96, Y:275.95, Z:21.19 [[ 7.46399454e-01 -6.65446771e-01 -8.27343341e-03 3.24957264e+02] [ 6.65407952e-01 7.46445293e-01 -7.18896498e-03 2.75950267e+02] [ 1.09595390e-02 -1.39368842e-04 9.99939933e-01 2.11943827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.8403857229999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:324.98, Y:275.97, Z:21.19 [[ 7.46276930e-01 -6.65584200e-01 -8.27149035e-03 3.24977064e+02] [ 6.65545365e-01 7.46322755e-01 -7.19119993e-03 2.75968704e+02] [ 1.09595505e-02 -1.38425462e-04 9.99939933e-01 2.11942989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.870385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:325.00, Y:275.99, Z:21.19 [[ 7.46794774e-01 -6.65003129e-01 -8.27064908e-03 3.24996581e+02] [ 6.64964248e-01 7.46840560e-01 -7.19216735e-03 2.75988543e+02] [ 1.09596700e-02 -1.28612954e-04 9.99939933e-01 2.11939608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.900385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:325.02, Y:276.01, Z:21.19 [[ 7.47203714e-01 -6.64543631e-01 -8.26873635e-03 3.25016509e+02] [ 6.64504698e-01 7.47249455e-01 -7.19436572e-03 2.76007771e+02] [ 1.09597786e-02 -1.18957363e-04 9.99939933e-01 2.11941849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.930385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.04, Y:276.03, Z:21.19 [[ 7.47866945e-01 -6.63797177e-01 -8.26683073e-03 3.25036500e+02] [ 6.63758173e-01 7.47912627e-01 -7.19655474e-03 2.76027109e+02] [ 1.09599198e-02 -1.05111056e-04 9.99939933e-01 2.11947838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.960385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.06, Y:276.05, Z:21.19 [[ 7.49516011e-01 -6.61934620e-01 -8.26483577e-03 3.25055290e+02] [ 6.61895478e-01 7.49561574e-01 -7.19884511e-03 2.76047110e+02] [ 1.09601681e-02 -7.48077525e-05 9.99939933e-01 2.11944366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.990385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:325.07, Y:276.07, Z:21.20 [[ 7.49627330e-01 -6.61808568e-01 -8.26347997e-03 3.25074943e+02] [ 6.61769401e-01 7.49672871e-01 -7.20040109e-03 2.76066534e+02] [ 1.09601939e-02 -7.09007431e-05 9.99939933e-01 2.11960325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.020385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:325.10, Y:276.09, Z:21.19 [[ 7.51516411e-01 -6.59662767e-01 -8.25331725e-03 3.25095351e+02] [ 6.59623342e-01 7.51561730e-01 -7.21206004e-03 2.76086089e+02] [ 1.09604049e-02 -2.40992193e-05 9.99939933e-01 2.11944045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.050385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.12, Y:276.11, Z:21.19 [[ 7.51698375e-01 -6.59455307e-01 -8.26139364e-03 3.25115874e+02] [ 6.59415971e-01 7.51743771e-01 -7.20279665e-03 2.76105174e+02] [ 1.09603737e-02 -3.33643726e-05 9.99939933e-01 2.11942202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.080385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.14, Y:276.12, Z:21.19 [[ 7.51642734e-01 -6.59518750e-01 -8.25944022e-03 3.25136343e+02] [ 6.59479394e-01 7.51688111e-01 -7.20503595e-03 2.76124387e+02] [ 1.09603793e-02 -3.13177030e-05 9.99939933e-01 2.11943064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.110385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:325.16, Y:276.14, Z:21.19 [[ 7.51391955e-01 -6.59804475e-01 -8.25746783e-03 3.25157144e+02] [ 6.59765110e-01 7.51437326e-01 -7.20729573e-03 2.76143342e+02] [ 1.09603755e-02 -3.24851484e-05 9.99939933e-01 2.11948844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.140385723 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:325.18, Y:276.16, Z:21.20 [[ 7.50485161e-01 -6.60835736e-01 -8.25545538e-03 3.25177954e+02] [ 6.60796409e-01 7.50530564e-01 -7.20960012e-03 2.76162540e+02] [ 1.09603330e-02 -4.44773594e-05 9.99939933e-01 2.11958230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.170385723 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:325.20, Y:276.18, Z:21.19 [[ 7.49374181e-01 -6.62095324e-01 -8.25344179e-03 3.25198575e+02] [ 6.62056047e-01 7.49419628e-01 -7.21190452e-03 2.76181335e+02] [ 1.09602595e-02 -5.98260090e-05 9.99939933e-01 2.11937161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.200385723 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:325.22, Y:276.20, Z:21.20 [[ 7.48531415e-01 -6.63047988e-01 -8.25142536e-03 3.25219252e+02] [ 6.63008744e-01 7.48576890e-01 -7.21421086e-03 2.76200146e+02] [ 1.09601943e-02 -7.07036992e-05 9.99939933e-01 2.11974615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.230385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:325.24, Y:276.22, Z:21.20 [[ 7.48081692e-01 -6.63555357e-01 -8.25049246e-03 3.25239881e+02] [ 6.63516132e-01 7.48127183e-01 -7.21527760e-03 2.76218823e+02] [ 1.09601538e-02 -7.67177731e-05 9.99939933e-01 2.11978438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.260385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:325.26, Y:276.24, Z:21.20 [[ 7.47630373e-01 -6.64063843e-01 -8.24850118e-03 3.25260956e+02] [ 6.64024623e-01 7.47675870e-01 -7.21755331e-03 2.76237735e+02] [ 1.09601215e-02 -8.11458185e-05 9.99939933e-01 2.11980555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.290385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.28, Y:276.26, Z:21.20 [[ 7.47422398e-01 -6.64297941e-01 -8.24649122e-03 3.25281056e+02] [ 6.64258711e-01 7.47467885e-01 -7.21984908e-03 2.76255997e+02] [ 1.09601182e-02 -8.15267178e-05 9.99939933e-01 2.11981219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.320385723 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:325.30, Y:276.27, Z:21.20 [[ 7.46805922e-01 -6.64990920e-01 -8.24562061e-03 3.25301909e+02] [ 6.64951721e-01 7.46851436e-01 -7.22084324e-03 2.76274917e+02] [ 1.09600488e-02 -9.03711217e-05 9.99939933e-01 2.11974585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.350385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:325.32, Y:276.29, Z:21.20 [[ 7.46282695e-01 -6.65578080e-01 -8.24365419e-03 3.25322544e+02] [ 6.65538892e-01 7.46328218e-01 -7.22308751e-03 2.76293310e+02] [ 1.09600005e-02 -9.60072655e-05 9.99939933e-01 2.11978607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.380385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:325.34, Y:276.31, Z:21.20 [[ 7.46014460e-01 -6.65878743e-01 -8.24168715e-03 3.25343903e+02] [ 6.65839548e-01 7.46059978e-01 -7.22533124e-03 2.76312050e+02] [ 1.09599874e-02 -9.74396684e-05 9.99939933e-01 2.11976547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.410385723 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:325.37, Y:276.33, Z:21.20 [[ 7.45616877e-01 -6.66323930e-01 -8.23972206e-03 3.25365186e+02] [ 6.66284738e-01 7.45662397e-01 -7.22757152e-03 2.76330799e+02] [ 1.09599548e-02 -1.01001743e-04 9.99939933e-01 2.11974885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.440385723 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:325.39, Y:276.35, Z:21.20 [[ 7.45265333e-01 -6.66717123e-01 -8.23776950e-03 3.25385836e+02] [ 6.66677931e-01 7.45310852e-01 -7.22979631e-03 2.76348285e+02] [ 1.09599280e-02 -1.03822572e-04 9.99939933e-01 2.11970650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.4703857229999 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:325.41, Y:276.37, Z:21.20 [[ 7.45440367e-01 -6.66521433e-01 -8.23644258e-03 3.25407311e+02] [ 6.66482211e-01 7.45485862e-01 -7.23130767e-03 2.76366216e+02] [ 1.09599730e-02 -9.89338242e-05 9.99939933e-01 2.11971793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.500385723 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:325.43, Y:276.38, Z:21.20 [[ 7.45859973e-01 -6.66051870e-01 -8.23452916e-03 3.25427936e+02] [ 6.66012596e-01 7.45905422e-01 -7.23348588e-03 2.76383224e+02] [ 1.09600567e-02 -8.91325650e-05 9.99939933e-01 2.11969597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.530385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:325.45, Y:276.40, Z:21.20 [[ 7.45996313e-01 -6.65899175e-01 -8.23349068e-03 3.25449104e+02] [ 6.65859878e-01 7.46041743e-01 -7.23466774e-03 2.76401685e+02] [ 1.09600870e-02 -8.53156387e-05 9.99939933e-01 2.11974108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.560385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:325.47, Y:276.42, Z:21.20 [[ 7.46411810e-01 -6.65433431e-01 -8.23156420e-03 3.25470635e+02] [ 6.65394082e-01 7.46457195e-01 -7.23685901e-03 2.76420140e+02] [ 1.09601582e-02 -7.55570678e-05 9.99939933e-01 2.11981653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.5903857229999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:325.49, Y:276.44, Z:21.20 [[ 7.46228357e-01 -6.65639177e-01 -8.22957174e-03 3.25492060e+02] [ 6.65599815e-01 7.46273730e-01 -7.23912408e-03 2.76439068e+02] [ 1.09601578e-02 -7.55617625e-05 9.99939933e-01 2.11984774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.620385723 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:325.51, Y:276.46, Z:21.20 [[ 7.47600846e-01 -6.64097344e-01 -8.22757555e-03 3.25513655e+02] [ 6.64057864e-01 7.47646116e-01 -7.24139212e-03 2.76457092e+02] [ 1.09603042e-02 -4.99153702e-05 9.99939933e-01 2.11991730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.650385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:325.53, Y:276.48, Z:21.20 [[ 7.48414228e-01 -6.63180564e-01 -8.22695763e-03 3.25534973e+02] [ 6.63141022e-01 7.48459443e-01 -7.24209408e-03 2.76475172e+02] [ 1.09603602e-02 -3.55468442e-05 9.99939933e-01 2.12003132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.680385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.56, Y:276.49, Z:21.20 [[ 7.50405620e-01 -6.60926437e-01 -8.22497933e-03 3.25557509e+02] [ 6.60886734e-01 7.50450694e-01 -7.24434017e-03 2.76493343e+02] [ 1.09604174e-02 4.13843919e-07 9.99939933e-01 2.12011405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.710385723 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:325.58, Y:276.51, Z:21.20 [[ 7.51208215e-01 -6.60014088e-01 -8.22324995e-03 3.25578847e+02] [ 6.59974309e-01 7.51253222e-01 -7.24630270e-03 2.76511521e+02] [ 1.09604049e-02 1.63484150e-05 9.99939933e-01 2.12012699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.740385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.60, Y:276.53, Z:21.20 [[ 7.52007879e-01 -6.59102846e-01 -8.22128333e-03 3.25600273e+02] [ 6.59062987e-01 7.52052816e-01 -7.24853324e-03 2.76529975e+02] [ 1.09603682e-02 3.26105583e-05 9.99939933e-01 2.12014584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.770385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.62, Y:276.55, Z:21.20 [[ 7.52733169e-01 -6.58274425e-01 -8.21932717e-03 3.25621387e+02] [ 6.58234493e-01 7.52778041e-01 -7.25075071e-03 2.76548065e+02] [ 1.09603128e-02 4.76359093e-05 9.99939933e-01 2.12012301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.800385723 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:325.64, Y:276.57, Z:21.20 [[ 7.53750443e-01 -6.57109386e-01 -8.21736903e-03 3.25643647e+02] [ 6.57069360e-01 7.53795231e-01 -7.25296922e-03 2.76565709e+02] [ 1.09602077e-02 6.75473533e-05 9.99939933e-01 2.12015678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.830385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:325.67, Y:276.58, Z:21.20 [[ 7.53766668e-01 -6.57090799e-01 -8.21536375e-03 3.25665014e+02] [ 6.57050747e-01 7.53811433e-01 -7.25523988e-03 2.76583320e+02] [ 1.09601865e-02 7.08470978e-05 9.99939933e-01 2.12022236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.860385723 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:325.69, Y:276.60, Z:21.20 [[ 7.54029308e-01 -6.56789422e-01 -8.21333791e-03 3.25686945e+02] [ 6.56749327e-01 7.54074034e-01 -7.25753251e-03 2.76600080e+02] [ 1.09601354e-02 7.82880681e-05 9.99939933e-01 2.12020378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.890385723 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:325.71, Y:276.62, Z:21.20 [[ 7.53936642e-01 -6.56895802e-01 -8.21245973e-03 3.25707602e+02] [ 6.56855703e-01 7.53981365e-01 -7.25852610e-03 2.76617206e+02] [ 1.09601369e-02 7.80677852e-05 9.99939933e-01 2.12018348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.920385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.73, Y:276.64, Z:21.20 [[ 7.53675759e-01 -6.57195116e-01 -8.21159018e-03 3.25729049e+02] [ 6.57155024e-01 7.53720488e-01 -7.25950969e-03 2.76635102e+02] [ 1.09601581e-02 7.50287336e-05 9.99939933e-01 2.12016878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.950385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.75, Y:276.65, Z:21.20 [[ 7.53105186e-01 -6.57848904e-01 -8.20960454e-03 3.25751979e+02] [ 6.57808826e-01 7.53149929e-01 -7.26175451e-03 2.76652330e+02] [ 1.09602003e-02 6.85146594e-05 9.99939933e-01 2.12011085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.980385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.77, Y:276.67, Z:21.20 [[ 7.52539104e-01 -6.58496419e-01 -8.20755503e-03 3.25772944e+02] [ 6.58456355e-01 7.52583857e-01 -7.26407023e-03 2.76669027e+02] [ 1.09602377e-02 6.21801339e-05 9.99939933e-01 2.12009826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.010385723 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:325.80, Y:276.69, Z:21.20 [[ 7.51187199e-01 -6.60038214e-01 -8.20666749e-03 3.25795543e+02] [ 6.59998230e-01 7.51232025e-01 -7.26507279e-03 2.76685219e+02] [ 1.09603371e-02 4.10436568e-05 9.99939933e-01 2.12014480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.040385723 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:325.82, Y:276.70, Z:21.20 [[ 7.50141694e-01 -6.61226226e-01 -8.20468598e-03 3.25817137e+02] [ 6.61186289e-01 7.50186562e-01 -7.26730989e-03 2.76702587e+02] [ 1.09603811e-02 2.66862783e-05 9.99939933e-01 2.12021536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.070385723 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:325.84, Y:276.72, Z:21.20 [[ 7.49020634e-01 -6.62495892e-01 -8.20266217e-03 3.25838287e+02] [ 6.62456006e-01 7.49065547e-01 -7.26959346e-03 2.76719272e+02] [ 1.09604074e-02 1.11726823e-05 9.99939933e-01 2.12025766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.100385723 meters Centerline goodness : 0.999688 Centerline is valid? [True, True] Translation: X:325.86, Y:276.73, Z:21.20 [[ 7.46823717e-01 -6.64971478e-01 -8.20177940e-03 3.25860969e+02] [ 6.64931730e-01 7.46868752e-01 -7.27058929e-03 2.76734668e+02] [ 1.09603873e-02 -2.37748480e-05 9.99939933e-01 2.12024519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.130385723 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:325.88, Y:276.75, Z:21.20 [[ 7.45825968e-01 -6.66090362e-01 -8.20091638e-03 3.25883276e+02] [ 6.66050671e-01 7.45871053e-01 -7.27156261e-03 2.76752018e+02] [ 1.09603439e-02 -3.89056393e-05 9.99939933e-01 2.12027204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.160385723 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:325.91, Y:276.77, Z:21.20 [[ 7.44702387e-01 -6.67346336e-01 -8.19895448e-03 3.25905349e+02] [ 6.67306696e-01 7.44747518e-01 -7.27377405e-03 2.76769608e+02] [ 1.09602775e-02 -5.44203233e-05 9.99939933e-01 2.12028833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.190385723 meters Centerline goodness : 0.999821 Centerline is valid? [True, True] Translation: X:325.93, Y:276.79, Z:21.20 [[ 7.43207864e-01 -6.69010374e-01 -8.19699059e-03 3.25928421e+02] [ 6.68970811e-01 7.43253062e-01 -7.27598654e-03 2.76785692e+02] [ 1.09601488e-02 -7.59770303e-05 9.99939933e-01 2.12027787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.2203857229999 meters Centerline goodness : 0.999643 Centerline is valid? [True, True] Translation: X:325.95, Y:276.80, Z:21.20 [[ 7.42541089e-01 -6.69750382e-01 -8.19497508e-03 3.25949815e+02] [ 6.69710839e-01 7.42586304e-01 -7.27825590e-03 2.76803086e+02] [ 1.09600909e-02 -8.38595775e-05 9.99939933e-01 2.12021321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.250385723 meters Centerline goodness : 0.999641 Centerline is valid? [True, True] Translation: X:325.97, Y:276.82, Z:21.20 [[ 7.42048033e-01 -6.70296631e-01 -8.19410053e-03 3.25972201e+02] [ 6.70257111e-01 7.42093268e-01 -7.27924037e-03 2.76819465e+02] [ 1.09600371e-02 -9.06081502e-05 9.99939933e-01 2.12016590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.280385723 meters Centerline goodness : 0.999708 Centerline is valid? [True, True] Translation: X:325.99, Y:276.84, Z:21.20 [[ 7.42029017e-01 -6.70317706e-01 -8.19211821e-03 3.25994461e+02] [ 6.70278162e-01 7.42074232e-01 -7.28147061e-03 2.76837339e+02] [ 1.09600585e-02 -8.79354581e-05 9.99939933e-01 2.12019333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.310385723 meters Centerline goodness : 0.999709 Centerline is valid? [True, True] Translation: X:326.02, Y:276.85, Z:21.20 [[ 7.42278139e-01 -6.70041855e-01 -8.19008284e-03 3.26015506e+02] [ 6.70002269e-01 7.42323317e-01 -7.28375924e-03 2.76854229e+02] [ 1.09601130e-02 -8.07988262e-05 9.99939933e-01 2.12015740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.3403857229999 meters Centerline goodness : 0.999618 Centerline is valid? [True, True] Translation: X:326.04, Y:276.87, Z:21.20 [[ 7.42679913e-01 -6.69596509e-01 -8.18920727e-03 3.26037956e+02] [ 6.69556885e-01 7.42725057e-01 -7.28474352e-03 2.76871281e+02] [ 1.09601683e-02 -7.29074272e-05 9.99939933e-01 2.12011328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.370385723 meters Centerline goodness : 0.999640 Centerline is valid? [True, True] Translation: X:326.06, Y:276.89, Z:21.20 [[ 7.43058683e-01 -6.69176182e-01 -8.18721780e-03 3.26060237e+02] [ 6.69136508e-01 7.43103783e-01 -7.28697877e-03 2.76889224e+02] [ 1.09602252e-02 -6.37134882e-05 9.99939933e-01 2.12011583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.400385723 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:326.08, Y:276.91, Z:21.20 [[ 7.43221875e-01 -6.68994952e-01 -8.18523852e-03 3.26082195e+02] [ 6.68955243e-01 7.43266944e-01 -7.28920135e-03 2.76906751e+02] [ 1.09602561e-02 -5.80643291e-05 9.99939933e-01 2.12014258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.430385723 meters Centerline goodness : 0.999684 Centerline is valid? [True, True] Translation: X:326.10, Y:276.92, Z:21.20 [[ 7.43582490e-01 -6.68594133e-01 -8.18326839e-03 3.26104212e+02] [ 6.68554375e-01 7.43627516e-01 -7.29141246e-03 2.76922508e+02] [ 1.09602991e-02 -4.91932507e-05 9.99939933e-01 2.12029186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.460385723 meters Centerline goodness : 0.999684 Centerline is valid? [True, True] Translation: X:326.13, Y:276.94, Z:21.20 [[ 7.43762202e-01 -6.68394224e-01 -8.18214426e-03 3.26126337e+02] [ 6.68354440e-01 7.43807206e-01 -7.29267371e-03 2.76940539e+02] [ 1.09603188e-02 -4.45573866e-05 9.99939933e-01 2.12036989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.490385723 meters Centerline goodness : 0.999661 Centerline is valid? [True, True] Translation: X:326.15, Y:276.96, Z:21.21 [[ 7.44317454e-01 -6.67775870e-01 -8.18018833e-03 3.26149069e+02] [ 6.67736025e-01 7.44362403e-01 -7.29486701e-03 2.76957741e+02] [ 1.09603608e-02 -3.25096017e-05 9.99939933e-01 2.12050300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.520385723 meters Centerline goodness : 0.999707 Centerline is valid? [True, True] Translation: X:326.17, Y:276.97, Z:21.21 [[ 7.44751906e-01 -6.67291328e-01 -8.17814499e-03 3.26170250e+02] [ 6.67251428e-01 7.44796806e-01 -7.29715704e-03 2.76974729e+02] [ 1.09603859e-02 -2.23073123e-05 9.99939933e-01 2.12052086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.550385723 meters Centerline goodness : 0.999752 Centerline is valid? [True, True] Translation: X:326.19, Y:276.99, Z:21.21 [[ 7.45209968e-01 -6.66779751e-01 -8.17726470e-03 3.26192265e+02] [ 6.66739809e-01 7.45254832e-01 -7.29814337e-03 2.76992627e+02] [ 1.09604002e-02 -1.34587217e-05 9.99939933e-01 2.12067106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.580385723 meters Centerline goodness : 0.999617 Centerline is valid? [True, True] Translation: X:326.21, Y:277.01, Z:21.21 [[ 7.45994678e-01 -6.65901724e-01 -8.17524307e-03 3.26213299e+02] [ 6.65861705e-01 7.46039472e-01 -7.30040726e-03 2.77009527e+02] [ 1.09604078e-02 2.48367796e-06 9.99939933e-01 2.12071192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.610385723 meters Centerline goodness : 0.999209 Centerline is valid? [True, True] Translation: X:326.24, Y:277.03, Z:21.21 [[ 7.48079262e-01 -6.63559042e-01 -8.17412736e-03 3.26238718e+02] [ 6.63518869e-01 7.48123918e-01 -7.30165629e-03 2.77027796e+02] [ 1.09603402e-02 3.85299098e-05 9.99939933e-01 2.12078944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.640385723 meters Centerline goodness : 0.998849 Centerline is valid? [True, True] Translation: X:326.26, Y:277.05, Z:21.21 [[ 7.50554423e-01 -6.60757509e-01 -8.22022482e-03 3.26257179e+02] [ 6.60717733e-01 7.50599437e-01 -7.25004274e-03 2.77045328e+02] [ 1.09606163e-02 1.03033386e-05 9.99939931e-01 2.12077424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.670385723 meters Centerline goodness : 0.999347 Centerline is valid? [True, True] Translation: X:326.28, Y:277.06, Z:21.21 [[ 7.51295943e-01 -6.59914864e-01 -8.17175986e-03 3.26279766e+02] [ 6.59874446e-01 7.51340378e-01 -7.30426373e-03 2.77064578e+02] [ 1.09599653e-02 9.53281976e-05 9.99939933e-01 2.12069255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.700385723 meters Centerline goodness : 0.998845 Centerline is valid? [True, True] Translation: X:326.30, Y:277.08, Z:21.21 [[ 7.52246311e-01 -6.58830919e-01 -8.20418106e-03 3.26301565e+02] [ 6.58790831e-01 7.52291045e-01 -7.26801667e-03 2.77083460e+02] [ 1.09603260e-02 6.24994663e-05 9.99939932e-01 2.12069332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.730385723 meters Centerline goodness : 0.998847 Centerline is valid? [True, True] Translation: X:326.32, Y:277.10, Z:21.21 [[ 7.52669724e-01 -6.58347085e-01 -8.20991875e-03 3.26321977e+02] [ 6.58307039e-01 7.52714496e-01 -7.26160394e-03 2.77101393e+02] [ 1.09603806e-02 6.09421308e-05 9.99939931e-01 2.12058846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.760385723 meters Centerline goodness : 0.999389 Centerline is valid? [True, True] Translation: X:326.34, Y:277.12, Z:21.21 [[ 7.52565095e-01 -6.58466797e-01 -8.20092205e-03 3.26343164e+02] [ 6.58426648e-01 7.52609774e-01 -7.27165435e-03 2.77120549e+02] [ 1.09602370e-02 7.26876353e-05 9.99939932e-01 2.12065867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.790385723 meters Centerline goodness : 0.999389 Centerline is valid? [True, True] Translation: X:326.36, Y:277.14, Z:21.21 [[ 7.53227192e-01 -6.57709506e-01 -8.18554539e-03 3.26363234e+02] [ 6.57669126e-01 7.53271660e-01 -7.28882106e-03 2.77138112e+02] [ 1.09598663e-02 1.06757729e-04 9.99939933e-01 2.12073620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.820385723 meters Centerline goodness : 0.999368 Centerline is valid? [True, True] Translation: X:326.38, Y:277.16, Z:21.21 [[ 7.53409622e-01 -6.57500813e-01 -8.16223919e-03 3.26382959e+02] [ 6.57460138e-01 7.53453821e-01 -7.31482725e-03 2.77158101e+02] [ 1.09593752e-02 1.44714328e-04 9.99939934e-01 2.12078320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.850385723 meters Centerline goodness : 0.999526 Centerline is valid? [True, True] Translation: X:326.40, Y:277.18, Z:21.21 [[ 7.53425882e-01 -6.57482206e-01 -8.16020707e-03 3.26402107e+02] [ 6.57441506e-01 7.53470057e-01 -7.31709353e-03 2.77177066e+02] [ 1.09593305e-02 1.48028822e-04 9.99939934e-01 2.12067204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.880385723 meters Centerline goodness : 0.999258 Centerline is valid? [True, True] Translation: X:326.42, Y:277.20, Z:21.21 [[ 7.53600381e-01 -6.57282203e-01 -8.15908263e-03 3.26420818e+02] [ 6.57241477e-01 7.53644533e-01 -7.31834715e-03 2.77197591e+02] [ 1.09592674e-02 1.52621678e-04 9.99939934e-01 2.12065868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.910385723 meters Centerline goodness : 0.999573 Centerline is valid? [True, True] Translation: X:326.44, Y:277.22, Z:21.21 [[ 7.53311872e-01 -6.57612868e-01 -8.15713928e-03 3.26442508e+02] [ 6.57572138e-01 7.53356020e-01 -7.32051259e-03 2.77218483e+02] [ 1.09592933e-02 1.50721534e-04 9.99939934e-01 2.12058728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.940385723 meters Centerline goodness : 0.999438 Centerline is valid? [True, True] Translation: X:326.46, Y:277.24, Z:21.21 [[ 7.53492920e-01 -6.57405146e-01 -8.17889884e-03 3.26461792e+02] [ 6.57364666e-01 7.53537298e-01 -7.29627073e-03 2.77236652e+02] [ 1.09597113e-02 1.21169226e-04 9.99939933e-01 2.12075567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.9703857229999 meters Centerline goodness : 0.999731 Centerline is valid? [True, True] Translation: X:326.48, Y:277.26, Z:21.21 [[ 7.53421622e-01 -6.57487158e-01 -8.15455893e-03 3.26483471e+02] [ 6.57446390e-01 7.53465735e-01 -7.32337317e-03 2.77256963e+02] [ 1.09592046e-02 1.56402366e-04 9.99939934e-01 2.12061818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.000385723 meters Centerline goodness : 0.999509 Centerline is valid? [True, True] Translation: X:326.50, Y:277.28, Z:21.21 [[ 7.51368880e-01 -6.59831689e-01 -8.18213808e-03 3.26498261e+02] [ 6.59791393e-01 7.51413425e-01 -7.29266467e-03 2.77276704e+02] [ 1.09600996e-02 8.09770053e-05 9.99939933e-01 2.12053121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.030385723 meters Centerline goodness : 0.999036 Centerline is valid? [True, True] Translation: X:326.52, Y:277.30, Z:21.20 [[ 7.49126516e-01 -6.62377496e-01 -8.09425377e-03 3.26516162e+02] [ 6.62336287e-01 7.49170223e-01 -7.39058514e-03 2.77296410e+02] [ 1.09593312e-02 1.75365303e-04 9.99939929e-01 2.12013838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.060385723 meters Centerline goodness : 0.999168 Centerline is valid? [True, True] Translation: X:326.55, Y:277.31, Z:21.21 [[ 7.50994820e-01 -6.60259079e-01 -8.04545306e-03 3.26545325e+02] [ 6.60217163e-01 7.51037862e-01 -7.44490704e-03 2.77314238e+02] [ 1.09580073e-02 2.79340422e-04 9.99939920e-01 2.12059377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.0903857229999 meters Centerline goodness : 0.999279 Centerline is valid? [True, True] Translation: X:326.56, Y:277.33, Z:21.20 [[ 7.47584628e-01 -6.64116482e-01 -8.15617237e-03 3.26560240e+02] [ 6.64076124e-01 7.47629116e-01 -7.32156675e-03 2.77334519e+02] [ 1.09601651e-02 5.71714210e-05 9.99939934e-01 2.12023696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.120385723 meters Centerline goodness : 0.999325 Centerline is valid? [True, True] Translation: X:326.58, Y:277.35, Z:21.20 [[ 7.44920692e-01 -6.67104099e-01 -8.07982563e-03 3.26581575e+02] [ 6.67062995e-01 7.44964499e-01 -7.40652642e-03 2.77353104e+02] [ 1.09601074e-02 1.27522104e-04 9.99939928e-01 2.12037187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.150385723 meters Centerline goodness : 0.999572 Centerline is valid? [True, True] Translation: X:326.61, Y:277.37, Z:21.20 [[ 7.45119868e-01 -6.66881556e-01 -8.08527349e-03 3.26607376e+02] [ 6.66840504e-01 7.45163723e-01 -7.40047531e-03 2.77372849e+02] [ 1.09600930e-02 1.22653332e-04 9.99939929e-01 2.12049620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.180385723 meters Centerline goodness : 0.999233 Centerline is valid? [True, True] Translation: X:326.62, Y:277.39, Z:21.21 [[ 7.42481681e-01 -6.69816838e-01 -8.14598716e-03 3.26623909e+02] [ 6.69776697e-01 7.42526365e-01 -7.33302837e-03 2.77391420e+02] [ 1.09603961e-02 -1.13531343e-05 9.99939933e-01 2.12053130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.210385723 meters Centerline goodness : 0.999709 Centerline is valid? [True, True] Translation: X:326.65, Y:277.41, Z:21.21 [[ 7.41970202e-01 -6.70384116e-01 -8.08434163e-03 3.26649663e+02] [ 6.70343258e-01 7.42014240e-01 -7.40159304e-03 2.77409379e+02] [ 1.09606070e-02 7.24775714e-05 9.99939928e-01 2.12089868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.240385723 meters Centerline goodness : 0.999527 Centerline is valid? [True, True] Translation: X:326.67, Y:277.43, Z:21.21 [[ 7.38576536e-01 -6.74120362e-01 -8.15100811e-03 3.26665742e+02] [ 6.74080543e-01 7.38621507e-01 -7.32743359e-03 2.77427212e+02] [ 1.09600821e-02 -8.25654535e-05 9.99939933e-01 2.12093616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.270385723 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:326.69, Y:277.45, Z:21.21 [[ 7.38274448e-01 -6.74452253e-01 -8.06209009e-03 3.26691432e+02] [ 6.74411369e-01 7.38318466e-01 -7.42624913e-03 2.77446294e+02] [ 1.09610404e-02 4.54447625e-05 9.99939925e-01 2.12104118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.300385723 meters Centerline goodness : 0.999485 Centerline is valid? [True, True] Translation: X:326.71, Y:277.46, Z:21.21 [[ 7.35729703e-01 -6.77226250e-01 -8.14932980e-03 3.26706630e+02] [ 6.77186600e-01 7.35774823e-01 -7.32924816e-03 2.77464704e+02] [ 1.09596309e-02 -1.26271374e-04 9.99939933e-01 2.12096743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.330385723 meters Centerline goodness : 0.999685 Centerline is valid? [True, True] Translation: X:326.73, Y:277.49, Z:21.21 [[ 7.36567720e-01 -6.76315702e-01 -8.06628085e-03 3.26733297e+02] [ 6.76274981e-01 7.36611886e-01 -7.42151604e-03 2.77485081e+02] [ 1.09610062e-02 1.14252113e-05 9.99939926e-01 2.12114944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.360385723 meters Centerline goodness : 0.999684 Centerline is valid? [True, True] Translation: X:326.75, Y:277.50, Z:21.21 [[ 7.35753963e-01 -6.77199907e-01 -8.14809626e-03 3.26753985e+02] [ 6.77160241e-01 7.35799069e-01 -7.33057655e-03 2.77504216e+02] [ 1.09596274e-02 -1.24066080e-04 9.99939934e-01 2.12122359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.390385723 meters Centerline goodness : 0.999550 Centerline is valid? [True, True] Translation: X:326.77, Y:277.52, Z:21.21 [[ 7.35484992e-01 -6.77492043e-01 -8.14606881e-03 3.26773129e+02] [ 6.77452370e-01 7.35530092e-01 -7.33282884e-03 2.77522681e+02] [ 1.09596119e-02 -1.25388058e-04 9.99939934e-01 2.12123689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.420385723 meters Centerline goodness : 0.999594 Centerline is valid? [True, True] Translation: X:326.79, Y:277.54, Z:21.21 [[ 7.35623189e-01 -6.77341999e-01 -8.14495551e-03 3.26792592e+02] [ 6.77302303e-01 7.35668269e-01 -7.33406524e-03 2.77542661e+02] [ 1.09596557e-02 -1.21488661e-04 9.99939934e-01 2.12117829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.450385723 meters Centerline goodness : 0.999685 Centerline is valid? [True, True] Translation: X:326.81, Y:277.56, Z:21.21 [[ 7.35874158e-01 -6.77069358e-01 -8.14295684e-03 3.26812815e+02] [ 6.77029621e-01 7.35919202e-01 -7.33628368e-03 2.77562077e+02] [ 1.09597312e-02 -1.14441403e-04 9.99939934e-01 2.12118592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.480385723 meters Centerline goodness : 0.999752 Centerline is valid? [True, True] Translation: X:326.83, Y:277.58, Z:21.21 [[ 7.36024384e-01 -6.76906072e-01 -8.14097048e-03 3.26833207e+02] [ 6.76866301e-01 7.36069397e-01 -7.33848725e-03 2.77581746e+02] [ 1.09597858e-02 -1.09043020e-04 9.99939934e-01 2.12122380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.510385723 meters Centerline goodness : 0.999752 Centerline is valid? [True, True] Translation: X:326.85, Y:277.60, Z:21.21 [[ 7.35828683e-01 -6.77118829e-01 -8.13884490e-03 3.26854422e+02] [ 6.77079044e-01 7.35873685e-01 -7.34084389e-03 2.77600935e+02] [ 1.09597854e-02 -1.09037833e-04 9.99939934e-01 2.12125501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.540385723 meters Centerline goodness : 0.999618 Centerline is valid? [True, True] Translation: X:326.87, Y:277.62, Z:21.21 [[ 7.37156615e-01 -6.75672938e-01 -8.13672211e-03 3.26874027e+02] [ 6.75633040e-01 7.37201515e-01 -7.34319608e-03 2.77619187e+02] [ 1.09600027e-02 -8.43527347e-05 9.99939934e-01 2.12118937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.570385723 meters Centerline goodness : 0.999642 Centerline is valid? [True, True] Translation: X:326.89, Y:277.64, Z:21.21 [[ 7.39030822e-01 -6.73622491e-01 -8.13528087e-03 3.26894443e+02] [ 6.73582450e-01 7.39075596e-01 -7.34479244e-03 2.77638860e+02] [ 1.09602049e-02 -5.17544230e-05 9.99939934e-01 2.12114177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.600385723 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:326.91, Y:277.66, Z:21.21 [[ 7.41214477e-01 -6.71219003e-01 -8.13317621e-03 3.26913427e+02] [ 6.71178792e-01 7.41259098e-01 -7.34712227e-03 2.77657954e+02] [ 1.09603189e-02 -1.30219920e-05 9.99939934e-01 2.12117329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.630385723 meters Centerline goodness : 0.997905 Centerline is valid? [True, True] Translation: X:326.93, Y:277.68, Z:21.21 [[ 7.42667118e-01 -6.69611399e-01 -8.13175010e-03 3.26933466e+02] [ 6.69571074e-01 7.42711636e-01 -7.34870034e-03 2.77676514e+02] [ 1.09603189e-02 1.28534613e-05 9.99939934e-01 2.12108044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.660385723 meters Centerline goodness : 0.999620 Centerline is valid? [True, True] Translation: X:326.96, Y:277.70, Z:21.21 [[ 7.42780954e-01 -6.69485468e-01 -8.10329973e-03 3.26955056e+02] [ 6.69444791e-01 7.42825151e-01 -7.38016418e-03 2.77696925e+02] [ 1.09602475e-02 5.71336014e-05 9.99939933e-01 2.12127208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.690385723 meters Centerline goodness : 0.999708 Centerline is valid? [True, True] Translation: X:326.97, Y:277.72, Z:21.21 [[ 7.42256623e-01 -6.70066439e-01 -8.12850314e-03 3.26974125e+02] [ 6.70026101e-01 7.42301130e-01 -7.35229999e-03 2.77716305e+02] [ 1.09603265e-02 1.09840917e-05 9.99939934e-01 2.12110831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.7203857229999 meters Centerline goodness : 0.999775 Centerline is valid? [True, True] Translation: X:327.00, Y:277.73, Z:21.21 [[ 7.43761506e-01 -6.68396030e-01 -8.09750090e-03 3.26997449e+02] [ 6.68355219e-01 7.43805580e-01 -7.38655389e-03 2.77734040e+02] [ 1.09601096e-02 8.18274633e-05 9.99939933e-01 2.12141178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.750385723 meters Centerline goodness : 0.999821 Centerline is valid? [True, True] Translation: X:327.02, Y:277.75, Z:21.21 [[ 7.42825186e-01 -6.69436116e-01 -8.12586907e-03 3.27017420e+02] [ 6.69395708e-01 7.42869630e-01 -7.35521340e-03 2.77753461e+02] [ 1.09603068e-02 2.42158835e-05 9.99939934e-01 2.12146967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.780385723 meters Centerline goodness : 0.998609 Centerline is valid? [True, True] Translation: X:327.04, Y:277.77, Z:21.22 [[ 7.43976019e-01 -6.68157104e-01 -8.10972668e-03 3.27038741e+02] [ 6.68116426e-01 7.44020214e-01 -7.37302508e-03 2.77771548e+02] [ 1.09601397e-02 6.71122398e-05 9.99939934e-01 2.12179228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.810385723 meters Centerline goodness : 0.998559 Centerline is valid? [True, True] Translation: X:327.06, Y:277.79, Z:21.22 [[ 7.43839194e-01 -6.68309454e-01 -8.10726921e-03 3.27058931e+02] [ 6.68268756e-01 7.43883371e-01 -7.37573420e-03 2.77790728e+02] [ 1.09601356e-02 6.85254689e-05 9.99939934e-01 2.12180577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.8403857229999 meters Centerline goodness : 0.999865 Centerline is valid? [True, True] Translation: X:327.08, Y:277.81, Z:21.22 [[ 7.44631703e-01 -6.67426270e-01 -8.11176900e-03 3.27079259e+02] [ 6.67385573e-01 7.44675881e-01 -7.37077477e-03 2.77809735e+02] [ 1.09600874e-02 7.48349655e-05 9.99939934e-01 2.12167273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.870385723 meters Centerline goodness : 0.999708 Centerline is valid? [True, True] Translation: X:327.10, Y:277.83, Z:21.22 [[ 7.43844491e-01 -6.68303760e-01 -8.09058605e-03 3.27100290e+02] [ 6.68262860e-01 7.43888484e-01 -7.39412085e-03 2.77829102e+02] [ 1.09600125e-02 9.34378851e-05 9.99939933e-01 2.12168268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.900385723 meters Centerline goodness : 0.999618 Centerline is valid? [True, True] Translation: X:327.12, Y:277.85, Z:21.21 [[ 7.43379267e-01 -6.68820988e-01 -8.10873886e-03 3.27120702e+02] [ 6.68780337e-01 7.43423488e-01 -7.37411952e-03 2.77848042e+02] [ 1.09601928e-02 5.88024555e-05 9.99939934e-01 2.12137443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.930385723 meters Centerline goodness : 0.999528 Centerline is valid? [True, True] Translation: X:327.14, Y:277.87, Z:21.22 [[ 7.42485988e-01 -6.69812599e-01 -8.10188125e-03 3.27142451e+02] [ 6.69771925e-01 7.42530188e-01 -7.38167197e-03 2.77867015e+02] [ 1.09602283e-02 5.43754061e-05 9.99939933e-01 2.12177566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.960385723 meters Centerline goodness : 0.999618 Centerline is valid? [True, True] Translation: X:327.16, Y:277.89, Z:21.22 [[ 7.41207382e-01 -6.71227125e-01 -8.10953223e-03 3.27163176e+02] [ 6.71186627e-01 7.41251743e-01 -7.37324858e-03 2.77886321e+02] [ 1.09603293e-02 2.20966864e-05 9.99939934e-01 2.12164248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.990385723 meters Centerline goodness : 0.999619 Centerline is valid? [True, True] Translation: X:327.18, Y:277.91, Z:21.22 [[ 7.40313880e-01 -6.72212431e-01 -8.11213706e-03 3.27184361e+02] [ 6.72172024e-01 7.40358324e-01 -7.37038160e-03 2.77905014e+02] [ 1.09603503e-02 3.64421004e-06 9.99939934e-01 2.12169339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.020385723 meters Centerline goodness : 0.996588 Centerline is valid? [True, True] Translation: X:327.20, Y:277.92, Z:21.22 [[ 7.39003454e-01 -6.73652819e-01 -8.11011680e-03 3.27203740e+02] [ 6.73612474e-01 7.39047955e-01 -7.37260395e-03 2.77922440e+02] [ 1.09603407e-02 -1.46960589e-05 9.99939934e-01 2.12160428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.050385723 meters Centerline goodness : 0.999597 Centerline is valid? [True, True] Translation: X:327.22, Y:277.94, Z:21.22 [[ 7.36932245e-01 -6.75918529e-01 -8.06281105e-03 3.27224728e+02] [ 6.75877750e-01 7.36976351e-01 -7.42458779e-03 2.77942354e+02] [ 1.09605175e-02 2.19435514e-05 9.99939931e-01 2.12155805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.080385723 meters Centerline goodness : 0.999595 Centerline is valid? [True, True] Translation: X:327.25, Y:277.96, Z:21.22 [[ 7.34997296e-01 -6.78021575e-01 -8.10664539e-03 3.27245447e+02] [ 6.77981453e-01 7.35041997e-01 -7.37641408e-03 2.77960621e+02] [ 1.09600927e-02 -7.45108165e-05 9.99939934e-01 2.12155875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.110385723 meters Centerline goodness : 0.999618 Centerline is valid? [True, True] Translation: X:327.27, Y:277.98, Z:21.22 [[ 7.34214404e-01 -6.78869299e-01 -8.10463257e-03 3.27265577e+02] [ 6.78829203e-01 7.34259129e-01 -7.37862495e-03 2.77978918e+02] [ 1.09600224e-02 -8.41685515e-05 9.99939934e-01 2.12154946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.140385723 meters Centerline goodness : 0.999572 Centerline is valid? [True, True] Translation: X:327.29, Y:278.00, Z:21.22 [[ 7.33450805e-01 -6.79694235e-01 -8.10326727e-03 3.27286534e+02] [ 6.79654174e-01 7.33495561e-01 -7.38012402e-03 2.77998149e+02] [ 1.09599383e-02 -9.44615162e-05 9.99939934e-01 2.12159498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.170385723 meters Centerline goodness : 0.999865 Centerline is valid? [True, True] Translation: X:327.31, Y:278.02, Z:21.22 [[ 7.32374124e-01 -6.80854251e-01 -8.10128537e-03 3.27307749e+02] [ 6.80814237e-01 7.32418922e-01 -7.38229895e-03 2.78017195e+02] [ 1.09598043e-02 -1.08865681e-04 9.99939934e-01 2.12175497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.200385723 meters Centerline goodness : 0.998021 Centerline is valid? [True, True] Translation: X:327.33, Y:278.03, Z:21.22 [[ 7.34325242e-01 -6.78749469e-01 -8.09929219e-03 3.27329892e+02] [ 6.78709302e-01 7.34369902e-01 -7.38448507e-03 2.78033635e+02] [ 1.09600917e-02 -7.44511642e-05 9.99939934e-01 2.12167926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.230385723 meters Centerline goodness : 0.999820 Centerline is valid? [True, True] Translation: X:327.35, Y:278.05, Z:21.22 [[ 7.31080294e-01 -6.82243390e-01 -8.09693355e-03 3.27347785e+02] [ 6.82203408e-01 7.31125121e-01 -7.38707036e-03 2.78054225e+02] [ 1.09596514e-02 -1.23214083e-04 9.99939934e-01 2.12194413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.260385723 meters Centerline goodness : 0.998783 Centerline is valid? [True, True] Translation: X:327.36, Y:278.07, Z:21.22 [[ 7.33425420e-01 -6.79721728e-01 -8.09480908e-03 3.27364963e+02] [ 6.79681566e-01 7.33470085e-01 -7.38939764e-03 2.78069002e+02] [ 1.09600344e-02 -8.23204529e-05 9.99939934e-01 2.12196041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.290385723 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:327.39, Y:278.09, Z:21.22 [[ 7.30902891e-01 -6.82434858e-01 -7.97669466e-03 3.27388038e+02] [ 6.82393442e-01 7.30946415e-01 -7.51856185e-03 2.78092909e+02] [ 1.09614651e-02 5.20944714e-05 9.99939920e-01 2.12200851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.320385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:327.41, Y:278.11, Z:21.22 [[ 7.31387515e-01 -6.81914101e-01 -8.09087428e-03 3.27407655e+02] [ 6.81874026e-01 7.31432257e-01 -7.39361467e-03 2.78112372e+02] [ 1.09597365e-02 -1.09359559e-04 9.99939934e-01 2.12200240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.350385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:327.43, Y:278.13, Z:21.22 [[ 7.31442339e-01 -6.81855319e-01 -8.08885149e-03 3.27428099e+02] [ 6.81815216e-01 7.31487056e-01 -7.39582700e-03 2.78132078e+02] [ 1.09597741e-02 -1.05481027e-04 9.99939934e-01 2.12203780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.380385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:327.45, Y:278.15, Z:21.22 [[ 7.31788202e-01 -6.81484138e-01 -8.08681796e-03 3.27447535e+02] [ 6.81443988e-01 7.31832877e-01 -7.39804986e-03 2.78152342e+02] [ 1.09598529e-02 -9.69078755e-05 9.99939934e-01 2.12211130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.410385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:327.47, Y:278.17, Z:21.22 [[ 7.32116859e-01 -6.81131075e-01 -8.08478915e-03 3.27466648e+02] [ 6.81090879e-01 7.32161492e-01 -7.40026634e-03 2.78171706e+02] [ 1.09599227e-02 -8.86164071e-05 9.99939934e-01 2.12210210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.440385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:327.49, Y:278.19, Z:21.22 [[ 7.32234742e-01 -6.81004359e-01 -8.08367130e-03 3.27485801e+02] [ 6.80964141e-01 7.32279357e-01 -7.40148722e-03 2.78191331e+02] [ 1.09599507e-02 -8.50641952e-05 9.99939934e-01 2.12211294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.4703857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:327.50, Y:278.21, Z:21.22 [[ 7.32771637e-01 -6.80426634e-01 -8.08230655e-03 3.27504631e+02] [ 6.80386365e-01 7.32816205e-01 -7.40297720e-03 2.78211879e+02] [ 1.09600281e-02 -7.43994586e-05 9.99939934e-01 2.12213495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.500385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:327.53, Y:278.23, Z:21.22 [[ 7.33158256e-01 -6.80010059e-01 -8.08031898e-03 3.27527827e+02] [ 6.79969741e-01 7.33202779e-01 -7.40514599e-03 2.78231862e+02] [ 1.09600861e-02 -6.52284838e-05 9.99939934e-01 2.12202332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.530385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:327.55, Y:278.25, Z:21.22 [[ 7.31967974e-01 -6.81290597e-01 -8.12455146e-03 3.27546103e+02] [ 6.81250890e-01 7.32013047e-01 -7.35694332e-03 2.78252143e+02] [ 1.09594940e-02 -1.49811014e-04 9.99939932e-01 2.12206607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.560385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:327.56, Y:278.27, Z:21.22 [[ 7.31646536e-01 -6.81636076e-01 -8.09971128e-03 3.27563412e+02] [ 6.81596091e-01 7.31691359e-01 -7.38398991e-03 2.78272302e+02] [ 1.09596827e-02 -1.18260906e-04 9.99939934e-01 2.12219752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.5903857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:327.59, Y:278.29, Z:21.22 [[ 7.31175468e-01 -6.82141717e-01 -8.06929092e-03 3.27585890e+02] [ 6.82101397e-01 7.31219989e-01 -7.41708525e-03 2.78292808e+02] [ 1.09599301e-02 -8.08838285e-05 9.99939935e-01 2.12203385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.620385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:327.60, Y:278.31, Z:21.22 [[ 7.29829283e-01 -6.83581414e-01 -8.10361391e-03 3.27603076e+02] [ 6.83541595e-01 7.29874254e-01 -7.37975207e-03 2.78313370e+02] [ 1.09592805e-02 -1.53198021e-04 9.99939934e-01 2.12227490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.650385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:327.62, Y:278.33, Z:21.22 [[ 7.29115740e-01 -6.84342886e-01 -8.06548180e-03 3.27624982e+02] [ 6.84302655e-01 7.29160341e-01 -7.42119472e-03 2.78332943e+02] [ 1.09596713e-02 -1.08320730e-04 9.99939935e-01 2.12218183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.680385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:327.64, Y:278.35, Z:21.22 [[ 7.28523338e-01 -6.84973037e-01 -8.10458246e-03 3.27643513e+02] [ 6.84933316e-01 7.28568396e-01 -7.37870067e-03 2.78353174e+02] [ 1.09589537e-02 -1.75542894e-04 9.99939933e-01 2.12234503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.710385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:327.66, Y:278.37, Z:21.22 [[ 7.28038482e-01 -6.85488852e-01 -8.06240402e-03 3.27663784e+02] [ 6.85448654e-01 7.28083113e-01 -7.42450305e-03 2.78373128e+02] [ 1.09595143e-02 -1.21040051e-04 9.99939935e-01 2.12236832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.740385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:327.69, Y:278.40, Z:21.22 [[ 7.26219756e-01 -6.87415373e-01 -8.06041945e-03 3.27685389e+02] [ 6.87375270e-01 7.26264472e-01 -7.42665698e-03 2.78396090e+02] [ 1.09591945e-02 -1.47147972e-04 9.99939935e-01 2.12243074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.770385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:327.70, Y:278.41, Z:21.22 [[ 7.27230094e-01 -6.86345692e-01 -8.12289710e-03 3.27703119e+02] [ 6.86306277e-01 7.27275423e-01 -7.35887836e-03 2.78414800e+02] [ 1.09583179e-02 -2.23197468e-04 9.99939931e-01 2.12245790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.800385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:327.72, Y:278.44, Z:21.22 [[ 7.27904966e-01 -6.85630716e-01 -8.05491919e-03 3.27724891e+02] [ 6.85590438e-01 7.27949523e-01 -7.43254854e-03 2.78437505e+02] [ 1.09595582e-02 -1.12186592e-04 9.99939936e-01 2.12224389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.830385723 meters Centerline goodness : 0.997258 Centerline is valid? [True, True] Translation: X:327.74, Y:278.46, Z:21.22 [[ 7.28616056e-01 -6.84874293e-01 -8.11453980e-03 3.27741416e+02] [ 6.84834687e-01 7.28661216e-01 -7.36780420e-03 2.78456147e+02] [ 1.09587701e-02 -1.88817882e-04 9.99939933e-01 2.12208144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.860385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:327.76, Y:278.48, Z:21.22 [[ 7.28193225e-01 -6.85324509e-01 -8.05882293e-03 3.27760596e+02] [ 6.85284259e-01 7.28237808e-01 -7.42825084e-03 2.78477097e+02] [ 1.09595019e-02 -1.13382562e-04 9.99939936e-01 2.12230065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.890385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:327.78, Y:278.50, Z:21.22 [[ 7.28912252e-01 -6.84559730e-01 -8.05638265e-03 3.27779479e+02] [ 6.84519405e-01 7.28956766e-01 -7.43089653e-03 2.78498722e+02] [ 1.09596472e-02 -9.82787384e-05 9.99939936e-01 2.12232225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.920385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:327.80, Y:278.52, Z:21.22 [[ 7.29132751e-01 -6.84324893e-01 -8.05437212e-03 3.27798603e+02] [ 6.84284529e-01 7.29177230e-01 -7.43307510e-03 2.78518944e+02] [ 1.09597031e-02 -9.17837344e-05 9.99939936e-01 2.12237003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.950385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:327.82, Y:278.54, Z:21.22 [[ 7.29989413e-01 -6.83411017e-01 -8.05231978e-03 3.27816500e+02] [ 6.83370573e-01 7.30033819e-01 -7.43529776e-03 2.78539563e+02] [ 1.09598302e-02 -7.50297351e-05 9.99939936e-01 2.12211744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.980385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:327.84, Y:278.56, Z:21.22 [[ 7.28772114e-01 -6.84708991e-01 -8.05004611e-03 3.27837084e+02] [ 6.84668599e-01 7.28816568e-01 -7.43775860e-03 2.78562143e+02] [ 1.09597072e-02 -9.11827324e-05 9.99939936e-01 2.12213710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.010385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:327.86, Y:278.58, Z:21.22 [[ 7.31241789e-01 -6.82070565e-01 -8.07401433e-03 3.27860563e+02] [ 6.82030298e-01 7.31286358e-01 -7.41184254e-03 2.78582696e+02] [ 1.09598162e-02 -8.68734009e-05 9.99939936e-01 2.12224485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.040385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:327.88, Y:278.60, Z:21.22 [[ 7.30434421e-01 -6.82934589e-01 -8.11803498e-03 3.27877424e+02] [ 6.82894903e-01 7.30479513e-01 -7.36424661e-03 2.78604998e+02] [ 1.09593570e-02 -1.64665496e-04 9.99939931e-01 2.12234780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.070385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:327.89, Y:278.62, Z:21.22 [[ 7.30102278e-01 -6.83290039e-01 -8.08622506e-03 3.27893981e+02] [ 6.83249993e-01 7.30147045e-01 -7.39856250e-03 2.78623948e+02] [ 1.09594974e-02 -1.23205884e-04 9.99939935e-01 2.12235780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.100385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:327.92, Y:278.64, Z:21.23 [[ 7.29619038e-01 -6.83806620e-01 -8.03526804e-03 3.27915115e+02] [ 6.83766000e-01 7.29663280e-01 -7.45349694e-03 2.78644925e+02] [ 1.09597906e-02 -5.60298228e-05 9.99939938e-01 2.12256387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.130385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:327.94, Y:278.67, Z:21.22 [[ 7.29775164e-01 -6.83639765e-01 -8.05490115e-03 3.27935415e+02] [ 6.83599368e-01 7.29819611e-01 -7.43234257e-03 2.78665788e+02] [ 1.09596697e-02 -8.23863130e-05 9.99939938e-01 2.12249118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.160385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:327.95, Y:278.69, Z:21.22 [[ 7.29192239e-01 -6.84261285e-01 -8.07297290e-03 3.27953384e+02] [ 6.84221140e-01 7.29236916e-01 -7.41288193e-03 2.78685807e+02] [ 1.09594580e-02 -1.18282759e-04 9.99939936e-01 2.12247400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.190385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:327.97, Y:278.71, Z:21.23 [[ 7.29698300e-01 -6.83721962e-01 -8.04172315e-03 3.27971540e+02] [ 6.83681414e-01 7.29742608e-01 -7.44650052e-03 2.78706404e+02] [ 1.09597240e-02 -6.42778782e-05 9.99939938e-01 2.12259055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.2203857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:327.99, Y:278.73, Z:21.23 [[ 7.29430653e-01 -6.84007691e-01 -8.02502980e-03 3.27990269e+02] [ 6.83966963e-01 7.29474795e-01 -7.46444754e-03 2.78725326e+02] [ 1.09597965e-02 -4.40584170e-05 9.99939939e-01 2.12259271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.250385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:328.01, Y:278.75, Z:21.23 [[ 7.29089467e-01 -6.84371363e-01 -8.02414220e-03 3.28010604e+02] [ 6.84330646e-01 7.29133619e-01 -7.46540159e-03 2.78745114e+02] [ 1.09597789e-02 -4.82207501e-05 9.99939939e-01 2.12263851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.280385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:328.03, Y:278.77, Z:21.23 [[ 7.28123715e-01 -6.85398790e-01 -8.02211925e-03 3.28030835e+02] [ 6.85358111e-01 7.28167903e-01 -7.46757476e-03 2.78765214e+02] [ 1.09597165e-02 -6.07062180e-05 9.99939939e-01 2.12273599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.310385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:328.05, Y:278.78, Z:21.23 [[ 7.27425647e-01 -6.86139641e-01 -8.02007624e-03 3.28050027e+02] [ 6.86098983e-01 7.27469854e-01 -7.46976828e-03 2.78784148e+02] [ 1.09596678e-02 -6.88651285e-05 9.99939939e-01 2.12278255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.3403857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:328.07, Y:278.80, Z:21.23 [[ 7.25904395e-01 -6.87748865e-01 -8.01919065e-03 3.28069466e+02] [ 6.87708295e-01 7.25948683e-01 -7.47071889e-03 2.78804318e+02] [ 1.09594993e-02 -9.18362529e-05 9.99939939e-01 2.12280533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.370385723 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:328.09, Y:278.82, Z:21.23 [[ 7.25381593e-01 -6.88300276e-01 -8.01715476e-03 3.28089140e+02] [ 6.88259715e-01 7.25425889e-01 -7.47290305e-03 2.78823119e+02] [ 1.09594529e-02 -9.71783277e-05 9.99939939e-01 2.12279017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.400385723 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:328.11, Y:278.84, Z:21.23 [[ 7.25200050e-01 -6.88491565e-01 -8.01577202e-03 3.28109989e+02] [ 6.88450999e-01 7.25244342e-01 -7.47438594e-03 2.78842665e+02] [ 1.09594450e-02 -9.80411972e-05 9.99939939e-01 2.12282142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.430385723 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:328.14, Y:278.86, Z:21.23 [[ 7.25998302e-01 -6.87649798e-01 -8.01380022e-03 3.28135662e+02] [ 6.87609157e-01 7.26042525e-01 -7.47649945e-03 2.78862612e+02] [ 1.09595731e-02 -8.24365074e-05 9.99939939e-01 2.12275069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.460385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:328.15, Y:278.88, Z:21.23 [[ 7.25797072e-01 -6.87861159e-01 -8.10162563e-03 3.28154570e+02] [ 6.87821577e-01 7.25842256e-01 -7.38230957e-03 2.78882166e+02] [ 1.09585062e-02 -2.14414237e-04 9.99939931e-01 2.12278832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.490385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:328.17, Y:278.90, Z:21.23 [[ 7.24757332e-01 -6.88956688e-01 -8.09270783e-03 3.28171814e+02] [ 6.88917067e-01 7.24802480e-01 -7.39187033e-03 2.78902573e+02] [ 1.09582932e-02 -2.17892330e-04 9.99939932e-01 2.12266779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.520385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:328.19, Y:278.92, Z:21.23 [[ 7.25741333e-01 -6.87920747e-01 -8.03512522e-03 3.28190287e+02] [ 6.87880377e-01 7.25785803e-01 -7.45351287e-03 2.78921365e+02] [ 1.09592060e-02 -1.17882598e-04 9.99939939e-01 2.12293574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.550385723 meters Centerline goodness : 0.999632 Centerline is valid? [True, True] Translation: X:328.21, Y:278.94, Z:21.23 [[ 7.29082759e-01 -6.84378721e-01 -8.00604562e-03 3.28214986e+02] [ 6.84337793e-01 7.29126715e-01 -7.48461835e-03 2.78942401e+02] [ 1.09597353e-02 -2.19333891e-05 9.99939940e-01 2.12277482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.580385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:328.23, Y:278.96, Z:21.23 [[ 7.29804706e-01 -6.83607757e-01 -8.09482161e-03 3.28233498e+02] [ 6.83567830e-01 7.29849584e-01 -7.38960368e-03 2.78961373e+02] [ 1.09595926e-02 -1.40392110e-04 9.99939932e-01 2.12265926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.610385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:328.25, Y:278.98, Z:21.23 [[ 7.31208586e-01 -6.82106088e-01 -8.08014666e-03 3.28249366e+02] [ 6.82065895e-01 7.31253223e-01 -7.40530576e-03 2.78979714e+02] [ 1.09598374e-02 -9.63693175e-05 9.99939935e-01 2.12264900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.640385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:328.27, Y:279.00, Z:21.23 [[ 7.31972154e-01 -6.81287543e-01 -8.00306950e-03 3.28269813e+02] [ 6.81246396e-01 7.32015903e-01 -7.48768828e-03 2.78998450e+02] [ 1.09596429e-02 2.87170675e-05 9.99939941e-01 2.12265757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.670385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:328.29, Y:279.02, Z:21.23 [[ 7.32727986e-01 -6.80474600e-01 -8.00107247e-03 3.28290019e+02] [ 6.80433381e-01 7.32771668e-01 -7.48982163e-03 2.79016756e+02] [ 1.09595926e-02 4.38051301e-05 9.99939941e-01 2.12254619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.700385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:328.31, Y:279.03, Z:21.23 [[ 7.33461047e-01 -6.79684407e-01 -8.00001198e-03 3.28311318e+02] [ 6.79643128e-01 7.33504672e-01 -7.49095418e-03 2.79034942e+02] [ 1.09595309e-02 5.71699253e-05 9.99939941e-01 2.12265115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.730385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:328.33, Y:279.05, Z:21.23 [[ 7.33651487e-01 -6.79478864e-01 -7.99804234e-03 3.28333999e+02] [ 6.79437550e-01 7.33695079e-01 -7.49305657e-03 2.79054122e+02] [ 1.09594979e-02 6.31218017e-05 9.99939941e-01 2.12278800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.760385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:328.35, Y:279.07, Z:21.23 [[ 7.34826357e-01 -6.78207771e-01 -8.02769367e-03 3.28353894e+02] [ 6.78166727e-01 7.34870204e-01 -7.46140458e-03 2.79070270e+02] [ 1.09596955e-02 3.87220051e-05 9.99939940e-01 2.12280992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.790385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:328.38, Y:279.09, Z:21.23 [[ 7.35123247e-01 -6.77886340e-01 -7.99508239e-03 3.28375081e+02] [ 6.77844898e-01 7.35166717e-01 -7.49618627e-03 2.79088626e+02] [ 1.09592807e-02 9.11949900e-05 9.99939941e-01 2.12286887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.820385723 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:328.40, Y:279.11, Z:21.23 [[ 7.35634703e-01 -6.77331302e-01 -7.99315386e-03 3.28396422e+02] [ 6.77289805e-01 7.35678120e-01 -7.49824209e-03 2.79106686e+02] [ 1.09591825e-02 1.02285478e-04 9.99939941e-01 2.12292707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.850385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:328.42, Y:279.12, Z:21.23 [[ 7.35978019e-01 -6.76958267e-01 -7.99123380e-03 3.28417849e+02] [ 6.76916726e-01 7.36021394e-01 -7.50028782e-03 2.79123986e+02] [ 1.09591009e-02 1.10647155e-04 9.99939941e-01 2.12299242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.880385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:328.44, Y:279.14, Z:21.23 [[ 7.35711079e-01 -6.77248375e-01 -7.99038738e-03 3.28439506e+02] [ 6.77206841e-01 7.35754461e-01 -7.50118945e-03 2.79142600e+02] [ 1.09591315e-02 1.07563188e-04 9.99939941e-01 2.12303757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.910385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:328.46, Y:279.16, Z:21.23 [[ 7.34842260e-01 -6.78191003e-01 -7.98849807e-03 3.28462919e+02] [ 6.78149503e-01 7.34885674e-01 -7.50320096e-03 2.79158560e+02] [ 1.09592362e-02 9.62731565e-05 9.99939941e-01 2.12322769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.940385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:328.48, Y:279.18, Z:21.23 [[ 7.32939309e-01 -6.80247149e-01 -7.98660764e-03 3.28483413e+02] [ 6.80205748e-01 7.32982818e-01 -7.50521264e-03 2.79176488e+02] [ 1.09594457e-02 6.83289431e-05 9.99939941e-01 2.12338552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.9703857229999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:328.51, Y:279.19, Z:21.23 [[ 7.34033971e-01 -6.79066270e-01 -7.94548176e-03 3.28507025e+02] [ 6.79024325e-01 7.34076958e-01 -7.54893731e-03 2.79193800e+02] [ 1.09588238e-02 1.46001052e-04 9.99939940e-01 2.12344323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.000385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:328.53, Y:279.21, Z:21.24 [[ 7.33870896e-01 -6.79242055e-01 -7.98370002e-03 3.28529903e+02] [ 6.79200561e-01 7.33914316e-01 -7.50829922e-03 2.79211073e+02] [ 1.09593043e-02 8.75887437e-05 9.99939941e-01 2.12356285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.030385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:328.55, Y:279.23, Z:21.24 [[ 7.33880040e-01 -6.79232198e-01 -7.98169609e-03 3.28551370e+02] [ 6.79190681e-01 7.33923438e-01 -7.51042890e-03 2.79229215e+02] [ 1.09592790e-02 9.06602603e-05 9.99939941e-01 2.12361181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.060385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:328.57, Y:279.25, Z:21.24 [[ 7.34121838e-01 -6.78970877e-01 -7.97964551e-03 3.28572870e+02] [ 6.78929321e-01 7.34165198e-01 -7.51260695e-03 2.79247063e+02] [ 1.09592194e-02 9.75535183e-05 9.99939941e-01 2.12363680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.0903857229999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:328.59, Y:279.26, Z:21.24 [[ 7.34330463e-01 -6.78745261e-01 -7.97756500e-03 3.28594951e+02] [ 6.78703667e-01 7.34373788e-01 -7.51481557e-03 2.79262543e+02] [ 1.09591601e-02 1.03955382e-04 9.99939941e-01 2.12363318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.120385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:328.62, Y:279.28, Z:21.24 [[ 7.34029720e-01 -6.79070499e-01 -7.97666285e-03 3.28616014e+02] [ 6.79028914e-01 7.34073053e-01 -7.51577305e-03 2.79279950e+02] [ 1.09591930e-02 1.00416079e-04 9.99939941e-01 2.12357652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.150385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:328.64, Y:279.30, Z:21.23 [[ 7.33027156e-01 -6.80152617e-01 -7.97528026e-03 3.28639106e+02] [ 6.80111080e-01 7.33070535e-01 -7.51723988e-03 2.79296965e+02] [ 1.09593134e-02 8.62645019e-05 9.99939941e-01 2.12344788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.180385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:328.66, Y:279.32, Z:21.24 [[ 7.32090487e-01 -6.81160734e-01 -7.97331002e-03 3.28661897e+02] [ 6.81119234e-01 7.32133901e-01 -7.51932908e-03 2.79316033e+02] [ 1.09594023e-02 7.40544774e-05 9.99939941e-01 2.12358382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.210385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:328.68, Y:279.33, Z:21.24 [[ 7.31675707e-01 -6.81606108e-01 -7.98580419e-03 3.28683102e+02] [ 6.81564779e-01 7.31719284e-01 -7.50608295e-03 2.79333546e+02] [ 1.09595589e-02 4.91756822e-05 9.99939941e-01 2.12368326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.240385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:328.71, Y:279.35, Z:21.23 [[ 7.30742428e-01 -6.82606692e-01 -7.97546544e-03 3.28705474e+02] [ 6.82565302e-01 7.30785948e-01 -7.51703908e-03 2.79349325e+02] [ 1.09595392e-02 4.92434079e-05 9.99939941e-01 2.12345397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.270385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:328.73, Y:279.37, Z:21.24 [[ 7.29196761e-01 -6.84257771e-01 -7.96157604e-03 3.28726717e+02] [ 6.84216319e-01 7.29240222e-01 -7.53174923e-03 2.79368350e+02] [ 1.09595594e-02 4.46868963e-05 9.99939941e-01 2.12368749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.300385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:328.75, Y:279.38, Z:21.24 [[ 7.28783712e-01 -6.84697730e-01 -7.95734974e-03 3.28750025e+02] [ 6.84656256e-01 7.28827152e-01 -7.53622431e-03 2.79384399e+02] [ 1.09595682e-02 4.42282564e-05 9.99939941e-01 2.12390000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.330385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:328.77, Y:279.40, Z:21.24 [[ 7.28384520e-01 -6.85122265e-01 -7.96696122e-03 3.28771216e+02] [ 6.85080928e-01 7.28428089e-01 -7.52604974e-03 2.79402461e+02] [ 1.09596226e-02 2.38449455e-05 9.99939941e-01 2.12394985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.360385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:328.79, Y:279.42, Z:21.24 [[ 7.27855967e-01 -6.85683783e-01 -7.96491704e-03 3.28793343e+02] [ 6.85642456e-01 7.27899546e-01 -7.52821250e-03 2.79419621e+02] [ 1.09596327e-02 1.83691119e-05 9.99939941e-01 2.12400756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.390385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:328.81, Y:279.44, Z:21.24 [[ 7.27656873e-01 -6.85895085e-01 -7.96288068e-03 3.28814557e+02] [ 6.85853747e-01 7.27700441e-01 -7.53036582e-03 2.79437736e+02] [ 1.09596327e-02 1.81508966e-05 9.99939941e-01 2.12402372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.420385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:328.84, Y:279.46, Z:21.24 [[ 7.27805419e-01 -6.85737484e-01 -7.96084541e-03 3.28835678e+02] [ 6.85696112e-01 7.27848956e-01 -7.53251683e-03 2.79455926e+02] [ 1.09596222e-02 2.34858273e-05 9.99939941e-01 2.12404046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.450385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:328.86, Y:279.47, Z:21.24 [[ 7.29167830e-01 -6.84288633e-01 -7.95880788e-03 3.28857764e+02] [ 6.84247151e-01 7.29211262e-01 -7.53466905e-03 2.79473707e+02] [ 1.09595407e-02 4.82466610e-05 9.99939941e-01 2.12407499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.480385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:328.88, Y:279.49, Z:21.24 [[ 7.29693335e-01 -6.83728388e-01 -7.94533856e-03 3.28879548e+02] [ 6.83686719e-01 7.29736586e-01 -7.54888847e-03 2.79493184e+02] [ 1.09593936e-02 7.62511591e-05 9.99939941e-01 2.12410331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.510385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:328.90, Y:279.51, Z:21.24 [[ 7.31660816e-01 -6.81622452e-01 -7.95508154e-03 3.28901250e+02] [ 6.81580770e-01 7.31704055e-01 -7.53860723e-03 2.79510924e+02] [ 1.09592494e-02 9.36729202e-05 9.99939941e-01 2.12405024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.540385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:328.92, Y:279.53, Z:21.24 [[ 7.32857096e-01 -6.80336113e-01 -7.95301470e-03 3.28921346e+02] [ 6.80294331e-01 7.32900239e-01 -7.54078706e-03 2.79528789e+02] [ 1.09590361e-02 1.15928495e-04 9.99939941e-01 2.12402357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.570385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:328.94, Y:279.55, Z:21.24 [[ 7.33538985e-01 -6.79600856e-01 -7.95191626e-03 3.28941941e+02] [ 6.79559019e-01 7.33582074e-01 -7.54194521e-03 2.79547986e+02] [ 1.09588956e-02 1.28514430e-04 9.99939941e-01 2.12397650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.600385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:328.96, Y:279.57, Z:21.24 [[ 7.35132283e-01 -6.77877073e-01 -7.94987570e-03 3.28962282e+02] [ 6.77835111e-01 7.35175250e-01 -7.54409553e-03 2.79566088e+02] [ 1.09585213e-02 1.57203282e-04 9.99939941e-01 2.12393194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.630385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:328.98, Y:279.59, Z:21.24 [[ 7.34909207e-01 -6.78118923e-01 -7.94877996e-03 3.28982782e+02] [ 6.78076962e-01 7.34952177e-01 -7.54524987e-03 2.79585429e+02] [ 1.09585499e-02 1.55189034e-04 9.99939941e-01 2.12391489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.660385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:329.00, Y:279.60, Z:21.24 [[ 7.34228910e-01 -6.78855475e-01 -7.94676967e-03 3.29002148e+02] [ 6.78813535e-01 7.34271899e-01 -7.54736654e-03 2.79604643e+02] [ 1.09586608e-02 1.47119895e-04 9.99939941e-01 2.12386146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.690385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:329.02, Y:279.62, Z:21.24 [[ 7.33342397e-01 -6.79813059e-01 -7.94567867e-03 3.29022441e+02] [ 6.79771163e-01 7.33385428e-01 -7.54851495e-03 2.79624783e+02] [ 1.09588240e-02 1.34402817e-04 9.99939941e-01 2.12387473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.7203857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:329.04, Y:279.64, Z:21.24 [[ 7.32562858e-01 -6.80652945e-01 -7.95150472e-03 3.29042614e+02] [ 6.80611165e-01 7.32606003e-01 -7.54238345e-03 2.79644248e+02] [ 1.09590656e-02 1.13387091e-04 9.99939941e-01 2.12400750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.750385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:329.06, Y:279.66, Z:21.24 [[ 7.31756137e-01 -6.81520195e-01 -7.94862382e-03 3.29062588e+02] [ 6.81478432e-01 7.31799298e-01 -7.54541382e-03 2.79664192e+02] [ 1.09591492e-02 1.04587169e-04 9.99939941e-01 2.12403450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.780385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:329.08, Y:279.68, Z:21.24 [[ 7.30252580e-01 -6.83131102e-01 -7.94146075e-03 3.29081583e+02] [ 6.83089352e-01 7.30295755e-01 -7.55294536e-03 2.79683375e+02] [ 1.09592670e-02 9.08305585e-05 9.99939941e-01 2.12403780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.810385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:329.10, Y:279.70, Z:21.24 [[ 7.29481775e-01 -6.83954159e-01 -7.94031593e-03 3.29102301e+02] [ 6.83912445e-01 7.29524984e-01 -7.55414869e-03 2.79702661e+02] [ 1.09593503e-02 8.01329113e-05 9.99939941e-01 2.12426363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.8403857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:329.12, Y:279.72, Z:21.24 [[ 7.29003416e-01 -6.84464027e-01 -7.93821280e-03 3.29122617e+02] [ 6.84422320e-01 7.29046631e-01 -7.55635810e-03 2.79721821e+02] [ 1.09593826e-02 7.55208450e-05 9.99939941e-01 2.12430401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.870385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:329.14, Y:279.74, Z:21.24 [[ 7.28800625e-01 -6.84679974e-01 -7.93612470e-03 3.29142193e+02] [ 6.84638255e-01 7.28843829e-01 -7.55855051e-03 2.79740559e+02] [ 1.09593837e-02 7.53017722e-05 9.99939941e-01 2.12431168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.900385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:329.16, Y:279.76, Z:21.24 [[ 7.28104758e-01 -6.85419942e-01 -7.93497726e-03 3.29161997e+02] [ 6.85378254e-01 7.28147992e-01 -7.55975491e-03 2.79760425e+02] [ 1.09594445e-02 6.58326588e-05 9.99939941e-01 2.12426052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.930385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:329.18, Y:279.78, Z:21.24 [[ 7.27670547e-01 -6.85880925e-01 -7.93289197e-03 3.29181794e+02] [ 6.85839241e-01 7.27713785e-01 -7.56194249e-03 2.79779728e+02] [ 1.09594669e-02 6.19142171e-05 9.99939941e-01 2.12423348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.960385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:329.20, Y:279.80, Z:21.24 [[ 7.26507480e-01 -6.87112789e-01 -7.93081552e-03 3.29201495e+02] [ 6.87071154e-01 7.26550765e-01 -7.56411960e-03 2.79798731e+02] [ 1.09595434e-02 4.63548989e-05 9.99939941e-01 2.12422016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.990385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:329.22, Y:279.82, Z:21.24 [[ 7.25530428e-01 -6.88144406e-01 -7.92939601e-03 3.29222059e+02] [ 6.88102816e-01 7.25573756e-01 -7.56560737e-03 2.79818458e+02] [ 1.09595920e-02 3.28386283e-05 9.99939941e-01 2.12422694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.020385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:329.24, Y:279.84, Z:21.24 [[ 7.24673425e-01 -6.89046866e-01 -7.92733427e-03 3.29241871e+02] [ 6.89005307e-01 7.24716783e-01 -7.56776706e-03 2.79837497e+02] [ 1.09596184e-02 2.21842942e-05 9.99939941e-01 2.12425477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.050385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:329.26, Y:279.86, Z:21.24 [[ 7.23567193e-01 -6.90208441e-01 -7.92623944e-03 3.29262419e+02] [ 6.90166939e-01 7.23610605e-01 -7.56891358e-03 2.79857136e+02] [ 1.09596390e-02 6.18913295e-06 9.99939941e-01 2.12424832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.080385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:329.28, Y:279.88, Z:21.24 [[ 7.21689685e-01 -6.92171371e-01 -7.92418797e-03 3.29282878e+02] [ 6.92129963e-01 7.21733187e-01 -7.57106073e-03 2.79875484e+02] [ 1.09596209e-02 -2.06114974e-05 9.99939941e-01 2.12436570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.110385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:329.30, Y:279.89, Z:21.24 [[ 7.20517824e-01 -6.93391152e-01 -7.92303718e-03 3.29302943e+02] [ 6.93349805e-01 7.20561384e-01 -7.57226483e-03 2.79894623e+02] [ 1.09595761e-02 -3.74845038e-05 9.99939941e-01 2.12442765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.140385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:329.32, Y:279.91, Z:21.25 [[ 7.18941165e-01 -6.95025797e-01 -7.92101503e-03 3.29322723e+02] [ 6.94984526e-01 7.18984796e-01 -7.57437953e-03 2.79914102e+02] [ 1.09594785e-02 -5.94496354e-05 9.99939941e-01 2.12452785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.170385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:329.34, Y:279.93, Z:21.25 [[ 7.18127725e-01 -6.95866266e-01 -7.91897576e-03 3.29342857e+02] [ 6.95825022e-01 7.18171383e-01 -7.57651098e-03 2.79934169e+02] [ 1.09594202e-02 -6.93188903e-05 9.99939941e-01 2.12453403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.200385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:329.36, Y:279.95, Z:21.25 [[ 7.17069510e-01 -6.96956699e-01 -7.91694799e-03 3.29362263e+02] [ 6.96915498e-01 7.17113208e-01 -7.57862927e-03 2.79953155e+02] [ 1.09593244e-02 -8.30397814e-05 9.99939941e-01 2.12456559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.230385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:329.38, Y:279.97, Z:21.25 [[ 7.16705364e-01 -6.97331181e-01 -7.91493347e-03 3.29382075e+02] [ 6.97289979e-01 7.16749062e-01 -7.58073259e-03 2.79972014e+02] [ 1.09593023e-02 -8.58520851e-05 9.99939941e-01 2.12462753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.260385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:329.40, Y:279.99, Z:21.25 [[ 7.16481150e-01 -6.97561562e-01 -7.91380554e-03 3.29402568e+02] [ 6.97520362e-01 7.16524849e-01 -7.58190990e-03 2.79991553e+02] [ 1.09592872e-02 -8.77449806e-05 9.99939941e-01 2.12474380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.290385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:329.42, Y:280.01, Z:21.25 [[ 7.16292012e-01 -6.97755792e-01 -7.91253400e-03 3.29423154e+02] [ 6.97714589e-01 7.16335708e-01 -7.58323666e-03 2.80011404e+02] [ 1.09592779e-02 -8.88785570e-05 9.99939941e-01 2.12477507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.320385723 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:329.44, Y:280.03, Z:21.25 [[ 7.16358228e-01 -6.97687834e-01 -7.91047745e-03 3.29442405e+02] [ 6.97646603e-01 7.16401897e-01 -7.58538135e-03 2.80031162e+02] [ 1.09593093e-02 -8.48673841e-05 9.99939941e-01 2.12492899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.350385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:329.46, Y:280.05, Z:21.25 [[ 7.16537874e-01 -6.97503347e-01 -7.90927414e-03 3.29460974e+02] [ 6.97462091e-01 7.16581520e-01 -7.58663584e-03 2.80050684e+02] [ 1.09593436e-02 -8.03069673e-05 9.99939941e-01 2.12504064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.380385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:329.48, Y:280.07, Z:21.25 [[ 7.17552706e-01 -6.96459400e-01 -7.90055083e-03 3.29480118e+02] [ 6.96417980e-01 7.17596197e-01 -7.59572700e-03 2.80071760e+02] [ 1.09595207e-02 -5.17511907e-05 9.99939941e-01 2.12494836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.410385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:329.50, Y:280.09, Z:21.25 [[ 7.18417683e-01 -6.95567040e-01 -7.90730368e-03 3.29499016e+02] [ 6.95525644e-01 7.18461196e-01 -7.58869063e-03 2.80091129e+02] [ 1.09595339e-02 -4.78829399e-05 9.99939941e-01 2.12495967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.440385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:329.52, Y:280.11, Z:21.25 [[ 7.19191808e-01 -6.94766605e-01 -7.90618555e-03 3.29518619e+02] [ 6.94725148e-01 7.19235263e-01 -7.58985537e-03 2.80110895e+02] [ 1.09595855e-02 -3.40641216e-05 9.99939941e-01 2.12499609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.4703857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:329.54, Y:280.13, Z:21.25 [[ 7.19864830e-01 -6.94069269e-01 -7.90415516e-03 3.29538029e+02] [ 6.94027747e-01 7.19908222e-01 -7.59196924e-03 2.80130308e+02] [ 1.09596188e-02 -2.05113496e-05 9.99939941e-01 2.12500032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.500385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:329.56, Y:280.15, Z:21.25 [[ 7.20990106e-01 -6.92900288e-01 -7.90303640e-03 3.29560761e+02] [ 6.92858683e-01 7.21033418e-01 -7.59313367e-03 2.80151663e+02] [ 1.09596379e-02 -1.11314354e-06 9.99939941e-01 2.12498302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.530385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:329.58, Y:280.17, Z:21.25 [[ 7.20618703e-01 -6.93285947e-01 -7.95487953e-03 3.29577539e+02] [ 6.93244958e-01 7.20662604e-01 -7.53916075e-03 2.80170263e+02] [ 1.09595784e-02 -8.18198863e-05 9.99939939e-01 2.12503413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.560385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:329.60, Y:280.19, Z:21.25 [[ 7.19685377e-01 -6.94255384e-01 -7.90065783e-03 3.29596298e+02] [ 6.94213833e-01 7.19728742e-01 -7.59556046e-03 2.80189782e+02] [ 1.09595893e-02 -1.83321692e-05 9.99939942e-01 2.12501338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.5903857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:329.62, Y:280.21, Z:21.25 [[ 7.18809552e-01 -6.95162160e-01 -7.89930458e-03 3.29616389e+02] [ 6.95120649e-01 7.18852954e-01 -7.59696757e-03 2.80209840e+02] [ 1.09595628e-02 -3.01968674e-05 9.99939942e-01 2.12500731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.620385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:329.64, Y:280.23, Z:21.25 [[ 7.18198990e-01 -6.95792960e-01 -7.89731887e-03 3.29635549e+02] [ 6.95751464e-01 7.18242407e-01 -7.59903122e-03 2.80228729e+02] [ 1.09595417e-02 -3.69546214e-05 9.99939942e-01 2.12505490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.650385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:329.66, Y:280.25, Z:21.25 [[ 7.17168387e-01 -6.96855189e-01 -7.89622098e-03 3.29655628e+02] [ 6.96813744e-01 7.17211854e-01 -7.60017188e-03 2.80248077e+02] [ 1.09594825e-02 -5.15922962e-05 9.99939942e-01 2.12510954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.680385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:329.68, Y:280.27, Z:21.25 [[ 7.16615949e-01 -6.97423303e-01 -7.89417692e-03 3.29675065e+02] [ 6.97381870e-01 7.16659426e-01 -7.60229442e-03 2.80266979e+02] [ 1.09594536e-02 -5.73304313e-05 9.99939942e-01 2.12511213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.710385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:329.70, Y:280.29, Z:21.25 [[ 7.15416206e-01 -6.98653957e-01 -7.89304848e-03 3.29695075e+02] [ 6.98612585e-01 7.15459742e-01 -7.60346584e-03 2.80286751e+02] [ 1.09593499e-02 -7.45403230e-05 9.99939942e-01 2.12507462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.740385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:329.72, Y:280.31, Z:21.25 [[ 7.14699214e-01 -6.99387420e-01 -7.89115143e-03 3.29715766e+02] [ 6.99346071e-01 7.14742772e-01 -7.60543416e-03 2.80306401e+02] [ 1.09592884e-02 -8.30479278e-05 9.99939942e-01 2.12515613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.770385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:329.74, Y:280.33, Z:21.25 [[ 7.13947865e-01 -7.00154419e-01 -7.88901595e-03 3.29736226e+02] [ 7.00113092e-01 7.13991444e-01 -7.60764861e-03 2.80325400e+02] [ 1.09592187e-02 -9.17388748e-05 9.99939942e-01 2.12518466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.800385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:329.76, Y:280.34, Z:21.25 [[ 7.12686112e-01 -7.01438738e-01 -7.88691368e-03 3.29756292e+02] [ 7.01397466e-01 7.12729742e-01 -7.60982743e-03 2.80343528e+02] [ 1.09590657e-02 -1.08442944e-04 9.99939942e-01 2.12512280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.830385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:329.78, Y:280.36, Z:21.25 [[ 7.12054752e-01 -7.02079657e-01 -7.88576432e-03 3.29776741e+02] [ 7.02038411e-01 7.12098408e-01 -7.61101828e-03 2.80362647e+02] [ 1.09589813e-02 -1.16647712e-04 9.99939942e-01 2.12510375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.860385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:329.80, Y:280.38, Z:21.25 [[ 7.11200199e-01 -7.02945319e-01 -7.88379947e-03 3.29797323e+02] [ 7.02904104e-01 7.11243884e-01 -7.61305301e-03 2.80381290e+02] [ 1.09588641e-02 -1.27150179e-04 9.99939942e-01 2.12514871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.890385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:329.82, Y:280.40, Z:21.25 [[ 7.10965378e-01 -7.03182842e-01 -7.88172210e-03 3.29817530e+02] [ 7.03141618e-01 7.11009053e-01 -7.61520308e-03 2.80400099e+02] [ 1.09588559e-02 -1.27821095e-04 9.99939942e-01 2.12520135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.920385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:329.84, Y:280.42, Z:21.25 [[ 7.10904551e-01 -7.03244360e-01 -7.87965761e-03 3.29838187e+02] [ 7.03203116e-01 7.10948208e-01 -7.61733867e-03 2.80419656e+02] [ 1.09588789e-02 -1.25799047e-04 9.99939942e-01 2.12523572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.950385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:329.86, Y:280.44, Z:21.25 [[ 7.11223267e-01 -7.02922050e-01 -7.87757464e-03 3.29858817e+02] [ 7.02880762e-01 7.11266882e-01 -7.61949219e-03 2.80439361e+02] [ 1.09589670e-02 -1.17835541e-04 9.99939942e-01 2.12531382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.980385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:329.88, Y:280.46, Z:21.25 [[ 7.11545281e-01 -7.02596107e-01 -7.87546176e-03 3.29878628e+02] [ 7.02554775e-01 7.11588855e-01 -7.62167543e-03 2.80458322e+02] [ 1.09590503e-02 -1.09776074e-04 9.99939942e-01 2.12531894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.010385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:329.90, Y:280.48, Z:21.25 [[ 7.12030013e-01 -7.02104876e-01 -7.87429685e-03 3.29898355e+02] [ 7.02063500e-01 7.12073545e-01 -7.62287876e-03 2.80477247e+02] [ 1.09591388e-02 -1.00537945e-04 9.99939942e-01 2.12533237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.040385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:329.92, Y:280.50, Z:21.25 [[ 7.13081178e-01 -7.01037266e-01 -7.87312730e-03 3.29917828e+02] [ 7.00995812e-01 7.13124635e-01 -7.62408652e-03 2.80496326e+02] [ 1.09592898e-02 -8.24366674e-05 9.99939942e-01 2.12541032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.070385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:329.94, Y:280.52, Z:21.25 [[ 7.14829844e-01 -6.99254121e-01 -7.87195731e-03 3.29937481e+02] [ 6.99212545e-01 7.14873186e-01 -7.62529435e-03 2.80515518e+02] [ 1.09594697e-02 -5.33833349e-05 9.99939942e-01 2.12543473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.100385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:329.96, Y:280.54, Z:21.26 [[ 7.14937751e-01 -6.99143988e-01 -7.85471719e-03 3.29957894e+02] [ 6.99102210e-01 7.14980897e-01 -7.64308702e-03 2.80535620e+02] [ 1.09595911e-02 -2.69187029e-05 9.99939942e-01 2.12552735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.130385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:329.98, Y:280.56, Z:21.26 [[ 7.15391437e-01 -6.98679577e-01 -7.87023601e-03 3.29978353e+02] [ 6.98637947e-01 7.15434726e-01 -7.62707344e-03 2.80555361e+02] [ 1.09595206e-02 -4.21025004e-05 9.99939942e-01 2.12554901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.160385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:330.00, Y:280.57, Z:21.26 [[ 7.15607372e-01 -6.98458432e-01 -7.86813493e-03 3.29997849e+02] [ 6.98416765e-01 7.15650625e-01 -7.62924031e-03 2.80574210e+02] [ 1.09595429e-02 -3.56967327e-05 9.99939942e-01 2.12556072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.190385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:330.02, Y:280.59, Z:21.26 [[ 7.16360268e-01 -6.97686235e-01 -7.86670659e-03 3.30017901e+02] [ 6.97644504e-01 7.16403460e-01 -7.63071283e-03 2.80593287e+02] [ 1.09595791e-02 -2.18251342e-05 9.99939942e-01 2.12552966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.2203857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:330.04, Y:280.61, Z:21.26 [[ 7.16385469e-01 -6.97660382e-01 -7.86461674e-03 3.30037955e+02] [ 6.97618626e-01 7.16428637e-01 -7.63286613e-03 2.80613113e+02] [ 1.09595849e-02 -1.84287499e-05 9.99939942e-01 2.12550652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.250385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:330.06, Y:280.63, Z:21.25 [[ 7.16446346e-01 -6.97597888e-01 -7.86252507e-03 3.30057612e+02] [ 6.97556106e-01 7.16489488e-01 -7.63502012e-03 2.80632917e+02] [ 1.09595905e-02 -1.44701024e-05 9.99939942e-01 2.12547064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.280385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:330.08, Y:280.65, Z:21.25 [[ 7.16303049e-01 -6.97745051e-01 -7.86045886e-03 3.30077333e+02] [ 6.97703253e-01 7.16346176e-01 -7.63714675e-03 2.80652045e+02] [ 1.09595910e-02 -1.37562180e-05 9.99939942e-01 2.12540910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.310385723 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:330.10, Y:280.67, Z:21.26 [[ 7.15814305e-01 -6.98246455e-01 -7.85933542e-03 3.30097633e+02] [ 6.98204675e-01 7.15857449e-01 -7.63830270e-03 2.80671482e+02] [ 1.09595816e-02 -1.98183987e-05 9.99939942e-01 2.12553852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.3403857229999 meters Centerline goodness : 0.999865 Centerline is valid? [True, True] Translation: X:330.12, Y:280.69, Z:21.25 [[ 7.14369975e-01 -6.99724090e-01 -7.85730552e-03 3.30116412e+02] [ 6.99682376e-01 7.14413184e-01 -7.64039023e-03 2.80691280e+02] [ 1.09595277e-02 -3.95528206e-05 9.99939942e-01 2.12519962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.370385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:330.14, Y:280.71, Z:21.26 [[ 7.14360675e-01 -6.99733599e-01 -7.85592565e-03 3.30136691e+02] [ 6.99691871e-01 7.14403870e-01 -7.64180876e-03 2.80711064e+02] [ 1.09595340e-02 -3.77196525e-05 9.99939942e-01 2.12556178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.400385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:330.16, Y:280.73, Z:21.26 [[ 7.13541892e-01 -7.00568544e-01 -7.85384515e-03 3.30155708e+02] [ 7.00526843e-01 7.13585113e-01 -7.64394639e-03 2.80729683e+02] [ 1.09594954e-02 -4.75533714e-05 9.99939942e-01 2.12557664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.430385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:330.18, Y:280.75, Z:21.26 [[ 7.12846477e-01 -7.01276151e-01 -7.85242580e-03 3.30175407e+02] [ 7.01234476e-01 7.12889723e-01 -7.64540417e-03 2.80749023e+02] [ 1.09594533e-02 -5.63922621e-05 9.99939942e-01 2.12566299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.460385723 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:330.19, Y:280.77, Z:21.26 [[ 7.12519539e-01 -7.01608351e-01 -7.85031537e-03 3.30194861e+02] [ 7.01566673e-01 7.12562782e-01 -7.64757055e-03 2.80768456e+02] [ 1.09594419e-02 -5.84761927e-05 9.99939942e-01 2.12566389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.490385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:330.21, Y:280.79, Z:21.26 [[ 7.11739992e-01 -7.02399156e-01 -7.84914251e-03 3.30214070e+02] [ 7.02357512e-01 7.11783268e-01 -7.64877414e-03 2.80788490e+02] [ 1.09593808e-02 -6.89657579e-05 9.99939942e-01 2.12573384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.520385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:330.23, Y:280.81, Z:21.26 [[ 7.11127240e-01 -7.03019539e-01 -7.84705911e-03 3.30233688e+02] [ 7.02977910e-01 7.11170529e-01 -7.65091095e-03 2.80808281e+02] [ 1.09593371e-02 -7.55380343e-05 9.99939942e-01 2.12570895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.550385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:330.25, Y:280.83, Z:21.26 [[ 7.10807445e-01 -7.03342898e-01 -7.84497834e-03 3.30253107e+02] [ 7.03301265e-01 7.10850731e-01 -7.65304390e-03 2.80827908e+02] [ 1.09593227e-02 -7.75426082e-05 9.99939942e-01 2.12572650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.580385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:330.27, Y:280.85, Z:21.26 [[ 7.10846986e-01 -7.03302959e-01 -7.84287238e-03 3.30272908e+02] [ 7.03261300e-01 7.10890246e-01 -7.65520150e-03 2.80847390e+02] [ 1.09593473e-02 -7.39117077e-05 9.99939942e-01 2.12579218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.610385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:330.29, Y:280.87, Z:21.26 [[ 7.10739430e-01 -7.03411676e-01 -7.84074678e-03 3.30292691e+02] [ 7.03369999e-01 7.10782673e-01 -7.65737799e-03 2.80867063e+02] [ 1.09593560e-02 -7.25455892e-05 9.99939942e-01 2.12582812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.640385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:330.31, Y:280.89, Z:21.26 [[ 7.10395691e-01 -7.03758839e-01 -7.83962855e-03 3.30312760e+02] [ 7.03717170e-01 7.10438943e-01 -7.65852267e-03 2.80887876e+02] [ 1.09593304e-02 -7.62997185e-05 9.99939942e-01 2.12567710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.670385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:330.33, Y:280.91, Z:21.26 [[ 7.11151172e-01 -7.02995333e-01 -7.84677284e-03 3.30332314e+02] [ 7.02953699e-01 7.11194457e-01 -7.65121069e-03 2.80907173e+02] [ 1.09593468e-02 -7.47505400e-05 9.99939942e-01 2.12593014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.700385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:330.35, Y:280.93, Z:21.26 [[ 7.11297025e-01 -7.02847863e-01 -7.83735515e-03 3.30351071e+02] [ 7.02806114e-01 7.11340198e-01 -7.66084537e-03 2.80926531e+02] [ 1.09594346e-02 -5.90045945e-05 9.99939942e-01 2.12586014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.730385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:330.37, Y:280.95, Z:21.26 [[ 7.11382650e-01 -7.02761211e-01 -7.83619075e-03 3.30370869e+02] [ 7.02719443e-01 7.11425806e-01 -7.66203623e-03 2.80945980e+02] [ 1.09594502e-02 -5.60039623e-05 9.99939942e-01 2.12588109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.760385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:330.39, Y:280.97, Z:21.26 [[ 7.11547243e-01 -7.02594583e-01 -7.83415571e-03 3.30391065e+02] [ 7.02552782e-01 7.11590367e-01 -7.66411642e-03 2.80965205e+02] [ 1.09594764e-02 -5.05269827e-05 9.99939942e-01 2.12590330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.790385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:330.41, Y:280.98, Z:21.26 [[ 7.11947120e-01 -7.02189402e-01 -7.83212924e-03 3.30411045e+02] [ 7.02147554e-01 7.11990198e-01 -7.66618676e-03 2.80983349e+02] [ 1.09595143e-02 -4.13908086e-05 9.99939942e-01 2.12597671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.820385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:330.43, Y:281.00, Z:21.26 [[ 7.11920689e-01 -7.02216212e-01 -7.83098469e-03 3.30431444e+02] [ 7.02174353e-01 7.11963756e-01 -7.66735573e-03 2.81002673e+02] [ 1.09595188e-02 -4.01674374e-05 9.99939942e-01 2.12606137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.850385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:330.45, Y:281.02, Z:21.26 [[ 7.11805846e-01 -7.02332646e-01 -7.82898376e-03 3.30451340e+02] [ 7.02290771e-01 7.11848898e-01 -7.66939830e-03 2.81021820e+02] [ 1.09595223e-02 -3.91005012e-05 9.99939942e-01 2.12612169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.880385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:330.47, Y:281.04, Z:21.26 [[ 7.11854647e-01 -7.02283205e-01 -7.82700250e-03 3.30471409e+02] [ 7.02241305e-01 7.11897675e-01 -7.67141974e-03 2.81041008e+02] [ 1.09595341e-02 -3.55086598e-05 9.99939942e-01 2.12628011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.910385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:330.49, Y:281.06, Z:21.26 [[ 7.11871835e-01 -7.02265805e-01 -7.82489550e-03 3.30490992e+02] [ 7.02223881e-01 7.11914839e-01 -7.67356829e-03 2.81060311e+02] [ 1.09595438e-02 -3.22313388e-05 9.99939942e-01 2.12630020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.940385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:330.51, Y:281.08, Z:21.26 [[ 7.11713474e-01 -7.02426309e-01 -7.82371317e-03 3.30511570e+02] [ 7.02384381e-01 7.11756474e-01 -7.67477357e-03 2.81080080e+02] [ 1.09595414e-02 -3.30141742e-05 9.99939942e-01 2.12637128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.9703857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:330.53, Y:281.10, Z:21.26 [[ 7.11767522e-01 -7.02371566e-01 -7.82170654e-03 3.30530780e+02] [ 7.02329612e-01 7.11810497e-01 -7.67681807e-03 2.81098702e+02] [ 1.09595515e-02 -2.93063465e-05 9.99939942e-01 2.12642037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.000385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:330.55, Y:281.12, Z:21.26 [[ 7.11802830e-01 -7.02335796e-01 -7.82050727e-03 3.30550805e+02] [ 7.02293827e-01 7.11845790e-01 -7.67803960e-03 2.81118106e+02] [ 1.09595572e-02 -2.70436591e-05 9.99939942e-01 2.12644472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.030385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:330.57, Y:281.14, Z:21.26 [[ 7.11987213e-01 -7.02148903e-01 -7.81842034e-03 3.30571429e+02] [ 7.02106899e-01 7.12030138e-01 -7.68016409e-03 2.81137781e+02] [ 1.09595697e-02 -2.11882336e-05 9.99939942e-01 2.12637496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.060385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:330.59, Y:281.16, Z:21.26 [[ 7.11824354e-01 -7.02314028e-01 -7.81629855e-03 3.30591817e+02] [ 7.02272010e-01 7.11867267e-01 -7.68232288e-03 2.81157722e+02] [ 1.09595702e-02 -2.07031745e-05 9.99939942e-01 2.12635019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.0903857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:330.61, Y:281.18, Z:21.26 [[ 7.11730294e-01 -7.02409374e-01 -7.81415872e-03 3.30611307e+02] [ 7.02367338e-01 7.11773188e-01 -7.68449882e-03 2.81175844e+02] [ 1.09595727e-02 -1.91192492e-05 9.99939942e-01 2.12623422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.120385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:330.63, Y:281.20, Z:21.26 [[ 7.12085360e-01 -7.02049426e-01 -7.81301412e-03 3.30634737e+02] [ 7.02007356e-01 7.12128221e-01 -7.68566238e-03 2.81196034e+02] [ 1.09595827e-02 -1.19457160e-05 9.99939942e-01 2.12614624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.150385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:330.65, Y:281.21, Z:21.26 [[ 7.11149060e-01 -7.02997296e-01 -7.86233687e-03 3.30652309e+02] [ 7.02955836e-01 7.11192514e-01 -7.63551704e-03 2.81214637e+02] [ 1.09593830e-02 -9.68848257e-05 9.99939939e-01 2.12627471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.180385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:330.67, Y:281.23, Z:21.26 [[ 7.10681907e-01 -7.03470145e-01 -7.80909846e-03 3.30673459e+02] [ 7.03428117e-01 7.10724809e-01 -7.68959778e-03 2.81234223e+02] [ 1.09595225e-02 -2.82814118e-05 9.99939942e-01 2.12637468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.210385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:330.69, Y:281.25, Z:21.26 [[ 7.10495703e-01 -7.03658219e-01 -7.80809559e-03 3.30693778e+02] [ 7.03616191e-01 7.10538606e-01 -7.69061597e-03 2.81254343e+02] [ 1.09595185e-02 -2.97528778e-05 9.99939942e-01 2.12640595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.240385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:330.71, Y:281.27, Z:21.26 [[ 7.10083795e-01 -7.04073909e-01 -7.80605955e-03 3.30714180e+02] [ 7.04031884e-01 7.10126699e-01 -7.69268202e-03 2.81274198e+02] [ 1.09595080e-02 -3.32659683e-05 9.99939942e-01 2.12646362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.270385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:330.73, Y:281.29, Z:21.26 [[ 7.10045514e-01 -7.04112538e-01 -7.80393762e-03 3.30733742e+02] [ 7.04070492e-01 7.10088398e-01 -7.69483404e-03 2.81292830e+02] [ 1.09595147e-02 -3.08398029e-05 9.99939942e-01 2.12636806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.300385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:330.76, Y:281.31, Z:21.26 [[ 7.10268796e-01 -7.03887320e-01 -7.80249187e-03 3.30756576e+02] [ 7.03845243e-01 7.10311650e-01 -7.69629973e-03 2.81312019e+02] [ 1.09595287e-02 -2.53052496e-05 9.99939942e-01 2.12640751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.330385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:330.77, Y:281.33, Z:21.27 [[ 7.10339184e-01 -7.03815939e-01 -7.83374444e-03 3.30774940e+02] [ 7.03774207e-01 7.10382375e-01 -7.66461622e-03 2.81331094e+02] [ 1.09594330e-02 -6.87100516e-05 9.99939941e-01 2.12657876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.360385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:330.80, Y:281.35, Z:21.27 [[ 7.10932615e-01 -7.03216876e-01 -7.80018248e-03 3.30795493e+02] [ 7.03174734e-01 7.10975404e-01 -7.69862095e-03 2.81350876e+02] [ 1.09595381e-02 -1.16905185e-05 9.99939942e-01 2.12661375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.390385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:330.82, Y:281.37, Z:21.27 [[ 7.11307925e-01 -7.02837260e-01 -7.79884865e-03 3.30815333e+02] [ 7.02795080e-01 7.11350678e-01 -7.69997191e-03 2.81369928e+02] [ 1.09595434e-02 -3.94140964e-06 9.99939942e-01 2.12664087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.420385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:330.84, Y:281.39, Z:21.27 [[ 7.11533675e-01 -7.02608732e-01 -7.79738281e-03 3.30835060e+02] [ 7.02566522e-01 7.11576397e-01 -7.70145600e-03 2.81389575e+02] [ 1.09595438e-02 1.66516690e-06 9.99939942e-01 2.12661816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.450385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:330.86, Y:281.41, Z:21.27 [[ 7.11945968e-01 -7.02190979e-01 -7.79537987e-03 3.30855125e+02] [ 7.02148722e-01 7.11988644e-01 -7.70348283e-03 2.81409541e+02] [ 1.09595381e-02 1.09475230e-05 9.99939942e-01 2.12655034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.480385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:330.88, Y:281.43, Z:21.27 [[ 7.12214165e-01 -7.01918976e-01 -7.79323519e-03 3.30875335e+02] [ 7.01876679e-01 7.12256801e-01 -7.70565189e-03 2.81429574e+02] [ 1.09595281e-02 1.81843947e-05 9.99939942e-01 2.12660558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.510385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:330.90, Y:281.45, Z:21.27 [[ 7.12146404e-01 -7.01987748e-01 -7.79104923e-03 3.30895377e+02] [ 7.01945431e-01 7.12189021e-01 -7.70786145e-03 2.81449481e+02] [ 1.09595240e-02 2.02344103e-05 9.99939942e-01 2.12665745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.540385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:330.92, Y:281.47, Z:21.27 [[ 7.12538755e-01 -7.01589520e-01 -7.78892260e-03 3.30915625e+02] [ 7.01547156e-01 7.12581324e-01 -7.71000984e-03 2.81468708e+02] [ 1.09595029e-02 2.93843212e-05 9.99939942e-01 2.12672930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.570385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:330.94, Y:281.49, Z:21.27 [[ 7.12833223e-01 -7.01290334e-01 -7.78866870e-03 3.30935851e+02] [ 7.01247949e-01 7.12875772e-01 -7.71026620e-03 2.81488378e+02] [ 1.09594884e-02 3.43459569e-05 9.99939942e-01 2.12682130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.600385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:330.96, Y:281.51, Z:21.27 [[ 7.13126589e-01 -7.00992058e-01 -7.78478201e-03 3.30955287e+02] [ 7.00949612e-01 7.13169077e-01 -7.71418846e-03 2.81508461e+02] [ 1.09594506e-02 4.44529745e-05 9.99939942e-01 2.12676442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.630385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:330.98, Y:281.53, Z:21.27 [[ 7.13075754e-01 -7.01043793e-01 -7.78261258e-03 3.30975172e+02] [ 7.01001327e-01 7.13118221e-01 -7.71637652e-03 2.81528598e+02] [ 1.09594407e-02 4.67392599e-05 9.99939942e-01 2.12679262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.660385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:330.99, Y:281.55, Z:21.27 [[ 7.12982252e-01 -7.01138911e-01 -7.78045647e-03 3.30994368e+02] [ 7.01096426e-01 7.13024701e-01 -7.71854991e-03 2.81547719e+02] [ 1.09594333e-02 4.83388702e-05 9.99939942e-01 2.12682520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.690385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:331.01, Y:281.57, Z:21.27 [[ 7.12553004e-01 -7.01575156e-01 -7.77927035e-03 3.31014735e+02] [ 7.01532684e-01 7.12595466e-01 -7.71974518e-03 2.81567141e+02] [ 1.09594542e-02 4.33152142e-05 9.99939942e-01 2.12690625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.7203857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:331.03, Y:281.59, Z:21.27 [[ 7.11916119e-01 -7.02221443e-01 -7.77718293e-03 3.31034815e+02] [ 7.02178987e-01 7.11958597e-01 -7.72184756e-03 2.81586922e+02] [ 1.09594792e-02 3.63333202e-05 9.99939942e-01 2.12695407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.750385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:331.05, Y:281.61, Z:21.27 [[ 7.11183388e-01 -7.02963538e-01 -7.77509593e-03 3.31054443e+02] [ 7.02921104e-01 7.11225887e-01 -7.72394838e-03 2.81606372e+02] [ 1.09595036e-02 2.78647740e-05 9.99939942e-01 2.12700358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.780385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:331.07, Y:281.63, Z:21.27 [[ 7.09232474e-01 -7.04931826e-01 -7.77294736e-03 3.31074057e+02] [ 7.04889485e-01 7.09275067e-01 -7.72610998e-03 2.81626093e+02] [ 1.09595386e-02 5.39227454e-07 9.99939942e-01 2.12701058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.810385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:331.09, Y:281.65, Z:21.27 [[ 7.08200271e-01 -7.05968832e-01 -7.77075262e-03 3.31093183e+02] [ 7.05926529e-01 7.08242902e-01 -7.72831677e-03 2.81645101e+02] [ 1.09595311e-02 -1.23843962e-05 9.99939942e-01 2.12701654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.8403857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:331.11, Y:281.67, Z:21.27 [[ 7.05836210e-01 -7.08332463e-01 -7.76955451e-03 3.31113287e+02] [ 7.08290290e-01 7.05878970e-01 -7.72952108e-03 2.81665323e+02] [ 1.09594358e-02 -4.73241531e-05 9.99939942e-01 2.12706622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.870385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:331.13, Y:281.68, Z:21.27 [[ 7.04780877e-01 -7.09382536e-01 -7.76742420e-03 3.31132366e+02] [ 7.09340403e-01 7.04823675e-01 -7.73166124e-03 2.81684278e+02] [ 1.09593699e-02 -6.06208297e-05 9.99939942e-01 2.12712571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.900385723 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:331.15, Y:281.70, Z:21.27 [[ 7.03920014e-01 -7.10236794e-01 -7.76597840e-03 3.31151716e+02] [ 7.10194697e-01 7.03962848e-01 -7.73311319e-03 2.81703310e+02] [ 1.09593018e-02 -7.18635375e-05 9.99939942e-01 2.12716797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.930385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:331.17, Y:281.72, Z:21.27 [[ 7.02249777e-01 -7.11888305e-01 -7.76482123e-03 3.31171325e+02] [ 7.11846296e-01 7.02292697e-01 -7.73427493e-03 2.81723700e+02] [ 1.09591171e-02 -9.59663857e-05 9.99939942e-01 2.12718326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.960385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:331.19, Y:281.74, Z:21.27 [[ 7.01405144e-01 -7.12720537e-01 -7.76272916e-03 3.31190409e+02] [ 7.12678556e-01 7.01448091e-01 -7.73637413e-03 2.81743892e+02] [ 1.09590243e-02 -1.05998000e-04 9.99939942e-01 2.12717154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.990385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:331.21, Y:281.76, Z:21.27 [[ 7.00496877e-01 -7.13613269e-01 -7.76064799e-03 3.31208824e+02] [ 7.13571319e-01 7.00539856e-01 -7.73846126e-03 2.81764738e+02] [ 1.09589119e-02 -1.17007873e-04 9.99939942e-01 2.12713655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.020385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:331.23, Y:281.78, Z:21.27 [[ 7.00019041e-01 -7.14082031e-01 -7.75854738e-03 3.31227265e+02] [ 7.14040087e-01 7.00062025e-01 -7.74056676e-03 2.81784465e+02] [ 1.09588640e-02 -1.21369725e-04 9.99939942e-01 2.12711877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.050385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:331.25, Y:281.80, Z:21.27 [[ 6.99475496e-01 -7.14614479e-01 -7.75739640e-03 3.31246787e+02] [ 7.14572554e-01 6.99518499e-01 -7.74172007e-03 2.81804464e+02] [ 1.09587875e-02 -1.28079075e-04 9.99939942e-01 2.12715123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.080385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:331.27, Y:281.82, Z:21.27 [[ 6.99012677e-01 -7.15067223e-01 -7.75533235e-03 3.31266409e+02] [ 7.15025303e-01 6.99055684e-01 -7.74378719e-03 2.81824249e+02] [ 1.09587376e-02 -1.32253453e-04 9.99939942e-01 2.12719426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.110385723 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:331.29, Y:281.84, Z:21.27 [[ 6.98417459e-01 -7.15648615e-01 -7.75326297e-03 3.31286014e+02] [ 7.15606708e-01 6.98460479e-01 -7.74585855e-03 2.81844789e+02] [ 1.09586607e-02 -1.38444147e-04 9.99939942e-01 2.12742931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.140385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:331.30, Y:281.86, Z:21.28 [[ 6.98067271e-01 -7.15990227e-01 -7.75110257e-03 3.31304140e+02] [ 7.15948318e-01 6.98110288e-01 -7.74801981e-03 2.81864520e+02] [ 1.09586309e-02 -1.40749800e-04 9.99939943e-01 2.12752763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.170385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:331.32, Y:281.89, Z:21.27 [[ 6.95680187e-01 -7.18309833e-01 -7.74989481e-03 3.31317729e+02] [ 7.18268054e-01 6.95723331e-01 -7.74922768e-03 2.81886282e+02] [ 1.09581291e-02 -1.75517702e-04 9.99939943e-01 2.12745599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.200385723 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:331.34, Y:281.91, Z:21.28 [[ 6.96082479e-01 -7.17920750e-01 -7.67972514e-03 3.31338033e+02] [ 7.17878170e-01 6.96124839e-01 -7.81932030e-03 2.81907710e+02] [ 1.09596997e-02 -7.02151663e-05 9.99939938e-01 2.12753058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.230385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:331.36, Y:281.93, Z:21.28 [[ 6.98585970e-01 -7.15484762e-01 -7.69402118e-03 3.31360015e+02] [ 7.15442191e-01 6.98628336e-01 -7.80504185e-03 2.81927873e+02] [ 1.09596497e-02 -5.21346401e-05 9.99939940e-01 2.12773410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.260385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:331.38, Y:281.95, Z:21.28 [[ 6.98892237e-01 -7.15185041e-01 -7.74586091e-03 3.31379647e+02] [ 7.15143024e-01 6.98935149e-01 -7.75325158e-03 2.81948382e+02] [ 1.09588640e-02 -1.20711045e-04 9.99939943e-01 2.12777768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.290385723 meters Centerline goodness : 0.999843 Centerline is valid? [True, True] Translation: X:331.40, Y:281.97, Z:21.28 [[ 6.99179136e-01 -7.14904588e-01 -7.74375678e-03 3.31397906e+02] [ 7.14862531e-01 6.99222008e-01 -7.75535256e-03 2.81967843e+02] [ 1.09589423e-02 -1.13340867e-04 9.99939943e-01 2.12779712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.320385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:331.42, Y:281.99, Z:21.28 [[ 6.99816090e-01 -7.14281102e-01 -7.74260931e-03 3.31415877e+02] [ 7.14238994e-01 6.99858912e-01 -7.75649798e-03 2.81989319e+02] [ 1.09590541e-02 -1.01951399e-04 9.99939943e-01 2.12786102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.350385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:331.43, Y:282.01, Z:21.28 [[ 6.99270712e-01 -7.14815051e-01 -7.74047998e-03 3.31434778e+02] [ 7.14772952e-01 6.99313543e-01 -7.75862233e-03 2.82011218e+02] [ 1.09590025e-02 -1.07308359e-04 9.99939943e-01 2.12808676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.380385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:331.45, Y:282.03, Z:21.28 [[ 7.00346924e-01 -7.13760674e-01 -7.73864571e-03 3.31454638e+02] [ 7.13718490e-01 7.00389672e-01 -7.76045144e-03 2.82031348e+02] [ 1.09591726e-02 -8.82062416e-05 9.99939943e-01 2.12792426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.410385723 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:331.47, Y:282.05, Z:21.28 [[ 6.99872194e-01 -7.14226180e-01 -7.73794089e-03 3.31473571e+02] [ 7.14184017e-01 6.99914962e-01 -7.76115416e-03 2.82052679e+02] [ 1.09591201e-02 -9.44977172e-05 9.99939943e-01 2.12802285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.440385723 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:331.49, Y:282.07, Z:21.28 [[ 6.99208629e-01 -7.14875829e-01 -7.73578145e-03 3.31493152e+02] [ 7.14833681e-01 6.99251414e-01 -7.76330594e-03 2.82073090e+02] [ 1.09590559e-02 -1.01626626e-04 9.99939943e-01 2.12804662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.4703857229999 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:331.51, Y:282.09, Z:21.28 [[ 6.97261763e-01 -7.16774878e-01 -7.73363798e-03 3.31511713e+02] [ 7.16732823e-01 6.97304638e-01 -7.76544063e-03 2.82093267e+02] [ 1.09587744e-02 -1.28407359e-04 9.99939943e-01 2.12810655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.500385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:331.53, Y:282.11, Z:21.28 [[ 6.96197412e-01 -7.17808730e-01 -7.73244747e-03 3.31531109e+02] [ 7.17766726e-01 6.96240336e-01 -7.76662590e-03 2.82113456e+02] [ 1.09585937e-02 -1.42988654e-04 9.99939943e-01 2.12820981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.530385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:331.55, Y:282.13, Z:21.28 [[ 6.95104390e-01 -7.18867254e-01 -7.73033300e-03 3.31550573e+02] [ 7.18825292e-01 6.95147356e-01 -7.76872992e-03 2.82134183e+02] [ 1.09584061e-02 -1.56680597e-04 9.99939943e-01 2.12826563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.560385723 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:331.57, Y:282.15, Z:21.28 [[ 6.94236392e-01 -7.19705570e-01 -7.72818236e-03 3.31570007e+02] [ 7.19663636e-01 6.94279385e-01 -7.77086875e-03 2.82154602e+02] [ 1.09582552e-02 -1.66871942e-04 9.99939943e-01 2.12835088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.5903857229999 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:331.59, Y:282.18, Z:21.28 [[ 6.91970975e-01 -7.21883979e-01 -7.72600523e-03 3.31585531e+02] [ 7.21842156e-01 6.92014077e-01 -7.77303270e-03 2.82175279e+02] [ 1.09577322e-02 -1.98243252e-04 9.99939943e-01 2.12832490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.620385723 meters Centerline goodness : 0.999599 Centerline is valid? [True, True] Translation: X:331.61, Y:282.20, Z:21.28 [[ 6.92108226e-01 -7.21752985e-01 -7.67020999e-03 3.31607837e+02] [ 7.21710538e-01 6.92150716e-01 -7.82845000e-03 2.82195846e+02] [ 1.09591485e-02 -1.17536748e-04 9.99939940e-01 2.12847199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.650385723 meters Centerline goodness : 0.999555 Centerline is valid? [True, True] Translation: X:331.63, Y:282.22, Z:21.28 [[ 6.91439717e-01 -7.22392872e-01 -7.72375939e-03 3.31625645e+02] [ 7.22351056e-01 6.91482825e-01 -7.77525530e-03 2.82217215e+02] [ 1.09576360e-02 -2.03145422e-04 9.99939943e-01 2.12848223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.680385723 meters Centerline goodness : 0.999445 Centerline is valid? [True, True] Translation: X:331.65, Y:282.24, Z:21.29 [[ 6.90989362e-01 -7.22823894e-01 -7.70200358e-03 3.31645600e+02] [ 7.22781864e-01 6.91032262e-01 -7.79685804e-03 2.82238778e+02] [ 1.09580882e-02 -1.79322546e-04 9.99939942e-01 2.12852396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.710385723 meters Centerline goodness : 0.999357 Centerline is valid? [True, True] Translation: X:331.66, Y:282.26, Z:21.28 [[ 6.90738045e-01 -7.23063851e-01 -7.72145158e-03 3.31662812e+02] [ 7.23022051e-01 6.90781169e-01 -7.77755032e-03 2.82260585e+02] [ 1.09574988e-02 -2.10529847e-04 9.99939943e-01 2.12836213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.740385723 meters Centerline goodness : 0.999535 Centerline is valid? [True, True] Translation: X:331.68, Y:282.28, Z:21.28 [[ 6.88812809e-01 -7.24898351e-01 -7.70031933e-03 3.31678170e+02] [ 7.24856432e-01 6.88855817e-01 -7.79852036e-03 2.82283157e+02] [ 1.09575443e-02 -2.09905281e-04 9.99939942e-01 2.12830460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.770385723 meters Centerline goodness : 0.999580 Centerline is valid? [True, True] Translation: X:331.70, Y:282.30, Z:21.29 [[ 6.91635846e-01 -7.22205747e-01 -7.66261931e-03 3.31701532e+02] [ 7.22163245e-01 6.91678282e-01 -7.83588317e-03 2.82303195e+02] [ 1.09591872e-02 -1.14084334e-04 9.99939940e-01 2.12863500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.800385723 meters Centerline goodness : 0.999339 Centerline is valid? [True, True] Translation: X:331.72, Y:282.32, Z:21.29 [[ 6.91696064e-01 -7.22147508e-01 -7.71571825e-03 3.31719606e+02] [ 7.22105588e-01 6.91739070e-01 -7.78324495e-03 2.82324003e+02] [ 1.09579147e-02 -1.87923370e-04 9.99939943e-01 2.12864804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.830385723 meters Centerline goodness : 0.999294 Centerline is valid? [True, True] Translation: X:331.74, Y:282.35, Z:21.29 [[ 6.91638334e-01 -7.22202814e-01 -7.71430939e-03 3.31736928e+02] [ 7.22160882e-01 6.91681328e-01 -7.78464109e-03 2.82346284e+02] [ 1.09579335e-02 -1.86816276e-04 9.99939943e-01 2.12869306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.860385723 meters Centerline goodness : 0.999580 Centerline is valid? [True, True] Translation: X:331.76, Y:282.37, Z:21.29 [[ 6.90949757e-01 -7.22861643e-01 -7.71223702e-03 3.31755307e+02] [ 7.22819728e-01 6.90992770e-01 -7.78669364e-03 2.82367391e+02] [ 1.09578022e-02 -1.94342991e-04 9.99939943e-01 2.12887128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.890385723 meters Centerline goodness : 0.999277 Centerline is valid? [True, True] Translation: X:331.77, Y:282.39, Z:21.29 [[ 6.89833922e-01 -7.23926595e-01 -7.71005361e-03 3.31771666e+02] [ 7.23884723e-01 6.89876976e-01 -7.78885496e-03 2.82389139e+02] [ 1.09575477e-02 -2.08173657e-04 9.99939943e-01 2.12886220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.920385723 meters Centerline goodness : 0.999364 Centerline is valid? [True, True] Translation: X:331.79, Y:282.41, Z:21.29 [[ 6.88953720e-01 -7.24764335e-01 -7.70910780e-03 3.31790402e+02] [ 7.24722505e-01 6.88996815e-01 -7.78979098e-03 2.82410723e+02] [ 1.09573134e-02 -2.20158438e-04 9.99939943e-01 2.12893745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.950385723 meters Centerline goodness : 0.999429 Centerline is valid? [True, True] Translation: X:331.81, Y:282.43, Z:21.29 [[ 6.87635822e-01 -7.26014861e-01 -7.70694848e-03 3.31808207e+02] [ 7.25973086e-01 6.87678969e-01 -7.79192675e-03 2.82432004e+02] [ 1.09569610e-02 -2.37029213e-04 9.99939943e-01 2.12897042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.980385723 meters Centerline goodness : 0.999344 Centerline is valid? [True, True] Translation: X:331.82, Y:282.45, Z:21.29 [[ 6.85759143e-01 -7.27787767e-01 -7.70480098e-03 3.31824648e+02] [ 7.27746079e-01 6.85802375e-01 -7.79404966e-03 2.82454661e+02] [ 1.09563848e-02 -2.62297890e-04 9.99939943e-01 2.12904062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.010385723 meters Centerline goodness : 0.999324 Centerline is valid? [True, True] Translation: X:331.83, Y:282.48, Z:21.29 [[ 6.80971367e-01 -7.32269531e-01 -7.70266465e-03 3.31832361e+02] [ 7.32228104e-01 6.81014849e-01 -7.79616036e-03 2.82475755e+02] [ 1.09545197e-02 -3.31145557e-04 9.99939943e-01 2.12896543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.040385723 meters Centerline goodness : 0.999499 Centerline is valid? [True, True] Translation: X:331.86, Y:282.50, Z:21.29 [[ 6.84473797e-01 -7.28998383e-01 -7.54848046e-03 3.31860389e+02] [ 7.28955054e-01 6.84515416e-01 -7.94830580e-03 2.82497565e+02] [ 1.09613533e-02 -6.20959248e-05 9.99939921e-01 2.12896070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.070385723 meters Centerline goodness : 0.999718 Centerline is valid? [True, True] Translation: X:331.88, Y:282.52, Z:21.29 [[ 6.83834695e-01 -7.29596320e-01 -7.70197454e-03 3.31876980e+02] [ 7.29554716e-01 6.83878006e-01 -7.79667649e-03 2.82520828e+02] [ 1.09556375e-02 -2.87373961e-04 9.99939944e-01 2.12900495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.100385723 meters Centerline goodness : 0.999632 Centerline is valid? [True, True] Translation: X:331.89, Y:282.54, Z:21.29 [[ 6.82393630e-01 -7.30944352e-01 -7.69985589e-03 3.31890053e+02] [ 7.30902811e-01 6.82437001e-01 -7.79876827e-03 2.82542095e+02] [ 1.09551322e-02 -3.06016522e-04 9.99939944e-01 2.12898397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.130385723 meters Centerline goodness : 0.999632 Centerline is valid? [True, True] Translation: X:331.91, Y:282.56, Z:21.29 [[ 6.82318791e-01 -7.31015176e-01 -7.60793946e-03 3.31910062e+02] [ 7.30972623e-01 6.82361181e-01 -7.88942039e-03 2.82562418e+02] [ 1.09586486e-02 -1.78095679e-04 9.99939936e-01 2.12901050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.160385723 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:331.93, Y:282.59, Z:21.29 [[ 6.84562590e-01 -7.28914421e-01 -7.60442105e-03 3.31932401e+02] [ 7.28871700e-01 6.84604811e-01 -7.89288884e-03 2.82585272e+02] [ 1.09592637e-02 -1.39470867e-04 9.99939936e-01 2.12915110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.190385723 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:331.95, Y:282.61, Z:21.29 [[ 6.85191450e-01 -7.28322351e-01 -7.69611835e-03 3.31950844e+02] [ 7.28280602e-01 6.85234621e-01 -7.80244122e-03 2.82606760e+02] [ 1.09563391e-02 -2.58767697e-04 9.99939944e-01 2.12918677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.2203857229999 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:331.97, Y:282.63, Z:21.29 [[ 6.85763952e-01 -7.27783351e-01 -7.69392465e-03 3.31968238e+02] [ 7.27741544e-01 6.85807067e-01 -7.80460381e-03 2.82627431e+02] [ 1.09566086e-02 -2.47072657e-04 9.99939944e-01 2.12913291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.250385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:331.98, Y:282.65, Z:21.29 [[ 6.87643532e-01 -7.26007706e-01 -7.69309394e-03 3.31984935e+02] [ 7.25965779e-01 6.87686530e-01 -7.80542256e-03 2.82649864e+02] [ 1.09572340e-02 -2.17574593e-04 9.99939944e-01 2.12908239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.280385723 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:332.00, Y:282.67, Z:21.29 [[ 6.88393064e-01 -7.25297070e-01 -7.69093653e-03 3.32003041e+02] [ 7.25255074e-01 6.88435995e-01 -7.80754776e-03 2.82670809e+02] [ 1.09575091e-02 -2.03229018e-04 9.99939944e-01 2.12904675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.310385723 meters Centerline goodness : 0.993744 Centerline is valid? [True, True] Translation: X:332.02, Y:282.69, Z:21.29 [[ 6.90707895e-01 -7.23093000e-01 -7.68878703e-03 3.32022122e+02] [ 7.23050844e-01 6.90750668e-01 -7.80966398e-03 2.82693363e+02] [ 1.09581481e-02 -1.65187388e-04 9.99939944e-01 2.12865238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.3403857229999 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:332.04, Y:282.71, Z:21.29 [[ 6.92218974e-01 -7.21646419e-01 -7.70311133e-03 3.32038631e+02] [ 7.21604331e-01 6.92261814e-01 -7.79556851e-03 2.82711810e+02] [ 1.09582139e-02 -1.62358059e-04 9.99939944e-01 2.12902756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.370385723 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:332.05, Y:282.73, Z:21.29 [[ 6.90943303e-01 -7.22868555e-01 -7.64223230e-03 3.32053418e+02] [ 7.22825877e-01 6.90985559e-01 -7.85552977e-03 2.82732312e+02] [ 1.09591876e-02 -9.62775788e-05 9.99939942e-01 2.12851065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.400385723 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:332.07, Y:282.75, Z:21.29 [[ 6.89710454e-01 -7.24045835e-01 -7.55767720e-03 3.32070751e+02] [ 7.24002312e-01 6.89751860e-01 -7.93875788e-03 2.82753094e+02] [ 1.09609465e-02 3.66853301e-06 9.99939927e-01 2.12856750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.430385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:332.09, Y:282.78, Z:21.29 [[ 6.91511028e-01 -7.22326364e-01 -7.55794430e-03 3.32092073e+02] [ 7.22282740e-01 6.91552329e-01 -7.93849441e-03 2.82775260e+02] [ 1.09608978e-02 3.05837089e-05 9.99939927e-01 2.12861431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.460385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:332.11, Y:282.79, Z:21.29 [[ 6.92521737e-01 -7.21356869e-01 -7.60995842e-03 3.32108685e+02] [ 7.21313749e-01 6.92563547e-01 -7.88719192e-03 2.82793082e+02] [ 1.09598599e-02 -2.71157936e-05 9.99939939e-01 2.12860117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.490385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:332.14, Y:282.81, Z:21.29 [[ 6.94291037e-01 -7.19654779e-01 -7.54694705e-03 3.32136081e+02] [ 7.19610878e-01 6.94332047e-01 -7.94933433e-03 2.82814504e+02] [ 1.09608636e-02 8.82863723e-05 9.99939924e-01 2.12894413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.520385723 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:332.16, Y:282.83, Z:21.29 [[ 6.93940341e-01 -7.19991329e-01 -7.69991591e-03 3.32155069e+02] [ 7.19949108e-01 6.93983046e-01 -7.79829561e-03 2.82833921e+02] [ 1.09583163e-02 -1.31995676e-04 9.99939947e-01 2.12896215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.550385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:332.17, Y:282.85, Z:21.29 [[ 6.93051117e-01 -7.20847337e-01 -7.69844900e-03 3.32174241e+02] [ 7.20805152e-01 6.93093859e-01 -7.79974347e-03 2.82854078e+02] [ 1.09581720e-02 -1.43460772e-04 9.99939947e-01 2.12892286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.580385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:332.19, Y:282.87, Z:21.29 [[ 6.92601592e-01 -7.21279281e-01 -7.69628563e-03 3.32193949e+02] [ 7.21237100e-01 6.92644336e-01 -7.80187756e-03 2.82874526e+02] [ 1.09581213e-02 -1.47253911e-04 9.99939947e-01 2.12887199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.610385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:332.21, Y:282.89, Z:21.29 [[ 6.92329056e-01 -7.21540906e-01 -7.69409689e-03 3.32213026e+02] [ 7.21498717e-01 6.92371792e-01 -7.80403547e-03 2.82893883e+02] [ 1.09581065e-02 -1.48320529e-04 9.99939947e-01 2.12882248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.640385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:332.23, Y:282.91, Z:21.29 [[ 6.91744767e-01 -7.22101102e-01 -7.69260947e-03 3.32233425e+02] [ 7.22058931e-01 6.91787521e-01 -7.80550138e-03 2.82913670e+02] [ 1.09580124e-02 -1.55102634e-04 9.99939947e-01 2.12870977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.670385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:332.25, Y:282.93, Z:21.29 [[ 6.92393992e-01 -7.21478632e-01 -7.69047280e-03 3.32251995e+02] [ 7.21436399e-01 6.92436685e-01 -7.80760599e-03 2.82931312e+02] [ 1.09581864e-02 -1.42247527e-04 9.99939947e-01 2.12865856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.700385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:332.27, Y:282.95, Z:21.29 [[ 6.91231947e-01 -7.22592613e-01 -7.63615325e-03 3.32272880e+02] [ 7.22549857e-01 6.91274119e-01 -7.86107016e-03 2.82952081e+02] [ 1.09590263e-02 -8.36786040e-05 9.99939945e-01 2.12877366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.730385723 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:332.29, Y:282.97, Z:21.29 [[ 6.90059840e-01 -7.23711740e-01 -7.66388216e-03 3.32293921e+02] [ 7.23669354e-01 6.90102382e-01 -7.83376236e-03 2.82972251e+02] [ 1.09582491e-02 -1.40351855e-04 9.99939947e-01 2.12877402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.760385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:332.31, Y:282.99, Z:21.29 [[ 6.90045635e-01 -7.23725010e-01 -7.68972329e-03 3.32313575e+02] [ 7.23682908e-01 6.90088457e-01 -7.80831371e-03 2.82990984e+02] [ 1.09576612e-02 -1.76828525e-04 9.99939947e-01 2.12862928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.790385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:332.33, Y:283.01, Z:21.29 [[ 6.89436203e-01 -7.24305914e-01 -7.65929112e-03 3.32333751e+02] [ 7.24263515e-01 6.89478732e-01 -7.83825470e-03 2.83010986e+02] [ 1.09582126e-02 -1.43368548e-04 9.99939947e-01 2.12878188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.820385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:332.35, Y:283.03, Z:21.29 [[ 6.88498966e-01 -7.25196718e-01 -7.67426290e-03 3.32354592e+02] [ 7.25154538e-01 6.88541712e-01 -7.82352770e-03 2.83031093e+02] [ 1.09576467e-02 -1.78535832e-04 9.99939947e-01 2.12873383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.850385723 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:332.37, Y:283.05, Z:21.28 [[ 6.86227713e-01 -7.27346196e-01 -7.68357328e-03 3.32371698e+02] [ 7.27304253e-01 6.86270690e-01 -7.81437316e-03 2.83050821e+02] [ 1.09567657e-02 -2.25856102e-04 9.99939947e-01 2.12842338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.880385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:332.40, Y:283.07, Z:21.29 [[ 6.87728479e-01 -7.25927934e-01 -7.62712428e-03 3.32395410e+02] [ 7.25885285e-01 6.87770761e-01 -7.86982892e-03 2.83069677e+02] [ 1.09586417e-02 -1.24111809e-04 9.99939945e-01 2.12879550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.910385723 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:332.41, Y:283.09, Z:21.29 [[ 6.85192724e-01 -7.28321313e-01 -7.68094424e-03 3.32413997e+02] [ 7.28279401e-01 6.85235732e-01 -7.81694538e-03 2.83089885e+02] [ 1.09565054e-02 -2.37759382e-04 9.99939947e-01 2.12853172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.940385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:332.44, Y:283.11, Z:21.29 [[ 6.85302330e-01 -7.28218532e-01 -7.64756725e-03 3.32436498e+02] [ 7.28176248e-01 6.85344974e-01 -7.84972407e-03 2.83110086e+02] [ 1.09575363e-02 -1.89342635e-04 9.99939946e-01 2.12860620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.9703857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:332.46, Y:283.13, Z:21.29 [[ 6.84744817e-01 -7.28742462e-01 -7.67854296e-03 3.32456949e+02] [ 7.28700550e-01 6.84787826e-01 -7.81930601e-03 2.83129962e+02] [ 1.09564330e-02 -2.41129215e-04 9.99939947e-01 2.12861952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.000385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:332.48, Y:283.15, Z:21.29 [[ 6.84656379e-01 -7.28825575e-01 -7.67620529e-03 3.32477684e+02] [ 7.28783643e-01 6.84699367e-01 -7.82160022e-03 2.83148982e+02] [ 1.09564752e-02 -2.39184383e-04 9.99939947e-01 2.12872663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.030385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:332.50, Y:283.17, Z:21.29 [[ 6.84040687e-01 -7.29403424e-01 -7.68010980e-03 3.32497945e+02] [ 7.29361572e-01 6.84083753e-01 -7.81776941e-03 2.83168947e+02] [ 1.09561461e-02 -2.53904595e-04 9.99939947e-01 2.12877575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.060385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:332.52, Y:283.19, Z:21.29 [[ 6.82106750e-01 -7.31212340e-01 -7.67437239e-03 3.32517083e+02] [ 7.31170538e-01 6.82149865e-01 -7.82339571e-03 2.83188219e+02] [ 1.09556356e-02 -2.74883981e-04 9.99939947e-01 2.12887202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.0903857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:332.54, Y:283.21, Z:21.29 [[ 6.81648097e-01 -7.31640165e-01 -7.65120605e-03 3.32536965e+02] [ 7.31598135e-01 6.81690991e-01 -7.84609924e-03 2.83207138e+02] [ 1.09562796e-02 -2.49329462e-04 9.99939947e-01 2.12889668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.120385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:332.56, Y:283.23, Z:21.29 [[ 6.81157737e-01 -7.32096677e-01 -7.65465871e-03 3.32557257e+02] [ 7.32054714e-01 6.81200696e-01 -7.84271591e-03 2.83227032e+02] [ 1.09559851e-02 -2.61502370e-04 9.99939947e-01 2.12888062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.150385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:332.58, Y:283.25, Z:21.29 [[ 6.81312770e-01 -7.31952443e-01 -7.65049148e-03 3.32578145e+02] [ 7.31910426e-01 6.81355676e-01 -7.84679748e-03 2.83246310e+02] [ 1.09561884e-02 -2.53351141e-04 9.99939947e-01 2.12883432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.180385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:332.60, Y:283.27, Z:21.29 [[ 6.82456072e-01 -7.30886464e-01 -7.66076070e-03 3.32598210e+02] [ 7.30844492e-01 6.82499021e-01 -7.83674218e-03 2.83265310e+02] [ 1.09562305e-02 -2.50592478e-04 9.99939947e-01 2.12894274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.210385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:332.62, Y:283.29, Z:21.29 [[ 6.82412488e-01 -7.30927095e-01 -7.66669025e-03 3.32619060e+02] [ 7.30885190e-01 6.82455504e-01 -7.83093699e-03 2.83285584e+02] [ 1.09560190e-02 -2.59541170e-04 9.99939947e-01 2.12870680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.240385723 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:332.64, Y:283.30, Z:21.29 [[ 6.83336527e-01 -7.30063204e-01 -7.67520434e-03 3.32640176e+02] [ 7.30021339e-01 6.83379581e-01 -7.82260451e-03 2.83304860e+02] [ 1.09560736e-02 -2.57591555e-04 9.99939947e-01 2.12878798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.270385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:332.66, Y:283.32, Z:21.29 [[ 6.82969463e-01 -7.30406330e-01 -7.70105575e-03 3.32657086e+02] [ 7.30364771e-01 6.83012814e-01 -7.79730586e-03 2.83324250e+02] [ 1.09551213e-02 -2.99258023e-04 9.99939946e-01 2.12881226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.300385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:332.68, Y:283.34, Z:21.29 [[ 6.84633658e-01 -7.28847061e-01 -7.66263529e-03 3.32677859e+02] [ 7.28804982e-01 6.84676503e-01 -7.83488169e-03 2.83342342e+02] [ 1.09568568e-02 -2.20543062e-04 9.99939948e-01 2.12901846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.330385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:332.70, Y:283.36, Z:21.29 [[ 6.83647910e-01 -7.29771771e-01 -7.66146386e-03 3.32697218e+02] [ 7.29729737e-01 6.83690799e-01 -7.83602703e-03 2.83362585e+02] [ 1.09565837e-02 -2.33714507e-04 9.99939948e-01 2.12899584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.360385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:332.72, Y:283.38, Z:21.29 [[ 6.83442611e-01 -7.29964064e-01 -7.65918364e-03 3.32716034e+02] [ 7.29922017e-01 6.83485487e-01 -7.83825515e-03 2.83381839e+02] [ 1.09565854e-02 -2.33609196e-04 9.99939948e-01 2.12899604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.390385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:332.74, Y:283.40, Z:21.29 [[ 6.83805308e-01 -7.29624323e-01 -7.65819879e-03 3.32736018e+02] [ 7.29582244e-01 6.83848152e-01 -7.83921726e-03 2.83400736e+02] [ 1.09567287e-02 -2.26787495e-04 9.99939948e-01 2.12893719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.420385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:332.75, Y:283.42, Z:21.29 [[ 6.82509686e-01 -7.30836537e-01 -7.64750564e-03 3.32752371e+02] [ 7.30794417e-01 6.82552491e-01 -7.84965983e-03 2.83419584e+02] [ 1.09566422e-02 -2.31285562e-04 9.99939947e-01 2.12884054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.450385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:332.78, Y:283.44, Z:21.29 [[ 6.83634229e-01 -7.29785213e-01 -7.60165269e-03 3.32775743e+02] [ 7.29742528e-01 6.83676474e-01 -7.89438871e-03 2.83438832e+02] [ 1.09582792e-02 -1.50374917e-04 9.99939945e-01 2.12900913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.480385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:332.79, Y:283.46, Z:21.29 [[ 6.82570717e-01 -7.30779637e-01 -7.63800919e-03 3.32792329e+02] [ 7.30737409e-01 6.82613416e-01 -7.85892926e-03 2.83458763e+02] [ 1.09569530e-02 -2.17104072e-04 9.99939947e-01 2.12885330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.510385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:332.82, Y:283.48, Z:21.29 [[ 6.84222833e-01 -7.29233451e-01 -7.59525555e-03 3.32815198e+02] [ 7.29190664e-01 6.84264975e-01 -7.90063702e-03 2.83478531e+02] [ 1.09585762e-02 -1.32593186e-04 9.99939944e-01 2.12896510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.540385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:332.83, Y:283.50, Z:21.29 [[ 6.83090900e-01 -7.30293481e-01 -7.63245841e-03 3.32832228e+02] [ 7.30251163e-01 6.83133509e-01 -7.86435002e-03 2.83498010e+02] [ 1.09572716e-02 -2.01545696e-04 9.99939947e-01 2.12884824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.570385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:332.86, Y:283.52, Z:21.29 [[ 6.84174322e-01 -7.29279095e-01 -7.58282980e-03 3.32856059e+02] [ 7.29236176e-01 6.84216332e-01 -7.91274058e-03 2.83516249e+02] [ 1.09588923e-02 -1.15979883e-04 9.99939943e-01 2.12914948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.600385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:332.88, Y:283.53, Z:21.29 [[ 6.84182126e-01 -7.29271406e-01 -7.61802323e-03 3.32877091e+02] [ 7.29228868e-01 6.84224516e-01 -7.87842954e-03 2.83534450e+02] [ 1.09579517e-02 -1.65001779e-04 9.99939946e-01 2.12929402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.630385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:332.90, Y:283.55, Z:21.29 [[ 6.82710391e-01 -7.30649157e-01 -7.63747742e-03 3.32897916e+02] [ 7.30606916e-01 6.82753077e-01 -7.85946852e-03 2.83552838e+02] [ 1.09570253e-02 -2.14252992e-04 9.99939947e-01 2.12938416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.660385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:332.92, Y:283.57, Z:21.29 [[ 6.82833778e-01 -7.30534028e-01 -7.62006726e-03 3.32919540e+02] [ 7.30491590e-01 6.82876269e-01 -7.87642839e-03 2.83571868e+02] [ 1.09575621e-02 -1.88103695e-04 9.99939946e-01 2.12932119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.690385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:332.94, Y:283.59, Z:21.29 [[ 6.81881183e-01 -7.31422980e-01 -7.64705337e-03 3.32940587e+02] [ 7.31380891e-01 6.81924018e-01 -7.85014044e-03 2.83591761e+02] [ 1.09564825e-02 -2.40045664e-04 9.99939947e-01 2.12927822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.7203857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:332.96, Y:283.61, Z:21.29 [[ 6.81181093e-01 -7.32074868e-01 -7.66195996e-03 3.32960364e+02] [ 7.32032984e-01 6.81224129e-01 -7.83562520e-03 2.83609736e+02] [ 1.09557763e-02 -2.71327672e-04 9.99939947e-01 2.12942603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.750385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:332.98, Y:283.63, Z:21.29 [[ 6.80924078e-01 -7.32314228e-01 -7.63356260e-03 3.32980425e+02] [ 7.32272049e-01 6.80966824e-01 -7.86325858e-03 2.83629402e+02] [ 1.09565790e-02 -2.35562431e-04 9.99939947e-01 2.12943300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.780385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:333.00, Y:283.65, Z:21.30 [[ 6.81559662e-01 -7.31722904e-01 -7.61708418e-03 3.33001544e+02] [ 7.31680508e-01 6.81602194e-01 -7.87928372e-03 2.83648643e+02] [ 1.09572737e-02 -2.03070074e-04 9.99939947e-01 2.12950883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.810385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:333.02, Y:283.67, Z:21.29 [[ 6.82345799e-01 -7.30989663e-01 -7.63696263e-03 3.33022141e+02] [ 7.30947437e-01 6.82388500e-01 -7.85995676e-03 2.83667610e+02] [ 1.09569226e-02 -2.19009784e-04 9.99939947e-01 2.12941354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.8403857229999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:333.04, Y:283.69, Z:21.30 [[ 6.82540888e-01 -7.30807490e-01 -7.63860239e-03 3.33041959e+02] [ 7.30765271e-01 6.82583595e-01 -7.85836285e-03 2.83686872e+02] [ 1.09569351e-02 -2.18371386e-04 9.99939947e-01 2.12961523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.870385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:333.06, Y:283.71, Z:21.30 [[ 6.82984909e-01 -7.30392614e-01 -7.63169070e-03 3.33062663e+02] [ 7.30350294e-01 6.83027517e-01 -7.86507885e-03 2.83706350e+02] [ 1.09572502e-02 -2.02077383e-04 9.99939947e-01 2.12959732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.900385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:333.08, Y:283.72, Z:21.30 [[ 6.82782801e-01 -7.30581563e-01 -7.63061962e-03 3.33082881e+02] [ 7.30539243e-01 6.82825408e-01 -7.86611900e-03 2.83724913e+02] [ 1.09572225e-02 -2.03616324e-04 9.99939947e-01 2.12957174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.930385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:333.10, Y:283.74, Z:21.30 [[ 6.83325428e-01 -7.30074258e-01 -7.61168049e-03 3.33104809e+02] [ 7.30031702e-01 6.83367800e-01 -7.88450296e-03 2.83744071e+02] [ 1.09578500e-02 -1.69086700e-04 9.99939947e-01 2.12951001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.960385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:333.13, Y:283.76, Z:21.29 [[ 6.82965660e-01 -7.30410608e-01 -7.63221709e-03 3.33125252e+02] [ 7.30368295e-01 6.83008274e-01 -7.86457311e-03 2.83761323e+02] [ 1.09572350e-02 -2.03096020e-04 9.99939947e-01 2.12947226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.990385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:333.15, Y:283.78, Z:21.29 [[ 6.82467912e-01 -7.30875721e-01 -7.63078533e-03 3.33145176e+02] [ 7.30833422e-01 6.82510539e-01 -7.86596207e-03 2.83779846e+02] [ 1.09571321e-02 -2.08566242e-04 9.99939947e-01 2.12946452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.020385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:333.17, Y:283.80, Z:21.29 [[ 6.82276437e-01 -7.31054482e-01 -7.62937279e-03 3.33165019e+02] [ 7.31012179e-01 6.82319060e-01 -7.86733187e-03 2.83800423e+02] [ 1.09571147e-02 -2.09469266e-04 9.99939947e-01 2.12949577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.050385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:333.18, Y:283.82, Z:21.29 [[ 6.80064656e-01 -7.33112466e-01 -7.62731131e-03 3.33181996e+02] [ 7.33070269e-01 6.80107385e-01 -7.86932995e-03 2.83820497e+02] [ 1.09564946e-02 -2.39701989e-04 9.99939947e-01 2.12946664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.080385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:333.20, Y:283.84, Z:21.29 [[ 6.79793484e-01 -7.33364411e-01 -7.58020897e-03 3.33202145e+02] [ 7.33321719e-01 6.79835722e-01 -7.91501666e-03 2.83839368e+02] [ 1.09578884e-02 -1.78155121e-04 9.99939945e-01 2.12942529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.110385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:333.23, Y:283.86, Z:21.30 [[ 6.80787487e-01 -7.32441913e-01 -7.56587431e-03 3.33227109e+02] [ 7.32399009e-01 6.80829512e-01 -7.92891256e-03 2.83857507e+02] [ 1.09585384e-02 -1.43334400e-04 9.99939943e-01 2.12953970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.140385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:333.24, Y:283.88, Z:21.29 [[ 6.77231694e-01 -7.35730267e-01 -7.62940544e-03 3.33240734e+02] [ 7.35688257e-01 6.77274607e-01 -7.86730259e-03 2.83876905e+02] [ 1.09554152e-02 -2.84877337e-04 9.99939947e-01 2.12930853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.170385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:333.27, Y:283.89, Z:21.30 [[ 6.79651433e-01 -7.33496628e-01 -7.52502086e-03 3.33269193e+02] [ 7.33453352e-01 6.79693082e-01 -7.96840712e-03 2.83894619e+02] [ 1.09595044e-02 -1.03512457e-04 9.99939937e-01 2.12953625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.200385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:333.29, Y:283.91, Z:21.30 [[ 6.79261041e-01 -7.33857116e-01 -7.62700388e-03 3.33289781e+02] [ 7.33814963e-01 6.79303813e-01 -7.86956769e-03 2.83914073e+02] [ 1.09561911e-02 -2.51318826e-04 9.99939948e-01 2.12960824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.230385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:333.30, Y:283.93, Z:21.29 [[ 6.76262413e-01 -7.36621348e-01 -7.62484352e-03 3.33303550e+02] [ 7.36579346e-01 6.76305334e-01 -7.87166031e-03 2.83933941e+02] [ 1.09551554e-02 -2.92994256e-04 9.99939948e-01 2.12935710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.260385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:333.33, Y:283.95, Z:21.30 [[ 6.79417233e-01 -7.33713594e-01 -7.52230912e-03 3.33331757e+02] [ 7.33670303e-01 6.79458867e-01 -7.97088686e-03 2.83952412e+02] [ 1.09594477e-02 -1.03336913e-04 9.99939938e-01 2.12964109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.290385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:333.35, Y:283.97, Z:21.29 [[ 6.77582816e-01 -7.35406970e-01 -7.62343789e-03 3.33346443e+02] [ 7.35364876e-01 6.77625645e-01 -7.87296342e-03 2.83972141e+02] [ 1.09556692e-02 -2.71423746e-04 9.99939948e-01 2.12946860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.320385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:333.37, Y:283.99, Z:21.30 [[ 6.81311935e-01 -7.31954372e-01 -7.53958592e-03 3.33372967e+02] [ 7.31911159e-01 6.81353644e-01 -7.95408385e-03 2.83991357e+02] [ 1.09591508e-02 -9.90948140e-05 9.99939942e-01 2.12969164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.350385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:333.39, Y:284.01, Z:21.30 [[ 6.82273638e-01 -7.31057181e-01 -7.62111616e-03 3.33391801e+02] [ 7.31014790e-01 6.82316172e-01 -7.87518402e-03 2.84010459e+02] [ 1.09572206e-02 -1.98118177e-04 9.99939948e-01 2.12968867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.380385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:333.41, Y:284.03, Z:21.30 [[ 6.84211586e-01 -7.29243747e-01 -7.61994516e-03 3.33411392e+02] [ 7.29201230e-01 6.84253995e-01 -7.87631690e-03 2.84030450e+02] [ 1.09577328e-02 -1.67406110e-04 9.99939948e-01 2.12977850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.410385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:333.43, Y:284.05, Z:21.30 [[ 6.83145959e-01 -7.30242129e-01 -7.61779806e-03 3.33427281e+02] [ 7.30199651e-01 6.83188407e-01 -7.87839298e-03 2.84051265e+02] [ 1.09575258e-02 -1.80421153e-04 9.99939948e-01 2.12959212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.440385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:333.45, Y:284.07, Z:21.30 [[ 6.85310754e-01 -7.28211509e-01 -7.56099264e-03 3.33449922e+02] [ 7.28168297e-01 6.85352460e-01 -7.93327356e-03 2.84071161e+02] [ 1.09590460e-02 -6.89174496e-05 9.99939945e-01 2.12981240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.4703857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:333.47, Y:284.09, Z:21.30 [[ 6.85297702e-01 -7.28223227e-01 -7.61516819e-03 3.33467609e+02] [ 7.28180596e-01 6.85339996e-01 -7.88092493e-03 2.84093511e+02] [ 1.09580519e-02 -1.44437971e-04 9.99939948e-01 2.12963938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.500385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:333.49, Y:284.11, Z:21.30 [[ 6.85903436e-01 -7.27652928e-01 -7.59557544e-03 3.33487404e+02] [ 7.27610052e-01 6.85945482e-01 -7.89984712e-03 2.84113811e+02] [ 1.09584975e-02 -1.08084755e-04 9.99939948e-01 2.12972605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.530385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:333.51, Y:284.13, Z:21.30 [[ 6.85645129e-01 -7.27896154e-01 -7.61225218e-03 3.33505669e+02] [ 7.27853472e-01 6.85687371e-01 -7.88374468e-03 2.84133907e+02] [ 1.09581726e-02 -1.35153043e-04 9.99939948e-01 2.12970896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.560385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:333.52, Y:284.15, Z:21.30 [[ 6.84350528e-01 -7.29113453e-01 -7.61106651e-03 3.33523423e+02] [ 7.29070832e-01 6.84392833e-01 -7.88488918e-03 2.84154052e+02] [ 1.09579381e-02 -1.52978520e-04 9.99939948e-01 2.12968347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.5903857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:333.54, Y:284.17, Z:21.30 [[ 6.83234316e-01 -7.30159543e-01 -7.60989707e-03 3.33542754e+02] [ 7.30116975e-01 6.83276674e-01 -7.88601767e-03 2.84174463e+02] [ 1.09577162e-02 -1.68117132e-04 9.99939948e-01 2.12974374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.620385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:333.56, Y:284.20, Z:21.30 [[ 6.80652909e-01 -7.32566543e-01 -7.60779506e-03 3.33560565e+02] [ 7.32524102e-01 6.80695394e-01 -7.88804500e-03 2.84195914e+02] [ 1.09571089e-02 -2.03872469e-04 9.99939948e-01 2.12983245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.650385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:333.58, Y:284.22, Z:21.30 [[ 6.80590169e-01 -7.32625031e-01 -7.58848977e-03 3.33579860e+02] [ 7.32582386e-01 6.80632450e-01 -7.90665524e-03 2.84216450e+02] [ 1.09575859e-02 -1.78002113e-04 9.99939948e-01 2.12991180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.680385723 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:333.60, Y:284.24, Z:21.30 [[ 6.80017374e-01 -7.33156555e-01 -7.60499456e-03 3.33598140e+02] [ 7.33114121e-01 6.80059866e-01 -7.89074815e-03 2.84237864e+02] [ 1.09570053e-02 -2.09483070e-04 9.99939948e-01 2.12987010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.710385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:333.62, Y:284.26, Z:21.30 [[ 6.78837640e-01 -7.34249042e-01 -7.60284427e-03 3.33615388e+02] [ 7.34206653e-01 6.78880177e-01 -7.89281944e-03 2.84259736e+02] [ 1.09567154e-02 -2.24115924e-04 9.99939948e-01 2.12978886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.740385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:333.63, Y:284.28, Z:21.30 [[ 6.78191226e-01 -7.34846168e-01 -7.60069215e-03 3.33634374e+02] [ 7.34803794e-01 6.78233777e-01 -7.89489136e-03 2.84280921e+02] [ 1.09565768e-02 -2.30771384e-04 9.99939948e-01 2.12980493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.770385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:333.65, Y:284.30, Z:21.30 [[ 6.76884470e-01 -7.36050050e-01 -7.59855740e-03 3.33652421e+02] [ 7.36007728e-01 6.76927073e-01 -7.89694545e-03 2.84302619e+02] [ 1.09562163e-02 -2.47277237e-04 9.99939948e-01 2.12981460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.800385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:333.67, Y:284.32, Z:21.30 [[ 6.76112457e-01 -7.36759282e-01 -7.59643579e-03 3.33670680e+02] [ 7.36716981e-01 6.76155082e-01 -7.89898580e-03 2.84323012e+02] [ 1.09560198e-02 -2.55820540e-04 9.99939948e-01 2.12978576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.830385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:333.69, Y:284.34, Z:21.30 [[ 6.76051055e-01 -7.36815640e-01 -7.59499445e-03 3.33692947e+02] [ 7.36773328e-01 6.76093668e-01 -7.90037143e-03 2.84344626e+02] [ 1.09560449e-02 -2.54734899e-04 9.99939948e-01 2.12965800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.860385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:333.71, Y:284.36, Z:21.30 [[ 6.74930712e-01 -7.37841520e-01 -7.64364134e-03 3.33708884e+02] [ 7.37799800e-01 6.74973908e-01 -7.85360204e-03 2.84364600e+02] [ 1.09539721e-02 -3.38839837e-04 9.99939946e-01 2.12985683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.890385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:333.73, Y:284.39, Z:21.30 [[ 6.76736123e-01 -7.36186510e-01 -7.59231885e-03 3.33734676e+02] [ 7.36144129e-01 6.76778668e-01 -7.90290756e-03 2.84386448e+02] [ 1.09563334e-02 -2.40857924e-04 9.99939949e-01 2.12963546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.920385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:333.75, Y:284.41, Z:21.30 [[ 6.75356152e-01 -7.37451535e-01 -7.70077429e-03 3.33747035e+02] [ 7.37410413e-01 6.75399929e-01 -7.79864881e-03 2.84405996e+02] [ 1.09522279e-02 -4.11765698e-04 9.99939938e-01 2.12992260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.950385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:333.77, Y:284.43, Z:21.30 [[ 6.75908401e-01 -7.36946560e-01 -7.58957579e-03 3.33766084e+02] [ 7.36904199e-01 6.75950964e-01 -7.90540499e-03 2.84426578e+02] [ 1.09560421e-02 -2.49460624e-04 9.99939950e-01 2.13002900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.980385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:333.78, Y:284.45, Z:21.30 [[ 6.77594125e-01 -7.35396922e-01 -7.58739990e-03 3.33784196e+02] [ 7.35354441e-01 6.77636568e-01 -7.90749281e-03 2.84446318e+02] [ 1.09566455e-02 -2.21357537e-04 9.99939950e-01 2.13015410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.010385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:333.80, Y:284.47, Z:21.30 [[ 6.78251498e-01 -7.34790688e-01 -7.58618711e-03 3.33803432e+02] [ 7.34748156e-01 6.78293890e-01 -7.90865614e-03 2.84466990e+02] [ 1.09568713e-02 -2.09879114e-04 9.99939950e-01 2.13017865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.040385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:333.82, Y:284.49, Z:21.30 [[ 6.79597308e-01 -7.33546169e-01 -7.58404412e-03 3.33824666e+02] [ 7.33503536e-01 6.79639598e-01 -7.91071064e-03 2.84487653e+02] [ 1.09572882e-02 -1.86825524e-04 9.99939950e-01 2.13014050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.070385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:333.85, Y:284.51, Z:21.30 [[ 6.80102418e-01 -7.33077589e-01 -7.61244994e-03 3.33845018e+02] [ 7.33035231e-01 6.80144985e-01 -7.88347049e-03 2.84508515e+02] [ 1.09567652e-02 -2.18626662e-04 9.99939949e-01 2.13009560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.100385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:333.86, Y:284.53, Z:21.30 [[ 6.80968048e-01 -7.32273584e-01 -7.61026122e-03 3.33862474e+02] [ 7.32231152e-01 6.81010541e-01 -7.88556838e-03 2.84527364e+02] [ 1.09570615e-02 -2.02650237e-04 9.99939949e-01 2.13024073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.130385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:333.88, Y:284.55, Z:21.30 [[ 6.81898290e-01 -7.31407718e-01 -7.58103908e-03 3.33882183e+02] [ 7.31364921e-01 6.81940414e-01 -7.91356263e-03 2.84546839e+02] [ 1.09578577e-02 -1.48261223e-04 9.99939950e-01 2.13032627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.160385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:333.90, Y:284.57, Z:21.30 [[ 6.82121156e-01 -7.31199897e-01 -7.57885860e-03 3.33901953e+02] [ 7.31157064e-01 6.82163244e-01 -7.91565033e-03 2.84567146e+02] [ 1.09579415e-02 -1.41903442e-04 9.99939950e-01 2.13040503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.190385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:333.92, Y:284.59, Z:21.30 [[ 6.82400778e-01 -7.30938966e-01 -7.57667126e-03 3.33920404e+02] [ 7.30896093e-01 6.82442825e-01 -7.91774345e-03 2.84586308e+02] [ 1.09580322e-02 -1.34685137e-04 9.99939950e-01 2.13041831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.2203857229999 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:333.94, Y:284.61, Z:21.30 [[ 6.82907746e-01 -7.30465347e-01 -7.57545496e-03 3.33939913e+02] [ 7.30422432e-01 6.82949751e-01 -7.91890700e-03 2.84606437e+02] [ 1.09581422e-02 -1.25399303e-04 9.99939950e-01 2.13046242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.250385723 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:333.96, Y:284.63, Z:21.31 [[ 6.82824667e-01 -7.30543030e-01 -7.57328443e-03 3.33959809e+02] [ 7.30500098e-01 6.82866653e-01 -7.92098225e-03 2.84626402e+02] [ 1.09581618e-02 -1.23642946e-04 9.99939950e-01 2.13050136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.280385723 meters Centerline goodness : 0.999778 Centerline is valid? [True, True] Translation: X:333.98, Y:284.65, Z:21.31 [[ 6.81744745e-01 -7.31550943e-01 -7.57110033e-03 3.33980583e+02] [ 7.31508049e-01 6.81786770e-01 -7.92306933e-03 2.84645702e+02] [ 1.09580049e-02 -1.36809951e-04 9.99939950e-01 2.13052821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.310385723 meters Centerline goodness : 0.999733 Centerline is valid? [True, True] Translation: X:334.00, Y:284.66, Z:21.31 [[ 6.80917359e-01 -7.32321147e-01 -7.56889053e-03 3.34000098e+02] [ 7.32278277e-01 6.80959408e-01 -7.92517978e-03 2.84664942e+02] [ 1.09578840e-02 -1.46141641e-04 9.99939950e-01 2.13056209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.3403857229999 meters Centerline goodness : 0.999800 Centerline is valid? [True, True] Translation: X:334.02, Y:284.68, Z:21.31 [[ 6.79955805e-01 -7.33214046e-01 -7.56738184e-03 3.34019714e+02] [ 7.33171216e-01 6.79997895e-01 -7.92662010e-03 2.84684495e+02] [ 1.09577129e-02 -1.58435194e-04 9.99939950e-01 2.13064556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.370385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:334.04, Y:284.70, Z:21.31 [[ 6.78575145e-01 -7.34492029e-01 -7.56514615e-03 3.34038259e+02] [ 7.34449254e-01 6.78617291e-01 -7.92875326e-03 2.84703569e+02] [ 1.09574451e-02 -1.75961049e-04 9.99939950e-01 2.13066735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.400385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:334.06, Y:284.72, Z:21.31 [[ 6.77804325e-01 -7.35203430e-01 -7.56390394e-03 3.34057053e+02] [ 7.35160686e-01 6.77846503e-01 -7.92993813e-03 2.84723787e+02] [ 1.09572836e-02 -1.85738442e-04 9.99939950e-01 2.13078026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.430385723 meters Centerline goodness : 0.999778 Centerline is valid? [True, True] Translation: X:334.08, Y:284.74, Z:21.31 [[ 6.76934279e-01 -7.36004622e-01 -7.56169517e-03 3.34075251e+02] [ 7.35961904e-01 6.76976483e-01 -7.93204377e-03 2.84743717e+02] [ 1.09571107e-02 -1.95647245e-04 9.99939950e-01 2.13087513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.460385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:334.10, Y:284.76, Z:21.31 [[ 6.76462851e-01 -7.36437948e-01 -7.56043894e-03 3.34095229e+02] [ 7.36395244e-01 6.76505069e-01 -7.93324097e-03 2.84763968e+02] [ 1.09570150e-02 -2.00928483e-04 9.99939950e-01 2.13095439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.490385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:334.11, Y:284.78, Z:21.31 [[ 6.75659501e-01 -7.37175088e-01 -7.55825539e-03 3.34114893e+02] [ 7.37132407e-01 6.75701743e-01 -7.93532076e-03 2.84784306e+02] [ 1.09568471e-02 -2.09860120e-04 9.99939950e-01 2.13098891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.520385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:334.13, Y:284.80, Z:21.31 [[ 6.74635326e-01 -7.38112513e-01 -7.55607804e-03 3.34134312e+02] [ 7.38069868e-01 6.74677603e-01 -7.93739351e-03 2.84803737e+02] [ 1.09566061e-02 -2.22067456e-04 9.99939950e-01 2.13104539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.550385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:334.15, Y:284.82, Z:21.31 [[ 6.73214215e-01 -7.39408914e-01 -7.55499434e-03 3.34152560e+02] [ 7.39366338e-01 6.73256563e-01 -7.93842487e-03 2.84824575e+02] [ 1.09561916e-02 -2.41648024e-04 9.99939950e-01 2.13067874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.580385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:334.17, Y:284.85, Z:21.31 [[ 6.72790257e-01 -7.39794885e-01 -7.53646194e-03 3.34172706e+02] [ 7.39752136e-01 6.72832430e-01 -7.95605304e-03 2.84845968e+02] [ 1.09566233e-02 -2.22358852e-04 9.99939950e-01 2.13110086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.610385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:334.19, Y:284.87, Z:21.31 [[ 6.72307279e-01 -7.40233668e-01 -7.55245316e-03 3.34190814e+02] [ 7.40191117e-01 6.72349651e-01 -7.94084397e-03 2.84866274e+02] [ 1.09559693e-02 -2.51571541e-04 9.99939950e-01 2.13114307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.640385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:334.21, Y:284.89, Z:21.31 [[ 6.71781271e-01 -7.40711079e-01 -7.55126928e-03 3.34209271e+02] [ 7.40668545e-01 6.71823661e-01 -7.94196961e-03 2.84886883e+02] [ 1.09558262e-02 -2.57721185e-04 9.99939950e-01 2.13126296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.670385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:334.23, Y:284.91, Z:21.31 [[ 6.71319510e-01 -7.41129629e-01 -7.54909371e-03 3.34225635e+02] [ 7.41087099e-01 6.71361903e-01 -7.94403702e-03 2.84908099e+02] [ 1.09557351e-02 -2.61548921e-04 9.99939950e-01 2.13122497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.700385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:334.25, Y:284.93, Z:21.31 [[ 6.70957652e-01 -7.41457254e-01 -7.54787545e-03 3.34245308e+02] [ 7.41414731e-01 6.71000053e-01 -7.94519435e-03 2.84929981e+02] [ 1.09556468e-02 -2.65217102e-04 9.99939950e-01 2.13095339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.730385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:334.26, Y:284.95, Z:21.31 [[ 6.71626515e-01 -7.40851234e-01 -7.56797241e-03 3.34262069e+02] [ 7.40808887e-01 6.71669092e-01 -7.92610487e-03 2.84951146e+02] [ 1.09552377e-02 -2.83039035e-04 9.99939950e-01 2.13133060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.760385723 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:334.28, Y:284.97, Z:21.31 [[ 6.71838374e-01 -7.40659343e-01 -7.54563940e-03 3.34279553e+02] [ 7.40616746e-01 6.71880701e-01 -7.94730914e-03 2.84971625e+02] [ 1.09560182e-02 -2.49119644e-04 9.99939950e-01 2.13133518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.790385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:334.30, Y:284.99, Z:21.31 [[ 6.71983566e-01 -7.40527628e-01 -7.54443441e-03 3.34297667e+02] [ 7.40485010e-01 6.72025871e-01 -7.94845288e-03 2.84993280e+02] [ 1.09561041e-02 -2.45310883e-04 9.99939950e-01 2.13132290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.820385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:334.31, Y:285.02, Z:21.31 [[ 6.71908320e-01 -7.40595925e-01 -7.54230047e-03 3.34314385e+02] [ 7.40553288e-01 6.71950606e-01 -7.95047726e-03 2.85016192e+02] [ 1.09561444e-02 -2.43483597e-04 9.99939950e-01 2.13124424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.850385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:334.33, Y:285.04, Z:21.31 [[ 6.71916293e-01 -7.40588713e-01 -7.54010877e-03 3.34332204e+02] [ 7.40546053e-01 6.71958556e-01 -7.95255529e-03 2.85036572e+02] [ 1.09562133e-02 -2.40346311e-04 9.99939950e-01 2.13120456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.880385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:334.35, Y:285.06, Z:21.31 [[ 6.71630398e-01 -7.40848013e-01 -7.53861816e-03 3.34350730e+02] [ 7.40805353e-01 6.71672661e-01 -7.95396806e-03 2.85058025e+02] [ 1.09561652e-02 -2.42521955e-04 9.99939950e-01 2.13119724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.910385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:334.37, Y:285.08, Z:21.31 [[ 6.71432506e-01 -7.41027389e-01 -7.53649313e-03 3.34370336e+02] [ 7.40984718e-01 6.71474758e-01 -7.95598104e-03 2.85078823e+02] [ 1.09561648e-02 -2.42521946e-04 9.99939950e-01 2.13122846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.940385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:334.39, Y:285.10, Z:21.31 [[ 6.71385328e-01 -7.41070155e-01 -7.53436757e-03 3.34388096e+02] [ 7.41027464e-01 6.71427560e-01 -7.95799345e-03 2.85100385e+02] [ 1.09562135e-02 -2.40293251e-04 9.99939950e-01 2.13121030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.9703857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:334.41, Y:285.12, Z:21.31 [[ 6.71091073e-01 -7.41336656e-01 -7.53218971e-03 3.34406805e+02] [ 7.41293959e-01 6.71133298e-01 -7.96005425e-03 2.85121256e+02] [ 1.09561833e-02 -2.41645380e-04 9.99939950e-01 2.13119064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.000385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:334.43, Y:285.14, Z:21.31 [[ 6.70666721e-01 -7.41720600e-01 -7.53002106e-03 3.34425013e+02] [ 7.41677904e-01 6.70708947e-01 -7.96210522e-03 2.85141691e+02] [ 1.09561100e-02 -2.44931239e-04 9.99939950e-01 2.13118312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.030385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:334.44, Y:285.16, Z:21.31 [[ 6.70270376e-01 -7.42078796e-01 -7.52877856e-03 3.34444219e+02] [ 7.42036110e-01 6.70312612e-01 -7.96327992e-03 2.85162763e+02] [ 1.09560164e-02 -2.49074927e-04 9.99939950e-01 2.13118307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.060385723 meters Centerline goodness : 0.999692 Centerline is valid? [True, True] Translation: X:334.47, Y:285.18, Z:21.31 [[ 6.71156805e-01 -7.41277204e-01 -7.52659431e-03 3.34468923e+02] [ 7.41234444e-01 6.71198966e-01 -7.96534386e-03 2.85184579e+02] [ 1.09563701e-02 -2.32976214e-04 9.99939950e-01 2.13052816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.0903857229999 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:334.48, Y:285.20, Z:21.31 [[ 6.69088812e-01 -7.43143398e-01 -7.61920576e-03 3.34483234e+02] [ 7.43101745e-01 6.69132078e-01 -7.87779357e-03 2.85203741e+02] [ 1.09525853e-02 -3.90901552e-04 9.99939942e-01 2.13107650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.120385723 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:334.50, Y:285.22, Z:21.31 [[ 6.68745555e-01 -7.43453278e-01 -7.52373671e-03 3.34502118e+02] [ 7.43410626e-01 6.68787824e-01 -7.96794045e-03 2.85223910e+02] [ 1.09555750e-02 -2.64701053e-04 9.99939951e-01 2.13108405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.150385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:334.52, Y:285.25, Z:21.31 [[ 6.68601174e-01 -7.43583147e-01 -7.52158147e-03 3.34520943e+02] [ 7.43540480e-01 6.68643428e-01 -7.96997444e-03 2.85245073e+02] [ 1.09555947e-02 -2.63866036e-04 9.99939951e-01 2.13109725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.180385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:334.54, Y:285.27, Z:21.31 [[ 6.68630247e-01 -7.43557014e-01 -7.52060181e-03 3.34539919e+02] [ 7.43514335e-01 6.68672489e-01 -7.97089875e-03 2.85265820e+02] [ 1.09556372e-02 -2.62091253e-04 9.99939951e-01 2.13114385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.210385723 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:334.56, Y:285.29, Z:21.31 [[ 6.68605007e-01 -7.43579731e-01 -7.51848137e-03 3.34558847e+02] [ 7.43537031e-01 6.68647228e-01 -7.97289834e-03 2.85286237e+02] [ 1.09556973e-02 -2.59549568e-04 9.99939951e-01 2.13122962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.240385723 meters Centerline goodness : 0.999780 Centerline is valid? [True, True] Translation: X:334.58, Y:285.31, Z:21.31 [[ 6.69227850e-01 -7.43019239e-01 -7.51630019e-03 3.34577305e+02] [ 7.42976481e-01 6.69270012e-01 -7.97495407e-03 2.85306049e+02] [ 1.09559786e-02 -2.47372897e-04 9.99939951e-01 2.13115200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.270385723 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:334.60, Y:285.33, Z:21.31 [[ 6.69275488e-01 -7.42976372e-01 -7.51210438e-03 3.34596268e+02] [ 7.42933567e-01 6.69317602e-01 -7.97890641e-03 2.85327024e+02] [ 1.09561226e-02 -2.40908016e-04 9.99939951e-01 2.13112993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.300385723 meters Centerline goodness : 0.999736 Centerline is valid? [True, True] Translation: X:334.62, Y:285.35, Z:21.31 [[ 6.69420315e-01 -7.42845876e-01 -7.51303384e-03 3.34615633e+02] [ 7.42803072e-01 6.69462431e-01 -7.97803112e-03 2.85347647e+02] [ 1.09561414e-02 -2.40048503e-04 9.99939951e-01 2.13110274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.330385723 meters Centerline goodness : 0.999560 Centerline is valid? [True, True] Translation: X:334.64, Y:285.37, Z:21.31 [[ 6.69091555e-01 -7.43142030e-01 -7.51087382e-03 3.34635470e+02] [ 7.43099222e-01 6.69133667e-01 -7.98006414e-03 2.85368508e+02] [ 1.09560996e-02 -2.41930971e-04 9.99939951e-01 2.13104173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.360385723 meters Centerline goodness : 0.999735 Centerline is valid? [True, True] Translation: X:334.65, Y:285.39, Z:21.31 [[ 6.69720971e-01 -7.42574642e-01 -7.53140521e-03 3.34654641e+02] [ 7.42532015e-01 6.69763267e-01 -7.96075079e-03 2.85388996e+02] [ 1.09557102e-02 -2.60827734e-04 9.99939950e-01 2.13106331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.390385723 meters Centerline goodness : 0.998852 Centerline is valid? [True, True] Translation: X:334.67, Y:285.41, Z:21.31 [[ 6.70169098e-01 -7.42170486e-01 -7.50666140e-03 3.34673643e+02] [ 7.42127572e-01 6.70211102e-01 -7.98401520e-03 2.85409254e+02] [ 1.09565483e-02 -2.20260133e-04 9.99939951e-01 2.13102713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.420385723 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:334.70, Y:285.43, Z:21.31 [[ 6.71785006e-01 -7.40708350e-01 -7.48639568e-03 3.34699444e+02] [ 7.40665133e-01 6.71826697e-01 -8.00306719e-03 2.85432069e+02] [ 1.09574992e-02 -1.68571713e-04 9.99939951e-01 2.13121532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.450385723 meters Centerline goodness : 0.999669 Centerline is valid? [True, True] Translation: X:334.71, Y:285.45, Z:21.31 [[ 6.68003701e-01 -7.44119043e-01 -7.60953994e-03 3.34710110e+02] [ 7.44077340e-01 6.68046926e-01 -7.88779942e-03 2.85452123e+02] [ 1.09529915e-02 -3.93007036e-04 9.99939937e-01 2.13105719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.480385723 meters Centerline goodness : 0.999690 Centerline is valid? [True, True] Translation: X:334.73, Y:285.47, Z:21.31 [[ 6.67109406e-01 -7.44922167e-01 -7.48368109e-03 3.34729227e+02] [ 7.44879186e-01 6.67151340e-01 -8.00545535e-03 2.85473113e+02] [ 1.09561890e-02 -2.33923714e-04 9.99939952e-01 2.13103869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.510385723 meters Centerline goodness : 0.999757 Centerline is valid? [True, True] Translation: X:334.75, Y:285.49, Z:21.31 [[ 6.67812025e-01 -7.44292366e-01 -7.48159812e-03 3.34754963e+02] [ 7.44249324e-01 6.67853896e-01 -8.00740154e-03 2.85494599e+02] [ 1.09564623e-02 -2.20735302e-04 9.99939952e-01 2.13112081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.540385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:334.77, Y:285.51, Z:21.31 [[ 6.67530003e-01 -7.44544462e-01 -7.56560513e-03 3.34774019e+02] [ 7.44502322e-01 6.67572789e-01 -7.92873952e-03 2.85513913e+02] [ 1.09538912e-02 -3.39939068e-04 9.99939947e-01 2.13115055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.570385723 meters Centerline goodness : 0.994580 Centerline is valid? [True, True] Translation: X:334.79, Y:285.54, Z:21.31 [[ 6.66352373e-01 -7.45598690e-01 -7.55696149e-03 3.34794120e+02] [ 7.45556526e-01 6.66395133e-01 -7.93683884e-03 2.85535469e+02] [ 1.09536190e-02 -3.45410554e-04 9.99939948e-01 2.13084025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.600385723 meters Centerline goodness : 0.994836 Centerline is valid? [True, True] Translation: X:334.81, Y:285.55, Z:21.31 [[ 6.66658976e-01 -7.45324355e-01 -7.57727257e-03 3.34812933e+02] [ 7.45282388e-01 6.66701935e-01 -7.91780965e-03 2.85554376e+02] [ 1.09531187e-02 -3.68728924e-04 9.99939945e-01 2.13083518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.630385723 meters Centerline goodness : 0.999339 Centerline is valid? [True, True] Translation: X:334.83, Y:285.57, Z:21.31 [[ 6.64626276e-01 -7.47137447e-01 -7.58615200e-03 3.34827947e+02] [ 7.47095692e-01 6.64669442e-01 -7.90946809e-03 2.85574792e+02] [ 1.09517432e-02 -4.10741162e-04 9.99939944e-01 2.13119402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.660385723 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:334.85, Y:285.60, Z:21.31 [[ 6.67023521e-01 -7.44998716e-01 -7.51906438e-03 3.34853460e+02] [ 7.44956112e-01 6.67065839e-01 -7.97237363e-03 2.85595089e+02] [ 1.09551191e-02 -2.83612235e-04 9.99939951e-01 2.13107335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.690385723 meters Centerline goodness : 0.999010 Centerline is valid? [True, True] Translation: X:334.87, Y:285.62, Z:21.31 [[ 6.68537894e-01 -7.43639313e-01 -7.59312060e-03 3.34873738e+02] [ 7.43597406e-01 6.68580915e-01 -7.90299337e-03 2.85616374e+02] [ 1.09535921e-02 -3.62774232e-04 9.99939942e-01 2.13106120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.7203857229999 meters Centerline goodness : 0.995005 Centerline is valid? [True, True] Translation: X:334.89, Y:285.64, Z:21.31 [[ 6.68568244e-01 -7.43611975e-01 -7.59821416e-03 3.34891613e+02] [ 7.43570121e-01 6.68611317e-01 -7.89821475e-03 2.85636869e+02] [ 1.09534591e-02 -3.69309453e-04 9.99939941e-01 2.13110737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.750385723 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:334.91, Y:285.66, Z:21.31 [[ 6.67482900e-01 -7.44586497e-01 -7.58471457e-03 3.34905425e+02] [ 7.44544561e-01 6.67525891e-01 -7.91086694e-03 2.85657933e+02] [ 1.09533181e-02 -3.66789578e-04 9.99939943e-01 2.13127668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.780385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:334.92, Y:285.68, Z:21.31 [[ 6.69618286e-01 -7.42667677e-01 -7.48820049e-03 3.34923782e+02] [ 7.42624602e-01 6.69660124e-01 -8.00119320e-03 2.85678375e+02] [ 1.09567768e-02 -2.03176637e-04 9.99939952e-01 2.13137837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.810385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:334.94, Y:285.70, Z:21.31 [[ 6.72098643e-01 -7.40423770e-01 -7.48698451e-03 3.34941580e+02] [ 7.40380544e-01 6.72140322e-01 -8.00233087e-03 2.85699789e+02] [ 1.09574202e-02 -1.64861948e-04 9.99939952e-01 2.13126278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.8403857229999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:334.96, Y:285.72, Z:21.31 [[ 6.72630246e-01 -7.39941058e-01 -7.46879876e-03 3.34960322e+02] [ 7.39897612e-01 6.72671698e-01 -8.01933857e-03 2.85720235e+02] [ 1.09578874e-02 -1.32096700e-04 9.99939952e-01 2.13125562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.870385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:334.98, Y:285.74, Z:21.31 [[ 6.73319601e-01 -7.39313650e-01 -7.48615865e-03 3.34979228e+02] [ 7.39270346e-01 6.73361200e-01 -8.00310639e-03 2.85740654e+02] [ 1.09576946e-02 -1.45646695e-04 9.99939952e-01 2.13129855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.900385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:335.00, Y:285.76, Z:21.31 [[ 6.73580512e-01 -7.39076042e-01 -7.47653785e-03 3.34998798e+02] [ 7.39032623e-01 6.73621992e-01 -8.01209837e-03 2.85761540e+02] [ 1.09579103e-02 -1.28612057e-04 9.99939952e-01 2.13132905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.930385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:335.02, Y:285.78, Z:21.31 [[ 6.73802410e-01 -7.38873695e-01 -7.48169711e-03 3.35017180e+02] [ 7.38830318e-01 6.73843933e-01 -8.00727775e-03 2.85781806e+02] [ 1.09578631e-02 -1.32381610e-04 9.99939952e-01 2.13140975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.960385723 meters Centerline goodness : 0.996007 Centerline is valid? [True, True] Translation: X:335.05, Y:285.80, Z:21.31 [[ 6.76366557e-01 -7.36527208e-01 -7.48019979e-03 3.35045807e+02] [ 7.36483671e-01 6.76407912e-01 -8.00867626e-03 2.85802836e+02] [ 1.09582743e-02 -9.22442125e-05 9.99939952e-01 2.13146740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.990385723 meters Centerline goodness : 0.995142 Centerline is valid? [True, True] Translation: X:335.06, Y:285.82, Z:21.32 [[ 6.75043079e-01 -7.37738567e-01 -7.65817801e-03 3.35063952e+02] [ 7.37696969e-01 6.75086424e-01 -7.84225324e-03 2.85822251e+02] [ 1.09554647e-02 -3.55555931e-04 9.99939924e-01 2.13171894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.020385723 meters Centerline goodness : 0.995143 Centerline is valid? [True, True] Translation: X:335.08, Y:285.85, Z:21.32 [[ 6.73183399e-01 -7.39436468e-01 -7.60402214e-03 3.35084422e+02] [ 7.39394409e-01 6.73226273e-01 -7.89267233e-03 2.85845944e+02] [ 1.09553572e-02 -3.09155464e-04 9.99939940e-01 2.13180895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.050385723 meters Centerline goodness : 0.994857 Centerline is valid? [True, True] Translation: X:335.10, Y:285.86, Z:21.32 [[ 6.73110311e-01 -7.39502363e-01 -7.66580363e-03 3.35100504e+02] [ 7.39460959e-01 6.73153846e-01 -7.83515825e-03 2.85864719e+02] [ 1.09543832e-02 -3.94636697e-04 9.99939921e-01 2.13178500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.080385723 meters Centerline goodness : 0.996111 Centerline is valid? [True, True] Translation: X:335.11, Y:285.89, Z:21.32 [[ 6.71314239e-01 -7.41133674e-01 -7.62036182e-03 3.35110501e+02] [ 7.41091894e-01 6.71357393e-01 -7.87754968e-03 2.85885233e+02] [ 1.09543036e-02 -3.59077104e-04 9.99939935e-01 2.13166808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.110385723 meters Centerline goodness : 0.998646 Centerline is valid? [True, True] Translation: X:335.13, Y:285.91, Z:21.32 [[ 6.71510030e-01 -7.40957601e-01 -7.49086545e-03 3.35128929e+02] [ 7.40914455e-01 6.71551786e-01 -7.99811495e-03 2.85906650e+02] [ 1.09567681e-02 -1.79276082e-04 9.99939957e-01 2.13170732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.140385723 meters Centerline goodness : 0.998669 Centerline is valid? [True, True] Translation: X:335.15, Y:285.93, Z:21.32 [[ 6.71330933e-01 -7.41119884e-01 -7.48965574e-03 3.35146395e+02] [ 7.41076735e-01 6.71372687e-01 -7.99924002e-03 2.85928437e+02] [ 1.09567461e-02 -1.80272356e-04 9.99939957e-01 2.13171909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.170385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:335.16, Y:285.95, Z:21.32 [[ 6.72051572e-01 -7.40466370e-01 -7.49923631e-03 3.35163368e+02] [ 7.40423280e-01 6.72093387e-01 -7.99033341e-03 2.85948259e+02] [ 1.09567603e-02 -1.82693009e-04 9.99939956e-01 2.13182645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.200385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:335.18, Y:285.97, Z:21.32 [[ 6.72170295e-01 -7.40359013e-01 -7.45832356e-03 3.35180390e+02] [ 7.40315493e-01 6.72211660e-01 -8.02834134e-03 2.85970850e+02] [ 1.09574269e-02 -1.25099918e-04 9.99939958e-01 2.13175699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.230385723 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:335.20, Y:285.99, Z:21.32 [[ 6.72319113e-01 -7.40223896e-01 -7.45616994e-03 3.35197457e+02] [ 7.40180345e-01 6.72360446e-01 -8.03034099e-03 2.85991472e+02] [ 1.09574840e-02 -1.19958709e-04 9.99939958e-01 2.13172796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.260385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:335.22, Y:286.01, Z:21.32 [[ 6.72122252e-01 -7.40402662e-01 -7.45498349e-03 3.35215624e+02] [ 7.40359110e-01 6.72163584e-01 -8.03144228e-03 2.86013340e+02] [ 1.09574697e-02 -1.21253866e-04 9.99939958e-01 2.13173178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.290385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:335.23, Y:286.04, Z:21.32 [[ 6.71834852e-01 -7.40663477e-01 -7.45282021e-03 3.35232005e+02] [ 7.40619920e-01 6.71876178e-01 -8.03344921e-03 2.86035219e+02] [ 1.09574548e-02 -1.22555941e-04 9.99939958e-01 2.13184505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.320385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:335.25, Y:286.06, Z:21.32 [[ 6.71555389e-01 -7.40916889e-01 -7.45135095e-03 3.35250321e+02] [ 7.40873332e-01 6.71596715e-01 -8.03481177e-03 2.86056082e+02] [ 1.09574306e-02 -1.24686059e-04 9.99939958e-01 2.13192427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.350385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:335.27, Y:286.08, Z:21.32 [[ 6.70218985e-01 -7.42126015e-01 -7.44923138e-03 3.35268675e+02] [ 7.42082510e-01 6.70260366e-01 -8.03677638e-03 2.86077646e+02] [ 1.09572254e-02 -1.41544213e-04 9.99939958e-01 2.13193513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.380385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:335.29, Y:286.10, Z:21.32 [[ 6.69785305e-01 -7.42517466e-01 -7.44697979e-03 3.35286158e+02] [ 7.42473963e-01 6.69826688e-01 -8.03886219e-03 2.86098511e+02] [ 1.09571814e-02 -1.44876833e-04 9.99939958e-01 2.13191768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.410385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:335.30, Y:286.12, Z:21.32 [[ 6.68736260e-01 -7.43462424e-01 -7.44572910e-03 3.35304790e+02] [ 7.43418966e-01 6.68777690e-01 -8.04002044e-03 2.86121020e+02] [ 1.09569906e-02 -1.58643030e-04 9.99939958e-01 2.13187456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.440385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:335.32, Y:286.14, Z:21.32 [[ 6.69309690e-01 -7.42945795e-01 -7.48890698e-03 3.35319333e+02] [ 7.42902751e-01 6.69351553e-01 -8.00002957e-03 2.86142187e+02] [ 1.09562998e-02 -2.09032285e-04 9.99939956e-01 2.13176313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.4703857229999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:335.34, Y:286.16, Z:21.32 [[ 6.69281340e-01 -7.42971799e-01 -7.44266000e-03 3.35337119e+02] [ 7.42928280e-01 6.69322705e-01 -8.04282557e-03 2.86163603e+02] [ 1.09571339e-02 -1.46449519e-04 9.99939958e-01 2.13170167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.500385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:335.35, Y:286.19, Z:21.32 [[ 6.69362471e-01 -7.42898729e-01 -7.44047322e-03 3.35354555e+02] [ 7.42855183e-01 6.69403808e-01 -8.04484807e-03 2.86186227e+02] [ 1.09571885e-02 -1.42274713e-04 9.99939958e-01 2.13176412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.530385723 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:335.37, Y:286.21, Z:21.32 [[ 6.69734077e-01 -7.42563761e-01 -7.43824378e-03 3.35372051e+02] [ 7.42520171e-01 6.69775368e-01 -8.04690887e-03 2.86207071e+02] [ 1.09572954e-02 -1.33756956e-04 9.99939958e-01 2.13175920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.560385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:335.39, Y:286.23, Z:21.32 [[ 6.68864472e-01 -7.43347168e-01 -7.43672832e-03 3.35391892e+02] [ 7.43303611e-01 6.68905798e-01 -8.04830918e-03 2.86230774e+02] [ 1.09571585e-02 -1.44518943e-04 9.99939958e-01 2.13168729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.5903857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:335.41, Y:286.25, Z:21.32 [[ 6.69936596e-01 -7.42380666e-01 -7.47697820e-03 3.35408576e+02] [ 7.42337462e-01 6.69978294e-01 -8.01112416e-03 2.86251638e+02] [ 1.09567168e-02 -1.83495776e-04 9.99939957e-01 2.13171502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.620385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:335.43, Y:286.28, Z:21.32 [[ 6.69149895e-01 -7.43090282e-01 -7.43304547e-03 3.35427811e+02] [ 7.43046672e-01 6.69191164e-01 -8.05168143e-03 2.86276829e+02] [ 1.09572546e-02 -1.35317917e-04 9.99939958e-01 2.13158429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.650385723 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:335.44, Y:286.30, Z:21.31 [[ 6.68879971e-01 -7.43332615e-01 -7.49714750e-03 3.35444802e+02] [ 7.43289680e-01 6.68921948e-01 -7.99246735e-03 2.86299420e+02] [ 1.09560682e-02 -2.26551035e-04 9.99939955e-01 2.13143985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.680385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:335.46, Y:286.32, Z:21.32 [[ 6.69355418e-01 -7.42904603e-01 -7.48835189e-03 3.35460778e+02] [ 7.42861550e-01 6.69397272e-01 -8.00058793e-03 2.86319382e+02] [ 1.09563559e-02 -2.07571813e-04 9.99939956e-01 2.13151240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.710385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:335.48, Y:286.34, Z:21.32 [[ 6.68712314e-01 -7.43484125e-01 -7.42954892e-03 3.35479082e+02] [ 7.43440503e-01 6.68753570e-01 -8.05482621e-03 2.86340849e+02] [ 1.09571728e-02 -1.37066121e-04 9.99939959e-01 2.13155262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.740385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:335.49, Y:286.36, Z:21.32 [[ 6.67308768e-01 -7.44744146e-01 -7.42733007e-03 3.35494920e+02] [ 7.44700580e-01 6.67350083e-01 -8.05687168e-03 2.86362860e+02] [ 1.09569374e-02 -1.54715894e-04 9.99939959e-01 2.13153912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.770385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:335.51, Y:286.38, Z:21.32 [[ 6.66950033e-01 -7.45065438e-01 -7.42610936e-03 3.35513733e+02] [ 7.45021879e-01 6.66991356e-01 -8.05799666e-03 2.86384898e+02] [ 1.09568856e-02 -1.58332809e-04 9.99939959e-01 2.13159658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.800385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:335.53, Y:286.41, Z:21.31 [[ 6.65355930e-01 -7.46489225e-01 -7.43796927e-03 3.35529071e+02] [ 7.46445877e-01 6.65397473e-01 -8.04707212e-03 2.86408006e+02] [ 1.09562586e-02 -1.97874343e-04 9.99939959e-01 2.13147468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.830385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:335.55, Y:286.43, Z:21.32 [[ 6.65153527e-01 -7.46669731e-01 -7.42290183e-03 3.35548370e+02] [ 7.46626239e-01 6.65194920e-01 -8.06094694e-03 2.86429074e+02] [ 1.09565417e-02 -1.80365992e-04 9.99939959e-01 2.13150532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.860385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:335.57, Y:286.45, Z:21.31 [[ 6.64130208e-01 -7.47580096e-01 -7.42071581e-03 3.35566420e+02] [ 7.47536638e-01 6.64171637e-01 -8.06295884e-03 2.86450988e+02] [ 1.09563365e-02 -1.92402416e-04 9.99939959e-01 2.13148586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.890385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:335.58, Y:286.47, Z:21.31 [[ 6.62912841e-01 -7.48659823e-01 -7.41853844e-03 3.35584278e+02] [ 7.48616411e-01 6.62954317e-01 -8.06496168e-03 2.86472195e+02] [ 1.09560649e-02 -2.07272963e-04 9.99939959e-01 2.13147641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.920385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:335.60, Y:286.49, Z:21.31 [[ 6.60823751e-01 -7.50504476e-01 -7.41633836e-03 3.35601806e+02] [ 7.50461156e-01 6.60865324e-01 -8.06698431e-03 2.86493293e+02] [ 1.09555087e-02 -2.34819034e-04 9.99939959e-01 2.13149334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.950385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:335.62, Y:286.51, Z:21.31 [[ 6.59396905e-01 -7.51758433e-01 -7.41484575e-03 3.35618973e+02] [ 7.51715177e-01 6.59438545e-01 -8.06835603e-03 2.86514744e+02] [ 1.09550898e-02 -2.53603090e-04 9.99939959e-01 2.13146600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.980385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:335.64, Y:286.54, Z:21.32 [[ 6.59119129e-01 -7.52002003e-01 -7.41364815e-03 3.35637280e+02] [ 7.51958750e-01 6.59160771e-01 -8.06945630e-03 2.86536051e+02] [ 1.09550333e-02 -2.56024596e-04 9.99939959e-01 2.13150800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.010385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:335.66, Y:286.56, Z:21.31 [[ 6.58599067e-01 -7.52457533e-01 -7.41151358e-03 3.35656169e+02] [ 7.52414287e-01 6.58640716e-01 -8.07141635e-03 2.86558289e+02] [ 1.09549226e-02 -2.60701424e-04 9.99939959e-01 2.13137331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.040385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:335.67, Y:286.58, Z:21.31 [[ 6.60128083e-01 -7.51116276e-01 -7.43338213e-03 3.35671924e+02] [ 7.51073170e-01 6.60169879e-01 -8.05134059e-03 2.86579260e+02] [ 1.09547879e-02 -2.68097859e-04 9.99939959e-01 2.13143739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.070385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:335.69, Y:286.60, Z:21.31 [[ 6.60530835e-01 -7.50762368e-01 -7.40833238e-03 3.35690735e+02] [ 7.50718982e-01 6.60572339e-01 -8.07432418e-03 2.86601383e+02] [ 1.09556382e-02 -2.28235656e-04 9.99939959e-01 2.13126639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.100385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:335.71, Y:286.62, Z:21.31 [[ 6.62488580e-01 -7.49035305e-01 -7.41579535e-03 3.35708811e+02] [ 7.48991887e-01 6.62530051e-01 -8.06747886e-03 2.86622304e+02] [ 1.09560138e-02 -2.09757940e-04 9.99939959e-01 2.13125236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.130385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:335.73, Y:286.64, Z:21.31 [[ 6.63865452e-01 -7.47815298e-01 -7.41221722e-03 3.35728380e+02] [ 7.47771768e-01 6.63906805e-01 -8.07075896e-03 2.86643057e+02] [ 1.09564585e-02 -1.84748729e-04 9.99939959e-01 2.13131118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.160385723 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:335.75, Y:286.66, Z:21.31 [[ 6.64952612e-01 -7.46848739e-01 -7.41515502e-03 3.35746737e+02] [ 7.46805179e-01 6.64993933e-01 -8.06806650e-03 2.86662305e+02] [ 1.09566584e-02 -1.72794280e-04 9.99939959e-01 2.13141376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.190385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:335.76, Y:286.68, Z:21.31 [[ 6.65586071e-01 -7.46284390e-01 -7.40214745e-03 3.35764669e+02] [ 7.46240662e-01 6.65627215e-01 -8.07998286e-03 2.86682397e+02] [ 1.09570359e-02 -1.45859360e-04 9.99939959e-01 2.13149293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.2203857229999 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:335.78, Y:286.70, Z:21.31 [[ 6.65091375e-01 -7.46725311e-01 -7.40094120e-03 3.35784437e+02] [ 7.46681598e-01 6.65132534e-01 -8.08108759e-03 2.86703867e+02] [ 1.09569594e-02 -1.51484943e-04 9.99939959e-01 2.13122500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.250385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:335.81, Y:286.72, Z:21.31 [[ 6.64686554e-01 -7.47085656e-01 -7.40325912e-03 3.35805066e+02] [ 7.47041989e-01 6.64727762e-01 -8.07896533e-03 2.86723021e+02] [ 1.09568310e-02 -1.60565793e-04 9.99939959e-01 2.13143309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.280385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:335.82, Y:286.74, Z:21.32 [[ 6.64167279e-01 -7.47547362e-01 -7.40047306e-03 3.35824666e+02] [ 7.47503695e-01 6.64208488e-01 -8.08151480e-03 2.86742398e+02] [ 1.09567721e-02 -1.64403263e-04 9.99939959e-01 2.13157832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.310385723 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:335.84, Y:286.76, Z:21.31 [[ 6.63514470e-01 -7.48126899e-01 -7.39531396e-03 3.35844314e+02] [ 7.48083216e-01 6.63555661e-01 -8.08623309e-03 2.86761628e+02] [ 1.09567309e-02 -1.66977581e-04 9.99939959e-01 2.13148553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.3403857229999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:335.86, Y:286.78, Z:21.32 [[ 6.63370678e-01 -7.48254415e-01 -7.39413456e-03 3.35864466e+02] [ 7.48210728e-01 6.63411865e-01 -8.08731141e-03 2.86782723e+02] [ 1.09567231e-02 -1.67485546e-04 9.99939959e-01 2.13156628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.370385723 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:335.89, Y:286.80, Z:21.32 [[ 6.63629982e-01 -7.48024394e-01 -7.39947396e-03 3.35885777e+02] [ 7.47980747e-01 6.63671211e-01 -8.08243097e-03 2.86801656e+02] [ 1.09566734e-02 -1.70920537e-04 9.99939959e-01 2.13166958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.400385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:335.90, Y:286.82, Z:21.32 [[ 6.64072883e-01 -7.47631244e-01 -7.39790157e-03 3.35904992e+02] [ 7.47587557e-01 6.64114069e-01 -8.08386721e-03 2.86820614e+02] [ 1.09568022e-02 -1.62302155e-04 9.99939959e-01 2.13176351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.430385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:335.93, Y:286.84, Z:21.32 [[ 6.65026331e-01 -7.46783362e-01 -7.38847253e-03 3.35928005e+02] [ 7.46739526e-01 6.65067359e-01 -8.09247598e-03 2.86839989e+02] [ 1.09571583e-02 -1.35554862e-04 9.99939959e-01 2.13183399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.460385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:335.95, Y:286.86, Z:21.32 [[ 6.65495381e-01 -7.46365082e-01 -7.42043680e-03 3.35946860e+02] [ 7.46321545e-01 6.65536727e-01 -8.06329124e-03 2.86858260e+02] [ 1.09567322e-02 -1.71948777e-04 9.99939958e-01 2.13180596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.490385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:335.97, Y:286.88, Z:21.32 [[ 6.65681899e-01 -7.46199079e-01 -7.38539158e-03 3.35967597e+02] [ 7.46155176e-01 6.65722855e-01 -8.09526338e-03 2.86877255e+02] [ 1.09573020e-02 -1.21777859e-04 9.99939960e-01 2.13162971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.520385723 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:335.99, Y:286.89, Z:21.32 [[ 6.66364185e-01 -7.45589875e-01 -7.38319752e-03 3.35988228e+02] [ 7.45545912e-01 6.66405077e-01 -8.09726394e-03 2.86894663e+02] [ 1.09574383e-02 -1.08786047e-04 9.99939960e-01 2.13179899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.550385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:336.01, Y:286.91, Z:21.32 [[ 6.66442769e-01 -7.45519645e-01 -7.38197261e-03 3.36008390e+02] [ 7.45475666e-01 6.66483644e-01 -8.09838050e-03 2.86914753e+02] [ 1.09574658e-02 -1.05973825e-04 9.99939960e-01 2.13187427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.580385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:336.03, Y:286.93, Z:21.32 [[ 6.66488615e-01 -7.45478754e-01 -7.37245053e-03 3.36029889e+02] [ 7.45434677e-01 6.66529383e-01 -8.10705721e-03 2.86934059e+02] [ 1.09575938e-02 -9.24189403e-05 9.99939960e-01 2.13167331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.610385723 meters Centerline goodness : 0.994790 Centerline is valid? [True, True] Translation: X:336.05, Y:286.95, Z:21.32 [[ 6.65900273e-01 -7.46004271e-01 -7.37929630e-03 3.36051790e+02] [ 7.45960294e-01 6.65941150e-01 -8.10082119e-03 2.86954638e+02] [ 1.09574243e-02 -1.10322995e-04 9.99939960e-01 2.13174869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.640385723 meters Centerline goodness : 0.994882 Centerline is valid? [True, True] Translation: X:336.07, Y:286.97, Z:21.32 [[ 6.64554351e-01 -7.47203232e-01 -7.40572705e-03 3.36073218e+02] [ 7.47159597e-01 6.64595593e-01 -8.07675086e-03 2.86972497e+02] [ 1.09567879e-02 -1.65820115e-04 9.99939959e-01 2.13175681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.670385723 meters Centerline goodness : 0.994892 Centerline is valid? [True, True] Translation: X:336.09, Y:286.99, Z:21.32 [[ 6.63708035e-01 -7.47955163e-01 -7.39714594e-03 3.36093720e+02] [ 7.47911488e-01 6.63749234e-01 -8.08456064e-03 2.86992504e+02] [ 1.09567388e-02 -1.66622572e-04 9.99939959e-01 2.13177281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.700385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:336.11, Y:287.01, Z:21.32 [[ 6.62582484e-01 -7.48952386e-01 -7.40105120e-03 3.36111906e+02] [ 7.48908812e-01 6.62623791e-01 -8.08100766e-03 2.87011342e+02] [ 1.09564026e-02 -1.88378330e-04 9.99939959e-01 2.13180033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.730385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:336.13, Y:287.03, Z:21.32 [[ 6.63367935e-01 -7.48257038e-01 -7.37478345e-03 3.36134398e+02] [ 7.48213156e-01 6.63408912e-01 -8.10488242e-03 2.87029723e+02] [ 1.09570324e-02 -1.41390881e-04 9.99939960e-01 2.13187755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.760385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:336.15, Y:287.05, Z:21.32 [[ 6.63335268e-01 -7.48285923e-01 -7.38238376e-03 3.36153778e+02] [ 7.48242119e-01 6.63376329e-01 -8.09797691e-03 2.87048607e+02] [ 1.09569008e-02 -1.52136786e-04 9.99939960e-01 2.13182190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.790385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:336.18, Y:287.07, Z:21.32 [[ 6.63624318e-01 -7.48029666e-01 -7.37448124e-03 3.36177271e+02] [ 7.47985766e-01 6.63665277e-01 -8.10515309e-03 2.87067344e+02] [ 1.09570821e-02 -1.37230308e-04 9.99939960e-01 2.13184353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.820385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:336.20, Y:287.09, Z:21.32 [[ 6.63685134e-01 -7.47975439e-01 -7.40177389e-03 3.36197096e+02] [ 7.47931812e-01 6.63726384e-01 -8.08036938e-03 2.87085649e+02] [ 1.09566705e-02 -1.73201127e-04 9.99939959e-01 2.13193379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.850385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:336.22, Y:287.11, Z:21.32 [[ 6.63237464e-01 -7.48372477e-01 -7.39608164e-03 3.36219225e+02] [ 7.48328817e-01 6.63278679e-01 -8.08553497e-03 2.87105931e+02] [ 1.09566551e-02 -1.72071320e-04 9.99939959e-01 2.13193555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.880385723 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:336.24, Y:287.12, Z:21.32 [[ 6.60781924e-01 -7.50541323e-01 -7.41428548e-03 3.36238030e+02] [ 7.50497983e-01 6.60823477e-01 -8.06901887e-03 2.87122317e+02] [ 1.09556660e-02 -2.32544496e-04 9.99939958e-01 2.13151236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.910385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:336.26, Y:287.14, Z:21.32 [[ 6.62777671e-01 -7.48780062e-01 -7.36050588e-03 3.36261839e+02] [ 7.48736069e-01 6.62818528e-01 -8.11778162e-03 2.87142668e+02] [ 1.09571127e-02 -1.30791836e-04 9.99939960e-01 2.13180500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.940385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:336.28, Y:287.16, Z:21.32 [[ 6.63353771e-01 -7.48269209e-01 -7.41385053e-03 3.36282672e+02] [ 7.48225723e-01 6.63395171e-01 -8.06941274e-03 2.87160790e+02] [ 1.09564057e-02 -1.94358302e-04 9.99939958e-01 2.13179765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.9703857229999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:336.30, Y:287.18, Z:21.32 [[ 6.64046824e-01 -7.47654474e-01 -7.38936440e-03 3.36304448e+02] [ 7.47610702e-01 6.64087919e-01 -8.09160360e-03 2.87181223e+02] [ 1.09569113e-02 -1.51164237e-04 9.99939960e-01 2.13198855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.000385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:336.32, Y:287.20, Z:21.32 [[ 6.65203139e-01 -7.46625534e-01 -7.42268738e-03 3.36323795e+02] [ 7.46582034e-01 6.65244527e-01 -8.06141073e-03 2.87199830e+02] [ 1.09567572e-02 -1.79169312e-04 9.99939957e-01 2.13205174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.030385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:336.34, Y:287.22, Z:21.32 [[ 6.66170800e-01 -7.45762448e-01 -7.40515672e-03 3.36344933e+02] [ 7.45718718e-01 6.66211942e-01 -8.07728549e-03 2.87216992e+02] [ 1.09571400e-02 -1.41312236e-04 9.99939959e-01 2.13187072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.060385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:336.37, Y:287.24, Z:21.32 [[ 6.65829883e-01 -7.46066948e-01 -7.39432895e-03 3.36366833e+02] [ 7.46023128e-01 6.65870927e-01 -8.08708637e-03 2.87237690e+02] [ 1.09571765e-02 -1.31716645e-04 9.99939960e-01 2.13193744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.0903857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:336.39, Y:287.26, Z:21.32 [[ 6.65322323e-01 -7.46519326e-01 -7.42312317e-03 3.36386603e+02] [ 7.46475824e-01 6.65363708e-01 -8.06102849e-03 2.87257370e+02] [ 1.09567903e-02 -1.77999780e-04 9.99939957e-01 2.13185409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.120385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:336.41, Y:287.27, Z:21.32 [[ 6.65507917e-01 -7.46354011e-01 -7.40963604e-03 3.36407915e+02] [ 7.46310363e-01 6.65549146e-01 -8.07322479e-03 2.87274513e+02] [ 1.09569606e-02 -1.57093149e-04 9.99939958e-01 2.13210627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.150385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:336.43, Y:287.30, Z:21.32 [[ 6.64221707e-01 -7.47499113e-01 -7.38914869e-03 3.36430471e+02] [ 7.47455330e-01 6.64262790e-01 -8.09173968e-03 2.87296577e+02] [ 1.09569048e-02 -1.48349422e-04 9.99939960e-01 2.13207554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.180385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:336.44, Y:287.31, Z:21.32 [[ 6.64754812e-01 -7.47024559e-01 -7.43968143e-03 3.36444848e+02] [ 7.46981255e-01 6.64796409e-01 -8.04606602e-03 2.87313948e+02] [ 1.09564824e-02 -2.08641474e-04 9.99939954e-01 2.13249939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.210385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:336.47, Y:287.33, Z:21.33 [[ 6.66538779e-01 -7.45434267e-01 -7.33552991e-03 3.36465383e+02] [ 7.45389822e-01 6.66579141e-01 -8.14008552e-03 2.87334716e+02] [ 1.09576099e-02 -4.21466791e-05 9.99939963e-01 2.13260386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.240385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:336.48, Y:287.36, Z:21.32 [[ 6.66466179e-01 -7.45499022e-01 -7.35124617e-03 3.36483568e+02] [ 7.45454737e-01 6.66506717e-01 -8.12590459e-03 2.87356844e+02] [ 1.09575089e-02 -6.43807029e-05 9.99939963e-01 2.13248541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.270385723 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:336.50, Y:287.38, Z:21.32 [[ 6.63708957e-01 -7.47954676e-01 -7.36361954e-03 3.36497389e+02] [ 7.47910665e-01 6.63749793e-01 -8.11474157e-03 2.87379632e+02] [ 1.09570599e-02 -1.21502928e-04 9.99939962e-01 2.13205690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.300385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:336.52, Y:287.40, Z:21.32 [[ 6.67015029e-01 -7.45008121e-01 -7.33836502e-03 3.36516701e+02] [ 7.44963678e-01 6.67055394e-01 -8.13751596e-03 2.87398889e+02] [ 1.09576114e-02 -3.89699532e-05 9.99939963e-01 2.13246395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.330385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:336.54, Y:287.42, Z:21.33 [[ 6.64475822e-01 -7.47273789e-01 -7.33246799e-03 3.36535053e+02] [ 7.47229426e-01 6.64516274e-01 -8.14283269e-03 2.87422477e+02] [ 1.09574698e-02 -6.83204055e-05 9.99939963e-01 2.13257507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.360385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:336.55, Y:287.44, Z:21.32 [[ 6.60856778e-01 -7.50476069e-01 -7.34770472e-03 3.36550310e+02] [ 7.50432054e-01 6.60897609e-01 -8.12909666e-03 2.87444880e+02] [ 1.09567730e-02 -1.41784520e-04 9.99939963e-01 2.13239222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.390385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:336.57, Y:287.47, Z:21.33 [[ 6.59596484e-01 -7.51584105e-01 -7.33559528e-03 3.36574035e+02] [ 7.51540038e-01 6.59637258e-01 -8.14000942e-03 2.87467158e+02] [ 1.09567337e-02 -1.43871958e-04 9.99939963e-01 2.13264749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.420385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:336.59, Y:287.49, Z:21.33 [[ 6.56851886e-01 -7.53983427e-01 -7.38859898e-03 3.36593043e+02] [ 7.53940042e-01 6.56893391e-01 -8.09237792e-03 2.87489139e+02] [ 1.09550407e-02 -2.55066917e-04 9.99939959e-01 2.13252130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.450385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:336.61, Y:287.51, Z:21.32 [[ 6.55777390e-01 -7.54918215e-01 -7.38262438e-03 3.36609451e+02] [ 7.54874829e-01 6.55818892e-01 -8.09774399e-03 2.87509614e+02] [ 1.09547990e-02 -2.62639895e-04 9.99939960e-01 2.13242439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.480385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:336.63, Y:287.53, Z:21.32 [[ 6.55986521e-01 -7.54736796e-01 -7.35207746e-03 3.36631073e+02] [ 7.54693090e-01 6.56027683e-01 -8.12517951e-03 2.87532479e+02] [ 1.09555383e-02 -2.18553811e-04 9.99939962e-01 2.13230439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.510385723 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:336.65, Y:287.55, Z:21.32 [[ 6.54480920e-01 -7.56042169e-01 -7.41376674e-03 3.36645390e+02] [ 7.55999170e-01 6.54522829e-01 -8.06975718e-03 2.87552829e+02] [ 1.09535563e-02 -3.23299398e-04 9.99939956e-01 2.13232765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.540385723 meters Centerline goodness : 0.994995 Centerline is valid? [True, True] Translation: X:336.66, Y:287.57, Z:21.32 [[ 6.53966762e-01 -7.56487566e-01 -7.35090225e-03 3.36661599e+02] [ 7.56443959e-01 6.54008029e-01 -8.12621693e-03 2.87573872e+02] [ 1.09549312e-02 -2.46269822e-04 9.99939963e-01 2.13220847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.570385723 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:336.68, Y:287.60, Z:21.32 [[ 6.55568842e-01 -7.55100010e-01 -7.31217923e-03 3.36679666e+02] [ 7.55055927e-01 6.55609598e-01 -8.16096796e-03 2.87595538e+02] [ 1.09562819e-02 -1.71027951e-04 9.99939964e-01 2.13233236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.600385723 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:336.70, Y:287.62, Z:21.32 [[ 6.55751055e-01 -7.54941883e-01 -7.30113288e-03 3.36697750e+02] [ 7.54897680e-01 6.55791681e-01 -8.17088294e-03 2.87616501e+02] [ 1.09565640e-02 -1.53543165e-04 9.99939963e-01 2.13228232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.630385723 meters Centerline goodness : 0.995001 Centerline is valid? [True, True] Translation: X:336.72, Y:287.64, Z:21.32 [[ 6.57263680e-01 -7.53625170e-01 -7.31829819e-03 3.36716331e+02] [ 7.53581057e-01 6.57304404e-01 -8.15547854e-03 2.87637310e+02] [ 1.09565235e-02 -1.54631039e-04 9.99939964e-01 2.13204275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.660385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:336.74, Y:287.66, Z:21.32 [[ 6.58728609e-01 -7.52345064e-01 -7.31603430e-03 3.36736776e+02] [ 7.52300849e-01 6.58769222e-01 -8.15750890e-03 2.87659021e+02] [ 1.09568398e-02 -1.30274326e-04 9.99939964e-01 2.13217691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.690385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:336.76, Y:287.68, Z:21.32 [[ 6.58935359e-01 -7.52163766e-01 -7.33906071e-03 3.36755873e+02] [ 7.52119769e-01 6.58976209e-01 -8.13689464e-03 2.87680697e+02] [ 1.09565437e-02 -1.58165047e-04 9.99939963e-01 2.13226826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.7203857229999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:336.77, Y:287.70, Z:21.32 [[ 6.58736409e-01 -7.52337802e-01 -7.36037903e-03 3.36774200e+02] [ 7.52294028e-01 6.58777501e-01 -8.11781751e-03 2.87701355e+02] [ 1.09561931e-02 -1.89667231e-04 9.99939961e-01 2.13229963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.750385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:336.79, Y:287.72, Z:21.32 [[ 6.59648348e-01 -7.51538375e-01 -7.35719355e-03 3.36792282e+02] [ 7.51494520e-01 6.59689352e-01 -8.12066624e-03 2.87721929e+02] [ 1.09564546e-02 -1.72106565e-04 9.99939961e-01 2.13233906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.780385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:336.81, Y:287.74, Z:21.33 [[ 6.59322233e-01 -7.51824803e-01 -7.32517611e-03 3.36811247e+02] [ 7.51780648e-01 6.59362910e-01 -8.14927841e-03 2.87743389e+02] [ 1.09567791e-02 -1.33925204e-04 9.99939964e-01 2.13250464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.810385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:336.83, Y:287.76, Z:21.33 [[ 6.56982655e-01 -7.53870009e-01 -7.33486069e-03 3.36827711e+02] [ 7.53826077e-01 6.57023574e-01 -8.14062215e-03 2.87763922e+02] [ 1.09561473e-02 -1.80961703e-04 9.99939963e-01 2.13258965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.8403857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:336.85, Y:287.79, Z:21.32 [[ 6.56150935e-01 -7.54594372e-01 -7.29965121e-03 3.36849721e+02] [ 7.54550134e-01 6.56191521e-01 -8.17207280e-03 2.87785970e+02] [ 1.09565694e-02 -1.45839594e-04 9.99939964e-01 2.13234281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.870385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:336.87, Y:287.81, Z:21.33 [[ 6.55657978e-01 -7.55022322e-01 -7.34228523e-03 3.36869267e+02] [ 7.54978534e-01 6.55699054e-01 -8.13409256e-03 2.87807290e+02] [ 1.09557509e-02 -2.10085053e-04 9.99939962e-01 2.13257705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.900385723 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:336.88, Y:287.83, Z:21.33 [[ 6.52286542e-01 -7.57936890e-01 -7.34419790e-03 3.36883823e+02] [ 7.57893305e-01 6.52327833e-01 -8.13238870e-03 2.87828303e+02] [ 1.09546621e-02 -2.61470716e-04 9.99939962e-01 2.13262247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.930385723 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:336.90, Y:287.85, Z:21.32 [[ 6.53440802e-01 -7.56942564e-01 -7.28510496e-03 3.36903774e+02] [ 7.56898328e-01 6.53481390e-01 -8.18497992e-03 2.87848207e+02] [ 1.09562402e-02 -1.65683921e-04 9.99939965e-01 2.13224154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.960385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:336.92, Y:287.87, Z:21.32 [[ 6.50804853e-01 -7.59209969e-01 -7.29836439e-03 3.36921956e+02] [ 7.59166007e-01 6.50845737e-01 -8.17318316e-03 2.87870941e+02] [ 1.09552715e-02 -2.21522880e-04 9.99939965e-01 2.13248870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.990385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:336.94, Y:287.89, Z:21.32 [[ 6.48620382e-01 -7.61077068e-01 -7.30041992e-03 3.36939757e+02] [ 7.61033244e-01 6.48661415e-01 -8.17135564e-03 2.87893220e+02] [ 1.09545321e-02 -2.55754437e-04 9.99939965e-01 2.13247230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.020385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:336.96, Y:287.91, Z:21.32 [[ 6.47871902e-01 -7.61714241e-01 -7.30851286e-03 3.36958173e+02] [ 7.61670538e-01 6.47913064e-01 -8.16415868e-03 2.87914564e+02] [ 1.09540369e-02 -2.77349912e-04 9.99939964e-01 2.13227389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.050385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:336.98, Y:287.93, Z:21.32 [[ 6.48197784e-01 -7.61436782e-01 -7.32532916e-03 3.36976690e+02] [ 7.61393230e-01 6.48239107e-01 -8.14920927e-03 2.87934796e+02] [ 1.09536725e-02 -2.95156635e-04 9.99939963e-01 2.13238637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.080385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:337.00, Y:287.96, Z:21.33 [[ 6.48669311e-01 -7.61035371e-01 -7.30001080e-03 3.36995753e+02] [ 7.60991540e-01 6.48710336e-01 -8.17170047e-03 2.87955529e+02] [ 1.09545456e-02 -2.54515148e-04 9.99939965e-01 2.13269228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.110385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:337.01, Y:287.98, Z:21.33 [[ 6.49244925e-01 -7.60544615e-01 -7.27440194e-03 3.37013804e+02] [ 7.60500498e-01 6.49285641e-01 -8.19443409e-03 2.87976491e+02] [ 1.09553974e-02 -2.11991552e-04 9.99939965e-01 2.13283322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.140385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:337.03, Y:288.00, Z:21.33 [[ 6.46745313e-01 -7.62671368e-01 -7.27222484e-03 3.37025243e+02] [ 7.62627363e-01 6.46786151e-01 -8.19636573e-03 2.87998852e+02] [ 1.09547078e-02 -2.45036536e-04 9.99939965e-01 2.13291723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.170385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:337.04, Y:288.02, Z:21.33 [[ 6.49831407e-01 -7.60044413e-01 -7.18554664e-03 3.37043538e+02] [ 7.59999388e-01 6.49871128e-01 -8.27333483e-03 2.88020455e+02] [ 1.09577812e-02 -8.47382257e-05 9.99939958e-01 2.13309600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.200385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:337.06, Y:288.04, Z:21.33 [[ 6.49839023e-01 -7.60037889e-01 -7.18689570e-03 3.37059600e+02] [ 7.59992876e-01 6.49878758e-01 -8.27213712e-03 2.88041532e+02] [ 1.09577485e-02 -8.64320296e-05 9.99939958e-01 2.13276828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.230385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:337.07, Y:288.06, Z:21.32 [[ 6.49196612e-01 -7.60586970e-01 -7.15678445e-03 3.37072087e+02] [ 7.60541696e-01 6.49236057e-01 -8.29887513e-03 2.88063117e+02] [ 1.09584588e-02 -5.54313642e-05 9.99939953e-01 2.13240618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.260385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:337.09, Y:288.08, Z:21.33 [[ 6.50323282e-01 -7.59624816e-01 -7.05462094e-03 3.37092096e+02] [ 7.59578493e-01 6.50361538e-01 -8.38952131e-03 2.88084184e+02] [ 1.09609427e-02 9.73626977e-05 9.99939922e-01 2.13254288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.290385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:337.11, Y:288.10, Z:21.33 [[ 6.51243524e-01 -7.58835765e-01 -7.08206355e-03 3.37111016e+02] [ 7.58789659e-01 6.51282026e-01 -8.36518824e-03 2.88104459e+02] [ 1.09602247e-02 7.39780796e-05 9.99939932e-01 2.13275321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.320385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:337.13, Y:288.13, Z:21.33 [[ 6.53829587e-01 -7.56608482e-01 -7.10462975e-03 3.37132276e+02] [ 7.56562463e-01 6.53868181e-01 -8.34516122e-03 2.88126210e+02] [ 1.09595111e-02 8.12171335e-05 9.99939939e-01 2.13315504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.350385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:337.16, Y:288.15, Z:21.33 [[ 6.57181795e-01 -7.53698095e-01 -7.16037863e-03 3.37157663e+02] [ 7.53652442e-01 6.57220799e-01 -8.29567760e-03 2.88147592e+02] [ 1.09583862e-02 5.53314543e-05 9.99939954e-01 2.13346348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.380385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:337.18, Y:288.17, Z:21.34 [[ 6.57332598e-01 -7.53565464e-01 -7.27645567e-03 3.37175522e+02] [ 7.53520935e-01 6.57372863e-01 -8.19258090e-03 2.88169227e+02] [ 1.09569905e-02 -9.77112001e-05 9.99939966e-01 2.13359756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.410385723 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:337.19, Y:288.19, Z:21.34 [[ 6.55204258e-01 -7.55416750e-01 -7.27428306e-03 3.37189200e+02] [ 7.55372313e-01 6.55244625e-01 -8.19450953e-03 2.88190955e+02] [ 1.09567046e-02 -1.25714482e-04 9.99939966e-01 2.13369456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.440385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:337.21, Y:288.21, Z:21.34 [[ 6.58159741e-01 -7.52843983e-01 -7.18973674e-03 3.37211387e+02] [ 7.52798565e-01 6.58199010e-01 -8.26948771e-03 2.88212769e+02] [ 1.09579117e-02 3.02203895e-05 9.99939960e-01 2.13381781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.4703857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:337.23, Y:288.23, Z:21.34 [[ 6.58410173e-01 -7.52624185e-01 -7.27186336e-03 3.37228687e+02] [ 7.52579554e-01 6.58450325e-01 -8.19662690e-03 2.88233831e+02] [ 1.09571404e-02 -7.59131481e-05 9.99939966e-01 2.13383297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.500385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:337.25, Y:288.26, Z:21.34 [[ 6.58135098e-01 -7.52864749e-01 -7.27065501e-03 3.37246781e+02] [ 7.52820121e-01 6.58175253e-01 -8.19769860e-03 2.88255769e+02] [ 1.09571235e-02 -7.83022136e-05 9.99939966e-01 2.13383826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.530385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:337.26, Y:288.28, Z:21.34 [[ 6.57668998e-01 -7.53271968e-01 -7.26851091e-03 3.37264012e+02] [ 7.53227343e-01 6.57709157e-01 -8.19959924e-03 2.88278354e+02] [ 1.09570944e-02 -8.22189421e-05 9.99939966e-01 2.13389845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.560385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:337.28, Y:288.30, Z:21.34 [[ 6.56097806e-01 -7.54640888e-01 -7.26634739e-03 3.37278648e+02] [ 7.54596326e-01 6.56138034e-01 -8.20151606e-03 2.88299631e+02] [ 1.09569263e-02 -1.02162347e-04 9.99939966e-01 2.13385207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.5903857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:337.30, Y:288.32, Z:21.34 [[ 6.58180688e-01 -7.52825426e-01 -7.21519417e-03 3.37299562e+02] [ 7.52780255e-01 6.58220235e-01 -8.24681007e-03 2.88321643e+02] [ 1.09575951e-02 -3.56457890e-06 9.99939964e-01 2.13398066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.620385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:337.32, Y:288.34, Z:21.34 [[ 6.58399381e-01 -7.52633703e-01 -7.26385255e-03 3.37317807e+02] [ 7.52588994e-01 6.58439446e-01 -8.20372635e-03 2.88343275e+02] [ 1.09572080e-02 -6.53671346e-05 9.99939966e-01 2.13410603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.650385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:337.33, Y:288.36, Z:21.34 [[ 6.58583923e-01 -7.52472248e-01 -7.26166642e-03 3.37334883e+02] [ 7.52427508e-01 6.58623953e-01 -8.20566099e-03 2.88364480e+02] [ 1.09572396e-02 -5.97611662e-05 9.99939966e-01 2.13407717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.680385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:337.35, Y:288.39, Z:21.34 [[ 6.58949667e-01 -7.52151994e-01 -7.26047516e-03 3.37351564e+02] [ 7.52107223e-01 6.58989662e-01 -8.20671490e-03 2.88386787e+02] [ 1.09572750e-02 -5.28437659e-05 9.99939966e-01 2.13424158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.710385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:337.37, Y:288.41, Z:21.34 [[ 6.58965033e-01 -7.52138554e-01 -7.25823112e-03 3.37368044e+02] [ 7.52093760e-01 6.59005003e-01 -8.20869910e-03 2.88410054e+02] [ 1.09572897e-02 -4.96246679e-05 9.99939966e-01 2.13425299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.740385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:337.39, Y:288.43, Z:21.34 [[ 6.58658222e-01 -7.52407257e-01 -7.25707246e-03 3.37385225e+02] [ 7.52362469e-01 6.58698198e-01 -8.20972331e-03 2.88432415e+02] [ 1.09572760e-02 -5.25471930e-05 9.99939966e-01 2.13432588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.770385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:337.40, Y:288.45, Z:21.34 [[ 6.58317548e-01 -7.52705370e-01 -7.25484452e-03 3.37402102e+02] [ 7.52660578e-01 6.58357519e-01 -8.21169164e-03 2.88453887e+02] [ 1.09572658e-02 -5.45347667e-05 9.99939966e-01 2.13436125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.800385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:337.42, Y:288.48, Z:21.34 [[ 6.56959598e-01 -7.53890888e-01 -7.25359658e-03 3.37418830e+02] [ 7.53846156e-01 6.56999637e-01 -8.21279383e-03 2.88475951e+02] [ 1.09571608e-02 -7.26221639e-05 9.99939966e-01 2.13448258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.830385723 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:337.44, Y:288.50, Z:21.34 [[ 6.55338405e-01 -7.55300597e-01 -7.25140245e-03 3.37436548e+02] [ 7.55255929e-01 6.55378516e-01 -8.21473066e-03 2.88497672e+02] [ 1.09570044e-02 -9.32362012e-05 9.99939966e-01 2.13441400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.860385723 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:337.45, Y:288.52, Z:21.35 [[ 6.53705153e-01 -7.56714624e-01 -7.24916789e-03 3.37452982e+02] [ 7.56670021e-01 6.53745336e-01 -8.21670210e-03 2.88521382e+02] [ 1.09568083e-02 -1.13927523e-04 9.99939966e-01 2.13460729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.890385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:337.47, Y:288.54, Z:21.35 [[ 6.52814964e-01 -7.57482740e-01 -7.24717912e-03 3.37469164e+02] [ 7.57438165e-01 6.52855178e-01 -8.21845583e-03 2.88542577e+02] [ 1.09566969e-02 -1.24159100e-04 9.99939966e-01 2.13459165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.920385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:337.48, Y:288.57, Z:21.35 [[ 6.51542180e-01 -7.58577803e-01 -7.24594456e-03 3.37483518e+02] [ 7.58533284e-01 6.51582456e-01 -8.21954416e-03 2.88565661e+02] [ 1.09564941e-02 -1.40910395e-04 9.99939966e-01 2.13454487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.950385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:337.50, Y:288.59, Z:21.35 [[ 6.51191369e-01 -7.58878985e-01 -7.24479820e-03 3.37500346e+02] [ 7.58834473e-01 6.51231653e-01 -8.22055445e-03 2.88588320e+02] [ 1.09564479e-02 -1.44448510e-04 9.99939966e-01 2.13453834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.980385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:337.51, Y:288.61, Z:21.35 [[ 6.50992929e-01 -7.59049242e-01 -7.24256549e-03 3.37514966e+02] [ 7.59004718e-01 6.51033200e-01 -8.22252107e-03 2.88612633e+02] [ 1.09564490e-02 -1.44338302e-04 9.99939966e-01 2.13452320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.010385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:337.53, Y:288.64, Z:21.35 [[ 6.50705934e-01 -7.59295308e-01 -7.24033802e-03 3.37531433e+02] [ 7.59250778e-01 6.50746198e-01 -8.22448199e-03 2.88635402e+02] [ 1.09564330e-02 -1.45513044e-04 9.99939966e-01 2.13453815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.040385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:337.55, Y:288.66, Z:21.35 [[ 6.50498926e-01 -7.59472683e-01 -7.23811812e-03 3.37546445e+02] [ 7.59428143e-01 6.50539178e-01 -8.22643521e-03 2.88659249e+02] [ 1.09564322e-02 -1.45543329e-04 9.99939966e-01 2.13460703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.070385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:337.56, Y:288.68, Z:21.35 [[ 6.50230867e-01 -7.59702219e-01 -7.23589141e-03 3.37562615e+02] [ 7.59657671e-01 6.50271110e-01 -8.22839332e-03 2.88680398e+02] [ 1.09564198e-02 -1.46445097e-04 9.99939966e-01 2.13462744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.100385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:337.58, Y:288.70, Z:21.35 [[ 6.49863298e-01 -7.60016681e-01 -7.23462287e-03 3.37578960e+02] [ 7.59972139e-01 6.49903549e-01 -8.22950851e-03 2.88702101e+02] [ 1.09563708e-02 -1.50056277e-04 9.99939966e-01 2.13469492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.130385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:337.59, Y:288.73, Z:21.35 [[ 6.46039778e-01 -7.63269470e-01 -7.23341618e-03 3.37588528e+02] [ 7.63225119e-01 6.46080239e-01 -8.23056901e-03 2.88727027e+02] [ 1.09555093e-02 -2.03449959e-04 9.99939966e-01 2.13458507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.160385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:337.60, Y:288.75, Z:21.34 [[ 6.44814928e-01 -7.64305354e-01 -7.14386621e-03 3.37604070e+02] [ 7.64260192e-01 6.44854492e-01 -8.30920260e-03 2.88750298e+02] [ 1.09575222e-02 -1.01874685e-04 9.99939959e-01 2.13438785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.190385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:337.63, Y:288.78, Z:21.35 [[ 6.45857006e-01 -7.63425032e-01 -7.13775496e-03 3.37625171e+02] [ 7.63379757e-01 6.45896442e-01 -8.31456052e-03 2.88775193e+02] [ 1.09577942e-02 -7.88004833e-05 9.99939958e-01 2.13481195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.2203857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:337.64, Y:288.80, Z:21.35 [[ 6.42644305e-01 -7.66130602e-01 -7.22481968e-03 3.37639175e+02] [ 7.66086346e-01 6.42684870e-01 -8.23820578e-03 2.88799499e+02] [ 1.09548239e-02 -2.40599690e-04 9.99939965e-01 2.13474389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.250385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:337.65, Y:288.82, Z:21.35 [[ 6.39382956e-01 -7.68854509e-01 -7.22362820e-03 3.37651880e+02] [ 7.68810413e-01 6.39423696e-01 -8.23925039e-03 2.88823170e+02] [ 1.09537439e-02 -2.85564312e-04 9.99939965e-01 2.13468331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.280385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:337.67, Y:288.85, Z:21.35 [[ 6.40059337e-01 -7.68292102e-01 -7.16175940e-03 3.37671673e+02] [ 7.68247363e-01 6.40099373e-01 -8.29345392e-03 2.88845307e+02] [ 1.09560329e-02 -1.93700158e-04 9.99939962e-01 2.13467803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.310385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:337.69, Y:288.87, Z:21.35 [[ 6.39297027e-01 -7.68925983e-01 -7.22100608e-03 3.37685274e+02] [ 7.68881867e-01 6.39337745e-01 -8.24154371e-03 2.88869099e+02] [ 1.09537988e-02 -2.83306239e-04 9.99939965e-01 2.13486117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.3403857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:337.70, Y:288.89, Z:21.35 [[ 6.37389784e-01 -7.70507715e-01 -7.21978191e-03 3.37697734e+02] [ 7.70463687e-01 6.37430597e-01 -8.24261598e-03 2.88894230e+02] [ 1.09531091e-02 -3.08820568e-04 9.99939965e-01 2.13489912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.370385723 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:337.72, Y:288.92, Z:21.35 [[ 6.37742128e-01 -7.70216427e-01 -7.18562552e-03 3.37717090e+02] [ 7.70172044e-01 6.37782556e-01 -8.27251791e-03 2.88917381e+02] [ 1.09544958e-02 -2.58434717e-04 9.99939964e-01 2.13495866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.400385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:337.73, Y:288.94, Z:21.35 [[ 6.37228662e-01 -7.70640995e-01 -7.21724077e-03 3.37733181e+02] [ 7.70596951e-01 6.37269458e-01 -8.24484307e-03 2.88940336e+02] [ 1.09531412e-02 -3.07733407e-04 9.99939965e-01 2.13493617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.430385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:337.75, Y:288.96, Z:21.35 [[ 6.36831859e-01 -7.70968978e-01 -7.21234528e-03 3.37748042e+02] [ 7.70924907e-01 6.36872625e-01 -8.24912634e-03 2.88964463e+02] [ 1.09531658e-02 -3.06870153e-04 9.99939965e-01 2.13526172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.460385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:337.76, Y:288.99, Z:21.35 [[ 6.36319875e-01 -7.71391580e-01 -7.21430902e-03 3.37763720e+02] [ 7.71347555e-01 6.36360691e-01 -8.24740859e-03 2.88986276e+02] [ 1.09528842e-02 -3.16749620e-04 9.99939965e-01 2.13525463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.490385723 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:337.78, Y:289.01, Z:21.35 [[ 6.36012875e-01 -7.71644734e-01 -7.21305534e-03 3.37779045e+02] [ 7.71600713e-01 6.36053695e-01 -8.24850489e-03 2.89010155e+02] [ 1.09528059e-02 -3.19443333e-04 9.99939965e-01 2.13507311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.520385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:337.79, Y:289.03, Z:21.35 [[ 6.37060421e-01 -7.70780140e-01 -7.21090283e-03 3.37793758e+02] [ 7.70736042e-01 6.37101158e-01 -8.25038620e-03 2.89033883e+02] [ 1.09533084e-02 -3.01708203e-04 9.99939965e-01 2.13546238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.550385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:337.81, Y:289.06, Z:21.35 [[ 6.37718013e-01 -7.70236180e-01 -7.20857273e-03 3.37811600e+02] [ 7.70192024e-01 6.37758688e-01 -8.25242156e-03 2.89057414e+02] [ 1.09536435e-02 -2.89267342e-04 9.99939965e-01 2.13531837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.580385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:337.83, Y:289.08, Z:21.35 [[ 6.38006800e-01 -7.69996819e-01 -7.22648457e-03 3.37826713e+02] [ 7.69952825e-01 6.38047650e-01 -8.23677863e-03 2.89079764e+02] [ 1.09531348e-02 -3.08931433e-04 9.99939965e-01 2.13529649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.610385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:337.84, Y:289.10, Z:21.35 [[ 6.40132027e-01 -7.68231125e-01 -7.20598751e-03 3.37842232e+02] [ 7.68186817e-01 6.40172535e-01 -8.25467173e-03 2.89103377e+02] [ 1.09545710e-02 -2.51464863e-04 9.99939965e-01 2.13541427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.640385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:337.86, Y:289.12, Z:21.35 [[ 6.39922376e-01 -7.68405791e-01 -7.20373517e-03 3.37860958e+02] [ 7.68361471e-01 6.39962872e-01 -8.25663684e-03 2.89124932e+02] [ 1.09545706e-02 -2.51465892e-04 9.99939965e-01 2.13544548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.670385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:337.88, Y:289.15, Z:21.36 [[ 6.40817448e-01 -7.67659519e-01 -7.20148152e-03 3.37877959e+02] [ 7.67615131e-01 6.40857868e-01 -8.25860203e-03 2.89146923e+02] [ 1.09549206e-02 -2.35709903e-04 9.99939965e-01 2.13552750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.700385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:337.89, Y:289.17, Z:21.36 [[ 6.43677879e-01 -7.65262674e-01 -7.19917568e-03 3.37893562e+02] [ 7.65218112e-01 6.43718108e-01 -8.26061157e-03 2.89168506e+02] [ 1.09557775e-02 -1.91766691e-04 9.99939965e-01 2.13559521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.730385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:337.91, Y:289.19, Z:21.36 [[ 6.44836701e-01 -7.64286474e-01 -7.19817576e-03 3.37910475e+02] [ 7.64241842e-01 6.44876853e-01 -8.26148280e-03 2.89189579e+02] [ 1.09560765e-02 -1.73839779e-04 9.99939965e-01 2.13556593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.760385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:337.93, Y:289.21, Z:21.36 [[ 6.46812252e-01 -7.62615310e-01 -7.19718658e-03 3.37927571e+02] [ 7.62570564e-01 6.46852277e-01 -8.26234446e-03 2.89212506e+02] [ 1.09565069e-02 -1.44177001e-04 9.99939965e-01 2.13574288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.790385723 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:337.94, Y:289.23, Z:21.36 [[ 6.46705033e-01 -7.62706256e-01 -7.19495017e-03 3.37944843e+02] [ 7.62661494e-01 6.46745040e-01 -8.26429150e-03 2.89234354e+02] [ 1.09565252e-02 -1.42752534e-04 9.99939965e-01 2.13567050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.820385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:337.96, Y:289.26, Z:21.36 [[ 6.47279661e-01 -7.62218674e-01 -7.19260841e-03 3.37962848e+02] [ 7.62173860e-01 6.47319608e-01 -8.26632908e-03 2.89255294e+02] [ 1.09566669e-02 -1.31391428e-04 9.99939965e-01 2.13592952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.850385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:337.98, Y:289.28, Z:21.36 [[ 6.46559757e-01 -7.62829442e-01 -7.19188349e-03 3.37981468e+02] [ 7.62784658e-01 6.46599739e-01 -8.26695973e-03 2.89276533e+02] [ 1.09565503e-02 -1.40774917e-04 9.99939965e-01 2.13600023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.880385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:338.00, Y:289.30, Z:21.36 [[ 6.45512136e-01 -7.63716172e-01 -7.18967822e-03 3.37999754e+02] [ 7.63671422e-01 6.45552155e-01 -8.26887718e-03 2.89297843e+02] [ 1.09563875e-02 -1.52891220e-04 9.99939965e-01 2.13610892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.910385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:338.02, Y:289.32, Z:21.36 [[ 6.42693914e-01 -7.66089339e-01 -7.18735600e-03 3.38017380e+02] [ 7.66044714e-01 6.42734073e-01 -8.27089517e-03 2.89319070e+02] [ 1.09558032e-02 -1.90182083e-04 9.99939965e-01 2.13612745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.940385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:338.04, Y:289.34, Z:21.36 [[ 6.39588793e-01 -7.68683648e-01 -7.18502499e-03 3.38035316e+02] [ 7.68639163e-01 6.39629108e-01 -8.27291966e-03 2.89341317e+02] [ 1.09550092e-02 -2.31424896e-04 9.99939965e-01 2.13607095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.9703857229999 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:338.05, Y:289.36, Z:21.36 [[ 6.38353204e-01 -7.69710072e-01 -7.18270728e-03 3.38053101e+02] [ 7.69665630e-01 6.38393565e-01 -8.27493144e-03 2.89363084e+02] [ 1.09546922e-02 -2.45953921e-04 9.99939965e-01 2.13600135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.000385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:338.07, Y:289.39, Z:21.36 [[ 6.37197723e-01 -7.70666922e-01 -7.18040666e-03 3.38070489e+02] [ 7.70622517e-01 6.37238126e-01 -8.27692728e-03 2.89385199e+02] [ 1.09543830e-02 -2.59343838e-04 9.99939965e-01 2.13613897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.030385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:338.09, Y:289.41, Z:21.36 [[ 6.37140915e-01 -7.70713909e-01 -7.17812065e-03 3.38088436e+02] [ 7.70669485e-01 6.37181297e-01 -8.27890933e-03 2.89406237e+02] [ 1.09544348e-02 -2.57126677e-04 9.99939965e-01 2.13615039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.060385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:338.11, Y:289.43, Z:21.36 [[ 6.37728260e-01 -7.70228001e-01 -7.17585096e-03 3.38106411e+02] [ 7.70183524e-01 6.37768584e-01 -8.28087615e-03 2.89427686e+02] [ 1.09546950e-02 -2.45773436e-04 9.99939965e-01 2.13611121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.0903857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:338.12, Y:289.45, Z:21.36 [[ 6.39811793e-01 -7.68498152e-01 -7.17358557e-03 3.38123049e+02] [ 7.68453544e-01 6.39851971e-01 -8.28283816e-03 2.89449091e+02] [ 1.09553787e-02 -2.13109733e-04 9.99939965e-01 2.13600450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.120385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:338.14, Y:289.47, Z:21.36 [[ 6.41980784e-01 -7.66687176e-01 -7.17264575e-03 3.38140017e+02] [ 7.66642446e-01 6.42020827e-01 -8.28365193e-03 2.89470872e+02] [ 1.09559577e-02 -1.80909320e-04 9.99939965e-01 2.13588033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.150385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:338.16, Y:289.49, Z:21.36 [[ 6.42622746e-01 -7.66149184e-01 -7.17172414e-03 3.38158088e+02] [ 7.66104412e-01 6.42662741e-01 -8.28444976e-03 2.89491854e+02] [ 1.09561243e-02 -1.70513647e-04 9.99939965e-01 2.13593473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.180385723 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:338.18, Y:289.51, Z:21.36 [[ 6.42420563e-01 -7.66318745e-01 -7.16946181e-03 3.38176421e+02] [ 7.66273961e-01 6.42460545e-01 -8.28640714e-03 2.89512809e+02] [ 1.09561255e-02 -1.70413560e-04 9.99939965e-01 2.13590381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.210385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:338.20, Y:289.53, Z:21.36 [[ 6.42470343e-01 -7.66277032e-01 -7.16714033e-03 3.38195111e+02] [ 7.66232223e-01 6.42510297e-01 -8.28841457e-03 2.89532452e+02] [ 1.09561832e-02 -1.66633315e-04 9.99939965e-01 2.13596529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.240385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:338.21, Y:289.55, Z:21.36 [[ 6.41950105e-01 -7.66712925e-01 -7.16613438e-03 3.38214009e+02] [ 7.66668133e-01 6.41990079e-01 -8.28928422e-03 2.89553283e+02] [ 1.09560885e-02 -1.72739990e-04 9.99939965e-01 2.13619486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.270385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:338.23, Y:289.57, Z:21.36 [[ 6.40926414e-01 -7.67568897e-01 -7.16379446e-03 3.38232524e+02] [ 7.67524137e-01 6.40966422e-01 -8.29130594e-03 2.89574114e+02] [ 1.09559003e-02 -1.84268174e-04 9.99939965e-01 2.13619874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.300385723 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:338.25, Y:289.60, Z:21.36 [[ 6.39756890e-01 -7.68543956e-01 -7.16297250e-03 3.38251125e+02] [ 7.68499249e-01 6.39796958e-01 -8.29201598e-03 2.89595172e+02] [ 1.09556268e-02 -1.99864624e-04 9.99939965e-01 2.13608248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.330385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:338.27, Y:289.62, Z:21.36 [[ 6.39588793e-01 -7.68683876e-01 -7.16066712e-03 3.38269078e+02] [ 7.68639155e-01 6.39628845e-01 -8.29400633e-03 2.89615974e+02] [ 1.09556382e-02 -1.99215630e-04 9.99939965e-01 2.13627556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.360385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:338.29, Y:289.64, Z:21.36 [[ 6.39517528e-01 -7.68743181e-01 -7.15909768e-03 3.38287205e+02] [ 7.68698448e-01 6.39557568e-01 -8.29536080e-03 2.89636675e+02] [ 1.09556571e-02 -1.98158637e-04 9.99939965e-01 2.13639481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.390385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:338.31, Y:289.66, Z:21.37 [[ 6.39946087e-01 -7.68386470e-01 -7.15810574e-03 3.38305803e+02] [ 7.68341705e-01 6.39986091e-01 -8.29621666e-03 2.89657844e+02] [ 1.09557887e-02 -1.90739782e-04 9.99939965e-01 2.13650463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.420385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:338.32, Y:289.68, Z:21.37 [[ 6.40335181e-01 -7.68062270e-01 -7.15583779e-03 3.38323927e+02] [ 7.68017463e-01 6.40375138e-01 -8.29817241e-03 2.89679344e+02] [ 1.09559337e-02 -1.82196655e-04 9.99939965e-01 2.13661640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.450385723 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:338.34, Y:289.70, Z:21.36 [[ 6.42008232e-01 -7.66664371e-01 -7.15348702e-03 3.38340814e+02] [ 7.66619455e-01 6.42048065e-01 -8.30019841e-03 2.89700987e+02] [ 1.09563489e-02 -1.55206615e-04 9.99939965e-01 2.13644935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.480385723 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:338.36, Y:289.72, Z:21.36 [[ 6.42893341e-01 -7.65922316e-01 -7.15247021e-03 3.38358061e+02] [ 7.65877344e-01 6.42933112e-01 -8.30107452e-03 2.89721618e+02] [ 1.09565381e-02 -1.41209355e-04 9.99939965e-01 2.13635320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.510385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:338.38, Y:289.74, Z:21.37 [[ 6.43451746e-01 -7.65453269e-01 -7.15147450e-03 3.38376273e+02] [ 7.65408258e-01 6.43491473e-01 -8.30193225e-03 2.89743032e+02] [ 1.09566540e-02 -1.31904835e-04 9.99939965e-01 2.13656910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.540385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:338.40, Y:289.76, Z:21.37 [[ 6.43102361e-01 -7.65746853e-01 -7.14918842e-03 3.38395070e+02] [ 7.65701838e-01 6.43142084e-01 -8.30390043e-03 2.89764127e+02] [ 1.09566296e-02 -1.33888742e-04 9.99939965e-01 2.13659645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.570385723 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:338.41, Y:289.78, Z:21.36 [[ 6.42284315e-01 -7.66433155e-01 -7.14689386e-03 3.38414323e+02] [ 7.66388161e-01 6.42324061e-01 -8.30587482e-03 2.89783978e+02] [ 1.09565197e-02 -1.42561729e-04 9.99939965e-01 2.13646184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.600385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:338.43, Y:289.81, Z:21.37 [[ 6.41863724e-01 -7.66785513e-01 -7.13705409e-03 3.38433214e+02] [ 7.66740447e-01 6.41903388e-01 -8.31433839e-03 2.89805211e+02] [ 1.09566134e-02 -1.35595843e-04 9.99939965e-01 2.13673284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.630385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:338.45, Y:289.83, Z:21.37 [[ 6.40904664e-01 -7.67587342e-01 -7.13333480e-03 3.38452251e+02] [ 7.67542290e-01 6.40944343e-01 -8.31753611e-03 2.89827294e+02] [ 1.09565060e-02 -1.44388453e-04 9.99939965e-01 2.13658710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.660385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:338.47, Y:289.85, Z:21.36 [[ 6.40582174e-01 -7.67856413e-01 -7.14196918e-03 3.38469924e+02] [ 7.67811460e-01 6.40621966e-01 -8.31011528e-03 2.89847226e+02] [ 1.09562776e-02 -1.60374078e-04 9.99939965e-01 2.13648916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.690385723 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:338.49, Y:289.87, Z:21.36 [[ 6.40000149e-01 -7.68341696e-01 -7.13072857e-03 3.38490324e+02] [ 7.68296666e-01 6.40039854e-01 -8.31977255e-03 2.89866328e+02] [ 1.09563786e-02 -1.53859315e-04 9.99939965e-01 2.13630140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.7203857229999 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:338.51, Y:289.89, Z:21.36 [[ 6.39777943e-01 -7.68526654e-01 -7.13898791e-03 3.38509737e+02] [ 7.68481715e-01 6.39817750e-01 -8.31267937e-03 2.89886881e+02] [ 1.09561668e-02 -1.67912765e-04 9.99939965e-01 2.13648393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.750385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:338.53, Y:289.91, Z:21.37 [[ 6.40098533e-01 -7.68259680e-01 -7.13666699e-03 3.38529261e+02] [ 7.68214702e-01 6.40138296e-01 -8.31467146e-03 2.89906623e+02] [ 1.09562807e-02 -1.60283499e-04 9.99939965e-01 2.13678969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.780385723 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:338.55, Y:289.93, Z:21.37 [[ 6.39666391e-01 -7.68619727e-01 -7.11501264e-03 3.38548687e+02] [ 7.68574564e-01 6.39705945e-01 -8.33324939e-03 2.89927881e+02] [ 1.09566158e-02 -1.37918171e-04 9.99939965e-01 2.13656460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.810385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:338.57, Y:289.95, Z:21.37 [[ 6.39581016e-01 -7.68690594e-01 -7.13401350e-03 3.38567752e+02] [ 7.68645617e-01 6.39620781e-01 -8.31695107e-03 2.89948909e+02] [ 1.09562253e-02 -1.64164199e-04 9.99939965e-01 2.13688769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.8403857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:338.59, Y:289.97, Z:21.37 [[ 6.39511944e-01 -7.68748082e-01 -7.13162925e-03 3.38587700e+02] [ 7.68703086e-01 6.39551687e-01 -8.31899502e-03 2.89968807e+02] [ 1.09562570e-02 -1.62008734e-04 9.99939965e-01 2.13699316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.870385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:338.61, Y:289.99, Z:21.37 [[ 6.39375208e-01 -7.68861817e-01 -7.13089150e-03 3.38607674e+02] [ 7.68816821e-01 6.39414951e-01 -8.31962735e-03 2.89988454e+02] [ 1.09562424e-02 -1.62985863e-04 9.99939965e-01 2.13708738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.900385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:338.63, Y:290.01, Z:21.37 [[ 6.39105233e-01 -7.69086265e-01 -7.12861958e-03 3.38626654e+02] [ 7.69041261e-01 6.39144968e-01 -8.32157358e-03 2.90008929e+02] [ 1.09562293e-02 -1.63841363e-04 9.99939965e-01 2.13709770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.930385723 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:338.65, Y:290.03, Z:21.37 [[ 6.38705289e-01 -7.69418462e-01 -7.12635062e-03 3.38645963e+02] [ 7.69373457e-01 6.38745022e-01 -8.32351620e-03 2.90029855e+02] [ 1.09561880e-02 -1.66551195e-04 9.99939965e-01 2.13673986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.960385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:338.67, Y:290.05, Z:21.37 [[ 6.39408237e-01 -7.68834413e-01 -7.12406271e-03 3.38665078e+02] [ 7.68789350e-01 6.39447904e-01 -8.32547395e-03 2.90049971e+02] [ 1.09563778e-02 -1.53526926e-04 9.99939965e-01 2.13695467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.990385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:338.68, Y:290.07, Z:21.37 [[ 6.40466281e-01 -7.67953269e-01 -7.12174748e-03 3.38684812e+02] [ 7.67908130e-01 6.40505861e-01 -8.32745396e-03 2.90068794e+02] [ 1.09566165e-02 -1.35394316e-04 9.99939965e-01 2.13688633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.020385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:338.70, Y:290.09, Z:21.37 [[ 6.40793870e-01 -7.67679953e-01 -7.12074426e-03 3.38704529e+02] [ 7.67634787e-01 6.40833420e-01 -8.32831172e-03 2.90088979e+02] [ 1.09566889e-02 -1.29399901e-04 9.99939965e-01 2.13712515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.050385723 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:338.72, Y:290.11, Z:21.37 [[ 6.41000293e-01 -7.67507623e-01 -7.11846347e-03 3.38723208e+02] [ 7.67462425e-01 6.41039806e-01 -8.33026073e-03 2.90108186e+02] [ 1.09567571e-02 -1.23453666e-04 9.99939965e-01 2.13688252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.080385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:338.74, Y:290.13, Z:21.37 [[ 6.41653973e-01 -7.66961225e-01 -7.11747470e-03 3.38743294e+02] [ 7.66915984e-01 6.41693436e-01 -8.33110546e-03 2.90127382e+02] [ 1.09568716e-02 -1.12818204e-04 9.99939965e-01 2.13736577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.110385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:338.76, Y:290.15, Z:21.37 [[ 6.41643370e-01 -7.66970116e-01 -7.11522656e-03 3.38762794e+02] [ 7.66924854e-01 6.41682810e-01 -8.33302505e-03 2.90148162e+02] [ 1.09568998e-02 -1.10013816e-04 9.99939965e-01 2.13741596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.140385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:338.78, Y:290.17, Z:21.37 [[ 6.40602659e-01 -7.67839593e-01 -7.11289120e-03 3.38781572e+02] [ 7.67794362e-01 6.40642135e-01 -8.33501799e-03 2.90167163e+02] [ 1.09567746e-02 -1.21803069e-04 9.99939965e-01 2.13724996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.170385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:338.80, Y:290.19, Z:21.37 [[ 6.41300261e-01 -7.67257264e-01 -7.08993813e-03 3.38802085e+02] [ 7.67211780e-01 6.41339446e-01 -8.35459769e-03 2.90186992e+02] [ 1.09571828e-02 -8.16783820e-05 9.99939965e-01 2.13731777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.200385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:338.82, Y:290.21, Z:21.37 [[ 6.40845406e-01 -7.67637025e-01 -7.11075210e-03 3.38821296e+02] [ 7.67591762e-01 6.40884845e-01 -8.33684482e-03 2.90207184e+02] [ 1.09568440e-02 -1.15526028e-04 9.99939965e-01 2.13742430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.230385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:338.84, Y:290.23, Z:21.37 [[ 6.38467404e-01 -7.69616036e-01 -7.10845148e-03 3.38840188e+02] [ 7.69570874e-01 6.38506958e-01 -8.33880600e-03 2.90226558e+02] [ 1.09564745e-02 -1.46401392e-04 9.99939965e-01 2.13737943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.260385723 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:338.86, Y:290.25, Z:21.37 [[ 6.39261362e-01 -7.68956973e-01 -7.07707683e-03 3.38861566e+02] [ 7.68911473e-01 6.39300528e-01 -8.36553281e-03 2.90246823e+02] [ 1.09571137e-02 -9.38836637e-05 9.99939965e-01 2.13726304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.290385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:338.88, Y:290.27, Z:21.38 [[ 6.37653369e-01 -7.70290655e-01 -7.10554210e-03 3.38881777e+02] [ 7.70245506e-01 6.37692939e-01 -8.34128462e-03 2.90265800e+02] [ 1.09563676e-02 -1.54163632e-04 9.99939965e-01 2.13755924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.320385723 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:338.90, Y:290.29, Z:21.37 [[ 6.36475638e-01 -7.71264096e-01 -7.10322693e-03 3.38901446e+02] [ 7.71218986e-01 6.36515252e-01 -8.34325569e-03 2.90285681e+02] [ 1.09561658e-02 -1.67864482e-04 9.99939965e-01 2.13718346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.350385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:338.92, Y:290.30, Z:21.38 [[ 6.36141063e-01 -7.71540088e-01 -7.10211147e-03 3.38923258e+02] [ 7.71494985e-01 6.36180684e-01 -8.34420511e-03 2.90304519e+02] [ 1.09561149e-02 -1.71151870e-04 9.99939965e-01 2.13766802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.380385723 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:338.94, Y:290.33, Z:21.37 [[ 6.36386433e-01 -7.71337734e-01 -7.09981185e-03 3.38942354e+02] [ 7.71292596e-01 6.36426015e-01 -8.34616132e-03 2.90325028e+02] [ 1.09562141e-02 -1.64648476e-04 9.99939965e-01 2.13739794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.410385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:338.96, Y:290.35, Z:21.38 [[ 6.36668713e-01 -7.71104776e-01 -7.09747421e-03 3.38960413e+02] [ 7.71059602e-01 6.36708253e-01 -8.34814875e-03 2.90346023e+02] [ 1.09563178e-02 -1.57570514e-04 9.99939965e-01 2.13761896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.440385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:338.98, Y:290.37, Z:21.38 [[ 6.39919053e-01 -7.68409659e-01 -7.08528519e-03 3.38981146e+02] [ 7.68364203e-01 6.39958269e-01 -8.35850822e-03 2.90365634e+02] [ 1.09570453e-02 -9.53108475e-05 9.99939965e-01 2.13778266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.4703857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:339.00, Y:290.38, Z:21.38 [[ 6.41191975e-01 -7.67347718e-01 -7.09440145e-03 3.39000363e+02] [ 7.67302283e-01 6.41231215e-01 -8.35076349e-03 2.90384432e+02] [ 1.09570910e-02 -8.91078959e-05 9.99939965e-01 2.13767242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.500385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:339.02, Y:290.41, Z:21.38 [[ 6.41293552e-01 -7.67262844e-01 -7.09283065e-03 3.39019554e+02] [ 7.67217389e-01 6.41332769e-01 -8.35209745e-03 2.90405137e+02] [ 1.09571188e-02 -8.55967642e-05 9.99939965e-01 2.13782093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.530385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:339.04, Y:290.43, Z:21.38 [[ 6.41084782e-01 -7.67437311e-01 -7.09055525e-03 3.39037989e+02] [ 7.67391845e-01 6.41123987e-01 -8.35402872e-03 2.90426957e+02] [ 1.09571184e-02 -8.55935954e-05 9.99939965e-01 2.13785214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.560385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:339.06, Y:290.45, Z:21.38 [[ 6.41132446e-01 -7.67397513e-01 -7.08828174e-03 3.39057327e+02] [ 7.67352023e-01 6.41171623e-01 -8.35595732e-03 2.90447357e+02] [ 1.09571460e-02 -8.19319783e-05 9.99939965e-01 2.13790562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.5903857229999 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:339.08, Y:290.47, Z:21.38 [[ 6.41062489e-01 -7.67455975e-01 -7.08602345e-03 3.39078138e+02] [ 7.67410467e-01 6.41101646e-01 -8.35787195e-03 2.90466275e+02] [ 1.09571601e-02 -7.99703735e-05 9.99939965e-01 2.13795138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.620385723 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:339.10, Y:290.49, Z:21.38 [[ 6.39821816e-01 -7.68490641e-01 -7.08374562e-03 3.39096871e+02] [ 7.68445175e-01 6.39861021e-01 -8.35980209e-03 2.90486850e+02] [ 1.09570424e-02 -9.46863851e-05 9.99939965e-01 2.13800177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.650385723 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:339.12, Y:290.50, Z:21.38 [[ 6.39548408e-01 -7.68718409e-01 -7.05986661e-03 3.39118370e+02] [ 7.68672734e-01 6.39587369e-01 -8.38002625e-03 2.90504708e+02] [ 1.09572820e-02 -6.72945240e-05 9.99939965e-01 2.13798555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.680385723 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:339.14, Y:290.53, Z:21.38 [[ 6.40109562e-01 -7.68251066e-01 -7.07445922e-03 3.39139290e+02] [ 7.68205499e-01 6.40148650e-01 -8.36766924e-03 2.90525266e+02] [ 1.09571763e-02 -7.84133790e-05 9.99939965e-01 2.13789839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.710385723 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:339.16, Y:290.54, Z:21.38 [[ 6.41860971e-01 -7.66788348e-01 -7.07981677e-03 3.39160432e+02] [ 7.66742742e-01 6.41900013e-01 -8.36313380e-03 2.90543443e+02] [ 1.09572880e-02 -6.04289402e-05 9.99939965e-01 2.13799416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.740385723 meters Centerline goodness : 0.998638 Centerline is valid? [True, True] Translation: X:339.18, Y:290.56, Z:21.38 [[ 6.43289776e-01 -7.65590067e-01 -7.07908010e-03 3.39180267e+02] [ 7.65544381e-01 6.43328725e-01 -8.36375732e-03 2.90563233e+02] [ 1.09573851e-02 -3.90304248e-05 9.99939965e-01 2.13799695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.770385723 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:339.20, Y:290.58, Z:21.38 [[ 6.44282333e-01 -7.64755081e-01 -7.06686950e-03 3.39202497e+02] [ 7.64709232e-01 6.44321089e-01 -8.37408928e-03 2.90582518e+02] [ 1.09574604e-02 -8.82255976e-06 9.99939965e-01 2.13828057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.800385723 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:339.22, Y:290.60, Z:21.38 [[ 6.45086347e-01 -7.64076916e-01 -7.07616982e-03 3.39222238e+02] [ 7.64031112e-01 6.45125156e-01 -8.36622305e-03 2.90601728e+02] [ 1.09574531e-02 -9.47763545e-06 9.99939965e-01 2.13816456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.830385723 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:339.24, Y:290.62, Z:21.38 [[ 6.45743047e-01 -7.63522101e-01 -7.06524925e-03 3.39243482e+02] [ 7.63476163e-01 6.45781697e-01 -8.37545635e-03 2.90619984e+02] [ 1.09574547e-02 1.42433204e-05 9.99939965e-01 2.13829139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.860385723 meters Centerline goodness : 0.999675 Centerline is valid? [True, True] Translation: X:339.26, Y:290.64, Z:21.38 [[ 6.45345080e-01 -7.63858566e-01 -7.05826126e-03 3.39263736e+02] [ 7.63812583e-01 6.45383678e-01 -8.38136172e-03 2.90641189e+02] [ 1.09574616e-02 1.76817911e-05 9.99939965e-01 2.13840525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.890385723 meters Centerline goodness : 0.999588 Centerline is valid? [True, True] Translation: X:339.29, Y:290.66, Z:21.38 [[ 6.44754390e-01 -7.64357104e-01 -7.07070328e-03 3.39285463e+02] [ 7.64311266e-01 6.44793159e-01 -8.37085218e-03 2.90659340e+02] [ 1.09574614e-02 -7.07448305e-06 9.99939965e-01 2.13849514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.920385723 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:339.31, Y:290.68, Z:21.39 [[ 6.44446145e-01 -7.64617031e-01 -7.06840046e-03 3.39305183e+02] [ 7.64571187e-01 6.44484908e-01 -8.37279625e-03 2.90678427e+02] [ 1.09574600e-02 -8.47906325e-06 9.99939965e-01 2.13860710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.950385723 meters Centerline goodness : 0.999610 Centerline is valid? [True, True] Translation: X:339.32, Y:290.70, Z:21.39 [[ 6.44013004e-01 -7.64981900e-01 -7.06708171e-03 3.39324876e+02] [ 7.64936066e-01 6.44051778e-01 -8.37390919e-03 2.90697927e+02] [ 1.09574555e-02 -1.29592672e-05 9.99939965e-01 2.13870933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.980385723 meters Centerline goodness : 0.999695 Centerline is valid? [True, True] Translation: X:339.34, Y:290.71, Z:21.39 [[ 6.44528467e-01 -7.64547673e-01 -7.06477391e-03 3.39344333e+02] [ 7.64501792e-01 6.44567185e-01 -8.37585575e-03 2.90713121e+02] [ 1.09574625e-02 -2.55484205e-06 9.99939965e-01 2.13850183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.010385723 meters Centerline goodness : 0.999739 Centerline is valid? [True, True] Translation: X:339.37, Y:290.74, Z:21.39 [[ 6.42777525e-01 -7.66020973e-01 -6.99455094e-03 3.39366453e+02] [ 7.65974533e-01 6.42815577e-01 -8.43503891e-03 2.90736155e+02] [ 1.09576230e-02 6.42055459e-05 9.99939961e-01 2.13888005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.040385723 meters Centerline goodness : 0.999629 Centerline is valid? [True, True] Translation: X:339.39, Y:290.75, Z:21.39 [[ 6.41086202e-01 -7.67436380e-01 -7.06290760e-03 3.39387902e+02] [ 7.67390656e-01 6.41125105e-01 -8.37740817e-03 2.90753543e+02] [ 1.09573352e-02 -4.93685165e-05 9.99939965e-01 2.13899147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.070385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:339.41, Y:290.77, Z:21.39 [[ 6.40045525e-01 -7.68304536e-01 -7.06159133e-03 3.39407866e+02] [ 7.68258852e-01 6.40084476e-01 -8.37851755e-03 2.90773695e+02] [ 1.09572680e-02 -6.24973880e-05 9.99939965e-01 2.13903369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.100385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:339.43, Y:290.79, Z:21.39 [[ 6.39158335e-01 -7.69042774e-01 -7.05932987e-03 3.39427948e+02] [ 7.68997115e-01 6.39197314e-01 -8.38042251e-03 2.90793876e+02] [ 1.09572081e-02 -7.21873977e-05 9.99939965e-01 2.13904630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.130385723 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:339.45, Y:290.81, Z:21.39 [[ 6.37617396e-01 -7.70320877e-01 -7.05708290e-03 3.39448727e+02] [ 7.70275275e-01 6.37656442e-01 -8.38231424e-03 2.90811677e+02] [ 1.09570660e-02 -9.11870950e-05 9.99939965e-01 2.13883100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.160385723 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:339.47, Y:290.83, Z:21.39 [[ 6.36870500e-01 -7.70938506e-01 -7.05590129e-03 3.39468204e+02] [ 7.70892931e-01 6.36909577e-01 -8.38330875e-03 2.90831824e+02] [ 1.09569866e-02 -1.00262393e-04 9.99939965e-01 2.13896073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.190385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:339.49, Y:290.85, Z:21.39 [[ 6.35933680e-01 -7.71711475e-01 -7.05369991e-03 3.39490059e+02] [ 7.71665926e-01 6.35972788e-01 -8.38516058e-03 2.90850939e+02] [ 1.09568858e-02 -1.10693857e-04 9.99939965e-01 2.13885121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.2203857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:339.51, Y:290.87, Z:21.39 [[ 6.35695667e-01 -7.71907567e-01 -7.05176634e-03 3.39509767e+02] [ 7.71862012e-01 6.35734769e-01 -8.38678636e-03 2.90870615e+02] [ 1.09568769e-02 -1.11546802e-04 9.99939965e-01 2.13894672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.250385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:339.53, Y:290.89, Z:21.39 [[ 6.35928892e-01 -7.71715459e-01 -7.04945554e-03 3.39531658e+02] [ 7.71669871e-01 6.35967954e-01 -8.38872824e-03 2.90888999e+02] [ 1.09569391e-02 -1.05217798e-04 9.99939965e-01 2.13899042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.280385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:339.55, Y:290.91, Z:21.39 [[ 6.36267858e-01 -7.71436032e-01 -7.04714669e-03 3.39550910e+02] [ 7.71390405e-01 6.36306875e-01 -8.39066739e-03 2.90908807e+02] [ 1.09570110e-02 -9.73893715e-05 9.99939965e-01 2.13887609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.310385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:339.57, Y:290.93, Z:21.39 [[ 6.37259411e-01 -7.70617154e-01 -7.04588857e-03 3.39572599e+02] [ 7.70571466e-01 6.37298357e-01 -8.39172374e-03 2.90927793e+02] [ 1.09571395e-02 -8.16557545e-05 9.99939965e-01 2.13897350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.3403857229999 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:339.59, Y:290.95, Z:21.39 [[ 6.37499908e-01 -7.70418234e-01 -7.04358385e-03 3.39592585e+02] [ 7.70372513e-01 6.37538813e-01 -8.39365776e-03 2.90947399e+02] [ 1.09571851e-02 -7.52273387e-05 9.99939965e-01 2.13902280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.370385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:339.61, Y:290.97, Z:21.39 [[ 6.37661554e-01 -7.70284469e-01 -7.04127556e-03 3.39612429e+02] [ 7.70238717e-01 6.37700425e-01 -8.39559369e-03 2.90967478e+02] [ 1.09572198e-02 -6.99157394e-05 9.99939965e-01 2.13909417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.400385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:339.63, Y:290.98, Z:21.39 [[ 6.38957082e-01 -7.69210180e-01 -7.03895374e-03 3.39633173e+02] [ 7.69164342e-01 6.38995851e-01 -8.39753988e-03 2.90984914e+02] [ 1.09573354e-02 -4.84446391e-05 9.99939965e-01 2.13918697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.430385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:339.65, Y:291.01, Z:21.39 [[ 6.39527578e-01 -7.68735942e-01 -7.03761233e-03 3.39653182e+02] [ 7.68690063e-01 6.39566298e-01 -8.39866391e-03 2.91005964e+02] [ 1.09573745e-02 -3.85654767e-05 9.99939965e-01 2.13931693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.460385723 meters Centerline goodness : 0.999777 Centerline is valid? [True, True] Translation: X:339.67, Y:291.03, Z:21.39 [[ 6.42135019e-01 -7.66559272e-01 -7.03562949e-03 3.39672182e+02] [ 7.66513243e-01 6.42173561e-01 -8.40032462e-03 2.91027714e+02] [ 1.09574420e-02 1.23942700e-06 9.99939965e-01 2.13946135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.490385723 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:339.69, Y:291.05, Z:21.39 [[ 6.43134105e-01 -7.65721254e-01 -7.03448525e-03 3.39689013e+02] [ 7.65675165e-01 6.43172574e-01 -8.40128270e-03 2.91048710e+02] [ 1.09574287e-02 1.70207756e-05 9.99939965e-01 2.13942653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.520385723 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:339.71, Y:291.07, Z:21.39 [[ 6.43869401e-01 -7.65103086e-01 -7.03291242e-03 3.39706796e+02] [ 7.65056945e-01 6.43907809e-01 -8.40259915e-03 2.91070429e+02] [ 1.09574018e-02 2.95979903e-05 9.99939965e-01 2.13942744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.550385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:339.72, Y:291.09, Z:21.40 [[ 6.43262888e-01 -7.65613105e-01 -7.03065951e-03 3.39724475e+02] [ 7.65566974e-01 6.43301308e-01 -8.40448379e-03 2.91092062e+02] [ 1.09574154e-02 2.38517889e-05 9.99939965e-01 2.13950509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.580385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:339.74, Y:291.11, Z:21.40 [[ 6.41922942e-01 -7.66736943e-01 -7.02835486e-03 3.39742784e+02] [ 7.66690858e-01 6.41961417e-01 -8.40641064e-03 2.91113395e+02] [ 1.09574382e-02 7.69243012e-06 9.99939965e-01 2.13960060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.610385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:339.76, Y:291.13, Z:21.40 [[ 6.40863434e-01 -7.67622755e-01 -7.02604832e-03 3.39760922e+02] [ 7.67576702e-01 6.40901947e-01 -8.40833800e-03 2.91134948e+02] [ 1.09574396e-02 -4.43463956e-06 9.99939965e-01 2.13966801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.640385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:339.78, Y:291.16, Z:21.40 [[ 6.38456153e-01 -7.69626148e-01 -7.02373047e-03 3.39778222e+02] [ 7.69580195e-01 6.38494785e-01 -8.41027372e-03 2.91156908e+02] [ 1.09573818e-02 -3.57328621e-05 9.99939965e-01 2.13964759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.670385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:339.80, Y:291.18, Z:21.40 [[ 6.36960475e-01 -7.70864484e-01 -7.02140459e-03 3.39795171e+02] [ 7.70818585e-01 6.36999171e-01 -8.41221506e-03 2.91178511e+02] [ 1.09573067e-02 -5.39806500e-05 9.99939965e-01 2.13954332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.700385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:339.81, Y:291.20, Z:21.40 [[ 6.35352229e-01 -7.72190561e-01 -7.02018595e-03 3.39812428e+02] [ 7.72144731e-01 6.35391007e-01 -8.41323192e-03 2.91200222e+02] [ 1.09571813e-02 -7.52339424e-05 9.99939965e-01 2.13955166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.730385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:339.83, Y:291.22, Z:21.40 [[ 6.32715438e-01 -7.74352584e-01 -7.01786119e-03 3.39829075e+02] [ 7.74306865e-01 6.32754347e-01 -8.41517066e-03 2.91221650e+02] [ 1.09568913e-02 -1.09569714e-04 9.99939965e-01 2.13952210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.760385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:339.85, Y:291.24, Z:21.40 [[ 6.32065389e-01 -7.74883288e-01 -7.01673424e-03 3.39846480e+02] [ 7.74837591e-01 6.32104324e-01 -8.41611023e-03 2.91242926e+02] [ 1.09568112e-02 -1.17297472e-04 9.99939965e-01 2.13954689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.790385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:339.86, Y:291.27, Z:21.40 [[ 6.31240725e-01 -7.75555243e-01 -7.01517164e-03 3.39862931e+02] [ 7.75509573e-01 6.31279692e-01 -8.41741252e-03 2.91265542e+02] [ 1.09567038e-02 -1.26919188e-04 9.99939965e-01 2.13958780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.820385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:339.88, Y:291.29, Z:21.39 [[ 6.29919583e-01 -7.76628700e-01 -7.01290315e-03 3.39879079e+02] [ 7.76583076e-01 6.29958604e-01 -8.41930207e-03 2.91288370e+02] [ 1.09565103e-02 -1.42618638e-04 9.99939965e-01 2.13932617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.850385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:339.90, Y:291.31, Z:21.40 [[ 6.30660721e-01 -7.76027089e-01 -7.00093889e-03 3.39896262e+02] [ 7.75981316e-01 6.30699567e-01 -8.42926401e-03 2.91311068e+02] [ 1.09568263e-02 -1.16592055e-04 9.99939965e-01 2.13954513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.880385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:339.91, Y:291.33, Z:21.40 [[ 6.30493608e-01 -7.76162781e-01 -7.01053624e-03 3.39913691e+02] [ 7.76117106e-01 6.30532569e-01 -8.42127442e-03 2.91332744e+02] [ 1.09566512e-02 -1.31437398e-04 9.99939965e-01 2.13962925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.910385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:339.93, Y:291.35, Z:21.40 [[ 6.30537925e-01 -7.76126801e-01 -7.00818559e-03 3.39931226e+02] [ 7.76081102e-01 6.30576857e-01 -8.42323018e-03 2.91353967e+02] [ 1.09566943e-02 -1.27754320e-04 9.99939965e-01 2.13950818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.940385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:339.95, Y:291.37, Z:21.40 [[ 6.31071684e-01 -7.75692873e-01 -7.00687815e-03 3.39949102e+02] [ 7.75647135e-01 6.31110571e-01 -8.42431763e-03 2.91374758e+02] [ 1.09567980e-02 -1.18516650e-04 9.99939965e-01 2.13965580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.9703857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:339.97, Y:291.40, Z:21.40 [[ 6.31975674e-01 -7.74956566e-01 -7.00488789e-03 3.39967873e+02] [ 7.74910764e-01 6.32014486e-01 -8.42597222e-03 2.91397105e+02] [ 1.09569531e-02 -1.03153555e-04 9.99939965e-01 2.13995455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.000385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:339.99, Y:291.42, Z:21.40 [[ 6.32588576e-01 -7.74456360e-01 -7.00288831e-03 3.39985674e+02] [ 7.74410509e-01 6.32627330e-01 -8.42763376e-03 2.91419573e+02] [ 1.09570531e-02 -9.18854619e-05 9.99939965e-01 2.13999701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.030385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:340.00, Y:291.44, Z:21.40 [[ 6.33309594e-01 -7.73866879e-01 -7.00089262e-03 3.40003364e+02] [ 7.73820974e-01 6.33348283e-01 -8.42929127e-03 2.91442020e+02] [ 1.09571526e-02 -7.90865144e-05 9.99939965e-01 2.14005922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.060385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:340.02, Y:291.46, Z:21.40 [[ 6.35879591e-01 -7.71756546e-01 -6.99855051e-03 3.40021369e+02] [ 7.71710491e-01 6.35918102e-01 -8.43123540e-03 2.91463191e+02] [ 1.09573661e-02 -3.96043294e-05 9.99939965e-01 2.14002666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.0903857229999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:340.04, Y:291.48, Z:21.40 [[ 6.37308344e-01 -7.70577139e-01 -6.99622078e-03 3.40039017e+02] [ 7.70530992e-01 6.37346744e-01 -8.43316816e-03 2.91483232e+02] [ 1.09574251e-02 -1.62765010e-05 9.99939965e-01 2.14001217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.120385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:340.06, Y:291.50, Z:21.40 [[ 6.39627413e-01 -7.68653266e-01 -6.99496681e-03 3.40057536e+02] [ 7.68606992e-01 6.39665660e-01 -8.43420814e-03 2.91504224e+02] [ 1.09574217e-02 1.83703384e-05 9.99939965e-01 2.13987985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.150385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:340.07, Y:291.52, Z:21.40 [[ 6.40681074e-01 -7.67775269e-01 -6.99267368e-03 3.40074442e+02] [ 7.67728922e-01 6.40719232e-01 -8.43610892e-03 2.91524867e+02] [ 1.09573763e-02 3.63774982e-05 9.99939965e-01 2.13983143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.180385723 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:340.09, Y:291.55, Z:21.40 [[ 6.41315084e-01 -7.67245777e-01 -6.99143000e-03 3.40092549e+02] [ 7.67199387e-01 6.41353191e-01 -8.43713949e-03 2.91546704e+02] [ 1.09573356e-02 4.70440114e-05 9.99939965e-01 2.13982887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.210385723 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:340.11, Y:291.57, Z:21.40 [[ 6.41675554e-01 -7.66944349e-01 -6.98914201e-03 3.40110211e+02] [ 7.66897921e-01 6.41713614e-01 -8.43903438e-03 2.91566805e+02] [ 1.09572973e-02 5.51635918e-05 9.99939966e-01 2.13970895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.240385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:340.13, Y:291.59, Z:21.40 [[ 6.41402136e-01 -7.67173038e-01 -6.98791039e-03 3.40130446e+02] [ 7.67126611e-01 6.41440198e-01 -8.44005410e-03 2.91586540e+02] [ 1.09573086e-02 5.28567100e-05 9.99939966e-01 2.13987011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.270385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:340.15, Y:291.61, Z:21.40 [[ 6.40698078e-01 -7.67761143e-01 -6.98575920e-03 3.40149296e+02] [ 7.67714732e-01 6.40736159e-01 -8.44183424e-03 2.91607249e+02] [ 1.09573408e-02 4.55967203e-05 9.99939966e-01 2.14004321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.300385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:340.17, Y:291.63, Z:21.40 [[ 6.40175399e-01 -7.68197039e-01 -6.98340679e-03 3.40167459e+02] [ 7.68150633e-01 6.40213487e-01 -8.44377980e-03 2.91627798e+02] [ 1.09573578e-02 4.11917630e-05 9.99939966e-01 2.14009531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.330385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:340.19, Y:291.65, Z:21.40 [[ 6.39438778e-01 -7.68810315e-01 -6.98205423e-03 3.40185839e+02] [ 7.68763933e-01 6.39476894e-01 -8.44489807e-03 2.91648475e+02] [ 1.09573871e-02 3.24438290e-05 9.99939966e-01 2.14016643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.360385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:340.21, Y:291.67, Z:21.40 [[ 6.38324258e-01 -7.69735937e-01 -6.98058237e-03 3.40205632e+02] [ 7.69689598e-01 6.38362426e-01 -8.44611454e-03 2.91671664e+02] [ 1.09574194e-02 1.84781585e-05 9.99939966e-01 2.14036129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.390385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:340.22, Y:291.69, Z:21.40 [[ 6.38400044e-01 -7.69672822e-01 -7.00933853e-03 3.40223179e+02] [ 7.69626739e-01 6.38438522e-01 -8.42234961e-03 2.91691317e+02] [ 1.09574853e-02 -1.77459993e-05 9.99939965e-01 2.14027792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.420385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:340.24, Y:291.71, Z:21.40 [[ 6.38017505e-01 -7.69990250e-01 -6.97701407e-03 3.40241717e+02] [ 7.69943893e-01 6.38055652e-01 -8.44904237e-03 2.91713031e+02] [ 1.09574035e-02 1.87275577e-05 9.99939966e-01 2.14039382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.450385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:340.26, Y:291.74, Z:21.40 [[ 6.37802169e-01 -7.70168648e-01 -6.97465965e-03 3.40259873e+02] [ 7.70122281e-01 6.37840303e-01 -8.45098549e-03 2.91735125e+02] [ 1.09574031e-02 1.87160775e-05 9.99939966e-01 2.14042503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.480385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:340.28, Y:291.76, Z:21.41 [[ 6.37293005e-01 -7.70590042e-01 -6.97229583e-03 3.40277743e+02] [ 7.70543679e-01 6.37331144e-01 -8.45293526e-03 2.91755968e+02] [ 1.09574090e-02 1.45380345e-05 9.99939966e-01 2.14054909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.510385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:340.30, Y:291.78, Z:21.41 [[ 6.36807919e-01 -7.70990973e-01 -6.97096068e-03 3.40295959e+02] [ 7.70944621e-01 6.36846072e-01 -8.45403618e-03 2.91777903e+02] [ 1.09574145e-02 9.37254575e-06 9.99939966e-01 2.14065041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.540385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:340.31, Y:291.80, Z:21.41 [[ 6.36328792e-01 -7.71386483e-01 -6.96865698e-03 3.40312563e+02] [ 7.71340135e-01 6.36366949e-01 -8.45593470e-03 2.91798959e+02] [ 1.09574167e-02 5.54990132e-06 9.99939966e-01 2.14068711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.570385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:340.33, Y:291.82, Z:21.41 [[ 6.35607370e-01 -7.71981043e-01 -6.96709242e-03 3.40329137e+02] [ 7.71934717e-01 6.35645553e-01 -8.45722359e-03 2.91821185e+02] [ 1.09574176e-02 -2.66687501e-06 9.99939966e-01 2.14076466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.600385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:340.35, Y:291.84, Z:21.41 [[ 6.34793249e-01 -7.72650648e-01 -6.96476361e-03 3.40346403e+02] [ 7.72604340e-01 6.34831455e-01 -8.45914100e-03 2.91843545e+02] [ 1.09574118e-02 -1.12009980e-05 9.99939966e-01 2.14088472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.630385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:340.36, Y:291.86, Z:21.41 [[ 6.34037099e-01 -7.73271286e-01 -6.96243289e-03 3.40363873e+02] [ 7.73224995e-01 6.34075325e-01 -8.46105890e-03 2.91864921e+02] [ 1.09574008e-02 -1.89018953e-05 9.99939966e-01 2.14095172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.660385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:340.38, Y:291.89, Z:21.41 [[ 6.32403699e-01 -7.74607719e-01 -6.96008817e-03 3.40380899e+02] [ 7.74561488e-01 6.32441997e-01 -8.46298723e-03 2.91886780e+02] [ 1.09573473e-02 -3.89918239e-05 9.99939966e-01 2.14103088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.690385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:340.40, Y:291.91, Z:21.41 [[ 6.31203365e-01 -7.75586167e-01 -6.95775276e-03 3.40397988e+02] [ 7.75539973e-01 6.31241709e-01 -8.46490683e-03 2.91908218e+02] [ 1.09572884e-02 -5.29377180e-05 9.99939966e-01 2.14107697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.7203857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:340.42, Y:291.93, Z:21.41 [[ 6.29833583e-01 -7.76698954e-01 -6.95646139e-03 3.40415640e+02] [ 7.76652817e-01 6.29871995e-01 -8.46596794e-03 2.91929971e+02] [ 1.09571887e-02 -7.06044114e-05 9.99939966e-01 2.14112371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.750385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:340.43, Y:291.95, Z:21.41 [[ 6.27241144e-01 -7.78794059e-01 -6.95417152e-03 3.40431629e+02] [ 7.78748029e-01 6.27279685e-01 -8.46784849e-03 2.91951230e+02] [ 1.09569206e-02 -1.04164388e-04 9.99939966e-01 2.14126759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.780385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:340.45, Y:291.97, Z:21.41 [[ 6.24158035e-01 -7.81267179e-01 -6.95290612e-03 3.40447549e+02] [ 7.81221290e-01 6.24196743e-01 -8.46888737e-03 2.91974018e+02] [ 1.09564451e-02 -1.45834198e-04 9.99939966e-01 2.14140748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.810385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:340.46, Y:292.00, Z:21.41 [[ 6.22355252e-01 -7.82704050e-01 -6.95059702e-03 3.40463693e+02] [ 7.82658229e-01 6.22394041e-01 -8.47078207e-03 2.91995455e+02] [ 1.09561256e-02 -1.68106246e-04 9.99939966e-01 2.14144968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.8403857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:340.48, Y:292.02, Z:21.41 [[ 6.20577887e-01 -7.84114018e-01 -6.94932352e-03 3.40480931e+02] [ 7.84068274e-01 6.20616766e-01 -8.47182671e-03 2.92017940e+02] [ 1.09557448e-02 -1.91315787e-04 9.99939966e-01 2.14147161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.870385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:340.50, Y:292.04, Z:21.42 [[ 6.17217733e-01 -7.86761724e-01 -6.94698372e-03 3.40496822e+02] [ 7.86716125e-01 6.17256782e-01 -8.47374494e-03 2.92040192e+02] [ 1.09548910e-02 -2.35158474e-04 9.99939966e-01 2.14153188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.900385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:340.51, Y:292.06, Z:21.42 [[ 6.15494902e-01 -7.88110260e-01 -6.94569739e-03 3.40513726e+02] [ 7.88064735e-01 6.15534037e-01 -8.47479917e-03 2.92062227e+02] [ 1.09543893e-02 -2.57463487e-04 9.99939966e-01 2.14161476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.930385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:340.53, Y:292.09, Z:21.42 [[ 6.12951160e-01 -7.90090289e-01 -6.94339810e-03 3.40529594e+02] [ 7.90044869e-01 6.12990417e-01 -8.47668256e-03 2.92086041e+02] [ 1.09535811e-02 -2.89803641e-04 9.99939966e-01 2.14170428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.960385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:340.55, Y:292.11, Z:21.42 [[ 6.12114120e-01 -7.90738975e-01 -6.94109178e-03 3.40546202e+02] [ 7.90693574e-01 6.12153400e-01 -8.47857066e-03 2.92109296e+02] [ 1.09533492e-02 -2.98423856e-04 9.99939966e-01 2.14171213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.990385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:340.56, Y:292.13, Z:21.42 [[ 6.11189227e-01 -7.91454094e-01 -6.93879850e-03 3.40560833e+02] [ 7.91408718e-01 6.11228536e-01 -8.48044705e-03 2.92133319e+02] [ 1.09530762e-02 -3.08267754e-04 9.99939966e-01 2.14175008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.020385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:340.58, Y:292.16, Z:21.42 [[ 6.11171640e-01 -7.91467695e-01 -6.93643533e-03 3.40576545e+02] [ 7.91422299e-01 6.11210925e-01 -8.48237952e-03 2.92155285e+02] [ 1.09531544e-02 -3.05459796e-04 9.99939966e-01 2.14174325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.050385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:340.59, Y:292.18, Z:21.42 [[ 6.10000346e-01 -7.92370798e-01 -6.93513622e-03 3.40588479e+02] [ 7.92325448e-01 6.10039684e-01 -8.48344153e-03 2.92178861e+02] [ 1.09527396e-02 -3.19982642e-04 9.99939966e-01 2.14170139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.080385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:340.61, Y:292.20, Z:21.42 [[ 6.10456121e-01 -7.92020167e-01 -6.88327655e-03 3.40605566e+02] [ 7.91974315e-01 6.10494876e-01 -8.52584410e-03 2.92202128e+02] [ 1.09548455e-02 -2.46724515e-04 9.99939963e-01 2.14180097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.110385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:340.61, Y:292.22, Z:21.41 [[ 6.05727874e-01 -7.95642053e-01 -6.88954543e-03 3.40609380e+02] [ 7.95596491e-01 6.05766969e-01 -8.52071821e-03 2.92224884e+02] [ 1.09529008e-02 -3.20061646e-04 9.99939964e-01 2.14123468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.140385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:340.64, Y:292.25, Z:21.42 [[ 6.12392242e-01 -7.90525789e-01 -6.68715270e-03 3.40635985e+02] [ 7.90478068e-01 6.12428751e-01 -8.68616044e-03 2.92249647e+02] [ 1.09620384e-02 3.32897241e-05 9.99939915e-01 2.14153098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.170385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:340.65, Y:292.27, Z:21.41 [[ 6.13573714e-01 -7.89607551e-01 -6.87114175e-03 3.40649279e+02] [ 7.89561438e-01 6.13612158e-01 -8.53555374e-03 2.92274340e+02] [ 1.09559538e-02 -1.87997151e-04 9.99939964e-01 2.14133794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.200385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:340.67, Y:292.30, Z:21.41 [[ 6.15623818e-01 -7.88010387e-01 -6.85170458e-03 3.40667117e+02] [ 7.87963997e-01 6.15661930e-01 -8.55144657e-03 2.92298209e+02] [ 1.09569624e-02 -1.34422344e-04 9.99939962e-01 2.14143202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.230385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:340.68, Y:292.32, Z:21.42 [[ 6.18989755e-01 -7.85368982e-01 -6.87359567e-03 3.40684486e+02] [ 7.85322627e-01 6.19027907e-01 -8.53357002e-03 2.92321664e+02] [ 1.09569487e-02 -1.15797797e-04 9.99939964e-01 2.14171290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.260385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:340.70, Y:292.34, Z:21.41 [[ 6.16737245e-01 -7.87138695e-01 -6.91701668e-03 3.40695876e+02] [ 7.87092846e-01 6.16775999e-01 -8.49812061e-03 2.92344762e+02] [ 1.09554494e-02 -2.03226855e-04 9.99939967e-01 2.14121757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.290385723 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:340.71, Y:292.37, Z:21.41 [[ 6.16449201e-01 -7.87364768e-01 -6.86328071e-03 3.40712071e+02] [ 7.87318442e-01 6.16487391e-01 -8.54208845e-03 2.92366873e+02] [ 1.09568655e-02 -1.37823879e-04 9.99939962e-01 2.14099514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.320385723 meters Centerline goodness : 0.998849 Centerline is valid? [True, True] Translation: X:340.73, Y:292.39, Z:21.41 [[ 6.17046755e-01 -7.86896608e-01 -6.85787659e-03 3.40729882e+02] [ 7.86850205e-01 6.17084851e-01 -8.54649579e-03 2.92392078e+02] [ 1.09571003e-02 -1.22534100e-04 9.99939962e-01 2.14123762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.350385723 meters Centerline goodness : 0.995642 Centerline is valid? [True, True] Translation: X:340.75, Y:292.41, Z:21.41 [[ 6.18340693e-01 -7.85879842e-01 -6.90367047e-03 3.40745223e+02] [ 7.85833791e-01 6.18379210e-01 -8.50916528e-03 2.92414017e+02] [ 1.09562678e-02 -1.63574378e-04 9.99939965e-01 2.14141277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.380385723 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:340.76, Y:292.44, Z:21.42 [[ 6.16698876e-01 -7.87169308e-01 -6.85399167e-03 3.40762216e+02] [ 7.87122887e-01 6.16736950e-01 -8.54957389e-03 2.92438368e+02] [ 1.09570721e-02 -1.22421102e-04 9.99939962e-01 2.14164673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.410385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:340.78, Y:292.46, Z:21.41 [[ 6.15278618e-01 -7.88279395e-01 -6.91499646e-03 3.40776482e+02] [ 7.88233598e-01 6.15317435e-01 -8.49994444e-03 2.92461592e+02] [ 1.09552489e-02 -2.20798471e-04 9.99939965e-01 2.14115057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.440385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:340.79, Y:292.49, Z:21.42 [[ 6.16842768e-01 -7.87056292e-01 -6.88424198e-03 3.40794847e+02] [ 7.87010138e-01 6.16881162e-01 -8.52494885e-03 2.92485867e+02] [ 1.09563738e-02 -1.59415187e-04 9.99939964e-01 2.14165554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.4703857229999 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:340.81, Y:292.51, Z:21.41 [[ 6.17088343e-01 -7.86863528e-01 -6.91132779e-03 3.40806252e+02] [ 7.86817608e-01 6.17127015e-01 -8.50293305e-03 2.92508714e+02] [ 1.09558150e-02 -1.90893529e-04 9.99939965e-01 2.14092473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.500385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:340.82, Y:292.53, Z:21.41 [[ 6.16736490e-01 -7.87139970e-01 -6.83887462e-03 3.40822111e+02] [ 7.87093410e-01 6.16774398e-01 -8.56189139e-03 2.92531854e+02] [ 1.09574497e-02 -1.02402301e-04 9.99939960e-01 2.14106771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.530385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:340.84, Y:292.55, Z:21.41 [[ 6.16917743e-01 -7.86997865e-01 -6.84535824e-03 3.40837412e+02] [ 7.86951355e-01 6.16955711e-01 -8.55661482e-03 2.92553377e+02] [ 1.09573205e-02 -1.08236444e-04 9.99939961e-01 2.14111060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.560385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:340.86, Y:292.58, Z:21.42 [[ 6.21679071e-01 -7.83242311e-01 -6.82758131e-03 3.40859857e+02] [ 7.83195412e-01 6.21716561e-01 -8.57109442e-03 2.92576642e+02] [ 1.09580642e-02 -1.88603473e-05 9.99939958e-01 2.14183620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.5903857229999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:340.88, Y:292.60, Z:21.42 [[ 6.22094833e-01 -7.82911295e-01 -6.92263163e-03 3.40875720e+02] [ 7.82865233e-01 6.22133335e-01 -8.49362485e-03 2.92598009e+02] [ 1.09565547e-02 -1.35647488e-04 9.99939966e-01 2.14181018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.620385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:340.89, Y:292.62, Z:21.42 [[ 6.23114507e-01 -7.82099998e-01 -6.92132981e-03 3.40891874e+02] [ 7.82053874e-01 6.23152934e-01 -8.49468556e-03 2.92620609e+02] [ 1.09567405e-02 -1.19690986e-04 9.99939966e-01 2.14189486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.650385723 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:340.91, Y:292.64, Z:21.42 [[ 6.22742637e-01 -7.82396150e-01 -6.91899738e-03 3.40907925e+02] [ 7.82350023e-01 6.22781061e-01 -8.49658492e-03 2.92643449e+02] [ 1.09567159e-02 -1.21892065e-04 9.99939966e-01 2.14169970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.680385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:340.93, Y:292.67, Z:21.42 [[ 6.23620682e-01 -7.81696492e-01 -6.91664282e-03 3.40925181e+02] [ 7.81650301e-01 6.23659028e-01 -8.49850121e-03 2.92665751e+02] [ 1.09568753e-02 -1.06554827e-04 9.99939966e-01 2.14191138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.710385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:340.94, Y:292.69, Z:21.41 [[ 6.22460289e-01 -7.82620963e-01 -6.90053653e-03 3.40942640e+02] [ 7.82574683e-01 6.22498529e-01 -8.51160452e-03 2.92689294e+02] [ 1.09569340e-02 -1.02049373e-04 9.99939966e-01 2.14143050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.740385723 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:340.96, Y:292.71, Z:21.42 [[ 6.22299911e-01 -7.82748464e-01 -6.90381596e-03 3.40961483e+02] [ 7.82702222e-01 6.22338196e-01 -8.50893711e-03 2.92710529e+02] [ 1.09568658e-02 -1.08521283e-04 9.99939966e-01 2.14196256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.770385723 meters Centerline goodness : 0.998687 Centerline is valid? [True, True] Translation: X:340.98, Y:292.73, Z:21.42 [[ 6.23596993e-01 -7.81715426e-01 -6.91257669e-03 3.40981510e+02] [ 7.81669199e-01 6.23635297e-01 -8.50181402e-03 2.92732956e+02] [ 1.09569260e-02 -1.01642623e-04 9.99939966e-01 2.14187404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.800385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:340.99, Y:292.75, Z:21.42 [[ 6.21601647e-01 -7.83302607e-01 -6.95830504e-03 3.40994298e+02] [ 7.83256893e-01 6.21640563e-01 -8.46464498e-03 2.92753994e+02] [ 1.09559431e-02 -1.88503124e-04 9.99939964e-01 2.14196611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.830385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:341.02, Y:292.77, Z:21.43 [[ 6.23749379e-01 -7.81594214e-01 -6.87002670e-03 3.41015650e+02] [ 7.81547597e-01 6.23787210e-01 -8.53641835e-03 2.92774710e+02] [ 1.09574500e-02 -4.46672124e-05 9.99939964e-01 2.14255982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.860385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:341.03, Y:292.80, Z:21.43 [[ 6.23947408e-01 -7.81435757e-01 -6.91296931e-03 3.41033768e+02] [ 7.81389517e-01 6.23985695e-01 -8.50149970e-03 2.92795451e+02] [ 1.09569698e-02 -9.72330458e-05 9.99939966e-01 2.14265594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.890385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:341.05, Y:292.82, Z:21.43 [[ 6.24181349e-01 -7.81248918e-01 -6.91167908e-03 3.41052541e+02] [ 7.81202655e-01 6.24219608e-01 -8.50254853e-03 2.92816391e+02] [ 1.09570124e-02 -9.22898303e-05 9.99939966e-01 2.14272442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.920385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:341.07, Y:292.84, Z:21.43 [[ 6.24951029e-01 -7.80633379e-01 -6.90935171e-03 3.41073581e+02] [ 7.80587057e-01 6.24989217e-01 -8.50443938e-03 2.92837514e+02] [ 1.09571196e-02 -7.84923791e-05 9.99939966e-01 2.14258927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.950385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:341.09, Y:292.86, Z:21.43 [[ 6.25330380e-01 -7.80329225e-01 -6.94377881e-03 3.41090049e+02] [ 7.80283194e-01 6.25368920e-01 -8.47647025e-03 2.92857521e+02] [ 1.09568609e-02 -1.17519546e-04 9.99939965e-01 2.14293903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.980385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:341.11, Y:292.88, Z:21.43 [[ 6.25812432e-01 -7.79943009e-01 -6.90677172e-03 3.41108686e+02] [ 7.79896621e-01 6.25850541e-01 -8.50651776e-03 2.92877484e+02] [ 1.09572059e-02 -6.30833643e-05 9.99939966e-01 2.14301524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.010385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:341.13, Y:292.90, Z:21.43 [[ 6.26745268e-01 -7.79193611e-01 -6.90544136e-03 3.41128632e+02] [ 7.79147166e-01 6.26783307e-01 -8.50759759e-03 2.92896841e+02] [ 1.09572811e-02 -4.82585310e-05 9.99939966e-01 2.14315878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.040385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:341.15, Y:292.92, Z:21.43 [[ 6.26983214e-01 -7.79002180e-01 -6.90312828e-03 3.41147551e+02] [ 7.78955703e-01 6.27021214e-01 -8.50947402e-03 2.92917677e+02] [ 1.09573067e-02 -4.19337645e-05 9.99939966e-01 2.14323676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.070385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:341.17, Y:292.94, Z:21.43 [[ 6.26275917e-01 -7.79570942e-01 -6.90082798e-03 3.41168293e+02] [ 7.79524479e-01 6.26313934e-01 -8.51133906e-03 2.92937999e+02] [ 1.09572773e-02 -4.89176632e-05 9.99939966e-01 2.14308191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.100385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:341.19, Y:292.96, Z:21.43 [[ 6.26783264e-01 -7.79163075e-01 -6.90228220e-03 3.41189447e+02] [ 7.79116601e-01 6.26821266e-01 -8.51016025e-03 2.92958558e+02] [ 1.09572999e-02 -4.36566179e-05 9.99939966e-01 2.14319817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.130385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:341.21, Y:292.98, Z:21.43 [[ 6.26082671e-01 -7.79725975e-01 -6.92054587e-03 3.41209679e+02] [ 7.79679697e-01 6.26120914e-01 -8.49536331e-03 2.92980099e+02] [ 1.09571539e-02 -7.70093606e-05 9.99939966e-01 2.14317300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.160385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:341.23, Y:293.00, Z:21.43 [[ 6.24844736e-01 -7.80718302e-01 -6.92740545e-03 3.41229245e+02] [ 7.80672147e-01 6.24883127e-01 -8.48980785e-03 2.92997184e+02] [ 1.09569671e-02 -1.03220744e-04 9.99939965e-01 2.14334970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.190385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:341.25, Y:293.02, Z:21.43 [[ 6.24671314e-01 -7.80857375e-01 -6.89279177e-03 3.41252423e+02] [ 7.80810918e-01 6.24709338e-01 -8.51781796e-03 2.93018771e+02] [ 1.09571924e-02 -6.11305426e-05 9.99939966e-01 2.14317992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.2203857229999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:341.27, Y:293.04, Z:21.43 [[ 6.22208652e-01 -7.82820571e-01 -6.95321947e-03 3.41270969e+02] [ 7.82774779e-01 6.22247477e-01 -8.46891374e-03 2.93035663e+02] [ 1.09562632e-02 -1.73373437e-04 9.99939963e-01 2.14341110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.250385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:341.30, Y:293.05, Z:21.43 [[ 6.22964489e-01 -7.82219773e-01 -6.89001811e-03 3.41298954e+02] [ 7.82173375e-01 6.23002585e-01 -8.52002379e-03 2.93053439e+02] [ 1.09570302e-02 -8.15164479e-05 9.99939967e-01 2.14334240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.280385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:341.31, Y:293.07, Z:21.43 [[ 6.18296305e-01 -7.85914154e-01 -6.97302261e-03 3.41312481e+02] [ 7.85868736e-01 6.18335571e-01 -8.45290605e-03 2.93074694e+02] [ 1.09549264e-02 -2.53479889e-04 9.99939961e-01 2.14322458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.310385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:341.33, Y:293.09, Z:21.43 [[ 6.16919214e-01 -7.86996438e-01 -6.87671098e-03 3.41332532e+02] [ 7.86950217e-01 6.16957522e-01 -8.53070356e-03 2.93091699e+02] [ 1.09562719e-02 -1.48874259e-04 9.99939967e-01 2.14316850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.3403857229999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:341.35, Y:293.11, Z:21.43 [[ 6.16779088e-01 -7.87106596e-01 -6.83843401e-03 3.41350414e+02] [ 7.87060037e-01 6.16816988e-01 -8.56159606e-03 2.93113958e+02] [ 1.09569510e-02 -1.01644725e-04 9.99939966e-01 2.14319788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.370385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:341.38, Y:293.14, Z:21.43 [[ 6.17615602e-01 -7.86450362e-01 -6.84085155e-03 3.41378642e+02] [ 7.86403785e-01 6.17653479e-01 -8.55964467e-03 2.93137102e+02] [ 1.09570114e-02 -9.31014544e-05 9.99939966e-01 2.14304638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.400385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:341.39, Y:293.15, Z:21.43 [[ 6.14656953e-01 -7.88763296e-01 -7.02089091e-03 3.41388511e+02] [ 7.88718499e-01 6.14696941e-01 -8.41423407e-03 2.93154469e+02] [ 1.09525592e-02 -3.65639061e-04 9.99939952e-01 2.14311457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.430385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:341.41, Y:293.18, Z:21.43 [[ 6.12668272e-01 -7.90310647e-01 -6.83145807e-03 3.41411111e+02] [ 7.90264228e-01 6.12706339e-01 -8.56687740e-03 2.93175325e+02] [ 1.09561721e-02 -1.50002962e-04 9.99939968e-01 2.14305354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.460385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:341.43, Y:293.19, Z:21.43 [[ 6.14043594e-01 -7.89242167e-01 -6.87507492e-03 3.41429807e+02] [ 7.89196073e-01 6.14082053e-01 -8.53172990e-03 2.93193002e+02] [ 1.09554611e-02 -1.86928037e-04 9.99939970e-01 2.14285978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.490385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:341.45, Y:293.21, Z:21.43 [[ 6.16389883e-01 -7.87411554e-01 -6.82329688e-03 3.41454888e+02] [ 7.87364883e-01 6.16427641e-01 -8.57340403e-03 2.93214883e+02] [ 1.09568662e-02 -8.78648430e-05 9.99939968e-01 2.14251761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.520385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:341.47, Y:293.24, Z:21.43 [[ 6.16109343e-01 -7.87630109e-01 -6.93461283e-03 3.41474751e+02] [ 7.87584451e-01 6.16148324e-01 -8.48385264e-03 2.93239219e+02] [ 1.09548878e-02 -2.34612364e-04 9.99939966e-01 2.14263032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.550385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:341.49, Y:293.26, Z:21.42 [[ 6.20451229e-01 -7.84213854e-01 -6.99313207e-03 3.41488882e+02] [ 7.84168510e-01 6.20490587e-01 -8.43679285e-03 2.93261332e+02] [ 1.09554225e-02 -2.49175466e-04 9.99939957e-01 2.14229717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.580385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:341.51, Y:293.28, Z:21.42 [[ 6.22168655e-01 -7.82852491e-01 -6.93845612e-03 3.41505492e+02] [ 7.82806569e-01 6.22207323e-01 -8.48071310e-03 2.93283190e+02] [ 1.09563056e-02 -1.55035165e-04 9.99939966e-01 2.14206290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.610385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:341.53, Y:293.31, Z:21.42 [[ 6.22461373e-01 -7.82619867e-01 -6.92697366e-03 3.41525219e+02] [ 7.82573827e-01 6.22499900e-01 -8.48994307e-03 2.93307954e+02] [ 1.09564385e-02 -1.36206665e-04 9.99939967e-01 2.14169186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.640385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:341.54, Y:293.33, Z:21.42 [[ 6.20785102e-01 -7.83949539e-01 -6.99838438e-03 3.41540467e+02] [ 7.83904225e-01 6.20824498e-01 -8.43255260e-03 2.93331582e+02] [ 1.09554642e-02 -2.51260061e-04 9.99939956e-01 2.14187629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.670385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:341.56, Y:293.36, Z:21.42 [[ 6.21223052e-01 -7.83603020e-01 -6.94450067e-03 3.41561005e+02] [ 7.83557201e-01 6.21261842e-01 -8.47565835e-03 2.93356242e+02] [ 1.09559048e-02 -1.76139159e-04 9.99939967e-01 2.14196647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.700385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:341.57, Y:293.38, Z:21.42 [[ 6.18033431e-01 -7.86120397e-01 -7.02842253e-03 3.41567475e+02] [ 7.86075495e-01 6.18073307e-01 -8.40850225e-03 2.93376838e+02] [ 1.09541755e-02 -3.28135225e-04 9.99939947e-01 2.14184708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.730385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:341.59, Y:293.40, Z:21.42 [[ 6.18412518e-01 -7.85823907e-01 -6.83701586e-03 3.41586680e+02] [ 7.85777273e-01 6.18450306e-01 -8.56135814e-03 2.93403467e+02] [ 1.09560745e-02 -7.79206258e-05 9.99939977e-01 2.14195779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.760385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:341.60, Y:293.43, Z:21.42 [[ 6.18297382e-01 -7.85913629e-01 -6.93644985e-03 3.41603993e+02] [ 7.85867884e-01 6.18336255e-01 -8.48200372e-03 2.93426660e+02] [ 1.09551808e-02 -2.06732475e-04 9.99939969e-01 2.14190937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.790385723 meters Centerline goodness : 0.999182 Centerline is valid? [True, True] Translation: X:341.62, Y:293.45, Z:21.42 [[ 6.17164920e-01 -7.86803055e-01 -6.95798752e-03 3.41618874e+02] [ 7.86757560e-01 6.17204091e-01 -8.46481515e-03 2.93447792e+02] [ 1.09546408e-02 -2.50062316e-04 9.99939965e-01 2.14182217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.820385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:341.63, Y:293.47, Z:21.42 [[ 6.13205607e-01 -7.89893214e-01 -6.89884507e-03 3.41632694e+02] [ 7.89847384e-01 6.13244370e-01 -8.51191082e-03 2.93472350e+02] [ 1.09541785e-02 -2.29483289e-04 9.99939975e-01 2.14215509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.850385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:341.65, Y:293.49, Z:21.42 [[ 6.11755441e-01 -7.91017215e-01 -6.85897589e-03 3.41646248e+02] [ 7.90971100e-01 6.11793859e-01 -8.54357891e-03 2.93494397e+02] [ 1.09543973e-02 -1.98670814e-04 9.99939979e-01 2.14192019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.880385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:341.66, Y:293.52, Z:21.42 [[ 6.10661965e-01 -7.91862096e-01 -6.81060362e-03 3.41662786e+02] [ 7.91815605e-01 6.10699924e-01 -8.58196691e-03 2.93517859e+02] [ 1.09549694e-02 -1.52061446e-04 9.99939981e-01 2.14185996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.910385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:341.68, Y:293.54, Z:21.42 [[ 6.09605626e-01 -7.92675532e-01 -6.81771377e-03 3.41677805e+02] [ 7.92629155e-01 6.09643723e-01 -8.57632656e-03 2.93541870e+02] [ 1.09546206e-02 -1.75741786e-04 9.99939981e-01 2.14181138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.940385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:341.69, Y:293.56, Z:21.42 [[ 6.08767168e-01 -7.93319729e-01 -6.80758887e-03 3.41694081e+02] [ 7.93273302e-01 6.08805205e-01 -8.58435533e-03 2.93564469e+02] [ 1.09546340e-02 -1.74404820e-04 9.99939981e-01 2.14197132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.9703857229999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:341.71, Y:293.59, Z:21.42 [[ 6.08889807e-01 -7.93225630e-01 -6.80461018e-03 3.41710874e+02] [ 7.93179171e-01 6.08927805e-01 -8.58671597e-03 2.93586755e+02] [ 1.09547195e-02 -1.68911236e-04 9.99939981e-01 2.14183395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.000385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:341.73, Y:293.61, Z:21.42 [[ 6.08715235e-01 -7.93359608e-01 -6.80406796e-03 3.41727233e+02] [ 7.93313152e-01 6.08753237e-01 -8.58714560e-03 2.93609170e+02] [ 1.09546929e-02 -1.70630246e-04 9.99939981e-01 2.14185195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.030385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:341.74, Y:293.63, Z:21.42 [[ 6.07051541e-01 -7.94633351e-01 -6.80175915e-03 3.41742696e+02] [ 7.94586955e-01 6.07089615e-01 -8.58897399e-03 2.93632343e+02] [ 1.09543625e-02 -1.90639195e-04 9.99939981e-01 2.14203920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.060385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:341.76, Y:293.65, Z:21.42 [[ 6.09562071e-01 -7.92709454e-01 -6.76771174e-03 3.41761458e+02] [ 7.92662638e-01 6.09599629e-01 -8.61592030e-03 2.93654364e+02] [ 1.09555160e-02 -1.12574013e-04 9.99939980e-01 2.14197928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.0903857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:341.78, Y:293.68, Z:21.42 [[ 6.10456273e-01 -7.92020778e-01 -6.79901200e-03 3.41778554e+02] [ 7.91974194e-01 6.10494118e-01 -8.59114937e-03 2.93676699e+02] [ 1.09551256e-02 -1.40121021e-04 9.99939981e-01 2.14196849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.120385723 meters Centerline goodness : 0.999670 Centerline is valid? [True, True] Translation: X:341.80, Y:293.70, Z:21.42 [[ 6.11874134e-01 -7.90925944e-01 -6.79669427e-03 3.41795008e+02] [ 7.90879272e-01 6.11911870e-01 -8.59298260e-03 2.93698985e+02] [ 1.09553908e-02 -1.17540834e-04 9.99939981e-01 2.14172331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.150385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:341.81, Y:293.72, Z:21.42 [[ 6.14275737e-01 -7.89062371e-01 -6.77445971e-03 3.41811007e+02] [ 7.89015391e-01 6.14313089e-01 -8.61055810e-03 2.93720911e+02] [ 1.09559067e-02 -5.58960514e-05 9.99939981e-01 2.14179069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.180385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:341.83, Y:293.75, Z:21.42 [[ 6.14791030e-01 -7.88661140e-01 -6.75240412e-03 3.41829105e+02] [ 7.88613944e-01 6.14828111e-01 -8.62798822e-03 2.93745499e+02] [ 1.09561269e-02 -2.06302733e-05 9.99939980e-01 2.14204385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.210385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:341.85, Y:293.77, Z:21.42 [[ 6.15195086e-01 -7.88345654e-01 -6.79239030e-03 3.41845925e+02] [ 7.88298786e-01 6.15232578e-01 -8.59639339e-03 2.93767302e+02] [ 1.09558292e-02 -6.59740677e-05 9.99939981e-01 2.14193171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.240385723 meters Centerline goodness : 0.999362 Centerline is valid? [True, True] Translation: X:341.86, Y:293.79, Z:21.42 [[ 6.15510030e-01 -7.88099792e-01 -6.79119059e-03 3.41864994e+02] [ 7.88052899e-01 6.15547491e-01 -8.59734106e-03 2.93790436e+02] [ 1.09558630e-02 -6.00677836e-05 9.99939981e-01 2.14183120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.270385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:341.88, Y:293.81, Z:21.42 [[ 6.16105150e-01 -7.87634414e-01 -6.81712975e-03 3.41881988e+02] [ 7.87587719e-01 6.16142859e-01 -8.57685452e-03 2.93811608e+02] [ 1.09557516e-02 -8.48434265e-05 9.99939980e-01 2.14212789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.300385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:341.90, Y:293.83, Z:21.42 [[ 6.16768466e-01 -7.87115356e-01 -6.78791821e-03 3.41900453e+02] [ 7.87068375e-01 6.16805816e-01 -8.59991123e-03 2.93833883e+02] [ 1.09559496e-02 -3.84016983e-05 9.99939981e-01 2.14235573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.330385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:341.92, Y:293.86, Z:21.42 [[ 6.16807444e-01 -7.87084829e-01 -6.78585600e-03 3.41917794e+02] [ 7.87037829e-01 6.16844770e-01 -8.60153813e-03 2.93855639e+02] [ 1.09559600e-02 -3.52326182e-05 9.99939981e-01 2.14244946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.360385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:341.94, Y:293.88, Z:21.43 [[ 6.16804600e-01 -7.87087067e-01 -6.78481706e-03 3.41936079e+02] [ 7.87040057e-01 6.16841915e-01 -8.60235756e-03 2.93877744e+02] [ 1.09559639e-02 -3.39490887e-05 9.99939981e-01 2.14264463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.390385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:341.95, Y:293.90, Z:21.43 [[ 6.17057496e-01 -7.86888836e-01 -6.78275631e-03 3.41954985e+02] [ 7.86841797e-01 6.17094773e-01 -8.60398211e-03 2.93899347e+02] [ 1.09559809e-02 -2.78045028e-05 9.99939981e-01 2.14282175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.420385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:341.97, Y:293.92, Z:21.43 [[ 6.17382014e-01 -7.86634268e-01 -6.78070964e-03 3.41973186e+02] [ 7.86587195e-01 6.17419248e-01 -8.60559477e-03 2.93922225e+02] [ 1.09559964e-02 -2.06799486e-05 9.99939981e-01 2.14291230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.450385723 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:341.99, Y:293.94, Z:21.43 [[ 6.18498548e-01 -7.85756702e-01 -6.77866788e-03 3.41992470e+02] [ 7.85709559e-01 6.18535694e-01 -8.60720277e-03 2.93944169e+02] [ 1.09560153e-02 -2.52173585e-06 9.99939981e-01 2.14308901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.480385723 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:342.01, Y:293.97, Z:21.43 [[ 6.18699191e-01 -7.85598745e-01 -6.77663974e-03 3.42010847e+02] [ 7.85551575e-01 6.18736302e-01 -8.60879927e-03 2.93965963e+02] [ 1.09560149e-02 2.85712134e-06 9.99939981e-01 2.14312476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.510385723 meters Centerline goodness : 0.999779 Centerline is valid? [True, True] Translation: X:342.03, Y:293.99, Z:21.43 [[ 6.19339099e-01 -7.85094381e-01 -6.77446764e-03 3.42028105e+02] [ 7.85047162e-01 6.19376148e-01 -8.61050821e-03 2.93987301e+02] [ 1.09560053e-02 1.45478019e-05 9.99939981e-01 2.14317446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.540385723 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:342.04, Y:294.01, Z:21.43 [[ 6.19328960e-01 -7.85102397e-01 -6.77235473e-03 3.42044824e+02] [ 7.85055160e-01 6.19365987e-01 -8.61216974e-03 2.94008508e+02] [ 1.09560013e-02 1.70941051e-05 9.99939981e-01 2.14301874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.570385723 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:342.06, Y:294.03, Z:21.43 [[ 6.18396311e-01 -7.85837235e-01 -6.77079409e-03 3.42063773e+02] [ 7.85790029e-01 6.18433376e-01 -8.61339652e-03 2.94029026e+02] [ 1.09560128e-02 6.07015105e-06 9.99939981e-01 2.14323523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.600385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:342.08, Y:294.05, Z:21.43 [[ 6.17784921e-01 -7.86317988e-01 -6.76852145e-03 3.42081636e+02] [ 7.86270791e-01 6.17821998e-01 -8.61518202e-03 2.94049652e+02] [ 1.09560140e-02 4.38835511e-07 9.99939981e-01 2.14332884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.630385723 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:342.10, Y:294.07, Z:21.44 [[ 6.16590184e-01 -7.87255207e-01 -6.76646964e-03 3.42100853e+02] [ 7.87208048e-01 6.16627310e-01 -8.61679324e-03 2.94070971e+02] [ 1.09560053e-02 -1.35892308e-05 9.99939981e-01 2.14355696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.660385723 meters Centerline goodness : 0.999667 Centerline is valid? [True, True] Translation: X:342.12, Y:294.09, Z:21.44 [[ 6.15817958e-01 -7.87859432e-01 -6.76446544e-03 3.42118974e+02] [ 7.87812293e-01 6.15855109e-01 -8.61836631e-03 2.94092437e+02] [ 1.09559918e-02 -2.17842789e-05 9.99939981e-01 2.14365908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.690385723 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:342.14, Y:294.11, Z:21.44 [[ 6.14902300e-01 -7.88574305e-01 -6.76222734e-03 3.42136409e+02] [ 7.88527189e-01 6.14939481e-01 -8.62012204e-03 2.94113531e+02] [ 1.09559673e-02 -3.16672467e-05 9.99939981e-01 2.14374989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.7203857229999 meters Centerline goodness : 0.999778 Centerline is valid? [True, True] Translation: X:342.16, Y:294.13, Z:21.44 [[ 6.13657597e-01 -7.89543320e-01 -6.76018344e-03 3.42155144e+02] [ 7.89496246e-01 6.13694829e-01 -8.62172463e-03 2.94134300e+02] [ 1.09559147e-02 -4.63526285e-05 9.99939981e-01 2.14380799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.750385723 meters Centerline goodness : 0.999756 Centerline is valid? [True, True] Translation: X:342.17, Y:294.15, Z:21.44 [[ 6.12565144e-01 -7.90391216e-01 -6.75790912e-03 3.42172953e+02] [ 7.90344174e-01 6.12602418e-01 -8.62350692e-03 2.94154786e+02] [ 1.09558556e-02 -5.86143400e-05 9.99939981e-01 2.14384572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.780385723 meters Centerline goodness : 0.999733 Centerline is valid? [True, True] Translation: X:342.19, Y:294.18, Z:21.44 [[ 6.11741733e-01 -7.91028699e-01 -6.75638146e-03 3.42190835e+02] [ 7.90981683e-01 6.11779039e-01 -8.62470366e-03 2.94176852e+02] [ 1.09558007e-02 -6.80828080e-05 9.99939981e-01 2.14363348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.810385723 meters Centerline goodness : 0.999778 Centerline is valid? [True, True] Translation: X:342.21, Y:294.20, Z:21.44 [[ 6.11742934e-01 -7.91027662e-01 -6.76913605e-03 3.42208778e+02] [ 7.90980756e-01 6.11780378e-01 -8.61471632e-03 2.94198595e+02] [ 1.09557035e-02 -8.42645120e-05 9.99939981e-01 2.14409688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.8403857229999 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:342.23, Y:294.22, Z:21.44 [[ 6.12147634e-01 -7.90714670e-01 -6.75171515e-03 3.42226137e+02] [ 7.90667594e-01 6.12184864e-01 -8.62834825e-03 2.94219352e+02] [ 1.09558594e-02 -5.65394058e-05 9.99939981e-01 2.14401750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.870385723 meters Centerline goodness : 0.999799 Centerline is valid? [True, True] Translation: X:342.24, Y:294.24, Z:21.44 [[ 6.12858107e-01 -7.90164145e-01 -6.75010932e-03 3.42244704e+02] [ 7.90117022e-01 6.12895278e-01 -8.62960433e-03 2.94240890e+02] [ 1.09559141e-02 -4.46532965e-05 9.99939981e-01 2.14411720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.900385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:342.26, Y:294.26, Z:21.44 [[ 6.12929877e-01 -7.90108493e-01 -6.74789837e-03 3.42262310e+02] [ 7.90061348e-01 6.12967020e-01 -8.63133283e-03 2.94262639e+02] [ 1.09559285e-02 -4.08519092e-05 9.99939981e-01 2.14417314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.930385723 meters Centerline goodness : 0.999844 Centerline is valid? [True, True] Translation: X:342.28, Y:294.29, Z:21.44 [[ 6.12577772e-01 -7.90381535e-01 -6.74552024e-03 3.42280542e+02] [ 7.90334386e-01 6.12614909e-01 -8.63319098e-03 2.94285301e+02] [ 1.09559210e-02 -4.27156982e-05 9.99939981e-01 2.14413707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.960385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:342.30, Y:294.31, Z:21.44 [[ 6.12874861e-01 -7.90150987e-01 -6.76926584e-03 3.42297614e+02] [ 7.90104028e-01 6.12912239e-01 -8.61464466e-03 2.94306867e+02] [ 1.09558359e-02 -6.87250608e-05 9.99939981e-01 2.14424630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.990385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:342.32, Y:294.33, Z:21.44 [[ 6.12361134e-01 -7.90549425e-01 -6.74146650e-03 3.42315175e+02] [ 7.90502251e-01 6.12398240e-01 -8.63634462e-03 2.94329095e+02] [ 1.09559195e-02 -4.05826570e-05 9.99939981e-01 2.14430778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.020385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:342.33, Y:294.35, Z:21.44 [[ 6.11753935e-01 -7.91019410e-01 -6.73904764e-03 3.42331825e+02] [ 7.90972244e-01 6.11791051e-01 -8.63823168e-03 2.94350571e+02] [ 1.09558980e-02 -4.59274037e-05 9.99939981e-01 2.14430086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.050385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:342.35, Y:294.37, Z:21.44 [[ 6.11758899e-01 -7.91015586e-01 -6.73740523e-03 3.42349359e+02] [ 7.90968405e-01 6.11795997e-01 -8.63951249e-03 2.94372669e+02] [ 1.09559066e-02 -4.37760174e-05 9.99939981e-01 2.14434472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.080385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:342.37, Y:294.39, Z:21.44 [[ 6.12056135e-01 -7.90785639e-01 -6.73502740e-03 3.42366568e+02] [ 7.90738424e-01 6.12093189e-01 -8.64136576e-03 2.94394483e+02] [ 1.09559323e-02 -3.66440169e-05 9.99939981e-01 2.14440201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.110385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:342.38, Y:294.42, Z:21.44 [[ 6.12464265e-01 -7.90469604e-01 -6.73265472e-03 3.42383468e+02] [ 7.90422350e-01 6.12501269e-01 -8.64321396e-03 2.94416914e+02] [ 1.09559575e-02 -2.79810737e-05 9.99939981e-01 2.14441651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.140385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:342.40, Y:294.44, Z:21.44 [[ 6.13327392e-01 -7.89800110e-01 -6.73028267e-03 3.42399582e+02] [ 7.89752795e-01 6.13364317e-01 -8.64506063e-03 2.94440016e+02] [ 1.09559851e-02 -1.30070645e-05 9.99939981e-01 2.14435003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.170385723 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:342.42, Y:294.46, Z:21.44 [[ 6.13157984e-01 -7.89931657e-01 -6.72787542e-03 3.42415810e+02] [ 7.89884329e-01 6.13194893e-01 -8.64693363e-03 2.94462383e+02] [ 1.09559855e-02 -1.23069787e-05 9.99939981e-01 2.14416049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.200385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:342.43, Y:294.48, Z:21.44 [[ 6.14259761e-01 -7.89075227e-01 -6.72548567e-03 3.42433092e+02] [ 7.89027827e-01 6.14296579e-01 -8.64879195e-03 2.94483924e+02] [ 1.09559903e-02 6.00952923e-06 9.99939981e-01 2.14431334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.230385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:342.45, Y:294.51, Z:21.44 [[ 6.14040359e-01 -7.89245982e-01 -6.72441151e-03 3.42450280e+02] [ 7.89198583e-01 6.14077178e-01 -8.64962703e-03 2.94506352e+02] [ 1.09559910e-02 4.32405474e-06 9.99939981e-01 2.14440582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.260385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:342.47, Y:294.53, Z:21.44 [[ 6.13824257e-01 -7.89414084e-01 -6.72203770e-03 3.42467769e+02] [ 7.89366675e-01 6.13861063e-01 -8.65147143e-03 2.94528967e+02] [ 1.09559906e-02 4.33047322e-06 9.99939981e-01 2.14443703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.290385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:342.48, Y:294.55, Z:21.45 [[ 6.13021945e-01 -7.90037304e-01 -6.71966846e-03 3.42484003e+02] [ 7.89989912e-01 6.13058773e-01 -8.65331125e-03 2.94551888e+02] [ 1.09559904e-02 -3.80060707e-06 9.99939981e-01 2.14457255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.320385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:342.50, Y:294.57, Z:21.45 [[ 6.12192122e-01 -7.90680519e-01 -6.71731273e-03 3.42500704e+02] [ 7.90633146e-01 6.12228974e-01 -8.65513954e-03 2.94574982e+02] [ 1.09559837e-02 -1.23218589e-05 9.99939981e-01 2.14460847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.350385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:342.52, Y:294.60, Z:21.44 [[ 6.10467925e-01 -7.92012514e-01 -6.71493939e-03 3.42516531e+02] [ 7.91965201e-01 6.10504854e-01 -8.65698047e-03 2.94598897e+02] [ 1.09559400e-02 -3.31894146e-05 9.99939981e-01 2.14445573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.380385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:342.53, Y:294.62, Z:21.45 [[ 6.10111431e-01 -7.92287185e-01 -6.71257539e-03 3.42533704e+02] [ 7.92239868e-01 6.10148356e-01 -8.65881312e-03 2.94621348e+02] [ 1.09559335e-02 -3.51289791e-05 9.99939981e-01 2.14452984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.410385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:342.55, Y:294.64, Z:21.45 [[ 6.09259769e-01 -7.92942310e-01 -6.71022122e-03 3.42550429e+02] [ 7.92895013e-01 6.09296718e-01 -8.66063711e-03 2.94643877e+02] [ 1.09559014e-02 -4.39231803e-05 9.99939981e-01 2.14453566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.440385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:342.57, Y:294.67, Z:21.45 [[ 6.08742797e-01 -7.93339279e-01 -6.70786432e-03 3.42566477e+02] [ 7.93291987e-01 6.08779752e-01 -8.66246221e-03 2.94665486e+02] [ 1.09558835e-02 -4.80835389e-05 9.99939981e-01 2.14454379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.4703857229999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:342.58, Y:294.69, Z:21.45 [[ 6.08297853e-01 -7.93680508e-01 -6.70626530e-03 3.42583419e+02] [ 7.93633222e-01 6.08334817e-01 -8.66369995e-03 2.94688217e+02] [ 1.09558644e-02 -5.22048590e-05 9.99939981e-01 2.14468264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.500385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:342.60, Y:294.71, Z:21.45 [[ 6.07943807e-01 -7.93951752e-01 -6.70394376e-03 3.42599717e+02] [ 7.93904463e-01 6.07980766e-01 -8.66549598e-03 2.94712289e+02] [ 1.09558546e-02 -5.41562618e-05 9.99939981e-01 2.14487051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.530385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:342.62, Y:294.74, Z:21.45 [[ 6.07675058e-01 -7.94157484e-01 -6.70184318e-03 3.42615887e+02] [ 7.94110189e-01 6.07712011e-01 -8.66712025e-03 2.94735095e+02] [ 1.09558490e-02 -5.52091552e-05 9.99939981e-01 2.14494863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.560385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:342.63, Y:294.76, Z:21.45 [[ 6.07556096e-01 -7.94248518e-01 -6.69942013e-03 3.42630506e+02] [ 7.94201209e-01 6.07593029e-01 -8.66899279e-03 2.94757505e+02] [ 1.09558556e-02 -5.37881462e-05 9.99939981e-01 2.14504513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.5903857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:342.65, Y:294.78, Z:21.45 [[ 6.07657668e-01 -7.94170822e-01 -6.69807155e-03 3.42646793e+02] [ 7.94123497e-01 6.07694580e-01 -8.67003464e-03 2.94780034e+02] [ 1.09558703e-02 -5.06829710e-05 9.99939981e-01 2.14508391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.620385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:342.66, Y:294.80, Z:21.45 [[ 6.08306181e-01 -7.93674214e-01 -6.69569583e-03 3.42662578e+02] [ 7.93626838e-01 6.08343029e-01 -8.67186897e-03 2.94802782e+02] [ 1.09559187e-02 -3.87324129e-05 9.99939981e-01 2.14507379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.650385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:342.68, Y:294.83, Z:21.45 [[ 6.08314407e-01 -7.93667921e-01 -6.69421112e-03 3.42679201e+02] [ 7.93620532e-01 6.08351238e-01 -8.67301493e-03 2.94825874e+02] [ 1.09559254e-02 -3.67434555e-05 9.99939981e-01 2.14512502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.680385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:342.69, Y:294.85, Z:21.45 [[ 6.08725931e-01 -7.93352356e-01 -6.69177607e-03 3.42693437e+02] [ 7.93304927e-01 6.08762711e-01 -8.67489332e-03 2.94849085e+02] [ 1.09559508e-02 -2.79864177e-05 9.99939981e-01 2.14515007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.710385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:342.71, Y:294.87, Z:21.45 [[ 6.08284360e-01 -7.93691118e-01 -6.67429659e-03 3.42709173e+02] [ 7.93643562e-01 6.08320975e-01 -8.68836812e-03 2.94872502e+02] [ 1.09559952e-02 -1.20140789e-05 9.99939981e-01 2.14507739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.740385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:342.72, Y:294.90, Z:21.45 [[ 6.08066504e-01 -7.93857916e-01 -6.68847617e-03 3.42724661e+02] [ 7.93810490e-01 6.08103287e-01 -8.67743865e-03 2.94895347e+02] [ 1.09559377e-02 -3.29227632e-05 9.99939981e-01 2.14507180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.770385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:342.74, Y:294.92, Z:21.45 [[ 6.07650013e-01 -7.94176771e-01 -6.68716812e-03 3.42738456e+02] [ 7.94129353e-01 6.07686807e-01 -8.67844657e-03 2.94918315e+02] [ 1.09559245e-02 -3.70183230e-05 9.99939981e-01 2.14511060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.800385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:342.75, Y:294.94, Z:21.45 [[ 6.07713788e-01 -7.94127981e-01 -6.68585810e-03 3.42754360e+02] [ 7.94080549e-01 6.07750564e-01 -8.67945570e-03 2.94941800e+02] [ 1.09559327e-02 -3.44849691e-05 9.99939981e-01 2.14514978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.830385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:342.77, Y:294.97, Z:21.45 [[ 6.08093334e-01 -7.93837406e-01 -6.68352747e-03 3.42768588e+02] [ 7.93789937e-01 6.08130062e-01 -8.68125000e-03 2.94966299e+02] [ 1.09559550e-02 -2.63065921e-05 9.99939981e-01 2.14523494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.860385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:342.78, Y:294.99, Z:21.45 [[ 6.08330798e-01 -7.93655468e-01 -6.68119934e-03 3.42783318e+02] [ 7.93607968e-01 6.08367486e-01 -8.68304139e-03 2.94988927e+02] [ 1.09559677e-02 -2.00915332e-05 9.99939981e-01 2.14529384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.890385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:342.80, Y:295.01, Z:21.45 [[ 6.07471892e-01 -7.94313089e-01 -6.67961682e-03 3.42795543e+02] [ 7.94265615e-01 6.07508614e-01 -8.68425861e-03 2.95014879e+02] [ 1.09559450e-02 -2.99469528e-05 9.99939981e-01 2.14514978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.920385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:342.81, Y:295.04, Z:21.45 [[ 6.08277485e-01 -7.93696534e-01 -6.65676060e-03 3.42811183e+02] [ 7.93648831e-01 6.08313909e-01 -8.70182982e-03 2.95037746e+02] [ 1.09560122e-02 9.99689778e-06 9.99939981e-01 2.14527127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.950385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:342.82, Y:295.06, Z:21.45 [[ 6.07150978e-01 -7.94558441e-01 -6.67639480e-03 3.42824138e+02] [ 7.94510955e-01 6.07187684e-01 -8.68673951e-03 2.95062915e+02] [ 1.09559469e-02 -3.03064254e-05 9.99939981e-01 2.14520920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.980385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:342.84, Y:295.09, Z:21.45 [[ 6.05940006e-01 -7.95482349e-01 -6.67398875e-03 3.42838985e+02] [ 7.95434898e-01 6.05976758e-01 -8.68858768e-03 2.95085687e+02] [ 1.09559002e-02 -4.39606928e-05 9.99939981e-01 2.14520239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.010385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:342.86, Y:295.11, Z:21.45 [[ 6.04439407e-01 -7.96623172e-01 -6.67265722e-03 3.42855777e+02] [ 7.96575780e-01 6.04476234e-01 -8.68961014e-03 2.95109637e+02] [ 1.09558075e-02 -6.29343288e-05 9.99939981e-01 2.14527619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.040385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:342.87, Y:295.13, Z:21.45 [[ 6.00352974e-01 -7.99707255e-01 -6.67937036e-03 3.42868371e+02] [ 7.99660109e-01 6.00390115e-01 -8.68445689e-03 2.95133436e+02] [ 1.09552511e-02 -1.27486506e-04 9.99939981e-01 2.14545791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.070385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:342.88, Y:295.16, Z:21.46 [[ 5.93150404e-01 -8.05064045e-01 -6.66946737e-03 3.42875433e+02] [ 8.05017149e-01 5.93187861e-01 -8.69205552e-03 2.95157795e+02] [ 1.09539085e-02 -2.13339363e-04 9.99939981e-01 2.14558345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.100385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:342.90, Y:295.18, Z:21.46 [[ 5.93954755e-01 -8.04471686e-01 -6.56162160e-03 3.42895541e+02] [ 8.04423833e-01 5.93990994e-01 -8.77472152e-03 2.95182447e+02] [ 1.09565592e-02 -6.65372246e-05 9.99939973e-01 2.14558468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.130385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:342.90, Y:295.21, Z:21.46 [[ 5.89670097e-01 -8.07616695e-01 -6.66712195e-03 3.42904605e+02] [ 8.07569941e-01 5.89707731e-01 -8.69381543e-03 2.95205198e+02] [ 1.09529238e-02 -2.57684292e-04 9.99939982e-01 2.14562907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.160385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:342.92, Y:295.23, Z:21.46 [[ 5.90619125e-01 -8.06923724e-01 -6.56910477e-03 3.42922032e+02] [ 8.06876086e-01 5.90655643e-01 -8.76889247e-03 2.95231666e+02] [ 1.09559062e-02 -1.21377943e-04 9.99939975e-01 2.14563902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.190385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:342.94, Y:295.26, Z:21.46 [[ 5.89989897e-01 -8.07383121e-01 -6.66461315e-03 3.42936460e+02] [ 8.07336331e-01 5.90027485e-01 -8.69569237e-03 2.95256370e+02] [ 1.09530602e-02 -2.50213686e-04 9.99939982e-01 2.14565557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.2203857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:342.95, Y:295.28, Z:21.46 [[ 5.90110743e-01 -8.07294820e-01 -6.66222499e-03 3.42947201e+02] [ 8.07248003e-01 5.90148298e-01 -8.69752168e-03 2.95282933e+02] [ 1.09531649e-02 -2.45566839e-04 9.99939982e-01 2.14555178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.250385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:342.96, Y:295.31, Z:21.46 [[ 5.89630300e-01 -8.07645811e-01 -6.65979991e-03 3.42960458e+02] [ 8.07598996e-01 5.89667857e-01 -8.69937819e-03 2.95307623e+02] [ 1.09530863e-02 -2.49030753e-04 9.99939982e-01 2.14554126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.280385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:342.97, Y:295.34, Z:21.46 [[ 5.87971521e-01 -8.08854233e-01 -6.65737109e-03 3.42970575e+02] [ 8.08807474e-01 5.88009148e-01 -8.70123650e-03 2.95335012e+02] [ 1.09526271e-02 -2.68452236e-04 9.99939982e-01 2.14555012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.310385723 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:342.99, Y:295.36, Z:21.45 [[ 5.87417907e-01 -8.09256530e-01 -6.63867889e-03 3.42985470e+02] [ 8.09209635e-01 5.87455365e-01 -8.71552841e-03 2.95359932e+02] [ 1.09530258e-02 -2.52425469e-04 9.99939982e-01 2.14549698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.3403857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:342.99, Y:295.39, Z:21.45 [[ 5.84209637e-01 -8.11575413e-01 -6.66699183e-03 3.42994432e+02] [ 8.11528913e-01 5.84247584e-01 -8.69387792e-03 2.95386968e+02] [ 1.09509114e-02 -3.31409365e-04 9.99939982e-01 2.14532972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.370385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:343.01, Y:295.41, Z:21.45 [[ 5.82545155e-01 -8.12771108e-01 -6.65354990e-03 3.43007519e+02] [ 8.12724569e-01 5.82583053e-01 -8.70415308e-03 2.95411922e+02] [ 1.09507296e-02 -3.36941268e-04 9.99939982e-01 2.14535300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.400385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:343.02, Y:295.44, Z:21.45 [[ 5.82079165e-01 -8.13105083e-01 -6.63095628e-03 3.43018664e+02] [ 8.13058370e-01 5.82116848e-01 -8.72141461e-03 2.95439350e+02] [ 1.09514179e-02 -3.14800775e-04 9.99939982e-01 2.14536955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.430385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:343.03, Y:295.46, Z:21.45 [[ 5.81995831e-01 -8.13164572e-01 -6.65060796e-03 3.43032475e+02] [ 8.13118033e-01 5.82033730e-01 -8.70640318e-03 2.95464623e+02] [ 1.09506168e-02 -3.40638910e-04 9.99939982e-01 2.14539212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.460385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:343.05, Y:295.49, Z:21.45 [[ 5.82276912e-01 -8.12963345e-01 -6.64813766e-03 3.43045234e+02] [ 8.12916771e-01 5.82314768e-01 -8.70828907e-03 2.95489450e+02] [ 1.09508285e-02 -3.33746931e-04 9.99939982e-01 2.14532474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.490385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:343.05, Y:295.52, Z:21.45 [[ 5.83564637e-01 -8.12039488e-01 -6.64706889e-03 3.43054935e+02] [ 8.11992846e-01 5.83602408e-01 -8.70910478e-03 2.95517266e+02] [ 1.09513824e-02 -3.15046812e-04 9.99939982e-01 2.14528511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.520385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:343.07, Y:295.54, Z:21.45 [[ 5.84503307e-01 -8.11364119e-01 -6.64463470e-03 3.43068679e+02] [ 8.11317411e-01 5.84540997e-01 -8.71096156e-03 2.95541459e+02] [ 1.09518230e-02 -2.99321990e-04 9.99939982e-01 2.14528422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.550385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:343.08, Y:295.57, Z:21.45 [[ 5.87476715e-01 -8.09213810e-01 -6.64219168e-03 3.43079135e+02] [ 8.09166944e-01 5.87514207e-01 -8.71282399e-03 2.95568697e+02] [ 1.09529195e-02 -2.56060727e-04 9.99939982e-01 2.14517147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.580385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:343.09, Y:295.59, Z:21.45 [[ 5.89251945e-01 -8.07922052e-01 -6.64104807e-03 3.43092800e+02] [ 8.07875093e-01 5.89289322e-01 -8.71369558e-03 2.95593925e+02] [ 1.09534855e-02 -2.30575256e-04 9.99939982e-01 2.14512943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.610385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:343.11, Y:295.62, Z:21.45 [[ 5.91186714e-01 -8.06507407e-01 -6.63862815e-03 3.43105524e+02] [ 8.06460339e-01 5.91223952e-01 -8.71553884e-03 2.95617633e+02] [ 1.09540626e-02 -2.01279544e-04 9.99939982e-01 2.14506989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.640385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:343.12, Y:295.64, Z:21.45 [[ 5.94862738e-01 -8.03799891e-01 -6.63757871e-03 3.43117166e+02] [ 8.03752644e-01 5.94899750e-01 -8.71633799e-03 2.95642561e+02] [ 1.09548854e-02 -1.49946753e-04 9.99939982e-01 2.14500366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.670385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:343.13, Y:295.67, Z:21.45 [[ 5.96290323e-01 -8.02741432e-01 -6.63653781e-03 3.43132342e+02] [ 8.02694111e-01 5.96327239e-01 -8.71713045e-03 2.95666849e+02] [ 1.09551501e-02 -1.29169277e-04 9.99939982e-01 2.14505594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.700385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:343.15, Y:295.69, Z:21.45 [[ 5.98584694e-01 -8.01032055e-01 -6.63409573e-03 3.43145194e+02] [ 8.00984607e-01 5.98621448e-01 -8.71898858e-03 2.95690924e+02] [ 1.09555013e-02 -9.47554518e-05 9.99939982e-01 2.14502204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.730385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:343.16, Y:295.71, Z:21.45 [[ 5.99169997e-01 -8.00594358e-01 -6.63243399e-03 3.43160916e+02] [ 8.00546869e-01 5.99206698e-01 -8.72025247e-03 2.95713830e+02] [ 1.09555838e-02 -8.46606190e-05 9.99939982e-01 2.14512649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.760385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:343.18, Y:295.74, Z:21.45 [[ 6.00626284e-01 -7.99502414e-01 -6.62998119e-03 3.43175693e+02] [ 7.99454838e-01 6.00662872e-01 -8.72211692e-03 2.95737604e+02] [ 1.09557371e-02 -6.16378639e-05 9.99939982e-01 2.14522334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.790385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:343.19, Y:295.76, Z:21.45 [[ 6.01616946e-01 -7.98757238e-01 -6.62752248e-03 3.43190765e+02] [ 7.98709597e-01 6.01653448e-01 -8.72398478e-03 2.95761234e+02] [ 1.09558177e-02 -4.49687206e-05 9.99939982e-01 2.14525023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.820385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:343.21, Y:295.79, Z:21.45 [[ 6.03544010e-01 -7.97302148e-01 -6.62676049e-03 3.43206188e+02] [ 7.97254412e-01 6.03580388e-01 -8.72456355e-03 2.95786040e+02] [ 1.09558959e-02 -1.75559731e-05 9.99939982e-01 2.14533507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.850385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:343.22, Y:295.81, Z:21.45 [[ 6.04037736e-01 -7.96928182e-01 -6.62466567e-03 3.43222379e+02] [ 7.96880406e-01 6.04074062e-01 -8.72615388e-03 2.95807574e+02] [ 1.09559067e-02 -8.14003592e-06 9.99939982e-01 2.14536620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.880385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:343.24, Y:295.83, Z:21.46 [[ 6.04769279e-01 -7.96373183e-01 -6.62364702e-03 3.43238897e+02] [ 7.96325365e-01 6.04805550e-01 -8.72692702e-03 2.95830004e+02] [ 1.09559091e-02 3.19923362e-06 9.99939982e-01 2.14551918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.910385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:343.26, Y:295.85, Z:21.46 [[ 6.05021751e-01 -7.96181411e-01 -6.62128854e-03 3.43255446e+02] [ 7.96133562e-01 6.05057981e-01 -8.72871609e-03 2.95852481e+02] [ 1.09559050e-02 9.63306383e-06 9.99939982e-01 2.14554397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.940385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:343.27, Y:295.88, Z:21.46 [[ 6.05435814e-01 -7.95866612e-01 -6.61889445e-03 3.43272655e+02] [ 7.95818725e-01 6.05471993e-01 -8.73053112e-03 2.95875173e+02] [ 1.09558934e-02 1.83360791e-05 9.99939982e-01 2.14555844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.9703857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:343.29, Y:295.90, Z:21.46 [[ 6.06861293e-01 -7.94780217e-01 -6.61647131e-03 3.43290291e+02] [ 7.94732245e-01 6.06897359e-01 -8.73236713e-03 2.95897191e+02] [ 1.09558316e-02 4.10125075e-05 9.99939982e-01 2.14559801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.000385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:343.31, Y:295.92, Z:21.46 [[ 6.07518592e-01 -7.94277921e-01 -6.61402349e-03 3.43306590e+02] [ 7.94229899e-01 6.07554592e-01 -8.73422075e-03 2.95918766e+02] [ 1.09557790e-02 5.31462854e-05 9.99939982e-01 2.14559594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.030385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:343.32, Y:295.94, Z:21.46 [[ 6.08721236e-01 -7.93356619e-01 -6.61296334e-03 3.43324649e+02] [ 7.93308534e-01 6.08757152e-01 -8.73502334e-03 2.95940360e+02] [ 1.09556773e-02 7.10739609e-05 9.99939982e-01 2.14571712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.060385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:343.34, Y:295.96, Z:21.46 [[ 6.09287458e-01 -7.92921871e-01 -6.61059098e-03 3.43342673e+02] [ 7.92873740e-01 6.09323313e-01 -8.73681836e-03 2.95962299e+02] [ 1.09556016e-02 8.18698529e-05 9.99939982e-01 2.14579207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.0903857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:343.36, Y:295.98, Z:21.46 [[ 6.10258702e-01 -7.92174632e-01 -6.60823342e-03 3.43362472e+02] [ 7.92126438e-01 6.10294472e-01 -8.73860117e-03 2.95982828e+02] [ 1.09554665e-02 9.82510109e-05 9.99939982e-01 2.14595514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.120385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:343.38, Y:296.00, Z:21.46 [[ 6.10566791e-01 -7.91937217e-01 -6.60583835e-03 3.43380492e+02] [ 7.91888990e-01 6.10602516e-01 -8.74041132e-03 2.96003729e+02] [ 1.09553985e-02 1.05514235e-04 9.99939982e-01 2.14606093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.150385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:343.40, Y:296.03, Z:21.46 [[ 6.10348473e-01 -7.92105508e-01 -6.60342960e-03 3.43397645e+02] [ 7.92057271e-01 6.10384184e-01 -8.74223077e-03 2.96026544e+02] [ 1.09553981e-02 1.05512774e-04 9.99939982e-01 2.14609214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.180385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:343.42, Y:296.05, Z:21.46 [[ 6.11034258e-01 -7.91576631e-01 -6.60101918e-03 3.43416310e+02] [ 7.91528343e-01 6.11069901e-01 -8.74405043e-03 2.96047049e+02] [ 1.09552701e-02 1.18020592e-04 9.99939982e-01 2.14604333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.210385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:343.43, Y:296.07, Z:21.46 [[ 6.10198334e-01 -7.92221214e-01 -6.59861890e-03 3.43432554e+02] [ 7.92172944e-01 6.10234001e-01 -8.74586141e-03 2.96068438e+02] [ 1.09553586e-02 1.09462698e-04 9.99939982e-01 2.14585527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.240385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:343.45, Y:296.09, Z:21.46 [[ 6.10721470e-01 -7.91818273e-01 -6.56568194e-03 3.43453701e+02] [ 7.91769713e-01 6.10756741e-01 -8.77069473e-03 2.96089080e+02] [ 1.09548309e-02 1.57943471e-04 9.99939982e-01 2.14599855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.270385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:343.47, Y:296.11, Z:21.46 [[ 6.09725853e-01 -7.92584936e-01 -6.59564775e-03 3.43472237e+02] [ 7.92536664e-01 6.09761517e-01 -8.74810197e-03 2.96110220e+02] [ 1.09553860e-02 1.06651269e-04 9.99939982e-01 2.14605765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.300385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:343.49, Y:296.13, Z:21.46 [[ 6.08188310e-01 -7.93765399e-01 -6.59324636e-03 3.43490891e+02] [ 7.93717176e-01 6.08224041e-01 -8.74991147e-03 2.96131484e+02] [ 1.09555479e-02 8.84209857e-05 9.99939982e-01 2.14609476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.330385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:343.51, Y:296.15, Z:21.46 [[ 6.05158907e-01 -7.96077420e-01 -6.59084447e-03 3.43510956e+02] [ 7.96029313e-01 6.05194795e-01 -8.75172031e-03 2.96150196e+02] [ 1.09557917e-02 4.96760951e-05 9.99939982e-01 2.14622018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.360385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:343.53, Y:296.17, Z:21.46 [[ 6.02244407e-01 -7.98284569e-01 -6.58946585e-03 3.43530773e+02] [ 7.98236583e-01 6.02280455e-01 -8.75275819e-03 2.96170824e+02] [ 1.09558983e-02 1.13469581e-05 9.99939982e-01 2.14630934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.390385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:343.55, Y:296.19, Z:21.46 [[ 6.01036400e-01 -7.99194502e-01 -6.58740034e-03 3.43548256e+02] [ 7.99146554e-01 6.01072498e-01 -8.75431244e-03 2.96191508e+02] [ 1.09559035e-02 -2.63784641e-06 9.99939982e-01 2.14632784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.420385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:343.57, Y:296.21, Z:21.46 [[ 5.99914285e-01 -8.00037170e-01 -6.58608805e-03 3.43566445e+02] [ 7.99989262e-01 5.99950436e-01 -8.75529960e-03 2.96212407e+02] [ 1.09558915e-02 -1.63704184e-05 9.99939982e-01 2.14641158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.450385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:343.59, Y:296.23, Z:21.46 [[ 5.97714586e-01 -8.01681938e-01 -6.58364096e-03 3.43586880e+02] [ 8.01634108e-01 5.97750842e-01 -8.75713933e-03 2.96231985e+02] [ 1.09558174e-02 -4.34012391e-05 9.99939982e-01 2.14643874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.480385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:343.60, Y:296.25, Z:21.46 [[ 5.96507775e-01 -8.02580315e-01 -6.58120252e-03 3.43604995e+02] [ 8.02532520e-01 5.96544076e-01 -8.75897149e-03 2.96253051e+02] [ 1.09557555e-02 -5.68344375e-05 9.99939982e-01 2.14648753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.510385723 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:343.62, Y:296.27, Z:21.47 [[ 5.95091124e-01 -8.03631305e-01 -6.57874724e-03 3.43624095e+02] [ 8.03583554e-01 5.95127482e-01 -8.76081523e-03 2.96273709e+02] [ 1.09556587e-02 -7.30897108e-05 9.99939982e-01 2.14650696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.540385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:343.64, Y:296.29, Z:21.47 [[ 5.94819983e-01 -8.03832035e-01 -6.57628547e-03 3.43641196e+02] [ 8.03784276e-01 5.94856330e-01 -8.76266276e-03 2.96294734e+02] [ 1.09556541e-02 -7.37079383e-05 9.99939982e-01 2.14652299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.570385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:343.66, Y:296.31, Z:21.46 [[ 5.94788669e-01 -8.03855215e-01 -6.57521915e-03 3.43659021e+02] [ 8.03807448e-01 5.94825007e-01 -8.76346282e-03 2.96314537e+02] [ 1.09556601e-02 -7.28017342e-05 9.99939982e-01 2.14642071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.600385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:343.68, Y:296.34, Z:21.47 [[ 5.95555599e-01 -8.03287450e-01 -6.54225360e-03 3.43679039e+02] [ 8.03239376e-01 5.95591532e-01 -8.78817754e-03 2.96336188e+02] [ 1.09559436e-02 -2.11473542e-05 9.99939982e-01 2.14660329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.630385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:343.70, Y:296.36, Z:21.47 [[ 5.95436744e-01 -8.03375314e-01 -6.57191173e-03 3.43698322e+02] [ 8.03327490e-01 5.95473007e-01 -8.76594257e-03 2.96356953e+02] [ 1.09557379e-02 -5.98330572e-05 9.99939982e-01 2.14656204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.660385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:343.72, Y:296.38, Z:21.47 [[ 5.94757412e-01 -8.03878388e-01 -6.56948375e-03 3.43716455e+02] [ 8.03830575e-01 5.94793690e-01 -8.76776180e-03 2.96378994e+02] [ 1.09557017e-02 -6.60605796e-05 9.99939982e-01 2.14652530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.690385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:343.73, Y:296.40, Z:21.47 [[ 5.94043124e-01 -8.04406390e-01 -6.56706630e-03 3.43733981e+02] [ 8.04358589e-01 5.94079418e-01 -8.76957210e-03 2.96399421e+02] [ 1.09556588e-02 -7.27721749e-05 9.99939982e-01 2.14651223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.7203857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:343.75, Y:296.42, Z:21.47 [[ 5.92094859e-01 -8.05841528e-01 -6.56574139e-03 3.43753845e+02] [ 8.05793805e-01 5.92131254e-01 -8.77056394e-03 2.96419017e+02] [ 1.09554653e-02 -9.76279177e-05 9.99939982e-01 2.14657454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.750385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:343.77, Y:296.44, Z:21.47 [[ 5.91396334e-01 -8.06354327e-01 -6.56326903e-03 3.43772726e+02] [ 8.06306614e-01 5.91432743e-01 -8.77241369e-03 2.96439088e+02] [ 1.09554059e-02 -1.04033936e-04 9.99939982e-01 2.14658536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.780385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:343.79, Y:296.46, Z:21.47 [[ 5.91263371e-01 -8.06451838e-01 -6.56189517e-03 3.43790034e+02] [ 8.06404120e-01 5.91299773e-01 -8.77344123e-03 2.96460835e+02] [ 1.09554049e-02 -1.04124863e-04 9.99939982e-01 2.14660314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.810385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:343.81, Y:296.48, Z:21.47 [[ 5.91669438e-01 -8.06153986e-01 -6.55947992e-03 3.43806714e+02] [ 8.06106230e-01 5.91705790e-01 -8.77524663e-03 2.96482039e+02] [ 1.09554823e-02 -9.55923831e-05 9.99939982e-01 2.14653464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.8403857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:343.82, Y:296.50, Z:21.47 [[ 5.91503817e-01 -8.06275527e-01 -6.55813455e-03 3.43823786e+02] [ 8.06227767e-01 5.91540164e-01 -8.77625197e-03 2.96504348e+02] [ 1.09554772e-02 -9.61636321e-05 9.99939982e-01 2.14653803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.870385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:343.84, Y:296.53, Z:21.47 [[ 5.91378128e-01 -8.06367740e-01 -6.55571475e-03 3.43842400e+02] [ 8.06319965e-01 5.91414456e-01 -8.77805914e-03 2.96525208e+02] [ 1.09554882e-02 -9.48515066e-05 9.99939982e-01 2.14654829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.900385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:343.86, Y:296.55, Z:21.47 [[ 5.91358050e-01 -8.06382485e-01 -6.55329881e-03 3.43860218e+02] [ 8.06334691e-01 5.91394352e-01 -8.77986241e-03 2.96546949e+02] [ 1.09555112e-02 -9.21098655e-05 9.99939982e-01 2.14662488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.930385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:343.88, Y:296.57, Z:21.47 [[ 5.91160304e-01 -8.06527483e-01 -6.55087919e-03 3.43877463e+02] [ 8.06479679e-01 5.91196592e-01 -8.78166737e-03 2.96569501e+02] [ 1.09555135e-02 -9.17777940e-05 9.99939982e-01 2.14669194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.960385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:343.89, Y:296.59, Z:21.47 [[ 5.88953956e-01 -8.08140060e-01 -6.54837397e-03 3.43890470e+02] [ 8.08092334e-01 5.88990348e-01 -8.78353509e-03 2.96591136e+02] [ 1.09552556e-02 -1.18593064e-04 9.99939982e-01 2.14654877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.990385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:343.91, Y:296.61, Z:21.47 [[ 5.89645123e-01 -8.07636521e-01 -6.47145600e-03 3.43911590e+02] [ 8.07588131e-01 5.89680634e-01 -8.84081066e-03 2.96614139e+02] [ 1.09562538e-02 -1.33301739e-05 9.99939978e-01 2.14670166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.020385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:343.93, Y:296.64, Z:21.47 [[ 5.86154574e-01 -8.10172808e-01 -6.54503241e-03 3.43926442e+02] [ 8.10125180e-01 5.86191094e-01 -8.78600080e-03 2.96636103e+02] [ 1.09548186e-02 -1.52341008e-04 9.99939983e-01 2.14667217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.050385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:343.94, Y:296.66, Z:21.47 [[ 5.85243401e-01 -8.10831660e-01 -6.49471562e-03 3.43944055e+02] [ 8.10783657e-01 5.85279428e-01 -8.82345305e-03 2.96658132e+02] [ 1.09555585e-02 -1.01941609e-04 9.99939981e-01 2.14670167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.080385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:343.96, Y:296.68, Z:21.47 [[ 5.84296574e-01 -8.11514122e-01 -6.50718022e-03 3.43963990e+02] [ 8.11466264e-01 5.84332793e-01 -8.81418144e-03 2.96680441e+02] [ 1.09551915e-02 -1.30261202e-04 9.99939982e-01 2.14683614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.110385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:343.98, Y:296.70, Z:21.47 [[ 5.83579724e-01 -8.12029526e-01 -6.53878599e-03 3.43979947e+02] [ 8.11981962e-01 5.83616327e-01 -8.79067206e-03 2.96702883e+02] [ 1.09544275e-02 -1.79318312e-04 9.99939982e-01 2.14680294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.140385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:344.00, Y:296.73, Z:21.47 [[ 5.83548947e-01 -8.12051823e-01 -6.51641156e-03 3.43996281e+02] [ 8.12004075e-01 5.83585310e-01 -8.80730795e-03 2.96726148e+02] [ 1.09548725e-02 -1.51857467e-04 9.99939982e-01 2.14667542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.170385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:344.01, Y:296.75, Z:21.47 [[ 5.83250544e-01 -8.12266238e-01 -6.50863087e-03 3.44013184e+02] [ 8.12218438e-01 5.83286840e-01 -8.81309044e-03 2.96748283e+02] [ 1.09549745e-02 -1.46190209e-04 9.99939982e-01 2.14656055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.200385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:344.03, Y:296.77, Z:21.47 [[ 5.83758683e-01 -8.11900975e-01 -6.52745253e-03 3.44030826e+02] [ 8.11853309e-01 5.83795153e-01 -8.79910550e-03 2.96769892e+02] [ 1.09546975e-02 -1.62779698e-04 9.99939982e-01 2.14660572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.230385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:344.05, Y:296.79, Z:21.47 [[ 5.82875162e-01 -8.12535566e-01 -6.51916651e-03 3.44047342e+02] [ 8.12487871e-01 5.82911595e-01 -8.80525950e-03 2.96792499e+02] [ 1.09546843e-02 -1.64376655e-04 9.99939982e-01 2.14666354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.260385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:344.06, Y:296.82, Z:21.47 [[ 5.81526596e-01 -8.13501340e-01 -6.51058943e-03 3.44064815e+02] [ 8.13453634e-01 5.81563015e-01 -8.81162823e-03 2.96815098e+02] [ 1.09545894e-02 -1.71866462e-04 9.99939982e-01 2.14686104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.290385723 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:344.08, Y:296.84, Z:21.47 [[ 5.81289235e-01 -8.13670992e-01 -6.50700516e-03 3.44082025e+02] [ 8.13623267e-01 5.81325629e-01 -8.81428840e-03 2.96837340e+02] [ 1.09546197e-02 -1.70599830e-04 9.99939982e-01 2.14688264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.320385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:344.10, Y:296.86, Z:21.47 [[ 5.81011787e-01 -8.13869063e-01 -6.51549582e-03 3.44099132e+02] [ 8.13821421e-01 5.81048289e-01 -8.80798888e-03 2.96860314e+02] [ 1.09543674e-02 -1.84904701e-04 9.99939982e-01 2.14706944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.350385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:344.12, Y:296.88, Z:21.47 [[ 5.81020136e-01 -8.13863078e-01 -6.51851439e-03 3.44115460e+02] [ 8.13815461e-01 5.81056670e-01 -8.80574979e-03 2.96882739e+02] [ 1.09543009e-02 -1.88549853e-04 9.99939982e-01 2.14725688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.380385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:344.13, Y:296.91, Z:21.47 [[ 5.81128402e-01 -8.13785719e-01 -6.52560887e-03 3.44131129e+02] [ 8.13738156e-01 5.81165007e-01 -8.80048920e-03 2.96905782e+02] [ 1.09541680e-02 -1.95922699e-04 9.99939982e-01 2.14720300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.410385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:344.15, Y:296.93, Z:21.47 [[ 5.80839597e-01 -8.13991952e-01 -6.51653867e-03 3.44146282e+02] [ 8.13944326e-01 5.80876120e-01 -8.80721178e-03 2.96928105e+02] [ 1.09543012e-02 -1.88522339e-04 9.99939982e-01 2.14709760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.440385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:344.16, Y:296.95, Z:21.47 [[ 5.81699073e-01 -8.13378062e-01 -6.50511339e-03 3.44163930e+02] [ 8.13330303e-01 5.81735422e-01 -8.81567542e-03 2.96951756e+02] [ 1.09547319e-02 -1.62735626e-04 9.99939982e-01 2.14721770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.4703857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:344.18, Y:296.97, Z:21.47 [[ 5.82305044e-01 -8.12944224e-01 -6.52110764e-03 3.44179781e+02] [ 8.12896570e-01 5.82341531e-01 -8.80382828e-03 2.96973953e+02] [ 1.09545332e-02 -1.74472416e-04 9.99939982e-01 2.14717954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.500385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:344.20, Y:297.00, Z:21.47 [[ 5.82045262e-01 -8.13130252e-01 -6.51976071e-03 3.44196020e+02] [ 8.13082599e-01 5.82081749e-01 -8.80482565e-03 2.96996685e+02] [ 1.09545038e-02 -1.76296934e-04 9.99939982e-01 2.14697679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.530385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:344.21, Y:297.02, Z:21.47 [[ 5.83000945e-01 -8.12445481e-01 -6.49921738e-03 3.44213464e+02] [ 8.12397615e-01 5.83037153e-01 -8.82003248e-03 2.97019663e+02] [ 1.09550807e-02 -1.37861437e-04 9.99939982e-01 2.14703975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.560385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:344.23, Y:297.04, Z:21.47 [[ 5.83417110e-01 -8.12146607e-01 -6.50885937e-03 3.44228856e+02] [ 8.12098802e-01 5.83453399e-01 -8.81289789e-03 2.97041489e+02] [ 1.09549812e-02 -1.44241476e-04 9.99939982e-01 2.14709310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.5903857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:344.25, Y:297.06, Z:21.47 [[ 5.85451443e-01 -8.10681432e-01 -6.49798244e-03 3.44246391e+02] [ 8.10633448e-01 5.85487493e-01 -8.82094260e-03 2.97064045e+02] [ 1.09554618e-02 -1.03248338e-04 9.99939982e-01 2.14731466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.620385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:344.26, Y:297.09, Z:21.48 [[ 5.87120239e-01 -8.09473667e-01 -6.49677931e-03 3.44263844e+02] [ 8.09425598e-01 5.87156178e-01 -8.82183200e-03 2.97086894e+02] [ 1.09556648e-02 -7.91833582e-05 9.99939982e-01 2.14753057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.650385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:344.28, Y:297.11, Z:21.47 [[ 5.88774777e-01 -8.08270904e-01 -6.51220653e-03 3.44280954e+02] [ 8.08222888e-01 5.88810785e-01 -8.81042901e-03 2.97110018e+02] [ 1.09556709e-02 -7.59559932e-05 9.99939982e-01 2.14735618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.680385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:344.30, Y:297.13, Z:21.47 [[ 5.89422692e-01 -8.07798548e-01 -6.51119542e-03 3.44297481e+02] [ 8.07750495e-01 5.89458651e-01 -8.81117601e-03 2.97131900e+02] [ 1.09557357e-02 -6.59142401e-05 9.99939982e-01 2.14748512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.710385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:344.32, Y:297.15, Z:21.47 [[ 5.88659593e-01 -8.08354818e-01 -6.50942168e-03 3.44315133e+02] [ 8.08306784e-01 5.88695577e-01 -8.81248620e-03 2.97153310e+02] [ 1.09556834e-02 -7.40551676e-05 9.99939982e-01 2.14747078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.740385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:344.33, Y:297.17, Z:21.47 [[ 5.87891371e-01 -8.08913713e-01 -6.50700463e-03 3.44332008e+02] [ 8.08865693e-01 5.87927375e-01 -8.81427055e-03 2.97174743e+02] [ 1.09556305e-02 -8.14592119e-05 9.99939982e-01 2.14741367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.770385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:344.35, Y:297.20, Z:21.47 [[ 5.86374032e-01 -8.10014303e-01 -6.50567938e-03 3.44350296e+02] [ 8.09966340e-01 5.86410112e-01 -8.81524859e-03 2.97196214e+02] [ 1.09554736e-02 -1.00348462e-04 9.99939982e-01 2.14744659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.800385723 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:344.37, Y:297.22, Z:21.47 [[ 5.86638306e-01 -8.09822948e-01 -6.50316270e-03 3.44366522e+02] [ 8.09774953e-01 5.86674343e-01 -8.81710480e-03 2.97216578e+02] [ 1.09555325e-02 -9.36468497e-05 9.99939982e-01 2.14746504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.830385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:344.38, Y:297.24, Z:21.47 [[ 5.85487346e-01 -8.10655775e-01 -6.46394067e-03 3.44383520e+02] [ 8.10607511e-01 5.85523024e-01 -8.84602337e-03 2.97239121e+02] [ 1.09558660e-02 -6.04841106e-05 9.99939981e-01 2.14722159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.860385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:344.40, Y:297.26, Z:21.48 [[ 5.86053327e-01 -8.10246689e-01 -6.46532775e-03 3.44402776e+02] [ 8.10198412e-01 5.86088986e-01 -8.84500071e-03 2.97262301e+02] [ 1.09558899e-02 -5.45561826e-05 9.99939981e-01 2.14757066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.890385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:344.42, Y:297.28, Z:21.47 [[ 5.84940586e-01 -8.11050165e-01 -6.49164889e-03 3.44417538e+02] [ 8.11002151e-01 5.84976598e-01 -8.82559990e-03 2.97283839e+02] [ 1.09554669e-02 -1.02289634e-04 9.99939982e-01 2.14718658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.920385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:344.44, Y:297.31, Z:21.48 [[ 5.86346689e-01 -8.10034644e-01 -6.43704698e-03 3.44440071e+02] [ 8.09986125e-01 5.86382021e-01 -8.86581813e-03 2.97306761e+02] [ 1.09561885e-02 -1.54756361e-05 9.99939979e-01 2.14762136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.950385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:344.46, Y:297.33, Z:21.48 [[ 5.86482032e-01 -8.09936168e-01 -6.49851541e-03 3.44458829e+02] [ 8.09888142e-01 5.86518027e-01 -8.82053139e-03 2.97328015e+02] [ 1.09555638e-02 -8.99873939e-05 9.99939982e-01 2.14773369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.980385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:344.48, Y:297.35, Z:21.48 [[ 5.86616143e-01 -8.09839083e-01 -6.49311639e-03 3.44476124e+02] [ 8.09791007e-01 5.86652071e-01 -8.82450709e-03 2.97350219e+02] [ 1.09556309e-02 -8.14689523e-05 9.99939982e-01 2.14769201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.010385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:344.49, Y:297.37, Z:21.48 [[ 5.86298447e-01 -8.10069234e-01 -6.47821731e-03 3.44493825e+02] [ 8.10021051e-01 5.86334232e-01 -8.83547133e-03 2.97372752e+02] [ 1.09557441e-02 -6.72692734e-05 9.99939982e-01 2.14765390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.040385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:344.51, Y:297.39, Z:21.48 [[ 5.85759557e-01 -8.10458882e-01 -6.49167571e-03 3.44512961e+02] [ 8.10410832e-01 5.85795521e-01 -8.82557197e-03 2.97394071e+02] [ 1.09555577e-02 -9.12611792e-05 9.99939982e-01 2.14763418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.070385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:344.53, Y:297.42, Z:21.48 [[ 5.85538463e-01 -8.10618652e-01 -6.48926512e-03 3.44529829e+02] [ 8.10570592e-01 5.85574413e-01 -8.82734407e-03 2.97417124e+02] [ 1.09555574e-02 -9.12579934e-05 9.99939982e-01 2.14766538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.100385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:344.55, Y:297.44, Z:21.48 [[ 5.85695294e-01 -8.10505363e-01 -6.48685662e-03 3.44547179e+02] [ 8.10457277e-01 5.85731209e-01 -8.82911363e-03 2.97439605e+02] [ 1.09555983e-02 -8.61498389e-05 9.99939982e-01 2.14770334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.130385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:344.56, Y:297.46, Z:21.47 [[ 5.85668245e-01 -8.10524970e-01 -6.47917237e-03 3.44563499e+02] [ 8.10476823e-01 5.85704078e-01 -8.83475690e-03 2.97461243e+02] [ 1.09556688e-02 -7.69824689e-05 9.99939982e-01 2.14727999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.160385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:344.58, Y:297.48, Z:21.47 [[ 5.85739159e-01 -8.10473981e-01 -6.44706972e-03 3.44580692e+02] [ 8.10425570e-01 5.85774637e-01 -8.85833887e-03 2.97483587e+02] [ 1.09559831e-02 -3.61941977e-05 9.99939981e-01 2.14741910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.190385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:344.60, Y:297.51, Z:21.48 [[ 5.88174790e-01 -8.08708305e-01 -6.42604634e-03 3.44601422e+02] [ 8.08659619e-01 5.88209892e-01 -8.87377439e-03 2.97505253e+02] [ 1.09561591e-02 2.28462063e-05 9.99939979e-01 2.14766056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.2203857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:344.62, Y:297.53, Z:21.48 [[ 5.88717345e-01 -8.08313013e-01 -6.47770617e-03 3.44618855e+02] [ 8.08264719e-01 5.88752980e-01 -8.83584657e-03 2.97526890e+02] [ 1.09558986e-02 -3.38852262e-05 9.99939982e-01 2.14777507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.250385723 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:344.64, Y:297.55, Z:21.48 [[ 5.88409848e-01 -8.08536972e-01 -6.46648737e-03 3.44637746e+02] [ 8.08488601e-01 5.88445379e-01 -8.84408042e-03 2.97547200e+02] [ 1.09559406e-02 -2.41373100e-05 9.99939982e-01 2.14764134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.280385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:344.66, Y:297.57, Z:21.48 [[ 5.87936903e-01 -8.08880823e-01 -6.48169936e-03 3.44655627e+02] [ 8.08832595e-01 5.87972629e-01 -8.83291768e-03 2.97568813e+02] [ 1.09558395e-02 -4.94114456e-05 9.99939982e-01 2.14767286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.310385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:344.67, Y:297.59, Z:21.47 [[ 5.85472388e-01 -8.10666455e-01 -6.47936294e-03 3.44671393e+02] [ 8.10618318e-01 5.85508234e-01 -8.83463122e-03 2.97589898e+02] [ 1.09556595e-02 -7.98576515e-05 9.99939982e-01 2.14747951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.3403857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:344.69, Y:297.61, Z:21.48 [[ 5.85628145e-01 -8.10554394e-01 -6.42263504e-03 3.44692735e+02] [ 8.10505792e-01 5.85663363e-01 -8.87621312e-03 2.97610999e+02] [ 1.09561556e-02 -7.42266874e-06 9.99939980e-01 2.14774335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.370385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:344.71, Y:297.63, Z:21.47 [[ 5.84150920e-01 -8.11619212e-01 -6.47748245e-03 3.44706093e+02] [ 8.11571118e-01 5.84186824e-01 -8.83600572e-03 2.97630554e+02] [ 1.09555319e-02 -9.53768004e-05 9.99939982e-01 2.14739596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.400385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:344.73, Y:297.65, Z:21.48 [[ 5.85902129e-01 -8.10356595e-01 -6.39404995e-03 3.44727438e+02] [ 8.10307752e-01 5.85937017e-01 -8.89711558e-03 2.97651986e+02] [ 1.09563468e-02 3.16907186e-05 9.99939977e-01 2.14776512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.430385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:344.75, Y:297.67, Z:21.48 [[ 5.85108780e-01 -8.10929242e-01 -6.44047064e-03 3.44746685e+02] [ 8.10880806e-01 5.85144224e-01 -8.86310878e-03 2.97673426e+02] [ 1.09559583e-02 -3.65712620e-05 9.99939981e-01 2.14806678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.460385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:344.77, Y:297.70, Z:21.48 [[ 5.84580681e-01 -8.11309951e-01 -6.44911190e-03 3.44765170e+02] [ 8.11261608e-01 5.84616251e-01 -8.85677975e-03 2.97696917e+02] [ 1.09558492e-02 -5.44145563e-05 9.99939981e-01 2.14805647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.490385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:344.78, Y:297.72, Z:21.48 [[ 5.84612637e-01 -8.11286736e-01 -6.47271143e-03 3.44782851e+02] [ 8.11238583e-01 5.84648462e-01 -8.83949902e-03 2.97718949e+02] [ 1.09556291e-02 -8.32304196e-05 9.99939982e-01 2.14797970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.520385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:344.80, Y:297.74, Z:21.48 [[ 5.84976347e-01 -8.11024543e-01 -6.47025866e-03 3.44801098e+02] [ 8.10976354e-01 5.85012124e-01 -8.84129402e-03 2.97740725e+02] [ 1.09556862e-02 -7.52788932e-05 9.99939982e-01 2.14789044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.550385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:344.82, Y:297.76, Z:21.48 [[ 5.84891634e-01 -8.11085658e-01 -6.46779292e-03 3.44818495e+02] [ 8.11037453e-01 5.84927389e-01 -8.84309745e-03 2.97761619e+02] [ 1.09556987e-02 -7.33685824e-05 9.99939982e-01 2.14787484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.580385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:344.84, Y:297.78, Z:21.48 [[ 5.84553988e-01 -8.11329045e-01 -6.46645239e-03 3.44837118e+02] [ 8.11280844e-01 5.84589749e-01 -8.84407760e-03 2.97782719e+02] [ 1.09556788e-02 -7.62681177e-05 9.99939982e-01 2.14797859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.610385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:344.86, Y:297.80, Z:21.48 [[ 5.84057459e-01 -8.11686578e-01 -6.46403533e-03 3.44855117e+02] [ 8.11638379e-01 5.84093223e-01 -8.84584384e-03 2.97802493e+02] [ 1.09556519e-02 -7.99780746e-05 9.99939982e-01 2.14795006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.640385723 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:344.87, Y:297.82, Z:21.48 [[ 5.84043518e-01 -8.11696620e-01 -6.46271157e-03 3.44872277e+02] [ 8.11648411e-01 5.84079268e-01 -8.84681087e-03 2.97824502e+02] [ 1.09556623e-02 -7.85270278e-05 9.99939982e-01 2.14791897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.670385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:344.89, Y:297.84, Z:21.48 [[ 5.85031384e-01 -8.10984922e-01 -6.46030574e-03 3.44890130e+02] [ 8.10936650e-01 5.85067050e-01 -8.84856735e-03 2.97844516e+02] [ 1.09557667e-02 -6.22090913e-05 9.99939982e-01 2.14766842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.700385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:344.91, Y:297.87, Z:21.48 [[ 5.85492597e-01 -8.10652022e-01 -6.45900128e-03 3.44908522e+02] [ 8.10603719e-01 5.85528220e-01 -8.84951944e-03 2.97866280e+02] [ 1.09558083e-02 -5.43623433e-05 9.99939982e-01 2.14801007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.730385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:344.93, Y:297.89, Z:21.48 [[ 5.86550113e-01 -8.09887199e-01 -6.45683559e-03 3.44928700e+02] [ 8.09838832e-01 5.86585649e-01 -8.85109930e-03 2.97886745e+02] [ 1.09558791e-02 -3.73828996e-05 9.99939982e-01 2.14801613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.760385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:344.95, Y:297.91, Z:21.48 [[ 5.86934341e-01 -8.09608807e-01 -6.45433042e-03 3.44946792e+02] [ 8.09560404e-01 5.86969827e-01 -8.85292572e-03 2.97908397e+02] [ 1.09559038e-02 -2.90842187e-05 9.99939982e-01 2.14812520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.790385723 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:344.97, Y:297.93, Z:21.48 [[ 5.88035602e-01 -8.08809313e-01 -6.45183485e-03 3.44965303e+02] [ 8.08760842e-01 5.88070995e-01 -8.85474407e-03 2.97928089e+02] [ 1.09559364e-02 -1.10866312e-05 9.99939982e-01 2.14801772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.820385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:344.98, Y:297.95, Z:21.48 [[ 5.86388542e-01 -8.10004243e-01 -6.45014114e-03 3.44981192e+02] [ 8.09955830e-01 5.86424015e-01 -8.85597767e-03 2.97952103e+02] [ 1.09558971e-02 -3.12855869e-05 9.99939982e-01 2.14792333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.850385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:345.00, Y:297.97, Z:21.48 [[ 5.88723338e-01 -8.08308885e-01 -6.44815215e-03 3.45003558e+02] [ 8.08260354e-01 5.88758649e-01 -8.85742564e-03 2.97971260e+02] [ 1.09559412e-02 2.78745280e-06 9.99939982e-01 2.14812942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.880385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:345.02, Y:297.99, Z:21.48 [[ 5.88879212e-01 -8.08195349e-01 -6.44598761e-03 3.45023918e+02] [ 8.08146794e-01 5.88914491e-01 -8.85900060e-03 2.97991223e+02] [ 1.09559386e-02 7.57707301e-06 9.99939982e-01 2.14837694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.910385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:345.04, Y:298.01, Z:21.48 [[ 5.88498497e-01 -8.08472634e-01 -6.44352943e-03 3.45042252e+02] [ 8.08424076e-01 5.88533771e-01 -8.86078818e-03 2.98013217e+02] [ 1.09559394e-02 5.45619949e-06 9.99939982e-01 2.14845365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.940385723 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:345.06, Y:298.04, Z:21.49 [[ 5.86250407e-01 -8.10104297e-01 -6.44107341e-03 3.45058344e+02] [ 8.10055818e-01 5.86285789e-01 -8.86257315e-03 2.98036831e+02] [ 1.09559184e-02 -2.19418724e-05 9.99939982e-01 2.14858041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.9703857229999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:345.08, Y:298.06, Z:21.48 [[ 5.87438313e-01 -8.09243332e-01 -6.43888820e-03 3.45080029e+02] [ 8.09194783e-01 5.87473600e-01 -8.86416047e-03 2.98055939e+02] [ 1.09559396e-02 -3.16726910e-06 9.99939982e-01 2.14846161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.000385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:345.10, Y:298.08, Z:21.48 [[ 5.87090232e-01 -8.09495899e-01 -6.43811974e-03 3.45098326e+02] [ 8.09447359e-01 5.87125532e-01 -8.86471858e-03 2.98077771e+02] [ 1.09559378e-02 -6.92932964e-06 9.99939982e-01 2.14840213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.030385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:345.12, Y:298.10, Z:21.48 [[ 5.84325581e-01 -8.11493806e-01 -6.43569904e-03 3.45116063e+02] [ 8.11445368e-01 5.84361019e-01 -8.86647563e-03 2.98100776e+02] [ 1.09558617e-02 -4.13096533e-05 9.99939982e-01 2.14827482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.060385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:345.14, Y:298.12, Z:21.48 [[ 5.83020300e-01 -8.12432113e-01 -6.43368106e-03 3.45135116e+02] [ 8.12383715e-01 5.83055794e-01 -8.86793967e-03 2.98121473e+02] [ 1.09557940e-02 -5.64288780e-05 9.99939982e-01 2.14843677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.0903857229999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:345.15, Y:298.14, Z:21.48 [[ 5.82811879e-01 -8.12581660e-01 -6.43111985e-03 3.45153673e+02] [ 8.12533251e-01 5.82847357e-01 -8.86979670e-03 2.98143042e+02] [ 1.09557953e-02 -5.60758404e-05 9.99939982e-01 2.14848464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.120385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:345.17, Y:298.16, Z:21.48 [[ 5.84513101e-01 -8.11358803e-01 -6.42860134e-03 3.45173878e+02] [ 8.11310300e-01 5.84548451e-01 -8.87162168e-03 2.98162903e+02] [ 1.09558973e-02 -3.00113769e-05 9.99939982e-01 2.14835258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.150385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:345.19, Y:298.18, Z:21.48 [[ 5.83491258e-01 -8.12093981e-01 -6.42782093e-03 3.45193247e+02] [ 8.12045516e-01 5.83526661e-01 -8.87218708e-03 2.98183645e+02] [ 1.09558546e-02 -4.28395677e-05 9.99939982e-01 2.14845562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.180385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:345.21, Y:298.21, Z:21.49 [[ 5.82997872e-01 -8.12448273e-01 -6.42540020e-03 3.45211679e+02] [ 8.12399810e-01 5.83033277e-01 -8.87393987e-03 2.98205364e+02] [ 1.09558393e-02 -4.65058411e-05 9.99939982e-01 2.14852516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.210385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:345.23, Y:298.22, Z:21.48 [[ 5.80460898e-01 -8.14262791e-01 -6.42295906e-03 3.45226714e+02] [ 8.14214419e-01 5.80496427e-01 -8.87570642e-03 2.98224831e+02] [ 1.09556623e-02 -7.76653645e-05 9.99939982e-01 2.14832371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.240385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:345.25, Y:298.25, Z:21.49 [[ 5.82849793e-01 -8.12555157e-01 -6.34321435e-03 3.45248705e+02] [ 8.12506049e-01 5.82884306e-01 -8.93336844e-03 2.98246812e+02] [ 1.09562147e-02 5.29119149e-05 9.99939977e-01 2.14852497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.270385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:345.27, Y:298.27, Z:21.49 [[ 5.83214146e-01 -8.12293073e-01 -6.42061906e-03 3.45266711e+02] [ 8.12244563e-01 5.83249486e-01 -8.87738511e-03 2.98266976e+02] [ 1.09558612e-02 -3.76963496e-05 9.99939982e-01 2.14853253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.300385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:345.29, Y:298.29, Z:21.49 [[ 5.83172068e-01 -8.12323299e-01 -6.41843840e-03 3.45285998e+02] [ 8.12274774e-01 5.83207387e-01 -8.87896147e-03 2.98288007e+02] [ 1.09558680e-02 -3.55732757e-05 9.99939982e-01 2.14874900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.330385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:345.30, Y:298.31, Z:21.49 [[ 5.82904829e-01 -8.12515105e-01 -6.41603631e-03 3.45303147e+02] [ 8.12466571e-01 5.82940137e-01 -8.88069690e-03 2.98309325e+02] [ 1.09558655e-02 -3.62139189e-05 9.99939982e-01 2.14878953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.360385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:345.32, Y:298.33, Z:21.49 [[ 5.80632337e-01 -8.14140621e-01 -6.41386568e-03 3.45316972e+02] [ 8.14092170e-01 5.80667758e-01 -8.88226431e-03 2.98331257e+02] [ 1.09557372e-02 -6.41479370e-05 9.99939982e-01 2.14869726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.390385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:345.34, Y:298.35, Z:21.49 [[ 5.82287262e-01 -8.12958353e-01 -6.34515808e-03 3.45339275e+02] [ 8.12909286e-01 5.82321831e-01 -8.93183257e-03 2.98352870e+02] [ 1.09561320e-02 4.28544116e-05 9.99939979e-01 2.14905337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.420385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:345.36, Y:298.38, Z:21.49 [[ 5.82281792e-01 -8.12961757e-01 -6.41059447e-03 3.45356922e+02] [ 8.12913208e-01 5.82317078e-01 -8.88461774e-03 2.98375010e+02] [ 1.09558531e-02 -3.79057732e-05 9.99939982e-01 2.14914119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.450385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:345.37, Y:298.40, Z:21.49 [[ 5.82664652e-01 -8.12687417e-01 -6.40823898e-03 3.45373658e+02] [ 8.12638833e-01 5.82699889e-01 -8.88631637e-03 2.98395897e+02] [ 1.09558776e-02 -2.98414124e-05 9.99939982e-01 2.14920755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.480385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:345.39, Y:298.42, Z:21.49 [[ 5.83513293e-01 -8.12078320e-01 -6.40613092e-03 3.45389632e+02] [ 8.12029682e-01 5.83548457e-01 -8.88783580e-03 2.98418705e+02] [ 1.09559066e-02 -1.57981174e-05 9.99939982e-01 2.14927917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.510385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:345.40, Y:298.44, Z:21.49 [[ 5.83875966e-01 -8.11817620e-01 -6.40375295e-03 3.45404774e+02] [ 8.11768948e-01 5.83911082e-01 -8.88954881e-03 2.98440992e+02] [ 1.09559147e-02 -7.97389978e-06 9.99939982e-01 2.14926288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.540385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:345.42, Y:298.46, Z:21.49 [[ 5.84001886e-01 -8.11727058e-01 -6.40162787e-03 3.45419860e+02] [ 8.11678363e-01 5.84036971e-01 -8.89107889e-03 2.98464161e+02] [ 1.09559167e-02 -3.65599787e-06 9.99939982e-01 2.14926298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.570385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:345.43, Y:298.49, Z:21.49 [[ 5.82995888e-01 -8.12449902e-01 -6.39929960e-03 3.45434161e+02] [ 8.12401232e-01 5.83031008e-01 -8.89275433e-03 2.98488425e+02] [ 1.09559075e-02 -1.43596732e-05 9.99939982e-01 2.14920380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.600385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:345.45, Y:298.51, Z:21.49 [[ 5.79197091e-01 -8.15162443e-01 -6.39696798e-03 3.45446176e+02] [ 8.15113920e-01 5.79232412e-01 -8.89443126e-03 2.98511323e+02] [ 1.09557375e-02 -6.26289378e-05 9.99939982e-01 2.14910809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.630385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:345.46, Y:298.54, Z:21.49 [[ 5.78245051e-01 -8.15838507e-01 -6.33971096e-03 3.45464126e+02] [ 8.15789571e-01 5.78279803e-01 -8.93559720e-03 2.98536890e+02] [ 1.09561311e-02 -4.90523237e-06 9.99939980e-01 2.14946650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.660385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:345.48, Y:298.56, Z:21.49 [[ 5.77911833e-01 -8.16074145e-01 -6.39551519e-03 3.45480514e+02] [ 8.16025666e-01 5.77947215e-01 -8.89547607e-03 2.98557895e+02] [ 1.09556382e-02 -7.81036518e-05 9.99939982e-01 2.14939881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.690385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:345.50, Y:298.58, Z:21.50 [[ 5.76557531e-01 -8.17031537e-01 -6.39378442e-03 3.45496517e+02] [ 8.16983103e-01 5.76592975e-01 -8.89671992e-03 2.98581083e+02] [ 1.09555119e-02 -9.41429586e-05 9.99939982e-01 2.14951392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.7203857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:345.51, Y:298.60, Z:21.49 [[ 5.72532842e-01 -8.19856875e-01 -6.39131964e-03 3.45509378e+02] [ 8.19808596e-01 5.72568497e-01 -8.89849024e-03 2.98603690e+02] [ 1.09549567e-02 -1.44980872e-04 9.99939982e-01 2.14919438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.750385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:345.53, Y:298.63, Z:21.49 [[ 5.71019074e-01 -8.20912239e-01 -6.34926110e-03 3.45526469e+02] [ 8.20863689e-01 5.71054360e-01 -8.92867510e-03 2.98628100e+02] [ 1.09554319e-02 -1.13434108e-04 9.99939981e-01 2.14939693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.780385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:345.54, Y:298.65, Z:21.50 [[ 5.69276014e-01 -8.22121656e-01 -6.38761351e-03 3.45542544e+02] [ 8.22073489e-01 5.69311820e-01 -8.90115280e-03 2.98650427e+02] [ 1.09543744e-02 -1.83874934e-04 9.99939982e-01 2.14957776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.810385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:345.56, Y:298.67, Z:21.50 [[ 5.68296444e-01 -8.22799104e-01 -6.38644359e-03 3.45558890e+02] [ 8.22750970e-01 5.68332294e-01 -8.90199212e-03 2.98673250e+02] [ 1.09541733e-02 -1.95482195e-04 9.99939982e-01 2.14967621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.8403857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:345.57, Y:298.70, Z:21.50 [[ 5.67758788e-01 -8.23170215e-01 -6.38401847e-03 3.45574640e+02] [ 8.23122085e-01 5.67794643e-01 -8.90373095e-03 2.98695389e+02] [ 1.09540976e-02 -1.99655106e-04 9.99939982e-01 2.14975843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.870385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:345.59, Y:298.72, Z:21.50 [[ 5.67588569e-01 -8.23287606e-01 -6.38237493e-03 3.45590459e+02] [ 8.23239470e-01 5.67624417e-01 -8.90490891e-03 2.98719101e+02] [ 1.09540930e-02 -1.99898448e-04 9.99939982e-01 2.14984380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.900385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:345.60, Y:298.74, Z:21.50 [[ 5.67914161e-01 -8.23063061e-01 -6.37994528e-03 3.45604948e+02] [ 8.23014891e-01 5.67949963e-01 -8.90664931e-03 2.98741540e+02] [ 1.09542237e-02 -1.92577700e-04 9.99939982e-01 2.14993049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.930385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:345.62, Y:298.76, Z:21.50 [[ 5.68078473e-01 -8.22949678e-01 -6.37775966e-03 3.45620495e+02] [ 8.22901483e-01 5.68114242e-01 -8.90821408e-03 2.98764296e+02] [ 1.09543080e-02 -1.87703236e-04 9.99939982e-01 2.14998763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.960385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:345.64, Y:298.79, Z:21.50 [[ 5.67858761e-01 -8.23101318e-01 -6.37559694e-03 3.45637072e+02] [ 8.23053115e-01 5.67894520e-01 -8.90976167e-03 2.98787585e+02] [ 1.09543031e-02 -1.87968702e-04 9.99939982e-01 2.15001885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.990385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:345.65, Y:298.81, Z:21.50 [[ 5.67411924e-01 -8.23409431e-01 -6.37321782e-03 3.45651723e+02] [ 8.23361228e-01 5.67447683e-01 -8.91146314e-03 2.98811382e+02] [ 1.09542505e-02 -1.90990004e-04 9.99939982e-01 2.15006589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.020385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:345.67, Y:298.83, Z:21.50 [[ 5.66745160e-01 -8.23868519e-01 -6.37082549e-03 3.45666940e+02] [ 8.23820326e-01 5.66780932e-01 -8.91317310e-03 2.98833692e+02] [ 1.09541451e-02 -1.96917821e-04 9.99939982e-01 2.15012236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.050385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:345.68, Y:298.86, Z:21.50 [[ 5.66313015e-01 -8.24165644e-01 -6.36864732e-03 3.45683208e+02] [ 8.24117453e-01 5.66348789e-01 -8.91472918e-03 2.98856365e+02] [ 1.09540892e-02 -1.99986248e-04 9.99939982e-01 2.15040389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.080385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:345.70, Y:298.88, Z:21.50 [[ 5.66191186e-01 -8.24249363e-01 -6.36618672e-03 3.45698260e+02] [ 8.24201158e-01 5.66226940e-01 -8.91648599e-03 2.98878507e+02] [ 1.09541143e-02 -1.98582693e-04 9.99939982e-01 2.15030219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.110385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:345.71, Y:298.90, Z:21.50 [[ 5.66819430e-01 -8.23817476e-01 -6.36396531e-03 3.45713109e+02] [ 8.23769226e-01 5.66855124e-01 -8.91807119e-03 2.98901880e+02] [ 1.09543092e-02 -1.87502748e-04 9.99939982e-01 2.15040326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.140385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:345.73, Y:298.93, Z:21.50 [[ 5.67393235e-01 -8.23422399e-01 -6.36152428e-03 3.45728453e+02] [ 8.23374105e-01 5.67428869e-01 -8.91981212e-03 2.98925700e+02] [ 1.09544856e-02 -1.76873301e-04 9.99939982e-01 2.15037505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.170385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:345.74, Y:298.95, Z:21.50 [[ 5.69197289e-01 -8.22176385e-01 -6.35903787e-03 3.45741494e+02] [ 8.22127993e-01 5.69232790e-01 -8.92158436e-03 2.98949356e+02] [ 1.09548888e-02 -1.49801407e-04 9.99939982e-01 2.15026491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.200385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:345.76, Y:298.97, Z:21.50 [[ 5.70004527e-01 -8.21616954e-01 -6.35774372e-03 3.45756487e+02] [ 8.21568516e-01 5.70039966e-01 -8.92250650e-03 2.98972127e+02] [ 1.09550506e-02 -1.37452980e-04 9.99939982e-01 2.15022950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.230385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:345.77, Y:299.00, Z:21.50 [[ 5.71296020e-01 -8.20719480e-01 -6.35556141e-03 3.45772706e+02] [ 8.20670969e-01 5.71331359e-01 -8.92406070e-03 2.98995332e+02] [ 1.09552820e-02 -1.17544384e-04 9.99939982e-01 2.15044897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.260385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:345.79, Y:299.02, Z:21.51 [[ 5.71591001e-01 -8.20514086e-01 -6.35312511e-03 3.45789298e+02] [ 8.20465543e-01 5.71626296e-01 -8.92579480e-03 2.99017911e+02] [ 1.09553537e-02 -1.10616255e-04 9.99939982e-01 2.15062646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.290385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:345.81, Y:299.04, Z:21.51 [[ 5.71672639e-01 -8.20457228e-01 -6.35068137e-03 3.45805222e+02] [ 8.20408662e-01 5.71707903e-01 -8.92753317e-03 2.99041485e+02] [ 1.09553938e-02 -1.06527556e-04 9.99939982e-01 2.15083216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.320385723 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:345.82, Y:299.06, Z:21.51 [[ 5.71668391e-01 -8.20460205e-01 -6.34852254e-03 3.45820644e+02] [ 8.20411622e-01 5.71703631e-01 -8.92906809e-03 2.99064770e+02] [ 1.09554184e-02 -1.03935694e-04 9.99939982e-01 2.15086294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.350385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:345.83, Y:299.09, Z:21.51 [[ 5.71579479e-01 -8.20522167e-01 -6.34604673e-03 3.45834744e+02] [ 8.20473569e-01 5.71614698e-01 -8.93082734e-03 2.99088505e+02] [ 1.09554354e-02 -1.02085969e-04 9.99939982e-01 2.15075325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.380385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:345.84, Y:299.11, Z:21.50 [[ 5.67550589e-01 -8.23314080e-01 -6.34466682e-03 3.45843614e+02] [ 8.23265644e-01 5.67586030e-01 -8.93180756e-03 2.99111366e+02] [ 1.09548272e-02 -1.54093583e-04 9.99939982e-01 2.15035386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.410385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:345.86, Y:299.13, Z:21.50 [[ 5.66472125e-01 -8.24057338e-01 -6.23172949e-03 3.45857428e+02] [ 8.24008060e-01 5.66506401e-01 -9.01194388e-03 2.99134072e+02] [ 1.09566731e-02 -2.99803282e-05 9.99939973e-01 2.15037258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.440385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:345.88, Y:299.16, Z:21.51 [[ 5.70589651e-01 -8.21211920e-01 -6.19935868e-03 3.45881967e+02] [ 8.21162221e-01 5.70623324e-01 -9.03489262e-03 2.99157870e+02] [ 1.09570602e-02 6.45370786e-05 9.99939968e-01 2.15111545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.4703857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:345.90, Y:299.18, Z:21.51 [[ 5.70355574e-01 -8.21373443e-01 -6.33922088e-03 3.45897401e+02] [ 8.21324844e-01 5.70390791e-01 -8.93567057e-03 2.99181814e+02] [ 1.09553557e-02 -1.10050077e-04 9.99939982e-01 2.15111444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.500385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:345.91, Y:299.21, Z:21.51 [[ 5.69905714e-01 -8.21685659e-01 -6.33682568e-03 3.45912512e+02] [ 8.21637060e-01 5.69940932e-01 -8.93736882e-03 2.99205783e+02] [ 1.09553241e-02 -1.13113262e-04 9.99939982e-01 2.15115685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.530385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:345.93, Y:299.23, Z:21.51 [[ 5.68837758e-01 -8.22425365e-01 -6.33438080e-03 3.45926415e+02] [ 8.22376793e-01 5.68873012e-01 -8.93910130e-03 2.99230904e+02] [ 1.09552019e-02 -1.24349434e-04 9.99939982e-01 2.15123058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.560385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:345.94, Y:299.25, Z:21.51 [[ 5.65740437e-01 -8.24559071e-01 -6.33223916e-03 3.45937603e+02] [ 8.24510614e-01 5.65775850e-01 -8.94061813e-03 2.99254276e+02] [ 1.09546958e-02 -1.62929196e-04 9.99939982e-01 2.15071992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.5903857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:345.96, Y:299.28, Z:21.51 [[ 5.66970467e-01 -8.23714299e-01 -6.26448724e-03 3.45958255e+02] [ 8.23665257e-01 5.67005071e-01 -8.98856404e-03 2.99278062e+02] [ 1.09560048e-02 -6.35901416e-05 9.99939979e-01 2.15128060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.620385723 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:345.97, Y:299.30, Z:21.51 [[ 5.64978239e-01 -8.25081527e-01 -6.32951414e-03 3.45974508e+02] [ 8.25033082e-01 5.65013668e-01 -8.94253814e-03 2.99300426e+02] [ 1.09545850e-02 -1.69719105e-04 9.99939982e-01 2.15133493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.650385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:345.98, Y:299.32, Z:21.51 [[ 5.59978579e-01 -8.28482926e-01 -6.32711904e-03 3.45981909e+02] [ 8.28434677e-01 5.60014274e-01 -8.94423244e-03 2.99324438e+02] [ 1.09534208e-02 -2.33026244e-04 9.99939982e-01 2.15065904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.680385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:346.00, Y:299.35, Z:21.51 [[ 5.60187855e-01 -8.28342329e-01 -6.20912727e-03 3.45997235e+02] [ 8.28293139e-01 5.60222258e-01 -9.02760203e-03 2.99349013e+02] [ 1.09564362e-02 -8.58244981e-05 9.99939973e-01 2.15062566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.710385723 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:346.02, Y:299.38, Z:21.51 [[ 5.63412579e-01 -8.26152318e-01 -6.21389690e-03 3.46016612e+02] [ 8.26103031e-01 5.63446843e-01 -9.02423313e-03 2.99375024e+02] [ 1.09565917e-02 -4.89526007e-05 9.99939974e-01 2.15096423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.740385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:346.03, Y:299.40, Z:21.51 [[ 5.63104811e-01 -8.26361294e-01 -6.32328722e-03 3.46031661e+02] [ 8.26312880e-01 5.63140282e-01 -8.94692102e-03 2.99399047e+02] [ 1.09542870e-02 -1.86959401e-04 9.99939983e-01 2.15101440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.770385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:346.05, Y:299.42, Z:21.51 [[ 5.62685896e-01 -8.26646616e-01 -6.32094594e-03 3.46047027e+02] [ 8.26598202e-01 5.62721366e-01 -8.94857481e-03 2.99422697e+02] [ 1.09542404e-02 -1.89645709e-04 9.99939983e-01 2.15106633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.800385723 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:346.06, Y:299.45, Z:21.51 [[ 5.62070778e-01 -8.27065001e-01 -6.31860370e-03 3.46061356e+02] [ 8.27016594e-01 5.62106259e-01 -8.95022837e-03 2.99446434e+02] [ 1.09541473e-02 -1.94928284e-04 9.99939983e-01 2.15123364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.830385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:346.07, Y:299.47, Z:21.51 [[ 5.61968602e-01 -8.27134449e-01 -6.31611362e-03 3.46074694e+02] [ 8.27086027e-01 5.62004062e-01 -8.95198526e-03 2.99471175e+02] [ 1.09541769e-02 -1.93234682e-04 9.99939983e-01 2.15124423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.860385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:346.09, Y:299.50, Z:21.51 [[ 5.61974349e-01 -8.27130563e-01 -6.31364068e-03 3.46089413e+02] [ 8.27082121e-01 5.62009782e-01 -8.95372903e-03 2.99495640e+02] [ 1.09542308e-02 -1.90133287e-04 9.99939983e-01 2.15128719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.890385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:346.10, Y:299.52, Z:21.51 [[ 5.62932890e-01 -8.26478512e-01 -6.31116667e-03 3.46102390e+02] [ 8.26430010e-01 5.62968240e-01 -8.95547253e-03 2.99519678e+02] [ 1.09544920e-02 -1.74407494e-04 9.99939983e-01 2.15136457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.920385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:346.12, Y:299.54, Z:21.51 [[ 5.63151047e-01 -8.26329889e-01 -6.30978709e-03 3.46117659e+02] [ 8.26281366e-01 5.63186369e-01 -8.95644444e-03 2.99543708e+02] [ 1.09545638e-02 -1.69828436e-04 9.99939983e-01 2.15141421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.950385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:346.13, Y:299.57, Z:21.52 [[ 5.63419333e-01 -8.26147004e-01 -6.30737228e-03 3.46131000e+02] [ 8.26098451e-01 5.63454613e-01 -8.95814470e-03 2.99568045e+02] [ 1.09546624e-02 -1.63318559e-04 9.99939983e-01 2.15157089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.980385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:346.15, Y:299.59, Z:21.52 [[ 5.63470603e-01 -8.26112056e-01 -6.30487519e-03 3.46145122e+02] [ 8.26063481e-01 5.63505853e-01 -8.95990184e-03 2.99591010e+02] [ 1.09547170e-02 -1.59585850e-04 9.99939983e-01 2.15163183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.010385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:346.16, Y:299.62, Z:21.52 [[ 5.62715556e-01 -8.26626560e-01 -6.30346711e-03 3.46158166e+02] [ 8.26578006e-01 5.62750835e-01 -8.96089234e-03 2.99616681e+02] [ 1.09545930e-02 -1.67873765e-04 9.99939983e-01 2.15171300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.040385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:346.17, Y:299.64, Z:21.52 [[ 5.61974843e-01 -8.27130325e-01 -6.30094328e-03 3.46172984e+02] [ 8.27081783e-01 5.62010138e-01 -8.96266665e-03 2.99641086e+02] [ 1.09544874e-02 -1.74602224e-04 9.99939983e-01 2.15172798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.070385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:346.19, Y:299.67, Z:21.52 [[ 5.60582762e-01 -8.28074451e-01 -6.29843977e-03 3.46186163e+02] [ 8.28025949e-01 5.60618111e-01 -8.96442563e-03 2.99665284e+02] [ 1.09542312e-02 -1.89969091e-04 9.99939983e-01 2.15171476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.100385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:346.20, Y:299.69, Z:21.52 [[ 5.59926757e-01 -8.28518182e-01 -6.29673741e-03 3.46201673e+02] [ 8.28469694e-01 5.59962127e-01 -8.96562123e-03 2.99689248e+02] [ 1.09541147e-02 -1.96564897e-04 9.99939983e-01 2.15181045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.130385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:346.22, Y:299.71, Z:21.52 [[ 5.59096490e-01 -8.29078704e-01 -6.29427193e-03 3.46215462e+02] [ 8.29030232e-01 5.59131881e-01 -8.96735177e-03 2.99713630e+02] [ 1.09539685e-02 -2.04526820e-04 9.99939983e-01 2.15198607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.160385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:346.23, Y:299.74, Z:21.52 [[ 5.58853207e-01 -8.29242721e-01 -6.29317033e-03 3.46230019e+02] [ 8.29194250e-01 5.58888601e-01 -8.96812479e-03 2.99737745e+02] [ 1.09539334e-02 -2.06395360e-04 9.99939983e-01 2.15206679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.190385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:346.24, Y:299.76, Z:21.52 [[ 5.60002213e-01 -8.28467228e-01 -6.29073296e-03 3.46242337e+02] [ 8.28418690e-01 5.60037513e-01 -8.96983417e-03 2.99762796e+02] [ 1.09542601e-02 -1.88233781e-04 9.99939983e-01 2.15206515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.2203857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:346.26, Y:299.79, Z:21.52 [[ 5.60856440e-01 -8.27889190e-01 -6.28826632e-03 3.46256469e+02] [ 8.27840596e-01 5.60891664e-01 -8.97156306e-03 2.99787054e+02] [ 1.09544962e-02 -1.73923218e-04 9.99939983e-01 2.15202830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.250385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:346.27, Y:299.81, Z:21.52 [[ 5.61692363e-01 -8.27322294e-01 -6.28579921e-03 3.46269094e+02] [ 8.27273645e-01 5.61727510e-01 -8.97329128e-03 2.99811765e+02] [ 1.09547103e-02 -1.59846843e-04 9.99939983e-01 2.15193768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.280385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:346.28, Y:299.84, Z:21.52 [[ 5.61421543e-01 -8.27506107e-01 -6.28444733e-03 3.46284123e+02] [ 8.27457459e-01 5.61456692e-01 -8.97423797e-03 2.99835272e+02] [ 1.09546817e-02 -1.61782291e-04 9.99939983e-01 2.15199867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.310385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:346.30, Y:299.86, Z:21.52 [[ 5.60690373e-01 -8.28001716e-01 -6.28196557e-03 3.46298283e+02] [ 8.27953080e-01 5.60725538e-01 -8.97597486e-03 2.99858914e+02] [ 1.09545811e-02 -1.68430050e-04 9.99939983e-01 2.15211333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.3403857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:346.31, Y:299.88, Z:21.52 [[ 5.60183886e-01 -8.28344477e-01 -6.28027922e-03 3.46313211e+02] [ 8.28295849e-01 5.60219062e-01 -8.97715461e-03 2.99882681e+02] [ 1.09545086e-02 -1.73071858e-04 9.99939983e-01 2.15218445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.370385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:346.33, Y:299.91, Z:21.52 [[ 5.59697287e-01 -8.28673359e-01 -6.27778557e-03 3.46325778e+02] [ 8.28624732e-01 5.59732465e-01 -8.97889809e-03 2.99908413e+02] [ 1.09544540e-02 -1.76463492e-04 9.99939983e-01 2.15221584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.400385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:346.34, Y:299.93, Z:21.52 [[ 5.59456063e-01 -8.28836253e-01 -6.27529744e-03 3.46339994e+02] [ 8.28787616e-01 5.59491229e-01 -8.98063670e-03 2.99932585e+02] [ 1.09544511e-02 -1.76617153e-04 9.99939983e-01 2.15223666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.430385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:346.35, Y:299.96, Z:21.52 [[ 5.59331285e-01 -8.28920482e-01 -6.27280822e-03 3.46352716e+02] [ 8.28871832e-01 5.59366430e-01 -8.98237504e-03 2.99958271e+02] [ 1.09544730e-02 -1.75230673e-04 9.99939983e-01 2.15230043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.460385723 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:346.36, Y:299.98, Z:21.52 [[ 5.55800712e-01 -8.31291917e-01 -6.27033402e-03 3.46363035e+02] [ 8.31243397e-01 5.55836037e-01 -8.98410187e-03 2.99982701e+02] [ 1.09536889e-02 -2.18803538e-04 9.99939983e-01 2.15190659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.490385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:346.38, Y:300.01, Z:21.52 [[ 5.58654565e-01 -8.29377321e-01 -6.19165756e-03 3.46382889e+02] [ 8.29328069e-01 5.58688869e-01 -9.03896195e-03 3.00006116e+02] [ 1.09559202e-02 -8.52580520e-05 9.99939978e-01 2.15235465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.520385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:346.40, Y:300.03, Z:21.52 [[ 5.58458969e-01 -8.29508467e-01 -6.26757559e-03 3.46396067e+02] [ 8.29459813e-01 5.58494109e-01 -8.98601059e-03 3.00030731e+02] [ 1.09543759e-02 -1.80383868e-04 9.99939983e-01 2.15229803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.550385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:346.41, Y:300.06, Z:21.52 [[ 5.58649366e-01 -8.29380271e-01 -6.26512499e-03 3.46409609e+02] [ 8.29331590e-01 5.58684468e-01 -8.98771884e-03 3.00056127e+02] [ 1.09544647e-02 -1.74882637e-04 9.99939983e-01 2.15211879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.580385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:346.42, Y:300.08, Z:21.52 [[ 5.58747857e-01 -8.29313941e-01 -6.26264546e-03 3.46424845e+02] [ 8.29265236e-01 5.58782926e-01 -8.98944625e-03 3.00079548e+02] [ 1.09545324e-02 -1.70560336e-04 9.99939983e-01 2.15206012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.610385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:346.44, Y:300.10, Z:21.52 [[ 5.58763042e-01 -8.29303728e-01 -6.26016425e-03 3.46439465e+02] [ 8.29255003e-01 5.58798084e-01 -8.99117381e-03 3.00102029e+02] [ 1.09545817e-02 -1.67336890e-04 9.99939983e-01 2.15202323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.640385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:346.46, Y:300.13, Z:21.52 [[ 5.58442093e-01 -8.29519895e-01 -6.25881294e-03 3.46455018e+02] [ 8.29471173e-01 5.58477139e-01 -8.99211437e-03 3.00125950e+02] [ 1.09545417e-02 -1.69929741e-04 9.99939983e-01 2.15204477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.670385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:346.47, Y:300.15, Z:21.52 [[ 5.58029761e-01 -8.29797351e-01 -6.25636386e-03 3.46470958e+02] [ 8.29748628e-01 5.58064805e-01 -8.99381802e-03 3.00149595e+02] [ 1.09545028e-02 -1.72391211e-04 9.99939983e-01 2.15210034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.700385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:346.49, Y:300.17, Z:21.52 [[ 5.57615130e-01 -8.30076054e-01 -6.25391634e-03 3.46486355e+02] [ 8.30027329e-01 5.57650171e-01 -8.99551960e-03 3.00173152e+02] [ 1.09544629e-02 -1.74883648e-04 9.99939983e-01 2.15216877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.730385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:346.50, Y:300.20, Z:21.52 [[ 5.57633952e-01 -8.30063429e-01 -6.25141488e-03 3.46501577e+02] [ 8.30014683e-01 5.57668965e-01 -8.99725764e-03 3.00195431e+02] [ 1.09545146e-02 -1.71589813e-04 9.99939983e-01 2.15220808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.760385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:346.52, Y:300.22, Z:21.52 [[ 5.57645673e-01 -8.30055565e-01 -6.25003244e-03 3.46517892e+02] [ 8.30006808e-01 5.57680671e-01 -8.99821786e-03 3.00218636e+02] [ 1.09545431e-02 -1.69752219e-04 9.99939983e-01 2.15224494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.790385723 meters Centerline goodness : 0.995612 Centerline is valid? [True, True] Translation: X:346.53, Y:300.24, Z:21.52 [[ 5.57357636e-01 -8.30249019e-01 -6.24757473e-03 3.46533571e+02] [ 8.30200255e-01 5.57392624e-01 -8.99992396e-03 3.00242104e+02] [ 1.09545301e-02 -1.70561793e-04 9.99939983e-01 2.15200897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.820385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:346.55, Y:300.26, Z:21.52 [[ 5.57661172e-01 -8.30045145e-01 -6.25094905e-03 3.46549084e+02] [ 8.29996395e-01 5.57696179e-01 -8.99758256e-03 3.00264305e+02] [ 1.09545301e-02 -1.70662746e-04 9.99939983e-01 2.15230675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.850385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:346.57, Y:300.29, Z:21.52 [[ 5.57166772e-01 -8.30377145e-01 -6.24384861e-03 3.46565073e+02] [ 8.30328361e-01 5.57201731e-01 -9.00250720e-03 3.00287164e+02] [ 1.09545595e-02 -1.68546706e-04 9.99939983e-01 2.15233969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.880385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:346.58, Y:300.31, Z:21.52 [[ 5.56937969e-01 -8.30530640e-01 -6.24136827e-03 3.46581296e+02] [ 8.30481846e-01 5.56972915e-01 -9.00422648e-03 3.00310674e+02] [ 1.09545591e-02 -1.68547427e-04 9.99939983e-01 2.15237089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.910385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:346.60, Y:300.33, Z:21.52 [[ 5.55930283e-01 -8.31205508e-01 -6.23888685e-03 3.46598263e+02] [ 8.31156737e-01 5.55965261e-01 -9.00594548e-03 3.00332777e+02] [ 1.09543958e-02 -1.78815018e-04 9.99939983e-01 2.15242034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.940385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:346.62, Y:300.36, Z:21.52 [[ 5.55435842e-01 -8.31536008e-01 -6.23640763e-03 3.46615632e+02] [ 8.31487239e-01 5.55470822e-01 -9.00766196e-03 3.00355213e+02] [ 1.09543377e-02 -1.82315053e-04 9.99939983e-01 2.15244725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.9703857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:346.63, Y:300.38, Z:21.52 [[ 5.55628918e-01 -8.31407027e-01 -6.23392080e-03 3.46632324e+02] [ 8.31358230e-01 5.55663860e-01 -9.00938269e-03 3.00378365e+02] [ 1.09544286e-02 -1.76747801e-04 9.99939983e-01 2.15249729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.000385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:346.65, Y:300.40, Z:21.52 [[ 5.56012607e-01 -8.31150498e-01 -6.23139875e-03 3.46647895e+02] [ 8.31101666e-01 5.56047499e-01 -9.01112674e-03 3.00400345e+02] [ 1.09545562e-02 -1.68625808e-04 9.99939983e-01 2.15247283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.030385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:346.66, Y:300.42, Z:21.52 [[ 5.56969107e-01 -8.30509844e-01 -6.23000824e-03 3.46664202e+02] [ 8.30460961e-01 5.57003928e-01 -9.01208799e-03 3.00421796e+02] [ 1.09547669e-02 -1.54324023e-04 9.99939983e-01 2.15238691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.060385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:346.68, Y:300.44, Z:21.52 [[ 5.56853859e-01 -8.30587134e-01 -6.22834276e-03 3.46680712e+02] [ 8.30538243e-01 5.56888668e-01 -9.01323888e-03 3.00444854e+02] [ 1.09547738e-02 -1.53820003e-04 9.99939983e-01 2.15236037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.0903857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:346.70, Y:300.47, Z:21.52 [[ 5.56687367e-01 -8.30698750e-01 -6.22590006e-03 3.46698429e+02] [ 8.30649847e-01 5.56722160e-01 -9.01492586e-03 3.00467191e+02] [ 1.09547842e-02 -1.53047592e-04 9.99939983e-01 2.15227531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.120385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:346.71, Y:300.49, Z:21.52 [[ 5.56338054e-01 -8.30932752e-01 -6.22346006e-03 3.46714968e+02] [ 8.30883844e-01 5.56372841e-01 -9.01661000e-03 3.00489749e+02] [ 1.09547607e-02 -1.54689154e-04 9.99939983e-01 2.15231030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.150385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:346.73, Y:300.51, Z:21.52 [[ 5.55940209e-01 -8.31199003e-01 -6.22103387e-03 3.46733041e+02] [ 8.31150093e-01 5.55974993e-01 -9.01828365e-03 3.00511949e+02] [ 1.09547276e-02 -1.56986382e-04 9.99939983e-01 2.15237932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.180385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:346.75, Y:300.53, Z:21.52 [[ 5.56671761e-01 -8.30709263e-01 -6.21855304e-03 3.46749179e+02] [ 8.30660304e-01 5.56706475e-01 -9.01999397e-03 3.00532490e+02] [ 1.09549013e-02 -1.44329229e-04 9.99939983e-01 2.15242372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.210385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:346.77, Y:300.56, Z:21.52 [[ 5.54705615e-01 -8.32023788e-01 -6.17226991e-03 3.46768973e+02] [ 8.31974555e-01 5.54739942e-01 -9.05191013e-03 3.00555779e+02] [ 1.09554092e-02 -1.14026138e-04 9.99939981e-01 2.15216958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.240385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:346.78, Y:300.58, Z:21.52 [[ 5.55895739e-01 -8.31228683e-01 -6.22925198e-03 3.46783992e+02] [ 8.31179839e-01 5.55930614e-01 -9.01261948e-03 3.00575138e+02] [ 1.09545797e-02 -1.67551893e-04 9.99939983e-01 2.15217666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.270385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:346.80, Y:300.60, Z:21.52 [[ 5.54279407e-01 -8.32307933e-01 -6.15169059e-03 3.46802743e+02] [ 8.32258561e-01 5.54313535e-01 -9.06605353e-03 3.00600105e+02] [ 1.09557136e-02 -9.46703878e-05 9.99939980e-01 2.15218180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.300385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:346.82, Y:300.62, Z:21.52 [[ 5.54098866e-01 -8.32427590e-01 -6.22532499e-03 3.46819881e+02] [ 8.32378790e-01 5.54133805e-01 -9.01532063e-03 3.00622109e+02] [ 1.09542646e-02 -1.86449545e-04 9.99939983e-01 2.15225002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.330385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:346.84, Y:300.64, Z:21.52 [[ 5.53539029e-01 -8.32799927e-01 -6.23095320e-03 3.46839775e+02] [ 8.32751195e-01 5.53574062e-01 -9.01144379e-03 3.00643015e+02] [ 1.09540238e-02 -2.00647872e-04 9.99939983e-01 2.15242612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.360385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:346.86, Y:300.66, Z:21.53 [[ 5.54087024e-01 -8.32435473e-01 -6.22514084e-03 3.46857281e+02] [ 8.32386673e-01 5.54121962e-01 -9.01544517e-03 3.00663951e+02] [ 1.09542636e-02 -1.86383081e-04 9.99939983e-01 2.15273317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.390385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:346.88, Y:300.69, Z:21.53 [[ 5.53786185e-01 -8.32635747e-01 -6.21080437e-03 3.46875899e+02] [ 8.32586849e-01 5.53820985e-01 -9.02531087e-03 3.00685540e+02] [ 1.09544703e-02 -1.72941563e-04 9.99939983e-01 2.15278159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.420385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:346.89, Y:300.71, Z:21.52 [[ 5.52040102e-01 -8.33794449e-01 -6.20829675e-03 3.46891382e+02] [ 8.33745604e-01 5.52074977e-01 -9.02703548e-03 3.00709066e+02] [ 1.09541374e-02 -1.92854537e-04 9.99939983e-01 2.15248108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.450385723 meters Centerline goodness : 0.999678 Centerline is valid? [True, True] Translation: X:346.91, Y:300.73, Z:21.53 [[ 5.52565709e-01 -8.33446299e-01 -6.19716305e-03 3.46910682e+02] [ 8.33397346e-01 5.52600432e-01 -9.03468714e-03 3.00729983e+02] [ 1.09544815e-02 -1.72440935e-04 9.99939983e-01 2.15274293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.480385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:346.93, Y:300.75, Z:21.52 [[ 5.51056878e-01 -8.34444601e-01 -6.20679264e-03 3.46928184e+02] [ 8.34395786e-01 5.51091794e-01 -9.02807182e-03 3.00752172e+02] [ 1.09539383e-02 -2.03940560e-04 9.99939983e-01 2.15245416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.510385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:346.95, Y:300.77, Z:21.53 [[ 5.50808364e-01 -8.34608690e-01 -6.20326036e-03 3.46948161e+02] [ 8.34559858e-01 5.50843257e-01 -9.03049657e-03 3.00771531e+02] [ 1.09539550e-02 -2.02919045e-04 9.99939983e-01 2.15273859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.540385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:346.96, Y:300.79, Z:21.53 [[ 5.50160442e-01 -8.35035966e-01 -6.19870694e-03 3.46964777e+02] [ 8.34987126e-01 5.50195323e-01 -9.03362105e-03 3.00793199e+02] [ 1.09538980e-02 -2.05899547e-04 9.99939983e-01 2.15274837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.570385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:346.98, Y:300.82, Z:21.53 [[ 5.49745122e-01 -8.35309462e-01 -6.19699144e-03 3.46982032e+02] [ 8.35260626e-01 5.49780009e-01 -9.03479771e-03 3.00815446e+02] [ 1.09538340e-02 -2.09266985e-04 9.99939983e-01 2.15284218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.600385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:347.00, Y:300.84, Z:21.53 [[ 5.49738735e-01 -8.35313684e-01 -6.19447724e-03 3.46997621e+02] [ 8.35264829e-01 5.49773595e-01 -9.03652118e-03 3.00837966e+02] [ 1.09538898e-02 -2.06303251e-04 9.99939983e-01 2.15285721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.630385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:347.01, Y:300.86, Z:21.53 [[ 5.50804194e-01 -8.34611518e-01 -6.19307856e-03 3.47014766e+02] [ 8.34562608e-01 5.50838976e-01 -9.03747965e-03 3.00860680e+02] [ 1.09541737e-02 -1.90630101e-04 9.99939983e-01 2.15286648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.660385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:347.03, Y:300.88, Z:21.52 [[ 5.49284427e-01 -8.35612527e-01 -6.19057872e-03 3.47027817e+02] [ 8.35563661e-01 5.49319271e-01 -9.03919169e-03 3.00882837e+02] [ 1.09538660e-02 -2.07535391e-04 9.99939983e-01 2.15237954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.690385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:347.05, Y:300.90, Z:21.53 [[ 5.52153027e-01 -8.33720275e-01 -6.12681141e-03 3.47049513e+02] [ 8.33670803e-01 5.52187010e-01 -9.08281976e-03 3.00904077e+02] [ 1.09556767e-02 -9.26373698e-05 9.99939980e-01 2.15295129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.7203857229999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:347.06, Y:300.93, Z:21.53 [[ 5.50434528e-01 -8.34855372e-01 -6.19183638e-03 3.47064450e+02] [ 8.34806467e-01 5.50469319e-01 -9.03832905e-03 3.00927057e+02] [ 1.09541135e-02 -1.93976671e-04 9.99939983e-01 2.15259130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.750385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:347.08, Y:300.95, Z:21.53 [[ 5.49580520e-01 -8.35418106e-01 -6.15152475e-03 3.47080963e+02] [ 8.35368927e-01 5.49614924e-01 -9.06589894e-03 3.00949880e+02] [ 1.09547859e-02 -1.56351184e-04 9.99939982e-01 2.15261089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.780385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:347.10, Y:300.97, Z:21.53 [[ 5.49868210e-01 -8.35228867e-01 -6.13925677e-03 3.47096474e+02] [ 8.35179584e-01 5.49902464e-01 -9.07428834e-03 3.00972588e+02] [ 1.09551000e-02 -1.37719218e-04 9.99939982e-01 2.15260933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.810385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:347.11, Y:300.99, Z:21.53 [[ 5.50788100e-01 -8.34622573e-01 -6.13437347e-03 3.47112400e+02] [ 8.34573214e-01 5.50822246e-01 -9.07762605e-03 3.00994783e+02] [ 1.09553410e-02 -1.19735380e-04 9.99939981e-01 2.15260959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.8403857229999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:347.13, Y:301.02, Z:21.53 [[ 5.51053601e-01 -8.34447518e-01 -6.10482931e-03 3.47130648e+02] [ 8.34397924e-01 5.51087411e-01 -9.09780575e-03 3.01016705e+02] [ 1.09559360e-02 -8.04782785e-05 9.99939979e-01 2.15269238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.870385723 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:347.15, Y:301.04, Z:21.53 [[ 5.53924281e-01 -8.32544526e-01 -6.12398154e-03 3.47150891e+02] [ 8.32494960e-01 5.53958129e-01 -9.08474049e-03 3.01037081e+02] [ 1.09558803e-02 -6.59254220e-05 9.99939980e-01 2.15294916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.900385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:347.17, Y:301.06, Z:21.53 [[ 5.52197056e-01 -8.33691097e-01 -6.12908230e-03 3.47166892e+02] [ 8.33641641e-01 5.52231062e-01 -9.08126354e-03 3.01060922e+02] [ 1.09556382e-02 -9.48112278e-05 9.99939981e-01 2.15309793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.930385723 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:347.18, Y:301.08, Z:21.53 [[ 5.49696653e-01 -8.35341559e-01 -6.17002415e-03 3.47179666e+02] [ 8.35292517e-01 5.49731251e-01 -9.05336097e-03 3.01083952e+02] [ 1.09545038e-02 -1.77172767e-04 9.99939982e-01 2.15290975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.960385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:347.20, Y:301.11, Z:21.53 [[ 5.50725619e-01 -8.34664000e-01 -6.10730749e-03 3.47200746e+02] [ 8.34614440e-01 5.50759475e-01 -9.09606176e-03 3.01106073e+02] [ 1.09558128e-02 -8.78127727e-05 9.99939979e-01 2.15316062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.990385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:347.21, Y:301.13, Z:21.53 [[ 5.47625588e-01 -8.36700774e-01 -6.16693079e-03 3.47214442e+02] [ 8.36651794e-01 5.47660273e-01 -9.05545725e-03 3.01127506e+02] [ 1.09540911e-02 -2.00573605e-04 9.99939982e-01 2.15292880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.020385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:347.23, Y:301.15, Z:21.53 [[ 5.46248340e-01 -8.37601051e-01 -6.10163439e-03 3.47233161e+02] [ 8.37551630e-01 5.46282399e-01 -9.09990479e-03 3.01149107e+02] [ 1.09553053e-02 -1.39625947e-04 9.99939979e-01 2.15303221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.050385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:347.25, Y:301.17, Z:21.53 [[ 5.47932876e-01 -8.36500059e-01 -6.10037669e-03 3.47252920e+02] [ 8.36450560e-01 5.47966821e-01 -9.10076043e-03 3.01171654e+02] [ 1.09555907e-02 -1.16057662e-04 9.99939979e-01 2.15333928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.080385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:347.27, Y:301.19, Z:21.53 [[ 5.47181614e-01 -8.36991216e-01 -6.16330283e-03 3.47270811e+02] [ 8.36942226e-01 5.47216286e-01 -9.05794359e-03 3.01194654e+02] [ 1.09540789e-02 -2.01988204e-04 9.99939982e-01 2.15314221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.110385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:347.29, Y:301.22, Z:21.53 [[ 5.47245963e-01 -8.36949157e-01 -6.16156262e-03 3.47287773e+02] [ 8.36900151e-01 5.47280613e-01 -9.05912701e-03 3.01217826e+02] [ 1.09541325e-02 -1.99042009e-04 9.99939982e-01 2.15323062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.140385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:347.30, Y:301.24, Z:21.53 [[ 5.47361580e-01 -8.36873500e-01 -6.16803040e-03 3.47304060e+02] [ 8.36824539e-01 5.47396294e-01 -9.05473004e-03 3.01240020e+02] [ 1.09540206e-02 -2.05347858e-04 9.99939982e-01 2.15332312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.170385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:347.32, Y:301.26, Z:21.53 [[ 5.47319275e-01 -8.36901246e-01 -6.15763279e-03 3.47321282e+02] [ 8.36852207e-01 5.47353878e-01 -9.06179538e-03 3.01263089e+02] [ 1.09542320e-02 -1.93333314e-04 9.99939982e-01 2.15318099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.200385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:347.34, Y:301.29, Z:21.53 [[ 5.46459057e-01 -8.37463090e-01 -6.17021663e-03 3.47337833e+02] [ 8.37414183e-01 5.46493846e-01 -9.05324892e-03 3.01285474e+02] [ 1.09537472e-02 -2.19797058e-04 9.99939982e-01 2.15309051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.230385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:347.35, Y:301.31, Z:21.53 [[ 5.46751927e-01 -8.37272104e-01 -6.14449173e-03 3.47354223e+02] [ 8.37222988e-01 5.46786421e-01 -9.07071184e-03 3.01308227e+02] [ 1.09543786e-02 -1.84880551e-04 9.99939982e-01 2.15337189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.260385723 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:347.37, Y:301.33, Z:21.53 [[ 5.46320350e-01 -8.37553712e-01 -6.15264685e-03 3.47370576e+02] [ 8.37504676e-01 5.46354958e-01 -9.06517686e-03 3.01330647e+02] [ 1.09541016e-02 -2.00379911e-04 9.99939982e-01 2.15334324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.290385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:347.39, Y:301.35, Z:21.53 [[ 5.46144808e-01 -8.37668206e-01 -6.15018950e-03 3.47385828e+02] [ 8.37619159e-01 5.46179400e-01 -9.06684372e-03 3.01352696e+02] [ 1.09541135e-02 -1.99706931e-04 9.99939982e-01 2.15333720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.320385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:347.40, Y:301.38, Z:21.53 [[ 5.46719768e-01 -8.37293077e-01 -6.14798075e-03 3.47404282e+02] [ 8.37243990e-01 5.46754302e-01 -9.06834116e-03 3.01376176e+02] [ 1.09542942e-02 -1.89518551e-04 9.99939982e-01 2.15329798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.350385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:347.42, Y:301.40, Z:21.53 [[ 5.46197408e-01 -8.37633784e-01 -6.16732547e-03 3.47420230e+02] [ 8.37584865e-01 5.46232181e-01 -9.05523179e-03 3.01399015e+02] [ 1.09537597e-02 -2.19714342e-04 9.99939982e-01 2.15346195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.380385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:347.44, Y:301.42, Z:21.54 [[ 5.45961658e-01 -8.37787547e-01 -6.15588279e-03 3.47437655e+02] [ 8.37738551e-01 5.45996321e-01 -9.06298278e-03 3.01421397e+02] [ 1.09539435e-02 -2.08979223e-04 9.99939982e-01 2.15350894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.410385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:347.45, Y:301.45, Z:21.54 [[ 5.45381680e-01 -8.38165180e-01 -6.16076331e-03 3.47454074e+02] [ 8.38116245e-01 5.45416430e-01 -9.05967736e-03 3.01445125e+02] [ 1.09536876e-02 -2.22453760e-04 9.99939982e-01 2.15357139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.440385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:347.47, Y:301.47, Z:21.54 [[ 5.44199741e-01 -8.38933031e-01 -6.16530589e-03 3.47470447e+02] [ 8.38884181e-01 5.44234609e-01 -9.05660183e-03 3.01468409e+02] [ 1.09532553e-02 -2.43377210e-04 9.99939982e-01 2.15355203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.4703857229999 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:347.48, Y:301.49, Z:21.53 [[ 5.41693734e-01 -8.40553299e-01 -6.16840708e-03 3.47484230e+02] [ 8.40504577e-01 5.41728781e-01 -9.05450271e-03 3.01491552e+02] [ 1.09523958e-02 -2.79807002e-04 9.99939982e-01 2.15346452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.500385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:347.50, Y:301.51, Z:21.54 [[ 5.42114852e-01 -8.40282161e-01 -6.11374450e-03 3.47501651e+02] [ 8.40233002e-01 5.42149285e-01 -9.09147412e-03 3.01513716e+02] [ 1.09539657e-02 -2.08346754e-04 9.99939982e-01 2.15359615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.530385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:347.52, Y:301.54, Z:21.54 [[ 5.38910437e-01 -8.42340717e-01 -6.13664115e-03 3.47516897e+02] [ 8.42291865e-01 5.38945303e-01 -9.07599279e-03 3.01535559e+02] [ 1.09523922e-02 -2.77695683e-04 9.99939982e-01 2.15369723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.560385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:347.53, Y:301.56, Z:21.54 [[ 5.39016935e-01 -8.42272880e-01 -6.09423872e-03 3.47534582e+02] [ 8.42223700e-01 5.39051338e-01 -9.10465100e-03 3.01558683e+02] [ 1.09537082e-02 -2.25151208e-04 9.99939981e-01 2.15382040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.5903857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:347.55, Y:301.58, Z:21.54 [[ 5.40463697e-01 -8.41345127e-01 -6.11297991e-03 3.47552025e+02] [ 8.41296031e-01 5.40498219e-01 -9.09198676e-03 3.01581013e+02] [ 1.09535535e-02 -2.28936956e-04 9.99939982e-01 2.15373699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.620385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:347.57, Y:301.60, Z:21.54 [[ 5.38505015e-01 -8.42599985e-01 -6.13309325e-03 3.47565118e+02] [ 8.42551123e-01 5.38539867e-01 -9.07839880e-03 3.01604226e+02] [ 1.09523739e-02 -2.78681327e-04 9.99939982e-01 2.15378684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.650385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:347.58, Y:301.63, Z:21.54 [[ 5.37326578e-01 -8.43352271e-01 -6.09060586e-03 3.47580302e+02] [ 8.43303132e-01 5.37361041e-01 -9.10708723e-03 3.01626663e+02] [ 1.09533370e-02 -2.42746985e-04 9.99939981e-01 2.15371734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.680385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:347.60, Y:301.65, Z:21.54 [[ 5.37058764e-01 -8.43522932e-01 -6.07844791e-03 3.47597814e+02] [ 8.43473711e-01 5.37093111e-01 -9.11529603e-03 3.01649753e+02] [ 1.09536537e-02 -2.31561402e-04 9.99939980e-01 2.15378126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.710385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:347.61, Y:301.67, Z:21.54 [[ 5.35735235e-01 -8.44364075e-01 -6.08826507e-03 3.47613951e+02] [ 8.44314983e-01 5.35769765e-01 -9.10866998e-03 3.01671260e+02] [ 1.09529420e-02 -2.60577970e-04 9.99939981e-01 2.15372140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.740385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:347.63, Y:301.69, Z:21.54 [[ 5.35552731e-01 -8.44479900e-01 -6.08043003e-03 3.47629786e+02] [ 8.44430756e-01 5.35587187e-01 -9.11395701e-03 3.01694116e+02] [ 1.09531539e-02 -2.53497557e-04 9.99939980e-01 2.15369374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.770385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:347.65, Y:301.72, Z:21.54 [[ 5.35404597e-01 -8.44573861e-01 -6.07549767e-03 3.47645748e+02] [ 8.44524685e-01 5.35439009e-01 -9.11728416e-03 3.01717788e+02] [ 1.09532783e-02 -2.49471910e-04 9.99939980e-01 2.15372479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.800385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:347.67, Y:301.74, Z:21.54 [[ 5.38653399e-01 -8.42505569e-01 -6.07298779e-03 3.47665402e+02] [ 8.42456242e-01 5.38687594e-01 -9.11897637e-03 3.01740674e+02] [ 1.09542316e-02 -2.04258849e-04 9.99939980e-01 2.15380575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.830385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:347.68, Y:301.76, Z:21.54 [[ 5.39002104e-01 -8.42282150e-01 -6.12470875e-03 3.47681284e+02] [ 8.42233203e-01 5.39036837e-01 -9.08410495e-03 3.01763760e+02] [ 1.09528231e-02 -2.62081383e-04 9.99939982e-01 2.15389915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.860385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:347.69, Y:301.79, Z:21.54 [[ 5.37877526e-01 -8.43000763e-01 -6.12221458e-03 3.47694186e+02] [ 8.42951843e-01 5.37912297e-01 -9.08578558e-03 3.01787251e+02] [ 1.09525387e-02 -2.73692195e-04 9.99939982e-01 2.15371240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.890385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:347.71, Y:301.81, Z:21.54 [[ 5.37976610e-01 -8.42937902e-01 -6.07121015e-03 3.47708455e+02] [ 8.42888590e-01 5.38010826e-01 -9.12012944e-03 3.01810563e+02] [ 1.09540796e-02 -2.10937434e-04 9.99939980e-01 2.15361843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.920385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:347.73, Y:301.83, Z:21.54 [[ 5.43622295e-01 -8.39308278e-01 -6.03449999e-03 3.47728689e+02] [ 8.39258462e-01 5.43655779e-01 -9.14483251e-03 3.01834755e+02] [ 1.09560244e-02 -9.31703430e-05 9.99939977e-01 2.15393196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.950385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:347.74, Y:301.86, Z:21.54 [[ 5.45038205e-01 -8.38388884e-01 -6.11832261e-03 3.47743127e+02] [ 8.38339641e-01 5.45072516e-01 -9.08840309e-03 3.01857413e+02] [ 1.09545456e-02 -1.75705477e-04 9.99939982e-01 2.15385843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.980385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:347.76, Y:301.88, Z:21.54 [[ 5.46161518e-01 -8.37657561e-01 -6.11613418e-03 3.47758440e+02] [ 8.37608255e-01 5.46195740e-01 -9.08987558e-03 3.01880796e+02] [ 1.09548094e-02 -1.58384229e-04 9.99939982e-01 2.15388053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.010385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:347.77, Y:301.90, Z:21.54 [[ 5.46530024e-01 -8.37417194e-01 -6.11366433e-03 3.47770519e+02] [ 8.37367854e-01 5.46564197e-01 -9.09153645e-03 3.01904143e+02] [ 1.09549190e-02 -1.50588352e-04 9.99939982e-01 2.15356542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.040385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:347.79, Y:301.93, Z:21.54 [[ 5.50244369e-01 -8.34981810e-01 -6.04246210e-03 3.47790565e+02] [ 8.34931791e-01 5.50277545e-01 -9.13938332e-03 3.01927107e+02] [ 1.09562500e-02 -1.61495012e-05 9.99939978e-01 2.15384921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.070385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:347.80, Y:301.95, Z:21.53 [[ 5.49449448e-01 -8.35504614e-01 -6.11107159e-03 3.47802911e+02] [ 8.35455136e-01 5.49483420e-01 -9.09327484e-03 3.01949735e+02] [ 1.09554056e-02 -1.09231310e-04 9.99939982e-01 2.15345037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.100385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:347.82, Y:301.97, Z:21.54 [[ 5.52357274e-01 -8.33585599e-01 -6.04071207e-03 3.47822643e+02] [ 8.33535484e-01 5.52390305e-01 -9.14051191e-03 3.01972425e+02] [ 1.09562299e-02 1.36803886e-05 9.99939979e-01 2.15392775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.130385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:347.83, Y:302.00, Z:21.53 [[ 5.48407031e-01 -8.36189229e-01 -6.10754156e-03 3.47832358e+02] [ 8.36139767e-01 5.48441027e-01 -9.09563727e-03 3.01995118e+02] [ 1.09553003e-02 -1.18646949e-04 9.99939982e-01 2.15345880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.160385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:347.85, Y:302.02, Z:21.54 [[ 5.51399614e-01 -8.34219708e-01 -5.99540675e-03 3.47854934e+02] [ 8.34169299e-01 5.51432205e-01 -9.17082456e-03 3.02018788e+02] [ 1.09565429e-02 5.56048725e-05 9.99939974e-01 2.15409627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.190385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:347.87, Y:302.04, Z:21.54 [[ 5.46702998e-01 -8.37304349e-01 -6.10402591e-03 3.47866374e+02] [ 8.37254931e-01 5.46737056e-01 -9.09794955e-03 3.02040740e+02] [ 1.09550499e-02 -1.36749501e-04 9.99939982e-01 2.15368368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.2203857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:347.89, Y:302.06, Z:21.54 [[ 5.48509333e-01 -8.36122753e-01 -6.02104643e-03 3.47887406e+02] [ 8.36072647e-01 5.48542379e-01 -9.15356625e-03 3.02063921e+02] [ 1.09563041e-02 -1.32156986e-05 9.99939978e-01 2.15411793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.250385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:347.90, Y:302.09, Z:21.54 [[ 5.45331057e-01 -8.38198554e-01 -6.10105176e-03 3.47903710e+02] [ 8.38149169e-01 5.45365163e-01 -9.09992668e-03 3.02085742e+02] [ 1.09548465e-02 -1.51118832e-04 9.99939982e-01 2.15406304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.280385723 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:347.92, Y:302.11, Z:21.54 [[ 5.40308017e-01 -8.41445216e-01 -6.09880675e-03 3.47915119e+02] [ 8.41396019e-01 5.40342394e-01 -9.10143105e-03 3.02108636e+02] [ 1.09537995e-02 -2.13935558e-04 9.99939982e-01 2.15363029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.310385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:347.94, Y:302.13, Z:21.54 [[ 5.40168716e-01 -8.41535295e-01 -6.00878420e-03 3.47936692e+02] [ 8.41485429e-01 5.40202125e-01 -9.16168599e-03 3.02131633e+02] [ 1.09558401e-02 -1.07448182e-04 9.99939977e-01 2.15410028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.3403857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:347.95, Y:302.15, Z:21.54 [[ 5.39045655e-01 -8.42254487e-01 -6.09602201e-03 3.47952470e+02] [ 8.42205321e-01 5.39080076e-01 -9.10326708e-03 3.02154614e+02] [ 1.09535115e-02 -2.27025604e-04 9.99939983e-01 2.15412467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.370385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:347.97, Y:302.18, Z:21.54 [[ 5.38232598e-01 -8.42774311e-01 -6.09353502e-03 3.47967875e+02] [ 8.42725159e-01 5.38267040e-01 -9.10493151e-03 3.02177999e+02] [ 1.09533514e-02 -2.34604328e-04 9.99939983e-01 2.15400732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.400385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:347.98, Y:302.20, Z:21.54 [[ 5.38482800e-01 -8.42614487e-01 -6.09102527e-03 3.47983216e+02] [ 8.42565306e-01 5.38517199e-01 -9.10661018e-03 3.02201308e+02] [ 1.09534835e-02 -2.28333622e-04 9.99939983e-01 2.15405680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.430385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:348.00, Y:302.22, Z:21.54 [[ 5.39871065e-01 -8.41725706e-01 -6.08849109e-03 3.47997905e+02] [ 8.41676450e-01 5.39905356e-01 -9.10830417e-03 3.02224366e+02] [ 1.09539027e-02 -2.07229695e-04 9.99939983e-01 2.15396502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.460385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:348.01, Y:302.25, Z:21.54 [[ 5.40482383e-01 -8.41333318e-01 -6.08620862e-03 3.48013264e+02] [ 8.41284019e-01 5.40516614e-01 -9.10982907e-03 3.02248228e+02] [ 1.09540996e-02 -1.96527923e-04 9.99939983e-01 2.15408648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.490385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:348.03, Y:302.27, Z:21.54 [[ 5.41631230e-01 -8.40594194e-01 -6.08370411e-03 3.48027608e+02] [ 8.40544830e-01 5.41665366e-01 -9.11150132e-03 3.02271464e+02] [ 1.09544069e-02 -1.78552374e-04 9.99939983e-01 2.15414379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.520385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:348.04, Y:302.30, Z:21.54 [[ 5.40295164e-01 -8.41453591e-01 -6.08200039e-03 3.48041106e+02] [ 8.41404268e-01 5.40329360e-01 -9.11263842e-03 3.02295713e+02] [ 1.09541457e-02 -1.93906615e-04 9.99939983e-01 2.15392244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.550385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:348.06, Y:302.32, Z:21.54 [[ 5.42670170e-01 -8.39924068e-01 -6.05359912e-03 3.48057449e+02] [ 8.39874438e-01 5.42703918e-01 -9.13158562e-03 3.02319391e+02] [ 1.09551505e-02 -1.28824039e-04 9.99939982e-01 2.15415214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.580385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:348.07, Y:302.34, Z:21.54 [[ 5.43268386e-01 -8.39537079e-01 -6.07891341e-03 3.48071616e+02] [ 8.39487613e-01 5.43302374e-01 -9.11470264e-03 3.02342209e+02] [ 1.09548189e-02 -1.51442716e-04 9.99939983e-01 2.15417796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.610385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:348.09, Y:302.37, Z:21.54 [[ 5.42127011e-01 -8.40274801e-01 -6.04666329e-03 3.48086906e+02] [ 8.40225141e-01 5.42160716e-01 -9.13619420e-03 3.02366592e+02] [ 1.09551771e-02 -1.27580867e-04 9.99939982e-01 2.15429153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.640385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:348.10, Y:302.39, Z:21.54 [[ 5.41839949e-01 -8.40459729e-01 -6.07567041e-03 3.48102615e+02] [ 8.40410297e-01 5.41873986e-01 -9.11686324e-03 3.02390430e+02] [ 1.09546042e-02 -1.66175263e-04 9.99939983e-01 2.15434077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.670385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:348.12, Y:302.41, Z:21.54 [[ 5.41539785e-01 -8.40653185e-01 -6.07321094e-03 3.48117311e+02] [ 8.40603746e-01 5.41573813e-01 -9.11850133e-03 3.02413385e+02] [ 1.09545892e-02 -1.67132619e-04 9.99939983e-01 2.15435897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.700385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:348.13, Y:302.44, Z:21.54 [[ 5.41026602e-01 -8.40983562e-01 -6.07154717e-03 3.48131186e+02] [ 8.40934132e-01 5.41060642e-01 -9.11960902e-03 3.02439195e+02] [ 1.09545165e-02 -1.71820168e-04 9.99939983e-01 2.15420489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.730385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:348.14, Y:302.46, Z:21.54 [[ 5.40159269e-01 -8.41540830e-01 -6.08238251e-03 3.48143100e+02] [ 8.41491516e-01 5.40193477e-01 -9.11239797e-03 3.02462679e+02] [ 1.09541183e-02 -1.96127053e-04 9.99939983e-01 2.15408518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.760385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:348.16, Y:302.49, Z:21.54 [[ 5.40622289e-01 -8.41243830e-01 -6.02993038e-03 3.48157286e+02] [ 8.41194106e-01 5.40655901e-01 -9.14729033e-03 3.02486893e+02] [ 1.09552190e-02 -1.27112862e-04 9.99939982e-01 2.15401107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.790385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:348.18, Y:302.51, Z:21.55 [[ 5.43228403e-01 -8.39563345e-01 -6.02425964e-03 3.48175859e+02] [ 8.39513476e-01 5.43261799e-01 -9.15106225e-03 3.02509717e+02] [ 1.09556466e-02 -8.63302182e-05 9.99939981e-01 2.15454034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.820385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:348.19, Y:302.53, Z:21.55 [[ 5.43224824e-01 -8.39565347e-01 -6.06786015e-03 3.48191552e+02] [ 8.39515800e-01 5.43258694e-01 -9.12205986e-03 3.02532280e+02] [ 1.09549831e-02 -1.38735112e-04 9.99939983e-01 2.15458587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.850385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:348.21, Y:302.56, Z:21.55 [[ 5.43297610e-01 -8.39518260e-01 -6.06615446e-03 3.48207181e+02] [ 8.39468698e-01 5.43331458e-01 -9.12319400e-03 3.02556045e+02] [ 1.09550205e-02 -1.35737287e-04 9.99939983e-01 2.15465630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.880385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:348.22, Y:302.58, Z:21.55 [[ 5.44410386e-01 -8.38797093e-01 -6.06370275e-03 3.48221560e+02] [ 8.38747468e-01 5.44444141e-01 -9.12482323e-03 3.02580195e+02] [ 1.09552226e-02 -1.18266797e-04 9.99939983e-01 2.15469213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.910385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:348.24, Y:302.60, Z:21.55 [[ 5.45083429e-01 -8.38359897e-01 -6.06123881e-03 3.48236721e+02] [ 8.38310227e-01 5.45117117e-01 -9.12645963e-03 3.02603909e+02] [ 1.09553428e-02 -1.06516571e-04 9.99939983e-01 2.15474478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.940385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:348.25, Y:302.63, Z:21.54 [[ 5.46204209e-01 -8.37630142e-01 -6.05869821e-03 3.48253221e+02] [ 8.37580408e-01 5.46237803e-01 -9.12814592e-03 3.02628150e+02] [ 1.09555002e-02 -8.88151953e-05 9.99939983e-01 2.15448596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.9703857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:348.27, Y:302.65, Z:21.55 [[ 5.45643796e-01 -8.37995158e-01 -6.07971112e-03 3.48266852e+02] [ 8.37945602e-01 5.45677652e-01 -9.11420150e-03 3.02650908e+02] [ 1.09552192e-02 -1.21359694e-04 9.99939982e-01 2.15454903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.000385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:348.29, Y:302.68, Z:21.55 [[ 5.47108438e-01 -8.37040060e-01 -6.02451045e-03 3.48285319e+02] [ 8.36990040e-01 5.47141605e-01 -9.15080126e-03 3.02675584e+02] [ 1.09558476e-02 -3.59746604e-05 9.99939982e-01 2.15468181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.030385723 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:348.30, Y:302.70, Z:21.55 [[ 5.46748834e-01 -8.37274498e-01 -6.09322756e-03 3.48300521e+02] [ 8.37224996e-01 5.46782772e-01 -9.10525209e-03 3.02699442e+02] [ 1.09552672e-02 -1.23116458e-04 9.99939982e-01 2.15479433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.060385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:348.31, Y:302.72, Z:21.55 [[ 5.47163366e-01 -8.37003700e-01 -6.08741538e-03 3.48314217e+02] [ 8.36954139e-01 5.47197216e-01 -9.10910210e-03 3.02721888e+02] [ 1.09553689e-02 -1.10720530e-04 9.99939982e-01 2.15527130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.0903857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:348.33, Y:302.75, Z:21.55 [[ 5.46865624e-01 -8.37198564e-01 -6.04602777e-03 3.48329672e+02] [ 8.37148711e-01 5.46899041e-01 -9.13649016e-03 3.02745379e+02] [ 1.09556232e-02 -6.49919608e-05 9.99939983e-01 2.15536578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.120385723 meters Centerline goodness : 0.998895 Centerline is valid? [True, True] Translation: X:348.35, Y:302.77, Z:21.55 [[ 5.45965863e-01 -8.37785625e-01 -6.04346611e-03 3.48347521e+02] [ 8.37735789e-01 5.45999306e-01 -9.13818430e-03 3.02770407e+02] [ 1.09555677e-02 -7.36911718e-05 9.99939983e-01 2.15510888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.150385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:348.36, Y:302.79, Z:21.55 [[ 5.44062062e-01 -8.39022746e-01 -6.10776216e-03 3.48359994e+02] [ 8.38973461e-01 5.44096316e-01 -9.09565520e-03 3.02791832e+02] [ 1.09546725e-02 -1.75649435e-04 9.99939980e-01 2.15535271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.180385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:348.37, Y:302.82, Z:21.55 [[ 5.41264977e-01 -8.40830392e-01 -6.03952059e-03 3.48372894e+02] [ 8.40780716e-01 5.41298656e-01 -9.14074418e-03 3.02815556e+02] [ 1.09549999e-02 -1.30347752e-04 9.99939984e-01 2.15496189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.210385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:348.39, Y:302.84, Z:21.55 [[ 5.42293682e-01 -8.40167525e-01 -6.00778629e-03 3.48390178e+02] [ 8.40117575e-01 5.42326953e-01 -9.16169349e-03 3.02839283e+02] [ 1.09555418e-02 -7.89183509e-05 9.99939983e-01 2.15531809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.240385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:348.40, Y:302.86, Z:21.55 [[ 5.41188952e-01 -8.40879358e-01 -6.03520885e-03 3.48404718e+02] [ 8.40829653e-01 5.41222587e-01 -9.14359330e-03 3.02862749e+02] [ 1.09550502e-02 -1.26170894e-04 9.99939984e-01 2.15533193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.270385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:348.42, Y:302.88, Z:21.55 [[ 5.40251761e-01 -8.41481813e-01 -6.03269236e-03 3.48417114e+02] [ 8.41432127e-01 5.40285425e-01 -9.14525331e-03 3.02884988e+02] [ 1.09549401e-02 -1.35361958e-04 9.99939984e-01 2.15503620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.300385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:348.43, Y:302.91, Z:21.56 [[ 5.40280960e-01 -8.41463512e-01 -5.97019134e-03 3.48434557e+02] [ 8.41413367e-01 5.40313941e-01 -9.18648070e-03 3.02910216e+02] [ 1.09558659e-02 -6.01181856e-05 9.99939981e-01 2.15553890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.330385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:348.45, Y:302.93, Z:21.56 [[ 5.39862594e-01 -8.41731535e-01 -6.03337397e-03 3.48448387e+02] [ 8.41681870e-01 5.39896289e-01 -9.14479534e-03 3.02933049e+02] [ 1.09548588e-02 -1.41248548e-04 9.99939984e-01 2.15568208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.360385723 meters Centerline goodness : 0.999692 Centerline is valid? [True, True] Translation: X:348.46, Y:302.96, Z:21.55 [[ 5.39287006e-01 -8.42100435e-01 -6.03188720e-03 3.48464350e+02] [ 8.42050781e-01 5.39320718e-01 -9.14577590e-03 3.02958631e+02] [ 1.09547836e-02 -1.46957231e-04 9.99939984e-01 2.15541965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.390385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:348.48, Y:302.98, Z:21.55 [[ 5.38681691e-01 -8.42487454e-01 -6.07666560e-03 3.48477436e+02] [ 8.42438157e-01 5.38715924e-01 -9.11625127e-03 3.02983020e+02] [ 1.09539238e-02 -2.08457324e-04 9.99939982e-01 2.15541691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.420385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:348.48, Y:303.01, Z:21.55 [[ 5.36248039e-01 -8.44038703e-01 -6.05865690e-03 3.48484532e+02] [ 8.43989371e-01 5.36282220e-01 -9.12811196e-03 3.03006664e+02] [ 1.09536298e-02 -2.18509879e-04 9.99939983e-01 2.15530982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.450385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:348.50, Y:303.03, Z:21.56 [[ 5.39809477e-01 -8.41766263e-01 -5.94026027e-03 3.48504040e+02] [ 8.41715919e-01 5.39842160e-01 -9.20617671e-03 3.03031362e+02] [ 1.09562519e-02 -3.04301991e-05 9.99939978e-01 2.15571904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.480385723 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:348.51, Y:303.06, Z:21.55 [[ 5.37714377e-01 -8.43105482e-01 -6.03277300e-03 3.48512791e+02] [ 8.43055899e-01 5.37748191e-01 -9.14514900e-03 3.03056176e+02] [ 1.09544380e-02 -1.68486764e-04 9.99939984e-01 2.15537242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.510385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:348.53, Y:303.08, Z:21.55 [[ 5.38207377e-01 -8.42791306e-01 -5.96942094e-03 3.48527333e+02] [ 8.42741238e-01 5.38240473e-01 -9.18693541e-03 3.03081575e+02] [ 1.09556532e-02 -8.62007859e-05 9.99939981e-01 2.15541481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.540385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:348.54, Y:303.11, Z:21.55 [[ 5.38633857e-01 -8.42518762e-01 -5.97531565e-03 3.48540795e+02] [ 8.42468719e-01 5.38666992e-01 -9.18304770e-03 3.03107616e+02] [ 1.09555953e-02 -8.77161197e-05 9.99939982e-01 2.15546973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.570385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:348.56, Y:303.13, Z:21.56 [[ 5.40533023e-01 -8.41301515e-01 -5.98430169e-03 3.48557181e+02] [ 8.41251464e-01 5.40566143e-01 -9.17712339e-03 3.03132074e+02] [ 1.09556387e-02 -7.37643157e-05 9.99939982e-01 2.15579597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.600385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:348.57, Y:303.16, Z:21.56 [[ 5.40407041e-01 -8.41382113e-01 -6.03076975e-03 3.48569533e+02] [ 8.41332407e-01 5.40440675e-01 -9.14648452e-03 3.03157799e+02] [ 1.09549617e-02 -1.31057399e-04 9.99939984e-01 2.15583069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.630385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:348.58, Y:303.18, Z:21.56 [[ 5.40229706e-01 -8.41496004e-01 -6.02822971e-03 3.48583143e+02] [ 8.41446287e-01 5.40263323e-01 -9.14815829e-03 3.03181662e+02] [ 1.09549701e-02 -1.30324646e-04 9.99939984e-01 2.15587543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.660385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:348.60, Y:303.21, Z:21.56 [[ 5.40088023e-01 -8.41586956e-01 -6.02682349e-03 3.48597532e+02] [ 8.41537234e-01 5.40121633e-01 -9.14908462e-03 3.03205941e+02] [ 1.09549680e-02 -1.30485334e-04 9.99939984e-01 2.15596187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.690385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:348.61, Y:303.23, Z:21.56 [[ 5.39857539e-01 -8.41734843e-01 -6.02431417e-03 3.48613194e+02] [ 8.41685111e-01 5.39891135e-01 -9.15073661e-03 3.03229848e+02] [ 1.09549677e-02 -1.30481402e-04 9.99939984e-01 2.15599307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.7203857229999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:348.63, Y:303.25, Z:21.56 [[ 5.38778854e-01 -8.42425714e-01 -6.02180768e-03 3.48626021e+02] [ 8.42376007e-01 5.38812487e-01 -9.15238575e-03 3.03254607e+02] [ 1.09548303e-02 -1.41514406e-04 9.99939984e-01 2.15617059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.750385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:348.64, Y:303.28, Z:21.56 [[ 5.37162649e-01 -8.43457205e-01 -6.01927547e-03 3.48639878e+02] [ 8.43407544e-01 5.37196349e-01 -9.15405081e-03 3.03279818e+02] [ 1.09545829e-02 -1.59488159e-04 9.99939984e-01 2.15636701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.780385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:348.65, Y:303.30, Z:21.56 [[ 5.35914927e-01 -8.44250387e-01 -6.03948134e-03 3.48653134e+02] [ 8.44200925e-01 5.35948920e-01 -9.14076753e-03 3.03303307e+02] [ 1.09539500e-02 -1.99861970e-04 9.99939984e-01 2.15640406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.810385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:348.66, Y:303.33, Z:21.56 [[ 5.34685713e-01 -8.45029585e-01 -6.01573421e-03 3.48664822e+02] [ 8.44979997e-01 5.34719521e-01 -9.15636940e-03 3.03327683e+02] [ 1.09541335e-02 -1.87395164e-04 9.99939984e-01 2.15649843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.8403857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:348.68, Y:303.35, Z:21.56 [[ 5.34392869e-01 -8.45214824e-01 -6.01349752e-03 3.48677765e+02] [ 8.45165232e-01 5.34426670e-01 -9.15783813e-03 3.03353249e+02] [ 1.09541140e-02 -1.88515627e-04 9.99939984e-01 2.15646913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.870385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:348.69, Y:303.38, Z:21.56 [[ 5.34158431e-01 -8.45363022e-01 -6.01100452e-03 3.48687554e+02] [ 8.45313420e-01 5.34192218e-01 -9.15947418e-03 3.03380433e+02] [ 1.09541126e-02 -1.88572434e-04 9.99939984e-01 2.15631922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.900385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:348.70, Y:303.41, Z:21.56 [[ 5.32130100e-01 -8.46641279e-01 -6.00846486e-03 3.48698653e+02] [ 8.46591740e-01 5.32163978e-01 -9.16113985e-03 3.03405385e+02] [ 1.09536877e-02 -2.11798458e-04 9.99939984e-01 2.15640131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.930385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:348.71, Y:303.43, Z:21.57 [[ 5.31063908e-01 -8.47310475e-01 -6.00705762e-03 3.48714282e+02] [ 8.47260968e-01 5.31097834e-01 -9.16206250e-03 3.03430924e+02] [ 1.09534468e-02 -2.23904732e-04 9.99939984e-01 2.15659483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.960385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:348.72, Y:303.46, Z:21.56 [[ 5.27205864e-01 -8.49716157e-01 -6.03563276e-03 3.48721991e+02] [ 8.49667018e-01 5.27240322e-01 -9.14333446e-03 3.03456643e+02] [ 1.09514680e-02 -3.07858549e-04 9.99939983e-01 2.15648132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.990385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:348.73, Y:303.48, Z:21.56 [[ 5.25990296e-01 -8.50469386e-01 -6.00267828e-03 3.48733675e+02] [ 8.50420050e-01 5.26024470e-01 -9.16491842e-03 3.03482098e+02] [ 1.09520382e-02 -2.84139815e-04 9.99939984e-01 2.15639581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.020385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:348.75, Y:303.51, Z:21.56 [[ 5.25573095e-01 -8.50727289e-01 -6.00018924e-03 3.48746697e+02] [ 8.50677951e-01 5.25607266e-01 -9.16654768e-03 3.03508534e+02] [ 1.09519753e-02 -2.86537849e-04 9.99939984e-01 2.15631735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.050385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:348.76, Y:303.54, Z:21.56 [[ 5.25083057e-01 -8.51029706e-01 -6.01860605e-03 3.48755108e+02] [ 8.50980525e-01 5.25117454e-01 -9.15449515e-03 3.03535708e+02] [ 1.09512224e-02 -3.14846243e-04 9.99939984e-01 2.15610231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.080385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:348.77, Y:303.56, Z:21.56 [[ 5.25315331e-01 -8.50886504e-01 -5.99660149e-03 3.48767263e+02] [ 8.50837150e-01 5.25349479e-01 -9.16888649e-03 3.03559829e+02] [ 1.09519932e-02 -2.85574683e-04 9.99939984e-01 2.15605125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.110385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:348.78, Y:303.59, Z:21.56 [[ 5.24827418e-01 -8.51187621e-01 -5.98464652e-03 3.48777902e+02] [ 8.51138197e-01 5.24861465e-01 -9.17670353e-03 3.03587511e+02] [ 1.09522068e-02 -2.77575627e-04 9.99939984e-01 2.15615218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.140385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:348.79, Y:303.61, Z:21.56 [[ 5.24601176e-01 -8.51327010e-01 -5.99404507e-03 3.48790116e+02] [ 8.51277666e-01 5.24635337e-01 -9.17056047e-03 3.03613139e+02] [ 1.09518337e-02 -2.91709888e-04 9.99939984e-01 2.15608361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.170385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:348.80, Y:303.64, Z:21.56 [[ 5.25138104e-01 -8.50995876e-01 -5.99920757e-03 3.48798605e+02] [ 8.50946548e-01 5.25172290e-01 -9.16718727e-03 3.03640400e+02] [ 1.09518561e-02 -2.90965626e-04 9.99939984e-01 2.15601748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.200385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:348.81, Y:303.67, Z:21.56 [[ 5.25569831e-01 -8.50729373e-01 -5.99057029e-03 3.48811695e+02] [ 8.50679964e-01 5.25603899e-01 -9.17282808e-03 3.03665945e+02] [ 1.09522614e-02 -2.75096407e-04 9.99939984e-01 2.15599296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.230385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:348.82, Y:303.69, Z:21.56 [[ 5.27274634e-01 -8.49673822e-01 -5.98806758e-03 3.48822734e+02] [ 8.49624326e-01 5.27308575e-01 -9.17446158e-03 3.03691033e+02] [ 1.09528592e-02 -2.50147014e-04 9.99939984e-01 2.15603617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.260385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:348.84, Y:303.72, Z:21.56 [[ 5.27913289e-01 -8.49277174e-01 -5.98668432e-03 3.48836155e+02] [ 8.49227643e-01 5.27947179e-01 -9.17536412e-03 3.03715613e+02] [ 1.09530804e-02 -2.40261164e-04 9.99939984e-01 2.15611629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.290385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:348.85, Y:303.74, Z:21.56 [[ 5.28606990e-01 -8.48845592e-01 -5.98416841e-03 3.48847110e+02] [ 8.48796015e-01 5.28640812e-01 -9.17700470e-03 3.03741108e+02] [ 1.09533356e-02 -2.28309460e-04 9.99939984e-01 2.15611915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.320385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:348.86, Y:303.77, Z:21.56 [[ 5.28266511e-01 -8.49057536e-01 -5.98277170e-03 3.48858732e+02] [ 8.49007962e-01 5.28300338e-01 -9.17791517e-03 3.03767305e+02] [ 1.09532783e-02 -2.31035582e-04 9.99939984e-01 2.15610721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.350385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:348.87, Y:303.79, Z:21.56 [[ 5.28285034e-01 -8.49046030e-01 -5.98017888e-03 3.48872025e+02] [ 8.48996435e-01 5.28318831e-01 -9.17960430e-03 3.03790355e+02] [ 1.09533477e-02 -2.27702985e-04 9.99939984e-01 2.15609407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.380385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:348.89, Y:303.81, Z:21.56 [[ 5.28247229e-01 -8.49069561e-01 -5.97874842e-03 3.48886154e+02] [ 8.49019958e-01 5.28281014e-01 -9.18053587e-03 3.03814205e+02] [ 1.09533728e-02 -2.26484088e-04 9.99939984e-01 2.15612355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.410385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:348.90, Y:303.84, Z:21.56 [[ 5.29415335e-01 -8.48341729e-01 -5.97616877e-03 3.48899459e+02] [ 8.48292060e-01 5.29449023e-01 -9.18221481e-03 3.03839577e+02] [ 1.09537327e-02 -2.08331189e-04 9.99939984e-01 2.15619306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.440385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:348.91, Y:303.86, Z:21.56 [[ 5.30462686e-01 -8.47687239e-01 -5.97359648e-03 3.48912762e+02] [ 8.47637510e-01 5.30496285e-01 -9.18388794e-03 3.03863344e+02] [ 1.09540354e-02 -1.91734584e-04 9.99939984e-01 2.15621056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.4703857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:348.93, Y:303.89, Z:21.56 [[ 5.32611477e-01 -8.46338792e-01 -5.97184827e-03 3.48925750e+02] [ 8.46288966e-01 5.32644931e-01 -9.18502458e-03 3.03888949e+02] [ 1.09545173e-02 -1.61859791e-04 9.99939984e-01 2.15620538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.500385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:348.94, Y:303.91, Z:21.56 [[ 5.33789981e-01 -8.45596017e-01 -5.96924930e-03 3.48939566e+02] [ 8.45546125e-01 5.33823337e-01 -9.18671332e-03 3.03912877e+02] [ 1.09547728e-02 -1.43500083e-04 9.99939984e-01 2.15625652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.530385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:348.95, Y:303.94, Z:21.56 [[ 5.34282119e-01 -8.45285169e-01 -5.96664632e-03 3.48953779e+02] [ 8.45235238e-01 5.34315417e-01 -9.18840360e-03 3.03936342e+02] [ 1.09548924e-02 -1.34019984e-04 9.99939984e-01 2.15626790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.560385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:348.97, Y:303.96, Z:21.56 [[ 5.35269628e-01 -8.44660252e-01 -5.95689591e-03 3.48967178e+02] [ 8.44610212e-01 5.35302762e-01 -9.19473196e-03 3.03960639e+02] [ 1.09551674e-02 -1.09594369e-04 9.99939984e-01 2.15645284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.5903857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:348.98, Y:303.98, Z:21.56 [[ 5.35561124e-01 -8.44475414e-01 -5.96302645e-03 3.48981198e+02] [ 8.44425407e-01 5.35594307e-01 -9.19075442e-03 3.03984418e+02] [ 1.09551292e-02 -1.13120275e-04 9.99939984e-01 2.15647614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.620385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:348.99, Y:304.01, Z:21.56 [[ 5.35238861e-01 -8.44679723e-01 -5.96052450e-03 3.48994746e+02] [ 8.44629710e-01 5.35272036e-01 -9.19237674e-03 3.04008501e+02] [ 1.09551163e-02 -1.14318829e-04 9.99939984e-01 2.15647157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.650385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:349.01, Y:304.03, Z:21.56 [[ 5.34891332e-01 -8.44899914e-01 -5.94958235e-03 3.49010431e+02] [ 8.44849837e-01 5.34924409e-01 -9.19946889e-03 3.04031651e+02] [ 1.09552073e-02 -1.05787509e-04 9.99939984e-01 2.15644371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.680385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:349.03, Y:304.05, Z:21.56 [[ 5.32029002e-01 -8.46705175e-01 -5.95713679e-03 3.49025369e+02] [ 8.46655264e-01 5.32062330e-01 -9.19457439e-03 3.04053726e+02] [ 1.09546618e-02 -1.51860988e-04 9.99939984e-01 2.15629063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.710385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:349.04, Y:304.08, Z:21.56 [[ 5.29724785e-01 -8.48148679e-01 -5.95569347e-03 3.49040996e+02] [ 8.48098849e-01 5.29758233e-01 -9.19550919e-03 3.04077207e+02] [ 1.09542366e-02 -1.79927654e-04 9.99939984e-01 2.15626858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.740385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:349.06, Y:304.10, Z:21.56 [[ 5.25055800e-01 -8.51046983e-01 -5.95312963e-03 3.49057019e+02] [ 8.50997318e-01 5.25089494e-01 -9.19716871e-03 3.04099897e+02] [ 1.09531485e-02 -2.37070583e-04 9.99939984e-01 2.15629723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.770385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:349.07, Y:304.12, Z:21.56 [[ 5.23314398e-01 -8.52118907e-01 -5.95055160e-03 3.49071980e+02] [ 8.52069292e-01 5.23348166e-01 -9.19883638e-03 3.04121958e+02] [ 1.09527127e-02 -2.56398763e-04 9.99939984e-01 2.15629671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.800385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:349.09, Y:304.15, Z:21.56 [[ 5.20497212e-01 -8.53842644e-01 -5.94913896e-03 3.49087701e+02] [ 8.53793130e-01 5.20531128e-01 -9.19974989e-03 3.04145275e+02] [ 1.09518508e-02 -2.90889809e-04 9.99939984e-01 2.15630482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.830385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:349.10, Y:304.17, Z:21.56 [[ 5.19900509e-01 -8.54206122e-01 -5.94656583e-03 3.49102356e+02] [ 8.54156613e-01 5.19934432e-01 -9.20141281e-03 3.04167901e+02] [ 1.09517275e-02 -2.95479324e-04 9.99939984e-01 2.15630666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.860385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:349.12, Y:304.19, Z:21.56 [[ 5.19862879e-01 -8.54229034e-01 -5.94514504e-03 3.49117767e+02] [ 8.54179516e-01 5.19896789e-01 -9.20233071e-03 3.04191549e+02] [ 1.09517599e-02 -2.94270977e-04 9.99939984e-01 2.15635959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.890385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:349.13, Y:304.21, Z:21.56 [[ 5.19670578e-01 -8.54346052e-01 -5.94260784e-03 3.49132345e+02] [ 8.54296523e-01 5.19704472e-01 -9.20396887e-03 3.04214824e+02] [ 1.09517743e-02 -2.93717389e-04 9.99939984e-01 2.15644446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.920385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:349.15, Y:304.24, Z:21.57 [[ 5.19106360e-01 -8.54689002e-01 -5.94118177e-03 3.49146582e+02] [ 8.54639485e-01 5.19140271e-01 -9.20488931e-03 3.04239418e+02] [ 1.09516244e-02 -2.99251946e-04 9.99939984e-01 2.15654629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.950385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:349.16, Y:304.26, Z:21.57 [[ 5.18931173e-01 -8.54795397e-01 -5.93865296e-03 3.49161373e+02] [ 8.54745868e-01 5.18965067e-01 -9.20652052e-03 3.04263730e+02] [ 1.09516448e-02 -2.98488590e-04 9.99939984e-01 2.15656334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.980385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:349.18, Y:304.29, Z:21.57 [[ 5.18567907e-01 -8.55015841e-01 -5.93611310e-03 3.49175759e+02] [ 8.54966309e-01 5.18601794e-01 -9.20815786e-03 3.04288096e+02] [ 1.09515997e-02 -3.00121564e-04 9.99939984e-01 2.15652005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.010385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:349.19, Y:304.31, Z:21.57 [[ 5.18117446e-01 -8.55288901e-01 -5.93358671e-03 3.49189975e+02] [ 8.55239368e-01 5.18151333e-01 -9.20978553e-03 3.04312685e+02] [ 1.09515232e-02 -3.02886389e-04 9.99939984e-01 2.15656087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.040385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:349.20, Y:304.34, Z:21.57 [[ 5.17143852e-01 -8.55877947e-01 -5.93098583e-03 3.49204632e+02] [ 8.55828433e-01 5.17177767e-01 -9.21146017e-03 3.04335530e+02] [ 1.09512596e-02 -3.12256315e-04 9.99939984e-01 2.15660191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.070385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:349.22, Y:304.36, Z:21.57 [[ 5.16345550e-01 -8.56359804e-01 -5.92955059e-03 3.49219199e+02] [ 8.56310311e-01 5.16379496e-01 -9.21238396e-03 3.04357938e+02] [ 1.09510137e-02 -3.20761841e-04 9.99939984e-01 2.15667450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.100385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:349.23, Y:304.38, Z:21.57 [[ 5.15535652e-01 -8.56847623e-01 -5.92815866e-03 3.49233727e+02] [ 8.56798152e-01 5.15569629e-01 -9.21327958e-03 3.04382164e+02] [ 1.09507553e-02 -3.29461288e-04 9.99939984e-01 2.15680196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.130385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:349.25, Y:304.41, Z:21.57 [[ 5.15254158e-01 -8.57016942e-01 -5.92567957e-03 3.49247598e+02] [ 8.56967464e-01 5.15288125e-01 -9.21487377e-03 3.04406061e+02] [ 1.09507353e-02 -3.30112576e-04 9.99939984e-01 2.15680028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.160385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:349.26, Y:304.43, Z:21.57 [[ 5.15558010e-01 -8.56834205e-01 -5.92314559e-03 3.49261662e+02] [ 8.56784696e-01 5.15591932e-01 -9.21650228e-03 3.04430277e+02] [ 1.09509405e-02 -3.23218922e-04 9.99939984e-01 2.15676172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.190385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:349.27, Y:304.45, Z:21.57 [[ 5.16975286e-01 -8.55979848e-01 -5.92060694e-03 3.49274175e+02] [ 8.55930264e-01 5.17009100e-01 -9.21813280e-03 3.04454478e+02] [ 1.09515436e-02 -3.02079813e-04 9.99939984e-01 2.15668672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.2203857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:349.29, Y:304.48, Z:21.57 [[ 5.17729245e-01 -8.55524045e-01 -5.91921852e-03 3.49288075e+02] [ 8.55474421e-01 5.17763000e-01 -9.21902425e-03 3.04479130e+02] [ 1.09518493e-02 -2.90781574e-04 9.99939984e-01 2.15666735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.250385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:349.30, Y:304.50, Z:21.57 [[ 5.17165280e-01 -8.55865098e-01 -5.91673556e-03 3.49303070e+02] [ 8.55815478e-01 5.17199041e-01 -9.22061753e-03 3.04502854e+02] [ 1.09517347e-02 -2.95050622e-04 9.99939984e-01 2.15668789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.280385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:349.32, Y:304.53, Z:21.57 [[ 5.16019540e-01 -8.56556394e-01 -5.91425912e-03 3.49318016e+02] [ 8.56506801e-01 5.16053340e-01 -9.22220569e-03 3.04526747e+02] [ 1.09514124e-02 -3.06764824e-04 9.99939984e-01 2.15675499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.310385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:349.33, Y:304.55, Z:21.57 [[ 5.13341044e-01 -8.58164334e-01 -5.91166366e-03 3.49332099e+02] [ 8.58114829e-01 5.13374971e-01 -9.22386915e-03 3.04550074e+02] [ 1.09504957e-02 -3.37895628e-04 9.99939984e-01 2.15682389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.3403857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:349.35, Y:304.57, Z:21.57 [[ 5.11747759e-01 -8.59115417e-01 -5.91022573e-03 3.49346286e+02] [ 8.59065964e-01 5.11781763e-01 -9.22479041e-03 3.04573883e+02] [ 1.09499054e-02 -3.56507949e-04 9.99939984e-01 2.15687802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.370385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:349.36, Y:304.60, Z:21.57 [[ 5.08581043e-01 -8.60993857e-01 -5.90768630e-03 3.49360537e+02] [ 8.60944511e-01 5.08615201e-01 -9.22641641e-03 3.04598111e+02] [ 1.09486269e-02 -3.93809614e-04 9.99939984e-01 2.15694885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.400385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:349.38, Y:304.62, Z:21.57 [[ 5.06016061e-01 -8.62503841e-01 -5.90516481e-03 3.49375155e+02] [ 8.62454577e-01 5.06050339e-01 -9.22802995e-03 3.04622440e+02] [ 1.09475219e-02 -4.23405056e-04 9.99939984e-01 2.15693099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.430385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:349.39, Y:304.65, Z:21.57 [[ 5.00603423e-01 -8.65656613e-01 -5.90259874e-03 3.49387512e+02] [ 8.65607546e-01 5.00637982e-01 -9.22967102e-03 3.04646324e+02] [ 1.09447909e-02 -4.88929107e-04 9.99939984e-01 2.15690027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.460385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:349.40, Y:304.67, Z:21.57 [[ 4.94811383e-01 -8.68980363e-01 -5.90117335e-03 3.49399723e+02] [ 8.68931518e-01 4.94846253e-01 -9.23058228e-03 3.04672358e+02] [ 1.09413683e-02 -5.60318340e-04 9.99939984e-01 2.15701016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.490385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:349.41, Y:304.70, Z:21.57 [[ 4.91897082e-01 -8.70633371e-01 -5.89866795e-03 3.49412902e+02] [ 8.70584623e-01 4.91932090e-01 -9.23218304e-03 3.04697396e+02] [ 1.09395907e-02 -5.94005714e-04 9.99939984e-01 2.15706281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.520385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:349.43, Y:304.72, Z:21.57 [[ 4.89531735e-01 -8.71965548e-01 -5.89608920e-03 3.49425270e+02] [ 8.71916876e-01 4.89566847e-01 -9.23382965e-03 3.04722189e+02] [ 1.09381111e-02 -6.20647022e-04 9.99939984e-01 2.15702062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.550385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:349.43, Y:304.75, Z:21.57 [[ 4.87109742e-01 -8.73320883e-01 -5.89353232e-03 3.49434006e+02] [ 8.73272290e-01 4.87144963e-01 -9.23546130e-03 3.04749235e+02] [ 1.09365258e-02 -6.47975292e-04 9.99939984e-01 2.15710052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.580385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:349.45, Y:304.77, Z:21.57 [[ 4.86874622e-01 -8.73451994e-01 -5.89213073e-03 3.49449306e+02] [ 8.73403398e-01 4.86909841e-01 -9.23635542e-03 3.04773330e+02] [ 1.09364495e-02 -6.49259955e-04 9.99939984e-01 2.15713175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.610385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:349.46, Y:304.80, Z:21.57 [[ 4.85917997e-01 -8.73984561e-01 -5.88964369e-03 3.49459894e+02] [ 8.73935985e-01 4.85953243e-01 -9.23794103e-03 3.04798272e+02] [ 1.09359093e-02 -6.58289759e-04 9.99939984e-01 2.15720984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.640385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:349.47, Y:304.83, Z:21.57 [[ 4.84392688e-01 -8.74830870e-01 -5.88827992e-03 3.49467415e+02] [ 8.74782346e-01 4.84428005e-01 -9.23881022e-03 3.04827023e+02] [ 1.09348441e-02 -6.75751206e-04 9.99939984e-01 2.15716179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.670385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:349.47, Y:304.85, Z:21.57 [[ 4.83298831e-01 -8.75435661e-01 -5.88582067e-03 3.49474887e+02] [ 8.75387162e-01 4.83334182e-01 -9.24037668e-03 3.04854924e+02] [ 1.09341736e-02 -6.86508612e-04 9.99939984e-01 2.15717053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.700385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:349.49, Y:304.88, Z:21.57 [[ 4.82751453e-01 -8.75737644e-01 -5.88337092e-03 3.49485802e+02] [ 8.75689148e-01 4.82786808e-01 -9.24193618e-03 3.04880893e+02] [ 1.09339253e-02 -6.90445955e-04 9.99939984e-01 2.15721031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.730385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:349.49, Y:304.91, Z:21.57 [[ 4.83290989e-01 -8.75440024e-01 -5.88085117e-03 3.49491509e+02] [ 8.75391487e-01 4.83326288e-01 -9.24353928e-03 3.04908092e+02] [ 1.09345342e-02 -6.80727815e-04 9.99939984e-01 2.15716500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.760385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:349.50, Y:304.93, Z:21.57 [[ 4.83292398e-01 -8.75439408e-01 -5.85666184e-03 3.49502975e+02] [ 8.75390687e-01 4.83327443e-01 -9.25892304e-03 3.04934690e+02] [ 1.09363115e-02 -6.52100106e-04 9.99939984e-01 2.15721442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.790385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:349.51, Y:304.96, Z:21.57 [[ 4.84982209e-01 -8.74504262e-01 -5.87824305e-03 3.49512793e+02] [ 8.74455637e-01 4.85017387e-01 -9.24520137e-03 3.04959356e+02] [ 1.09360181e-02 -6.56504594e-04 9.99939984e-01 2.15721337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.820385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:349.52, Y:304.99, Z:21.57 [[ 4.87254250e-01 -8.73240623e-01 -5.84046465e-03 3.49520007e+02] [ 8.73191621e-01 4.87288903e-01 -9.26921025e-03 3.04990504e+02] [ 1.09402445e-02 -5.83382712e-04 9.99939984e-01 2.15738748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.850385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:349.53, Y:305.02, Z:21.57 [[ 4.90625347e-01 -8.71350814e-01 -5.87605372e-03 3.49525030e+02] [ 8.71301946e-01 4.90660187e-01 -9.24659401e-03 3.05019427e+02] [ 1.09401728e-02 -5.83203641e-04 9.99939984e-01 2.15744205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.880385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:349.54, Y:305.05, Z:21.57 [[ 4.92608792e-01 -8.70231040e-01 -5.87493151e-03 3.49535860e+02] [ 8.70182085e-01 4.92643509e-01 -9.24730697e-03 3.05046006e+02] [ 1.09415404e-02 -5.56955430e-04 9.99939984e-01 2.15743734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.910385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:349.54, Y:305.07, Z:21.58 [[ 4.97260435e-01 -8.67581452e-01 -5.87234635e-03 3.49542991e+02] [ 8.67532292e-01 4.97294861e-01 -9.24894834e-03 3.05073943e+02] [ 1.09445037e-02 -4.95314018e-04 9.99939984e-01 2.15757215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.940385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:349.55, Y:305.10, Z:21.58 [[ 4.99458857e-01 -8.66317713e-01 -5.87124154e-03 3.49554314e+02] [ 8.66268458e-01 4.99493147e-01 -9.24964962e-03 3.05099422e+02] [ 1.09457802e-02 -4.66251936e-04 9.99939984e-01 2.15762949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.9703857229999 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:349.56, Y:305.13, Z:21.57 [[ 5.03911158e-01 -8.63735552e-01 -5.86872890e-03 3.49562737e+02] [ 8.63686102e-01 5.03945167e-01 -9.25124356e-03 3.05127152e+02] [ 1.09481455e-02 -4.06934736e-04 9.99939984e-01 2.15712297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.000385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:349.57, Y:305.15, Z:21.58 [[ 5.06620095e-01 -8.62149434e-01 -5.86795067e-03 3.49574946e+02] [ 8.62099873e-01 5.06653940e-01 -9.25173716e-03 3.05152124e+02] [ 1.09494003e-02 -3.71643573e-04 9.99939984e-01 2.15753774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.030385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:349.59, Y:305.18, Z:21.57 [[ 5.10606299e-01 -8.59794629e-01 -5.86543153e-03 3.49585712e+02] [ 8.59744893e-01 5.10639888e-01 -9.25333397e-03 3.05178776e+02] [ 1.09510901e-02 -3.17964191e-04 9.99939984e-01 2.15748754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.060385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:349.60, Y:305.20, Z:21.57 [[ 5.12461808e-01 -8.58690003e-01 -5.86292380e-03 3.49597984e+02] [ 8.58640177e-01 5.12495262e-01 -9.25492260e-03 3.05203544e+02] [ 1.09518302e-02 -2.91347558e-04 9.99939984e-01 2.15747379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.0903857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:349.61, Y:305.23, Z:21.57 [[ 5.14293426e-01 -8.57594257e-01 -5.86183561e-03 3.49610455e+02] [ 8.57544352e-01 5.14326762e-01 -9.25561178e-03 3.05229138e+02] [ 1.09524584e-02 -2.66683724e-04 9.99939984e-01 2.15745838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.120385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:349.62, Y:305.26, Z:21.57 [[ 5.18580928e-01 -8.55008473e-01 -5.85936105e-03 3.49620990e+02] [ 8.54958383e-01 5.18613987e-01 -9.25717807e-03 3.05255130e+02] [ 1.09537123e-02 -2.08913855e-04 9.99939984e-01 2.15745271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.150385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:349.64, Y:305.28, Z:21.57 [[ 5.20497124e-01 -8.53843336e-01 -5.85683594e-03 3.49635052e+02] [ 8.53793154e-01 5.20530043e-01 -9.25877538e-03 3.05279848e+02] [ 1.09542027e-02 -1.81360473e-04 9.99939984e-01 2.15747265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.180385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:349.65, Y:305.31, Z:21.58 [[ 5.25544924e-01 -8.50745708e-01 -5.85425853e-03 3.49648242e+02] [ 8.50695315e-01 5.25577517e-01 -9.26040477e-03 3.05305016e+02] [ 1.09551163e-02 -1.13431575e-04 9.99939984e-01 2.15757816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.210385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:349.66, Y:305.33, Z:21.58 [[ 5.31646055e-01 -8.46946415e-01 -5.85165167e-03 3.49661279e+02] [ 8.46895770e-01 5.31678257e-01 -9.26205175e-03 3.05330454e+02] [ 1.09556575e-02 -3.16057799e-05 9.99939984e-01 2.15768783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.240385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:349.68, Y:305.35, Z:21.58 [[ 5.34946600e-01 -8.44865624e-01 -5.84904021e-03 3.49675660e+02] [ 8.44814836e-01 5.34978576e-01 -9.26370061e-03 3.05353449e+02] [ 1.09556934e-02 1.42292065e-05 9.99939985e-01 2.15767125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.270385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:349.69, Y:305.38, Z:21.58 [[ 5.37891350e-01 -8.42993889e-01 -5.84790680e-03 3.49690915e+02] [ 8.42942982e-01 5.37923136e-01 -9.26441604e-03 3.05376913e+02] [ 1.09555705e-02 5.37972600e-05 9.99939985e-01 2.15761937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.300385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:349.71, Y:305.40, Z:21.58 [[ 5.43125110e-01 -8.39631435e-01 -5.84532999e-03 3.49708642e+02] [ 8.39580313e-01 5.43156550e-01 -9.26604158e-03 3.05398947e+02] [ 1.09549891e-02 1.24995871e-04 9.99939985e-01 2.15760837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.330385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:349.73, Y:305.42, Z:21.58 [[ 5.45333431e-01 -8.38198849e-01 -5.84276697e-03 3.49725801e+02] [ 8.38147628e-01 5.45364708e-01 -9.26765743e-03 3.05421078e+02] [ 1.09545787e-02 1.56862155e-04 9.99939985e-01 2.15764432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.360385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:349.74, Y:305.44, Z:21.58 [[ 5.49177123e-01 -8.35685575e-01 -5.84020226e-03 3.49744823e+02] [ 8.35634193e-01 5.49208135e-01 -9.26927335e-03 3.05440924e+02] [ 1.09536846e-02 2.10200170e-04 9.99939985e-01 2.15782642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.390385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:349.76, Y:305.46, Z:21.58 [[ 5.51464872e-01 -8.34177744e-01 -5.82984082e-03 3.49763437e+02] [ 8.34126208e-01 5.51495629e-01 -9.27579869e-03 3.05463298e+02] [ 1.09527965e-02 2.52454123e-04 9.99939984e-01 2.15784954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.420385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:349.78, Y:305.49, Z:21.58 [[ 5.52522621e-01 -8.33477465e-01 -5.83688529e-03 3.49780463e+02] [ 8.33425937e-01 5.52553390e-01 -9.27136376e-03 3.05486147e+02] [ 1.09526635e-02 2.58026607e-04 9.99939985e-01 2.15789112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.450385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:349.80, Y:305.51, Z:21.58 [[ 5.54092812e-01 -8.32434452e-01 -5.83435692e-03 3.49801385e+02] [ 8.32382849e-01 5.54123456e-01 -9.27295456e-03 3.05505982e+02] [ 1.09520809e-02 2.81658830e-04 9.99939985e-01 2.15793139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.480385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:349.82, Y:305.53, Z:21.58 [[ 5.54514647e-01 -8.32153530e-01 -5.83180362e-03 3.49820595e+02] [ 8.32101895e-01 5.54545236e-01 -9.27456007e-03 3.05527208e+02] [ 1.09518568e-02 2.90224554e-04 9.99939985e-01 2.15800511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.510385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:349.84, Y:305.55, Z:21.58 [[ 5.55143426e-01 -8.31734210e-01 -5.82925173e-03 3.49839191e+02] [ 8.31682536e-01 5.55173948e-01 -9.27616371e-03 3.05546829e+02] [ 1.09515514e-02 3.01514439e-04 9.99939985e-01 2.15806949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.540385723 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:349.86, Y:305.57, Z:21.58 [[ 5.55387353e-01 -8.31571357e-01 -5.82814632e-03 3.49862362e+02] [ 8.31519666e-01 5.55417847e-01 -9.27685818e-03 3.05565161e+02] [ 1.09514260e-02 3.06031426e-04 9.99939985e-01 2.15820785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.570385723 meters Centerline goodness : 0.999917 Centerline is valid? [True, True] Translation: X:349.89, Y:305.58, Z:21.58 [[ 5.55368402e-01 -8.31584031e-01 -5.82564779e-03 3.49885168e+02] [ 8.31532324e-01 5.55398870e-01 -9.27842693e-03 3.05583961e+02] [ 1.09513499e-02 3.08730692e-04 9.99939985e-01 2.15793423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.600385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:349.90, Y:305.60, Z:21.58 [[ 5.55314587e-01 -8.31619986e-01 -5.82315119e-03 3.49903685e+02] [ 8.31568265e-01 5.55345031e-01 -9.27999354e-03 3.05604455e+02] [ 1.09512862e-02 3.10968052e-04 9.99939985e-01 2.15830926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.630385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:349.93, Y:305.62, Z:21.58 [[ 5.55031282e-01 -8.31809104e-01 -5.82145404e-03 3.49927863e+02] [ 8.31757383e-01 5.55061725e-01 -9.28105805e-03 3.05622658e+02] [ 1.09513349e-02 3.09240176e-04 9.99939985e-01 2.15829301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.660385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:349.95, Y:305.64, Z:21.58 [[ 5.55399627e-01 -8.31563224e-01 -5.81883434e-03 3.49947681e+02] [ 8.31511472e-01 5.55430017e-01 -9.28270021e-03 3.05642495e+02] [ 1.09511074e-02 3.17180727e-04 9.99939985e-01 2.15824304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.690385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:349.97, Y:305.66, Z:21.58 [[ 5.55710218e-01 -8.31355705e-01 -5.81770023e-03 3.49968129e+02] [ 8.31303934e-01 5.55740576e-01 -9.28341092e-03 3.05662211e+02] [ 1.09509487e-02 3.22609214e-04 9.99939985e-01 2.15825556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.7203857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:349.99, Y:305.68, Z:21.58 [[ 5.56430780e-01 -8.30873620e-01 -5.81509392e-03 3.49993992e+02] [ 8.30821805e-01 5.56461064e-01 -9.28504323e-03 3.05679507e+02] [ 1.09505708e-02 3.35177022e-04 9.99939985e-01 2.15804245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.750385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:350.02, Y:305.70, Z:21.58 [[ 5.56961084e-01 -8.30518249e-01 -5.81283348e-03 3.50018980e+02] [ 8.30466401e-01 5.56991309e-01 -9.28645814e-03 3.05697193e+02] [ 1.09502707e-02 3.44832888e-04 9.99939985e-01 2.15793812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.780385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:350.04, Y:305.72, Z:21.58 [[ 5.56811555e-01 -8.30618524e-01 -5.81030814e-03 3.50038816e+02] [ 8.30566665e-01 5.56841762e-01 -9.28803791e-03 3.05716386e+02] [ 1.09502386e-02 3.45838581e-04 9.99939985e-01 2.15792218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.810385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:350.06, Y:305.74, Z:21.58 [[ 5.56655081e-01 -8.30723406e-01 -5.80895002e-03 3.50059971e+02] [ 8.30671544e-01 5.56685282e-01 -9.28888723e-03 3.05736335e+02] [ 1.09502530e-02 3.45376793e-04 9.99939985e-01 2.15797284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.8403857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:350.09, Y:305.75, Z:21.58 [[ 5.56015132e-01 -8.31151887e-01 -5.80643710e-03 3.50086912e+02] [ 8.31100031e-01 5.56045345e-01 -9.29045778e-03 3.05753107e+02] [ 1.09504238e-02 3.39905049e-04 9.99939985e-01 2.15815994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.870385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:350.11, Y:305.77, Z:21.58 [[ 5.55711538e-01 -8.31354920e-01 -5.80376798e-03 3.50106300e+02] [ 8.31303058e-01 5.55741740e-01 -9.29212489e-03 3.05772473e+02] [ 1.09504499e-02 3.39050933e-04 9.99939985e-01 2.15808442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.900385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:350.13, Y:305.79, Z:21.58 [[ 5.55297801e-01 -8.31631338e-01 -5.80265142e-03 3.50131512e+02] [ 8.31579484e-01 5.55328017e-01 -9.29282210e-03 3.05789075e+02] [ 1.09505770e-02 3.34917806e-04 9.99939985e-01 2.15800870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.930385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:350.15, Y:305.81, Z:21.58 [[ 5.54502957e-01 -8.32161528e-01 -5.80185880e-03 3.50151952e+02] [ 8.32109698e-01 5.54533213e-01 -9.29331693e-03 3.05809171e+02] [ 1.09508642e-02 3.25388745e-04 9.99939985e-01 2.15805968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.960385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:350.18, Y:305.83, Z:21.58 [[ 5.53139627e-01 -8.33068377e-01 -5.79932323e-03 3.50178052e+02] [ 8.33016580e-01 5.53169940e-01 -9.29489894e-03 3.05825394e+02] [ 1.09512977e-02 3.10444531e-04 9.99939985e-01 2.15812857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.990385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:350.20, Y:305.85, Z:21.58 [[ 5.52524610e-01 -8.33476426e-01 -5.79679382e-03 3.50198905e+02] [ 8.33424635e-01 5.52554933e-01 -9.29647614e-03 3.05845518e+02] [ 1.09514407e-02 3.05341078e-04 9.99939985e-01 2.15839921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.020385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:350.22, Y:305.86, Z:21.59 [[ 5.51179633e-01 -8.34366490e-01 -5.79411998e-03 3.50224029e+02] [ 8.34314730e-01 5.51210010e-01 -9.29814234e-03 3.05862213e+02] [ 1.09518353e-02 2.90827038e-04 9.99939985e-01 2.15853439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.050385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:350.24, Y:305.88, Z:21.59 [[ 5.50888427e-01 -8.34558795e-01 -5.79292913e-03 3.50243021e+02] [ 8.34507038e-01 5.50918809e-01 -9.29888420e-03 3.05882483e+02] [ 1.09518992e-02 2.88407557e-04 9.99939985e-01 2.15855499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.080385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:350.27, Y:305.90, Z:21.58 [[ 5.50182063e-01 -8.35024644e-01 -5.79142399e-03 3.50266819e+02] [ 8.34972903e-01 5.50212472e-01 -9.29982153e-03 3.05900090e+02] [ 1.09520939e-02 2.80912897e-04 9.99939985e-01 2.15849719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.110385723 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:350.29, Y:305.92, Z:21.59 [[ 5.48310522e-01 -8.36254970e-01 -5.76165057e-03 3.50287048e+02] [ 8.36203102e-01 5.48340716e-01 -9.31835266e-03 3.05921728e+02] [ 1.09518663e-02 2.91440736e-04 9.99939984e-01 2.15853565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.140385723 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:350.31, Y:305.94, Z:21.59 [[ 5.46282538e-01 -8.37580974e-01 -5.78792186e-03 3.50312081e+02] [ 8.37529352e-01 5.46313149e-01 -9.30200607e-03 3.05938874e+02] [ 1.09532011e-02 2.33969041e-04 9.99939985e-01 2.15872797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.170385723 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:350.33, Y:305.96, Z:21.59 [[ 5.44209809e-01 -8.38929207e-01 -5.78529624e-03 3.50329481e+02] [ 8.38877643e-01 5.44240518e-01 -9.30363876e-03 3.05960049e+02] [ 1.09536869e-02 2.09975795e-04 9.99939985e-01 2.15867614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.200385723 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:350.35, Y:305.98, Z:21.59 [[ 5.43995321e-01 -8.39068624e-01 -5.73891608e-03 3.50354051e+02] [ 8.39016763e-01 5.44025529e-01 -9.33245640e-03 3.05980429e+02] [ 1.09526882e-02 2.61765817e-04 9.99939983e-01 2.15876937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.230385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:350.37, Y:306.00, Z:21.59 [[ 5.44025608e-01 -8.39048697e-01 -5.78115083e-03 3.50371682e+02] [ 8.38997113e-01 5.44056283e-01 -9.30621961e-03 3.06001087e+02] [ 1.09536429e-02 2.12452925e-04 9.99939984e-01 2.15899673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.260385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:350.39, Y:306.02, Z:21.59 [[ 5.43021578e-01 -8.39698914e-01 -5.77053679e-03 3.50394462e+02] [ 8.39647297e-01 5.43052197e-01 -9.31281020e-03 3.06020434e+02] [ 1.09536593e-02 2.11841275e-04 9.99939984e-01 2.15911906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.290385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:350.42, Y:306.04, Z:21.59 [[ 5.41656315e-01 -8.40580188e-01 -5.77780112e-03 3.50417767e+02] [ 8.40528669e-01 5.41687098e-01 -9.30830112e-03 3.06039534e+02] [ 1.09541338e-02 1.85492601e-04 9.99939984e-01 2.15919128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.320385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:350.44, Y:306.06, Z:21.59 [[ 5.41041626e-01 -8.40975984e-01 -5.77522579e-03 3.50435289e+02] [ 8.40924470e-01 5.41072418e-01 -9.30989867e-03 3.06060072e+02] [ 1.09542166e-02 1.80514027e-04 9.99939984e-01 2.15919761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.350385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:350.46, Y:306.08, Z:21.59 [[ 5.39112331e-01 -8.42214083e-01 -5.77347673e-03 3.50456564e+02] [ 8.42162628e-01 5.39143222e-01 -9.31098322e-03 3.06079942e+02] [ 1.09545720e-02 1.57459530e-04 9.99939984e-01 2.15920230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.380385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:350.47, Y:306.10, Z:21.59 [[ 5.38011618e-01 -8.42917668e-01 -5.77091297e-03 3.50474458e+02] [ 8.42866237e-01 5.38042548e-01 -9.31257196e-03 3.06101929e+02] [ 1.09547282e-02 1.46164211e-04 9.99939984e-01 2.15922905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.410385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:350.49, Y:306.12, Z:21.59 [[ 5.37090896e-01 -8.43504650e-01 -5.76834725e-03 3.50492342e+02] [ 8.43453236e-01 5.37121854e-01 -9.31416093e-03 3.06123706e+02] [ 1.09548434e-02 1.37219893e-04 9.99939984e-01 2.15919653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.440385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:350.51, Y:306.14, Z:21.59 [[ 5.35714998e-01 -8.44379178e-01 -5.76577771e-03 3.50513470e+02] [ 8.44327797e-01 5.35746011e-01 -9.31575129e-03 3.06143010e+02] [ 1.09550188e-02 1.22381290e-04 9.99939985e-01 2.15915836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.4703857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:350.53, Y:306.16, Z:21.59 [[ 5.35077402e-01 -8.44783374e-01 -5.76411733e-03 3.50531769e+02] [ 8.44732005e-01 5.35108435e-01 -9.31677854e-03 3.06164684e+02] [ 1.09550874e-02 1.16063263e-04 9.99939985e-01 2.15915883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.500385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:350.55, Y:306.19, Z:21.59 [[ 5.34848896e-01 -8.44928081e-01 -5.76160072e-03 3.50546742e+02] [ 8.44876704e-01 5.34879915e-01 -9.31833458e-03 3.06189036e+02] [ 1.09550871e-02 1.16058738e-04 9.99939985e-01 2.15919003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.530385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:350.57, Y:306.21, Z:21.59 [[ 5.35230855e-01 -8.44686193e-01 -5.75907984e-03 3.50566319e+02] [ 8.44634785e-01 5.35261823e-01 -9.31989232e-03 3.06210110e+02] [ 1.09549999e-02 1.23974772e-04 9.99939985e-01 2.15937401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.560385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:350.58, Y:306.23, Z:21.59 [[ 5.35789849e-01 -8.44331748e-01 -5.75650471e-03 3.50579643e+02] [ 8.44280302e-01 5.35820755e-01 -9.32148260e-03 3.06233582e+02] [ 1.09548784e-02 1.34252216e-04 9.99939985e-01 2.15935988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.5903857229999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:350.59, Y:306.26, Z:21.59 [[ 5.35033753e-01 -8.44811087e-01 -5.75421825e-03 3.50591612e+02] [ 8.44759653e-01 5.35064680e-01 -9.32289383e-03 3.06259049e+02] [ 1.09549630e-02 1.27131458e-04 9.99939985e-01 2.15936649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.620385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:350.60, Y:306.28, Z:21.59 [[ 5.33506427e-01 -8.45776455e-01 -5.75159029e-03 3.50604197e+02] [ 8.45725060e-01 5.33537418e-01 -9.32451482e-03 3.06284943e+02] [ 1.09551437e-02 1.10424542e-04 9.99939985e-01 2.15906652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.650385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:350.61, Y:306.31, Z:21.59 [[ 5.30620485e-01 -8.47589976e-01 -5.75623861e-03 3.50614023e+02] [ 8.47538718e-01 5.30651702e-01 -9.32164832e-03 3.06310724e+02] [ 1.09554935e-02 6.76224551e-05 9.99939985e-01 2.15932549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.680385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:350.63, Y:306.33, Z:21.59 [[ 5.28804300e-01 -8.48724321e-01 -5.74799458e-03 3.50628454e+02] [ 8.48673075e-01 5.28835536e-01 -9.32672905e-03 3.06334765e+02] [ 1.09555656e-02 5.38461915e-05 9.99939985e-01 2.15944717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.710385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:350.64, Y:306.36, Z:21.60 [[ 5.25769534e-01 -8.50607657e-01 -5.74550284e-03 3.50643916e+02] [ 8.50556506e-01 5.25800925e-01 -9.32826377e-03 3.06358503e+02] [ 1.09556833e-02 1.76420659e-05 9.99939985e-01 2.15962469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.740385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:350.66, Y:306.38, Z:21.60 [[ 5.24617638e-01 -8.51318587e-01 -5.74428817e-03 3.50657732e+02] [ 8.51267471e-01 5.24649086e-01 -9.32901170e-03 3.06381618e+02] [ 1.09556966e-02 4.23842208e-06 9.99939985e-01 2.15977318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.770385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:350.67, Y:306.41, Z:21.60 [[ 5.22267077e-01 -8.52762646e-01 -5.74198675e-03 3.50671060e+02] [ 8.52711600e-01 5.22298640e-01 -9.33042801e-03 3.06405305e+02] [ 1.09556723e-02 -2.32833447e-05 9.99939985e-01 2.15959189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.800385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:350.69, Y:306.43, Z:21.60 [[ 5.20859140e-01 -8.53623343e-01 -5.73972427e-03 3.50685608e+02] [ 8.53572334e-01 5.20890763e-01 -9.33181959e-03 3.06429433e+02] [ 1.09556284e-02 -3.87063120e-05 9.99939985e-01 2.15954332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.830385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:350.70, Y:306.45, Z:21.59 [[ 5.17850749e-01 -8.55451744e-01 -5.73721916e-03 3.50699565e+02] [ 8.55400830e-01 5.17882524e-01 -9.33335948e-03 3.06454119e+02] [ 1.09554442e-02 -7.43348281e-05 9.99939985e-01 2.15943878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.860385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:350.71, Y:306.48, Z:21.59 [[ 5.16309575e-01 -8.56382821e-01 -5.73469395e-03 3.50714072e+02] [ 8.56331947e-01 5.16341414e-01 -9.33491079e-03 3.06478139e+02] [ 1.09553172e-02 -9.10978138e-05 9.99939985e-01 2.15939632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.890385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:350.73, Y:306.50, Z:21.59 [[ 5.14868565e-01 -8.57249965e-01 -5.73215816e-03 3.50734074e+02] [ 8.57199128e-01 5.14900462e-01 -9.33646765e-03 3.06502391e+02] [ 1.09551775e-02 -1.06547274e-04 9.99939985e-01 2.15931422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.920385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:350.75, Y:306.52, Z:21.60 [[ 5.13395624e-01 -8.58132352e-01 -5.81384991e-03 3.50746746e+02] [ 8.58082133e-01 5.13428494e-01 -9.28630659e-03 3.06522894e+02] [ 1.09538763e-02 -2.21211568e-04 9.99939980e-01 2.15977328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.950385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:350.76, Y:306.55, Z:21.60 [[ 5.12899699e-01 -8.58429437e-01 -5.72709810e-03 3.50761126e+02] [ 8.58378639e-01 5.12931658e-01 -9.33950392e-03 3.06546559e+02] [ 1.09549150e-02 -1.25789925e-04 9.99939985e-01 2.15987972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.980385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:350.78, Y:306.57, Z:21.60 [[ 5.12386695e-01 -8.58735759e-01 -5.72460606e-03 3.50775426e+02] [ 8.58684963e-01 5.12418656e-01 -9.34103116e-03 3.06570209e+02] [ 1.09548724e-02 -1.29413063e-04 9.99939985e-01 2.16003162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.010385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:350.79, Y:306.59, Z:21.60 [[ 5.11126909e-01 -8.59486206e-01 -5.72225976e-03 3.50789137e+02] [ 8.59435441e-01 5.11158919e-01 -9.34246827e-03 3.06594218e+02] [ 1.09547067e-02 -1.42725916e-04 9.99939985e-01 2.16000343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.040385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:350.80, Y:306.62, Z:21.60 [[ 5.10922339e-01 -8.59607840e-01 -5.72060324e-03 3.50802979e+02] [ 8.59557071e-01 5.10954343e-01 -9.34348248e-03 3.06617661e+02] [ 1.09546979e-02 -1.43391044e-04 9.99939985e-01 2.15998077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.070385723 meters Centerline goodness : 0.999400 Centerline is valid? [True, True] Translation: X:350.82, Y:306.64, Z:21.60 [[ 5.11055221e-01 -8.59528860e-01 -5.71834236e-03 3.50818328e+02] [ 8.59478071e-01 5.11087193e-01 -9.34486597e-03 3.06642438e+02] [ 1.09547535e-02 -1.39047323e-04 9.99939985e-01 2.15999535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.100385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:350.83, Y:306.66, Z:21.60 [[ 5.11326278e-01 -8.59367533e-01 -5.73411523e-03 3.50832343e+02] [ 8.59316842e-01 5.11358406e-01 -9.33521905e-03 3.06664901e+02] [ 1.09545722e-02 -1.54078977e-04 9.99939985e-01 2.16017177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.130385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:350.85, Y:306.69, Z:21.60 [[ 5.12788017e-01 -8.58496252e-01 -5.71274162e-03 3.50846590e+02] [ 8.58445360e-01 5.12819825e-01 -9.34828048e-03 3.06689313e+02] [ 1.09550709e-02 -1.10390334e-04 9.99939985e-01 2.16028648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.160385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:350.86, Y:306.71, Z:21.60 [[ 5.13327421e-01 -8.58173848e-01 -5.71013110e-03 3.50860702e+02] [ 8.58122918e-01 5.13359170e-01 -9.34987477e-03 3.06713651e+02] [ 1.09551662e-02 -1.00447260e-04 9.99939985e-01 2.16028664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.190385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:350.87, Y:306.74, Z:21.60 [[ 5.15053458e-01 -8.57139055e-01 -5.70751187e-03 3.50874010e+02] [ 8.57088044e-01 5.15085075e-01 -9.35147338e-03 3.06737373e+02] [ 1.09553672e-02 -7.53314947e-05 9.99939985e-01 2.16027664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.2203857229999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:350.89, Y:306.76, Z:21.60 [[ 5.15715970e-01 -8.56740620e-01 -5.70513956e-03 3.50888275e+02] [ 8.56689568e-01 5.15747522e-01 -9.35292045e-03 3.06761465e+02] [ 1.09554385e-02 -6.40831058e-05 9.99939985e-01 2.16030364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.250385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:350.90, Y:306.79, Z:21.60 [[ 5.16252216e-01 -8.56417615e-01 -5.70256826e-03 3.50903210e+02] [ 8.56366526e-01 5.16283707e-01 -9.35448794e-03 3.06785362e+02] [ 1.09554913e-02 -5.42134463e-05 9.99939985e-01 2.16027627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.280385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:350.92, Y:306.81, Z:21.60 [[ 5.15546728e-01 -8.56842507e-01 -5.69998573e-03 3.50918270e+02] [ 8.56791427e-01 5.15578234e-01 -9.35606129e-03 3.06808987e+02] [ 1.09554596e-02 -6.02121225e-05 9.99939985e-01 2.16028523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.310385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:350.93, Y:306.83, Z:21.60 [[ 5.13869556e-01 -8.57849415e-01 -5.69741295e-03 3.50933819e+02] [ 8.57798379e-01 5.13901134e-01 -9.35762773e-03 3.06831485e+02] [ 1.09553424e-02 -7.86315847e-05 9.99939985e-01 2.16037530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.3403857229999 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:350.95, Y:306.85, Z:21.61 [[ 5.12833552e-01 -8.58469169e-01 -5.69510002e-03 3.50949460e+02] [ 8.58418156e-01 5.12865166e-01 -9.35903518e-03 3.06854611e+02] [ 1.09552616e-02 -8.91499985e-05 9.99939985e-01 2.16050062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.370385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:350.96, Y:306.88, Z:21.61 [[ 5.10131863e-01 -8.60077367e-01 -5.69254442e-03 3.50964256e+02] [ 8.60026436e-01 5.10163609e-01 -9.36058934e-03 3.06877821e+02] [ 1.09549600e-02 -1.20603812e-04 9.99939985e-01 2.16054178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.400385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:350.98, Y:306.90, Z:21.61 [[ 5.08535660e-01 -8.61022123e-01 -5.69086980e-03 3.50978618e+02] [ 8.60971240e-01 5.08567482e-01 -9.36160733e-03 3.06902416e+02] [ 1.09547424e-02 -1.38964064e-04 9.99939985e-01 2.16053932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.430385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:350.99, Y:306.93, Z:21.61 [[ 5.07132270e-01 -8.61849467e-01 -5.68831954e-03 3.50992659e+02] [ 8.61798618e-01 5.07164148e-01 -9.36315667e-03 3.06926039e+02] [ 1.09545433e-02 -1.53827025e-04 9.99939985e-01 2.16051248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.460385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:351.01, Y:306.95, Z:21.61 [[ 5.04527405e-01 -8.63376955e-01 -5.68602282e-03 3.51008609e+02] [ 8.63326188e-01 5.04559411e-01 -9.36455121e-03 3.06949592e+02] [ 1.09540740e-02 -1.84219685e-04 9.99939985e-01 2.16073054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.490385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:351.02, Y:306.97, Z:21.61 [[ 5.01504491e-01 -8.65136373e-01 -5.68339854e-03 3.51024291e+02] [ 8.65085700e-01 5.01536646e-01 -9.36614363e-03 3.06972922e+02] [ 1.09534242e-02 -2.19463714e-04 9.99939985e-01 2.16093607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.520385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:351.04, Y:307.00, Z:21.61 [[ 5.00098795e-01 -8.65949724e-01 -5.68079346e-03 3.51037684e+02] [ 8.65899085e-01 5.00131004e-01 -9.36772341e-03 3.06995956e+02] [ 1.09531184e-02 -2.34206668e-04 9.99939985e-01 2.16099537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.550385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:351.05, Y:307.02, Z:21.61 [[ 4.98465477e-01 -8.66890949e-01 -5.67902092e-03 3.51050939e+02] [ 8.66840358e-01 4.98497763e-01 -9.36879785e-03 3.07020292e+02] [ 1.09527053e-02 -2.52782236e-04 9.99939985e-01 2.16108852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.580385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:351.06, Y:307.04, Z:21.61 [[ 4.96691633e-01 -8.67908520e-01 -5.67644801e-03 3.51061654e+02] [ 8.67857978e-01 4.96723994e-01 -9.37035649e-03 3.07043763e+02] [ 1.09522402e-02 -2.72173029e-04 9.99939985e-01 2.16098912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.610385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:351.08, Y:307.07, Z:21.61 [[ 5.00463629e-01 -8.65739453e-01 -5.59961765e-03 3.51078141e+02] [ 8.65688247e-01 5.00494936e-01 -9.41685946e-03 3.07070221e+02] [ 1.09551270e-02 -1.34727530e-04 9.99939982e-01 2.16112362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.640385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:351.09, Y:307.09, Z:21.61 [[ 5.01902569e-01 -8.64905558e-01 -5.67329917e-03 3.51090919e+02] [ 8.64854801e-01 5.01934592e-01 -9.37225794e-03 3.07093975e+02] [ 1.09537431e-02 -2.02619683e-04 9.99939985e-01 2.16109470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.670385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:351.10, Y:307.12, Z:21.61 [[ 5.01302380e-01 -8.65253583e-01 -5.67101342e-03 3.51102055e+02] [ 8.65202832e-01 5.01334413e-01 -9.37364082e-03 3.07120464e+02] [ 1.09536505e-02 -2.07548422e-04 9.99939985e-01 2.16110359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.700385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:351.12, Y:307.14, Z:21.61 [[ 5.05719714e-01 -8.62679222e-01 -5.66832276e-03 3.51115529e+02] [ 8.62628290e-01 5.05751458e-01 -9.37526760e-03 3.07143579e+02] [ 1.09546111e-02 -1.48397917e-04 9.99939985e-01 2.16099939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.730385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:351.13, Y:307.17, Z:21.61 [[ 5.06104153e-01 -8.62453758e-01 -5.66588053e-03 3.51128178e+02] [ 8.62402795e-01 5.06135847e-01 -9.37674331e-03 3.07167408e+02] [ 1.09547127e-02 -1.40662469e-04 9.99939985e-01 2.16095410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.760385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:351.14, Y:307.19, Z:21.61 [[ 5.05772763e-01 -8.62648150e-01 -5.66412100e-03 3.51140970e+02] [ 8.62597187e-01 5.05804458e-01 -9.37780606e-03 3.07192390e+02] [ 1.09546847e-02 -1.42815961e-04 9.99939985e-01 2.16094667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.790385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:351.15, Y:307.22, Z:21.61 [[ 5.03773639e-01 -8.63817150e-01 -5.66151958e-03 3.51154647e+02] [ 8.63766243e-01 5.03805424e-01 -9.37937631e-03 3.07216136e+02] [ 1.09543704e-02 -1.65146963e-04 9.99939985e-01 2.16110767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.820385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:351.17, Y:307.24, Z:21.61 [[ 5.02676347e-01 -8.64456166e-01 -5.65918303e-03 3.51168367e+02] [ 8.64405284e-01 5.02708171e-01 -9.38078589e-03 3.07239443e+02] [ 1.09541958e-02 -1.76328527e-04 9.99939985e-01 2.16120128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.850385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:351.18, Y:307.26, Z:21.61 [[ 5.00256290e-01 -8.65858905e-01 -5.65687970e-03 3.51180472e+02] [ 8.65808097e-01 5.00288231e-01 -9.38217466e-03 3.07264692e+02] [ 1.09537098e-02 -2.04280357e-04 9.99939985e-01 2.16137208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.880385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:351.19, Y:307.29, Z:21.61 [[ 4.99076320e-01 -8.66539586e-01 -5.65436048e-03 3.51193136e+02] [ 8.66488804e-01 4.99108304e-01 -9.38369267e-03 3.07290385e+02] [ 1.09534794e-02 -2.16261246e-04 9.99939985e-01 2.16140558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.910385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:351.21, Y:307.32, Z:21.61 [[ 4.98334953e-01 -8.66966165e-01 -5.65184613e-03 3.51205254e+02] [ 8.66915393e-01 4.98366952e-01 -9.38520683e-03 3.07315119e+02] [ 1.09533501e-02 -2.22695812e-04 9.99939985e-01 2.16136538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.940385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:351.22, Y:307.34, Z:21.61 [[ 4.97348964e-01 -8.67532184e-01 -5.64959198e-03 3.51216595e+02] [ 8.67481433e-01 4.97380996e-01 -9.38656356e-03 3.07340599e+02] [ 1.09531457e-02 -2.32518486e-04 9.99939985e-01 2.16124110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.9703857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:351.23, Y:307.37, Z:21.61 [[ 4.96133833e-01 -8.68227695e-01 -5.64711857e-03 3.51231046e+02] [ 8.68176972e-01 4.96165909e-01 -9.38805137e-03 3.07366979e+02] [ 1.09528739e-02 -2.44968399e-04 9.99939985e-01 2.16126952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.000385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:351.24, Y:307.39, Z:21.61 [[ 4.96785569e-01 -8.67854715e-01 -5.68270678e-03 3.51242389e+02] [ 8.67804211e-01 4.96817992e-01 -9.36664769e-03 3.07391433e+02] [ 1.09521603e-02 -2.78261480e-04 9.99939985e-01 2.16132443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.030385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:351.26, Y:307.42, Z:21.61 [[ 4.96880624e-01 -8.67800551e-01 -5.64349828e-03 3.51255543e+02] [ 8.67749776e-01 4.96912619e-01 -9.39021194e-03 3.07417298e+02] [ 1.09531566e-02 -2.31329992e-04 9.99939986e-01 2.16131887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.060385723 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:351.27, Y:307.44, Z:21.61 [[ 4.98426161e-01 -8.66913758e-01 -5.64794308e-03 3.51265867e+02] [ 8.66862956e-01 4.98458113e-01 -9.38754138e-03 3.07442797e+02] [ 1.09534518e-02 -2.16996422e-04 9.99939986e-01 2.16129019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.0903857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:351.28, Y:307.47, Z:21.61 [[ 4.99527905e-01 -8.66279436e-01 -5.64007576e-03 3.51278455e+02] [ 8.66228541e-01 4.99559707e-01 -9.39226572e-03 3.07467726e+02] [ 1.09538812e-02 -1.93895778e-04 9.99939986e-01 2.16125363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.120385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:351.29, Y:307.49, Z:21.61 [[ 5.02031681e-01 -8.64830856e-01 -5.63753160e-03 3.51290075e+02] [ 8.64779851e-01 5.02063308e-01 -9.39379255e-03 3.07493196e+02] [ 1.09544394e-02 -1.59242273e-04 9.99939986e-01 2.16121756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.150385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:351.30, Y:307.52, Z:21.61 [[ 5.03997277e-01 -8.63686860e-01 -5.63491315e-03 3.51301773e+02] [ 8.63635767e-01 5.04028759e-01 -9.39536298e-03 3.07518898e+02] [ 1.09548098e-02 -1.31275185e-04 9.99939986e-01 2.16131813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.180385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:351.31, Y:307.54, Z:21.61 [[ 5.04947750e-01 -8.63131411e-01 -5.65126551e-03 3.51313970e+02] [ 8.63080392e-01 5.04979354e-01 -9.38555793e-03 3.07544536e+02] [ 1.09547423e-02 -1.38280093e-04 9.99939985e-01 2.16118057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.210385723 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:351.33, Y:307.57, Z:21.61 [[ 5.05609963e-01 -8.62743795e-01 -5.63119195e-03 3.51325602e+02] [ 8.62692617e-01 5.05641309e-01 -9.39758635e-03 3.07568991e+02] [ 1.09550726e-02 -1.06474439e-04 9.99939986e-01 2.16114938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.240385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:351.34, Y:307.60, Z:21.61 [[ 5.05785241e-01 -8.62641064e-01 -5.62885128e-03 3.51336922e+02] [ 8.62589865e-01 5.05816552e-01 -9.39898812e-03 3.07595071e+02] [ 1.09551193e-02 -1.01520591e-04 9.99939986e-01 2.16113340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.270385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:351.35, Y:307.62, Z:21.61 [[ 5.05316000e-01 -8.62916037e-01 -5.62618688e-03 3.51350999e+02] [ 8.62864837e-01 5.05347309e-01 -9.40058275e-03 3.07620482e+02] [ 1.09550920e-02 -1.04373958e-04 9.99939986e-01 2.16125260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.300385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:351.36, Y:307.65, Z:21.61 [[ 5.03182722e-01 -8.64161710e-01 -5.62910471e-03 3.51363738e+02] [ 8.64110607e-01 5.03214189e-01 -9.39883680e-03 3.07645209e+02] [ 1.09547602e-02 -1.34836801e-04 9.99939986e-01 2.16130111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.330385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:351.38, Y:307.67, Z:21.61 [[ 5.01711392e-01 -8.65016798e-01 -5.62301991e-03 3.51377627e+02] [ 8.64965708e-01 5.01742880e-01 -9.40247573e-03 3.07670135e+02] [ 1.09546096e-02 -1.46390211e-04 9.99939986e-01 2.16135194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.360385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:351.39, Y:307.69, Z:21.61 [[ 4.98448356e-01 -8.66901175e-01 -5.62040061e-03 3.51388429e+02] [ 8.66850186e-01 4.98480008e-01 -9.40404117e-03 3.07694487e+02] [ 1.09540317e-02 -1.84616448e-04 9.99939986e-01 2.16143010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.390385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:351.40, Y:307.72, Z:21.61 [[ 4.98245671e-01 -8.67017798e-01 -5.60259769e-03 3.51403026e+02] [ 8.66966697e-01 4.98277141e-01 -9.41467638e-03 3.07719040e+02] [ 1.09543383e-02 -1.66443870e-04 9.99939986e-01 2.16146068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.420385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:351.42, Y:307.74, Z:21.61 [[ 4.96196167e-01 -8.68192366e-01 -5.60173503e-03 3.51415431e+02] [ 8.68141334e-01 4.96227749e-01 -9.41519153e-03 3.07744895e+02] [ 1.09539338e-02 -1.91315765e-04 9.99939986e-01 2.16134976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.450385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:351.43, Y:307.77, Z:21.61 [[ 4.93447239e-01 -8.69757735e-01 -5.59510488e-03 3.51426928e+02] [ 8.69706758e-01 4.93478911e-01 -9.41914946e-03 3.07771130e+02] [ 1.09534444e-02 -2.18247228e-04 9.99939985e-01 2.16124674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.480385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:351.44, Y:307.80, Z:21.61 [[ 4.93659005e-01 -8.69637698e-01 -5.57325010e-03 3.51442680e+02] [ 8.69586566e-01 4.93690428e-01 -9.43218866e-03 3.07795689e+02] [ 1.09540471e-02 -1.90138549e-04 9.99939985e-01 2.16135733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.510385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:351.46, Y:307.82, Z:21.61 [[ 4.93939700e-01 -8.69478046e-01 -5.61254070e-03 3.51455325e+02] [ 8.69427168e-01 4.93971532e-01 -9.40875091e-03 3.07820844e+02] [ 1.09531377e-02 -2.32339763e-04 9.99939986e-01 2.16147970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.540385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:351.47, Y:307.85, Z:21.61 [[ 4.94598367e-01 -8.69103551e-01 -5.60998365e-03 3.51468396e+02] [ 8.69052633e-01 4.94630133e-01 -9.41027531e-03 3.07845944e+02] [ 1.09533706e-02 -2.21064259e-04 9.99939986e-01 2.16149746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.570385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:351.48, Y:307.87, Z:21.61 [[ 4.96323141e-01 -8.68119748e-01 -5.60741010e-03 3.51480044e+02] [ 8.68068749e-01 4.96354777e-01 -9.41180859e-03 3.07871451e+02] [ 1.09538417e-02 -1.96319073e-04 9.99939986e-01 2.16141772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.600385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:351.49, Y:307.90, Z:21.61 [[ 4.96567611e-01 -8.67979950e-01 -5.60479452e-03 3.51493193e+02] [ 8.67928925e-01 4.96599204e-01 -9.41336593e-03 3.07896806e+02] [ 1.09539494e-02 -1.90190656e-04 9.99939986e-01 2.16138363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.630385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:351.50, Y:307.92, Z:21.61 [[ 4.98069759e-01 -8.67118868e-01 -5.60214529e-03 3.51504853e+02] [ 8.67067770e-01 4.98101235e-01 -9.41494229e-03 3.07919509e+02] [ 1.09543096e-02 -1.68141593e-04 9.99939986e-01 2.16134017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.660385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:351.52, Y:307.94, Z:21.61 [[ 4.97041890e-01 -8.67708729e-01 -5.56066741e-03 3.51519728e+02] [ 8.67657392e-01 4.97072976e-01 -9.43960357e-03 3.07943924e+02] [ 1.09548839e-02 -1.32875778e-04 9.99939985e-01 2.16133840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.690385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:351.53, Y:307.97, Z:21.61 [[ 4.96248510e-01 -8.68162471e-01 -5.59823464e-03 3.51534282e+02] [ 8.68111413e-01 4.96280051e-01 -9.41727119e-03 3.07968085e+02] [ 1.09540136e-02 -1.86584583e-04 9.99939986e-01 2.16142230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.7203857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:351.55, Y:307.99, Z:21.61 [[ 4.95915949e-01 -8.68352497e-01 -5.59569177e-03 3.51548079e+02] [ 8.68301435e-01 4.95947482e-01 -9.41878191e-03 3.07991572e+02] [ 1.09539920e-02 -1.87823026e-04 9.99939986e-01 2.16146542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.750385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:351.56, Y:308.02, Z:21.62 [[ 4.95747162e-01 -8.68448881e-01 -5.59396327e-03 3.51562736e+02] [ 8.68397813e-01 4.95778686e-01 -9.41980838e-03 3.08015748e+02] [ 1.09539898e-02 -1.87942199e-04 9.99939986e-01 2.16158713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.780385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:351.58, Y:308.04, Z:21.62 [[ 4.95844505e-01 -8.68393323e-01 -5.59137546e-03 3.51577880e+02] [ 8.68342234e-01 4.95875995e-01 -9.42134420e-03 3.08039373e+02] [ 1.09540613e-02 -1.83705712e-04 9.99939986e-01 2.16162646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.810385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:351.59, Y:308.06, Z:21.62 [[ 4.97035771e-01 -8.67712054e-01 -5.58877574e-03 3.51594011e+02] [ 8.67660904e-01 4.97067163e-01 -9.42288610e-03 3.08061244e+02] [ 1.09543488e-02 -1.65650757e-04 9.99939986e-01 2.16182873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.8403857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:351.61, Y:308.08, Z:21.62 [[ 4.96039537e-01 -8.68281965e-01 -5.58641643e-03 3.51607109e+02] [ 8.68230835e-01 4.96070962e-01 -9.42428463e-03 3.08084830e+02] [ 1.09541953e-02 -1.75481221e-04 9.99939986e-01 2.16185072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.870385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:351.62, Y:308.11, Z:21.62 [[ 4.98933228e-01 -8.66622644e-01 -5.55223110e-03 3.51624967e+02] [ 8.66571185e-01 4.98964110e-01 -9.44453171e-03 3.08107785e+02] [ 1.09552091e-02 -9.92127971e-05 9.99939985e-01 2.16197095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.900385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:351.64, Y:308.13, Z:21.62 [[ 4.99515737e-01 -8.66286822e-01 -5.58305299e-03 3.51639679e+02] [ 8.66235545e-01 4.99546921e-01 -9.42627634e-03 3.08131332e+02] [ 1.09548559e-02 -1.27665571e-04 9.99939986e-01 2.16198943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.930385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:351.65, Y:308.15, Z:21.62 [[ 4.99692057e-01 -8.66185146e-01 -5.58044848e-03 3.51652778e+02] [ 8.66133845e-01 4.99723202e-01 -9.42781798e-03 3.08154682e+02] [ 1.09549155e-02 -1.22409540e-04 9.99939986e-01 2.16162440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.960385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:351.67, Y:308.18, Z:21.62 [[ 5.00886886e-01 -8.65495022e-01 -5.54016509e-03 3.51666785e+02] [ 8.65443415e-01 5.00917521e-01 -9.45164627e-03 3.08176496e+02] [ 1.09555186e-02 -6.04937185e-05 9.99939985e-01 2.16153250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.990385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:351.69, Y:308.20, Z:21.62 [[ 5.00974467e-01 -8.65444593e-01 -5.49910915e-03 3.51685746e+02] [ 8.65392714e-01 5.01004648e-01 -9.47593923e-03 3.08200028e+02] [ 1.09559796e-02 -1.16853830e-05 9.99939981e-01 2.16171810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.020385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:351.70, Y:308.22, Z:21.62 [[ 5.00871602e-01 -8.65503888e-01 -5.53703092e-03 3.51701243e+02] [ 8.65452260e-01 5.00902203e-01 -9.45350469e-03 3.08223029e+02] [ 1.09555560e-02 -5.70438808e-05 9.99939984e-01 2.16180461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.050385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:351.72, Y:308.25, Z:21.62 [[ 5.00317901e-01 -8.65824048e-01 -5.54222476e-03 3.51716851e+02] [ 8.65772474e-01 5.00348592e-01 -9.45043352e-03 3.08245870e+02] [ 1.09554570e-02 -7.00845758e-05 9.99939985e-01 2.16191560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.080385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:351.73, Y:308.27, Z:21.62 [[ 4.99557386e-01 -8.66263072e-01 -5.54156533e-03 3.51731908e+02] [ 8.66211520e-01 4.99588115e-01 -9.45082333e-03 3.08269088e+02] [ 1.09553994e-02 -7.89391343e-05 9.99939985e-01 2.16191582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.110385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:351.75, Y:308.29, Z:21.62 [[ 5.00078517e-01 -8.65962385e-01 -5.53403871e-03 3.51751717e+02] [ 8.65910765e-01 5.00109132e-01 -9.45527129e-03 3.08291403e+02] [ 1.09555326e-02 -6.36056516e-05 9.99939984e-01 2.16224344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.140385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:351.77, Y:308.31, Z:21.62 [[ 4.99090757e-01 -8.66531797e-01 -5.57326887e-03 3.51767753e+02] [ 8.66480470e-01 4.99121859e-01 -9.43209084e-03 3.08314894e+02] [ 1.09549469e-02 -1.21659272e-04 9.99939985e-01 2.16226646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.170385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:351.79, Y:308.34, Z:21.62 [[ 4.96649933e-01 -8.67933069e-01 -5.57062857e-03 3.51785336e+02] [ 8.67881813e-01 4.96681150e-01 -9.43364996e-03 3.08335663e+02] [ 1.09546030e-02 -1.49425601e-04 9.99939985e-01 2.16226947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.200385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:351.80, Y:308.36, Z:21.62 [[ 4.95200268e-01 -8.68761008e-01 -5.56827280e-03 3.51801922e+02] [ 8.68709788e-01 4.95231546e-01 -9.43504026e-03 3.08358279e+02] [ 1.09543794e-02 -1.64978624e-04 9.99939985e-01 2.16226770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.230385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:351.82, Y:308.38, Z:21.62 [[ 4.92510044e-01 -8.70288964e-01 -5.56568911e-03 3.51820414e+02] [ 8.70237824e-01 4.92541452e-01 -9.43656412e-03 3.08380307e+02] [ 1.09538702e-02 -1.95870573e-04 9.99939985e-01 2.16228115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.260385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:351.84, Y:308.40, Z:21.62 [[ 4.91364320e-01 -8.70936368e-01 -5.56307958e-03 3.51835620e+02] [ 8.70885252e-01 4.91395767e-01 -9.43810225e-03 3.08402463e+02] [ 1.09536603e-02 -2.07257271e-04 9.99939985e-01 2.16226584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.290385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:351.85, Y:308.42, Z:21.62 [[ 4.90825649e-01 -8.71240071e-01 -5.56073287e-03 3.51853149e+02] [ 8.71188959e-01 4.90857102e-01 -9.43948468e-03 3.08423784e+02] [ 1.09535825e-02 -2.11307890e-04 9.99939985e-01 2.16228088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.320385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:351.87, Y:308.45, Z:21.62 [[ 4.89930306e-01 -8.71743884e-01 -5.55843114e-03 3.51866284e+02] [ 8.71692789e-01 4.89961787e-01 -9.44083986e-03 3.08445534e+02] [ 1.09534133e-02 -2.19890779e-04 9.99939985e-01 2.16189041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.350385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:351.89, Y:308.47, Z:21.62 [[ 4.92769745e-01 -8.70142429e-01 -5.48919059e-03 3.51886961e+02] [ 8.70090775e-01 4.92800306e-01 -9.48158452e-03 3.08469160e+02] [ 1.09554038e-02 -1.03856107e-04 9.99939982e-01 2.16241460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.380385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:351.90, Y:308.49, Z:21.62 [[ 4.92429746e-01 -8.70334456e-01 -5.55697884e-03 3.51902358e+02] [ 8.70283261e-01 4.92461065e-01 -9.44168726e-03 3.08492240e+02] [ 1.09540215e-02 -1.86778001e-04 9.99939985e-01 2.16230574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.410385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:351.92, Y:308.52, Z:21.62 [[ 4.94462580e-01 -8.69181170e-01 -5.55436191e-03 3.51919351e+02] [ 8.69129885e-01 4.94493750e-01 -9.44322650e-03 3.08515327e+02] [ 1.09544719e-02 -1.58139789e-04 9.99939985e-01 2.16244663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.440385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:351.93, Y:308.54, Z:21.62 [[ 4.94832852e-01 -8.68970440e-01 -5.55175833e-03 3.51933636e+02] [ 8.68919125e-01 4.94863972e-01 -9.44475692e-03 3.08537945e+02] [ 1.09545798e-02 -1.50452984e-04 9.99939985e-01 2.16235912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.4703857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:351.95, Y:308.56, Z:21.62 [[ 4.95166527e-01 -8.68780360e-01 -5.54942264e-03 3.51948722e+02] [ 8.68729017e-01 4.95197602e-01 -9.44612909e-03 3.08561352e+02] [ 1.09546722e-02 -1.43537540e-04 9.99939985e-01 2.16236913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.500385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:351.97, Y:308.58, Z:21.62 [[ 4.95625564e-01 -8.68518585e-01 -5.54684328e-03 3.51965581e+02] [ 8.68467209e-01 4.95656583e-01 -9.44764347e-03 3.08583589e+02] [ 1.09547833e-02 -1.34757881e-04 9.99939985e-01 2.16238652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.530385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:351.98, Y:308.61, Z:21.62 [[ 4.95306078e-01 -8.68700840e-01 -5.54428413e-03 3.51981485e+02] [ 8.68649459e-01 4.95337089e-01 -9.44914505e-03 3.08605576e+02] [ 1.09547698e-02 -1.35820436e-04 9.99939985e-01 2.16246537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.560385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:352.00, Y:308.63, Z:21.62 [[ 4.95072679e-01 -8.68833891e-01 -5.54196689e-03 3.51996335e+02] [ 8.68782502e-01 4.95103678e-01 -9.45050393e-03 3.08629704e+02] [ 1.09547663e-02 -1.36077567e-04 9.99939986e-01 2.16246913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.5903857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:352.01, Y:308.65, Z:21.62 [[ 4.94684437e-01 -8.69055017e-01 -5.53944551e-03 3.52010722e+02] [ 8.69003626e-01 4.94715432e-01 -9.45198161e-03 3.08653417e+02] [ 1.09547412e-02 -1.38050030e-04 9.99939986e-01 2.16243905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.620385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:352.03, Y:308.68, Z:21.62 [[ 4.94321171e-01 -8.69261711e-01 -5.53692811e-03 3.52025136e+02] [ 8.69210316e-01 4.94352160e-01 -9.45345606e-03 3.08678033e+02] [ 1.09547198e-02 -1.39711560e-04 9.99939986e-01 2.16242611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.650385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:352.04, Y:308.70, Z:21.62 [[ 4.93489536e-01 -8.69734125e-01 -5.53442823e-03 3.52037900e+02] [ 8.69682743e-01 4.93520548e-01 -9.45491937e-03 3.08702883e+02] [ 1.09546201e-02 -1.47292949e-04 9.99939986e-01 2.16237966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.680385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:352.05, Y:308.73, Z:21.62 [[ 4.92472805e-01 -8.70310252e-01 -5.53184034e-03 3.52049112e+02] [ 8.70258890e-01 4.92503848e-01 -9.45643323e-03 3.08727505e+02] [ 1.09544834e-02 -1.57097032e-04 9.99939986e-01 2.16230773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.710385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:352.06, Y:308.75, Z:21.62 [[ 4.91774249e-01 -8.70705181e-01 -5.52952485e-03 3.52062548e+02] [ 8.70653829e-01 4.91805308e-01 -9.45778699e-03 3.08752850e+02] [ 1.09543938e-02 -1.63205889e-04 9.99939986e-01 2.16239583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.740385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:352.08, Y:308.78, Z:21.62 [[ 4.90653630e-01 -8.71337116e-01 -5.53588833e-03 3.52075944e+02] [ 8.71285845e-01 4.90684824e-01 -9.45406776e-03 3.08777663e+02] [ 1.09540565e-02 -1.84668477e-04 9.99939985e-01 2.16247017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.770385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:352.09, Y:308.80, Z:21.62 [[ 4.89777289e-01 -8.71830069e-01 -5.52610484e-03 3.52089227e+02] [ 8.71778765e-01 4.89808429e-01 -9.45978296e-03 3.08801936e+02] [ 1.09540560e-02 -1.84353998e-04 9.99939986e-01 2.16246159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.800385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:352.10, Y:308.83, Z:21.63 [[ 4.88110219e-01 -8.72764510e-01 -5.52487614e-03 3.52102302e+02] [ 8.72713258e-01 4.88141443e-01 -9.46050052e-03 3.08826273e+02] [ 1.09537101e-02 -2.03865676e-04 9.99939986e-01 2.16250211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.830385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:352.12, Y:308.85, Z:21.62 [[ 4.87688812e-01 -8.73000073e-01 -5.52225873e-03 3.52117463e+02] [ 8.72948818e-01 4.87720033e-01 -9.46202810e-03 3.08852087e+02] [ 1.09536674e-02 -2.06123986e-04 9.99939986e-01 2.16237466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.860385723 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:352.13, Y:308.88, Z:21.62 [[ 4.87096554e-01 -8.73330427e-01 -5.55989284e-03 3.52128427e+02] [ 8.73279443e-01 4.87128216e-01 -9.44006743e-03 3.08875468e+02] [ 1.09526788e-02 -2.57115815e-04 9.99939985e-01 2.16246566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.890385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:352.14, Y:308.90, Z:21.62 [[ 4.87155277e-01 -8.73297935e-01 -5.51846754e-03 3.52142838e+02] [ 8.73246674e-01 4.87186488e-01 -9.46422202e-03 3.08900131e+02] [ 1.09536084e-02 -2.08437723e-04 9.99939986e-01 2.16249105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.920385723 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:352.16, Y:308.92, Z:21.63 [[ 4.87343613e-01 -8.73192864e-01 -5.51589392e-03 3.52156476e+02] [ 8.73141580e-01 4.87374785e-01 -9.46572173e-03 3.08923959e+02] [ 1.09537083e-02 -2.03097309e-04 9.99939986e-01 2.16255604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.950385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:352.17, Y:308.95, Z:21.63 [[ 4.88402762e-01 -8.72600907e-01 -5.51357802e-03 3.52169651e+02] [ 8.72549570e-01 4.88433846e-01 -9.46707049e-03 3.08948345e+02] [ 1.09539924e-02 -1.87126758e-04 9.99939986e-01 2.16271567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.980385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:352.18, Y:308.97, Z:21.63 [[ 4.88006209e-01 -8.72822759e-01 -5.51092858e-03 3.52182666e+02] [ 8.72771419e-01 4.88037289e-01 -9.46861252e-03 3.08973402e+02] [ 1.09539592e-02 -1.89039248e-04 9.99939986e-01 2.16260057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.010385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:352.20, Y:309.00, Z:21.63 [[ 4.90758061e-01 -8.71278521e-01 -5.50132778e-03 3.52201215e+02] [ 8.71227021e-01 4.90788873e-01 -9.47419655e-03 3.08998164e+02] [ 1.09546544e-02 -1.43367083e-04 9.99939986e-01 2.16271235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.040385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:352.21, Y:309.02, Z:21.63 [[ 4.89126891e-01 -8.72194575e-01 -5.61312412e-03 3.52210921e+02] [ 8.72143871e-01 4.89159010e-01 -9.40909067e-03 3.09019709e+02] [ 1.09522681e-02 -2.93212530e-04 9.99939979e-01 2.16291625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.070385723 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:352.23, Y:309.05, Z:21.63 [[ 4.88288986e-01 -8.72664616e-01 -5.50765900e-03 3.52230756e+02] [ 8.72613245e-01 4.88320013e-01 -9.47042548e-03 3.09045484e+02] [ 1.09540053e-02 -1.81751742e-04 9.99939987e-01 2.16293510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.100385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:352.24, Y:309.07, Z:21.63 [[ 4.85551766e-01 -8.74189963e-01 -5.60271098e-03 3.52241093e+02] [ 8.74139322e-01 4.85583980e-01 -9.41511707e-03 3.09067675e+02] [ 1.09511875e-02 -3.26023250e-04 9.99939981e-01 2.16311465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.130385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:352.25, Y:309.09, Z:21.63 [[ 4.82222389e-01 -8.76031549e-01 -5.50386664e-03 3.52254265e+02] [ 8.75980371e-01 4.82253731e-01 -9.47254901e-03 3.09092478e+02] [ 1.09525120e-02 -2.53403927e-04 9.99939987e-01 2.16303524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.160385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:352.27, Y:309.12, Z:21.63 [[ 4.79554393e-01 -8.77494912e-01 -5.50122560e-03 3.52267716e+02] [ 8.77443812e-01 4.79585861e-01 -9.47408255e-03 3.09117195e+02] [ 1.09517693e-02 -2.83678458e-04 9.99939987e-01 2.16301938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.190385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:352.28, Y:309.14, Z:21.63 [[ 4.79182372e-01 -8.77698137e-01 -5.49860444e-03 3.52281879e+02] [ 8.77647033e-01 4.79213834e-01 -9.47560359e-03 3.09141030e+02] [ 1.09517269e-02 -2.85291661e-04 9.99939987e-01 2.16309176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.2203857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:352.30, Y:309.16, Z:21.63 [[ 4.79288133e-01 -8.77640405e-01 -5.49596255e-03 3.52295315e+02] [ 8.77589279e-01 4.79319561e-01 -9.47713567e-03 3.09164072e+02] [ 1.09518395e-02 -2.80919152e-04 9.99939987e-01 2.16314017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.250385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:352.31, Y:309.19, Z:21.63 [[ 4.81423503e-01 -8.76470892e-01 -5.49416718e-03 3.52308419e+02] [ 8.76419678e-01 4.81454787e-01 -9.47817638e-03 3.09189456e+02] [ 1.09525388e-02 -2.52179351e-04 9.99939987e-01 2.16307576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.280385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:352.32, Y:309.21, Z:21.63 [[ 4.82767806e-01 -8.75731174e-01 -5.49155649e-03 3.52320950e+02] [ 8.75679895e-01 4.82798983e-01 -9.47968875e-03 3.09214077e+02] [ 1.09529768e-02 -2.32357069e-04 9.99939987e-01 2.16300607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.310385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:352.34, Y:309.24, Z:21.63 [[ 4.82529392e-01 -8.75862578e-01 -5.48921488e-03 3.52335218e+02] [ 8.75811292e-01 4.82560557e-01 -9.48104446e-03 3.09238848e+02] [ 1.09529706e-02 -2.32633760e-04 9.99939987e-01 2.16303728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.3403857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:352.35, Y:309.26, Z:21.63 [[ 4.85946941e-01 -8.73971091e-01 -5.48663334e-03 3.52348281e+02] [ 8.73919667e-01 4.85977877e-01 -9.48253815e-03 3.09264097e+02] [ 1.09538466e-02 -1.86866377e-04 9.99939987e-01 2.16300035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.370385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:352.36, Y:309.29, Z:21.63 [[ 4.87495315e-01 -8.73108380e-01 -5.48404004e-03 3.52364427e+02] [ 8.73056884e-01 4.87526133e-01 -9.48403770e-03 3.09288926e+02] [ 1.09542056e-02 -1.64454959e-04 9.99939987e-01 2.16290998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.400385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:352.38, Y:309.31, Z:21.63 [[ 4.90113148e-01 -8.71641184e-01 -5.54506743e-03 3.52377162e+02] [ 8.71589993e-01 4.90144474e-01 -9.44874919e-03 3.09312064e+02] [ 1.09538031e-02 -2.02069069e-04 9.99939985e-01 2.16325293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.430385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:352.39, Y:309.34, Z:21.63 [[ 4.90540338e-01 -8.71401262e-01 -5.47887649e-03 3.52391260e+02] [ 8.71349626e-01 4.90570919e-01 -9.48697553e-03 3.09335857e+02] [ 1.09547399e-02 -1.20272794e-04 9.99939988e-01 2.16332243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.460385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:352.41, Y:309.36, Z:21.63 [[ 4.90960835e-01 -8.71164432e-01 -5.47632975e-03 3.52405029e+02] [ 8.71112766e-01 4.90991364e-01 -9.48844540e-03 3.09359529e+02] [ 1.09548268e-02 -1.12045679e-04 9.99939988e-01 2.16339292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.490385723 meters Centerline goodness : 0.994545 Centerline is valid? [True, True] Translation: X:352.42, Y:309.38, Z:21.63 [[ 4.91829892e-01 -8.70674102e-01 -5.47403863e-03 3.52419392e+02] [ 8.70622390e-01 4.91860344e-01 -9.48976701e-03 3.09384058e+02] [ 1.09549569e-02 -9.84695161e-05 9.99939988e-01 2.16343561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.520385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:352.43, Y:309.41, Z:21.64 [[ 4.91949426e-01 -8.70606563e-01 -5.47492670e-03 3.52434872e+02] [ 8.70554852e-01 4.91979881e-01 -9.48925517e-03 3.09407800e+02] [ 1.09549616e-02 -9.79903686e-05 9.99939988e-01 2.16359078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.550385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:352.45, Y:309.43, Z:21.63 [[ 4.90645085e-01 -8.71342220e-01 -5.48972519e-03 3.52447643e+02] [ 8.71290650e-01 4.90675778e-01 -9.48074056e-03 3.09430414e+02] [ 1.09546447e-02 -1.31467475e-04 9.99939987e-01 2.16348365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.580385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:352.46, Y:309.45, Z:21.63 [[ 4.87039135e-01 -8.73363211e-01 -5.43909091e-03 3.52458662e+02] [ 8.73311442e-01 4.87069490e-01 -9.50987074e-03 3.09454734e+02] [ 1.09547865e-02 -1.18341108e-04 9.99939988e-01 2.16336619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.610385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:352.48, Y:309.48, Z:21.63 [[ 4.88628992e-01 -8.72474923e-01 -5.40523983e-03 3.52475034e+02] [ 8.72422883e-01 4.88658884e-01 -9.52932994e-03 3.09479487e+02] [ 1.09554199e-02 -5.93480377e-05 9.99939986e-01 2.16341351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.640385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:352.49, Y:309.50, Z:21.63 [[ 4.87480828e-01 -8.73116620e-01 -5.45988715e-03 3.52488620e+02] [ 8.73064969e-01 4.87511384e-01 -9.49791589e-03 3.09504561e+02] [ 1.09545454e-02 -1.36784304e-04 9.99939988e-01 2.16337908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.670385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:352.50, Y:309.53, Z:21.63 [[ 4.84559662e-01 -8.74741192e-01 -5.45724830e-03 3.52504379e+02] [ 8.74689626e-01 4.84590362e-01 -9.49943186e-03 3.09530084e+02] [ 1.09540743e-02 -1.70356980e-04 9.99939988e-01 2.16337779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.700385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:352.52, Y:309.55, Z:21.64 [[ 4.84488061e-01 -8.74780520e-01 -5.51007176e-03 3.52518094e+02] [ 8.74729300e-01 4.84519337e-01 -9.46908313e-03 3.09552722e+02] [ 1.09531058e-02 -2.32163490e-04 9.99939986e-01 2.16350305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.730385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:352.53, Y:309.58, Z:21.63 [[ 4.82667147e-01 -8.75786892e-01 -5.45399750e-03 3.52532024e+02] [ 8.75735372e-01 4.82697922e-01 -9.50127137e-03 3.09577432e+02] [ 1.09537222e-02 -1.90306985e-04 9.99939988e-01 2.16347935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.760385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:352.54, Y:309.60, Z:21.63 [[ 4.81898076e-01 -8.76210321e-01 -5.45138045e-03 3.52544749e+02] [ 8.76158812e-01 4.81928869e-01 -9.50277267e-03 3.09601890e+02] [ 1.09536051e-02 -1.96907155e-04 9.99939988e-01 2.16341067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.790385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:352.56, Y:309.63, Z:21.63 [[ 4.81723369e-01 -8.76306395e-01 -5.44959940e-03 3.52557421e+02] [ 8.76254880e-01 4.81754153e-01 -9.50379395e-03 3.09627403e+02] [ 1.09536025e-02 -1.97038424e-04 9.99939988e-01 2.16334299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.820385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:352.57, Y:309.65, Z:21.63 [[ 4.81551155e-01 -8.76401058e-01 -5.44702383e-03 3.52571314e+02] [ 8.76349532e-01 4.81581921e-01 -9.50526988e-03 3.09652542e+02] [ 1.09536168e-02 -1.96223091e-04 9.99939988e-01 2.16327171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.850385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:352.58, Y:309.68, Z:21.63 [[ 4.80396924e-01 -8.77034210e-01 -5.45804267e-03 3.52580210e+02] [ 8.76982797e-01 4.80427876e-01 -9.49895934e-03 3.09675734e+02] [ 1.09531082e-02 -2.23338686e-04 9.99939988e-01 2.16309821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.880385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:352.60, Y:309.70, Z:21.63 [[ 4.83491268e-01 -8.75332694e-01 -5.37294042e-03 3.52597548e+02] [ 8.75280626e-01 4.83521114e-01 -9.54769165e-03 3.09700696e+02] [ 1.09553368e-02 -8.66051097e-05 9.99939985e-01 2.16344867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.910385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:352.61, Y:309.72, Z:21.63 [[ 4.83347854e-01 -8.75411454e-01 -5.44416368e-03 3.52610339e+02] [ 8.75359847e-01 4.83378483e-01 -9.50690544e-03 3.09724679e+02] [ 1.09540455e-02 -1.70459937e-04 9.99939988e-01 2.16347636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.940385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:352.62, Y:309.75, Z:21.63 [[ 4.82524756e-01 -8.75865424e-01 -5.44238184e-03 3.52623834e+02] [ 8.75813834e-01 4.82555414e-01 -9.50792537e-03 3.09749728e+02] [ 1.09539139e-02 -1.78703943e-04 9.99939988e-01 2.16348640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.9703857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:352.64, Y:309.77, Z:21.63 [[ 4.80057595e-01 -8.77220106e-01 -5.43984956e-03 3.52635911e+02] [ 8.77168586e-01 4.80088370e-01 -9.50937396e-03 3.09774716e+02] [ 1.09534225e-02 -2.06617953e-04 9.99939988e-01 2.16347961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.000385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:352.64, Y:309.80, Z:21.63 [[ 4.74944622e-01 -8.79998888e-01 -5.43726428e-03 3.52643072e+02] [ 8.79947531e-01 4.74975669e-01 -9.51085194e-03 3.09797668e+02] [ 1.09521074e-02 -2.67379300e-04 9.99939988e-01 2.16333022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.030385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:352.66, Y:309.82, Z:21.63 [[ 4.73928747e-01 -8.80547100e-01 -5.32431374e-03 3.52658028e+02] [ 8.80495048e-01 4.73958630e-01 -9.57537430e-03 3.09823877e+02] [ 1.09550725e-02 -1.49986736e-04 9.99939980e-01 2.16341627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.060385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:352.67, Y:309.85, Z:21.63 [[ 4.72416658e-01 -8.81359078e-01 -5.35503717e-03 3.52669137e+02] [ 8.81307276e-01 4.72446964e-01 -9.55782130e-03 3.09848772e+02] [ 1.09538436e-02 -2.04159217e-04 9.99939984e-01 2.16340043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.0903857229999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:352.68, Y:309.88, Z:21.63 [[ 4.72200423e-01 -8.81475147e-01 -5.32215683e-03 3.52680774e+02] [ 8.81423140e-01 4.72230384e-01 -9.57661329e-03 3.09879678e+02] [ 1.09548308e-02 -1.68991340e-04 9.99939980e-01 2.16347611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.120385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:352.69, Y:309.90, Z:21.64 [[ 4.75022779e-01 -8.79956692e-01 -5.43876462e-03 3.52694385e+02] [ 8.79905343e-01 4.75053838e-01 -9.50992493e-03 3.09903410e+02] [ 1.09520281e-02 -2.68167084e-04 9.99939989e-01 2.16354722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.150385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:352.71, Y:309.93, Z:21.64 [[ 4.75172687e-01 -8.79875763e-01 -5.43685331e-03 3.52706369e+02] [ 8.79824396e-01 4.75203717e-01 -9.51101751e-03 3.09929325e+02] [ 1.09521267e-02 -2.64100429e-04 9.99939989e-01 2.16357346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.180385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:352.72, Y:309.95, Z:21.64 [[ 4.75615745e-01 -8.79636363e-01 -5.43430072e-03 3.52717575e+02] [ 8.79584965e-01 4.75646721e-01 -9.51247576e-03 3.09953562e+02] [ 1.09523269e-02 -2.55645967e-04 9.99939989e-01 2.16365612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.210385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:352.73, Y:309.98, Z:21.64 [[ 4.75899600e-01 -8.79482839e-01 -5.43200862e-03 3.52729054e+02] [ 8.79431415e-01 4.75930535e-01 -9.51378446e-03 3.09979133e+02] [ 1.09524689e-02 -2.49472813e-04 9.99939989e-01 2.16365985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.240385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:352.74, Y:310.01, Z:21.64 [[ 4.73680384e-01 -8.80680086e-01 -5.42951739e-03 3.52738961e+02] [ 8.80628725e-01 4.73711421e-01 -9.51520600e-03 3.10005756e+02] [ 1.09518768e-02 -2.74222543e-04 9.99939989e-01 2.16378460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.270385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:352.75, Y:310.03, Z:21.64 [[ 4.75778755e-01 -8.79548251e-01 -5.42681842e-03 3.52752539e+02] [ 8.79496798e-01 4.75809641e-01 -9.51674505e-03 3.10028641e+02] [ 1.09525690e-02 -2.45004302e-04 9.99939989e-01 2.16378236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.300385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:352.76, Y:310.05, Z:21.64 [[ 4.76660234e-01 -8.79070872e-01 -5.42437630e-03 3.52762382e+02] [ 8.79019372e-01 4.76691042e-01 -9.51813681e-03 3.10054385e+02] [ 1.09528684e-02 -2.31214527e-04 9.99939989e-01 2.16371232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.330385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:352.77, Y:310.08, Z:21.64 [[ 4.77014798e-01 -8.78878538e-01 -5.42205046e-03 3.52774742e+02] [ 8.78827010e-01 4.77045559e-01 -9.51946156e-03 3.10079586e+02] [ 1.09530155e-02 -2.24120362e-04 9.99939989e-01 2.16372019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.360385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:352.78, Y:310.10, Z:21.64 [[ 4.74372463e-01 -8.80307558e-01 -5.41947913e-03 3.52781879e+02] [ 8.80256106e-01 4.74403351e-01 -9.52092520e-03 3.10103773e+02] [ 1.09523615e-02 -2.54064862e-04 9.99939989e-01 2.16374557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.390385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:352.80, Y:310.13, Z:21.64 [[ 4.76662528e-01 -8.79070197e-01 -5.33134625e-03 3.52798777e+02] [ 8.79018101e-01 4.76692326e-01 -9.57102981e-03 3.10129230e+02] [ 1.09550189e-02 -1.24198595e-04 9.99939984e-01 2.16389095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.420385723 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:352.81, Y:310.15, Z:21.64 [[ 4.73441503e-01 -8.80808609e-01 -5.41639467e-03 3.52805236e+02] [ 8.80757171e-01 4.73472412e-01 -9.52265515e-03 3.10154470e+02] [ 1.09521501e-02 -2.62108280e-04 9.99939989e-01 2.16380167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.450385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:352.82, Y:310.18, Z:21.64 [[ 4.76029382e-01 -8.79413274e-01 -5.32170653e-03 3.52822598e+02] [ 8.79361139e-01 4.76059113e-01 -9.57645276e-03 3.10181857e+02] [ 1.09551066e-02 -1.21029023e-04 9.99939984e-01 2.16394666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.480385723 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:352.83, Y:310.21, Z:21.64 [[ 4.73504773e-01 -8.80774622e-01 -5.41250107e-03 3.52830970e+02] [ 8.80723156e-01 4.73535636e-01 -9.52485883e-03 3.10206349e+02] [ 1.09522661e-02 -2.56848905e-04 9.99939989e-01 2.16387874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.510385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:352.84, Y:310.23, Z:21.64 [[ 4.74096553e-01 -8.80456718e-01 -5.33162525e-03 3.52842149e+02] [ 8.80404712e-01 4.74126506e-01 -9.57076951e-03 3.10233520e+02] [ 1.09545132e-02 -1.56519160e-04 9.99939985e-01 2.16395700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.540385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:352.86, Y:310.26, Z:21.64 [[ 4.76667544e-01 -8.79067447e-01 -5.33629878e-03 3.52855716e+02] [ 8.79015383e-01 4.76697396e-01 -9.56811708e-03 3.10259275e+02] [ 1.09548200e-02 -1.29877845e-04 9.99939986e-01 2.16417990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.570385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:352.87, Y:310.28, Z:21.64 [[ 4.75874595e-01 -8.79496656e-01 -5.38528429e-03 3.52868195e+02] [ 8.79444933e-01 4.75905025e-01 -9.54031624e-03 3.10284310e+02] [ 1.09535601e-02 -1.96066852e-04 9.99939989e-01 2.16422762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.600385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:352.87, Y:310.31, Z:21.64 [[ 4.71743785e-01 -8.81719102e-01 -5.40621602e-03 3.52872678e+02] [ 8.81667657e-01 4.71774684e-01 -9.52844007e-03 3.10309737e+02] [ 1.09519235e-02 -2.71503421e-04 9.99939989e-01 2.16397892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.630385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:352.88, Y:310.34, Z:21.64 [[ 4.69825504e-01 -8.82743386e-01 -5.30194693e-03 3.52882586e+02] [ 8.82691336e-01 4.69855386e-01 -9.58755197e-03 3.10335553e+02] [ 1.09544964e-02 -1.75506184e-04 9.99939982e-01 2.16394627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.660385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:352.90, Y:310.36, Z:21.64 [[ 4.70856396e-01 -8.82194127e-01 -5.27044296e-03 3.52898382e+02] [ 8.82141842e-01 4.70885875e-01 -9.60540790e-03 3.10362345e+02] [ 1.09556116e-02 -1.26510523e-04 9.99939977e-01 2.16414331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.690385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:352.91, Y:310.39, Z:21.64 [[ 4.67071349e-01 -8.84203488e-01 -5.34296206e-03 3.52905845e+02] [ 8.84151796e-01 4.67101837e-01 -9.56429536e-03 3.10388102e+02] [ 1.09524907e-02 -2.56781166e-04 9.99939987e-01 2.16403379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.7203857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:352.92, Y:310.42, Z:21.64 [[ 4.63805366e-01 -8.85921161e-01 -5.31779805e-03 3.52915084e+02] [ 8.85869419e-01 4.63835773e-01 -9.57856860e-03 3.10415003e+02] [ 1.09524416e-02 -2.68283157e-04 9.99939984e-01 2.16398659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.750385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:352.93, Y:310.44, Z:21.64 [[ 4.61851549e-01 -8.86941313e-01 -5.31551518e-03 3.52926646e+02] [ 8.86889622e-01 4.61882045e-01 -9.57986258e-03 3.10441179e+02] [ 1.09519169e-02 -2.89800882e-04 9.99939984e-01 2.16394655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.780385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:352.94, Y:310.47, Z:21.64 [[ 4.60231502e-01 -8.87782937e-01 -5.33118268e-03 3.52937596e+02] [ 8.87731405e-01 4.60262261e-01 -9.57098477e-03 3.10469157e+02] [ 1.09506992e-02 -3.27789594e-04 9.99939986e-01 2.16374800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.810385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:352.95, Y:310.49, Z:21.64 [[ 4.58509697e-01 -8.88673170e-01 -5.37167786e-03 3.52947990e+02] [ 8.88621964e-01 4.58540991e-01 -9.54803647e-03 3.10493783e+02] [ 1.09482183e-02 -3.95523622e-04 9.99939988e-01 2.16373984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.8403857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:352.96, Y:310.52, Z:21.64 [[ 4.58438165e-01 -8.88710189e-01 -5.35236888e-03 3.52961785e+02] [ 8.88658859e-01 4.58469256e-01 -9.55897252e-03 3.10519960e+02] [ 1.09490529e-02 -3.74232195e-04 9.99939987e-01 2.16383626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.870385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:352.97, Y:310.55, Z:21.64 [[ 4.58217289e-01 -8.88823807e-01 -5.39962030e-03 3.52970191e+02] [ 8.88772796e-01 4.58248900e-01 -9.53220646e-03 3.10547877e+02] [ 1.09468221e-02 -4.31213823e-04 9.99939989e-01 2.16381304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.900385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:352.98, Y:310.57, Z:21.64 [[ 4.58495754e-01 -8.88680210e-01 -5.39701807e-03 3.52979153e+02] [ 8.88629172e-01 4.58527320e-01 -9.53367959e-03 3.10573467e+02] [ 1.09470726e-02 -4.24796092e-04 9.99939989e-01 2.16371846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.930385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:352.99, Y:310.60, Z:21.64 [[ 4.59999235e-01 -8.87902923e-01 -5.39469238e-03 3.52986129e+02] [ 8.87851816e-01 4.60030691e-01 -9.53499541e-03 3.10602363e+02] [ 1.09478744e-02 -4.03596832e-04 9.99939989e-01 2.16356593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.960385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:352.99, Y:310.63, Z:21.64 [[ 4.59793449e-01 -8.88009532e-01 -5.39032214e-03 3.52992063e+02] [ 8.87958403e-01 4.59824869e-01 -9.53746683e-03 3.10628788e+02] [ 1.09479656e-02 -4.01117076e-04 9.99939989e-01 2.16360778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.990385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.01, Y:310.65, Z:21.64 [[ 4.63101408e-01 -8.86289407e-01 -5.30790017e-03 3.53008196e+02] [ 8.86237626e-01 4.63131749e-01 -9.58403423e-03 3.10654875e+02] [ 1.09524851e-02 -2.65681100e-04 9.99939984e-01 2.16365988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.020385723 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:353.02, Y:310.68, Z:21.64 [[ 4.63837961e-01 -8.85903658e-01 -5.39014450e-03 3.53019755e+02] [ 8.85852386e-01 4.63869146e-01 -9.53755393e-03 3.10680919e+02] [ 1.09496756e-02 -3.50992794e-04 9.99939989e-01 2.16357408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.050385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.03, Y:310.71, Z:21.64 [[ 4.68073418e-01 -8.83673158e-01 -5.38749112e-03 3.53027760e+02] [ 8.83621720e-01 4.68104329e-01 -9.53905251e-03 3.10707088e+02] [ 1.09513126e-02 -2.95527256e-04 9.99939989e-01 2.16372226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.080385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.04, Y:310.73, Z:21.64 [[ 4.69677233e-01 -8.82821776e-01 -5.38595788e-03 3.53038870e+02] [ 8.82770272e-01 4.69708034e-01 -9.53991814e-03 3.10733592e+02] [ 1.09518752e-02 -2.73881148e-04 9.99939989e-01 2.16372659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.110385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.05, Y:310.76, Z:21.64 [[ 4.71458337e-01 -8.81871905e-01 -5.38330032e-03 3.53046292e+02] [ 8.81820322e-01 4.71489005e-01 -9.54141754e-03 3.10760336e+02] [ 1.09524750e-02 -2.48722773e-04 9.99939989e-01 2.16360870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.140385723 meters Centerline goodness : 0.999896 Centerline is valid? [True, True] Translation: X:353.06, Y:310.79, Z:21.63 [[ 4.74778944e-01 -8.80088961e-01 -5.32679064e-03 3.53060882e+02] [ 8.80036904e-01 4.74808804e-01 -9.57327709e-03 3.10786883e+02] [ 1.09545426e-02 -1.42581957e-04 9.99939987e-01 2.16345135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.170385723 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:353.07, Y:310.81, Z:21.64 [[ 4.76478163e-01 -8.79169843e-01 -5.38034928e-03 3.53073575e+02] [ 8.79118067e-01 4.76508504e-01 -9.54308098e-03 3.10811605e+02] [ 1.09537712e-02 -1.82892569e-04 9.99939989e-01 2.16359284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.200385723 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:353.09, Y:310.84, Z:21.64 [[ 4.76252280e-01 -8.79292370e-01 -5.35676275e-03 3.53087536e+02] [ 8.79240452e-01 4.76282378e-01 -9.55637167e-03 3.10836501e+02] [ 1.09541764e-02 -1.58638707e-04 9.99939989e-01 2.16362345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.230385723 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:353.10, Y:310.86, Z:21.63 [[ 4.76726156e-01 -8.79035552e-01 -5.35449587e-03 3.53099573e+02] [ 8.78983604e-01 4.76756202e-01 -9.55764783e-03 3.10863723e+02] [ 1.09543013e-02 -1.50133362e-04 9.99939989e-01 2.16324586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.260385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.11, Y:310.89, Z:21.64 [[ 4.75932552e-01 -8.79465291e-01 -5.38589549e-03 3.53111218e+02] [ 8.79413569e-01 4.75962985e-01 -9.53997614e-03 3.10888177e+02] [ 1.09535648e-02 -1.96044393e-04 9.99939989e-01 2.16362987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.290385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.12, Y:310.91, Z:21.64 [[ 4.73773446e-01 -8.80630385e-01 -5.37101027e-03 3.53122639e+02] [ 8.80578643e-01 4.73803845e-01 -9.54834918e-03 3.10913636e+02] [ 1.09533717e-02 -2.05842639e-04 9.99939989e-01 2.16369485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.320385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.13, Y:310.94, Z:21.64 [[ 4.73593609e-01 -8.80727128e-01 -5.36834971e-03 3.53134271e+02] [ 8.80675376e-01 4.73623990e-01 -9.54984478e-03 3.10935427e+02] [ 1.09533866e-02 -2.05027940e-04 9.99939989e-01 2.16353861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.350385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.15, Y:310.96, Z:21.64 [[ 4.70383284e-01 -8.82446233e-01 -5.31143763e-03 3.53148357e+02] [ 8.82394229e-01 4.70413237e-01 -9.58181164e-03 3.10962602e+02] [ 1.09540042e-02 -1.79657887e-04 9.99939987e-01 2.16365667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.380385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.16, Y:310.99, Z:21.64 [[ 4.69804390e-01 -8.82754240e-01 -5.36536071e-03 3.53161420e+02] [ 8.82702599e-01 4.69834960e-01 -9.55152154e-03 3.10985932e+02] [ 1.09524802e-02 -2.48671092e-04 9.99939989e-01 2.16362274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.410385723 meters Centerline goodness : 0.999938 Centerline is valid? [True, True] Translation: X:353.18, Y:311.01, Z:21.63 [[ 4.68393370e-01 -8.83503752e-01 -5.36386384e-03 3.53175067e+02] [ 8.83452150e-01 4.68424007e-01 -9.55236206e-03 3.11008889e+02] [ 1.09521103e-02 -2.64453985e-04 9.99939989e-01 2.16341485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.440385723 meters Centerline goodness : 0.999770 Centerline is valid? [True, True] Translation: X:353.19, Y:311.03, Z:21.63 [[ 4.67158333e-01 -8.84157415e-01 -5.36258409e-03 3.53188461e+02] [ 8.84105848e-01 4.67189029e-01 -9.55308044e-03 3.11033168e+02] [ 1.09517674e-02 -2.78290815e-04 9.99939989e-01 2.16331572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.4703857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.20, Y:311.06, Z:21.64 [[ 4.66557697e-01 -8.84474525e-01 -5.36002872e-03 3.53202441e+02] [ 8.84422963e-01 4.66588400e-01 -9.55451399e-03 3.11058426e+02] [ 1.09516514e-02 -2.82800430e-04 9.99939989e-01 2.16365422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.500385723 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:353.22, Y:311.08, Z:21.64 [[ 4.66334528e-01 -8.84592225e-01 -5.35768455e-03 3.53215453e+02] [ 8.84540655e-01 4.66365218e-01 -9.55582830e-03 3.11082438e+02] [ 1.09516491e-02 -2.82877119e-04 9.99939989e-01 2.16351557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.530385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.23, Y:311.11, Z:21.63 [[ 4.67670875e-01 -8.83886454e-01 -5.35618325e-03 3.53228431e+02] [ 8.83834829e-01 4.67701471e-01 -9.55666973e-03 3.11107714e+02] [ 1.09521057e-02 -2.64605214e-04 9.99939989e-01 2.16344975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.560385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.24, Y:311.13, Z:21.63 [[ 4.68631816e-01 -8.83377360e-01 -5.35360521e-03 3.53241321e+02] [ 8.83325685e-01 4.68662328e-01 -9.55811372e-03 3.11131501e+02] [ 1.09524543e-02 -2.49740799e-04 9.99939989e-01 2.16337120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.5903857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.26, Y:311.16, Z:21.63 [[ 4.69881613e-01 -8.82713222e-01 -5.35129056e-03 3.53255401e+02] [ 8.82661489e-01 4.69912027e-01 -9.55940944e-03 3.11155427e+02] [ 1.09528529e-02 -2.31587365e-04 9.99939989e-01 2.16335042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.620385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.27, Y:311.18, Z:21.63 [[ 4.69838469e-01 -8.82736204e-01 -5.34863816e-03 3.53270334e+02] [ 8.82684455e-01 4.69868856e-01 -9.56089327e-03 3.11179625e+02] [ 1.09529051e-02 -2.29084302e-04 9.99939989e-01 2.16340934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.650385723 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:353.29, Y:311.20, Z:21.63 [[ 4.68886573e-01 -8.83242210e-01 -5.34595333e-03 3.53285768e+02] [ 8.83190477e-01 4.68916988e-01 -9.56239425e-03 3.11203243e+02] [ 1.09527186e-02 -2.37816795e-04 9.99939989e-01 2.16335993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.680385723 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:353.30, Y:311.23, Z:21.63 [[ 4.68572802e-01 -8.83408727e-01 -5.34325426e-03 3.53298980e+02] [ 8.83356987e-01 4.68603206e-01 -9.56390219e-03 3.11226706e+02] [ 1.09527007e-02 -2.38616538e-04 9.99939989e-01 2.16330659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.710385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.31, Y:311.25, Z:21.63 [[ 4.68512481e-01 -8.83440728e-01 -5.34174133e-03 3.53312636e+02] [ 8.83388982e-01 4.68542872e-01 -9.56474714e-03 3.11249637e+02] [ 1.09527220e-02 -2.37632017e-04 9.99939989e-01 2.16333840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.740385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.33, Y:311.27, Z:21.63 [[ 4.68576734e-01 -8.83406660e-01 -5.34023501e-03 3.53327586e+02] [ 8.83354901e-01 4.68607105e-01 -9.56558808e-03 3.11273700e+02] [ 1.09527763e-02 -2.35110741e-04 9.99939989e-01 2.16337591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.770385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.34, Y:311.30, Z:21.63 [[ 4.69008133e-01 -8.83177718e-01 -5.33754657e-03 3.53343557e+02] [ 8.83125927e-01 4.69038450e-01 -9.56708798e-03 3.11296167e+02] [ 1.09529535e-02 -2.26683694e-04 9.99939989e-01 2.16349190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.800385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.36, Y:311.32, Z:21.64 [[ 4.68470257e-01 -8.83463154e-01 -5.33606316e-03 3.53358379e+02] [ 8.83411373e-01 4.68500589e-01 -9.56791529e-03 3.11319648e+02] [ 1.09528493e-02 -2.31655146e-04 9.99939989e-01 2.16352433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.830385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.37, Y:311.34, Z:21.64 [[ 4.68102446e-01 -8.83658110e-01 -5.33341033e-03 3.53372831e+02] [ 8.83606324e-01 4.68132771e-01 -9.56939382e-03 3.11342095e+02] [ 1.09528166e-02 -2.33178440e-04 9.99939989e-01 2.16352602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.860385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.39, Y:311.36, Z:21.63 [[ 4.66918681e-01 -8.84284183e-01 -5.33194335e-03 3.53389104e+02] [ 8.84232428e-01 4.66949059e-01 -9.57021113e-03 3.11364740e+02] [ 1.09525323e-02 -2.46166862e-04 9.99939989e-01 2.16348794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.890385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.41, Y:311.39, Z:21.63 [[ 4.65673286e-01 -8.84940670e-01 -5.32933138e-03 3.53405844e+02] [ 8.84888942e-01 4.65703708e-01 -9.57166543e-03 3.11387978e+02] [ 1.09522454e-02 -2.58597514e-04 9.99939989e-01 2.16340055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.920385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:353.42, Y:311.41, Z:21.63 [[ 4.64816334e-01 -8.85391101e-01 -5.32667686e-03 3.53420402e+02] [ 8.85339386e-01 4.64846778e-01 -9.57314245e-03 3.11411749e+02] [ 1.09520637e-02 -2.66163837e-04 9.99939989e-01 2.16337173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.950385723 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:353.44, Y:311.43, Z:21.63 [[ 4.63762396e-01 -8.85943618e-01 -5.32402480e-03 3.53435590e+02] [ 8.85891922e-01 4.63792873e-01 -9.57461714e-03 3.11433702e+02] [ 1.09518157e-02 -2.76163183e-04 9.99939989e-01 2.16314523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.980385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.46, Y:311.46, Z:21.63 [[ 4.66365212e-01 -8.84576260e-01 -5.32255294e-03 3.53457462e+02] [ 8.84524465e-01 4.66395520e-01 -9.57543529e-03 3.11460185e+02] [ 1.09526176e-02 -2.42278387e-04 9.99939989e-01 2.16342188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.010385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.47, Y:311.48, Z:21.63 [[ 4.63366757e-01 -8.86149916e-01 -5.43822830e-03 3.53468189e+02] [ 8.86098968e-01 4.63398486e-01 -9.51116993e-03 3.11482112e+02] [ 1.09483892e-02 -4.11648516e-04 9.99939980e-01 2.16337785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.040385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:353.48, Y:311.51, Z:21.63 [[ 4.63620170e-01 -8.86018117e-01 -5.31363403e-03 3.53483131e+02] [ 8.85966361e-01 4.63650543e-01 -9.58027541e-03 3.11505138e+02] [ 1.09519669e-02 -2.66092092e-04 9.99939990e-01 2.16345688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.070385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.50, Y:311.53, Z:21.63 [[ 4.63053439e-01 -8.86314444e-01 -5.31216590e-03 3.53498896e+02] [ 8.86262698e-01 4.63083829e-01 -9.58108941e-03 3.11528604e+02] [ 1.09518361e-02 -2.71418080e-04 9.99939990e-01 2.16335826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.100385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.51, Y:311.55, Z:21.63 [[ 4.62701940e-01 -8.86498011e-01 -5.30961500e-03 3.53513245e+02] [ 8.86446261e-01 4.62732323e-01 -9.58250285e-03 3.11552476e+02] [ 1.09518002e-02 -2.72845709e-04 9.99939990e-01 2.16331451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.130385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.53, Y:311.58, Z:21.63 [[ 4.62220791e-01 -8.86748993e-01 -5.30691324e-03 3.53528176e+02] [ 8.86697243e-01 4.62251173e-01 -9.58399888e-03 3.11576001e+02] [ 1.09517282e-02 -2.75701791e-04 9.99939990e-01 2.16328979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.160385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:353.54, Y:311.60, Z:21.63 [[ 4.61363480e-01 -8.87195359e-01 -5.30420741e-03 3.53544825e+02] [ 8.87143621e-01 4.61393883e-01 -9.58549617e-03 3.11598018e+02] [ 1.09515366e-02 -2.83195899e-04 9.99939990e-01 2.16329940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.190385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.56, Y:311.62, Z:21.63 [[ 4.61040040e-01 -8.87363492e-01 -5.30237177e-03 3.53559079e+02] [ 8.87311753e-01 4.61070442e-01 -9.58651149e-03 3.11620857e+02] [ 1.09514872e-02 -2.85091149e-04 9.99939990e-01 2.16331829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.2203857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.58, Y:311.64, Z:21.63 [[ 4.61550935e-01 -8.87097872e-01 -5.30091199e-03 3.53575891e+02] [ 8.87046106e-01 4.61581291e-01 -9.58731861e-03 3.11643790e+02] [ 1.09516917e-02 -2.77117467e-04 9.99939990e-01 2.16330644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.250385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.59, Y:311.67, Z:21.63 [[ 4.62188472e-01 -8.86765890e-01 -5.29831228e-03 3.53591697e+02] [ 8.86714087e-01 4.62218763e-01 -9.58875509e-03 3.11667521e+02] [ 1.09519603e-02 -2.66276076e-04 9.99939990e-01 2.16333511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.280385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.61, Y:311.69, Z:21.63 [[ 4.64015190e-01 -8.85811413e-01 -5.29568027e-03 3.53607845e+02] [ 8.85759530e-01 4.64045346e-01 -9.59020847e-03 3.11690165e+02] [ 1.09525519e-02 -2.40696865e-04 9.99939990e-01 2.16336324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.310385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.62, Y:311.71, Z:21.63 [[ 4.65118800e-01 -8.85232448e-01 -5.29294895e-03 3.53622125e+02] [ 8.85180510e-01 4.65148861e-01 -9.59171569e-03 3.11713033e+02] [ 1.09529071e-02 -2.23927961e-04 9.99939990e-01 2.16336926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.3403857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.64, Y:311.74, Z:21.63 [[ 4.66346056e-01 -8.84586545e-01 -5.29143278e-03 3.53638264e+02] [ 8.84534557e-01 4.66376029e-01 -9.59255204e-03 3.11736918e+02] [ 1.09532399e-02 -2.07006336e-04 9.99939990e-01 2.16336553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.370385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.66, Y:311.76, Z:21.64 [[ 4.68340130e-01 -8.83532355e-01 -5.30093279e-03 3.53655302e+02] [ 8.83480358e-01 4.68370089e-01 -9.58731430e-03 3.11759723e+02] [ 1.09535007e-02 -1.93145967e-04 9.99939990e-01 2.16355564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.400385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.67, Y:311.78, Z:21.63 [[ 4.68490047e-01 -8.83452890e-01 -5.29778100e-03 3.53669665e+02] [ 8.83400869e-01 4.68519963e-01 -9.58905080e-03 3.11783366e+02] [ 1.09535908e-02 -1.87689474e-04 9.99939990e-01 2.16339770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.430385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.69, Y:311.81, Z:21.63 [[ 4.69936858e-01 -8.82684362e-01 -5.25995720e-03 3.53685397e+02] [ 8.82632057e-01 4.69966277e-01 -9.60987417e-03 3.11806812e+02] [ 1.09544881e-02 -1.26572769e-04 9.99939990e-01 2.16338414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.460385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.70, Y:311.83, Z:21.63 [[ 4.70570327e-01 -8.82346787e-01 -5.26448055e-03 3.53701524e+02] [ 8.82294489e-01 4.70599758e-01 -9.60738415e-03 3.11831084e+02] [ 1.09545078e-02 -1.23872272e-04 9.99939990e-01 2.16335817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.490385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:353.72, Y:311.85, Z:21.63 [[ 4.72225280e-01 -8.81462153e-01 -5.26851161e-03 3.53719785e+02] [ 8.81409825e-01 4.72254657e-01 -9.60516571e-03 3.11852577e+02] [ 1.09546692e-02 -1.07915830e-04 9.99939990e-01 2.16345138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.520385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.74, Y:311.88, Z:21.63 [[ 4.73182048e-01 -8.80948874e-01 -5.27557780e-03 3.53735287e+02] [ 8.80896557e-01 4.73211444e-01 -9.60127812e-03 3.11875877e+02] [ 1.09546989e-02 -1.04085878e-04 9.99939990e-01 2.16346534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.550385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.75, Y:311.90, Z:21.63 [[ 4.74644957e-01 -8.80161614e-01 -5.26285728e-03 3.53751089e+02] [ 8.80109171e-01 4.74674128e-01 -9.60827358e-03 3.11897553e+02] [ 1.09549758e-02 -7.13703525e-05 9.99939990e-01 2.16332044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.580385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.77, Y:311.92, Z:21.63 [[ 4.74328933e-01 -8.80332222e-01 -5.21946006e-03 3.53767688e+02] [ 8.80279526e-01 4.74357648e-01 -9.63210187e-03 3.11922986e+02] [ 1.09553404e-02 -2.57992265e-05 9.99939988e-01 2.16334992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.610385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:353.79, Y:311.95, Z:21.64 [[ 4.74322553e-01 -8.80335448e-01 -5.25493494e-03 3.53788287e+02] [ 8.80282968e-01 4.74351657e-01 -9.61262399e-03 3.11945545e+02] [ 1.09550207e-02 -6.63453714e-05 9.99939990e-01 2.16361034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.640385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.81, Y:311.97, Z:21.64 [[ 4.73777937e-01 -8.80628556e-01 -5.27387292e-03 3.53805041e+02] [ 8.80576209e-01 4.73807279e-01 -9.60222832e-03 3.11968499e+02] [ 1.09547958e-02 -9.47230973e-05 9.99939990e-01 2.16356614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.670385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.83, Y:311.99, Z:21.64 [[ 4.73414273e-01 -8.80824251e-01 -5.25031245e-03 3.53825124e+02] [ 8.80771772e-01 4.73443380e-01 -9.61515283e-03 3.11989182e+02] [ 1.09549855e-02 -7.23764169e-05 9.99939990e-01 2.16355472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.700385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.84, Y:312.01, Z:21.64 [[ 4.72370402e-01 -8.81384400e-01 -5.26708246e-03 3.53841488e+02] [ 8.81332059e-01 4.72399755e-01 -9.60595491e-03 3.12013089e+02] [ 1.09547073e-02 -1.04479840e-04 9.99939990e-01 2.16374508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.730385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.86, Y:312.03, Z:21.64 [[ 4.71066331e-01 -8.82082116e-01 -5.25854580e-03 3.53859582e+02] [ 8.82029766e-01 4.71095667e-01 -9.61063498e-03 3.12033848e+02] [ 1.09546474e-02 -1.10947363e-04 9.99939990e-01 2.16381868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.760385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.88, Y:312.06, Z:21.64 [[ 4.70347763e-01 -8.82465562e-01 -5.24539352e-03 3.53875435e+02] [ 8.82413155e-01 4.70377000e-01 -9.61784216e-03 3.12056737e+02] [ 1.09547270e-02 -1.04873694e-04 9.99939990e-01 2.16378012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.790385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.89, Y:312.08, Z:21.64 [[ 4.68808765e-01 -8.83284048e-01 -5.25663576e-03 3.53890413e+02] [ 8.83231761e-01 4.68838215e-01 -9.61168340e-03 3.12079773e+02] [ 1.09543583e-02 -1.36786233e-04 9.99939990e-01 2.16373799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.820385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:353.91, Y:312.10, Z:21.64 [[ 4.66681685e-01 -8.84409770e-01 -5.25017738e-03 3.53910164e+02] [ 8.84357514e-01 4.66711190e-01 -9.61521959e-03 3.12102246e+02] [ 1.09541107e-02 -1.55786939e-04 9.99939990e-01 2.16380474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.850385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:353.93, Y:312.13, Z:21.64 [[ 4.65163292e-01 -8.85209370e-01 -5.24237447e-03 3.53928026e+02] [ 8.85157117e-01 4.65192802e-01 -9.61949027e-03 3.12125592e+02] [ 1.09539778e-02 -1.65691309e-04 9.99939990e-01 2.16404449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.880385723 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:353.95, Y:312.15, Z:21.64 [[ 4.65128039e-01 -8.85227695e-01 -5.27592172e-03 3.53947077e+02] [ 8.85175650e-01 4.65157916e-01 -9.60113929e-03 3.12146151e+02] [ 1.09533311e-02 -2.04358345e-04 9.99939990e-01 2.16429863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.910385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:353.96, Y:312.17, Z:21.64 [[ 4.64547737e-01 -8.85532649e-01 -5.22756086e-03 3.53962524e+02] [ 8.85480325e-01 4.64577123e-01 -9.62757376e-03 3.12169941e+02] [ 1.09541361e-02 -1.56434687e-04 9.99939989e-01 2.16392208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.940385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:353.98, Y:312.19, Z:21.64 [[ 4.64097944e-01 -8.85768408e-01 -5.23697691e-03 3.53979409e+02] [ 8.85716157e-01 4.64127458e-01 -9.62242975e-03 3.12193870e+02] [ 1.09538691e-02 -1.72725208e-04 9.99939990e-01 2.16416328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.9703857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.99, Y:312.22, Z:21.64 [[ 4.63636871e-01 -8.86009780e-01 -5.24617572e-03 3.53994519e+02] [ 8.85957601e-01 4.63666513e-01 -9.61740591e-03 3.12217960e+02] [ 1.09535917e-02 -1.88905274e-04 9.99939990e-01 2.16433930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.000385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.01, Y:312.24, Z:21.65 [[ 4.64067194e-01 -8.85784546e-01 -5.23235322e-03 3.54012043e+02] [ 8.85732268e-01 4.64096660e-01 -9.62495150e-03 3.12240184e+02] [ 1.09539510e-02 -1.67839848e-04 9.99939990e-01 2.16452269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.030385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.03, Y:312.26, Z:21.65 [[ 4.65265684e-01 -8.85155523e-01 -5.24829638e-03 3.54029502e+02] [ 8.85103302e-01 4.65295252e-01 -9.61625249e-03 3.12264566e+02] [ 1.09538864e-02 -1.71172169e-04 9.99939990e-01 2.16457252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.060385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.04, Y:312.29, Z:21.65 [[ 4.64911719e-01 -8.85341272e-01 -5.28443354e-03 3.54043793e+02] [ 8.85289287e-01 4.64941701e-01 -9.59653708e-03 3.12286776e+02] [ 1.09531639e-02 -2.16709844e-04 9.99939989e-01 2.16509855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.0903857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.06, Y:312.31, Z:21.65 [[ 4.65337925e-01 -8.85117575e-01 -5.24352622e-03 3.54057449e+02] [ 8.85065323e-01 4.65367438e-01 -9.61883694e-03 3.12311215e+02] [ 1.09539680e-02 -1.64853607e-04 9.99939990e-01 2.16504038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.120385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.07, Y:312.34, Z:21.65 [[ 4.65099881e-01 -8.85242698e-01 -5.24094560e-03 3.54071061e+02] [ 8.85190438e-01 4.65129379e-01 -9.62024282e-03 3.12336350e+02] [ 1.09539675e-02 -1.64861147e-04 9.99939990e-01 2.16507158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.150385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:354.08, Y:312.36, Z:21.65 [[ 4.66145068e-01 -8.84692792e-01 -5.23835797e-03 3.54083713e+02] [ 8.84640481e-01 4.66174476e-01 -9.62165161e-03 3.12361360e+02] [ 1.09541946e-02 -1.48978074e-04 9.99939990e-01 2.16503335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.180385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.10, Y:312.38, Z:21.65 [[ 4.66417880e-01 -8.84549008e-01 -5.23573832e-03 3.54096501e+02] [ 8.84496673e-01 4.66447244e-01 -9.62307692e-03 3.12384927e+02] [ 1.09542789e-02 -1.42617982e-04 9.99939990e-01 2.16504837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.210385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.11, Y:312.41, Z:21.65 [[ 4.66522565e-01 -8.84493812e-01 -5.23394744e-03 3.54110410e+02] [ 8.84441462e-01 4.66551903e-01 -9.62405087e-03 3.12408925e+02] [ 1.09543216e-02 -1.39283231e-04 9.99939990e-01 2.16516787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.240385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.12, Y:312.43, Z:21.65 [[ 4.66442512e-01 -8.84536046e-01 -5.23133047e-03 3.54124312e+02] [ 8.84483683e-01 4.66471826e-01 -9.62547316e-03 3.12431705e+02] [ 1.09543463e-02 -1.37296564e-04 9.99939990e-01 2.16521952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.270385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:354.14, Y:312.46, Z:21.65 [[ 4.65401170e-01 -8.85084407e-01 -5.22901119e-03 3.54137750e+02] [ 8.85032065e-01 4.65430521e-01 -9.62673294e-03 3.12459909e+02] [ 1.09542126e-02 -1.47549794e-04 9.99939990e-01 2.16518561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.300385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.15, Y:312.48, Z:21.65 [[ 4.65957205e-01 -8.84791450e-01 -5.28901459e-03 3.54146356e+02] [ 8.84739456e-01 4.65987175e-01 -9.59416973e-03 3.12482463e+02] [ 1.09534523e-02 -2.08927380e-04 9.99939987e-01 2.16530357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.330385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.16, Y:312.51, Z:21.65 [[ 4.67619552e-01 -8.83914675e-01 -5.17702363e-03 3.54160027e+02] [ 8.83861946e-01 4.67648205e-01 -9.65494113e-03 3.12510159e+02] [ 1.09551700e-02 -6.09349358e-05 9.99939988e-01 2.16514172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.360385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.17, Y:312.53, Z:21.65 [[ 4.65504837e-01 -8.85029878e-01 -5.23082079e-03 3.54169509e+02] [ 8.84977544e-01 4.65534201e-01 -9.62575056e-03 3.12534105e+02] [ 1.09542028e-02 -1.48325492e-04 9.99939990e-01 2.16532728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.390385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.18, Y:312.56, Z:21.65 [[ 4.65671329e-01 -8.84942724e-01 -5.15637629e-03 3.54181980e+02] [ 8.84889934e-01 4.65699872e-01 -9.66610645e-03 3.12559188e+02] [ 1.09552744e-02 -6.15968379e-05 9.99939987e-01 2.16534843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.420385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.20, Y:312.58, Z:21.66 [[ 4.66780289e-01 -8.84358219e-01 -5.16744081e-03 3.54195770e+02] [ 8.84305459e-01 4.66808887e-01 -9.66010937e-03 3.12584820e+02] [ 1.09552044e-02 -6.04474785e-05 9.99939988e-01 2.16550654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.450385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.21, Y:312.61, Z:21.66 [[ 4.67574848e-01 -8.83938355e-01 -5.17168060e-03 3.54209609e+02] [ 8.83885595e-01 4.67603445e-01 -9.65781189e-03 3.12611157e+02] [ 1.09552060e-02 -5.54240544e-05 9.99939988e-01 2.16581119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.480385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.22, Y:312.64, Z:21.66 [[ 4.68170207e-01 -8.83622887e-01 -5.22017190e-03 3.54221240e+02] [ 8.83570400e-01 4.68199298e-01 -9.63153021e-03 3.12637120e+02] [ 1.09547214e-02 -1.03193877e-04 9.99939990e-01 2.16574006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.510385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.24, Y:312.66, Z:21.66 [[ 4.69513666e-01 -8.82909781e-01 -5.21878097e-03 3.54235220e+02] [ 8.82857241e-01 4.69542662e-01 -9.63228382e-03 3.12660164e+02] [ 1.09548779e-02 -8.49496827e-05 9.99939990e-01 2.16572327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.540385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.25, Y:312.69, Z:21.66 [[ 4.69910808e-01 -8.82698489e-01 -5.21632458e-03 3.54247882e+02] [ 8.82645921e-01 4.69939753e-01 -9.63361388e-03 3.12686214e+02] [ 1.09549347e-02 -7.72283294e-05 9.99939990e-01 2.16593727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.570385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.26, Y:312.71, Z:21.66 [[ 4.69837572e-01 -8.82737487e-01 -5.21393866e-03 3.54260919e+02] [ 8.82684907e-01 4.69866495e-01 -9.63490503e-03 3.12712528e+02] [ 1.09549469e-02 -7.54245759e-05 9.99939990e-01 2.16586014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.600385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.27, Y:312.74, Z:21.66 [[ 4.70696423e-01 -8.82279840e-01 -5.21156366e-03 3.54274002e+02] [ 8.82227218e-01 4.70725270e-01 -9.63618951e-03 3.12736188e+02] [ 1.09550304e-02 -6.20633698e-05 9.99939990e-01 2.16578582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.630385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.29, Y:312.76, Z:21.66 [[ 4.70756317e-01 -8.82247899e-01 -5.20914493e-03 3.54286685e+02] [ 8.82195260e-01 4.70785133e-01 -9.63749685e-03 3.12759833e+02] [ 1.09550493e-02 -5.85704513e-05 9.99939990e-01 2.16580369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.660385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:354.30, Y:312.78, Z:21.66 [[ 4.67755599e-01 -8.83842510e-01 -5.20739657e-03 3.54295969e+02] [ 8.83789959e-01 4.67784575e-01 -9.63844144e-03 3.12784505e+02] [ 1.09548041e-02 -9.38098461e-05 9.99939990e-01 2.16604344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.690385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:354.31, Y:312.81, Z:21.66 [[ 4.68532876e-01 -8.83431133e-01 -5.13597272e-03 3.54312596e+02] [ 8.83378131e-01 4.68561025e-01 -9.67700240e-03 3.12810370e+02] [ 1.09554818e-02 -3.01221903e-06 9.99939987e-01 2.16600307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.7203857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.33, Y:312.84, Z:21.66 [[ 4.66443500e-01 -8.84535684e-01 -5.20427055e-03 3.54327193e+02] [ 8.84483157e-01 4.66472520e-01 -9.64012267e-03 3.12835577e+02] [ 1.09546817e-02 -1.06517080e-04 9.99939990e-01 2.16634980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.750385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.34, Y:312.86, Z:21.66 [[ 4.65152915e-01 -8.85214962e-01 -5.21894651e-03 3.54340668e+02] [ 8.85162566e-01 4.65182171e-01 -9.63220282e-03 3.12860944e+02] [ 1.09543309e-02 -1.39168868e-04 9.99939990e-01 2.16648231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.780385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.35, Y:312.89, Z:21.67 [[ 4.63354427e-01 -8.86157697e-01 -5.21638118e-03 3.54350915e+02] [ 8.86105346e-01 4.63383761e-01 -9.63358635e-03 3.12885767e+02] [ 1.09540630e-02 -1.58498366e-04 9.99939990e-01 2.16671375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.810385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.37, Y:312.91, Z:21.66 [[ 4.63656845e-01 -8.85999616e-01 -5.19714369e-03 3.54365081e+02] [ 8.85947138e-01 4.63685952e-01 -9.64395348e-03 3.12912122e+02] [ 1.09543816e-02 -1.32909534e-04 9.99939990e-01 2.16638257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.8403857229999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:354.37, Y:312.94, Z:21.66 [[ 4.62615264e-01 -8.86543654e-01 -5.24079344e-03 3.54374511e+02] [ 8.86491476e-01 4.62644908e-01 -9.62043363e-03 3.12937552e+02] [ 1.09535608e-02 -1.95359269e-04 9.99939989e-01 2.16638993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.870385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.39, Y:312.96, Z:21.67 [[ 4.62309687e-01 -8.86703184e-01 -5.21695635e-03 3.54385676e+02] [ 8.86650871e-01 4.62339090e-01 -9.63326611e-03 3.12963725e+02] [ 1.09538506e-02 -1.72066643e-04 9.99939990e-01 2.16671164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.900385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.40, Y:312.99, Z:21.67 [[ 4.62158184e-01 -8.86782312e-01 -5.19069827e-03 3.54397156e+02] [ 8.86729845e-01 4.62187310e-01 -9.64739405e-03 3.12989399e+02] [ 1.09542133e-02 -1.44124953e-04 9.99939990e-01 2.16677663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.930385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:354.41, Y:313.01, Z:21.67 [[ 4.62816061e-01 -8.86439156e-01 -5.18806117e-03 3.54406967e+02] [ 8.86386651e-01 4.62845120e-01 -9.64881198e-03 3.13014456e+02] [ 1.09543535e-02 -1.33003011e-04 9.99939990e-01 2.16684648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.960385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.42, Y:313.04, Z:21.67 [[ 4.62890914e-01 -8.86400087e-01 -5.18544389e-03 3.54417788e+02] [ 8.86347564e-01 4.62919939e-01 -9.65021835e-03 3.13040513e+02] [ 1.09543998e-02 -1.29107171e-04 9.99939990e-01 2.16702646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.990385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.43, Y:313.06, Z:21.67 [[ 4.64264501e-01 -8.85681439e-01 -5.18276826e-03 3.54428324e+02] [ 8.85628855e-01 4.64293416e-01 -9.65165512e-03 3.13064185e+02] [ 1.09546170e-02 -1.09088266e-04 9.99939990e-01 2.16705559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.020385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.44, Y:313.09, Z:21.67 [[ 4.64697503e-01 -8.85454648e-01 -5.12810362e-03 3.54438768e+02] [ 8.85401725e-01 4.64725795e-01 -9.68098209e-03 3.13092473e+02] [ 1.09552326e-02 -4.17035831e-05 9.99939989e-01 2.16722485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.050385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:354.45, Y:313.12, Z:21.67 [[ 4.65691877e-01 -8.84931778e-01 -5.17920214e-03 3.54450364e+02] [ 8.84879126e-01 4.65720668e-01 -9.65356742e-03 3.13118335e+02] [ 1.09548101e-02 -8.73799308e-05 9.99939990e-01 2.16735066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.080385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:354.46, Y:313.14, Z:21.67 [[ 4.66975997e-01 -8.84254839e-01 -5.17655455e-03 3.54461530e+02] [ 8.84202130e-01 4.67004683e-01 -9.65498693e-03 3.13142647e+02] [ 1.09549441e-02 -6.84734064e-05 9.99939990e-01 2.16738416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.110385723 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:354.47, Y:313.17, Z:21.67 [[ 4.68412270e-01 -8.83494863e-01 -5.17417246e-03 3.54470383e+02] [ 8.83442093e-01 4.68440844e-01 -9.65626334e-03 3.13169007e+02] [ 1.09550528e-02 -4.79695208e-05 9.99939990e-01 2.16749178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.140385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.48, Y:313.20, Z:21.67 [[ 4.71945356e-01 -8.81612724e-01 -5.15612210e-03 3.54480620e+02] [ 8.81559734e-01 4.71973521e-01 -9.66593195e-03 3.13195390e+02] [ 1.09551617e-02 1.63620643e-05 9.99939990e-01 2.16749767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.170385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.49, Y:313.22, Z:21.67 [[ 4.72613545e-01 -8.81254609e-01 -5.17213950e-03 3.54491563e+02] [ 8.81201692e-01 4.72641845e-01 -9.65735359e-03 3.13220719e+02] [ 1.09551569e-02 6.49802973e-06 9.99939990e-01 2.16741550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.200385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.50, Y:313.25, Z:21.68 [[ 4.73157081e-01 -8.80962906e-01 -5.17054575e-03 3.54501830e+02] [ 8.80909962e-01 4.73185331e-01 -9.65820681e-03 3.13247778e+02] [ 1.09551483e-02 1.50636881e-05 9.99939990e-01 2.16764872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.230385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.51, Y:313.27, Z:21.68 [[ 4.73041690e-01 -8.81024887e-01 -5.16797740e-03 3.54513607e+02] [ 8.80971931e-01 4.73069919e-01 -9.65958091e-03 3.13273660e+02] [ 1.09551458e-02 1.65414510e-05 9.99939990e-01 2.16777219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.260385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.52, Y:313.30, Z:21.68 [[ 4.71589076e-01 -8.81803302e-01 -5.16529140e-03 3.54522707e+02] [ 8.81750377e-01 4.71617363e-01 -9.66101698e-03 3.13299131e+02] [ 1.09551578e-02 1.53243291e-06 9.99939990e-01 2.16776921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.290385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.53, Y:313.32, Z:21.68 [[ 4.70354481e-01 -8.82462464e-01 -5.16346776e-03 3.54534264e+02] [ 8.82409569e-01 4.70382822e-01 -9.66199156e-03 3.13324836e+02] [ 1.09551514e-02 -1.17323274e-05 9.99939990e-01 2.16793383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.320385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.54, Y:313.35, Z:21.68 [[ 4.68152267e-01 -8.83632741e-01 -5.16077101e-03 3.54543298e+02] [ 8.83579900e-01 4.68180710e-01 -9.66343176e-03 3.13350582e+02] [ 1.09550981e-02 -3.59960444e-05 9.99939990e-01 2.16787701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.350385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:354.55, Y:313.38, Z:21.68 [[ 4.66978896e-01 -8.84253415e-01 -5.15835652e-03 3.54554206e+02] [ 8.84200598e-01 4.67007383e-01 -9.66472044e-03 3.13376315e+02] [ 1.09550526e-02 -4.78014422e-05 9.99939990e-01 2.16796633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.380385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.56, Y:313.40, Z:21.68 [[ 4.64728189e-01 -8.85438383e-01 -5.15567687e-03 3.54562777e+02] [ 8.85385623e-01 4.64756780e-01 -9.66614970e-03 3.13403109e+02] [ 1.09549157e-02 -7.26299325e-05 9.99939990e-01 2.16764262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.410385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.57, Y:313.43, Z:21.68 [[ 4.62966559e-01 -8.86360765e-01 -5.15353919e-03 3.54573509e+02] [ 8.86308049e-01 4.62995232e-01 -9.66728928e-03 3.13429139e+02] [ 1.09547700e-02 -9.19916128e-05 9.99939990e-01 2.16768962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.440385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.58, Y:313.46, Z:21.67 [[ 4.59797409e-01 -8.88008902e-01 -5.15095665e-03 3.54582381e+02] [ 8.87956273e-01 4.59826243e-01 -9.66866512e-03 3.13456167e+02] [ 1.09544057e-02 -1.28197097e-04 9.99939990e-01 2.16744442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.4703857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.59, Y:313.48, Z:21.67 [[ 4.57070620e-01 -8.89415625e-01 -5.12776548e-03 3.54594241e+02] [ 8.89362947e-01 4.57099363e-01 -9.68101445e-03 3.13483011e+02] [ 1.09543438e-02 -1.35537341e-04 9.99939990e-01 2.16747966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.500385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.60, Y:313.51, Z:21.67 [[ 4.52565293e-01 -8.91716408e-01 -5.14819507e-03 3.54603949e+02] [ 8.91663998e-01 4.52594524e-01 -9.67013813e-03 3.13509398e+02] [ 1.09530657e-02 -2.14091302e-04 9.99939990e-01 2.16748477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.530385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.61, Y:313.53, Z:21.67 [[ 4.50569448e-01 -8.92726551e-01 -5.14562991e-03 3.54614847e+02] [ 8.92674192e-01 4.50598768e-01 -9.67150290e-03 3.13533745e+02] [ 1.09526219e-02 -2.35687290e-04 9.99939990e-01 2.16749679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.560385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.62, Y:313.56, Z:21.68 [[ 4.48334424e-01 -8.93851102e-01 -5.14323862e-03 3.54624923e+02] [ 8.93798801e-01 4.48363848e-01 -9.67277440e-03 3.13560648e+02] [ 1.09520623e-02 -2.60382779e-04 9.99939990e-01 2.16768346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.5903857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.64, Y:313.59, Z:21.68 [[ 4.47967405e-01 -8.94035108e-01 -5.14095709e-03 3.54636695e+02] [ 8.93982806e-01 4.47996827e-01 -9.67398685e-03 3.13587098e+02] [ 1.09520163e-02 -2.62296458e-04 9.99939990e-01 2.16781850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.620385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.64, Y:313.61, Z:21.68 [[ 4.49497726e-01 -8.93266695e-01 -5.13862300e-03 3.54644896e+02] [ 8.93214329e-01 4.49527033e-01 -9.67522652e-03 3.13614467e+02] [ 1.09525076e-02 -2.40899375e-04 9.99939990e-01 2.16788866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.650385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.66, Y:313.64, Z:21.67 [[ 4.50769012e-01 -8.92625856e-01 -5.13603377e-03 3.54655630e+02] [ 8.92573432e-01 4.50798216e-01 -9.67660080e-03 3.13640787e+02] [ 1.09528989e-02 -2.22375505e-04 9.99939990e-01 2.16724896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.680385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.67, Y:313.67, Z:21.68 [[ 4.54674470e-01 -8.90642889e-01 -5.13519274e-03 3.54665663e+02] [ 8.90590333e-01 4.54703435e-01 -9.67704710e-03 3.13667688e+02] [ 1.09537830e-02 -1.73446747e-04 9.99939990e-01 2.16771757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.710385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.68, Y:313.69, Z:21.68 [[ 4.56810925e-01 -8.89549006e-01 -5.13268836e-03 3.54678225e+02] [ 8.89496365e-01 4.56839737e-01 -9.67837524e-03 3.13694221e+02] [ 1.09542051e-02 -1.44320091e-04 9.99939990e-01 2.16787169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.740385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.69, Y:313.72, Z:21.68 [[ 4.61511623e-01 -8.87119328e-01 -5.13037675e-03 3.54688974e+02] [ 8.87066522e-01 4.61540130e-01 -9.67960043e-03 3.13721094e+02] [ 1.09548354e-02 -8.37373629e-05 9.99939990e-01 2.16801060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.770385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.70, Y:313.75, Z:21.68 [[ 4.63604358e-01 -8.86027484e-01 -5.12804744e-03 3.54700498e+02] [ 8.85974597e-01 4.63632716e-01 -9.68083429e-03 3.13747149e+02] [ 1.09550158e-02 -5.52427968e-05 9.99939991e-01 2.16801686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.800385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.71, Y:313.77, Z:21.68 [[ 4.66414624e-01 -8.84551372e-01 -5.12539493e-03 3.54710241e+02] [ 8.84498380e-01 4.66442784e-01 -9.68223843e-03 3.13774513e+02] [ 1.09551408e-02 -1.74659157e-05 9.99939991e-01 2.16801142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.830385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.72, Y:313.80, Z:21.68 [[ 4.66954122e-01 -8.84266703e-01 -5.12305163e-03 3.54722558e+02] [ 8.84213680e-01 4.66982225e-01 -9.68347815e-03 3.13799962e+02] [ 1.09551513e-02 -8.13229570e-06 9.99939991e-01 2.16811356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.860385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.74, Y:313.82, Z:21.68 [[ 4.67793232e-01 -8.83823101e-01 -5.12032942e-03 3.54735572e+02] [ 8.83770036e-01 4.67821254e-01 -9.68491736e-03 3.13823671e+02] [ 1.09551526e-02 5.34507437e-06 9.99939991e-01 2.16807381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.890385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.75, Y:313.85, Z:21.68 [[ 4.67101329e-01 -8.84188977e-01 -5.11883946e-03 3.54748520e+02] [ 8.84135925e-01 4.67129376e-01 -9.68570480e-03 3.13847408e+02] [ 1.09551537e-02 -1.54427412e-06 9.99939991e-01 2.16808891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.920385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.76, Y:313.87, Z:21.68 [[ 4.64990806e-01 -8.85300724e-01 -5.11644956e-03 3.54762778e+02] [ 8.85247725e-01 4.65018954e-01 -9.68696709e-03 3.13871629e+02] [ 1.09551250e-02 -2.49747002e-05 9.99939991e-01 2.16813269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.950385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.78, Y:313.90, Z:21.68 [[ 4.63904203e-01 -8.85870610e-01 -5.11391157e-03 3.54776010e+02] [ 8.85817631e-01 4.63932388e-01 -9.68830675e-03 3.13895230e+02] [ 1.09550954e-02 -3.55468107e-05 9.99939991e-01 2.16803362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.980385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.79, Y:313.92, Z:21.68 [[ 4.61569819e-01 -8.87089154e-01 -5.11221498e-03 3.54788839e+02] [ 8.87036240e-01 4.61598124e-01 -9.68920191e-03 3.13919926e+02] [ 1.09549748e-02 -6.24767904e-05 9.99939991e-01 2.16802111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.010385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.80, Y:313.95, Z:21.68 [[ 4.61335512e-01 -8.87211044e-01 -5.10969318e-03 3.54802087e+02] [ 8.87158122e-01 4.61363804e-01 -9.69053162e-03 3.13945215e+02] [ 1.09549742e-02 -6.25194432e-05 9.99939991e-01 2.16805231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.040385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.81, Y:313.97, Z:21.68 [[ 4.60231689e-01 -8.87784157e-01 -5.10713329e-03 3.54814699e+02] [ 8.87731256e-01 4.60260019e-01 -9.69188056e-03 3.13970297e+02] [ 1.09549073e-02 -7.32512852e-05 9.99939991e-01 2.16801048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.070385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.83, Y:313.99, Z:21.68 [[ 4.58708458e-01 -8.88572166e-01 -5.10458445e-03 3.54829682e+02] [ 8.88519298e-01 4.58736851e-01 -9.69322281e-03 3.13993839e+02] [ 1.09547890e-02 -8.91585031e-05 9.99939991e-01 2.16832764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.100385723 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:354.84, Y:314.02, Z:21.68 [[ 4.58270880e-01 -8.88797936e-01 -5.10189624e-03 3.54844094e+02] [ 8.88745067e-01 4.58299270e-01 -9.69463750e-03 3.14016836e+02] [ 1.09547691e-02 -9.15150546e-05 9.99939991e-01 2.16819670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.130385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.86, Y:314.04, Z:21.69 [[ 4.57842794e-01 -8.89018539e-01 -5.10035361e-03 3.54860383e+02] [ 8.88965674e-01 4.57871192e-01 -9.69544901e-03 3.14040129e+02] [ 1.09547389e-02 -9.50478237e-05 9.99939991e-01 2.16850775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.160385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.87, Y:314.06, Z:21.68 [[ 4.57471891e-01 -8.89209469e-01 -5.09787785e-03 3.54873968e+02] [ 8.89156602e-01 4.57500285e-01 -9.69675060e-03 3.14063752e+02] [ 1.09547230e-02 -9.68209091e-05 9.99939991e-01 2.16844847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.190385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.89, Y:314.09, Z:21.69 [[ 4.56549754e-01 -8.89683287e-01 -5.09608629e-03 3.54888380e+02] [ 8.89630439e-01 4.56578183e-01 -9.69769206e-03 3.14088099e+02] [ 1.09546364e-02 -1.06154555e-04 9.99939991e-01 2.16851185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.2203857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.90, Y:314.11, Z:21.69 [[ 4.55777381e-01 -8.90079230e-01 -5.09339131e-03 3.54902650e+02] [ 8.90026391e-01 4.55805826e-01 -9.69910730e-03 3.14112679e+02] [ 1.09545714e-02 -1.12618966e-04 9.99939991e-01 2.16859057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.250385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.92, Y:314.14, Z:21.69 [[ 4.55198675e-01 -8.90375343e-01 -5.09071082e-03 3.54917460e+02] [ 8.90322506e-01 4.55227125e-01 -9.70051398e-03 3.14137005e+02] [ 1.09545281e-02 -1.16713305e-04 9.99939991e-01 2.16875501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.280385723 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:354.94, Y:314.16, Z:21.69 [[ 4.54234574e-01 -8.90867589e-01 -5.08832607e-03 3.54935109e+02] [ 8.90814769e-01 4.54263055e-01 -9.70176472e-03 3.14160318e+02] [ 1.09544263e-02 -1.25879055e-04 9.99939991e-01 2.16880712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.310385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.95, Y:314.18, Z:21.69 [[ 4.55078578e-01 -8.90436759e-01 -5.08590639e-03 3.54951095e+02] [ 8.90383898e-01 4.55106983e-01 -9.70303302e-03 3.14182799e+02] [ 1.09545688e-02 -1.12766686e-04 9.99939991e-01 2.16903501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.3403857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.97, Y:314.21, Z:21.69 [[ 4.55298832e-01 -8.90324164e-01 -5.08487881e-03 3.54965191e+02] [ 8.90271290e-01 4.55327213e-01 -9.70357149e-03 3.14206785e+02] [ 1.09546079e-02 -1.08896853e-04 9.99939991e-01 2.16908055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.370385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.98, Y:314.23, Z:21.69 [[ 4.57664674e-01 -8.89110352e-01 -5.08218417e-03 3.54982900e+02] [ 8.89057387e-01 4.57692885e-01 -9.70498259e-03 3.14232381e+02] [ 1.09548800e-02 -7.67256827e-05 9.99939991e-01 2.16914018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.400385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.00, Y:314.26, Z:21.69 [[ 4.58187600e-01 -8.88840761e-01 -5.12100105e-03 3.54997270e+02] [ 8.88788006e-01 4.58216203e-01 -9.68465222e-03 3.14256427e+02] [ 1.09546393e-02 -1.14096754e-04 9.99939990e-01 2.16898934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.430385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.01, Y:314.28, Z:21.69 [[ 4.57000082e-01 -8.89451877e-01 -5.12676232e-03 3.55009125e+02] [ 8.89399194e-01 4.57028818e-01 -9.68163524e-03 3.14279729e+02] [ 1.09544268e-02 -1.35230171e-04 9.99939989e-01 2.16903344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.460385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.03, Y:314.30, Z:21.69 [[ 4.56082446e-01 -8.89923032e-01 -5.07922243e-03 3.55025283e+02] [ 8.89870101e-01 4.56110719e-01 -9.70651192e-03 3.14302451e+02] [ 1.09547363e-02 -9.28784709e-05 9.99939991e-01 2.16919384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.490385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.04, Y:314.32, Z:21.69 [[ 4.55177954e-01 -8.90386017e-01 -5.07657954e-03 3.55041479e+02] [ 8.90333098e-01 4.55206251e-01 -9.70789398e-03 3.14324826e+02] [ 1.09546638e-02 -1.01027470e-04 9.99939991e-01 2.16922739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.520385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.06, Y:314.35, Z:21.69 [[ 4.55000257e-01 -8.90476849e-01 -5.07420673e-03 3.55056752e+02] [ 8.90423923e-01 4.55028539e-01 -9.70913406e-03 3.14350120e+02] [ 1.09546680e-02 -1.00536575e-04 9.99939991e-01 2.16941304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.550385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.07, Y:314.37, Z:21.69 [[ 4.56449931e-01 -8.89734584e-01 -5.08245744e-03 3.55071719e+02] [ 8.89681659e-01 4.56478217e-01 -9.70482391e-03 3.14373335e+02] [ 1.09547486e-02 -9.20029648e-05 9.99939991e-01 2.16941816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.580385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.09, Y:314.40, Z:21.69 [[ 4.57213424e-01 -8.89342552e-01 -5.07057822e-03 3.55085743e+02] [ 8.89289534e-01 4.57241535e-01 -9.71102660e-03 3.14397676e+02] [ 1.09549081e-02 -6.92004187e-05 9.99939991e-01 2.16938052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.610385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.10, Y:314.42, Z:21.69 [[ 4.57669879e-01 -8.89107747e-01 -5.06913566e-03 3.55099351e+02] [ 8.89054707e-01 4.57697946e-01 -9.71177956e-03 3.14421034e+02] [ 1.09549514e-02 -6.19499503e-05 9.99939991e-01 2.16930392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.640385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.12, Y:314.44, Z:21.69 [[ 4.58272097e-01 -8.88797510e-01 -5.06668549e-03 3.55116990e+02] [ 8.88744436e-01 4.58300102e-01 -9.71305766e-03 3.14444865e+02] [ 1.09550039e-02 -5.17652338e-05 9.99939991e-01 2.16942149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.670385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.13, Y:314.47, Z:21.70 [[ 4.56618773e-01 -8.89648048e-01 -5.06427860e-03 3.55132947e+02] [ 8.89595012e-01 4.56646851e-01 -9.71431242e-03 3.14466992e+02] [ 1.09549060e-02 -6.94195602e-05 9.99939991e-01 2.16951039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.700385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.15, Y:314.49, Z:21.69 [[ 4.57782215e-01 -8.89050209e-01 -5.01685234e-03 3.55150461e+02] [ 8.88996865e-01 4.57809704e-01 -9.73902231e-03 3.14490922e+02] [ 1.09552435e-02 -1.61479798e-06 9.99939990e-01 2.16927790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.730385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.16, Y:314.51, Z:21.70 [[ 4.55239321e-01 -8.90354727e-01 -5.06166842e-03 3.55162200e+02] [ 8.90301720e-01 4.55267452e-01 -9.71567406e-03 3.14514025e+02] [ 1.09548092e-02 -8.34552326e-05 9.99939991e-01 2.16959561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.760385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:355.18, Y:314.54, Z:21.70 [[ 4.57640140e-01 -8.89123534e-01 -4.98434425e-03 3.55182968e+02] [ 8.89070009e-01 4.57667282e-01 -9.75591869e-03 3.14537287e+02] [ 1.09553882e-02 3.32690062e-05 9.99939987e-01 2.16954153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.790385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.19, Y:314.56, Z:21.70 [[ 4.54618238e-01 -8.90672034e-01 -5.05816086e-03 3.55192791e+02] [ 8.90619026e-01 4.54646368e-01 -9.71749563e-03 3.14560015e+02] [ 1.09547761e-02 -8.71435531e-05 9.99939991e-01 2.16977537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.820385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:355.21, Y:314.58, Z:21.70 [[ 4.55775750e-01 -8.90080836e-01 -4.95688037e-03 3.55209978e+02] [ 8.90027214e-01 4.55802702e-01 -9.77014229e-03 3.14582232e+02] [ 1.09555759e-02 4.12355004e-05 9.99939985e-01 2.16978174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.850385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.23, Y:314.61, Z:21.70 [[ 4.57880042e-01 -8.89000302e-01 -4.93258270e-03 3.55226930e+02] [ 8.88946479e-01 4.57906600e-01 -9.78274797e-03 3.14605642e+02] [ 1.09555281e-02 9.45230346e-05 9.99939982e-01 2.16952753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.880385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:355.25, Y:314.63, Z:21.70 [[ 4.58903250e-01 -8.88472313e-01 -4.97547250e-03 3.55246081e+02] [ 8.88418701e-01 4.58930218e-01 -9.76048106e-03 3.14630497e+02] [ 1.09553119e-02 5.88136678e-05 9.99939987e-01 2.17007041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.910385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.26, Y:314.65, Z:21.70 [[ 4.59299009e-01 -8.88267378e-01 -5.04821221e-03 3.55261038e+02] [ 8.88214166e-01 4.59326751e-01 -9.72271330e-03 3.14654753e+02] [ 1.09551480e-02 -1.82610125e-05 9.99939990e-01 2.17008399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.940385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.28, Y:314.68, Z:21.70 [[ 4.59863106e-01 -8.87975488e-01 -5.04554060e-03 3.55277081e+02] [ 8.87922242e-01 4.59890784e-01 -9.72409952e-03 3.14677097e+02] [ 1.09551596e-02 -8.29311330e-06 9.99939990e-01 2.16999482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.9703857229999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:355.28, Y:314.70, Z:21.70 [[ 4.54294382e-01 -8.90837445e-01 -5.02606638e-03 3.55283928e+02] [ 8.90784262e-01 4.54322181e-01 -9.73420192e-03 3.14699638e+02] [ 1.09550450e-02 -5.49475852e-05 9.99939990e-01 2.16965620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.000385723 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:355.31, Y:314.73, Z:21.70 [[ 4.58637952e-01 -8.88609835e-01 -4.87753476e-03 3.55308156e+02] [ 8.88555686e-01 4.58663857e-01 -9.81112765e-03 3.14725394e+02] [ 1.09554134e-02 1.65794246e-04 9.99939974e-01 2.17007775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.030385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:355.32, Y:314.75, Z:21.70 [[ 4.57948789e-01 -8.88964274e-01 -5.04248361e-03 3.55322946e+02] [ 8.88911072e-01 4.57976549e-01 -9.72560601e-03 3.14749350e+02] [ 1.09550555e-02 -2.84900174e-05 9.99939991e-01 2.17017228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.060385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:355.34, Y:314.77, Z:21.70 [[ 4.54783796e-01 -8.90587615e-01 -5.03977141e-03 3.55335647e+02] [ 8.90534496e-01 4.54811716e-01 -9.72701126e-03 3.14771360e+02] [ 1.09549028e-02 -6.44031842e-05 9.99939991e-01 2.17015218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.0903857229999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:355.35, Y:314.80, Z:21.70 [[ 4.57034667e-01 -8.89435082e-01 -4.95453537e-03 3.55354629e+02] [ 8.89381411e-01 4.57061517e-01 -9.77111888e-03 3.14796909e+02] [ 1.09553034e-02 5.92683976e-05 9.99939987e-01 2.17032998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.120385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.37, Y:314.82, Z:21.70 [[ 4.56084780e-01 -8.89922079e-01 -5.03648918e-03 3.55370054e+02] [ 8.89868901e-01 4.56112586e-01 -9.72869190e-03 3.14819703e+02] [ 1.09549838e-02 -4.47067822e-05 9.99939991e-01 2.17033013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.150385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.38, Y:314.84, Z:21.70 [[ 4.52474178e-01 -8.91763296e-01 -5.03403655e-03 3.55379743e+02] [ 8.91710217e-01 4.52502172e-01 -9.72996083e-03 3.14843399e+02] [ 1.09547344e-02 -8.63458015e-05 9.99939991e-01 2.17028913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.180385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:355.40, Y:314.87, Z:21.70 [[ 4.51205600e-01 -8.92406337e-01 -4.94322143e-03 3.55395899e+02] [ 8.92352780e-01 4.51232677e-01 -9.77687227e-03 3.14866963e+02] [ 1.09554858e-02 2.82137064e-07 9.99939987e-01 2.17015848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.210385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.42, Y:314.89, Z:21.70 [[ 4.52015820e-01 -8.91996168e-01 -4.95325799e-03 3.55415901e+02] [ 8.91942643e-01 4.52042958e-01 -9.77169069e-03 3.14890195e+02] [ 1.09553960e-02 -1.06324159e-06 9.99939988e-01 2.17019318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.240385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.43, Y:314.91, Z:21.70 [[ 4.51333793e-01 -8.92341049e-01 -5.02585149e-03 3.55430717e+02] [ 8.92287959e-01 4.51361766e-01 -9.73421012e-03 3.14913422e+02] [ 1.09547125e-02 -9.11287893e-05 9.99939991e-01 2.17018569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.270385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.45, Y:314.94, Z:21.70 [[ 4.50772776e-01 -8.92624596e-01 -5.02345398e-03 3.55445958e+02] [ 8.92571510e-01 4.50800756e-01 -9.73544722e-03 3.14937260e+02] [ 1.09546765e-02 -9.53173314e-05 9.99939991e-01 2.17034436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.300385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.46, Y:314.96, Z:21.70 [[ 4.49823359e-01 -8.93103431e-01 -5.02073903e-03 3.55461248e+02] [ 8.93050358e-01 4.49851366e-01 -9.73684717e-03 3.14960069e+02] [ 1.09545979e-02 -1.03911489e-04 9.99939991e-01 2.17038704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.330385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:355.48, Y:314.98, Z:21.70 [[ 4.49251617e-01 -8.93391181e-01 -5.01826390e-03 3.55475023e+02] [ 8.93338112e-01 4.49279630e-01 -9.73812266e-03 3.14984560e+02] [ 1.09545566e-02 -1.08139048e-04 9.99939991e-01 2.17041072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.360385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.49, Y:315.01, Z:21.71 [[ 4.46080453e-01 -8.94978812e-01 -5.01561050e-03 3.55486057e+02] [ 8.94925827e-01 4.46108626e-01 -9.73948909e-03 3.15007416e+02] [ 1.09541435e-02 -1.44003678e-04 9.99939991e-01 2.17053027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.390385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.50, Y:315.03, Z:21.71 [[ 4.48050615e-01 -8.93994594e-01 -4.93070267e-03 3.55504505e+02] [ 8.93941063e-01 4.48077744e-01 -9.78315666e-03 3.15032722e+02] [ 1.09554273e-02 -2.44082285e-05 9.99939987e-01 2.17057797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.420385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:355.52, Y:315.06, Z:21.71 [[ 4.47145180e-01 -8.94447353e-01 -5.01207802e-03 3.55519982e+02] [ 8.94394315e-01 4.47173251e-01 -9.74128755e-03 3.15056303e+02] [ 1.09543361e-02 -1.27004317e-04 9.99939991e-01 2.17076146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.450385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.53, Y:315.08, Z:21.71 [[ 4.46038238e-01 -8.94999886e-01 -5.00954374e-03 3.55531157e+02] [ 8.94946868e-01 4.46066347e-01 -9.74259065e-03 3.15079802e+02] [ 1.09542064e-02 -1.37707516e-04 9.99939991e-01 2.17076950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.480385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.55, Y:315.11, Z:21.71 [[ 4.47019308e-01 -8.94510587e-01 -4.95461523e-03 3.55546521e+02] [ 8.94457224e-01 4.47046761e-01 -9.77080112e-03 3.15105153e+02] [ 1.09550297e-02 -6.39546259e-05 9.99939990e-01 2.17081792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.510385723 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:355.56, Y:315.13, Z:21.71 [[ 4.47199781e-01 -8.94420102e-01 -5.00370172e-03 3.55560005e+02] [ 8.94367014e-01 4.47227758e-01 -9.74559857e-03 3.15129763e+02] [ 1.09544536e-02 -1.16916228e-04 9.99939991e-01 2.17083317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.540385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.57, Y:315.15, Z:21.71 [[ 4.47507778e-01 -8.94266055e-01 -5.00107703e-03 3.55573777e+02] [ 8.94212943e-01 4.47535708e-01 -9.74694528e-03 3.15154296e+02] [ 1.09545229e-02 -1.10193979e-04 9.99939991e-01 2.17098650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.570385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.59, Y:315.18, Z:21.71 [[ 4.47585189e-01 -8.94227328e-01 -4.99846959e-03 3.55586587e+02] [ 8.94174198e-01 4.47613086e-01 -9.74828225e-03 3.15179547e+02] [ 1.09545608e-02 -1.06315782e-04 9.99939991e-01 2.17101958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.600385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.60, Y:315.20, Z:21.71 [[ 4.47709936e-01 -8.94164892e-01 -4.99581815e-03 3.55599482e+02] [ 8.94111743e-01 4.47737797e-01 -9.74964088e-03 3.15204780e+02] [ 1.09546032e-02 -1.01808573e-04 9.99939991e-01 2.17109098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.630385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.61, Y:315.23, Z:21.71 [[ 4.47530226e-01 -8.94254866e-01 -4.99317879e-03 3.55612223e+02] [ 8.94201707e-01 4.47558069e-01 -9.75099241e-03 3.15229980e+02] [ 1.09546099e-02 -1.01045153e-04 9.99939991e-01 2.17116434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.660385723 meters Centerline goodness : 0.999844 Centerline is valid? [True, True] Translation: X:355.62, Y:315.25, Z:21.71 [[ 4.48292015e-01 -8.93873237e-01 -4.99053410e-03 3.55624390e+02] [ 8.93820040e-01 4.48319783e-01 -9.75234577e-03 3.15254540e+02] [ 1.09547161e-02 -8.87406555e-05 9.99939991e-01 2.17111420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.690385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.64, Y:315.28, Z:21.71 [[ 4.47861518e-01 -8.94089137e-01 -4.96743843e-03 3.55637316e+02] [ 8.94035822e-01 4.47889060e-01 -9.76415796e-03 3.15280972e+02] [ 1.09548889e-02 -6.80772909e-05 9.99939991e-01 2.17115458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.7203857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.65, Y:315.31, Z:21.71 [[ 4.48067818e-01 -8.93985657e-01 -4.98750465e-03 3.55648805e+02] [ 8.93932450e-01 4.48095567e-01 -9.75389741e-03 3.15305552e+02] [ 1.09547231e-02 -8.80847142e-05 9.99939991e-01 2.17113872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.750385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.66, Y:315.33, Z:21.71 [[ 4.47879346e-01 -8.94080108e-01 -4.98512550e-03 3.55660435e+02] [ 8.94026893e-01 4.47907080e-01 -9.75511322e-03 3.15329797e+02] [ 1.09547257e-02 -8.77225366e-05 9.99939991e-01 2.17113840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.780385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:355.67, Y:315.36, Z:21.71 [[ 4.47152993e-01 -8.94443611e-01 -4.98277168e-03 3.55672302e+02] [ 8.94390405e-01 4.47180745e-01 -9.75631537e-03 3.15355691e+02] [ 1.09546735e-02 -9.39775656e-05 9.99939991e-01 2.17122705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.810385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.68, Y:315.38, Z:21.71 [[ 4.45993419e-01 -8.95022385e-01 -4.98011742e-03 3.55684513e+02] [ 8.94969199e-01 4.46021210e-01 -9.75767005e-03 3.15380763e+02] [ 1.09545711e-02 -1.05195080e-04 9.99939991e-01 2.17129270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.8403857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.70, Y:315.40, Z:21.71 [[ 4.43642597e-01 -8.96189975e-01 -4.97744130e-03 3.55696833e+02] [ 8.96136848e-01 4.43670499e-01 -9.75903496e-03 3.15404550e+02] [ 1.09542932e-02 -1.30944941e-04 9.99939991e-01 2.17141790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.870385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:355.71, Y:315.43, Z:21.72 [[ 4.42444688e-01 -8.96781995e-01 -4.97502954e-03 3.55709941e+02] [ 8.96728891e-01 4.42472635e-01 -9.76026430e-03 3.15429911e+02] [ 1.09541437e-02 -1.42875624e-04 9.99939991e-01 2.17151446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.900385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.72, Y:315.45, Z:21.72 [[ 4.41110014e-01 -8.97439263e-01 -4.97238639e-03 3.55722303e+02] [ 8.97386186e-01 4.41138011e-01 -9.76161066e-03 3.15454590e+02] [ 1.09539613e-02 -1.56206636e-04 9.99939991e-01 2.17152545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.930385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.74, Y:315.48, Z:21.72 [[ 4.40868461e-01 -8.97557966e-01 -4.96976076e-03 3.55735209e+02] [ 8.97504881e-01 4.40896443e-01 -9.76294722e-03 3.15480098e+02] [ 1.09539609e-02 -1.56209028e-04 9.99939991e-01 2.17155665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.960385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.75, Y:315.51, Z:21.71 [[ 4.39040918e-01 -8.98453338e-01 -4.96713264e-03 3.55747241e+02] [ 8.98400295e-01 4.39068980e-01 -9.76428416e-03 3.15505136e+02] [ 1.09536676e-02 -1.75553140e-04 9.99939991e-01 2.17148805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.990385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.76, Y:315.53, Z:21.72 [[ 4.38144251e-01 -8.98890966e-01 -4.96452155e-03 3.55758978e+02] [ 8.98837936e-01 4.38172338e-01 -9.76561156e-03 3.15530183e+02] [ 1.09535360e-02 -1.83553740e-04 9.99939991e-01 2.17156372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.020385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.77, Y:315.55, Z:21.71 [[ 4.38323373e-01 -8.98803650e-01 -4.96183686e-03 3.55771069e+02] [ 8.98750599e-01 4.38351420e-01 -9.76697543e-03 3.15554855e+02] [ 1.09536214e-02 -1.78360235e-04 9.99939991e-01 2.17142504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.050385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.78, Y:315.58, Z:21.72 [[ 4.38248493e-01 -8.98840223e-01 -4.95097945e-03 3.55783351e+02] [ 8.98787112e-01 4.38276427e-01 -9.77248819e-03 3.15580875e+02] [ 1.09538030e-02 -1.67098293e-04 9.99939991e-01 2.17156741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.080385723 meters Centerline goodness : 0.999243 Centerline is valid? [True, True] Translation: X:355.80, Y:315.61, Z:21.71 [[ 4.39698891e-01 -8.98131562e-01 -4.95808379e-03 3.55797754e+02] [ 8.98078447e-01 4.39726815e-01 -9.76888246e-03 3.15608612e+02] [ 1.09539441e-02 -1.57381410e-04 9.99939991e-01 2.17136571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.110385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:355.81, Y:315.63, Z:21.72 [[ 4.39613592e-01 -8.98172893e-01 -5.03434967e-03 3.55806673e+02] [ 8.98120219e-01 4.39642350e-01 -9.73016713e-03 3.15631399e+02] [ 1.09526857e-02 -2.43937507e-04 9.99939988e-01 2.17173218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.140385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.82, Y:315.66, Z:21.72 [[ 4.40195987e-01 -8.97888047e-01 -4.95449317e-03 3.55819122e+02] [ 8.97834897e-01 4.40223844e-01 -9.77066070e-03 3.15655292e+02] [ 1.09540455e-02 -1.47311231e-04 9.99939992e-01 2.17178883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.170385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.83, Y:315.68, Z:21.72 [[ 4.40450286e-01 -8.97763344e-01 -4.95210991e-03 3.55832031e+02] [ 8.97710172e-01 4.40478102e-01 -9.77186847e-03 3.15680681e+02] [ 1.09541213e-02 -1.41537173e-04 9.99939992e-01 2.17188478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.200385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.84, Y:315.71, Z:21.72 [[ 4.40861676e-01 -8.97561410e-01 -4.94945768e-03 3.55843416e+02] [ 8.97508210e-01 4.40889438e-01 -9.77321164e-03 3.15706883e+02] [ 1.09542212e-02 -1.33544439e-04 9.99939992e-01 2.17189486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.230385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.85, Y:315.73, Z:21.72 [[ 4.40849897e-01 -8.97567211e-01 -4.94676093e-03 3.55853949e+02] [ 8.97513996e-01 4.40877631e-01 -9.77457642e-03 3.15731674e+02] [ 1.09542555e-02 -1.30666160e-04 9.99939992e-01 2.17185205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.260385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.86, Y:315.76, Z:21.72 [[ 4.40862440e-01 -8.97561064e-01 -4.94432805e-03 3.55864919e+02] [ 8.97507834e-01 4.40890146e-01 -9.77580691e-03 3.15756287e+02] [ 1.09542892e-02 -1.27787077e-04 9.99939992e-01 2.17185834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.290385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.88, Y:315.78, Z:21.72 [[ 4.40162111e-01 -8.97904721e-01 -4.94251090e-03 3.55878071e+02] [ 8.97851503e-01 4.40189839e-01 -9.77672555e-03 3.15781052e+02] [ 1.09542111e-02 -1.34296676e-04 9.99939992e-01 2.17199874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.320385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.89, Y:315.81, Z:21.72 [[ 4.38527388e-01 -8.98704249e-01 -4.93982380e-03 3.55891574e+02] [ 8.98651067e-01 4.38555184e-01 -9.77808305e-03 3.15805322e+02] [ 1.09539901e-02 -1.51220708e-04 9.99939992e-01 2.17218843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.350385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.90, Y:315.83, Z:21.72 [[ 4.37369566e-01 -8.99268307e-01 -4.93711370e-03 3.55903227e+02] [ 8.99215145e-01 4.37397400e-01 -9.77945123e-03 3.15829702e+02] [ 1.09538313e-02 -1.62293068e-04 9.99939992e-01 2.17225263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.380385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.92, Y:315.86, Z:21.72 [[ 4.36026876e-01 -8.99920111e-01 -4.93527209e-03 3.55915174e+02] [ 8.99866980e-01 4.36054770e-01 -9.78038053e-03 3.15855400e+02] [ 1.09536101e-02 -1.76579629e-04 9.99939992e-01 2.17232708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.410385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.93, Y:315.88, Z:21.72 [[ 4.33764403e-01 -9.01012826e-01 -4.93261465e-03 3.55925190e+02] [ 9.00959750e-01 4.33792401e-01 -9.78172059e-03 3.15882046e+02] [ 1.09531865e-02 -2.01125077e-04 9.99939992e-01 2.17237128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.440385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:355.93, Y:315.91, Z:21.72 [[ 4.29629136e-01 -9.02992021e-01 -4.92099492e-03 3.55933601e+02] [ 9.02939006e-01 4.29657252e-01 -9.78757765e-03 3.15907742e+02] [ 1.09524457e-02 -2.38329738e-04 9.99939992e-01 2.17213529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.4703857229999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:355.95, Y:315.93, Z:21.72 [[ 4.30033791e-01 -9.02799681e-01 -4.86567275e-03 3.55949888e+02] [ 9.02746338e-01 4.30061282e-01 -9.81543999e-03 3.15933701e+02] [ 1.09539136e-02 -1.71497387e-04 9.99939989e-01 2.17219120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.500385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.96, Y:315.96, Z:21.72 [[ 4.28748288e-01 -9.03410553e-01 -4.92728796e-03 3.55962686e+02] [ 9.03357603e-01 4.28776523e-01 -9.78441149e-03 3.15958769e+02] [ 1.09520460e-02 -2.56053369e-04 9.99939992e-01 2.17226234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.530385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.97, Y:315.98, Z:21.72 [[ 4.24384143e-01 -9.05468855e-01 -4.92459103e-03 3.55969742e+02] [ 9.05416026e-01 4.24412605e-01 -9.78576870e-03 3.15984762e+02] [ 1.09507673e-02 -3.05878578e-04 9.99939992e-01 2.17211647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.560385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.98, Y:316.01, Z:21.72 [[ 4.26171861e-01 -9.04629183e-01 -4.85663806e-03 3.55983781e+02] [ 9.04575906e-01 4.26199482e-01 -9.81992772e-03 3.16010874e+02] [ 1.09532898e-02 -2.08220902e-04 9.99939989e-01 2.17219039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.5903857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.99, Y:316.04, Z:21.72 [[ 4.25962590e-01 -9.04727393e-01 -4.92108339e-03 3.55993203e+02] [ 9.04674494e-01 4.25990921e-01 -9.78752519e-03 3.16037704e+02] [ 1.09513790e-02 -2.82859049e-04 9.99939992e-01 2.17210298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.620385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:356.01, Y:316.06, Z:21.72 [[ 4.26295909e-01 -9.04570399e-01 -4.91844186e-03 3.56005302e+02] [ 9.04517474e-01 4.26324193e-01 -9.78885243e-03 3.16062736e+02] [ 1.09515569e-02 -2.75868863e-04 9.99939992e-01 2.17214633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.650385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:356.02, Y:316.09, Z:21.72 [[ 4.27191894e-01 -9.04147621e-01 -4.91581751e-03 3.56017725e+02] [ 9.04094653e-01 4.27220097e-01 -9.79017017e-03 3.16087261e+02] [ 1.09518951e-02 -2.62082982e-04 9.99939992e-01 2.17237890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.680385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:356.03, Y:316.11, Z:21.72 [[ 4.27426439e-01 -9.04036779e-01 -4.91343424e-03 3.56029029e+02] [ 9.03983790e-01 4.27454602e-01 -9.79136612e-03 3.16112964e+02] [ 1.09520252e-02 -2.56576152e-04 9.99939992e-01 2.17246583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.710385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:356.04, Y:316.14, Z:21.72 [[ 4.28305911e-01 -9.03620457e-01 -4.91081408e-03 3.56036377e+02] [ 9.03567426e-01 4.28333994e-01 -9.79268008e-03 3.16139376e+02] [ 1.09523347e-02 -2.42988875e-04 9.99939992e-01 2.17233941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.740385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:356.05, Y:316.17, Z:21.72 [[ 4.28807678e-01 -9.03382467e-01 -4.90844081e-03 3.56046842e+02] [ 9.03329407e-01 4.28835706e-01 -9.79386950e-03 3.16165248e+02] [ 1.09525247e-02 -2.34252481e-04 9.99939992e-01 2.17232527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.770385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:356.06, Y:316.19, Z:21.72 [[ 4.29260380e-01 -9.03167459e-01 -4.90586308e-03 3.56057967e+02] [ 9.03114369e-01 4.29288354e-01 -9.79516055e-03 3.16190269e+02] [ 1.09527001e-02 -2.25881098e-04 9.99939992e-01 2.17231359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.800385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:356.07, Y:316.22, Z:21.72 [[ 4.30344865e-01 -9.02651237e-01 -4.90314374e-03 3.56069124e+02] [ 9.02598099e-01 4.30372745e-01 -9.79652157e-03 3.16215583e+02] [ 1.09530217e-02 -2.09685468e-04 9.99939992e-01 2.17245022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.830385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:356.08, Y:316.24, Z:21.73 [[ 4.31470817e-01 -9.02113584e-01 -4.90060676e-03 3.56080231e+02] [ 9.02060396e-01 4.31498603e-01 -9.79779050e-03 3.16242895e+02] [ 1.09533249e-02 -1.93182607e-04 9.99939992e-01 2.17262754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.860385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:356.09, Y:316.27, Z:21.73 [[ 4.30420672e-01 -9.02615077e-01 -4.90582723e-03 3.56090450e+02] [ 9.02561952e-01 4.30448577e-01 -9.79518077e-03 3.16269175e+02] [ 1.09529842e-02 -2.11764706e-04 9.99939992e-01 2.17288554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.890385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:356.10, Y:316.29, Z:21.73 [[ 4.31932286e-01 -9.01892748e-01 -4.89594703e-03 3.56102011e+02] [ 9.01839521e-01 4.31959995e-01 -9.80011673e-03 3.16294591e+02] [ 1.09535075e-02 -1.82371693e-04 9.99939992e-01 2.17270093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.920385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:356.11, Y:316.32, Z:21.73 [[ 4.31786614e-01 -9.01962507e-01 -4.89455312e-03 3.56110362e+02] [ 9.01909275e-01 4.31814316e-01 -9.80081285e-03 3.16320563e+02] [ 1.09535038e-02 -1.82583066e-04 9.99939992e-01 2.17266364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.950385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:356.12, Y:316.35, Z:21.73 [[ 4.31510929e-01 -9.02094445e-01 -4.89187502e-03 3.56121286e+02] [ 9.02041207e-01 4.31538618e-01 -9.80214939e-03 3.16346971e+02] [ 1.09534975e-02 -1.82938258e-04 9.99939992e-01 2.17277909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.980385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:356.13, Y:316.37, Z:21.73 [[ 4.31650662e-01 -9.02027606e-01 -4.88918512e-03 3.56131480e+02] [ 9.01974348e-01 4.31678314e-01 -9.80349089e-03 3.16373607e+02] [ 1.09535746e-02 -1.78236225e-04 9.99939992e-01 2.17271783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.010385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:356.14, Y:316.40, Z:21.73 [[ 4.31029856e-01 -9.02324435e-01 -4.88651584e-03 3.56143234e+02] [ 9.02271181e-01 4.31057515e-01 -9.80482120e-03 3.16399087e+02] [ 1.09534991e-02 -1.82791747e-04 9.99939992e-01 2.17273027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.040385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:356.15, Y:316.42, Z:21.73 [[ 4.30546728e-01 -9.02555075e-01 -4.88386498e-03 3.56154398e+02] [ 9.02501821e-01 4.30574386e-01 -9.80614144e-03 3.16423234e+02] [ 1.09534499e-02 -1.85694930e-04 9.99939992e-01 2.17277132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.070385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:356.16, Y:316.45, Z:21.73 [[ 4.29188461e-01 -9.03201766e-01 -4.88206333e-03 3.56164045e+02] [ 9.03148544e-01 4.29216180e-01 -9.80703832e-03 3.16451244e+02] [ 1.09531949e-02 -2.00160708e-04 9.99939992e-01 2.17268397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.100385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:356.17, Y:316.48, Z:21.73 [[ 4.28466451e-01 -9.03544470e-01 -4.88784213e-03 3.56174061e+02] [ 9.03491303e-01 4.28494275e-01 -9.80416262e-03 3.16477245e+02] [ 1.09529093e-02 -2.15368092e-04 9.99939992e-01 2.17276224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.130385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:356.18, Y:316.50, Z:21.73 [[ 4.27426745e-01 -9.04036823e-01 -4.87852922e-03 3.56184153e+02] [ 9.03983635e-01 4.27454530e-01 -9.80879452e-03 3.16504131e+02] [ 1.09528608e-02 -2.17569461e-04 9.99939992e-01 2.17277718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.160385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:356.20, Y:316.53, Z:21.72 [[ 4.26681373e-01 -9.04388873e-01 -4.87578653e-03 3.56195242e+02] [ 9.04335692e-01 4.26709172e-01 -9.81015768e-03 3.16528688e+02] [ 1.09527403e-02 -2.23536238e-04 9.99939992e-01 2.17248228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.190385723 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:356.21, Y:316.55, Z:21.73 [[ 4.26040318e-01 -9.04691051e-01 -4.87335105e-03 3.56206799e+02] [ 9.04637876e-01 4.26068128e-01 -9.81136739e-03 3.16553852e+02] [ 1.09526358e-02 -2.28579866e-04 9.99939992e-01 2.17279257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.2203857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:356.22, Y:316.58, Z:21.73 [[ 4.24761629e-01 -9.05292127e-01 -4.87066788e-03 3.56215432e+02] [ 9.05238976e-01 4.24789486e-01 -9.81269921e-03 3.16579337e+02] [ 1.09523678e-02 -2.41060303e-04 9.99939992e-01 2.17283310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.250385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:356.23, Y:316.60, Z:21.73 [[ 4.24084376e-01 -9.05609597e-01 -4.86827250e-03 3.56226213e+02] [ 9.05556453e-01 4.24112246e-01 -9.81388747e-03 3.16604931e+02] [ 1.09522447e-02 -2.46579234e-04 9.99939992e-01 2.17286646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.280385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:356.24, Y:316.63, Z:21.73 [[ 4.23597783e-01 -9.05837316e-01 -4.86563129e-03 3.56236126e+02] [ 9.05784173e-01 4.23625653e-01 -9.81519678e-03 3.16630234e+02] [ 1.09521777e-02 -2.49516218e-04 9.99939992e-01 2.17305527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.310385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:356.25, Y:316.66, Z:21.73 [[ 4.23525874e-01 -9.05870953e-01 -4.86326114e-03 3.56247099e+02] [ 9.05817798e-01 4.23553722e-01 -9.81637100e-03 3.16655698e+02] [ 1.09522177e-02 -2.47741396e-04 9.99939992e-01 2.17316815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.3403857229999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:356.26, Y:316.68, Z:21.73 [[ 4.23575217e-01 -9.05847896e-01 -4.86061989e-03 3.56256227e+02] [ 9.05794725e-01 4.23603034e-01 -9.81767866e-03 3.16682700e+02] [ 1.09522969e-02 -2.44198489e-04 9.99939992e-01 2.17330314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.370385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:356.27, Y:316.71, Z:21.73 [[ 4.23273795e-01 -9.05988794e-01 -4.85788136e-03 3.56266840e+02] [ 9.05935617e-01 4.23301600e-01 -9.81903352e-03 3.16708494e+02] [ 1.09522833e-02 -2.44788165e-04 9.99939992e-01 2.17335177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.400385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:356.28, Y:316.73, Z:21.73 [[ 4.22811386e-01 -9.06204701e-01 -4.85514676e-03 3.56275560e+02] [ 9.06151522e-01 4.22839188e-01 -9.82038549e-03 3.16734359e+02] [ 1.09522258e-02 -2.47327831e-04 9.99939992e-01 2.17330227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.430385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:356.29, Y:316.76, Z:21.73 [[ 4.22512566e-01 -9.06344075e-01 -4.85269487e-03 3.56286766e+02] [ 9.06290892e-01 4.22540359e-01 -9.82159694e-03 3.16760436e+02] [ 1.09522056e-02 -2.48205035e-04 9.99939992e-01 2.17339450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.460385723 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:356.30, Y:316.79, Z:21.73 [[ 4.22629263e-01 -9.06289680e-01 -4.84996385e-03 3.56298130e+02] [ 9.06236477e-01 4.22657020e-01 -9.82294534e-03 3.16786316e+02] [ 1.09523053e-02 -2.43750003e-04 9.99939992e-01 2.17341409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.490385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:356.31, Y:316.81, Z:21.73 [[ 4.23172058e-01 -9.06036376e-01 -4.84721721e-03 3.56307207e+02] [ 9.05983141e-01 4.23199754e-01 -9.82430051e-03 3.16811822e+02] [ 1.09525148e-02 -2.34127604e-04 9.99939992e-01 2.17339600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.520385723 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:356.32, Y:316.84, Z:21.73 [[ 4.23651405e-01 -9.05812348e-01 -4.84536119e-03 3.56317442e+02] [ 9.05759088e-01 4.23679052e-01 -9.82521582e-03 3.16837450e+02] [ 1.09526798e-02 -2.26263443e-04 9.99939992e-01 2.17340387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.550385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:356.33, Y:316.86, Z:21.74 [[ 4.25835563e-01 -9.04787610e-01 -4.84294106e-03 3.56326371e+02] [ 9.04734270e-01 4.25863055e-01 -9.82640858e-03 3.16864604e+02] [ 1.09532424e-02 -1.97140517e-04 9.99939992e-01 2.17350841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.580385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:356.34, Y:316.89, Z:21.73 [[ 4.26857553e-01 -9.04305923e-01 -4.84020671e-03 3.56336827e+02] [ 9.04252537e-01 4.26884955e-01 -9.82775525e-03 3.16889208e+02] [ 1.09535087e-02 -1.81717645e-04 9.99939992e-01 2.17348526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.610385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:356.35, Y:316.92, Z:21.74 [[ 4.27672244e-01 -9.03920930e-01 -4.83776478e-03 3.56347667e+02] [ 9.03867506e-01 4.27699571e-01 -9.82895716e-03 3.16915251e+02] [ 1.09537100e-02 -1.69126224e-04 9.99939992e-01 2.17352251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.640385723 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:356.36, Y:316.94, Z:21.73 [[ 4.29486292e-01 -9.03060434e-01 -4.83506334e-03 3.56358104e+02] [ 9.03006940e-01 4.29513483e-01 -9.83028587e-03 3.16941828e+02] [ 1.09540671e-02 -1.44122727e-04 9.99939992e-01 2.17346611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.670385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:356.37, Y:316.97, Z:21.74 [[ 4.30317723e-01 -9.02664484e-01 -4.84619847e-03 3.56369237e+02] [ 9.02611027e-01 4.30344986e-01 -9.82481230e-03 3.16967297e+02] [ 1.09540463e-02 -1.46441311e-04 9.99939992e-01 2.17356924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.700385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:356.38, Y:316.99, Z:21.73 [[ 4.30553521e-01 -9.02552127e-01 -4.82942271e-03 3.56380362e+02] [ 9.02498570e-01 4.30580587e-01 -9.83305158e-03 3.16992096e+02] [ 1.09542973e-02 -1.24892114e-04 9.99939992e-01 2.17348858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.730385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:356.39, Y:317.02, Z:21.73 [[ 4.30869882e-01 -9.02401155e-01 -4.82697996e-03 3.56391502e+02] [ 9.02347575e-01 4.30896903e-01 -9.83425056e-03 3.17017951e+02] [ 1.09543698e-02 -1.18331281e-04 9.99939992e-01 2.17348999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.760385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:356.40, Y:317.04, Z:21.74 [[ 4.30563842e-01 -9.02547231e-01 -4.82429340e-03 3.56403849e+02] [ 9.02493645e-01 4.30590852e-01 -9.83556830e-03 3.17042788e+02] [ 1.09543615e-02 -1.19054061e-04 9.99939992e-01 2.17360616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.790385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:356.42, Y:317.07, Z:21.74 [[ 4.30536122e-01 -9.02560469e-01 -4.82153955e-03 3.56416579e+02] [ 9.02506869e-01 4.30563104e-01 -9.83691810e-03 3.17066834e+02] [ 1.09543904e-02 -1.16323995e-04 9.99939992e-01 2.17377950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.820385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:356.43, Y:317.09, Z:21.74 [[ 4.30286122e-01 -9.02679694e-01 -4.81907432e-03 3.56429092e+02] [ 9.02626088e-01 4.30313091e-01 -9.83812566e-03 3.17092511e+02] [ 1.09543870e-02 -1.16613264e-04 9.99939992e-01 2.17381071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.850385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:356.44, Y:317.12, Z:21.74 [[ 4.30375642e-01 -9.02637031e-01 -4.81634890e-03 3.56441164e+02] [ 9.02583407e-01 4.30402577e-01 -9.83945973e-03 3.17117937e+02] [ 1.09544297e-02 -1.12492804e-04 9.99939992e-01 2.17397548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.880385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:356.45, Y:317.14, Z:21.74 [[ 4.30773524e-01 -9.02447234e-01 -4.81253577e-03 3.56452706e+02] [ 9.02393578e-01 4.30800393e-01 -9.84132499e-03 3.17144146e+02] [ 1.09545188e-02 -1.03419129e-04 9.99939992e-01 2.17399871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.910385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:356.46, Y:317.17, Z:21.74 [[ 4.32051388e-01 -9.01836129e-01 -4.81607153e-03 3.56463485e+02] [ 9.01782454e-01 4.32078220e-01 -9.83959586e-03 3.17169794e+02] [ 1.09546227e-02 -9.18377537e-05 9.99939992e-01 2.17400218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.940385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:356.48, Y:317.19, Z:21.74 [[ 4.33044664e-01 -9.01359629e-01 -4.81025384e-03 3.56475867e+02] [ 9.01305893e-01 4.33071373e-01 -9.84243911e-03 3.17194637e+02] [ 1.09547605e-02 -7.32943921e-05 9.99939992e-01 2.17385398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.9703857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:356.49, Y:317.22, Z:21.74 [[ 4.34964596e-01 -9.00434721e-01 -4.80770229e-03 3.56488147e+02] [ 9.00380914e-01 4.34991163e-01 -9.84368530e-03 3.17219449e+02] [ 1.09549040e-02 -4.71087827e-05 9.99939992e-01 2.17413314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.000385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:356.50, Y:317.24, Z:21.74 [[ 4.34911236e-01 -9.00460569e-01 -4.79382904e-03 3.56500603e+02] [ 9.00406689e-01 4.34937654e-01 -9.85045823e-03 3.17244379e+02] [ 1.09549660e-02 -3.23207700e-05 9.99939992e-01 2.17412319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.030385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:356.51, Y:317.27, Z:21.74 [[ 4.34032147e-01 -9.00884574e-01 -4.80410157e-03 3.56512349e+02] [ 9.00830776e-01 4.34058729e-01 -9.84544573e-03 3.17270343e+02] [ 1.09548724e-02 -5.44426025e-05 9.99939992e-01 2.17427178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.060385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:356.53, Y:317.29, Z:21.74 [[ 4.34216435e-01 -9.00795777e-01 -4.80162757e-03 3.56526195e+02] [ 9.00741960e-01 4.34242980e-01 -9.84665215e-03 3.17294208e+02] [ 1.09548957e-02 -4.94492257e-05 9.99939992e-01 2.17413191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.0903857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:356.54, Y:317.32, Z:21.74 [[ 4.31779453e-01 -9.01966464e-01 -4.79594744e-03 3.56538105e+02] [ 9.01912688e-01 4.31806082e-01 -9.84942025e-03 3.17320471e+02] [ 1.09547660e-02 -7.27485565e-05 9.99939992e-01 2.17435745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.120385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:356.55, Y:317.34, Z:21.74 [[ 4.30457294e-01 -9.02598192e-01 -4.79806698e-03 3.56553472e+02] [ 9.02544467e-01 4.30484024e-01 -9.84838763e-03 3.17343716e+02] [ 1.09546281e-02 -9.11585229e-05 9.99939992e-01 2.17425624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.150385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:356.57, Y:317.37, Z:21.74 [[ 4.27372043e-01 -9.04063119e-01 -4.79716593e-03 3.56565686e+02] [ 9.04009480e-01 4.27398947e-01 -9.84882651e-03 3.17369402e+02] [ 1.09542645e-02 -1.27570369e-04 9.99939992e-01 2.17415549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.180385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:356.58, Y:317.39, Z:21.74 [[ 4.26087035e-01 -9.04669472e-01 -4.79434283e-03 3.56578850e+02] [ 9.04615856e-01 4.26113984e-01 -9.85020059e-03 3.17393592e+02] [ 1.09541123e-02 -1.39995785e-04 9.99939992e-01 2.17415014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.210385723 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:356.59, Y:317.42, Z:21.74 [[ 4.21886913e-01 -9.06635793e-01 -4.79289164e-03 3.56589561e+02] [ 9.06582294e-01 4.21914095e-01 -9.85090665e-03 3.17416998e+02] [ 1.09533731e-02 -1.89182102e-04 9.99939992e-01 2.17420725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.240385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:356.61, Y:317.44, Z:21.74 [[ 4.22178294e-01 -9.06500588e-01 -4.70880151e-03 3.56605698e+02] [ 9.06446621e-01 4.22204543e-01 -9.89177921e-03 3.17444452e+02] [ 1.09549811e-02 -9.21827459e-05 9.99939988e-01 2.17423023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.270385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:356.62, Y:317.47, Z:21.74 [[ 4.20563923e-01 -9.07250268e-01 -4.78936775e-03 3.56619035e+02] [ 9.07196790e-01 4.20591144e-01 -9.85261592e-03 3.17469404e+02] [ 1.09531541e-02 -2.01244250e-04 9.99939992e-01 2.17431843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.300385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:356.63, Y:317.49, Z:21.74 [[ 4.19699538e-01 -9.07650476e-01 -4.78646633e-03 3.56630516e+02] [ 9.07597008e-01 4.19726779e-01 -9.85402525e-03 3.17493872e+02] [ 1.09530188e-02 -2.08452674e-04 9.99939992e-01 2.17425742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.330385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:356.64, Y:317.52, Z:21.74 [[ 4.20321072e-01 -9.07362828e-01 -4.78479728e-03 3.56643265e+02] [ 9.07309332e-01 4.20348258e-01 -9.85483562e-03 3.17517347e+02] [ 1.09531927e-02 -1.99096152e-04 9.99939992e-01 2.17438104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.360385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:356.66, Y:317.54, Z:21.74 [[ 4.18781659e-01 -9.08074359e-01 -4.78336045e-03 3.56655986e+02] [ 9.08020901e-01 4.18808921e-01 -9.85553298e-03 3.17541873e+02] [ 1.09528708e-02 -2.16074815e-04 9.99939992e-01 2.17435228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.390385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:356.67, Y:317.56, Z:21.75 [[ 4.20443978e-01 -9.07305906e-01 -4.78054455e-03 3.56669154e+02] [ 9.07252383e-01 4.20471111e-01 -9.85689868e-03 3.17564977e+02] [ 1.09533033e-02 -1.92886747e-04 9.99939992e-01 2.17452917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.420385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:356.68, Y:317.59, Z:21.74 [[ 4.20119749e-01 -9.07456232e-01 -4.75214948e-03 3.56682938e+02] [ 9.07402563e-01 4.20146593e-01 -9.87065494e-03 3.17590393e+02] [ 1.09537868e-02 -1.65255534e-04 9.99939992e-01 2.17440178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.450385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:356.70, Y:317.62, Z:21.75 [[ 4.19705700e-01 -9.07647687e-01 -4.77514006e-03 3.56696248e+02] [ 9.07594156e-01 4.19732818e-01 -9.85952020e-03 3.17615279e+02] [ 1.09532537e-02 -1.95792378e-04 9.99939992e-01 2.17462256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.480385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:356.71, Y:317.64, Z:21.75 [[ 4.19340773e-01 -9.07816358e-01 -4.77246144e-03 3.56711145e+02] [ 9.07762823e-01 4.19367883e-01 -9.86081661e-03 3.17639433e+02] [ 1.09532277e-02 -1.97220608e-04 9.99939992e-01 2.17486409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.510385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:356.72, Y:317.66, Z:21.75 [[ 4.18893552e-01 -9.08022898e-01 -4.75497316e-03 3.56724349e+02] [ 9.07969280e-01 4.18920498e-01 -9.86927410e-03 3.17663898e+02] [ 1.09534826e-02 -1.83194281e-04 9.99939992e-01 2.17492544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.540385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:356.74, Y:317.69, Z:21.75 [[ 4.19186289e-01 -9.07887727e-01 -4.76759752e-03 3.56737233e+02] [ 9.07834170e-01 4.19213356e-01 -9.86317182e-03 3.17688632e+02] [ 1.09532932e-02 -1.93681549e-04 9.99939992e-01 2.17501037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.570385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:356.75, Y:317.71, Z:21.75 [[ 4.19019372e-01 -9.07964791e-01 -4.76492808e-03 3.56746311e+02] [ 9.07911224e-01 4.19046420e-01 -9.86446126e-03 3.17712575e+02] [ 1.09533096e-02 -1.92731322e-04 9.99939992e-01 2.17470495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.600385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:356.76, Y:317.74, Z:21.75 [[ 4.20523730e-01 -9.07269401e-01 -4.69331034e-03 3.56759339e+02] [ 9.07215401e-01 4.20549909e-01 -9.89903170e-03 3.17738574e+02] [ 1.09548598e-02 -9.50656854e-05 9.99939989e-01 2.17471766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.630385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:356.77, Y:317.76, Z:21.75 [[ 4.22819742e-01 -9.06201625e-01 -4.69904746e-03 3.56773049e+02] [ 9.06147590e-01 4.22845847e-01 -9.89626153e-03 3.17762651e+02] [ 1.09549810e-02 -7.36957797e-05 9.99939990e-01 2.17477703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.660385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:356.79, Y:317.79, Z:21.75 [[ 4.23092754e-01 -9.06074210e-01 -4.69551385e-03 3.56786417e+02] [ 9.06020148e-01 4.23118804e-01 -9.89796704e-03 3.17787860e+02] [ 1.09550529e-02 -6.64720180e-05 9.99939989e-01 2.17483859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.690385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:356.80, Y:317.81, Z:21.75 [[ 4.23130056e-01 -9.06056806e-01 -4.69255514e-03 3.56799893e+02] [ 9.06002727e-01 4.23156071e-01 -9.89939417e-03 3.17812193e+02] [ 1.09550967e-02 -6.27365513e-05 9.99939989e-01 2.17485777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.7203857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:356.82, Y:317.84, Z:21.75 [[ 4.22677648e-01 -9.06267859e-01 -4.70882796e-03 3.56816280e+02] [ 9.06213881e-01 4.22703868e-01 -9.89154095e-03 3.17836256e+02] [ 1.09548254e-02 -8.62719924e-05 9.99939990e-01 2.17509291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.750385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:356.83, Y:317.86, Z:21.75 [[ 4.21832696e-01 -9.06661345e-01 -4.73089018e-03 3.56829800e+02] [ 9.06607510e-01 4.21859207e-01 -9.88089594e-03 3.17860298e+02] [ 1.09543960e-02 -1.20975592e-04 9.99939991e-01 2.17506536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.780385723 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:356.85, Y:317.89, Z:21.75 [[ 4.20226551e-01 -9.07406907e-01 -4.72777815e-03 3.56845398e+02] [ 9.07353102e-01 4.20253123e-01 -9.88239644e-03 3.17885009e+02] [ 1.09542183e-02 -1.36918805e-04 9.99939991e-01 2.17507610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.810385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:356.86, Y:317.91, Z:21.75 [[ 4.18752066e-01 -9.08088140e-01 -4.75790332e-03 3.56857517e+02] [ 9.08034542e-01 4.18779053e-01 -9.86787126e-03 3.17909767e+02] [ 1.09534071e-02 -1.88149081e-04 9.99939992e-01 2.17496892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.8403857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:356.87, Y:317.93, Z:21.75 [[ 4.16143481e-01 -9.09286603e-01 -4.74107327e-03 3.56872407e+02] [ 9.09232990e-01 4.16170439e-01 -9.87598208e-03 3.17934794e+02] [ 1.09531927e-02 -2.00914662e-04 9.99939992e-01 2.17515644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.870385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:356.89, Y:317.96, Z:21.75 [[ 4.16356029e-01 -9.09189247e-01 -4.75079436e-03 3.56885552e+02] [ 9.09135682e-01 4.16383080e-01 -9.87129934e-03 3.17957366e+02] [ 1.09530296e-02 -2.09141683e-04 9.99939992e-01 2.17521205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.900385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:356.90, Y:317.98, Z:21.75 [[ 4.15421643e-01 -9.09616782e-01 -4.70827137e-03 3.56899826e+02] [ 9.09563013e-01 4.15448287e-01 -9.89175605e-03 3.17983344e+02] [ 1.09537506e-02 -1.73219941e-04 9.99939991e-01 2.17532521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.930385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:356.91, Y:318.01, Z:21.75 [[ 4.13867642e-01 -9.10324682e-01 -4.74857152e-03 3.56914573e+02] [ 9.10271178e-01 4.13894815e-01 -9.87237185e-03 3.18005989e+02] [ 1.09524729e-02 -2.36632531e-04 9.99939992e-01 2.17514103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.960385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:356.93, Y:318.03, Z:21.75 [[ 4.12707505e-01 -9.10851360e-01 -4.72404131e-03 3.56927963e+02] [ 9.10797756e-01 4.12734480e-01 -9.88416413e-03 3.18032142e+02] [ 1.09527791e-02 -2.23377515e-04 9.99939992e-01 2.17537130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.990385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:356.94, Y:318.06, Z:21.75 [[ 4.11956170e-01 -9.11191305e-01 -4.74552605e-03 3.56941080e+02] [ 9.11137842e-01 4.11983423e-01 -9.87383822e-03 3.18055651e+02] [ 1.09520336e-02 -2.56239779e-04 9.99939992e-01 2.17533507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.020385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:356.95, Y:318.08, Z:21.75 [[ 4.11395977e-01 -9.11444374e-01 -4.74367985e-03 3.56953182e+02] [ 9.11390918e-01 4.11423243e-01 -9.87472511e-03 3.18079334e+02] [ 1.09519228e-02 -2.60924540e-04 9.99939992e-01 2.17537435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.050385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:356.97, Y:318.10, Z:21.75 [[ 4.10468294e-01 -9.11862546e-01 -4.74095688e-03 3.56965981e+02] [ 9.11809102e-01 4.10495584e-01 -9.87603226e-03 3.18104227e+02] [ 1.09517258e-02 -2.69049523e-04 9.99939992e-01 2.17546489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.080385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:356.98, Y:318.13, Z:21.76 [[ 4.09979676e-01 -9.12082350e-01 -4.73830175e-03 3.56979955e+02] [ 9.12028907e-01 4.10006966e-01 -9.87730597e-03 3.18129180e+02] [ 1.09516532e-02 -2.71973456e-04 9.99939992e-01 2.17552155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.110385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:356.99, Y:318.15, Z:21.76 [[ 4.10148330e-01 -9.12006563e-01 -4.73042083e-03 3.56992706e+02] [ 9.11953071e-01 4.10175525e-01 -9.88108461e-03 3.18153938e+02] [ 1.09519169e-02 -2.61211449e-04 9.99939992e-01 2.17557982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.140385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:357.01, Y:318.18, Z:21.76 [[ 4.11660523e-01 -9.11324967e-01 -4.73482169e-03 3.57006066e+02] [ 9.11271454e-01 4.11687676e-01 -9.87897535e-03 3.18178882e+02] [ 1.09522246e-02 -2.47923693e-04 9.99939992e-01 2.17580240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.170385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:357.01, Y:318.20, Z:21.75 [[ 4.10985213e-01 -9.11629729e-01 -4.73199454e-03 3.57012871e+02] [ 9.11576221e-01 4.11012376e-01 -9.88032936e-03 3.18201475e+02] [ 1.09521103e-02 -2.52904427e-04 9.99939992e-01 2.17513178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.200385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:357.02, Y:318.23, Z:21.75 [[ 4.11214996e-01 -9.11526651e-01 -4.62512457e-03 3.57024722e+02] [ 9.11472554e-01 4.11240985e-01 -9.93157846e-03 3.18227367e+02] [ 1.09549392e-02 -1.31660108e-04 9.99939984e-01 2.17514166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.230385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:357.04, Y:318.25, Z:21.75 [[ 4.13096998e-01 -9.10675223e-01 -4.63783396e-03 3.57037138e+02] [ 9.10621140e-01 4.13123013e-01 -9.92549257e-03 3.18253083e+02] [ 1.09548961e-02 -1.23118468e-04 9.99939986e-01 2.17496305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.260385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:357.05, Y:318.28, Z:21.76 [[ 4.17096600e-01 -9.08850351e-01 -4.63319478e-03 3.57054150e+02] [ 9.08796130e-01 4.17122326e-01 -9.92771016e-03 3.18278614e+02] [ 1.09554118e-02 -6.98153396e-05 9.99939985e-01 2.17558014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.290385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:357.06, Y:318.30, Z:21.75 [[ 4.15012257e-01 -9.09803579e-01 -4.71950920e-03 3.57063057e+02] [ 9.09749882e-01 4.15039047e-01 -9.88644834e-03 3.18300639e+02] [ 1.09535067e-02 -1.90575698e-04 9.99939990e-01 2.17515263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.320385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:357.08, Y:318.33, Z:21.75 [[ 4.17349183e-01 -9.08734518e-01 -4.60817040e-03 3.57078151e+02] [ 9.08680158e-01 4.17374621e-01 -9.93963092e-03 3.18325343e+02] [ 1.09558191e-02 -3.90561585e-05 9.99939982e-01 2.17541523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.350385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:357.09, Y:318.35, Z:21.76 [[ 4.17533915e-01 -9.08649477e-01 -4.64304856e-03 3.57093793e+02] [ 9.08595296e-01 4.17559724e-01 -9.92297107e-03 3.18352041e+02] [ 1.09552525e-02 -7.54751208e-05 9.99939987e-01 2.17566788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.380385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:357.11, Y:318.38, Z:21.76 [[ 4.18463457e-01 -9.08221412e-01 -4.71196969e-03 3.57107027e+02] [ 9.08167572e-01 4.18489961e-01 -9.89005220e-03 3.18375989e+02] [ 1.09542692e-02 -1.40632645e-04 9.99939990e-01 2.17611100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.410385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:357.11, Y:318.40, Z:21.75 [[ 4.14238690e-01 -9.10156048e-01 -4.71966971e-03 3.57112328e+02] [ 9.10102374e-01 4.14265528e-01 -9.88637628e-03 3.18398430e+02] [ 1.09533416e-02 -2.00063046e-04 9.99939990e-01 2.17530631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.440385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:357.13, Y:318.42, Z:21.76 [[ 4.14318167e-01 -9.10120402e-01 -4.61630262e-03 3.57129201e+02] [ 9.10066170e-01 4.14343875e-01 -9.93574261e-03 3.18424346e+02] [ 1.09554588e-02 -8.45821743e-05 9.99939984e-01 2.17583623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.4703857229999 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:357.15, Y:318.45, Z:21.77 [[ 4.13085039e-01 -9.10680451e-01 -4.67622600e-03 3.57145532e+02] [ 9.10626576e-01 4.13111472e-01 -9.90711785e-03 3.18448365e+02] [ 1.09540212e-02 -1.65813514e-04 9.99939989e-01 2.17651923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.500385723 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:357.15, Y:318.47, Z:21.76 [[ 4.08548855e-01 -9.12724243e-01 -4.72124577e-03 3.57152175e+02] [ 9.12670746e-01 4.08576044e-01 -9.88561700e-03 3.18470560e+02] [ 1.09518302e-02 -2.70185396e-04 9.99939990e-01 2.17588463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.530385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:357.17, Y:318.50, Z:21.77 [[ 4.09230579e-01 -9.12419345e-01 -4.61209325e-03 3.57170520e+02] [ 9.12365236e-01 4.09256544e-01 -9.93768091e-03 3.18498696e+02] [ 1.09548617e-02 -1.41110634e-04 9.99939984e-01 2.17652578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.560385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:357.18, Y:318.52, Z:21.77 [[ 4.07508456e-01 -9.13189247e-01 -4.71776028e-03 3.57183038e+02] [ 9.13135763e-01 4.07535668e-01 -9.88726140e-03 3.18521787e+02] [ 1.09515964e-02 -2.78813003e-04 9.99939991e-01 2.17651512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.5903857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:357.20, Y:318.55, Z:21.77 [[ 4.06426177e-01 -9.13671578e-01 -4.69159457e-03 3.57196089e+02] [ 9.13617981e-01 4.06453170e-01 -9.89973857e-03 3.18548076e+02] [ 1.09520232e-02 -2.62812256e-04 9.99939990e-01 2.17657135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.620385723 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:357.21, Y:318.57, Z:21.76 [[ 4.04393168e-01 -9.14573093e-01 -4.71419352e-03 3.57206694e+02] [ 9.14519682e-01 4.04420524e-01 -9.88896538e-03 3.18573413e+02] [ 1.09506983e-02 -3.12192716e-04 9.99939991e-01 2.17617461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.650385723 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:357.22, Y:318.60, Z:21.76 [[ 4.05524040e-01 -9.14072356e-01 -4.68831646e-03 3.57219424e+02] [ 9.14018769e-01 4.05551050e-01 -9.90129018e-03 3.18598663e+02] [ 1.09518473e-02 -2.69998048e-04 9.99939990e-01 2.17629421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.680385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:357.23, Y:318.62, Z:21.77 [[ 4.07702144e-01 -9.13102912e-01 -4.69394748e-03 3.57232236e+02] [ 9.13049291e-01 4.07729088e-01 -9.89860928e-03 3.18623560e+02] [ 1.09523079e-02 -2.50121192e-04 9.99939990e-01 2.17659331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.710385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:357.24, Y:318.65, Z:21.77 [[ 4.11639239e-01 -9.11334723e-01 -4.70745915e-03 3.57243119e+02] [ 9.11281059e-01 4.11666098e-01 -9.89217939e-03 3.18648751e+02] [ 1.09529879e-02 -2.17809160e-04 9.99939991e-01 2.17656810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.740385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:357.26, Y:318.67, Z:21.77 [[ 4.11439214e-01 -9.11425252e-01 -4.66730484e-03 3.57255315e+02] [ 9.11371377e-01 4.11465648e-01 -9.91127474e-03 3.18674575e+02] [ 1.09538217e-02 -1.75760950e-04 9.99939990e-01 2.17659778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.770385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:357.27, Y:318.70, Z:21.77 [[ 4.13741871e-01 -9.10382287e-01 -4.66436911e-03 3.57268160e+02] [ 9.10328330e-01 4.13768137e-01 -9.91266980e-03 3.18701836e+02] [ 1.09542863e-02 -1.44820794e-04 9.99939990e-01 2.17659821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.800385723 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:357.28, Y:318.73, Z:21.77 [[ 4.15659221e-01 -9.09508276e-01 -4.70189881e-03 3.57280059e+02] [ 9.09454465e-01 4.15685782e-01 -9.89483617e-03 3.18727131e+02] [ 1.09539479e-02 -1.63282970e-04 9.99939990e-01 2.17673634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.830385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:357.29, Y:318.75, Z:21.77 [[ 4.16561387e-01 -9.09095465e-01 -4.69541877e-03 3.57292228e+02] [ 9.09041592e-01 4.16587824e-01 -9.89791374e-03 3.18753569e+02] [ 1.09542028e-02 -1.45242272e-04 9.99939990e-01 2.17683232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.860385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:357.30, Y:318.78, Z:21.77 [[ 4.17300754e-01 -9.08756295e-01 -4.69861727e-03 3.57303389e+02] [ 9.08702418e-01 4.17327182e-01 -9.89639516e-03 3.18779139e+02] [ 1.09542721e-02 -1.39871710e-04 9.99939990e-01 2.17668222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.890385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:357.32, Y:318.81, Z:21.77 [[ 4.18537569e-01 -9.08187405e-01 -4.68416142e-03 3.57317834e+02] [ 9.08133415e-01 4.18563765e-01 -9.90325597e-03 3.18807271e+02] [ 1.09546326e-02 -1.08958836e-04 9.99939990e-01 2.17675911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.920385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:357.33, Y:318.83, Z:21.77 [[ 4.17582068e-01 -9.08626608e-01 -4.78586524e-03 3.57329361e+02] [ 9.08573192e-01 4.17609427e-01 -9.85499583e-03 3.18832988e+02] [ 1.09531339e-02 -2.33039323e-04 9.99939985e-01 2.17690333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.950385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:357.34, Y:318.86, Z:21.77 [[ 4.15950054e-01 -9.09374994e-01 -4.76156623e-03 3.57338657e+02] [ 9.09321496e-01 4.15977245e-01 -9.86650649e-03 3.18856418e+02] [ 1.09530575e-02 -2.25820629e-04 9.99939988e-01 2.17708987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.980385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:357.35, Y:318.88, Z:21.77 [[ 4.15590427e-01 -9.09539802e-01 -4.68465326e-03 3.57351576e+02] [ 9.09485901e-01 4.15616805e-01 -9.90289092e-03 3.18880260e+02] [ 1.09540941e-02 -1.45079422e-04 9.99939992e-01 2.17725759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.010385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:357.36, Y:318.91, Z:21.77 [[ 4.15322568e-01 -9.09662155e-01 -4.68283755e-03 3.57363414e+02] [ 9.09608252e-01 4.15348941e-01 -9.90374945e-03 3.18905201e+02] [ 1.09540777e-02 -1.46297028e-04 9.99939992e-01 2.17729987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.040385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:357.38, Y:318.93, Z:21.77 [[ 4.15726850e-01 -9.09477478e-01 -4.68014035e-03 3.57375400e+02] [ 9.09423549e-01 4.15753170e-01 -9.90502388e-03 3.18930233e+02] [ 1.09541793e-02 -1.38445466e-04 9.99939992e-01 2.17735281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.070385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:357.39, Y:318.95, Z:21.77 [[ 4.16309003e-01 -9.09211161e-01 -4.67742289e-03 3.57386944e+02] [ 9.09157201e-01 4.16335259e-01 -9.90630697e-03 3.18954610e+02] [ 1.09543009e-02 -1.28427921e-04 9.99939992e-01 2.17734721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.100385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:357.40, Y:318.98, Z:21.77 [[ 4.16791883e-01 -9.08989918e-01 -4.67498036e-03 3.57399188e+02] [ 9.08935931e-01 4.16818084e-01 -9.90745952e-03 3.18980398e+02] [ 1.09543972e-02 -1.19908921e-04 9.99939992e-01 2.17735274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.130385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:357.41, Y:319.01, Z:21.77 [[ 4.17307850e-01 -9.08753173e-01 -4.67226449e-03 3.57411425e+02] [ 9.08699157e-01 4.17333990e-01 -9.90874013e-03 3.19005909e+02] [ 1.09544938e-02 -1.10687768e-04 9.99939992e-01 2.17736709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.160385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:357.42, Y:319.03, Z:21.77 [[ 4.18037854e-01 -9.08417606e-01 -4.66955954e-03 3.57423694e+02] [ 9.08363556e-01 4.18063922e-01 -9.91001469e-03 3.19030059e+02] [ 1.09546062e-02 -9.88964284e-05 9.99939992e-01 2.17731948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.190385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:357.44, Y:319.05, Z:21.77 [[ 4.17462689e-01 -9.08682076e-01 -4.66771961e-03 3.57436059e+02] [ 9.08628032e-01 4.17488771e-01 -9.91088124e-03 3.19054981e+02] [ 1.09545607e-02 -1.03797748e-04 9.99939992e-01 2.17749604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.2203857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:357.45, Y:319.08, Z:21.78 [[ 4.16603490e-01 -9.09076328e-01 -4.66502526e-03 3.57448967e+02] [ 9.09022294e-01 4.16629594e-01 -9.91214931e-03 3.19080165e+02] [ 1.09544879e-02 -1.11175962e-04 9.99939992e-01 2.17760538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.250385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:357.46, Y:319.11, Z:21.78 [[ 4.15856681e-01 -9.09418212e-01 -4.66234037e-03 3.57460996e+02] [ 9.09364185e-01 4.15882799e-01 -9.91341202e-03 3.19106031e+02] [ 1.09544246e-02 -1.17206734e-04 9.99939992e-01 2.17771998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.280385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:357.47, Y:319.13, Z:21.78 [[ 4.15487476e-01 -9.09586964e-01 -4.65964818e-03 3.57473076e+02] [ 9.09532934e-01 4.15513587e-01 -9.91467729e-03 3.19131187e+02] [ 1.09544083e-02 -1.18679238e-04 9.99939992e-01 2.17780488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.310385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:357.49, Y:319.16, Z:21.78 [[ 4.15562515e-01 -9.09552697e-01 -4.65694578e-03 3.57485583e+02] [ 9.09498651e-01 4.15588592e-01 -9.91594645e-03 3.19156829e+02] [ 1.09544494e-02 -1.14790256e-04 9.99939992e-01 2.17795833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.3403857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:357.50, Y:319.18, Z:21.78 [[ 4.15615874e-01 -9.09528330e-01 -4.65423412e-03 3.57496602e+02] [ 9.09474268e-01 4.15641918e-01 -9.91721905e-03 3.19181657e+02] [ 1.09544865e-02 -1.11152506e-04 9.99939992e-01 2.17793828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.370385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:357.51, Y:319.21, Z:21.78 [[ 4.16075007e-01 -9.09318395e-01 -4.65237982e-03 3.57507989e+02] [ 9.09264310e-01 4.16101004e-01 -9.91808887e-03 3.19207756e+02] [ 1.09545606e-02 -1.03574031e-04 9.99939992e-01 2.17791910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.400385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:357.52, Y:319.23, Z:21.78 [[ 4.13386245e-01 -9.10543900e-01 -4.64965032e-03 3.57516335e+02] [ 9.10489878e-01 4.13412371e-01 -9.91936831e-03 3.19232333e+02] [ 1.09542433e-02 -1.32929132e-04 9.99939992e-01 2.17764603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.430385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:357.53, Y:319.26, Z:21.78 [[ 4.15395135e-01 -9.09629620e-01 -4.56476160e-03 3.57532348e+02] [ 9.09575099e-01 4.15420215e-01 -9.95910203e-03 3.19258511e+02] [ 1.09553884e-02 -1.50309576e-05 9.99939988e-01 2.17789776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.460385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:357.54, Y:319.28, Z:21.78 [[ 4.12268490e-01 -9.11050560e-01 -4.64423088e-03 3.57541064e+02] [ 9.10996542e-01 4.12294624e-01 -9.92190420e-03 3.19283240e+02] [ 1.09541478e-02 -1.40389814e-04 9.99939992e-01 2.17770012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.490385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:357.55, Y:319.31, Z:21.78 [[ 4.10897058e-01 -9.11670268e-01 -4.57497758e-03 3.57552648e+02] [ 9.11615926e-01 4.10922518e-01 -9.95429153e-03 3.19308908e+02] [ 1.09549929e-02 -8.04333219e-05 9.99939989e-01 2.17765290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.520385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:357.57, Y:319.33, Z:21.78 [[ 4.10982283e-01 -9.11631945e-01 -4.55628643e-03 3.57567573e+02] [ 9.11577503e-01 4.11007535e-01 -9.96302527e-03 3.19334217e+02] [ 1.09552802e-02 -5.87813365e-05 9.99939987e-01 2.17783287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.550385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:357.58, Y:319.36, Z:21.78 [[ 4.11507515e-01 -9.11394742e-01 -4.60326516e-03 3.57580897e+02] [ 9.11340530e-01 4.11533248e-01 -9.94107981e-03 3.19360320e+02] [ 1.09546445e-02 -1.04313065e-04 9.99939991e-01 2.17783244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.580385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:357.59, Y:319.39, Z:21.78 [[ 4.10528355e-01 -9.11836046e-01 -4.63632996e-03 3.57592157e+02] [ 9.11782035e-01 4.10554506e-01 -9.92563504e-03 3.19386379e+02] [ 1.09540180e-02 -1.52567744e-04 9.99939991e-01 2.17777180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.610385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:357.60, Y:319.41, Z:21.78 [[ 4.08510800e-01 -9.12741724e-01 -4.63364836e-03 3.57603609e+02] [ 9.12687758e-01 4.08537042e-01 -9.92688675e-03 3.19411738e+02] [ 1.09537007e-02 -1.73833683e-04 9.99939991e-01 2.17766088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.640385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:357.62, Y:319.44, Z:21.78 [[ 4.07217808e-01 -9.13319337e-01 -4.63096232e-03 3.57615916e+02] [ 9.13265393e-01 4.07244097e-01 -9.92813964e-03 3.19437151e+02] [ 1.09534940e-02 -1.86382357e-04 9.99939991e-01 2.17766388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.670385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:357.63, Y:319.46, Z:21.78 [[ 4.04295593e-01 -9.14616670e-01 -4.62826071e-03 3.57627508e+02] [ 9.14562796e-01 4.04322025e-01 -9.92939891e-03 3.19461247e+02] [ 1.09529015e-02 -2.18422830e-04 9.99939991e-01 2.17754977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.700385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:357.64, Y:319.49, Z:21.78 [[ 4.03055790e-01 -9.15163719e-01 -4.62585545e-03 3.57639709e+02] [ 9.15109868e-01 4.03082268e-01 -9.93051933e-03 3.19485968e+02] [ 1.09526513e-02 -2.30612658e-04 9.99939991e-01 2.17753165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.730385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:357.65, Y:319.51, Z:21.78 [[ 4.01665750e-01 -9.15774673e-01 -4.62308275e-03 3.57651679e+02] [ 9.15720848e-01 4.01692281e-01 -9.93180998e-03 3.19511032e+02] [ 1.09523567e-02 -2.44185351e-04 9.99939991e-01 2.17765991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.760385723 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:357.66, Y:319.54, Z:21.78 [[ 3.99922449e-01 -9.16537335e-01 -4.62044888e-03 3.57662705e+02] [ 9.16483546e-01 3.99949053e-01 -9.93303515e-03 3.19536024e+02] [ 1.09519417e-02 -2.62121640e-04 9.99939991e-01 2.17771764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.790385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:357.67, Y:319.56, Z:21.78 [[ 3.99440842e-01 -9.16747343e-01 -4.61767267e-03 3.57673615e+02] [ 9.16693553e-01 3.99467444e-01 -9.93432559e-03 3.19561344e+02] [ 1.09518765e-02 -2.64815389e-04 9.99939991e-01 2.17782109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.820385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:357.69, Y:319.59, Z:21.78 [[ 4.00052562e-01 -9.16480577e-01 -4.61518935e-03 3.57685818e+02] [ 9.16426756e-01 4.00079101e-01 -9.93547913e-03 3.19586909e+02] [ 1.09521145e-02 -2.54769131e-04 9.99939991e-01 2.17792020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.850385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:357.70, Y:319.61, Z:21.78 [[ 4.00662866e-01 -9.16213945e-01 -4.61245279e-03 3.57698127e+02] [ 9.16160092e-01 4.00689340e-01 -9.93674939e-03 3.19612203e+02] [ 1.09523490e-02 -2.44458682e-04 9.99939991e-01 2.17798218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.880385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:357.71, Y:319.64, Z:21.78 [[ 4.01271166e-01 -9.15947707e-01 -4.60972533e-03 3.57710105e+02] [ 9.15893822e-01 4.01297574e-01 -9.93801452e-03 3.19637480e+02] [ 1.09525732e-02 -2.34180282e-04 9.99939991e-01 2.17805874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.910385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:357.72, Y:319.66, Z:21.78 [[ 4.03236487e-01 -9.15084210e-01 -4.60694888e-03 3.57721182e+02] [ 9.15030254e-01 4.03262749e-01 -9.93930142e-03 3.19662742e+02] [ 1.09531087e-02 -2.07608619e-04 9.99939991e-01 2.17803535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.940385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:357.73, Y:319.69, Z:21.78 [[ 4.03628154e-01 -9.14911533e-01 -4.60445669e-03 3.57731550e+02] [ 9.14857552e-01 4.03654366e-01 -9.94045581e-03 3.19688333e+02] [ 1.09532467e-02 -2.00174150e-04 9.99939991e-01 2.17786600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.9703857229999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:357.74, Y:319.71, Z:21.78 [[ 4.07905907e-01 -9.13012471e-01 -4.58256184e-03 3.57742298e+02] [ 9.12958254e-01 4.07931628e-01 -9.95058966e-03 3.19713969e+02] [ 1.09543844e-02 -1.24783357e-04 9.99939991e-01 2.17785738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.000385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:357.75, Y:319.74, Z:21.78 [[ 4.09549189e-01 -9.12276436e-01 -4.60072411e-03 3.57753923e+02] [ 9.12222267e-01 4.09575011e-01 -9.94218511e-03 3.19738972e+02] [ 1.09543628e-02 -1.25069121e-04 9.99939991e-01 2.17787276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.030385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:357.77, Y:319.76, Z:21.78 [[ 4.11015957e-01 -9.11616553e-01 -4.59828347e-03 3.57766244e+02] [ 9.11562330e-01 4.11041664e-01 -9.94331379e-03 3.19764325e+02] [ 1.09545755e-02 -1.04761364e-04 9.99939991e-01 2.17795900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.060385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:357.78, Y:319.79, Z:21.78 [[ 4.13619171e-01 -9.10438390e-01 -4.59561243e-03 3.57778187e+02] [ 9.10384080e-01 4.13644695e-01 -9.94454814e-03 3.19788173e+02] [ 1.09548491e-02 -7.05166322e-05 9.99939991e-01 2.17792289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.0903857229999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:357.79, Y:319.82, Z:21.78 [[ 4.14522147e-01 -9.10027633e-01 -4.59320245e-03 3.57790305e+02] [ 9.09973285e-01 4.14547590e-01 -9.94566114e-03 3.19815364e+02] [ 1.09549275e-02 -5.69947152e-05 9.99939991e-01 2.17807580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.120385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:357.80, Y:319.84, Z:21.78 [[ 4.16118828e-01 -9.09298507e-01 -4.62026880e-03 3.57800794e+02] [ 9.09244253e-01 4.16144472e-01 -9.93316645e-03 3.19840692e+02] [ 1.09549127e-02 -6.75752648e-05 9.99939991e-01 2.17794797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.150385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:357.81, Y:319.87, Z:21.78 [[ 4.17636267e-01 -9.08602712e-01 -4.58908904e-03 3.57812029e+02] [ 9.08548257e-01 4.17661479e-01 -9.94755056e-03 3.19866459e+02] [ 1.09550571e-02 -1.49509654e-05 9.99939991e-01 2.17791635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.180385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:357.82, Y:319.89, Z:21.78 [[ 4.18364207e-01 -9.08267651e-01 -4.61128790e-03 3.57824145e+02] [ 9.08213288e-01 4.18389618e-01 -9.93731310e-03 3.19891265e+02] [ 1.09550550e-02 -3.06168295e-05 9.99939991e-01 2.17790379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.210385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:357.84, Y:319.92, Z:21.78 [[ 4.18463962e-01 -9.08221827e-01 -4.58527391e-03 3.57838911e+02] [ 9.08167330e-01 4.18489082e-01 -9.94930202e-03 3.19915389e+02] [ 1.09550603e-02 -7.71625088e-07 9.99939992e-01 2.17796618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.240385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:357.85, Y:319.94, Z:21.78 [[ 4.18327460e-01 -9.08284722e-01 -4.58252003e-03 3.57851860e+02] [ 9.08230215e-01 4.18352558e-01 -9.95057026e-03 3.19940237e+02] [ 1.09550599e-02 6.13631116e-07 9.99939992e-01 2.17801992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.270385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:357.86, Y:319.97, Z:21.78 [[ 4.18279059e-01 -9.08307027e-01 -4.57973027e-03 3.57864724e+02] [ 9.08252506e-01 4.18304130e-01 -9.95185407e-03 3.19965565e+02] [ 1.09550591e-02 3.10066122e-06 9.99939992e-01 2.17815910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.300385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:357.88, Y:319.99, Z:21.78 [[ 4.19211811e-01 -9.07876876e-01 -4.58646020e-03 3.57876814e+02] [ 9.07822364e-01 4.19236900e-01 -9.94875837e-03 3.19990253e+02] [ 1.09550610e-02 6.94587737e-06 9.99939992e-01 2.17790732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.330385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:357.89, Y:320.02, Z:21.78 [[ 4.19398118e-01 -9.07790879e-01 -4.57592574e-03 3.57888931e+02] [ 9.07736309e-01 4.19423080e-01 -9.95360133e-03 3.20016055e+02] [ 1.09550374e-02 2.07877287e-05 9.99939992e-01 2.17786311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.360385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:357.90, Y:320.04, Z:21.78 [[ 4.19262213e-01 -9.07853668e-01 -4.57317696e-03 3.57902374e+02] [ 9.07799088e-01 4.19287153e-01 -9.95486409e-03 3.20040989e+02] [ 1.09550342e-02 2.21724767e-05 9.99939992e-01 2.17786135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.390385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:357.92, Y:320.06, Z:21.78 [[ 4.18613260e-01 -9.08153098e-01 -4.57039649e-03 3.57915280e+02] [ 9.08098522e-01 4.18638209e-01 -9.95614048e-03 3.20064735e+02] [ 1.09550424e-02 1.74021276e-05 9.99939992e-01 2.17786578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.420385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:357.93, Y:320.09, Z:21.78 [[ 4.17818355e-01 -9.08519101e-01 -4.56790688e-03 3.57928689e+02] [ 9.08464534e-01 4.17843324e-01 -9.95728259e-03 3.20088708e+02] [ 1.09550508e-02 1.05540452e-05 9.99939992e-01 2.17787445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.450385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:357.94, Y:320.11, Z:21.78 [[ 4.15977624e-01 -9.09363389e-01 -4.56546602e-03 3.57942897e+02] [ 9.09308860e-01 4.16002676e-01 -9.95840161e-03 3.20113255e+02] [ 1.09550519e-02 -8.94646703e-06 9.99939992e-01 2.17794731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.480385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:357.95, Y:320.14, Z:21.78 [[ 4.15234453e-01 -9.09702990e-01 -4.56275969e-03 3.57954868e+02] [ 9.09648468e-01 4.15259521e-01 -9.95964145e-03 3.20138454e+02] [ 1.09550450e-02 -1.49210976e-05 9.99939992e-01 2.17797139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.510385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:357.97, Y:320.16, Z:21.78 [[ 4.14862689e-01 -9.09872604e-01 -4.56004245e-03 3.57967796e+02] [ 9.09818079e-01 4.14887749e-01 -9.96088539e-03 3.20162242e+02] [ 1.09550425e-02 -1.64093618e-05 9.99939992e-01 2.17790445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.540385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:357.98, Y:320.19, Z:21.78 [[ 4.14496209e-01 -9.10039623e-01 -4.55819524e-03 3.57981086e+02] [ 9.09985099e-01 4.14521270e-01 -9.96173061e-03 3.20187016e+02] [ 1.09550385e-02 -1.87901804e-05 9.99939992e-01 2.17789752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.570385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:357.99, Y:320.21, Z:21.78 [[ 4.14162910e-01 -9.10191371e-01 -4.55552520e-03 3.57994168e+02] [ 9.10136842e-01 4.14187963e-01 -9.96295148e-03 3.20211678e+02] [ 1.09550362e-02 -1.98663340e-05 9.99939992e-01 2.17790350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.600385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:358.01, Y:320.24, Z:21.78 [[ 4.13909746e-01 -9.10306539e-01 -4.55277118e-03 3.58008899e+02] [ 9.10252003e-01 4.13934783e-01 -9.96420983e-03 3.20236000e+02] [ 1.09550357e-02 -1.98855289e-05 9.99939992e-01 2.17787701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.630385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:358.02, Y:320.26, Z:21.78 [[ 4.13657662e-01 -9.10421131e-01 -4.55002177e-03 3.58020715e+02] [ 9.10366589e-01 4.13682684e-01 -9.96546515e-03 3.20262033e+02] [ 1.09550353e-02 -1.98967832e-05 9.99939992e-01 2.17790822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.660385723 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:358.03, Y:320.29, Z:21.78 [[ 4.12800354e-01 -9.10810184e-01 -4.54726177e-03 3.58032526e+02] [ 9.10755651e-01 4.12825397e-01 -9.96672438e-03 3.20286530e+02] [ 1.09550192e-02 -2.71770047e-05 9.99939992e-01 2.17776736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.690385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:358.05, Y:320.31, Z:21.78 [[ 4.12348216e-01 -9.11014980e-01 -4.54478325e-03 3.58046115e+02] [ 9.10960447e-01 4.12373260e-01 -9.96785445e-03 3.20311361e+02] [ 1.09550118e-02 -2.98907789e-05 9.99939992e-01 2.17789147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.7203857229999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:358.06, Y:320.34, Z:21.78 [[ 4.11511856e-01 -9.11393089e-01 -4.54208328e-03 3.58059263e+02] [ 9.11338566e-01 4.11536920e-01 -9.96908460e-03 3.20336501e+02] [ 1.09549898e-02 -3.69791622e-05 9.99939992e-01 2.17782137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.750385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:358.07, Y:320.36, Z:21.78 [[ 4.10992492e-01 -9.11627427e-01 -4.53936606e-03 3.58072962e+02] [ 9.11572904e-01 4.11017558e-01 -9.97032172e-03 3.20361474e+02] [ 1.09549779e-02 -4.02357338e-05 9.99939992e-01 2.17788610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.780385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:358.09, Y:320.39, Z:21.78 [[ 4.11010772e-01 -9.11619199e-01 -4.53664591e-03 3.58087583e+02] [ 9.11564662e-01 4.11035807e-01 -9.97155928e-03 3.20385191e+02] [ 1.09549888e-02 -3.70278184e-05 9.99939992e-01 2.17796217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.810385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:358.10, Y:320.41, Z:21.78 [[ 4.11403081e-01 -9.11442235e-01 -4.53392671e-03 3.58099364e+02] [ 9.11387674e-01 4.11428063e-01 -9.97279550e-03 3.20409761e+02] [ 1.09550117e-02 -2.93261287e-05 9.99939992e-01 2.17799154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.8403857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:358.11, Y:320.44, Z:21.78 [[ 4.12971034e-01 -9.10732887e-01 -4.53147594e-03 3.58110942e+02] [ 9.10678271e-01 4.12995894e-01 -9.97390897e-03 3.20435406e+02] [ 1.09550479e-02 -7.78117431e-06 9.99939992e-01 2.17795744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.870385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:358.12, Y:320.46, Z:21.78 [[ 4.13314592e-01 -9.10577036e-01 -4.52880601e-03 3.58122588e+02] [ 9.10522397e-01 4.13339403e-01 -9.97512114e-03 3.20460876e+02] [ 1.09550502e-02 -7.16171097e-07 9.99939992e-01 2.17793521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.900385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:358.13, Y:320.49, Z:21.78 [[ 4.13221288e-01 -9.10619394e-01 -4.52614471e-03 3.58134613e+02] [ 9.10564745e-01 4.13246075e-01 -9.97632854e-03 3.20486693e+02] [ 1.09550498e-02 1.08351893e-06 9.99939992e-01 2.17795801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.930385723 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:358.15, Y:320.51, Z:21.78 [[ 4.12740645e-01 -9.10837361e-01 -4.52349905e-03 3.58147274e+02] [ 9.10782711e-01 4.12765432e-01 -9.97752801e-03 3.20510211e+02] [ 1.09550493e-02 -1.79337792e-06 9.99939992e-01 2.17792255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.960385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:358.16, Y:320.54, Z:21.78 [[ 4.12893193e-01 -9.10768229e-01 -4.52156107e-03 3.58159785e+02] [ 9.10713565e-01 4.12917950e-01 -9.97840617e-03 3.20536573e+02] [ 1.09550490e-02 2.16897889e-06 9.99939992e-01 2.17813123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.990385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:358.17, Y:320.56, Z:21.78 [[ 4.13463730e-01 -9.10509383e-01 -4.51743696e-03 3.58174354e+02] [ 9.10454684e-01 4.13488407e-01 -9.98027382e-03 3.20561064e+02] [ 1.09550408e-02 1.35595963e-05 9.99939992e-01 2.17831366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.020385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:358.19, Y:320.59, Z:21.78 [[ 4.14070277e-01 -9.10233703e-01 -4.51798531e-03 3.58186616e+02] [ 9.10178989e-01 4.14094924e-01 -9.98002558e-03 3.20586407e+02] [ 1.09550304e-02 2.02566529e-05 9.99939992e-01 2.17835490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.050385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:358.20, Y:320.61, Z:21.78 [[ 4.14843212e-01 -9.09881707e-01 -4.51540404e-03 3.58197974e+02] [ 9.09826960e-01 4.14867784e-01 -9.98119333e-03 3.20610563e+02] [ 1.09550009e-02 3.23939702e-05 9.99939992e-01 2.17833883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.080385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:358.21, Y:320.64, Z:21.78 [[ 4.16692074e-01 -9.09036492e-01 -4.51352347e-03 3.58209715e+02] [ 9.08981686e-01 4.16716514e-01 -9.98204365e-03 3.20635922e+02] [ 1.09549017e-02 5.67282954e-05 9.99939992e-01 2.17835802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.110385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:358.22, Y:320.66, Z:21.78 [[ 4.17461929e-01 -9.08683218e-01 -4.51075223e-03 3.58221597e+02] [ 9.08628378e-01 4.17486292e-01 -9.98329578e-03 3.20661174e+02] [ 1.09548306e-02 6.90484351e-05 9.99939992e-01 2.17838791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.140385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:358.23, Y:320.68, Z:21.78 [[ 4.17214509e-01 -9.08796859e-01 -4.50797124e-03 3.58231118e+02] [ 9.08742012e-01 4.17238857e-01 -9.98455139e-03 3.20684829e+02] [ 1.09548297e-02 6.91168542e-05 9.99939992e-01 2.17817013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.170385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:358.25, Y:320.71, Z:21.78 [[ 4.19822233e-01 -9.07595584e-01 -4.42149890e-03 3.58246403e+02] [ 9.07540253e-01 4.19845470e-01 -1.00235352e-02 3.20711588e+02] [ 1.09536626e-02 1.95414694e-04 9.99939988e-01 2.17839518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.200385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:358.26, Y:320.74, Z:21.78 [[ 4.20268513e-01 -9.07388612e-01 -4.50365110e-03 3.58258250e+02] [ 9.07333663e-01 4.20292629e-01 -9.98648669e-03 3.20736693e+02] [ 1.09544757e-02 1.10691667e-04 9.99939992e-01 2.17820634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.230385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:358.27, Y:320.76, Z:21.78 [[ 4.20537563e-01 -9.07263924e-01 -4.50881805e-03 3.58270940e+02] [ 9.07208993e-01 4.20561720e-01 -9.98415728e-03 3.20761541e+02] [ 1.09545020e-02 1.08272894e-04 9.99939992e-01 2.17802874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.260385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:358.28, Y:320.79, Z:21.78 [[ 4.20239740e-01 -9.07401895e-01 -4.51250648e-03 3.58282865e+02] [ 9.07346989e-01 4.20263954e-01 -9.98249526e-03 3.20787211e+02] [ 1.09545789e-02 1.00632045e-04 9.99939992e-01 2.17811106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.290385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:358.30, Y:320.81, Z:21.78 [[ 4.19372789e-01 -9.07802974e-01 -4.49717685e-03 3.58295833e+02] [ 9.07748017e-01 4.19396887e-01 -9.98939659e-03 3.20810892e+02] [ 1.09545059e-02 1.06977737e-04 9.99939992e-01 2.17797848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.320385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:358.31, Y:320.84, Z:21.78 [[ 4.18437040e-01 -9.08234682e-01 -4.49521719e-03 3.58308124e+02] [ 9.08179740e-01 4.18461173e-01 -9.99027835e-03 3.20835071e+02] [ 1.09545911e-02 9.78373236e-05 9.99939992e-01 2.17781861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.350385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:358.32, Y:320.86, Z:21.78 [[ 4.17513177e-01 -9.08659763e-01 -4.49243894e-03 3.58320699e+02] [ 9.08604833e-01 4.17537336e-01 -9.99152752e-03 3.20859673e+02] [ 1.09546600e-02 8.97426710e-05 9.99939992e-01 2.17809444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.380385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:358.33, Y:320.89, Z:21.78 [[ 4.15900795e-01 -9.09398906e-01 -4.48976025e-03 3.58333117e+02] [ 9.09344006e-01 4.15925022e-01 -9.99273107e-03 3.20885157e+02] [ 1.09547823e-02 7.32482318e-05 9.99939992e-01 2.17817185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.410385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:358.34, Y:320.91, Z:21.78 [[ 4.15141436e-01 -9.09745818e-01 -4.48708653e-03 3.58344162e+02] [ 9.09690926e-01 4.15165679e-01 -9.99393151e-03 3.20911141e+02] [ 1.09548217e-02 6.70331794e-05 9.99939992e-01 2.17827422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.440385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:358.35, Y:320.94, Z:21.78 [[ 4.14747926e-01 -9.09925299e-01 -4.48433123e-03 3.58353771e+02] [ 9.09870403e-01 4.14772162e-01 -9.99516768e-03 3.20937167e+02] [ 1.09548317e-02 6.53148001e-05 9.99939992e-01 2.17828311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.4703857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:358.36, Y:320.96, Z:21.78 [[ 4.14740755e-01 -9.09928580e-01 -4.48159133e-03 3.58363913e+02] [ 9.09873671e-01 4.14764963e-01 -9.99639603e-03 3.20963010e+02] [ 1.09548135e-02 6.82308821e-05 9.99939992e-01 2.17827067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.500385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:358.37, Y:320.99, Z:21.78 [[ 4.14842490e-01 -9.09882217e-01 -4.47886667e-03 3.58373042e+02] [ 9.09827292e-01 4.14866661e-01 -9.99761666e-03 3.20988838e+02] [ 1.09547861e-02 7.24410602e-05 9.99939992e-01 2.17820349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.530385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:358.38, Y:321.01, Z:21.78 [[ 4.14027722e-01 -9.10253262e-01 -4.47706207e-03 3.58384037e+02] [ 9.10198350e-01 4.14051923e-01 -9.99842472e-03 3.21014767e+02] [ 1.09548349e-02 6.46104995e-05 9.99939992e-01 2.17820399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.560385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:358.40, Y:321.04, Z:21.78 [[ 4.12941931e-01 -9.10746365e-01 -4.47435444e-03 3.58395290e+02] [ 9.10691469e-01 4.12966168e-01 -9.99963626e-03 3.21040233e+02] [ 1.09548894e-02 5.45126895e-05 9.99939992e-01 2.17820464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.5903857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:358.41, Y:321.07, Z:21.78 [[ 4.08665930e-01 -9.12673099e-01 -4.46902600e-03 3.58406177e+02] [ 9.12618291e-01 4.08690365e-01 -1.00020193e-02 3.21065703e+02] [ 1.09550218e-02 8.96964593e-06 9.99939992e-01 2.17828920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.620385723 meters Centerline goodness : 0.999865 Centerline is valid? [True, True] Translation: X:358.42, Y:321.09, Z:21.78 [[ 4.06515044e-01 -9.13633148e-01 -4.47103440e-03 3.58417287e+02] [ 9.13578408e-01 4.06539630e-01 -1.00011214e-02 3.21091085e+02] [ 1.09550087e-02 -1.90341668e-05 9.99939992e-01 2.17814041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.650385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:358.43, Y:321.12, Z:21.78 [[ 4.03212762e-01 -9.15095352e-01 -4.46829156e-03 3.58427448e+02] [ 9.15040687e-01 4.03237515e-01 -1.00023467e-02 3.21116801e+02] [ 1.09548838e-02 -5.55947253e-05 9.99939992e-01 2.17835145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.680385723 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:358.44, Y:321.14, Z:21.78 [[ 4.01792484e-01 -9.15719858e-01 -4.46553822e-03 3.58438543e+02] [ 9.15665219e-01 4.01817292e-01 -1.00035758e-02 3.21141689e+02] [ 1.09548035e-02 -6.95764613e-05 9.99939992e-01 2.17810893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.710385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:358.45, Y:321.17, Z:21.78 [[ 4.00576595e-01 -9.16252407e-01 -4.46307461e-03 3.58449264e+02] [ 9.16197787e-01 4.00601449e-01 -1.00046748e-02 3.21167418e+02] [ 1.09547215e-02 -8.14205087e-05 9.99939992e-01 2.17844881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.740385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:358.46, Y:321.19, Z:21.79 [[ 3.99073709e-01 -9.16908000e-01 -4.46028699e-03 3.58459287e+02] [ 9.16853408e-01 3.99098622e-01 -1.00059174e-02 3.21192511e+02] [ 1.09546001e-02 -9.63307379e-05 9.99939992e-01 2.17850149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.770385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:358.47, Y:321.22, Z:21.79 [[ 3.96815644e-01 -9.17887506e-01 -4.45776924e-03 3.58467748e+02] [ 9.17832962e-01 3.96840664e-01 -1.00070390e-02 3.21217394e+02] [ 1.09543602e-02 -1.20537917e-04 9.99939992e-01 2.17855345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.800385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:358.48, Y:321.24, Z:21.79 [[ 3.97933789e-01 -9.17403589e-01 -4.39934031e-03 3.58480866e+02] [ 9.17348726e-01 3.97958104e-01 -1.00330395e-02 3.21243643e+02] [ 1.09550995e-02 -4.32438199e-05 9.99939990e-01 2.17865344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.830385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:358.49, Y:321.27, Z:21.79 [[ 3.95629810e-01 -9.18399268e-01 -4.45410445e-03 3.58489440e+02] [ 9.18344738e-01 3.95654860e-01 -1.00086681e-02 3.21269716e+02] [ 1.09542415e-02 -1.30675929e-04 9.99939992e-01 2.17860604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.860385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:358.50, Y:321.30, Z:21.79 [[ 3.97005967e-01 -9.17805451e-01 -4.40635016e-03 3.58502043e+02] [ 9.17750647e-01 3.97030415e-01 -1.00299066e-02 3.21295993e+02] [ 1.09549580e-02 -6.19979422e-05 9.99939991e-01 2.17870150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.890385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:358.51, Y:321.32, Z:21.79 [[ 3.96992022e-01 -9.17811269e-01 -4.45072185e-03 3.58512922e+02] [ 9.17756686e-01 3.97016955e-01 -1.00101781e-02 3.21320811e+02] [ 1.09544663e-02 -1.10718899e-04 9.99939992e-01 2.17876553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.920385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:358.52, Y:321.35, Z:21.79 [[ 3.96754212e-01 -9.17914108e-01 -4.44822827e-03 3.58524292e+02] [ 9.17859518e-01 3.96779131e-01 -1.00112860e-02 3.21346481e+02] [ 1.09544648e-02 -1.10828767e-04 9.99939992e-01 2.17886573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.950385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:358.53, Y:321.37, Z:21.79 [[ 3.95546568e-01 -9.18435164e-01 -4.44548396e-03 3.58533898e+02] [ 9.18380594e-01 3.95571529e-01 -1.00125045e-02 3.21373235e+02] [ 1.09543431e-02 -1.22234421e-04 9.99939992e-01 2.17898459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.980385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:358.54, Y:321.40, Z:21.79 [[ 3.97496373e-01 -9.17592991e-01 -4.44251958e-03 3.58544948e+02] [ 9.17538353e-01 3.97521186e-01 -1.00138196e-02 3.21397623e+02] [ 1.09546063e-02 -9.57251346e-05 9.99939992e-01 2.17901806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.010385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:358.55, Y:321.42, Z:21.79 [[ 3.99052561e-01 -9.16917300e-01 -4.44050960e-03 3.58553916e+02] [ 9.16862610e-01 3.99077260e-01 -1.00147108e-02 3.21424166e+02] [ 1.09547680e-02 -7.49412187e-05 9.99939992e-01 2.17909614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.040385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:358.56, Y:321.45, Z:21.79 [[ 4.00148106e-01 -9.16439741e-01 -4.43778639e-03 3.58564168e+02] [ 9.16385009e-01 4.00172709e-01 -1.00159174e-02 3.21449813e+02] [ 1.09548657e-02 -5.88705398e-05 9.99939992e-01 2.17913638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.070385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:358.57, Y:321.48, Z:21.79 [[ 4.02319182e-01 -9.15488725e-01 -4.43505089e-03 3.58573550e+02] [ 9.15433921e-01 4.02343626e-01 -1.00171285e-02 3.21475042e+02] [ 1.09549827e-02 -2.99130704e-05 9.99939992e-01 2.17922956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.100385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:358.58, Y:321.50, Z:21.79 [[ 4.04464721e-01 -9.14542859e-01 -4.43257314e-03 3.58584098e+02] [ 9.14487986e-01 4.04489009e-01 -1.00182248e-02 3.21499230e+02] [ 1.09550231e-02 -1.51637997e-06 9.99939992e-01 2.17932171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.130385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:358.59, Y:321.53, Z:21.79 [[ 4.03182667e-01 -9.15108958e-01 -4.39681479e-03 3.58594541e+02] [ 9.15053946e-01 4.03206640e-01 -1.00340510e-02 3.21526530e+02] [ 1.09550749e-02 2.22327056e-05 9.99939991e-01 2.17917821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.160385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:358.61, Y:321.55, Z:21.79 [[ 4.05385771e-01 -9.14135023e-01 -4.42003362e-03 3.58607025e+02] [ 9.14080065e-01 4.05409866e-01 -1.00237730e-02 3.21551661e+02] [ 1.09550072e-02 2.32303437e-05 9.99939992e-01 2.17943098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.190385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:358.62, Y:321.58, Z:21.79 [[ 4.05853939e-01 -9.13927205e-01 -4.43221573e-03 3.58617341e+02] [ 9.13872293e-01 4.05878139e-01 -1.00183836e-02 3.21576968e+02] [ 1.09550128e-02 1.55212731e-05 9.99939992e-01 2.17937605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.2203857229999 meters Centerline goodness : 0.998428 Centerline is valid? [True, True] Translation: X:358.63, Y:321.61, Z:21.79 [[ 4.06375139e-01 -9.13695586e-01 -4.42975658e-03 3.58632488e+02] [ 9.13640649e-01 4.06399281e-01 -1.00194708e-02 3.21605415e+02] [ 1.09549961e-02 2.44581540e-05 9.99939992e-01 2.17933550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.250385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:358.64, Y:321.63, Z:21.79 [[ 4.03454156e-01 -9.14988461e-01 -4.56737596e-03 3.58639239e+02] [ 9.14934280e-01 4.03479976e-01 -9.95858278e-03 3.21628517e+02] [ 1.09548331e-02 -1.61017226e-04 9.99939981e-01 2.17944863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.280385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:358.65, Y:321.65, Z:21.80 [[ 4.02858316e-01 -9.15251572e-01 -4.44252797e-03 3.58649846e+02] [ 9.15196792e-01 4.02882810e-01 -1.00136819e-02 3.21653663e+02] [ 1.09548562e-02 -3.16923255e-05 9.99939993e-01 2.17962981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.310385723 meters Centerline goodness : 0.997476 Centerline is valid? [True, True] Translation: X:358.67, Y:321.68, Z:21.80 [[ 4.03487675e-01 -9.14974403e-01 -4.42016567e-03 3.58667126e+02] [ 9.14919498e-01 4.03511885e-01 -1.00235432e-02 3.21683283e+02] [ 1.09548748e-02 2.80372730e-07 9.99939994e-01 2.17955010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.3403857229999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:358.67, Y:321.70, Z:21.80 [[ 3.98588760e-01 -9.17118219e-01 -4.60136043e-03 3.58673162e+02] [ 9.17064349e-01 3.98615236e-01 -9.94355459e-03 3.21703404e+02] [ 1.09535875e-02 -2.56354517e-04 9.99939975e-01 2.17975384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.370385723 meters Centerline goodness : 0.996016 Centerline is valid? [True, True] Translation: X:358.69, Y:321.73, Z:21.80 [[ 3.97171005e-01 -9.17734011e-01 -4.41341676e-03 3.58689434e+02] [ 9.17679243e-01 3.97195519e-01 -1.00262848e-02 3.21731424e+02] [ 1.09544519e-02 -6.79513557e-05 9.99939996e-01 2.17959024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.400385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:358.70, Y:321.75, Z:21.80 [[ 3.93878410e-01 -9.19151233e-01 -4.56162894e-03 3.58695078e+02] [ 9.19097296e-01 3.93904732e-01 -9.96103161e-03 3.21753896e+02] [ 1.09525417e-02 -2.69145528e-04 9.99939983e-01 2.17992655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.430385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:358.71, Y:321.78, Z:21.80 [[ 3.92309334e-01 -9.19822801e-01 -4.40456197e-03 3.58706958e+02] [ 9.19768122e-01 3.92334042e-01 -1.00300059e-02 3.21781270e+02] [ 1.09538878e-02 -1.16310742e-04 9.99939998e-01 2.17987117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.460385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:358.72, Y:321.81, Z:21.80 [[ 3.90758685e-01 -9.20482402e-01 -4.44957158e-03 3.58717139e+02] [ 9.20427988e-01 3.90783975e-01 -1.00102417e-02 3.21808105e+02] [ 1.09530725e-02 -1.83921352e-04 9.99939996e-01 2.17995875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.490385723 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:358.73, Y:321.84, Z:21.80 [[ 3.88044164e-01 -9.21630005e-01 -4.45658721e-03 3.58725884e+02] [ 9.21575701e-01 3.88069690e-01 -1.00071661e-02 3.21835283e+02] [ 1.09523710e-02 -2.23860059e-04 9.99939996e-01 2.17997650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.520385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:358.74, Y:321.86, Z:21.80 [[ 3.86497657e-01 -9.22279728e-01 -4.43455545e-03 3.58736467e+02] [ 9.22225356e-01 3.86523035e-01 -1.00168146e-02 3.21861048e+02] [ 1.09523629e-02 -2.18184109e-04 9.99939997e-01 2.18008393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.550385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:358.75, Y:321.89, Z:21.80 [[ 3.86179859e-01 -9.22412882e-01 -4.42630056e-03 3.58747875e+02] [ 9.22358477e-01 3.86205166e-01 -1.00204267e-02 3.21887294e+02] [ 1.09524309e-02 -2.12948857e-04 9.99939998e-01 2.18011492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.580385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:358.76, Y:321.91, Z:21.80 [[ 3.86159235e-01 -9.22421530e-01 -4.42348387e-03 3.58758156e+02] [ 9.22367112e-01 3.86184512e-01 -1.00216591e-02 3.21911603e+02] [ 1.09524751e-02 -2.10119819e-04 9.99939998e-01 2.18019108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.610385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:358.77, Y:321.94, Z:21.80 [[ 3.84187698e-01 -9.23244589e-01 -4.38651348e-03 3.58769086e+02] [ 9.23190041e-01 3.84212690e-01 -1.00378152e-02 3.21937825e+02] [ 1.09527127e-02 -1.93180461e-04 9.99939999e-01 2.18032230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.640385723 meters Centerline goodness : 0.994646 Centerline is valid? [True, True] Translation: X:358.78, Y:321.96, Z:21.80 [[ 3.83940456e-01 -9.23347449e-01 -4.38348953e-03 3.58778943e+02] [ 9.23292892e-01 3.83965430e-01 -1.00391355e-02 3.21963123e+02] [ 1.09527186e-02 -1.92814456e-04 9.99939999e-01 2.18011965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.670385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:358.79, Y:321.99, Z:21.80 [[ 3.83149922e-01 -9.23675871e-01 -4.36155877e-03 3.58786916e+02] [ 9.23621226e-01 3.83174705e-01 -1.00486999e-02 3.21989055e+02] [ 1.09529806e-02 -1.78269680e-04 9.99939998e-01 2.18045566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.700385723 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:358.80, Y:322.02, Z:21.81 [[ 3.82949945e-01 -9.23758730e-01 -4.37594844e-03 3.58796387e+02] [ 9.23704162e-01 3.82974896e-01 -1.00424296e-02 3.22015500e+02] [ 1.09526604e-02 -1.96333899e-04 9.99939999e-01 2.18050182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.730385723 meters Centerline goodness : 0.997881 Centerline is valid? [True, True] Translation: X:358.80, Y:322.04, Z:21.80 [[ 3.83069064e-01 -9.23709352e-01 -4.37321219e-03 3.58804304e+02] [ 9.23654768e-01 3.83093978e-01 -1.00436211e-02 3.22041799e+02] [ 1.09527380e-02 -1.91937771e-04 9.99939999e-01 2.18034883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.760385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:358.82, Y:322.07, Z:21.81 [[ 3.83422360e-01 -9.23562771e-01 -4.37065171e-03 3.58816490e+02] [ 9.23508164e-01 3.83447225e-01 -1.00447348e-02 3.22070583e+02] [ 1.09528574e-02 -1.84956603e-04 9.99939999e-01 2.18052723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.790385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:358.83, Y:322.10, Z:21.81 [[ 3.83426921e-01 -9.23560537e-01 -4.44189173e-03 3.58825968e+02] [ 9.23506284e-01 3.83452560e-01 -1.00138828e-02 3.22096067e+02] [ 1.09516817e-02 -2.62522682e-04 9.99939994e-01 2.18053148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.820385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:358.84, Y:322.12, Z:21.81 [[ 3.85114453e-01 -9.22858212e-01 -4.42479518e-03 3.58835444e+02] [ 9.22803827e-01 3.85139806e-01 -1.00212835e-02 3.22123358e+02] [ 1.09523885e-02 -2.23876826e-04 9.99939996e-01 2.18060075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.850385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:358.84, Y:322.15, Z:21.81 [[ 3.85186064e-01 -9.22828285e-01 -4.43306799e-03 3.58844555e+02] [ 9.22773940e-01 3.85211503e-01 -1.00177056e-02 3.22150487e+02] [ 1.09522909e-02 -2.32039026e-04 9.99939995e-01 2.18068566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.880385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:358.85, Y:322.18, Z:21.81 [[ 3.85272710e-01 -9.22792135e-01 -4.42893219e-03 3.58853438e+02] [ 9.22737766e-01 3.85298099e-01 -1.00194921e-02 3.22177508e+02] [ 1.09523677e-02 -2.26506114e-04 9.99939995e-01 2.18070978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.910385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:358.86, Y:322.21, Z:21.81 [[ 3.86442505e-01 -9.22302888e-01 -4.42414415e-03 3.58861584e+02] [ 9.22248464e-01 3.86467773e-01 -1.00215583e-02 3.22205834e+02] [ 1.09527013e-02 -2.07404052e-04 9.99939996e-01 2.18058745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.940385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:358.87, Y:322.23, Z:21.81 [[ 3.86868827e-01 -9.22124039e-01 -4.44593075e-03 3.58870916e+02] [ 9.22069711e-01 3.86894307e-01 -1.00121633e-02 3.22232886e+02] [ 1.09525617e-02 -2.26064214e-04 9.99939993e-01 2.18059246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.9703857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:358.88, Y:322.26, Z:21.81 [[ 3.86475851e-01 -9.22288778e-01 -4.45270363e-03 3.58880317e+02] [ 9.22234494e-01 3.86501427e-01 -1.00092446e-02 3.22258441e+02] [ 1.09523903e-02 -2.38105554e-04 9.99939992e-01 2.18077198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.000385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:358.89, Y:322.28, Z:21.81 [[ 3.86906241e-01 -9.22108322e-01 -4.45001264e-03 3.58890188e+02] [ 9.22054013e-01 3.86931763e-01 -1.00104034e-02 3.22284998e+02] [ 1.09525276e-02 -2.30064444e-04 9.99939993e-01 2.18100806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.030385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:358.90, Y:322.31, Z:21.81 [[ 3.87096676e-01 -9.22028392e-01 -4.45062900e-03 3.58900368e+02] [ 9.21974080e-01 3.87122193e-01 -1.00101383e-02 3.22312653e+02] [ 1.09525690e-02 -2.28473328e-04 9.99939993e-01 2.18093075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.060385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:358.91, Y:322.34, Z:21.81 [[ 3.88037257e-01 -9.21632838e-01 -4.47208649e-03 3.58907385e+02] [ 9.21578606e-01 3.88062952e-01 -1.00009114e-02 3.22340021e+02] [ 1.09526195e-02 -2.40652992e-04 9.99939989e-01 2.18092414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.0903857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:358.92, Y:322.37, Z:21.81 [[ 3.88554664e-01 -9.21414789e-01 -4.47873372e-03 3.58917028e+02] [ 9.21360576e-01 3.88580401e-01 -9.99805408e-03 3.22367273e+02] [ 1.09527030e-02 -2.41738135e-04 9.99939988e-01 2.18082419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.120385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:358.93, Y:322.40, Z:21.81 [[ 3.89832856e-01 -9.20874878e-01 -4.45013400e-03 3.58925621e+02] [ 9.20820489e-01 3.89858206e-01 -1.00102914e-02 3.22396725e+02] [ 1.09531471e-02 -1.95434074e-04 9.99939993e-01 2.18099040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.150385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:358.93, Y:322.42, Z:21.81 [[ 3.90319416e-01 -9.20668670e-01 -4.46687050e-03 3.58933903e+02] [ 9.20614350e-01 3.90344920e-01 -1.00031367e-02 3.22422312e+02] [ 1.09531948e-02 -2.07846596e-04 9.99939990e-01 2.18097391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.180385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:358.94, Y:322.45, Z:21.81 [[ 3.90092038e-01 -9.20765081e-01 -4.45728791e-03 3.58937878e+02] [ 9.20710720e-01 3.90117451e-01 -1.00072341e-02 3.22447228e+02] [ 1.09531775e-02 -2.00130434e-04 9.99939992e-01 2.18097625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.210385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:358.95, Y:322.47, Z:21.81 [[ 3.89385666e-01 -9.21064330e-01 -4.39353820e-03 3.58946334e+02] [ 9.21009679e-01 3.89410427e-01 -1.00344555e-02 3.22474646e+02] [ 1.09532686e-02 -1.39218064e-04 9.99940001e-01 2.18116339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.240385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:358.95, Y:322.50, Z:21.81 [[ 3.88761267e-01 -9.21328140e-01 -4.37433455e-03 3.58954964e+02] [ 9.21273414e-01 3.88785856e-01 -1.00426438e-02 3.22501612e+02] [ 1.09532497e-02 -1.25767197e-04 9.99940003e-01 2.18125398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.270385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:358.95, Y:322.53, Z:21.81 [[ 3.82858242e-01 -9.23796832e-01 -4.35668152e-03 3.58954046e+02] [ 9.23742178e-01 3.82882988e-01 -1.00501623e-02 3.22525354e+02] [ 1.09524073e-02 -1.76663014e-04 9.99940005e-01 2.18077471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.300385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:358.97, Y:322.55, Z:21.81 [[ 3.86670932e-01 -9.22208357e-01 -4.16368555e-03 3.58969627e+02] [ 9.22152698e-01 3.86693340e-01 -1.01321938e-02 3.22554001e+02] [ 1.09540632e-02 7.82709371e-05 9.99939999e-01 2.18119021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.330385723 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:358.97, Y:322.58, Z:21.81 [[ 3.82495031e-01 -9.23947603e-01 -4.28692727e-03 3.58974568e+02] [ 9.23892625e-01 3.82519039e-01 -1.00797792e-02 3.22580429e+02] [ 1.09530191e-02 -1.05195023e-04 9.99940008e-01 2.18093006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.360385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:358.99, Y:322.61, Z:21.81 [[ 3.83644623e-01 -9.23471099e-01 -4.23478486e-03 3.58988443e+02] [ 9.23415845e-01 3.83667993e-01 -1.01019314e-02 3.22608554e+02] [ 1.09535931e-02 -3.49157673e-05 9.99940007e-01 2.18112845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.390385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:359.00, Y:322.63, Z:21.81 [[ 3.80998436e-01 -9.24565598e-01 -4.31824686e-03 3.58996240e+02] [ 9.24510809e-01 3.81022874e-01 -1.00664739e-02 3.22634325e+02] [ 1.09524663e-02 -1.56955098e-04 9.99940008e-01 2.18116196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.420385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:359.01, Y:322.66, Z:21.81 [[ 3.81193444e-01 -9.24485504e-01 -4.25566472e-03 3.59007104e+02] [ 9.24430412e-01 3.81217188e-01 -1.00930277e-02 3.22661466e+02] [ 1.09531904e-02 -8.66698942e-05 9.99940008e-01 2.18129457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.450385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:359.01, Y:322.69, Z:21.81 [[ 3.81021304e-01 -9.24556382e-01 -4.27359045e-03 3.59014749e+02] [ 9.24501378e-01 3.81045254e-01 -1.00854274e-02 3.22687200e+02] [ 1.09529776e-02 -1.08177567e-04 9.99940009e-01 2.18104986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.480385723 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:359.02, Y:322.71, Z:21.81 [[ 3.80792432e-01 -9.24650670e-01 -4.27338751e-03 3.59023441e+02] [ 9.24595672e-01 3.80816394e-01 -1.00855134e-02 3.22712500e+02] [ 1.09529527e-02 -1.10668415e-04 9.99940009e-01 2.18127211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.510385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:359.03, Y:322.74, Z:21.81 [[ 3.80821343e-01 -9.24638779e-01 -4.27007919e-03 3.59033067e+02] [ 9.24583764e-01 3.80845267e-01 -1.00869139e-02 3.22738799e+02] [ 1.09529912e-02 -1.06733791e-04 9.99940009e-01 2.18129836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.540385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:359.04, Y:322.76, Z:21.81 [[ 3.80802948e-01 -9.24646367e-01 -4.26729460e-03 3.59043217e+02] [ 9.24591340e-01 3.80826843e-01 -1.00880918e-02 3.22764368e+02] [ 1.09530178e-02 -1.03928538e-04 9.99940009e-01 2.18128964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.570385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:359.05, Y:322.79, Z:21.81 [[ 3.80363520e-01 -9.24827229e-01 -4.26480710e-03 3.59053812e+02] [ 9.24772202e-01 3.80387414e-01 -1.00891433e-02 3.22790373e+02] [ 1.09529934e-02 -1.06433002e-04 9.99940009e-01 2.18140841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.600385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:359.07, Y:322.82, Z:21.82 [[ 3.81225037e-01 -9.24472457e-01 -4.26008783e-03 3.59066369e+02] [ 9.24417384e-01 3.81248828e-01 -1.00911370e-02 3.22817775e+02] [ 1.09531317e-02 -9.11051710e-05 9.99940009e-01 2.18168502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.630385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:359.07, Y:322.84, Z:21.82 [[ 3.78571521e-01 -9.25562096e-01 -4.29071234e-03 3.59072891e+02] [ 9.25507238e-01 3.78595804e-01 -1.00782049e-02 3.22842194e+02] [ 1.09524501e-02 -1.55763962e-04 9.99940008e-01 2.18150259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.660385723 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:359.08, Y:322.87, Z:21.82 [[ 3.79032709e-01 -9.25373703e-01 -4.20909301e-03 3.59084218e+02] [ 9.25318447e-01 3.79056074e-01 -1.01126261e-02 3.22869149e+02] [ 1.09534405e-02 -6.17353608e-05 9.99940007e-01 2.18162620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.690385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:359.10, Y:322.89, Z:21.82 [[ 3.81447184e-01 -9.24381029e-01 -4.21426738e-03 3.59096179e+02] [ 9.24325736e-01 3.81470461e-01 -1.01104445e-02 3.22894538e+02] [ 1.09535216e-02 -3.87552162e-05 9.99940008e-01 2.18168572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.7203857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:359.11, Y:322.92, Z:21.82 [[ 3.81607762e-01 -9.24314634e-01 -4.23941268e-03 3.59106571e+02] [ 9.24259455e-01 3.81631305e-01 -1.00998439e-02 3.22919879e+02] [ 1.09533261e-02 -6.41384153e-05 9.99940008e-01 2.18182533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.750385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:359.12, Y:322.95, Z:21.81 [[ 3.81696253e-01 -9.24278125e-01 -4.23307876e-03 3.59118097e+02] [ 9.24222914e-01 3.81719721e-01 -1.01025122e-02 3.22945329e+02] [ 1.09533806e-02 -5.62173507e-05 9.99940008e-01 2.18143399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.780385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:359.13, Y:322.97, Z:21.82 [[ 3.83569422e-01 -9.23502461e-01 -4.20738512e-03 3.59131102e+02] [ 9.23447084e-01 3.83592497e-01 -1.01133251e-02 3.22971074e+02] [ 1.09536020e-02 -6.13524435e-06 9.99940007e-01 2.18185558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.810385723 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:359.14, Y:323.00, Z:21.82 [[ 3.83987315e-01 -9.23328594e-01 -4.24853098e-03 3.59141412e+02] [ 9.23273396e-01 3.84010815e-01 -1.00960104e-02 3.22996477e+02] [ 1.09534170e-02 -4.58156879e-05 9.99940008e-01 2.18165377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.8403857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:359.15, Y:323.02, Z:21.82 [[ 3.84197041e-01 -9.23241436e-01 -4.22897285e-03 3.59151697e+02] [ 9.23186143e-01 3.84220314e-01 -1.01042326e-02 3.23022869e+02] [ 1.09535035e-02 -2.21128861e-05 9.99940008e-01 2.18175759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.870385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:359.16, Y:323.05, Z:21.82 [[ 3.83444829e-01 -9.23554035e-01 -4.24358422e-03 3.59162305e+02] [ 9.23498829e-01 3.83468307e-01 -1.00980923e-02 3.23049185e+02] [ 1.09534140e-02 -4.68837717e-05 9.99940008e-01 2.18197444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.900385723 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:359.18, Y:323.08, Z:21.82 [[ 3.87377315e-01 -9.21911560e-01 -4.22992771e-03 3.59180245e+02] [ 9.21856191e-01 3.87400408e-01 -1.01038277e-02 3.23076602e+02] [ 1.09535113e-02 1.46086016e-05 9.99940008e-01 2.18209916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.930385723 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:359.19, Y:323.10, Z:21.82 [[ 3.87555424e-01 -9.21836137e-01 -4.35091298e-03 3.59191690e+02] [ 9.21781327e-01 3.87579829e-01 -1.00529757e-02 3.23101936e+02] [ 1.09535224e-02 -1.14505092e-04 9.99940002e-01 2.18210135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.960385723 meters Centerline goodness : 0.999229 Centerline is valid? [True, True] Translation: X:359.21, Y:323.13, Z:21.82 [[ 3.88781976e-01 -9.21319494e-01 -4.35494666e-03 3.59205268e+02] [ 9.21264670e-01 3.88806352e-01 -1.00512793e-02 3.23128904e+02] [ 1.09536704e-02 -1.04302295e-04 9.99940001e-01 2.18215605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.990385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:359.21, Y:323.15, Z:21.82 [[ 3.86256542e-01 -9.22380847e-01 -4.41106860e-03 3.59211457e+02] [ 9.22326358e-01 3.86281679e-01 -1.00276913e-02 3.23152737e+02] [ 1.09532653e-02 -1.95183489e-04 9.99939992e-01 2.18219376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.020385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:359.23, Y:323.18, Z:21.82 [[ 3.87534390e-01 -9.21845386e-01 -4.26390923e-03 3.59225218e+02] [ 9.21790172e-01 3.87557846e-01 -1.00893537e-02 3.23179135e+02] [ 1.09533356e-02 -2.04580787e-05 9.99940010e-01 2.18211781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.050385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:359.24, Y:323.20, Z:21.82 [[ 3.85895085e-01 -9.22532581e-01 -4.31507888e-03 3.59236627e+02] [ 9.22477647e-01 3.85919198e-01 -1.00679243e-02 3.23204904e+02] [ 1.09532599e-02 -9.54013223e-05 9.99940007e-01 2.18229813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.080385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:359.25, Y:323.23, Z:21.82 [[ 3.84706438e-01 -9.23029001e-01 -4.29185010e-03 3.59245107e+02] [ 9.22973989e-01 3.84730369e-01 -1.00776338e-02 3.23228331e+02] [ 1.09531533e-02 -8.43353971e-05 9.99940009e-01 2.18233013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.110385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:359.26, Y:323.25, Z:21.82 [[ 3.84428543e-01 -9.23145106e-01 -4.22006700e-03 3.59255905e+02] [ 9.23089770e-01 3.84451705e-01 -1.01076043e-02 3.23252953e+02] [ 1.09531974e-02 -9.84907576e-06 9.99940012e-01 2.18217108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.140385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:359.27, Y:323.28, Z:21.82 [[ 3.83349236e-01 -9.23593837e-01 -4.21759164e-03 3.59267780e+02] [ 9.23538516e-01 3.83372436e-01 -1.01086371e-02 3.23277974e+02] [ 1.09531833e-02 -1.99700113e-05 9.99940012e-01 2.18219402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.170385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:359.28, Y:323.30, Z:21.82 [[ 3.82703004e-01 -9.23861811e-01 -4.21479572e-03 3.59279721e+02] [ 9.23806494e-01 3.82726212e-01 -1.01098027e-02 3.23303710e+02] [ 1.09531735e-02 -2.46037815e-05 9.99940012e-01 2.18219840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.200385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:359.29, Y:323.33, Z:21.82 [[ 3.82295886e-01 -9.24030365e-01 -4.21199947e-03 3.59294228e+02] [ 9.23975045e-01 3.82319087e-01 -1.01109676e-02 3.23328368e+02] [ 1.09531688e-02 -2.64010993e-05 9.99940012e-01 2.18222620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.230385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:359.31, Y:323.35, Z:21.82 [[ 3.81971052e-01 -9.24164703e-01 -4.20921925e-03 3.59306892e+02] [ 9.24109379e-01 3.81994243e-01 -1.01121249e-02 3.23353257e+02] [ 1.09531664e-02 -2.72400123e-05 9.99940012e-01 2.18235666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.260385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:359.32, Y:323.38, Z:21.82 [[ 3.81776277e-01 -9.24245195e-01 -4.20641291e-03 3.59319430e+02] [ 9.24189863e-01 3.81799448e-01 -1.01132921e-02 3.23378081e+02] [ 1.09531678e-02 -2.65091720e-05 9.99940012e-01 2.18241269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.290385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:359.34, Y:323.41, Z:21.82 [[ 3.84397561e-01 -9.23158082e-01 -4.20358653e-03 3.59336709e+02] [ 9.23102672e-01 3.84420545e-01 -1.01144667e-02 3.23405376e+02] [ 1.09531967e-02 7.63439681e-06 9.99940012e-01 2.18232996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.320385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:359.34, Y:323.43, Z:21.82 [[ 3.83806317e-01 -9.23403636e-01 -4.29376978e-03 3.59344257e+02] [ 9.23348655e-01 3.83830322e-01 -1.00769784e-02 3.23427963e+02] [ 1.09531975e-02 -9.70385881e-05 9.99940007e-01 2.18238664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.350385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:359.36, Y:323.45, Z:21.82 [[ 3.87322279e-01 -9.21934825e-01 -4.19890207e-03 3.59362138e+02] [ 9.21879321e-01 3.87345035e-01 -1.01163543e-02 3.23453897e+02] [ 1.09530432e-02 4.74084205e-05 9.99940013e-01 2.18232181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.380385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:359.37, Y:323.48, Z:21.82 [[ 3.87962035e-01 -9.21665535e-01 -4.25461960e-03 3.59374508e+02] [ 9.21610267e-01 3.87985363e-01 -1.00932160e-02 3.23478948e+02] [ 1.09532994e-02 -5.31649750e-06 9.99940011e-01 2.18249401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.410385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:359.39, Y:323.50, Z:21.83 [[ 3.89476682e-01 -9.21026534e-01 -4.24708625e-03 3.59388130e+02] [ 9.20971194e-01 3.89499837e-01 -1.00963410e-02 3.23504934e+02] [ 1.09532374e-02 2.08453053e-05 9.99940011e-01 2.18266297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.440385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:359.40, Y:323.53, Z:21.83 [[ 3.89200617e-01 -9.21143150e-01 -4.26346953e-03 3.59398590e+02] [ 9.21087891e-01 3.89223968e-01 -1.00895591e-02 3.23530471e+02] [ 1.09533728e-02 -1.67525654e-07 9.99940010e-01 2.18269384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.4703857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:359.41, Y:323.55, Z:21.83 [[ 3.89519732e-01 -9.21008261e-01 -4.26159581e-03 3.59408274e+02] [ 9.20952986e-01 3.89543044e-01 -1.00903342e-02 3.23552894e+02] [ 1.09533562e-02 5.65489439e-06 9.99940010e-01 2.18262772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.500385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:359.42, Y:323.58, Z:21.83 [[ 3.89973289e-01 -9.20816672e-01 -4.18211989e-03 3.59419906e+02] [ 9.20761030e-01 3.89995701e-01 -1.01231676e-02 3.23577991e+02] [ 1.09525903e-02 9.70319578e-05 9.99940014e-01 2.18261420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.530385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:359.43, Y:323.60, Z:21.83 [[ 3.90042491e-01 -9.20787374e-01 -4.17935513e-03 3.59434168e+02] [ 9.20731718e-01 3.90064869e-01 -1.01243089e-02 3.23602399e+02] [ 1.09525555e-02 1.00845857e-04 9.99940014e-01 2.18256381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.560385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:359.45, Y:323.63, Z:21.83 [[ 3.89640382e-01 -9.20957615e-01 -4.17661087e-03 3.59447513e+02] [ 9.20901957e-01 3.89662754e-01 -1.01254409e-02 3.23627794e+02] [ 1.09525716e-02 9.90315462e-05 9.99940014e-01 2.18268969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.5903857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:359.46, Y:323.65, Z:21.83 [[ 3.90129679e-01 -9.20750462e-01 -4.17380220e-03 3.59463648e+02] [ 9.20694779e-01 3.90151990e-01 -1.01265985e-02 3.23654421e+02] [ 1.09524875e-02 1.07888743e-04 9.99940014e-01 2.18269272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.620385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:359.47, Y:323.68, Z:21.83 [[ 3.87286353e-01 -9.21949655e-01 -4.25611863e-03 3.59474400e+02] [ 9.21894411e-01 3.87309738e-01 -1.00926602e-02 3.23676759e+02] [ 1.09533607e-02 -1.49424411e-05 9.99940010e-01 2.18298616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.650385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:359.49, Y:323.70, Z:21.83 [[ 3.87585040e-01 -9.21824504e-01 -4.17379155e-03 3.59486054e+02] [ 9.21768884e-01 3.87607504e-01 -1.01265567e-02 3.23700884e+02] [ 1.09527011e-02 7.76307205e-05 9.99940014e-01 2.18292677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.680385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:359.50, Y:323.72, Z:21.83 [[ 3.87530930e-01 -9.21847282e-01 -4.16735675e-03 3.59499936e+02] [ 9.21791635e-01 3.87553327e-01 -1.01292041e-02 3.23724353e+02] [ 1.09526523e-02 8.39453081e-05 9.99940014e-01 2.18276830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.710385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:359.51, Y:323.75, Z:21.83 [[ 3.87013835e-01 -9.22064502e-01 -4.16488245e-03 3.59512759e+02] [ 9.22008856e-01 3.87036237e-01 -1.01302214e-02 3.23749415e+02] [ 1.09526780e-02 8.04773341e-05 9.99940014e-01 2.18271581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.740385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:359.53, Y:323.78, Z:21.83 [[ 3.85574807e-01 -9.22667190e-01 -4.16218609e-03 3.59526623e+02] [ 9.22611568e-01 3.85597266e-01 -1.01313291e-02 3.23776535e+02] [ 1.09527726e-02 6.63042521e-05 9.99940014e-01 2.18279034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.770385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:359.54, Y:323.80, Z:21.83 [[ 3.84426424e-01 -9.23146073e-01 -4.20150824e-03 3.59541179e+02] [ 9.23090654e-01 3.84449383e-01 -1.01151757e-02 3.23800149e+02] [ 1.09530520e-02 1.01678314e-05 9.99940013e-01 2.18277940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.800385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:359.55, Y:323.82, Z:21.83 [[ 3.82964050e-01 -9.23753886e-01 -4.15863645e-03 3.59553501e+02] [ 9.23698311e-01 3.82986627e-01 -1.01327709e-02 3.23824091e+02] [ 1.09528887e-02 3.91615195e-05 9.99940015e-01 2.18278813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.830385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:359.57, Y:323.85, Z:21.83 [[ 3.80967680e-01 -9.24579016e-01 -4.15573077e-03 3.59568738e+02] [ 9.24523477e-01 3.80990345e-01 -1.01339625e-02 3.23848267e+02] [ 1.09529424e-02 1.86415148e-05 9.99940015e-01 2.18288017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.860385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:359.58, Y:323.87, Z:21.83 [[ 3.80601908e-01 -9.24729658e-01 -4.15300886e-03 3.59581676e+02] [ 9.24674116e-01 3.80624565e-01 -1.01350778e-02 3.23873578e+02] [ 1.09529442e-02 1.72501536e-05 9.99940015e-01 2.18286155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.890385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:359.60, Y:323.90, Z:21.83 [[ 3.79587540e-01 -9.25146515e-01 -4.15035294e-03 3.59595293e+02] [ 9.25090986e-01 3.79610228e-01 -1.01361653e-02 3.23898775e+02] [ 1.09529544e-02 8.10796200e-06 9.99940015e-01 2.18294661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.920385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:359.61, Y:323.92, Z:21.83 [[ 3.78865444e-01 -9.25442475e-01 -4.14750352e-03 3.59606630e+02] [ 9.25386951e-01 3.78888145e-01 -1.01373311e-02 3.23924518e+02] [ 1.09529567e-02 2.63880812e-06 9.99940015e-01 2.18303302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.950385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:359.62, Y:323.95, Z:21.83 [[ 3.79126707e-01 -9.25335488e-01 -4.14435119e-03 3.59617820e+02] [ 9.25279943e-01 3.79149357e-01 -1.01386198e-02 3.23949489e+02] [ 1.09529528e-02 9.13649959e-06 9.99940015e-01 2.18277298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.980385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:359.63, Y:323.97, Z:21.83 [[ 3.77810672e-01 -9.25873606e-01 -4.14277589e-03 3.59630958e+02] [ 9.25818086e-01 3.77833385e-01 -1.01392634e-02 3.23974400e+02] [ 1.09529554e-02 -4.73490650e-06 9.99940015e-01 2.18294253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.010385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:359.64, Y:324.00, Z:21.83 [[ 3.77092287e-01 -9.26166436e-01 -4.14006865e-03 3.59642935e+02] [ 9.26110922e-01 3.77115013e-01 -1.01403687e-02 3.23999452e+02] [ 1.09529512e-02 -1.03079513e-05 9.99940015e-01 2.18302319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.040385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:359.66, Y:324.02, Z:21.83 [[ 3.76603576e-01 -9.26365278e-01 -4.13731679e-03 3.59656319e+02] [ 9.26309764e-01 3.76626302e-01 -1.01414914e-02 3.24024752e+02] [ 1.09529478e-02 -1.31150130e-05 9.99940015e-01 2.18321339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.070385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:359.67, Y:324.05, Z:21.83 [[ 3.76248760e-01 -9.26509458e-01 -4.13453548e-03 3.59667987e+02] [ 9.26453940e-01 3.76271476e-01 -1.01426252e-02 3.24050239e+02] [ 1.09529459e-02 -1.43065439e-05 9.99940015e-01 2.18330612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.100385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:359.68, Y:324.07, Z:21.83 [[ 3.74626904e-01 -9.27166442e-01 -4.13176179e-03 3.59676033e+02] [ 9.27110952e-01 3.74649686e-01 -1.01437549e-02 3.24072884e+02] [ 1.09529124e-02 -3.04780984e-05 9.99940015e-01 2.18330919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.130385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:359.69, Y:324.10, Z:21.83 [[ 3.76810625e-01 -9.26281470e-01 -4.04858861e-03 3.59689815e+02] [ 9.26225559e-01 3.76832365e-01 -1.01775932e-02 3.24101323e+02] [ 1.09529552e-02 8.51190049e-05 9.99940011e-01 2.18330212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.160385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:359.70, Y:324.13, Z:21.83 [[ 3.76803699e-01 -9.26283933e-01 -4.12888360e-03 3.59699998e+02] [ 9.26228377e-01 3.76826320e-01 -1.01449139e-02 3.24126659e+02] [ 1.09529428e-02 -1.64805660e-06 9.99940015e-01 2.18323564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.190385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:359.71, Y:324.15, Z:21.83 [[ 3.76363380e-01 -9.26462942e-01 -4.12598705e-03 3.59711878e+02] [ 9.26407383e-01 3.76385996e-01 -1.01460918e-02 3.24153767e+02] [ 1.09529418e-02 -3.72745082e-06 9.99940015e-01 2.18312545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.2203857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:359.72, Y:324.18, Z:21.83 [[ 3.76512622e-01 -9.26402155e-01 -4.15842851e-03 3.59722677e+02] [ 9.26346738e-01 3.76535583e-01 -1.01329035e-02 3.24179033e+02] [ 1.09529400e-02 -3.69806035e-05 9.99940014e-01 2.18316082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.250385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:359.73, Y:324.20, Z:21.83 [[ 3.73501351e-01 -9.27620482e-01 -4.12091738e-03 3.59730353e+02] [ 9.27564971e-01 3.73524082e-01 -1.01481359e-02 3.24201473e+02] [ 1.09528806e-02 -3.20761369e-05 9.99940015e-01 2.18300375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.280385723 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:359.74, Y:324.23, Z:21.83 [[ 3.71198619e-01 -9.28544893e-01 -3.99594303e-03 3.59740159e+02] [ 9.28488884e-01 3.71220119e-01 -1.01988096e-02 3.24227181e+02] [ 1.09534270e-02 7.55953537e-05 9.99940007e-01 2.18314248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.310385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:359.76, Y:324.26, Z:21.83 [[ 3.71637790e-01 -9.28369190e-01 -3.99991628e-03 3.59756550e+02] [ 9.28313189e-01 3.71659307e-01 -1.01971977e-02 3.24255432e+02] [ 1.09533703e-02 7.64889746e-05 9.99940007e-01 2.18325256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.3403857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:359.77, Y:324.28, Z:21.83 [[ 3.69693788e-01 -9.29144514e-01 -4.12008408e-03 3.59766630e+02] [ 9.29089093e-01 3.69716738e-01 -1.01484117e-02 3.24280797e+02] [ 1.09526051e-02 -7.61204216e-05 9.99940016e-01 2.18313125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.370385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:359.78, Y:324.31, Z:21.83 [[ 3.69504553e-01 -9.29220033e-01 -4.06397840e-03 3.59778746e+02] [ 9.29164365e-01 3.69526901e-01 -1.01711678e-02 3.24308011e+02] [ 1.09530022e-02 -1.78111090e-05 9.99940014e-01 2.18325761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.400385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:359.79, Y:324.34, Z:21.83 [[ 3.67962663e-01 -9.29831452e-01 -4.11698923e-03 3.59787861e+02] [ 9.29776060e-01 3.67985682e-01 -1.01496651e-02 3.24335033e+02] [ 1.09524709e-02 -9.31802267e-05 9.99940016e-01 2.18321489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.430385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:359.80, Y:324.36, Z:21.83 [[ 3.67122147e-01 -9.30163642e-01 -4.11437702e-03 3.59797432e+02] [ 9.30108259e-01 3.67145188e-01 -1.01507239e-02 3.24361098e+02] [ 1.09524080e-02 -1.00260490e-04 9.99940016e-01 2.18327446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.460385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:359.81, Y:324.39, Z:21.83 [[ 3.65354262e-01 -9.30859473e-01 -4.11162592e-03 3.59806877e+02] [ 9.30804121e-01 3.65377378e-01 -1.01518381e-02 3.24387854e+02] [ 1.09522298e-02 -1.18101014e-04 9.99940016e-01 2.18328316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.490385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:359.82, Y:324.41, Z:21.83 [[ 3.64435193e-01 -9.31219688e-01 -4.10887190e-03 3.59816612e+02] [ 9.31164347e-01 3.64458333e-01 -1.01529527e-02 3.24413920e+02] [ 1.09521420e-02 -1.25941755e-04 9.99940016e-01 2.18331455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.520385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:359.83, Y:324.44, Z:21.83 [[ 3.63301728e-01 -9.31662490e-01 -4.10608081e-03 3.59825930e+02] [ 9.31607164e-01 3.63324905e-01 -1.01540813e-02 3.24439360e+02] [ 1.09520181e-02 -1.36259008e-04 9.99940016e-01 2.18331118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.550385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:359.84, Y:324.47, Z:21.83 [[ 3.61152066e-01 -9.32497909e-01 -4.10311775e-03 3.59835140e+02] [ 9.32442623e-01 3.61175338e-01 -1.01552785e-02 3.24466087e+02] [ 1.09517209e-02 -1.58322057e-04 9.99940016e-01 2.18343966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.580385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:359.85, Y:324.49, Z:21.84 [[ 3.60035659e-01 -9.32929532e-01 -4.10042960e-03 3.59845082e+02] [ 9.32874262e-01 3.60058968e-01 -1.01563638e-02 3.24491939e+02] [ 1.09515682e-02 -1.68532097e-04 9.99940016e-01 2.18351943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.610385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:359.85, Y:324.52, Z:21.84 [[ 3.58466693e-01 -9.33533523e-01 -4.09771716e-03 3.59854397e+02] [ 9.33478280e-01 3.58490066e-01 -1.01574581e-02 3.24518324e+02] [ 1.09513185e-02 -1.84019563e-04 9.99940016e-01 2.18366126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.640385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:359.86, Y:324.54, Z:21.84 [[ 3.58045615e-01 -9.33695116e-01 -4.09494859e-03 3.59863472e+02] [ 9.33639870e-01 3.58068983e-01 -1.01585741e-02 3.24544201e+02] [ 1.09512851e-02 -1.85974365e-04 9.99940016e-01 2.18362267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.670385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:359.87, Y:324.57, Z:21.84 [[ 3.58137884e-01 -9.33659741e-01 -4.09202943e-03 3.59872709e+02] [ 9.33604479e-01 3.58161214e-01 -1.01597498e-02 3.24570742e+02] [ 1.09513556e-02 -1.81745699e-04 9.99940016e-01 2.18360920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.700385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:359.88, Y:324.60, Z:21.84 [[ 3.59586819e-01 -9.33102672e-01 -4.08927392e-03 3.59880687e+02] [ 9.33047362e-01 3.59610034e-01 -1.01608588e-02 3.24598164e+02] [ 1.09516684e-02 -1.61775351e-04 9.99940016e-01 2.18351860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.730385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:359.89, Y:324.63, Z:21.83 [[ 3.60250245e-01 -9.32846751e-01 -4.08652687e-03 3.59889494e+02] [ 9.32791412e-01 3.60273391e-01 -1.01619635e-02 3.24625134e+02] [ 1.09518215e-02 -1.51027337e-04 9.99940016e-01 2.18349187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.760385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:359.90, Y:324.65, Z:21.84 [[ 3.61051701e-01 -9.32536858e-01 -4.08376558e-03 3.59897234e+02] [ 9.32481487e-01 3.61074769e-01 -1.01630730e-02 3.24652017e+02] [ 1.09519849e-02 -1.38640997e-04 9.99940016e-01 2.18351577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.790385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:359.91, Y:324.68, Z:21.84 [[ 3.60619094e-01 -9.32704248e-01 -4.08100334e-03 3.59907296e+02] [ 9.32648875e-01 3.60642157e-01 -1.01641821e-02 3.24677551e+02] [ 1.09519577e-02 -1.40745029e-04 9.99940016e-01 2.18362253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.820385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:359.92, Y:324.70, Z:21.84 [[ 3.59537178e-01 -9.33121850e-01 -4.07808704e-03 3.59917385e+02] [ 9.33066490e-01 3.59560274e-01 -1.01653521e-02 3.24702645e+02] [ 1.09518302e-02 -1.50304370e-04 9.99940016e-01 2.18381050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.850385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:359.93, Y:324.73, Z:21.84 [[ 3.58187397e-01 -9.33640816e-01 -4.07610033e-03 3.59928154e+02] [ 9.33585481e-01 3.58210551e-01 -1.01661486e-02 3.24730498e+02] [ 1.09516334e-02 -1.64001769e-04 9.99940016e-01 2.18389630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.880385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:359.94, Y:324.76, Z:21.84 [[ 3.58743227e-01 -9.33427214e-01 -4.11499013e-03 3.59937373e+02] [ 9.33372043e-01 3.58766772e-01 -1.01505572e-02 3.24756310e+02] [ 1.09511280e-02 -1.99373111e-04 9.99940015e-01 2.18394748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.910385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:359.95, Y:324.78, Z:21.84 [[ 3.59034824e-01 -9.33315277e-01 -4.07286408e-03 3.59946403e+02] [ 9.33259907e-01 3.59057893e-01 -1.01674320e-02 3.24781780e+02] [ 1.09518136e-02 -1.50578601e-04 9.99940016e-01 2.18401477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.940385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:359.96, Y:324.81, Z:21.84 [[ 3.59437954e-01 -9.33160111e-01 -4.07004500e-03 3.59956055e+02] [ 9.33104717e-01 3.59460968e-01 -1.01685604e-02 3.24807878e+02] [ 1.09519172e-02 -1.42811655e-04 9.99940016e-01 2.18411779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.9703857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:359.96, Y:324.83, Z:21.84 [[ 3.58615840e-01 -9.33476372e-01 -4.06732648e-03 3.59959864e+02] [ 9.33420986e-01 3.58638873e-01 -1.01696476e-02 3.24832017e+02] [ 1.09518271e-02 -1.49531170e-04 9.99940016e-01 2.18394266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.000385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:359.97, Y:324.86, Z:21.84 [[ 3.60311698e-01 -9.32823628e-01 -3.94450858e-03 3.59971216e+02] [ 9.32767656e-01 3.60333289e-01 -1.02186836e-02 3.24860207e+02] [ 1.09535672e-02 2.60120920e-06 9.99940008e-01 2.18395018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.030385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:359.98, Y:324.89, Z:21.84 [[ 3.64834261e-01 -9.31063853e-01 -4.00803150e-03 3.59984588e+02] [ 9.31008053e-01 3.64856276e-01 -1.01933139e-02 3.24886940e+02] [ 1.09529816e-02 -1.26394607e-05 9.99940014e-01 2.18410213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.060385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:359.99, Y:324.91, Z:21.84 [[ 3.67920795e-01 -9.29848259e-01 -4.06251184e-03 3.59993300e+02] [ 9.29792625e-01 3.67943222e-01 -1.01715545e-02 3.24912817e+02] [ 1.09527759e-02 -3.49671178e-05 9.99940016e-01 2.18404493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.0903857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:360.00, Y:324.94, Z:21.84 [[ 3.65550568e-01 -9.30782627e-01 -4.05997027e-03 3.59997374e+02] [ 9.30727039e-01 3.65573108e-01 -1.01725689e-02 3.24936822e+02] [ 1.09526663e-02 -6.01357807e-05 9.99940016e-01 2.18381397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.120385723 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:360.01, Y:324.97, Z:21.84 [[ 3.71040420e-01 -9.28608428e-01 -3.92354238e-03 3.60013114e+02] [ 9.28552123e-01 3.71061133e-01 -1.02269309e-02 3.24965353e+02] [ 1.09526883e-02 1.51391120e-04 9.99940006e-01 2.18399300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.150385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:360.02, Y:324.99, Z:21.84 [[ 3.71651911e-01 -9.28363288e-01 -4.05739991e-03 3.60023523e+02] [ 9.28307543e-01 3.71674057e-01 -1.01735461e-02 3.24990820e+02] [ 1.09527770e-02 1.45029054e-05 9.99940016e-01 2.18399323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.180385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:360.03, Y:325.02, Z:21.84 [[ 3.69539341e-01 -9.29206239e-01 -4.05488591e-03 3.60029929e+02] [ 9.29150533e-01 3.69561587e-01 -1.01745480e-02 3.25015290e+02] [ 1.09527836e-02 -7.70363480e-06 9.99940016e-01 2.18386122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.210385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:360.04, Y:325.04, Z:21.84 [[ 3.69626356e-01 -9.29172043e-01 -3.95862280e-03 3.60040766e+02] [ 9.29115920e-01 3.69647541e-01 -1.02128834e-02 3.25041319e+02] [ 1.09528209e-02 9.69313995e-05 9.99940011e-01 2.18387081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.240385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:360.06, Y:325.07, Z:21.84 [[ 3.72360922e-01 -9.28079578e-01 -3.95492676e-03 3.60055400e+02] [ 9.28023376e-01 3.72381901e-01 -1.02143543e-02 3.25068924e+02] [ 1.09524768e-02 1.33161902e-04 9.99940011e-01 2.18400693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.270385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:360.07, Y:325.09, Z:21.84 [[ 3.72251650e-01 -9.28122998e-01 -4.05093402e-03 3.60066899e+02] [ 9.28067210e-01 3.72273690e-01 -1.01761356e-02 3.25094990e+02] [ 1.09527617e-02 2.85442403e-05 9.99940016e-01 2.18406974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.300385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:360.08, Y:325.12, Z:21.84 [[ 3.72068901e-01 -9.28196286e-01 -4.04811945e-03 3.60077932e+02] [ 9.28140491e-01 3.72090921e-01 -1.01772552e-02 3.25121050e+02] [ 1.09527589e-02 2.94165659e-05 9.99940016e-01 2.18411861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.330385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:360.09, Y:325.15, Z:21.84 [[ 3.71864417e-01 -9.28278240e-01 -4.04528823e-03 3.60088159e+02] [ 9.28222437e-01 3.71886419e-01 -1.01783804e-02 3.25145813e+02] [ 1.09527568e-02 3.00501904e-05 9.99940016e-01 2.18415444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.360385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:360.10, Y:325.17, Z:21.84 [[ 3.71610531e-01 -9.28379917e-01 -4.04272608e-03 3.60098651e+02] [ 9.28324108e-01 3.71632520e-01 -1.01793979e-02 3.25172409e+02] [ 1.09527571e-02 2.98113958e-05 9.99940016e-01 2.18418565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.390385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:360.11, Y:325.20, Z:21.84 [[ 3.71240543e-01 -9.28527942e-01 -4.03994167e-03 3.60108677e+02] [ 9.28472130e-01 3.71262523e-01 -1.01805029e-02 3.25197707e+02] [ 1.09527603e-02 2.84421672e-05 9.99940016e-01 2.18424910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.420385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:360.12, Y:325.22, Z:21.84 [[ 3.68789346e-01 -9.29504234e-01 -4.03700338e-03 3.60117970e+02] [ 9.29448468e-01 3.68811441e-01 -1.01816679e-02 3.25224293e+02] [ 1.09527965e-02 2.70404414e-06 9.99940016e-01 2.18446502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.450385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:360.13, Y:325.25, Z:21.85 [[ 3.68246272e-01 -9.29719533e-01 -4.03402454e-03 3.60129465e+02] [ 9.29663767e-01 3.68268367e-01 -1.01828480e-02 3.25250165e+02] [ 1.09527963e-02 -4.90639330e-07 9.99940016e-01 2.18455038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.480385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:360.14, Y:325.28, Z:21.84 [[ 3.67570158e-01 -9.29987059e-01 -4.03102673e-03 3.60141969e+02] [ 9.29931296e-01 3.67592260e-01 -1.01840346e-02 3.25275554e+02] [ 1.09527946e-02 -5.23071002e-06 9.99940016e-01 2.18437974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.510385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:360.15, Y:325.30, Z:21.84 [[ 3.65989758e-01 -9.30610203e-01 -4.01829162e-03 3.60151708e+02] [ 9.30554423e-01 3.66011816e-01 -1.01890728e-02 3.25301972e+02] [ 1.09527973e-02 -1.01427568e-05 9.99940016e-01 2.18446662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.540385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:360.16, Y:325.33, Z:21.85 [[ 3.65557173e-01 -9.30780301e-01 -3.99807347e-03 3.60162357e+02] [ 9.30724443e-01 3.65579035e-01 -1.01970650e-02 3.25329151e+02] [ 1.09528391e-02 6.50554466e-06 9.99940016e-01 2.18473979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.570385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:360.17, Y:325.35, Z:21.85 [[ 3.63081335e-01 -9.31748755e-01 -4.02513898e-03 3.60169029e+02] [ 9.31693073e-01 3.63103642e-01 -1.01863701e-02 3.25353534e+02] [ 1.09526803e-02 -5.17132542e-05 9.99940016e-01 2.18456428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.600385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:360.18, Y:325.38, Z:21.85 [[ 3.63427613e-01 -9.31613996e-01 -3.96638592e-03 3.60181488e+02] [ 9.31558051e-01 3.63449256e-01 -1.02095691e-02 3.25381622e+02] [ 1.09529575e-02 1.55205785e-05 9.99940014e-01 2.18471088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.630385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:360.19, Y:325.41, Z:21.85 [[ 3.60421145e-01 -9.32781011e-01 -4.02301928e-03 3.60190912e+02] [ 9.32725384e-01 3.60443587e-01 -1.01872041e-02 3.25407119e+02] [ 1.09525020e-02 -8.06884519e-05 9.99940016e-01 2.18463460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.660385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:360.20, Y:325.43, Z:21.85 [[ 3.59427581e-01 -9.33164437e-01 -3.99344612e-03 3.60201319e+02] [ 9.33108704e-01 3.59449760e-01 -1.01988751e-02 3.25433055e+02] [ 1.09526708e-02 -6.05623118e-05 9.99940016e-01 2.18455999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.690385723 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:360.21, Y:325.46, Z:21.85 [[ 3.59081475e-01 -9.33297637e-01 -4.00203309e-03 3.60213018e+02] [ 9.33241949e-01 3.59103768e-01 -1.01954880e-02 3.25458850e+02] [ 1.09525700e-02 -7.38543086e-05 9.99940016e-01 2.18463990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.7203857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:360.22, Y:325.49, Z:21.85 [[ 3.56522813e-01 -9.34277976e-01 -4.01832342e-03 3.60222126e+02] [ 9.34222422e-01 3.56545437e-01 -1.01890635e-02 3.25485672e+02] [ 1.09521325e-02 -1.21374273e-04 9.99940016e-01 2.18469832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.750385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:360.23, Y:325.51, Z:21.85 [[ 3.54942829e-01 -9.34879392e-01 -4.01389677e-03 3.60230654e+02] [ 9.34823856e-01 3.54965498e-01 -1.01908078e-02 3.25511916e+02] [ 1.09519711e-02 -1.35132304e-04 9.99940016e-01 2.18463577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.780385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:360.24, Y:325.54, Z:21.85 [[ 3.53769255e-01 -9.35324223e-01 -3.98911831e-03 3.60239878e+02] [ 9.35268606e-01 3.53791724e-01 -1.02005654e-02 3.25540074e+02] [ 1.09521529e-02 -1.22250714e-04 9.99940016e-01 2.18463499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.810385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:360.25, Y:325.57, Z:21.85 [[ 3.52422589e-01 -9.35832327e-01 -4.02181346e-03 3.60249487e+02] [ 9.35776888e-01 3.52445494e-01 -1.01876969e-02 3.25566876e+02] [ 1.09514462e-02 -1.73145555e-04 9.99940016e-01 2.18463833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.8403857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:360.26, Y:325.59, Z:21.85 [[ 3.50708620e-01 -9.36476021e-01 -4.01572278e-03 3.60259261e+02] [ 9.36420597e-01 3.50731560e-01 -1.01900923e-02 3.25593548e+02] [ 1.09512178e-02 -1.86652325e-04 9.99940016e-01 2.18468419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.870385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:360.27, Y:325.62, Z:21.85 [[ 3.48942087e-01 -9.37135773e-01 -3.99537402e-03 3.60269665e+02] [ 9.37080301e-01 3.48964910e-01 -1.01980880e-02 3.25620098e+02] [ 1.09512384e-02 -1.85444196e-04 9.99940016e-01 2.18475079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.900385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:360.28, Y:325.65, Z:21.85 [[ 3.45306700e-01 -9.38481393e-01 -3.99470577e-03 3.60278483e+02] [ 9.38426007e-01 3.45329731e-01 -1.01983503e-02 3.25646549e+02] [ 1.09504527e-02 -2.27177083e-04 9.99940016e-01 2.18496972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.930385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:360.29, Y:325.67, Z:21.85 [[ 3.45398376e-01 -9.38447682e-01 -3.98879473e-03 3.60288583e+02] [ 9.38392267e-01 3.45421337e-01 -1.02006692e-02 3.25672587e+02] [ 1.09506092e-02 -2.19759557e-04 9.99940016e-01 2.18499823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.960385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:360.29, Y:325.70, Z:21.85 [[ 3.40315137e-01 -9.40302945e-01 -3.99739946e-03 3.60293495e+02] [ 9.40247694e-01 3.40338492e-01 -1.01972954e-02 3.25701076e+02] [ 1.09490158e-02 -2.88251637e-04 9.99940016e-01 2.18493082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.990385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:360.30, Y:325.73, Z:21.85 [[ 3.40448219e-01 -9.40254810e-01 -3.98787888e-03 3.60304953e+02] [ 9.40199512e-01 3.40471462e-01 -1.02010261e-02 3.25728344e+02] [ 1.09493228e-02 -2.76480625e-04 9.99940016e-01 2.18495848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.020385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:360.31, Y:325.75, Z:21.85 [[ 3.40997194e-01 -9.40055720e-01 -4.01946120e-03 3.60313306e+02] [ 9.40000554e-01 3.41020748e-01 -1.01886566e-02 3.25751654e+02] [ 1.09486245e-02 -3.03992457e-04 9.99940016e-01 2.18510808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.050385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:360.32, Y:325.78, Z:21.85 [[ 3.38718712e-01 -9.40879349e-01 -3.96030170e-03 3.60317574e+02] [ 9.40823969e-01 3.38741758e-01 -1.02118150e-02 3.25779736e+02] [ 1.09496055e-02 -2.67013920e-04 9.99940016e-01 2.18514791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.080385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:360.33, Y:325.81, Z:21.85 [[ 3.41384072e-01 -9.39915580e-01 -3.95197492e-03 3.60325910e+02] [ 9.39860097e-01 3.41406871e-01 -1.02150726e-02 3.25807141e+02] [ 1.09505372e-02 -2.27040460e-04 9.99940015e-01 2.18522776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.110385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:360.33, Y:325.83, Z:21.85 [[ 3.40838153e-01 -9.40113499e-01 -3.99542151e-03 3.60330853e+02] [ 9.40058226e-01 3.40861455e-01 -1.01980796e-02 3.25834243e+02] [ 1.09492375e-02 -2.80034228e-04 9.99940016e-01 2.18506591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.140385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:360.34, Y:325.86, Z:21.85 [[ 3.44328168e-01 -9.38841084e-01 -3.94106284e-03 3.60338336e+02] [ 9.38785481e-01 3.44350673e-01 -1.02193183e-02 3.25861528e+02] [ 1.09514235e-02 -1.81013426e-04 9.99940015e-01 2.18509527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.170385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:360.35, Y:325.89, Z:21.85 [[ 3.44475730e-01 -9.38786853e-01 -3.96424009e-03 3.60345679e+02] [ 9.38731350e-01 3.44498479e-01 -1.02102648e-02 3.25887130e+02] [ 1.09509370e-02 -2.04168045e-04 9.99940016e-01 2.18514476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.200385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:360.35, Y:325.91, Z:21.85 [[ 3.44002719e-01 -9.38960429e-01 -3.92962781e-03 3.60349941e+02] [ 9.38904783e-01 3.44025120e-01 -1.02237728e-02 3.25914033e+02] [ 1.09516087e-02 -1.72540722e-04 9.99940014e-01 2.18502163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.230385723 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:360.36, Y:325.94, Z:21.85 [[ 3.45800507e-01 -9.38300045e-01 -3.87753106e-03 3.60361558e+02] [ 9.38244127e-01 3.45822232e-01 -1.02440879e-02 3.25942220e+02] [ 1.09529646e-02 -9.56599694e-05 9.99940010e-01 2.18541080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.260385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:360.37, Y:325.97, Z:21.85 [[ 3.44085072e-01 -9.38930166e-01 -3.95052972e-03 3.60367067e+02] [ 9.38874611e-01 3.44107695e-01 -1.02156144e-02 3.25966428e+02] [ 1.09511562e-02 -1.94011632e-04 9.99940015e-01 2.18520774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.290385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:360.37, Y:325.99, Z:21.85 [[ 3.42427290e-01 -9.39536375e-01 -3.86658362e-03 3.60374376e+02] [ 9.39480487e-01 3.42449098e-01 -1.02483828e-02 3.25993827e+02] [ 1.09528365e-02 -1.23253917e-04 9.99940008e-01 2.18536531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.320385723 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:360.38, Y:326.02, Z:21.85 [[ 3.41766783e-01 -9.39776832e-01 -3.86938009e-03 3.60381014e+02] [ 9.39720972e-01 3.41788660e-01 -1.02472916e-02 3.26022170e+02] [ 1.09526775e-02 -1.33953744e-04 9.99940009e-01 2.18543591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.350385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:360.39, Y:326.05, Z:21.85 [[ 3.41583839e-01 -9.39843242e-01 -3.89380121e-03 3.60389812e+02] [ 9.39787494e-01 3.41605993e-01 -1.02377732e-02 3.26049156e+02] [ 1.09520477e-02 -1.62287813e-04 9.99940011e-01 2.18544325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.380385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:360.40, Y:326.08, Z:21.86 [[ 3.44208141e-01 -9.38885278e-01 -3.89757829e-03 3.60401716e+02] [ 9.38829484e-01 3.44230181e-01 -1.02363009e-02 3.26076816e+02] [ 1.09523763e-02 -1.35743293e-04 9.99940012e-01 2.18553695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.410385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:360.40, Y:326.10, Z:21.85 [[ 3.39475573e-01 -9.40606456e-01 -3.97865000e-03 3.60404556e+02] [ 9.40551140e-01 3.39498774e-01 -1.02046924e-02 3.26101499e+02] [ 1.09493464e-02 -2.77879987e-04 9.99940016e-01 2.18541207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.440385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:360.42, Y:326.13, Z:21.85 [[ 3.42740334e-01 -9.39422268e-01 -3.85573107e-03 3.60415865e+02] [ 9.39366326e-01 3.42762004e-01 -1.02525365e-02 3.26130914e+02] [ 1.09530592e-02 -1.07986166e-04 9.99940008e-01 2.18545424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.4703857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:360.42, Y:326.16, Z:21.86 [[ 3.39940204e-01 -9.40438649e-01 -3.97549392e-03 3.60421968e+02] [ 9.40383308e-01 3.39963343e-01 -1.02058854e-02 3.26157269e+02] [ 1.09495313e-02 -2.69097369e-04 9.99940016e-01 2.18553257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.500385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:360.43, Y:326.18, Z:21.86 [[ 3.42230243e-01 -9.39607958e-01 -3.91735625e-03 3.60434056e+02] [ 9.39552300e-01 3.42252615e-01 -1.02285041e-02 3.26183801e+02] [ 1.09515092e-02 -1.80057647e-04 9.99940014e-01 2.18565130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.530385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:360.44, Y:326.21, Z:21.85 [[ 3.40856691e-01 -9.40106920e-01 -3.96177982e-03 3.60440445e+02] [ 9.40051494e-01 3.40879627e-01 -1.02112293e-02 3.26208062e+02] [ 1.09501373e-02 -2.43711210e-04 9.99940016e-01 2.18544051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.560385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:360.45, Y:326.24, Z:21.86 [[ 3.42628442e-01 -9.39462995e-01 -3.87710683e-03 3.60452795e+02] [ 9.39407150e-01 3.42650353e-01 -1.02441112e-02 3.26237325e+02] [ 1.09524554e-02 -1.32258026e-04 9.99940011e-01 2.18580122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.5903857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:360.46, Y:326.26, Z:21.86 [[ 3.43715421e-01 -9.39065481e-01 -3.96627467e-03 3.60459552e+02] [ 9.39010006e-01 3.43738237e-01 -1.02094704e-02 3.26264752e+02] [ 1.09507215e-02 -2.15219174e-04 9.99940016e-01 2.18587330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.620385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:360.46, Y:326.29, Z:21.86 [[ 3.41316158e-01 -9.39940196e-01 -3.96351579e-03 3.60462523e+02] [ 9.39884766e-01 3.41339085e-01 -1.02105414e-02 3.26290510e+02] [ 1.09502011e-02 -2.40225370e-04 9.99940016e-01 2.18551950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.650385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:360.48, Y:326.32, Z:21.86 [[ 3.46286973e-01 -9.38120714e-01 -3.85467538e-03 3.60476181e+02] [ 9.38064688e-01 3.46308421e-01 -1.02527349e-02 3.26318879e+02] [ 1.09532096e-02 -6.55463104e-05 9.99940010e-01 2.18575608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.680385723 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:360.49, Y:326.35, Z:21.86 [[ 3.47195031e-01 -9.37784584e-01 -3.96043548e-03 3.60485487e+02] [ 9.37728999e-01 3.47217577e-01 -1.02117178e-02 3.26345802e+02] [ 1.09515243e-02 -1.68357526e-04 9.99940016e-01 2.18579810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.710385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:360.49, Y:326.37, Z:21.86 [[ 3.48168133e-01 -9.37423751e-01 -3.95771175e-03 3.60494797e+02] [ 9.37368130e-01 3.48190592e-01 -1.02127733e-02 3.26372158e+02] [ 1.09517343e-02 -1.54070647e-04 9.99940016e-01 2.18602364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.740385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:360.50, Y:326.40, Z:21.86 [[ 3.44976056e-01 -9.38603154e-01 -3.95488500e-03 3.60500781e+02] [ 9.38547597e-01 3.44998674e-01 -1.02138679e-02 3.26397604e+02] [ 1.09511987e-02 -1.88307961e-04 9.99940016e-01 2.18605341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.770385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:360.51, Y:326.43, Z:21.86 [[ 3.45135004e-01 -9.38545025e-01 -3.88146134e-03 3.60511907e+02] [ 9.38489143e-01 3.45156812e-01 -1.02422607e-02 3.26425211e+02] [ 1.09525357e-02 -1.07746624e-04 9.99940013e-01 2.18596608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.800385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:360.52, Y:326.45, Z:21.86 [[ 3.43353992e-01 -9.39197755e-01 -3.95144877e-03 3.60520853e+02] [ 9.39142222e-01 3.43376668e-01 -1.02151882e-02 3.26451958e+02] [ 1.09509171e-02 -2.03546749e-04 9.99940016e-01 2.18594895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.830385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:360.53, Y:326.48, Z:21.86 [[ 3.41839475e-01 -9.39750063e-01 -3.94867271e-03 3.60529707e+02] [ 9.39694555e-01 3.41862210e-01 -1.02162611e-02 3.26477456e+02] [ 1.09506340e-02 -2.18224909e-04 9.99940016e-01 2.18593168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.860385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:360.54, Y:326.50, Z:21.86 [[ 3.39483695e-01 -9.40603662e-01 -3.94617883e-03 3.60539329e+02] [ 9.40548200e-01 3.39506543e-01 -1.02172243e-02 3.26503318e+02] [ 1.09501122e-02 -2.42990322e-04 9.99940016e-01 2.18608442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.890385723 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:360.55, Y:326.53, Z:21.86 [[ 3.38805850e-01 -9.40848046e-01 -3.94340779e-03 3.60549047e+02] [ 9.40792588e-01 3.38828707e-01 -1.02182937e-02 3.26529453e+02] [ 1.09500015e-02 -2.47911131e-04 9.99940016e-01 2.18617042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.920385723 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:360.56, Y:326.56, Z:21.86 [[ 3.39036268e-01 -9.40765051e-01 -3.94060745e-03 3.60557175e+02] [ 9.40709575e-01 3.39059081e-01 -1.02193736e-02 3.26555355e+02] [ 1.09501282e-02 -2.42228896e-04 9.99940016e-01 2.18609939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.950385723 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:360.57, Y:326.58, Z:21.86 [[ 3.39412688e-01 -9.40629320e-01 -3.93817739e-03 3.60566229e+02] [ 9.40573824e-01 3.39435452e-01 -1.02203099e-02 3.26582435e+02] [ 1.09502802e-02 -2.35243704e-04 9.99940016e-01 2.18610053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.980385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:360.58, Y:326.61, Z:21.86 [[ 3.40377532e-01 -9.40280622e-01 -3.93541849e-03 3.60575201e+02] [ 9.40225090e-01 3.40400210e-01 -1.02213722e-02 3.26608862e+02] [ 1.09505754e-02 -2.21053775e-04 9.99940016e-01 2.18611070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.010385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:360.58, Y:326.63, Z:21.86 [[ 3.39528762e-01 -9.40587452e-01 -3.93262462e-03 3.60579606e+02] [ 9.40531928e-01 3.39551459e-01 -1.02224470e-02 3.26634818e+02] [ 1.09504338e-02 -2.27944256e-04 9.99940016e-01 2.18615436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.040385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:360.59, Y:326.66, Z:21.86 [[ 3.42631035e-01 -9.39462171e-01 -3.84747902e-03 3.60592319e+02] [ 9.39406202e-01 3.42652622e-01 -1.02551560e-02 3.26662010e+02] [ 1.09526799e-02 -1.00610931e-04 9.99940013e-01 2.18629422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.070385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:360.60, Y:326.69, Z:21.86 [[ 3.43514462e-01 -9.39139170e-01 -3.92861785e-03 3.60600769e+02] [ 9.39083533e-01 3.43536880e-01 -1.02239780e-02 3.26688613e+02] [ 1.09513634e-02 -1.77216025e-04 9.99940016e-01 2.18632767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.100385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:360.61, Y:326.71, Z:21.86 [[ 3.43679744e-01 -9.39078709e-01 -3.92576816e-03 3.60610869e+02] [ 9.39023056e-01 3.43702122e-01 -1.02250721e-02 3.26714153e+02] [ 1.09514424e-02 -1.72236649e-04 9.99940016e-01 2.18636192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.130385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:360.62, Y:326.74, Z:21.86 [[ 3.43752928e-01 -9.39051933e-01 -3.92325271e-03 3.60620956e+02] [ 9.38996267e-01 3.43775274e-01 -1.02260372e-02 3.26738833e+02] [ 1.09514973e-02 -1.68689427e-04 9.99940016e-01 2.18636858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.160385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:360.63, Y:326.76, Z:21.86 [[ 3.43340826e-01 -9.39202696e-01 -3.92074948e-03 3.60630003e+02] [ 9.39147029e-01 3.43363169e-01 -1.02269968e-02 3.26763889e+02] [ 1.09514640e-02 -1.70814676e-04 9.99940016e-01 2.18646938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.190385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:360.64, Y:326.79, Z:21.87 [[ 3.42682069e-01 -9.39443265e-01 -3.91824543e-03 3.60638736e+02] [ 9.39387602e-01 3.42704424e-01 -1.02279561e-02 3.26790460e+02] [ 1.09513845e-02 -1.75814018e-04 9.99940016e-01 2.18650348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.2203857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:360.65, Y:326.82, Z:21.87 [[ 3.42655102e-01 -9.39453112e-01 -3.91544312e-03 3.60647189e+02] [ 9.39397439e-01 3.42677428e-01 -1.02290288e-02 3.26817595e+02] [ 1.09514269e-02 -1.73128334e-04 9.99940016e-01 2.18650546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.250385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:360.66, Y:326.84, Z:21.87 [[ 3.42396318e-01 -9.39547472e-01 -3.91262676e-03 3.60657339e+02] [ 9.39491792e-01 3.42418629e-01 -1.02301059e-02 3.26844298e+02] [ 1.09514265e-02 -1.73130112e-04 9.99940016e-01 2.18653666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.280385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:360.67, Y:326.87, Z:21.87 [[ 3.42706027e-01 -9.39434560e-01 -3.90980843e-03 3.60667000e+02] [ 9.39378860e-01 3.42728288e-01 -1.02311830e-02 3.26869798e+02] [ 1.09515288e-02 -1.66503331e-04 9.99940016e-01 2.18654416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.310385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:360.68, Y:326.89, Z:21.87 [[ 3.43070536e-01 -9.39301517e-01 -3.90728427e-03 3.60677008e+02] [ 9.39245798e-01 3.43092749e-01 -1.02321468e-02 3.26894750e+02] [ 1.09516320e-02 -1.59552226e-04 9.99940016e-01 2.18654133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.3403857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:360.69, Y:326.92, Z:21.87 [[ 3.43297193e-01 -9.39218712e-01 -3.90484368e-03 3.60687482e+02] [ 9.39162977e-01 3.43319365e-01 -1.02330781e-02 3.26920620e+02] [ 1.09517069e-02 -1.54297610e-04 9.99940016e-01 2.18663652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.370385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:360.70, Y:326.95, Z:21.87 [[ 3.43495945e-01 -9.39146054e-01 -3.90205619e-03 3.60697279e+02] [ 9.39090302e-01 3.43518075e-01 -1.02341410e-02 3.26945748e+02] [ 1.09517799e-02 -1.48997204e-04 9.99940016e-01 2.18662201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.400385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:360.71, Y:326.97, Z:21.87 [[ 3.43593366e-01 -9.39110426e-01 -3.89956840e-03 3.60707977e+02] [ 9.39054661e-01 3.43615464e-01 -1.02350888e-02 3.26971262e+02] [ 1.09518306e-02 -1.45199268e-04 9.99940016e-01 2.18682619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.430385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:360.72, Y:327.00, Z:21.87 [[ 3.43660329e-01 -9.39085935e-01 -3.89677673e-03 3.60717649e+02] [ 9.39030156e-01 3.43682392e-01 -1.02361516e-02 3.26996420e+02] [ 1.09518795e-02 -1.41431652e-04 9.99940016e-01 2.18688077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.460385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:360.73, Y:327.02, Z:21.87 [[ 3.43636693e-01 -9.39094595e-01 -3.89424500e-03 3.60727170e+02] [ 9.39038806e-01 3.43658730e-01 -1.02371146e-02 3.27022707e+02] [ 1.09519103e-02 -1.38998953e-04 9.99940016e-01 2.18689070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.490385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:360.74, Y:327.05, Z:21.87 [[ 3.43676019e-01 -9.39080215e-01 -3.89145774e-03 3.60736760e+02] [ 9.39024413e-01 3.43698023e-01 -1.02381741e-02 3.27049591e+02] [ 1.09519530e-02 -1.35558924e-04 9.99940016e-01 2.18687008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.520385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:360.75, Y:327.08, Z:21.87 [[ 3.44723206e-01 -9.38696324e-01 -3.88865263e-03 3.60747828e+02] [ 9.38640486e-01 3.44745118e-01 -1.02392394e-02 3.27075260e+02] [ 1.09521304e-02 -1.20343368e-04 9.99940016e-01 2.18693980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.550385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:360.76, Y:327.10, Z:21.87 [[ 3.44781424e-01 -9.38674954e-01 -3.88584454e-03 3.60761214e+02] [ 9.38619103e-01 3.44803301e-01 -1.02403050e-02 3.27099950e+02] [ 1.09521698e-02 -1.16660987e-04 9.99940016e-01 2.18728275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.580385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:360.77, Y:327.13, Z:21.87 [[ 3.44336988e-01 -9.38838091e-01 -3.88302657e-03 3.60771801e+02] [ 9.38782237e-01 3.44358861e-01 -1.02413734e-02 3.27125300e+02] [ 1.09521460e-02 -1.18832702e-04 9.99940016e-01 2.18732521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.610385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:360.78, Y:327.15, Z:21.87 [[ 3.43915871e-01 -9.38992447e-01 -3.88038672e-03 3.60781679e+02] [ 9.38936592e-01 3.43937741e-01 -1.02423735e-02 3.27151590e+02] [ 1.09521228e-02 -1.20922273e-04 9.99940016e-01 2.18741614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.640385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:360.79, Y:327.18, Z:21.87 [[ 3.43990723e-01 -9.38965041e-01 -3.87747949e-03 3.60790847e+02] [ 9.38909172e-01 3.44012556e-01 -1.02434740e-02 3.27177379e+02] [ 1.09521656e-02 -1.16941025e-04 9.99940016e-01 2.18735943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.670385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:360.80, Y:327.20, Z:21.87 [[ 3.44717449e-01 -9.38698496e-01 -3.87487454e-03 3.60802304e+02] [ 9.38642599e-01 3.44739210e-01 -1.02444593e-02 3.27202458e+02] [ 1.09522797e-02 -1.05678432e-04 9.99940016e-01 2.18734611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.700385723 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:360.81, Y:327.23, Z:21.87 [[ 3.44780859e-01 -9.38675218e-01 -3.87227949e-03 3.60814727e+02] [ 9.38619308e-01 3.44802589e-01 -1.02454401e-02 3.27228086e+02] [ 1.09523127e-02 -1.02164659e-04 9.99940016e-01 2.18746203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.730385723 meters Centerline goodness : 0.999639 Centerline is valid? [True, True] Translation: X:360.83, Y:327.25, Z:21.88 [[ 3.44159752e-01 -9.38903133e-01 -3.86942484e-03 3.60828529e+02] [ 9.38847226e-01 3.44181487e-01 -1.02465181e-02 3.27252216e+02] [ 1.09522723e-02 -1.06359649e-04 9.99940016e-01 2.18763295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.760385723 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:360.84, Y:327.28, Z:21.88 [[ 3.43320014e-01 -9.39210528e-01 -3.86685522e-03 3.60838872e+02] [ 9.39154629e-01 3.43341771e-01 -1.02474877e-02 3.27278755e+02] [ 1.09522013e-02 -1.13407338e-04 9.99940016e-01 2.18766974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.790385723 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:360.85, Y:327.30, Z:21.88 [[ 3.42221996e-01 -9.39611183e-01 -3.86402771e-03 3.60847838e+02] [ 9.39555297e-01 3.42243788e-01 -1.02485538e-02 3.27303877e+02] [ 1.09520952e-02 -1.23187160e-04 9.99940016e-01 2.18762583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.820385723 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:360.86, Y:327.33, Z:21.88 [[ 3.41794893e-01 -9.39766641e-01 -3.86146150e-03 3.60858545e+02] [ 9.39710755e-01 3.41816682e-01 -1.02495206e-02 3.27329763e+02] [ 1.09520695e-02 -1.25423100e-04 9.99940016e-01 2.18762075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.850385723 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:360.87, Y:327.36, Z:21.88 [[ 3.41355296e-01 -9.39926419e-01 -3.85868039e-03 3.60869686e+02] [ 9.39870531e-01 3.41377080e-01 -1.02505675e-02 3.27355364e+02] [ 1.09520443e-02 -1.27574479e-04 9.99940016e-01 2.18765198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.880385723 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:360.88, Y:327.38, Z:21.88 [[ 3.40506607e-01 -9.40234217e-01 -3.85590457e-03 3.60882966e+02] [ 9.40178337e-01 3.40528412e-01 -1.02516116e-02 3.27380840e+02] [ 1.09519610e-02 -1.34496461e-04 9.99940016e-01 2.18778995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.910385723 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:360.89, Y:327.41, Z:21.88 [[ 3.39887796e-01 -9.40458101e-01 -3.85313562e-03 3.60893627e+02] [ 9.40402223e-01 3.39909608e-01 -1.02526522e-02 3.27406463e+02] [ 1.09519076e-02 -1.38745941e-04 9.99940016e-01 2.18781397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.940385723 meters Centerline goodness : 0.999529 Centerline is valid? [True, True] Translation: X:360.90, Y:327.43, Z:21.88 [[ 3.38429491e-01 -9.40983876e-01 -3.85037931e-03 3.60903313e+02] [ 9.40928020e-01 3.38451359e-01 -1.02536872e-02 3.27432501e+02] [ 1.09517205e-02 -1.52779637e-04 9.99940016e-01 2.18782403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.9703857229999 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:360.91, Y:327.46, Z:21.88 [[ 3.39407211e-01 -9.40631641e-01 -3.85493178e-03 3.60913872e+02] [ 9.40575783e-01 3.39429070e-01 -1.02519784e-02 3.27458635e+02] [ 1.09518112e-02 -1.46260085e-04 9.99940016e-01 2.18790489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.000385723 meters Centerline goodness : 0.999572 Centerline is valid? [True, True] Translation: X:360.92, Y:327.48, Z:21.88 [[ 3.37343866e-01 -9.41373634e-01 -3.84684516e-03 3.60921667e+02] [ 9.41317789e-01 3.37365760e-01 -1.02550118e-02 3.27484505e+02] [ 1.09515916e-02 -1.61638440e-04 9.99940016e-01 2.18762150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.030385723 meters Centerline goodness : 0.999722 Centerline is valid? [True, True] Translation: X:360.94, Y:327.51, Z:21.88 [[ 3.40597654e-01 -9.40201469e-01 -3.79938779e-03 3.60936348e+02] [ 9.40145349e-01 3.40618836e-01 -1.02727915e-02 3.27509976e+02] [ 1.09526367e-02 -7.30880663e-05 9.99940015e-01 2.18808328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.060385723 meters Centerline goodness : 0.999679 Centerline is valid? [True, True] Translation: X:360.95, Y:327.54, Z:21.88 [[ 3.40852482e-01 -9.40108945e-01 -3.84152269e-03 3.60947212e+02] [ 9.40052996e-01 3.40874110e-01 -1.02570109e-02 3.27535939e+02] [ 1.09521833e-02 -1.15107291e-04 9.99940016e-01 2.18811297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.0903857229999 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:360.96, Y:327.56, Z:21.88 [[ 3.41402935e-01 -9.39909197e-01 -3.83889197e-03 3.60958984e+02] [ 9.39853224e-01 3.41424501e-01 -1.02579954e-02 3.27560825e+02] [ 1.09522760e-02 -1.05885258e-04 9.99940016e-01 2.18822959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.120385723 meters Centerline goodness : 0.999505 Centerline is valid? [True, True] Translation: X:360.97, Y:327.59, Z:21.88 [[ 3.40865952e-01 -9.40104083e-01 -3.83611695e-03 3.60969043e+02] [ 9.40048111e-01 3.40887520e-01 -1.02590331e-02 3.27587497e+02] [ 1.09522433e-02 -1.09179421e-04 9.99940016e-01 2.18843741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.150385723 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:360.98, Y:327.61, Z:21.88 [[ 3.40286684e-01 -9.40313974e-01 -3.82125621e-03 3.60979032e+02] [ 9.40257953e-01 3.40308124e-01 -1.02645852e-02 3.27613594e+02] [ 1.09523374e-02 -1.00064881e-04 9.99940016e-01 2.18833854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.180385723 meters Centerline goodness : 0.999742 Centerline is valid? [True, True] Translation: X:360.99, Y:327.64, Z:21.88 [[ 3.40299344e-01 -9.40309352e-01 -3.83131702e-03 3.60990052e+02] [ 9.40253373e-01 3.40320893e-01 -1.02608285e-02 3.27637155e+02] [ 1.09522303e-02 -1.10655529e-04 9.99940016e-01 2.18816758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.210385723 meters Centerline goodness : 0.999699 Centerline is valid? [True, True] Translation: X:361.00, Y:327.66, Z:21.89 [[ 3.39131552e-01 -9.40731327e-01 -3.78959455e-03 3.61002599e+02] [ 9.40675200e-01 3.39152715e-01 -1.02764079e-02 3.27663977e+02] [ 1.09525901e-02 -7.97234627e-05 9.99940015e-01 2.18855962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.240385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:361.02, Y:327.69, Z:21.89 [[ 3.38233336e-01 -9.41054480e-01 -3.83088655e-03 3.61016073e+02] [ 9.40998547e-01 3.38255004e-01 -1.02609917e-02 3.27688312e+02] [ 1.09519688e-02 -1.34249214e-04 9.99940016e-01 2.18858771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.270385723 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:361.03, Y:327.71, Z:21.89 [[ 3.37829474e-01 -9.41199549e-01 -3.82829195e-03 3.61026541e+02] [ 9.41143614e-01 3.37851137e-01 -1.02619597e-02 3.27714492e+02] [ 1.09519446e-02 -1.36180083e-04 9.99940016e-01 2.18880569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.300385723 meters Centerline goodness : 0.999635 Centerline is valid? [True, True] Translation: X:361.04, Y:327.74, Z:21.89 [[ 3.38035751e-01 -9.41125495e-01 -3.82544476e-03 3.61036401e+02] [ 9.41069543e-01 3.38057371e-01 -1.02630209e-02 3.27739799e+02] [ 1.09520104e-02 -1.30741563e-04 9.99940016e-01 2.18873860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.330385723 meters Centerline goodness : 0.999527 Centerline is valid? [True, True] Translation: X:361.05, Y:327.77, Z:21.89 [[ 3.38830839e-01 -9.40839544e-01 -3.82288498e-03 3.61047131e+02] [ 9.40783564e-01 3.38852383e-01 -1.02639743e-02 3.27765191e+02] [ 1.09521466e-02 -1.18756328e-04 9.99940016e-01 2.18854672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.360385723 meters Centerline goodness : 0.999419 Centerline is valid? [True, True] Translation: X:361.05, Y:327.79, Z:21.88 [[ 3.33978238e-01 -9.42573045e-01 -3.81996006e-03 3.61050458e+02] [ 9.42517163e-01 3.34000039e-01 -1.02650628e-02 3.27788855e+02] [ 1.09514383e-02 -1.72070331e-04 9.99940016e-01 2.18774462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.390385723 meters Centerline goodness : 0.999719 Centerline is valid? [True, True] Translation: X:361.07, Y:327.82, Z:21.88 [[ 3.39422663e-01 -9.40626820e-01 -3.66611304e-03 3.61069535e+02] [ 9.40570184e-01 3.39442457e-01 -1.03221844e-02 3.27816696e+02] [ 1.09537579e-02 5.53466987e-05 9.99940004e-01 2.18849260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.420385723 meters Centerline goodness : 0.999590 Centerline is valid? [True, True] Translation: X:361.08, Y:327.84, Z:21.89 [[ 3.39141747e-01 -9.40727543e-01 -3.81650478e-03 3.61081785e+02] [ 9.40671529e-01 3.39163204e-01 -1.02662762e-02 3.27841958e+02] [ 1.09521867e-02 -1.08354553e-04 9.99940017e-01 2.18859836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.450385723 meters Centerline goodness : 0.999568 Centerline is valid? [True, True] Translation: X:361.09, Y:327.87, Z:21.89 [[ 3.37298699e-01 -9.41389953e-01 -3.81377883e-03 3.61094873e+02] [ 9.41333969e-01 3.37320235e-01 -1.02672887e-02 3.27866028e+02] [ 1.09519872e-02 -1.26896440e-04 9.99940017e-01 2.18881334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.480385723 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:361.11, Y:327.89, Z:21.89 [[ 3.34281657e-01 -9.42465517e-01 -3.81090566e-03 3.61105561e+02] [ 9.42409591e-01 3.34303342e-01 -1.02683550e-02 3.27891201e+02] [ 1.09515690e-02 -1.58911301e-04 9.99940017e-01 2.18868557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.510385723 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:361.12, Y:327.92, Z:21.89 [[ 3.32379746e-01 -9.43137956e-01 -3.80806148e-03 3.61116643e+02] [ 9.43082061e-01 3.32401512e-01 -1.02694097e-02 3.27917317e+02] [ 1.09512755e-02 -1.77970684e-04 9.99940017e-01 2.18869781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.540385723 meters Centerline goodness : 0.999677 Centerline is valid? [True, True] Translation: X:361.13, Y:327.94, Z:21.89 [[ 3.30983893e-01 -9.43628731e-01 -3.80525382e-03 3.61128453e+02] [ 9.43572857e-01 3.31005711e-01 -1.02704500e-02 3.27942756e+02] [ 1.09510524e-02 -1.91180709e-04 9.99940017e-01 2.18874922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.570385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:361.14, Y:327.97, Z:21.89 [[ 3.29053555e-01 -9.44303606e-01 -3.80242507e-03 3.61142458e+02] [ 9.44247764e-01 3.29075457e-01 -1.02714971e-02 3.27967057e+02] [ 1.09506965e-02 -2.10558718e-04 9.99940017e-01 2.18895348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.600385723 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:361.15, Y:327.99, Z:21.89 [[ 3.28705721e-01 -9.44424751e-01 -3.79987573e-03 3.61153050e+02] [ 9.44368907e-01 3.28727616e-01 -1.02724402e-02 3.27992417e+02] [ 1.09506708e-02 -2.11874639e-04 9.99940017e-01 2.18902271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.630385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:361.16, Y:328.02, Z:21.89 [[ 3.28794929e-01 -9.44393705e-01 -3.79796182e-03 3.61161930e+02] [ 9.44337851e-01 3.28816798e-01 -1.02731477e-02 3.28017974e+02] [ 1.09507297e-02 -2.08800222e-04 9.99940017e-01 2.18888858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.660385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:361.17, Y:328.04, Z:21.89 [[ 3.28847760e-01 -9.44375322e-01 -3.79501736e-03 3.61171584e+02] [ 9.44319454e-01 3.28869593e-01 -1.02742353e-02 3.28044808e+02] [ 1.09508001e-02 -2.05049445e-04 9.99940017e-01 2.18877815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.690385723 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:361.18, Y:328.07, Z:21.89 [[ 3.29263870e-01 -9.44230334e-01 -3.79227633e-03 3.61182275e+02] [ 9.44174444e-01 3.29285649e-01 -1.02752470e-02 3.28070678e+02] [ 1.09509420e-02 -1.97302817e-04 9.99940017e-01 2.18876892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.7203857229999 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:361.20, Y:328.09, Z:21.89 [[ 3.30481483e-01 -9.43804868e-01 -3.78950388e-03 3.61195564e+02] [ 9.43748939e-01 3.30503159e-01 -1.02762693e-02 3.28094165e+02] [ 1.09512360e-02 -1.80223544e-04 9.99940017e-01 2.18877876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.750385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:361.21, Y:328.12, Z:21.89 [[ 3.30421493e-01 -9.43825880e-01 -3.78748293e-03 3.61206796e+02] [ 9.43769944e-01 3.30443151e-01 -1.02770141e-02 3.28119756e+02] [ 1.09512597e-02 -1.78766201e-04 9.99940017e-01 2.18890248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.780385723 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:361.22, Y:328.14, Z:21.89 [[ 3.30185224e-01 -9.43908573e-01 -3.78467619e-03 3.61216477e+02] [ 9.43852630e-01 3.30206866e-01 -1.02780477e-02 3.28144884e+02] [ 1.09512634e-02 -1.78517101e-04 9.99940017e-01 2.18892670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.810385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:361.23, Y:328.17, Z:21.89 [[ 3.29574312e-01 -9.44122060e-01 -3.78262667e-03 3.61225407e+02] [ 9.44066123e-01 3.29595968e-01 -1.02788019e-02 3.28171405e+02] [ 1.09511821e-02 -1.83420633e-04 9.99940017e-01 2.18890637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.8403857229999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:361.24, Y:328.20, Z:21.89 [[ 3.29474989e-01 -9.44156737e-01 -3.77994649e-03 3.61235141e+02] [ 9.44100790e-01 3.29496622e-01 -1.02797874e-02 3.28197580e+02] [ 1.09512101e-02 -1.81717629e-04 9.99940017e-01 2.18887051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.870385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:361.25, Y:328.22, Z:21.89 [[ 3.29797070e-01 -9.44044292e-01 -3.77716991e-03 3.61246774e+02] [ 9.43988327e-01 3.29818653e-01 -1.02808075e-02 3.28222172e+02] [ 1.09513187e-02 -1.75024107e-04 9.99940017e-01 2.18880333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.900385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:361.26, Y:328.25, Z:21.89 [[ 3.29808300e-01 -9.44040381e-01 -3.77423907e-03 3.61257761e+02] [ 9.43984403e-01 3.29829851e-01 -1.02818834e-02 3.28246860e+02] [ 1.09513698e-02 -1.71772340e-04 9.99940017e-01 2.18884829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.930385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:361.27, Y:328.27, Z:21.89 [[ 3.30389433e-01 -9.43837164e-01 -3.77231541e-03 3.61269776e+02] [ 9.43781165e-01 3.30410928e-01 -1.02825891e-02 3.28272520e+02] [ 1.09515040e-02 -1.62981446e-04 9.99940017e-01 2.18896064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.960385723 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:361.27, Y:328.30, Z:21.88 [[ 3.25353326e-01 -9.45585006e-01 -3.76964361e-03 3.61272272e+02] [ 9.45529111e-01 3.25375090e-01 -1.02835685e-02 3.28296123e+02] [ 1.09505363e-02 -2.18514562e-04 9.99940017e-01 2.18849172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.990385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:361.29, Y:328.33, Z:21.89 [[ 3.30880059e-01 -9.43665904e-01 -3.61221287e-03 3.61290070e+02] [ 9.43609241e-01 3.30899775e-01 -1.03411647e-02 3.28325168e+02] [ 1.09538850e-02 1.31677415e-05 9.99940004e-01 2.18898977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.020385723 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:361.30, Y:328.35, Z:21.89 [[ 3.31990328e-01 -9.43275269e-01 -3.76694891e-03 3.61299948e+02] [ 9.43219212e-01 3.32011669e-01 -1.02844890e-02 3.28348522e+02] [ 1.09517751e-02 -1.38707715e-04 9.99940018e-01 2.18896343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.050385723 meters Centerline goodness : 0.994971 Centerline is valid? [True, True] Translation: X:361.31, Y:328.37, Z:21.89 [[ 3.30283299e-01 -9.43874514e-01 -3.72071620e-03 3.61308431e+02] [ 9.43818305e-01 3.30304237e-01 -1.03013849e-02 3.28374589e+02] [ 1.09521830e-02 -1.09304668e-04 9.99940017e-01 2.18871648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.080385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:361.32, Y:328.40, Z:21.89 [[ 3.30272200e-01 -9.43878515e-01 -3.69104437e-03 3.61320004e+02] [ 9.43822184e-01 3.30292815e-01 -1.03122166e-02 3.28401343e+02] [ 1.09526051e-02 -7.78510869e-05 9.99940015e-01 2.18914925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.110385723 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:361.32, Y:328.42, Z:21.89 [[ 3.24647446e-01 -9.45827651e-01 -3.75365321e-03 3.61322625e+02] [ 9.45771705e-01 3.24669078e-01 -1.02893764e-02 3.28424167e+02] [ 1.09506718e-02 -2.09679232e-04 9.99940018e-01 2.18876754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.140385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:361.34, Y:328.45, Z:21.89 [[ 3.28588475e-01 -9.44466365e-01 -3.59169401e-03 3.61340642e+02] [ 9.44409672e-01 3.28608104e-01 -1.03481716e-02 3.28452437e+02] [ 1.09537598e-02 8.25935603e-06 9.99940006e-01 2.18911597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.170385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:361.35, Y:328.48, Z:21.89 [[ 3.28340863e-01 -9.44551934e-01 -3.73128414e-03 3.61350371e+02] [ 9.44495812e-01 3.28362032e-01 -1.02974739e-02 3.28479317e+02] [ 1.09517110e-02 -1.43100759e-04 9.99940018e-01 2.18915318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.200385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:361.35, Y:328.50, Z:21.89 [[ 3.23011556e-01 -9.46387669e-01 -3.73030383e-03 3.61354833e+02] [ 9.46331663e-01 3.23033031e-01 -1.02978298e-02 3.28503869e+02] [ 1.09507505e-02 -2.03786602e-04 9.99940018e-01 2.18855157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.230385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:361.36, Y:328.53, Z:21.88 [[ 3.21841473e-01 -9.46786695e-01 -3.60831812e-03 3.61364844e+02] [ 9.46730212e-01 3.21861687e-01 -1.03421702e-02 3.28529950e+02] [ 1.09532085e-02 -8.75644803e-05 9.99940008e-01 2.18839331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.260385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:361.38, Y:328.56, Z:21.88 [[ 3.21449612e-01 -9.46919832e-01 -3.60253750e-03 3.61376393e+02] [ 9.46863334e-01 3.21469787e-01 -1.03442699e-02 3.28555187e+02] [ 1.09533013e-02 -8.59491257e-05 9.99940007e-01 2.18839614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.290385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:361.39, Y:328.58, Z:21.88 [[ 3.21067947e-01 -9.47049230e-01 -3.62350273e-03 3.61388026e+02] [ 9.46992825e-01 3.21088374e-01 -1.03366483e-02 3.28580091e+02] [ 1.09527794e-02 -1.12664645e-04 9.99940010e-01 2.18848145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.320385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:361.40, Y:328.61, Z:21.89 [[ 3.21554224e-01 -9.46884255e-01 -3.61778108e-03 3.61402040e+02] [ 9.46827816e-01 3.21574560e-01 -1.03387269e-02 3.28605330e+02] [ 1.09529641e-02 -1.00954450e-04 9.99940009e-01 2.18864115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.350385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:361.41, Y:328.63, Z:21.88 [[ 3.21887360e-01 -9.46770935e-01 -3.65026490e-03 3.61412903e+02] [ 9.46714622e-01 3.21908030e-01 -1.03269292e-02 3.28630162e+02] [ 1.09522860e-02 -1.31651176e-04 9.99940013e-01 2.18841838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.380385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:361.43, Y:328.66, Z:21.89 [[ 3.22917143e-01 -9.46420276e-01 -3.63053899e-03 3.61426435e+02] [ 9.46363859e-01 3.22937536e-01 -1.03340915e-02 3.28656980e+02] [ 1.09528311e-02 -9.87555772e-05 9.99940011e-01 2.18877835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.410385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:361.44, Y:328.68, Z:21.89 [[ 3.26536500e-01 -9.45177467e-01 -3.67024382e-03 3.61440607e+02] [ 9.45121134e-01 3.26557111e-01 -1.03196744e-02 3.28683553e+02] [ 1.09524679e-02 -9.90746455e-05 9.99940015e-01 2.18913847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.440385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:361.45, Y:328.71, Z:21.89 [[ 3.27633867e-01 -9.44797368e-01 -3.73934977e-03 3.61451124e+02] [ 9.44741295e-01 3.27655166e-01 -1.02945727e-02 3.28708864e+02] [ 1.09515025e-02 -1.59867476e-04 9.99940018e-01 2.18909106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.4703857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:361.46, Y:328.74, Z:21.89 [[ 3.28780584e-01 -9.44398945e-01 -3.73633236e-03 3.61462404e+02] [ 9.44342834e-01 3.28801782e-01 -1.02956677e-02 3.28735024e+02] [ 1.09517305e-02 -1.43363044e-04 9.99940018e-01 2.18875367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.500385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:361.47, Y:328.76, Z:21.89 [[ 3.29877409e-01 -9.44016474e-01 -3.71374682e-03 3.61474230e+02] [ 9.43960246e-01 3.29898296e-01 -1.03038578e-02 3.28761968e+02] [ 1.09521702e-02 -1.06619458e-04 9.99940018e-01 2.18888186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.530385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:361.49, Y:328.79, Z:21.89 [[ 3.30904368e-01 -9.43656910e-01 -3.73310145e-03 3.61485321e+02] [ 9.43600737e-01 3.30925405e-01 -1.02968408e-02 3.28787447e+02] [ 1.09520631e-02 -1.15287695e-04 9.99940018e-01 2.18905002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.560385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:361.50, Y:328.81, Z:21.89 [[ 3.31752051e-01 -9.43359244e-01 -3.73007783e-03 3.61496547e+02] [ 9.43303041e-01 3.31773004e-01 -1.02979360e-02 3.28812485e+02] [ 1.09521922e-02 -1.02232373e-04 9.99940018e-01 2.18918326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.5903857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:361.51, Y:328.84, Z:21.89 [[ 3.30667809e-01 -9.43739849e-01 -3.72802902e-03 3.61507021e+02] [ 9.43683661e-01 3.30688805e-01 -1.02986776e-02 3.28837548e+02] [ 1.09520899e-02 -1.12638907e-04 9.99940018e-01 2.18923855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.620385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:361.52, Y:328.86, Z:21.89 [[ 3.28266543e-01 -9.44577789e-01 -3.72519315e-03 3.61519155e+02] [ 9.44521643e-01 3.28287650e-01 -1.02997033e-02 3.28862833e+02] [ 1.09518059e-02 -1.37477560e-04 9.99940018e-01 2.18942771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.650385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:361.53, Y:328.89, Z:21.90 [[ 3.26226415e-01 -9.45284333e-01 -3.72234507e-03 3.61530686e+02] [ 9.45228221e-01 3.26247612e-01 -1.03007325e-02 3.28888689e+02] [ 1.09515273e-02 -1.58094579e-04 9.99940018e-01 2.18960451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.680385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:361.54, Y:328.91, Z:21.90 [[ 3.25411764e-01 -9.45565096e-01 -3.71931372e-03 3.61540647e+02] [ 9.45508990e-01 3.25432977e-01 -1.03018269e-02 3.28913904e+02] [ 1.09514353e-02 -1.64308884e-04 9.99940018e-01 2.18958244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.710385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:361.55, Y:328.94, Z:21.90 [[ 3.23303358e-01 -9.46288075e-01 -3.71724858e-03 3.61551611e+02] [ 9.46232008e-01 3.23324673e-01 -1.03025721e-02 3.28938861e+02] [ 1.09510793e-02 -1.86523449e-04 9.99940018e-01 2.18952790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.740385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:361.56, Y:328.97, Z:21.89 [[ 3.22854935e-01 -9.46441174e-01 -3.71419996e-03 3.61561644e+02] [ 9.46385104e-01 3.22876244e-01 -1.03036710e-02 3.28966173e+02] [ 1.09510454e-02 -1.88472481e-04 9.99940018e-01 2.18932435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.770385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:361.57, Y:328.99, Z:21.89 [[ 3.22269325e-01 -9.46640702e-01 -3.72333539e-03 3.61567789e+02] [ 9.46584684e-01 3.22290768e-01 -1.03003798e-02 3.28992705e+02] [ 1.09507554e-02 -2.04955802e-04 9.99940018e-01 2.18923006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.800385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:361.58, Y:329.02, Z:21.89 [[ 3.22498070e-01 -9.46562850e-01 -3.71014018e-03 3.61576595e+02] [ 9.46506772e-01 3.22519356e-01 -1.03051305e-02 3.29019423e+02] [ 1.09510457e-02 -1.88288124e-04 9.99940018e-01 2.18921583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.830385723 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:361.59, Y:329.05, Z:21.89 [[ 3.22682516e-01 -9.46500000e-01 -3.70733274e-03 3.61585993e+02] [ 9.46443906e-01 3.22703760e-01 -1.03061403e-02 3.29045731e+02] [ 1.09511321e-02 -1.83171181e-04 9.99940018e-01 2.18927407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.860385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:361.60, Y:329.07, Z:21.89 [[ 3.22102048e-01 -9.46697706e-01 -3.70453756e-03 3.61595548e+02] [ 9.46641614e-01 3.22123297e-01 -1.03071450e-02 3.29071652e+02] [ 1.09510684e-02 -1.86916906e-04 9.99940018e-01 2.18933804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.890385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:361.60, Y:329.10, Z:21.89 [[ 3.21185169e-01 -9.47009179e-01 -3.70176240e-03 3.61604524e+02] [ 9.46953095e-01 3.21206441e-01 -1.03081416e-02 3.29098461e+02] [ 1.09509346e-02 -1.94573174e-04 9.99940018e-01 2.18935359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.920385723 meters Centerline goodness : 0.999572 Centerline is valid? [True, True] Translation: X:361.61, Y:329.12, Z:21.89 [[ 3.20753845e-01 -9.47155367e-01 -3.69898174e-03 3.61613244e+02] [ 9.47099281e-01 3.20775113e-01 -1.03091393e-02 3.29124547e+02] [ 1.09508979e-02 -1.96606887e-04 9.99940018e-01 2.18934604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.950385723 meters Centerline goodness : 0.998494 Centerline is valid? [True, True] Translation: X:361.62, Y:329.15, Z:21.89 [[ 3.19012907e-01 -9.47743222e-01 -3.68118344e-03 3.61620763e+02] [ 9.47687102e-01 3.19034084e-01 -1.03155166e-02 3.29152066e+02] [ 1.09508839e-02 -1.97827132e-04 9.99940018e-01 2.18943022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.980385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:361.63, Y:329.18, Z:21.89 [[ 3.16309667e-01 -9.48648802e-01 -3.69397243e-03 3.61626216e+02] [ 9.48592796e-01 3.16331143e-01 -1.03109375e-02 3.29175323e+02] [ 1.09499770e-02 -2.42626430e-04 9.99940018e-01 2.18922373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.010385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:361.64, Y:329.20, Z:21.90 [[ 3.16349015e-01 -9.48635963e-01 -3.62077037e-03 3.61635182e+02] [ 9.48579653e-01 3.16369693e-01 -1.03372950e-02 3.29201437e+02] [ 1.09518318e-02 -1.64395994e-04 9.99940013e-01 2.18958135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.040385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:361.64, Y:329.23, Z:21.90 [[ 3.15551955e-01 -9.48901448e-01 -3.60640105e-03 3.61642005e+02] [ 9.48845096e-01 3.15572523e-01 -1.03424683e-02 3.29226255e+02] [ 1.09520642e-02 -1.58329854e-04 9.99940012e-01 2.18950605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.070385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:361.65, Y:329.25, Z:21.90 [[ 3.16492658e-01 -9.48588340e-01 -3.54378748e-03 3.61651781e+02] [ 9.48531714e-01 3.16512487e-01 -1.03649940e-02 3.29253785e+02] [ 1.09537655e-02 -8.09503051e-05 9.99940002e-01 2.18958766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.100385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:361.66, Y:329.28, Z:21.90 [[ 3.18569601e-01 -9.47892710e-01 -3.58042465e-03 3.61659200e+02] [ 9.47836188e-01 3.18589706e-01 -1.03517991e-02 3.29280992e+02] [ 1.09530814e-02 -9.58875320e-05 9.99940009e-01 2.18966703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.130385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:361.67, Y:329.31, Z:21.90 [[ 3.19704198e-01 -9.47510650e-01 -3.57697228e-03 3.61667613e+02] [ 9.47454089e-01 3.19724198e-01 -1.03530424e-02 3.29308776e+02] [ 1.09532626e-02 -7.91058782e-05 9.99940008e-01 2.18954917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.160385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:361.68, Y:329.34, Z:21.90 [[ 3.22712909e-01 -9.46490123e-01 -3.58135921e-03 3.61675149e+02] [ 9.46433517e-01 3.22732777e-01 -1.03514624e-02 3.29336051e+02] [ 1.09533789e-02 -4.89678590e-05 9.99940009e-01 2.18953377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.190385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:361.68, Y:329.36, Z:21.90 [[ 3.23621382e-01 -9.46179884e-01 -3.58149807e-03 3.61684161e+02] [ 9.46123260e-01 3.23641198e-01 -1.03514124e-02 3.29362088e+02] [ 1.09534185e-02 -3.86002529e-05 9.99940009e-01 2.18957853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.2203857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:361.69, Y:329.39, Z:21.90 [[ 3.25625705e-01 -9.45491980e-01 -3.57991264e-03 3.61694968e+02] [ 9.45435308e-01 3.25645383e-01 -1.03519830e-02 3.29389254e+02] [ 1.09534990e-02 -1.37040257e-05 9.99940009e-01 2.18972930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.250385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:361.70, Y:329.42, Z:21.90 [[ 3.25010087e-01 -9.45703677e-01 -3.60530322e-03 3.61701934e+02] [ 9.45647119e-01 3.25030079e-01 -1.03428428e-02 3.29416052e+02] [ 1.09530965e-02 -4.78163674e-05 9.99940012e-01 2.18974865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.280385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:361.71, Y:329.44, Z:21.90 [[ 3.23673198e-01 -9.46162088e-01 -3.60061352e-03 3.61711272e+02] [ 9.46105539e-01 3.23693219e-01 -1.03445299e-02 3.29443830e+02] [ 1.09530962e-02 -5.83133153e-05 9.99940011e-01 2.18959962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.310385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:361.72, Y:329.47, Z:21.90 [[ 3.23809351e-01 -9.46115378e-01 -3.63266657e-03 3.61722784e+02] [ 9.46058954e-01 3.23829715e-01 -1.03329982e-02 3.29472882e+02] [ 1.09525738e-02 -9.07953107e-05 9.99940015e-01 2.18988611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.3403857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:361.73, Y:329.50, Z:21.90 [[ 3.23134827e-01 -9.46345672e-01 -3.70840773e-03 3.61734638e+02] [ 9.46289572e-01 3.23156056e-01 -1.03057436e-02 3.29499132e+02] [ 1.09511903e-02 -1.79082892e-04 9.99940018e-01 2.19005361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.370385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:361.75, Y:329.52, Z:21.90 [[ 3.24890083e-01 -9.45744523e-01 -3.70554137e-03 3.61746861e+02] [ 9.45688372e-01 3.24911177e-01 -1.03067741e-02 3.29523294e+02] [ 1.09515470e-02 -1.55718695e-04 9.99940018e-01 2.19014445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.400385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:361.75, Y:329.55, Z:21.90 [[ 3.21672646e-01 -9.46843703e-01 -3.70289516e-03 3.61750769e+02] [ 9.46787613e-01 3.21693902e-01 -1.03077247e-02 3.29548350e+02] [ 1.09510030e-02 -1.90142182e-04 9.99940018e-01 2.18986668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.430385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:361.76, Y:329.58, Z:21.90 [[ 3.24996581e-01 -9.45708362e-01 -3.59401797e-03 3.61764252e+02] [ 9.45651760e-01 3.25016451e-01 -1.03467871e-02 3.29576721e+02] [ 1.09531580e-02 -3.60189915e-05 9.99940012e-01 2.19000142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.460385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:361.77, Y:329.60, Z:21.90 [[ 3.22582267e-01 -9.46534199e-01 -3.70028243e-03 3.61769872e+02] [ 9.46478078e-01 3.22603440e-01 -1.03086436e-02 3.29601792e+02] [ 1.09512075e-02 -1.76850583e-04 9.99940018e-01 2.18980916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.490385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:361.78, Y:329.63, Z:21.90 [[ 3.23609585e-01 -9.46183796e-01 -3.61389563e-03 3.61779670e+02] [ 9.46127303e-01 3.23629755e-01 -1.03396036e-02 3.29627012e+02] [ 1.09527295e-02 -7.32105018e-05 9.99940014e-01 2.18993137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.520385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:361.79, Y:329.65, Z:21.90 [[ 3.24628118e-01 -9.45834857e-01 -3.60682432e-03 3.61790936e+02] [ 9.45778314e-01 3.24648150e-01 -1.03421363e-02 3.29652743e+02] [ 1.09529019e-02 -5.39079784e-05 9.99940014e-01 2.18993989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.550385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:361.80, Y:329.68, Z:21.90 [[ 3.27154238e-01 -9.44963988e-01 -3.62846387e-03 3.61804146e+02] [ 9.44907478e-01 3.27174356e-01 -1.03343884e-02 3.29679836e+02] [ 1.09527652e-02 -4.76236620e-05 9.99940016e-01 2.19006454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.580385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:361.81, Y:329.70, Z:21.90 [[ 3.23618336e-01 -9.46180503e-01 -3.69182975e-03 3.61808693e+02] [ 9.46124324e-01 3.23639356e-01 -1.03117020e-02 3.29704427e+02] [ 1.09515528e-02 -1.55874094e-04 9.99940018e-01 2.19005670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.610385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:361.82, Y:329.73, Z:21.90 [[ 3.26488857e-01 -9.45194188e-01 -3.60193028e-03 3.61822488e+02] [ 9.45137587e-01 3.26508724e-01 -1.03438389e-02 3.29732572e+02] [ 1.09529981e-02 -2.71715547e-05 9.99940014e-01 2.19006008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.640385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:361.83, Y:329.76, Z:21.90 [[ 3.23870154e-01 -9.46094350e-01 -3.68838531e-03 3.61829671e+02] [ 9.46038152e-01 3.23891122e-01 -1.03129185e-02 3.29757668e+02] [ 1.09516292e-02 -1.49306705e-04 9.99940018e-01 2.19012704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.670385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:361.84, Y:329.78, Z:21.90 [[ 3.25928290e-01 -9.45387551e-01 -3.62337043e-03 3.61842841e+02] [ 9.45331047e-01 3.25948425e-01 -1.03361487e-02 3.29784834e+02] [ 1.09526982e-02 -5.64412961e-05 9.99940016e-01 2.19016380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.700385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:361.85, Y:329.81, Z:21.90 [[ 3.25640135e-01 -9.45486606e-01 -3.68501207e-03 3.61852261e+02] [ 9.45430356e-01 3.25660961e-01 -1.03141255e-02 3.29811261e+02] [ 1.09519321e-02 -1.25229046e-04 9.99940018e-01 2.19020233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.730385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:361.86, Y:329.84, Z:21.90 [[ 3.25034676e-01 -9.45694930e-01 -3.68232057e-03 3.61859837e+02] [ 9.45638681e-01 3.25055508e-01 -1.03150863e-02 3.29838123e+02] [ 1.09518834e-02 -1.29384025e-04 9.99940018e-01 2.19019412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.760385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:361.87, Y:329.86, Z:21.90 [[ 3.24755169e-01 -9.45790961e-01 -3.67959297e-03 3.61868448e+02] [ 9.45734707e-01 3.24775987e-01 -1.03160592e-02 3.29864258e+02] [ 1.09518790e-02 -1.29725224e-04 9.99940018e-01 2.19015621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.790385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:361.87, Y:329.89, Z:21.90 [[ 3.21312664e-01 -9.46966026e-01 -3.67671838e-03 3.61873861e+02] [ 9.46909837e-01 3.21333656e-01 -1.03170837e-02 3.29888615e+02] [ 1.09513811e-02 -1.66511168e-04 9.99940018e-01 2.19019253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.820385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:361.89, Y:329.92, Z:21.90 [[ 3.24209529e-01 -9.45978502e-01 -3.58537828e-03 3.61888217e+02] [ 9.45921886e-01 3.24229352e-01 -1.03495888e-02 3.29916292e+02] [ 1.09529733e-02 -3.60524848e-05 9.99940014e-01 2.19029042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.850385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:361.90, Y:329.94, Z:21.90 [[ 3.23197099e-01 -9.46324542e-01 -3.67365471e-03 3.61898399e+02] [ 9.46268300e-01 3.23217946e-01 -1.03181591e-02 3.29942530e+02] [ 1.09517183e-02 -1.41463922e-04 9.99940018e-01 2.19043295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.880385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:361.90, Y:329.97, Z:21.90 [[ 3.19624774e-01 -9.47537086e-01 -3.67081042e-03 3.61903560e+02] [ 9.47480911e-01 3.19645802e-01 -1.03191709e-02 3.29967412e+02] [ 1.09511562e-02 -1.79760150e-04 9.99940018e-01 2.19038702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.910385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:361.91, Y:329.99, Z:21.90 [[ 3.18801357e-01 -9.47814803e-01 -3.57694001e-03 3.61911170e+02] [ 9.47758268e-01 3.18821410e-01 -1.03525285e-02 3.29992985e+02] [ 1.09526848e-02 -8.96743240e-05 9.99940014e-01 2.19031387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.940385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:361.93, Y:330.02, Z:21.90 [[ 3.22607172e-01 -9.46526355e-01 -3.53163243e-03 3.61927204e+02] [ 9.46469562e-01 3.22626503e-01 -1.03686197e-02 3.30021702e+02] [ 1.09535700e-02 2.40848192e-06 9.99940008e-01 2.19038528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.9703857229999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:361.94, Y:330.05, Z:21.91 [[ 3.21431867e-01 -9.46925602e-01 -3.66876709e-03 3.61937068e+02] [ 9.46869378e-01 3.21452766e-01 -1.03198677e-02 3.30047879e+02] [ 1.09514823e-02 -1.56708864e-04 9.99940018e-01 2.19051993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.000385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:361.95, Y:330.07, Z:21.90 [[ 3.19227136e-01 -9.47671144e-01 -3.66588161e-03 3.61946952e+02] [ 9.47614958e-01 3.19248134e-01 -1.03208926e-02 3.30074099e+02] [ 1.09511380e-02 -1.79135259e-04 9.99940018e-01 2.19045640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.030385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:361.96, Y:330.10, Z:21.90 [[ 3.18935140e-01 -9.47769334e-01 -3.69669183e-03 3.61955250e+02] [ 9.47713281e-01 3.18956490e-01 -1.03099484e-02 3.30098551e+02] [ 1.09505367e-02 -2.15199129e-04 9.99940018e-01 2.19045873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.060385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:361.96, Y:330.13, Z:21.90 [[ 3.18687898e-01 -9.47852633e-01 -3.66204208e-03 3.61964717e+02] [ 9.47796443e-01 3.18708886e-01 -1.03222411e-02 3.30125526e+02] [ 1.09510888e-02 -1.81297138e-04 9.99940019e-01 2.19048851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.0903857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:361.97, Y:330.15, Z:21.91 [[ 3.17554165e-01 -9.48233073e-01 -3.65934908e-03 3.61973999e+02] [ 9.48176898e-01 3.17575191e-01 -1.03231957e-02 3.30151876e+02] [ 1.09509141e-02 -1.91536456e-04 9.99940019e-01 2.19066101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.120385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:361.98, Y:330.18, Z:21.91 [[ 3.14187085e-01 -9.49354046e-01 -3.65657087e-03 3.61979273e+02] [ 9.49297934e-01 3.14208280e-01 -1.03241797e-02 3.30177333e+02] [ 1.09502266e-02 -2.27451245e-04 9.99940019e-01 2.19062882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.150385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:361.99, Y:330.20, Z:21.91 [[ 3.16913675e-01 -9.48447627e-01 -3.58077085e-03 3.61992346e+02] [ 9.48391149e-01 3.16933883e-01 -1.03509958e-02 3.30204370e+02] [ 1.09522450e-02 -1.15599251e-04 9.99940016e-01 2.19081311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.180385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.00, Y:330.23, Z:21.91 [[ 3.16984829e-01 -9.48423573e-01 -3.65308595e-03 3.62000781e+02] [ 9.48367385e-01 3.17005820e-01 -1.03254111e-02 3.30229608e+02] [ 1.09509128e-02 -1.91468902e-04 9.99940019e-01 2.19086635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.210385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.01, Y:330.26, Z:21.91 [[ 3.17465413e-01 -9.48262823e-01 -3.65108785e-03 3.62008868e+02] [ 9.48206616e-01 3.17486354e-01 -1.03261176e-02 3.30256311e+02] [ 1.09510440e-02 -1.83800477e-04 9.99940019e-01 2.19106696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.240385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.02, Y:330.28, Z:21.91 [[ 3.18036795e-01 -9.48071351e-01 -3.64830820e-03 3.62017086e+02] [ 9.48015120e-01 3.18057672e-01 -1.03270996e-02 3.30281796e+02] [ 1.09511996e-02 -1.74253696e-04 9.99940019e-01 2.19109634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.270385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.02, Y:330.31, Z:21.91 [[ 3.15501797e-01 -9.48917977e-01 -3.64536652e-03 3.62021366e+02] [ 9.48861790e-01 3.15522793e-01 -1.03281378e-02 3.30307448e+02] [ 1.09507519e-02 -2.00402949e-04 9.99940019e-01 2.19082771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.300385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.03, Y:330.33, Z:21.91 [[ 3.16628316e-01 -9.48543011e-01 -3.55903134e-03 3.62030406e+02] [ 9.48486453e-01 3.16648303e-01 -1.03585731e-02 3.30334196e+02] [ 1.09525133e-02 -9.58754695e-05 9.99940015e-01 2.19087351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.330385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.04, Y:330.36, Z:21.91 [[ 3.23020891e-01 -9.46385159e-01 -3.55456729e-03 3.62043612e+02] [ 9.46328451e-01 3.23040447e-01 -1.03601456e-02 3.30362601e+02] [ 1.09529571e-02 -1.72446865e-05 9.99940014e-01 2.19104157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.360385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.05, Y:330.39, Z:21.91 [[ 3.21129153e-01 -9.47028410e-01 -3.64100715e-03 3.62047616e+02] [ 9.46972082e-01 3.21149767e-01 -1.03296774e-02 3.30388095e+02] [ 1.09518065e-02 -1.30771576e-04 9.99940019e-01 2.19064853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.390385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.06, Y:330.42, Z:21.91 [[ 3.27365163e-01 -9.44891208e-01 -3.55738613e-03 3.62060372e+02] [ 9.44834422e-01 3.27384489e-01 -1.03591209e-02 3.30416387e+02] [ 1.09528753e-02 3.00744286e-05 9.99940015e-01 2.19084813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.420385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.07, Y:330.44, Z:21.91 [[ 3.28000639e-01 -9.44670496e-01 -3.63783666e-03 3.62068909e+02] [ 9.44614008e-01 3.28020809e-01 -1.03307915e-02 3.30443237e+02] [ 1.09524800e-02 -4.78452633e-05 9.99940019e-01 2.19082415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.450385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.07, Y:330.47, Z:21.91 [[ 3.25119791e-01 -9.45665854e-01 -3.63514568e-03 3.62073442e+02] [ 9.45609416e-01 3.25140104e-01 -1.03317383e-02 3.30469433e+02] [ 1.09523037e-02 -7.83753911e-05 9.99940019e-01 2.19060665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.480385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.09, Y:330.50, Z:21.91 [[ 3.27112226e-01 -9.44978773e-01 -3.56516137e-03 3.62086589e+02] [ 9.44922022e-01 3.27131653e-01 -1.03563202e-02 3.30496542e+02] [ 1.09527798e-02 1.88794477e-05 9.99940016e-01 2.19090042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.510385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.10, Y:330.52, Z:21.91 [[ 3.26298274e-01 -9.45259892e-01 -3.62935886e-03 3.62096622e+02] [ 9.45203407e-01 3.26318453e-01 -1.03337732e-02 3.30522852e+02] [ 1.09524281e-02 -5.85900045e-05 9.99940019e-01 2.19101549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.540385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.11, Y:330.55, Z:21.91 [[ 3.24888091e-01 -9.45745513e-01 -3.62657261e-03 3.62106234e+02] [ 9.45689047e-01 3.24908324e-01 -1.03347509e-02 3.30547789e+02] [ 1.09523479e-02 -7.19725019e-05 9.99940019e-01 2.19118098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.570385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.11, Y:330.57, Z:21.91 [[ 3.23041698e-01 -9.46377795e-01 -3.62364888e-03 3.62113773e+02] [ 9.46321357e-01 3.23062008e-01 -1.03357759e-02 3.30573476e+02] [ 1.09522121e-02 -9.02497262e-05 9.99940019e-01 2.19126454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.600385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:362.12, Y:330.60, Z:21.91 [[ 3.22315656e-01 -9.46625326e-01 -3.62074996e-03 3.62122559e+02] [ 9.46568892e-01 3.22335978e-01 -1.03367914e-02 3.30600428e+02] [ 1.09521665e-02 -9.55795927e-05 9.99940019e-01 2.19134934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.630385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.13, Y:330.63, Z:21.91 [[ 3.20553004e-01 -9.47223670e-01 -3.61805132e-03 3.62131802e+02] [ 9.47167264e-01 3.20573402e-01 -1.03377358e-02 3.30628060e+02] [ 1.09519991e-02 -1.13107491e-04 9.99940019e-01 2.19149624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.660385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.14, Y:330.65, Z:21.92 [[ 3.20751362e-01 -9.47156369e-01 -3.65744412e-03 3.62139633e+02] [ 9.47100114e-01 3.20772177e-01 -1.03239634e-02 3.30653565e+02] [ 1.09516140e-02 -1.52540416e-04 9.99940018e-01 2.19154452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.690385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.15, Y:330.68, Z:21.92 [[ 3.20195654e-01 -9.47344551e-01 -3.61181870e-03 3.62148025e+02] [ 9.47288127e-01 3.20216005e-01 -1.03399008e-02 3.30680577e+02] [ 1.09520108e-02 -1.10641675e-04 9.99940019e-01 2.19167882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.7203857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.15, Y:330.71, Z:21.91 [[ 3.16820718e-01 -9.48478576e-01 -3.60897080e-03 3.62152600e+02] [ 9.48422214e-01 3.16841238e-01 -1.03408947e-02 3.30706090e+02] [ 1.09515879e-02 -1.46618393e-04 9.99940019e-01 2.19123984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.750385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.16, Y:330.73, Z:21.91 [[ 3.17226995e-01 -9.48343042e-01 -3.53683025e-03 3.62160245e+02] [ 9.48286388e-01 3.17246704e-01 -1.03660604e-02 3.30732885e+02] [ 1.09526290e-02 -6.55337773e-05 9.99940016e-01 2.19124984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.780385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.17, Y:330.76, Z:21.92 [[ 3.20500743e-01 -9.47241673e-01 -3.53367170e-03 3.62171731e+02] [ 9.47184940e-01 3.20520221e-01 -1.03671620e-02 3.30760574e+02] [ 1.09528211e-02 -2.43575041e-05 9.99940016e-01 2.19167724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.810385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.18, Y:330.79, Z:21.91 [[ 3.19293715e-01 -9.47648938e-01 -3.60754657e-03 3.62178261e+02] [ 9.47592517e-01 3.19314074e-01 -1.03413911e-02 3.30788480e+02] [ 1.09519487e-02 -1.16542946e-04 9.99940019e-01 2.19140896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.8403857229999 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:362.18, Y:330.82, Z:21.91 [[ 3.18477110e-01 -9.47923727e-01 -3.59685156e-03 3.62183562e+02] [ 9.47867282e-01 3.18497400e-01 -1.03451195e-02 3.30816175e+02] [ 1.09519721e-02 -1.14654151e-04 9.99940019e-01 2.19146701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.870385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.19, Y:330.84, Z:21.91 [[ 3.19841312e-01 -9.47464404e-01 -3.56906585e-03 3.62193535e+02] [ 9.47407821e-01 3.19861217e-01 -1.03548056e-02 3.30843000e+02] [ 1.09524154e-02 -6.94662978e-05 9.99940018e-01 2.19145137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.900385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.20, Y:330.87, Z:21.91 [[ 3.15626603e-01 -9.48876625e-01 -3.60516966e-03 3.62198974e+02] [ 9.48820274e-01 3.15647153e-01 -1.03422202e-02 3.30869767e+02] [ 1.09514526e-02 -1.56378223e-04 9.99940019e-01 2.19143714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.930385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.21, Y:330.90, Z:21.92 [[ 3.16297030e-01 -9.48653538e-01 -3.55709890e-03 3.62209882e+02] [ 9.48596984e-01 3.16317016e-01 -1.03589615e-02 3.30896405e+02] [ 1.09522363e-02 -9.77445356e-05 9.99940018e-01 2.19158711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.960385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.22, Y:330.92, Z:21.92 [[ 3.14037635e-01 -9.49403705e-01 -3.60126370e-03 3.62218085e+02] [ 9.49347373e-01 3.14058237e-01 -1.03435849e-02 3.30923736e+02] [ 1.09512443e-02 -1.70575304e-04 9.99940019e-01 2.19182605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.990385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.22, Y:330.95, Z:21.92 [[ 3.10889335e-01 -9.50439305e-01 -3.59843844e-03 3.62223911e+02] [ 9.50383030e-01 3.10910093e-01 -1.03445677e-02 3.30950634e+02] [ 1.09506745e-02 -2.03879069e-04 9.99940019e-01 2.19163978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.020385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.23, Y:330.98, Z:21.92 [[ 3.12371853e-01 -9.49953264e-01 -3.55275469e-03 3.62233516e+02] [ 9.49896775e-01 3.12392025e-01 -1.03604430e-02 3.30978233e+02] [ 1.09517888e-02 -1.38439464e-04 9.99940018e-01 2.19194821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.050385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.24, Y:331.01, Z:21.92 [[ 3.10617310e-01 -9.50528254e-01 -3.59505866e-03 3.62238392e+02] [ 9.50471972e-01 3.10638047e-01 -1.03457427e-02 3.31005984e+02] [ 1.09506828e-02 -2.03435718e-04 9.99940019e-01 2.19196937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.080385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.25, Y:331.04, Z:21.92 [[ 3.13610276e-01 -9.49545022e-01 -3.58427986e-03 3.62251191e+02] [ 9.49488631e-01 3.13630718e-01 -1.03494848e-02 3.31035442e+02] [ 1.09514420e-02 -1.57528199e-04 9.99940019e-01 2.19200134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.110385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.26, Y:331.06, Z:21.92 [[ 3.11797693e-01 -9.50141223e-01 -3.72229980e-03 3.62256231e+02] [ 9.50085432e-01 3.11819742e-01 -1.03015114e-02 3.31061133e+02] [ 1.09485772e-02 -3.24515342e-04 9.99940010e-01 2.19208254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.140385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.26, Y:331.09, Z:21.92 [[ 3.12474844e-01 -9.49919021e-01 -3.65036465e-03 3.62259792e+02] [ 9.49862921e-01 3.12496073e-01 -1.03264506e-02 3.31086317e+02] [ 1.09500164e-02 -2.40589999e-04 9.99940018e-01 2.19219496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.170385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.27, Y:331.12, Z:21.92 [[ 3.14660890e-01 -9.49197390e-01 -3.58312915e-03 3.62270785e+02] [ 9.49140974e-01 3.14681257e-01 -1.03497279e-02 3.31116035e+02] [ 1.09514783e-02 -1.44240100e-04 9.99940020e-01 2.19206272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.200385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.27, Y:331.14, Z:21.92 [[ 3.14983183e-01 -9.49090063e-01 -3.69420149e-03 3.62269849e+02] [ 9.49034084e-01 3.15004740e-01 -1.03112585e-02 3.31141181e+02] [ 1.09500040e-02 -2.58050100e-04 9.99940014e-01 2.19202881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.230385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.28, Y:331.17, Z:21.92 [[ 3.15497080e-01 -9.48919804e-01 -3.57749268e-03 3.62276540e+02] [ 9.48863349e-01 3.15517336e-01 -1.03515929e-02 3.31168864e+02] [ 1.09515925e-02 -1.28654330e-04 9.99940021e-01 2.19204799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.260385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.28, Y:331.20, Z:21.92 [[ 3.16004050e-01 -9.48751107e-01 -3.57464634e-03 3.62281639e+02] [ 9.48694630e-01 3.16024245e-01 -1.03525758e-02 3.31196016e+02] [ 1.09516926e-02 -1.19791919e-04 9.99940021e-01 2.19206225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.290385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.29, Y:331.22, Z:21.92 [[ 3.15642478e-01 -9.48871470e-01 -3.57214279e-03 3.62288533e+02] [ 9.48814991e-01 3.15662667e-01 -1.03534395e-02 3.31222933e+02] [ 1.09516755e-02 -1.21317322e-04 9.99940021e-01 2.19213717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.320385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:362.30, Y:331.25, Z:21.92 [[ 3.14989329e-01 -9.49088501e-01 -3.56934139e-03 3.62295580e+02] [ 9.49032025e-01 3.15009526e-01 -1.03544052e-02 3.31251057e+02] [ 1.09516235e-02 -1.25892138e-04 9.99940021e-01 2.19217038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.350385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.30, Y:331.28, Z:21.92 [[ 3.13725517e-01 -9.49506987e-01 -3.57517287e-03 3.62299568e+02] [ 9.49450561e-01 3.13745853e-01 -1.03523959e-02 3.31277920e+02] [ 1.09513679e-02 -1.46639141e-04 9.99940021e-01 2.19227485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.380385723 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:362.31, Y:331.30, Z:21.92 [[ 3.12779107e-01 -9.49819203e-01 -3.56533706e-03 3.62305998e+02] [ 9.49762759e-01 3.12799392e-01 -1.03557822e-02 3.31304628e+02] [ 1.09513560e-02 -1.47152066e-04 9.99940021e-01 2.19230195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.410385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:362.31, Y:331.33, Z:21.92 [[ 3.11429466e-01 -9.50262594e-01 -3.56236511e-03 3.62309859e+02] [ 9.50206167e-01 3.11449799e-01 -1.03568044e-02 3.31332620e+02] [ 1.09511817e-02 -1.59567221e-04 9.99940021e-01 2.19233685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.440385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.32, Y:331.36, Z:21.92 [[ 3.10765758e-01 -9.50479865e-01 -3.55960464e-03 3.62316761e+02] [ 9.50423441e-01 3.10786100e-01 -1.03577531e-02 3.31359991e+02] [ 1.09511114e-02 -1.64296697e-04 9.99940021e-01 2.19235746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.4703857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.32, Y:331.39, Z:21.92 [[ 3.10620874e-01 -9.50527233e-01 -3.55685250e-03 3.62324097e+02] [ 9.50470802e-01 3.10641195e-01 -1.03586981e-02 3.31387280e+02] [ 1.09511296e-02 -1.63056593e-04 9.99940021e-01 2.19249756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.500385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.33, Y:331.41, Z:21.92 [[ 3.10650542e-01 -9.50517549e-01 -3.55393991e-03 3.62328026e+02] [ 9.50461105e-01 3.10670829e-01 -1.03596973e-02 3.31414330e+02] [ 1.09511795e-02 -1.59636084e-04 9.99940021e-01 2.19242299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.530385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.34, Y:331.44, Z:21.92 [[ 3.10779749e-01 -9.50475321e-01 -3.55133432e-03 3.62335043e+02] [ 9.50418865e-01 3.10800000e-01 -1.03605904e-02 3.31441471e+02] [ 1.09512402e-02 -1.55393450e-04 9.99940021e-01 2.19246687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.560385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.34, Y:331.47, Z:21.92 [[ 3.09255431e-01 -9.50972390e-01 -3.54848825e-03 3.62336852e+02] [ 9.50915955e-01 3.09275742e-01 -1.03615651e-02 3.31468396e+02] [ 1.09510237e-02 -1.69943821e-04 9.99940021e-01 2.19235545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.5903857229999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:362.35, Y:331.50, Z:21.92 [[ 3.12043780e-01 -9.50061333e-01 -3.48462042e-03 3.62347058e+02] [ 9.50004593e-01 3.12063228e-01 -1.03834094e-02 3.31496808e+02] [ 1.09522976e-02 -7.03271001e-05 9.99940019e-01 2.19248415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.620385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.35, Y:331.52, Z:21.93 [[ 3.11883702e-01 -9.50113671e-01 -3.54536003e-03 3.62353221e+02] [ 9.50057168e-01 3.11903822e-01 -1.03626286e-02 3.31524682e+02] [ 1.09514864e-02 -1.36359745e-04 9.99940021e-01 2.19252235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.650385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.36, Y:331.55, Z:21.92 [[ 3.10067909e-01 -9.50707811e-01 -3.54253195e-03 3.62358859e+02] [ 9.50651336e-01 3.10088107e-01 -1.03635953e-02 3.31550893e+02] [ 1.09512480e-02 -1.54294403e-04 9.99940021e-01 2.19241559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.680385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:362.37, Y:331.58, Z:21.93 [[ 3.11875032e-01 -9.50116705e-01 -3.49457789e-03 3.62368842e+02] [ 9.50060006e-01 3.11894599e-01 -1.03799707e-02 3.31578523e+02] [ 1.09521236e-02 -8.28049877e-05 9.99940020e-01 2.19265920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.710385723 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:362.38, Y:331.61, Z:21.93 [[ 3.12056192e-01 -9.50057057e-01 -3.53860657e-03 3.62376534e+02] [ 9.50000524e-01 3.12076229e-01 -1.03649393e-02 3.31605822e+02] [ 1.09515987e-02 -1.27234615e-04 9.99940021e-01 2.19278462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.740385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.38, Y:331.63, Z:21.93 [[ 3.13706199e-01 -9.49513517e-01 -3.53568582e-03 3.62381886e+02] [ 9.49456938e-01 3.13726106e-01 -1.03659355e-02 3.31632761e+02] [ 1.09518328e-02 -1.05123202e-04 9.99940021e-01 2.19280317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.770385723 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:362.39, Y:331.66, Z:21.93 [[ 3.15161862e-01 -9.49031358e-01 -3.53303035e-03 3.62389277e+02] [ 9.48974739e-01 3.15181652e-01 -1.03668405e-02 3.31659672e+02] [ 1.09520031e-02 -8.55237995e-05 9.99940021e-01 2.19281996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.800385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.40, Y:331.69, Z:21.93 [[ 3.18786414e-01 -9.47820004e-01 -3.53013490e-03 3.62395253e+02] [ 9.47763299e-01 3.18805956e-01 -1.03678264e-02 3.31686149e+02] [ 1.09522613e-02 -4.06101148e-05 9.99940021e-01 2.19278517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.830385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.40, Y:331.71, Z:21.93 [[ 3.20696404e-01 -9.47175471e-01 -3.52754173e-03 3.62403556e+02] [ 9.47118717e-01 3.20715803e-01 -1.03687086e-02 3.31713468e+02] [ 1.09523248e-02 -1.57932355e-05 9.99940021e-01 2.19283142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.860385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.41, Y:331.74, Z:21.93 [[ 3.22138453e-01 -9.46686006e-01 -3.52470323e-03 3.62411590e+02] [ 9.46629211e-01 3.22157736e-01 -1.03696734e-02 3.31740787e+02] [ 1.09523351e-02 3.88351419e-06 9.99940021e-01 2.19286967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.890385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.42, Y:331.77, Z:21.93 [[ 3.23226929e-01 -9.46314931e-01 -3.52187489e-03 3.62417285e+02] [ 9.46258104e-01 3.23246115e-01 -1.03706339e-02 3.31767289e+02] [ 1.09523181e-02 1.94655003e-05 9.99940021e-01 2.19262059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.920385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.43, Y:331.79, Z:21.93 [[ 3.26066682e-01 -9.45340361e-01 -3.48150594e-03 3.62427986e+02] [ 9.45283330e-01 3.26085254e-01 -1.03843277e-02 3.31794568e+02] [ 1.09519919e-02 9.49737559e-05 9.99940021e-01 2.19298815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.950385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.44, Y:331.82, Z:21.93 [[ 3.27832588e-01 -9.44729282e-01 -3.51814889e-03 3.62435529e+02] [ 9.44672349e-01 3.27851456e-01 -1.03718984e-02 3.31820267e+02] [ 1.09520664e-02 7.67483267e-05 9.99940021e-01 2.19294251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.980385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.44, Y:331.85, Z:21.93 [[ 3.26596253e-01 -9.45157410e-01 -3.51549178e-03 3.62442360e+02] [ 9.45100491e-01 3.26615166e-01 -1.03727990e-02 3.31846101e+02] [ 1.09521407e-02 6.52242632e-05 9.99940021e-01 2.19264539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.010385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.45, Y:331.87, Z:21.93 [[ 3.26398992e-01 -9.45225707e-01 -3.47279677e-03 3.62451481e+02] [ 9.45168638e-01 3.26417449e-01 -1.03872556e-02 3.31873152e+02] [ 1.09518825e-02 1.08011180e-04 9.99940021e-01 2.19267527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.040385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.46, Y:331.90, Z:21.93 [[ 3.27670575e-01 -9.44785664e-01 -3.47041490e-03 3.62462126e+02] [ 9.44728561e-01 3.27688928e-01 -1.03880616e-02 3.31899771e+02] [ 1.09517082e-02 1.25262032e-04 9.99940020e-01 2.19272681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.070385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.47, Y:331.93, Z:21.93 [[ 3.30911475e-01 -9.43655368e-01 -3.48462636e-03 3.62473837e+02] [ 9.43598253e-01 3.30929789e-01 -1.03832561e-02 3.31925277e+02] [ 1.09513820e-02 1.47851235e-04 9.99940021e-01 2.19296824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.100385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.48, Y:331.95, Z:21.92 [[ 3.28416148e-01 -9.44526617e-01 -3.50759986e-03 3.62480403e+02] [ 9.44469634e-01 3.28434865e-01 -1.03754895e-02 3.31951733e+02] [ 1.09519441e-02 9.46567492e-05 9.99940021e-01 2.19244965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.130385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.49, Y:331.98, Z:21.93 [[ 3.30829768e-01 -9.43684134e-01 -3.45267993e-03 3.62494291e+02] [ 9.43626908e-01 3.30847735e-01 -1.03940317e-02 3.31977329e+02] [ 1.09509941e-02 1.80613399e-04 9.99940020e-01 2.19305045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.160385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.50, Y:332.00, Z:21.93 [[ 3.29776685e-01 -9.44052469e-01 -3.50337000e-03 3.62504851e+02] [ 9.43995444e-01 3.29795273e-01 -1.03769181e-02 3.32003290e+02] [ 1.09517500e-02 1.14900337e-04 9.99940021e-01 2.19312219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.190385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.52, Y:332.03, Z:21.93 [[ 3.28936644e-01 -9.44345504e-01 -3.50056658e-03 3.62515318e+02] [ 9.44288484e-01 3.28955253e-01 -1.03778637e-02 3.32028022e+02] [ 1.09518187e-02 1.08114969e-04 9.99940021e-01 2.19318472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.2203857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.53, Y:332.05, Z:21.93 [[ 3.26350780e-01 -9.45242259e-01 -3.49851797e-03 3.62527120e+02] [ 9.45185284e-01 3.26369522e-01 -1.03785543e-02 3.32053783e+02] [ 1.09520578e-02 8.03015941e-05 9.99940021e-01 2.19323248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.250385723 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:362.54, Y:332.08, Z:21.93 [[ 3.24481187e-01 -9.45885691e-01 -3.49561539e-03 3.62537989e+02] [ 9.45828742e-01 3.24500009e-01 -1.03795318e-02 3.32080841e+02] [ 1.09521779e-02 6.17093099e-05 9.99940021e-01 2.19285361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.280385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:362.55, Y:332.11, Z:21.93 [[ 3.23440564e-01 -9.46241918e-01 -3.52616307e-03 3.62547643e+02] [ 9.46185102e-01 3.23459784e-01 -1.03692482e-02 3.32105093e+02] [ 1.09523893e-02 1.74325247e-05 9.99940021e-01 2.19327137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.310385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:362.56, Y:332.13, Z:21.93 [[ 3.21249345e-01 -9.46988211e-01 -3.49098992e-03 3.62560317e+02] [ 9.46931310e-01 3.21268311e-01 -1.03810764e-02 3.32129238e+02] [ 1.09523014e-02 2.91863265e-05 9.99940021e-01 2.19335133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.3403857229999 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:362.57, Y:332.16, Z:21.93 [[ 3.20207527e-01 -9.47340998e-01 -3.48901868e-03 3.62571310e+02] [ 9.47284111e-01 3.20226535e-01 -1.03817389e-02 3.32155493e+02] [ 1.09523232e-02 1.92189764e-05 9.99940021e-01 2.19338905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.370385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.58, Y:332.18, Z:21.93 [[ 3.19527555e-01 -9.47570572e-01 -3.48611449e-03 3.62582825e+02] [ 9.47513688e-01 3.19546571e-01 -1.03827140e-02 3.32180377e+02] [ 1.09523302e-02 1.44220077e-05 9.99940021e-01 2.19332456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.400385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:362.59, Y:332.21, Z:21.93 [[ 3.18463291e-01 -9.47928791e-01 -3.48414057e-03 3.62593440e+02] [ 9.47871921e-01 3.18482349e-01 -1.03833763e-02 3.32208005e+02] [ 1.09523386e-02 4.20517503e-06 9.99940021e-01 2.19338819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.430385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.60, Y:332.23, Z:21.93 [[ 3.20012962e-01 -9.47406599e-01 -3.52717074e-03 3.62603735e+02] [ 9.47349856e-01 3.20032398e-01 -1.03689408e-02 3.32233296e+02] [ 1.09524118e-02 -2.32692391e-05 9.99940020e-01 2.19340496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.460385723 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:362.61, Y:332.26, Z:21.93 [[ 3.20773228e-01 -9.47149633e-01 -3.47989297e-03 3.62614488e+02] [ 9.47092701e-01 3.20792101e-01 -1.03847834e-02 3.32259813e+02] [ 1.09522659e-02 3.53792580e-05 9.99940022e-01 2.19339528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.490385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.63, Y:332.28, Z:21.93 [[ 3.22791496e-01 -9.46463713e-01 -3.47702383e-03 3.62627264e+02] [ 9.46406731e-01 3.22810216e-01 -1.03857439e-02 3.32284116e+02] [ 1.09521486e-02 6.17510625e-05 9.99940022e-01 2.19341819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.520385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:362.64, Y:332.31, Z:21.93 [[ 3.24623394e-01 -9.45836973e-01 -3.47447088e-03 3.62640868e+02] [ 9.45779946e-01 3.24641976e-01 -1.03865979e-02 3.32309163e+02] [ 1.09519874e-02 8.56477945e-05 9.99940022e-01 2.19345225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.550385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.65, Y:332.34, Z:21.93 [[ 3.24890822e-01 -9.45745157e-01 -3.47153396e-03 3.62651767e+02] [ 9.45688114e-01 3.24909356e-01 -1.03875795e-02 3.32335517e+02] [ 1.09519368e-02 9.18408291e-05 9.99940022e-01 2.19345116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.580385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.66, Y:332.36, Z:21.93 [[ 3.25685540e-01 -9.45471720e-01 -3.48659311e-03 3.62662622e+02] [ 9.45414715e-01 3.25704191e-01 -1.03825531e-02 3.32361802e+02] [ 1.09520083e-02 8.51709743e-05 9.99940021e-01 2.19331611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.610385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:362.67, Y:332.39, Z:21.93 [[ 3.26803874e-01 -9.45085726e-01 -3.49275710e-03 3.62672099e+02] [ 9.45028721e-01 3.26822525e-01 -1.03804977e-02 3.32386999e+02] [ 1.09519719e-02 9.16310905e-05 9.99940021e-01 2.19348374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.640385723 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:362.68, Y:332.41, Z:21.94 [[ 3.28244423e-01 -9.44586479e-01 -3.46148015e-03 3.62684409e+02] [ 9.44529335e-01 3.28262644e-01 -1.03909169e-02 3.32412463e+02] [ 1.09513942e-02 1.41290977e-04 9.99940022e-01 2.19356157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.670385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.70, Y:332.44, Z:21.94 [[ 3.28760181e-01 -9.44407106e-01 -3.45861549e-03 3.62695243e+02] [ 9.44349942e-01 3.28778339e-01 -1.03918703e-02 3.32438252e+02] [ 1.09512740e-02 1.50289831e-04 9.99940022e-01 2.19368060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.700385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:362.71, Y:332.47, Z:21.94 [[ 3.29403669e-01 -9.44182864e-01 -3.45572289e-03 3.62708448e+02] [ 9.44125678e-01 3.29421756e-01 -1.03928321e-02 3.32466013e+02] [ 1.09511243e-02 1.60800308e-04 9.99940022e-01 2.19373117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.730385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.72, Y:332.49, Z:21.94 [[ 3.30131214e-01 -9.43928549e-01 -3.50384514e-03 3.62719926e+02] [ 9.43871517e-01 3.30149786e-01 -1.03768338e-02 3.32489842e+02] [ 1.09517834e-02 1.18537108e-04 9.99940020e-01 2.19382365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.760385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.73, Y:332.52, Z:21.94 [[ 3.30209142e-01 -9.43901482e-01 -3.45188392e-03 3.62730125e+02] [ 9.43844267e-01 3.30227138e-01 -1.03940902e-02 3.32515822e+02] [ 1.09509029e-02 1.74182743e-04 9.99940022e-01 2.19384813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.790385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.74, Y:332.54, Z:21.94 [[ 3.30323022e-01 -9.43861645e-01 -3.44899315e-03 3.62741014e+02] [ 9.43804419e-01 3.30340979e-01 -1.03950493e-02 3.32540474e+02] [ 1.09508321e-02 1.78549126e-04 9.99940022e-01 2.19380087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.820385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.75, Y:332.57, Z:21.94 [[ 3.29915552e-01 -9.44004156e-01 -3.44703102e-03 3.62751458e+02] [ 9.43946930e-01 3.29933513e-01 -1.03956999e-02 3.32566280e+02] [ 1.09508750e-02 1.75888730e-04 9.99940022e-01 2.19386121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.850385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.76, Y:332.59, Z:21.94 [[ 3.29284607e-01 -9.44224436e-01 -3.44415057e-03 3.62762655e+02] [ 9.44167212e-01 3.29302574e-01 -1.03966541e-02 3.32592674e+02] [ 1.09509425e-02 1.71604132e-04 9.99940022e-01 2.19396209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.880385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.78, Y:332.62, Z:21.94 [[ 3.27949774e-01 -9.44688892e-01 -3.44123195e-03 3.62776009e+02] [ 9.44631684e-01 3.27967790e-01 -1.03976201e-02 3.32617254e+02] [ 1.09511294e-02 1.59200430e-04 9.99940022e-01 2.19405673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.910385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.79, Y:332.64, Z:21.94 [[ 3.27006461e-01 -9.45015847e-01 -3.43861706e-03 3.62786605e+02] [ 9.44958647e-01 3.27024505e-01 -1.03984848e-02 3.32643180e+02] [ 1.09512449e-02 1.51020789e-04 9.99940022e-01 2.19406871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.940385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.80, Y:332.67, Z:21.94 [[ 3.25949789e-01 -9.45380839e-01 -3.43574344e-03 3.62796355e+02] [ 9.45323650e-01 3.25967865e-01 -1.03994342e-02 3.32668455e+02] [ 1.09513678e-02 1.41803839e-04 9.99940022e-01 2.19401746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.9703857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.81, Y:332.69, Z:21.94 [[ 3.24667824e-01 -9.45821876e-01 -3.43271131e-03 3.62807920e+02] [ 9.45764700e-01 3.24685945e-01 -1.04004349e-02 3.32693949e+02] [ 1.09515120e-02 1.30149401e-04 9.99940022e-01 2.19389947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.000385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.82, Y:332.72, Z:21.94 [[ 3.23817917e-01 -9.46113203e-01 -3.42985362e-03 3.62818491e+02] [ 9.46056034e-01 3.23836058e-01 -1.04013773e-02 3.32720374e+02] [ 1.09515906e-02 1.23318613e-04 9.99940022e-01 2.19387258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.030385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:362.83, Y:332.75, Z:21.94 [[ 3.22473405e-01 -9.46572321e-01 -3.42698746e-03 3.62828582e+02] [ 9.46515168e-01 3.22491596e-01 -1.04023215e-02 3.32746313e+02] [ 1.09517243e-02 1.10776430e-04 9.99940022e-01 2.19381217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.060385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:362.84, Y:332.77, Z:21.94 [[ 3.19326836e-01 -9.47638458e-01 -3.42411482e-03 3.62840947e+02] [ 9.47581355e-01 3.19345185e-01 -1.04032670e-02 3.32771420e+02] [ 1.09520105e-02 7.74149712e-05 9.99940022e-01 2.19382483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.0903857229999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:362.85, Y:332.80, Z:21.94 [[ 3.16539326e-01 -9.48573218e-01 -3.42126311e-03 3.62852006e+02] [ 9.48516160e-01 3.16557810e-01 -1.04042047e-02 3.32797382e+02] [ 1.09521775e-02 4.82166011e-05 9.99940022e-01 2.19375019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.120385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.86, Y:332.82, Z:21.94 [[ 3.12786621e-01 -9.49817181e-01 -3.44285132e-03 3.62864814e+02] [ 9.49760274e-01 3.12805567e-01 -1.03971117e-02 3.32821463e+02] [ 1.09522984e-02 -1.78059769e-05 9.99940022e-01 2.19411558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.150385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.88, Y:332.85, Z:21.94 [[ 3.10954802e-01 -9.50418565e-01 -3.41517919e-03 3.62875013e+02] [ 9.50361594e-01 3.10973555e-01 -1.04061934e-02 3.32847201e+02] [ 1.09522698e-02 -9.79934416e-06 9.99940022e-01 2.19416074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.180385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.88, Y:332.87, Z:21.94 [[ 3.08960098e-01 -9.51068880e-01 -3.41229719e-03 3.62884945e+02] [ 9.51011938e-01 3.08978940e-01 -1.04071383e-02 3.32873117e+02] [ 1.09522333e-02 -2.97448890e-05 9.99940022e-01 2.19419564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.210385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.90, Y:332.90, Z:21.94 [[ 3.06347249e-01 -9.51913725e-01 -3.40942770e-03 3.62897440e+02] [ 9.51856824e-01 3.06366215e-01 -1.04080783e-02 3.32898015e+02] [ 1.09521260e-02 -5.68008811e-05 9.99940022e-01 2.19421654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.240385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.91, Y:332.92, Z:21.94 [[ 3.05585935e-01 -9.52158407e-01 -3.40640023e-03 3.62907258e+02] [ 9.52101511e-01 3.05604914e-01 -1.04090690e-02 3.32923923e+02] [ 1.09520952e-02 -6.23737152e-05 9.99940022e-01 2.19424423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.270385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.92, Y:332.95, Z:21.94 [[ 3.04651732e-01 -9.52457733e-01 -3.40415100e-03 3.62919453e+02] [ 9.52400848e-01 3.04670742e-01 -1.04098046e-02 3.32951828e+02] [ 1.09520441e-02 -7.07513086e-05 9.99940022e-01 2.19432030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.300385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.93, Y:332.98, Z:21.94 [[ 3.04260538e-01 -9.52582599e-01 -3.45213202e-03 3.62928280e+02] [ 9.52525898e-01 3.04280095e-01 -1.03941229e-02 3.32976129e+02] [ 1.09516756e-02 -1.25723737e-04 9.99940021e-01 2.19433113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.330385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.94, Y:333.00, Z:21.94 [[ 3.04302904e-01 -9.52569257e-01 -3.39914783e-03 3.62938967e+02] [ 9.52512360e-01 3.04321880e-01 -1.04114213e-02 3.33001683e+02] [ 1.09520349e-02 -6.95045864e-05 9.99940022e-01 2.19440733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.360385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.95, Y:333.03, Z:21.94 [[ 3.04381336e-01 -9.52544207e-01 -3.39633142e-03 3.62949618e+02] [ 9.52487299e-01 3.04400277e-01 -1.04123400e-02 3.33026877e+02] [ 1.09520583e-02 -6.56405912e-05 9.99940022e-01 2.19444018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.390385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.96, Y:333.05, Z:21.94 [[ 3.04267419e-01 -9.52580613e-01 -3.39334179e-03 3.62958797e+02] [ 9.52523695e-01 3.04286333e-01 -1.04133142e-02 3.33053728e+02] [ 1.09520687e-02 -6.38062367e-05 9.99940022e-01 2.19445620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.420385723 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:362.97, Y:333.08, Z:21.94 [[ 3.04221832e-01 -9.52595182e-01 -3.39052983e-03 3.62969078e+02] [ 9.52538256e-01 3.04240719e-01 -1.04142297e-02 3.33078472e+02] [ 1.09520822e-02 -6.13733423e-05 9.99940022e-01 2.19441291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.450385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.98, Y:333.10, Z:21.95 [[ 3.04218613e-01 -9.52596218e-01 -3.38847663e-03 3.62979123e+02] [ 9.52539284e-01 3.04237478e-01 -1.04148977e-02 3.33103673e+02] [ 1.09520937e-02 -5.92513742e-05 9.99940022e-01 2.19450019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.480385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.99, Y:333.13, Z:21.95 [[ 3.04009588e-01 -9.52662953e-01 -3.38649025e-03 3.62989396e+02] [ 9.52606016e-01 3.04028443e-01 -1.04155435e-02 3.33130087e+02] [ 1.09520918e-02 -5.95658884e-05 9.99940022e-01 2.19470056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.510385723 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:363.00, Y:333.16, Z:21.95 [[ 3.03994551e-01 -9.52667761e-01 -3.38388152e-03 3.63000464e+02] [ 9.52610815e-01 3.04013379e-01 -1.04163910e-02 3.33156079e+02] [ 1.09521051e-02 -5.69960274e-05 9.99940022e-01 2.19506880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.540385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.01, Y:333.18, Z:21.95 [[ 3.04005713e-01 -9.52664209e-01 -3.38096800e-03 3.63009741e+02] [ 9.52607252e-01 3.04024509e-01 -1.04173366e-02 3.33183065e+02] [ 1.09521209e-02 -5.38047946e-05 9.99940022e-01 2.19514074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.570385723 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:363.02, Y:333.21, Z:21.95 [[ 3.04046172e-01 -9.52651307e-01 -3.37810255e-03 3.63017751e+02] [ 9.52594340e-01 3.04064934e-01 -1.04182657e-02 3.33208482e+02] [ 1.09521370e-02 -5.03275637e-05 9.99940022e-01 2.19509686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.600385723 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:363.02, Y:333.24, Z:21.95 [[ 3.04486149e-01 -9.52510784e-01 -3.37508396e-03 3.63024883e+02] [ 9.52453797e-01 3.04504851e-01 -1.04192435e-02 3.33235905e+02] [ 1.09521712e-02 -4.20961979e-05 9.99940022e-01 2.19507407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.630385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:363.03, Y:333.26, Z:21.95 [[ 3.04797413e-01 -9.52411237e-01 -3.37223972e-03 3.63032733e+02] [ 9.52354234e-01 3.04816066e-01 -1.04201640e-02 3.33263080e+02] [ 1.09521941e-02 -3.55277487e-05 9.99940022e-01 2.19505491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.660385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.04, Y:333.29, Z:21.95 [[ 3.04382568e-01 -9.52543909e-01 -3.36940465e-03 3.63041537e+02] [ 9.52486904e-01 3.04401214e-01 -1.04210806e-02 3.33289457e+02] [ 1.09521877e-02 -3.73185201e-05 9.99940022e-01 2.19518000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.690385723 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:363.05, Y:333.32, Z:21.95 [[ 3.03589661e-01 -9.52796927e-01 -3.36655452e-03 3.63050485e+02] [ 9.52739927e-01 3.03608324e-01 -1.04220013e-02 3.33315884e+02] [ 1.09521648e-02 -4.34390694e-05 9.99940022e-01 2.19526040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.7203857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.06, Y:333.34, Z:21.95 [[ 3.02194383e-01 -9.53240390e-01 -3.36370346e-03 3.63057900e+02] [ 9.53183407e-01 3.02213097e-01 -1.04229214e-02 3.33343112e+02] [ 1.09521049e-02 -5.64780318e-05 9.99940022e-01 2.19530108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.750385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.07, Y:333.37, Z:21.95 [[ 3.01644329e-01 -9.53414602e-01 -3.36079058e-03 3.63065473e+02] [ 9.53357619e-01 3.01663045e-01 -1.04238605e-02 3.33370434e+02] [ 1.09520872e-02 -5.97368871e-05 9.99940022e-01 2.19527007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.780385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.07, Y:333.40, Z:21.95 [[ 3.01059723e-01 -9.53599375e-01 -3.35788202e-03 3.63072210e+02] [ 9.53542393e-01 3.01078442e-01 -1.04247974e-02 3.33396273e+02] [ 1.09520662e-02 -6.33962446e-05 9.99940022e-01 2.19525877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.810385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.08, Y:333.42, Z:21.95 [[ 3.00766156e-01 -9.53692018e-01 -3.35481919e-03 3.63078381e+02] [ 9.53635031e-01 3.00784859e-01 -1.04257830e-02 3.33423448e+02] [ 1.09520648e-02 -6.35504387e-05 9.99940022e-01 2.19518277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.8403857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.09, Y:333.45, Z:21.95 [[ 3.00090336e-01 -9.53904898e-01 -3.35211180e-03 3.63085784e+02] [ 9.53847914e-01 3.00109049e-01 -1.04266534e-02 3.33450731e+02] [ 1.09520348e-02 -6.84669415e-05 9.99940022e-01 2.19516233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.870385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.09, Y:333.48, Z:21.95 [[ 2.99826529e-01 -9.53987859e-01 -3.34919717e-03 3.63094472e+02] [ 9.53930871e-01 2.99845226e-01 -1.04275895e-02 3.33477976e+02] [ 1.09520346e-02 -6.84346024e-05 9.99940022e-01 2.19519352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.900385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.10, Y:333.51, Z:21.95 [[ 2.98844486e-01 -9.54295958e-01 -3.34631306e-03 3.63102433e+02] [ 9.54238978e-01 2.98863211e-01 -1.04285150e-02 3.33506543e+02] [ 1.09519795e-02 -7.66781607e-05 9.99940022e-01 2.19513331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.930385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.11, Y:333.53, Z:21.95 [[ 2.98483975e-01 -9.54408683e-01 -3.37377302e-03 3.63109157e+02] [ 9.54351810e-01 2.98503021e-01 -1.04197068e-02 3.33532604e+02] [ 1.09517401e-02 -1.09650872e-04 9.99940022e-01 2.19517336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.960385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.12, Y:333.56, Z:21.95 [[ 2.97308569e-01 -9.54775599e-01 -3.34217281e-03 3.63115252e+02] [ 9.54718635e-01 2.97327340e-01 -1.04298329e-02 3.33558860e+02] [ 1.09518693e-02 -8.99559535e-05 9.99940022e-01 2.19504756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.990385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:363.12, Y:333.59, Z:21.95 [[ 2.96492236e-01 -9.55029426e-01 -3.33917912e-03 3.63123237e+02] [ 9.54972466e-01 2.96511023e-01 -1.04307913e-02 3.33585782e+02] [ 1.09518160e-02 -9.61754834e-05 9.99940022e-01 2.19508072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.020385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.13, Y:333.61, Z:21.95 [[ 2.95021523e-01 -9.55484783e-01 -3.33636408e-03 3.63130373e+02] [ 9.55427842e-01 2.95040367e-01 -1.04316916e-02 3.33612076e+02] [ 1.09516847e-02 -1.10081589e-04 9.99940022e-01 2.19511817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.050385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.14, Y:333.64, Z:21.95 [[ 2.94175546e-01 -9.55745592e-01 -3.33339715e-03 3.63138086e+02] [ 9.55688658e-01 2.94194408e-01 -1.04326396e-02 3.33638994e+02] [ 1.09516161e-02 -1.16662400e-04 9.99940022e-01 2.19523778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.080385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.14, Y:333.67, Z:21.95 [[ 2.91950825e-01 -9.56427532e-01 -3.33056904e-03 3.63144903e+02] [ 9.56370631e-01 2.91969789e-01 -1.04335424e-02 3.33666694e+02] [ 1.09513527e-02 -1.39177104e-04 9.99940022e-01 2.19526841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.110385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.15, Y:333.69, Z:21.95 [[ 2.90797201e-01 -9.56778926e-01 -3.32774002e-03 3.63152207e+02] [ 9.56722038e-01 2.90816202e-01 -1.04344446e-02 3.33693521e+02] [ 1.09512174e-02 -1.49414922e-04 9.99940022e-01 2.19531663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.140385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.16, Y:333.72, Z:21.95 [[ 2.89722851e-01 -9.57104809e-01 -3.32489095e-03 3.63159583e+02] [ 9.57047932e-01 2.89741885e-01 -1.04353524e-02 3.33720030e+02] [ 1.09510861e-02 -1.58719963e-04 9.99940022e-01 2.19537711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.170385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.16, Y:333.75, Z:21.95 [[ 2.86247470e-01 -9.58149963e-01 -3.32188066e-03 3.63164577e+02] [ 9.58093144e-01 2.86266677e-01 -1.04363106e-02 3.33746905e+02] [ 1.09504943e-02 -1.95303598e-04 9.99940022e-01 2.19546400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.200385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:363.17, Y:333.77, Z:21.96 [[ 2.86923693e-01 -9.57947885e-01 -3.26262142e-03 3.63174829e+02] [ 9.57890837e-01 2.86942215e-01 -1.04551488e-02 3.33774476e+02] [ 1.09516715e-02 -1.25405253e-04 9.99940021e-01 2.19561539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.230385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.18, Y:333.80, Z:21.96 [[ 2.85818224e-01 -9.58278108e-01 -3.31833780e-03 3.63180811e+02] [ 9.58221285e-01 2.85837418e-01 -1.04374351e-02 3.33801677e+02] [ 1.09504707e-02 -1.96492739e-04 9.99940023e-01 2.19569125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.260385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.19, Y:333.83, Z:21.96 [[ 2.83707024e-01 -9.58905278e-01 -3.31546991e-03 3.63185831e+02] [ 9.58848487e-01 2.83726313e-01 -1.04383460e-02 3.33828205e+02] [ 1.09500712e-02 -2.17601215e-04 9.99940023e-01 2.19565481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.290385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:363.20, Y:333.86, Z:21.96 [[ 2.85379676e-01 -9.58408959e-01 -3.27242474e-03 3.63195694e+02] [ 9.58351977e-01 2.85398396e-01 -1.04520030e-02 3.33855260e+02] [ 1.09512380e-02 -1.53345501e-04 9.99940022e-01 2.19564271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.320385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.20, Y:333.88, Z:21.95 [[ 2.85471235e-01 -9.58381556e-01 -3.31170919e-03 3.63201204e+02] [ 9.58324715e-01 2.85490378e-01 -1.04395409e-02 3.33881555e+02] [ 1.09505245e-02 -1.93504147e-04 9.99940023e-01 2.19549018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.350385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.21, Y:333.91, Z:21.96 [[ 2.85423368e-01 -9.58395823e-01 -3.30878296e-03 3.63208173e+02] [ 9.58338973e-01 2.85442482e-01 -1.04404682e-02 3.33908814e+02] [ 1.09505684e-02 -1.90982055e-04 9.99940023e-01 2.19561999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.380385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.21, Y:333.94, Z:21.96 [[ 2.85762595e-01 -9.58294741e-01 -3.30590978e-03 3.63214100e+02] [ 9.58237873e-01 2.85781657e-01 -1.04413779e-02 3.33936308e+02] [ 1.09506859e-02 -1.84092705e-04 9.99940023e-01 2.19566944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.410385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.22, Y:333.96, Z:21.96 [[ 2.82931978e-01 -9.59134290e-01 -3.30305647e-03 3.63217684e+02] [ 9.59077468e-01 2.82951178e-01 -1.04422805e-02 3.33961816e+02] [ 1.09501530e-02 -2.13431957e-04 9.99940023e-01 2.19567833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.440385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.23, Y:333.99, Z:21.96 [[ 2.86026871e-01 -9.58216180e-01 -3.22216303e-03 3.63229589e+02] [ 9.58159006e-01 2.86045004e-01 -1.04678156e-02 3.33989122e+02] [ 1.09521139e-02 -9.32679745e-05 9.99940019e-01 2.19576962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.4703857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.24, Y:334.02, Z:21.96 [[ 2.85587563e-01 -9.58346957e-01 -3.29469323e-03 3.63237257e+02] [ 9.58290052e-01 2.85606513e-01 -1.04449125e-02 3.34016633e+02] [ 1.09508360e-02 -1.74334640e-04 9.99940023e-01 2.19605170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.500385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.24, Y:334.04, Z:21.96 [[ 2.85189073e-01 -9.58465616e-01 -3.29485593e-03 3.63244220e+02] [ 9.58408719e-01 2.85208049e-01 -1.04448612e-02 3.34042402e+02] [ 1.09507597e-02 -1.79058368e-04 9.99940023e-01 2.19602975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.530385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.25, Y:334.07, Z:21.96 [[ 2.85139954e-01 -9.58480239e-01 -3.29223288e-03 3.63250360e+02] [ 9.58423334e-01 2.85158905e-01 -1.04456879e-02 3.34069719e+02] [ 1.09507950e-02 -1.76869838e-04 9.99940023e-01 2.19620421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.560385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.26, Y:334.10, Z:21.96 [[ 2.84949089e-01 -9.58537009e-01 -3.28937703e-03 3.63257616e+02] [ 9.58480097e-01 2.84968019e-01 -1.04465872e-02 3.34096912e+02] [ 1.09508077e-02 -1.76056926e-04 9.99940023e-01 2.19622464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.5903857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.26, Y:334.12, Z:21.96 [[ 2.84619657e-01 -9.58634889e-01 -3.28653644e-03 3.63264789e+02] [ 9.58577973e-01 2.84638576e-01 -1.04474807e-02 3.34122890e+02] [ 1.09507946e-02 -1.76843058e-04 9.99940023e-01 2.19617869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.620385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:363.27, Y:334.15, Z:21.96 [[ 2.82304743e-01 -9.59319160e-01 -3.28354059e-03 3.63269685e+02] [ 9.59262280e-01 2.82323767e-01 -1.04484222e-02 3.34149619e+02] [ 1.09503932e-02 -2.00137484e-04 9.99940023e-01 2.19610755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.650385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:363.28, Y:334.18, Z:21.96 [[ 2.84096612e-01 -9.58790178e-01 -3.24170673e-03 3.63279506e+02] [ 9.58733112e-01 2.84115074e-01 -1.04615529e-02 3.34176399e+02] [ 1.09514519e-02 -1.35839857e-04 9.99940022e-01 2.19624848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.680385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.29, Y:334.20, Z:21.96 [[ 2.84421848e-01 -9.58693620e-01 -3.27968246e-03 3.63286794e+02] [ 9.58636683e-01 2.84440705e-01 -1.04496339e-02 3.34203502e+02] [ 1.09508726e-02 -1.71919721e-04 9.99940023e-01 2.19632723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.710385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.29, Y:334.23, Z:21.96 [[ 2.84570925e-01 -9.58649389e-01 -3.27684841e-03 3.63294422e+02] [ 9.58592440e-01 2.84589742e-01 -1.04505226e-02 3.34229937e+02] [ 1.09509445e-02 -1.67247231e-04 9.99940023e-01 2.19632700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.740385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:363.30, Y:334.26, Z:21.96 [[ 2.84629197e-01 -9.58632100e-01 -3.27386012e-03 3.63301999e+02] [ 9.58575138e-01 2.84647978e-01 -1.04514587e-02 3.34256789e+02] [ 1.09510014e-02 -1.63450639e-04 9.99940023e-01 2.19632558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.770385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.31, Y:334.28, Z:21.96 [[ 2.83490437e-01 -9.58969485e-01 -3.27101655e-03 3.63309027e+02] [ 9.58912536e-01 2.83509254e-01 -1.04523485e-02 3.34284340e+02] [ 1.09508468e-02 -1.73477918e-04 9.99940023e-01 2.19625209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.800385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.32, Y:334.31, Z:21.96 [[ 2.83197246e-01 -9.59056115e-01 -3.26914824e-03 3.63316877e+02] [ 9.58999165e-01 2.83216061e-01 -1.04529326e-02 3.34311332e+02] [ 1.09508242e-02 -1.74868704e-04 9.99940023e-01 2.19627042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.830385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.32, Y:334.34, Z:21.96 [[ 2.84352573e-01 -9.58714246e-01 -3.25698662e-03 3.63323180e+02] [ 9.58657230e-01 2.84371187e-01 -1.04567320e-02 3.34338263e+02] [ 1.09512111e-02 -1.48935112e-04 9.99940023e-01 2.19621877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.860385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.33, Y:334.37, Z:21.96 [[ 2.84437718e-01 -9.58688964e-01 -3.26417830e-03 3.63330300e+02] [ 9.58631972e-01 2.84456404e-01 -1.04544866e-02 3.34365737e+02] [ 1.09511173e-02 -1.55495374e-04 9.99940023e-01 2.19621980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.890385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:363.34, Y:334.39, Z:21.96 [[ 2.84332455e-01 -9.58720199e-01 -3.26132445e-03 3.63338044e+02] [ 9.58663198e-01 2.84351116e-01 -1.04553768e-02 3.34392572e+02] [ 1.09511421e-02 -1.53708785e-04 9.99940023e-01 2.19619324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.920385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:363.35, Y:334.42, Z:21.96 [[ 2.84147035e-01 -9.58775180e-01 -3.25844167e-03 3.63346750e+02] [ 9.58718173e-01 2.84165676e-01 -1.04562751e-02 3.34418827e+02] [ 1.09511543e-02 -1.52807674e-04 9.99940023e-01 2.19632817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.950385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.36, Y:334.45, Z:21.96 [[ 2.84056178e-01 -9.58802112e-01 -3.25555730e-03 3.63356156e+02] [ 9.58745096e-01 2.84074793e-01 -1.04571731e-02 3.34448309e+02] [ 1.09511814e-02 -1.50824981e-04 9.99940023e-01 2.19632026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.980385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:363.36, Y:334.47, Z:21.96 [[ 2.83150269e-01 -9.59069785e-01 -3.32754004e-03 3.63361103e+02] [ 9.59013047e-01 2.83169722e-01 -1.04347629e-02 3.34472475e+02] [ 1.09499244e-02 -2.36548395e-04 9.99940020e-01 2.19642370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.010385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.37, Y:334.50, Z:21.96 [[ 2.83126598e-01 -9.59077039e-01 -3.24998530e-03 3.63370783e+02] [ 9.59020022e-01 2.83145208e-01 -1.04588623e-02 3.34501060e+02] [ 1.09510724e-02 -1.55618883e-04 9.99940023e-01 2.19627789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.040385723 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:363.38, Y:334.53, Z:21.96 [[ 2.82720268e-01 -9.59196688e-01 -3.31130442e-03 3.63376344e+02] [ 9.59139899e-01 2.82739570e-01 -1.04398034e-02 3.34525286e+02] [ 1.09500617e-02 -2.24460157e-04 9.99940021e-01 2.19645996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.070385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.39, Y:334.55, Z:21.96 [[ 2.85185990e-01 -9.58466701e-01 -3.24560127e-03 3.63386454e+02] [ 9.58409630e-01 2.85204429e-01 -1.04601899e-02 3.34552729e+02] [ 1.09514036e-02 -1.27515886e-04 9.99940023e-01 2.19619805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.100385723 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:363.39, Y:334.58, Z:21.96 [[ 2.84833764e-01 -9.58571162e-01 -3.32473752e-03 3.63391991e+02] [ 9.58514380e-01 2.84853087e-01 -1.04356354e-02 3.34577830e+02] [ 1.09503609e-02 -2.14387409e-04 9.99940020e-01 2.19619266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.130385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.40, Y:334.60, Z:21.96 [[ 2.89589036e-01 -9.57145553e-01 -3.25283172e-03 3.63399531e+02] [ 9.57088423e-01 2.89607292e-01 -1.04578852e-02 3.34604140e+02] [ 1.09517621e-02 -8.47586890e-05 9.99940024e-01 2.19638396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.160385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.41, Y:334.63, Z:21.96 [[ 2.91609627e-01 -9.56531946e-01 -3.23441348e-03 3.63407131e+02] [ 9.56474714e-01 2.91627561e-01 -1.04635785e-02 3.34630029e+02] [ 1.09519912e-02 -4.23544931e-05 9.99940024e-01 2.19642916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.190385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:363.41, Y:334.66, Z:21.96 [[ 2.92497204e-01 -9.56260959e-01 -3.21928716e-03 3.63414722e+02] [ 9.56203659e-01 2.92514919e-01 -1.04682485e-02 3.34657129e+02] [ 1.09520669e-02 -1.63607448e-05 9.99940024e-01 2.19634972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.2203857229999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:363.42, Y:334.68, Z:21.96 [[ 2.94677603e-01 -9.55591276e-01 -3.22859280e-03 3.63422216e+02] [ 9.55533967e-01 2.94695290e-01 -1.04653777e-02 3.34683765e+02] [ 1.09520747e-02 -1.11766404e-06 9.99940024e-01 2.19649980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.250385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:363.43, Y:334.71, Z:21.97 [[ 2.95185833e-01 -9.55434414e-01 -3.22575448e-03 3.63430755e+02] [ 9.55377086e-01 2.95203457e-01 -1.04662525e-02 3.34710661e+02] [ 1.09520717e-02 7.67754376e-06 9.99940024e-01 2.19656349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.280385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.44, Y:334.74, Z:21.97 [[ 2.95191286e-01 -9.55432738e-01 -3.22292757e-03 3.63440125e+02] [ 9.55375401e-01 2.95208879e-01 -1.04671229e-02 3.34736600e+02] [ 1.09520688e-02 1.06977574e-05 9.99940024e-01 2.19664834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.310385723 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:363.45, Y:334.76, Z:21.97 [[ 2.94367611e-01 -9.55686843e-01 -3.21994531e-03 3.63448925e+02] [ 9.55629511e-01 2.94385221e-01 -1.04680403e-02 3.34763310e+02] [ 1.09520727e-02 4.37724247e-06 9.99940024e-01 2.19677609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.3403857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.46, Y:334.79, Z:21.97 [[ 2.92096142e-01 -9.56383550e-01 -3.21703926e-03 3.63458238e+02] [ 9.56326250e-01 2.92113857e-01 -1.04689333e-02 3.34789957e+02] [ 1.09520573e-02 -1.86040711e-05 9.99940024e-01 2.19693465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.370385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:363.47, Y:334.82, Z:21.97 [[ 2.90791069e-01 -9.56781178e-01 -3.21414065e-03 3.63466911e+02] [ 9.56723893e-01 2.90808830e-01 -1.04698231e-02 3.34816717e+02] [ 1.09520302e-02 -3.05140916e-05 9.99940024e-01 2.19696629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.400385723 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:363.48, Y:334.84, Z:21.97 [[ 2.88831019e-01 -9.57374707e-01 -3.21122812e-03 3.63475624e+02] [ 9.57317448e-01 2.88848866e-01 -1.04707164e-02 3.34843679e+02] [ 1.09519586e-02 -4.98970314e-05 9.99940024e-01 2.19687068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.430385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:363.48, Y:334.87, Z:21.97 [[ 2.88045998e-01 -9.57611200e-01 -3.20833526e-03 3.63483865e+02] [ 9.57553945e-01 2.88063860e-01 -1.04716027e-02 3.34870110e+02] [ 1.09519294e-02 -5.58508412e-05 9.99940024e-01 2.19687040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.460385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:363.49, Y:334.90, Z:21.97 [[ 2.87206268e-01 -9.57863396e-01 -3.20545560e-03 3.63492280e+02] [ 9.57806147e-01 2.87224149e-01 -1.04724841e-02 3.34896159e+02] [ 1.09518934e-02 -6.24419970e-05 9.99940024e-01 2.19686153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.490385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:363.50, Y:334.92, Z:21.97 [[ 2.84957987e-01 -9.58534655e-01 -3.20335437e-03 3.63502618e+02] [ 9.58477441e-01 2.84975979e-01 -1.04731268e-02 3.34922578e+02] [ 1.09517340e-02 -8.59417682e-05 9.99940024e-01 2.19695320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.520385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.51, Y:334.95, Z:21.97 [[ 2.83716287e-01 -9.58902928e-01 -3.20053289e-03 3.63511959e+02] [ 9.58845728e-01 2.83734322e-01 -1.04739889e-02 3.34947775e+02] [ 1.09516397e-02 -9.71760338e-05 9.99940024e-01 2.19702899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.550385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.52, Y:334.97, Z:21.97 [[ 2.82154098e-01 -9.59363766e-01 -3.19847565e-03 3.63522120e+02] [ 9.59306588e-01 2.82172204e-01 -1.04746171e-02 3.34974512e+02] [ 1.09514891e-02 -1.12862615e-04 9.99940024e-01 2.19704311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.580385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.53, Y:335.00, Z:21.97 [[ 2.81665025e-01 -9.59507479e-01 -3.19568025e-03 3.63530435e+02] [ 9.59450301e-01 2.81683129e-01 -1.04754699e-02 3.35001831e+02] [ 1.09514609e-02 -1.15522891e-04 9.99940024e-01 2.19703633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.610385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.54, Y:335.03, Z:21.97 [[ 2.82210408e-01 -9.59347221e-01 -3.19288106e-03 3.63540109e+02] [ 9.59290024e-01 2.82228449e-01 -1.04763230e-02 3.35028164e+02] [ 1.09515533e-02 -1.06371557e-04 9.99940024e-01 2.19712763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.640385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:363.55, Y:335.05, Z:21.97 [[ 2.82223878e-01 -9.59343268e-01 -3.19010097e-03 3.63548904e+02] [ 9.59286060e-01 2.82241888e-01 -1.04771695e-02 3.35054117e+02] [ 1.09515822e-02 -1.03311991e-04 9.99940024e-01 2.19712145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.670385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.56, Y:335.08, Z:21.97 [[ 2.82253019e-01 -9.59334705e-01 -3.18716912e-03 3.63557603e+02] [ 9.59277486e-01 2.82270995e-01 -1.04780613e-02 3.35080563e+02] [ 1.09516132e-02 -9.99151520e-05 9.99940024e-01 2.19710950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.700385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.57, Y:335.11, Z:21.97 [[ 2.82377327e-01 -9.59298131e-01 -3.18446731e-03 3.63566993e+02] [ 9.59240901e-01 2.82395267e-01 -1.04788824e-02 3.35107420e+02] [ 1.09516508e-02 -9.56724955e-05 9.99940024e-01 2.19703827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.730385723 meters Centerline goodness : 0.999231 Centerline is valid? [True, True] Translation: X:363.58, Y:335.13, Z:21.97 [[ 2.81641628e-01 -9.59514393e-01 -3.18161965e-03 3.63576041e+02] [ 9.59457167e-01 2.81659580e-01 -1.04797469e-02 3.35133831e+02] [ 1.09516017e-02 -1.01094801e-04 9.99940024e-01 2.19689808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.760385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:363.59, Y:335.16, Z:21.97 [[ 2.81196010e-01 -9.59645026e-01 -3.19825993e-03 3.63585702e+02] [ 9.59587865e-01 2.81214170e-01 -1.04746997e-02 3.35157754e+02] [ 1.09513894e-02 -1.23567671e-04 9.99940024e-01 2.19707443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.790385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:363.59, Y:335.19, Z:21.97 [[ 2.80936838e-01 -9.59721009e-01 -3.17458519e-03 3.63593912e+02] [ 9.59663772e-01 2.80954756e-01 -1.04818699e-02 3.35185136e+02] [ 1.09515856e-02 -1.01791007e-04 9.99940024e-01 2.19710477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.820385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.60, Y:335.21, Z:21.97 [[ 2.80376147e-01 -9.59884970e-01 -3.17175407e-03 3.63602742e+02] [ 9.59827734e-01 2.80394067e-01 -1.04827265e-02 3.35212147e+02] [ 1.09515527e-02 -1.05231051e-04 9.99940024e-01 2.19715759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.850385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:363.61, Y:335.24, Z:21.97 [[ 2.79951772e-01 -9.60008835e-01 -3.16888710e-03 3.63611481e+02] [ 9.59951597e-01 2.79969686e-01 -1.04835931e-02 3.35239220e+02] [ 1.09515343e-02 -1.07077756e-04 9.99940024e-01 2.19717821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.880385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.62, Y:335.27, Z:21.97 [[ 2.79638685e-01 -9.60100090e-01 -3.16601989e-03 3.63620542e+02] [ 9.60042848e-01 2.79656587e-01 -1.04844589e-02 3.35265969e+02] [ 1.09515283e-02 -1.07654437e-04 9.99940024e-01 2.19728344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.910385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:363.63, Y:335.29, Z:21.97 [[ 2.79927645e-01 -9.60015890e-01 -3.16311487e-03 3.63629415e+02] [ 9.59958633e-01 2.79945497e-01 -1.04853353e-02 3.35292010e+02] [ 1.09515883e-02 -1.01324213e-04 9.99940024e-01 2.19730152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.940385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.64, Y:335.32, Z:21.97 [[ 2.81027703e-01 -9.59694454e-01 -3.16004642e-03 3.63639164e+02] [ 9.59637166e-01 2.81045456e-01 -1.04862600e-02 3.35318627e+02] [ 1.09517222e-02 -8.55684360e-05 9.99940024e-01 2.19736275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.9703857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.65, Y:335.34, Z:21.97 [[ 2.81225562e-01 -9.59636502e-01 -3.15712999e-03 3.63646897e+02] [ 9.59579201e-01 2.81243271e-01 -1.04871380e-02 3.35344342e+02] [ 1.09517620e-02 -8.02650138e-05 9.99940024e-01 2.19721944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.000385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.66, Y:335.37, Z:21.97 [[ 2.81366354e-01 -9.59595241e-01 -3.15405775e-03 3.63655141e+02] [ 9.59537927e-01 2.81384022e-01 -1.04880619e-02 3.35371078e+02] [ 1.09517957e-02 -7.54503005e-05 9.99940024e-01 2.19722423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.030385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:363.66, Y:335.40, Z:21.97 [[ 2.80782379e-01 -9.59766287e-01 -3.15118043e-03 3.63664175e+02] [ 9.59708974e-01 2.80800050e-01 -1.04889263e-02 3.35396558e+02] [ 1.09517695e-02 -7.91104508e-05 9.99940024e-01 2.19712099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.060385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.67, Y:335.42, Z:21.97 [[ 2.80312101e-01 -9.59903753e-01 -3.14814363e-03 3.63674758e+02] [ 9.59846438e-01 2.80329767e-01 -1.04898377e-02 3.35424170e+02] [ 1.09517529e-02 -8.13060141e-05 9.99940024e-01 2.19721843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.0903857229999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:363.68, Y:335.45, Z:21.97 [[ 2.79370483e-01 -9.60178140e-01 -3.17380155e-03 3.63684399e+02] [ 9.60120929e-01 2.79388485e-01 -1.04821413e-02 3.35448686e+02] [ 1.09514466e-02 -1.18832408e-04 9.99940024e-01 2.19719691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.120385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.69, Y:335.47, Z:21.97 [[ 2.78904006e-01 -9.60313841e-01 -3.14369899e-03 3.63693492e+02] [ 9.60256537e-01 2.78921708e-01 -1.04911616e-02 3.35474809e+02] [ 1.09516536e-02 -9.27304995e-05 9.99940025e-01 2.19733050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.150385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.70, Y:335.50, Z:21.97 [[ 2.78595224e-01 -9.60403476e-01 -3.14078512e-03 3.63702750e+02] [ 9.60346168e-01 2.78612912e-01 -1.04920339e-02 3.35501325e+02] [ 1.09516491e-02 -9.32104146e-05 9.99940025e-01 2.19738538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.180385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.71, Y:335.53, Z:21.97 [[ 2.79032186e-01 -9.60276623e-01 -3.13788773e-03 3.63713268e+02] [ 9.60219297e-01 2.79049816e-01 -1.04929004e-02 3.35527921e+02] [ 1.09517139e-02 -8.52034279e-05 9.99940025e-01 2.19733641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.210385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.72, Y:335.55, Z:21.97 [[ 2.79365358e-01 -9.60179759e-01 -3.13501596e-03 3.63722154e+02] [ 9.60122417e-01 2.79382936e-01 -1.04937583e-02 3.35554351e+02] [ 1.09517643e-02 -7.84065641e-05 9.99940025e-01 2.19732788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.240385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.73, Y:335.58, Z:21.97 [[ 2.79689120e-01 -9.60085510e-01 -3.13210344e-03 3.63732175e+02] [ 9.60028153e-01 2.79706648e-01 -1.04946275e-02 3.35581034e+02] [ 1.09518100e-02 -7.16743460e-05 9.99940025e-01 2.19716821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.270385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:363.74, Y:335.61, Z:21.97 [[ 2.80865770e-01 -9.59741985e-01 -3.12107107e-03 3.63741695e+02] [ 9.59684570e-01 2.80883107e-01 -1.04979176e-02 3.35607403e+02] [ 1.09519485e-02 -4.67380284e-05 9.99940025e-01 2.19735705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.300385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.75, Y:335.64, Z:21.97 [[ 2.82291504e-01 -9.59323575e-01 -3.12810740e-03 3.63754403e+02] [ 9.59266157e-01 2.82308833e-01 -1.04958206e-02 3.35635924e+02] [ 1.09519805e-02 -3.78065885e-05 9.99940025e-01 2.19727882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.330385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.76, Y:335.66, Z:21.98 [[ 2.81415140e-01 -9.59580726e-01 -3.21701414e-03 3.63761443e+02] [ 9.59523623e-01 2.81433492e-01 -1.04693127e-02 3.35659440e+02] [ 1.09515262e-02 -1.40577973e-04 9.99940020e-01 2.19761218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.360385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.77, Y:335.68, Z:21.98 [[ 2.81393753e-01 -9.59587305e-01 -3.12397729e-03 3.63770252e+02] [ 9.59529891e-01 2.81411090e-01 -1.04970011e-02 3.35684519e+02] [ 1.09519108e-02 -4.37590509e-05 9.99940025e-01 2.19768831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.390385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.78, Y:335.71, Z:21.98 [[ 2.81493719e-01 -9.59557992e-01 -3.12207934e-03 3.63780260e+02] [ 9.59500569e-01 2.81511029e-01 -1.04975656e-02 3.35710495e+02] [ 1.09519227e-02 -4.06381417e-05 9.99940025e-01 2.19788302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.420385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.79, Y:335.74, Z:21.98 [[ 2.81657403e-01 -9.59509968e-01 -3.11922559e-03 3.63788561e+02] [ 9.59452533e-01 2.81674672e-01 -1.04984135e-02 3.35735829e+02] [ 1.09519392e-02 -3.57930236e-05 9.99940025e-01 2.19791313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.450385723 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:363.80, Y:335.76, Z:21.98 [[ 2.81776870e-01 -9.59474900e-01 -3.11621976e-03 3.63796731e+02] [ 9.59417454e-01 2.81794099e-01 -1.04993056e-02 3.35762316e+02] [ 1.09519525e-02 -3.12941569e-05 9.99940025e-01 2.19793798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.480385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.81, Y:335.79, Z:21.98 [[ 2.82369910e-01 -9.59300548e-01 -3.11339619e-03 3.63805205e+02] [ 9.59243081e-01 2.82387073e-01 -1.05001428e-02 3.35789292e+02] [ 1.09519756e-02 -2.15793737e-05 9.99940025e-01 2.19785696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.510385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:363.81, Y:335.82, Z:21.98 [[ 2.83068636e-01 -9.59094610e-01 -3.11058292e-03 3.63812951e+02] [ 9.59037122e-01 2.83085726e-01 -1.05009762e-02 3.35815777e+02] [ 1.09519913e-02 -1.06674871e-05 9.99940025e-01 2.19780688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.540385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.82, Y:335.84, Z:21.98 [[ 2.84797246e-01 -9.58582740e-01 -3.10778439e-03 3.63820886e+02] [ 9.58525212e-01 2.84814202e-01 -1.05018043e-02 3.35843096e+02] [ 1.09519895e-02 1.19952556e-05 9.99940025e-01 2.19781936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.570385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.83, Y:335.87, Z:21.98 [[ 2.85487132e-01 -9.58377513e-01 -3.10493421e-03 3.63828776e+02] [ 9.58319963e-01 2.85504015e-01 -1.05026469e-02 3.35870054e+02] [ 1.09519718e-02 2.28501046e-05 9.99940025e-01 2.19785495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.600385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:363.84, Y:335.90, Z:21.98 [[ 2.85798983e-01 -9.58284571e-01 -3.10204708e-03 3.63835638e+02] [ 9.58227006e-01 2.85815816e-01 -1.05034996e-02 3.35897128e+02] [ 1.09519557e-02 2.94242229e-05 9.99940025e-01 2.19793899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.630385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.84, Y:335.92, Z:21.98 [[ 2.85304912e-01 -9.58431793e-01 -3.09916930e-03 3.63843074e+02] [ 9.58374229e-01 2.85321743e-01 -1.05043486e-02 3.35924010e+02] [ 1.09519621e-02 2.67782822e-05 9.99940025e-01 2.19801234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.660385723 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:363.85, Y:335.95, Z:21.98 [[ 2.84833688e-01 -9.58571950e-01 -3.09630558e-03 3.63850542e+02] [ 9.58514384e-01 2.84850516e-01 -1.05051927e-02 3.35951297e+02] [ 1.09519673e-02 2.43793453e-05 9.99940025e-01 2.19806338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.690385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.86, Y:335.98, Z:21.98 [[ 2.83469254e-01 -9.58976336e-01 -3.09343927e-03 3.63857649e+02] [ 9.58918785e-01 2.83486132e-01 -1.05060367e-02 3.35978051e+02] [ 1.09519877e-02 1.17813485e-05 9.99940025e-01 2.19810761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.7203857229999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:363.87, Y:336.00, Z:21.98 [[ 2.82344184e-01 -9.59308193e-01 -3.09060395e-03 3.63866075e+02] [ 9.59250653e-01 2.82361099e-01 -1.05068707e-02 3.36004601e+02] [ 1.09519935e-02 1.88997235e-06 9.99940025e-01 2.19819256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.750385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.87, Y:336.03, Z:21.98 [[ 2.80083938e-01 -9.59970548e-01 -3.08779374e-03 3.63874095e+02] [ 9.59913039e-01 2.80100957e-01 -1.05076965e-02 3.36031344e+02] [ 1.09519731e-02 -2.09764677e-05 9.99940025e-01 2.19843561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.780385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.88, Y:336.06, Z:21.98 [[ 2.78610406e-01 -9.60399253e-01 -3.08492301e-03 3.63880936e+02] [ 9.60341760e-01 2.78627482e-01 -1.05085392e-02 3.36057635e+02] [ 1.09519376e-02 -3.47920145e-05 9.99940025e-01 2.19843571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.810385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.89, Y:336.09, Z:21.99 [[ 2.76855559e-01 -9.60906604e-01 -3.08190412e-03 3.63887946e+02] [ 9.60849133e-01 2.76872707e-01 -1.05094245e-02 3.36085065e+02] [ 1.09518706e-02 -5.16523021e-05 9.99940025e-01 2.19857355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.8403857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.90, Y:336.11, Z:21.99 [[ 2.73530069e-01 -9.61858525e-01 -3.07898409e-03 3.63895104e+02] [ 9.61801104e-01 2.73547384e-01 -1.05102799e-02 3.36111635e+02] [ 1.09516504e-02 -8.64927005e-05 9.99940025e-01 2.19854026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.870385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.90, Y:336.14, Z:21.99 [[ 2.70429852e-01 -9.62734768e-01 -3.07590353e-03 3.63902849e+02] [ 9.62677393e-01 2.70447319e-01 -1.05111814e-02 3.36138237e+02] [ 1.09513497e-02 -1.18565554e-04 9.99940025e-01 2.19872315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.900385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.91, Y:336.16, Z:21.99 [[ 2.68924974e-01 -9.63156225e-01 -3.07306816e-03 3.63910518e+02] [ 9.63098868e-01 2.68942499e-01 -1.05120103e-02 3.36164560e+02] [ 1.09511868e-02 -1.32726361e-04 9.99940025e-01 2.19872518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.930385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.92, Y:336.19, Z:21.99 [[ 2.67662556e-01 -9.63507826e-01 -3.07009217e-03 3.63918543e+02] [ 9.63450482e-01 2.67680124e-01 -1.05128794e-02 3.36191484e+02] [ 1.09510442e-02 -1.43977612e-04 9.99940025e-01 2.19879180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.960385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.93, Y:336.22, Z:21.99 [[ 2.66467165e-01 -9.63839116e-01 -3.06732123e-03 3.63926244e+02] [ 9.63781784e-01 2.66484773e-01 -1.05136878e-02 3.36218486e+02] [ 1.09508980e-02 -1.54675756e-04 9.99940025e-01 2.19891521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.990385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.93, Y:336.24, Z:21.99 [[ 2.65112048e-01 -9.64212742e-01 -3.06450825e-03 3.63932044e+02] [ 9.64155425e-01 2.65129706e-01 -1.05145077e-02 3.36244844e+02] [ 1.09507144e-02 -1.67139601e-04 9.99940025e-01 2.19895531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.020385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.94, Y:336.27, Z:21.99 [[ 2.64909644e-01 -9.64268379e-01 -3.06154055e-03 3.63937577e+02] [ 9.64211057e-01 2.64927282e-01 -1.05153717e-02 3.36271535e+02] [ 1.09507260e-02 -1.66347877e-04 9.99940025e-01 2.19897415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.050385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.94, Y:336.30, Z:21.99 [[ 2.65496846e-01 -9.64106877e-01 -3.05859943e-03 3.63944664e+02] [ 9.64049534e-01 2.65514417e-01 -1.05162271e-02 3.36298983e+02] [ 1.09508691e-02 -1.56616220e-04 9.99940025e-01 2.19897023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.080385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.95, Y:336.33, Z:21.99 [[ 2.66163890e-01 -9.63922946e-01 -3.05585802e-03 3.63951340e+02] [ 9.63865581e-01 2.66181392e-01 -1.05170237e-02 3.36325883e+02] [ 1.09510130e-02 -1.46184440e-04 9.99940025e-01 2.19897909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.110385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:363.95, Y:336.35, Z:21.99 [[ 2.65488213e-01 -9.64109271e-01 -3.05311982e-03 3.63954489e+02] [ 9.64051910e-01 2.65505725e-01 -1.05178185e-02 3.36352467e+02] [ 1.09509471e-02 -1.51009155e-04 9.99940025e-01 2.19882395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.140385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.96, Y:336.38, Z:21.99 [[ 2.69458719e-01 -9.63007285e-01 -2.99480331e-03 3.63964601e+02] [ 9.62949662e-01 2.69475357e-01 -1.05347229e-02 3.36380569e+02] [ 1.09520406e-02 -4.51719024e-05 9.99940024e-01 2.19924068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.170385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:363.97, Y:336.41, Z:21.99 [[ 2.71196087e-01 -9.62519289e-01 -3.04974388e-03 3.63969647e+02] [ 9.62461814e-01 2.71213222e-01 -1.05187938e-02 3.36407208e+02] [ 1.09516728e-02 -8.26063045e-05 9.99940025e-01 2.19913350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.200385723 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:363.98, Y:336.43, Z:21.99 [[ 2.71517606e-01 -9.62428598e-01 -3.06331093e-03 3.63975702e+02] [ 9.62371161e-01 2.71534870e-01 -1.05148638e-02 3.36433709e+02] [ 1.09516014e-02 -9.30714459e-05 9.99940025e-01 2.19913430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.230385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.98, Y:336.46, Z:21.99 [[ 2.72993809e-01 -9.62010977e-01 -3.04325206e-03 3.63982762e+02] [ 9.61953449e-01 2.73010765e-01 -1.05206661e-02 3.36460353e+02] [ 1.09518369e-02 -5.53900916e-05 9.99940025e-01 2.19927731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.260385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.99, Y:336.49, Z:21.99 [[ 2.74240931e-01 -9.61656211e-01 -3.04023599e-03 3.63989758e+02] [ 9.61598652e-01 2.74257780e-01 -1.05215376e-02 3.36487627e+02] [ 1.09519104e-02 -3.80505476e-05 9.99940025e-01 2.19938422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.290385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.00, Y:336.51, Z:21.99 [[ 2.74363058e-01 -9.61621384e-01 -3.03743456e-03 3.63997208e+02] [ 9.61563814e-01 2.74379869e-01 -1.05223463e-02 3.36514857e+02] [ 1.09519241e-02 -3.37440524e-05 9.99940025e-01 2.19942016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.320385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.00, Y:336.54, Z:21.99 [[ 2.73887462e-01 -9.61756960e-01 -3.03464516e-03 3.64004159e+02] [ 9.61699389e-01 2.73904270e-01 -1.05231507e-02 3.36542332e+02] [ 1.09519157e-02 -3.62573600e-05 9.99940025e-01 2.19939517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.350385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.01, Y:336.57, Z:21.99 [[ 2.73098144e-01 -9.61981399e-01 -3.03187657e-03 3.64010897e+02] [ 9.61923833e-01 2.73114969e-01 -1.05239483e-02 3.36569953e+02] [ 1.09518934e-02 -4.23635809e-05 9.99940025e-01 2.19940337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.380385723 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:364.02, Y:336.60, Z:21.99 [[ 2.71966816e-01 -9.62301863e-01 -3.02911661e-03 3.64018080e+02] [ 9.62244308e-01 2.71983679e-01 -1.05247427e-02 3.36597053e+02] [ 1.09518498e-02 -5.23694702e-05 9.99940025e-01 2.19931695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.410385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.03, Y:336.62, Z:22.00 [[ 2.71694207e-01 -9.62378875e-01 -3.02619725e-03 3.64026387e+02] [ 9.62321316e-01 2.71711055e-01 -1.05255820e-02 3.36622809e+02] [ 1.09518490e-02 -5.24344568e-05 9.99940025e-01 2.19960314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.440385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.03, Y:336.65, Z:22.00 [[ 2.71225390e-01 -9.62511116e-01 -3.02311780e-03 3.64034262e+02] [ 9.62453555e-01 2.71242232e-01 -1.05264664e-02 3.36647972e+02] [ 1.09518381e-02 -5.45655230e-05 9.99940025e-01 2.19957039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.4703857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.04, Y:336.68, Z:22.00 [[ 2.69908682e-01 -9.62881282e-01 -2.98991039e-03 3.64042220e+02] [ 9.62823638e-01 2.69925240e-01 -1.05359883e-02 3.36676507e+02] [ 1.09519582e-02 -3.50016812e-05 9.99940025e-01 2.19963257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.500385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.05, Y:336.70, Z:22.00 [[ 2.69590675e-01 -9.62970281e-01 -3.01746524e-03 3.64049264e+02] [ 9.62912730e-01 2.69607553e-01 -1.05280908e-02 3.36704214e+02] [ 1.09517700e-02 -6.72805862e-05 9.99940025e-01 2.19962842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.530385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:364.06, Y:336.73, Z:22.00 [[ 2.69419592e-01 -9.63018170e-01 -3.01451516e-03 3.64055945e+02] [ 9.62960613e-01 2.69436448e-01 -1.05289354e-02 3.36730378e+02] [ 1.09517764e-02 -6.61578815e-05 9.99940025e-01 2.19953429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.560385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:364.06, Y:336.76, Z:21.99 [[ 2.69960540e-01 -9.62866677e-01 -3.01140376e-03 3.64063186e+02] [ 9.62809101e-01 2.69977330e-01 -1.05298252e-02 3.36756346e+02] [ 1.09518286e-02 -5.67696439e-05 9.99940025e-01 2.19943467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.5903857229999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:364.07, Y:336.78, Z:21.99 [[ 2.69946157e-01 -9.62870722e-01 -3.00740236e-03 3.64071283e+02] [ 9.62813133e-01 2.69962903e-01 -1.05309684e-02 3.36783544e+02] [ 1.09518483e-02 -5.27720414e-05 9.99940025e-01 2.19940000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.620385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:364.08, Y:336.81, Z:21.99 [[ 2.70468628e-01 -9.62724097e-01 -3.00568691e-03 3.64079176e+02] [ 9.62666493e-01 2.70485325e-01 -1.05314580e-02 3.36810131e+02] [ 1.09518826e-02 -4.50450782e-05 9.99940025e-01 2.19949106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.650385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.09, Y:336.84, Z:21.99 [[ 2.69394761e-01 -9.63025210e-01 -2.98441634e-03 3.64086191e+02] [ 9.62967558e-01 2.69411289e-01 -1.05375240e-02 3.36837339e+02] [ 1.09519368e-02 -3.51423400e-05 9.99940025e-01 2.19940504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.680385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.09, Y:336.86, Z:21.99 [[ 2.69133544e-01 -9.63098189e-01 -3.00215895e-03 3.64093973e+02] [ 9.63040598e-01 2.69150282e-01 -1.05324667e-02 3.36864851e+02] [ 1.09518315e-02 -5.65608534e-05 9.99940025e-01 2.19943710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.710385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.10, Y:336.89, Z:21.99 [[ 2.68289974e-01 -9.63333532e-01 -2.99930177e-03 3.64102099e+02] [ 9.63275946e-01 2.68306732e-01 -1.05332803e-02 3.36892830e+02] [ 1.09517949e-02 -6.31817569e-05 9.99940025e-01 2.19925383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.740385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:364.11, Y:336.92, Z:21.99 [[ 2.68178231e-01 -9.63364550e-01 -3.03000801e-03 3.64108600e+02] [ 9.63307064e-01 2.68195330e-01 -1.05245412e-02 3.36918467e+02] [ 1.09516039e-02 -9.63752828e-05 9.99940025e-01 2.19933621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.770385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:364.12, Y:336.94, Z:21.99 [[ 2.67545604e-01 -9.63540544e-01 -2.99493457e-03 3.64116777e+02] [ 9.63482957e-01 2.67562357e-01 -1.05345125e-02 3.36944086e+02] [ 1.09517617e-02 -6.71059031e-05 9.99940025e-01 2.19938209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.800385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.13, Y:336.97, Z:21.99 [[ 2.66059556e-01 -9.63951950e-01 -2.99189645e-03 3.64125985e+02] [ 9.63894379e-01 2.66076365e-01 -1.05353753e-02 3.36970545e+02] [ 1.09516685e-02 -8.08349029e-05 9.99940025e-01 2.19945623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.830385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.13, Y:337.00, Z:21.99 [[ 2.64870282e-01 -9.64279420e-01 -2.98899336e-03 3.64133507e+02] [ 9.64221861e-01 2.64887131e-01 -1.05361989e-02 3.36997784e+02] [ 1.09515856e-02 -9.13267730e-05 9.99940025e-01 2.19941810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.860385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:364.14, Y:337.03, Z:21.99 [[ 2.62594795e-01 -9.64901579e-01 -2.98609526e-03 3.64141407e+02] [ 9.64844050e-01 2.62611748e-01 -1.05370202e-02 3.37025090e+02] [ 1.09513711e-02 -1.14149596e-04 9.99940025e-01 2.19941282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.890385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:364.15, Y:337.05, Z:21.99 [[ 2.62467597e-01 -9.64936098e-01 -3.01448463e-03 3.64149088e+02] [ 9.64878663e-01 2.62484868e-01 -1.05289827e-02 3.37050888e+02] [ 1.09510521e-02 -1.45095100e-04 9.99940025e-01 2.19945945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.920385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.16, Y:337.08, Z:22.00 [[ 2.61443264e-01 -9.65214249e-01 -2.97884734e-03 3.64157585e+02] [ 9.65156717e-01 2.61460206e-01 -1.05390556e-02 3.37078292e+02] [ 1.09512966e-02 -1.19689437e-04 9.99940026e-01 2.19958491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.950385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.17, Y:337.11, Z:22.00 [[ 2.60975425e-01 -9.65340725e-01 -3.01863884e-03 3.64165595e+02] [ 9.65283331e-01 2.60992829e-01 -1.05278035e-02 3.37105050e+02] [ 1.09507605e-02 -1.66343769e-04 9.99940025e-01 2.19960740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.980385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.17, Y:337.13, Z:22.00 [[ 2.61911026e-01 -9.65087253e-01 -3.03452102e-03 3.64173434e+02] [ 9.65029894e-01 2.61928548e-01 -1.05233188e-02 3.37130449e+02] [ 1.09507485e-02 -1.72230267e-04 9.99940024e-01 2.19960384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.010385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.18, Y:337.16, Z:22.00 [[ 2.61637726e-01 -9.65161576e-01 -2.97189512e-03 3.64181643e+02] [ 9.65104019e-01 2.61654581e-01 -1.05409754e-02 3.37157403e+02] [ 1.09513544e-02 -1.10271084e-04 9.99940026e-01 2.19958303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.040385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.19, Y:337.18, Z:22.00 [[ 2.61600563e-01 -9.65171659e-01 -2.96900708e-03 3.64189620e+02] [ 9.65114093e-01 2.61617388e-01 -1.05417888e-02 3.37183957e+02] [ 1.09513797e-02 -1.07692692e-04 9.99940026e-01 2.19960038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.070385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:364.20, Y:337.21, Z:22.00 [[ 2.61381913e-01 -9.65230904e-01 -2.96611194e-03 3.64197973e+02] [ 9.65173333e-01 2.61398720e-01 -1.05426033e-02 3.37210739e+02] [ 1.09513844e-02 -1.07166316e-04 9.99940026e-01 2.19967401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.100385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.21, Y:337.24, Z:22.00 [[ 2.62028930e-01 -9.65055470e-01 -2.96319920e-03 3.64206046e+02] [ 9.64997878e-01 2.62045666e-01 -1.05434220e-02 3.37237340e+02] [ 1.09514805e-02 -9.67993633e-05 9.99940026e-01 2.19971898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.130385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.21, Y:337.26, Z:22.00 [[ 2.62172494e-01 -9.65016487e-01 -2.96029771e-03 3.64213003e+02] [ 9.64958884e-01 2.62189190e-01 -1.05442366e-02 3.37263366e+02] [ 1.09515202e-02 -9.21567811e-05 9.99940026e-01 2.19967064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.160385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.22, Y:337.29, Z:22.00 [[ 2.62443940e-01 -9.64942707e-01 -2.95817668e-03 3.64221066e+02] [ 9.64885093e-01 2.62460597e-01 -1.05448316e-02 3.37290567e+02] [ 1.09515631e-02 -8.68734374e-05 9.99940026e-01 2.19963842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.190385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.23, Y:337.32, Z:22.00 [[ 2.62244273e-01 -9.64996999e-01 -2.95527690e-03 3.64229427e+02] [ 9.64939379e-01 2.62260910e-01 -1.05456442e-02 3.37317461e+02] [ 1.09515686e-02 -8.61282595e-05 9.99940026e-01 2.19968283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.2203857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.24, Y:337.34, Z:22.00 [[ 2.62137842e-01 -9.65025925e-01 -2.95237620e-03 3.64237733e+02] [ 9.64968297e-01 2.62154454e-01 -1.05464562e-02 3.37343648e+02] [ 1.09515822e-02 -8.43241625e-05 9.99940026e-01 2.19973456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.250385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.25, Y:337.37, Z:22.00 [[ 2.61326830e-01 -9.65245870e-01 -2.94931652e-03 3.64246740e+02] [ 9.65188247e-01 2.61343457e-01 -1.05473118e-02 3.37370151e+02] [ 1.09515337e-02 -9.03500818e-05 9.99940026e-01 2.19991665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.280385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.25, Y:337.40, Z:22.00 [[ 2.60553968e-01 -9.65454788e-01 -2.94645668e-03 3.64254544e+02] [ 9.65397169e-01 2.60570610e-01 -1.05481106e-02 3.37397435e+02] [ 1.09514839e-02 -9.61488482e-05 9.99940026e-01 2.19997265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.310385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.26, Y:337.42, Z:22.00 [[ 2.58882678e-01 -9.65904288e-01 -2.94358851e-03 3.64260868e+02] [ 9.65846689e-01 2.58899388e-01 -1.05489110e-02 3.37424134e+02] [ 1.09513316e-02 -1.12124893e-04 9.99940026e-01 2.19985865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.3403857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.27, Y:337.45, Z:22.00 [[ 2.57978649e-01 -9.66146143e-01 -2.94056824e-03 3.64267730e+02] [ 9.66088550e-01 2.57995380e-01 -1.05497528e-02 3.37450986e+02] [ 1.09512560e-02 -1.19238327e-04 9.99940026e-01 2.19980323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.370385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.28, Y:337.48, Z:22.00 [[ 2.57237205e-01 -9.66343826e-01 -2.93763099e-03 3.64275357e+02] [ 9.66286237e-01 2.57253948e-01 -1.05505707e-02 3.37477712e+02] [ 1.09511960e-02 -1.24593080e-04 9.99940026e-01 2.19982511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.400385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.28, Y:337.50, Z:22.00 [[ 2.55862911e-01 -9.66708621e-01 -2.93468319e-03 3.64284107e+02] [ 9.66651046e-01 2.55879704e-01 -1.05513905e-02 3.37502863e+02] [ 1.09510461e-02 -1.37105074e-04 9.99940026e-01 2.19988449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.430385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.29, Y:337.53, Z:22.00 [[ 2.54758874e-01 -9.67000164e-01 -2.93230752e-03 3.64291851e+02] [ 9.66942601e-01 2.54775707e-01 -1.05520507e-02 3.37530310e+02] [ 1.09509155e-02 -1.47144492e-04 9.99940026e-01 2.19989187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.460385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.30, Y:337.56, Z:22.00 [[ 2.52834095e-01 -9.67505214e-01 -2.92940817e-03 3.64296152e+02] [ 9.67447675e-01 2.52851010e-01 -1.05528556e-02 3.37557541e+02] [ 1.09506466e-02 -1.65927436e-04 9.99940026e-01 2.19968437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.490385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.30, Y:337.58, Z:22.00 [[ 2.52082200e-01 -9.67701401e-01 -2.92633135e-03 3.64301589e+02] [ 9.67643865e-01 2.52099127e-01 -1.05537087e-02 3.37583697e+02] [ 1.09505643e-02 -1.71244466e-04 9.99940026e-01 2.19957243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.520385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.31, Y:337.61, Z:22.00 [[ 2.51409668e-01 -9.67876352e-01 -2.92332206e-03 3.64308465e+02] [ 9.67818819e-01 2.51426602e-01 -1.05545422e-02 3.37610615e+02] [ 1.09504927e-02 -1.75732153e-04 9.99940026e-01 2.19953246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.550385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.32, Y:337.64, Z:22.00 [[ 2.50180755e-01 -9.68194743e-01 -2.92048463e-03 3.64318034e+02] [ 9.68137222e-01 2.50197731e-01 -1.05553273e-02 3.37636780e+02] [ 1.09503110e-02 -1.86690128e-04 9.99940026e-01 2.19970057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.580385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:364.33, Y:337.66, Z:22.00 [[ 2.49302189e-01 -9.68421347e-01 -2.91766411e-03 3.64325965e+02] [ 9.68363832e-01 2.49319187e-01 -1.05561068e-02 3.37663488e+02] [ 1.09501889e-02 -1.93699856e-04 9.99940026e-01 2.19976639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.610385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.33, Y:337.69, Z:22.00 [[ 2.48441104e-01 -9.68642618e-01 -2.91483419e-03 3.64331263e+02] [ 9.68585109e-01 2.48458121e-01 -1.05568882e-02 3.37690947e+02] [ 1.09500661e-02 -2.00500037e-04 9.99940026e-01 2.19959010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.640385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.34, Y:337.72, Z:21.99 [[ 2.48468632e-01 -9.68635566e-01 -2.91202206e-03 3.64337261e+02] [ 9.68578047e-01 2.48485618e-01 -1.05576638e-02 3.37718679e+02] [ 1.09501243e-02 -1.97272339e-04 9.99940026e-01 2.19946230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.670385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:364.34, Y:337.75, Z:21.99 [[ 2.48266552e-01 -9.68687388e-01 -2.90919467e-03 3.64343208e+02] [ 9.68629864e-01 2.48283518e-01 -1.05584429e-02 3.37745671e+02] [ 1.09501356e-02 -1.96624634e-04 9.99940026e-01 2.19937343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.700385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.35, Y:337.77, Z:21.99 [[ 2.48720292e-01 -9.68570994e-01 -2.90639121e-03 3.64350759e+02] [ 9.68513453e-01 2.48737201e-01 -1.05592145e-02 3.37771821e+02] [ 1.09502765e-02 -1.88588070e-04 9.99940026e-01 2.19949671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.730385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.36, Y:337.80, Z:22.00 [[ 2.48137453e-01 -9.68720483e-01 -2.90344084e-03 3.64357933e+02] [ 9.68662943e-01 2.48154365e-01 -1.05600257e-02 3.37797535e+02] [ 1.09502147e-02 -1.92117664e-04 9.99940026e-01 2.19962645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.760385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.36, Y:337.82, Z:22.00 [[ 2.46550533e-01 -9.69125597e-01 -2.90051596e-03 3.64363774e+02] [ 9.69068075e-01 2.46567507e-01 -1.05608290e-02 3.37824988e+02] [ 1.09499427e-02 -2.07019387e-04 9.99940026e-01 2.19980621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.790385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:364.37, Y:337.85, Z:22.00 [[ 2.45760310e-01 -9.69326299e-01 -2.89756207e-03 3.64369740e+02] [ 9.69268782e-01 2.45777299e-01 -1.05616394e-02 3.37851885e+02] [ 1.09498298e-02 -2.12884676e-04 9.99940026e-01 2.19974731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.820385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.38, Y:337.88, Z:22.00 [[ 2.45343849e-01 -9.69431799e-01 -2.89541278e-03 3.64375704e+02] [ 9.69374282e-01 2.45360839e-01 -1.05622286e-02 3.37879300e+02] [ 1.09497812e-02 -2.15360859e-04 9.99940026e-01 2.19971340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.850385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:364.38, Y:337.91, Z:22.00 [[ 2.45029435e-01 -9.69511325e-01 -2.89266157e-03 3.64381725e+02] [ 9.69453804e-01 2.45046414e-01 -1.05629820e-02 3.37907455e+02] [ 1.09497670e-02 -2.16060238e-04 9.99940026e-01 2.19970911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.880385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.39, Y:337.93, Z:22.00 [[ 2.45005702e-01 -9.69517298e-01 -2.90098093e-03 3.64388888e+02] [ 9.69459804e-01 2.45022773e-01 -1.05607050e-02 3.37934934e+02] [ 1.09495926e-02 -2.24951451e-04 9.99940026e-01 2.19972689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.910385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:364.40, Y:337.96, Z:22.00 [[ 2.45203241e-01 -9.69467392e-01 -2.88915005e-03 3.64395245e+02] [ 9.69409857e-01 2.45220171e-01 -1.05639407e-02 3.37960898e+02] [ 1.09498739e-02 -2.10458046e-04 9.99940026e-01 2.19982805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.940385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.40, Y:337.99, Z:22.00 [[ 2.45301248e-01 -9.69442607e-01 -2.88611768e-03 3.64400883e+02] [ 9.69385061e-01 2.45318139e-01 -1.05647691e-02 3.37988301e+02] [ 1.09499543e-02 -2.06208328e-04 9.99940026e-01 2.19982863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.9703857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.41, Y:338.02, Z:22.00 [[ 2.45411193e-01 -9.69414789e-01 -2.88327220e-03 3.64406141e+02] [ 9.69357232e-01 2.45428047e-01 -1.05655456e-02 3.38016174e+02] [ 1.09500320e-02 -2.02017615e-04 9.99940026e-01 2.19977456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.000385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:364.41, Y:338.04, Z:22.00 [[ 2.46937547e-01 -9.69027116e-01 -2.88040234e-03 3.64410683e+02] [ 9.68969523e-01 2.46954278e-01 -1.05663279e-02 3.38042721e+02] [ 1.09503859e-02 -1.81798998e-04 9.99940026e-01 2.19959434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.030385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.42, Y:338.07, Z:22.00 [[ 2.46601385e-01 -9.69112740e-01 -2.87294645e-03 3.64417044e+02] [ 9.69055130e-01 2.46618056e-01 -1.05683583e-02 3.38069756e+02] [ 1.09504511e-02 -1.77871692e-04 9.99940026e-01 2.19964231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.060385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.42, Y:338.10, Z:22.00 [[ 2.46138833e-01 -9.69230321e-01 -2.87411418e-03 3.64421833e+02] [ 9.69172722e-01 2.46155543e-01 -1.05680407e-02 3.38096326e+02] [ 1.09503446e-02 -1.84307850e-04 9.99940026e-01 2.19965045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.0903857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.43, Y:338.12, Z:22.00 [[ 2.45266183e-01 -9.69451524e-01 -2.87106884e-03 3.64428213e+02] [ 9.69393930e-01 2.45282912e-01 -1.05688680e-02 3.38123996e+02] [ 1.09502293e-02 -1.91010798e-04 9.99940026e-01 2.19974834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.120385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.43, Y:338.15, Z:22.00 [[ 2.41804840e-01 -9.70320665e-01 -2.86821357e-03 3.64430849e+02] [ 9.70263123e-01 2.41821743e-01 -1.05696428e-02 3.38149121e+02] [ 1.09495393e-02 -2.27131073e-04 9.99940026e-01 2.19961799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.150385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:364.44, Y:338.18, Z:22.00 [[ 2.42553138e-01 -9.70134152e-01 -2.77542483e-03 3.64439199e+02] [ 9.70076306e-01 2.42568985e-01 -1.05947614e-02 3.38177603e+02] [ 1.09515718e-02 -1.22581254e-04 9.99940022e-01 2.19983743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.180385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.44, Y:338.20, Z:22.00 [[ 2.41601856e-01 -9.70371245e-01 -2.86191970e-03 3.64444896e+02] [ 9.70313686e-01 2.41618703e-01 -1.05713451e-02 3.38204648e+02] [ 1.09496227e-02 -2.22903247e-04 9.99940026e-01 2.19982706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.210385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:364.45, Y:338.23, Z:22.00 [[ 2.40663849e-01 -9.70604316e-01 -2.85908702e-03 3.64448812e+02] [ 9.70546764e-01 2.40680720e-01 -1.05721112e-02 3.38231400e+02] [ 1.09494639e-02 -2.30552690e-04 9.99940026e-01 2.19985853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.240385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.45, Y:338.26, Z:22.00 [[ 2.37265984e-01 -9.71440526e-01 -2.85610164e-03 3.64449759e+02] [ 9.71383024e-01 2.37283025e-01 -1.05729177e-02 3.38256536e+02] [ 1.09486651e-02 -2.65774939e-04 9.99940026e-01 2.19967626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.270385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.46, Y:338.29, Z:22.00 [[ 2.40557333e-01 -9.70631035e-01 -2.74998112e-03 3.64458145e+02] [ 9.70573145e-01 2.40573022e-01 -1.06015220e-02 3.38286789e+02] [ 1.09517375e-02 -1.18783968e-04 9.99940021e-01 2.19997633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.300385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:364.46, Y:338.31, Z:22.00 [[ 2.40741719e-01 -9.70585024e-01 -2.85226443e-03 3.64463563e+02] [ 9.70527450e-01 2.40758512e-01 -1.05739316e-02 3.38314194e+02] [ 1.09496066e-02 -2.22614446e-04 9.99940026e-01 2.19995586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.330385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.47, Y:338.34, Z:22.00 [[ 2.40622480e-01 -9.70614600e-01 -2.84945686e-03 3.64468614e+02] [ 9.70557019e-01 2.40639250e-01 -1.05746881e-02 3.38342128e+02] [ 1.09496379e-02 -2.21052667e-04 9.99940027e-01 2.19995441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.360385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:364.47, Y:338.37, Z:22.00 [[ 2.40290606e-01 -9.70696823e-01 -2.84649083e-03 3.64471300e+02] [ 9.70639238e-01 2.40307363e-01 -1.05754865e-02 3.38369475e+02] [ 1.09496238e-02 -2.21725632e-04 9.99940027e-01 2.19986323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.390385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.48, Y:338.40, Z:22.00 [[ 2.39690736e-01 -9.70845129e-01 -2.84382324e-03 3.64476573e+02] [ 9.70787546e-01 2.39707499e-01 -1.05762038e-02 3.38396265e+02] [ 1.09495417e-02 -2.25730119e-04 9.99940027e-01 2.19983478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.420385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.48, Y:338.42, Z:22.00 [[ 2.37751262e-01 -9.71321918e-01 -2.84073962e-03 3.64478537e+02] [ 9.71264358e-01 2.37768107e-01 -1.05770319e-02 3.38424177e+02] [ 1.09491402e-02 -2.44406453e-04 9.99940027e-01 2.19988688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.450385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.49, Y:338.45, Z:22.00 [[ 2.39245416e-01 -9.70955096e-01 -2.79874961e-03 3.64485848e+02] [ 9.70897379e-01 2.39261715e-01 -1.05882944e-02 3.38452542e+02] [ 1.09503921e-02 -1.84097757e-04 9.99940026e-01 2.19998880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.480385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.49, Y:338.48, Z:22.00 [[ 2.39058531e-01 -9.71001015e-01 -2.83696265e-03 3.64490949e+02] [ 9.70943421e-01 2.39075258e-01 -1.05780460e-02 3.38479411e+02] [ 1.09495409e-02 -2.25758087e-04 9.99940027e-01 2.20001200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.510385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.49, Y:338.51, Z:22.00 [[ 2.38229511e-01 -9.71204749e-01 -2.83481558e-03 3.64494162e+02] [ 9.71147162e-01 2.38246263e-01 -1.05786213e-02 3.38507589e+02] [ 1.09493915e-02 -2.32883322e-04 9.99940027e-01 2.20005013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.540385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:364.50, Y:338.53, Z:22.00 [[ 2.38085136e-01 -9.71240207e-01 -2.81588738e-03 3.64499149e+02] [ 9.71182563e-01 2.38101690e-01 -1.05836870e-02 3.38534212e+02] [ 1.09497699e-02 -2.14922174e-04 9.99940026e-01 2.20004010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.570385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:364.50, Y:338.56, Z:22.00 [[ 2.39066871e-01 -9.70999047e-01 -2.80759670e-03 3.64503707e+02] [ 9.70941361e-01 2.39083276e-01 -1.05859035e-02 3.38563109e+02] [ 1.09501517e-02 -1.95272930e-04 9.99940026e-01 2.20002801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.600385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.51, Y:338.59, Z:22.00 [[ 2.40412382e-01 -9.70666765e-01 -2.81389616e-03 3.64510747e+02] [ 9.70609076e-01 2.40428777e-01 -1.05842202e-02 3.38590495e+02] [ 1.09502924e-02 -1.86615563e-04 9.99940026e-01 2.20008500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.630385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.52, Y:338.62, Z:22.00 [[ 2.40151583e-01 -9.70731286e-01 -2.82617098e-03 3.64518061e+02] [ 9.70673640e-01 2.40168126e-01 -1.05809416e-02 3.38618119e+02] [ 1.09500072e-02 -2.02259811e-04 9.99940026e-01 2.20011674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.660385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:364.52, Y:338.65, Z:22.00 [[ 2.40308158e-01 -9.70692546e-01 -2.82332780e-03 3.64524087e+02] [ 9.70634887e-01 2.40324662e-01 -1.05817002e-02 3.38645617e+02] [ 1.09500928e-02 -1.97551582e-04 9.99940026e-01 2.20015933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.690385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.53, Y:338.67, Z:22.00 [[ 2.40424201e-01 -9.70663819e-01 -2.82049235e-03 3.64530097e+02] [ 9.70606150e-01 2.40440666e-01 -1.05824559e-02 3.38673351e+02] [ 1.09501681e-02 -1.93308721e-04 9.99940026e-01 2.20020764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.7203857229999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:364.54, Y:338.70, Z:22.00 [[ 2.41747975e-01 -9.70334982e-01 -2.81778373e-03 3.64535168e+02] [ 9.70277282e-01 2.41764333e-01 -1.05831771e-02 3.38700663e+02] [ 1.09504665e-02 -1.75569909e-04 9.99940026e-01 2.20026158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.750385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:364.54, Y:338.73, Z:22.00 [[ 2.43178684e-01 -9.69977425e-01 -2.81475594e-03 3.64541355e+02] [ 9.69919692e-01 2.43194923e-01 -1.05839823e-02 3.38726847e+02] [ 1.09507582e-02 -1.56288330e-04 9.99940026e-01 2.20033849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.780385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:364.55, Y:338.75, Z:22.00 [[ 2.43968837e-01 -9.69778995e-01 -2.81210729e-03 3.64548429e+02] [ 9.69721240e-01 2.43985001e-01 -1.05846860e-02 3.38753855e+02] [ 1.09509181e-02 -1.44626639e-04 9.99940026e-01 2.20038076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.810385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:364.55, Y:338.78, Z:22.00 [[ 2.44895578e-01 -9.69545391e-01 -2.80918439e-03 3.64554913e+02] [ 9.69487612e-01 2.44911655e-01 -1.05854617e-02 3.38780376e+02] [ 1.09510876e-02 -1.31136710e-04 9.99940026e-01 2.20037926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.8403857229999 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:364.56, Y:338.81, Z:22.00 [[ 2.44998683e-01 -9.69519351e-01 -2.80610211e-03 3.64559195e+02] [ 9.69461561e-01 2.45014720e-01 -1.05862787e-02 3.38808484e+02] [ 1.09511384e-02 -1.26783799e-04 9.99940026e-01 2.20005534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.870385723 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:364.57, Y:338.84, Z:22.00 [[ 2.47486207e-01 -9.68887425e-01 -2.78102607e-03 3.64567112e+02] [ 9.68829520e-01 2.47501821e-01 -1.05929176e-02 3.38835838e+02] [ 1.09516537e-02 -7.27391409e-05 9.99940026e-01 2.20039141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.900385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.58, Y:338.86, Z:22.00 [[ 2.49326089e-01 -9.68415536e-01 -2.80202151e-03 3.64575265e+02] [ 9.68357663e-01 2.49341823e-01 -1.05873610e-02 3.38862071e+02] [ 1.09516261e-02 -7.36536832e-05 9.99940026e-01 2.20039778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.930385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:364.58, Y:338.89, Z:22.00 [[ 2.49697089e-01 -9.68319952e-01 -2.79895474e-03 3.64583482e+02] [ 9.68262064e-01 2.49712767e-01 -1.05881717e-02 3.38889225e+02] [ 1.09516727e-02 -6.62860293e-05 9.99940026e-01 2.20043666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.960385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.59, Y:338.92, Z:22.00 [[ 2.50069852e-01 -9.68223761e-01 -2.79603539e-03 3.64591348e+02] [ 9.68165858e-01 2.50085476e-01 -1.05889426e-02 3.38915453e+02] [ 1.09517137e-02 -5.90506961e-05 9.99940026e-01 2.20048341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.990385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.60, Y:338.94, Z:22.00 [[ 2.48372006e-01 -9.68660697e-01 -2.79295766e-03 3.64597288e+02] [ 9.68602813e-01 2.48387698e-01 -1.05897543e-02 3.38942304e+02] [ 1.09516151e-02 -7.50681173e-05 9.99940026e-01 2.20018024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.020385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:364.61, Y:338.97, Z:22.00 [[ 2.50437973e-01 -9.68128735e-01 -2.75206177e-03 3.64606614e+02] [ 9.68070698e-01 2.50453093e-01 -1.06005245e-02 3.38969358e+02] [ 1.09519348e-02 -9.41649821e-06 9.99940026e-01 2.20046689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.050385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:364.61, Y:338.99, Z:22.00 [[ 2.47479030e-01 -9.68889236e-01 -2.78905923e-03 3.64613425e+02] [ 9.68831354e-01 2.47494733e-01 -1.05907813e-02 3.38994085e+02] [ 1.09515715e-02 -8.11317468e-05 9.99940026e-01 2.20011237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.080385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.63, Y:339.02, Z:22.01 [[ 2.50485586e-01 -9.68116550e-01 -2.70512137e-03 3.64626397e+02] [ 9.68058378e-01 2.50500189e-01 -1.06128517e-02 3.39022109e+02] [ 1.09521107e-02 3.96509622e-05 9.99940023e-01 2.20055438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.110385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:364.63, Y:339.05, Z:22.00 [[ 2.45806315e-01 -9.69314962e-01 -2.78548052e-03 3.64629802e+02] [ 9.69257098e-01 2.45822079e-01 -1.05917183e-02 3.39045584e+02] [ 1.09514437e-02 -9.63355137e-05 9.99940027e-01 2.20016793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.140385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:364.64, Y:339.07, Z:22.00 [[ 2.46730948e-01 -9.69080380e-01 -2.65654614e-03 3.64640259e+02] [ 9.69022127e-01 2.46745244e-01 -1.06255530e-02 3.39073478e+02] [ 1.09525050e-02 4.74007605e-05 9.99940018e-01 2.20015226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.170385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:364.65, Y:339.10, Z:22.00 [[ 2.45478410e-01 -9.69398303e-01 -2.69830009e-03 3.64650175e+02] [ 9.69340188e-01 2.45493240e-01 -1.06145946e-02 3.39100524e+02] [ 1.09521844e-02 -9.91692162e-06 9.99940023e-01 2.19997630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.200385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.66, Y:339.13, Z:22.00 [[ 2.47766571e-01 -9.68815907e-01 -2.73198940e-03 3.64662869e+02] [ 9.68757855e-01 2.47781632e-01 -1.06057598e-02 3.39128284e+02] [ 1.09519656e-02 -1.88834560e-05 9.99940025e-01 2.20049893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.230385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.67, Y:339.15, Z:22.00 [[ 2.43115792e-01 -9.69993298e-01 -2.77723740e-03 3.64668937e+02] [ 9.69935453e-01 2.43131625e-01 -1.05938978e-02 3.39152094e+02] [ 1.09512441e-02 -1.18197159e-04 9.99940026e-01 2.20031996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.260385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:364.68, Y:339.18, Z:22.00 [[ 2.41343597e-01 -9.70436018e-01 -2.68387435e-03 3.64678299e+02] [ 9.70377926e-01 2.41358516e-01 -1.06182986e-02 3.39178520e+02] [ 1.09521553e-02 -4.17140553e-05 9.99940022e-01 2.20043423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.290385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.69, Y:339.21, Z:22.00 [[ 2.38849611e-01 -9.71052832e-01 -2.69458851e-03 3.64687711e+02] [ 9.70994810e-01 2.38864796e-01 -1.06155023e-02 3.39205736e+02] [ 1.09518559e-02 -8.09228672e-05 9.99940023e-01 2.20046225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.320385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:364.70, Y:339.23, Z:22.00 [[ 2.38984861e-01 -9.71019517e-01 -2.70813441e-03 3.64698379e+02] [ 9.70961532e-01 2.39000187e-01 -1.06119673e-02 3.39233278e+02] [ 1.09516720e-02 -9.33947898e-05 9.99940024e-01 2.20042418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.350385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.70, Y:339.26, Z:22.00 [[ 2.35703236e-01 -9.71821144e-01 -2.76552285e-03 3.64704961e+02] [ 9.71763385e-01 2.35719383e-01 -1.05969906e-02 3.39258754e+02] [ 1.09502668e-02 -1.89688882e-04 9.99940026e-01 2.20034085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.380385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.72, Y:339.29, Z:22.01 [[ 2.37256411e-01 -9.71443325e-01 -2.69484765e-03 3.64717931e+02] [ 9.71385329e-01 2.37271694e-01 -1.06154028e-02 3.39286503e+02] [ 1.09516732e-02 -9.91631170e-05 9.99940024e-01 2.20061294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.410385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.73, Y:339.31, Z:22.01 [[ 2.36165765e-01 -9.71708858e-01 -2.76176427e-03 3.64727708e+02] [ 9.71651079e-01 2.36181843e-01 -1.05979647e-02 3.39312934e+02] [ 1.09504148e-02 -1.80594788e-04 9.99940026e-01 2.20075819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.440385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.73, Y:339.34, Z:22.01 [[ 2.31228227e-01 -9.72895624e-01 -2.75885162e-03 3.64734751e+02] [ 9.72837919e-01 2.31244567e-01 -1.05987229e-02 3.39338847e+02] [ 1.09494206e-02 -2.33191568e-04 9.99940026e-01 2.20074278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.4703857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.74, Y:339.36, Z:22.01 [[ 2.29319852e-01 -9.73347380e-01 -2.69888123e-03 3.64740738e+02] [ 9.73289523e-01 2.29335652e-01 -1.06143055e-02 3.39364671e+02] [ 1.09503561e-02 -1.92721868e-04 9.99940024e-01 2.20064267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.500385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.75, Y:339.39, Z:22.01 [[ 2.29695596e-01 -9.73258849e-01 -2.67324932e-03 3.64751933e+02] [ 9.73200909e-01 2.29711095e-01 -1.06209565e-02 3.39392560e+02] [ 1.09510149e-02 -1.62021737e-04 9.99940023e-01 2.20062420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.530385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.76, Y:339.42, Z:22.01 [[ 2.28244672e-01 -9.73599918e-01 -2.75115866e-03 3.64759432e+02] [ 9.73542240e-01 2.28261106e-01 -1.06007371e-02 3.39418518e+02] [ 1.09488592e-02 -2.58807411e-04 9.99940026e-01 2.20056177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.560385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.77, Y:339.45, Z:22.01 [[ 2.29331915e-01 -9.73344525e-01 -2.70349307e-03 3.64770548e+02] [ 9.73286682e-01 2.29347765e-01 -1.06130942e-02 3.39446882e+02] [ 1.09502372e-02 -1.97352573e-04 9.99940025e-01 2.20078115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.5903857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.78, Y:339.47, Z:22.01 [[ 2.30484629e-01 -9.73072086e-01 -2.74778598e-03 3.64780219e+02] [ 9.73014360e-01 2.30500893e-01 -1.06016141e-02 3.39472009e+02] [ 1.09495019e-02 -2.30126112e-04 9.99940026e-01 2.20077914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.620385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:364.79, Y:339.50, Z:22.01 [[ 2.31844363e-01 -9.72749020e-01 -2.74504686e-03 3.64789490e+02] [ 9.72691262e-01 2.31860516e-01 -1.06023233e-02 3.39500215e+02] [ 1.09498676e-02 -2.11994203e-04 9.99940026e-01 2.20060342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.650385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.80, Y:339.53, Z:22.00 [[ 2.32900907e-01 -9.72496462e-01 -2.79286791e-03 3.64797930e+02] [ 9.72438833e-01 2.32917518e-01 -1.05899468e-02 3.39528934e+02] [ 1.09491937e-02 -2.49484988e-04 9.99940025e-01 2.20043895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.680385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.80, Y:339.55, Z:22.01 [[ 2.30916728e-01 -9.72969422e-01 -2.82284815e-03 3.64802034e+02] [ 9.72911921e-01 2.30933783e-01 -1.05821967e-02 3.39552787e+02] [ 1.09480448e-02 -3.02776385e-04 9.99940023e-01 2.20064023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.710385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.81, Y:339.58, Z:22.01 [[ 2.31057971e-01 -9.72936138e-01 -2.73589864e-03 3.64812767e+02] [ 9.72878366e-01 2.31074071e-01 -1.06046289e-02 3.39580388e+02] [ 1.09498219e-02 -2.11412562e-04 9.99940027e-01 2.20061958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.740385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.82, Y:339.61, Z:22.01 [[ 2.29309721e-01 -9.73349611e-01 -2.75426338e-03 3.64823005e+02] [ 9.73291925e-01 2.29326125e-01 -1.05998939e-02 3.39606391e+02] [ 1.09490272e-02 -2.50043593e-04 9.99940026e-01 2.20090624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.770385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.83, Y:339.63, Z:22.01 [[ 2.29628858e-01 -9.73274411e-01 -2.74004888e-03 3.64832115e+02] [ 9.73216676e-01 2.29645088e-01 -1.06035562e-02 3.39634237e+02] [ 1.09494087e-02 -2.31778765e-04 9.99940027e-01 2.20089175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.800385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.84, Y:339.66, Z:22.01 [[ 2.29282924e-01 -9.73355843e-01 -2.78260485e-03 3.64839357e+02] [ 9.73298245e-01 2.29299638e-01 -1.05925891e-02 3.39662452e+02] [ 1.09484088e-02 -2.79604620e-04 9.99940025e-01 2.20092513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.830385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.84, Y:339.69, Z:22.01 [[ 2.28572651e-01 -9.73522871e-01 -2.78633583e-03 3.64843512e+02] [ 9.73465296e-01 2.28589448e-01 -1.05916284e-02 3.39688028e+02] [ 1.09481194e-02 -2.91444651e-04 9.99940025e-01 2.20101531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.860385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.85, Y:339.71, Z:22.01 [[ 2.29391761e-01 -9.73330359e-01 -2.72610980e-03 3.64851261e+02] [ 9.73272586e-01 2.29407854e-01 -1.06071070e-02 3.39712646e+02] [ 1.09496102e-02 -2.20064992e-04 9.99940027e-01 2.20108092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.890385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.86, Y:339.74, Z:22.01 [[ 2.29604333e-01 -9.73280243e-01 -2.72374585e-03 3.64859206e+02] [ 9.73222459e-01 2.29620387e-01 -1.06077139e-02 3.39739135e+02] [ 1.09497060e-02 -2.15233552e-04 9.99940027e-01 2.20116322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.920385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.87, Y:339.77, Z:22.01 [[ 2.29504474e-01 -9.73303804e-01 -2.72072730e-03 3.64867000e+02] [ 9.73246012e-01 2.29520501e-01 -1.06084881e-02 3.39765467e+02] [ 1.09497445e-02 -2.13241508e-04 9.99940027e-01 2.20120443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.950385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:364.87, Y:339.79, Z:22.01 [[ 2.29246354e-01 -9.73364641e-01 -2.71772019e-03 3.64874308e+02] [ 9.73306844e-01 2.29262363e-01 -1.06092584e-02 3.39792294e+02] [ 1.09497480e-02 -2.13041848e-04 9.99940027e-01 2.20119125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.980385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.88, Y:339.82, Z:22.01 [[ 2.29194080e-01 -9.73376959e-01 -2.71477887e-03 3.64881321e+02] [ 9.73319154e-01 2.29210061e-01 -1.06100110e-02 3.39819990e+02] [ 1.09497949e-02 -2.10594564e-04 9.99940027e-01 2.20119796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.010385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:364.89, Y:339.85, Z:22.01 [[ 2.29692625e-01 -9.73259443e-01 -2.71182021e-03 3.64888470e+02] [ 9.73201622e-01 2.29708544e-01 -1.06107672e-02 3.39846354e+02] [ 1.09499576e-02 -2.01932860e-04 9.99940027e-01 2.20111791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.040385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.90, Y:339.87, Z:22.01 [[ 2.30033548e-01 -9.73178927e-01 -2.70966650e-03 3.64895822e+02] [ 9.73121094e-01 2.30049424e-01 -1.06113171e-02 3.39873236e+02] [ 1.09500674e-02 -1.95874700e-04 9.99940027e-01 2.20114091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.070385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.90, Y:339.90, Z:22.01 [[ 2.30388586e-01 -9.73094945e-01 -2.70674533e-03 3.64903379e+02] [ 9.73037097e-01 2.30404409e-01 -1.06120622e-02 3.39899414e+02] [ 1.09501902e-02 -1.88865605e-04 9.99940027e-01 2.20113409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.100385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.91, Y:339.93, Z:22.01 [[ 2.30949839e-01 -9.72961899e-01 -2.70461067e-03 3.64912228e+02] [ 9.72904035e-01 2.30965605e-01 -1.06126062e-02 3.39925976e+02] [ 1.09503336e-02 -1.80346931e-04 9.99940027e-01 2.20120447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.130385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.92, Y:339.95, Z:22.01 [[ 2.31002359e-01 -9.72949439e-01 -2.70170543e-03 3.64919364e+02] [ 9.72891566e-01 2.31018090e-01 -1.06133458e-02 3.39952007e+02] [ 1.09503917e-02 -1.76758519e-04 9.99940027e-01 2.20120366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.160385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.93, Y:339.98, Z:22.01 [[ 2.31038731e-01 -9.72940809e-01 -2.69958372e-03 3.64926196e+02] [ 9.72882929e-01 2.31054436e-01 -1.06138854e-02 3.39978393e+02] [ 1.09504331e-02 -1.74160295e-04 9.99940027e-01 2.20119597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.190385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:364.93, Y:340.01, Z:22.01 [[ 2.31072112e-01 -9.72932890e-01 -2.69654877e-03 3.64933583e+02] [ 9.72875000e-01 2.31087782e-01 -1.06146564e-02 3.40005772e+02] [ 1.09504878e-02 -1.70653813e-04 9.99940027e-01 2.20123055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.2203857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.94, Y:340.03, Z:22.01 [[ 2.30984148e-01 -9.72953785e-01 -2.69372192e-03 3.64942018e+02] [ 9.72895888e-01 2.30999793e-01 -1.06153738e-02 3.40032581e+02] [ 1.09505173e-02 -1.68727918e-04 9.99940027e-01 2.20136540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.250385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.95, Y:340.06, Z:22.01 [[ 2.30921194e-01 -9.72968736e-01 -2.69084060e-03 3.64949757e+02] [ 9.72910832e-01 2.30936811e-01 -1.06161041e-02 3.40058880e+02] [ 1.09505515e-02 -1.66464538e-04 9.99940027e-01 2.20143090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.280385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.96, Y:340.09, Z:22.01 [[ 2.31232110e-01 -9.72894900e-01 -2.68779084e-03 3.64957712e+02] [ 9.72836982e-01 2.31247676e-01 -1.06168762e-02 3.40086354e+02] [ 1.09506501e-02 -1.59819644e-04 9.99940027e-01 2.20146725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.310385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.96, Y:340.11, Z:22.01 [[ 2.31025030e-01 -9.72944102e-01 -2.68495257e-03 3.64964573e+02] [ 9.72886180e-01 2.31040577e-01 -1.06175939e-02 3.40113293e+02] [ 1.09506584e-02 -1.59223296e-04 9.99940027e-01 2.20149087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.3403857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.97, Y:340.14, Z:22.01 [[ 2.31107052e-01 -9.72924631e-01 -2.68205871e-03 3.64971357e+02] [ 9.72866698e-01 2.31122563e-01 -1.06183249e-02 3.40139371e+02] [ 1.09507141e-02 -1.55315839e-04 9.99940027e-01 2.20149643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.370385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.98, Y:340.17, Z:22.02 [[ 2.30722699e-01 -9.73015855e-01 -2.67993637e-03 3.64978294e+02] [ 9.72957922e-01 2.30738209e-01 -1.06188605e-02 3.40166418e+02] [ 1.09506833e-02 -1.57453176e-04 9.99940027e-01 2.20150153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.400385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.99, Y:340.19, Z:22.01 [[ 2.30616019e-01 -9.73041153e-01 -2.67702841e-03 3.64985218e+02] [ 9.72983213e-01 2.30631504e-01 -1.06195935e-02 3.40192926e+02] [ 1.09507086e-02 -1.55655318e-04 9.99940027e-01 2.20148786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.430385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.99, Y:340.22, Z:22.02 [[ 2.29888820e-01 -9.73213225e-01 -2.67396181e-03 3.64992411e+02] [ 9.73155288e-01 2.29904314e-01 -1.06203656e-02 3.40219848e+02] [ 1.09506356e-02 -1.60676754e-04 9.99940027e-01 2.20152989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.460385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:365.00, Y:340.25, Z:22.02 [[ 2.29259313e-01 -9.73361717e-01 -2.67109400e-03 3.64999909e+02] [ 9.73303782e-01 2.29274814e-01 -1.06210869e-02 3.40247349e+02] [ 1.09505739e-02 -1.64802816e-04 9.99940027e-01 2.20160442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.490385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:365.01, Y:340.28, Z:22.02 [[ 2.28984386e-01 -9.73426413e-01 -2.67751651e-03 3.65006804e+02] [ 9.73368501e-01 2.28999973e-01 -1.06194725e-02 3.40275102e+02] [ 1.09504262e-02 -1.74516847e-04 9.99940027e-01 2.20163601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.520385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:365.01, Y:340.30, Z:22.02 [[ 2.29639753e-01 -9.73272023e-01 -2.67460437e-03 3.65013757e+02] [ 9.73214092e-01 2.29655269e-01 -1.06202036e-02 3.40300752e+02] [ 1.09505840e-02 -1.64141725e-04 9.99940027e-01 2.20155962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.550385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:365.02, Y:340.33, Z:22.02 [[ 2.28474211e-01 -9.73546411e-01 -2.63085076e-03 3.65021617e+02] [ 9.73488371e-01 2.28489319e-01 -1.06311791e-02 3.40329898e+02] [ 1.09510675e-02 -1.32152377e-04 9.99940027e-01 2.20177262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.580385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:365.03, Y:340.36, Z:22.02 [[ 2.28308559e-01 -9.73585184e-01 -2.66308760e-03 3.65028091e+02] [ 9.73527240e-01 2.28324029e-01 -1.06230977e-02 3.40356877e+02] [ 1.09505374e-02 -1.67244195e-04 9.99940027e-01 2.20180950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.610385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:365.03, Y:340.38, Z:22.02 [[ 2.28341351e-01 -9.73577501e-01 -2.66021837e-03 3.65034311e+02] [ 9.73519549e-01 2.28356788e-01 -1.06238161e-02 3.40384323e+02] [ 1.09505873e-02 -1.63918057e-04 9.99940027e-01 2.20185140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.640385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:365.04, Y:340.41, Z:22.02 [[ 2.28239169e-01 -9.73601469e-01 -2.65734085e-03 3.65041045e+02] [ 9.73543510e-01 2.28254580e-01 -1.06245358e-02 3.40411583e+02] [ 1.09506139e-02 -1.62101711e-04 9.99940027e-01 2.20194449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.670385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:365.05, Y:340.44, Z:22.02 [[ 2.27898859e-01 -9.73681192e-01 -2.65445636e-03 3.65047130e+02] [ 9.73623230e-01 2.27914259e-01 -1.06252565e-02 3.40439303e+02] [ 1.09506008e-02 -1.62956550e-04 9.99940027e-01 2.20208491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.700385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:365.05, Y:340.47, Z:22.02 [[ 2.27756868e-01 -9.73714423e-01 -2.65159160e-03 3.65052694e+02] [ 9.73656455e-01 2.27772246e-01 -1.06259713e-02 3.40465474e+02] [ 1.09506205e-02 -1.61601322e-04 9.99940027e-01 2.20210125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.730385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:365.06, Y:340.49, Z:22.02 [[ 2.27995544e-01 -9.73658573e-01 -2.64857021e-03 3.65058607e+02] [ 9.73600593e-01 2.28010874e-01 -1.06267244e-02 3.40492893e+02] [ 1.09507041e-02 -1.55803718e-04 9.99940027e-01 2.20210822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.760385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:365.06, Y:340.52, Z:22.02 [[ 2.29664627e-01 -9.73266233e-01 -2.64566870e-03 3.65064199e+02] [ 9.73208218e-01 2.29679826e-01 -1.06274467e-02 3.40519111e+02] [ 1.09509917e-02 -1.34037941e-04 9.99940027e-01 2.20216586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.790385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:365.07, Y:340.55, Z:22.02 [[ 2.30408534e-01 -9.73090396e-01 -2.64355225e-03 3.65070437e+02] [ 9.73032364e-01 2.30423665e-01 -1.06279731e-02 3.40546144e+02] [ 1.09511156e-02 -1.23486185e-04 9.99940027e-01 2.20227768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.820385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:365.07, Y:340.57, Z:22.02 [[ 2.28090514e-01 -9.73636351e-01 -2.64071398e-03 3.65067055e+02] [ 9.73578347e-01 2.28105752e-01 -1.06286783e-02 3.40569253e+02] [ 1.09508296e-02 -1.46641255e-04 9.99940027e-01 2.20196050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.850385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:365.07, Y:340.60, Z:22.02 [[ 2.29080580e-01 -9.73404384e-01 -2.44819126e-03 3.65071800e+02] [ 9.73345834e-01 2.29093653e-01 -1.06763865e-02 3.40597287e+02] [ 1.09533065e-02 6.28160423e-05 9.99940009e-01 2.20183407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.880385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:365.08, Y:340.63, Z:22.02 [[ 2.34803525e-01 -9.72039739e-01 -2.45995844e-03 3.65084828e+02] [ 9.71981144e-01 2.34816383e-01 -1.06734727e-02 3.40629983e+02] [ 1.09526782e-02 1.15135801e-04 9.99940011e-01 2.20206008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.910385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:365.08, Y:340.65, Z:22.02 [[ 2.32834757e-01 -9.72512736e-01 -2.63690973e-03 3.65084946e+02] [ 9.72454648e-01 2.32849672e-01 -1.06295761e-02 3.40652997e+02] [ 1.09514017e-02 -8.93403513e-05 9.99940028e-01 2.20177645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.940385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:365.10, Y:340.68, Z:22.02 [[ 2.37494382e-01 -9.71385705e-01 -2.49604211e-03 3.65097904e+02] [ 9.71327169e-01 2.37507474e-01 -1.06644609e-02 3.40683932e+02] [ 1.09521335e-02 1.08276029e-04 9.99940018e-01 2.20212266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.9703857229999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:365.10, Y:340.71, Z:22.02 [[ 2.39439612e-01 -9.70907682e-01 -2.63539760e-03 3.65103422e+02] [ 9.70849490e-01 2.39454115e-01 -1.06299116e-02 3.40710570e+02] [ 1.09517196e-02 -1.33525077e-05 9.99940028e-01 2.20207088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.000385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:365.11, Y:340.74, Z:22.02 [[ 2.38224574e-01 -9.71206642e-01 -2.59058957e-03 3.65109524e+02] [ 9.71148346e-01 2.38238659e-01 -1.06410036e-02 3.40738022e+02] [ 1.09517920e-02 1.91017778e-05 9.99940027e-01 2.20217614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.030385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:365.12, Y:340.76, Z:22.02 [[ 2.38846793e-01 -9.71053700e-01 -2.63092795e-03 3.65116210e+02] [ 9.70995504e-01 2.38861282e-01 -1.06310208e-02 3.40764233e+02] [ 1.09517189e-02 -1.54339716e-05 9.99940028e-01 2.20225293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.060385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:365.12, Y:340.79, Z:22.02 [[ 2.38709816e-01 -9.71087457e-01 -2.60284231e-03 3.65122614e+02] [ 9.71029187e-01 2.38724006e-01 -1.06379646e-02 3.40790037e+02] [ 1.09517549e-02 1.19507160e-05 9.99940028e-01 2.20229850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.0903857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:365.12, Y:340.82, Z:22.02 [[ 2.33439108e-01 -9.72368026e-01 -2.56981652e-03 3.65123006e+02] [ 9.72309744e-01 2.33453252e-01 -1.06461253e-02 3.40815422e+02] [ 1.09518838e-02 -1.34356511e-05 9.99940026e-01 2.20194566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.120385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:365.14, Y:340.85, Z:22.02 [[ 2.35189545e-01 -9.71946391e-01 -2.46785473e-03 3.65136147e+02] [ 9.71887814e-01 2.35202466e-01 -1.06712988e-02 3.40846006e+02] [ 1.09523759e-02 1.11299979e-04 9.99940015e-01 2.20226738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.150385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:365.14, Y:340.87, Z:22.02 [[ 2.33708037e-01 -9.72303269e-01 -2.62806043e-03 3.65143200e+02] [ 9.72245143e-01 2.33722802e-01 -1.06316975e-02 3.40872316e+02] [ 1.09514719e-02 -7.04058246e-05 9.99940028e-01 2.20224748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.180385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:365.15, Y:340.90, Z:22.02 [[ 2.29563612e-01 -9.73290120e-01 -2.62507411e-03 3.65150755e+02] [ 9.73232049e-01 2.29578592e-01 -1.06324348e-02 3.40899521e+02] [ 1.09511046e-02 -1.13986109e-04 9.99940028e-01 2.20218080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.210385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:365.16, Y:340.93, Z:22.02 [[ 2.27255595e-01 -9.73831617e-01 -2.62223532e-03 3.65157468e+02] [ 9.73773574e-01 2.27270681e-01 -1.06331349e-02 3.40926258e+02] [ 1.09508402e-02 -1.37024059e-04 9.99940028e-01 2.20219299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.240385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:365.16, Y:340.95, Z:22.02 [[ 2.25010939e-01 -9.74352717e-01 -2.61924032e-03 3.65164296e+02] [ 9.74294700e-01 2.25026127e-01 -1.06338726e-02 3.40953055e+02] [ 1.09505402e-02 -1.59174301e-04 9.99940028e-01 2.20216526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.270385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:365.16, Y:340.98, Z:22.02 [[ 2.18155075e-01 -9.75910609e-01 -2.61643911e-03 3.65164309e+02] [ 9.75852693e-01 2.18170640e-01 -1.06345618e-02 3.40975412e+02] [ 1.09492119e-02 -2.33275524e-04 9.99940028e-01 2.20169110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.300385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:365.18, Y:341.01, Z:22.02 [[ 2.19333986e-01 -9.75646697e-01 -2.47489376e-03 3.65176649e+02] [ 9.75588360e-01 2.19347936e-01 -1.06693075e-02 3.41006217e+02] [ 1.09523375e-02 -7.43357985e-05 9.99940019e-01 2.20203805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.330385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:365.18, Y:341.03, Z:22.02 [[ 2.17319149e-01 -9.76097106e-01 -2.61299706e-03 3.65182395e+02] [ 9.76039193e-01 2.17334726e-01 -1.06353772e-02 3.41033305e+02] [ 1.09490559e-02 -2.39116426e-04 9.99940029e-01 2.20196482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.360385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:365.18, Y:341.06, Z:22.02 [[ 2.13336727e-01 -9.76975246e-01 -2.60975787e-03 3.65184671e+02] [ 9.76917387e-01 2.13352504e-01 -1.06361720e-02 3.41058317e+02] [ 1.09480751e-02 -2.80431729e-04 9.99940029e-01 2.20186118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.390385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:365.19, Y:341.09, Z:22.02 [[ 2.12480251e-01 -9.77162185e-01 -2.49130365e-03 3.65190780e+02] [ 9.77103994e-01 2.12494789e-01 -1.06653005e-02 3.41085648e+02] [ 1.09511173e-02 -1.68097030e-04 9.99940021e-01 2.20185895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.420385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:365.20, Y:341.11, Z:22.02 [[ 2.11744222e-01 -9.77321955e-01 -2.48619380e-03 3.65196112e+02] [ 9.77263760e-01 2.11758749e-01 -1.06665565e-02 3.41114241e+02] [ 1.09511331e-02 -1.71085399e-04 9.99940020e-01 2.20185525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.450385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:365.20, Y:341.14, Z:22.02 [[ 2.11813187e-01 -9.77306985e-01 -2.49620569e-03 3.65202876e+02] [ 9.77248818e-01 2.11827818e-01 -1.06640956e-02 3.41142249e+02] [ 1.09508609e-02 -1.80617985e-04 9.99940021e-01 2.20204532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.480385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:365.21, Y:341.17, Z:22.02 [[ 2.10636683e-01 -9.77561173e-01 -2.51821760e-03 3.65209121e+02] [ 9.77503087e-01 2.10651624e-01 -1.06586860e-02 3.41169956e+02] [ 1.09499842e-02 -2.16455218e-04 9.99940024e-01 2.20211932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.510385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:365.22, Y:341.20, Z:22.02 [[ 2.10737311e-01 -9.77539429e-01 -2.53999745e-03 3.65215750e+02] [ 9.77481405e-01 2.10752483e-01 -1.06533312e-02 3.41197933e+02] [ 1.09493621e-02 -2.37745909e-04 9.99940026e-01 2.20222054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.540385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:365.22, Y:341.23, Z:22.02 [[ 2.09377844e-01 -9.77831488e-01 -2.54934552e-03 3.65220717e+02] [ 9.77773513e-01 2.09393199e-01 -1.06510341e-02 3.41225231e+02] [ 1.09487322e-02 -2.62591960e-04 9.99940026e-01 2.20210431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.570385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:365.23, Y:341.26, Z:22.02 [[ 2.11271405e-01 -9.77424145e-01 -2.53672878e-03 3.65229571e+02] [ 9.77366104e-01 2.11286510e-01 -1.06541275e-02 3.41255414e+02] [ 1.09495780e-02 -2.28400239e-04 9.99940026e-01 2.20249288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.600385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:365.23, Y:341.28, Z:22.02 [[ 2.10059966e-01 -9.77685024e-01 -2.60861675e-03 3.65229882e+02] [ 9.77627214e-01 2.10075926e-01 -1.06364969e-02 3.41278246e+02] [ 1.09471513e-02 -3.15952538e-04 9.99940028e-01 2.20208694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.630385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:365.23, Y:341.31, Z:22.02 [[ 2.08617298e-01 -9.77994208e-01 -2.48019196e-03 3.65232321e+02] [ 9.77936043e-01 2.08631945e-01 -1.06680501e-02 3.41306796e+02] [ 1.09507384e-02 -1.99929327e-04 9.99940019e-01 2.20207225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.660385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:365.24, Y:341.34, Z:22.02 [[ 2.10138967e-01 -9.77668360e-01 -2.48842128e-03 3.65239309e+02] [ 9.77610196e-01 2.10153613e-01 -1.06660277e-02 3.41335747e+02] [ 1.09507885e-02 -1.91357973e-04 9.99940020e-01 2.20213379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.690385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:365.24, Y:341.36, Z:22.02 [[ 2.10216210e-01 -9.77651674e-01 -2.51999391e-03 3.65244622e+02] [ 9.77593600e-01 2.10231195e-01 -1.06582698e-02 3.41362916e+02] [ 1.09498566e-02 -2.22988843e-04 9.99940024e-01 2.20211214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.7203857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:365.25, Y:341.39, Z:22.02 [[ 2.12893017e-01 -9.77072321e-01 -2.49864496e-03 3.65250032e+02] [ 9.77014145e-01 2.12907611e-01 -1.06635107e-02 3.41389763e+02] [ 1.09510016e-02 -1.71024513e-04 9.99940021e-01 2.20214674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.750385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:365.26, Y:341.42, Z:22.03 [[ 2.14922405e-01 -9.76628004e-01 -2.47003323e-03 3.65259948e+02] [ 9.76569717e-01 2.14936565e-01 -1.06705144e-02 3.41421283e+02] [ 1.09520236e-02 -1.18827039e-04 9.99940018e-01 2.20256525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.780385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:365.26, Y:341.44, Z:22.02 [[ 2.13435973e-01 -9.76953575e-01 -2.60713340e-03 3.65257394e+02] [ 9.76895706e-01 2.13451716e-01 -1.06369109e-02 3.41443366e+02] [ 1.09482652e-02 -2.76597999e-04 9.99940028e-01 2.20202118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.810385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:365.26, Y:341.47, Z:22.02 [[ 2.12452541e-01 -9.77168314e-01 -2.45042246e-03 3.65264506e+02] [ 9.77110006e-01 2.12466635e-01 -1.06754341e-02 3.41472677e+02] [ 1.09523289e-02 -1.26309208e-04 9.99940013e-01 2.20214880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.8403857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:365.27, Y:341.50, Z:22.02 [[ 2.11394554e-01 -9.77397534e-01 -2.53037532e-03 3.65269991e+02] [ 9.77339472e-01 2.11409582e-01 -1.06557731e-02 3.41499737e+02] [ 1.09498720e-02 -2.20463274e-04 9.99940024e-01 2.20214155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.870385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:365.28, Y:341.53, Z:22.03 [[ 2.12536237e-01 -9.77149941e-01 -2.51796839e-03 3.65279281e+02] [ 9.77091825e-01 2.12551063e-01 -1.06588223e-02 3.41529252e+02] [ 1.09504645e-02 -1.94900340e-04 9.99940023e-01 2.20269801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.900385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:365.28, Y:341.55, Z:22.03 [[ 2.10949311e-01 -9.77493502e-01 -2.61579802e-03 3.65282269e+02] [ 9.77435699e-01 2.10965296e-01 -1.06347595e-02 3.41553943e+02] [ 1.09472509e-02 -3.13379169e-04 9.99940028e-01 2.20274746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.930385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:365.29, Y:341.58, Z:22.03 [[ 2.08854452e-01 -9.77943452e-01 -2.53423815e-03 3.65288261e+02] [ 9.77885440e-01 2.08869674e-01 -1.06548045e-02 3.41583555e+02] [ 1.09491218e-02 -2.52891241e-04 9.99940025e-01 2.20275292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.960385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:365.29, Y:341.61, Z:22.03 [[ 2.09193718e-01 -9.77870803e-01 -2.58470704e-03 3.65292795e+02] [ 9.77812936e-01 2.09209468e-01 -1.06424066e-02 3.41609730e+02] [ 1.09476439e-02 -3.01035374e-04 9.99940027e-01 2.20272896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.990385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:365.30, Y:341.64, Z:22.03 [[ 2.06900441e-01 -9.78358716e-01 -2.53578681e-03 3.65296786e+02] [ 9.78300740e-01 2.06915796e-01 -1.06544185e-02 3.41639775e+02] [ 1.09485375e-02 -2.76358231e-04 9.99940025e-01 2.20260283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.020385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:365.30, Y:341.67, Z:22.02 [[ 2.05573460e-01 -9.78638295e-01 -2.57691362e-03 3.65301604e+02] [ 9.78580463e-01 2.05589340e-01 -1.06443235e-02 3.41666373e+02] [ 1.09467286e-02 -3.33526908e-04 9.99940027e-01 2.20247587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.050385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:365.31, Y:341.69, Z:22.03 [[ 2.05399089e-01 -9.78675012e-01 -2.53691517e-03 3.65307835e+02] [ 9.78617062e-01 2.05414544e-01 -1.06541326e-02 3.41694734e+02] [ 1.09480526e-02 -2.94319350e-04 9.99940025e-01 2.20257655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.080385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:365.31, Y:341.72, Z:22.03 [[ 2.05354015e-01 -9.78684421e-01 -2.55606237e-03 3.65312408e+02] [ 9.78626529e-01 2.05369682e-01 -1.06494338e-02 3.41722653e+02] [ 1.09473727e-02 -3.14526449e-04 9.99940026e-01 2.20262555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.110385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:365.32, Y:341.75, Z:22.03 [[ 2.07936368e-01 -9.78139049e-01 -2.54334847e-03 3.65318783e+02] [ 9.78081078e-01 2.07951743e-01 -1.06525509e-02 3.41751505e+02] [ 1.09485697e-02 -2.72548278e-04 9.99940025e-01 2.20290603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.140385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:365.32, Y:341.78, Z:22.03 [[ 2.05591868e-01 -9.78634346e-01 -2.60784615e-03 3.65320715e+02] [ 9.78576607e-01 2.05608082e-01 -1.06367378e-02 3.41778317e+02] [ 1.09456712e-02 -3.65150455e-04 9.99940028e-01 2.20262347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.170385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:365.33, Y:341.81, Z:22.03 [[ 2.09108378e-01 -9.77889124e-01 -2.55863501e-03 3.65327052e+02] [ 9.77831181e-01 2.09123850e-01 -1.06487827e-02 3.41806477e+02] [ 1.09484003e-02 -2.75163424e-04 9.99940027e-01 2.20281320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.200385723 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:365.33, Y:341.83, Z:22.03 [[ 2.08706279e-01 -9.77974884e-01 -2.61075832e-03 3.65329746e+02] [ 9.77917102e-01 2.08722342e-01 -1.06360307e-02 3.41834613e+02] [ 1.09466944e-02 -3.33298829e-04 9.99940028e-01 2.20266618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.230385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:365.33, Y:341.86, Z:22.03 [[ 2.07494708e-01 -9.78232684e-01 -2.60019850e-03 3.65333654e+02] [ 9.78174891e-01 2.07510728e-01 -1.06386116e-02 3.41861370e+02] [ 1.09466067e-02 -3.35993266e-04 9.99940028e-01 2.20272829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.260385723 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:365.34, Y:341.89, Z:22.03 [[ 2.08770116e-01 -9.77961392e-01 -2.56020909e-03 3.65340199e+02] [ 9.77903459e-01 2.08785625e-01 -1.06483675e-02 3.41889635e+02] [ 1.09482272e-02 -2.80576408e-04 9.99940027e-01 2.20299341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.290385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:365.35, Y:341.92, Z:22.03 [[ 2.07952914e-01 -9.78135396e-01 -2.59466174e-03 3.65345465e+02] [ 9.78077579e-01 2.07968846e-01 -1.06399659e-02 3.41917550e+02] [ 1.09469361e-02 -3.25168563e-04 9.99940028e-01 2.20299007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.320385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:365.35, Y:341.95, Z:22.03 [[ 2.08908311e-01 -9.77931797e-01 -2.59178122e-03 3.65350747e+02] [ 9.77873956e-01 2.08924155e-01 -1.06406675e-02 3.41945326e+02] [ 1.09473328e-02 -3.11511472e-04 9.99940028e-01 2.20315293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.350385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:365.36, Y:341.97, Z:22.03 [[ 2.09785170e-01 -9.77744077e-01 -2.58888107e-03 3.65355909e+02] [ 9.77686213e-01 2.09800931e-01 -1.06413731e-02 3.41971830e+02] [ 1.09476892e-02 -2.98711067e-04 9.99940028e-01 2.20317459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.380385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:365.36, Y:342.00, Z:22.03 [[ 2.12596709e-01 -9.77136609e-01 -2.58582011e-03 3.65359961e+02] [ 9.77078691e-01 2.12612270e-01 -1.06421168e-02 3.41999507e+02] [ 1.09485790e-02 -2.64070709e-04 9.99940028e-01 2.20317932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.410385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:365.37, Y:342.03, Z:22.03 [[ 2.12335512e-01 -9.77193409e-01 -2.58297377e-03 3.65366633e+02] [ 9.77135487e-01 2.12351057e-01 -1.06428076e-02 3.42027290e+02] [ 1.09485787e-02 -2.64069331e-04 9.99940028e-01 2.20321051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.440385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:365.37, Y:342.05, Z:22.03 [[ 2.11803247e-01 -9.77308921e-01 -2.58012858e-03 3.65371573e+02] [ 9.77250999e-01 2.11818793e-01 -1.06434973e-02 3.42054972e+02] [ 1.09485046e-02 -2.67105935e-04 9.99940028e-01 2.20312158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.4703857229999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:365.38, Y:342.08, Z:22.03 [[ 2.13083322e-01 -9.77030625e-01 -2.57989218e-03 3.65377384e+02] [ 9.76972682e-01 2.13098790e-01 -1.06435546e-02 3.42081388e+02] [ 1.09488507e-02 -2.52520214e-04 9.99940028e-01 2.20328477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.500385723 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:365.38, Y:342.11, Z:22.03 [[ 2.12729381e-01 -9.77107765e-01 -2.57410036e-03 3.65382602e+02] [ 9.77049810e-01 2.12744807e-01 -1.06449551e-02 3.42107832e+02] [ 1.09488948e-02 -2.50529555e-04 9.99940028e-01 2.20308713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.530385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:365.39, Y:342.13, Z:22.03 [[ 2.12675287e-01 -9.77119549e-01 -2.57102802e-03 3.65388377e+02] [ 9.77061586e-01 2.12690683e-01 -1.06456971e-02 3.42133949e+02] [ 1.09489525e-02 -2.47976024e-04 9.99940028e-01 2.20324430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.560385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:365.39, Y:342.16, Z:22.03 [[ 2.12428243e-01 -9.77173294e-01 -2.56806538e-03 3.65393722e+02] [ 9.77115327e-01 2.12443620e-01 -1.06464117e-02 3.42161418e+02] [ 1.09489583e-02 -2.47697510e-04 9.99940028e-01 2.20329373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.5903857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:365.40, Y:342.19, Z:22.03 [[ 2.12182451e-01 -9.77226702e-01 -2.56528662e-03 3.65399623e+02] [ 9.77168731e-01 2.12197813e-01 -1.06470813e-02 3.42188240e+02] [ 1.09489603e-02 -2.47594078e-04 9.99940028e-01 2.20333777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.620385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:365.41, Y:342.22, Z:22.03 [[ 2.11882012e-01 -9.77291895e-01 -2.56235520e-03 3.65405798e+02] [ 9.77233920e-01 2.11897360e-01 -1.06477867e-02 3.42215737e+02] [ 1.09489519e-02 -2.47945948e-04 9.99940028e-01 2.20341852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.650385723 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:365.41, Y:342.24, Z:22.03 [[ 2.10032278e-01 -9.77691102e-01 -2.55947628e-03 3.65410367e+02] [ 9.77633148e-01 2.10047704e-01 -1.06484787e-02 3.42243834e+02] [ 1.09485350e-02 -2.65704620e-04 9.99940028e-01 2.20345422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.680385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:365.42, Y:342.27, Z:22.04 [[ 2.09785029e-01 -9.77744224e-01 -2.54447314e-03 3.65418209e+02] [ 9.77686230e-01 2.09800307e-01 -1.06520822e-02 3.42271123e+02] [ 1.09488431e-02 -2.53048986e-04 9.99940028e-01 2.20353001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.710385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:365.43, Y:342.30, Z:22.03 [[ 2.07674354e-01 -9.78194680e-01 -2.55555862e-03 3.65426319e+02] [ 9.78136752e-01 2.07689877e-01 -1.06494220e-02 3.42297106e+02] [ 1.09479716e-02 -2.88073977e-04 9.99940028e-01 2.20345202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.740385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:365.43, Y:342.32, Z:22.04 [[ 2.07146151e-01 -9.78306677e-01 -2.55286187e-03 3.65432789e+02] [ 9.78248749e-01 2.07161677e-01 -1.06500684e-02 3.42324293e+02] [ 1.09478882e-02 -2.91213254e-04 9.99940028e-01 2.20351617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.770385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:365.44, Y:342.35, Z:22.03 [[ 2.06799961e-01 -9.78379923e-01 -2.54990854e-03 3.65438914e+02] [ 9.78321992e-01 2.06815475e-01 -1.06507755e-02 3.42351354e+02] [ 1.09478654e-02 -2.92051654e-04 9.99940028e-01 2.20335229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.800385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:365.45, Y:342.38, Z:22.03 [[ 2.06010158e-01 -9.78546538e-01 -2.54697440e-03 3.65445515e+02] [ 9.78488611e-01 2.06025687e-01 -1.06514771e-02 3.42378564e+02] [ 1.09477082e-02 -2.97872963e-04 9.99940028e-01 2.20329833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.830385723 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:365.45, Y:342.41, Z:22.03 [[ 2.04841293e-01 -9.78791894e-01 -2.54405159e-03 3.65452942e+02] [ 9.78733977e-01 2.04856859e-01 -1.06521751e-02 3.42406042e+02] [ 1.09474291e-02 -3.07944406e-04 9.99940028e-01 2.20314856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.860385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:365.46, Y:342.43, Z:22.03 [[ 2.03133232e-01 -9.79147796e-01 -2.54642873e-03 3.65461698e+02] [ 9.79089913e-01 2.03148925e-01 -1.06516077e-02 3.42431541e+02] [ 1.09468024e-02 -3.29487199e-04 9.99940028e-01 2.20330112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.890385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:365.47, Y:342.46, Z:22.03 [[ 2.01913119e-01 -9.79400143e-01 -2.53993390e-03 3.65469682e+02] [ 9.79342261e-01 2.01928814e-01 -1.06531562e-02 3.42458881e+02] [ 1.09465885e-02 -3.36452616e-04 9.99940028e-01 2.20347192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.920385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:365.48, Y:342.49, Z:22.03 [[ 2.01282750e-01 -9.79529897e-01 -2.53698147e-03 3.65477192e+02] [ 9.79472016e-01 2.01298449e-01 -1.06538592e-02 3.42485938e+02] [ 1.09464640e-02 -3.40464280e-04 9.99940028e-01 2.20349930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.950385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:365.49, Y:342.52, Z:22.04 [[ 2.02436155e-01 -9.79292184e-01 -2.53401708e-03 3.65486143e+02] [ 9.79234276e-01 2.02451754e-01 -1.06545642e-02 3.42515050e+02] [ 1.09469477e-02 -3.24527367e-04 9.99940028e-01 2.20351255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.980385723 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:365.49, Y:342.54, Z:22.03 [[ 2.01661396e-01 -9.79451892e-01 -2.58307855e-03 3.65491150e+02] [ 9.79394142e-01 2.01677574e-01 -1.06429022e-02 3.42540503e+02] [ 1.09451597e-02 -3.83589492e-04 9.99940026e-01 2.20323973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.010385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:365.50, Y:342.57, Z:22.04 [[ 2.03308725e-01 -9.79111416e-01 -2.52948485e-03 3.65499733e+02] [ 9.79053481e-01 2.03324223e-01 -1.06556245e-02 3.42567619e+02] [ 1.09473492e-02 -3.10119516e-04 9.99940028e-01 2.20351348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.040385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:365.51, Y:342.59, Z:22.04 [[ 2.04047775e-01 -9.78957671e-01 -2.52656162e-03 3.65506835e+02] [ 9.78899716e-01 2.04063198e-01 -1.06563176e-02 3.42594301e+02] [ 1.09476621e-02 -2.98852550e-04 9.99940028e-01 2.20368057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.070385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:365.52, Y:342.62, Z:22.04 [[ 2.06879931e-01 -9.78363085e-01 -2.52356945e-03 3.65517859e+02] [ 9.78305077e-01 2.06895153e-01 -1.06570262e-02 3.42624213e+02] [ 1.09485553e-02 -2.64095967e-04 9.99940028e-01 2.20351711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.100385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:365.53, Y:342.65, Z:22.03 [[ 2.08891550e-01 -9.77935363e-01 -2.59715658e-03 3.65526514e+02] [ 9.77877535e-01 2.08907454e-01 -1.06396219e-02 3.42653379e+02] [ 1.09474279e-02 -3.17173967e-04 9.99940025e-01 2.20349659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.130385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:365.53, Y:342.68, Z:22.04 [[ 2.10810150e-01 -9.77523435e-01 -2.64861980e-03 3.65534932e+02] [ 9.77465725e-01 2.10826500e-01 -1.06274521e-02 3.42680582e+02] [ 1.09469827e-02 -3.48560310e-04 9.99940019e-01 2.20359835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.160385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:365.54, Y:342.71, Z:22.04 [[ 2.12526430e-01 -9.77151650e-01 -2.67773535e-03 3.65544582e+02] [ 9.77093997e-01 2.12542995e-01 -1.06205380e-02 3.42708827e+02] [ 1.09470101e-02 -3.59254120e-04 9.99940015e-01 2.20353208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.190385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:365.55, Y:342.73, Z:22.04 [[ 2.09552856e-01 -9.77793508e-01 -2.73069463e-03 3.65545189e+02] [ 9.77736066e-01 2.09570170e-01 -1.06079655e-02 3.42729874e+02] [ 1.09446719e-02 -4.46969168e-04 9.99940005e-01 2.20393529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.2203857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:365.55, Y:342.76, Z:22.04 [[ 2.09327166e-01 -9.77842414e-01 -2.52021552e-03 3.65551830e+02] [ 9.77784359e-01 2.09342206e-01 -1.06577373e-02 3.42757221e+02] [ 1.09491751e-02 -2.33273368e-04 9.99940029e-01 2.20394409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.250385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:365.56, Y:342.78, Z:22.04 [[ 2.09597707e-01 -9.77784467e-01 -2.51732202e-03 3.65558734e+02] [ 9.77726401e-01 2.09612700e-01 -1.06584207e-02 3.42784480e+02] [ 1.09493009e-02 -2.27271658e-04 9.99940029e-01 2.20384453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.280385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:365.57, Y:342.81, Z:22.04 [[ 2.09806727e-01 -9.77739659e-01 -2.50939029e-03 3.65566485e+02] [ 9.77681566e-01 2.09821621e-01 -1.06602923e-02 3.42811549e+02] [ 1.09495149e-02 -2.16783595e-04 9.99940029e-01 2.20392754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.310385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:365.57, Y:342.84, Z:22.04 [[ 2.10063312e-01 -9.77684554e-01 -2.51362056e-03 3.65573398e+02] [ 9.77626469e-01 2.10078237e-01 -1.06592947e-02 3.42838550e+02] [ 1.09494848e-02 -2.18255239e-04 9.99940029e-01 2.20390422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.3403857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:365.58, Y:342.87, Z:22.04 [[ 2.10547016e-01 -9.77580508e-01 -2.51078117e-03 3.65581796e+02] [ 9.77522409e-01 2.10561881e-01 -1.06599635e-02 3.42865337e+02] [ 1.09496473e-02 -2.09921361e-04 9.99940029e-01 2.20394977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.370385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:365.59, Y:342.89, Z:22.04 [[ 2.10051918e-01 -9.77687017e-01 -2.50787716e-03 3.65589331e+02] [ 9.77628916e-01 2.10066781e-01 -1.06606466e-02 3.42892706e+02] [ 1.09495975e-02 -2.12483955e-04 9.99940029e-01 2.20404799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.400385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:365.60, Y:342.92, Z:22.04 [[ 2.09126046e-01 -9.77885485e-01 -2.50490911e-03 3.65596738e+02] [ 9.77827391e-01 2.09140931e-01 -1.06613440e-02 3.42918903e+02] [ 1.09494526e-02 -2.19804033e-04 9.99940029e-01 2.20410696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.430385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:365.61, Y:342.95, Z:22.04 [[ 2.07139390e-01 -9.78308241e-01 -2.50178177e-03 3.65605779e+02] [ 9.78250168e-01 2.07154360e-01 -1.06620778e-02 3.42945778e+02] [ 1.09490536e-02 -2.38832147e-04 9.99940029e-01 2.20421375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.460385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:365.61, Y:342.97, Z:22.04 [[ 2.05947474e-01 -9.78559857e-01 -2.49890642e-03 3.65613666e+02] [ 9.78501794e-01 2.05962483e-01 -1.06627517e-02 3.42973246e+02] [ 1.09488217e-02 -2.49217647e-04 9.99940029e-01 2.20432530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.490385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:365.62, Y:343.00, Z:22.04 [[ 2.04240079e-01 -9.78917647e-01 -2.49596440e-03 3.65622331e+02] [ 9.78859603e-01 2.04255157e-01 -1.06634403e-02 3.43000220e+02] [ 1.09484435e-02 -2.65296838e-04 9.99940029e-01 2.20436179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.520385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:365.63, Y:343.03, Z:22.04 [[ 2.03445672e-01 -9.79083063e-01 -2.49298693e-03 3.65629167e+02] [ 9.79025022e-01 2.03460765e-01 -1.06641363e-02 3.43027534e+02] [ 1.09483003e-02 -2.71124201e-04 9.99940029e-01 2.20436194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.550385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:365.64, Y:343.05, Z:22.04 [[ 2.02286972e-01 -9.79323124e-01 -2.49001969e-03 3.65636674e+02] [ 9.79265093e-01 2.02302101e-01 -1.06648291e-02 3.43054485e+02] [ 1.09480500e-02 -2.81033371e-04 9.99940029e-01 2.20434179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.580385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:365.64, Y:343.08, Z:22.04 [[ 2.01564240e-01 -9.79472140e-01 -2.48701047e-03 3.65643350e+02] [ 9.79414111e-01 2.01579379e-01 -1.06655308e-02 3.43080604e+02] [ 1.09479203e-02 -2.86023540e-04 9.99940029e-01 2.20426895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.610385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:365.65, Y:343.11, Z:22.04 [[ 2.00950898e-01 -9.79598165e-01 -2.48430160e-03 3.65650950e+02] [ 9.79540138e-01 2.00966044e-01 -1.06661618e-02 3.43108019e+02] [ 1.09478128e-02 -2.90098353e-04 9.99940029e-01 2.20431762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.640385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:365.66, Y:343.14, Z:22.04 [[ 2.00330900e-01 -9.79725152e-01 -2.48139313e-03 3.65658822e+02] [ 9.79667126e-01 2.00346051e-01 -1.06668383e-02 3.43135427e+02] [ 1.09477071e-02 -2.94041953e-04 9.99940029e-01 2.20435807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.670385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:365.67, Y:343.16, Z:22.04 [[ 2.00339362e-01 -9.79723429e-01 -2.47844824e-03 3.65667079e+02] [ 9.79665395e-01 2.00354481e-01 -1.06675225e-02 3.43160863e+02] [ 1.09477900e-02 -2.90925314e-04 9.99940029e-01 2.20420051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.700385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:365.68, Y:343.19, Z:22.04 [[ 2.01059829e-01 -9.79575833e-01 -2.47629968e-03 3.65675782e+02] [ 9.79517782e-01 2.01074882e-01 -1.06680213e-02 3.43188697e+02] [ 1.09480575e-02 -2.80669035e-04 9.99940029e-01 2.20395170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.730385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:365.68, Y:343.22, Z:22.04 [[ 2.00518085e-01 -9.79686838e-01 -2.48924318e-03 3.65682147e+02] [ 9.79628832e-01 2.00533311e-01 -1.06650211e-02 3.43216477e+02] [ 1.09475570e-02 -3.00004781e-04 9.99940029e-01 2.20419192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.760385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:365.69, Y:343.24, Z:22.04 [[ 2.01596464e-01 -9.79465554e-01 -2.46884853e-03 3.65689672e+02] [ 9.79407473e-01 2.01611404e-01 -1.06697402e-02 3.43242194e+02] [ 1.09483910e-02 -2.67026805e-04 9.99940029e-01 2.20416274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.790385723 meters Centerline goodness : 0.997160 Centerline is valid? [True, True] Translation: X:365.70, Y:343.27, Z:22.04 [[ 2.05063980e-01 -9.78745462e-01 -2.46675171e-03 3.65700216e+02] [ 9.78687323e-01 2.05078691e-01 -1.06702249e-02 3.43269528e+02] [ 1.09493125e-02 -2.26099841e-04 9.99940029e-01 2.20396130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.820385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:365.71, Y:343.29, Z:22.04 [[ 2.05151785e-01 -9.78726915e-01 -2.52422284e-03 3.65705954e+02] [ 9.78668935e-01 2.05167117e-01 -1.06569455e-02 3.43294443e+02] [ 1.09481269e-02 -2.84087087e-04 9.99940027e-01 2.20420474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.850385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:365.71, Y:343.32, Z:22.04 [[ 2.06137741e-01 -9.78519894e-01 -2.45929231e-03 3.65714703e+02] [ 9.78461720e-01 2.06152308e-01 -1.06719085e-02 3.43320482e+02] [ 1.09496635e-02 -2.06440275e-04 9.99940029e-01 2.20413546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.880385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:365.72, Y:343.35, Z:22.04 [[ 2.06208630e-01 -9.78504934e-01 -2.46868980e-03 3.65721577e+02] [ 9.78446784e-01 2.06223294e-01 -1.06697451e-02 3.43347017e+02] [ 1.09494996e-02 -2.15288070e-04 9.99940029e-01 2.20435941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.910385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:365.73, Y:343.37, Z:22.04 [[ 2.05865911e-01 -9.78577137e-01 -2.45220558e-03 3.65728074e+02] [ 9.78518947e-01 2.05880416e-01 -1.06735323e-02 3.43373552e+02] [ 1.09497358e-02 -2.02213161e-04 9.99940029e-01 2.20435920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.940385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:365.74, Y:343.40, Z:22.04 [[ 2.05442637e-01 -9.78666095e-01 -2.44909362e-03 3.65736491e+02] [ 9.78607903e-01 2.05457133e-01 -1.06742463e-02 3.43399278e+02] [ 1.09497067e-02 -2.03757054e-04 9.99940029e-01 2.20443412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.9703857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:365.74, Y:343.43, Z:22.05 [[ 2.04793605e-01 -9.78802123e-01 -2.44604293e-03 3.65744196e+02] [ 9.78743932e-01 2.04808106e-01 -1.06749454e-02 3.43425187e+02] [ 1.09496286e-02 -2.07889133e-04 9.99940029e-01 2.20454396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.000385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:365.75, Y:343.45, Z:22.05 [[ 2.03956676e-01 -9.78976867e-01 -2.44301922e-03 3.65752091e+02] [ 9.78918680e-01 2.03971195e-01 -1.06756373e-02 3.43452205e+02] [ 1.09495075e-02 -2.14149647e-04 9.99940029e-01 2.20455877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.030385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:365.76, Y:343.48, Z:22.05 [[ 2.03030868e-01 -9.79169297e-01 -2.44018468e-03 3.65759037e+02] [ 9.79111116e-01 2.03045410e-01 -1.06762852e-02 3.43478077e+02] [ 1.09493589e-02 -2.21596501e-04 9.99940029e-01 2.20475676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.060385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:365.77, Y:343.51, Z:22.05 [[ 2.03643035e-01 -9.79042172e-01 -2.43719269e-03 3.65767071e+02] [ 9.78983974e-01 2.03657509e-01 -1.06769681e-02 3.43507430e+02] [ 1.09495547e-02 -2.11682388e-04 9.99940029e-01 2.20478266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.0903857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:365.77, Y:343.53, Z:22.05 [[ 2.02726396e-01 -9.79232289e-01 -2.47630349e-03 3.65773293e+02] [ 9.79174212e-01 2.02741350e-01 -1.06680414e-02 3.43533104e+02] [ 1.09485397e-02 -2.62038932e-04 9.99940029e-01 2.20474779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.120385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:365.78, Y:343.56, Z:22.05 [[ 2.01611212e-01 -9.79462605e-01 -2.43398896e-03 3.65780526e+02] [ 9.79404429e-01 2.01625771e-01 -1.06776870e-02 3.43560027e+02] [ 1.09491501e-02 -2.31118147e-04 9.99940030e-01 2.20477083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.150385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:365.79, Y:343.59, Z:22.05 [[ 2.02171712e-01 -9.79347086e-01 -2.42558103e-03 3.65789787e+02] [ 9.79288879e-01 2.02186146e-01 -1.06796019e-02 3.43589085e+02] [ 1.09494559e-02 -2.16231133e-04 9.99940030e-01 2.20484792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.180385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:365.80, Y:343.62, Z:22.05 [[ 1.99973066e-01 -9.79798283e-01 -2.46938368e-03 3.65797962e+02] [ 9.79740229e-01 1.99988108e-01 -1.06696278e-02 3.43615339e+02] [ 1.09479304e-02 -2.85716350e-04 9.99940029e-01 2.20482125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.210385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:365.80, Y:343.64, Z:22.05 [[ 1.99190328e-01 -9.79957680e-01 -2.48179718e-03 3.65804775e+02] [ 9.79899672e-01 1.99205551e-01 -1.06668024e-02 3.43642542e+02] [ 1.09474027e-02 -3.07188379e-04 9.99940028e-01 2.20480706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.240385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:365.81, Y:343.67, Z:22.04 [[ 1.99456920e-01 -9.79903486e-01 -2.46901304e-03 3.65811567e+02] [ 9.79845439e-01 1.99471988e-01 -1.06697092e-02 3.43667536e+02] [ 1.09477842e-02 -2.91103833e-04 9.99940029e-01 2.20439866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.270385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:365.82, Y:343.70, Z:22.05 [[ 1.98209510e-01 -9.80156651e-01 -2.43496062e-03 3.65819969e+02] [ 9.80098529e-01 1.98224282e-01 -1.06774428e-02 3.43697353e+02] [ 1.09482349e-02 -2.70130612e-04 9.99940030e-01 2.20455401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.300385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:365.83, Y:343.72, Z:22.05 [[ 1.97823146e-01 -9.80234562e-01 -2.49117349e-03 3.65826021e+02] [ 9.80176602e-01 1.97838552e-01 -1.06646802e-02 3.43724320e+02] [ 1.09467383e-02 -3.32069389e-04 9.99940028e-01 2.20458662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.330385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:365.83, Y:343.75, Z:22.05 [[ 1.96694930e-01 -9.80461607e-01 -2.47808651e-03 3.65834331e+02] [ 9.80403629e-01 1.96710261e-01 -1.06676403e-02 3.43752403e+02] [ 1.09466768e-02 -3.31254236e-04 9.99940028e-01 2.20472441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.360385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:365.84, Y:343.78, Z:22.05 [[ 1.91690664e-01 -9.81452220e-01 -2.49571686e-03 3.65839482e+02] [ 9.81394371e-01 1.91706482e-01 -1.06636583e-02 3.43776264e+02] [ 1.09443162e-02 -4.05158736e-04 9.99940027e-01 2.20503150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.390385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:365.85, Y:343.80, Z:22.05 [[ 1.90017681e-01 -9.81777715e-01 -2.40795987e-03 3.65846395e+02] [ 9.81719643e-01 1.90032645e-01 -1.06834380e-02 3.43803881e+02] [ 1.09463524e-02 -3.33899385e-04 9.99940031e-01 2.20515255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.420385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:365.86, Y:343.83, Z:22.05 [[ 1.89014263e-01 -9.81971397e-01 -2.40501500e-03 3.65855310e+02] [ 9.81913332e-01 1.89029253e-01 -1.06841009e-02 3.43833321e+02] [ 1.09460997e-02 -3.42068831e-04 9.99940031e-01 2.20520037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.450385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:365.86, Y:343.86, Z:22.05 [[ 1.86758967e-01 -9.82402636e-01 -2.47986570e-03 3.65857538e+02] [ 9.82344820e-01 1.86774903e-01 -1.06672485e-02 3.43857794e+02] [ 1.09427097e-02 -4.43878917e-04 9.99940028e-01 2.20536416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.480385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:365.87, Y:343.89, Z:22.05 [[ 1.88247088e-01 -9.82118767e-01 -2.40036583e-03 3.65865903e+02] [ 9.82060701e-01 1.88262074e-01 -1.06851079e-02 3.43887550e+02] [ 1.09459428e-02 -3.45864500e-04 9.99940032e-01 2.20514721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.510385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:365.87, Y:343.91, Z:22.05 [[ 1.89143682e-01 -9.81946291e-01 -2.47984050e-03 3.65872107e+02] [ 9.81888437e-01 1.89159478e-01 -1.06672332e-02 3.43914665e+02] [ 1.09437354e-02 -4.17286949e-04 9.99940028e-01 2.20509232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.540385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:365.88, Y:343.94, Z:22.05 [[ 1.91174479e-01 -9.81552924e-01 -2.48524930e-03 3.65879370e+02] [ 9.81495053e-01 1.91190214e-01 -1.06660171e-02 3.43943961e+02] [ 1.09444156e-02 -4.00189617e-04 9.99940028e-01 2.20505465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.570385723 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:365.88, Y:343.97, Z:22.05 [[ 1.88877815e-01 -9.81997340e-01 -2.52876078e-03 3.65879496e+02] [ 9.81939633e-01 1.88894156e-01 -1.06562349e-02 3.43967381e+02] [ 1.09420624e-02 -4.70364084e-04 9.99940023e-01 2.20534310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.600385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:365.88, Y:343.99, Z:22.05 [[ 1.90261711e-01 -9.81730486e-01 -2.39458193e-03 3.65882836e+02] [ 9.81672375e-01 1.90276515e-01 -1.06863017e-02 3.43993947e+02] [ 1.09467009e-02 -3.17500884e-04 9.99940033e-01 2.20514868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.630385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:365.89, Y:344.02, Z:22.05 [[ 1.90811731e-01 -9.81623739e-01 -2.39151488e-03 3.65887840e+02] [ 9.81565610e-01 1.90826468e-01 -1.06869880e-02 3.44021509e+02] [ 1.09469655e-02 -3.08226078e-04 9.99940033e-01 2.20514722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.660385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:365.90, Y:344.05, Z:22.05 [[ 1.92099898e-01 -9.81372470e-01 -2.38859071e-03 3.65895277e+02] [ 9.81314314e-01 1.92114527e-01 -1.06876416e-02 3.44050695e+02] [ 1.09474402e-02 -2.90863402e-04 9.99940033e-01 2.20499633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.690385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:365.90, Y:344.08, Z:22.05 [[ 1.91732659e-01 -9.81444172e-01 -2.43392906e-03 3.65898912e+02] [ 9.81386148e-01 1.91747803e-01 -1.06775087e-02 3.44076173e+02] [ 1.09460792e-02 -3.41397132e-04 9.99940032e-01 2.20506845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.7203857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:365.91, Y:344.10, Z:22.05 [[ 1.90976888e-01 -9.81591636e-01 -2.38502453e-03 3.65905643e+02] [ 9.81533488e-01 1.90991544e-01 -1.06884213e-02 3.44104574e+02] [ 1.09471845e-02 -2.99740006e-04 9.99940033e-01 2.20513041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.750385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:365.91, Y:344.13, Z:22.05 [[ 1.89782565e-01 -9.81823236e-01 -2.38998991e-03 3.65910980e+02] [ 9.81765119e-01 1.89797346e-01 -1.06873139e-02 3.44132238e+02] [ 1.09466668e-02 -3.18142889e-04 9.99940033e-01 2.20512852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.780385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:365.92, Y:344.16, Z:22.05 [[ 1.89083583e-01 -9.81958085e-01 -2.39107708e-03 3.65915394e+02] [ 9.81899982e-01 1.89098418e-01 -1.06870717e-02 3.44159305e+02] [ 1.09464053e-02 -3.27048744e-04 9.99940033e-01 2.20527008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.810385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:365.92, Y:344.19, Z:22.05 [[ 1.87321012e-01 -9.82295872e-01 -2.37890833e-03 3.65918797e+02] [ 9.82237761e-01 1.87335819e-01 -1.06897797e-02 3.44187175e+02] [ 1.09461812e-02 -3.34233230e-04 9.99940033e-01 2.20533508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.8403857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:365.92, Y:344.21, Z:22.05 [[ 1.86648931e-01 -9.82423804e-01 -2.37595497e-03 3.65923898e+02] [ 9.82365696e-01 1.86663745e-01 -1.06904361e-02 3.44214681e+02] [ 1.09460436e-02 -3.38698187e-04 9.99940033e-01 2.20537481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.870385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:365.93, Y:344.24, Z:22.05 [[ 1.88210563e-01 -9.82125833e-01 -2.37302360e-03 3.65932132e+02] [ 9.82067694e-01 1.88225254e-01 -1.06910868e-02 3.44243884e+02] [ 1.09466555e-02 -3.18294350e-04 9.99940033e-01 2.20542382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.900385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:365.94, Y:344.27, Z:22.06 [[ 1.88163680e-01 -9.82134697e-01 -2.42213796e-03 3.65937045e+02] [ 9.82076694e-01 1.88178907e-01 -1.06801949e-02 3.44271723e+02] [ 1.09451852e-02 -3.69100466e-04 9.99940032e-01 2.20563241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.930385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:365.94, Y:344.30, Z:22.06 [[ 1.89401138e-01 -9.81896860e-01 -2.40113133e-03 3.65937777e+02] [ 9.81838780e-01 1.89416064e-01 -1.06848448e-02 3.44297969e+02] [ 1.09462284e-02 -3.33802083e-04 9.99940033e-01 2.20575837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.960385723 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:365.94, Y:344.33, Z:22.06 [[ 1.90140187e-01 -9.81754104e-01 -2.36411724e-03 3.65941855e+02] [ 9.81695911e-01 1.90154666e-01 -1.06930283e-02 3.44325760e+02] [ 1.09474723e-02 -2.87669831e-04 9.99940033e-01 2.20564867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.990385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:365.95, Y:344.35, Z:22.06 [[ 1.94309043e-01 -9.80937521e-01 -2.36122405e-03 3.65946241e+02] [ 9.80879260e-01 1.94323243e-01 -1.06936671e-02 3.44354098e+02] [ 1.09486600e-02 -2.38199479e-04 9.99940033e-01 2.20580635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.020385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:365.95, Y:344.38, Z:22.06 [[ 1.95463679e-01 -9.80708093e-01 -2.36366313e-03 3.65951753e+02] [ 9.80649821e-01 1.95477837e-01 -1.06931289e-02 3.44381803e+02] [ 1.09488818e-02 -2.27807505e-04 9.99940033e-01 2.20573831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.050385723 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:365.96, Y:344.41, Z:22.06 [[ 1.96392490e-01 -9.80522513e-01 -2.36453391e-03 3.65956916e+02] [ 9.80464231e-01 1.96406602e-01 -1.06929371e-02 3.44409447e+02] [ 1.09490756e-02 -2.18328379e-04 9.99940033e-01 2.20572335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.080385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:365.96, Y:344.44, Z:22.06 [[ 1.98637631e-01 -9.80070177e-01 -2.35355530e-03 3.65961139e+02] [ 9.80011834e-01 1.98651490e-01 -1.06953530e-02 3.44437507e+02] [ 1.09497338e-02 -1.82012468e-04 9.99940033e-01 2.20574905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.110385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:365.97, Y:344.47, Z:22.06 [[ 1.99145392e-01 -9.79967133e-01 -2.35175202e-03 3.65966230e+02] [ 9.79908778e-01 1.99159202e-01 -1.06957493e-02 3.44465507e+02] [ 1.09498558e-02 -1.74493263e-04 9.99940033e-01 2.20584786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.140385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:365.97, Y:344.49, Z:22.06 [[ 1.98933305e-01 -9.80010219e-01 -2.34773779e-03 3.65969821e+02] [ 9.79951856e-01 1.98947083e-01 -1.06966303e-02 3.44493275e+02] [ 1.09498826e-02 -1.72753979e-04 9.99940033e-01 2.20585455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.170385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:365.97, Y:344.52, Z:22.06 [[ 1.97901905e-01 -9.80219026e-01 -2.34481861e-03 3.65974776e+02] [ 9.80160670e-01 1.97915712e-01 -1.06972702e-02 3.44520287e+02] [ 1.09497442e-02 -1.81288829e-04 9.99940033e-01 2.20580704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.200385723 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:365.98, Y:344.55, Z:22.06 [[ 1.97160859e-01 -9.80368355e-01 -2.34174159e-03 3.65980219e+02] [ 9.80310002e-01 1.97174677e-01 -1.06979438e-02 3.44547883e+02] [ 1.09496577e-02 -1.86416920e-04 9.99940033e-01 2.20582117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.230385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:365.99, Y:344.58, Z:22.06 [[ 1.94580536e-01 -9.80883777e-01 -2.33030560e-03 3.65985311e+02] [ 9.80825431e-01 1.94594383e-01 -1.07004448e-02 3.44575519e+02] [ 1.09493571e-02 -2.03524708e-04 9.99940033e-01 2.20588493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.260385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:365.99, Y:344.60, Z:22.06 [[ 1.93191349e-01 -9.81158314e-01 -2.33802537e-03 3.65990622e+02] [ 9.81100007e-01 1.93205363e-01 -1.06987578e-02 3.44602663e+02] [ 1.09488942e-02 -2.26929251e-04 9.99940033e-01 2.20600379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.290385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:365.99, Y:344.63, Z:22.06 [[ 1.91492954e-01 -9.81491210e-01 -2.33510422e-03 3.65994952e+02] [ 9.81432921e-01 1.91507037e-01 -1.06993954e-02 3.44629519e+02] [ 1.09485514e-02 -2.42889331e-04 9.99940033e-01 2.20613156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.320385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.00, Y:344.66, Z:22.06 [[ 1.89937655e-01 -9.81793384e-01 -2.33202260e-03 3.66000300e+02] [ 9.81735109e-01 1.89951797e-01 -1.07000670e-02 3.44659447e+02] [ 1.09482269e-02 -2.57082834e-04 9.99940033e-01 2.20637016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.350385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:366.00, Y:344.69, Z:22.06 [[ 1.90831513e-01 -9.81619939e-01 -2.37240584e-03 3.66004816e+02] [ 9.81561758e-01 1.90846041e-01 -1.06912727e-02 3.44685921e+02] [ 1.09475307e-02 -2.88431101e-04 9.99940032e-01 2.20632048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.380385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:366.01, Y:344.71, Z:22.06 [[ 1.91061487e-01 -9.81575312e-01 -2.32713014e-03 3.66009392e+02] [ 9.81517008e-01 1.91075509e-01 -1.07011187e-02 3.44713700e+02] [ 1.09486115e-02 -2.39546167e-04 9.99940033e-01 2.20634461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.410385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:366.01, Y:344.74, Z:22.06 [[ 1.91907287e-01 -9.81410307e-01 -2.32417261e-03 3.66012105e+02] [ 9.81351983e-01 1.91921226e-01 -1.07017610e-02 3.44741870e+02] [ 1.09488766e-02 -2.27085492e-04 9.99940033e-01 2.20631514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.440385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.01, Y:344.77, Z:22.06 [[ 1.93677902e-01 -9.81062371e-01 -2.34423933e-03 3.66014959e+02] [ 9.81004074e-01 1.93691955e-01 -1.06974065e-02 3.44770165e+02] [ 1.09488833e-02 -2.27857076e-04 9.99940033e-01 2.20641699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.4703857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.02, Y:344.80, Z:22.06 [[ 1.93492617e-01 -9.81098990e-01 -2.31943296e-03 3.66018457e+02] [ 9.81040631e-01 1.93506410e-01 -1.07027824e-02 3.44796801e+02] [ 1.09493142e-02 -2.04548596e-04 9.99940034e-01 2.20639603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.500385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:366.02, Y:344.83, Z:22.06 [[ 1.93133693e-01 -9.81169716e-01 -2.31628281e-03 3.66022277e+02] [ 9.81111354e-01 1.93147473e-01 -1.07034641e-02 3.44825045e+02] [ 1.09492990e-02 -2.05331806e-04 9.99940034e-01 2.20637787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.530385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.02, Y:344.85, Z:22.06 [[ 1.92557476e-01 -9.81282970e-01 -2.31333488e-03 3.66023526e+02] [ 9.81224609e-01 1.92571258e-01 -1.07041012e-02 3.44852351e+02] [ 1.09492340e-02 -2.08746394e-04 9.99940034e-01 2.20635816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.560385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.03, Y:344.88, Z:22.06 [[ 1.92060079e-01 -9.81380451e-01 -2.31022701e-03 3.66027506e+02] [ 9.81322088e-01 1.92073857e-01 -1.07047719e-02 3.44880296e+02] [ 1.09491881e-02 -2.11117443e-04 9.99940034e-01 2.20635561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.5903857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.03, Y:344.91, Z:22.06 [[ 1.91853522e-01 -9.81420859e-01 -2.30731560e-03 3.66029828e+02] [ 9.81362492e-01 1.91867280e-01 -1.07053994e-02 3.44908708e+02] [ 1.09492007e-02 -2.10444405e-04 9.99940034e-01 2.20643097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.620385723 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:366.03, Y:344.94, Z:22.07 [[ 1.91596732e-01 -9.81471030e-01 -2.30439644e-03 3.66034074e+02] [ 9.81412659e-01 1.91610474e-01 -1.07060278e-02 3.44936409e+02] [ 1.09492026e-02 -2.10323910e-04 9.99940034e-01 2.20650542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.650385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.04, Y:344.96, Z:22.07 [[ 1.90962760e-01 -9.81594584e-01 -2.30144250e-03 3.66037766e+02] [ 9.81536215e-01 1.90976507e-01 -1.07066627e-02 3.44962956e+02] [ 1.09491236e-02 -2.14375302e-04 9.99940034e-01 2.20653782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.680385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.03, Y:344.99, Z:22.06 [[ 1.86263560e-01 -9.82497127e-01 -2.29833312e-03 3.66032698e+02] [ 9.82438816e-01 1.86277553e-01 -1.07073301e-02 3.44987738e+02] [ 1.09480490e-02 -2.63586228e-04 9.99940034e-01 2.20623765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.710385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.04, Y:345.02, Z:22.07 [[ 1.90638011e-01 -9.81658094e-01 -2.12943740e-03 3.66040679e+02] [ 9.81599304e-01 1.90649899e-01 -1.07434978e-02 3.45020343e+02] [ 1.09524186e-02 -4.21352259e-05 9.99940020e-01 2.20652141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.740385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.05, Y:345.05, Z:22.07 [[ 1.90493737e-01 -9.81685725e-01 -2.29644213e-03 3.66045142e+02] [ 9.81627350e-01 1.90507458e-01 -1.07076810e-02 3.45048490e+02] [ 1.09490669e-02 -2.14504247e-04 9.99940034e-01 2.20655572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.770385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:366.05, Y:345.08, Z:22.07 [[ 1.89776478e-01 -9.81824642e-01 -2.29352513e-03 3.66049227e+02] [ 9.81766270e-01 1.89790210e-01 -1.07083057e-02 3.45075271e+02] [ 1.09489670e-02 -2.19521069e-04 9.99940034e-01 2.20651589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.800385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:366.05, Y:345.10, Z:22.07 [[ 1.89273360e-01 -9.81921763e-01 -2.29044892e-03 3.66050767e+02] [ 9.81863390e-01 1.89287088e-01 -1.07089637e-02 3.45103417e+02] [ 1.09489169e-02 -2.21986406e-04 9.99940034e-01 2.20655389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.830385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:366.05, Y:345.13, Z:22.07 [[ 1.88755357e-01 -9.82021478e-01 -2.28749241e-03 3.66054194e+02] [ 9.81963104e-01 1.88769083e-01 -1.07095952e-02 3.45130827e+02] [ 1.09488603e-02 -2.24739699e-04 9.99940034e-01 2.20651757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.860385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:366.06, Y:345.16, Z:22.07 [[ 1.88425679e-01 -9.82084793e-01 -2.28533262e-03 3.66056622e+02] [ 9.82026419e-01 1.88439402e-01 -1.07100560e-02 3.45159140e+02] [ 1.09488299e-02 -2.26207430e-04 9.99940034e-01 2.20657650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.890385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.06, Y:345.19, Z:22.07 [[ 1.88069447e-01 -9.82153097e-01 -2.27515397e-03 3.66060691e+02] [ 9.82094702e-01 1.88083080e-01 -1.07122261e-02 3.45187384e+02] [ 1.09489640e-02 -2.19774219e-04 9.99940034e-01 2.20663518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.920385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:366.06, Y:345.22, Z:22.07 [[ 1.87588202e-01 -9.82245152e-01 -2.26433257e-03 3.66062426e+02] [ 9.82186736e-01 1.87601745e-01 -1.07145311e-02 3.45215504e+02] [ 1.09490890e-02 -2.14077791e-04 9.99940034e-01 2.20674421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.950385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.07, Y:345.24, Z:22.07 [[ 1.87509389e-01 -9.82260166e-01 -2.27932493e-03 3.66066204e+02] [ 9.82201789e-01 1.87523100e-01 -1.07113408e-02 3.45242878e+02] [ 1.09487494e-02 -2.30280066e-04 9.99940034e-01 2.20692038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.980385723 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:366.07, Y:345.27, Z:22.07 [[ 1.87618500e-01 -9.82239392e-01 -2.25261397e-03 3.66070892e+02] [ 9.82180946e-01 1.87631914e-01 -1.07170174e-02 3.45270997e+02] [ 1.09493390e-02 -2.01763781e-04 9.99940034e-01 2.20665305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.010385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.08, Y:345.30, Z:22.07 [[ 1.90355762e-01 -9.81712560e-01 -2.26572016e-03 3.66076639e+02] [ 9.81654109e-01 1.90369156e-01 -1.07142331e-02 3.45300120e+02] [ 1.09496204e-02 -1.84637497e-04 9.99940034e-01 2.20707965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.040385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.08, Y:345.33, Z:22.07 [[ 1.89473798e-01 -9.81883088e-01 -2.29811305e-03 3.66079541e+02] [ 9.81824731e-01 1.89487597e-01 -1.07073578e-02 3.45327444e+02] [ 1.09488374e-02 -2.27580488e-04 9.99940034e-01 2.20689982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.070385723 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:366.08, Y:345.35, Z:22.07 [[ 1.91241415e-01 -9.81540404e-01 -2.27078220e-03 3.66081569e+02] [ 9.81481954e-01 1.91254812e-01 -1.07131509e-02 3.45353433e+02] [ 1.09496885e-02 -1.79933610e-04 9.99940034e-01 2.20691011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.100385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.09, Y:345.38, Z:22.07 [[ 1.90983122e-01 -9.81590764e-01 -2.24030967e-03 3.66086876e+02] [ 9.81532242e-01 1.90996201e-01 -1.07196010e-02 3.45382388e+02] [ 1.09501520e-02 -1.51673310e-04 9.99940034e-01 2.20696176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.130385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.09, Y:345.41, Z:22.07 [[ 1.91342486e-01 -9.81520716e-01 -2.26642743e-03 3.66092173e+02] [ 9.81462254e-01 1.91355829e-01 -1.07140761e-02 3.45409239e+02] [ 1.09497817e-02 -1.74355009e-04 9.99940034e-01 2.20691157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.160385723 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:366.10, Y:345.44, Z:22.07 [[ 1.90472340e-01 -9.81689951e-01 -2.26427739e-03 3.66097940e+02] [ 9.81631495e-01 1.90485712e-01 -1.07145305e-02 3.45437095e+02] [ 1.09496594e-02 -1.81864302e-04 9.99940034e-01 2.20670436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.190385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.10, Y:345.46, Z:22.07 [[ 1.90780482e-01 -9.81630121e-01 -2.26140504e-03 3.66103425e+02] [ 9.81571653e-01 1.90793803e-01 -1.07151367e-02 3.45464441e+02] [ 1.09497630e-02 -1.75492148e-04 9.99940034e-01 2.20694008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.2203857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.11, Y:345.49, Z:22.07 [[ 1.90507640e-01 -9.81683115e-01 -2.25842903e-03 3.66109260e+02] [ 9.81624644e-01 1.90520946e-01 -1.07157639e-02 3.45492405e+02] [ 1.09497625e-02 -1.75494699e-04 9.99940034e-01 2.20697127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.250385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.11, Y:345.52, Z:22.07 [[ 1.90830791e-01 -9.81620356e-01 -2.25545034e-03 3.66113802e+02] [ 9.81561873e-01 1.90844044e-01 -1.07163908e-02 3.45520567e+02] [ 1.09498666e-02 -1.68846729e-04 9.99940034e-01 2.20697914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.280385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.12, Y:345.55, Z:22.07 [[ 1.91662013e-01 -9.81458404e-01 -2.25242992e-03 3.66119796e+02] [ 9.81399903e-01 1.91675184e-01 -1.07170256e-02 3.45548796e+02] [ 1.09500498e-02 -1.56487800e-04 9.99940034e-01 2.20710692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.310385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.13, Y:345.58, Z:22.07 [[ 1.92870193e-01 -9.81221676e-01 -2.26080382e-03 3.66126183e+02] [ 9.81163179e-01 1.92883384e-01 -1.07152673e-02 3.45576833e+02] [ 1.09501240e-02 -1.51561792e-04 9.99940034e-01 2.20715659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.3403857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.13, Y:345.60, Z:22.07 [[ 1.93469553e-01 -9.81103651e-01 -2.27123413e-03 3.66133465e+02] [ 9.81045171e-01 1.93482822e-01 -1.07130798e-02 3.45604453e+02] [ 1.09500865e-02 -1.55528512e-04 9.99940034e-01 2.20723898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.370385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.14, Y:345.63, Z:22.07 [[ 1.93270458e-01 -9.81142879e-01 -2.27602890e-03 3.66140692e+02] [ 9.81084414e-01 1.93283791e-01 -1.07120750e-02 3.45631806e+02] [ 1.09499956e-02 -1.62648840e-04 9.99940034e-01 2.20726805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.400385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.15, Y:345.66, Z:22.07 [[ 1.92720935e-01 -9.81250950e-01 -2.28351198e-03 3.66146633e+02] [ 9.81192511e-01 1.92734383e-01 -1.07105095e-02 3.45659927e+02] [ 1.09498089e-02 -1.76425436e-04 9.99940033e-01 2.20730127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.430385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.15, Y:345.69, Z:22.07 [[ 1.91627694e-01 -9.81465015e-01 -2.29180980e-03 3.66151724e+02] [ 9.81406611e-01 1.91641296e-01 -1.07087753e-02 3.45686059e+02] [ 1.09494937e-02 -1.97099385e-04 9.99940033e-01 2.20725921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.460385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.16, Y:345.71, Z:22.07 [[ 1.89192369e-01 -9.81937372e-01 -2.29032245e-03 3.66159175e+02] [ 9.81878998e-01 1.89206100e-01 -1.07090858e-02 3.45714098e+02] [ 1.09489945e-02 -2.22742206e-04 9.99940033e-01 2.20725375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.490385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.16, Y:345.74, Z:22.07 [[ 1.85318063e-01 -9.82675886e-01 -2.30604048e-03 3.66163331e+02] [ 9.82617608e-01 1.85332196e-01 -1.07058088e-02 3.45738933e+02] [ 1.09477237e-02 -2.81976230e-04 9.99940032e-01 2.20727535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.520385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.17, Y:345.77, Z:22.07 [[ 1.83306444e-01 -9.83053293e-01 -2.22967382e-03 3.66169938e+02] [ 9.82994849e-01 1.83319864e-01 -1.07216900e-02 3.45765412e+02] [ 1.09487362e-02 -2.26403009e-04 9.99940035e-01 2.20736183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.550385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.18, Y:345.79, Z:22.07 [[ 1.81030514e-01 -9.83474959e-01 -2.22655601e-03 3.66178152e+02] [ 9.83416539e-01 1.81044035e-01 -1.07223374e-02 3.45794151e+02] [ 1.09482551e-02 -2.48561748e-04 9.99940035e-01 2.20732416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.580385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.18, Y:345.82, Z:22.07 [[ 1.79710672e-01 -9.83716902e-01 -2.26504800e-03 3.66184150e+02] [ 9.83658598e-01 1.79724691e-01 -1.07143567e-02 3.45821959e+02] [ 1.09469788e-02 -3.02549693e-04 9.99940034e-01 2.20738419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.610385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.19, Y:345.85, Z:22.07 [[ 1.78735869e-01 -9.83894489e-01 -2.26339468e-03 3.66189237e+02] [ 9.83836195e-01 1.78749928e-01 -1.07146989e-02 3.45848495e+02] [ 1.09467148e-02 -3.11708585e-04 9.99940034e-01 2.20724517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.640385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.19, Y:345.87, Z:22.07 [[ 1.79128223e-01 -9.83823169e-01 -2.24750361e-03 3.66194048e+02] [ 9.83764829e-01 1.79142085e-01 -1.07179868e-02 3.45873575e+02] [ 1.09472262e-02 -2.91121079e-04 9.99940035e-01 2.20733046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.670385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.20, Y:345.90, Z:22.07 [[ 1.78975542e-01 -9.83851094e-01 -2.18662485e-03 3.66200700e+02] [ 9.83792602e-01 1.78988750e-01 -1.07305473e-02 3.45900577e+02] [ 1.09486419e-02 -2.30679838e-04 9.99940035e-01 2.20734854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.700385723 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:366.21, Y:345.93, Z:22.07 [[ 1.78463567e-01 -9.83944036e-01 -2.21140005e-03 3.66207441e+02] [ 9.83885612e-01 1.78477076e-01 -1.07254391e-02 3.45927735e+02] [ 1.09479160e-02 -2.61664573e-04 9.99940036e-01 2.20720969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.730385723 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:366.21, Y:345.95, Z:22.07 [[ 1.79720913e-01 -9.83715169e-01 -2.20444962e-03 3.66214290e+02] [ 9.83656711e-01 1.79734272e-01 -1.07268703e-02 3.45954534e+02] [ 1.09484002e-02 -2.40578730e-04 9.99940036e-01 2.20731681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.760385723 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:366.22, Y:345.98, Z:22.07 [[ 1.82022181e-01 -9.83291893e-01 -2.23118710e-03 3.66220484e+02] [ 9.83233471e-01 1.82035694e-01 -1.07213661e-02 3.45981129e+02] [ 1.09483881e-02 -2.42251390e-04 9.99940035e-01 2.20735379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.790385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.23, Y:346.01, Z:22.07 [[ 1.82476421e-01 -9.83207757e-01 -2.20506892e-03 3.66225121e+02] [ 9.83149264e-01 1.82489622e-01 -1.07267352e-02 3.46007283e+02] [ 1.09490114e-02 -2.10535647e-04 9.99940036e-01 2.20746152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.820385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.23, Y:346.04, Z:22.07 [[ 1.84486397e-01 -9.82832671e-01 -2.17026023e-03 3.66233888e+02] [ 9.82774067e-01 1.84499099e-01 -1.07338797e-02 3.46036018e+02] [ 1.09500187e-02 -1.52620673e-04 9.99940035e-01 2.20714945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.850385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.24, Y:346.06, Z:22.07 [[ 1.84304495e-01 -9.82866734e-01 -2.19910876e-03 3.66239419e+02] [ 9.82808202e-01 1.84317523e-01 -1.07279598e-02 3.46061922e+02] [ 1.09494891e-02 -1.84090907e-04 9.99940036e-01 2.20745368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.880385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.25, Y:346.09, Z:22.08 [[ 1.82537212e-01 -9.83196590e-01 -2.15210767e-03 3.66247730e+02] [ 9.83137967e-01 1.82549832e-01 -1.07375988e-02 3.46090699e+02] [ 1.09500374e-02 -1.55807409e-04 9.99940034e-01 2.20764130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.910385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.25, Y:346.12, Z:22.08 [[ 1.84379003e-01 -9.82852759e-01 -2.19941597e-03 3.66253445e+02] [ 9.82794227e-01 1.84392030e-01 -1.07278998e-02 3.46116804e+02] [ 1.09495007e-02 -1.83573847e-04 9.99940036e-01 2.20774975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.940385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.26, Y:346.15, Z:22.08 [[ 1.85281478e-01 -9.82683062e-01 -2.18473532e-03 3.66258772e+02] [ 9.82624483e-01 1.85294290e-01 -1.07309060e-02 3.46145343e+02] [ 1.09498985e-02 -1.58536292e-04 9.99940036e-01 2.20774151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.9703857229999 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:366.26, Y:346.17, Z:22.07 [[ 1.84427438e-01 -9.82843679e-01 -2.19618874e-03 3.66264589e+02] [ 9.82785138e-01 1.84440427e-01 -1.07285626e-02 3.46172816e+02] [ 1.09495659e-02 -1.79740340e-04 9.99940036e-01 2.20742470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.000385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.27, Y:346.20, Z:22.08 [[ 1.84341216e-01 -9.82859863e-01 -2.19208426e-03 3.66274128e+02] [ 9.82801314e-01 1.84354165e-01 -1.07294012e-02 3.46198336e+02] [ 1.09496176e-02 -1.76512425e-04 9.99940036e-01 2.20774969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.030385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:366.28, Y:346.23, Z:22.08 [[ 1.83700671e-01 -9.82979792e-01 -2.18895603e-03 3.66281612e+02] [ 9.82921243e-01 1.83713623e-01 -1.07300393e-02 3.46225868e+02] [ 1.09495529e-02 -1.80455958e-04 9.99940036e-01 2.20787885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.060385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.29, Y:346.25, Z:22.08 [[ 1.82588080e-01 -9.83187070e-01 -2.18595599e-03 3.66288420e+02] [ 9.83128529e-01 1.82601066e-01 -1.07306505e-02 3.46251892e+02] [ 1.09493947e-02 -1.89786828e-04 9.99940036e-01 2.20788159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.0903857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.29, Y:346.28, Z:22.08 [[ 1.81906468e-01 -9.83313414e-01 -2.18326725e-03 3.66293436e+02] [ 9.83254875e-01 1.81919465e-01 -1.07311975e-02 3.46279260e+02] [ 1.09493093e-02 -1.94633941e-04 9.99940036e-01 2.20783016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.120385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.30, Y:346.31, Z:22.08 [[ 1.81682209e-01 -9.83354881e-01 -2.18030462e-03 3.66298478e+02] [ 9.83296337e-01 1.81695188e-01 -1.07317994e-02 3.46306456e+02] [ 1.09493182e-02 -1.94108518e-04 9.99940036e-01 2.20774627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.150385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.31, Y:346.33, Z:22.08 [[ 1.82186130e-01 -9.83261650e-01 -2.17735523e-03 3.66305446e+02] [ 9.83203094e-01 1.82199046e-01 -1.07323978e-02 3.46333342e+02] [ 1.09494672e-02 -1.85488383e-04 9.99940036e-01 2.20761255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.180385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:366.31, Y:346.36, Z:22.08 [[ 1.82726613e-01 -9.83161359e-01 -2.17442561e-03 3.66313290e+02] [ 9.83102788e-01 1.82739465e-01 -1.07329913e-02 3.46360705e+02] [ 1.09496157e-02 -1.76480735e-04 9.99940036e-01 2.20767779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.210385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:366.32, Y:346.39, Z:22.08 [[ 1.83403628e-01 -9.83035296e-01 -2.17150103e-03 3.66322890e+02] [ 9.82976710e-01 1.83416408e-01 -1.07335830e-02 3.46387741e+02] [ 1.09497798e-02 -1.65956873e-04 9.99940036e-01 2.20778401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.240385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.33, Y:346.41, Z:22.08 [[ 1.83422782e-01 -9.83031729e-01 -2.16851521e-03 3.66329221e+02] [ 9.82973135e-01 1.83435528e-01 -1.07341862e-02 3.46414078e+02] [ 1.09498283e-02 -1.62697914e-04 9.99940036e-01 2.20776543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.270385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.34, Y:346.44, Z:22.08 [[ 1.83001833e-01 -9.83110187e-01 -2.16536654e-03 3.66335028e+02] [ 9.83051591e-01 1.83014569e-01 -1.07348213e-02 3.46441110e+02] [ 1.09498058e-02 -1.64175052e-04 9.99940036e-01 2.20773867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.300385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.34, Y:346.47, Z:22.08 [[ 1.82863228e-01 -9.83135984e-01 -2.16248642e-03 3.66342618e+02] [ 9.83077383e-01 1.82875942e-01 -1.07354014e-02 3.46468248e+02] [ 1.09498262e-02 -1.62781332e-04 9.99940036e-01 2.20771146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.330385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.35, Y:346.50, Z:22.08 [[ 1.82837331e-01 -9.83140807e-01 -2.15956670e-03 3.66350147e+02] [ 9.83082199e-01 1.82850014e-01 -1.07359887e-02 3.46495673e+02] [ 1.09498654e-02 -1.60092053e-04 9.99940036e-01 2.20774540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.360385723 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:366.36, Y:346.52, Z:22.08 [[ 1.83838076e-01 -9.82954175e-01 -2.15663540e-03 3.66360160e+02] [ 9.82895548e-01 1.83850667e-01 -1.07365776e-02 3.46521869e+02] [ 1.09500626e-02 -1.45955570e-04 9.99940036e-01 2.20788684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.390385723 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:366.37, Y:346.55, Z:22.08 [[ 1.84756864e-01 -9.82781900e-01 -2.15372430e-03 3.66367292e+02] [ 9.82723254e-01 1.84769369e-01 -1.07371615e-02 3.46548344e+02] [ 1.09502302e-02 -1.32750666e-04 9.99940036e-01 2.20796390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.420385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.37, Y:346.58, Z:22.08 [[ 1.86055775e-01 -9.82536829e-01 -2.15160215e-03 3.66373895e+02] [ 9.82478161e-01 1.86068179e-01 -1.07375867e-02 3.46575293e+02] [ 1.09504191e-02 -1.16112114e-04 9.99940036e-01 2.20799308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.450385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:366.38, Y:346.60, Z:22.08 [[ 1.89080930e-01 -9.81959157e-01 -2.14868082e-03 3.66381095e+02] [ 9.81900445e-01 1.89093121e-01 -1.07381713e-02 3.46602965e+02] [ 1.09507464e-02 -7.94072462e-05 9.99940036e-01 2.20788874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.480385723 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:366.39, Y:346.63, Z:22.08 [[ 1.89665943e-01 -9.81846335e-01 -2.14576621e-03 3.66388278e+02] [ 9.81787609e-01 1.89678068e-01 -1.07387537e-02 3.46630468e+02] [ 1.09508107e-02 -6.99108348e-05 9.99940036e-01 2.20757862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.510385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.40, Y:346.66, Z:22.08 [[ 1.92571743e-01 -9.81280557e-01 -2.14286135e-03 3.66398926e+02] [ 9.81221789e-01 1.92583662e-01 -1.07393333e-02 3.46657412e+02] [ 1.09509790e-02 -3.45301231e-05 9.99940036e-01 2.20802739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.540385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:366.41, Y:346.68, Z:22.08 [[ 1.93426317e-01 -9.81112471e-01 -2.13992288e-03 3.66406489e+02] [ 9.81053686e-01 1.93438152e-01 -1.07399188e-02 3.46684564e+02] [ 1.09510110e-02 -2.19962981e-05 9.99940036e-01 2.20804947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.570385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.42, Y:346.71, Z:22.08 [[ 1.94738788e-01 -9.80852812e-01 -2.13695072e-03 3.66415270e+02] [ 9.80794005e-01 1.94750513e-01 -1.07405101e-02 3.46710005e+02] [ 1.09510318e-02 -4.31452769e-06 9.99940036e-01 2.20796867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.600385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.42, Y:346.74, Z:22.08 [[ 1.95260107e-01 -9.80749170e-01 -2.13477912e-03 3.66423107e+02] [ 9.80690352e-01 1.95271776e-01 -1.07409417e-02 3.46736610e+02] [ 1.09510318e-02 3.72013889e-06 9.99940036e-01 2.20798569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.630385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.43, Y:346.76, Z:22.08 [[ 1.91456148e-01 -9.81498853e-01 -2.13184264e-03 3.66425489e+02] [ 9.81440074e-01 1.91468013e-01 -1.07415245e-02 3.46760279e+02] [ 1.09509737e-02 -3.57448924e-05 9.99940036e-01 2.20775428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.660385723 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:366.44, Y:346.79, Z:22.08 [[ 1.96039802e-01 -9.80593924e-01 -1.98781383e-03 3.66441955e+02] [ 9.80534792e-01 1.96049813e-01 -1.07700195e-02 3.46789436e+02] [ 1.09507262e-02 1.62231867e-04 9.99940026e-01 2.20769226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.690385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.45, Y:346.81, Z:22.08 [[ 1.93672259e-01 -9.81063975e-01 -2.12896847e-03 3.66446630e+02] [ 9.81005164e-01 1.93683960e-01 -1.07420441e-02 3.46813889e+02] [ 1.09509795e-02 -8.09311924e-06 9.99940036e-01 2.20794098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.7203857229999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:366.46, Y:346.84, Z:22.08 [[ 1.93299543e-01 -9.81137683e-01 -2.03303711e-03 3.66458777e+02] [ 9.81078672e-01 1.93310215e-01 -1.07610226e-02 3.46840452e+02] [ 1.09510516e-02 8.55314000e-05 9.99940032e-01 2.20796625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.750385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.47, Y:346.87, Z:22.08 [[ 1.93157102e-01 -9.81165716e-01 -2.04228781e-03 3.66468563e+02] [ 9.81106726e-01 1.93167884e-01 -1.07591893e-02 3.46867959e+02] [ 1.09510521e-02 7.45115227e-05 9.99940033e-01 2.20800537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.780385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:366.48, Y:346.89, Z:22.08 [[ 1.92353991e-01 -9.81323451e-01 -2.05588761e-03 3.66477312e+02] [ 9.81264499e-01 1.92364970e-01 -1.07564969e-02 3.46894902e+02] [ 1.09510834e-02 5.16855713e-05 9.99940034e-01 2.20799373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.810385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.49, Y:346.92, Z:22.08 [[ 1.90978468e-01 -9.81592062e-01 -2.06138117e-03 3.66488284e+02] [ 9.81533136e-01 1.90989590e-01 -1.07554095e-02 3.46921060e+02] [ 1.09511270e-02 3.07377104e-05 9.99940034e-01 2.20797269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.8403857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.50, Y:346.95, Z:22.08 [[ 1.89801101e-01 -9.81820409e-01 -2.05578864e-03 3.66496450e+02] [ 9.81761485e-01 1.89812232e-01 -1.07565151e-02 3.46947405e+02] [ 1.09511799e-02 2.33042932e-05 9.99940034e-01 2.20795692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.870385723 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:366.51, Y:346.97, Z:22.08 [[ 1.88878750e-01 -9.81998269e-01 -2.05369634e-03 3.66511223e+02] [ 9.81939351e-01 1.88889914e-01 -1.07569282e-02 3.46974746e+02] [ 1.09512074e-02 1.51499071e-05 9.99940034e-01 2.20825563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.900385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.52, Y:347.00, Z:22.08 [[ 1.85298425e-01 -9.82680007e-01 -2.12082314e-03 3.66518069e+02] [ 9.82621279e-01 1.85310538e-01 -1.07436773e-02 3.47001897e+02] [ 1.09506077e-02 -9.31794736e-05 9.99940036e-01 2.20836228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.930385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.53, Y:347.03, Z:22.08 [[ 1.84192410e-01 -9.82887924e-01 -2.11772918e-03 3.66527879e+02] [ 9.82829203e-01 1.84204555e-01 -1.07442871e-02 3.47028206e+02] [ 1.09505254e-02 -1.02349951e-04 9.99940036e-01 2.20840810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.960385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.54, Y:347.05, Z:22.09 [[ 1.84309857e-01 -9.82865914e-01 -2.11471322e-03 3.66536199e+02] [ 9.82807184e-01 1.84321962e-01 -1.07448807e-02 3.47054858e+02] [ 1.09505650e-02 -9.79679316e-05 9.99940036e-01 2.20863593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.990385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.54, Y:347.08, Z:22.09 [[ 1.85758021e-01 -9.82593252e-01 -2.11159374e-03 3.66540872e+02] [ 9.82534498e-01 1.85770006e-01 -1.07454937e-02 3.47081180e+02] [ 1.09507203e-02 -7.86520550e-05 9.99940036e-01 2.20858734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.020385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.55, Y:347.11, Z:22.09 [[ 1.87599499e-01 -9.82243343e-01 -2.10805354e-03 3.66545222e+02] [ 9.82184558e-01 1.87611334e-01 -1.07461881e-02 3.47107716e+02] [ 1.09508665e-02 -5.45181310e-05 9.99940036e-01 2.20851250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.050385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.55, Y:347.14, Z:22.08 [[ 1.86941810e-01 -9.82368734e-01 -2.10498944e-03 3.66549016e+02] [ 9.82309950e-01 1.86953652e-01 -1.07467883e-02 3.47135245e+02] [ 1.09508443e-02 -5.87280141e-05 9.99940036e-01 2.20849275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.080385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.56, Y:347.16, Z:22.09 [[ 1.87335202e-01 -9.82293797e-01 -2.10198138e-03 3.66555446e+02] [ 9.82235003e-01 1.87346987e-01 -1.07473766e-02 3.47162557e+02] [ 1.09508813e-02 -5.12777197e-05 9.99940036e-01 2.20869718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.110385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.56, Y:347.19, Z:22.09 [[ 1.87026744e-01 -9.82352581e-01 -2.09858866e-03 3.66560862e+02] [ 9.82293783e-01 1.87038511e-01 -1.07480391e-02 3.47190652e+02] [ 1.09508808e-02 -5.12598351e-05 9.99940036e-01 2.20872837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.140385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.57, Y:347.22, Z:22.09 [[ 1.87437514e-01 -9.82274294e-01 -2.09521327e-03 3.66566346e+02] [ 9.82215483e-01 1.87449219e-01 -1.07486970e-02 3.47217642e+02] [ 1.09509149e-02 -4.32418698e-05 9.99940036e-01 2.20868965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.170385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.57, Y:347.25, Z:22.09 [[ 1.86942207e-01 -9.82368685e-01 -2.09220547e-03 3.66570739e+02] [ 9.82309874e-01 1.86953909e-01 -1.07492824e-02 3.47245794e+02] [ 1.09509045e-02 -4.56995038e-05 9.99940036e-01 2.20877357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.200385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.57, Y:347.27, Z:22.09 [[ 1.84133364e-01 -9.82899048e-01 -2.08923961e-03 3.66571580e+02] [ 9.82840264e-01 1.84145202e-01 -1.07498589e-02 3.47273983e+02] [ 1.09507495e-02 -7.39811306e-05 9.99940036e-01 2.20860554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.230385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.58, Y:347.30, Z:22.09 [[ 1.84937413e-01 -9.82748086e-01 -2.08619883e-03 3.66576716e+02] [ 9.82689286e-01 1.84949169e-01 -1.07504489e-02 3.47300326e+02] [ 1.09508239e-02 -6.19250256e-05 9.99940036e-01 2.20855597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.260385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.58, Y:347.33, Z:22.09 [[ 1.82584136e-01 -9.83188027e-01 -2.08274799e-03 3.66582054e+02] [ 9.83129247e-01 1.82595995e-01 -1.07511175e-02 3.47328073e+02] [ 1.09506714e-02 -8.46269720e-05 9.99940036e-01 2.20863740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.290385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.59, Y:347.36, Z:22.09 [[ 1.80749876e-01 -9.83526897e-01 -2.07975222e-03 3.66588155e+02] [ 9.83468133e-01 1.80761811e-01 -1.07516969e-02 3.47355671e+02] [ 1.09505229e-02 -1.02002150e-04 9.99940036e-01 2.20863386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.320385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.59, Y:347.38, Z:22.09 [[ 1.77608157e-01 -9.84099096e-01 -2.07669407e-03 3.66590712e+02] [ 9.84040363e-01 1.77620247e-01 -1.07522876e-02 3.47382084e+02] [ 1.09501794e-02 -1.33856809e-04 9.99940036e-01 2.20860434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.350385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.59, Y:347.41, Z:22.08 [[ 1.74118357e-01 -9.84722616e-01 -2.04145535e-03 3.66594918e+02] [ 9.84663847e-01 1.74130270e-01 -1.07590952e-02 3.47411521e+02] [ 1.09502035e-02 -1.36791304e-04 9.99940035e-01 2.20836162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.380385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.60, Y:347.44, Z:22.09 [[ 1.72051804e-01 -9.85085730e-01 -2.06932310e-03 3.66600205e+02] [ 9.85027049e-01 1.72064145e-01 -1.07537148e-02 3.47438791e+02] [ 1.09493873e-02 -1.88143201e-04 9.99940036e-01 2.20859901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.410385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:366.61, Y:347.47, Z:22.09 [[ 1.70937226e-01 -9.85279738e-01 -2.07427444e-03 3.66606319e+02] [ 9.85221083e-01 1.70949687e-01 -1.07527596e-02 3.47466671e+02] [ 1.09490728e-02 -2.05572008e-04 9.99940036e-01 2.20872598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.440385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.61, Y:347.49, Z:22.09 [[ 1.69364399e-01 -9.85551323e-01 -2.07134829e-03 3.66611157e+02] [ 9.85492681e-01 1.69376922e-01 -1.07533233e-02 3.47493039e+02] [ 1.09487906e-02 -2.20068441e-04 9.99940036e-01 2.20886474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.4703857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.62, Y:347.52, Z:22.09 [[ 1.69040266e-01 -9.85606976e-01 -2.06825688e-03 3.66615461e+02] [ 9.85548331e-01 1.69052775e-01 -1.07539179e-02 3.47520871e+02] [ 1.09487810e-02 -2.20521981e-04 9.99940036e-01 2.20885250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.500385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.62, Y:347.55, Z:22.09 [[ 1.69822047e-01 -9.85472578e-01 -2.06644667e-03 3.66619736e+02] [ 9.85413919e-01 1.69834489e-01 -1.07542657e-02 3.47548403e+02] [ 1.09489878e-02 -2.09993896e-04 9.99940036e-01 2.20895004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.530385723 meters Centerline goodness : 0.995278 Centerline is valid? [True, True] Translation: X:366.62, Y:347.57, Z:22.09 [[ 1.72938237e-01 -9.84930500e-01 -2.06778929e-03 3.66623635e+02] [ 9.84871805e-01 1.72950508e-01 -1.07540080e-02 3.47573814e+02] [ 1.09495757e-02 -1.76728190e-04 9.99940036e-01 2.20870908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.560385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.63, Y:347.60, Z:22.09 [[ 1.75236652e-01 -9.84524208e-01 -2.04923038e-03 3.66626944e+02] [ 9.84465443e-01 1.75248583e-01 -1.07575597e-02 3.47601109e+02] [ 1.09502027e-02 -1.32277742e-04 9.99940036e-01 2.20873236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.5903857229999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:366.63, Y:347.63, Z:22.09 [[ 1.75880993e-01 -9.84409290e-01 -2.05574543e-03 3.66631925e+02] [ 9.84350532e-01 1.75892958e-01 -1.07563146e-02 3.47628006e+02] [ 1.09502071e-02 -1.31742815e-04 9.99940036e-01 2.20864807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.620385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.64, Y:347.65, Z:22.09 [[ 1.76601432e-01 -9.84280306e-01 -2.05268162e-03 3.66637611e+02] [ 9.84221532e-01 1.76613320e-01 -1.07568992e-02 3.47654780e+02] [ 1.09503350e-02 -1.20609648e-04 9.99940036e-01 2.20861036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.650385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.64, Y:347.68, Z:22.08 [[ 1.73745173e-01 -9.84788534e-01 -2.03913399e-03 3.66640081e+02] [ 9.84729765e-01 1.73757083e-01 -1.07594802e-02 3.47680533e+02] [ 1.09501267e-02 -1.38588196e-04 9.99940036e-01 2.20844522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.680385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.65, Y:347.71, Z:22.09 [[ 1.73210922e-01 -9.84882736e-01 -1.99305536e-03 3.66645505e+02] [ 9.84823872e-01 1.73222360e-01 -1.07682701e-02 3.47708317e+02] [ 1.09507251e-02 -9.76265083e-05 9.99940034e-01 2.20858611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.710385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.65, Y:347.74, Z:22.09 [[ 1.73700289e-01 -9.84796536e-01 -1.99829333e-03 3.66654907e+02] [ 9.84737677e-01 1.73711756e-01 -1.07672725e-02 3.47736406e+02] [ 1.09506997e-02 -9.75163765e-05 9.99940035e-01 2.20884603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.740385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.66, Y:347.76, Z:22.09 [[ 1.70012409e-01 -9.85439794e-01 -2.04783146e-03 3.66657517e+02] [ 9.85381090e-01 1.70024637e-01 -1.07578426e-02 3.47761068e+02] [ 1.09493880e-02 -1.88927664e-04 9.99940036e-01 2.20871172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.770385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.66, Y:347.79, Z:22.09 [[ 1.70133567e-01 -9.85419034e-01 -1.97395441e-03 3.66664730e+02] [ 9.85360164e-01 1.70144981e-01 -1.07718867e-02 3.47790602e+02] [ 1.09506807e-02 -1.12396524e-04 9.99940033e-01 2.20895345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.800385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.67, Y:347.82, Z:22.09 [[ 1.68262300e-01 -9.85740135e-01 -2.04567066e-03 3.66669468e+02] [ 9.85681448e-01 1.68274609e-01 -1.07582500e-02 3.47817389e+02] [ 1.09490732e-02 -2.06171730e-04 9.99940036e-01 2.20883818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.830385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.67, Y:347.84, Z:22.09 [[ 1.68532366e-01 -9.85694075e-01 -2.00780727e-03 3.66674899e+02] [ 9.85635299e-01 1.68544245e-01 -1.07654364e-02 3.47843272e+02] [ 1.09498312e-02 -1.64641252e-04 9.99940035e-01 2.20862296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.860385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.68, Y:347.87, Z:22.09 [[ 1.68735587e-01 -9.85659424e-01 -1.94982911e-03 3.66682930e+02] [ 9.85600517e-01 1.68746820e-01 -1.07764019e-02 3.47873541e+02] [ 1.09508895e-02 -1.03390087e-04 9.99940032e-01 2.20906551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.890385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.69, Y:347.90, Z:22.09 [[ 1.68822023e-01 -9.85644449e-01 -2.03608047e-03 3.66688135e+02] [ 9.85585732e-01 1.68834193e-01 -1.07600810e-02 3.47900709e+02] [ 1.09493741e-02 -1.90193224e-04 9.99940036e-01 2.20918028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.920385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.69, Y:347.93, Z:22.09 [[ 1.69694206e-01 -9.85494669e-01 -2.03314540e-03 3.66692351e+02] [ 9.85435935e-01 1.69706293e-01 -1.07606355e-02 3.47925983e+02] [ 1.09495865e-02 -1.77517029e-04 9.99940036e-01 2.20899496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.950385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.70, Y:347.96, Z:22.09 [[ 1.69927484e-01 -9.85454547e-01 -1.99655676e-03 3.66697606e+02] [ 9.85395729e-01 1.69939157e-01 -1.07675460e-02 3.47955589e+02] [ 1.09502204e-02 -1.37696498e-04 9.99940035e-01 2.20926040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.980385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.70, Y:347.98, Z:22.09 [[ 1.71862871e-01 -9.85118790e-01 -2.03066013e-03 3.66702695e+02] [ 9.85060024e-01 1.71874801e-01 -1.07611106e-02 3.47982296e+02] [ 1.09499915e-02 -1.50886763e-04 9.99940036e-01 2.20937254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.010385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.71, Y:348.01, Z:22.09 [[ 1.70394907e-01 -9.85373768e-01 -2.02792699e-03 3.66706892e+02] [ 9.85315014e-01 1.70406895e-01 -1.07616256e-02 3.48009703e+02] [ 1.09497963e-02 -1.64420718e-04 9.99940036e-01 2.20925161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.040385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.71, Y:348.04, Z:22.09 [[ 1.70117602e-01 -9.85421656e-01 -2.04006010e-03 3.66710822e+02] [ 9.85362932e-01 1.70129739e-01 -1.07593425e-02 3.48037100e+02] [ 1.09495640e-02 -1.79846052e-04 9.99940036e-01 2.20943145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.070385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.71, Y:348.06, Z:22.09 [[ 1.70095785e-01 -9.85425458e-01 -2.02275340e-03 3.66714800e+02] [ 9.85366696e-01 1.70107734e-01 -1.07625952e-02 3.48062589e+02] [ 1.09498213e-02 -1.62481757e-04 9.99940036e-01 2.20929469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.100385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.72, Y:348.09, Z:22.09 [[ 1.70818934e-01 -9.85300441e-01 -1.98336164e-03 3.66722112e+02] [ 9.85241584e-01 1.70830409e-01 -1.07699809e-02 3.48091928e+02] [ 1.09504854e-02 -1.14373708e-04 9.99940035e-01 2.20941047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.130385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.73, Y:348.12, Z:22.09 [[ 1.70256976e-01 -9.85397634e-01 -2.01644207e-03 3.66727613e+02] [ 9.85338856e-01 1.70268847e-01 -1.07637838e-02 3.48119338e+02] [ 1.09499443e-02 -1.54269453e-04 9.99940036e-01 2.20945837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.160385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.73, Y:348.15, Z:22.10 [[ 1.69420729e-01 -9.85541761e-01 -2.01348145e-03 3.66732623e+02] [ 9.85482987e-01 1.69432617e-01 -1.07643375e-02 3.48146970e+02] [ 1.09498536e-02 -1.60549802e-04 9.99940036e-01 2.20952464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.190385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.74, Y:348.17, Z:22.10 [[ 1.67187964e-01 -9.85922990e-01 -2.01051535e-03 3.66735671e+02] [ 9.85864237e-01 1.67199953e-01 -1.07648915e-02 3.48174608e+02] [ 1.09495121e-02 -1.82334886e-04 9.99940036e-01 2.20973213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.2203857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.74, Y:348.20, Z:22.10 [[ 1.66087446e-01 -9.86108985e-01 -2.00746410e-03 3.66740163e+02] [ 9.86050238e-01 1.66099467e-01 -1.07654605e-02 3.48201062e+02] [ 1.09493560e-02 -1.91452619e-04 9.99940036e-01 2.20959074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.250385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.74, Y:348.23, Z:22.10 [[ 1.65029068e-01 -9.86286667e-01 -2.00424957e-03 3.66744620e+02] [ 9.86227926e-01 1.65041117e-01 -1.07660589e-02 3.48228736e+02] [ 1.09492039e-02 -1.99934228e-04 9.99940036e-01 2.20962017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.280385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.75, Y:348.26, Z:22.10 [[ 1.63501515e-01 -9.86541053e-01 -2.00134484e-03 3.66748173e+02] [ 9.86482324e-01 1.63513624e-01 -1.07665989e-02 3.48255299e+02] [ 1.09489389e-02 -2.13936079e-04 9.99940036e-01 2.20957656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.310385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.75, Y:348.28, Z:22.10 [[ 1.62110507e-01 -9.86770587e-01 -1.99827886e-03 3.66752606e+02] [ 9.86711868e-01 1.62122665e-01 -1.07671679e-02 3.48282727e+02] [ 1.09486908e-02 -2.26254415e-04 9.99940036e-01 2.20981322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.3403857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.76, Y:348.31, Z:22.10 [[ 1.61642851e-01 -9.86847307e-01 -1.99523868e-03 3.66757991e+02] [ 9.86788587e-01 1.61655004e-01 -1.07677312e-02 3.48309455e+02] [ 1.09486469e-02 -2.28351984e-04 9.99940036e-01 2.20971594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.370385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.76, Y:348.34, Z:22.10 [[ 1.59129641e-01 -9.87255685e-01 -1.99250520e-03 3.66761583e+02] [ 9.87196990e-01 1.59141913e-01 -1.07682370e-02 3.48335492e+02] [ 1.09480943e-02 -2.53449455e-04 9.99940036e-01 2.20975754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.400385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.76, Y:348.37, Z:22.10 [[ 1.57282358e-01 -9.87551671e-01 -1.98916506e-03 3.66764608e+02] [ 9.87492991e-01 1.57294703e-01 -1.07688540e-02 3.48365111e+02] [ 1.09476849e-02 -2.70535806e-04 9.99940036e-01 2.20960568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.430385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.77, Y:348.39, Z:22.10 [[ 1.55838569e-01 -9.87780443e-01 -2.03379763e-03 3.66766994e+02] [ 9.87721886e-01 1.55851486e-01 -1.07606094e-02 3.48391194e+02] [ 1.09460899e-02 -3.31908466e-04 9.99940035e-01 2.20975728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.460385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:366.77, Y:348.42, Z:22.10 [[ 1.54378438e-01 -9.88009796e-01 -1.98503255e-03 3.66771018e+02] [ 9.87951144e-01 1.54390911e-01 -1.07695977e-02 3.48419125e+02] [ 1.09469390e-02 -2.98521501e-04 9.99940036e-01 2.20979786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.490385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.78, Y:348.45, Z:22.10 [[ 1.53568116e-01 -9.88136076e-01 -1.98207563e-03 3.66776222e+02] [ 9.88077427e-01 1.53580605e-01 -1.07701419e-02 3.48447827e+02] [ 1.09467741e-02 -3.04493786e-04 9.99940036e-01 2.20977349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.520385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:366.78, Y:348.48, Z:22.10 [[ 1.54044108e-01 -9.88061959e-01 -1.99444341e-03 3.66781894e+02] [ 9.88003333e-01 1.54056703e-01 -1.07678685e-02 3.48477041e+02] [ 1.09465787e-02 -3.11790041e-04 9.99940036e-01 2.20976899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.550385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.78, Y:348.51, Z:22.10 [[ 1.53491009e-01 -9.88147984e-01 -2.01786893e-03 3.66784626e+02] [ 9.88089420e-01 1.53503892e-01 -1.07635656e-02 3.48505321e+02] [ 1.09457464e-02 -3.41724393e-04 9.99940035e-01 2.20973746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.580385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.79, Y:348.53, Z:22.10 [[ 1.53757748e-01 -9.88106521e-01 -2.01439890e-03 3.66786630e+02] [ 9.88047945e-01 1.53770577e-01 -1.07642018e-02 3.48534082e+02] [ 1.09459333e-02 -3.35243270e-04 9.99940035e-01 2.20960568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.610385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.79, Y:348.56, Z:22.10 [[ 1.55817424e-01 -9.87783787e-01 -2.02968619e-03 3.66793601e+02] [ 9.87725220e-01 1.55830298e-01 -1.07613954e-02 3.48563737e+02] [ 1.09462185e-02 -3.27959322e-04 9.99940035e-01 2.20957641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.640385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.80, Y:348.59, Z:22.10 [[ 1.55221331e-01 -9.87877470e-01 -2.10766063e-03 3.66795317e+02] [ 9.87819097e-01 1.55235088e-01 -1.07470808e-02 3.48588374e+02] [ 1.09439818e-02 -4.13811235e-04 9.99940027e-01 2.20995157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.670385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.80, Y:348.62, Z:22.10 [[ 1.55705257e-01 -9.87801491e-01 -2.02163766e-03 3.66799623e+02] [ 9.87742908e-01 1.55718050e-01 -1.07627735e-02 3.48617089e+02] [ 1.09462892e-02 -3.21037845e-04 9.99940036e-01 2.20995594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.700385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.81, Y:348.64, Z:22.10 [[ 1.58123476e-01 -9.87417283e-01 -2.01874820e-03 3.66805059e+02] [ 9.87358662e-01 1.58136094e-01 -1.07633004e-02 3.48644857e+02] [ 1.09471058e-02 -2.91298050e-04 9.99940036e-01 2.20993123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.730385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.80, Y:348.67, Z:22.10 [[ 1.59531093e-01 -9.87190766e-01 -2.05477793e-03 3.66804538e+02] [ 9.87132209e-01 1.59544020e-01 -1.07567322e-02 3.48672118e+02] [ 1.09467742e-02 -3.12304227e-04 9.99940034e-01 2.21005865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.760385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.81, Y:348.70, Z:22.10 [[ 1.60714187e-01 -9.86998972e-01 -1.99495800e-03 3.66808351e+02] [ 9.86940265e-01 1.60726391e-01 -1.07675672e-02 3.48701017e+02] [ 1.09482202e-02 -2.38403573e-04 9.99940038e-01 2.21012336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.790385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.81, Y:348.73, Z:22.10 [[ 1.62921299e-01 -9.86637045e-01 -1.99800554e-03 3.66812519e+02] [ 9.86578318e-01 1.62933405e-01 -1.07670153e-02 3.48728857e+02] [ 1.09486780e-02 -2.17012822e-04 9.99940038e-01 2.21018008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.820385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.81, Y:348.76, Z:22.10 [[ 1.62857019e-01 -9.86647631e-01 -2.01101753e-03 3.66814769e+02] [ 9.86588933e-01 1.62869271e-01 -1.07646622e-02 3.48756659e+02] [ 1.09484614e-02 -2.30946845e-04 9.99940037e-01 2.21028784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.850385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:366.82, Y:348.78, Z:22.10 [[ 1.62367718e-01 -9.86728327e-01 -1.98301696e-03 3.66817963e+02] [ 9.86669574e-01 1.62379694e-01 -1.07697224e-02 3.48784178e+02] [ 1.09487919e-02 -2.07927255e-04 9.99940039e-01 2.21025017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.880385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:366.82, Y:348.81, Z:22.10 [[ 1.62186519e-01 -9.86758131e-01 -1.98083393e-03 3.66820015e+02] [ 9.86699375e-01 1.62198482e-01 -1.07701162e-02 3.48810019e+02] [ 1.09487880e-02 -2.07719939e-04 9.99940039e-01 2.21044990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.910385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.82, Y:348.84, Z:22.10 [[ 1.62840294e-01 -9.86650534e-01 -1.93959102e-03 3.66821575e+02] [ 9.86591682e-01 1.62851768e-01 -1.07775386e-02 3.48836997e+02] [ 1.09495300e-02 -1.58566819e-04 9.99940040e-01 2.21028563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.940385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.83, Y:348.86, Z:22.10 [[ 1.62796359e-01 -9.86657791e-01 -1.93646264e-03 3.66825531e+02] [ 9.86598932e-01 1.62807801e-01 -1.07781006e-02 3.48864745e+02] [ 1.09495682e-02 -1.55876436e-04 9.99940040e-01 2.21029764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.9703857229999 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:366.83, Y:348.89, Z:22.10 [[ 1.61006953e-01 -9.86951378e-01 -1.93347130e-03 3.66828451e+02] [ 9.86892534e-01 1.61018469e-01 -1.07786372e-02 3.48892785e+02] [ 1.09493154e-02 -1.72692856e-04 9.99940040e-01 2.21001895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.000385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.83, Y:348.92, Z:22.10 [[ 1.59515281e-01 -9.87193572e-01 -1.93044632e-03 3.66831870e+02] [ 9.87134739e-01 1.59526853e-01 -1.07791790e-02 3.48920233e+02] [ 1.09490942e-02 -1.86166862e-04 9.99940040e-01 2.21029895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.030385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.84, Y:348.95, Z:22.10 [[ 1.59240160e-01 -9.87237994e-01 -1.92744128e-03 3.66836847e+02] [ 9.87179157e-01 1.59251716e-01 -1.07797163e-02 3.48948380e+02] [ 1.09490938e-02 -1.86166112e-04 9.99940040e-01 2.21033014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.060385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.84, Y:348.98, Z:22.10 [[ 1.56455130e-01 -9.87683193e-01 -1.92443682e-03 3.66838697e+02] [ 9.87624383e-01 1.56466819e-01 -1.07802526e-02 3.48976131e+02] [ 1.09485848e-02 -2.13994906e-04 9.99940040e-01 2.21019214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.0903857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.84, Y:349.00, Z:22.10 [[ 1.56043869e-01 -9.87748257e-01 -1.92144885e-03 3.66844161e+02] [ 9.87689445e-01 1.56055550e-01 -1.07807852e-02 3.49003753e+02] [ 1.09485545e-02 -2.15519319e-04 9.99940040e-01 2.21019089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.120385723 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:366.85, Y:349.03, Z:22.10 [[ 1.53862656e-01 -9.88090335e-01 -1.94245234e-03 3.66848510e+02] [ 9.88031595e-01 1.53874696e-01 -1.07770429e-02 3.49031924e+02] [ 1.09475862e-02 -2.61019831e-04 9.99940039e-01 2.20999865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.150385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.85, Y:349.06, Z:22.10 [[ 1.52366721e-01 -9.88322114e-01 -1.94476333e-03 3.66851016e+02] [ 9.88263398e-01 1.52378875e-01 -1.07766320e-02 3.49060435e+02] [ 1.09471246e-02 -2.79938332e-04 9.99940039e-01 2.21049584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.180385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:366.85, Y:349.09, Z:22.10 [[ 1.51288370e-01 -9.88487759e-01 -1.94429489e-03 3.66852294e+02] [ 9.88429055e-01 1.51300583e-01 -1.07767151e-02 3.49087171e+02] [ 1.09468239e-02 -2.91405900e-04 9.99940039e-01 2.21039392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.210385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.86, Y:349.12, Z:22.10 [[ 1.50818192e-01 -9.88559672e-01 -1.90997888e-03 3.66855011e+02] [ 9.88500898e-01 1.50830059e-01 -1.07827936e-02 3.49115114e+02] [ 1.09475171e-02 -2.61774409e-04 9.99940040e-01 2.21038701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.240385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:366.86, Y:349.14, Z:22.10 [[ 1.49713251e-01 -9.88727620e-01 -1.90708660e-03 3.66856799e+02] [ 9.88668852e-01 1.49725151e-01 -1.07833051e-02 3.49142505e+02] [ 1.09472904e-02 -2.71073459e-04 9.99940040e-01 2.21038574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.270385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.86, Y:349.17, Z:22.11 [[ 1.49181324e-01 -9.88808024e-01 -1.90403150e-03 3.66860736e+02] [ 9.88749256e-01 1.49193223e-01 -1.07838445e-02 3.49170579e+02] [ 1.09472206e-02 -2.73861534e-04 9.99940040e-01 2.21050009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.300385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.86, Y:349.20, Z:22.11 [[ 1.48454138e-01 -9.88917466e-01 -1.90109169e-03 3.66863372e+02] [ 9.88858701e-01 1.48466048e-01 -1.07843627e-02 3.49198543e+02] [ 1.09470922e-02 -2.78927782e-04 9.99940040e-01 2.21064356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.330385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:366.87, Y:349.23, Z:22.11 [[ 1.48046745e-01 -9.88978543e-01 -1.89810725e-03 3.66866952e+02] [ 9.88919776e-01 1.48058647e-01 -1.07848880e-02 3.49226401e+02] [ 1.09470540e-02 -2.80408230e-04 9.99940040e-01 2.21071723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.360385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.87, Y:349.25, Z:22.11 [[ 1.47715616e-01 -9.89028061e-01 -1.89509846e-03 3.66869024e+02] [ 9.88969291e-01 1.47727505e-01 -1.07854167e-02 3.49253431e+02] [ 1.09470379e-02 -2.81019711e-04 9.99940040e-01 2.21071454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.390385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.87, Y:349.28, Z:22.11 [[ 1.47666613e-01 -9.89035385e-01 -1.89192402e-03 3.66872792e+02] [ 9.88976609e-01 1.47678470e-01 -1.07859735e-02 3.49280398e+02] [ 1.09471059e-02 -2.78340427e-04 9.99940040e-01 2.21071055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.420385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:366.88, Y:349.31, Z:22.11 [[ 1.48838254e-01 -9.88859751e-01 -1.88881118e-03 3.66875712e+02] [ 9.88800954e-01 1.48850007e-01 -1.07865186e-02 3.49307937e+02] [ 1.09475036e-02 -2.62211707e-04 9.99940040e-01 2.21073761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.450385723 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:366.88, Y:349.34, Z:22.10 [[ 1.51015080e-01 -9.88529660e-01 -1.88589925e-03 3.66877512e+02] [ 9.88470831e-01 1.51026672e-01 -1.07870277e-02 3.49336668e+02] [ 1.09481179e-02 -2.35152557e-04 9.99940040e-01 2.21040661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.480385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:366.88, Y:349.36, Z:22.11 [[ 1.52449678e-01 -9.88309440e-01 -1.88314551e-03 3.66880758e+02] [ 9.88250589e-01 1.52461155e-01 -1.07875084e-02 3.49364822e+02] [ 1.09485029e-02 -2.16467475e-04 9.99940040e-01 2.21066797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.510385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.88, Y:349.39, Z:22.11 [[ 1.53087036e-01 -9.88210921e-01 -1.88022371e-03 3.66884489e+02] [ 9.88152056e-01 1.53098443e-01 -1.07880176e-02 3.49392406e+02] [ 1.09486961e-02 -2.06441280e-04 9.99940040e-01 2.21071520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.540385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:366.89, Y:349.42, Z:22.11 [[ 1.54160160e-01 -9.88044089e-01 -1.87721805e-03 3.66888384e+02] [ 9.87985205e-01 1.54171471e-01 -1.07885406e-02 3.49418802e+02] [ 1.09489672e-02 -1.91500511e-04 9.99940040e-01 2.21085951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.570385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.89, Y:349.45, Z:22.11 [[ 1.54269929e-01 -9.88026962e-01 -1.87404509e-03 3.66892735e+02] [ 9.87968070e-01 1.54281198e-01 -1.07890917e-02 3.49446754e+02] [ 1.09490434e-02 -1.87064299e-04 9.99940040e-01 2.21107440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.600385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:366.90, Y:349.47, Z:22.11 [[ 1.54159951e-01 -9.88044133e-01 -1.87108387e-03 3.66896654e+02] [ 9.87985236e-01 1.54171194e-01 -1.07896053e-02 3.49474264e+02] [ 1.09490734e-02 -1.85278224e-04 9.99940040e-01 2.21115632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.630385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:366.90, Y:349.50, Z:22.11 [[ 1.53945896e-01 -9.88077513e-01 -1.86803388e-03 3.66899418e+02] [ 9.88018613e-01 1.53957119e-01 -1.07901333e-02 3.49500973e+02] [ 1.09490852e-02 -1.84555513e-04 9.99940040e-01 2.21116445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.660385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.90, Y:349.53, Z:22.11 [[ 1.53553088e-01 -9.88138638e-01 -1.86596017e-03 3.66903702e+02] [ 9.88079738e-01 1.53564311e-01 -1.07904919e-02 3.49528190e+02] [ 1.09490468e-02 -1.86804089e-04 9.99940040e-01 2.21118220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.690385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.91, Y:349.56, Z:22.11 [[ 1.53625649e-01 -9.88127365e-01 -1.86277400e-03 3.66908574e+02] [ 9.88068458e-01 1.53636833e-01 -1.07910419e-02 3.49556210e+02] [ 1.09491145e-02 -1.82767426e-04 9.99940040e-01 2.21126383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.7203857229999 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:366.91, Y:349.58, Z:22.11 [[ 1.53766401e-01 -9.88105478e-01 -1.85981225e-03 3.66913726e+02] [ 9.88046562e-01 1.53777544e-01 -1.07915523e-02 3.49583460e+02] [ 1.09491893e-02 -1.78202939e-04 9.99940040e-01 2.21113888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.750385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.92, Y:349.61, Z:22.11 [[ 1.55204544e-01 -9.87880611e-01 -1.85683546e-03 3.66917394e+02] [ 9.87821673e-01 1.55215569e-01 -1.07920645e-02 3.49611264e+02] [ 1.09494810e-02 -1.59244864e-04 9.99940040e-01 2.21129627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.780385723 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:366.92, Y:349.64, Z:22.11 [[ 1.55207568e-01 -9.87880142e-01 -1.85387730e-03 3.66921423e+02] [ 9.87821198e-01 1.55218560e-01 -1.07925726e-02 3.49638660e+02] [ 1.09495243e-02 -1.56210354e-04 9.99940040e-01 2.21102749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.810385723 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:366.93, Y:349.67, Z:22.11 [[ 1.55686429e-01 -9.87804794e-01 -1.85094139e-03 3.66926282e+02] [ 9.87745838e-01 1.55697361e-01 -1.07930761e-02 3.49666578e+02] [ 1.09496390e-02 -1.47924186e-04 9.99940040e-01 2.21113085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.8403857229999 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:366.93, Y:349.69, Z:22.11 [[ 1.55290603e-01 -9.87867103e-01 -1.84800740e-03 3.66932112e+02] [ 9.87808147e-01 1.55301527e-01 -1.07935784e-02 3.49693965e+02] [ 1.09496194e-02 -1.49335456e-04 9.99940040e-01 2.21115330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.870385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.94, Y:349.72, Z:22.11 [[ 1.54243759e-01 -9.88031102e-01 -1.84508396e-03 3.66938680e+02] [ 9.87972151e-01 1.54254714e-01 -1.07940782e-02 3.49720431e+02] [ 1.09494978e-02 -1.57972378e-04 9.99940040e-01 2.21123908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.900385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:366.94, Y:349.75, Z:22.11 [[ 1.53827949e-01 -9.88095929e-01 -1.84295058e-03 3.66943964e+02] [ 9.88036979e-01 1.53838905e-01 -1.07944424e-02 3.49748449e+02] [ 1.09494621e-02 -1.60416391e-04 9.99940040e-01 2.21137614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.930385723 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:366.95, Y:349.78, Z:22.11 [[ 1.54563417e-01 -9.87981156e-01 -1.83994529e-03 3.66948842e+02] [ 9.87922191e-01 1.54574296e-01 -1.07949546e-02 3.49775550e+02] [ 1.09496200e-02 -1.49217712e-04 9.99940040e-01 2.21138798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.960385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.95, Y:349.80, Z:22.11 [[ 1.54940418e-01 -9.87922109e-01 -1.83677723e-03 3.66954213e+02] [ 9.87863134e-01 1.54951240e-01 -1.07954937e-02 3.49803037e+02] [ 1.09497178e-02 -1.41826215e-04 9.99940040e-01 2.21137677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.990385723 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:366.96, Y:349.83, Z:22.11 [[ 1.55374600e-01 -9.87853922e-01 -1.83383807e-03 3.66961721e+02] [ 9.87794936e-01 1.55385364e-01 -1.07959929e-02 3.49830362e+02] [ 1.09498155e-02 -1.34032874e-04 9.99940040e-01 2.21117812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.020385723 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:366.97, Y:349.86, Z:22.11 [[ 1.55811542e-01 -9.87785104e-01 -1.83091780e-03 3.66967819e+02] [ 9.87726107e-01 1.55822248e-01 -1.07964881e-02 3.49857009e+02] [ 1.09499079e-02 -1.26227843e-04 9.99940040e-01 2.21106799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.050385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:366.97, Y:349.88, Z:22.11 [[ 1.56402807e-01 -9.87691663e-01 -1.82783618e-03 3.66974434e+02] [ 9.87632654e-01 1.56413443e-01 -1.07970098e-02 3.49884146e+02] [ 1.09500148e-02 -1.16548056e-04 9.99940040e-01 2.21149234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.080385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.98, Y:349.91, Z:22.11 [[ 1.55628166e-01 -9.87814023e-01 -1.82484139e-03 3.66979804e+02] [ 9.87755016e-01 1.55638817e-01 -1.07975160e-02 3.49910804e+02] [ 1.09499538e-02 -1.22098626e-04 9.99940040e-01 2.21147875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.110385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.99, Y:349.94, Z:22.12 [[ 1.54372031e-01 -9.88011112e-01 -1.82168250e-03 3.66987048e+02] [ 9.87952113e-01 1.54382722e-01 -1.07980489e-02 3.49937897e+02] [ 1.09498286e-02 -1.32818331e-04 9.99940040e-01 2.21156234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.140385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:367.00, Y:349.97, Z:22.11 [[ 1.53663024e-01 -9.88121636e-01 -1.81869533e-03 3.66995731e+02] [ 9.88062639e-01 1.53673725e-01 -1.07985520e-02 3.49967482e+02] [ 1.09497685e-02 -1.37646753e-04 9.99940040e-01 2.21130549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.170385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:367.00, Y:349.99, Z:22.12 [[ 1.51153278e-01 -9.88508519e-01 -1.89581482e-03 3.67003651e+02] [ 9.88449707e-01 1.51164970e-01 -1.07855636e-02 3.49991012e+02] [ 1.09482023e-02 -2.43644303e-04 9.99940037e-01 2.21171247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.200385723 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:367.01, Y:350.02, Z:22.12 [[ 1.48932527e-01 -9.88845699e-01 -1.81261856e-03 3.67010015e+02] [ 9.88786742e-01 1.48943444e-01 -1.07995275e-02 3.50019740e+02] [ 1.09490440e-02 -1.83892274e-04 9.99940041e-01 2.21178434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.230385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.02, Y:350.05, Z:22.12 [[ 1.48079868e-01 -9.88973725e-01 -1.82329967e-03 3.67016159e+02] [ 9.88914799e-01 1.48090952e-01 -1.07977365e-02 3.50046070e+02] [ 1.09486919e-02 -2.04160633e-04 9.99940040e-01 2.21189975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.260385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.02, Y:350.07, Z:22.12 [[ 1.47237583e-01 -9.89099501e-01 -1.80875612e-03 3.67020828e+02] [ 9.89040554e-01 1.47248559e-01 -1.08001722e-02 3.50072444e+02] [ 1.09487816e-02 -1.98741905e-04 9.99940041e-01 2.21184533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.290385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.03, Y:350.10, Z:22.12 [[ 1.45898859e-01 -9.89297863e-01 -1.80566949e-03 3.67028563e+02] [ 9.89238926e-01 1.45909880e-01 -1.08006882e-02 3.50099917e+02] [ 1.09485628e-02 -2.10430466e-04 9.99940041e-01 2.21184192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.320385723 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:367.04, Y:350.13, Z:22.12 [[ 1.43916988e-01 -9.89588122e-01 -1.80265519e-03 3.67037893e+02] [ 9.89529200e-01 1.43928094e-01 -1.08011913e-02 3.50126159e+02] [ 1.09481833e-02 -2.29305035e-04 9.99940041e-01 2.21193713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.350385723 meters Centerline goodness : 0.996232 Centerline is valid? [True, True] Translation: X:367.05, Y:350.16, Z:22.12 [[ 1.44303707e-01 -9.89531810e-01 -1.79948271e-03 3.67048503e+02] [ 9.89472877e-01 1.44314756e-01 -1.08017198e-02 3.50157342e+02] [ 1.09483372e-02 -2.21811125e-04 9.99940041e-01 2.21183498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.380385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.05, Y:350.18, Z:22.12 [[ 1.41652468e-01 -9.89914499e-01 -1.96563676e-03 3.67052281e+02] [ 9.89855955e-01 1.41665484e-01 -1.07739826e-02 3.50178612e+02] [ 1.09437845e-02 -4.19536028e-04 9.99940027e-01 2.21198967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.410385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.06, Y:350.21, Z:22.12 [[ 1.41963274e-01 -9.89870300e-01 -1.79399626e-03 3.67057384e+02] [ 9.89811384e-01 1.41974402e-01 -1.08024876e-02 3.50205087e+02] [ 1.09477631e-02 -2.42161428e-04 9.99940042e-01 2.21192551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.440385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.06, Y:350.23, Z:22.12 [[ 1.44347395e-01 -9.89525453e-01 -1.79088347e-03 3.67063306e+02] [ 9.89466504e-01 1.44358347e-01 -1.08030036e-02 3.50231812e+02] [ 1.09483760e-02 -2.12633778e-04 9.99940042e-01 2.21170133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.4703857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.07, Y:350.26, Z:22.12 [[ 1.45195305e-01 -9.89401378e-01 -1.79917873e-03 3.67070412e+02] [ 9.89342436e-01 1.45206298e-01 -1.08016309e-02 3.50260475e+02] [ 1.09484006e-02 -2.11657774e-04 9.99940042e-01 2.21184278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.500385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.08, Y:350.29, Z:22.12 [[ 1.45726761e-01 -9.89323191e-01 -1.82612843e-03 3.67077083e+02] [ 9.89264298e-01 1.45738016e-01 -1.07971861e-02 3.50287747e+02] [ 1.09480429e-02 -2.33084711e-04 9.99940041e-01 2.21189897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.530385723 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:367.09, Y:350.31, Z:22.12 [[ 1.46784572e-01 -9.89166853e-01 -1.79652119e-03 3.67085024e+02] [ 9.89107888e-01 1.46795441e-01 -1.08020619e-02 3.50313846e+02] [ 1.09487627e-02 -1.91377255e-04 9.99940042e-01 2.21191831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.560385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.09, Y:350.34, Z:22.12 [[ 1.48917097e-01 -9.88848067e-01 -1.78867612e-03 3.67091789e+02] [ 9.88789063e-01 1.48927753e-01 -1.08033517e-02 3.50339730e+02] [ 1.09492569e-02 -1.59819616e-04 9.99940042e-01 2.21201307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.5903857229999 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:367.10, Y:350.37, Z:22.12 [[ 1.49337087e-01 -9.88784752e-01 -1.77435225e-03 3.67098165e+02] [ 9.88725717e-01 1.49347561e-01 -1.08057037e-02 3.50367059e+02] [ 1.09495102e-02 -1.40655390e-04 9.99940042e-01 2.21199741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.620385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.11, Y:350.40, Z:22.12 [[ 1.50853492e-01 -9.88554544e-01 -1.77142862e-03 3.67108428e+02] [ 9.88495487e-01 1.50863844e-01 -1.08061830e-02 3.50395436e+02] [ 1.09497458e-02 -1.20898762e-04 9.99940042e-01 2.21186882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.650385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:367.11, Y:350.42, Z:22.12 [[ 1.51809152e-01 -9.88408165e-01 -1.81159922e-03 3.67114971e+02] [ 9.88349175e-01 1.51819885e-01 -1.07995999e-02 3.50421710e+02] [ 1.09494495e-02 -1.51014496e-04 9.99940042e-01 2.21201013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.680385723 meters Centerline goodness : 0.999777 Centerline is valid? [True, True] Translation: X:367.12, Y:350.45, Z:22.12 [[ 1.54741028e-01 -9.87953428e-01 -1.79948207e-03 3.67123052e+02] [ 9.87894384e-01 1.54751454e-01 -1.08015814e-02 3.50446657e+02] [ 1.09499318e-02 -1.06250432e-04 9.99940042e-01 2.21191588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.710385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.13, Y:350.47, Z:22.12 [[ 1.56646746e-01 -9.87653121e-01 -1.76320848e-03 3.67129392e+02] [ 9.87593990e-01 1.56656662e-01 -1.08074993e-02 3.50473919e+02] [ 1.09502788e-02 -4.83744964e-05 9.99940043e-01 2.21227218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.740385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:367.14, Y:350.50, Z:22.12 [[ 1.58820792e-01 -9.87305858e-01 -1.76022159e-03 3.67136927e+02] [ 9.87246700e-01 1.58830544e-01 -1.08079857e-02 3.50501435e+02] [ 1.09503646e-02 -2.12401042e-05 9.99940043e-01 2.21213302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.770385723 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:367.15, Y:350.53, Z:22.12 [[ 1.60118818e-01 -9.87096184e-01 -1.75725979e-03 3.67145814e+02] [ 9.87037007e-01 1.60128461e-01 -1.08084673e-02 3.50531327e+02] [ 1.09503841e-02 -3.84142971e-06 9.99940043e-01 2.21200394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.800385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:367.15, Y:350.55, Z:22.12 [[ 1.58272171e-01 -9.87393741e-01 -1.87645377e-03 3.67152964e+02] [ 9.87334804e-01 1.58283227e-01 -1.07890755e-02 3.50553436e+02] [ 1.09500768e-02 -1.45077720e-04 9.99940036e-01 2.21215838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.830385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:367.16, Y:350.58, Z:22.12 [[ 1.57585864e-01 -9.87503738e-01 -1.75002498e-03 3.67160696e+02] [ 9.87444574e-01 1.57595579e-01 -1.08095439e-02 3.50580560e+02] [ 1.09502612e-02 -2.46213448e-05 9.99940044e-01 2.21231857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.860385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:367.16, Y:350.61, Z:22.12 [[ 1.60174625e-01 -9.87087148e-01 -1.74707362e-03 3.67164248e+02] [ 9.87027953e-01 1.60184152e-01 -1.08100209e-02 3.50608379e+02] [ 1.09502862e-02 7.08054152e-06 9.99940044e-01 2.21243362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.890385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.17, Y:350.64, Z:22.12 [[ 1.60951907e-01 -9.86960709e-01 -1.74414574e-03 3.67167754e+02] [ 9.86901502e-01 1.60961355e-01 -1.08104933e-02 3.50635879e+02] [ 1.09502722e-02 1.86694605e-05 9.99940044e-01 2.21236884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.920385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.17, Y:350.66, Z:22.12 [[ 1.60684201e-01 -9.87004334e-01 -1.74122220e-03 3.67172230e+02] [ 9.86945125e-01 1.60693634e-01 -1.08109642e-02 3.50664120e+02] [ 1.09502718e-02 1.86603849e-05 9.99940044e-01 2.21240003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.950385723 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:367.17, Y:350.69, Z:22.12 [[ 1.59978504e-01 -9.87118968e-01 -1.73828957e-03 3.67174593e+02] [ 9.87059760e-01 1.59987947e-01 -1.08114357e-02 3.50692131e+02] [ 1.09502786e-02 1.38016202e-05 9.99940044e-01 2.21228118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.980385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:367.18, Y:350.72, Z:22.12 [[ 1.60371910e-01 -9.87055127e-01 -1.73974075e-03 3.67179159e+02] [ 9.86995918e-01 1.60381345e-01 -1.08112026e-02 3.50718380e+02] [ 1.09502750e-02 1.66961921e-05 9.99940044e-01 2.21223549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.010385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:367.18, Y:350.75, Z:22.12 [[ 1.56167116e-01 -9.87729127e-01 -1.73316315e-03 3.67183354e+02] [ 9.87669947e-01 1.56176732e-01 -1.08122570e-02 3.50746547e+02] [ 1.09502609e-02 -2.32741587e-05 9.99940044e-01 2.21238855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.040385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:367.19, Y:350.77, Z:22.12 [[ 1.54762426e-01 -9.87950197e-01 -1.73208357e-03 3.67188234e+02] [ 9.87891029e-01 1.54772114e-01 -1.08124297e-02 3.50773280e+02] [ 1.09502203e-02 -3.77519610e-05 9.99940044e-01 2.21240755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.070385723 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:367.19, Y:350.80, Z:22.12 [[ 1.48591803e-01 -9.88897110e-01 -1.72695052e-03 3.67191677e+02] [ 9.88837994e-01 1.48601804e-01 -1.08132495e-02 3.50802479e+02] [ 1.09498192e-02 -1.00914041e-04 9.99940044e-01 2.21247793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.100385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:367.20, Y:350.83, Z:22.12 [[ 1.45812242e-01 -9.89310719e-01 -1.75849834e-03 3.67195900e+02] [ 9.89251690e-01 1.45822753e-01 -1.08082155e-02 3.50829848e+02] [ 1.09491125e-02 -1.63627320e-04 9.99940043e-01 2.21243196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.130385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:367.20, Y:350.86, Z:22.13 [[ 1.40215500e-01 -9.90119424e-01 -1.77199963e-03 3.67200622e+02] [ 9.90060483e-01 1.40226493e-01 -1.08060618e-02 3.50858745e+02] [ 1.09477730e-02 -2.39209448e-04 9.99940043e-01 2.21254465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.160385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.20, Y:350.88, Z:22.13 [[ 1.37746464e-01 -9.90465901e-01 -1.79212438e-03 3.67203185e+02] [ 9.90407028e-01 1.37757822e-01 -1.08028561e-02 3.50883618e+02] [ 1.09467398e-02 -2.86877349e-04 9.99940042e-01 2.21266170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.190385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.21, Y:350.91, Z:22.13 [[ 1.33687723e-01 -9.91022019e-01 -1.71805115e-03 3.67205925e+02] [ 9.90963042e-01 1.33698515e-01 -1.08146237e-02 3.50911214e+02] [ 1.09472311e-02 -2.56742779e-04 9.99940044e-01 2.21267163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.2203857229999 meters Centerline goodness : 0.994969 Centerline is valid? [True, True] Translation: X:367.21, Y:350.94, Z:22.13 [[ 1.31762960e-01 -9.91279769e-01 -1.71514016e-03 3.67208956e+02] [ 9.91220808e-01 1.31773836e-01 -1.08150854e-02 3.50937829e+02] [ 1.09467859e-02 -2.75054944e-04 9.99940044e-01 2.21257481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.250385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.21, Y:350.96, Z:22.13 [[ 1.30498910e-01 -9.91446989e-01 -1.70368861e-03 3.67212016e+02] [ 9.91388019e-01 1.30509735e-01 -1.08168975e-02 3.50964163e+02] [ 1.09467284e-02 -2.77423154e-04 9.99940044e-01 2.21268442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.280385723 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:367.22, Y:350.99, Z:22.13 [[ 1.31963961e-01 -9.91253042e-01 -1.70866884e-03 3.67219309e+02] [ 9.91194066e-01 1.31974754e-01 -1.08161107e-02 3.50993682e+02] [ 1.09470038e-02 -2.66285603e-04 9.99940044e-01 2.21250044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.310385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:367.22, Y:351.02, Z:22.13 [[ 1.28765239e-01 -9.91673428e-01 -1.82373375e-03 3.67217968e+02] [ 9.91614727e-01 1.28777475e-01 -1.07979327e-02 3.51017950e+02] [ 1.09428787e-02 -4.18042856e-04 9.99940038e-01 2.21271753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.3403857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.22, Y:351.05, Z:22.13 [[ 1.29093654e-01 -9.91630945e-01 -1.70195020e-03 3.67221101e+02] [ 9.91571988e-01 1.29104544e-01 -1.08170941e-02 3.51045962e+02] [ 1.09462947e-02 -2.91187947e-04 9.99940045e-01 2.21281595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.370385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:367.23, Y:351.08, Z:22.13 [[ 1.31760790e-01 -9.91280085e-01 -1.69903379e-03 3.67229283e+02] [ 9.91221093e-01 1.31771490e-01 -1.08175521e-02 3.51077739e+02] [ 1.09471082e-02 -2.58788912e-04 9.99940045e-01 2.21272882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.400385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:367.23, Y:351.10, Z:22.13 [[ 1.30218967e-01 -9.91483557e-01 -1.83783009e-03 3.67226795e+02] [ 9.91424868e-01 1.30231270e-01 -1.07957259e-02 3.51100580e+02] [ 1.09431277e-02 -4.16262177e-04 9.99940036e-01 2.21274078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.430385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:367.23, Y:351.13, Z:22.13 [[ 1.30561905e-01 -9.91438711e-01 -1.69431870e-03 3.67230646e+02] [ 9.91379724e-01 1.30572625e-01 -1.08182024e-02 3.51128813e+02] [ 1.09468163e-02 -2.67268089e-04 9.99940046e-01 2.21283640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.460385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:367.23, Y:351.16, Z:22.13 [[ 1.31057466e-01 -9.91373330e-01 -1.69145363e-03 3.67234727e+02] [ 9.91314331e-01 1.31068125e-01 -1.08186504e-02 3.51156291e+02] [ 1.09470171e-02 -2.58897326e-04 9.99940046e-01 2.21304957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.490385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.24, Y:351.18, Z:22.13 [[ 1.31174559e-01 -9.91357849e-01 -1.68856217e-03 3.67238022e+02] [ 9.91298843e-01 1.31185179e-01 -1.08191016e-02 3.51183224e+02] [ 1.09471157e-02 -2.54678846e-04 9.99940046e-01 2.21324024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.520385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:367.24, Y:351.21, Z:22.13 [[ 1.31856428e-01 -9.91267392e-01 -1.68515067e-03 3.67241958e+02] [ 9.91208373e-01 1.31866970e-01 -1.08196330e-02 3.51212971e+02] [ 1.09473651e-02 -2.43697300e-04 9.99940046e-01 2.21310605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.550385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:367.25, Y:351.24, Z:22.13 [[ 1.32438250e-01 -9.91189723e-01 -1.74453639e-03 3.67245603e+02] [ 9.91130814e-01 1.32449405e-01 -1.08104238e-02 3.51240442e+02] [ 1.09462438e-02 -2.97350168e-04 9.99940044e-01 2.21310290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.580385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:367.25, Y:351.27, Z:22.13 [[ 1.33318621e-01 -9.91071685e-01 -1.74969771e-03 3.67248910e+02] [ 9.91012776e-01 1.33329780e-01 -1.08096234e-02 3.51269388e+02] [ 1.09463985e-02 -2.92848702e-04 9.99940044e-01 2.21323275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.610385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.25, Y:351.30, Z:22.13 [[ 1.33752713e-01 -9.91013193e-01 -1.75022003e-03 3.67252795e+02] [ 9.90954280e-01 1.33763852e-01 -1.08095426e-02 3.51298302e+02] [ 1.09465155e-02 -2.88582375e-04 9.99940043e-01 2.21332315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.640385723 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:367.25, Y:351.32, Z:22.13 [[ 1.33638829e-01 -9.91028542e-01 -1.75836498e-03 3.67253485e+02] [ 9.90969647e-01 1.33650064e-01 -1.08082855e-02 3.51323099e+02] [ 1.09463250e-02 -2.98079713e-04 9.99940043e-01 2.21338182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.670385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:367.26, Y:351.35, Z:22.13 [[ 1.34751816e-01 -9.90877982e-01 -1.66491630e-03 3.67257282e+02] [ 9.90818895e-01 1.34761965e-01 -1.08226613e-02 3.51350526e+02] [ 1.09483042e-02 -1.91257259e-04 9.99940047e-01 2.21348929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.700385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:367.26, Y:351.38, Z:22.14 [[ 1.37243721e-01 -9.90535915e-01 -1.66191659e-03 3.67259986e+02] [ 9.90476797e-01 1.37253689e-01 -1.08231219e-02 3.51377691e+02] [ 1.09487952e-02 -1.60684294e-04 9.99940047e-01 2.21356935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.730385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:367.27, Y:351.41, Z:22.13 [[ 1.41140825e-01 -9.89988139e-01 -1.65876030e-03 3.67267994e+02] [ 9.89928977e-01 1.41150525e-01 -1.08236056e-02 3.51409917e+02] [ 1.09493761e-02 -1.14402256e-04 9.99940047e-01 2.21349838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.760385723 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:367.27, Y:351.44, Z:22.14 [[ 1.41213308e-01 -9.89977555e-01 -1.80057098e-03 3.67270924e+02] [ 9.89918656e-01 1.41224553e-01 -1.08018423e-02 3.51436479e+02] [ 1.09478663e-02 -2.57054920e-04 9.99940037e-01 2.21351668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.790385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:367.27, Y:351.46, Z:22.14 [[ 1.39365453e-01 -9.90239416e-01 -1.78028837e-03 3.67269953e+02] [ 9.90180499e-01 1.39376586e-01 -1.08049523e-02 3.51460107e+02] [ 1.09476202e-02 -2.56969753e-04 9.99940040e-01 2.21364130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.820385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:367.28, Y:351.49, Z:22.14 [[ 1.43488453e-01 -9.89650612e-01 -1.65243349e-03 3.67278679e+02] [ 9.89591416e-01 1.43497944e-01 -1.08244704e-02 3.51492189e+02] [ 1.09495646e-02 -8.20474856e-05 9.99940048e-01 2.21354667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.850385723 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:367.28, Y:351.52, Z:22.14 [[ 1.43347908e-01 -9.89670758e-01 -1.77992654e-03 3.67281892e+02] [ 9.89611796e-01 1.43358801e-01 -1.08050033e-02 3.51519681e+02] [ 1.09485639e-02 -2.12561684e-04 9.99940040e-01 2.21354153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.880385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:367.28, Y:351.54, Z:22.14 [[ 1.41493754e-01 -9.89937570e-01 -1.76766849e-03 3.67279913e+02] [ 9.89878605e-01 1.41504624e-01 -1.08068713e-02 3.51543306e+02] [ 1.09482612e-02 -2.20672425e-04 9.99940042e-01 2.21350194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.910385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.28, Y:351.57, Z:22.14 [[ 1.40981096e-01 -9.90010924e-01 -1.64376219e-03 3.67283341e+02] [ 9.89951738e-01 1.40990642e-01 -1.08256852e-02 3.51570757e+02] [ 1.09493017e-02 -1.01028264e-04 9.99940050e-01 2.21354172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.940385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.29, Y:351.60, Z:22.13 [[ 1.40907358e-01 -9.90021426e-01 -1.64083455e-03 3.67289455e+02] [ 9.89962236e-01 1.40916877e-01 -1.08261290e-02 3.51600114e+02] [ 1.09493209e-02 -9.88830037e-05 9.99940050e-01 2.21347355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.9703857229999 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:367.29, Y:351.62, Z:22.14 [[ 1.38081247e-01 -9.90419454e-01 -1.69537511e-03 3.67291691e+02] [ 9.90360390e-01 1.38091530e-01 -1.08178729e-02 3.51624978e+02] [ 1.09483487e-02 -1.85286977e-04 9.99940048e-01 2.21359250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.000385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.30, Y:351.65, Z:22.14 [[ 1.36573890e-01 -9.90628539e-01 -1.63415607e-03 3.67296268e+02] [ 9.90569379e-01 1.36583595e-01 -1.08271129e-02 3.51652294e+02] [ 1.09488459e-02 -1.40044047e-04 9.99940050e-01 2.21365845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.030385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.30, Y:351.68, Z:22.14 [[ 1.33346151e-01 -9.91068183e-01 -1.63120589e-03 3.67300960e+02] [ 9.91009050e-01 1.33356016e-01 -1.08275573e-02 3.51680338e+02] [ 1.09483787e-02 -1.72726709e-04 9.99940050e-01 2.21378337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.060385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:367.30, Y:351.71, Z:22.14 [[ 1.29881218e-01 -9.91528196e-01 -1.64523872e-03 3.67302833e+02] [ 9.91469124e-01 1.29891442e-01 -1.08254474e-02 3.51707103e+02] [ 1.09474387e-02 -2.25181106e-04 9.99940050e-01 2.21374123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.0903857229999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:367.30, Y:351.73, Z:22.14 [[ 1.27143788e-01 -9.91883031e-01 -1.58460095e-03 3.67304775e+02] [ 9.91823874e-01 1.27153514e-01 -1.08345567e-02 3.51734678e+02] [ 1.09481005e-02 -1.94098468e-04 9.99940049e-01 2.21365280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.120385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.31, Y:351.76, Z:22.14 [[ 1.26295086e-01 -9.91991462e-01 -1.57846817e-03 3.67308580e+02] [ 9.91932302e-01 1.26304796e-01 -1.08354769e-02 3.51762753e+02] [ 1.09480687e-02 -1.97266078e-04 9.99940049e-01 2.21369781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.150385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:367.31, Y:351.79, Z:22.14 [[ 1.24797451e-01 -9.92180989e-01 -1.57524479e-03 3.67311488e+02] [ 9.92121838e-01 1.24807215e-01 -1.08359599e-02 3.51790493e+02] [ 1.09478354e-02 -2.10534579e-04 9.99940049e-01 2.21370436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.180385723 meters Centerline goodness : 0.994055 Centerline is valid? [True, True] Translation: X:367.31, Y:351.82, Z:22.13 [[ 1.25784685e-01 -9.92056337e-01 -1.56099361e-03 3.67313605e+02] [ 9.91997151e-01 1.25794234e-01 -1.08380749e-02 3.51817145e+02] [ 1.09483449e-02 -1.85237372e-04 9.99940048e-01 2.21331174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.210385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:367.31, Y:351.84, Z:22.14 [[ 1.24462565e-01 -9.92223044e-01 -1.58141714e-03 3.67314842e+02] [ 9.92163907e-01 1.24472416e-01 -1.08350512e-02 3.51842779e+02] [ 1.09476303e-02 -2.20466741e-04 9.99940049e-01 2.21370248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.240385723 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:367.32, Y:351.87, Z:22.14 [[ 1.26415390e-01 -9.91976156e-01 -1.56702798e-03 3.67321085e+02] [ 9.91916974e-01 1.26424968e-01 -1.08371897e-02 3.51870830e+02] [ 1.09483453e-02 -1.84374087e-04 9.99940048e-01 2.21374406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.270385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:367.32, Y:351.90, Z:22.14 [[ 1.27108942e-01 -9.91887457e-01 -1.60909796e-03 3.67324872e+02] [ 9.91828345e-01 1.27118937e-01 -1.08309396e-02 3.51897720e+02] [ 1.09476200e-02 -2.19239698e-04 9.99940049e-01 2.21387352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.300385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:367.33, Y:351.93, Z:22.14 [[ 1.26149512e-01 -9.92009940e-01 -1.60596281e-03 3.67325974e+02] [ 9.91950832e-01 1.26159530e-01 -1.08314045e-02 3.51925379e+02] [ 1.09474684e-02 -2.26659766e-04 9.99940049e-01 2.21399798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.330385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:367.33, Y:351.95, Z:22.14 [[ 1.29471124e-01 -9.91581943e-01 -1.57413983e-03 3.67328732e+02] [ 9.91522745e-01 1.29480597e-01 -1.08361155e-02 3.51954257e+02] [ 1.09487170e-02 -1.57831388e-04 9.99940049e-01 2.21395728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.360385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.33, Y:351.98, Z:22.14 [[ 1.30123891e-01 -9.91496448e-01 -1.60206690e-03 3.67331091e+02] [ 9.91437293e-01 1.30133630e-01 -1.08319851e-02 3.51983243e+02] [ 1.09483575e-02 -1.78848833e-04 9.99940049e-01 2.21400846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.390385723 meters Centerline goodness : 0.999780 Centerline is valid? [True, True] Translation: X:367.33, Y:352.01, Z:22.14 [[ 1.32595685e-01 -9.91168916e-01 -1.60139529e-03 3.67332512e+02] [ 9.91109736e-01 1.32605269e-01 -1.08320842e-02 3.52011060e+02] [ 1.09487786e-02 -1.50870833e-04 9.99940049e-01 2.21417852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.420385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:367.34, Y:352.04, Z:22.14 [[ 1.36243086e-01 -9.90674188e-01 -1.57298577e-03 3.67337356e+02] [ 9.90614925e-01 1.36252141e-01 -1.08362711e-02 3.52038740e+02] [ 1.09495368e-02 -8.18561629e-05 9.99940049e-01 2.21433631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.450385723 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:367.34, Y:352.07, Z:22.14 [[ 1.35106001e-01 -9.90829866e-01 -1.59534044e-03 3.67338705e+02] [ 9.90770651e-01 1.35115369e-01 -1.08329790e-02 3.52066272e+02] [ 1.09491941e-02 -1.17016021e-04 9.99940049e-01 2.21428854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.480385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.34, Y:352.09, Z:22.14 [[ 1.34279338e-01 -9.90942285e-01 -1.56447319e-03 3.67338277e+02] [ 9.90883025e-01 1.34288418e-01 -1.08375187e-02 3.52093304e+02] [ 1.09494462e-02 -9.49550882e-05 9.99940049e-01 2.21396348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.510385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.34, Y:352.12, Z:22.14 [[ 1.34333702e-01 -9.90934988e-01 -1.51834810e-03 3.67341378e+02] [ 9.90875651e-01 1.34342274e-01 -1.08442891e-02 3.52120701e+02] [ 1.09499639e-02 -4.77406565e-05 9.99940046e-01 2.21389395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.540385723 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:367.35, Y:352.15, Z:22.14 [[ 1.36804493e-01 -9.90596902e-01 -1.51910567e-03 3.67348668e+02] [ 9.90537545e-01 1.36812925e-01 -1.08441783e-02 3.52150081e+02] [ 1.09500428e-02 -2.11988757e-05 9.99940046e-01 2.21428353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.570385723 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:367.35, Y:352.18, Z:22.14 [[ 1.36633512e-01 -9.90620391e-01 -1.58864234e-03 3.67352661e+02] [ 9.90561150e-01 1.36642715e-01 -1.08340088e-02 3.52175660e+02] [ 1.09494665e-02 -9.33587115e-05 9.99940048e-01 2.21426448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.600385723 meters Centerline goodness : 0.999781 Centerline is valid? [True, True] Translation: X:367.36, Y:352.20, Z:22.14 [[ 1.36647659e-01 -9.90618452e-01 -1.58121515e-03 3.67356206e+02] [ 9.90559198e-01 1.36656780e-01 -1.08350927e-02 3.52201461e+02] [ 1.09495265e-02 -8.56971616e-05 9.99940048e-01 2.21434987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.630385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.36, Y:352.23, Z:22.15 [[ 1.36386033e-01 -9.90654511e-01 -1.57788340e-03 3.67360205e+02] [ 9.90595254e-01 1.36395134e-01 -1.08355779e-02 3.52229208e+02] [ 1.09495297e-02 -8.52223169e-05 9.99940048e-01 2.21454027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.660385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.36, Y:352.25, Z:22.14 [[ 1.33770520e-01 -9.91011084e-01 -1.57489842e-03 3.67359272e+02] [ 9.90951846e-01 1.33779744e-01 -1.08360117e-02 3.52254555e+02] [ 1.09492972e-02 -1.11109575e-04 9.99940048e-01 2.21399753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.690385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:367.36, Y:352.28, Z:22.14 [[ 1.33758959e-01 -9.91012779e-01 -1.48774976e-03 3.67362924e+02] [ 9.90953397e-01 1.33767231e-01 -1.08486776e-02 3.52281748e+02] [ 1.09501903e-02 -2.31828587e-05 9.99940045e-01 2.21397442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.7203857229999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:367.37, Y:352.31, Z:22.14 [[ 1.35501628e-01 -9.90776024e-01 -1.47619328e-03 3.67370255e+02] [ 9.90716609e-01 1.35509669e-01 -1.08503561e-02 3.52311194e+02] [ 1.09503111e-02 7.75171762e-06 9.99940044e-01 2.21430304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.750385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.37, Y:352.34, Z:22.14 [[ 1.35343218e-01 -9.90797618e-01 -1.51465006e-03 3.67374923e+02] [ 9.90738266e-01 1.35351689e-01 -1.08447686e-02 3.52338430e+02] [ 1.09499813e-02 -3.28558930e-05 9.99940047e-01 2.21435156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.780385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:367.38, Y:352.37, Z:22.15 [[ 1.37549396e-01 -9.90493762e-01 -1.50704996e-03 3.67382516e+02] [ 9.90434379e-01 1.37557652e-01 -1.08458712e-02 3.52367112e+02] [ 1.09500740e-02 -7.91057296e-07 9.99940046e-01 2.21452926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.810385723 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:367.39, Y:352.39, Z:22.15 [[ 1.36676431e-01 -9.90614498e-01 -1.57178937e-03 3.67387438e+02] [ 9.90555228e-01 1.36685448e-01 -1.08364810e-02 3.52393892e+02] [ 1.09496159e-02 -7.58526284e-05 9.99940048e-01 2.21450937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.8403857229999 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:367.39, Y:352.42, Z:22.15 [[ 1.36410832e-01 -9.90651111e-01 -1.56867965e-03 3.67391460e+02] [ 9.90591839e-01 1.36419830e-01 -1.08369312e-02 3.52422189e+02] [ 1.09496169e-02 -7.56464651e-05 9.99940048e-01 2.21454055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.870385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:367.39, Y:352.45, Z:22.14 [[ 1.31943257e-01 -9.91256034e-01 -1.56577386e-03 3.67394907e+02] [ 9.91196798e-01 1.31952491e-01 -1.08373510e-02 3.52448996e+02] [ 1.09491973e-02 -1.22074653e-04 9.99940048e-01 2.21442361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.900385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:367.40, Y:352.48, Z:22.15 [[ 1.32540489e-01 -9.91176438e-01 -1.51257934e-03 3.67402613e+02] [ 9.91117107e-01 1.32549105e-01 -1.08450137e-02 3.52477101e+02] [ 1.09498131e-02 -6.17398337e-05 9.99940047e-01 2.21465877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.930385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:367.41, Y:352.51, Z:22.15 [[ 1.31282519e-01 -9.91343768e-01 -1.56021292e-03 3.67407452e+02] [ 9.91284528e-01 1.31291732e-01 -1.08381566e-02 3.52505189e+02] [ 1.09491821e-02 -1.23754422e-04 9.99940048e-01 2.21468120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.960385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:367.41, Y:352.53, Z:22.14 [[ 1.26040629e-01 -9.92023858e-01 -1.55725132e-03 3.67408715e+02] [ 9.91964663e-01 1.26050122e-01 -1.08385821e-02 3.52531097e+02] [ 1.09484238e-02 -1.78636569e-04 9.99940048e-01 2.21428798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.990385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:367.42, Y:352.56, Z:22.15 [[ 1.26182932e-01 -9.92005888e-01 -1.47833326e-03 3.67418068e+02] [ 9.91946557e-01 1.26191554e-01 -1.08498873e-02 3.52560297e+02] [ 1.09497053e-02 -9.73569899e-05 9.99940045e-01 2.21470993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.020385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.42, Y:352.59, Z:22.15 [[ 1.21993238e-01 -9.92529718e-01 -1.55207998e-03 3.67419955e+02] [ 9.92470552e-01 1.22002916e-01 -1.08393276e-02 3.52586835e+02] [ 1.09477130e-02 -2.18069006e-04 9.99940048e-01 2.21455419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.050385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.43, Y:352.62, Z:22.15 [[ 1.21108180e-01 -9.92638185e-01 -1.49753303e-03 3.67426203e+02] [ 9.92578932e-01 1.21117315e-01 -1.08471342e-02 3.52615154e+02] [ 1.09486568e-02 -1.72743061e-04 9.99940047e-01 2.21455573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.080385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.43, Y:352.64, Z:22.15 [[ 1.22556512e-01 -9.92460374e-01 -1.51887355e-03 3.67432358e+02] [ 9.92401145e-01 1.22565793e-01 -1.08440810e-02 3.52643991e+02] [ 1.09484827e-02 -1.78319109e-04 9.99940048e-01 2.21454096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.110385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:367.44, Y:352.67, Z:22.15 [[ 1.23066388e-01 -9.92397230e-01 -1.54955045e-03 3.67438127e+02] [ 9.92338050e-01 1.23075975e-01 -1.08396957e-02 3.52671869e+02] [ 1.09479965e-02 -2.03675671e-04 9.99940048e-01 2.21457062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.140385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.44, Y:352.70, Z:22.15 [[ 1.23162507e-01 -9.92385311e-01 -1.54670653e-03 3.67442775e+02] [ 9.92326124e-01 1.23172057e-01 -1.08401015e-02 3.52700063e+02] [ 1.09480685e-02 -1.99743216e-04 9.99940048e-01 2.21476945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.170385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.45, Y:352.73, Z:22.15 [[ 1.23189560e-01 -9.92381957e-01 -1.54372638e-03 3.67447165e+02] [ 9.92322765e-01 1.23199076e-01 -1.08405259e-02 3.52727769e+02] [ 1.09481280e-02 -1.96435214e-04 9.99940048e-01 2.21481809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.200385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.45, Y:352.75, Z:22.15 [[ 1.25126845e-01 -9.92139556e-01 -1.54076729e-03 3.67451152e+02] [ 9.92080341e-01 1.25136212e-01 -1.08409465e-02 3.52751718e+02] [ 1.09485376e-02 -1.72071515e-04 9.99940048e-01 2.21451784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.230385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:367.46, Y:352.78, Z:22.15 [[ 1.25313246e-01 -9.92116184e-01 -1.43826591e-03 3.67457031e+02] [ 9.92056796e-01 1.25321482e-01 -1.08554116e-02 3.52782255e+02] [ 1.09500751e-02 -6.65146013e-05 9.99940044e-01 2.21481087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.260385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.46, Y:352.81, Z:22.15 [[ 1.26452237e-01 -9.91971516e-01 -1.53081321e-03 3.67461669e+02] [ 9.91912271e-01 1.26461417e-01 -1.08423450e-02 3.52809772e+02] [ 1.09488862e-02 -1.47393625e-04 9.99940048e-01 2.21503394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.290385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.47, Y:352.84, Z:22.15 [[ 1.27513854e-01 -9.91835613e-01 -1.52785574e-03 3.67465490e+02] [ 9.91776353e-01 1.27522938e-01 -1.08427618e-02 3.52837119e+02] [ 1.09490739e-02 -1.32688850e-04 9.99940048e-01 2.21510509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.320385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.47, Y:352.86, Z:22.15 [[ 1.29422419e-01 -9.91588378e-01 -1.52489043e-03 3.67468341e+02] [ 9.91529097e-01 1.29431356e-01 -1.08431788e-02 3.52864374e+02] [ 1.09493387e-02 -1.08622807e-04 9.99940048e-01 2.21507069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.350385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.47, Y:352.89, Z:22.15 [[ 1.30008325e-01 -9.91511735e-01 -1.52175297e-03 3.67472728e+02] [ 9.91452442e-01 1.30017193e-01 -1.08436191e-02 3.52891157e+02] [ 1.09494296e-02 -9.89849449e-05 9.99940048e-01 2.21506573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.380385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.48, Y:352.92, Z:22.15 [[ 1.30407470e-01 -9.91459320e-01 -1.51962054e-03 3.67479251e+02] [ 9.91400021e-01 1.30416291e-01 -1.08439179e-02 3.52918176e+02] [ 1.09494868e-02 -9.24239395e-05 9.99940048e-01 2.21521150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.410385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.49, Y:352.95, Z:22.15 [[ 1.29896522e-01 -9.91526396e-01 -1.51668937e-03 3.67485933e+02] [ 9.91467096e-01 1.29905342e-01 -1.08443279e-02 3.52946069e+02] [ 1.09494634e-02 -9.51071238e-05 9.99940048e-01 2.21534946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.440385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.49, Y:352.97, Z:22.15 [[ 1.28747855e-01 -9.91676207e-01 -1.51369160e-03 3.67490721e+02] [ 9.91616912e-01 1.28756710e-01 -1.08447463e-02 3.52972928e+02] [ 1.09493748e-02 -1.04764366e-04 9.99940048e-01 2.21535233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.4703857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.50, Y:353.00, Z:22.15 [[ 1.26698334e-01 -9.91940145e-01 -1.51053394e-03 3.67495172e+02] [ 9.91880864e-01 1.26707277e-01 -1.08451861e-02 3.53000035e+02] [ 1.09491711e-02 -1.24202699e-04 9.99940048e-01 2.21531512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.500385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.50, Y:353.03, Z:22.15 [[ 1.25729618e-01 -9.92063401e-01 -1.50742096e-03 3.67499285e+02] [ 9.92004123e-01 1.25738585e-01 -1.08456188e-02 3.53027979e+02] [ 1.09490824e-02 -1.31752299e-04 9.99940048e-01 2.21532253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.530385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.51, Y:353.05, Z:22.15 [[ 1.25008554e-01 -9.92154523e-01 -1.50448794e-03 3.67505509e+02] [ 9.92095248e-01 1.25017532e-01 -1.08460256e-02 3.53054315e+02] [ 1.09490207e-02 -1.36749355e-04 9.99940048e-01 2.21529392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.560385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:367.51, Y:353.08, Z:22.15 [[ 1.23451663e-01 -9.92349451e-01 -1.50111636e-03 3.67510643e+02] [ 9.92290184e-01 1.23460697e-01 -1.08464922e-02 3.53080615e+02] [ 1.09488395e-02 -1.50525528e-04 9.99940048e-01 2.21545625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.5903857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.52, Y:353.11, Z:22.16 [[ 1.21502625e-01 -9.92589981e-01 -1.49734672e-03 3.67516100e+02] [ 9.92530725e-01 1.21511734e-01 -1.08470126e-02 3.53107797e+02] [ 1.09485812e-02 -1.68222121e-04 9.99940048e-01 2.21565090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.620385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:367.52, Y:353.14, Z:22.15 [[ 1.20845237e-01 -9.92670235e-01 -1.49438901e-03 3.67522242e+02] [ 9.92610981e-01 1.20854354e-01 -1.08474201e-02 3.53138110e+02] [ 1.09485144e-02 -1.72487884e-04 9.99940048e-01 2.21548440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.650385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:367.53, Y:353.17, Z:22.15 [[ 1.19770831e-01 -9.92800318e-01 -1.57356144e-03 3.67527264e+02] [ 9.92741211e-01 1.19780876e-01 -1.08365151e-02 3.53167094e+02] [ 1.09469782e-02 -2.64240873e-04 9.99940045e-01 2.21540198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.680385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.53, Y:353.19, Z:22.16 [[ 1.18114400e-01 -9.92998740e-01 -1.57837507e-03 3.67529144e+02] [ 9.92939658e-01 1.18124596e-01 -1.08358528e-02 3.53191009e+02] [ 1.09464331e-02 -2.87360942e-04 9.99940045e-01 2.21565942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.710385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:367.53, Y:353.22, Z:22.16 [[ 1.17539552e-01 -9.93067089e-01 -1.48662333e-03 3.67534655e+02] [ 9.93007853e-01 1.17548781e-01 -1.08484262e-02 3.53217423e+02] [ 1.09479657e-02 -2.01109493e-04 9.99940049e-01 2.21565424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.740385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.54, Y:353.25, Z:22.16 [[ 1.16847321e-01 -9.93148782e-01 -1.48348105e-03 3.67539256e+02] [ 9.93089547e-01 1.16856556e-01 -1.08488558e-02 3.53245600e+02] [ 1.09478824e-02 -2.05569787e-04 9.99940049e-01 2.21569987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.770385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:367.54, Y:353.27, Z:22.16 [[ 1.15779606e-01 -9.93273825e-01 -1.48061379e-03 3.67544578e+02] [ 9.93214594e-01 1.15788874e-01 -1.08492471e-02 3.53273384e+02] [ 1.09477118e-02 -2.14445673e-04 9.99940049e-01 2.21580559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.800385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.55, Y:353.30, Z:22.16 [[ 1.15615483e-01 -9.93292946e-01 -1.47764141e-03 3.67548638e+02] [ 9.93233712e-01 1.15624729e-01 -1.08496519e-02 3.53300095e+02] [ 1.09477346e-02 -2.13255514e-04 9.99940049e-01 2.21570149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.830385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:367.55, Y:353.33, Z:22.16 [[ 1.16421897e-01 -9.93198755e-01 -1.47451177e-03 3.67553036e+02] [ 9.93139509e-01 1.16431060e-01 -1.08500773e-02 3.53328302e+02] [ 1.09479622e-02 -2.01209327e-04 9.99940049e-01 2.21584943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.860385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.56, Y:353.36, Z:22.16 [[ 1.16981806e-01 -9.93132968e-01 -1.47150846e-03 3.67557551e+02] [ 9.93073711e-01 1.16990903e-01 -1.08504846e-02 3.53355582e+02] [ 1.09481270e-02 -1.92007089e-04 9.99940049e-01 2.21591172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.890385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.56, Y:353.38, Z:22.16 [[ 1.18508517e-01 -9.92951950e-01 -1.46851689e-03 3.67562495e+02] [ 9.92892674e-01 1.18517491e-01 -1.08508894e-02 3.53381825e+02] [ 1.09484568e-02 -1.72156844e-04 9.99940049e-01 2.21599534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.920385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.57, Y:353.41, Z:22.16 [[ 1.19193682e-01 -9.92869941e-01 -1.46535823e-03 3.67566504e+02] [ 9.92810654e-01 1.19202579e-01 -1.08513160e-02 3.53409518e+02] [ 1.09486199e-02 -1.61414962e-04 9.99940049e-01 2.21607370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.950385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.57, Y:353.44, Z:22.16 [[ 1.21698177e-01 -9.92566076e-01 -1.46234588e-03 3.67570539e+02] [ 9.92506762e-01 1.21706893e-01 -1.08517219e-02 3.53436073e+02] [ 1.09490286e-02 -1.30753399e-04 9.99940049e-01 2.21604419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.980385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:367.57, Y:353.46, Z:22.16 [[ 1.23076779e-01 -9.92396079e-01 -1.45919366e-03 3.67574433e+02] [ 9.92336748e-01 1.23085377e-01 -1.08521458e-02 3.53463621e+02] [ 1.09492323e-02 -1.12364346e-04 9.99940049e-01 2.21612017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.010385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.58, Y:353.49, Z:22.16 [[ 1.25666298e-01 -9.92071500e-01 -1.45621906e-03 3.67578774e+02] [ 9.92012142e-01 1.25674709e-01 -1.08525449e-02 3.53491033e+02] [ 1.09495104e-02 -8.07878509e-05 9.99940049e-01 2.21626693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.040385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.58, Y:353.52, Z:22.16 [[ 1.26978378e-01 -9.91904398e-01 -1.46876159e-03 3.67582749e+02] [ 9.91845048e-01 1.26986848e-01 -1.08508646e-02 3.53516895e+02] [ 1.09495337e-02 -7.89587235e-05 9.99940049e-01 2.21632724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.070385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.59, Y:353.54, Z:22.16 [[ 1.28160568e-01 -9.91752371e-01 -1.44997977e-03 3.67587586e+02] [ 9.91692983e-01 1.28168762e-01 -1.08533738e-02 3.53544504e+02] [ 1.09497013e-02 -4.69602116e-05 9.99940049e-01 2.21644322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.100385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:367.59, Y:353.57, Z:22.16 [[ 1.28406371e-01 -9.91720581e-01 -1.44707231e-03 3.67591556e+02] [ 9.91661186e-01 1.28414518e-01 -1.08537614e-02 3.53571820e+02] [ 1.09497237e-02 -4.13133316e-05 9.99940049e-01 2.21647567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.130385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.60, Y:353.60, Z:22.16 [[ 1.29395213e-01 -9.91592050e-01 -1.44419055e-03 3.67595128e+02] [ 9.91532643e-01 1.29403269e-01 -1.08541448e-02 3.53597939e+02] [ 1.09497667e-02 -2.74876852e-05 9.99940049e-01 2.21644078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.160385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.60, Y:353.63, Z:22.16 [[ 1.29772836e-01 -9.91542703e-01 -1.44168634e-03 3.67599299e+02] [ 9.91483290e-01 1.29780842e-01 -1.08544775e-02 3.53625295e+02] [ 1.09497812e-02 -2.07915954e-05 9.99940049e-01 2.21649838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.190385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.60, Y:353.65, Z:22.16 [[ 1.28956678e-01 -9.91649185e-01 -1.43868035e-03 3.67603328e+02] [ 9.91589773e-01 1.28964700e-01 -1.08548759e-02 3.53651643e+02] [ 1.09497678e-02 -2.67719959e-05 9.99940049e-01 2.21640747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.2203857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.61, Y:353.68, Z:22.17 [[ 1.27909542e-01 -9.91784799e-01 -1.43551640e-03 3.67607978e+02] [ 9.91725392e-01 1.27917592e-01 -1.08552943e-02 3.53679366e+02] [ 1.09497436e-02 -3.51423473e-05 9.99940049e-01 2.21658645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.250385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.61, Y:353.71, Z:22.17 [[ 1.24733556e-01 -9.92189240e-01 -1.43255399e-03 3.67613249e+02] [ 9.92129854e-01 1.24741764e-01 -1.08556852e-02 3.53705840e+02] [ 1.09495934e-02 -6.72113621e-05 9.99940049e-01 2.21671770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.280385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.62, Y:353.73, Z:22.17 [[ 1.23035339e-01 -9.92401261e-01 -1.42940961e-03 3.67616862e+02] [ 9.92341884e-01 1.23043614e-01 -1.08560992e-02 3.53733631e+02] [ 1.09494863e-02 -8.27791778e-05 9.99940049e-01 2.21680438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.310385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.62, Y:353.76, Z:22.17 [[ 1.20361065e-01 -9.92729157e-01 -1.42646164e-03 3.67619599e+02] [ 9.92669798e-01 1.20369468e-01 -1.08564866e-02 3.53760283e+02] [ 1.09492532e-02 -1.09307111e-04 9.99940049e-01 2.21670931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.3403857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.62, Y:353.79, Z:22.17 [[ 1.18852912e-01 -9.92910852e-01 -1.42335421e-03 3.67623042e+02] [ 9.92851501e-01 1.18861371e-01 -1.08568939e-02 3.53787383e+02] [ 1.09491096e-02 -1.22805899e-04 9.99940049e-01 2.21670558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.370385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.63, Y:353.82, Z:22.17 [[ 1.16136339e-01 -9.93232266e-01 -1.42027120e-03 3.67627477e+02] [ 9.93172933e-01 1.16144927e-01 -1.08572972e-02 3.53815563e+02] [ 1.09487752e-02 -1.49648156e-04 9.99940049e-01 2.21672853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.400385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.63, Y:353.84, Z:22.17 [[ 1.14840014e-01 -9.93382989e-01 -1.41737784e-03 3.67631620e+02] [ 9.93323663e-01 1.14848647e-01 -1.08576749e-02 3.53843217e+02] [ 1.09486135e-02 -1.61019412e-04 9.99940049e-01 2.21682109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.430385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.63, Y:353.87, Z:22.17 [[ 1.11887739e-01 -9.93719847e-01 -1.41443466e-03 3.67634664e+02] [ 9.93660542e-01 1.11896517e-01 -1.08580583e-02 3.53870171e+02] [ 1.09481384e-02 -1.90584318e-04 9.99940049e-01 2.21687177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.460385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:367.64, Y:353.90, Z:22.17 [[ 1.10585867e-01 -9.93865570e-01 -1.41228866e-03 3.67637394e+02] [ 9.93806273e-01 1.10594699e-01 -1.08583375e-02 3.53898261e+02] [ 1.09479194e-02 -2.02762665e-04 9.99940049e-01 2.21694063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.490385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.64, Y:353.93, Z:22.17 [[ 1.09321153e-01 -9.94005483e-01 -1.40926635e-03 3.67638530e+02] [ 9.93946192e-01 1.09330027e-01 -1.08587297e-02 3.53925166e+02] [ 1.09477120e-02 -2.13646074e-04 9.99940049e-01 2.21695310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.520385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.64, Y:353.95, Z:22.17 [[ 1.09410483e-01 -9.93995659e-01 -1.40607961e-03 3.67641840e+02] [ 9.93936362e-01 1.09419317e-01 -1.08591423e-02 3.53952685e+02] [ 1.09477926e-02 -2.09449648e-04 9.99940049e-01 2.21709039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.550385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.64, Y:353.98, Z:22.17 [[ 1.08493473e-01 -9.94096171e-01 -1.40308421e-03 3.67642207e+02] [ 9.94036878e-01 1.08502329e-01 -1.08595293e-02 3.53979918e+02] [ 1.09476544e-02 -2.16529400e-04 9.99940049e-01 2.21710864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.580385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.64, Y:354.01, Z:22.17 [[ 1.09146318e-01 -9.94024772e-01 -1.35414428e-03 3.67644909e+02] [ 9.93965395e-01 1.09154601e-01 -1.08658415e-02 3.54008361e+02] [ 1.09487267e-02 -1.60005960e-04 9.99940048e-01 2.21724865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.610385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.65, Y:354.04, Z:22.17 [[ 1.11954915e-01 -9.93712353e-01 -1.36257729e-03 3.67647549e+02] [ 9.93652966e-01 1.11963122e-01 -1.08647550e-02 3.54037270e+02] [ 1.09489997e-02 -1.37566248e-04 9.99940048e-01 2.21740266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.640385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.65, Y:354.06, Z:22.17 [[ 1.12338587e-01 -9.93669001e-01 -1.39911299e-03 3.67649334e+02] [ 9.93609668e-01 1.12347171e-01 -1.08600481e-02 3.54064616e+02] [ 1.09484795e-02 -1.70169731e-04 9.99940049e-01 2.21735971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.670385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.65, Y:354.09, Z:22.17 [[ 1.13533120e-01 -9.93533231e-01 -1.39598692e-03 3.67650281e+02] [ 9.93473883e-01 1.13541598e-01 -1.08604499e-02 3.54093034e+02] [ 1.09487205e-02 -1.53855781e-04 9.99940049e-01 2.21737756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.700385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.65, Y:354.12, Z:22.17 [[ 1.13593680e-01 -9.93526313e-01 -1.39303394e-03 3.67653459e+02] [ 9.93466960e-01 1.13602122e-01 -1.08608287e-02 3.54120548e+02] [ 1.09487707e-02 -1.50211698e-04 9.99940049e-01 2.21746130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.730385723 meters Centerline goodness : 0.997710 Centerline is valid? [True, True] Translation: X:367.66, Y:354.15, Z:22.17 [[ 1.14453602e-01 -9.93427622e-01 -1.39008227e-03 3.67659658e+02] [ 9.93368257e-01 1.14461960e-01 -1.08612064e-02 3.54150707e+02] [ 1.09489340e-02 -1.37759406e-04 9.99940049e-01 2.21747736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.760385723 meters Centerline goodness : 0.997710 Centerline is valid? [True, True] Translation: X:367.66, Y:354.18, Z:22.18 [[ 1.13977170e-01 -9.93482231e-01 -1.50369380e-03 3.67662908e+02] [ 9.93423052e-01 1.13986798e-01 -1.08466580e-02 3.54178368e+02] [ 1.09473633e-02 -2.57532697e-04 9.99940043e-01 2.21751257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.790385723 meters Centerline goodness : 0.995869 Centerline is valid? [True, True] Translation: X:367.67, Y:354.21, Z:22.17 [[ 1.13626066e-01 -9.93522455e-01 -1.49962151e-03 3.67665724e+02] [ 9.93463272e-01 1.13635670e-01 -1.08471789e-02 3.54205319e+02] [ 1.09473263e-02 -2.57296628e-04 9.99940043e-01 2.21743908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.820385723 meters Centerline goodness : 0.996841 Centerline is valid? [True, True] Translation: X:367.66, Y:354.23, Z:22.17 [[ 1.09726949e-01 -9.93960606e-01 -1.52009466e-03 3.67662490e+02] [ 9.93901496e-01 1.09737009e-01 -1.08445638e-02 3.54229405e+02] [ 1.09458799e-02 -3.20883454e-04 9.99940041e-01 2.21730961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.850385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:367.66, Y:354.26, Z:22.18 [[ 1.09909997e-01 -9.93940514e-01 -1.43056396e-03 3.67664941e+02] [ 9.93881254e-01 1.09919069e-01 -1.08559388e-02 3.54255119e+02] [ 1.09474037e-02 -2.28634504e-04 9.99940049e-01 2.21763191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.880385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.67, Y:354.28, Z:22.18 [[ 1.09549793e-01 -9.93980361e-01 -1.37290851e-03 3.67668159e+02] [ 9.93921012e-01 1.09558256e-01 -1.08632254e-02 3.54282137e+02] [ 1.09482462e-02 -1.74498525e-04 9.99940051e-01 2.21769324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.910385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:367.67, Y:354.31, Z:22.18 [[ 1.08344625e-01 -9.94112450e-01 -1.37075335e-03 3.67670264e+02] [ 9.94053108e-01 1.08353137e-01 -1.08634973e-02 3.54307861e+02] [ 1.09480634e-02 -1.85600081e-04 9.99940051e-01 2.21759084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.940385723 meters Centerline goodness : 0.994534 Centerline is valid? [True, True] Translation: X:367.67, Y:354.34, Z:22.18 [[ 1.09200116e-01 -9.94018891e-01 -1.33385633e-03 3.67674135e+02] [ 9.93959485e-01 1.09208174e-01 -1.08681353e-02 3.54340994e+02] [ 1.09487998e-02 -1.38997516e-04 9.99940050e-01 2.21760578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.9703857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.67, Y:354.36, Z:22.18 [[ 1.06373511e-01 -9.94325054e-01 -1.53736525e-03 3.67671980e+02] [ 9.94266008e-01 1.06383958e-01 -1.08424774e-02 3.54364091e+02] [ 1.09444979e-02 -3.75197626e-04 9.99940037e-01 2.21795941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.000385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:367.67, Y:354.39, Z:22.18 [[ 1.06289664e-01 -9.94334244e-01 -1.38510403e-03 3.67674120e+02] [ 9.94274945e-01 1.06298455e-01 -1.08614984e-02 3.54390915e+02] [ 1.09471942e-02 -2.22709216e-04 9.99940053e-01 2.21811622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.030385723 meters Centerline goodness : 0.993947 Centerline is valid? [True, True] Translation: X:367.68, Y:354.42, Z:22.18 [[ 1.06628713e-01 -9.94297985e-01 -1.35419220e-03 3.67679593e+02] [ 9.94238635e-01 1.06637147e-01 -1.08653511e-02 3.54421806e+02] [ 1.09478039e-02 -1.87831800e-04 9.99940053e-01 2.21790182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.060385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.68, Y:354.45, Z:22.18 [[ 1.05686401e-01 -9.94398383e-01 -1.49670316e-03 3.67677880e+02] [ 9.94339274e-01 1.05696446e-01 -1.08475770e-02 3.54445599e+02] [ 1.09450092e-02 -3.41789362e-04 9.99940043e-01 2.21822489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.0903857229999 meters Centerline goodness : 0.994703 Centerline is valid? [True, True] Translation: X:367.68, Y:354.47, Z:22.18 [[ 1.07182939e-01 -9.94238400e-01 -1.34979906e-03 3.67679012e+02] [ 9.94179039e-01 1.07191291e-01 -1.08657695e-02 3.54471529e+02] [ 1.09478520e-02 -1.77316835e-04 9.99940055e-01 2.21788330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.120385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:367.68, Y:354.50, Z:22.18 [[ 1.05179777e-01 -9.94452319e-01 -1.34139812e-03 3.67675803e+02] [ 9.94392963e-01 1.05188157e-01 -1.08668065e-02 3.54499280e+02] [ 1.09476201e-02 -1.90908564e-04 9.99940055e-01 2.21795791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.150385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:367.68, Y:354.53, Z:22.18 [[ 1.05937193e-01 -9.94371919e-01 -1.34122661e-03 3.67677750e+02] [ 9.94312555e-01 1.05945526e-01 -1.08668276e-02 3.54526178e+02] [ 1.09477651e-02 -1.82397255e-04 9.99940055e-01 2.21795430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.180385723 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:367.68, Y:354.55, Z:22.18 [[ 1.04187455e-01 -9.94556785e-01 -1.33249801e-03 3.67679071e+02] [ 9.94497423e-01 1.04195797e-01 -1.08678978e-02 3.54554053e+02] [ 1.09475822e-02 -1.92867225e-04 9.99940055e-01 2.21815550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.210385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:367.68, Y:354.58, Z:22.18 [[ 1.01881788e-01 -9.94795624e-01 -1.32950021e-03 3.67679325e+02] [ 9.94736277e-01 1.01890235e-01 -1.08682645e-02 3.54581929e+02] [ 1.09471650e-02 -2.15223869e-04 9.99940055e-01 2.21813795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.240385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.68, Y:354.61, Z:22.18 [[ 1.00999044e-01 -9.94885668e-01 -1.30415118e-03 3.67680633e+02] [ 9.94826289e-01 1.01007267e-01 -1.08713584e-02 3.54610379e+02] [ 1.09474874e-02 -1.99407069e-04 9.99940055e-01 2.21807548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.270385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.68, Y:354.64, Z:22.18 [[ 9.83349181e-02 -9.95152494e-01 -1.32549309e-03 3.67680023e+02] [ 9.95093171e-01 9.83435328e-02 -1.08687556e-02 3.54637282e+02] [ 1.09464230e-02 -2.50210927e-04 9.99940055e-01 2.21816686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.300385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.68, Y:354.67, Z:22.18 [[ 9.87289526e-02 -9.95113545e-01 -1.27533246e-03 3.67681709e+02] [ 9.95054141e-01 9.87369960e-02 -1.08748577e-02 3.54666436e+02] [ 1.09476407e-02 -1.95361537e-04 9.99940054e-01 2.21798579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.330385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:367.68, Y:354.69, Z:22.18 [[ 9.51541015e-02 -9.95461677e-01 -1.32145460e-03 3.67680083e+02] [ 9.95402376e-01 9.51628617e-02 -1.08692503e-02 3.54692739e+02] [ 1.09456755e-02 -2.81125303e-04 9.99940055e-01 2.21789840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.360385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.68, Y:354.72, Z:22.18 [[ 9.48170088e-02 -9.95493930e-01 -1.25327023e-03 3.67680074e+02] [ 9.95434523e-01 9.48250448e-02 -1.08775195e-02 3.54720713e+02] [ 1.09473460e-02 -2.16174591e-04 9.99940053e-01 2.21796598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.390385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.68, Y:354.75, Z:22.18 [[ 9.68022761e-02 -9.95302834e-01 -1.25999838e-03 3.67684101e+02] [ 9.95243422e-01 9.68102671e-02 -1.08767046e-02 3.54749960e+02] [ 1.09475957e-02 -2.01115333e-04 9.99940053e-01 2.21824513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.420385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.68, Y:354.78, Z:22.18 [[ 9.72456829e-02 -9.95259536e-01 -1.31677611e-03 3.67683084e+02] [ 9.95200208e-01 9.72542674e-02 -1.08698266e-02 3.54777449e+02] [ 1.09463606e-02 -2.53412150e-04 9.99940055e-01 2.21820109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.450385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.68, Y:354.80, Z:22.18 [[ 9.59655666e-02 -9.95383788e-01 -1.31364723e-03 3.67682162e+02] [ 9.95324466e-01 9.59741932e-02 -1.08702047e-02 3.54804826e+02] [ 1.09461017e-02 -2.64339876e-04 9.99940055e-01 2.21793259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.480385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.68, Y:354.83, Z:22.18 [[ 9.67153241e-02 -9.95311266e-01 -1.27695441e-03 3.67682698e+02] [ 9.95251881e-01 9.67235054e-02 -1.08746354e-02 3.54833473e+02] [ 1.09471587e-02 -2.19147387e-04 9.99940054e-01 2.21808454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.510385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.68, Y:354.86, Z:22.18 [[ 9.71588362e-02 -9.95268072e-01 -1.27526912e-03 3.67684346e+02] [ 9.95208680e-01 9.71669727e-02 -1.08748386e-02 3.54861919e+02] [ 1.09472936e-02 -2.12572244e-04 9.99940054e-01 2.21806593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.540385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:367.68, Y:354.89, Z:22.18 [[ 9.82039430e-02 -9.95165485e-01 -1.28182336e-03 3.67682579e+02] [ 9.95106095e-01 9.82120887e-02 -1.08740485e-02 3.54890702e+02] [ 1.09473683e-02 -2.07675796e-04 9.99940054e-01 2.21799994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.570385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:367.69, Y:354.92, Z:22.18 [[ 1.00426333e-01 -9.94943677e-01 -1.27691275e-03 3.67685278e+02] [ 9.94884262e-01 1.00434293e-01 -1.08746391e-02 3.54919454e+02] [ 1.09478993e-02 -1.78280270e-04 9.99940054e-01 2.21822023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.600385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.69, Y:354.95, Z:22.18 [[ 1.01242067e-01 -9.94860964e-01 -1.30592369e-03 3.67685924e+02] [ 9.94801586e-01 1.01250295e-01 -1.08711541e-02 3.54947533e+02] [ 1.09475120e-02 -1.98516843e-04 9.99940055e-01 2.21832156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.630385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.69, Y:354.97, Z:22.18 [[ 1.01652835e-01 -9.94819072e-01 -1.30971694e-03 3.67687997e+02] [ 9.94759696e-01 1.01661079e-01 -1.08706989e-02 3.54974785e+02] [ 1.09475258e-02 -1.97816268e-04 9.99940054e-01 2.21827982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.660385723 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:367.69, Y:355.00, Z:22.18 [[ 1.01472072e-01 -9.94837546e-01 -1.29421416e-03 3.67689283e+02] [ 9.94778149e-01 1.01480158e-01 -1.08725570e-02 3.55003754e+02] [ 1.09477650e-02 -1.84195079e-04 9.99940054e-01 2.21831205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.690385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:367.69, Y:355.03, Z:22.18 [[ 9.99059393e-02 -9.94996035e-01 -1.30146418e-03 3.67690325e+02] [ 9.94936661e-01 9.99141979e-02 -1.08716891e-02 3.55031329e+02] [ 1.09473223e-02 -2.08728118e-04 9.99940055e-01 2.21821941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.7203857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.69, Y:355.06, Z:22.18 [[ 1.00134810e-01 -9.94973047e-01 -1.28644543e-03 3.67690932e+02] [ 9.94913649e-01 1.00142891e-01 -1.08734843e-02 3.55058555e+02] [ 1.09476521e-02 -1.91087835e-04 9.99940054e-01 2.21826533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.750385723 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:367.69, Y:355.09, Z:22.18 [[ 1.01428194e-01 -9.94842052e-01 -1.27006140e-03 3.67694299e+02] [ 9.94782619e-01 1.01436019e-01 -1.08754370e-02 3.55085933e+02] [ 1.09481720e-02 -1.60359070e-04 9.99940054e-01 2.21828124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.780385723 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:367.70, Y:355.11, Z:22.18 [[ 1.02364226e-01 -9.94746143e-01 -1.29441322e-03 3.67697626e+02] [ 9.94686739e-01 1.02372260e-01 -1.08725378e-02 3.55113054e+02] [ 1.09479271e-02 -1.74576751e-04 9.99940054e-01 2.21836014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.810385723 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:367.70, Y:355.14, Z:22.18 [[ 1.02636960e-01 -9.94718044e-01 -1.29132503e-03 3.67701045e+02] [ 9.94658633e-01 1.02644945e-01 -1.08729046e-02 3.55140780e+02] [ 1.09480224e-02 -1.68465720e-04 9.99940054e-01 2.21844179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.8403857229999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:367.70, Y:355.17, Z:22.18 [[ 1.02820022e-01 -9.94699142e-01 -1.28835853e-03 3.67703617e+02] [ 9.94639725e-01 1.02827963e-01 -1.08732561e-02 3.55167808e+02] [ 1.09480978e-02 -1.63464153e-04 9.99940054e-01 2.21838229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.870385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:367.71, Y:355.20, Z:22.18 [[ 1.02626989e-01 -9.94719081e-01 -1.28523021e-03 3.67706739e+02] [ 9.94659660e-01 1.02634908e-01 -1.08736258e-02 3.55196252e+02] [ 1.09481126e-02 -1.62439162e-04 9.99940054e-01 2.21825679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.900385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.71, Y:355.22, Z:22.18 [[ 1.03623557e-01 -9.94615737e-01 -1.30134722e-03 3.67707993e+02] [ 9.94556333e-01 1.03631593e-01 -1.08717249e-02 3.55223018e+02] [ 1.09480493e-02 -1.67696315e-04 9.99940054e-01 2.21842807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.930385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:367.71, Y:355.25, Z:22.18 [[ 1.04009110e-01 -9.94575522e-01 -1.27902483e-03 3.67711395e+02] [ 9.94516082e-01 1.04016878e-01 -1.08743504e-02 3.55250571e+02] [ 1.09484029e-02 -1.40979255e-04 9.99940055e-01 2.21848976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.960385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.72, Y:355.28, Z:22.19 [[ 1.05762558e-01 -9.94390594e-01 -1.27598041e-03 3.67716145e+02] [ 9.94331136e-01 1.05770188e-01 -1.08747076e-02 3.55276674e+02] [ 1.09486677e-02 -1.18610150e-04 9.99940055e-01 2.21872366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.990385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:367.72, Y:355.31, Z:22.19 [[ 1.05655355e-01 -9.94402037e-01 -1.23899905e-03 3.67719575e+02] [ 9.94342529e-01 1.05662588e-01 -1.08790332e-02 3.55305831e+02] [ 1.09490486e-02 -8.25613316e-05 9.99940054e-01 2.21868228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.020385723 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:367.72, Y:355.33, Z:22.19 [[ 1.07240053e-01 -9.94232346e-01 -1.27052066e-03 3.67722955e+02] [ 9.94172869e-01 1.07247535e-01 -1.08753507e-02 3.55334023e+02] [ 1.09488856e-02 -9.68439921e-05 9.99940054e-01 2.21864202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.050385723 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:367.73, Y:355.36, Z:22.19 [[ 1.07952033e-01 -9.94155296e-01 -1.26750092e-03 3.67726207e+02] [ 9.94095810e-01 1.07959440e-01 -1.08757026e-02 3.55360984e+02] [ 1.09489760e-02 -8.59631521e-05 9.99940054e-01 2.21862749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.080385723 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:367.73, Y:355.39, Z:22.19 [[ 1.09941804e-01 -9.93937222e-01 -1.26431422e-03 3.67730220e+02] [ 9.93877717e-01 1.09949056e-01 -1.08760730e-02 3.55388975e+02] [ 1.09491440e-02 -6.08386414e-05 9.99940054e-01 2.21861568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.110385723 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:367.73, Y:355.42, Z:22.19 [[ 1.10087261e-01 -9.93921126e-01 -1.26130948e-03 3.67734239e+02] [ 9.93861616e-01 1.10094472e-01 -1.08764215e-02 3.55417379e+02] [ 1.09491683e-02 -5.62116302e-05 9.99940054e-01 2.21884299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.140385723 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:367.74, Y:355.44, Z:22.19 [[ 1.11030737e-01 -9.93816176e-01 -1.25860989e-03 3.67740055e+02] [ 9.93756655e-01 1.11037862e-01 -1.08767339e-02 3.55444137e+02] [ 1.09492274e-02 -4.31001797e-05 9.99940055e-01 2.21877761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.170385723 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:367.74, Y:355.47, Z:22.19 [[ 1.10649135e-01 -9.93858739e-01 -1.25564071e-03 3.67744446e+02] [ 9.93799217e-01 1.10656251e-01 -1.08770766e-02 3.55471396e+02] [ 1.09492222e-02 -4.43156342e-05 9.99940055e-01 2.21881664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.200385723 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:367.75, Y:355.50, Z:22.19 [[ 1.10393730e-01 -9.93887144e-01 -1.25266001e-03 3.67749659e+02] [ 9.93827620e-01 1.10400828e-01 -1.08774199e-02 3.55497649e+02] [ 1.09492225e-02 -4.41291657e-05 9.99940055e-01 2.21880703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.230385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:367.75, Y:355.53, Z:22.19 [[ 1.09963022e-01 -9.93934894e-01 -1.24951739e-03 3.67754755e+02] [ 9.93875369e-01 1.09970111e-01 -1.08777809e-02 3.55525603e+02] [ 1.09492156e-02 -4.57109015e-05 9.99940055e-01 2.21884043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.260385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:367.76, Y:355.55, Z:22.19 [[ 1.09616858e-01 -9.93973134e-01 -1.24650497e-03 3.67759164e+02] [ 9.93913608e-01 1.09623935e-01 -1.08781261e-02 3.55551873e+02] [ 1.09492118e-02 -4.64922452e-05 9.99940055e-01 2.21885365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.290385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:367.76, Y:355.58, Z:22.19 [[ 1.09018854e-01 -9.94038905e-01 -1.24332851e-03 3.67764259e+02] [ 9.93979378e-01 1.09025932e-01 -1.08784891e-02 3.55579868e+02] [ 1.09491965e-02 -4.98824835e-05 9.99940055e-01 2.21892792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.320385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.77, Y:355.61, Z:22.19 [[ 1.07694566e-01 -9.94183254e-01 -1.24034103e-03 3.67772030e+02] [ 9.94123733e-01 1.07701691e-01 -1.08788297e-02 3.55606663e+02] [ 1.09491372e-02 -6.14616158e-05 9.99940055e-01 2.21898275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.350385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.78, Y:355.63, Z:22.19 [[ 1.07112254e-01 -9.94246164e-01 -1.23719328e-03 3.67777052e+02] [ 9.94186643e-01 1.07119380e-01 -1.08791877e-02 3.55634241e+02] [ 1.09491180e-02 -6.47067167e-05 9.99940055e-01 2.21907087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.380385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.78, Y:355.66, Z:22.19 [[ 1.06455068e-01 -9.94316748e-01 -1.23421590e-03 3.67782404e+02] [ 9.94257228e-01 1.06462200e-01 -1.08795255e-02 3.55660488e+02] [ 1.09490917e-02 -6.89474537e-05 9.99940055e-01 2.21900150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.410385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:367.79, Y:355.69, Z:22.19 [[ 1.06750523e-01 -9.94285075e-01 -1.23107844e-03 3.67788911e+02] [ 9.94225549e-01 1.06757603e-01 -1.08798805e-02 3.55686517e+02] [ 1.09491298e-02 -6.25367023e-05 9.99940055e-01 2.21904445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.440385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.79, Y:355.71, Z:22.19 [[ 1.06974856e-01 -9.94260968e-01 -1.22797705e-03 3.67793804e+02] [ 9.94201436e-01 1.06981888e-01 -1.08802305e-02 3.55714651e+02] [ 1.09491598e-02 -5.69454572e-05 9.99940055e-01 2.21910246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.4703857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.80, Y:355.74, Z:22.19 [[ 1.07235307e-01 -9.94232914e-01 -1.22506477e-03 3.67800375e+02] [ 9.94173377e-01 1.07242293e-01 -1.08805584e-02 3.55742560e+02] [ 1.09491881e-02 -5.11467522e-05 9.99940055e-01 2.21909354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.500385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.80, Y:355.77, Z:22.19 [[ 1.06755176e-01 -9.94284587e-01 -1.22212301e-03 3.67804933e+02] [ 9.94225049e-01 1.06762157e-01 -1.08808888e-02 3.55770577e+02] [ 1.09491765e-02 -5.34741171e-05 9.99940055e-01 2.21904887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.530385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.81, Y:355.80, Z:22.19 [[ 1.06236648e-01 -9.94340127e-01 -1.21919867e-03 3.67809533e+02] [ 9.94280589e-01 1.06243629e-01 -1.08812165e-02 3.55798312e+02] [ 1.09491623e-02 -5.62416027e-05 9.99940055e-01 2.21897610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.560385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:367.82, Y:355.83, Z:22.19 [[ 1.04802441e-01 -9.94492317e-01 -1.21628376e-03 3.67816030e+02] [ 9.94432786e-01 1.04809476e-01 -1.08815423e-02 3.55825815e+02] [ 1.09490883e-02 -6.91002577e-05 9.99940055e-01 2.21898915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.5903857229999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:367.82, Y:355.85, Z:22.19 [[ 1.03830406e-01 -9.94594276e-01 -1.21327248e-03 3.67820715e+02] [ 9.94534748e-01 1.03837466e-01 -1.08818780e-02 3.55852183e+02] [ 1.09490368e-02 -7.67718267e-05 9.99940055e-01 2.21898854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.620385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.83, Y:355.88, Z:22.19 [[ 1.01922849e-01 -9.94791570e-01 -1.21009731e-03 3.67826976e+02] [ 9.94732052e-01 1.01929988e-01 -1.08822311e-02 3.55879956e+02] [ 1.09488970e-02 -9.45745850e-05 9.99940055e-01 2.21900679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.650385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.83, Y:355.91, Z:22.19 [[ 1.01649678e-01 -9.94819524e-01 -1.20710345e-03 3.67830066e+02] [ 9.94760004e-01 1.01656801e-01 -1.08825632e-02 3.55908373e+02] [ 1.09488966e-02 -9.45691868e-05 9.99940055e-01 2.21903798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.680385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.84, Y:355.94, Z:22.19 [[ 1.00178670e-01 -9.94968735e-01 -1.20411486e-03 3.67837599e+02] [ 9.94909221e-01 1.00185848e-01 -1.08828939e-02 3.55937040e+02] [ 1.09487744e-02 -1.07751148e-04 9.99940055e-01 2.21886736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.710385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.84, Y:355.96, Z:22.19 [[ 1.00216086e-01 -9.94964937e-01 -1.22868507e-03 3.67843080e+02] [ 9.94905456e-01 1.00223531e-01 -1.08801815e-02 3.55964580e+02] [ 1.09485422e-02 -1.32056279e-04 9.99940054e-01 2.21902536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.740385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.85, Y:355.99, Z:22.19 [[ 1.00287208e-01 -9.94957800e-01 -1.20483644e-03 3.67850755e+02] [ 9.94898286e-01 1.00294388e-01 -1.08828069e-02 3.55990749e+02] [ 1.09487720e-02 -1.07283383e-04 9.99940055e-01 2.21914291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.770385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.86, Y:356.02, Z:22.19 [[ 1.00508307e-01 -9.94935500e-01 -1.19643859e-03 3.67855544e+02] [ 9.94875973e-01 1.00515382e-01 -1.08837301e-02 3.56018453e+02] [ 1.09488699e-02 -9.64027184e-05 9.99940055e-01 2.21912365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.800385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.86, Y:356.05, Z:22.19 [[ 1.01532477e-01 -9.94831510e-01 -1.19321234e-03 3.67862818e+02] [ 9.94771972e-01 1.01539455e-01 -1.08840839e-02 3.56046363e+02] [ 1.09489877e-02 -8.18862008e-05 9.99940055e-01 2.21915751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.830385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.87, Y:356.07, Z:22.19 [[ 1.01159322e-01 -9.94869499e-01 -1.21340041e-03 3.67867819e+02] [ 9.94809990e-01 1.01166543e-01 -1.08818695e-02 3.56072907e+02] [ 1.09487956e-02 -1.06300309e-04 9.99940055e-01 2.21915296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.860385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.88, Y:356.10, Z:22.19 [[ 9.91410239e-02 -9.95072681e-01 -1.19006603e-03 3.67875839e+02] [ 9.95013157e-01 9.91481106e-02 -1.08844208e-02 3.56099791e+02] [ 1.09487826e-02 -1.05038730e-04 9.99940055e-01 2.21925451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.890385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.88, Y:356.13, Z:22.19 [[ 9.81530564e-02 -9.95170623e-01 -1.18654828e-03 3.67881658e+02] [ 9.95111101e-01 9.81601637e-02 -1.08848043e-02 3.56127024e+02] [ 1.09487093e-02 -1.12370557e-04 9.99940055e-01 2.21930984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.920385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.89, Y:356.15, Z:22.19 [[ 9.63193195e-02 -9.95349782e-01 -1.18360469e-03 3.67887957e+02] [ 9.95290269e-01 9.63265043e-02 -1.08851244e-02 3.56154626e+02] [ 1.09485187e-02 -1.29582455e-04 9.99940055e-01 2.21942584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.950385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.89, Y:356.18, Z:22.19 [[ 9.63906624e-02 -9.95342879e-01 -1.18052494e-03 3.67892354e+02] [ 9.95283361e-01 9.63978093e-02 -1.08854584e-02 3.56181460e+02] [ 1.09485635e-02 -1.25700292e-04 9.99940055e-01 2.21932960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.980385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:367.90, Y:356.21, Z:22.19 [[ 9.53139529e-02 -9.95446566e-01 -1.17702990e-03 3.67898302e+02] [ 9.95387051e-01 9.53211259e-02 -1.08858363e-02 3.56208971e+02] [ 1.09484641e-02 -1.34028240e-04 9.99940055e-01 2.21919048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.010385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.90, Y:356.24, Z:22.19 [[ 9.54435743e-02 -9.95434153e-01 -1.17100955e-03 3.67903413e+02] [ 9.95374630e-01 9.54506738e-02 -1.08864857e-02 3.56236483e+02] [ 1.09485533e-02 -1.26548096e-04 9.99940055e-01 2.21928024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.040385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.91, Y:356.26, Z:22.19 [[ 9.49788128e-02 -9.95478603e-01 -1.17280052e-03 3.67910642e+02] [ 9.95419086e-01 9.49859597e-02 -1.08862928e-02 3.56261846e+02] [ 1.09484711e-02 -1.33460860e-04 9.99940055e-01 2.21942850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.070385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.91, Y:356.29, Z:22.19 [[ 9.52283681e-02 -9.95454766e-01 -1.16938550e-03 3.67914375e+02] [ 9.95395242e-01 9.52354626e-02 -1.08866596e-02 3.56288491e+02] [ 1.09485441e-02 -1.27281940e-04 9.99940055e-01 2.21948558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.100385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.92, Y:356.32, Z:22.19 [[ 9.68423950e-02 -9.95299046e-01 -1.16618891e-03 3.67916163e+02] [ 9.95239506e-01 9.68493581e-02 -1.08870020e-02 3.56316196e+02] [ 1.09487673e-02 -1.06313926e-04 9.99940055e-01 2.21949041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.130385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.92, Y:356.34, Z:22.19 [[ 9.72773998e-02 -9.95256627e-01 -1.16321153e-03 3.67919107e+02] [ 9.95197081e-01 9.72843043e-02 -1.08873201e-02 3.56343940e+02] [ 1.09488397e-02 -9.85345279e-05 9.99940055e-01 2.21945495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.160385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.92, Y:356.37, Z:22.19 [[ 9.70767240e-02 -9.95276225e-01 -1.16025374e-03 3.67923063e+02] [ 9.95216676e-01 9.70836082e-02 -1.08876353e-02 3.56370673e+02] [ 1.09488462e-02 -9.77679048e-05 9.99940055e-01 2.21940171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.190385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.93, Y:356.40, Z:22.19 [[ 9.69094872e-02 -9.95292526e-01 -1.15713339e-03 3.67926298e+02] [ 9.95232975e-01 9.69163473e-02 -1.08879669e-02 3.56398196e+02] [ 1.09488572e-02 -9.64700193e-05 9.99940055e-01 2.21946704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.2203857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.93, Y:356.42, Z:22.19 [[ 9.64241558e-02 -9.95339666e-01 -1.15419205e-03 3.67928898e+02] [ 9.95280114e-01 9.64310127e-02 -1.08882787e-02 3.56424989e+02] [ 1.09488356e-02 -9.88513116e-05 9.99940055e-01 2.21947019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.250385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.93, Y:356.45, Z:22.19 [[ 9.48713920e-02 -9.95488871e-01 -1.15205886e-03 3.67930232e+02] [ 9.95429327e-01 9.48783184e-02 -1.08885044e-02 3.56451019e+02] [ 1.09486904e-02 -1.13785608e-04 9.99940055e-01 2.21937267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.280385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.93, Y:356.48, Z:22.19 [[ 9.43783456e-02 -9.95535739e-01 -1.14867305e-03 3.67931474e+02] [ 9.95476195e-01 9.43852645e-02 -1.08888616e-02 3.56479250e+02] [ 1.09486687e-02 -1.15803932e-04 9.99940055e-01 2.21913529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.310385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.93, Y:356.51, Z:22.19 [[ 9.35520044e-02 -9.95613722e-01 -1.15681563e-03 3.67932120e+02] [ 9.95554194e-01 9.35590618e-02 -1.08880039e-02 3.56506037e+02] [ 1.09484767e-02 -1.33078059e-04 9.99940055e-01 2.21929800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.3403857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.93, Y:356.53, Z:22.19 [[ 9.25267682e-02 -9.95709540e-01 -1.14437082e-03 3.67933961e+02] [ 9.95650003e-01 9.25337508e-02 -1.08893118e-02 3.56533986e+02] [ 1.09484845e-02 -1.31839983e-04 9.99940055e-01 2.21949912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.370385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.93, Y:356.56, Z:22.19 [[ 9.04144752e-02 -9.95903570e-01 -1.14138215e-03 3.67933543e+02] [ 9.95844044e-01 9.04215514e-02 -1.08896250e-02 3.56561681e+02] [ 1.09482220e-02 -1.52058881e-04 9.99940055e-01 2.21947980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.400385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.93, Y:356.59, Z:22.19 [[ 8.86641756e-02 -9.96060926e-01 -1.13823128e-03 3.67933663e+02] [ 9.96001408e-01 8.86713220e-02 -1.08899544e-02 3.56590079e+02] [ 1.09479865e-02 -1.68131133e-04 9.99940055e-01 2.21936266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.430385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.94, Y:356.62, Z:22.19 [[ 8.78535809e-02 -9.96132752e-01 -1.13529835e-03 3.67935935e+02] [ 9.96073236e-01 8.78607437e-02 -1.08902601e-02 3.56617742e+02] [ 1.09478929e-02 -1.74091954e-04 9.99940055e-01 2.21947675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.460385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.94, Y:356.65, Z:22.20 [[ 8.74020422e-02 -9.96172476e-01 -1.13229834e-03 3.67937610e+02] [ 9.96112959e-01 8.74091991e-02 -1.08905720e-02 3.56645263e+02] [ 1.09478614e-02 -1.76038820e-04 9.99940055e-01 2.21950227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.490385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.94, Y:356.67, Z:22.19 [[ 8.75609353e-02 -9.96158525e-01 -1.12912895e-03 3.67939138e+02] [ 9.96099004e-01 8.75680480e-02 -1.08909006e-02 3.56673040e+02] [ 1.09479391e-02 -1.71106783e-04 9.99940055e-01 2.21949747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.520385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.94, Y:356.70, Z:22.19 [[ 8.83766342e-02 -9.96086493e-01 -1.12614452e-03 3.67940520e+02] [ 9.96026962e-01 8.83836656e-02 -1.08912092e-02 3.56701558e+02] [ 1.09481192e-02 -1.59141891e-04 9.99940055e-01 2.21942999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.550385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.94, Y:356.73, Z:22.19 [[ 9.09510900e-02 -9.95854727e-01 -1.12316703e-03 3.67941055e+02] [ 9.95795174e-01 9.09579350e-02 -1.08915163e-02 3.56729684e+02] [ 1.09485289e-02 -1.27849033e-04 9.99940055e-01 2.21942479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.580385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.94, Y:356.76, Z:22.19 [[ 9.36696317e-02 -9.95602705e-01 -1.12012525e-03 3.67943114e+02] [ 9.95543129e-01 9.36762807e-02 -1.08918291e-02 3.56756731e+02] [ 1.09488636e-02 -9.48993759e-05 9.99940055e-01 2.21940391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.610385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.95, Y:356.78, Z:22.20 [[ 9.47818109e-02 -9.95497444e-01 -1.11692621e-03 3.67945973e+02] [ 9.95437857e-01 9.47883584e-02 -1.08921571e-02 3.56784794e+02] [ 1.09489862e-02 -7.94522531e-05 9.99940055e-01 2.21954055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.640385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.95, Y:356.81, Z:22.20 [[ 9.66721930e-02 -9.95315652e-01 -1.11391704e-03 3.67948999e+02] [ 9.95256049e-01 9.66785944e-02 -1.08924648e-02 3.56812110e+02] [ 1.09491327e-02 -5.56342063e-05 9.99940055e-01 2.21973626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.670385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:367.95, Y:356.84, Z:22.20 [[ 9.77223926e-02 -9.95213092e-01 -1.11124352e-03 3.67951821e+02] [ 9.95153480e-01 9.77287018e-02 -1.08927376e-02 3.56840381e+02] [ 1.09491954e-02 -4.13934808e-05 9.99940055e-01 2.21984935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.700385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.95, Y:356.87, Z:22.20 [[ 9.98881604e-02 -9.94998054e-01 -1.10834642e-03 3.67953472e+02] [ 9.94938425e-01 9.98943082e-02 -1.08930324e-02 3.56868005e+02] [ 1.09492635e-02 -1.46514758e-05 9.99940055e-01 2.21985326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.730385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.96, Y:356.90, Z:22.20 [[ 1.01042263e-01 -9.94881520e-01 -1.10545889e-03 3.67955962e+02] [ 9.94821881e-01 1.01048310e-01 -1.08933254e-02 3.56895335e+02] [ 1.09492729e-02 9.51551218e-07 9.99940055e-01 2.21982481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.760385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.96, Y:356.92, Z:22.20 [[ 1.03116311e-01 -9.94668694e-01 -1.10221509e-03 3.67959865e+02] [ 9.94609039e-01 1.03122198e-01 -1.08936536e-02 3.56923661e+02] [ 1.09492390e-02 2.70402891e-05 9.99940055e-01 2.21994319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.790385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.96, Y:356.95, Z:22.20 [[ 1.03969065e-01 -9.94579924e-01 -1.09926460e-03 3.67963527e+02] [ 9.94520261e-01 1.03974869e-01 -1.08939513e-02 3.56952003e+02] [ 1.09492012e-02 3.93930210e-05 9.99940055e-01 2.22000101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.820385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.97, Y:356.98, Z:22.20 [[ 1.05152102e-01 -9.94455546e-01 -1.09631473e-03 3.67966279e+02] [ 9.94395873e-01 1.05157803e-01 -1.08942482e-02 3.56979713e+02] [ 1.09491316e-02 5.53822591e-05 9.99940055e-01 2.21993842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.850385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.97, Y:357.01, Z:22.20 [[ 1.06061346e-01 -9.94358987e-01 -1.09337995e-03 3.67969233e+02] [ 9.94299306e-01 1.06066960e-01 -1.08945427e-02 3.57006958e+02] [ 1.09490579e-02 6.83429398e-05 9.99940055e-01 2.21971253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.880385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.97, Y:357.03, Z:22.20 [[ 1.05799050e-01 -9.94386933e-01 -1.09032401e-03 3.67972764e+02] [ 9.94327250e-01 1.05804646e-01 -1.08948485e-02 3.57033484e+02] [ 1.09490564e-02 6.85257485e-05 9.99940055e-01 2.21966854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.910385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.98, Y:357.06, Z:22.20 [[ 1.05474611e-01 -9.94421402e-01 -1.08697968e-03 3.67976564e+02] [ 9.94361717e-01 1.05480190e-01 -1.08951822e-02 3.57060968e+02] [ 1.09490572e-02 6.83141251e-05 9.99940055e-01 2.21970502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.940385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.98, Y:357.09, Z:22.20 [[ 1.02955574e-01 -9.94685364e-01 -1.08473642e-03 3.67980819e+02] [ 9.94625691e-01 1.02961279e-01 -1.08954055e-02 3.57089387e+02] [ 1.09491863e-02 4.28360154e-05 9.99940055e-01 2.21986985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.9703857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.98, Y:357.12, Z:22.20 [[ 1.01264136e-01 -9.94858968e-01 -1.09898527e-03 3.67983584e+02] [ 9.94799321e-01 1.01270099e-01 -1.08939895e-02 3.57115839e+02] [ 1.09492775e-02 9.90063947e-06 9.99940055e-01 2.21963918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.000385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.99, Y:357.14, Z:22.20 [[ 9.73404593e-02 -9.95250556e-01 -1.07935865e-03 3.67987675e+02] [ 9.95190911e-01 9.73464424e-02 -1.08959338e-02 3.57143830e+02] [ 1.09492559e-02 -1.35527218e-05 9.99940055e-01 2.21983605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.030385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.99, Y:357.17, Z:22.20 [[ 9.35512340e-02 -9.95613885e-01 -1.07633541e-03 3.67991348e+02] [ 9.95554259e-01 9.35574110e-02 -1.08962324e-02 3.57170934e+02] [ 1.09491394e-02 -5.21943153e-05 9.99940055e-01 2.21983074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.060385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.99, Y:357.20, Z:22.20 [[ 9.19446315e-02 -9.95763543e-01 -1.07314950e-03 3.67994521e+02] [ 9.95703923e-01 9.19508699e-02 -1.08965462e-02 3.57198314e+02] [ 1.09490604e-02 -6.66602440e-05 9.99940055e-01 2.21984564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.0903857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.00, Y:357.23, Z:22.20 [[ 8.87661613e-02 -9.96051918e-01 -1.06999488e-03 3.67997427e+02] [ 9.95992315e-01 8.87725554e-02 -1.08968559e-02 3.57226450e+02] [ 1.09488204e-02 -9.84346035e-05 9.99940055e-01 2.21989483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.120385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.00, Y:357.25, Z:22.20 [[ 8.76571775e-02 -9.96150130e-01 -1.06703970e-03 3.68000117e+02] [ 9.96090530e-01 8.76636056e-02 -1.08971453e-02 3.57253772e+02] [ 1.09487332e-02 -1.07655143e-04 9.99940055e-01 2.21992174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.150385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.00, Y:357.28, Z:22.20 [[ 8.59109899e-02 -9.96302248e-01 -1.06392314e-03 3.68002341e+02] [ 9.96242657e-01 8.59174884e-02 -1.08974496e-02 3.57280244e+02] [ 1.09485631e-02 -1.23714933e-04 9.99940055e-01 2.22001880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.180385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.01, Y:357.31, Z:22.20 [[ 8.56589452e-02 -9.96323952e-01 -1.06155729e-03 3.68005110e+02] [ 9.96264360e-01 8.56654329e-02 -1.08976800e-02 3.57307053e+02] [ 1.09485584e-02 -1.24107921e-04 9.99940055e-01 2.22013818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.210385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.01, Y:357.33, Z:22.20 [[ 8.55872222e-02 -9.96330120e-01 -1.05831951e-03 3.68008134e+02] [ 9.96270523e-01 8.55936787e-02 -1.08979945e-02 3.57334412e+02] [ 1.09485856e-02 -1.21643459e-04 9.99940055e-01 2.22023970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.240385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.01, Y:357.36, Z:22.20 [[ 8.70155832e-02 -9.96206392e-01 -1.05509874e-03 3.68010750e+02] [ 9.96146783e-01 8.70219191e-02 -1.08983063e-02 3.57362574e+02] [ 1.09487791e-02 -1.02710735e-04 9.99940055e-01 2.22030509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.270385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.01, Y:357.39, Z:22.20 [[ 8.99646812e-02 -9.95944401e-01 -1.05213305e-03 3.68011636e+02] [ 9.95884770e-01 8.99708081e-02 -1.08985926e-02 3.57390289e+02] [ 1.09490535e-02 -6.73148786e-05 9.99940055e-01 2.22023706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.300385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.01, Y:357.42, Z:22.20 [[ 9.15208801e-02 -9.95802605e-01 -1.04934853e-03 3.68013127e+02] [ 9.95742961e-01 9.15268833e-02 -1.08988607e-02 3.57417884e+02] [ 1.09491574e-02 -4.74080971e-05 9.99940055e-01 2.22028444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.330385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.01, Y:357.45, Z:22.20 [[ 9.43412558e-02 -9.95539368e-01 -1.04632047e-03 3.68014212e+02] [ 9.95479704e-01 9.43470569e-02 -1.08991514e-02 3.57445529e+02] [ 1.09492515e-02 -1.33511694e-05 9.99940055e-01 2.22039527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.360385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.02, Y:357.47, Z:22.20 [[ 9.50535528e-02 -9.95471614e-01 -1.04344990e-03 3.68016295e+02] [ 9.95411943e-01 9.50592798e-02 -1.08994262e-02 3.57472842e+02] [ 1.09492590e-02 -2.63331147e-06 9.99940055e-01 2.22045472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.390385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.02, Y:357.50, Z:22.21 [[ 9.47810423e-02 -9.95497604e-01 -1.03701225e-03 3.68018284e+02] [ 9.95437928e-01 9.47867152e-02 -1.09000408e-02 3.57500727e+02] [ 1.09492594e-02 8.35902747e-07 9.99940055e-01 2.22055754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.420385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.02, Y:357.53, Z:22.21 [[ 9.45811857e-02 -9.95516611e-01 -1.03716595e-03 3.68020421e+02] [ 9.95456937e-01 9.45868722e-02 -1.09000261e-02 3.57528332e+02] [ 1.09492594e-02 -1.51663899e-06 9.99940055e-01 2.22069477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.450385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:368.02, Y:357.56, Z:22.21 [[ 9.45949066e-02 -9.95515311e-01 -1.03417257e-03 3.68022191e+02] [ 9.95455633e-01 9.46005596e-02 -1.09003101e-02 3.57556611e+02] [ 1.09492589e-02 1.64090751e-06 9.99940055e-01 2.22072339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.480385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.02, Y:357.58, Z:22.21 [[ 9.45872302e-02 -9.95516043e-01 -1.03117591e-03 3.68023494e+02] [ 9.95456363e-01 9.45928508e-02 -1.09005936e-02 3.57584175e+02] [ 1.09492577e-02 4.56633641e-06 9.99940055e-01 2.22074416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.510385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:368.02, Y:357.61, Z:22.21 [[ 9.50621677e-02 -9.95470807e-01 -1.02802422e-03 3.68024486e+02] [ 9.95411120e-01 9.50677253e-02 -1.09008908e-02 3.57613653e+02] [ 1.09492505e-02 1.29555707e-05 9.99940055e-01 2.22079387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.540385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:368.03, Y:357.64, Z:22.21 [[ 9.47297035e-02 -9.95502483e-01 -1.04427138e-03 3.68027061e+02] [ 9.95442814e-01 9.47354589e-02 -1.08993624e-02 3.57642155e+02] [ 1.09492718e-02 -7.01907532e-06 9.99940055e-01 2.22082586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.570385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.03, Y:357.67, Z:22.21 [[ 9.38112434e-02 -9.95589457e-01 -1.04096689e-03 3.68027438e+02] [ 9.95529791e-01 9.38170177e-02 -1.08996722e-02 3.57668595e+02] [ 1.09492591e-02 -1.38017487e-05 9.99940055e-01 2.22084548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.600385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.03, Y:357.70, Z:22.21 [[ 9.51172786e-02 -9.95465576e-01 -9.95083929e-04 3.68029379e+02] [ 9.95405856e-01 9.51224722e-02 -1.09039550e-02 3.57696845e+02] [ 1.09491667e-02 4.66421547e-05 9.99940055e-01 2.22089440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.630385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.03, Y:357.72, Z:22.21 [[ 9.38307570e-02 -9.95587643e-01 -1.01649251e-03 3.68030677e+02] [ 9.95527952e-01 9.38362622e-02 -1.09019589e-02 3.57724989e+02] [ 1.09492394e-02 1.09923515e-05 9.99940055e-01 2.22089421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.660385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.03, Y:357.75, Z:22.21 [[ 9.45888163e-02 -9.95515917e-01 -1.00781742e-03 3.68033661e+02] [ 9.95456212e-01 9.45941810e-02 -1.09027659e-02 3.57751476e+02] [ 1.09492106e-02 2.80416099e-05 9.99940055e-01 2.22099486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.690385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.04, Y:357.78, Z:22.21 [[ 9.48508499e-02 -9.95490980e-01 -1.01234180e-03 3.68035686e+02] [ 9.95431279e-01 9.48562484e-02 -1.09023458e-02 3.57779230e+02] [ 1.09492138e-02 2.63800692e-05 9.99940055e-01 2.22098794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.7203857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.04, Y:357.81, Z:22.21 [[ 9.49920987e-02 -9.95477515e-01 -1.00930658e-03 3.68037698e+02] [ 9.95417810e-01 9.49974555e-02 -1.09026268e-02 3.57808632e+02] [ 1.09492013e-02 3.09816530e-05 9.99940055e-01 2.22095868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.750385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.04, Y:357.84, Z:22.21 [[ 9.63377548e-02 -9.95348177e-01 -1.02164300e-03 3.68037920e+02] [ 9.95288477e-01 9.63431660e-02 -1.09014861e-02 3.57835685e+02] [ 1.09492027e-02 3.33951891e-05 9.99940055e-01 2.22095964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.780385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.04, Y:357.86, Z:22.21 [[ 9.64835394e-02 -9.95334072e-01 -1.00544332e-03 3.68039344e+02] [ 9.95274356e-01 9.64887644e-02 -1.09029800e-02 3.57863349e+02] [ 1.09491215e-02 5.12661544e-05 9.99940055e-01 2.22091816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.810385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.04, Y:357.89, Z:22.21 [[ 9.69638431e-02 -9.95287400e-01 -1.00239721e-03 3.68040787e+02] [ 9.95227678e-01 9.69690059e-02 -1.09032601e-02 3.57890758e+02] [ 1.09490788e-02 5.96085508e-05 9.99940055e-01 2.22088257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.8403857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.04, Y:357.92, Z:22.21 [[ 9.65347219e-02 -9.95329116e-01 -9.99186347e-04 3.68042745e+02] [ 9.95269393e-01 9.65398753e-02 -1.09035543e-02 3.57918193e+02] [ 1.09490864e-02 5.81119938e-05 9.99940055e-01 2.22102845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.870385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.04, Y:357.95, Z:22.21 [[ 9.42993631e-02 -9.95543388e-01 -9.95947687e-04 3.68042098e+02] [ 9.95483674e-01 9.43046151e-02 -1.09038501e-02 3.57945353e+02] [ 1.09491784e-02 3.67764594e-05 9.99940055e-01 2.22127921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.900385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.04, Y:357.97, Z:22.21 [[ 9.53897567e-02 -9.95439556e-01 -9.40840962e-04 3.68044998e+02] [ 9.95379785e-01 9.53943396e-02 -1.09088608e-02 3.57973758e+02] [ 1.09488625e-02 1.04099506e-04 9.99940054e-01 2.22133863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.930385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:368.05, Y:358.00, Z:22.21 [[ 9.49485744e-02 -9.95481685e-01 -9.91306890e-04 3.68045333e+02] [ 9.95421963e-01 9.49537367e-02 -1.09042730e-02 3.58001265e+02] [ 1.09491324e-02 4.85765261e-05 9.99940055e-01 2.22139126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.960385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.05, Y:358.03, Z:22.21 [[ 9.47618396e-02 -9.95499480e-01 -9.89146328e-04 3.68047006e+02] [ 9.95439757e-01 9.47669894e-02 -1.09044690e-02 3.58029168e+02] [ 1.09491316e-02 4.86919594e-05 9.99940055e-01 2.22142029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.990385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.05, Y:358.06, Z:22.21 [[ 9.41346284e-02 -9.95558988e-01 -9.86226214e-04 3.68047995e+02] [ 9.95499266e-01 9.41397839e-02 -1.09047331e-02 3.58058373e+02] [ 1.09491482e-02 4.47255245e-05 9.99940055e-01 2.22130035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.020385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.05, Y:358.08, Z:22.21 [[ 9.46860760e-02 -9.95506674e-01 -1.00474902e-03 3.68048928e+02] [ 9.95446966e-01 9.46914013e-02 -1.09030621e-02 3.58084727e+02] [ 1.09492121e-02 3.21937951e-05 9.99940055e-01 2.22137591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.050385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.05, Y:358.11, Z:22.21 [[ 9.37300196e-02 -9.95597170e-01 -9.79504250e-04 3.68048312e+02] [ 9.95537443e-01 9.37351257e-02 -1.09053295e-02 3.58113475e+02] [ 1.09491292e-02 4.70235941e-05 9.99940055e-01 2.22132929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.080385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.05, Y:358.14, Z:22.21 [[ 9.44678443e-02 -9.95527421e-01 -9.90018582e-04 3.68050199e+02] [ 9.95467700e-01 9.44730213e-02 -1.09043868e-02 3.58139936e+02] [ 1.09491461e-02 4.45823907e-05 9.99940055e-01 2.22146414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.110385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:368.05, Y:358.17, Z:22.22 [[ 9.33172250e-02 -9.95635950e-01 -9.75281996e-04 3.68052075e+02] [ 9.95576221e-01 9.33223096e-02 -1.09057047e-02 3.58167373e+02] [ 1.09491272e-02 4.67225304e-05 9.99940055e-01 2.22157452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.140385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.05, Y:358.20, Z:22.22 [[ 9.21790731e-02 -9.95741970e-01 -9.73065640e-04 3.68054026e+02] [ 9.95682246e-01 9.21842018e-02 -1.09059024e-02 3.58195809e+02] [ 1.09491660e-02 3.64317938e-05 9.99940055e-01 2.22164020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.170385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.05, Y:358.22, Z:22.22 [[ 8.93683021e-02 -9.95998176e-01 -9.70035628e-04 3.68054329e+02] [ 9.95938463e-01 8.93735661e-02 -1.09061719e-02 3.58223451e+02] [ 1.09492229e-02 8.57027345e-06 9.99940055e-01 2.22168220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.200385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:368.06, Y:358.25, Z:22.22 [[ 8.73720292e-02 -9.96175282e-01 -9.67819177e-04 3.68055909e+02] [ 9.96115577e-01 8.73773886e-02 -1.09063686e-02 3.58251296e+02] [ 1.09492203e-02 -1.11482031e-05 9.99940055e-01 2.22174533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.230385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.06, Y:358.28, Z:22.22 [[ 8.43411140e-02 -9.96436461e-01 -9.77285061e-04 3.68057340e+02] [ 9.96376783e-01 8.43467586e-02 -1.09055303e-02 3.58277172e+02] [ 1.09490989e-02 -5.39595679e-05 9.99940055e-01 2.22175630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.260385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:368.06, Y:358.30, Z:22.22 [[ 8.12050041e-02 -9.96696955e-01 -9.63038929e-04 3.68058305e+02] [ 9.96637280e-01 8.12106806e-02 -1.09067882e-02 3.58304892e+02] [ 1.09489717e-02 -7.41147161e-05 9.99940055e-01 2.22173467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.290385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.06, Y:358.33, Z:22.22 [[ 7.97608217e-02 -9.96813557e-01 -9.71928588e-04 3.68058269e+02] [ 9.96753899e-01 7.97666819e-02 -1.09060051e-02 3.58331380e+02] [ 1.09487812e-02 -9.89016827e-05 9.99940055e-01 2.22181997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.320385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.06, Y:358.36, Z:22.22 [[ 7.85827957e-02 -9.96907130e-01 -9.57911984e-04 3.68059355e+02] [ 9.96847465e-01 7.85885731e-02 -1.09072361e-02 3.58359745e+02] [ 1.09487823e-02 -9.77710290e-05 9.99940056e-01 2.22191354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.350385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.06, Y:358.39, Z:22.22 [[ 7.67707976e-02 -9.97048310e-01 -9.54936856e-04 3.68059884e+02] [ 9.96988652e-01 7.67766509e-02 -1.09074965e-02 3.58388097e+02] [ 1.09486178e-02 -1.14684000e-04 9.99940056e-01 2.22203483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.380385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:368.06, Y:358.42, Z:22.22 [[ 7.51510381e-02 -9.97171708e-01 -9.51968681e-04 3.68061008e+02] [ 9.97112056e-01 7.51569558e-02 -1.09077556e-02 3.58416908e+02] [ 1.09484523e-02 -1.29490294e-04 9.99940056e-01 2.22202126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.410385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:368.06, Y:358.44, Z:22.22 [[ 7.41459835e-02 -9.97246928e-01 -9.68035604e-04 3.68060962e+02] [ 9.97187300e-01 7.41521370e-02 -1.09063572e-02 3.58444220e+02] [ 1.09481131e-02 -1.56650234e-04 9.99940055e-01 2.22202199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.440385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:368.06, Y:358.47, Z:22.22 [[ 7.27543996e-02 -9.97349439e-01 -9.45774638e-04 3.68062742e+02] [ 9.97289795e-01 7.27603929e-02 -1.09082872e-02 3.58474574e+02] [ 1.09481891e-02 -1.49585506e-04 9.99940056e-01 2.22185360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.4703857229999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:368.06, Y:358.50, Z:22.22 [[ 7.17036546e-02 -9.97425490e-01 -9.89112436e-04 3.68062593e+02] [ 9.97365901e-01 7.17101845e-02 -1.09045329e-02 3.58500322e+02] [ 1.09473885e-02 -2.04612154e-04 9.99940055e-01 2.22210846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.500385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.06, Y:358.53, Z:22.22 [[ 7.09467826e-02 -9.97479659e-01 -9.40175851e-04 3.68061954e+02] [ 9.97420020e-01 7.09528227e-02 -1.09087506e-02 3.58527842e+02] [ 1.09479649e-02 -1.63809462e-04 9.99940056e-01 2.22202370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.530385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.06, Y:358.56, Z:22.22 [[ 7.06524325e-02 -9.97500554e-01 -9.37080604e-04 3.68062983e+02] [ 9.97440914e-01 7.06584564e-02 -1.09090164e-02 3.58555584e+02] [ 1.09479626e-02 -1.63933985e-04 9.99940056e-01 2.22202842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.560385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.06, Y:358.58, Z:22.22 [[ 7.05918699e-02 -9.97504845e-01 -9.33923895e-04 3.68062988e+02] [ 9.97445201e-01 7.05978629e-02 -1.09092867e-02 3.58581967e+02] [ 1.09479994e-02 -1.61430961e-04 9.99940056e-01 2.22208424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.5903857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.06, Y:358.61, Z:22.22 [[ 7.14047579e-02 -9.97446988e-01 -9.30615973e-04 3.68064126e+02] [ 9.97387336e-01 7.14106662e-02 -1.09095689e-02 3.58608280e+02] [ 1.09481725e-02 -1.49189462e-04 9.99940056e-01 2.22223807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.620385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:368.06, Y:358.64, Z:22.22 [[ 7.16516114e-02 -9.97429316e-01 -8.98058621e-04 3.68063901e+02] [ 9.97369628e-01 7.16571488e-02 -1.09123320e-02 3.58635456e+02] [ 1.09486321e-02 -1.13810223e-04 9.99940055e-01 2.22231934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.650385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:368.06, Y:358.66, Z:22.22 [[ 7.09599688e-02 -9.97478736e-01 -9.23995114e-04 3.68064377e+02] [ 9.97419079e-01 7.09658312e-02 -1.09101354e-02 3.58663750e+02] [ 1.09482001e-02 -1.47427490e-04 9.99940056e-01 2.22229523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.680385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:368.07, Y:358.69, Z:22.22 [[ 7.30664409e-02 -9.97326650e-01 -9.21161377e-04 3.68066566e+02] [ 9.97266978e-01 7.30721463e-02 -1.09103746e-02 3.58692070e+02] [ 1.09485186e-02 -1.21461583e-04 9.99940056e-01 2.22248290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.710385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:368.07, Y:358.72, Z:22.22 [[ 7.49278510e-02 -9.97188535e-01 -9.18063203e-04 3.68067244e+02] [ 9.97128849e-01 7.49334111e-02 -1.09106353e-02 3.58719279e+02] [ 1.09487540e-02 -9.79168509e-05 9.99940056e-01 2.22232336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.740385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.07, Y:358.75, Z:22.23 [[ 7.65608543e-02 -9.97064491e-01 -9.14874688e-04 3.68066882e+02] [ 9.97004793e-01 7.65662818e-02 -1.09109026e-02 3.58747667e+02] [ 1.09489221e-02 -7.67864221e-05 9.99940056e-01 2.22255471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.770385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.07, Y:358.78, Z:22.23 [[ 7.72979901e-02 -9.97007617e-01 -9.11906296e-04 3.68067786e+02] [ 9.96947913e-01 7.73033410e-02 -1.09111507e-02 3.58775874e+02] [ 1.09489938e-02 -6.57130577e-05 9.99940056e-01 2.22257497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.800385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.07, Y:358.80, Z:22.23 [[ 7.91113526e-02 -9.96865371e-01 -9.08924087e-04 3.68068599e+02] [ 9.96805654e-01 7.91165623e-02 -1.09113991e-02 3.58803612e+02] [ 1.09491069e-02 -4.28051234e-05 9.99940056e-01 2.22267099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.830385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.07, Y:358.83, Z:22.23 [[ 8.00088746e-02 -9.96793740e-01 -9.05925440e-04 3.68070311e+02] [ 9.96734015e-01 8.00139976e-02 -1.09116481e-02 3.58831197e+02] [ 1.09491492e-02 -2.99380172e-05 9.99940056e-01 2.22274090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.860385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.07, Y:358.86, Z:22.23 [[ 8.08834195e-02 -9.96723160e-01 -9.02907652e-04 3.68069878e+02] [ 9.96663428e-01 8.08884571e-02 -1.09118978e-02 3.58859784e+02] [ 1.09491761e-02 -1.73034274e-05 9.99940056e-01 2.22251158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.890385723 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:368.07, Y:358.89, Z:22.23 [[ 8.24825455e-02 -9.96592101e-01 -9.02386818e-04 3.68071583e+02] [ 9.96532360e-01 8.24874815e-02 -1.09119407e-02 3.58886536e+02] [ 1.09491896e-02 7.86983378e-07 9.99940056e-01 2.22268365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.920385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.07, Y:358.91, Z:22.23 [[ 8.39444334e-02 -9.96470034e-01 -8.96358966e-04 3.68073421e+02] [ 9.96410281e-01 8.39492158e-02 -1.09124359e-02 3.58914425e+02] [ 1.09491640e-02 2.28969581e-05 9.99940056e-01 2.22262102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.950385723 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:368.08, Y:358.94, Z:22.23 [[ 8.38994707e-02 -9.96473823e-01 -8.93324978e-04 3.68076073e+02] [ 9.96414068e-01 8.39042226e-02 -1.09126843e-02 3.58943085e+02] [ 1.09491579e-02 2.54468580e-05 9.99940056e-01 2.22256959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.980385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:368.08, Y:358.97, Z:22.23 [[ 8.53814855e-02 -9.96347915e-01 -9.13387501e-04 3.68078982e+02] [ 9.96288170e-01 8.53863683e-02 -1.09110462e-02 3.58971321e+02] [ 1.09491890e-02 2.16041748e-05 9.99940056e-01 2.22268618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.010385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.08, Y:359.00, Z:22.23 [[ 8.63244697e-02 -9.96266644e-01 -9.27308168e-04 3.68080613e+02] [ 9.96206906e-01 8.63294483e-02 -1.09099109e-02 3.58996808e+02] [ 1.09492344e-02 1.80014740e-05 9.99940055e-01 2.22277814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.040385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.08, Y:359.02, Z:22.23 [[ 8.80196496e-02 -9.96118346e-01 -8.84366007e-04 3.68082007e+02] [ 9.96058564e-01 8.80240562e-02 -1.09133908e-02 3.59023995e+02] [ 1.09488742e-02 7.97124961e-05 9.99940056e-01 2.22271336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.070385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.08, Y:359.05, Z:22.23 [[ 8.88973510e-02 -9.96040403e-01 -8.81175892e-04 3.68084323e+02] [ 9.95980615e-01 8.89016700e-02 -1.09136483e-02 3.59052085e+02] [ 1.09487727e-02 9.25603200e-05 9.99940056e-01 2.22276738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.100385723 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:368.09, Y:359.08, Z:22.23 [[ 9.03503073e-02 -9.95909660e-01 -8.78184480e-04 3.68087893e+02] [ 9.95849863e-01 9.03545062e-02 -1.09138890e-02 3.59079207e+02] [ 1.09485954e-02 1.11533333e-04 9.99940056e-01 2.22283057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.130385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.09, Y:359.11, Z:22.23 [[ 9.06881132e-02 -9.95878959e-01 -8.75028959e-04 3.68091359e+02] [ 9.95819158e-01 9.06922573e-02 -1.09141420e-02 3.59107074e+02] [ 1.09485227e-02 1.18412346e-04 9.99940056e-01 2.22296486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.160385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.10, Y:359.13, Z:22.23 [[ 9.01564812e-02 -9.95927231e-01 -8.71960027e-04 3.68095274e+02] [ 9.95867430e-01 9.01606236e-02 -1.09143872e-02 3.59134471e+02] [ 1.09485519e-02 1.15646153e-04 9.99940056e-01 2.22283886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.190385723 meters Centerline goodness : 0.995306 Centerline is valid? [True, True] Translation: X:368.10, Y:359.16, Z:22.23 [[ 8.92522309e-02 -9.96008677e-01 -8.68914109e-04 3.68099200e+02] [ 9.95948878e-01 8.92563942e-02 -1.09146297e-02 3.59164744e+02] [ 1.09486220e-02 1.08761018e-04 9.99940056e-01 2.22257874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.2203857229999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:368.10, Y:359.19, Z:22.23 [[ 8.67622519e-02 -9.96228587e-01 -9.56044414e-04 3.68103523e+02] [ 9.96168871e-01 8.67675190e-02 -1.09076959e-02 3.59188976e+02] [ 1.09495120e-02 -6.00542765e-06 9.99940052e-01 2.22295431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.250385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:368.11, Y:359.22, Z:22.23 [[ 8.44224096e-02 -9.96429684e-01 -8.60677885e-04 3.68111012e+02] [ 9.96369900e-01 8.44267726e-02 -1.09152157e-02 3.59216810e+02] [ 1.09489092e-02 6.39352711e-05 9.99940057e-01 2.22326787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.280385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.11, Y:359.24, Z:22.23 [[ 8.31193680e-02 -9.96539229e-01 -8.57805349e-04 3.68114632e+02] [ 9.96479448e-01 8.31237777e-02 -1.09154414e-02 3.59243538e+02] [ 1.09489696e-02 5.24991923e-05 9.99940057e-01 2.22339055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.310385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.12, Y:359.27, Z:22.23 [[ 8.00457934e-02 -9.96790820e-01 -8.55603710e-04 3.68116469e+02] [ 9.96731051e-01 8.00503633e-02 -1.09156140e-02 3.59270458e+02] [ 1.09490752e-02 2.09421976e-05 9.99940057e-01 2.22325556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.3403857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.12, Y:359.30, Z:22.24 [[ 7.82128845e-02 -9.96936335e-01 -8.30356329e-04 3.68123042e+02] [ 9.96876553e-01 7.82172878e-02 -1.09175903e-02 3.59298813e+02] [ 1.09490906e-02 2.61334705e-05 9.99940057e-01 2.22358002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.370385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.13, Y:359.33, Z:22.23 [[ 7.61829798e-02 -9.97093488e-01 -8.54087598e-04 3.68125593e+02] [ 9.97033736e-01 7.61877646e-02 -1.09157351e-02 3.59325648e+02] [ 1.09490794e-02 -1.99609204e-05 9.99940057e-01 2.22327121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.400385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.13, Y:359.35, Z:22.23 [[ 7.51281030e-02 -9.97173559e-01 -8.12727298e-04 3.68131137e+02] [ 9.97113777e-01 7.51324982e-02 -1.09189528e-02 3.59353356e+02] [ 1.09491532e-02 9.93862262e-06 9.99940056e-01 2.22330214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.430385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.14, Y:359.38, Z:22.23 [[ 7.45227738e-02 -9.97218969e-01 -8.27059593e-04 3.68135339e+02] [ 9.97159202e-01 7.45273622e-02 -1.09178397e-02 3.59381944e+02] [ 1.09491154e-02 -1.10823868e-05 9.99940057e-01 2.22348755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.460385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.14, Y:359.41, Z:22.24 [[ 7.43599152e-02 -9.97231120e-01 -8.35003338e-04 3.68137493e+02] [ 9.97171360e-01 7.43646003e-02 -1.09172238e-02 3.59410411e+02] [ 1.09490900e-02 -2.08375747e-05 9.99940057e-01 2.22351910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.490385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:368.14, Y:359.44, Z:22.23 [[ 7.20267416e-02 -9.97402353e-01 -8.33030175e-04 3.68141654e+02] [ 9.97342603e-01 7.20315449e-02 -1.09173765e-02 3.59439044e+02] [ 1.09490214e-02 -4.44734296e-05 9.99940057e-01 2.22348557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.520385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:368.14, Y:359.47, Z:22.23 [[ 7.00094362e-02 -9.97545943e-01 -8.77964633e-04 3.68144457e+02] [ 9.97486244e-01 7.00148520e-02 -1.09138961e-02 3.59465701e+02] [ 1.09485834e-02 -1.11681929e-04 9.99940056e-01 2.22338099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.550385723 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:368.15, Y:359.49, Z:22.24 [[ 7.12143138e-02 -9.97460680e-01 -8.44127861e-04 3.68150028e+02] [ 9.97400944e-01 7.12192873e-02 -1.09165090e-02 3.59493763e+02] [ 1.09489067e-02 -6.45222265e-05 9.99940057e-01 2.22369815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.580385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:368.16, Y:359.52, Z:22.24 [[ 6.88679316e-02 -9.97625432e-01 -8.40186729e-04 3.68156689e+02] [ 9.97565704e-01 6.88730025e-02 -1.09168123e-02 3.59520783e+02] [ 1.09487558e-02 -8.63231806e-05 9.99940057e-01 2.22367942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.610385723 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:368.16, Y:359.55, Z:22.24 [[ 6.73158882e-02 -9.97731362e-01 -8.37000042e-04 3.68160060e+02] [ 9.97671639e-01 6.73210170e-02 -1.09170566e-02 3.59548687e+02] [ 1.09486375e-02 -1.00159839e-04 9.99940057e-01 2.22381397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.640385723 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:368.16, Y:359.58, Z:22.24 [[ 6.59304588e-02 -9.97823872e-01 -8.33958133e-04 3.68162818e+02] [ 9.97764153e-01 6.59356373e-02 -1.09172890e-02 3.59576993e+02] [ 1.09485192e-02 -1.12311656e-04 9.99940057e-01 2.22387467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.670385723 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:368.17, Y:359.60, Z:22.24 [[ 6.43733042e-02 -9.97925542e-01 -8.30916900e-04 3.68166517e+02] [ 9.97865828e-01 6.43785427e-02 -1.09175205e-02 3.59603965e+02] [ 1.09483658e-02 -1.26346713e-04 9.99940057e-01 2.22394227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.700385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.17, Y:359.63, Z:22.24 [[ 6.30644822e-02 -9.98009111e-01 -8.27704484e-04 3.68170320e+02] [ 9.97949401e-01 6.30697638e-02 -1.09177640e-02 3.59631665e+02] [ 1.09482311e-02 -1.37484059e-04 9.99940057e-01 2.22369687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.730385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.17, Y:359.66, Z:22.24 [[ 6.35586717e-02 -9.97977768e-01 -8.18304950e-04 3.68174398e+02] [ 9.97918047e-01 6.35638209e-02 -1.09184751e-02 3.59659638e+02] [ 1.09484100e-02 -1.22637505e-04 9.99940057e-01 2.22382684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.760385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.18, Y:359.69, Z:22.24 [[ 6.55595465e-02 -9.97848317e-01 -8.26468823e-04 3.68178699e+02] [ 9.97788592e-01 6.55646653e-02 -1.09178589e-02 3.59686177e+02] [ 1.09485543e-02 -1.08871285e-04 9.99940057e-01 2.22421356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.790385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.18, Y:359.71, Z:22.24 [[ 6.51033642e-02 -9.97878187e-01 -8.21893936e-04 3.68180108e+02] [ 9.97818461e-01 6.51084603e-02 -1.09182033e-02 3.59713997e+02] [ 1.09485492e-02 -1.09289176e-04 9.99940057e-01 2.22379839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.820385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.18, Y:359.74, Z:22.24 [[ 6.67025448e-02 -9.97772581e-01 -8.03888762e-04 3.68183614e+02] [ 9.97712831e-01 6.67073481e-02 -1.09195541e-02 3.59743274e+02] [ 1.09488570e-02 -7.36880831e-05 9.99940057e-01 2.22388582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.850385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.19, Y:359.77, Z:22.24 [[ 6.89620733e-02 -9.97618934e-01 -8.34080758e-04 3.68189079e+02] [ 9.97559199e-01 6.89670717e-02 -1.09172919e-02 3.59770613e+02] [ 1.09488212e-02 -7.91658494e-05 9.99940057e-01 2.22406682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.880385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.19, Y:359.80, Z:22.24 [[ 7.04254975e-02 -9.97516681e-01 -8.48947636e-04 3.68192565e+02] [ 9.97456952e-01 7.04305710e-02 -1.09161808e-02 3.59795948e+02] [ 1.09488643e-02 -7.80112613e-05 9.99940056e-01 2.22448485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.910385723 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:368.20, Y:359.82, Z:22.24 [[ 7.15879223e-02 -9.97433962e-01 -8.12819768e-04 3.68195944e+02] [ 9.97374197e-01 7.15925307e-02 -1.09188702e-02 3.59823641e+02] [ 1.09490438e-02 -2.90262329e-05 9.99940057e-01 2.22449146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.940385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.20, Y:359.85, Z:22.24 [[ 7.35381468e-02 -9.97292076e-01 -8.09803972e-04 3.68199459e+02] [ 9.97232299e-01 7.35426053e-02 -1.09190938e-02 3.59850955e+02] [ 1.09490809e-02 -4.59275114e-06 9.99940057e-01 2.22445363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.9703857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.20, Y:359.88, Z:22.24 [[ 7.41524279e-02 -9.97246592e-01 -8.07601991e-04 3.68202669e+02] [ 9.97186811e-01 7.41568255e-02 -1.09192567e-02 3.59878728e+02] [ 1.09490807e-02 4.35934191e-06 9.99940057e-01 2.22449526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.000385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.21, Y:359.91, Z:22.25 [[ 7.48472483e-02 -9.97194686e-01 -8.04642865e-04 3.68205887e+02] [ 9.97134899e-01 7.48515718e-02 -1.09194748e-02 3.59906469e+02] [ 1.09490710e-02 1.49551561e-05 9.99940057e-01 2.22453093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.030385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:368.21, Y:359.93, Z:22.24 [[ 7.59869656e-02 -9.97108489e-01 -8.01632326e-04 3.68209156e+02] [ 9.97048695e-01 7.59911878e-02 -1.09196958e-02 3.59934127e+02] [ 1.09490383e-02 3.04880818e-05 9.99940057e-01 2.22428919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.060385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.21, Y:359.96, Z:22.24 [[ 7.76174523e-02 -9.96982875e-01 -8.22995806e-04 3.68212867e+02] [ 9.96923091e-01 7.76218107e-02 -1.09181330e-02 3.59961475e+02] [ 1.09490741e-02 2.69741462e-05 9.99940057e-01 2.22434328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.0903857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.22, Y:359.99, Z:22.24 [[ 7.76325493e-02 -9.96981723e-01 -7.95212317e-04 3.68216733e+02] [ 9.96921917e-01 7.76366025e-02 -1.09201562e-02 3.59989299e+02] [ 1.09489338e-02 5.49949800e-05 9.99940057e-01 2.22434602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.120385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.22, Y:360.02, Z:22.24 [[ 7.70281144e-02 -9.97028606e-01 -7.92253972e-04 3.68223391e+02] [ 9.96968801e-01 7.70321715e-02 -1.09203709e-02 3.60016135e+02] [ 1.09489512e-02 5.13230827e-05 9.99940057e-01 2.22444149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.150385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.23, Y:360.04, Z:22.25 [[ 7.64276809e-02 -9.97074815e-01 -7.89126768e-04 3.68227408e+02] [ 9.97015010e-01 7.64317397e-02 -1.09205968e-02 3.60043703e+02] [ 1.09489664e-02 4.78646565e-05 9.99940057e-01 2.22458286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.180385723 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:368.23, Y:360.07, Z:22.24 [[ 7.60083667e-02 -9.97106870e-01 -7.86151883e-04 3.68231798e+02] [ 9.97047064e-01 7.60124181e-02 -1.09208110e-02 3.60069817e+02] [ 1.09489730e-02 4.62425790e-05 9.99940057e-01 2.22436313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.210385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:368.23, Y:360.09, Z:22.24 [[ 7.63700278e-02 -9.97079227e-01 -7.95695933e-04 3.68234109e+02] [ 9.97019427e-01 7.63741620e-02 -1.09201263e-02 3.60094858e+02] [ 1.09490017e-02 4.06460468e-05 9.99940057e-01 2.22446200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.240385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.24, Y:360.12, Z:22.24 [[ 7.75979251e-02 -9.96984430e-01 -7.79747231e-04 3.68237857e+02] [ 9.96924613e-01 7.76018110e-02 -1.09212650e-02 3.60122497e+02] [ 1.09488410e-02 7.01182978e-05 9.99940057e-01 2.22448481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.270385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:368.24, Y:360.15, Z:22.24 [[ 7.79411033e-02 -9.96957663e-01 -7.76812751e-04 3.68241018e+02] [ 9.96897843e-01 7.79449364e-02 -1.09214737e-02 3.60149906e+02] [ 1.09487955e-02 7.68287565e-05 9.99940057e-01 2.22447007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.300385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.25, Y:360.18, Z:22.24 [[ 7.82278042e-02 -9.96935210e-01 -7.73542366e-04 3.68245688e+02] [ 9.96875386e-01 7.82315843e-02 -1.09217054e-02 3.60175688e+02] [ 1.09487481e-02 8.32556823e-05 9.99940057e-01 2.22449593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.330385723 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:368.25, Y:360.20, Z:22.25 [[ 7.78887735e-02 -9.96961758e-01 -7.70118846e-04 3.68248085e+02] [ 9.96901933e-01 7.78925364e-02 -1.09219467e-02 3.60203669e+02] [ 1.09487497e-02 8.29640701e-05 9.99940057e-01 2.22462856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.360385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:368.25, Y:360.23, Z:22.25 [[ 7.76933333e-02 -9.96977010e-01 -7.67051091e-04 3.68249957e+02] [ 9.96917184e-01 7.76970744e-02 -1.09221622e-02 3.60232152e+02] [ 1.09487422e-02 8.38927743e-05 9.99940057e-01 2.22460052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.390385723 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:368.25, Y:360.26, Z:22.24 [[ 7.74380945e-02 -9.96996870e-01 -7.63976889e-04 3.68250724e+02] [ 9.96937043e-01 7.74418172e-02 -1.09223772e-02 3.60260751e+02] [ 1.09487397e-02 8.41712184e-05 9.99940057e-01 2.22440139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.420385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:368.25, Y:360.29, Z:22.25 [[ 7.77368121e-02 -9.96973616e-01 -7.72815947e-04 3.68251748e+02] [ 9.96913794e-01 7.77406137e-02 -1.09217606e-02 3.60287145e+02] [ 1.09487863e-02 7.85919716e-05 9.99940057e-01 2.22454152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.450385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:368.25, Y:360.32, Z:22.24 [[ 7.65213063e-02 -9.97067658e-01 -7.58931410e-04 3.68252305e+02] [ 9.97007831e-01 7.65250288e-02 -1.09227253e-02 3.60315495e+02] [ 1.09487734e-02 7.91606502e-05 9.99940057e-01 2.22440745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.480385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.25, Y:360.34, Z:22.25 [[ 7.64169622e-02 -9.97075638e-01 -7.87105435e-04 3.68253601e+02] [ 9.97015831e-01 7.64209996e-02 -1.09207715e-02 3.60341004e+02] [ 1.09489866e-02 4.97756058e-05 9.99940057e-01 2.22460692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.510385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.26, Y:360.37, Z:22.25 [[ 7.55104558e-02 -9.97144725e-01 -7.53576091e-04 3.68255116e+02] [ 9.97084899e-01 7.55141803e-02 -1.09230847e-02 3.60369336e+02] [ 1.09488020e-02 7.34277646e-05 9.99940057e-01 2.22467340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.540385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.26, Y:360.40, Z:22.25 [[ 7.35216736e-02 -9.97293337e-01 -7.50530283e-04 3.68256236e+02] [ 9.97233516e-01 7.35254840e-02 -1.09232940e-02 3.60397063e+02] [ 1.09489114e-02 5.46449017e-05 9.99940057e-01 2.22470645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.570385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.26, Y:360.42, Z:22.25 [[ 7.21476968e-02 -9.97393679e-01 -7.47510746e-04 3.68257617e+02] [ 9.97333861e-01 7.21515566e-02 -1.09235006e-02 3.60424923e+02] [ 1.09489645e-02 4.25876319e-05 9.99940057e-01 2.22472106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.600385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:368.26, Y:360.45, Z:22.25 [[ 6.92654217e-02 -9.97597989e-01 -7.44494404e-04 3.68258683e+02] [ 9.97538180e-01 6.92694212e-02 -1.09237062e-02 3.60452119e+02] [ 1.09490380e-02 1.39735225e-05 9.99940057e-01 2.22475109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.630385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.26, Y:360.48, Z:22.25 [[ 6.66226104e-02 -9.97777970e-01 -7.41314612e-04 3.68260547e+02] [ 9.97718170e-01 6.66267335e-02 -1.09239220e-02 3.60480379e+02] [ 1.09490401e-02 -1.18428613e-05 9.99940057e-01 2.22482152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.660385723 meters Centerline goodness : 0.999843 Centerline is valid? [True, True] Translation: X:368.26, Y:360.51, Z:22.25 [[ 6.43344594e-02 -9.97928120e-01 -7.38352121e-04 3.68262054e+02] [ 9.97868326e-01 6.43386872e-02 -1.09241222e-02 3.60508768e+02] [ 1.09489933e-02 -3.39806994e-05 9.99940057e-01 2.22475377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.690385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.26, Y:360.54, Z:22.25 [[ 6.29484727e-02 -9.98016507e-01 -7.35372404e-04 3.68263406e+02] [ 9.97956718e-01 6.29527510e-02 -1.09243228e-02 3.60536192e+02] [ 1.09489482e-02 -4.62003963e-05 9.99940057e-01 2.22485282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.7203857229999 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:368.26, Y:360.56, Z:22.25 [[ 6.05334021e-02 -9.98165903e-01 -7.32826332e-04 3.68264735e+02] [ 9.98106122e-01 6.05377972e-02 -1.09244935e-02 3.60563622e+02] [ 1.09488206e-02 -7.01416921e-05 9.99940057e-01 2.22495883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.750385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:368.27, Y:360.59, Z:22.25 [[ 5.96330779e-02 -9.98220098e-01 -7.29095919e-04 3.68268248e+02] [ 9.98160318e-01 5.96374861e-02 -1.09247424e-02 3.60591291e+02] [ 1.09487789e-02 -7.62785975e-05 9.99940057e-01 2.22518597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.780385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.27, Y:360.62, Z:22.25 [[ 5.87314960e-02 -9.98273552e-01 -7.26061769e-04 3.68270688e+02] [ 9.98213773e-01 5.87359249e-02 -1.09249441e-02 3.60618848e+02] [ 1.09487286e-02 -8.31265486e-05 9.99940057e-01 2.22528594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.810385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:368.27, Y:360.65, Z:22.25 [[ 5.79409283e-02 -9.98319752e-01 -7.22900301e-04 3.68270394e+02] [ 9.98259974e-01 5.79453700e-02 -1.09251533e-02 3.60646259e+02] [ 1.09486850e-02 -8.86289136e-05 9.99940057e-01 2.22520873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.8403857229999 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:368.27, Y:360.67, Z:22.25 [[ 6.00127181e-02 -9.98197351e-01 -7.22797717e-04 3.68272104e+02] [ 9.98137564e-01 6.00170346e-02 -1.09251600e-02 3.60672764e+02] [ 1.09488460e-02 -6.58030037e-05 9.99940057e-01 2.22511751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.870385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:368.27, Y:360.70, Z:22.25 [[ 5.99271356e-02 -9.98202496e-01 -7.18182456e-04 3.68273577e+02] [ 9.98142706e-01 5.99314067e-02 -1.09254634e-02 3.60699712e+02] [ 1.09488665e-02 -6.21168523e-05 9.99940057e-01 2.22513506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.900385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.27, Y:360.73, Z:22.25 [[ 5.78333202e-02 -9.98325997e-01 -7.14936447e-04 3.68274585e+02] [ 9.98266213e-01 5.78376812e-02 -1.09256758e-02 3.60727361e+02] [ 1.09487365e-02 -8.18287917e-05 9.99940057e-01 2.22528724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.930385723 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:368.28, Y:360.75, Z:22.25 [[ 6.01219666e-02 -9.98190785e-01 -7.11774767e-04 3.68278746e+02] [ 9.98130989e-01 6.01261559e-02 -1.09258818e-02 3.60753992e+02] [ 1.09489108e-02 -5.35589522e-05 9.99940057e-01 2.22527028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.960385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:368.28, Y:360.78, Z:22.25 [[ 5.95107173e-02 -9.98227415e-01 -7.08460785e-04 3.68281704e+02] [ 9.98167619e-01 5.95149070e-02 -1.09260967e-02 3.60780875e+02] [ 1.09488932e-02 -5.69427649e-05 9.99940057e-01 2.22532993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.990385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:368.28, Y:360.81, Z:22.25 [[ 5.78009386e-02 -9.98327879e-01 -7.05454893e-04 3.68282938e+02] [ 9.98268088e-01 5.78051978e-02 -1.09262907e-02 3.60808643e+02] [ 1.09487996e-02 -7.26832463e-05 9.99940057e-01 2.22534451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.020385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:368.28, Y:360.84, Z:22.25 [[ 5.66154153e-02 -9.98395814e-01 -7.02407109e-04 3.68284058e+02] [ 9.98336026e-01 5.66197121e-02 -1.09264867e-02 3.60835768e+02] [ 1.09487286e-02 -8.26307403e-05 9.99940057e-01 2.22525090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.050385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:368.29, Y:360.86, Z:22.25 [[ 5.58207126e-02 -9.98440563e-01 -7.00209283e-04 3.68285741e+02] [ 9.98380776e-01 5.58250329e-02 -1.09266275e-02 3.60864184e+02] [ 1.09486773e-02 -8.91433532e-05 9.99940057e-01 2.22521053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.080385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:368.29, Y:360.89, Z:22.25 [[ 5.41375244e-02 -9.98533245e-01 -6.97290718e-04 3.68287891e+02] [ 9.98473464e-01 5.41419136e-02 -1.09268138e-02 3.60892378e+02] [ 1.09485395e-02 -1.04675632e-04 9.99940057e-01 2.22527709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.110385723 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:368.29, Y:360.92, Z:22.25 [[ 4.97282532e-02 -9.98762544e-01 -6.94321164e-04 3.68285599e+02] [ 9.98702780e-01 4.97328738e-02 -1.09270025e-02 3.60916309e+02] [ 1.09480114e-02 -1.50039732e-04 9.99940057e-01 2.22519891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.140385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:368.29, Y:360.95, Z:22.25 [[ 5.20490549e-02 -9.98644361e-01 -5.80208701e-04 3.68290549e+02] [ 9.98584500e-01 5.20522877e-02 -1.09342023e-02 3.60947507e+02] [ 1.09495806e-02 -1.02725208e-05 9.99940052e-01 2.22536945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.170385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.29, Y:360.98, Z:22.25 [[ 5.08278604e-02 -9.98707190e-01 -6.90835486e-04 3.68290829e+02] [ 9.98647418e-01 5.08323771e-02 -1.09272084e-02 3.60975553e+02] [ 1.09481984e-02 -1.34494453e-04 9.99940058e-01 2.22532993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.200385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:368.29, Y:361.00, Z:22.25 [[ 5.04856948e-02 -9.98724547e-01 -6.87848190e-04 3.68292163e+02] [ 9.98664775e-01 5.04901992e-02 -1.09273964e-02 3.61002666e+02] [ 1.09481886e-02 -1.35252559e-04 9.99940058e-01 2.22534459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.230385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:368.29, Y:361.03, Z:22.25 [[ 4.56760049e-02 -9.98956071e-01 -6.85669321e-04 3.68288491e+02] [ 9.98896319e-01 4.56807733e-02 -1.09275331e-02 3.61026245e+02] [ 1.09474475e-02 -1.85786505e-04 9.99940058e-01 2.22532513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.260385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:368.30, Y:361.06, Z:22.25 [[ 5.02146108e-02 -9.98738314e-01 -5.23402433e-04 3.68295794e+02] [ 9.98678421e-01 5.02173315e-02 -1.09376183e-02 3.61058812e+02] [ 1.09501023e-02 2.65175319e-05 9.99940045e-01 2.22548842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.290385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.30, Y:361.09, Z:22.25 [[ 5.01473440e-02 -9.98741597e-01 -6.83178707e-04 3.68295523e+02] [ 9.98681822e-01 5.01518176e-02 -1.09276295e-02 3.61087401e+02] [ 1.09481408e-02 -1.34286560e-04 9.99940058e-01 2.22548479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.320385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:368.30, Y:361.12, Z:22.25 [[ 5.03589545e-02 -9.98730951e-01 -6.80146703e-04 3.68296306e+02] [ 9.98671173e-01 5.03633823e-02 -1.09278182e-02 3.61115477e+02] [ 1.09482048e-02 -1.28929407e-04 9.99940058e-01 2.22549796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.350385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.30, Y:361.14, Z:22.26 [[ 5.00970092e-02 -9.98744127e-01 -6.77121196e-04 3.68297621e+02] [ 9.98684348e-01 5.01014195e-02 -1.09280057e-02 3.61143927e+02] [ 1.09482062e-02 -1.28769940e-04 9.99940058e-01 2.22558392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.380385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.30, Y:361.17, Z:22.26 [[ 4.97943687e-02 -9.98759241e-01 -7.07212562e-04 3.68299307e+02] [ 9.98699488e-01 4.97991263e-02 -1.09261463e-02 3.61172482e+02] [ 1.09478081e-02 -1.62232268e-04 9.99940058e-01 2.22561648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.410385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:368.30, Y:361.20, Z:22.25 [[ 4.66116954e-02 -9.98912839e-01 -6.99427699e-04 3.68295371e+02] [ 9.98853095e-01 4.66165583e-02 -1.09266233e-02 3.61195402e+02] [ 1.09473492e-02 -1.89317086e-04 9.99940058e-01 2.22545432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.440385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:368.30, Y:361.23, Z:22.26 [[ 5.03400730e-02 -9.98731998e-01 -5.23029668e-04 3.68301016e+02] [ 9.98672108e-01 5.03427821e-02 -1.09373335e-02 3.61226841e+02] [ 1.09497957e-02 2.82510237e-05 9.99940049e-01 2.22575207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.4703857229999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:368.30, Y:361.25, Z:22.26 [[ 4.66712493e-02 -9.98910088e-01 -6.55771503e-04 3.68297806e+02] [ 9.98850308e-01 4.66756311e-02 -1.09292392e-02 3.61251852e+02] [ 1.09479359e-02 -1.44936320e-04 9.99940059e-01 2.22557201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.500385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.30, Y:361.28, Z:22.26 [[ 4.96376900e-02 -9.98767147e-01 -5.34991006e-04 3.68302998e+02] [ 9.98707267e-01 4.96405723e-02 -1.09365585e-02 3.61283476e+02] [ 1.09496326e-02 8.56609544e-06 9.99940051e-01 2.22578998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.530385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.30, Y:361.31, Z:22.26 [[ 4.97419564e-02 -9.98761881e-01 -6.65092082e-04 3.68303888e+02] [ 9.98702095e-01 4.97462563e-02 -1.09286409e-02 3.61312000e+02] [ 1.09481958e-02 -1.20616876e-04 9.99940059e-01 2.22593561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.560385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.30, Y:361.34, Z:22.26 [[ 4.58994925e-02 -9.98945844e-01 -6.62109716e-04 3.68299515e+02] [ 9.98886072e-01 4.59039898e-02 -1.09288216e-02 3.61336161e+02] [ 1.09476944e-02 -1.59744808e-04 9.99940059e-01 2.22584922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.5903857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.31, Y:361.37, Z:22.26 [[ 4.89383226e-02 -9.98801668e-01 -5.17964436e-04 3.68305004e+02] [ 9.98741781e-01 4.89410603e-02 -1.09374584e-02 3.61368241e+02] [ 1.09497014e-02 1.79481450e-05 9.99940050e-01 2.22601916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.620385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.30, Y:361.39, Z:22.26 [[ 4.34004831e-02 -9.99057539e-01 -6.57722391e-04 3.68300273e+02] [ 9.98997775e-01 4.34050819e-02 -1.09290477e-02 3.61392345e+02] [ 1.09472960e-02 -1.82737254e-04 9.99940060e-01 2.22594738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.650385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.30, Y:361.42, Z:22.26 [[ 4.33701774e-02 -9.99058933e-01 -5.25578438e-04 3.68302403e+02] [ 9.98999068e-01 4.33733323e-02 -1.09369383e-02 3.61421616e+02] [ 1.09494420e-02 -5.07154168e-05 9.99940052e-01 2.22592171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.680385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:368.30, Y:361.45, Z:22.26 [[ 4.33268737e-02 -9.99060799e-01 -5.50415001e-04 3.68304378e+02] [ 9.99000951e-01 4.33303030e-02 -1.09354578e-02 3.61450456e+02] [ 1.09490369e-02 -7.60659097e-05 9.99940055e-01 2.22593218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.710385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.31, Y:361.48, Z:22.26 [[ 4.46978338e-02 -9.99000380e-01 -5.86628320e-04 3.68307662e+02] [ 9.98940555e-01 4.47015772e-02 -1.09333056e-02 3.61479482e+02] [ 1.09485997e-02 -9.73117422e-05 9.99940058e-01 2.22608510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.740385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.31, Y:361.51, Z:22.26 [[ 4.54495845e-02 -9.98966423e-01 -6.49520008e-04 3.68306598e+02] [ 9.98906643e-01 4.54539711e-02 -1.09295681e-02 3.61507965e+02] [ 1.09477948e-02 -1.52065521e-04 9.99940060e-01 2.22620360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.770385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.30, Y:361.54, Z:22.26 [[ 4.73578084e-02 -9.98877780e-01 -6.46563649e-04 3.68303550e+02] [ 9.98817990e-01 4.73620484e-02 -1.09297430e-02 3.61535219e+02] [ 1.09481000e-02 -1.28190729e-04 9.99940060e-01 2.22613770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.800385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:368.30, Y:361.56, Z:22.26 [[ 4.84565865e-02 -9.98825082e-01 -6.44395321e-04 3.68303492e+02] [ 9.98765285e-01 4.84607370e-02 -1.09298709e-02 3.61563146e+02] [ 1.09482570e-02 -1.13975444e-04 9.99940060e-01 2.22614379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.830385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.30, Y:361.59, Z:22.26 [[ 4.96521693e-02 -9.98766364e-01 -6.41457158e-04 3.68304569e+02] [ 9.98706561e-01 4.96562160e-02 -1.09300433e-02 3.61591673e+02] [ 1.09484119e-02 -9.79271130e-05 9.99940060e-01 2.22624423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.860385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.30, Y:361.62, Z:22.26 [[ 5.06979753e-02 -9.98713826e-01 -6.39571261e-04 3.68303971e+02] [ 9.98654017e-01 5.07019388e-02 -1.09301536e-02 3.61619349e+02] [ 1.09485231e-02 -8.45737500e-05 9.99940060e-01 2.22641911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.890385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.30, Y:361.65, Z:22.26 [[ 5.06083723e-02 -9.98718373e-01 -6.36300891e-04 3.68303696e+02] [ 9.98658561e-01 5.06123054e-02 -1.09303441e-02 3.61647889e+02] [ 1.09485401e-02 -8.22804090e-05 9.99940060e-01 2.22647124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.920385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.30, Y:361.68, Z:22.26 [[ 5.00200998e-02 -9.98748010e-01 -6.33538951e-04 3.68301403e+02] [ 9.98688199e-01 5.00240379e-02 -1.09305042e-02 3.61675532e+02] [ 1.09485115e-02 -8.59629640e-05 9.99940060e-01 2.22648114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.950385723 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:368.30, Y:361.70, Z:22.26 [[ 4.82961980e-02 -9.98832859e-01 -6.30362137e-04 3.68300829e+02] [ 9.98773053e-01 4.83002046e-02 -1.09306874e-02 3.61703225e+02] [ 1.09483764e-02 -1.01678073e-04 9.99940060e-01 2.22630729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.980385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:368.30, Y:361.73, Z:22.27 [[ 4.95562114e-02 -9.98771156e-01 -5.99889833e-04 3.68299513e+02] [ 9.98711323e-01 4.95598090e-02 -1.09324377e-02 3.61731263e+02] [ 1.09487339e-02 -5.73465736e-05 9.99940059e-01 2.22651480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.010385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.30, Y:361.76, Z:22.27 [[ 4.93348170e-02 -9.98782100e-01 -6.26454342e-04 3.68299536e+02] [ 9.98722287e-01 4.93387186e-02 -1.09309153e-02 3.61758797e+02] [ 1.09485110e-02 -8.63792064e-05 9.99940060e-01 2.22651807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.040385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.30, Y:361.79, Z:22.27 [[ 4.82759722e-02 -9.98833841e-01 -6.23287455e-04 3.68296629e+02] [ 9.98774030e-01 4.82799026e-02 -1.09310959e-02 3.61787127e+02] [ 1.09484407e-02 -9.48140411e-05 9.99940060e-01 2.22657826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.070385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.30, Y:361.82, Z:22.27 [[ 4.72227366e-02 -9.98884192e-01 -6.20346572e-04 3.68295353e+02] [ 9.98824382e-01 4.72266979e-02 -1.09312628e-02 3.61815448e+02] [ 1.09483625e-02 -1.03413138e-04 9.99940060e-01 2.22661919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.100385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.29, Y:361.84, Z:22.27 [[ 4.52237704e-02 -9.98976691e-01 -6.17344652e-04 3.68292626e+02] [ 9.98916888e-01 4.52278185e-02 -1.09314323e-02 3.61842300e+02] [ 1.09481672e-02 -1.22315413e-04 9.99940060e-01 2.22659332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.130385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:368.29, Y:361.87, Z:22.27 [[ 4.43015084e-02 -9.99018017e-01 -6.14184081e-04 3.68292711e+02] [ 9.98958215e-01 4.43055771e-02 -1.09316099e-02 3.61870728e+02] [ 1.09480870e-02 -1.29257426e-04 9.99940060e-01 2.22670241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.160385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:368.29, Y:361.90, Z:22.27 [[ 4.30552057e-02 -9.99072508e-01 -6.11178848e-04 3.68289753e+02] [ 9.99012708e-01 4.30593162e-02 -1.09317779e-02 3.61899041e+02] [ 1.09479557e-02 -1.39905489e-04 9.99940060e-01 2.22667584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.190385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:368.29, Y:361.93, Z:22.27 [[ 4.19441332e-02 -9.99119773e-01 -6.08112457e-04 3.68286231e+02] [ 9.99059976e-01 4.19482766e-02 -1.09319485e-02 3.61926276e+02] [ 1.09478351e-02 -1.49009713e-04 9.99940060e-01 2.22652675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.2203857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.29, Y:361.95, Z:22.27 [[ 4.12679161e-02 -9.99147934e-01 -6.04882187e-04 3.68285397e+02] [ 9.99088137e-01 4.12720646e-02 -1.09321272e-02 3.61954683e+02] [ 1.09477770e-02 -1.53184509e-04 9.99940060e-01 2.22654577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.250385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.28, Y:361.98, Z:22.26 [[ 4.04761074e-02 -9.99180325e-01 -6.01934843e-04 3.68284248e+02] [ 9.99120530e-01 4.04802710e-02 -1.09322895e-02 3.61981970e+02] [ 1.09476951e-02 -1.58908937e-04 9.99940060e-01 2.22646897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.280385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:368.28, Y:362.01, Z:22.26 [[ 3.88175793e-02 -9.99246134e-01 -5.99785013e-04 3.68281623e+02] [ 9.99186343e-01 3.88218186e-02 -1.09324074e-02 3.62010195e+02] [ 1.09474506e-02 -1.74927401e-04 9.99940060e-01 2.22641099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.310385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.28, Y:362.04, Z:22.26 [[ 3.68348422e-02 -9.99321189e-01 -5.96874375e-04 3.68280233e+02] [ 9.99261405e-01 3.68391684e-02 -1.09325663e-02 3.62036951e+02] [ 1.09471336e-02 -1.93734170e-04 9.99940060e-01 2.22639442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.3403857229999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:368.27, Y:362.06, Z:22.26 [[ 3.09960332e-02 -9.99519331e-01 -5.93806853e-04 3.68274938e+02] [ 9.99459571e-01 3.10006751e-02 -1.09327330e-02 3.62061334e+02] [ 1.09458863e-02 -2.54614589e-04 9.99940060e-01 2.22586450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.370385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.28, Y:362.09, Z:22.26 [[ 3.40442291e-02 -9.99420220e-01 -4.63192375e-04 3.68278888e+02] [ 9.99360348e-01 3.40472598e-02 -1.09397481e-02 3.62092527e+02] [ 1.09491759e-02 -9.04608038e-05 9.99940052e-01 2.22647242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.400385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.28, Y:362.12, Z:22.26 [[ 3.10119719e-02 -9.99518839e-01 -5.90018999e-04 3.68275626e+02] [ 9.99459076e-01 3.10165714e-02 -1.09329037e-02 3.62119422e+02] [ 1.09459436e-02 -2.50648941e-04 9.99940060e-01 2.22649746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.430385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.28, Y:362.15, Z:22.27 [[ 2.95046357e-02 -9.99564471e-01 -5.86828196e-04 3.68275592e+02] [ 9.99504712e-01 2.95092904e-02 -1.09330749e-02 3.62146525e+02] [ 1.09456302e-02 -2.63961153e-04 9.99940060e-01 2.22652417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.460385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.28, Y:362.17, Z:22.27 [[ 2.74625770e-02 -9.99622662e-01 -5.83673009e-04 3.68275110e+02] [ 9.99562910e-01 2.74673193e-02 -1.09332434e-02 3.62174917e+02] [ 1.09451498e-02 -2.83162853e-04 9.99940060e-01 2.22666967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.490385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.27, Y:362.20, Z:22.27 [[ 2.66111165e-02 -9.99645693e-01 -5.80694694e-04 3.68274632e+02] [ 9.99585942e-01 2.66158771e-02 -1.09334016e-02 3.62202887e+02] [ 1.09449835e-02 -2.89504230e-04 9.99940060e-01 2.22674336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.520385723 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:368.27, Y:362.23, Z:22.27 [[ 2.68457110e-02 -9.99639422e-01 -5.77686078e-04 3.68270815e+02] [ 9.99579668e-01 2.68504247e-02 -1.09335605e-02 3.62230590e+02] [ 1.09451292e-02 -2.83924052e-04 9.99940060e-01 2.22678444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.550385723 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:368.27, Y:362.26, Z:22.27 [[ 2.77672813e-02 -9.99614250e-01 -5.74514299e-04 3.68269543e+02] [ 9.99554488e-01 2.77719053e-02 -1.09337272e-02 3.62258543e+02] [ 1.09454649e-02 -2.70658467e-04 9.99940060e-01 2.22675333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.580385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.27, Y:362.29, Z:22.27 [[ 3.06401188e-02 -9.99530318e-01 -5.71595211e-04 3.68266199e+02] [ 9.99470541e-01 3.06445390e-02 -1.09338798e-02 3.62286657e+02] [ 1.09462606e-02 -2.36277199e-04 9.99940060e-01 2.22665507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.610385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.27, Y:362.31, Z:22.27 [[ 3.25400803e-02 -9.99470270e-01 -5.68620592e-04 3.68265985e+02] [ 9.99410482e-01 3.25443544e-02 -1.09340345e-02 3.62313958e+02] [ 1.09467478e-02 -2.12491020e-04 9.99940060e-01 2.22663760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.640385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.27, Y:362.34, Z:22.27 [[ 3.65326078e-02 -9.99332302e-01 -5.65483727e-04 3.68265100e+02] [ 9.99272495e-01 3.65366087e-02 -1.09341967e-02 3.62342153e+02] [ 1.09475568e-02 -1.65617615e-04 9.99940060e-01 2.22670128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.670385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.26, Y:362.37, Z:22.27 [[ 3.82846739e-02 -9.99266715e-01 -5.62463716e-04 3.68264961e+02] [ 9.99206899e-01 3.82885369e-02 -1.09343521e-02 3.62370628e+02] [ 1.09478700e-02 -1.43399523e-04 9.99940060e-01 2.22676952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.700385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.26, Y:362.40, Z:22.27 [[ 4.17947894e-02 -9.99126059e-01 -5.59454841e-04 3.68262447e+02] [ 9.99066229e-01 4.17984093e-02 -1.09345060e-02 3.62398446e+02] [ 1.09483342e-02 -1.01927061e-04 9.99940060e-01 2.22687435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.730385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.26, Y:362.43, Z:22.27 [[ 4.41473984e-02 -9.99024873e-01 -5.56395882e-04 3.68261078e+02] [ 9.98965033e-01 4.41508439e-02 -1.09346617e-02 3.62426837e+02] [ 1.09485643e-02 -7.30831660e-05 9.99940060e-01 2.22697007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.760385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.26, Y:362.46, Z:22.27 [[ 4.49252318e-02 -9.98990199e-01 -5.53326429e-04 3.68262252e+02] [ 9.98930353e-01 4.49285971e-02 -1.09348170e-02 3.62455018e+02] [ 1.09486352e-02 -6.14853775e-05 9.99940060e-01 2.22703881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.790385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.26, Y:362.48, Z:22.27 [[ 4.52662619e-02 -9.98974806e-01 -5.50239274e-04 3.68262893e+02] [ 9.98914957e-01 4.52695731e-02 -1.09349723e-02 3.62483177e+02] [ 1.09486710e-02 -5.46569189e-05 9.99940060e-01 2.22719479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.820385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.26, Y:362.51, Z:22.27 [[ 4.50926745e-02 -9.98982658e-01 -5.47176844e-04 3.68262963e+02] [ 9.98922808e-01 4.50959625e-02 -1.09351256e-02 3.62510625e+02] [ 1.09486763e-02 -5.34933718e-05 9.99940060e-01 2.22729292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.850385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.26, Y:362.54, Z:22.27 [[ 4.49189550e-02 -9.98990486e-01 -5.43947275e-04 3.68262872e+02] [ 9.98930635e-01 4.49222180e-02 -1.09352862e-02 3.62538858e+02] [ 1.09486822e-02 -5.21639679e-05 9.99940060e-01 2.22734292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.880385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.26, Y:362.57, Z:22.27 [[ 4.51378368e-02 -9.98980622e-01 -5.40861145e-04 3.68262790e+02] [ 9.98920768e-01 4.51410530e-02 -1.09354389e-02 3.62567436e+02] [ 1.09487066e-02 -4.66753767e-05 9.99940060e-01 2.22738541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.910385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.26, Y:362.59, Z:22.27 [[ 4.62862373e-02 -9.98928073e-01 -5.37792228e-04 3.68263994e+02] [ 9.98868214e-01 4.62893510e-02 -1.09355898e-02 3.62593948e+02] [ 1.09487617e-02 -3.10162589e-05 9.99940060e-01 2.22742110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.940385723 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:368.27, Y:362.62, Z:22.27 [[ 4.70730286e-02 -9.98891307e-01 -5.35825023e-04 3.68265591e+02] [ 9.98831444e-01 4.70760737e-02 -1.09356862e-02 3.62621902e+02] [ 1.09487864e-02 -2.04230135e-05 9.99940060e-01 2.22748594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.9703857229999 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:368.27, Y:362.65, Z:22.28 [[ 4.99179876e-02 -9.98753178e-01 -5.32870833e-04 3.68266732e+02] [ 9.98693306e-01 4.99208299e-02 -1.09358301e-02 3.62649818e+02] [ 1.09487964e-02 1.37200996e-05 9.99940060e-01 2.22753171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.000385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.27, Y:362.68, Z:22.28 [[ 5.20552836e-02 -9.98644064e-01 -5.29842386e-04 3.68269058e+02] [ 9.98584184e-01 5.20579645e-02 -1.09359768e-02 3.62679760e+02] [ 1.09487309e-02 4.01831496e-05 9.99940060e-01 2.22757834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.030385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.27, Y:362.71, Z:22.27 [[ 5.52365092e-02 -9.98473135e-01 -5.71590971e-04 3.68267728e+02] [ 9.98413267e-01 5.52394565e-02 -1.09339539e-02 3.62705396e+02] [ 1.09488336e-02 3.32694369e-05 9.99940059e-01 2.22746698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.060385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.27, Y:362.73, Z:22.28 [[ 5.61747165e-02 -9.98420816e-01 -5.25641921e-04 3.68268923e+02] [ 9.98360923e-01 5.61771044e-02 -1.09361624e-02 3.62733449e+02] [ 1.09484213e-02 8.95554709e-05 9.99940060e-01 2.22756029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.0903857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.27, Y:362.76, Z:22.27 [[ 6.02997882e-02 -9.98180175e-01 -5.22505606e-04 3.68272854e+02] [ 9.98120273e-01 6.03018942e-02 -1.09363123e-02 3.62760703e+02] [ 1.09479182e-02 1.37933876e-04 9.99940060e-01 2.22743727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.120385723 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:368.28, Y:362.79, Z:22.28 [[ 6.13761636e-02 -9.98114571e-01 -5.19172253e-04 3.68275404e+02] [ 9.98054665e-01 6.13781685e-02 -1.09364705e-02 3.62789016e+02] [ 1.09477164e-02 1.53076315e-04 9.99940060e-01 2.22757380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.150385723 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:368.28, Y:362.82, Z:22.28 [[ 6.34757150e-02 -9.97983250e-01 -5.16042065e-04 3.68278415e+02] [ 9.97923339e-01 6.34775595e-02 -1.09366182e-02 3.62816174e+02] [ 1.09473189e-02 1.79239240e-04 9.99940060e-01 2.22768875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.180385723 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:368.28, Y:362.84, Z:22.28 [[ 6.44114793e-02 -9.97923293e-01 -5.13221546e-04 3.68280008e+02] [ 9.97863379e-01 6.44132368e-02 -1.09367506e-02 3.62843629e+02] [ 1.09470964e-02 1.92327298e-04 9.99940060e-01 2.22770254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.210385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:368.28, Y:362.87, Z:22.28 [[ 6.65893730e-02 -9.97780334e-01 -5.10082365e-04 3.68283221e+02] [ 9.97720416e-01 6.65909653e-02 -1.09368970e-02 3.62869874e+02] [ 1.09465876e-02 2.19361523e-04 9.99940060e-01 2.22772392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.240385723 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:368.29, Y:362.90, Z:22.28 [[ 6.68735129e-02 -9.97761332e-01 -5.06706885e-04 3.68286487e+02] [ 9.97701412e-01 6.68750512e-02 -1.09370534e-02 3.62898164e+02] [ 1.09464550e-02 2.25857005e-04 9.99940060e-01 2.22786322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.270385723 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:368.29, Y:362.93, Z:22.28 [[ 6.65932128e-02 -9.97780081e-01 -5.03634908e-04 3.68287742e+02] [ 9.97720161e-01 6.65947343e-02 -1.09371948e-02 3.62926704e+02] [ 1.09464546e-02 2.25856241e-04 9.99940060e-01 2.22789440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.300385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.29, Y:362.95, Z:22.28 [[ 6.71311533e-02 -9.97744034e-01 -5.00562137e-04 3.68293770e+02] [ 9.97684112e-01 6.71326087e-02 -1.09373354e-02 3.62953423e+02] [ 1.09462652e-02 2.34833051e-04 9.99940060e-01 2.22809554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.330385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.30, Y:362.98, Z:22.28 [[ 6.68016250e-02 -9.97766153e-01 -4.97323323e-04 3.68296332e+02] [ 9.97706230e-01 6.68030648e-02 -1.09374827e-02 3.62980262e+02] [ 1.09462728e-02 2.34459041e-04 9.99940060e-01 2.22814561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.360385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.30, Y:363.01, Z:22.28 [[ 6.64657554e-02 -9.97788584e-01 -4.94126198e-04 3.68299948e+02] [ 9.97728662e-01 6.64671803e-02 -1.09376271e-02 3.63006817e+02] [ 1.09462827e-02 2.33973780e-04 9.99940060e-01 2.22823926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.390385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.30, Y:363.03, Z:22.28 [[ 6.59411983e-02 -9.97823390e-01 -4.91041709e-04 3.68302699e+02] [ 9.97763467e-01 6.59426209e-02 -1.09377656e-02 3.63033512e+02] [ 1.09463390e-02 2.31305894e-04 9.99940060e-01 2.22830205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.420385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.31, Y:363.06, Z:22.28 [[ 6.48000106e-02 -9.97898151e-01 -4.87810032e-04 3.68308323e+02] [ 9.97838229e-01 6.48014664e-02 -1.09379098e-02 3.63061482e+02] [ 1.09465307e-02 2.22021170e-04 9.99940060e-01 2.22834955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.450385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.31, Y:363.09, Z:22.28 [[ 6.36609545e-02 -9.97971467e-01 -4.84693771e-04 3.68311930e+02] [ 9.97911545e-01 6.36624445e-02 -1.09380478e-02 3.63088387e+02] [ 1.09467164e-02 2.12645056e-04 9.99940060e-01 2.22824302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.480385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.32, Y:363.12, Z:22.28 [[ 6.09461744e-02 -9.98140938e-01 -4.81401337e-04 3.68317892e+02] [ 9.98081020e-01 6.09477913e-02 -1.09381927e-02 3.63115849e+02] [ 1.09471983e-02 1.86163465e-04 9.99940060e-01 2.22825600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.510385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:368.32, Y:363.14, Z:22.28 [[ 5.88837957e-02 -9.98264729e-01 -4.78497227e-04 3.68323450e+02] [ 9.98204814e-01 5.88855046e-02 -1.09383198e-02 3.63143235e+02] [ 1.09475154e-02 1.66451552e-04 9.99940060e-01 2.22830065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.540385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:368.33, Y:363.17, Z:22.28 [[ 5.80513045e-02 -9.98313488e-01 -4.75429764e-04 3.68326876e+02] [ 9.98253573e-01 5.80530298e-02 -1.09384531e-02 3.63171637e+02] [ 1.09476054e-02 1.60392012e-04 9.99940060e-01 2.22831345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.570385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.33, Y:363.20, Z:22.28 [[ 5.74714206e-02 -9.98347040e-01 -4.72346857e-04 3.68330469e+02] [ 9.98287125e-01 5.74731468e-02 -1.09385862e-02 3.63199587e+02] [ 1.09476525e-02 1.57118304e-04 9.99940060e-01 2.22829633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.600385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.34, Y:363.23, Z:22.28 [[ 5.65843882e-02 -9.98397710e-01 -4.69282671e-04 3.68336799e+02] [ 9.98337796e-01 5.65861341e-02 -1.09387177e-02 3.63227487e+02] [ 1.09477456e-02 1.50458021e-04 9.99940060e-01 2.22833392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.630385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.33, Y:363.25, Z:22.28 [[ 5.12352349e-02 -9.98686504e-01 -4.66225921e-04 3.68334501e+02] [ 9.98626599e-01 5.12372683e-02 -1.09388480e-02 3.63250918e+02] [ 1.09483680e-02 9.48688399e-05 9.99940060e-01 2.22796229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.660385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:368.35, Y:363.28, Z:22.28 [[ 5.44784657e-02 -9.98514902e-01 -2.96228959e-04 3.68346089e+02] [ 9.98454949e-01 5.44784420e-02 -1.09459888e-02 3.63283299e+02] [ 1.09458711e-02 3.00549407e-04 9.99940047e-01 2.22830520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.690385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:368.35, Y:363.31, Z:22.28 [[ 5.35105380e-02 -9.98567177e-01 -4.63592423e-04 3.68349936e+02] [ 9.98507267e-01 5.35124061e-02 -1.09388961e-02 3.63311665e+02] [ 1.09480305e-02 1.22445812e-04 9.99940061e-01 2.22838056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.7203857229999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:368.36, Y:363.34, Z:22.28 [[ 5.20030922e-02 -9.98646818e-01 -4.60526649e-04 3.68355565e+02] [ 9.98586910e-01 5.20050171e-02 -1.09390252e-02 3.63339887e+02] [ 1.09481724e-02 1.08987251e-04 9.99940061e-01 2.22840000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.750385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:368.36, Y:363.37, Z:22.28 [[ 5.13699052e-02 -9.98679590e-01 -4.57477162e-04 3.68360473e+02] [ 9.98619682e-01 5.13718347e-02 -1.09391527e-02 3.63366699e+02] [ 1.09482100e-02 1.05097538e-04 9.99940061e-01 2.22845827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.780385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:368.36, Y:363.39, Z:22.29 [[ 5.14191899e-02 -9.98677055e-01 -4.54262664e-04 3.68364171e+02] [ 9.98617146e-01 5.14210813e-02 -1.09392862e-02 3.63394184e+02] [ 1.09481728e-02 1.08854748e-04 9.99940061e-01 2.22856969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.810385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.37, Y:363.42, Z:22.29 [[ 5.13964086e-02 -9.98678229e-01 -4.51210531e-04 3.68369435e+02] [ 9.98618319e-01 5.13982679e-02 -1.09394121e-02 3.63421309e+02] [ 1.09481441e-02 1.11659391e-04 9.99940061e-01 2.22860008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.8403857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.37, Y:363.45, Z:22.29 [[ 5.14650246e-02 -9.98674697e-01 -4.47984799e-04 3.68371825e+02] [ 9.98614786e-01 5.14668445e-02 -1.09395442e-02 3.63449063e+02] [ 1.09481023e-02 1.15639666e-04 9.99940061e-01 2.22860808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.870385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.37, Y:363.47, Z:22.28 [[ 4.71397853e-02 -9.98888203e-01 -4.44894031e-04 3.68369668e+02] [ 9.98828299e-01 4.71418307e-02 -1.09396699e-02 3.63472028e+02] [ 1.09484803e-02 7.13209407e-05 9.99940061e-01 2.22805495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.900385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.38, Y:363.50, Z:22.29 [[ 5.19770125e-02 -9.98648244e-01 -2.75131494e-04 3.68378513e+02] [ 9.98588292e-01 5.19769079e-02 -1.09464556e-02 3.63504720e+02] [ 1.09459592e-02 2.94220972e-04 9.99940048e-01 2.22858511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.930385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:368.38, Y:363.53, Z:22.28 [[ 4.57923988e-02 -9.98950881e-01 -4.41128635e-04 3.68376679e+02] [ 9.98890979e-01 4.57944837e-02 -1.09397622e-02 3.63527098e+02] [ 1.09484863e-02 6.03185399e-05 9.99940062e-01 2.22808106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.960385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.39, Y:363.56, Z:22.29 [[ 4.98483959e-02 -9.98756762e-01 -2.61204868e-04 3.68385894e+02] [ 9.98696809e-01 4.98482665e-02 -1.09469015e-02 3.63559694e+02] [ 1.09463125e-02 2.84821013e-04 9.99940047e-01 2.22871445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.990385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:368.39, Y:363.59, Z:22.29 [[ 4.46195996e-02 -9.99003954e-01 -4.37719249e-04 3.68386856e+02] [ 9.98944054e-01 4.46217176e-02 -1.09398391e-02 3.63585234e+02] [ 1.09484743e-02 5.08741988e-05 9.99940062e-01 2.22859121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.020385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:368.39, Y:363.61, Z:22.28 [[ 4.21935008e-02 -9.99109399e-01 -3.41667792e-04 3.68391659e+02] [ 9.99049471e-01 4.21947123e-02 -1.09435656e-02 3.63613834e+02] [ 1.09482358e-02 1.20404318e-04 9.99940059e-01 2.22836380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.050385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:368.39, Y:363.64, Z:22.28 [[ 4.07506147e-02 -9.99169290e-01 -3.43772597e-04 3.68393983e+02] [ 9.99109363e-01 4.07519358e-02 -1.09434843e-02 3.63641502e+02] [ 1.09484029e-02 1.02487293e-04 9.99940059e-01 2.22849105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.080385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.40, Y:363.67, Z:22.29 [[ 4.05637829e-02 -9.99176899e-01 -3.23674118e-04 3.68397190e+02] [ 9.99116966e-01 4.05648951e-02 -1.09442743e-02 3.63669391e+02] [ 1.09483959e-02 1.20552863e-04 9.99940057e-01 2.22850923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.110385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:368.40, Y:363.70, Z:22.28 [[ 3.97429249e-02 -9.99209879e-01 -3.44283098e-04 3.68401605e+02] [ 9.99149954e-01 3.97443120e-02 -1.09434789e-02 3.63697106e+02] [ 1.09485155e-02 9.09354195e-05 9.99940059e-01 2.22822597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.140385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.41, Y:363.73, Z:22.28 [[ 4.06942349e-02 -9.99171589e-01 -3.39648051e-04 3.68408070e+02] [ 9.99111661e-01 4.06955142e-02 -1.09436578e-02 3.63725536e+02] [ 1.09484141e-02 1.05997454e-04 9.99940059e-01 2.22828515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.170385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.41, Y:363.75, Z:22.28 [[ 4.08764245e-02 -9.99164138e-01 -3.79632947e-04 3.68411500e+02] [ 9.99104223e-01 4.08781308e-02 -1.09421164e-02 3.63753794e+02] [ 1.09484890e-02 6.79817165e-05 9.99940061e-01 2.22835336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.200385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.42, Y:363.78, Z:22.28 [[ 4.20696023e-02 -9.99114608e-01 -3.84901298e-04 3.68417321e+02] [ 9.99054694e-01 4.20712948e-02 -1.09419144e-02 3.63780466e+02] [ 1.09484198e-02 7.57845391e-05 9.99940061e-01 2.22820925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.230385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.42, Y:363.81, Z:22.28 [[ 4.04114405e-02 -9.99183053e-01 -3.78107206e-04 3.68419420e+02] [ 9.99123138e-01 4.04131580e-02 -1.09421715e-02 3.63807282e+02] [ 1.09485128e-02 6.44132545e-05 9.99940061e-01 2.22842109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.260385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.42, Y:363.84, Z:22.29 [[ 3.97818750e-02 -9.99208303e-01 -4.11474332e-04 3.68422681e+02] [ 9.99148402e-01 3.97839957e-02 -1.09409166e-02 3.63835283e+02] [ 1.09486248e-02 2.41262559e-05 9.99940062e-01 2.22852518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.290385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.43, Y:363.86, Z:22.28 [[ 3.91515882e-02 -9.99233199e-01 -4.08487922e-04 3.68429203e+02] [ 9.99173299e-01 3.91537139e-02 -1.09410281e-02 3.63860811e+02] [ 1.09486323e-02 2.02084030e-05 9.99940062e-01 2.22846295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.320385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.43, Y:363.89, Z:22.28 [[ 4.01513037e-02 -9.99193540e-01 -3.77153678e-04 3.68432930e+02] [ 9.99133626e-01 4.01530264e-02 -1.09421892e-02 3.63885217e+02] [ 1.09485086e-02 6.25162393e-05 9.99940061e-01 2.22841446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.350385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.44, Y:363.91, Z:22.28 [[ 3.55896319e-02 -9.99366443e-01 -3.00745533e-04 3.68435765e+02] [ 9.99306511e-01 3.55907913e-02 -1.09449988e-02 3.63913990e+02] [ 1.09487683e-02 8.89915095e-05 9.99940056e-01 2.22834820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.380385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:368.44, Y:363.94, Z:22.28 [[ 3.44936684e-02 -9.99404861e-01 -3.33425825e-04 3.68439153e+02] [ 9.99344941e-01 3.44952515e-02 -1.09437988e-02 3.63941185e+02] [ 1.09487873e-02 4.42843570e-05 9.99940059e-01 2.22839328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.410385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:368.45, Y:363.97, Z:22.29 [[ 3.62294915e-02 -9.99343449e-01 -3.06743164e-04 3.68445566e+02] [ 9.99283518e-01 3.62306783e-02 -1.09447772e-02 3.63970905e+02] [ 1.09487050e-02 9.00003265e-05 9.99940057e-01 2.22882194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.440385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.45, Y:364.00, Z:22.29 [[ 3.61973147e-02 -9.99344582e-01 -4.02344831e-04 3.68448308e+02] [ 9.99284685e-01 3.61995502e-02 -1.09412617e-02 3.63998998e+02] [ 1.09486553e-02 -6.01273490e-06 9.99940062e-01 2.22887307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.4703857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.45, Y:364.02, Z:22.28 [[ 3.21803456e-02 -9.99481999e-01 -3.99341956e-04 3.68448190e+02] [ 9.99422110e-01 3.21827890e-02 -1.09413713e-02 3.64023327e+02] [ 1.09485556e-02 -4.70140700e-05 9.99940062e-01 2.22846438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.500385723 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:368.45, Y:364.05, Z:22.29 [[ 3.60887477e-02 -9.99348550e-01 -2.77963128e-04 3.68454863e+02] [ 9.99288612e-01 3.60896277e-02 -1.09457581e-02 3.64054124e+02] [ 1.09486591e-02 1.17253315e-04 9.99940055e-01 2.22887441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.530385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.46, Y:364.08, Z:22.29 [[ 3.62835066e-02 -9.99341458e-01 -3.97769734e-04 3.68456296e+02] [ 9.99281559e-01 3.62856868e-02 -1.09414027e-02 3.64082011e+02] [ 1.09486307e-02 -4.91503428e-07 9.99940062e-01 2.22893821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.560385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.46, Y:364.11, Z:22.29 [[ 3.76760034e-02 -9.99289929e-01 -3.94783192e-04 3.68455880e+02] [ 9.99230027e-01 3.76780675e-02 -1.09415104e-02 3.64109849e+02] [ 1.09486159e-02 1.77531651e-05 9.99940062e-01 2.22896030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.5903857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.46, Y:364.14, Z:22.29 [[ 3.79435540e-02 -9.99279807e-01 -3.91761174e-04 3.68456268e+02] [ 9.99219903e-01 3.79455689e-02 -1.09416186e-02 3.64136716e+02] [ 1.09486042e-02 2.37083348e-05 9.99940062e-01 2.22895998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.620385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.46, Y:364.17, Z:22.29 [[ 3.60940335e-02 -9.99348322e-01 -3.89554668e-04 3.68455354e+02] [ 9.99288421e-01 3.60961352e-02 -1.09416972e-02 3.64165017e+02] [ 1.09486282e-02 5.65251658e-06 9.99940062e-01 2.22882215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.650385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.45, Y:364.19, Z:22.29 [[ 3.36735769e-02 -9.99432806e-01 -3.96212137e-04 3.68454276e+02] [ 9.99372913e-01 3.36758965e-02 -1.09414618e-02 3.64190897e+02] [ 1.09485987e-02 -2.75255212e-05 9.99940062e-01 2.22888563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.680385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.46, Y:364.22, Z:22.29 [[ 3.47740898e-02 -9.99395148e-01 -3.16847441e-04 3.68457860e+02] [ 9.99335223e-01 3.47754745e-02 -1.09442952e-02 3.64219525e+02] [ 1.09486940e-02 6.39410956e-05 9.99940059e-01 2.22915198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.710385723 meters Centerline goodness : 0.996056 Centerline is valid? [True, True] Translation: X:368.46, Y:364.25, Z:22.29 [[ 3.19794632e-02 -9.99488474e-01 -3.23046409e-04 3.68457569e+02] [ 9.99428555e-01 3.19810833e-02 -1.09440843e-02 3.64246865e+02] [ 1.09488175e-02 2.71241342e-05 9.99940060e-01 2.22898718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.740385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:368.46, Y:364.27, Z:22.29 [[ 2.69180809e-02 -9.99637593e-01 -3.15733249e-04 3.68456415e+02] [ 9.99577681e-01 2.69199243e-02 -1.09443321e-02 3.64273728e+02] [ 1.09488653e-02 -2.09994914e-05 9.99940059e-01 2.22919186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.770385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.46, Y:364.30, Z:22.29 [[ 2.20683040e-02 -9.99756404e-01 -3.50534524e-04 3.68456109e+02] [ 9.99696517e-01 2.20708190e-02 -1.09431510e-02 3.64301172e+02] [ 1.09482219e-02 -1.08931359e-04 9.99940061e-01 2.22925285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.800385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.46, Y:364.33, Z:22.29 [[ 1.98333496e-02 -9.99803232e-01 -3.68600365e-04 3.68456613e+02] [ 9.99743360e-01 1.98361961e-02 -1.09425424e-02 3.64328813e+02] [ 1.09477009e-02 -1.51478497e-04 9.99940061e-01 2.22935237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.830385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.46, Y:364.36, Z:22.29 [[ 1.60078650e-02 -9.99871799e-01 -3.65549905e-04 3.68456658e+02] [ 9.99811937e-01 1.60109072e-02 -1.09426444e-02 3.64356218e+02] [ 1.09470943e-02 -1.90312785e-04 9.99940061e-01 2.22926708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.860385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.46, Y:364.38, Z:22.29 [[ 1.44634286e-02 -9.99895334e-01 -3.62336005e-04 3.68457448e+02] [ 9.99835474e-01 1.44665281e-02 -1.09427508e-02 3.64384231e+02] [ 1.09468472e-02 -2.04006697e-04 9.99940061e-01 2.22925852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.890385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.46, Y:364.41, Z:22.29 [[ 1.40057839e-02 -9.99901850e-01 -3.59168597e-04 3.68456292e+02] [ 9.99841990e-01 1.40088761e-02 -1.09428547e-02 3.64411548e+02] [ 1.09468122e-02 -2.05848586e-04 9.99940061e-01 2.22927346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.920385723 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:368.45, Y:364.44, Z:22.29 [[ 1.21165749e-02 -9.99926528e-01 -3.55574211e-04 3.68454911e+02] [ 9.99866673e-01 1.21197410e-02 -1.09429715e-02 3.64440181e+02] [ 1.09464770e-02 -2.22935469e-04 9.99940061e-01 2.22921169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.950385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:368.45, Y:364.47, Z:22.29 [[ 1.57514002e-02 -9.99875877e-01 -3.52405923e-04 3.68454978e+02] [ 9.99816008e-01 1.57543140e-02 -1.09430736e-02 3.64467798e+02] [ 1.09472672e-02 -1.79972353e-04 9.99940061e-01 2.22923180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.980385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:368.45, Y:364.50, Z:22.29 [[ 1.57420640e-02 -9.99876025e-01 -3.49022930e-04 3.68454027e+02] [ 9.99816155e-01 1.57449413e-02 -1.09431815e-02 3.64495922e+02] [ 1.09473201e-02 -1.76690501e-04 9.99940061e-01 2.22932787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.010385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:368.45, Y:364.52, Z:22.29 [[ 1.88871350e-02 -9.99821562e-01 -3.46874201e-04 3.68452713e+02] [ 9.99761682e-01 1.88898005e-02 -1.09432496e-02 3.64522709e+02] [ 1.09478493e-02 -1.40104902e-04 9.99940061e-01 2.22930217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.040385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.45, Y:364.55, Z:22.29 [[ 2.07986677e-02 -9.99783625e-01 -3.44335978e-04 3.68452655e+02] [ 9.99723739e-01 2.08011909e-02 -1.09433294e-02 3.64549638e+02] [ 1.09481242e-02 -1.16634179e-04 9.99940061e-01 2.22940650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.070385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:368.45, Y:364.58, Z:22.29 [[ 2.18033648e-02 -9.99762229e-01 -3.13714542e-04 3.68452310e+02] [ 9.99702327e-01 2.18054927e-02 -1.09442857e-02 3.64578798e+02] [ 1.09485242e-02 -7.49989043e-05 9.99940060e-01 2.22946871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.100385723 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:368.45, Y:364.61, Z:22.29 [[ 2.22212627e-02 -9.99753019e-01 -3.40340829e-04 3.68452749e+02] [ 9.99693128e-01 2.22236569e-02 -1.09434576e-02 3.64606503e+02] [ 1.09483184e-02 -9.70589412e-05 9.99940061e-01 2.22946867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.130385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.45, Y:364.63, Z:22.30 [[ 2.23783903e-02 -9.99749516e-01 -3.37313555e-04 3.68450840e+02] [ 9.99689622e-01 2.23807420e-02 -1.09435509e-02 3.64634810e+02] [ 1.09483591e-02 -9.23098058e-05 9.99940061e-01 2.22964559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.160385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.45, Y:364.66, Z:22.30 [[ 2.20926202e-02 -9.99755872e-01 -3.34183708e-04 3.68451668e+02] [ 9.99695979e-01 2.20949548e-02 -1.09436465e-02 3.64663396e+02] [ 1.09483586e-02 -9.23082829e-05 9.99940061e-01 2.22967677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.190385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:368.45, Y:364.69, Z:22.30 [[ 2.46002233e-02 -9.99697314e-01 -3.31055353e-04 3.68453578e+02] [ 9.99637413e-01 2.46023733e-02 -1.09437411e-02 3.64690649e+02] [ 1.09485734e-02 -6.17168412e-05 9.99940061e-01 2.22951031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.2203857229999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:368.45, Y:364.72, Z:22.30 [[ 2.28483831e-02 -9.99738888e-01 -3.27758458e-04 3.68450679e+02] [ 9.99678990e-01 2.28506020e-02 -1.09438399e-02 3.64718482e+02] [ 1.09484718e-02 -7.76041981e-05 9.99940061e-01 2.22958878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.250385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:368.45, Y:364.74, Z:22.29 [[ 2.20921545e-02 -9.99755886e-01 -3.24576385e-04 3.68448906e+02] [ 9.99695988e-01 2.20943839e-02 -1.09439342e-02 3.64742702e+02] [ 1.09484340e-02 -8.27026244e-05 9.99940061e-01 2.22945399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.280385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.45, Y:364.77, Z:22.30 [[ 2.50124885e-02 -9.99687117e-01 -2.06877353e-04 3.68453072e+02] [ 9.99627177e-01 2.50132543e-02 -1.09473140e-02 3.64773978e+02] [ 1.09490635e-02 6.70193428e-05 9.99940055e-01 2.22962034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.310385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.45, Y:364.80, Z:22.30 [[ 2.41515029e-02 -9.99708260e-01 -3.16068197e-04 3.68453890e+02] [ 9.99648355e-01 2.41535157e-02 -1.09441607e-02 3.64801906e+02] [ 1.09486020e-02 -5.16391255e-05 9.99940061e-01 2.22977978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.3403857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.45, Y:364.83, Z:22.30 [[ 2.30905657e-02 -9.99733328e-01 -3.13099545e-04 3.68454770e+02] [ 9.99673424e-01 2.30926096e-02 -1.09442456e-02 3.64830349e+02] [ 1.09485574e-02 -6.02884726e-05 9.99940061e-01 2.22987390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.370385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.45, Y:364.86, Z:22.30 [[ 1.96670441e-02 -9.99806531e-01 -3.29256053e-04 3.68452048e+02] [ 9.99746641e-01 1.96694700e-02 -1.09437883e-02 3.64855928e+02] [ 1.09481473e-02 -1.13940666e-04 9.99940061e-01 2.22961986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.400385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.45, Y:364.88, Z:22.30 [[ 1.98591791e-02 -9.99802754e-01 -2.58364504e-04 3.68451963e+02] [ 9.99742836e-01 1.98608175e-02 -1.09458160e-02 3.64883170e+02] [ 1.09487883e-02 -4.09231415e-05 9.99940059e-01 2.22960254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.430385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.46, Y:364.91, Z:22.30 [[ 2.22418900e-02 -9.99752594e-01 -2.23619739e-04 3.68455273e+02] [ 9.99692661e-01 2.22430052e-02 -1.09468023e-02 3.64913601e+02] [ 1.09490680e-02 1.99265610e-05 9.99940057e-01 2.22972822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.460385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.45, Y:364.94, Z:22.30 [[ 2.02738731e-02 -9.99794416e-01 -3.10802565e-04 3.68453736e+02] [ 9.99734516e-01 2.02760607e-02 -1.09443265e-02 3.64939987e+02] [ 1.09483784e-02 -8.88361659e-05 9.99940061e-01 2.22964843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.490385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:368.45, Y:364.97, Z:22.29 [[ 1.98394402e-02 -9.99803150e-01 -2.40689679e-04 3.68454483e+02] [ 9.99743226e-01 1.98408863e-02 -1.09462991e-02 3.64968534e+02] [ 1.09489198e-02 -2.34594294e-05 9.99940059e-01 2.22949264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.520385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.45, Y:365.00, Z:22.30 [[ 1.92261970e-02 -9.99815128e-01 -2.52687118e-04 3.68454232e+02] [ 9.99755209e-01 1.92278112e-02 -1.09459635e-02 3.64995720e+02] [ 1.09487985e-02 -4.21760119e-05 9.99940059e-01 2.22956569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.550385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.46, Y:365.02, Z:22.30 [[ 1.82167865e-02 -9.99834032e-01 -2.41187943e-04 3.68455221e+02] [ 9.99774110e-01 1.82183353e-02 -1.09462847e-02 3.65024306e+02] [ 1.09488620e-02 -4.17273294e-05 9.99940059e-01 2.22962184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.580385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.46, Y:365.05, Z:22.30 [[ 1.95748984e-02 -9.99808363e-01 -2.47204013e-04 3.68459179e+02] [ 9.99748441e-01 1.95764316e-02 -1.09461173e-02 3.65053118e+02] [ 1.09488590e-02 -3.28726923e-05 9.99940059e-01 2.22974504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.610385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.46, Y:365.08, Z:22.30 [[ 1.78576828e-02 -9.99840492e-01 -3.04732920e-04 3.68460766e+02] [ 9.99780596e-01 1.78599487e-02 -1.09445155e-02 3.65081114e+02] [ 1.09482123e-02 -1.09222374e-04 9.99940061e-01 2.22985875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.640385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:368.46, Y:365.11, Z:22.30 [[ 1.51637734e-02 -9.99884978e-01 -3.01685228e-04 3.68460974e+02] [ 9.99825086e-01 1.51661673e-02 -1.09445995e-02 3.65111195e+02] [ 1.09479161e-02 -1.35671032e-04 9.99940061e-01 2.22980407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.670385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.46, Y:365.13, Z:22.29 [[ 1.21689740e-02 -9.99925887e-01 -3.68763459e-04 3.68456183e+02] [ 9.99866037e-01 1.21722812e-02 -1.09427415e-02 3.65133418e+02] [ 1.09464192e-02 -2.35552122e-04 9.99940058e-01 2.22948271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.700385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.46, Y:365.16, Z:22.30 [[ 1.66646625e-02 -9.99861112e-01 -2.15442701e-04 3.68461049e+02] [ 9.99801184e-01 1.66660224e-02 -1.09469689e-02 3.65164699e+02] [ 1.09490391e-02 -3.29723257e-05 9.99940057e-01 2.22987145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.730385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.46, Y:365.19, Z:22.30 [[ 1.66333249e-02 -9.99861611e-01 -3.01566485e-04 3.68461944e+02] [ 9.99801716e-01 1.66356295e-02 -1.09445959e-02 3.65192219e+02] [ 1.09480980e-02 -1.19461670e-04 9.99940061e-01 2.22994032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.760385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.46, Y:365.22, Z:22.30 [[ 1.48296504e-02 -9.99889990e-01 -2.98346959e-04 3.68459577e+02] [ 9.99830098e-01 1.48320278e-02 -1.09446837e-02 3.65218246e+02] [ 1.09479047e-02 -1.35990437e-04 9.99940061e-01 2.22971379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.790385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.46, Y:365.25, Z:22.30 [[ 1.76729389e-02 -9.99843794e-01 -2.33528125e-04 3.68462312e+02] [ 9.99783872e-01 1.76744364e-02 -1.09464244e-02 3.65247055e+02] [ 1.09488420e-02 -4.00221635e-05 9.99940059e-01 2.22999093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.820385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.46, Y:365.28, Z:22.30 [[ 1.82646120e-02 -9.99833145e-01 -2.94015609e-04 3.68461871e+02] [ 9.99773243e-01 1.82667362e-02 -1.09447995e-02 3.65275178e+02] [ 1.09483440e-02 -9.40464224e-05 9.99940061e-01 2.22986451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.8503857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.46, Y:365.30, Z:22.30 [[ 1.64930851e-02 -9.99863938e-01 -2.90957876e-04 3.68460290e+02] [ 9.99804038e-01 1.64952820e-02 -1.09448808e-02 3.65301983e+02] [ 1.09481910e-02 -1.10386009e-04 9.99940061e-01 2.22977235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.880385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.46, Y:365.33, Z:22.30 [[ 1.65126482e-02 -9.99863626e-01 -2.48472142e-04 3.68460745e+02] [ 9.99803711e-01 1.65143788e-02 -1.09459964e-02 3.65328413e+02] [ 1.09486071e-02 -6.76759818e-05 9.99940060e-01 2.22972192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.910385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.46, Y:365.36, Z:22.30 [[ 1.56414715e-02 -9.99877638e-01 -2.30598481e-04 3.68460915e+02] [ 9.99817718e-01 1.56430587e-02 -1.09464698e-02 3.65355896e+02] [ 1.09487376e-02 -5.93375520e-05 9.99940059e-01 2.22965274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.940385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.46, Y:365.39, Z:22.30 [[ 1.79920043e-02 -9.99838111e-01 -1.99948238e-04 3.68464412e+02] [ 9.99778178e-01 1.79931151e-02 -1.09472732e-02 3.65385635e+02] [ 1.09490987e-02 -2.94049845e-06 9.99940057e-01 2.22995272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.9703857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.46, Y:365.41, Z:22.30 [[ 1.46353885e-02 -9.99892856e-01 -2.87046140e-04 3.68462741e+02] [ 9.99832959e-01 1.46376539e-02 -1.09449890e-02 3.65411206e+02] [ 1.09480180e-02 -1.26814025e-04 9.99940061e-01 2.22983569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.000385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.46, Y:365.44, Z:22.30 [[ 1.40531245e-02 -9.99901226e-01 -2.19366594e-04 3.68463506e+02] [ 9.99841305e-01 1.40546839e-02 -1.09467401e-02 3.65438770e+02] [ 1.09487419e-02 -6.54958803e-05 9.99940059e-01 2.22995239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.030385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:368.47, Y:365.47, Z:22.30 [[ 1.68440768e-02 -9.99858107e-01 -2.05922267e-04 3.68467687e+02] [ 9.99798178e-01 1.68453217e-02 -1.09470871e-02 3.65469024e+02] [ 1.09490026e-02 -2.14871323e-05 9.99940058e-01 2.23033978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.060385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.47, Y:365.50, Z:22.30 [[ 1.65210717e-02 -9.99863478e-01 -2.83287639e-04 3.68469092e+02] [ 9.99803576e-01 1.65231830e-02 -1.09450847e-02 3.65496675e+02] [ 1.09482712e-02 -1.02407466e-04 9.99940061e-01 2.23045009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.0903857229999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:368.47, Y:365.52, Z:22.30 [[ 1.62002916e-02 -9.99868727e-01 -2.80255915e-04 3.68469759e+02] [ 9.99808825e-01 1.62023889e-02 -1.09451623e-02 3.65523979e+02] [ 1.09482663e-02 -1.02887516e-04 9.99940061e-01 2.23034366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.120385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.47, Y:365.55, Z:22.30 [[ 1.57015654e-02 -9.99876684e-01 -2.77058165e-04 3.68470199e+02] [ 9.99816782e-01 1.57036575e-02 -1.09452432e-02 3.65551632e+02] [ 1.09482444e-02 -1.05149951e-04 9.99940061e-01 2.23033297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.150385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.47, Y:365.58, Z:22.30 [[ 1.19878538e-02 -9.99928106e-01 -2.74025324e-04 3.68467688e+02] [ 9.99868210e-01 1.19901353e-02 -1.09453192e-02 3.65577188e+02] [ 1.09478179e-02 -1.42778323e-04 9.99940061e-01 2.22996121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.180385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.47, Y:365.61, Z:22.30 [[ 1.50872337e-02 -9.99886163e-01 -1.89729224e-04 3.68472414e+02] [ 9.99826232e-01 1.50884067e-02 -1.09473920e-02 3.65607104e+02] [ 1.09490085e-02 -2.45303942e-05 9.99940058e-01 2.23034457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.210385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.47, Y:365.64, Z:22.30 [[ 1.46142286e-02 -9.99893170e-01 -2.70202732e-04 3.68474216e+02] [ 9.99833267e-01 1.46163109e-02 -1.09454054e-02 3.65635383e+02] [ 1.09481855e-02 -1.10199023e-04 9.99940061e-01 2.23043813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.240385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.47, Y:365.66, Z:22.30 [[ 1.43481804e-02 -9.99897024e-01 -2.67168375e-04 3.68473971e+02] [ 9.99837120e-01 1.43502454e-02 -1.09454795e-02 3.65663109e+02] [ 1.09481863e-02 -1.10077146e-04 9.99940061e-01 2.23042296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.270385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.47, Y:365.69, Z:22.30 [[ 1.42118515e-02 -9.99898972e-01 -2.64134735e-04 3.68474253e+02] [ 9.99839067e-01 1.42138915e-02 -1.09455527e-02 3.65691438e+02] [ 1.09482012e-02 -1.08535658e-04 9.99940061e-01 2.23042326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.300385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.48, Y:365.72, Z:22.30 [[ 1.42012011e-02 -9.99899124e-01 -2.61117775e-04 3.68475142e+02] [ 9.99839218e-01 1.42032087e-02 -1.09456246e-02 3.65718323e+02] [ 1.09482292e-02 -1.05634775e-04 9.99940061e-01 2.23044934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.330385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.48, Y:365.75, Z:22.31 [[ 1.40900673e-02 -9.99900697e-01 -2.57940747e-04 3.68476203e+02] [ 9.99840790e-01 1.40920468e-02 -1.09456995e-02 3.65747048e+02] [ 1.09482475e-02 -1.03674037e-04 9.99940061e-01 2.23061793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.360385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.48, Y:365.77, Z:22.31 [[ 1.43106454e-02 -9.99897560e-01 -2.75020446e-04 3.68476488e+02] [ 9.99837659e-01 1.43127985e-02 -1.09453011e-02 3.65774717e+02] [ 1.09481162e-02 -1.18341477e-04 9.99940061e-01 2.23060369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.390385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.48, Y:365.80, Z:22.31 [[ 1.37747116e-02 -9.99905092e-01 -2.52216256e-04 3.68476819e+02] [ 9.99845184e-01 1.37766473e-02 -1.09458266e-02 3.65802578e+02] [ 1.09482624e-02 -1.01401605e-04 9.99940061e-01 2.23066280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.420385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.48, Y:365.83, Z:22.31 [[ 1.17180920e-02 -9.99931310e-01 -2.49250997e-04 3.68476056e+02] [ 9.99871405e-01 1.17201185e-02 -1.09458941e-02 3.65830826e+02] [ 1.09480635e-02 -1.20953950e-04 9.99940061e-01 2.23082770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.450385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.48, Y:365.86, Z:22.31 [[ 1.32315071e-02 -9.99912430e-01 -2.46075535e-04 3.68478937e+02] [ 9.99852521e-01 1.32334081e-02 -1.09459655e-02 3.65857445e+02] [ 1.09482634e-02 -1.01207624e-04 9.99940061e-01 2.23077038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.480385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.48, Y:365.88, Z:22.31 [[ 1.23745192e-02 -9.99923403e-01 -2.42736433e-04 3.68478887e+02] [ 9.99863495e-01 1.23764350e-02 -1.09460395e-02 3.65884779e+02] [ 1.09482053e-02 -1.07251322e-04 9.99940061e-01 2.23066253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.510385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.48, Y:365.91, Z:22.31 [[ 1.31397777e-02 -9.99913647e-01 -2.14089373e-04 3.68479097e+02] [ 9.99853727e-01 1.31413341e-02 -1.09466693e-02 3.65912582e+02] [ 1.09485374e-02 -7.02212559e-05 9.99940061e-01 2.23060506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.540385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:368.48, Y:365.94, Z:22.31 [[ 1.58842856e-02 -9.99873818e-01 -1.94843032e-04 3.68479687e+02] [ 9.99813889e-01 1.58854668e-02 -1.09470864e-02 3.65941264e+02] [ 1.09488003e-02 -2.09201221e-05 9.99940060e-01 2.23058963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.570385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.48, Y:365.97, Z:22.31 [[ 1.67711854e-02 -9.99859326e-01 -2.36802075e-04 3.68480048e+02] [ 9.99799408e-01 1.67727728e-02 -1.09461787e-02 3.65968171e+02] [ 1.09486107e-02 -5.31741814e-05 9.99940061e-01 2.23055032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.6003857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.48, Y:365.99, Z:22.30 [[ 1.54742569e-02 -9.99880239e-01 -2.33558135e-04 3.68478940e+02] [ 9.99820322e-01 1.54758865e-02 -1.09462480e-02 3.65994938e+02] [ 1.09485515e-02 -6.41311171e-05 9.99940061e-01 2.23045987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.630385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.48, Y:366.02, Z:22.31 [[ 1.79142973e-02 -9.99839508e-01 -1.89460956e-04 3.68482209e+02] [ 9.99779577e-01 1.79152979e-02 -1.09471735e-02 3.66024172e+02] [ 1.09488108e-02 6.69172603e-06 9.99940060e-01 2.23056716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.660385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.48, Y:366.05, Z:22.31 [[ 1.81439739e-02 -9.99835358e-01 -2.29391173e-04 3.68483047e+02] [ 9.99775436e-01 1.81453979e-02 -1.09463367e-02 3.66052523e+02] [ 1.09486969e-02 -3.07296123e-05 9.99940061e-01 2.23073690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.690385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.48, Y:366.08, Z:22.31 [[ 1.50731669e-02 -9.99886368e-01 -2.26421937e-04 3.68480321e+02] [ 9.99826449e-01 1.50747424e-02 -1.09463981e-02 3.66077620e+02] [ 1.09485675e-02 -6.13857555e-05 9.99940061e-01 2.23077627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.7203857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.48, Y:366.11, Z:22.31 [[ 1.55957485e-02 -9.99878370e-01 -1.31113023e-04 3.68482196e+02] [ 9.99818429e-01 1.55962492e-02 -1.09483256e-02 3.66106699e+02] [ 1.09490388e-02 3.96581154e-05 9.99940057e-01 2.23090139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.750385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.48, Y:366.13, Z:22.31 [[ 1.47098704e-02 -9.99891786e-01 -1.88121261e-04 3.68481873e+02] [ 9.99831858e-01 1.47110484e-02 -1.09471716e-02 3.66133194e+02] [ 1.09487545e-02 -2.70581545e-05 9.99940060e-01 2.23101252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.780385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.49, Y:366.16, Z:22.31 [[ 1.57712218e-02 -9.99875615e-01 -1.50467746e-04 3.68485280e+02] [ 9.99815678e-01 1.57719239e-02 -1.09479200e-02 3.66163076e+02] [ 1.09489314e-02 2.22220623e-05 9.99940058e-01 2.23111173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.810385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.49, Y:366.19, Z:22.31 [[ 1.49548441e-02 -9.99888147e-01 -2.17204193e-04 3.68486314e+02] [ 9.99828225e-01 1.49563258e-02 -1.09465958e-02 3.66189799e+02] [ 1.09486200e-02 -5.34622494e-05 9.99940061e-01 2.23111188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.8403857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.49, Y:366.22, Z:22.31 [[ 1.16990606e-02 -9.99931541e-01 -2.14041033e-04 3.68485815e+02] [ 9.99871624e-01 1.17007028e-02 -1.09466577e-02 3.66217798e+02] [ 1.09484127e-02 -8.59479440e-05 9.99940061e-01 2.23112589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.870385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.49, Y:366.24, Z:22.31 [[ 9.73955674e-03 -9.99952547e-01 -2.11006379e-04 3.68485356e+02] [ 9.99892633e-01 9.74128311e-03 -1.09467162e-02 3.66243914e+02] [ 1.09482522e-02 -1.04367560e-04 9.99940061e-01 2.23104116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.900385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:368.49, Y:366.27, Z:22.31 [[ 9.31133079e-03 -9.99956637e-01 -1.51622103e-04 3.68488455e+02] [ 9.99896706e-01 9.31243274e-03 -1.09478365e-02 3.66272872e+02] [ 1.09487737e-02 -4.96675145e-05 9.99940059e-01 2.23098815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.930385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.49, Y:366.30, Z:22.31 [[ 4.20719629e-03 -9.99991128e-01 -2.06801436e-04 3.68486197e+02] [ 9.99931223e-01 4.20920809e-03 -1.09467941e-02 3.66298623e+02] [ 1.09475674e-02 -1.60731902e-04 9.99940061e-01 2.23090922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.960385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.49, Y:366.33, Z:22.31 [[ 3.63523527e-03 -9.99993384e-01 -1.32903810e-04 3.68487632e+02] [ 9.99933455e-01 3.63647248e-03 -1.09481742e-02 3.66327547e+02] [ 1.09485851e-02 -9.30957767e-05 9.99940058e-01 2.23097325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.990385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.49, Y:366.36, Z:22.31 [[ 4.79936573e-03 -9.99988472e-01 -1.49865684e-04 3.68491035e+02] [ 9.99928546e-01 4.80071885e-03 -1.09478610e-02 3.66356755e+02] [ 1.09484542e-02 -9.73121872e-05 9.99940059e-01 2.23101391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.020385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.49, Y:366.38, Z:22.31 [[ 2.97992875e-03 -9.99995540e-01 -2.01005821e-04 3.68489751e+02] [ 9.99935634e-01 2.98195064e-03 -1.09469220e-02 3.66384960e+02] [ 1.09474725e-02 -1.68371835e-04 9.99940060e-01 2.23094352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.050385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.49, Y:366.41, Z:22.31 [[ 4.19821704e-03 -9.99991168e-01 -1.97992454e-04 3.68491329e+02] [ 9.99931259e-01 4.20013296e-03 -1.09469765e-02 3.66413302e+02] [ 1.09477114e-02 -1.52021060e-04 9.99940060e-01 2.23099817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.080385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.49, Y:366.44, Z:22.31 [[ 3.92414352e-03 -9.99992282e-01 -1.95000507e-04 3.68491776e+02] [ 9.99932372e-01 3.92604312e-03 -1.09470298e-02 3.66441891e+02] [ 1.09477108e-02 -1.52029603e-04 9.99940060e-01 2.23102935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.110385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.49, Y:366.47, Z:22.31 [[ 2.96828977e-03 -9.99995576e-01 -1.91999996e-04 3.68491043e+02] [ 9.99935668e-01 2.97021379e-03 -1.09470824e-02 3.66470281e+02] [ 1.09476042e-02 -1.59493532e-04 9.99940060e-01 2.23124972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.140385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.49, Y:366.50, Z:22.31 [[ 3.17237313e-03 -9.99994950e-01 -1.88832166e-04 3.68492016e+02] [ 9.99935040e-01 3.17425026e-03 -1.09471370e-02 3.66497043e+02] [ 1.09476811e-02 -1.54091496e-04 9.99940060e-01 2.23127504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.170385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.49, Y:366.52, Z:22.31 [[ 2.31097662e-03 -9.99997313e-01 -1.85502710e-04 3.68491750e+02] [ 9.99937403e-01 2.31286891e-03 -1.09471934e-02 3.66524508e+02] [ 1.09475931e-02 -1.60192390e-04 9.99940060e-01 2.23125765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.200385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.49, Y:366.55, Z:22.31 [[ 3.12655116e-03 -9.99995096e-01 -1.82343482e-04 3.68492264e+02] [ 9.99935184e-01 3.12836001e-03 -1.09472461e-02 3.66551147e+02] [ 1.09477628e-02 -1.48104538e-04 9.99940061e-01 2.23128413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.230385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:368.49, Y:366.58, Z:22.31 [[ 3.21907346e-03 -9.99994803e-01 -1.79217443e-04 3.68492538e+02] [ 9.99934889e-01 3.22084255e-03 -1.09472972e-02 3.66579163e+02] [ 1.09478176e-02 -1.43965621e-04 9.99940061e-01 2.23127961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.260385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.49, Y:366.61, Z:22.31 [[ 1.83006969e-03 -9.99998310e-01 -1.76284228e-04 3.68491239e+02] [ 9.99938398e-01 1.83188990e-03 -1.09473445e-02 3.66607306e+02] [ 1.09476489e-02 -1.56238965e-04 9.99940061e-01 2.23138905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.290385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.49, Y:366.63, Z:22.31 [[ 2.82191210e-03 -9.99996003e-01 -1.73012348e-04 3.68492250e+02] [ 9.99936089e-01 2.82363707e-03 -1.09473962e-02 3.66634837e+02] [ 1.09478410e-02 -1.42108701e-04 9.99940061e-01 2.23136431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.320385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.49, Y:366.66, Z:22.31 [[ 2.60827527e-03 -9.99996584e-01 -1.70067163e-04 3.68492028e+02] [ 9.99936669e-01 2.60998080e-03 -1.09474419e-02 3.66662451e+02] [ 1.09478484e-02 -1.41502451e-04 9.99940061e-01 2.23136465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.3503857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.49, Y:366.69, Z:22.31 [[ 8.95983186e-04 -9.99999585e-01 -1.66848797e-04 3.68490626e+02] [ 9.99939671e-01 8.97756081e-04 -1.09474910e-02 3.66690380e+02] [ 1.09476362e-02 -1.57029964e-04 9.99940061e-01 2.23132264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.380385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.49, Y:366.72, Z:22.31 [[ 4.12859397e-05 -9.99999986e-01 -1.63691176e-04 3.68491554e+02] [ 9.99940073e-01 4.30754811e-05 -1.09475382e-02 3.66718107e+02] [ 1.09475451e-02 -1.63229387e-04 9.99940061e-01 2.23145520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.410385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:368.49, Y:366.75, Z:22.31 [[-6.50272797e-04 -9.99999776e-01 -1.60549881e-04 3.68492204e+02] [ 9.99939863e-01 -6.48476205e-04 -1.09475843e-02 3.66746657e+02] [ 1.09474777e-02 -1.67659142e-04 9.99940061e-01 2.23132428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.440385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.49, Y:366.77, Z:22.31 [[-2.22298383e-03 -9.99997515e-01 -1.67743583e-04 3.68491490e+02] [ 9.99937608e-01 -2.22101428e-03 -1.09474798e-02 3.66773682e+02] [ 1.09470801e-02 -1.92069187e-04 9.99940060e-01 2.23126716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.4703857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.49, Y:366.80, Z:22.31 [[-3.00542936e-03 -9.99995470e-01 -1.65468147e-04 3.68490664e+02] [ 9.99935564e-01 -3.00343785e-03 -1.09475125e-02 3.66800720e+02] [ 1.09469660e-02 -1.98359460e-04 9.99940061e-01 2.23145563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.500385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.49, Y:366.83, Z:22.31 [[-3.10976352e-03 -9.99995153e-01 -1.54755959e-04 3.68491831e+02] [ 9.99935243e-01 -3.10788299e-03 -1.09476640e-02 3.66831089e+02] [ 1.09471299e-02 -1.88790583e-04 9.99940061e-01 2.23131175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.530385723 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:368.49, Y:366.86, Z:22.31 [[-6.77412851e-03 -9.99977034e-01 -2.06453604e-04 3.68490496e+02] [ 9.99917153e-01 -6.77146277e-03 -1.09469372e-02 3.66858265e+02] [ 1.09452878e-02 -2.80592460e-04 9.99940059e-01 2.23149165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.560385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.49, Y:366.89, Z:22.32 [[-1.00261817e-02 -9.99949724e-01 -1.56181252e-04 3.68489365e+02] [ 9.99889830e-01 -1.00238712e-02 -1.09476222e-02 3.66885669e+02] [ 1.09455063e-02 -2.65926894e-04 9.99940061e-01 2.23173095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.5903857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.49, Y:366.91, Z:22.31 [[-1.04365478e-02 -9.99945527e-01 -1.47419985e-04 3.68489688e+02] [ 9.99885630e-01 -1.04343086e-02 -1.09477402e-02 3.66912879e+02] [ 1.09456056e-02 -2.61659738e-04 9.99940061e-01 2.23140825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.620385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.49, Y:366.94, Z:22.32 [[-9.85171866e-03 -9.99951461e-01 -1.37073034e-04 3.68489534e+02] [ 9.99891559e-01 -9.84962776e-03 -1.09478770e-02 3.66941393e+02] [ 1.09459955e-02 -2.44913574e-04 9.99940061e-01 2.23173307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.650385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.49, Y:366.97, Z:22.32 [[-9.47845215e-03 -9.99955068e-01 -1.43044223e-04 3.68488666e+02] [ 9.99895167e-01 -9.47631827e-03 -1.09477990e-02 3.66967517e+02] [ 1.09459516e-02 -2.46797417e-04 9.99940061e-01 2.23172406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.680385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.48, Y:366.99, Z:22.32 [[-1.04159345e-02 -9.99945743e-01 -1.40568350e-04 3.68483556e+02] [ 9.99885843e-01 -1.04137715e-02 -1.09478308e-02 3.66992196e+02] [ 1.09457729e-02 -2.54584192e-04 9.99940061e-01 2.23166954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.710385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.49, Y:367.02, Z:22.32 [[-6.62897131e-03 -9.99978027e-01 -4.40483444e-05 3.68485789e+02] [ 9.99918090e-01 -6.62809168e-03 -1.09490154e-02 3.67022334e+02] [ 1.09484829e-02 -1.16625446e-04 9.99940057e-01 2.23171461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.740385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.48, Y:367.05, Z:22.32 [[-3.90375597e-03 -9.99992371e-01 -1.35106477e-04 3.68483335e+02] [ 9.99932457e-01 -3.90204293e-03 -1.09478918e-02 3.67049008e+02] [ 1.09472810e-02 -1.77835250e-04 9.99940061e-01 2.23175572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.770385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:368.48, Y:367.08, Z:22.32 [[-4.04321922e-03 -9.99991821e-01 -1.04953247e-04 3.68481638e+02] [ 9.99931897e-01 -4.04182787e-03 -1.09482573e-02 3.67078514e+02] [ 1.09477435e-02 -1.49212303e-04 9.99940061e-01 2.23161063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.800385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.48, Y:367.11, Z:22.32 [[-4.54972146e-03 -9.99989641e-01 -1.31559769e-04 3.68479371e+02] [ 9.99929727e-01 -4.54800854e-03 -1.09479376e-02 3.67106872e+02] [ 1.09472258e-02 -1.81360591e-04 9.99940061e-01 2.23163805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.830385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.48, Y:367.13, Z:22.32 [[-5.65468236e-03 -9.99984004e-01 -1.28583102e-04 3.68478549e+02] [ 9.99924090e-01 -5.65293581e-03 -1.09479725e-02 3.67134120e+02] [ 1.09470705e-02 -1.90480648e-04 9.99940061e-01 2.23166567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.860385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:368.48, Y:367.16, Z:22.32 [[-7.95414966e-03 -9.99968357e-01 -1.25445549e-04 3.68475892e+02] [ 9.99908447e-01 -7.95229968e-03 -1.09480085e-02 3.67162023e+02] [ 1.09466645e-02 -2.12516162e-04 9.99940061e-01 2.23173365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.890385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.47, Y:367.19, Z:22.32 [[-9.13459562e-03 -9.99958271e-01 -1.22449414e-04 3.68474438e+02] [ 9.99898362e-01 -9.13270771e-03 -1.09480420e-02 3.67189288e+02] [ 1.09464669e-02 -2.22442905e-04 9.99940061e-01 2.23176928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.920385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.47, Y:367.22, Z:22.32 [[-1.10669448e-02 -9.99938752e-01 -1.20263677e-04 3.68472090e+02] [ 9.99878846e-01 -1.10649651e-02 -1.09480660e-02 3.67217675e+02] [ 1.09460648e-02 -2.41410750e-04 9.99940061e-01 2.23187392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.950385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:368.47, Y:367.25, Z:22.32 [[-1.19803134e-02 -9.99928227e-01 -1.17289097e-04 3.68471274e+02] [ 9.99868321e-01 -1.19783115e-02 -1.09480979e-02 3.67245316e+02] [ 1.09459072e-02 -2.48435297e-04 9.99940061e-01 2.23193542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.980385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:368.47, Y:367.27, Z:22.32 [[-1.37463267e-02 -9.99905508e-01 -1.14275412e-04 3.68468674e+02] [ 9.99845605e-01 -1.37442520e-02 -1.09481293e-02 3.67272067e+02] [ 1.09455242e-02 -2.64754332e-04 9.99940061e-01 2.23194937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.010385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:368.47, Y:367.30, Z:22.32 [[-1.44491413e-02 -9.99895600e-01 -1.11097670e-04 3.68467824e+02] [ 9.99835697e-01 -1.44470592e-02 -1.09481616e-02 3.67300320e+02] [ 1.09454136e-02 -2.69270950e-04 9.99940061e-01 2.23202276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.040385723 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:368.47, Y:367.33, Z:22.32 [[-1.50232647e-02 -9.99887139e-01 -1.08069845e-04 3.68465383e+02] [ 9.99827236e-01 -1.50211813e-02 -1.09481915e-02 3.67327852e+02] [ 1.09453325e-02 -2.72528752e-04 9.99940061e-01 2.23201078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.070385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.46, Y:367.36, Z:22.32 [[-1.52839741e-02 -9.99883188e-01 -1.04868823e-04 3.68463569e+02] [ 9.99823284e-01 -1.52819102e-02 -1.09482221e-02 3.67355877e+02] [ 1.09453406e-02 -2.72182635e-04 9.99940061e-01 2.23201528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.1003857229999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:368.46, Y:367.38, Z:22.32 [[-1.54937492e-02 -9.99879960e-01 -1.01874065e-04 3.68460120e+02] [ 9.99820055e-01 -1.54917055e-02 -1.09482500e-02 3.67382510e+02] [ 1.09453576e-02 -2.71485173e-04 9.99940061e-01 2.23197017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.130385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:368.46, Y:367.41, Z:22.32 [[-1.68539693e-02 -9.99857957e-01 -9.87168794e-05 3.68458157e+02] [ 9.99798054e-01 -1.68518786e-02 -1.09482785e-02 3.67410117e+02] [ 1.09450598e-02 -2.83218893e-04 9.99940061e-01 2.23207345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.160385723 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:368.46, Y:367.44, Z:22.32 [[-1.80058946e-02 -9.99837876e-01 -9.57820313e-05 3.68456711e+02] [ 9.99777975e-01 -1.80037670e-02 -1.09483041e-02 3.67438380e+02] [ 1.09448047e-02 -2.92894776e-04 9.99940061e-01 2.23211729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.190385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:368.45, Y:367.47, Z:22.32 [[-2.02371898e-02 -9.99795203e-01 -9.28614445e-05 3.68452388e+02] [ 9.99735305e-01 -2.02349605e-02 -1.09483289e-02 3.67466456e+02] [ 1.09442077e-02 -3.14400274e-04 9.99940061e-01 2.23214822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.2203857229999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:368.45, Y:367.49, Z:22.32 [[-2.12675929e-02 -9.99773815e-01 -8.99045694e-05 3.68450798e+02] [ 9.99713919e-01 -2.12653342e-02 -1.09483532e-02 3.67494388e+02] [ 1.09439650e-02 -3.22723968e-04 9.99940061e-01 2.23221089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.250385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.45, Y:367.52, Z:22.32 [[-1.99147243e-02 -9.99801678e-01 -8.69309455e-05 3.68450832e+02] [ 9.99741778e-01 -1.99125792e-02 -1.09483768e-02 3.67524478e+02] [ 1.09444745e-02 -3.04942404e-04 9.99940061e-01 2.23216046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.280385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.45, Y:367.55, Z:22.32 [[-2.21712321e-02 -9.99754177e-01 -1.50995199e-04 3.68446885e+02] [ 9.99694310e-01 -2.21682510e-02 -1.09478713e-02 3.67549292e+02] [ 1.09418328e-02 -3.93676837e-04 9.99940059e-01 2.23227845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.310385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.44, Y:367.58, Z:22.32 [[-2.21796788e-02 -9.99753997e-01 -8.22363175e-05 3.68442212e+02] [ 9.99694100e-01 -2.21774494e-02 -1.09483878e-02 3.67576726e+02] [ 1.09438707e-02 -3.25042886e-04 9.99940061e-01 2.23221603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.3403857229999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:368.44, Y:367.61, Z:22.32 [[-2.19971897e-02 -9.99758029e-01 -7.89882980e-05 3.68440360e+02] [ 9.99698130e-01 -2.19950067e-02 -1.09484113e-02 3.67605243e+02] [ 1.09440247e-02 -3.19798733e-04 9.99940061e-01 2.23223902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.370385723 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:368.44, Y:367.63, Z:22.32 [[-2.02013670e-02 -9.99795929e-01 -7.60794768e-05 3.68437552e+02] [ 9.99736025e-01 -2.01993235e-02 -1.09484315e-02 3.67633353e+02] [ 1.09446605e-02 -2.97232676e-04 9.99940061e-01 2.23227157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.400385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.44, Y:367.66, Z:22.32 [[-1.90576362e-02 -9.99818384e-01 -7.30814651e-05 3.68436074e+02] [ 9.99758477e-01 -1.90556940e-02 -1.09484515e-02 3.67661108e+02] [ 1.09450705e-02 -2.81715420e-04 9.99940061e-01 2.23229100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.430385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.43, Y:367.69, Z:22.32 [[-1.44946003e-02 -9.99894945e-01 -7.00873635e-05 3.68434279e+02] [ 9.99835029e-01 -1.44929643e-02 -1.09484707e-02 3.67691338e+02] [ 1.09463047e-02 -2.28769507e-04 9.99940061e-01 2.23226265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.460385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.43, Y:367.72, Z:22.32 [[-1.30740516e-02 -9.99914526e-01 -1.04724886e-04 3.68431250e+02] [ 9.99854617e-01 -1.30721216e-02 -1.09482555e-02 3.67717812e+02] [ 1.09459507e-02 -2.47847717e-04 9.99940061e-01 2.23230212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.490385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.43, Y:367.75, Z:22.32 [[-7.21411776e-03 -9.99973976e-01 -6.37070775e-05 3.68429082e+02] [ 9.99914048e-01 -7.21298791e-03 -1.09484942e-02 3.67748154e+02] [ 1.09477497e-02 -1.42685328e-04 9.99940061e-01 2.23226136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.520385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.43, Y:367.77, Z:22.32 [[-5.84433094e-03 -9.99982915e-01 -1.12985317e-04 3.68426531e+02] [ 9.99922997e-01 -5.84274374e-03 -1.09482124e-02 3.67774092e+02] [ 1.09473653e-02 -1.76961593e-04 9.99940060e-01 2.23230421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.550385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.42, Y:367.80, Z:22.32 [[-2.95368108e-03 -9.99995636e-01 -5.88460760e-05 3.68424335e+02] [ 9.99935703e-01 -2.95285978e-03 -1.09485035e-02 3.67802565e+02] [ 1.09482819e-02 -9.11806799e-05 9.99940062e-01 2.23235793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.580385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.42, Y:367.83, Z:22.32 [[-2.36139912e-03 -9.99997210e-01 -5.58490947e-05 3.68423131e+02] [ 9.99937277e-01 -2.36064612e-03 -1.09485187e-02 3.67831094e+02] [ 1.09483564e-02 -8.16994141e-05 9.99940062e-01 2.23241187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.610385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.42, Y:367.86, Z:22.32 [[-1.70480289e-03 -9.99998545e-01 -5.27716661e-05 3.68421280e+02] [ 9.99938611e-01 -1.70412295e-03 -1.09485336e-02 3.67857721e+02] [ 1.09484277e-02 -7.14335183e-05 9.99940062e-01 2.23237323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.640385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.42, Y:367.89, Z:22.32 [[-2.38727770e-03 -9.99997149e-01 -4.95260787e-05 3.68420848e+02] [ 9.99937215e-01 -2.38659238e-03 -1.09485483e-02 3.67885396e+02] [ 1.09483988e-02 -7.56601942e-05 9.99940062e-01 2.23238530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.670385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.42, Y:367.91, Z:22.32 [[-4.22974089e-03 -9.99991054e-01 -4.64761986e-05 3.68420760e+02] [ 9.99931120e-01 -4.22897853e-03 -1.09485612e-02 3.67913083e+02] [ 1.09482667e-02 -9.27825743e-05 9.99940062e-01 2.23237925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.700385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.42, Y:367.94, Z:22.32 [[-5.13276071e-03 -9.99986826e-01 -4.34450410e-05 3.68422200e+02] [ 9.99926893e-01 -5.13197741e-03 -1.09485732e-02 3.67943084e+02] [ 1.09482060e-02 -9.96382713e-05 9.99940062e-01 2.23230073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.730385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.42, Y:367.97, Z:22.32 [[-9.75311030e-03 -9.99952433e-01 -8.94827551e-05 3.68420957e+02] [ 9.99892514e-01 -9.75154614e-03 -1.09483955e-02 3.67968594e+02] [ 1.09470022e-02 -1.96254046e-04 9.99940061e-01 2.23242587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.760385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.42, Y:368.00, Z:22.32 [[-1.28354818e-02 -9.99917621e-01 -3.90733773e-05 3.68423783e+02] [ 9.99857695e-01 -1.28342847e-02 -1.09485755e-02 3.67999110e+02] [ 1.09471720e-02 -1.79598058e-04 9.99940062e-01 2.23239700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.790385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:368.42, Y:368.03, Z:22.32 [[-1.50073317e-02 -9.99887380e-01 -8.96962705e-05 3.68424723e+02] [ 9.99827470e-01 -1.50054504e-02 -1.09484098e-02 3.68028059e+02] [ 1.09458309e-02 -2.53987214e-04 9.99940060e-01 2.23245991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.820385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.42, Y:368.05, Z:22.32 [[-1.88648069e-02 -9.99822039e-01 -9.62638221e-05 3.68423949e+02] [ 9.99762139e-01 -1.88626226e-02 -1.09483896e-02 3.68052954e+02] [ 1.09446255e-02 -3.02780181e-04 9.99940060e-01 2.23248167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.8503857229999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:368.42, Y:368.08, Z:22.32 [[-1.94684495e-02 -9.99810471e-01 -2.88739395e-05 3.68424049e+02] [ 9.99750552e-01 -1.94669665e-02 -1.09485674e-02 3.68081465e+02] [ 1.09459302e-02 -2.42018368e-04 9.99940062e-01 2.23247753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.880385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.42, Y:368.11, Z:22.32 [[-1.90946823e-02 -9.99817680e-01 -2.59680919e-05 3.68424563e+02] [ 9.99757759e-01 -1.90932535e-02 -1.09485743e-02 3.68107436e+02] [ 1.09460823e-02 -2.35021348e-04 9.99940062e-01 2.23244701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.910385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.43, Y:368.14, Z:22.33 [[-1.87471016e-02 -9.99824257e-01 -2.25405422e-05 3.68425151e+02] [ 9.99764335e-01 -1.87457312e-02 -1.09485813e-02 3.68135500e+02] [ 1.09462347e-02 -2.27789397e-04 9.99940062e-01 2.23256562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.940385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.43, Y:368.16, Z:22.33 [[-1.71530225e-02 -9.99852876e-01 -1.94784373e-05 3.68427087e+02] [ 9.99792951e-01 -1.71517811e-02 -1.09485868e-02 3.68162069e+02] [ 1.09466419e-02 -2.07275760e-04 9.99940062e-01 2.23254442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.9703857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.43, Y:368.19, Z:22.33 [[-1.74245052e-02 -9.99848182e-01 -1.72418338e-05 3.68427068e+02] [ 9.99788257e-01 -1.74232721e-02 -1.09485903e-02 3.68190639e+02] [ 1.09466277e-02 -2.08011952e-04 9.99940062e-01 2.23257563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.000385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.43, Y:368.22, Z:22.33 [[-1.52118686e-02 -9.99884293e-01 -1.42688569e-05 3.68429094e+02] [ 9.99824365e-01 -1.52108006e-02 -1.09485942e-02 3.68220081e+02] [ 1.09471103e-02 -1.80814927e-04 9.99940062e-01 2.23253507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.030385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.43, Y:368.25, Z:22.33 [[-1.45871875e-02 -9.99893601e-01 -4.14427002e-05 3.68428709e+02] [ 9.99833677e-01 -1.45858595e-02 -1.09485624e-02 3.68246622e+02] [ 1.09467930e-02 -2.01144541e-04 9.99940062e-01 2.23267138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.060385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.43, Y:368.27, Z:22.33 [[-1.41800360e-02 -9.99899458e-01 -9.97264384e-06 3.68429644e+02] [ 9.99839528e-01 -1.41790769e-02 -1.09485911e-02 3.68274339e+02] [ 1.09473489e-02 -1.65222459e-04 9.99940062e-01 2.23269121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.0903857229999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:368.43, Y:368.30, Z:22.33 [[-1.28917907e-02 -9.99916897e-01 -6.99335634e-06 3.68433175e+02] [ 9.99856966e-01 -1.28909414e-02 -1.09485930e-02 3.68303849e+02] [ 1.09475930e-02 -1.48139326e-04 9.99940062e-01 2.23273498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.120385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:368.43, Y:368.33, Z:22.33 [[-1.28821631e-02 -9.99917021e-01 -3.69359784e-05 3.68433653e+02] [ 9.99857094e-01 -1.28809866e-02 -1.09485772e-02 3.68329901e+02] [ 1.09471929e-02 -1.77972056e-04 9.99940062e-01 2.23288260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.150385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.43, Y:368.36, Z:22.33 [[-1.23342623e-02 -9.99923930e-01 -2.28707746e-06 3.68434401e+02] [ 9.99863997e-01 -1.23334980e-02 -1.09485844e-02 3.68356586e+02] [ 1.09477233e-02 -1.37329478e-04 9.99940062e-01 2.23291363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.180385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.43, Y:368.35, Z:22.33 [[-1.18730515e-02 -9.99929513e-01 8.58743450e-07 3.68434849e+02] [ 9.99869579e-01 -1.18723492e-02 -1.09485842e-02 3.68354978e+02] [ 1.09478226e-02 -1.29134472e-04 9.99940062e-01 2.23298530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.210385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.44, Y:368.35, Z:22.33 [[-1.06792001e-02 -9.99942976e-01 2.09487950e-06 3.68437304e+02] [ 9.99883041e-01 -1.06785830e-02 -1.09485839e-02 3.68354901e+02] [ 1.09479820e-02 -1.14827484e-04 9.99940062e-01 2.23308173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.240385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.44, Y:368.36, Z:22.33 [[-1.03909800e-02 -9.99946012e-01 5.56393329e-06 3.68438772e+02] [ 9.99886077e-01 -1.03904181e-02 -1.09485822e-02 3.68355698e+02] [ 1.09480489e-02 -1.08203199e-04 9.99940062e-01 2.23312617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.270385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.44, Y:368.35, Z:22.33 [[-9.77145478e-03 -9.99952258e-01 9.53967099e-06 3.68441064e+02] [ 9.99892323e-01 -9.77097354e-03 -1.09485787e-02 3.68354188e+02] [ 1.09481492e-02 -9.74448978e-05 9.99940062e-01 2.23315558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.300385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.44, Y:368.35, Z:22.33 [[-1.05523216e-02 -9.99944323e-01 1.35210462e-05 3.68444081e+02] [ 9.99884387e-01 -1.05518371e-02 -1.09485738e-02 3.68348587e+02] [ 1.09481069e-02 -1.02013388e-04 9.99940062e-01 2.23308565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.330385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.45, Y:368.34, Z:22.33 [[-1.17467408e-02 -9.99931005e-01 1.74986261e-05 3.68446043e+02] [ 9.99871069e-01 -1.17462283e-02 -1.09485674e-02 3.68344769e+02] [ 1.09480176e-02 -1.11113614e-04 9.99940063e-01 2.23304177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.360385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.45, Y:368.35, Z:22.33 [[-1.41410283e-02 -9.99900010e-01 2.14705733e-05 3.68448850e+02] [ 9.99840076e-01 -1.41404158e-02 -1.09485596e-02 3.68346192e+02] [ 1.09477685e-02 -1.33356752e-04 9.99940063e-01 2.23315216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.390385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.45, Y:368.34, Z:22.33 [[-1.52095441e-02 -9.99884328e-01 2.54450398e-05 3.68449948e+02] [ 9.99824394e-01 -1.52089111e-02 -1.09485504e-02 3.68339082e+02] [ 1.09476709e-02 -1.41081889e-04 9.99940063e-01 2.23320003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.420385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.45, Y:368.34, Z:22.33 [[-1.58772711e-02 -9.99873948e-01 2.94182410e-05 3.68451717e+02] [ 9.99814014e-01 -1.58766415e-02 -1.09485397e-02 3.68342268e+02] [ 1.09476267e-02 -1.44420164e-04 9.99940063e-01 2.23313127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.450385723 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:368.45, Y:368.34, Z:22.33 [[-1.66959189e-02 -9.99860613e-01 3.33926982e-05 3.68454037e+02] [ 9.99800679e-01 -1.66952838e-02 -1.09485276e-02 3.68338567e+02] [ 1.09475590e-02 -1.49409687e-04 9.99940063e-01 2.23306283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.480385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.46, Y:368.33, Z:22.33 [[-1.72437566e-02 -9.99851315e-01 3.73727866e-05 3.68455147e+02] [ 9.99791381e-01 -1.72431322e-02 -1.09485140e-02 3.68330217e+02] [ 1.09475306e-02 -1.51428521e-04 9.99940063e-01 2.23302382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.510385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.46, Y:368.33, Z:22.33 [[-1.77873487e-02 -9.99841792e-01 4.13434536e-05 3.68456311e+02] [ 9.99781857e-01 -1.77867352e-02 -1.09484990e-02 3.68328927e+02] [ 1.09475022e-02 -1.53410335e-04 9.99940063e-01 2.23305630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.540385723 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:368.46, Y:368.54, Z:22.33 [[-2.03628817e-02 -9.99792654e-01 4.53072508e-05 3.68456336e+02] [ 9.99732721e-01 -2.03621572e-02 -1.09484826e-02 3.68537319e+02] [ 1.09471350e-02 -1.77647516e-04 9.99940063e-01 2.23299115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.570385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:368.46, Y:368.33, Z:22.33 [[-1.97734803e-02 -9.99804484e-01 5.31247001e-05 3.68458803e+02] [ 9.99744550e-01 -1.97728767e-02 -1.09484479e-02 3.68326956e+02] [ 1.09473577e-02 -1.63377789e-04 9.99940063e-01 2.23306726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.6003857229999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:368.46, Y:368.32, Z:22.33 [[-2.15173448e-02 -9.99768474e-01 5.01138353e-05 3.68460662e+02] [ 9.99708541e-01 -2.15166038e-02 -1.09484617e-02 3.68321283e+02] [ 1.09470051e-02 -1.85482596e-04 9.99940063e-01 2.23317491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.630385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.46, Y:368.32, Z:22.33 [[-2.29586676e-02 -9.99736414e-01 5.40776174e-05 3.68461945e+02] [ 9.99676481e-01 -2.29578835e-02 -1.09484421e-02 3.68319486e+02] [ 1.09467977e-02 -1.97301520e-04 9.99940063e-01 2.23318494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.660385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:368.46, Y:368.32, Z:22.33 [[-2.33797591e-02 -9.99726654e-01 5.80383064e-05 3.68462334e+02] [ 9.99666722e-01 -2.33789931e-02 -1.09484211e-02 3.68315514e+02] [ 1.09467853e-02 -1.97952484e-04 9.99940063e-01 2.23314870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.690385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.46, Y:368.32, Z:22.33 [[-2.31334704e-02 -9.99732384e-01 6.19977352e-05 3.68463232e+02] [ 9.99672450e-01 -2.31327626e-02 -1.09483987e-02 3.68316688e+02] [ 1.09469029e-02 -1.91297029e-04 9.99940063e-01 2.23313519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.7203857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.46, Y:368.31, Z:22.33 [[-2.26323389e-02 -9.99743854e-01 6.59596615e-05 3.68463837e+02] [ 9.99683920e-01 -2.26317044e-02 -1.09483748e-02 3.68314229e+02] [ 1.09470632e-02 -1.81848516e-04 9.99940063e-01 2.23313420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.750385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.46, Y:368.31, Z:22.33 [[-2.10085791e-02 -9.99779293e-01 6.99259210e-05 3.68464272e+02] [ 9.99719358e-01 -2.10080854e-02 -1.09483495e-02 3.68313878e+02] [ 1.09474021e-02 -1.60102969e-04 9.99940063e-01 2.23304346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.780385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.46, Y:368.31, Z:22.33 [[-2.03921065e-02 -9.99792057e-01 7.38946848e-05 3.68464196e+02] [ 9.99732121e-01 -2.03916932e-02 -1.09483227e-02 3.68308510e+02] [ 1.09475529e-02 -1.49384473e-04 9.99940063e-01 2.23294588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.810385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.47, Y:368.31, Z:22.33 [[-1.98514200e-02 -9.99802938e-01 7.78621816e-05 3.68465328e+02] [ 9.99743002e-01 -1.98510826e-02 -1.09482945e-02 3.68310377e+02] [ 1.09476826e-02 -1.39497021e-04 9.99940063e-01 2.23291268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.8403857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.47, Y:368.31, Z:22.33 [[-2.01936957e-02 -9.99796083e-01 8.18309250e-05 3.68466510e+02] [ 9.99736147e-01 -2.01933812e-02 -1.09482648e-02 3.68305509e+02] [ 1.09476847e-02 -1.39276594e-04 9.99940063e-01 2.23290888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.870385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:368.47, Y:368.30, Z:22.33 [[-2.20333836e-02 -9.99757232e-01 8.58027544e-05 3.68467702e+02] [ 9.99697296e-01 -2.20330023e-02 -1.09482337e-02 3.68302636e+02] [ 1.09474663e-02 -1.55449851e-04 9.99940063e-01 2.23300780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.900385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.47, Y:368.30, Z:22.33 [[-2.48610518e-02 -9.99690912e-01 8.97702174e-05 3.68467958e+02] [ 9.99630977e-01 -2.48605444e-02 -1.09482011e-02 3.68297203e+02] [ 1.09470489e-02 -1.82446706e-04 9.99940063e-01 2.23295794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.930385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.47, Y:368.29, Z:22.33 [[-2.63730683e-02 -9.99652166e-01 9.37339003e-05 3.68468717e+02] [ 9.99592231e-01 -2.63725137e-02 -1.09481672e-02 3.68293313e+02] [ 1.09468311e-02 -1.95041083e-04 9.99940063e-01 2.23295716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.960385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.47, Y:368.39, Z:22.33 [[-3.31582259e-02 -9.99450110e-01 9.76907304e-05 3.68466665e+02] [ 9.99390180e-01 -3.31573078e-02 -1.09481319e-02 3.68390160e+02] [ 1.09453508e-02 -2.65389475e-04 9.99940063e-01 2.23271604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.990385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:368.47, Y:368.30, Z:22.33 [[-2.91196617e-02 -9.99575920e-01 1.57108396e-04 3.68470294e+02] [ 9.99515982e-01 -2.91196363e-02 -1.09475770e-02 3.68302503e+02] [ 1.09475093e-02 -1.61757387e-04 9.99940061e-01 2.23298675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.020385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.47, Y:368.30, Z:22.33 [[-2.93801079e-02 -9.99568306e-01 1.02296387e-04 3.68469772e+02] [ 9.99508372e-01 -2.93794667e-02 -1.09480892e-02 3.68296313e+02] [ 1.09463684e-02 -2.19409947e-04 9.99940063e-01 2.23286477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.050385723 meters Centerline goodness : 0.994595 Centerline is valid? [True, True] Translation: X:368.46, Y:369.08, Z:22.33 [[-2.89923572e-02 -9.99579628e-01 1.06278838e-04 3.68461472e+02] [ 9.99519693e-01 -2.89917828e-02 -1.09480505e-02 3.69083450e+02] [ 1.09465295e-02 -2.11182000e-04 9.99940063e-01 2.23333378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.080385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.79, Y:368.24, Z:23.29 [[-7.01912212e-02 9.97533551e-01 -8.94204294e-05 3.67788273e+02] [ 9.97473700e-01 7.01879913e-02 1.09482114e-02 3.68244163e+02] [ 1.09274845e-02 6.79273804e-04 -9.99940063e-01 2.32855675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.110385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:367.83, Y:368.22, Z:23.28 [[-1.48763708e-01 9.88872305e-01 -9.61110486e-04 3.67828904e+02] [ 9.88812772e-01 1.48765318e-01 1.08711501e-02 3.68224204e+02] [ 1.08931592e-02 6.66874279e-04 -9.99940445e-01 2.32844051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.140385723 meters Centerline goodness : 0.995064 Centerline is valid? [True, True] Translation: X:368.43, Y:369.14, Z:22.34 [[-1.81580217e-01 -9.83374482e-01 1.80378948e-03 3.68426178e+02] [ 9.83315961e-01 -1.81589093e-01 -1.07294870e-02 3.69135262e+02] [ 1.08786523e-02 -1.74567600e-04 9.99940810e-01 2.23365030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.170385723 meters Centerline goodness : 0.994517 Centerline is valid? [True, True] Translation: X:367.71, Y:369.02, Z:23.30 [[-2.28196420e-01 9.73613445e-01 -1.80398591e-03 3.67711919e+02] [ 9.73554568e-01 2.28202501e-01 1.07294539e-02 3.69018829e+02] [ 1.08580147e-02 6.92144241e-04 -9.99940810e-01 2.32956957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.200385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.95, Y:368.27, Z:23.29 [[-2.95761294e-01 9.55258287e-01 -2.61969065e-03 3.67954539e+02] [ 9.55200500e-01 2.95772265e-01 1.05248679e-02 3.68268605e+02] [ 1.08287991e-02 6.10518723e-04 -9.99941180e-01 2.32859670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.230385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.00, Y:368.25, Z:23.29 [[-3.69847482e-01 9.29086419e-01 -3.35652340e-03 3.68000495e+02] [ 9.29029749e-01 3.69862077e-01 1.02843907e-02 3.68249880e+02] [ 1.07965385e-02 6.85345912e-04 -9.99941481e-01 2.32862411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.260385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:368.05, Y:368.24, Z:23.29 [[-4.41672474e-01 8.97166819e-01 -4.13817536e-03 3.68045879e+02] [ 8.97111798e-01 4.41691326e-01 9.95962225e-03 3.68237386e+02] [ 1.07632388e-02 6.86485062e-04 -9.99941839e-01 2.32861799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.290385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.09, Y:368.23, Z:23.29 [[-5.10390712e-01 8.59928720e-01 -4.89070599e-03 3.68094474e+02] [ 8.59875678e-01 5.10413688e-01 9.57526041e-03 3.68228688e+02] [ 1.07303247e-02 6.81724846e-04 -9.99942196e-01 2.32869690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.320385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.14, Y:368.23, Z:23.29 [[-5.76067187e-01 8.17383104e-01 -5.60876818e-03 3.68141750e+02] [ 8.17332344e-01 5.76094092e-01 9.13435304e-03 3.68225203e+02] [ 1.06974440e-02 6.77773414e-04 -9.99942551e-01 2.32879581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.3503857229999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:368.19, Y:368.22, Z:23.29 [[-6.37680254e-01 7.70275511e-01 -6.28738314e-03 3.68190159e+02] [ 7.70227336e-01 6.37710900e-01 8.64055709e-03 3.68221296e+02] [ 1.06651423e-02 6.67198276e-04 -9.99942903e-01 2.32878870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.380385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.00, Y:368.47, Z:23.29 [[-6.95868542e-01 7.18135809e-01 -6.92330433e-03 3.67999656e+02] [ 7.18090468e-01 6.95902666e-01 8.09680744e-03 3.68474067e+02] [ 1.06325533e-02 6.62754741e-04 -9.99943253e-01 2.32915161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.410385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.77, Y:368.77, Z:22.33 [[-7.19219986e-01 -6.94741702e-01 7.52191068e-03 3.68768488e+02] [ 6.94701263e-01 -7.19259299e-01 -7.49771193e-03 3.68769436e+02] [ 1.06191774e-02 -1.67023416e-04 9.99943601e-01 2.23291624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.440385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.18, Y:368.33, Z:23.29 [[-7.47037369e-01 6.64739617e-01 -7.51072008e-03 3.68184192e+02] [ 6.64697492e-01 7.47074870e-01 7.50890524e-03 3.68334974e+02] [ 1.06025370e-02 6.17076014e-04 -9.99943601e-01 2.32882364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.4703857229999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:368.35, Y:368.25, Z:23.29 [[-7.98455949e-01 6.02000089e-01 -7.99941405e-03 3.68345260e+02] [ 6.01960547e-01 7.98495691e-01 6.93770282e-03 3.68250528e+02] [ 1.05639954e-02 7.24118435e-04 -9.99943937e-01 2.32873869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.500385723 meters Centerline goodness : 0.998862 Centerline is valid? [True, True] Translation: X:367.94, Y:368.56, Z:23.30 [[-8.43421685e-01 5.37184363e-01 -8.53355614e-03 3.67935607e+02] [ 5.37148940e-01 8.43464605e-01 6.20286760e-03 3.68559547e+02] [ 1.05298360e-02 6.47842402e-04 -9.99944350e-01 2.32955442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.530385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.76, Y:368.94, Z:22.33 [[-8.65233847e-01 -5.01288298e-01 8.96845045e-03 3.68764205e+02] [ 5.01258259e-01 -8.65280287e-01 -5.49382626e-03 3.68937594e+02] [ 1.05142142e-02 -2.57934573e-04 9.99944691e-01 2.23276740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.560385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.45, Y:369.13, Z:22.33 [[-8.62036140e-01 -5.06766671e-01 9.01304316e-03 3.68451315e+02] [ 5.06737686e-01 -8.62083250e-01 -5.42105505e-03 3.69131868e+02] [ 1.05172036e-02 -1.05896729e-04 9.99944687e-01 2.23314494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.5903857229999 meters Centerline goodness : 0.994828 Centerline is valid? [True, True] Translation: X:368.13, Y:369.33, Z:22.34 [[-8.59583124e-01 -5.10917195e-01 8.97070790e-03 3.68134248e+02] [ 5.10887715e-01 -8.59629921e-01 -5.49012022e-03 3.69328606e+02] [ 1.05164858e-02 -1.36190228e-04 9.99944691e-01 2.23361878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.620385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.33, Y:368.38, Z:23.29 [[-8.78152557e-01 4.78296574e-01 -8.97070790e-03 3.68326418e+02] [ 4.78265358e-01 8.78198216e-01 5.49012022e-03 3.68375305e+02] [ 1.05039654e-02 5.30784284e-04 -9.99944691e-01 2.32867597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.650385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.24, Y:368.45, Z:23.29 [[-9.12940438e-01 4.07986938e-01 -9.29593722e-03 3.68238287e+02] [ 4.07958403e-01 9.12987531e-01 4.86922366e-03 3.68454949e+02] [ 1.04736544e-02 6.52955476e-04 -9.99944937e-01 2.32898790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.680385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.43, Y:368.42, Z:23.29 [[-9.41896317e-01 3.35766518e-01 -9.60071346e-03 3.68430004e+02] [ 3.35741492e-01 9.41944991e-01 4.15754547e-03 3.68417493e+02] [ 1.04393085e-02 6.92618905e-04 -9.99945269e-01 2.32871028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.710385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.48, Y:368.44, Z:23.29 [[-9.65241167e-01 2.61174112e-01 -9.87793512e-03 3.68476111e+02] [ 2.61153581e-01 9.65291496e-01 3.33692985e-03 3.68442904e+02] [ 1.04066065e-02 6.41283928e-04 -9.99945644e-01 2.32865667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.740385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:368.52, Y:368.47, Z:23.29 [[-9.82673316e-01 1.85071851e-01 -1.00778521e-02 3.68515069e+02] [ 1.85055440e-01 9.82724786e-01 2.54543569e-03 3.68473471e+02] [ 1.03748435e-02 6.36370379e-04 -9.99945977e-01 2.32869789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.770385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:368.55, Y:368.51, Z:23.29 [[-9.94207239e-01 1.06993571e-01 -1.02147696e-02 3.68551680e+02] [ 1.06981287e-01 9.94259506e-01 1.74310668e-03 3.68506027e+02] [ 1.03426330e-02 6.40220093e-04 -9.99946309e-01 2.32869341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.800385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.60, Y:368.54, Z:23.29 [[-9.99377237e-01 3.37533857e-02 -1.02882175e-02 3.68598576e+02] [ 3.37455456e-02 9.99430020e-01 9.34739184e-04 3.68544419e+02] [ 1.03139040e-02 5.86975551e-04 -9.99946638e-01 2.32905874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.830385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:368.61, Y:368.58, Z:23.29 [[-9.98628345e-01 -5.13360803e-02 -1.02973531e-02 3.68611115e+02] [-5.13416503e-02 9.98681109e-01 2.77124517e-04 3.68577420e+02] [ 1.02695456e-02 8.05427501e-04 -9.99946942e-01 2.32871648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.860385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:368.54, Y:369.35, Z:22.33 [[-9.96701449e-01 8.05076686e-02 1.02341520e-02 3.68541410e+02] [-8.05049544e-02 -9.96753978e-01 6.77561376e-04 3.69346104e+02] [ 1.02554806e-02 -1.48573534e-04 9.99947400e-01 2.23297135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.890385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:368.63, Y:368.62, Z:23.29 [[-9.91500450e-01 -1.29700118e-01 -1.02340903e-02 3.68629025e+02] [-1.29699996e-01 9.91553050e-01 -6.78491456e-04 3.68617160e+02] [ 1.02356439e-02 6.54636885e-04 -9.99947400e-01 2.32889218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.920385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.52, Y:369.38, Z:22.33 [[-9.87456466e-01 1.57566939e-01 1.01186387e-02 3.68520260e+02] [-1.57560125e-01 -9.87508299e-01 1.47208905e-03 3.69380321e+02] [ 1.02241923e-02 -1.40670126e-04 9.99947722e-01 2.23308956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.950385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.53, Y:369.38, Z:22.33 [[-9.86651709e-01 1.62530021e-01 1.01191727e-02 3.68534711e+02] [-1.62523505e-01 -9.86703580e-01 1.46840969e-03 3.69379217e+02] [ 1.02232846e-02 -1.95794479e-04 9.99947722e-01 2.23281639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.980385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.52, Y:369.38, Z:22.33 [[-9.87275356e-01 1.58698313e-01 1.01102120e-02 3.68515714e+02] [-1.58690963e-01 -9.87327117e-01 1.53023711e-03 3.69379678e+02] [ 1.02249325e-02 -9.36338927e-05 9.99947720e-01 2.23314911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.010385723 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:368.42, Y:369.36, Z:22.33 [[-9.86028780e-01 1.66267338e-01 1.01201485e-02 3.68421683e+02] [-1.66261090e-01 -9.86080683e-01 1.46142868e-03 3.69362573e+02] [ 1.02222708e-02 -2.41576186e-04 9.99947722e-01 2.23288795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.040385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:368.51, Y:369.38, Z:22.33 [[-9.87009114e-01 1.60346128e-01 1.01058773e-02 3.68513213e+02] [-1.60338561e-01 -9.87060845e-01 1.55986521e-03 3.69380114e+02] [ 1.02252341e-02 -8.07606439e-05 9.99947718e-01 2.23326435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.070385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.52, Y:369.38, Z:22.33 [[-9.87035789e-01 1.60180942e-01 1.01201166e-02 3.68515149e+02] [-1.60174376e-01 -9.87087653e-01 1.46124870e-03 3.69379748e+02] [ 1.02235063e-02 -1.78678605e-04 9.99947723e-01 2.23311589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.1003857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.50, Y:369.38, Z:22.33 [[-9.87174870e-01 1.59321529e-01 1.01206442e-02 3.68504815e+02] [-1.59314956e-01 -9.87226732e-01 1.45758555e-03 3.69377385e+02] [ 1.02235952e-02 -1.73478154e-04 9.99947723e-01 2.23289228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.130385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.51, Y:369.38, Z:22.33 [[-9.87252689e-01 1.58838568e-01 1.01211711e-02 3.68511112e+02] [-1.58832007e-01 -9.87304553e-01 1.45391703e-03 3.69377941e+02] [ 1.02236165e-02 -1.72182427e-04 9.99947723e-01 2.23283673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.160385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.51, Y:369.38, Z:22.33 [[-9.87422075e-01 1.57782116e-01 1.01216968e-02 3.68507811e+02] [-1.57775538e-01 -9.87473937e-01 1.45024832e-03 3.69377928e+02] [ 1.02237350e-02 -1.64948946e-04 9.99947723e-01 2.23271975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.190385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.65, Y:368.66, Z:23.29 [[-9.79251340e-01 -2.02396524e-01 -1.01222197e-02 3.68648115e+02] [-2.02392341e-01 9.79303450e-01 -1.44658977e-03 3.68658776e+02] [ 1.02055094e-02 6.32084765e-04 -9.99947723e-01 2.32917249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.2203857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.57, Y:368.68, Z:23.29 [[-9.60218556e-01 -2.79072340e-01 -9.94751222e-03 3.68573775e+02] [-2.79064183e-01 9.60269870e-01 -2.22698804e-03 3.68675443e+02] [ 1.01737870e-02 6.37599126e-04 -9.99948042e-01 2.32930339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.250385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:368.41, Y:369.44, Z:22.33 [[-9.51017750e-01 3.08983668e-01 9.71249177e-03 3.68413408e+02] [-3.08969237e-01 -9.51067331e-01 2.99037735e-03 3.69435587e+02] [ 1.01612114e-02 -1.56959227e-04 9.99948361e-01 2.23267219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.280385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.30, Y:368.61, Z:23.30 [[-9.36432406e-01 -3.50713548e-01 -9.71366773e-03 3.68299651e+02] [-3.50701362e-01 9.36482587e-01 -2.98655258e-03 3.68611272e+02] [ 1.01441051e-02 6.09891888e-04 -9.99948361e-01 2.33000856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.310385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.57, Y:368.76, Z:23.30 [[-9.11989991e-01 -4.10097429e-01 -9.71366773e-03 3.68570569e+02] [-4.10088489e-01 9.12040850e-01 -2.98655258e-03 3.68764227e+02] [ 1.00840393e-02 1.25975726e-03 -9.99948361e-01 2.32971273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.3403857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.53, Y:368.78, Z:23.30 [[-8.77833917e-01 -4.78876865e-01 -9.19583756e-03 3.68529890e+02] [-4.78860176e-01 8.77881698e-01 -4.08128824e-03 3.68784162e+02] [ 1.00272920e-02 8.20827150e-04 -9.99949389e-01 2.32974245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.370385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.47, Y:368.79, Z:23.30 [[-8.39106852e-01 -5.43894844e-01 -8.83683504e-03 3.68467714e+02] [-5.43875142e-01 8.39152946e-01 -4.70776524e-03 3.68785592e+02] [ 9.97598540e-03 8.55816848e-04 -9.99949872e-01 2.32975481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.400385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.43, Y:368.79, Z:23.29 [[-7.94816597e-01 -6.06787195e-01 -8.71072869e-03 3.68429466e+02] [-6.06769065e-01 7.94863103e-01 -4.89382449e-03 3.68793326e+02] [ 9.89334687e-03 1.39570778e-03 -9.99950086e-01 2.32945756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.430385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.93, Y:369.40, Z:22.33 [[-7.78652136e-01 6.27407810e-01 7.76478759e-03 3.67933890e+02] [-6.27378184e-01 -7.78690841e-01 6.09828535e-03 3.69400991e+02] [ 9.87248083e-03 -1.23015424e-04 9.99951258e-01 2.23304098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.460385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.91, Y:369.38, Z:22.33 [[-7.80365089e-01 6.25275940e-01 7.76699695e-03 3.67906422e+02] [-6.25246237e-01 -7.80403735e-01 6.09547014e-03 3.69379791e+02] [ 9.87274424e-03 -9.95935135e-05 9.99951258e-01 2.23301576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.490385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.92, Y:369.39, Z:22.33 [[-7.82205563e-01 6.22971987e-01 7.76923235e-03 3.67921127e+02] [-6.22942198e-01 -7.82244142e-01 6.09261958e-03 3.69393518e+02] [ 9.87296782e-03 -7.41017493e-05 9.99951258e-01 2.23300976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.520385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.33, Y:368.75, Z:23.30 [[-7.46877773e-01 -6.64915913e-01 -7.77309222e-03 3.68327684e+02] [-6.64888334e-01 7.46917963e-01 -6.08769356e-03 3.68750703e+02] [ 9.85366652e-03 6.21475331e-04 -9.99951258e-01 2.32976983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.550385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.68, Y:369.23, Z:22.33 [[-7.37322897e-01 6.75500912e-01 7.31186839e-03 3.67678015e+02] [-6.75468684e-01 -7.37359148e-01 6.59876368e-03 3.69228293e+02] [ 9.84894392e-03 -7.35185675e-05 9.99951495e-01 2.23313499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.580385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:367.79, Y:369.34, Z:22.33 [[-7.39261892e-01 6.73378314e-01 7.31442530e-03 3.67793719e+02] [-6.73346011e-01 -7.39298075e-01 6.59592825e-03 3.69336548e+02] [ 9.84909558e-03 -4.90206979e-05 9.99951495e-01 2.23291392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.610385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.79, Y:369.33, Z:22.33 [[-7.39409425e-01 6.73216269e-01 7.31828537e-03 3.67790680e+02] [-6.73184000e-01 -7.39445639e-01 6.59164265e-03 3.69334567e+02] [ 9.84907527e-03 -5.26299207e-05 9.99951495e-01 2.23287935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.640385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.78, Y:369.33, Z:22.33 [[-7.38829189e-01 6.73852972e-01 7.32129647e-03 3.67781960e+02] [-6.73820768e-01 -7.38865460e-01 6.58829654e-03 3.69329688e+02] [ 9.84899629e-03 -6.56158244e-05 9.99951495e-01 2.23290587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.670385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.79, Y:369.34, Z:22.33 [[-7.37196159e-01 6.75639096e-01 7.32369748e-03 3.67794793e+02] [-6.75607005e-01 -7.37232530e-01 6.58562645e-03 3.69341995e+02] [ 9.84877472e-03 -9.30428022e-05 9.99951495e-01 2.23275067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.700385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.78, Y:369.34, Z:22.33 [[-7.37014447e-01 6.75837507e-01 7.30542347e-03 3.67784819e+02] [-6.75805224e-01 -7.37050650e-01 6.60595265e-03 3.69336082e+02] [ 9.84901768e-03 -6.83608016e-05 9.99951495e-01 2.23289184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.730385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.78, Y:369.34, Z:22.33 [[-7.36421141e-01 6.76483721e-01 7.32654537e-03 3.67784471e+02] [-6.76451704e-01 -7.36457577e-01 6.58244306e-03 3.69336234e+02] [ 9.84860543e-03 -1.08603879e-04 9.99951495e-01 2.23289076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.760385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.79, Y:369.34, Z:22.33 [[-7.33781327e-01 6.79346194e-01 7.32893178e-03 3.67788883e+02] [-6.79314346e-01 -7.33817911e-01 6.57978494e-03 3.69341562e+02] [ 9.84805327e-03 -1.50525171e-04 9.99951495e-01 2.23263707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.790385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.78, Y:369.33, Z:22.33 [[-7.34173474e-01 6.78922521e-01 7.31581788e-03 3.67776123e+02] [-6.78890506e-01 -7.34209912e-01 6.59440231e-03 3.69332790e+02] [ 9.84843424e-03 -1.25204053e-04 9.99951495e-01 2.23279698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.820385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.77, Y:369.33, Z:22.33 [[-7.33065822e-01 6.80118164e-01 7.33373150e-03 3.67765551e+02] [-6.80086408e-01 -7.33102486e-01 6.57441976e-03 3.69326558e+02] [ 9.84775909e-03 -1.68088687e-04 9.99951496e-01 2.23285892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.8503857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.76, Y:369.32, Z:22.33 [[-7.32830996e-01 6.80371158e-01 7.33613550e-03 3.67761137e+02] [-6.80339441e-01 -7.32867694e-01 6.57173614e-03 3.69323141e+02] [ 9.84763643e-03 -1.75090379e-04 9.99951496e-01 2.23293028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.880385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.78, Y:369.34, Z:22.33 [[-7.32884477e-01 6.80313523e-01 7.33854149e-03 3.67775342e+02] [-6.80281830e-01 -7.32921196e-01 6.56904832e-03 3.69335982e+02] [ 9.84758500e-03 -1.77922896e-04 9.99951496e-01 2.23287618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.910385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.77, Y:369.33, Z:22.33 [[-7.33319776e-01 6.79844259e-01 7.34093857e-03 3.67769260e+02] [-6.79812570e-01 -7.33356498e-01 6.56636848e-03 3.69329977e+02] [ 9.84763291e-03 -1.75214449e-04 9.99951496e-01 2.23277233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.940385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.77, Y:369.33, Z:22.33 [[-7.35716662e-01 6.77249636e-01 7.34331428e-03 3.67772545e+02] [-6.77217844e-01 -7.35753294e-01 6.56371059e-03 3.69334748e+02] [ 9.84813828e-03 -1.43992220e-04 9.99951496e-01 2.23269798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.9703857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.24, Y:368.69, Z:23.30 [[-7.09457757e-01 -7.04709595e-01 -7.35380118e-03 3.68237163e+02] [-7.04679338e-01 7.09495668e-01 -6.55195975e-03 3.68690827e+02] [ 9.83471898e-03 5.33733078e-04 -9.99951496e-01 2.33027815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.000385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.64, Y:369.25, Z:22.33 [[-6.88782462e-01 7.24935677e-01 6.85449364e-03 3.67635102e+02] [-7.24901505e-01 -6.88816557e-01 7.03976095e-03 3.69249611e+02] [ 9.82486258e-03 -1.19968875e-04 9.99951728e-01 2.23280960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.030385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.14, Y:368.64, Z:23.30 [[-6.59853335e-01 -7.51363156e-01 -6.85449364e-03 3.68137423e+02] [-7.51330346e-01 6.59888743e-01 -7.03976095e-03 3.68636603e+02] [ 9.81262020e-03 5.04779326e-04 -9.99951728e-01 2.33024069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.060385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.50, Y:369.16, Z:22.33 [[-6.38650492e-01 7.69470633e-01 6.36358966e-03 3.67503912e+02] [-7.69434495e-01 -6.38682181e-01 7.45859728e-03 3.69155199e+02] [ 9.80348289e-03 -1.32928573e-04 9.99951936e-01 2.23316628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.0903857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.50, Y:369.16, Z:22.33 [[-6.38828023e-01 7.69323227e-01 6.36630601e-03 3.67504697e+02] [-7.69287104e-01 -6.38859730e-01 7.45627801e-03 3.69156221e+02] [ 9.80346440e-03 -1.34237769e-04 9.99951936e-01 2.23323692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.120385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.50, Y:369.15, Z:22.33 [[-6.38135641e-01 7.69897611e-01 6.36970532e-03 3.67502886e+02] [-7.69861546e-01 -6.38167413e-01 7.45337293e-03 3.69154961e+02] [ 9.80327238e-03 -1.47528271e-04 9.99951936e-01 2.23332940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.150385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.50, Y:369.15, Z:22.33 [[-6.37672177e-01 7.70281493e-01 6.37309516e-03 3.67499670e+02] [-7.70245477e-01 -6.37704004e-01 7.45047329e-03 3.69151398e+02] [ 9.80310999e-03 -1.57888198e-04 9.99951936e-01 2.23339466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.180385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.50, Y:369.15, Z:22.33 [[-6.36797724e-01 7.71004539e-01 6.37648246e-03 3.67499748e+02] [-7.70968588e-01 -6.36829624e-01 7.44757314e-03 3.69150121e+02] [ 9.80284563e-03 -1.73470056e-04 9.99951936e-01 2.23337986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.210385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.51, Y:369.15, Z:22.33 [[-6.34542048e-01 7.72862015e-01 6.37918539e-03 3.67507348e+02] [-7.72826181e-01 -6.34574080e-01 7.44525724e-03 3.69154800e+02] [ 9.80222221e-03 -2.05672703e-04 9.99951936e-01 2.23327162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.240385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.50, Y:369.15, Z:22.33 [[-6.35843671e-01 7.71791694e-01 6.35666243e-03 3.67500692e+02] [-7.71755612e-01 -6.35875425e-01 7.46456028e-03 3.69147685e+02] [ 9.80313105e-03 -1.59496493e-04 9.99951935e-01 2.23315788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.270385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.50, Y:369.15, Z:22.33 [[-6.35235993e-01 7.72291716e-01 6.38274177e-03 3.67498594e+02] [-7.72255883e-01 -6.35268027e-01 7.44219354e-03 3.69145610e+02] [ 9.80229618e-03 -2.01560674e-04 9.99951936e-01 2.23321497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.300385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.50, Y:369.15, Z:22.33 [[-6.33007332e-01 7.74119463e-01 6.38543722e-03 3.67503568e+02] [-7.74083746e-01 -6.33039495e-01 7.43988011e-03 3.69149198e+02] [ 9.80158995e-03 -2.33364509e-04 9.99951936e-01 2.23323976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.330385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.50, Y:369.14, Z:22.33 [[-6.35000092e-01 7.72485897e-01 6.35777158e-03 3.67497393e+02] [-7.72449859e-01 -6.35031896e-01 7.46363571e-03 3.69142590e+02] [ 9.80294107e-03 -1.71650404e-04 9.99951935e-01 2.23330944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.360385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.50, Y:369.15, Z:22.33 [[-6.33179576e-01 7.73978541e-01 6.39082320e-03 3.67503155e+02] [-7.73942864e-01 -6.33211782e-01 7.43522676e-03 3.69145395e+02] [ 9.80145051e-03 -2.38298285e-04 9.99951936e-01 2.23328487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.390385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.50, Y:369.14, Z:22.33 [[-6.33979852e-01 7.73323335e-01 6.36919298e-03 3.67501428e+02] [-7.73287437e-01 -6.34011814e-01 7.45382777e-03 3.69140759e+02] [ 9.80236254e-03 -1.99640291e-04 9.99951936e-01 2.23323760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.420385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.50, Y:369.14, Z:22.33 [[-6.33892195e-01 7.73395186e-01 6.36958371e-03 3.67500629e+02] [-7.73359295e-01 -6.33924164e-01 7.45349149e-03 3.69137641e+02] [ 9.80232746e-03 -2.01266685e-04 9.99951936e-01 2.23317757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.450385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:367.49, Y:369.13, Z:22.33 [[-6.38759057e-01 7.69380550e-01 6.35895786e-03 3.67492471e+02] [-7.69344367e-01 -6.38790696e-01 7.46264160e-03 3.69129251e+02] [ 9.80365441e-03 -1.25398495e-04 9.99951935e-01 2.23343585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.480385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.31, Y:368.92, Z:22.33 [[-6.36577778e-01 7.71185948e-01 6.40046175e-03 3.67314077e+02] [-7.71150214e-01 -6.36609920e-01 7.42687366e-03 3.68916675e+02] [ 9.80209805e-03 -2.07934718e-04 9.99951937e-01 2.23337177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.510385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.32, Y:368.92, Z:22.33 [[-6.35113945e-01 7.72392148e-01 6.37547548e-03 3.67321117e+02] [-7.72356257e-01 -6.35145914e-01 7.44843852e-03 3.68919488e+02] [ 9.80247263e-03 -1.93531205e-04 9.99951936e-01 2.23325445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.540385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.40, Y:369.01, Z:22.33 [[-6.36768684e-01 7.71028786e-01 6.34464708e-03 3.67397591e+02] [-7.70992562e-01 -6.36800278e-01 7.47503537e-03 3.69008541e+02] [ 9.80374047e-03 -1.31807275e-04 9.99951934e-01 2.23319981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.570385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.48, Y:369.11, Z:22.34 [[-6.40968041e-01 7.67541235e-01 6.35798808e-03 3.67482092e+02] [-7.67504952e-01 -6.40999566e-01 7.46352413e-03 3.69109355e+02] [ 9.80403013e-03 -9.59069046e-05 9.99951935e-01 2.23353774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.6003857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.48, Y:369.10, Z:22.34 [[-6.40653252e-01 7.67803565e-01 6.41063724e-03 3.67477769e+02] [-7.67767749e-01 -6.40685302e-01 7.41802490e-03 3.69102617e+02] [ 9.80278702e-03 -1.69498756e-04 9.99951937e-01 2.23354027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.630385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.43, Y:369.05, Z:22.34 [[-6.39465043e-01 7.68793418e-01 6.41402275e-03 3.67431885e+02] [-7.68757681e-01 -6.39497181e-01 7.41509645e-03 3.69046369e+02] [ 9.80242681e-03 -1.89134284e-04 9.99951937e-01 2.23371279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.660385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:367.48, Y:369.10, Z:22.33 [[-6.38371693e-01 7.69701549e-01 6.41147103e-03 3.67476554e+02] [-7.69665835e-01 -6.38403858e-01 7.41730429e-03 3.69095254e+02] [ 9.80221844e-03 -1.99693108e-04 9.99951937e-01 2.23349236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.690385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:367.48, Y:369.09, Z:22.33 [[-6.38079277e-01 7.69943922e-01 6.41819898e-03 3.67476988e+02] [-7.69908279e-01 -6.38111520e-01 7.41147802e-03 3.69094728e+02] [ 9.80194916e-03 -2.12313994e-04 9.99951937e-01 2.23347448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.7203857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.45, Y:369.06, Z:22.34 [[-6.37942561e-01 7.70057180e-01 6.42090286e-03 3.67448855e+02] [-7.70021566e-01 -6.37974837e-01 7.40913478e-03 3.69060889e+02] [ 9.80183189e-03 -2.17631254e-04 9.99951937e-01 2.23352015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.750385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.98, Y:368.54, Z:23.30 [[-6.21406413e-01 -7.83462087e-01 -6.42090287e-03 3.67980680e+02] [-7.83427168e-01 6.21439440e-01 -7.40913478e-03 3.68536779e+02] [ 9.79497847e-03 4.26225881e-04 -9.99951937e-01 2.33023753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.780385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.35, Y:368.99, Z:22.33 [[-5.83573563e-01 8.12038891e-01 5.89370606e-03 3.67352735e+02] [-8.12001393e-01 -5.83603279e-01 7.80712555e-03 3.68993935e+02] [ 9.77927575e-03 -2.29665456e-04 9.99952155e-01 2.23349934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.810385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.36, Y:368.99, Z:22.34 [[-5.83148428e-01 8.12344221e-01 5.89725205e-03 3.67355376e+02] [-8.12306765e-01 -5.83178197e-01 7.80444610e-03 3.68994521e+02] [ 9.77904550e-03 -2.39227264e-04 9.99952155e-01 2.23354122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.8403857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.32, Y:368.94, Z:22.33 [[-5.80351268e-01 8.14344885e-01 5.90042795e-03 3.67315742e+02] [-8.14307556e-01 -5.80381196e-01 7.80204427e-03 3.68937105e+02] [ 9.77805227e-03 -2.76836777e-04 9.99952155e-01 2.23329706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.870385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.34, Y:368.97, Z:22.34 [[-5.83395872e-01 8.12166715e-01 5.87225714e-03 3.67337443e+02] [-8.12129060e-01 -5.83425390e-01 7.82336062e-03 3.68967957e+02] [ 9.77989701e-03 -2.04914381e-04 9.99952155e-01 2.23356221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.900385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.88, Y:368.47, Z:23.30 [[-5.69566624e-01 -8.21924192e-01 -5.87225715e-03 3.67881663e+02] [-8.21887042e-01 5.69596774e-01 -7.82336062e-03 3.68466635e+02] [ 9.77502808e-03 3.70406966e-04 -9.99952155e-01 2.33035259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.930385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:367.23, Y:368.87, Z:22.34 [[-5.28089005e-01 8.49172145e-01 5.35452576e-03 3.67233150e+02] [-8.49132942e-01 -5.28116098e-01 8.16297036e-03 3.68873422e+02] [ 9.75957830e-03 -2.35929312e-04 9.99952346e-01 2.23358476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.960385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.23, Y:368.86, Z:22.34 [[-5.29728590e-01 8.48150288e-01 5.35822580e-03 3.67231644e+02] [-8.48111057e-01 -5.29755642e-01 8.16054091e-03 3.68864568e+02] [ 9.75991547e-03 -2.21498723e-04 9.99952346e-01 2.23351660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.990385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.78, Y:368.39, Z:23.31 [[-5.10467237e-01 -8.59880509e-01 -5.35822580e-03 3.67784403e+02] [-8.59841898e-01 5.10495167e-01 -8.16054091e-03 3.68391676e+02] [ 9.75243845e-03 4.41538278e-04 -9.99952346e-01 2.33067790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.020385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.13, Y:368.75, Z:22.34 [[-4.72691859e-01 8.81214795e-01 4.78453694e-03 3.67125047e+02] [-8.81173977e-01 -4.72716028e-01 8.48407144e-03 3.68752612e+02] [ 9.73801657e-03 -2.05657940e-04 9.99952563e-01 2.23364585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.050385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:367.13, Y:368.75, Z:22.34 [[-4.73455244e-01 8.80804863e-01 4.78799329e-03 3.67125178e+02] [-8.80764044e-01 -4.73479411e-01 8.48212040e-03 3.68748700e+02] [ 9.73810914e-03 -2.01187953e-04 9.99952563e-01 2.23375779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.080385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:367.14, Y:368.76, Z:22.34 [[-4.69766103e-01 8.82777917e-01 4.79144522e-03 3.67135025e+02] [-8.82737219e-01 -4.69790473e-01 8.48017000e-03 3.68757660e+02] [ 9.73708212e-03 -2.45890618e-04 9.99952563e-01 2.23356997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.110385723 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:367.13, Y:368.74, Z:22.34 [[-4.74250708e-01 8.80377042e-01 4.74661333e-03 3.67127625e+02] [-8.80335966e-01 -4.74274439e-01 8.50550951e-03 3.68740885e+02] [ 9.73925268e-03 -1.44870522e-04 9.99952562e-01 2.23357120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.140385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.13, Y:368.74, Z:22.34 [[-4.74964836e-01 8.79991695e-01 4.79803035e-03 3.67127108e+02] [-8.79950892e-01 -4.74989030e-01 8.47640516e-03 3.68735974e+02] [ 9.73817793e-03 -1.96036700e-04 9.99952564e-01 2.23379448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.170385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.13, Y:368.73, Z:22.34 [[-4.76386638e-01 8.79222793e-01 4.80110168e-03 3.67127691e+02] [-8.79181969e-01 -4.76410796e-01 8.47466518e-03 3.68730455e+02] [ 9.73841546e-03 -1.83824766e-04 9.99952564e-01 2.23380849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.200385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.13, Y:368.73, Z:22.34 [[-4.77223541e-01 8.78768802e-01 4.80455654e-03 3.67128045e+02] [-8.78727974e-01 -4.77247693e-01 8.47270606e-03 3.68727811e+02] [ 9.73851328e-03 -1.78523443e-04 9.99952564e-01 2.23382378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.230385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.13, Y:368.72, Z:22.34 [[-4.78288340e-01 8.78189701e-01 4.80763087e-03 3.67128941e+02] [-8.78148861e-01 -4.78312471e-01 8.47096125e-03 3.68724879e+02] [ 9.73866072e-03 -1.70253581e-04 9.99952564e-01 2.23377014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.260385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.13, Y:368.72, Z:22.34 [[-4.78648361e-01 8.77993508e-01 4.81108421e-03 3.67128989e+02] [-8.77952678e-01 -4.78672509e-01 8.46899946e-03 3.68722787e+02] [ 9.73866030e-03 -1.70231559e-04 9.99952564e-01 2.23372244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.290385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.13, Y:368.72, Z:22.34 [[-4.78805739e-01 8.77907677e-01 4.81415382e-03 3.67129285e+02] [-8.77866860e-01 -4.78829909e-01 8.46725420e-03 3.68718556e+02] [ 9.73862830e-03 -1.72016193e-04 9.99952564e-01 2.23363186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.320385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.15, Y:368.74, Z:22.33 [[-4.74206624e-01 8.80400405e-01 4.81722376e-03 3.67148952e+02] [-8.80359733e-01 -4.74231037e-01 8.46550728e-03 3.68744865e+02] [ 9.73751305e-03 -2.26490191e-04 9.99952564e-01 2.23336783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.3503857229999 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:367.13, Y:368.71, Z:22.33 [[-4.78747361e-01 8.77939808e-01 4.76002239e-03 3.67130747e+02] [-8.77898685e-01 -4.78771011e-01 8.49806269e-03 3.68713762e+02] [ 9.73974826e-03 -1.10392312e-04 9.99952561e-01 2.23331290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.380385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.13, Y:368.71, Z:22.34 [[-4.79016403e-01 8.77792705e-01 4.82206169e-03 3.67129090e+02] [-8.77751929e-01 -4.79040640e-01 8.46271266e-03 3.68708899e+02] [ 9.73847096e-03 -1.78795771e-04 9.99952564e-01 2.23353462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.410385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.13, Y:368.70, Z:22.34 [[-4.78932441e-01 8.77838499e-01 4.82550817e-03 3.67128037e+02] [-8.77797745e-01 -4.78956715e-01 8.46074700e-03 3.68704938e+02] [ 9.73837899e-03 -1.83693969e-04 9.99952564e-01 2.23359769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.440385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:367.13, Y:368.70, Z:22.34 [[-4.79079133e-01 8.77758428e-01 4.82974538e-03 3.67127261e+02] [-8.77717693e-01 -4.79103441e-01 8.45832753e-03 3.68702564e+02] [ 9.73831590e-03 -1.86944754e-04 9.99952564e-01 2.23357830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.4703857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.13, Y:368.70, Z:22.34 [[-4.79008622e-01 8.77796892e-01 4.83281015e-03 3.67126056e+02] [-8.77756177e-01 -4.79032963e-01 8.45657606e-03 3.68695299e+02] [ 9.73823155e-03 -1.91256117e-04 9.99952564e-01 2.23351153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.500385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.12, Y:368.69, Z:22.33 [[-4.78693828e-01 8.77968558e-01 4.84055347e-03 3.67123525e+02] [-8.77927896e-01 -4.78718258e-01 8.45214144e-03 3.68687658e+02] [ 9.73797576e-03 -2.03668987e-04 9.99952564e-01 2.23349933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.530385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.13, Y:368.69, Z:22.34 [[-4.78042779e-01 8.78323198e-01 4.84362034e-03 3.67125486e+02] [-8.78282573e-01 -4.78067268e-01 8.45038357e-03 3.68687631e+02] [ 9.73774427e-03 -2.14422486e-04 9.99952564e-01 2.23352935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.560385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.12, Y:368.68, Z:22.34 [[-4.78693850e-01 8.77968512e-01 4.84668850e-03 3.67123944e+02] [-8.77927886e-01 -4.78718339e-01 8.44862347e-03 3.68684201e+02] [ 9.73782404e-03 -2.10738889e-04 9.99952564e-01 2.23356340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.5903857229999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:367.12, Y:368.68, Z:22.34 [[-4.79841646e-01 8.77341698e-01 4.85171952e-03 3.67123587e+02] [-8.77301070e-01 -4.79866130e-01 8.44573336e-03 3.68681072e+02] [ 9.73796992e-03 -2.03804125e-04 9.99952564e-01 2.23359686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.620385723 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:367.12, Y:368.67, Z:22.34 [[-4.81058927e-01 8.76674820e-01 4.85477636e-03 3.67119660e+02] [-8.76634175e-01 -4.81083384e-01 8.44397586e-03 3.68671684e+02] [ 9.73817326e-03 -1.93812899e-04 9.99952564e-01 2.23357059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.650385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:367.12, Y:368.67, Z:22.33 [[-4.83264930e-01 8.75460684e-01 4.85784219e-03 3.67124871e+02] [-8.75419995e-01 -4.83289314e-01 8.44221171e-03 3.68673823e+02] [ 9.73856766e-03 -1.72827335e-04 9.99952564e-01 2.23329893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.680385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.13, Y:368.68, Z:22.33 [[-4.81715339e-01 8.76314272e-01 4.86090738e-03 3.67134375e+02] [-8.76273644e-01 -4.81739825e-01 8.44044645e-03 3.68684639e+02] [ 9.73817636e-03 -1.93592502e-04 9.99952564e-01 2.23315277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.710385723 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:367.14, Y:368.68, Z:22.33 [[-4.82556634e-01 8.75851515e-01 4.81865332e-03 3.67135420e+02] [-8.75810620e-01 -4.82580673e-01 8.46478163e-03 3.68684946e+02] [ 9.73928078e-03 -1.35491222e-04 9.99952563e-01 2.23314463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.740385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.13, Y:368.68, Z:22.33 [[-4.82119726e-01 8.76092155e-01 4.80685194e-03 3.67132546e+02] [-8.76051204e-01 -4.82143671e-01 8.47158235e-03 3.68678956e+02] [ 9.73948008e-03 -1.26731474e-04 9.99952562e-01 2.23318283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.770385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:367.13, Y:368.68, Z:22.33 [[-4.81587469e-01 8.76384905e-01 4.79670786e-03 3.67133665e+02] [-8.76343910e-01 -4.81611342e-01 8.47743024e-03 3.68680200e+02] [ 9.73964080e-03 -1.20941540e-04 9.99952561e-01 2.23324568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.800385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:367.13, Y:368.67, Z:22.33 [[-4.80395950e-01 8.77038648e-01 4.78980099e-03 3.67129002e+02] [-8.76997646e-01 -4.80419811e-01 8.48141399e-03 3.68669793e+02] [ 9.73964314e-03 -1.26207263e-04 9.99952561e-01 2.23327672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.830385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:367.14, Y:368.68, Z:22.33 [[-4.77334531e-01 8.78708643e-01 4.78179098e-03 3.67135251e+02] [-8.78667679e-01 -4.77358458e-01 8.48603630e-03 3.68676175e+02] [ 9.73938181e-03 -1.50927021e-04 9.99952560e-01 2.23305812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.860385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:367.12, Y:368.66, Z:22.33 [[-4.85124443e-01 8.74432178e-01 4.75832975e-03 3.67119543e+02] [-8.74390869e-01 -4.85147777e-01 8.49958060e-03 3.68659103e+02] [ 9.74079987e-03 -3.72857775e-05 9.99952557e-01 2.23342182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.890385723 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:367.13, Y:368.67, Z:22.33 [[-4.78228691e-01 8.78221810e-01 4.87555603e-03 3.67132067e+02] [-8.78181368e-01 -4.78253479e-01 8.43179642e-03 3.68674093e+02] [ 9.73673915e-03 -2.49295504e-04 9.99952566e-01 2.23318765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.920385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.11, Y:368.64, Z:22.33 [[-4.77863579e-01 8.78420994e-01 4.79133032e-03 3.67113778e+02] [-8.78380071e-01 -4.77887573e-01 8.48051193e-03 3.68643375e+02] [ 9.73917694e-03 -1.56081285e-04 9.99952561e-01 2.23326026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.950385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:367.12, Y:368.66, Z:22.33 [[-4.78613808e-01 8.78012490e-01 4.78433053e-03 3.67121769e+02] [-8.77971505e-01 -4.78637700e-01 8.48456289e-03 3.68660036e+02] [ 9.73951315e-03 -1.39676920e-04 9.99952560e-01 2.23323394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.980385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.11, Y:368.65, Z:22.34 [[-4.84406663e-01 8.74829765e-01 4.80281109e-03 3.67112914e+02] [-8.74788729e-01 -4.84430462e-01 8.47385844e-03 3.68652505e+02] [ 9.73981158e-03 -9.66515239e-05 9.99952562e-01 2.23352134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.010385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.11, Y:368.65, Z:22.33 [[-4.85456313e-01 8.74247271e-01 4.88652241e-03 3.67112644e+02] [-8.74206690e-01 -4.85480872e-01 8.42530748e-03 3.68651039e+02] [ 9.73811522e-03 -1.81711881e-04 9.99952567e-01 2.23346662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.040385723 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:367.11, Y:368.65, Z:22.34 [[-4.86469751e-01 8.73683738e-01 4.88957616e-03 3.67110898e+02] [-8.73643147e-01 -4.86494292e-01 8.42353488e-03 3.68648385e+02] [ 9.73825633e-03 -1.73949790e-04 9.99952567e-01 2.23351273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.070385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.11, Y:368.64, Z:22.34 [[-4.88992244e-01 8.72274411e-01 4.89262928e-03 3.67107683e+02] [-8.72233767e-01 -4.89016697e-01 8.42176117e-03 3.68644831e+02] [ 9.73866417e-03 -1.49340574e-04 9.99952567e-01 2.23356716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.1003857229999 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:367.10, Y:368.64, Z:22.33 [[-4.91535710e-01 8.70843659e-01 4.89568510e-03 3.67104181e+02] [-8.70802962e-01 -4.91560074e-01 8.41998440e-03 3.68639071e+02] [ 9.73901335e-03 -1.24454083e-04 9.99952567e-01 2.23342726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.130385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.10, Y:368.63, Z:22.33 [[-4.92698947e-01 8.70186032e-01 4.90071181e-03 3.67100052e+02] [-8.70145331e-01 -4.92723306e-01 8.41705767e-03 3.68632227e+02] [ 9.73910094e-03 -1.17256041e-04 9.99952567e-01 2.23337133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.160385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.10, Y:368.63, Z:22.33 [[-4.93502469e-01 8.69730560e-01 4.90576574e-03 3.67097614e+02] [-8.69689866e-01 -4.93526838e-01 8.41411103e-03 3.68628575e+02] [ 9.73913655e-03 -1.14110180e-04 9.99952567e-01 2.23334300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.190385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:367.10, Y:368.63, Z:22.33 [[-4.94123455e-01 8.69377887e-01 4.90920546e-03 3.67095841e+02] [-8.69337196e-01 -4.94147829e-01 8.41210365e-03 3.68627863e+02] [ 9.73917011e-03 -1.11137186e-04 9.99952567e-01 2.23318569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.2203857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.09, Y:368.63, Z:22.33 [[-4.94862643e-01 8.68957326e-01 4.91226501e-03 3.67093333e+02] [-8.68916631e-01 -4.94887012e-01 8.41031663e-03 3.68625915e+02] [ 9.73922241e-03 -1.06397247e-04 9.99952567e-01 2.23329249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.250385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.09, Y:368.62, Z:22.33 [[-4.94442744e-01 8.69196303e-01 4.91532391e-03 3.67089670e+02] [-8.69155638e-01 -4.94467162e-01 8.40852851e-03 3.68623635e+02] [ 9.73912816e-03 -1.14645586e-04 9.99952567e-01 2.23330748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.280385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.09, Y:368.62, Z:22.33 [[-4.93745696e-01 8.69592427e-01 4.91915391e-03 3.67086070e+02] [-8.69551804e-01 -4.93770184e-01 8.40628729e-03 3.68621001e+02] [ 9.73897530e-03 -1.26890986e-04 9.99952567e-01 2.23326572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.310385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.08, Y:368.62, Z:22.33 [[-4.93775897e-01 8.69575261e-01 4.92221328e-03 3.67084749e+02] [-8.69534655e-01 -4.93800413e-01 8.40449552e-03 3.68621373e+02] [ 9.73893234e-03 -1.30097712e-04 9.99952567e-01 2.23325262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.3403857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.08, Y:368.62, Z:22.33 [[-4.94090691e-01 8.69396413e-01 4.92604144e-03 3.67081555e+02] [-8.69355821e-01 -4.94115229e-01 8.40225117e-03 3.68618814e+02] [ 9.73891912e-03 -1.31008713e-04 9.99952567e-01 2.23325427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.370385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:367.08, Y:368.62, Z:22.33 [[-4.95195362e-01 8.68767664e-01 4.92947268e-03 3.67078360e+02] [-8.68727060e-01 -4.95219881e-01 8.40023762e-03 3.68617732e+02] [ 9.73902770e-03 -1.22607607e-04 9.99952567e-01 2.23318315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.400385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.07, Y:368.61, Z:22.33 [[-4.96275766e-01 8.68150928e-01 4.93252455e-03 3.67074771e+02] [-8.68110312e-01 -4.96300265e-01 8.39844522e-03 3.68612806e+02] [ 9.73913126e-03 -1.14030586e-04 9.99952567e-01 2.23316315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.430385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.07, Y:368.60, Z:22.33 [[-4.98089293e-01 8.67111698e-01 4.93558010e-03 3.67067449e+02] [-8.67071048e-01 -4.98113737e-01 8.39664916e-03 3.68603715e+02] [ 9.73931295e-03 -9.72175635e-05 9.99952567e-01 2.23309131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.460385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:367.07, Y:368.60, Z:22.33 [[-4.98900119e-01 8.66645414e-01 4.93942080e-03 3.67065694e+02] [-8.66604764e-01 -4.98924561e-01 8.39438922e-03 3.68603154e+02] [ 9.73935727e-03 -9.25638143e-05 9.99952567e-01 2.23310348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.490385723 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:367.06, Y:368.60, Z:22.33 [[-4.99577351e-01 8.66255181e-01 4.94287406e-03 3.67062348e+02] [-8.66214532e-01 -4.99601795e-01 8.39235534e-03 3.68601145e+02] [ 9.73939005e-03 -8.89586934e-05 9.99952567e-01 2.23312475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.520385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:367.06, Y:368.61, Z:22.33 [[-4.99996113e-01 8.66013524e-01 4.94594436e-03 3.67062325e+02] [-8.65972881e-01 -5.00020568e-01 8.39054550e-03 3.68605167e+02] [ 9.73939979e-03 -8.78135543e-05 9.99952567e-01 2.23311325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.550385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:367.06, Y:368.61, Z:22.33 [[-5.00243411e-01 8.65870682e-01 4.94900865e-03 3.67061377e+02] [-8.65830049e-01 -5.00267883e-01 8.38873769e-03 3.68605486e+02] [ 9.73939211e-03 -8.85896457e-05 9.99952567e-01 2.23308079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.580385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:367.06, Y:368.60, Z:22.33 [[-5.00540143e-01 8.65699164e-01 4.95206404e-03 3.67057583e+02] [-8.65658541e-01 -5.00564631e-01 8.38693364e-03 3.68600778e+02] [ 9.73938955e-03 -8.87995718e-05 9.99952567e-01 2.23306734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.610385723 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:367.06, Y:368.60, Z:22.33 [[-5.00696734e-01 8.65608586e-01 4.95549860e-03 3.67055022e+02] [-8.65567978e-01 -5.00721248e-01 8.38490381e-03 3.68598265e+02] [ 9.73936817e-03 -9.10269482e-05 9.99952567e-01 2.23302791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.640385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.05, Y:368.60, Z:22.33 [[-5.00943220e-01 8.65465946e-01 4.95855791e-03 3.67054778e+02] [-8.65425350e-01 -5.00967751e-01 8.38309424e-03 3.68599482e+02] [ 9.73936019e-03 -9.18074909e-05 9.99952567e-01 2.23303920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.670385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.05, Y:368.60, Z:22.33 [[-5.00171324e-01 8.65912253e-01 4.96161414e-03 3.67050853e+02] [-8.65871696e-01 -5.00195922e-01 8.38128499e-03 3.68596593e+02] [ 9.73923652e-03 -1.04042845e-04 9.99952567e-01 2.23309061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.700385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.05, Y:368.59, Z:22.33 [[-5.00487031e-01 8.65729799e-01 4.96466778e-03 3.67049700e+02] [-8.65689251e-01 -5.00511643e-01 8.37947577e-03 3.68594503e+02] [ 9.73923590e-03 -1.04040586e-04 9.99952567e-01 2.23309307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.730385723 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:367.06, Y:368.62, Z:22.33 [[-4.93779606e-01 8.69572897e-01 4.96772270e-03 3.67064242e+02] [-8.69532559e-01 -4.93804561e-01 8.37766429e-03 3.68615499e+02] [ 9.73807393e-03 -1.82876851e-04 9.99952567e-01 2.23280660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.760385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.05, Y:368.60, Z:22.33 [[-4.97893834e-01 8.67224163e-01 4.89713930e-03 3.67048508e+02] [-8.67183293e-01 -4.97917913e-01 8.41953271e-03 3.68595930e+02] [ 9.73999559e-03 -5.46839612e-05 9.99952564e-01 2.23303207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.790385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.04, Y:368.59, Z:22.33 [[-4.97361318e-01 8.67529237e-01 4.97415818e-03 3.67041386e+02] [-8.67488835e-01 -4.97386168e-01 8.37378233e-03 3.68585291e+02] [ 9.73857848e-03 -1.50231271e-04 9.99952568e-01 2.23316893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.820385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.04, Y:368.59, Z:22.33 [[-4.95254986e-01 8.68733467e-01 4.96617474e-03 3.67043611e+02] [-8.68693078e-01 -4.95279857e-01 8.37852734e-03 3.68586635e+02] [ 9.73835342e-03 -1.64574179e-04 9.99952568e-01 2.23315013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.8503857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.04, Y:368.59, Z:22.33 [[-4.97290322e-01 8.67569909e-01 4.97880546e-03 3.67042684e+02] [-8.67529537e-01 -4.97315221e-01 8.37101501e-03 3.68589089e+02] [ 9.73847646e-03 -1.56436047e-04 9.99952568e-01 2.23304626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.880385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.04, Y:368.59, Z:22.33 [[-4.96704645e-01 8.67905338e-01 4.98185102e-03 3.67044953e+02] [-8.67865001e-01 -4.96729600e-01 8.36920211e-03 3.68591910e+02] [ 9.73830805e-03 -1.66552582e-04 9.99952568e-01 2.23304889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.910385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.03, Y:368.58, Z:22.33 [[-4.97080463e-01 8.67690129e-01 4.98526054e-03 3.67033281e+02] [-8.67649802e-01 -4.97105433e-01 8.36717068e-03 3.68575444e+02] [ 9.73831151e-03 -1.66303243e-04 9.99952568e-01 2.23281288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.940385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.04, Y:368.59, Z:22.33 [[-4.98405332e-01 8.66929857e-01 4.97480288e-03 3.67036557e+02] [-8.66889429e-01 -4.98430140e-01 8.37340472e-03 3.68585018e+02] [ 9.73874624e-03 -1.39254468e-04 9.99952568e-01 2.23296538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.9703857229999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:367.04, Y:368.58, Z:22.33 [[-4.97296043e-01 8.67566557e-01 4.99139407e-03 3.67037192e+02] [-8.67526260e-01 -4.97321063e-01 8.36350298e-03 3.68584190e+02] [ 9.73822089e-03 -1.71028494e-04 9.99952568e-01 2.23304875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.000385723 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:367.04, Y:368.58, Z:22.33 [[-4.95762160e-01 8.68443972e-01 4.99480242e-03 3.67035951e+02] [-8.68403740e-01 -4.95787283e-01 8.36146698e-03 3.68584393e+02] [ 9.73782511e-03 -1.92206177e-04 9.99952568e-01 2.23303051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.030385723 meters Centerline goodness : 0.999650 Centerline is valid? [True, True] Translation: X:367.03, Y:368.58, Z:22.33 [[-4.96065771e-01 8.68270803e-01 4.95603693e-03 3.67034240e+02] [-8.68230330e-01 -4.96090507e-01 8.38463808e-03 3.68582102e+02] [ 9.73877932e-03 -1.43649628e-04 9.99952567e-01 2.23305483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.060385723 meters Centerline goodness : 0.999715 Centerline is valid? [True, True] Translation: X:367.03, Y:368.58, Z:22.33 [[-4.97913257e-01 8.67212668e-01 4.95758639e-03 3.67030357e+02] [-8.67172151e-01 -4.97937921e-01 8.38371111e-03 3.68577418e+02] [ 9.73903074e-03 -1.24719955e-04 9.99952567e-01 2.23305479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.0903857229999 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:367.02, Y:368.57, Z:22.33 [[-5.00488811e-01 8.65728694e-01 4.97780666e-03 3.67020344e+02] [-8.65688225e-01 -5.00513550e-01 8.37160101e-03 3.68565261e+02] [ 9.73899489e-03 -1.19335983e-04 9.99952568e-01 2.23324318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.120385723 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:367.03, Y:368.57, Z:22.33 [[-4.98575269e-01 8.66831950e-01 5.00726608e-03 3.67026213e+02] [-8.66791711e-01 -4.98600382e-01 8.35394335e-03 3.68573741e+02] [ 9.73808978e-03 -1.75187182e-04 9.99952568e-01 2.23307512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.150385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.02, Y:368.57, Z:22.33 [[-5.00064848e-01 8.65973579e-01 4.99087990e-03 3.67022104e+02] [-8.65933200e-01 -5.00089733e-01 8.36377258e-03 3.68570954e+02] [ 9.73869387e-03 -1.39339938e-04 9.99952568e-01 2.23327957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.180385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.02, Y:368.57, Z:22.33 [[-4.99421612e-01 8.66344572e-01 5.01365531e-03 3.67019558e+02] [-8.66304347e-01 -4.99446747e-01 8.35009753e-03 3.68569903e+02] [ 9.73811550e-03 -1.73132217e-04 9.99952568e-01 2.23331651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.210385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.02, Y:368.57, Z:22.33 [[-4.99374527e-01 8.66371694e-01 5.01705934e-03 3.67016026e+02] [-8.66331491e-01 -4.99399697e-01 8.34805176e-03 3.68565695e+02] [ 9.73803365e-03 -1.77632101e-04 9.99952568e-01 2.23321617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.240385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.01, Y:368.56, Z:22.33 [[-5.01038793e-01 8.65410258e-01 5.02124316e-03 3.67013173e+02] [-8.65370033e-01 -5.01063927e-01 8.34553448e-03 3.68564956e+02] [ 9.73827497e-03 -1.63796832e-04 9.99952568e-01 2.23319884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.270385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.59, Y:368.10, Z:23.32 [[-4.72162201e-01 -8.81497387e-01 -5.02124316e-03 3.67589539e+02] [-8.81458014e-01 4.72188650e-01 -8.34553448e-03 3.68102646e+02] [ 9.72754087e-03 4.85569100e-04 -9.99952568e-01 2.33159471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.300385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:366.90, Y:368.43, Z:22.33 [[-4.43045639e-01 8.96488161e-01 4.42034559e-03 3.66895473e+02] [-8.96446398e-01 -4.43067671e-01 8.65416237e-03 3.68428700e+02] [ 9.71686634e-03 -1.28413984e-04 9.99952782e-01 2.23341057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.330385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.51, Y:368.01, Z:23.32 [[-4.10854785e-01 -9.11690083e-01 -4.42034559e-03 3.67507208e+02] [-9.11649130e-01 4.10878289e-01 -8.65416237e-03 3.68006117e+02] [ 9.70613804e-03 4.74200195e-04 -9.99952782e-01 2.33176666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.360385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:366.79, Y:368.29, Z:22.34 [[-3.82774471e-01 9.23833934e-01 3.81675410e-03 3.66791579e+02] [-9.23790928e-01 -3.82793483e-01 8.91466740e-03 3.68292268e+02] [ 9.69670085e-03 -1.13575717e-04 9.99952979e-01 2.23351248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.390385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:367.43, Y:367.91, Z:23.32 [[-3.47746472e-01 -9.37580836e-01 -3.81675410e-03 3.67433389e+02] [-9.37538576e-01 3.47767088e-01 -8.91466740e-03 3.67908648e+02] [ 9.68556278e-03 4.78310069e-04 -9.99952979e-01 2.33192832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.420385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:366.70, Y:368.17, Z:22.33 [[-3.20330785e-01 9.47300359e-01 3.19657077e-03 3.66701398e+02] [-9.47256325e-01 -3.20346718e-01 9.13430733e-03 3.68170481e+02] [ 9.67694356e-03 -1.01972039e-04 9.99953172e-01 2.23331528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.450385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.37, Y:367.79, Z:23.32 [[-2.86177433e-01 -9.58171310e-01 -3.19657077e-03 3.67366044e+02] [-9.58127875e-01 2.86194933e-01 -9.13430733e-03 3.67792985e+02] [ 9.66707357e-03 4.48690935e-04 -9.99953172e-01 2.33212269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.480385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.61, Y:368.02, Z:22.34 [[-2.51518499e-01 9.67849063e-01 2.57592473e-03 3.66614069e+02] [-9.67804312e-01 -2.51531644e-01 9.30836448e-03 3.68018098e+02] [ 9.65701842e-03 -1.51765198e-04 9.99953358e-01 2.23402115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.510385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.59, Y:367.93, Z:22.34 [[-2.52053791e-01 9.67709694e-01 2.61421698e-03 3.66585850e+02] [-9.67665046e-01 -2.52067279e-01 9.29759781e-03 3.67929105e+02] [ 9.65633409e-03 -1.86191620e-04 9.99953359e-01 2.23383708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.540385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:367.31, Y:367.71, Z:23.32 [[-2.25438216e-01 -9.74253959e-01 -2.61421698e-03 3.67311018e+02] [-9.74209697e-01 2.25452923e-01 -9.29759781e-03 3.67708252e+02] [ 9.64760433e-03 4.50761671e-04 -9.99953359e-01 2.33223718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.570385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.53, Y:367.85, Z:22.34 [[-1.80333899e-01 9.83603556e-01 1.93147874e-03 3.66531351e+02] [-9.83558267e-01 -1.80344134e-01 9.44080861e-03 3.67851865e+02] [ 9.63434377e-03 -1.97224056e-04 9.99953569e-01 2.23417881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.6003857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.53, Y:367.85, Z:22.34 [[-1.79265256e-01 9.83798774e-01 1.98518189e-03 3.66531154e+02] [-9.83753618e-01 -1.79276056e-01 9.42950256e-03 3.67854657e+02] [ 9.63262863e-03 -2.62547667e-04 9.99953571e-01 2.23419297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.630385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:366.53, Y:367.85, Z:22.34 [[-1.77626898e-01 9.84095892e-01 1.98989340e-03 3.66529143e+02] [-9.84050765e-01 -1.77637818e-01 9.42850819e-03 3.67849901e+02] [ 9.63203650e-03 -2.83399463e-04 9.99953571e-01 2.23425941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.660385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.53, Y:367.84, Z:22.34 [[-1.77475879e-01 9.84123129e-01 1.99503507e-03 3.66527721e+02] [-9.84078015e-01 -1.77486855e-01 9.42742011e-03 3.67843766e+02] [ 9.63183467e-03 -2.90130482e-04 9.99953571e-01 2.23425314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.690385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.53, Y:367.83, Z:22.34 [[-1.77514690e-01 9.84116119e-01 1.99973448e-03 3.66525761e+02] [-9.84071016e-01 -1.77525709e-01 9.42642317e-03 3.67831110e+02] [ 9.63169927e-03 -2.94552148e-04 9.99953571e-01 2.23426289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.7203857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.53, Y:367.85, Z:22.34 [[-1.81366580e-01 9.83413518e-01 2.00400806e-03 3.66528125e+02] [-9.83368382e-01 -1.81377463e-01 9.42551454e-03 3.67846920e+02] [ 9.63266031e-03 -2.61204830e-04 9.99953571e-01 2.23389586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.750385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.25, Y:367.58, Z:23.32 [[-1.69003644e-01 -9.85613389e-01 -2.00400806e-03 3.67252198e+02] [-9.85568393e-01 1.69015093e-01 -9.42551454e-03 3.67575684e+02] [ 9.62862094e-03 3.82140701e-04 -9.99953571e-01 2.33241591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.780385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.46, Y:367.68, Z:22.34 [[-1.17713125e-01 9.93046755e-01 1.32744403e-03 3.66462777e+02] [-9.93001114e-01 -1.17720445e-01 9.52280947e-03 3.67678965e+02] [ 9.61286235e-03 -1.97193738e-04 9.99953776e-01 2.23398468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.810385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.20, Y:367.45, Z:23.32 [[-1.03250685e-01 -9.94654480e-01 -1.32744403e-03 3.67200120e+02] [-9.94608950e-01 1.03258668e-01 -9.52280947e-03 3.67449261e+02] [ 9.60897520e-03 3.37051116e-04 -9.99953776e-01 2.33233932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.8403857229999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:366.41, Y:367.51, Z:22.34 [[-5.18226558e-02 9.98656040e-01 7.25992929e-04 3.66409381e+02] [-9.98610226e-01 -5.18272344e-02 9.56844551e-03 3.67507596e+02] [ 9.59321211e-03 -2.29121704e-04 9.99953958e-01 2.23414025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.870385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:367.16, Y:367.33, Z:23.32 [[-3.43043685e-02 -9.99411168e-01 -7.25992928e-04 3.67158258e+02] [-9.99365442e-01 3.43097497e-02 -9.56844551e-03 3.67329522e+02] [ 9.58771995e-03 3.97292763e-04 -9.99953958e-01 2.33225957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.900385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.37, Y:367.02, Z:22.35 [[ 1.64186798e-02 9.99865201e-01 8.13509626e-05 3.66365355e+02] [-9.99819392e-01 1.64171486e-02 9.57392512e-03 3.67019761e+02] [ 9.57129901e-03 -2.38527481e-04 9.99954166e-01 2.23518096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.930385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:367.12, Y:367.21, Z:23.32 [[ 3.39644707e-02 -9.99423038e-01 -8.13509623e-05 3.67118136e+02] [-9.99377263e-01 -3.39621358e-02 -9.57392512e-03 3.67209094e+02] [ 9.56563847e-03 4.06473601e-04 -9.99954166e-01 2.33248621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.960385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:366.33, Y:367.12, Z:22.35 [[ 8.58170334e-02 9.96310731e-01 -6.02645373e-04 3.66331807e+02] [-9.96265147e-01 8.58188733e-02 9.53302741e-03 3.67122130e+02] [ 9.54957586e-03 -2.17701551e-04 9.99954378e-01 2.23479090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.990385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.11, Y:367.18, Z:23.32 [[ 1.10099632e-01 -9.93920411e-01 5.36547032e-04 3.67109173e+02] [-9.93874790e-01 -1.10099727e-01 -9.53691100e-03 3.67180673e+02] [ 9.53800418e-03 5.16749826e-04 -9.99954379e-01 2.33239629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.020385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.34, Y:367.04, Z:22.35 [[ 1.65132162e-01 9.86270580e-01 -1.30816346e-03 3.66337988e+02] [-9.86225535e-01 1.65137128e-01 9.42987105e-03 3.67036132e+02] [ 9.51643075e-03 -2.67030784e-04 9.99954682e-01 2.23503718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.050385723 meters Centerline goodness : 0.998826 Centerline is valid? [True, True] Translation: X:367.13, Y:367.16, Z:23.32 [[ 1.87551209e-01 -9.82253952e-01 1.31061218e-03 3.67126113e+02] [-9.82208808e-01 -1.87555171e-01 -9.42953071e-03 3.67157830e+02] [ 9.50800589e-03 4.81225059e-04 -9.99954682e-01 2.33247825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.080385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:366.37, Y:366.95, Z:22.35 [[ 2.40896674e-01 9.70548627e-01 -2.03847517e-03 3.66374107e+02] [-9.70504394e-01 2.40905164e-01 9.26948526e-03 3.66953614e+02] [ 9.48756538e-03 -2.54639056e-04 9.99954960e-01 2.23503828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.110385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.12, Y:367.13, Z:23.32 [[ 2.66501635e-01 -9.63832306e-01 2.04090416e-03 3.67116007e+02] [-9.63787867e-01 -2.66508974e-01 -9.26895042e-03 3.67127415e+02] [ 9.47763313e-03 5.03191769e-04 -9.99954960e-01 2.33245888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.140385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.10, Y:367.12, Z:23.33 [[ 3.42331804e-01 -9.39575100e-01 2.75079838e-03 3.67101304e+02] [-9.39531624e-01 -3.42342469e-01 -9.05325437e-03 3.67120543e+02] [ 9.44792749e-03 5.14754833e-04 -9.99955235e-01 2.33256664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.170385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.08, Y:367.11, Z:23.32 [[ 4.17427135e-01 -9.08703730e-01 3.48123860e-03 3.67084529e+02] [-9.08661574e-01 -4.17441356e-01 -8.76694097e-03 3.67108968e+02] [ 9.41976492e-03 4.96291300e-04 -9.99955510e-01 2.33238959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.200385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:367.07, Y:367.10, Z:23.32 [[ 4.88913061e-01 -8.72322630e-01 4.15309044e-03 3.67068796e+02] [-8.72281937e-01 -4.88930440e-01 -8.44084675e-03 3.67097866e+02] [ 9.39371397e-03 5.04174449e-04 -9.99955751e-01 2.33225504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.230385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:367.06, Y:367.09, Z:23.32 [[ 5.58460203e-01 -8.29517778e-01 4.73897432e-03 3.67057758e+02] [-8.29478460e-01 -5.58479996e-01 -8.09798769e-03 3.67088409e+02] [ 9.36404712e-03 5.91526725e-04 -9.99955981e-01 2.33225511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.260385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.05, Y:367.07, Z:23.32 [[ 6.22424432e-01 -7.82661676e-01 5.34101695e-03 3.67046127e+02] [-7.82624232e-01 -6.22447059e-01 -7.67926310e-03 3.67072967e+02] [ 9.33476522e-03 5.99751690e-04 -9.99956250e-01 2.33236968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.290385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.04, Y:367.06, Z:23.33 [[ 6.84346362e-01 -7.29133166e-01 5.90618279e-03 3.67035219e+02] [-7.29097725e-01 -6.84371556e-01 -7.21673398e-03 3.67058824e+02] [ 9.30398360e-03 6.32561207e-04 -9.99956517e-01 2.33255195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.320385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.03, Y:367.05, Z:23.33 [[ 7.40287096e-01 -6.72260103e-01 6.43191581e-03 3.67031341e+02] [-6.72226895e-01 -7.40314756e-01 -6.71301911e-03 3.67051245e+02] [ 9.27453709e-03 6.45854629e-04 -9.99956782e-01 2.33257576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.3503857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.03, Y:367.05, Z:23.33 [[ 7.90416119e-01 -6.12530921e-01 6.94475314e-03 3.67025176e+02] [-6.12500461e-01 -7.90446402e-01 -6.13771144e-03 3.67046315e+02] [ 9.24899317e-03 5.97681559e-04 -9.99957049e-01 2.33291859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.380385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.02, Y:367.04, Z:23.33 [[ 8.37018253e-01 -5.47126407e-01 7.28964709e-03 3.67022230e+02] [-5.47097410e-01 -8.37049641e-01 -5.68524399e-03 3.67036277e+02] [ 9.21234359e-03 7.70505950e-04 -9.99957269e-01 2.33275065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.410385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.01, Y:367.02, Z:23.33 [[ 8.76234195e-01 -4.81823292e-01 7.74279204e-03 3.67012417e+02] [-4.81797964e-01 -8.76268174e-01 -4.98082740e-03 3.67019660e+02] [ 9.18464090e-03 6.33909846e-04 -9.99957619e-01 2.33318752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.440385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.01, Y:367.00, Z:23.33 [[ 9.10970804e-01 -4.12392930e-01 8.01663816e-03 3.67005104e+02] [-4.12369383e-01 -9.11005752e-01 -4.47351180e-03 3.67004602e+02] [ 9.14804811e-03 7.69422510e-04 -9.99957860e-01 2.33319424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.4703857229999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:367.00, Y:366.99, Z:23.33 [[ 9.41407165e-01 -3.37170305e-01 8.29063269e-03 3.67003508e+02] [-3.37149299e-01 -9.41443302e-01 -3.85490320e-03 3.66992891e+02] [ 9.10491950e-03 8.33852495e-04 -9.99958202e-01 2.33276820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.500385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.00, Y:366.97, Z:23.33 [[ 9.64023688e-01 -2.65677578e-01 8.58805268e-03 3.66997269e+02] [-2.65661297e-01 -9.64061744e-01 -3.00487662e-03 3.66974070e+02] [ 9.07774139e-03 6.15259032e-04 -9.99958607e-01 2.33323483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.530385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:366.99, Y:366.96, Z:23.33 [[ 9.81882602e-01 -1.89288843e-01 8.73436544e-03 3.66991446e+02] [-1.89274442e-01 -9.81921158e-01 -2.45444777e-03 3.66959472e+02] [ 9.04105781e-03 7.56787416e-04 -9.99958842e-01 2.33331003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.560385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.99, Y:366.95, Z:23.33 [[ 9.93672315e-01 -1.11967769e-01 8.86281708e-03 3.66986188e+02] [-1.11956551e-01 -9.93711556e-01 -1.75342776e-03 3.66947912e+02] [ 9.00341114e-03 7.50082185e-04 -9.99959187e-01 2.33338625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.5903857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.98, Y:366.93, Z:23.33 [[ 9.99391403e-01 -3.37192621e-02 8.93504028e-03 3.66982892e+02] [-3.37111822e-02 -9.99431061e-01 -1.05340952e-03 3.66932586e+02] [ 8.96547698e-03 7.51557646e-04 -9.99959527e-01 2.33341155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.620385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.98, Y:366.92, Z:23.33 [[ 9.98968269e-01 4.45225225e-02 8.95220467e-03 3.66980376e+02] [ 4.45274222e-02 -9.99008102e-01 -3.48654383e-04 3.66918158e+02] [ 8.92780202e-03 7.46913263e-04 -9.99959867e-01 2.33333130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.650385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.98, Y:366.90, Z:23.34 [[ 9.92639595e-01 1.20777430e-01 8.91325421e-03 3.66977891e+02] [ 1.20778979e-01 -9.92679356e-01 3.66233757e-04 3.66900207e+02] [ 8.89223622e-03 7.12995613e-04 -9.99960209e-01 2.33350501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.680385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.98, Y:366.89, Z:23.33 [[ 9.80132183e-01 1.98148815e-01 8.82902712e-03 3.66977575e+02] [ 1.98147780e-01 -9.80171646e-01 1.00056507e-03 3.66887134e+02] [ 8.85222283e-03 7.68766102e-04 -9.99960523e-01 2.33342638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.710385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.98, Y:366.88, Z:23.33 [[ 9.61502157e-01 2.74660636e-01 8.66822999e-03 3.66978200e+02] [ 2.74655947e-01 -9.61540976e-01 1.75006896e-03 3.66877663e+02] [ 8.81553337e-03 6.98085840e-04 -9.99960899e-01 2.33315097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.740385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.98, Y:366.87, Z:23.33 [[ 9.37381849e-01 3.48201245e-01 8.43580976e-03 3.66978872e+02] [ 3.48192547e-01 -9.37419633e-01 2.52620485e-03 3.66865638e+02] [ 8.78752137e-03 5.69267510e-04 -9.99961227e-01 2.33318798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.770385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:366.98, Y:366.85, Z:23.33 [[ 9.07880733e-01 4.19148600e-01 8.18698895e-03 3.66982208e+02] [ 4.19136986e-01 -9.07917477e-01 3.16902458e-03 3.66853787e+02] [ 8.76140256e-03 5.54373518e-04 -9.99961465e-01 2.33331733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.800385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.99, Y:366.84, Z:23.33 [[ 8.72281476e-01 4.88940468e-01 7.88951682e-03 3.66985157e+02] [ 4.88926103e-01 -8.72316980e-01 3.78851063e-03 3.66841761e+02] [ 8.73451564e-03 5.52743069e-04 -9.99961701e-01 2.33324250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.830385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.99, Y:366.83, Z:23.33 [[ 8.31990952e-01 5.54737885e-01 7.54553500e-03 3.66987054e+02] [ 5.54720849e-01 -8.32024992e-01 4.38096959e-03 3.66832055e+02] [ 8.70836350e-03 5.40738522e-04 -9.99961935e-01 2.33345085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.860385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.99, Y:366.83, Z:23.33 [[ 7.84595251e-01 6.19966454e-01 7.20335687e-03 3.66986070e+02] [ 6.19947597e-01 -7.84628057e-01 4.87746044e-03 3.66828257e+02] [ 8.67581776e-03 6.38871484e-04 -9.99962160e-01 2.33338462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.890385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.99, Y:366.82, Z:23.34 [[ 7.34500932e-01 6.78574375e-01 6.72301954e-03 3.66988899e+02] [ 6.78552563e-01 -7.34531497e-01 5.46804436e-03 3.66818877e+02] [ 8.64874439e-03 5.45638459e-04 -9.99962450e-01 2.33366801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.920385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:366.99, Y:366.82, Z:23.33 [[ 6.77535256e-01 7.35463130e-01 6.32148869e-03 3.66987314e+02] [ 7.35439835e-01 -6.77564426e-01 5.89050439e-03 3.66816352e+02] [ 8.61546465e-03 6.58050201e-04 -9.99962670e-01 2.33338959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.950385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:366.99, Y:366.81, Z:23.33 [[ 6.17778879e-01 7.86330867e-01 5.74668491e-03 3.66993272e+02] [ 7.86304971e-01 -6.17805352e-01 6.40614063e-03 3.66805959e+02] [ 8.58767881e-03 5.61068528e-04 -9.99962968e-01 2.33322798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.980385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.00, Y:366.80, Z:23.33 [[ 5.54221360e-01 8.32353006e-01 5.21134910e-03 3.67001023e+02] [ 8.32325291e-01 -5.54245577e-01 6.81547920e-03 3.66796377e+02] [ 8.56125179e-03 5.60253511e-04 -9.99963195e-01 2.33310959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.010385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:367.00, Y:366.79, Z:23.33 [[ 4.86321371e-01 8.73767661e-01 4.64740938e-03 3.67000117e+02] [ 8.73738342e-01 -4.86343244e-01 7.18047925e-03 3.66793096e+02] [ 8.53430671e-03 5.68599251e-04 -9.99963421e-01 2.33293514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.040385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.00, Y:366.79, Z:23.33 [[ 4.15694174e-01 9.09495391e-01 4.06060905e-03 3.66997196e+02] [ 9.09464665e-01 -4.15713607e-01 7.49804506e-03 3.66790138e+02] [ 8.50748785e-03 5.76086802e-04 -9.99963645e-01 2.33306892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.070385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.00, Y:366.78, Z:23.33 [[ 3.41190584e-01 9.39987819e-01 3.44749693e-03 3.67004664e+02] [ 9.39955889e-01 -3.41207491e-01 7.77007815e-03 3.66782060e+02] [ 8.48009060e-03 5.89417548e-04 -9.99963870e-01 2.33306500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.1003857229999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:367.01, Y:366.78, Z:23.33 [[ 2.65977947e-01 9.63974990e-01 2.81955674e-03 3.67012335e+02] [ 9.63942045e-01 -2.65992232e-01 7.99162617e-03 3.66776523e+02] [ 8.45370795e-03 5.92292965e-04 -9.99964091e-01 2.33310185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.130385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:367.02, Y:366.77, Z:23.33 [[ 1.89776627e-01 9.81824876e-01 2.17833381e-03 3.67019313e+02] [ 9.81791120e-01 -1.89788213e-01 8.16274667e-03 3.66770075e+02] [ 8.42780982e-03 5.89570262e-04 -9.99964312e-01 2.33316597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.160385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:367.03, Y:366.77, Z:23.33 [[ 1.12944680e-01 9.93600103e-01 1.52793309e-03 3.67029060e+02] [ 9.93565751e-01 -1.12953512e-01 8.28272938e-03 3.66765592e+02] [ 8.40230617e-03 5.82611769e-04 -9.99964530e-01 2.33320866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.190385723 meters Centerline goodness : 0.999781 Centerline is valid? [True, True] Translation: X:367.04, Y:366.76, Z:23.33 [[ 3.55264513e-02 9.99368356e-01 8.71980740e-04 3.67038481e+02] [ 9.99333627e-01 -3.55325035e-02 8.35122153e-03 3.66760108e+02] [ 8.37693019e-03 5.74710411e-04 -9.99964748e-01 2.33322644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.2203857229999 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:367.05, Y:366.76, Z:23.33 [[-4.02413962e-02 9.99189964e-01 2.14657490e-04 3.67050294e+02] [ 9.99155075e-01 4.02381934e-02 8.36808495e-03 3.66756558e+02] [ 8.35266907e-03 5.51219543e-04 -9.99964964e-01 2.33326755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.250385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:367.09, Y:366.72, Z:23.33 [[-1.14229606e-01 9.93454278e-01 -4.40241609e-04 3.67090370e+02] [ 9.93419459e-01 1.14229296e-01 8.33348974e-03 3.66724997e+02] [ 8.32922952e-03 5.14586672e-04 -9.99965179e-01 2.33332626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.280385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:367.13, Y:366.70, Z:23.33 [[-1.89812226e-01 9.81819808e-01 -1.08775566e-03 3.67133918e+02] [ 9.81785288e-01 1.89814690e-01 8.24809764e-03 3.66697310e+02] [ 8.30461765e-03 4.97647270e-04 -9.99965392e-01 2.33330940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.310385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.18, Y:366.67, Z:23.33 [[-2.64375095e-01 9.64418391e-01 -1.72548285e-03 3.67179470e+02] [ 9.64384390e-01 2.64380288e-01 8.11245778e-03 3.66673771e+02] [ 8.27998713e-03 4.80703068e-04 -9.99965605e-01 2.33338586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.3403857229999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:367.23, Y:366.66, Z:23.33 [[-3.37048089e-01 9.41484505e-01 -2.34802869e-03 3.67226343e+02] [ 9.41451237e-01 3.37055952e-01 7.92808267e-03 3.66655926e+02] [ 8.25558403e-03 4.61590601e-04 -9.99965816e-01 2.33334789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.370385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.09, Y:367.06, Z:23.34 [[-4.09329823e-01 9.12381706e-01 -2.95277483e-03 3.67087815e+02] [ 9.12349361e-01 4.09340219e-01 7.69605939e-03 3.67059028e+02] [ 8.23043329e-03 4.56264408e-04 -9.99966025e-01 2.33373450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.400385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:367.15, Y:367.00, Z:23.34 [[-4.78583415e-01 8.78034972e-01 -3.53594180e-03 3.67148849e+02] [ 8.78003749e-01 4.78596269e-01 7.41808275e-03 3.67003443e+02] [ 8.20562464e-03 4.45601221e-04 -9.99966234e-01 2.33365866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.430385723 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:367.17, Y:367.03, Z:23.34 [[-5.45108850e-01 8.38355340e-01 -4.08236706e-03 3.67167491e+02] [ 8.38325370e-01 5.45123951e-01 7.10297742e-03 3.67025544e+02] [ 8.18021511e-03 4.49543974e-04 -9.99966440e-01 2.33373980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.460385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:367.47, Y:366.67, Z:23.33 [[-6.09594321e-01 7.92700303e-01 -4.58193942e-03 3.67473514e+02] [ 7.92671622e-01 6.09611344e-01 6.76078172e-03 3.66670225e+02] [ 8.15247596e-03 4.89360785e-04 -9.99966648e-01 2.33344555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.490385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:367.53, Y:366.67, Z:23.33 [[-6.72112354e-01 7.40431439e-01 -5.12526064e-03 3.67527377e+02] [ 7.40404591e-01 6.72131742e-01 6.32167273e-03 3.66667376e+02] [ 8.12561559e-03 4.54107834e-04 -9.99966884e-01 2.33329455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.520385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.58, Y:366.67, Z:23.33 [[-7.27746914e-01 6.85823228e-01 -5.56135426e-03 3.67580834e+02] [ 6.85797943e-01 7.27768001e-01 5.90914777e-03 3.66670438e+02] [ 8.10000648e-03 4.86398740e-04 -9.99967076e-01 2.33300077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.550385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:367.63, Y:366.68, Z:23.33 [[-7.79945718e-01 6.25818381e-01 -6.00270009e-03 3.67630315e+02] [ 6.25795084e-01 7.79968674e-01 5.42039107e-03 3.66681609e+02] [ 8.07409840e-03 4.71150597e-04 -9.99967293e-01 2.33300080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.580385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:367.68, Y:366.70, Z:23.33 [[-8.26531638e-01 5.62854004e-01 -6.38912865e-03 3.67677812e+02] [ 5.62832710e-01 8.26556199e-01 4.91841452e-03 3.66695891e+02] [ 8.04932320e-03 4.69214620e-04 -9.99967494e-01 2.33322587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.610385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:367.73, Y:366.71, Z:23.33 [[-8.68530833e-01 4.95589391e-01 -6.73408908e-03 3.67725225e+02] [ 4.95570182e-01 8.68556809e-01 4.38916038e-03 3.66712929e+02] [ 8.02416024e-03 4.74907369e-04 -9.99967693e-01 2.33310064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.640385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:367.77, Y:366.74, Z:23.33 [[-9.04804927e-01 4.25768184e-01 -7.03550339e-03 3.67766959e+02] [ 4.25751166e-01 9.04832154e-01 3.83640646e-03 3.66736567e+02] [ 7.99936950e-03 4.75825697e-04 -9.99967891e-01 2.33307195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.670385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:367.81, Y:366.76, Z:23.33 [[-9.35049758e-01 3.54441504e-01 -7.29178770e-03 3.67810990e+02] [ 3.54426784e-01 9.35078073e-01 3.26384264e-03 3.66761908e+02] [ 7.97523208e-03 4.67450408e-04 -9.99968088e-01 2.33300070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.700385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.46, Y:366.91, Z:23.33 [[-9.59717391e-01 2.80866964e-01 -7.50192794e-03 3.67460705e+02] [ 2.80854607e-01 9.59746601e-01 2.67438124e-03 3.66906875e+02] [ 7.95109518e-03 4.59699156e-04 -9.99968284e-01 2.33329938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.730385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.77, Y:366.86, Z:23.33 [[-9.77177182e-01 2.12293373e-01 -7.50192794e-03 3.67774424e+02] [ 2.12278982e-01 9.77205445e-01 2.67438124e-03 3.66864809e+02] [ 7.89867824e-03 1.02084270e-03 -9.99968284e-01 2.33318245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.760385723 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:367.91, Y:367.57, Z:22.37 [[-9.85013340e-01 -1.72304596e-01 7.73599434e-03 3.67913803e+02] [ 1.72298186e-01 -9.85043708e-01 -1.49256734e-03 3.67571157e+02] [ 7.87746877e-03 -1.37300945e-04 9.99968963e-01 2.23657868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.790385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:367.82, Y:366.90, Z:23.33 [[-9.90189209e-01 1.39519169e-01 -7.72864435e-03 3.67819038e+02] [ 1.39511465e-01 9.90219274e-01 1.52970235e-03 3.66904299e+02] [ 7.86647540e-03 4.36460264e-04 -9.99968964e-01 2.33321663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.820385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.41, Y:366.97, Z:23.34 [[-9.98238385e-01 5.88156173e-02 -7.80066538e-03 3.67413116e+02] [ 5.88102398e-02 9.98268759e-01 9.17157118e-04 3.66967280e+02] [ 7.84110371e-03 4.56782438e-04 -9.99969154e-01 2.33365176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.8503857229999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:367.86, Y:367.65, Z:22.37 [[-9.99851157e-01 -1.53755531e-02 7.82663355e-03 3.67864906e+02] [ 1.53740591e-02 -9.99881781e-01 -2.51026653e-04 3.67653605e+02] [ 7.82956796e-03 -1.30662163e-04 9.99969340e-01 2.23652674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.880385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.87, Y:367.00, Z:23.33 [[-9.99875468e-01 -1.37051307e-02 -7.82421000e-03 3.67868787e+02] [-1.37079892e-02 9.99905993e-01 3.11835765e-04 3.66995223e+02] [ 7.81920072e-03 4.19051118e-04 -9.99969342e-01 2.33324261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.910385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:367.90, Y:367.04, Z:23.33 [[-9.95757361e-01 -9.16865756e-02 -7.80057599e-03 3.67899199e+02] [-9.16870238e-02 9.95787828e-01 -3.00898005e-04 3.67037037e+02] [ 7.79530693e-03 4.15590193e-04 -9.99969530e-01 2.33326299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.940385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.91, Y:367.08, Z:23.33 [[-9.85351435e-01 -1.70360810e-01 -7.72945235e-03 3.67912235e+02] [-1.70358921e-01 9.85381660e-01 -9.07015559e-04 3.67079978e+02] [ 7.77098049e-03 4.23052080e-04 -9.99969716e-01 2.33331747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.9703857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.77, Y:367.75, Z:22.36 [[-9.76096977e-01 2.17202276e-01 7.60680900e-03 3.67773505e+02] [-2.17196958e-01 -9.76126603e-01 1.52836419e-03 3.67745720e+02] [ 7.75717281e-03 -1.60344108e-04 9.99969900e-01 2.23649444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.000385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.93, Y:367.13, Z:23.33 [[-9.69207724e-01 -2.46126877e-01 -7.61232644e-03 3.67928080e+02] [-2.46122661e-01 9.69237527e-01 -1.50037074e-03 3.67129882e+02] [ 7.74743403e-03 4.19395132e-04 -9.99969900e-01 2.33330630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.030385723 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:367.94, Y:367.18, Z:23.33 [[-9.47151249e-01 -3.20700837e-01 -7.44878803e-03 3.67938799e+02] [-3.20694329e-01 9.47180448e-01 -2.08470854e-03 3.67175018e+02] [ 7.72391416e-03 4.14249778e-04 -9.99970084e-01 2.33334099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.060385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.95, Y:367.22, Z:23.33 [[-9.20074334e-01 -3.91676899e-01 -7.24069999e-03 3.67947850e+02] [-3.91668115e-01 9.20102739e-01 -2.65270092e-03 3.67223444e+02] [ 7.70118957e-03 3.95269285e-04 -9.99970267e-01 2.33336785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.0903857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.67, Y:367.82, Z:22.36 [[-8.96519515e-01 4.42949089e-01 6.99023282e-03 3.67668407e+02] [-4.42937590e-01 -8.96546738e-01 3.19986057e-03 3.67816239e+02] [ 7.68444575e-03 -2.27499428e-04 9.99970448e-01 2.23638710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.120385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.94, Y:367.27, Z:23.33 [[-8.89123886e-01 -4.57613194e-01 -6.99138248e-03 3.67941759e+02] [-4.57602163e-01 8.89151302e-01 -3.19734669e-03 3.67269740e+02] [ 7.67954487e-03 3.56434429e-04 -9.99970448e-01 2.33341504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.150385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.91, Y:367.30, Z:23.33 [[-8.52372262e-01 -5.22892550e-01 -6.70131767e-03 3.67912272e+02] [-5.22879424e-01 8.52398540e-01 -3.71989550e-03 3.67298557e+02] [ 7.65729904e-03 3.33245379e-04 -9.99970627e-01 2.33343436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.180385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.55, Y:367.83, Z:22.36 [[-8.15680084e-01 5.78468062e-01 6.37969959e-03 3.67552856e+02] [-5.78452818e-01 -8.15704992e-01 4.20755128e-03 3.67825175e+02] [ 7.63788684e-03 -2.58339422e-04 9.99970798e-01 2.23637437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.210385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.55, Y:367.82, Z:22.36 [[-8.15774549e-01 5.78334821e-01 6.38120907e-03 3.67553692e+02] [-5.78319590e-01 -8.15799465e-01 4.20526073e-03 3.67823344e+02] [ 7.63783566e-03 -2.59833539e-04 9.99970798e-01 2.23634854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.240385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.55, Y:367.82, Z:22.36 [[-8.16217725e-01 5.77709171e-01 6.38271679e-03 3.67551110e+02] [-5.77693939e-01 -8.16242640e-01 4.20297108e-03 3.67817077e+02] [ 7.63794054e-03 -2.56717309e-04 9.99970798e-01 2.23628592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.270385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.55, Y:367.82, Z:22.36 [[-8.16805662e-01 5.76877588e-01 6.38422416e-03 3.67552247e+02] [-5.76862349e-01 -8.16830573e-01 4.20068018e-03 3.67815495e+02] [ 7.63810772e-03 -2.51679188e-04 9.99970798e-01 2.23625125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.300385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.55, Y:367.81, Z:22.36 [[-8.17592981e-01 5.75761184e-01 6.38573118e-03 3.67549526e+02] [-5.75745928e-01 -8.17617881e-01 4.19838801e-03 3.67811404e+02] [ 7.63835684e-03 -2.43986157e-04 9.99970798e-01 2.23622259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.330385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.70, Y:367.21, Z:23.34 [[-8.08055754e-01 -5.89071389e-01 -6.38723690e-03 3.67696984e+02] [-5.89056562e-01 8.08080912e-01 -4.19609602e-03 3.67208136e+02] [ 7.63320433e-03 3.71764274e-04 -9.99970798e-01 2.33405218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.360385723 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:367.77, Y:367.32, Z:23.34 [[-7.64323741e-01 -6.44801072e-01 -6.38723690e-03 3.67769829e+02] [-6.44788063e-01 7.64349885e-01 -4.19609602e-03 3.67315015e+02] [ 7.58773100e-03 9.11238303e-04 -9.99970798e-01 2.33425709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.390385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.36, Y:367.75, Z:22.36 [[-7.30376920e-01 6.83020987e-01 5.64678057e-03 3.67358490e+02] [-6.83002507e-01 -7.30398725e-01 5.02772978e-03 3.67754328e+02] [ 7.55844629e-03 -1.84627490e-04 9.99971418e-01 2.23604951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.420385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.36, Y:367.75, Z:22.36 [[-7.31570402e-01 6.81742504e-01 5.64859132e-03 3.67356967e+02] [-6.81724001e-01 -7.31592187e-01 5.02569460e-03 3.67750978e+02] [ 7.55869490e-03 -1.74130863e-04 9.99971418e-01 2.23603555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.450385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:367.36, Y:367.75, Z:22.36 [[-7.33752592e-01 6.79393264e-01 5.65040530e-03 3.67357323e+02] [-6.79374708e-01 -7.33774331e-01 5.02365431e-03 3.67748572e+02] [ 7.55915927e-03 -1.52623080e-04 9.99971418e-01 2.23601003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.480385723 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:367.35, Y:367.74, Z:22.36 [[-7.35357144e-01 6.77656199e-01 5.65221854e-03 3.67354744e+02] [-6.77637607e-01 -7.35378853e-01 5.02161337e-03 3.67744346e+02] [ 7.55944941e-03 -1.37476582e-04 9.99971418e-01 2.23574957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.510385723 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:367.35, Y:367.74, Z:22.36 [[-7.35602091e-01 6.77390283e-01 5.65403766e-03 3.67352990e+02] [-6.77371699e-01 -7.35623807e-01 5.01956431e-03 3.67742690e+02] [ 7.55944880e-03 -1.37483089e-04 9.99971418e-01 2.23575148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.540385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.35, Y:367.74, Z:22.36 [[-7.36685512e-01 6.76211851e-01 5.65585171e-03 3.67350770e+02] [-6.76193248e-01 -7.36707212e-01 5.01751948e-03 3.67739517e+02] [ 7.55961288e-03 -1.28114832e-04 9.99971418e-01 2.23609047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.570385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.35, Y:367.74, Z:22.36 [[-7.37618540e-01 6.75193957e-01 5.65766586e-03 3.67348384e+02] [-6.75175340e-01 -7.37640228e-01 5.01547304e-03 3.67736160e+02] [ 7.55973902e-03 -1.20410564e-04 9.99971418e-01 2.23594696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.6003857229999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:367.35, Y:367.74, Z:22.36 [[-7.37877800e-01 6.74910603e-01 5.65948099e-03 3.67348104e+02] [-6.74891993e-01 -7.37899494e-01 5.01342400e-03 3.67736101e+02] [ 7.55974118e-03 -1.20244127e-04 9.99971418e-01 2.23587155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.630385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.34, Y:367.73, Z:22.36 [[-7.37736742e-01 6.75064774e-01 5.66129480e-03 3.67344429e+02] [-6.75046184e-01 -7.37758453e-01 5.01137496e-03 3.67732709e+02] [ 7.55967080e-03 -1.24560020e-04 9.99971418e-01 2.23591054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.660385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.35, Y:367.73, Z:22.36 [[-7.36532359e-01 6.76378602e-01 5.66310845e-03 3.67346194e+02] [-6.76360066e-01 -7.36554117e-01 5.00932461e-03 3.67734033e+02] [ 7.55938582e-03 -1.40770735e-04 9.99971418e-01 2.23591234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.690385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.34, Y:367.73, Z:22.36 [[-7.35941551e-01 6.77021375e-01 5.66492021e-03 3.67343995e+02] [-6.77002874e-01 -7.35963338e-01 5.00727490e-03 3.67732374e+02] [ 7.55920572e-03 -1.50105608e-04 9.99971418e-01 2.23593538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.7203857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.34, Y:367.73, Z:22.36 [[-7.35114308e-01 6.77919495e-01 5.66672810e-03 3.67344177e+02] [-6.77901037e-01 -7.35136131e-01 5.00522807e-03 3.67732384e+02] [ 7.55895826e-03 -1.62066086e-04 9.99971418e-01 2.23598199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.750385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.34, Y:367.73, Z:22.36 [[-7.35244413e-01 6.77778371e-01 5.66853385e-03 3.67341454e+02] [-6.77759925e-01 -7.35266246e-01 5.00318218e-03 3.67729080e+02] [ 7.55893027e-03 -1.63343330e-04 9.99971418e-01 2.23591908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.780385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.34, Y:367.73, Z:22.36 [[-7.35787197e-01 6.77189079e-01 5.67033886e-03 3.67338138e+02] [-6.77170631e-01 -7.35809028e-01 5.00113564e-03 3.67726722e+02] [ 7.55900096e-03 -1.60015370e-04 9.99971418e-01 2.23582498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.810385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.34, Y:367.73, Z:22.36 [[-7.36455644e-01 6.76462055e-01 5.67214510e-03 3.67335437e+02] [-6.76443601e-01 -7.36477470e-01 4.99908621e-03 3.67725849e+02] [ 7.55909921e-03 -1.55281005e-04 9.99971418e-01 2.23578808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.8403857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.34, Y:367.73, Z:22.36 [[-7.36883007e-01 6.75996480e-01 5.67395175e-03 3.67335442e+02] [-6.75978028e-01 -7.36904835e-01 4.99703483e-03 3.67726791e+02] [ 7.55914043e-03 -1.53236662e-04 9.99971418e-01 2.23577200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.870385723 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:367.33, Y:367.72, Z:22.35 [[-7.37728723e-01 6.75073416e-01 5.67575594e-03 3.67330501e+02] [-6.75054953e-01 -7.37750541e-01 4.99498474e-03 3.67724617e+02] [ 7.55927343e-03 -1.46503446e-04 9.99971418e-01 2.23544105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.900385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.33, Y:367.72, Z:22.36 [[-7.37945161e-01 6.74836799e-01 5.67755940e-03 3.67326628e+02] [-6.74818344e-01 -7.37966987e-01 4.99293400e-03 3.67722446e+02] [ 7.55926700e-03 -1.46809745e-04 9.99971418e-01 2.23568160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.930385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.33, Y:367.72, Z:22.36 [[-7.38024643e-01 6.74749858e-01 5.67936465e-03 3.67325444e+02] [-6.74731416e-01 -7.38046480e-01 4.99087971e-03 3.67723128e+02] [ 7.55923047e-03 -1.48653535e-04 9.99971418e-01 2.23567209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.960385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.32, Y:367.72, Z:22.36 [[-7.37953263e-01 6.74827908e-01 5.68116916e-03 3.67322862e+02] [-6.74809485e-01 -7.37975115e-01 4.98882477e-03 3.67724714e+02] [ 7.55915965e-03 -1.52187314e-04 9.99971418e-01 2.23565117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.990385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.32, Y:367.72, Z:22.36 [[-7.38004637e-01 6.74771709e-01 5.68297096e-03 3.67320525e+02] [-6.74753300e-01 -7.38026501e-01 4.98677143e-03 3.67724927e+02] [ 7.55911545e-03 -1.54342964e-04 9.99971418e-01 2.23565100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.020385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.05, Y:367.49, Z:22.36 [[-7.37130363e-01 6.75726655e-01 5.68477004e-03 3.67051574e+02] [-6.75708289e-01 -7.37152264e-01 4.98471968e-03 3.67493429e+02] [ 7.55884906e-03 -1.66858015e-04 9.99971418e-01 2.23592258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.050385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.61, Y:367.21, Z:23.35 [[-7.21021457e-01 -6.92889416e-01 -5.68477004e-03 3.67606138e+02] [-6.92871571e-01 7.21043784e-01 -4.98471968e-03 3.67211654e+02] [ 7.55282761e-03 3.44725702e-04 -9.99971418e-01 2.33458447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.080385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.16, Y:367.65, Z:22.36 [[-6.90978222e-01 7.22856000e-01 5.31982895e-03 3.67164243e+02] [-7.22836234e-01 -6.90998684e-01 5.34775636e-03 3.67650244e+02] [ 7.54165258e-03 -1.50181947e-04 9.99971550e-01 2.23579129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.110385723 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:367.53, Y:367.18, Z:23.35 [[-6.72147776e-01 -7.40397721e-01 -5.34623735e-03 3.67534630e+02] [-7.40378696e-01 6.72168930e-01 -5.32139441e-03 3.67181811e+02] [ 7.53352293e-03 3.81476818e-04 -9.99971550e-01 2.33487547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.140385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.05, Y:367.58, Z:22.36 [[-6.36848538e-01 7.70973223e-01 4.92242033e-03 3.67051964e+02] [-7.70952258e-01 -6.36867538e-01 5.68815885e-03 3.67581512e+02] [ 7.52034788e-03 -1.72455422e-04 9.99971707e-01 2.23577496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.170385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.05, Y:367.58, Z:22.36 [[-6.37633518e-01 7.70324113e-01 4.92526148e-03 3.67048159e+02] [-7.70303148e-01 -6.37652517e-01 5.68569770e-03 3.67578526e+02] [ 7.52043541e-03 -1.68553000e-04 9.99971707e-01 2.23573988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.200385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.04, Y:367.58, Z:22.36 [[-6.38431519e-01 7.69662859e-01 4.92731292e-03 3.67043877e+02] [-7.69641889e-01 -6.38450512e-01 5.68391933e-03 3.67577506e+02] [ 7.52054706e-03 -1.63473171e-04 9.99971707e-01 2.23578246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.230385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.04, Y:367.58, Z:22.36 [[-6.38534540e-01 7.69577374e-01 4.93015688e-03 3.67041197e+02] [-7.69556420e-01 -6.38553551e-01 5.68145144e-03 3.67576512e+02] [ 7.52048567e-03 -1.66230896e-04 9.99971707e-01 2.23583958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.260385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.04, Y:367.58, Z:22.36 [[-6.38467218e-01 7.69633214e-01 4.93220679e-03 3.67040977e+02] [-7.69612276e-01 -6.38486246e-01 5.67967131e-03 3.67578329e+02] [ 7.52040989e-03 -1.69602948e-04 9.99971707e-01 2.23567129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.290385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.45, Y:367.12, Z:23.35 [[-6.20210551e-01 -7.84419849e-01 -4.93687922e-03 3.67447358e+02] [-7.84399396e-01 6.20230099e-01 -5.67561054e-03 3.67118633e+02] [ 7.51406265e-03 3.52411536e-04 -9.99971707e-01 2.33505398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.320385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.93, Y:367.49, Z:22.36 [[-5.84037731e-01 8.11713954e-01 4.51511552e-03 3.66925930e+02] [-8.11691840e-01 -5.84055161e-01 5.99381090e-03 3.67494615e+02] [ 7.50233647e-03 -1.64270706e-04 9.99971844e-01 2.23565286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.3503857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.36, Y:367.05, Z:23.35 [[-5.64777531e-01 -8.25230804e-01 -4.52337632e-03 3.67361672e+02] [-8.25209156e-01 5.64795536e-01 -5.98757444e-03 3.67051897e+02] [ 7.49591362e-03 3.51084046e-04 -9.99971844e-01 2.33506063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.380385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.81, Y:367.40, Z:22.36 [[-5.27744339e-01 8.49393422e-01 4.08980490e-03 3.66813805e+02] [-8.49370294e-01 -5.27760160e-01 6.27036958e-03 3.67403276e+02] [ 7.48444677e-03 -1.64606743e-04 9.99971978e-01 2.23578117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.410385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.80, Y:367.38, Z:22.36 [[-5.27475312e-01 8.49560503e-01 4.09235754e-03 3.66795834e+02] [-8.49537392e-01 -5.27491160e-01 6.26870316e-03 3.67377541e+02] [ 7.48432503e-03 -1.70024593e-04 9.99971978e-01 2.23583194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.440385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.28, Y:366.98, Z:23.35 [[-5.08865632e-01 -8.60836234e-01 -4.09235754e-03 3.67282411e+02] [-8.60813473e-01 5.08881979e-01 -6.26870316e-03 3.66984217e+02] [ 7.47885382e-03 3.32828910e-04 -9.99971978e-01 2.33534500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.4703857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.70, Y:367.29, Z:22.36 [[-4.68157840e-01 8.83637371e-01 3.63779442e-03 3.66699604e+02] [-8.83613304e-01 -4.68171946e-01 6.52362346e-03 3.67291025e+02] [ 7.46763078e-03 -1.60318080e-04 9.99972104e-01 2.23589065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.500385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.70, Y:367.29, Z:22.36 [[-4.68156969e-01 8.83637758e-01 3.65584668e-03 3.66697495e+02] [-8.83613770e-01 -4.68171208e-01 6.51349122e-03 3.67289297e+02] [ 7.46712893e-03 -1.81020159e-04 9.99972104e-01 2.23592167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.530385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.69, Y:367.29, Z:22.36 [[-4.68597315e-01 8.83404307e-01 3.65879597e-03 3.66694180e+02] [-8.83380325e-01 -4.68611564e-01 6.51183410e-03 3.67287174e+02] [ 7.46713639e-03 -1.80680393e-04 9.99972104e-01 2.23590470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.560385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.69, Y:367.29, Z:22.36 [[-4.72115306e-01 8.81529202e-01 3.66115059e-03 3.66691473e+02] [-8.81505173e-01 -4.72129477e-01 6.51050999e-03 3.67288109e+02] [ 7.46774179e-03 -1.53611768e-04 9.99972104e-01 2.23597498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.5903857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.20, Y:366.89, Z:23.35 [[-4.50126073e-01 -8.92957485e-01 -3.66722952e-03 3.67198895e+02] [-8.92933843e-01 4.50140879e-01 -6.50708218e-03 3.66887922e+02] [ 7.46131765e-03 3.45586004e-04 -9.99972104e-01 2.33545296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.620385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:366.59, Y:367.16, Z:22.36 [[-4.11590935e-01 9.11363058e-01 3.20608642e-03 3.66589380e+02] [-9.11338245e-01 -4.11603393e-01 6.72686824e-03 3.67164370e+02] [ 7.45025526e-03 -1.53111187e-04 9.99972235e-01 2.23587260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.650385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.58, Y:367.16, Z:22.36 [[-4.14796527e-01 9.09908537e-01 3.20882407e-03 3.66583590e+02] [-9.09883690e-01 -4.14808918e-01 6.72556208e-03 3.67156464e+02] [ 7.45069519e-03 -1.29916893e-04 9.99972235e-01 2.23597037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.680385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.58, Y:367.15, Z:22.36 [[-4.16190273e-01 9.09271875e-01 3.21156881e-03 3.66581138e+02] [-9.09247019e-01 -4.16202646e-01 6.72425117e-03 3.67153902e+02] [ 7.45083590e-03 -1.21541437e-04 9.99972235e-01 2.23601239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.710385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.58, Y:367.15, Z:22.36 [[-4.17847453e-01 9.08511516e-01 3.21431964e-03 3.66579146e+02] [-9.08486648e-01 -4.17859801e-01 6.72293596e-03 3.67152933e+02] [ 7.45099971e-03 -1.11004809e-04 9.99972235e-01 2.23608825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.740385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.58, Y:367.15, Z:22.36 [[-4.18263382e-01 9.08320095e-01 3.21676565e-03 3.66578226e+02] [-9.08295230e-01 -4.18275737e-01 6.72176540e-03 3.67151544e+02] [ 7.45100961e-03 -1.10304567e-04 9.99972235e-01 2.23612492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.770385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.58, Y:367.15, Z:22.36 [[-4.17387818e-01 9.08722756e-01 3.21921046e-03 3.66576481e+02] [-9.08697912e-01 -4.17400215e-01 6.72059432e-03 3.67149432e+02] [ 7.45085613e-03 -1.20195625e-04 9.99972235e-01 2.23616120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.800385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.57, Y:367.15, Z:22.36 [[-4.17690610e-01 9.08583609e-01 3.22165407e-03 3.66573939e+02] [-9.08558770e-01 -4.17703017e-01 6.71942272e-03 3.67146614e+02] [ 7.45085197e-03 -1.20422282e-04 9.99972235e-01 2.23641311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.830385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.57, Y:367.14, Z:22.36 [[-4.16181706e-01 9.09275736e-01 3.22853752e-03 3.66569733e+02] [-9.09250943e-01 -4.16194205e-01 6.71611285e-03 3.67140847e+02] [ 7.45049707e-03 -1.40427479e-04 9.99972235e-01 2.23613332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.860385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.55, Y:367.09, Z:22.36 [[-4.16626186e-01 9.09072152e-01 3.23161271e-03 3.66545133e+02] [-9.09047365e-01 -4.16638695e-01 6.71463283e-03 3.67092853e+02] [ 7.45050062e-03 -1.40197157e-04 9.99972235e-01 2.23632856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.890385723 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:367.10, Y:366.73, Z:23.35 [[-3.88333513e-01 -9.21513233e-01 -3.23161271e-03 3.67101359e+02] [-9.21488844e-01 3.88346783e-01 -6.71463283e-03 3.66727702e+02] [ 7.44260941e-03 3.70378107e-04 -9.99972235e-01 2.33527306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.920385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.47, Y:367.01, Z:22.36 [[-3.55546669e-01 9.34654474e-01 2.75330469e-03 3.66470853e+02] [-9.34628965e-01 -3.55557310e-01 6.90629807e-03 3.67013854e+02] [ 7.43395999e-03 -1.17807047e-04 9.99972361e-01 2.23598107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.950385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:366.47, Y:367.00, Z:22.36 [[-3.58967314e-01 9.33346024e-01 2.76906899e-03 3.66466328e+02] [-9.33320525e-01 -3.58977978e-01 6.89997160e-03 3.67001365e+02] [ 7.43409584e-03 -1.07564652e-04 9.99972361e-01 2.23576965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.980385723 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:366.47, Y:367.00, Z:22.36 [[-3.60829765e-01 9.32627576e-01 2.77221205e-03 3.66466832e+02] [-9.32602066e-01 -3.60840401e-01 6.89870858e-03 3.67003819e+02] [ 7.43425197e-03 -9.61112965e-05 9.99972361e-01 2.23566175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.010385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:366.46, Y:367.00, Z:22.36 [[-3.62833599e-01 9.31849815e-01 2.77535776e-03 3.66463597e+02] [-9.31824291e-01 -3.62844204e-01 6.89744282e-03 3.66999035e+02] [ 7.43440329e-03 -8.35217725e-05 9.99972361e-01 2.23563082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.040385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.46, Y:367.00, Z:22.36 [[-3.64040247e-01 9.31379075e-01 2.77817665e-03 3.66460961e+02] [-9.31353546e-01 -3.64050839e-01 6.89630723e-03 3.66995362e+02] [ 7.43447379e-03 -7.69312889e-05 9.99972361e-01 2.23558836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.070385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.04, Y:366.65, Z:23.36 [[-3.20791005e-01 -9.47145930e-01 -2.77817665e-03 3.67040275e+02] [-9.47120916e-01 3.20802761e-01 -6.89630723e-03 3.66650566e+02] [ 7.42305607e-03 4.18995882e-04 -9.99972361e-01 2.33597123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.1003857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.38, Y:366.87, Z:22.36 [[-2.99100494e-01 9.54218853e-01 2.29663103e-03 3.66376223e+02] [-9.54192787e-01 -2.99109300e-01 7.05356278e-03 3.66874902e+02] [ 7.41758629e-03 -8.17046538e-05 9.99972486e-01 2.23583490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.130385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.37, Y:366.85, Z:22.36 [[-2.99685982e-01 9.54035120e-01 2.30258643e-03 3.66366368e+02] [-9.54009063e-01 -2.99694816e-01 7.05161560e-03 3.66854399e+02] [ 7.41756215e-03 -8.34179772e-05 9.99972486e-01 2.23592206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.160385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.98, Y:366.56, Z:23.36 [[-2.59219011e-01 -9.65815822e-01 -2.30258643e-03 3.66980679e+02] [-9.65790160e-01 2.59228935e-01 -7.05161560e-03 3.66559191e+02] [ 7.40745895e-03 3.95902495e-04 -9.99972486e-01 2.33600905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.190385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:366.29, Y:366.72, Z:22.36 [[-2.31452320e-01 9.72844553e-01 1.81670185e-03 3.66291514e+02] [-9.72818100e-01 -2.31459425e-01 7.17493584e-03 3.66723714e+02] [ 7.40059001e-03 -1.06664900e-04 9.99972610e-01 2.23589152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.2203857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.29, Y:366.72, Z:22.36 [[-2.32364495e-01 9.72627076e-01 1.82008265e-03 3.66289387e+02] [-9.72600623e-01 -2.32371601e-01 7.17407635e-03 3.66718085e+02] [ 7.40063642e-03 -1.03212894e-04 9.99972610e-01 2.23587094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.250385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.92, Y:366.45, Z:23.36 [[-1.95150150e-01 -9.80771689e-01 -1.82008265e-03 3.66921016e+02] [-9.80745526e-01 1.95158258e-01 -7.17407635e-03 3.66446037e+02] [ 7.39133514e-03 3.85015844e-04 -9.99972610e-01 2.33627097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.280385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.22, Y:366.56, Z:22.36 [[-1.66548587e-01 9.86032348e-01 1.33270090e-03 3.66217003e+02] [-9.86005601e-01 -1.66553886e-01 7.26350165e-03 3.66560803e+02] [ 7.38401410e-03 -1.04324616e-04 9.99972732e-01 2.23590996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.310385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.21, Y:366.55, Z:22.36 [[-1.67677691e-01 9.85840964e-01 1.33600650e-03 3.66212034e+02] [-9.85814215e-01 -1.67682984e-01 7.26289358e-03 3.66548269e+02] [ 7.38408357e-03 -9.92289779e-05 9.99972732e-01 2.23582426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.3403857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.21, Y:366.55, Z:22.36 [[-1.68352607e-01 9.85725931e-01 1.33771605e-03 3.66212506e+02] [-9.85699180e-01 -1.68357895e-01 7.26257836e-03 3.66554787e+02] [ 7.38412687e-03 -9.59116067e-05 9.99972732e-01 2.23579454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.370385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.21, Y:366.55, Z:22.36 [[-1.69670969e-01 9.85499853e-01 1.34231005e-03 3.66209097e+02] [-9.85473103e-01 -1.69676254e-01 7.26172917e-03 3.66553523e+02] [ 7.38419117e-03 -9.07058291e-05 9.99972732e-01 2.23566932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.400385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.21, Y:366.55, Z:22.36 [[-1.70119154e-01 9.85422581e-01 1.34561485e-03 3.66208413e+02] [-9.85395833e-01 -1.70124452e-01 7.26111673e-03 3.66549555e+02] [ 7.38419038e-03 -9.07082268e-05 9.99972732e-01 2.23567242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.430385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.19, Y:366.46, Z:22.36 [[-1.82624241e-01 9.83181859e-01 1.34891700e-03 3.66193361e+02] [-9.83155050e-01 -1.82629223e-01 7.26050323e-03 3.66464975e+02] [ 7.38474672e-03 -2.50663176e-07 9.99972732e-01 2.23574334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.460385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:366.19, Y:366.46, Z:22.36 [[-1.83632195e-01 9.82993974e-01 1.43693274e-03 3.66190909e+02] [-9.82967292e-01 -1.83637798e-01 7.24304199e-03 3.66463108e+02] [ 7.38374179e-03 -8.24021923e-05 9.99972736e-01 2.23574887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.490385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.19, Y:366.46, Z:22.36 [[-1.84681447e-01 9.82797379e-01 1.44023239e-03 3.66186794e+02] [-9.82770697e-01 -1.84687046e-01 7.24238582e-03 3.66458773e+02] [ 7.38379007e-03 -7.78838931e-05 9.99972736e-01 2.23575971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.520385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.18, Y:366.46, Z:22.36 [[-1.85158171e-01 9.82707671e-01 1.44421251e-03 3.66182702e+02] [-9.82680992e-01 -1.85163787e-01 7.24159205e-03 3.66455117e+02] [ 7.38378391e-03 -7.83602451e-05 9.99972736e-01 2.23566054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.550385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.18, Y:366.46, Z:22.36 [[-1.80678183e-01 9.83541204e-01 1.44750812e-03 3.66183464e+02] [-9.83514556e-01 -1.80683944e-01 7.24093324e-03 3.66455971e+02] [ 7.38329767e-03 -1.15366647e-04 9.99972736e-01 2.23559712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.580385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.17, Y:366.45, Z:22.36 [[-1.85257737e-01 9.82688969e-01 1.40037706e-03 3.66174509e+02] [-9.82662222e-01 -1.85263027e-01 7.25037158e-03 3.66445332e+02] [ 7.38429826e-03 -3.29102019e-05 9.99972735e-01 2.23559678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.610385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:366.16, Y:366.39, Z:22.36 [[-1.82992463e-01 9.83113240e-01 1.45435849e-03 3.66162655e+02] [-9.83086590e-01 -1.82998212e-01 7.23952719e-03 3.66389567e+02] [ 7.38342004e-03 -1.04981419e-04 9.99972737e-01 2.23550991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.640385723 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:366.17, Y:366.44, Z:22.36 [[-1.85186432e-01 9.82702360e-01 1.43405096e-03 3.66170766e+02] [-9.82675666e-01 -1.85191972e-01 7.24361071e-03 3.66441467e+02] [ 7.38388806e-03 -6.77885545e-05 9.99972736e-01 2.23552670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.670385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.15, Y:366.35, Z:22.35 [[-1.83371172e-01 9.83042664e-01 1.46114543e-03 3.66149150e+02] [-9.83016022e-01 -1.83376961e-01 7.23814121e-03 3.66350665e+02] [ 7.38334203e-03 -1.09062930e-04 9.99972737e-01 2.23545014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.700385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.16, Y:366.43, Z:22.36 [[-1.85286588e-01 9.82683465e-01 1.44489530e-03 3.66161119e+02] [-9.82656787e-01 -1.85292205e-01 7.24142721e-03 3.66433747e+02] [ 7.38375862e-03 -7.80968355e-05 9.99972737e-01 2.23551422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.730385723 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:366.16, Y:366.43, Z:22.35 [[-1.85913855e-01 9.82564952e-01 1.46769407e-03 3.66158806e+02] [-9.82538306e-01 -1.85919623e-01 7.23680340e-03 3.66428514e+02] [ 7.38350251e-03 -9.66436250e-05 9.99972737e-01 2.23547132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.760385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.16, Y:366.43, Z:22.36 [[-1.88983686e-01 9.81979125e-01 1.47132885e-03 3.66156213e+02] [-9.81952467e-01 -1.88989397e-01 7.23606433e-03 3.66425510e+02] [ 7.38372967e-03 -7.72768880e-05 9.99972737e-01 2.23569701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.790385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.15, Y:366.42, Z:22.36 [[-1.90701285e-01 9.81647007e-01 1.47462412e-03 3.66153744e+02] [-9.81620344e-01 -1.90706975e-01 7.23539273e-03 3.66415622e+02] [ 7.38382272e-03 -6.77223452e-05 9.99972737e-01 2.23569665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.820385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:366.15, Y:366.41, Z:22.36 [[-1.93727520e-01 9.81054261e-01 1.47826454e-03 3.66153211e+02] [-9.81027586e-01 -1.93733154e-01 7.23464888e-03 3.66413469e+02] [ 7.38397196e-03 -4.86677095e-05 9.99972737e-01 2.23560618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.8503857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.15, Y:366.40, Z:22.36 [[-1.95268361e-01 9.80748730e-01 1.48190868e-03 3.66151173e+02] [-9.80722052e-01 -1.95273980e-01 7.23390235e-03 3.66401710e+02] [ 7.38401875e-03 -4.07882663e-05 9.99972737e-01 2.23559722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.880385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.87, Y:366.13, Z:23.37 [[-1.39671723e-01 -9.90195888e-01 -1.97816668e-03 3.66871751e+02] [-9.90170671e-01 1.39682414e-01 -7.13197898e-03 3.66134758e+02] [ 7.33837135e-03 9.62586844e-04 -9.99972611e-01 2.33701728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.910385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:366.09, Y:366.22, Z:22.36 [[-1.29069863e-01 9.91635013e-01 9.85386127e-04 3.66085169e+02] [-9.91608389e-01 -1.29073618e-01 7.26660838e-03 3.66222529e+02] [ 7.33301065e-03 -3.92170021e-05 9.99973112e-01 2.23566137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.940385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.09, Y:366.24, Z:22.36 [[-1.26932173e-01 9.91910906e-01 9.89098425e-04 3.66088063e+02] [-9.91884294e-01 -1.26936013e-01 7.26610305e-03 3.66241938e+02] [ 7.33287907e-03 -5.87689457e-05 9.99973112e-01 2.23563181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.9703857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.09, Y:366.23, Z:22.36 [[-1.26385828e-01 9.91980664e-01 9.92786636e-04 3.66087144e+02] [-9.91954058e-01 -1.26389710e-01 7.26559908e-03 3.66229666e+02] [ 7.33281181e-03 -6.65299742e-05 9.99973112e-01 2.23565618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.000385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.09, Y:366.21, Z:22.36 [[-1.23543830e-01 9.92338612e-01 1.00055838e-03 3.66086677e+02] [-9.92312026e-01 -1.23547845e-01 7.26452866e-03 3.66213528e+02] [ 7.33248912e-03 -9.53784185e-05 9.99973112e-01 2.23571404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.030385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.09, Y:366.20, Z:22.36 [[-1.23675295e-01 9.92322233e-01 1.00388989e-03 3.66086189e+02] [-9.92295650e-01 -1.23679331e-01 7.26406825e-03 3.66201176e+02] [ 7.33245686e-03 -9.77697905e-05 9.99973112e-01 2.23575156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.060385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.09, Y:366.20, Z:22.36 [[-1.21656829e-01 9.92571703e-01 1.01486400e-03 3.66088287e+02] [-9.92545141e-01 -1.21660999e-01 7.26253473e-03 3.66196280e+02] [ 7.33205584e-03 -1.23761387e-04 9.99973112e-01 2.23578893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.0903857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.09, Y:366.21, Z:22.36 [[-1.20334488e-01 9.92732881e-01 1.01855039e-03 3.66092894e+02] [-9.92706329e-01 -1.20338720e-01 7.26201769e-03 3.66210660e+02] [ 7.33181480e-03 -1.37250244e-04 9.99973112e-01 2.23581293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.120385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.09, Y:366.20, Z:22.36 [[-1.19950760e-01 9.92779316e-01 1.02221072e-03 3.66092817e+02] [-9.92752770e-01 -1.19955029e-01 7.26150242e-03 3.66203141e+02] [ 7.33168872e-03 -1.43779793e-04 9.99973112e-01 2.23569436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.150385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.81, Y:366.00, Z:23.37 [[-9.34821810e-02 -9.95620428e-01 -1.02221072e-03 3.66809143e+02] [-9.95594005e-01 9.34871555e-02 -7.26150242e-03 3.65998018e+02] [ 7.32526372e-03 3.38885782e-04 -9.99973112e-01 2.33719763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.180385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.04, Y:366.04, Z:22.36 [[-4.89652968e-02 9.98800340e-01 5.29936148e-04 3.66044974e+02] [-9.98773697e-01 -4.89678624e-02 7.29725294e-03 3.66043255e+02] [ 7.31444856e-03 -1.71974129e-04 9.99973234e-01 2.23559225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.210385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.04, Y:366.03, Z:22.36 [[-5.10328377e-02 9.98696834e-01 5.33240049e-04 3.66043663e+02] [-9.98670188e-01 -5.10353722e-02 7.29701151e-03 3.66030421e+02] [ 7.31471639e-03 -1.60143736e-04 9.99973234e-01 2.23563556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.240385723 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:366.05, Y:366.03, Z:22.36 [[-5.18796268e-02 9.98653199e-01 5.41751236e-04 3.66045082e+02] [-9.98626557e-01 -5.18822010e-02 7.29637956e-03 3.66025077e+02] [ 7.31466003e-03 -1.62473723e-04 9.99973234e-01 2.23569010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.270385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.76, Y:365.86, Z:23.37 [[-2.89153832e-02 -9.99581322e-01 -1.04018050e-03 3.66761538e+02] [-9.99555307e-01 2.89221846e-02 -7.25914362e-03 3.65860837e+02] [ 7.28618867e-03 8.29817024e-04 -9.99973111e-01 2.33742648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.300385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:366.73, Y:365.75, Z:23.37 [[ 4.19773657e-02 -9.99118021e-01 -1.04018050e-03 3.66727049e+02] [-9.99092553e-01 -4.19687382e-02 -7.25914362e-03 3.65748057e+02] [ 7.20908614e-03 1.34395632e-03 -9.99973111e-01 2.33748643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.330385723 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:366.71, Y:365.75, Z:23.37 [[ 1.22581288e-01 -9.92458380e-01 4.38492247e-04 3.66714925e+02] [-9.92432588e-01 -1.22581270e-01 -7.16870470e-03 3.65749149e+02] [ 7.16839199e-03 4.43575059e-04 -9.99974208e-01 2.33744455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.360385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.70, Y:365.75, Z:23.38 [[ 2.00943447e-01 -9.79602338e-01 9.95262762e-04 3.66702666e+02] [-9.79576780e-01 -2.00945408e-01 -7.09055498e-03 3.65747087e+02] [ 7.14591772e-03 4.49864270e-04 -9.99974366e-01 2.33759092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.390385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:365.98, Y:365.55, Z:22.36 [[ 2.29234664e-01 9.73369936e-01 -1.56111717e-03 3.65979672e+02] [-9.73345017e-01 2.29239967e-01 6.96537677e-03 3.65550331e+02] [ 7.13775879e-03 -7.72001874e-05 9.99974523e-01 2.23608039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.420385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:366.69, Y:365.72, Z:23.37 [[ 2.79032562e-01 -9.60280403e-01 1.54152325e-03 3.66694670e+02] [-9.60255222e-01 -2.79036434e-01 -6.96971045e-03 3.65717178e+02] [ 7.12301751e-03 4.64520412e-04 -9.99974523e-01 2.33745526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.450385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.68, Y:365.72, Z:23.37 [[ 3.53565108e-01 -9.35407614e-01 2.07594299e-03 3.66683018e+02] [-9.35382964e-01 -3.53570897e-01 -6.80672201e-03 3.65715109e+02] [ 7.10105262e-03 4.64817689e-04 -9.99974679e-01 2.33742105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.480385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.67, Y:365.71, Z:23.37 [[ 4.24441600e-01 -9.05451600e-01 2.59394706e-03 3.66673028e+02] [-9.05427635e-01 -4.24449284e-01 -6.60323581e-03 3.65709473e+02] [ 7.07990940e-03 4.54056619e-04 -9.99974834e-01 2.33744888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.510385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.66, Y:365.70, Z:23.37 [[ 4.92226182e-01 -8.70461845e-01 3.09235969e-03 3.66663572e+02] [-8.70438714e-01 -4.92235699e-01 -6.36093439e-03 3.65701145e+02] [ 7.05912052e-03 4.39308859e-04 -9.99974988e-01 2.33747214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.540385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.65, Y:365.69, Z:23.37 [[ 5.57966568e-01 -8.29855752e-01 3.56920757e-03 3.66652900e+02] [-8.29833583e-01 -5.57977817e-01 -6.08105509e-03 3.65690912e+02] [ 7.03793719e-03 4.31177134e-04 -9.99975140e-01 2.33745516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.570385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.64, Y:365.68, Z:23.38 [[ 6.19868428e-01 -7.84695458e-01 4.02115762e-03 3.66642520e+02] [-7.84674386e-01 -6.19881330e-01 -5.76586291e-03 3.65681213e+02] [ 7.01708697e-03 4.18776993e-04 -9.99975292e-01 2.33755513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.6003857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.64, Y:365.67, Z:23.38 [[ 6.77585370e-01 -7.35430691e-01 4.44581797e-03 3.66636141e+02] [-7.35410848e-01 -6.77599836e-01 -5.41736207e-03 3.65673430e+02] [ 6.99657986e-03 4.01222519e-04 -9.99975443e-01 2.33775796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.630385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.63, Y:365.67, Z:23.38 [[ 7.33565694e-01 -6.79601538e-01 4.80844027e-03 3.66634867e+02] [-6.79582781e-01 -7.33581315e-01 -5.06936603e-03 3.65667937e+02] [ 6.97253089e-03 4.50979803e-04 -9.99975590e-01 2.33766000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.660385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.63, Y:365.66, Z:23.38 [[ 7.84404631e-01 -6.20227635e-01 5.20153825e-03 3.66629023e+02] [-6.20210504e-01 -7.84421773e-01 -4.62750701e-03 3.65656507e+02] [ 6.95030758e-03 4.03789272e-04 -9.99975765e-01 2.33767250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.690385723 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:366.63, Y:365.65, Z:23.38 [[ 8.30531605e-01 -5.56944044e-01 5.53038368e-03 3.66626666e+02] [-5.56928400e-01 -8.30549920e-01 -4.19386547e-03 3.65648124e+02] [ 6.92900812e-03 4.03110090e-04 -9.99975913e-01 2.33808677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.7203857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.62, Y:365.64, Z:23.38 [[ 8.72399104e-01 -4.88759184e-01 5.85343971e-03 3.66624343e+02] [-4.88745388e-01 -8.72418668e-01 -3.68969598e-03 3.65638612e+02] [ 6.91002287e-03 3.58045805e-04 -9.99976061e-01 2.33781610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.750385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.62, Y:365.63, Z:23.38 [[ 9.08205486e-01 -4.18480345e-01 6.08244846e-03 3.66621566e+02] [-4.18467834e-01 -9.08225757e-01 -3.26278161e-03 3.65628085e+02] [ 6.88964633e-03 4.17967131e-04 -9.99976179e-01 2.33787453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.780385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:366.62, Y:365.61, Z:23.38 [[ 9.38224329e-01 -3.45970266e-01 6.29949150e-03 3.66619838e+02] [-3.45959438e-01 -9.38245383e-01 -2.76901204e-03 3.65614528e+02] [ 6.86846465e-03 4.18585917e-04 -9.99976324e-01 2.33783898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.810385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:366.62, Y:365.60, Z:23.38 [[ 9.62419290e-01 -2.71490630e-01 6.47680929e-03 3.66619809e+02] [-2.71481536e-01 -9.62440992e-01 -2.26109614e-03 3.65602121e+02] [ 6.84741317e-03 4.17788412e-04 -9.99976469e-01 2.33786168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.8403857229999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:366.62, Y:365.59, Z:23.38 [[ 9.80741122e-01 -1.95200190e-01 6.61340563e-03 3.66620801e+02] [-1.95192859e-01 -9.80763331e-01 -1.74273975e-03 3.65590158e+02] [ 6.82636886e-03 4.18286985e-04 -9.99976613e-01 2.33788534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.870385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:366.62, Y:365.58, Z:23.38 [[ 9.93119657e-01 -1.16911671e-01 6.70880131e-03 3.66618279e+02] [-1.16906109e-01 -9.93142226e-01 -1.21677028e-03 3.65578475e+02] [ 6.80504851e-03 4.24098633e-04 -9.99976755e-01 2.33792009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.900385723 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:366.62, Y:365.57, Z:23.38 [[ 9.99241984e-01 -3.83369876e-02 6.76264871e-03 3.66616114e+02] [-3.83332210e-02 -9.99264777e-01 -6.85767342e-04 3.65569191e+02] [ 6.78396690e-03 4.26013412e-04 -9.99976898e-01 2.33792945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.930385723 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:366.62, Y:365.56, Z:23.38 [[ 9.99144531e-01 4.07959450e-02 6.77473645e-03 3.66616014e+02] [ 4.07979231e-02 -9.99167406e-01 -1.53980487e-04 3.65558074e+02] [ 6.76281407e-03 4.30243939e-04 -9.99977039e-01 2.33796715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.960385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.62, Y:365.55, Z:23.38 [[ 9.92820231e-01 1.19425670e-01 6.74525043e-03 3.66616335e+02] [ 1.19425864e-01 -9.92843050e-01 3.75585206e-04 3.65546352e+02] [ 6.74182952e-03 4.32668767e-04 -9.99977180e-01 2.33798545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.990385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.62, Y:365.54, Z:23.38 [[ 9.80431969e-01 1.96745022e-01 6.67456837e-03 3.66618258e+02] [ 1.96743436e-01 -9.80454594e-01 8.99863269e-04 3.65537324e+02] [ 6.72115484e-03 4.30922799e-04 -9.99977320e-01 2.33800084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.020385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.62, Y:365.53, Z:23.38 [[ 9.61749838e-01 2.73850636e-01 6.56338651e-03 3.66617912e+02] [ 2.73847325e-01 -9.61772135e-01 1.41542338e-03 3.65531847e+02] [ 6.70009684e-03 4.36082632e-04 -9.99977459e-01 2.33797875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.050385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:366.62, Y:365.53, Z:23.38 [[ 9.37372131e-01 3.48270419e-01 6.41897950e-03 3.66620749e+02] [ 3.48265543e-01 -9.37393998e-01 1.89846185e-03 3.65525266e+02] [ 6.67829097e-03 4.55944145e-04 -9.99977596e-01 2.33800931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.080385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:366.63, Y:365.51, Z:23.38 [[ 9.06529091e-01 4.22097494e-01 6.22190208e-03 3.66625946e+02] [ 4.22090860e-01 -9.06550334e-01 2.40773784e-03 3.65512799e+02] [ 6.65676752e-03 4.43523606e-04 -9.99977745e-01 2.33804946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.110385723 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:366.63, Y:365.51, Z:23.38 [[ 8.70409262e-01 4.92292357e-01 5.99593333e-03 3.66628646e+02] [ 4.92284144e-01 -8.70429800e-01 2.87844348e-03 3.65506547e+02] [ 6.63607477e-03 4.46279044e-04 -9.99977881e-01 2.33804137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.140385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:366.63, Y:365.50, Z:23.38 [[ 8.27970223e-01 5.60742850e-01 5.72418512e-03 3.66633413e+02] [ 5.60733037e-01 -8.27989894e-01 3.34633166e-03 3.65499143e+02] [ 6.61599898e-03 4.39076739e-04 -9.99978018e-01 2.33797179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.170385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.64, Y:365.49, Z:23.38 [[ 7.80799161e-01 6.24758407e-01 5.44096374e-03 3.66641018e+02] [ 6.24747287e-01 -7.80817979e-01 3.75654928e-03 3.65488326e+02] [ 6.59533805e-03 4.66116809e-04 -9.99978142e-01 2.33796502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.200385723 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:366.65, Y:365.48, Z:23.38 [[ 7.29353642e-01 6.84117759e-01 5.11439092e-03 3.66648491e+02] [ 6.84105281e-01 -7.29371424e-01 4.15821817e-03 3.65480539e+02] [ 6.57500149e-03 4.65970273e-04 -9.99978276e-01 2.33799548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.230385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.66, Y:365.47, Z:23.38 [[ 6.73906208e-01 7.38801583e-01 4.75851878e-03 3.66655459e+02] [ 7.38787827e-01 -6.73922850e-01 4.53188805e-03 3.65472831e+02] [ 6.55504060e-03 4.61468258e-04 -9.99978409e-01 2.33800157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.260385723 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:366.65, Y:365.47, Z:23.38 [[ 6.14330768e-01 7.89036478e-01 4.37543682e-03 3.66652583e+02] [ 7.89021546e-01 -6.14346180e-01 4.87566794e-03 3.65474775e+02] [ 6.53511275e-03 4.57041092e-04 -9.99978541e-01 2.33797249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.290385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:366.65, Y:365.48, Z:23.38 [[ 5.51230799e-01 8.34343399e-01 3.96210839e-03 3.66649337e+02] [ 8.34327364e-01 -5.51244860e-01 5.19174320e-03 3.65477087e+02] [ 6.51578855e-03 4.43846701e-04 -9.99978674e-01 2.33816851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.320385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:366.66, Y:365.47, Z:23.38 [[ 4.84211440e-01 8.74943860e-01 3.53875446e-03 3.66659919e+02] [ 8.74926903e-01 -4.84224163e-01 5.46583682e-03 3.65471338e+02] [ 6.49585078e-03 4.49530755e-04 -9.99978801e-01 2.33818678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.3503857229999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:366.67, Y:365.47, Z:23.38 [[ 4.14687189e-01 9.09958782e-01 3.09040336e-03 3.66666251e+02] [ 9.09940984e-01 -4.14698466e-01 5.70855855e-03 3.65467583e+02] [ 6.47613852e-03 4.44818577e-04 -9.99978931e-01 2.33811854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.380385723 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:366.67, Y:365.46, Z:23.39 [[ 3.44043378e-01 9.38950089e-01 2.62387095e-03 3.66669362e+02] [ 9.38931551e-01 -3.44053116e-01 5.91564986e-03 3.65464696e+02] [ 6.45725094e-03 4.28395060e-04 -9.99979060e-01 2.33850879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.410385723 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:366.68, Y:365.46, Z:23.38 [[ 2.70174719e-01 9.62808916e-01 2.14791532e-03 3.66679266e+02] [ 9.62789788e-01 -2.70182923e-01 6.08369217e-03 3.65461242e+02] [ 6.43776310e-03 4.24331118e-04 -9.99979187e-01 2.33829457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.440385723 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:366.69, Y:365.46, Z:23.38 [[ 1.95699881e-01 9.80662430e-01 1.65955184e-03 3.66686260e+02] [ 9.80642828e-01 -1.95706486e-01 6.21411615e-03 3.65458782e+02] [ 6.41873531e-03 4.11325814e-04 -9.99979315e-01 2.33816648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.4703857229999 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:366.69, Y:365.46, Z:23.38 [[ 1.17748131e-01 9.93042807e-01 1.16663724e-03 3.66687752e+02] [ 9.93022877e-01 -1.17753175e-01 6.30513576e-03 3.65460423e+02] [ 6.39864495e-03 4.16079520e-04 -9.99979442e-01 2.33823435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.500385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:366.69, Y:365.46, Z:23.38 [[ 4.11167543e-02 9.99154214e-01 5.19023689e-04 3.66692109e+02] [ 9.99133931e-01 -4.11192294e-02 6.37151587e-03 3.65457356e+02] [ 6.38746878e-03 2.56598126e-04 -9.99979567e-01 2.33813123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.530385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.70, Y:365.46, Z:23.38 [[-3.75052912e-02 9.99296416e-01 1.63733931e-04 3.66704389e+02] [ 9.99276126e-01 3.75034843e-02 6.38063339e-03 3.65455510e+02] [ 6.37000348e-03 4.02922922e-04 -9.99979630e-01 2.33816895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.560385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:366.74, Y:365.44, Z:23.38 [[-1.16375624e-01 9.93205216e-01 -3.35431259e-04 3.66743649e+02] [ 9.93184973e-01 1.16375398e-01 6.35428415e-03 3.65435349e+02] [ 6.35014411e-03 4.06338498e-04 -9.99979755e-01 2.33816637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.5903857229999 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:366.79, Y:365.41, Z:23.38 [[-1.94019361e-01 9.80997350e-01 -8.29226583e-04 3.66787033e+02] [ 9.80977274e-01 1.94020706e-01 6.28917815e-03 3.65406164e+02] [ 6.33055423e-03 4.06769892e-04 -9.99979879e-01 2.33845809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.620385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:366.83, Y:365.39, Z:23.38 [[-2.72647197e-01 9.62113183e-01 -1.31492615e-03 3.66831270e+02] [ 9.62093389e-01 2.72650042e-01 6.18593521e-03 3.65385719e+02] [ 6.31008449e-03 4.21496136e-04 -9.99980002e-01 2.33831919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.650385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:366.88, Y:365.37, Z:23.38 [[-3.48166973e-01 9.37430827e-01 -1.78972473e-03 3.66875618e+02] [ 9.37411431e-01 3.48171311e-01 6.04537252e-03 3.65370552e+02] [ 6.29024936e-03 4.27090634e-04 -9.99980125e-01 2.33844266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.680385723 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:366.91, Y:365.39, Z:23.38 [[-4.20632449e-01 9.07228349e-01 -2.25074155e-03 3.66907892e+02] [ 9.07209468e-01 4.20638255e-01 5.86856175e-03 3.65388248e+02] [ 6.27087358e-03 4.26613453e-04 -9.99980247e-01 2.33848994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.710385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:366.97, Y:365.35, Z:23.38 [[-4.89678959e-01 8.71898664e-01 -2.69027065e-03 3.66970583e+02] [ 8.71880402e-01 4.89686164e-01 5.65919626e-03 3.65347346e+02] [ 6.25163397e-03 4.25595078e-04 -9.99980368e-01 2.33845237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.740385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.03, Y:365.33, Z:23.39 [[-5.50769621e-01 8.34651478e-01 -3.11988511e-03 3.67027721e+02] [ 8.34634020e-01 5.50778329e-01 5.41151266e-03 3.65332864e+02] [ 6.23509214e-03 3.76534529e-04 -9.99980491e-01 2.33877500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.770385723 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:367.07, Y:365.34, Z:23.39 [[-6.17522031e-01 7.86546041e-01 -3.44491818e-03 3.67066558e+02] [ 7.86529078e-01 6.17531441e-01 5.18931249e-03 3.65335748e+02] [ 6.20897848e-03 4.94986467e-04 -9.99980602e-01 2.33864926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.800385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.98, Y:365.49, Z:23.39 [[-6.75172136e-01 7.37649910e-01 -3.89824882e-03 3.66983784e+02] [ 7.37634242e-01 6.75183283e-01 4.82289589e-03 3.65485667e+02] [ 6.18964116e-03 3.80803110e-04 -9.99980772e-01 2.33874052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.830385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:367.17, Y:365.35, Z:23.38 [[-7.32494385e-01 6.80759975e-01 -4.22278503e-03 3.67168898e+02] [ 6.80745134e-01 7.32506429e-01 4.51596884e-03 3.65350892e+02] [ 6.16750802e-03 4.33281458e-04 -9.99980887e-01 2.33844321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.860385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:367.22, Y:365.36, Z:23.38 [[-7.83445408e-01 6.21443785e-01 -4.57319635e-03 3.67216343e+02] [ 6.21430200e-01 7.83458658e-01 4.12774352e-03 3.65359897e+02] [ 6.14807083e-03 3.91939386e-04 -9.99981024e-01 2.33838698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.890385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:367.26, Y:365.37, Z:23.38 [[-8.29260757e-01 5.58840678e-01 -4.86759941e-03 3.67263495e+02] [ 5.58828261e-01 8.29274953e-01 3.74510192e-03 3.65372503e+02] [ 6.12949357e-03 3.85513942e-04 -9.99981140e-01 2.33840994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.920385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:367.16, Y:365.48, Z:23.39 [[-8.69066241e-01 4.94669131e-01 -5.13023570e-03 3.67160776e+02] [ 4.94657978e-01 8.69081306e-01 3.34192681e-03 3.65476703e+02] [ 6.11173997e-03 3.66643755e-04 -9.99981256e-01 2.33871564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.950385723 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:367.36, Y:365.42, Z:23.38 [[-9.06232313e-01 4.22746346e-01 -5.34054176e-03 3.67356386e+02] [ 4.22736217e-01 9.06247951e-01 2.95661607e-03 3.65415424e+02] [ 6.08975367e-03 4.21740597e-04 -9.99981368e-01 2.33834454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.980385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:367.13, Y:365.54, Z:23.39 [[-9.36601226e-01 3.50353128e-01 -5.55242214e-03 3.67131960e+02] [ 3.50344537e-01 9.36617607e-01 2.48277325e-03 3.65540635e+02] [ 6.07034371e-03 3.80107703e-04 -9.99981503e-01 2.33856619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.010385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.63, Y:366.13, Z:22.37 [[-9.47297650e-01 -3.20303813e-01 5.71219115e-03 3.67633371e+02] [ 3.20297369e-01 -9.47314867e-01 -2.03411217e-03 3.66129630e+02] [ 6.06277748e-03 -9.73098845e-05 9.99981616e-01 2.23689936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.040385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:367.44, Y:365.47, Z:23.38 [[-9.60788025e-01 2.77225091e-01 -5.71137484e-03 3.67435688e+02] [ 2.77217863e-01 9.60804928e-01 2.03640161e-03 3.65473143e+02] [ 6.05205872e-03 3.73255152e-04 -9.99981616e-01 2.33808107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.070385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.15, Y:365.57, Z:23.38 [[-9.79572399e-01 2.01007127e-01 -5.83531355e-03 3.67152093e+02] [ 2.01001278e-01 9.79589708e-01 1.57812561e-03 3.65572485e+02] [ 6.03342759e-03 3.72982804e-04 -9.99981729e-01 2.33839420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.1003857229999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:367.60, Y:366.22, Z:22.37 [[-9.85679629e-01 -1.68524718e-01 5.92361550e-03 3.67602505e+02] [ 1.68521100e-01 -9.85697423e-01 -1.10835298e-03 3.66221922e+02] [ 6.02567740e-03 -9.42267518e-05 9.99981841e-01 2.23682440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.130385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:367.51, Y:365.55, Z:23.38 [[-9.92255148e-01 1.24075165e-01 -5.92232729e-03 3.67509759e+02] [ 1.24070710e-01 9.92272752e-01 1.11519411e-03 3.65545497e+02] [ 6.01493189e-03 3.71769738e-04 -9.99981841e-01 2.33821862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.160385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.54, Y:365.58, Z:23.38 [[-9.98929634e-01 4.58683805e-02 -5.97307891e-03 3.67544234e+02] [ 4.58653359e-02 9.98947423e-01 6.45773403e-04 3.65581897e+02] [ 5.99641236e-03 3.71124919e-04 -9.99981953e-01 2.33825898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.190385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.56, Y:366.30, Z:22.37 [[-9.99902243e-01 -1.26357449e-02 5.98685968e-03 3.67562354e+02] [ 1.26349212e-02 -9.99920161e-01 -1.75386639e-04 3.66299529e+02] [ 5.98859783e-03 -9.97259935e-05 9.99982063e-01 2.23672879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.2203857229999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:367.58, Y:365.62, Z:23.38 [[-9.99454554e-01 -3.24769445e-02 -5.98688327e-03 3.67575007e+02] [-3.24785707e-02 9.99472417e-01 1.74577508e-04 3.65621250e+02] [ 5.97805495e-03 3.68927697e-04 -9.99982063e-01 2.33824890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.250385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.53, Y:366.33, Z:22.37 [[-9.97808671e-01 6.58960467e-02 5.96380376e-03 3.67533146e+02] [-6.58954671e-02 -9.97826489e-01 2.93847614e-04 3.66334251e+02] [ 5.97020476e-03 -9.97839370e-05 9.99982173e-01 2.23676604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.280385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.59, Y:365.66, Z:23.38 [[-9.93734944e-01 -1.11603288e-01 -5.96377720e-03 3.67590601e+02] [-1.11603524e-01 9.93752770e-01 -2.94385632e-04 3.65662381e+02] [ 5.95937451e-03 3.73037259e-04 -9.99982173e-01 2.33822037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.310385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:367.28, Y:366.34, Z:22.37 [[-9.89647854e-01 1.43395488e-01 5.90418927e-03 3.67284185e+02] [-1.43393515e-01 -9.89665461e-01 7.58329470e-04 3.66339072e+02] [ 5.95191322e-03 -9.61433195e-05 9.99982283e-01 2.23672445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.3403857229999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:367.50, Y:366.37, Z:22.37 [[-9.89812360e-01 1.42255632e-01 5.90137526e-03 3.67501252e+02] [-1.42253509e-01 -9.89829950e-01 7.80179086e-04 3.66365944e+02] [ 5.95234285e-03 -6.72604356e-05 9.99982282e-01 2.23679795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.370385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.62, Y:365.71, Z:23.38 [[-9.82499356e-01 -1.86172382e-01 -5.90420429e-03 3.67623421e+02] [-1.86171176e-01 9.82517032e-01 -7.58147472e-04 3.65710661e+02] [ 5.94212740e-03 3.54313253e-04 -9.99982283e-01 2.33835908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.400385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.64, Y:365.75, Z:23.38 [[-9.64668921e-01 -2.63400816e-01 -5.82085650e-03 3.67641657e+02] [-2.63398592e-01 9.64686394e-01 -1.15910304e-03 3.65753836e+02] [ 5.92060975e-03 4.15054729e-04 -9.99982387e-01 2.33824663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.430385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:367.66, Y:365.80, Z:23.38 [[-9.41925083e-01 -3.35774989e-01 -5.68292162e-03 3.67656104e+02] [-3.35771227e-01 9.41942153e-01 -1.63206364e-03 3.65799947e+02] [ 5.90098957e-03 3.70879891e-04 -9.99982520e-01 2.33835313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.460385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:367.32, Y:365.69, Z:23.38 [[-9.11375964e-01 -4.11537769e-01 -5.52429550e-03 3.67324232e+02] [-4.11532859e-01 9.11392616e-01 -2.05058876e-03 3.65693047e+02] [ 5.87869685e-03 4.04571812e-04 -9.99982638e-01 2.33849730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.490385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.48, Y:365.81, Z:23.38 [[-8.81679166e-01 -4.71817052e-01 -5.52429550e-03 3.67475462e+02] [-4.71813272e-01 8.81696111e-01 -2.05058876e-03 3.65805552e+02] [ 5.83825260e-03 7.98474546e-04 -9.99982638e-01 2.33835118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.520385723 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:367.46, Y:365.84, Z:23.39 [[-8.49291532e-01 -5.27898782e-01 -5.17393181e-03 3.67456525e+02] [-5.27892185e-01 8.49307169e-01 -2.67825501e-03 3.65838408e+02] [ 5.80810494e-03 4.56658872e-04 -9.99983029e-01 2.33852489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.550385723 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:367.40, Y:365.84, Z:23.39 [[-8.07089368e-01 -5.90409065e-01 -4.88754303e-03 3.67396536e+02] [-5.90400947e-01 8.07104082e-01 -3.11791527e-03 3.65839442e+02] [ 5.78560137e-03 3.69173771e-04 -9.99983195e-01 2.33857560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.580385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:366.97, Y:366.39, Z:22.37 [[-7.83426934e-01 6.21466915e-01 4.59485692e-03 3.66972055e+02] [-6.21457058e-01 -7.83440401e-01 3.50194596e-03 3.66391089e+02] [ 5.77614009e-03 -1.11987477e-04 9.99983312e-01 2.23679156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.610385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.97, Y:366.39, Z:22.37 [[-7.83004099e-01 6.21999607e-01 4.59030925e-03 3.66973758e+02] [-6.21989724e-01 -7.83017546e-01 3.50791567e-03 3.66391163e+02] [ 5.77621486e-03 -1.08412837e-04 9.99983312e-01 2.23684322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.640385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:366.97, Y:366.38, Z:22.37 [[-7.83124580e-01 6.21847943e-01 4.58565187e-03 3.66965784e+02] [-6.21838022e-01 -7.83138000e-01 3.51403255e-03 3.66383531e+02] [ 5.77639215e-03 -9.96074185e-05 9.99983312e-01 2.23692237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.670385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:366.97, Y:366.38, Z:22.37 [[-7.83938069e-01 6.20822158e-01 4.57736276e-03 3.66965211e+02] [-6.20812156e-01 -7.83951429e-01 3.52492179e-03 3.66383602e+02] [ 5.77677963e-03 -7.83620593e-05 9.99983311e-01 2.23691920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.700385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.97, Y:366.38, Z:22.37 [[-7.84490574e-01 6.20123762e-01 4.58894296e-03 3.66966978e+02] [-6.20113837e-01 -7.84503990e-01 3.50969928e-03 3.66384701e+02] [ 5.77649199e-03 -9.23410249e-05 9.99983312e-01 2.23694408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.730385723 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:366.96, Y:366.38, Z:22.37 [[-7.85162087e-01 6.19273329e-01 4.58700659e-03 3.66959893e+02] [-6.19263375e-01 -7.85175482e-01 3.51224557e-03 3.66379481e+02] [ 5.77664511e-03 -8.28831213e-05 9.99983312e-01 2.23666630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.760385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.96, Y:366.38, Z:22.37 [[-7.87160882e-01 6.16730633e-01 4.59057248e-03 3.66957201e+02] [-6.16720662e-01 -7.87174264e-01 3.50755353e-03 3.66379235e+02] [ 5.77679622e-03 -7.00919719e-05 9.99983312e-01 2.23705040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.790385723 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:366.84, Y:366.29, Z:22.37 [[-7.84916795e-01 6.19584100e-01 4.60084990e-03 3.66839625e+02] [-6.19574257e-01 -7.84930272e-01 3.49402045e-03 3.66287550e+02] [ 5.77618588e-03 -1.08052828e-04 9.99983312e-01 2.23661573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.820385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.96, Y:366.38, Z:22.37 [[-7.84511132e-01 6.20097757e-01 4.58865195e-03 3.66960630e+02] [-6.20087829e-01 -7.84524546e-01 3.51008708e-03 3.66379435e+02] [ 5.77650721e-03 -9.16648311e-05 9.99983312e-01 2.23690330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.8503857229999 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:366.95, Y:366.38, Z:22.37 [[-7.85962894e-01 6.18256641e-01 4.58855793e-03 3.66953619e+02] [-6.18246681e-01 -7.85976284e-01 3.51021099e-03 3.66376055e+02] [ 5.77670896e-03 -7.79651276e-05 9.99983312e-01 2.23670819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.880385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.95, Y:366.37, Z:22.37 [[-7.85856791e-01 6.18391388e-01 4.60384445e-03 3.66948405e+02] [-6.18381548e-01 -7.85870269e-01 3.49004599e-03 3.66372288e+02] [ 5.77623886e-03 -1.04256123e-04 9.99983312e-01 2.23697984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.910385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.95, Y:366.37, Z:22.37 [[-7.85292640e-01 6.19107634e-01 4.60510484e-03 3.66951567e+02] [-6.19097817e-01 -7.85306134e-01 3.48838211e-03 3.66374811e+02] [ 5.77610108e-03 -1.11609557e-04 9.99983312e-01 2.23692196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.940385723 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:366.95, Y:366.37, Z:22.37 [[-7.85129326e-01 6.19314721e-01 4.60636326e-03 3.66945535e+02] [-6.19304916e-01 -7.85142830e-01 3.48671960e-03 3.66370985e+02] [ 5.77602986e-03 -1.15217601e-04 9.99983312e-01 2.23677123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.9703857229999 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:366.95, Y:366.37, Z:22.37 [[-7.84426356e-01 6.20204854e-01 4.60762067e-03 3.66945708e+02] [-6.20195075e-01 -7.84439879e-01 3.48505716e-03 3.66371212e+02] [ 5.77585077e-03 -1.23852958e-04 9.99983312e-01 2.23667492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.000385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.94, Y:366.37, Z:22.37 [[-7.84733230e-01 6.19816518e-01 4.60887847e-03 3.66941293e+02] [-6.19806742e-01 -7.84746755e-01 3.48339298e-03 3.66366891e+02] [ 5.77586692e-03 -1.23079723e-04 9.99983312e-01 2.23693342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.030385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.96, Y:366.37, Z:22.37 [[-7.82148580e-01 6.23074912e-01 4.61013606e-03 3.66955122e+02] [-6.23065202e-01 -7.82162152e-01 3.48172781e-03 3.66374352e+02] [ 5.77525119e-03 -1.49186889e-04 9.99983312e-01 2.23667405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.060385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:366.70, Y:366.18, Z:22.37 [[-7.83274921e-01 6.21658492e-01 4.59527257e-03 3.66701360e+02] [-6.21648642e-01 -7.83288393e-01 3.50143818e-03 3.66184783e+02] [ 5.77612245e-03 -1.14056233e-04 9.99983312e-01 2.23672731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.0903857229999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:366.95, Y:366.37, Z:22.37 [[-7.83792532e-01 6.21005690e-01 4.60436614e-03 3.66946462e+02] [-6.20995899e-01 -7.83806046e-01 3.48938118e-03 3.66369747e+02] [ 5.77585559e-03 -1.24341578e-04 9.99983312e-01 2.23682384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.120385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:366.94, Y:366.37, Z:22.37 [[-7.85072839e-01 6.19386311e-01 4.60822279e-03 3.66940687e+02] [-6.19376523e-01 -7.85086354e-01 3.48426031e-03 3.66366568e+02] [ 5.77595597e-03 -1.18826880e-04 9.99983312e-01 2.23683023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.150385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:366.94, Y:366.36, Z:22.37 [[-7.84227317e-01 6.20456450e-01 4.61623466e-03 3.66937672e+02] [-6.20446742e-01 -7.84240891e-01 3.47361299e-03 3.66363461e+02] [ 5.77546556e-03 -1.40025562e-04 9.99983312e-01 2.23655807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.180385723 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:366.94, Y:366.37, Z:22.36 [[-7.83184543e-01 6.21772185e-01 4.61748401e-03 3.66939390e+02] [-6.21762510e-01 -7.83198140e-01 3.47195142e-03 3.66365409e+02] [ 5.77516772e-03 -1.51799762e-04 9.99983312e-01 2.23639152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.210385723 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:366.94, Y:366.36, Z:22.36 [[-7.83407602e-01 6.21491107e-01 4.61873141e-03 3.66937521e+02] [-6.21481437e-01 -7.83421203e-01 3.47029122e-03 3.66363912e+02] [ 5.77516725e-03 -1.51803308e-04 9.99983312e-01 2.23639297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.240385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.93, Y:366.36, Z:22.37 [[-7.83352056e-01 6.21561110e-01 4.61997608e-03 3.66931653e+02] [-6.21551450e-01 -7.83365664e-01 3.46863341e-03 3.66360026e+02] [ 5.77509826e-03 -1.54391718e-04 9.99983312e-01 2.23665627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.270385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:366.93, Y:366.36, Z:22.37 [[-7.83228598e-01 6.21716662e-01 4.62122228e-03 3.66932374e+02] [-6.21707015e-01 -7.83242215e-01 3.46697231e-03 3.66360976e+02] [ 5.77501083e-03 -1.57614449e-04 9.99983312e-01 2.23668916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.300385723 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:366.94, Y:366.36, Z:22.37 [[-7.82745856e-01 6.22324318e-01 4.62246828e-03 3.66936542e+02] [-6.22314692e-01 -7.82759488e-01 3.46531024e-03 3.66364431e+02] [ 5.77482774e-03 -1.64172689e-04 9.99983312e-01 2.23655633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.330385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:366.94, Y:366.36, Z:22.37 [[-7.81338997e-01 6.24089731e-01 4.62370903e-03 3.66939147e+02] [-6.24080146e-01 -7.81352657e-01 3.46365393e-03 3.66364548e+02] [ 5.77437819e-03 -1.79277114e-04 9.99983312e-01 2.23678095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.360385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:366.94, Y:366.36, Z:22.37 [[-7.83188888e-01 6.21766814e-01 4.60379605e-03 3.66937125e+02] [-6.21757031e-01 -7.83202409e-01 3.49024383e-03 3.66363986e+02] [ 5.77582195e-03 -1.28922378e-04 9.99983312e-01 2.23662172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.390385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:366.68, Y:366.17, Z:22.36 [[-7.85128181e-01 6.19316099e-01 4.61616994e-03 3.66675667e+02] [-6.19306371e-01 -7.85141741e-01 3.47369363e-03 3.66171083e+02] [ 5.77566209e-03 -1.31528692e-04 9.99983312e-01 2.23632364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.420385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:366.92, Y:366.36, Z:22.37 [[-7.86462109e-01 6.17621325e-01 4.60966682e-03 3.66923672e+02] [-6.17611517e-01 -7.86475611e-01 3.48238795e-03 3.66356586e+02] [ 5.77618759e-03 -1.08217151e-04 9.99983312e-01 2.23670878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.450385723 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:366.92, Y:366.35, Z:22.37 [[-7.87413573e-01 6.16407682e-01 4.62981313e-03 3.66917037e+02] [-6.16398011e-01 -7.87427173e-01 3.45538913e-03 3.66351979e+02] [ 5.77556907e-03 -1.32987302e-04 9.99983312e-01 2.23658572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.480385723 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:366.91, Y:366.35, Z:22.37 [[-7.89166842e-01 6.14161419e-01 4.63117836e-03 3.66913575e+02] [-6.14151720e-01 -7.89180421e-01 3.45355838e-03 3.66349802e+02] [ 5.77587760e-03 -1.18812399e-04 9.99983312e-01 2.23684699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.510385723 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:366.91, Y:366.35, Z:22.37 [[-7.89920493e-01 6.13191777e-01 4.63242167e-03 3.66910393e+02] [-6.13182072e-01 -7.89934068e-01 3.45188987e-03 3.66347825e+02] [ 5.77597817e-03 -1.13799373e-04 9.99983312e-01 2.23682469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.540385723 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:366.90, Y:366.34, Z:22.37 [[-7.90440849e-01 6.12520852e-01 4.63366573e-03 3.66904597e+02] [-6.12511144e-01 -7.90454423e-01 3.45021908e-03 3.66343898e+02] [ 5.77603270e-03 -1.10977798e-04 9.99983312e-01 2.23654229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.570385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.92, Y:366.35, Z:22.37 [[-7.89188915e-01 6.14133027e-01 4.63491173e-03 3.66917241e+02] [-6.14123357e-01 -7.89202515e-01 3.44854444e-03 3.66350378e+02] [ 5.77574903e-03 -1.24854505e-04 9.99983312e-01 2.23667185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.6003857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.90, Y:366.34, Z:22.37 [[-7.92584262e-01 6.09744932e-01 4.61593562e-03 3.66904518e+02] [-6.09735038e-01 -7.92597700e-01 3.47405292e-03 3.66344258e+02] [ 5.77686612e-03 -6.10180098e-05 9.99983312e-01 2.23689405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.630385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.91, Y:366.34, Z:22.37 [[-7.90625301e-01 6.12282727e-01 4.63638207e-03 3.66905339e+02] [-6.12273037e-01 -7.90638887e-01 3.44654786e-03 3.66343608e+02] [ 5.77596568e-03 -1.13803795e-04 9.99983313e-01 2.23664121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.660385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:366.90, Y:366.34, Z:22.37 [[-7.93558006e-01 6.08477061e-01 4.62144170e-03 3.66897015e+02] [-6.08467189e-01 -7.93571460e-01 3.46665104e-03 3.66341486e+02] [ 5.77682187e-03 -6.10069518e-05 9.99983312e-01 2.23690805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.690385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.89, Y:366.34, Z:22.37 [[-7.94223800e-01 6.07607637e-01 4.63835181e-03 3.66888746e+02] [-6.07597883e-01 -7.94237340e-01 3.44387582e-03 3.66336219e+02] [ 5.77647745e-03 -8.30446031e-05 9.99983313e-01 2.23693216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.7203857229999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:366.89, Y:366.34, Z:22.37 [[-7.95415137e-01 6.06047221e-01 4.63960119e-03 3.66893155e+02] [-6.06037450e-01 -7.95428665e-01 3.44219183e-03 3.66340758e+02] [ 5.77660257e-03 -7.38005890e-05 9.99983313e-01 2.23696056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.750385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.89, Y:366.34, Z:22.37 [[-7.96197057e-01 6.05019594e-01 4.64084898e-03 3.66889234e+02] [-6.05009815e-01 -7.96210579e-01 3.44050870e-03 3.66338833e+02] [ 5.77666823e-03 -6.84362811e-05 9.99983313e-01 2.23700550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.780385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.88, Y:366.34, Z:22.37 [[-7.97440444e-01 6.03379805e-01 4.64209361e-03 3.66883702e+02] [-6.03370008e-01 -7.97453954e-01 3.43882856e-03 3.66336309e+02] [ 5.77677561e-03 -5.86390828e-05 9.99983313e-01 2.23695145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.810385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.88, Y:366.34, Z:22.37 [[-7.97842126e-01 6.02848556e-01 4.64333979e-03 3.66883356e+02] [-6.02838760e-01 -7.97855636e-01 3.43714507e-03 3.66336307e+02] [ 5.77679276e-03 -5.68860722e-05 9.99983313e-01 2.23689846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.8403857229999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:366.87, Y:366.33, Z:22.37 [[-7.97758990e-01 6.02958557e-01 4.64458575e-03 3.66870778e+02] [-6.02948773e-01 -7.97772509e-01 3.43546058e-03 3.66330293e+02] [ 5.77676318e-03 -5.97777119e-05 9.99983313e-01 2.23669267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.870385723 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:366.88, Y:366.34, Z:22.37 [[-7.97570127e-01 6.03208385e-01 4.64078774e-03 3.66878688e+02] [-6.03198576e-01 -7.97583626e-01 3.44059760e-03 3.66337977e+02] [ 5.77681363e-03 -5.51986912e-05 9.99983313e-01 2.23659255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.900385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.88, Y:366.34, Z:22.36 [[-7.93953518e-01 6.07960710e-01 4.64615245e-03 3.66884455e+02] [-6.07951023e-01 -7.93967106e-01 3.43333782e-03 3.66339198e+02] [ 5.77622671e-03 -9.87224962e-05 9.99983313e-01 2.23638381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.930385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:366.81, Y:366.29, Z:22.37 [[-7.94670976e-01 6.07022776e-01 4.62484803e-03 3.66812327e+02] [-6.07012906e-01 -7.94684432e-01 3.46217533e-03 3.66288366e+02] [ 5.77691400e-03 -5.60521939e-05 9.99983312e-01 2.23653611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.960385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.88, Y:366.34, Z:22.36 [[-7.93884413e-01 6.08051041e-01 4.63359081e-03 3.66878100e+02] [-6.08041257e-01 -7.93897931e-01 3.45033083e-03 3.66337562e+02] [ 5.77657541e-03 -7.82505141e-05 9.99983312e-01 2.23640358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.990385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.87, Y:366.34, Z:22.37 [[-7.96597249e-01 6.04492699e-01 4.62599516e-03 3.66869970e+02] [-6.04482794e-01 -7.96610680e-01 3.46062339e-03 3.66336646e+02] [ 5.77703872e-03 -3.96114056e-05 9.99983312e-01 2.23681891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.020385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.87, Y:366.34, Z:22.37 [[-7.96371403e-01 6.04790019e-01 4.65003159e-03 3.66868283e+02] [-6.04780309e-01 -7.96384974e-01 3.42801850e-03 3.66336759e+02] [ 5.77644666e-03 -8.22716413e-05 9.99983313e-01 2.23679802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.050385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.19, Y:365.69, Z:23.39 [[-7.66139077e-01 -6.42657981e-01 -4.65127249e-03 3.67188309e+02] [-6.42648951e-01 7.66153109e-01 -3.42633398e-03 3.65688293e+02] [ 5.76554776e-03 3.64087034e-04 -9.99983313e-01 2.33891355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.080385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.81, Y:366.35, Z:22.37 [[-7.45589045e-01 6.66391779e-01 4.35572410e-03 3.66809470e+02] [-6.66381133e-01 -7.45601762e-01 3.76798371e-03 3.66347027e+02] [ 5.75858893e-03 -9.32049779e-05 9.99983415e-01 2.23673211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.110385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.76, Y:366.30, Z:22.37 [[-7.42514301e-01 6.69816038e-01 4.35754168e-03 3.66757930e+02] [-6.69805463e-01 -7.42527077e-01 3.76588057e-03 3.66299839e+02] [ 5.75803989e-03 -1.22485051e-04 9.99983415e-01 2.23652989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.140385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:366.81, Y:366.35, Z:22.37 [[-7.44937220e-01 6.67120454e-01 4.34025686e-03 3.66810578e+02] [-6.67109716e-01 -7.44949860e-01 3.78588083e-03 3.66349167e+02] [ 5.75891228e-03 -7.51839806e-05 9.99983415e-01 2.23664339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.170385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.81, Y:366.35, Z:22.37 [[-7.44193731e-01 6.67949613e-01 4.35945961e-03 3.66808534e+02] [-6.67939019e-01 -7.44206491e-01 3.76363810e-03 3.66350591e+02] [ 5.75825875e-03 -1.10977298e-04 9.99983415e-01 2.23667892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.200385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:366.80, Y:366.35, Z:22.37 [[-7.43935818e-01 6.68236846e-01 4.36081888e-03 3.66804808e+02] [-6.68226266e-01 -7.43948590e-01 3.76206248e-03 3.66349762e+02] [ 5.75817383e-03 -1.15280685e-04 9.99983415e-01 2.23677173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.230385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.80, Y:366.35, Z:22.37 [[-7.43262419e-01 6.68985760e-01 4.36217759e-03 3.66804236e+02] [-6.68975202e-01 -7.43275210e-01 3.76048638e-03 3.66352656e+02] [ 5.75801030e-03 -1.23160425e-04 9.99983415e-01 2.23682214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.260385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.80, Y:366.35, Z:22.37 [[-7.43096119e-01 6.69170470e-01 4.36353424e-03 3.66800975e+02] [-6.69159924e-01 -7.43108920e-01 3.75891151e-03 3.66350498e+02] [ 5.75793380e-03 -1.26669682e-04 9.99983415e-01 2.23677548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.290385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:366.80, Y:366.35, Z:22.37 [[-7.43221598e-01 6.69031094e-01 4.36488947e-03 3.66796353e+02] [-6.69020555e-01 -7.43234404e-01 3.75733715e-03 3.66347016e+02] [ 5.75791140e-03 -1.27666652e-04 9.99983415e-01 2.23670894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.320385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.04, Y:365.57, Z:23.39 [[-7.21549007e-01 -6.92349595e-01 -4.36676869e-03 3.67041431e+02] [-6.92339483e-01 7.21562152e-01 -3.75515185e-03 3.65573952e+02] [ 5.75077288e-03 3.13760287e-04 -9.99983415e-01 2.33916588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.3503857229999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:366.74, Y:366.36, Z:22.37 [[-6.87985187e-01 7.25713537e-01 4.03038609e-03 3.66739579e+02] [-7.25702023e-01 -6.87996984e-01 4.08955385e-03 3.66356942e+02] [ 5.74073806e-03 -1.11306864e-04 9.99983516e-01 2.23663555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.380385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.74, Y:366.36, Z:22.37 [[-6.87349064e-01 7.26315931e-01 4.05365945e-03 3.66736731e+02] [-7.26304563e-01 -6.87361001e-01 4.06635314e-03 3.66357050e+02] [ 5.73978449e-03 -1.49187328e-04 9.99983516e-01 2.23665088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.410385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.73, Y:366.35, Z:22.37 [[-6.87494726e-01 7.26178048e-01 4.05512542e-03 3.66733691e+02] [-7.26166686e-01 -6.87506669e-01 4.06489069e-03 3.66354777e+02] [ 5.73976016e-03 -1.50106077e-04 9.99983516e-01 2.23664667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.440385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.73, Y:366.35, Z:22.37 [[-6.87829029e-01 7.25861398e-01 4.05677255e-03 3.66730832e+02] [-7.25850041e-01 -6.87840976e-01 4.06324619e-03 3.66351100e+02] [ 5.73976795e-03 -1.49789832e-04 9.99983516e-01 2.23652653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.4703857229999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:366.70, Y:366.32, Z:22.37 [[-6.88983628e-01 7.24765542e-01 4.05823415e-03 3.66704404e+02] [-7.24754174e-01 -6.88995565e-01 4.06178587e-03 3.66321324e+02] [ 5.73994777e-03 -1.42718172e-04 9.99983516e-01 2.23665925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.500385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.18, Y:365.76, Z:23.39 [[-6.75464932e-01 -7.37380944e-01 -4.05823415e-03 3.67176611e+02] [-7.37369799e-01 6.75477077e-01 -4.06178587e-03 3.65756608e+02] [ 5.73632764e-03 2.48825378e-04 -9.99983516e-01 2.33909075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.530385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:366.60, Y:366.26, Z:22.37 [[-6.40931474e-01 7.67588862e-01 3.76625426e-03 3.66600141e+02] [-7.67576735e-01 -6.40942527e-01 4.31654362e-03 3.66257400e+02] [ 5.72728333e-03 -1.24280487e-04 9.99983591e-01 2.23663859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.560385723 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:366.60, Y:366.25, Z:22.37 [[-6.41600875e-01 7.67029413e-01 3.76781957e-03 3.66598562e+02] [-7.67017285e-01 -6.41611927e-01 4.31517687e-03 3.66254596e+02] [ 5.72734555e-03 -1.21361481e-04 9.99983591e-01 2.23680787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.5903857229999 meters Centerline goodness : 0.999446 Centerline is valid? [True, True] Translation: X:366.86, Y:365.42, Z:23.39 [[-6.13297858e-01 -7.89842724e-01 -3.76938118e-03 3.66862943e+02] [-7.89831014e-01 6.13309352e-01 -4.31381234e-03 3.65419997e+02] [ 5.71903002e-03 3.31522290e-04 -9.99983591e-01 2.33944330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.620385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.54, Y:366.25, Z:22.37 [[-5.82853524e-01 8.12570135e-01 3.39777059e-03 3.66535343e+02] [-8.12557173e-01 -5.82863422e-01 4.59043368e-03 3.66250946e+02] [ 5.71048551e-03 -8.53324196e-05 9.99983691e-01 2.23686058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.650385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.53, Y:366.24, Z:22.37 [[-5.84009338e-01 8.11739739e-01 3.41895671e-03 3.66527898e+02] [-8.11726856e-01 -5.84019336e-01 4.57459964e-03 3.66239297e+02] [ 5.71012114e-03 -1.03650071e-04 9.99983692e-01 2.23681064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.680385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.53, Y:366.24, Z:22.37 [[-5.86268108e-01 8.10109869e-01 3.42146607e-03 3.66530823e+02] [-8.10096968e-01 -5.86278084e-01 4.57272205e-03 3.66238972e+02] [ 5.71033783e-03 -9.08781870e-05 9.99983692e-01 2.23674126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.710385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.95, Y:365.58, Z:23.39 [[-5.47255558e-01 -8.36958563e-01 -3.42333263e-03 3.66946935e+02] [-8.36946158e-01 5.47266144e-01 -4.57132424e-03 3.65580557e+02] [ 5.69948301e-03 3.63462492e-04 -9.99983692e-01 2.33897834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.740385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.34, Y:366.01, Z:22.37 [[-5.26202945e-01 8.50353608e-01 3.03345964e-03 3.66335796e+02] [-8.50339957e-01 -5.26211687e-01 4.81854531e-03 3.66011527e+02] [ 5.69370931e-03 -4.39391986e-05 9.99983790e-01 2.23702093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.770385723 meters Centerline goodness : 0.999296 Centerline is valid? [True, True] Translation: X:366.82, Y:365.41, Z:23.39 [[-4.77472444e-01 -8.78641407e-01 -3.05670034e-03 3.66818090e+02] [-8.78628362e-01 4.77482068e-01 -4.80377944e-03 3.65414484e+02] [ 5.68031912e-03 3.92031297e-04 -9.99983790e-01 2.33912639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.800385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:366.40, Y:366.21, Z:22.37 [[-4.62876872e-01 8.86418607e-01 2.65587369e-03 3.66399202e+02] [-8.86404413e-01 -4.62884491e-01 5.01647638e-03 3.66208171e+02] [ 5.67606075e-03 -3.21672653e-05 9.99983891e-01 2.23693827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.830385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.40, Y:366.21, Z:22.37 [[-4.65686585e-01 8.84945691e-01 2.67004097e-03 3.66399764e+02] [-8.84931516e-01 -4.65694238e-01 5.00892442e-03 3.66206091e+02] [ 5.67604878e-03 -3.02144980e-05 9.99983891e-01 2.23700685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.860385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:366.40, Y:366.20, Z:22.37 [[-4.66714038e-01 8.84404244e-01 2.67209287e-03 3.66395629e+02] [-8.84390066e-01 -4.66721687e-01 5.00782956e-03 3.66197131e+02] [ 5.67606941e-03 -2.59480371e-05 9.99983891e-01 2.23701531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.890385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:366.39, Y:366.19, Z:22.37 [[-4.66820519e-01 8.84348037e-01 2.67438266e-03 3.66393590e+02] [-8.84333865e-01 -4.66828179e-01 5.00660642e-03 3.66191549e+02] [ 5.67605975e-03 -2.78605424e-05 9.99983891e-01 2.23703056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.920385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:366.39, Y:366.19, Z:22.37 [[-4.66267119e-01 8.84639933e-01 2.67644295e-03 3.66394654e+02] [-8.84625772e-01 -4.66274800e-01 5.00550479e-03 3.66192715e+02] [ 5.67602732e-03 -3.37481130e-05 9.99983891e-01 2.23690855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.950385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:366.39, Y:366.19, Z:22.37 [[-4.65653069e-01 8.84963302e-01 2.67850131e-03 3.66391986e+02] [-8.84949153e-01 -4.65660771e-01 5.00440309e-03 3.66187192e+02] [ 5.67598607e-03 -4.00218050e-05 9.99983891e-01 2.23686035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.980385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.39, Y:366.19, Z:22.37 [[-4.64081286e-01 8.85788561e-01 2.68055781e-03 3.66394183e+02] [-8.85774432e-01 -4.64089024e-01 5.00330131e-03 3.66191404e+02] [ 5.67588452e-03 -5.24310664e-05 9.99983891e-01 2.23708006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.010385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.39, Y:366.19, Z:22.37 [[-4.63043129e-01 8.86331689e-01 2.68284387e-03 3.66392667e+02] [-8.86317577e-01 -4.63050897e-01 5.00207519e-03 3.66187387e+02] [ 5.67579101e-03 -6.16751327e-05 9.99983891e-01 2.23716760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.040385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.39, Y:366.18, Z:22.37 [[-4.62756936e-01 8.86481138e-01 2.68512306e-03 3.66391410e+02] [-8.86467035e-01 -4.62764721e-01 5.00085141e-03 3.66183003e+02] [ 5.67574068e-03 -6.60944001e-05 9.99983891e-01 2.23715329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.070385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:366.39, Y:366.18, Z:22.37 [[-4.62505854e-01 8.86612156e-01 2.68716879e-03 3.66392157e+02] [-8.86598061e-01 -4.62513655e-01 4.99975191e-03 3.66182178e+02] [ 5.67569308e-03 -7.00241105e-05 9.99983891e-01 2.23701205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.1003857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.24, Y:365.90, Z:22.37 [[-4.63174633e-01 8.86262956e-01 2.68921338e-03 3.66239798e+02] [-8.86248862e-01 -4.63182435e-01 4.99865195e-03 3.65896399e+02] [ 5.67571646e-03 -6.80635090e-05 9.99983891e-01 2.23739969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.130385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.24, Y:365.89, Z:22.37 [[-4.63642492e-01 8.86018295e-01 2.68731705e-03 3.66238353e+02] [-8.86004191e-01 -4.63650275e-01 4.99967282e-03 3.65893584e+02] [ 5.67577688e-03 -6.29134019e-05 9.99983891e-01 2.23740141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.160385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.34, Y:366.08, Z:22.37 [[-4.65545458e-01 8.85019883e-01 2.68929829e-03 3.66338304e+02] [-8.85005769e-01 -4.65553223e-01 4.99860506e-03 3.66077869e+02] [ 5.67587635e-03 -5.29666209e-05 9.99983891e-01 2.23721099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.190385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:366.38, Y:366.15, Z:22.37 [[-4.66764255e-01 8.84377668e-01 2.69657067e-03 3.66378622e+02] [-8.84363565e-01 -4.66772041e-01 4.99467678e-03 3.66151914e+02] [ 5.67586440e-03 -5.34122607e-05 9.99983891e-01 2.23708702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.2203857229999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:366.38, Y:366.15, Z:22.37 [[-4.68370954e-01 8.83527792e-01 2.70015759e-03 3.66380739e+02] [-8.83513686e-01 -4.68378734e-01 4.99273691e-03 3.66154228e+02] [ 5.67591821e-03 -4.71732419e-05 9.99983891e-01 2.23724081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.250385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:366.33, Y:366.06, Z:22.37 [[-4.71165286e-01 8.82040799e-01 2.70221577e-03 3.66334140e+02] [-8.82026675e-01 -4.71173034e-01 4.99162272e-03 3.66061940e+02] [ 5.67602609e-03 -3.15470431e-05 9.99983891e-01 2.23739090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.280385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.93, Y:365.73, Z:23.39 [[-4.19945347e-01 -9.07545373e-01 -2.70221577e-03 3.66934303e+02] [-9.07531715e-01 4.19953890e-01 -4.99162272e-03 3.65731877e+02] [ 5.66493012e-03 3.56137780e-04 -9.99983891e-01 2.33873256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.310385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.27, Y:366.01, Z:22.37 [[-4.12380843e-01 9.11008507e-01 2.35381860e-03 3.66273506e+02] [-9.10993946e-01 -4.12387560e-01 5.15083310e-03 3.66011154e+02] [ 5.66313828e-03 -2.02095983e-05 9.99983964e-01 2.23739171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.3403857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.28, Y:366.01, Z:22.38 [[-4.14212751e-01 9.10177042e-01 2.35570784e-03 3.66275805e+02] [-9.10162472e-01 -4.14219450e-01 5.14996892e-03 3.66013607e+02] [ 5.66316348e-03 -1.08940737e-05 9.99983964e-01 2.23750316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.370385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.28, Y:366.01, Z:22.38 [[-4.15156031e-01 9.09747167e-01 2.35856822e-03 3.66275523e+02] [-9.09732597e-01 -4.15162730e-01 5.14865859e-03 3.66008782e+02] [ 5.66316719e-03 -8.16973004e-06 9.99983964e-01 2.23753414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.400385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.28, Y:366.01, Z:22.38 [[-4.15563859e-01 9.09560942e-01 2.36068776e-03 3.66278880e+02] [-9.09546375e-01 -4.15570564e-01 5.14768659e-03 3.66009241e+02] [ 5.66316701e-03 -7.96249296e-06 9.99983964e-01 2.23758335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.430385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.28, Y:366.01, Z:22.38 [[-4.15198604e-01 9.09727727e-01 2.36280466e-03 3.66279811e+02] [-9.09713168e-01 -4.15205327e-01 5.14671475e-03 3.66008382e+02] [ 5.66315818e-03 -1.25657318e-05 9.99983964e-01 2.23766472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.460385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.28, Y:366.00, Z:22.38 [[-4.14466372e-01 9.10061555e-01 2.36491530e-03 3.66279038e+02] [-9.10047007e-01 -4.14473118e-01 5.14574472e-03 3.65999772e+02] [ 5.66313826e-03 -1.94459459e-05 9.99983964e-01 2.23758414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.490385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.28, Y:366.00, Z:22.38 [[-4.13849272e-01 9.10342340e-01 2.36726737e-03 3.66279718e+02] [-9.10327803e-01 -4.13856041e-01 5.14466244e-03 3.65998185e+02] [ 5.66311195e-03 -2.58745073e-05 9.99983964e-01 2.23763485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.520385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.28, Y:366.00, Z:22.38 [[-4.13362348e-01 9.10563538e-01 2.36914716e-03 3.66280270e+02] [-9.10549009e-01 -4.13369136e-01 5.14379664e-03 3.65996218e+02] [ 5.66308598e-03 -3.09727435e-05 9.99983964e-01 2.23764392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.550385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:366.28, Y:365.99, Z:22.37 [[-4.12222684e-01 9.11080039e-01 2.37102515e-03 3.66281921e+02] [-9.11065524e-01 -4.12229501e-01 5.14293084e-03 3.65991702e+02] [ 5.66302814e-03 -4.01265153e-05 9.99983964e-01 2.23737536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.580385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.29, Y:365.99, Z:22.37 [[-4.12233219e-01 9.11075267e-01 2.37313496e-03 3.66285023e+02] [-9.11060757e-01 -4.12240047e-01 5.14195711e-03 3.65991225e+02] [ 5.66301121e-03 -4.23845978e-05 9.99983964e-01 2.23742618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.610385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:366.29, Y:365.99, Z:22.37 [[-4.11936755e-01 9.11209344e-01 2.37524142e-03 3.66288436e+02] [-9.11194842e-01 -4.11943600e-01 5.14098388e-03 3.65987644e+02] [ 5.66297805e-03 -4.65475084e-05 9.99983964e-01 2.23711988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.640385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:366.29, Y:365.98, Z:22.37 [[-4.12170516e-01 9.11103625e-01 2.37711244e-03 3.66289098e+02] [-9.11089127e-01 -4.12177368e-01 5.14011860e-03 3.65984796e+02] [ 5.66297264e-03 -4.71559648e-05 9.99983964e-01 2.23718879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.670385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:366.29, Y:365.98, Z:22.37 [[-4.12032024e-01 9.11166259e-01 2.37898256e-03 3.66289007e+02] [-9.11151767e-01 -4.12038888e-01 5.13925292e-03 3.65980942e+02] [ 5.66294719e-03 -5.00773872e-05 9.99983964e-01 2.23716641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.700385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.30, Y:365.98, Z:22.37 [[-4.10846101e-01 9.11701602e-01 2.38108426e-03 3.66295056e+02] [-9.11687125e-01 -4.10852996e-01 5.13827899e-03 3.65984840e+02] [ 5.66285279e-03 -5.97619770e-05 9.99983964e-01 2.23720409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.730385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.82, Y:365.63, Z:23.39 [[-3.69824978e-01 -9.29098389e-01 -2.38108426e-03 3.66816579e+02] [-9.29084233e-01 3.69832511e-01 -5.13827899e-03 3.65627410e+02] [ 5.65456910e-03 3.11963931e-04 -9.99983964e-01 2.33877884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.760385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.21, Y:365.86, Z:22.37 [[-3.43995673e-01 9.38969049e-01 2.02518318e-03 3.66210459e+02] [-9.38954237e-01 -3.44001623e-01 5.27491941e-03 3.65863400e+02] [ 5.64965236e-03 -8.70048751e-05 9.99984037e-01 2.23742403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.790385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:366.21, Y:365.85, Z:22.37 [[-3.43396975e-01 9.39188176e-01 2.02186182e-03 3.66208099e+02] [-9.39173360e-01 -3.43402916e-01 5.27619537e-03 3.65853294e+02] [ 5.64965355e-03 -8.70492359e-05 9.99984037e-01 2.23737783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.820385723 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:366.21, Y:365.85, Z:22.37 [[-3.42794862e-01 9.39408096e-01 2.02783599e-03 3.66208798e+02] [-9.39393297e-01 -3.42800847e-01 5.27389828e-03 3.65849884e+02] [ 5.64948663e-03 -9.70702999e-05 9.99984037e-01 2.23718261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.8503857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.21, Y:365.85, Z:22.37 [[-3.42425915e-01 9.39542640e-01 2.02986497e-03 3.66212814e+02] [-9.39527848e-01 -3.42431916e-01 5.27311723e-03 3.65848084e+02] [ 5.64940903e-03 -1.01462675e-04 9.99984037e-01 2.23737073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.880385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.21, Y:365.84, Z:22.37 [[-3.42751844e-01 9.39423783e-01 2.03225449e-03 3.66211838e+02] [-9.39408994e-01 -3.42757854e-01 5.27219615e-03 3.65840794e+02] [ 5.64939764e-03 -1.02063189e-04 9.99984037e-01 2.23728470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.910385723 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:366.22, Y:365.84, Z:22.37 [[-3.43589847e-01 9.39117607e-01 2.03416277e-03 3.66215180e+02] [-9.39102817e-01 -3.43595854e-01 5.27145978e-03 3.65840316e+02] [ 5.64945058e-03 -9.90679309e-05 9.99984037e-01 2.23704988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.940385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:366.22, Y:365.84, Z:22.37 [[-3.44943395e-01 9.38621281e-01 2.03607228e-03 3.66215577e+02] [-9.38606487e-01 -3.44949391e-01 5.27072214e-03 3.65835361e+02] [ 5.64955386e-03 -9.29698646e-05 9.99984037e-01 2.23733561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.9703857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.22, Y:365.84, Z:22.37 [[-3.46402868e-01 9.38083631e-01 2.03798063e-03 3.66219156e+02] [-9.38068832e-01 -3.46408852e-01 5.26998415e-03 3.65840769e+02] [ 5.64966040e-03 -8.62284859e-05 9.99984037e-01 2.23727270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.000385723 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:366.72, Y:365.53, Z:23.39 [[-3.10501451e-01 -9.50570713e-01 -2.04174442e-03 3.66722194e+02] [-9.50556161e-01 3.10508014e-01 -5.26852632e-03 3.65529516e+02] [ 5.64208482e-03 3.04907667e-04 -9.99984037e-01 2.33917824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.030385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.14, Y:365.71, Z:22.37 [[-2.83487103e-01 9.58974588e-01 1.67366674e-03 3.66141024e+02] [-9.58959484e-01 -2.83492032e-01 5.38296906e-03 3.65710837e+02] [ 5.63660172e-03 -7.89762891e-05 9.99984111e-01 2.23741215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.060385723 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:366.14, Y:365.71, Z:22.37 [[-2.86398535e-01 9.58109126e-01 1.66796301e-03 3.66141599e+02] [-9.58093996e-01 -2.86403386e-01 5.38474403e-03 3.65707085e+02] [ 5.63688265e-03 -5.58825458e-05 9.99984111e-01 2.23705642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.0903857229999 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:366.14, Y:365.70, Z:22.37 [[-2.88053637e-01 9.57612814e-01 1.67348349e-03 3.66138564e+02] [-9.57597686e-01 -2.88058493e-01 5.38302430e-03 3.65695224e+02] [ 5.63691418e-03 -5.19241924e-05 9.99984111e-01 2.23702524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.120385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:366.14, Y:365.70, Z:22.37 [[-2.88937547e-01 9.57346477e-01 1.67829269e-03 3.66141944e+02] [-9.57331353e-01 -2.88942417e-01 5.38152449e-03 3.65701389e+02] [ 5.63691346e-03 -5.17577269e-05 9.99984111e-01 2.23729699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.150385723 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:366.10, Y:365.58, Z:22.37 [[-2.90713392e-01 9.56808711e-01 1.67774141e-03 3.66104512e+02] [-9.56793577e-01 -2.90718230e-01 5.38169653e-03 3.65579997e+02] [ 5.63700413e-03 -4.07209540e-05 9.99984111e-01 2.23719977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.180385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:366.14, Y:365.68, Z:22.37 [[-2.92087429e-01 9.56390164e-01 1.66979154e-03 3.66136222e+02] [-9.56375009e-01 -2.92092201e-01 5.38417974e-03 3.65681395e+02] [ 5.63710963e-03 -2.42956805e-05 9.99984111e-01 2.23712936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.210385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:366.14, Y:365.69, Z:22.37 [[-2.93136179e-01 9.56069216e-01 1.68355557e-03 3.66139435e+02] [-9.56054080e-01 -2.93141012e-01 5.37987248e-03 3.65694802e+02] [ 5.63704965e-03 -3.25349099e-05 9.99984111e-01 2.23708514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.240385723 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:366.13, Y:365.68, Z:22.37 [[-2.93496906e-01 9.55958540e-01 1.68420632e-03 3.66132830e+02] [-9.55943403e-01 -2.93501737e-01 5.37966859e-03 3.65675651e+02] [ 5.63705761e-03 -3.10898329e-05 9.99984111e-01 2.23702525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.270385723 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:366.13, Y:365.68, Z:22.37 [[-2.93337136e-01 9.56007572e-01 1.68734847e-03 3.66133347e+02] [-9.55992442e-01 -2.93341987e-01 5.37868286e-03 3.65680067e+02] [ 5.63703169e-03 -3.53249563e-05 9.99984111e-01 2.23704315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.300385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.14, Y:365.69, Z:22.37 [[-2.88971192e-01 9.57336303e-01 1.68930549e-03 3.66138615e+02] [-9.57321199e-01 -2.88976122e-01 5.37806814e-03 3.65690829e+02] [ 5.63678882e-03 -6.31011968e-05 9.99984111e-01 2.23741379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.330385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.13, Y:365.68, Z:22.37 [[-2.93342530e-01 9.56005981e-01 1.65058505e-03 3.66129759e+02] [-9.55990785e-01 -2.93347174e-01 5.39023132e-03 3.65675718e+02] [ 5.63728783e-03 3.23999552e-06 9.99984110e-01 2.23735772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.360385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.13, Y:365.68, Z:22.37 [[-2.89412249e-01 9.57203055e-01 1.69195168e-03 3.66133454e+02] [-9.57187953e-01 -2.89417188e-01 5.37721523e-03 3.65684596e+02] [ 5.63676674e-03 -6.32838125e-05 9.99984111e-01 2.23745398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.390385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:366.12, Y:365.67, Z:22.37 [[-2.94127310e-01 9.55764808e-01 1.66041339e-03 3.66124836e+02] [-9.55749626e-01 -2.94131996e-01 5.38714410e-03 3.65672873e+02] [ 5.63722345e-03 -2.43327842e-06 9.99984111e-01 2.23713497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.420385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.12, Y:365.67, Z:22.37 [[-2.94973426e-01 9.55503952e-01 1.69577058e-03 3.66121434e+02] [-9.55488829e-01 -2.94978298e-01 5.37599124e-03 3.65665335e+02] [ 5.63699640e-03 -3.45152868e-05 9.99984111e-01 2.23725494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.450385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.13, Y:365.68, Z:22.37 [[-2.87142683e-01 9.57886317e-01 1.69821950e-03 3.66126189e+02] [-9.57871239e-01 -2.87147692e-01 5.37521754e-03 3.65677374e+02] [ 5.63648714e-03 -8.32212362e-05 9.99984111e-01 2.23733634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.480385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.11, Y:365.63, Z:22.38 [[-2.94076706e-01 9.55780416e-01 1.63947788e-03 3.66106391e+02] [-9.55765196e-01 -2.94081276e-01 5.39377694e-03 3.65633906e+02] [ 5.63740611e-03 1.92282634e-05 9.99984110e-01 2.23774711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.510385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.03, Y:365.41, Z:22.38 [[-2.93665364e-01 9.55906779e-01 1.69815553e-03 3.66034665e+02] [-9.55891667e-01 -2.93670270e-01 5.37518471e-03 3.65411505e+02] [ 5.63687330e-03 -4.47471467e-05 9.99984112e-01 2.23762249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.540385723 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:366.11, Y:365.67, Z:22.38 [[-2.90247625e-01 9.56950107e-01 1.67624783e-03 3.66114687e+02] [-9.56934972e-01 -2.90252462e-01 5.38212901e-03 3.65666309e+02] [ 5.63696399e-03 -4.19100090e-05 9.99984111e-01 2.23786746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.570385723 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:366.11, Y:365.66, Z:22.38 [[-2.92602456e-01 9.56232704e-01 1.67908115e-03 3.66107066e+02] [-9.56217563e-01 -2.92607272e-01 5.38122960e-03 3.65656547e+02] [ 5.63701908e-03 -3.10058876e-05 9.99984111e-01 2.23758949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.6003857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.11, Y:365.65, Z:22.38 [[-2.90592997e-01 9.56845230e-01 1.70780329e-03 3.66105565e+02] [-9.56830152e-01 -2.90598006e-01 5.37209876e-03 3.65652454e+02] [ 5.63655130e-03 -7.29834008e-05 9.99984112e-01 2.23794262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.630385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.10, Y:365.65, Z:22.38 [[-2.92384148e-01 9.56299459e-01 1.68951515e-03 3.66100510e+02] [-9.56284338e-01 -2.92389026e-01 5.37792983e-03 3.65650987e+02] [ 5.63690708e-03 -4.32354434e-05 9.99984112e-01 2.23794799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.660385723 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:366.10, Y:365.65, Z:22.38 [[-2.91591510e-01 9.56541400e-01 1.71494509e-03 3.66098339e+02] [-9.56526331e-01 -2.91596543e-01 5.36980832e-03 3.65647975e+02] [ 5.63651603e-03 -7.45996230e-05 9.99984112e-01 2.23775247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.690385723 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:366.02, Y:365.40, Z:22.38 [[-2.87402885e-01 9.57808245e-01 1.71713287e-03 3.66016281e+02] [-9.57793201e-01 -2.87407996e-01 5.36910863e-03 3.65395418e+02] [ 5.63609423e-03 -1.01560876e-04 9.99984112e-01 2.23769598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.7203857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.09, Y:365.64, Z:22.38 [[-2.91880174e-01 9.56453402e-01 1.68916626e-03 3.66091765e+02] [-9.56438283e-01 -2.91885058e-01 5.37805394e-03 3.65641607e+02] [ 5.63690038e-03 -4.58359595e-05 9.99984112e-01 2.23794763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.750385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.09, Y:365.64, Z:22.38 [[-2.92019482e-01 9.56410818e-01 1.72311920e-03 3.66089854e+02] [-9.56395762e-01 -2.92024554e-01 5.36715338e-03 3.65639643e+02] [ 5.63639667e-03 -8.06705458e-05 9.99984112e-01 2.23797602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.780385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:366.08, Y:365.62, Z:22.38 [[-2.92896197e-01 9.56142689e-01 1.72530440e-03 3.66081626e+02] [-9.56127632e-01 -2.92901268e-01 5.36645084e-03 3.65624265e+02] [ 5.63643659e-03 -7.77981695e-05 9.99984112e-01 2.23799800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.810385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:366.08, Y:365.62, Z:22.38 [[-2.93072698e-01 9.56088588e-01 1.73356933e-03 3.66078644e+02] [-9.56073546e-01 -2.93077813e-01 5.36377963e-03 3.65619799e+02] [ 5.63631920e-03 -8.54424104e-05 9.99984112e-01 2.23804296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.8403857229999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:366.08, Y:365.62, Z:22.38 [[-2.89205505e-01 9.57265461e-01 1.73575769e-03 3.66080608e+02] [-9.57250444e-01 -2.89210693e-01 5.36307136e-03 3.65622784e+02] [ 5.63588267e-03 -1.10525053e-04 9.99984112e-01 2.23782779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.870385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:366.08, Y:365.62, Z:22.38 [[-2.93911588e-01 9.55831088e-01 1.70553011e-03 3.66075345e+02] [-9.55815989e-01 -2.93916532e-01 5.37286040e-03 3.65617638e+02] [ 5.63683050e-03 -5.10270142e-05 9.99984112e-01 2.23770203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.900385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:366.08, Y:365.62, Z:22.38 [[-2.91982577e-01 9.56422056e-01 1.73933158e-03 3.66076897e+02] [-9.56407031e-01 -2.91987741e-01 5.36189563e-03 3.65621136e+02] [ 5.63609874e-03 -9.79288487e-05 9.99984112e-01 2.23790976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.930385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:366.07, Y:365.62, Z:22.38 [[-2.93383857e-01 9.55993178e-01 1.71952529e-03 3.66074167e+02] [-9.55978107e-01 -2.93388888e-01 5.36832498e-03 3.65618650e+02] [ 5.63657167e-03 -6.88486502e-05 9.99984112e-01 2.23793996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.960385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.07, Y:365.61, Z:22.38 [[-2.96761822e-01 9.54949967e-01 1.72671739e-03 3.66067248e+02] [-9.54934892e-01 -2.96766840e-01 5.36598772e-03 3.65607473e+02] [ 5.63668226e-03 -5.64823942e-05 9.99984112e-01 2.23803990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.990385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.07, Y:365.61, Z:22.38 [[-2.93872653e-01 9.55842990e-01 1.74430539e-03 3.66067182e+02] [-9.55827964e-01 -2.93877816e-01 5.36026434e-03 3.65608190e+02] [ 5.63618375e-03 -9.20207628e-05 9.99984112e-01 2.23813121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.020385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.07, Y:365.61, Z:22.38 [[-2.94270756e-01 9.55720539e-01 1.72446583e-03 3.66066255e+02] [-9.55705473e-01 -2.94275801e-01 5.36672541e-03 3.65605115e+02] [ 5.63655826e-03 -6.88110896e-05 9.99984112e-01 2.23813230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.050385723 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:366.06, Y:365.60, Z:22.38 [[-2.97402395e-01 9.54750666e-01 1.72660198e-03 3.66062255e+02] [-9.54735588e-01 -2.97407402e-01 5.36602876e-03 3.65602362e+02] [ 5.63672374e-03 -5.25785515e-05 9.99984112e-01 2.23797625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.080385723 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:366.06, Y:365.60, Z:22.38 [[-2.98500451e-01 9.54407888e-01 1.75068158e-03 3.66059591e+02] [-9.54392850e-01 -2.98505576e-01 5.35816119e-03 3.65599026e+02] [ 5.63645952e-03 -7.14244512e-05 9.99984113e-01 2.23793022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.110385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:366.06, Y:365.60, Z:22.38 [[-2.99656241e-01 9.54045630e-01 1.75286690e-03 3.66058012e+02] [-9.54030590e-01 -2.99661360e-01 5.35744619e-03 3.65596078e+02] [ 5.63651461e-03 -6.68964541e-05 9.99984113e-01 2.23806413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.140385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:366.06, Y:365.59, Z:22.38 [[-3.00619595e-01 9.53742512e-01 1.75505267e-03 3.66056927e+02] [-9.53727471e-01 -3.00624711e-01 5.35673006e-03 3.65594663e+02] [ 5.63655338e-03 -6.35039191e-05 9.99984113e-01 2.23806295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.170385723 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:366.05, Y:365.59, Z:22.38 [[-3.01983025e-01 9.53311683e-01 1.75723740e-03 3.66052476e+02] [-9.53296639e-01 -3.01988132e-01 5.35601327e-03 3.65590589e+02] [ 5.63661487e-03 -5.77434160e-05 9.99984113e-01 2.23791287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.200385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:366.66, Y:365.28, Z:23.39 [[-2.56037670e-01 -9.66664470e-01 -2.12490156e-03 3.66662389e+02] [-9.66650556e-01 2.56045493e-01 -5.23522093e-03 3.65279226e+02] [ 5.60477353e-03 7.13623504e-04 -9.99984039e-01 2.33852368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.230385723 meters Centerline goodness : 0.998767 Centerline is valid? [True, True] Translation: X:365.84, Y:364.93, Z:22.38 [[-2.42883731e-01 9.70054421e-01 1.38302403e-03 3.65837778e+02] [-9.70039256e-01 -2.42887667e-01 5.42437518e-03 3.64933978e+02] [ 5.59785861e-03 -2.40951206e-05 9.99984332e-01 2.23816101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.260385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.53, Y:364.87, Z:23.39 [[-1.82251539e-01 -9.83250967e-01 -1.38302403e-03 3.66532796e+02] [-9.83236074e-01 1.82256409e-01 -5.42437518e-03 3.64869044e+02] [ 5.58558714e-03 3.71238394e-04 -9.99984332e-01 2.33904239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.290385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:365.88, Y:365.31, Z:22.38 [[-1.73442423e-01 9.84843541e-01 9.62092351e-04 3.65881563e+02] [-9.84828179e-01 -1.73445091e-01 5.50078726e-03 3.65311933e+02] [ 5.58428500e-03 6.57421051e-06 9.99984408e-01 2.23823756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.320385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:365.88, Y:365.31, Z:22.38 [[-1.73814432e-01 9.84777911e-01 1.00506401e-03 3.65878913e+02] [-9.84762592e-01 -1.73817335e-01 5.49292456e-03 3.65306672e+02] [ 5.58400832e-03 -3.49998763e-05 9.99984409e-01 2.23818466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.3503857229999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:366.54, Y:365.08, Z:23.39 [[-1.21381693e-01 -9.92604961e-01 -1.36964288e-03 3.66544106e+02] [-9.92590378e-01 1.21387396e-01 -5.42604400e-03 3.65078702e+02] [ 5.55217557e-03 7.00871942e-04 -9.99984341e-01 2.33887741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.380385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:365.82, Y:365.15, Z:22.38 [[-1.05381085e-01 9.94431713e-01 6.28810125e-04 3.65815027e+02] [-9.94416446e-01 -1.05382952e-01 5.51058166e-03 3.65150616e+02] [ 5.54616302e-03 -4.45880556e-05 9.99984619e-01 2.23841144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.410385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:365.81, Y:365.15, Z:22.38 [[-1.04722701e-01 9.94501261e-01 6.31452867e-04 3.65813594e+02] [-9.94485996e-01 -1.04724593e-01 5.51027881e-03 3.65147606e+02] [ 5.54610787e-03 -5.09197501e-05 9.99984619e-01 2.23847121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.440385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:365.81, Y:365.15, Z:22.38 [[-1.02538505e-01 9.94728834e-01 6.33959734e-04 3.65811751e+02] [-9.94713576e-01 -1.02540443e-01 5.50999038e-03 3.65146444e+02] [ 5.54595282e-03 -6.56221796e-05 9.99984619e-01 2.23849767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.4703857229999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:365.81, Y:365.15, Z:22.38 [[-9.98226223e-02 9.95005045e-01 6.36463778e-04 3.65811459e+02] [-9.94989794e-01 -9.98246165e-02 5.50970112e-03 3.65146001e+02] [ 5.54571516e-03 -8.32821489e-05 9.99984619e-01 2.23844433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.500385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:365.81, Y:365.14, Z:22.39 [[-9.95113371e-02 9.95036228e-01 6.32072968e-04 3.65806004e+02] [-9.95020974e-01 -9.95133118e-02 5.51021009e-03 3.65135566e+02] [ 5.54575834e-03 -8.05974863e-05 9.99984619e-01 2.23851273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.530385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:365.81, Y:365.14, Z:22.39 [[-9.79496856e-02 9.95191161e-01 6.41781169e-04 3.65805395e+02] [-9.95175918e-01 -9.79517380e-02 5.50907913e-03 3.65139686e+02] [ 5.54545044e-03 -9.90725947e-05 9.99984619e-01 2.23850208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.560385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:365.80, Y:365.14, Z:22.38 [[-9.85036894e-02 9.95136477e-01 6.44105572e-04 3.65801494e+02] [-9.95121234e-01 -9.85057462e-02 5.50880727e-03 3.65135438e+02] [ 5.54546316e-03 -9.83252919e-05 9.99984619e-01 2.23840505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.5903857229999 meters Centerline goodness : 0.999537 Centerline is valid? [True, True] Translation: X:365.74, Y:364.63, Z:22.38 [[-1.00486034e-01 9.94938259e-01 6.46778847e-04 3.65740850e+02] [-9.94923014e-01 -1.00488075e-01 5.50849339e-03 3.64633817e+02] [ 5.54560438e-03 -8.99685061e-05 9.99984619e-01 2.23849520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.620385723 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:366.50, Y:364.94, Z:23.39 [[-6.57639261e-02 -9.97835000e-01 -6.46778847e-04 3.66500049e+02] [-9.97819836e-01 6.57664971e-02 -5.50849339e-03 3.64935099e+02] [ 5.53910388e-03 2.83108611e-04 -9.99984619e-01 2.33909881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.650385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:365.74, Y:364.96, Z:22.38 [[-3.45417347e-02 9.99403219e-01 2.71418961e-04 3.65736806e+02] [-9.99387940e-01 -3.45427076e-02 5.52692713e-03 3.64964050e+02] [ 5.53300431e-03 -8.03431859e-05 9.99984690e-01 2.23824318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.680385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:365.73, Y:364.95, Z:22.38 [[-3.63615005e-02 9.99338664e-01 2.74184778e-04 3.65734876e+02] [-9.99323384e-01 -3.63624608e-02 5.52678992e-03 3.64953245e+02] [ 5.53310489e-03 -7.30368858e-05 9.99984690e-01 2.23822635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.710385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:365.73, Y:364.94, Z:22.38 [[-3.93729498e-02 9.99224546e-01 2.76955338e-04 3.65731087e+02] [-9.99209264e-01 -3.93738795e-02 5.52665108e-03 3.64936767e+02] [ 5.53327022e-03 -5.91357842e-05 9.99984690e-01 2.23823713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.740385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:365.73, Y:364.94, Z:22.38 [[-4.08067943e-02 9.99167017e-01 2.79742114e-04 3.65730206e+02] [-9.99151734e-01 -4.08077175e-02 5.52651001e-03 3.64944609e+02] [ 5.53332216e-03 -5.39856610e-05 9.99984690e-01 2.23829056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.770385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:365.73, Y:364.93, Z:22.39 [[-4.15202139e-02 9.99137624e-01 2.83055294e-04 3.65727951e+02] [-9.99122342e-01 -4.15211445e-02 5.52634032e-03 3.64932323e+02] [ 5.53332731e-03 -5.33520359e-05 9.99984690e-01 2.23858585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.800385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:365.73, Y:364.94, Z:22.39 [[-4.22362827e-02 9.99107609e-01 2.85573917e-04 3.65727451e+02] [-9.99092327e-01 -4.22372162e-02 5.52621016e-03 3.64936073e+02] [ 5.53334047e-03 -5.19081348e-05 9.99984690e-01 2.23855122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.830385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:365.73, Y:364.93, Z:22.39 [[-4.28789901e-02 9.99080232e-01 2.88352822e-04 3.65726341e+02] [-9.99064950e-01 -4.28799291e-02 5.52606516e-03 3.64927679e+02] [ 5.53334701e-03 -5.11311043e-05 9.99984690e-01 2.23862138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.860385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:365.71, Y:364.57, Z:22.39 [[-4.41404364e-02 9.99025294e-01 2.91126810e-04 3.65705309e+02] [-9.99010012e-01 -4.41413715e-02 5.52591901e-03 3.64571971e+02] [ 5.53338360e-03 -4.69221209e-05 9.99984690e-01 2.23877027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.890385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.47, Y:364.76, Z:23.39 [[ 6.85463674e-03 -9.99976464e-01 -2.91126810e-04 3.66465470e+02] [-9.99961250e-01 -6.85292367e-03 -5.52591901e-03 3.64763707e+02] [ 5.52379389e-03 3.28993696e-04 -9.99984690e-01 2.33850969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.920385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:365.68, Y:364.72, Z:22.39 [[ 2.40094697e-02 9.99711725e-01 -1.10754335e-04 3.65675141e+02] [-9.99696489e-01 2.40097152e-02 5.51940063e-03 3.64716927e+02] [ 5.52046871e-03 -2.17971626e-05 9.99984762e-01 2.23901495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.950385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:365.68, Y:364.69, Z:22.39 [[ 2.40154948e-02 9.99711582e-01 -8.94597409e-05 3.65676127e+02] [-9.99696345e-01 2.40156227e-02 5.51974576e-03 3.64687616e+02] [ 5.52030220e-03 -4.31268497e-05 9.99984762e-01 2.23888401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.980385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.45, Y:364.71, Z:23.38 [[ 8.79884592e-02 -9.96121490e-01 9.07979149e-05 3.66453126e+02] [-9.96106275e-01 -8.79876184e-02 -5.51972375e-03 3.64708734e+02] [ 5.50630453e-03 3.95227615e-04 -9.99984762e-01 2.33845446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.010385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.44, Y:364.71, Z:23.38 [[ 1.64182836e-01 -9.86429787e-01 5.21031708e-04 3.66436067e+02] [-9.86414647e-01 -1.64183210e-01 -5.47880927e-03 3.64705690e+02] [ 5.49000532e-03 3.85573136e-04 -9.99984855e-01 2.33839777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.040385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.42, Y:364.70, Z:23.38 [[ 2.41965116e-01 -9.70284483e-01 9.51101260e-04 3.66420238e+02] [-9.70269513e-01 -2.41966679e-01 -5.40357700e-03 3.64702225e+02] [ 5.47314173e-03 3.84652577e-04 -9.99984948e-01 2.33845542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.070385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.41, Y:364.70, Z:23.38 [[ 3.16622149e-01 -9.48550770e-01 1.36053167e-03 3.66407451e+02] [-9.48536051e-01 -3.16624835e-01 -5.29844418e-03 3.64697265e+02] [ 5.45662142e-03 3.87091442e-04 -9.99985038e-01 2.33838673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.1003857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:365.68, Y:364.41, Z:22.39 [[ 3.31514125e-01 9.43448605e-01 -1.76497235e-03 3.65675049e+02] [-9.43434494e-01 3.31518820e-01 5.16010914e-03 3.64408867e+02] [ 5.45341932e-03 -4.55132668e-05 9.99985129e-01 2.23906146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.130385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.42, Y:364.67, Z:23.39 [[ 3.85531375e-01 -9.22693092e-01 1.73699896e-03 3.66416531e+02] [-9.22678692e-01 -3.85535090e-01 -5.16963237e-03 3.64670412e+02] [ 5.43965812e-03 3.90363540e-04 -9.99985129e-01 2.33877660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.160385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.42, Y:364.67, Z:23.39 [[ 4.55812482e-01 -8.90073249e-01 2.14302609e-03 3.66415577e+02] [-8.90059313e-01 -4.55817370e-01 -4.99436038e-03 3.64666895e+02] [ 5.42217509e-03 3.69071467e-04 -9.99985232e-01 2.33877175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.190385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.42, Y:364.67, Z:23.39 [[ 5.21879774e-01 -8.53015207e-01 2.56091363e-03 3.66415519e+02] [-8.53001907e-01 -5.21885967e-01 -4.77331221e-03 3.64666472e+02] [ 5.40821279e-03 3.06630888e-04 -9.99985329e-01 2.33857207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.2203857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.41, Y:364.66, Z:23.39 [[ 5.83942668e-01 -8.11789759e-01 2.88924959e-03 3.66411977e+02] [-8.11776984e-01 -5.83949727e-01 -4.56552853e-03 3.64662561e+02] [ 5.39342582e-03 3.20580594e-04 -9.99985404e-01 2.33881589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.250385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.41, Y:364.66, Z:23.39 [[ 6.45604713e-01 -7.63664932e-01 3.22888540e-03 3.66411721e+02] [-7.63652828e-01 -6.45612709e-01 -4.31134618e-03 3.64662354e+02] [ 5.37703334e-03 3.17677951e-04 -9.99985493e-01 2.33855049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.280385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.41, Y:364.66, Z:23.38 [[ 7.01634137e-01 -7.12528582e-01 3.54372302e-03 3.66406135e+02] [-7.12517224e-01 -7.01643019e-01 -4.03483026e-03 3.64656372e+02] [ 5.36136040e-03 3.06010963e-04 -9.99985581e-01 2.33843288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.310385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.41, Y:364.66, Z:23.38 [[ 7.54783575e-01 -6.55962678e-01 3.83655862e-03 3.66411410e+02] [-6.55952120e-01 -7.54793266e-01 -3.73394808e-03 3.64660261e+02] [ 5.34513920e-03 3.01723921e-04 -9.99985669e-01 2.33849044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.3403857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.42, Y:364.66, Z:23.38 [[ 8.04185677e-01 -5.94363924e-01 4.11366285e-03 3.66416930e+02] [-5.94354267e-01 -8.04196146e-01 -3.40049662e-03 3.64664885e+02] [ 5.32932433e-03 2.89657608e-04 -9.99985757e-01 2.33832188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.370385723 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:366.42, Y:364.67, Z:23.38 [[ 8.47919704e-01 -5.30106868e-01 4.34558310e-03 3.66423399e+02] [-5.30098050e-01 -8.47930786e-01 -3.07247930e-03 3.64671107e+02] [ 5.31349607e-03 3.01630614e-04 -9.99985838e-01 2.33847311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.400385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.43, Y:364.67, Z:23.39 [[ 8.87926816e-01 -4.59961929e-01 4.58186127e-03 3.66425685e+02] [-4.59954226e-01 -8.87938597e-01 -2.67545695e-03 3.64672162e+02] [ 5.29901981e-03 2.68163510e-04 -9.99985924e-01 2.33863232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.430385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.43, Y:364.67, Z:23.38 [[ 9.22027087e-01 -3.87096153e-01 4.75596676e-03 3.66426653e+02] [-3.87089299e-01 -9.22039304e-01 -2.32309445e-03 3.64674129e+02] [ 5.28444921e-03 3.00972170e-04 -9.99985992e-01 2.33848760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.460385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.42, Y:364.66, Z:23.39 [[ 9.50008606e-01 -3.12185264e-01 4.89996253e-03 3.66424642e+02] [-3.12179268e-01 -9.50021183e-01 -1.96380663e-03 3.64661980e+02] [ 5.26813969e-03 3.35966478e-04 -9.99986067e-01 2.33856769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.490385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:366.42, Y:364.65, Z:23.39 [[ 9.71595782e-01 -2.36593333e-01 5.02308382e-03 3.66423500e+02] [-2.36588365e-01 -9.71608708e-01 -1.56985564e-03 3.64649724e+02] [ 5.25188936e-03 3.36861930e-04 -9.99986152e-01 2.33857341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.520385723 meters Centerline goodness : 0.999800 Centerline is valid? [True, True] Translation: X:366.42, Y:364.65, Z:23.39 [[ 9.87202391e-01 -1.59390337e-01 5.11473468e-03 3.66424493e+02] [-1.59386411e-01 -9.87215582e-01 -1.16878222e-03 3.64652702e+02] [ 5.23563836e-03 3.38605397e-04 -9.99986237e-01 2.33859816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.550385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.42, Y:364.65, Z:23.38 [[ 9.96387611e-01 -8.47631113e-02 5.19069579e-03 3.66419970e+02] [-8.47608935e-02 -9.96401111e-01 -6.46181333e-04 3.64651885e+02] [ 5.22678740e-03 2.03879061e-04 -9.99986319e-01 2.33846759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.580385723 meters Centerline goodness : 0.998939 Centerline is valid? [True, True] Translation: X:366.42, Y:364.66, Z:23.39 [[ 9.99973005e-01 -5.18191955e-03 5.20940302e-03 3.66420818e+02] [-5.18004914e-03 -9.99986514e-01 -3.72472471e-04 3.64660526e+02] [ 5.21126289e-03 3.45477453e-04 -9.99986362e-01 2.33864325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.610385723 meters Centerline goodness : 0.997756 Centerline is valid? [True, True] Translation: X:366.42, Y:364.67, Z:23.39 [[ 9.97330703e-01 7.28312685e-02 5.20343481e-03 3.66419638e+02] [ 7.28315777e-02 -9.97344246e-01 1.30292280e-04 3.64670578e+02] [ 5.19910511e-03 2.49029875e-04 -9.99986454e-01 2.33874727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.640385723 meters Centerline goodness : 0.999012 Centerline is valid? [True, True] Translation: X:366.42, Y:364.68, Z:23.39 [[ 9.88572904e-01 1.50654924e-01 5.16782689e-03 3.66415399e+02] [ 1.50654238e-01 -9.88586378e-01 5.24052306e-04 3.64682998e+02] [ 5.18779433e-03 2.60491112e-04 -9.99986509e-01 2.33880158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.670385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:366.41, Y:364.69, Z:23.39 [[ 9.73969937e-01 2.26619680e-01 5.10701370e-03 3.66413058e+02] [ 2.26618153e-01 -9.73983281e-01 8.83495734e-04 3.64687156e+02] [ 5.17436348e-03 2.96843725e-04 -9.99986569e-01 2.33884543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.700385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.41, Y:364.68, Z:23.39 [[ 9.53124481e-01 3.02536779e-01 5.02209881e-03 3.66413427e+02] [ 3.02534514e-01 -9.53137646e-01 1.22291074e-03 3.64680496e+02] [ 5.15672692e-03 3.53772059e-04 -9.99986641e-01 2.33891109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.730385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.41, Y:364.68, Z:23.39 [[ 9.25843949e-01 3.77874296e-01 4.89878830e-03 3.66413027e+02] [ 3.77871136e-01 -9.25856832e-01 1.59100710e-03 3.64679484e+02] [ 5.13677731e-03 3.78086408e-04 -9.99986735e-01 2.33851228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.760385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:366.42, Y:364.67, Z:23.39 [[ 8.92685854e-01 4.50654812e-01 4.71244691e-03 3.66417803e+02] [ 4.50650357e-01 -8.92698237e-01 2.02809051e-03 3.64667315e+02] [ 5.12076180e-03 3.13218177e-04 -9.99986840e-01 2.33861008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.790385723 meters Centerline goodness : 0.994668 Centerline is valid? [True, True] Translation: X:366.79, Y:364.03, Z:22.39 [[ 8.80569682e-01 -4.73894994e-01 -4.53544193e-03 3.66789311e+02] [ 4.73889086e-01 8.80581359e-01 -2.36722134e-03 3.64025716e+02] [ 5.11563996e-03 -6.47930902e-05 9.99986913e-01 2.23937059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.820385723 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:366.81, Y:364.04, Z:22.40 [[ 8.80177033e-01 -4.74623894e-01 -4.53313671e-03 3.66813885e+02] [ 4.74617973e-01 8.80188704e-01 -2.37163523e-03 3.64040288e+02] [ 5.11565047e-03 -6.40492972e-05 9.99986913e-01 2.23950639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.8503857229999 meters Centerline goodness : 0.994670 Centerline is valid? [True, True] Translation: X:366.84, Y:364.06, Z:22.40 [[ 8.80534381e-01 -4.73960585e-01 -4.53513814e-03 3.66838124e+02] [ 4.73954675e-01 8.80546058e-01 -2.36780474e-03 3.64055720e+02] [ 5.11564413e-03 -6.45164413e-05 9.99986913e-01 2.23957139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.880385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.86, Y:364.07, Z:22.40 [[ 8.80890329e-01 -4.73298632e-01 -4.54231457e-03 3.66861535e+02] [ 4.73292784e-01 8.80902037e-01 -2.35407177e-03 3.64068670e+02] [ 5.11551311e-03 -7.61656494e-05 9.99986913e-01 2.23983449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.910385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:366.89, Y:364.08, Z:22.40 [[ 8.80783869e-01 -4.73496803e-01 -4.53361181e-03 3.66887234e+02] [ 4.73490871e-01 8.80795535e-01 -2.37071441e-03 3.64082723e+02] [ 5.11571074e-03 -5.85367966e-05 9.99986913e-01 2.24002412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.940385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:366.91, Y:364.10, Z:22.40 [[ 8.80655045e-01 -4.73736365e-01 -4.53305055e-03 3.66912526e+02] [ 4.73730432e-01 8.80666709e-01 -2.37178712e-03 3.64096035e+02] [ 5.11570852e-03 -5.87177005e-05 9.99986913e-01 2.24003870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.9703857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.94, Y:364.11, Z:22.40 [[ 8.80617093e-01 -4.73806916e-01 -4.53240508e-03 3.66936824e+02] [ 4.73800977e-01 8.80628754e-01 -2.37301996e-03 3.64109421e+02] [ 5.11571950e-03 -5.77360189e-05 9.99986913e-01 2.24011153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.000385723 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:366.96, Y:364.12, Z:22.40 [[ 8.80617105e-01 -4.73806895e-01 -4.53220526e-03 3.66961898e+02] [ 4.73800954e-01 8.80628766e-01 -2.37340151e-03 3.64123669e+02] [ 5.11572433e-03 -5.73052059e-05 9.99986913e-01 2.24007342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.030385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:366.98, Y:364.14, Z:22.40 [[ 8.79451563e-01 -4.75966804e-01 -4.53328583e-03 3.66983407e+02] [ 4.75960902e-01 8.79463244e-01 -2.37133884e-03 3.64140323e+02] [ 5.11553683e-03 -7.21891622e-05 9.99986913e-01 2.23972461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.060385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.01, Y:364.15, Z:22.40 [[ 8.80742634e-01 -4.73573640e-01 -4.51891076e-03 3.67011006e+02] [ 4.73567566e-01 8.80754226e-01 -2.39877651e-03 3.64152332e+02] [ 5.11604708e-03 -2.73048287e-05 9.99986913e-01 2.24024176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.0903857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.04, Y:364.17, Z:22.40 [[ 8.80277656e-01 -4.74437255e-01 -4.53199158e-03 3.67035407e+02] [ 4.74431320e-01 8.80289320e-01 -2.37380302e-03 3.64166473e+02] [ 5.11568438e-03 -6.05129914e-05 9.99986913e-01 2.24032414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.120385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:367.06, Y:364.18, Z:22.40 [[ 8.79750990e-01 -4.75413145e-01 -4.53178892e-03 3.67059803e+02] [ 4.75407221e-01 8.79762660e-01 -2.37418986e-03 3.64180132e+02] [ 5.11561974e-03 -6.57492953e-05 9.99986913e-01 2.24022891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.150385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.08, Y:364.19, Z:22.40 [[ 8.79465802e-01 -4.75940514e-01 -4.53113926e-03 3.67082952e+02] [ 4.75934591e-01 8.79477472e-01 -2.37542909e-03 3.64193859e+02] [ 5.11559784e-03 -6.74172630e-05 9.99986913e-01 2.24032187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.180385723 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:367.11, Y:364.21, Z:22.40 [[ 8.79005598e-01 -4.76789923e-01 -4.53085762e-03 3.67106694e+02] [ 4.76784008e-01 8.79017272e-01 -2.37596615e-03 3.64209665e+02] [ 5.11553883e-03 -7.17529088e-05 9.99986913e-01 2.24020407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.210385723 meters Centerline goodness : 0.999044 Centerline is valid? [True, True] Translation: X:367.13, Y:364.22, Z:22.40 [[ 8.78811254e-01 -4.77148046e-01 -4.53021699e-03 3.67134485e+02] [ 4.77142129e-01 8.78822927e-01 -2.37718701e-03 3.64224233e+02] [ 5.11552869e-03 -7.24586899e-05 9.99986913e-01 2.23973416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.240385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.16, Y:364.24, Z:22.40 [[ 8.77890713e-01 -4.78839471e-01 -4.54490532e-03 3.67156072e+02] [ 4.78833722e-01 8.77902471e-01 -2.34918975e-03 3.64238471e+02] [ 5.11486838e-03 -1.13922063e-04 9.99986913e-01 2.24004182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.270385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:367.18, Y:364.25, Z:22.40 [[ 8.77152540e-01 -4.80190488e-01 -4.52956178e-03 3.67180310e+02] [ 4.80184606e-01 8.77164231e-01 -2.37841073e-03 3.64251978e+02] [ 5.11525979e-03 -8.87968231e-05 9.99986913e-01 2.23998897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.300385723 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:367.21, Y:364.27, Z:22.40 [[ 8.76240037e-01 -4.81853595e-01 -4.52892034e-03 3.67205119e+02] [ 4.81847729e-01 8.76251735e-01 -2.37963152e-03 3.64266474e+02] [ 5.11510831e-03 -9.71215678e-05 9.99986913e-01 2.23976908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.330385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:367.23, Y:364.28, Z:22.40 [[ 8.75783981e-01 -4.82681991e-01 -4.52913127e-03 3.67229084e+02] [ 4.82676138e-01 8.75795687e-01 -2.37923017e-03 3.64282784e+02] [ 5.11500519e-03 -1.02411926e-04 9.99986913e-01 2.24004296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.360385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.25, Y:364.30, Z:22.40 [[ 8.75299983e-01 -4.83559133e-01 -4.52815076e-03 3.67253205e+02] [ 4.83553282e-01 8.75311690e-01 -2.38109483e-03 3.64297426e+02] [ 5.11494344e-03 -1.05429897e-04 9.99986913e-01 2.24001305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.390385723 meters Centerline goodness : 0.999501 Centerline is valid? [True, True] Translation: X:367.28, Y:364.31, Z:22.40 [[ 8.75351362e-01 -4.83466085e-01 -4.53193776e-03 3.67276401e+02] [ 4.83460270e-01 8.75363086e-01 -2.37389321e-03 3.64312902e+02] [ 5.11478787e-03 -1.13021201e-04 9.99986913e-01 2.23989223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.420385723 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:367.30, Y:364.33, Z:22.40 [[ 8.74762318e-01 -4.84531085e-01 -4.52933778e-03 3.67301111e+02] [ 4.84525259e-01 8.74774037e-01 -2.37883480e-03 3.64328071e+02] [ 5.11476650e-03 -1.13663521e-04 9.99986913e-01 2.23965991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.450385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.32, Y:364.34, Z:22.40 [[ 8.74694608e-01 -4.84653328e-01 -4.52708742e-03 3.67323995e+02] [ 4.84647481e-01 8.74706317e-01 -2.38310972e-03 3.64344080e+02] [ 5.11485401e-03 -1.09548290e-04 9.99986913e-01 2.23993822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.480385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:367.35, Y:364.36, Z:22.40 [[ 8.74505649e-01 -4.84994203e-01 -4.52688475e-03 3.67347492e+02] [ 4.84988359e-01 8.74517359e-01 -2.38349464e-03 3.64358541e+02] [ 5.11482038e-03 -1.11106881e-04 9.99986913e-01 2.24003998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.510385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.37, Y:364.37, Z:22.40 [[ 8.74428271e-01 -4.85133701e-01 -4.52668414e-03 3.67372231e+02] [ 4.85127856e-01 8.74439981e-01 -2.38387558e-03 3.64373658e+02] [ 5.11481197e-03 -1.11492372e-04 9.99986913e-01 2.24015620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.540385723 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:367.39, Y:364.39, Z:22.40 [[ 8.73767399e-01 -4.86322985e-01 -4.52616475e-03 3.67394908e+02] [ 4.86317152e-01 8.73779114e-01 -2.38486151e-03 3.64390531e+02] [ 5.11468119e-03 -1.17337313e-04 9.99986913e-01 2.23992618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.570385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:367.42, Y:364.41, Z:22.40 [[ 8.73860062e-01 -4.86156464e-01 -4.52603832e-03 3.67419234e+02] [ 4.86150627e-01 8.73871775e-01 -2.38510142e-03 3.64406271e+02] [ 5.11470961e-03 -1.16091496e-04 9.99986913e-01 2.24028182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.6003857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.44, Y:364.42, Z:22.40 [[ 8.73972100e-01 -4.85955028e-01 -4.52548579e-03 3.67442121e+02] [ 4.85949183e-01 8.73983809e-01 -2.38614933e-03 3.64422465e+02] [ 5.11476257e-03 -1.13728178e-04 9.99986913e-01 2.24042221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.630385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.47, Y:364.44, Z:22.40 [[ 8.73841278e-01 -4.86190237e-01 -4.52484211e-03 3.67466467e+02] [ 4.86184389e-01 8.73852985e-01 -2.38736931e-03 3.64437453e+02] [ 5.11476244e-03 -1.13725748e-04 9.99986913e-01 2.24047452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.660385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:367.49, Y:364.45, Z:22.40 [[ 8.74138682e-01 -4.85655327e-01 -4.52418036e-03 3.67488413e+02] [ 4.85649465e-01 8.74150383e-01 -2.38862270e-03 3.64452808e+02] [ 5.11486133e-03 -1.09178272e-04 9.99986913e-01 2.24035950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.690385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.51, Y:364.47, Z:22.40 [[ 8.74167414e-01 -4.85603612e-01 -4.52373045e-03 3.67512637e+02] [ 4.85597745e-01 8.74179112e-01 -2.38947446e-03 3.64467672e+02] [ 5.11488810e-03 -1.07912598e-04 9.99986913e-01 2.24029186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.7203857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.54, Y:364.48, Z:22.40 [[ 8.74460679e-01 -4.85075317e-01 -4.52307639e-03 3.67535053e+02] [ 4.85069437e-01 8.74472370e-01 -2.39071191e-03 3.64483968e+02] [ 5.11498067e-03 -1.03422556e-04 9.99986913e-01 2.24009388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.750385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.56, Y:364.50, Z:22.40 [[ 8.74553750e-01 -4.84907499e-01 -4.52287413e-03 3.67559161e+02] [ 4.84901614e-01 8.74565439e-01 -2.39109450e-03 3.64498825e+02] [ 5.11500905e-03 -1.02008305e-04 9.99986913e-01 2.24013245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.780385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.59, Y:364.51, Z:22.40 [[ 8.75394246e-01 -4.83388522e-01 -4.52221183e-03 3.67586850e+02] [ 4.83382610e-01 8.75405922e-01 -2.39234643e-03 3.64512632e+02] [ 5.11520382e-03 -9.17122532e-05 9.99986913e-01 2.23985970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.810385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.61, Y:364.53, Z:22.40 [[ 8.76216340e-01 -4.81896621e-01 -4.53555862e-03 3.67607588e+02] [ 4.81890820e-01 8.76228072e-01 -2.36709653e-03 3.64527656e+02] [ 5.11487961e-03 -1.11555405e-04 9.99986913e-01 2.24023180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.8403857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.63, Y:364.54, Z:22.40 [[ 8.76862371e-01 -4.80720276e-01 -4.51649018e-03 3.67630492e+02] [ 4.80714274e-01 8.76874000e-01 -2.40312283e-03 3.64541839e+02] [ 5.11562269e-03 -6.39333147e-05 9.99986913e-01 2.24034152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.870385723 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:367.66, Y:364.56, Z:22.40 [[ 8.77167695e-01 -4.80162946e-01 -4.51435723e-03 3.67655650e+02] [ 4.80156916e-01 8.77179310e-01 -2.40715178e-03 3.64559035e+02] [ 5.11572585e-03 -5.61240691e-05 9.99986913e-01 2.24025988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.900385723 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:367.68, Y:364.57, Z:22.40 [[ 8.77343244e-01 -4.79842029e-01 -4.52320561e-03 3.67678956e+02] [ 4.79836081e-01 8.77354901e-01 -2.39043986e-03 3.64572962e+02] [ 5.11549013e-03 -7.31609886e-05 9.99986913e-01 2.24020577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.930385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.70, Y:364.59, Z:22.40 [[ 8.77122544e-01 -4.80245360e-01 -4.52081955e-03 3.67703152e+02] [ 4.80239393e-01 8.77134191e-01 -2.39494392e-03 3.64588501e+02] [ 5.11552610e-03 -7.04163337e-05 9.99986913e-01 2.24036926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.960385723 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:367.73, Y:364.60, Z:22.40 [[ 8.76458837e-01 -4.81455534e-01 -4.52503369e-03 3.67726691e+02] [ 4.81449624e-01 8.76470514e-01 -2.38699124e-03 3.64602164e+02] [ 5.11528874e-03 -8.64762079e-05 9.99986913e-01 2.24012022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.990385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.75, Y:364.62, Z:22.40 [[ 8.76162670e-01 -4.81994342e-01 -4.52000249e-03 3.67751558e+02] [ 4.81988391e-01 8.76174325e-01 -2.39648058e-03 3.64616710e+02] [ 5.11540021e-03 -7.88819085e-05 9.99986913e-01 2.24045011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.020385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.78, Y:364.63, Z:22.40 [[ 8.75170393e-01 -4.83793715e-01 -4.51943745e-03 3.67775350e+02] [ 4.83787782e-01 8.75182058e-01 -2.39754571e-03 3.64631587e+02] [ 5.11524811e-03 -8.81875981e-05 9.99986913e-01 2.24045683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.050385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.80, Y:364.65, Z:22.40 [[ 8.74710740e-01 -4.84624290e-01 -4.51877670e-03 3.67800126e+02] [ 4.84618362e-01 8.74722407e-01 -2.39879041e-03 3.64645770e+02] [ 5.11518733e-03 -9.16344251e-05 9.99986913e-01 2.24042359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.080385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.83, Y:364.66, Z:22.40 [[ 8.74490575e-01 -4.85021465e-01 -4.51811250e-03 3.67825790e+02] [ 4.85015535e-01 8.74502242e-01 -2.40004077e-03 3.64660030e+02] [ 5.11517080e-03 -9.25417197e-05 9.99986913e-01 2.24045348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.110385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:367.85, Y:364.67, Z:22.40 [[ 8.74562924e-01 -4.84890999e-01 -4.51778997e-03 3.67849360e+02] [ 4.84885065e-01 8.74574589e-01 -2.40064774e-03 3.64672843e+02] [ 5.11519678e-03 -9.10913752e-05 9.99986913e-01 2.24040328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.140385723 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:367.88, Y:364.69, Z:22.40 [[ 8.74795412e-01 -4.84471444e-01 -4.51750036e-03 3.67875312e+02] [ 4.84465501e-01 8.74807072e-01 -2.40119261e-03 3.64686812e+02] [ 5.11525051e-03 -8.80208003e-05 9.99986913e-01 2.24015899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.170385723 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:367.90, Y:364.70, Z:22.40 [[ 8.75264949e-01 -4.83622616e-01 -4.52051966e-03 3.67900467e+02] [ 4.83616692e-01 8.75276618e-01 -2.39551509e-03 3.64699995e+02] [ 5.11523044e-03 -8.94883705e-05 9.99986913e-01 2.24020268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.200385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:367.92, Y:364.71, Z:22.40 [[ 8.74892287e-01 -4.84296500e-01 -4.51501051e-03 3.67923843e+02] [ 4.84290531e-01 8.74903934e-01 -2.40586901e-03 3.64714133e+02] [ 5.11535439e-03 -8.17005969e-05 9.99986913e-01 2.24035023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.230385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.95, Y:364.73, Z:22.40 [[ 8.76790166e-01 -4.80852097e-01 -4.50185432e-03 3.67951927e+02] [ 4.80845955e-01 8.76801722e-01 -2.43057906e-03 3.64725364e+02] [ 5.11598266e-03 -3.35906188e-05 9.99986913e-01 2.24035364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.260385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.98, Y:364.74, Z:22.41 [[ 8.77201046e-01 -4.80102000e-01 -4.51600735e-03 3.67976414e+02] [ 4.80095984e-01 8.77212669e-01 -2.40399197e-03 3.64738709e+02] [ 5.11566021e-03 -5.93327246e-05 9.99986913e-01 2.24052764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.290385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.00, Y:364.75, Z:22.41 [[ 8.78134889e-01 -4.78391815e-01 -4.51531990e-03 3.68000732e+02] [ 4.78385771e-01 8.78146496e-01 -2.40528248e-03 3.64750583e+02] [ 5.11577980e-03 -4.79023264e-05 9.99986913e-01 2.24055749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.320385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:368.02, Y:364.76, Z:22.40 [[ 8.77288785e-01 -4.79941666e-01 -4.51502200e-03 3.68024767e+02] [ 4.79935639e-01 8.77300402e-01 -2.40584154e-03 3.64763703e+02] [ 5.11569421e-03 -5.63021701e-05 9.99986913e-01 2.24044825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.3503857229999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:368.05, Y:364.78, Z:22.41 [[ 8.77348153e-01 -4.79833215e-01 -4.50612931e-03 3.68050416e+02] [ 4.79827101e-01 8.77359724e-01 -2.42251767e-03 3.64775016e+02] [ 5.11590081e-03 -3.67715577e-05 9.99986913e-01 2.24064007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.380385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.08, Y:364.79, Z:22.41 [[ 8.77324870e-01 -4.79875795e-01 -4.50490711e-03 3.68075673e+02] [ 4.79869670e-01 8.77336435e-01 -2.42480825e-03 3.64787108e+02] [ 5.11592593e-03 -3.44237079e-05 9.99986913e-01 2.24074038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.410385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.10, Y:364.80, Z:22.41 [[ 8.77121922e-01 -4.80246637e-01 -4.50581895e-03 3.68101262e+02] [ 4.80240526e-01 8.77133494e-01 -2.42310024e-03 3.64798909e+02] [ 5.11589046e-03 -3.85225208e-05 9.99986913e-01 2.24070785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.440385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.13, Y:364.81, Z:22.41 [[ 8.76440322e-01 -4.81489401e-01 -4.50759879e-03 3.68127264e+02] [ 4.81483323e-01 8.76451912e-01 -2.41976783e-03 3.64809790e+02] [ 5.11578614e-03 -4.95515428e-05 9.99986913e-01 2.24075275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.4703857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.15, Y:364.82, Z:22.41 [[ 8.76252517e-01 -4.81831153e-01 -4.50186538e-03 3.68153745e+02] [ 4.81825024e-01 8.76264081e-01 -2.43050207e-03 3.64822077e+02] [ 5.11591454e-03 -3.93778333e-05 9.99986913e-01 2.24083341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.500385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.18, Y:364.83, Z:22.41 [[ 8.76181644e-01 -4.81959997e-01 -4.50417461e-03 3.68182272e+02] [ 4.81953893e-01 8.76193220e-01 -2.42617992e-03 3.64832786e+02] [ 5.11584892e-03 -4.50301758e-05 9.99986913e-01 2.24080427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.530385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.21, Y:364.84, Z:22.41 [[ 8.75747230e-01 -4.82748824e-01 -4.51240065e-03 3.68206655e+02] [ 4.82742809e-01 8.75758853e-01 -2.41078277e-03 3.64844720e+02] [ 5.11557736e-03 -6.70926347e-05 9.99986913e-01 2.24086193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.560385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.23, Y:364.86, Z:22.41 [[ 8.75464276e-01 -4.83261819e-01 -4.50721357e-03 3.68231878e+02] [ 4.83255761e-01 8.75475877e-01 -2.42048667e-03 3.64856401e+02] [ 5.11568554e-03 -5.90873135e-05 9.99986913e-01 2.24091436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.5903857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.26, Y:364.87, Z:22.41 [[ 8.74621372e-01 -4.84785652e-01 -4.50847857e-03 3.68257205e+02] [ 4.84779626e-01 8.74632990e-01 -2.41812007e-03 3.64867338e+02] [ 5.11553400e-03 -7.06790656e-05 9.99986913e-01 2.24108391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.620385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.28, Y:364.88, Z:22.41 [[ 8.73865679e-01 -4.86146551e-01 -4.50624011e-03 3.68283514e+02] [ 4.86140522e-01 8.73877294e-01 -2.42230641e-03 3.64877955e+02] [ 5.11549682e-03 -7.38954834e-05 9.99986913e-01 2.24105394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.650385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:368.31, Y:364.89, Z:22.41 [[ 8.73416759e-01 -4.86952638e-01 -4.50485575e-03 3.68307902e+02] [ 4.86946606e-01 8.73428373e-01 -2.42489385e-03 3.64889541e+02] [ 5.11547728e-03 -7.56812939e-05 9.99986913e-01 2.24072226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.680385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:368.34, Y:364.90, Z:22.41 [[ 8.74056545e-01 -4.85803337e-01 -4.50274673e-03 3.68335749e+02] [ 4.85797269e-01 8.74068140e-01 -2.42883147e-03 3.64900392e+02] [ 5.11564189e-03 -6.44860206e-05 9.99986913e-01 2.24090556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.710385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.36, Y:364.91, Z:22.41 [[ 8.73155814e-01 -4.87420341e-01 -4.50956863e-03 3.68361041e+02] [ 4.87414361e-01 8.73167454e-01 -2.41609862e-03 3.64912738e+02] [ 5.11526417e-03 -8.83979543e-05 9.99986913e-01 2.24108227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.740385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.39, Y:364.92, Z:22.41 [[ 8.74077899e-01 -4.85764947e-01 -4.49928223e-03 3.68387911e+02] [ 4.85758846e-01 8.74089477e-01 -2.43528529e-03 3.64923548e+02] [ 5.11575148e-03 -5.69370942e-05 9.99986913e-01 2.24106758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.770385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.41, Y:364.94, Z:22.41 [[ 8.74157183e-01 -4.85622168e-01 -4.50879184e-03 3.68413771e+02] [ 4.85616156e-01 8.74168808e-01 -2.41754963e-03 3.64935098e+02] [ 5.11546088e-03 -7.62237841e-05 9.99986913e-01 2.24119287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.800385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:368.44, Y:364.95, Z:22.41 [[ 8.74650981e-01 -4.84732235e-01 -4.50810103e-03 3.68440911e+02] [ 4.84726204e-01 8.74662596e-01 -2.41883712e-03 3.64946837e+02] [ 5.11555567e-03 -6.95564463e-05 9.99986913e-01 2.24118416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.830385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:368.47, Y:364.96, Z:22.41 [[ 8.74526283e-01 -4.84957100e-01 -4.51572757e-03 3.68465172e+02] [ 4.84951146e-01 8.74537937e-01 -2.40463013e-03 3.64959935e+02] [ 5.11531753e-03 -8.69950146e-05 9.99986913e-01 2.24119880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.860385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.49, Y:364.97, Z:22.41 [[ 8.75021628e-01 -4.84062768e-01 -4.51521864e-03 3.68491102e+02] [ 4.84056797e-01 8.75033274e-01 -2.40557767e-03 3.64971508e+02] [ 5.11541713e-03 -8.06897827e-05 9.99986913e-01 2.24116485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.890385723 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:368.52, Y:364.98, Z:22.41 [[ 8.75996633e-01 -4.82296070e-01 -4.51661775e-03 3.68518210e+02] [ 4.82290089e-01 8.76008274e-01 -2.40297319e-03 3.64982322e+02] [ 5.11553904e-03 -7.33235543e-05 9.99986913e-01 2.24126520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.920385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:368.54, Y:364.99, Z:22.41 [[ 8.76226438e-01 -4.81878410e-01 -4.51970187e-03 3.68541790e+02] [ 4.81872453e-01 8.76238091e-01 -2.39723560e-03 3.64993902e+02] [ 5.11551102e-03 -7.73986192e-05 9.99986913e-01 2.24147002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.950385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:368.57, Y:365.01, Z:22.41 [[ 8.76466134e-01 -4.81442435e-01 -4.50538983e-03 3.68569271e+02] [ 4.81436335e-01 8.76477712e-01 -2.42383859e-03 3.65005326e+02] [ 5.11581252e-03 -4.46459282e-05 9.99986913e-01 2.24144305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.980385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.60, Y:365.02, Z:22.42 [[ 8.76308290e-01 -4.81729596e-01 -4.51413560e-03 3.68595629e+02] [ 4.81723584e-01 8.76319914e-01 -2.40758538e-03 3.65017119e+02] [ 5.11563205e-03 -6.47785538e-05 9.99986913e-01 2.24151625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.010385723 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:368.62, Y:365.03, Z:22.42 [[ 8.75014346e-01 -4.84075891e-01 -4.51951810e-03 3.68621028e+02] [ 4.84069962e-01 8.75026013e-01 -2.39758574e-03 3.65028261e+02] [ 5.11530936e-03 -8.98410374e-05 9.99986913e-01 2.24163943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.040385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:368.64, Y:365.04, Z:22.41 [[ 8.71978374e-01 -4.89523572e-01 -4.51529314e-03 3.68638689e+02] [ 4.89517675e-01 8.71990057e-01 -2.40543104e-03 3.65042826e+02] [ 5.11480591e-03 -1.12831957e-04 9.99986913e-01 2.24118002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.070385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.67, Y:365.05, Z:22.42 [[ 8.73190321e-01 -4.87358894e-01 -4.46896048e-03 3.68672420e+02] [ 4.87352526e-01 8.73201757e-01 -2.49133223e-03 3.65051262e+02] [ 5.11647706e-03 -2.55199216e-06 9.99986911e-01 2.24188706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.1003857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.70, Y:365.06, Z:22.42 [[ 8.72799884e-01 -4.88057455e-01 -4.50375707e-03 3.68696901e+02] [ 4.88051428e-01 8.72811500e-01 -2.42675407e-03 3.65062845e+02] [ 5.11532638e-03 -7.99943988e-05 9.99986913e-01 2.24195282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.130385723 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:368.72, Y:365.08, Z:22.42 [[ 8.72533333e-01 -4.88533830e-01 -4.50330429e-03 3.68722298e+02] [ 4.88527806e-01 8.72544950e-01 -2.42759399e-03 3.65075455e+02] [ 5.11529721e-03 -8.18326863e-05 9.99986913e-01 2.24202662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.160385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:368.75, Y:365.09, Z:22.42 [[ 8.72009004e-01 -4.89469125e-01 -4.50264262e-03 3.68748205e+02] [ 4.89463106e-01 8.72020624e-01 -2.42882062e-03 3.65088805e+02] [ 5.11522993e-03 -8.59239964e-05 9.99986913e-01 2.24218169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.190385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.78, Y:365.10, Z:22.42 [[ 8.73114246e-01 -4.87494883e-01 -4.50038283e-03 3.68776634e+02] [ 4.87488817e-01 8.73125841e-01 -2.43300849e-03 3.65100573e+02] [ 5.11547973e-03 -6.95919255e-05 9.99986913e-01 2.24217058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.2203857229999 meters Centerline goodness : 0.999089 Centerline is valid? [True, True] Translation: X:368.80, Y:365.11, Z:22.42 [[ 8.73484825e-01 -4.86830425e-01 -4.51638396e-03 3.68801863e+02] [ 4.86824503e-01 8.73496495e-01 -2.40333019e-03 3.65111686e+02] [ 5.11505982e-03 -9.94139283e-05 9.99986913e-01 2.24211136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.250385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.82, Y:365.12, Z:22.42 [[ 8.73247434e-01 -4.87256130e-01 -4.51468101e-03 3.68824726e+02] [ 4.87250197e-01 8.73259099e-01 -2.40648813e-03 3.65124485e+02] [ 5.11506236e-03 -9.83196283e-05 9.99986913e-01 2.24232833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.280385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:368.85, Y:365.14, Z:22.42 [[ 8.73102273e-01 -4.87516311e-01 -4.50203007e-03 3.68850411e+02] [ 4.87510261e-01 8.73113876e-01 -2.42992707e-03 3.65136736e+02] [ 5.11541400e-03 -7.32110014e-05 9.99986914e-01 2.24240909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.310385723 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:368.88, Y:365.15, Z:22.42 [[ 8.72807290e-01 -4.88044233e-01 -4.50136199e-03 3.68875288e+02] [ 4.88038183e-01 8.72818894e-01 -2.43116402e-03 3.65148930e+02] [ 5.11538938e-03 -7.48988477e-05 9.99986914e-01 2.24208976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.3403857229999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:368.90, Y:365.16, Z:22.42 [[ 8.72452261e-01 -4.88678618e-01 -4.50115516e-03 3.68900910e+02] [ 4.88672575e-01 8.72463869e-01 -2.43154691e-03 3.65160168e+02] [ 5.11534023e-03 -7.81824842e-05 9.99986914e-01 2.24242302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.370385723 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:368.93, Y:365.17, Z:22.42 [[ 8.72312023e-01 -4.88928912e-01 -4.50048166e-03 3.68925826e+02] [ 4.88922866e-01 8.72323629e-01 -2.43279282e-03 3.65172216e+02] [ 5.11533924e-03 -7.82339608e-05 9.99986914e-01 2.24244018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.400385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:368.95, Y:365.19, Z:22.42 [[ 8.70008721e-01 -4.93015794e-01 -4.50027342e-03 3.68945980e+02] [ 4.93009800e-01 8.70020354e-01 -2.43317798e-03 3.65187413e+02] [ 5.11492465e-03 -1.01792837e-04 9.99986914e-01 2.24210357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.430385723 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:368.97, Y:365.20, Z:22.42 [[ 8.69612642e-01 -4.93714350e-01 -4.47146892e-03 3.68970808e+02] [ 4.93708091e-01 8.69624136e-01 -2.48639016e-03 3.65199704e+02] [ 5.11606380e-03 -4.54040699e-05 9.99986912e-01 2.24196268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.460385723 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:369.00, Y:365.21, Z:22.43 [[ 8.71345435e-01 -4.90649740e-01 -4.46829342e-03 3.69002265e+02] [ 4.90643411e-01 8.71356891e-01 -2.49224718e-03 3.65209727e+02] [ 5.11629869e-03 -2.07305210e-05 9.99986911e-01 2.24257816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.490385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:369.02, Y:365.22, Z:22.42 [[ 8.69391690e-01 -4.94103081e-01 -4.49832237e-03 3.69021136e+02] [ 4.94097083e-01 8.69403321e-01 -2.43681420e-03 3.65223912e+02] [ 5.11489381e-03 -1.04061944e-04 9.99986913e-01 2.24200025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.520385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:369.05, Y:365.24, Z:22.42 [[ 8.70285107e-01 -4.92527985e-01 -4.47390853e-03 3.69047746e+02] [ 4.92521734e-01 8.70296606e-01 -2.48189105e-03 3.65236329e+02] [ 5.11602821e-03 -4.35443613e-05 9.99986912e-01 2.24222818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.550385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:369.07, Y:365.25, Z:22.42 [[ 8.69356189e-01 -4.94165712e-01 -4.47955470e-03 3.69069388e+02] [ 4.94159536e-01 8.69367727e-01 -2.47146877e-03 3.65249117e+02] [ 5.11569541e-03 -6.50279953e-05 9.99986913e-01 2.24215922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.580385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:369.10, Y:365.26, Z:22.43 [[ 8.71109894e-01 -4.91067783e-01 -4.47041452e-03 3.69101364e+02] [ 4.91061479e-01 8.71121365e-01 -2.48836929e-03 3.65259779e+02] [ 5.11623159e-03 -2.76052591e-05 9.99986912e-01 2.24275843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.610385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:369.12, Y:365.27, Z:22.42 [[ 8.69180577e-01 -4.94474337e-01 -4.50061380e-03 3.69123149e+02] [ 4.94468366e-01 8.69192222e-01 -2.43249445e-03 3.65273344e+02] [ 5.11470459e-03 -1.11134225e-04 9.99986914e-01 2.24224093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.640385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:369.15, Y:365.29, Z:22.42 [[ 8.68385101e-01 -4.95870163e-01 -4.48296983e-03 3.69146149e+02] [ 4.95864043e-01 8.68396669e-01 -2.46510430e-03 3.65286533e+02] [ 5.11536773e-03 -8.22836953e-05 9.99986913e-01 2.24213276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.670385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:369.18, Y:365.30, Z:22.43 [[ 8.70193716e-01 -4.92689445e-01 -4.47292010e-03 3.69178264e+02] [ 4.92683186e-01 8.70205211e-01 -2.48371074e-03 3.65297045e+02] [ 5.11605644e-03 -4.24230497e-05 9.99986912e-01 2.24274901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.700385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:369.20, Y:365.31, Z:22.43 [[ 8.68988737e-01 -4.94811386e-01 -4.50193535e-03 3.69202777e+02] [ 4.94805433e-01 8.69000391e-01 -2.42995470e-03 3.65309806e+02] [ 5.11455283e-03 -1.15978801e-04 9.99986914e-01 2.24269401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.730385723 meters Centerline goodness : 0.999542 Centerline is valid? [True, True] Translation: X:369.23, Y:365.32, Z:22.43 [[ 8.68813427e-01 -4.95119116e-01 -4.50454891e-03 3.69225208e+02] [ 4.95113192e-01 8.68825095e-01 -2.42511293e-03 3.65322122e+02] [ 5.11438490e-03 -1.23290913e-04 9.99986914e-01 2.24258750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.760385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:369.25, Y:365.34, Z:22.42 [[ 8.67329776e-01 -4.97713692e-01 -4.48788953e-03 3.69249019e+02] [ 4.97707644e-01 8.67341380e-01 -2.45596820e-03 3.65337378e+02] [ 5.11490130e-03 -1.03522580e-04 9.99986913e-01 2.24238640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.790385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:369.28, Y:365.35, Z:22.42 [[ 8.67144352e-01 -4.98036680e-01 -4.48754168e-03 3.69275453e+02] [ 4.98030632e-01 8.67155957e-01 -2.45661425e-03 3.65350343e+02] [ 5.11488251e-03 -1.04694053e-04 9.99986913e-01 2.24245495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.820385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:369.30, Y:365.36, Z:22.42 [[ 8.68257121e-01 -4.96094119e-01 -4.49409892e-03 3.69302180e+02] [ 4.96088108e-01 8.68268745e-01 -2.44443712e-03 3.65361530e+02] [ 5.11475651e-03 -1.07069092e-04 9.99986914e-01 2.24246987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.8503857229999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:369.33, Y:365.38, Z:22.43 [[ 8.68406417e-01 -4.95832664e-01 -4.50165219e-03 3.69329232e+02] [ 4.95826722e-01 8.68418076e-01 -2.43041520e-03 3.65375301e+02] [ 5.11439538e-03 -1.21451296e-04 9.99986914e-01 2.24259888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.880385723 meters Centerline goodness : 0.994130 Centerline is valid? [True, True] Translation: X:369.35, Y:365.39, Z:22.42 [[ 8.68928479e-01 -4.94917057e-01 -4.51722338e-03 3.69352499e+02] [ 4.94911253e-01 8.68940208e-01 -2.40145686e-03 3.65388891e+02] [ 5.11371899e-03 -1.48930423e-04 9.99986914e-01 2.24226828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.910385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:369.38, Y:365.40, Z:22.43 [[ 8.69013450e-01 -4.94767941e-01 -4.50648208e-03 3.69377047e+02] [ 4.94762032e-01 8.69025126e-01 -2.42141703e-03 3.65402877e+02] [ 5.11428568e-03 -1.25392269e-04 9.99986914e-01 2.24256940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.940385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:369.40, Y:365.42, Z:22.43 [[ 8.68649576e-01 -4.95406524e-01 -4.50437508e-03 3.69401487e+02] [ 4.95400603e-01 8.68661246e-01 -2.42533020e-03 3.65416348e+02] [ 5.11430047e-03 -1.24708078e-04 9.99986914e-01 2.24259099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.9703857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:369.43, Y:365.43, Z:22.43 [[ 8.68967751e-01 -4.94848224e-01 -4.50374406e-03 3.69425635e+02] [ 4.94842289e-01 8.68979413e-01 -2.42650141e-03 3.65427817e+02] [ 5.11441079e-03 -1.20091551e-04 9.99986914e-01 2.24305582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.000385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:369.45, Y:365.44, Z:22.43 [[ 8.68603969e-01 -4.95486514e-01 -4.50106500e-03 3.69450584e+02] [ 4.95480563e-01 8.68615623e-01 -2.43147138e-03 3.65440565e+02] [ 5.11445666e-03 -1.18204527e-04 9.99986914e-01 2.24299667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.030385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:369.48, Y:365.45, Z:22.43 [[ 8.67347797e-01 -4.97682152e-01 -4.50282414e-03 3.69476024e+02] [ 4.97676246e-01 8.67359474e-01 -2.42820928e-03 3.65454713e+02] [ 5.11404359e-03 -1.34846647e-04 9.99986914e-01 2.24317864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.060385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:369.50, Y:365.47, Z:22.43 [[ 8.66653296e-01 -4.98890565e-01 -4.50220328e-03 3.69500329e+02] [ 4.98884670e-01 8.66664978e-01 -2.42935988e-03 3.65468770e+02] [ 5.11388663e-03 -1.40667447e-04 9.99986914e-01 2.24303470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.0903857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:369.52, Y:365.48, Z:22.43 [[ 8.64976944e-01 -5.01791410e-01 -4.50187199e-03 3.69523795e+02] [ 5.01785551e-01 8.64988645e-01 -2.42997363e-03 3.65483871e+02] [ 5.11340805e-03 -1.57103149e-04 9.99986914e-01 2.24290754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.120385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:369.55, Y:365.50, Z:22.43 [[ 8.64413491e-01 -5.02761430e-01 -4.50117634e-03 3.69548326e+02] [ 5.02755578e-01 8.64425195e-01 -2.43126154e-03 3.65496737e+02] [ 5.11327477e-03 -1.61376238e-04 9.99986914e-01 2.24295070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.150385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:369.57, Y:365.51, Z:22.43 [[ 8.63942314e-01 -5.03570674e-01 -4.50048085e-03 3.69571570e+02] [ 5.03564826e-01 8.63954020e-01 -2.43254828e-03 3.65509914e+02] [ 5.11316850e-03 -1.64702467e-04 9.99986914e-01 2.24295573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.180385723 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:369.60, Y:365.53, Z:22.43 [[ 8.63240867e-01 -5.04772180e-01 -4.50017892e-03 3.69596803e+02] [ 5.04766345e-01 8.63252580e-01 -2.43310672e-03 3.65525116e+02] [ 5.11295565e-03 -1.71181707e-04 9.99986914e-01 2.24301657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.210385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:369.62, Y:365.54, Z:22.43 [[ 8.62829003e-01 -5.05475881e-01 -4.49959688e-03 3.69620414e+02] [ 5.05470050e-01 8.62840718e-01 -2.43418262e-03 3.65539818e+02] [ 5.11285600e-03 -1.74128101e-04 9.99986914e-01 2.24280280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.240385723 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:369.65, Y:365.55, Z:22.43 [[ 8.63358104e-01 -5.04571640e-01 -4.49937561e-03 3.69645938e+02] [ 5.04565795e-01 8.63369812e-01 -2.43459156e-03 3.65553807e+02] [ 5.11305093e-03 -1.68306679e-04 9.99986914e-01 2.24276756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.270385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:369.67, Y:365.57, Z:22.43 [[ 8.63798330e-01 -5.03817631e-01 -4.49876988e-03 3.69670432e+02] [ 5.03811770e-01 8.63810030e-01 -2.43571033e-03 3.65567372e+02] [ 5.11323636e-03 -1.62570694e-04 9.99986914e-01 2.24299085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.300385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:369.69, Y:365.58, Z:22.43 [[ 8.63676405e-01 -5.04026621e-01 -4.49806470e-03 3.69693403e+02] [ 5.04020755e-01 8.63688103e-01 -2.43701190e-03 3.65581001e+02] [ 5.11324385e-03 -1.62328291e-04 9.99986914e-01 2.24285804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.330385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:369.72, Y:365.59, Z:22.43 [[ 8.64199696e-01 -5.03128903e-01 -4.49359659e-03 3.69720562e+02] [ 5.03122982e-01 8.64211366e-01 -2.44525257e-03 3.65593590e+02] [ 5.11369449e-03 -1.47645189e-04 9.99986914e-01 2.24296817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.360385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:369.74, Y:365.61, Z:22.43 [[ 8.63559554e-01 -5.04226743e-01 -4.50437604e-03 3.69743154e+02] [ 5.04220940e-01 8.63571283e-01 -2.42537870e-03 3.65607335e+02] [ 5.11279060e-03 -1.76741779e-04 9.99986914e-01 2.24305859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.390385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:369.77, Y:365.62, Z:22.43 [[ 8.63480827e-01 -5.04361684e-01 -4.48910645e-03 3.69768868e+02] [ 5.04355738e-01 8.63492484e-01 -2.45352229e-03 3.65619683e+02] [ 5.11377231e-03 -1.45537133e-04 9.99986914e-01 2.24309499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.420385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:369.79, Y:365.63, Z:22.43 [[ 8.63099234e-01 -5.05014358e-01 -4.49553171e-03 3.69792688e+02] [ 5.05008482e-01 8.63110927e-01 -2.44168301e-03 3.65633391e+02] [ 5.11322752e-03 -1.62866912e-04 9.99986914e-01 2.24315709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.450385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:369.82, Y:365.65, Z:22.43 [[ 8.62073113e-01 -5.06764054e-01 -4.48791044e-03 3.69815816e+02] [ 5.06758129e-01 8.62084780e-01 -2.45571815e-03 3.65647930e+02] [ 5.11342897e-03 -1.57276501e-04 9.99986914e-01 2.24320917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.480385723 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:369.84, Y:365.66, Z:22.43 [[ 8.62439097e-01 -5.06141037e-01 -4.47831859e-03 3.69842901e+02] [ 5.06135011e-01 8.62450713e-01 -2.47336786e-03 3.65661572e+02] [ 5.11420204e-03 -1.33504694e-04 9.99986913e-01 2.24323775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.510385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:369.86, Y:365.68, Z:22.43 [[ 8.61695667e-01 -5.07405529e-01 -4.49517767e-03 3.69864811e+02] [ 5.07399682e-01 8.61707374e-01 -2.44233835e-03 3.65675166e+02] [ 5.11278373e-03 -1.76299345e-04 9.99986914e-01 2.24312385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.540385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:369.89, Y:365.69, Z:22.43 [[ 8.61443676e-01 -5.07833387e-01 -4.47706875e-03 3.69888624e+02] [ 5.07827373e-01 8.61455298e-01 -2.47563442e-03 3.65688491e+02] [ 5.11400441e-03 -1.40958449e-04 9.99986913e-01 2.24309229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.570385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:369.92, Y:365.70, Z:22.43 [[ 8.61627024e-01 -5.07522265e-01 -4.47467043e-03 3.69915275e+02] [ 5.07516223e-01 8.61638632e-01 -2.48004153e-03 3.65701780e+02] [ 5.11422520e-03 -1.34097034e-04 9.99986913e-01 2.24324909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.6003857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:369.94, Y:365.71, Z:22.44 [[ 8.62719553e-01 -5.05662822e-01 -4.48149479e-03 3.69941733e+02] [ 5.05656820e-01 8.62731182e-01 -2.46750422e-03 3.65713065e+02] [ 5.11405045e-03 -1.37334269e-04 9.99986914e-01 2.24352346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.630385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:369.97, Y:365.73, Z:22.44 [[ 8.62325300e-01 -5.06334759e-01 -4.49326573e-03 3.69966060e+02] [ 5.06328878e-01 8.62336990e-01 -2.44588013e-03 3.65726927e+02] [ 5.11314337e-03 -1.65925877e-04 9.99986914e-01 2.24358323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.660385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:369.99, Y:365.74, Z:22.43 [[ 8.60771144e-01 -5.08972351e-01 -4.49259924e-03 3.69987577e+02] [ 5.08966500e-01 8.60782849e-01 -2.44710373e-03 3.65742412e+02] [ 5.11266051e-03 -1.80186229e-04 9.99986914e-01 2.24333810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.690385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:370.01, Y:365.76, Z:22.43 [[ 8.60325715e-01 -5.09725039e-01 -4.47758575e-03 3.70012135e+02] [ 5.09719055e-01 8.60337353e-01 -2.47464908e-03 3.65756882e+02] [ 5.11362487e-03 -1.53306535e-04 9.99986914e-01 2.24332599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.7203857229999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:370.04, Y:365.77, Z:22.43 [[ 8.60019001e-01 -5.10242374e-01 -4.47631646e-03 3.70036485e+02] [ 5.10236385e-01 8.60030637e-01 -2.47697691e-03 3.65771792e+02] [ 5.11362788e-03 -1.53732318e-04 9.99986914e-01 2.24315943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.750385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:370.06, Y:365.79, Z:22.43 [[ 8.59937189e-01 -5.10380252e-01 -4.47553722e-03 3.70061542e+02] [ 5.10374257e-01 8.59948821e-01 -2.47840544e-03 3.65785461e+02] [ 5.11366215e-03 -1.52925981e-04 9.99986913e-01 2.24317397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.780385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:370.08, Y:365.80, Z:22.43 [[ 8.59753215e-01 -5.10690107e-01 -4.47487579e-03 3.70084571e+02] [ 5.10684110e-01 8.59764846e-01 -2.47961736e-03 3.65798975e+02] [ 5.11365695e-03 -1.53388969e-04 9.99986913e-01 2.24318979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.810385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:370.11, Y:365.81, Z:22.44 [[ 8.62035339e-01 -5.06828445e-01 -4.47227333e-03 3.70113132e+02] [ 5.06822371e-01 8.62046931e-01 -2.48438317e-03 3.65810826e+02] [ 5.11446556e-03 -1.25022090e-04 9.99986913e-01 2.24352918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.8403857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:370.14, Y:365.82, Z:22.44 [[ 8.62255220e-01 -5.06454117e-01 -4.49035233e-03 3.70137257e+02] [ 5.06448210e-01 8.62266897e-01 -2.45126514e-03 3.65824489e+02] [ 5.11333549e-03 -1.60514739e-04 9.99986914e-01 2.24353132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.870385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:370.16, Y:365.84, Z:22.43 [[ 8.61042344e-01 -5.08513446e-01 -4.48969632e-03 3.70157513e+02] [ 5.08507561e-01 8.61054032e-01 -2.45246608e-03 3.65842162e+02] [ 5.11298310e-03 -1.71367380e-04 9.99986914e-01 2.24311712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.900385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:370.19, Y:365.86, Z:22.44 [[ 8.63187722e-01 -5.04863349e-01 -4.46715490e-03 3.70185503e+02] [ 5.04857201e-01 8.63199275e-01 -2.49367590e-03 3.65855044e+02] [ 5.11501043e-03 -1.02764903e-04 9.99986913e-01 2.24352419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.930385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:370.21, Y:365.87, Z:22.44 [[ 8.63660061e-01 -5.04054710e-01 -4.48880295e-03 3.70209370e+02] [ 5.04048756e-01 8.63671714e-01 -2.45407903e-03 3.65870388e+02] [ 5.11384223e-03 -1.43085502e-04 9.99986914e-01 2.24356610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.960385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:370.23, Y:365.88, Z:22.44 [[ 8.63771998e-01 -5.03862866e-01 -4.48860090e-03 3.70232621e+02] [ 5.03856908e-01 8.63783649e-01 -2.45444854e-03 3.65883360e+02] [ 5.11388554e-03 -1.41528648e-04 9.99986914e-01 2.24368273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.990385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:370.26, Y:365.90, Z:22.44 [[ 8.63212454e-01 -5.04820873e-01 -4.48832010e-03 3.70257691e+02] [ 5.04814925e-01 8.63224111e-01 -2.45496192e-03 3.65897089e+02] [ 5.11374214e-03 -1.46617266e-04 9.99986914e-01 2.24358068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.020385723 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:370.28, Y:365.91, Z:22.44 [[ 8.62546403e-01 -5.05958036e-01 -4.49097360e-03 3.70283785e+02] [ 5.05952128e-01 8.62558080e-01 -2.45011253e-03 3.65913199e+02] [ 5.11337969e-03 -1.58881900e-04 9.99986914e-01 2.24379109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.050385723 meters Centerline goodness : 0.994107 Centerline is valid? [True, True] Translation: X:370.31, Y:365.93, Z:22.43 [[ 8.63381381e-01 -5.04531806e-01 -4.49966437e-03 3.70311817e+02] [ 5.04525962e-01 8.63393090e-01 -2.43420721e-03 3.65926362e+02] [ 5.11311409e-03 -1.68548309e-04 9.99986914e-01 2.24336052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.080385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:370.33, Y:365.94, Z:22.44 [[ 8.62272264e-01 -5.06424787e-01 -4.52521348e-03 3.70330928e+02] [ 5.06419213e-01 8.62284107e-01 -2.38741718e-03 3.65942799e+02] [ 5.11106690e-03 -2.33051432e-04 9.99986911e-01 2.24373178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.110385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:370.35, Y:365.96, Z:22.44 [[ 8.63221266e-01 -5.04805726e-01 -4.49727356e-03 3.70354866e+02] [ 5.04799864e-01 8.63232965e-01 -2.43841332e-03 3.65959354e+02] [ 5.11311979e-03 -1.65332848e-04 9.99986914e-01 2.24373948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.140385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:370.38, Y:365.97, Z:22.43 [[ 8.63881595e-01 -5.03674862e-01 -4.49703438e-03 3.70377960e+02] [ 5.03668982e-01 8.63893285e-01 -2.43884959e-03 3.65973544e+02] [ 5.11334504e-03 -1.58139452e-04 9.99986914e-01 2.24348719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.170385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:370.40, Y:365.99, Z:22.44 [[ 8.66349310e-01 -4.99418326e-01 -4.49541415e-03 3.70398600e+02] [ 4.99412374e-01 8.66360963e-01 -2.44180325e-03 3.65988881e+02] [ 5.11413262e-03 -1.29610892e-04 9.99986914e-01 2.24351554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.200385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:370.42, Y:366.00, Z:22.44 [[ 8.67453892e-01 -4.97497370e-01 -4.48457413e-03 3.70421435e+02] [ 4.97491290e-01 8.67465479e-01 -2.46155211e-03 3.66003039e+02] [ 5.11482895e-03 -9.57536091e-05 9.99986915e-01 2.24350698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.230385723 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:370.44, Y:366.02, Z:22.43 [[ 8.66932362e-01 -4.98405628e-01 -4.48430844e-03 3.70439442e+02] [ 4.98399557e-01 8.66943954e-01 -2.46203603e-03 3.66020476e+02] [ 5.11473671e-03 -1.00558627e-04 9.99986915e-01 2.24314817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.260385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:370.47, Y:366.03, Z:22.43 [[ 8.69891635e-01 -4.93222764e-01 -4.45516088e-03 3.70469371e+02] [ 4.93216351e-01 8.69903044e-01 -2.51504096e-03 3.66032621e+02] [ 5.11603346e-03 -9.54509703e-06 9.99986913e-01 2.24348010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.290385723 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:370.49, Y:366.05, Z:22.43 [[ 8.69762217e-01 -4.93450691e-01 -4.48339984e-03 3.70493677e+02] [ 4.93444546e-01 8.69773770e-01 -2.46365117e-03 3.66046400e+02] [ 5.11523395e-03 -6.95184984e-05 9.99986915e-01 2.24329899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.320385723 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:370.52, Y:366.06, Z:22.43 [[ 8.68636781e-01 -4.95429155e-01 -4.48272676e-03 3.70515107e+02] [ 4.95423029e-01 8.68648345e-01 -2.46487526e-03 3.66062267e+02] [ 5.11508425e-03 -7.97647617e-05 9.99986915e-01 2.24323208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.3503857229999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:370.54, Y:366.07, Z:22.43 [[ 8.69718252e-01 -4.93528335e-01 -4.46598021e-03 3.70543359e+02] [ 4.93522028e-01 8.69729717e-01 -2.49524947e-03 3.66074979e+02] [ 5.11567202e-03 -3.38956016e-05 9.99986914e-01 2.24342686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.380385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:370.57, Y:366.09, Z:22.44 [[ 8.70874569e-01 -4.91484801e-01 -4.49162482e-03 3.70567309e+02] [ 4.91478707e-01 8.70886149e-01 -2.44869360e-03 3.66088828e+02] [ 5.11518953e-03 -7.50329754e-05 9.99986915e-01 2.24373674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.410385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:370.59, Y:366.10, Z:22.43 [[ 8.70058030e-01 -4.92928955e-01 -4.48002029e-03 3.70590921e+02] [ 4.92922771e-01 8.70069561e-01 -2.46974378e-03 3.66103717e+02] [ 5.11533751e-03 -5.94836124e-05 9.99986915e-01 2.24338093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.440385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:370.62, Y:366.12, Z:22.44 [[ 8.71013858e-01 -4.91238060e-01 -4.47514004e-03 3.70616743e+02] [ 4.91231809e-01 8.71025354e-01 -2.47858762e-03 3.66116968e+02] [ 5.11553701e-03 -3.94469735e-05 9.99986915e-01 2.24360316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.4703857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:370.64, Y:366.13, Z:22.43 [[ 8.71665399e-01 -4.90080989e-01 -4.47851424e-03 3.70641817e+02] [ 4.90074753e-01 8.71676903e-01 -2.47247586e-03 3.66131047e+02] [ 5.11553083e-03 -3.96351005e-05 9.99986915e-01 2.24349140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.500385723 meters Centerline goodness : 0.998658 Centerline is valid? [True, True] Translation: X:370.67, Y:366.14, Z:22.43 [[ 8.72938627e-01 -4.87809439e-01 -4.48382639e-03 3.70668750e+02] [ 4.87803223e-01 8.72950142e-01 -2.46285377e-03 3.66142528e+02] [ 5.11556020e-03 -3.73047771e-05 9.99986915e-01 2.24338459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.530385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:370.69, Y:366.16, Z:22.43 [[ 8.71593531e-01 -4.90208602e-01 -4.49923046e-03 3.70689077e+02] [ 4.90202562e-01 8.71605140e-01 -2.43493101e-03 3.66156613e+02] [ 5.11517652e-03 -8.32641824e-05 9.99986914e-01 2.24325395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.560385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:370.72, Y:366.17, Z:22.43 [[ 8.72075227e-01 -4.89351411e-01 -4.47173363e-03 3.70715625e+02] [ 4.89345103e-01 8.72086691e-01 -2.48473401e-03 3.66169737e+02] [ 5.11564748e-03 -2.13459807e-05 9.99986915e-01 2.24326411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.5903857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:370.74, Y:366.18, Z:22.44 [[ 8.72363268e-01 -4.88837674e-01 -4.47850170e-03 3.70739916e+02] [ 4.88831422e-01 8.72374763e-01 -2.47247801e-03 3.66181654e+02] [ 5.11557225e-03 -3.23333590e-05 9.99986915e-01 2.24350328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.620385723 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:370.76, Y:366.19, Z:22.43 [[ 8.72244949e-01 -4.89048767e-01 -4.47792016e-03 3.70764121e+02] [ 4.89042513e-01 8.72256443e-01 -2.47353079e-03 3.66194615e+02] [ 5.11557189e-03 -3.23685876e-05 9.99986915e-01 2.24346546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.650385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:370.79, Y:366.21, Z:22.44 [[ 8.71834657e-01 -4.89779830e-01 -4.47763284e-03 3.70788657e+02] [ 4.89773583e-01 8.71846154e-01 -2.47405078e-03 3.66208082e+02] [ 5.11554714e-03 -3.60630635e-05 9.99986915e-01 2.24357024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.680385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:370.81, Y:366.22, Z:22.44 [[ 8.71545686e-01 -4.90293865e-01 -4.47696004e-03 3.70811806e+02] [ 4.90287618e-01 8.71557184e-01 -2.47526767e-03 3.66221171e+02] [ 5.11553523e-03 -3.76892137e-05 9.99986915e-01 2.24351597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.710385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:370.84, Y:366.23, Z:22.43 [[ 8.71286585e-01 -4.90754161e-01 -4.47666860e-03 3.70835499e+02] [ 4.90747918e-01 8.71298084e-01 -2.47579464e-03 3.66234007e+02] [ 5.11551930e-03 -3.97891317e-05 9.99986915e-01 2.24347389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.740385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:370.86, Y:366.25, Z:22.44 [[ 8.70763516e-01 -4.91681666e-01 -4.47638079e-03 3.70861114e+02] [ 4.91675432e-01 8.70775021e-01 -2.47631490e-03 3.66246237e+02] [ 5.11547921e-03 -4.46417893e-05 9.99986915e-01 2.24356584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.770385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:370.89, Y:366.26, Z:22.43 [[ 8.70358711e-01 -4.92397891e-01 -4.47569908e-03 3.70885355e+02] [ 4.92391660e-01 8.70370217e-01 -2.47754642e-03 3.66258783e+02] [ 5.11545381e-03 -4.74427953e-05 9.99986915e-01 2.24348465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.800385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:370.91, Y:366.27, Z:22.43 [[ 8.70075233e-01 -4.92898629e-01 -4.47540396e-03 3.70909012e+02] [ 4.92892403e-01 8.70086742e-01 -2.47807940e-03 3.66271194e+02] [ 5.11543159e-03 -4.97770928e-05 9.99986915e-01 2.24343298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.830385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:370.93, Y:366.29, Z:22.43 [[ 8.68652891e-01 -4.95400977e-01 -4.47512723e-03 3.70933580e+02] [ 4.95394780e-01 8.68664416e-01 -2.47857904e-03 3.66285391e+02] [ 5.11527426e-03 -6.39298220e-05 9.99986915e-01 2.24348924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.860385723 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:370.96, Y:366.30, Z:22.43 [[ 8.68108189e-01 -4.96354878e-01 -4.47310278e-03 3.70955993e+02] [ 4.96348675e-01 8.68119710e-01 -2.48223289e-03 3.66298899e+02] [ 5.11525709e-03 -6.53719382e-05 9.99986915e-01 2.24338536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.890385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:370.98, Y:366.31, Z:22.44 [[ 8.69479460e-01 -4.93948988e-01 -4.45713691e-03 3.70984417e+02] [ 4.93942606e-01 8.69490884e-01 -2.51102749e-03 3.66309305e+02] [ 5.11575940e-03 -1.82829922e-05 9.99986914e-01 2.24375571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.920385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:371.01, Y:366.32, Z:22.44 [[ 8.68639770e-01 -4.95423993e-01 -4.47417473e-03 3.71007470e+02] [ 4.95417788e-01 8.68651290e-01 -2.48029315e-03 3.66323018e+02] [ 5.11529439e-03 -6.21044728e-05 9.99986915e-01 2.24354565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.950385723 meters Centerline goodness : 0.995459 Centerline is valid? [True, True] Translation: X:371.04, Y:366.34, Z:22.44 [[ 8.69933136e-01 -4.93149506e-01 -4.46135194e-03 3.71038057e+02] [ 4.93143152e-01 8.69944576e-01 -2.50336164e-03 3.66335666e+02] [ 5.11566047e-03 -2.23279106e-05 9.99986915e-01 2.24365150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.980385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:371.06, Y:366.35, Z:22.44 [[ 8.68712614e-01 -4.95296077e-01 -4.49340705e-03 3.71058621e+02] [ 4.95290049e-01 8.68724229e-01 -2.44568561e-03 3.66349984e+02] [ 5.11487007e-03 -1.00941859e-04 9.99986914e-01 2.24359682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.010385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:371.08, Y:366.36, Z:22.44 [[ 8.68991246e-01 -4.94807318e-01 -4.46458928e-03 3.71084389e+02] [ 4.94801017e-01 8.69002714e-01 -2.49750482e-03 3.66362977e+02] [ 5.11552386e-03 -3.87734888e-05 9.99986915e-01 2.24388910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.040385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:371.11, Y:366.37, Z:22.44 [[ 8.69031572e-01 -4.94736401e-01 -4.47451383e-03 3.71109142e+02] [ 4.94730190e-01 8.69043089e-01 -2.47965840e-03 3.66374843e+02] [ 5.11532259e-03 -5.87756437e-05 9.99986915e-01 2.24383430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.070385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:371.13, Y:366.39, Z:22.44 [[ 8.67810110e-01 -4.96875831e-01 -4.47461737e-03 3.71131125e+02] [ 4.96869650e-01 8.67821643e-01 -2.47947232e-03 3.66388290e+02] [ 5.11515967e-03 -7.15904216e-05 9.99986915e-01 2.24366106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.1003857229999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:371.16, Y:366.40, Z:22.44 [[ 8.68792479e-01 -4.95156314e-01 -4.45567193e-03 3.71158979e+02] [ 4.95149935e-01 8.68803904e-01 -2.51349029e-03 3.66399910e+02] [ 5.11567576e-03 -2.25242105e-05 9.99986915e-01 2.24392319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.130385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:371.18, Y:366.41, Z:22.44 [[ 8.68586535e-01 -4.95517360e-01 -4.46952390e-03 3.71183022e+02] [ 4.95511114e-01 8.68598033e-01 -2.48861229e-03 3.66411463e+02] [ 5.11537026e-03 -5.31236428e-05 9.99986915e-01 2.24390319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.160385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:371.21, Y:366.42, Z:22.44 [[ 8.68421041e-01 -4.95807343e-01 -4.46922474e-03 3.71207655e+02] [ 4.95801097e-01 8.68432540e-01 -2.48914943e-03 3.66424604e+02] [ 5.11535876e-03 -5.42167933e-05 9.99986915e-01 2.24393228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.190385723 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:371.23, Y:366.44, Z:22.44 [[ 8.68502747e-01 -4.95664211e-01 -4.46852979e-03 3.71231817e+02] [ 4.95657958e-01 8.68514241e-01 -2.49039639e-03 3.66436835e+02] [ 5.11538212e-03 -5.19462399e-05 9.99986915e-01 2.24396877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.2203857229999 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:371.26, Y:366.45, Z:22.44 [[ 8.68382670e-01 -4.95874554e-01 -4.46822856e-03 3.71256424e+02] [ 4.95868300e-01 8.68394164e-01 -2.49093674e-03 3.66450016e+02] [ 5.11537574e-03 -5.25666028e-05 9.99986915e-01 2.24396726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.250385723 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:371.28, Y:366.46, Z:22.44 [[ 8.67676989e-01 -4.97108323e-01 -4.46754175e-03 3.71281466e+02] [ 4.97102079e-01 8.67688488e-01 -2.49216792e-03 3.66463786e+02] [ 5.11531196e-03 -5.84275386e-05 9.99986915e-01 2.24370636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.280385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:371.31, Y:366.48, Z:22.44 [[ 8.67676920e-01 -4.97108449e-01 -4.46684897e-03 3.71306302e+02] [ 4.97102199e-01 8.67688416e-01 -2.49340901e-03 3.66475884e+02] [ 5.11532780e-03 -5.70069944e-05 9.99986915e-01 2.24404697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.310385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:371.33, Y:366.49, Z:22.44 [[ 8.65492710e-01 -5.00901605e-01 -4.46663433e-03 3.71326848e+02] [ 5.00895404e-01 8.65504232e-01 -2.49379346e-03 3.66489110e+02] [ 5.11503606e-03 -7.89565506e-05 9.99986915e-01 2.24391102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.3403857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:371.36, Y:366.50, Z:22.44 [[ 8.66540874e-01 -4.99086349e-01 -4.44182243e-03 3.71356234e+02] [ 4.99079895e-01 8.66552258e-01 -2.53819643e-03 3.66500291e+02] [ 5.11585045e-03 -1.73733183e-05 9.99986914e-01 2.24398737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.370385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:371.38, Y:366.51, Z:22.44 [[ 8.65849414e-01 -5.00284764e-01 -4.46628493e-03 3.71380723e+02] [ 5.00278551e-01 8.65860929e-01 -2.49439566e-03 3.66513508e+02] [ 5.11508976e-03 -7.46155300e-05 9.99986915e-01 2.24393292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.400385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:371.41, Y:366.53, Z:22.44 [[ 8.64657230e-01 -5.02342447e-01 -4.46560020e-03 3.71405643e+02] [ 5.02336255e-01 8.64668757e-01 -2.49562088e-03 3.66525967e+02] [ 5.11492128e-03 -8.53762422e-05 9.99986915e-01 2.24393030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.430385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:371.43, Y:366.54, Z:22.44 [[ 8.63684464e-01 -5.04013106e-01 -4.46490158e-03 3.71430220e+02] [ 5.04006930e-01 8.63696000e-01 -2.49687016e-03 3.66539437e+02] [ 5.11477292e-03 -9.38333681e-05 9.99986915e-01 2.24385158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.460385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:371.46, Y:366.55, Z:22.44 [[ 8.62479446e-01 -5.06072449e-01 -4.45885524e-03 3.71455583e+02] [ 5.06066245e-01 8.62490967e-01 -2.50767881e-03 3.66551479e+02] [ 5.11478952e-03 -9.36546977e-05 9.99986915e-01 2.24388301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.490385723 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:371.48, Y:366.56, Z:22.44 [[ 8.62557783e-01 -5.05938926e-01 -4.45794625e-03 3.71482789e+02] [ 5.05932712e-01 8.62569298e-01 -2.50930278e-03 3.66564348e+02] [ 5.11484153e-03 -9.10021975e-05 9.99986915e-01 2.24383733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.520385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:371.51, Y:366.58, Z:22.44 [[ 8.61865517e-01 -5.07117249e-01 -4.46396547e-03 3.71507464e+02] [ 5.07111105e-01 8.61877070e-01 -2.49855045e-03 3.66577649e+02] [ 5.11444751e-03 -1.10311987e-04 9.99986915e-01 2.24398176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.550385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:371.53, Y:366.59, Z:22.44 [[ 8.61474884e-01 -5.07780563e-01 -4.46360910e-03 3.71534698e+02] [ 5.07774425e-01 8.61486441e-01 -2.49918693e-03 3.66588812e+02] [ 5.11437726e-03 -1.13519775e-04 9.99986915e-01 2.24375617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.580385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:371.56, Y:366.60, Z:22.44 [[ 8.60876217e-01 -5.08794834e-01 -4.46723699e-03 3.71558594e+02] [ 5.08788743e-01 8.60887798e-01 -2.49270905e-03 3.66602185e+02] [ 5.11406730e-03 -1.26965958e-04 9.99986915e-01 2.24398239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.610385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:371.58, Y:366.61, Z:22.44 [[ 8.60956775e-01 -5.08658543e-01 -4.46292056e-03 3.71583605e+02] [ 5.08652411e-01 8.60968334e-01 -2.50041333e-03 3.66614566e+02] [ 5.11428988e-03 -1.17327505e-04 9.99986915e-01 2.24397588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.640385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:371.61, Y:366.63, Z:22.44 [[ 8.60819248e-01 -5.08891256e-01 -4.46224394e-03 3.71608507e+02] [ 5.08885121e-01 8.60830806e-01 -2.50162023e-03 3.66628601e+02] [ 5.11428971e-03 -1.17326698e-04 9.99986915e-01 2.24399045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.670385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:371.63, Y:366.64, Z:22.44 [[ 8.61082665e-01 -5.08445414e-01 -4.46156739e-03 3.71633465e+02] [ 5.08439266e-01 8.61094216e-01 -2.50282626e-03 3.66641984e+02] [ 5.11438041e-03 -1.13295746e-04 9.99986915e-01 2.24401506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.700385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:371.66, Y:366.65, Z:22.44 [[ 8.61999527e-01 -5.06889452e-01 -4.46088305e-03 3.71658062e+02] [ 5.06883278e-01 8.62011063e-01 -2.50404539e-03 3.66654509e+02] [ 5.11460474e-03 -1.02661077e-04 9.99986915e-01 2.24400635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.730385723 meters Centerline goodness : 0.993890 Centerline is valid? [True, True] Translation: X:371.68, Y:366.67, Z:22.44 [[ 8.62942919e-01 -5.05281725e-01 -4.46067112e-03 3.71683344e+02] [ 5.05275527e-01 8.62954443e-01 -2.50442287e-03 3.66667620e+02] [ 5.11479507e-03 -9.26939656e-05 9.99986915e-01 2.24376915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.760385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:371.71, Y:366.68, Z:22.44 [[ 8.62927023e-01 -5.05308878e-01 -4.45985543e-03 3.71708654e+02] [ 5.05302672e-01 8.62938544e-01 -2.50587459e-03 3.66681802e+02] [ 5.11482183e-03 -9.11899638e-05 9.99986915e-01 2.24412617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.790385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:371.73, Y:366.70, Z:22.44 [[ 8.63665155e-01 -5.04046222e-01 -4.46153301e-03 3.71733468e+02] [ 5.04040015e-01 8.63676675e-01 -2.50289191e-03 3.66695108e+02] [ 5.11489521e-03 -8.71306374e-05 9.99986915e-01 2.24418665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.820385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:371.76, Y:366.71, Z:22.44 [[ 8.64210138e-01 -5.03111279e-01 -4.45848222e-03 3.71759003e+02] [ 5.03105032e-01 8.64221636e-01 -2.50831463e-03 3.66708716e+02] [ 5.11507818e-03 -7.53739047e-05 9.99986915e-01 2.24430037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.8503857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:371.78, Y:366.72, Z:22.44 [[ 8.64792857e-01 -5.02108971e-01 -4.46041893e-03 3.71784369e+02] [ 5.02102728e-01 8.64804357e-01 -2.50487358e-03 3.66721879e+02] [ 5.11510922e-03 -7.33917367e-05 9.99986915e-01 2.24423437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.880385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:371.81, Y:366.73, Z:22.44 [[ 8.65214297e-01 -5.01382409e-01 -4.46103453e-03 3.71808678e+02] [ 5.01376162e-01 8.65225794e-01 -2.50378009e-03 3.66733911e+02] [ 5.11515344e-03 -7.03500427e-05 9.99986915e-01 2.24411602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.910385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:371.84, Y:366.75, Z:22.44 [[ 8.65359890e-01 -5.01131130e-01 -4.45542262e-03 3.71835809e+02] [ 5.01124829e-01 8.65371358e-01 -2.51374178e-03 3.66746510e+02] [ 5.11530938e-03 -5.74315866e-05 9.99986915e-01 2.24403258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.940385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:371.86, Y:366.76, Z:22.44 [[ 8.64704252e-01 -5.02261487e-01 -4.46724467e-03 3.71858962e+02] [ 5.02255308e-01 8.64715787e-01 -2.49276307e-03 3.66760906e+02] [ 5.11491587e-03 -8.81945181e-05 9.99986915e-01 2.24384805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.9703857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:371.88, Y:366.77, Z:22.44 [[ 8.64658753e-01 -5.02339908e-01 -4.45617218e-03 3.71884186e+02] [ 5.02333630e-01 8.64670233e-01 -2.51240201e-03 3.66774225e+02] [ 5.11519923e-03 -6.61147567e-05 9.99986915e-01 2.24382219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.000385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:371.91, Y:366.79, Z:22.44 [[ 8.65287856e-01 -5.01255498e-01 -4.45550709e-03 3.71913961e+02] [ 5.01249199e-01 8.65299325e-01 -2.51358093e-03 3.66785178e+02] [ 5.11529354e-03 -5.83483043e-05 9.99986915e-01 2.24379464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.030385723 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:371.94, Y:366.80, Z:22.44 [[ 8.63790836e-01 -5.03830723e-01 -4.47143605e-03 3.71935944e+02] [ 5.03824604e-01 8.63802403e-01 -2.48534830e-03 3.66799265e+02] [ 5.11463203e-03 -1.05998410e-04 9.99986915e-01 2.24363932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.060385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:371.96, Y:366.81, Z:22.44 [[ 8.63255734e-01 -5.04747158e-01 -4.45465471e-03 3.71963373e+02] [ 5.04740898e-01 8.63267224e-01 -2.51507115e-03 3.66810235e+02] [ 5.11503242e-03 -7.72968217e-05 9.99986915e-01 2.24391365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.0903857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:371.99, Y:366.82, Z:22.44 [[ 8.63285539e-01 -5.04696174e-01 -4.45537297e-03 3.71990872e+02] [ 5.04689920e-01 8.63297032e-01 -2.51379928e-03 3.66821667e+02] [ 5.11501514e-03 -7.84552581e-05 9.99986915e-01 2.24386341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.120385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:372.02, Y:366.83, Z:22.44 [[ 8.62871663e-01 -5.05403347e-01 -4.46658249e-03 3.72018331e+02] [ 5.05397205e-01 8.62883217e-01 -2.49395180e-03 3.66834642e+02] [ 5.11459065e-03 -1.05437973e-04 9.99986915e-01 2.24388024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.150385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:372.04, Y:366.85, Z:22.44 [[ 8.60957660e-01 -5.08656966e-01 -4.47190630e-03 3.72040620e+02] [ 5.08650916e-01 8.60969263e-01 -2.48452802e-03 3.66847753e+02] [ 5.11394636e-03 -1.35565807e-04 9.99986915e-01 2.24402685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.180385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:372.07, Y:366.86, Z:22.44 [[ 8.60465184e-01 -5.09489782e-01 -4.45296782e-03 3.72065228e+02] [ 5.09483570e-01 8.60476700e-01 -2.51801962e-03 3.66860486e+02] [ 5.11458032e-03 -1.02045727e-04 9.99986915e-01 2.24410153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.210385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:372.09, Y:366.87, Z:22.44 [[ 8.60492786e-01 -5.09443169e-01 -4.45226540e-03 3.72091127e+02] [ 5.09436950e-01 8.60504298e-01 -2.51926099e-03 3.66872275e+02] [ 5.11461382e-03 -1.00342596e-04 9.99986915e-01 2.24400650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.240385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:372.12, Y:366.88, Z:22.44 [[ 8.62000739e-01 -5.06887469e-01 -4.45204796e-03 3.72122201e+02] [ 5.06881213e-01 8.62012231e-01 -2.51964519e-03 3.66884269e+02] [ 5.11489637e-03 -8.47234553e-05 9.99986915e-01 2.24375047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.270385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:372.14, Y:366.90, Z:22.44 [[ 8.61146332e-01 -5.08337459e-01 -4.47462510e-03 3.72144014e+02] [ 5.08331429e-01 8.61157946e-01 -2.47977244e-03 3.66898342e+02] [ 5.11392019e-03 -1.39145629e-04 9.99986914e-01 2.24393359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.300385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:372.17, Y:366.91, Z:22.44 [[ 8.61190952e-01 -5.08262027e-01 -4.45590900e-03 3.72167547e+02] [ 5.08255826e-01 8.61202474e-01 -2.51277388e-03 3.66912571e+02] [ 5.11458740e-03 -1.00763573e-04 9.99986915e-01 2.24396469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.330385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:372.19, Y:366.93, Z:22.44 [[ 8.61281034e-01 -5.08109421e-01 -4.44934535e-03 3.72192450e+02] [ 5.08103158e-01 8.61292522e-01 -2.52434281e-03 3.66926028e+02] [ 5.11483024e-03 -8.65578389e-05 9.99986915e-01 2.24393000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.360385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:372.22, Y:366.94, Z:22.44 [[ 8.61360423e-01 -5.07974833e-01 -4.44864918e-03 3.72216070e+02] [ 5.07968561e-01 8.61371907e-01 -2.52556908e-03 3.66938306e+02] [ 5.11486696e-03 -8.43486658e-05 9.99986915e-01 2.24386214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.390385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:372.24, Y:366.95, Z:22.44 [[ 8.61023129e-01 -5.08546344e-01 -4.44834819e-03 3.72240331e+02] [ 5.08540078e-01 8.61034615e-01 -2.52609912e-03 3.66951495e+02] [ 5.11482024e-03 -8.71335688e-05 9.99986915e-01 2.24397413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.420385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:372.26, Y:366.97, Z:22.44 [[ 8.60706001e-01 -5.09082899e-01 -4.44765518e-03 3.72264862e+02] [ 5.09076633e-01 8.60717488e-01 -2.52731869e-03 3.66965959e+02] [ 5.11478932e-03 -8.89189570e-05 9.99986915e-01 2.24400663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.450385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:372.29, Y:366.98, Z:22.44 [[ 8.60458886e-01 -5.09500471e-01 -4.44696545e-03 3.72288779e+02] [ 5.09494205e-01 8.60470373e-01 -2.52853173e-03 3.66981026e+02] [ 5.11477012e-03 -9.00055280e-05 9.99986915e-01 2.24402590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.480385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:372.31, Y:367.00, Z:22.44 [[ 8.59717329e-01 -5.10750766e-01 -4.44626010e-03 3.72311045e+02] [ 5.10744510e-01 8.59728821e-01 -2.52977143e-03 3.66995473e+02] [ 5.11466065e-03 -9.60145995e-05 9.99986915e-01 2.24390761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.510385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:372.34, Y:367.01, Z:22.44 [[ 8.59633064e-01 -5.10892671e-01 -4.43556218e-03 3.72336818e+02] [ 5.10886320e-01 8.59644504e-01 -2.54855932e-03 3.67009742e+02] [ 5.11504693e-03 -7.52421780e-05 9.99986915e-01 2.24382738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.540385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:372.36, Y:367.02, Z:22.44 [[ 8.59080351e-01 -5.11821440e-01 -4.44558657e-03 3.72360478e+02] [ 5.11815193e-01 8.59091848e-01 -2.53095161e-03 3.67024046e+02] [ 5.11456248e-03 -1.01027953e-04 9.99986915e-01 2.24395143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.570385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:372.38, Y:367.04, Z:22.44 [[ 8.58321804e-01 -5.13092511e-01 -4.44489290e-03 3.72381932e+02] [ 5.13086274e-01 8.58333306e-01 -2.53216926e-03 3.67040116e+02] [ 5.11443670e-03 -1.07197449e-04 9.99986915e-01 2.24373674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.6003857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:372.41, Y:367.06, Z:22.44 [[ 8.58660598e-01 -5.12525422e-01 -4.43501966e-03 3.72406670e+02] [ 5.12519088e-01 8.58672047e-01 -2.54948449e-03 3.67055148e+02] [ 5.11490303e-03 -8.38903563e-05 9.99986915e-01 2.24385323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.630385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:372.43, Y:367.07, Z:22.44 [[ 8.57563658e-01 -5.14358653e-01 -4.44391652e-03 3.72428480e+02] [ 5.14352424e-01 8.57575165e-01 -2.53388120e-03 3.67071226e+02] [ 5.11431616e-03 -1.12774797e-04 9.99986915e-01 2.24381588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.660385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:372.45, Y:367.09, Z:22.44 [[ 8.57708020e-01 -5.14118018e-01 -4.42896438e-03 3.72454302e+02] [ 5.14111650e-01 8.57719451e-01 -2.56008261e-03 3.67086228e+02] [ 5.11499350e-03 -8.11787992e-05 9.99986915e-01 2.24395013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.690385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:372.48, Y:367.10, Z:22.44 [[ 8.56474142e-01 -5.16170809e-01 -4.44307932e-03 3.72477863e+02] [ 5.16164596e-01 8.56485658e-01 -2.53534683e-03 3.67101684e+02] [ 5.11410574e-03 -1.21901245e-04 9.99986915e-01 2.24413152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.7203857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:372.50, Y:367.12, Z:22.44 [[ 8.56607706e-01 -5.15949130e-01 -4.44235176e-03 3.72502627e+02] [ 5.15942908e-01 8.56619216e-01 -2.53662101e-03 3.67115364e+02] [ 5.11417128e-03 -1.19110780e-04 9.99986915e-01 2.24417680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.750385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:372.52, Y:367.13, Z:22.44 [[ 8.53927501e-01 -5.20373031e-01 -4.44210972e-03 3.72519053e+02] [ 5.20366866e-01 8.53939042e-01 -2.53704480e-03 3.67132748e+02] [ 5.11350061e-03 -1.45074387e-04 9.99986915e-01 2.24379539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.780385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:372.55, Y:367.15, Z:22.44 [[ 8.55218679e-01 -5.18248622e-01 -4.40191908e-03 3.72547509e+02] [ 5.18242066e-01 8.55230006e-01 -2.60729773e-03 3.67146965e+02] [ 5.11588174e-03 -5.14499205e-05 9.99986912e-01 2.24412199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.810385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:372.57, Y:367.16, Z:22.44 [[ 8.56046361e-01 -5.16880087e-01 -4.42754465e-03 3.72570488e+02] [ 5.16873744e-01 8.56057806e-01 -2.56247203e-03 3.67163532e+02] [ 5.11472492e-03 -9.48867258e-05 9.99986915e-01 2.24405160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.8403857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:372.59, Y:367.18, Z:22.44 [[ 8.56717791e-01 -5.15766473e-01 -4.42411008e-03 3.72592892e+02] [ 5.15760084e-01 8.56729210e-01 -2.56848064e-03 3.67179082e+02] [ 5.11500054e-03 -8.13163216e-05 9.99986915e-01 2.24383601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.870385723 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:372.62, Y:367.19, Z:22.44 [[ 8.57847896e-01 -5.13884715e-01 -4.41430351e-03 3.72621149e+02] [ 5.13878213e-01 8.57859252e-01 -2.58558080e-03 3.67193899e+02] [ 5.11554156e-03 -5.03793498e-05 9.99986914e-01 2.24385964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.900385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:372.64, Y:367.21, Z:22.44 [[ 8.58125068e-01 -5.13421590e-01 -4.43144977e-03 3.72644051e+02] [ 5.13415236e-01 8.58136507e-01 -2.55568056e-03 3.67207549e+02] [ 5.11493040e-03 -8.20802808e-05 9.99986915e-01 2.24392246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.930385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:372.67, Y:367.22, Z:22.44 [[ 8.59330350e-01 -5.11401762e-01 -4.42581424e-03 3.72669984e+02] [ 5.11395330e-01 8.59341745e-01 -2.56551212e-03 3.67220345e+02] [ 5.11529435e-03 -5.87183063e-05 9.99986915e-01 2.24403221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.960385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:372.69, Y:367.24, Z:22.44 [[ 8.58219141e-01 -5.13264270e-01 -4.43789474e-03 3.72690080e+02] [ 5.13257972e-01 8.58230610e-01 -2.54444189e-03 3.67236428e+02] [ 5.11470822e-03 -9.40961184e-05 9.99986915e-01 2.24400059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.990385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:372.71, Y:367.25, Z:22.44 [[ 8.57413749e-01 -5.14608704e-01 -4.42085837e-03 3.72711535e+02] [ 5.14602270e-01 8.57425144e-01 -2.57413605e-03 3.67251129e+02] [ 5.11522794e-03 -6.78841088e-05 9.99986915e-01 2.24405127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.020385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:372.74, Y:367.26, Z:22.44 [[ 8.58088017e-01 -5.13483715e-01 -4.40794876e-03 3.72737878e+02] [ 5.13477151e-01 8.58099338e-01 -2.59661803e-03 3.67264352e+02] [ 5.11577898e-03 -3.52541558e-05 9.99986914e-01 2.24431482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.050385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:372.77, Y:367.28, Z:22.45 [[ 8.58012894e-01 -5.13609138e-01 -4.41897326e-03 3.72765190e+02] [ 5.13602674e-01 8.58024271e-01 -2.57741590e-03 3.67279729e+02] [ 5.11537067e-03 -5.81404074e-05 9.99986915e-01 2.24453460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.080385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:372.79, Y:367.29, Z:22.45 [[ 8.58266302e-01 -5.13185415e-01 -4.43668123e-03 3.72790161e+02] [ 5.13179105e-01 8.58277765e-01 -2.54656467e-03 3.67292075e+02] [ 5.11476470e-03 -9.11814574e-05 9.99986915e-01 2.24460549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.110385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:372.81, Y:367.31, Z:22.45 [[ 8.57765351e-01 -5.14022229e-01 -4.44412873e-03 3.72812029e+02] [ 5.14015997e-01 8.57776856e-01 -2.53358700e-03 3.67305366e+02] [ 5.11439081e-03 -1.11130120e-04 9.99986915e-01 2.24460866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.140385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:372.84, Y:367.32, Z:22.45 [[ 8.57299604e-01 -5.14798708e-01 -4.43618034e-03 3.72836359e+02] [ 5.14792415e-01 8.57311076e-01 -2.54742860e-03 3.67319230e+02] [ 5.11459949e-03 -9.98024578e-05 9.99986915e-01 2.24459377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.170385723 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:372.86, Y:367.33, Z:22.44 [[ 8.56186445e-01 -5.16647944e-01 -4.43551311e-03 3.72860493e+02] [ 5.16641670e-01 8.56197927e-01 -2.54858984e-03 3.67333325e+02] [ 5.11440083e-03 -1.09502825e-04 9.99986915e-01 2.24430894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.200385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:372.88, Y:367.35, Z:22.44 [[ 8.54967362e-01 -5.18662840e-01 -4.43485003e-03 3.72883664e+02] [ 5.18656586e-01 8.54978856e-01 -2.54974316e-03 3.67349372e+02] [ 5.11416003e-03 -1.20216989e-04 9.99986915e-01 2.24449554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.230385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:372.91, Y:367.36, Z:22.44 [[ 8.55115391e-01 -5.18418756e-01 -4.43415360e-03 3.72906944e+02] [ 5.18412494e-01 8.55126879e-01 -2.55095371e-03 3.67362548e+02] [ 5.11422618e-03 -1.17360843e-04 9.99986915e-01 2.24438192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.260385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:372.93, Y:367.38, Z:22.44 [[ 8.54732589e-01 -5.19049654e-01 -4.43382906e-03 3.72931163e+02] [ 5.19043397e-01 8.54744080e-01 -2.55151767e-03 3.67377265e+02] [ 5.11415351e-03 -1.20484394e-04 9.99986915e-01 2.24433031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.290385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:372.95, Y:367.39, Z:22.44 [[ 8.54043342e-01 -5.20182965e-01 -4.43317895e-03 3.72954489e+02] [ 5.20176717e-01 8.54054838e-01 -2.55264673e-03 3.67392096e+02] [ 5.11402127e-03 -1.25965532e-04 9.99986915e-01 2.24433331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.320385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:372.98, Y:367.41, Z:22.44 [[ 8.53846703e-01 -5.20505678e-01 -4.43248298e-03 3.72978515e+02] [ 5.20499428e-01 8.53858199e-01 -2.55385466e-03 3.67406666e+02] [ 5.11400778e-03 -1.26504472e-04 9.99986915e-01 2.24433208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.3503857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:373.00, Y:367.42, Z:22.44 [[ 8.52138064e-01 -5.23298269e-01 -4.43179207e-03 3.72998319e+02] [ 5.23292051e-01 8.52149577e-01 -2.55505305e-03 3.67423009e+02] [ 5.11360457e-03 -1.41863604e-04 9.99986915e-01 2.24416115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.380385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:373.03, Y:367.44, Z:22.44 [[ 8.53853714e-01 -5.20494396e-01 -4.40675328e-03 3.73026015e+02] [ 5.20487916e-01 8.53865082e-01 -2.59844226e-03 3.67436852e+02] [ 5.11524739e-03 -7.49722574e-05 9.99986914e-01 2.24433412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.410385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:373.05, Y:367.45, Z:22.44 [[ 8.53817323e-01 -5.20553883e-01 -4.43095695e-03 3.73049524e+02] [ 5.20547620e-01 8.53828812e-01 -2.55649205e-03 3.67452368e+02] [ 5.11407057e-03 -1.23746896e-04 9.99986915e-01 2.24441705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.440385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:373.07, Y:367.47, Z:22.44 [[ 8.53783818e-01 -5.20608841e-01 -4.43024759e-03 3.73073348e+02] [ 5.20602572e-01 8.53795303e-01 -2.55772074e-03 3.67466979e+02] [ 5.11409661e-03 -1.22657705e-04 9.99986915e-01 2.24448806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.4703857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:373.09, Y:367.48, Z:22.44 [[ 8.52484189e-01 -5.22734241e-01 -4.42954103e-03 3.73093825e+02] [ 5.22727995e-01 8.52495686e-01 -2.55894379e-03 3.67482831e+02] [ 5.11381216e-03 -1.33985982e-04 9.99986915e-01 2.24440261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.500385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:373.12, Y:367.50, Z:22.45 [[ 8.53782936e-01 -5.20610431e-01 -4.41325425e-03 3.73120231e+02] [ 5.20604011e-01 8.53794338e-01 -2.58711725e-03 3.67497705e+02] [ 5.11489172e-03 -8.87212969e-05 9.99986915e-01 2.24460878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.530385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:373.14, Y:367.51, Z:22.44 [[ 8.52648382e-01 -5.22466384e-01 -4.42873922e-03 3.73140801e+02] [ 5.22460127e-01 8.52659874e-01 -2.56033210e-03 3.67513307e+02] [ 5.11389568e-03 -1.30776630e-04 9.99986915e-01 2.24447885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.560385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:373.16, Y:367.53, Z:22.44 [[ 8.52634979e-01 -5.22488400e-01 -4.41194601e-03 3.73164586e+02] [ 5.22481993e-01 8.52646388e-01 -2.58936435e-03 3.67527115e+02] [ 5.11474266e-03 -9.73797205e-05 9.99986915e-01 2.24449167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.5903857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:373.19, Y:367.54, Z:22.45 [[ 8.54555515e-01 -5.19341325e-01 -4.41147618e-03 3.73191032e+02] [ 5.19334871e-01 8.54566898e-01 -2.59017643e-03 3.67540427e+02] [ 5.11508717e-03 -7.75838558e-05 9.99986915e-01 2.24470091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.620385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:373.21, Y:367.56, Z:22.45 [[ 8.53733052e-01 -5.20692102e-01 -4.42827789e-03 3.73213347e+02] [ 5.20685817e-01 8.53744529e-01 -2.56112568e-03 3.67556354e+02] [ 5.11417593e-03 -1.19223843e-04 9.99986915e-01 2.24458859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.650385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:373.24, Y:367.57, Z:22.45 [[ 8.55251498e-01 -5.18194358e-01 -4.41389804e-03 3.73239558e+02] [ 5.18187911e-01 8.55262884e-01 -2.58597028e-03 3.67569986e+02] [ 5.11507837e-03 -7.55736497e-05 9.99986915e-01 2.24468716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.680385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:373.26, Y:367.59, Z:22.45 [[ 8.56482301e-01 -5.16157404e-01 -4.42742946e-03 3.73262527e+02] [ 5.16151051e-01 8.56493739e-01 -2.56259183e-03 3.67586516e+02] [ 5.11476636e-03 -9.04078250e-05 9.99986915e-01 2.24463211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.710385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:373.28, Y:367.60, Z:22.44 [[ 8.55757182e-01 -5.17358724e-01 -4.42672620e-03 3.73283306e+02] [ 5.17352380e-01 8.55768626e-01 -2.56380609e-03 3.67602599e+02] [ 5.11466085e-03 -9.61818615e-05 9.99986915e-01 2.24444045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.740385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:373.31, Y:367.62, Z:22.45 [[ 8.56788492e-01 -5.15649083e-01 -4.41626855e-03 3.73309197e+02] [ 5.15642623e-01 8.56799871e-01 -2.58184901e-03 3.67617978e+02] [ 5.11518640e-03 -6.51177814e-05 9.99986915e-01 2.24454892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.770385723 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:373.33, Y:367.63, Z:22.45 [[ 8.56465502e-01 -5.16185293e-01 -4.42582660e-03 3.73333200e+02] [ 5.16178925e-01 8.56476933e-01 -2.56535921e-03 3.67632464e+02] [ 5.11481909e-03 -8.73767556e-05 9.99986915e-01 2.24457558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.800385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:373.36, Y:367.65, Z:22.45 [[ 8.55736699e-01 -5.17392617e-01 -4.42512625e-03 3.73356721e+02] [ 5.17386259e-01 8.55748136e-01 -2.56656671e-03 3.67647017e+02] [ 5.11471621e-03 -9.31941950e-05 9.99986915e-01 2.24457721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.830385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:373.38, Y:367.66, Z:22.45 [[ 8.54190294e-01 -5.19941695e-01 -4.42442888e-03 3.73379765e+02] [ 5.19935366e-01 8.54201746e-01 -2.56776833e-03 3.67662118e+02] [ 5.11444469e-03 -1.07054265e-04 9.99986915e-01 2.24455444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.860385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:373.40, Y:367.68, Z:22.45 [[ 8.53237582e-01 -5.21503648e-01 -4.42412679e-03 3.73403410e+02] [ 5.21497337e-01 8.53249044e-01 -2.56828871e-03 3.67676858e+02] [ 5.11425389e-03 -1.15809894e-04 9.99986915e-01 2.24452459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.890385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:373.43, Y:367.69, Z:22.44 [[ 8.52043838e-01 -5.23451747e-01 -4.42340905e-03 3.73425777e+02] [ 5.23445455e-01 8.52055311e-01 -2.56952428e-03 3.67691464e+02] [ 5.11401115e-03 -1.26066032e-04 9.99986915e-01 2.24448719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.920385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:373.45, Y:367.71, Z:22.45 [[ 8.51641976e-01 -5.24105314e-01 -4.42309800e-03 3.73450266e+02] [ 5.24099029e-01 8.51653452e-01 -2.57005961e-03 3.67706170e+02] [ 5.11392858e-03 -1.29370721e-04 9.99986915e-01 2.24451281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.950385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:373.47, Y:367.72, Z:22.45 [[ 8.51540671e-01 -5.24269900e-01 -4.42239126e-03 3.73473321e+02] [ 5.24263610e-01 8.51552145e-01 -2.57127515e-03 3.67720099e+02] [ 5.11393893e-03 -1.28953440e-04 9.99986915e-01 2.24453028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.980385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:373.50, Y:367.74, Z:22.44 [[ 8.51691245e-01 -5.24025257e-01 -4.42191096e-03 3.73496870e+02] [ 5.24018960e-01 8.51702715e-01 -2.57210087e-03 3.67735435e+02] [ 5.11399939e-03 -1.26529390e-04 9.99986915e-01 2.24442565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.010385723 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:373.52, Y:367.75, Z:22.44 [[ 8.51842609e-01 -5.23779173e-01 -4.42121479e-03 3.73520991e+02] [ 5.23772866e-01 8.51854074e-01 -2.57329696e-03 3.67750809e+02] [ 5.11406919e-03 -1.23668345e-04 9.99986915e-01 2.24434625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.040385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:373.54, Y:367.77, Z:22.44 [[ 8.52310227e-01 -5.23017911e-01 -4.42056471e-03 3.73543093e+02] [ 5.23011588e-01 8.52321683e-01 -2.57441324e-03 3.67765941e+02] [ 5.11420738e-03 -1.17807839e-04 9.99986915e-01 2.24433531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.070385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:373.57, Y:367.78, Z:22.44 [[ 8.52403108e-01 -5.22866525e-01 -4.42026456e-03 3.73566798e+02] [ 5.22860197e-01 8.52414561e-01 -2.57492848e-03 3.67780467e+02] [ 5.11424178e-03 -1.16303363e-04 9.99986915e-01 2.24446531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.1003857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:373.59, Y:367.80, Z:22.45 [[ 8.52632106e-01 -5.22493023e-01 -4.41956763e-03 3.73590262e+02] [ 5.22486685e-01 8.52643553e-01 -2.57612413e-03 3.67795021e+02] [ 5.11432273e-03 -1.12679101e-04 9.99986915e-01 2.24470202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.130385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:373.61, Y:367.81, Z:22.45 [[ 8.52427266e-01 -5.22827151e-01 -4.41885905e-03 3.73613993e+02] [ 5.22820811e-01 8.52438712e-01 -2.57733899e-03 3.67810052e+02] [ 5.11430932e-03 -1.13277443e-04 9.99986915e-01 2.24473222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.160385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:373.64, Y:367.82, Z:22.45 [[ 8.52320442e-01 -5.23001285e-01 -4.41815233e-03 3.73636438e+02] [ 5.22994940e-01 8.52331886e-01 -2.57854990e-03 3.67824371e+02] [ 5.11431702e-03 -1.12920527e-04 9.99986915e-01 2.24470427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.190385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:373.66, Y:367.84, Z:22.45 [[ 8.52338139e-01 -5.22972447e-01 -4.41784610e-03 3.73658736e+02] [ 5.22966099e-01 8.52349581e-01 -2.57907446e-03 3.67838916e+02] [ 5.11433415e-03 -1.12140220e-04 9.99986915e-01 2.24463844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.2203857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:373.68, Y:367.85, Z:22.44 [[ 8.51097681e-01 -5.24988783e-01 -4.41754217e-03 3.73681140e+02] [ 5.24982460e-01 8.51109136e-01 -2.57959494e-03 3.67854659e+02] [ 5.11406891e-03 -1.23644891e-04 9.99986915e-01 2.24445670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.250385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:373.71, Y:367.87, Z:22.45 [[ 8.51592149e-01 -5.24186415e-01 -4.40625426e-03 3.73706721e+02] [ 5.24179981e-01 8.51603542e-01 -2.59891274e-03 3.67868280e+02] [ 5.11469649e-03 -9.64565845e-05 9.99986915e-01 2.24469031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.280385723 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:373.73, Y:367.88, Z:22.45 [[ 8.51193922e-01 -5.24832736e-01 -4.41663804e-03 3.73731111e+02] [ 5.24826403e-01 8.51205371e-01 -2.58114488e-03 3.67882598e+02] [ 5.11413536e-03 -1.20913424e-04 9.99986915e-01 2.24467371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.310385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:373.75, Y:367.90, Z:22.45 [[ 8.50832229e-01 -5.25418898e-01 -4.41593926e-03 3.73754550e+02] [ 5.25412566e-01 8.50843679e-01 -2.58233983e-03 3.67896292e+02] [ 5.11408416e-03 -1.23052028e-04 9.99986915e-01 2.24469012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.3403857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:373.78, Y:367.91, Z:22.44 [[ 8.48840124e-01 -5.28631200e-01 -4.41563639e-03 3.73775202e+02] [ 5.28624909e-01 8.48851598e-01 -2.58285763e-03 3.67912924e+02] [ 5.11359913e-03 -1.41782195e-04 9.99986915e-01 2.24439710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.370385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:373.80, Y:367.93, Z:22.45 [[ 8.50144956e-01 -5.26530357e-01 -4.39729985e-03 3.73801939e+02] [ 5.26523876e-01 8.50156324e-01 -2.61417313e-03 3.67926212e+02] [ 5.11483379e-03 -9.28572630e-05 9.99986915e-01 2.24463302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.400385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:373.83, Y:367.94, Z:22.45 [[ 8.49745178e-01 -5.27175154e-01 -4.41464681e-03 3.73825366e+02] [ 5.27168835e-01 8.49756635e-01 -2.58454286e-03 3.67941026e+02] [ 5.11388220e-03 -1.31061384e-04 9.99986915e-01 2.24468887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.430385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:373.85, Y:367.96, Z:22.45 [[ 8.49641526e-01 -5.27342194e-01 -4.41443196e-03 3.73849071e+02] [ 5.27335875e-01 8.49652984e-01 -2.58490978e-03 3.67955375e+02] [ 5.11386728e-03 -1.31641647e-04 9.99986915e-01 2.24472296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.460385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:373.87, Y:367.97, Z:22.45 [[ 8.49733172e-01 -5.27194513e-01 -4.41374941e-03 3.73873022e+02] [ 5.27188186e-01 8.49744625e-01 -2.58607471e-03 3.67969734e+02] [ 5.11392424e-03 -1.29403075e-04 9.99986915e-01 2.24475732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.490385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:373.90, Y:367.98, Z:22.45 [[ 8.50188277e-01 -5.26460273e-01 -4.41303528e-03 3.73897332e+02] [ 5.26453929e-01 8.50199721e-01 -2.58729277e-03 3.67983961e+02] [ 5.11406823e-03 -1.23573779e-04 9.99986915e-01 2.24478153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.520385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:373.92, Y:368.00, Z:22.45 [[ 8.51603371e-01 -5.24168132e-01 -4.41231434e-03 3.73920313e+02] [ 5.24161751e-01 8.51614794e-01 -2.58852168e-03 3.67998013e+02] [ 5.11441274e-03 -1.08372626e-04 9.99986915e-01 2.24483885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.550385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:373.94, Y:368.01, Z:22.45 [[ 8.51024216e-01 -5.25107911e-01 -4.41200222e-03 3.73942167e+02] [ 5.25101540e-01 8.51035645e-01 -2.58905355e-03 3.68014115e+02] [ 5.11430366e-03 -1.13401894e-04 9.99986915e-01 2.24460224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.580385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:373.97, Y:368.03, Z:22.45 [[ 8.52030394e-01 -5.23473825e-01 -4.40029469e-03 3.73965104e+02] [ 5.23467329e-01 8.52041753e-01 -2.60899191e-03 3.68029497e+02] [ 5.11497377e-03 -8.04701048e-05 9.99986915e-01 2.24470469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.610385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:373.99, Y:368.04, Z:22.45 [[ 8.52562592e-01 -5.22606581e-01 -4.40317214e-03 3.73990156e+02] [ 5.22600099e-01 8.52573959e-01 -2.60409188e-03 3.68044280e+02] [ 5.11494545e-03 -8.09468766e-05 9.99986915e-01 2.24480104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.640385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:374.02, Y:368.06, Z:22.45 [[ 8.54060695e-01 -5.20154722e-01 -4.40386642e-03 3.74015576e+02] [ 5.20148214e-01 8.54072047e-01 -2.60290982e-03 3.68056799e+02] [ 5.11513505e-03 -6.76202788e-05 9.99986915e-01 2.24514493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.670385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:374.04, Y:368.07, Z:22.45 [[ 8.54083102e-01 -5.20117873e-01 -4.41058260e-03 3.74039464e+02] [ 5.20111424e-01 8.54094486e-01 -2.59147919e-03 3.68071703e+02] [ 5.11492893e-03 -8.06558107e-05 9.99986915e-01 2.24492759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.700385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:374.06, Y:368.08, Z:22.45 [[ 8.55538550e-01 -5.17720382e-01 -4.40394742e-03 3.74064238e+02] [ 5.17713842e-01 8.55549883e-01 -2.60276545e-03 3.68084851e+02] [ 5.11530143e-03 -5.32183601e-05 9.99986915e-01 2.24524357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.730385723 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:374.09, Y:368.10, Z:22.45 [[ 8.56142192e-01 -5.16721494e-01 -4.40973037e-03 3.74087651e+02] [ 5.16714991e-01 8.56153546e-01 -2.59293054e-03 3.68099289e+02] [ 5.11522923e-03 -5.86565550e-05 9.99986915e-01 2.24521207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.760385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:374.11, Y:368.12, Z:22.45 [[ 8.56258522e-01 -5.16528703e-01 -4.40941798e-03 3.74110521e+02] [ 5.16522195e-01 8.56269874e-01 -2.59346167e-03 3.68115501e+02] [ 5.11524917e-03 -5.68885955e-05 9.99986915e-01 2.24476117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.790385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:374.14, Y:368.13, Z:22.45 [[ 8.57370566e-01 -5.14680778e-01 -4.40568150e-03 3.74135256e+02] [ 5.14674213e-01 8.57381884e-01 -2.59981206e-03 3.68128330e+02] [ 5.11542480e-03 -3.84883212e-05 9.99986915e-01 2.24504185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.820385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:374.16, Y:368.14, Z:22.45 [[ 8.56609156e-01 -5.15947011e-01 -4.40869763e-03 3.74160507e+02] [ 5.15940489e-01 8.56620499e-01 -2.59468729e-03 3.68141609e+02] [ 5.11530191e-03 -5.19927238e-05 9.99986915e-01 2.24502037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.8503857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:374.18, Y:368.15, Z:22.45 [[ 8.55722015e-01 -5.17417050e-01 -4.40797129e-03 3.74184011e+02] [ 5.17410541e-01 8.55733366e-01 -2.59592064e-03 3.68154261e+02] [ 5.11522171e-03 -5.93443715e-05 9.99986915e-01 2.24503274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.880385723 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:374.21, Y:368.17, Z:22.45 [[ 8.54650481e-01 -5.19185062e-01 -4.40747766e-03 3.74207833e+02] [ 5.19178573e-01 8.54661843e-01 -2.59675848e-03 3.68167067e+02] [ 5.11510119e-03 -6.89470764e-05 9.99986915e-01 2.24501667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.910385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:374.23, Y:368.18, Z:22.45 [[ 8.52436301e-01 -5.22812519e-01 -4.40716575e-03 3.74232592e+02] [ 5.22806075e-01 8.52447689e-01 -2.59728773e-03 3.68180042e+02] [ 5.11477280e-03 -9.00706824e-05 9.99986915e-01 2.24516835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.940385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:374.26, Y:368.19, Z:22.45 [[ 8.51352178e-01 -5.24576069e-01 -4.40643966e-03 3.74256588e+02] [ 5.24569642e-01 8.51363576e-01 -2.59851901e-03 3.68193390e+02] [ 5.11460311e-03 -9.92296575e-05 9.99986915e-01 2.24519030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.9703857229999 meters Centerline goodness : 0.999309 Centerline is valid? [True, True] Translation: X:374.28, Y:368.21, Z:22.45 [[ 8.49864882e-01 -5.26982228e-01 -4.40612548e-03 3.74281313e+02] [ 5.26975831e-01 8.49876296e-01 -2.59905163e-03 3.68205703e+02] [ 5.11431562e-03 -1.13078930e-04 9.99986915e-01 2.24515696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.000385723 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:374.31, Y:368.22, Z:22.45 [[ 8.48960043e-01 -5.28438701e-01 -4.40278569e-03 3.74307348e+02] [ 5.28432294e-01 8.48971452e-01 -2.60471139e-03 3.68219524e+02] [ 5.11426967e-03 -1.15278245e-04 9.99986915e-01 2.24522309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.030385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:374.33, Y:368.23, Z:22.45 [[ 8.47899245e-01 -5.30139100e-01 -4.40522904e-03 3.74330915e+02] [ 5.30132737e-01 8.47910678e-01 -2.60057249e-03 3.68232468e+02] [ 5.11390590e-03 -1.30332684e-04 9.99986915e-01 2.24519776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.060385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:374.36, Y:368.25, Z:22.45 [[ 8.46354700e-01 -5.32601463e-01 -4.40491462e-03 3.74356157e+02] [ 5.32595131e-01 8.46366151e-01 -2.60110496e-03 3.68245798e+02] [ 5.11352294e-03 -1.44578669e-04 9.99986915e-01 2.24515606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.0903857229999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:374.38, Y:368.26, Z:22.45 [[ 8.45668890e-01 -5.33689733e-01 -4.40420062e-03 3.74381161e+02] [ 5.33683409e-01 8.45680346e-01 -2.60231333e-03 3.68259193e+02] [ 5.11337381e-03 -1.49753375e-04 9.99986915e-01 2.24510255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.120385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:374.40, Y:368.27, Z:22.45 [[ 8.44809527e-01 -5.35049037e-01 -4.40348986e-03 3.74404163e+02] [ 5.35042725e-01 8.44820989e-01 -2.60351550e-03 3.68274519e+02] [ 5.11316912e-03 -1.56580512e-04 9.99986915e-01 2.24469848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.150385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:374.43, Y:368.29, Z:22.45 [[ 8.46254335e-01 -5.32760995e-01 -4.39578430e-03 3.74430184e+02] [ 5.32754585e-01 8.46265742e-01 -2.61654269e-03 3.68287382e+02] [ 5.11399355e-03 -1.27613645e-04 9.99986915e-01 2.24508018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.180385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:374.45, Y:368.30, Z:22.45 [[ 8.46503660e-01 -5.32364696e-01 -4.40266613e-03 3.74454868e+02] [ 5.32358341e-01 8.46515098e-01 -2.60491143e-03 3.68301464e+02] [ 5.11368623e-03 -1.38728976e-04 9.99986915e-01 2.24506078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.210385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:374.48, Y:368.32, Z:22.45 [[ 8.46088168e-01 -5.33024797e-01 -4.40195708e-03 3.74479127e+02] [ 5.33018445e-01 8.46099608e-01 -2.60610907e-03 3.68315461e+02] [ 5.11361492e-03 -1.41326268e-04 9.99986915e-01 2.24472025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.240385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:374.51, Y:368.33, Z:22.45 [[ 8.47104167e-01 -5.31408662e-01 -4.40043111e-03 3.74505464e+02] [ 5.31402274e-01 8.47115587e-01 -2.60868532e-03 3.68328533e+02] [ 5.11395176e-03 -1.28570895e-04 9.99986915e-01 2.24514945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.270385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:374.53, Y:368.34, Z:22.45 [[ 8.46504267e-01 -5.32363745e-01 -4.40117952e-03 3.74529270e+02] [ 5.32357376e-01 8.46515697e-01 -2.60742204e-03 3.68343519e+02] [ 5.11376451e-03 -1.35806502e-04 9.99986915e-01 2.24483227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.300385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:374.55, Y:368.36, Z:22.45 [[ 8.47355508e-01 -5.31007806e-01 -4.39921404e-03 3.74553716e+02] [ 5.31001402e-01 8.47366919e-01 -2.61073787e-03 3.68356142e+02] [ 5.11407063e-03 -1.23765714e-04 9.99986915e-01 2.24517576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.330385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:374.58, Y:368.37, Z:22.45 [[ 8.48116071e-01 -5.29792194e-01 -4.40020769e-03 3.74576905e+02] [ 5.29785783e-01 8.48127477e-01 -2.60906208e-03 3.68369310e+02] [ 5.11419777e-03 -1.18379998e-04 9.99986915e-01 2.24522107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.360385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:374.60, Y:368.39, Z:22.45 [[ 8.47260856e-01 -5.31158813e-01 -4.39972936e-03 3.74599564e+02] [ 5.31152416e-01 8.47272270e-01 -2.60986844e-03 3.68385276e+02] [ 5.11402331e-03 -1.25687516e-04 9.99986915e-01 2.24485151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.390385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:374.63, Y:368.40, Z:22.45 [[ 8.48937608e-01 -5.28474836e-01 -4.39156497e-03 3.74626265e+02] [ 5.28468332e-01 8.48948961e-01 -2.62362619e-03 3.68397748e+02] [ 5.11473494e-03 -9.35080773e-05 9.99986915e-01 2.24534056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.420385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:374.65, Y:368.41, Z:22.45 [[ 8.49077677e-01 -5.28249700e-01 -4.39935037e-03 3.74650697e+02] [ 5.28243260e-01 8.49089067e-01 -2.61050587e-03 3.68411251e+02] [ 5.11443924e-03 -1.07404924e-04 9.99986915e-01 2.24533053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.450385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:374.68, Y:368.43, Z:22.45 [[ 8.48931456e-01 -5.28484659e-01 -4.39862794e-03 3.74675246e+02] [ 5.28478217e-01 8.48942845e-01 -2.61172257e-03 3.68425893e+02] [ 5.11443903e-03 -1.07405606e-04 9.99986915e-01 2.24534510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.480385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:374.70, Y:368.44, Z:22.45 [[ 8.48819080e-01 -5.28665137e-01 -4.39790483e-03 3.74699229e+02] [ 5.28658691e-01 8.48830467e-01 -2.61293966e-03 3.68439701e+02] [ 5.11444571e-03 -1.07077569e-04 9.99986915e-01 2.24523564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.510385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:374.72, Y:368.45, Z:22.45 [[ 8.48539358e-01 -5.29113974e-01 -4.40000871e-03 3.74723379e+02] [ 5.29107552e-01 8.48550759e-01 -2.60940100e-03 3.68454494e+02] [ 5.11430127e-03 -1.13898383e-04 9.99986915e-01 2.24490519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.540385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:374.75, Y:368.47, Z:22.45 [[ 8.49090460e-01 -5.28229190e-01 -4.39469185e-03 3.74747551e+02] [ 5.28222710e-01 8.49101827e-01 -2.61833603e-03 3.68467531e+02] [ 5.11462240e-03 -9.81718958e-05 9.99986915e-01 2.24526646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.570385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:374.77, Y:368.48, Z:22.45 [[ 8.48193998e-01 -5.29667494e-01 -4.39176715e-03 3.74772486e+02] [ 5.29661008e-01 8.48205361e-01 -2.62324864e-03 3.68481400e+02] [ 5.11456998e-03 -1.01124064e-04 9.99986915e-01 2.24496080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.6003857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:374.80, Y:368.49, Z:22.45 [[ 8.48939747e-01 -5.28471379e-01 -4.39395805e-03 3.74797541e+02] [ 5.28464896e-01 8.48951113e-01 -2.61956962e-03 3.68493655e+02] [ 5.11462315e-03 -9.81958146e-05 9.99986915e-01 2.24532059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.630385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:374.82, Y:368.51, Z:22.45 [[ 8.48895750e-01 -5.28542042e-01 -4.39488515e-03 3.74824183e+02] [ 5.28535567e-01 8.48907121e-01 -2.61801330e-03 3.68507728e+02] [ 5.11457939e-03 -1.00432749e-04 9.99986915e-01 2.24518016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.660385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:374.85, Y:368.52, Z:22.45 [[ 8.49444222e-01 -5.27660051e-01 -4.40283560e-03 3.74846886e+02] [ 5.27653634e-01 8.49455625e-01 -2.60467155e-03 3.68519618e+02] [ 5.11439459e-03 -1.10649004e-04 9.99986915e-01 2.24522696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.690385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:374.88, Y:368.53, Z:22.45 [[ 8.50436129e-01 -5.26059964e-01 -4.39385432e-03 3.74876020e+02] [ 5.26053447e-01 8.50447475e-01 -2.61973508e-03 3.68533594e+02] [ 5.11488005e-03 -8.34848565e-05 9.99986915e-01 2.24518758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.7203857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:374.90, Y:368.55, Z:22.45 [[ 8.49096230e-01 -5.28219682e-01 -4.42269555e-03 3.74896560e+02] [ 5.28213445e-01 8.49107734e-01 -2.57136685e-03 3.68547206e+02] [ 5.11359157e-03 -1.52789359e-04 9.99986914e-01 2.24491774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.750385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:374.92, Y:368.56, Z:22.45 [[ 8.49275037e-01 -5.27932397e-01 -4.39258153e-03 3.74921500e+02] [ 5.27925895e-01 8.49286392e-01 -2.62180022e-03 3.68559794e+02] [ 5.11469299e-03 -9.23280534e-05 9.99986916e-01 2.24494471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.780385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:374.95, Y:368.57, Z:22.45 [[ 8.48925774e-01 -5.28493804e-01 -4.39658352e-03 3.74946550e+02] [ 5.28487344e-01 8.48937152e-01 -2.61509935e-03 3.68573198e+02] [ 5.11448690e-03 -1.03513503e-04 9.99986916e-01 2.24499532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.810385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:374.97, Y:368.58, Z:22.45 [[ 8.48985294e-01 -5.28398192e-01 -4.39567219e-03 3.74971250e+02] [ 5.28391723e-01 8.48996667e-01 -2.61662421e-03 3.68584671e+02] [ 5.11453054e-03 -1.01161326e-04 9.99986916e-01 2.24536269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.8403857229999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:374.99, Y:368.60, Z:22.45 [[ 8.47459101e-01 -5.30842533e-01 -4.39066315e-03 3.74994598e+02] [ 5.30836053e-01 8.47470468e-01 -2.62500248e-03 3.68599426e+02] [ 5.11442032e-03 -1.06140053e-04 9.99986916e-01 2.24492559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.870385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:375.02, Y:368.61, Z:22.45 [[ 8.48190321e-01 -5.29673437e-01 -4.38522986e-03 3.75020413e+02] [ 5.29666894e-01 8.48201652e-01 -2.63408382e-03 3.68610882e+02] [ 5.11476344e-03 -8.85066785e-05 9.99986916e-01 2.24527265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.900385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:375.04, Y:368.62, Z:22.45 [[ 8.48231970e-01 -5.29606701e-01 -4.38953111e-03 3.75043895e+02] [ 5.29600195e-01 8.48243322e-01 -2.62689647e-03 3.68623621e+02] [ 5.11461242e-03 -9.64789639e-05 9.99986916e-01 2.24525276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.930385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:375.07, Y:368.64, Z:22.45 [[ 8.47856317e-01 -5.30207884e-01 -4.38922127e-03 3.75069187e+02] [ 5.30201383e-01 8.47867673e-01 -2.62741407e-03 3.68638132e+02] [ 5.11455447e-03 -9.95015719e-05 9.99986916e-01 2.24495329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.960385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:375.09, Y:368.65, Z:22.45 [[ 8.49084231e-01 -5.28239190e-01 -4.39630177e-03 3.75093485e+02] [ 5.28232724e-01 8.49095606e-01 -2.61558853e-03 3.68650384e+02] [ 5.11453688e-03 -1.01415485e-04 9.99986916e-01 2.24532751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.990385723 meters Centerline goodness : 0.999427 Centerline is valid? [True, True] Translation: X:375.12, Y:368.66, Z:22.45 [[ 8.49406156e-01 -5.27721447e-01 -4.38816232e-03 3.75117783e+02] [ 5.27714904e-01 8.49417487e-01 -2.62917351e-03 3.68664302e+02] [ 5.11485306e-03 -8.24624947e-05 9.99986916e-01 2.24489512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.020385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:375.14, Y:368.68, Z:22.45 [[ 8.50330416e-01 -5.26230883e-01 -4.38652520e-03 3.75142353e+02] [ 5.26224306e-01 8.50341727e-01 -2.63190433e-03 3.68678670e+02] [ 5.11503475e-03 -7.03078734e-05 9.99986916e-01 2.24524605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.050385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:375.17, Y:368.69, Z:22.45 [[ 8.50566045e-01 -5.25849937e-01 -4.38720606e-03 3.75166710e+02] [ 5.25843361e-01 8.50577356e-01 -2.63076890e-03 3.68692883e+02] [ 5.11504779e-03 -6.93404846e-05 9.99986916e-01 2.24526339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.080385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:375.19, Y:368.71, Z:22.45 [[ 8.50510760e-01 -5.25939356e-01 -4.38648956e-03 3.75191597e+02] [ 5.25932774e-01 8.50522069e-01 -2.63196303e-03 3.68707062e+02] [ 5.11505911e-03 -6.84857517e-05 9.99986916e-01 2.24528903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.110385723 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:375.22, Y:368.72, Z:22.45 [[ 8.49157669e-01 -5.28121159e-01 -4.39248600e-03 3.75216759e+02] [ 5.28114659e-01 8.49169025e-01 -2.62197170e-03 3.68720581e+02] [ 5.11468179e-03 -9.32688718e-05 9.99986916e-01 2.24501266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.140385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:375.24, Y:368.73, Z:22.46 [[ 8.49825057e-01 -5.27046549e-01 -4.39406878e-03 3.75240446e+02] [ 5.27040048e-01 8.49836412e-01 -2.61933647e-03 3.68732662e+02] [ 5.11475190e-03 -8.98724602e-05 9.99986916e-01 2.24550228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.170385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:375.26, Y:368.75, Z:22.45 [[ 8.48853518e-01 -5.28609954e-01 -4.38426815e-03 3.75264813e+02] [ 5.28603389e-01 8.48864836e-01 -2.63563938e-03 3.68746074e+02] [ 5.11487628e-03 -8.02672470e-05 9.99986916e-01 2.24546804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.200385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:375.29, Y:368.76, Z:22.45 [[ 8.48742755e-01 -5.28787785e-01 -4.38353649e-03 3.75288929e+02] [ 5.28781216e-01 8.48754071e-01 -2.63685571e-03 3.68760184e+02] [ 5.11488153e-03 -7.99195772e-05 9.99986916e-01 2.24539789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.230385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:375.31, Y:368.77, Z:22.45 [[ 8.48654720e-01 -5.28929067e-01 -4.38280930e-03 3.75314089e+02] [ 5.28922494e-01 8.48666033e-01 -2.63806383e-03 3.68773883e+02] [ 5.11489003e-03 -7.93611058e-05 9.99986916e-01 2.24540236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.260385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:375.34, Y:368.79, Z:22.45 [[ 8.49163547e-01 -5.28111724e-01 -4.39059697e-03 3.75337401e+02] [ 5.28105207e-01 8.49174893e-01 -2.62512900e-03 3.68786942e+02] [ 5.11474611e-03 -8.95332712e-05 9.99986916e-01 2.24524094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.290385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:375.36, Y:368.80, Z:22.45 [[ 8.49622645e-01 -5.27372889e-01 -4.38137745e-03 3.75362722e+02] [ 5.27366284e-01 8.49633939e-01 -2.64042735e-03 3.68800041e+02] [ 5.11505679e-03 -6.72238719e-05 9.99986916e-01 2.24527425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.320385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:375.39, Y:368.81, Z:22.45 [[ 8.49710283e-01 -5.27231680e-01 -4.38065781e-03 3.75388104e+02] [ 5.27225066e-01 8.49721573e-01 -2.64162075e-03 3.68814566e+02] [ 5.11508559e-03 -6.49802896e-05 9.99986916e-01 2.24548865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.3503857229999 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:375.41, Y:368.83, Z:22.45 [[ 8.50339035e-01 -5.26216958e-01 -4.38609934e-03 3.75411952e+02] [ 5.26210378e-01 8.50350344e-01 -2.63259865e-03 3.68828642e+02] [ 5.11503914e-03 -6.94095963e-05 9.99986916e-01 2.24540077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.380385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:375.44, Y:368.84, Z:22.45 [[ 8.51063048e-01 -5.25045243e-01 -4.37973795e-03 3.75435913e+02] [ 5.25038592e-01 8.51074316e-01 -2.64313961e-03 3.68843374e+02] [ 5.11525035e-03 -5.00529947e-05 9.99986916e-01 2.24544996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.410385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:375.46, Y:368.86, Z:22.46 [[ 8.51332175e-01 -5.24608762e-01 -4.37900781e-03 3.75461089e+02] [ 5.24602099e-01 8.51343435e-01 -2.64434870e-03 3.68858498e+02] [ 5.11528805e-03 -4.60175603e-05 9.99986916e-01 2.24555973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.440385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:375.49, Y:368.87, Z:22.46 [[ 8.52201599e-01 -5.23195219e-01 -4.38145417e-03 3.75489830e+02] [ 5.23188558e-01 8.52212862e-01 -2.64029880e-03 3.68872791e+02] [ 5.11532330e-03 -4.22598269e-05 9.99986916e-01 2.24550700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.4703857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:375.51, Y:368.89, Z:22.46 [[ 8.50605830e-01 -5.25785440e-01 -4.40378060e-03 3.75509217e+02] [ 5.25779005e-01 8.50617223e-01 -2.60340244e-03 3.68887626e+02] [ 5.11476273e-03 -1.00946087e-04 9.99986914e-01 2.24557849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.500385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:375.53, Y:368.90, Z:22.46 [[ 8.49378141e-01 -5.27766645e-01 -4.37529733e-03 3.75533435e+02] [ 5.27759993e-01 8.49389407e-01 -2.65042243e-03 3.68901842e+02] [ 5.11513576e-03 -5.78960103e-05 9.99986916e-01 2.24550096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.530385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:375.56, Y:368.92, Z:22.45 [[ 8.49054520e-01 -5.28287123e-01 -4.37457497e-03 3.75557454e+02] [ 5.28280472e-01 8.49065788e-01 -2.65161417e-03 3.68916244e+02] [ 5.11511556e-03 -5.96375323e-05 9.99986916e-01 2.24548347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.560385723 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:375.58, Y:368.93, Z:22.46 [[ 8.48674813e-01 -5.28896936e-01 -4.36948289e-03 3.75582333e+02] [ 5.28890250e-01 8.48686060e-01 -2.66000904e-03 3.68931569e+02] [ 5.11518985e-03 -5.34942190e-05 9.99986916e-01 2.24551274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.5903857229999 meters Centerline goodness : 0.999799 Centerline is valid? [True, True] Translation: X:375.61, Y:368.95, Z:22.45 [[ 8.47871636e-01 -5.30183539e-01 -4.37080945e-03 3.75605805e+02] [ 5.30176881e-01 8.47882899e-01 -2.65782260e-03 3.68948093e+02] [ 5.11506838e-03 -6.38097243e-05 9.99986916e-01 2.24514132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.620385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:375.64, Y:368.96, Z:22.46 [[ 8.50358865e-01 -5.26185021e-01 -4.37301828e-03 3.75637978e+02] [ 5.26178329e-01 8.50370108e-01 -2.65418334e-03 3.68962196e+02] [ 5.11527555e-03 -4.39791143e-05 9.99986916e-01 2.24557128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.650385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:375.65, Y:368.98, Z:22.45 [[ 8.48452005e-01 -5.29253892e-01 -4.41732788e-03 3.75653574e+02] [ 5.29247620e-01 8.48463491e-01 -2.58082961e-03 3.68977751e+02] [ 5.11385555e-03 -1.48150204e-04 9.99986913e-01 2.24548889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.680385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:375.68, Y:368.99, Z:22.46 [[ 8.49014353e-01 -5.28351719e-01 -4.36920126e-03 3.75684430e+02] [ 5.28345023e-01 8.49025594e-01 -2.66034969e-03 3.68994014e+02] [ 5.11516402e-03 -4.97706760e-05 9.99986916e-01 2.24555793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.710385723 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:375.70, Y:369.01, Z:22.46 [[ 8.46090774e-01 -5.33020579e-01 -4.41194270e-03 3.75700276e+02] [ 5.33014310e-01 8.46102262e-01 -2.58995203e-03 3.69011073e+02] [ 5.11345243e-03 -1.60294074e-04 9.99986913e-01 2.24551487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.740385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:375.73, Y:369.02, Z:22.45 [[ 8.46694341e-01 -5.32061640e-01 -4.37080029e-03 3.75729372e+02] [ 5.32055008e-01 8.46705619e-01 -2.65761619e-03 3.69024520e+02] [ 5.11479679e-03 -7.53175962e-05 9.99986917e-01 2.24504073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.770385723 meters Centerline goodness : 0.998979 Centerline is valid? [True, True] Translation: X:375.75, Y:369.04, Z:22.45 [[ 8.45774198e-01 -5.33522848e-01 -4.40196235e-03 3.75753250e+02] [ 5.33516501e-01 8.45785641e-01 -2.60626122e-03 3.69040116e+02] [ 5.11361646e-03 -1.44211059e-04 9.99986915e-01 2.24512064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.800385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:375.77, Y:369.06, Z:22.45 [[ 8.41850814e-01 -5.39692351e-01 -4.40139790e-03 3.75770538e+02] [ 5.39686084e-01 8.41862301e-01 -2.60719025e-03 3.69059888e+02] [ 5.11245160e-03 -1.80507962e-04 9.99986915e-01 2.24535856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.830385723 meters Centerline goodness : 0.996515 Centerline is valid? [True, True] Translation: X:375.80, Y:369.07, Z:22.45 [[ 8.43395501e-01 -5.37275472e-01 -4.37000844e-03 3.75803113e+02] [ 5.37268904e-01 8.43406815e-01 -2.65878240e-03 3.69074308e+02] [ 5.11419347e-03 -1.05464531e-04 9.99986917e-01 2.24510156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.860385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:375.82, Y:369.09, Z:22.45 [[ 8.41006511e-01 -5.41006882e-01 -4.42738628e-03 3.75817423e+02] [ 5.41000857e-01 8.41018131e-01 -2.56434699e-03 3.69091600e+02] [ 5.11084150e-03 -2.38587255e-04 9.99986911e-01 2.24546842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.890385723 meters Centerline goodness : 0.993801 Centerline is valid? [True, True] Translation: X:375.85, Y:369.11, Z:22.45 [[ 8.41666585e-01 -5.39979882e-01 -4.36885341e-03 3.75845370e+02] [ 5.39973341e-01 8.41677915e-01 -2.66046611e-03 3.69109555e+02] [ 5.11376561e-03 -1.19838945e-04 9.99986917e-01 2.24528577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.920385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:375.86, Y:369.13, Z:22.45 [[ 8.41215841e-01 -5.40681474e-01 -4.41043915e-03 3.75861725e+02] [ 5.40675299e-01 8.41227378e-01 -2.59210999e-03 3.69126381e+02] [ 5.11168802e-03 -2.04091527e-04 9.99986914e-01 2.24547178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.950385723 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:375.89, Y:369.14, Z:22.46 [[ 8.41234943e-01 -5.40652101e-01 -4.36762618e-03 3.75885014e+02] [ 5.40645559e-01 8.41246273e-01 -2.66234548e-03 3.69142535e+02] [ 5.11365192e-03 -1.21679651e-04 9.99986918e-01 2.24551523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.980385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:375.91, Y:369.16, Z:22.46 [[ 8.41423932e-01 -5.40357934e-01 -4.36691751e-03 3.75907831e+02] [ 5.40351382e-01 8.41435256e-01 -2.66350737e-03 3.69158575e+02] [ 5.11372569e-03 -1.18531065e-04 9.99986918e-01 2.24555135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.010385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:375.93, Y:369.18, Z:22.45 [[ 8.41817841e-01 -5.39744069e-01 -4.36618831e-03 3.75929576e+02] [ 5.39737503e-01 8.41829156e-01 -2.66470219e-03 3.69176427e+02] [ 5.11384182e-03 -1.13401732e-04 9.99986918e-01 2.24544489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.040385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:375.95, Y:369.19, Z:22.45 [[ 8.42452323e-01 -5.38753214e-01 -4.36546240e-03 3.75952353e+02] [ 5.38746629e-01 8.42463627e-01 -2.66589088e-03 3.69193667e+02] [ 5.11400057e-03 -1.05992192e-04 9.99986918e-01 2.24547653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.070385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:375.98, Y:369.21, Z:22.46 [[ 8.42654537e-01 -5.38436887e-01 -4.36473220e-03 3.75975692e+02] [ 5.38430291e-01 8.42665835e-01 -2.66708587e-03 3.69209626e+02] [ 5.11406811e-03 -1.02672023e-04 9.99986918e-01 2.24550494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.1003857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:376.00, Y:369.23, Z:22.46 [[ 8.42800641e-01 -5.38208171e-01 -4.36400220e-03 3.75999176e+02] [ 5.38201566e-01 8.42811933e-01 -2.66827980e-03 3.69225736e+02] [ 5.11412312e-03 -9.98848919e-05 9.99986918e-01 2.24554392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.130385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:376.03, Y:369.24, Z:22.45 [[ 8.44517978e-01 -5.35509427e-01 -4.36326829e-03 3.76026930e+02] [ 5.35502780e-01 8.44529245e-01 -2.66947938e-03 3.69241971e+02] [ 5.11443905e-03 -8.21189715e-05 9.99986918e-01 2.24537174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.160385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:376.05, Y:369.26, Z:22.46 [[ 8.44013709e-01 -5.36303629e-01 -4.39056476e-03 3.76045404e+02] [ 5.36297223e-01 8.44025117e-01 -2.62484783e-03 3.69258519e+02] [ 5.11346235e-03 -1.39240135e-04 9.99986916e-01 2.24554103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.190385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:376.07, Y:369.28, Z:22.45 [[ 8.44590883e-01 -5.35394445e-01 -4.36224821e-03 3.76073497e+02] [ 5.35387788e-01 8.44602144e-01 -2.67109253e-03 3.69276587e+02] [ 5.11445229e-03 -7.95140195e-05 9.99986918e-01 2.24520303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.2203857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:376.09, Y:369.29, Z:22.45 [[ 8.43465003e-01 -5.37166149e-01 -4.39507180e-03 3.76091665e+02] [ 5.37159794e-01 8.43476440e-01 -2.61753026e-03 3.69293279e+02] [ 5.11318816e-03 -1.53060689e-04 9.99986916e-01 2.24538681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.250385723 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:376.11, Y:369.31, Z:22.45 [[ 8.42832495e-01 -5.38158324e-01 -4.35937048e-03 3.76114773e+02] [ 5.38151679e-01 8.42843764e-01 -2.67569655e-03 3.69309671e+02] [ 5.11421659e-03 -9.08385483e-05 9.99986918e-01 2.24509562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.280385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:376.14, Y:369.33, Z:22.45 [[ 8.42759415e-01 -5.38272762e-01 -4.35914066e-03 3.76138404e+02] [ 5.38266118e-01 8.42770684e-01 -2.67607090e-03 3.69325547e+02] [ 5.11421203e-03 -9.10937689e-05 9.99986918e-01 2.24532895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.310385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:376.16, Y:369.34, Z:22.45 [[ 8.42276034e-01 -5.39028836e-01 -4.35841088e-03 3.76161321e+02] [ 5.39022196e-01 8.42287305e-01 -2.67725893e-03 3.69341081e+02] [ 5.11415393e-03 -9.42891670e-05 9.99986918e-01 2.24539898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.3403857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:376.18, Y:369.36, Z:22.46 [[ 8.41482292e-01 -5.40267121e-01 -4.35767486e-03 3.76184515e+02] [ 5.40260491e-01 8.41493570e-01 -2.67845640e-03 3.69356859e+02] [ 5.11403730e-03 -1.00405926e-04 9.99986918e-01 2.24553489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.370385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:376.21, Y:369.37, Z:22.46 [[ 8.41334347e-01 -5.40497487e-01 -4.35694217e-03 3.76208827e+02] [ 5.40490854e-01 8.41345622e-01 -2.67964770e-03 3.69371884e+02] [ 5.11403707e-03 -1.00407750e-04 9.99986918e-01 2.24554946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.400385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:376.23, Y:369.39, Z:22.46 [[ 8.40246598e-01 -5.42186940e-01 -4.35620821e-03 3.76231465e+02] [ 5.42180323e-01 8.40257883e-01 -2.68084036e-03 3.69389362e+02] [ 5.11385491e-03 -1.09283386e-04 9.99986918e-01 2.24552091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.430385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:376.26, Y:369.40, Z:22.46 [[ 8.40391323e-01 -5.41962610e-01 -4.35365487e-03 3.76255719e+02] [ 5.41955969e-01 8.40402593e-01 -2.68498753e-03 3.69404743e+02] [ 5.11398569e-03 -1.03049027e-04 9.99986918e-01 2.24552586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.460385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:376.28, Y:369.42, Z:22.46 [[ 8.40217828e-01 -5.42231495e-01 -4.35982260e-03 3.76279432e+02] [ 5.42224909e-01 8.40229131e-01 -2.67497237e-03 3.69420152e+02] [ 5.11370423e-03 -1.16444938e-04 9.99986918e-01 2.24557750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.490385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:376.30, Y:369.44, Z:22.46 [[ 8.40216771e-01 -5.42233129e-01 -4.36029333e-03 3.76303712e+02] [ 5.42226547e-01 8.40228077e-01 -2.67420831e-03 3.69436335e+02] [ 5.11368521e-03 -1.17352126e-04 9.99986918e-01 2.24565043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.520385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:376.33, Y:369.45, Z:22.46 [[ 8.39234329e-01 -5.43752433e-01 -4.36265094e-03 3.76325707e+02] [ 5.43745891e-01 8.39245658e-01 -2.67038333e-03 3.69452363e+02] [ 5.11336330e-03 -1.31096163e-04 9.99986918e-01 2.24554793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.550385723 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:376.35, Y:369.47, Z:22.45 [[ 8.39206964e-01 -5.43794744e-01 -4.35293818e-03 3.76348925e+02] [ 5.43788121e-01 8.39218246e-01 -2.68612663e-03 3.69468370e+02] [ 5.11376668e-03 -1.12859898e-04 9.99986918e-01 2.24525480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.580385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:376.37, Y:369.48, Z:22.45 [[ 8.38822955e-01 -5.44386867e-01 -4.35762093e-03 3.76372057e+02] [ 5.44380292e-01 8.38834265e-01 -2.67853739e-03 3.69484773e+02] [ 5.11348232e-03 -1.25384296e-04 9.99986918e-01 2.24545709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.610385723 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:376.40, Y:369.50, Z:22.46 [[ 8.38270289e-01 -5.45237547e-01 -4.35209055e-03 3.76396031e+02] [ 5.45230937e-01 8.38281578e-01 -2.68749421e-03 3.69501196e+02] [ 5.11360008e-03 -1.20047862e-04 9.99986918e-01 2.24562455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.640385723 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:376.42, Y:369.52, Z:22.46 [[ 8.37540089e-01 -5.46358548e-01 -4.35154411e-03 3.76419648e+02] [ 5.46351948e-01 8.37551384e-01 -2.68837869e-03 3.69516961e+02] [ 5.11346047e-03 -1.25849669e-04 9.99986918e-01 2.24569788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.670385723 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:376.44, Y:369.53, Z:22.45 [[ 8.36183833e-01 -5.48432009e-01 -4.35077768e-03 3.76441713e+02] [ 5.48425431e-01 8.36195140e-01 -2.68961849e-03 3.69532030e+02] [ 5.11317202e-03 -1.37061629e-04 9.99986918e-01 2.24541096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.700385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:376.46, Y:369.55, Z:22.46 [[ 8.35259955e-01 -5.49838152e-01 -4.33758990e-03 3.76464735e+02] [ 5.49831482e-01 8.35271209e-01 -2.71093465e-03 3.69548481e+02] [ 5.11363926e-03 -1.20608332e-04 9.99986918e-01 2.24565066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.730385723 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:376.49, Y:369.56, Z:22.46 [[ 8.34784711e-01 -5.50559429e-01 -4.33605956e-03 3.76487902e+02] [ 5.50552756e-01 8.34795963e-01 -2.71340840e-03 3.69564607e+02] [ 5.11361759e-03 -1.22117694e-04 9.99986918e-01 2.24563589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.760385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:376.51, Y:369.58, Z:22.45 [[ 8.33490672e-01 -5.52516559e-01 -4.33036878e-03 3.76509293e+02] [ 5.52509865e-01 8.33501912e-01 -2.72260705e-03 3.69582086e+02] [ 5.11365613e-03 -1.23303895e-04 9.99986918e-01 2.24547862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.790385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:376.53, Y:369.60, Z:22.46 [[ 8.32873895e-01 -5.53445945e-01 -4.31973419e-03 3.76533049e+02] [ 5.53439174e-01 8.32885090e-01 -2.73978556e-03 3.69597454e+02] [ 5.11416541e-03 -1.08814257e-04 9.99986917e-01 2.24551332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.820385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:376.56, Y:369.61, Z:22.46 [[ 8.33452894e-01 -5.52573623e-01 -4.32031507e-03 3.76561368e+02] [ 5.52566846e-01 8.33464084e-01 -2.73884849e-03 3.69611617e+02] [ 5.11424288e-03 -1.04561675e-04 9.99986917e-01 2.24595436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.8503857229999 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:376.58, Y:369.63, Z:22.46 [[ 8.31912704e-01 -5.54889491e-01 -4.34802459e-03 3.76582192e+02] [ 5.54882977e-01 8.31924049e-01 -2.69412841e-03 3.69628150e+02] [ 5.11216977e-03 -1.71365177e-04 9.99986918e-01 2.24582453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.880385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:376.60, Y:369.64, Z:22.46 [[ 8.30604778e-01 -5.56845509e-01 -4.33387447e-03 3.76602361e+02] [ 5.56838903e-01 8.30616069e-01 -2.71694695e-03 3.69644082e+02] [ 5.11270548e-03 -1.56560788e-04 9.99986918e-01 2.24559318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.910385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:376.63, Y:369.66, Z:22.46 [[ 8.31941607e-01 -5.54846384e-01 -4.31889828e-03 3.76630600e+02] [ 5.54839625e-01 8.31952809e-01 -2.74107212e-03 3.69658979e+02] [ 5.11399351e-03 -1.15883955e-04 9.99986917e-01 2.24596260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.940385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:376.65, Y:369.68, Z:22.46 [[ 8.31985857e-01 -5.54779816e-01 -4.34623392e-03 3.76653498e+02] [ 5.54773285e-01 8.31997192e-01 -2.69702091e-03 3.69675528e+02] [ 5.11230718e-03 -1.67291219e-04 9.99986918e-01 2.24582375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.9703857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:376.67, Y:369.69, Z:22.46 [[ 8.33007973e-01 -5.53243918e-01 -4.34549051e-03 3.76674193e+02] [ 5.53237361e-01 8.33019293e-01 -2.69821817e-03 3.69693598e+02] [ 5.11265023e-03 -1.56450454e-04 9.99986918e-01 2.24589124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.000385723 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:376.70, Y:369.71, Z:22.46 [[ 8.33306479e-01 -5.52794204e-01 -4.34516815e-03 3.76697205e+02] [ 5.52787637e-01 8.33317794e-01 -2.69873720e-03 3.69709950e+02] [ 5.11275222e-03 -1.53080035e-04 9.99986918e-01 2.24566987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.030385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:376.72, Y:369.73, Z:22.46 [[ 8.34723358e-01 -5.50652378e-01 -4.34442931e-03 3.76719741e+02] [ 5.50645776e-01 8.34734652e-01 -2.69992606e-03 3.69726899e+02] [ 5.11316639e-03 -1.38550296e-04 9.99986918e-01 2.24588583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.060385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:376.74, Y:369.74, Z:22.46 [[ 8.35008595e-01 -5.50219788e-01 -4.33960019e-03 3.76742881e+02] [ 5.50213140e-01 8.35019862e-01 -2.70769132e-03 3.69742474e+02] [ 5.11347769e-03 -1.26759523e-04 9.99986918e-01 2.24590217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.0903857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:376.76, Y:369.76, Z:22.46 [[ 8.35609930e-01 -5.49306088e-01 -4.34348759e-03 3.76764737e+02] [ 5.49299461e-01 8.35621209e-01 -2.70144099e-03 3.69758784e+02] [ 5.11342834e-03 -1.28524471e-04 9.99986918e-01 2.24598911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.120385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:376.79, Y:369.77, Z:22.46 [[ 8.35235695e-01 -5.49875024e-01 -4.33495139e-03 3.76787990e+02] [ 5.49868333e-01 8.35246936e-01 -2.71515327e-03 3.69774561e+02] [ 5.11374984e-03 -1.15859563e-04 9.99986918e-01 2.24596831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.150385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:376.81, Y:369.79, Z:22.46 [[ 8.33862276e-01 -5.51955537e-01 -4.33463962e-03 3.76812442e+02] [ 5.51948871e-01 8.33873533e-01 -2.71565391e-03 3.69792115e+02] [ 5.11346147e-03 -1.28018099e-04 9.99986918e-01 2.24589908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.180385723 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:376.84, Y:369.81, Z:22.46 [[ 8.33020670e-01 -5.53224831e-01 -4.34167475e-03 3.76836283e+02] [ 5.53218241e-01 8.33031971e-01 -2.70435947e-03 3.69807735e+02] [ 5.11287268e-03 -1.49106329e-04 9.99986918e-01 2.24568827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.210385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:376.86, Y:369.82, Z:22.46 [[ 8.32202861e-01 -5.54454286e-01 -4.34093012e-03 3.76859384e+02] [ 5.54447706e-01 8.32214168e-01 -2.70555419e-03 3.69823844e+02] [ 5.11268966e-03 -1.55248811e-04 9.99986918e-01 2.24603202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.240385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:376.88, Y:369.84, Z:22.46 [[ 8.31782845e-01 -5.55084193e-01 -4.34018650e-03 3.76882798e+02] [ 5.55077616e-01 8.31794153e-01 -2.70674656e-03 3.69839526e+02] [ 5.11261399e-03 -1.57715018e-04 9.99986918e-01 2.24611292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.270385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:376.91, Y:369.86, Z:22.46 [[ 8.31472486e-01 -5.55548984e-01 -4.33943646e-03 3.76905564e+02] [ 5.55542407e-01 8.31483795e-01 -2.70794848e-03 3.69855453e+02] [ 5.11256913e-03 -1.59156322e-04 9.99986918e-01 2.24616229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.300385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:376.93, Y:369.87, Z:22.46 [[ 8.31181979e-01 -5.55983554e-01 -4.33665332e-03 3.76928830e+02] [ 5.55976959e-01 8.31193277e-01 -2.71240665e-03 3.69872433e+02] [ 5.11265057e-03 -1.56575798e-04 9.99986918e-01 2.24594245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.330385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:376.95, Y:369.89, Z:22.46 [[ 8.31132217e-01 -5.56057930e-01 -4.33775802e-03 3.76953311e+02] [ 5.56051346e-01 8.31143521e-01 -2.71063751e-03 3.69888136e+02] [ 5.11257096e-03 -1.59118026e-04 9.99986918e-01 2.24586330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.360385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:376.98, Y:369.90, Z:22.46 [[ 8.30751219e-01 -5.56626967e-01 -4.33961094e-03 3.76976474e+02] [ 5.56620406e-01 8.30762536e-01 -2.70767093e-03 3.69903096e+02] [ 5.11234885e-03 -1.66115078e-04 9.99986918e-01 2.24587043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.390385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:377.00, Y:369.92, Z:22.46 [[ 8.30444275e-01 -5.57084815e-01 -4.33769381e-03 3.77000146e+02] [ 5.57078244e-01 8.30455587e-01 -2.71073871e-03 3.69918715e+02] [ 5.11237343e-03 -1.65317408e-04 9.99986918e-01 2.24590822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.420385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:377.02, Y:369.93, Z:22.46 [[ 8.30621331e-01 -5.56820793e-01 -4.33694067e-03 3.77023529e+02] [ 5.56814213e-01 8.30632637e-01 -2.71194312e-03 3.69934435e+02] [ 5.11247079e-03 -1.62272402e-04 9.99986918e-01 2.24597037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.450385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:377.05, Y:369.95, Z:22.46 [[ 8.31164898e-01 -5.56009124e-01 -4.33198413e-03 3.77047459e+02] [ 5.56002491e-01 8.31176174e-01 -2.71986481e-03 3.69951547e+02] [ 5.11291165e-03 -1.47937810e-04 9.99986918e-01 2.24578930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.480385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:377.07, Y:369.97, Z:22.46 [[ 8.31780830e-01 -5.55087248e-01 -4.33562889e-03 3.77069899e+02] [ 5.55080633e-01 8.31792116e-01 -2.71404239e-03 3.69966310e+02] [ 5.11287225e-03 -1.49135200e-04 9.99986918e-01 2.24586134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.510385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:377.09, Y:369.98, Z:22.46 [[ 8.32047883e-01 -5.54686871e-01 -4.33530220e-03 3.77093593e+02] [ 5.54680248e-01 8.32059165e-01 -2.71456411e-03 3.69980845e+02] [ 5.11296101e-03 -1.46059177e-04 9.99986918e-01 2.24596939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.540385723 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:377.12, Y:370.00, Z:22.46 [[ 8.31920082e-01 -5.54878535e-01 -4.33456595e-03 3.77117301e+02] [ 5.54871908e-01 8.31931361e-01 -2.71573925e-03 3.69995554e+02] [ 5.11296676e-03 -1.45850864e-04 9.99986918e-01 2.24573902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.570385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:377.14, Y:370.01, Z:22.46 [[ 8.32195081e-01 -5.54466019e-01 -4.33380371e-03 3.77140499e+02] [ 5.54459380e-01 8.32206353e-01 -2.71695509e-03 3.70010572e+02] [ 5.11307825e-03 -1.41881455e-04 9.99986918e-01 2.24600211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.6003857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:377.16, Y:370.03, Z:22.46 [[ 8.31909506e-01 -5.54894403e-01 -4.33304362e-03 3.77163955e+02] [ 5.54887764e-01 8.31920778e-01 -2.71816675e-03 3.70026667e+02] [ 5.11304454e-03 -1.43084130e-04 9.99986918e-01 2.24591655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.630385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:377.19, Y:370.04, Z:22.46 [[ 8.30818732e-01 -5.56526248e-01 -4.33228255e-03 3.77186354e+02] [ 5.56519625e-01 8.30830014e-01 -2.71937922e-03 3.70041108e+02] [ 5.11279629e-03 -1.51689066e-04 9.99986918e-01 2.24587496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.660385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:377.21, Y:370.06, Z:22.46 [[ 8.29689209e-01 -5.58208788e-01 -4.33195306e-03 3.77210243e+02] [ 5.58202184e-01 8.29700502e-01 -2.71990399e-03 3.70055775e+02] [ 5.11249794e-03 -1.61430671e-04 9.99986918e-01 2.24592325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.690385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:377.23, Y:370.07, Z:22.46 [[ 8.28507643e-01 -5.59961004e-01 -4.33120038e-03 3.77233656e+02] [ 5.59954418e-01 8.28518947e-01 -2.72110204e-03 3.70070011e+02] [ 5.11219261e-03 -1.70820948e-04 9.99986918e-01 2.24600074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.7203857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:377.26, Y:370.08, Z:22.46 [[ 8.26017553e-01 -5.63627755e-01 -4.33087440e-03 3.77257313e+02] [ 5.63621217e-01 8.26028884e-01 -2.72162077e-03 3.70084314e+02] [ 5.11140835e-03 -1.92866166e-04 9.99986918e-01 2.24609800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.750385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:377.28, Y:370.10, Z:22.46 [[ 8.24848327e-01 -5.65337499e-01 -4.33010929e-03 3.77281149e+02] [ 5.65330978e-01 8.24859668e-01 -2.72283751e-03 3.70100029e+02] [ 5.11105466e-03 -2.02016955e-04 9.99986918e-01 2.24606976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.780385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:377.31, Y:370.12, Z:22.46 [[ 8.24630777e-01 -5.65654787e-01 -4.32934244e-03 3.77307596e+02] [ 5.65648264e-01 8.24642117e-01 -2.72405627e-03 3.70116730e+02] [ 5.11103359e-03 -2.02544394e-04 9.99986918e-01 2.24604168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.810385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:377.33, Y:370.13, Z:22.46 [[ 8.23641619e-01 -5.67094009e-01 -4.34380226e-03 3.77327858e+02] [ 5.67087626e-01 8.23653039e-01 -2.70107382e-03 3.70132902e+02] [ 5.10954871e-03 -2.38599702e-04 9.99986918e-01 2.24597308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.8403857229999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:377.35, Y:370.15, Z:22.46 [[ 8.23824156e-01 -5.66828922e-01 -4.32824721e-03 3.77351335e+02] [ 5.66822406e-01 8.23835500e-01 -2.72577365e-03 3.70148344e+02] [ 5.11081104e-03 -2.07789321e-04 9.99986918e-01 2.24597754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.870385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:377.37, Y:370.16, Z:22.46 [[ 8.25350349e-01 -5.64604353e-01 -4.32748401e-03 3.77373068e+02] [ 5.64597800e-01 8.25361671e-01 -2.72698477e-03 3.70164029e+02] [ 5.11140691e-03 -1.92570118e-04 9.99986918e-01 2.24590034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.900385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:377.40, Y:370.18, Z:22.46 [[ 8.26534018e-01 -5.62870139e-01 -4.32715316e-03 3.77396451e+02] [ 5.62863560e-01 8.26545325e-01 -2.72750966e-03 3.70180254e+02] [ 5.11182196e-03 -1.81217318e-04 9.99986918e-01 2.24582497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.930385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:377.42, Y:370.20, Z:22.46 [[ 8.29243135e-01 -5.58871278e-01 -4.32641322e-03 3.77418269e+02] [ 5.58864639e-01 8.29254406e-01 -2.72868286e-03 3.70197591e+02] [ 5.11267970e-03 -1.55137835e-04 9.99986918e-01 2.24574097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.960385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:377.44, Y:370.21, Z:22.46 [[ 8.30623160e-01 -5.56818153e-01 -4.32566271e-03 3.77441331e+02] [ 5.56811479e-01 8.30634411e-01 -2.72987210e-03 3.70213426e+02] [ 5.11308663e-03 -1.41083660e-04 9.99986918e-01 2.24578643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.990385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:377.46, Y:370.23, Z:22.46 [[ 8.31736209e-01 -5.55154190e-01 -4.32490727e-03 3.77464231e+02] [ 5.55147487e-01 8.31747443e-01 -2.73106841e-03 3.70229448e+02] [ 5.11339463e-03 -1.29432915e-04 9.99986918e-01 2.24588365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.020385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:377.49, Y:370.24, Z:22.46 [[ 8.33727934e-01 -5.52158522e-01 -4.32414867e-03 3.77485914e+02] [ 5.52151773e-01 8.33739140e-01 -2.73226898e-03 3.70244969e+02] [ 5.11385760e-03 -1.09617387e-04 9.99986918e-01 2.24601512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.050385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:377.51, Y:370.26, Z:22.46 [[ 8.34879972e-01 -5.50415061e-01 -4.32363284e-03 3.77508652e+02] [ 5.50408284e-01 8.34891161e-01 -2.73308500e-03 3.70259770e+02] [ 5.11409399e-03 -9.79654078e-05 9.99986918e-01 2.24609384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.080385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:377.53, Y:370.28, Z:22.46 [[ 8.34937008e-01 -5.50328542e-01 -4.32312354e-03 3.77532474e+02] [ 5.50321760e-01 8.34948194e-01 -2.73389037e-03 3.70275353e+02] [ 5.11412209e-03 -9.64827078e-05 9.99986918e-01 2.24619617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.110385723 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:377.55, Y:370.29, Z:22.46 [[ 8.34864751e-01 -5.50438158e-01 -4.32237096e-03 3.77554996e+02] [ 5.50431371e-01 8.34875934e-01 -2.73507970e-03 3.70290352e+02] [ 5.11413572e-03 -9.57469458e-05 9.99986918e-01 2.24603443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.140385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:377.58, Y:370.31, Z:22.46 [[ 8.34873146e-01 -5.50425426e-01 -4.32204488e-03 3.77577620e+02] [ 5.50418637e-01 8.34884328e-01 -2.73559488e-03 3.70306464e+02] [ 5.11414852e-03 -9.50593440e-05 9.99986918e-01 2.24619669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.170385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:377.60, Y:370.32, Z:22.46 [[ 8.34702684e-01 -5.50683898e-01 -4.32129319e-03 3.77599832e+02] [ 5.50677105e-01 8.34713865e-01 -2.73678178e-03 3.70321054e+02] [ 5.11414500e-03 -9.52381255e-05 9.99986918e-01 2.24621132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.200385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:377.62, Y:370.34, Z:22.46 [[ 8.34671482e-01 -5.50731195e-01 -4.32078139e-03 3.77623316e+02] [ 5.50724399e-01 8.34682660e-01 -2.73758957e-03 3.70335973e+02] [ 5.11415727e-03 -9.45717907e-05 9.99986918e-01 2.24627593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.230385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:377.65, Y:370.35, Z:22.46 [[ 8.34863367e-01 -5.50440274e-01 -4.32002345e-03 3.77646581e+02] [ 5.50433468e-01 8.34874539e-01 -2.73878511e-03 3.70350579e+02] [ 5.11421521e-03 -9.13741301e-05 9.99986918e-01 2.24627705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.260385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:377.67, Y:370.37, Z:22.46 [[ 8.34713030e-01 -5.50668228e-01 -4.31969492e-03 3.77670669e+02] [ 5.50661423e-01 8.34724202e-01 -2.73930318e-03 3.70365926e+02] [ 5.11420112e-03 -9.21572935e-05 9.99986918e-01 2.24629164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.290385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:377.69, Y:370.38, Z:22.46 [[ 8.35003994e-01 -5.50226933e-01 -4.31894657e-03 3.77694836e+02] [ 5.50220115e-01 8.35015159e-01 -2.74048255e-03 3.70381034e+02] [ 5.11427316e-03 -8.80574100e-05 9.99986918e-01 2.24635228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.320385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:377.72, Y:370.40, Z:22.46 [[ 8.36379707e-01 -5.48133504e-01 -4.31818195e-03 3.77717574e+02] [ 5.48126652e-01 8.36390851e-01 -2.74168683e-03 3.70395233e+02] [ 5.11449829e-03 -7.38193885e-05 9.99986918e-01 2.24633050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.3503857229999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:377.74, Y:370.41, Z:22.46 [[ 8.36713072e-01 -5.47624500e-01 -4.31766186e-03 3.77740865e+02] [ 5.47617637e-01 8.36724209e-01 -2.74250563e-03 3.70410164e+02] [ 5.11455548e-03 -6.97374780e-05 9.99986918e-01 2.24620530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.380385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:377.76, Y:370.42, Z:22.46 [[ 8.37649614e-01 -5.46190890e-01 -4.31687875e-03 3.77763453e+02] [ 5.46184002e-01 8.37660736e-01 -2.74373775e-03 3.70424575e+02] [ 5.11468439e-03 -5.95192468e-05 9.99986918e-01 2.24626727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.410385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:377.79, Y:370.44, Z:22.46 [[ 8.37883482e-01 -5.45832060e-01 -4.31653913e-03 3.77787269e+02] [ 5.45825164e-01 8.37894599e-01 -2.74427195e-03 3.70438719e+02] [ 5.11471643e-03 -5.66955383e-05 9.99986918e-01 2.24630900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.440385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:377.81, Y:370.45, Z:22.46 [[ 8.37914216e-01 -5.45784885e-01 -4.31576225e-03 3.77811955e+02] [ 5.45777983e-01 8.37925328e-01 -2.74549315e-03 3.70452834e+02] [ 5.11473517e-03 -5.49602737e-05 9.99986918e-01 2.24631831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.4703857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:377.84, Y:370.47, Z:22.46 [[ 8.37927847e-01 -5.45763964e-01 -4.31498647e-03 3.77837386e+02] [ 5.45757055e-01 8.37938955e-01 -2.74671188e-03 3.70465043e+02] [ 5.11475162e-03 -5.33879319e-05 9.99986918e-01 2.24628965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.500385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:377.86, Y:370.48, Z:22.46 [[ 8.38063646e-01 -5.45555414e-01 -4.31462366e-03 3.77860972e+02] [ 5.45548499e-01 8.38074751e-01 -2.74728168e-03 3.70478563e+02] [ 5.11477154e-03 -5.14395545e-05 9.99986918e-01 2.24624765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.530385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:377.89, Y:370.49, Z:22.46 [[ 8.38330564e-01 -5.45145166e-01 -4.31429427e-03 3.77886003e+02] [ 5.45138243e-01 8.38341664e-01 -2.74779885e-03 3.70491786e+02] [ 5.11480190e-03 -4.83230442e-05 9.99986918e-01 2.24627379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.560385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:377.91, Y:370.51, Z:22.46 [[ 8.38363875e-01 -5.45093942e-01 -4.31353103e-03 3.77910576e+02] [ 5.45087013e-01 8.38374971e-01 -2.74899647e-03 3.70505622e+02] [ 5.11481778e-03 -4.65904141e-05 9.99986918e-01 2.24626612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.5903857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:377.94, Y:370.52, Z:22.46 [[ 8.38690617e-01 -5.44591084e-01 -4.31277249e-03 3.77935793e+02] [ 5.44584141e-01 8.38701705e-01 -2.75018599e-03 3.70517645e+02] [ 5.11485641e-03 -4.21123178e-05 9.99986918e-01 2.24627186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.620385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:377.96, Y:370.53, Z:22.46 [[ 8.38731266e-01 -5.44528484e-01 -4.31201326e-03 3.77959523e+02] [ 5.44521534e-01 8.38742350e-01 -2.75137588e-03 3.70530612e+02] [ 5.11487067e-03 -4.03190998e-05 9.99986918e-01 2.24625927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.650385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:377.98, Y:370.54, Z:22.46 [[ 8.38717127e-01 -5.44550264e-01 -4.31168408e-03 3.77983315e+02] [ 5.44543313e-01 8.38728209e-01 -2.75189164e-03 3.70543273e+02] [ 5.11487438e-03 -3.98400841e-05 9.99986918e-01 2.24625647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.680385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:378.01, Y:370.55, Z:22.46 [[ 8.38419847e-01 -5.45007864e-01 -4.31135798e-03 3.78009897e+02] [ 5.45000916e-01 8.38430931e-01 -2.75240243e-03 3.70554537e+02] [ 5.11485686e-03 -4.20252214e-05 9.99986918e-01 2.24629511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.710385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:378.03, Y:370.57, Z:22.46 [[ 8.38294245e-01 -5.45201043e-01 -4.31058837e-03 3.78034144e+02] [ 5.45194091e-01 8.38305327e-01 -2.75360722e-03 3.70567470e+02] [ 5.11485872e-03 -4.17742174e-05 9.99986918e-01 2.24629326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.740385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:378.06, Y:370.58, Z:22.46 [[ 8.37531827e-01 -5.46371559e-01 -4.30794521e-03 3.78060662e+02] [ 5.46364601e-01 8.37542905e-01 -2.75774311e-03 3.70579487e+02] [ 5.11484135e-03 -4.40111432e-05 9.99986918e-01 2.24632046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.770385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:378.08, Y:370.59, Z:22.46 [[ 8.37308177e-01 -5.46714224e-01 -4.30966562e-03 3.78084827e+02] [ 5.46707285e-01 8.37319267e-01 -2.75505192e-03 3.70592085e+02] [ 5.11479213e-03 -4.92980842e-05 9.99986918e-01 2.24624811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.800385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:378.11, Y:370.61, Z:22.46 [[ 8.36948966e-01 -5.47263975e-01 -4.30933238e-03 3.78109706e+02] [ 5.47257040e-01 8.36960058e-01 -2.75557305e-03 3.70605147e+02] [ 5.11476494e-03 -5.20384672e-05 9.99986918e-01 2.24624073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.830385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:378.14, Y:370.62, Z:22.46 [[ 8.36785807e-01 -5.47513424e-01 -4.30858816e-03 3.78135643e+02] [ 5.47506486e-01 8.36796898e-01 -2.75673622e-03 3.70615619e+02] [ 5.11476329e-03 -5.21822184e-05 9.99986918e-01 2.24634448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.860385723 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:378.16, Y:370.63, Z:22.46 [[ 8.36482439e-01 -5.47976796e-01 -4.30823848e-03 3.78162307e+02] [ 5.47969862e-01 8.36493531e-01 -2.75728259e-03 3.70626819e+02] [ 5.11474050e-03 -5.43663819e-05 9.99986918e-01 2.24607743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.890385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:378.19, Y:370.64, Z:22.46 [[ 8.37142490e-01 -5.46967867e-01 -4.31327681e-03 3.78186912e+02] [ 5.46960960e-01 8.37153599e-01 -2.74941260e-03 3.70640258e+02] [ 5.11471555e-03 -5.75439150e-05 9.99986918e-01 2.24648218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.920385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:378.21, Y:370.65, Z:22.46 [[ 8.37209255e-01 -5.46865717e-01 -4.30709154e-03 3.78211532e+02] [ 5.46858759e-01 8.37220333e-01 -2.75906823e-03 3.70653641e+02] [ 5.11482443e-03 -4.54532777e-05 9.99986918e-01 2.24648114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.950385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:378.24, Y:370.67, Z:22.46 [[ 8.36788900e-01 -5.47508714e-01 -4.30633780e-03 3.78236434e+02] [ 5.47501758e-01 8.36799980e-01 -2.76024415e-03 3.70665137e+02] [ 5.11480111e-03 -4.79858478e-05 9.99986918e-01 2.24633692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.980385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:378.26, Y:370.68, Z:22.46 [[ 8.36363423e-01 -5.48158448e-01 -4.30582524e-03 3.78261442e+02] [ 5.48151497e-01 8.36374505e-01 -2.76104348e-03 3.70678371e+02] [ 5.11477177e-03 -5.10087746e-05 9.99986918e-01 2.24646441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.010385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:378.29, Y:370.69, Z:22.47 [[ 8.35123584e-01 -5.50045513e-01 -4.30507639e-03 3.78289054e+02] [ 5.50038581e-01 8.35134678e-01 -2.76221062e-03 3.70689262e+02] [ 5.11466014e-03 -6.11708767e-05 9.99986918e-01 2.24660202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.040385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:378.31, Y:370.70, Z:22.47 [[ 8.34623477e-01 -5.50804053e-01 -4.30659526e-03 3.78313681e+02] [ 5.50797143e-01 8.34634585e-01 -2.75984410e-03 3.70702692e+02] [ 5.11456666e-03 -6.86296838e-05 9.99986918e-01 2.24662470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.070385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:378.34, Y:370.72, Z:22.47 [[ 8.34162333e-01 -5.51502199e-01 -4.30437618e-03 3.78338086e+02] [ 5.51495280e-01 8.34173435e-01 -2.76330074e-03 3.70715987e+02] [ 5.11456270e-03 -6.88017582e-05 9.99986918e-01 2.24666648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.1003857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:378.37, Y:370.73, Z:22.46 [[ 8.33467307e-01 -5.52552012e-01 -4.30362751e-03 3.78366184e+02] [ 5.52545102e-01 8.33478415e-01 -2.76446625e-03 3.70728460e+02] [ 5.11449202e-03 -7.38560571e-05 9.99986918e-01 2.24636758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.130385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:378.39, Y:370.74, Z:22.46 [[ 8.32899044e-01 -5.53408153e-01 -4.31266725e-03 3.78390570e+02] [ 5.53401326e-01 8.32910204e-01 -2.75039891e-03 3.70741878e+02] [ 5.11415774e-03 -9.58311565e-05 9.99986918e-01 2.24643656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.160385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:378.42, Y:370.75, Z:22.47 [[ 8.31703992e-01 -5.55202572e-01 -4.30970712e-03 3.78415601e+02] [ 5.55195746e-01 8.31715152e-01 -2.75500066e-03 3.70753845e+02] [ 5.11403216e-03 -1.01386006e-04 9.99986918e-01 2.24693388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.190385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:378.44, Y:370.77, Z:22.47 [[ 8.31335072e-01 -5.55754891e-01 -4.30109853e-03 3.78440671e+02] [ 5.55748003e-01 8.31346193e-01 -2.76837543e-03 3.70767010e+02] [ 5.11424008e-03 -8.88793312e-05 9.99986918e-01 2.24654908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.2203857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:378.47, Y:370.78, Z:22.47 [[ 8.31429296e-01 -5.55613888e-01 -4.30505786e-03 3.78465721e+02] [ 5.55607030e-01 8.31440436e-01 -2.76222695e-03 3.70778049e+02] [ 5.11413084e-03 -9.53240013e-05 9.99986918e-01 2.24687477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.250385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:378.49, Y:370.79, Z:22.47 [[ 8.31309050e-01 -5.55793821e-01 -4.30011958e-03 3.78490067e+02] [ 5.55786926e-01 8.31320167e-01 -2.76989338e-03 3.70791296e+02] [ 5.11426575e-03 -8.73128037e-05 9.99986918e-01 2.24684001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.280385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:378.51, Y:370.81, Z:22.47 [[ 8.31043958e-01 -5.56190122e-01 -4.29987966e-03 3.78514842e+02] [ 5.56183230e-01 8.31055077e-01 -2.77026577e-03 3.70805194e+02] [ 5.11423128e-03 -8.93083290e-05 9.99986918e-01 2.24678818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.310385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:378.54, Y:370.82, Z:22.47 [[ 8.30568344e-01 -5.56900120e-01 -4.29911323e-03 3.78540036e+02] [ 5.56893232e-01 8.30579465e-01 -2.77145466e-03 3.70817923e+02] [ 5.11417860e-03 -9.22645588e-05 9.99986918e-01 2.24670596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.3403857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:378.56, Y:370.83, Z:22.47 [[ 8.30363843e-01 -5.57205000e-01 -4.29834648e-03 3.78564728e+02] [ 5.57198109e-01 8.30374963e-01 -2.77264333e-03 3.70832151e+02] [ 5.11417003e-03 -9.27277585e-05 9.99986918e-01 2.24673062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.370385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:378.59, Y:370.84, Z:22.47 [[ 8.30200640e-01 -5.57448140e-01 -4.29757243e-03 3.78589931e+02] [ 5.57441246e-01 8.30211758e-01 -2.77384259e-03 3.70844371e+02] [ 5.11416855e-03 -9.27982364e-05 9.99986918e-01 2.24672796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.400385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:378.61, Y:370.86, Z:22.47 [[ 8.30014541e-01 -5.57725197e-01 -4.29733239e-03 3.78614582e+02] [ 5.57718305e-01 8.30025660e-01 -2.77421442e-03 3.70857941e+02] [ 5.11414543e-03 -9.40626311e-05 9.99986918e-01 2.24680057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.430385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:378.64, Y:370.87, Z:22.47 [[ 8.29843030e-01 -5.57980363e-01 -4.29656570e-03 3.78639182e+02] [ 5.57973468e-01 8.29854147e-01 -2.77540132e-03 3.70872013e+02] [ 5.11414230e-03 -9.42222226e-05 9.99986918e-01 2.24676040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.460385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:378.66, Y:370.89, Z:22.47 [[ 8.29773917e-01 -5.58083142e-01 -4.29580389e-03 3.78664897e+02] [ 5.58076243e-01 8.29785031e-01 -2.77657996e-03 3.70885193e+02] [ 5.11415623e-03 -9.34524720e-05 9.99986918e-01 2.24676947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.490385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:378.69, Y:370.90, Z:22.47 [[ 8.29919350e-01 -5.57866852e-01 -4.29512767e-03 3.78689095e+02] [ 5.57859944e-01 8.29930460e-01 -2.77762562e-03 3.70899242e+02] [ 5.11420254e-03 -9.08744297e-05 9.99986918e-01 2.24676028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.520385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:378.71, Y:370.91, Z:22.47 [[ 8.30046820e-01 -5.57677174e-01 -4.29488835e-03 3.78712989e+02] [ 5.57670262e-01 8.30057926e-01 -2.77799562e-03 3.70911385e+02] [ 5.11423086e-03 -8.92650824e-05 9.99986918e-01 2.24674356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.550385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:378.74, Y:370.93, Z:22.47 [[ 8.30040513e-01 -5.57686563e-01 -4.29456966e-03 3.78737095e+02] [ 5.57679649e-01 8.30051618e-01 -2.77848820e-03 3.70925074e+02] [ 5.11424003e-03 -8.87363319e-05 9.99986918e-01 2.24680510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.580385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:378.76, Y:370.94, Z:22.47 [[ 8.30145722e-01 -5.57529949e-01 -4.29379237e-03 3.78760656e+02] [ 5.57523026e-01 8.30156822e-01 -2.77968888e-03 3.70938541e+02] [ 5.11428083e-03 -8.63412837e-05 9.99986918e-01 2.24675002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.610385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:378.79, Y:370.95, Z:22.47 [[ 8.30933370e-01 -5.56355373e-01 -4.29345541e-03 3.78785555e+02] [ 5.56348432e-01 8.30944459e-01 -2.78020925e-03 3.70950958e+02] [ 5.11440733e-03 -7.84885400e-05 9.99986918e-01 2.24685901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.640385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:378.81, Y:370.96, Z:22.47 [[ 8.31642576e-01 -5.55294695e-01 -4.29268009e-03 3.78809148e+02] [ 5.55287733e-01 8.31653652e-01 -2.78140584e-03 3.70963974e+02] [ 5.11452298e-03 -7.05370766e-05 9.99986918e-01 2.24679802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.670385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:378.83, Y:370.98, Z:22.47 [[ 8.31703748e-01 -5.55203072e-01 -4.29234353e-03 3.78833425e+02] [ 5.55196107e-01 8.31714821e-01 -2.78192513e-03 3.70978972e+02] [ 5.11453911e-03 -6.93548630e-05 9.99986918e-01 2.24682534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.700385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:378.86, Y:370.99, Z:22.47 [[ 8.32012813e-01 -5.54739815e-01 -4.29156424e-03 3.78856391e+02] [ 5.54732837e-01 8.32023878e-01 -2.78312679e-03 3.70994061e+02] [ 5.11459516e-03 -6.50744557e-05 9.99986918e-01 2.24684932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.730385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:378.88, Y:371.01, Z:22.47 [[ 8.31133101e-01 -5.56056970e-01 -4.29120371e-03 3.78877460e+02] [ 5.56050007e-01 8.31144175e-01 -2.78368257e-03 3.71010386e+02] [ 5.11449506e-03 -7.25131269e-05 9.99986918e-01 2.24672658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.760385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:378.90, Y:371.02, Z:22.47 [[ 8.33236003e-01 -5.52900978e-01 -4.27452665e-03 3.78904421e+02] [ 5.52893841e-01 8.33246967e-01 -2.80937087e-03 3.71024423e+02] [ 5.11504026e-03 -2.24905008e-05 9.99986918e-01 2.24705527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.790385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:378.93, Y:371.04, Z:22.47 [[ 8.33201077e-01 -5.52953487e-01 -4.29026404e-03 3.78926997e+02] [ 5.52946475e-01 8.33212121e-01 -2.78512870e-03 3.71039493e+02] [ 5.11474663e-03 -5.17141427e-05 9.99986918e-01 2.24702745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.820385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:378.95, Y:371.06, Z:22.47 [[ 8.31951950e-01 -5.54831099e-01 -4.28993358e-03 3.78948155e+02] [ 5.54824110e-01 8.31963009e-01 -2.78563762e-03 3.71055702e+02] [ 5.11462443e-03 -6.26419276e-05 9.99986918e-01 2.24688407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.8503857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:378.97, Y:371.07, Z:22.47 [[ 8.32136197e-01 -5.54554808e-01 -4.27960373e-03 3.78972379e+02] [ 5.54547733e-01 8.32147200e-01 -2.80153135e-03 3.71071168e+02] [ 5.11486294e-03 -4.19889073e-05 9.99986918e-01 2.24702038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.880385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:378.99, Y:371.09, Z:22.47 [[ 8.30035827e-01 -5.57693583e-01 -4.28869005e-03 3.78993176e+02] [ 5.57686622e-01 8.30046903e-01 -2.78755191e-03 3.71088456e+02] [ 5.11441370e-03 -7.79771076e-05 9.99986918e-01 2.24678330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.910385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:379.02, Y:371.10, Z:22.47 [[ 8.28828845e-01 -5.59485799e-01 -4.28792572e-03 3.79017112e+02] [ 5.59478855e-01 8.28839932e-01 -2.78872713e-03 3.71102961e+02] [ 5.11425729e-03 -8.76262893e-05 9.99986918e-01 2.24694208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.940385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:379.04, Y:371.12, Z:22.47 [[ 8.27567955e-01 -5.61349178e-01 -4.28716071e-03 3.79040551e+02] [ 5.61342254e-01 8.27579054e-01 -2.78990270e-03 3.71118414e+02] [ 5.11407399e-03 -9.77303859e-05 9.99986918e-01 2.24688956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.9703857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:379.06, Y:371.13, Z:22.47 [[ 8.24560266e-01 -5.65757926e-01 -4.28219419e-03 3.79064050e+02] [ 5.65751021e-01 8.24571377e-01 -2.79752979e-03 3.71134769e+02] [ 5.11369942e-03 -1.15923824e-04 9.99986918e-01 2.24704841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.000385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:379.09, Y:371.15, Z:22.47 [[ 8.23371720e-01 -5.67486230e-01 -4.28835481e-03 3.79087995e+02] [ 5.67479398e-01 8.23382875e-01 -2.78807093e-03 3.71150707e+02] [ 5.11314978e-03 -1.37934253e-04 9.99986918e-01 2.24693209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.030385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:379.11, Y:371.17, Z:22.47 [[ 8.22010792e-01 -5.69455761e-01 -4.28890144e-03 3.79112108e+02] [ 5.69448960e-01 8.22021966e-01 -2.78723194e-03 3.71166921e+02] [ 5.11277648e-03 -1.51175734e-04 9.99986918e-01 2.24708179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.060385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:379.13, Y:371.18, Z:22.47 [[ 8.20033263e-01 -5.72299790e-01 -4.28932107e-03 3.79133482e+02] [ 5.72293031e-01 8.20044463e-01 -2.78658805e-03 3.71182022e+02] [ 5.11219775e-03 -1.69653664e-04 9.99986918e-01 2.24708994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.0903857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:379.16, Y:371.20, Z:22.47 [[ 8.18822777e-01 -5.74030445e-01 -4.27884805e-03 3.79157026e+02] [ 5.74023626e-01 8.18833940e-01 -2.80264388e-03 3.71198553e+02] [ 5.11246893e-03 -1.61291227e-04 9.99986918e-01 2.24718006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.120385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:379.18, Y:371.22, Z:22.47 [[ 8.16903300e-01 -5.76758771e-01 -4.28006411e-03 3.79179108e+02] [ 5.76751998e-01 8.16914492e-01 -2.80077998e-03 3.71215881e+02] [ 5.11182082e-03 -1.80569124e-04 9.99986918e-01 2.24712497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.150385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:379.20, Y:371.23, Z:22.47 [[ 8.16171578e-01 -5.77793742e-01 -4.28333109e-03 3.79202531e+02] [ 5.77787010e-01 8.16182795e-01 -2.79577474e-03 3.71232092e+02] [ 5.11136229e-03 -1.93021186e-04 9.99986918e-01 2.24731262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.180385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:379.23, Y:371.25, Z:22.47 [[ 8.16013604e-01 -5.78016832e-01 -4.28256588e-03 3.79226437e+02] [ 5.78010097e-01 8.16024819e-01 -2.79694639e-03 3.71247772e+02] [ 5.11136214e-03 -1.93020023e-04 9.99986918e-01 2.24732719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.210385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:379.25, Y:371.27, Z:22.47 [[ 8.14488264e-01 -5.80164230e-01 -4.28180099e-03 3.79249073e+02] [ 5.80157518e-01 8.14499493e-01 -2.79811686e-03 3.71265198e+02] [ 5.11089205e-03 -2.05085691e-04 9.99986918e-01 2.24744126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.240385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:379.27, Y:371.28, Z:22.48 [[ 8.13418113e-01 -5.81663689e-01 -4.28104500e-03 3.79272154e+02] [ 5.81656992e-01 8.13429350e-01 -2.79927303e-03 3.71281077e+02] [ 5.11056313e-03 -2.13120369e-04 9.99986918e-01 2.24754369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.270385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:379.29, Y:371.30, Z:22.48 [[ 8.12558070e-01 -5.82864527e-01 -4.28079334e-03 3.79294899e+02] [ 5.82857845e-01 8.12569317e-01 -2.79965783e-03 3.71297974e+02] [ 5.11026255e-03 -2.20209416e-04 9.99986918e-01 2.24758902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.300385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:379.32, Y:371.32, Z:22.48 [[ 8.11109168e-01 -5.84879128e-01 -4.28055912e-03 3.79316665e+02] [ 5.84872472e-01 8.11120430e-01 -2.80001590e-03 3.71315563e+02] [ 5.10971981e-03 -2.32462625e-04 9.99986918e-01 2.24767692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.330385723 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:379.33, Y:371.33, Z:22.48 [[ 8.08317312e-01 -5.88731523e-01 -4.27981606e-03 3.79334238e+02] [ 5.88724914e-01 8.08328602e-01 -2.80115120e-03 3.71333680e+02] [ 5.10862374e-03 -2.55415330e-04 9.99986918e-01 2.24764938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.360385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:379.36, Y:371.35, Z:22.47 [[ 8.08713696e-01 -5.88187115e-01 -4.25158445e-03 3.79359583e+02] [ 5.88180272e-01 8.08724847e-01 -2.84423730e-03 3.71351062e+02] [ 5.11130572e-03 -2.00524440e-04 9.99986917e-01 2.24745994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.390385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:379.38, Y:371.37, Z:22.47 [[ 8.07677321e-01 -5.89609313e-01 -4.26656019e-03 3.79381309e+02] [ 5.89602610e-01 8.07688555e-01 -2.82137506e-03 3.71372062e+02] [ 5.10956085e-03 -2.36814373e-04 9.99986918e-01 2.24748277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.420385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:379.40, Y:371.39, Z:22.47 [[ 8.07570891e-01 -5.89754991e-01 -4.27856886e-03 3.79403154e+02] [ 5.89748387e-01 8.07582184e-01 -2.80304502e-03 3.71388493e+02] [ 5.10840577e-03 -2.59621523e-04 9.99986918e-01 2.24723217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.450385723 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:379.42, Y:371.41, Z:22.47 [[ 8.06029131e-01 -5.91860498e-01 -4.26510107e-03 3.79422714e+02] [ 5.91853815e-01 8.06040377e-01 -2.82359067e-03 3.71409664e+02] [ 5.10901546e-03 -2.48420004e-04 9.99986918e-01 2.24710857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.480385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:379.45, Y:371.43, Z:22.47 [[ 8.07632905e-01 -5.89670215e-01 -4.25779283e-03 3.79448276e+02] [ 5.89663442e-01 8.07644098e-01 -2.83472268e-03 3.71426906e+02] [ 5.11033278e-03 -2.21249463e-04 9.99986918e-01 2.24747103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.510385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:379.47, Y:371.44, Z:22.47 [[ 8.07399038e-01 -5.89990263e-01 -4.27600402e-03 3.79470530e+02] [ 5.89983641e-01 8.07410320e-01 -2.80697693e-03 3.71444635e+02] [ 5.10857882e-03 -2.56421946e-04 9.99986918e-01 2.24749893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.540385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:379.49, Y:371.47, Z:22.48 [[ 8.06828716e-01 -5.90769964e-01 -4.27476345e-03 3.79492116e+02] [ 5.90763343e-01 8.06839998e-01 -2.80886603e-03 3.71465144e+02] [ 5.10844381e-03 -2.59099776e-04 9.99986918e-01 2.24754301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.570385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:379.51, Y:371.48, Z:22.48 [[ 8.06435994e-01 -5.91305936e-01 -4.27524904e-03 3.79514183e+02] [ 5.91299327e-01 8.06447283e-01 -2.80812673e-03 3.71483290e+02] [ 5.10822498e-03 -2.63377411e-04 9.99986918e-01 2.24762345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.6003857229999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:379.53, Y:371.50, Z:22.48 [[ 8.06071982e-01 -5.91802069e-01 -4.27447309e-03 3.79533338e+02] [ 5.91795460e-01 8.06083272e-01 -2.80930737e-03 3.71504760e+02] [ 5.10813517e-03 -2.65109804e-04 9.99986918e-01 2.24757064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.630385723 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:379.55, Y:371.52, Z:22.48 [[ 8.04740182e-01 -5.93611801e-01 -4.27423274e-03 3.79551293e+02] [ 5.93605216e-01 8.04751486e-01 -2.80967300e-03 3.71524908e+02] [ 5.10755020e-03 -2.76150085e-04 9.99986918e-01 2.24773029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.660385723 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:379.58, Y:371.54, Z:22.48 [[ 8.07375901e-01 -5.90022113e-01 -4.24978243e-03 3.79575416e+02] [ 5.90015282e-01 8.07387059e-01 -2.84683448e-03 3.71544384e+02] [ 5.11091463e-03 -2.08971027e-04 9.99986917e-01 2.24795196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.690385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:379.60, Y:371.56, Z:22.48 [[ 8.08090138e-01 -5.89043349e-01 -4.27346196e-03 3.79597014e+02] [ 5.89036694e-01 8.08101400e-01 -2.81083322e-03 3.71562942e+02] [ 5.10909321e-03 -2.45819296e-04 9.99986918e-01 2.24818536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.7203857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:379.61, Y:371.58, Z:22.48 [[ 8.09300651e-01 -5.87379095e-01 -4.27269189e-03 3.79614872e+02] [ 5.87372411e-01 8.09311895e-01 -2.81200329e-03 3.71584336e+02] [ 5.10965233e-03 -2.33905244e-04 9.99986918e-01 2.24810531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.750385723 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:379.64, Y:371.60, Z:22.48 [[ 8.09525865e-01 -5.87068669e-01 -4.27216850e-03 3.79636523e+02] [ 5.87061976e-01 8.09537105e-01 -2.81279824e-03 3.71603041e+02] [ 5.10978464e-03 -2.30994761e-04 9.99986918e-01 2.24797034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.780385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:379.66, Y:371.62, Z:22.48 [[ 8.09083730e-01 -5.87677866e-01 -4.27139726e-03 3.79655785e+02] [ 5.87671175e-01 8.09094971e-01 -2.81396892e-03 3.71622341e+02] [ 5.10967329e-03 -2.33440580e-04 9.99986918e-01 2.24793207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.810385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:379.68, Y:371.64, Z:22.48 [[ 8.09326235e-01 -5.87343956e-01 -4.25710562e-03 3.79676684e+02] [ 5.87337147e-01 8.09337405e-01 -2.83564396e-03 3.71643289e+02] [ 5.11093316e-03 -2.05395226e-04 9.99986918e-01 2.24805654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.8403857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:379.70, Y:371.66, Z:22.48 [[ 8.08924904e-01 -5.87896475e-01 -4.27025288e-03 3.79697594e+02] [ 5.87889778e-01 8.08936141e-01 -2.81570505e-03 3.71662174e+02] [ 5.10970496e-03 -2.32744082e-04 9.99986918e-01 2.24786348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.870385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:379.72, Y:371.68, Z:22.48 [[ 8.08306164e-01 -5.88746944e-01 -4.26398342e-03 3.79718494e+02] [ 5.88740209e-01 8.08317379e-01 -2.82520724e-03 3.71683753e+02] [ 5.10998403e-03 -2.26746063e-04 9.99986918e-01 2.24801740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.900385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:379.74, Y:371.70, Z:22.48 [[ 8.07793225e-01 -5.89450489e-01 -4.26931817e-03 3.79740038e+02] [ 5.89443807e-01 8.07804471e-01 -2.81712249e-03 3.71702595e+02] [ 5.10932853e-03 -2.40870692e-04 9.99986918e-01 2.24798016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.930385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:379.76, Y:371.72, Z:22.48 [[ 8.07362015e-01 -5.90040979e-01 -4.26856159e-03 3.79758951e+02] [ 5.90034298e-01 8.07373262e-01 -2.81826841e-03 3.71721357e+02] [ 5.10921635e-03 -2.43234885e-04 9.99986918e-01 2.24770556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.960385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:379.78, Y:371.74, Z:22.48 [[ 8.06601876e-01 -5.91079786e-01 -4.25444813e-03 3.79780696e+02] [ 5.91073008e-01 8.06613065e-01 -2.83963999e-03 3.71744267e+02] [ 5.11014724e-03 -2.24230509e-04 9.99986918e-01 2.24781808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.990385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:379.80, Y:371.76, Z:22.48 [[ 8.06016574e-01 -5.91877574e-01 -4.26849080e-03 3.79802300e+02] [ 5.91870919e-01 8.06027836e-01 -2.81837203e-03 3.71762504e+02] [ 5.10865360e-03 -2.54741002e-04 9.99986918e-01 2.24781300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.020385723 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:379.82, Y:371.78, Z:22.48 [[ 8.04516578e-01 -5.93914862e-01 -4.26771004e-03 3.79821569e+02] [ 5.93908229e-01 8.04527853e-01 -2.81955380e-03 3.71782220e+02] [ 5.10806650e-03 -2.66250343e-04 9.99986918e-01 2.24773393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.050385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:379.84, Y:371.80, Z:22.48 [[ 8.04026148e-01 -5.94578627e-01 -4.26737169e-03 3.79844103e+02] [ 5.94572000e-01 8.04037427e-01 -2.82006580e-03 3.71800823e+02] [ 5.10787740e-03 -2.69853083e-04 9.99986918e-01 2.24795306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.080385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:379.86, Y:371.82, Z:22.48 [[ 8.03682574e-01 -5.95042952e-01 -4.26669061e-03 3.79864311e+02] [ 5.95036327e-01 8.03693854e-01 -2.82109588e-03 3.71818524e+02] [ 5.10778624e-03 -2.71570313e-04 9.99986918e-01 2.24792727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.110385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:379.88, Y:371.84, Z:22.48 [[ 8.04266214e-01 -5.94253866e-01 -4.26616117e-03 3.79883163e+02] [ 5.94247225e-01 8.04277485e-01 -2.82189628e-03 3.71839984e+02] [ 5.10810015e-03 -2.65598599e-04 9.99986918e-01 2.24780401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.140385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:379.90, Y:371.86, Z:22.48 [[ 8.04589362e-01 -5.93816268e-01 -4.26592698e-03 3.79903135e+02] [ 5.93809620e-01 8.04600628e-01 -2.82225027e-03 3.71858047e+02] [ 5.10826565e-03 -2.62395931e-04 9.99986918e-01 2.24781935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.170385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:379.92, Y:371.88, Z:22.48 [[ 8.05725558e-01 -5.92273697e-01 -4.26541668e-03 3.79923590e+02] [ 5.92267022e-01 8.05736809e-01 -2.82302131e-03 3.71879421e+02] [ 5.10880449e-03 -2.51685211e-04 9.99986918e-01 2.24807185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.200385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:379.95, Y:371.90, Z:22.48 [[ 8.06245639e-01 -5.91565535e-01 -4.26474171e-03 3.79945366e+02] [ 5.91558846e-01 8.06256880e-01 -2.82404062e-03 3.71897603e+02] [ 5.10908245e-03 -2.45975244e-04 9.99986918e-01 2.24818565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.230385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:379.96, Y:371.92, Z:22.48 [[ 8.08216010e-01 -5.88870699e-01 -4.26394617e-03 3.79964172e+02] [ 5.88863966e-01 8.08227226e-01 -2.82524127e-03 3.71918572e+02] [ 5.10993919e-03 -2.27479027e-04 9.99986918e-01 2.24814535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.260385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:379.98, Y:371.94, Z:22.48 [[ 8.09365098e-01 -5.87290353e-01 -4.26360141e-03 3.79984947e+02] [ 5.87283595e-01 8.09376299e-01 -2.82576146e-03 3.71937292e+02] [ 5.11040038e-03 -2.16870458e-04 9.99986918e-01 2.24812938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.290385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:380.01, Y:371.96, Z:22.48 [[ 8.10629411e-01 -5.85544008e-01 -4.26283428e-03 3.80005090e+02] [ 5.85537220e-01 8.10640594e-01 -2.82691825e-03 3.71955613e+02] [ 5.11091155e-03 -2.04465061e-04 9.99986918e-01 2.24804263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.320385723 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:380.03, Y:371.98, Z:22.48 [[ 8.12913006e-01 -5.82369535e-01 -4.26250158e-03 3.80025082e+02] [ 5.82362701e-01 8.12924160e-01 -2.82741981e-03 3.71977272e+02] [ 5.11169368e-03 -1.83875595e-04 9.99986918e-01 2.24786415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.3503857229999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:380.05, Y:372.00, Z:22.48 [[ 8.13997206e-01 -5.80853154e-01 -4.26182364e-03 3.80046312e+02] [ 5.80846293e-01 8.14008344e-01 -2.82844131e-03 3.71995397e+02] [ 5.11206906e-03 -1.73121143e-04 9.99986918e-01 2.24799640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.380385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:380.07, Y:372.02, Z:22.48 [[ 8.15978871e-01 -5.78066021e-01 -4.26104080e-03 3.80065977e+02] [ 5.78059116e-01 8.15989982e-01 -2.82962017e-03 3.72015477e+02] [ 5.11267388e-03 -1.54223209e-04 9.99986918e-01 2.24814106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.410385723 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:380.09, Y:372.03, Z:22.48 [[ 8.16599746e-01 -5.77188617e-01 -4.26079808e-03 3.80088050e+02] [ 5.77181698e-01 8.16610849e-01 -2.82998560e-03 3.72033354e+02] [ 5.11284942e-03 -1.48289150e-04 9.99986918e-01 2.24803717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.440385723 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:380.11, Y:372.05, Z:22.48 [[ 8.17338553e-01 -5.76141946e-01 -4.26003530e-03 3.80110064e+02] [ 5.76135007e-01 8.17349643e-01 -2.83113337e-03 3.72050906e+02] [ 5.11307302e-03 -1.40361014e-04 9.99986918e-01 2.24805036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.4703857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:380.13, Y:372.07, Z:22.48 [[ 8.18443145e-01 -5.74571734e-01 -4.25927726e-03 3.80130238e+02] [ 5.74564767e-01 8.18454218e-01 -2.83227333e-03 3.72070125e+02] [ 5.11336764e-03 -1.29175954e-04 9.99986918e-01 2.24819674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.500385723 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:380.15, Y:372.09, Z:22.48 [[ 8.18251646e-01 -5.74844417e-01 -4.25904242e-03 3.80152571e+02] [ 5.74837453e-01 8.18262720e-01 -2.83262644e-03 3.72088499e+02] [ 5.11333513e-03 -1.30455845e-04 9.99986918e-01 2.24824972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.530385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:380.18, Y:372.11, Z:22.49 [[ 8.18114835e-01 -5.75039115e-01 -4.25836041e-03 3.80176062e+02] [ 5.75032148e-01 8.18125907e-01 -2.83365136e-03 3.72105647e+02] [ 5.11333534e-03 -1.30441920e-04 9.99986918e-01 2.24851702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.560385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:380.20, Y:372.12, Z:22.49 [[ 8.17971646e-01 -5.75242783e-01 -4.25767136e-03 3.80197696e+02] [ 5.75235813e-01 8.17982716e-01 -2.83468630e-03 3.72121316e+02] [ 5.11333442e-03 -1.30472029e-04 9.99986918e-01 2.24855104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.5903857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:380.22, Y:372.14, Z:22.49 [[ 8.18009528e-01 -5.75188916e-01 -4.25713620e-03 3.80220403e+02] [ 5.75181941e-01 8.18020595e-01 -2.83548977e-03 3.72137319e+02] [ 5.11336738e-03 -1.29170213e-04 9.99986918e-01 2.24861684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.620385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:380.24, Y:372.15, Z:22.49 [[ 8.18879270e-01 -5.73950020e-01 -4.25636698e-03 3.80242385e+02] [ 5.73943022e-01 8.18890323e-01 -2.83664398e-03 3.72153986e+02] [ 5.11358960e-03 -1.20043181e-04 9.99986918e-01 2.24860992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.650385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:380.26, Y:372.17, Z:22.49 [[ 8.20301579e-01 -5.71915382e-01 -4.25612906e-03 3.80264370e+02] [ 5.71908356e-01 8.20312614e-01 -2.83700091e-03 3.72172895e+02] [ 5.11388082e-03 -1.06919441e-04 9.99986918e-01 2.24863190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.680385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:380.29, Y:372.19, Z:22.49 [[ 8.20880317e-01 -5.71084397e-01 -4.25643030e-03 3.80287035e+02] [ 5.71077361e-01 8.20891346e-01 -2.83654906e-03 3.72190252e+02] [ 5.11397571e-03 -1.02283690e-04 9.99986918e-01 2.24861130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.710385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:380.31, Y:372.21, Z:22.49 [[ 8.21316984e-01 -5.70456225e-01 -4.25516460e-03 3.80309639e+02] [ 5.70449172e-01 8.21328001e-01 -2.83844650e-03 3.72206537e+02] [ 5.11409531e-03 -9.60908008e-05 9.99986918e-01 2.24865515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.740385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:380.33, Y:372.22, Z:22.49 [[ 8.21437474e-01 -5.70282716e-01 -4.25436948e-03 3.80331148e+02] [ 5.70275654e-01 8.21448486e-01 -2.83963775e-03 3.72222362e+02] [ 5.11414170e-03 -9.35784797e-05 9.99986918e-01 2.24880580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.770385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:380.35, Y:372.24, Z:22.49 [[ 8.20827939e-01 -5.71159724e-01 -4.25033054e-03 3.80354866e+02] [ 5.71152642e-01 8.20838938e-01 -2.84568626e-03 3.72238563e+02] [ 5.11417819e-03 -9.17687296e-05 9.99986918e-01 2.24873767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.800385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:380.38, Y:372.25, Z:22.49 [[ 8.19866953e-01 -5.72538287e-01 -4.25328836e-03 3.80377683e+02] [ 5.72531246e-01 8.19877978e-01 -2.84125850e-03 3.72254395e+02] [ 5.11390673e-03 -1.05686539e-04 9.99986918e-01 2.24874683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.830385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:380.40, Y:372.27, Z:22.49 [[ 8.19346217e-01 -5.73283257e-01 -4.25249899e-03 3.80400265e+02] [ 5.73276221e-01 8.19357245e-01 -2.84243946e-03 3.72270477e+02] [ 5.11383880e-03 -1.08914528e-04 9.99986918e-01 2.24872638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.860385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:380.42, Y:372.29, Z:22.49 [[ 8.18597973e-01 -5.74351217e-01 -4.24716341e-03 3.80423705e+02] [ 5.74344154e-01 8.18608984e-01 -2.85041887e-03 3.72286898e+02] [ 5.11390767e-03 -1.05986371e-04 9.99986918e-01 2.24878690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.890385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:380.45, Y:372.30, Z:22.49 [[ 8.16315124e-01 -5.77591157e-01 -4.25133202e-03 3.80445960e+02] [ 5.77584169e-01 8.16326184e-01 -2.84418786e-03 3.72303363e+02] [ 5.11325140e-03 -1.33748504e-04 9.99986918e-01 2.24889999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.920385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:380.47, Y:372.32, Z:22.49 [[ 8.14753882e-01 -5.79791376e-01 -4.25104665e-03 3.80467636e+02] [ 5.79784417e-01 8.14764959e-01 -2.84461432e-03 3.72319686e+02] [ 5.11288670e-03 -1.47030040e-04 9.99986918e-01 2.24877467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.950385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:380.49, Y:372.33, Z:22.49 [[ 8.13287881e-01 -5.81846075e-01 -4.23883214e-03 3.80492500e+02] [ 5.81839049e-01 8.13298915e-01 -2.86285611e-03 3.72334206e+02] [ 5.11317918e-03 -1.37991877e-04 9.99986918e-01 2.24897085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.980385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:380.52, Y:372.35, Z:22.49 [[ 8.12256410e-01 -5.83285061e-01 -4.25003522e-03 3.80515653e+02] [ 5.83278141e-01 8.12267511e-01 -2.84612689e-03 3.72350531e+02] [ 5.11226883e-03 -1.67167837e-04 9.99986918e-01 2.24905673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.010385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:380.54, Y:372.37, Z:22.49 [[ 8.11416350e-01 -5.84453122e-01 -4.24923855e-03 3.80537810e+02] [ 5.84446211e-01 8.11427458e-01 -2.84731582e-03 3.72367456e+02] [ 5.11207145e-03 -1.73092756e-04 9.99986918e-01 2.24914607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.040385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:380.56, Y:372.38, Z:22.49 [[ 8.11189178e-01 -5.84768386e-01 -4.24886677e-03 3.80561009e+02] [ 5.84761477e-01 8.11200286e-01 -2.84787049e-03 3.72383985e+02] [ 5.11202657e-03 -1.74411889e-04 9.99986918e-01 2.24919162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.070385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:380.58, Y:372.40, Z:22.49 [[ 8.11027609e-01 -5.84992454e-01 -4.24807832e-03 3.80584677e+02] [ 5.84985542e-01 8.11038716e-01 -2.84904612e-03 3.72399922e+02] [ 5.11202646e-03 -1.74409332e-04 9.99986918e-01 2.24920619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.1003857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:380.61, Y:372.42, Z:22.49 [[ 8.10896316e-01 -5.85174441e-01 -4.24729096e-03 3.80607444e+02] [ 5.85167525e-01 8.10907420e-01 -2.85021941e-03 3.72415830e+02] [ 5.11203530e-03 -1.74144320e-04 9.99986918e-01 2.24922191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.130385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:380.63, Y:372.43, Z:22.49 [[ 8.10777663e-01 -5.85338832e-01 -4.24649613e-03 3.80629801e+02] [ 5.85331912e-01 8.10788765e-01 -2.85140313e-03 3.72432472e+02] [ 5.11204833e-03 -1.73755734e-04 9.99986918e-01 2.24921215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.160385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:380.65, Y:372.45, Z:22.49 [[ 8.10614931e-01 -5.85564175e-01 -4.24624993e-03 3.80652041e+02] [ 5.85557256e-01 8.10626034e-01 -2.85176971e-03 3.72448556e+02] [ 5.11201492e-03 -1.74735346e-04 9.99986918e-01 2.24923003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.190385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:380.67, Y:372.47, Z:22.49 [[ 8.10383349e-01 -5.85884629e-01 -4.24600795e-03 3.80674591e+02] [ 5.85877714e-01 8.10394453e-01 -2.85212996e-03 3.72466529e+02] [ 5.11196039e-03 -1.76322800e-04 9.99986918e-01 2.24943353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.2203857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:380.70, Y:372.48, Z:22.49 [[ 8.10356285e-01 -5.85922067e-01 -4.24532513e-03 3.80697133e+02] [ 5.85915146e-01 8.10367386e-01 -2.85314595e-03 3.72483126e+02] [ 5.11199420e-03 -1.75335539e-04 9.99986918e-01 2.24948065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.250385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:380.72, Y:372.50, Z:22.49 [[ 8.10924608e-01 -5.85135253e-01 -4.24453455e-03 3.80719235e+02] [ 5.85128315e-01 8.10935699e-01 -2.85432158e-03 3.72499433e+02] [ 5.11220877e-03 -1.68957741e-04 9.99986918e-01 2.24948965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.280385723 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:380.74, Y:372.52, Z:22.49 [[ 8.12860155e-01 -5.82443437e-01 -4.24399697e-03 3.80740743e+02] [ 5.82436458e-01 8.12871220e-01 -2.85512067e-03 3.72516969e+02] [ 5.11276929e-03 -1.51044733e-04 9.99986918e-01 2.24926607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.310385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:380.76, Y:372.53, Z:22.49 [[ 8.14315055e-01 -5.80407604e-01 -4.24319699e-03 3.80762613e+02] [ 5.80400592e-01 8.14326099e-01 -2.85630908e-03 3.72533481e+02] [ 5.11316956e-03 -1.36818556e-04 9.99986918e-01 2.24938677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.3403857229999 meters Centerline goodness : 0.999938 Centerline is valid? [True, True] Translation: X:380.79, Y:372.55, Z:22.49 [[ 8.15616883e-01 -5.78576789e-01 -4.24265321e-03 3.80785275e+02] [ 5.78569747e-01 8.15627908e-01 -2.85711656e-03 3.72550157e+02] [ 5.11348769e-03 -1.24358297e-04 9.99986918e-01 2.24922744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.370385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:380.81, Y:372.57, Z:22.50 [[ 8.18000312e-01 -5.75202135e-01 -4.24188077e-03 3.80807287e+02] [ 5.75195042e-01 8.18011304e-01 -2.85826293e-03 3.72568771e+02] [ 5.11398536e-03 -1.01848823e-04 9.99986918e-01 2.24955053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.400385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:380.83, Y:372.58, Z:22.50 [[ 8.18698623e-01 -5.74207782e-01 -4.24119409e-03 3.80828672e+02] [ 5.74200670e-01 8.18709603e-01 -2.85928148e-03 3.72584802e+02] [ 5.11412801e-03 -9.44066760e-05 9.99986918e-01 2.24956025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.430385723 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:380.85, Y:372.60, Z:22.49 [[ 8.19277645e-01 -5.73381336e-01 -4.24085365e-03 3.80851745e+02] [ 5.73374211e-01 8.19288616e-01 -2.85978634e-03 3.72601514e+02] [ 5.11423122e-03 -8.86370987e-05 9.99986918e-01 2.24931297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.460385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:380.87, Y:372.62, Z:22.50 [[ 8.19667804e-01 -5.72823457e-01 -4.24006474e-03 3.80874319e+02] [ 5.72816319e-01 8.19678766e-01 -2.86095552e-03 3.72617083e+02] [ 5.11431347e-03 -8.37451466e-05 9.99986918e-01 2.24964041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.490385723 meters Centerline goodness : 0.999896 Centerline is valid? [True, True] Translation: X:380.90, Y:372.63, Z:22.49 [[ 8.19724770e-01 -5.72741937e-01 -4.23972249e-03 3.80897599e+02] [ 5.72734795e-01 8.19735730e-01 -2.86146263e-03 3.72632716e+02] [ 5.11433166e-03 -8.26248024e-05 9.99986918e-01 2.24937849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.520385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:380.92, Y:372.65, Z:22.50 [[ 8.20162354e-01 -5.72115150e-01 -4.23894339e-03 3.80920773e+02] [ 5.72107993e-01 8.20173305e-01 -2.86261631e-03 3.72647924e+02] [ 5.11441437e-03 -7.73232638e-05 9.99986918e-01 2.24959438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.550385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:380.94, Y:372.66, Z:22.50 [[ 8.20463535e-01 -5.71683152e-01 -4.23814297e-03 3.80943679e+02] [ 5.71675983e-01 8.20474478e-01 -2.86380085e-03 3.72662595e+02] [ 5.11447484e-03 -7.32003804e-05 9.99986918e-01 2.24955982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.580385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:380.97, Y:372.68, Z:22.50 [[ 8.21419358e-01 -5.70308934e-01 -4.23759843e-03 3.80967763e+02] [ 5.70301743e-01 8.21430287e-01 -2.86460640e-03 3.72677137e+02] [ 5.11460231e-03 -6.36666183e-05 9.99986918e-01 2.24962449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.610385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:380.99, Y:372.69, Z:22.50 [[ 8.22144605e-01 -5.69262943e-01 -4.23680743e-03 3.80991163e+02] [ 5.69255732e-01 8.22155520e-01 -2.86577582e-03 3.72692055e+02] [ 5.11469459e-03 -5.57447877e-05 9.99986918e-01 2.24966537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.640385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:381.01, Y:372.71, Z:22.50 [[ 8.23063406e-01 -5.67933698e-01 -4.23602046e-03 3.81013915e+02] [ 5.67926464e-01 8.23074305e-01 -2.86693861e-03 3.72706321e+02] [ 5.11479064e-03 -4.60758627e-05 9.99986918e-01 2.24969902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.670385723 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:381.04, Y:372.72, Z:22.50 [[ 8.25318633e-01 -5.64651409e-01 -4.23567924e-03 3.81038681e+02] [ 5.64644129e-01 8.25329501e-01 -2.86744264e-03 3.72719503e+02] [ 5.11493656e-03 -2.50975707e-05 9.99986918e-01 2.24953239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.700385723 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:381.06, Y:372.73, Z:22.50 [[ 8.26556179e-01 -5.62838298e-01 -4.23490355e-03 3.81061590e+02] [ 5.62830988e-01 8.26567027e-01 -2.86858779e-03 3.72733263e+02] [ 5.11498271e-03 -1.24859846e-05 9.99986918e-01 2.24966604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.730385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:381.09, Y:372.75, Z:22.50 [[ 8.29200392e-01 -5.58935398e-01 -4.23456655e-03 3.81087067e+02] [ 5.58928034e-01 8.29211204e-01 -2.86908519e-03 3.72746212e+02] [ 5.11498329e-03 1.22286037e-05 9.99986918e-01 2.24964508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.760385723 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:381.11, Y:372.76, Z:22.49 [[ 8.29892688e-01 -5.57906984e-01 -4.23375306e-03 3.81112006e+02] [ 5.57899601e-01 8.29903487e-01 -2.87028510e-03 3.72760719e+02] [ 5.11495853e-03 2.00194730e-05 9.99986918e-01 2.24946141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.790385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:381.13, Y:372.77, Z:22.50 [[ 8.31271452e-01 -5.55850502e-01 -4.24187472e-03 3.81134511e+02] [ 5.55843153e-01 8.31282274e-01 -2.85830769e-03 3.72774594e+02] [ 5.11498703e-03 1.82125664e-05 9.99986918e-01 2.24965607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.820385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:381.16, Y:372.79, Z:22.50 [[ 8.32061637e-01 -5.54667072e-01 -4.22740237e-03 3.81159048e+02] [ 5.54659600e-01 8.32072374e-01 -2.87962675e-03 3.72788204e+02] [ 5.11473886e-03 5.12576429e-05 9.99986918e-01 2.24958193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.8503857229999 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:381.18, Y:372.80, Z:22.49 [[ 8.32548811e-01 -5.53935530e-01 -4.23161160e-03 3.81183348e+02] [ 5.53928079e-01 8.32559563e-01 -2.87342911e-03 3.72801546e+02] [ 5.11476318e-03 4.82615004e-05 9.99986918e-01 2.24929082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.880385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:381.21, Y:372.81, Z:22.50 [[ 8.33134659e-01 -5.53054010e-01 -4.23111960e-03 3.81209239e+02] [ 5.53046545e-01 8.33145401e-01 -2.87415340e-03 3.72813053e+02] [ 5.11469990e-03 5.45507341e-05 9.99986918e-01 2.24967764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.910385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:381.23, Y:372.83, Z:22.50 [[ 8.33356399e-01 -5.52719835e-01 -4.23030578e-03 3.81232664e+02] [ 5.52712359e-01 8.33367134e-01 -2.87535071e-03 3.72825957e+02] [ 5.11466118e-03 5.80496276e-05 9.99986918e-01 2.24968865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.940385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:381.26, Y:372.84, Z:22.50 [[ 8.33005764e-01 -5.53248142e-01 -4.22975239e-03 3.81258252e+02] [ 5.53240669e-01 8.33016500e-01 -2.87616454e-03 3.72840458e+02] [ 5.11468622e-03 5.57905918e-05 9.99986918e-01 2.24962440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.9703857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:381.28, Y:372.85, Z:22.50 [[ 8.33072849e-01 -5.53147058e-01 -4.23798828e-03 3.81284101e+02] [ 5.53139645e-01 8.33083628e-01 -2.86405753e-03 3.72850447e+02] [ 5.11484365e-03 4.17692340e-05 9.99986918e-01 2.24960814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.000385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:381.31, Y:372.86, Z:22.50 [[ 8.32628505e-01 -5.53815761e-01 -4.22799632e-03 3.81309325e+02] [ 5.53808282e-01 8.32639238e-01 -2.87873273e-03 3.72863275e+02] [ 5.11468319e-03 5.54155560e-05 9.99986918e-01 2.24959412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.030385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:381.34, Y:372.87, Z:22.50 [[ 8.32474675e-01 -5.54046972e-01 -4.22718599e-03 3.81337132e+02] [ 5.54039490e-01 8.32485405e-01 -2.87992215e-03 3.72872867e+02] [ 5.11468279e-03 5.54342860e-05 9.99986918e-01 2.24955705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.060385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:381.36, Y:372.88, Z:22.50 [[ 8.32588711e-01 -5.53875596e-01 -4.22637363e-03 3.81361969e+02] [ 5.53868105e-01 8.32599436e-01 -2.88111382e-03 3.72884936e+02] [ 5.11465493e-03 5.79292851e-05 9.99986918e-01 2.24956492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.0903857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:381.39, Y:372.89, Z:22.50 [[ 8.33390750e-01 -5.52668073e-01 -4.22602190e-03 3.81389587e+02] [ 5.52660564e-01 8.33401462e-01 -2.88162964e-03 3.72893725e+02] [ 5.11455753e-03 6.59678354e-05 9.99986918e-01 2.24956637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.120385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:381.41, Y:372.91, Z:22.50 [[ 8.33828505e-01 -5.52007402e-01 -4.22523675e-03 3.81414774e+02] [ 5.51999879e-01 8.33839207e-01 -2.88278042e-03 3.72906313e+02] [ 5.11448419e-03 7.14143104e-05 9.99986918e-01 2.24960423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.150385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:381.44, Y:372.92, Z:22.50 [[ 8.34203297e-01 -5.51440853e-01 -4.22441249e-03 3.81439165e+02] [ 5.51433316e-01 8.34213990e-01 -2.88398779e-03 3.72918298e+02] [ 5.11441268e-03 7.63503322e-05 9.99986918e-01 2.24958295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.180385723 meters Centerline goodness : 0.999896 Centerline is valid? [True, True] Translation: X:381.47, Y:372.93, Z:22.49 [[ 8.34352689e-01 -5.51214794e-01 -4.22385268e-03 3.81467469e+02] [ 5.51207251e-01 8.34363377e-01 -2.88480744e-03 3.72926794e+02] [ 5.11437652e-03 7.87286258e-05 9.99986918e-01 2.24940550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.210385723 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:381.49, Y:372.94, Z:22.50 [[ 8.34164637e-01 -5.51499342e-01 -4.22302825e-03 3.81492661e+02] [ 5.51491796e-01 8.34175323e-01 -2.88601381e-03 3.72938998e+02] [ 5.11438067e-03 7.84452315e-05 9.99986918e-01 2.24953641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.240385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:381.52, Y:372.95, Z:22.50 [[ 8.33583733e-01 -5.52376984e-01 -4.22220029e-03 3.81519814e+02] [ 5.52369443e-01 8.33594423e-01 -2.88722460e-03 3.72947661e+02] [ 5.11443903e-03 7.45290382e-05 9.99986918e-01 2.24953376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.270385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:381.55, Y:372.96, Z:22.50 [[ 8.32827727e-01 -5.53516173e-01 -4.22184145e-03 3.81545550e+02] [ 5.53508644e-01 8.32838425e-01 -2.88774921e-03 3.72960292e+02] [ 5.11452767e-03 6.81718724e-05 9.99986918e-01 2.24950794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.300385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:381.57, Y:372.97, Z:22.50 [[ 8.31992063e-01 -5.54771475e-01 -4.22102549e-03 3.81569808e+02] [ 5.54763957e-01 8.32002768e-01 -2.88894140e-03 3.72971880e+02] [ 5.11460718e-03 6.19035146e-05 9.99986918e-01 2.24951634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.330385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:381.60, Y:372.98, Z:22.50 [[ 8.30088678e-01 -5.57615435e-01 -4.22067234e-03 3.81597887e+02] [ 5.57607950e-01 8.30099407e-01 -2.88945726e-03 3.72980387e+02] [ 5.11478357e-03 4.50253035e-05 9.99986918e-01 2.24961206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.360385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:381.62, Y:372.99, Z:22.50 [[ 8.28880944e-01 -5.59409130e-01 -4.21985530e-03 3.81623936e+02] [ 5.59401662e-01 8.28891684e-01 -2.89065000e-03 3.72992556e+02] [ 5.11485897e-03 3.54106368e-05 9.99986918e-01 2.24979390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.390385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:381.65, Y:373.00, Z:22.50 [[ 8.27590087e-01 -5.61317013e-01 -4.22612992e-03 3.81651913e+02] [ 5.61309617e-01 8.27600877e-01 -2.88149171e-03 3.73000824e+02] [ 5.11497915e-03 1.25266028e-05 9.99986918e-01 2.24974855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.420385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:381.68, Y:373.01, Z:22.50 [[ 8.26970476e-01 -5.62229520e-01 -4.21883095e-03 3.81675996e+02] [ 5.62222081e-01 8.26981237e-01 -2.89213889e-03 3.73012669e+02] [ 5.11493990e-03 1.97935536e-05 9.99986918e-01 2.24975648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.450385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:381.70, Y:373.03, Z:22.50 [[ 8.26242794e-01 -5.63298366e-01 -4.21847914e-03 3.81701139e+02] [ 5.63290939e-01 8.26253563e-01 -2.89265195e-03 3.73025469e+02] [ 5.11495954e-03 1.38017504e-05 9.99986918e-01 2.24971317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.480385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:381.73, Y:373.03, Z:22.50 [[ 8.25648711e-01 -5.64168785e-01 -4.21767229e-03 3.81728728e+02] [ 5.64161363e-01 8.25659483e-01 -2.89382792e-03 3.73034975e+02] [ 5.11496850e-03 9.83753984e-06 9.99986918e-01 2.24964717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.510385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:381.75, Y:373.05, Z:22.50 [[ 8.25409971e-01 -5.64518022e-01 -4.21686403e-03 3.81753919e+02] [ 5.64510599e-01 8.25420743e-01 -2.89500523e-03 3.73047214e+02] [ 5.11496966e-03 9.10174056e-06 9.99986918e-01 2.24966142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.540385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:381.78, Y:373.06, Z:22.50 [[ 8.25704708e-01 -5.64086838e-01 -4.21605150e-03 3.81781453e+02] [ 5.64079403e-01 8.25715471e-01 -2.89618804e-03 3.73056772e+02] [ 5.11496051e-03 1.32082801e-05 9.99986918e-01 2.24969399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.570385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:381.81, Y:373.07, Z:22.50 [[ 8.25924749e-01 -5.63764615e-01 -4.21522423e-03 3.81806746e+02] [ 5.63757169e-01 8.25935505e-01 -2.89739158e-03 3.73069741e+02] [ 5.11495020e-03 1.66645274e-05 9.99986918e-01 2.24973404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.6003857229999 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:381.83, Y:373.08, Z:22.50 [[ 8.26262935e-01 -5.63268853e-01 -4.21440111e-03 3.81830654e+02] [ 5.63261395e-01 8.26273683e-01 -2.89858835e-03 3.73081851e+02] [ 5.11493327e-03 2.11866698e-05 9.99986918e-01 2.24971536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.630385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:381.86, Y:373.09, Z:22.50 [[ 8.26739422e-01 -5.62569258e-01 -4.21404455e-03 3.81859051e+02] [ 5.62561789e-01 8.26750161e-01 -2.89910664e-03 3.73092054e+02] [ 5.11491028e-03 2.61453106e-05 9.99986918e-01 2.24980877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.660385723 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:381.88, Y:373.10, Z:22.50 [[ 8.26846370e-01 -5.62412036e-01 -4.21703672e-03 3.81883128e+02] [ 5.62404586e-01 8.26857123e-01 -2.89475883e-03 3.73104032e+02] [ 5.11493406e-03 2.18400363e-05 9.99986918e-01 2.24980693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.690385723 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:381.91, Y:373.11, Z:22.50 [[ 8.26293327e-01 -5.63224280e-01 -4.21290665e-03 3.81910742e+02] [ 5.63216811e-01 8.26304066e-01 -2.90075713e-03 3.73113085e+02] [ 5.11491874e-03 2.40964086e-05 9.99986918e-01 2.24991634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.7203857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:381.94, Y:373.13, Z:22.50 [[ 8.25771259e-01 -5.63989438e-01 -4.21210693e-03 3.81935360e+02] [ 5.63981973e-01 8.25782001e-01 -2.90191792e-03 3.73125342e+02] [ 5.11493315e-03 2.07680370e-05 9.99986918e-01 2.25000307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.750385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:381.96, Y:373.13, Z:22.50 [[ 8.24643352e-01 -5.65637343e-01 -4.21176051e-03 3.81962366e+02] [ 5.65629896e-01 8.24654107e-01 -2.90242062e-03 3.73134771e+02] [ 5.11496309e-03 1.11642041e-05 9.99986918e-01 2.25009166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.780385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:381.99, Y:373.15, Z:22.50 [[ 8.24214162e-01 -5.66262556e-01 -4.21097481e-03 3.81986535e+02] [ 5.66255112e-01 8.24224919e-01 -2.90356010e-03 3.73147456e+02] [ 5.11496774e-03 8.66934453e-06 9.99986918e-01 2.25010745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.810385723 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:382.01, Y:373.16, Z:22.50 [[ 8.23709121e-01 -5.66996962e-01 -4.21063413e-03 3.82011519e+02] [ 5.66989524e-01 8.23719883e-01 -2.90405405e-03 3.73161200e+02] [ 5.11497288e-03 4.71036540e-06 9.99986918e-01 2.25007895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.8403857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:382.04, Y:373.17, Z:22.50 [[ 8.23681704e-01 -5.67036796e-01 -4.20984307e-03 3.82037442e+02] [ 5.67029354e-01 8.23692462e-01 -2.90520037e-03 3.73172939e+02] [ 5.11497151e-03 5.85579170e-06 9.99986918e-01 2.25005185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.870385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:382.06, Y:373.19, Z:22.50 [[ 8.23774987e-01 -5.66901275e-01 -4.20902926e-03 3.82062238e+02] [ 5.66893825e-01 8.23785740e-01 -2.90637892e-03 3.73187132e+02] [ 5.11496820e-03 8.12955733e-06 9.99986918e-01 2.25003830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.900385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:382.09, Y:373.20, Z:22.50 [[ 8.23970380e-01 -5.66617246e-01 -4.20822054e-03 3.82087383e+02] [ 5.66609786e-01 8.23981126e-01 -2.90754942e-03 3.73199299e+02] [ 5.11496194e-03 1.13156598e-05 9.99986918e-01 2.25003110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.930385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:382.11, Y:373.21, Z:22.50 [[ 8.24029785e-01 -5.66530857e-01 -4.20741769e-03 3.82112209e+02] [ 5.66523390e-01 8.24040526e-01 -2.90871073e-03 3.73213588e+02] [ 5.11495707e-03 1.32637366e-05 9.99986918e-01 2.25000960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.960385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:382.14, Y:373.23, Z:22.50 [[ 8.24109427e-01 -5.66415004e-01 -4.20661453e-03 3.82136493e+02] [ 5.66407530e-01 8.24120163e-01 -2.90987181e-03 3.73227273e+02] [ 5.11495090e-03 1.53946472e-05 9.99986918e-01 2.25000633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.990385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:382.16, Y:373.24, Z:22.50 [[ 8.23954029e-01 -5.66641041e-01 -4.20581688e-03 3.82159962e+02] [ 5.66633564e-01 8.23964763e-01 -2.91102425e-03 3.73243595e+02] [ 5.11495072e-03 1.53931474e-05 9.99986918e-01 2.25002090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.020385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:382.19, Y:373.26, Z:22.50 [[ 8.24682202e-01 -5.65580749e-01 -4.20501806e-03 3.82185831e+02] [ 5.65573252e-01 8.24692922e-01 -2.91217769e-03 3.73255310e+02] [ 5.11492027e-03 2.33753742e-05 9.99986918e-01 2.24992392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.050385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:382.21, Y:373.27, Z:22.50 [[ 8.23305393e-01 -5.67583082e-01 -4.20421788e-03 3.82205746e+02] [ 5.67575605e-01 8.23316127e-01 -2.91333244e-03 3.73270233e+02] [ 5.11495858e-03 1.23508000e-05 9.99986918e-01 2.24958118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.080385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:382.23, Y:373.28, Z:22.49 [[ 8.24012945e-01 -5.66555561e-01 -4.17890725e-03 3.82230163e+02] [ 5.66547885e-01 8.24023539e-01 -2.94984349e-03 3.73283007e+02] [ 5.11476817e-03 6.31581531e-05 9.99986918e-01 2.24937193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.110385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:382.26, Y:373.30, Z:22.49 [[ 8.23870275e-01 -5.66763082e-01 -4.16871416e-03 3.82255646e+02] [ 5.66755335e-01 8.23880818e-01 -2.96453542e-03 3.73297697e+02] [ 5.11471286e-03 7.97516252e-05 9.99986917e-01 2.24932858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.140385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:382.28, Y:373.31, Z:22.49 [[ 8.24499630e-01 -5.65847077e-01 -4.17678949e-03 3.82278887e+02] [ 5.65839376e-01 8.24510207e-01 -2.95289182e-03 3.73310453e+02] [ 5.11469077e-03 7.12662551e-05 9.99986917e-01 2.24940897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.170385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:382.31, Y:373.32, Z:22.50 [[ 8.26987661e-01 -5.62204639e-01 -4.16573948e-03 3.82311602e+02] [ 5.62196811e-01 8.26998145e-01 -2.96881390e-03 3.73320664e+02] [ 5.11413976e-03 1.13207012e-04 9.99986916e-01 2.24979462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.200385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:382.33, Y:373.33, Z:22.50 [[ 8.24480810e-01 -5.65874305e-01 -4.20292994e-03 3.82331702e+02] [ 5.65866796e-01 8.24491522e-01 -2.91519524e-03 3.73334208e+02] [ 5.11491419e-03 2.52240364e-05 9.99986918e-01 2.24955943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.230385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:382.36, Y:373.35, Z:22.50 [[ 8.23781846e-01 -5.66891626e-01 -4.16590332e-03 3.82355535e+02] [ 5.66883860e-01 8.23792375e-01 -2.96853747e-03 3.73348704e+02] [ 5.11467842e-03 8.38439216e-05 9.99986916e-01 2.24951306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.260385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:382.38, Y:373.36, Z:22.50 [[ 8.23674487e-01 -5.67047661e-01 -4.15814091e-03 3.82381084e+02] [ 5.67039840e-01 8.23684977e-01 -2.97971650e-03 3.73362390e+02] [ 5.11463947e-03 9.64849046e-05 9.99986916e-01 2.24956180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.290385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:382.41, Y:373.38, Z:22.50 [[ 8.23320913e-01 -5.67560848e-01 -4.16631545e-03 3.82405895e+02] [ 5.67553093e-01 8.23331451e-01 -2.96794081e-03 3.73375967e+02] [ 5.11474555e-03 7.89625167e-05 9.99986917e-01 2.24956602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.320385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:382.44, Y:373.39, Z:22.50 [[ 8.25609622e-01 -5.64226391e-01 -4.16311264e-03 3.82437291e+02] [ 5.64218571e-01 8.25620111e-01 -2.97255389e-03 3.73388390e+02] [ 5.11434288e-03 1.05263625e-04 9.99986916e-01 2.24997769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.3503857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:382.45, Y:373.41, Z:22.50 [[ 8.23491033e-01 -5.67313720e-01 -4.20262866e-03 3.82452921e+02] [ 5.67306228e-01 8.23501757e-01 -2.91559429e-03 3.73407068e+02] [ 5.11492873e-03 1.67883426e-05 9.99986919e-01 2.24956831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.380385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:382.48, Y:373.42, Z:22.50 [[ 8.26044776e-01 -5.63589126e-01 -4.16243522e-03 3.82482752e+02] [ 5.63581292e-01 8.26055256e-01 -2.97347259e-03 3.73422795e+02] [ 5.11421830e-03 1.10350882e-04 9.99986916e-01 2.24977429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.410385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:382.50, Y:373.44, Z:22.50 [[ 8.25850517e-01 -5.63873448e-01 -4.20214500e-03 3.82504678e+02] [ 5.63865908e-01 8.25861207e-01 -2.91625321e-03 3.73439777e+02] [ 5.11478629e-03 3.89429193e-05 9.99986919e-01 2.24981195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.440385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:382.52, Y:373.46, Z:22.49 [[ 8.23593238e-01 -5.67165343e-01 -4.20134398e-03 3.82522452e+02] [ 5.67157840e-01 8.23603954e-01 -2.91740676e-03 3.73458343e+02] [ 5.11489552e-03 1.99313058e-05 9.99986919e-01 2.24947939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.4703857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:382.55, Y:373.47, Z:22.50 [[ 8.25117609e-01 -5.64945602e-01 -4.17118655e-03 3.82550144e+02] [ 5.64937850e-01 8.25128147e-01 -2.96079365e-03 3.73473859e+02] [ 5.11445078e-03 8.65418114e-05 9.99986917e-01 2.24983010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.500385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:382.57, Y:373.49, Z:22.50 [[ 8.24296946e-01 -5.66142119e-01 -4.20066384e-03 3.82572497e+02] [ 5.66134598e-01 8.24307649e-01 -2.91836434e-03 3.73490506e+02] [ 5.11484831e-03 2.74576775e-05 9.99986919e-01 2.24989979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.530385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:382.59, Y:373.51, Z:22.50 [[ 8.23694851e-01 -5.67017772e-01 -4.19986091e-03 3.82594960e+02] [ 5.67010256e-01 8.23705558e-01 -2.91951940e-03 3.73507092e+02] [ 5.11486816e-03 2.34288893e-05 9.99986919e-01 2.24989745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.560385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:382.62, Y:373.52, Z:22.50 [[ 8.23084591e-01 -5.67903270e-01 -4.19905068e-03 3.82616578e+02] [ 5.67895760e-01 8.23095302e-01 -2.92068426e-03 3.73522986e+02] [ 5.11488503e-03 1.93471315e-05 9.99986919e-01 2.24982743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.5903857229999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:382.64, Y:373.54, Z:22.50 [[ 8.20701604e-01 -5.71341621e-01 -4.19869899e-03 3.82635973e+02] [ 5.71334153e-01 8.20712344e-01 -2.92118975e-03 3.73540468e+02] [ 5.11492138e-03 -1.43501851e-06 9.99986919e-01 2.24964419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.620385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:382.66, Y:373.56, Z:22.50 [[ 8.19529106e-01 -5.73022351e-01 -4.17494372e-03 3.82659548e+02] [ 5.73014731e-01 8.19539739e-01 -2.95530873e-03 3.73556883e+02] [ 5.11499024e-03 2.96572730e-05 9.99986918e-01 2.24966901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.650385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:382.68, Y:373.57, Z:22.49 [[ 8.18258427e-01 -5.74835360e-01 -4.17808700e-03 3.82681411e+02] [ 5.74827786e-01 8.18269093e-01 -2.95079515e-03 3.73573559e+02] [ 5.11502085e-03 1.28324935e-05 9.99986918e-01 2.24945778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.680385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:382.70, Y:373.59, Z:22.49 [[ 8.16990137e-01 -5.76636557e-01 -4.17095330e-03 3.82703799e+02] [ 5.76628955e-01 8.17000784e-01 -2.96103410e-03 3.73589869e+02] [ 5.11511262e-03 1.40432167e-05 9.99986918e-01 2.24932682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.710385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:382.73, Y:373.60, Z:22.50 [[ 8.19191603e-01 -5.73504828e-01 -4.16297095e-03 3.82732858e+02] [ 5.73497126e-01 8.19202179e-01 -2.97248621e-03 3.73604562e+02] [ 5.11505007e-03 4.75838628e-05 9.99986917e-01 2.24980015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.740385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:382.76, Y:373.62, Z:22.50 [[ 8.18653189e-01 -5.74272881e-01 -4.19699498e-03 3.82755543e+02] [ 5.74265439e-01 8.18663947e-01 -2.92364352e-03 3.73620696e+02] [ 5.11489766e-03 -1.67390685e-05 9.99986919e-01 2.24982107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.770385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:382.78, Y:373.64, Z:22.50 [[ 8.18230985e-01 -5.74874288e-01 -4.19618204e-03 3.82778731e+02] [ 5.74866848e-01 8.18241745e-01 -2.92480982e-03 3.73636505e+02] [ 5.11488928e-03 -1.90759226e-05 9.99986919e-01 2.24984419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.800385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:382.80, Y:373.65, Z:22.50 [[ 8.18313029e-01 -5.74757498e-01 -4.19593050e-03 3.82801532e+02] [ 5.74750055e-01 8.18323786e-01 -2.92517064e-03 3.73652018e+02] [ 5.11489349e-03 -1.79060415e-05 9.99986919e-01 2.24986160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.830385723 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:382.82, Y:373.67, Z:22.49 [[ 8.18816651e-01 -5.74039796e-01 -4.19568187e-03 3.82823822e+02] [ 5.74032342e-01 8.18827401e-01 -2.92552722e-03 3.73666494e+02] [ 5.11490833e-03 -1.29866902e-05 9.99986919e-01 2.24947865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.860385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:382.85, Y:373.68, Z:22.50 [[ 8.18495083e-01 -5.74498321e-01 -4.18066309e-03 3.82848395e+02] [ 5.74490762e-01 8.18505760e-01 -2.94705373e-03 3.73683468e+02] [ 5.11497424e-03 1.03966614e-05 9.99986918e-01 2.25000391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.890385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:382.87, Y:373.70, Z:22.50 [[ 8.18395210e-01 -5.74640483e-01 -4.19458422e-03 3.82870954e+02] [ 5.74633029e-01 8.18405960e-01 -2.92710454e-03 3.73697622e+02] [ 5.11490549e-03 -1.48182939e-05 9.99986919e-01 2.25009845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.920385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:382.89, Y:373.71, Z:22.50 [[ 8.18028027e-01 -5.75163069e-01 -4.19424004e-03 3.82892945e+02] [ 5.75155619e-01 8.18038779e-01 -2.92759764e-03 3.73712782e+02] [ 5.11489704e-03 -1.74838027e-05 9.99986919e-01 2.25005158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.950385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:382.91, Y:373.73, Z:22.50 [[ 8.15939184e-01 -5.78122531e-01 -4.19370147e-03 3.82911979e+02] [ 5.78115116e-01 8.15949960e-01 -2.92836892e-03 3.73730512e+02] [ 5.11480660e-03 -3.50712636e-05 9.99986919e-01 2.24989214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.980385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:382.94, Y:373.74, Z:22.50 [[ 8.17751803e-01 -5.75555906e-01 -4.16976741e-03 3.82939530e+02] [ 5.75548282e-01 8.17762434e-01 -2.96262259e-03 3.73744641e+02] [ 5.11503408e-03 2.27874992e-05 9.99986918e-01 2.25012280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.010385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:382.96, Y:373.76, Z:22.50 [[ 8.15960595e-01 -5.78092314e-01 -4.19338879e-03 3.82959202e+02] [ 5.78084895e-01 8.15971370e-01 -2.92880207e-03 3.73761980e+02] [ 5.11480316e-03 -3.43476449e-05 9.99986919e-01 2.25004831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.040385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:382.98, Y:373.78, Z:22.50 [[ 8.16925571e-01 -5.76728012e-01 -4.17282159e-03 3.82984944e+02] [ 5.76720425e-01 8.16936228e-01 -2.95822185e-03 3.73777365e+02] [ 5.11501854e-03 1.00956281e-05 9.99986918e-01 2.25023206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.070385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:383.00, Y:373.80, Z:22.50 [[ 8.14493587e-01 -5.80157410e-01 -4.19238785e-03 3.83002391e+02] [ 5.80150012e-01 8.14504376e-01 -2.93022767e-03 3.73795225e+02] [ 5.11471154e-03 -4.55622131e-05 9.99986919e-01 2.24983041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.1003857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:383.03, Y:373.81, Z:22.50 [[ 8.14611308e-01 -5.79992314e-01 -4.16329037e-03 3.83025339e+02] [ 5.79984701e-01 8.14621946e-01 -2.97181852e-03 3.73810676e+02] [ 5.11513961e-03 6.23224991e-06 9.99986918e-01 2.25003576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.130385723 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:383.05, Y:373.83, Z:22.50 [[ 8.14237777e-01 -5.80516550e-01 -4.16871744e-03 3.83048199e+02] [ 5.80508983e-01 8.14248448e-01 -2.96406267e-03 3.73826965e+02] [ 5.11505914e-03 -6.52612181e-06 9.99986918e-01 2.24995960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.160385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:383.07, Y:373.84, Z:22.50 [[ 8.15500830e-01 -5.78740876e-01 -4.17076212e-03 3.83073810e+02] [ 5.78733301e-01 8.15511495e-01 -2.96114233e-03 3.73842130e+02] [ 5.11503856e-03 1.05510448e-06 9.99986918e-01 2.25000732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.190385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:383.10, Y:373.86, Z:22.50 [[ 8.14945832e-01 -5.79521986e-01 -4.19034117e-03 3.83096291e+02] [ 5.79514564e-01 8.14956604e-01 -2.93317163e-03 3.73860286e+02] [ 5.11478365e-03 -3.79877455e-05 9.99986919e-01 2.25001779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.2203857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:383.12, Y:373.88, Z:22.50 [[ 8.13441898e-01 -5.81631090e-01 -4.18962872e-03 3.83116146e+02] [ 5.81623691e-01 8.13452686e-01 -2.93418890e-03 3.73877919e+02] [ 5.11468023e-03 -4.99951284e-05 9.99986919e-01 2.25001902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.250385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:383.14, Y:373.90, Z:22.50 [[ 8.12457009e-01 -5.83006163e-01 -4.17403023e-03 3.83138623e+02] [ 5.82998667e-01 8.12467731e-01 -2.95645073e-03 3.73895535e+02] [ 5.11489386e-03 -3.14649468e-05 9.99986918e-01 2.25009481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.280385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:383.16, Y:373.91, Z:22.50 [[ 8.11729140e-01 -5.84019142e-01 -4.17673324e-03 3.83160812e+02] [ 5.84011679e-01 8.11739885e-01 -2.95259219e-03 3.73912422e+02] [ 5.11479131e-03 -4.25558725e-05 9.99986918e-01 2.25021562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.310385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:383.18, Y:373.93, Z:22.50 [[ 8.10086412e-01 -5.86295652e-01 -4.17289766e-03 3.83180617e+02] [ 5.86288192e-01 8.10097158e-01 -2.95806573e-03 3.73929029e+02] [ 5.11475361e-03 -5.02317744e-05 9.99986918e-01 2.24998770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.3403857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:383.20, Y:373.95, Z:22.50 [[ 8.09708792e-01 -5.86817146e-01 -4.16045536e-03 3.83203974e+02] [ 5.86809602e-01 8.09719480e-01 -2.97580043e-03 3.73945740e+02] [ 5.11505246e-03 -3.18633810e-05 9.99986918e-01 2.25022152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.370385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:383.22, Y:373.96, Z:22.50 [[ 8.10408838e-01 -5.85849938e-01 -4.16726369e-03 3.83223946e+02] [ 5.85842431e-01 8.10419551e-01 -2.96609745e-03 3.73960673e+02] [ 5.11491997e-03 -3.76083034e-05 9.99986918e-01 2.25024473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.400385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:383.25, Y:373.98, Z:22.50 [[ 8.09686461e-01 -5.86848058e-01 -4.14615822e-03 3.83249288e+02] [ 5.86840410e-01 8.09697077e-01 -2.99618205e-03 3.73979565e+02] [ 5.11543581e-03 -7.16514120e-06 9.99986916e-01 2.25043360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.430385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:383.27, Y:374.00, Z:22.51 [[ 8.10224838e-01 -5.86104355e-01 -4.17100788e-03 3.83273097e+02] [ 5.86096878e-01 8.10235573e-01 -2.96073279e-03 3.73996367e+02] [ 5.11479734e-03 -4.57554479e-05 9.99986918e-01 2.25061537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.460385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:383.30, Y:374.01, Z:22.51 [[ 8.12334108e-01 -5.83177394e-01 -4.17415314e-03 3.83297213e+02] [ 5.83169902e-01 8.12344832e-01 -2.95624724e-03 3.74012866e+02] [ 5.11486830e-03 -3.27800121e-05 9.99986918e-01 2.25059015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.490385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:383.32, Y:374.03, Z:22.51 [[ 8.12559096e-01 -5.82863773e-01 -4.18788594e-03 3.83319081e+02] [ 5.82856377e-01 8.12569886e-01 -2.93666332e-03 3.74030507e+02] [ 5.11462466e-03 -5.47235321e-05 9.99986919e-01 2.25068514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.520385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:383.34, Y:374.05, Z:22.51 [[ 8.14173354e-01 -5.80606788e-01 -4.18422370e-03 3.83342550e+02] [ 5.80599335e-01 8.14184105e-01 -2.94188403e-03 3.74047748e+02] [ 5.11480627e-03 -3.41539125e-05 9.99986919e-01 2.25075585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.550385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:383.36, Y:374.06, Z:22.51 [[ 8.14832683e-01 -5.79681068e-01 -4.19024146e-03 3.83364131e+02] [ 5.79673648e-01 8.14843456e-01 -2.93330707e-03 3.74063821e+02] [ 5.11477341e-03 -3.88180796e-05 9.99986919e-01 2.25078597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.580385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:383.39, Y:374.08, Z:22.51 [[ 8.15198152e-01 -5.79167028e-01 -4.18650425e-03 3.83387522e+02] [ 5.79159573e-01 8.15208902e-01 -2.93863127e-03 3.74080457e+02] [ 5.11483386e-03 -2.90872352e-05 9.99986919e-01 2.25080213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.610385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:383.41, Y:374.10, Z:22.51 [[ 8.15702125e-01 -5.78456972e-01 -4.19230639e-03 3.83409046e+02] [ 5.78449551e-01 8.15712897e-01 -2.93036683e-03 3.74096518e+02] [ 5.11480951e-03 -3.47312992e-05 9.99986919e-01 2.25077589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.640385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:383.43, Y:374.11, Z:22.51 [[ 8.15456349e-01 -5.78803442e-01 -4.18563123e-03 3.83432436e+02] [ 5.78795976e-01 8.15467090e-01 -2.93987057e-03 3.74113294e+02] [ 5.11485172e-03 -2.52903980e-05 9.99986919e-01 2.25083269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.670385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:383.46, Y:374.13, Z:22.51 [[ 8.15219776e-01 -5.79136575e-01 -4.18854712e-03 3.83455360e+02] [ 5.79129135e-01 8.15230536e-01 -2.93572109e-03 3.74130935e+02] [ 5.11481497e-03 -3.24517792e-05 9.99986919e-01 2.25096162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.700385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:383.48, Y:374.15, Z:22.51 [[ 8.14612656e-01 -5.79990236e-01 -4.18893626e-03 3.83477089e+02] [ 5.79982811e-01 8.14623425e-01 -2.93516743e-03 3.74147479e+02] [ 5.11477405e-03 -3.84864837e-05 9.99986919e-01 2.25092400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.730385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:383.50, Y:374.16, Z:22.51 [[ 8.14613902e-01 -5.79988527e-01 -4.18320247e-03 3.83500167e+02] [ 5.79981059e-01 8.14624642e-01 -2.94332278e-03 3.74163669e+02] [ 5.11483326e-03 -2.85065440e-05 9.99986919e-01 2.25076066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.760385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:383.52, Y:374.18, Z:22.51 [[ 8.13594471e-01 -5.81417691e-01 -4.18394805e-03 3.83523044e+02] [ 5.81410247e-01 8.13605228e-01 -2.94226256e-03 3.74179694e+02] [ 5.11476551e-03 -3.87817212e-05 9.99986919e-01 2.25095432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.790385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:383.55, Y:374.20, Z:22.51 [[ 8.13598691e-01 -5.81411791e-01 -4.18314047e-03 3.83548147e+02] [ 5.81404342e-01 8.13609444e-01 -2.94341028e-03 3.74195488e+02] [ 5.11477604e-03 -3.73412822e-05 9.99986919e-01 2.25099024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.820385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:383.57, Y:374.21, Z:22.51 [[ 8.13484224e-01 -5.81571847e-01 -4.19569422e-03 3.83572140e+02] [ 5.81564491e-01 8.13495042e-01 -2.92557842e-03 3.74212452e+02] [ 5.11461049e-03 -6.01548856e-05 9.99986919e-01 2.25110081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.8503857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:383.60, Y:374.23, Z:22.51 [[ 8.12951845e-01 -5.82315764e-01 -4.20093943e-03 3.83595449e+02] [ 5.82308457e-01 8.12962696e-01 -2.91813225e-03 3.74230348e+02] [ 5.11448146e-03 -7.39415594e-05 9.99986918e-01 2.25114226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.880385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:383.62, Y:374.25, Z:22.51 [[ 8.12721242e-01 -5.82637583e-01 -4.19875726e-03 3.83618806e+02] [ 5.82630264e-01 8.12732085e-01 -2.92122778e-03 3.74246915e+02] [ 5.11448183e-03 -7.21791833e-05 9.99986918e-01 2.25115675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.910385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:383.64, Y:374.26, Z:22.51 [[ 8.13182930e-01 -5.81993042e-01 -4.19792829e-03 3.83642348e+02] [ 5.81985708e-01 8.13193762e-01 -2.92240287e-03 3.74262739e+02] [ 5.11454724e-03 -6.66861378e-05 9.99986918e-01 2.25120503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.940385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:383.66, Y:374.28, Z:22.51 [[ 8.12378237e-01 -5.83115728e-01 -4.20083773e-03 3.83661947e+02] [ 5.83108431e-01 8.12389095e-01 -2.91828013e-03 3.74278862e+02] [ 5.11440981e-03 -7.87966255e-05 9.99986918e-01 2.25113408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.9703857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:383.68, Y:374.30, Z:22.51 [[ 8.12211960e-01 -5.83347477e-01 -4.17774928e-03 3.83684819e+02] [ 5.83340014e-01 8.12222703e-01 -2.95096697e-03 3.74295003e+02] [ 5.11470195e-03 -4.02376588e-05 9.99986919e-01 2.25126078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.000385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:383.71, Y:374.31, Z:22.51 [[ 8.12214861e-01 -5.83343443e-01 -4.17693718e-03 3.83709016e+02] [ 5.83335974e-01 8.12225601e-01 -2.95211600e-03 3.74312061e+02] [ 5.11471283e-03 -3.88052310e-05 9.99986919e-01 2.25135557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.030385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:383.73, Y:374.33, Z:22.51 [[ 8.12364174e-01 -5.83135410e-01 -4.18836973e-03 3.83731258e+02] [ 5.83128022e-01 8.12374969e-01 -2.93594172e-03 3.74328118e+02] [ 5.11457831e-03 -5.73018802e-05 9.99986919e-01 2.25131553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.060385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:383.75, Y:374.35, Z:22.51 [[ 8.12323588e-01 -5.83191945e-01 -4.18854899e-03 3.83753884e+02] [ 5.83184559e-01 8.12334384e-01 -2.93568831e-03 3.74346156e+02] [ 5.11457214e-03 -5.79682367e-05 9.99986919e-01 2.25141688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.0903857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:383.78, Y:374.36, Z:22.51 [[ 8.12222923e-01 -5.83332131e-01 -4.18909266e-03 3.83775705e+02] [ 5.83324751e-01 8.12233723e-01 -2.93491993e-03 3.74362474e+02] [ 5.11455542e-03 -5.97921871e-05 9.99986919e-01 2.25133300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.120385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:383.80, Y:374.38, Z:22.51 [[ 8.11875307e-01 -5.83815866e-01 -4.18581213e-03 3.83798561e+02] [ 5.83808469e-01 8.11886095e-01 -2.93955377e-03 3.74379245e+02] [ 5.11456079e-03 -5.71614478e-05 9.99986919e-01 2.25138394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.150385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:383.82, Y:374.40, Z:22.51 [[ 8.11594804e-01 -5.84205754e-01 -4.18470987e-03 3.83822554e+02] [ 5.84198353e-01 8.11605590e-01 -2.94110937e-03 3.74396043e+02] [ 5.11454694e-03 -5.77115326e-05 9.99986919e-01 2.25134154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.180385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:383.84, Y:374.41, Z:22.51 [[ 8.11241994e-01 -5.84695569e-01 -4.18542746e-03 3.83844960e+02] [ 5.84688181e-01 8.11252789e-01 -2.94009694e-03 3.74411790e+02] [ 5.11450135e-03 -6.20398575e-05 9.99986919e-01 2.25134998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.210385723 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:383.87, Y:374.43, Z:22.51 [[ 8.11781478e-01 -5.83946348e-01 -4.18271380e-03 3.83872459e+02] [ 5.83938929e-01 8.11792252e-01 -2.94392814e-03 3.74428909e+02] [ 5.11459074e-03 -5.26230833e-05 9.99986919e-01 2.25111644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.240385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:383.89, Y:374.45, Z:22.51 [[ 8.11224915e-01 -5.84719093e-01 -4.20958334e-03 3.83889013e+02] [ 5.84711881e-01 8.11235830e-01 -2.90598888e-03 3.74446135e+02] [ 5.11415202e-03 -1.03982812e-04 9.99986917e-01 2.25141161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.270385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:383.91, Y:374.46, Z:22.51 [[ 8.11630350e-01 -5.84156457e-01 -4.17224384e-03 3.83911094e+02] [ 5.84148966e-01 8.11641073e-01 -2.95864460e-03 3.74464242e+02] [ 5.11467582e-03 -3.58861679e-05 9.99986919e-01 2.25136010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.300385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:383.94, Y:374.48, Z:22.51 [[ 8.11111974e-01 -5.84876025e-01 -4.17142836e-03 3.83935189e+02] [ 5.84868538e-01 8.11122699e-01 -2.95979391e-03 3.74481411e+02] [ 5.11465273e-03 -3.90129286e-05 9.99986919e-01 2.25133102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.330385723 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:383.96, Y:374.50, Z:22.52 [[ 8.10523434e-01 -5.85691285e-01 -4.18106987e-03 3.83958136e+02] [ 5.85683878e-01 8.10534216e-01 -2.94621169e-03 3.74498170e+02] [ 5.11447070e-03 -6.08115940e-05 9.99986919e-01 2.25156805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.360385723 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:383.98, Y:374.52, Z:22.51 [[ 8.09177811e-01 -5.87549010e-01 -4.17518753e-03 3.83980583e+02] [ 5.87541585e-01 8.09188580e-01 -2.95449076e-03 3.74515215e+02] [ 5.11442219e-03 -6.23879315e-05 9.99986919e-01 2.25137685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.390385723 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:384.00, Y:374.53, Z:22.51 [[ 8.07207307e-01 -5.90253280e-01 -4.17492898e-03 3.84003240e+02] [ 5.90245889e-01 8.07218099e-01 -2.95485446e-03 3.74532189e+02] [ 5.11419078e-03 -7.90545558e-05 9.99986919e-01 2.25128980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.420385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:384.03, Y:374.55, Z:22.51 [[ 8.06662153e-01 -5.90998131e-01 -4.16897149e-03 3.84027832e+02] [ 5.90990707e-01 8.06672922e-01 -2.96322883e-03 3.74548197e+02] [ 5.11425912e-03 -7.34988610e-05 9.99986919e-01 2.25142177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.450385723 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:384.05, Y:374.56, Z:22.52 [[ 8.06472359e-01 -5.91256963e-01 -4.18796876e-03 3.84048596e+02] [ 5.91249680e-01 8.06483225e-01 -2.93650555e-03 3.74563245e+02] [ 5.11375591e-03 -1.07924631e-04 9.99986919e-01 2.25174893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.480385723 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:384.07, Y:374.58, Z:22.51 [[ 8.05063819e-01 -5.93173566e-01 -4.16760555e-03 3.84073797e+02] [ 5.93166161e-01 8.05074601e-01 -2.96512687e-03 3.74581238e+02] [ 5.11406826e-03 -8.49662263e-05 9.99986919e-01 2.25149556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.510385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:384.09, Y:374.60, Z:22.52 [[ 8.04361040e-01 -5.94126102e-01 -4.18238978e-03 3.84093850e+02] [ 5.94118817e-01 8.04371905e-01 -2.94434885e-03 3.74597287e+02] [ 5.11351134e-03 -1.16516968e-04 9.99986919e-01 2.25177787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.540385723 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:384.12, Y:374.61, Z:22.52 [[ 8.03971128e-01 -5.94653720e-01 -4.16881547e-03 3.84116257e+02] [ 5.94646344e-01 8.03981930e-01 -2.96341036e-03 3.74614942e+02] [ 5.11385530e-03 -9.64745046e-05 9.99986920e-01 2.25186990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.570385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:384.14, Y:374.63, Z:22.52 [[ 8.04134947e-01 -5.94432179e-01 -4.16792226e-03 3.84137895e+02] [ 5.94424793e-01 8.04145743e-01 -2.96466382e-03 3.74630944e+02] [ 5.11390851e-03 -9.35265422e-05 9.99986920e-01 2.25189677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.6003857229999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:384.16, Y:374.65, Z:22.52 [[ 8.04607071e-01 -5.93792991e-01 -4.16468761e-03 3.84159774e+02] [ 5.93785573e-01 8.04617845e-01 -2.96920083e-03 3.74648489e+02] [ 5.11407261e-03 -8.38914407e-05 9.99986920e-01 2.25187686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.630385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:384.18, Y:374.67, Z:22.52 [[ 8.04990864e-01 -5.93272595e-01 -4.16388261e-03 3.84182358e+02] [ 5.93265164e-01 8.05001629e-01 -2.97032929e-03 3.74665901e+02] [ 5.11414725e-03 -7.91985597e-05 9.99986920e-01 2.25183377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.660385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:384.21, Y:374.68, Z:22.51 [[ 8.05089768e-01 -5.93138377e-01 -4.16307892e-03 3.84207578e+02] [ 5.93130939e-01 8.05100528e-01 -2.97145529e-03 3.74684521e+02] [ 5.11418120e-03 -7.69626639e-05 9.99986920e-01 2.25134695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.690385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:384.23, Y:374.70, Z:22.51 [[ 8.05650365e-01 -5.92376569e-01 -4.18219039e-03 3.84228079e+02] [ 5.92369259e-01 8.05661213e-01 -2.94468176e-03 3.74701814e+02] [ 5.11378906e-03 -1.05017088e-04 9.99986919e-01 2.25130029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.7203857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:384.25, Y:374.72, Z:22.52 [[ 8.07100384e-01 -5.90399491e-01 -4.17266937e-03 3.84249004e+02] [ 5.90392086e-01 8.07111167e-01 -2.95801182e-03 3.74717804e+02] [ 5.11421672e-03 -7.60984931e-05 9.99986919e-01 2.25175276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.750385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:384.27, Y:374.73, Z:22.52 [[ 8.07415390e-01 -5.89968704e-01 -4.16138259e-03 3.84270740e+02] [ 5.89961211e-01 8.07426112e-01 -2.97380594e-03 3.74733407e+02] [ 5.11446140e-03 -5.39576340e-05 9.99986920e-01 2.25166408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.780385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:384.29, Y:374.75, Z:22.52 [[ 8.07074892e-01 -5.90434435e-01 -4.15891810e-03 3.84294066e+02] [ 5.90426931e-01 8.07085606e-01 -2.97725288e-03 3.74750587e+02] [ 5.11447556e-03 -5.26712057e-05 9.99986920e-01 2.25176317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.810385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:384.32, Y:374.77, Z:22.52 [[ 8.06728476e-01 -5.90907657e-01 -4.16029810e-03 3.84317343e+02] [ 5.90900169e-01 8.06739201e-01 -2.97532328e-03 3.74767108e+02] [ 5.11441687e-03 -5.80428344e-05 9.99986920e-01 2.25183151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.8403857229999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:384.34, Y:374.78, Z:22.52 [[ 8.06205169e-01 -5.91621436e-01 -4.15947409e-03 3.84339897e+02] [ 5.91613952e-01 8.06215897e-01 -2.97647479e-03 3.74784023e+02] [ 5.11438042e-03 -6.11535400e-05 9.99986920e-01 2.25182374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.870385723 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:384.36, Y:374.80, Z:22.52 [[ 8.05706671e-01 -5.92300149e-01 -4.15865330e-03 3.84361847e+02] [ 5.92292667e-01 8.05717401e-01 -2.97762113e-03 3.74800306e+02] [ 5.11434477e-03 -6.40506510e-05 9.99986920e-01 2.25185348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.900385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:384.38, Y:374.82, Z:22.52 [[ 8.05609413e-01 -5.92432428e-01 -4.15830704e-03 3.84384448e+02] [ 5.92424946e-01 8.05620143e-01 -2.97810460e-03 3.74816546e+02] [ 5.11434166e-03 -6.42957226e-05 9.99986920e-01 2.25190332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.930385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:384.41, Y:374.83, Z:22.52 [[ 8.05727582e-01 -5.92271710e-01 -4.15750106e-03 3.84406517e+02] [ 5.92264220e-01 8.05738306e-01 -2.97922935e-03 3.74832154e+02] [ 5.11437112e-03 -6.18918597e-05 9.99986920e-01 2.25200949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.960385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:384.43, Y:374.85, Z:22.52 [[ 8.05447957e-01 -5.92651928e-01 -4.15715861e-03 3.84427771e+02] [ 5.92644441e-01 8.05458682e-01 -2.97970712e-03 3.74848527e+02] [ 5.11434867e-03 -6.37179256e-05 9.99986920e-01 2.25214954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.990385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:384.45, Y:374.87, Z:22.52 [[ 8.04913936e-01 -5.93377010e-01 -4.15683083e-03 3.84450353e+02] [ 5.93369530e-01 8.04924667e-01 -2.98016432e-03 3.74865245e+02] [ 5.11429667e-03 -6.77609657e-05 9.99986920e-01 2.25215992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.020385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:384.47, Y:374.88, Z:22.52 [[ 8.03468075e-01 -5.95333335e-01 -4.15603963e-03 3.84473190e+02] [ 5.95325876e-01 8.03478820e-01 -2.98126730e-03 3.74881603e+02] [ 5.11413762e-03 -7.88448287e-05 9.99986920e-01 2.25216472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.050385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:384.50, Y:374.90, Z:22.52 [[ 8.02635262e-01 -5.96455673e-01 -4.15521555e-03 3.84496359e+02] [ 5.96448223e-01 8.02646014e-01 -2.98241543e-03 3.74898048e+02] [ 5.11404580e-03 -8.45791339e-05 9.99986920e-01 2.25219689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.080385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:384.52, Y:374.91, Z:22.52 [[ 8.02022710e-01 -5.97279092e-01 -4.15439244e-03 3.84519104e+02] [ 5.97271647e-01 8.02033464e-01 -2.98356155e-03 3.74914360e+02] [ 5.11398070e-03 -8.84166965e-05 9.99986920e-01 2.25224653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.110385723 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:384.54, Y:374.93, Z:22.52 [[ 8.01430691e-01 -5.98073236e-01 -4.15355313e-03 3.84540814e+02] [ 5.98065795e-01 8.01441449e-01 -2.98472954e-03 3.74930071e+02] [ 5.11391649e-03 -9.20441974e-05 9.99986920e-01 2.25224334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.140385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:384.56, Y:374.95, Z:22.52 [[ 8.01029708e-01 -5.98610190e-01 -4.15298286e-03 3.84563245e+02] [ 5.98602752e-01 8.01040468e-01 -2.98552281e-03 3.74947254e+02] [ 5.11387171e-03 -9.44945029e-05 9.99986920e-01 2.25227658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.170385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:384.59, Y:374.96, Z:22.52 [[ 8.00719289e-01 -5.99025358e-01 -4.15215998e-03 3.84585679e+02] [ 5.99017920e-01 8.00730049e-01 -2.98666680e-03 3.74964607e+02] [ 5.11384842e-03 -9.57365126e-05 9.99986920e-01 2.25226102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.200385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:384.61, Y:374.98, Z:22.52 [[ 8.00597833e-01 -5.99187680e-01 -4.15134129e-03 3.84608107e+02] [ 5.99180238e-01 8.00608591e-01 -2.98780431e-03 3.74981435e+02] [ 5.11385503e-03 -9.53720047e-05 9.99986920e-01 2.25223809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.230385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:384.63, Y:375.00, Z:22.52 [[ 8.00500921e-01 -5.99317152e-01 -4.15052762e-03 3.84630789e+02] [ 5.99309706e-01 8.00511676e-01 -2.98893421e-03 3.74997960e+02] [ 5.11386535e-03 -9.48069003e-05 9.99986920e-01 2.25226414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.260385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:384.65, Y:375.01, Z:22.52 [[ 8.00694423e-01 -5.99058613e-01 -4.14971746e-03 3.84653477e+02] [ 5.99051158e-01 8.00705170e-01 -2.99005857e-03 3.75013739e+02] [ 5.11392057e-03 -9.17698310e-05 9.99986920e-01 2.25234293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.290385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:384.67, Y:375.03, Z:22.52 [[ 7.98472135e-01 -6.02017472e-01 -4.14891278e-03 3.84670423e+02] [ 6.02010051e-01 7.98482906e-01 -2.99117470e-03 3.75031746e+02] [ 5.11357537e-03 -1.09317549e-04 9.99986920e-01 2.25205912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.320385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:384.70, Y:375.05, Z:22.52 [[ 8.01108166e-01 -5.98505479e-01 -4.11071121e-03 3.84698332e+02] [ 5.98497738e-01 8.01118712e-01 -3.04409401e-03 3.75047728e+02] [ 5.11507462e-03 -2.16027926e-05 9.99986918e-01 2.25231381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.3503857229999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:384.72, Y:375.06, Z:22.52 [[ 8.01245062e-01 -5.98321942e-01 -4.14776102e-03 3.84720363e+02] [ 5.98314463e-01 8.01255793e-01 -2.99274527e-03 3.75064626e+02] [ 5.11404271e-03 -8.37430371e-05 9.99986920e-01 2.25228775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.380385723 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:384.74, Y:375.08, Z:22.52 [[ 7.99929315e-01 -6.00079906e-01 -4.14692938e-03 3.84737533e+02] [ 6.00072445e-01 7.99940059e-01 -2.99389720e-03 3.75082604e+02] [ 5.11387248e-03 -9.35519211e-05 9.99986920e-01 2.25184606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.410385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:384.76, Y:375.10, Z:22.52 [[ 8.02551838e-01 -5.96568185e-01 -4.11682291e-03 3.84764827e+02] [ 5.96560463e-01 8.02562396e-01 -3.03555361e-03 3.75097570e+02] [ 5.11492197e-03 -1.97446536e-05 9.99986919e-01 2.25220100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.440385723 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:384.79, Y:375.11, Z:22.52 [[ 8.03303531e-01 -5.95555412e-01 -4.14599073e-03 3.84787440e+02] [ 5.95547884e-01 8.03314227e-01 -2.99517890e-03 3.75113852e+02] [ 5.11432834e-03 -6.30982179e-05 9.99986920e-01 2.25235110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.4703857229999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:384.81, Y:375.13, Z:22.52 [[ 8.03501341e-01 -5.95288512e-01 -4.14516390e-03 3.84810049e+02] [ 5.95280974e-01 8.03512031e-01 -2.99632275e-03 3.75130751e+02] [ 5.11436558e-03 -5.99878580e-05 9.99986920e-01 2.25237399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.500385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:384.83, Y:375.15, Z:22.52 [[ 8.04201875e-01 -5.94341794e-01 -4.14434042e-03 3.84832506e+02] [ 5.94334238e-01 8.04212552e-01 -2.99746132e-03 3.75148149e+02] [ 5.11444712e-03 -5.25593888e-05 9.99986920e-01 2.25241468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.530385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:384.86, Y:375.16, Z:22.52 [[ 8.04480033e-01 -5.93965241e-01 -4.14350586e-03 3.84855311e+02] [ 5.93957674e-01 8.04490703e-01 -2.99861451e-03 3.75164974e+02] [ 5.11448473e-03 -4.87416017e-05 9.99986920e-01 2.25247452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.560385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:384.88, Y:375.18, Z:22.52 [[ 8.04751235e-01 -5.93597749e-01 -4.14266876e-03 3.84875804e+02] [ 5.93590171e-01 8.04761897e-01 -2.99977054e-03 3.75181929e+02] [ 5.11451901e-03 -4.49784117e-05 9.99986920e-01 2.25246778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.5903857229999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:384.90, Y:375.20, Z:22.53 [[ 8.05818947e-01 -5.92147596e-01 -4.12915364e-03 3.84900086e+02] [ 5.92139903e-01 8.05829526e-01 -3.01842374e-03 3.75198498e+02] [ 5.11474628e-03 -1.27335979e-05 9.99986920e-01 2.25253620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.620385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:384.92, Y:375.22, Z:22.53 [[ 8.06813429e-01 -5.90791788e-01 -4.14160636e-03 3.84922356e+02] [ 5.90784166e-01 8.06824059e-01 -3.00123941e-03 3.75215034e+02] [ 5.11465526e-03 -2.53551946e-05 9.99986920e-01 2.25256875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.650385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:384.95, Y:375.23, Z:22.53 [[ 8.07253480e-01 -5.90190370e-01 -4.14078651e-03 3.84945469e+02] [ 5.90182734e-01 8.07264100e-01 -3.00237013e-03 3.75231585e+02] [ 5.11467823e-03 -2.01469609e-05 9.99986920e-01 2.25255817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.680385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:384.97, Y:375.25, Z:22.52 [[ 8.07673117e-01 -5.89615973e-01 -4.13996800e-03 3.84966849e+02] [ 5.89608324e-01 8.07683728e-01 -3.00349835e-03 3.75248502e+02] [ 5.11469539e-03 -1.51147158e-05 9.99986920e-01 2.25241882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.710385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:384.99, Y:375.26, Z:22.52 [[ 8.08414428e-01 -5.88599234e-01 -4.12964944e-03 3.84989782e+02] [ 5.88591498e-01 8.08424976e-01 -3.01770901e-03 3.75264211e+02] [ 5.11473296e-03 8.88295413e-06 9.99986920e-01 2.25243869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.740385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:385.01, Y:375.28, Z:22.52 [[ 8.07607828e-01 -5.89705436e-01 -4.13468317e-03 3.85010478e+02] [ 5.89697750e-01 8.07618412e-01 -3.01077902e-03 3.75281089e+02] [ 5.11471901e-03 -6.68465914e-06 9.99986920e-01 2.25237015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.770385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:385.03, Y:375.30, Z:22.52 [[ 8.06609162e-01 -5.91070797e-01 -4.11971466e-03 3.85032068e+02] [ 5.91063024e-01 8.06619683e-01 -3.03137917e-03 3.75296384e+02] [ 5.11480264e-03 1.01272113e-05 9.99986919e-01 2.25239878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.800385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:385.06, Y:375.31, Z:22.52 [[ 8.06546083e-01 -5.91156964e-01 -4.10609089e-03 3.85055142e+02] [ 5.91149096e-01 8.06556534e-01 -3.05010225e-03 3.75313153e+02] [ 5.11488363e-03 3.27361025e-05 9.99986918e-01 2.25241253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.830385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:385.08, Y:375.33, Z:22.52 [[ 8.06239489e-01 -5.91575036e-01 -4.10654236e-03 3.85078141e+02] [ 5.91567177e-01 8.06249946e-01 -3.04948174e-03 3.75328518e+02] [ 5.11489682e-03 2.93169270e-05 9.99986918e-01 2.25240128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.860385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:385.10, Y:375.34, Z:22.52 [[ 8.06169777e-01 -5.91670045e-01 -4.10474992e-03 3.85103148e+02] [ 5.91662175e-01 8.06180226e-01 -3.05194675e-03 3.75342890e+02] [ 5.11491369e-03 3.17619670e-05 9.99986918e-01 2.25238500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.890385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:385.13, Y:375.36, Z:22.52 [[ 8.06324324e-01 -5.91459392e-01 -4.10758412e-03 3.85127166e+02] [ 5.91451539e-01 8.06334786e-01 -3.04805008e-03 3.75357851e+02] [ 5.11488581e-03 2.82799687e-05 9.99986919e-01 2.25229907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.920385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:385.15, Y:375.37, Z:22.52 [[ 8.06625954e-01 -5.91047917e-01 -4.11467210e-03 3.85152546e+02] [ 5.91040108e-01 8.06636448e-01 -3.03830789e-03 3.75372656e+02] [ 5.11483004e-03 1.88417602e-05 9.99986919e-01 2.25229589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.950385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:385.18, Y:375.39, Z:22.52 [[ 8.07024139e-01 -5.90504098e-01 -4.11691115e-03 3.85176971e+02] [ 5.90496298e-01 8.07034640e-01 -3.03523054e-03 3.75387554e+02] [ 5.11480598e-03 1.84835209e-05 9.99986919e-01 2.25222899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.980385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:385.20, Y:375.40, Z:22.52 [[ 8.07452296e-01 -5.89918466e-01 -4.12235750e-03 3.85203023e+02] [ 5.89910696e-01 8.07462819e-01 -3.02774564e-03 3.75401732e+02] [ 5.11477348e-03 1.29373857e-05 9.99986919e-01 2.25229664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.010385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:385.23, Y:375.42, Z:22.52 [[ 8.07490208e-01 -5.89866476e-01 -4.13579500e-03 3.85227429e+02] [ 5.89858800e-01 8.07500799e-01 -3.00927786e-03 3.75417027e+02] [ 5.11472989e-03 -9.57267118e-06 9.99986920e-01 2.25223574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.040385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:385.25, Y:375.43, Z:22.52 [[ 8.07410426e-01 -5.89975697e-01 -4.13295627e-03 3.85250852e+02] [ 5.89968002e-01 8.07421004e-01 -3.01317777e-03 3.75431575e+02] [ 5.11473735e-03 -5.44080997e-06 9.99986920e-01 2.25221722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.070385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:385.27, Y:375.45, Z:22.52 [[ 8.06689998e-01 -5.90960373e-01 -4.13335259e-03 3.85273472e+02] [ 5.90952694e-01 8.06700588e-01 -3.01263341e-03 3.75445477e+02] [ 5.11472492e-03 -1.23546062e-05 9.99986920e-01 2.25219436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.1003857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:385.30, Y:375.46, Z:22.52 [[ 8.06804237e-01 -5.90804486e-01 -4.12102419e-03 3.85297308e+02] [ 5.90796719e-01 8.06814761e-01 -3.02955504e-03 3.75460441e+02] [ 5.11477786e-03 9.57027057e-06 9.99986919e-01 2.25218221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.130385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:385.32, Y:375.47, Z:22.52 [[ 8.05665417e-01 -5.92356474e-01 -4.12830721e-03 3.85321777e+02] [ 5.92348778e-01 8.05675994e-01 -3.01956009e-03 3.75474904e+02] [ 5.11473398e-03 -1.26425912e-05 9.99986920e-01 2.25224126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.160385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:385.35, Y:375.49, Z:22.52 [[ 8.05421553e-01 -5.92688085e-01 -4.11764434e-03 3.85346586e+02] [ 5.92680319e-01 8.05432079e-01 -3.03417612e-03 3.75489919e+02] [ 5.11480288e-03 3.34407954e-06 9.99986919e-01 2.25222660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.190385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:385.37, Y:375.51, Z:22.52 [[ 8.05442066e-01 -5.92660147e-01 -4.12666933e-03 3.85372318e+02] [ 5.92652443e-01 8.05452637e-01 -3.02180828e-03 3.75505376e+02] [ 5.11474203e-03 -1.17891603e-05 9.99986920e-01 2.25220294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.2203857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:385.40, Y:375.52, Z:22.52 [[ 8.04639793e-01 -5.93748852e-01 -4.13580300e-03 3.85396083e+02] [ 5.93741227e-01 8.04650421e-01 -3.00929417e-03 3.75519041e+02] [ 5.11464058e-03 -3.41989070e-05 9.99986920e-01 2.25230799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.250385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:385.42, Y:375.53, Z:22.52 [[ 8.04509380e-01 -5.93925580e-01 -4.13078110e-03 3.85419793e+02] [ 5.93917922e-01 8.04519984e-01 -3.01617188e-03 3.75532257e+02] [ 5.11467758e-03 -2.68063548e-05 9.99986920e-01 2.25226370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.280385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:385.44, Y:375.55, Z:22.52 [[ 8.04206340e-01 -5.94335850e-01 -4.13043379e-03 3.85442878e+02] [ 5.94328195e-01 8.04216946e-01 -3.01664743e-03 3.75547718e+02] [ 5.11466656e-03 -2.88262708e-05 9.99986920e-01 2.25224722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.310385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:385.47, Y:375.56, Z:22.52 [[ 8.04121097e-01 -5.94451183e-01 -4.12961187e-03 3.85466012e+02] [ 5.94443523e-01 8.04131700e-01 -3.01777216e-03 3.75563084e+02] [ 5.11467004e-03 -2.81667693e-05 9.99986920e-01 2.25224603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.3403857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:385.49, Y:375.58, Z:22.52 [[ 8.03745519e-01 -5.94958901e-01 -4.12879535e-03 3.85490196e+02] [ 5.94951242e-01 8.03756123e-01 -3.01888888e-03 3.75576552e+02] [ 5.11465935e-03 -3.00135106e-05 9.99986920e-01 2.25217717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.370385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:385.51, Y:375.59, Z:22.52 [[ 8.03254875e-01 -5.95621156e-01 -4.12844188e-03 3.85514112e+02] [ 5.95613504e-01 8.03265484e-01 -3.01937219e-03 3.75591885e+02] [ 5.11463681e-03 -3.36303001e-05 9.99986920e-01 2.25216408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.400385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:385.54, Y:375.60, Z:22.52 [[ 8.02613312e-01 -5.96485402e-01 -4.12764192e-03 3.85538473e+02] [ 5.96477755e-01 8.02623925e-01 -3.02046537e-03 3.75604910e+02] [ 5.11460766e-03 -3.77808726e-05 9.99986920e-01 2.25228743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.430385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:385.56, Y:375.62, Z:22.52 [[ 8.02247031e-01 -5.96977946e-01 -4.12729549e-03 3.85561525e+02] [ 5.96970303e-01 8.02257646e-01 -3.02093868e-03 3.75619741e+02] [ 5.11458813e-03 -4.03337503e-05 9.99986920e-01 2.25231300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.460385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:385.58, Y:375.64, Z:22.52 [[ 8.01984970e-01 -5.97329957e-01 -4.12695201e-03 3.85584671e+02] [ 5.97322317e-01 8.01995587e-01 -3.02140784e-03 3.75635350e+02] [ 5.11457471e-03 -4.19968550e-05 9.99986920e-01 2.25237096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.490385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:385.61, Y:375.65, Z:22.53 [[ 8.02533822e-01 -5.96592356e-01 -4.12616224e-03 3.85606371e+02] [ 5.96584700e-01 8.02544429e-01 -3.02248600e-03 3.75651197e+02] [ 5.11462056e-03 -3.59580182e-05 9.99986920e-01 2.25252830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.520385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:385.63, Y:375.67, Z:22.53 [[ 8.02316850e-01 -5.96884193e-01 -4.11484913e-03 3.85630009e+02] [ 5.96876462e-01 8.02327402e-01 -3.03792021e-03 3.75668516e+02] [ 5.11474277e-03 -1.86820201e-05 9.99986919e-01 2.25251211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.550385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:385.65, Y:375.69, Z:22.53 [[ 8.03307575e-01 -5.95550101e-01 -4.12515058e-03 3.85652826e+02] [ 5.95542425e-01 8.03318166e-01 -3.02386701e-03 3.75685601e+02] [ 5.11467270e-03 -2.76068988e-05 9.99986920e-01 2.25254105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.580385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:385.68, Y:375.70, Z:22.53 [[ 8.03710202e-01 -5.95006639e-01 -4.12438852e-03 3.85675019e+02] [ 5.94998950e-01 8.03720785e-01 -3.02490605e-03 3.75702097e+02] [ 5.11469596e-03 -2.28589837e-05 9.99986920e-01 2.25254605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.610385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:385.70, Y:375.72, Z:22.53 [[ 8.03494182e-01 -5.95298325e-01 -4.12362986e-03 3.85696815e+02] [ 5.95290635e-01 8.03504763e-01 -3.02593993e-03 3.75719321e+02] [ 5.11469320e-03 -2.34331108e-05 9.99986920e-01 2.25266428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.640385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:385.72, Y:375.74, Z:22.52 [[ 8.03352613e-01 -5.95489363e-01 -4.12280788e-03 3.85719507e+02] [ 5.95481670e-01 8.03363192e-01 -3.02705945e-03 3.75737547e+02] [ 5.11469380e-03 -2.32604012e-05 9.99986920e-01 2.25247327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.670385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:385.74, Y:375.75, Z:22.52 [[ 8.03690352e-01 -5.95033467e-01 -4.12198685e-03 3.85742676e+02] [ 5.95025762e-01 8.03700922e-01 -3.02817705e-03 3.75754166e+02] [ 5.11471132e-03 -1.89716875e-05 9.99986920e-01 2.25211029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.700385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:385.77, Y:375.77, Z:22.52 [[ 8.02756391e-01 -5.96292890e-01 -4.11887205e-03 3.85765492e+02] [ 5.96285180e-01 8.02766958e-01 -3.03241568e-03 3.75771115e+02] [ 5.11470230e-03 -2.17312926e-05 9.99986920e-01 2.25207142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.730385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:385.78, Y:375.79, Z:22.52 [[ 8.00253900e-01 -5.99647154e-01 -4.12145541e-03 3.85783459e+02] [ 5.99639506e-01 8.00264512e-01 -3.02890048e-03 3.75788915e+02] [ 5.11452606e-03 -4.74980632e-05 9.99986920e-01 2.25220984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.760385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:385.81, Y:375.81, Z:22.52 [[ 7.99175581e-01 -6.01083747e-01 -4.08900028e-03 3.85805430e+02] [ 6.01075892e-01 7.99186041e-01 -3.07302866e-03 3.75806009e+02] [ 5.11501953e-03 -1.91002907e-06 9.99986918e-01 2.25228471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.790385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:385.83, Y:375.82, Z:22.52 [[ 7.98749249e-01 -6.01650152e-01 -4.09058777e-03 3.85828174e+02] [ 6.01642315e-01 7.98759723e-01 -3.07086808e-03 3.75823174e+02] [ 5.11498499e-03 -8.21712261e-06 9.99986918e-01 2.25237247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.820385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:385.85, Y:375.84, Z:22.52 [[ 7.98166205e-01 -6.02423402e-01 -4.09322881e-03 3.85850078e+02] [ 6.02415593e-01 7.98176700e-01 -3.06727268e-03 3.75840240e+02] [ 5.11491671e-03 -1.76314702e-05 9.99986919e-01 2.25241277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.8503857229999 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:385.87, Y:375.86, Z:22.52 [[ 7.96876778e-01 -6.04128017e-01 -4.09142595e-03 3.85871367e+02] [ 6.04120218e-01 7.96887281e-01 -3.06972647e-03 3.75858102e+02] [ 5.11491306e-03 -2.55193965e-05 9.99986918e-01 2.25229132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.880385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:385.90, Y:375.88, Z:22.52 [[ 7.97259315e-01 -6.03623094e-01 -4.09208001e-03 3.85895042e+02] [ 6.03615294e-01 7.97269816e-01 -3.06883644e-03 3.75875313e+02] [ 5.11491242e-03 -2.33836435e-05 9.99986918e-01 2.25239607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.910385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:385.92, Y:375.89, Z:22.52 [[ 7.98330610e-01 -6.02205472e-01 -4.09970695e-03 3.85920522e+02] [ 6.02197706e-01 7.98341136e-01 -3.05845895e-03 3.75891751e+02] [ 5.11478541e-03 -2.71727219e-05 9.99986919e-01 2.25234476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.940385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:385.94, Y:375.91, Z:22.52 [[ 7.97980367e-01 -6.02669350e-01 -4.12171458e-03 3.85941628e+02] [ 6.02661745e-01 7.97991009e-01 -3.02850717e-03 3.75908494e+02] [ 5.11427963e-03 -6.73104380e-05 9.99986920e-01 2.25235353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.9703857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:385.96, Y:375.93, Z:22.52 [[ 7.97746096e-01 -6.02979422e-01 -4.12116003e-03 3.85963156e+02] [ 6.02971816e-01 7.97756738e-01 -3.02926161e-03 3.75925424e+02] [ 5.11426560e-03 -6.83617322e-05 9.99986920e-01 2.25232716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.000385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:385.99, Y:375.94, Z:22.52 [[ 7.97613331e-01 -6.03155032e-01 -4.12085974e-03 3.85985350e+02] [ 6.03147427e-01 7.97623973e-01 -3.02967006e-03 3.75944030e+02] [ 5.11425726e-03 -6.89807220e-05 9.99986920e-01 2.25243900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.030385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:386.00, Y:375.96, Z:22.52 [[ 7.95828262e-01 -6.05508383e-01 -4.12013523e-03 3.86003320e+02] [ 6.05500804e-01 7.95838923e-01 -3.03065502e-03 3.75963026e+02] [ 5.11405100e-03 -8.28642784e-05 9.99986920e-01 2.25200897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.060385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:386.03, Y:375.98, Z:22.52 [[ 7.96441952e-01 -6.04701133e-01 -4.09351607e-03 3.86026332e+02] [ 6.04693357e-01 7.96452471e-01 -3.06681754e-03 3.75981199e+02] [ 5.11479903e-03 -3.27798306e-05 9.99986919e-01 2.25199788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.0903857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:386.05, Y:376.00, Z:22.52 [[ 7.97320693e-01 -6.03541991e-01 -4.09602781e-03 3.86050879e+02] [ 6.03534217e-01 7.97331214e-01 -3.06340532e-03 3.75998026e+02] [ 5.11478457e-03 -2.95764875e-05 9.99986919e-01 2.25220029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.120385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:386.07, Y:376.01, Z:22.52 [[ 7.97373947e-01 -6.03471550e-01 -4.10812151e-03 3.86071666e+02] [ 6.03463860e-01 7.97384528e-01 -3.04697640e-03 3.76014528e+02] [ 5.11451610e-03 -4.95232642e-05 9.99986920e-01 2.25198576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.150385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:386.10, Y:376.03, Z:22.52 [[ 7.97576696e-01 -6.03203682e-01 -4.09061119e-03 3.86098254e+02] [ 6.03195866e-01 7.97587185e-01 -3.07071840e-03 3.76030599e+02] [ 5.11488771e-03 -1.83063251e-05 9.99986919e-01 2.25246271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.180385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:386.12, Y:376.05, Z:22.52 [[ 7.97180376e-01 -6.03727175e-01 -4.11656577e-03 3.86121141e+02] [ 6.03719547e-01 7.97191002e-01 -3.03552059e-03 3.76047429e+02] [ 5.11431546e-03 -6.53937815e-05 9.99986920e-01 2.25248141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.210385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:386.14, Y:376.06, Z:22.52 [[ 7.96403371e-01 -6.04751793e-01 -4.11577276e-03 3.86142158e+02] [ 6.04744174e-01 7.96414003e-01 -3.03659542e-03 3.76064684e+02] [ 5.11424559e-03 -7.06347655e-05 9.99986920e-01 2.25241539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.240385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:386.16, Y:376.08, Z:22.52 [[ 7.95616681e-01 -6.05786401e-01 -4.11498536e-03 3.86164609e+02] [ 6.05778790e-01 7.95627319e-01 -3.03766208e-03 3.76081933e+02] [ 5.11416915e-03 -7.59562321e-05 9.99986920e-01 2.25232390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.270385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:386.19, Y:376.10, Z:22.52 [[ 7.94275265e-01 -6.07544136e-01 -4.11413829e-03 3.86186234e+02] [ 6.07536542e-01 7.94285916e-01 -3.03880890e-03 3.76099984e+02] [ 5.11401262e-03 -8.58386062e-05 9.99986920e-01 2.25212305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.300385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:386.21, Y:376.12, Z:22.53 [[ 7.94416912e-01 -6.07358951e-01 -4.10794282e-03 3.86210270e+02] [ 6.07351311e-01 7.94427529e-01 -3.04719103e-03 3.76115429e+02] [ 5.11420161e-03 -7.42243734e-05 9.99986920e-01 2.25251225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.330385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:386.23, Y:376.13, Z:22.52 [[ 7.94213623e-01 -6.07624708e-01 -4.11537256e-03 3.86232992e+02] [ 6.07617124e-01 7.94224280e-01 -3.03714019e-03 3.76131880e+02] [ 5.11397023e-03 -8.84327260e-05 9.99986920e-01 2.25248154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.360385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:386.26, Y:376.15, Z:22.53 [[ 7.94239073e-01 -6.07591461e-01 -4.11232109e-03 3.86255194e+02] [ 6.07583855e-01 7.94249715e-01 -3.04126631e-03 3.76147235e+02] [ 5.11405730e-03 -8.30873649e-05 9.99986920e-01 2.25261771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.390385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:386.28, Y:376.17, Z:22.53 [[ 7.93629083e-01 -6.08388045e-01 -4.10681333e-03 3.86278996e+02] [ 6.08380411e-01 7.93639705e-01 -3.04870795e-03 3.76165062e+02] [ 5.11412759e-03 -7.89614910e-05 9.99986920e-01 2.25252379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.420385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:386.30, Y:376.18, Z:22.53 [[ 7.93605566e-01 -6.08418657e-01 -4.11616113e-03 3.86301074e+02] [ 6.08411089e-01 7.93616235e-01 -3.03608085e-03 3.76182165e+02] [ 5.11386053e-03 -9.48674103e-05 9.99986920e-01 2.25262514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.450385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:386.32, Y:376.20, Z:22.53 [[ 7.94243686e-01 -6.07585404e-01 -4.11633382e-03 3.86323487e+02] [ 6.07577826e-01 7.94254348e-01 -3.03584768e-03 3.76198773e+02] [ 5.11395277e-03 -8.97903062e-05 9.99986920e-01 2.25250666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.480385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:386.35, Y:376.22, Z:22.53 [[ 7.94761744e-01 -6.06907640e-01 -4.10933900e-03 3.86345995e+02] [ 6.06900004e-01 7.94772365e-01 -3.04528656e-03 3.76215229e+02] [ 5.11419675e-03 -7.36805995e-05 9.99986920e-01 2.25252658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.510385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:386.37, Y:376.23, Z:22.53 [[ 7.96046801e-01 -6.05221131e-01 -4.10765619e-03 3.86368848e+02] [ 6.05213461e-01 7.96057397e-01 -3.04755635e-03 3.76233334e+02] [ 5.11437560e-03 -6.00113373e-05 9.99986920e-01 2.25251590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.540385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:386.39, Y:376.25, Z:22.52 [[ 7.96658702e-01 -6.04415448e-01 -4.10837715e-03 3.86390733e+02] [ 6.04407772e-01 7.96669294e-01 -3.04658412e-03 3.76250431e+02] [ 5.11442043e-03 -5.60473263e-05 9.99986920e-01 2.25246078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.570385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:386.41, Y:376.27, Z:22.52 [[ 7.97273729e-01 -6.03603950e-01 -4.10754797e-03 3.86413143e+02] [ 6.03596258e-01 7.97284309e-01 -3.04770166e-03 3.76267998e+02] [ 5.11448830e-03 -4.94481118e-05 9.99986920e-01 2.25242684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.6003857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:386.43, Y:376.29, Z:22.52 [[ 7.98570955e-01 -6.01886671e-01 -4.10670198e-03 3.86434493e+02] [ 6.01878951e-01 7.98581513e-01 -3.04884118e-03 3.76285429e+02] [ 5.11459315e-03 -3.70214686e-05 9.99986920e-01 2.25241225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.630385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:386.46, Y:376.30, Z:22.52 [[ 7.98969879e-01 -6.01357025e-01 -4.10612573e-03 3.86456950e+02] [ 6.01349293e-01 7.98980430e-01 -3.04961708e-03 3.76302423e+02] [ 5.11462275e-03 -3.26636162e-05 9.99986920e-01 2.25247347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.660385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:386.48, Y:376.32, Z:22.53 [[ 7.99641221e-01 -6.00464041e-01 -4.10527921e-03 3.86478798e+02] [ 6.00456292e-01 7.99651758e-01 -3.05075619e-03 3.76318511e+02] [ 5.11466313e-03 -2.55303236e-05 9.99986920e-01 2.25253430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.690385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:386.50, Y:376.34, Z:22.53 [[ 7.99476188e-01 -6.00683755e-01 -4.10491279e-03 3.86501709e+02] [ 6.00676006e-01 7.99486726e-01 -3.05124915e-03 3.76335618e+02] [ 5.11465909e-03 -2.63215795e-05 9.99986920e-01 2.25254890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.7203857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:386.52, Y:376.35, Z:22.53 [[ 7.99625791e-01 -6.00484597e-01 -4.10407401e-03 3.86523965e+02] [ 6.00476840e-01 7.99636322e-01 -3.05237693e-03 3.76352082e+02] [ 5.11467198e-03 -2.36420770e-05 9.99986920e-01 2.25263028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.750385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:386.55, Y:376.37, Z:22.53 [[ 7.99415403e-01 -6.00764661e-01 -4.10323842e-03 3.86548397e+02] [ 6.00756901e-01 7.99425933e-01 -3.05349979e-03 3.76370284e+02] [ 5.11466996e-03 -2.40340349e-05 9.99986920e-01 2.25271952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.780385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:386.57, Y:376.39, Z:22.52 [[ 7.99451220e-01 -6.00716940e-01 -4.11157289e-03 3.86568876e+02] [ 6.00709237e-01 7.99461792e-01 -3.04230917e-03 3.76387691e+02] [ 5.11461208e-03 -3.76820311e-05 9.99986920e-01 2.25232320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.810385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:386.59, Y:376.41, Z:22.53 [[ 8.00951168e-01 -5.98715653e-01 -4.09799854e-03 3.86592125e+02] [ 5.98707830e-01 8.00961651e-01 -3.06052195e-03 3.76405161e+02] [ 5.11472208e-03 -2.17517965e-06 9.99986920e-01 2.25273599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.8403857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:386.61, Y:376.42, Z:22.53 [[ 8.01751430e-01 -5.97643495e-01 -4.11062015e-03 3.86613177e+02] [ 5.97635745e-01 8.01761968e-01 -3.04358279e-03 3.76421449e+02] [ 5.11471636e-03 -1.64566820e-05 9.99986920e-01 2.25260448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.870385723 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:386.63, Y:376.44, Z:22.52 [[ 8.01551976e-01 -5.97911046e-01 -4.10011175e-03 3.86634829e+02] [ 5.97903227e-01 8.01562463e-01 -3.05767377e-03 3.76438369e+02] [ 5.11471259e-03 -5.85601117e-07 9.99986920e-01 2.25228847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.900385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:386.66, Y:376.45, Z:22.53 [[ 8.02339366e-01 -5.96854031e-01 -4.09975208e-03 3.86657305e+02] [ 5.96846196e-01 8.02349840e-01 -3.05815594e-03 3.76454736e+02] [ 5.11470813e-03 6.75746479e-06 9.99986920e-01 2.25265199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.930385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:386.68, Y:376.47, Z:22.53 [[ 8.02297832e-01 -5.96909866e-01 -4.09889753e-03 3.86679759e+02] [ 5.96902026e-01 8.02308302e-01 -3.05930088e-03 3.76470963e+02] [ 5.11470640e-03 7.83021818e-06 9.99986920e-01 2.25267199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.960385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:386.70, Y:376.49, Z:22.53 [[ 8.02153084e-01 -5.97104377e-01 -4.09804195e-03 3.86701096e+02] [ 5.97096534e-01 8.02163552e-01 -3.06044654e-03 3.76486766e+02] [ 5.11470590e-03 8.01998858e-06 9.99986920e-01 2.25267526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.990385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:386.72, Y:376.50, Z:22.53 [[ 8.01782200e-01 -5.97602303e-01 -4.09767096e-03 3.86723482e+02] [ 5.97594464e-01 8.01792671e-01 -3.06094318e-03 3.76504145e+02] [ 5.11470924e-03 5.46428066e-06 9.99986920e-01 2.25270359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.020385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:386.74, Y:376.52, Z:22.53 [[ 8.01344908e-01 -5.98188561e-01 -4.09683102e-03 3.86744608e+02] [ 5.98180724e-01 8.01355380e-01 -3.06206695e-03 3.76520910e+02] [ 5.11471101e-03 3.12641759e-06 9.99986920e-01 2.25271386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.050385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:386.77, Y:376.54, Z:22.53 [[ 8.00777182e-01 -5.98948348e-01 -4.09646549e-03 3.86767137e+02] [ 5.98940518e-01 8.00787660e-01 -3.06255589e-03 3.76538185e+02] [ 5.11471180e-03 -1.11428842e-06 9.99986920e-01 2.25291228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.080385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:386.79, Y:376.56, Z:22.53 [[ 7.99881465e-01 -6.00144073e-01 -4.09070384e-03 3.86790407e+02] [ 6.00136220e-01 7.99891925e-01 -3.07025832e-03 3.76555823e+02] [ 5.11471830e-03 8.63181184e-07 9.99986920e-01 2.25287793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.110385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:386.81, Y:376.57, Z:22.53 [[ 7.98924159e-01 -6.01417842e-01 -4.09497829e-03 3.86813155e+02] [ 6.01410034e-01 7.98934653e-01 -3.06454661e-03 3.76573064e+02] [ 5.11469307e-03 -1.44207112e-05 9.99986920e-01 2.25298842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.140385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:386.83, Y:376.59, Z:22.53 [[ 7.98491704e-01 -6.01991892e-01 -4.09411060e-03 3.86834530e+02] [ 6.01984086e-01 7.98502199e-01 -3.06570538e-03 3.76589717e+02] [ 5.11468610e-03 -1.66491123e-05 9.99986920e-01 2.25294234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.170385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:386.86, Y:376.61, Z:22.53 [[ 7.97903502e-01 -6.02771302e-01 -4.09373449e-03 3.86856334e+02] [ 6.02763504e-01 7.97914003e-01 -3.06620753e-03 3.76606801e+02] [ 5.11466998e-03 -2.10160245e-05 9.99986920e-01 2.25289866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.200385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:386.88, Y:376.62, Z:22.53 [[ 7.96879712e-01 -6.04124137e-01 -4.09288420e-03 3.86877442e+02] [ 6.04116351e-01 7.96890222e-01 -3.06734210e-03 3.76623551e+02] [ 5.11463480e-03 -2.82755776e-05 9.99986920e-01 2.25290509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.230385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:386.90, Y:376.64, Z:22.53 [[ 7.95658231e-01 -6.05731979e-01 -4.09251597e-03 3.86899202e+02] [ 6.05724212e-01 7.95668755e-01 -3.06783332e-03 3.76641396e+02] [ 5.11457184e-03 -3.79891758e-05 9.99986920e-01 2.25295107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.260385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:386.92, Y:376.66, Z:22.53 [[ 7.95060014e-01 -6.06516968e-01 -4.09167223e-03 3.86920116e+02] [ 6.06509204e-01 7.95070542e-01 -3.06895824e-03 3.76657939e+02] [ 5.11454330e-03 -4.16308929e-05 9.99986920e-01 2.25295466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.290385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:386.95, Y:376.68, Z:22.53 [[ 7.95029288e-01 -6.06557247e-01 -4.09109834e-03 3.86945474e+02] [ 6.06549481e-01 7.95039813e-01 -3.06972308e-03 3.76675577e+02] [ 5.11454884e-03 -4.09338173e-05 9.99986920e-01 2.25281309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.320385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:386.97, Y:376.69, Z:22.53 [[ 7.94991188e-01 -6.06607069e-01 -4.10797244e-03 3.86969274e+02] [ 6.06599419e-01 7.95001798e-01 -3.04723005e-03 3.76693577e+02] [ 5.11431677e-03 -6.93726567e-05 9.99986919e-01 2.25285517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.3503857229999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:386.99, Y:376.71, Z:22.53 [[ 7.93586334e-01 -6.08443708e-01 -4.12126917e-03 3.86986242e+02] [ 6.08436175e-01 7.93597029e-01 -3.02950599e-03 3.76711527e+02] [ 5.11391083e-03 -1.03354692e-04 9.99986919e-01 2.25312479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.380385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:387.01, Y:376.73, Z:22.53 [[ 7.93522031e-01 -6.08527782e-01 -4.08964697e-03 3.87007218e+02] [ 6.08520032e-01 7.93532568e-01 -3.07160890e-03 3.76730487e+02] [ 5.11442741e-03 -5.12427700e-05 9.99986920e-01 2.25311440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.410385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:387.03, Y:376.75, Z:22.53 [[ 7.93696986e-01 -6.08299578e-01 -4.08880058e-03 3.87027770e+02] [ 6.08291819e-01 7.93707516e-01 -3.07273517e-03 3.76747914e+02] [ 5.11445526e-03 -4.83633046e-05 9.99986920e-01 2.25308939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.440385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:387.05, Y:376.77, Z:22.53 [[ 7.93845767e-01 -6.08105406e-01 -4.08822598e-03 3.87049541e+02] [ 6.08097641e-01 7.93856292e-01 -3.07349948e-03 3.76766332e+02] [ 5.11447557e-03 -4.61560269e-05 9.99986920e-01 2.25308504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.4703857229999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:387.07, Y:376.79, Z:22.53 [[ 7.94702273e-01 -6.06985660e-01 -4.08738789e-03 3.87069934e+02] [ 6.06977874e-01 7.94712783e-01 -3.07461363e-03 3.76786003e+02] [ 5.11454579e-03 -3.75515725e-05 9.99986920e-01 2.25308988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.500385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:387.09, Y:376.80, Z:22.53 [[ 7.95317106e-01 -6.06179842e-01 -4.08655345e-03 3.87091319e+02] [ 6.06172039e-01 7.95327605e-01 -3.07572231e-03 3.76804507e+02] [ 5.11458963e-03 -3.09798678e-05 9.99986920e-01 2.25309601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.530385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:387.11, Y:376.82, Z:22.53 [[ 7.96529831e-01 -6.04585425e-01 -4.08570348e-03 3.87110491e+02] [ 6.04577596e-01 7.96540309e-01 -3.07685097e-03 3.76823320e+02] [ 5.11464676e-03 -1.93212115e-05 9.99986920e-01 2.25313577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.560385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:387.13, Y:376.84, Z:22.53 [[ 7.97045673e-01 -6.03905212e-01 -4.08534475e-03 3.87131385e+02] [ 6.03897372e-01 7.97056143e-01 -3.07732721e-03 3.76840558e+02] [ 5.11466307e-03 -1.43586182e-05 9.99986920e-01 2.25319083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.5903857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:387.15, Y:376.86, Z:22.53 [[ 7.97090594e-01 -6.03845923e-01 -4.08497915e-03 3.87152617e+02] [ 6.03838079e-01 7.97101061e-01 -3.07781244e-03 3.76858792e+02] [ 5.11466571e-03 -1.33706192e-05 9.99986920e-01 2.25323628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.620385723 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:387.17, Y:376.88, Z:22.53 [[ 7.97571680e-01 -6.03210357e-01 -4.08415009e-03 3.87173187e+02] [ 6.03202500e-01 7.97582137e-01 -3.07891218e-03 3.76878984e+02] [ 5.11467687e-03 -7.91638024e-06 9.99986920e-01 2.25323227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.650385723 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:387.19, Y:376.90, Z:22.53 [[ 7.97813054e-01 -6.02891083e-01 -4.08331053e-03 3.87193096e+02] [ 6.02883215e-01 7.97823503e-01 -3.08002523e-03 3.76897879e+02] [ 5.11468085e-03 -4.47504678e-06 9.99986920e-01 2.25322327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.680385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:387.21, Y:376.92, Z:22.53 [[ 7.97865783e-01 -6.02821302e-01 -4.08294617e-03 3.87214708e+02] [ 6.02813431e-01 7.97876229e-01 -3.08050814e-03 3.76916161e+02] [ 5.11468163e-03 -3.42275204e-06 9.99986920e-01 2.25329874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.710385723 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:387.24, Y:376.93, Z:22.53 [[ 7.97941097e-01 -6.02721612e-01 -4.08209845e-03 3.87235574e+02] [ 6.02713734e-01 7.97951539e-01 -3.08163109e-03 3.76933863e+02] [ 5.11468240e-03 -1.37670851e-06 9.99986920e-01 2.25331827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.740385723 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:387.26, Y:376.95, Z:22.53 [[ 7.97060002e-01 -6.03886325e-01 -4.08173201e-03 3.87255180e+02] [ 6.03878459e-01 7.97070453e-01 -3.08211637e-03 3.76954353e+02] [ 5.11467591e-03 -8.23836318e-06 9.99986920e-01 2.25314614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.770385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:387.28, Y:376.97, Z:22.53 [[ 7.97443216e-01 -6.03380197e-01 -4.08093994e-03 3.87275992e+02] [ 6.03372320e-01 7.97453659e-01 -3.08316470e-03 3.76971514e+02] [ 5.11468101e-03 -3.67742142e-06 9.99986920e-01 2.25334643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.800385723 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:387.30, Y:376.99, Z:22.53 [[ 7.96770636e-01 -6.04268072e-01 -4.08045909e-03 3.87296409e+02] [ 6.04260203e-01 7.96781085e-01 -3.08380095e-03 3.76990870e+02] [ 5.11467508e-03 -8.57699574e-06 9.99986920e-01 2.25335934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.830385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:387.32, Y:377.01, Z:22.53 [[ 7.96187517e-01 -6.05036193e-01 -4.07959823e-03 3.87316582e+02] [ 6.05028328e-01 7.96197969e-01 -3.08493938e-03 3.77008309e+02] [ 5.11466780e-03 -1.20822715e-05 9.99986920e-01 2.25333323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.860385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:387.34, Y:377.03, Z:22.53 [[ 7.95198701e-01 -6.06335210e-01 -4.07901375e-03 3.87338667e+02] [ 6.06327359e-01 7.95209163e-01 -3.08571200e-03 3.77029092e+02] [ 5.11464494e-03 -1.94634623e-05 9.99986920e-01 2.25321259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.890385723 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:387.36, Y:377.05, Z:22.53 [[ 7.94553236e-01 -6.07180734e-01 -4.08807118e-03 3.87360177e+02] [ 6.07172955e-01 7.94563752e-01 -3.07374419e-03 3.77047976e+02] [ 5.11455142e-03 -3.99128620e-05 9.99986920e-01 2.25319286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.920385723 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:387.38, Y:377.07, Z:22.53 [[ 7.94185762e-01 -6.07661320e-01 -4.08590803e-03 3.87382651e+02] [ 6.07653533e-01 7.94196272e-01 -3.07659990e-03 3.77066823e+02] [ 5.11454369e-03 -3.94246149e-05 9.99986920e-01 2.25317441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.950385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:387.40, Y:377.09, Z:22.53 [[ 7.93876644e-01 -6.08065104e-01 -4.08687390e-03 3.87401321e+02] [ 6.08057329e-01 7.93887163e-01 -3.07532516e-03 3.77085053e+02] [ 5.11451464e-03 -4.36248115e-05 9.99986920e-01 2.25324071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.980385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:387.42, Y:377.10, Z:22.53 [[ 7.93949904e-01 -6.07969520e-01 -4.07588348e-03 3.87422690e+02] [ 6.07961669e-01 7.93960366e-01 -3.08982298e-03 3.77102700e+02] [ 5.11460813e-03 -2.48162644e-05 9.99986920e-01 2.25329592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.010385723 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:387.44, Y:377.12, Z:22.53 [[ 7.94278877e-01 -6.07539677e-01 -4.07504313e-03 3.87444763e+02] [ 6.07531815e-01 7.94289330e-01 -3.09093088e-03 3.77122800e+02] [ 5.11462643e-03 -2.06572375e-05 9.99986920e-01 2.25324872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.040385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:387.47, Y:377.14, Z:22.53 [[ 7.95203416e-01 -6.06329003e-01 -4.08251953e-03 3.87468597e+02] [ 6.06321175e-01 7.95213895e-01 -3.08108124e-03 3.77141653e+02] [ 5.11462518e-03 -2.52317077e-05 9.99986920e-01 2.25317778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.070385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:387.49, Y:377.16, Z:22.53 [[ 7.95103027e-01 -6.06460566e-01 -4.09362784e-03 3.87487342e+02] [ 6.06452816e-01 7.95113564e-01 -3.06645028e-03 3.77161370e+02] [ 5.11458019e-03 -4.44482260e-05 9.99986919e-01 2.25309283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.1003857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:387.51, Y:377.18, Z:22.53 [[ 7.95987041e-01 -6.05299914e-01 -4.07983910e-03 3.87507645e+02] [ 6.05292054e-01 7.95997497e-01 -3.08459883e-03 3.77178592e+02] [ 5.11464912e-03 -1.41934888e-05 9.99986920e-01 2.25306918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.130385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:387.53, Y:377.20, Z:22.53 [[ 7.96106014e-01 -6.05143484e-01 -4.07169787e-03 3.87529008e+02] [ 6.05135567e-01 7.96116426e-01 -3.09530815e-03 3.77196502e+02] [ 5.11465111e-03 2.64235076e-07 9.99986920e-01 2.25315612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.160385723 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:387.55, Y:377.21, Z:22.53 [[ 7.96240638e-01 -6.04966341e-01 -4.07083316e-03 3.87549393e+02] [ 6.04958417e-01 7.96251045e-01 -3.09644497e-03 3.77214703e+02] [ 5.11465014e-03 2.83053720e-06 9.99986920e-01 2.25312476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.190385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:387.57, Y:377.23, Z:22.53 [[ 7.96521782e-01 -6.04596131e-01 -4.07054449e-03 3.87571896e+02] [ 6.04588200e-01 7.96532183e-01 -3.09682441e-03 3.77232560e+02] [ 5.11464774e-03 5.68493155e-06 9.99986920e-01 2.25336633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.2203857229999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:387.59, Y:377.25, Z:22.53 [[ 7.96761791e-01 -6.04279789e-01 -4.07256139e-03 3.87593462e+02] [ 6.04271867e-01 7.96772199e-01 -3.09417417e-03 3.77249475e+02] [ 5.11465060e-03 4.38547763e-06 9.99986920e-01 2.25341489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.250385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:387.62, Y:377.27, Z:22.54 [[ 7.97151691e-01 -6.03765370e-01 -4.06935598e-03 3.87615320e+02] [ 6.03757420e-01 7.97162077e-01 -3.09838408e-03 3.77266343e+02] [ 5.11463328e-03 1.29782432e-05 9.99986920e-01 2.25351932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.280385723 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:387.64, Y:377.28, Z:22.54 [[ 7.99266451e-01 -6.00963050e-01 -4.06849335e-03 3.87642049e+02] [ 6.00955058e-01 7.99276805e-01 -3.09951640e-03 3.77284137e+02] [ 5.11454719e-03 3.23578176e-05 9.99986920e-01 2.25350601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.310385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:387.66, Y:377.30, Z:22.54 [[ 7.98891264e-01 -6.01461543e-01 -4.09401674e-03 3.87659883e+02] [ 6.01453728e-01 7.98901754e-01 -3.06601463e-03 3.77302061e+02] [ 5.11480704e-03 -1.29493310e-05 9.99986919e-01 2.25354802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.3403857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:387.68, Y:377.32, Z:22.54 [[ 7.98810383e-01 -6.01569139e-01 -4.06723679e-03 3.87682486e+02] [ 6.01561147e-01 7.98820737e-01 -3.10113736e-03 3.77318884e+02] [ 5.11454162e-03 3.05290896e-05 9.99986920e-01 2.25353610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.370385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:387.70, Y:377.34, Z:22.54 [[ 7.98576653e-01 -6.01879386e-01 -4.06637024e-03 3.87704870e+02] [ 6.01871391e-01 7.98587005e-01 -3.10227320e-03 3.77335171e+02] [ 5.11454472e-03 2.99710344e-05 9.99986920e-01 2.25353826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.400385723 meters Centerline goodness : 0.999549 Centerline is valid? [True, True] Translation: X:387.73, Y:377.35, Z:22.54 [[ 7.97865213e-01 -6.02822153e-01 -4.06869469e-03 3.87728463e+02] [ 6.02814186e-01 7.97875587e-01 -3.09922721e-03 3.77351115e+02] [ 5.11459498e-03 2.00986973e-05 9.99986920e-01 2.25355292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.430385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:387.75, Y:377.37, Z:22.54 [[ 7.97459299e-01 -6.03359022e-01 -4.06894234e-03 3.87751099e+02] [ 6.03351064e-01 7.97469680e-01 -3.09890276e-03 3.77367159e+02] [ 5.11460908e-03 1.62481316e-05 9.99986920e-01 2.25359934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.460385723 meters Centerline goodness : 0.999250 Centerline is valid? [True, True] Translation: X:387.78, Y:377.38, Z:22.53 [[ 7.96531680e-01 -6.04583129e-01 -4.06487354e-03 3.87775528e+02] [ 6.04575160e-01 7.96542052e-01 -3.10423071e-03 3.77383663e+02] [ 5.11460822e-03 1.50965291e-05 9.99986920e-01 2.25347617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.490385723 meters Centerline goodness : 0.992942 Centerline is valid? [True, True] Translation: X:387.80, Y:377.40, Z:22.53 [[ 7.95932112e-01 -6.05372220e-01 -4.06800166e-03 3.87797984e+02] [ 6.05364282e-01 7.95942508e-01 -3.10013403e-03 3.77400400e+02] [ 5.11463046e-03 4.87332326e-06 9.99986920e-01 2.25332198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.520385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:387.82, Y:377.42, Z:22.54 [[ 7.95580261e-01 -6.05834544e-01 -4.06869127e-03 3.87823118e+02] [ 6.05826617e-01 7.95590664e-01 -3.09923116e-03 3.77415613e+02] [ 5.11463408e-03 7.65667579e-07 9.99986920e-01 2.25379649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.550385723 meters Centerline goodness : 0.995376 Centerline is valid? [True, True] Translation: X:387.85, Y:377.43, Z:22.54 [[ 7.95182135e-01 -6.06357000e-01 -4.06959214e-03 3.87845598e+02] [ 6.06349085e-01 7.95192548e-01 -3.09805236e-03 3.77430853e+02] [ 5.11463507e-03 -4.07758108e-06 9.99986920e-01 2.25361469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.580385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:387.87, Y:377.45, Z:22.54 [[ 7.94970083e-01 -6.06635016e-01 -4.06521274e-03 3.87869377e+02] [ 6.06627075e-01 7.94980477e-01 -3.10378006e-03 3.77446469e+02] [ 5.11462643e-03 1.34418023e-06 9.99986920e-01 2.25373912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.610385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:387.89, Y:377.46, Z:22.54 [[ 7.94804793e-01 -6.06851578e-01 -4.06230753e-03 3.87892033e+02] [ 6.06843622e-01 7.94815175e-01 -3.10757782e-03 3.77463885e+02] [ 5.11462218e-03 4.73233604e-06 9.99986920e-01 2.25375358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.640385723 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:387.92, Y:377.48, Z:22.54 [[ 7.94114274e-01 -6.07754905e-01 -4.06146065e-03 3.87916536e+02] [ 6.07746954e-01 7.94124660e-01 -3.10868426e-03 3.77477938e+02] [ 5.11462417e-03 3.10205961e-07 9.99986920e-01 2.25379545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.670385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:387.94, Y:377.49, Z:22.54 [[ 7.94210209e-01 -6.07629538e-01 -4.06059400e-03 3.87941538e+02] [ 6.07621580e-01 7.94220589e-01 -3.10981588e-03 3.77493262e+02] [ 5.11462335e-03 2.54297667e-06 9.99986920e-01 2.25372353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.700385723 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:387.97, Y:377.51, Z:22.54 [[ 7.94611742e-01 -6.07104279e-01 -4.07102076e-03 3.87969690e+02] [ 6.07096384e-01 7.94622171e-01 -3.09620268e-03 3.77508955e+02] [ 5.11464125e-03 -1.12229788e-05 9.99986920e-01 2.25373460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.730385723 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:387.99, Y:377.52, Z:22.54 [[ 7.92611009e-01 -6.09713824e-01 -4.10383257e-03 3.87986239e+02] [ 6.09706184e-01 7.92621628e-01 -3.05334345e-03 3.77524473e+02] [ 5.11445216e-03 -8.20184680e-05 9.99986918e-01 2.25377958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.760385723 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:388.01, Y:377.54, Z:22.54 [[ 7.92185673e-01 -6.10266661e-01 -4.05721519e-03 3.88012047e+02] [ 6.10258716e-01 7.92196063e-01 -3.11413695e-03 3.77538952e+02] [ 5.11456386e-03 -8.97625691e-06 9.99986921e-01 2.25393005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.790385723 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:388.03, Y:377.55, Z:22.54 [[ 7.92656268e-01 -6.09655288e-01 -4.05828490e-03 3.88034808e+02] [ 6.09647342e-01 7.92666657e-01 -3.11274230e-03 3.77553639e+02] [ 5.11456693e-03 -6.78790526e-06 9.99986921e-01 2.25399755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.820385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:388.06, Y:377.57, Z:22.54 [[ 7.91868462e-01 -6.10678261e-01 -4.04962536e-03 3.88059354e+02] [ 6.10670271e-01 7.91878817e-01 -3.12402669e-03 3.77569321e+02] [ 5.11458773e-03 8.32402101e-07 9.99986920e-01 2.25405938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.8503857229999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:388.08, Y:377.59, Z:22.54 [[ 7.91857236e-01 -6.10692768e-01 -4.05719669e-03 3.88081486e+02] [ 6.10684828e-01 7.91867630e-01 -3.11416260e-03 3.77585067e+02] [ 5.11455931e-03 -1.16962785e-05 9.99986921e-01 2.25406946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.880385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:388.10, Y:377.60, Z:22.54 [[ 7.91689184e-01 -6.10910614e-01 -4.05682186e-03 3.88103006e+02] [ 6.10902674e-01 7.91699578e-01 -3.11465081e-03 3.77601171e+02] [ 5.11455740e-03 -1.24879652e-05 9.99986921e-01 2.25406491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.910385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:388.13, Y:377.62, Z:22.54 [[ 7.91007571e-01 -6.11792982e-01 -4.04595310e-03 3.88129287e+02] [ 6.11784982e-01 7.91017918e-01 -3.12879753e-03 3.77616362e+02] [ 5.11459777e-03 -3.50808711e-07 9.99986920e-01 2.25409575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.940385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:388.16, Y:377.63, Z:22.54 [[ 7.90558570e-01 -6.12373009e-01 -4.05532393e-03 3.88155342e+02] [ 6.12365079e-01 7.90568971e-01 -3.11660421e-03 3.77631189e+02] [ 5.11453756e-03 -1.94805893e-05 9.99986920e-01 2.25410206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.9703857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:388.18, Y:377.65, Z:22.54 [[ 7.89975284e-01 -6.13125184e-01 -4.06925473e-03 3.88178272e+02] [ 6.13117357e-01 7.89985764e-01 -3.09848744e-03 3.77647644e+02] [ 5.11441399e-03 -4.72022055e-05 9.99986920e-01 2.25406926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.000385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:388.20, Y:377.66, Z:22.54 [[ 7.89547053e-01 -6.13676549e-01 -4.06757237e-03 3.88201306e+02] [ 6.13668717e-01 7.89557529e-01 -3.10067376e-03 3.77664275e+02] [ 5.11439316e-03 -4.80140918e-05 9.99986920e-01 2.25404620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.030385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:388.23, Y:377.68, Z:22.54 [[ 7.89516742e-01 -6.13715565e-01 -4.06436562e-03 3.88226821e+02] [ 6.13707713e-01 7.89527202e-01 -3.10483869e-03 3.77679366e+02] [ 5.11441505e-03 -4.30103996e-05 9.99986920e-01 2.25412706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.060385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:388.25, Y:377.70, Z:22.54 [[ 7.89087885e-01 -6.14266859e-01 -4.06632022e-03 3.88249623e+02] [ 6.14259027e-01 7.89098361e-01 -3.10230239e-03 3.77695370e+02] [ 5.11436816e-03 -4.97846738e-05 9.99986920e-01 2.25409788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.0903857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:388.27, Y:377.71, Z:22.54 [[ 7.88915936e-01 -6.14487727e-01 -4.05944814e-03 3.88273524e+02] [ 6.14479852e-01 7.88926379e-01 -3.11121318e-03 3.77710130e+02] [ 5.11440804e-03 -3.99634328e-05 9.99986921e-01 2.25419619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.120385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:388.30, Y:377.73, Z:22.54 [[ 7.88722517e-01 -6.14735967e-01 -4.05979895e-03 3.88298489e+02] [ 6.14728098e-01 7.88732964e-01 -3.11075829e-03 3.77726705e+02] [ 5.11439227e-03 -4.21473729e-05 9.99986921e-01 2.25412846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.150385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:388.32, Y:377.74, Z:22.54 [[ 7.88388936e-01 -6.15163678e-01 -4.06641105e-03 3.88319991e+02] [ 6.15155858e-01 7.88399421e-01 -3.10218629e-03 3.77741440e+02] [ 5.11430845e-03 -5.57472321e-05 9.99986920e-01 2.25408016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.180385723 meters Centerline goodness : 0.992920 Centerline is valid? [True, True] Translation: X:388.35, Y:377.76, Z:22.54 [[ 7.87676820e-01 -6.16075350e-01 -4.04851885e-03 3.88345691e+02] [ 6.16067424e-01 7.87687223e-01 -3.12536342e-03 3.77760098e+02] [ 5.11442593e-03 -3.23842621e-05 9.99986921e-01 2.25398263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.210385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:388.37, Y:377.78, Z:22.54 [[ 7.88538773e-01 -6.14971512e-01 -4.07961704e-03 3.88367137e+02] [ 6.14963778e-01 7.88549323e-01 -3.08507959e-03 3.77775004e+02] [ 5.11421531e-03 -7.61118328e-05 9.99986919e-01 2.25412765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.240385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:388.39, Y:377.79, Z:22.54 [[ 7.89323610e-01 -6.13964059e-01 -4.04632710e-03 3.88390000e+02] [ 6.13956090e-01 7.89333981e-01 -3.12814096e-03 3.77789604e+02] [ 5.11446960e-03 -1.51516461e-05 9.99986921e-01 2.25411026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.270385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:388.41, Y:377.80, Z:22.54 [[ 7.89713216e-01 -6.13462850e-01 -4.04574897e-03 3.88411998e+02] [ 6.13454871e-01 7.89723579e-01 -3.12888850e-03 3.77804643e+02] [ 5.11448021e-03 -1.09598075e-05 9.99986921e-01 2.25409862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.300385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:388.44, Y:377.82, Z:22.54 [[ 7.90199060e-01 -6.12836911e-01 -4.04538373e-03 3.88435239e+02] [ 6.12828921e-01 7.90209415e-01 -3.12936065e-03 3.77818853e+02] [ 5.11448803e-03 -6.31030253e-06 9.99986921e-01 2.25410484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.330385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:388.46, Y:377.83, Z:22.54 [[ 7.89760781e-01 -6.13401619e-01 -4.04502181e-03 3.88460006e+02] [ 6.13393634e-01 7.89771140e-01 -3.12982840e-03 3.77834420e+02] [ 5.11448330e-03 -9.37490555e-06 9.99986921e-01 2.25431989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.360385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:388.48, Y:377.85, Z:22.54 [[ 7.89334495e-01 -6.13950073e-01 -4.04524264e-03 3.88482206e+02] [ 6.13942096e-01 7.89344860e-01 -3.12954305e-03 3.77849551e+02] [ 5.11447467e-03 -1.32884701e-05 9.99986921e-01 2.25429694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.390385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:388.51, Y:377.86, Z:22.54 [[ 7.89555105e-01 -6.13666358e-01 -4.04187872e-03 3.88505401e+02] [ 6.13658356e-01 7.89565451e-01 -3.13388762e-03 3.77864582e+02] [ 5.11448919e-03 -5.95567909e-06 9.99986921e-01 2.25419900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.420385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:388.53, Y:377.88, Z:22.54 [[ 7.88540752e-01 -6.14969212e-01 -4.04372441e-03 3.88529543e+02] [ 6.14961239e-01 7.88551120e-01 -3.13150428e-03 3.77880471e+02] [ 5.11446212e-03 -1.74150348e-05 9.99986921e-01 2.25429969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.450385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:388.55, Y:377.90, Z:22.54 [[ 7.88290382e-01 -6.15290103e-01 -4.04514530e-03 3.88552631e+02] [ 6.15282144e-01 7.88300760e-01 -3.12966996e-03 3.77895328e+02] [ 5.11444607e-03 -2.18169455e-05 9.99986921e-01 2.25422855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.480385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:388.58, Y:377.91, Z:22.54 [[ 7.88669552e-01 -6.14804029e-01 -4.04261075e-03 3.88575926e+02] [ 6.14796047e-01 7.88679913e-01 -3.13294024e-03 3.77911302e+02] [ 5.11447017e-03 -1.45265330e-05 9.99986921e-01 2.25422972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.510385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:388.60, Y:377.93, Z:22.54 [[ 7.87818846e-01 -6.15893762e-01 -4.04224830e-03 3.88598067e+02] [ 6.15885791e-01 7.87829216e-01 -3.13340781e-03 3.77928393e+02] [ 5.11444763e-03 -2.10055666e-05 9.99986921e-01 2.25428827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.540385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:388.62, Y:377.94, Z:22.54 [[ 7.88092344e-01 -6.15543777e-01 -4.03940830e-03 3.88620694e+02] [ 6.15535783e-01 7.88102696e-01 -3.13706985e-03 3.77944169e+02] [ 5.11447239e-03 -1.40996161e-05 9.99986921e-01 2.25435559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.570385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:388.64, Y:377.96, Z:22.54 [[ 7.86983832e-01 -6.16960386e-01 -4.04107026e-03 3.88640676e+02] [ 6.16952421e-01 7.86994207e-01 -3.13492751e-03 3.77962886e+02] [ 5.11442497e-03 -2.60108167e-05 9.99986921e-01 2.25439286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.6003857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:388.66, Y:377.98, Z:22.54 [[ 7.87565519e-01 -6.16217765e-01 -4.02732453e-03 3.88663819e+02] [ 6.16209700e-01 7.87575816e-01 -3.15263620e-03 3.77980551e+02] [ 5.11453383e-03 1.23112403e-06 9.99986921e-01 2.25420973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.630385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:388.69, Y:378.00, Z:22.54 [[ 7.87028172e-01 -6.16903830e-01 -4.03998723e-03 3.88686020e+02] [ 6.16895858e-01 7.87038540e-01 -3.13632502e-03 3.77998504e+02] [ 5.11443657e-03 -2.38752425e-05 9.99986921e-01 2.25423216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.660385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:388.70, Y:378.02, Z:22.54 [[ 7.84213275e-01 -6.20478222e-01 -4.03913865e-03 3.88704996e+02] [ 6.20470292e-01 7.84223676e-01 -3.13741749e-03 3.78017463e+02] [ 5.11428739e-03 -4.57610930e-05 9.99986921e-01 2.25421417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.690385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:388.73, Y:378.03, Z:22.54 [[ 7.83430077e-01 -6.21466920e-01 -4.02267676e-03 3.88727613e+02] [ 6.21458894e-01 7.83440404e-01 -3.15857851e-03 3.78034480e+02] [ 5.11447957e-03 -2.54028416e-05 9.99986921e-01 2.25390554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.7203857229999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:388.75, Y:378.05, Z:22.54 [[ 7.80500475e-01 -6.25142198e-01 -4.03007019e-03 3.88749918e+02] [ 6.25134269e-01 7.80510877e-01 -3.14907465e-03 3.78053066e+02] [ 5.11413306e-03 -6.14807261e-05 9.99986921e-01 2.25412126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.750385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:388.77, Y:378.07, Z:22.54 [[ 7.78923169e-01 -6.27106400e-01 -4.03231258e-03 3.88770481e+02] [ 6.27098512e-01 7.78933603e-01 -3.14619297e-03 3.78071222e+02] [ 5.11390151e-03 -7.80146172e-05 9.99986921e-01 2.25405888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.780385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:388.79, Y:378.09, Z:22.54 [[ 7.77266437e-01 -6.29158725e-01 -4.02293556e-03 3.88794039e+02] [ 6.29150803e-01 7.77276845e-01 -3.15822880e-03 3.78089999e+02] [ 5.11396186e-03 -7.62478848e-05 9.99986921e-01 2.25427875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.810385723 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:388.82, Y:378.11, Z:22.54 [[ 7.76472206e-01 -6.30138585e-01 -4.03454166e-03 3.88815571e+02] [ 6.30130753e-01 7.76482681e-01 -3.14333209e-03 3.78107285e+02] [ 5.11348656e-03 -1.01578770e-04 9.99986921e-01 2.25434799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.8403857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:388.84, Y:378.13, Z:22.55 [[ 7.75084531e-01 -6.31844676e-01 -4.03414601e-03 3.88837448e+02] [ 6.31836865e-01 7.75095022e-01 -3.14383978e-03 3.78125910e+02] [ 5.11326492e-03 -1.12180587e-04 9.99986921e-01 2.25458440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.870385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:388.86, Y:378.14, Z:22.55 [[ 7.74346180e-01 -6.32749338e-01 -4.03338259e-03 3.88858529e+02] [ 6.32741534e-01 7.74356676e-01 -3.14481891e-03 3.78143860e+02] [ 5.11315882e-03 -1.16910179e-04 9.99986921e-01 2.25464579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.900385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:388.88, Y:378.16, Z:22.55 [[ 7.73845237e-01 -6.33361893e-01 -4.03250149e-03 3.88879018e+02] [ 6.33354091e-01 7.73855735e-01 -3.14594831e-03 3.78163191e+02] [ 5.11309818e-03 -1.19524203e-04 9.99986921e-01 2.25457984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.930385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:388.90, Y:378.18, Z:22.55 [[ 7.73480005e-01 -6.33807876e-01 -4.03222998e-03 3.88900354e+02] [ 6.33800078e-01 7.73490505e-01 -3.14629628e-03 3.78182250e+02] [ 5.11303896e-03 -1.22030414e-04 9.99986921e-01 2.25455417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.960385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:388.92, Y:378.20, Z:22.55 [[ 7.73429595e-01 -6.33869395e-01 -4.03139641e-03 3.88920933e+02] [ 6.33861592e-01 7.73440092e-01 -3.14736397e-03 3.78199828e+02] [ 5.11306131e-03 -1.21082909e-04 9.99986921e-01 2.25450900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.990385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:388.94, Y:378.22, Z:22.55 [[ 7.73013373e-01 -6.34376920e-01 -4.03103529e-03 3.88941784e+02] [ 6.34369122e-01 7.73023873e-01 -3.14782642e-03 3.78217413e+02] [ 5.11299494e-03 -1.23852399e-04 9.99986921e-01 2.25454606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.020385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:388.96, Y:378.24, Z:22.55 [[ 7.71600949e-01 -6.36094120e-01 -4.03067742e-03 3.88962296e+02] [ 6.36086343e-01 7.71611465e-01 -3.14828459e-03 3.78236174e+02] [ 5.11272222e-03 -1.34639479e-04 9.99986921e-01 2.25468878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.050385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:388.98, Y:378.25, Z:22.55 [[ 7.72351826e-01 -6.35182234e-01 -4.02331018e-03 3.88984668e+02] [ 6.35174396e-01 7.72362296e-01 -3.15771156e-03 3.78253393e+02] [ 5.11317537e-03 -1.16639321e-04 9.99986921e-01 2.25470962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.080385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:389.00, Y:378.27, Z:22.55 [[ 7.71384086e-01 -6.36357096e-01 -4.02961028e-03 3.89004744e+02] [ 6.36349316e-01 7.71394599e-01 -3.14965132e-03 3.78272923e+02] [ 5.11272257e-03 -1.34648840e-04 9.99986921e-01 2.25471673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.110385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:389.03, Y:378.29, Z:22.54 [[ 7.70252992e-01 -6.37725766e-01 -4.02191518e-03 3.89026051e+02] [ 6.37717953e-01 7.70263481e-01 -3.15949156e-03 3.78292104e+02] [ 5.11282356e-03 -1.31239688e-04 9.99986921e-01 2.25432176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.140385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:389.05, Y:378.31, Z:22.55 [[ 7.70837691e-01 -6.37018902e-01 -4.02156170e-03 3.89047499e+02] [ 6.37011076e-01 7.70848171e-01 -3.15994343e-03 3.78309570e+02] [ 5.11295718e-03 -1.25975853e-04 9.99986921e-01 2.25465536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.170385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:389.07, Y:378.33, Z:22.55 [[ 7.70490300e-01 -6.37438995e-01 -4.02812922e-03 3.89069210e+02] [ 6.37431219e-01 7.70500817e-01 -3.15154920e-03 3.78327142e+02] [ 5.11259721e-03 -1.39417235e-04 9.99986921e-01 2.25466969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.200385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:389.09, Y:378.34, Z:22.54 [[ 7.70422362e-01 -6.37521110e-01 -4.02728329e-03 3.89091047e+02] [ 6.37513329e-01 7.70432876e-01 -3.15262983e-03 3.78344320e+02] [ 5.11261951e-03 -1.38590254e-04 9.99986921e-01 2.25439556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.230385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:389.11, Y:378.36, Z:22.55 [[ 7.69992643e-01 -6.38040086e-01 -4.02232407e-03 3.89112694e+02] [ 6.38032279e-01 7.70003137e-01 -3.15896197e-03 3.78363811e+02] [ 5.11274652e-03 -1.33995124e-04 9.99986921e-01 2.25463273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.260385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:389.13, Y:378.38, Z:22.54 [[ 7.69356028e-01 -6.38807587e-01 -4.02104104e-03 3.89133246e+02] [ 6.38799783e-01 7.69366524e-01 -3.16059942e-03 3.78382116e+02] [ 5.11266926e-03 -1.37013926e-04 9.99986921e-01 2.25442285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.290385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:389.16, Y:378.40, Z:22.55 [[ 7.70025674e-01 -6.38000217e-01 -4.02305379e-03 3.89156334e+02] [ 6.37992415e-01 7.70036171e-01 -3.15803114e-03 3.78399719e+02] [ 5.11272149e-03 -1.34912751e-04 9.99986921e-01 2.25490380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.320385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:389.18, Y:378.42, Z:22.55 [[ 7.70924623e-01 -6.36913671e-01 -4.02511647e-03 3.89177942e+02] [ 6.36905868e-01 7.70935120e-01 -3.15539992e-03 3.78417574e+02] [ 5.11282100e-03 -1.31044810e-04 9.99986921e-01 2.25502439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.3503857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:389.20, Y:378.44, Z:22.55 [[ 7.70574894e-01 -6.37336751e-01 -4.02471446e-03 3.89198641e+02] [ 6.37328951e-01 7.70585393e-01 -3.15591260e-03 3.78435908e+02] [ 5.11276526e-03 -1.33200025e-04 9.99986921e-01 2.25478500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.380385723 meters Centerline goodness : 0.999629 Centerline is valid? [True, True] Translation: X:389.22, Y:378.45, Z:22.55 [[ 7.73374186e-01 -6.33937064e-01 -4.02080110e-03 3.89224716e+02] [ 6.33929192e-01 7.73384631e-01 -3.16090025e-03 3.78454600e+02] [ 5.11343760e-03 -1.04344531e-04 9.99986921e-01 2.25488537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.410385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:389.24, Y:378.47, Z:22.55 [[ 7.74081140e-01 -6.33073430e-01 -4.05233747e-03 3.89242272e+02] [ 6.33065756e-01 7.74091732e-01 -3.12068548e-03 3.78472504e+02] [ 5.11250399e-03 -1.49732310e-04 9.99986920e-01 2.25504913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.440385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:389.27, Y:378.49, Z:22.55 [[ 7.74177389e-01 -6.32955912e-01 -4.02301078e-03 3.89266063e+02] [ 6.32948041e-01 7.74187835e-01 -3.15804456e-03 3.78491448e+02] [ 5.11346898e-03 -1.01470105e-04 9.99986921e-01 2.25477088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.4703857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:389.29, Y:378.51, Z:22.55 [[ 7.74651408e-01 -6.32375600e-01 -4.03697192e-03 3.89285655e+02] [ 6.32367815e-01 7.74661917e-01 -3.14026021e-03 3.78508678e+02] [ 5.11311234e-03 -1.20244115e-04 9.99986921e-01 2.25492379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.500385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:389.31, Y:378.53, Z:22.55 [[ 7.74479452e-01 -6.32586282e-01 -4.02179415e-03 3.89308087e+02] [ 6.32578399e-01 7.74489888e-01 -3.15957983e-03 3.78526394e+02] [ 5.11354576e-03 -9.70704472e-05 9.99986921e-01 2.25493748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.530385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:389.33, Y:378.54, Z:22.55 [[ 7.74740941e-01 -6.32266010e-01 -4.02093484e-03 3.89332466e+02] [ 6.32258117e-01 7.74751369e-01 -3.16067302e-03 3.78543824e+02] [ 5.11361089e-03 -9.35658967e-05 9.99986921e-01 2.25487807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.560385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:389.36, Y:378.56, Z:22.55 [[ 7.74898604e-01 -6.32072661e-01 -4.03791303e-03 3.89355672e+02] [ 6.32064877e-01 7.74909116e-01 -3.13907040e-03 3.78561242e+02] [ 5.11313619e-03 -1.19761725e-04 9.99986921e-01 2.25490053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.5903857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:389.38, Y:378.58, Z:22.55 [[ 7.74205793e-01 -6.32921047e-01 -4.04206634e-03 3.89376817e+02] [ 6.32913303e-01 7.74216333e-01 -3.13378777e-03 3.78578145e+02] [ 5.11287401e-03 -1.32080911e-04 9.99986920e-01 2.25498114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.620385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:389.40, Y:378.60, Z:22.55 [[ 7.73187676e-01 -6.34164404e-01 -4.04065234e-03 3.89395236e+02] [ 6.34156667e-01 7.73198221e-01 -3.13558454e-03 3.78595782e+02] [ 5.11270131e-03 -1.38011302e-04 9.99986921e-01 2.25512464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.650385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:389.42, Y:378.61, Z:22.55 [[ 7.72306953e-01 -6.35236829e-01 -4.01762762e-03 3.89416348e+02] [ 6.35228954e-01 7.72317396e-01 -3.16481368e-03 3.78612842e+02] [ 5.11328991e-03 -1.07905783e-04 9.99986921e-01 2.25505595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.680385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:389.44, Y:378.63, Z:22.55 [[ 7.71468826e-01 -6.36254440e-01 -4.01724519e-03 3.89438381e+02] [ 6.36246577e-01 7.71479277e-01 -3.16529904e-03 3.78630456e+02] [ 5.11315698e-03 -1.14028964e-04 9.99986921e-01 2.25499672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.710385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:389.46, Y:378.65, Z:22.55 [[ 7.71071076e-01 -6.36736416e-01 -4.01637643e-03 3.89460295e+02] [ 6.36728554e-01 7.71081528e-01 -3.16640101e-03 3.78647913e+02] [ 5.11311650e-03 -1.15821319e-04 9.99986921e-01 2.25500860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.740385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:389.48, Y:378.67, Z:22.55 [[ 7.70655602e-01 -6.37239216e-01 -4.01550372e-03 3.89482495e+02] [ 6.37231355e-01 7.70666055e-01 -3.16750735e-03 3.78665450e+02] [ 5.11307231e-03 -1.17747590e-04 9.99986921e-01 2.25499780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.770385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:389.51, Y:378.68, Z:22.55 [[ 7.69744065e-01 -6.38340002e-01 -4.01462914e-03 3.89505060e+02] [ 6.38332149e-01 7.69754524e-01 -3.16861545e-03 3.78683059e+02] [ 5.11293293e-03 -1.23643914e-04 9.99986921e-01 2.25502643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.800385723 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:389.52, Y:378.70, Z:22.55 [[ 7.68677598e-01 -6.39623776e-01 -4.02193152e-03 3.89524707e+02] [ 6.39615989e-01 7.68688107e-01 -3.15936574e-03 3.78700846e+02] [ 5.11241636e-03 -1.43958039e-04 9.99986921e-01 2.25496758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.830385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:389.55, Y:378.72, Z:22.55 [[ 7.67973779e-01 -6.40468710e-01 -4.01339071e-03 3.89545729e+02] [ 6.40460878e-01 7.67984253e-01 -3.17017825e-03 3.78718186e+02] [ 5.11262084e-03 -1.35805970e-04 9.99986921e-01 2.25495795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.860385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:389.57, Y:378.74, Z:22.55 [[ 7.67818860e-01 -6.40654426e-01 -4.01301262e-03 3.89569344e+02] [ 6.40646595e-01 7.67829335e-01 -3.17065679e-03 3.78735978e+02] [ 5.11260412e-03 -1.36432782e-04 9.99986921e-01 2.25490732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.890385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:389.59, Y:378.75, Z:22.55 [[ 7.67030899e-01 -6.41597541e-01 -4.02435298e-03 3.89589109e+02] [ 6.41589797e-01 7.67041440e-01 -3.15630970e-03 3.78754504e+02] [ 5.11192605e-03 -1.60996741e-04 9.99986921e-01 2.25504032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.920385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:389.61, Y:378.77, Z:22.55 [[ 7.66706961e-01 -6.41984692e-01 -4.01137453e-03 3.89611415e+02] [ 6.41976868e-01 7.66717442e-01 -3.17271879e-03 3.78773576e+02] [ 5.11242771e-03 -1.42664071e-04 9.99986921e-01 2.25508192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.950385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:389.63, Y:378.79, Z:22.55 [[ 7.66896856e-01 -6.41757829e-01 -4.01263693e-03 3.89632364e+02] [ 6.41750010e-01 7.66907340e-01 -3.17112310e-03 3.78790840e+02] [ 5.11241379e-03 -1.43185453e-04 9.99986921e-01 2.25506307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.980385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:389.66, Y:378.81, Z:22.55 [[ 7.67194077e-01 -6.41402500e-01 -4.01017282e-03 3.89655852e+02] [ 6.41394660e-01 7.67204545e-01 -3.17423613e-03 3.78808672e+02] [ 5.11258580e-03 -1.36848281e-04 9.99986921e-01 2.25513099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.010385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:389.68, Y:378.83, Z:22.55 [[ 7.68525896e-01 -6.39806039e-01 -4.02230937e-03 3.89678627e+02] [ 6.39798258e-01 7.68536408e-01 -3.15889369e-03 3.78826099e+02] [ 5.11237046e-03 -1.45774916e-04 9.99986921e-01 2.25510155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.040385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:389.70, Y:378.85, Z:22.55 [[ 7.68698082e-01 -6.39599043e-01 -4.04023266e-03 3.89697777e+02] [ 6.39591377e-01 7.68708680e-01 -3.13623648e-03 3.78845597e+02] [ 5.11169577e-03 -1.73279001e-04 9.99986920e-01 2.25512984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.070385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:389.72, Y:378.86, Z:22.55 [[ 7.68307706e-01 -6.40067991e-01 -4.02934917e-03 3.89715374e+02] [ 6.40060260e-01 7.68318256e-01 -3.14996732e-03 3.78863502e+02] [ 5.11201578e-03 -1.58882112e-04 9.99986921e-01 2.25516051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.1003857229999 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:389.74, Y:378.88, Z:22.55 [[ 7.69779635e-01 -6.38297156e-01 -4.00672515e-03 3.89736262e+02] [ 6.38289252e-01 7.69790055e-01 -3.17848664e-03 3.78880279e+02] [ 5.11315615e-03 -1.10715315e-04 9.99986922e-01 2.25512529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.130385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:389.76, Y:378.90, Z:22.55 [[ 7.70950359e-01 -6.36882639e-01 -4.00613008e-03 3.89761122e+02] [ 6.36874712e-01 7.70960761e-01 -3.17923648e-03 3.78898119e+02] [ 5.11336961e-03 -1.00369430e-04 9.99986922e-01 2.25507618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.160385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:389.78, Y:378.92, Z:22.55 [[ 7.71246627e-01 -6.36523725e-01 -4.02346544e-03 3.89779292e+02] [ 6.36515906e-01 7.71257111e-01 -3.15739101e-03 3.78915323e+02] [ 5.11288062e-03 -1.25872585e-04 9.99986921e-01 2.25509663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.190385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:389.81, Y:378.93, Z:22.55 [[ 7.72276119e-01 -6.35274395e-01 -4.00484663e-03 3.89805063e+02] [ 6.35266438e-01 7.72286498e-01 -3.18083313e-03 3.78932554e+02] [ 5.11359083e-03 -8.76631831e-05 9.99986922e-01 2.25503001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.2203857229999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:389.83, Y:378.95, Z:22.55 [[ 7.72421855e-01 -6.35097051e-01 -4.02660170e-03 3.89828679e+02] [ 6.35089234e-01 7.72432341e-01 -3.15343866e-03 3.78949291e+02] [ 5.11301697e-03 -1.21466453e-04 9.99986921e-01 2.25504044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.250385723 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:389.85, Y:378.97, Z:22.55 [[ 7.70615968e-01 -6.37287025e-01 -4.03460129e-03 3.89846648e+02] [ 6.37279290e-01 7.70626515e-01 -3.14337037e-03 3.78967423e+02] [ 5.11239988e-03 -1.48836441e-04 9.99986921e-01 2.25520531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.280385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:389.87, Y:378.98, Z:22.55 [[ 7.68939081e-01 -6.39309526e-01 -4.00243120e-03 3.89868163e+02] [ 6.39301608e-01 7.68949490e-01 -3.18381201e-03 3.78983675e+02] [ 5.11310878e-03 -1.10603218e-04 9.99986922e-01 2.25528296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.310385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:389.89, Y:379.00, Z:22.55 [[ 7.68020060e-01 -6.40413282e-01 -4.00204949e-03 3.89890514e+02] [ 6.40405376e-01 7.68030478e-01 -3.18429175e-03 3.79001179e+02] [ 5.11295871e-03 -1.17334074e-04 9.99986922e-01 2.25529612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.3403857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:389.91, Y:379.02, Z:22.55 [[ 7.66130881e-01 -6.42672128e-01 -4.00118794e-03 3.89913526e+02] [ 6.42664247e-01 7.66141318e-01 -3.18537395e-03 3.79019031e+02] [ 5.11262646e-03 -1.31007081e-04 9.99986922e-01 2.25518854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.370385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:389.93, Y:379.04, Z:22.55 [[ 7.65318452e-01 -6.43639343e-01 -4.00797200e-03 3.89934217e+02] [ 6.43631520e-01 7.65328932e-01 -3.17685440e-03 3.79036186e+02] [ 5.11216541e-03 -1.48351818e-04 9.99986922e-01 2.25511261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.400385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:389.96, Y:379.05, Z:22.55 [[ 7.63236227e-01 -6.46107160e-01 -4.00001766e-03 3.89956408e+02] [ 6.46099318e-01 7.63246694e-01 -3.18683844e-03 3.79053832e+02] [ 5.11203939e-03 -1.52098141e-04 9.99986922e-01 2.25506596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.430385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:389.98, Y:379.07, Z:22.55 [[ 7.61778156e-01 -6.47825631e-01 -3.99915744e-03 3.89979086e+02] [ 6.47817807e-01 7.61788636e-01 -3.18791756e-03 3.79072088e+02] [ 5.11172740e-03 -1.62239445e-04 9.99986922e-01 2.25499637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.460385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:390.00, Y:379.09, Z:22.55 [[ 7.61497867e-01 -6.48155067e-01 -4.00112997e-03 3.89999821e+02] [ 6.48147261e-01 7.61508360e-01 -3.18544381e-03 3.79088953e+02] [ 5.11155546e-03 -1.67612760e-04 9.99986922e-01 2.25497953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.490385723 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:390.02, Y:379.11, Z:22.55 [[ 7.61183903e-01 -6.48523772e-01 -3.99796455e-03 3.90021749e+02] [ 6.48515950e-01 7.61194384e-01 -3.18941170e-03 3.79106520e+02] [ 5.11163747e-03 -1.65014932e-04 9.99986922e-01 2.25472513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.520385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:390.04, Y:379.12, Z:22.55 [[ 7.62408177e-01 -6.47084070e-01 -3.99713857e-03 3.90043458e+02] [ 6.47076223e-01 7.62418640e-01 -3.19044652e-03 3.79123604e+02] [ 5.11198007e-03 -1.54030810e-04 9.99986922e-01 2.25494442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.550385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:390.07, Y:379.14, Z:22.55 [[ 7.62640073e-01 -6.46810752e-01 -3.99629284e-03 3.90066290e+02] [ 6.46802896e-01 7.62650529e-01 -3.19150552e-03 3.79142148e+02] [ 5.11207493e-03 -1.50843772e-04 9.99986922e-01 2.25492826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.580385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:390.09, Y:379.16, Z:22.55 [[ 7.63491266e-01 -6.45805749e-01 -4.00270392e-03 3.90085460e+02] [ 6.45797921e-01 7.63501743e-01 -3.18348350e-03 3.79161684e+02] [ 5.11198336e-03 -1.54376023e-04 9.99986922e-01 2.25457872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.610385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:390.11, Y:379.18, Z:22.55 [[ 7.66242217e-01 -6.42539493e-01 -3.98311789e-03 3.90108847e+02] [ 6.42531492e-01 7.66252563e-01 -3.20798605e-03 3.79179612e+02] [ 5.11333202e-03 -1.01184338e-04 9.99986922e-01 2.25471655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.640385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:390.13, Y:379.20, Z:22.55 [[ 7.66602447e-01 -6.42109593e-01 -3.99483887e-03 3.90130845e+02] [ 6.42101663e-01 7.66612847e-01 -3.19332314e-03 3.79197246e+02] [ 5.11295822e-03 -1.17083348e-04 9.99986922e-01 2.25483469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.670385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:390.15, Y:379.21, Z:22.55 [[ 7.67276910e-01 -6.41303509e-01 -3.99396962e-03 3.90152842e+02] [ 6.41295563e-01 7.67287297e-01 -3.19440997e-03 3.79214527e+02] [ 5.11310848e-03 -1.10317982e-04 9.99986922e-01 2.25497999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.700385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:390.17, Y:379.23, Z:22.55 [[ 7.67442747e-01 -6.41105051e-01 -3.99303816e-03 3.90174949e+02] [ 6.41097096e-01 7.67453127e-01 -3.19557387e-03 3.79231996e+02] [ 5.11316817e-03 -1.07505181e-04 9.99986922e-01 2.25494308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.730385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:390.20, Y:379.25, Z:22.55 [[ 7.68265112e-01 -6.40119346e-01 -3.99261108e-03 3.90199203e+02] [ 6.40111375e-01 7.68275480e-01 -3.19610739e-03 3.79249131e+02] [ 5.11331536e-03 -1.00257966e-04 9.99986922e-01 2.25496391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.760385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:390.22, Y:379.27, Z:22.55 [[ 7.67659819e-01 -6.40845039e-01 -4.00474732e-03 3.90220866e+02] [ 6.40837157e-01 7.67670255e-01 -3.18095257e-03 3.79267303e+02] [ 5.11282307e-03 -1.24501414e-04 9.99986922e-01 2.25498750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.790385723 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:390.24, Y:379.29, Z:22.55 [[ 7.67539709e-01 -6.40988933e-01 -3.99784922e-03 3.90241361e+02] [ 6.40981008e-01 7.67550112e-01 -3.18956076e-03 3.79285287e+02] [ 5.11302276e-03 -1.14430885e-04 9.99986922e-01 2.25518255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.820385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:390.26, Y:379.30, Z:22.55 [[ 7.67122573e-01 -6.41488143e-01 -3.99004374e-03 3.90261500e+02] [ 6.41480173e-01 7.67132943e-01 -3.19929547e-03 3.79303514e+02] [ 5.11320410e-03 -1.05282176e-04 9.99986922e-01 2.25509764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.8503857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:390.28, Y:379.32, Z:22.55 [[ 7.67713963e-01 -6.40780347e-01 -3.97717724e-03 3.90283370e+02] [ 6.40772285e-01 7.67724261e-01 -3.21533228e-03 3.79320528e+02] [ 5.11369719e-03 -8.00094575e-05 9.99986922e-01 2.25504520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.880385723 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:390.31, Y:379.34, Z:22.55 [[ 7.68851327e-01 -6.39415237e-01 -3.97389226e-03 3.90307362e+02] [ 6.39407135e-01 7.68861594e-01 -3.21942521e-03 3.79337087e+02] [ 5.11392267e-03 -6.56757181e-05 9.99986922e-01 2.25500396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.910385723 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:390.33, Y:379.35, Z:22.55 [[ 7.66763375e-01 -6.41917457e-01 -3.98820473e-03 3.90325135e+02] [ 6.41909481e-01 7.66773739e-01 -3.20159627e-03 3.79354634e+02] [ 5.11321119e-03 -1.05199667e-04 9.99986922e-01 2.25487660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.940385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:390.35, Y:379.37, Z:22.55 [[ 7.67422483e-01 -6.41129451e-01 -3.96973829e-03 3.90350494e+02] [ 6.41121346e-01 7.67432747e-01 -3.22458589e-03 3.79371950e+02] [ 5.11388414e-03 -7.04642448e-05 9.99986922e-01 2.25492979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.9703857229999 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:390.37, Y:379.39, Z:22.55 [[ 7.65513204e-01 -6.43407830e-01 -3.98732529e-03 3.90372072e+02] [ 6.43399869e-01 7.65523580e-01 -3.20269021e-03 3.79387946e+02] [ 5.11302749e-03 -1.13742922e-04 9.99986922e-01 2.25466507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.000385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:390.39, Y:379.41, Z:22.55 [[ 7.63744036e-01 -6.45506895e-01 -3.98695310e-03 3.90391694e+02] [ 6.45498960e-01 7.63754432e-01 -3.20315347e-03 3.79405565e+02] [ 5.11271075e-03 -1.27184721e-04 9.99986922e-01 2.25501632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.030385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:390.42, Y:379.42, Z:22.55 [[ 7.63324273e-01 -6.46003338e-01 -3.96747993e-03 3.90417496e+02] [ 6.45995284e-01 7.63334578e-01 -3.22737534e-03 3.79420842e+02] [ 5.11340986e-03 -9.94393827e-05 9.99986922e-01 2.25498884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.060385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:390.43, Y:379.44, Z:22.55 [[ 7.60439285e-01 -6.49396802e-01 -3.98589348e-03 3.90434174e+02] [ 6.49388914e-01 7.60449716e-01 -3.20447158e-03 3.79438545e+02] [ 5.11204517e-03 -1.51588962e-04 9.99986922e-01 2.25482482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.0903857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:390.46, Y:379.45, Z:22.55 [[ 7.62317821e-01 -6.47190811e-01 -3.94905337e-03 3.90461712e+02] [ 6.47182654e-01 7.62328045e-01 -3.25023071e-03 3.79454865e+02] [ 5.11399359e-03 -7.80500523e-05 9.99986920e-01 2.25480963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.120385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:390.48, Y:379.47, Z:22.55 [[ 7.62178420e-01 -6.47354754e-01 -3.98471072e-03 3.90483597e+02] [ 6.47346830e-01 7.62188824e-01 -3.20591128e-03 3.79471720e+02] [ 5.11246389e-03 -1.36013457e-04 9.99986922e-01 2.25479953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.150385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:390.50, Y:379.49, Z:22.55 [[ 7.60667990e-01 -6.49128907e-01 -3.98385219e-03 3.90502397e+02] [ 6.49121001e-01 7.60678409e-01 -3.20697778e-03 3.79488323e+02] [ 5.11217232e-03 -1.46556783e-04 9.99986922e-01 2.25492565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.180385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:390.53, Y:379.50, Z:22.55 [[ 7.63142298e-01 -6.46218371e-01 -3.95601649e-03 3.90528145e+02] [ 6.46210246e-01 7.63152547e-01 -3.24152122e-03 3.79504737e+02] [ 5.11377463e-03 -8.26764379e-05 9.99986921e-01 2.25492943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.210385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:390.55, Y:379.52, Z:22.55 [[ 7.63832720e-01 -6.45402008e-01 -3.97807060e-03 3.90550375e+02] [ 6.45394014e-01 7.63843070e-01 -3.21414421e-03 3.79522376e+02] [ 5.11303679e-03 -1.12354436e-04 9.99986922e-01 2.25498362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.240385723 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:390.57, Y:379.54, Z:22.55 [[ 7.65725108e-01 -6.43155689e-01 -3.97733991e-03 3.90572038e+02] [ 6.43147660e-01 7.65735431e-01 -3.21505072e-03 3.79539427e+02] [ 5.11336825e-03 -9.61717996e-05 9.99986922e-01 2.25497676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.270385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:390.59, Y:379.56, Z:22.55 [[ 7.66268275e-01 -6.42508453e-01 -3.97738244e-03 3.90593482e+02] [ 6.42500416e-01 7.66278591e-01 -3.21499797e-03 3.79556547e+02] [ 5.11344638e-03 -9.19189204e-05 9.99986922e-01 2.25499251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.300385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:390.62, Y:379.57, Z:22.55 [[ 7.68005919e-01 -6.40430415e-01 -3.97391928e-03 3.90618182e+02] [ 6.40422328e-01 7.68016197e-01 -3.21929187e-03 3.79573530e+02] [ 5.11376680e-03 -7.25514221e-05 9.99986922e-01 2.25511853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.330385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:390.64, Y:379.59, Z:22.55 [[ 7.67951418e-01 -6.40495698e-01 -3.98490706e-03 3.90640264e+02] [ 6.40487683e-01 7.67961752e-01 -3.20566800e-03 3.79590673e+02] [ 5.11347277e-03 -9.04866029e-05 9.99986922e-01 2.25521268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.360385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:390.66, Y:379.61, Z:22.55 [[ 7.68179473e-01 -6.40222192e-01 -3.98030927e-03 3.90662786e+02] [ 6.40214143e-01 7.68189781e-01 -3.21136703e-03 3.79606592e+02] [ 5.11362134e-03 -8.13440592e-05 9.99986922e-01 2.25531518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.390385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:390.69, Y:379.62, Z:22.55 [[ 7.68945311e-01 -6.39302173e-01 -3.98005397e-03 3.90686642e+02] [ 6.39294110e-01 7.68955608e-01 -3.21168341e-03 3.79624092e+02] [ 5.11372100e-03 -7.48161565e-05 9.99986922e-01 2.25522885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.420385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:390.71, Y:379.64, Z:22.55 [[ 7.68841103e-01 -6.39427440e-01 -3.98842320e-03 3.90708022e+02] [ 6.39419433e-01 7.68851442e-01 -3.20131519e-03 3.79641473e+02] [ 5.11351371e-03 -8.89726038e-05 9.99986922e-01 2.25524344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.450385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:390.73, Y:379.66, Z:22.55 [[ 7.69175447e-01 -6.39025217e-01 -3.98801997e-03 3.90728940e+02] [ 6.39017202e-01 7.69185780e-01 -3.20181458e-03 3.79659151e+02] [ 5.11356851e-03 -8.56562036e-05 9.99986922e-01 2.25514936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.480385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:390.75, Y:379.68, Z:22.55 [[ 7.69429033e-01 -6.38719919e-01 -3.97842215e-03 3.90753450e+02] [ 6.38711838e-01 7.69439316e-01 -3.21369629e-03 3.79675392e+02] [ 5.11380625e-03 -6.83540938e-05 9.99986922e-01 2.25510502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.510385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:390.78, Y:379.69, Z:22.55 [[ 7.69587006e-01 -6.38529592e-01 -3.97509123e-03 3.90776713e+02] [ 6.38521487e-01 7.69597269e-01 -3.21781859e-03 3.79691917e+02] [ 5.11389174e-03 -6.17897871e-05 9.99986922e-01 2.25499965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.540385723 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:390.80, Y:379.71, Z:22.55 [[ 7.68166065e-01 -6.40238296e-01 -3.97747174e-03 3.90799441e+02] [ 6.40230229e-01 7.68176359e-01 -3.21487339e-03 3.79706308e+02] [ 5.11368482e-03 -7.69410052e-05 9.99986922e-01 2.25526310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.570385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:390.82, Y:379.72, Z:22.55 [[ 7.68305879e-01 -6.40070611e-01 -3.96092882e-03 3.90824885e+02] [ 6.40062436e-01 7.68316088e-01 -3.23532416e-03 3.79722955e+02] [ 5.11408125e-03 -4.95231757e-05 9.99986922e-01 2.25517942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.6003857229999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:390.85, Y:379.74, Z:22.55 [[ 7.66517239e-01 -6.42211421e-01 -3.97649869e-03 3.90848990e+02] [ 6.42203374e-01 7.66527549e-01 -3.21607287e-03 3.79737340e+02] [ 5.11349452e-03 -8.85455803e-05 9.99986922e-01 2.25524176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.630385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:390.87, Y:379.75, Z:22.55 [[ 7.65538460e-01 -6.43377849e-01 -3.97609246e-03 3.90871765e+02] [ 6.43369816e-01 7.65548780e-01 -3.21657502e-03 3.79753226e+02] [ 5.11336585e-03 -9.56859884e-05 9.99986922e-01 2.25528207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.660385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:390.90, Y:379.77, Z:22.55 [[ 7.64658886e-01 -6.44422987e-01 -3.97522998e-03 3.90895773e+02] [ 6.44414962e-01 7.64669212e-01 -3.21764057e-03 3.79768021e+02] [ 5.11325752e-03 -1.01300222e-04 9.99986922e-01 2.25532982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.690385723 meters Centerline goodness : 0.999821 Centerline is valid? [True, True] Translation: X:390.92, Y:379.78, Z:22.55 [[ 7.64499637e-01 -6.44611906e-01 -3.97435489e-03 3.90918812e+02] [ 6.44603878e-01 7.64509961e-01 -3.21872110e-03 3.79784719e+02] [ 5.11325985e-03 -1.01173461e-04 9.99986922e-01 2.25539712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.7203857229999 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:390.94, Y:379.80, Z:22.55 [[ 7.65073109e-01 -6.43931168e-01 -3.97345790e-03 3.90942165e+02] [ 6.43923125e-01 7.65083422e-01 -3.21982804e-03 3.79799612e+02] [ 5.11337440e-03 -9.51975718e-05 9.99986922e-01 2.25525926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.750385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:390.97, Y:379.82, Z:22.55 [[ 7.65892741e-01 -6.42956082e-01 -3.97306926e-03 3.90965571e+02] [ 6.42948024e-01 7.65903041e-01 -3.22030753e-03 3.79816892e+02] [ 5.11350214e-03 -8.80668708e-05 9.99986922e-01 2.25545879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.780385723 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:390.99, Y:379.84, Z:22.55 [[ 7.66494348e-01 -6.42238768e-01 -3.97229968e-03 3.90987366e+02] [ 6.42230695e-01 7.66504637e-01 -3.22125653e-03 3.79835123e+02] [ 5.11360195e-03 -8.20578628e-05 9.99986922e-01 2.25548344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.810385723 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:391.01, Y:379.85, Z:22.55 [[ 7.66863385e-01 -6.41798081e-01 -3.97141767e-03 3.91009100e+02] [ 6.41789997e-01 7.66873664e-01 -3.22234358e-03 3.79853494e+02] [ 5.11366955e-03 -7.77188338e-05 9.99986922e-01 2.25540567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.8403857229999 meters Centerline goodness : 0.999688 Centerline is valid? [True, True] Translation: X:391.03, Y:379.87, Z:22.55 [[ 7.68147144e-01 -6.40261040e-01 -3.97053463e-03 3.91029823e+02] [ 6.40252929e-01 7.68157403e-01 -3.22343128e-03 3.79873026e+02] [ 5.11383304e-03 -6.60768968e-05 9.99986922e-01 2.25541543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.870385723 meters Centerline goodness : 0.999666 Centerline is valid? [True, True] Translation: X:391.05, Y:379.89, Z:22.55 [[ 7.68299215e-01 -6.40078556e-01 -3.96964950e-03 3.91051074e+02] [ 6.40070437e-01 7.68309467e-01 -3.22452095e-03 3.79891422e+02] [ 5.11386601e-03 -6.34583761e-05 9.99986922e-01 2.25539509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.900385723 meters Centerline goodness : 0.999777 Centerline is valid? [True, True] Translation: X:391.07, Y:379.91, Z:22.55 [[ 7.68408415e-01 -6.39947465e-01 -3.96876501e-03 3.91070820e+02] [ 6.39939338e-01 7.68418661e-01 -3.22560922e-03 3.79909524e+02] [ 5.11389354e-03 -6.11835941e-05 9.99986922e-01 2.25541166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.930385723 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:391.09, Y:379.93, Z:22.55 [[ 7.67705788e-01 -6.40790196e-01 -3.96838097e-03 3.91090625e+02] [ 6.40782078e-01 7.67716042e-01 -3.22608163e-03 3.79929826e+02] [ 5.11383121e-03 -6.61858594e-05 9.99986922e-01 2.25531713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.960385723 meters Centerline goodness : 0.999844 Centerline is valid? [True, True] Translation: X:391.11, Y:379.95, Z:22.55 [[ 7.67059024e-01 -6.41564270e-01 -3.96750181e-03 3.91111502e+02] [ 6.41556158e-01 7.67069281e-01 -3.22716247e-03 3.79948577e+02] [ 5.11378090e-03 -6.99511198e-05 9.99986922e-01 2.25514270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.990385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:391.13, Y:379.97, Z:22.55 [[ 7.66045802e-01 -6.42773748e-01 -3.96722974e-03 3.91132077e+02] [ 6.42765650e-01 7.66056070e-01 -3.22749690e-03 3.79967076e+02] [ 5.11367070e-03 -7.75885566e-05 9.99986922e-01 2.25518914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.020385723 meters Centerline goodness : 0.999822 Centerline is valid? [True, True] Translation: X:391.15, Y:379.99, Z:22.55 [[ 7.65239368e-01 -6.43733623e-01 -3.96636483e-03 3.91153772e+02] [ 6.43725533e-01 7.65249642e-01 -3.22855946e-03 3.79985206e+02] [ 5.11359155e-03 -8.26295155e-05 9.99986922e-01 2.25522646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.050385723 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:391.17, Y:380.00, Z:22.55 [[ 7.62834982e-01 -6.46581059e-01 -3.96549203e-03 3.91172303e+02] [ 6.46573000e-01 7.62845282e-01 -3.22963113e-03 3.80004057e+02] [ 5.11327520e-03 -1.00304470e-04 9.99986922e-01 2.25497912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.080385723 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:391.20, Y:380.02, Z:22.55 [[ 7.62278618e-01 -6.47236985e-01 -3.94897925e-03 3.91197115e+02] [ 6.47228830e-01 7.62288843e-01 -3.24989819e-03 3.80023015e+02] [ 5.11371712e-03 -7.85653180e-05 9.99986922e-01 2.25525097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.110385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:391.22, Y:380.04, Z:22.55 [[ 7.60843039e-01 -6.48923838e-01 -3.96512976e-03 3.91218095e+02] [ 6.48915810e-01 7.60853362e-01 -3.23007236e-03 3.80039913e+02] [ 5.11295326e-03 -1.15457315e-04 9.99986922e-01 2.25541432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.140385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:391.24, Y:380.06, Z:22.55 [[ 7.58891396e-01 -6.51205137e-01 -3.96475413e-03 3.91238809e+02] [ 6.51197137e-01 7.58901741e-01 -3.23053336e-03 3.80059125e+02] [ 5.11259873e-03 -1.30212561e-04 9.99986922e-01 2.25544498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.170385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:391.26, Y:380.08, Z:22.55 [[ 7.58464350e-01 -6.51702512e-01 -3.95809304e-03 3.91259798e+02] [ 6.51694476e-01 7.58474667e-01 -3.23870320e-03 3.80077542e+02] [ 5.11278431e-03 -1.23026458e-04 9.99986922e-01 2.25548066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.200385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:391.28, Y:380.10, Z:22.56 [[ 7.58371012e-01 -6.51811081e-01 -3.96519482e-03 3.91280783e+02] [ 6.51803092e-01 7.58381366e-01 -3.22999483e-03 3.80095113e+02] [ 5.11247629e-03 -1.34991795e-04 9.99986922e-01 2.25556719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.230385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:391.30, Y:380.11, Z:22.56 [[ 7.57988993e-01 -6.52255306e-01 -3.96256334e-03 3.91302835e+02] [ 6.52247307e-01 7.57999339e-01 -3.23321991e-03 3.80113662e+02] [ 5.11250524e-03 -1.33826163e-04 9.99986922e-01 2.25567966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.260385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:391.32, Y:380.13, Z:22.55 [[ 7.57029409e-01 -6.53368792e-01 -3.96179734e-03 3.91323298e+02] [ 6.53360802e-01 7.57039763e-01 -3.23415825e-03 3.80133235e+02] [ 5.11233619e-03 -1.40130183e-04 9.99986922e-01 2.25549394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.290385723 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:391.34, Y:380.15, Z:22.55 [[ 7.57443384e-01 -6.52888861e-01 -3.95679526e-03 3.91342956e+02] [ 6.52880833e-01 7.57453708e-01 -3.24028364e-03 3.80152046e+02] [ 5.11263434e-03 -1.28984380e-04 9.99986922e-01 2.25541236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.320385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:391.36, Y:380.17, Z:22.55 [[ 7.57595287e-01 -6.52712608e-01 -3.95373946e-03 3.91364299e+02] [ 6.52704558e-01 7.57605594e-01 -3.24402334e-03 3.80170261e+02] [ 5.11279007e-03 -1.22966979e-04 9.99986922e-01 2.25544365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.3503857229999 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:391.39, Y:380.19, Z:22.56 [[ 7.59390451e-01 -6.50623174e-01 -3.95326910e-03 3.91386777e+02] [ 6.50615093e-01 7.59400733e-01 -3.24459876e-03 3.80187818e+02] [ 5.11312659e-03 -1.08139225e-04 9.99986922e-01 2.25574099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.380385723 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:391.41, Y:380.21, Z:22.56 [[ 7.60425422e-01 -6.49413188e-01 -3.96098344e-03 3.91407177e+02] [ 6.49405139e-01 7.60435730e-01 -3.23516366e-03 3.80205052e+02] [ 5.11303128e-03 -1.12182306e-04 9.99986922e-01 2.25583222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.410385723 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:391.43, Y:380.22, Z:22.56 [[ 7.62273202e-01 -6.47243306e-01 -3.95843997e-03 3.91427304e+02] [ 6.47235212e-01 7.62283474e-01 -3.23827279e-03 3.80224551e+02] [ 5.11340375e-03 -9.35931622e-05 9.99986922e-01 2.25577697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.440385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:391.45, Y:380.24, Z:22.56 [[ 7.63174968e-01 -6.46179778e-01 -3.95755330e-03 3.91447835e+02] [ 6.46171664e-01 7.63185225e-01 -3.23935604e-03 3.80242754e+02] [ 5.11355257e-03 -8.50633574e-05 9.99986922e-01 2.25581342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.4703857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:391.47, Y:380.26, Z:22.56 [[ 7.63877130e-01 -6.45349574e-01 -3.95695040e-03 3.91468155e+02] [ 6.45341445e-01 7.63887375e-01 -3.24009233e-03 3.80261840e+02] [ 5.11365665e-03 -7.85516567e-05 9.99986922e-01 2.25583554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.500385723 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:391.49, Y:380.28, Z:22.56 [[ 7.62937458e-01 -6.46460197e-01 -3.95604909e-03 3.91488922e+02] [ 6.46452077e-01 7.62947709e-01 -3.24119242e-03 3.80280480e+02] [ 5.11356048e-03 -8.45690471e-05 9.99986922e-01 2.25578305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.530385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:391.51, Y:380.30, Z:22.56 [[ 7.61268435e-01 -6.48424804e-01 -3.95514650e-03 3.91509015e+02] [ 6.48416705e-01 7.61278703e-01 -3.24229346e-03 3.80298999e+02] [ 5.11335230e-03 -9.63273978e-05 9.99986922e-01 2.25571855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.560385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:391.53, Y:380.32, Z:22.56 [[ 7.60868709e-01 -6.48893873e-01 -3.94329479e-03 3.91531895e+02] [ 6.48885705e-01 7.60878923e-01 -3.25673905e-03 3.80316166e+02] [ 5.11364791e-03 -8.07967875e-05 9.99986922e-01 2.25614898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.5903857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:391.55, Y:380.34, Z:22.56 [[ 7.58255409e-01 -6.51945629e-01 -3.95370677e-03 3.91550841e+02] [ 6.51937568e-01 7.58265708e-01 -3.24404939e-03 3.80335821e+02] [ 5.11290408e-03 -1.17751985e-04 9.99986922e-01 2.25595196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.620385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:391.57, Y:380.35, Z:22.56 [[ 7.58175351e-01 -6.52038826e-01 -3.93779836e-03 3.91572617e+02] [ 6.52030666e-01 7.58185571e-01 -3.26341479e-03 3.80353529e+02] [ 5.11345505e-03 -9.33246298e-05 9.99986922e-01 2.25628883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.650385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:391.59, Y:380.37, Z:22.56 [[ 7.55333951e-01 -6.55328219e-01 -3.94309891e-03 3.91591596e+02] [ 6.55320137e-01 7.55344233e-01 -3.25696244e-03 3.80373374e+02] [ 5.11277641e-03 -1.23897809e-04 9.99986922e-01 2.25608341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.680385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:391.61, Y:380.39, Z:22.56 [[ 7.55939446e-01 -6.54629701e-01 -3.93809307e-03 3.91613563e+02] [ 6.54621578e-01 7.55949695e-01 -3.26305932e-03 3.80392184e+02] [ 5.11309580e-03 -1.11285443e-04 9.99986922e-01 2.25616929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.710385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:391.63, Y:380.41, Z:22.56 [[ 7.55337151e-01 -6.55324474e-01 -3.95238488e-03 3.91634581e+02] [ 6.55316451e-01 7.55347479e-01 -3.24565553e-03 3.80411500e+02] [ 5.11238145e-03 -1.38498632e-04 9.99986922e-01 2.25600179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.740385723 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:391.65, Y:380.43, Z:22.56 [[ 7.54635243e-01 -6.56132636e-01 -3.95149924e-03 3.91654838e+02] [ 6.56124618e-01 7.54645575e-01 -3.24673341e-03 3.80430882e+02] [ 5.11226916e-03 -1.42576473e-04 9.99986922e-01 2.25587911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.770385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:391.67, Y:380.45, Z:22.56 [[ 7.54419355e-01 -6.56380857e-01 -3.95058683e-03 3.91674439e+02] [ 6.56372838e-01 7.54429685e-01 -3.24784323e-03 3.80450147e+02] [ 5.11226211e-03 -1.42822093e-04 9.99986922e-01 2.25624366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.800385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:391.69, Y:380.47, Z:22.56 [[ 7.51357416e-01 -6.59883650e-01 -3.94996706e-03 3.91689722e+02] [ 6.59875674e-01 7.51367780e-01 -3.24859681e-03 3.80471024e+02] [ 5.11157390e-03 -1.65629868e-04 9.99986922e-01 2.25586060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.830385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:391.71, Y:380.49, Z:22.56 [[ 7.52087001e-01 -6.59052207e-01 -3.91562039e-03 3.91709752e+02] [ 6.59044002e-01 7.52097186e-01 -3.29030141e-03 3.80492964e+02] [ 5.11340749e-03 -1.05973210e-04 9.99986921e-01 2.25601288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.860385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:391.73, Y:380.51, Z:22.56 [[ 7.53969314e-01 -6.56897908e-01 -3.92584768e-03 3.91734505e+02] [ 6.56889738e-01 7.53979527e-01 -3.27788731e-03 3.80512189e+02] [ 5.11324610e-03 -1.07422604e-04 9.99986922e-01 2.25611958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.890385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:391.75, Y:380.53, Z:22.56 [[ 7.54485380e-01 -6.56304981e-01 -3.94764460e-03 3.91753142e+02] [ 6.56296941e-01 7.54495695e-01 -3.25142307e-03 3.80532823e+02] [ 5.11240601e-03 -1.37675903e-04 9.99986922e-01 2.25620064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.920385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:391.77, Y:380.55, Z:22.56 [[ 7.51673690e-01 -6.59523376e-01 -3.94725427e-03 3.91767530e+02] [ 6.59515378e-01 7.51684037e-01 -3.25189685e-03 3.80553088e+02] [ 5.11179002e-03 -1.58909586e-04 9.99986922e-01 2.25588996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.950385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:391.79, Y:380.57, Z:22.56 [[ 7.54988545e-01 -6.55726337e-01 -3.90737739e-03 3.91792732e+02] [ 6.55718036e-01 7.54998653e-01 -3.30024386e-03 3.80573149e+02] [ 5.11412148e-03 -7.04915186e-05 9.99986920e-01 2.25613585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.980385723 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:391.81, Y:380.59, Z:22.56 [[ 7.54784457e-01 -6.55961013e-01 -3.94628318e-03 3.91812469e+02] [ 6.55952960e-01 7.54794762e-01 -3.25304711e-03 3.80592591e+02] [ 5.11250595e-03 -1.33226736e-04 9.99986922e-01 2.25618986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.010385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:391.83, Y:380.61, Z:22.56 [[ 7.54415147e-01 -6.56385725e-01 -3.94540262e-03 3.91831203e+02] [ 6.56377672e-01 7.54425452e-01 -3.25411473e-03 3.80614021e+02] [ 5.11246661e-03 -1.34720741e-04 9.99986922e-01 2.25615198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.040385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:391.85, Y:380.63, Z:22.56 [[ 7.54384994e-01 -6.56420385e-01 -3.94449303e-03 3.91850565e+02] [ 6.56412327e-01 7.54395295e-01 -3.25521693e-03 3.80632924e+02] [ 5.11249773e-03 -1.33527039e-04 9.99986922e-01 2.25614206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.070385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:391.87, Y:380.65, Z:22.56 [[ 7.54541337e-01 -6.56240669e-01 -3.94409759e-03 3.91869751e+02] [ 6.56232606e-01 7.54551633e-01 -3.25569599e-03 3.80654542e+02] [ 5.11254539e-03 -1.31688235e-04 9.99986922e-01 2.25616379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.1003857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:391.89, Y:380.67, Z:22.56 [[ 7.55580545e-01 -6.55043885e-01 -3.94318444e-03 3.91888108e+02] [ 6.55035800e-01 7.55590825e-01 -3.25680158e-03 3.80674957e+02] [ 5.11278194e-03 -1.22151062e-04 9.99986922e-01 2.25612324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.130385723 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:391.91, Y:380.69, Z:22.56 [[ 7.55837119e-01 -6.54747818e-01 -3.94278913e-03 3.91908343e+02] [ 6.54739726e-01 7.55847393e-01 -3.25728008e-03 3.80694444e+02] [ 5.11284391e-03 -1.19527486e-04 9.99986922e-01 2.25606500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.160385723 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:391.93, Y:380.71, Z:22.56 [[ 7.55913884e-01 -6.54659195e-01 -3.94189096e-03 3.91928909e+02] [ 6.54651096e-01 7.55924153e-01 -3.25836667e-03 3.80714038e+02] [ 5.11289028e-03 -1.17518635e-04 9.99986922e-01 2.25574088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.190385723 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:391.95, Y:380.73, Z:22.56 [[ 7.56955635e-01 -6.53454386e-01 -3.94099667e-03 3.91947650e+02] [ 6.53446266e-01 7.56965887e-01 -3.25944795e-03 3.80733950e+02] [ 5.11310060e-03 -1.07972061e-04 9.99986922e-01 2.25573007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.2203857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:391.97, Y:380.75, Z:22.56 [[ 7.57846136e-01 -6.52421417e-01 -3.94060929e-03 3.91968620e+02] [ 6.52413281e-01 7.57856374e-01 -3.25991622e-03 3.80753312e+02] [ 5.11325503e-03 -1.00390922e-04 9.99986922e-01 2.25607393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.250385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:391.99, Y:380.77, Z:22.56 [[ 7.58952703e-01 -6.51133837e-01 -3.93972891e-03 3.91989283e+02] [ 6.51125677e-01 7.58962923e-01 -3.26097995e-03 3.80773057e+02] [ 5.11344256e-03 -9.03291117e-05 9.99986922e-01 2.25607682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.280385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:392.01, Y:380.79, Z:22.56 [[ 7.59201203e-01 -6.50844082e-01 -3.93891019e-03 3.92009437e+02] [ 6.50835913e-01 7.59211416e-01 -3.26196857e-03 3.80791023e+02] [ 5.11349852e-03 -8.70937453e-05 9.99986922e-01 2.25608126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.310385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:392.03, Y:380.81, Z:22.56 [[ 7.59026231e-01 -6.51048130e-01 -3.93851686e-03 3.92031394e+02] [ 6.51039962e-01 7.59036445e-01 -3.26244341e-03 3.80809299e+02] [ 5.11348552e-03 -8.78517368e-05 9.99986922e-01 2.25609585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.3403857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:392.05, Y:380.83, Z:22.56 [[ 7.59337978e-01 -6.50684509e-01 -3.93763963e-03 3.92051161e+02] [ 6.50676330e-01 7.59348183e-01 -3.26350185e-03 3.80828272e+02] [ 5.11354960e-03 -8.40280125e-05 9.99986922e-01 2.25605885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.370385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:392.07, Y:380.85, Z:22.56 [[ 7.59060690e-01 -6.51007962e-01 -3.93725947e-03 3.92071897e+02] [ 6.50999785e-01 7.59070897e-01 -3.26396043e-03 3.80846579e+02] [ 5.11352331e-03 -8.56110118e-05 9.99986922e-01 2.25607956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.400385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:392.09, Y:380.86, Z:22.56 [[ 7.58736865e-01 -6.51385350e-01 -3.93631858e-03 3.92092099e+02] [ 6.51377173e-01 7.58747071e-01 -3.26509475e-03 3.80864712e+02] [ 5.11350508e-03 -8.66803117e-05 9.99986922e-01 2.25602245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.430385723 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:392.11, Y:380.88, Z:22.56 [[ 7.57948819e-01 -6.52302151e-01 -3.93591148e-03 3.92113613e+02] [ 6.52293984e-01 7.57959033e-01 -3.26558542e-03 3.80882312e+02] [ 5.11340805e-03 -9.22247664e-05 9.99986922e-01 2.25582882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.460385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:392.14, Y:380.90, Z:22.56 [[ 7.56995582e-01 -6.53408146e-01 -3.93500788e-03 3.92135743e+02] [ 6.53399987e-01 7.57005803e-01 -3.26667388e-03 3.80900655e+02] [ 5.11329512e-03 -9.82764104e-05 9.99986922e-01 2.25584489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.490385723 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:392.16, Y:380.92, Z:22.56 [[ 7.56314075e-01 -6.54196854e-01 -3.93648388e-03 3.92157137e+02] [ 6.54188716e-01 7.56324312e-01 -3.26489637e-03 3.80918367e+02] [ 5.11314340e-03 -1.05916257e-04 9.99986922e-01 2.25578667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.520385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:392.18, Y:380.94, Z:22.56 [[ 7.55427195e-01 -6.55220786e-01 -3.93388837e-03 3.92179907e+02] [ 6.55212645e-01 7.55437430e-01 -3.26802073e-03 3.80936721e+02] [ 5.11308163e-03 -1.08781665e-04 9.99986922e-01 2.25586364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.550385723 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:392.20, Y:380.95, Z:22.56 [[ 7.54781928e-01 -6.55963971e-01 -3.93829471e-03 3.92200799e+02] [ 6.55955868e-01 7.54792193e-01 -3.26271908e-03 3.80953952e+02] [ 5.11282027e-03 -1.20706127e-04 9.99986922e-01 2.25571860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.580385723 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:392.22, Y:380.97, Z:22.56 [[ 7.54204118e-01 -6.56628269e-01 -3.93260888e-03 3.92222403e+02] [ 6.56620139e-01 7.54214362e-01 -3.26955798e-03 3.80970855e+02] [ 5.11291429e-03 -1.16316098e-04 9.99986922e-01 2.25576815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.610385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:392.24, Y:380.99, Z:22.56 [[ 7.53989969e-01 -6.56874163e-01 -3.93199459e-03 3.92244643e+02] [ 6.56866033e-01 7.54000213e-01 -3.27029657e-03 3.80987946e+02] [ 5.11289807e-03 -1.17022877e-04 9.99986922e-01 2.25599163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.640385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:392.27, Y:381.00, Z:22.56 [[ 7.53117519e-01 -6.57874266e-01 -3.93110265e-03 3.92267877e+02] [ 6.57866144e-01 7.53127768e-01 -3.27136837e-03 3.81004403e+02] [ 5.11277163e-03 -1.22414509e-04 9.99986922e-01 2.25621931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.670385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:392.29, Y:381.02, Z:22.56 [[ 7.51579305e-01 -6.59631035e-01 -3.93019768e-03 3.92290007e+02] [ 6.59622931e-01 7.51589569e-01 -3.27245524e-03 3.81021546e+02] [ 5.11250862e-03 -1.32938876e-04 9.99986922e-01 2.25630948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.700385723 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:392.31, Y:381.04, Z:22.56 [[ 7.50767711e-01 -6.60554619e-01 -3.92928880e-03 3.92311422e+02] [ 6.60546522e-01 7.50777981e-01 -3.27354618e-03 3.81038459e+02] [ 5.11237956e-03 -1.37805279e-04 9.99986922e-01 2.25608263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.730385723 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:392.33, Y:381.06, Z:22.56 [[ 7.50269625e-01 -6.61120302e-01 -3.92889463e-03 3.92333275e+02] [ 6.61112210e-01 7.50279899e-01 -3.27401919e-03 3.81055730e+02] [ 5.11229122e-03 -1.41043064e-04 9.99986922e-01 2.25611546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.760385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:392.35, Y:381.07, Z:22.56 [[ 7.49853836e-01 -6.61591864e-01 -3.92798268e-03 3.92354846e+02] [ 6.61583773e-01 7.49864111e-01 -3.27511293e-03 3.81073310e+02] [ 5.11224131e-03 -1.42833610e-04 9.99986922e-01 2.25635821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.790385723 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:392.38, Y:381.09, Z:22.56 [[ 7.50485674e-01 -6.60875045e-01 -3.92770062e-03 3.92378602e+02] [ 6.60866943e-01 7.50495940e-01 -3.27545116e-03 3.81090315e+02] [ 5.11238730e-03 -1.37508333e-04 9.99986922e-01 2.25647391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.820385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:392.40, Y:381.11, Z:22.57 [[ 7.49503372e-01 -6.61988878e-01 -3.92689512e-03 3.92400865e+02] [ 6.61980786e-01 7.49513645e-01 -3.27641658e-03 3.81108291e+02] [ 5.11221281e-03 -1.43843844e-04 9.99986922e-01 2.25671050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.8503857229999 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:392.42, Y:381.12, Z:22.56 [[ 7.49395984e-01 -6.62110448e-01 -3.92608430e-03 3.92423313e+02] [ 6.62102352e-01 7.49406255e-01 -3.27738789e-03 3.81124418e+02] [ 5.11222489e-03 -1.43408330e-04 9.99986922e-01 2.25634018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.880385723 meters Centerline goodness : 0.999742 Centerline is valid? [True, True] Translation: X:392.45, Y:381.14, Z:22.56 [[ 7.48295261e-01 -6.63354198e-01 -3.92565675e-03 3.92445892e+02] [ 6.63346117e-01 7.48305542e-01 -3.27789992e-03 3.81141866e+02] [ 5.11199938e-03 -1.51232186e-04 9.99986922e-01 2.25641452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.910385723 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:392.47, Y:381.16, Z:22.57 [[ 7.47920442e-01 -6.63776777e-01 -3.92475903e-03 3.92467686e+02] [ 6.63768695e-01 7.47930724e-01 -3.27897446e-03 3.81159945e+02] [ 5.11195495e-03 -1.52720155e-04 9.99986922e-01 2.25670195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.940385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:392.49, Y:381.18, Z:22.57 [[ 7.47821074e-01 -6.63888729e-01 -3.92385768e-03 3.92490124e+02] [ 6.63880644e-01 7.47831353e-01 -3.28005271e-03 3.81178084e+02] [ 5.11197383e-03 -1.52080623e-04 9.99986922e-01 2.25654717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.9703857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:392.51, Y:381.20, Z:22.57 [[ 7.47844144e-01 -6.63862747e-01 -3.92307248e-03 3.92512050e+02] [ 6.63854656e-01 7.47854418e-01 -3.28099158e-03 3.81196812e+02] [ 5.11201517e-03 -1.50679588e-04 9.99986922e-01 2.25656140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.000385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:392.53, Y:381.21, Z:22.56 [[ 7.49162659e-01 -6.62374461e-01 -3.92224922e-03 3.92533470e+02] [ 6.62366345e-01 7.49172913e-01 -3.28197544e-03 3.81213788e+02] [ 5.11233959e-03 -1.39232430e-04 9.99986922e-01 2.25626424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.030385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:392.55, Y:381.23, Z:22.56 [[ 7.48582711e-01 -6.63029821e-01 -3.92185849e-03 3.92554725e+02] [ 6.63021712e-01 7.48592971e-01 -3.28244229e-03 3.81231902e+02] [ 5.11223282e-03 -1.43097788e-04 9.99986922e-01 2.25639463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.060385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:392.58, Y:381.25, Z:22.57 [[ 7.47817630e-01 -6.63892625e-01 -3.92091429e-03 3.92577911e+02] [ 6.63884522e-01 7.47827895e-01 -3.28356976e-03 3.81248951e+02] [ 5.11210683e-03 -1.47522951e-04 9.99986922e-01 2.25657845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.0903857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:392.60, Y:381.27, Z:22.56 [[ 7.45673362e-01 -6.66300136e-01 -3.92008223e-03 3.92597870e+02] [ 6.66292060e-01 7.45683648e-01 -3.28456282e-03 3.81266482e+02] [ 5.11164587e-03 -1.62708664e-04 9.99986922e-01 2.25637629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.120385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:392.62, Y:381.28, Z:22.56 [[ 7.45290952e-01 -6.66727966e-01 -3.90079688e-03 3.92620075e+02] [ 6.66719776e-01 7.45301147e-01 -3.30756297e-03 3.81283807e+02] [ 5.11251312e-03 -1.35641669e-04 9.99986922e-01 2.25632961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.150385723 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:392.64, Y:381.30, Z:22.56 [[ 7.44054274e-01 -6.68107773e-01 -3.90395508e-03 3.92641226e+02] [ 6.68099621e-01 7.44064500e-01 -3.30379855e-03 3.81301178e+02] [ 5.11208788e-03 -1.50025483e-04 9.99986922e-01 2.25633504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.180385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:392.66, Y:381.32, Z:22.56 [[ 7.43785789e-01 -6.68406686e-01 -3.89911980e-03 3.92663368e+02] [ 6.68398508e-01 7.43795995e-01 -3.30956174e-03 3.81319100e+02] [ 5.11228288e-03 -1.44560866e-04 9.99986922e-01 2.25635630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.210385723 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:392.69, Y:381.34, Z:22.57 [[ 7.44688839e-01 -6.67400405e-01 -3.90291222e-03 3.92687048e+02] [ 6.67392237e-01 7.44699053e-01 -3.30504309e-03 3.81335310e+02] [ 5.11228213e-03 -1.43544614e-04 9.99986922e-01 2.25654844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.240385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:392.71, Y:381.35, Z:22.57 [[ 7.44881441e-01 -6.67185353e-01 -3.91709349e-03 3.92708049e+02] [ 6.67177271e-01 7.44891722e-01 -3.28814928e-03 3.81353294e+02] [ 5.11161555e-03 -1.64114366e-04 9.99986922e-01 2.25669803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.270385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:392.73, Y:381.37, Z:22.57 [[ 7.45722204e-01 -6.66245494e-01 -3.91620091e-03 3.92728989e+02] [ 6.66237393e-01 7.45732471e-01 -3.28921200e-03 3.81371525e+02] [ 5.11186085e-03 -1.56281060e-04 9.99986922e-01 2.25680775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.300385723 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:392.75, Y:381.39, Z:22.56 [[ 7.45160894e-01 -6.66873236e-01 -3.91529816e-03 3.92750089e+02] [ 6.66865138e-01 7.45171163e-01 -3.29028624e-03 3.81390210e+02] [ 5.11177111e-03 -1.59183213e-04 9.99986922e-01 2.25648316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.330385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:392.77, Y:381.41, Z:22.57 [[ 7.47045786e-01 -6.64761063e-01 -3.91435453e-03 3.92771163e+02] [ 6.64752930e-01 7.47056027e-01 -3.29140846e-03 3.81406780e+02] [ 5.11224233e-03 -1.43245822e-04 9.99986922e-01 2.25678505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.360385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:392.79, Y:381.43, Z:22.56 [[ 7.46266466e-01 -6.65635818e-01 -3.91394692e-03 3.92791955e+02] [ 6.65627695e-01 7.46276715e-01 -3.29189309e-03 3.81425121e+02] [ 5.11208940e-03 -1.48602040e-04 9.99986922e-01 2.25646146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.390385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:392.81, Y:381.44, Z:22.57 [[ 7.46091557e-01 -6.65831868e-01 -3.91300082e-03 3.92813063e+02] [ 6.65823741e-01 7.46101804e-01 -3.29301732e-03 3.81443301e+02] [ 5.11209284e-03 -1.48476431e-04 9.99986922e-01 2.25658077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.420385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:392.83, Y:381.46, Z:22.57 [[ 7.44979499e-01 -6.67075885e-01 -3.91270864e-03 3.92834029e+02] [ 6.67067774e-01 7.44989757e-01 -3.29336444e-03 3.81461354e+02] [ 5.11185186e-03 -1.56552854e-04 9.99986922e-01 2.25666975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.450385723 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:392.86, Y:381.48, Z:22.56 [[ 7.42619793e-01 -6.69701830e-01 -3.91177848e-03 3.92855162e+02] [ 6.69693749e-01 7.42630076e-01 -3.29446889e-03 3.81478570e+02] [ 5.11131620e-03 -1.73155790e-04 9.99986922e-01 2.25632369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.480385723 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:392.88, Y:381.50, Z:22.57 [[ 7.41890437e-01 -6.70509719e-01 -3.91114677e-03 3.92877287e+02] [ 6.70501645e-01 7.41900725e-01 -3.29521868e-03 3.81497695e+02] [ 5.11115878e-03 -1.77739121e-04 9.99986922e-01 2.25651823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.510385723 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:392.90, Y:381.52, Z:22.57 [[ 7.38136230e-01 -6.74640360e-01 -3.91039860e-03 3.92897650e+02] [ 6.74632339e-01 7.38146559e-01 -3.29610629e-03 3.81516382e+02] [ 5.11013361e-03 -2.05105880e-04 9.99986922e-01 2.25650162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.540385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:392.92, Y:381.54, Z:22.57 [[ 7.37196038e-01 -6.75667609e-01 -3.90946607e-03 3.92919324e+02] [ 6.75659596e-01 7.37206374e-01 -3.29721198e-03 3.81535761e+02] [ 5.10990264e-03 -2.10776656e-04 9.99986922e-01 2.25672909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.570385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:392.94, Y:381.55, Z:22.57 [[ 7.35084993e-01 -6.77963681e-01 -3.91159234e-03 3.92939978e+02] [ 6.77955714e-01 7.35095364e-01 -3.29469165e-03 3.81553925e+02] [ 5.10907468e-03 -2.30007990e-04 9.99986922e-01 2.25661197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.6003857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:392.96, Y:381.57, Z:22.57 [[ 7.34102692e-01 -6.79027217e-01 -3.90852222e-03 3.92961157e+02] [ 6.79019246e-01 7.34113060e-01 -3.29832974e-03 3.81573931e+02] [ 5.10895287e-03 -2.32649067e-04 9.99986922e-01 2.25665927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.630385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:392.98, Y:381.59, Z:22.57 [[ 7.34133650e-01 -6.78993750e-01 -3.90774798e-03 3.92982714e+02] [ 6.78985774e-01 7.34144014e-01 -3.29924679e-03 3.81592927e+02] [ 5.10901774e-03 -2.31217200e-04 9.99986922e-01 2.25662855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.660385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:393.01, Y:381.61, Z:22.56 [[ 7.35165338e-01 -6.77876552e-01 -3.91234729e-03 3.93005947e+02] [ 6.77868589e-01 7.35175712e-01 -3.29380179e-03 3.81612226e+02] [ 5.10905370e-03 -2.30568424e-04 9.99986922e-01 2.25646778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.690385723 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:393.03, Y:381.63, Z:22.57 [[ 7.35020341e-01 -6.78033732e-01 -3.91875486e-03 3.93026352e+02] [ 6.78025811e-01 7.35030748e-01 -3.28622177e-03 3.81630933e+02] [ 5.10857453e-03 -2.41577096e-04 9.99986922e-01 2.25651240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.7203857229999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:393.05, Y:381.65, Z:22.57 [[ 7.38038093e-01 -6.74747709e-01 -3.91197928e-03 3.93048449e+02] [ 6.74739699e-01 7.38048431e-01 -3.29423029e-03 3.81651472e+02] [ 5.11000451e-03 -2.08300277e-04 9.99986922e-01 2.25673223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.750385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:393.07, Y:381.67, Z:22.57 [[ 7.38616927e-01 -6.74113977e-01 -3.92173292e-03 3.93068451e+02] [ 6.74106020e-01 7.38627306e-01 -3.28270553e-03 3.81670264e+02] [ 5.10961671e-03 -2.19001900e-04 9.99986922e-01 2.25662999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.780385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:393.09, Y:381.69, Z:22.57 [[ 7.40881445e-01 -6.71624409e-01 -3.91635386e-03 3.93089423e+02] [ 6.71616383e-01 7.40891771e-01 -3.28905999e-03 3.81688937e+02] [ 5.11060731e-03 -1.93483897e-04 9.99986922e-01 2.25678174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.810385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:393.11, Y:381.71, Z:22.57 [[ 7.41063030e-01 -6.71424043e-01 -3.91648896e-03 3.93110508e+02] [ 6.71416016e-01 7.41073355e-01 -3.28890046e-03 3.81707691e+02] [ 5.11065246e-03 -1.92310875e-04 9.99986922e-01 2.25687499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.8403857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:393.13, Y:381.72, Z:22.57 [[ 7.42088739e-01 -6.70290255e-01 -3.90857281e-03 3.93130737e+02] [ 6.70282163e-01 7.42099012e-01 -3.29824290e-03 3.81724870e+02] [ 5.11132810e-03 -1.72257714e-04 9.99986922e-01 2.25708643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.870385723 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:393.15, Y:381.74, Z:22.57 [[ 7.41829535e-01 -6.70577179e-01 -3.89711485e-03 3.93151644e+02] [ 6.70569019e-01 7.41839755e-01 -3.31175741e-03 3.81742708e+02] [ 5.11182367e-03 -1.56525023e-04 9.99986922e-01 2.25685923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.900385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:393.17, Y:381.76, Z:22.57 [[ 7.42816920e-01 -6.69483240e-01 -3.90055648e-03 3.93171803e+02] [ 6.69475087e-01 7.42827145e-01 -3.30769892e-03 3.81762131e+02] [ 5.11188822e-03 -1.54310663e-04 9.99986922e-01 2.25702173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.930385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:393.19, Y:381.78, Z:22.57 [[ 7.42532819e-01 -6.69798328e-01 -3.90028152e-03 3.93192909e+02] [ 6.69790177e-01 7.42543046e-01 -3.30802311e-03 3.81781816e+02] [ 5.11183527e-03 -1.56054525e-04 9.99986922e-01 2.25717508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.960385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:393.21, Y:381.80, Z:22.57 [[ 7.43538576e-01 -6.68681675e-01 -3.89907862e-03 3.93214258e+02] [ 6.68673502e-01 7.43548785e-01 -3.30944067e-03 3.81800128e+02] [ 5.11211750e-03 -1.46513750e-04 9.99986922e-01 2.25717777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.990385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:393.24, Y:381.82, Z:22.57 [[ 7.43541925e-01 -6.68677952e-01 -3.89904215e-03 3.93236002e+02] [ 6.68669779e-01 7.43552133e-01 -3.30948363e-03 3.81818698e+02] [ 5.11211984e-03 -1.46431822e-04 9.99986922e-01 2.25727140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.020385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:393.26, Y:381.84, Z:22.57 [[ 7.43404002e-01 -6.68831290e-01 -3.89829419e-03 3.93257929e+02] [ 6.68823113e-01 7.43414208e-01 -3.31036443e-03 3.81836437e+02] [ 5.11212260e-03 -1.46331094e-04 9.99986922e-01 2.25738668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.050385723 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:393.28, Y:381.85, Z:22.57 [[ 7.43024843e-01 -6.69252488e-01 -3.89743604e-03 3.93279758e+02] [ 6.69244312e-01 7.43035050e-01 -3.31137446e-03 3.81854547e+02] [ 5.11207718e-03 -1.47903411e-04 9.99986922e-01 2.25742029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.080385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:393.30, Y:381.87, Z:22.57 [[ 7.42818379e-01 -6.69481645e-01 -3.89652077e-03 3.93301030e+02] [ 6.69473466e-01 7.42828584e-01 -3.31245111e-03 3.81872707e+02] [ 5.11207223e-03 -1.48067699e-04 9.99986922e-01 2.25720629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.110385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:393.32, Y:381.89, Z:22.57 [[ 7.43134581e-01 -6.69130642e-01 -3.89609247e-03 3.93321953e+02] [ 6.69122456e-01 7.43144780e-01 -3.31295480e-03 3.81890930e+02] [ 5.11216035e-03 -1.44991688e-04 9.99986922e-01 2.25725643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.140385723 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:393.34, Y:381.91, Z:22.57 [[ 7.43065025e-01 -6.69207888e-01 -3.89518082e-03 3.93343534e+02] [ 6.69199697e-01 7.43075220e-01 -3.31402632e-03 3.81908338e+02] [ 5.11218490e-03 -1.44116772e-04 9.99986922e-01 2.25701582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.170385723 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:393.37, Y:381.92, Z:22.57 [[ 7.43109956e-01 -6.69157999e-01 -3.89426063e-03 3.93365792e+02] [ 6.69149803e-01 7.43120146e-01 -3.31510727e-03 3.81924906e+02] [ 5.11223408e-03 -1.42354511e-04 9.99986922e-01 2.25714657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.200385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:393.39, Y:381.94, Z:22.57 [[ 7.41890641e-01 -6.70509597e-01 -3.89333060e-03 3.93388517e+02] [ 6.70501413e-01 7.41900841e-01 -3.31619915e-03 3.81942922e+02] [ 5.11200861e-03 -1.50226554e-04 9.99986922e-01 2.25711834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.230385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:393.41, Y:381.96, Z:22.57 [[ 7.41947799e-01 -6.70446334e-01 -3.89570609e-03 3.93409737e+02] [ 6.70438164e-01 7.41958011e-01 -3.31341111e-03 3.81959615e+02] [ 5.11191467e-03 -1.53451960e-04 9.99986922e-01 2.25711529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.260385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:393.43, Y:381.98, Z:22.57 [[ 7.41769081e-01 -6.70644081e-01 -3.89207540e-03 3.93431433e+02] [ 6.70635891e-01 7.41779276e-01 -3.31767041e-03 3.81978201e+02] [ 5.11203689e-03 -1.49220124e-04 9.99986922e-01 2.25712972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.290385723 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:393.45, Y:382.00, Z:22.57 [[ 7.39138391e-01 -6.73542350e-01 -3.89119086e-03 3.93454822e+02] [ 6.73534195e-01 7.39148615e-01 -3.31870752e-03 3.81995879e+02] [ 5.11145840e-03 -1.67865963e-04 9.99986922e-01 2.25685047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.320385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:393.48, Y:382.01, Z:22.57 [[ 7.37890720e-01 -6.74908994e-01 -3.89037908e-03 3.93476507e+02] [ 6.74900853e-01 7.37900955e-01 -3.31965886e-03 3.82013508e+02] [ 5.11118206e-03 -1.76074691e-04 9.99986922e-01 2.25699838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.3503857229999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:393.50, Y:382.03, Z:22.57 [[ 7.36031182e-01 -6.76936456e-01 -3.89009206e-03 3.93498655e+02] [ 6.76928342e-01 7.36041438e-01 -3.31999518e-03 3.82031146e+02] [ 5.11069472e-03 -1.89693586e-04 9.99986922e-01 2.25721422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.380385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:393.52, Y:382.05, Z:22.57 [[ 7.31653942e-01 -6.81665155e-01 -3.88917418e-03 3.93521451e+02] [ 6.81657101e-01 7.31664245e-01 -3.32107006e-03 3.82047060e+02] [ 5.10942743e-03 -2.21209194e-04 9.99986922e-01 2.25734284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.410385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:393.54, Y:382.06, Z:22.57 [[ 7.25999342e-01 -6.87684399e-01 -3.88889004e-03 3.93541035e+02] [ 6.87676428e-01 7.26009710e-01 -3.32140276e-03 3.82063341e+02] [ 5.10744879e-03 -2.62961792e-04 9.99986922e-01 2.25734393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.440385723 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:393.56, Y:382.08, Z:22.57 [[ 7.23463368e-01 -6.90351950e-01 -3.86533648e-03 3.93564919e+02] [ 6.90343871e-01 7.23473652e-01 -3.34892095e-03 3.82082607e+02] [ 5.10840321e-03 -2.45589721e-04 9.99986922e-01 2.25733539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.4703857229999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:393.59, Y:382.10, Z:22.57 [[ 7.17850799e-01 -6.96186190e-01 -3.87554809e-03 3.93586785e+02] [ 6.96178258e-01 7.17861196e-01 -3.33699296e-03 3.82101990e+02] [ 5.10527400e-03 -3.02609256e-04 9.99986922e-01 2.25726555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.500385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:393.61, Y:382.12, Z:22.57 [[ 7.15906582e-01 -6.98185273e-01 -3.88458444e-03 3.93607383e+02] [ 6.98177427e-01 7.15917045e-01 -3.32644040e-03 3.82121067e+02] [ 5.10351191e-03 -3.30708590e-04 9.99986922e-01 2.25737150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.530385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:393.63, Y:382.14, Z:22.58 [[ 7.14026490e-01 -7.00107913e-01 -3.88370338e-03 3.93626617e+02] [ 7.00100089e-01 7.14036969e-01 -3.32746874e-03 3.82141763e+02] [ 5.10269498e-03 -3.43080259e-04 9.99986922e-01 2.25753930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.560385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:393.65, Y:382.16, Z:22.58 [[ 7.14155192e-01 -6.99976628e-01 -3.88343080e-03 3.93647268e+02] [ 6.99968801e-01 7.14165669e-01 -3.32778683e-03 3.82162194e+02] [ 5.10278596e-03 -3.41724157e-04 9.99986922e-01 2.25764015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.5903857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:393.67, Y:382.18, Z:22.58 [[ 7.14770777e-01 -6.99348025e-01 -3.88267451e-03 3.93666553e+02] [ 6.99340185e-01 7.14781244e-01 -3.32866899e-03 3.82182097e+02] [ 5.10316101e-03 -3.36074987e-04 9.99986922e-01 2.25776332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.620385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:393.68, Y:382.20, Z:22.58 [[ 7.17405120e-01 -6.96645409e-01 -3.88181162e-03 3.93684253e+02] [ 6.96637523e-01 7.17415553e-01 -3.32967498e-03 3.82204811e+02] [ 5.10447481e-03 -3.15489755e-04 9.99986922e-01 2.25780479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.650385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:393.70, Y:382.23, Z:22.58 [[ 7.19831985e-01 -6.94137485e-01 -3.88154358e-03 3.93701687e+02] [ 6.94129561e-01 7.19842388e-01 -3.32998741e-03 3.82227722e+02] [ 5.10556869e-03 -2.97262695e-04 9.99986922e-01 2.25782724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.680385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:393.72, Y:382.25, Z:22.58 [[ 7.20865279e-01 -6.93064348e-01 -3.88062195e-03 3.93720461e+02] [ 6.93056403e-01 7.20875667e-01 -3.33106109e-03 3.82247550e+02] [ 5.10608562e-03 -2.88243611e-04 9.99986922e-01 2.25777993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.710385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:393.74, Y:382.27, Z:22.58 [[ 7.22580691e-01 -6.91275697e-01 -3.88022224e-03 3.93738413e+02] [ 6.91267724e-01 7.22591057e-01 -3.33152664e-03 3.82269433e+02] [ 5.10681728e-03 -2.74975572e-04 9.99986922e-01 2.25792035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.740385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:393.76, Y:382.29, Z:22.58 [[ 7.23715726e-01 -6.90087313e-01 -3.87930547e-03 3.93756960e+02] [ 6.90079317e-01 7.23726074e-01 -3.33259379e-03 3.82288902e+02] [ 5.10733522e-03 -2.65177934e-04 9.99986922e-01 2.25799005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.770385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:393.78, Y:382.31, Z:22.58 [[ 7.24444754e-01 -6.89321997e-01 -3.87083543e-03 3.93777629e+02] [ 6.89313938e-01 7.24455053e-01 -3.34244653e-03 3.82309949e+02] [ 5.10826820e-03 -2.46802963e-04 9.99986922e-01 2.25801746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.800385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:393.80, Y:382.33, Z:22.58 [[ 7.25903963e-01 -6.87785141e-01 -3.87785009e-03 3.93796137e+02] [ 6.87777103e-01 7.25914279e-01 -3.33428832e-03 3.82332132e+02] [ 5.10826071e-03 -2.46723397e-04 9.99986922e-01 2.25808361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.830385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:393.81, Y:382.35, Z:22.58 [[ 7.26307455e-01 -6.87359041e-01 -3.87693092e-03 3.93813424e+02] [ 6.87350991e-01 7.26317761e-01 -3.33535674e-03 3.82353245e+02] [ 5.10847140e-03 -2.42317847e-04 9.99986922e-01 2.25801503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.860385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:393.83, Y:382.37, Z:22.58 [[ 7.26180995e-01 -6.87492643e-01 -3.87653277e-03 3.93833316e+02] [ 6.87484593e-01 7.26191302e-01 -3.33581943e-03 3.82373543e+02] [ 5.10845570e-03 -2.42647885e-04 9.99986922e-01 2.25802337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.890385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:393.85, Y:382.39, Z:22.58 [[ 7.25941906e-01 -6.87745104e-01 -3.87563194e-03 3.93852456e+02] [ 6.87737052e-01 7.25952211e-01 -3.33686571e-03 3.82393889e+02] [ 5.10843663e-03 -2.43045025e-04 9.99986922e-01 2.25798350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.920385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:393.87, Y:382.41, Z:22.58 [[ 7.25293997e-01 -6.88428358e-01 -3.87468822e-03 3.93871631e+02] [ 6.88420310e-01 7.25304305e-01 -3.33796117e-03 3.82412302e+02] [ 5.10827518e-03 -2.46410870e-04 9.99986922e-01 2.25793330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.950385723 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:393.89, Y:382.43, Z:22.58 [[ 7.24278496e-01 -6.89496665e-01 -3.87427965e-03 3.93892100e+02] [ 6.89488629e-01 7.24288813e-01 -3.33843532e-03 3.82432056e+02] [ 5.10793743e-03 -2.53314855e-04 9.99986922e-01 2.25771889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.980385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:393.91, Y:382.45, Z:22.58 [[ 7.22886949e-01 -6.90955466e-01 -3.87339021e-03 3.93911134e+02] [ 6.90947446e-01 7.22897279e-01 -3.33946697e-03 3.82453602e+02] [ 5.10748620e-03 -2.62251978e-04 9.99986922e-01 2.25781937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.010385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:393.93, Y:382.47, Z:22.58 [[ 7.21156110e-01 -6.92761770e-01 -3.87245302e-03 3.93929864e+02] [ 6.92753769e-01 7.21166455e-01 -3.34055339e-03 3.82473889e+02] [ 5.10689089e-03 -2.73595938e-04 9.99986922e-01 2.25772022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.040385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:393.95, Y:382.49, Z:22.58 [[ 7.20346939e-01 -6.93603125e-01 -3.87204684e-03 3.93950176e+02] [ 6.93595134e-01 7.20357292e-01 -3.34102412e-03 3.82493313e+02] [ 5.10660194e-03 -2.78936347e-04 9.99986922e-01 2.25774857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.070385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:393.97, Y:382.51, Z:22.58 [[ 7.19762762e-01 -6.94209321e-01 -3.87112138e-03 3.93968499e+02] [ 6.94201333e-01 7.19773116e-01 -3.34209607e-03 3.82512897e+02] [ 5.10644334e-03 -2.81821333e-04 9.99986922e-01 2.25766106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.1003857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:393.99, Y:382.53, Z:22.58 [[ 7.19952781e-01 -6.94012255e-01 -3.87072054e-03 3.93988782e+02] [ 6.94004262e-01 7.19963132e-01 -3.34256025e-03 3.82532146e+02] [ 5.10655386e-03 -2.79811011e-04 9.99986922e-01 2.25758858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.130385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:394.01, Y:382.55, Z:22.57 [[ 7.21316101e-01 -6.92595197e-01 -3.86980458e-03 3.94007771e+02] [ 6.92587178e-01 7.21326432e-01 -3.34362036e-03 3.82552407e+02] [ 5.10716773e-03 -2.68369832e-04 9.99986922e-01 2.25740055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.160385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:394.03, Y:382.57, Z:22.57 [[ 7.22210180e-01 -6.91662839e-01 -3.86952098e-03 3.94028126e+02] [ 6.91654805e-01 7.22220499e-01 -3.34394852e-03 3.82572030e+02] [ 5.10753230e-03 -2.61339112e-04 9.99986922e-01 2.25737841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.190385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:394.05, Y:382.59, Z:22.57 [[ 7.24486612e-01 -6.89278016e-01 -3.86859327e-03 3.94046841e+02] [ 6.89269942e-01 7.24496900e-01 -3.34502145e-03 3.82591181e+02] [ 5.10843358e-03 -2.43081799e-04 9.99986922e-01 2.25729965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.2203857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:394.07, Y:382.61, Z:22.57 [[ 7.25693653e-01 -6.88007094e-01 -3.86796256e-03 3.94067293e+02] [ 6.87998998e-01 7.25703924e-01 -3.34575060e-03 3.82610565e+02] [ 5.10889575e-03 -2.33164388e-04 9.99986922e-01 2.25734350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.250385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:394.09, Y:382.63, Z:22.57 [[ 7.28381949e-01 -6.85160406e-01 -3.86704243e-03 3.94087402e+02] [ 6.85152265e-01 7.28392183e-01 -3.34681376e-03 3.82630403e+02] [ 5.10982775e-03 -2.11754150e-04 9.99986922e-01 2.25737134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.280385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:394.11, Y:382.65, Z:22.58 [[ 7.30667680e-01 -6.82722337e-01 -3.86675771e-03 3.94108739e+02] [ 6.82714160e-01 7.30677885e-01 -3.34714268e-03 3.82648565e+02] [ 5.11052342e-03 -1.94241269e-04 9.99986922e-01 2.25752003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.310385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:394.14, Y:382.67, Z:22.57 [[ 7.34466900e-01 -6.78633501e-01 -3.86580537e-03 3.94137937e+02] [ 6.78625261e-01 7.34477055e-01 -3.34824223e-03 3.82666326e+02] [ 5.11157469e-03 -1.64260087e-04 9.99986922e-01 2.25716609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.3403857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:394.15, Y:382.69, Z:22.57 [[ 7.32880493e-01 -6.80346133e-01 -3.91438468e-03 3.94152248e+02] [ 6.80338214e-01 7.32890904e-01 -3.29210643e-03 3.82685800e+02] [ 5.10858880e-03 -2.50384903e-04 9.99986920e-01 2.25749832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.370385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:394.17, Y:382.70, Z:22.57 [[ 7.34532503e-01 -6.78562497e-01 -3.86509863e-03 3.94172291e+02] [ 6.78554253e-01 7.34542654e-01 -3.34898795e-03 3.82704013e+02] [ 5.11157743e-03 -1.62738609e-04 9.99986923e-01 2.25730837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.400385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:394.19, Y:382.72, Z:22.57 [[ 7.33959052e-01 -6.79182773e-01 -3.85633143e-03 3.94194955e+02] [ 6.79174483e-01 7.33969167e-01 -3.35910153e-03 3.82723657e+02] [ 5.11187226e-03 -1.53678934e-04 9.99986923e-01 2.25745305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.430385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:394.22, Y:382.74, Z:22.58 [[ 7.34850712e-01 -6.78217880e-01 -3.86505912e-03 3.94221845e+02] [ 6.78209630e-01 7.34860859e-01 -3.34903655e-03 3.82741311e+02] [ 5.11165713e-03 -1.60278420e-04 9.99986923e-01 2.25753918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.460385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:394.24, Y:382.76, Z:22.58 [[ 7.32242218e-01 -6.81033176e-01 -3.89190943e-03 3.94243740e+02] [ 6.81025129e-01 7.32252527e-01 -3.31808662e-03 3.82757739e+02] [ 5.10958758e-03 -2.20845015e-04 9.99986922e-01 2.25758583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.490385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:394.27, Y:382.78, Z:22.58 [[ 7.31591651e-01 -6.81732068e-01 -3.87863784e-03 3.94265842e+02] [ 6.81723950e-01 7.31601903e-01 -3.33337999e-03 3.82775109e+02] [ 5.11009086e-03 -2.05487340e-04 9.99986922e-01 2.25750725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.520385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:394.29, Y:382.79, Z:22.58 [[ 7.31462073e-01 -6.81871106e-01 -3.87693736e-03 3.94289207e+02] [ 6.81862979e-01 7.31472319e-01 -3.33533757e-03 3.82793061e+02] [ 5.11014268e-03 -2.03867123e-04 9.99986922e-01 2.25766466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.550385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:394.31, Y:382.81, Z:22.58 [[ 7.29145960e-01 -6.84347192e-01 -3.88447039e-03 3.94307922e+02] [ 6.84339146e-01 7.29156270e-01 -3.32666760e-03 3.82811040e+02] [ 5.10898157e-03 -2.32668907e-04 9.99986922e-01 2.25759991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.580385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:394.33, Y:382.83, Z:22.58 [[ 7.29451404e-01 -6.84021752e-01 -3.85899066e-03 3.94334920e+02] [ 6.84013546e-01 7.29461586e-01 -3.35596647e-03 3.82827829e+02] [ 5.11053952e-03 -1.91587435e-04 9.99986923e-01 2.25756886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.610385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:394.36, Y:382.85, Z:22.58 [[ 7.28010779e-01 -6.85554708e-01 -3.87920754e-03 3.94356661e+02] [ 6.85546647e-01 7.28021077e-01 -3.33272130e-03 3.82845585e+02] [ 5.10890763e-03 -2.33120694e-04 9.99986922e-01 2.25761024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.640385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:394.38, Y:382.86, Z:22.58 [[ 7.26526795e-01 -6.87127192e-01 -3.87791326e-03 3.94376697e+02] [ 6.87119145e-01 7.26537104e-01 -3.33420870e-03 3.82863415e+02] [ 5.10847334e-03 -2.42196485e-04 9.99986922e-01 2.25779100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.670385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:394.40, Y:382.88, Z:22.58 [[ 7.23704599e-01 -6.90099108e-01 -3.85692014e-03 3.94399243e+02] [ 6.90090975e-01 7.23714839e-01 -3.35831863e-03 3.82879488e+02] [ 5.10888303e-03 -2.31195149e-04 9.99986923e-01 2.25777382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.700385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:394.42, Y:382.90, Z:22.58 [[ 7.22063479e-01 -6.91816063e-01 -3.85597823e-03 3.94420886e+02] [ 6.91807948e-01 7.22073734e-01 -3.35939977e-03 3.82897584e+02] [ 5.10838732e-03 -2.41896509e-04 9.99986923e-01 2.25781053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.730385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:394.44, Y:382.92, Z:22.58 [[ 7.19459997e-01 -6.94523182e-01 -3.85506794e-03 3.94442085e+02] [ 6.94515101e-01 7.19470279e-01 -3.36044405e-03 3.82916133e+02] [ 5.10751310e-03 -2.59697835e-04 9.99986923e-01 2.25780228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.760385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:394.46, Y:382.93, Z:22.58 [[ 7.18425691e-01 -6.95593036e-01 -3.85415522e-03 3.94463962e+02] [ 6.95584964e-01 7.18435980e-01 -3.36149054e-03 3.82934088e+02] [ 5.10719319e-03 -2.65911255e-04 9.99986923e-01 2.25784633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.790385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:394.49, Y:382.95, Z:22.58 [[ 7.16738957e-01 -6.97330926e-01 -3.85324296e-03 3.94485293e+02] [ 6.97322874e-01 7.16749261e-01 -3.36253593e-03 3.82950322e+02] [ 5.10660933e-03 -2.76893964e-04 9.99986923e-01 2.25794550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.820385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:394.51, Y:382.97, Z:22.58 [[ 7.15349437e-01 -6.98756280e-01 -3.85286280e-03 3.94506612e+02] [ 6.98748246e-01 7.15359755e-01 -3.36297147e-03 3.82969098e+02] [ 5.10608042e-03 -2.86481374e-04 9.99986923e-01 2.25790081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.8503857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:394.53, Y:382.99, Z:22.58 [[ 7.15357773e-01 -6.98747751e-01 -3.85196930e-03 3.94527768e+02] [ 6.98739711e-01 7.15368087e-01 -3.36399457e-03 3.82987988e+02] [ 5.10615955e-03 -2.85064252e-04 9.99986923e-01 2.25801051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.880385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:394.55, Y:383.01, Z:22.58 [[ 7.15132692e-01 -6.98978152e-01 -3.84400541e-03 3.94548944e+02] [ 6.98970067e-01 7.15142970e-01 -3.37310945e-03 3.83006849e+02] [ 5.10674326e-03 -2.74623879e-04 9.99986923e-01 2.25783446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.910385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:394.57, Y:383.03, Z:22.58 [[ 7.16767495e-01 -6.97301605e-01 -3.85093541e-03 3.94569977e+02] [ 6.97293538e-01 7.16777788e-01 -3.36517912e-03 3.83026867e+02] [ 5.10680977e-03 -2.73181370e-04 9.99986923e-01 2.25800192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.940385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:394.59, Y:383.05, Z:22.58 [[ 7.18100564e-01 -6.95928694e-01 -3.85121426e-03 3.94590619e+02] [ 6.95920610e-01 7.18110843e-01 -3.36486010e-03 3.83046580e+02] [ 5.10730142e-03 -2.63831437e-04 9.99986923e-01 2.25800513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.9703857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:394.61, Y:383.07, Z:22.58 [[ 7.21194023e-01 -6.92722415e-01 -3.85189421e-03 3.94609001e+02] [ 6.92714288e-01 7.21204269e-01 -3.36408233e-03 3.83066139e+02] [ 5.10837778e-03 -2.42106085e-04 9.99986923e-01 2.25796127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.000385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:394.63, Y:383.09, Z:22.58 [[ 7.24471134e-01 -6.89294391e-01 -3.84939440e-03 3.94629613e+02] [ 6.89286201e-01 7.24481329e-01 -3.36694034e-03 3.83087156e+02] [ 5.10962746e-03 -2.14083353e-04 9.99986923e-01 2.25808182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.030385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:394.65, Y:383.11, Z:22.58 [[ 7.25971829e-01 -6.87713670e-01 -3.84858699e-03 3.94649267e+02] [ 6.87705453e-01 7.25982002e-01 -3.36786299e-03 3.83106334e+02] [ 5.11013031e-03 -2.01720607e-04 9.99986923e-01 2.25813851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.060385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:394.67, Y:383.13, Z:22.58 [[ 7.29232585e-01 -6.84255092e-01 -3.84795945e-03 3.94668307e+02] [ 6.84246823e-01 7.29242715e-01 -3.36857984e-03 3.83126691e+02] [ 5.11106431e-03 -1.76475845e-04 9.99986923e-01 2.25815200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.0903857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:394.69, Y:383.15, Z:22.58 [[ 7.30657618e-01 -6.82733214e-01 -3.84753688e-03 3.94688763e+02] [ 6.82724922e-01 7.30667729e-01 -3.36906242e-03 3.83146301e+02] [ 5.11144185e-03 -1.65178188e-04 9.99986923e-01 2.25820679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.120385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:394.71, Y:383.17, Z:22.58 [[ 7.30475521e-01 -6.82928046e-01 -3.84663834e-03 3.94710197e+02] [ 6.82919751e-01 7.30485630e-01 -3.37008802e-03 3.83165168e+02] [ 5.11144166e-03 -1.65178500e-04 9.99986923e-01 2.25822135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.150385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:394.73, Y:383.19, Z:22.58 [[ 7.34197342e-01 -6.78925234e-01 -3.84573933e-03 3.94732836e+02] [ 6.78916878e-01 7.34207402e-01 -3.37111361e-03 3.83185579e+02] [ 5.11230437e-03 -1.35874686e-04 9.99986923e-01 2.25846092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.180385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:394.75, Y:383.21, Z:22.58 [[ 7.33938097e-01 -6.79205411e-01 -3.85745666e-03 3.94751673e+02] [ 6.79197129e-01 7.33948218e-01 -3.35774625e-03 3.83205671e+02] [ 5.11177286e-03 -1.55595592e-04 9.99986923e-01 2.25844305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.210385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:394.78, Y:383.23, Z:22.59 [[ 7.37600386e-01 -6.75226545e-01 -3.84499049e-03 3.94777432e+02] [ 6.75218134e-01 7.37610400e-01 -3.37196122e-03 3.83225925e+02] [ 5.11294269e-03 -1.09047403e-04 9.99986923e-01 2.25876722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.240385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:394.79, Y:383.25, Z:22.59 [[ 7.36029971e-01 -6.76937880e-01 -3.87153134e-03 3.94793346e+02] [ 6.76929651e-01 7.36040135e-01 -3.34169517e-03 3.83245666e+02] [ 5.11172249e-03 -1.61166559e-04 9.99986922e-01 2.25854825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.270385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:394.81, Y:383.26, Z:22.59 [[ 7.36686026e-01 -6.76224020e-01 -3.84376693e-03 3.94813562e+02] [ 6.76215615e-01 7.36696045e-01 -3.37333153e-03 3.83264543e+02] [ 5.11281570e-03 -1.14129019e-04 9.99986923e-01 2.25862732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.300385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:394.83, Y:383.28, Z:22.59 [[ 7.36693595e-01 -6.76215779e-01 -3.84281314e-03 3.94834235e+02] [ 6.76207369e-01 7.36703609e-01 -3.37441771e-03 3.83283290e+02] [ 5.11284881e-03 -1.12626655e-04 9.99986923e-01 2.25867047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.330385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:394.85, Y:383.30, Z:22.59 [[ 7.36759413e-01 -6.76144073e-01 -3.84186034e-03 3.94854556e+02] [ 6.76135656e-01 7.36769422e-01 -3.37550215e-03 3.83303055e+02] [ 5.11289099e-03 -1.10685780e-04 9.99986923e-01 2.25866499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.360385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:394.88, Y:383.32, Z:22.59 [[ 7.36874753e-01 -6.76018377e-01 -3.84091361e-03 3.94875336e+02] [ 6.76009953e-01 7.36884755e-01 -3.37657907e-03 3.83321932e+02] [ 5.11294019e-03 -1.08379965e-04 9.99986923e-01 2.25862607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.390385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:394.90, Y:383.34, Z:22.58 [[ 7.37454892e-01 -6.75385473e-01 -3.83996958e-03 3.94895666e+02] [ 6.75377035e-01 7.37464882e-01 -3.37765232e-03 3.83339911e+02] [ 5.11306002e-03 -1.02561041e-04 9.99986923e-01 2.25846798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.420385723 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:394.92, Y:383.36, Z:22.58 [[ 7.37168390e-01 -6.75698174e-01 -3.83956052e-03 3.94917204e+02] [ 6.75689738e-01 7.37178382e-01 -3.37811725e-03 3.83358365e+02] [ 5.11302867e-03 -1.04110384e-04 9.99986923e-01 2.25831877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.450385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:394.94, Y:383.38, Z:22.58 [[ 7.37580154e-01 -6.75248681e-01 -3.83860457e-03 3.94938802e+02] [ 6.75240233e-01 7.37590136e-01 -3.37920317e-03 3.83376727e+02] [ 5.11311935e-03 -9.95470473e-05 9.99986923e-01 2.25849419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.480385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:394.96, Y:383.39, Z:22.59 [[ 7.36711039e-01 -6.76196800e-01 -3.83830530e-03 3.94960828e+02] [ 6.76188363e-01 7.36721030e-01 -3.37954305e-03 3.83394316e+02] [ 5.11299644e-03 -1.05670703e-04 9.99986923e-01 2.25850958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.510385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:394.98, Y:383.41, Z:22.58 [[ 7.36109462e-01 -6.76851635e-01 -3.83733981e-03 3.94981567e+02] [ 6.76843201e-01 7.36119455e-01 -3.38063897e-03 3.83411721e+02] [ 5.11293151e-03 -1.08757028e-04 9.99986923e-01 2.25846422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.540385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:395.00, Y:383.43, Z:22.58 [[ 7.35921225e-01 -6.77056296e-01 -3.83692024e-03 3.95002969e+02] [ 6.77047863e-01 7.35931220e-01 -3.38111511e-03 3.83427889e+02] [ 5.11291466e-03 -1.09544274e-04 9.99986923e-01 2.25848494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.570385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:395.02, Y:383.45, Z:22.59 [[ 7.35636497e-01 -6.77365651e-01 -3.83652115e-03 3.95024693e+02] [ 6.77357220e-01 7.35646493e-01 -3.38156789e-03 3.83446212e+02] [ 5.11288127e-03 -1.11090542e-04 9.99986923e-01 2.25857748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.6003857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:395.05, Y:383.46, Z:22.59 [[ 7.35667932e-01 -6.77331516e-01 -3.83556528e-03 3.95046355e+02] [ 6.77323078e-01 7.35677923e-01 -3.38265175e-03 3.83464431e+02] [ 5.11291733e-03 -1.09408461e-04 9.99986923e-01 2.25856364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.630385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:395.07, Y:383.48, Z:22.59 [[ 7.35705516e-01 -6.77290698e-01 -3.83461062e-03 3.95067558e+02] [ 6.77282254e-01 7.35715501e-01 -3.38373361e-03 3.83482585e+02] [ 5.11295378e-03 -1.07682246e-04 9.99986923e-01 2.25852673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.660385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:395.09, Y:383.50, Z:22.59 [[ 7.36079631e-01 -6.76884097e-01 -3.83365823e-03 3.95089459e+02] [ 6.76875641e-01 7.36089607e-01 -3.38481230e-03 3.83499861e+02] [ 5.11304159e-03 -1.03418486e-04 9.99986923e-01 2.25855241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.690385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:395.11, Y:383.52, Z:22.59 [[ 7.36470662e-01 -6.76458627e-01 -3.83271120e-03 3.95110568e+02] [ 6.76450160e-01 7.36480629e-01 -3.38588431e-03 3.83517270e+02] [ 5.11312820e-03 -9.90336439e-05 9.99986923e-01 2.25856338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.7203857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:395.13, Y:383.53, Z:22.59 [[ 7.37565945e-01 -6.75264238e-01 -3.83230077e-03 3.95132251e+02] [ 6.75255753e-01 7.37575895e-01 -3.38634879e-03 3.83533597e+02] [ 5.11329290e-03 -9.01275953e-05 9.99986923e-01 2.25861648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.750385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:395.15, Y:383.55, Z:22.59 [[ 7.38778326e-01 -6.73937610e-01 -3.83190595e-03 3.95152309e+02] [ 6.73929104e-01 7.38788259e-01 -3.38679549e-03 3.83550708e+02] [ 5.11345599e-03 -8.03418415e-05 9.99986923e-01 2.25866876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.780385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:395.18, Y:383.57, Z:22.59 [[ 7.38501317e-01 -6.74241244e-01 -3.81451410e-03 3.95175029e+02] [ 6.74232641e-01 7.38511166e-01 -3.40646238e-03 3.83570127e+02] [ 5.11383868e-03 -5.61929599e-05 9.99986923e-01 2.25853940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.810385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:395.19, Y:383.59, Z:22.59 [[ 7.37724095e-01 -6.75091465e-01 -3.83058334e-03 3.95194495e+02] [ 6.75082967e-01 7.37734035e-01 -3.38829556e-03 3.83588258e+02] [ 5.11336111e-03 -8.63342921e-05 9.99986923e-01 2.25852229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.8403857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:395.22, Y:383.61, Z:22.59 [[ 7.38011970e-01 -6.74776832e-01 -3.81560641e-03 3.95217343e+02] [ 6.74768243e-01 7.38021831e-01 -3.40521847e-03 3.83605118e+02] [ 5.11376336e-03 -6.15580378e-05 9.99986923e-01 2.25863029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.870385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:395.24, Y:383.62, Z:22.59 [[ 7.39805337e-01 -6.72810176e-01 -3.81195946e-03 3.95243121e+02] [ 6.72801539e-01 7.39815156e-01 -3.40933847e-03 3.83621795e+02] [ 5.11398300e-03 -4.24453980e-05 9.99986923e-01 2.25868074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.900385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:395.26, Y:383.64, Z:22.59 [[ 7.39837938e-01 -6.72774226e-01 -3.82961013e-03 3.95264998e+02] [ 6.72765692e-01 7.39847847e-01 -3.38939533e-03 3.83639226e+02] [ 5.11362663e-03 -6.88270581e-05 9.99986923e-01 2.25870498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.930385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:395.29, Y:383.66, Z:22.59 [[ 7.40362708e-01 -6.72196699e-01 -3.82865615e-03 3.95287514e+02] [ 6.72188151e-01 7.40372605e-01 -3.39047261e-03 3.83655286e+02] [ 5.11369662e-03 -6.33978167e-05 9.99986923e-01 2.25891573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.960385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:395.31, Y:383.67, Z:22.59 [[ 7.40036474e-01 -6.72555875e-01 -3.82250904e-03 3.95310046e+02] [ 6.72547297e-01 7.40046344e-01 -3.39741121e-03 3.83673515e+02] [ 5.11378271e-03 -5.66099055e-05 9.99986923e-01 2.25874721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.990385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:395.33, Y:383.69, Z:22.59 [[ 7.39894150e-01 -6.72712420e-01 -3.82720630e-03 3.95332803e+02] [ 6.72703871e-01 7.39904045e-01 -3.39211144e-03 3.83689134e+02] [ 5.11368092e-03 -6.47730821e-05 9.99986923e-01 2.25879712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.020385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:395.36, Y:383.71, Z:22.59 [[ 7.40013226e-01 -6.72581430e-01 -3.82691634e-03 3.95355162e+02] [ 6.72572878e-01 7.40023118e-01 -3.39243854e-03 3.83706072e+02] [ 5.11369773e-03 -6.34307456e-05 9.99986923e-01 2.25890240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.050385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:395.38, Y:383.72, Z:22.59 [[ 7.41089604e-01 -6.71395234e-01 -3.82596231e-03 3.95377320e+02] [ 6.71386660e-01 7.41099478e-01 -3.39351415e-03 3.83721846e+02] [ 5.11380790e-03 -5.38020017e-05 9.99986923e-01 2.25883556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.080385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:395.40, Y:383.74, Z:22.59 [[ 7.41486986e-01 -6.70956343e-01 -3.82554843e-03 3.95399404e+02] [ 6.70947761e-01 7.41496853e-01 -3.39398066e-03 3.83738916e+02] [ 5.11384497e-03 -5.01506632e-05 9.99986923e-01 2.25881348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.110385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:395.42, Y:383.75, Z:22.59 [[ 7.41086553e-01 -6.71398610e-01 -3.82460536e-03 3.95423681e+02] [ 6.71390028e-01 7.41096420e-01 -3.39504305e-03 3.83753635e+02] [ 5.11382853e-03 -5.17811491e-05 9.99986923e-01 2.25888237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.140385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:395.45, Y:383.77, Z:22.59 [[ 7.40606663e-01 -6.71927936e-01 -3.82363013e-03 3.95445868e+02] [ 6.71919356e-01 7.40616531e-01 -3.39614104e-03 3.83770024e+02] [ 5.11380572e-03 -5.39664085e-05 9.99986923e-01 2.25888809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.170385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:395.47, Y:383.78, Z:22.59 [[ 7.39571217e-01 -6.73067454e-01 -3.82320766e-03 3.95469861e+02] [ 6.73058886e-01 7.39581097e-01 -3.39661656e-03 3.83784800e+02] [ 5.11372418e-03 -6.12040450e-05 9.99986923e-01 2.25898268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.200385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:395.49, Y:383.80, Z:22.59 [[ 7.39380369e-01 -6.73277105e-01 -3.82227910e-03 3.95492843e+02] [ 6.73268535e-01 7.39390246e-01 -3.39766117e-03 3.83801833e+02] [ 5.11372336e-03 -6.12562790e-05 9.99986923e-01 2.25901801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.230385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:395.52, Y:383.82, Z:22.59 [[ 7.39603173e-01 -6.73032350e-01 -3.82134538e-03 3.95516221e+02] [ 6.73023771e-01 7.39613043e-01 -3.39871101e-03 3.83816778e+02] [ 5.11375933e-03 -5.81588317e-05 9.99986923e-01 2.25895049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.260385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:395.54, Y:383.83, Z:22.59 [[ 7.39817439e-01 -6.72796819e-01 -3.82071059e-03 3.95538390e+02] [ 6.72788233e-01 7.39827303e-01 -3.39942446e-03 3.83833413e+02] [ 5.11378797e-03 -5.55756284e-05 9.99986923e-01 2.25895863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.290385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:395.56, Y:383.85, Z:22.59 [[ 7.39552250e-01 -6.73088314e-01 -3.81978685e-03 3.95560391e+02] [ 6.73079727e-01 7.39562112e-01 -3.40046211e-03 3.83848801e+02] [ 5.11378094e-03 -5.62016824e-05 9.99986923e-01 2.25882794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.320385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:395.59, Y:383.86, Z:22.59 [[ 7.41101300e-01 -6.71382462e-01 -3.80172065e-03 3.95585051e+02] [ 6.71373748e-01 7.41111051e-01 -3.42074282e-03 3.83863974e+02] [ 5.11412392e-03 -1.72584851e-05 9.99986923e-01 2.25884182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.3503857229999 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:395.61, Y:383.88, Z:22.59 [[ 7.43263273e-01 -6.68988241e-01 -3.80014078e-03 3.95610315e+02] [ 6.68979486e-01 7.43272987e-01 -3.42251534e-03 3.83879872e+02] [ 5.11416451e-03 1.61372295e-06 9.99986923e-01 2.25893625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.380385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:395.64, Y:383.89, Z:22.59 [[ 7.44616079e-01 -6.67482074e-01 -3.81781684e-03 3.95635254e+02] [ 6.67473401e-01 7.44625866e-01 -3.40268277e-03 3.83893449e+02] [ 5.11407492e-03 -1.45988943e-05 9.99986923e-01 2.25896581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.410385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:395.66, Y:383.91, Z:22.59 [[ 7.45241905e-01 -6.66783274e-01 -3.81688618e-03 3.95658435e+02] [ 6.66774587e-01 7.45251679e-01 -3.40372640e-03 3.83909951e+02] [ 5.11408867e-03 -8.40315871e-06 9.99986923e-01 2.25895436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.440385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:395.68, Y:383.92, Z:22.59 [[ 7.45897103e-01 -6.66050261e-01 -3.81595930e-03 3.95683882e+02] [ 6.66041559e-01 7.45906864e-01 -3.40476521e-03 3.83923782e+02] [ 5.11409500e-03 -1.98297290e-06 9.99986923e-01 2.25893242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.4703857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:395.71, Y:383.94, Z:22.59 [[ 7.46173451e-01 -6.65740660e-01 -3.81503411e-03 3.95707183e+02] [ 6.65731949e-01 7.46183203e-01 -3.40580158e-03 3.83939468e+02] [ 5.11409496e-03 1.52862237e-06 9.99986923e-01 2.25896070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.500385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:395.73, Y:383.95, Z:22.59 [[ 7.46556429e-01 -6.65311169e-01 -3.81409128e-03 3.95732633e+02] [ 6.65302446e-01 7.46566172e-01 -3.40685710e-03 3.83951455e+02] [ 5.11409161e-03 5.88681021e-06 9.99986923e-01 2.25896643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.530385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:395.76, Y:383.97, Z:22.59 [[ 7.46497124e-01 -6.65377712e-01 -3.81368371e-03 3.95756184e+02] [ 6.65368988e-01 7.46506865e-01 -3.40731329e-03 3.83966711e+02] [ 5.11409139e-03 6.04270203e-06 9.99986923e-01 2.25898952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.560385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:395.78, Y:383.98, Z:22.59 [[ 7.46165047e-01 -6.65750093e-01 -3.81275607e-03 3.95782502e+02] [ 6.65741368e-01 7.46174788e-01 -3.40835098e-03 3.83979944e+02] [ 5.11409244e-03 4.88292614e-06 9.99986923e-01 2.25907498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.5903857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:395.80, Y:383.99, Z:22.59 [[ 7.45984123e-01 -6.65952820e-01 -3.81182485e-03 3.95804907e+02] [ 6.65944093e-01 7.45993861e-01 -3.40939212e-03 3.83994906e+02] [ 5.11409224e-03 4.89014966e-06 9.99986923e-01 2.25909854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.620385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:395.83, Y:384.01, Z:22.59 [[ 7.45238890e-01 -6.66786675e-01 -3.81143030e-03 3.95831132e+02] [ 6.66777956e-01 7.45248637e-01 -3.40983315e-03 3.84007709e+02] [ 5.11409454e-03 -2.37427458e-07 9.99986923e-01 2.25914024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.650385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:395.85, Y:384.02, Z:22.59 [[ 7.44956726e-01 -6.67101909e-01 -3.81050851e-03 3.95854279e+02] [ 6.67093189e-01 7.44966472e-01 -3.41086294e-03 3.84022928e+02] [ 5.11409426e-03 -1.01898174e-06 9.99986923e-01 2.25917358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.680385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:395.88, Y:384.03, Z:22.59 [[ 7.44351267e-01 -6.67777414e-01 -3.81010833e-03 3.95879680e+02] [ 6.67768701e-01 7.44361018e-01 -3.41130991e-03 3.84034895e+02] [ 5.11409182e-03 -5.05823849e-06 9.99986923e-01 2.25918485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.710385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:395.91, Y:384.05, Z:22.59 [[ 7.43614791e-01 -6.68597434e-01 -3.80960807e-03 3.95905126e+02] [ 6.68588729e-01 7.43624550e-01 -3.41186848e-03 3.84047964e+02] [ 5.11408460e-03 -9.94514750e-06 9.99986923e-01 2.25923660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.740385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:395.93, Y:384.06, Z:22.59 [[ 7.43375242e-01 -6.68863771e-01 -3.80865475e-03 3.95927915e+02] [ 6.68855064e-01 7.43384998e-01 -3.41293234e-03 3.84063310e+02] [ 5.11408360e-03 -1.03486077e-05 9.99986923e-01 2.25919775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.770385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:395.95, Y:384.08, Z:22.59 [[ 7.42466056e-01 -6.69872864e-01 -3.80824288e-03 3.95952429e+02] [ 6.69864167e-01 7.42475822e-01 -3.41339185e-03 3.84076379e+02] [ 5.11406684e-03 -1.66778632e-05 9.99986923e-01 2.25913190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.800385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:395.97, Y:384.09, Z:22.59 [[ 7.42855794e-01 -6.69440640e-01 -3.80776267e-03 3.95973906e+02] [ 6.69431935e-01 7.42865553e-01 -3.41392745e-03 3.84094242e+02] [ 5.11407750e-03 -1.29821480e-05 9.99986923e-01 2.25923883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.830385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:395.99, Y:384.11, Z:22.59 [[ 7.44031032e-01 -6.68134217e-01 -3.80682649e-03 3.95993648e+02] [ 6.68125489e-01 7.44040771e-01 -3.41497106e-03 3.84112893e+02] [ 5.11409313e-03 -2.59336623e-06 9.99986923e-01 2.25922356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.860385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:396.01, Y:384.13, Z:22.59 [[ 7.46271614e-01 -6.65630671e-01 -3.80619315e-03 3.96012882e+02] [ 6.65621908e-01 7.46281321e-01 -3.41567681e-03 3.84131441e+02] [ 5.11407010e-03 1.55371037e-05 9.99986923e-01 2.25923244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.890385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:396.03, Y:384.15, Z:22.59 [[ 7.47190980e-01 -6.64598492e-01 -3.80567397e-03 3.96033217e+02] [ 6.64589712e-01 7.47200672e-01 -3.41625517e-03 3.84151368e+02] [ 5.11404018e-03 2.33832786e-05 9.99986923e-01 2.25914674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.920385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:396.05, Y:384.17, Z:22.59 [[ 7.47131987e-01 -6.64664816e-01 -3.80474828e-03 3.96053088e+02] [ 6.64656032e-01 7.47141675e-01 -3.41728582e-03 3.84169489e+02] [ 5.11403565e-03 2.43146510e-05 9.99986923e-01 2.25907907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.950385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:396.07, Y:384.19, Z:22.59 [[ 7.46084595e-01 -6.65840300e-01 -3.80434875e-03 3.96074380e+02] [ 6.65831528e-01 7.46094294e-01 -3.41773055e-03 3.84187952e+02] [ 5.11406563e-03 1.68607708e-05 9.99986923e-01 2.25903437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.980385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:396.09, Y:384.21, Z:22.59 [[ 7.45043058e-01 -6.67005528e-01 -3.80343587e-03 3.96094955e+02] [ 6.66996767e-01 7.45052767e-01 -3.41874615e-03 3.84206872e+02] [ 5.11408300e-03 1.02336625e-05 9.99986923e-01 2.25900418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.010385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:396.11, Y:384.23, Z:22.59 [[ 7.41749038e-01 -6.70666762e-01 -3.80251921e-03 3.96112664e+02] [ 6.70658043e-01 7.41758784e-01 -3.41976541e-03 3.84227809e+02] [ 5.11407502e-03 -1.35823880e-05 9.99986923e-01 2.25884221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.040385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:396.13, Y:384.25, Z:22.59 [[ 7.41609195e-01 -6.70821486e-01 -3.78627662e-03 3.96133867e+02] [ 6.70812677e-01 7.41618861e-01 -3.43781676e-03 3.84246958e+02] [ 5.11413550e-03 9.63416689e-06 9.99986923e-01 2.25885583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.070385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:396.16, Y:384.27, Z:22.59 [[ 7.41700054e-01 -6.70721031e-01 -3.78519567e-03 3.96155940e+02] [ 6.70712215e-01 7.41709713e-01 -3.43901747e-03 3.84265138e+02] [ 5.11413774e-03 1.19424679e-05 9.99986923e-01 2.25886367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.1003857229999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:396.17, Y:384.28, Z:22.59 [[ 7.38781216e-01 -6.73934619e-01 -3.80048924e-03 3.96173989e+02] [ 6.73925932e-01 7.38790991e-01 -3.42203252e-03 3.84284663e+02] [ 5.11399340e-03 -3.31149056e-05 9.99986923e-01 2.25876392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.130385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:396.20, Y:384.30, Z:22.59 [[ 7.37850096e-01 -6.74954029e-01 -3.78079575e-03 3.96198086e+02] [ 6.74945243e-01 7.37859782e-01 -3.44388678e-03 3.84303001e+02] [ 5.11416238e-03 -1.07579146e-05 9.99986923e-01 2.25881241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.160385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:396.22, Y:384.32, Z:22.59 [[ 7.34748713e-01 -6.78328751e-01 -3.79932673e-03 3.96217868e+02] [ 6.78320116e-01 7.34758533e-01 -3.42332041e-03 3.84322193e+02] [ 5.11372440e-03 -6.18794860e-05 9.99986923e-01 2.25879994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.190385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:396.24, Y:384.34, Z:22.59 [[ 7.34410589e-01 -6.78694817e-01 -3.79889662e-03 3.96238853e+02] [ 6.78686184e-01 7.34420412e-01 -3.42379764e-03 3.84339201e+02] [ 5.11370094e-03 -6.37854069e-05 9.99986923e-01 2.25883460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.2203857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:396.26, Y:384.36, Z:22.59 [[ 7.33407351e-01 -6.79778809e-01 -3.79846916e-03 3.96258643e+02] [ 6.79770188e-01 7.33417184e-01 -3.42427182e-03 3.84357225e+02] [ 5.11360997e-03 -7.06999694e-05 9.99986923e-01 2.25882517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.250385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:396.28, Y:384.38, Z:22.59 [[ 7.33886039e-01 -6.79261996e-01 -3.79783484e-03 3.96280812e+02] [ 6.79253364e-01 7.33895862e-01 -3.42497520e-03 3.84376780e+02] [ 5.11367076e-03 -6.61506073e-05 9.99986923e-01 2.25859723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.280385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:396.30, Y:384.40, Z:22.59 [[ 7.34077729e-01 -6.79054782e-01 -3.80666607e-03 3.96300465e+02] [ 6.79046198e-01 7.34087595e-01 -3.41518668e-03 3.84396080e+02] [ 5.11352518e-03 -7.78896428e-05 9.99986923e-01 2.25891443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.310385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:396.32, Y:384.41, Z:22.59 [[ 7.34009662e-01 -6.79128414e-01 -3.79646851e-03 3.96321433e+02] [ 6.79119773e-01 7.34019477e-01 -3.42648534e-03 3.84414806e+02] [ 5.11370539e-03 -6.31834912e-05 9.99986923e-01 2.25893745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.3403857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:396.34, Y:384.43, Z:22.59 [[ 7.34931047e-01 -6.78131186e-01 -3.80133146e-03 3.96341726e+02] [ 6.78122560e-01 7.34940875e-01 -3.42109974e-03 3.84433922e+02] [ 5.11370830e-03 -6.34962042e-05 9.99986923e-01 2.25888521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.370385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:396.36, Y:384.45, Z:22.59 [[ 7.35295912e-01 -6.77735584e-01 -3.79466252e-03 3.96363441e+02] [ 6.77726914e-01 7.35305702e-01 -3.42848096e-03 3.84453199e+02] [ 5.11384054e-03 -5.07968829e-05 9.99986923e-01 2.25884638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.400385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:396.38, Y:384.47, Z:22.59 [[ 7.36341334e-01 -6.76599607e-01 -3.79625476e-03 3.96384350e+02] [ 6.76590931e-01 7.36351119e-01 -3.42671912e-03 3.84472048e+02] [ 5.11389325e-03 -4.52766144e-05 9.99986923e-01 2.25905483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.430385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:396.40, Y:384.49, Z:22.59 [[ 7.36637771e-01 -6.76276870e-01 -3.79348745e-03 3.96404001e+02] [ 6.76268174e-01 7.36647537e-01 -3.42977988e-03 3.84490071e+02] [ 5.11394399e-03 -3.89094273e-05 9.99986923e-01 2.25908702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.460385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:396.42, Y:384.51, Z:22.59 [[ 7.36521671e-01 -6.76403313e-01 -3.79307894e-03 3.96422965e+02] [ 6.76394616e-01 7.36531437e-01 -3.43023161e-03 3.84509234e+02] [ 5.11394190e-03 -3.91782559e-05 9.99986923e-01 2.25896598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.490385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:396.44, Y:384.53, Z:22.59 [[ 7.35794331e-01 -6.77194447e-01 -3.79256781e-03 3.96443756e+02] [ 6.77185758e-01 7.35804104e-01 -3.43079664e-03 3.84528163e+02] [ 5.11390339e-03 -4.39121923e-05 9.99986923e-01 2.25894937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.520385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:396.47, Y:384.55, Z:22.59 [[ 7.33631554e-01 -6.79536876e-01 -3.79164318e-03 3.96466000e+02] [ 6.79528213e-01 7.33641350e-01 -3.43181821e-03 3.84545528e+02] [ 5.11375325e-03 -5.88383929e-05 9.99986923e-01 2.25899905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.550385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:396.49, Y:384.56, Z:22.59 [[ 7.32303921e-01 -6.80967399e-01 -3.79070645e-03 3.96488005e+02] [ 6.80958749e-01 7.32313729e-01 -3.43285259e-03 3.84563621e+02] [ 5.11364707e-03 -6.74233116e-05 9.99986923e-01 2.25906606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.580385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:396.51, Y:384.58, Z:22.59 [[ 7.30120345e-01 -6.83308071e-01 -3.78976430e-03 3.96508732e+02] [ 6.83299447e-01 7.30130176e-01 -3.43389238e-03 3.84581026e+02] [ 5.11342765e-03 -8.23891587e-05 9.99986923e-01 2.25910123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.610385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:396.53, Y:384.60, Z:22.59 [[ 7.30024126e-01 -6.83410869e-01 -3.78935582e-03 3.96528089e+02] [ 6.83402244e-01 7.30033957e-01 -3.43434308e-03 3.84600168e+02] [ 5.11342581e-03 -8.25009651e-05 9.99986923e-01 2.25907274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.640385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:396.55, Y:384.62, Z:22.59 [[ 7.29979284e-01 -6.83458769e-01 -3.78884007e-03 3.96547933e+02] [ 6.83450142e-01 7.29989112e-01 -3.43491197e-03 3.84619954e+02] [ 5.11343271e-03 -8.20687016e-05 9.99986923e-01 2.25898337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.670385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:396.57, Y:384.64, Z:22.59 [[ 7.30069882e-01 -6.83361997e-01 -3.78793602e-03 3.96568729e+02] [ 6.83353364e-01 7.30079704e-01 -3.43590866e-03 3.84639391e+02] [ 5.11346461e-03 -8.00453942e-05 9.99986923e-01 2.25898138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.700385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:396.59, Y:384.66, Z:22.59 [[ 7.30078711e-01 -6.83352570e-01 -3.78703170e-03 3.96588277e+02] [ 6.83343931e-01 7.30088528e-01 -3.43690510e-03 3.84657780e+02] [ 5.11348633e-03 -7.86338859e-05 9.99986923e-01 2.25903579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.730385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:396.61, Y:384.68, Z:22.59 [[ 7.29862753e-01 -6.83583224e-01 -3.78652686e-03 3.96609200e+02] [ 6.83574586e-01 7.29872570e-01 -3.43746120e-03 3.84676550e+02] [ 5.11347290e-03 -7.94986419e-05 9.99986923e-01 2.25905394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.760385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:396.63, Y:384.70, Z:22.59 [[ 7.29643872e-01 -6.83816853e-01 -3.78563398e-03 3.96629051e+02] [ 6.83808213e-01 7.29653688e-01 -3.43844424e-03 3.84695247e+02] [ 5.11346792e-03 -7.98078332e-05 9.99986923e-01 2.25910004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.790385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:396.65, Y:384.72, Z:22.59 [[ 7.27414652e-01 -6.86187727e-01 -3.78515364e-03 3.96645868e+02] [ 6.86179116e-01 7.27424494e-01 -3.43897293e-03 3.84716925e+02] [ 5.11319449e-03 -9.57340848e-05 9.99986923e-01 2.25908443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.820385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:396.67, Y:384.74, Z:22.59 [[ 7.27102923e-01 -6.86518146e-01 -3.76475773e-03 3.96666422e+02] [ 6.86509424e-01 7.27112667e-01 -3.46141194e-03 3.84736289e+02] [ 5.11372514e-03 -6.77389194e-05 9.99986923e-01 2.25911784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.8503857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:396.69, Y:384.76, Z:22.59 [[ 7.26467382e-01 -6.87190656e-01 -3.76089354e-03 3.96686672e+02] [ 6.87181921e-01 7.26477114e-01 -3.46566297e-03 3.84755369e+02] [ 5.11377430e-03 -6.67269443e-05 9.99986922e-01 2.25911097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.880385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:396.71, Y:384.77, Z:22.59 [[ 7.24647902e-01 -6.89109026e-01 -3.76401233e-03 3.96707003e+02] [ 6.89100334e-01 7.24657673e-01 -3.46223266e-03 3.84774866e+02] [ 5.11347619e-03 -8.48825179e-05 9.99986923e-01 2.25915491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.910385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:396.73, Y:384.79, Z:22.59 [[ 7.24901552e-01 -6.88842248e-01 -3.75463898e-03 3.96732348e+02] [ 6.88833498e-01 7.24911272e-01 -3.47253678e-03 3.84792558e+02] [ 5.11381016e-03 -6.90738038e-05 9.99986922e-01 2.25920120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.940385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:396.75, Y:384.81, Z:22.59 [[ 7.23968460e-01 -6.89822696e-01 -3.78368873e-03 3.96752316e+02] [ 6.89814126e-01 7.23978338e-01 -3.44059016e-03 3.84810619e+02] [ 5.11270586e-03 -1.19163174e-04 9.99986923e-01 2.25910795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.9703857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:396.77, Y:384.83, Z:22.59 [[ 7.20024185e-01 -6.93938658e-01 -3.78304385e-03 3.96768413e+02] [ 6.93930141e-01 7.20034108e-01 -3.44129909e-03 3.84830764e+02] [ 5.11197107e-03 -1.47349575e-04 9.99986923e-01 2.25907438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.000385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:396.79, Y:384.85, Z:22.59 [[ 7.21325237e-01 -6.92586332e-01 -3.75160563e-03 3.96794071e+02] [ 6.92577616e-01 7.21334988e-01 -3.47582884e-03 3.84849025e+02] [ 5.11347595e-03 -9.10750228e-05 9.99986922e-01 2.25913145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.030385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:396.81, Y:384.87, Z:22.59 [[ 7.19927149e-01 -6.94039333e-01 -3.78224214e-03 3.96813475e+02] [ 6.94030812e-01 7.19937069e-01 -3.44216554e-03 3.84867560e+02] [ 5.11197459e-03 -1.46884162e-04 9.99986923e-01 2.25923180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.060385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:396.83, Y:384.89, Z:22.59 [[ 7.19203785e-01 -6.94788899e-01 -3.78172853e-03 3.96833325e+02] [ 6.94780386e-01 7.19213711e-01 -3.44272972e-03 3.84886784e+02] [ 5.11184141e-03 -1.51446562e-04 9.99986923e-01 2.25927306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.0903857229999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:396.85, Y:384.91, Z:22.59 [[ 7.18483593e-01 -6.95533631e-01 -3.78083678e-03 3.96853471e+02] [ 6.95525123e-01 7.18493524e-01 -3.44370877e-03 3.84906180e+02] [ 5.11172201e-03 -1.55418719e-04 9.99986923e-01 2.25932358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.120385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:396.87, Y:384.93, Z:22.59 [[ 7.18187219e-01 -6.95839659e-01 -3.77992677e-03 3.96873852e+02] [ 6.95831150e-01 7.18197149e-01 -3.44470734e-03 3.84925442e+02] [ 5.11169661e-03 -1.56246010e-04 9.99986923e-01 2.25936944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.150385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:396.89, Y:384.95, Z:22.59 [[ 7.17779583e-01 -6.96260145e-01 -3.77899959e-03 3.96893394e+02] [ 6.96251637e-01 7.17789513e-01 -3.44572419e-03 3.84946099e+02] [ 5.11164671e-03 -1.57864176e-04 9.99986923e-01 2.25942022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.180385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:396.91, Y:384.97, Z:22.59 [[ 7.16938996e-01 -6.97125672e-01 -3.77804192e-03 3.96911184e+02] [ 6.97117170e-01 7.16948932e-01 -3.44677390e-03 3.84966087e+02] [ 5.11149770e-03 -1.62611273e-04 9.99986923e-01 2.25933949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.210385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:396.93, Y:384.99, Z:22.59 [[ 7.18331539e-01 -6.95690752e-01 -3.76548218e-03 3.96931471e+02] [ 6.95682158e-01 7.18341395e-01 -3.46052213e-03 3.84985967e+02] [ 5.11235496e-03 -1.33776577e-04 9.99986923e-01 2.25912780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.240385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:396.95, Y:385.01, Z:22.59 [[ 7.18587926e-01 -6.95425909e-01 -3.76805214e-03 3.96951981e+02] [ 6.95417326e-01 7.18597792e-01 -3.45771064e-03 3.85006476e+02] [ 5.11229551e-03 -1.35699625e-04 9.99986923e-01 2.25921070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.270385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:396.97, Y:385.03, Z:22.59 [[ 7.18711356e-01 -6.95298343e-01 -3.76835960e-03 3.96972068e+02] [ 6.95289760e-01 7.18721223e-01 -3.45737440e-03 3.85027247e+02] [ 5.11230671e-03 -1.35247596e-04 9.99986923e-01 2.25942465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.300385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:396.99, Y:385.05, Z:22.59 [[ 7.19826970e-01 -6.94143282e-01 -3.77333904e-03 3.96991658e+02] [ 6.94134711e-01 7.19836847e-01 -3.45193133e-03 3.85045320e+02] [ 5.11232342e-03 -1.34412335e-04 9.99986923e-01 2.25925026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.330385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:397.01, Y:385.07, Z:22.60 [[ 7.19335273e-01 -6.94652828e-01 -3.77012149e-03 3.97010973e+02] [ 6.94644246e-01 7.19345141e-01 -3.45544696e-03 3.85066563e+02] [ 5.11235457e-03 -1.33268315e-04 9.99986923e-01 2.25950244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.360385723 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:397.03, Y:385.09, Z:22.59 [[ 7.19770446e-01 -6.94201899e-01 -3.77214628e-03 3.97029029e+02] [ 6.94193323e-01 7.19780318e-01 -3.45323517e-03 3.85086483e+02] [ 5.11235906e-03 -1.33062140e-04 9.99986923e-01 2.25947633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.390385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:397.05, Y:385.11, Z:22.60 [[ 7.19810658e-01 -6.94160205e-01 -3.77173640e-03 3.97049349e+02] [ 6.94151626e-01 7.19820528e-01 -3.45368279e-03 3.85106083e+02] [ 5.11238245e-03 -1.32159273e-04 9.99986923e-01 2.25951184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.420385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:397.07, Y:385.13, Z:22.60 [[ 7.19641008e-01 -6.94336086e-01 -3.77078457e-03 3.97069435e+02] [ 6.94327504e-01 7.19650875e-01 -3.45472171e-03 3.85126291e+02] [ 5.11238637e-03 -1.32000023e-04 9.99986923e-01 2.25958208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.450385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:397.09, Y:385.15, Z:22.60 [[ 7.19578291e-01 -6.94401088e-01 -3.76982970e-03 3.97091493e+02] [ 6.94392502e-01 7.19588154e-01 -3.45576336e-03 3.85146670e+02] [ 5.11241063e-03 -1.31049183e-04 9.99986923e-01 2.25955381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.480385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:397.11, Y:385.17, Z:22.60 [[ 7.18021946e-01 -6.96010198e-01 -3.78010176e-03 3.97108259e+02] [ 6.96001692e-01 7.18031879e-01 -3.44455992e-03 3.85166583e+02] [ 5.11168240e-03 -1.57687602e-04 9.99986923e-01 2.25960058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.510385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:397.13, Y:385.19, Z:22.60 [[ 7.17288819e-01 -6.96765778e-01 -3.76852402e-03 3.97127180e+02] [ 6.96757216e-01 7.17298704e-01 -3.45718032e-03 3.85185831e+02] [ 5.11200233e-03 -1.45949519e-04 9.99986923e-01 2.25955076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.540385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:397.15, Y:385.21, Z:22.60 [[ 7.16902345e-01 -6.97163416e-01 -3.76810551e-03 3.97149069e+02] [ 6.97154858e-01 7.16912233e-01 -3.45763641e-03 3.85206728e+02] [ 5.11193854e-03 -1.48165404e-04 9.99986923e-01 2.25950123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.570385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:397.17, Y:385.23, Z:22.60 [[ 7.16972690e-01 -6.97091011e-01 -3.77949364e-03 3.97170114e+02] [ 6.97082516e-01 7.16982633e-01 -3.44523073e-03 3.85226829e+02] [ 5.11147067e-03 -1.64482593e-04 9.99986923e-01 2.25950968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.6003857229999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:397.19, Y:385.25, Z:22.59 [[ 7.17919054e-01 -6.96116319e-01 -3.78201332e-03 3.97187604e+02] [ 6.96107825e-01 7.17928997e-01 -3.44248694e-03 3.85245845e+02] [ 5.11158836e-03 -1.61262101e-04 9.99986923e-01 2.25941170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.630385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:397.21, Y:385.27, Z:22.60 [[ 7.16695833e-01 -6.97375719e-01 -3.76691656e-03 3.97206305e+02] [ 6.97367157e-01 7.16705717e-01 -3.45891556e-03 3.85267875e+02] [ 5.11193436e-03 -1.47933518e-04 9.99986923e-01 2.25950218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.660385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:397.22, Y:385.29, Z:22.60 [[ 7.18478832e-01 -6.95538635e-01 -3.76491098e-03 3.97222976e+02] [ 6.95530036e-01 7.18488684e-01 -3.46109719e-03 3.85288213e+02] [ 5.11237276e-03 -1.31883605e-04 9.99986923e-01 2.25955461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.690385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:397.24, Y:385.31, Z:22.60 [[ 7.19136796e-01 -6.94858397e-01 -3.75199796e-03 3.97242736e+02] [ 6.94849715e-01 7.19146576e-01 -3.47513359e-03 3.85308761e+02] [ 5.11296224e-03 -1.07978274e-04 9.99986923e-01 2.25955296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.7203857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:397.26, Y:385.33, Z:22.59 [[ 7.19242432e-01 -6.94749059e-01 -3.75077024e-03 3.97263066e+02] [ 6.94740369e-01 7.19252205e-01 -3.47646759e-03 3.85330560e+02] [ 5.11302235e-03 -1.05388491e-04 9.99986923e-01 2.25944645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.750385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:397.28, Y:385.35, Z:22.59 [[ 7.18686836e-01 -6.95323717e-01 -3.76299239e-03 3.97281611e+02] [ 6.95315104e-01 7.18696676e-01 -3.46318738e-03 3.85350088e+02] [ 5.11248644e-03 -1.27518260e-04 9.99986923e-01 2.25942775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.780385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:397.30, Y:385.37, Z:22.59 [[ 7.18479691e-01 -6.95537760e-01 -3.76258759e-03 3.97300768e+02] [ 6.95529148e-01 7.18489532e-01 -3.46362712e-03 3.85369789e+02] [ 5.11246325e-03 -1.28443591e-04 9.99986923e-01 2.25949384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.810385723 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:397.32, Y:385.39, Z:22.59 [[ 7.17861742e-01 -6.96175569e-01 -3.75463674e-03 3.97323193e+02] [ 6.96166920e-01 7.17871550e-01 -3.47226198e-03 3.85392309e+02] [ 5.11265086e-03 -1.21249861e-04 9.99986923e-01 2.25935050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.8403857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:397.34, Y:385.41, Z:22.59 [[ 7.15948471e-01 -6.98142835e-01 -3.79057734e-03 3.97338399e+02] [ 6.98134419e-01 7.15958481e-01 -3.43321758e-03 3.85412269e+02] [ 5.11077224e-03 -1.88325628e-04 9.99986922e-01 2.25937882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.870385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:397.36, Y:385.43, Z:22.59 [[ 7.15703237e-01 -6.98394396e-01 -3.76094806e-03 3.97361299e+02] [ 6.98385813e-01 7.15713104e-01 -3.46537405e-03 3.85433478e+02] [ 5.11195762e-03 -1.46413346e-04 9.99986923e-01 2.25931310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.900385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:397.38, Y:385.45, Z:22.59 [[ 7.13558215e-01 -7.00585738e-01 -3.78122378e-03 3.97379538e+02] [ 7.00577302e-01 7.13568207e-01 -3.44338514e-03 3.85453908e+02] [ 5.11054759e-03 -1.91983802e-04 9.99986923e-01 2.25944959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.930385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:397.40, Y:385.47, Z:22.59 [[ 7.13334896e-01 -7.00813221e-01 -3.76233593e-03 3.97400519e+02] [ 7.00804680e-01 7.13344799e-01 -3.46384977e-03 3.85473341e+02] [ 5.11135448e-03 -1.65777713e-04 9.99986923e-01 2.25946322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.960385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:397.42, Y:385.49, Z:22.60 [[ 7.13242805e-01 -7.00906951e-01 -3.76130772e-03 3.97422706e+02] [ 7.00898406e-01 7.13252704e-01 -3.46496312e-03 3.85494000e+02] [ 5.11137963e-03 -1.64934573e-04 9.99986923e-01 2.25952502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.990385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:397.44, Y:385.52, Z:22.59 [[ 7.11775689e-01 -7.02396692e-01 -3.77573826e-03 3.97441531e+02] [ 7.02388250e-01 7.11785676e-01 -3.44934333e-03 3.85516607e+02] [ 5.11032376e-03 -1.96875463e-04 9.99986923e-01 2.25946381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.020385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:397.45, Y:385.54, Z:22.59 [[ 7.09355661e-01 -7.04840595e-01 -3.77927294e-03 3.97454267e+02] [ 7.04832207e-01 7.09365694e-01 -3.44551886e-03 3.85539057e+02] [ 5.10942814e-03 -2.19654981e-04 9.99986923e-01 2.25940818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.050385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:397.48, Y:385.56, Z:22.59 [[ 7.09311836e-01 -7.04884833e-01 -3.75383668e-03 3.97475627e+02] [ 7.04876301e-01 7.09321745e-01 -3.47301189e-03 3.85560131e+02] [ 5.11075139e-03 -1.82542074e-04 9.99986923e-01 2.25941985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.080385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:397.49, Y:385.58, Z:22.59 [[ 7.09598122e-01 -7.04596544e-01 -3.77039061e-03 3.97491734e+02] [ 7.04588102e-01 7.09608109e-01 -3.45512392e-03 3.85581113e+02] [ 5.10996813e-03 -2.04822917e-04 9.99986923e-01 2.25944678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.110385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:397.51, Y:385.60, Z:22.59 [[ 7.10298833e-01 -7.03890252e-01 -3.75246215e-03 3.97511020e+02] [ 7.03881698e-01 7.10308724e-01 -3.47448674e-03 3.85601260e+02] [ 5.11106395e-03 -1.73365552e-04 9.99986923e-01 2.25944142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.140385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:397.53, Y:385.62, Z:22.59 [[ 7.12866244e-01 -7.01289986e-01 -3.75152047e-03 3.97531385e+02] [ 7.01281390e-01 7.12876099e-01 -3.47550322e-03 3.85624393e+02] [ 5.11170488e-03 -1.53302565e-04 9.99986923e-01 2.25928031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.170385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:397.55, Y:385.64, Z:22.59 [[ 7.12995386e-01 -7.01158568e-01 -3.77389527e-03 3.97546174e+02] [ 7.01150098e-01 7.13005350e-01 -3.45135572e-03 3.85644578e+02] [ 5.11075515e-03 -1.85266329e-04 9.99986923e-01 2.25920864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.200385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:397.57, Y:385.67, Z:22.59 [[ 7.15287526e-01 -6.98820215e-01 -3.75005430e-03 3.97567828e+02] [ 6.98811577e-01 7.15297343e-01 -3.47706845e-03 3.85666757e+02] [ 5.11224960e-03 -1.33477674e-04 9.99986923e-01 2.25924124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.230385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:397.58, Y:385.69, Z:22.59 [[ 7.14709428e-01 -6.99411303e-01 -3.77647194e-03 3.97583558e+02] [ 6.99402824e-01 7.14719384e-01 -3.44857070e-03 3.85686184e+02] [ 5.11108702e-03 -1.76549141e-04 9.99986923e-01 2.25936648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.260385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:397.61, Y:385.71, Z:22.59 [[ 7.16991604e-01 -6.97071723e-01 -3.74878210e-03 3.97607525e+02] [ 6.97063054e-01 7.17001394e-01 -3.47841281e-03 3.85706950e+02] [ 5.11258520e-03 -1.19144725e-04 9.99986924e-01 2.25944504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.290385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:397.62, Y:385.73, Z:22.60 [[ 7.16441675e-01 -6.97636748e-01 -3.78075617e-03 3.97622187e+02] [ 6.97628268e-01 7.16451630e-01 -3.44394712e-03 3.85728029e+02] [ 5.11135299e-03 -1.70175136e-04 9.99986922e-01 2.25962585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.320385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:397.65, Y:385.75, Z:22.60 [[ 7.18887595e-01 -6.95116237e-01 -3.74736798e-03 3.97648078e+02] [ 6.95107534e-01 7.18897354e-01 -3.47990154e-03 3.85748635e+02] [ 5.11290899e-03 -1.03165666e-04 9.99986924e-01 2.25957737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.3503857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:397.66, Y:385.77, Z:22.60 [[ 7.17844005e-01 -6.96193681e-01 -3.78733474e-03 3.97661308e+02] [ 6.96185218e-01 7.17853976e-01 -3.43685500e-03 3.85769108e+02] [ 5.11147003e-03 -1.69560708e-04 9.99986922e-01 2.25959074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.380385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:397.68, Y:385.79, Z:22.60 [[ 7.17901211e-01 -6.96134915e-01 -3.74585995e-03 3.97681427e+02] [ 6.96126217e-01 7.17910976e-01 -3.48147937e-03 3.85788257e+02] [ 5.11277331e-03 -1.08233059e-04 9.99986924e-01 2.25963340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.410385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:397.70, Y:385.81, Z:22.60 [[ 7.17076352e-01 -6.96984563e-01 -3.74490820e-03 3.97702262e+02] [ 6.96975872e-01 7.17086122e-01 -3.48250283e-03 3.85806803e+02] [ 5.11267241e-03 -1.12890228e-04 9.99986924e-01 2.25979941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.440385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:397.72, Y:385.83, Z:22.60 [[ 7.16251817e-01 -6.97831869e-01 -3.74394125e-03 3.97722779e+02] [ 6.97823184e-01 7.16261593e-01 -3.48354205e-03 3.85825632e+02] [ 5.11256799e-03 -1.17515677e-04 9.99986924e-01 2.25984851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.4703857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:397.74, Y:385.84, Z:22.60 [[ 7.15148181e-01 -6.98962853e-01 -3.74297355e-03 3.97742768e+02] [ 6.98954178e-01 7.15157965e-01 -3.48458152e-03 3.85844985e+02] [ 5.11241038e-03 -1.24174869e-04 9.99986924e-01 2.25985939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.500385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:397.76, Y:385.86, Z:22.60 [[ 7.14802360e-01 -6.99316512e-01 -3.74200474e-03 3.97762061e+02] [ 6.99307836e-01 7.14812144e-01 -3.48562158e-03 3.85863524e+02] [ 5.11238316e-03 -1.25282710e-04 9.99986924e-01 2.25980417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.530385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:397.78, Y:385.88, Z:22.60 [[ 7.14343161e-01 -6.99785573e-01 -3.74158483e-03 3.97782980e+02] [ 6.99776902e-01 7.14352948e-01 -3.48607227e-03 3.85882802e+02] [ 5.11231524e-03 -1.28022759e-04 9.99986924e-01 2.25980889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.560385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:397.80, Y:385.90, Z:22.60 [[ 7.14018543e-01 -7.00116796e-01 -3.74063431e-03 3.97803911e+02] [ 7.00108124e-01 7.14028329e-01 -3.48709190e-03 3.85902087e+02] [ 5.11229048e-03 -1.29000190e-04 9.99986924e-01 2.25983587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.5903857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:397.82, Y:385.92, Z:22.60 [[ 7.13596137e-01 -7.00547335e-01 -3.73968374e-03 3.97824831e+02] [ 7.00538663e-01 7.13605924e-01 -3.48811103e-03 3.85921367e+02] [ 5.11224736e-03 -1.30690488e-04 9.99986924e-01 2.25981716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.620385723 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:397.85, Y:385.94, Z:22.60 [[ 7.13438256e-01 -7.00708126e-01 -3.73874080e-03 3.97845205e+02] [ 7.00699451e-01 7.13448040e-01 -3.48912143e-03 3.85940179e+02] [ 5.11225303e-03 -1.30460921e-04 9.99986924e-01 2.25980994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.650385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:397.87, Y:385.96, Z:22.60 [[ 7.13668350e-01 -7.00473779e-01 -3.73779023e-03 3.97865680e+02] [ 7.00465096e-01 7.13678127e-01 -3.49013945e-03 3.85958775e+02] [ 5.11233030e-03 -1.27389531e-04 9.99986924e-01 2.25979872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.680385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:397.89, Y:385.98, Z:22.60 [[ 7.14338794e-01 -6.99790057e-01 -3.73683815e-03 3.97887308e+02] [ 6.99781359e-01 7.14348558e-01 -3.49115853e-03 3.85976598e+02] [ 5.11248297e-03 -1.21099700e-04 9.99986924e-01 2.25995788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.710385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:397.91, Y:386.00, Z:22.60 [[ 7.14316743e-01 -6.99812571e-01 -3.73580531e-03 3.97907800e+02] [ 6.99803868e-01 7.14326502e-01 -3.49226340e-03 3.85995677e+02] [ 5.11251457e-03 -1.19748789e-04 9.99986924e-01 2.25989822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.740385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:397.93, Y:386.01, Z:22.60 [[ 7.14600695e-01 -6.99522618e-01 -3.73532284e-03 3.97928015e+02] [ 6.99513908e-01 7.14610448e-01 -3.49277937e-03 3.86014106e+02] [ 5.11257890e-03 -1.16967713e-04 9.99986924e-01 2.25989402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.770385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:397.95, Y:386.03, Z:22.60 [[ 7.15175283e-01 -6.98935165e-01 -3.73490823e-03 3.97949536e+02] [ 6.98926444e-01 7.15185027e-01 -3.49322266e-03 3.86032814e+02] [ 5.11268660e-03 -1.12159624e-04 9.99986924e-01 2.25990346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.800385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:397.97, Y:386.05, Z:22.60 [[ 7.15519510e-01 -6.98582771e-01 -3.73393373e-03 3.97969839e+02] [ 6.98574041e-01 7.15529245e-01 -3.49426401e-03 3.86050355e+02] [ 5.11277142e-03 -1.08215099e-04 9.99986924e-01 2.25996256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.830385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:397.99, Y:386.07, Z:22.60 [[ 7.15312394e-01 -6.98794848e-01 -3.73351150e-03 3.97990612e+02] [ 6.98786118e-01 7.15322129e-01 -3.49471509e-03 3.86068820e+02] [ 5.11275230e-03 -1.09112985e-04 9.99986924e-01 2.25999242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.860385723 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:398.01, Y:386.09, Z:22.60 [[ 7.15224603e-01 -6.98884708e-01 -3.73254116e-03 3.98013086e+02] [ 6.98875974e-01 7.15234334e-01 -3.49575115e-03 3.86087732e+02] [ 5.11276862e-03 -1.08336110e-04 9.99986924e-01 2.25979007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.890385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:398.03, Y:386.11, Z:22.60 [[ 7.15135801e-01 -6.98975557e-01 -3.73589418e-03 3.98033753e+02] [ 6.98966843e-01 7.15145550e-01 -3.49217231e-03 3.86106270e+02] [ 5.11265118e-03 -1.13888724e-04 9.99986924e-01 2.26013215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.920385723 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:398.05, Y:386.13, Z:22.60 [[ 7.12015078e-01 -7.02154261e-01 -3.73132033e-03 3.98048489e+02] [ 7.02145564e-01 7.12024843e-01 -3.49705256e-03 3.86125159e+02] [ 5.11226313e-03 -1.29975873e-04 9.99986924e-01 2.25985769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.950385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:398.08, Y:386.14, Z:22.60 [[ 7.14170121e-01 -6.99962444e-01 -3.68991798e-03 3.98075851e+02] [ 6.99953488e-01 7.14179651e-01 -3.54117757e-03 3.86142565e+02] [ 5.11395564e-03 -5.37677444e-05 9.99986922e-01 2.26016288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.980385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:398.10, Y:386.16, Z:22.60 [[ 7.13212769e-01 -7.00937680e-01 -3.73029093e-03 3.98096739e+02] [ 7.00928962e-01 7.13222514e-01 -3.49812513e-03 3.86160923e+02] [ 5.11249519e-03 -1.19761441e-04 9.99986924e-01 2.26021077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.010385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:398.12, Y:386.18, Z:22.60 [[ 7.11342728e-01 -7.02835412e-01 -3.72932327e-03 3.98118968e+02] [ 7.02826714e-01 7.11352491e-01 -3.49915645e-03 3.86178615e+02] [ 5.11219446e-03 -1.31968525e-04 9.99986924e-01 2.26033393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.040385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:398.14, Y:386.20, Z:22.60 [[ 7.10210414e-01 -7.03979561e-01 -3.73426789e-03 3.98141824e+02] [ 7.03970906e-01 7.10220216e-01 -3.49388867e-03 3.86196959e+02] [ 5.11177876e-03 -1.47419834e-04 9.99986924e-01 2.26030562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.070385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:398.16, Y:386.22, Z:22.60 [[ 7.10320421e-01 -7.03868549e-01 -3.73704623e-03 3.98161368e+02] [ 7.03859908e-01 7.10330236e-01 -3.49093021e-03 3.86215221e+02] [ 5.11169291e-03 -1.50678004e-04 9.99986924e-01 2.26025805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.1003857229999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:398.18, Y:386.23, Z:22.60 [[ 7.10663458e-01 -7.03522253e-01 -3.72685278e-03 3.98181594e+02] [ 7.03513551e-01 7.10673217e-01 -3.50177884e-03 3.86233218e+02] [ 5.11215379e-03 -1.33305172e-04 9.99986924e-01 2.26007273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.130385723 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:398.20, Y:386.25, Z:22.60 [[ 7.10836187e-01 -7.03347731e-01 -3.72620182e-03 3.98202696e+02] [ 7.03339023e-01 7.10845941e-01 -3.50247138e-03 3.86252101e+02] [ 5.11221074e-03 -1.31099746e-04 9.99986924e-01 2.26003685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.160385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:398.22, Y:386.27, Z:22.60 [[ 7.11015446e-01 -7.03166523e-01 -3.72525545e-03 3.98223815e+02] [ 7.03157806e-01 7.11025193e-01 -3.50347765e-03 3.86271321e+02] [ 5.11227868e-03 -1.28415728e-04 9.99986924e-01 2.25998954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.190385723 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:398.24, Y:386.29, Z:22.60 [[ 7.11334633e-01 -7.02843631e-01 -3.72431663e-03 3.98244983e+02] [ 7.02834905e-01 7.11344372e-01 -3.50447537e-03 3.86289557e+02] [ 5.11236987e-03 -1.24725018e-04 9.99986924e-01 2.25986016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.2203857229999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:398.27, Y:386.31, Z:22.60 [[ 7.10279959e-01 -7.03909452e-01 -3.72336435e-03 3.98265966e+02] [ 7.03900735e-01 7.10289706e-01 -3.50548683e-03 3.86306378e+02] [ 5.11221269e-03 -1.31001862e-04 9.99986924e-01 2.25987169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.250385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:398.29, Y:386.32, Z:22.60 [[ 7.09292881e-01 -7.04904070e-01 -3.72295145e-03 3.98286272e+02] [ 7.04895365e-01 7.09302638e-01 -3.50592530e-03 3.86324219e+02] [ 5.11204030e-03 -1.37563363e-04 9.99986924e-01 2.25994098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.280385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:398.31, Y:386.34, Z:22.60 [[ 7.07768584e-01 -7.06434551e-01 -3.72254273e-03 3.98307780e+02] [ 7.06425864e-01 7.07778358e-01 -3.50635921e-03 3.86341762e+02] [ 5.11174848e-03 -1.48009571e-04 9.99986924e-01 2.26009867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.310385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:398.33, Y:386.36, Z:22.60 [[ 7.07217322e-01 -7.06986428e-01 -3.72156999e-03 3.98328429e+02] [ 7.06977744e-01 7.07227098e-01 -3.50739136e-03 3.86359575e+02] [ 5.11167323e-03 -1.50579225e-04 9.99986924e-01 2.26013010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.3403857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:398.35, Y:386.38, Z:22.60 [[ 7.06647230e-01 -7.07556249e-01 -3.72114856e-03 3.98350203e+02] [ 7.07547570e-01 7.06657011e-01 -3.50783841e-03 3.86377482e+02] [ 5.11156871e-03 -1.54085325e-04 9.99986924e-01 2.26016234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.370385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:398.37, Y:386.40, Z:22.60 [[ 7.06296562e-01 -7.07906298e-01 -3.72019142e-03 3.98370698e+02] [ 7.07897619e-01 7.06306342e-01 -3.50885320e-03 3.86396304e+02] [ 5.11153408e-03 -1.55223698e-04 9.99986924e-01 2.26012021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.400385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:398.39, Y:386.41, Z:22.60 [[ 7.06399947e-01 -7.07803138e-01 -3.71923796e-03 3.98391784e+02] [ 7.07794452e-01 7.06409721e-01 -3.50986354e-03 3.86414724e+02] [ 5.11159828e-03 -1.53088577e-04 9.99986924e-01 2.26007690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.430385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:398.41, Y:386.43, Z:22.60 [[ 7.06668545e-01 -7.07534976e-01 -3.71827994e-03 3.98411506e+02] [ 7.07526281e-01 7.06678311e-01 -3.51087816e-03 3.86432574e+02] [ 5.11169688e-03 -1.49753614e-04 9.99986924e-01 2.26004298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.460385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:398.43, Y:386.45, Z:22.60 [[ 7.04620590e-01 -7.09574521e-01 -3.71786479e-03 3.98425893e+02] [ 7.09565852e-01 7.04630380e-01 -3.51131772e-03 3.86451632e+02] [ 5.11126207e-03 -1.63923136e-04 9.99986924e-01 2.25961667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.490385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:398.45, Y:386.47, Z:22.60 [[ 7.08881034e-01 -7.05318496e-01 -3.67404952e-03 3.98453798e+02] [ 7.05309527e-01 7.08890552e-01 -3.55766993e-03 3.86469616e+02] [ 5.11378939e-03 -6.93773917e-05 9.99986922e-01 2.25991234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.520385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:398.47, Y:386.49, Z:22.59 [[ 7.06653319e-01 -7.07550186e-01 -3.71762781e-03 3.98467659e+02] [ 7.07541488e-01 7.06663082e-01 -3.51153402e-03 3.86489082e+02] [ 5.11169688e-03 -1.48938747e-04 9.99986924e-01 2.25949298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.550385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:398.50, Y:386.51, Z:22.60 [[ 7.10558636e-01 -7.03628417e-01 -3.67100099e-03 3.98496161e+02] [ 7.03619408e-01 7.10568117e-01 -3.56084700e-03 3.86507062e+02] [ 5.11400940e-03 -5.27969566e-05 9.99986922e-01 2.25991134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.580385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:398.51, Y:386.53, Z:22.59 [[ 7.08550852e-01 -7.05649965e-01 -3.71712894e-03 3.98509135e+02] [ 7.05641238e-01 7.08560590e-01 -3.51202518e-03 3.86525533e+02] [ 5.11207152e-03 -1.34511034e-04 9.99986924e-01 2.25930945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.610385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:398.54, Y:386.54, Z:22.60 [[ 7.13438453e-01 -7.00708293e-01 -3.66914124e-03 3.98539574e+02] [ 7.00699236e-01 7.13447887e-01 -3.56277426e-03 3.86542738e+02] [ 5.11420654e-03 -2.91443039e-05 9.99986922e-01 2.25993539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.640385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:398.55, Y:386.56, Z:22.59 [[ 7.11352138e-01 -7.02825955e-01 -3.71658120e-03 3.98551798e+02] [ 7.02817186e-01 7.11361838e-01 -3.51257912e-03 3.86560947e+02] [ 5.11256581e-03 -1.13396474e-04 9.99986924e-01 2.25937502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.670385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:398.57, Y:386.58, Z:22.59 [[ 7.12891099e-01 -7.01265168e-01 -3.66693355e-03 3.98574068e+02] [ 7.01256106e-01 7.12900529e-01 -3.56513287e-03 3.86577734e+02] [ 5.11426236e-03 -2.99080525e-05 9.99986922e-01 2.25933066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.700385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:398.60, Y:386.60, Z:22.59 [[ 7.12812086e-01 -7.01345522e-01 -3.65924345e-03 3.98597556e+02] [ 7.01336419e-01 7.12821478e-01 -3.57326940e-03 3.86596523e+02] [ 5.11448381e-03 -1.92910843e-05 9.99986921e-01 2.25938500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.730385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:398.62, Y:386.61, Z:22.60 [[ 7.13447929e-01 -7.00698569e-01 -3.68339862e-03 3.98622605e+02] [ 7.00689590e-01 7.13457436e-01 -3.54767971e-03 3.86612330e+02] [ 5.11380223e-03 -4.98343266e-05 9.99986923e-01 2.25968587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.760385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:398.64, Y:386.63, Z:22.60 [[ 7.12919279e-01 -7.01236406e-01 -3.68857087e-03 3.98644321e+02] [ 7.01227462e-01 7.12928818e-01 -3.54219719e-03 3.86629926e+02] [ 5.11360609e-03 -6.12265290e-05 9.99986924e-01 2.25967132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.790385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:398.67, Y:386.65, Z:22.60 [[ 7.12846149e-01 -7.01310762e-01 -3.68542588e-03 3.98666394e+02] [ 7.01301802e-01 7.12855674e-01 -3.54552949e-03 3.86647424e+02] [ 5.11369474e-03 -5.71787608e-05 9.99986923e-01 2.25964893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.820385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:398.69, Y:386.66, Z:22.60 [[ 7.13010026e-01 -7.01144127e-01 -3.68988704e-03 3.98690499e+02] [ 7.01135190e-01 7.13019571e-01 -3.54080322e-03 3.86663901e+02] [ 5.11357506e-03 -6.24814531e-05 9.99986924e-01 2.25978042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.8503857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:398.71, Y:386.68, Z:22.60 [[ 7.12997262e-01 -7.01157083e-01 -3.69460412e-03 3.98710480e+02] [ 7.01148171e-01 7.13006831e-01 -3.53580675e-03 3.86682795e+02] [ 5.11343392e-03 -6.94443884e-05 9.99986924e-01 2.25979474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.880385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:398.73, Y:386.70, Z:22.60 [[ 7.14262270e-01 -6.99868381e-01 -3.69594223e-03 3.98734995e+02] [ 6.99859459e-01 7.14271829e-01 -3.53438886e-03 3.86699319e+02] [ 5.11351442e-03 -6.21595190e-05 9.99986924e-01 2.25985978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.910385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:398.76, Y:386.72, Z:22.60 [[ 7.14921050e-01 -6.99195396e-01 -3.70007858e-03 3.98756644e+02] [ 6.99186488e-01 7.14930622e-01 -3.53000733e-03 3.86716564e+02] [ 5.11346435e-03 -6.33684041e-05 9.99986924e-01 2.25986067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.940385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:398.78, Y:386.73, Z:22.60 [[ 7.15462515e-01 -6.98641307e-01 -3.70325167e-03 3.98776412e+02] [ 6.98632409e-01 7.15472096e-01 -3.52664736e-03 3.86731716e+02] [ 5.11343475e-03 -6.40276449e-05 9.99986924e-01 2.25965163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.9703857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:398.80, Y:386.75, Z:22.60 [[ 7.16135451e-01 -6.97951633e-01 -3.67876570e-03 3.98799555e+02] [ 6.97942593e-01 7.16144899e-01 -3.55254033e-03 3.86749916e+02] [ 5.11403061e-03 -2.34671993e-05 9.99986923e-01 2.25969690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.000385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:398.83, Y:386.77, Z:22.60 [[ 7.16820530e-01 -6.97248003e-01 -3.68107691e-03 3.98828106e+02] [ 6.97238965e-01 7.16829982e-01 -3.55009675e-03 3.86766360e+02] [ 5.11400416e-03 -2.18080243e-05 9.99986923e-01 2.26008543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.030385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:398.85, Y:386.78, Z:22.60 [[ 7.14752236e-01 -6.99367881e-01 -3.71591221e-03 3.98846622e+02] [ 6.99359062e-01 7.14761890e-01 -3.51325200e-03 3.86784469e+02] [ 5.11304804e-03 -8.76521578e-05 9.99986924e-01 2.25960540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.060385723 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:398.87, Y:386.80, Z:22.60 [[ 7.13017543e-01 -7.01136448e-01 -3.69648688e-03 3.98868601e+02] [ 7.01127547e-01 7.13027121e-01 -3.53380189e-03 3.86802392e+02] [ 5.11337270e-03 -7.20460354e-05 9.99986924e-01 2.25963781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.0903857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:398.90, Y:386.82, Z:22.60 [[ 7.13345372e-01 -7.00802919e-01 -3.69436741e-03 3.98896284e+02] [ 7.00794001e-01 7.13354936e-01 -3.53604278e-03 3.86816655e+02] [ 5.11346433e-03 -6.65707610e-05 9.99986924e-01 2.26006287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.120385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:398.91, Y:386.84, Z:22.59 [[ 7.11670210e-01 -7.02503885e-01 -3.71540890e-03 3.98913497e+02] [ 7.02495106e-01 7.11679900e-01 -3.51379397e-03 3.86836383e+02] [ 5.11263575e-03 -1.09394078e-04 9.99986924e-01 2.25949772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.150385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:398.94, Y:386.86, Z:22.60 [[ 7.13565697e-01 -7.00578619e-01 -3.68713009e-03 3.98938478e+02] [ 7.00569659e-01 7.13575221e-01 -3.54367224e-03 3.86855142e+02] [ 5.11366567e-03 -5.44485198e-05 9.99986924e-01 2.26001099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.180385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:398.96, Y:386.88, Z:22.60 [[ 7.14903299e-01 -6.99213471e-01 -3.71424835e-03 3.98958441e+02] [ 6.99204641e-01 7.14912942e-01 -3.51501691e-03 3.86875414e+02] [ 5.11311139e-03 -8.41224972e-05 9.99986924e-01 2.26010840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.210385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:398.97, Y:386.90, Z:22.60 [[ 7.12925901e-01 -7.01229543e-01 -3.71328515e-03 3.98973989e+02] [ 7.01220735e-01 7.12935564e-01 -3.51603414e-03 3.86897235e+02] [ 5.11288006e-03 -9.71607348e-05 9.99986924e-01 2.25953355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.240385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:399.00, Y:386.92, Z:22.60 [[ 7.14881663e-01 -6.99235733e-01 -3.68761371e-03 3.98996378e+02] [ 6.99226757e-01 7.14891172e-01 -3.54311181e-03 3.86917732e+02] [ 5.11371287e-03 -4.55725161e-05 9.99986924e-01 2.25975022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.270385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:399.02, Y:386.94, Z:22.60 [[ 7.15859777e-01 -6.98234268e-01 -3.69964202e-03 3.99018579e+02] [ 6.98225345e-01 7.15869335e-01 -3.53042840e-03 3.86936433e+02] [ 5.11352636e-03 -5.58921398e-05 9.99986924e-01 2.26033700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.300385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:399.03, Y:386.96, Z:22.60 [[ 7.12073907e-01 -7.02094713e-01 -3.71008944e-03 3.99032926e+02] [ 7.02085899e-01 7.12083565e-01 -3.51941496e-03 3.86957728e+02] [ 5.11285635e-03 -9.87179243e-05 9.99986924e-01 2.25959202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.330385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:399.06, Y:386.98, Z:22.60 [[ 7.14148055e-01 -6.99985021e-01 -3.67772269e-03 3.99058804e+02] [ 6.99976002e-01 7.14157524e-01 -3.55350536e-03 3.86975854e+02] [ 5.11387385e-03 -3.65886831e-05 9.99986923e-01 2.26036221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.360385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:399.08, Y:387.00, Z:22.60 [[ 7.12164696e-01 -7.02002629e-01 -3.70883961e-03 3.99078708e+02] [ 7.01993807e-01 7.12174347e-01 -3.52072585e-03 3.86996277e+02] [ 5.11289923e-03 -9.62457859e-05 9.99986924e-01 2.26043642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.390385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:399.10, Y:387.02, Z:22.60 [[ 7.09425423e-01 -7.04770758e-01 -3.70788021e-03 3.99096223e+02] [ 7.04761968e-01 7.09435103e-01 -3.52173596e-03 3.87017015e+02] [ 5.11251690e-03 -1.14763931e-04 9.99986924e-01 2.25996834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.420385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:399.12, Y:387.04, Z:22.60 [[ 7.09647350e-01 -7.04547360e-01 -3.69534347e-03 3.99118605e+02] [ 7.04538499e-01 7.09656965e-01 -3.53492535e-03 3.87035600e+02] [ 5.11294856e-03 -9.49613329e-05 9.99986924e-01 2.26046914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.450385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:399.14, Y:387.06, Z:22.60 [[ 7.08569415e-01 -7.05631381e-01 -3.70661049e-03 3.99139080e+02] [ 7.05622596e-01 7.08579100e-01 -3.52307136e-03 3.87055463e+02] [ 5.11241643e-03 -1.19127506e-04 9.99986924e-01 2.26043327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.480385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:399.16, Y:387.07, Z:22.60 [[ 7.06278288e-01 -7.07924606e-01 -3.70564817e-03 3.99157926e+02] [ 7.07915847e-01 7.06287997e-01 -3.52408326e-03 3.87074903e+02] [ 5.11204008e-03 -1.34303576e-04 9.99986924e-01 2.26039138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.510385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:399.18, Y:387.09, Z:22.61 [[ 7.04357896e-01 -7.09835351e-01 -3.70511932e-03 3.99177338e+02] [ 7.09826616e-01 7.04367626e-01 -3.52463919e-03 3.87094965e+02] [ 5.11167960e-03 -1.47384862e-04 9.99986924e-01 2.26056386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.540385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:399.20, Y:387.12, Z:22.61 [[ 7.03367384e-01 -7.10816856e-01 -3.70417406e-03 3.99197416e+02] [ 7.10808129e-01 7.03377121e-01 -3.52563232e-03 3.87115224e+02] [ 5.11151016e-03 -1.53142252e-04 9.99986924e-01 2.26063414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.570385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:399.22, Y:387.13, Z:22.61 [[ 7.03300894e-01 -7.10882647e-01 -3.70320622e-03 3.99216793e+02] [ 7.10873916e-01 7.03310627e-01 -3.52664861e-03 3.87134263e+02] [ 5.11153759e-03 -1.52217590e-04 9.99986924e-01 2.26060120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.6003857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:399.24, Y:387.15, Z:22.61 [[ 7.03536417e-01 -7.10649563e-01 -3.70254755e-03 3.99237158e+02] [ 7.10640824e-01 7.03546144e-01 -3.52734000e-03 3.87154324e+02] [ 5.11161568e-03 -1.49569301e-04 9.99986924e-01 2.26063193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.630385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:399.26, Y:387.17, Z:22.61 [[ 7.05407327e-01 -7.08792495e-01 -3.70165660e-03 3.99256419e+02] [ 7.08783726e-01 7.05417026e-01 -3.52827473e-03 3.87172931e+02] [ 5.11202624e-03 -1.34803112e-04 9.99986924e-01 2.26057042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.660385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:399.28, Y:387.19, Z:22.61 [[ 7.06284830e-01 -7.07918103e-01 -3.70114617e-03 3.99276727e+02] [ 7.07909319e-01 7.06294516e-01 -3.52881009e-03 3.87192674e+02] [ 5.11220779e-03 -1.27730825e-04 9.99986924e-01 2.26061512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.690385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:399.30, Y:387.21, Z:22.61 [[ 7.08021915e-01 -7.06180767e-01 -3.70020603e-03 3.99296192e+02] [ 7.06171955e-01 7.08031575e-01 -3.52979562e-03 3.87212295e+02] [ 5.11253648e-03 -1.13809071e-04 9.99986924e-01 2.26051538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.7203857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:399.32, Y:387.23, Z:22.61 [[ 7.09140450e-01 -7.05057543e-01 -3.69919160e-03 3.99316668e+02] [ 7.05048709e-01 7.09150090e-01 -3.53085841e-03 3.87232315e+02] [ 5.11274041e-03 -1.04235742e-04 9.99986924e-01 2.26051166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.750385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:399.34, Y:387.25, Z:22.61 [[ 7.12069433e-01 -7.02099265e-01 -3.70740108e-03 3.99335909e+02] [ 7.02090436e-01 7.12079078e-01 -3.52225961e-03 3.87250628e+02] [ 5.11293863e-03 -9.48374363e-05 9.99986924e-01 2.26059945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.780385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:399.36, Y:387.27, Z:22.61 [[ 7.12714648e-01 -7.01444336e-01 -3.69783820e-03 3.99357176e+02] [ 7.01435446e-01 7.12724237e-01 -3.53227073e-03 3.87269288e+02] [ 5.11323021e-03 -7.62936948e-05 9.99986924e-01 2.26058538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.810385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:399.38, Y:387.29, Z:22.61 [[ 7.14404679e-01 -6.99723008e-01 -3.69687201e-03 3.99377155e+02] [ 6.99714090e-01 7.14414241e-01 -3.53328165e-03 3.87288163e+02] [ 5.11341648e-03 -6.25604907e-05 9.99986924e-01 2.26070120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.8403857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:399.40, Y:387.31, Z:22.61 [[ 7.14329652e-01 -6.99799604e-01 -3.69627977e-03 3.99397886e+02] [ 6.99790684e-01 7.14339213e-01 -3.53390110e-03 3.87307711e+02] [ 5.11342018e-03 -6.22518058e-05 9.99986924e-01 2.26068839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.870385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:399.42, Y:387.33, Z:22.61 [[ 7.14850747e-01 -6.99267298e-01 -3.69528913e-03 3.99418577e+02] [ 6.99258366e-01 7.14860296e-01 -3.53493668e-03 3.87327046e+02] [ 5.11348111e-03 -5.70097132e-05 9.99986924e-01 2.26072943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.900385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:399.44, Y:387.35, Z:22.60 [[ 7.15556390e-01 -6.98545206e-01 -3.69428698e-03 3.99441214e+02] [ 6.98536259e-01 7.15565924e-01 -3.53598370e-03 3.87346548e+02] [ 5.11355034e-03 -5.03976723e-05 9.99986924e-01 2.26049617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.930385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:399.46, Y:387.36, Z:22.61 [[ 7.14842756e-01 -6.99275406e-01 -3.70688089e-03 3.99462054e+02] [ 6.99266536e-01 7.14852363e-01 -3.52282660e-03 3.87364262e+02] [ 5.11329857e-03 -7.38306821e-05 9.99986924e-01 2.26056150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.960385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:399.48, Y:387.38, Z:22.61 [[ 7.14837530e-01 -6.99280768e-01 -3.70312434e-03 3.99484343e+02] [ 6.99271878e-01 7.14847119e-01 -3.52674883e-03 3.87383712e+02] [ 5.11335539e-03 -6.84382876e-05 9.99986924e-01 2.26066730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.990385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:399.50, Y:387.40, Z:22.61 [[ 7.13730449e-01 -7.00410663e-01 -3.70800104e-03 3.99502513e+02] [ 7.00401815e-01 7.13740076e-01 -3.52165942e-03 3.87401877e+02] [ 5.11315675e-03 -8.35750976e-05 9.99986924e-01 2.26074929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.020385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:399.53, Y:387.42, Z:22.61 [[ 7.13622479e-01 -7.00520757e-01 -3.69128941e-03 3.99526153e+02] [ 7.00511820e-01 7.13632024e-01 -3.53908973e-03 3.87421503e+02] [ 5.11342815e-03 -6.02178724e-05 9.99986925e-01 2.26061404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.050385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:399.55, Y:387.44, Z:22.61 [[ 7.11900720e-01 -7.02270340e-01 -3.70614857e-03 3.99546197e+02] [ 7.02261506e-01 7.11910361e-01 -3.52359719e-03 3.87441215e+02] [ 5.11296336e-03 -9.42340992e-05 9.99986924e-01 2.26057596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.080385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:399.57, Y:387.46, Z:22.61 [[ 7.11528344e-01 -7.02647646e-01 -3.70159696e-03 3.99568584e+02] [ 7.02638793e-01 7.11537966e-01 -3.52834033e-03 3.87460987e+02] [ 5.11300680e-03 -9.03714691e-05 9.99986924e-01 2.26054712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.110385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:399.59, Y:387.48, Z:22.61 [[ 7.09223807e-01 -7.04973629e-01 -3.71126199e-03 3.99586164e+02] [ 7.04964860e-01 7.09233507e-01 -3.51827201e-03 3.87479711e+02] [ 5.11244034e-03 -1.21067019e-04 9.99986924e-01 2.26074301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.140385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:399.61, Y:387.50, Z:22.61 [[ 7.09294077e-01 -7.04903051e-01 -3.68798310e-03 3.99610410e+02] [ 7.04894155e-01 7.09303659e-01 -3.54250687e-03 3.87499566e+02] [ 5.11302381e-03 -8.69585882e-05 9.99986925e-01 2.26072878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.170385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:399.63, Y:387.52, Z:22.61 [[ 7.07710709e-01 -7.06492601e-01 -3.70902593e-03 3.99626698e+02] [ 7.06483841e-01 7.07720417e-01 -3.52060097e-03 3.87519796e+02] [ 5.11223191e-03 -1.28799874e-04 9.99986924e-01 2.26081107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.200385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:399.65, Y:387.54, Z:22.61 [[ 7.08048053e-01 -7.06154631e-01 -3.68662783e-03 3.99649983e+02] [ 7.06145745e-01 7.08057645e-01 -3.54390113e-03 3.87540428e+02] [ 5.11288721e-03 -9.40442534e-05 9.99986925e-01 2.26082658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.230385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:399.67, Y:387.56, Z:22.61 [[ 7.05898090e-01 -7.08303729e-01 -3.70328489e-03 3.99666407e+02] [ 7.08294962e-01 7.05907792e-01 -3.52657271e-03 3.87560969e+02] [ 5.11206226e-03 -1.33617092e-04 9.99986924e-01 2.26087064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.260385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:399.68, Y:387.58, Z:22.61 [[ 7.04560729e-01 -7.09634128e-01 -3.68565529e-03 3.99684701e+02] [ 7.09625284e-01 7.04570359e-01 -3.54490231e-03 3.87581012e+02] [ 5.11238713e-03 -1.17835227e-04 9.99986925e-01 2.26078047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.290385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:399.70, Y:387.60, Z:22.61 [[ 7.03859707e-01 -7.10329454e-01 -3.68511026e-03 3.99704569e+02] [ 7.10320616e-01 7.03869343e-01 -3.54546880e-03 3.87601481e+02] [ 5.11228706e-03 -1.22097155e-04 9.99986925e-01 2.26090186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.320385723 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:399.72, Y:387.62, Z:22.61 [[ 7.02744417e-01 -7.11432858e-01 -3.68415160e-03 3.99722704e+02] [ 7.11424030e-01 7.02754062e-01 -3.54646468e-03 3.87622653e+02] [ 5.11212401e-03 -1.28735728e-04 9.99986925e-01 2.26087635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.3503857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:399.74, Y:387.64, Z:22.61 [[ 7.02428064e-01 -7.11745214e-01 -3.68319972e-03 3.99742031e+02] [ 7.11736385e-01 7.02437708e-01 -3.54745299e-03 3.87643032e+02] [ 5.11210106e-03 -1.29636722e-04 9.99986925e-01 2.26102155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.380385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:399.76, Y:387.66, Z:22.61 [[ 7.01881811e-01 -7.12283907e-01 -3.68223051e-03 3.99759618e+02] [ 7.12275080e-01 7.01891458e-01 -3.54845873e-03 3.87663444e+02] [ 5.11203619e-03 -1.32162395e-04 9.99986925e-01 2.26107133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.410385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:399.78, Y:387.68, Z:22.61 [[ 7.01769009e-01 -7.12395047e-01 -3.68167656e-03 3.99778443e+02] [ 7.12386219e-01 7.01778654e-01 -3.54903339e-03 3.87682828e+02] [ 5.11203583e-03 -1.32174000e-04 9.99986925e-01 2.26106998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.440385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:399.80, Y:387.70, Z:22.61 [[ 7.02855829e-01 -7.11322805e-01 -3.68115219e-03 3.99800699e+02] [ 7.11313959e-01 7.02865458e-01 -3.54957720e-03 3.87703725e+02] [ 5.11224993e-03 -1.23613914e-04 9.99986925e-01 2.26136619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.4703857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:399.82, Y:387.72, Z:22.61 [[ 7.03689455e-01 -7.10498043e-01 -3.69892473e-03 3.99820624e+02] [ 7.10489282e-01 7.03699162e-01 -3.53115121e-03 3.87723520e+02] [ 5.11180626e-03 -1.43212505e-04 9.99986924e-01 2.26128805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.500385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:399.84, Y:387.75, Z:22.61 [[ 7.05611726e-01 -7.08588988e-01 -3.70651611e-03 3.99840454e+02] [ 7.08580242e-01 7.05621447e-01 -3.52328008e-03 3.87745032e+02] [ 5.11195472e-03 -1.40296344e-04 9.99986924e-01 2.26141420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.530385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:399.86, Y:387.77, Z:22.62 [[ 7.07892883e-01 -7.06310062e-01 -3.70970788e-03 3.99859949e+02] [ 7.06301303e-01 7.07902592e-01 -3.51997501e-03 3.87766088e+02] [ 5.11230559e-03 -1.28406253e-04 9.99986924e-01 2.26153379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.560385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:399.88, Y:387.79, Z:22.62 [[ 7.08237797e-01 -7.05964190e-01 -3.71286350e-03 3.99877434e+02] [ 7.05955442e-01 7.08247518e-01 -3.51670920e-03 3.87786487e+02] [ 5.11229712e-03 -1.30449821e-04 9.99986924e-01 2.26151541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.5903857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:399.90, Y:387.81, Z:22.62 [[ 7.10306841e-01 -7.03882451e-01 -3.69956041e-03 3.99896591e+02] [ 7.03873604e-01 7.10316469e-01 -3.53046706e-03 3.87808881e+02] [ 5.11289250e-03 -9.63080128e-05 9.99986924e-01 2.26155213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.620385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:399.92, Y:387.83, Z:22.62 [[ 7.11160799e-01 -7.03019674e-01 -3.69551901e-03 3.99915133e+02] [ 7.03010793e-01 7.11170395e-01 -3.53464489e-03 3.87828165e+02] [ 5.11306861e-03 -8.42888678e-05 9.99986925e-01 2.26155369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.650385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:399.94, Y:387.85, Z:22.62 [[ 7.12701638e-01 -7.01457598e-01 -3.68966253e-03 3.99935579e+02] [ 7.01448665e-01 7.12711185e-01 -3.54069644e-03 3.87848609e+02] [ 5.11331218e-03 -6.46487061e-05 9.99986925e-01 2.26155205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.680385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:399.95, Y:387.87, Z:22.62 [[ 7.13443827e-01 -7.00702683e-01 -3.69547215e-03 3.99953888e+02] [ 7.00693770e-01 7.13453395e-01 -3.53469665e-03 3.87866477e+02] [ 5.11331857e-03 -6.75868071e-05 9.99986925e-01 2.26151447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.710385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:399.98, Y:387.89, Z:22.62 [[ 7.12483309e-01 -7.01679412e-01 -3.67943924e-03 3.99975483e+02] [ 7.01670427e-01 7.12492808e-01 -3.55124135e-03 3.87887530e+02] [ 5.11340693e-03 -5.15535151e-05 9.99986925e-01 2.26178796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.740385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:400.00, Y:387.91, Z:22.62 [[ 7.12294047e-01 -7.01871477e-01 -3.69047669e-03 3.99995945e+02] [ 7.01862554e-01 7.12303604e-01 -3.53985673e-03 3.87907502e+02] [ 5.11326432e-03 -6.87885201e-05 9.99986925e-01 2.26180319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.770385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:400.02, Y:387.93, Z:22.62 [[ 7.11216407e-01 -7.02963448e-01 -3.68959189e-03 4.00015887e+02] [ 7.02954535e-01 7.11225973e-01 -3.54076891e-03 3.87927199e+02] [ 5.11316471e-03 -7.53624035e-05 9.99986925e-01 2.26183135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.800385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:400.04, Y:387.95, Z:22.62 [[ 7.09818625e-01 -7.04374844e-01 -3.68748745e-03 4.00037547e+02] [ 7.04365939e-01 7.09828199e-01 -3.54293673e-03 3.87946953e+02] [ 5.11303808e-03 -8.24980804e-05 9.99986925e-01 2.26176102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.830385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:400.06, Y:387.97, Z:22.62 [[ 7.07439807e-01 -7.06763938e-01 -3.69537528e-03 4.00058785e+02] [ 7.06755107e-01 7.07449450e-01 -3.53481436e-03 3.87965991e+02] [ 5.11257052e-03 -1.11056964e-04 9.99986925e-01 2.26172399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.860385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:400.08, Y:387.99, Z:22.62 [[ 7.06520399e-01 -7.07683048e-01 -3.69181275e-03 4.00079931e+02] [ 7.07674211e-01 7.06530035e-01 -3.53848003e-03 3.87985478e+02] [ 5.11249892e-03 -1.12592351e-04 9.99986925e-01 2.26165743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.890385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:400.10, Y:388.00, Z:22.62 [[ 7.05401869e-01 -7.08797964e-01 -3.69440584e-03 4.00099656e+02] [ 7.08789156e-01 7.05411533e-01 -3.53581293e-03 3.88004532e+02] [ 5.11225350e-03 -1.24385744e-04 9.99986925e-01 2.26160935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.920385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:400.12, Y:388.02, Z:22.62 [[ 7.03455141e-01 -7.10730072e-01 -3.69174266e-03 4.00119224e+02] [ 7.10721276e-01 7.03464816e-01 -3.53855003e-03 3.88024422e+02] [ 5.11196499e-03 -1.34588843e-04 9.99986925e-01 2.26160770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.950385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:400.14, Y:388.04, Z:22.62 [[ 7.03488311e-01 -7.10697267e-01 -3.68659315e-03 4.00141425e+02] [ 7.10688443e-01 7.03497959e-01 -3.54383894e-03 3.88043876e+02] [ 5.11210741e-03 -1.26969872e-04 9.99986925e-01 2.26152741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.980385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:400.16, Y:388.06, Z:22.62 [[ 7.03184178e-01 -7.10998153e-01 -3.69310020e-03 4.00162424e+02] [ 7.10989367e-01 7.03193862e-01 -3.53715746e-03 3.88062188e+02] [ 5.11187781e-03 -1.38481820e-04 9.99986925e-01 2.26171113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.010385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:400.18, Y:388.08, Z:22.62 [[ 7.03919605e-01 -7.10270072e-01 -3.68967167e-03 4.00182881e+02] [ 7.10261259e-01 7.03929263e-01 -3.54067495e-03 3.88082088e+02] [ 5.11210331e-03 -1.28280329e-04 9.99986925e-01 2.26184689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.040385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:400.20, Y:388.10, Z:22.62 [[ 7.04423482e-01 -7.09770344e-01 -3.69005901e-03 4.00203076e+02] [ 7.09761526e-01 7.04433136e-01 -3.54027767e-03 3.88101871e+02] [ 5.11218394e-03 -1.25207186e-04 9.99986925e-01 2.26174736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.070385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:400.22, Y:388.12, Z:22.62 [[ 7.04925240e-01 -7.09272022e-01 -3.68843607e-03 4.00223063e+02] [ 7.09263188e-01 7.04934880e-01 -3.54194085e-03 3.88122655e+02] [ 5.11230679e-03 -1.19268428e-04 9.99986925e-01 2.26185775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.1003857229999 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:400.24, Y:388.14, Z:22.62 [[ 7.04757546e-01 -7.09438675e-01 -3.68332889e-03 4.00239528e+02] [ 7.09429816e-01 7.04767162e-01 -3.54717275e-03 3.88141386e+02] [ 5.11239079e-03 -1.13166579e-04 9.99986925e-01 2.26193644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.130385723 meters Centerline goodness : 0.999539 Centerline is valid? [True, True] Translation: X:400.26, Y:388.16, Z:22.62 [[ 7.05951430e-01 -7.08250804e-01 -3.65742798e-03 4.00264486e+02] [ 7.08241791e-01 7.05960901e-01 -3.57368064e-03 3.88162197e+02] [ 5.11306334e-03 -6.74983842e-05 9.99986926e-01 2.26184903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.160385723 meters Centerline goodness : 0.998566 Centerline is valid? [True, True] Translation: X:400.28, Y:388.18, Z:22.62 [[ 7.04490315e-01 -7.09704012e-01 -3.68939083e-03 4.00284942e+02] [ 7.09695189e-01 7.04499965e-01 -3.54096325e-03 3.88181798e+02] [ 5.11221153e-03 -1.23768607e-04 9.99986925e-01 2.26181107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.190385723 meters Centerline goodness : 0.998081 Centerline is valid? [True, True] Translation: X:400.31, Y:388.20, Z:22.62 [[ 7.03975160e-01 -7.10215036e-01 -3.68459044e-03 4.00306736e+02] [ 7.10206195e-01 7.03984792e-01 -3.54587382e-03 3.88201655e+02] [ 5.11222854e-03 -1.20611860e-04 9.99986925e-01 2.26184734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.2203857229999 meters Centerline goodness : 0.997979 Centerline is valid? [True, True] Translation: X:400.32, Y:388.22, Z:22.62 [[ 7.01794847e-01 -7.12369542e-01 -3.69164234e-03 4.00321611e+02] [ 7.12360768e-01 7.01804541e-01 -3.53866196e-03 3.88220716e+02] [ 5.11164636e-03 -1.46366446e-04 9.99986925e-01 2.26196530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.250385723 meters Centerline goodness : 0.997114 Centerline is valid? [True, True] Translation: X:400.35, Y:388.24, Z:22.62 [[ 7.01720125e-01 -7.12443342e-01 -3.65392475e-03 4.00347171e+02] [ 7.12434367e-01 7.01729632e-01 -3.57718867e-03 3.88241367e+02] [ 5.11261152e-03 -9.29962858e-05 9.99986926e-01 2.26182548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.280385723 meters Centerline goodness : 0.996890 Centerline is valid? [True, True] Translation: X:400.36, Y:388.26, Z:22.62 [[ 6.99309654e-01 -7.14809337e-01 -3.69047836e-03 4.00361377e+02] [ 7.14800591e-01 6.99319373e-01 -3.53983777e-03 3.88260943e+02] [ 5.11113210e-03 -1.62513382e-04 9.99986925e-01 2.26203096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.310385723 meters Centerline goodness : 0.996867 Centerline is valid? [True, True] Translation: X:400.39, Y:388.28, Z:22.62 [[ 6.99286955e-01 -7.14831737e-01 -3.65272508e-03 4.00385329e+02] [ 7.14822788e-01 6.99296487e-01 -3.57837548e-03 3.88282001e+02] [ 5.11227417e-03 -1.08739837e-04 9.99986926e-01 2.26200613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.3403857229999 meters Centerline goodness : 0.997207 Centerline is valid? [True, True] Translation: X:400.40, Y:388.30, Z:22.62 [[ 6.98566746e-01 -7.15535426e-01 -3.68191981e-03 4.00404965e+02] [ 7.15526643e-01 6.98576431e-01 -3.54857459e-03 3.88302215e+02] [ 5.11123323e-03 -1.55595515e-04 9.99986925e-01 2.26203554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.370385723 meters Centerline goodness : 0.997222 Centerline is valid? [True, True] Translation: X:400.42, Y:388.32, Z:22.62 [[ 6.96208578e-01 -7.17830090e-01 -3.68483655e-03 4.00422424e+02] [ 7.17821355e-01 6.96218307e-01 -3.54559896e-03 3.88323986e+02] [ 5.11058829e-03 -1.76577949e-04 9.99986925e-01 2.26207060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.400385723 meters Centerline goodness : 0.997706 Centerline is valid? [True, True] Translation: X:400.44, Y:388.34, Z:22.62 [[ 6.95079884e-01 -7.18923147e-01 -3.66918980e-03 4.00441052e+02] [ 7.18914344e-01 6.95089550e-01 -3.56154759e-03 3.88344947e+02] [ 5.11089449e-03 -1.62273086e-04 9.99986926e-01 2.26214768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.430385723 meters Centerline goodness : 0.997487 Centerline is valid? [True, True] Translation: X:400.46, Y:388.37, Z:22.62 [[ 6.93769614e-01 -7.20187696e-01 -3.66144936e-03 4.00457030e+02] [ 7.20178868e-01 6.93779257e-01 -3.56943203e-03 3.88367224e+02] [ 5.11089865e-03 -1.60534973e-04 9.99986926e-01 2.26222638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.460385723 meters Centerline goodness : 0.997836 Centerline is valid? [True, True] Translation: X:400.48, Y:388.39, Z:22.62 [[ 6.94336283e-01 -7.19641456e-01 -3.64702550e-03 4.00476022e+02] [ 7.19632544e-01 6.94345848e-01 -3.58411458e-03 3.88390391e+02] [ 5.11157444e-03 -1.35937440e-04 9.99986927e-01 2.26221688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.490385723 meters Centerline goodness : 0.997758 Centerline is valid? [True, True] Translation: X:400.49, Y:388.41, Z:22.62 [[ 6.93683161e-01 -7.20270971e-01 -3.66057607e-03 4.00492777e+02] [ 7.20262140e-01 6.93692801e-01 -3.57032195e-03 3.88411597e+02] [ 5.11091452e-03 -1.59902134e-04 9.99986926e-01 2.26226668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.520385723 meters Centerline goodness : 0.997970 Centerline is valid? [True, True] Translation: X:400.51, Y:388.43, Z:22.62 [[ 6.93435815e-01 -7.20509173e-01 -3.64721634e-03 4.00511141e+02] [ 7.20500274e-01 6.93445392e-01 -3.58391311e-03 3.88433934e+02] [ 5.11138764e-03 -1.42606666e-04 9.99986927e-01 2.26240415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.550385723 meters Centerline goodness : 0.997594 Centerline is valid? [True, True] Translation: X:400.53, Y:388.45, Z:22.62 [[ 6.91682134e-01 -7.22192848e-01 -3.64902383e-03 4.00526634e+02] [ 7.22183982e-01 6.91691741e-01 -3.58207469e-03 3.88454956e+02] [ 5.11094837e-03 -1.57609491e-04 9.99986927e-01 2.26211279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.580385723 meters Centerline goodness : 0.997382 Centerline is valid? [True, True] Translation: X:400.54, Y:388.48, Z:22.62 [[ 6.91723456e-01 -7.22153405e-01 -3.62228476e-03 4.00543177e+02] [ 7.22144395e-01 6.91732930e-01 -3.60925112e-03 3.88477484e+02] [ 5.11208663e-03 -1.19208979e-04 9.99986926e-01 2.26214822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.610385723 meters Centerline goodness : 0.997823 Centerline is valid? [True, True] Translation: X:400.57, Y:388.50, Z:22.62 [[ 6.93970836e-01 -7.19994005e-01 -3.62108811e-03 4.00566283e+02] [ 7.19984960e-01 6.93980275e-01 -3.61046622e-03 3.88499990e+02] [ 5.11247776e-03 -1.01570722e-04 9.99986926e-01 2.26238555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.640385723 meters Centerline goodness : 0.997381 Centerline is valid? [True, True] Translation: X:400.58, Y:388.52, Z:22.62 [[ 6.93402504e-01 -7.20541169e-01 -3.65958285e-03 4.00577614e+02] [ 7.20532336e-01 6.93412142e-01 -3.57135940e-03 3.88523875e+02] [ 5.11091066e-03 -1.60458230e-04 9.99986926e-01 2.26227115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.670385723 meters Centerline goodness : 0.997355 Centerline is valid? [True, True] Translation: X:400.59, Y:388.55, Z:22.62 [[ 6.92296186e-01 -7.21604339e-01 -3.62887256e-03 4.00592106e+02] [ 7.21595357e-01 6.92305686e-01 -3.60256628e-03 3.88545953e+02] [ 5.11191656e-03 -1.24534689e-04 9.99986926e-01 2.26224106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.700385723 meters Centerline goodness : 0.997576 Centerline is valid? [True, True] Translation: X:400.61, Y:388.57, Z:22.62 [[ 6.94071641e-01 -7.19896922e-01 -3.60262173e-03 4.00609507e+02] [ 7.19887777e-01 6.94080987e-01 -3.62923202e-03 3.88569739e+02] [ 5.11318420e-03 -7.45363285e-05 9.99986925e-01 2.26238771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.730385723 meters Centerline goodness : 0.997523 Centerline is valid? [True, True] Translation: X:400.63, Y:388.59, Z:22.62 [[ 6.96439769e-01 -7.17606191e-01 -3.60597437e-03 4.00628564e+02] [ 7.17597034e-01 6.96449101e-01 -3.62582712e-03 3.88593064e+02] [ 5.11329360e-03 -6.24663069e-05 9.99986925e-01 2.26247097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.760385723 meters Centerline goodness : 0.997478 Centerline is valid? [True, True] Translation: X:400.65, Y:388.61, Z:22.62 [[ 6.96711493e-01 -7.17342311e-01 -3.61993370e-03 4.00646583e+02] [ 7.17333224e-01 6.96720893e-01 -3.61165654e-03 3.88614142e+02] [ 5.11287749e-03 -8.04160934e-05 9.99986926e-01 2.26242035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.790385723 meters Centerline goodness : 0.997976 Centerline is valid? [True, True] Translation: X:400.67, Y:388.64, Z:22.63 [[ 6.98870719e-01 -7.15238856e-01 -3.61889902e-03 4.00666777e+02] [ 7.15229735e-01 6.98880086e-01 -3.61270669e-03 3.88637479e+02] [ 5.11312466e-03 -6.35292592e-05 9.99986926e-01 2.26264951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.820385723 meters Centerline goodness : 0.998112 Centerline is valid? [True, True] Translation: X:400.68, Y:388.66, Z:22.63 [[ 6.98369603e-01 -7.15728040e-01 -3.64282135e-03 4.00684800e+02] [ 7.15719052e-01 6.98379096e-01 -3.58842171e-03 3.88659196e+02] [ 5.11240432e-03 -1.01191995e-04 9.99986926e-01 2.26266850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.8503857229999 meters Centerline goodness : 0.997718 Centerline is valid? [True, True] Translation: X:400.70, Y:388.68, Z:22.62 [[ 6.96601002e-01 -7.17449479e-01 -3.64536039e-03 4.00699480e+02] [ 7.17440528e-01 6.96610530e-01 -3.58584543e-03 3.88682265e+02] [ 5.11205937e-03 -1.17425766e-04 9.99986926e-01 2.26234691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.880385723 meters Centerline goodness : 0.997899 Centerline is valid? [True, True] Translation: X:400.72, Y:388.70, Z:22.63 [[ 6.96923179e-01 -7.17136609e-01 -3.62853520e-03 4.00719532e+02] [ 7.17127564e-01 6.96932619e-01 -3.60290883e-03 3.88702851e+02] [ 5.11262236e-03 -9.11719313e-05 9.99986926e-01 2.26250833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.910385723 meters Centerline goodness : 0.997931 Centerline is valid? [True, True] Translation: X:400.74, Y:388.73, Z:22.62 [[ 6.95135030e-01 -7.18869970e-01 -3.64101110e-03 4.00736981e+02] [ 7.18861015e-01 6.95144555e-01 -3.59025656e-03 3.88727067e+02] [ 5.11195666e-03 -1.21667834e-04 9.99986926e-01 2.26237779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.940385723 meters Centerline goodness : 0.998201 Centerline is valid? [True, True] Translation: X:400.75, Y:388.75, Z:22.63 [[ 6.94075723e-01 -7.19892773e-01 -3.64489303e-03 4.00753628e+02] [ 7.19883853e-01 6.94085281e-01 -3.58632115e-03 3.88747576e+02] [ 5.11163328e-03 -1.34721192e-04 9.99986926e-01 2.26264780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.9703857229999 meters Centerline goodness : 0.998232 Centerline is valid? [True, True] Translation: X:400.77, Y:388.77, Z:22.63 [[ 6.91506901e-01 -7.22360741e-01 -3.62850952e-03 4.00769660e+02] [ 7.22351767e-01 6.91516409e-01 -3.60291655e-03 3.88771827e+02] [ 5.11177934e-03 -1.29618607e-04 9.99986926e-01 2.26255186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.000385723 meters Centerline goodness : 0.998279 Centerline is valid? [True, True] Translation: X:400.79, Y:388.79, Z:22.62 [[ 6.90488186e-01 -7.23334564e-01 -3.62954112e-03 4.00786115e+02] [ 7.23325610e-01 6.90497711e-01 -3.60187182e-03 3.88793034e+02] [ 5.11154822e-03 -1.38290107e-04 9.99986926e-01 2.26243677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.030385723 meters Centerline goodness : 0.998464 Centerline is valid? [True, True] Translation: X:400.80, Y:388.82, Z:22.62 [[ 6.87015887e-01 -7.26633382e-01 -3.61923271e-03 4.00804271e+02] [ 7.26624419e-01 6.87025404e-01 -3.61230463e-03 3.88819179e+02] [ 5.11132594e-03 -1.48112193e-04 9.99986926e-01 2.26227991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.060385723 meters Centerline goodness : 0.998543 Centerline is valid? [True, True] Translation: X:400.82, Y:388.84, Z:22.62 [[ 6.84954704e-01 -7.28576572e-01 -3.63748919e-03 4.00820820e+02] [ 7.28567733e-01 6.84964337e-01 -3.59382634e-03 3.88841852e+02] [ 5.10992805e-03 -1.88548998e-04 9.99986926e-01 2.26236317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.0903857229999 meters Centerline goodness : 0.998693 Centerline is valid? [True, True] Translation: X:400.84, Y:388.86, Z:22.62 [[ 6.84638083e-01 -7.28874112e-01 -3.63648396e-03 4.00838646e+02] [ 7.28865271e-01 6.84647715e-01 -3.59484321e-03 3.88863185e+02] [ 5.10989859e-03 -1.89340299e-04 9.99986926e-01 2.26249717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.120385723 meters Centerline goodness : 0.998870 Centerline is valid? [True, True] Translation: X:400.85, Y:388.89, Z:22.62 [[ 6.84554759e-01 -7.28952395e-01 -3.63151924e-03 4.00854058e+02] [ 7.28943529e-01 6.84564367e-01 -3.59986387e-03 3.88888000e+02] [ 5.11013806e-03 -1.82868512e-04 9.99986926e-01 2.26231272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.150385723 meters Centerline goodness : 0.998783 Centerline is valid? [True, True] Translation: X:400.87, Y:388.91, Z:22.62 [[ 6.85285454e-01 -7.28265496e-01 -3.63520641e-03 4.00871535e+02] [ 7.28256640e-01 6.85295071e-01 -3.59613664e-03 3.88909864e+02] [ 5.11013127e-03 -1.82983075e-04 9.99986926e-01 2.26220915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.180385723 meters Centerline goodness : 0.999019 Centerline is valid? [True, True] Translation: X:400.89, Y:388.93, Z:22.62 [[ 6.88040869e-01 -7.25662839e-01 -3.63422310e-03 4.00886967e+02] [ 7.25653941e-01 6.88050448e-01 -3.59713009e-03 3.88932707e+02] [ 5.11083246e-03 -1.62215798e-04 9.99986926e-01 2.26211393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.210385723 meters Centerline goodness : 0.999498 Centerline is valid? [True, True] Translation: X:400.91, Y:388.95, Z:22.62 [[ 6.89782261e-01 -7.24007754e-01 -3.63380509e-03 4.00906003e+02] [ 7.23998831e-01 6.89791816e-01 -3.59755232e-03 3.88954777e+02] [ 5.11122478e-03 -1.49342865e-04 9.99986926e-01 2.26242767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.240385723 meters Centerline goodness : 0.999417 Centerline is valid? [True, True] Translation: X:400.92, Y:388.98, Z:22.62 [[ 6.93048769e-01 -7.20881550e-01 -3.63243270e-03 4.00923549e+02] [ 7.20872577e-01 6.93058277e-01 -3.59893794e-03 3.88977577e+02] [ 5.11189551e-03 -1.24281610e-04 9.99986926e-01 2.26205779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.270385723 meters Centerline goodness : 0.999294 Centerline is valid? [True, True] Translation: X:400.94, Y:389.00, Z:22.62 [[ 6.94575006e-01 -7.19411123e-01 -3.63271944e-03 4.00941570e+02] [ 7.19402131e-01 6.94584497e-01 -3.59864848e-03 3.88997430e+02] [ 5.11213835e-03 -1.13854816e-04 9.99986926e-01 2.26199192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.300385723 meters Centerline goodness : 0.999395 Centerline is valid? [True, True] Translation: X:400.96, Y:389.02, Z:22.62 [[ 6.96279673e-01 -7.17761397e-01 -3.63229988e-03 4.00959702e+02] [ 7.17752381e-01 6.96289140e-01 -3.59907192e-03 3.89018694e+02] [ 5.11240585e-03 -1.01131269e-04 9.99986926e-01 2.26196327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.330385723 meters Centerline goodness : 0.999582 Centerline is valid? [True, True] Translation: X:400.98, Y:389.04, Z:22.62 [[ 6.96735104e-01 -7.17319321e-01 -3.63130382e-03 4.00979605e+02] [ 7.17310293e-01 6.96744561e-01 -3.60007661e-03 3.89040231e+02] [ 5.11249570e-03 -9.64718548e-05 9.99986926e-01 2.26211306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.360385723 meters Centerline goodness : 0.999455 Centerline is valid? [True, True] Translation: X:401.00, Y:389.06, Z:22.62 [[ 6.96257317e-01 -7.17783093e-01 -3.63042501e-03 4.00999731e+02] [ 7.17774067e-01 6.96266775e-01 -3.60096261e-03 3.89060298e+02] [ 5.11245440e-03 -9.86283556e-05 9.99986926e-01 2.26209145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.390385723 meters Centerline goodness : 0.999208 Centerline is valid? [True, True] Translation: X:401.02, Y:389.08, Z:22.62 [[ 6.96088037e-01 -7.17947263e-01 -3.62941644e-03 4.01020273e+02] [ 7.17938234e-01 6.96097492e-01 -3.60197887e-03 3.89080054e+02] [ 5.11245855e-03 -9.84024239e-05 9.99986926e-01 2.26208965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.420385723 meters Centerline goodness : 0.999394 Centerline is valid? [True, True] Translation: X:401.04, Y:389.10, Z:22.62 [[ 6.96234792e-01 -7.17804952e-01 -3.62841210e-03 4.01039624e+02] [ 7.17795915e-01 6.96244240e-01 -3.60299030e-03 3.89098678e+02] [ 5.11250530e-03 -9.59321853e-05 9.99986926e-01 2.26219038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.450385723 meters Centerline goodness : 0.999561 Centerline is valid? [True, True] Translation: X:401.06, Y:389.12, Z:22.62 [[ 6.95562211e-01 -7.18456713e-01 -3.62797713e-03 4.01060230e+02] [ 7.18447683e-01 6.95571665e-01 -3.60342823e-03 3.89118189e+02] [ 5.11242530e-03 -1.00103258e-04 9.99986926e-01 2.26222212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.480385723 meters Centerline goodness : 0.999436 Centerline is valid? [True, True] Translation: X:401.08, Y:389.14, Z:22.62 [[ 6.94850170e-01 -7.19145387e-01 -3.62698747e-03 4.01080951e+02] [ 7.19136361e-01 6.94859628e-01 -3.60442408e-03 3.89137723e+02] [ 5.11235211e-03 -1.03763891e-04 9.99986926e-01 2.26227285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.510385723 meters Centerline goodness : 0.999458 Centerline is valid? [True, True] Translation: X:401.10, Y:389.16, Z:22.62 [[ 6.93138161e-01 -7.20795631e-01 -3.62599542e-03 4.01101774e+02] [ 7.20786623e-01 6.93147636e-01 -3.60542179e-03 3.89155885e+02] [ 5.11212243e-03 -1.14513561e-04 9.99986926e-01 2.26229830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.540385723 meters Centerline goodness : 0.999478 Centerline is valid? [True, True] Translation: X:401.12, Y:389.17, Z:22.62 [[ 6.92107951e-01 -7.21784901e-01 -3.62500131e-03 4.01121975e+02] [ 7.21775901e-01 6.92117434e-01 -3.60642103e-03 3.89174798e+02] [ 5.11198685e-03 -1.20405917e-04 9.99986926e-01 2.26229859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.570385723 meters Centerline goodness : 0.999477 Centerline is valid? [True, True] Translation: X:401.14, Y:389.19, Z:22.62 [[ 6.90713809e-01 -7.23119147e-01 -3.62400633e-03 4.01142859e+02] [ 7.23110161e-01 6.90723304e-01 -3.60742058e-03 3.89193816e+02] [ 5.11178052e-03 -1.28860593e-04 9.99986926e-01 2.26229284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.6003857229999 meters Centerline goodness : 0.999540 Centerline is valid? [True, True] Translation: X:401.16, Y:389.21, Z:22.62 [[ 6.89862611e-01 -7.23931248e-01 -3.62300977e-03 4.01162572e+02] [ 7.23922267e-01 6.89872112e-01 -3.60842118e-03 3.89212171e+02] [ 5.11166224e-03 -1.33462590e-04 9.99986926e-01 2.26229268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.630385723 meters Centerline goodness : 0.999645 Centerline is valid? [True, True] Translation: X:401.18, Y:389.23, Z:22.62 [[ 6.88322099e-01 -7.25396145e-01 -3.62233263e-03 4.01184494e+02] [ 7.25387181e-01 6.88331615e-01 -3.60910079e-03 3.89229931e+02] [ 5.11139387e-03 -1.43369826e-04 9.99986926e-01 2.26221716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.660385723 meters Centerline goodness : 0.999645 Centerline is valid? [True, True] Translation: X:401.20, Y:389.25, Z:22.62 [[ 6.88124298e-01 -7.25583790e-01 -3.62134882e-03 4.01204677e+02] [ 7.25574824e-01 6.88133812e-01 -3.61008767e-03 3.89250136e+02] [ 5.11139366e-03 -1.43370485e-04 9.99986926e-01 2.26223172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.690385723 meters Centerline goodness : 0.999621 Centerline is valid? [True, True] Translation: X:401.23, Y:389.27, Z:22.62 [[ 6.87278498e-01 -7.26384994e-01 -3.62036427e-03 4.01225792e+02] [ 7.26376033e-01 6.87288017e-01 -3.61107476e-03 3.89269129e+02] [ 5.11126350e-03 -1.47931797e-04 9.99986926e-01 2.26229397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.7203857229999 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:401.25, Y:389.29, Z:22.62 [[ 6.85360456e-01 -7.28194992e-01 -3.61936728e-03 4.01247835e+02] [ 7.28186051e-01 6.85369994e-01 -3.61207376e-03 3.89287213e+02] [ 5.11089975e-03 -1.60000251e-04 9.99986926e-01 2.26237020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.750385723 meters Centerline goodness : 0.999769 Centerline is valid? [True, True] Translation: X:401.27, Y:389.30, Z:22.62 [[ 6.83535883e-01 -7.29907942e-01 -3.61837360e-03 4.01269893e+02] [ 7.29899020e-01 6.83545439e-01 -3.61306889e-03 3.89304840e+02] [ 5.11053045e-03 -1.71385110e-04 9.99986926e-01 2.26235405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.780385723 meters Centerline goodness : 0.999748 Centerline is valid? [True, True] Translation: X:401.29, Y:389.32, Z:22.62 [[ 6.82640204e-01 -7.30745693e-01 -3.61737211e-03 4.01289659e+02] [ 7.30736777e-01 6.82649765e-01 -3.61407130e-03 3.89322711e+02] [ 5.11036526e-03 -1.76236467e-04 9.99986926e-01 2.26231819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.810385723 meters Centerline goodness : 0.999664 Centerline is valid? [True, True] Translation: X:401.31, Y:389.34, Z:22.62 [[ 6.80226837e-01 -7.32992748e-01 -3.61693809e-03 4.01310401e+02] [ 7.32983861e-01 6.80236426e-01 -3.61450561e-03 3.89340351e+02] [ 5.10977944e-03 -1.92473525e-04 9.99986926e-01 2.26240329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.8403857229999 meters Centerline goodness : 0.999768 Centerline is valid? [True, True] Translation: X:401.33, Y:389.36, Z:22.63 [[ 6.79383632e-01 -7.33774359e-01 -3.61541387e-03 4.01330386e+02] [ 7.33765475e-01 6.79393224e-01 -3.61603002e-03 3.89358885e+02] [ 5.10963779e-03 -1.96194269e-04 9.99986926e-01 2.26254028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.870385723 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:401.35, Y:389.38, Z:22.63 [[ 6.76126485e-01 -7.36776757e-01 -3.60366723e-03 4.01353422e+02] [ 7.36767853e-01 6.76136059e-01 -3.62777307e-03 3.89377866e+02] [ 5.10942823e-03 -2.02232714e-04 9.99986926e-01 2.26251165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.900385723 meters Centerline goodness : 0.999663 Centerline is valid? [True, True] Translation: X:401.38, Y:389.40, Z:22.63 [[ 6.78722373e-01 -7.34386053e-01 -3.61463516e-03 4.01382807e+02] [ 7.34377174e-01 6.78731969e-01 -3.61681175e-03 3.89397269e+02] [ 5.10950454e-03 -1.99694497e-04 9.99986926e-01 2.26273753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.930385723 meters Centerline goodness : 0.999725 Centerline is valid? [True, True] Translation: X:401.40, Y:389.42, Z:22.63 [[ 6.73486113e-01 -7.39190748e-01 -3.67338847e-03 4.01395049e+02] [ 7.39182254e-01 6.73496055e-01 -3.55805357e-03 3.89415944e+02] [ 5.10409292e-03 -3.19003901e-04 9.99986923e-01 2.26277048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.960385723 meters Centerline goodness : 0.999684 Centerline is valid? [True, True] Translation: X:401.41, Y:389.43, Z:22.63 [[ 6.72652721e-01 -7.39949537e-01 -3.60551931e-03 4.01414932e+02] [ 7.39940689e-01 6.72662346e-01 -3.62580315e-03 3.89434911e+02] [ 5.10820843e-03 -2.28964088e-04 9.99986927e-01 2.26278784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.990385723 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:401.43, Y:389.46, Z:22.63 [[ 6.71834918e-01 -7.40692105e-01 -3.61235753e-03 4.01434838e+02] [ 7.40683304e-01 6.71844585e-01 -3.61897744e-03 3.89455361e+02] [ 5.10749086e-03 -2.44257504e-04 9.99986927e-01 2.26287533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.020385723 meters Centerline goodness : 0.999811 Centerline is valid? [True, True] Translation: X:401.45, Y:389.48, Z:22.63 [[ 6.71418598e-01 -7.41069514e-01 -3.61139903e-03 4.01454270e+02] [ 7.41060713e-01 6.71428265e-01 -3.61993367e-03 3.89475989e+02] [ 5.10741787e-03 -2.45775151e-04 9.99986927e-01 2.26288187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.050385723 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:401.47, Y:389.50, Z:22.63 [[ 6.71083640e-01 -7.41372857e-01 -3.61039128e-03 4.01472269e+02] [ 7.41364055e-01 6.71093307e-01 -3.62093849e-03 3.89497635e+02] [ 5.10737493e-03 -2.46661736e-04 9.99986927e-01 2.26280991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.080385723 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:401.49, Y:389.52, Z:22.63 [[ 6.71418877e-01 -7.41069270e-01 -3.60939157e-03 4.01489773e+02] [ 7.41060459e-01 6.71428535e-01 -3.62193473e-03 3.89517002e+02] [ 5.10755303e-03 -2.42942024e-04 9.99986927e-01 2.26283080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.110385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:401.51, Y:389.54, Z:22.63 [[ 6.70926169e-01 -7.41515444e-01 -3.59466525e-03 4.01509377e+02] [ 7.41506561e-01 6.70935761e-01 -3.63660107e-03 3.89539288e+02] [ 5.10838532e-03 -2.25577042e-04 9.99986927e-01 2.26286620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.140385723 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:401.53, Y:389.56, Z:22.63 [[ 6.71455007e-01 -7.41036541e-01 -3.60820977e-03 4.01527452e+02] [ 7.41027722e-01 6.71464659e-01 -3.62311225e-03 3.89559651e+02] [ 5.10764391e-03 -2.41026608e-04 9.99986927e-01 2.26290002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.170385723 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:401.54, Y:389.58, Z:22.63 [[ 6.72929695e-01 -7.39697647e-01 -3.60778081e-03 4.01543815e+02] [ 7.39688808e-01 6.72939327e-01 -3.62353935e-03 3.89580948e+02] [ 5.10814112e-03 -2.30247857e-04 9.99986927e-01 2.26277396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.200385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:401.56, Y:389.60, Z:22.63 [[ 6.74423051e-01 -7.38336329e-01 -3.60735568e-03 4.01561957e+02] [ 7.38327468e-01 6.74432663e-01 -3.62396253e-03 3.89602092e+02] [ 5.10862169e-03 -2.19325919e-04 9.99986927e-01 2.26292277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.230385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:401.58, Y:389.63, Z:22.63 [[ 6.75794085e-01 -7.37081682e-01 -3.59850471e-03 4.01579158e+02] [ 7.37072756e-01 6.75803636e-01 -3.63276968e-03 3.89625741e+02] [ 5.10953055e-03 -1.97355524e-04 9.99986927e-01 2.26275917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.260385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:401.60, Y:389.65, Z:22.63 [[ 6.76612571e-01 -7.36330377e-01 -3.60634980e-03 4.01597079e+02] [ 7.36321482e-01 6.76622151e-01 -3.62496487e-03 3.89645946e+02] [ 5.10930791e-03 -2.02736029e-04 9.99986927e-01 2.26284964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.290385723 meters Centerline goodness : 0.999917 Centerline is valid? [True, True] Translation: X:401.62, Y:389.67, Z:22.63 [[ 6.76512939e-01 -7.36421960e-01 -3.59726575e-03 4.01616307e+02] [ 7.36413019e-01 6.76522476e-01 -3.63399653e-03 3.89667671e+02] [ 5.10978598e-03 -1.90627654e-04 9.99986927e-01 2.26300593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.320385723 meters Centerline goodness : 0.999875 Centerline is valid? [True, True] Translation: X:401.64, Y:389.69, Z:22.63 [[ 6.75934097e-01 -7.36953256e-01 -3.60487236e-03 4.01635193e+02] [ 7.36944362e-01 6.75943679e-01 -3.62643515e-03 3.89688588e+02] [ 5.10920388e-03 -2.05359192e-04 9.99986927e-01 2.26312994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.3503857229999 meters Centerline goodness : 0.999896 Centerline is valid? [True, True] Translation: X:401.65, Y:389.71, Z:22.63 [[ 6.74265713e-01 -7.38480034e-01 -3.60387401e-03 4.01654039e+02] [ 7.38471157e-01 6.74275309e-01 -3.62742702e-03 3.89710286e+02] [ 5.10878569e-03 -2.15507348e-04 9.99986927e-01 2.26319932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.380385723 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:401.67, Y:389.73, Z:22.63 [[ 6.70170338e-01 -7.42198539e-01 -3.61199945e-03 4.01670570e+02] [ 7.42189758e-01 6.70180024e-01 -3.61935617e-03 3.89731823e+02] [ 5.10697074e-03 -2.55203852e-04 9.99986927e-01 2.26325084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.410385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:401.69, Y:389.75, Z:22.63 [[ 6.67806385e-01 -7.44326310e-01 -3.60243153e-03 4.01689048e+02] [ 7.44317508e-01 6.67816051e-01 -3.62885443e-03 3.89752818e+02] [ 5.10681342e-03 -2.57980701e-04 9.99986927e-01 2.26332650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.440385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:401.71, Y:389.77, Z:22.63 [[ 6.65169189e-01 -7.46683989e-01 -3.60141896e-03 4.01706368e+02] [ 7.46675217e-01 6.65178882e-01 -3.62985906e-03 3.89773477e+02] [ 5.10594548e-03 -2.74619871e-04 9.99986927e-01 2.26339199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.4703857229999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:401.72, Y:389.80, Z:22.63 [[ 6.60096519e-01 -7.51172163e-01 -3.60098052e-03 4.01722171e+02] [ 7.51163454e-01 6.60106269e-01 -3.63029396e-03 3.89796433e+02] [ 5.10400558e-03 -3.08580564e-04 9.99986927e-01 2.26340005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.500385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:401.74, Y:389.82, Z:22.63 [[ 6.57998201e-01 -7.53010892e-01 -3.60055835e-03 4.01739624e+02] [ 7.53002208e-01 6.58007974e-01 -3.63071263e-03 3.89818091e+02] [ 5.10316225e-03 -3.22226006e-04 9.99986927e-01 2.26338981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.530385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:401.76, Y:389.84, Z:22.63 [[ 6.54888632e-01 -7.55716827e-01 -3.59957665e-03 4.01755371e+02] [ 7.55708178e-01 6.54898435e-01 -3.63168564e-03 3.89842182e+02] [ 5.10188307e-03 -3.41879872e-04 9.99986927e-01 2.26340289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.560385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:401.77, Y:389.86, Z:22.63 [[ 6.54093851e-01 -7.56404842e-01 -3.59858209e-03 4.01772587e+02] [ 7.56396197e-01 6.54103659e-01 -3.63267087e-03 3.89863205e+02] [ 5.10161554e-03 -3.45846127e-04 9.99986927e-01 2.26345302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.5903857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:401.79, Y:389.89, Z:22.63 [[ 6.53543576e-01 -7.56880339e-01 -3.59815182e-03 4.01788540e+02] [ 7.56871700e-01 6.53553387e-01 -3.63309700e-03 3.89887388e+02] [ 5.10140400e-03 -3.48952082e-04 9.99986927e-01 2.26339243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.620385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:401.80, Y:389.91, Z:22.63 [[ 6.54510789e-01 -7.56044104e-01 -3.59717144e-03 4.01802437e+02] [ 7.56035447e-01 6.54520585e-01 -3.63406742e-03 3.89912818e+02] [ 5.10193801e-03 -3.41052783e-04 9.99986927e-01 2.26317966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.650385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:401.82, Y:389.94, Z:22.63 [[ 6.55437649e-01 -7.55240727e-01 -3.59618804e-03 4.01818843e+02] [ 7.55232053e-01 6.55447429e-01 -3.63504032e-03 3.89935730e+02] [ 5.10244270e-03 -3.33414195e-04 9.99986927e-01 2.26310503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.680385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:401.83, Y:389.96, Z:22.63 [[ 6.59608460e-01 -7.51600794e-01 -3.59520840e-03 4.01833172e+02] [ 7.51592061e-01 6.59618188e-01 -3.63600897e-03 3.89961106e+02] [ 5.10429208e-03 -3.03787813e-04 9.99986927e-01 2.26300144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.710385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:401.85, Y:389.98, Z:22.63 [[ 6.62273396e-01 -7.49253649e-01 -3.59423227e-03 4.01849631e+02] [ 7.49244875e-01 6.62283089e-01 -3.63697363e-03 3.89982444e+02] [ 5.10541501e-03 -2.84289229e-04 9.99986927e-01 2.26296365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.740385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:401.86, Y:390.01, Z:22.63 [[ 6.68229493e-01 -7.43946523e-01 -3.59380931e-03 4.01863588e+02] [ 7.43937670e-01 6.68239113e-01 -3.63739151e-03 3.90006776e+02] [ 5.10754872e-03 -2.42957840e-04 9.99986927e-01 2.26295870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.770385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:401.89, Y:390.03, Z:22.63 [[ 6.72148289e-01 -7.40407837e-01 -3.59339024e-03 4.01886400e+02] [ 7.40398932e-01 6.72157859e-01 -3.63780547e-03 3.90030405e+02] [ 5.10878517e-03 -2.15397574e-04 9.99986927e-01 2.26283410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.800385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:401.90, Y:390.05, Z:22.63 [[ 6.76244836e-01 -7.36667978e-01 -3.63476809e-03 4.01895486e+02] [ 7.36659237e-01 6.76254560e-01 -3.59691692e-03 3.90052993e+02] [ 5.10776201e-03 -2.45189001e-04 9.99986925e-01 2.26313297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.830385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:401.91, Y:390.08, Z:22.63 [[ 6.78095390e-01 -7.34965129e-01 -3.59176785e-03 4.01913345e+02] [ 7.34956139e-01 6.78104881e-01 -3.63935492e-03 3.90075130e+02] [ 5.11039427e-03 -1.71962038e-04 9.99986927e-01 2.26315454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.860385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:401.93, Y:390.10, Z:22.63 [[ 6.80612898e-01 -7.32634417e-01 -3.59081308e-03 4.01929835e+02] [ 7.32625389e-01 6.80622353e-01 -3.64029671e-03 3.90098153e+02] [ 5.11099431e-03 -1.53087928e-04 9.99986927e-01 2.26315189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.890385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:401.95, Y:390.12, Z:22.63 [[ 6.82264073e-01 -7.31097017e-01 -3.58981008e-03 4.01946743e+02] [ 7.31087963e-01 6.82273502e-01 -3.64128553e-03 3.90119312e+02] [ 5.11136529e-03 -1.40148639e-04 9.99986927e-01 2.26310629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.920385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:401.97, Y:390.14, Z:22.63 [[ 6.82821016e-01 -7.30576879e-01 -3.58937525e-03 4.01965500e+02] [ 7.30567815e-01 6.82830437e-01 -3.64171412e-03 3.90140462e+02] [ 5.11148680e-03 -1.35643099e-04 9.99986927e-01 2.26305504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.950385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:401.98, Y:390.16, Z:22.63 [[ 6.83503263e-01 -7.29938637e-01 -3.58843663e-03 4.01984446e+02] [ 7.29929559e-01 6.83512670e-01 -3.64263877e-03 3.90161295e+02] [ 5.11164468e-03 -1.29550481e-04 9.99986927e-01 2.26309845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.980385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:402.00, Y:390.18, Z:22.63 [[ 6.84691060e-01 -7.28824590e-01 -3.58742256e-03 4.02002150e+02] [ 7.28815492e-01 6.84700447e-01 -3.64363719e-03 3.90182229e+02] [ 5.11188221e-03 -1.19803324e-04 9.99986927e-01 2.26307997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.010385723 meters Centerline goodness : 0.999917 Centerline is valid? [True, True] Translation: X:402.02, Y:390.20, Z:22.63 [[ 6.86245331e-01 -7.27361314e-01 -3.58673392e-03 4.02020364e+02] [ 7.27352192e-01 6.86254696e-01 -3.64431495e-03 3.90203788e+02] [ 5.11214670e-03 -1.07924667e-04 9.99986927e-01 2.26312450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.040385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:402.04, Y:390.22, Z:22.63 [[ 6.87034531e-01 -7.26615921e-01 -3.58572644e-03 4.02038829e+02] [ 7.26606784e-01 6.87043881e-01 -3.64530596e-03 3.90224053e+02] [ 5.11228876e-03 -1.00962084e-04 9.99986927e-01 2.26311599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.070385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:402.06, Y:390.25, Z:22.63 [[ 6.88448236e-01 -7.25276618e-01 -3.58528942e-03 4.02057818e+02] [ 7.25267460e-01 6.88457566e-01 -3.64573574e-03 3.90245215e+02] [ 5.11248651e-03 -9.03934126e-05 9.99986927e-01 2.26304627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.1003857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:402.08, Y:390.26, Z:22.63 [[ 6.89145226e-01 -7.24614387e-01 -3.58428203e-03 4.02077053e+02] [ 7.24605216e-01 6.89154542e-01 -3.64672588e-03 3.90264861e+02] [ 5.11259428e-03 -8.40657244e-05 9.99986927e-01 2.26305383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.130385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:402.10, Y:390.29, Z:22.63 [[ 6.89492735e-01 -7.24283732e-01 -3.58384541e-03 4.02096514e+02] [ 7.24274554e-01 6.89502044e-01 -3.64715492e-03 3.90285031e+02] [ 5.11264371e-03 -8.10012141e-05 9.99986927e-01 2.26306277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.160385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:402.12, Y:390.31, Z:22.63 [[ 6.90377036e-01 -7.23440883e-01 -3.58285567e-03 4.02116255e+02] [ 7.23431688e-01 6.90386329e-01 -3.64812695e-03 3.90305583e+02] [ 5.11275876e-03 -7.33682576e-05 9.99986927e-01 2.26298793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.190385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:402.14, Y:390.32, Z:22.63 [[ 6.90667394e-01 -7.23163689e-01 -3.58182145e-03 4.02136293e+02] [ 7.23154485e-01 6.90676679e-01 -3.64914209e-03 3.90324202e+02] [ 5.11280760e-03 -6.98667830e-05 9.99986927e-01 2.26286607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.2203857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:402.16, Y:390.34, Z:22.63 [[ 6.90394000e-01 -7.23424702e-01 -3.58137300e-03 4.02156457e+02] [ 7.23415499e-01 6.90403285e-01 -3.64958216e-03 3.90342796e+02] [ 5.11278957e-03 -7.11711082e-05 9.99986927e-01 2.26284520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.250385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:402.18, Y:390.36, Z:22.63 [[ 6.88162870e-01 -7.25547409e-01 -3.58070785e-03 4.02177707e+02] [ 7.25538232e-01 6.88172180e-01 -3.65023464e-03 3.90360846e+02] [ 5.11256181e-03 -8.59844971e-05 9.99986927e-01 2.26288139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.280385723 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:402.20, Y:390.38, Z:22.63 [[ 6.86197764e-01 -7.27406223e-01 -3.57971129e-03 4.02197900e+02] [ 7.27397066e-01 6.86207094e-01 -3.65121168e-03 3.90379689e+02] [ 5.11233739e-03 -9.84181995e-05 9.99986927e-01 2.26274455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.310385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:402.22, Y:390.40, Z:22.63 [[ 6.84451656e-01 -7.29049466e-01 -3.57869594e-03 4.02218369e+02] [ 7.29040326e-01 6.84461003e-01 -3.65220660e-03 3.90399175e+02] [ 5.11211708e-03 -1.09254799e-04 9.99986927e-01 2.26292872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.3403857229999 meters Centerline goodness : 0.999896 Centerline is valid? [True, True] Translation: X:402.24, Y:390.42, Z:22.63 [[ 6.81238750e-01 -7.32052570e-01 -3.57768385e-03 4.02237813e+02] [ 7.32043467e-01 6.81248132e-01 -3.65319777e-03 3.90417490e+02] [ 5.11162325e-03 -1.30320204e-04 9.99986927e-01 2.26278348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.370385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:402.26, Y:390.44, Z:22.63 [[ 6.80322140e-01 -7.32904489e-01 -3.57724513e-03 4.02257880e+02] [ 7.32895394e-01 6.80331531e-01 -3.65362732e-03 3.90437363e+02] [ 5.11147251e-03 -1.36102926e-04 9.99986927e-01 2.26302832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.400385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:402.28, Y:390.46, Z:22.63 [[ 6.79485403e-01 -7.33680311e-01 -3.57622971e-03 4.02277433e+02] [ 7.33671222e-01 6.79494799e-01 -3.65462095e-03 3.90456112e+02] [ 5.11135293e-03 -1.40515232e-04 9.99986927e-01 2.26297665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.430385723 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:402.30, Y:390.48, Z:22.63 [[ 6.79210384e-01 -7.33934921e-01 -3.57578967e-03 4.02296949e+02] [ 7.33925834e-01 6.79219781e-01 -3.65505145e-03 3.90475669e+02] [ 5.11131698e-03 -1.41815513e-04 9.99986927e-01 2.26286971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.460385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:402.32, Y:390.50, Z:22.63 [[ 6.79158836e-01 -7.33982627e-01 -3.57479439e-03 4.02316604e+02] [ 7.33973535e-01 6.79168230e-01 -3.65602462e-03 3.90495737e+02] [ 5.11134533e-03 -1.40783052e-04 9.99986927e-01 2.26299044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.490385723 meters Centerline goodness : 0.999917 Centerline is valid? [True, True] Translation: X:402.34, Y:390.52, Z:22.63 [[ 6.79263628e-01 -7.33885653e-01 -3.57380400e-03 4.02335735e+02] [ 7.33876555e-01 6.79273015e-01 -3.65699248e-03 3.90516364e+02] [ 5.11140293e-03 -1.38668990e-04 9.99986927e-01 2.26280558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.520385723 meters Centerline goodness : 0.999833 Centerline is valid? [True, True] Translation: X:402.35, Y:390.54, Z:22.63 [[ 6.79595746e-01 -7.33578119e-01 -3.57280382e-03 4.02354892e+02] [ 7.33569012e-01 6.79605124e-01 -3.65796937e-03 3.90537047e+02] [ 5.11150208e-03 -1.34957744e-04 9.99986927e-01 2.26276428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.550385723 meters Centerline goodness : 0.999833 Centerline is valid? [True, True] Translation: X:402.37, Y:390.56, Z:22.63 [[ 6.79391558e-01 -7.33767234e-01 -3.57178524e-03 4.02374789e+02] [ 7.33758123e-01 6.79400934e-01 -3.65896369e-03 3.90557503e+02] [ 5.11150189e-03 -1.34957392e-04 9.99986927e-01 2.26277885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.580385723 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:402.39, Y:390.58, Z:22.63 [[ 6.81267661e-01 -7.32025699e-01 -3.57076662e-03 4.02393097e+02] [ 7.32016560e-01 6.81277008e-01 -3.65995748e-03 3.90576811e+02] [ 5.11186413e-03 -1.20449631e-04 9.99986927e-01 2.26299210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.610385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:402.41, Y:390.60, Z:22.63 [[ 6.81970423e-01 -7.31371039e-01 -3.57007491e-03 4.02412270e+02] [ 7.31361887e-01 6.81979758e-01 -3.66063208e-03 3.90596662e+02] [ 5.11199911e-03 -1.14573913e-04 9.99986927e-01 2.26312600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.640385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:402.43, Y:390.62, Z:22.63 [[ 6.82822148e-01 -7.30575922e-01 -3.56871870e-03 4.02432021e+02] [ 7.30566753e-01 6.82831466e-01 -3.66195408e-03 3.90616302e+02] [ 5.11216890e-03 -1.06723879e-04 9.99986927e-01 2.26316575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.670385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:402.45, Y:390.64, Z:22.63 [[ 6.82851329e-01 -7.30548647e-01 -3.56880528e-03 4.02451613e+02] [ 7.30539477e-01 6.82860647e-01 -3.66186970e-03 3.90635883e+02] [ 5.11217064e-03 -1.06640559e-04 9.99986927e-01 2.26321957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.700385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:402.47, Y:390.66, Z:22.63 [[ 6.83124534e-01 -7.30293189e-01 -3.56776151e-03 4.02471010e+02] [ 7.30284011e-01 6.83133843e-01 -3.66288636e-03 3.90655026e+02] [ 5.11223960e-03 -1.03271648e-04 9.99986927e-01 2.26322548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.730385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:402.49, Y:390.67, Z:22.63 [[ 6.82947673e-01 -7.30458589e-01 -3.56730956e-03 4.02490375e+02] [ 7.30449410e-01 6.82956982e-01 -3.66332647e-03 3.90674717e+02] [ 5.11222725e-03 -1.03878874e-04 9.99986927e-01 2.26321766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.760385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:402.51, Y:390.69, Z:22.63 [[ 6.82693482e-01 -7.30696169e-01 -3.56629353e-03 4.02510434e+02] [ 7.30686989e-01 6.82702789e-01 -3.66431531e-03 3.90694107e+02] [ 5.11221970e-03 -1.04240104e-04 9.99986927e-01 2.26317172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.790385723 meters Centerline goodness : 0.999917 Centerline is valid? [True, True] Translation: X:402.53, Y:390.71, Z:22.63 [[ 6.82439574e-01 -7.30933319e-01 -3.56525472e-03 4.02530025e+02] [ 7.30924136e-01 6.82448879e-01 -3.66532576e-03 3.90713348e+02] [ 5.11221282e-03 -1.04567374e-04 9.99986927e-01 2.26301936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.820385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:402.55, Y:390.73, Z:22.63 [[ 6.82565335e-01 -7.30815883e-01 -3.56480489e-03 4.02549523e+02] [ 7.30806697e-01 6.82574636e-01 -3.66576321e-03 3.90731827e+02] [ 5.11224338e-03 -1.03060391e-04 9.99986927e-01 2.26323992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.8503857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:402.57, Y:390.75, Z:22.63 [[ 6.82761589e-01 -7.30632539e-01 -3.56436542e-03 4.02569657e+02] [ 7.30623348e-01 6.82770886e-01 -3.66619048e-03 3.90751182e+02] [ 5.11228299e-03 -1.01074555e-04 9.99986927e-01 2.26332960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.880385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:402.59, Y:390.77, Z:22.63 [[ 6.82901988e-01 -7.30501319e-01 -3.56335262e-03 4.02589241e+02] [ 7.30492121e-01 6.82911278e-01 -3.66717460e-03 3.90770994e+02] [ 5.11232957e-03 -9.86801923e-05 9.99986927e-01 2.26332440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.910385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:402.61, Y:390.79, Z:22.63 [[ 6.83087648e-01 -7.30327717e-01 -3.56231466e-03 4.02608493e+02] [ 7.30318512e-01 6.83096930e-01 -3.66818260e-03 3.90791207e+02] [ 5.11238164e-03 -9.59341171e-05 9.99986927e-01 2.26333663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.940385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:402.63, Y:390.81, Z:22.63 [[ 6.82566488e-01 -7.30814824e-01 -3.56127386e-03 4.02627424e+02] [ 7.30805620e-01 6.82575771e-01 -3.66919279e-03 3.90810266e+02] [ 5.11233973e-03 -9.81309165e-05 9.99986927e-01 2.26328248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.9703857229999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:402.65, Y:390.83, Z:22.63 [[ 6.81523843e-01 -7.31787245e-01 -3.56082318e-03 4.02647720e+02] [ 7.31778051e-01 6.81533138e-01 -3.66963011e-03 3.90830061e+02] [ 5.11220750e-03 -1.04791835e-04 9.99986927e-01 2.26323989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.000385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:402.67, Y:390.85, Z:22.63 [[ 6.79250226e-01 -7.33898125e-01 -3.55979201e-03 4.02668169e+02] [ 7.33888955e-01 6.79259544e-01 -3.67063014e-03 3.90848786e+02] [ 5.11189127e-03 -1.19215679e-04 9.99986927e-01 2.26342086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.030385723 meters Centerline goodness : 0.999896 Centerline is valid? [True, True] Translation: X:402.69, Y:390.87, Z:22.63 [[ 6.78026971e-01 -7.35028409e-01 -3.55875979e-03 4.02687804e+02] [ 7.35019250e-01 6.78036298e-01 -3.67163063e-03 3.90867924e+02] [ 5.11172113e-03 -1.26292356e-04 9.99986927e-01 2.26319259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.060385723 meters Centerline goodness : 0.999812 Centerline is valid? [True, True] Translation: X:402.71, Y:390.89, Z:22.63 [[ 6.75242133e-01 -7.37587555e-01 -3.55831378e-03 4.02707902e+02] [ 7.37578428e-01 6.75251493e-01 -3.67206283e-03 3.90887690e+02] [ 5.11122453e-03 -1.45003947e-04 9.99986927e-01 2.26301871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.0903857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:402.73, Y:390.91, Z:22.63 [[ 6.72383165e-01 -7.40194721e-01 -3.55731928e-03 4.02727315e+02] [ 7.40185625e-01 6.72392556e-01 -3.67302599e-03 3.90907390e+02] [ 5.11066945e-03 -1.63395751e-04 9.99986927e-01 2.26320657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.120385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:402.75, Y:390.93, Z:22.63 [[ 6.70852364e-01 -7.41582402e-01 -3.55631887e-03 4.02747305e+02] [ 7.41573321e-01 6.70861768e-01 -3.67399436e-03 3.90927406e+02] [ 5.11036793e-03 -1.72563399e-04 9.99986927e-01 2.26317191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.150385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:402.77, Y:390.95, Z:22.63 [[ 6.69328345e-01 -7.42958227e-01 -3.55528924e-03 4.02767061e+02] [ 7.42949160e-01 6.69337763e-01 -3.67499046e-03 3.90946284e+02] [ 5.11005374e-03 -1.81623868e-04 9.99986927e-01 2.26320048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.180385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:402.79, Y:390.97, Z:22.63 [[ 6.68784687e-01 -7.43447648e-01 -3.55484359e-03 4.02786214e+02] [ 7.43438586e-01 6.68794109e-01 -3.67542149e-03 3.90966017e+02] [ 5.10994191e-03 -1.84742280e-04 9.99986927e-01 2.26321536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.210385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:402.81, Y:390.99, Z:22.63 [[ 6.69274925e-01 -7.43006354e-01 -3.55417063e-03 4.02805624e+02] [ 7.42997282e-01 6.69284338e-01 -3.67607213e-03 3.90986685e+02] [ 5.11009569e-03 -1.80436225e-04 9.99986927e-01 2.26316888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.240385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:402.82, Y:391.01, Z:22.63 [[ 6.70221367e-01 -7.42152743e-01 -3.55318145e-03 4.02824606e+02] [ 7.42143654e-01 6.70230763e-01 -3.67702799e-03 3.91006891e+02] [ 5.11036793e-03 -1.72548335e-04 9.99986927e-01 2.26321654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.270385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:402.84, Y:391.03, Z:22.63 [[ 6.73139055e-01 -7.39507400e-01 -3.55216967e-03 4.02843602e+02] [ 7.39498269e-01 6.73148411e-01 -3.67800516e-03 3.91027845e+02] [ 5.11104940e-03 -1.51014401e-04 9.99986927e-01 2.26324018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.300385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:402.86, Y:391.05, Z:22.63 [[ 6.74740352e-01 -7.38046643e-01 -3.55115555e-03 4.02862587e+02] [ 7.38037486e-01 6.74749682e-01 -3.67898404e-03 3.91048704e+02] [ 5.11140290e-03 -1.38526933e-04 9.99986927e-01 2.26326640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.330385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:402.88, Y:391.07, Z:22.63 [[ 6.77575320e-01 -7.35444819e-01 -3.55013384e-03 4.02880319e+02] [ 7.35435622e-01 6.77584610e-01 -3.67996971e-03 3.91069407e+02] [ 5.11193071e-03 -1.17438233e-04 9.99986927e-01 2.26318329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.360385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:402.89, Y:391.09, Z:22.63 [[ 6.76744802e-01 -7.36209123e-01 -3.54969070e-03 4.02894567e+02] [ 7.36199934e-01 6.76754100e-01 -3.68039711e-03 3.91089629e+02] [ 5.11180966e-03 -1.22592449e-04 9.99986927e-01 2.26281947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.390385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:402.92, Y:391.11, Z:22.63 [[ 6.79737709e-01 -7.33446858e-01 -3.51482273e-03 4.02918684e+02] [ 7.33437456e-01 6.79746794e-01 -3.71399523e-03 3.91108944e+02] [ 5.11320761e-03 -5.33600376e-05 9.99986926e-01 2.26313094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.420385723 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:402.94, Y:391.13, Z:22.63 [[ 6.79760099e-01 -7.33425946e-01 -3.54832741e-03 4.02937961e+02] [ 7.33416711e-01 6.79769353e-01 -3.68170432e-03 3.91128798e+02] [ 5.11230170e-03 -9.97269288e-05 9.99986927e-01 2.26314974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.450385723 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:402.96, Y:391.15, Z:22.63 [[ 6.79676182e-01 -7.33503718e-01 -3.54731253e-03 4.02956729e+02] [ 7.33494480e-01 6.79685432e-01 -3.68268191e-03 3.91148279e+02] [ 5.11231752e-03 -9.89029775e-05 9.99986927e-01 2.26293986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.480385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:402.98, Y:391.17, Z:22.63 [[ 6.80553092e-01 -7.32690186e-01 -3.54687293e-03 4.02976120e+02] [ 7.32680934e-01 6.80562329e-01 -3.68310525e-03 3.91167703e+02] [ 5.11244316e-03 -9.21775064e-05 9.99986927e-01 2.26325368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.510385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:403.00, Y:391.19, Z:22.63 [[ 6.81048583e-01 -7.32229643e-01 -3.54643799e-03 4.02996039e+02] [ 7.32220384e-01 6.81057811e-01 -3.68352400e-03 3.91186779e+02] [ 5.11251476e-03 -8.81153840e-05 9.99986927e-01 2.26323079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.540385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:403.02, Y:391.21, Z:22.63 [[ 6.81437652e-01 -7.31867582e-01 -3.54541315e-03 4.03016447e+02] [ 7.31858312e-01 6.81446870e-01 -3.68451014e-03 3.91206426e+02] [ 5.11258422e-03 -8.39761459e-05 9.99986927e-01 2.26330351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.570385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:403.04, Y:391.23, Z:22.63 [[ 6.81560709e-01 -7.31752990e-01 -3.54432028e-03 4.03037103e+02] [ 7.31743713e-01 6.81569919e-01 -3.68556125e-03 3.91226325e+02] [ 5.11262256e-03 -8.16003472e-05 9.99986927e-01 2.26330095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.6003857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:403.06, Y:391.24, Z:22.63 [[ 6.82222371e-01 -7.31136157e-01 -3.54364093e-03 4.03057768e+02] [ 7.31126868e-01 6.82231570e-01 -3.68621433e-03 3.91244657e+02] [ 5.11270829e-03 -7.60332203e-05 9.99986927e-01 2.26342974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.630385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:403.08, Y:391.26, Z:22.64 [[ 6.82999188e-01 -7.30410542e-01 -3.54265489e-03 4.03078921e+02] [ 7.30401238e-01 6.83008372e-01 -3.68716173e-03 3.91262819e+02] [ 5.11280474e-03 -6.92310559e-05 9.99986927e-01 2.26354160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.660385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:403.10, Y:391.28, Z:22.64 [[ 6.83363799e-01 -7.30069432e-01 -3.54161689e-03 4.03098492e+02] [ 7.30060119e-01 6.83372973e-01 -3.68815848e-03 3.91281556e+02] [ 5.11285703e-03 -6.52392517e-05 9.99986927e-01 2.26357085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.690385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:403.12, Y:391.30, Z:22.63 [[ 6.84437503e-01 -7.29062936e-01 -3.54116726e-03 4.03119881e+02] [ 7.29053608e-01 6.84446661e-01 -3.68859014e-03 3.91299262e+02] [ 5.11295447e-03 -5.70913464e-05 9.99986927e-01 2.26349653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.7203857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:403.14, Y:391.32, Z:22.64 [[ 6.84393276e-01 -7.29104458e-01 -3.54015319e-03 4.03138965e+02] [ 7.29095125e-01 6.84402430e-01 -3.68956315e-03 3.91317737e+02] [ 5.11296638e-03 -5.59962173e-05 9.99986927e-01 2.26352955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.750385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:403.16, Y:391.33, Z:22.64 [[ 6.85148192e-01 -7.28395102e-01 -3.53968076e-03 4.03161074e+02] [ 7.28385757e-01 6.85157334e-01 -3.69001633e-03 3.91334196e+02] [ 5.11302805e-03 -5.00450365e-05 9.99986927e-01 2.26356138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.780385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:403.18, Y:391.35, Z:22.64 [[ 6.84947851e-01 -7.28583499e-01 -3.53923352e-03 4.03181866e+02] [ 7.28574154e-01 6.84956993e-01 -3.69044524e-03 3.91352972e+02] [ 5.11302026e-03 -5.08315295e-05 9.99986927e-01 2.26356502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.810385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:403.21, Y:391.37, Z:22.63 [[ 6.85839118e-01 -7.27744588e-01 -3.53821537e-03 4.03207297e+02] [ 7.27735227e-01 6.85848243e-01 -3.69142113e-03 3.91372078e+02] [ 5.11309055e-03 -4.31629568e-05 9.99986927e-01 2.26338270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.8403857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:403.22, Y:391.39, Z:22.63 [[ 6.84631961e-01 -7.28880231e-01 -3.56183202e-03 4.03224027e+02] [ 7.28871003e-01 6.84641221e-01 -3.66878353e-03 3.91390614e+02] [ 5.11268081e-03 -8.43496167e-05 9.99986927e-01 2.26339306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.870385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:403.25, Y:391.41, Z:22.63 [[ 6.84174647e-01 -7.29309634e-01 -3.53696368e-03 4.03246457e+02] [ 7.29300288e-01 6.84183787e-01 -3.69260369e-03 3.91408307e+02] [ 5.11298466e-03 -5.31228024e-05 9.99986927e-01 2.26336027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.900385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:403.27, Y:391.43, Z:22.63 [[ 6.83268538e-01 -7.30158615e-01 -3.53592668e-03 4.03267257e+02] [ 7.30149275e-01 6.83277684e-01 -3.69359643e-03 3.91427343e+02] [ 5.11293105e-03 -5.80360714e-05 9.99986927e-01 2.26337124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.930385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:403.29, Y:391.45, Z:22.63 [[ 6.81014454e-01 -7.32261441e-01 -3.53487789e-03 4.03289000e+02] [ 7.32252124e-01 6.81023624e-01 -3.69459988e-03 3.91445107e+02] [ 5.11274838e-03 -7.23459254e-05 9.99986927e-01 2.26336297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.960385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:403.31, Y:391.47, Z:22.63 [[ 6.80803491e-01 -7.32457588e-01 -3.53382986e-03 4.03314027e+02] [ 7.32448269e-01 6.80812659e-01 -3.69560203e-03 3.91465074e+02] [ 5.11274785e-03 -7.23687972e-05 9.99986927e-01 2.26306649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.990385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:403.33, Y:391.48, Z:22.63 [[ 6.77864211e-01 -7.35178495e-01 -3.56252172e-03 4.03331088e+02] [ 7.35169356e-01 6.77873559e-01 -3.66815910e-03 3.91483640e+02] [ 5.11169096e-03 -1.32543023e-04 9.99986926e-01 2.26334818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.020385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:403.36, Y:391.50, Z:22.63 [[ 6.75564105e-01 -7.37292791e-01 -3.53261744e-03 4.03357974e+02] [ 7.37283531e-01 6.75573333e-01 -3.69673577e-03 3.91502125e+02] [ 5.11211877e-03 -1.07158662e-04 9.99986927e-01 2.26304894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.050385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:403.37, Y:391.52, Z:22.63 [[ 6.70209994e-01 -7.42162958e-01 -3.56481702e-03 4.03374792e+02] [ 7.42153928e-01 6.70219448e-01 -3.66595534e-03 3.91519291e+02] [ 5.10994596e-03 -1.88683049e-04 9.99986926e-01 2.26339074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.080385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:403.39, Y:391.54, Z:22.63 [[ 6.67486391e-01 -7.44613660e-01 -3.52354057e-03 4.03394622e+02] [ 7.44604455e-01 6.67495674e-01 -3.70536359e-03 3.91538921e+02] [ 5.11101244e-03 -1.50364238e-04 9.99986927e-01 2.26331135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.110385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:403.42, Y:391.56, Z:22.63 [[ 6.63858859e-01 -7.47849551e-01 -3.53057604e-03 4.03415325e+02] [ 7.47840428e-01 6.63868221e-01 -3.69864783e-03 3.91558326e+02] [ 5.10986935e-03 -1.84927375e-04 9.99986927e-01 2.26339433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.140385723 meters Centerline goodness : 0.999813 Centerline is valid? [True, True] Translation: X:403.43, Y:391.58, Z:22.63 [[ 6.62510957e-01 -7.49043906e-01 -3.52955429e-03 4.03434639e+02] [ 7.49034795e-01 6.62520331e-01 -3.69962261e-03 3.91577433e+02] [ 5.10958125e-03 -1.92718456e-04 9.99986927e-01 2.26310726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.170385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:403.46, Y:391.60, Z:22.64 [[ 6.61563068e-01 -7.49881225e-01 -3.52911174e-03 4.03455300e+02] [ 7.49872123e-01 6.61572452e-01 -3.70004472e-03 3.91596747e+02] [ 5.10935717e-03 -1.98569575e-04 9.99986927e-01 2.26368162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.200385723 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:403.47, Y:391.62, Z:22.63 [[ 6.61549898e-01 -7.49892845e-01 -3.52880351e-03 4.03474949e+02] [ 7.49883742e-01 6.61559280e-01 -3.70033866e-03 3.91616130e+02] [ 5.10937019e-03 -1.98233716e-04 9.99986927e-01 2.26341288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.230385723 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:403.49, Y:391.64, Z:22.63 [[ 6.63491345e-01 -7.48175641e-01 -3.52778373e-03 4.03494804e+02] [ 7.48166508e-01 6.63500698e-01 -3.70131063e-03 3.91636334e+02] [ 5.10991742e-03 -1.83582069e-04 9.99986927e-01 2.26345638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.260385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:403.51, Y:391.66, Z:22.64 [[ 6.65916964e-01 -7.46017533e-01 -3.52674009e-03 4.03513714e+02] [ 7.46008365e-01 6.65926282e-01 -3.70230478e-03 3.91657225e+02] [ 5.11053319e-03 -1.65550049e-04 9.99986927e-01 2.26377414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.290385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:403.53, Y:391.68, Z:22.64 [[ 6.68017333e-01 -7.44137388e-01 -3.52012315e-03 4.03533145e+02] [ 7.44128160e-01 6.68026592e-01 -3.70860409e-03 3.91679061e+02] [ 5.11124683e-03 -1.42010951e-04 9.99986927e-01 2.26370900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.320385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:403.55, Y:391.70, Z:22.64 [[ 6.73929032e-01 -7.38787680e-01 -3.52485603e-03 4.03549852e+02] [ 7.38778402e-01 6.73938241e-01 -3.70410024e-03 3.91698560e+02] [ 5.11207889e-03 -1.07786809e-04 9.99986927e-01 2.26378148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.3503857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:403.57, Y:391.72, Z:22.64 [[ 6.75524133e-01 -7.37329530e-01 -3.50844071e-03 4.03570199e+02] [ 7.37320151e-01 6.75533240e-01 -3.71971458e-03 3.91720757e+02] [ 5.11272372e-03 -7.40870648e-05 9.99986927e-01 2.26395531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.380385723 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:403.59, Y:391.74, Z:22.64 [[ 6.80813619e-01 -7.32448222e-01 -3.52386750e-03 4.03588676e+02] [ 7.32438854e-01 6.80822736e-01 -3.70504215e-03 3.91741110e+02] [ 5.11288065e-03 -5.85743223e-05 9.99986927e-01 2.26409538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.410385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:403.61, Y:391.76, Z:22.64 [[ 6.85617696e-01 -7.27953269e-01 -3.52316307e-03 4.03607627e+02] [ 7.27943837e-01 6.85626748e-01 -3.70571188e-03 3.91760533e+02] [ 5.11315991e-03 -2.39631969e-05 9.99986927e-01 2.26403489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.440385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:403.63, Y:391.78, Z:22.64 [[ 6.87702374e-01 -7.25984184e-01 -3.52272398e-03 4.03627094e+02] [ 7.25974724e-01 6.87711397e-01 -3.70612924e-03 3.91780376e+02] [ 5.11320864e-03 -8.69468342e-06 9.99986927e-01 2.26405286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.4703857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:403.65, Y:391.80, Z:22.64 [[ 6.87499761e-01 -7.26176064e-01 -3.52169036e-03 4.03646718e+02] [ 7.26166602e-01 6.87508781e-01 -3.70711116e-03 3.91801116e+02] [ 5.11320844e-03 -8.69588636e-06 9.99986927e-01 2.26406742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.500385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:403.67, Y:391.82, Z:22.64 [[ 6.89436913e-01 -7.24337178e-01 -3.52065560e-03 4.03666065e+02] [ 7.24327687e-01 6.89445902e-01 -3.70809361e-03 3.91820927e+02] [ 5.11321164e-03 6.38828592e-06 9.99986927e-01 2.26404175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.530385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:403.69, Y:391.84, Z:22.64 [[ 6.93422930e-01 -7.20522208e-01 -3.51960748e-03 4.03685900e+02] [ 7.20512663e-01 6.93431861e-01 -3.70908819e-03 3.91838880e+02] [ 5.11308838e-03 3.60450387e-05 9.99986927e-01 2.26403004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.560385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:403.71, Y:391.86, Z:22.64 [[ 6.97173571e-01 -7.16893736e-01 -3.51889457e-03 4.03707072e+02] [ 7.16884140e-01 6.97182449e-01 -3.70976442e-03 3.91857603e+02] [ 5.11281841e-03 6.37099959e-05 9.99986927e-01 2.26408869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.5903857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:403.73, Y:391.88, Z:22.64 [[ 6.98653952e-01 -7.15451102e-01 -3.51790430e-03 4.03726872e+02] [ 7.15441483e-01 6.98662805e-01 -3.71070324e-03 3.91876897e+02] [ 5.11265561e-03 7.56428126e-05 9.99986927e-01 2.26406703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.620385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:403.75, Y:391.89, Z:22.64 [[ 7.01234624e-01 -7.12921899e-01 -3.51685686e-03 4.03749368e+02] [ 7.12912243e-01 7.01243436e-01 -3.71169570e-03 3.91893219e+02] [ 5.11232193e-03 9.55592219e-05 9.99986927e-01 2.26405793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.650385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:403.77, Y:391.91, Z:22.64 [[ 7.01616995e-01 -7.12545596e-01 -3.51640279e-03 4.03771187e+02] [ 7.12535934e-01 7.01625800e-01 -3.71212583e-03 3.91911652e+02] [ 5.11225783e-03 9.89272291e-05 9.99986927e-01 2.26410354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.680385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:403.79, Y:391.93, Z:22.64 [[ 7.01623175e-01 -7.12539517e-01 -3.51538826e-03 4.03794643e+02] [ 7.12529849e-01 7.01631974e-01 -3.71308634e-03 3.91927322e+02] [ 5.11222955e-03 1.00368356e-04 9.99986927e-01 2.26411624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.710385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:403.82, Y:391.95, Z:22.64 [[ 7.01280213e-01 -7.12877064e-01 -3.51494865e-03 4.03816421e+02] [ 7.12867398e-01 7.01289015e-01 -3.71350244e-03 3.91945304e+02] [ 5.11226559e-03 9.85134879e-05 9.99986927e-01 2.26419258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.740385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:403.84, Y:391.96, Z:22.64 [[ 7.00740105e-01 -7.13407989e-01 -3.51392279e-03 4.03840284e+02] [ 7.13398325e-01 7.00748908e-01 -3.71447291e-03 3.91960357e+02] [ 5.11231221e-03 9.60535018e-05 9.99986927e-01 2.26416896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.770385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:403.86, Y:391.98, Z:22.64 [[ 7.00905945e-01 -7.13245057e-01 -3.51347842e-03 4.03861649e+02] [ 7.13235390e-01 7.00914744e-01 -3.71489319e-03 3.91978467e+02] [ 5.11227804e-03 9.78535714e-05 9.99986927e-01 2.26411808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.800385723 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:403.88, Y:392.00, Z:22.64 [[ 7.01269452e-01 -7.12887662e-01 -3.51246686e-03 4.03883210e+02] [ 7.12877985e-01 7.01278241e-01 -3.71584939e-03 3.91996783e+02] [ 5.11219976e-03 1.01851365e-04 9.99986927e-01 2.26385921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.830385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:403.91, Y:392.01, Z:22.64 [[ 7.03030731e-01 -7.11150801e-01 -3.51145897e-03 4.03907249e+02] [ 7.11141097e-01 7.03039491e-01 -3.71680159e-03 3.92011578e+02] [ 5.11190075e-03 1.15882956e-04 9.99986927e-01 2.26385200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.860385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:403.93, Y:392.03, Z:22.64 [[ 7.05466829e-01 -7.08734242e-01 -3.51104592e-03 4.03931997e+02] [ 7.08724507e-01 7.05475553e-01 -3.71719173e-03 3.92028226e+02] [ 5.11145813e-03 1.33991175e-04 9.99986927e-01 2.26377512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.890385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:403.95, Y:392.05, Z:22.64 [[ 7.06397086e-01 -7.07807061e-01 -3.51017749e-03 4.03953855e+02] [ 7.07797310e-01 7.06405793e-01 -3.71801162e-03 3.92046718e+02] [ 5.11124459e-03 1.41898395e-04 9.99986927e-01 2.26373135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.920385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:403.98, Y:392.06, Z:22.64 [[ 7.07983506e-01 -7.06220250e-01 -3.50918777e-03 4.03977708e+02] [ 7.06210475e-01 7.07992186e-01 -3.71894552e-03 3.92060759e+02] [ 5.11087215e-03 1.54726928e-04 9.99986927e-01 2.26364876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.950385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:404.00, Y:392.08, Z:22.64 [[ 7.08633953e-01 -7.05567580e-01 -3.50870432e-03 4.04001071e+02] [ 7.05557794e-01 7.08642621e-01 -3.71940158e-03 3.92078429e+02] [ 5.11070660e-03 1.60100563e-04 9.99986927e-01 2.26363500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.980385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:404.03, Y:392.09, Z:22.64 [[ 7.08841629e-01 -7.05358944e-01 -3.50784874e-03 4.04028493e+02] [ 7.05349152e-01 7.08850290e-01 -3.72020832e-03 3.92092967e+02] [ 5.11062181e-03 1.62780386e-04 9.99986927e-01 2.26367262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.010385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:404.06, Y:392.11, Z:22.64 [[ 7.08053511e-01 -7.06150073e-01 -3.50706021e-03 4.04056340e+02] [ 7.06140287e-01 7.08062179e-01 -3.72095153e-03 3.92107655e+02] [ 5.11076689e-03 1.58156292e-04 9.99986927e-01 2.26372405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.040385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:404.08, Y:392.13, Z:22.64 [[ 7.07439809e-01 -7.06764853e-01 -3.51559570e-03 4.04078919e+02] [ 7.06755115e-01 7.07448530e-01 -3.71291348e-03 3.92125484e+02] [ 5.11125976e-03 1.41997562e-04 9.99986927e-01 2.26396031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.070385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:404.10, Y:392.14, Z:22.64 [[ 7.06722711e-01 -7.07481920e-01 -3.51327598e-03 4.04099805e+02] [ 7.07472179e-01 7.06731430e-01 -3.71509680e-03 3.92142459e+02] [ 5.11130637e-03 1.39998265e-04 9.99986927e-01 2.26394826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.1003857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:404.13, Y:392.16, Z:22.64 [[ 7.04043203e-01 -7.10148501e-01 -3.50345011e-03 4.04126162e+02] [ 7.10138748e-01 7.04051907e-01 -3.72433990e-03 3.92156208e+02] [ 5.11144513e-03 1.34160520e-04 9.99986928e-01 2.26404258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.130385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:404.15, Y:392.17, Z:22.64 [[ 7.01987031e-01 -7.12181115e-01 -3.50242051e-03 4.04149319e+02] [ 7.12171382e-01 7.01995758e-01 -3.72530789e-03 3.92173009e+02] [ 5.11177827e-03 1.20794171e-04 9.99986928e-01 2.26413018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.160385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:404.18, Y:392.19, Z:22.64 [[ 6.97136625e-01 -7.16929750e-01 -3.50137625e-03 4.04176025e+02] [ 7.16920072e-01 6.97145412e-01 -3.72628913e-03 3.92186051e+02] [ 5.11245592e-03 8.75257166e-05 9.99986928e-01 2.26414610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.190385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:404.20, Y:392.20, Z:22.64 [[ 6.95180123e-01 -7.18827046e-01 -3.50363184e-03 4.04198905e+02] [ 7.18817402e-01 6.95188948e-01 -3.72417055e-03 3.92203298e+02] [ 5.11272065e-03 7.04978066e-05 9.99986927e-01 2.26421601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.2203857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:404.22, Y:392.22, Z:22.64 [[ 6.93048531e-01 -7.20882439e-01 -3.49909584e-03 4.04224616e+02] [ 7.20872799e-01 6.93057361e-01 -3.72842935e-03 3.92217398e+02] [ 5.11283337e-03 6.15794707e-05 9.99986928e-01 2.26417448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.250385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:404.25, Y:392.23, Z:22.64 [[ 6.89532013e-01 -7.24246752e-01 -3.49947850e-03 4.04248831e+02] [ 7.24237157e-01 6.89540892e-01 -3.72807015e-03 3.92232935e+02] [ 5.11307622e-03 3.61713563e-05 9.99986928e-01 2.26435629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.280385723 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:404.27, Y:392.25, Z:22.64 [[ 6.88527493e-01 -7.25201839e-01 -3.49047649e-03 4.04271327e+02] [ 7.25192214e-01 6.88536340e-01 -3.73651564e-03 3.92250732e+02] [ 5.11304792e-03 4.14273780e-05 9.99986927e-01 2.26441850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.310385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:404.29, Y:392.27, Z:22.65 [[ 6.87763209e-01 -7.25926695e-01 -3.49303550e-03 4.04293685e+02] [ 7.25917092e-01 6.87772079e-01 -3.73411560e-03 3.92268339e+02] [ 5.11310648e-03 3.25331567e-05 9.99986927e-01 2.26458134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.3403857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:404.32, Y:392.28, Z:22.65 [[ 6.87636686e-01 -7.26046558e-01 -3.49062769e-03 4.04319970e+02] [ 7.26036945e-01 6.87645544e-01 -3.73637276e-03 3.92282359e+02] [ 5.11309516e-03 3.49423184e-05 9.99986927e-01 2.26483261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.370385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:404.34, Y:392.30, Z:22.65 [[ 6.87465856e-01 -7.26208283e-01 -3.49676886e-03 4.04343665e+02] [ 7.26198701e-01 6.87474748e-01 -3.73061655e-03 3.92300623e+02] [ 5.11314493e-03 2.53224948e-05 9.99986927e-01 2.26485465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.400385723 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:404.36, Y:392.32, Z:22.65 [[ 6.85805764e-01 -7.27776149e-01 -3.51172015e-03 4.04364941e+02] [ 7.27766659e-01 6.85814755e-01 -3.71660433e-03 3.92316449e+02] [ 5.11324548e-03 -6.84416608e-06 9.99986927e-01 2.26520393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.430385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:404.39, Y:392.34, Z:22.65 [[ 6.86966647e-01 -7.26680541e-01 -3.49530638e-03 4.04387398e+02] [ 7.26670959e-01 6.86975539e-01 -3.73197719e-03 3.92338353e+02] [ 5.11314519e-03 2.38062237e-05 9.99986928e-01 2.26535942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.460385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:404.40, Y:392.36, Z:22.65 [[ 6.85646280e-01 -7.27926367e-01 -3.51900654e-03 4.04402461e+02] [ 7.27916914e-01 6.85655310e-01 -3.70978315e-03 3.92358994e+02] [ 5.11327449e-03 -1.79453669e-05 9.99986927e-01 2.26549166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.490385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:404.42, Y:392.38, Z:22.65 [[ 6.83693512e-01 -7.29760903e-01 -3.49373977e-03 4.04418333e+02] [ 7.29751353e-01 6.83702439e-01 -3.73342779e-03 3.92381766e+02] [ 5.11318803e-03 2.95903884e-06 9.99986928e-01 2.26530705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.520385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:404.44, Y:392.40, Z:22.65 [[ 6.82552452e-01 -7.30828262e-01 -3.49303163e-03 4.04435794e+02] [ 7.30818723e-01 6.82561390e-01 -3.73409021e-03 3.92403591e+02] [ 5.11318718e-03 -4.06048997e-06 9.99986928e-01 2.26522393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.550385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:404.45, Y:392.42, Z:22.65 [[ 6.81157204e-01 -7.32128861e-01 -3.49200477e-03 4.04453934e+02] [ 7.32119334e-01 6.81166155e-01 -3.73505025e-03 3.92424534e+02] [ 5.11317355e-03 -1.24078145e-05 9.99986928e-01 2.26523404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.580385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:404.48, Y:392.45, Z:22.65 [[ 6.82133047e-01 -7.31219748e-01 -3.49098300e-03 4.04478118e+02] [ 7.31210204e-01 6.82141980e-01 -3.73600501e-03 3.92446441e+02] [ 5.11318669e-03 -4.18991577e-06 9.99986928e-01 2.26532118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.610385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:404.49, Y:392.47, Z:22.65 [[ 6.81093935e-01 -7.32187556e-01 -3.52628508e-03 4.04490319e+02] [ 7.32178194e-01 6.81103061e-01 -3.70300373e-03 3.92466862e+02] [ 5.11305681e-03 -5.97756650e-05 9.99986926e-01 2.26519459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.640385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:404.51, Y:392.49, Z:22.65 [[ 6.80906657e-01 -7.32361941e-01 -3.48024905e-03 4.04508284e+02] [ 7.32352360e-01 6.80915551e-01 -3.74596729e-03 3.92487861e+02] [ 5.11315957e-03 1.88546393e-06 9.99986928e-01 2.26519235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.670385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:404.53, Y:392.51, Z:22.65 [[ 6.81642242e-01 -7.31677310e-01 -3.48820860e-03 4.04529183e+02] [ 7.31667759e-01 6.81651168e-01 -3.73854071e-03 3.92509252e+02] [ 5.11314687e-03 -3.86249875e-06 9.99986928e-01 2.26506594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.700385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:404.55, Y:392.53, Z:22.65 [[ 6.79748296e-01 -7.33437114e-01 -3.50053561e-03 4.04548971e+02] [ 7.33427645e-01 6.79757309e-01 -3.72705040e-03 3.92532584e+02] [ 5.11307175e-03 -3.39334315e-05 9.99986928e-01 2.26505617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.730385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:404.57, Y:392.55, Z:22.65 [[ 6.77123917e-01 -7.35860643e-01 -3.50921800e-03 4.04568308e+02] [ 7.35851248e-01 6.77133007e-01 -3.71896437e-03 3.92554594e+02] [ 5.11284686e-03 -6.40627260e-05 9.99986927e-01 2.26501931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.760385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:404.59, Y:392.58, Z:22.65 [[ 6.75753427e-01 -7.37119372e-01 -3.51236021e-03 4.04587892e+02] [ 7.37110009e-01 6.75762551e-01 -3.71603974e-03 3.92575689e+02] [ 5.11268638e-03 -7.78692783e-05 9.99986927e-01 2.26504525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.790385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:404.61, Y:392.60, Z:22.65 [[ 6.73102473e-01 -7.39540883e-01 -3.51313925e-03 4.04605032e+02] [ 7.39531557e-01 6.73111634e-01 -3.71531495e-03 3.92596791e+02] [ 5.11236220e-03 -9.72896541e-05 9.99986927e-01 2.26518982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.820385723 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:404.63, Y:392.62, Z:22.65 [[ 6.73024786e-01 -7.39611631e-01 -3.50341990e-03 4.04625378e+02] [ 7.39602258e-01 6.73033899e-01 -3.72434975e-03 3.92618024e+02] [ 5.11249275e-03 -8.45575795e-05 9.99986928e-01 2.26517767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.8503857229999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:404.64, Y:392.64, Z:22.65 [[ 6.71575332e-01 -7.40927951e-01 -3.51345720e-03 4.04639979e+02] [ 7.40918646e-01 6.71584514e-01 -3.71502325e-03 3.92637713e+02] [ 5.11214801e-03 -1.08267982e-04 9.99986927e-01 2.26518664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.880385723 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:404.66, Y:392.66, Z:22.65 [[ 6.72207408e-01 -7.40354714e-01 -3.47829975e-03 4.04662076e+02] [ 7.40345230e-01 6.72216405e-01 -3.74765385e-03 3.92659460e+02] [ 5.11276335e-03 -5.59419539e-05 9.99986928e-01 2.26518139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.910385723 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:404.68, Y:392.68, Z:22.65 [[ 6.72486590e-01 -7.40101013e-01 -3.50373721e-03 4.04678644e+02] [ 7.40091649e-01 6.72495712e-01 -3.72404760e-03 3.92680880e+02] [ 5.11241965e-03 -8.87145753e-05 9.99986928e-01 2.26505079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.940385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:404.70, Y:392.70, Z:22.65 [[ 6.72933080e-01 -7.39695090e-01 -3.49929266e-03 4.04698367e+02] [ 7.39685698e-01 6.72942173e-01 -3.72816950e-03 3.92702828e+02] [ 5.11253028e-03 -7.95681527e-05 9.99986928e-01 2.26503411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.9703857229999 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:404.71, Y:392.72, Z:22.65 [[ 6.73226630e-01 -7.39427902e-01 -3.50459767e-03 4.04714488e+02] [ 7.39418533e-01 6.73235747e-01 -3.72325147e-03 3.92723069e+02] [ 5.11249645e-03 -8.47724328e-05 9.99986928e-01 2.26482116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.000385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:404.73, Y:392.74, Z:22.65 [[ 6.74100204e-01 -7.38631680e-01 -3.48666055e-03 4.04734665e+02] [ 7.38622214e-01 6.74109219e-01 -3.73986940e-03 3.92744541e+02] [ 5.11277603e-03 -5.42782081e-05 9.99986928e-01 2.26490323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.030385723 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:404.75, Y:392.76, Z:22.65 [[ 6.74334662e-01 -7.38417625e-01 -3.48944460e-03 4.04751769e+02] [ 7.38408169e-01 6.74343687e-01 -3.73729089e-03 3.92763600e+02] [ 5.11276640e-03 -5.64496106e-05 9.99986928e-01 2.26511936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.060385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:404.77, Y:392.78, Z:22.65 [[ 6.74460049e-01 -7.38303176e-01 -3.47299317e-03 4.04770356e+02] [ 7.38293641e-01 6.74468990e-01 -3.75251685e-03 3.92782676e+02] [ 5.11292131e-03 -3.31660708e-05 9.99986928e-01 2.26512377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.0903857229999 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:404.79, Y:392.81, Z:22.65 [[ 6.74446591e-01 -7.38315473e-01 -3.47243466e-03 4.04792310e+02] [ 7.38305935e-01 6.74455529e-01 -3.75303360e-03 3.92805256e+02] [ 5.11292554e-03 -3.24984005e-05 9.99986928e-01 2.26504401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.120385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:404.81, Y:392.82, Z:22.65 [[ 6.73940420e-01 -7.38777403e-01 -3.50131909e-03 4.04807685e+02] [ 7.38768010e-01 6.73949510e-01 -3.72629968e-03 3.92824970e+02] [ 5.11261829e-03 -7.53585604e-05 9.99986928e-01 2.26507864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.150385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:404.83, Y:392.84, Z:22.65 [[ 6.73653356e-01 -7.39039315e-01 -3.47096352e-03 4.04826138e+02] [ 7.39029779e-01 6.73662297e-01 -3.75436385e-03 3.92844337e+02] [ 5.11287974e-03 -3.60056029e-05 9.99986929e-01 2.26510885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.180385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:404.85, Y:392.86, Z:22.65 [[ 6.72809047e-01 -7.39808045e-01 -3.47027453e-03 4.04845963e+02] [ 7.39798516e-01 6.72817996e-01 -3.75500060e-03 3.92864635e+02] [ 5.11284280e-03 -4.09055711e-05 9.99986929e-01 2.26530253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.210385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:404.86, Y:392.88, Z:22.65 [[ 6.71814286e-01 -7.40711500e-01 -3.46983355e-03 4.04864420e+02] [ 7.40701981e-01 6.71823245e-01 -3.75540804e-03 3.92884735e+02] [ 5.11278876e-03 -4.71758150e-05 9.99986929e-01 2.26540075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.240385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:404.88, Y:392.90, Z:22.66 [[ 6.70480353e-01 -7.41919174e-01 -3.46927449e-03 4.04883615e+02] [ 7.41909669e-01 6.70489326e-01 -3.75592443e-03 3.92904656e+02] [ 5.11270387e-03 -5.56147532e-05 9.99986929e-01 2.26558713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.270385723 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:404.90, Y:392.92, Z:22.66 [[ 6.70354203e-01 -7.42033163e-01 -3.46822228e-03 4.04902136e+02] [ 7.42023654e-01 6.70363172e-01 -3.75689579e-03 3.92924965e+02] [ 5.11270976e-03 -5.50520893e-05 9.99986929e-01 2.26559603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.300385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:404.92, Y:392.95, Z:22.65 [[ 6.70516006e-01 -7.41886960e-01 -3.46762047e-03 4.04923847e+02] [ 7.41877446e-01 6.70524971e-01 -3.75745119e-03 3.92947404e+02] [ 5.11273015e-03 -5.31182530e-05 9.99986929e-01 2.26535429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.330385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:404.94, Y:392.97, Z:22.66 [[ 6.71114434e-01 -7.41345526e-01 -3.49675958e-03 4.04939954e+02] [ 7.41336145e-01 6.71123538e-01 -3.73055077e-03 3.92967021e+02] [ 5.11238478e-03 -8.86477985e-05 9.99986928e-01 2.26583137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.360385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:404.96, Y:392.99, Z:22.66 [[ 6.70910741e-01 -7.41530015e-01 -3.46612221e-03 4.04959276e+02] [ 7.41520490e-01 6.70919693e-01 -3.75880256e-03 3.92988098e+02] [ 5.11275456e-03 -4.83796276e-05 9.99986929e-01 2.26584432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.390385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:404.98, Y:393.01, Z:22.66 [[ 6.71338534e-01 -7.41142743e-01 -3.46508930e-03 4.04978151e+02] [ 7.41133208e-01 6.71347475e-01 -3.75975452e-03 3.93008841e+02] [ 5.11279372e-03 -4.40246587e-05 9.99986929e-01 2.26586307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.420385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:405.00, Y:393.03, Z:22.66 [[ 6.71678604e-01 -7.40834566e-01 -3.46405587e-03 4.04996041e+02] [ 7.40825021e-01 6.71687535e-01 -3.76070642e-03 3.93029009e+02] [ 5.11282446e-03 -4.02732289e-05 9.99986929e-01 2.26584102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.450385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:405.01, Y:393.05, Z:22.66 [[ 6.72417654e-01 -7.40163835e-01 -3.46348336e-03 4.05013945e+02] [ 7.40154279e-01 6.72426573e-01 -3.76123361e-03 3.93048965e+02] [ 5.11286734e-03 -3.43921410e-05 9.99986929e-01 2.26583607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.480385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:405.03, Y:393.07, Z:22.66 [[ 6.73272800e-01 -7.39386059e-01 -3.46292878e-03 4.05032792e+02] [ 7.39376490e-01 6.73281705e-01 -3.76174414e-03 3.93069408e+02] [ 5.11290777e-03 -2.77281181e-05 9.99986929e-01 2.26574458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.510385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:405.05, Y:393.09, Z:22.66 [[ 6.73435337e-01 -7.39238028e-01 -3.46190507e-03 4.05051666e+02] [ 7.39228453e-01 6.73444235e-01 -3.76268602e-03 3.93090466e+02] [ 5.11292060e-03 -2.52129993e-05 9.99986929e-01 2.26570616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.540385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:405.07, Y:393.11, Z:22.66 [[ 6.74118040e-01 -7.38615523e-01 -3.46088532e-03 4.05070295e+02] [ 7.38605935e-01 6.74126923e-01 -3.76362374e-03 3.93111861e+02] [ 5.11294689e-03 -1.91037743e-05 9.99986929e-01 2.26565806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.570385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:405.09, Y:393.13, Z:22.66 [[ 6.74112062e-01 -7.38620983e-01 -3.45987032e-03 4.05088948e+02] [ 7.38611390e-01 6.74120941e-01 -3.76455659e-03 3.93132410e+02] [ 5.11295152e-03 -1.77666255e-05 9.99986929e-01 2.26570356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.6003857229999 meters Centerline goodness : 0.999556 Centerline is valid? [True, True] Translation: X:405.11, Y:393.15, Z:22.65 [[ 6.74743130e-01 -7.38044541e-01 -3.45882486e-03 4.05112339e+02] [ 7.38034935e-01 6.74751996e-01 -3.76551690e-03 3.93154567e+02] [ 5.11296817e-03 -1.19769168e-05 9.99986929e-01 2.26547207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.630385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:405.13, Y:393.17, Z:22.66 [[ 6.74059353e-01 -7.38668894e-01 -3.50063590e-03 4.05126860e+02] [ 7.38659494e-01 6.74068439e-01 -3.72709254e-03 3.93173799e+02] [ 5.11275550e-03 -7.34963561e-05 9.99986927e-01 2.26579136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.660385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:405.15, Y:393.19, Z:22.66 [[ 6.73352688e-01 -7.39313333e-01 -3.45746488e-03 4.05146192e+02] [ 7.39303737e-01 6.73361564e-01 -3.76671916e-03 3.93194549e+02] [ 5.11290966e-03 -1.97862365e-05 9.99986929e-01 2.26585648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.690385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:405.16, Y:393.21, Z:22.66 [[ 6.72689794e-01 -7.39916546e-01 -3.45640901e-03 4.05164942e+02] [ 7.39906954e-01 6.72698673e-01 -3.76768780e-03 3.93214705e+02] [ 5.11289630e-03 -2.29359370e-05 9.99986929e-01 2.26587602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.7203857229999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:405.18, Y:393.24, Z:22.66 [[ 6.72013918e-01 -7.40530453e-01 -3.45569095e-03 4.05183472e+02] [ 7.40520865e-01 6.72022803e-01 -3.76834629e-03 3.93235216e+02] [ 5.11287830e-03 -2.66300950e-05 9.99986929e-01 2.26597143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.750385723 meters Centerline goodness : 0.997785 Centerline is valid? [True, True] Translation: X:405.21, Y:393.26, Z:22.66 [[ 6.72063440e-01 -7.40485515e-01 -3.45465330e-03 4.05206411e+02] [ 7.40475922e-01 6.72072319e-01 -3.76929731e-03 3.93258283e+02] [ 5.11288692e-03 -2.48806678e-05 9.99986929e-01 2.26566913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.780385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:405.22, Y:393.28, Z:22.66 [[ 6.70551959e-01 -7.41854297e-01 -3.50314009e-03 4.05220794e+02] [ 7.41844953e-01 6.70561102e-01 -3.72483099e-03 3.93277916e+02] [ 5.11235136e-03 -1.01094070e-04 9.99986927e-01 2.26602610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.810385723 meters Centerline goodness : 0.997391 Centerline is valid? [True, True] Translation: X:405.24, Y:393.30, Z:22.66 [[ 6.71247483e-01 -7.41225224e-01 -3.46184064e-03 4.05243830e+02] [ 7.41215675e-01 6.71256409e-01 -3.76264899e-03 3.93299689e+02] [ 5.11275305e-03 -4.03018836e-05 9.99986929e-01 2.26564059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.8403857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:405.26, Y:393.32, Z:22.66 [[ 6.70293173e-01 -7.42088130e-01 -3.50279313e-03 4.05257032e+02] [ 7.42078788e-01 6.70302317e-01 -3.72513065e-03 3.93318752e+02] [ 5.11230559e-03 -1.02418845e-04 9.99986927e-01 2.26580131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.870385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:405.28, Y:393.34, Z:22.66 [[ 6.69884845e-01 -7.42456991e-01 -3.45116025e-03 4.05275711e+02] [ 7.42447409e-01 6.69893734e-01 -3.77236715e-03 3.93339337e+02] [ 5.11273099e-03 -3.52534021e-05 9.99986929e-01 2.26580131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.900385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:405.29, Y:393.36, Z:22.66 [[ 6.69545166e-01 -7.42763332e-01 -3.45011185e-03 4.05294082e+02] [ 7.42753749e-01 6.69554054e-01 -3.77332574e-03 3.93359860e+02] [ 5.11272438e-03 -3.61715004e-05 9.99986929e-01 2.26575938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.930385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:405.31, Y:393.38, Z:22.66 [[ 6.69757462e-01 -7.42571912e-01 -3.44939957e-03 4.05311710e+02] [ 7.42562322e-01 6.69766344e-01 -3.77397677e-03 3.93380630e+02] [ 5.11274088e-03 -3.37450509e-05 9.99986929e-01 2.26571067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.960385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:405.33, Y:393.40, Z:22.66 [[ 6.69748562e-01 -7.42579941e-01 -3.44882491e-03 4.05330298e+02] [ 7.42570349e-01 6.69757441e-01 -3.77450184e-03 3.93401412e+02] [ 5.11274550e-03 -3.30279357e-05 9.99986929e-01 2.26571230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.990385723 meters Centerline goodness : 0.997423 Centerline is valid? [True, True] Translation: X:405.35, Y:393.42, Z:22.65 [[ 6.69507849e-01 -7.42796980e-01 -3.44777945e-03 4.05351856e+02] [ 7.42787385e-01 6.69516726e-01 -3.77545656e-03 3.93424429e+02] [ 5.11274374e-03 -3.32692845e-05 9.99986929e-01 2.26526881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.020385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:405.37, Y:393.44, Z:22.65 [[ 6.67999064e-01 -7.44153983e-01 -3.47843156e-03 4.05366413e+02] [ 7.44144552e-01 6.68008116e-01 -3.74746742e-03 3.93444958e+02] [ 5.11231332e-03 -8.51511616e-05 9.99986928e-01 2.26520265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.050385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:405.39, Y:393.46, Z:22.66 [[ 6.70162482e-01 -7.42206474e-01 -3.43497580e-03 4.05386842e+02] [ 7.42196812e-01 6.70171285e-01 -3.78713210e-03 3.93464835e+02] [ 5.11285610e-03 -1.14342467e-05 9.99986929e-01 2.26564809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.080385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:405.40, Y:393.49, Z:22.65 [[ 6.68768198e-01 -7.43462990e-01 -3.44668308e-03 4.05404625e+02] [ 7.43453399e-01 6.68777079e-01 -3.77644712e-03 3.93486423e+02] [ 5.11271131e-03 -3.68805165e-05 9.99986929e-01 2.26528910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.110385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:405.42, Y:393.51, Z:22.66 [[ 6.69389002e-01 -7.42904107e-01 -3.44269398e-03 4.05424125e+02] [ 7.42894490e-01 6.69397855e-01 -3.78008612e-03 3.93505882e+02] [ 5.11277347e-03 -2.72103153e-05 9.99986929e-01 2.26573274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.140385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:405.44, Y:393.53, Z:22.66 [[ 6.68408628e-01 -7.43786285e-01 -3.44510891e-03 4.05442332e+02] [ 7.43776691e-01 6.68417505e-01 -3.77788392e-03 3.93526693e+02] [ 5.11270934e-03 -3.72214986e-05 9.99986929e-01 2.26586444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.170385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:405.46, Y:393.55, Z:22.66 [[ 6.67747242e-01 -7.44380117e-01 -3.44406640e-03 4.05460377e+02] [ 7.44370527e-01 6.67756123e-01 -3.77883407e-03 3.93546988e+02] [ 5.11268537e-03 -4.03554907e-05 9.99986929e-01 2.26590348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.200385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:405.48, Y:393.57, Z:22.66 [[ 6.67047806e-01 -7.45006958e-01 -3.44348392e-03 4.05479110e+02] [ 7.44997373e-01 6.67056693e-01 -3.77936478e-03 3.93568003e+02] [ 5.11265205e-03 -4.43694826e-05 9.99986929e-01 2.26592763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.230385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:405.50, Y:393.59, Z:22.66 [[ 6.66424491e-01 -7.45564583e-01 -3.44244697e-03 4.05497766e+02] [ 7.45555000e-01 6.66433381e-01 -3.78030906e-03 3.93589374e+02] [ 5.11262611e-03 -4.72430083e-05 9.99986929e-01 2.26593269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.260385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:405.51, Y:393.61, Z:22.65 [[ 6.63490033e-01 -7.48177207e-01 -3.44140216e-03 4.05513089e+02] [ 7.48167655e-01 6.63498954e-01 -3.78125996e-03 3.93611967e+02] [ 5.11241925e-03 -6.59174923e-05 9.99986929e-01 2.26549400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.290385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:405.53, Y:393.63, Z:22.65 [[ 6.63091324e-01 -7.48530673e-01 -3.42454031e-03 4.05531981e+02] [ 7.48521046e-01 6.63100165e-01 -3.79659719e-03 3.93633323e+02] [ 5.11268270e-03 -4.58498424e-05 9.99986929e-01 2.26538100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.320385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:405.55, Y:393.65, Z:22.66 [[ 6.64707206e-01 -7.47096092e-01 -3.42924823e-03 4.05552805e+02] [ 7.47086468e-01 6.64716050e-01 -3.79231634e-03 3.93652992e+02] [ 5.11270106e-03 -4.11649504e-05 9.99986929e-01 2.26577393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.3503857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:405.57, Y:393.68, Z:22.65 [[ 6.62411787e-01 -7.49132029e-01 -3.43926189e-03 4.05569796e+02] [ 7.49122479e-01 6.62420711e-01 -3.78321308e-03 3.93675494e+02] [ 5.11236440e-03 -7.03834610e-05 9.99986929e-01 2.26539017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.380385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:405.59, Y:393.70, Z:22.66 [[ 6.63339734e-01 -7.48310532e-01 -3.42718562e-03 4.05590313e+02] [ 7.48300915e-01 6.63348585e-01 -3.79418680e-03 3.93695893e+02] [ 5.11264868e-03 -4.77312749e-05 9.99986929e-01 2.26586820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.410385723 meters Centerline goodness : 0.996320 Centerline is valid? [True, True] Translation: X:405.61, Y:393.72, Z:22.66 [[ 6.62504981e-01 -7.49049618e-01 -3.43796381e-03 4.05606649e+02] [ 7.49040061e-01 6.62513898e-01 -3.78439527e-03 3.93717650e+02] [ 5.11239864e-03 -6.79919063e-05 9.99986929e-01 2.26560237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.440385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:405.62, Y:393.74, Z:22.65 [[ 6.61104628e-01 -7.50285869e-01 -3.43308596e-03 4.05624543e+02] [ 7.50276306e-01 6.61113538e-01 -3.78882622e-03 3.93740547e+02] [ 5.11236238e-03 -7.09525040e-05 9.99986929e-01 2.26532165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.4703857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:405.64, Y:393.76, Z:22.66 [[ 6.61243606e-01 -7.50163360e-01 -3.43889696e-03 4.05642146e+02] [ 7.50153823e-01 6.61252544e-01 -3.78355160e-03 3.93760600e+02] [ 5.11226115e-03 -7.78523953e-05 9.99986929e-01 2.26564037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.500385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:405.66, Y:393.78, Z:22.65 [[ 6.59704285e-01 -7.51517435e-01 -3.43536823e-03 4.05660842e+02] [ 7.51507899e-01 6.59713225e-01 -3.78675289e-03 3.93783173e+02] [ 5.11216867e-03 -8.35692555e-05 9.99986929e-01 2.26537637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.530385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:405.68, Y:393.80, Z:22.66 [[ 6.59201378e-01 -7.51958593e-01 -3.43770089e-03 4.05677644e+02] [ 7.51949074e-01 6.59210336e-01 -3.78463719e-03 3.93804343e+02] [ 5.11205841e-03 -9.01379455e-05 9.99986929e-01 2.26573768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.560385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:405.69, Y:393.83, Z:22.66 [[ 6.58567463e-01 -7.52513857e-01 -3.43399870e-03 4.05694849e+02] [ 7.52504328e-01 6.58576409e-01 -3.78799340e-03 3.93826360e+02] [ 5.11206806e-03 -8.94496830e-05 9.99986929e-01 2.26583300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.5903857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:405.72, Y:393.85, Z:22.66 [[ 6.59641379e-01 -7.51572662e-01 -3.43298179e-03 4.05717160e+02] [ 7.51563116e-01 6.59650307e-01 -3.78891479e-03 3.93848888e+02] [ 5.11221226e-03 -8.07775165e-05 9.99986929e-01 2.26569198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.620385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:405.73, Y:393.87, Z:22.66 [[ 6.58602315e-01 -7.52483177e-01 -3.47261715e-03 4.05728670e+02] [ 7.52473832e-01 6.58611454e-01 -3.75299072e-03 3.93870371e+02] [ 5.11116781e-03 -1.41325158e-04 9.99986928e-01 2.26587059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.650385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:405.75, Y:393.89, Z:22.66 [[ 6.58599501e-01 -7.52485829e-01 -3.43150726e-03 4.05745793e+02] [ 7.52476288e-01 6.58608435e-01 -3.79021000e-03 3.93891166e+02] [ 5.11209894e-03 -8.58974359e-05 9.99986929e-01 2.26588409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.680385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:405.76, Y:393.91, Z:22.66 [[ 6.56915601e-01 -7.53956313e-01 -3.43092643e-03 4.05764317e+02] [ 7.53946790e-01 6.56924553e-01 -3.79073570e-03 3.93914168e+02] [ 5.11190893e-03 -9.65425445e-05 9.99986929e-01 2.26577993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.710385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:405.78, Y:393.94, Z:22.66 [[ 6.56799191e-01 -7.54057653e-01 -3.44668419e-03 4.05779746e+02] [ 7.54048205e-01 6.56808223e-01 -3.77648931e-03 3.93936574e+02] [ 5.11150118e-03 -1.18570907e-04 9.99986929e-01 2.26575044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.740385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:405.80, Y:393.96, Z:22.66 [[ 6.57239307e-01 -7.53674163e-01 -3.42777658e-03 4.05796895e+02] [ 7.53664620e-01 6.57248240e-01 -3.79357374e-03 3.93957241e+02] [ 5.11201864e-03 -9.01081618e-05 9.99986930e-01 2.26583199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.770385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:405.81, Y:393.98, Z:22.66 [[ 6.56439648e-01 -7.54370759e-01 -3.42730257e-03 4.05813194e+02] [ 7.54361224e-01 6.56448589e-01 -3.79400194e-03 3.93980305e+02] [ 5.11193206e-03 -9.48908565e-05 9.99986930e-01 2.26590205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.800385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:405.83, Y:394.00, Z:22.66 [[ 6.56213567e-01 -7.54567436e-01 -3.42626135e-03 4.05827981e+02] [ 7.54557899e-01 6.56222504e-01 -3.79494200e-03 3.94003281e+02] [ 5.11192946e-03 -9.50201408e-05 9.99986930e-01 2.26594840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.830385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:405.85, Y:394.03, Z:22.66 [[ 6.56189208e-01 -7.54588622e-01 -3.42567794e-03 4.05845193e+02] [ 7.54579082e-01 6.56198143e-01 -3.79546857e-03 3.94025617e+02] [ 5.11194090e-03 -9.43994037e-05 9.99986930e-01 2.26596795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.860385723 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:405.86, Y:394.05, Z:22.66 [[ 6.56895334e-01 -7.53974000e-01 -3.42465245e-03 4.05860203e+02] [ 7.53964447e-01 6.56904255e-01 -3.79639365e-03 3.94048372e+02] [ 5.11205087e-03 -8.82329208e-05 9.99986930e-01 2.26580171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.890385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:405.88, Y:394.07, Z:22.66 [[ 6.57047138e-01 -7.53841717e-01 -3.42409790e-03 4.05877163e+02] [ 7.53832160e-01 6.57056054e-01 -3.79689375e-03 3.94070316e+02] [ 5.11208116e-03 -8.64569415e-05 9.99986930e-01 2.26573575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.920385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:405.89, Y:394.09, Z:22.66 [[ 6.58072019e-01 -7.52947210e-01 -3.42309553e-03 4.05893415e+02] [ 7.52937636e-01 6.58080917e-01 -3.79779722e-03 3.94093501e+02] [ 5.11221467e-03 -7.81533751e-05 9.99986930e-01 2.26574539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.950385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:405.91, Y:394.12, Z:22.66 [[ 6.58606699e-01 -7.52479572e-01 -3.42206031e-03 4.05910837e+02] [ 7.52469986e-01 6.58615585e-01 -3.79872979e-03 3.94115826e+02] [ 5.11228882e-03 -7.31287874e-05 9.99986930e-01 2.26579700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.980385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:405.93, Y:394.14, Z:22.66 [[ 6.59811293e-01 -7.51423552e-01 -3.42101941e-03 4.05926792e+02] [ 7.51413948e-01 6.59820159e-01 -3.79966696e-03 3.94139217e+02] [ 5.11241682e-03 -6.35385324e-05 9.99986930e-01 2.26578236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.010385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:405.94, Y:394.16, Z:22.66 [[ 6.60441282e-01 -7.50869907e-01 -3.41996446e-03 4.05944047e+02] [ 7.50860290e-01 6.60450134e-01 -3.80061626e-03 3.94160989e+02] [ 5.11248436e-03 -5.78316348e-05 9.99986930e-01 2.26577912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.040385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:405.96, Y:394.18, Z:22.66 [[ 6.59879629e-01 -7.51363551e-01 -3.41890566e-03 4.05958756e+02] [ 7.51353936e-01 6.59888483e-01 -3.80156848e-03 3.94183389e+02] [ 5.11245646e-03 -6.02306285e-05 9.99986930e-01 2.26556387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.070385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:405.98, Y:394.20, Z:22.66 [[ 6.61506749e-01 -7.49931492e-01 -3.40264832e-03 4.05979211e+02] [ 7.49921783e-01 6.61515500e-01 -3.81618039e-03 3.94204259e+02] [ 5.11277846e-03 -2.72910095e-05 9.99986929e-01 2.26583168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.1003857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:406.00, Y:394.23, Z:22.66 [[ 6.61780490e-01 -7.49689871e-01 -3.41755868e-03 4.05996353e+02] [ 7.49680228e-01 6.61789313e-01 -3.80278045e-03 3.94226209e+02] [ 5.11260980e-03 -4.54702595e-05 9.99986930e-01 2.26586169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.130385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:406.01, Y:394.25, Z:22.66 [[ 6.60287298e-01 -7.51005334e-01 -3.41651369e-03 4.06012792e+02] [ 7.50995703e-01 6.60296135e-01 -3.80371907e-03 3.94248342e+02] [ 5.11252409e-03 -5.42397162e-05 9.99986930e-01 2.26563697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.160385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:406.03, Y:394.27, Z:22.66 [[ 6.60116247e-01 -7.51155746e-01 -3.40384163e-03 4.06031707e+02] [ 7.51146058e-01 6.60125022e-01 -3.81509270e-03 3.94270535e+02] [ 5.11268983e-03 -3.83775495e-05 9.99986929e-01 2.26574457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.190385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:406.05, Y:394.29, Z:22.66 [[ 6.60695708e-01 -7.50646108e-01 -3.40622506e-03 4.06050618e+02] [ 7.50636424e-01 6.60704487e-01 -3.81295403e-03 3.94290596e+02] [ 5.11268728e-03 -3.76342405e-05 9.99986929e-01 2.26597597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.2203857229999 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:406.07, Y:394.31, Z:22.66 [[ 6.60036926e-01 -7.51225399e-01 -3.41422287e-03 4.06068852e+02] [ 7.51215761e-01 6.60045754e-01 -3.80577907e-03 3.94310743e+02] [ 5.11254121e-03 -5.28633170e-05 9.99986930e-01 2.26561972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.250385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:406.09, Y:394.33, Z:22.66 [[ 6.60311685e-01 -7.50983905e-01 -3.41375290e-03 4.06088944e+02] [ 7.50974261e-01 6.60320507e-01 -3.80620058e-03 3.94330926e+02] [ 5.11256642e-03 -5.03618412e-05 9.99986930e-01 2.26608162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.280385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:406.11, Y:394.35, Z:22.66 [[ 6.60077243e-01 -7.51189980e-01 -3.41264905e-03 4.06107981e+02] [ 7.51180334e-01 6.60086063e-01 -3.80719004e-03 3.94352254e+02] [ 5.11256509e-03 -5.04753450e-05 9.99986930e-01 2.26609618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.310385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:406.12, Y:394.37, Z:22.66 [[ 6.59714303e-01 -7.51508749e-01 -3.41146034e-03 4.06124821e+02] [ 7.51499102e-01 6.59723121e-01 -3.80825489e-03 3.94373805e+02] [ 5.11255614e-03 -5.13491577e-05 9.99986930e-01 2.26607513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.3403857229999 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:406.14, Y:394.39, Z:22.66 [[ 6.59728673e-01 -7.51496137e-01 -3.41097107e-03 4.06142944e+02] [ 7.51486487e-01 6.59737489e-01 -3.80869307e-03 3.94394953e+02] [ 5.11256362e-03 -5.05946423e-05 9.99986930e-01 2.26607859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.370385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:406.16, Y:394.42, Z:22.66 [[ 6.60450747e-01 -7.50861627e-01 -3.40991754e-03 4.06161864e+02] [ 7.50851964e-01 6.60459548e-01 -3.80963606e-03 3.94416708e+02] [ 5.11262213e-03 -4.42663043e-05 9.99986930e-01 2.26611971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.400385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:406.18, Y:394.44, Z:22.66 [[ 6.60882889e-01 -7.50481296e-01 -3.41038589e-03 4.06179612e+02] [ 7.50471630e-01 6.60891687e-01 -3.80921697e-03 3.94436555e+02] [ 5.11264177e-03 -4.19515419e-05 9.99986930e-01 2.26588803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.430385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:406.20, Y:394.46, Z:22.66 [[ 6.61863603e-01 -7.49616537e-01 -3.40869264e-03 4.06197692e+02] [ 7.49606852e-01 6.61872379e-01 -3.81073158e-03 3.94456851e+02] [ 5.11270692e-03 -3.29948300e-05 9.99986930e-01 2.26564847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.460385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:406.22, Y:394.48, Z:22.66 [[ 6.62523717e-01 -7.49033183e-01 -3.40812219e-03 4.06216798e+02] [ 7.49023488e-01 6.62532482e-01 -3.81124169e-03 3.94477238e+02] [ 5.11273815e-03 -2.77255582e-05 9.99986930e-01 2.26595892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.490385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:406.24, Y:394.50, Z:22.66 [[ 6.63650373e-01 -7.48035142e-01 -3.40705449e-03 4.06235601e+02] [ 7.48025429e-01 6.63659118e-01 -3.81219592e-03 3.94496431e+02] [ 5.11277930e-03 -1.85981506e-05 9.99986930e-01 2.26590958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.520385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:406.25, Y:394.52, Z:22.66 [[ 6.63984903e-01 -7.47738219e-01 -3.40659179e-03 4.06254725e+02] [ 7.47728499e-01 6.63993641e-01 -3.81260935e-03 3.94517149e+02] [ 5.11278901e-03 -1.56907147e-05 9.99986930e-01 2.26589047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.550385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:406.27, Y:394.54, Z:22.66 [[ 6.64773513e-01 -7.47037201e-01 -3.40553882e-03 4.06274627e+02] [ 7.47027467e-01 6.64782236e-01 -3.81354966e-03 3.94537343e+02] [ 5.11280517e-03 -8.88423731e-06 9.99986930e-01 2.26584220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.580385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:406.29, Y:394.56, Z:22.66 [[ 6.65135784e-01 -7.46714670e-01 -3.40448319e-03 4.06294239e+02] [ 7.46704927e-01 6.65144497e-01 -3.81449182e-03 3.94557727e+02] [ 5.11281026e-03 -4.98935912e-06 9.99986930e-01 2.26592102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.610385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:406.31, Y:394.58, Z:22.66 [[ 6.65841843e-01 -7.46085154e-01 -3.40340474e-03 4.06313831e+02] [ 7.46075398e-01 6.65850541e-01 -3.81545380e-03 3.94575856e+02] [ 5.11281233e-03 1.29224369e-06 9.99986930e-01 2.26598192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.640385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:406.33, Y:394.59, Z:22.66 [[ 6.66563082e-01 -7.45440862e-01 -3.40267140e-03 4.06334147e+02] [ 7.45431094e-01 6.66571767e-01 -3.81610770e-03 3.94594512e+02] [ 5.11280730e-03 7.21944286e-06 9.99986930e-01 2.26593674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.670385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:406.35, Y:394.61, Z:22.66 [[ 6.65162201e-01 -7.46691150e-01 -3.40196863e-03 4.06350286e+02] [ 7.46681395e-01 6.65170901e-01 -3.81673409e-03 3.94614305e+02] [ 5.11281211e-03 -1.43943421e-06 9.99986930e-01 2.26571092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.700385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:406.37, Y:394.63, Z:22.66 [[ 6.66024411e-01 -7.45922296e-01 -3.37831188e-03 4.06369995e+02] [ 7.45912424e-01 6.66032978e-01 -3.83780539e-03 3.94633827e+02] [ 5.11277173e-03 3.61472772e-05 9.99986929e-01 2.26568540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.730385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:406.40, Y:394.65, Z:22.66 [[ 6.68945003e-01 -7.43304233e-01 -3.37661328e-03 4.06395303e+02] [ 7.43294319e-01 6.68953522e-01 -3.83931758e-03 3.94653276e+02] [ 5.11257836e-03 5.84748376e-05 9.99986929e-01 2.26599041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.760385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:406.42, Y:394.67, Z:22.66 [[ 6.70005926e-01 -7.42347964e-01 -3.39998796e-03 4.06415565e+02] [ 7.42338144e-01 6.70014552e-01 -3.81850483e-03 3.94671347e+02] [ 5.11270069e-03 3.44801187e-05 9.99986929e-01 2.26599308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.790385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:406.44, Y:394.69, Z:22.66 [[ 6.70538127e-01 -7.41867283e-01 -3.39939951e-03 4.06435295e+02] [ 7.41857454e-01 6.70546742e-01 -3.81902862e-03 3.94691133e+02] [ 5.11266865e-03 3.89344353e-05 9.99986929e-01 2.26601583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.820385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:406.45, Y:394.71, Z:22.66 [[ 6.69585712e-01 -7.42727019e-01 -3.39836230e-03 4.06453872e+02] [ 7.42717197e-01 6.69594335e-01 -3.81995136e-03 3.94710533e+02] [ 5.11270523e-03 3.37627248e-05 9.99986929e-01 2.26581176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.8503857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:406.47, Y:394.73, Z:22.66 [[ 6.69489682e-01 -7.42813662e-01 -3.38089632e-03 4.06473882e+02] [ 7.42803761e-01 6.69498216e-01 -3.83548488e-03 3.94729852e+02] [ 5.11255462e-03 5.64750457e-05 9.99986929e-01 2.26588232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.880385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:406.50, Y:394.75, Z:22.66 [[ 6.70787402e-01 -7.41641991e-01 -3.37906416e-03 4.06497498e+02] [ 7.41632068e-01 6.70795909e-01 -3.83711352e-03 3.94747081e+02] [ 5.11242693e-03 6.78650701e-05 9.99986929e-01 2.26616579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.910385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:406.52, Y:394.77, Z:22.66 [[ 6.69400051e-01 -7.42894364e-01 -3.39644787e-03 4.06516899e+02] [ 7.42884535e-01 6.69408667e-01 -3.82166401e-03 3.94767569e+02] [ 5.11270429e-03 3.50534906e-05 9.99986929e-01 2.26599995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.940385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:406.54, Y:394.79, Z:22.66 [[ 6.68627021e-01 -7.43590204e-01 -3.39332685e-03 4.06537655e+02] [ 7.43580370e-01 6.68635631e-01 -3.82443655e-03 3.94788229e+02] [ 5.11271279e-03 3.39103822e-05 9.99986929e-01 2.26594646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.9703857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:406.56, Y:394.81, Z:22.66 [[ 6.67501635e-01 -7.44600591e-01 -3.39513068e-03 4.06559613e+02] [ 7.44590778e-01 6.67510269e-01 -3.82283453e-03 3.94805729e+02] [ 5.11276945e-03 2.37653055e-05 9.99986929e-01 2.26582908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.000385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:406.58, Y:394.82, Z:22.66 [[ 6.66665793e-01 -7.45349043e-01 -3.39478417e-03 4.06581996e+02] [ 7.45339239e-01 6.66674436e-01 -3.82314222e-03 3.94823058e+02] [ 5.11279122e-03 1.84922946e-05 9.99986929e-01 2.26585072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.030385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:406.60, Y:394.84, Z:22.66 [[ 6.65494903e-01 -7.46394677e-01 -3.39427599e-03 4.06602403e+02] [ 7.46384883e-01 6.65503558e-01 -3.82359334e-03 3.94842041e+02] [ 5.11281247e-03 1.11455885e-05 9.99986929e-01 2.26588835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.060385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:406.63, Y:394.86, Z:22.66 [[ 6.63411314e-01 -7.48247229e-01 -3.39322416e-03 4.06625873e+02] [ 7.48237454e-01 6.63419992e-01 -3.82452656e-03 3.94860400e+02] [ 5.11282414e-03 -1.70321773e-06 9.99986929e-01 2.26614871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.0903857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:406.65, Y:394.88, Z:22.66 [[ 6.62871728e-01 -7.48725293e-01 -3.39227628e-03 4.06645601e+02] [ 7.48715521e-01 6.62880408e-01 -3.82536712e-03 3.94879851e+02] [ 5.11282260e-03 -4.12218487e-06 9.99986929e-01 2.26598051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.120385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:406.67, Y:394.90, Z:22.66 [[ 6.61451293e-01 -7.49980455e-01 -3.39177415e-03 4.06666266e+02] [ 7.49970697e-01 6.61459989e-01 -3.82581228e-03 3.94898514e+02] [ 5.11280733e-03 -1.31427397e-05 9.99986929e-01 2.26606210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.150385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:406.69, Y:394.92, Z:22.66 [[ 6.60958987e-01 -7.50414366e-01 -3.39072807e-03 4.06686179e+02] [ 7.50404609e-01 6.60967684e-01 -3.82673917e-03 3.94918661e+02] [ 5.11280173e-03 -1.51003256e-05 9.99986929e-01 2.26604958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.180385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:406.71, Y:394.94, Z:22.66 [[ 6.60365442e-01 -7.50936744e-01 -3.38968532e-03 4.06707378e+02] [ 7.50926989e-01 6.60374141e-01 -3.82766260e-03 3.94937565e+02] [ 5.11279303e-03 -1.77500885e-05 9.99986929e-01 2.26612706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.210385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:406.73, Y:394.96, Z:22.66 [[ 6.59955937e-01 -7.51296665e-01 -3.38863550e-03 4.06726771e+02] [ 7.51286910e-01 6.59964636e-01 -3.82859179e-03 3.94957079e+02] [ 5.11278784e-03 -1.91356116e-05 9.99986929e-01 2.26614910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.240385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:406.75, Y:394.98, Z:22.66 [[ 6.59826079e-01 -7.51410718e-01 -3.38802852e-03 4.06747459e+02] [ 7.51400961e-01 6.59834777e-01 -3.82912884e-03 3.94976753e+02] [ 5.11278750e-03 -1.92088179e-05 9.99986929e-01 2.26633228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.270385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:406.77, Y:395.00, Z:22.66 [[ 6.60995706e-01 -7.50382039e-01 -3.38698377e-03 4.06770870e+02] [ 7.50372265e-01 6.61004383e-01 -3.83005274e-03 3.94998207e+02] [ 5.11281390e-03 -9.85026505e-06 9.99986929e-01 2.26626081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.300385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:406.79, Y:395.02, Z:22.66 [[ 6.60927078e-01 -7.50442348e-01 -3.41756154e-03 4.06786553e+02] [ 7.50432714e-01 6.60935912e-01 -3.80300937e-03 3.95017210e+02] [ 5.11272844e-03 -5.11381054e-05 9.99986929e-01 2.26639512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.330385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:406.81, Y:395.04, Z:22.66 [[ 6.62737520e-01 -7.48844120e-01 -3.38568251e-03 4.06810020e+02] [ 7.48834320e-01 6.62746168e-01 -3.83118144e-03 3.95039288e+02] [ 5.11280580e-03 3.75242309e-06 9.99986930e-01 2.26632304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.360385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:406.83, Y:395.06, Z:22.66 [[ 6.63263376e-01 -7.48378257e-01 -3.41743939e-03 4.06825134e+02] [ 7.48368594e-01 6.63272179e-01 -3.80311733e-03 3.95059236e+02] [ 5.11286279e-03 -3.50358711e-05 9.99986929e-01 2.26629085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.390385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:406.84, Y:395.08, Z:22.66 [[ 6.63999449e-01 -7.47725404e-01 -3.38413847e-03 4.06843986e+02] [ 7.47715582e-01 6.64008072e-01 -3.83252224e-03 3.95080100e+02] [ 5.11276950e-03 1.44195815e-05 9.99986930e-01 2.26627619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.420385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:406.86, Y:395.10, Z:22.66 [[ 6.64801710e-01 -7.47012209e-01 -3.38308757e-03 4.06862043e+02] [ 7.47002374e-01 6.64810318e-01 -3.83344968e-03 3.95100196e+02] [ 5.11274524e-03 2.13094597e-05 9.99986930e-01 2.26613584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.450385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:406.88, Y:395.12, Z:22.66 [[ 6.64768229e-01 -7.47042006e-01 -3.38266299e-03 4.06881310e+02] [ 7.47032169e-01 6.64776835e-01 -3.83382429e-03 3.95121248e+02] [ 5.11274379e-03 2.16465159e-05 9.99986930e-01 2.26606016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.480385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:406.90, Y:395.14, Z:22.66 [[ 6.64908222e-01 -7.46917413e-01 -3.38162262e-03 4.06902618e+02] [ 7.46907569e-01 6.64916821e-01 -3.83474173e-03 3.95142951e+02] [ 5.11273313e-03 2.39917696e-05 9.99986930e-01 2.26626174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.510385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:406.92, Y:395.16, Z:22.66 [[ 6.64991382e-01 -7.46843331e-01 -3.39140017e-03 4.06921732e+02] [ 7.46833530e-01 6.65000029e-01 -3.82612126e-03 3.95163985e+02] [ 5.11279436e-03 1.15263007e-05 9.99986930e-01 2.26622421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.540385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:406.94, Y:395.18, Z:22.66 [[ 6.63603500e-01 -7.48076774e-01 -3.39643124e-03 4.06937499e+02] [ 7.48067012e-01 6.63612192e-01 -3.82168696e-03 3.95184753e+02] [ 5.11282843e-03 -4.67332628e-06 9.99986929e-01 2.26622717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.570385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:406.96, Y:395.21, Z:22.66 [[ 6.62822855e-01 -7.48768617e-01 -3.37940287e-03 4.06955878e+02] [ 7.48758788e-01 6.62831470e-01 -3.83668577e-03 3.95205403e+02] [ 5.11276447e-03 1.26854197e-05 9.99986930e-01 2.26632189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.6003857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:406.98, Y:395.23, Z:22.66 [[ 6.60564641e-01 -7.50761575e-01 -3.37835270e-03 4.06975127e+02] [ 7.50751767e-01 6.60573280e-01 -3.83761026e-03 3.95226903e+02] [ 5.11277985e-03 -1.31461485e-06 9.99986930e-01 2.26647445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.630385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:406.99, Y:395.25, Z:22.66 [[ 6.59491657e-01 -7.51704296e-01 -3.37735869e-03 4.06993177e+02] [ 7.51694495e-01 6.59500305e-01 -3.83848486e-03 3.95246982e+02] [ 5.11277465e-03 -7.29319650e-06 9.99986930e-01 2.26633944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.660385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:407.01, Y:395.27, Z:22.67 [[ 6.58533911e-01 -7.52543477e-01 -3.37677031e-03 4.07013655e+02] [ 7.52533685e-01 6.58542569e-01 -3.83900240e-03 3.95269378e+02] [ 5.11276321e-03 -1.30201410e-05 9.99986930e-01 2.26653335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.690385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:407.03, Y:395.29, Z:22.67 [[ 6.57365133e-01 -7.53564596e-01 -3.38839063e-03 4.07029954e+02] [ 7.53554870e-01 6.57373865e-01 -3.82878444e-03 3.95290996e+02] [ 5.11267584e-03 -3.64288708e-05 9.99986930e-01 2.26667341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.7203857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:407.05, Y:395.31, Z:22.67 [[ 6.56920209e-01 -7.53952549e-01 -3.37537939e-03 4.07047850e+02] [ 7.53942769e-01 6.56928880e-01 -3.84022073e-03 3.95313258e+02] [ 5.11272841e-03 -2.21242787e-05 9.99986930e-01 2.26667414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.750385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:407.06, Y:395.33, Z:22.67 [[ 6.57127497e-01 -7.53771893e-01 -3.37430554e-03 4.07064532e+02] [ 7.53762106e-01 6.57136160e-01 -3.84116406e-03 3.95334725e+02] [ 5.11273969e-03 -1.92891227e-05 9.99986930e-01 2.26668028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.780385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:407.09, Y:395.36, Z:22.67 [[ 6.58067033e-01 -7.52951790e-01 -3.37369776e-03 4.07086240e+02] [ 7.52941990e-01 6.58075681e-01 -3.84169780e-03 3.95357457e+02] [ 5.11276169e-03 -1.21040294e-05 9.99986930e-01 2.26669182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.810385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:407.10, Y:395.38, Z:22.67 [[ 6.57718412e-01 -7.53256228e-01 -3.39799286e-03 4.07100150e+02] [ 7.53246541e-01 6.57727188e-01 -3.82036489e-03 3.95377989e+02] [ 5.11266593e-03 -4.68020388e-05 9.99986929e-01 2.26676829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.8403857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:407.12, Y:395.40, Z:22.67 [[ 6.58085374e-01 -7.52935770e-01 -3.37140086e-03 4.07120479e+02] [ 7.52925959e-01 6.58094010e-01 -3.84368944e-03 3.95400752e+02] [ 5.11274998e-03 -8.93942107e-06 9.99986930e-01 2.26663611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.870385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:407.14, Y:395.42, Z:22.67 [[ 6.57903621e-01 -7.53094493e-01 -3.39263185e-03 4.07135903e+02] [ 7.53084780e-01 6.57912367e-01 -3.82506874e-03 3.95422453e+02] [ 5.11269266e-03 -3.84128341e-05 9.99986929e-01 2.26672908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.900385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:407.15, Y:395.45, Z:22.67 [[ 6.58372690e-01 -7.52684559e-01 -3.36985627e-03 4.07154744e+02] [ 7.52674737e-01 6.58381315e-01 -3.84502970e-03 3.95445319e+02] [ 5.11274488e-03 -4.94313524e-06 9.99986930e-01 2.26671493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.930385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:407.17, Y:395.47, Z:22.67 [[ 6.58252062e-01 -7.52789979e-01 -3.38680824e-03 4.07170515e+02] [ 7.52780235e-01 6.58260774e-01 -3.83017567e-03 3.95466602e+02] [ 5.11272088e-03 -2.83012708e-05 9.99986930e-01 2.26665562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.960385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:407.19, Y:395.49, Z:22.67 [[ 6.58179664e-01 -7.52853361e-01 -3.36840748e-03 4.07190179e+02] [ 7.52843536e-01 6.58188284e-01 -3.84629023e-03 3.95488705e+02] [ 5.11273886e-03 -4.33379164e-06 9.99986930e-01 2.26672626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.990385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:407.21, Y:395.51, Z:22.67 [[ 6.57301381e-01 -7.53620232e-01 -3.38244990e-03 4.07208458e+02] [ 7.53610480e-01 6.57310083e-01 -3.83399629e-03 3.95511667e+02] [ 5.11269560e-03 -2.89586372e-05 9.99986930e-01 2.26686125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.020385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:407.22, Y:395.53, Z:22.67 [[ 6.56015644e-01 -7.54739735e-01 -3.37748008e-03 4.07224035e+02] [ 7.54729976e-01 6.56024337e-01 -3.83834572e-03 3.95533283e+02] [ 5.11266116e-03 -3.10706275e-05 9.99986930e-01 2.26690527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.050385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:407.24, Y:395.56, Z:22.67 [[ 6.55209184e-01 -7.55439993e-01 -3.36797558e-03 4.07241193e+02] [ 7.55430199e-01 6.55217840e-01 -3.84665869e-03 3.95556133e+02] [ 5.11267749e-03 -2.39043602e-05 9.99986930e-01 2.26704860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.080385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:407.26, Y:395.58, Z:22.67 [[ 6.55231329e-01 -7.55420775e-01 -3.37029230e-03 4.07260417e+02] [ 7.55410992e-01 6.55239996e-01 -3.84463308e-03 3.95578024e+02] [ 5.11266601e-03 -2.68318108e-05 9.99986930e-01 2.26710941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.110385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:407.28, Y:395.60, Z:22.67 [[ 6.54575599e-01 -7.55989018e-01 -3.37493483e-03 4.07277853e+02] [ 7.55979264e-01 6.54584298e-01 -3.84057588e-03 3.95599260e+02] [ 5.11261253e-03 -3.74334955e-05 9.99986930e-01 2.26717874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.140385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:407.30, Y:395.62, Z:22.67 [[ 6.54370237e-01 -7.56166810e-01 -3.36862397e-03 4.07296873e+02] [ 7.56157030e-01 6.54378907e-01 -3.84608879e-03 3.95621303e+02] [ 5.11264116e-03 -3.04426672e-05 9.99986930e-01 2.26730428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.170385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:407.32, Y:395.64, Z:22.67 [[ 6.54143502e-01 -7.56362959e-01 -3.36950838e-03 4.07315644e+02] [ 7.56353185e-01 6.54152179e-01 -3.84531640e-03 3.95642884e+02] [ 5.11262614e-03 -3.31496588e-05 9.99986930e-01 2.26731895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.200385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:407.33, Y:395.67, Z:22.67 [[ 6.53126313e-01 -7.57241490e-01 -3.36831286e-03 4.07332624e+02] [ 7.57231722e-01 6.53134997e-01 -3.84635985e-03 3.95665161e+02] [ 5.11258627e-03 -3.84345239e-05 9.99986930e-01 2.26717530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.230385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:407.35, Y:395.69, Z:22.67 [[ 6.54409842e-01 -7.56132579e-01 -3.35882311e-03 4.07352139e+02] [ 7.56122754e-01 6.54418462e-01 -3.85463797e-03 3.95687547e+02] [ 5.11269320e-03 -1.71695537e-05 9.99986930e-01 2.26738538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.260385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:407.37, Y:395.71, Z:22.67 [[ 6.54196427e-01 -7.56317168e-01 -3.37294746e-03 4.07369794e+02] [ 7.56307409e-01 6.54205121e-01 -3.84231877e-03 3.95709437e+02] [ 5.11261115e-03 -3.73539483e-05 9.99986930e-01 2.26730095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.290385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:407.39, Y:395.73, Z:22.67 [[ 6.54591264e-01 -7.55975501e-01 -3.36441536e-03 4.07387978e+02] [ 7.55965699e-01 6.54599909e-01 -3.84975568e-03 3.95731998e+02] [ 5.11266697e-03 -2.33661800e-05 9.99986930e-01 2.26745651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.320385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:407.41, Y:395.75, Z:22.67 [[ 6.54112014e-01 -7.56390194e-01 -3.36878200e-03 4.07405301e+02] [ 7.56380417e-01 6.54120688e-01 -3.84595156e-03 3.95753806e+02] [ 5.11263004e-03 -3.23976143e-05 9.99986930e-01 2.26741331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.3503857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:407.42, Y:395.78, Z:22.67 [[ 6.54170846e-01 -7.56339317e-01 -3.36786920e-03 4.07424233e+02] [ 7.56329535e-01 6.54179515e-01 -3.84674625e-03 3.95775396e+02] [ 5.11263647e-03 -3.07897012e-05 9.99986930e-01 2.26739826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.380385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:407.44, Y:395.80, Z:22.67 [[ 6.52495570e-01 -7.57785017e-01 -3.37627340e-03 4.07439681e+02] [ 7.57775292e-01 6.52504303e-01 -3.83943144e-03 3.95797359e+02] [ 5.11249654e-03 -5.32445575e-05 9.99986930e-01 2.26731855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.410385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:407.46, Y:395.82, Z:22.67 [[ 6.50889720e-01 -7.59164835e-01 -3.36534926e-03 4.07455553e+02] [ 7.59155079e-01 6.50898419e-01 -3.84893457e-03 3.95819650e+02] [ 5.11247629e-03 -4.95900367e-05 9.99986930e-01 2.26725946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.440385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:407.47, Y:395.84, Z:22.67 [[ 6.50028579e-01 -7.59902357e-01 -3.35464582e-03 4.07473102e+02] [ 7.59892563e-01 6.50037234e-01 -3.85824096e-03 3.95841098e+02] [ 5.11253109e-03 -4.12035233e-05 9.99986930e-01 2.26725615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.4703857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:407.49, Y:395.86, Z:22.67 [[ 6.49407723e-01 -7.60433010e-01 -3.35359747e-03 4.07493377e+02] [ 7.60423219e-01 6.49416380e-01 -3.85915197e-03 3.95864023e+02] [ 5.11250768e-03 -4.39902941e-05 9.99986930e-01 2.26728707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.500385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:407.51, Y:395.89, Z:22.67 [[ 6.48374742e-01 -7.61313877e-01 -3.37250987e-03 4.07509804e+02] [ 7.61304183e-01 6.48383509e-01 -3.84272342e-03 3.95887211e+02] [ 5.11219845e-03 -7.59810694e-05 9.99986930e-01 2.26724336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.530385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:407.53, Y:395.91, Z:22.67 [[ 6.48141790e-01 -7.61512258e-01 -3.36172935e-03 4.07525576e+02] [ 7.61502518e-01 6.48150505e-01 -3.85208304e-03 3.95909215e+02] [ 5.11231503e-03 -6.32693615e-05 9.99986930e-01 2.26731408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.560385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:407.54, Y:395.93, Z:22.67 [[ 6.46943832e-01 -7.62530294e-01 -3.35107200e-03 4.07541222e+02] [ 7.62520519e-01 6.46952508e-01 -3.86133206e-03 3.95934121e+02] [ 5.11236711e-03 -5.71962064e-05 9.99986930e-01 2.26714163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.5903857229999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:407.56, Y:395.96, Z:22.67 [[ 6.47642699e-01 -7.61936818e-01 -3.34967786e-03 4.07558632e+02] [ 7.61927029e-01 6.47651359e-01 -3.86254134e-03 3.95955835e+02] [ 5.11243588e-03 -5.06634005e-05 9.99986930e-01 2.26729230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.620385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:407.57, Y:395.98, Z:22.67 [[ 6.46815284e-01 -7.62639339e-01 -3.35073915e-03 4.07573829e+02] [ 7.62629565e-01 6.46823960e-01 -3.86162103e-03 3.95979150e+02] [ 5.11236248e-03 -5.76172369e-05 9.99986930e-01 2.26706132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.650385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:407.59, Y:396.00, Z:22.67 [[ 6.48111416e-01 -7.61538181e-01 -3.34553196e-03 4.07591433e+02] [ 7.61528368e-01 6.48120049e-01 -3.86613525e-03 3.96000685e+02] [ 5.11251594e-03 -4.20311061e-05 9.99986930e-01 2.26720504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.680385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:407.61, Y:396.02, Z:22.67 [[ 6.47937690e-01 -7.61686015e-01 -3.34137555e-03 4.07609002e+02] [ 7.61676185e-01 6.47946305e-01 -3.86973608e-03 3.96023213e+02] [ 5.11255579e-03 -3.76983306e-05 9.99986930e-01 2.26722981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.710385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:407.63, Y:396.05, Z:22.67 [[ 6.49449865e-01 -7.60397048e-01 -3.34686936e-03 4.07628012e+02] [ 7.60387227e-01 6.49458488e-01 -3.86497873e-03 3.96047312e+02] [ 5.11257113e-03 -3.48067925e-05 9.99986930e-01 2.26731964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.740385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:407.64, Y:396.07, Z:22.67 [[ 6.49230708e-01 -7.60584061e-01 -3.37255007e-03 4.07644562e+02] [ 7.60574356e-01 6.49239464e-01 -3.84274438e-03 3.96070571e+02] [ 5.11232273e-03 -7.02474411e-05 9.99986930e-01 2.26740345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.770385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:407.66, Y:396.09, Z:22.67 [[ 6.49454856e-01 -7.60392688e-01 -3.36900431e-03 4.07660640e+02] [ 7.60382965e-01 6.49463591e-01 -3.84581160e-03 3.96094961e+02] [ 5.11237266e-03 -6.40524672e-05 9.99986930e-01 2.26744526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.800385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:407.67, Y:396.12, Z:22.67 [[ 6.48060892e-01 -7.61581048e-01 -3.37451662e-03 4.07674217e+02] [ 7.61571366e-01 6.48069672e-01 -3.84104587e-03 3.96116541e+02] [ 5.11218963e-03 -8.07036216e-05 9.99986929e-01 2.26743653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.830385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:407.69, Y:396.14, Z:22.67 [[ 6.47971737e-01 -7.61657047e-01 -3.34224503e-03 4.07690924e+02] [ 7.61647222e-01 6.47980355e-01 -3.86892432e-03 3.96137746e+02] [ 5.11250259e-03 -3.86580363e-05 9.99986930e-01 2.26744800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.860385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:407.71, Y:396.16, Z:22.67 [[ 6.47233704e-01 -7.62284307e-01 -3.34167082e-03 4.07706418e+02] [ 7.62274488e-01 6.47242329e-01 -3.86942022e-03 3.96161370e+02] [ 5.11246911e-03 -4.28512291e-05 9.99986930e-01 2.26748420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.890385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:407.73, Y:396.19, Z:22.67 [[ 6.48341718e-01 -7.61342142e-01 -3.34059830e-03 4.07729039e+02] [ 7.61332305e-01 6.48350323e-01 -3.87034593e-03 3.96185755e+02] [ 5.11253545e-03 -3.39986814e-05 9.99986930e-01 2.26737599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.920385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:407.74, Y:396.21, Z:22.67 [[ 6.46035419e-01 -7.63299908e-01 -3.38933226e-03 4.07738351e+02] [ 7.63290316e-01 6.46044300e-01 -3.82826219e-03 3.96209172e+02] [ 5.11177096e-03 -1.13851530e-04 9.99986928e-01 2.26737196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.950385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:407.75, Y:396.23, Z:22.67 [[ 6.45693673e-01 -7.63589242e-01 -3.33916333e-03 4.07754023e+02] [ 7.63579429e-01 6.45702305e-01 -3.87153247e-03 3.96231356e+02] [ 5.11236601e-03 -4.98924036e-05 9.99986931e-01 2.26724708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.980385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:407.77, Y:396.25, Z:22.67 [[ 6.45480171e-01 -7.63769731e-01 -3.33858592e-03 4.07770996e+02] [ 7.63759918e-01 6.45488803e-01 -3.87203034e-03 3.96253981e+02] [ 5.11235940e-03 -5.05593029e-05 9.99986931e-01 2.26732521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.010385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:407.79, Y:396.28, Z:22.67 [[ 6.46888841e-01 -7.62577005e-01 -3.33752910e-03 4.07792069e+02] [ 7.62567171e-01 6.46897450e-01 -3.87294106e-03 3.96278008e+02] [ 5.11245485e-03 -3.97277663e-05 9.99986931e-01 2.26740845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.040385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:407.81, Y:396.30, Z:22.67 [[ 6.46996763e-01 -7.62485267e-01 -3.37738088e-03 4.07807424e+02] [ 7.62475610e-01 6.47005571e-01 -3.83858566e-03 3.96300587e+02] [ 5.11204926e-03 -9.16180534e-05 9.99986929e-01 2.26747161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.070385723 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:407.82, Y:396.32, Z:22.67 [[ 6.45726918e-01 -7.63560978e-01 -3.37329900e-03 4.07819650e+02] [ 7.63551318e-01 6.45735723e-01 -3.84210449e-03 3.96322017e+02] [ 5.11194073e-03 -9.47366024e-05 9.99986929e-01 2.26739166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.1003857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:407.84, Y:396.34, Z:22.67 [[ 6.45695179e-01 -7.63587982e-01 -3.33627076e-03 4.07836204e+02] [ 7.63578156e-01 6.45703796e-01 -3.87399311e-03 3.96344739e+02] [ 5.11237727e-03 -4.60848017e-05 9.99986931e-01 2.26749463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.130385723 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:407.86, Y:396.37, Z:22.67 [[ 6.48151803e-01 -7.61503852e-01 -3.33518747e-03 4.07859695e+02] [ 7.61493994e-01 6.48160383e-01 -3.87492550e-03 3.96368155e+02] [ 5.11250709e-03 -2.81852756e-05 9.99986931e-01 2.26734967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.160385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:407.87, Y:396.39, Z:22.67 [[ 6.46404902e-01 -7.62987040e-01 -3.38815857e-03 4.07869977e+02] [ 7.62977438e-01 6.46413772e-01 -3.82931013e-03 3.96389491e+02] [ 5.11186636e-03 -1.09803709e-04 9.99986928e-01 2.26745174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.190385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:407.89, Y:396.41, Z:22.67 [[ 6.47426440e-01 -7.62120654e-01 -3.33378385e-03 4.07887216e+02] [ 7.62110798e-01 6.47435022e-01 -3.87607742e-03 3.96411960e+02] [ 5.11244708e-03 -3.12376688e-05 9.99986931e-01 2.26744219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.2203857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:407.91, Y:396.44, Z:22.67 [[ 6.47608692e-01 -7.61965835e-01 -3.32390536e-03 4.07908350e+02] [ 7.61955933e-01 6.47617222e-01 -3.88457301e-03 3.96436224e+02] [ 5.11253027e-03 -1.69861684e-05 9.99986931e-01 2.26742935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.250385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:407.92, Y:396.46, Z:22.67 [[ 6.46933731e-01 -7.62538815e-01 -3.36206970e-03 4.07922089e+02] [ 7.62529090e-01 6.46942464e-01 -3.85179310e-03 3.96457677e+02] [ 5.11220739e-03 -7.18210620e-05 9.99986930e-01 2.26744685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.280385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:407.94, Y:396.48, Z:22.67 [[ 6.49448009e-01 -7.60398710e-01 -3.32964553e-03 4.07943490e+02] [ 7.60388813e-01 6.49456544e-01 -3.87962082e-03 3.96481627e+02] [ 5.11251874e-03 -1.22131939e-05 9.99986931e-01 2.26737052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.310385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:407.96, Y:396.50, Z:22.67 [[ 6.49198014e-01 -7.60612018e-01 -3.36101415e-03 4.07956715e+02] [ 7.60602263e-01 6.49206712e-01 -3.85270012e-03 3.96503129e+02] [ 5.11240296e-03 -5.52296981e-05 9.99986930e-01 2.26735378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.3403857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:407.97, Y:396.53, Z:22.67 [[ 6.51467955e-01 -7.58668853e-01 -3.32809914e-03 4.07973618e+02] [ 7.58658926e-01 6.51476456e-01 -3.88092649e-03 3.96525603e+02] [ 5.11251628e-03 3.40712510e-06 9.99986931e-01 2.26739031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.370385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:407.99, Y:396.55, Z:22.67 [[ 6.52170911e-01 -7.58064663e-01 -3.32700901e-03 4.07992029e+02] [ 7.58054724e-01 6.52179397e-01 -3.88186080e-03 3.96547415e+02] [ 5.11250823e-03 9.58179571e-06 9.99986931e-01 2.26737279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.400385723 meters Centerline goodness : 0.999059 Centerline is valid? [True, True] Translation: X:408.02, Y:396.57, Z:22.67 [[ 6.56145438e-01 -7.54627128e-01 -3.32592444e-03 4.08019246e+02] [ 7.54617140e-01 6.56153866e-01 -3.88278982e-03 3.96569596e+02] [ 5.11237671e-03 3.78752347e-05 9.99986931e-01 2.26703175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.430385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.03, Y:396.59, Z:22.67 [[ 6.54475938e-01 -7.56075202e-01 -3.39640424e-03 4.08029450e+02] [ 7.56065543e-01 6.54484748e-01 -3.82236435e-03 3.96590116e+02] [ 5.11288967e-03 -6.62587170e-05 9.99986927e-01 2.26749656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.460385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.05, Y:396.61, Z:22.67 [[ 6.55361874e-01 -7.55307726e-01 -3.32451734e-03 4.08046958e+02] [ 7.55297741e-01 6.55370306e-01 -3.88389774e-03 3.96610662e+02] [ 5.11232791e-03 3.43580667e-05 9.99986931e-01 2.26748548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.490385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.08, Y:396.63, Z:22.67 [[ 6.61314770e-01 -7.50101145e-01 -3.32378767e-03 4.08075209e+02] [ 7.50091091e-01 6.61323118e-01 -3.88452208e-03 3.96633667e+02] [ 5.11188208e-03 7.57483094e-05 9.99986931e-01 2.26746797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.520385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.09, Y:396.65, Z:22.67 [[ 6.62344335e-01 -7.49191878e-01 -3.39297307e-03 4.08092540e+02] [ 7.49182112e-01 6.62353026e-01 -3.82526700e-03 3.96653934e+02] [ 5.11320494e-03 -8.31080169e-06 9.99986927e-01 2.26736917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.550385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.10, Y:396.67, Z:22.67 [[ 6.60254336e-01 -7.51034447e-01 -3.38705381e-03 4.08102578e+02] [ 7.51024679e-01 6.60263023e-01 -3.83033746e-03 3.96674488e+02] [ 5.11306176e-03 -1.47640865e-05 9.99986928e-01 2.26749782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.580385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.13, Y:396.70, Z:22.68 [[ 6.65506652e-01 -7.46384521e-01 -3.32325008e-03 4.08131239e+02] [ 7.46374417e-01 6.65514941e-01 -3.88491671e-03 3.96696839e+02] [ 5.11131427e-03 1.05049073e-04 9.99986932e-01 2.26752010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.610385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:408.14, Y:396.72, Z:22.68 [[ 6.62904691e-01 -7.48696112e-01 -3.39156770e-03 4.08142224e+02] [ 7.48686334e-01 6.62913367e-01 -3.82642690e-03 3.96715560e+02] [ 5.11314651e-03 -2.66404365e-06 9.99986928e-01 2.26750086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.640385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:408.16, Y:396.74, Z:22.68 [[ 6.63416081e-01 -7.48243323e-01 -3.32156591e-03 4.08161220e+02] [ 7.48233237e-01 6.63424389e-01 -3.88625714e-03 3.96735658e+02] [ 5.11147379e-03 9.28994727e-05 9.99986932e-01 2.26765508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.670385723 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:408.19, Y:396.76, Z:22.68 [[ 6.66028506e-01 -7.45918899e-01 -3.32047189e-03 4.08186297e+02] [ 7.45908779e-01 6.66036774e-01 -3.88719166e-03 3.96756985e+02] [ 5.11108611e-03 1.12211326e-04 9.99986932e-01 2.26761283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.700385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.21, Y:396.78, Z:22.68 [[ 6.66008424e-01 -7.45936659e-01 -3.35855143e-03 4.08206023e+02] [ 7.45926702e-01 6.66016889e-01 -3.85466340e-03 3.96777634e+02] [ 5.11218672e-03 6.20051070e-05 9.99986931e-01 2.26767931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.730385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.23, Y:396.80, Z:22.68 [[ 6.66033612e-01 -7.45914218e-01 -3.34769656e-03 4.08225657e+02] [ 7.45904214e-01 6.66042021e-01 -3.86392631e-03 3.96799024e+02] [ 5.11186416e-03 7.64438308e-05 9.99986931e-01 2.26770904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.760385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:408.24, Y:396.82, Z:22.68 [[ 6.66254411e-01 -7.45717029e-01 -3.34257878e-03 4.08244997e+02] [ 7.45707001e-01 6.66262790e-01 -3.86828856e-03 3.96819206e+02] [ 5.11168452e-03 8.46799246e-05 9.99986932e-01 2.26782733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.790385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.26, Y:396.84, Z:22.68 [[ 6.66682695e-01 -7.45334229e-01 -3.32750766e-03 4.08264631e+02] [ 7.45324131e-01 6.66690990e-01 -3.88112363e-03 3.96839419e+02] [ 5.11115367e-03 1.07406203e-04 9.99986932e-01 2.26782515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.820385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:408.28, Y:396.86, Z:22.68 [[ 6.66822946e-01 -7.45208775e-01 -3.32273883e-03 4.08282888e+02] [ 7.45198656e-01 6.66831215e-01 -3.88518312e-03 3.96858648e+02] [ 5.11097853e-03 1.14628744e-04 9.99986932e-01 2.26766087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.8503857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.30, Y:396.88, Z:22.68 [[ 6.65965441e-01 -7.45975240e-01 -3.31261723e-03 4.08303449e+02] [ 7.45965087e-01 6.65973669e-01 -3.89379401e-03 3.96878065e+02] [ 5.11078976e-03 1.22035446e-04 9.99986932e-01 2.26771028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.880385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.32, Y:396.90, Z:22.68 [[ 6.67075771e-01 -7.44982502e-01 -3.31471813e-03 4.08323709e+02] [ 7.44972347e-01 6.67083994e-01 -3.89200724e-03 3.96898011e+02] [ 5.11067270e-03 1.26890388e-04 9.99986932e-01 2.26758523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.910385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:408.34, Y:396.92, Z:22.68 [[ 6.65030799e-01 -7.46808591e-01 -3.31121004e-03 4.08342827e+02] [ 7.46798443e-01 6.65039032e-01 -3.89498953e-03 3.96916821e+02] [ 5.11089557e-03 1.17481496e-04 9.99986932e-01 2.26768246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.940385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:408.36, Y:396.94, Z:22.68 [[ 6.64771632e-01 -7.47039389e-01 -3.29061101e-03 4.08363872e+02] [ 7.47029157e-01 6.64779761e-01 -3.91248636e-03 3.96937258e+02] [ 5.11031302e-03 1.42727572e-04 9.99986932e-01 2.26767253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.9703857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.38, Y:396.96, Z:22.68 [[ 6.63948380e-01 -7.47771150e-01 -3.29483493e-03 4.08383468e+02] [ 7.47760945e-01 6.63956542e-01 -3.90889942e-03 3.96956881e+02] [ 5.11058942e-03 1.31558554e-04 9.99986932e-01 2.26761706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.000385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.41, Y:396.98, Z:22.68 [[ 6.62858346e-01 -7.48737600e-01 -3.28947962e-03 4.08408447e+02] [ 7.48727384e-01 6.62866495e-01 -3.91344502e-03 3.96975460e+02] [ 5.11062926e-03 1.31136221e-04 9.99986932e-01 2.26775846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.030385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:408.43, Y:397.00, Z:22.68 [[ 6.62016266e-01 -7.49482181e-01 -3.30517384e-03 4.08429084e+02] [ 7.49472040e-01 6.62024508e-01 -3.90012358e-03 3.96995151e+02] [ 5.11117921e-03 1.04809865e-04 9.99986932e-01 2.26785337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.060385723 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:408.45, Y:397.01, Z:22.68 [[ 6.58653549e-01 -7.52439076e-01 -3.30766959e-03 4.08450499e+02] [ 7.52428983e-01 6.58661849e-01 -3.89800580e-03 3.97013587e+02] [ 5.11164765e-03 7.86488906e-05 9.99986932e-01 2.26797822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.0903857229999 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:408.47, Y:397.04, Z:22.68 [[ 6.58451342e-01 -7.52616064e-01 -3.30007754e-03 4.08468936e+02] [ 7.52605941e-01 6.58459606e-01 -3.90444414e-03 3.97035425e+02] [ 5.11151514e-03 8.72285184e-05 9.99986932e-01 2.26799247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.120385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.49, Y:397.05, Z:22.68 [[ 6.58140525e-01 -7.52887885e-01 -3.29889163e-03 4.08491057e+02] [ 7.52877761e-01 6.58148787e-01 -3.90544922e-03 3.97054828e+02] [ 5.11152693e-03 8.66722596e-05 9.99986932e-01 2.26780552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.150385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.51, Y:397.07, Z:22.68 [[ 6.55708364e-01 -7.55006965e-01 -3.32030429e-03 4.08512945e+02] [ 7.54996958e-01 6.55716769e-01 -3.88730166e-03 3.97073206e+02] [ 5.11211903e-03 4.21165702e-05 9.99986932e-01 2.26780324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.180385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.53, Y:397.09, Z:22.68 [[ 6.53838448e-01 -7.56626907e-01 -3.31774510e-03 4.08530325e+02] [ 7.56616911e-01 6.53846865e-01 -3.88946960e-03 3.97092222e+02] [ 5.11217458e-03 3.28227208e-05 9.99986932e-01 2.26791828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.210385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.55, Y:397.11, Z:22.68 [[ 6.52473880e-01 -7.57804014e-01 -3.30333466e-03 4.08553789e+02] [ 7.57793971e-01 6.52482241e-01 -3.90167014e-03 3.97110568e+02] [ 5.11206850e-03 4.24907651e-05 9.99986932e-01 2.26803862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.240385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.57, Y:397.13, Z:22.68 [[ 6.51681673e-01 -7.58485364e-01 -3.30898655e-03 4.08573063e+02] [ 7.58475354e-01 6.51690073e-01 -3.89688571e-03 3.97129767e+02] [ 5.11216446e-03 2.97442533e-05 9.99986932e-01 2.26802285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.270385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:408.59, Y:397.15, Z:22.68 [[ 6.51247205e-01 -7.58858468e-01 -3.30217894e-03 4.08592376e+02] [ 7.58848433e-01 6.51255575e-01 -3.90264589e-03 3.97148564e+02] [ 5.11211832e-03 3.57339089e-05 9.99986932e-01 2.26808768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.300385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.61, Y:397.17, Z:22.68 [[ 6.50961636e-01 -7.59103450e-01 -3.30158954e-03 4.08612974e+02] [ 7.59093417e-01 6.50970007e-01 -3.90314445e-03 3.97166961e+02] [ 5.11212618e-03 3.45824073e-05 9.99986932e-01 2.26804554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.330385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.63, Y:397.19, Z:22.68 [[ 6.51012721e-01 -7.59059643e-01 -3.30101570e-03 4.08632163e+02] [ 7.59049606e-01 6.51021089e-01 -3.90362970e-03 3.97187510e+02] [ 5.11211860e-03 3.56779306e-05 9.99986932e-01 2.26805092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.360385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.65, Y:397.21, Z:22.68 [[ 6.52410295e-01 -7.57858772e-01 -3.29994645e-03 4.08652992e+02] [ 7.57848715e-01 6.52418639e-01 -3.90453339e-03 3.97206752e+02] [ 5.11203145e-03 4.64976077e-05 9.99986932e-01 2.26809453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.390385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:408.67, Y:397.23, Z:22.68 [[ 6.52890115e-01 -7.57445453e-01 -3.29886526e-03 4.08672602e+02] [ 7.57435387e-01 6.52898447e-01 -3.90544665e-03 3.97227285e+02] [ 5.11198681e-03 5.11502320e-05 9.99986932e-01 2.26815029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.420385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.69, Y:397.25, Z:22.68 [[ 6.53742914e-01 -7.56709539e-01 -3.29778212e-03 4.08694036e+02] [ 7.56699459e-01 6.53751229e-01 -3.90636104e-03 3.97247351e+02] [ 5.11190978e-03 5.83259045e-05 9.99986932e-01 2.26824211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.450385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:408.71, Y:397.27, Z:22.68 [[ 6.53909519e-01 -7.56565577e-01 -3.29683884e-03 4.08712974e+02] [ 7.56555490e-01 6.53917827e-01 -3.90715698e-03 3.97267741e+02] [ 5.11188216e-03 6.06856128e-05 9.99986932e-01 2.26828311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.480385723 meters Centerline goodness : 0.999086 Centerline is valid? [True, True] Translation: X:408.73, Y:397.29, Z:22.68 [[ 6.54243626e-01 -7.56276680e-01 -3.29575952e-03 4.08732198e+02] [ 7.56266585e-01 6.54251924e-01 -3.90806719e-03 3.97288915e+02] [ 5.11183709e-03 6.43552536e-05 9.99986932e-01 2.26811325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.510385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:408.75, Y:397.31, Z:22.68 [[ 6.54592227e-01 -7.55974958e-01 -3.29822862e-03 4.08751352e+02] [ 7.55964870e-01 6.54600533e-01 -3.90598558e-03 3.97309537e+02] [ 5.11184950e-03 6.34828266e-05 9.99986932e-01 2.26829144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.540385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.77, Y:397.33, Z:22.68 [[ 6.54985556e-01 -7.55634217e-01 -3.29413958e-03 4.08769948e+02] [ 7.55624107e-01 6.54993836e-01 -3.90943106e-03 3.97330719e+02] [ 5.11174100e-03 7.14895955e-05 9.99986932e-01 2.26838811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.570385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:408.79, Y:397.35, Z:22.68 [[ 6.54937510e-01 -7.55675866e-01 -3.29303702e-03 4.08789451e+02] [ 7.55665752e-01 6.54945785e-01 -3.91035956e-03 3.97351582e+02] [ 5.11172506e-03 7.26058610e-05 9.99986932e-01 2.26823503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.6003857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.81, Y:397.37, Z:22.68 [[ 6.54703981e-01 -7.55878173e-01 -3.29926382e-03 4.08807663e+02] [ 7.55868088e-01 6.54712291e-01 -3.90511834e-03 3.97372632e+02] [ 5.11186229e-03 6.28882860e-05 9.99986932e-01 2.26832457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.630385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.83, Y:397.39, Z:22.68 [[ 6.54081493e-01 -7.56416930e-01 -3.29077694e-03 4.08825711e+02] [ 7.56406816e-01 6.54089767e-01 -3.91225704e-03 3.97393618e+02] [ 5.11176099e-03 6.97688160e-05 9.99986932e-01 2.26829579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.660385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.84, Y:397.41, Z:22.68 [[ 6.52191124e-01 -7.58047437e-01 -3.28969505e-03 4.08842407e+02] [ 7.58037339e-01 6.52199418e-01 -3.91316656e-03 3.97414501e+02] [ 5.11190308e-03 5.84208180e-05 9.99986932e-01 2.26813115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.690385723 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:408.86, Y:397.44, Z:22.68 [[ 6.51010068e-01 -7.59061969e-01 -3.28914599e-03 4.08859797e+02] [ 7.59051882e-01 6.51018375e-01 -3.91362801e-03 3.97436595e+02] [ 5.11198066e-03 5.11787834e-05 9.99986932e-01 2.26803971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.7203857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.88, Y:397.46, Z:22.68 [[ 6.48886215e-01 -7.60878354e-01 -3.28808173e-03 4.08878122e+02] [ 7.60868285e-01 6.48894544e-01 -3.91452196e-03 3.97459540e+02] [ 5.11209332e-03 3.82822307e-05 9.99986932e-01 2.26787419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.750385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.89, Y:397.48, Z:22.68 [[ 6.47375175e-01 -7.62164376e-01 -3.29360870e-03 4.08894708e+02] [ 7.62154347e-01 6.47383553e-01 -3.90988139e-03 3.97480900e+02] [ 5.11220041e-03 2.09219624e-05 9.99986932e-01 2.26803596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.780385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.91, Y:397.50, Z:22.68 [[ 6.44845843e-01 -7.64305591e-01 -3.28667928e-03 4.08911570e+02] [ 7.64295561e-01 6.44854219e-01 -3.91569766e-03 3.97501949e+02] [ 5.11221862e-03 1.30269792e-05 9.99986932e-01 2.26804840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.810385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.93, Y:397.52, Z:22.68 [[ 6.43491919e-01 -7.65445852e-01 -3.28605130e-03 4.08929919e+02] [ 7.65435834e-01 6.43500309e-01 -3.91622459e-03 3.97523884e+02] [ 5.11223290e-03 4.79746190e-06 9.99986932e-01 2.26797274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.8403857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.95, Y:397.55, Z:22.68 [[ 6.42089225e-01 -7.66622854e-01 -3.29036628e-03 4.08946573e+02] [ 7.66612870e-01 6.42097656e-01 -3.91260541e-03 3.97545329e+02] [ 5.11222920e-03 -1.01953617e-05 9.99986932e-01 2.26806136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.870385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.96, Y:397.57, Z:22.68 [[ 6.40036842e-01 -7.68337200e-01 -3.28459961e-03 4.08962981e+02] [ 7.68327213e-01 6.40045270e-01 -3.91744050e-03 3.97566492e+02] [ 5.11220771e-03 -1.63410194e-05 9.99986932e-01 2.26801728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.900385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.98, Y:397.59, Z:22.68 [[ 6.38539315e-01 -7.69582198e-01 -3.28387312e-03 4.08979786e+02] [ 7.69572225e-01 6.38547758e-01 -3.91804940e-03 3.97588922e+02] [ 5.11217089e-03 -2.53489646e-05 9.99986932e-01 2.26803555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.930385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.00, Y:397.61, Z:22.68 [[ 6.38145268e-01 -7.69909015e-01 -3.27520246e-03 4.09000095e+02] [ 7.69899008e-01 6.38153672e-01 -3.92531548e-03 3.97612441e+02] [ 5.11221825e-03 -1.66536343e-05 9.99986932e-01 2.26802741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.960385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.02, Y:397.63, Z:22.68 [[ 6.36758656e-01 -7.71056116e-01 -3.29851135e-03 4.09016060e+02] [ 7.71046226e-01 6.36767197e-01 -3.90578985e-03 3.97634516e+02] [ 5.11196697e-03 -5.62592314e-05 9.99986932e-01 2.26809549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.990385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.03, Y:397.66, Z:22.68 [[ 6.35725797e-01 -7.71907989e-01 -3.28153447e-03 4.09031246e+02] [ 7.71898036e-01 6.35734265e-01 -3.92000220e-03 3.97656592e+02] [ 5.11206492e-03 -4.09634903e-05 9.99986932e-01 2.26821463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.020385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.05, Y:397.68, Z:22.68 [[ 6.36774973e-01 -7.71042761e-01 -3.27023689e-03 4.09048808e+02] [ 7.71032749e-01 6.36783370e-01 -3.92945712e-03 3.97679582e+02] [ 5.11221193e-03 -1.92797860e-05 9.99986932e-01 2.26824645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.050385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.07, Y:397.70, Z:22.68 [[ 6.37877858e-01 -7.70130575e-01 -3.27650484e-03 4.09066625e+02] [ 7.70120577e-01 6.37886273e-01 -3.92421398e-03 3.97701259e+02] [ 5.11219463e-03 -2.01345862e-05 9.99986932e-01 2.26820607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.080385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.08, Y:397.72, Z:22.68 [[ 6.37376917e-01 -7.70545204e-01 -3.27942252e-03 4.09082773e+02] [ 7.70535224e-01 6.37385353e-01 -3.92177418e-03 3.97723582e+02] [ 5.11216017e-03 -2.72622330e-05 9.99986932e-01 2.26827374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.110385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.10, Y:397.74, Z:22.68 [[ 6.39485116e-01 -7.68796532e-01 -3.26790429e-03 4.09100319e+02] [ 7.68786480e-01 6.39493465e-01 -3.93139685e-03 3.97744903e+02] [ 5.11224771e-03 1.74913440e-06 9.99986932e-01 2.26806466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.140385723 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:409.12, Y:397.77, Z:22.68 [[ 6.39028676e-01 -7.69176010e-01 -3.25818528e-03 4.09119647e+02] [ 7.69165922e-01 6.39036982e-01 -3.93950621e-03 3.97768372e+02] [ 5.11227456e-03 1.13723550e-05 9.99986932e-01 2.26803859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.170385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.14, Y:397.79, Z:22.68 [[ 6.40490137e-01 -7.67959412e-01 -3.27499273e-03 4.09135438e+02] [ 7.67949380e-01 6.40498510e-01 -3.92548392e-03 3.97788716e+02] [ 5.11224029e-03 -7.94903254e-07 9.99986932e-01 2.26820158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.200385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.15, Y:397.81, Z:22.68 [[ 6.41464670e-01 -7.67145656e-01 -3.25861576e-03 4.09153142e+02] [ 7.67135544e-01 6.41472947e-01 -3.93913248e-03 3.97809934e+02] [ 5.11220223e-03 2.70143430e-05 9.99986932e-01 2.26814921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.230385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.17, Y:397.83, Z:22.68 [[ 6.43006164e-01 -7.65854110e-01 -3.24889284e-03 4.09172813e+02] [ 7.65843939e-01 6.43014370e-01 -3.94723128e-03 3.97832641e+02] [ 5.11208808e-03 4.99491561e-05 9.99986932e-01 2.26833806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.260385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.19, Y:397.86, Z:22.68 [[ 6.42047342e-01 -7.66658011e-01 -3.27188869e-03 4.09189728e+02] [ 7.66647948e-01 6.42055679e-01 -3.92807691e-03 3.97855016e+02] [ 5.11222634e-03 1.36245837e-05 9.99986932e-01 2.26840637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.290385723 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:409.21, Y:397.88, Z:22.68 [[ 6.41725784e-01 -7.66927191e-01 -3.27142690e-03 4.09207068e+02] [ 7.66917129e-01 6.41734122e-01 -3.92846146e-03 3.97876886e+02] [ 5.11223019e-03 1.20816844e-05 9.99986932e-01 2.26816007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.320385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.23, Y:397.90, Z:22.68 [[ 6.41766888e-01 -7.66892800e-01 -3.27040987e-03 4.09226617e+02] [ 7.66882734e-01 6.41775220e-01 -3.92930795e-03 3.97899307e+02] [ 5.11222599e-03 1.36788759e-05 9.99986932e-01 2.26849003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.3503857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.24, Y:397.92, Z:22.69 [[ 6.41155402e-01 -7.67404045e-01 -3.28356758e-03 4.09244119e+02] [ 7.67394042e-01 6.41163810e-01 -3.91835690e-03 3.97920912e+02] [ 5.11226764e-03 -7.51450905e-06 9.99986932e-01 2.26861403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.380385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.26, Y:397.94, Z:22.69 [[ 6.39780812e-01 -7.68550430e-01 -3.27875439e-03 4.09261171e+02] [ 7.68540421e-01 6.39789213e-01 -3.92236049e-03 3.97943551e+02] [ 5.11224353e-03 -1.04042971e-05 9.99986932e-01 2.26868090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.410385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.28, Y:397.96, Z:22.69 [[ 6.40153556e-01 -7.68240028e-01 -3.26864264e-03 4.09278671e+02] [ 7.68229972e-01 6.40161901e-01 -3.93076550e-03 3.97964627e+02] [ 5.11223189e-03 5.22427005e-06 9.99986932e-01 2.26872764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.440385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.30, Y:397.99, Z:22.69 [[ 6.39963172e-01 -7.68398639e-01 -3.26664367e-03 4.09295695e+02] [ 7.68388576e-01 6.39971509e-01 -3.93242604e-03 3.97985354e+02] [ 5.11222969e-03 6.55616112e-06 9.99986932e-01 2.26869317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.4703857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.31, Y:398.01, Z:22.69 [[ 6.39593110e-01 -7.68706698e-01 -3.26590401e-03 4.09313209e+02] [ 7.68696636e-01 6.39601448e-01 -3.93304024e-03 3.98006750e+02] [ 5.11223131e-03 5.05601034e-06 9.99986932e-01 2.26868443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.500385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:409.33, Y:398.03, Z:22.68 [[ 6.38268522e-01 -7.69806881e-01 -3.26484112e-03 4.09330099e+02] [ 7.69796830e-01 6.38276872e-01 -3.93392235e-03 3.98029167e+02] [ 5.11223307e-03 -2.36553724e-06 9.99986932e-01 2.26844316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.530385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.35, Y:398.05, Z:22.69 [[ 6.36920544e-01 -7.70922544e-01 -3.26377824e-03 4.09347742e+02] [ 7.70912502e-01 6.36928906e-01 -3.93480397e-03 3.98051862e+02] [ 5.11222379e-03 -9.92996566e-06 9.99986932e-01 2.26858548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.560385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.36, Y:398.07, Z:22.69 [[ 6.36893445e-01 -7.70944929e-01 -3.26430160e-03 4.09364615e+02] [ 7.70934890e-01 6.36901810e-01 -3.93436995e-03 3.98072541e+02] [ 5.11222216e-03 -1.07895635e-05 9.99986932e-01 2.26857176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.5903857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.38, Y:398.09, Z:22.69 [[ 6.35329603e-01 -7.72234194e-01 -3.26264457e-03 4.09380708e+02] [ 7.72224165e-01 6.35337980e-01 -3.93574359e-03 3.98094689e+02] [ 5.11219779e-03 -1.89985665e-05 9.99986932e-01 2.26853354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.620385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.40, Y:398.12, Z:22.68 [[ 6.34089373e-01 -7.73252886e-01 -3.26203532e-03 4.09395322e+02] [ 7.73242868e-01 6.34097763e-01 -3.93624848e-03 3.98115147e+02] [ 5.11216480e-03 -2.64122145e-05 9.99986932e-01 2.26836327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.650385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:409.42, Y:398.14, Z:22.68 [[ 6.33161187e-01 -7.74013184e-01 -3.24085333e-03 4.09415200e+02] [ 7.74003086e-01 6.33169481e-01 -3.95378943e-03 3.98138929e+02] [ 5.11229457e-03 -5.04447124e-06 9.99986932e-01 2.26840610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.680385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.43, Y:398.16, Z:22.68 [[ 6.33407200e-01 -7.73811730e-01 -3.27495206e-03 4.09431439e+02] [ 7.73801774e-01 6.33415665e-01 -3.92554839e-03 3.98159816e+02] [ 5.11204133e-03 -4.76931027e-05 9.99986932e-01 2.26842887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.710385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:409.45, Y:398.18, Z:22.69 [[ 6.32027380e-01 -7.74939203e-01 -3.25911332e-03 4.09447924e+02] [ 7.74929195e-01 6.32035782e-01 -3.93865446e-03 3.98182705e+02] [ 5.11209398e-03 -3.62446010e-05 9.99986933e-01 2.26866995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.740385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.46, Y:398.21, Z:22.69 [[ 6.32373635e-01 -7.74656641e-01 -3.26712979e-03 4.09464845e+02] [ 7.74646663e-01 6.32382073e-01 -3.93202507e-03 3.98205254e+02] [ 5.11204364e-03 -4.43622013e-05 9.99986932e-01 2.26873119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.770385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:409.48, Y:398.23, Z:22.69 [[ 6.32717566e-01 -7.74375797e-01 -3.25676092e-03 4.09481386e+02] [ 7.74365771e-01 6.32725947e-01 -3.94059456e-03 3.98226918e+02] [ 5.11213820e-03 -2.86407816e-05 9.99986933e-01 2.26868676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.800385723 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:409.50, Y:398.25, Z:22.68 [[ 6.33589072e-01 -7.73662901e-01 -3.25615607e-03 4.09498177e+02] [ 7.73652863e-01 6.33597439e-01 -3.94109430e-03 3.98249090e+02] [ 5.11217060e-03 -2.21001848e-05 9.99986933e-01 2.26844808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.830385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.52, Y:398.27, Z:22.69 [[ 6.34986622e-01 -7.72516275e-01 -3.25507231e-03 4.09515051e+02] [ 7.72506217e-01 6.34994965e-01 -3.94198921e-03 3.98271494e+02] [ 5.11220534e-03 -1.14531861e-05 9.99986933e-01 2.26854397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.860385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.53, Y:398.29, Z:22.68 [[ 6.35380601e-01 -7.72192271e-01 -3.25397322e-03 4.09531349e+02] [ 7.72182205e-01 6.35388933e-01 -3.94289626e-03 3.98292605e+02] [ 5.11221259e-03 -7.42042598e-06 9.99986933e-01 2.26848904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.890385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.55, Y:398.32, Z:22.69 [[ 6.35310254e-01 -7.72250151e-01 -3.25337767e-03 4.09549637e+02] [ 7.72240083e-01 6.35318585e-01 -3.94338760e-03 3.98315767e+02] [ 5.11221297e-03 -7.11406504e-06 9.99986933e-01 2.26850596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.920385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.57, Y:398.34, Z:22.69 [[ 6.35576999e-01 -7.72030600e-01 -3.26053269e-03 4.09565612e+02] [ 7.72020559e-01 6.35585362e-01 -3.93748656e-03 3.98336911e+02] [ 5.11220697e-03 -1.46223802e-05 9.99986933e-01 2.26860354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.950385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:409.58, Y:398.36, Z:22.69 [[ 6.34730178e-01 -7.72727008e-01 -3.25139065e-03 4.09583260e+02] [ 7.72716938e-01 6.34738506e-01 -3.94502121e-03 3.98360107e+02] [ 5.11220728e-03 -8.38061093e-06 9.99986933e-01 2.26863866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.980385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.60, Y:398.38, Z:22.69 [[ 6.32510207e-01 -7.74545191e-01 -3.25354763e-03 4.09598519e+02] [ 7.74535154e-01 6.32518574e-01 -3.94324407e-03 3.98382403e+02] [ 5.11215003e-03 -2.58448919e-05 9.99986933e-01 2.26865541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.010385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.62, Y:398.40, Z:22.69 [[ 6.32365877e-01 -7.74663129e-01 -3.23007071e-03 4.09616656e+02] [ 7.74652994e-01 6.32374127e-01 -3.96257988e-03 3.98404456e+02] [ 5.11227767e-03 3.61635703e-06 9.99986932e-01 2.26866888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.040385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.63, Y:398.43, Z:22.69 [[ 6.31350508e-01 -7.75490884e-01 -3.22885319e-03 4.09633497e+02] [ 7.75480755e-01 6.31358764e-01 -3.96358216e-03 3.98425882e+02] [ 5.11228659e-03 -1.50389463e-06 9.99986932e-01 2.26865259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.070385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:409.65, Y:398.45, Z:22.69 [[ 6.29629860e-01 -7.76888558e-01 -3.22617033e-03 4.09650345e+02] [ 7.76878436e-01 6.29638125e-01 -3.96578964e-03 3.98448287e+02] [ 5.11229644e-03 -9.36258745e-06 9.99986932e-01 2.26873356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.1003857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.67, Y:398.47, Z:22.69 [[ 6.28660764e-01 -7.77672959e-01 -3.22707404e-03 4.09667503e+02] [ 7.77662851e-01 6.28669046e-01 -3.96504590e-03 3.98470461e+02] [ 5.11227053e-03 -1.69068147e-05 9.99986932e-01 2.26880936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.130385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:409.68, Y:398.49, Z:22.69 [[ 6.26739355e-01 -7.79222314e-01 -3.21970104e-03 4.09683570e+02] [ 7.79212195e-01 6.26747625e-01 -3.97111094e-03 3.98493533e+02] [ 5.11231823e-03 -1.99788066e-05 9.99986932e-01 2.26875787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.160385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:409.70, Y:398.52, Z:22.69 [[ 6.28518943e-01 -7.77787633e-01 -3.21510749e-03 4.09704527e+02] [ 7.77777476e-01 6.28527166e-01 -3.97488862e-03 3.98516656e+02] [ 5.11240161e-03 -2.34539419e-06 9.99986932e-01 2.26888639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.190385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:409.72, Y:398.54, Z:22.69 [[ 6.27729546e-01 -7.78424735e-01 -3.24776704e-03 4.09721422e+02] [ 7.78414725e-01 6.27737946e-01 -3.94802186e-03 3.98540717e+02] [ 5.11198448e-03 -4.98197159e-05 9.99986933e-01 2.26882066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.2203857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.73, Y:398.56, Z:22.69 [[ 6.26516116e-01 -7.79401659e-01 -3.25735425e-03 4.09734125e+02] [ 7.79391703e-01 6.26524580e-01 -3.94013944e-03 3.98562121e+02] [ 5.11176372e-03 -7.01940204e-05 9.99986932e-01 2.26889186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.250385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.75, Y:398.59, Z:22.69 [[ 6.27424456e-01 -7.78670773e-01 -3.22185103e-03 4.09749420e+02] [ 7.78660656e-01 6.27432728e-01 -3.96932547e-03 3.98586425e+02] [ 5.11229251e-03 -1.82767641e-05 9.99986932e-01 2.26886193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.280385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.77, Y:398.61, Z:22.69 [[ 6.30156488e-01 -7.76461485e-01 -3.21928993e-03 4.09769101e+02] [ 7.76451328e-01 6.30164711e-01 -3.97142995e-03 3.98609078e+02] [ 5.11234531e-03 3.00040451e-06 9.99986932e-01 2.26892149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.310385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.78, Y:398.63, Z:22.69 [[ 6.29208997e-01 -7.77229396e-01 -3.24115694e-03 4.09781680e+02] [ 7.77219341e-01 6.29217344e-01 -3.95345834e-03 3.98634151e+02] [ 5.11213620e-03 -3.15383058e-05 9.99986932e-01 2.26889023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.3403857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.80, Y:398.66, Z:22.69 [[ 6.31356997e-01 -7.75485636e-01 -3.22032566e-03 4.09800970e+02] [ 7.75475471e-01 6.31365210e-01 -3.97056651e-03 3.98656908e+02] [ 5.11231888e-03 9.56139265e-06 9.99986932e-01 2.26882121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.370385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.82, Y:398.68, Z:22.69 [[ 6.31619063e-01 -7.75272102e-01 -3.24458250e-03 4.09817019e+02] [ 7.75262036e-01 6.31627396e-01 -3.95064487e-03 3.98681723e+02] [ 5.11219195e-03 -2.00990285e-05 9.99986932e-01 2.26866203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.400385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.83, Y:398.70, Z:22.69 [[ 6.31052123e-01 -7.75733651e-01 -3.24365719e-03 4.09833806e+02] [ 7.75723587e-01 6.31060459e-01 -3.95140444e-03 3.98704531e+02] [ 5.11218119e-03 -2.26392311e-05 9.99986932e-01 2.26863835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.430385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:409.85, Y:398.73, Z:22.69 [[ 6.27337596e-01 -7.78740667e-01 -3.24259779e-03 4.09846145e+02] [ 7.78730639e-01 6.27345975e-01 -3.95227362e-03 3.98727806e+02] [ 5.11202686e-03 -4.57004209e-05 9.99986932e-01 2.26873234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.460385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.86, Y:398.75, Z:22.69 [[ 6.26728617e-01 -7.79230956e-01 -3.21839893e-03 4.09863041e+02] [ 7.79220832e-01 6.26736881e-01 -3.97212571e-03 3.98750540e+02] [ 5.11229262e-03 -1.83986345e-05 9.99986932e-01 2.26881324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.490385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.88, Y:398.77, Z:22.69 [[ 6.27513991e-01 -7.78598659e-01 -3.21236045e-03 4.09882478e+02] [ 7.78588501e-01 6.27522214e-01 -3.97707813e-03 3.98773552e+02] [ 5.11237524e-03 -5.43474082e-06 9.99986932e-01 2.26883917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.520385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.90, Y:398.80, Z:22.69 [[ 6.26871695e-01 -7.79115760e-01 -3.24208387e-03 4.09898674e+02] [ 7.79105735e-01 6.26880077e-01 -3.95269838e-03 3.98795311e+02] [ 5.11200738e-03 -4.80914004e-05 9.99986932e-01 2.26878353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.550385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:409.92, Y:398.82, Z:22.69 [[ 6.26265926e-01 -7.79602773e-01 -3.24134216e-03 4.09915707e+02] [ 7.79592751e-01 6.26274312e-01 -3.95330651e-03 3.98818060e+02] [ 5.11197805e-03 -5.11056850e-05 9.99986932e-01 2.26890615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.580385723 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:409.93, Y:398.84, Z:22.69 [[ 6.25888524e-01 -7.79905800e-01 -3.24021898e-03 4.09930519e+02] [ 7.79895778e-01 6.25896909e-01 -3.95422688e-03 3.98840289e+02] [ 5.11196752e-03 -5.21278786e-05 9.99986932e-01 2.26869962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.610385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:409.95, Y:398.86, Z:22.69 [[ 6.24486505e-01 -7.81028879e-01 -3.23960016e-03 4.09948956e+02] [ 7.81018869e-01 6.24494905e-01 -3.95473380e-03 3.98864705e+02] [ 5.11187510e-03 -6.05109620e-05 9.99986932e-01 2.26896616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.640385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.96, Y:398.89, Z:22.69 [[ 6.25702574e-01 -7.80054897e-01 -3.26296764e-03 4.09963812e+02] [ 7.80044973e-01 6.25711077e-01 -3.93561152e-03 3.98886775e+02] [ 5.11166803e-03 -8.27392386e-05 9.99986932e-01 2.26888709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.670385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:409.98, Y:398.91, Z:22.69 [[ 6.26145697e-01 -7.79699363e-01 -3.23567222e-03 4.09980497e+02] [ 7.79689318e-01 6.26154056e-01 -3.95792599e-03 3.98908799e+02] [ 5.11202166e-03 -4.45807368e-05 9.99986933e-01 2.26892817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.700385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.00, Y:398.93, Z:22.69 [[ 6.27298595e-01 -7.78772117e-01 -3.23457427e-03 4.09996563e+02] [ 7.78762056e-01 6.27306933e-01 -3.95882308e-03 3.98931469e+02] [ 5.11209190e-03 -3.55995565e-05 9.99986933e-01 2.26893265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.730385723 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:410.01, Y:398.95, Z:22.69 [[ 6.27682213e-01 -7.78462962e-01 -3.23348239e-03 4.10012907e+02] [ 7.78452892e-01 6.27690541e-01 -3.95971470e-03 3.98952678e+02] [ 5.11211755e-03 -3.16712318e-05 9.99986933e-01 2.26890372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.760385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.03, Y:398.98, Z:22.69 [[ 6.27408597e-01 -7.78683505e-01 -3.23288309e-03 4.10029818e+02] [ 7.78673435e-01 6.27416925e-01 -3.96020394e-03 3.98975116e+02] [ 5.11211105e-03 -3.26941868e-05 9.99986933e-01 2.26890326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.790385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.05, Y:399.00, Z:22.69 [[ 6.29449611e-01 -7.77034609e-01 -3.22547362e-03 4.10045860e+02] [ 7.77024487e-01 6.29457874e-01 -3.96624855e-03 3.98997712e+02] [ 5.11221216e-03 -9.71837607e-06 9.99986933e-01 2.26889535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.820385723 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:410.06, Y:399.02, Z:22.69 [[ 6.30003851e-01 -7.76585287e-01 -3.23127864e-03 4.10062383e+02] [ 7.76575182e-01 6.30012137e-01 -3.96151358e-03 3.99020046e+02] [ 5.11219792e-03 -1.35619907e-05 9.99986933e-01 2.26892310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.8503857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.08, Y:399.04, Z:22.69 [[ 6.30773078e-01 -7.75960624e-01 -3.23016793e-03 4.10078293e+02] [ 7.75950507e-01 6.30781349e-01 -3.96241903e-03 3.99042488e+02] [ 5.11221083e-03 -7.06319245e-06 9.99986933e-01 2.26883511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.880385723 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:410.10, Y:399.06, Z:22.69 [[ 6.30590854e-01 -7.76108720e-01 -3.22958101e-03 4.10096040e+02] [ 7.76098602e-01 6.30599124e-01 -3.96289734e-03 3.99064421e+02] [ 5.11221014e-03 -7.50648662e-06 9.99986933e-01 2.26892660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.910385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.11, Y:399.09, Z:22.69 [[ 6.30118610e-01 -7.76492186e-01 -3.22846242e-03 4.10113577e+02] [ 7.76482069e-01 6.30126881e-01 -3.96380842e-03 3.99085153e+02] [ 5.11220722e-03 -9.17372751e-06 9.99986933e-01 2.26890503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.940385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.13, Y:399.11, Z:22.69 [[ 6.29816599e-01 -7.76737171e-01 -3.22784136e-03 4.10131381e+02] [ 7.76727055e-01 6.29824870e-01 -3.96431410e-03 3.99107144e+02] [ 5.11220488e-03 -1.03608878e-05 9.99986933e-01 2.26895621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.9703857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.15, Y:399.13, Z:22.69 [[ 6.29488351e-01 -7.77003220e-01 -3.22677053e-03 4.10148941e+02] [ 7.76993102e-01 6.29496621e-01 -3.96518552e-03 3.99129679e+02] [ 5.11220306e-03 -1.11403486e-05 9.99986933e-01 2.26900892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.000385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.17, Y:399.15, Z:22.69 [[ 6.29262833e-01 -7.77185874e-01 -3.22575044e-03 4.10166909e+02] [ 7.77175754e-01 6.29271100e-01 -3.96601520e-03 3.99152612e+02] [ 5.11220252e-03 -1.13090682e-05 9.99986933e-01 2.26903172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.030385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.18, Y:399.17, Z:22.69 [[ 6.25943501e-01 -7.79861740e-01 -3.22479247e-03 4.10179906e+02] [ 7.79851652e-01 6.25951807e-01 -3.96679399e-03 3.99173805e+02] [ 5.11211553e-03 -3.18708179e-05 9.99986933e-01 2.26873901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.060385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:410.20, Y:399.19, Z:22.69 [[ 6.26639392e-01 -7.79302847e-01 -3.18518759e-03 4.10196726e+02] [ 7.79292587e-01 6.26647486e-01 -3.99895585e-03 3.99194104e+02] [ 5.11238748e-03 2.37101838e-05 9.99986931e-01 2.26868898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.0903857229999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:410.22, Y:399.22, Z:22.69 [[ 6.29395096e-01 -7.77079032e-01 -3.16089615e-03 4.10221411e+02] [ 7.77068644e-01 6.29403029e-01 -4.01865196e-03 3.99216575e+02] [ 5.11228779e-03 7.30865497e-05 9.99986930e-01 2.26921637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.120385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.24, Y:399.24, Z:22.69 [[ 6.30131732e-01 -7.76481645e-01 -3.20239132e-03 4.10240446e+02] [ 7.76471420e-01 6.30139869e-01 -3.98499557e-03 3.99238591e+02] [ 5.11223036e-03 2.45068199e-05 9.99986932e-01 2.26915026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.150385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.26, Y:399.26, Z:22.69 [[ 6.33070078e-01 -7.74087790e-01 -3.22023910e-03 4.10258305e+02] [ 7.74077607e-01 6.33078268e-01 -3.97052036e-03 3.99260351e+02] [ 5.11219472e-03 2.09026610e-05 9.99986932e-01 2.26908736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.180385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.28, Y:399.28, Z:22.69 [[ 6.34805262e-01 -7.72665462e-01 -3.21915373e-03 4.10276694e+02] [ 7.72655257e-01 6.34813423e-01 -3.97140014e-03 3.99282179e+02] [ 5.11212573e-03 3.37696522e-05 9.99986932e-01 2.26906525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.210385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.29, Y:399.30, Z:22.69 [[ 6.33768293e-01 -7.73516254e-01 -3.21805005e-03 4.10290646e+02] [ 7.73506055e-01 6.33776463e-01 -3.97229426e-03 3.99303826e+02] [ 5.11215855e-03 2.83329532e-05 9.99986932e-01 2.26857982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.240385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.31, Y:399.32, Z:22.69 [[ 6.36158799e-01 -7.71551577e-01 -3.18538018e-03 4.10309660e+02] [ 7.71541219e-01 6.36166768e-01 -3.99875909e-03 3.99323166e+02] [ 5.11168189e-03 8.61936721e-05 9.99986932e-01 2.26853276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.270385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.33, Y:399.34, Z:22.69 [[ 6.40879982e-01 -7.67634544e-01 -3.17098293e-03 4.10334518e+02] [ 7.67624080e-01 6.40887812e-01 -4.01041293e-03 3.99343689e+02] [ 5.11077581e-03 1.36070509e-04 9.99986931e-01 2.26898594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.300385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.35, Y:399.36, Z:22.68 [[ 6.38863697e-01 -7.69313215e-01 -3.21770427e-03 4.10349169e+02] [ 7.69302961e-01 6.38871797e-01 -3.97256956e-03 3.99364113e+02] [ 5.11185077e-03 6.25410534e-05 9.99986932e-01 2.26839806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.330385723 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:410.37, Y:399.38, Z:22.69 [[ 6.39778438e-01 -7.68552858e-01 -3.17113259e-03 4.10369143e+02] [ 7.68542405e-01 6.39786284e-01 -4.01027962e-03 3.99384639e+02] [ 5.11095900e-03 1.28540558e-04 9.99986931e-01 2.26851749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.360385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:410.39, Y:399.40, Z:22.69 [[ 6.41031277e-01 -7.67508189e-01 -3.17519108e-03 4.10390501e+02] [ 7.67497740e-01 6.41039127e-01 -4.00699420e-03 3.99403125e+02] [ 5.11082258e-03 1.31656629e-04 9.99986931e-01 2.26864124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.390385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:410.41, Y:399.42, Z:22.69 [[ 6.40437997e-01 -7.68003304e-01 -3.17749200e-03 4.10410277e+02] [ 7.67992871e-01 6.40445868e-01 -4.00513341e-03 3.99424390e+02] [ 5.11096732e-03 1.24748416e-04 9.99986931e-01 2.26874348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.420385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:410.43, Y:399.44, Z:22.69 [[ 6.40525622e-01 -7.67930193e-01 -3.18532472e-03 4.10429201e+02] [ 7.67919791e-01 6.40533531e-01 -3.99878893e-03 3.99444118e+02] [ 5.11109805e-03 1.15252873e-04 9.99986932e-01 2.26881888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.450385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.46, Y:399.46, Z:22.69 [[ 6.43479796e-01 -7.65456503e-01 -3.17716949e-03 4.10456178e+02] [ 7.65446037e-01 6.43487623e-01 -4.00539068e-03 3.99462874e+02] [ 5.11042159e-03 1.45436182e-04 9.99986931e-01 2.26936202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.480385723 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:410.48, Y:399.48, Z:22.69 [[ 6.42573616e-01 -7.66217198e-01 -3.21754098e-03 4.10475678e+02] [ 7.66206905e-01 6.42581666e-01 -3.97269325e-03 3.99483416e+02] [ 5.11147873e-03 8.74457551e-05 9.99986933e-01 2.26923704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.510385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.50, Y:399.50, Z:22.70 [[ 6.41873996e-01 -7.66803383e-01 -3.21647289e-03 4.10498333e+02] [ 7.66793092e-01 6.41882049e-01 -3.97355783e-03 3.99502621e+02] [ 5.11153379e-03 8.41542543e-05 9.99986933e-01 2.26968635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.540385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.52, Y:399.52, Z:22.70 [[ 6.40797002e-01 -7.67703629e-01 -3.21549962e-03 4.10517645e+02] [ 7.67693346e-01 6.40805065e-01 -3.97434527e-03 3.99522467e+02] [ 5.11162773e-03 7.82308735e-05 9.99986933e-01 2.26982082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.570385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.54, Y:399.54, Z:22.70 [[ 6.38738417e-01 -7.69417230e-01 -3.21873876e-03 4.10535154e+02] [ 7.69406982e-01 6.38746524e-01 -3.97172509e-03 3.99542711e+02] [ 5.11187191e-03 6.03733242e-05 9.99986932e-01 2.26970627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.6003857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.56, Y:399.56, Z:22.70 [[ 6.37519544e-01 -7.70427514e-01 -3.20580956e-03 4.10557774e+02] [ 7.70417225e-01 6.37527601e-01 -3.98217599e-03 3.99561244e+02] [ 5.11177002e-03 6.89041217e-05 9.99986932e-01 2.26974602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.630385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.58, Y:399.58, Z:22.70 [[ 6.37619654e-01 -7.70344632e-01 -3.21320264e-03 4.10577231e+02] [ 7.70334373e-01 6.37627747e-01 -3.97620158e-03 3.99580230e+02] [ 5.11187270e-03 6.00638364e-05 9.99986933e-01 2.27000757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.660385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.60, Y:399.60, Z:22.70 [[ 6.36952935e-01 -7.70895997e-01 -3.21250233e-03 4.10598708e+02] [ 7.70885742e-01 6.36961033e-01 -3.97676730e-03 3.99598901e+02] [ 5.11191280e-03 5.65413609e-05 9.99986933e-01 2.27010490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.690385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.62, Y:399.62, Z:22.70 [[ 6.36754076e-01 -7.71060266e-01 -3.21139422e-03 4.10617901e+02] [ 7.71050008e-01 6.36762172e-01 -3.97766194e-03 3.99619557e+02] [ 5.11191143e-03 5.66469217e-05 9.99986933e-01 2.27010737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.7203857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.64, Y:399.64, Z:22.70 [[ 6.36813344e-01 -7.71011322e-01 -3.21027843e-03 4.10637437e+02] [ 7.71001059e-01 6.36821433e-01 -3.97856227e-03 3.99638042e+02] [ 5.11189066e-03 5.84734698e-05 9.99986933e-01 2.26994803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.750385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.66, Y:399.66, Z:22.70 [[ 6.36659341e-01 -7.71138497e-01 -3.20974370e-03 4.10656901e+02] [ 7.71128233e-01 6.36667429e-01 -3.97899362e-03 3.99658953e+02] [ 5.11189443e-03 5.81394664e-05 9.99986933e-01 2.26990644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.780385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.68, Y:399.68, Z:22.70 [[ 6.35891180e-01 -7.71772060e-01 -3.20863403e-03 4.10679031e+02] [ 7.71761800e-01 6.35899273e-01 -3.97988825e-03 3.99678544e+02] [ 5.11193460e-03 5.44746587e-05 9.99986933e-01 2.26985245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.810385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.70, Y:399.70, Z:22.70 [[ 6.34879675e-01 -7.72604368e-01 -3.20766910e-03 4.10698407e+02] [ 7.72594115e-01 6.34887776e-01 -3.98066580e-03 3.99698864e+02] [ 5.11198969e-03 4.90175368e-05 9.99986933e-01 2.26988192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.8403857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.72, Y:399.72, Z:22.70 [[ 6.33537086e-01 -7.73705680e-01 -3.20656604e-03 4.10717379e+02] [ 7.73695436e-01 6.33545199e-01 -3.98155415e-03 3.99718934e+02] [ 5.11205558e-03 4.15566997e-05 9.99986933e-01 2.26984834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.870385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.74, Y:399.74, Z:22.70 [[ 6.29741875e-01 -7.76797846e-01 -3.20581715e-03 4.10737927e+02] [ 7.76787639e-01 6.29750035e-01 -3.98215705e-03 3.99737889e+02] [ 5.11219448e-03 1.74919139e-05 9.99986933e-01 2.27005972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.900385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.76, Y:399.76, Z:22.70 [[ 6.29526932e-01 -7.76972053e-01 -3.20471410e-03 4.10755804e+02] [ 7.76961844e-01 6.29535089e-01 -3.98304455e-03 3.99760204e+02] [ 5.11219428e-03 1.74932329e-05 9.99986933e-01 2.27007428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.930385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.78, Y:399.78, Z:22.70 [[ 6.27459027e-01 -7.78642990e-01 -3.20361184e-03 4.10775038e+02] [ 7.78632798e-01 6.27467206e-01 -3.98393091e-03 3.99780770e+02] [ 5.11222125e-03 5.31615962e-06 9.99986933e-01 2.27019374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.960385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.80, Y:399.80, Z:22.70 [[ 6.24900337e-01 -7.80697965e-01 -3.20250495e-03 4.10797127e+02] [ 7.80687796e-01 6.24908543e-01 -3.98482049e-03 3.99801363e+02] [ 5.11221395e-03 -1.00408618e-05 9.99986933e-01 2.26999511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.990385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:410.81, Y:399.82, Z:22.70 [[ 6.22451125e-01 -7.82652059e-01 -3.21745634e-03 4.10813589e+02] [ 7.82641977e-01 6.22459439e-01 -3.97280549e-03 3.99821462e+02] [ 5.11206046e-03 -4.52391410e-05 9.99986932e-01 2.27035714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.020385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:410.83, Y:399.84, Z:22.70 [[ 6.21241995e-01 -7.83612235e-01 -3.20128736e-03 4.10831445e+02] [ 7.83602099e-01 6.21250242e-01 -3.98579201e-03 3.99842241e+02] [ 5.11211593e-03 -3.23941189e-05 9.99986933e-01 2.27034716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.050385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.85, Y:399.86, Z:22.70 [[ 6.19971045e-01 -7.84618162e-01 -3.20068063e-03 4.10850388e+02] [ 7.84608036e-01 6.19979305e-01 -3.98627917e-03 3.99863640e+02] [ 5.11206278e-03 -3.99020827e-05 9.99986933e-01 2.27038377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.080385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:410.87, Y:399.89, Z:22.70 [[ 6.19659848e-01 -7.84863959e-01 -3.19959968e-03 4.10868333e+02] [ 7.84853833e-01 6.19668108e-01 -3.98714660e-03 3.99885523e+02] [ 5.11205755e-03 -4.05434172e-05 9.99986933e-01 2.27037361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.110385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.88, Y:399.91, Z:22.70 [[ 6.17901165e-01 -7.86249274e-01 -3.19852746e-03 4.10881274e+02] [ 7.86239161e-01 6.17909441e-01 -3.98800656e-03 3.99907070e+02] [ 5.11196758e-03 -5.06136451e-05 9.99986933e-01 2.27036006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.140385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.90, Y:399.93, Z:22.70 [[ 6.19070993e-01 -7.85328674e-01 -3.15888257e-03 4.10899739e+02] [ 7.85318387e-01 6.19079053e-01 -4.01977357e-03 3.99928709e+02] [ 5.11244148e-03 7.79665226e-06 9.99986931e-01 2.27041203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.170385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.92, Y:399.95, Z:22.70 [[ 6.19883189e-01 -7.84687707e-01 -3.16778681e-03 4.10918452e+02] [ 7.84677447e-01 6.19891283e-01 -4.01263865e-03 3.99951318e+02] [ 5.11235165e-03 1.67637712e-06 9.99986932e-01 2.27045671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.200385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.94, Y:399.97, Z:22.70 [[ 6.24076279e-01 -7.81356993e-01 -3.16982596e-03 4.10942523e+02] [ 7.81346698e-01 6.24084329e-01 -4.01100468e-03 3.99974464e+02] [ 5.11226526e-03 2.64398281e-05 9.99986932e-01 2.27026451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.230385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.96, Y:400.00, Z:22.70 [[ 6.24145419e-01 -7.81301566e-01 -3.21842211e-03 4.10960443e+02] [ 7.81291470e-01 6.24153716e-01 -3.97204829e-03 3.99996924e+02] [ 5.11215767e-03 -3.53899992e-05 9.99986932e-01 2.27024710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.260385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.97, Y:400.02, Z:22.70 [[ 6.23194463e-01 -7.82060280e-01 -3.22171732e-03 4.10974608e+02] [ 7.82050208e-01 6.23202789e-01 -3.96940961e-03 4.00019864e+02] [ 5.11210081e-03 -4.58306095e-05 9.99986932e-01 2.27048621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.290385723 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:410.99, Y:400.04, Z:22.70 [[ 6.22958012e-01 -7.82248745e-01 -3.19632056e-03 4.10992728e+02] [ 7.82238571e-01 6.22966212e-01 -3.98973023e-03 4.00042707e+02] [ 5.11216117e-03 -1.48508184e-05 9.99986933e-01 2.27048224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.320385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.01, Y:400.06, Z:22.70 [[ 6.20603527e-01 -7.84117989e-01 -3.20047284e-03 4.11008702e+02] [ 7.84107856e-01 6.20611778e-01 -3.98640921e-03 4.00064310e+02] [ 5.11206631e-03 -3.55362797e-05 9.99986933e-01 2.27049941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.3503857229999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:411.03, Y:400.09, Z:22.70 [[ 6.21282559e-01 -7.83580114e-01 -3.19176711e-03 4.11029984e+02] [ 7.83569938e-01 6.21290757e-01 -3.99336741e-03 4.00086870e+02] [ 5.11213869e-03 -1.99632294e-05 9.99986933e-01 2.27045871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.380385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:411.05, Y:400.11, Z:22.71 [[ 6.20497117e-01 -7.84202132e-01 -3.21622925e-03 4.11048698e+02] [ 7.84192066e-01 6.20505450e-01 -3.97382535e-03 4.00110457e+02] [ 5.11197008e-03 -5.63942853e-05 9.99986932e-01 2.27071243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.410385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:411.07, Y:400.13, Z:22.71 [[ 6.19146807e-01 -7.85268653e-01 -3.22080797e-03 4.11066664e+02] [ 7.85258620e-01 6.19155181e-01 -3.97016994e-03 4.00133581e+02] [ 5.11182994e-03 -7.10491738e-05 9.99986932e-01 2.27090510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.440385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:411.08, Y:400.16, Z:22.71 [[ 6.19025706e-01 -7.85364112e-01 -3.22308296e-03 4.11084328e+02] [ 7.85354089e-01 6.19034092e-01 -3.96835474e-03 4.00158119e+02] [ 5.11180163e-03 -7.47477851e-05 9.99986932e-01 2.27096628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.4703857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.09, Y:400.18, Z:22.71 [[ 6.16640277e-01 -7.87238411e-01 -3.23314226e-03 4.11094781e+02] [ 7.87228456e-01 6.16648744e-01 -3.96033131e-03 4.00179714e+02] [ 5.11143804e-03 -1.03121787e-04 9.99986931e-01 2.27092192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.500385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.12, Y:400.20, Z:22.71 [[ 6.19751002e-01 -7.84792044e-01 -3.18495813e-03 4.11117559e+02] [ 7.84781857e-01 6.19759185e-01 -3.99870981e-03 4.00204242e+02] [ 5.11206270e-03 -2.12929494e-05 9.99986933e-01 2.27104613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.530385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.13, Y:400.23, Z:22.71 [[ 6.20938310e-01 -7.83852801e-01 -3.22536742e-03 4.11134063e+02] [ 7.83842767e-01 6.20946683e-01 -3.96654036e-03 4.00227915e+02] [ 5.11196497e-03 -6.52040538e-05 9.99986932e-01 2.27111064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.560385723 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:411.15, Y:400.25, Z:22.71 [[ 6.21002297e-01 -7.83802076e-01 -3.23312486e-03 4.11149870e+02] [ 7.83792074e-01 6.21010709e-01 -3.96036660e-03 4.00250013e+02] [ 5.11194872e-03 -7.47008763e-05 9.99986931e-01 2.27101433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.5903857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.17, Y:400.27, Z:22.71 [[ 6.21772963e-01 -7.83190877e-01 -3.22997838e-03 4.11167675e+02] [ 7.83180854e-01 6.21781349e-01 -3.96287014e-03 4.00274173e+02] [ 5.11202406e-03 -6.56517096e-05 9.99986931e-01 2.27087184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.620385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.18, Y:400.30, Z:22.71 [[ 6.21066166e-01 -7.83751474e-01 -3.23180873e-03 4.11184044e+02] [ 7.83741466e-01 6.21074571e-01 -3.96141651e-03 4.00298257e+02] [ 5.11196025e-03 -7.26007503e-05 9.99986931e-01 2.27100436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.650385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.20, Y:400.32, Z:22.71 [[ 6.21002912e-01 -7.83801617e-01 -3.22630606e-03 4.11200602e+02] [ 7.83791587e-01 6.21011289e-01 -3.96578425e-03 4.00321273e+02] [ 5.11196059e-03 -6.59879807e-05 9.99986932e-01 2.27094911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.680385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.21, Y:400.34, Z:22.71 [[ 6.21212853e-01 -7.83635243e-01 -3.22455110e-03 4.11214842e+02] [ 7.83625203e-01 6.21221219e-01 -3.96717625e-03 4.00343660e+02] [ 5.11197869e-03 -6.23786323e-05 9.99986932e-01 2.27082207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.710385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:411.23, Y:400.37, Z:22.71 [[ 6.20757653e-01 -7.83995940e-01 -3.20962400e-03 4.11232265e+02] [ 7.83985844e-01 6.20765949e-01 -3.97900400e-03 4.00366620e+02] [ 5.11194827e-03 -4.63025955e-05 9.99986933e-01 2.27099620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.740385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:411.25, Y:400.39, Z:22.71 [[ 6.19020233e-01 -7.85368449e-01 -3.21718422e-03 4.11249035e+02] [ 7.85358403e-01 6.19028589e-01 -3.97301612e-03 4.00390471e+02] [ 5.11181052e-03 -6.72653027e-05 9.99986932e-01 2.27093811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.770385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.27, Y:400.41, Z:22.71 [[ 6.16963606e-01 -7.86985116e-01 -3.21487913e-03 4.11265384e+02] [ 7.86975082e-01 6.16971977e-01 -3.97483987e-03 4.00413413e+02] [ 5.11163015e-03 -7.76982272e-05 9.99986933e-01 2.27091239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.800385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.28, Y:400.44, Z:22.71 [[ 6.15914540e-01 -7.87806456e-01 -3.20441874e-03 4.11282991e+02] [ 7.87796390e-01 6.15922871e-01 -3.98310974e-03 4.00435485e+02] [ 5.11159436e-03 -7.11743076e-05 9.99986933e-01 2.27084165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.830385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.30, Y:400.46, Z:22.71 [[ 6.11150698e-01 -7.91507775e-01 -3.20415609e-03 4.11296661e+02] [ 7.91497759e-01 6.11159088e-01 -3.98331725e-03 4.00457648e+02] [ 5.11107569e-03 -1.01675246e-04 9.99986933e-01 2.27117307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.860385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:411.31, Y:400.48, Z:22.71 [[ 6.11220359e-01 -7.91454132e-01 -3.16685488e-03 4.11313807e+02] [ 7.91443962e-01 6.11228561e-01 -4.01275741e-03 4.00479849e+02] [ 5.11158558e-03 -5.37091538e-05 9.99986934e-01 2.27106332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.890385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.34, Y:400.50, Z:22.71 [[ 6.12268650e-01 -7.90643455e-01 -3.16661195e-03 4.11335537e+02] [ 7.90633272e-01 6.12276837e-01 -4.01294911e-03 4.00503117e+02] [ 5.11165509e-03 -4.66258323e-05 9.99986934e-01 2.27106180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.920385723 meters Centerline goodness : 0.999385 Centerline is valid? [True, True] Translation: X:411.35, Y:400.53, Z:22.71 [[ 6.12157340e-01 -7.90729466e-01 -3.20979800e-03 4.11353218e+02] [ 7.90719462e-01 6.12165746e-01 -3.97883692e-03 4.00526564e+02] [ 5.11111198e-03 -1.02375519e-04 9.99986933e-01 2.27110945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.950385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.37, Y:400.55, Z:22.71 [[ 6.11389492e-01 -7.91323298e-01 -3.21358975e-03 4.11367915e+02] [ 7.91313318e-01 6.11397927e-01 -3.97584384e-03 4.00549593e+02] [ 5.11095997e-03 -1.12167227e-04 9.99986933e-01 2.27116274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.980385723 meters Centerline goodness : 0.999104 Centerline is valid? [True, True] Translation: X:411.39, Y:400.57, Z:22.71 [[ 6.13025474e-01 -7.90056688e-01 -3.19347822e-03 4.11385640e+02] [ 7.90046608e-01 6.13033787e-01 -3.99170532e-03 4.00571673e+02] [ 5.11138353e-03 -7.59795895e-05 9.99986934e-01 2.27099415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.010385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.40, Y:400.59, Z:22.71 [[ 6.11827749e-01 -7.90984502e-01 -3.21303322e-03 4.11396626e+02] [ 7.90974515e-01 6.11836176e-01 -3.97627429e-03 4.00592053e+02] [ 5.11102130e-03 -1.08632448e-04 9.99986933e-01 2.27123892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.040385723 meters Centerline goodness : 0.996747 Centerline is valid? [True, True] Translation: X:411.42, Y:400.62, Z:22.71 [[ 6.13290169e-01 -7.89851353e-01 -3.16380262e-03 4.11418809e+02] [ 7.89841149e-01 6.13298328e-01 -4.01506716e-03 4.00616685e+02] [ 5.11166109e-03 -3.65002859e-05 9.99986935e-01 2.27095340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.070385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.43, Y:400.64, Z:22.71 [[ 6.11490200e-01 -7.91245456e-01 -3.21930884e-03 4.11429778e+02] [ 7.91235499e-01 6.11498662e-01 -3.97131069e-03 4.00637325e+02] [ 5.11088459e-03 -1.18813873e-04 9.99986932e-01 2.27129569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.1003857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.45, Y:400.66, Z:22.71 [[ 6.10673466e-01 -7.91876205e-01 -3.16129436e-03 4.11446047e+02] [ 7.91866018e-01 6.10681647e-01 -4.01696725e-03 4.00659270e+02] [ 5.11148523e-03 -5.02662633e-05 9.99986935e-01 2.27127924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.130385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:411.46, Y:400.68, Z:22.71 [[ 6.09072250e-01 -7.93108445e-01 -3.16053881e-03 4.11461990e+02] [ 7.93098272e-01 6.09080447e-01 -4.01756163e-03 4.00681712e+02] [ 5.11138445e-03 -5.96325643e-05 9.99986935e-01 2.27129052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.160385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:411.48, Y:400.70, Z:22.71 [[ 6.08264934e-01 -7.93727777e-01 -3.15997017e-03 4.11478796e+02] [ 7.93717610e-01 6.08273139e-01 -4.01800883e-03 4.00704570e+02] [ 5.11133020e-03 -6.41100920e-05 9.99986935e-01 2.27129176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.190385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.49, Y:400.73, Z:22.71 [[ 6.07051175e-01 -7.94656460e-01 -3.15940570e-03 4.11494875e+02] [ 7.94646302e-01 6.07059393e-01 -4.01845263e-03 4.00728120e+02] [ 5.11123625e-03 -7.12036680e-05 9.99986935e-01 2.27139207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.2203857229999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:411.51, Y:400.75, Z:22.71 [[ 6.06376919e-01 -7.95171087e-01 -3.15830958e-03 4.11511141e+02] [ 7.95160932e-01 6.06385140e-01 -4.01931394e-03 4.00750455e+02] [ 5.11119423e-03 -7.41451845e-05 9.99986935e-01 2.27145162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.250385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:411.53, Y:400.77, Z:22.71 [[ 6.05766892e-01 -7.95635913e-01 -3.15718773e-03 4.11527362e+02] [ 7.95625760e-01 6.05775114e-01 -4.02019497e-03 4.00773072e+02] [ 5.11115725e-03 -7.66388749e-05 9.99986935e-01 2.27140990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.280385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.54, Y:400.80, Z:22.71 [[ 6.04834542e-01 -7.96344911e-01 -3.15607198e-03 4.11542416e+02] [ 7.96334763e-01 6.04842770e-01 -4.02107071e-03 4.00795877e+02] [ 5.11108651e-03 -8.12073701e-05 9.99986935e-01 2.27141749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.310385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.56, Y:400.82, Z:22.71 [[ 6.04156693e-01 -7.96859294e-01 -3.15531385e-03 4.11559339e+02] [ 7.96849150e-01 6.04164927e-01 -4.02166552e-03 4.00818778e+02] [ 5.11103151e-03 -8.45930158e-05 9.99986935e-01 2.27148768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.3403857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.58, Y:400.84, Z:22.72 [[ 6.03688130e-01 -7.97214333e-01 -3.15421659e-03 4.11575063e+02] [ 7.97204189e-01 6.03696364e-01 -4.02252592e-03 4.00843369e+02] [ 5.11100441e-03 -8.62035296e-05 9.99986935e-01 2.27163008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.370385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.59, Y:400.87, Z:22.72 [[ 6.04252665e-01 -7.96786529e-01 -3.15325895e-03 4.11590252e+02] [ 7.96776376e-01 6.04260887e-01 -4.02327648e-03 4.00865589e+02] [ 5.11108355e-03 -8.13666993e-05 9.99986935e-01 2.27162642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.400385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.60, Y:400.89, Z:22.71 [[ 6.02986047e-01 -7.97745503e-01 -3.15264174e-03 4.11600049e+02] [ 7.97735361e-01 6.02994282e-01 -4.02376007e-03 4.00890560e+02] [ 5.11096144e-03 -8.87026141e-05 9.99986935e-01 2.27114513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.430385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:411.62, Y:400.91, Z:22.72 [[ 6.06480286e-01 -7.95092429e-01 -3.11337528e-03 4.11621004e+02] [ 7.95082091e-01 6.06488277e-01 -4.05449516e-03 4.00914155e+02] [ 5.11192401e-03 -1.64175464e-05 9.99986934e-01 2.27165154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.460385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.64, Y:400.94, Z:22.72 [[ 6.06894329e-01 -7.94776270e-01 -3.15511090e-03 4.11637161e+02] [ 7.94766097e-01 6.06902526e-01 -4.02181894e-03 4.00938756e+02] [ 5.11129103e-03 -6.67560735e-05 9.99986935e-01 2.27152125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.490385723 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:411.65, Y:400.96, Z:22.72 [[ 6.09196671e-01 -7.93012868e-01 -3.16351733e-03 4.11649665e+02] [ 7.93002705e-01 6.09204882e-01 -4.01523858e-03 4.00963793e+02] [ 5.11136606e-03 -6.26078252e-05 9.99986935e-01 2.27158420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.520385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.66, Y:400.99, Z:22.71 [[ 6.09848740e-01 -7.92511575e-01 -3.14913195e-03 4.11664512e+02] [ 7.92501348e-01 6.09856870e-01 -4.02648944e-03 4.00986437e+02] [ 5.11155924e-03 -4.01418004e-05 9.99986935e-01 2.27148270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.550385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.68, Y:401.01, Z:22.72 [[ 6.10290595e-01 -7.92171368e-01 -3.14854302e-03 4.11679594e+02] [ 7.92161133e-01 6.10298716e-01 -4.02694991e-03 4.01011552e+02] [ 5.11158618e-03 -3.65437529e-05 9.99986935e-01 2.27151271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.580385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.70, Y:401.04, Z:22.71 [[ 6.09744618e-01 -7.92591694e-01 -3.14752258e-03 4.11695504e+02] [ 7.92581461e-01 6.09752740e-01 -4.02774734e-03 4.01035113e+02] [ 5.11156961e-03 -3.87707838e-05 9.99986935e-01 2.27147516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.610385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.71, Y:401.06, Z:22.71 [[ 6.08124130e-01 -7.93835715e-01 -3.14641289e-03 4.11708231e+02] [ 7.93825494e-01 6.08132268e-01 -4.02861402e-03 4.01059611e+02] [ 5.11149290e-03 -4.78053692e-05 9.99986935e-01 2.27145034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.640385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:411.72, Y:401.08, Z:22.71 [[ 6.07222891e-01 -7.94525308e-01 -3.14578109e-03 4.11723552e+02] [ 7.94515094e-01 6.07231037e-01 -4.02910731e-03 4.01083276e+02] [ 5.11144364e-03 -5.28043730e-05 9.99986935e-01 2.27148527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.670385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.74, Y:401.11, Z:22.72 [[ 6.06340729e-01 -7.95198737e-01 -3.14468661e-03 4.11739179e+02] [ 7.95188527e-01 6.06348881e-01 -4.02996137e-03 4.01106143e+02] [ 5.11139739e-03 -5.70889961e-05 9.99986935e-01 2.27151735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.700385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.75, Y:401.13, Z:22.72 [[ 6.05191262e-01 -7.96073900e-01 -3.14358041e-03 4.11753911e+02] [ 7.96063698e-01 6.05199423e-01 -4.03082408e-03 4.01130240e+02] [ 5.11132689e-03 -6.30707368e-05 9.99986935e-01 2.27154389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.730385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.77, Y:401.15, Z:22.72 [[ 6.04883854e-01 -7.96307508e-01 -3.14245806e-03 4.11770187e+02] [ 7.96297305e-01 6.04892014e-01 -4.03169888e-03 4.01153703e+02] [ 5.11131987e-03 -6.36213292e-05 9.99986935e-01 2.27153742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.760385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.79, Y:401.18, Z:22.72 [[ 6.04567415e-01 -7.96547756e-01 -3.14841560e-03 4.11785710e+02] [ 7.96537580e-01 6.04575609e-01 -4.02705667e-03 4.01178871e+02] [ 5.11119823e-03 -7.32040955e-05 9.99986935e-01 2.27151100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.790385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.80, Y:401.20, Z:22.72 [[ 6.04298460e-01 -7.96751800e-01 -3.15283057e-03 4.11803233e+02] [ 7.96741644e-01 6.04306680e-01 -4.02361812e-03 4.01201466e+02] [ 5.11110155e-03 -8.05251733e-05 9.99986935e-01 2.27152580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.820385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.82, Y:401.22, Z:22.72 [[ 6.03807976e-01 -7.97123576e-01 -3.15166281e-03 4.11816715e+02] [ 7.97113421e-01 6.03816196e-01 -4.02452703e-03 4.01223352e+02] [ 5.11107043e-03 -8.21911995e-05 9.99986935e-01 2.27150184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.8503857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.83, Y:401.25, Z:22.72 [[ 6.03907477e-01 -7.97048248e-01 -3.13851053e-03 4.11831956e+02] [ 7.97038038e-01 6.03915628e-01 -4.03475777e-03 4.01247836e+02] [ 5.11129218e-03 -6.48918937e-05 9.99986935e-01 2.27156520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.880385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:411.85, Y:401.27, Z:22.72 [[ 6.03881558e-01 -7.97067856e-01 -3.14585448e-03 4.11847410e+02] [ 7.97057677e-01 6.03889748e-01 -4.02904596e-03 4.01270462e+02] [ 5.11117229e-03 -7.43609047e-05 9.99986935e-01 2.27151152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.910385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.86, Y:401.29, Z:22.72 [[ 6.04116600e-01 -7.96889762e-01 -3.13697619e-03 4.11864740e+02] [ 7.96879544e-01 6.04124741e-01 -4.03594669e-03 4.01293412e+02] [ 5.11132953e-03 -6.16097713e-05 9.99986935e-01 2.27157584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.940385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:411.88, Y:401.32, Z:22.71 [[ 6.05377481e-01 -7.95932293e-01 -3.14508554e-03 4.11878923e+02] [ 7.95922094e-01 6.05385647e-01 -4.02964482e-03 4.01315986e+02] [ 5.11131408e-03 -6.37868373e-05 9.99986935e-01 2.27146225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.9703857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.89, Y:401.34, Z:22.72 [[ 6.05935829e-01 -7.95507348e-01 -3.13543196e-03 4.11894394e+02] [ 7.95497105e-01 6.05943939e-01 -4.03714224e-03 4.01338898e+02] [ 5.11147231e-03 -4.79779210e-05 9.99986935e-01 2.27152162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.000385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.91, Y:401.36, Z:22.71 [[ 6.08586580e-01 -7.93481285e-01 -3.13432115e-03 4.11912152e+02] [ 7.93471011e-01 6.08594651e-01 -4.03800446e-03 4.01364842e+02] [ 5.11161205e-03 -2.95176495e-05 9.99986935e-01 2.27139802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.030385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.93, Y:401.39, Z:22.71 [[ 6.08835637e-01 -7.93290116e-01 -3.15592458e-03 4.11926071e+02] [ 7.93279926e-01 6.08843813e-01 -4.02123335e-03 4.01386859e+02] [ 5.11146983e-03 -5.52614529e-05 9.99986935e-01 2.27133289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.060385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.94, Y:401.41, Z:22.71 [[ 6.09657050e-01 -7.92659111e-01 -3.13293603e-03 4.11942030e+02] [ 7.92648820e-01 6.09665100e-01 -4.03906463e-03 4.01408191e+02] [ 5.11164313e-03 -2.08738124e-05 9.99986935e-01 2.27139751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.0903857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.96, Y:401.43, Z:22.72 [[ 6.11754223e-01 -7.91041693e-01 -3.13219308e-03 4.11959073e+02] [ 7.91031379e-01 6.11762241e-01 -4.03964069e-03 4.01430504e+02] [ 5.11168167e-03 -6.39576025e-06 9.99986935e-01 2.27174480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.120385723 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:411.98, Y:401.45, Z:22.72 [[ 6.11739923e-01 -7.91052783e-01 -3.12411832e-03 4.11975855e+02] [ 7.91042437e-01 6.11747901e-01 -4.04590010e-03 4.01453634e+02] [ 5.11169336e-03 3.72845097e-06 9.99986935e-01 2.27172716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.150385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.99, Y:401.48, Z:22.72 [[ 6.12971868e-01 -7.90098530e-01 -3.13075016e-03 4.11990577e+02] [ 7.90088197e-01 6.12979863e-01 -4.04076180e-03 4.01475844e+02] [ 5.11168677e-03 3.30455742e-06 9.99986935e-01 2.27167590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.180385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:412.01, Y:401.50, Z:22.72 [[ 6.13429457e-01 -7.89743315e-01 -3.13010118e-03 4.12007149e+02] [ 7.89732975e-01 6.13437443e-01 -4.04126446e-03 4.01498081e+02] [ 5.11168286e-03 7.08655331e-06 9.99986935e-01 2.27166626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.210385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:412.02, Y:401.52, Z:22.72 [[ 6.14195062e-01 -7.89148044e-01 -3.12899306e-03 4.12024370e+02] [ 7.89137692e-01 6.14203032e-01 -4.04212225e-03 4.01520563e+02] [ 5.11166989e-03 1.34451584e-05 9.99986935e-01 2.27166638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.240385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:412.04, Y:401.54, Z:22.72 [[ 6.16341506e-01 -7.87472771e-01 -3.12788958e-03 4.12041457e+02] [ 7.87462393e-01 6.16349442e-01 -4.04297597e-03 4.01542959e+02] [ 5.11160649e-03 2.87584863e-05 9.99986935e-01 2.27174156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.270385723 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:412.06, Y:401.56, Z:22.72 [[ 6.17602038e-01 -7.86484549e-01 -3.12678900e-03 4.12058503e+02] [ 7.86474154e-01 6.17609952e-01 -4.04382697e-03 4.01564628e+02] [ 5.11154343e-03 3.83370486e-05 9.99986935e-01 2.27178615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.300385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:412.08, Y:401.59, Z:22.72 [[ 6.20759427e-01 -7.83994875e-01 -3.12567194e-03 4.12075118e+02] [ 7.83984444e-01 6.20767293e-01 -4.04469021e-03 4.01586017e+02] [ 5.11133131e-03 6.03013994e-05 9.99986935e-01 2.27176832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.330385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:412.09, Y:401.61, Z:22.72 [[ 6.22041710e-01 -7.82977870e-01 -3.12504257e-03 4.12093196e+02] [ 7.82967424e-01 6.22049556e-01 -4.04517642e-03 4.01609462e+02] [ 5.11121496e-03 6.94619282e-05 9.99986935e-01 2.27189091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.360385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:412.11, Y:401.63, Z:22.72 [[ 6.24197151e-01 -7.81260574e-01 -3.13577064e-03 4.12109661e+02] [ 7.81250147e-01 6.24205023e-01 -4.03688878e-03 4.01631232e+02] [ 5.11122583e-03 6.99932025e-05 9.99986935e-01 2.27172316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.390385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:412.13, Y:401.65, Z:22.72 [[ 6.26752448e-01 -7.79212172e-01 -3.12410305e-03 4.12127391e+02] [ 7.79201675e-01 6.26760226e-01 -4.04589809e-03 4.01651576e+02] [ 5.11067657e-03 1.01470205e-04 9.99986935e-01 2.27166907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.420385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:412.15, Y:401.67, Z:22.72 [[ 6.27151396e-01 -7.78891116e-01 -3.12349244e-03 4.12145246e+02] [ 7.78880612e-01 6.27159165e-01 -4.04636943e-03 4.01672782e+02] [ 5.11060812e-03 1.04858535e-04 9.99986935e-01 2.27173313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.450385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:412.16, Y:401.69, Z:22.72 [[ 6.27486146e-01 -7.78621466e-01 -3.12240924e-03 4.12163332e+02] [ 7.78610955e-01 6.27493906e-01 -4.04720512e-03 4.01692566e+02] [ 5.11053355e-03 1.08423109e-04 9.99986935e-01 2.27179882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.480385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:412.18, Y:401.71, Z:22.71 [[ 6.24971221e-01 -7.80641549e-01 -3.12180714e-03 4.12177177e+02] [ 7.80631061e-01 6.24979011e-01 -4.04766949e-03 4.01713975e+02] [ 5.11084292e-03 9.26973222e-05 9.99986935e-01 2.27142141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.510385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:412.20, Y:401.73, Z:22.72 [[ 6.25693356e-01 -7.80062987e-01 -3.09215061e-03 4.12198798e+02] [ 7.80052378e-01 6.25700982e-01 -4.07048989e-03 4.01733998e+02] [ 5.11000018e-03 1.34839042e-04 9.99986935e-01 2.27156626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.540385723 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:412.22, Y:401.76, Z:22.72 [[ 6.24325913e-01 -7.81157809e-01 -3.10346995e-03 4.12218082e+02] [ 7.81147257e-01 6.24333617e-01 -4.06178770e-03 4.01756935e+02] [ 5.11049780e-03 1.11612280e-04 9.99986935e-01 2.27161045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.570385723 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:412.24, Y:401.78, Z:22.72 [[ 6.24090379e-01 -7.81345951e-01 -3.11503059e-03 4.12236100e+02] [ 7.81335446e-01 6.24098146e-01 -4.05290229e-03 4.01777720e+02] [ 5.11080360e-03 9.54935117e-05 9.99986935e-01 2.27170834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.6003857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:412.26, Y:401.80, Z:22.72 [[ 6.22566665e-01 -7.82560572e-01 -3.11444052e-03 4.12256401e+02] [ 7.82550079e-01 6.22574449e-01 -4.05335567e-03 4.01798085e+02] [ 5.11096742e-03 8.62784385e-05 9.99986935e-01 2.27162026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.630385723 meters Centerline goodness : 0.999722 Centerline is valid? [True, True] Translation: X:412.27, Y:401.82, Z:22.71 [[ 6.20939735e-01 -7.83852124e-01 -3.11338153e-03 4.12274646e+02] [ 7.83841643e-01 6.20947536e-01 -4.05416892e-03 4.01819452e+02] [ 5.11111550e-03 7.69964780e-05 9.99986935e-01 2.27132236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.660385723 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:412.29, Y:401.84, Z:22.71 [[ 6.19018732e-01 -7.85370055e-01 -3.11232759e-03 4.12293915e+02] [ 7.85359589e-01 6.19026553e-01 -4.05497785e-03 4.01839867e+02] [ 5.11127159e-03 6.58109363e-05 9.99986935e-01 2.27114352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.690385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:412.31, Y:401.86, Z:22.72 [[ 6.20031617e-01 -7.84570677e-01 -3.10578947e-03 4.12313339e+02] [ 7.84560176e-01 6.20039391e-01 -4.05999417e-03 4.01860307e+02] [ 5.11106418e-03 8.06460189e-05 9.99986935e-01 2.27162753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.7203857229999 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:412.33, Y:401.88, Z:22.72 [[ 6.19377449e-01 -7.85087192e-01 -3.11064994e-03 4.12333562e+02] [ 7.85076716e-01 6.19385257e-01 -4.05626680e-03 4.01880261e+02] [ 5.11121382e-03 7.02613436e-05 9.99986935e-01 2.27159153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.750385723 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:412.35, Y:401.90, Z:22.72 [[ 6.20074785e-01 -7.84536546e-01 -3.10951695e-03 4.12354547e+02] [ 7.84526059e-01 6.20082577e-01 -4.05713516e-03 4.01902322e+02] [ 5.11112808e-03 7.62301338e-05 9.99986935e-01 2.27163930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.780385723 meters Centerline goodness : 0.999697 Centerline is valid? [True, True] Translation: X:412.37, Y:401.92, Z:22.72 [[ 6.19764332e-01 -7.84781733e-01 -3.13120472e-03 4.12370980e+02] [ 7.84771333e-01 6.19772240e-01 -4.04051631e-03 4.01922034e+02] [ 5.11155716e-03 4.68881884e-05 9.99986935e-01 2.27167551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.810385723 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:412.39, Y:401.94, Z:22.72 [[ 6.21029281e-01 -7.83781203e-01 -3.10775280e-03 4.12390413e+02] [ 7.83770700e-01 6.21037051e-01 -4.05847449e-03 4.01941530e+02] [ 5.11098565e-03 8.46659070e-05 9.99986935e-01 2.27181322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.8403857229999 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:412.41, Y:401.96, Z:22.72 [[ 6.21475229e-01 -7.83427652e-01 -3.10711963e-03 4.12409154e+02] [ 7.83417142e-01 6.21482990e-01 -4.05895917e-03 4.01962796e+02] [ 5.11092285e-03 8.83717997e-05 9.99986935e-01 2.27187327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.870385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:412.43, Y:401.98, Z:22.72 [[ 6.22594341e-01 -7.82538586e-01 -3.10599273e-03 4.12428601e+02] [ 7.82528061e-01 6.22602081e-01 -4.05982132e-03 4.01981836e+02] [ 5.11076437e-03 9.70953135e-05 9.99986935e-01 2.27188054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.900385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:412.45, Y:402.00, Z:22.72 [[ 6.22612610e-01 -7.82524054e-01 -3.10535820e-03 4.12447256e+02] [ 7.82513526e-01 6.22620347e-01 -4.06030661e-03 4.02003000e+02] [ 5.11074679e-03 9.80133013e-05 9.99986935e-01 2.27191953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.930385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:412.47, Y:402.02, Z:22.72 [[ 6.22310439e-01 -7.82764385e-01 -3.10421521e-03 4.12465436e+02] [ 7.82753855e-01 6.22318173e-01 -4.06118027e-03 4.02023313e+02] [ 5.11075681e-03 9.74784462e-05 9.99986935e-01 2.27189461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.960385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:412.49, Y:402.04, Z:22.72 [[ 6.20868737e-01 -7.83908400e-01 -3.10358379e-03 4.12485743e+02] [ 7.83897882e-01 6.20876488e-01 -4.06166275e-03 4.02041948e+02] [ 5.11091375e-03 8.88666657e-05 9.99986935e-01 2.27194995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.990385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:412.50, Y:402.06, Z:22.72 [[ 6.19898322e-01 -7.84676011e-01 -3.10297442e-03 4.12503810e+02] [ 7.84665501e-01 6.19906083e-01 -4.06212823e-03 4.02061958e+02] [ 5.11100729e-03 8.33094993e-05 9.99986935e-01 2.27197839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.020385723 meters Centerline goodness : 0.998817 Centerline is valid? [True, True] Translation: X:412.52, Y:402.08, Z:22.72 [[ 6.17951516e-01 -7.86210086e-01 -3.10234696e-03 4.12524669e+02] [ 7.86199593e-01 6.17959299e-01 -4.06260739e-03 4.02081385e+02] [ 5.11118705e-03 7.14304793e-05 9.99986935e-01 2.27197004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.050385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:412.54, Y:402.10, Z:22.72 [[ 6.16741988e-01 -7.87159277e-01 -3.09728298e-03 4.12543423e+02] [ 7.87148776e-01 6.16749762e-01 -4.06647271e-03 4.02102193e+02] [ 5.11121026e-03 6.99419576e-05 9.99986935e-01 2.27218054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.080385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:412.56, Y:402.12, Z:22.72 [[ 6.15870575e-01 -7.87841241e-01 -3.10069721e-03 4.12562379e+02] [ 7.87830762e-01 6.15878378e-01 -4.06386768e-03 4.02123407e+02] [ 5.11133492e-03 5.99918780e-05 9.99986935e-01 2.27216454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.110385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:412.59, Y:402.14, Z:22.72 [[ 6.15402140e-01 -7.88207206e-01 -3.09942849e-03 4.12587127e+02] [ 7.88196727e-01 6.15409942e-01 -4.06483517e-03 4.02144514e+02] [ 5.11135148e-03 5.85488675e-05 9.99986935e-01 2.27211576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.140385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:412.60, Y:402.16, Z:22.72 [[ 6.13069560e-01 -7.90022687e-01 -3.14155436e-03 4.12600711e+02] [ 7.90012394e-01 6.13077609e-01 -4.03269520e-03 4.02164716e+02] [ 5.11193734e-03 -9.54420957e-06 9.99986934e-01 2.27218974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.170385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:412.62, Y:402.18, Z:22.72 [[ 6.10925268e-01 -7.91682209e-01 -3.09792497e-03 4.12620429e+02] [ 7.91671769e-01 6.10933121e-01 -4.06593738e-03 4.02184706e+02] [ 5.11155526e-03 3.14441374e-05 9.99986935e-01 2.27204992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.200385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:412.64, Y:402.21, Z:22.72 [[ 6.09449682e-01 -7.92818703e-01 -3.09681354e-03 4.12639633e+02] [ 7.92808273e-01 6.09457549e-01 -4.06678372e-03 4.02206405e+02] [ 5.11159859e-03 2.33206488e-05 9.99986935e-01 2.27208973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.230385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:412.66, Y:402.22, Z:22.72 [[ 6.07978008e-01 -7.93947787e-01 -3.10710742e-03 4.12659813e+02] [ 7.93937411e-01 6.07985948e-01 -4.05894565e-03 4.02224441e+02] [ 5.11166856e-03 9.00872403e-07 9.99986935e-01 2.27202779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.260385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:412.68, Y:402.25, Z:22.72 [[ 6.07817771e-01 -7.94070487e-01 -3.10125395e-03 4.12681804e+02] [ 7.94060091e-01 6.07825683e-01 -4.06339960e-03 4.02246625e+02] [ 5.11164751e-03 7.22449417e-06 9.99986935e-01 2.27204507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.290385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:412.70, Y:402.27, Z:22.72 [[ 6.06357019e-01 -7.95186399e-01 -3.12342642e-03 4.12697465e+02] [ 7.95176104e-01 6.06365063e-01 -4.04653737e-03 4.02265823e+02] [ 5.11168813e-03 -3.00277141e-05 9.99986935e-01 2.27210023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.320385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:412.72, Y:402.29, Z:22.72 [[ 6.06647818e-01 -7.94964692e-01 -3.09244723e-03 4.12716432e+02] [ 7.94954273e-01 6.06655700e-01 -4.07007539e-03 4.02287133e+02] [ 5.11161697e-03 1.07482133e-05 9.99986936e-01 2.27210099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.3503857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:412.73, Y:402.31, Z:22.72 [[ 6.08327129e-01 -7.93680364e-01 -3.09583829e-03 4.12733727e+02] [ 7.93669942e-01 6.08335006e-01 -4.06749946e-03 4.02307354e+02] [ 5.11160125e-03 1.72964716e-05 9.99986936e-01 2.27212900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.380385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:412.75, Y:402.33, Z:22.72 [[ 6.09197524e-01 -7.93012497e-01 -3.09120844e-03 4.12751167e+02] [ 7.93002048e-01 6.09205366e-01 -4.07101500e-03 4.02328518e+02] [ 5.11154654e-03 2.87176367e-05 9.99986936e-01 2.27208441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.410385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:412.77, Y:402.35, Z:22.72 [[ 6.08506018e-01 -7.93543240e-01 -3.09064728e-03 4.12765583e+02] [ 7.93532796e-01 6.08513867e-01 -4.07144098e-03 4.02348965e+02] [ 5.11156619e-03 2.49663655e-05 9.99986936e-01 2.27221397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.440385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:412.79, Y:402.37, Z:22.72 [[ 6.11581289e-01 -7.91175705e-01 -3.05457924e-03 4.12788226e+02] [ 7.91165093e-01 6.11588910e-01 -4.09879236e-03 4.02370116e+02] [ 5.11101173e-03 9.00682437e-05 9.99986935e-01 2.27206776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.4703857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:412.81, Y:402.39, Z:22.72 [[ 6.12126196e-01 -7.90754055e-01 -3.08933342e-03 4.12806951e+02] [ 7.90743570e-01 6.12133990e-01 -4.07242793e-03 4.02392540e+02] [ 5.11137490e-03 4.99692831e-05 9.99986936e-01 2.27199873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.500385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:412.83, Y:402.41, Z:22.72 [[ 6.13195273e-01 -7.89925325e-01 -3.08835727e-03 4.12826180e+02] [ 7.89914826e-01 6.13203047e-01 -4.07316808e-03 4.02414535e+02] [ 5.11128870e-03 5.81082186e-05 9.99986936e-01 2.27194558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.530385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:412.84, Y:402.44, Z:22.72 [[ 6.13356807e-01 -7.89799909e-01 -3.08737255e-03 4.12844037e+02] [ 7.89789404e-01 6.13364574e-01 -4.07391433e-03 4.02436571e+02] [ 5.11126212e-03 6.03889534e-05 9.99986936e-01 2.27195891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.560385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:412.86, Y:402.46, Z:22.72 [[ 6.14015702e-01 -7.89287776e-01 -3.08625430e-03 4.12861766e+02] [ 7.89277260e-01 6.14023455e-01 -4.07476130e-03 4.02458029e+02] [ 5.11119181e-03 6.60570862e-05 9.99986936e-01 2.27197081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.5903857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:412.88, Y:402.48, Z:22.72 [[ 6.14176391e-01 -7.89162746e-01 -3.08566504e-03 4.12878592e+02] [ 7.89152227e-01 6.14184138e-01 -4.07520748e-03 4.02480162e+02] [ 5.11116845e-03 6.78367849e-05 9.99986936e-01 2.27203321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.620385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:412.90, Y:402.50, Z:22.72 [[ 6.14068649e-01 -7.89246591e-01 -3.08453850e-03 4.12895463e+02] [ 7.89236068e-01 6.14076392e-01 -4.07605998e-03 4.02503060e+02] [ 5.11115872e-03 6.85516034e-05 9.99986936e-01 2.27206331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.650385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:412.91, Y:402.53, Z:22.72 [[ 6.14017314e-01 -7.89286532e-01 -3.08342258e-03 4.12913035e+02] [ 7.89276006e-01 6.14025052e-01 -4.07690397e-03 4.02525823e+02] [ 5.11114411e-03 6.96181624e-05 9.99986936e-01 2.27222526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.680385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:412.93, Y:402.55, Z:22.72 [[ 6.12816980e-01 -7.90218860e-01 -3.08244288e-03 4.12931189e+02] [ 7.90208342e-01 6.12824729e-01 -4.07764456e-03 4.02549638e+02] [ 5.11122886e-03 6.30777481e-05 9.99986936e-01 2.27234182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.710385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:412.95, Y:402.57, Z:22.72 [[ 6.12532294e-01 -7.90439479e-01 -3.10157984e-03 4.12948356e+02] [ 7.90429036e-01 6.12540145e-01 -4.06317912e-03 4.02572547e+02] [ 5.11153935e-03 3.72496634e-05 9.99986935e-01 2.27235744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.740385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:412.96, Y:402.59, Z:22.72 [[ 6.12381538e-01 -7.90556287e-01 -3.09993061e-03 4.12963444e+02] [ 7.90545840e-01 6.12389383e-01 -4.06442478e-03 4.02594940e+02] [ 5.11152116e-03 3.83414540e-05 9.99986935e-01 2.27233479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.770385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:412.98, Y:402.62, Z:22.72 [[ 6.10311226e-01 -7.92155747e-01 -3.07899883e-03 4.12978363e+02] [ 7.92145240e-01 6.10318991e-01 -4.08022024e-03 4.02617793e+02] [ 5.11134137e-03 5.11899489e-05 9.99986936e-01 2.27231373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.800385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:413.00, Y:402.64, Z:22.72 [[ 6.10154061e-01 -7.92276895e-01 -3.05668994e-03 4.12997338e+02] [ 7.92266306e-01 6.10161713e-01 -4.09704197e-03 4.02641199e+02] [ 5.11106686e-03 7.81143529e-05 9.99986935e-01 2.27229300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.830385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:413.01, Y:402.66, Z:22.72 [[ 6.07498325e-01 -7.94314996e-01 -3.07782779e-03 4.13013895e+02] [ 7.94304512e-01 6.07506121e-01 -4.08110052e-03 4.02663599e+02] [ 5.11147856e-03 3.45292259e-05 9.99986936e-01 2.27220814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.860385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:413.03, Y:402.69, Z:22.72 [[ 6.05306869e-01 -7.95986291e-01 -3.06902650e-03 4.13031164e+02] [ 7.95975795e-01 6.05314649e-01 -4.08773444e-03 4.02686599e+02] [ 5.11150727e-03 3.14629288e-05 9.99986936e-01 2.27219722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.890385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:413.05, Y:402.71, Z:22.72 [[ 6.04740257e-01 -7.96416846e-01 -3.07066151e-03 4.13049328e+02] [ 7.96406362e-01 6.04748052e-01 -4.08650235e-03 4.02709457e+02] [ 5.11153588e-03 2.57781230e-05 9.99986936e-01 2.27215681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.920385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:413.07, Y:402.73, Z:22.72 [[ 6.03762822e-01 -7.97158050e-01 -3.08200546e-03 4.13065839e+02] [ 7.97147619e-01 6.03770688e-01 -4.07795657e-03 4.02732114e+02] [ 5.11160047e-03 5.30524992e-06 9.99986936e-01 2.27215156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.950385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:413.08, Y:402.75, Z:22.72 [[ 6.03840083e-01 -7.97099534e-01 -3.08003445e-03 4.13082430e+02] [ 7.97089095e-01 6.03847938e-01 -4.07944055e-03 4.02754183e+02] [ 5.11159261e-03 8.26785029e-06 9.99986936e-01 2.27200342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.980385723 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:413.10, Y:402.78, Z:22.72 [[ 6.02794557e-01 -7.97890473e-01 -3.08460232e-03 4.13099857e+02] [ 7.97880062e-01 6.02802449e-01 -4.07600311e-03 4.02778388e+02] [ 5.11160988e-03 -4.15020238e-06 9.99986936e-01 2.27207637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.010385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:413.12, Y:402.80, Z:22.72 [[ 6.02722704e-01 -7.97944721e-01 -3.09264060e-03 4.13115654e+02] [ 7.97934342e-01 6.02730638e-01 -4.06995564e-03 4.02800994e+02] [ 5.11162886e-03 -1.46694711e-05 9.99986935e-01 2.27229834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.040385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:413.13, Y:402.82, Z:22.72 [[ 6.02627515e-01 -7.98016638e-01 -3.08615315e-03 4.13133006e+02] [ 7.98006234e-01 6.02635417e-01 -4.07483366e-03 4.02824234e+02] [ 5.11161025e-03 -7.16257021e-06 9.99986936e-01 2.27231960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.070385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:413.15, Y:402.85, Z:22.72 [[ 6.02257548e-01 -7.98295865e-01 -3.09149438e-03 4.13148599e+02] [ 7.98285486e-01 6.02265482e-01 -4.07082040e-03 4.02847075e+02] [ 5.11161945e-03 -1.62127874e-05 9.99986935e-01 2.27234457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.1003857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:413.17, Y:402.87, Z:22.72 [[ 6.01885452e-01 -7.98576468e-01 -3.08656967e-03 4.13165572e+02] [ 7.98566074e-01 6.01893366e-01 -4.07451886e-03 4.02869987e+02] [ 5.11160069e-03 -1.24362026e-05 9.99986936e-01 2.27233598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.130385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:413.18, Y:402.89, Z:22.72 [[ 6.00492830e-01 -7.99624180e-01 -3.08741025e-03 4.13180907e+02] [ 7.99613802e-01 6.00500767e-01 -4.07388780e-03 4.02892949e+02] [ 5.11157141e-03 -2.23954393e-05 9.99986936e-01 2.27244592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.160385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:413.20, Y:402.92, Z:22.73 [[ 6.00040357e-01 -7.99963816e-01 -3.07611848e-03 4.13198508e+02] [ 7.99953400e-01 6.00048242e-01 -4.08235991e-03 4.02916510e+02] [ 5.11155970e-03 -1.11707396e-05 9.99986936e-01 2.27253698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.190385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:413.21, Y:402.94, Z:22.73 [[ 5.98024418e-01 -8.01471983e-01 -3.07502450e-03 4.13213301e+02] [ 8.01461582e-01 5.98032324e-01 -4.08318013e-03 4.02940243e+02] [ 5.11151852e-03 -2.26725818e-05 9.99986936e-01 2.27264400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.2203857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:413.23, Y:402.96, Z:22.73 [[ 5.97495384e-01 -8.01866492e-01 -3.06516263e-03 4.13230332e+02] [ 8.01856059e-01 5.97503246e-01 -4.09056986e-03 4.02963738e+02] [ 5.11153553e-03 -1.37226213e-05 9.99986936e-01 2.27281634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.250385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:413.25, Y:402.99, Z:22.73 [[ 5.98354424e-01 -8.01225683e-01 -3.06409672e-03 4.13247535e+02] [ 8.01215237e-01 5.98362269e-01 -4.09136814e-03 4.02985976e+02] [ 5.11154910e-03 -6.91274668e-06 9.99986936e-01 2.27273355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.280385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:413.26, Y:403.01, Z:22.73 [[ 5.98370613e-01 -8.01213594e-01 -3.06371906e-03 4.13264222e+02] [ 8.01203146e-01 5.98378456e-01 -4.09165092e-03 4.03009726e+02] [ 5.11154982e-03 -6.33768492e-06 9.99986936e-01 2.27291160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.310385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:413.28, Y:403.03, Z:22.73 [[ 5.98143271e-01 -8.01383333e-01 -3.06272845e-03 4.13281095e+02] [ 8.01372884e-01 5.98151112e-01 -4.09239229e-03 4.03032669e+02] [ 5.11154940e-03 -6.55062444e-06 9.99986936e-01 2.27296966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.3403857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:413.29, Y:403.06, Z:22.73 [[ 5.96128330e-01 -8.02883330e-01 -3.06160245e-03 4.13294611e+02] [ 8.02872896e-01 5.96136192e-01 -4.09323450e-03 4.03056570e+02] [ 5.11152177e-03 -1.79845754e-05 9.99986936e-01 2.27285855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.370385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:413.31, Y:403.08, Z:22.73 [[ 5.96265253e-01 -8.02781741e-01 -3.03706695e-03 4.13311131e+02] [ 8.02771212e-01 5.96272988e-01 -4.11157849e-03 4.03079448e+02] [ 5.11162112e-03 1.35214691e-05 9.99986936e-01 2.27296686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.400385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:413.33, Y:403.10, Z:22.73 [[ 5.96457379e-01 -8.02639022e-01 -3.03227581e-03 4.13327572e+02] [ 8.02628473e-01 5.96465086e-01 -4.11515957e-03 4.03101746e+02] [ 5.11163430e-03 2.07263889e-05 9.99986935e-01 2.27303346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.430385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:413.34, Y:403.12, Z:22.73 [[ 5.97027949e-01 -8.02214698e-01 -3.03415946e-03 4.13343932e+02] [ 8.02204151e-01 5.97035659e-01 -4.11375213e-03 4.03124050e+02] [ 5.11161382e-03 2.20096814e-05 9.99986935e-01 2.27301666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.460385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:413.36, Y:403.15, Z:22.73 [[ 5.97393759e-01 -8.01942301e-01 -3.04012311e-03 4.13362372e+02] [ 8.01931773e-01 5.97401494e-01 -4.10929637e-03 4.03147129e+02] [ 5.11159268e-03 1.68966869e-05 9.99986936e-01 2.27302499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.490385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:413.38, Y:403.17, Z:22.73 [[ 5.96963514e-01 -8.02262579e-01 -3.05255942e-03 4.13378612e+02] [ 8.02252102e-01 5.96971319e-01 -4.10000716e-03 4.03169165e+02] [ 5.11157273e-03 -1.36752831e-06 9.99986936e-01 2.27301097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.520385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:413.40, Y:403.19, Z:22.73 [[ 5.96209822e-01 -8.02822876e-01 -3.04590889e-03 4.13396337e+02] [ 8.02812381e-01 5.96217603e-01 -4.10497315e-03 4.03192311e+02] [ 5.11159084e-03 2.13194395e-06 9.99986936e-01 2.27317111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.550385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:413.41, Y:403.22, Z:22.73 [[ 5.96250483e-01 -8.02792646e-01 -3.05438853e-03 4.13414945e+02] [ 8.02782183e-01 5.96258307e-01 -4.09864151e-03 4.03215711e+02] [ 5.11156380e-03 -8.19170826e-06 9.99986936e-01 2.27318524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.580385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:413.43, Y:403.24, Z:22.73 [[ 5.95739410e-01 -8.03171930e-01 -3.06690967e-03 4.13430052e+02] [ 8.03161520e-01 5.95747304e-01 -4.08929506e-03 4.03238003e+02] [ 5.11151017e-03 -2.70696032e-05 9.99986936e-01 2.27331839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.610385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:413.45, Y:403.26, Z:22.73 [[ 5.96048023e-01 -8.02942969e-01 -3.05682023e-03 4.13447762e+02] [ 8.02932517e-01 5.96055861e-01 -4.09682323e-03 4.03262613e+02] [ 5.11155102e-03 -1.25169809e-05 9.99986936e-01 2.27334756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.640385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:413.46, Y:403.29, Z:22.73 [[ 5.96116727e-01 -8.02891913e-01 -3.06998472e-03 4.13464503e+02] [ 8.02881511e-01 5.96124631e-01 -4.08700441e-03 4.03285435e+02] [ 5.11151629e-03 -2.85022861e-05 9.99986936e-01 2.27333461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.670385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:413.48, Y:403.31, Z:22.74 [[ 5.95152437e-01 -8.03606954e-01 -3.07251370e-03 4.13477697e+02] [ 8.03596571e-01 5.95160367e-01 -4.08511883e-03 4.03308041e+02] [ 5.11146828e-03 -3.77930497e-05 9.99986936e-01 2.27358509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.700385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:413.50, Y:403.33, Z:22.73 [[ 5.96365324e-01 -8.02707340e-01 -3.05407726e-03 4.13497197e+02] [ 8.02696875e-01 5.96373144e-01 -4.09885591e-03 4.03331796e+02] [ 5.11155138e-03 -7.08274528e-06 9.99986936e-01 2.27347770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.730385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:413.51, Y:403.36, Z:22.74 [[ 5.96182060e-01 -8.02843355e-01 -3.08191699e-03 4.13513464e+02] [ 8.02832999e-01 5.96190025e-01 -4.07811251e-03 4.03355250e+02] [ 5.11149370e-03 -4.29671414e-05 9.99986935e-01 2.27350539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.760385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:413.53, Y:403.38, Z:22.73 [[ 5.95223352e-01 -8.03554389e-01 -3.08288476e-03 4.13526892e+02] [ 8.03544046e-01 5.95231334e-01 -4.07739175e-03 4.03380541e+02] [ 5.11143564e-03 -5.02749107e-05 9.99986935e-01 2.27348954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.790385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:413.54, Y:403.40, Z:22.73 [[ 5.93249028e-01 -8.05013139e-01 -3.07180898e-03 4.13537865e+02] [ 8.05002773e-01 5.93256979e-01 -4.08563601e-03 4.03404926e+02] [ 5.11136278e-03 -4.90151573e-05 9.99986936e-01 2.27348469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.820385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:413.55, Y:403.43, Z:22.73 [[ 5.92195948e-01 -8.05788217e-01 -3.05096071e-03 4.13553670e+02] [ 8.05777781e-01 5.92203807e-01 -4.10114564e-03 4.03428090e+02] [ 5.11144538e-03 -2.97145217e-05 9.99986936e-01 2.27349391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.8503857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:413.57, Y:403.45, Z:22.74 [[ 5.92102976e-01 -8.05856541e-01 -3.04982783e-03 4.13572089e+02] [ 8.05846101e-01 5.92110830e-01 -4.10198793e-03 4.03451706e+02] [ 5.11144989e-03 -2.88926063e-05 9.99986936e-01 2.27352682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.880385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:413.59, Y:403.48, Z:22.74 [[ 5.89847937e-01 -8.07508515e-01 -3.06753720e-03 4.13585138e+02] [ 8.07498166e-01 5.89855909e-01 -4.08882375e-03 4.03475730e+02] [ 5.11116494e-03 -6.52464149e-05 9.99986936e-01 2.27358574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.910385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:413.60, Y:403.50, Z:22.74 [[ 5.88956713e-01 -8.08158797e-01 -3.05754445e-03 4.13596719e+02] [ 8.08148418e-01 5.88964647e-01 -4.09624747e-03 4.03500619e+02] [ 5.11120402e-03 -5.84372590e-05 9.99986936e-01 2.27353667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.940385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:413.61, Y:403.52, Z:22.74 [[ 5.88771386e-01 -8.08293863e-01 -3.04748545e-03 4.13611261e+02] [ 8.08283447e-01 5.88779271e-01 -4.10371745e-03 4.03524354e+02] [ 5.11130589e-03 -4.70806360e-05 9.99986936e-01 2.27358050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.9703857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:413.63, Y:403.55, Z:22.74 [[ 5.88463360e-01 -8.08518147e-01 -3.04635512e-03 4.13625340e+02] [ 8.08507729e-01 5.88471244e-01 -4.10455637e-03 4.03547798e+02] [ 5.11130069e-03 -4.76206256e-05 9.99986936e-01 2.27354642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.000385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:413.64, Y:403.57, Z:22.74 [[ 5.88747729e-01 -8.08311101e-01 -3.04558765e-03 4.13639350e+02] [ 8.08300678e-01 5.88755605e-01 -4.10512575e-03 4.03572860e+02] [ 5.11132551e-03 -4.48671021e-05 9.99986936e-01 2.27364060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.030385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:413.65, Y:403.60, Z:22.74 [[ 5.88983462e-01 -8.08139352e-01 -3.04446936e-03 4.13654490e+02] [ 8.08128923e-01 5.88991329e-01 -4.10595494e-03 4.03596622e+02] [ 5.11134982e-03 -4.19841907e-05 9.99986936e-01 2.27369680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.060385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:413.67, Y:403.62, Z:22.74 [[ 5.91437919e-01 -8.06344794e-01 -3.04334553e-03 4.13671449e+02] [ 8.06334336e-01 5.91445748e-01 -4.10678775e-03 4.03623340e+02] [ 5.11146070e-03 -2.50439938e-05 9.99986936e-01 2.27366049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.0903857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:413.68, Y:403.65, Z:22.74 [[ 5.90765296e-01 -8.06837590e-01 -3.07728306e-03 4.13683482e+02] [ 8.06827269e-01 5.90773306e-01 -4.08163899e-03 4.03646988e+02] [ 5.11119645e-03 -7.15452185e-05 9.99986935e-01 2.27368773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.120385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:413.70, Y:403.67, Z:22.74 [[ 5.90750308e-01 -8.06848629e-01 -3.06000303e-03 4.13695355e+02] [ 8.06838242e-01 5.90758231e-01 -4.09443753e-03 4.03670073e+02] [ 5.11131328e-03 -5.01372375e-05 9.99986936e-01 2.27378820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.150385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:413.71, Y:403.70, Z:22.74 [[ 5.91987699e-01 -8.05941261e-01 -3.04104553e-03 4.13707697e+02] [ 8.05930789e-01 5.91995510e-01 -4.10846967e-03 4.03695046e+02] [ 5.11147053e-03 -1.87087214e-05 9.99986936e-01 2.27380877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.180385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:413.72, Y:403.72, Z:22.74 [[ 5.91888207e-01 -8.06014334e-01 -3.04041103e-03 4.13722388e+02] [ 8.06003861e-01 5.91896016e-01 -4.10893917e-03 4.03719012e+02] [ 5.11147104e-03 -1.85503875e-05 9.99986936e-01 2.27389201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.210385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:413.74, Y:403.75, Z:22.74 [[ 5.94001410e-01 -8.04458261e-01 -3.03823786e-03 4.13738266e+02] [ 8.04447759e-01 5.94009180e-01 -4.11054633e-03 4.03745101e+02] [ 5.11150414e-03 -2.43332069e-06 9.99986936e-01 2.27387541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.240385723 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:413.75, Y:403.77, Z:22.74 [[ 5.94631932e-01 -8.03992253e-01 -3.05320421e-03 4.13752490e+02] [ 8.03981802e-01 5.94639771e-01 -4.09947775e-03 4.03768213e+02] [ 5.11150500e-03 -1.70402436e-05 9.99986936e-01 2.27380020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.270385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:413.77, Y:403.79, Z:22.74 [[ 5.96304484e-01 -8.02752538e-01 -3.05358701e-03 4.13765540e+02] [ 8.02742072e-01 5.96312303e-01 -4.09919465e-03 4.03793280e+02] [ 5.11153041e-03 -6.87461167e-06 9.99986936e-01 2.27368380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.300385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:413.78, Y:403.82, Z:22.74 [[ 5.96044313e-01 -8.02945733e-01 -3.05408647e-03 4.13780030e+02] [ 8.02935271e-01 5.96052138e-01 -4.09882571e-03 4.03817507e+02] [ 5.11152939e-03 -9.15199220e-06 9.99986936e-01 2.27374486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.330385723 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:413.80, Y:403.84, Z:22.74 [[ 5.96100562e-01 -8.02903991e-01 -3.04973696e-03 4.13796160e+02] [ 8.02893513e-01 5.96108363e-01 -4.10203526e-03 4.03841287e+02] [ 5.11151419e-03 -3.38850141e-06 9.99986936e-01 2.27381129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.360385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:413.81, Y:403.87, Z:22.74 [[ 5.95710148e-01 -8.03193676e-01 -3.05600246e-03 4.13810971e+02] [ 8.03183224e-01 5.95717987e-01 -4.09741449e-03 4.03865119e+02] [ 5.11153304e-03 -1.36585182e-05 9.99986936e-01 2.27381371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.390385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:413.82, Y:403.89, Z:22.74 [[ 5.93514472e-01 -8.04817494e-01 -3.06160749e-03 4.13822786e+02] [ 8.04807085e-01 5.93522368e-01 -4.09328146e-03 4.03887898e+02] [ 5.11147705e-03 -3.45816186e-05 9.99986936e-01 2.27386596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.420385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:413.84, Y:403.91, Z:22.74 [[ 5.93599120e-01 -8.04755177e-01 -3.03152954e-03 4.13841322e+02] [ 8.04744653e-01 5.93606861e-01 -4.11543760e-03 4.03912767e+02] [ 5.11145645e-03 3.31295420e-06 9.99986936e-01 2.27387484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.450385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:413.85, Y:403.94, Z:22.74 [[ 5.91323844e-01 -8.06428401e-01 -3.05706272e-03 4.13854594e+02] [ 8.06417997e-01 5.91331745e-01 -4.09663133e-03 4.03935231e+02] [ 5.11137808e-03 -4.28346134e-05 9.99986936e-01 2.27390121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.480385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:413.88, Y:403.96, Z:22.74 [[ 5.92329169e-01 -8.05690372e-01 -3.02991752e-03 4.13875240e+02] [ 8.05679855e-01 5.92336919e-01 -4.11661080e-03 4.03959304e+02] [ 5.11144570e-03 -2.75484773e-06 9.99986936e-01 2.27394097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.510385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:413.89, Y:403.98, Z:22.74 [[ 5.89635868e-01 -8.07663404e-01 -3.06097253e-03 4.13886966e+02] [ 8.07653031e-01 5.89643810e-01 -4.09374888e-03 4.03981669e+02] [ 5.11125467e-03 -5.83825712e-05 9.99986936e-01 2.27387046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.540385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:413.90, Y:404.00, Z:22.74 [[ 5.89804300e-01 -8.07540535e-01 -3.02834823e-03 4.13902928e+02] [ 8.07530037e-01 5.89812075e-01 -4.11774207e-03 4.04004209e+02] [ 5.11139999e-03 -1.68201779e-05 9.99986937e-01 2.27376411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.570385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:413.92, Y:404.03, Z:22.74 [[ 5.90238407e-01 -8.07223302e-01 -3.02722118e-03 4.13919144e+02] [ 8.07212795e-01 5.90246170e-01 -4.11857048e-03 4.04026604e+02] [ 5.11141177e-03 -1.26731924e-05 9.99986937e-01 2.27378692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.6003857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:413.94, Y:404.05, Z:22.74 [[ 5.90010644e-01 -8.07389796e-01 -3.02605967e-03 4.13936018e+02] [ 8.07379287e-01 5.90018404e-01 -4.11942371e-03 4.04049663e+02] [ 5.11141156e-03 -1.26740656e-05 9.99986937e-01 2.27380148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.630385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:413.95, Y:404.07, Z:22.74 [[ 5.90421868e-01 -8.07089133e-01 -3.02489721e-03 4.13952602e+02] [ 8.07078616e-01 5.90429616e-01 -4.12027712e-03 4.04072186e+02] [ 5.11141979e-03 -8.62814063e-06 9.99986937e-01 2.27380676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.660385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:413.97, Y:404.09, Z:22.74 [[ 5.91770652e-01 -8.06100709e-01 -3.02374327e-03 4.13969983e+02] [ 8.06090174e-01 5.91778377e-01 -4.12112379e-03 4.04094659e+02] [ 5.11142669e-03 1.35037027e-06 9.99986937e-01 2.27386186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.690385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:413.99, Y:404.12, Z:22.74 [[ 5.92555030e-01 -8.05524302e-01 -3.02256796e-03 4.13986393e+02] [ 8.05513755e-01 5.92562739e-01 -4.12198562e-03 4.04116476e+02] [ 5.11142074e-03 7.78324592e-06 9.99986937e-01 2.27379871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.7203857229999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:414.00, Y:404.14, Z:22.74 [[ 5.93593175e-01 -8.04759598e-01 -3.02192122e-03 4.14004915e+02] [ 8.04749039e-01 5.93600867e-01 -4.12245971e-03 4.04139519e+02] [ 5.11140407e-03 1.51757540e-05 9.99986937e-01 2.27383340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.750385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:414.02, Y:404.16, Z:22.74 [[ 5.94070607e-01 -8.04407189e-01 -3.03124552e-03 4.14020590e+02] [ 8.04396660e-01 5.94078341e-01 -4.11562562e-03 4.04161291e+02] [ 5.11143614e-03 6.64844170e-06 9.99986937e-01 2.27389542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.780385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:414.04, Y:404.18, Z:22.74 [[ 5.94440253e-01 -8.04134107e-01 -3.02044228e-03 4.14037517e+02] [ 8.04123535e-01 5.94447927e-01 -4.12353886e-03 4.04183443e+02] [ 5.11137389e-03 2.23887659e-05 9.99986937e-01 2.27393678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.810385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:414.05, Y:404.20, Z:22.74 [[ 5.95319723e-01 -8.03483237e-01 -3.01929385e-03 4.14054880e+02] [ 8.03472652e-01 5.95327378e-01 -4.12437958e-03 4.04204551e+02] [ 5.11133815e-03 2.94044701e-05 9.99986937e-01 2.27403900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.8403857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:414.07, Y:404.23, Z:22.74 [[ 5.95557254e-01 -8.03307192e-01 -3.01863137e-03 4.14071759e+02] [ 8.03296603e-01 5.95564903e-01 -4.12486439e-03 4.04226079e+02] [ 5.11132414e-03 3.17365835e-05 9.99986937e-01 2.27406016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.870385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:414.09, Y:404.25, Z:22.74 [[ 5.95535797e-01 -8.03323102e-01 -3.01799679e-03 4.14089902e+02] [ 8.03312510e-01 5.95543443e-01 -4.12532864e-03 4.04247448e+02] [ 5.11132000e-03 3.23863044e-05 9.99986937e-01 2.27415490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.900385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:414.11, Y:404.27, Z:22.74 [[ 5.95023848e-01 -8.03702382e-01 -3.01688392e-03 4.14107378e+02] [ 8.03691791e-01 5.95031495e-01 -4.12614233e-03 4.04269804e+02] [ 5.11133137e-03 3.05082408e-05 9.99986937e-01 2.27420200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.930385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:414.12, Y:404.29, Z:22.74 [[ 5.94686597e-01 -8.03951962e-01 -3.01576018e-03 4.14124935e+02] [ 8.03941369e-01 5.94694243e-01 -4.12696350e-03 4.04291837e+02] [ 5.11133562e-03 2.97555151e-05 9.99986937e-01 2.27422791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.960385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:414.14, Y:404.31, Z:22.74 [[ 5.93717055e-01 -8.04668236e-01 -3.01464491e-03 4.14143777e+02] [ 8.04657649e-01 5.93724708e-01 -4.12777802e-03 4.04313655e+02] [ 5.11136102e-03 2.49751217e-05 9.99986937e-01 2.27412656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.990385723 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:414.16, Y:404.33, Z:22.74 [[ 5.93084189e-01 -8.05134786e-01 -3.02015069e-03 4.14161011e+02] [ 8.05124226e-01 5.93091878e-01 -4.12375856e-03 4.04334899e+02] [ 5.11140831e-03 1.41395183e-05 9.99986937e-01 2.27404486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.020385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:414.18, Y:404.36, Z:22.74 [[ 5.93080282e-01 -8.05137691e-01 -3.01313633e-03 4.14182160e+02] [ 8.05127104e-01 5.93087935e-01 -4.12887744e-03 4.04356233e+02] [ 5.11136965e-03 2.27980686e-05 9.99986937e-01 2.27403697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.050385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:414.20, Y:404.38, Z:22.74 [[ 5.92511532e-01 -8.05556263e-01 -3.03180472e-03 4.14199768e+02] [ 8.05545751e-01 5.92519289e-01 -4.11525523e-03 4.04378760e+02] [ 5.11147240e-03 -3.92122502e-06 9.99986936e-01 2.27414395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.080385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:414.22, Y:404.40, Z:22.74 [[ 5.92780272e-01 -8.05358549e-01 -3.02598567e-03 4.14220610e+02] [ 8.05348013e-01 5.92787996e-01 -4.11949656e-03 4.04400452e+02] [ 5.11143975e-03 4.98474119e-06 9.99986937e-01 2.27401481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.110385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:414.23, Y:404.42, Z:22.74 [[ 5.91462366e-01 -8.06326873e-01 -3.04026231e-03 4.14234760e+02] [ 8.06316403e-01 5.91470180e-01 -4.10909139e-03 4.04421499e+02] [ 5.11149530e-03 -2.10404517e-05 9.99986936e-01 2.27401437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.140385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:414.25, Y:404.44, Z:22.74 [[ 5.91021143e-01 -8.06650455e-01 -3.00876766e-03 4.14252680e+02] [ 8.06639872e-01 5.91028801e-01 -4.13202448e-03 4.04443707e+02] [ 5.11136777e-03 1.51218691e-05 9.99986937e-01 2.27396515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.170385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:414.28, Y:404.46, Z:22.74 [[ 5.91154891e-01 -8.06552447e-01 -3.00764324e-03 4.14276633e+02] [ 8.06541858e-01 5.91162542e-01 -4.13284277e-03 4.04464899e+02] [ 5.11136047e-03 1.73600475e-05 9.99986937e-01 2.27396956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.200385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:414.29, Y:404.48, Z:22.74 [[ 5.89101465e-01 -8.08053352e-01 -3.04036514e-03 4.14290781e+02] [ 8.08042906e-01 5.89109309e-01 -4.10902475e-03 4.04484916e+02] [ 5.11141863e-03 -3.61129817e-05 9.99986936e-01 2.27408732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.230385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:414.31, Y:404.51, Z:22.74 [[ 5.88071076e-01 -8.08803668e-01 -3.00610018e-03 4.14310070e+02] [ 8.08793103e-01 5.88078759e-01 -4.13394139e-03 4.04505660e+02] [ 5.11137062e-03 -2.61731585e-07 9.99986937e-01 2.27415922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.260385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:414.33, Y:404.53, Z:22.74 [[ 5.87644152e-01 -8.09113911e-01 -3.00494115e-03 4.14327313e+02] [ 8.09103346e-01 5.87651835e-01 -4.13478371e-03 4.04527273e+02] [ 5.11137020e-03 -1.52647103e-06 9.99986937e-01 2.27418124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.290385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:414.34, Y:404.55, Z:22.74 [[ 5.87502487e-01 -8.09216785e-01 -3.00378315e-03 4.14344881e+02] [ 8.09206217e-01 5.87510166e-01 -4.13562479e-03 4.04549569e+02] [ 5.11137013e-03 -9.90151259e-07 9.99986937e-01 2.27418165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.320385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:414.36, Y:404.57, Z:22.74 [[ 5.88734305e-01 -8.08321039e-01 -3.00263233e-03 4.14362933e+02] [ 8.08310456e-01 5.88741961e-01 -4.13646016e-03 4.04570356e+02] [ 5.11136343e-03 8.21688963e-06 9.99986937e-01 2.27411310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.3503857229999 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:414.38, Y:404.59, Z:22.74 [[ 5.90233900e-01 -8.07226691e-01 -3.00201486e-03 4.14381495e+02] [ 8.07216091e-01 5.90241534e-01 -4.13690824e-03 4.04590232e+02] [ 5.11133661e-03 1.84687816e-05 9.99986937e-01 2.27391392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.380385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:414.40, Y:404.61, Z:22.74 [[ 5.91033357e-01 -8.06641533e-01 -3.00143814e-03 4.14399172e+02] [ 8.06630923e-01 5.91040977e-01 -4.13732662e-03 4.04611628e+02] [ 5.11131242e-03 2.42452181e-05 9.99986937e-01 2.27409010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.410385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:414.42, Y:404.63, Z:22.74 [[ 5.90845611e-01 -8.06779100e-01 -2.99112631e-03 4.14417562e+02] [ 8.06768454e-01 5.90853182e-01 -4.14480380e-03 4.04634551e+02] [ 5.11125757e-03 3.57927828e-05 9.99986937e-01 2.27409183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.440385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:414.44, Y:404.66, Z:22.74 [[ 5.90809591e-01 -8.06805445e-01 -3.00010360e-03 4.14436096e+02] [ 8.06794832e-01 5.90817208e-01 -4.13829561e-03 4.04656002e+02] [ 5.11131226e-03 2.44766627e-05 9.99986937e-01 2.27408229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.4703857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:414.45, Y:404.68, Z:22.74 [[ 5.90149736e-01 -8.07288236e-01 -2.99895259e-03 4.14452963e+02] [ 8.07277625e-01 5.90157355e-01 -4.13912956e-03 4.04677540e+02] [ 5.11132453e-03 2.17188864e-05 9.99986937e-01 2.27389622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.500385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:414.47, Y:404.70, Z:22.74 [[ 5.89651124e-01 -8.07652503e-01 -2.99770495e-03 4.14471752e+02] [ 8.07641892e-01 5.89658744e-01 -4.14003295e-03 4.04698696e+02] [ 5.11133091e-03 2.01029812e-05 9.99986937e-01 2.27393697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.530385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:414.49, Y:404.72, Z:22.74 [[ 5.89354526e-01 -8.07868965e-01 -2.99643579e-03 4.14489211e+02] [ 8.07858352e-01 5.89362142e-01 -4.14095133e-03 4.04720048e+02] [ 5.11133188e-03 1.97927269e-05 9.99986937e-01 2.27381282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.560385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:414.51, Y:404.74, Z:22.74 [[ 5.88813965e-01 -8.08263039e-01 -2.99580595e-03 4.14507363e+02] [ 8.08252429e-01 5.88821586e-01 -4.14140694e-03 4.04742036e+02] [ 5.11134137e-03 1.71508068e-05 9.99986937e-01 2.27385452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.5903857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:414.53, Y:404.76, Z:22.74 [[ 5.90872477e-01 -8.06759411e-01 -2.99467121e-03 4.14531402e+02] [ 8.06748778e-01 5.90880065e-01 -4.14222731e-03 4.04761080e+02] [ 5.11127239e-03 3.15807749e-05 9.99986937e-01 2.27353682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.620385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:414.55, Y:404.78, Z:22.74 [[ 5.86886030e-01 -8.09663944e-01 -3.01430619e-03 4.14547705e+02] [ 8.09653421e-01 5.86893770e-01 -4.12804440e-03 4.04784260e+02] [ 5.11140623e-03 -1.78517274e-05 9.99986937e-01 2.27406121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.650385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:414.57, Y:404.81, Z:22.74 [[ 5.88567400e-01 -8.08442553e-01 -3.00896081e-03 4.14569499e+02] [ 8.08431994e-01 5.88575092e-01 -4.13190194e-03 4.04807138e+02] [ 5.11140474e-03 -6.37398164e-07 9.99986937e-01 2.27386868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.680385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:414.58, Y:404.83, Z:22.74 [[ 5.86481831e-01 -8.09956672e-01 -3.04163356e-03 4.14581373e+02] [ 8.09946255e-01 5.86489716e-01 -4.10831571e-03 4.04827375e+02] [ 5.11144452e-03 -5.41071954e-05 9.99986935e-01 2.27405145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.710385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:414.60, Y:404.85, Z:22.74 [[ 5.86123725e-01 -8.10216047e-01 -2.98919740e-03 4.14599067e+02] [ 8.10205439e-01 5.86131348e-01 -4.14612023e-03 4.04848963e+02] [ 5.11131544e-03 8.27544199e-06 9.99986937e-01 2.27404364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.740385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:414.62, Y:404.87, Z:22.74 [[ 5.86007108e-01 -8.10300402e-01 -2.98807207e-03 4.14617757e+02] [ 8.10289790e-01 5.86014726e-01 -4.14693109e-03 4.04869835e+02] [ 5.11131416e-03 8.92680326e-06 9.99986937e-01 2.27399233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.770385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:414.64, Y:404.89, Z:22.74 [[ 5.85873948e-01 -8.10396690e-01 -2.98695923e-03 4.14636008e+02] [ 8.10386076e-01 5.85881562e-01 -4.14773249e-03 4.04891101e+02] [ 5.11131302e-03 9.45824083e-06 9.99986937e-01 2.27400211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.800385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:414.65, Y:404.91, Z:22.74 [[ 5.85679536e-01 -8.10537209e-01 -2.98582491e-03 4.14653253e+02] [ 8.10526592e-01 5.85687147e-01 -4.14854889e-03 4.04913268e+02] [ 5.11131251e-03 9.62969865e-06 9.99986937e-01 2.27407580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.830385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:414.67, Y:404.94, Z:22.74 [[ 5.86043912e-01 -8.10273806e-01 -2.98189947e-03 4.14674042e+02] [ 8.10263172e-01 5.86051498e-01 -4.15137305e-03 4.04936522e+02] [ 5.11129550e-03 1.67635844e-05 9.99986937e-01 2.27403611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.860385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:414.69, Y:404.96, Z:22.74 [[ 5.83916170e-01 -8.11808351e-01 -3.01786292e-03 4.14690189e+02] [ 8.11797869e-01 5.83923967e-01 -4.12549967e-03 4.04958101e+02] [ 5.11131757e-03 -4.09487177e-05 9.99986936e-01 2.27428638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.890385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:414.71, Y:404.98, Z:22.74 [[ 5.83116666e-01 -8.12382902e-01 -2.99560869e-03 4.14706192e+02] [ 8.12372346e-01 5.83124361e-01 -4.14148657e-03 4.04979233e+02] [ 5.11128528e-03 -1.85798202e-05 9.99986937e-01 2.27423181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.920385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:414.72, Y:405.00, Z:22.74 [[ 5.81637441e-01 -8.13442687e-01 -2.98046272e-03 4.14724631e+02] [ 8.13432089e-01 5.81645077e-01 -4.15235798e-03 4.04999681e+02] [ 5.11127670e-03 -9.23715026e-06 9.99986937e-01 2.27410065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.950385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:414.74, Y:405.02, Z:22.74 [[ 5.80776359e-01 -8.14057702e-01 -2.97968632e-03 4.14742185e+02] [ 8.14047109e-01 5.80784003e-01 -4.15291504e-03 4.05021873e+02] [ 5.11126663e-03 -1.36901556e-05 9.99986937e-01 2.27417549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.980385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:414.76, Y:405.04, Z:22.74 [[ 5.79010741e-01 -8.15314473e-01 -2.97856259e-03 4.14761302e+02] [ 8.15303892e-01 5.79018402e-01 -4.15372085e-03 4.05043171e+02] [ 5.11123128e-03 -2.33846897e-05 9.99986937e-01 2.27423927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.010385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:414.78, Y:405.07, Z:22.74 [[ 5.77720105e-01 -8.16229511e-01 -2.97742299e-03 4.14778769e+02] [ 8.16218939e-01 5.77727777e-01 -4.15453757e-03 4.05065402e+02] [ 5.11119613e-03 -3.00691570e-05 9.99986937e-01 2.27396241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.040385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:414.80, Y:405.09, Z:22.74 [[ 5.77887203e-01 -8.16111188e-01 -2.98471316e-03 4.14795458e+02] [ 8.16100641e-01 5.77894910e-01 -4.14931580e-03 4.05087506e+02] [ 5.11115359e-03 -3.79898141e-05 9.99986937e-01 2.27423672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.070385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:414.81, Y:405.11, Z:22.74 [[ 5.78985581e-01 -8.15332353e-01 -2.97504868e-03 4.14813216e+02] [ 8.15321760e-01 5.78993224e-01 -4.15623368e-03 4.05111882e+02] [ 5.11124481e-03 -1.92225541e-05 9.99986937e-01 2.27429033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.1003857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:414.83, Y:405.13, Z:22.74 [[ 5.79079785e-01 -8.15265383e-01 -2.99317388e-03 4.14829023e+02] [ 8.15254855e-01 5.79087519e-01 -4.14326189e-03 4.05134799e+02] [ 5.11116762e-03 -4.09203362e-05 9.99986937e-01 2.27431001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.130385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:414.84, Y:405.16, Z:22.74 [[ 5.78559946e-01 -8.15634378e-01 -2.99187520e-03 4.14842859e+02] [ 8.15623850e-01 5.78567680e-01 -4.14419098e-03 4.05156447e+02] [ 5.11114692e-03 -4.25818639e-05 9.99986937e-01 2.27434709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.160385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:414.86, Y:405.18, Z:22.74 [[ 5.77807381e-01 -8.16167748e-01 -2.97278611e-03 4.14858651e+02] [ 8.16157158e-01 5.77815028e-01 -4.15783936e-03 4.05179279e+02] [ 5.11121488e-03 -2.38303911e-05 9.99986937e-01 2.27440819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.190385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:414.87, Y:405.20, Z:22.74 [[ 5.77321206e-01 -8.16511724e-01 -2.97159384e-03 4.14873804e+02] [ 8.16501134e-01 5.77328853e-01 -4.15869130e-03 4.05201434e+02] [ 5.11120706e-03 -2.54090610e-05 9.99986937e-01 2.27424338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.2203857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:414.89, Y:405.22, Z:22.74 [[ 5.76018189e-01 -8.17431477e-01 -2.97094768e-03 4.14888948e+02] [ 8.17420897e-01 5.76025849e-01 -4.15915286e-03 4.05224802e+02] [ 5.11116513e-03 -3.27670181e-05 9.99986937e-01 2.27423881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.250385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:414.90, Y:405.25, Z:22.74 [[ 5.75078991e-01 -8.18092497e-01 -2.96983893e-03 4.14904933e+02] [ 8.18081921e-01 5.75086658e-01 -4.15994441e-03 4.05248276e+02] [ 5.11113406e-03 -3.72749013e-05 9.99986937e-01 2.27430440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.280385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:414.92, Y:405.27, Z:22.74 [[ 5.73818986e-01 -8.18976775e-01 -2.96868746e-03 4.14920160e+02] [ 8.18966207e-01 5.73826664e-01 -4.16076598e-03 4.05272254e+02] [ 5.11108273e-03 -4.37281976e-05 9.99986937e-01 2.27430320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.310385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:414.93, Y:405.29, Z:22.74 [[ 5.73294358e-01 -8.19344112e-01 -2.96753175e-03 4.14934767e+02] [ 8.19333544e-01 5.73302036e-01 -4.16159009e-03 4.05294617e+02] [ 5.11106633e-03 -4.55821865e-05 9.99986937e-01 2.27430122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.3403857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:414.95, Y:405.32, Z:22.74 [[ 5.72605448e-01 -8.19825714e-01 -2.96648807e-03 4.14950296e+02] [ 8.19815149e-01 5.72613130e-01 -4.16233392e-03 4.05318610e+02] [ 5.11103840e-03 -4.85967736e-05 9.99986937e-01 2.27430614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.370385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:414.96, Y:405.34, Z:22.74 [[ 5.69657411e-01 -8.21876902e-01 -2.96534555e-03 4.14963449e+02] [ 8.21866360e-01 5.69665125e-01 -4.16314772e-03 4.05343454e+02] [ 5.11084889e-03 -6.55498087e-05 9.99986937e-01 2.27388851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.400385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:414.98, Y:405.37, Z:22.74 [[ 5.69732081e-01 -8.21825172e-01 -2.95684758e-03 4.14980416e+02] [ 8.21814598e-01 5.69739751e-01 -4.16919614e-03 4.05365850e+02] [ 5.11098393e-03 -5.46557105e-05 9.99986937e-01 2.27436967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.430385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:415.00, Y:405.39, Z:22.74 [[ 5.68859250e-01 -8.22429554e-01 -2.96345680e-03 4.14996379e+02] [ 8.22419013e-01 5.68866965e-01 -4.16449301e-03 4.05388995e+02] [ 5.11081480e-03 -6.81928508e-05 9.99986937e-01 2.27443595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.460385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:415.01, Y:405.41, Z:22.74 [[ 5.68383865e-01 -8.22758170e-01 -2.96230436e-03 4.15012403e+02] [ 8.22747630e-01 5.68391580e-01 -4.16531261e-03 4.05412518e+02] [ 5.11079383e-03 -6.97324120e-05 9.99986937e-01 2.27441189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.490385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:415.03, Y:405.44, Z:22.74 [[ 5.68086494e-01 -8.22963527e-01 -2.96113753e-03 4.15028017e+02] [ 8.22952985e-01 5.68094207e-01 -4.16614194e-03 4.05435660e+02] [ 5.11078795e-03 -7.01479967e-05 9.99986937e-01 2.27434588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.520385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:415.04, Y:405.46, Z:22.74 [[ 5.67856961e-01 -8.23121929e-01 -2.95997542e-03 4.15044533e+02] [ 8.23111385e-01 5.67864671e-01 -4.16696744e-03 4.05459003e+02] [ 5.11078775e-03 -7.01479941e-05 9.99986937e-01 2.27436044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.550385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:415.06, Y:405.48, Z:22.74 [[ 5.67915188e-01 -8.23081761e-01 -2.95881307e-03 4.15059820e+02] [ 8.23071211e-01 5.67922891e-01 -4.16779262e-03 4.05482924e+02] [ 5.11081176e-03 -6.83611314e-05 9.99986937e-01 2.27431259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.580385723 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:415.07, Y:405.51, Z:22.74 [[ 5.68058031e-01 -8.22983187e-01 -2.95765722e-03 4.15074249e+02] [ 8.22972632e-01 5.68065727e-01 -4.16861270e-03 4.05506028e+02] [ 5.11084187e-03 -6.60570253e-05 9.99986937e-01 2.27408750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.610385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:415.09, Y:405.53, Z:22.74 [[ 5.67911507e-01 -8.23084308e-01 -2.95662038e-03 4.15088545e+02] [ 8.23073751e-01 5.67919199e-01 -4.16934796e-03 4.05528903e+02] [ 5.11084636e-03 -6.56959414e-05 9.99986937e-01 2.27367954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.640385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:415.11, Y:405.55, Z:22.74 [[ 5.68819721e-01 -8.22456974e-01 -2.94138630e-03 4.15106734e+02] [ 8.22446352e-01 5.68827324e-01 -4.18014415e-03 4.05553153e+02] [ 5.11112960e-03 -4.13840095e-05 9.99986937e-01 2.27418999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.670385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:415.12, Y:405.58, Z:22.74 [[ 5.69803768e-01 -8.21775477e-01 -2.95474335e-03 4.15123621e+02] [ 8.21764895e-01 5.69811427e-01 -4.17068127e-03 4.05576293e+02] [ 5.11101012e-03 -5.16344539e-05 9.99986937e-01 2.27433413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.700385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:415.14, Y:405.60, Z:22.74 [[ 5.71989123e-01 -8.20255885e-01 -2.95414223e-03 4.15139025e+02] [ 8.20245280e-01 5.71996751e-01 -4.17110698e-03 4.05598488e+02] [ 5.11113480e-03 -3.72933916e-05 9.99986937e-01 2.27435511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.730385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:415.16, Y:405.62, Z:22.74 [[ 5.73482868e-01 -8.19212230e-01 -2.95327906e-03 4.15157867e+02] [ 8.19201609e-01 5.73490472e-01 -4.17171805e-03 4.05623327e+02] [ 5.11119984e-03 -2.69221250e-05 9.99986937e-01 2.27414385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.760385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:415.17, Y:405.64, Z:22.74 [[ 5.74172382e-01 -8.18728976e-01 -2.98990063e-03 4.15170643e+02] [ 8.18718483e-01 5.74180162e-01 -4.14578477e-03 4.05644826e+02] [ 5.11101575e-03 -6.74917948e-05 9.99986936e-01 2.27437502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.790385723 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:415.19, Y:405.67, Z:22.74 [[ 5.76174333e-01 -8.17321494e-01 -2.95190215e-03 4.15186426e+02] [ 8.17310842e-01 5.76181895e-01 -4.17266634e-03 4.05667816e+02] [ 5.11124246e-03 -8.43838071e-06 9.99986938e-01 2.27439214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.820385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:415.20, Y:405.69, Z:22.74 [[ 5.76748392e-01 -8.16916516e-01 -2.94916914e-03 4.15202579e+02] [ 8.16905850e-01 5.76755933e-01 -4.17459882e-03 4.05690481e+02] [ 5.11124952e-03 -1.50036875e-06 9.99986938e-01 2.27438379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.8503857229999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:415.22, Y:405.71, Z:22.74 [[ 5.77975071e-01 -8.16049087e-01 -2.95039588e-03 4.15218678e+02] [ 8.16038414e-01 5.77982601e-01 -4.17373164e-03 4.05712248e+02] [ 5.11124738e-03 4.67646263e-06 9.99986938e-01 2.27440856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.880385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:415.24, Y:405.74, Z:22.74 [[ 5.77202844e-01 -8.16595527e-01 -2.93635748e-03 4.15235812e+02] [ 8.16584810e-01 5.77210312e-01 -4.18364756e-03 4.05735712e+02] [ 5.11124370e-03 1.70283535e-05 9.99986937e-01 2.27440417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.910385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:415.25, Y:405.76, Z:22.74 [[ 5.76824988e-01 -8.16862437e-01 -2.94826644e-03 4.15252377e+02] [ 8.16851766e-01 5.76832523e-01 -4.17523826e-03 4.05758658e+02] [ 5.11125127e-03 8.51128023e-08 9.99986937e-01 2.27440143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.940385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:415.27, Y:405.78, Z:22.74 [[ 5.75624342e-01 -8.17708953e-01 -2.94712039e-03 4.15268216e+02] [ 8.17698289e-01 5.75631886e-01 -4.17604706e-03 4.05781275e+02] [ 5.11124753e-03 -6.02096172e-06 9.99986937e-01 2.27432568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.9703857229999 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:415.28, Y:405.80, Z:22.74 [[ 5.74702071e-01 -8.18357410e-01 -2.94596447e-03 4.15284538e+02] [ 8.18346751e-01 5.74709622e-01 -4.17686233e-03 4.05804523e+02] [ 5.11124037e-03 -1.03690192e-05 9.99986937e-01 2.27403337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.000385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:415.30, Y:405.83, Z:22.74 [[ 5.73058216e-01 -8.19509371e-01 -2.94481702e-03 4.15302043e+02] [ 8.19498723e-01 5.73065782e-01 -4.17767116e-03 4.05828124e+02] [ 5.11121454e-03 -1.92250021e-05 9.99986937e-01 2.27397266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.030385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:415.32, Y:405.85, Z:22.74 [[ 5.73394684e-01 -8.19273989e-01 -2.94408254e-03 4.15318549e+02] [ 8.19263335e-01 5.73402242e-01 -4.17818861e-03 4.05849192e+02] [ 5.11122477e-03 -1.62277450e-05 9.99986937e-01 2.27422191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.060385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:415.34, Y:405.87, Z:22.74 [[ 5.72703730e-01 -8.19757145e-01 -2.94288785e-03 4.15335318e+02] [ 8.19746493e-01 5.72711291e-01 -4.17902991e-03 4.05870331e+02] [ 5.11121473e-03 -1.90759764e-05 9.99986938e-01 2.27407509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.0903857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:415.35, Y:405.89, Z:22.74 [[ 5.71773926e-01 -8.20405974e-01 -2.93535197e-03 4.15352702e+02] [ 8.20395303e-01 5.71781460e-01 -4.18433275e-03 4.05894094e+02] [ 5.11123142e-03 -1.56566045e-05 9.99986937e-01 2.27419261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.120385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:415.37, Y:405.92, Z:22.74 [[ 5.71145794e-01 -8.20843368e-01 -2.94057282e-03 4.15369144e+02] [ 8.20832722e-01 5.71153363e-01 -4.18066054e-03 4.05916594e+02] [ 5.11118553e-03 -2.59517127e-05 9.99986937e-01 2.27405490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.150385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:415.38, Y:405.94, Z:22.74 [[ 5.68191675e-01 -8.22890989e-01 -2.93944066e-03 4.15381887e+02] [ 8.22880367e-01 5.68199276e-01 -4.18145641e-03 4.05940852e+02] [ 5.11107086e-03 -4.29392899e-05 9.99986937e-01 2.27375130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.180385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:415.40, Y:405.96, Z:22.74 [[ 5.69989808e-01 -8.21646596e-01 -2.91372322e-03 4.15401423e+02] [ 8.21635864e-01 5.69997255e-01 -4.19952105e-03 4.05964161e+02] [ 5.11133641e-03 -3.35301478e-07 9.99986937e-01 2.27417782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.210385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:415.42, Y:405.99, Z:22.74 [[ 5.68359192e-01 -8.22775302e-01 -2.93800569e-03 4.15418284e+02] [ 8.22764672e-01 5.68366784e-01 -4.18246363e-03 4.05986710e+02] [ 5.11109262e-03 -4.01456364e-05 9.99986938e-01 2.27394192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.240385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:415.44, Y:406.01, Z:22.74 [[ 5.68859668e-01 -8.22429371e-01 -2.93385592e-03 4.15435025e+02] [ 8.22418722e-01 5.68867232e-01 -4.18537732e-03 4.06008237e+02] [ 5.11115173e-03 -3.19656869e-05 9.99986937e-01 2.27421819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.270385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:415.45, Y:406.03, Z:22.74 [[ 5.66930664e-01 -8.23760299e-01 -2.93121805e-03 4.15451819e+02] [ 8.23749658e-01 5.66938241e-01 -4.18722824e-03 4.06033350e+02] [ 5.11109199e-03 -4.07217753e-05 9.99986937e-01 2.27405663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.300385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:415.47, Y:406.06, Z:22.74 [[ 5.66383464e-01 -8.24136568e-01 -2.94772054e-03 4.15465599e+02] [ 8.24125992e-01 5.66391131e-01 -4.17565138e-03 4.06055019e+02] [ 5.11086977e-03 -6.42732169e-05 9.99986937e-01 2.27425759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.330385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:415.48, Y:406.08, Z:22.74 [[ 5.65729290e-01 -8.24585811e-01 -2.93426039e-03 4.15481928e+02] [ 8.24575193e-01 5.65736897e-01 -4.18508859e-03 4.06079653e+02] [ 5.11098404e-03 -5.18911306e-05 9.99986938e-01 2.27413839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.360385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:415.50, Y:406.10, Z:22.74 [[ 5.65851376e-01 -8.24501978e-01 -2.95102899e-03 4.15495524e+02] [ 8.24491419e-01 5.65859067e-01 -4.17333338e-03 4.06101908e+02] [ 5.11078813e-03 -7.16116442e-05 9.99986937e-01 2.27433165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.390385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:415.51, Y:406.13, Z:22.74 [[ 5.66106375e-01 -8.24326980e-01 -2.93287259e-03 4.15511519e+02] [ 8.24316353e-01 5.66113970e-01 -4.18605428e-03 4.06125450e+02] [ 5.11101764e-03 -4.78628260e-05 9.99986938e-01 2.27439135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.420385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:415.53, Y:406.15, Z:22.75 [[ 5.66804904e-01 -8.23846834e-01 -2.93171196e-03 4.15526867e+02] [ 8.23836196e-01 5.66812484e-01 -4.18686698e-03 4.06147626e+02] [ 5.11106804e-03 -4.21137010e-05 9.99986938e-01 2.27452393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.450385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:415.54, Y:406.17, Z:22.74 [[ 5.67140232e-01 -8.23616031e-01 -2.93092165e-03 4.15542550e+02] [ 8.23605387e-01 5.67147804e-01 -4.18742014e-03 4.06171385e+02] [ 5.11109214e-03 -3.90684272e-05 9.99986938e-01 2.27449214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.480385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:415.56, Y:406.20, Z:22.74 [[ 5.68287791e-01 -8.22824649e-01 -2.92977498e-03 4.15558472e+02] [ 8.22813990e-01 5.68295342e-01 -4.18822227e-03 4.06196758e+02] [ 5.11114999e-03 -3.05442646e-05 9.99986938e-01 2.27433174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.510385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:415.57, Y:406.22, Z:22.74 [[ 5.68496799e-01 -8.22680187e-01 -2.94965045e-03 4.15571742e+02] [ 8.22669598e-01 5.68504448e-01 -4.17432350e-03 4.06219539e+02] [ 5.11102264e-03 -5.34982028e-05 9.99986937e-01 2.27424376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.540385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:415.59, Y:406.24, Z:22.74 [[ 5.69780955e-01 -8.21791391e-01 -2.92800172e-03 4.15590368e+02] [ 8.21780712e-01 5.69788478e-01 -4.18945376e-03 4.06243856e+02] [ 5.11119868e-03 -1.91043730e-05 9.99986938e-01 2.27437867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.570385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:415.61, Y:406.27, Z:22.74 [[ 5.70916338e-01 -8.21002926e-01 -2.95469886e-03 4.15605190e+02] [ 8.20992333e-01 5.70923982e-01 -4.17079156e-03 4.06266034e+02] [ 5.11114052e-03 -4.46120703e-05 9.99986937e-01 2.27447587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.6003857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:415.62, Y:406.29, Z:22.74 [[ 5.74158738e-01 -8.18738694e-01 -2.94869985e-03 4.15621453e+02] [ 8.18728049e-01 5.74166310e-01 -4.17498742e-03 4.06286080e+02] [ 5.11126786e-03 -1.70777659e-05 9.99986937e-01 2.27448905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.630385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:415.63, Y:406.31, Z:22.75 [[ 5.73598138e-01 -8.19131614e-01 -2.92826083e-03 4.15632337e+02] [ 8.19120902e-01 5.73605612e-01 -4.18927196e-03 4.06307832e+02] [ 5.11123195e-03 4.35894571e-06 9.99986938e-01 2.27453346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.660385723 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:415.65, Y:406.33, Z:22.75 [[ 5.71532814e-01 -8.20574155e-01 -2.88083599e-03 4.15649103e+02] [ 8.20563293e-01 5.71540073e-01 -4.22237325e-03 4.06334742e+02] [ 5.11128357e-03 4.93166009e-05 9.99986936e-01 2.27467586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.690385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:415.66, Y:406.36, Z:22.75 [[ 5.70931184e-01 -8.20992704e-01 -2.92630545e-03 4.15663573e+02] [ 8.20982009e-01 5.70938683e-01 -4.19062200e-03 4.06358633e+02] [ 5.11121107e-03 -9.88734629e-06 9.99986938e-01 2.27480180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.7203857229999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:415.68, Y:406.38, Z:22.75 [[ 5.70036148e-01 -8.21614407e-01 -2.92513892e-03 4.15680227e+02] [ 8.21603716e-01 5.70043653e-01 -4.19143610e-03 4.06382969e+02] [ 5.11120116e-03 -1.40349140e-05 9.99986938e-01 2.27469266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.750385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:415.70, Y:406.41, Z:22.75 [[ 5.69739013e-01 -8.21820444e-01 -2.93517853e-03 4.15695359e+02] [ 8.21809792e-01 5.69746573e-01 -4.18443153e-03 4.06405742e+02] [ 5.11115928e-03 -2.81245679e-05 9.99986938e-01 2.27490672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.780385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:415.71, Y:406.43, Z:22.75 [[ 5.67808492e-01 -8.23155495e-01 -2.92349367e-03 4.15710647e+02] [ 8.23144819e-01 5.67816018e-01 -4.19257940e-03 4.06429432e+02] [ 5.11115131e-03 -2.58764790e-05 9.99986938e-01 2.27494155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.810385723 meters Centerline goodness : 0.998611 Centerline is valid? [True, True] Translation: X:415.73, Y:406.45, Z:22.75 [[ 5.67053057e-01 -8.23676084e-01 -2.92233860e-03 4.15728555e+02] [ 8.23665410e-01 5.67060586e-01 -4.19338436e-03 4.06453958e+02] [ 5.11113345e-03 -2.91577963e-05 9.99986938e-01 2.27481303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.8403857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:415.74, Y:406.48, Z:22.75 [[ 5.63927528e-01 -8.25819014e-01 -2.94944890e-03 4.15740704e+02] [ 8.25808467e-01 5.63935235e-01 -4.17449434e-03 4.06478125e+02] [ 5.11067495e-03 -8.15676015e-05 9.99986937e-01 2.27480187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.870385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:415.75, Y:406.50, Z:22.75 [[ 5.63209054e-01 -8.26309253e-01 -2.92920295e-03 4.15754255e+02] [ 8.26298639e-01 5.63216667e-01 -4.18857431e-03 4.06500839e+02] [ 5.11083363e-03 -6.13534405e-05 9.99986938e-01 2.27484281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.900385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:415.77, Y:406.52, Z:22.75 [[ 5.62336103e-01 -8.26903621e-01 -2.91699498e-03 4.15769487e+02] [ 8.26892971e-01 5.62343667e-01 -4.19705896e-03 4.06524510e+02] [ 5.11091690e-03 -5.18848637e-05 9.99986938e-01 2.27486401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.930385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:415.78, Y:406.55, Z:22.75 [[ 5.60845378e-01 -8.27915430e-01 -2.91585958e-03 4.15784273e+02] [ 8.27904790e-01 5.60852955e-01 -4.19784761e-03 4.06548842e+02] [ 5.11083128e-03 -5.97106823e-05 9.99986938e-01 2.27492782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.960385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:415.80, Y:406.57, Z:22.75 [[ 5.57067693e-01 -8.30461974e-01 -2.91472277e-03 4.15795737e+02] [ 8.30451364e-01 5.57075312e-01 -4.19863679e-03 4.06573850e+02] [ 5.11052830e-03 -8.16105908e-05 9.99986938e-01 2.27452538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.990385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:415.81, Y:406.60, Z:22.74 [[ 5.56302196e-01 -8.30975012e-01 -2.89777431e-03 4.15810795e+02] [ 8.30964348e-01 5.56309739e-01 -4.21039762e-03 4.06598049e+02] [ 5.11079528e-03 -6.56936941e-05 9.99986938e-01 2.27448236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.020385723 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:415.82, Y:406.62, Z:22.74 [[ 5.55068153e-01 -8.31799824e-01 -2.89779349e-03 4.15824881e+02] [ 8.31789172e-01 5.55075713e-01 -4.21038432e-03 4.06621931e+02] [ 5.11069173e-03 -7.33029976e-05 9.99986938e-01 2.27419734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.050385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:415.84, Y:406.65, Z:22.75 [[ 5.54526554e-01 -8.32160996e-01 -2.89444099e-03 4.15839814e+02] [ 8.32150336e-01 5.54534103e-01 -4.21270727e-03 4.06646854e+02] [ 5.11071692e-03 -7.25520000e-05 9.99986938e-01 2.27460628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.080385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:415.85, Y:406.67, Z:22.75 [[ 5.53401121e-01 -8.32909791e-01 -2.91189864e-03 4.15853281e+02] [ 8.32899205e-01 5.53408772e-01 -4.20061260e-03 4.06670906e+02] [ 5.11020162e-03 -1.00694342e-04 9.99986938e-01 2.27455576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.110385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:415.87, Y:406.70, Z:22.75 [[ 5.52943486e-01 -8.33213694e-01 -2.90532976e-03 4.15869030e+02] [ 8.33203088e-01 5.52951110e-01 -4.20516177e-03 4.06695110e+02] [ 5.11030369e-03 -9.55129211e-05 9.99986938e-01 2.27460628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.140385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:415.88, Y:406.72, Z:22.75 [[ 5.52359511e-01 -8.33600929e-01 -2.90893312e-03 4.15883841e+02] [ 8.33590342e-01 5.52367161e-01 -4.20266718e-03 4.06719073e+02] [ 5.11014639e-03 -1.03475363e-04 9.99986938e-01 2.27459457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.170385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:415.90, Y:406.74, Z:22.75 [[ 5.51866297e-01 -8.33927544e-01 -2.90544481e-03 4.15897134e+02] [ 8.33916948e-01 5.51873936e-01 -4.20508096e-03 4.06744163e+02] [ 5.11017210e-03 -1.02257209e-04 9.99986938e-01 2.27463090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.200385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:415.91, Y:406.77, Z:22.75 [[ 5.51229086e-01 -8.34348886e-01 -2.90366960e-03 4.15911227e+02] [ 8.34338290e-01 5.51236723e-01 -4.20630866e-03 4.06768365e+02] [ 5.11013826e-03 -1.04003054e-04 9.99986938e-01 2.27471304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.230385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:415.93, Y:406.79, Z:22.75 [[ 5.50959754e-01 -8.34526775e-01 -2.90017200e-03 4.15925700e+02] [ 8.34516168e-01 5.50967378e-01 -4.20872661e-03 4.06793932e+02] [ 5.11019521e-03 -1.01401448e-04 9.99986938e-01 2.27503825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.260385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:415.94, Y:406.82, Z:22.75 [[ 5.50484400e-01 -8.34840393e-01 -2.90572410e-03 4.15940098e+02] [ 8.34829811e-01 5.50492058e-01 -4.20488992e-03 4.06817905e+02] [ 5.10998999e-03 -1.11058795e-04 9.99986938e-01 2.27501108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.290385723 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:415.95, Y:406.84, Z:22.75 [[ 5.47431567e-01 -8.36845380e-01 -2.91364538e-03 4.15949681e+02] [ 8.36834855e-01 5.47439303e-01 -4.19941768e-03 4.06842105e+02] [ 5.10930728e-03 -1.39346209e-04 9.99986938e-01 2.27487278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.320385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:415.97, Y:406.87, Z:22.75 [[ 5.48697075e-01 -8.36016290e-01 -2.87810574e-03 4.15966523e+02] [ 8.36005623e-01 5.48704616e-01 -4.22394128e-03 4.06866768e+02] [ 5.11051362e-03 -8.84483610e-05 9.99986937e-01 2.27501059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.3503857229999 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:415.98, Y:406.89, Z:22.75 [[ 5.47403946e-01 -8.36863485e-01 -2.90282928e-03 4.15977485e+02] [ 8.36852921e-01 5.47411629e-01 -4.20688156e-03 4.06891809e+02] [ 5.10962807e-03 -1.26377597e-04 9.99986938e-01 2.27474716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.380385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:415.99, Y:406.92, Z:22.75 [[ 5.47186292e-01 -8.37005819e-01 -2.90181908e-03 4.15991122e+02] [ 8.36995253e-01 5.47193972e-01 -4.20757826e-03 4.06916238e+02] [ 5.10962540e-03 -1.26479647e-04 9.99986938e-01 2.27492983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.410385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:416.01, Y:406.94, Z:22.75 [[ 5.46952079e-01 -8.37158891e-01 -2.90064099e-03 4.16007299e+02] [ 8.37148323e-01 5.46959756e-01 -4.20839026e-03 4.06939799e+02] [ 5.10962521e-03 -1.26478941e-04 9.99986938e-01 2.27494439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.440385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:416.02, Y:406.97, Z:22.75 [[ 5.45886868e-01 -8.37853878e-01 -2.89946326e-03 4.16016200e+02] [ 8.37843315e-01 5.45894553e-01 -4.20920153e-03 4.06965488e+02] [ 5.10949702e-03 -1.31548067e-04 9.99986938e-01 2.27479048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.4703857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:416.03, Y:406.99, Z:22.75 [[ 5.47208744e-01 -8.36991254e-01 -2.86903349e-03 4.16029673e+02] [ 8.36980569e-01 5.47216259e-01 -4.23014490e-03 4.06989454e+02] [ 5.11057605e-03 -8.65529998e-05 9.99986937e-01 2.27482254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.500385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:416.05, Y:407.01, Z:22.75 [[ 5.49860637e-01 -8.35251502e-01 -2.86507395e-03 4.16047228e+02] [ 8.35240779e-01 5.49868098e-01 -4.23286783e-03 4.07014924e+02] [ 5.11092198e-03 -6.55391931e-05 9.99986937e-01 2.27490475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.530385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:416.06, Y:407.04, Z:22.75 [[ 5.50162170e-01 -8.35052811e-01 -2.89632727e-03 4.16057552e+02] [ 8.35042198e-01 5.50169785e-01 -4.21137370e-03 4.07040793e+02] [ 5.11019120e-03 -1.01616996e-04 9.99986938e-01 2.27483595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.560385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:416.07, Y:407.07, Z:22.75 [[ 5.50816373e-01 -8.34621512e-01 -2.87336374e-03 4.16072369e+02] [ 8.34610810e-01 5.50823863e-01 -4.22715612e-03 4.07065076e+02] [ 5.11079274e-03 -6.97536341e-05 9.99986937e-01 2.27483289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.5903857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:416.09, Y:407.09, Z:22.75 [[ 5.52597472e-01 -8.33443339e-01 -2.86976488e-03 4.16088323e+02] [ 8.33432608e-01 5.52604921e-01 -4.22962935e-03 4.07090700e+02] [ 5.11100260e-03 -5.44731446e-05 9.99986937e-01 2.27480992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.620385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:416.10, Y:407.12, Z:22.75 [[ 5.53610192e-01 -8.32770920e-01 -2.88974310e-03 4.16104397e+02] [ 8.32760252e-01 5.53617729e-01 -4.21590142e-03 4.07115033e+02] [ 5.11069312e-03 -7.24971932e-05 9.99986938e-01 2.27489974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.650385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:416.12, Y:407.14, Z:22.75 [[ 5.54919550e-01 -8.31898966e-01 -2.89906729e-03 4.16118321e+02] [ 8.31888319e-01 5.54927117e-01 -4.20949575e-03 4.07139764e+02] [ 5.11064621e-03 -7.57687266e-05 9.99986938e-01 2.27487683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.680385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:416.13, Y:407.16, Z:22.75 [[ 5.54957278e-01 -8.31873791e-01 -2.90075468e-03 4.16133227e+02] [ 8.31863150e-01 5.54964854e-01 -4.20833679e-03 4.07163876e+02] [ 5.11062198e-03 -7.75837928e-05 9.99986938e-01 2.27481855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.710385723 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:416.15, Y:407.19, Z:22.75 [[ 5.55690020e-01 -8.31384524e-01 -2.89390735e-03 4.16147474e+02] [ 8.31373852e-01 5.55697552e-01 -4.21303750e-03 4.07187338e+02] [ 5.11079141e-03 -6.47760011e-05 9.99986938e-01 2.27484604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.740385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:416.17, Y:407.21, Z:22.75 [[ 5.57355689e-01 -8.30268836e-01 -2.88020714e-03 4.16165529e+02] [ 8.30258100e-01 5.57363130e-01 -4.22243831e-03 4.07213329e+02] [ 5.11108021e-03 -3.79152948e-05 9.99986938e-01 2.27489231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.770385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:416.18, Y:407.24, Z:22.75 [[ 5.56053079e-01 -8.31141661e-01 -2.91754396e-03 4.16176876e+02] [ 8.31131070e-01 5.56060726e-01 -4.19681479e-03 4.07236292e+02] [ 5.11047923e-03 -9.12096520e-05 9.99986937e-01 2.27492288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.800385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:416.19, Y:407.26, Z:22.75 [[ 5.56927622e-01 -8.30555999e-01 -2.89061845e-03 4.16193314e+02] [ 8.30545304e-01 5.56935121e-01 -4.21527891e-03 4.07261046e+02] [ 5.11091212e-03 -5.31843176e-05 9.99986938e-01 2.27513172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.830385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:416.21, Y:407.29, Z:22.75 [[ 5.56165083e-01 -8.31066783e-01 -2.89884080e-03 4.16206813e+02] [ 8.31056124e-01 5.56172634e-01 -4.20964088e-03 4.07285293e+02] [ 5.11074862e-03 -6.78441253e-05 9.99986938e-01 2.27508646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.860385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:416.23, Y:407.31, Z:22.75 [[ 5.57813229e-01 -8.29961476e-01 -2.88962078e-03 4.16226928e+02] [ 8.29950769e-01 5.57820711e-01 -4.21596029e-03 4.07309968e+02] [ 5.11097494e-03 -4.65245667e-05 9.99986938e-01 2.27517182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.890385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:416.24, Y:407.33, Z:22.75 [[ 5.55495193e-01 -8.31514617e-01 -2.92105339e-03 4.16238714e+02] [ 8.31504044e-01 5.55502864e-01 -4.19441831e-03 4.07333158e+02] [ 5.11037366e-03 -9.88884989e-05 9.99986937e-01 2.27496460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.920385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:416.25, Y:407.36, Z:22.75 [[ 5.54854278e-01 -8.31942533e-01 -2.88990272e-03 4.16253427e+02] [ 8.31931854e-01 5.54861800e-01 -4.21574298e-03 4.07356986e+02] [ 5.11075252e-03 -6.50790980e-05 9.99986938e-01 2.27491272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.950385723 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:416.27, Y:407.38, Z:22.75 [[ 5.53571185e-01 -8.32796861e-01 -2.88634134e-03 4.16269000e+02] [ 8.32786181e-01 5.53578706e-01 -4.21817989e-03 4.07380766e+02] [ 5.11070408e-03 -6.86423423e-05 9.99986938e-01 2.27465068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.980385723 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:416.28, Y:407.40, Z:22.75 [[ 5.53138184e-01 -8.33084525e-01 -2.88520166e-03 4.16284448e+02] [ 8.33073844e-01 5.53145704e-01 -4.21895929e-03 4.07404247e+02] [ 5.11068659e-03 -6.99185594e-05 9.99986938e-01 2.27485158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.010385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:416.30, Y:407.43, Z:22.75 [[ 5.51603919e-01 -8.34101192e-01 -2.88406501e-03 4.16298596e+02] [ 8.34090522e-01 5.51611453e-01 -4.21973615e-03 4.07426903e+02] [ 5.11057025e-03 -7.79482960e-05 9.99986938e-01 2.27481023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.040385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:416.31, Y:407.45, Z:22.75 [[ 5.50678248e-01 -8.34712617e-01 -2.88345300e-03 4.16313823e+02] [ 8.34701953e-01 5.50685791e-01 -4.22015431e-03 4.07449946e+02] [ 5.11049265e-03 -8.28766662e-05 9.99986938e-01 2.27475835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.070385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:416.33, Y:407.47, Z:22.75 [[ 5.48558163e-01 -8.36107430e-01 -2.88233332e-03 4.16328506e+02] [ 8.36096781e-01 5.48565727e-01 -4.22091891e-03 4.07472200e+02] [ 5.11029093e-03 -9.44900856e-05 9.99986938e-01 2.27466931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.1003857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:416.34, Y:407.50, Z:22.75 [[ 5.47301363e-01 -8.36930651e-01 -2.88138452e-03 4.16344082e+02] [ 8.36920010e-01 5.47308939e-01 -4.22156650e-03 4.07495392e+02] [ 5.11016590e-03 -1.01019267e-04 9.99986938e-01 2.27475713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.130385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:416.36, Y:407.52, Z:22.75 [[ 5.46149823e-01 -8.37682562e-01 -2.88027520e-03 4.16359539e+02] [ 8.37671928e-01 5.46157408e-01 -4.22232323e-03 4.07519030e+02] [ 5.11005017e-03 -1.06704592e-04 9.99986938e-01 2.27491592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.160385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:416.37, Y:407.54, Z:22.75 [[ 5.44975307e-01 -8.38447151e-01 -2.87909428e-03 4.16374857e+02] [ 8.38436523e-01 5.44982901e-01 -4.22312832e-03 4.07542930e+02] [ 5.10992705e-03 -1.12437142e-04 9.99986938e-01 2.27503908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.190385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:416.39, Y:407.57, Z:22.75 [[ 5.45160773e-01 -8.38326577e-01 -2.87790708e-03 4.16389489e+02] [ 8.38315943e-01 5.45168358e-01 -4.22393719e-03 4.07566612e+02] [ 5.10998268e-03 -1.09870521e-04 9.99986938e-01 2.27507813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.2203857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:416.40, Y:407.59, Z:22.75 [[ 5.45690240e-01 -8.37982032e-01 -2.87672657e-03 4.16403893e+02] [ 8.37971389e-01 5.45697813e-01 -4.22474103e-03 4.07589605e+02] [ 5.11008047e-03 -1.05214617e-04 9.99986938e-01 2.27502268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.250385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:416.42, Y:407.61, Z:22.75 [[ 5.46438443e-01 -8.37494332e-01 -2.87605159e-03 4.16418028e+02] [ 8.37483680e-01 5.46446003e-01 -4.22520048e-03 4.07613498e+02] [ 5.11018835e-03 -9.98343023e-05 9.99986938e-01 2.27501198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.280385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:416.43, Y:407.64, Z:22.75 [[ 5.48971438e-01 -8.35836198e-01 -2.86556083e-03 4.16432363e+02] [ 8.35825485e-01 5.48978912e-01 -4.23233755e-03 4.07637213e+02] [ 5.11067339e-03 -7.16763407e-05 9.99986938e-01 2.27510562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.310385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:416.45, Y:407.66, Z:22.75 [[ 5.50188524e-01 -8.35035554e-01 -2.86546962e-03 4.16448911e+02] [ 8.35024831e-01 5.50195983e-01 -4.23239959e-03 4.07660944e+02] [ 5.11077401e-03 -6.41205990e-05 9.99986938e-01 2.27527251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.3403857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:416.46, Y:407.68, Z:22.75 [[ 5.51741831e-01 -8.34010006e-01 -2.87429421e-03 4.16463891e+02] [ 8.33999300e-01 5.51749314e-01 -4.22639815e-03 4.07684520e+02] [ 5.11074821e-03 -6.52787009e-05 9.99986938e-01 2.27538130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.370385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:416.48, Y:407.71, Z:22.75 [[ 5.52722945e-01 -8.33360121e-01 -2.87310927e-03 4.16478638e+02] [ 8.33349402e-01 5.52730409e-01 -4.22720352e-03 4.07707462e+02] [ 5.11083770e-03 -5.78315200e-05 9.99986938e-01 2.27526865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.400385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:416.49, Y:407.73, Z:22.75 [[ 5.55497674e-01 -8.31513129e-01 -2.87245216e-03 4.16492807e+02] [ 8.31502382e-01 5.55505099e-01 -4.22764999e-03 4.07731393e+02] [ 5.11100829e-03 -4.00010809e-05 9.99986938e-01 2.27542342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.430385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:416.51, Y:407.75, Z:22.75 [[ 5.57183805e-01 -8.30384226e-01 -2.87129297e-03 4.16507579e+02] [ 8.30373461e-01 5.57191203e-01 -4.22843713e-03 4.07754749e+02] [ 5.11108668e-03 -2.82287939e-05 9.99986938e-01 2.27545659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.460385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:416.52, Y:407.78, Z:22.75 [[ 5.58785889e-01 -8.29306995e-01 -2.87011691e-03 4.16522645e+02] [ 8.29296211e-01 5.58793260e-01 -4.22923525e-03 4.07778454e+02] [ 5.11113636e-03 -1.69401049e-05 9.99986938e-01 2.27545645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.490385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:416.54, Y:407.80, Z:22.75 [[ 5.62265833e-01 -8.26951572e-01 -2.86894628e-03 4.16538339e+02] [ 8.26940753e-01 5.62273153e-01 -4.23002921e-03 4.07802090e+02] [ 5.11116077e-03 5.95230119e-06 9.99986938e-01 2.27547198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.520385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:416.55, Y:407.83, Z:22.75 [[ 5.64618093e-01 -8.25347311e-01 -2.86776321e-03 4.16553862e+02] [ 8.25336468e-01 5.64625376e-01 -4.23083113e-03 4.07825886e+02] [ 5.11111697e-03 2.19342493e-05 9.99986938e-01 2.27545292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.550385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:416.57, Y:407.85, Z:22.75 [[ 5.65126303e-01 -8.24999421e-01 -2.86658619e-03 4.16569579e+02] [ 8.24988569e-01 5.65133573e-01 -4.23162846e-03 4.07849487e+02] [ 5.11109512e-03 2.65037044e-05 9.99986938e-01 2.27549280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.580385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:416.58, Y:407.87, Z:22.75 [[ 5.65475754e-01 -8.24759942e-01 -2.86535670e-03 4.16584972e+02] [ 8.24749082e-01 5.65483013e-01 -4.23246082e-03 4.07872207e+02] [ 5.11107468e-03 3.01536661e-05 9.99986938e-01 2.27543270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.610385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:416.60, Y:407.89, Z:22.75 [[ 5.65334186e-01 -8.24856989e-01 -2.86467767e-03 4.16600724e+02] [ 8.24846128e-01 5.65341444e-01 -4.23292036e-03 4.07893831e+02] [ 5.11107495e-03 3.00963039e-05 9.99986938e-01 2.27536336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.640385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:416.62, Y:407.92, Z:22.75 [[ 5.65090557e-01 -8.25023914e-01 -2.86402547e-03 4.16617002e+02] [ 8.25013054e-01 5.65097814e-01 -4.23336160e-03 4.07916329e+02] [ 5.11107909e-03 2.93742635e-05 9.99986938e-01 2.27532933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.670385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:416.63, Y:407.94, Z:22.75 [[ 5.65285438e-01 -8.24890403e-01 -2.86286251e-03 4.16633266e+02] [ 8.24879537e-01 5.65292687e-01 -4.23414792e-03 4.07937611e+02] [ 5.11106322e-03 3.19854599e-05 9.99986938e-01 2.27521571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.700385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:416.65, Y:407.96, Z:22.75 [[ 5.65318401e-01 -8.24867816e-01 -2.86225604e-03 4.16649924e+02] [ 8.24856947e-01 5.65325646e-01 -4.23455785e-03 4.07960268e+02] [ 5.11105722e-03 3.29216898e-05 9.99986938e-01 2.27524919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.730385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:416.67, Y:407.98, Z:22.75 [[ 5.65983681e-01 -8.24411479e-01 -2.86105004e-03 4.16668072e+02] [ 8.24400600e-01 5.65990911e-01 -4.23537252e-03 4.07981776e+02] [ 5.11101804e-03 3.85003599e-05 9.99986938e-01 2.27531352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.760385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:416.68, Y:408.00, Z:22.75 [[ 5.66372036e-01 -8.24144731e-01 -2.85983991e-03 4.16684668e+02] [ 8.24133845e-01 5.66379255e-01 -4.23618947e-03 4.08003596e+02] [ 5.11098723e-03 4.23683972e-05 9.99986938e-01 2.27531339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.790385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:416.70, Y:408.03, Z:22.75 [[ 5.66434219e-01 -8.24101997e-01 -2.85916810e-03 4.16701837e+02] [ 8.24091108e-01 5.66441433e-01 -4.23664285e-03 4.08026440e+02] [ 5.11097711e-03 4.35644732e-05 9.99986938e-01 2.27536778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.820385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:416.72, Y:408.05, Z:22.75 [[ 5.67016629e-01 -8.23701387e-01 -2.85796285e-03 4.16720230e+02] [ 8.23690488e-01 5.67023830e-01 -4.23745574e-03 4.08048320e+02] [ 5.11093121e-03 4.86310588e-05 9.99986938e-01 2.27545684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.8503857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:416.74, Y:408.07, Z:22.76 [[ 5.67780805e-01 -8.23174827e-01 -2.85676387e-03 4.16736324e+02] [ 8.23163918e-01 5.67787990e-01 -4.23826390e-03 4.08069503e+02] [ 5.11086837e-03 5.48199481e-05 9.99986938e-01 2.27552351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.880385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:416.76, Y:408.09, Z:22.75 [[ 5.67780205e-01 -8.23175290e-01 -2.84250588e-03 4.16756240e+02] [ 8.23164333e-01 5.67787316e-01 -4.24786661e-03 4.08092363e+02] [ 5.11067761e-03 7.20051171e-05 9.99986938e-01 2.27546998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.910385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:416.77, Y:408.11, Z:22.76 [[ 5.67998898e-01 -8.23024363e-01 -2.85463585e-03 4.16774109e+02] [ 8.23013445e-01 5.68006069e-01 -4.23969937e-03 4.08114603e+02] [ 5.11082636e-03 5.87408889e-05 9.99986938e-01 2.27550678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.940385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:416.79, Y:408.14, Z:22.76 [[ 5.67886098e-01 -8.23102204e-01 -2.85344429e-03 4.16791173e+02] [ 8.23091283e-01 5.67893263e-01 -4.24050117e-03 4.08135810e+02] [ 5.11081765e-03 5.94765454e-05 9.99986938e-01 2.27550746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.9703857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:416.81, Y:408.16, Z:22.76 [[ 5.67878345e-01 -8.23107555e-01 -2.85279682e-03 4.16811032e+02] [ 8.23096632e-01 5.67885507e-01 -4.24093671e-03 4.08156361e+02] [ 5.11080902e-03 6.02086628e-05 9.99986938e-01 2.27552669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.000385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:416.83, Y:408.18, Z:22.75 [[ 5.67382016e-01 -8.23449766e-01 -2.85163178e-03 4.16828925e+02] [ 8.23438843e-01 5.67389179e-01 -4.24171995e-03 4.08176737e+02] [ 5.11082831e-03 5.85312390e-05 9.99986938e-01 2.27537431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.030385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:416.85, Y:408.20, Z:22.75 [[ 5.66723483e-01 -8.23903129e-01 -2.85104029e-03 4.16846017e+02] [ 8.23892210e-01 5.66730652e-01 -4.24211748e-03 4.08199229e+02] [ 5.11086578e-03 5.51577075e-05 9.99986938e-01 2.27538743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.060385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:416.86, Y:408.22, Z:22.75 [[ 5.66489595e-01 -8.24063964e-01 -2.84985757e-03 4.16863871e+02] [ 8.24053043e-01 5.66496761e-01 -4.24291188e-03 4.08221241e+02] [ 5.11086587e-03 5.51316249e-05 9.99986938e-01 2.27544476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.0903857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:416.88, Y:408.24, Z:22.75 [[ 5.65629514e-01 -8.24654557e-01 -2.84867090e-03 4.16883275e+02] [ 8.24643639e-01 5.65636685e-01 -4.24370846e-03 4.08240432e+02] [ 5.11090628e-03 5.12284166e-05 9.99986938e-01 2.27543796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.120385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:416.90, Y:408.26, Z:22.76 [[ 5.65106312e-01 -8.25013179e-01 -2.84800054e-03 4.16901077e+02] [ 8.25002263e-01 5.65113487e-01 -4.24415829e-03 4.08262254e+02] [ 5.11093004e-03 4.87937512e-05 9.99986938e-01 2.27556339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.150385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:416.92, Y:408.28, Z:22.75 [[ 5.63532372e-01 -8.26089076e-01 -2.84682973e-03 4.16921790e+02] [ 8.26078170e-01 5.63539561e-01 -4.24494349e-03 4.08283661e+02] [ 5.11100262e-03 4.04591826e-05 9.99986938e-01 2.27543498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.180385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:416.94, Y:408.31, Z:22.75 [[ 5.62291903e-01 -8.26933909e-01 -2.85047473e-03 4.16938707e+02] [ 8.26923027e-01 5.62299128e-01 -4.24250006e-03 4.08305538e+02] [ 5.11108662e-03 2.84002425e-05 9.99986938e-01 2.27543298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.210385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:416.96, Y:408.33, Z:22.75 [[ 5.62223014e-01 -8.26980765e-01 -2.84561234e-03 4.16960502e+02] [ 8.26969866e-01 5.62230214e-01 -4.24575813e-03 4.08325495e+02] [ 5.11104954e-03 3.38272784e-05 9.99986938e-01 2.27530840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.240385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:416.98, Y:408.35, Z:22.75 [[ 5.62395488e-01 -8.26863452e-01 -2.85436479e-03 4.16981304e+02] [ 8.26852582e-01 5.62402731e-01 -4.23989663e-03 4.08348439e+02] [ 5.11111811e-03 2.43598372e-05 9.99986938e-01 2.27542257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.270385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:417.00, Y:408.37, Z:22.75 [[ 5.60547743e-01 -8.28117117e-01 -2.87557029e-03 4.16995348e+02] [ 8.28106335e-01 5.60555119e-01 -4.22569756e-03 4.08368438e+02] [ 5.11128812e-03 -1.25727384e-05 9.99986937e-01 2.27544466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.300385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:417.02, Y:408.39, Z:22.75 [[ 5.62837142e-01 -8.26562980e-01 -2.82692992e-03 4.17019688e+02] [ 8.26552014e-01 5.62844238e-01 -4.25819859e-03 4.08388598e+02] [ 5.11079053e-03 6.00677040e-05 9.99986938e-01 2.27534283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.330385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:417.03, Y:408.41, Z:22.75 [[ 5.62612433e-01 -8.26715874e-01 -2.84845231e-03 4.17034938e+02] [ 8.26704982e-01 5.62619643e-01 -4.24381858e-03 4.08411583e+02] [ 5.11102741e-03 3.27953819e-05 9.99986938e-01 2.27535790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.360385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:417.05, Y:408.43, Z:22.76 [[ 5.61060349e-01 -8.27770005e-01 -2.84664432e-03 4.17050617e+02] [ 8.27759121e-01 5.61067570e-01 -4.24502567e-03 4.08434574e+02] [ 5.11106473e-03 2.53797873e-05 9.99986938e-01 2.27565804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.390385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:417.07, Y:408.45, Z:22.76 [[ 5.62881353e-01 -8.26532839e-01 -2.83691626e-03 4.17070401e+02] [ 8.26521906e-01 5.62888500e-01 -4.25151692e-03 4.08454729e+02] [ 5.11088589e-03 4.83261614e-05 9.99986938e-01 2.27570708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.420385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:417.09, Y:408.48, Z:22.76 [[ 5.63720327e-01 -8.25960866e-01 -2.83571948e-03 4.17088120e+02] [ 8.25949921e-01 5.63727457e-01 -4.25231501e-03 4.08475941e+02] [ 5.11081872e-03 5.49541284e-05 9.99986938e-01 2.27570495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.450385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:417.11, Y:408.50, Z:22.76 [[ 5.64510719e-01 -8.25420869e-01 -2.83505000e-03 4.17107906e+02] [ 8.25409915e-01 5.64517835e-01 -4.25276131e-03 4.08495196e+02] [ 5.11075423e-03 6.06509694e-05 9.99986938e-01 2.27564520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.480385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:417.13, Y:408.52, Z:22.76 [[ 5.64675445e-01 -8.25308191e-01 -2.83399158e-03 4.17126210e+02] [ 8.25297233e-01 5.64682553e-01 -4.25346652e-03 4.08516702e+02] [ 5.11072636e-03 6.29426942e-05 9.99986938e-01 2.27579244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.510385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:417.14, Y:408.54, Z:22.76 [[ 5.62774854e-01 -8.26605371e-01 -2.83282767e-03 4.17144991e+02] [ 8.26594425e-01 5.62781981e-01 -4.25424154e-03 4.08535009e+02] [ 5.11084328e-03 5.25805983e-05 9.99986938e-01 2.27590123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.540385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:417.16, Y:408.56, Z:22.76 [[ 5.62511189e-01 -8.26784922e-01 -2.80282660e-03 4.17164554e+02] [ 8.26773878e-01 5.62518165e-01 -4.27419769e-03 4.08557279e+02] [ 5.11048308e-03 8.69802050e-05 9.99986938e-01 2.27594309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.570385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:417.18, Y:408.58, Z:22.76 [[ 5.62593471e-01 -8.26728883e-01 -2.81785513e-03 4.17183537e+02] [ 8.26717889e-01 5.62600523e-01 -4.26420171e-03 4.08579149e+02] [ 5.11066549e-03 6.94407897e-05 9.99986938e-01 2.27587869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.6003857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:417.20, Y:408.60, Z:22.76 [[ 5.61094320e-01 -8.27747036e-01 -2.83005761e-03 4.17203318e+02] [ 8.27736095e-01 5.61101455e-01 -4.25608775e-03 4.08599670e+02] [ 5.11091346e-03 4.55258216e-05 9.99986938e-01 2.27574770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.630385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:417.22, Y:408.62, Z:22.76 [[ 5.60256817e-01 -8.28314129e-01 -2.82892957e-03 4.17221578e+02] [ 8.28303192e-01 5.60263958e-01 -4.25683740e-03 4.08621565e+02] [ 5.11094584e-03 4.17107804e-05 9.99986938e-01 2.27576021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.660385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:417.24, Y:408.64, Z:22.76 [[ 5.59203260e-01 -8.29025764e-01 -2.82780016e-03 4.17240696e+02] [ 8.29014832e-01 5.59210409e-01 -4.25758753e-03 4.08642221e+02] [ 5.11098504e-03 3.65685508e-05 9.99986938e-01 2.27592740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.690385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:417.25, Y:408.66, Z:22.76 [[ 5.58105671e-01 -8.29765070e-01 -2.82665137e-03 4.17251448e+02] [ 8.29754143e-01 5.58112828e-01 -4.25835009e-03 4.08663580e+02] [ 5.11102054e-03 3.11836463e-05 9.99986938e-01 2.27582792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.7203857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:417.27, Y:408.69, Z:22.76 [[ 5.59913555e-01 -8.28546376e-01 -2.77723441e-03 4.17269782e+02] [ 8.28535270e-01 5.59920434e-01 -4.29111455e-03 4.08689937e+02] [ 5.11041771e-03 1.01616540e-04 9.99986937e-01 2.27593992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.750385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:417.28, Y:408.71, Z:22.76 [[ 5.59678219e-01 -8.28705202e-01 -2.82498842e-03 4.17283043e+02] [ 8.28694256e-01 5.59685347e-01 -4.25944269e-03 4.08714689e+02] [ 5.11092693e-03 4.28656165e-05 9.99986938e-01 2.27587448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.780385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:417.30, Y:408.74, Z:22.76 [[ 5.58788761e-01 -8.29305219e-01 -2.82384537e-03 4.17296449e+02] [ 8.29294277e-01 5.58795895e-01 -4.26020035e-03 4.08738423e+02] [ 5.11095959e-03 3.87532764e-05 9.99986938e-01 2.27577782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.810385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:417.31, Y:408.76, Z:22.76 [[ 5.56481913e-01 -8.30854929e-01 -2.82282077e-03 4.17309727e+02] [ 8.30844003e-01 5.56489072e-01 -4.26087914e-03 4.08763011e+02] [ 5.11104135e-03 2.57784661e-05 9.99986938e-01 2.27584055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.8403857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:417.33, Y:408.79, Z:22.76 [[ 5.55242329e-01 -8.31683831e-01 -2.82163883e-03 4.17325050e+02] [ 8.31672913e-01 5.55249498e-01 -4.26166170e-03 4.08786019e+02] [ 5.11106868e-03 1.95743809e-05 9.99986938e-01 2.27599361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.870385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:417.34, Y:408.81, Z:22.76 [[ 5.53492603e-01 -8.32849316e-01 -2.82045254e-03 4.17339167e+02] [ 8.32838409e-01 5.53499789e-01 -4.26244667e-03 4.08808641e+02] [ 5.11109568e-03 1.02514954e-05 9.99986938e-01 2.27609658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.900385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:417.35, Y:408.83, Z:22.76 [[ 5.52655052e-01 -8.33405330e-01 -2.81937315e-03 4.17353848e+02] [ 8.33394427e-01 5.52662243e-01 -4.26316051e-03 4.08832653e+02] [ 5.11110178e-03 6.40732095e-06 9.99986938e-01 2.27608045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.930385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:417.37, Y:408.86, Z:22.76 [[ 5.50399939e-01 -8.34896380e-01 -2.81819428e-03 4.17368421e+02] [ 8.34885491e-01 5.50407154e-01 -4.26393967e-03 4.08857043e+02] [ 5.11110209e-03 -5.99737861e-06 9.99986938e-01 2.27591109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.960385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:417.38, Y:408.88, Z:22.76 [[ 5.48862734e-01 -8.35907748e-01 -2.81705297e-03 4.17383696e+02] [ 8.35896870e-01 5.48869963e-01 -4.26469356e-03 4.08880505e+02] [ 5.11108615e-03 -1.40343879e-05 9.99986938e-01 2.27587997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.990385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:417.40, Y:408.90, Z:22.76 [[ 5.45732257e-01 -8.37954876e-01 -2.81589027e-03 4.17398859e+02] [ 8.37944020e-01 5.45739521e-01 -4.26546113e-03 4.08904153e+02] [ 5.11100656e-03 -3.17586875e-05 9.99986938e-01 2.27578979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.020385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:417.41, Y:408.93, Z:22.76 [[ 5.44462190e-01 -8.38780663e-01 -2.81473814e-03 4.17412216e+02] [ 8.38769815e-01 5.44469464e-01 -4.26622127e-03 4.08926184e+02] [ 5.11096288e-03 -3.81212140e-05 9.99986938e-01 2.27581541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.050385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:417.43, Y:408.95, Z:22.76 [[ 5.43368857e-01 -8.39489434e-01 -2.78844278e-03 4.17430966e+02] [ 8.39478506e-01 5.43376011e-01 -4.28356113e-03 4.08950223e+02] [ 5.11117722e-03 -1.32840613e-05 9.99986938e-01 2.27598350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.080385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:417.45, Y:408.97, Z:22.76 [[ 5.42616072e-01 -8.39976120e-01 -2.81364021e-03 4.17447325e+02] [ 8.39965283e-01 5.42623365e-01 -4.26694585e-03 4.08971861e+02] [ 5.11087954e-03 -4.80467012e-05 9.99986938e-01 2.27611241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.110385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:417.46, Y:409.00, Z:22.76 [[ 5.42950482e-01 -8.39760003e-01 -2.81283956e-03 4.17462971e+02] [ 8.39749161e-01 5.42957766e-01 -4.26747359e-03 4.08995238e+02] [ 5.11090671e-03 -4.50528186e-05 9.99986938e-01 2.27595305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.140385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:417.48, Y:409.02, Z:22.76 [[ 5.43351787e-01 -8.39500436e-01 -2.80248021e-03 4.17477774e+02] [ 8.39489555e-01 5.43359013e-01 -4.27429839e-03 4.09018806e+02] [ 5.11102824e-03 -3.02052004e-05 9.99986938e-01 2.27610757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.170385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:417.49, Y:409.04, Z:22.76 [[ 5.43996004e-01 -8.39083097e-01 -2.81137170e-03 4.17492676e+02] [ 8.39072241e-01 5.44003267e-01 -4.26844209e-03 4.09041859e+02] [ 5.11097299e-03 -3.69285145e-05 9.99986938e-01 2.27607286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.200385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:417.51, Y:409.06, Z:22.76 [[ 5.45114055e-01 -8.38357184e-01 -2.81060815e-03 4.17508590e+02] [ 8.38346315e-01 5.45121300e-01 -4.26894480e-03 4.09064430e+02] [ 5.11102290e-03 -2.92011764e-05 9.99986938e-01 2.27609815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.230385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:417.52, Y:409.09, Z:22.76 [[ 5.45474115e-01 -8.38122960e-01 -2.80945182e-03 4.17524271e+02] [ 8.38112085e-01 5.45481349e-01 -4.26970565e-03 4.09086215e+02] [ 5.11104191e-03 -2.56216130e-05 9.99986938e-01 2.27605666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.260385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:417.54, Y:409.11, Z:22.76 [[ 5.46194280e-01 -8.37653819e-01 -2.80866829e-03 4.17541008e+02] [ 8.37642934e-01 5.46201501e-01 -4.27022101e-03 4.09108422e+02] [ 5.11106577e-03 -2.02908588e-05 9.99986938e-01 2.27628974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.290385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:417.55, Y:409.13, Z:22.76 [[ 5.44226455e-01 -8.38933659e-01 -2.80748746e-03 4.17552046e+02] [ 8.38922788e-01 5.44233695e-01 -4.27099721e-03 4.09131437e+02] [ 5.11101259e-03 -3.08755397e-05 9.99986938e-01 2.27627988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.320385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:417.57, Y:409.16, Z:22.76 [[ 5.46301703e-01 -8.37583883e-01 -2.77274539e-03 4.17565809e+02] [ 8.37572877e-01 5.46308739e-01 -4.29383020e-03 4.09155807e+02] [ 5.11121801e-03 2.33504161e-05 9.99986937e-01 2.27632514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.3503857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:417.59, Y:409.18, Z:22.76 [[ 5.50468355e-01 -8.34851454e-01 -2.76411891e-03 4.17585190e+02] [ 8.34840384e-01 5.50475292e-01 -4.29949634e-03 4.09180570e+02] [ 5.11101993e-03 5.91385870e-05 9.99986937e-01 2.27613008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.380385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:417.60, Y:409.21, Z:22.76 [[ 5.49242689e-01 -8.35658177e-01 -2.80700781e-03 4.17597156e+02] [ 8.35647261e-01 5.49249862e-01 -4.27131074e-03 4.09205323e+02] [ 5.11110440e-03 3.17814347e-07 9.99986938e-01 2.27587187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.410385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:417.61, Y:409.23, Z:22.76 [[ 5.49332403e-01 -8.35599282e-01 -2.78398367e-03 4.17611231e+02] [ 8.35588289e-01 5.49339457e-01 -4.28643592e-03 4.09229647e+02] [ 5.11109485e-03 2.84139961e-05 9.99986938e-01 2.27622587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.440385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:417.63, Y:409.25, Z:22.76 [[ 5.50970286e-01 -8.34520231e-01 -2.77995691e-03 4.17630493e+02] [ 8.34509210e-01 5.50977298e-01 -4.28908297e-03 4.09253343e+02] [ 5.11101966e-03 4.32576271e-05 9.99986938e-01 2.27614363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.4703857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:417.64, Y:409.28, Z:22.76 [[ 5.46149198e-01 -8.37683217e-01 -2.80747443e-03 4.17643072e+02] [ 8.37672329e-01 5.46156413e-01 -4.27099475e-03 4.09275940e+02] [ 5.11106079e-03 -1.91432881e-05 9.99986938e-01 2.27624970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.500385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:417.66, Y:409.30, Z:22.76 [[ 5.45466058e-01 -8.38128319e-01 -2.77485713e-03 4.17661927e+02] [ 8.38117328e-01 5.45473116e-01 -4.29242143e-03 4.09299130e+02] [ 5.11120993e-03 1.57143522e-05 9.99986938e-01 2.27639203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.530385723 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:417.68, Y:409.32, Z:22.76 [[ 5.43818767e-01 -8.39197993e-01 -2.80668170e-03 4.17676881e+02] [ 8.39187123e-01 5.43826009e-01 -4.27151046e-03 4.09322192e+02] [ 5.11098951e-03 -3.24035868e-05 9.99986938e-01 2.27627292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.560385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:417.69, Y:409.35, Z:22.77 [[ 5.40692392e-01 -8.41215707e-01 -2.80560790e-03 4.17689114e+02] [ 8.41204860e-01 5.40699669e-01 -4.27221564e-03 4.09345961e+02] [ 5.11084616e-03 -5.01365126e-05 9.99986938e-01 2.27655379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.5903857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:417.70, Y:409.37, Z:22.76 [[ 5.38462374e-01 -8.42644962e-01 -2.78203593e-03 4.17702398e+02] [ 8.42634054e-01 5.38469560e-01 -4.28768535e-03 4.09370323e+02] [ 5.11103812e-03 -3.54809866e-05 9.99986938e-01 2.27634924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.620385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:417.72, Y:409.39, Z:22.76 [[ 5.40453029e-01 -8.41369622e-01 -2.77171873e-03 4.17721292e+02] [ 8.41358663e-01 5.40460136e-01 -4.29445237e-03 4.09393728e+02] [ 5.11122525e-03 -1.10597740e-05 9.99986938e-01 2.27648257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.650385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:417.74, Y:409.42, Z:22.76 [[ 5.40116391e-01 -8.41585660e-01 -2.80376124e-03 4.17736514e+02] [ 8.41574812e-01 5.40123666e-01 -4.27342955e-03 4.09416386e+02] [ 5.11083483e-03 -5.14254861e-05 9.99986938e-01 2.27636079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.680385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:417.75, Y:409.44, Z:22.76 [[ 5.40495875e-01 -8.41341995e-01 -2.80283260e-03 4.17751813e+02] [ 8.41331140e-01 5.40503141e-01 -4.27403853e-03 4.09439692e+02] [ 5.11086793e-03 -4.80101504e-05 9.99986938e-01 2.27636106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.710385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:417.77, Y:409.46, Z:22.77 [[ 5.40338139e-01 -8.41443312e-01 -2.80170150e-03 4.17765532e+02] [ 8.41432454e-01 5.40345400e-01 -4.27477986e-03 4.09464328e+02] [ 5.11087144e-03 -4.76159753e-05 9.99986938e-01 2.27657832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.740385723 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:417.78, Y:409.49, Z:22.76 [[ 5.42088864e-01 -8.40316531e-01 -2.79126696e-03 4.17781718e+02] [ 8.40305624e-01 5.42096049e-01 -4.28161481e-03 4.09487445e+02] [ 5.11104649e-03 -2.45016140e-05 9.99986938e-01 2.27649951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.770385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:417.80, Y:409.51, Z:22.77 [[ 5.43808033e-01 -8.39204970e-01 -2.80013449e-03 4.17795586e+02] [ 8.39194078e-01 5.43815242e-01 -4.27580765e-03 4.09510581e+02] [ 5.11103485e-03 -2.46377295e-05 9.99986938e-01 2.27655474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.800385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:417.81, Y:409.53, Z:22.77 [[ 5.44572482e-01 -8.38709114e-01 -2.79907929e-03 4.17810515e+02] [ 8.38698211e-01 5.44579675e-01 -4.27649831e-03 4.09534224e+02] [ 5.11105979e-03 -1.87194972e-05 9.99986938e-01 2.27667154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.830385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:417.83, Y:409.56, Z:22.77 [[ 5.45269520e-01 -8.38256119e-01 -2.79795963e-03 4.17825852e+02] [ 8.38245207e-01 5.45276699e-01 -4.27723074e-03 4.09557526e+02] [ 5.11107703e-03 -1.31326938e-05 9.99986938e-01 2.27680358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.860385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:417.84, Y:409.58, Z:22.77 [[ 5.46857437e-01 -8.37221071e-01 -2.79682618e-03 4.17840590e+02] [ 8.37210141e-01 5.46864588e-01 -4.27797175e-03 4.09579845e+02] [ 5.11109329e-03 -2.09057999e-06 9.99986938e-01 2.27693025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.890385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:417.86, Y:409.60, Z:22.77 [[ 5.47230523e-01 -8.36977261e-01 -2.79629175e-03 4.17855953e+02] [ 8.36966327e-01 5.47237667e-01 -4.27832106e-03 4.09604491e+02] [ 5.11109361e-03 8.25835714e-07 9.99986938e-01 2.27701480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.920385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:417.87, Y:409.63, Z:22.77 [[ 5.49370002e-01 -8.35574509e-01 -2.80022587e-03 4.17870613e+02] [ 8.35563569e-01 5.49377138e-01 -4.27575070e-03 4.09627447e+02] [ 5.11108837e-03 9.20244525e-06 9.99986938e-01 2.27676828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.950385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:417.89, Y:409.65, Z:22.77 [[ 5.49987536e-01 -8.35168186e-01 -2.79479773e-03 4.17885769e+02] [ 8.35157223e-01 5.49994637e-01 -4.27929581e-03 4.09651240e+02] [ 5.11105548e-03 1.94638477e-05 9.99986938e-01 2.27683788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.980385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:417.90, Y:409.68, Z:22.77 [[ 5.50487570e-01 -8.34838686e-01 -2.79361538e-03 4.17901191e+02] [ 8.34827715e-01 5.50494658e-01 -4.28006753e-03 4.09676663e+02] [ 5.11103629e-03 2.39364268e-05 9.99986938e-01 2.27688431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.010385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:417.92, Y:409.70, Z:22.77 [[ 5.51152854e-01 -8.34399588e-01 -2.80361816e-03 4.17915325e+02] [ 8.34388644e-01 5.51159984e-01 -4.27353991e-03 4.09699144e+02] [ 5.11108207e-03 1.60665623e-05 9.99986938e-01 2.27685756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.040385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:417.93, Y:409.72, Z:22.77 [[ 5.50798126e-01 -8.34633829e-01 -2.79212100e-03 4.17929752e+02] [ 8.34622850e-01 5.50805202e-01 -4.28103843e-03 4.09721532e+02] [ 5.11101427e-03 2.76199566e-05 9.99986938e-01 2.27686508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.070385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:417.95, Y:409.74, Z:22.77 [[ 5.50227669e-01 -8.35010013e-01 -2.79107128e-03 4.17945638e+02] [ 8.34999036e-01 5.50234747e-01 -4.28172269e-03 4.09744868e+02] [ 5.11102572e-03 2.53804643e-05 9.99986938e-01 2.27695074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.1003857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:417.96, Y:409.77, Z:22.77 [[ 5.48307641e-01 -8.36272054e-01 -2.78990423e-03 4.17961397e+02] [ 8.36261089e-01 5.48314738e-01 -4.28248299e-03 4.09769715e+02] [ 5.11106645e-03 1.50297978e-05 9.99986938e-01 2.27704630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.130385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:417.98, Y:409.79, Z:22.77 [[ 5.47683151e-01 -8.36681162e-01 -2.79271098e-03 4.17975547e+02] [ 8.36670212e-01 5.47690271e-01 -4.28065506e-03 4.09792436e+02] [ 5.11108409e-03 7.86456190e-06 9.99986938e-01 2.27703609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.160385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:417.99, Y:409.81, Z:22.77 [[ 5.48142463e-01 -8.36380323e-01 -2.79212271e-03 4.17990292e+02] [ 8.36369366e-01 5.48149574e-01 -4.28103805e-03 4.09814892e+02] [ 5.11107686e-03 1.13728442e-05 9.99986938e-01 2.27708401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.190385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:418.01, Y:409.84, Z:22.77 [[ 5.46715503e-01 -8.37313792e-01 -2.78793688e-03 4.18005932e+02] [ 8.37302834e-01 5.46722611e-01 -4.28376225e-03 4.09840525e+02] [ 5.11108134e-03 7.65177886e-06 9.99986938e-01 2.27710502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.2203857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:418.02, Y:409.86, Z:22.77 [[ 5.46415912e-01 -8.37509285e-01 -2.80159258e-03 4.18021417e+02] [ 8.37498375e-01 5.46423094e-01 -4.27487783e-03 4.09864603e+02] [ 5.11110476e-03 -1.04679608e-05 9.99986938e-01 2.27712031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.250385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:418.03, Y:409.89, Z:22.77 [[ 5.44722946e-01 -8.38611398e-01 -2.79912811e-03 4.18033984e+02] [ 8.38600494e-01 5.44730138e-01 -4.27647958e-03 4.09888004e+02] [ 5.11107396e-03 -1.78536592e-05 9.99986938e-01 2.27688529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.280385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:418.05, Y:409.91, Z:22.77 [[ 5.46240572e-01 -8.37623758e-01 -2.77088514e-03 4.18050883e+02] [ 8.37612747e-01 5.46247600e-01 -4.29482746e-03 4.09911055e+02] [ 5.11103887e-03 2.50802968e-05 9.99986938e-01 2.27719125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.310385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:418.07, Y:409.93, Z:22.77 [[ 5.45905663e-01 -8.37842023e-01 -2.78402025e-03 4.18066116e+02] [ 8.37831059e-01 5.45912762e-01 -4.28629599e-03 4.09934822e+02] [ 5.11107109e-03 7.37462057e-06 9.99986938e-01 2.27716764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.3403857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:418.08, Y:409.96, Z:22.77 [[ 5.45755653e-01 -8.37939749e-01 -2.78286937e-03 4.18080962e+02] [ 8.37928782e-01 5.45762748e-01 -4.28704306e-03 4.09958684e+02] [ 5.11107022e-03 7.83163885e-06 9.99986938e-01 2.27713372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.370385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:418.10, Y:409.98, Z:22.77 [[ 5.45709604e-01 -8.37969743e-01 -2.78171114e-03 4.18095875e+02] [ 8.37958773e-01 5.45716694e-01 -4.28779446e-03 4.09982097e+02] [ 5.11106823e-03 8.93136203e-06 9.99986938e-01 2.27719396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.400385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:418.11, Y:410.01, Z:22.77 [[ 5.45382313e-01 -8.38182797e-01 -2.78052203e-03 4.18111249e+02] [ 8.38171826e-01 5.45389401e-01 -4.28856543e-03 4.10006163e+02] [ 5.11106902e-03 8.35250529e-06 9.99986938e-01 2.27714431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.430385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:418.13, Y:410.03, Z:22.77 [[ 5.44271677e-01 -8.38904415e-01 -2.77933996e-03 4.18125944e+02] [ 8.38893449e-01 5.44278773e-01 -4.28933137e-03 4.10028538e+02] [ 5.11107477e-03 2.99149528e-06 9.99986938e-01 2.27715150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.460385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:418.14, Y:410.05, Z:22.77 [[ 5.43704685e-01 -8.39272003e-01 -2.77853606e-03 4.18141111e+02] [ 8.39261040e-01 5.43711785e-01 -4.28985206e-03 4.10051922e+02] [ 5.11107553e-03 4.95601794e-07 9.99986938e-01 2.27712112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.490385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:418.16, Y:410.07, Z:22.77 [[ 5.42806015e-01 -8.39853528e-01 -2.77145527e-03 4.18156803e+02] [ 8.39842549e-01 5.42813090e-01 -4.29443509e-03 4.10074600e+02] [ 5.11107866e-03 3.45914241e-06 9.99986938e-01 2.27725727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.520385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:418.17, Y:410.10, Z:22.77 [[ 5.41635426e-01 -8.40608960e-01 -2.76453334e-03 4.18172606e+02] [ 8.40597967e-01 5.41642481e-01 -4.29891237e-03 4.10098471e+02] [ 5.11109295e-03 4.58212863e-06 9.99986938e-01 2.27728707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.550385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:418.19, Y:410.12, Z:22.77 [[ 5.41198097e-01 -8.40890550e-01 -2.77534358e-03 4.18187729e+02] [ 8.40879597e-01 5.41205213e-01 -4.29192200e-03 4.10121995e+02] [ 5.11106707e-03 -1.09497690e-05 9.99986938e-01 2.27739427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.580385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:418.20, Y:410.15, Z:22.77 [[ 5.40837487e-01 -8.41122534e-01 -2.77417069e-03 4.18201411e+02] [ 8.41111580e-01 5.40844602e-01 -4.29267999e-03 4.10145347e+02] [ 5.11106511e-03 -1.17448387e-05 9.99986938e-01 2.27734059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.610385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:418.22, Y:410.17, Z:22.77 [[ 5.42463085e-01 -8.40075063e-01 -2.77311859e-03 4.18221079e+02] [ 8.40064092e-01 5.42470174e-01 -4.29335955e-03 4.10170779e+02] [ 5.11107842e-03 -6.08282827e-07 9.99986938e-01 2.27726512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.640385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:418.23, Y:410.19, Z:22.77 [[ 5.40584177e-01 -8.41285226e-01 -2.81346845e-03 4.18230113e+02] [ 8.41274406e-01 5.40591495e-01 -4.26729435e-03 4.10193465e+02] [ 5.11094881e-03 -6.00671934e-05 9.99986937e-01 2.27741239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.670385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:418.24, Y:410.22, Z:22.77 [[ 5.40808097e-01 -8.41141440e-01 -2.77122343e-03 4.18244941e+02] [ 8.41130477e-01 5.40815197e-01 -4.29455456e-03 4.10217132e+02] [ 5.11104755e-03 -8.43060242e-06 9.99986939e-01 2.27748232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.700385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:418.26, Y:410.24, Z:22.78 [[ 5.41804096e-01 -8.40500237e-01 -2.77007088e-03 4.18259075e+02] [ 8.40489262e-01 5.41811177e-01 -4.29529785e-03 4.10240374e+02] [ 5.11105422e-03 -1.00486075e-06 9.99986939e-01 2.27759156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.730385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:418.28, Y:410.27, Z:22.78 [[ 5.43866645e-01 -8.39167089e-01 -2.76928538e-03 4.18277873e+02] [ 8.39156094e-01 5.43873695e-01 -4.29580422e-03 4.10265231e+02] [ 5.11103899e-03 1.24819264e-05 9.99986939e-01 2.27764520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.760385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:418.29, Y:410.29, Z:22.78 [[ 5.43634373e-01 -8.39317478e-01 -2.79988244e-03 4.18288395e+02] [ 8.39306586e-01 5.43641583e-01 -4.27607781e-03 4.10288591e+02] [ 5.11111937e-03 -2.53368898e-05 9.99986938e-01 2.27761102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.790385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:418.30, Y:410.31, Z:22.78 [[ 5.43856309e-01 -8.39173794e-01 -2.76744807e-03 4.18303088e+02] [ 8.39162793e-01 5.43863349e-01 -4.29696708e-03 4.10313049e+02] [ 5.11101574e-03 1.45932045e-05 9.99986939e-01 2.27754527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.820385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:418.32, Y:410.34, Z:22.78 [[ 5.44340819e-01 -8.38859595e-01 -2.76630577e-03 4.18317700e+02] [ 8.38848586e-01 5.44347848e-01 -4.29770234e-03 4.10337530e+02] [ 5.11100144e-03 1.89031229e-05 9.99986939e-01 2.27755683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.8503857229999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:418.33, Y:410.36, Z:22.78 [[ 5.45256283e-01 -8.38264839e-01 -2.76514194e-03 4.18331565e+02] [ 8.38253818e-01 5.45263294e-01 -4.29845102e-03 4.10361808e+02] [ 5.11097075e-03 2.58666345e-05 9.99986939e-01 2.27755312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.880385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:418.35, Y:410.38, Z:22.77 [[ 5.45623489e-01 -8.38025876e-01 -2.76393945e-03 4.18345840e+02] [ 8.38014848e-01 5.45630489e-01 -4.29922409e-03 4.10384360e+02] [ 5.11095067e-03 2.95353561e-05 9.99986939e-01 2.27749895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.910385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:418.36, Y:410.41, Z:22.78 [[ 5.45822410e-01 -8.37896332e-01 -2.76285939e-03 4.18361137e+02] [ 8.37885299e-01 5.45829402e-01 -4.29991807e-03 4.10408295e+02] [ 5.11093547e-03 3.20323796e-05 9.99986939e-01 2.27774203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.940385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:418.38, Y:410.43, Z:22.78 [[ 5.45295892e-01 -8.38239085e-01 -2.76167730e-03 4.18376063e+02] [ 8.38228053e-01 5.45302885e-01 -4.30067715e-03 4.10432465e+02] [ 5.11094627e-03 3.02261971e-05 9.99986939e-01 2.27778359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.9703857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:418.39, Y:410.46, Z:22.78 [[ 5.44995808e-01 -8.38434225e-01 -2.76049992e-03 4.18391064e+02] [ 8.38423191e-01 5.45002798e-01 -4.30143274e-03 4.10456744e+02] [ 5.11094861e-03 2.97956576e-05 9.99986939e-01 2.27778783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.000385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:418.41, Y:410.48, Z:22.78 [[ 5.43964249e-01 -8.39103856e-01 -2.75932666e-03 4.18405401e+02] [ 8.39092828e-01 5.43971247e-01 -4.30218525e-03 4.10481211e+02] [ 5.11097460e-03 2.49037603e-05 9.99986939e-01 2.27773180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.030385723 meters Centerline goodness : 0.999603 Centerline is valid? [True, True] Translation: X:418.42, Y:410.51, Z:22.78 [[ 5.44089273e-01 -8.39022798e-01 -2.75815831e-03 4.18422617e+02] [ 8.39011765e-01 5.44096263e-01 -4.30293415e-03 4.10505458e+02] [ 5.11096349e-03 2.70530409e-05 9.99986939e-01 2.27758356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.060385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:418.43, Y:410.53, Z:22.78 [[ 5.41333800e-01 -8.40803177e-01 -2.78109152e-03 4.18434907e+02] [ 8.40792242e-01 5.41340944e-01 -4.28823296e-03 4.10528582e+02] [ 5.11107861e-03 -1.69547312e-05 9.99986938e-01 2.27784045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.0903857229999 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:418.45, Y:410.55, Z:22.78 [[ 5.40483431e-01 -8.41350142e-01 -2.75658001e-03 4.18449781e+02] [ 8.41339134e-01 5.40490461e-01 -4.30393208e-03 4.10552138e+02] [ 5.11101907e-03 6.98534522e-06 9.99986939e-01 2.27788955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.120385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:418.46, Y:410.58, Z:22.78 [[ 5.39524063e-01 -8.41965672e-01 -2.75540077e-03 4.18464079e+02] [ 8.41954668e-01 5.39531099e-01 -4.30468691e-03 4.10575142e+02] [ 5.11102301e-03 2.55963419e-06 9.99986939e-01 2.27784625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.150385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:418.48, Y:410.60, Z:22.78 [[ 5.38494488e-01 -8.42624530e-01 -2.75460062e-03 4.18479022e+02] [ 8.42613532e-01 5.38501533e-01 -4.30519887e-03 4.10598754e+02] [ 5.11102283e-03 -2.73789484e-06 9.99986939e-01 2.27786993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.180385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:418.49, Y:410.62, Z:22.78 [[ 5.36968984e-01 -8.43597492e-01 -2.75343626e-03 4.18493231e+02] [ 8.43586503e-01 5.36976044e-01 -4.30594342e-03 4.10622783e+02] [ 5.11101238e-03 -1.06035992e-05 9.99986939e-01 2.27782781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.210385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:418.51, Y:410.65, Z:22.78 [[ 5.39229169e-01 -8.42154575e-01 -2.75224082e-03 4.18514306e+02] [ 8.42143563e-01 5.39236193e-01 -4.30670737e-03 4.10648734e+02] [ 5.11102118e-03 4.52034450e-06 9.99986939e-01 2.27766440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.240385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:418.53, Y:410.67, Z:22.78 [[ 5.38318074e-01 -8.42737078e-01 -2.80504068e-03 4.18527934e+02] [ 8.42726248e-01 5.38325378e-01 -4.27294269e-03 4.10672210e+02] [ 5.11099182e-03 -6.36791323e-05 9.99986937e-01 2.27783628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.270385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:418.54, Y:410.69, Z:22.78 [[ 5.34741195e-01 -8.45011240e-01 -2.80323718e-03 4.18535688e+02] [ 8.45000435e-01 5.34748536e-01 -4.27409358e-03 4.10694704e+02] [ 5.11068409e-03 -8.32027283e-05 9.99986937e-01 2.27799006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.300385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:418.56, Y:410.72, Z:22.78 [[ 5.37363080e-01 -8.43346533e-01 -2.74685883e-03 4.18556786e+02] [ 8.43335520e-01 5.37370101e-01 -4.31002456e-03 4.10720613e+02] [ 5.11092408e-03 -4.75546794e-07 9.99986939e-01 2.27798552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.330385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:418.56, Y:410.74, Z:22.78 [[ 5.34287738e-01 -8.45298033e-01 -2.80157512e-03 4.18564606e+02] [ 8.45287226e-01 5.34295077e-01 -4.27513585e-03 4.10742773e+02] [ 5.11063172e-03 -8.39829967e-05 9.99986937e-01 2.27798882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.360385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:418.58, Y:410.77, Z:22.78 [[ 5.35794953e-01 -8.44343669e-01 -2.74521291e-03 4.18583371e+02] [ 8.44332664e-01 5.35801986e-01 -4.31102668e-03 4.10767746e+02] [ 5.11087862e-03 -8.04658593e-06 9.99986939e-01 2.27804479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.390385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:418.59, Y:410.79, Z:22.78 [[ 5.34494391e-01 -8.45167457e-01 -2.77769526e-03 4.18592775e+02] [ 8.45156569e-01 5.34501606e-01 -4.29034094e-03 4.10791366e+02] [ 5.11073912e-03 -5.44242322e-05 9.99986939e-01 2.27797419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.420385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:418.61, Y:410.82, Z:22.78 [[ 5.37085603e-01 -8.43523282e-01 -2.74363886e-03 4.18612995e+02] [ 8.43512261e-01 5.37092611e-01 -4.31201030e-03 4.10817261e+02] [ 5.11086924e-03 1.62563175e-06 9.99986939e-01 2.27804607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.450385723 meters Centerline goodness : 0.999759 Centerline is valid? [True, True] Translation: X:418.63, Y:410.84, Z:22.78 [[ 5.39842702e-01 -8.41761294e-01 -2.78934322e-03 4.18629634e+02] [ 8.41750400e-01 5.39849907e-01 -4.28284465e-03 4.10841401e+02] [ 5.11095953e-03 -3.58683407e-05 9.99986938e-01 2.27783552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.480385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:418.64, Y:410.86, Z:22.78 [[ 5.36992423e-01 -8.43582338e-01 -2.82426107e-03 4.18635656e+02] [ 8.43571585e-01 5.36999841e-01 -4.26055029e-03 4.10863569e+02] [ 5.11075272e-03 -9.45831652e-05 9.99986936e-01 2.27820076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.510385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:418.66, Y:410.89, Z:22.78 [[ 5.41051720e-01 -8.40984835e-01 -2.74670377e-03 4.18655219e+02] [ 8.40973791e-01 5.41058691e-01 -4.30997678e-03 4.10890160e+02] [ 5.11075306e-03 2.20144720e-05 9.99986940e-01 2.27821743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.540385723 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:418.66, Y:410.91, Z:22.78 [[ 5.38187332e-01 -8.42820587e-01 -2.80269127e-03 4.18662761e+02] [ 8.42809750e-01 5.38194626e-01 -4.27428047e-03 4.10913142e+02] [ 5.11084495e-03 -6.17719289e-05 9.99986938e-01 2.27824504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.570385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:418.68, Y:410.94, Z:22.78 [[ 5.38399343e-01 -8.42685358e-01 -2.74483425e-03 4.18676022e+02] [ 8.42674331e-01 5.38406340e-01 -4.31111732e-03 4.10936763e+02] [ 5.11075160e-03 8.10137116e-06 9.99986940e-01 2.27825363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.6003857229999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:418.69, Y:410.96, Z:22.78 [[ 5.39385737e-01 -8.42054331e-01 -2.74415908e-03 4.18692628e+02] [ 8.42043293e-01 5.39392717e-01 -4.31154704e-03 4.10962592e+02] [ 5.11073628e-03 1.48862280e-05 9.99986940e-01 2.27833591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.630385723 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:418.71, Y:410.98, Z:22.78 [[ 5.40203141e-01 -8.41530082e-01 -2.77253855e-03 4.18706160e+02] [ 8.41519130e-01 5.40210256e-01 -4.29348298e-03 4.10984708e+02] [ 5.11084885e-03 -1.37912340e-05 9.99986939e-01 2.27839810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.660385723 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:418.72, Y:411.01, Z:22.78 [[ 5.38288431e-01 -8.42756189e-01 -2.75157596e-03 4.18719209e+02] [ 8.42745184e-01 5.38295463e-01 -4.30681732e-03 4.11010457e+02] [ 5.11075781e-03 -5.67449735e-07 9.99986940e-01 2.27827290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.690385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:418.73, Y:411.03, Z:22.78 [[ 5.36989483e-01 -8.43584433e-01 -2.75657353e-03 4.18731312e+02] [ 8.43573456e-01 5.36996558e-01 -4.30364259e-03 4.11034386e+02] [ 5.11075639e-03 -1.43614440e-05 9.99986940e-01 2.27820712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.7203857229999 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:418.75, Y:411.06, Z:22.78 [[ 5.36840792e-01 -8.43679119e-01 -2.74007572e-03 4.18745568e+02] [ 8.43668089e-01 5.36847785e-01 -4.31411598e-03 4.11057887e+02] [ 5.11073315e-03 4.27899298e-06 9.99986940e-01 2.27829844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.750385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:418.76, Y:411.08, Z:22.78 [[ 5.35275614e-01 -8.44673027e-01 -2.73773874e-03 4.18758969e+02] [ 8.44662002e-01 5.35282615e-01 -4.31559852e-03 4.11081525e+02] [ 5.11073362e-03 -2.42923615e-06 9.99986940e-01 2.27828826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.780385723 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:418.77, Y:411.11, Z:22.78 [[ 5.33975047e-01 -8.45495807e-01 -2.73668328e-03 4.18773485e+02] [ 8.45484790e-01 5.33982060e-01 -4.31626772e-03 4.11105894e+02] [ 5.11072604e-03 -9.04482754e-06 9.99986940e-01 2.27832759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.810385723 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:418.79, Y:411.13, Z:22.78 [[ 5.31500666e-01 -8.47053457e-01 -2.73549073e-03 4.18786956e+02] [ 8.47042456e-01 5.31507705e-01 -4.31702339e-03 4.11129657e+02] [ 5.11068398e-03 -2.25759800e-05 9.99986940e-01 2.27837765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.8403857229999 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:418.80, Y:411.15, Z:22.78 [[ 5.30019179e-01 -8.47981245e-01 -2.73441741e-03 4.18801047e+02] [ 8.47970254e-01 5.30026232e-01 -4.31770312e-03 4.11153782e+02] [ 5.11064423e-03 -3.02391559e-05 9.99986940e-01 2.27840991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.870385723 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:418.81, Y:411.18, Z:22.78 [[ 5.28148408e-01 -8.49147683e-01 -2.73324333e-03 4.18813483e+02] [ 8.49136703e-01 5.28155479e-01 -4.31844623e-03 4.11177433e+02] [ 5.11057605e-03 -4.01167281e-05 9.99986940e-01 2.27839057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.900385723 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:418.83, Y:411.20, Z:22.78 [[ 5.27491865e-01 -8.49555688e-01 -2.73244716e-03 4.18827845e+02] [ 8.49544710e-01 5.27498940e-01 -4.31894993e-03 4.11201756e+02] [ 5.11055146e-03 -4.31250809e-05 9.99986940e-01 2.27836872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.930385723 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:418.84, Y:411.23, Z:22.78 [[ 5.26570903e-01 -8.50126829e-01 -2.73126381e-03 4.18841837e+02] [ 8.50115855e-01 5.26577984e-01 -4.31969814e-03 4.11225976e+02] [ 5.11051467e-03 -4.72633158e-05 9.99986940e-01 2.27835224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.960385723 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:418.85, Y:411.25, Z:22.78 [[ 5.25556090e-01 -8.50754573e-01 -2.73005243e-03 4.18854378e+02] [ 8.50743604e-01 5.25563178e-01 -4.32046360e-03 4.11250268e+02] [ 5.11046920e-03 -5.19286904e-05 9.99986940e-01 2.27825307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.990385723 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:418.87, Y:411.28, Z:22.78 [[ 5.27532811e-01 -8.49530273e-01 -2.72938258e-03 4.18874773e+02] [ 8.49519285e-01 5.27539870e-01 -4.32088673e-03 4.11276914e+02] [ 5.11058221e-03 -3.92536131e-05 9.99986940e-01 2.27816296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.020385723 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:418.88, Y:411.30, Z:22.78 [[ 5.24413340e-01 -8.51459251e-01 -2.79141512e-03 4.18882465e+02] [ 8.51448496e-01 5.24420753e-01 -4.28167489e-03 4.11299283e+02] [ 5.10954771e-03 -1.31378771e-04 9.99986938e-01 2.27825184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.050385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:418.90, Y:411.33, Z:22.78 [[ 5.24994337e-01 -8.51101349e-01 -2.72768777e-03 4.18900898e+02] [ 8.51090377e-01 5.25001421e-01 -4.32189530e-03 4.11325259e+02] [ 5.11041087e-03 -5.25382522e-05 9.99986940e-01 2.27817639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.080385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:418.91, Y:411.35, Z:22.78 [[ 5.22449374e-01 -8.52665802e-01 -2.77178905e-03 4.18910434e+02] [ 8.52654997e-01 5.22456713e-01 -4.29405183e-03 4.11348066e+02] [ 5.10953094e-03 -1.19955099e-04 9.99986939e-01 2.27824942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.110385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:418.92, Y:411.37, Z:22.78 [[ 5.21585104e-01 -8.53194906e-01 -2.72605886e-03 4.18924914e+02] [ 8.53183958e-01 5.21592223e-01 -4.32288976e-03 4.11372321e+02] [ 5.11015863e-03 -7.10747839e-05 9.99986941e-01 2.27820156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.140385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:418.94, Y:411.40, Z:22.78 [[ 5.21354918e-01 -8.53335587e-01 -2.72489246e-03 4.18940094e+02] [ 8.53324637e-01 5.21362034e-01 -4.32362487e-03 4.11396534e+02] [ 5.11015844e-03 -7.10747811e-05 9.99986941e-01 2.27821612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.170385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:418.95, Y:411.42, Z:22.78 [[ 5.21111014e-01 -8.53484559e-01 -2.72372586e-03 4.18954471e+02] [ 8.53473607e-01 5.21118127e-01 -4.32435966e-03 4.11420110e+02] [ 5.11015712e-03 -7.11566861e-05 9.99986941e-01 2.27820882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.200385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:418.97, Y:411.44, Z:22.78 [[ 5.21703221e-01 -8.53122698e-01 -2.72254229e-03 4.18968236e+02] [ 8.53111736e-01 5.21710321e-01 -4.32510469e-03 4.11444309e+02] [ 5.11022339e-03 -6.62117297e-05 9.99986941e-01 2.27819972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.230385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:418.98, Y:411.47, Z:22.78 [[ 5.22426208e-01 -8.52680158e-01 -2.72135172e-03 4.18982101e+02] [ 8.52669187e-01 5.22433292e-01 -4.32585367e-03 4.11467034e+02] [ 5.11029432e-03 -6.04734306e-05 9.99986941e-01 2.27822948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.260385723 meters Centerline goodness : 0.995230 Centerline is valid? [True, True] Translation: X:419.01, Y:411.49, Z:22.78 [[ 5.25712298e-01 -8.50658086e-01 -2.72028292e-03 4.19005134e+02] [ 8.50647085e-01 5.25719334e-01 -4.32652566e-03 4.11494634e+02] [ 5.11049937e-03 -3.94929903e-05 9.99986941e-01 2.27794675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.290385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:419.01, Y:411.52, Z:22.78 [[ 5.25278153e-01 -8.50925886e-01 -2.82829040e-03 4.19010241e+02] [ 8.50915246e-01 5.25285740e-01 -4.25851298e-03 4.11515293e+02] [ 5.10933955e-03 -1.69731591e-04 9.99986933e-01 2.27815562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.320385723 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:419.02, Y:411.54, Z:22.78 [[ 5.26340236e-01 -8.50269703e-01 -2.71811043e-03 4.19024703e+02] [ 8.50258690e-01 5.26347253e-01 -4.32771385e-03 4.11539223e+02] [ 5.11039393e-03 -3.32470879e-05 9.99986941e-01 2.27816557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.3503857229999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:419.04, Y:411.56, Z:22.78 [[ 5.27072640e-01 -8.49815892e-01 -2.71692818e-03 4.19039814e+02] [ 8.49804869e-01 5.27079642e-01 -4.32845594e-03 4.11563281e+02] [ 5.11042818e-03 -2.74481016e-05 9.99986941e-01 2.27820015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.380385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:419.06, Y:411.59, Z:22.78 [[ 5.28357761e-01 -8.49017492e-01 -2.71574993e-03 4.19055003e+02] [ 8.49006455e-01 5.28364740e-01 -4.32919507e-03 4.11586973e+02] [ 5.11046884e-03 -1.83254095e-05 9.99986941e-01 2.27821481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.410385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:419.07, Y:411.61, Z:22.78 [[ 5.29212775e-01 -8.48484808e-01 -2.71455695e-03 4.19069912e+02] [ 8.48473760e-01 5.29219737e-01 -4.32994297e-03 4.11610210e+02] [ 5.11048795e-03 -1.17692096e-05 9.99986941e-01 2.27822353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.440385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:419.09, Y:411.63, Z:22.78 [[ 5.30460357e-01 -8.47705401e-01 -2.71334727e-03 4.19085077e+02] [ 8.47694339e-01 5.30467297e-01 -4.33070089e-03 4.11632841e+02] [ 5.11050052e-03 -2.82398130e-06 9.99986941e-01 2.27812209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.4703857229999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:419.10, Y:411.66, Z:22.78 [[ 5.31020919e-01 -8.47354368e-01 -2.71269298e-03 4.19100957e+02] [ 8.47343299e-01 5.31027848e-01 -4.33111069e-03 4.11656252e+02] [ 5.11050107e-03 1.32816267e-06 9.99986941e-01 2.27811679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.500385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:419.12, Y:411.68, Z:22.78 [[ 5.32063023e-01 -8.46700412e-01 -2.71149287e-03 4.19117090e+02] [ 8.46689331e-01 5.32069932e-01 -4.33186189e-03 4.11678411e+02] [ 5.11049307e-03 9.03145304e-06 9.99986941e-01 2.27819340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.530385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:419.13, Y:411.70, Z:22.78 [[ 5.32167748e-01 -8.46634597e-01 -2.71067714e-03 4.19132656e+02] [ 8.46623512e-01 5.32174651e-01 -4.33237227e-03 4.11701995e+02] [ 5.11048991e-03 1.06257963e-05 9.99986941e-01 2.27826587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.560385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:419.15, Y:411.73, Z:22.78 [[ 5.32200216e-01 -8.46614191e-01 -2.70947219e-03 4.19148239e+02] [ 8.46603103e-01 5.32207113e-01 -4.33312572e-03 4.11725858e+02] [ 5.11048610e-03 1.22428837e-05 9.99986941e-01 2.27825642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.5903857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:419.16, Y:411.75, Z:22.78 [[ 5.32042444e-01 -8.46713354e-01 -2.70827022e-03 4.19164743e+02] [ 8.46702262e-01 5.32049336e-01 -4.33387684e-03 4.11748283e+02] [ 5.11048477e-03 1.27079000e-05 9.99986941e-01 2.27820324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.620385723 meters Centerline goodness : 0.999760 Centerline is valid? [True, True] Translation: X:419.18, Y:411.77, Z:22.78 [[ 5.32290935e-01 -8.46557164e-01 -2.70705901e-03 4.19180334e+02] [ 8.46546067e-01 5.32297819e-01 -4.33463326e-03 4.11769990e+02] [ 5.11047645e-03 1.56358378e-05 9.99986941e-01 2.27823880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.650385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:419.20, Y:411.79, Z:22.78 [[ 5.31262093e-01 -8.47203216e-01 -2.70168440e-03 4.19198992e+02] [ 8.47192110e-01 5.31268962e-01 -4.33798830e-03 4.11791881e+02] [ 5.11047871e-03 1.57630334e-05 9.99986941e-01 2.27811911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.680385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:419.22, Y:411.81, Z:22.78 [[ 5.30659811e-01 -8.47580584e-01 -2.70542317e-03 4.19215218e+02] [ 8.47569494e-01 5.30666707e-01 -4.33565533e-03 4.11814228e+02] [ 5.11049528e-03 7.72389156e-06 9.99986941e-01 2.27818409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.710385723 meters Centerline goodness : 0.998953 Centerline is valid? [True, True] Translation: X:419.23, Y:411.84, Z:22.78 [[ 5.29745795e-01 -8.48152156e-01 -2.70432473e-03 4.19231395e+02] [ 8.48141071e-01 5.29752697e-01 -4.33634037e-03 4.11837660e+02] [ 5.11049975e-03 3.50920490e-06 9.99986941e-01 2.27807656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.740385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:419.25, Y:411.86, Z:22.78 [[ 5.28610072e-01 -8.48860454e-01 -2.70577562e-03 4.19247764e+02] [ 8.48849383e-01 5.28616997e-01 -4.33543586e-03 4.11859544e+02] [ 5.11049904e-03 -5.04089799e-06 9.99986941e-01 2.27818441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.770385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:419.26, Y:411.88, Z:22.78 [[ 5.27914642e-01 -8.49293135e-01 -2.70228240e-03 4.19264338e+02] [ 8.49282058e-01 5.27921558e-01 -4.33761210e-03 4.11882426e+02] [ 5.11049731e-03 -5.11101573e-06 9.99986941e-01 2.27822554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.800385723 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:419.28, Y:411.90, Z:22.78 [[ 5.27307922e-01 -8.49669971e-01 -2.70110512e-03 4.19283126e+02] [ 8.49658895e-01 5.27314840e-01 -4.33834508e-03 4.11904070e+02] [ 5.11049436e-03 -7.37426084e-06 9.99986941e-01 2.27833910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.830385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:419.30, Y:411.93, Z:22.78 [[ 5.27028875e-01 -8.49843089e-01 -2.69992945e-03 4.19299229e+02] [ 8.49832012e-01 5.27035790e-01 -4.33907663e-03 4.11926602e+02] [ 5.11049374e-03 -7.66780647e-06 9.99986941e-01 2.27832478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.860385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:419.32, Y:411.95, Z:22.78 [[ 5.27667976e-01 -8.49446422e-01 -2.69875594e-03 4.19317658e+02] [ 8.49435336e-01 5.27674878e-01 -4.33980639e-03 4.11950525e+02] [ 5.11049872e-03 -2.44180116e-06 9.99986941e-01 2.27823415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.890385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:419.34, Y:411.97, Z:22.78 [[ 5.29127969e-01 -8.48537697e-01 -2.71464817e-03 4.19336091e+02] [ 8.48526650e-01 5.29134932e-01 -4.32992409e-03 4.11973145e+02] [ 5.11051899e-03 -1.23673749e-05 9.99986941e-01 2.27798464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.920385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:419.35, Y:412.00, Z:22.78 [[ 5.29013289e-01 -8.48609149e-01 -2.72976079e-03 4.19351250e+02] [ 8.48598151e-01 5.29020331e-01 -4.32052576e-03 4.11996279e+02] [ 5.11053665e-03 -3.08544233e-05 9.99986941e-01 2.27802948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.950385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:419.37, Y:412.02, Z:22.78 [[ 5.29474793e-01 -8.48321291e-01 -2.72616798e-03 4.19367370e+02] [ 8.48310277e-01 5.29481810e-01 -4.32275864e-03 4.12016924e+02] [ 5.11054454e-03 -2.38445789e-05 9.99986941e-01 2.27801739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.980385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:419.38, Y:412.04, Z:22.78 [[ 5.27599287e-01 -8.49489048e-01 -2.71108327e-03 4.19384061e+02] [ 8.49478002e-01 5.27606252e-01 -4.33212695e-03 4.12040768e+02] [ 5.11047888e-03 -1.73785109e-05 9.99986941e-01 2.27808207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.010385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:419.40, Y:412.06, Z:22.78 [[ 5.26304809e-01 -8.50291634e-01 -2.71775832e-03 4.19397114e+02] [ 8.50280620e-01 5.26311825e-01 -4.32798416e-03 4.12062558e+02] [ 5.11043706e-03 -3.30183508e-05 9.99986941e-01 2.27815712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.040385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:419.42, Y:412.09, Z:22.78 [[ 5.26729278e-01 -8.50028831e-01 -2.69349241e-03 4.19418323e+02] [ 8.50017736e-01 5.26736164e-01 -4.34303356e-03 4.12086371e+02] [ 5.11046360e-03 -1.91338633e-06 9.99986942e-01 2.27809201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.070385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:419.43, Y:412.11, Z:22.78 [[ 5.24614405e-01 -8.51335613e-01 -2.72053155e-03 4.19433807e+02] [ 8.51324621e-01 5.24621457e-01 -4.32626845e-03 4.12108587e+02] [ 5.11035562e-03 -4.64327478e-05 9.99986941e-01 2.27806269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.1003857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:419.45, Y:412.13, Z:22.78 [[ 5.23871695e-01 -8.51792895e-01 -2.70411231e-03 4.19449396e+02] [ 8.51781857e-01 5.23878673e-01 -4.33643609e-03 4.12132300e+02] [ 5.11037221e-03 -3.15776818e-05 9.99986941e-01 2.27811037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.130385723 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:419.46, Y:412.16, Z:22.78 [[ 5.21793711e-01 -8.53067420e-01 -2.70186475e-03 4.19463172e+02] [ 8.53056392e-01 5.21800704e-01 -4.33782679e-03 4.12156717e+02] [ 5.11029364e-03 -4.13922588e-05 9.99986942e-01 2.27820206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.160385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:419.48, Y:412.18, Z:22.78 [[ 5.21801654e-01 -8.53062605e-01 -2.68803205e-03 4.19480360e+02] [ 8.53051533e-01 5.21808577e-01 -4.34638166e-03 4.12177385e+02] [ 5.11037385e-03 -2.50807243e-05 9.99986942e-01 2.27824016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.190385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:419.50, Y:412.20, Z:22.78 [[ 5.21454671e-01 -8.53274754e-01 -2.68714160e-03 4.19497668e+02] [ 8.53263682e-01 5.21461594e-01 -4.34693212e-03 4.12200999e+02] [ 5.11036857e-03 -2.61122759e-05 9.99986942e-01 2.27832966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.2203857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:419.51, Y:412.22, Z:22.78 [[ 5.21130874e-01 -8.53472552e-01 -2.68617461e-03 4.19513169e+02] [ 8.53461479e-01 5.21137797e-01 -4.34752952e-03 4.12223277e+02] [ 5.11036423e-03 -2.69146927e-05 9.99986942e-01 2.27835575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.250385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:419.53, Y:412.25, Z:22.78 [[ 5.22362693e-01 -8.52719213e-01 -2.67614648e-03 4.19528142e+02] [ 8.52708098e-01 5.22369548e-01 -4.35371994e-03 4.12246479e+02] [ 5.11043807e-03 -7.75090821e-06 9.99986942e-01 2.27826253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.280385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:419.54, Y:412.27, Z:22.78 [[ 5.21508770e-01 -8.53241700e-01 -2.68397058e-03 4.19540270e+02] [ 8.53230617e-01 5.21515676e-01 -4.34889120e-03 4.12269565e+02] [ 5.11038806e-03 -2.20609734e-05 9.99986942e-01 2.27815366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.310385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:419.56, Y:412.29, Z:22.78 [[ 5.24524727e-01 -8.51391064e-01 -2.65842830e-03 4.19558016e+02] [ 8.51379877e-01 5.24531463e-01 -4.36464193e-03 4.12294054e+02] [ 5.11044642e-03 2.60302551e-05 9.99986941e-01 2.27806666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.3403857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:419.57, Y:412.32, Z:22.78 [[ 5.25197174e-01 -8.50976341e-01 -2.68247891e-03 4.19573080e+02] [ 8.50965224e-01 5.25204024e-01 -4.34981019e-03 4.12316247e+02] [ 5.11043428e-03 1.81174936e-06 9.99986942e-01 2.27806500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.370385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:419.59, Y:412.34, Z:22.78 [[ 5.26382640e-01 -8.50243568e-01 -2.68166848e-03 4.19590377e+02] [ 8.50232439e-01 5.26389471e-01 -4.35030976e-03 4.12338986e+02] [ 5.11042495e-03 9.88600881e-06 9.99986942e-01 2.27802763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.400385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:419.61, Y:412.36, Z:22.78 [[ 5.26710980e-01 -8.50040210e-01 -2.68048189e-03 4.19606126e+02] [ 8.50029074e-01 5.26717800e-01 -4.35104077e-03 4.12362063e+02] [ 5.11041713e-03 1.32534050e-05 9.99986942e-01 2.27804611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.430385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:419.62, Y:412.38, Z:22.78 [[ 5.26988911e-01 -8.49867936e-01 -2.67929665e-03 4.19621082e+02] [ 8.49856795e-01 5.26995722e-01 -4.35177050e-03 4.12384207e+02] [ 5.11040808e-03 1.63163333e-05 9.99986942e-01 2.27806357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.460385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:419.64, Y:412.41, Z:22.78 [[ 5.27571616e-01 -8.49506338e-01 -2.67822636e-03 4.19637309e+02] [ 8.49495188e-01 5.27578413e-01 -4.35242909e-03 4.12407757e+02] [ 5.11039051e-03 2.10776475e-05 9.99986942e-01 2.27806408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.490385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:419.65, Y:412.43, Z:22.78 [[ 5.27824620e-01 -8.49349165e-01 -2.67705596e-03 4.19652473e+02] [ 8.49338010e-01 5.27831408e-01 -4.35314885e-03 4.12430669e+02] [ 5.11037756e-03 2.39737587e-05 9.99986942e-01 2.27807184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.520385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:419.67, Y:412.45, Z:22.78 [[ 5.27471753e-01 -8.49568354e-01 -2.67599861e-03 4.19667285e+02] [ 8.49557198e-01 5.27478541e-01 -4.35379874e-03 4.12454244e+02] [ 5.11038147e-03 2.30919717e-05 9.99986942e-01 2.27812873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.550385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:419.68, Y:412.48, Z:22.78 [[ 5.27332817e-01 -8.49654603e-01 -2.67485141e-03 4.19682483e+02] [ 8.49643445e-01 5.27339601e-01 -4.35450343e-03 4.12477690e+02] [ 5.11037896e-03 2.36025916e-05 9.99986942e-01 2.27817978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.580385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:419.70, Y:412.50, Z:22.78 [[ 5.27119098e-01 -8.49787213e-01 -2.67364482e-03 4.19697894e+02] [ 8.49776053e-01 5.27125878e-01 -4.35524414e-03 4.12499458e+02] [ 5.11037816e-03 2.37330178e-05 9.99986942e-01 2.27820996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.610385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:419.71, Y:412.52, Z:22.78 [[ 5.27163388e-01 -8.49759742e-01 -2.67256021e-03 4.19713097e+02] [ 8.49748578e-01 5.27170162e-01 -4.35590960e-03 4.12522962e+02] [ 5.11037062e-03 2.52718241e-05 9.99986942e-01 2.27821033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.640385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:419.73, Y:412.55, Z:22.78 [[ 5.27423886e-01 -8.49598086e-01 -2.67135003e-03 4.19727656e+02] [ 8.49586917e-01 5.27430650e-01 -4.35665164e-03 4.12546161e+02] [ 5.11035478e-03 2.82581036e-05 9.99986942e-01 2.27819077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.670385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:419.74, Y:412.57, Z:22.78 [[ 5.27217339e-01 -8.49726278e-01 -2.67014949e-03 4.19741533e+02] [ 8.49715107e-01 5.27224099e-01 -4.35738732e-03 4.12569637e+02] [ 5.11035367e-03 2.84237831e-05 9.99986942e-01 2.27814878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.700385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:419.76, Y:412.59, Z:22.78 [[ 5.26699388e-01 -8.50047429e-01 -2.66906444e-03 4.19755591e+02] [ 8.50036258e-01 5.26706150e-01 -4.35805185e-03 4.12593712e+02] [ 5.11036343e-03 2.65816947e-05 9.99986942e-01 2.27809050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.730385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:419.77, Y:412.62, Z:22.78 [[ 5.25289742e-01 -8.50919249e-01 -2.66786481e-03 4.19769718e+02] [ 8.50908086e-01 5.25296517e-01 -4.35878611e-03 4.12618481e+02] [ 5.11039509e-03 1.95178976e-05 9.99986942e-01 2.27803277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.760385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:419.78, Y:412.64, Z:22.78 [[ 5.24242254e-01 -8.51564999e-01 -2.66673857e-03 4.19782839e+02] [ 8.51553840e-01 5.24249037e-01 -4.35947504e-03 4.12641843e+02] [ 5.11041148e-03 1.45495468e-05 9.99986942e-01 2.27802306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.790385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:419.80, Y:412.67, Z:22.78 [[ 5.22785566e-01 -8.52460056e-01 -2.66564927e-03 4.19796506e+02] [ 8.52448905e-01 5.22792362e-01 -4.36014100e-03 4.12666993e+02] [ 5.11042712e-03 7.08898309e-06 9.99986942e-01 2.27798815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.820385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:419.81, Y:412.69, Z:22.78 [[ 5.22070361e-01 -8.52898258e-01 -2.66453228e-03 4.19810061e+02] [ 8.52887110e-01 5.22077160e-01 -4.36082350e-03 4.12690279e+02] [ 5.11043021e-03 4.11146668e-06 9.99986942e-01 2.27800987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.8503857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:419.82, Y:412.71, Z:22.78 [[ 5.21431652e-01 -8.53288895e-01 -2.66346595e-03 4.19823980e+02] [ 8.53277748e-01 5.21438455e-01 -4.36147468e-03 4.12714451e+02] [ 5.11043148e-03 1.53471881e-06 9.99986942e-01 2.27801599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.880385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:419.84, Y:412.74, Z:22.78 [[ 5.20071784e-01 -8.54118407e-01 -2.66228221e-03 4.19836742e+02] [ 8.54107267e-01 5.20078598e-01 -4.36219713e-03 4.12738653e+02] [ 5.11042886e-03 -5.21893819e-06 9.99986942e-01 2.27794886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.910385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:419.85, Y:412.76, Z:22.78 [[ 5.18303777e-01 -8.55192442e-01 -2.66122627e-03 4.19849568e+02] [ 8.55181313e-01 5.18310608e-01 -4.36284123e-03 4.12762453e+02] [ 5.11041065e-03 -1.45538932e-05 9.99986942e-01 2.27785620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.940385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:419.86, Y:412.79, Z:22.78 [[ 5.17121808e-01 -8.55907681e-01 -2.66017006e-03 4.19863810e+02] [ 8.55896559e-01 5.17128650e-01 -4.36348514e-03 4.12786715e+02] [ 5.11039060e-03 -2.03770778e-05 9.99986942e-01 2.27786967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.9703857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:419.87, Y:412.81, Z:22.78 [[ 5.13239967e-01 -8.58241030e-01 -2.65900418e-03 4.19872545e+02] [ 8.58229935e-01 5.13246853e-01 -4.36419549e-03 4.12809596e+02] [ 5.11025716e-03 -4.21574377e-05 9.99986942e-01 2.27769995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.000385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:419.89, Y:412.83, Z:22.78 [[ 5.13006327e-01 -8.58380862e-01 -2.60836476e-03 4.19885365e+02] [ 8.58369611e-01 5.13012958e-01 -4.39500144e-03 4.12832987e+02] [ 5.11071004e-03 1.57225043e-05 9.99986940e-01 2.27770545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.030385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:419.90, Y:412.86, Z:22.78 [[ 5.12974074e-01 -8.58400207e-01 -2.58542551e-03 4.19900191e+02] [ 8.58388885e-01 5.12980587e-01 -4.40891935e-03 4.12857327e+02] [ 5.11089038e-03 4.23607967e-05 9.99986938e-01 2.27771893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.060385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:419.92, Y:412.88, Z:22.78 [[ 5.13481254e-01 -8.58096878e-01 -2.59821810e-03 4.19917187e+02] [ 8.58085592e-01 5.13487826e-01 -4.40113100e-03 4.12882901e+02] [ 5.11075013e-03 3.04047482e-05 9.99986940e-01 2.27778457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.0903857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:419.94, Y:412.91, Z:22.78 [[ 5.14654880e-01 -8.57393417e-01 -2.62361269e-03 4.19935143e+02] [ 8.57382200e-01 5.14661568e-01 -4.38566969e-03 4.12907509e+02] [ 5.11051694e-03 7.66748964e-06 9.99986941e-01 2.27803412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.120385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:419.95, Y:412.93, Z:22.78 [[ 5.12688373e-01 -8.58570655e-01 -2.65767607e-03 4.19946502e+02] [ 8.58559560e-01 5.12695259e-01 -4.36492952e-03 4.12930635e+02] [ 5.11017832e-03 -4.39245878e-05 9.99986942e-01 2.27782618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.150385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:419.96, Y:412.95, Z:22.78 [[ 5.14958227e-01 -8.57211251e-01 -2.62596050e-03 4.19961562e+02] [ 8.57200040e-01 5.14964922e-01 -4.38422082e-03 4.12953629e+02] [ 5.11048096e-03 6.71713270e-06 9.99986941e-01 2.27814839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.180385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:419.98, Y:412.98, Z:22.78 [[ 5.12751561e-01 -8.58533031e-01 -2.62117297e-03 4.19977496e+02] [ 8.58521822e-01 5.12758261e-01 -4.38713012e-03 4.12979713e+02] [ 5.11052422e-03 -8.26370753e-07 9.99986941e-01 2.27803343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.210385723 meters Centerline goodness : 0.999843 Centerline is valid? [True, True] Translation: X:419.99, Y:413.00, Z:22.78 [[ 5.11273892e-01 -8.59413733e-01 -2.65402559e-03 4.19992000e+02] [ 8.59402638e-01 5.11280778e-01 -4.36716484e-03 4.13003118e+02] [ 5.11015371e-03 -4.80592302e-05 9.99986942e-01 2.27782386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.240385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:420.01, Y:413.03, Z:22.78 [[ 5.09397885e-01 -8.60527023e-01 -2.65294833e-03 4.20006529e+02] [ 8.60515940e-01 5.09404790e-01 -4.36781915e-03 4.13026486e+02] [ 5.11005100e-03 -5.79464921e-05 9.99986942e-01 2.27800476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.270385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:420.02, Y:413.05, Z:22.78 [[ 5.07838762e-01 -8.61448060e-01 -2.65188239e-03 4.20021119e+02] [ 8.61436986e-01 5.07845682e-01 -4.36846624e-03 4.13050331e+02] [ 5.10995378e-03 -6.59530820e-05 9.99986942e-01 2.27799327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.300385723 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:420.04, Y:413.07, Z:22.78 [[ 5.05500150e-01 -8.62822446e-01 -2.65070438e-03 4.20036263e+02] [ 8.62811387e-01 5.05507093e-01 -4.36918091e-03 4.13073915e+02] [ 5.10977723e-03 -7.84363125e-05 9.99986942e-01 2.27803591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.330385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:420.05, Y:413.10, Z:22.78 [[ 5.04648694e-01 -8.63320726e-01 -2.64951391e-03 4.20051205e+02] [ 8.63309670e-01 5.04655642e-01 -4.36990270e-03 4.13098188e+02] [ 5.10971972e-03 -8.20852898e-05 9.99986942e-01 2.27805291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.360385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:420.06, Y:413.12, Z:22.78 [[ 5.04143031e-01 -8.63616113e-01 -2.64832227e-03 4.20063863e+02] [ 8.63605058e-01 5.04149980e-01 -4.37062476e-03 4.13121661e+02] [ 5.10969359e-03 -8.36844895e-05 9.99986942e-01 2.27810805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.390385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:420.07, Y:413.15, Z:22.78 [[ 5.01861249e-01 -8.64944089e-01 -2.64750987e-03 4.20074140e+02] [ 8.64933049e-01 5.01868224e-01 -4.37111682e-03 4.13145224e+02] [ 5.10947273e-03 -9.62246329e-05 9.99986942e-01 2.27797025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.420385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:420.09, Y:413.17, Z:22.78 [[ 5.04195393e-01 -8.63585663e-01 -2.60929458e-03 4.20091509e+02] [ 8.63574484e-01 5.04202143e-01 -4.39423820e-03 4.13170762e+02] [ 5.11041303e-03 -3.77655641e-05 9.99986941e-01 2.27810737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.450385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:420.10, Y:413.19, Z:22.78 [[ 5.02569702e-01 -8.64532644e-01 -2.64614967e-03 4.20101222e+02] [ 8.64521594e-01 5.02576661e-01 -4.37193134e-03 4.13194204e+02] [ 5.10957043e-03 -9.04532978e-05 9.99986942e-01 2.27795911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.480385723 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:420.12, Y:413.22, Z:22.78 [[ 5.05221989e-01 -8.62985479e-01 -2.60876008e-03 4.20119224e+02] [ 8.62974290e-01 5.05228723e-01 -4.39453640e-03 4.13218933e+02] [ 5.11044162e-03 -3.10764574e-05 9.99986941e-01 2.27777005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.510385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:420.13, Y:413.24, Z:22.78 [[ 5.07329818e-01 -8.61747911e-01 -2.64467629e-03 4.20132251e+02] [ 8.61736818e-01 5.07336707e-01 -4.37281429e-03 4.13243319e+02] [ 5.11000494e-03 -6.05558586e-05 9.99986942e-01 2.27791715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.540385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:420.14, Y:413.27, Z:22.78 [[ 5.05705384e-01 -8.62702195e-01 -2.64345331e-03 4.20143921e+02] [ 8.62691111e-01 5.05712289e-01 -4.37355348e-03 4.13269188e+02] [ 5.10990101e-03 -6.87541278e-05 9.99986942e-01 2.27799756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.570385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:420.16, Y:413.29, Z:22.78 [[ 5.05404875e-01 -8.62878283e-01 -2.64212848e-03 4.20155190e+02] [ 8.62867198e-01 5.05411776e-01 -4.37435369e-03 4.13292091e+02] [ 5.10989765e-03 -6.89863151e-05 9.99986942e-01 2.27784199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.6003857229999 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:420.17, Y:413.32, Z:22.78 [[ 5.08884405e-01 -8.60830924e-01 -2.60454813e-03 4.20171400e+02] [ 8.60819694e-01 5.08891070e-01 -4.39700733e-03 4.13317181e+02] [ 5.11051117e-03 -4.47786725e-06 9.99986941e-01 2.27772025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.630385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:420.19, Y:413.34, Z:22.78 [[ 5.09221293e-01 -8.60631577e-01 -2.63866172e-03 4.20185243e+02] [ 8.60620451e-01 5.09228128e-01 -4.37643943e-03 4.13341425e+02] [ 5.11018274e-03 -4.23100901e-05 9.99986942e-01 2.27790961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.660385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:420.20, Y:413.37, Z:22.78 [[ 5.09108871e-01 -8.60698090e-01 -2.63745154e-03 4.20198534e+02] [ 8.60686960e-01 5.09115701e-01 -4.37716862e-03 4.13365493e+02] [ 5.11018866e-03 -4.15647725e-05 9.99986942e-01 2.27810859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.690385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:420.21, Y:413.39, Z:22.78 [[ 5.06315100e-01 -8.62344519e-01 -2.63635703e-03 4.20207598e+02] [ 8.62333409e-01 5.06321960e-01 -4.37782774e-03 4.13389317e+02] [ 5.11004122e-03 -5.68584586e-05 9.99986942e-01 2.27791725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.7203857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:420.22, Y:413.41, Z:22.78 [[ 5.05760637e-01 -8.62669936e-01 -2.59984916e-03 4.20219745e+02] [ 8.62658716e-01 5.05767319e-01 -4.39978772e-03 4.13414883e+02] [ 5.11048333e-03 -1.75430966e-05 9.99986941e-01 2.27788497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.750385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:420.24, Y:413.44, Z:22.78 [[ 5.07615866e-01 -8.61579571e-01 -2.60308328e-03 4.20236667e+02] [ 8.61568346e-01 5.07622540e-01 -4.39784313e-03 4.13439717e+02] [ 5.11047554e-03 -1.03192066e-05 9.99986941e-01 2.27808214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.780385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:420.25, Y:413.46, Z:22.78 [[ 5.08800371e-01 -8.60880506e-01 -2.63386124e-03 4.20248013e+02] [ 8.60869368e-01 5.08807187e-01 -4.37933234e-03 4.13463383e+02] [ 5.11020937e-03 -3.92045392e-05 9.99986942e-01 2.27805190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.810385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:420.26, Y:413.49, Z:22.78 [[ 5.07906185e-01 -8.61408438e-01 -2.60983967e-03 4.20261938e+02] [ 8.61397232e-01 5.07912890e-01 -4.39376662e-03 4.13488691e+02] [ 5.11039885e-03 -1.64874308e-05 9.99986942e-01 2.27808024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.8403857229999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:420.28, Y:413.51, Z:22.78 [[ 5.08381341e-01 -8.61128030e-01 -2.63215781e-03 4.20275030e+02] [ 8.61116890e-01 5.08388153e-01 -4.38035565e-03 4.13513811e+02] [ 5.11020487e-03 -3.97044655e-05 9.99986942e-01 2.27821584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.870385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:420.29, Y:413.54, Z:22.78 [[ 5.08359941e-01 -8.61140667e-01 -2.63097715e-03 4.20287571e+02] [ 8.61129524e-01 5.08366747e-01 -4.38106467e-03 4.13537314e+02] [ 5.11021425e-03 -3.84543228e-05 9.99986942e-01 2.27823501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.900385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:420.30, Y:413.56, Z:22.78 [[ 5.08105151e-01 -8.61291031e-01 -2.62991420e-03 4.20298934e+02] [ 8.61279886e-01 5.08111956e-01 -4.38170265e-03 4.13562878e+02] [ 5.11021204e-03 -3.87265158e-05 9.99986942e-01 2.27822457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.930385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:420.31, Y:413.59, Z:22.78 [[ 5.07602678e-01 -8.61587262e-01 -2.62874819e-03 4.20312452e+02] [ 8.61576118e-01 5.07609484e-01 -4.38240208e-03 4.13587872e+02] [ 5.11019932e-03 -4.03476287e-05 9.99986942e-01 2.27821844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.960385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:420.33, Y:413.61, Z:22.78 [[ 5.06930760e-01 -8.61982773e-01 -2.62758696e-03 4.20326436e+02] [ 8.61971630e-01 5.06937568e-01 -4.38309821e-03 4.13612803e+02] [ 5.11017769e-03 -4.29781059e-05 9.99986942e-01 2.27825867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.990385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:420.34, Y:413.64, Z:22.78 [[ 5.05309121e-01 -8.62934409e-01 -2.62638988e-03 4.20338636e+02] [ 8.62923275e-01 5.05315944e-01 -4.38381540e-03 4.13636953e+02] [ 5.11010183e-03 -5.11910480e-05 9.99986942e-01 2.27822845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.020385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:420.35, Y:413.66, Z:22.78 [[ 5.02483153e-01 -8.64583014e-01 -2.62557407e-03 4.20349652e+02] [ 8.64571900e-01 5.02490008e-01 -4.38430395e-03 4.13662149e+02] [ 5.10991946e-03 -6.69586840e-05 9.99986942e-01 2.27822008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.050385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:420.36, Y:413.69, Z:22.78 [[ 5.00209541e-01 -8.65900476e-01 -2.60394794e-03 4.20360913e+02] [ 8.65889313e-01 5.00216315e-01 -4.39724795e-03 4.13686890e+02] [ 5.11011633e-03 -5.51853131e-05 9.99986942e-01 2.27819051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.080385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:420.37, Y:413.71, Z:22.78 [[ 4.98634656e-01 -8.66808348e-01 -2.60158724e-03 4.20373616e+02] [ 8.66797189e-01 4.98641439e-01 -4.39866043e-03 4.13711536e+02] [ 5.11005479e-03 -6.17239775e-05 9.99986942e-01 2.27803721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.110385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:420.39, Y:413.74, Z:22.78 [[ 4.97061710e-01 -8.67711305e-01 -2.59786127e-03 4.20386257e+02] [ 8.67700147e-01 4.97068494e-01 -4.40088877e-03 4.13736267e+02] [ 5.11001592e-03 -6.66513072e-05 9.99986942e-01 2.27813920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.140385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:420.40, Y:413.76, Z:22.78 [[ 4.96748504e-01 -8.67890634e-01 -2.60216627e-03 4.20400862e+02] [ 8.67879492e-01 4.96755314e-01 -4.39831565e-03 4.13761182e+02] [ 5.10989688e-03 -7.35100196e-05 9.99986942e-01 2.27840360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.170385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:420.41, Y:413.79, Z:22.78 [[ 4.96740527e-01 -8.67895174e-01 -2.61063999e-03 4.20414429e+02] [ 8.67884059e-01 4.96747380e-01 -4.39325149e-03 4.13785169e+02] [ 5.10971035e-03 -8.34267690e-05 9.99986942e-01 2.27849254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.200385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:420.43, Y:413.81, Z:22.79 [[ 4.97462423e-01 -8.67481576e-01 -2.61796809e-03 4.20426661e+02] [ 8.67470478e-01 4.97469303e-01 -4.38887263e-03 4.13810515e+02] [ 5.10962490e-03 -8.77108223e-05 9.99986942e-01 2.27859706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.230385723 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:420.44, Y:413.84, Z:22.78 [[ 4.96479001e-01 -8.68044776e-01 -2.62095306e-03 4.20438984e+02] [ 8.68033695e-01 4.96485909e-01 -4.38708933e-03 4.13835738e+02] [ 5.10945624e-03 -9.69778414e-05 9.99986942e-01 2.27833761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.260385723 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:420.45, Y:413.86, Z:22.78 [[ 4.98773142e-01 -8.66728616e-01 -2.61914502e-03 4.20449435e+02] [ 8.66717511e-01 4.98780012e-01 -4.38816882e-03 4.13859153e+02] [ 5.10972867e-03 -8.13581077e-05 9.99986942e-01 2.27828477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.290385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:420.46, Y:413.89, Z:22.79 [[ 4.98484379e-01 -8.66894817e-01 -2.58829426e-03 4.20462877e+02] [ 8.66883619e-01 4.98491097e-01 -4.40656124e-03 4.13885916e+02] [ 5.11026674e-03 -4.71479466e-05 9.99986941e-01 2.27864664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.320385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:420.47, Y:413.91, Z:22.79 [[ 4.99564232e-01 -8.66272932e-01 -2.60501282e-03 4.20474553e+02] [ 8.66261777e-01 4.99571020e-01 -4.39659487e-03 4.13911780e+02] [ 5.11004004e-03 -6.02414979e-05 9.99986942e-01 2.27870624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.3503857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:420.49, Y:413.94, Z:22.79 [[ 4.99967853e-01 -8.66040012e-01 -2.61615475e-03 4.20487629e+02] [ 8.66028888e-01 4.99974693e-01 -4.38995493e-03 4.13936445e+02] [ 5.10988779e-03 -7.08292504e-05 9.99986942e-01 2.27872884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.380385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:420.50, Y:413.96, Z:22.79 [[ 5.01893742e-01 -8.64925334e-01 -2.61495580e-03 4.20499342e+02] [ 8.64914192e-01 5.01900550e-01 -4.39066899e-03 4.13961112e+02] [ 5.11004860e-03 -5.80630929e-05 9.99986942e-01 2.27877930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.410385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:420.51, Y:413.99, Z:22.79 [[ 5.02793118e-01 -8.64402827e-01 -2.61388430e-03 4.20513282e+02] [ 8.64391675e-01 5.02799910e-01 -4.39130679e-03 4.13987216e+02] [ 5.11011880e-03 -5.15009910e-05 9.99986942e-01 2.27875326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.440385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:420.52, Y:414.01, Z:22.79 [[ 5.07056991e-01 -8.61908525e-01 -2.62740405e-03 4.20522831e+02] [ 8.61897380e-01 5.07063796e-01 -4.38325779e-03 4.14010255e+02] [ 5.11022873e-03 -4.19911654e-05 9.99986942e-01 2.27880326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.4703857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:420.54, Y:414.04, Z:22.79 [[ 5.07238887e-01 -8.61801583e-01 -2.59671926e-03 4.20537066e+02] [ 8.61790343e-01 5.07245534e-01 -4.40151103e-03 4.14037364e+02] [ 5.11040342e-03 -5.21002328e-06 9.99986942e-01 2.27883480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.500385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:420.55, Y:414.06, Z:22.79 [[ 5.08620309e-01 -8.60986918e-01 -2.62848368e-03 4.20550468e+02] [ 8.60975764e-01 5.08627100e-01 -4.38263261e-03 4.14062282e+02] [ 5.11030737e-03 -3.39647883e-05 9.99986942e-01 2.27880895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.530385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:420.56, Y:414.09, Z:22.79 [[ 5.10496986e-01 -8.59875511e-01 -2.63294615e-03 4.20561242e+02] [ 8.59864357e-01 5.10503775e-01 -4.37997964e-03 4.14085295e+02] [ 5.11036618e-03 -2.80101434e-05 9.99986942e-01 2.27873343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.560385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:420.58, Y:414.11, Z:22.79 [[ 5.11508506e-01 -8.59274251e-01 -2.60957095e-03 4.20579466e+02] [ 8.59263017e-01 5.11515163e-01 -4.39386247e-03 4.14111251e+02] [ 5.11036799e-03 5.19022064e-06 9.99986942e-01 2.27865329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.5903857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:420.59, Y:414.13, Z:22.79 [[ 5.10964558e-01 -8.59597720e-01 -2.64202904e-03 4.20592994e+02] [ 8.59586590e-01 5.10971387e-01 -4.37458864e-03 4.14134743e+02] [ 5.11038767e-03 -3.57929855e-05 9.99986941e-01 2.27870345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.620385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:420.61, Y:414.16, Z:22.79 [[ 5.13315487e-01 -8.58195961e-01 -2.62746772e-03 4.20608972e+02] [ 8.58184767e-01 5.13322211e-01 -4.38322683e-03 4.14157362e+02] [ 5.11040510e-03 -4.87455947e-06 9.99986942e-01 2.27879865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.650385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:420.62, Y:414.18, Z:22.79 [[ 5.13769884e-01 -8.57924006e-01 -2.62789394e-03 4.20623484e+02] [ 8.57912810e-01 5.13776605e-01 -4.38297406e-03 4.14181899e+02] [ 5.11040909e-03 -2.66379502e-06 9.99986942e-01 2.27886638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.680385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:420.64, Y:414.21, Z:22.79 [[ 5.14862339e-01 -8.57268861e-01 -2.62148023e-03 4.20641076e+02] [ 8.57257637e-01 5.14869013e-01 -4.38677070e-03 4.14207645e+02] [ 5.11036086e-03 1.12990749e-05 9.99986942e-01 2.27896341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.710385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:420.66, Y:414.23, Z:22.79 [[ 5.15959293e-01 -8.56609014e-01 -2.64661204e-03 4.20655855e+02] [ 8.56597858e-01 5.15966081e-01 -4.37189402e-03 4.14229813e+02] [ 5.11056587e-03 -1.13628540e-05 9.99986941e-01 2.27902936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.740385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:420.67, Y:414.25, Z:22.79 [[ 5.17303874e-01 -8.55797696e-01 -2.64695494e-03 4.20672351e+02] [ 8.55786530e-01 5.17310646e-01 -4.37169108e-03 4.14254149e+02] [ 5.11058112e-03 -3.73564799e-06 9.99986941e-01 2.27903339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.770385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:420.68, Y:414.27, Z:22.79 [[ 5.17701401e-01 -8.55557267e-01 -2.65008408e-03 4.20683662e+02] [ 8.55546107e-01 5.17708184e-01 -4.36984016e-03 4.14273670e+02] [ 5.11061872e-03 -4.99675104e-06 9.99986941e-01 2.27913077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.800385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:420.70, Y:414.30, Z:22.79 [[ 5.19514099e-01 -8.54457926e-01 -2.59894605e-03 4.20703688e+02] [ 8.54446599e-01 5.19520596e-01 -4.40004553e-03 4.14298808e+02] [ 5.10985978e-03 6.52250798e-05 9.99986942e-01 2.27905502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.830385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:420.72, Y:414.32, Z:22.79 [[ 5.19858155e-01 -8.54248547e-01 -2.63056283e-03 4.20722584e+02] [ 8.54237311e-01 5.19864809e-01 -4.38141246e-03 4.14323369e+02] [ 5.11035227e-03 3.05880772e-05 9.99986942e-01 2.27916594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.860385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:420.74, Y:414.35, Z:22.79 [[ 5.19428306e-01 -8.54509945e-01 -2.64346206e-03 4.20737752e+02] [ 8.54498752e-01 5.19435033e-01 -4.37381484e-03 4.14346047e+02] [ 5.11057508e-03 1.30482036e-05 9.99986941e-01 2.27913434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.890385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:420.75, Y:414.37, Z:22.79 [[ 5.17238969e-01 -8.55836954e-01 -2.63775734e-03 4.20751890e+02] [ 8.55825760e-01 5.17245695e-01 -4.37717560e-03 4.14365764e+02] [ 5.11051726e-03 6.58511532e-06 9.99986941e-01 2.27926179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.920385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:420.77, Y:414.39, Z:22.79 [[ 5.16478698e-01 -8.56296117e-01 -2.59119376e-03 4.20768789e+02] [ 8.56284791e-01 5.16485195e-01 -4.40456881e-03 4.14388278e+02] [ 5.10992839e-03 5.60661535e-05 9.99986943e-01 2.27934949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.950385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:420.78, Y:414.41, Z:22.79 [[ 5.16239669e-01 -8.56440247e-01 -2.58996712e-03 4.20783222e+02] [ 8.56428919e-01 5.16246163e-01 -4.40528998e-03 4.14412951e+02] [ 5.10992823e-03 5.60627062e-05 9.99986943e-01 2.27936404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.980385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:420.80, Y:414.44, Z:22.79 [[ 5.15087936e-01 -8.57133430e-01 -2.58873730e-03 4.20800025e+02] [ 8.57122107e-01 5.15094438e-01 -4.40601256e-03 4.14435430e+02] [ 5.10998484e-03 5.06199436e-05 9.99986943e-01 2.27942516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.010385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:420.82, Y:414.46, Z:22.79 [[ 5.12058756e-01 -8.58946526e-01 -2.58749767e-03 4.20820674e+02] [ 8.58935223e-01 5.12065292e-01 -4.40674043e-03 4.14458106e+02] [ 5.11012213e-03 3.40171369e-05 9.99986943e-01 2.27948203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.040385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:420.84, Y:414.48, Z:22.79 [[ 5.09363052e-01 -8.60547789e-01 -2.60468231e-03 4.20837999e+02] [ 8.60536557e-01 5.09369712e-01 -4.39665121e-03 4.14478097e+02] [ 5.11027475e-03 -1.93267467e-06 9.99986942e-01 2.27945068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.070385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:420.85, Y:414.50, Z:22.79 [[ 5.08050994e-01 -8.61323110e-01 -2.58609133e-03 4.20854377e+02] [ 8.61311833e-01 5.08057576e-01 -4.40755928e-03 4.14500137e+02] [ 5.11021596e-03 1.18338181e-05 9.99986943e-01 2.27938245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.1003857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:420.87, Y:414.52, Z:22.79 [[ 5.06862932e-01 -8.62022787e-01 -2.58498078e-03 4.20871269e+02] [ 8.62011516e-01 5.06869524e-01 -4.40821051e-03 4.14523031e+02] [ 5.11022589e-03 6.07530854e-06 9.99986943e-01 2.27940554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.130385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:420.89, Y:414.55, Z:22.79 [[ 5.04316299e-01 -8.63515139e-01 -2.58374355e-03 4.20889827e+02] [ 8.63503883e-01 5.04322918e-01 -4.40893556e-03 4.14546119e+02] [ 5.11022368e-03 -7.57452090e-06 9.99986943e-01 2.27940797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.160385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:420.91, Y:414.57, Z:22.79 [[ 5.03208509e-01 -8.64161165e-01 -2.58421811e-03 4.20907788e+02] [ 8.64149919e-01 5.03215144e-01 -4.40865751e-03 4.14567460e+02] [ 5.11020830e-03 -1.46778953e-05 9.99986943e-01 2.27938986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.190385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:420.93, Y:414.59, Z:22.79 [[ 5.04176746e-01 -8.63596641e-01 -2.57884195e-03 4.20925444e+02] [ 8.63585372e-01 5.04183341e-01 -4.41180568e-03 4.14590052e+02] [ 5.11022972e-03 -2.72034928e-06 9.99986943e-01 2.27944260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.2203857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:420.94, Y:414.61, Z:22.80 [[ 5.03541792e-01 -8.63967013e-01 -2.58165705e-03 4.20944149e+02] [ 8.63955757e-01 5.03548410e-01 -4.41015775e-03 4.14612093e+02] [ 5.11022012e-03 -9.73873669e-06 9.99986943e-01 2.27958211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.250385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:420.96, Y:414.64, Z:22.80 [[ 5.03572059e-01 -8.63949375e-01 -2.58044843e-03 4.20960510e+02] [ 8.63938115e-01 5.03578670e-01 -4.41086482e-03 4.14635503e+02] [ 5.11022270e-03 -8.15947908e-06 9.99986943e-01 2.27962059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.280385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:420.98, Y:414.66, Z:22.80 [[ 5.04146388e-01 -8.63614363e-01 -2.57922300e-03 4.20977967e+02] [ 8.63603095e-01 5.04152986e-01 -4.41158127e-03 4.14656537e+02] [ 5.11022792e-03 -3.34220058e-06 9.99986943e-01 2.27952227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.310385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:420.99, Y:414.68, Z:22.80 [[ 5.04713505e-01 -8.63283053e-01 -2.57840903e-03 4.20994098e+02] [ 8.63271779e-01 5.04720091e-01 -4.41205695e-03 4.14680143e+02] [ 5.11022884e-03 9.56976655e-07 9.99986943e-01 2.27953311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.3403857229999 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:421.01, Y:414.70, Z:22.80 [[ 5.05578692e-01 -8.62776648e-01 -2.57719265e-03 4.21008802e+02] [ 8.62765363e-01 5.05585260e-01 -4.41276736e-03 4.14702574e+02] [ 5.11022324e-03 7.48859407e-06 9.99986943e-01 2.27955584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.370385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:421.02, Y:414.73, Z:22.80 [[ 5.08782404e-01 -8.60891299e-01 -2.57609788e-03 4.21021854e+02] [ 8.60879987e-01 5.08788925e-01 -4.41340637e-03 4.14727527e+02] [ 5.11015322e-03 2.77523970e-05 9.99986943e-01 2.27961930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.400385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:421.04, Y:414.75, Z:22.80 [[ 5.10063101e-01 -8.60133131e-01 -2.57492292e-03 4.21035286e+02] [ 8.60121805e-01 5.10069599e-01 -4.41409177e-03 4.14752298e+02] [ 5.11009648e-03 3.67179855e-05 9.99986943e-01 2.27961166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.430385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:421.05, Y:414.78, Z:22.80 [[ 5.10851754e-01 -8.59664971e-01 -2.57372490e-03 4.21048803e+02] [ 8.59653636e-01 5.10858235e-01 -4.41479019e-03 4.14776626e+02] [ 5.11004904e-03 4.27913408e-05 9.99986943e-01 2.27961437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.460385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:421.06, Y:414.80, Z:22.80 [[ 5.11259107e-01 -8.59422776e-01 -2.57253775e-03 4.21062084e+02] [ 8.59411434e-01 5.11265577e-01 -4.41548185e-03 4.14800839e+02] [ 5.11001566e-03 4.65869522e-05 9.99986943e-01 2.27966741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.490385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:421.08, Y:414.82, Z:22.80 [[ 5.10058224e-01 -8.60136034e-01 -2.57135372e-03 4.21075681e+02] [ 8.60124698e-01 5.10064704e-01 -4.41617126e-03 4.14823835e+02] [ 5.11006480e-03 4.08196228e-05 9.99986943e-01 2.27978791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.520385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:421.09, Y:414.85, Z:22.80 [[ 5.08984637e-01 -8.60771766e-01 -2.57028372e-03 4.21089986e+02] [ 8.60760435e-01 5.08991126e-01 -4.41679393e-03 4.14848525e+02] [ 5.11010311e-03 3.56817209e-05 9.99986943e-01 2.27982164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.550385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:421.10, Y:414.87, Z:22.80 [[ 5.07837046e-01 -8.61449322e-01 -2.56913349e-03 4.21104035e+02] [ 8.61437996e-01 5.07843543e-01 -4.41746289e-03 4.14873395e+02] [ 5.11013826e-03 3.02020940e-05 9.99986943e-01 2.27986255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.580385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:421.12, Y:414.90, Z:22.80 [[ 5.05665112e-01 -8.62726028e-01 -2.56793541e-03 4.21117260e+02] [ 8.62714715e-01 5.05671632e-01 -4.41815924e-03 4.14898633e+02] [ 5.11019306e-03 1.87133173e-05 9.99986943e-01 2.27970655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.610385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:421.13, Y:414.92, Z:22.80 [[ 5.04150242e-01 -8.63612150e-01 -2.56673467e-03 4.21130858e+02] [ 8.63600845e-01 5.04156776e-01 -4.41885670e-03 4.14922901e+02] [ 5.11021501e-03 1.11334384e-05 9.99986943e-01 2.27968814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.640385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:421.14, Y:414.95, Z:22.79 [[ 4.98015177e-01 -8.67164518e-01 -2.56552049e-03 4.21139087e+02] [ 8.67153256e-01 4.98021784e-01 -4.41956152e-03 4.14945874e+02] [ 5.11017203e-03 -2.36907391e-05 9.99986943e-01 2.27935766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.670385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:421.16, Y:414.97, Z:22.80 [[ 5.00407292e-01 -8.65786488e-01 -2.50989881e-03 4.21159498e+02] [ 8.65775044e-01 5.00413583e-01 -4.45180601e-03 4.14971027e+02] [ 5.11030094e-03 5.47084372e-05 9.99986941e-01 2.27961811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.700385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:421.17, Y:415.00, Z:22.80 [[ 4.98410020e-01 -8.66937644e-01 -2.56393767e-03 4.21173653e+02] [ 8.66926374e-01 4.98416614e-01 -4.42046263e-03 4.14995429e+02] [ 5.11017459e-03 -1.95423170e-05 9.99986943e-01 2.27963463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.730385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:421.19, Y:415.02, Z:22.80 [[ 4.97578149e-01 -8.67415367e-01 -2.56272304e-03 4.21187609e+02] [ 8.67404100e-01 4.97584747e-01 -4.42116669e-03 4.15020063e+02] [ 5.11015982e-03 -2.30405407e-05 9.99986943e-01 2.27969052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.760385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:421.20, Y:415.04, Z:22.80 [[ 4.97058146e-01 -8.67713454e-01 -2.56147915e-03 4.21200448e+02] [ 8.67702187e-01 4.97064746e-01 -4.42188724e-03 4.15043560e+02] [ 5.11015203e-03 -2.46659888e-05 9.99986943e-01 2.27968720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.790385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:421.21, Y:415.07, Z:22.80 [[ 4.96865576e-01 -8.67823739e-01 -2.56064049e-03 4.21213545e+02] [ 8.67812471e-01 4.96872174e-01 -4.42237284e-03 4.15067100e+02] [ 5.11015114e-03 -2.48309254e-05 9.99986943e-01 2.27966301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.820385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:421.23, Y:415.09, Z:22.80 [[ 4.96533897e-01 -8.68013559e-01 -2.55954954e-03 4.21227135e+02] [ 8.68002290e-01 4.96540494e-01 -4.42300416e-03 4.15091298e+02] [ 5.11014758e-03 -2.55233676e-05 9.99986943e-01 2.27966012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.8503857229999 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:421.24, Y:415.12, Z:22.80 [[ 4.95906976e-01 -8.68371882e-01 -2.55836681e-03 4.21240976e+02] [ 8.68360615e-01 4.95913575e-01 -4.42368818e-03 4.15116158e+02] [ 5.11013526e-03 -2.78471471e-05 9.99986943e-01 2.27966045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.880385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:421.25, Y:415.14, Z:22.79 [[ 4.94015907e-01 -8.69449104e-01 -2.55716079e-03 4.21251126e+02] [ 8.69437848e-01 4.94022524e-01 -4.42438522e-03 4.15138535e+02] [ 5.11007279e-03 -3.75757029e-05 9.99986943e-01 2.27938769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.910385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:421.27, Y:415.16, Z:22.80 [[ 4.93273415e-01 -8.69870698e-01 -2.51138163e-03 4.21268114e+02] [ 8.69859311e-01 4.93279808e-01 -4.45084664e-03 4.15163256e+02] [ 5.11047492e-03 1.09356287e-05 9.99986941e-01 2.27952578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.940385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:421.28, Y:415.19, Z:22.80 [[ 4.93379876e-01 -8.69810272e-01 -2.52778191e-03 4.21282831e+02] [ 8.69798932e-01 4.93386351e-01 -4.44136530e-03 4.15187501e+02] [ 5.11031825e-03 -7.38174341e-06 9.99986942e-01 2.27950724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.9703857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:421.30, Y:415.21, Z:22.79 [[ 4.93111780e-01 -8.69962284e-01 -2.52932959e-03 4.21295795e+02] [ 8.69950951e-01 4.93118267e-01 -4.44047059e-03 4.15211575e+02] [ 5.11030056e-03 -1.07443219e-05 9.99986942e-01 2.27940938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.000385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:421.31, Y:415.24, Z:22.79 [[ 4.93746701e-01 -8.69602096e-01 -2.52799444e-03 4.21310068e+02] [ 8.69590754e-01 4.93753172e-01 -4.44124169e-03 4.15236874e+02] [ 5.11031836e-03 -5.47216006e-06 9.99986942e-01 2.27942621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.030385723 meters Centerline goodness : 0.999821 Centerline is valid? [True, True] Translation: X:421.33, Y:415.26, Z:22.79 [[ 4.95735289e-01 -8.68469988e-01 -2.53060518e-03 4.21326173e+02] [ 8.68458639e-01 4.95741748e-01 -4.43973260e-03 4.15263279e+02] [ 5.11030115e-03 3.20619045e-06 9.99986942e-01 2.27922379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.060385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:421.34, Y:415.29, Z:22.80 [[ 4.96765770e-01 -8.67880885e-01 -2.55720491e-03 4.21338952e+02] [ 8.67869608e-01 4.96772351e-01 -4.42435840e-03 4.15287682e+02] [ 5.11016478e-03 -2.14506155e-05 9.99986943e-01 2.27961021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.0903857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:421.35, Y:415.31, Z:22.80 [[ 4.96177352e-01 -8.68217462e-01 -2.54444662e-03 4.21354324e+02] [ 8.68206151e-01 4.96183876e-01 -4.43173156e-03 4.15313044e+02] [ 5.11022012e-03 -1.01793737e-05 9.99986943e-01 2.27964411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.120385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:421.37, Y:415.34, Z:22.80 [[ 4.95081630e-01 -8.68842671e-01 -2.56746085e-03 4.21367358e+02] [ 8.68831438e-01 4.95088286e-01 -4.41843558e-03 4.15335904e+02] [ 5.11004517e-03 -4.32044126e-05 9.99986943e-01 2.27963850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.150385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:421.38, Y:415.36, Z:22.79 [[ 4.92801381e-01 -8.70138076e-01 -2.55488717e-03 4.21381345e+02] [ 8.70126822e-01 4.92808002e-01 -4.42569419e-03 4.15359439e+02] [ 5.11003386e-03 -4.20876433e-05 9.99986943e-01 2.27949430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.180385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:421.39, Y:415.38, Z:22.79 [[ 4.90925003e-01 -8.71198095e-01 -2.55367039e-03 4.21394730e+02] [ 8.71186851e-01 4.90931642e-01 -4.42639617e-03 4.15383767e+02] [ 5.10994551e-03 -5.16955199e-05 9.99986943e-01 2.27940680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.210385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:421.41, Y:415.41, Z:22.80 [[ 4.90386212e-01 -8.71501496e-01 -2.55064962e-03 4.21408850e+02] [ 8.71490247e-01 4.90392843e-01 -4.42813779e-03 4.15408173e+02] [ 5.10994903e-03 -5.13685496e-05 9.99986943e-01 2.27964299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.240385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:421.42, Y:415.43, Z:22.80 [[ 4.90261035e-01 -8.71571917e-01 -2.55183781e-03 4.21422101e+02] [ 8.71560673e-01 4.90267673e-01 -4.42745296e-03 4.15432878e+02] [ 5.10992725e-03 -5.34738088e-05 9.99986943e-01 2.27971006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.270385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:421.44, Y:415.46, Z:22.80 [[ 4.90036354e-01 -8.71698266e-01 -2.55060450e-03 4.21435207e+02] [ 8.71687020e-01 4.90042989e-01 -4.42816335e-03 4.15457723e+02] [ 5.10992816e-03 -5.33678122e-05 9.99986943e-01 2.27974371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.300385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:421.45, Y:415.48, Z:22.80 [[ 4.90055997e-01 -8.71687226e-01 -2.54937559e-03 4.21447918e+02] [ 8.71675977e-01 4.90062625e-01 -4.42887074e-03 4.15481525e+02] [ 5.10994374e-03 -5.18347908e-05 9.99986943e-01 2.27977116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.330385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:421.46, Y:415.51, Z:22.80 [[ 4.89887228e-01 -8.71782089e-01 -2.54826776e-03 4.21461094e+02] [ 8.71770837e-01 4.89893853e-01 -4.42950806e-03 4.15505256e+02] [ 5.10994650e-03 -5.15460919e-05 9.99986943e-01 2.27968278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.360385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:421.47, Y:415.53, Z:22.80 [[ 4.88418532e-01 -8.72605780e-01 -2.54744151e-03 4.21474477e+02] [ 8.72594537e-01 4.88425172e-01 -4.42998319e-03 4.15530277e+02] [ 5.10986350e-03 -5.91976590e-05 9.99986943e-01 2.27982471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.390385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:421.49, Y:415.55, Z:22.80 [[ 4.87289940e-01 -8.73236526e-01 -2.54622457e-03 4.21487601e+02] [ 8.73225288e-01 4.87296588e-01 -4.43068255e-03 4.15553856e+02] [ 5.10980038e-03 -6.44006508e-05 9.99986943e-01 2.27983884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.420385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:421.50, Y:415.58, Z:22.80 [[ 4.86048409e-01 -8.73928182e-01 -2.54513313e-03 4.21500777e+02] [ 8.73916950e-01 4.86055068e-01 -4.43130942e-03 4.15578054e+02] [ 5.10972104e-03 -7.04040875e-05 9.99986943e-01 2.27984232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.450385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:421.51, Y:415.60, Z:22.80 [[ 4.83999018e-01 -8.75064843e-01 -2.54405035e-03 4.21513920e+02] [ 8.75053623e-01 4.84005697e-01 -4.43193096e-03 4.15602617e+02] [ 5.10956183e-03 -8.11302387e-05 9.99986943e-01 2.27979759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.480385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:421.53, Y:415.63, Z:22.80 [[ 4.82071703e-01 -8.76128077e-01 -2.54287748e-03 4.21527636e+02] [ 8.76116868e-01 4.82078401e-01 -4.43260381e-03 4.15626566e+02] [ 5.10939496e-03 -9.10249901e-05 9.99986943e-01 2.27989504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.510385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:421.54, Y:415.65, Z:22.80 [[ 4.81189747e-01 -8.76612781e-01 -2.54166372e-03 4.21541239e+02] [ 8.76601576e-01 4.81196450e-01 -4.43329967e-03 4.15649893e+02] [ 5.10932671e-03 -9.47680758e-05 9.99986943e-01 2.27991038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.540385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:421.55, Y:415.67, Z:22.80 [[ 4.79492785e-01 -8.77542144e-01 -2.54057573e-03 4.21554867e+02] [ 8.77530949e-01 4.79499504e-01 -4.43392308e-03 4.15674352e+02] [ 5.10915917e-03 -1.03399709e-04 9.99986943e-01 2.27985242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.570385723 meters Centerline goodness : 0.999579 Centerline is valid? [True, True] Translation: X:421.57, Y:415.70, Z:22.80 [[ 4.79773809e-01 -8.77388537e-01 -2.53938093e-03 4.21568004e+02] [ 8.77377335e-01 4.79780518e-01 -4.43460725e-03 4.15697744e+02] [ 5.10921907e-03 -1.00386859e-04 9.99986943e-01 2.27984192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.6003857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:421.58, Y:415.72, Z:22.80 [[ 4.78590126e-01 -8.78034809e-01 -2.52304572e-03 4.21582709e+02] [ 8.78023568e-01 4.78596768e-01 -4.44395469e-03 4.15723625e+02] [ 5.10946844e-03 -8.84607678e-05 9.99986943e-01 2.27989465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.630385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:421.60, Y:415.75, Z:22.80 [[ 4.76381365e-01 -8.79235098e-01 -2.53735873e-03 4.21595278e+02] [ 8.79223916e-01 4.76388108e-01 -4.43576733e-03 4.15749089e+02] [ 5.10884984e-03 -1.17789585e-04 9.99986943e-01 2.27953259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.660385723 meters Centerline goodness : 0.999844 Centerline is valid? [True, True] Translation: X:421.61, Y:415.77, Z:22.80 [[ 4.77435195e-01 -8.78663338e-01 -2.52454365e-03 4.21610466e+02] [ 8.78652110e-01 4.77441859e-01 -4.44309424e-03 4.15773581e+02] [ 5.10930683e-03 -9.69060459e-05 9.99986943e-01 2.27988156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.690385723 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:421.62, Y:415.80, Z:22.80 [[ 4.76205986e-01 -8.79330102e-01 -2.53591553e-03 4.21624033e+02] [ 8.79318917e-01 4.76212724e-01 -4.43659418e-03 4.15798340e+02] [ 5.10886606e-03 -1.17145791e-04 9.99986943e-01 2.27960989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.7203857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:421.64, Y:415.82, Z:22.80 [[ 4.75491633e-01 -8.79716592e-01 -2.53471013e-03 4.21638225e+02] [ 8.79705409e-01 4.75498374e-01 -4.43728274e-03 4.15824154e+02] [ 5.10880180e-03 -1.19907396e-04 9.99986943e-01 2.27955032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.750385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:421.65, Y:415.85, Z:22.80 [[ 4.75961992e-01 -8.79462157e-01 -2.54890464e-03 4.21650730e+02] [ 8.79451014e-01 4.75968799e-01 -4.42917437e-03 4.15846792e+02] [ 5.10849032e-03 -1.33518108e-04 9.99986943e-01 2.27997886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.780385723 meters Centerline goodness : 0.994511 Centerline is valid? [True, True] Translation: X:421.66, Y:415.87, Z:22.80 [[ 4.75900024e-01 -8.79495736e-01 -2.53328771e-03 4.21663821e+02] [ 8.79484546e-01 4.75906753e-01 -4.43808861e-03 4.15870756e+02] [ 5.10888873e-03 -1.15900913e-04 9.99986943e-01 2.27998351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.810385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:421.68, Y:415.89, Z:22.80 [[ 4.75702811e-01 -8.79602441e-01 -2.52598113e-03 4.21676038e+02] [ 8.79591231e-01 4.75709505e-01 -4.44225521e-03 4.15894500e+02] [ 5.10905177e-03 -1.08637563e-04 9.99986943e-01 2.27997135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.8403857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:421.69, Y:415.92, Z:22.80 [[ 4.75467213e-01 -8.79729804e-01 -2.53028258e-03 4.21690136e+02] [ 8.79718608e-01 4.75473932e-01 -4.43980378e-03 4.15919373e+02] [ 5.10891111e-03 -1.14955542e-04 9.99986943e-01 2.27998616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.870385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:421.70, Y:415.94, Z:22.80 [[ 4.75538619e-01 -8.79691210e-01 -2.52909329e-03 4.21702587e+02] [ 8.79680010e-01 4.75545331e-01 -4.44048115e-03 4.15943111e+02] [ 5.10895074e-03 -1.13172533e-04 9.99986943e-01 2.27993319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.900385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:421.71, Y:415.97, Z:22.80 [[ 4.75560071e-01 -8.79679617e-01 -2.52802720e-03 4.21714193e+02] [ 8.79668413e-01 4.75566777e-01 -4.44108800e-03 4.15968360e+02] [ 5.10898034e-03 -1.11821549e-04 9.99986943e-01 2.27983464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.930385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:421.73, Y:415.99, Z:22.80 [[ 4.75283325e-01 -8.79829174e-01 -2.52686513e-03 4.21727560e+02] [ 8.79817969e-01 4.75290029e-01 -4.44174909e-03 4.15993620e+02] [ 5.10897424e-03 -1.12092071e-04 9.99986943e-01 2.27985075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.960385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:421.74, Y:416.02, Z:22.80 [[ 4.74047537e-01 -8.80495629e-01 -2.52569007e-03 4.21740557e+02] [ 8.80484430e-01 4.74054251e-01 -4.44241716e-03 4.16018952e+02] [ 5.10884301e-03 -1.17913865e-04 9.99986943e-01 2.27991187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.990385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:421.75, Y:416.04, Z:22.80 [[ 4.73159611e-01 -8.80973104e-01 -2.52447492e-03 4.21753491e+02] [ 8.80961908e-01 4.73166329e-01 -4.44310758e-03 4.16043300e+02] [ 5.10875481e-03 -1.21667187e-04 9.99986943e-01 2.27988290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.020385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:421.77, Y:416.07, Z:22.80 [[ 4.71318720e-01 -8.81959351e-01 -2.52338061e-03 4.21766300e+02] [ 8.81948166e-01 4.71325457e-01 -4.44372898e-03 4.16068507e+02] [ 5.10852185e-03 -1.31078247e-04 9.99986943e-01 2.27988046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.050385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:421.78, Y:416.09, Z:22.80 [[ 4.70432618e-01 -8.82432315e-01 -2.52217923e-03 4.21779784e+02] [ 8.82421133e-01 4.70439359e-01 -4.44441077e-03 4.16092890e+02] [ 5.10842406e-03 -1.34828463e-04 9.99986943e-01 2.27991235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.080385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:421.79, Y:416.12, Z:22.80 [[ 4.69908252e-01 -8.82711663e-01 -2.52098439e-03 4.21793512e+02] [ 8.82700481e-01 4.69914994e-01 -4.44508840e-03 4.16117709e+02] [ 5.10837974e-03 -1.36490416e-04 9.99986943e-01 2.27998825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.110385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:421.81, Y:416.14, Z:22.80 [[ 4.70035059e-01 -8.82644149e-01 -2.51977483e-03 4.21808872e+02] [ 8.82632963e-01 4.70041794e-01 -4.44577396e-03 4.16144685e+02] [ 5.10843585e-03 -1.34366703e-04 9.99986943e-01 2.27995968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.140385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:421.82, Y:416.17, Z:22.80 [[ 4.69828653e-01 -8.82753960e-01 -2.54611136e-03 4.21822012e+02] [ 8.82742856e-01 4.69835523e-01 -4.43085981e-03 4.16170122e+02] [ 5.10761260e-03 -1.65816716e-04 9.99986942e-01 2.28000487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.170385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:421.84, Y:416.19, Z:22.80 [[ 4.72809200e-01 -8.81161157e-01 -2.54489482e-03 4.21836911e+02] [ 8.81150025e-01 4.72816026e-01 -4.43154910e-03 4.16194611e+02] [ 5.10817599e-03 -1.47156950e-04 9.99986942e-01 2.28001991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.200385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:421.85, Y:416.22, Z:22.80 [[ 4.72518888e-01 -8.81316788e-01 -2.57304748e-03 4.21848451e+02] [ 8.81305745e-01 4.72525858e-01 -4.41558807e-03 4.16218944e+02] [ 5.10736336e-03 -1.81192759e-04 9.99986941e-01 2.27999511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.230385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:421.86, Y:416.24, Z:22.80 [[ 4.73064942e-01 -8.81023860e-01 -2.55331064e-03 4.21858728e+02] [ 8.81012752e-01 4.73071807e-01 -4.42675946e-03 4.16244415e+02] [ 5.10797998e-03 -1.55354535e-04 9.99986942e-01 2.27997214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.260385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:421.87, Y:416.27, Z:22.80 [[ 4.73263329e-01 -8.80917356e-01 -2.53657729e-03 4.21869200e+02] [ 8.80906196e-01 4.73270107e-01 -4.43620998e-03 4.16268771e+02] [ 5.10842057e-03 -1.34991148e-04 9.99986943e-01 2.28003470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.290385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:421.89, Y:416.30, Z:22.80 [[ 4.74783611e-01 -8.80098982e-01 -2.51104530e-03 4.21885127e+02] [ 8.80087734e-01 4.74790242e-01 -4.45061518e-03 4.16295109e+02] [ 5.10920169e-03 -9.68610164e-05 9.99986943e-01 2.27980574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.320385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:421.89, Y:416.32, Z:22.80 [[ 4.73371651e-01 -8.80859118e-01 -2.54824932e-03 4.21894549e+02] [ 8.80847993e-01 4.73378487e-01 -4.42962216e-03 4.16319786e+02] [ 5.10815948e-03 -1.47762746e-04 9.99986942e-01 2.27973208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.3503857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:421.91, Y:416.35, Z:22.80 [[ 4.73484310e-01 -8.80798651e-01 -2.51896533e-03 4.21909043e+02] [ 8.80787437e-01 4.73490997e-01 -4.44611304e-03 4.16345898e+02] [ 5.10883777e-03 -1.13508252e-04 9.99986943e-01 2.27985410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.380385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:421.92, Y:416.37, Z:22.80 [[ 4.71283428e-01 -8.81978183e-01 -2.53282645e-03 4.21919031e+02] [ 8.81967027e-01 4.71290212e-01 -4.43830736e-03 4.16369889e+02] [ 5.10818658e-03 -1.42168706e-04 9.99986943e-01 2.28000480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.410385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:421.93, Y:416.40, Z:22.80 [[ 4.69664044e-01 -8.82841666e-01 -2.50589953e-03 4.21933366e+02] [ 8.82830441e-01 4.69670713e-01 -4.45345877e-03 4.16396405e+02] [ 5.10864658e-03 -1.20654928e-04 9.99986944e-01 2.27987516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.440385723 meters Centerline goodness : 0.999382 Centerline is valid? [True, True] Translation: X:421.95, Y:416.42, Z:22.80 [[ 4.68677991e-01 -8.83365494e-01 -2.51907512e-03 4.21945177e+02] [ 8.83354316e-01 4.68684739e-01 -4.44604119e-03 4.16419625e+02] [ 5.10813144e-03 -1.41474228e-04 9.99986943e-01 2.28008809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.4703857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:421.96, Y:416.45, Z:22.80 [[ 4.65057336e-01 -8.85277030e-01 -2.50092054e-03 4.21956265e+02] [ 8.85265825e-01 4.65064039e-01 -4.45624897e-03 4.16446086e+02] [ 5.10810306e-03 -1.41568213e-04 9.99986944e-01 2.28004825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.500385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:421.97, Y:416.47, Z:22.80 [[ 4.62470829e-01 -8.86630963e-01 -2.50365046e-03 4.21965643e+02] [ 8.86619786e-01 4.62477578e-01 -4.45471469e-03 4.16472625e+02] [ 5.10757018e-03 -1.59610442e-04 9.99986944e-01 2.27995650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.530385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:421.98, Y:416.50, Z:22.80 [[ 4.61345628e-01 -8.87216969e-01 -2.50246146e-03 4.21976922e+02] [ 8.87205797e-01 4.61352385e-01 -4.45538252e-03 4.16498006e+02] [ 5.10740754e-03 -1.64727067e-04 9.99986944e-01 2.27994653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.560385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:421.99, Y:416.52, Z:22.80 [[ 4.60422807e-01 -8.87696222e-01 -2.50125025e-03 4.21988755e+02] [ 8.87685054e-01 4.60429570e-01 -4.45606239e-03 4.16523401e+02] [ 5.10727932e-03 -1.68649712e-04 9.99986944e-01 2.27993435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.5903857229999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:422.00, Y:416.55, Z:22.80 [[ 4.58849900e-01 -8.88510281e-01 -2.50003036e-03 4.21998760e+02] [ 8.88499121e-01 4.58856677e-01 -4.45674669e-03 4.16548794e+02] [ 5.10702088e-03 -1.76297006e-04 9.99986944e-01 2.28002119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.620385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:422.01, Y:416.58, Z:22.80 [[ 4.58401113e-01 -8.88741906e-01 -2.49893056e-03 4.22008379e+02] [ 8.88730746e-01 4.58407890e-01 -4.45736327e-03 4.16575136e+02] [ 5.10697501e-03 -1.77616132e-04 9.99986944e-01 2.28004547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.650385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:422.02, Y:416.60, Z:22.80 [[ 4.59168160e-01 -8.88345857e-01 -2.49774236e-03 4.22023078e+02] [ 8.88334688e-01 4.59174921e-01 -4.45802899e-03 4.16602700e+02] [ 5.10717224e-03 -1.71846210e-04 9.99986944e-01 2.27994382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.680385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:422.04, Y:416.63, Z:22.80 [[ 4.59724664e-01 -8.88057913e-01 -2.52505358e-03 4.22035073e+02] [ 8.88046823e-01 4.59731555e-01 -4.44272759e-03 4.16627800e+02] [ 5.10624620e-03 -1.99934358e-04 9.99986943e-01 2.27985054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.710385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:422.05, Y:416.65, Z:22.80 [[ 4.58970039e-01 -8.88448145e-01 -2.52920634e-03 4.22045352e+02] [ 8.88437073e-01 4.58976960e-01 -4.44040177e-03 4.16653245e+02] [ 5.10591416e-03 -2.09029300e-04 9.99986943e-01 2.27984956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.740385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:422.05, Y:416.68, Z:22.80 [[ 4.59745836e-01 -8.88046992e-01 -2.51119215e-03 4.22054116e+02] [ 8.88035860e-01 4.59752657e-01 -4.45048151e-03 4.16680214e+02] [ 5.10676398e-03 -1.83938338e-04 9.99986944e-01 2.27991030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.770385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:422.07, Y:416.71, Z:22.80 [[ 4.61800357e-01 -8.86980381e-01 -2.49683893e-03 4.22068020e+02] [ 8.86969189e-01 4.61807080e-01 -4.45850792e-03 4.16707010e+02] [ 5.10766695e-03 -1.55678650e-04 9.99986944e-01 2.27983499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.800385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:422.08, Y:416.73, Z:22.80 [[ 4.61433480e-01 -8.87171247e-01 -2.51438668e-03 4.22077640e+02] [ 8.87160111e-01 4.61440297e-01 -4.44869959e-03 4.16733053e+02] [ 5.10699769e-03 -1.77884632e-04 9.99986943e-01 2.27984883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.830385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:422.09, Y:416.76, Z:22.80 [[ 4.62820062e-01 -8.86448744e-01 -2.49282482e-03 4.22086908e+02] [ 8.86437532e-01 4.62826753e-01 -4.46074382e-03 4.16759387e+02] [ 5.10796677e-03 -1.45211747e-04 9.99986944e-01 2.27974533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.860385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:422.10, Y:416.78, Z:22.80 [[ 4.62580131e-01 -8.86573978e-01 -2.49071108e-03 4.22098827e+02] [ 8.86562762e-01 4.62586814e-01 -4.46192373e-03 4.16784404e+02] [ 5.10799558e-03 -1.44174433e-04 9.99986944e-01 2.27974075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.890385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:422.11, Y:416.81, Z:22.80 [[ 4.62092716e-01 -8.86828126e-01 -2.48945480e-03 4.22109929e+02] [ 8.86816909e-01 4.62099399e-01 -4.46262454e-03 4.16809485e+02] [ 5.10795653e-03 -1.45544319e-04 9.99986944e-01 2.27981814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.920385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:422.12, Y:416.83, Z:22.80 [[ 4.61649772e-01 -8.87058788e-01 -2.48872966e-03 4.22122443e+02] [ 8.87047573e-01 4.61656457e-01 -4.46302891e-03 4.16834403e+02] [ 5.10790713e-03 -1.47265326e-04 9.99986944e-01 2.27990007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.950385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:422.13, Y:416.86, Z:22.80 [[ 4.61479028e-01 -8.87147631e-01 -2.48748509e-03 4.22134371e+02] [ 8.87136413e-01 4.61485709e-01 -4.46372247e-03 4.16858798e+02] [ 5.10791963e-03 -1.46824295e-04 9.99986944e-01 2.27990405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.980385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:422.15, Y:416.88, Z:22.80 [[ 4.62018990e-01 -8.86866546e-01 -2.48636537e-03 4.22145144e+02] [ 8.86855321e-01 4.62025658e-01 -4.46434608e-03 4.16883498e+02] [ 5.10804379e-03 -1.42433696e-04 9.99986944e-01 2.27993598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.010385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:422.16, Y:416.91, Z:22.80 [[ 4.63576461e-01 -8.86053434e-01 -2.48526772e-03 4.22156791e+02] [ 8.86042194e-01 4.63583104e-01 -4.46495705e-03 4.16909368e+02] [ 5.10831865e-03 -1.32203076e-04 9.99986944e-01 2.27993211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.040385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:422.17, Y:416.93, Z:22.80 [[ 4.64492714e-01 -8.85573457e-01 -2.48403441e-03 4.22168882e+02] [ 8.85562207e-01 4.64499340e-01 -4.46564308e-03 4.16933867e+02] [ 5.10848733e-03 -1.25508315e-04 9.99986944e-01 2.27990749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.070385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:422.18, Y:416.96, Z:22.80 [[ 4.65633192e-01 -8.84974330e-01 -2.48292232e-03 4.22181165e+02] [ 8.84963068e-01 4.65639797e-01 -4.46626133e-03 4.16958882e+02] [ 5.10867407e-03 -1.17655034e-04 9.99986944e-01 2.27990512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.1003857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:422.19, Y:416.98, Z:22.80 [[ 4.68363271e-01 -8.83532505e-01 -2.48170542e-03 4.22192204e+02] [ 8.83521219e-01 4.68369835e-01 -4.46693740e-03 4.16983336e+02] [ 5.10904035e-03 -1.00489985e-04 9.99986944e-01 2.27990660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.130385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:422.20, Y:417.01, Z:22.80 [[ 4.69319278e-01 -8.83025063e-01 -2.48061501e-03 4.22204823e+02] [ 8.83013766e-01 4.69325825e-01 -4.46754286e-03 4.17008332e+02] [ 5.10916900e-03 -9.37132119e-05 9.99986944e-01 2.27987317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.160385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:422.22, Y:417.03, Z:22.80 [[ 4.70483148e-01 -8.82405497e-01 -2.47939617e-03 4.22216645e+02] [ 8.82394188e-01 4.70489673e-01 -4.46821918e-03 4.17032230e+02] [ 5.10931146e-03 -8.55829483e-05 9.99986944e-01 2.27968857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.190385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:422.23, Y:417.06, Z:22.80 [[ 4.70426951e-01 -8.82435460e-01 -2.47857718e-03 4.22230336e+02] [ 8.82424149e-01 4.70433473e-01 -4.46867344e-03 4.17057075e+02] [ 5.10932157e-03 -8.49719417e-05 9.99986944e-01 2.27962543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.2203857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:422.24, Y:417.08, Z:22.80 [[ 4.69866463e-01 -8.82734031e-01 -2.47736807e-03 4.22244241e+02] [ 8.82722721e-01 4.69872986e-01 -4.46934366e-03 4.17081567e+02] [ 5.10929007e-03 -8.68343886e-05 9.99986944e-01 2.27965236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.250385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:422.26, Y:417.11, Z:22.80 [[ 4.67995807e-01 -8.83727217e-01 -2.47614353e-03 4.22258989e+02] [ 8.83715917e-01 4.68002347e-01 -4.47002198e-03 4.17105904e+02] [ 5.10912107e-03 -9.62559109e-05 9.99986944e-01 2.27979618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.280385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:422.27, Y:417.13, Z:22.80 [[ 4.66884197e-01 -8.84315001e-01 -2.47487988e-03 4.22272479e+02] [ 8.84303706e-01 4.66890745e-01 -4.47072151e-03 4.17129476e+02] [ 5.10902461e-03 -1.01236229e-04 9.99986944e-01 2.27973266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.310385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:422.29, Y:417.15, Z:22.80 [[ 4.64879376e-01 -8.85370569e-01 -2.47418325e-03 4.22286598e+02] [ 8.85359287e-01 4.64885946e-01 -4.47110700e-03 4.17154137e+02] [ 5.10879957e-03 -1.12015684e-04 9.99986944e-01 2.27978471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.3403857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:422.30, Y:417.18, Z:22.80 [[ 4.64580693e-01 -8.85527337e-01 -2.47294169e-03 4.22300073e+02] [ 8.85516053e-01 4.64587261e-01 -4.47179360e-03 4.17177701e+02] [ 5.10879268e-03 -1.12320597e-04 9.99986944e-01 2.27979509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.370385723 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:422.31, Y:417.20, Z:22.80 [[ 4.64294493e-01 -8.85677431e-01 -2.47209862e-03 4.22314473e+02] [ 8.85666147e-01 4.64301061e-01 -4.47225961e-03 4.17201984e+02] [ 5.10877742e-03 -1.13008550e-04 9.99986944e-01 2.27960067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.400385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:422.33, Y:417.23, Z:22.80 [[ 4.64343326e-01 -8.85651833e-01 -2.47087568e-03 4.22328164e+02] [ 8.85640545e-01 4.64349887e-01 -4.47293517e-03 4.17225749e+02] [ 5.10881408e-03 -1.11330085e-04 9.99986944e-01 2.27988100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.430385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:422.34, Y:417.25, Z:22.80 [[ 4.65063597e-01 -8.85273850e-01 -2.46192490e-03 4.22342403e+02] [ 8.85262531e-01 4.65070103e-01 -4.47787679e-03 4.17249654e+02] [ 5.10911490e-03 -9.69523853e-05 9.99986944e-01 2.27983991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.460385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:422.36, Y:417.27, Z:22.80 [[ 4.65755580e-01 -8.84909963e-01 -2.46947546e-03 4.22356617e+02] [ 8.84898660e-01 4.65762115e-01 -4.47370891e-03 4.17273324e+02] [ 5.10901769e-03 -1.01580637e-04 9.99986944e-01 2.27983729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.490385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:422.37, Y:417.30, Z:22.80 [[ 4.66159691e-01 -8.84697152e-01 -2.46826127e-03 4.22370826e+02] [ 8.84685842e-01 4.66166216e-01 -4.47437870e-03 4.17297175e+02] [ 5.10909011e-03 -9.78608023e-05 9.99986944e-01 2.27991329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.520385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:422.39, Y:417.32, Z:22.80 [[ 4.66458515e-01 -8.84539638e-01 -2.46639812e-03 4.22385932e+02] [ 8.84528321e-01 4.66465026e-01 -4.47540590e-03 4.17322221e+02] [ 5.10916238e-03 -9.40077993e-05 9.99986944e-01 2.27990144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.550385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:422.40, Y:417.34, Z:22.80 [[ 4.67726257e-01 -8.83869938e-01 -2.46599837e-03 4.22400087e+02] [ 8.83858611e-01 4.67732749e-01 -4.47562616e-03 4.17344920e+02] [ 5.10929961e-03 -8.62260217e-05 9.99986944e-01 2.27986403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.580385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:422.41, Y:417.37, Z:22.80 [[ 4.69026985e-01 -8.83180396e-01 -2.46489240e-03 4.22414582e+02] [ 8.83169056e-01 4.69033455e-01 -4.47623517e-03 4.17368358e+02] [ 5.10944015e-03 -7.74416044e-05 9.99986944e-01 2.27993390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.610385723 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:422.43, Y:417.39, Z:22.80 [[ 4.69744306e-01 -8.82799067e-01 -2.46850762e-03 4.22428967e+02] [ 8.82787732e-01 4.69750786e-01 -4.47424522e-03 4.17392643e+02] [ 5.10944291e-03 -7.74170270e-05 9.99986944e-01 2.27987371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.640385723 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:422.44, Y:417.42, Z:22.80 [[ 4.69658510e-01 -8.82844729e-01 -2.46330262e-03 4.22442984e+02] [ 8.82833380e-01 4.69664965e-01 -4.47710901e-03 4.17416500e+02] [ 5.10951903e-03 -7.19734232e-05 9.99986944e-01 2.27974552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.670385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:422.46, Y:417.44, Z:22.80 [[ 4.69696055e-01 -8.82824758e-01 -2.46211068e-03 4.22457550e+02] [ 8.82813405e-01 4.69702503e-01 -4.47776441e-03 4.17440267e+02] [ 5.10954083e-03 -7.03960314e-05 9.99986944e-01 2.27986429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.700385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:422.47, Y:417.46, Z:22.80 [[ 4.69288636e-01 -8.83041403e-01 -2.46089152e-03 4.22472288e+02] [ 8.83030050e-01 4.69295083e-01 -4.47843433e-03 4.17464381e+02] [ 5.10952723e-03 -7.13628190e-05 9.99986944e-01 2.27988353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.730385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:422.49, Y:417.49, Z:22.80 [[ 4.68306303e-01 -8.83562763e-01 -2.45965906e-03 4.22488109e+02] [ 8.83551413e-01 4.68312757e-01 -4.47911112e-03 4.17487688e+02] [ 5.10946552e-03 -7.56392689e-05 9.99986944e-01 2.27990075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.760385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:422.50, Y:417.51, Z:22.80 [[ 4.68060054e-01 -8.83693240e-01 -2.45841198e-03 4.22501808e+02] [ 8.83681888e-01 4.68066505e-01 -4.47979550e-03 4.17512767e+02] [ 5.10946529e-03 -7.56408115e-05 9.99986944e-01 2.27991531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.790385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:422.52, Y:417.54, Z:22.80 [[ 4.67139443e-01 -8.84180243e-01 -2.45716334e-03 4.22515911e+02] [ 8.84168895e-01 4.67145899e-01 -4.48048027e-03 4.17537088e+02] [ 5.10940591e-03 -7.95383380e-05 9.99986944e-01 2.27992552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.820385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:422.53, Y:417.56, Z:22.80 [[ 4.66639758e-01 -8.84444065e-01 -2.45590415e-03 4.22529697e+02] [ 8.84432717e-01 4.66646214e-01 -4.48117036e-03 4.17560730e+02] [ 5.10938291e-03 -8.09897279e-05 9.99986944e-01 2.27989413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.8503857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:422.54, Y:417.59, Z:22.80 [[ 4.63626631e-01 -8.86027269e-01 -2.45477904e-03 4.22542835e+02] [ 8.86015939e-01 4.63633119e-01 -4.48178661e-03 4.17585363e+02] [ 5.10910202e-03 -9.70977290e-05 9.99986944e-01 2.27991499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.880385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:422.56, Y:417.61, Z:22.80 [[ 4.64699577e-01 -8.85465010e-01 -2.45349041e-03 4.22557406e+02] [ 8.85453668e-01 4.64706046e-01 -4.48249195e-03 4.17607818e+02] [ 5.10924160e-03 -8.94399653e-05 9.99986944e-01 2.27989442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.910385723 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:422.57, Y:417.63, Z:22.80 [[ 4.62415796e-01 -8.86659808e-01 -2.45277654e-03 4.22570521e+02] [ 8.86648481e-01 4.62422290e-01 -4.48288253e-03 4.17631500e+02] [ 5.10901031e-03 -1.01794897e-04 9.99986944e-01 2.27987417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.940385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:422.59, Y:417.66, Z:22.80 [[ 4.62399316e-01 -8.86668457e-01 -2.43307381e-03 4.22585312e+02] [ 8.86657074e-01 4.62405710e-01 -4.49365555e-03 4.17655855e+02] [ 5.10944986e-03 -7.94388563e-05 9.99986944e-01 2.27999862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.9703857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:422.60, Y:417.68, Z:22.80 [[ 4.64172679e-01 -8.85741372e-01 -2.43845591e-03 4.22603161e+02] [ 8.85729991e-01 4.64179078e-01 -4.49071381e-03 4.17681432e+02] [ 5.10949122e-03 -7.53468677e-05 9.99986944e-01 2.27995567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.000385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:422.62, Y:417.70, Z:22.80 [[ 4.63582314e-01 -8.86050425e-01 -2.46620914e-03 4.22615307e+02] [ 8.86039129e-01 4.63588861e-01 -4.47554534e-03 4.17704854e+02] [ 5.10886594e-03 -1.10374138e-04 9.99986944e-01 2.27995845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.030385723 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:422.63, Y:417.73, Z:22.80 [[ 4.63747819e-01 -8.85963860e-01 -2.44947774e-03 4.22630000e+02] [ 8.85952514e-01 4.63754279e-01 -4.48468382e-03 4.17729308e+02] [ 5.10922357e-03 -9.03586226e-05 9.99986944e-01 2.27979654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.060385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:422.65, Y:417.75, Z:22.80 [[ 4.64266695e-01 -8.85692070e-01 -2.44829809e-03 4.22645011e+02] [ 8.85680716e-01 4.64273142e-01 -4.48532773e-03 4.17753347e+02] [ 5.10929824e-03 -8.60221236e-05 9.99986944e-01 2.27995589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.0903857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:422.66, Y:417.78, Z:22.80 [[ 4.64214466e-01 -8.85719449e-01 -2.44707716e-03 4.22659168e+02] [ 8.85708092e-01 4.64220908e-01 -4.48599374e-03 4.17777568e+02] [ 5.10931628e-03 -8.49328562e-05 9.99986944e-01 2.28001235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.120385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:422.67, Y:417.80, Z:22.80 [[ 4.63984525e-01 -8.85839928e-01 -2.44586394e-03 4.22673214e+02] [ 8.85828570e-01 4.63990964e-01 -4.48665511e-03 4.17802124e+02] [ 5.10931701e-03 -8.48776130e-05 9.99986944e-01 2.28006874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.150385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:422.69, Y:417.82, Z:22.80 [[ 4.63498639e-01 -8.86094259e-01 -2.44463378e-03 4.22688022e+02] [ 8.86082901e-01 4.63505078e-01 -4.48732529e-03 4.17824493e+02] [ 5.10929334e-03 -8.62790213e-05 9.99986944e-01 2.28017672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.180385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:422.70, Y:417.85, Z:22.80 [[ 4.63179143e-01 -8.86261310e-01 -2.44351984e-03 4.22702288e+02] [ 8.86249951e-01 4.63185581e-01 -4.48793179e-03 4.17848357e+02] [ 5.10928346e-03 -8.68529393e-05 9.99986944e-01 2.28018987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.210385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:422.72, Y:417.87, Z:22.80 [[ 4.62856937e-01 -8.86429631e-01 -2.44230208e-03 4.22719225e+02] [ 8.86418271e-01 4.62863373e-01 -4.48859438e-03 4.17873182e+02] [ 5.10927524e-03 -8.73241405e-05 9.99986944e-01 2.28034586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.240385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:422.74, Y:417.90, Z:22.80 [[ 4.63292541e-01 -8.86202008e-01 -2.45410749e-03 4.22735049e+02] [ 8.86190679e-01 4.63299030e-01 -4.48217271e-03 4.17897553e+02] [ 5.10909607e-03 -9.82500009e-05 9.99986944e-01 2.28021606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.270385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:422.75, Y:417.92, Z:22.80 [[ 4.60785827e-01 -8.87507928e-01 -2.46996747e-03 4.22747822e+02] [ 8.87496662e-01 4.60792428e-01 -4.47354264e-03 4.17918822e+02] [ 5.10844687e-03 -1.30742839e-04 9.99986943e-01 2.28024222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.300385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:422.76, Y:417.94, Z:22.80 [[ 4.59838303e-01 -8.87999312e-01 -2.44077277e-03 4.22762391e+02] [ 8.87987969e-01 4.59844769e-01 -4.48941501e-03 4.17941766e+02] [ 5.10897403e-03 -1.02971880e-04 9.99986944e-01 2.28019449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.330385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:422.78, Y:417.97, Z:22.80 [[ 4.59125329e-01 -8.88368156e-01 -2.43967631e-03 4.22777321e+02] [ 8.88356815e-01 4.59131799e-01 -4.49001078e-03 4.17966060e+02] [ 5.10891557e-03 -1.05825403e-04 9.99986944e-01 2.28041517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.360385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:422.79, Y:417.99, Z:22.80 [[ 4.58806868e-01 -8.88532660e-01 -2.44340606e-03 4.22794647e+02] [ 8.88521332e-01 4.58813361e-01 -4.48798509e-03 4.17990659e+02] [ 5.10878867e-03 -1.11900020e-04 9.99986944e-01 2.28043557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.390385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:422.81, Y:418.01, Z:22.81 [[ 4.56246627e-01 -8.89849957e-01 -2.46360023e-03 4.22806465e+02] [ 8.89838707e-01 4.56253254e-01 -4.47702138e-03 4.18014596e+02] [ 5.10790290e-03 -1.49580937e-04 9.99986943e-01 2.28051874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.420385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:422.82, Y:418.04, Z:22.81 [[ 4.56522426e-01 -8.89708577e-01 -2.43384852e-03 4.22824692e+02] [ 8.89697238e-01 4.56528899e-01 -4.49315589e-03 4.18039339e+02] [ 5.10872152e-03 -1.14161879e-04 9.99986944e-01 2.28053819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.450385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:422.84, Y:418.06, Z:22.81 [[ 4.57441368e-01 -8.89236411e-01 -2.44949090e-03 4.22841458e+02] [ 8.89225112e-01 4.57447908e-01 -4.48467482e-03 4.18064565e+02] [ 5.10845063e-03 -1.26673030e-04 9.99986944e-01 2.28054740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.480385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:422.85, Y:418.09, Z:22.81 [[ 4.54539216e-01 -8.90723314e-01 -2.46558449e-03 4.22848336e+02] [ 8.90712083e-01 4.54545874e-01 -4.47595009e-03 4.18085223e+02] [ 5.10755436e-03 -1.61631048e-04 9.99986943e-01 2.28063646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.510385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:422.86, Y:418.11, Z:22.80 [[ 4.53074165e-01 -8.91469604e-01 -2.39720960e-03 4.22858692e+02] [ 8.91458185e-01 4.53080497e-01 -4.51298704e-03 4.18107559e+02] [ 5.10931968e-03 -9.22942861e-05 9.99986943e-01 2.28005944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.540385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:422.87, Y:418.13, Z:22.80 [[ 4.52964300e-01 -8.91525547e-01 -2.35426470e-03 4.22871550e+02] [ 8.91514007e-01 4.52970416e-01 -4.53622109e-03 4.18131553e+02] [ 5.11056925e-03 -4.41137466e-05 9.99986940e-01 2.27991202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.570385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:422.89, Y:418.16, Z:22.80 [[ 4.57112241e-01 -8.89405933e-01 -2.34213327e-03 4.22892851e+02] [ 8.89394332e-01 4.57118241e-01 -4.54276130e-03 4.18157758e+02] [ 5.11099069e-03 -6.52826162e-06 9.99986939e-01 2.28021429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.6003857229999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:422.91, Y:418.18, Z:22.80 [[ 4.56795137e-01 -8.89568676e-01 -2.40260162e-03 4.22907285e+02] [ 8.89557246e-01 4.56801449e-01 -4.51013823e-03 4.18181244e+02] [ 5.10958960e-03 -7.70424650e-05 9.99986943e-01 2.28038928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.630385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:422.93, Y:418.21, Z:22.81 [[ 4.59294592e-01 -8.88280789e-01 -2.39126044e-03 4.22926783e+02] [ 8.88269309e-01 4.59300814e-01 -4.51626222e-03 4.18205720e+02] [ 5.11001683e-03 -4.97884516e-05 9.99986943e-01 2.28060142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.660385723 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:422.94, Y:418.23, Z:22.80 [[ 4.54370954e-01 -8.90809260e-01 -2.42864174e-03 4.22935538e+02] [ 8.90797922e-01 4.54377429e-01 -4.49606997e-03 4.18225958e+02] [ 5.10866075e-03 -1.20545409e-04 9.99986943e-01 2.28006744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.690385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:422.96, Y:418.25, Z:22.81 [[ 4.58899446e-01 -8.88485099e-01 -2.35110893e-03 4.22958837e+02] [ 8.88473510e-01 4.58905469e-01 -4.53786944e-03 4.18251209e+02] [ 5.11076612e-03 -6.47222482e-06 9.99986940e-01 2.28063897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.7203857229999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:422.97, Y:418.27, Z:22.81 [[ 4.58314383e-01 -8.88786834e-01 -2.42676993e-03 4.22973427e+02] [ 8.88775462e-01 4.58320798e-01 -4.49703998e-03 4.18274832e+02] [ 5.10914905e-03 -9.57954598e-05 9.99986944e-01 2.28069292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.750385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:422.99, Y:418.30, Z:22.81 [[ 4.57654047e-01 -8.89127038e-01 -2.42553722e-03 4.22987483e+02] [ 8.89115668e-01 4.57660464e-01 -4.49770476e-03 4.18297531e+02] [ 5.10910340e-03 -9.81903596e-05 9.99986944e-01 2.28068429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.780385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:423.00, Y:418.32, Z:22.81 [[ 4.56429190e-01 -8.89756437e-01 -2.42443382e-03 4.23003949e+02] [ 8.89745072e-01 4.56435617e-01 -4.49829945e-03 4.18319743e+02] [ 5.10898884e-03 -1.03972868e-04 9.99986944e-01 2.28069990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.810385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:423.02, Y:418.34, Z:22.81 [[ 4.55389316e-01 -8.90289109e-01 -2.42360354e-03 4.23018910e+02] [ 8.90277749e-01 4.55395752e-01 -4.49874674e-03 4.18343532e+02] [ 5.10888399e-03 -1.08999102e-04 9.99986944e-01 2.28074299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.8403857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:423.03, Y:418.37, Z:22.81 [[ 4.53164232e-01 -8.91423755e-01 -2.42237168e-03 4.23033280e+02] [ 8.91412408e-01 4.53170690e-01 -4.49940995e-03 4.18367135e+02] [ 5.10862876e-03 -1.20360518e-04 9.99986944e-01 2.28065758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.870385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:423.04, Y:418.39, Z:22.80 [[ 4.50986982e-01 -8.92527254e-01 -2.41731934e-03 4.23041697e+02] [ 8.92515908e-01 4.50993443e-01 -4.50212868e-03 4.18389616e+02] [ 5.10846772e-03 -1.27094544e-04 9.99986944e-01 2.28014087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.900385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:423.06, Y:418.42, Z:22.80 [[ 4.53531599e-01 -8.91237071e-01 -2.36031132e-03 4.23058218e+02] [ 8.91225546e-01 4.53537739e-01 -4.53286119e-03 4.18415538e+02] [ 5.11034419e-03 -4.77739548e-05 9.99986941e-01 2.28031451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.930385723 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:423.08, Y:418.44, Z:22.81 [[ 4.57129918e-01 -8.89396711e-01 -2.39337019e-03 4.23075151e+02] [ 8.89385253e-01 4.57136179e-01 -4.51503784e-03 4.18440165e+02] [ 5.10975591e-03 -6.46692677e-05 9.99986943e-01 2.28075530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.960385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:423.08, Y:418.46, Z:22.80 [[ 4.55008873e-01 -8.90483601e-01 -2.42534999e-03 4.23084130e+02] [ 8.90472249e-01 4.55015322e-01 -4.49779334e-03 4.18464278e+02] [ 5.10878262e-03 -1.13170979e-04 9.99986944e-01 2.28039113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.990385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:423.10, Y:418.49, Z:22.80 [[ 4.53766162e-01 -8.91117590e-01 -2.38979937e-03 4.23095408e+02] [ 8.91106146e-01 4.53772448e-01 -4.51693997e-03 4.18489120e+02] [ 5.10954978e-03 -7.99303946e-05 9.99986943e-01 2.28032737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.020385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:423.11, Y:418.51, Z:22.80 [[ 4.53765791e-01 -8.91117842e-01 -2.36640870e-03 4.23107944e+02] [ 8.91106331e-01 4.53771958e-01 -4.52952313e-03 4.18514774e+02] [ 5.11014878e-03 -5.33791269e-05 9.99986942e-01 2.28029724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.050385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:423.13, Y:418.54, Z:22.81 [[ 4.57467667e-01 -8.89223094e-01 -2.37137401e-03 4.23126529e+02] [ 8.89211572e-01 4.57473812e-01 -4.52685517e-03 4.18540367e+02] [ 5.11022567e-03 -3.77633324e-05 9.99986942e-01 2.28095060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.080385723 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:423.14, Y:418.57, Z:22.81 [[ 4.57308293e-01 -8.89304937e-01 -2.41965741e-03 4.23139579e+02] [ 8.89293552e-01 4.57314685e-01 -4.50089830e-03 4.18565019e+02] [ 5.10921594e-03 -9.34876119e-05 9.99986944e-01 2.28095442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.110385723 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:423.15, Y:418.59, Z:22.81 [[ 4.56398740e-01 -8.89772073e-01 -2.41841223e-03 4.23152623e+02] [ 8.89760691e-01 4.56405137e-01 -4.50156725e-03 4.18590332e+02] [ 5.10914459e-03 -9.72985131e-05 9.99986944e-01 2.28099429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.140385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:423.17, Y:418.61, Z:22.81 [[ 4.56079269e-01 -8.89935873e-01 -2.41717075e-03 4.23165017e+02] [ 8.89924490e-01 4.56085663e-01 -4.50223378e-03 4.18614359e+02] [ 5.10913628e-03 -9.77239568e-05 9.99986944e-01 2.28103367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.170385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:423.18, Y:418.64, Z:22.81 [[ 4.56012432e-01 -8.89970126e-01 -2.41605001e-03 4.23176918e+02] [ 8.89958740e-01 4.56018822e-01 -4.50283513e-03 4.18639609e+02] [ 5.10915303e-03 -9.68360237e-05 9.99986944e-01 2.28103760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.200385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:423.19, Y:418.66, Z:22.81 [[ 4.56206711e-01 -8.89870555e-01 -2.41480921e-03 4.23188921e+02] [ 8.89859165e-01 4.56213093e-01 -4.50350045e-03 4.18663961e+02] [ 5.10920003e-03 -9.43129779e-05 9.99986944e-01 2.28098045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.230385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:423.20, Y:418.69, Z:22.81 [[ 4.55147643e-01 -8.90412712e-01 -2.41371131e-03 4.23199492e+02] [ 8.90401325e-01 4.55154033e-01 -4.50408882e-03 4.18689092e+02] [ 5.10910837e-03 -9.91463380e-05 9.99986944e-01 2.28066659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.260385723 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:423.21, Y:418.71, Z:22.81 [[ 4.57023765e-01 -8.89451243e-01 -2.40098140e-03 4.23213912e+02] [ 8.89439807e-01 4.57030065e-01 -4.51090705e-03 4.18713761e+02] [ 5.10955257e-03 -7.39367094e-05 9.99986943e-01 2.28081458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.290385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:423.23, Y:418.74, Z:22.81 [[ 4.58656123e-01 -8.88610568e-01 -2.41218580e-03 4.23226032e+02] [ 8.88599152e-01 4.58662460e-01 -4.50490757e-03 4.18737558e+02] [ 5.10948755e-03 -7.72628176e-05 9.99986944e-01 2.28080013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.320385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:423.24, Y:418.76, Z:22.81 [[ 4.57747939e-01 -8.89078785e-01 -2.39550466e-03 4.23238517e+02] [ 8.89067329e-01 4.57754202e-01 -4.51383752e-03 4.18763404e+02] [ 5.10970950e-03 -6.35651070e-05 9.99986943e-01 2.28092069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.3503857229999 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:423.25, Y:418.79, Z:22.81 [[ 4.59487879e-01 -8.88180776e-01 -2.40815508e-03 4.23254566e+02] [ 8.88169343e-01 4.59494184e-01 -4.50706687e-03 4.18789325e+02] [ 5.10962340e-03 -6.79069148e-05 9.99986944e-01 2.28110582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.380385723 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:423.27, Y:418.82, Z:22.81 [[ 4.61557697e-01 -8.87106863e-01 -2.43014814e-03 4.23270481e+02] [ 8.87095477e-01 4.61564087e-01 -4.49529598e-03 4.18815295e+02] [ 5.10947702e-03 -8.09349678e-05 9.99986943e-01 2.28091444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.410385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:423.28, Y:418.84, Z:22.81 [[ 4.59814313e-01 -8.88011684e-01 -2.45920855e-03 4.23278825e+02] [ 8.88000393e-01 4.59820872e-01 -4.47974070e-03 4.18838525e+02] [ 5.10885750e-03 -1.23929266e-04 9.99986942e-01 2.28122093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.440385723 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:423.29, Y:418.86, Z:22.81 [[ 4.59229013e-01 -8.88314647e-01 -2.40864115e-03 4.23292255e+02] [ 8.88303217e-01 4.59235325e-01 -4.50676645e-03 4.18861801e+02] [ 5.10955975e-03 -6.99657691e-05 9.99986944e-01 2.28127249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.4703857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:423.31, Y:418.89, Z:22.81 [[ 4.58284439e-01 -8.88802327e-01 -2.40754627e-03 4.23306126e+02] [ 8.88790901e-01 4.58290757e-01 -4.50735126e-03 4.18886680e+02] [ 5.10950050e-03 -7.41562754e-05 9.99986944e-01 2.28142994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.500385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:423.32, Y:418.91, Z:22.81 [[ 4.58940550e-01 -8.88463720e-01 -2.40630852e-03 4.23323991e+02] [ 8.88452286e-01 4.58946853e-01 -4.50801196e-03 4.18913292e+02] [ 5.10957280e-03 -6.89808207e-05 9.99986944e-01 2.28132761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.530385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:423.34, Y:418.94, Z:22.81 [[ 4.56731494e-01 -8.89601245e-01 -2.44284399e-03 4.23337818e+02] [ 8.89589930e-01 4.56738010e-01 -4.48851309e-03 4.18939115e+02] [ 5.10872654e-03 -1.23084122e-04 9.99986943e-01 2.28128714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.560385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:423.35, Y:418.96, Z:22.81 [[ 4.54134107e-01 -8.90929972e-01 -2.44923201e-03 4.23350783e+02] [ 8.90918694e-01 4.54140688e-01 -4.48510659e-03 4.18964175e+02] [ 5.10821180e-03 -1.45226702e-04 9.99986942e-01 2.28126419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.5903857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:423.36, Y:418.99, Z:22.81 [[ 4.52077787e-01 -8.91975160e-01 -2.44717708e-03 4.23362016e+02] [ 8.91963892e-01 4.52084384e-01 -4.48620117e-03 4.18988575e+02] [ 5.10791055e-03 -1.54681696e-04 9.99986943e-01 2.28131092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.620385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:423.38, Y:419.01, Z:22.81 [[ 4.51863010e-01 -8.92084042e-01 -2.42532682e-03 4.23376779e+02] [ 8.92072713e-01 4.51869500e-01 -4.49782889e-03 4.19014272e+02] [ 5.10837260e-03 -1.31165371e-04 9.99986944e-01 2.28128502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.650385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:423.39, Y:419.04, Z:22.81 [[ 4.51516409e-01 -8.92259493e-01 -2.43515480e-03 4.23389669e+02] [ 8.92248194e-01 4.51522953e-01 -4.49260133e-03 4.19038717e+02] [ 5.10809447e-03 -1.44279249e-04 9.99986943e-01 2.28129958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.680385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:423.40, Y:419.06, Z:22.81 [[ 4.50189322e-01 -8.92929815e-01 -2.43306045e-03 4.23402292e+02] [ 8.92918520e-01 4.50195872e-01 -4.49371420e-03 4.19063390e+02] [ 5.10792516e-03 -1.49502592e-04 9.99986943e-01 2.28130435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.710385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:423.41, Y:419.09, Z:22.81 [[ 4.48746275e-01 -8.93655913e-01 -2.42710096e-03 4.23412076e+02] [ 8.93644611e-01 4.48752813e-01 -4.49687901e-03 4.19086926e+02] [ 5.10783090e-03 -1.51007989e-04 9.99986944e-01 2.28138218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.740385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:423.43, Y:419.11, Z:22.81 [[ 4.50224777e-01 -8.92912043e-01 -2.39447504e-03 4.23427739e+02] [ 8.92900638e-01 4.50231132e-01 -4.51418489e-03 4.19113782e+02] [ 5.10883726e-03 -1.05630400e-04 9.99986944e-01 2.28134521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.770385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:423.44, Y:419.14, Z:22.81 [[ 4.49833237e-01 -8.93109271e-01 -2.42669416e-03 4.23436604e+02] [ 8.93097961e-01 4.49839759e-01 -4.49709290e-03 4.19136864e+02] [ 5.10801888e-03 -1.44333757e-04 9.99986944e-01 2.28137970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.800385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:423.45, Y:419.16, Z:22.81 [[ 4.51758025e-01 -8.92137300e-01 -2.39268826e-03 4.23452510e+02] [ 8.92125880e-01 4.51764351e-01 -4.51511361e-03 4.19163484e+02] [ 5.10903252e-03 -9.48403087e-05 9.99986944e-01 2.28134808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.830385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:423.47, Y:419.19, Z:22.81 [[ 4.54375634e-01 -8.90806877e-01 -2.42722211e-03 4.23465905e+02] [ 8.90795535e-01 4.54382102e-01 -4.49681632e-03 4.19189511e+02] [ 5.10868119e-03 -1.18914846e-04 9.99986944e-01 2.28138730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.860385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:423.47, Y:419.21, Z:22.81 [[ 4.56800700e-01 -8.89565751e-01 -2.42805559e-03 4.23474486e+02] [ 8.89554393e-01 4.56807141e-01 -4.49637401e-03 4.19210694e+02] [ 5.10897346e-03 -1.05940721e-04 9.99986944e-01 2.28145749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.890385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:423.49, Y:419.24, Z:22.82 [[ 4.57364581e-01 -8.89276115e-01 -2.37334093e-03 4.23487999e+02] [ 8.89264601e-01 4.57370737e-01 -4.52535666e-03 4.19237265e+02] [ 5.10978828e-03 -4.07902279e-05 9.99986944e-01 2.28160173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.920385723 meters Centerline goodness : 0.999251 Centerline is valid? [True, True] Translation: X:423.50, Y:419.26, Z:22.81 [[ 4.58250001e-01 -8.88820126e-01 -2.39177099e-03 4.23503073e+02] [ 8.88808657e-01 4.58256239e-01 -4.51559483e-03 4.19264542e+02] [ 5.10959554e-03 -5.65554265e-05 9.99986944e-01 2.28147815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.950385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:423.51, Y:419.29, Z:22.82 [[ 4.58773319e-01 -8.88550043e-01 -2.42129910e-03 4.23513624e+02] [ 8.88538652e-01 4.58779701e-01 -4.49995245e-03 4.19287377e+02] [ 5.10927582e-03 -8.69597131e-05 9.99986944e-01 2.28154198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.980385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:423.53, Y:419.31, Z:22.82 [[ 4.59739768e-01 -8.88050468e-01 -2.38988692e-03 4.23526889e+02] [ 8.88038984e-01 4.59745977e-01 -4.51657381e-03 4.19311703e+02] [ 5.10968638e-03 -4.58641620e-05 9.99986944e-01 2.28162270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.010385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:423.54, Y:419.34, Z:22.82 [[ 4.59432803e-01 -8.88209319e-01 -2.38866457e-03 4.23540801e+02] [ 8.88197833e-01 4.59439010e-01 -4.51722018e-03 4.19336362e+02] [ 5.10968274e-03 -4.62475664e-05 9.99986944e-01 2.28170489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.040385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:423.55, Y:419.36, Z:22.82 [[ 4.58381478e-01 -8.88752340e-01 -2.38742530e-03 4.23553942e+02] [ 8.88740858e-01 4.58387692e-01 -4.51787505e-03 4.19361384e+02] [ 5.10963840e-03 -5.08921663e-05 9.99986944e-01 2.28169807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.070385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:423.57, Y:419.39, Z:22.82 [[ 4.56793420e-01 -8.89569603e-01 -2.38619114e-03 4.23566726e+02] [ 8.89558129e-01 4.56799649e-01 -4.51852680e-03 4.19386653e+02] [ 5.10955537e-03 -5.86224095e-05 9.99986944e-01 2.28177198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.1003857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:423.58, Y:419.41, Z:22.82 [[ 4.53453709e-01 -8.91276638e-01 -2.38492404e-03 4.23578072e+02] [ 8.91265184e-01 4.53459974e-01 -4.51919549e-03 4.19411185e+02] [ 5.10932096e-03 -7.63538105e-05 9.99986944e-01 2.28167887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.130385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:423.59, Y:419.44, Z:22.82 [[ 4.51252132e-01 -8.92393317e-01 -2.38378928e-03 4.23590680e+02] [ 8.92381875e-01 4.51258419e-01 -4.51979398e-03 4.19436729e+02] [ 5.10913892e-03 -8.76836775e-05 9.99986944e-01 2.28168465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.160385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:423.60, Y:419.46, Z:22.82 [[ 4.46785753e-01 -8.94637812e-01 -2.38254277e-03 4.23602974e+02] [ 8.94626398e-01 4.46792092e-01 -4.52045096e-03 4.19461639e+02] [ 5.10866762e-03 -1.11812574e-04 9.99986944e-01 2.28172463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.190385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:423.62, Y:419.49, Z:22.82 [[ 4.44631688e-01 -8.95710328e-01 -2.38129115e-03 4.23615508e+02] [ 8.95698926e-01 4.44638048e-01 -4.52111020e-03 4.19486651e+02] [ 5.10841774e-03 -1.22691064e-04 9.99986944e-01 2.28174271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.2203857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:423.63, Y:419.51, Z:22.82 [[ 4.44046694e-01 -8.96000485e-01 -2.38004008e-03 4.23631270e+02] [ 8.95989084e-01 4.44053055e-01 -4.52176870e-03 4.19513617e+02] [ 5.10837101e-03 -1.24613485e-04 9.99986944e-01 2.28169014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.250385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:423.64, Y:419.54, Z:22.82 [[ 4.41663961e-01 -8.97177305e-01 -2.41436027e-03 4.23637905e+02] [ 8.97166018e-01 4.41670525e-01 -4.50370542e-03 4.19538508e+02] [ 5.10697406e-03 -1.76957610e-04 9.99986944e-01 2.28177052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.280385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:423.65, Y:419.56, Z:22.82 [[ 4.41266439e-01 -8.97372985e-01 -2.37814568e-03 4.23649725e+02] [ 8.97361599e-01 4.41272825e-01 -4.52274774e-03 4.19564406e+02] [ 5.10800270e-03 -1.38319823e-04 9.99986945e-01 2.28182992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.310385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:423.66, Y:419.59, Z:22.82 [[ 4.42343567e-01 -8.96842528e-01 -2.37691777e-03 4.23660085e+02] [ 8.96831130e-01 4.42349934e-01 -4.52339297e-03 4.19590856e+02] [ 5.10820060e-03 -1.30800065e-04 9.99986945e-01 2.28190190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.3403857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:423.67, Y:419.62, Z:22.82 [[ 4.43217199e-01 -8.96411106e-01 -2.37569515e-03 4.23671367e+02] [ 8.96399698e-01 4.43223548e-01 -4.52403500e-03 4.19615426e+02] [ 5.10835925e-03 -1.24442291e-04 9.99986945e-01 2.28194199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.370385723 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:423.68, Y:419.64, Z:22.82 [[ 4.43902141e-01 -8.96072123e-01 -2.37459694e-03 4.23683132e+02] [ 8.96060708e-01 4.43908476e-01 -4.52461136e-03 4.19640899e+02] [ 5.10848182e-03 -1.19298344e-04 9.99986945e-01 2.28174790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.400385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:423.70, Y:419.67, Z:22.82 [[ 4.47261375e-01 -8.94400151e-01 -2.37338155e-03 4.23696955e+02] [ 8.94388708e-01 4.47267662e-01 -4.52524881e-03 4.19669178e+02] [ 5.10892003e-03 -9.87566499e-05 9.99986945e-01 2.28193386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.430385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:423.71, Y:419.69, Z:22.82 [[ 4.46465178e-01 -8.94797785e-01 -2.40176543e-03 4.23706404e+02] [ 8.94786428e-01 4.46471618e-01 -4.51036768e-03 4.19694230e+02] [ 5.10818711e-03 -1.35344998e-04 9.99986944e-01 2.28200984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.460385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:423.72, Y:419.72, Z:22.82 [[ 4.47996518e-01 -8.94032146e-01 -2.37503569e-03 4.23718331e+02] [ 8.94020703e-01 4.48002804e-01 -4.52436831e-03 4.19721121e+02] [ 5.10895336e-03 -9.64298236e-05 9.99986945e-01 2.28208128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.490385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:423.73, Y:419.75, Z:22.82 [[ 4.49055681e-01 -8.93500613e-01 -2.37721978e-03 4.23729678e+02] [ 8.93489168e-01 4.49061963e-01 -4.52322468e-03 4.19745713e+02] [ 5.10902300e-03 -9.28403844e-05 9.99986945e-01 2.28224334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.520385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:423.74, Y:419.77, Z:22.82 [[ 4.48847953e-01 -8.93605002e-01 -2.36956871e-03 4.23740075e+02] [ 8.93593538e-01 4.48854200e-01 -4.52722928e-03 4.19771766e+02] [ 5.10914560e-03 -8.53936908e-05 9.99986945e-01 2.28208476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.550385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:423.75, Y:419.80, Z:22.82 [[ 4.50022165e-01 -8.93014269e-01 -2.35917958e-03 4.23752227e+02] [ 8.93002769e-01 4.50028344e-01 -4.53266369e-03 4.19796793e+02] [ 5.10943103e-03 -6.69547702e-05 9.99986945e-01 2.28211412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.580385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:423.76, Y:419.82, Z:22.82 [[ 4.49865855e-01 -8.93092999e-01 -2.36799600e-03 4.23760675e+02] [ 8.93081524e-01 4.49872080e-01 -4.52805305e-03 4.19823715e+02] [ 5.10926776e-03 -7.77970225e-05 9.99986945e-01 2.28204989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.610385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:423.77, Y:419.85, Z:22.82 [[ 4.49088130e-01 -8.93484355e-01 -2.35788464e-03 4.23769886e+02] [ 8.93472857e-01 4.49094314e-01 -4.53333784e-03 4.19848830e+02] [ 5.10937901e-03 -7.08377098e-05 9.99986945e-01 2.28199386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.640385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:423.78, Y:419.87, Z:22.82 [[ 4.51600894e-01 -8.92216997e-01 -2.33750274e-03 4.23784944e+02] [ 8.92205426e-01 4.51606942e-01 -4.54398412e-03 4.19874767e+02] [ 5.10985233e-03 -3.34653406e-05 9.99986944e-01 2.28231897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.670385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:423.79, Y:419.90, Z:22.82 [[ 4.48599215e-01 -8.93729906e-01 -2.36627497e-03 4.23793136e+02] [ 8.93718435e-01 4.48605448e-01 -4.52895128e-03 4.19902434e+02] [ 5.10918304e-03 -8.30995722e-05 9.99986945e-01 2.28227207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.700385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:423.81, Y:419.93, Z:22.82 [[ 4.48108081e-01 -8.93976285e-01 -2.35601758e-03 4.23805126e+02] [ 8.93964788e-01 4.48114268e-01 -4.53430715e-03 4.19927836e+02] [ 5.10932815e-03 -7.43370780e-05 9.99986945e-01 2.28239970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.730385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:423.82, Y:419.95, Z:22.82 [[ 4.44419727e-01 -8.95815558e-01 -2.36467785e-03 4.23815181e+02] [ 8.95804112e-01 4.44426006e-01 -4.52978624e-03 4.19954687e+02] [ 5.10877732e-03 -1.05161773e-04 9.99986945e-01 2.28239597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.760385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:423.83, Y:419.98, Z:22.82 [[ 4.42742957e-01 -8.96645464e-01 -2.36344744e-03 4.23827819e+02] [ 8.96634026e-01 4.42749251e-01 -4.53042813e-03 4.19980930e+02] [ 5.10860241e-03 -1.13332247e-04 9.99986945e-01 2.28216502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.790385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:423.84, Y:420.01, Z:22.82 [[ 4.40097428e-01 -8.97946896e-01 -2.37192985e-03 4.23836762e+02] [ 8.97935500e-01 4.40103798e-01 -4.52600386e-03 4.20007378e+02] [ 5.10800646e-03 -1.37957364e-04 9.99986945e-01 2.28218974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.820385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:423.85, Y:420.03, Z:22.82 [[ 4.37803448e-01 -8.99067557e-01 -2.38104467e-03 4.23845877e+02] [ 8.99056203e-01 4.37809893e-01 -4.52124924e-03 4.20033427e+02] [ 5.10735342e-03 -1.61274480e-04 9.99986944e-01 2.28221814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.8503857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:423.86, Y:420.06, Z:22.82 [[ 4.37921585e-01 -8.99010071e-01 -2.36194816e-03 4.23855862e+02] [ 8.98998662e-01 4.37927932e-01 -4.53120354e-03 4.20057432e+02] [ 5.10796069e-03 -1.39076398e-04 9.99986945e-01 2.28209949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.880385723 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:423.87, Y:420.08, Z:22.82 [[ 4.35492270e-01 -9.00189433e-01 -2.33811419e-03 4.23865923e+02] [ 9.00177975e-01 4.35498529e-01 -4.54361525e-03 4.20084747e+02] [ 5.10835973e-03 -1.26009577e-04 9.99986944e-01 2.28198914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.910385723 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:423.88, Y:420.11, Z:22.82 [[ 4.34347688e-01 -9.00742203e-01 -2.36016243e-03 4.23876642e+02] [ 9.00730815e-01 4.34354071e-01 -4.53213337e-03 4.20110320e+02] [ 5.10742995e-03 -1.57349380e-04 9.99986945e-01 2.28188107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.940385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:423.88, Y:420.14, Z:22.82 [[ 4.33785571e-01 -9.01013049e-01 -2.35890090e-03 4.23884424e+02] [ 9.01001661e-01 4.33791956e-01 -4.53278988e-03 4.20135656e+02] [ 5.10737506e-03 -1.59114779e-04 9.99986945e-01 2.28195770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.9703857229999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:423.90, Y:420.16, Z:22.82 [[ 4.31618641e-01 -9.02053153e-01 -2.33630137e-03 4.23896049e+02] [ 9.02041717e-01 4.31624939e-01 -4.54453781e-03 4.20163376e+02] [ 5.10782060e-03 -1.45934068e-04 9.99986944e-01 2.28190522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.000385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:423.90, Y:420.19, Z:22.82 [[ 4.30601891e-01 -9.02538896e-01 -2.35643161e-03 4.23904035e+02] [ 9.02527524e-01 4.30608304e-01 -4.53407581e-03 4.20189310e+02] [ 5.10687879e-03 -1.74362764e-04 9.99986945e-01 2.28198344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.030385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:423.91, Y:420.22, Z:22.82 [[ 4.30032179e-01 -9.02810488e-01 -2.35532315e-03 4.23914866e+02] [ 9.02799117e-01 4.30038593e-01 -4.53465155e-03 4.20215859e+02] [ 5.10681083e-03 -1.76337571e-04 9.99986945e-01 2.28204982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.060385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:423.93, Y:420.24, Z:22.82 [[ 4.29923151e-01 -9.02862416e-01 -2.35409590e-03 4.23925177e+02] [ 9.02851042e-01 4.29929560e-01 -4.53528857e-03 4.20241614e+02] [ 5.10683701e-03 -1.75572392e-04 9.99986945e-01 2.28210173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.0903857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:423.93, Y:420.27, Z:22.82 [[ 4.30833889e-01 -9.02428182e-01 -2.35285758e-03 4.23932649e+02] [ 9.02416799e-01 4.30840280e-01 -4.53593091e-03 4.20268191e+02] [ 5.10705770e-03 -1.69025452e-04 9.99986945e-01 2.28224733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.120385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:423.94, Y:420.29, Z:22.82 [[ 4.31378351e-01 -9.02168048e-01 -2.35174376e-03 4.23943405e+02] [ 9.02156658e-01 4.31384730e-01 -4.53650831e-03 4.20294721e+02] [ 5.10719920e-03 -1.64689812e-04 9.99986945e-01 2.28226549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.150385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:423.95, Y:420.32, Z:22.82 [[ 4.33541714e-01 -9.01130433e-01 -2.35051211e-03 4.23951012e+02] [ 9.01119024e-01 4.33548059e-01 -4.53714638e-03 4.20322042e+02] [ 5.10762065e-03 -1.51048960e-04 9.99986945e-01 2.28234072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.180385723 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:423.96, Y:420.35, Z:22.82 [[ 4.34476225e-01 -9.00680238e-01 -2.34923732e-03 4.23960987e+02] [ 9.00668818e-01 4.34482553e-01 -4.53780634e-03 4.20346830e+02] [ 5.10781513e-03 -1.44315832e-04 9.99986945e-01 2.28209259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.210385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:423.97, Y:420.37, Z:22.82 [[ 4.36675772e-01 -8.99615893e-01 -2.34837046e-03 4.23969986e+02] [ 8.99604456e-01 4.36682067e-01 -4.53825491e-03 4.20372824e+02] [ 5.10817751e-03 -1.30858566e-04 9.99986945e-01 2.28214030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.240385723 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:423.98, Y:420.40, Z:22.82 [[ 4.37441723e-01 -8.99243698e-01 -2.34766979e-03 4.23981072e+02] [ 8.99232253e-01 4.37448005e-01 -4.53861734e-03 4.20397969e+02] [ 5.10830651e-03 -1.25719802e-04 9.99986945e-01 2.28196965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.270385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:423.99, Y:420.42, Z:22.82 [[ 4.37722469e-01 -8.99107088e-01 -2.34188368e-03 4.23992261e+02] [ 8.99095625e-01 4.37728718e-01 -4.54160908e-03 4.20424212e+02] [ 5.10850265e-03 -1.17613031e-04 9.99986945e-01 2.28210949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.300385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.00, Y:420.45, Z:22.82 [[ 4.38774790e-01 -8.98594002e-01 -2.34607037e-03 4.24001107e+02] [ 8.98582543e-01 4.38781046e-01 -4.53944532e-03 4.20449692e+02] [ 5.10852954e-03 -1.16343710e-04 9.99986945e-01 2.28201367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.330385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.01, Y:420.48, Z:22.82 [[ 4.38564550e-01 -8.98696657e-01 -2.33555144e-03 4.24012816e+02] [ 8.98685171e-01 4.38570756e-01 -4.54487779e-03 4.20475962e+02] [ 5.10877103e-03 -1.05703155e-04 9.99986945e-01 2.28194876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.360385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.02, Y:420.50, Z:22.82 [[ 4.39336528e-01 -8.98319497e-01 -2.34439583e-03 4.24024161e+02] [ 8.98308030e-01 4.39342769e-01 -4.54031098e-03 4.20501845e+02] [ 5.10864323e-03 -1.11265138e-04 9.99986945e-01 2.28185116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.390385723 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:424.04, Y:420.53, Z:22.82 [[ 4.38860850e-01 -8.98551982e-01 -2.34316155e-03 4.24035550e+02] [ 8.98540515e-01 4.38867091e-01 -4.54094787e-03 4.20527433e+02] [ 5.10861420e-03 -1.12581340e-04 9.99986945e-01 2.28162720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.420385723 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:424.05, Y:420.55, Z:22.82 [[ 4.38257901e-01 -8.98846220e-01 -2.34194619e-03 4.24047828e+02] [ 8.98834754e-01 4.38264143e-01 -4.54157459e-03 4.20552940e+02] [ 5.10856820e-03 -1.14641681e-04 9.99986945e-01 2.28151574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.450385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.06, Y:420.58, Z:22.82 [[ 4.37981259e-01 -8.98981055e-01 -2.34071837e-03 4.24060190e+02] [ 8.98969588e-01 4.37987499e-01 -4.54220732e-03 4.20578130e+02] [ 5.10856372e-03 -1.14832949e-04 9.99986945e-01 2.28169617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.480385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.07, Y:420.60, Z:22.82 [[ 4.36653687e-01 -8.99626636e-01 -2.33954533e-03 4.24072344e+02] [ 8.99615174e-01 4.36659938e-01 -4.54281144e-03 4.20603179e+02] [ 5.10841989e-03 -1.21055113e-04 9.99986945e-01 2.28179841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.510385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.09, Y:420.63, Z:22.82 [[ 4.35987846e-01 -8.99949516e-01 -2.33829815e-03 4.24085348e+02] [ 8.99938055e-01 4.35994099e-01 -4.54345330e-03 4.20628339e+02] [ 5.10836279e-03 -1.23433071e-04 9.99986945e-01 2.28185536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.540385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.10, Y:420.65, Z:22.82 [[ 4.34677303e-01 -9.00583245e-01 -2.33704151e-03 4.24098742e+02] [ 9.00571790e-01 4.34683566e-01 -4.54409959e-03 4.20652234e+02] [ 5.10821350e-03 -1.29456702e-04 9.99986945e-01 2.28196993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.570385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.11, Y:420.68, Z:22.82 [[ 4.34432067e-01 -9.00701573e-01 -2.33589953e-03 4.24111743e+02] [ 9.00690116e-01 4.34438327e-01 -4.54468655e-03 4.20677662e+02] [ 5.10821061e-03 -1.29564051e-04 9.99986945e-01 2.28198449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.6003857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.12, Y:420.70, Z:22.82 [[ 4.33721026e-01 -9.01044184e-01 -2.33466187e-03 4.24124970e+02] [ 9.01032729e-01 4.33727290e-01 -4.54532227e-03 4.20702857e+02] [ 5.10814276e-03 -1.32204917e-04 9.99986945e-01 2.28208835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.630385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.14, Y:420.73, Z:22.82 [[ 4.33101794e-01 -9.01341995e-01 -2.33339972e-03 4.24137382e+02] [ 9.01330541e-01 4.33108059e-01 -4.54597012e-03 4.20726734e+02] [ 5.10808800e-03 -1.34296614e-04 9.99986945e-01 2.28204526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.660385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.15, Y:420.75, Z:22.82 [[ 4.33003091e-01 -9.01389418e-01 -2.33269419e-03 4.24150170e+02] [ 9.01377962e-01 4.33009353e-01 -4.54633212e-03 4.20751200e+02] [ 5.10809406e-03 -1.34063278e-04 9.99986945e-01 2.28211126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.690385723 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:424.16, Y:420.78, Z:22.82 [[ 4.31876409e-01 -9.01929782e-01 -2.33145549e-03 4.24162635e+02] [ 9.01918331e-01 4.31882680e-01 -4.54696726e-03 4.20776268e+02] [ 5.10796044e-03 -1.39054551e-04 9.99986945e-01 2.28194614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.7203857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.18, Y:420.80, Z:22.82 [[ 4.33962356e-01 -9.00928001e-01 -2.32623638e-03 4.24175518e+02] [ 9.00916521e-01 4.33968574e-01 -4.54964214e-03 4.20800988e+02] [ 5.10841348e-03 -1.21371361e-04 9.99986945e-01 2.28212141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.750385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.19, Y:420.83, Z:22.82 [[ 4.33157383e-01 -9.01315291e-01 -2.32980746e-03 4.24187098e+02] [ 9.01303826e-01 4.33163630e-01 -4.54781270e-03 4.20826759e+02] [ 5.10820098e-03 -1.29945731e-04 9.99986945e-01 2.28209398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.780385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.20, Y:420.85, Z:22.82 [[ 4.36232621e-01 -8.99830941e-01 -2.31906919e-03 4.24200002e+02] [ 8.99819426e-01 4.36238774e-01 -4.55331002e-03 4.20851065e+02] [ 5.10887714e-03 -1.00441144e-04 9.99986945e-01 2.28210064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.810385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.21, Y:420.88, Z:22.82 [[ 4.37086383e-01 -8.99416519e-01 -2.32809760e-03 4.24212140e+02] [ 8.99405023e-01 4.37092570e-01 -4.54868912e-03 4.20875513e+02] [ 5.10876030e-03 -1.05732603e-04 9.99986945e-01 2.28205696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.8403857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.23, Y:420.90, Z:22.82 [[ 4.38966789e-01 -8.98500274e-01 -2.32740963e-03 4.24225415e+02] [ 8.98488763e-01 4.38972949e-01 -4.54904110e-03 4.20900323e+02] [ 5.10898454e-03 -9.42734321e-05 9.99986945e-01 2.28201076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.870385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.24, Y:420.92, Z:22.82 [[ 4.39117203e-01 -8.98426776e-01 -2.32617690e-03 4.24236417e+02] [ 8.98415260e-01 4.39123354e-01 -4.54967138e-03 4.20923672e+02] [ 5.10902519e-03 -9.20338535e-05 9.99986945e-01 2.28193845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.900385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.25, Y:420.95, Z:22.82 [[ 4.41543040e-01 -8.97237110e-01 -2.30463761e-03 4.24252473e+02] [ 8.97225521e-01 4.41549051e-01 -4.56067743e-03 4.20949589e+02] [ 5.10961959e-03 -5.40443064e-05 9.99986944e-01 2.28200033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.930385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.27, Y:420.97, Z:22.82 [[ 4.41412478e-01 -8.97301297e-01 -2.32516743e-03 4.24265478e+02] [ 8.97289763e-01 4.41418595e-01 -4.55018659e-03 4.20973754e+02] [ 5.10926047e-03 -7.78397920e-05 9.99986945e-01 2.28198293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.960385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.28, Y:421.00, Z:22.82 [[ 4.40486394e-01 -8.97756278e-01 -2.32403798e-03 4.24279991e+02] [ 8.97744748e-01 4.40492517e-01 -4.55076339e-03 4.20997514e+02] [ 5.10919775e-03 -8.18435345e-05 9.99986945e-01 2.28203722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.990385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.29, Y:421.02, Z:22.82 [[ 4.39424586e-01 -8.98276482e-01 -2.32279159e-03 4.24294243e+02] [ 8.98264955e-01 4.39430717e-01 -4.55139948e-03 4.21022107e+02] [ 5.10912109e-03 -8.64854460e-05 9.99986945e-01 2.28210810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.020385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.31, Y:421.05, Z:22.82 [[ 4.38089720e-01 -8.98928255e-01 -2.32149796e-03 4.24308002e+02] [ 8.98916734e-01 4.38095862e-01 -4.55205922e-03 4.21045558e+02] [ 5.10901330e-03 -9.26230123e-05 9.99986945e-01 2.28207904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.050385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.32, Y:421.07, Z:22.82 [[ 4.36455243e-01 -8.99722977e-01 -2.32078132e-03 4.24322628e+02] [ 8.99711465e-01 4.36461401e-01 -4.55242456e-03 4.21069149e+02] [ 5.10885244e-03 -1.01103995e-04 9.99986945e-01 2.28220780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.080385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.34, Y:421.09, Z:22.82 [[ 4.36614203e-01 -8.99645851e-01 -2.31953477e-03 4.24335737e+02] [ 8.99634335e-01 4.36620353e-01 -4.55305961e-03 4.21092332e+02] [ 5.10889727e-03 -9.88026272e-05 9.99986945e-01 2.28217648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.110385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.35, Y:421.12, Z:22.82 [[ 4.36876638e-01 -8.99518442e-01 -2.31868847e-03 4.24349337e+02] [ 8.99506921e-01 4.36882781e-01 -4.55349055e-03 4.21116971e+02] [ 5.10894379e-03 -9.63626841e-05 9.99986945e-01 2.28226325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.140385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.36, Y:421.14, Z:22.82 [[ 4.37499483e-01 -8.99215676e-01 -2.31743507e-03 4.24362531e+02] [ 8.99204148e-01 4.37505611e-01 -4.55412836e-03 4.21140863e+02] [ 5.10903446e-03 -9.14184325e-05 9.99986945e-01 2.28227436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.170385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.38, Y:421.16, Z:22.82 [[ 4.38272677e-01 -8.98839082e-01 -2.31630709e-03 4.24377725e+02] [ 8.98827546e-01 4.38278789e-01 -4.55470200e-03 4.21164933e+02] [ 5.10913243e-03 -8.57591843e-05 9.99986945e-01 2.28232859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.200385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.39, Y:421.19, Z:22.82 [[ 4.37809686e-01 -8.99064691e-01 -2.31504765e-03 4.24391258e+02] [ 8.99053155e-01 4.37815798e-01 -4.55534205e-03 4.21189709e+02] [ 5.10911163e-03 -8.69780205e-05 9.99986945e-01 2.28230970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.230385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.41, Y:421.21, Z:22.82 [[ 4.38131596e-01 -8.98907866e-01 -2.31372300e-03 4.24405397e+02] [ 8.98896324e-01 4.38137698e-01 -4.55601476e-03 4.21213432e+02] [ 5.10916677e-03 -8.36630795e-05 9.99986945e-01 2.28215989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.260385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.42, Y:421.24, Z:22.82 [[ 4.37559016e-01 -8.99186719e-01 -2.31331306e-03 4.24418830e+02] [ 8.99175180e-01 4.37565122e-01 -4.55622290e-03 4.21237651e+02] [ 5.10912023e-03 -8.64572750e-05 9.99986945e-01 2.28209222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.290385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.43, Y:421.26, Z:22.82 [[ 4.35245733e-01 -9.00308728e-01 -2.31242195e-03 4.24433973e+02] [ 9.00297202e-01 4.35251864e-01 -4.55667504e-03 4.21260254e+02] [ 5.10890027e-03 -9.85936452e-05 9.99986945e-01 2.28222026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.320385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.45, Y:421.28, Z:22.82 [[ 4.33649485e-01 -9.01078678e-01 -2.31083949e-03 4.24448543e+02] [ 9.01067159e-01 4.33655629e-01 -4.55747741e-03 4.21284791e+02] [ 5.10875428e-03 -1.05873841e-04 9.99986945e-01 2.28232943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.3503857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.46, Y:421.31, Z:22.82 [[ 4.32498716e-01 -9.01631591e-01 -2.30957427e-03 4.24462748e+02] [ 9.01620077e-01 4.32504868e-01 -4.55811849e-03 4.21308627e+02] [ 5.10864575e-03 -1.10978134e-04 9.99986945e-01 2.28244832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.380385723 meters Centerline goodness : 0.994331 Centerline is valid? [True, True] Translation: X:424.48, Y:421.33, Z:22.82 [[ 4.29236402e-01 -9.03189234e-01 -2.30611817e-03 4.24478170e+02] [ 9.03177733e-01 4.29242578e-01 -4.55986827e-03 4.21332863e+02] [ 5.10830805e-03 -1.25573132e-04 9.99986945e-01 2.28217411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.410385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.49, Y:421.36, Z:22.82 [[ 4.29202803e-01 -9.03205146e-01 -2.32751759e-03 4.24492830e+02] [ 9.03193703e-01 4.29209088e-01 -4.54904680e-03 4.21357420e+02] [ 5.10771419e-03 -1.49735587e-04 9.99986944e-01 2.28245676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.440385723 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:424.51, Y:421.38, Z:22.82 [[ 4.28034910e-01 -9.03759223e-01 -2.32000173e-03 4.24508653e+02] [ 9.03747767e-01 4.28041172e-01 -4.55283373e-03 4.21382308e+02] [ 5.10772174e-03 -1.47924611e-04 9.99986945e-01 2.28225867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.4703857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.52, Y:421.41, Z:22.82 [[ 4.26593846e-01 -9.04440321e-01 -2.32291144e-03 4.24519487e+02] [ 9.04428883e-01 4.26600141e-01 -4.55136821e-03 4.21405009e+02] [ 5.10739528e-03 -1.59322530e-04 9.99986945e-01 2.28244254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.500385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.54, Y:421.43, Z:22.83 [[ 4.26254509e-01 -9.04600365e-01 -2.29656540e-03 4.24535767e+02] [ 9.04588858e-01 4.26260675e-01 -4.56462351e-03 4.21427230e+02] [ 5.10809561e-03 -1.31756117e-04 9.99986945e-01 2.28254110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.530385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.55, Y:421.45, Z:22.83 [[ 4.26265844e-01 -9.04595026e-01 -2.29543517e-03 4.24550460e+02] [ 9.04583516e-01 4.26272005e-01 -4.56519180e-03 4.21451158e+02] [ 5.10812955e-03 -1.30427474e-04 9.99986945e-01 2.28264221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.560385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.57, Y:421.48, Z:22.83 [[ 4.30629807e-01 -9.02525737e-01 -2.29419485e-03 4.24570992e+02] [ 9.02514194e-01 4.30635905e-01 -4.56581503e-03 4.21476843e+02] [ 5.10872825e-03 -1.04367375e-04 9.99986945e-01 2.28266133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.5903857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.58, Y:421.50, Z:22.83 [[ 4.28673843e-01 -9.03456283e-01 -2.34124937e-03 4.24579188e+02] [ 9.03444880e-01 4.28680204e-01 -4.54216224e-03 4.21499962e+02] [ 5.10729227e-03 -1.68083611e-04 9.99986944e-01 2.28268239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.620385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:424.60, Y:421.53, Z:22.83 [[ 4.31293391e-01 -9.02208821e-01 -2.29220276e-03 4.24599189e+02] [ 9.02197268e-01 4.31299471e-01 -4.56678020e-03 4.21525147e+02] [ 5.10881522e-03 -9.83969488e-05 9.99986945e-01 2.28266585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.650385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.61, Y:421.55, Z:22.83 [[ 4.30969588e-01 -9.02363453e-01 -2.32669488e-03 4.24613438e+02] [ 9.02351995e-01 4.30975846e-01 -4.54946641e-03 4.21549447e+02] [ 5.10802151e-03 -1.38816102e-04 9.99986944e-01 2.28276935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.680385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.63, Y:421.57, Z:22.83 [[ 4.30862910e-01 -9.02414408e-01 -2.32145933e-03 4.24630013e+02] [ 9.02402937e-01 4.30869143e-01 -4.55209272e-03 4.21573404e+02] [ 5.10811924e-03 -1.33563800e-04 9.99986945e-01 2.28278497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.710385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.64, Y:421.60, Z:22.83 [[ 4.29424757e-01 -9.03099656e-01 -2.32163580e-03 4.24643123e+02] [ 9.03088195e-01 4.29431009e-01 -4.55200430e-03 4.21597747e+02] [ 5.10789592e-03 -1.41898548e-04 9.99986945e-01 2.28287091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.740385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.66, Y:421.62, Z:22.83 [[ 4.26844653e-01 -9.04322021e-01 -2.30774926e-03 4.24655992e+02] [ 9.04310540e-01 4.26850868e-01 -4.55895739e-03 4.21620396e+02] [ 5.10783034e-03 -1.40955398e-04 9.99986945e-01 2.28272072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.770385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.67, Y:421.65, Z:22.83 [[ 4.27192489e-01 -9.04157812e-01 -2.28634598e-03 4.24672881e+02] [ 9.04146272e-01 4.27198592e-01 -4.56966612e-03 4.21646494e+02] [ 5.10842311e-03 -1.15064149e-04 9.99986945e-01 2.28282014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.800385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.69, Y:421.67, Z:22.83 [[ 4.25384669e-01 -9.05009705e-01 -2.30580008e-03 4.24685512e+02] [ 9.04998229e-01 4.25390893e-01 -4.55993926e-03 4.21670880e+02] [ 5.10765564e-03 -1.47016738e-04 9.99986945e-01 2.28293266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.830385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:424.70, Y:421.69, Z:22.83 [[ 4.24913513e-01 -9.05231071e-01 -2.28344601e-03 4.24702858e+02] [ 9.05219538e-01 4.24919631e-01 -4.57110829e-03 4.21693287e+02] [ 5.10819029e-03 -1.24694262e-04 9.99986945e-01 2.28285321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.860385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:424.72, Y:421.72, Z:22.83 [[ 4.25933445e-01 -9.04751615e-01 -2.28387180e-03 4.24721612e+02] [ 9.04740076e-01 4.25939551e-01 -4.57089560e-03 4.21716861e+02] [ 5.10831651e-03 -1.19413035e-04 9.99986945e-01 2.28282296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.890385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.74, Y:421.74, Z:22.83 [[ 4.26578258e-01 -9.04447743e-01 -2.29561287e-03 4.24736127e+02] [ 9.04436232e-01 4.26584416e-01 -4.56503491e-03 4.21742190e+02] [ 5.10810820e-03 -1.28890818e-04 9.99986945e-01 2.28297778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.920385723 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:424.75, Y:421.77, Z:22.83 [[ 4.27425799e-01 -9.04047516e-01 -2.29673809e-03 4.24751618e+02] [ 9.04036002e-01 4.27431951e-01 -4.56447348e-03 4.21765185e+02] [ 5.10820016e-03 -1.25360199e-04 9.99986945e-01 2.28273531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.950385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.77, Y:421.79, Z:22.83 [[ 4.28344517e-01 -9.03612610e-01 -2.28610453e-03 4.24765470e+02] [ 9.03601061e-01 4.28350603e-01 -4.56977477e-03 4.21788778e+02] [ 5.10856037e-03 -1.08288514e-04 9.99986945e-01 2.28285891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.980385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:424.78, Y:421.81, Z:22.83 [[ 4.29554981e-01 -9.03037825e-01 -2.28135869e-03 4.24780980e+02] [ 9.03026256e-01 4.29561028e-01 -4.57213942e-03 4.21813352e+02] [ 5.10879762e-03 -9.61415353e-05 9.99986945e-01 2.28279149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.010385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:424.80, Y:421.84, Z:22.83 [[ 4.32883322e-01 -9.01447067e-01 -2.28390650e-03 4.24798513e+02] [ 9.01435481e-01 4.32889339e-01 -4.57087040e-03 4.21835157e+02] [ 5.10907649e-03 -8.01407928e-05 9.99986945e-01 2.28287965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.040385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.81, Y:421.86, Z:22.83 [[ 4.33033989e-01 -9.01374716e-01 -2.27724502e-03 4.24812508e+02] [ 9.01363113e-01 4.33039971e-01 -4.57418680e-03 4.21859665e+02] [ 5.10919445e-03 -7.18463061e-05 9.99986945e-01 2.28303454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.070385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.83, Y:421.88, Z:22.83 [[ 4.35306300e-01 -9.00279556e-01 -2.26857470e-03 4.24828232e+02] [ 9.00267915e-01 4.35312209e-01 -4.57849988e-03 4.21882464e+02] [ 5.10946810e-03 -4.92751736e-05 9.99986945e-01 2.28294720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.1003857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.85, Y:421.91, Z:22.83 [[ 4.36824148e-01 -8.99544074e-01 -2.26356993e-03 4.24846582e+02] [ 8.99532410e-01 4.36830011e-01 -4.58098823e-03 4.21906098e+02] [ 5.10959609e-03 -3.50682308e-05 9.99986945e-01 2.28296900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.130385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.86, Y:421.93, Z:22.83 [[ 4.37524979e-01 -8.99203398e-01 -2.26759001e-03 4.24863004e+02] [ 8.99191740e-01 4.37530854e-01 -4.57899014e-03 4.21930102e+02] [ 5.10958408e-03 -3.55756374e-05 9.99986945e-01 2.28296369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.160385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.88, Y:421.95, Z:22.83 [[ 4.36782277e-01 -8.99564379e-01 -2.27387225e-03 4.24878229e+02] [ 8.99552742e-01 4.36788193e-01 -4.57586939e-03 4.21954171e+02] [ 5.10948965e-03 -4.68093669e-05 9.99986945e-01 2.28302955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.190385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:424.90, Y:421.98, Z:22.83 [[ 4.36794400e-01 -8.99558519e-01 -2.26339204e-03 4.24897862e+02] [ 8.99546855e-01 4.36800263e-01 -4.58107198e-03 4.21976001e+02] [ 5.10959256e-03 -3.50406087e-05 9.99986945e-01 2.28297113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.2203857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.91, Y:422.00, Z:22.83 [[ 4.36076640e-01 -8.99906664e-01 -2.27164329e-03 4.24912667e+02] [ 8.99895026e-01 4.36082554e-01 -4.57697672e-03 4.21998693e+02] [ 5.10947586e-03 -4.83278652e-05 9.99986945e-01 2.28312540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.250385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.93, Y:422.02, Z:22.83 [[ 4.34244753e-01 -9.00792062e-01 -2.27053809e-03 4.24927092e+02] [ 9.00780433e-01 4.34250685e-01 -4.57752492e-03 4.22022785e+02] [ 5.10938084e-03 -5.74901044e-05 9.99986945e-01 2.28319055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.280385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.94, Y:422.05, Z:22.83 [[ 4.36044500e-01 -8.99922273e-01 -2.25745595e-03 4.24940946e+02] [ 8.99910599e-01 4.36050342e-01 -4.58401101e-03 4.22048315e+02] [ 5.10961805e-03 -3.26757508e-05 9.99986945e-01 2.28334074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.310385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.95, Y:422.07, Z:22.83 [[ 4.35587384e-01 -9.00143590e-01 -2.26916241e-03 4.24951766e+02] [ 9.00131948e-01 4.35593292e-01 -4.57820877e-03 4.22073951e+02] [ 5.10947720e-03 -4.83355962e-05 9.99986945e-01 2.28340864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.3403857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.97, Y:422.10, Z:22.83 [[ 4.37732655e-01 -8.99102346e-01 -2.25708977e-03 4.24965250e+02] [ 8.99090659e-01 4.37738474e-01 -4.58418892e-03 4.22098629e+02] [ 5.10967004e-03 -2.26791424e-05 9.99986945e-01 2.28330707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.370385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:424.97, Y:422.12, Z:22.83 [[ 4.35273474e-01 -9.00295430e-01 -2.26755365e-03 4.24974611e+02] [ 9.00283786e-01 4.35279378e-01 -4.57900714e-03 4.22124417e+02] [ 5.10947854e-03 -4.83214348e-05 9.99986945e-01 2.28323590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.400385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.99, Y:422.15, Z:22.83 [[ 4.36325543e-01 -8.99786071e-01 -2.24666433e-03 4.24989531e+02] [ 8.99774367e-01 4.36331327e-01 -4.58934503e-03 4.22149629e+02] [ 5.10971876e-03 -1.90425125e-05 9.99986945e-01 2.28312798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.430385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:425.00, Y:422.17, Z:22.83 [[ 4.33463753e-01 -9.01168153e-01 -2.26596814e-03 4.25002458e+02] [ 9.01156518e-01 4.33469672e-01 -4.57979399e-03 4.22174825e+02] [ 5.10939295e-03 -5.68172669e-05 9.99986945e-01 2.28324821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.460385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:425.02, Y:422.20, Z:22.83 [[ 4.33219369e-01 -9.01285665e-01 -2.26471870e-03 4.25015071e+02] [ 9.01274028e-01 4.33225285e-01 -4.58041175e-03 4.22200483e+02] [ 5.10939286e-03 -5.68090541e-05 9.99986945e-01 2.28326276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.490385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:425.03, Y:422.22, Z:22.83 [[ 4.31567799e-01 -9.02077664e-01 -2.26347646e-03 4.25026384e+02] [ 9.02066034e-01 4.31573730e-01 -4.58102554e-03 4.22224575e+02] [ 5.10929780e-03 -6.47821173e-05 9.99986945e-01 2.28319315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.520385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:425.04, Y:422.25, Z:22.83 [[ 4.30288558e-01 -9.02688561e-01 -2.26236167e-03 4.25037706e+02] [ 9.02676937e-01 4.30294500e-01 -4.58157602e-03 4.22249709e+02] [ 5.10921805e-03 -7.07819562e-05 9.99986945e-01 2.28309371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.550385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:425.05, Y:422.28, Z:22.83 [[ 4.28102233e-01 -9.03727483e-01 -2.26152384e-03 4.25049407e+02] [ 9.03715871e-01 4.28108199e-01 -4.58198955e-03 4.22275714e+02] [ 5.10904678e-03 -8.22150255e-05 9.99986945e-01 2.28307392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.580385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:425.06, Y:422.30, Z:22.83 [[ 4.27325366e-01 -9.04095085e-01 -2.26030763e-03 4.25061726e+02] [ 9.04083475e-01 4.27331336e-01 -4.58258943e-03 4.22300891e+02] [ 5.10899686e-03 -8.52500769e-05 9.99986945e-01 2.28312319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.610385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:425.07, Y:422.33, Z:22.83 [[ 4.26425296e-01 -9.04519963e-01 -2.25909491e-03 4.25074741e+02] [ 9.04508356e-01 4.26431271e-01 -4.58318719e-03 4.22326092e+02] [ 5.10893302e-03 -8.89832675e-05 9.99986945e-01 2.28329322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.640385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:425.09, Y:422.35, Z:22.83 [[ 4.25669873e-01 -9.04875716e-01 -2.25790762e-03 4.25087275e+02] [ 9.04864111e-01 4.25675852e-01 -4.58377203e-03 4.22352002e+02] [ 5.10888075e-03 -9.19259053e-05 9.99986945e-01 2.28346779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.670385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:425.10, Y:422.38, Z:22.83 [[ 4.25678708e-01 -9.04871547e-01 -2.26274017e-03 4.25097622e+02] [ 9.04859955e-01 4.25684711e-01 -4.58139347e-03 4.22377844e+02] [ 5.10878649e-03 -9.72613135e-05 9.99986945e-01 2.28341010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.700385723 meters Centerline goodness : 0.999486 Centerline is valid? [True, True] Translation: X:425.11, Y:422.40, Z:22.83 [[ 4.26784824e-01 -9.04350389e-01 -2.25562148e-03 4.25109507e+02] [ 9.04338770e-01 4.26790777e-01 -4.58489563e-03 4.22402993e+02] [ 5.10903059e-03 -8.30820756e-05 9.99986945e-01 2.28328248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.730385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:425.12, Y:422.43, Z:22.83 [[ 4.27536771e-01 -9.03995131e-01 -2.26121971e-03 4.25121681e+02] [ 9.03983522e-01 4.27542742e-01 -4.58214342e-03 4.22429275e+02] [ 5.10900342e-03 -8.50705559e-05 9.99986945e-01 2.28349876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.760385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:425.13, Y:422.45, Z:22.84 [[ 4.27790741e-01 -9.03874953e-01 -2.26948140e-03 4.25132787e+02] [ 9.03863364e-01 4.27796751e-01 -4.57809145e-03 4.22453121e+02] [ 5.10889896e-03 -9.28359570e-05 9.99986945e-01 2.28360064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.790385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:425.14, Y:422.48, Z:22.84 [[ 4.26392349e-01 -9.04535522e-01 -2.24843926e-03 4.25144587e+02] [ 9.04523887e-01 4.26398270e-01 -4.58840266e-03 4.22478565e+02] [ 5.10910380e-03 -7.73072374e-05 9.99986945e-01 2.28391679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.820385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:425.16, Y:422.50, Z:22.84 [[ 4.25274539e-01 -9.05061609e-01 -2.24724452e-03 4.25156817e+02] [ 9.05049979e-01 4.25280469e-01 -4.58898773e-03 4.22503925e+02] [ 5.10902582e-03 -8.22889639e-05 9.99986945e-01 2.28397919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.8503857229999 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:425.17, Y:422.53, Z:22.84 [[ 4.24128055e-01 -9.05599442e-01 -2.24599124e-03 4.25170630e+02] [ 9.05587816e-01 4.24133993e-01 -4.58960104e-03 4.22530455e+02] [ 5.10894137e-03 -8.73637409e-05 9.99986945e-01 2.28391478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.880385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:425.18, Y:422.56, Z:22.84 [[ 4.22130366e-01 -9.06532325e-01 -2.25777073e-03 4.25183360e+02] [ 9.06520743e-01 4.22136389e-01 -4.58383854e-03 4.22556192e+02] [ 5.10848499e-03 -1.11738558e-04 9.99986945e-01 2.28396030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.910385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:425.20, Y:422.58, Z:22.84 [[ 4.21182604e-01 -9.06973059e-01 -2.25497641e-03 4.25195132e+02] [ 9.06961476e-01 4.21188625e-01 -4.58520460e-03 4.22580541e+02] [ 5.10842746e-03 -1.13968323e-04 9.99986945e-01 2.28405179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.940385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:425.21, Y:422.60, Z:22.84 [[ 4.20856390e-01 -9.07124506e-01 -2.24285416e-03 4.25206995e+02] [ 9.07112893e-01 4.20862354e-01 -4.59112655e-03 4.22604525e+02] [ 5.10865629e-03 -1.02316982e-04 9.99986946e-01 2.28409199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.9703857229999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:425.22, Y:422.63, Z:22.84 [[ 4.20935718e-01 -9.07087700e-01 -2.24166235e-03 4.25218597e+02] [ 9.07076084e-01 4.20941675e-01 -4.59170839e-03 4.22629999e+02] [ 5.10869131e-03 -1.00544239e-04 9.99986946e-01 2.28410352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.000385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:425.23, Y:422.66, Z:22.84 [[ 4.21187005e-01 -9.06971051e-01 -2.24038764e-03 4.25230540e+02] [ 9.06959430e-01 4.21192952e-01 -4.59233027e-03 4.22655184e+02] [ 5.10874609e-03 -9.77108643e-05 9.99986946e-01 2.28408795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.030385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:425.24, Y:422.68, Z:22.84 [[ 4.19765044e-01 -9.07630043e-01 -2.23911947e-03 4.25241080e+02] [ 9.07618427e-01 4.19771003e-01 -4.59294852e-03 4.22680664e+02] [ 5.10861548e-03 -1.04306858e-04 9.99986946e-01 2.28390771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.060385723 meters Centerline goodness : 0.999800 Centerline is valid? [True, True] Translation: X:425.26, Y:422.71, Z:22.84 [[ 4.22318503e-01 -9.06444765e-01 -2.22932728e-03 4.25255132e+02] [ 9.06433108e-01 4.22324380e-01 -4.59771890e-03 4.22705333e+02] [ 5.10907749e-03 -7.90342913e-05 9.99986945e-01 2.28390397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.0903857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:425.27, Y:422.73, Z:22.84 [[ 4.23089005e-01 -9.06085365e-01 -2.23746319e-03 4.25266723e+02] [ 9.06073723e-01 4.23094913e-01 -4.59375618e-03 4.22729309e+02] [ 5.10899453e-03 -8.37388760e-05 9.99986946e-01 2.28403951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.120385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:425.28, Y:422.76, Z:22.84 [[ 4.19910166e-01 -9.07562959e-01 -2.22010603e-03 4.25277998e+02] [ 9.07551293e-01 4.19916027e-01 -4.60221184e-03 4.22756111e+02] [ 5.10905510e-03 -8.23445619e-05 9.99986945e-01 2.28394225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.150385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:425.29, Y:422.78, Z:22.84 [[ 4.18879811e-01 -9.08038961e-01 -2.22460369e-03 4.25289754e+02] [ 9.08027315e-01 4.18885707e-01 -4.60002089e-03 4.22781013e+02] [ 5.10885288e-03 -9.31450293e-05 9.99986945e-01 2.28392359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.180385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:425.30, Y:422.81, Z:22.84 [[ 4.18162773e-01 -9.08369383e-01 -2.22698033e-03 4.25302961e+02] [ 9.08357747e-01 4.18168691e-01 -4.59886386e-03 4.22805433e+02] [ 5.10872058e-03 -9.98211686e-05 9.99986945e-01 2.28409475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.210385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:425.32, Y:422.83, Z:22.84 [[ 4.17124302e-01 -9.08846696e-01 -2.23621540e-03 4.25315155e+02] [ 9.08835090e-01 4.17130280e-01 -4.59436888e-03 4.22831023e+02] [ 5.10837013e-03 -1.15928117e-04 9.99986946e-01 2.28403221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.240385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:425.33, Y:422.86, Z:22.84 [[ 4.14187007e-01 -9.10189062e-01 -2.23496452e-03 4.25326144e+02] [ 9.10177473e-01 4.14193016e-01 -4.59497730e-03 4.22856916e+02] [ 5.10800477e-03 -1.31034463e-04 9.99986946e-01 2.28386853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.270385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:425.34, Y:422.88, Z:22.84 [[ 4.13586318e-01 -9.10462200e-01 -2.22262748e-03 4.25338040e+02] [ 9.10450583e-01 4.13592272e-01 -4.60097424e-03 4.22881658e+02] [ 5.10827468e-03 -1.20692488e-04 9.99986945e-01 2.28385834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.300385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:425.35, Y:422.91, Z:22.84 [[ 4.15067195e-01 -9.09788065e-01 -2.21363585e-03 4.25353118e+02] [ 9.09776415e-01 4.15073085e-01 -4.60533885e-03 4.22907818e+02] [ 5.10870298e-03 -1.02388611e-04 9.99986945e-01 2.28406572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.330385723 meters Centerline goodness : 0.996930 Centerline is valid? [True, True] Translation: X:425.36, Y:422.93, Z:22.84 [[ 4.15288522e-01 -9.09687016e-01 -2.23108330e-03 4.25364320e+02] [ 9.09675409e-01 4.15294497e-01 -4.59687076e-03 4.22932723e+02] [ 5.10827026e-03 -1.20533951e-04 9.99986945e-01 2.28397382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.360385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:425.38, Y:422.96, Z:22.84 [[ 4.14825928e-01 -9.09898055e-01 -2.23139737e-03 4.25375476e+02] [ 9.09886452e-01 4.14831911e-01 -4.59671845e-03 4.22957216e+02] [ 5.10820001e-03 -1.23480238e-04 9.99986945e-01 2.28399305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.390385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:425.39, Y:422.98, Z:22.84 [[ 4.16152621e-01 -9.09292050e-01 -2.22811478e-03 4.25386750e+02] [ 9.09280430e-01 4.16158571e-01 -4.59830903e-03 4.22983062e+02] [ 5.10845490e-03 -1.12382812e-04 9.99986945e-01 2.28416340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.420385723 meters Centerline goodness : 0.997426 Centerline is valid? [True, True] Translation: X:425.40, Y:423.01, Z:22.84 [[ 4.16704317e-01 -9.09039358e-01 -2.22681202e-03 4.25398462e+02] [ 9.09027731e-01 4.16710253e-01 -4.59893983e-03 4.23007961e+02] [ 5.10855270e-03 -1.07835793e-04 9.99986945e-01 2.28402164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.450385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:425.41, Y:423.03, Z:22.84 [[ 4.16766006e-01 -9.09011080e-01 -2.22525951e-03 4.25410739e+02] [ 9.08999449e-01 4.16771933e-01 -4.59969091e-03 4.23034939e+02] [ 5.10859571e-03 -1.05764858e-04 9.99986945e-01 2.28428390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.480385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:425.42, Y:423.06, Z:22.84 [[ 4.16700563e-01 -9.09041060e-01 -2.23438643e-03 4.25423719e+02] [ 9.09029453e-01 4.16706537e-01 -4.59528479e-03 4.23060866e+02] [ 5.10838599e-03 -1.16265313e-04 9.99986945e-01 2.28430298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.510385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:425.43, Y:423.09, Z:22.84 [[ 4.14475865e-01 -9.10057546e-01 -2.24052532e-03 4.25432813e+02] [ 9.10045969e-01 4.14481899e-01 -4.59232312e-03 4.23085259e+02] [ 5.10793550e-03 -1.35573935e-04 9.99986945e-01 2.28447478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.540385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:425.44, Y:423.11, Z:22.84 [[ 4.13060428e-01 -9.10700917e-01 -2.21885294e-03 4.25444839e+02] [ 9.10689293e-01 4.13066370e-01 -4.60277070e-03 4.23111640e+02] [ 5.10828103e-03 -1.19463182e-04 9.99986946e-01 2.28437150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.570385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:425.46, Y:423.14, Z:22.84 [[ 4.11284980e-01 -9.11504085e-01 -2.22900033e-03 4.25455791e+02] [ 9.11492499e-01 4.11290996e-01 -4.59788040e-03 4.23136861e+02] [ 5.10775454e-03 -1.40677937e-04 9.99986945e-01 2.28438109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.6003857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:425.47, Y:423.16, Z:22.85 [[ 4.07761408e-01 -9.13085800e-01 -2.22619448e-03 4.25467025e+02] [ 9.13074231e-01 4.07767454e-01 -4.59923179e-03 4.23161186e+02] [ 5.10726289e-03 -1.57291586e-04 9.99986946e-01 2.28457533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.630385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:425.48, Y:423.19, Z:22.85 [[ 4.03324232e-01 -9.15054454e-01 -2.21579929e-03 4.25477225e+02] [ 9.15042887e-01 4.03330282e-01 -4.60423450e-03 4.23185766e+02] [ 5.10682424e-03 -1.70552031e-04 9.99986946e-01 2.28454110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.660385723 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:425.49, Y:423.21, Z:22.84 [[ 4.01920786e-01 -9.15671762e-01 -2.21493639e-03 4.25489469e+02] [ 9.15660202e-01 4.01926850e-01 -4.60464957e-03 4.23211179e+02] [ 5.10659000e-03 -1.77424731e-04 9.99986946e-01 2.28432452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.690385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:425.50, Y:423.24, Z:22.85 [[ 3.98696107e-01 -9.17080429e-01 -2.21373167e-03 4.25500247e+02] [ 9.17068887e-01 3.98702205e-01 -4.60522868e-03 4.23239323e+02] [ 5.10598480e-03 -1.94057696e-04 9.99986946e-01 2.28450215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.7203857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:425.51, Y:423.26, Z:22.85 [[ 3.95692037e-01 -9.18380560e-01 -2.22697709e-03 4.25508824e+02] [ 9.18369073e-01 3.95698240e-01 -4.59886392e-03 4.23263987e+02] [ 5.10471814e-03 -2.25453050e-04 9.99986945e-01 2.28462047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.750385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:425.52, Y:423.29, Z:22.85 [[ 3.94794290e-01 -9.18766878e-01 -2.21192894e-03 4.25521415e+02] [ 9.18755357e-01 3.94800428e-01 -4.60609032e-03 4.23291626e+02] [ 5.10519372e-03 -2.13763407e-04 9.99986946e-01 2.28455148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.780385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:425.53, Y:423.32, Z:22.85 [[ 3.93435484e-01 -9.19349526e-01 -2.22913227e-03 4.25529412e+02] [ 9.19338060e-01 3.93441725e-01 -4.59782946e-03 4.23316621e+02] [ 5.10404598e-03 -2.40376883e-04 9.99986945e-01 2.28463497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.810385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:425.54, Y:423.34, Z:22.84 [[ 3.91550401e-01 -9.20154008e-01 -2.21005822e-03 4.25535530e+02] [ 9.20142504e-01 3.91556571e-01 -4.60697966e-03 4.23343206e+02] [ 5.10449362e-03 -2.29703772e-04 9.99986946e-01 2.28441288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.8403857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:425.55, Y:423.37, Z:22.84 [[ 3.91936295e-01 -9.19989750e-01 -2.19114343e-03 4.25546610e+02] [ 9.19978192e-01 3.91942365e-01 -4.61604759e-03 4.23370110e+02] [ 5.10551841e-03 -2.06607579e-04 9.99986945e-01 2.28444240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.870385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:425.56, Y:423.40, Z:22.85 [[ 3.93019598e-01 -9.19527478e-01 -2.19396302e-03 4.25558584e+02] [ 9.19515921e-01 3.93025669e-01 -4.61469619e-03 4.23397274e+02] [ 5.10562373e-03 -2.03717886e-04 9.99986945e-01 2.28460314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.900385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:425.57, Y:423.43, Z:22.85 [[ 3.94289735e-01 -9.18983531e-01 -2.20781085e-03 4.25566475e+02] [ 9.18972002e-01 3.94295859e-01 -4.60806143e-03 4.23425240e+02] [ 5.10526324e-03 -2.12005041e-04 9.99986946e-01 2.28459774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.930385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:425.57, Y:423.45, Z:22.85 [[ 3.93661068e-01 -9.19252981e-01 -2.21815285e-03 4.25574893e+02] [ 9.19241484e-01 3.93667252e-01 -4.60310877e-03 4.23451622e+02] [ 5.10463560e-03 -2.26953401e-04 9.99986946e-01 2.28453189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.960385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:425.58, Y:423.48, Z:22.85 [[ 3.95535118e-01 -9.18448219e-01 -2.19994578e-03 4.25582867e+02] [ 9.18436661e-01 3.95541187e-01 -4.61181977e-03 4.23477586e+02] [ 5.10588682e-03 -1.96374176e-04 9.99986946e-01 2.28461318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.990385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:425.59, Y:423.50, Z:22.85 [[ 3.97030348e-01 -9.17802850e-01 -2.19829183e-03 4.25593959e+02] [ 9.17791278e-01 3.97036390e-01 -4.61261067e-03 4.23504877e+02] [ 5.10626907e-03 -1.86226653e-04 9.99986946e-01 2.28485949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.020385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:425.60, Y:423.53, Z:22.85 [[ 3.98497906e-01 -9.17166596e-01 -2.20344726e-03 4.25599213e+02] [ 9.17155027e-01 3.98503955e-01 -4.61014660e-03 4.23532194e+02] [ 5.10635492e-03 -1.83768966e-04 9.99986946e-01 2.28468696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.050385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:425.61, Y:423.56, Z:22.85 [[ 4.00335960e-01 -9.16365816e-01 -2.19330408e-03 4.25609359e+02] [ 9.16354209e-01 4.00341935e-01 -4.61499108e-03 4.23558933e+02] [ 5.10709167e-03 -1.62296545e-04 9.99986946e-01 2.28478070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.080385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:425.62, Y:423.59, Z:22.85 [[ 4.02085411e-01 -9.15599516e-01 -2.20187149e-03 4.25617127e+02] [ 9.15587921e-01 4.02091407e-01 -4.61089983e-03 4.23586768e+02] [ 5.10709126e-03 -1.62031385e-04 9.99986946e-01 2.28460995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.110385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:425.63, Y:423.61, Z:22.85 [[ 4.02504882e-01 -9.15415180e-01 -2.20637024e-03 4.25627018e+02] [ 9.15403593e-01 4.02510895e-01 -4.60875248e-03 4.23612447e+02] [ 5.10701005e-03 -1.64673875e-04 9.99986946e-01 2.28460941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.140385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:425.63, Y:423.64, Z:22.85 [[ 4.02152448e-01 -9.15570055e-01 -2.20962862e-03 4.25634662e+02] [ 9.15558479e-01 4.02158482e-01 -4.60719779e-03 4.23639852e+02] [ 5.10683323e-03 -1.70248345e-04 9.99986946e-01 2.28478353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.170385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:425.64, Y:423.67, Z:22.85 [[ 4.01509917e-01 -9.15852017e-01 -2.20674644e-03 4.25644454e+02] [ 9.15840437e-01 4.01515945e-01 -4.60857199e-03 4.23666546e+02] [ 5.10681384e-03 -1.70640263e-04 9.99986946e-01 2.28477428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.200385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:425.65, Y:423.69, Z:22.85 [[ 4.01632637e-01 -9.15798219e-01 -2.20183770e-03 4.25654199e+02] [ 9.15786626e-01 4.01638638e-01 -4.61091114e-03 4.23692176e+02] [ 5.10700730e-03 -1.64521124e-04 9.99986946e-01 2.28489364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.230385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:425.66, Y:423.72, Z:22.85 [[ 4.02374118e-01 -9.15472688e-01 -2.19701943e-03 4.25662304e+02] [ 9.15461078e-01 4.02380086e-01 -4.61320582e-03 4.23720143e+02] [ 5.10730080e-03 -1.55051159e-04 9.99986946e-01 2.28479051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.260385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:425.67, Y:423.75, Z:22.85 [[ 4.02301354e-01 -9.15504643e-01 -2.20649856e-03 4.25671975e+02] [ 9.15493058e-01 4.02307371e-01 -4.60869280e-03 4.23746538e+02] [ 5.10697029e-03 -1.65950765e-04 9.99986946e-01 2.28504124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.290385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:425.68, Y:423.77, Z:22.85 [[ 4.03058569e-01 -9.15171553e-01 -2.19521874e-03 4.25678955e+02] [ 9.15159933e-01 4.03064520e-01 -4.61405937e-03 4.23774068e+02] [ 5.10747066e-03 -1.49240068e-04 9.99986946e-01 2.28499710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.320385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:425.69, Y:423.80, Z:22.85 [[ 4.03519455e-01 -9.14968433e-01 -2.19454052e-03 4.25688624e+02] [ 9.14956809e-01 4.03525397e-01 -4.61438192e-03 4.23800717e+02] [ 5.10756663e-03 -1.45916916e-04 9.99986946e-01 2.28499300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.3503857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:425.70, Y:423.83, Z:22.85 [[ 4.03735784e-01 -9.14873000e-01 -2.19321313e-03 4.25695560e+02] [ 9.14861371e-01 4.03741715e-01 -4.61501274e-03 4.23827748e+02] [ 5.10764218e-03 -1.43240180e-04 9.99986946e-01 2.28503152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.380385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:425.71, Y:423.85, Z:22.85 [[ 4.03476323e-01 -9.14987459e-01 -2.19246265e-03 4.25707779e+02] [ 9.14975830e-01 4.03482254e-01 -4.61536924e-03 4.23853574e+02] [ 5.10762475e-03 -1.43858123e-04 9.99986946e-01 2.28504609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.410385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:425.72, Y:423.88, Z:22.85 [[ 4.02819909e-01 -9.15276636e-01 -2.19115361e-03 4.25716762e+02] [ 9.15265008e-01 4.02825842e-01 -4.61599063e-03 4.23879084e+02] [ 5.10756167e-03 -1.46073301e-04 9.99986946e-01 2.28500626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.440385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:425.73, Y:423.91, Z:22.85 [[ 4.02672550e-01 -9.15341484e-01 -2.18743730e-03 4.25727229e+02] [ 9.15329847e-01 4.02678467e-01 -4.61775407e-03 4.23905577e+02] [ 5.10765576e-03 -1.42783839e-04 9.99986946e-01 2.28497707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.4703857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:425.73, Y:423.93, Z:22.85 [[ 4.01630542e-01 -9.15799166e-01 -2.18989104e-03 4.25734116e+02] [ 9.15787542e-01 4.01636483e-01 -4.61659013e-03 4.23932085e+02] [ 5.10740953e-03 -1.51311342e-04 9.99986946e-01 2.28496359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.500385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:425.74, Y:423.96, Z:22.85 [[ 4.01166702e-01 -9.16002449e-01 -2.18871998e-03 4.25744029e+02] [ 9.15990825e-01 4.01172643e-01 -4.61714526e-03 4.23958954e+02] [ 5.10737095e-03 -1.52602481e-04 9.99986946e-01 2.28496717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.530385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:425.75, Y:423.99, Z:22.85 [[ 4.01331231e-01 -9.15930379e-01 -2.18743897e-03 4.25751658e+02] [ 9.15918751e-01 4.01337164e-01 -4.61775208e-03 4.23985462e+02] [ 5.10743996e-03 -1.50268242e-04 9.99986946e-01 2.28500517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.560385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:425.76, Y:424.01, Z:22.85 [[ 4.01743109e-01 -9.15749798e-01 -2.18656736e-03 4.25763039e+02] [ 9.15738165e-01 4.01749033e-01 -4.61816476e-03 4.24012911e+02] [ 5.10753477e-03 -1.47007309e-04 9.99986946e-01 2.28490344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.5903857229999 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:425.77, Y:424.04, Z:22.85 [[ 4.01539548e-01 -9.15839030e-01 -2.20529752e-03 4.25769099e+02] [ 9.15827446e-01 4.01545568e-01 -4.60929705e-03 4.24038315e+02] [ 5.10690158e-03 -1.68856945e-04 9.99986945e-01 2.28478933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.620385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:425.78, Y:424.06, Z:22.85 [[ 4.02376651e-01 -9.15471603e-01 -2.18494935e-03 4.25779622e+02] [ 9.15459962e-01 4.02382559e-01 -4.61892261e-03 4.24064458e+02] [ 5.10767799e-03 -1.41687042e-04 9.99986946e-01 2.28496789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.650385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:425.79, Y:424.09, Z:22.85 [[ 4.04149906e-01 -9.14690158e-01 -2.18371081e-03 4.25788190e+02] [ 9.14678502e-01 4.04155784e-01 -4.61950808e-03 4.24089808e+02] [ 5.10797793e-03 -1.30419580e-04 9.99986946e-01 2.28502441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.680385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:425.80, Y:424.12, Z:22.85 [[ 4.05411088e-01 -9.14131875e-01 -2.18287128e-03 4.25798141e+02] [ 9.14120209e-01 4.05416946e-01 -4.61990475e-03 4.24115688e+02] [ 5.10817520e-03 -1.22446139e-04 9.99986946e-01 2.28513353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.710385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:425.81, Y:424.14, Z:22.85 [[ 4.08285031e-01 -9.12851890e-01 -2.18163850e-03 4.25807246e+02] [ 9.12840203e-01 4.08290847e-01 -4.62048683e-03 4.24142624e+02] [ 5.10856317e-03 -1.05011722e-04 9.99986946e-01 2.28518498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.740385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:425.82, Y:424.17, Z:22.85 [[ 4.10119278e-01 -9.12029289e-01 -2.18036971e-03 4.25818294e+02] [ 9.12017586e-01 4.10125064e-01 -4.62108549e-03 4.24168489e+02] [ 5.10878958e-03 -9.33392721e-05 9.99986946e-01 2.28522536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.770385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:425.83, Y:424.19, Z:22.85 [[ 4.13264777e-01 -9.10608300e-01 -2.17907656e-03 4.25827937e+02] [ 9.10596574e-01 4.13270516e-01 -4.62169519e-03 4.24193983e+02] [ 5.10910209e-03 -7.42758120e-05 9.99986946e-01 2.28521069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.800385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:425.84, Y:424.22, Z:22.85 [[ 4.14412715e-01 -9.10086456e-01 -2.17819792e-03 4.25838873e+02] [ 9.10074721e-01 4.14418434e-01 -4.62210926e-03 4.24219861e+02] [ 5.10920440e-03 -6.68620123e-05 9.99986946e-01 2.28519214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.830385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:425.85, Y:424.24, Z:22.85 [[ 4.15207397e-01 -9.09724177e-01 -2.17690353e-03 4.25849370e+02] [ 9.09712434e-01 4.15213099e-01 -4.62271880e-03 4.24244348e+02] [ 5.10927792e-03 -6.09691673e-05 9.99986946e-01 2.28518550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.860385723 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:425.86, Y:424.27, Z:22.85 [[ 4.15649293e-01 -9.09522364e-01 -2.17618855e-03 4.25861183e+02] [ 9.09510616e-01 4.15654985e-01 -4.62305536e-03 4.24270207e+02] [ 5.10931586e-03 -5.76968970e-05 9.99986946e-01 2.28505664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.890385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:425.87, Y:424.29, Z:22.85 [[ 4.15601731e-01 -9.09544101e-01 -2.17487278e-03 4.25872735e+02] [ 9.09532350e-01 4.15607418e-01 -4.62367427e-03 4.24294676e+02] [ 5.10932892e-03 -5.65101241e-05 9.99986946e-01 2.28515636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.920385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:425.89, Y:424.32, Z:22.85 [[ 4.13732669e-01 -9.10395821e-01 -2.17414525e-03 4.25885270e+02] [ 9.10384081e-01 4.13738377e-01 -4.62401634e-03 4.24320090e+02] [ 5.10921248e-03 -6.62005994e-05 9.99986946e-01 2.28505888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.950385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:425.90, Y:424.35, Z:22.85 [[ 4.11938796e-01 -9.11208926e-01 -2.17288137e-03 4.25897711e+02] [ 9.11197193e-01 4.11944520e-01 -4.62461018e-03 4.24345000e+02] [ 5.10909265e-03 -7.48670539e-05 9.99986946e-01 2.28504509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.980385723 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:425.91, Y:424.37, Z:22.85 [[ 4.08676088e-01 -9.12676909e-01 -2.17160673e-03 4.25912792e+02] [ 9.12665193e-01 4.08681847e-01 -4.62520864e-03 4.24370568e+02] [ 5.10881738e-03 -9.17377078e-05 9.99986946e-01 2.28479786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.010385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:425.92, Y:424.39, Z:22.85 [[ 4.06539866e-01 -9.13630428e-01 -2.18583584e-03 4.25923695e+02] [ 9.13618762e-01 4.06545725e-01 -4.61853071e-03 4.24394936e+02] [ 5.10827240e-03 -1.19403778e-04 9.99986946e-01 2.28492042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.040385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:425.94, Y:424.42, Z:22.85 [[ 4.04111713e-01 -9.14707066e-01 -2.16956829e-03 4.25936473e+02] [ 9.14695375e-01 4.04117520e-01 -4.62615983e-03 4.24417687e+02] [ 5.10834165e-03 -1.15008710e-04 9.99986946e-01 2.28502224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.070385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:425.95, Y:424.44, Z:22.85 [[ 4.02288825e-01 -9.15510265e-01 -2.15774264e-03 4.25950036e+02] [ 9.15498556e-01 4.02294596e-01 -4.63170236e-03 4.24443571e+02] [ 5.10841926e-03 -1.12128174e-04 9.99986946e-01 2.28509779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.1003857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:425.96, Y:424.47, Z:22.85 [[ 4.01234171e-01 -9.15972947e-01 -2.16800457e-03 4.25963470e+02] [ 9.15961270e-01 4.01240008e-01 -4.62689398e-03 4.24468659e+02] [ 5.10799988e-03 -1.29340244e-04 9.99986946e-01 2.28516574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.130385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:425.98, Y:424.49, Z:22.85 [[ 4.02299460e-01 -9.15505571e-01 -2.16671884e-03 4.25981415e+02] [ 9.15493884e-01 4.02305277e-01 -4.62749599e-03 4.24494521e+02] [ 5.10818078e-03 -1.21978705e-04 9.99986946e-01 2.28523175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.160385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:425.99, Y:424.52, Z:22.85 [[ 4.00739563e-01 -9.16189373e-01 -2.19909484e-03 4.25990949e+02] [ 9.16177778e-01 4.00745563e-01 -4.61233370e-03 4.24517470e+02] [ 5.10704862e-03 -1.66417225e-04 9.99986945e-01 2.28528734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.190385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.00, Y:424.54, Z:22.85 [[ 4.02428013e-01 -9.15449074e-01 -2.16475972e-03 4.26004845e+02] [ 9.15437382e-01 4.02433818e-01 -4.62839269e-03 4.24541938e+02] [ 5.10823032e-03 -1.19107099e-04 9.99986946e-01 2.28537756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.2203857229999 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:426.02, Y:424.56, Z:22.85 [[ 4.04560687e-01 -9.14508595e-01 -2.16345868e-03 4.26015853e+02] [ 9.14496885e-01 4.04566458e-01 -4.62900076e-03 4.24564258e+02] [ 5.10852379e-03 -1.05764493e-04 9.99986946e-01 2.28510675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.250385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.03, Y:424.59, Z:22.85 [[ 4.05347196e-01 -9.14160318e-01 -2.13641996e-03 4.26029753e+02] [ 9.14148536e-01 4.05352820e-01 -4.64162738e-03 4.24591881e+02] [ 5.10919542e-03 -7.15345333e-05 9.99986945e-01 2.28536557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.280385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.04, Y:424.62, Z:22.85 [[ 4.08934587e-01 -9.12561137e-01 -2.16215311e-03 4.26044160e+02] [ 9.12549397e-01 4.08940296e-01 -4.62960930e-03 4.24615083e+02] [ 5.10899306e-03 -7.98641485e-05 9.99986946e-01 2.28543163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.310385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.06, Y:424.64, Z:22.86 [[ 4.11738387e-01 -9.11299529e-01 -2.16098056e-03 4.26059401e+02] [ 9.11287768e-01 4.11744053e-01 -4.63015655e-03 4.24639228e+02] [ 5.10923038e-03 -6.28619620e-05 9.99986946e-01 2.28551798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.3403857229999 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:426.07, Y:424.66, Z:22.85 [[ 4.12138562e-01 -9.11118621e-01 -2.15968660e-03 4.26072773e+02] [ 9.11106855e-01 4.12144216e-01 -4.63076003e-03 4.24662906e+02] [ 5.10927403e-03 -5.91904879e-05 9.99986946e-01 2.28534178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.370385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.09, Y:424.69, Z:22.86 [[ 4.12312581e-01 -9.11039887e-01 -2.15854680e-03 4.26086988e+02] [ 9.11028117e-01 4.12318227e-01 -4.63129127e-03 4.24687292e+02] [ 5.10929926e-03 -5.69571723e-05 9.99986946e-01 2.28561347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.400385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.10, Y:424.71, Z:22.86 [[ 4.11659906e-01 -9.11334992e-01 -2.15741128e-03 4.26104126e+02] [ 9.11323223e-01 4.11665555e-01 -4.63182013e-03 4.24709833e+02] [ 5.10927167e-03 -5.93643616e-05 9.99986946e-01 2.28553627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.430385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.12, Y:424.73, Z:22.86 [[ 4.10381441e-01 -9.11911412e-01 -2.15609254e-03 4.26118012e+02] [ 9.11899649e-01 4.10387100e-01 -4.63243391e-03 4.24734008e+02] [ 5.10920192e-03 -6.50751261e-05 9.99986946e-01 2.28552058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.460385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.13, Y:424.76, Z:22.86 [[ 4.08130077e-01 -9.12921244e-01 -2.15481637e-03 4.26134450e+02] [ 9.12909490e-01 4.08135759e-01 -4.63302746e-03 4.24756101e+02] [ 5.10904680e-03 -7.62744573e-05 9.99986946e-01 2.28550167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.490385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.15, Y:424.78, Z:22.86 [[ 4.06662494e-01 -9.13575929e-01 -2.15367163e-03 4.26149055e+02] [ 9.13564182e-01 4.06668188e-01 -4.63355953e-03 4.24780685e+02] [ 5.10893819e-03 -8.32223841e-05 9.99986946e-01 2.28551182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.520385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.17, Y:424.80, Z:22.86 [[ 4.03441410e-01 -9.15002949e-01 -2.15241734e-03 4.26166315e+02] [ 9.14991219e-01 4.03447139e-01 -4.63414211e-03 4.24803759e+02] [ 5.10864031e-03 -9.98381342e-05 9.99986946e-01 2.28554421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.550385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.18, Y:424.83, Z:22.86 [[ 4.01810819e-01 -9.15720175e-01 -2.15116083e-03 4.26180622e+02] [ 9.15708452e-01 4.01816563e-01 -4.63472531e-03 4.24828140e+02] [ 5.10848352e-03 -1.07553382e-04 9.99986946e-01 2.28556061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.580385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.20, Y:424.85, Z:22.86 [[ 3.99745698e-01 -9.16623562e-01 -2.14990297e-03 4.26197014e+02] [ 9.16611849e-01 3.99751462e-01 -4.63530871e-03 4.24851337e+02] [ 5.10826004e-03 -1.17681819e-04 9.99986946e-01 2.28565060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.610385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.21, Y:424.87, Z:22.86 [[ 3.98645142e-01 -9.17102739e-01 -2.14860552e-03 4.26210137e+02] [ 9.17091030e-01 3.98650913e-01 -4.63591004e-03 4.24874998e+02] [ 5.10814935e-03 -1.22383837e-04 9.99986946e-01 2.28556377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.640385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.23, Y:424.90, Z:22.86 [[ 3.96738549e-01 -9.17929143e-01 -2.14772418e-03 4.26225357e+02] [ 9.17917444e-01 3.96744340e-01 -4.63631831e-03 4.24898398e+02] [ 5.10790911e-03 -1.32027291e-04 9.99986946e-01 2.28557240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.670385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.24, Y:424.92, Z:22.85 [[ 3.96645542e-01 -9.17969339e-01 -2.14643164e-03 4.26242108e+02] [ 9.17957637e-01 3.96651328e-01 -4.63691663e-03 4.24924723e+02] [ 5.10793226e-03 -1.31121003e-04 9.99986946e-01 2.28544463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.700385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:426.25, Y:424.95, Z:22.86 [[ 3.94477599e-01 -9.18902968e-01 -2.18175845e-03 4.26252156e+02] [ 9.18891369e-01 3.94483590e-01 -4.62055947e-03 4.24947299e+02] [ 5.10651372e-03 -1.82091808e-04 9.99986945e-01 2.28552453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.730385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.27, Y:424.97, Z:22.86 [[ 3.91545865e-01 -9.20156093e-01 -2.14503303e-03 4.26266188e+02] [ 9.20144420e-01 3.91551709e-01 -4.63754631e-03 4.24971153e+02] [ 5.10715784e-03 -1.57928091e-04 9.99986946e-01 2.28551713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.760385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.28, Y:425.00, Z:22.85 [[ 3.92402766e-01 -9.19790994e-01 -2.14392244e-03 4.26284899e+02] [ 9.19779313e-01 3.92408593e-01 -4.63805968e-03 4.24998881e+02] [ 5.10733911e-03 -1.51948059e-04 9.99986946e-01 2.28536510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.790385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.29, Y:425.02, Z:22.86 [[ 3.87330913e-01 -9.21938114e-01 -2.20873190e-03 4.26293025e+02] [ 9.21926632e-01 3.87337129e-01 -4.60807407e-03 4.25020186e+02] [ 5.10388299e-03 -2.51439226e-04 9.99986944e-01 2.28557866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.820385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:426.31, Y:425.05, Z:22.86 [[ 3.85829947e-01 -9.22567430e-01 -2.14219599e-03 4.26305837e+02] [ 9.22555787e-01 3.85835849e-01 -4.63880034e-03 4.25045409e+02] [ 5.10614212e-03 -1.86507213e-04 9.99986946e-01 2.28567666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.8503857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.32, Y:425.07, Z:22.86 [[ 3.84312068e-01 -9.23200764e-01 -2.14091974e-03 4.26319032e+02] [ 9.23189127e-01 3.84317982e-01 -4.63938929e-03 4.25069153e+02] [ 5.10588169e-03 -1.93500537e-04 9.99986946e-01 2.28551735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.880385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:426.33, Y:425.09, Z:22.86 [[ 3.84018064e-01 -9.23323101e-01 -2.13977538e-03 4.26331342e+02] [ 9.23311463e-01 3.84023976e-01 -4.63991703e-03 4.25094067e+02] [ 5.10586763e-03 -1.93867177e-04 9.99986946e-01 2.28557113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.910385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.34, Y:425.12, Z:22.86 [[ 3.85020866e-01 -9.22905390e-01 -2.13855952e-03 4.26344426e+02] [ 9.22893743e-01 3.85026760e-01 -4.64047736e-03 4.25118459e+02] [ 5.10612421e-03 -1.86982586e-04 9.99986946e-01 2.28566087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.940385723 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:426.36, Y:425.14, Z:22.86 [[ 3.85918027e-01 -9.22530600e-01 -2.13728857e-03 4.26356545e+02] [ 9.22518944e-01 3.85923903e-01 -4.64106265e-03 4.25142146e+02] [ 5.10635306e-03 -1.80619452e-04 9.99986946e-01 2.28571243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.9703857229999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:426.37, Y:425.17, Z:22.86 [[ 3.87154859e-01 -9.22012229e-01 -2.13642390e-03 4.26368935e+02] [ 9.22000563e-01 3.87160715e-01 -4.64146065e-03 4.25166934e+02] [ 5.10662289e-03 -1.72819990e-04 9.99986946e-01 2.28579104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.000385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.38, Y:425.19, Z:22.86 [[ 3.91735528e-01 -9.20075387e-01 -2.13515525e-03 4.26381642e+02] [ 9.20063688e-01 3.91741319e-01 -4.64204418e-03 4.25190773e+02] [ 5.10745913e-03 -1.46025188e-04 9.99986946e-01 2.28593264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.030385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:426.39, Y:425.22, Z:22.86 [[ 3.93958226e-01 -9.19125869e-01 -2.13400334e-03 4.26394249e+02] [ 9.19114153e-01 3.93963984e-01 -4.64257367e-03 4.25216142e+02] [ 5.10783001e-03 -1.32412585e-04 9.99986946e-01 2.28598062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.060385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.41, Y:425.24, Z:22.86 [[ 3.99449124e-01 -9.16752883e-01 -2.13274068e-03 4.26408676e+02] [ 9.16741130e-01 3.99454805e-01 -4.64315364e-03 4.25241759e+02] [ 5.10855800e-03 -1.00467445e-04 9.99986946e-01 2.28615987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.0903857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.42, Y:425.27, Z:22.86 [[ 4.02533775e-01 -9.15402633e-01 -2.13998285e-03 4.26421373e+02] [ 9.15390879e-01 4.02539453e-01 -4.63982943e-03 4.25267456e+02] [ 5.10873961e-03 -9.12327284e-05 9.99986946e-01 2.28616816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.120385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.44, Y:425.29, Z:22.86 [[ 4.08575485e-01 -9.12722015e-01 -2.14405183e-03 4.26435523e+02] [ 9.12710233e-01 4.08581105e-01 -4.63796278e-03 4.25293251e+02] [ 5.10918980e-03 -6.19401505e-05 9.99986946e-01 2.28615536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.150385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:426.45, Y:425.32, Z:22.86 [[ 4.10555843e-01 -9.11832928e-01 -2.14736811e-03 4.26446714e+02] [ 9.11821142e-01 4.10561455e-01 -4.63644211e-03 4.25316950e+02] [ 5.10928716e-03 -5.44972468e-05 9.99986946e-01 2.28619847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.180385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.46, Y:425.34, Z:22.86 [[ 4.15001745e-01 -9.09818126e-01 -2.12847284e-03 4.26464375e+02] [ 9.09806268e-01 4.15007203e-01 -4.64510028e-03 4.25343714e+02] [ 5.10952799e-03 -8.77321246e-06 9.99986946e-01 2.28594291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.210385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.47, Y:425.37, Z:22.86 [[ 4.16237435e-01 -9.09253345e-01 -2.17989723e-03 4.26473485e+02] [ 9.09241602e-01 4.16243139e-01 -4.62153089e-03 4.25365215e+02] [ 5.10950969e-03 -5.83990903e-05 9.99986945e-01 2.28609149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.240385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.49, Y:425.39, Z:22.86 [[ 4.18551969e-01 -9.08190361e-01 -2.12566399e-03 4.26488267e+02] [ 9.08178475e-01 4.18557366e-01 -4.64634217e-03 4.25387985e+02] [ 5.10947549e-03 1.42533776e-05 9.99986946e-01 2.28595569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.270385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.50, Y:425.41, Z:22.86 [[ 4.18302450e-01 -9.08305316e-01 -2.12454602e-03 4.26500095e+02] [ 9.08293429e-01 4.18307845e-01 -4.64685331e-03 4.25414008e+02] [ 5.10947583e-03 1.40789380e-05 9.99986946e-01 2.28597025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.300385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.52, Y:425.44, Z:22.86 [[ 4.20562534e-01 -9.07261069e-01 -2.12326923e-03 4.26516401e+02] [ 9.07249166e-01 4.20567893e-01 -4.64743663e-03 4.25438958e+02] [ 5.10941719e-03 2.82034857e-05 9.99986946e-01 2.28594421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.330385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.53, Y:425.46, Z:22.86 [[ 4.19959232e-01 -9.07540465e-01 -2.13257150e-03 4.26528482e+02] [ 9.07528587e-01 4.19964646e-01 -4.64318767e-03 4.25462601e+02] [ 5.10948534e-03 1.45799262e-05 9.99986946e-01 2.28609300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.360385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.55, Y:425.49, Z:22.86 [[ 4.22214199e-01 -9.06493612e-01 -2.12144650e-03 4.26548769e+02] [ 9.06481696e-01 4.22219527e-01 -4.64826507e-03 4.25487732e+02] [ 5.10933874e-03 3.95110936e-05 9.99986946e-01 2.28600114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.390385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.56, Y:425.51, Z:22.86 [[ 4.20681740e-01 -9.07205740e-01 -2.14905429e-03 4.26562131e+02] [ 9.07193896e-01 4.20687229e-01 -4.63566329e-03 4.25509340e+02] [ 5.10958004e-03 5.29961375e-07 9.99986946e-01 2.28613147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.420385723 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:426.58, Y:425.53, Z:22.86 [[ 4.20438338e-01 -9.07318638e-01 -2.11976748e-03 4.26576898e+02] [ 9.07306728e-01 4.20443681e-01 -4.64901692e-03 4.25533948e+02] [ 5.10938254e-03 3.13456510e-05 9.99986947e-01 2.28605981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.450385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.59, Y:425.56, Z:22.86 [[ 4.20046832e-01 -9.07499957e-01 -2.11850501e-03 4.26594287e+02] [ 9.07488046e-01 4.20052173e-01 -4.64959214e-03 4.25555475e+02] [ 5.10938730e-03 3.05284765e-05 9.99986947e-01 2.28595505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.480385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.61, Y:425.58, Z:22.86 [[ 4.19678021e-01 -9.07670577e-01 -2.11740979e-03 4.26609685e+02] [ 9.07658666e-01 4.19683361e-01 -4.65009085e-03 4.25579858e+02] [ 5.10939230e-03 2.96555779e-05 9.99986947e-01 2.28596295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.510385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.62, Y:425.60, Z:22.86 [[ 4.19238903e-01 -9.07873485e-01 -2.11614703e-03 4.26624799e+02] [ 9.07861573e-01 4.19244243e-01 -4.65066543e-03 4.25603663e+02] [ 5.10939829e-03 2.85713063e-05 9.99986947e-01 2.28595071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.540385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.64, Y:425.63, Z:22.86 [[ 4.21218393e-01 -9.06956776e-01 -2.11488721e-03 4.26639386e+02] [ 9.06944850e-01 4.21223700e-01 -4.65123826e-03 4.25628372e+02] [ 5.10931267e-03 4.11010378e-05 9.99986947e-01 2.28590570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.570385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.65, Y:425.65, Z:22.86 [[ 4.22847839e-01 -9.06198233e-01 -2.11364526e-03 4.26649700e+02] [ 9.06186295e-01 4.22853119e-01 -4.65180257e-03 4.25652988e+02] [ 5.10921675e-03 5.16482977e-05 9.99986947e-01 2.28568179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.6003857229999 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:426.66, Y:425.68, Z:22.85 [[ 4.25514022e-01 -9.04949366e-01 -2.11252027e-03 4.26660295e+02] [ 9.04937410e-01 4.25519260e-01 -4.65231340e-03 4.25678220e+02] [ 5.10902612e-03 6.79259674e-05 9.99986947e-01 2.28547413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.630385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:426.67, Y:425.70, Z:22.85 [[ 4.25425023e-01 -9.04991210e-01 -2.11168784e-03 4.26671263e+02] [ 9.04979253e-01 4.25430258e-01 -4.65269121e-03 4.25704559e+02] [ 5.10902055e-03 6.83375833e-05 9.99986947e-01 2.28538335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.660385723 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:426.68, Y:425.73, Z:22.86 [[ 4.23740925e-01 -9.05780975e-01 -2.11048139e-03 4.26681887e+02] [ 9.05769025e-01 4.23746176e-01 -4.65323840e-03 4.25730447e+02] [ 5.10912323e-03 6.01588722e-05 9.99986947e-01 2.28551977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.690385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.69, Y:425.76, Z:22.86 [[ 4.21698801e-01 -9.06733518e-01 -2.10923241e-03 4.26693639e+02] [ 9.06721576e-01 4.21704073e-01 -4.65380447e-03 4.25756160e+02] [ 5.10923240e-03 5.00172297e-05 9.99986947e-01 2.28564832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.7203857229999 meters Centerline goodness : 0.999865 Centerline is valid? [True, True] Translation: X:426.71, Y:425.78, Z:22.86 [[ 4.16879096e-01 -9.08959502e-01 -2.10792883e-03 4.26705274e+02] [ 9.08947586e-01 4.16884425e-01 -4.65439485e-03 4.25781139e+02] [ 5.10941912e-03 2.43230930e-05 9.99986947e-01 2.28574018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.750385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:426.72, Y:425.81, Z:22.86 [[ 4.14359960e-01 -9.10110644e-01 -2.10708712e-03 4.26716033e+02] [ 9.10098740e-01 4.14365317e-01 -4.65477586e-03 4.25806353e+02] [ 5.10946488e-03 1.10954040e-05 9.99986947e-01 2.28553322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.780385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:426.73, Y:425.83, Z:22.86 [[ 4.09695681e-01 -9.12219828e-01 -2.10593308e-03 4.26726597e+02] [ 9.12207949e-01 4.09701093e-01 -4.65529792e-03 4.25832336e+02] [ 5.10945815e-03 -1.37934415e-05 9.99986947e-01 2.28561228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.810385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.74, Y:425.86, Z:22.86 [[ 4.07569090e-01 -9.13171948e-01 -2.10467542e-03 4.26737845e+02] [ 9.13160079e-01 4.07574524e-01 -4.65586644e-03 4.25858320e+02] [ 5.10941871e-03 -2.43183270e-05 9.99986947e-01 2.28564719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.8403857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.75, Y:425.88, Z:22.86 [[ 4.05685888e-01 -9.14010140e-01 -2.10341383e-03 4.26748338e+02] [ 9.13998280e-01 4.05691339e-01 -4.65643633e-03 4.25883180e+02] [ 5.10936680e-03 -3.34661115e-05 9.99986947e-01 2.28557872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.870385723 meters Centerline goodness : 0.999708 Centerline is valid? [True, True] Translation: X:426.76, Y:425.91, Z:22.85 [[ 4.02004255e-01 -9.15635386e-01 -2.10225788e-03 4.26759692e+02] [ 9.15623544e-01 4.02009749e-01 -4.65695815e-03 4.25909405e+02] [ 5.10920384e-03 -5.27598191e-05 9.99986947e-01 2.28537547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.900385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:426.77, Y:425.93, Z:22.86 [[ 4.01658992e-01 -9.15786897e-01 -2.10099315e-03 4.26771510e+02] [ 9.15775055e-01 4.01664483e-01 -4.65752867e-03 4.25934733e+02] [ 5.10919805e-03 -5.32988499e-05 9.99986947e-01 2.28576231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.930385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:426.78, Y:425.96, Z:22.86 [[ 4.01142531e-01 -9.16013243e-01 -2.09983934e-03 4.26782953e+02] [ 9.16001401e-01 4.01148023e-01 -4.65804880e-03 4.25960098e+02] [ 5.10918079e-03 -5.49142918e-05 9.99986947e-01 2.28588009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.960385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.79, Y:425.99, Z:22.86 [[ 4.01277524e-01 -9.15954117e-01 -2.09868804e-03 4.26794015e+02] [ 9.15942271e-01 4.01283009e-01 -4.65856747e-03 4.25985728e+02] [ 5.10920190e-03 -5.28986686e-05 9.99986947e-01 2.28592089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.990385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:426.81, Y:426.01, Z:22.86 [[ 4.03263077e-01 -9.15081686e-01 -2.09744364e-03 4.26805656e+02] [ 9.15069826e-01 4.03268529e-01 -4.65912767e-03 4.26011092e+02] [ 5.10931541e-03 -4.04532268e-05 9.99986947e-01 2.28601998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.020385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.82, Y:426.04, Z:22.86 [[ 4.04149038e-01 -9.14690746e-01 -2.09632843e-03 4.26816910e+02] [ 9.14678878e-01 4.04154473e-01 -4.65962939e-03 4.26037041e+02] [ 5.10936040e-03 -3.42825978e-05 9.99986947e-01 2.28610967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.050385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.83, Y:426.06, Z:22.86 [[ 4.05417137e-01 -9.14129398e-01 -2.09507796e-03 4.26828133e+02] [ 9.14117519e-01 4.05422550e-01 -4.66019156e-03 4.26062774e+02] [ 5.10940996e-03 -2.58259486e-05 9.99986947e-01 2.28608788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.080385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.84, Y:426.09, Z:22.86 [[ 4.05124014e-01 -9.14259345e-01 -2.09379614e-03 4.26839448e+02] [ 9.14247465e-01 4.05129423e-01 -4.66076741e-03 4.26087201e+02] [ 5.10940858e-03 -2.60590176e-05 9.99986947e-01 2.28607457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.110385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.85, Y:426.11, Z:22.86 [[ 4.01623806e-01 -9.15802348e-01 -2.09263036e-03 4.26846454e+02] [ 9.15790486e-01 4.01629255e-01 -4.66129077e-03 4.26111049e+02] [ 5.10928260e-03 -4.43256354e-05 9.99986947e-01 2.28604332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.140385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.86, Y:426.14, Z:22.86 [[ 4.03227714e-01 -9.15097391e-01 -2.04379103e-03 4.26864132e+02] [ 9.15085407e-01 4.03232893e-01 -4.68318590e-03 4.26137406e+02] [ 5.10969496e-03 1.81469917e-05 9.99986945e-01 2.28621073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.170385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.88, Y:426.16, Z:22.86 [[ 4.02200408e-01 -9.15549267e-01 -2.09092040e-03 4.26876180e+02] [ 9.15537398e-01 4.02205841e-01 -4.66204847e-03 4.26163233e+02] [ 5.10931545e-03 -3.92380275e-05 9.99986947e-01 2.28624769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.200385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.89, Y:426.19, Z:22.86 [[ 4.00184684e-01 -9.16432132e-01 -2.08963094e-03 4.26888539e+02] [ 9.16420272e-01 4.00190137e-01 -4.66262636e-03 4.26187642e+02] [ 5.10923030e-03 -4.90685027e-05 9.99986947e-01 2.28623294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.230385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.90, Y:426.21, Z:22.86 [[ 3.99520246e-01 -9.16721993e-01 -2.08846994e-03 4.26901048e+02] [ 9.16710134e-01 3.99525701e-01 -4.66314633e-03 4.26213060e+02] [ 5.10920621e-03 -5.15001939e-05 9.99986947e-01 2.28629698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.260385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.91, Y:426.24, Z:22.86 [[ 3.95271633e-01 -9.18561909e-01 -2.08720065e-03 4.26907127e+02] [ 9.18550072e-01 3.95277137e-01 -4.66371439e-03 4.26236594e+02] [ 5.10893309e-03 -7.37643036e-05 9.99986947e-01 2.28620232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.290385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.92, Y:426.26, Z:22.86 [[ 4.00336168e-01 -9.16366118e-01 -2.02254378e-03 4.26924475e+02] [ 9.16354103e-01 4.00341276e-01 -4.69259832e-03 4.26263652e+02] [ 5.10984587e-03 2.52505364e-05 9.99986944e-01 2.28628021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.320385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.93, Y:426.29, Z:22.86 [[ 4.02784667e-01 -9.15292392e-01 -2.08544047e-03 4.26934868e+02] [ 9.15280507e-01 4.02790064e-01 -4.66447787e-03 4.26290333e+02] [ 5.10935581e-03 -2.99828446e-05 9.99986947e-01 2.28620859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.3503857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.94, Y:426.32, Z:22.86 [[ 4.04073151e-01 -9.14724300e-01 -2.08414258e-03 4.26944852e+02] [ 9.14712404e-01 4.04078526e-01 -4.66505771e-03 4.26315185e+02] [ 5.10939891e-03 -2.13665021e-05 9.99986947e-01 2.28616497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.380385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.95, Y:426.34, Z:22.86 [[ 4.06479523e-01 -9.13657517e-01 -2.08298139e-03 4.26954664e+02] [ 9.13645605e-01 4.06484860e-01 -4.66557613e-03 4.26341614e+02] [ 5.10943910e-03 -6.64563637e-06 9.99986947e-01 2.28606023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.410385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.97, Y:426.37, Z:22.86 [[ 4.07425180e-01 -9.13236218e-01 -2.08170555e-03 4.26965473e+02] [ 9.13224297e-01 4.07430498e-01 -4.66614532e-03 4.26365940e+02] [ 5.10944323e-03 4.10074830e-08 9.99986947e-01 2.28600809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.440385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.98, Y:426.39, Z:22.86 [[ 4.08719355e-01 -9.12657746e-01 -2.08056425e-03 4.26977496e+02] [ 9.12645815e-01 4.08724650e-01 -4.66665415e-03 4.26391497e+02] [ 5.10943595e-03 8.53361534e-06 9.99986947e-01 2.28619092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.4703857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.99, Y:426.42, Z:22.86 [[ 4.09141091e-01 -9.12468764e-01 -2.07928812e-03 4.26988221e+02] [ 9.12456827e-01 4.09146374e-01 -4.66722268e-03 4.26417120e+02] [ 5.10942810e-03 1.22919402e-05 9.99986947e-01 2.28616529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.500385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.00, Y:426.44, Z:22.86 [[ 4.10435999e-01 -9.11887039e-01 -2.07802368e-03 4.26997237e+02] [ 9.11875093e-01 4.10441259e-01 -4.66778559e-03 4.26442729e+02] [ 5.10939984e-03 2.09292028e-05 9.99986947e-01 2.28601029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.530385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.01, Y:426.47, Z:22.86 [[ 4.10934863e-01 -9.11662342e-01 -2.07669067e-03 4.27008238e+02] [ 9.11650390e-01 4.10940109e-01 -4.66837857e-03 4.26468927e+02] [ 5.10938043e-03 2.51836439e-05 9.99986947e-01 2.28604732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.560385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.02, Y:426.49, Z:22.86 [[ 4.11358336e-01 -9.11471345e-01 -2.07542100e-03 4.27019639e+02] [ 9.11459387e-01 4.11363571e-01 -4.66894296e-03 4.26494455e+02] [ 5.10936031e-03 2.89466539e-05 9.99986947e-01 2.28606349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.5903857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.03, Y:426.52, Z:22.86 [[ 4.11225007e-01 -9.11531509e-01 -2.07415087e-03 4.27032227e+02] [ 9.11519549e-01 4.11230237e-01 -4.66950714e-03 4.26519610e+02] [ 5.10935644e-03 2.95890392e-05 9.99986947e-01 2.28612062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.620385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.04, Y:426.54, Z:22.86 [[ 4.10860559e-01 -9.11695840e-01 -2.07287153e-03 4.27043845e+02] [ 9.11683879e-01 4.10865787e-01 -4.67007499e-03 4.26544919e+02] [ 5.10935993e-03 2.89460625e-05 9.99986947e-01 2.28612167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.650385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.05, Y:426.57, Z:22.86 [[ 4.09668380e-01 -9.12232167e-01 -2.07159081e-03 4.27054886e+02] [ 9.12220211e-01 4.09673617e-01 -4.67064303e-03 4.26570270e+02] [ 5.10938692e-03 2.36677604e-05 9.99986947e-01 2.28608215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.680385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.07, Y:426.60, Z:22.86 [[ 4.08320750e-01 -9.12836173e-01 -2.07030488e-03 4.27066330e+02] [ 9.12824221e-01 4.08325998e-01 -4.67121296e-03 4.26595367e+02] [ 5.10941147e-03 1.75287424e-05 9.99986947e-01 2.28610419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.710385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.08, Y:426.62, Z:22.86 [[ 4.04923329e-01 -9.14348302e-01 -2.06914691e-03 4.27079368e+02] [ 9.14336367e-01 4.04928615e-01 -4.67172584e-03 4.26620047e+02] [ 5.10944138e-03 -2.05493120e-07 9.99986947e-01 2.28620309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.740385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.09, Y:426.65, Z:22.86 [[ 4.02943492e-01 -9.15222523e-01 -2.06788453e-03 4.27091817e+02] [ 9.15210597e-01 4.02948798e-01 -4.67228455e-03 4.26645368e+02] [ 5.10943164e-03 -9.88317816e-06 9.99986947e-01 2.28628499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.770385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.10, Y:426.67, Z:22.86 [[ 3.99021945e-01 -9.16939048e-01 -2.06662522e-03 4.27104641e+02] [ 9.16927141e-01 3.99027295e-01 -4.67284149e-03 4.26670636e+02] [ 5.10935070e-03 -3.03784568e-05 9.99986947e-01 2.28643973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.800385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.12, Y:426.70, Z:22.87 [[ 3.96901709e-01 -9.17858795e-01 -2.06537222e-03 4.27116553e+02] [ 9.17846898e-01 3.96907081e-01 -4.67339525e-03 4.26696473e+02] [ 5.10927779e-03 -4.08169215e-05 9.99986947e-01 2.28653908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.830385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.13, Y:426.72, Z:22.87 [[ 3.95025840e-01 -9.18667690e-01 -2.06409393e-03 4.27128110e+02] [ 9.18655802e-01 3.95031229e-01 -4.67395976e-03 4.26721710e+02] [ 5.10919738e-03 -4.98569856e-05 9.99986947e-01 2.28660533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.860385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.14, Y:426.75, Z:22.87 [[ 3.88580833e-01 -9.21412330e-01 -2.06279857e-03 4.27135137e+02] [ 9.21400476e-01 3.88586299e-01 -4.67453138e-03 4.26745753e+02] [ 5.10874611e-03 -8.42302886e-05 9.99986947e-01 2.28655430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.890385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.15, Y:426.77, Z:22.87 [[ 3.88801156e-01 -9.21319490e-01 -2.01454020e-03 4.27151524e+02] [ 9.21307524e-01 3.88806374e-01 -4.69579855e-03 4.26772893e+02] [ 5.10959680e-03 -3.02791392e-05 9.99986945e-01 2.28663966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.920385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.16, Y:426.80, Z:22.87 [[ 3.87615648e-01 -9.21818778e-01 -2.06143005e-03 4.27162784e+02] [ 9.21806927e-01 3.87621120e-01 -4.67512314e-03 4.26798448e+02] [ 5.10867012e-03 -8.80896197e-05 9.99986947e-01 2.28670353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.950385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.17, Y:426.82, Z:22.87 [[ 3.86620704e-01 -9.22236514e-01 -2.06017644e-03 4.27173797e+02] [ 9.22224665e-01 3.86626182e-01 -4.67567550e-03 4.26824013e+02] [ 5.10859682e-03 -9.22325721e-05 9.99986947e-01 2.28670627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.980385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.18, Y:426.85, Z:22.87 [[ 3.85565259e-01 -9.22678271e-01 -2.05889753e-03 4.27183973e+02] [ 9.22666426e-01 3.85570744e-01 -4.67623859e-03 4.26850340e+02] [ 5.10851439e-03 -9.66804847e-05 9.99986947e-01 2.28665254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.010385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:427.20, Y:426.88, Z:22.86 [[ 3.85272777e-01 -9.22800441e-01 -2.05759733e-03 4.27195046e+02] [ 9.22788595e-01 3.85278259e-01 -4.67681062e-03 4.26876906e+02] [ 5.10851042e-03 -9.68795286e-05 9.99986947e-01 2.28645124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.040385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.21, Y:426.90, Z:22.87 [[ 3.86325504e-01 -9.22360225e-01 -2.05455042e-03 4.27206026e+02] [ 9.22348365e-01 3.86330957e-01 -4.67815036e-03 4.26903890e+02] [ 5.10867625e-03 -8.77224290e-05 9.99986947e-01 2.28652475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.070385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.22, Y:426.93, Z:22.87 [[ 3.86935948e-01 -9.22104296e-01 -2.05903754e-03 4.27215894e+02] [ 9.22092443e-01 3.86941417e-01 -4.67617828e-03 4.26929115e+02] [ 5.10865098e-03 -8.92414816e-05 9.99986947e-01 2.28663569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.1003857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.23, Y:426.96, Z:22.87 [[ 3.88686363e-01 -9.21367836e-01 -2.05469809e-03 4.27225058e+02] [ 9.21355963e-01 3.88691787e-01 -4.67808424e-03 4.26956242e+02] [ 5.10888063e-03 -7.48007890e-05 9.99986947e-01 2.28676273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.130385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.24, Y:426.98, Z:22.87 [[ 3.90323653e-01 -9.20675420e-01 -2.05343026e-03 4.27235938e+02] [ 9.20663534e-01 3.90329050e-01 -4.67864069e-03 4.26983542e+02] [ 5.10902296e-03 -6.43342365e-05 9.99986947e-01 2.28676130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.160385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.24, Y:427.01, Z:22.87 [[ 3.89267843e-01 -9.21122301e-01 -2.06228084e-03 4.27242299e+02] [ 9.21110442e-01 3.89273297e-01 -4.67475709e-03 4.27008530e+02] [ 5.10881387e-03 -7.98558141e-05 9.99986947e-01 2.28685036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.190385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.25, Y:427.03, Z:22.87 [[ 3.89067198e-01 -9.21207139e-01 -2.03064795e-03 4.27253755e+02] [ 9.21195208e-01 3.89072494e-01 -4.68862601e-03 4.27034704e+02] [ 5.10926501e-03 -4.64325779e-05 9.99986947e-01 2.28686356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.2203857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.26, Y:427.06, Z:22.87 [[ 3.92050732e-01 -9.19941360e-01 -2.02909745e-03 4.27264139e+02] [ 9.19929409e-01 3.92055982e-01 -4.68930530e-03 4.27061445e+02] [ 5.10940570e-03 -2.81808441e-05 9.99986947e-01 2.28691370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.250385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.27, Y:427.09, Z:22.87 [[ 3.94330599e-01 -9.18966356e-01 -2.05307822e-03 4.27273524e+02] [ 9.18954446e-01 3.94335942e-01 -4.67879785e-03 4.27088203e+02] [ 5.10926034e-03 -4.16921978e-05 9.99986947e-01 2.28701012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.280385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.28, Y:427.11, Z:22.87 [[ 3.95442425e-01 -9.18488452e-01 -2.06215972e-03 4.27283970e+02] [ 9.18476556e-01 3.95447799e-01 -4.67481986e-03 4.27114161e+02] [ 5.10924458e-03 -4.54232556e-05 9.99986947e-01 2.28702043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.310385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.29, Y:427.14, Z:22.87 [[ 3.95575747e-01 -9.18431020e-01 -2.07148599e-03 4.27290953e+02] [ 9.18419144e-01 3.95581167e-01 -4.67073439e-03 4.27138960e+02] [ 5.10918819e-03 -5.48631465e-05 9.99986947e-01 2.28722165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.3403857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.30, Y:427.17, Z:22.87 [[ 3.96668633e-01 -9.17959584e-01 -2.04891350e-03 4.27304514e+02] [ 9.17947651e-01 3.96673923e-01 -4.68061537e-03 4.27167232e+02] [ 5.10936630e-03 -2.41420343e-05 9.99986947e-01 2.28723201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.370385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.31, Y:427.19, Z:22.87 [[ 3.96351490e-01 -9.18096497e-01 -2.07845533e-03 4.27314641e+02] [ 9.18084633e-01 3.96356935e-01 -4.66768658e-03 4.27193297e+02] [ 5.10919688e-03 -5.81533710e-05 9.99986946e-01 2.28723419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.400385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.32, Y:427.22, Z:22.87 [[ 3.94729755e-01 -9.18794921e-01 -2.07705423e-03 4.27319855e+02] [ 9.18783064e-01 3.94735214e-01 -4.66829921e-03 4.27218093e+02] [ 5.10909605e-03 -6.56456483e-05 9.99986946e-01 2.28734871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.430385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.33, Y:427.24, Z:22.87 [[ 3.94467274e-01 -9.18907715e-01 -2.04467771e-03 4.27328945e+02] [ 9.18895786e-01 3.94472572e-01 -4.68243706e-03 4.27244954e+02] [ 5.10929682e-03 -3.17775482e-05 9.99986947e-01 2.28723562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.460385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.34, Y:427.27, Z:22.87 [[ 3.96723905e-01 -9.17935710e-01 -2.04340782e-03 4.27344763e+02] [ 9.17923765e-01 3.96729167e-01 -4.68299117e-03 4.27273534e+02] [ 5.10936431e-03 -1.78380503e-05 9.99986947e-01 2.28714106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.490385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.35, Y:427.30, Z:22.87 [[ 3.94068854e-01 -9.19078528e-01 -2.09691305e-03 4.27349942e+02] [ 9.19066721e-01 3.94074423e-01 -4.65963844e-03 4.27296176e+02] [ 5.10891344e-03 -9.09846189e-05 9.99986945e-01 2.28720640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.520385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.36, Y:427.32, Z:22.87 [[ 3.95570958e-01 -9.18433150e-01 -2.04099118e-03 4.27364346e+02] [ 9.18421206e-01 3.95576223e-01 -4.68400564e-03 4.27324905e+02] [ 5.10931364e-03 -2.16329848e-05 9.99986947e-01 2.28700665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.550385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.37, Y:427.35, Z:22.87 [[ 3.91972244e-01 -9.19974708e-01 -2.07270255e-03 4.27374278e+02] [ 9.19962857e-01 3.91977717e-01 -4.67021092e-03 4.27352741e+02] [ 5.10892915e-03 -7.62163025e-05 9.99986946e-01 2.28701380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.580385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.39, Y:427.38, Z:22.87 [[ 3.90900618e-01 -9.20430535e-01 -2.08242790e-03 4.27385467e+02] [ 9.20418713e-01 3.90906154e-01 -4.66598228e-03 4.27377904e+02] [ 5.10874645e-03 -9.27702460e-05 9.99986946e-01 2.28679251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.610385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.39, Y:427.40, Z:22.87 [[ 3.87245455e-01 -9.21974298e-01 -2.08628908e-03 4.27394772e+02] [ 9.21962507e-01 3.87251057e-01 -4.66430335e-03 4.27403486e+02] [ 5.10828546e-03 -1.17250043e-04 9.99986946e-01 2.28695204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.640385723 meters Centerline goodness : 0.996350 Centerline is valid? [True, True] Translation: X:427.41, Y:427.43, Z:22.87 [[ 3.84549692e-01 -9.23101972e-01 -2.06954957e-03 4.27410424e+02] [ 9.23090158e-01 3.84555244e-01 -4.67159705e-03 4.27431046e+02] [ 5.10821659e-03 -1.13919634e-04 9.99986947e-01 2.28680213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.670385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.42, Y:427.45, Z:22.87 [[ 3.79651232e-01 -9.25127228e-01 -2.13382640e-03 4.27416408e+02] [ 9.25115598e-01 3.79657170e-01 -4.64357126e-03 4.27453924e+02] [ 5.10601670e-03 -2.11098539e-04 9.99986942e-01 2.28702872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.700385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.42, Y:427.48, Z:22.87 [[ 3.74141853e-01 -9.27369172e-01 -2.07173350e-03 4.27424361e+02] [ 9.27357428e-01 3.74147549e-01 -4.67046207e-03 4.27480900e+02] [ 5.10637655e-03 -1.73822114e-04 9.99986947e-01 2.28698510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.730385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.43, Y:427.51, Z:22.87 [[ 3.72722129e-01 -9.27940712e-01 -2.06141144e-03 4.27434453e+02] [ 9.27928952e-01 3.72727790e-01 -4.67492736e-03 4.27507888e+02] [ 5.10640075e-03 -1.70394479e-04 9.99986948e-01 2.28698513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.760385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.44, Y:427.53, Z:22.87 [[ 3.70190029e-01 -9.28953746e-01 -2.06903356e-03 4.27437907e+02] [ 9.28942019e-01 3.70195761e-01 -4.67163495e-03 4.27532193e+02] [ 5.10568024e-03 -1.92619538e-04 9.99986947e-01 2.28705576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.790385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:427.45, Y:427.56, Z:22.87 [[ 3.70160213e-01 -9.28965727e-01 -2.02358481e-03 4.27447502e+02] [ 9.28953893e-01 3.70165717e-01 -4.69123946e-03 4.27558048e+02] [ 5.10706240e-03 -1.43306791e-04 9.99986949e-01 2.28707108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.820385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:427.46, Y:427.59, Z:22.87 [[ 3.72557801e-01 -9.28006786e-01 -2.02244245e-03 4.27461050e+02] [ 9.27994935e-01 3.72563268e-01 -4.69173189e-03 4.27585304e+02] [ 5.10744680e-03 -1.28875038e-04 9.99986949e-01 2.28688294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.8503857229999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:427.46, Y:427.61, Z:22.87 [[ 3.71691922e-01 -9.28353879e-01 -2.04689135e-03 4.27463984e+02] [ 9.28342091e-01 3.71697524e-01 -4.68120251e-03 4.27612705e+02] [ 5.10663695e-03 -1.60250239e-04 9.99986948e-01 2.28721324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.880385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.48, Y:427.64, Z:22.87 [[ 3.73765537e-01 -9.27521023e-01 -2.01890263e-03 4.27477368e+02] [ 9.27509156e-01 3.73770970e-01 -4.69324248e-03 4.27641285e+02] [ 5.10768826e-03 -1.18378382e-04 9.99986949e-01 2.28714509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.910385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.48, Y:427.67, Z:22.87 [[ 3.75024823e-01 -9.27012480e-01 -2.06019386e-03 4.27480826e+02] [ 9.27000703e-01 3.75030449e-01 -4.67547145e-03 4.27665628e+02] [ 5.10685582e-03 -1.56383306e-04 9.99986948e-01 2.28725148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.940385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:427.49, Y:427.69, Z:22.87 [[ 3.76216101e-01 -9.26529749e-01 -2.01750611e-03 4.27489991e+02] [ 9.26517865e-01 3.76221496e-01 -4.69381959e-03 4.27692182e+02] [ 5.10799265e-03 -1.03364952e-04 9.99986949e-01 2.28727520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.9703857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.50, Y:427.72, Z:22.87 [[ 3.78496680e-01 -9.25600453e-01 -2.01622057e-03 4.27497250e+02] [ 9.25588553e-01 3.78502040e-01 -4.69437173e-03 4.27720058e+02] [ 5.10825619e-03 -8.93865608e-05 9.99986949e-01 2.28731316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.000385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.51, Y:427.75, Z:22.87 [[ 3.79471291e-01 -9.25201319e-01 -2.01493822e-03 4.27506560e+02] [ 9.25189410e-01 3.79476631e-01 -4.69492208e-03 4.27746832e+02] [ 5.10837006e-03 -8.26113654e-05 9.99986949e-01 2.28731477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.030385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.52, Y:427.77, Z:22.87 [[ 3.80673364e-01 -9.24707378e-01 -2.01365360e-03 4.27516365e+02] [ 9.24695460e-01 3.80678682e-01 -4.69547298e-03 4.27774305e+02] [ 5.10849351e-03 -7.45748523e-05 9.99986949e-01 2.28732626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.060385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.52, Y:427.80, Z:22.87 [[ 3.82829709e-01 -9.23816730e-01 -2.01590359e-03 4.27524454e+02] [ 9.23804804e-01 3.82835012e-01 -4.69450838e-03 4.27800459e+02] [ 5.10862385e-03 -6.51041475e-05 9.99986949e-01 2.28735387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.0903857229999 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:427.53, Y:427.83, Z:22.87 [[ 3.83651110e-01 -9.23475921e-01 -2.01240607e-03 4.27533867e+02] [ 9.23463983e-01 3.83656383e-01 -4.69600719e-03 4.27825763e+02] [ 5.10872200e-03 -5.67561516e-05 9.99986949e-01 2.28738621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.120385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:427.54, Y:427.85, Z:22.87 [[ 3.83707402e-01 -9.23452535e-01 -2.01126363e-03 4.27543700e+02] [ 9.23440594e-01 3.83712670e-01 -4.69649643e-03 4.27852081e+02] [ 5.10873888e-03 -5.52020379e-05 9.99986949e-01 2.28740198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.150385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.55, Y:427.88, Z:22.87 [[ 3.83903478e-01 -9.23371041e-01 -2.01000942e-03 4.27552334e+02] [ 9.23359096e-01 3.83908736e-01 -4.69703315e-03 4.27877963e+02] [ 5.10876457e-03 -5.27531189e-05 9.99986949e-01 2.28732735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.180385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.56, Y:427.90, Z:22.87 [[ 3.84116428e-01 -9.23282479e-01 -2.00868642e-03 4.27562713e+02] [ 9.23270529e-01 3.84121676e-01 -4.69759887e-03 4.27904019e+02] [ 5.10879072e-03 -5.01360791e-05 9.99986949e-01 2.28743146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.210385723 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:427.57, Y:427.93, Z:22.87 [[ 3.83930887e-01 -9.23359651e-01 -2.00741046e-03 4.27572635e+02] [ 9.23347700e-01 3.83936131e-01 -4.69814405e-03 4.27929591e+02] [ 5.10879406e-03 -4.97752205e-05 9.99986949e-01 2.28728772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.240385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:427.58, Y:427.96, Z:22.88 [[ 3.85021999e-01 -9.22905215e-01 -2.00627480e-03 4.27582801e+02] [ 9.22893255e-01 3.85027223e-01 -4.69862897e-03 4.27956256e+02] [ 5.10885960e-03 -4.25019595e-05 9.99986949e-01 2.28751277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.270385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.59, Y:427.98, Z:22.88 [[ 3.85644053e-01 -9.22645460e-01 -2.00500186e-03 4.27592700e+02] [ 9.22633494e-01 3.85649263e-01 -4.69917210e-03 4.27982038e+02] [ 5.10889729e-03 -3.76740966e-05 9.99986949e-01 2.28751742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.300385723 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:427.60, Y:428.01, Z:22.87 [[ 3.85215703e-01 -9.22824386e-01 -2.00372713e-03 4.27602870e+02] [ 9.22812420e-01 3.85220912e-01 -4.69971558e-03 4.28007809e+02] [ 5.10888974e-03 -3.86600410e-05 9.99986949e-01 2.28733928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.330385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.61, Y:428.03, Z:22.87 [[ 3.85935307e-01 -9.22523674e-01 -2.00245060e-03 4.27613507e+02] [ 9.22511701e-01 3.85940500e-01 -4.70025942e-03 4.28032231e+02] [ 5.10892738e-03 -3.32880431e-05 9.99986949e-01 2.28744510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.360385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:427.62, Y:428.06, Z:22.87 [[ 3.86059634e-01 -9.22471655e-01 -2.00129984e-03 4.27624969e+02] [ 9.22459678e-01 3.86064820e-01 -4.70074935e-03 4.28057997e+02] [ 5.10893949e-03 -3.13488302e-05 9.99986949e-01 2.28744145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.390385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:427.64, Y:428.08, Z:22.87 [[ 3.86094609e-01 -9.22457020e-01 -1.99999360e-03 4.27635608e+02] [ 9.22445040e-01 3.86099788e-01 -4.70130504e-03 4.28082451e+02] [ 5.10894894e-03 -2.97356468e-05 9.99986949e-01 2.28723316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.420385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.65, Y:428.11, Z:22.87 [[ 3.86228853e-01 -9.22400823e-01 -1.99882349e-03 4.27647383e+02] [ 9.22388840e-01 3.86234025e-01 -4.70180247e-03 4.28107993e+02] [ 5.10896011e-03 -2.77207047e-05 9.99986949e-01 2.28743701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.450385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.65, Y:428.13, Z:22.87 [[ 3.82683437e-01 -9.23877371e-01 -1.99752278e-03 4.27654308e+02] [ 9.23865405e-01 3.82688648e-01 -4.70235500e-03 4.28130595e+02] [ 5.10882867e-03 -4.59288143e-05 9.99986949e-01 2.28737410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.480385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.67, Y:428.16, Z:22.87 [[ 3.82047973e-01 -9.24140466e-01 -1.93521762e-03 4.27666226e+02] [ 9.24128368e-01 3.82052874e-01 -4.72877575e-03 4.28156298e+02] [ 5.10940848e-03 1.82296901e-05 9.99986947e-01 2.28718541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.510385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:427.68, Y:428.18, Z:22.87 [[ 3.83285134e-01 -9.23628019e-01 -1.94639856e-03 4.27678360e+02] [ 9.23615938e-01 3.83290075e-01 -4.72402776e-03 4.28180876e+02] [ 5.10927965e-03 1.29248769e-05 9.99986947e-01 2.28746415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.540385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:427.69, Y:428.21, Z:22.87 [[ 3.85214613e-01 -9.22824976e-01 -1.94067757e-03 4.27694551e+02] [ 9.22812872e-01 3.85219500e-01 -4.72645150e-03 4.28207498e+02] [ 5.10927433e-03 2.98159374e-05 9.99986947e-01 2.28722491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.570385723 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:427.71, Y:428.23, Z:22.87 [[ 3.85182053e-01 -9.22838490e-01 -1.97675019e-03 4.27705160e+02] [ 9.22826464e-01 3.85187126e-01 -4.71117273e-03 4.28232153e+02] [ 5.10907025e-03 -9.53819781e-06 9.99986949e-01 2.28725709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.6003857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.72, Y:428.26, Z:22.87 [[ 3.85704262e-01 -9.22620388e-01 -1.96006817e-03 4.27719478e+02] [ 9.22608324e-01 3.85709242e-01 -4.71824332e-03 4.28257458e+02] [ 5.10916389e-03 1.14713511e-05 9.99986948e-01 2.28718293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.630385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.73, Y:428.28, Z:22.87 [[ 3.85371458e-01 -9.22759428e-01 -1.96900167e-03 4.27733540e+02] [ 9.22747385e-01 3.85376488e-01 -4.71445864e-03 4.28282456e+02] [ 5.10911811e-03 -7.33415921e-08 9.99986948e-01 2.28726168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.660385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.75, Y:428.31, Z:22.87 [[ 3.86341701e-01 -9.22353629e-01 -1.96820409e-03 4.27747670e+02] [ 9.22341578e-01 3.86346714e-01 -4.71479642e-03 4.28307903e+02] [ 5.10911877e-03 6.16599912e-06 9.99986948e-01 2.28720155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.690385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.76, Y:428.33, Z:22.87 [[ 3.86304192e-01 -9.22369287e-01 -1.99228315e-03 4.27760300e+02] [ 9.22357289e-01 3.86309329e-01 -4.70459952e-03 4.28332536e+02] [ 5.10901568e-03 -2.01903674e-05 9.99986949e-01 2.28724935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.7203857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.77, Y:428.36, Z:22.87 [[ 3.86706766e-01 -9.22200582e-01 -1.99104499e-03 4.27774783e+02] [ 9.22188579e-01 3.86711892e-01 -4.70512347e-03 4.28356599e+02] [ 5.10902838e-03 -1.66158697e-05 9.99986949e-01 2.28744339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.750385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.79, Y:428.38, Z:22.88 [[ 3.86889337e-01 -9.22124006e-01 -1.98977164e-03 4.27788025e+02] [ 9.22111999e-01 3.86894453e-01 -4.70566190e-03 4.28382154e+02] [ 5.10903541e-03 -1.42218971e-05 9.99986949e-01 2.28755689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.780385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.80, Y:428.41, Z:22.88 [[ 3.88646734e-01 -9.21384698e-01 -1.98851556e-03 4.27804712e+02] [ 9.21372679e-01 3.88651821e-01 -4.70619264e-03 4.28406702e+02] [ 5.10905408e-03 -3.11750806e-06 9.99986949e-01 2.28763862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.810385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.82, Y:428.43, Z:22.88 [[ 3.88748841e-01 -9.21341603e-01 -1.99728163e-03 4.27816286e+02] [ 9.21329603e-01 3.88753971e-01 -4.70249057e-03 4.28431585e+02] [ 5.10905136e-03 -1.20669378e-05 9.99986949e-01 2.28775722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.8403857229999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:427.83, Y:428.45, Z:22.87 [[ 3.91461841e-01 -9.20192199e-01 -1.98607143e-03 4.27830261e+02] [ 9.20180159e-01 3.91466879e-01 -4.70722038e-03 4.28453587e+02] [ 5.10902865e-03 1.51536265e-05 9.99986949e-01 2.28747625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.870385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:427.84, Y:428.48, Z:22.88 [[ 3.91290758e-01 -9.20264993e-01 -1.97140614e-03 4.27843259e+02] [ 9.20252922e-01 3.91295723e-01 -4.71340206e-03 4.28479960e+02] [ 5.10898170e-03 3.01184065e-05 9.99986949e-01 2.28764442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.900385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:427.86, Y:428.50, Z:22.88 [[ 3.93800453e-01 -9.19193814e-01 -1.98384051e-03 4.27858890e+02] [ 9.19181757e-01 3.93805449e-01 -4.70816269e-03 4.28504011e+02] [ 5.10896123e-03 3.05665992e-05 9.99986949e-01 2.28765089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.930385723 meters Centerline goodness : 0.999780 Centerline is valid? [True, True] Translation: X:427.87, Y:428.53, Z:22.87 [[ 3.94047227e-01 -9.19088055e-01 -1.98254255e-03 4.27871628e+02] [ 9.19075994e-01 3.94052213e-01 -4.70870918e-03 4.28528947e+02] [ 5.10894364e-03 3.33465326e-05 9.99986949e-01 2.28741081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.960385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.89, Y:428.55, Z:22.88 [[ 3.95147024e-01 -9.18615754e-01 -1.98126415e-03 4.27885287e+02] [ 9.18603684e-01 3.95151989e-01 -4.70924703e-03 4.28554056e+02] [ 5.10888898e-03 4.08484012e-05 9.99986949e-01 2.28772877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.990385723 meters Centerline goodness : 0.999713 Centerline is valid? [True, True] Translation: X:427.90, Y:428.58, Z:22.88 [[ 3.95422208e-01 -9.18497336e-01 -1.98003172e-03 4.27901673e+02] [ 9.18485262e-01 3.95427163e-01 -4.70976515e-03 4.28577845e+02] [ 5.10886508e-03 4.37157793e-05 9.99986949e-01 2.28779230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.020385723 meters Centerline goodness : 0.999778 Centerline is valid? [True, True] Translation: X:427.92, Y:428.60, Z:22.88 [[ 3.95108090e-01 -9.18632507e-01 -1.97874579e-03 4.27915572e+02] [ 9.18620431e-01 3.95113042e-01 -4.71030536e-03 4.28602575e+02] [ 5.10886789e-03 4.33634396e-05 9.99986949e-01 2.28789888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.050385723 meters Centerline goodness : 0.999822 Centerline is valid? [True, True] Translation: X:427.93, Y:428.63, Z:22.88 [[ 3.94040958e-01 -9.19090754e-01 -1.97743644e-03 4.27931787e+02] [ 9.19078682e-01 3.94045917e-01 -4.71085497e-03 4.28625488e+02] [ 5.10890400e-03 3.88501273e-05 9.99986949e-01 2.28792952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.080385723 meters Centerline goodness : 0.999822 Centerline is valid? [True, True] Translation: X:427.94, Y:428.65, Z:22.88 [[ 3.93787781e-01 -9.19199258e-01 -1.97654832e-03 4.27942791e+02] [ 9.19187186e-01 3.93792740e-01 -4.71122757e-03 4.28651879e+02] [ 5.10890727e-03 3.84059624e-05 9.99986949e-01 2.28794409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.110385723 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:427.96, Y:428.68, Z:22.88 [[ 3.93080081e-01 -9.19502120e-01 -1.97525046e-03 4.27955809e+02] [ 9.19490048e-01 3.93085042e-01 -4.71177166e-03 4.28676099e+02] [ 5.10892544e-03 3.58804456e-05 9.99986949e-01 2.28786281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.140385723 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:427.97, Y:428.70, Z:22.88 [[ 3.92348004e-01 -9.19814735e-01 -1.97407968e-03 4.27969143e+02] [ 9.19802665e-01 3.92352969e-01 -4.71226213e-03 4.28701139e+02] [ 5.10894416e-03 3.30828900e-05 9.99986949e-01 2.28794781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.170385723 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:427.99, Y:428.73, Z:22.88 [[ 3.91297249e-01 -9.20262229e-01 -1.97278864e-03 4.27985370e+02] [ 9.20250162e-01 3.91302221e-01 -4.71280256e-03 4.28725008e+02] [ 5.10897077e-03 2.86476148e-05 9.99986949e-01 2.28790142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.200385723 meters Centerline goodness : 0.999820 Centerline is valid? [True, True] Translation: X:428.00, Y:428.75, Z:22.88 [[ 3.90887432e-01 -9.20436380e-01 -1.97151991e-03 4.27998058e+02] [ 9.20424312e-01 3.90892403e-01 -4.71333325e-03 4.28750655e+02] [ 5.10897555e-03 2.77478729e-05 9.99986949e-01 2.28791961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.230385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:428.01, Y:428.78, Z:22.88 [[ 3.92926315e-01 -9.19567849e-01 -1.97021881e-03 4.28007407e+02] [ 9.19555768e-01 3.92931253e-01 -4.71387706e-03 4.28776055e+02] [ 5.10889033e-03 4.04802689e-05 9.99986949e-01 2.28795216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.260385723 meters Centerline goodness : 0.999798 Centerline is valid? [True, True] Translation: X:428.02, Y:428.80, Z:22.88 [[ 3.92692969e-01 -9.19667524e-01 -1.96904847e-03 4.28017256e+02] [ 9.19655442e-01 3.92697903e-01 -4.71436588e-03 4.28802788e+02] [ 5.10889040e-03 4.04521899e-05 9.99986949e-01 2.28795421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.290385723 meters Centerline goodness : 0.999844 Centerline is valid? [True, True] Translation: X:428.02, Y:428.83, Z:22.88 [[ 3.91295685e-01 -9.20262905e-01 -1.96773211e-03 4.28024702e+02] [ 9.20250827e-01 3.91300632e-01 -4.71491525e-03 4.28829719e+02] [ 5.10893642e-03 3.41188903e-05 9.99986949e-01 2.28774950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.320385723 meters Centerline goodness : 0.999799 Centerline is valid? [True, True] Translation: X:428.03, Y:428.86, Z:22.88 [[ 3.89356538e-01 -9.21085022e-01 -1.96674666e-03 4.28033552e+02] [ 9.21072953e-01 3.89361504e-01 -4.71532628e-03 4.28856508e+02] [ 5.10899185e-03 2.44259631e-05 9.99986949e-01 2.28752386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.3503857229999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:428.04, Y:428.88, Z:22.88 [[ 3.85960640e-01 -9.22513155e-01 -1.96548803e-03 4.28044028e+02] [ 9.22501101e-01 3.85965645e-01 -4.71585085e-03 4.28881677e+02] [ 5.10904530e-03 6.96794403e-06 9.99986949e-01 2.28779044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.380385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:428.06, Y:428.91, Z:22.88 [[ 3.83721792e-01 -9.23446656e-01 -1.96468594e-03 4.28055565e+02] [ 9.23434613e-01 3.83726822e-01 -4.71618499e-03 4.28907227e+02] [ 5.10904795e-03 -4.55604165e-06 9.99986949e-01 2.28799903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.410385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.07, Y:428.93, Z:22.88 [[ 3.81783898e-01 -9.24249533e-01 -1.96350224e-03 4.28066348e+02] [ 9.24237498e-01 3.81788947e-01 -4.71667775e-03 4.28932427e+02] [ 5.10903066e-03 -1.39907818e-05 9.99986949e-01 2.28808400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.440385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.08, Y:428.96, Z:22.88 [[ 3.78168073e-01 -9.25734875e-01 -1.96212343e-03 4.28076290e+02] [ 9.25722857e-01 3.78173162e-01 -4.71725126e-03 4.28958919e+02] [ 5.10894643e-03 -3.24686856e-05 9.99986949e-01 2.28799672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.4703857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.09, Y:428.99, Z:22.88 [[ 3.75077171e-01 -9.26991516e-01 -1.96084334e-03 4.28086199e+02] [ 9.26979512e-01 3.75082293e-01 -4.71778331e-03 4.28985155e+02] [ 5.10882271e-03 -4.81287848e-05 9.99986949e-01 2.28787940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.500385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.10, Y:429.01, Z:22.88 [[ 3.73943379e-01 -9.27449465e-01 -1.95956955e-03 4.28096134e+02] [ 9.27437464e-01 3.73948510e-01 -4.71831232e-03 4.29011462e+02] [ 5.10877435e-03 -5.29965654e-05 9.99986949e-01 2.28786634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.530385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:428.11, Y:429.04, Z:22.88 [[ 3.73216102e-01 -9.27742371e-01 -1.95827221e-03 4.28106057e+02] [ 9.27730372e-01 3.73221235e-01 -4.71885070e-03 4.29037277e+02] [ 5.10874651e-03 -5.55975448e-05 9.99986949e-01 2.28778843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.560385723 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:428.12, Y:429.06, Z:22.88 [[ 3.72837703e-01 -9.27894507e-01 -1.95742268e-03 4.28116752e+02] [ 9.27882508e-01 3.72842837e-01 -4.71920307e-03 4.29062167e+02] [ 5.10873363e-03 -5.67614338e-05 9.99986949e-01 2.28783692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.5903857229999 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:428.13, Y:429.09, Z:22.88 [[ 3.72994640e-01 -9.27831435e-01 -1.95628722e-03 4.28128051e+02] [ 9.27819433e-01 3.72999766e-01 -4.71967372e-03 4.29088331e+02] [ 5.10875631e-03 -5.46683040e-05 9.99986949e-01 2.28808343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.620385723 meters Centerline goodness : 0.999709 Centerline is valid? [True, True] Translation: X:428.14, Y:429.12, Z:22.88 [[ 3.74123675e-01 -9.27376759e-01 -1.95502329e-03 4.28139089e+02] [ 9.27364748e-01 3.74128781e-01 -4.72019722e-03 4.29115016e+02] [ 5.10883167e-03 -4.70821479e-05 9.99986949e-01 2.28827271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.650385723 meters Centerline goodness : 0.999776 Centerline is valid? [True, True] Translation: X:428.15, Y:429.14, Z:22.88 [[ 3.74788173e-01 -9.27108412e-01 -1.95387985e-03 4.28149345e+02] [ 9.27096394e-01 3.74793264e-01 -4.72067048e-03 4.29140804e+02] [ 5.10887432e-03 -4.21834930e-05 9.99986949e-01 2.28825869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.680385723 meters Centerline goodness : 0.999687 Centerline is valid? [True, True] Translation: X:428.16, Y:429.17, Z:22.88 [[ 3.75373323e-01 -9.26871650e-01 -1.95256762e-03 4.28159355e+02] [ 9.26859627e-01 3.75378400e-01 -4.72121319e-03 4.29166016e+02] [ 5.10891036e-03 -3.75386076e-05 9.99986949e-01 2.28808356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.710385723 meters Centerline goodness : 0.999598 Centerline is valid? [True, True] Translation: X:428.17, Y:429.19, Z:22.88 [[ 3.76155743e-01 -9.26554396e-01 -1.95140333e-03 4.28169955e+02] [ 9.26542366e-01 3.76160803e-01 -4.72169437e-03 4.29191842e+02] [ 5.10894812e-03 -3.19654119e-05 9.99986949e-01 2.28787317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.740385723 meters Centerline goodness : 0.999576 Centerline is valid? [True, True] Translation: X:428.18, Y:429.22, Z:22.88 [[ 3.76691135e-01 -9.26336864e-01 -1.95013867e-03 4.28182021e+02] [ 9.26324828e-01 3.76696181e-01 -4.72221664e-03 4.29217795e+02] [ 5.10897314e-03 -2.76447299e-05 9.99986949e-01 2.28819255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.770385723 meters Centerline goodness : 0.999485 Centerline is valid? [True, True] Translation: X:428.19, Y:429.24, Z:22.88 [[ 3.75606335e-01 -9.26777256e-01 -1.94899474e-03 4.28192611e+02] [ 9.26765224e-01 3.75611390e-01 -4.72268872e-03 4.29243097e+02] [ 5.10894512e-03 -3.23887489e-05 9.99986949e-01 2.28812435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.800385723 meters Centerline goodness : 0.999577 Centerline is valid? [True, True] Translation: X:428.20, Y:429.27, Z:22.88 [[ 3.74559805e-01 -9.27200711e-01 -1.94781223e-03 4.28203582e+02] [ 9.27188682e-01 3.74564868e-01 -4.72317638e-03 4.29268649e+02] [ 5.10891453e-03 -3.68774279e-05 9.99986949e-01 2.28819289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.830385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:428.22, Y:429.29, Z:22.88 [[ 3.73403000e-01 -9.27667188e-01 -1.94653395e-03 4.28216066e+02] [ 9.27655162e-01 3.73408071e-01 -4.72370313e-03 4.29294007e+02] [ 5.10887589e-03 -4.18673491e-05 9.99986949e-01 2.28845784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.860385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:428.22, Y:429.32, Z:22.88 [[ 3.68733878e-01 -9.29532971e-01 -1.94529939e-03 4.28221364e+02] [ 9.29520968e-01 3.68739003e-01 -4.72421149e-03 4.29317331e+02] [ 5.10861810e-03 -6.62197534e-05 9.99986949e-01 2.28801266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.890385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.24, Y:429.34, Z:22.88 [[ 3.71034810e-01 -9.28617049e-01 -1.88299210e-03 4.28238449e+02] [ 9.28604902e-01 3.71039588e-01 -4.74981625e-03 4.29344989e+02] [ 5.10942497e-03 1.37914754e-05 9.99986947e-01 2.28841412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.920385723 meters Centerline goodness : 0.999214 Centerline is valid? [True, True] Translation: X:428.25, Y:429.37, Z:22.88 [[ 3.69484922e-01 -9.29234694e-01 -1.94309720e-03 4.28250495e+02] [ 9.29222683e-01 3.69490026e-01 -4.72509931e-03 4.29372502e+02] [ 5.10868125e-03 -5.97170394e-05 9.99986949e-01 2.28825868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.950385723 meters Centerline goodness : 0.999664 Centerline is valid? [True, True] Translation: X:428.26, Y:429.40, Z:22.88 [[ 3.67299852e-01 -9.30100510e-01 -1.96452798e-03 4.28260438e+02] [ 9.30088558e-01 3.67305094e-01 -4.71628603e-03 4.29397206e+02] [ 5.10820118e-03 -9.48938337e-05 9.99986949e-01 2.28813287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.980385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.27, Y:429.42, Z:22.88 [[ 3.65225729e-01 -9.30916928e-01 -1.95947895e-03 4.28268661e+02] [ 9.30904976e-01 3.65230971e-01 -4.71835818e-03 4.29422685e+02] [ 5.10806191e-03 -1.00822899e-04 9.99986949e-01 2.28816060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.010385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:428.28, Y:429.45, Z:22.88 [[ 3.65193957e-01 -9.30929444e-01 -1.93506246e-03 4.28279218e+02] [ 9.30917438e-01 3.65199076e-01 -4.72836879e-03 4.29448337e+02] [ 5.10846075e-03 -7.46116794e-05 9.99986949e-01 2.28811086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.040385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.29, Y:429.47, Z:22.88 [[ 3.65132912e-01 -9.30953384e-01 -1.93728651e-03 4.28289841e+02] [ 9.30941384e-01 3.65138043e-01 -4.72745739e-03 4.29474154e+02] [ 5.10841946e-03 -7.73498993e-05 9.99986949e-01 2.28826625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.070385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.30, Y:429.50, Z:22.88 [[ 3.65233528e-01 -9.30913918e-01 -1.93598790e-03 4.28300157e+02] [ 9.30901914e-01 3.65238651e-01 -4.72798913e-03 4.29499703e+02] [ 5.10844850e-03 -7.53946947e-05 9.99986949e-01 2.28824112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.1003857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.31, Y:429.53, Z:22.88 [[ 3.66203600e-01 -9.30532740e-01 -1.93461694e-03 4.28309420e+02] [ 9.30520728e-01 3.66208704e-01 -4.72855004e-03 4.29525215e+02] [ 5.10854419e-03 -6.85891112e-05 9.99986949e-01 2.28826206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.130385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.32, Y:429.55, Z:22.88 [[ 3.66126783e-01 -9.30562969e-01 -1.93369968e-03 4.28320336e+02] [ 9.30550956e-01 3.66131883e-01 -4.72892512e-03 4.29553604e+02] [ 5.10855171e-03 -6.80199423e-05 9.99986949e-01 2.28821481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.160385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.33, Y:429.58, Z:22.88 [[ 3.67364185e-01 -9.30075135e-01 -1.94918206e-03 4.28329711e+02] [ 9.30063148e-01 3.67369348e-01 -4.72259752e-03 4.29579127e+02] [ 5.10844027e-03 -7.79492113e-05 9.99986949e-01 2.28837941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.190385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.34, Y:429.61, Z:22.88 [[ 3.68893235e-01 -9.29469770e-01 -1.93093673e-03 4.28338995e+02] [ 9.29457735e-01 3.68898285e-01 -4.73004577e-03 4.29605837e+02] [ 5.10875380e-03 -4.98421935e-05 9.99986949e-01 2.28841974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.2203857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.35, Y:429.63, Z:22.88 [[ 3.69739449e-01 -9.29133476e-01 -1.92964891e-03 4.28348762e+02] [ 9.29121435e-01 3.69744481e-01 -4.73057109e-03 4.29631377e+02] [ 5.10880900e-03 -4.37994212e-05 9.99986949e-01 2.28843544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.250385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.36, Y:429.66, Z:22.88 [[ 3.70867090e-01 -9.28683952e-01 -1.92828960e-03 4.28358560e+02] [ 9.28671902e-01 3.70872101e-01 -4.73112511e-03 4.29658460e+02] [ 5.10886878e-03 -3.61297655e-05 9.99986949e-01 2.28838196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.280385723 meters Centerline goodness : 0.997249 Centerline is valid? [True, True] Translation: X:428.37, Y:429.69, Z:22.88 [[ 3.70203570e-01 -9.28948626e-01 -1.94102435e-03 4.28368335e+02] [ 9.28936606e-01 3.70208655e-01 -4.72593330e-03 4.29685447e+02] [ 5.10873326e-03 -5.35311908e-05 9.99986949e-01 2.28834442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.310385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:428.38, Y:429.71, Z:22.89 [[ 3.71817280e-01 -9.28303876e-01 -1.95571865e-03 4.28377805e+02] [ 9.28291878e-01 3.71822419e-01 -4.71995014e-03 4.29709249e+02] [ 5.10872804e-03 -6.05187138e-05 9.99986949e-01 2.28856498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.3403857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.39, Y:429.74, Z:22.89 [[ 3.72169479e-01 -9.28162797e-01 -1.92394813e-03 4.28386931e+02] [ 9.28150730e-01 3.72174451e-01 -4.73286511e-03 4.29735266e+02] [ 5.10891366e-03 -2.42859222e-05 9.99986949e-01 2.28863194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.370385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.40, Y:429.76, Z:22.89 [[ 3.71743768e-01 -9.28333385e-01 -1.92275688e-03 4.28397122e+02] [ 9.28321319e-01 3.71748739e-01 -4.73334902e-03 4.29762547e+02] [ 5.10890836e-03 -2.53432089e-05 9.99986949e-01 2.28874824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.400385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.41, Y:429.79, Z:22.89 [[ 3.70748836e-01 -9.28731170e-01 -1.92723429e-03 4.28406381e+02] [ 9.28719118e-01 3.70753844e-01 -4.73153118e-03 4.29788809e+02] [ 5.10885001e-03 -3.56496538e-05 9.99986949e-01 2.28855797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.430385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.42, Y:429.81, Z:22.89 [[ 3.69603861e-01 -9.29187439e-01 -1.92092580e-03 4.28416293e+02] [ 9.29175379e-01 3.69608851e-01 -4.73409094e-03 4.29814381e+02] [ 5.10884901e-03 -3.51386679e-05 9.99986949e-01 2.28854905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.460385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.43, Y:429.84, Z:22.89 [[ 3.67713737e-01 -9.29937053e-01 -1.91951561e-03 4.28426520e+02] [ 9.29925001e-01 3.67718745e-01 -4.73466265e-03 4.29841926e+02] [ 5.10878011e-03 -4.40050613e-05 9.99986949e-01 2.28865035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.490385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.44, Y:429.87, Z:22.89 [[ 3.66946265e-01 -9.30240144e-01 -1.92675577e-03 4.28436060e+02] [ 9.30228112e-01 3.66951319e-01 -4.73172943e-03 4.29867706e+02] [ 5.10867023e-03 -5.60319378e-05 9.99986949e-01 2.28864294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.520385723 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:428.45, Y:429.89, Z:22.89 [[ 3.65844864e-01 -9.30673875e-01 -1.91679409e-03 4.28445350e+02] [ 9.30661827e-01 3.65849882e-01 -4.73576140e-03 4.29893314e+02] [ 5.10870831e-03 -5.13331037e-05 9.99986949e-01 2.28862667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.550385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.45, Y:429.92, Z:22.89 [[ 3.64368503e-01 -9.31252879e-01 -1.91562471e-03 4.28453993e+02] [ 9.31240837e-01 3.64373534e-01 -4.73623437e-03 4.29919809e+02] [ 5.10863484e-03 -5.81733337e-05 9.99986949e-01 2.28868933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.580385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.46, Y:429.95, Z:22.89 [[ 3.63273541e-01 -9.31680562e-01 -1.91432925e-03 4.28463131e+02] [ 9.31668523e-01 3.63278580e-01 -4.73675792e-03 4.29945742e+02] [ 5.10858010e-03 -6.27814842e-05 9.99986949e-01 2.28886701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.610385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.47, Y:429.97, Z:22.89 [[ 3.62621998e-01 -9.31934347e-01 -1.91296042e-03 4.28473004e+02] [ 9.31922309e-01 3.62627038e-01 -4.73731067e-03 4.29972113e+02] [ 5.10855369e-03 -6.48774314e-05 9.99986949e-01 2.28891936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.640385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:428.48, Y:430.00, Z:22.89 [[ 3.61894673e-01 -9.32217030e-01 -1.91163701e-03 4.28483026e+02] [ 9.32204993e-01 3.61899716e-01 -4.73784464e-03 4.29998654e+02] [ 5.10852035e-03 -6.74368254e-05 9.99986949e-01 2.28876787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.670385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.49, Y:430.03, Z:22.89 [[ 3.60903597e-01 -9.32601153e-01 -1.91890482e-03 4.28491788e+02] [ 9.32589137e-01 3.60908690e-01 -4.73491379e-03 4.30026132e+02] [ 5.10833548e-03 -8.07023690e-05 9.99986949e-01 2.28880630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.700385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.50, Y:430.05, Z:22.89 [[ 3.61043124e-01 -9.32547144e-01 -1.92030502e-03 4.28500229e+02] [ 9.32535129e-01 3.61048222e-01 -4.73434961e-03 4.30052198e+02] [ 5.10832692e-03 -8.14475213e-05 9.99986949e-01 2.28884497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.730385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.51, Y:430.08, Z:22.88 [[ 3.58094747e-01 -9.33683304e-01 -1.90802465e-03 4.28507094e+02] [ 9.33671280e-01 3.58099820e-01 -4.73929365e-03 4.30078044e+02] [ 5.10826264e-03 -8.43516575e-05 9.99986949e-01 2.28838102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.760385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.52, Y:430.10, Z:22.88 [[ 3.57336195e-01 -9.33973921e-01 -1.88647106e-03 4.28516956e+02] [ 9.33961855e-01 3.57341169e-01 -4.74796337e-03 4.30103739e+02] [ 5.10858774e-03 -6.52728470e-05 9.99986949e-01 2.28840480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.790385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:428.53, Y:430.13, Z:22.89 [[ 3.55546529e-01 -9.34656668e-01 -1.89160482e-03 4.28525628e+02] [ 9.34644623e-01 3.55551552e-01 -4.74589916e-03 4.30129927e+02] [ 5.10834933e-03 -8.05902933e-05 9.99986949e-01 2.28851221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.820385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.53, Y:430.16, Z:22.88 [[ 3.54340536e-01 -9.35114551e-01 -1.88706517e-03 4.28534851e+02] [ 9.35102502e-01 3.54345551e-01 -4.74772331e-03 4.30156021e+02] [ 5.10833830e-03 -8.22885418e-05 9.99986949e-01 2.28849008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.8503857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.54, Y:430.18, Z:22.88 [[ 3.51414157e-01 -9.36218203e-01 -1.88877106e-03 4.28541898e+02] [ 9.36206173e-01 3.51419218e-01 -4.74703816e-03 4.30181424e+02] [ 5.10801399e-03 -1.00102712e-04 9.99986949e-01 2.28833874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.880385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.55, Y:430.21, Z:22.89 [[ 3.50906582e-01 -9.36408600e-01 -1.87206006e-03 4.28552444e+02] [ 9.36396538e-01 3.50911565e-01 -4.75375232e-03 4.30207982e+02] [ 5.10838208e-03 -8.48675796e-05 9.99986949e-01 2.28853835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.910385723 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:428.56, Y:430.23, Z:22.88 [[ 3.48815081e-01 -9.37189690e-01 -1.87722110e-03 4.28560746e+02] [ 9.37177650e-01 3.48820117e-01 -4.75167956e-03 4.30234898e+02] [ 5.10803758e-03 -1.01832168e-04 9.99986949e-01 2.28849146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.940385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.57, Y:430.26, Z:22.89 [[ 3.48067541e-01 -9.37467572e-01 -1.88113508e-03 4.28568391e+02] [ 9.37455544e-01 3.48072607e-01 -4.75010821e-03 4.30261198e+02] [ 5.10784400e-03 -1.10122021e-04 9.99986949e-01 2.28862233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.9703857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.58, Y:430.29, Z:22.89 [[ 3.50434539e-01 -9.36585365e-01 -1.86742601e-03 4.28581329e+02] [ 9.36573295e-01 3.50439505e-01 -4.75559806e-03 4.30289143e+02] [ 5.10844339e-03 -8.24555231e-05 9.99986948e-01 2.28920713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.000385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.59, Y:430.32, Z:22.89 [[ 3.50110649e-01 -9.36706382e-01 -1.92018257e-03 4.28591843e+02] [ 9.36694428e-01 3.50115886e-01 -4.73444082e-03 4.30315758e+02] [ 5.10706735e-03 -1.41046170e-04 9.99986949e-01 2.28922393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.030385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.60, Y:430.34, Z:22.89 [[ 3.46170636e-01 -9.38169614e-01 -1.91451126e-03 4.28595747e+02] [ 9.38157670e-01 3.46175895e-01 -4.73671017e-03 4.30340707e+02] [ 5.10659520e-03 -1.56403449e-04 9.99986949e-01 2.28873808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.060385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:428.60, Y:430.37, Z:22.89 [[ 3.44998775e-01 -9.38601280e-01 -1.86634052e-03 4.28604695e+02] [ 9.38589236e-01 3.45003805e-01 -4.75600561e-03 4.30367588e+02] [ 5.10788753e-03 -1.10911008e-04 9.99986949e-01 2.28880141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.0903857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.61, Y:430.39, Z:22.89 [[ 3.44462188e-01 -9.38798359e-01 -1.85543826e-03 4.28613025e+02] [ 9.38786295e-01 3.44467170e-01 -4.76036973e-03 4.30394913e+02] [ 5.10816486e-03 -1.02092640e-04 9.99986948e-01 2.28904315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.120385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:428.62, Y:430.42, Z:22.89 [[ 3.44464831e-01 -9.38797372e-01 -1.86398200e-03 4.28621918e+02] [ 9.38785327e-01 3.44469857e-01 -4.75695252e-03 4.30421079e+02] [ 5.10790013e-03 -1.11276103e-04 9.99986948e-01 2.28907553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.150385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.63, Y:430.45, Z:22.89 [[ 3.46447940e-01 -9.38067326e-01 -1.87539522e-03 4.28632694e+02] [ 9.38055294e-01 3.46452998e-01 -4.75238961e-03 4.30448060e+02] [ 5.10779771e-03 -1.12768828e-04 9.99986949e-01 2.28946139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.180385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.64, Y:430.48, Z:22.89 [[ 3.43119022e-01 -9.39290020e-01 -1.89612056e-03 4.28635468e+02] [ 9.39278052e-01 3.43124227e-01 -4.74410612e-03 4.30475249e+02] [ 5.10669643e-03 -1.53191372e-04 9.99986949e-01 2.28898092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.210385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.64, Y:430.50, Z:22.89 [[ 3.41415671e-01 -9.39910548e-01 -1.87131984e-03 4.28640644e+02] [ 9.39898535e-01 3.41420772e-01 -4.75402383e-03 4.30503512e+02] [ 5.10726461e-03 -1.35752542e-04 9.99986949e-01 2.28886878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.240385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.65, Y:430.53, Z:22.89 [[ 3.44276992e-01 -9.38866276e-01 -1.86267275e-03 4.28652784e+02] [ 9.38854228e-01 3.44282013e-01 -4.75747884e-03 4.30531241e+02] [ 5.10792116e-03 -1.10887684e-04 9.99986948e-01 2.28927049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.270385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.65, Y:430.56, Z:22.89 [[ 3.40101926e-01 -9.40386668e-01 -1.89598089e-03 4.28654902e+02] [ 9.40374716e-01 3.40107168e-01 -4.74416742e-03 4.30556166e+02] [ 5.10618849e-03 -1.69432020e-04 9.99986949e-01 2.28863325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.300385723 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:428.66, Y:430.58, Z:22.88 [[ 3.40983925e-01 -9.40067319e-01 -1.84358475e-03 4.28660563e+02] [ 9.40055248e-01 3.40988892e-01 -4.76508186e-03 4.30583197e+02] [ 5.10813965e-03 -1.08255207e-04 9.99986948e-01 2.28824269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.330385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:428.67, Y:430.61, Z:22.89 [[ 3.43453659e-01 -9.39167815e-01 -1.84387206e-03 4.28666955e+02] [ 9.39155732e-01 3.43458595e-01 -4.76496711e-03 4.30611849e+02] [ 5.10839746e-03 -9.51376214e-05 9.99986948e-01 2.28860483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.360385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.67, Y:430.64, Z:22.89 [[ 3.44620606e-01 -9.38740220e-01 -1.85407249e-03 4.28674341e+02] [ 9.38728153e-01 3.44625579e-01 -4.76089377e-03 4.30637908e+02] [ 5.10820327e-03 -9.97679439e-05 9.99986948e-01 2.28861852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.390385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.68, Y:430.67, Z:22.89 [[ 3.45613042e-01 -9.38375293e-01 -1.85313988e-03 4.28682881e+02] [ 9.38363219e-01 3.45617998e-01 -4.76126611e-03 4.30665350e+02] [ 5.10833298e-03 -9.33626346e-05 9.99986948e-01 2.28875371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.420385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:428.69, Y:430.69, Z:22.89 [[ 3.50631574e-01 -9.36511636e-01 -1.85861110e-03 4.28692526e+02] [ 9.36499547e-01 3.50636492e-01 -4.75908261e-03 4.30693545e+02] [ 5.10863312e-03 -7.19038268e-05 9.99986948e-01 2.28930798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.450385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.70, Y:430.72, Z:22.89 [[ 3.51312867e-01 -9.36256206e-01 -1.89387878e-03 4.28701232e+02] [ 9.36244188e-01 3.51317956e-01 -4.74500620e-03 4.30721741e+02] [ 5.10789512e-03 -1.06151263e-04 9.99986949e-01 2.28932456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.4803857229999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:428.70, Y:430.75, Z:22.89 [[ 3.49920136e-01 -9.36777615e-01 -1.89683076e-03 4.28702508e+02] [ 9.36765611e-01 3.49925258e-01 -4.74382837e-03 4.30747076e+02] [ 5.10766122e-03 -1.16924758e-04 9.99986949e-01 2.28894932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.510385723 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:428.71, Y:430.77, Z:22.89 [[ 3.50363487e-01 -9.36611967e-01 -1.85742660e-03 4.28709189e+02] [ 9.36599877e-01 3.50368403e-01 -4.75956329e-03 4.30771655e+02] [ 5.10864753e-03 -7.20883293e-05 9.99986948e-01 2.28917489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.540385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.72, Y:430.80, Z:22.89 [[ 3.56480402e-01 -9.34301012e-01 -1.82822397e-03 4.28722159e+02] [ 9.34288829e-01 3.56485090e-01 -4.77121507e-03 4.30802009e+02] [ 5.10948565e-03 -7.24456398e-06 9.99986946e-01 2.28936251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.570385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:428.73, Y:430.83, Z:22.89 [[ 3.57576168e-01 -9.33882056e-01 -1.89471717e-03 4.28730845e+02] [ 9.33870006e-01 3.57581181e-01 -4.74466191e-03 4.30829218e+02] [ 5.10846982e-03 -7.28415135e-05 9.99986949e-01 2.28921735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.6003857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.74, Y:430.85, Z:22.89 [[ 3.58996837e-01 -9.33336854e-01 -1.89417892e-03 4.28738656e+02] [ 9.33324795e-01 3.59001828e-01 -4.74487667e-03 4.30854711e+02] [ 5.10858196e-03 -6.44884355e-05 9.99986949e-01 2.28938933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.630385723 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:428.75, Y:430.88, Z:22.89 [[ 3.61597664e-01 -9.32332317e-01 -1.89203970e-03 4.28746472e+02] [ 9.32320240e-01 3.61602611e-01 -4.74572954e-03 4.30881948e+02] [ 5.10876351e-03 -4.79421865e-05 9.99986949e-01 2.28918958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.660385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.75, Y:430.91, Z:22.89 [[ 3.60312336e-01 -9.32829805e-01 -1.89075763e-03 4.28751824e+02] [ 9.32817732e-01 3.60317293e-01 -4.74624028e-03 4.30907540e+02] [ 5.10870707e-03 -5.36033250e-05 9.99986949e-01 2.28900584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.690385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.76, Y:430.93, Z:22.89 [[ 3.62180400e-01 -9.32106158e-01 -1.86247028e-03 4.28759916e+02] [ 9.32094017e-01 3.62185188e-01 -4.75751662e-03 4.30933443e+02] [ 5.10906969e-03 -1.29181364e-05 9.99986949e-01 2.28912275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.7203857229999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:428.77, Y:430.96, Z:22.89 [[ 3.61931700e-01 -9.32202792e-01 -1.84385146e-03 4.28767529e+02] [ 9.32190614e-01 3.61936396e-01 -4.76493247e-03 4.30958151e+02] [ 5.10924030e-03 5.75908107e-06 9.99986948e-01 2.28909568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.750385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.78, Y:430.99, Z:22.89 [[ 3.64224937e-01 -9.31309245e-01 -1.81272413e-03 4.28778538e+02] [ 9.31296993e-01 3.64229444e-01 -4.77729903e-03 4.30985542e+02] [ 5.10939026e-03 5.18269058e-05 9.99986946e-01 2.28884259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.780385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.79, Y:431.01, Z:22.89 [[ 3.65297493e-01 -9.30889036e-01 -1.82887108e-03 4.28788018e+02] [ 9.30876811e-01 3.65302069e-01 -4.77088345e-03 4.31010774e+02] [ 5.10925348e-03 4.03380860e-05 9.99986947e-01 2.28900237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.810385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.80, Y:431.04, Z:22.89 [[ 3.66291330e-01 -9.30498430e-01 -1.82545060e-03 4.28798398e+02] [ 9.30486194e-01 3.66295876e-01 -4.77224503e-03 4.31037847e+02] [ 5.10922154e-03 4.94754043e-05 9.99986947e-01 2.28898356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.8403857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.81, Y:431.06, Z:22.89 [[ 3.66938968e-01 -9.30243229e-01 -1.82425652e-03 4.28809286e+02] [ 9.30230987e-01 3.66943499e-01 -4.77272019e-03 4.31063552e+02] [ 5.10918972e-03 5.43170751e-05 9.99986947e-01 2.28899840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.870385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.82, Y:431.09, Z:22.89 [[ 3.66780839e-01 -9.30305584e-01 -1.82667084e-03 4.28820309e+02] [ 9.30293347e-01 3.66785384e-01 -4.77175865e-03 4.31087907e+02] [ 5.10918989e-03 5.08499149e-05 9.99986947e-01 2.28901373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.900385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.83, Y:431.11, Z:22.89 [[ 3.69045948e-01 -9.29409406e-01 -1.80149080e-03 4.28834824e+02] [ 9.29397109e-01 3.69050334e-01 -4.78177805e-03 4.31114190e+02] [ 5.10907027e-03 9.03954666e-05 9.99986945e-01 2.28890690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.930385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.85, Y:431.14, Z:22.89 [[ 3.68275223e-01 -9.29715008e-01 -1.83418257e-03 4.28845904e+02] [ 9.29702779e-01 3.68279787e-01 -4.76875514e-03 4.31139500e+02] [ 5.10907559e-03 5.09697327e-05 9.99986947e-01 2.28905610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.960385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.86, Y:431.16, Z:22.89 [[ 3.67666292e-01 -9.29955999e-01 -1.82707692e-03 4.28859596e+02] [ 9.29943759e-01 3.67670828e-01 -4.77158510e-03 4.31164164e+02] [ 5.10912707e-03 5.52722275e-05 9.99986947e-01 2.28876221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.990385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.87, Y:431.19, Z:22.89 [[ 3.68207803e-01 -9.29741727e-01 -1.82622279e-03 4.28874893e+02] [ 9.29729483e-01 3.68212327e-01 -4.77192483e-03 4.31189541e+02] [ 5.10909538e-03 5.91667839e-05 9.99986947e-01 2.28896832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.020385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.89, Y:431.22, Z:22.89 [[ 3.69385169e-01 -9.29274560e-01 -1.84091185e-03 4.28888901e+02] [ 9.29262339e-01 3.69389752e-01 -4.76607565e-03 4.31215513e+02] [ 5.10900682e-03 4.98276080e-05 9.99986948e-01 2.28903465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.050385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.91, Y:431.24, Z:22.89 [[ 3.73111564e-01 -9.27784644e-01 -1.84806454e-03 4.28906547e+02] [ 9.27772419e-01 3.73116135e-01 -4.76322924e-03 4.31242332e+02] [ 5.10879364e-03 6.26326028e-05 9.99986948e-01 2.28934245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.080385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.92, Y:431.27, Z:22.89 [[ 3.76156339e-01 -9.26554282e-01 -1.88988333e-03 4.28920881e+02] [ 9.26542124e-01 3.76161085e-01 -4.74657880e-03 4.31265222e+02] [ 5.10886347e-03 3.43991869e-05 9.99986949e-01 2.28924040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.110385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:428.93, Y:431.29, Z:22.89 [[ 3.78336789e-01 -9.25666088e-01 -1.88897552e-03 4.28932595e+02] [ 9.25653917e-01 3.78341501e-01 -4.74694005e-03 4.31289617e+02] [ 5.10875926e-03 4.74044691e-05 9.99986949e-01 2.28909134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.140385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.94, Y:431.31, Z:22.89 [[ 3.78897939e-01 -9.25436574e-01 -1.87054650e-03 4.28944476e+02] [ 9.25424365e-01 3.78902549e-01 -4.75426497e-03 4.31312578e+02] [ 5.10852552e-03 7.03318871e-05 9.99986949e-01 2.28857889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.170385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.96, Y:431.34, Z:22.89 [[ 3.82000238e-01 -9.24160368e-01 -1.85247349e-03 4.28961543e+02] [ 9.24148108e-01 3.82004715e-01 -4.76145255e-03 4.31338778e+02] [ 5.10799935e-03 1.06916135e-04 9.99986948e-01 2.28907507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.200385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:428.98, Y:431.36, Z:22.89 [[ 3.82979941e-01 -9.23754729e-01 -1.88814152e-03 4.28979978e+02] [ 9.23742534e-01 3.82984588e-01 -4.74726622e-03 4.31364015e+02] [ 5.10843873e-03 7.39511019e-05 9.99986949e-01 2.28907419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.2303857229999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:428.99, Y:431.39, Z:22.89 [[ 3.83204284e-01 -9.23661659e-01 -1.90186383e-03 4.28994210e+02] [ 9.23649489e-01 3.83208998e-01 -4.74181068e-03 4.31389441e+02] [ 5.10864005e-03 6.04266049e-05 9.99986949e-01 2.28910205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.260385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.01, Y:431.41, Z:22.89 [[ 3.83267062e-01 -9.23635602e-01 -1.90608836e-03 4.29006683e+02] [ 9.23623441e-01 3.83271798e-01 -4.74013222e-03 4.31412208e+02] [ 5.10870479e-03 5.62286572e-05 9.99986949e-01 2.28910324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.290385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:429.03, Y:431.44, Z:22.89 [[ 3.81960044e-01 -9.24176925e-01 -1.88046608e-03 4.29026062e+02] [ 9.24164720e-01 3.81964665e-01 -4.75029928e-03 4.31438212e+02] [ 5.10838858e-03 7.65641146e-05 9.99986949e-01 2.28925420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.320385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.04, Y:431.46, Z:22.89 [[ 3.81419482e-01 -9.24400092e-01 -1.91020002e-03 4.29040589e+02] [ 9.24387948e-01 3.81424263e-01 -4.73850455e-03 4.31463958e+02] [ 5.10887067e-03 4.15920702e-05 9.99986949e-01 2.28932066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.3503857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.06, Y:431.49, Z:22.89 [[ 3.80503894e-01 -9.24777343e-01 -1.91135089e-03 4.29058332e+02] [ 9.24765206e-01 3.80508693e-01 -4.73804821e-03 4.31485300e+02] [ 5.10892526e-03 3.52949883e-05 9.99986949e-01 2.28927584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.380385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.07, Y:431.51, Z:22.89 [[ 3.80203394e-01 -9.24900956e-01 -1.89750684e-03 4.29073901e+02] [ 9.24888793e-01 3.80208126e-01 -4.74353256e-03 4.31511625e+02] [ 5.10874532e-03 4.85243659e-05 9.99986949e-01 2.28945742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.410385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:429.08, Y:431.53, Z:22.89 [[ 3.79183839e-01 -9.25319375e-01 -1.91575842e-03 4.29083708e+02] [ 9.25307254e-01 3.79188678e-01 -4.73630418e-03 4.31534054e+02] [ 5.10902793e-03 2.32648412e-05 9.99986949e-01 2.28940531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.440385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.10, Y:431.56, Z:22.89 [[ 3.80613765e-01 -9.24732194e-01 -1.87933960e-03 4.29102759e+02] [ 9.24719993e-01 3.80618398e-01 -4.75071115e-03 4.31559433e+02] [ 5.10844677e-03 7.03231496e-05 9.99986949e-01 2.28942380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.4703857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.11, Y:431.58, Z:22.89 [[ 3.79320247e-01 -9.25263466e-01 -1.91559886e-03 4.29113055e+02] [ 9.25251343e-01 3.79325083e-01 -4.73636653e-03 4.31582612e+02] [ 5.10902161e-03 2.41893062e-05 9.99986949e-01 2.28940452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.500385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:429.14, Y:431.61, Z:22.89 [[ 3.80878632e-01 -9.24623136e-01 -1.87743228e-03 4.29135761e+02] [ 9.24610930e-01 3.80883252e-01 -4.75144724e-03 4.31608442e+02] [ 5.10838056e-03 7.38303180e-05 9.99986949e-01 2.28945248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.530385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.15, Y:431.63, Z:22.89 [[ 3.80461198e-01 -9.24794883e-01 -1.92405772e-03 4.29149931e+02] [ 9.24782771e-01 3.80466062e-01 -4.73301911e-03 4.31633073e+02] [ 5.10911052e-03 2.13946850e-05 9.99986948e-01 2.28939118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.560385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.16, Y:431.65, Z:22.90 [[ 3.76387216e-01 -9.26460443e-01 -1.92650975e-03 4.29162653e+02] [ 9.26448358e-01 3.76392147e-01 -4.73204941e-03 4.31653348e+02] [ 5.10917973e-03 -3.72889199e-06 9.99986948e-01 2.28952048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.5903857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.18, Y:431.68, Z:22.90 [[ 3.74916475e-01 -9.27056696e-01 -1.87604808e-03 4.29176137e+02] [ 9.27044518e-01 3.74921166e-01 -4.75197136e-03 4.31678409e+02] [ 5.10871700e-03 4.24122613e-05 9.99986950e-01 2.28962122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.620385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.19, Y:431.70, Z:22.90 [[ 3.74150017e-01 -9.27366298e-01 -1.87473176e-03 4.29186893e+02] [ 9.27354121e-01 3.74154712e-01 -4.75249062e-03 4.31704115e+02] [ 5.10873935e-03 3.96042238e-05 9.99986950e-01 2.28966422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.650385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.20, Y:431.73, Z:22.89 [[ 3.75810812e-01 -9.26694515e-01 -1.87342331e-03 4.29199629e+02] [ 9.26682327e-01 3.75815478e-01 -4.75300635e-03 4.31731646e+02] [ 5.10864639e-03 5.01629013e-05 9.99986950e-01 2.28932377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.680385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:429.20, Y:431.76, Z:22.89 [[ 3.70644651e-01 -9.28772834e-01 -1.88835312e-03 4.29203212e+02] [ 9.28760702e-01 3.70649461e-01 -4.74712272e-03 4.31758026e+02] [ 5.10891569e-03 5.66747056e-06 9.99986949e-01 2.28944743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.710385723 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:429.21, Y:431.78, Z:22.89 [[ 3.68621980e-01 -9.29577502e-01 -1.87168404e-03 4.29211643e+02] [ 9.29565348e-01 3.68626731e-01 -4.75368589e-03 4.31783654e+02] [ 5.10887223e-03 1.24604803e-05 9.99986950e-01 2.28936729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.740385723 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:429.22, Y:431.81, Z:22.90 [[ 3.63895775e-01 -9.31437796e-01 -1.87030955e-03 4.29219574e+02] [ 9.31425662e-01 3.63900581e-01 -4.75422661e-03 4.31807994e+02] [ 5.10887309e-03 -1.20113335e-05 9.99986950e-01 2.28979745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.770385723 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:429.23, Y:431.84, Z:22.90 [[ 3.63511646e-01 -9.31587853e-01 -1.83167414e-03 4.29232168e+02] [ 9.31575645e-01 3.63516260e-01 -4.76941171e-03 4.31836108e+02] [ 5.10896935e-03 2.73936806e-05 9.99986949e-01 2.28983329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.800385723 meters Centerline goodness : 0.999799 Centerline is valid? [True, True] Translation: X:429.24, Y:431.86, Z:22.90 [[ 3.60959543e-01 -9.32579603e-01 -1.86892385e-03 4.29242516e+02] [ 9.32567482e-01 3.60964380e-01 -4.75477024e-03 4.31862516e+02] [ 5.10881668e-03 -2.66179165e-05 9.99986950e-01 2.29005363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.830385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:429.25, Y:431.89, Z:22.90 [[ 3.59703500e-01 -9.33064791e-01 -1.86761744e-03 4.29251317e+02] [ 9.33052674e-01 3.59708347e-01 -4.75528333e-03 4.31888839e+02] [ 5.10878502e-03 -3.20933871e-05 9.99986950e-01 2.29000650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.860385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.26, Y:431.92, Z:22.90 [[ 3.57657167e-01 -9.33851095e-01 -1.86630681e-03 4.29259567e+02] [ 9.33838986e-01 3.57662034e-01 -4.75579765e-03 4.31916109e+02] [ 5.10871393e-03 -4.18849469e-05 9.99986950e-01 2.28981365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.890385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.27, Y:431.94, Z:22.90 [[ 3.57401211e-01 -9.33949086e-01 -1.86499809e-03 4.29269947e+02] [ 9.33936976e-01 3.57406075e-01 -4.75631082e-03 4.31942752e+02] [ 5.10871379e-03 -4.18794269e-05 9.99986950e-01 2.28982820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.920385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.28, Y:431.97, Z:22.90 [[ 3.56330998e-01 -9.34357933e-01 -1.86369436e-03 4.29279610e+02] [ 9.34345825e-01 3.56335869e-01 -4.75682161e-03 4.31969270e+02] [ 5.10867515e-03 -4.63320502e-05 9.99986950e-01 2.28973131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.950385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.29, Y:432.00, Z:22.90 [[ 3.55338963e-01 -9.34735660e-01 -1.86240034e-03 4.29289526e+02] [ 9.34723555e-01 3.55343840e-01 -4.75732819e-03 4.31995775e+02] [ 5.10863679e-03 -5.03654025e-05 9.99986950e-01 2.28970930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.9803857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.30, Y:432.02, Z:22.90 [[ 3.54454369e-01 -9.35071461e-01 -1.86109431e-03 4.29300753e+02] [ 9.35059358e-01 3.54459251e-01 -4.75783906e-03 4.32021267e+02] [ 5.10860162e-03 -5.37968107e-05 9.99986950e-01 2.28983882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.010385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.31, Y:432.05, Z:22.90 [[ 3.55273590e-01 -9.34760513e-01 -1.85977398e-03 4.29312104e+02] [ 9.34748403e-01 3.55278455e-01 -4.75835511e-03 4.32045820e+02] [ 5.10866009e-03 -4.79028540e-05 9.99986950e-01 2.28989487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.040385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.32, Y:432.07, Z:22.90 [[ 3.56282641e-01 -9.34376383e-01 -1.85859822e-03 4.29321334e+02] [ 9.34364265e-01 3.56287487e-01 -4.75881431e-03 4.32070852e+02] [ 5.10871899e-03 -4.11248238e-05 9.99986950e-01 2.28982176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.070385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.33, Y:432.10, Z:22.90 [[ 3.57431207e-01 -9.33937622e-01 -1.85766836e-03 4.29330389e+02] [ 9.33925497e-01 3.57436033e-01 -4.75917726e-03 4.32097586e+02] [ 5.10877231e-03 -3.38453722e-05 9.99986950e-01 2.28983264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.1003857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.34, Y:432.12, Z:22.90 [[ 3.60036213e-01 -9.32936482e-01 -1.85637093e-03 4.29338382e+02] [ 9.32924340e-01 3.60040998e-01 -4.75968329e-03 4.32123187e+02] [ 5.10885182e-03 -1.81952808e-05 9.99986950e-01 2.28954708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.130385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.35, Y:432.15, Z:22.90 [[ 3.61016445e-01 -9.32557603e-01 -1.85542202e-03 4.29348541e+02] [ 9.32545455e-01 3.61021213e-01 -4.76005316e-03 4.32149455e+02] [ 5.10887048e-03 -1.18079034e-05 9.99986950e-01 2.28963279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.160385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.36, Y:432.17, Z:22.90 [[ 3.62475251e-01 -9.31991553e-01 -1.85413773e-03 4.29359778e+02] [ 9.31979394e-01 3.62479994e-01 -4.76055337e-03 4.32174972e+02] [ 5.10888336e-03 -2.43538009e-06 9.99986950e-01 2.28965327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.190385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.37, Y:432.20, Z:22.90 [[ 3.62719123e-01 -9.31896671e-01 -1.85286064e-03 4.29370667e+02] [ 9.31884508e-01 3.62723856e-01 -4.76105037e-03 4.32199915e+02] [ 5.10888375e-03 2.71888202e-07 9.99986950e-01 2.28960308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.2203857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.38, Y:432.22, Z:22.90 [[ 3.64058694e-01 -9.31374167e-01 -1.85192903e-03 4.29382670e+02] [ 9.31361996e-01 3.64063404e-01 -4.76141272e-03 4.32224509e+02] [ 5.10887639e-03 8.61737652e-06 9.99986950e-01 2.29000004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.250385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:429.39, Y:432.25, Z:22.90 [[ 3.64550508e-01 -9.31181814e-01 -1.83195003e-03 4.29392662e+02] [ 9.31169602e-01 3.64555110e-01 -4.76917796e-03 4.32251741e+02] [ 5.10881853e-03 3.27500701e-05 9.99986949e-01 2.28997392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.280385723 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:429.40, Y:432.28, Z:22.90 [[ 3.65400751e-01 -9.30848466e-01 -1.85046633e-03 4.29402314e+02] [ 9.30836286e-01 3.65405436e-01 -4.76198268e-03 4.32278640e+02] [ 5.10885473e-03 1.75508404e-05 9.99986950e-01 2.28999032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.310385723 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:429.41, Y:432.30, Z:22.90 [[ 3.66995307e-01 -9.30220955e-01 -1.84918212e-03 4.29411409e+02] [ 9.30208764e-01 3.66999965e-01 -4.76248131e-03 4.32304868e+02] [ 5.10880969e-03 2.76828773e-05 9.99986950e-01 2.29001405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.3403857229999 meters Centerline goodness : 0.999844 Centerline is valid? [True, True] Translation: X:429.42, Y:432.33, Z:22.90 [[ 3.67335495e-01 -9.30086673e-01 -1.84788686e-03 4.29422130e+02] [ 9.30074478e-01 3.67340142e-01 -4.76298384e-03 4.32330996e+02] [ 5.10879081e-03 3.09406224e-05 9.99986950e-01 2.29007257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.370385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.43, Y:432.36, Z:22.90 [[ 3.67596859e-01 -9.29983408e-01 -1.84657819e-03 4.29433444e+02] [ 9.29971209e-01 3.67601496e-01 -4.76349114e-03 4.32357604e+02] [ 5.10877263e-03 3.37798327e-05 9.99986950e-01 2.29011451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.400385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:429.44, Y:432.38, Z:22.90 [[ 3.66946522e-01 -9.30240200e-01 -1.84928113e-03 4.29444124e+02] [ 9.30228010e-01 3.66951181e-01 -4.76244380e-03 4.32382924e+02] [ 5.10881257e-03 2.73090827e-05 9.99986950e-01 2.29013116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.430385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:429.46, Y:432.41, Z:22.90 [[ 3.65817202e-01 -9.30684883e-01 -1.85012243e-03 4.29456264e+02] [ 9.30672700e-01 3.65821880e-01 -4.76211794e-03 4.32410277e+02] [ 5.10884644e-03 2.02062205e-05 9.99986950e-01 2.29015800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.460385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:429.47, Y:432.44, Z:22.90 [[ 3.64558936e-01 -9.31178459e-01 -1.85987383e-03 4.29466347e+02] [ 9.31166302e-01 3.64563680e-01 -4.75834286e-03 4.32437278e+02] [ 5.10890882e-03 2.84457538e-06 9.99986949e-01 2.29017459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.490385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.47, Y:432.46, Z:22.90 [[ 3.60338436e-01 -9.32819781e-01 -1.86197808e-03 4.29472708e+02] [ 9.32807649e-01 3.60343246e-01 -4.75752863e-03 4.32463229e+02] [ 5.10886804e-03 -2.25469678e-05 9.99986949e-01 2.29012761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.520385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.48, Y:432.49, Z:22.90 [[ 3.58393231e-01 -9.33568904e-01 -1.84200557e-03 4.29482584e+02] [ 9.33556742e-01 3.58397965e-01 -4.76524900e-03 4.32489089e+02] [ 5.10885933e-03 -1.17837309e-05 9.99986950e-01 2.29017631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.550385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.49, Y:432.51, Z:22.90 [[ 3.54381424e-01 -9.35099149e-01 -1.84069908e-03 4.29492103e+02] [ 9.35087005e-01 3.54386203e-01 -4.76575361e-03 4.32514758e+02] [ 5.10877050e-03 -3.23192389e-05 9.99986950e-01 2.29012636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.580385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.50, Y:432.54, Z:22.90 [[ 3.52436442e-01 -9.35833944e-01 -1.83931828e-03 4.29502017e+02] [ 9.35821808e-01 3.52441239e-01 -4.76628646e-03 4.32540791e+02] [ 5.10870427e-03 -4.14611201e-05 9.99986950e-01 2.29009600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.610385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.51, Y:432.57, Z:22.90 [[ 3.48612034e-01 -9.37265315e-01 -1.83802565e-03 4.29511263e+02] [ 9.37253196e-01 3.48616874e-01 -4.76678489e-03 4.32567194e+02] [ 5.10850890e-03 -6.09368391e-05 9.99986950e-01 2.29001849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.640385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.52, Y:432.59, Z:22.90 [[ 3.46781946e-01 -9.37943979e-01 -1.83681974e-03 4.29520777e+02] [ 9.37931866e-01 3.46786804e-01 -4.76724952e-03 4.32593979e+02] [ 5.10839783e-03 -6.96156979e-05 9.99986950e-01 2.29004415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.670385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.53, Y:432.62, Z:22.90 [[ 3.43739155e-01 -9.39063376e-01 -1.83551980e-03 4.29529004e+02] [ 9.39051276e-01 3.43744046e-01 -4.76774998e-03 4.32620411e+02] [ 5.10816840e-03 -8.47848611e-05 9.99986950e-01 2.29011266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.700385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.54, Y:432.65, Z:22.90 [[ 3.44721127e-01 -9.38703351e-01 -1.83413120e-03 4.29542573e+02] [ 9.38691243e-01 3.44725998e-01 -4.76828411e-03 4.32649530e+02] [ 5.10827698e-03 -7.79546195e-05 9.99986950e-01 2.29021263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.7303857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.55, Y:432.67, Z:22.90 [[ 3.40873074e-01 -9.40107457e-01 -1.87527555e-03 4.29547468e+02] [ 9.40095456e-01 3.40878202e-01 -4.75245057e-03 4.32673292e+02] [ 5.10705478e-03 -1.42955595e-04 9.99986949e-01 2.29016257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.760385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.56, Y:432.70, Z:22.90 [[ 3.38744422e-01 -9.40876644e-01 -1.83223386e-03 4.29555799e+02] [ 9.40864564e-01 3.38749360e-01 -4.76898709e-03 4.32699096e+02] [ 5.10769662e-03 -1.08416136e-04 9.99986950e-01 2.29017152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.790385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.57, Y:432.73, Z:22.90 [[ 3.39177274e-01 -9.40720694e-01 -1.83128534e-03 4.29567481e+02] [ 9.40708609e-01 3.39182201e-01 -4.76935130e-03 4.32727175e+02] [ 5.10776685e-03 -1.05050314e-04 9.99986950e-01 2.29032704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.820385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.58, Y:432.75, Z:22.90 [[ 3.39195974e-01 -9.40713899e-01 -1.85777992e-03 4.29576221e+02] [ 9.40701870e-01 3.39201036e-01 -4.75917816e-03 4.32753448e+02] [ 5.10718591e-03 -1.33322977e-04 9.99986949e-01 2.29024508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.8503857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.58, Y:432.78, Z:22.90 [[ 3.38481338e-01 -9.40971257e-01 -1.86469397e-03 4.29584530e+02] [ 9.40959246e-01 3.38486443e-01 -4.75652463e-03 4.32780376e+02] [ 5.10692659e-03 -1.44606212e-04 9.99986949e-01 2.29028354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.880385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.59, Y:432.81, Z:22.90 [[ 3.37476704e-01 -9.41332051e-01 -1.85574053e-03 4.29588729e+02] [ 9.41320027e-01 3.37481777e-01 -4.75995734e-03 4.32805120e+02] [ 5.10697902e-03 -1.40471006e-04 9.99986949e-01 2.29027410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.910385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.60, Y:432.83, Z:22.90 [[ 3.37291886e-01 -9.41398347e-01 -1.82646437e-03 4.29597071e+02] [ 9.41386263e-01 3.37296813e-01 -4.77116464e-03 4.32831572e+02] [ 5.10762712e-03 -1.10133348e-04 9.99986950e-01 2.29023379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.940385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.61, Y:432.86, Z:22.90 [[ 3.36558878e-01 -9.41660656e-01 -1.82517874e-03 4.29605266e+02] [ 9.41648573e-01 3.36563808e-01 -4.77165640e-03 4.32857993e+02] [ 5.10757020e-03 -1.12733627e-04 9.99986950e-01 2.29028544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.9703857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.61, Y:432.88, Z:22.90 [[ 3.36195540e-01 -9.41790440e-01 -1.82387081e-03 4.29614336e+02] [ 9.41778356e-01 3.36200469e-01 -4.77215628e-03 4.32883506e+02] [ 5.10755738e-03 -1.13304391e-04 9.99986950e-01 2.29026646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.000385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.62, Y:432.91, Z:22.90 [[ 3.35981188e-01 -9.41866933e-01 -1.82248705e-03 4.29623690e+02] [ 9.41854848e-01 3.35986112e-01 -4.77268468e-03 4.32910401e+02] [ 5.10756422e-03 -1.12985987e-04 9.99986950e-01 2.29038843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.030385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:429.63, Y:432.94, Z:22.90 [[ 3.35202407e-01 -9.42144378e-01 -1.82117743e-03 4.29631865e+02] [ 9.42132294e-01 3.35207334e-01 -4.77318436e-03 4.32937567e+02] [ 5.10750084e-03 -1.15807187e-04 9.99986950e-01 2.29037543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.060385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.64, Y:432.96, Z:22.90 [[ 3.34671201e-01 -9.42333208e-01 -1.81986908e-03 4.29640351e+02] [ 9.42321124e-01 3.34676128e-01 -4.77368314e-03 4.32963619e+02] [ 5.10746689e-03 -1.17286811e-04 9.99986950e-01 2.29030279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.0903857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.65, Y:432.99, Z:22.90 [[ 3.35651059e-01 -9.41984638e-01 -1.81870033e-03 4.29650041e+02] [ 9.41972547e-01 3.35655968e-01 -4.77412837e-03 4.32991938e+02] [ 5.10761321e-03 -1.10724539e-04 9.99986950e-01 2.29025644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.120385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.66, Y:433.02, Z:22.90 [[ 3.33500173e-01 -9.42748228e-01 -1.84738258e-03 4.29655854e+02] [ 9.42736208e-01 3.33505255e-01 -4.76320262e-03 4.33016819e+02] [ 5.10661263e-03 -1.53065551e-04 9.99986949e-01 2.29025226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.150385723 meters Centerline goodness : 0.999449 Centerline is valid? [True, True] Translation: X:429.67, Y:433.05, Z:22.90 [[ 3.33122768e-01 -9.42881712e-01 -1.81623717e-03 4.29666827e+02] [ 9.42869629e-01 3.33127697e-01 -4.77504909e-03 4.33045131e+02] [ 5.10734536e-03 -1.21797296e-04 9.99986950e-01 2.29023004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.180385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.67, Y:433.07, Z:22.90 [[ 3.31225175e-01 -9.43549943e-01 -1.84102775e-03 4.29673408e+02] [ 9.43537921e-01 3.31230253e-01 -4.76562166e-03 4.33070526e+02] [ 5.10640613e-03 -1.58585628e-04 9.99986950e-01 2.29038710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.210385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.68, Y:433.10, Z:22.91 [[ 3.30263666e-01 -9.43886974e-01 -1.81430245e-03 4.29682517e+02] [ 9.43874901e-01 3.30268622e-01 -4.77577452e-03 4.33097575e+02] [ 5.10699853e-03 -1.35209744e-04 9.99986950e-01 2.29051572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.240385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.69, Y:433.12, Z:22.91 [[ 3.29158560e-01 -9.44272924e-01 -1.81299136e-03 4.29690103e+02] [ 9.44260855e-01 3.29163523e-01 -4.77627219e-03 4.33123730e+02] [ 5.10687513e-03 -1.39785899e-04 9.99986950e-01 2.29064734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.270385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:429.70, Y:433.15, Z:22.91 [[ 3.27452529e-01 -9.44865895e-01 -1.81180121e-03 4.29697110e+02] [ 9.44853832e-01 3.27457508e-01 -4.77672361e-03 4.33150071e+02] [ 5.10665113e-03 -1.47737096e-04 9.99986950e-01 2.29058253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.300385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.70, Y:433.18, Z:22.90 [[ 3.26453451e-01 -9.45211583e-01 -1.79081836e-03 4.29701266e+02] [ 9.45199482e-01 3.26458337e-01 -4.78467551e-03 4.33176802e+02] [ 5.10715830e-03 -1.30706756e-04 9.99986950e-01 2.29042693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.330385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.71, Y:433.21, Z:22.91 [[ 3.30546530e-01 -9.43788053e-01 -1.76158083e-03 4.29714218e+02] [ 9.43775871e-01 3.30551214e-01 -4.79574315e-03 4.33205475e+02] [ 5.10845777e-03 -7.73212339e-05 9.99986949e-01 2.29087807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.360385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.72, Y:433.23, Z:22.91 [[ 3.29228281e-01 -9.44248624e-01 -1.80968867e-03 4.29720013e+02] [ 9.44236548e-01 3.29233226e-01 -4.77752027e-03 4.33232104e+02] [ 5.10697658e-03 -1.35879404e-04 9.99986950e-01 2.29053201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.390385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.73, Y:433.26, Z:22.91 [[ 3.32649008e-01 -9.43049019e-01 -1.78476557e-03 4.29728762e+02] [ 9.43036874e-01 3.32653783e-01 -4.78695128e-03 4.33260008e+02] [ 5.10803873e-03 -9.07251517e-05 9.99986950e-01 2.29075405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.420385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.74, Y:433.29, Z:22.91 [[ 3.32514855e-01 -9.43096285e-01 -1.80799904e-03 4.29736911e+02] [ 9.43084188e-01 3.32519750e-01 -4.77816001e-03 4.33285397e+02] [ 5.10746034e-03 -1.16286122e-04 9.99986950e-01 2.29071115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.450385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.75, Y:433.31, Z:22.91 [[ 3.31452917e-01 -9.43470031e-01 -1.80662883e-03 4.29745547e+02] [ 9.43457937e-01 3.31457818e-01 -4.77867803e-03 4.33312102e+02] [ 5.10736077e-03 -1.20571539e-04 9.99986950e-01 2.29078162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.4803857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.75, Y:433.34, Z:22.91 [[ 3.31082693e-01 -9.43600018e-01 -1.80475265e-03 4.29754194e+02] [ 9.43587921e-01 3.31087590e-01 -4.77938677e-03 4.33337945e+02] [ 5.10736064e-03 -1.20570556e-04 9.99986950e-01 2.29089351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.510385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.76, Y:433.36, Z:22.91 [[ 3.30256511e-01 -9.43889496e-01 -1.80462340e-03 4.29762371e+02] [ 9.43877404e-01 3.30261418e-01 -4.77943557e-03 4.33364183e+02] [ 5.10725651e-03 -1.24903535e-04 9.99986950e-01 2.29096765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.540385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:429.77, Y:433.39, Z:22.91 [[ 3.29141201e-01 -9.44278994e-01 -1.80340006e-03 4.29769186e+02] [ 9.44266905e-01 3.29146116e-01 -4.77989712e-03 4.33391878e+02] [ 5.10713857e-03 -1.29629919e-04 9.99986950e-01 2.29098619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.570385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:429.78, Y:433.42, Z:22.91 [[ 3.29013597e-01 -9.44323465e-01 -1.80207426e-03 4.29777019e+02] [ 9.44311374e-01 3.29018507e-01 -4.78039691e-03 4.33418142e+02] [ 5.10715675e-03 -1.28903637e-04 9.99986950e-01 2.29099725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.6003857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.79, Y:433.44, Z:22.91 [[ 3.28947340e-01 -9.44346549e-01 -1.80089329e-03 4.29786065e+02] [ 9.44334456e-01 3.28952244e-01 -4.78084177e-03 4.33444926e+02] [ 5.10717931e-03 -1.28000408e-04 9.99986950e-01 2.29102383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.630385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.79, Y:433.47, Z:22.91 [[ 3.28949167e-01 -9.44345915e-01 -1.79956194e-03 4.29794436e+02] [ 9.44333819e-01 3.28954065e-01 -4.78134285e-03 4.33470587e+02] [ 5.10721480e-03 -1.26568445e-04 9.99986950e-01 2.29102738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.660385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.80, Y:433.50, Z:22.91 [[ 3.28571982e-01 -9.44477219e-01 -1.79865622e-03 4.29801853e+02] [ 9.44465123e-01 3.28576880e-01 -4.78168354e-03 4.33497639e+02] [ 5.10718802e-03 -1.27640833e-04 9.99986950e-01 2.29103367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.690385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.81, Y:433.52, Z:22.91 [[ 3.28560267e-01 -9.44481297e-01 -1.79735746e-03 4.29810709e+02] [ 9.44469199e-01 3.28565159e-01 -4.78217167e-03 4.33524457e+02] [ 5.10722075e-03 -1.26317159e-04 9.99986950e-01 2.29108347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.7203857229999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:429.82, Y:433.55, Z:22.91 [[ 3.29123490e-01 -9.44285181e-01 -1.79604384e-03 4.29817987e+02] [ 9.44273077e-01 3.29128368e-01 -4.78266498e-03 4.33551429e+02] [ 5.10732864e-03 -1.21868455e-04 9.99986950e-01 2.29100562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.750385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.83, Y:433.58, Z:22.91 [[ 3.29461574e-01 -9.44167279e-01 -1.79472773e-03 4.29826555e+02] [ 9.44155170e-01 3.29466441e-01 -4.78315881e-03 4.33577148e+02] [ 5.10740460e-03 -1.18634432e-04 9.99986950e-01 2.29094477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.780385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.84, Y:433.60, Z:22.91 [[ 3.29914006e-01 -9.44009286e-01 -1.79355502e-03 4.29835873e+02] [ 9.43997173e-01 3.29918862e-01 -4.78359850e-03 4.33603904e+02] [ 5.10748904e-03 -1.14934724e-04 9.99986950e-01 2.29093423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.810385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.85, Y:433.63, Z:22.91 [[ 3.29660630e-01 -9.44097800e-01 -1.79226861e-03 4.29845835e+02] [ 9.44085686e-01 3.29665482e-01 -4.78408043e-03 4.33630688e+02] [ 5.10748891e-03 -1.14932167e-04 9.99986950e-01 2.29094878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.8403857229999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:429.85, Y:433.66, Z:22.91 [[ 3.31561824e-01 -9.43431794e-01 -1.79098446e-03 4.29854454e+02] [ 9.43419667e-01 3.31566645e-01 -4.78456113e-03 4.33657957e+02] [ 5.10773779e-03 -1.03272146e-04 9.99986950e-01 2.29099271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.870385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.86, Y:433.68, Z:22.91 [[ 3.32352882e-01 -9.43153412e-01 -1.78966577e-03 4.29863417e+02] [ 9.43141279e-01 3.32357686e-01 -4.78505433e-03 4.33684735e+02] [ 5.10784949e-03 -9.75810679e-05 9.99986950e-01 2.29098043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.900385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.87, Y:433.71, Z:22.91 [[ 3.34062283e-01 -9.42549305e-01 -1.78835136e-03 4.29872407e+02] [ 9.42537161e-01 3.34067058e-01 -4.78554552e-03 4.33711290e+02] [ 5.10804189e-03 -8.69173512e-05 9.99986950e-01 2.29093639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.930385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.88, Y:433.74, Z:22.91 [[ 3.35255590e-01 -9.42125520e-01 -1.78702892e-03 4.29881736e+02] [ 9.42113367e-01 3.35260343e-01 -4.78603930e-03 4.33736513e+02] [ 5.10816970e-03 -7.90374077e-05 9.99986950e-01 2.29090631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.960385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.89, Y:433.76, Z:22.91 [[ 3.38433801e-01 -9.40988508e-01 -1.78583495e-03 4.29892091e+02] [ 9.40976337e-01 3.38438508e-01 -4.78648477e-03 4.33763143e+02] [ 5.10842248e-03 -6.05201929e-05 9.99986950e-01 2.29096224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.990385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.90, Y:433.79, Z:22.91 [[ 3.40041809e-01 -9.40408626e-01 -1.78450732e-03 4.29901219e+02] [ 9.40396444e-01 3.40046488e-01 -4.78697969e-03 4.33788101e+02] [ 5.10853244e-03 -5.03711017e-05 9.99986950e-01 2.29094206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.020385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.91, Y:433.81, Z:22.91 [[ 3.43955100e-01 -9.38984403e-01 -1.78360486e-03 4.29910516e+02] [ 9.38972199e-01 3.43959723e-01 -4.78731592e-03 4.33813060e+02] [ 5.10870321e-03 -2.81336506e-05 9.99986950e-01 2.29087933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.050385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.92, Y:433.84, Z:22.91 [[ 3.44525207e-01 -9.38775375e-01 -1.78271920e-03 4.29919574e+02] [ 9.38763167e-01 3.44529818e-01 -4.78764570e-03 4.33839196e+02] [ 5.10872381e-03 -2.40865000e-05 9.99986950e-01 2.29068867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.080385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.93, Y:433.87, Z:22.91 [[ 3.47255125e-01 -9.37769024e-01 -1.77085471e-03 4.29930996e+02] [ 9.37756780e-01 3.47259640e-01 -4.79206030e-03 4.33866281e+02] [ 5.10879207e-03 3.43648826e-06 9.99986950e-01 2.29089082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.110385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.94, Y:433.89, Z:22.91 [[ 3.53174223e-01 -9.35555877e-01 -1.78024374e-03 4.29943776e+02] [ 9.35543622e-01 3.53178709e-01 -4.78856752e-03 4.33893404e+02] [ 5.10871667e-03 2.57029326e-05 9.99986950e-01 2.29081974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.140385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.95, Y:433.92, Z:22.91 [[ 3.55632291e-01 -9.34624237e-01 -1.79131861e-03 4.29954845e+02] [ 9.34611992e-01 3.55636801e-01 -4.78445012e-03 4.33920397e+02] [ 5.10872186e-03 2.73171013e-05 9.99986950e-01 2.29081164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.170385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:429.97, Y:433.95, Z:22.91 [[ 3.61966946e-01 -9.32189203e-01 -1.79430240e-03 4.29970900e+02] [ 9.32176933e-01 3.61971388e-01 -4.78334028e-03 4.33948791e+02] [ 5.10846429e-03 5.88037603e-05 9.99986950e-01 2.29058863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.200385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:429.98, Y:433.97, Z:22.91 [[ 3.62043283e-01 -9.32159463e-01 -1.84326805e-03 4.29980751e+02] [ 9.32147283e-01 3.62047975e-01 -4.76512532e-03 4.33974973e+02] [ 5.10920812e-03 6.98431184e-06 9.99986948e-01 2.29067755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.2303857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.99, Y:434.00, Z:22.91 [[ 3.61752401e-01 -9.32272412e-01 -1.83044779e-03 4.29988930e+02] [ 9.32260210e-01 3.61757031e-01 -4.76988753e-03 4.33997808e+02] [ 5.10901191e-03 1.90646217e-05 9.99986949e-01 2.29075994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.260385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:430.00, Y:434.02, Z:22.91 [[ 3.61968754e-01 -9.32188536e-01 -1.77611494e-03 4.30000049e+02] [ 9.32176232e-01 3.61973103e-01 -4.79003382e-03 4.34023132e+02] [ 5.10812045e-03 7.81904448e-05 9.99986950e-01 2.29076461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.290385723 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:430.01, Y:434.05, Z:22.91 [[ 3.61878805e-01 -9.32223461e-01 -1.77478521e-03 4.30011118e+02] [ 9.32211155e-01 3.61883149e-01 -4.79052646e-03 4.34048286e+02] [ 5.10810601e-03 7.91154227e-05 9.99986950e-01 2.29070818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.320385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.02, Y:434.07, Z:22.91 [[ 3.60946027e-01 -9.32585024e-01 -1.77150360e-03 4.30024639e+02] [ 9.32572717e-01 3.60950366e-01 -4.79174128e-03 4.34074113e+02] [ 5.10813103e-03 7.75040505e-05 9.99986950e-01 2.29070215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.3503857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.04, Y:434.10, Z:22.91 [[ 3.60551296e-01 -9.32737701e-01 -1.77301709e-03 4.30038747e+02] [ 9.32725399e-01 3.60555648e-01 -4.79118120e-03 4.34101322e+02] [ 5.10818667e-03 7.37285185e-05 9.99986950e-01 2.29060659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.380385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.05, Y:434.12, Z:22.91 [[ 3.59341071e-01 -9.33204561e-01 -1.80065839e-03 4.30049853e+02] [ 9.33192315e-01 3.59345580e-01 -4.78095252e-03 4.34124336e+02] [ 5.10866533e-03 3.76320259e-05 9.99986950e-01 2.29061257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.410385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.06, Y:434.15, Z:22.91 [[ 3.59076534e-01 -9.33306438e-01 -1.77104167e-03 4.30062535e+02] [ 9.33294138e-01 3.59080895e-01 -4.79189859e-03 4.34150858e+02] [ 5.10825703e-03 6.77555308e-05 9.99986951e-01 2.29064680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.440385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.07, Y:434.18, Z:22.91 [[ 3.58898082e-01 -9.33375050e-01 -1.78411334e-03 4.30074413e+02] [ 9.33362775e-01 3.58902513e-01 -4.78706966e-03 4.34176717e+02] [ 5.10845414e-03 5.28451455e-05 9.99986950e-01 2.29052099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.4703857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.09, Y:434.20, Z:22.91 [[ 3.57816920e-01 -9.33790051e-01 -1.78687862e-03 4.30087252e+02] [ 9.33777786e-01 3.57821379e-01 -4.78604823e-03 4.34201081e+02] [ 5.10854759e-03 4.39814786e-05 9.99986950e-01 2.29051990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.500385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.10, Y:434.23, Z:22.90 [[ 3.56752993e-01 -9.34197075e-01 -1.76847232e-03 4.30098942e+02] [ 9.34184782e-01 3.56757372e-01 -4.79283983e-03 4.34225184e+02] [ 5.10837248e-03 5.77800305e-05 9.99986951e-01 2.29048850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.530385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.11, Y:434.25, Z:22.90 [[ 3.53958795e-01 -9.35259348e-01 -1.76728609e-03 4.30113720e+02] [ 9.35247066e-01 3.53963205e-01 -4.79327719e-03 4.34248111e+02] [ 5.10851155e-03 4.37734865e-05 9.99986951e-01 2.29041535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.560385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:430.13, Y:434.27, Z:22.90 [[ 3.52300710e-01 -9.35885192e-01 -1.76589733e-03 4.30126496e+02] [ 9.35872915e-01 3.52305134e-01 -4.79378877e-03 4.34272850e+02] [ 5.10857062e-03 3.61997017e-05 9.99986951e-01 2.29038093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.5903857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.14, Y:434.30, Z:22.91 [[ 3.50723237e-01 -9.36477494e-01 -1.76460983e-03 4.30138739e+02] [ 9.36465223e-01 3.50727675e-01 -4.79426266e-03 4.34298063e+02] [ 5.10861658e-03 2.89635790e-05 9.99986951e-01 2.29058852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.620385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.16, Y:434.33, Z:22.91 [[ 3.49356370e-01 -9.36988270e-01 -1.76328324e-03 4.30157061e+02] [ 9.36976002e-01 3.49360819e-01 -4.79475052e-03 4.34325190e+02] [ 5.10864707e-03 2.29225540e-05 9.99986951e-01 2.29062996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.650385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.17, Y:434.35, Z:22.91 [[ 3.44918391e-01 -9.38630953e-01 -1.79942382e-03 4.30168946e+02] [ 9.38618775e-01 3.44923083e-01 -4.78144814e-03 4.34348193e+02] [ 5.10867804e-03 -3.97635839e-05 9.99986950e-01 2.29066050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.680385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.18, Y:434.37, Z:22.91 [[ 3.44614000e-01 -9.38742790e-01 -1.77924689e-03 4.30180822e+02] [ 9.38730575e-01 3.44618592e-01 -4.78887183e-03 4.34372471e+02] [ 5.10868046e-03 -1.99211777e-05 9.99986950e-01 2.29063945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.710385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.19, Y:434.40, Z:22.91 [[ 3.43836845e-01 -9.39027752e-01 -1.76217600e-03 4.30193025e+02] [ 9.39015509e-01 3.43841361e-01 -4.79514525e-03 4.34397692e+02] [ 5.10868345e-03 -5.96297762e-06 9.99986951e-01 2.29082945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.740385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.20, Y:434.42, Z:22.91 [[ 3.44959533e-01 -9.38615907e-01 -1.76081482e-03 4.30203742e+02] [ 9.38603655e-01 3.44964027e-01 -4.79564503e-03 4.34422576e+02] [ 5.10868648e-03 1.59624636e-06 9.99986951e-01 2.29089953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.770385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.21, Y:434.45, Z:22.91 [[ 3.46202681e-01 -9.38158094e-01 -1.75941879e-03 4.30212935e+02] [ 9.38145834e-01 3.46207151e-01 -4.79615715e-03 4.34449620e+02] [ 5.10867701e-03 9.85105072e-06 9.99986951e-01 2.29086394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.800385723 meters Centerline goodness : 0.998926 Centerline is valid? [True, True] Translation: X:430.22, Y:434.48, Z:22.91 [[ 3.47754254e-01 -9.37584070e-01 -1.75813110e-03 4.30221742e+02] [ 9.37571800e-01 3.47758697e-01 -4.79662913e-03 4.34475830e+02] [ 5.10864844e-03 1.96740430e-05 9.99986951e-01 2.29063085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.830385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.23, Y:434.50, Z:22.91 [[ 3.49329395e-01 -9.36998340e-01 -1.75648902e-03 4.30230724e+02] [ 9.36986060e-01 3.49333810e-01 -4.79723037e-03 4.34501633e+02] [ 5.10859789e-03 3.00078567e-05 9.99986951e-01 2.29088058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.860385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.24, Y:434.53, Z:22.91 [[ 3.49860502e-01 -9.36800165e-01 -1.75472075e-03 4.30239396e+02] [ 9.36787880e-01 3.49864901e-01 -4.79787708e-03 4.34527471e+02] [ 5.10856724e-03 3.47865555e-05 9.99986951e-01 2.29085600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.890385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:430.25, Y:434.55, Z:22.91 [[ 3.49052051e-01 -9.37101697e-01 -1.75377010e-03 4.30249068e+02] [ 9.37089413e-01 3.49056455e-01 -4.79822455e-03 4.34554835e+02] [ 5.10858914e-03 3.13907300e-05 9.99986951e-01 2.29102771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.920385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.26, Y:434.58, Z:22.91 [[ 3.48320207e-01 -9.37373949e-01 -1.76465054e-03 4.30257957e+02] [ 9.37361689e-01 3.48324676e-01 -4.79424906e-03 4.34581793e+02] [ 5.10867550e-03 1.58180142e-05 9.99986951e-01 2.29107263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.950385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.26, Y:434.61, Z:22.91 [[ 3.48388377e-01 -9.37348615e-01 -1.76433680e-03 4.30264081e+02] [ 9.37336354e-01 3.48392844e-01 -4.79436359e-03 4.34607584e+02] [ 5.10867239e-03 1.65235290e-05 9.99986951e-01 2.29094671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.9803857229999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:430.27, Y:434.63, Z:22.91 [[ 3.47818086e-01 -9.37560406e-01 -1.75060073e-03 4.30272572e+02] [ 9.37548122e-01 3.47822490e-01 -4.79937391e-03 4.34633637e+02] [ 5.10860125e-03 2.80366209e-05 9.99986951e-01 2.29087380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.010385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.28, Y:434.66, Z:22.91 [[ 3.45843653e-01 -9.38290524e-01 -1.74933388e-03 4.30282055e+02] [ 9.38278247e-01 3.45848077e-01 -4.79983562e-03 4.34660349e+02] [ 5.10864403e-03 1.86307631e-05 9.99986951e-01 2.29092381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.040385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.30, Y:434.69, Z:22.91 [[ 3.49401147e-01 -9.36971602e-01 -1.74803721e-03 4.30301405e+02] [ 9.36959306e-01 3.49405518e-01 -4.80030780e-03 4.34690609e+02] [ 5.10852594e-03 3.93933258e-05 9.99986951e-01 2.29084038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.070385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.30, Y:434.71, Z:22.91 [[ 3.41504571e-01 -9.39878309e-01 -1.84191093e-03 4.30302710e+02] [ 9.39866230e-01 3.41509522e-01 -4.76606703e-03 4.34711929e+02] [ 5.10855314e-03 -1.03516212e-04 9.99986946e-01 2.29101256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.1003857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.31, Y:434.74, Z:22.91 [[ 3.40186980e-01 -9.40356193e-01 -1.74634212e-03 4.30312816e+02] [ 9.40343938e-01 3.40191462e-01 -4.80083101e-03 4.34738502e+02] [ 5.10858185e-03 -8.98202197e-06 9.99986951e-01 2.29108594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.130385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.32, Y:434.76, Z:22.91 [[ 3.38382380e-01 -9.41007077e-01 -1.74501178e-03 4.30322025e+02] [ 9.40994829e-01 3.38386879e-01 -4.80131451e-03 4.34764078e+02] [ 5.10856003e-03 -1.73668295e-05 9.99986951e-01 2.29114940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.160385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:430.33, Y:434.79, Z:22.91 [[ 3.37972018e-01 -9.41154544e-01 -1.74360860e-03 4.30331316e+02] [ 9.41142294e-01 3.37976515e-01 -4.80182402e-03 4.34790092e+02] [ 5.10855726e-03 -1.81016461e-05 9.99986951e-01 2.29121226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.190385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.34, Y:434.82, Z:22.91 [[ 3.37712484e-01 -9.41247705e-01 -1.74231638e-03 4.30340771e+02] [ 9.41235455e-01 3.37716978e-01 -4.80229286e-03 4.34817068e+02] [ 5.10855695e-03 -1.81356984e-05 9.99986951e-01 2.29126829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.2203857229999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:430.36, Y:434.85, Z:22.91 [[ 3.40802618e-01 -9.40133259e-01 -1.74099249e-03 4.30356888e+02] [ 9.40120991e-01 3.40807065e-01 -4.80277276e-03 4.34845823e+02] [ 5.10858895e-03 5.39470415e-08 9.99986951e-01 2.29129145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.250385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.36, Y:434.87, Z:22.91 [[ 3.39668539e-01 -9.40543465e-01 -1.80926773e-03 4.30363158e+02] [ 9.40531332e-01 3.39673349e-01 -4.77800097e-03 4.34869464e+02] [ 5.10847762e-03 -7.87363765e-05 9.99986949e-01 2.29147065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.280385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.37, Y:434.90, Z:22.91 [[ 3.37231604e-01 -9.41420064e-01 -1.76297994e-03 4.30369246e+02] [ 9.41407855e-01 3.37236210e-01 -4.79476153e-03 4.34895274e+02] [ 5.10842538e-03 -4.27380376e-05 9.99986951e-01 2.29112527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.310385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.38, Y:434.92, Z:22.91 [[ 3.37695895e-01 -9.41253640e-01 -1.75159649e-03 4.30377321e+02] [ 9.41241407e-01 3.37700437e-01 -4.79888094e-03 4.34918721e+02] [ 5.10847905e-03 -2.81127458e-05 9.99986951e-01 2.29130209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.3403857229999 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:430.39, Y:434.95, Z:22.91 [[ 3.37046953e-01 -9.41486237e-01 -1.73673340e-03 4.30387020e+02] [ 9.41473980e-01 3.37051427e-01 -4.80425393e-03 4.34945185e+02] [ 5.10850743e-03 -1.58301517e-05 9.99986951e-01 2.29121447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.370385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.40, Y:434.97, Z:22.91 [[ 3.37149860e-01 -9.41449393e-01 -1.73543218e-03 4.30395877e+02] [ 9.41437133e-01 3.37154326e-01 -4.80472392e-03 4.34970813e+02] [ 5.10851289e-03 -1.38882958e-05 9.99986951e-01 2.29127064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.400385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.41, Y:435.00, Z:22.91 [[ 3.36963917e-01 -9.41515964e-01 -1.73427795e-03 4.30405553e+02] [ 9.41503703e-01 3.36968380e-01 -4.80514051e-03 4.34997096e+02] [ 5.10851333e-03 -1.36701415e-05 9.99986951e-01 2.29101903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.430385723 meters Centerline goodness : 0.999598 Centerline is valid? [True, True] Translation: X:430.41, Y:435.02, Z:22.91 [[ 3.36961191e-01 -9.41516935e-01 -1.73679785e-03 4.30414616e+02] [ 9.41504678e-01 3.36965666e-01 -4.80423151e-03 4.35023131e+02] [ 5.10850658e-03 -1.63637335e-05 9.99986951e-01 2.29112294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.460385723 meters Centerline goodness : 0.999709 Centerline is valid? [True, True] Translation: X:430.42, Y:435.05, Z:22.91 [[ 3.35126994e-01 -9.42171374e-01 -1.73215669e-03 4.30423853e+02] [ 9.42159117e-01 3.35131470e-01 -4.80590429e-03 4.35049716e+02] [ 5.10848567e-03 -2.13789612e-05 9.99986951e-01 2.29104165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.490385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.43, Y:435.07, Z:22.91 [[ 3.35482403e-01 -9.42044845e-01 -1.75140435e-03 4.30432673e+02] [ 9.42032622e-01 3.35486972e-01 -4.79896773e-03 4.35073680e+02] [ 5.10841615e-03 -3.99108106e-05 9.99986951e-01 2.29111488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.520385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.44, Y:435.10, Z:22.92 [[ 3.35435864e-01 -9.42061449e-01 -1.73434385e-03 4.30442328e+02] [ 9.42049194e-01 3.35440347e-01 -4.80510772e-03 4.35100335e+02] [ 5.10847565e-03 -2.20317651e-05 9.99986951e-01 2.29158530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.550385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.45, Y:435.13, Z:22.92 [[ 3.34948374e-01 -9.42234895e-01 -1.72885485e-03 4.30451485e+02] [ 9.42222633e-01 3.34952835e-01 -4.80708183e-03 4.35127201e+02] [ 5.10848508e-03 -1.88419270e-05 9.99986951e-01 2.29164053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.580385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.46, Y:435.15, Z:22.92 [[ 3.34660028e-01 -9.42337350e-01 -1.72750609e-03 4.30460717e+02] [ 9.42325087e-01 3.34664486e-01 -4.80756648e-03 4.35153691e+02] [ 5.10848440e-03 -1.89719905e-05 9.99986951e-01 2.29167422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.610385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.47, Y:435.18, Z:22.92 [[ 3.34509056e-01 -9.42390955e-01 -1.72616518e-03 4.30469619e+02] [ 9.42378690e-01 3.34513509e-01 -4.80804789e-03 4.35178806e+02] [ 5.10848641e-03 -1.83657255e-05 9.99986951e-01 2.29170124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.640385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.48, Y:435.21, Z:22.92 [[ 3.34139469e-01 -9.42522063e-01 -1.72494593e-03 4.30479915e+02] [ 9.42509798e-01 3.34143921e-01 -4.80848527e-03 4.35205426e+02] [ 5.10848365e-03 -1.90737283e-05 9.99986951e-01 2.29185761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.670385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:430.49, Y:435.23, Z:22.92 [[ 3.33923093e-01 -9.42598747e-01 -1.72362334e-03 4.30490076e+02] [ 9.42586479e-01 3.33927541e-01 -4.80895931e-03 4.35231250e+02] [ 5.10848432e-03 -1.88414835e-05 9.99986951e-01 2.29196723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.700385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:430.50, Y:435.26, Z:22.92 [[ 3.33665412e-01 -9.42689995e-01 -1.72231095e-03 4.30499655e+02] [ 9.42677727e-01 3.33669856e-01 -4.80942929e-03 4.35258190e+02] [ 5.10848412e-03 -1.88439684e-05 9.99986951e-01 2.29198178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.7303857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.51, Y:435.28, Z:22.92 [[ 3.32752790e-01 -9.43012523e-01 -1.72099610e-03 4.30509572e+02] [ 9.43000257e-01 3.32757239e-01 -4.80989975e-03 4.35283905e+02] [ 5.10846961e-03 -2.23922049e-05 9.99986951e-01 2.29207326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.760385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.52, Y:435.31, Z:22.92 [[ 3.32488532e-01 -9.43105731e-01 -1.71960975e-03 4.30518861e+02] [ 9.43093463e-01 3.32492978e-01 -4.81039534e-03 4.35310470e+02] [ 5.10846958e-03 -2.23514251e-05 9.99986951e-01 2.29204314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.790385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:430.53, Y:435.34, Z:22.92 [[ 3.33185064e-01 -9.42859884e-01 -1.71832186e-03 4.30527871e+02] [ 9.42847610e-01 3.33189495e-01 -4.81085534e-03 4.35335948e+02] [ 5.10848930e-03 -1.72105102e-05 9.99986951e-01 2.29201260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.820385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.54, Y:435.36, Z:22.92 [[ 3.34082727e-01 -9.42542192e-01 -1.71696166e-03 4.30539199e+02] [ 9.42529912e-01 3.34087139e-01 -4.81134074e-03 4.35363825e+02] [ 5.10850646e-03 -1.09018832e-05 9.99986951e-01 2.29204618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.8503857229999 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:430.55, Y:435.39, Z:22.92 [[ 3.34622809e-01 -9.42350534e-01 -1.74571381e-03 4.30545931e+02] [ 9.42338304e-01 3.34627360e-01 -4.80108092e-03 4.35388266e+02] [ 5.10846477e-03 -3.85018073e-05 9.99986951e-01 2.29216531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.880385723 meters Centerline goodness : 0.999844 Centerline is valid? [True, True] Translation: X:430.56, Y:435.41, Z:22.92 [[ 3.33989753e-01 -9.42575145e-01 -1.71483939e-03 4.30555326e+02] [ 9.42562862e-01 3.33994156e-01 -4.81208337e-03 4.35414677e+02] [ 5.10849651e-03 -9.15738915e-06 9.99986952e-01 2.29209382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.910385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:430.56, Y:435.44, Z:22.92 [[ 3.34299573e-01 -9.42465309e-01 -1.71358387e-03 4.30564379e+02] [ 9.42453022e-01 3.34303965e-01 -4.81253041e-03 4.35440994e+02] [ 5.10850085e-03 -6.14543964e-06 9.99986952e-01 2.29235693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.940385723 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:430.57, Y:435.47, Z:22.92 [[ 3.33921794e-01 -9.42599227e-01 -1.71227532e-03 4.30572434e+02] [ 9.42586940e-01 3.33926184e-01 -4.81299595e-03 4.35466535e+02] [ 5.10849982e-03 -6.80411078e-06 9.99986952e-01 2.29233226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.9703857229999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:430.58, Y:435.49, Z:22.92 [[ 3.33215251e-01 -9.42849229e-01 -1.71090054e-03 4.30581553e+02] [ 9.42836942e-01 3.33219643e-01 -4.81348460e-03 4.35493523e+02] [ 5.10849591e-03 -9.17375711e-06 9.99986952e-01 2.29244036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.000385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:430.59, Y:435.52, Z:22.93 [[ 3.32576157e-01 -9.43074852e-01 -1.70958661e-03 4.30591058e+02] [ 9.43062566e-01 3.32580551e-01 -4.81395122e-03 4.35519998e+02] [ 5.10849159e-03 -1.12417382e-05 9.99986952e-01 2.29254798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.030385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:430.60, Y:435.55, Z:22.93 [[ 3.31724709e-01 -9.43374687e-01 -1.70824815e-03 4.30599934e+02] [ 9.43362402e-01 3.31729107e-01 -4.81442613e-03 4.35545950e+02] [ 5.10848337e-03 -1.44329696e-05 9.99986952e-01 2.29253548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.060385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:430.61, Y:435.57, Z:22.93 [[ 3.30129889e-01 -9.43933971e-01 -1.70703195e-03 4.30608076e+02] [ 9.43921692e-01 3.30134302e-01 -4.81485731e-03 4.35572486e+02] [ 5.10845718e-03 -2.17761723e-05 9.99986952e-01 2.29265633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.0903857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.62, Y:435.60, Z:22.93 [[ 3.31129019e-01 -9.43583954e-01 -1.70154924e-03 4.30616792e+02] [ 9.43571659e-01 3.31133391e-01 -4.81679997e-03 4.35598576e+02] [ 5.10849493e-03 -1.05513924e-05 9.99986952e-01 2.29258570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.120385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.63, Y:435.62, Z:22.93 [[ 3.31103279e-01 -9.43592980e-01 -1.70528626e-03 4.30625533e+02] [ 9.43580692e-01 3.31107670e-01 -4.81547660e-03 4.35624918e+02] [ 5.10848327e-03 -1.46550956e-05 9.99986952e-01 2.29258824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.150385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.63, Y:435.65, Z:22.93 [[ 3.31116753e-01 -9.43588254e-01 -1.70395203e-03 4.30633963e+02] [ 9.43575964e-01 3.31121137e-01 -4.81594866e-03 4.35650708e+02] [ 5.10848713e-03 -1.31668961e-05 9.99986952e-01 2.29253997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.180385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.64, Y:435.68, Z:22.92 [[ 3.31661248e-01 -9.43397010e-01 -1.70253830e-03 4.30643784e+02] [ 9.43384715e-01 3.31665618e-01 -4.81644840e-03 4.35679135e+02] [ 5.10849643e-03 -8.71932414e-06 9.99986952e-01 2.29228692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.210385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.65, Y:435.70, Z:22.92 [[ 3.32016792e-01 -9.43271903e-01 -1.72251351e-03 4.30651928e+02] [ 9.43259643e-01 3.32021259e-01 -4.80938858e-03 4.35704356e+02] [ 5.10847222e-03 -2.79797021e-05 9.99986951e-01 2.29229711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.240385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:430.66, Y:435.73, Z:22.92 [[ 3.31745487e-01 -9.43367394e-01 -1.70043921e-03 4.30660820e+02] [ 9.43355095e-01 3.31749845e-01 -4.81718069e-03 4.35731095e+02] [ 5.10849164e-03 -6.04003916e-06 9.99986952e-01 2.29236967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.270385723 meters Centerline goodness : 0.999844 Centerline is valid? [True, True] Translation: X:430.67, Y:435.76, Z:22.92 [[ 3.30139388e-01 -9.43930663e-01 -1.69913312e-03 4.30669699e+02] [ 9.43918369e-01 3.30143761e-01 -4.81764134e-03 4.35758134e+02] [ 5.10847758e-03 -1.33497959e-05 9.99986952e-01 2.29226005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.300385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.68, Y:435.78, Z:22.92 [[ 3.28977877e-01 -9.44336102e-01 -1.69778729e-03 4.30678436e+02] [ 9.44323811e-01 3.28982257e-01 -4.81811558e-03 4.35784218e+02] [ 5.10846238e-03 -1.82075271e-05 9.99986952e-01 2.29239540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.330385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.69, Y:435.81, Z:22.92 [[ 3.27641297e-01 -9.44800668e-01 -1.69658742e-03 4.30687617e+02] [ 9.44788381e-01 3.27645688e-01 -4.81853805e-03 4.35810768e+02] [ 5.10843752e-03 -2.41640287e-05 9.99986952e-01 2.29243828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.360385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.70, Y:435.84, Z:22.93 [[ 3.24250723e-01 -9.45969658e-01 -1.69525825e-03 4.30696140e+02] [ 9.45957385e-01 3.24255152e-01 -4.81900563e-03 4.35838199e+02] [ 5.10832933e-03 -4.10760015e-05 9.99986952e-01 2.29255079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.390385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.70, Y:435.87, Z:22.92 [[ 3.21115114e-01 -9.47038655e-01 -1.69394319e-03 4.30703884e+02] [ 9.47026394e-01 3.21119577e-01 -4.81946785e-03 4.35865302e+02] [ 5.10818067e-03 -5.66049418e-05 9.99986952e-01 2.29246251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.420385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.71, Y:435.89, Z:22.92 [[ 3.19955512e-01 -9.47431071e-01 -1.68403478e-03 4.30713421e+02] [ 9.47418797e-01 3.19959940e-01 -4.82294723e-03 4.35892562e+02] [ 5.10823373e-03 -5.23576518e-05 9.99986952e-01 2.29237120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.450385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.72, Y:435.92, Z:22.92 [[ 3.16771475e-01 -9.48500384e-01 -1.68975218e-03 4.30720959e+02] [ 9.48488135e-01 3.16775972e-01 -4.82094076e-03 4.35919795e+02] [ 5.10793705e-03 -7.55733802e-05 9.99986952e-01 2.29219375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.4803857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.73, Y:435.95, Z:22.92 [[ 3.17736573e-01 -9.48177543e-01 -1.67874982e-03 4.30731249e+02] [ 9.48165269e-01 3.17741002e-01 -4.82479856e-03 4.35945451e+02] [ 5.10817329e-03 -5.87173141e-05 9.99986952e-01 2.29219652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.510385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.74, Y:435.97, Z:22.92 [[ 3.16739786e-01 -9.48510966e-01 -1.68971036e-03 4.30740149e+02] [ 9.48498718e-01 3.16744284e-01 -4.82095698e-03 4.35972526e+02] [ 5.10793666e-03 -7.56992249e-05 9.99986952e-01 2.29217253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.540385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.75, Y:436.00, Z:22.92 [[ 3.14912198e-01 -9.49119306e-01 -1.68838639e-03 4.30747670e+02] [ 9.49107064e-01 3.14916713e-01 -4.82142061e-03 4.35999396e+02] [ 5.10780447e-03 -8.41352890e-05 9.99986952e-01 2.29205306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.570385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.75, Y:436.03, Z:22.92 [[ 3.13843199e-01 -9.49473328e-01 -1.68699496e-03 4.30754736e+02] [ 9.49461088e-01 3.13847721e-01 -4.82190741e-03 4.36025162e+02] [ 5.10773200e-03 -8.84132196e-05 9.99986952e-01 2.29204511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.6003857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.76, Y:436.05, Z:22.92 [[ 3.15827213e-01 -9.48815255e-01 -1.66844899e-03 4.30764985e+02] [ 9.48802971e-01 3.15831615e-01 -4.82838850e-03 4.36052558e+02] [ 5.10819760e-03 -5.80928811e-05 9.99986951e-01 2.29188634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.630385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.77, Y:436.08, Z:22.92 [[ 3.15396069e-01 -9.48958624e-01 -1.68811448e-03 4.30773056e+02] [ 9.48946379e-01 3.15400576e-01 -4.82151605e-03 4.36079054e+02] [ 5.10785152e-03 -8.12429187e-05 9.99986952e-01 2.29207939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.660385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.78, Y:436.11, Z:22.92 [[ 3.15816608e-01 -9.48818757e-01 -1.68418707e-03 4.30782982e+02] [ 9.48806503e-01 3.15821089e-01 -4.82288753e-03 4.36105158e+02] [ 5.10794795e-03 -7.48196652e-05 9.99986952e-01 2.29228559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.690385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.79, Y:436.13, Z:22.92 [[ 3.15841745e-01 -9.48810392e-01 -1.68279853e-03 4.30792232e+02] [ 9.48798135e-01 3.15846220e-01 -4.82337197e-03 4.36131937e+02] [ 5.10797100e-03 -7.32138897e-05 9.99986952e-01 2.29216727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.7203857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.80, Y:436.16, Z:22.92 [[ 3.15760635e-01 -9.48837392e-01 -1.68068570e-03 4.30797972e+02] [ 9.48825131e-01 3.15765100e-01 -4.82410844e-03 4.36158249e+02] [ 5.10799636e-03 -7.14132864e-05 9.99986952e-01 2.29211474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.750385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:430.81, Y:436.19, Z:22.92 [[ 3.16012988e-01 -9.48753384e-01 -1.67575974e-03 4.30806552e+02] [ 9.48741113e-01 3.16017425e-01 -4.82582416e-03 4.36186269e+02] [ 5.10808628e-03 -6.48390403e-05 9.99986952e-01 2.29207336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.780385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.81, Y:436.21, Z:22.92 [[ 3.16060377e-01 -9.48737592e-01 -1.67904917e-03 4.30814640e+02] [ 9.48725327e-01 3.16064829e-01 -4.82467898e-03 4.36211875e+02] [ 5.10804271e-03 -6.80666189e-05 9.99986952e-01 2.29228545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.810385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:430.82, Y:436.24, Z:22.92 [[ 3.14343489e-01 -9.49307828e-01 -1.67891675e-03 4.30823999e+02] [ 9.49295571e-01 3.14347963e-01 -4.82472506e-03 4.36239255e+02] [ 5.10791333e-03 -7.71673284e-05 9.99986952e-01 2.29223727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.8403857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.83, Y:436.27, Z:22.92 [[ 3.13652928e-01 -9.49536213e-01 -1.67968818e-03 4.30832814e+02] [ 9.49523960e-01 3.13657415e-01 -4.82445670e-03 4.36265206e+02] [ 5.10784300e-03 -8.16992045e-05 9.99986952e-01 2.29230075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.870385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.84, Y:436.29, Z:22.92 [[ 3.10371662e-01 -9.50613820e-01 -1.67206613e-03 4.30840720e+02] [ 9.50601569e-01 3.10376153e-01 -4.82710734e-03 4.36292682e+02] [ 5.10768440e-03 -9.12713589e-05 9.99986952e-01 2.29240983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.900385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.85, Y:436.32, Z:22.92 [[ 3.09586968e-01 -9.50869666e-01 -1.66963809e-03 4.30847383e+02] [ 9.50857414e-01 3.09591456e-01 -4.82795114e-03 4.36319548e+02] [ 5.10765798e-03 -9.29170075e-05 9.99986952e-01 2.29225809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.930385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:430.86, Y:436.35, Z:22.92 [[ 3.09671657e-01 -9.50842095e-01 -1.66569919e-03 4.30855709e+02] [ 9.50829835e-01 3.09676124e-01 -4.82931896e-03 4.36346540e+02] [ 5.10774703e-03 -8.82932783e-05 9.99986952e-01 2.29224513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.960385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.86, Y:436.37, Z:22.92 [[ 3.08836299e-01 -9.51113747e-01 -1.66757946e-03 4.30862912e+02] [ 9.51101494e-01 3.08840787e-01 -4.82866615e-03 4.36372965e+02] [ 5.10762731e-03 -9.47699346e-05 9.99986952e-01 2.29212625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.990385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.87, Y:436.40, Z:22.92 [[ 3.09393264e-01 -9.50932752e-01 -1.64588318e-03 4.30871275e+02] [ 9.50920457e-01 3.09397634e-01 -4.83619149e-03 4.36399067e+02] [ 5.10812525e-03 -6.88189108e-05 9.99986951e-01 2.29205106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.020385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:430.88, Y:436.43, Z:22.92 [[ 3.11960787e-01 -9.50093556e-01 -1.64394693e-03 4.30882808e+02] [ 9.50081245e-01 3.11965114e-01 -4.83686285e-03 4.36427940e+02] [ 5.10832632e-03 -5.29716052e-05 9.99986951e-01 2.29229021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.050385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:430.89, Y:436.45, Z:22.92 [[ 3.13085850e-01 -9.49723356e-01 -1.67284408e-03 4.30888210e+02] [ 9.49711093e-01 3.13090310e-01 -4.82684251e-03 4.36453417e+02] [ 5.10791634e-03 -7.75024907e-05 9.99986952e-01 2.29210508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.080385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.90, Y:436.48, Z:22.92 [[ 3.15034132e-01 -9.49078894e-01 -1.65809855e-03 4.30896124e+02] [ 9.49066595e-01 3.15038492e-01 -4.83195077e-03 4.36481007e+02] [ 5.10826736e-03 -5.14165288e-05 9.99986951e-01 2.29202770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.110385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:430.90, Y:436.51, Z:22.92 [[ 3.15475713e-01 -9.48932180e-01 -1.67087524e-03 4.30903981e+02] [ 9.48919903e-01 3.15480131e-01 -4.82752655e-03 4.36507025e+02] [ 5.10812324e-03 -6.25593848e-05 9.99986952e-01 2.29209567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.140385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.91, Y:436.53, Z:22.92 [[ 3.15857317e-01 -9.48805244e-01 -1.66256680e-03 4.30911889e+02] [ 9.48792950e-01 3.15861688e-01 -4.83040218e-03 4.36534027e+02] [ 5.10825208e-03 -5.17137864e-05 9.99986951e-01 2.29201455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.170385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.92, Y:436.56, Z:22.92 [[ 3.16674519e-01 -9.48532820e-01 -1.65489545e-03 4.30919778e+02] [ 9.48520508e-01 3.16678841e-01 -4.83305541e-03 4.36560383e+02] [ 5.10838205e-03 -3.91967765e-05 9.99986951e-01 2.29203477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.200385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:430.93, Y:436.59, Z:22.92 [[ 3.16936935e-01 -9.48445183e-01 -1.64735567e-03 4.30929393e+02] [ 9.48432856e-01 3.16941214e-01 -4.83566181e-03 4.36587068e+02] [ 5.10847506e-03 -2.98064105e-05 9.99986951e-01 2.29210050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.2303857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.94, Y:436.61, Z:22.92 [[ 3.17337708e-01 -9.48311153e-01 -1.65420372e-03 4.30938674e+02] [ 9.48298836e-01 3.17342018e-01 -4.83329538e-03 4.36614413e+02] [ 5.10841626e-03 -3.48925845e-05 9.99986951e-01 2.29221456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.260385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.95, Y:436.64, Z:22.92 [[ 3.17945596e-01 -9.48107507e-01 -1.65931665e-03 4.30947626e+02] [ 9.48095197e-01 3.17949924e-01 -4.83152953e-03 4.36640864e+02] [ 5.10838902e-03 -3.70266105e-05 9.99986951e-01 2.29222945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.290385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:430.96, Y:436.67, Z:22.92 [[ 3.19007437e-01 -9.47750749e-01 -1.66505989e-03 4.30955962e+02] [ 9.47738445e-01 3.19011781e-01 -4.82954673e-03 4.36667621e+02] [ 5.10838025e-03 -3.73799454e-05 9.99986951e-01 2.29209815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.320385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.96, Y:436.69, Z:22.92 [[ 3.20900854e-01 -9.47111330e-01 -1.66430953e-03 4.30964561e+02] [ 9.47099016e-01 3.20905169e-01 -4.82980553e-03 4.36693689e+02] [ 5.10844907e-03 -2.63771975e-05 9.99986951e-01 2.29214834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.3503857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.97, Y:436.72, Z:22.92 [[ 3.23017039e-01 -9.46391684e-01 -1.66511240e-03 4.30973025e+02] [ 9.46379361e-01 3.23021331e-01 -4.82952872e-03 4.36720532e+02] [ 5.10849264e-03 -1.58079469e-05 9.99986951e-01 2.29210851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.380385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:430.98, Y:436.75, Z:22.92 [[ 3.23799489e-01 -9.46124264e-01 -1.66378657e-03 4.30982458e+02] [ 9.46111936e-01 3.23803763e-01 -4.82998543e-03 4.36747160e+02] [ 5.10850676e-03 -1.01815216e-05 9.99986951e-01 2.29214419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.410385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:430.99, Y:436.77, Z:22.92 [[ 3.24745150e-01 -9.45800097e-01 -1.66244656e-03 4.30990621e+02] [ 9.45787762e-01 3.24749406e-01 -4.83044661e-03 4.36774426e+02] [ 5.10851540e-03 -3.65750027e-06 9.99986951e-01 2.29230017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.440385723 meters Centerline goodness : 0.999759 Centerline is valid? [True, True] Translation: X:431.00, Y:436.80, Z:22.92 [[ 3.26226481e-01 -9.45290188e-01 -1.65651985e-03 4.31001039e+02] [ 9.45277835e-01 3.26230687e-01 -4.83248566e-03 4.36802796e+02] [ 5.10850889e-03 1.06132952e-05 9.99986951e-01 2.29225503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.4703857229999 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:431.01, Y:436.83, Z:22.92 [[ 3.24838119e-01 -9.45768143e-01 -1.67794115e-03 4.31006065e+02] [ 9.45755835e-01 3.24842452e-01 -4.82511817e-03 4.36827471e+02] [ 5.10850957e-03 -1.95403192e-05 9.99986951e-01 2.29204246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.500385723 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:431.02, Y:436.85, Z:22.92 [[ 3.26080727e-01 -9.45340505e-01 -1.63990376e-03 4.31017320e+02] [ 9.45328125e-01 3.26084849e-01 -4.83817737e-03 4.36854533e+02] [ 5.10847281e-03 2.73892449e-05 9.99986951e-01 2.29237549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.530385723 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:431.03, Y:436.88, Z:22.92 [[ 3.25778277e-01 -9.45444733e-01 -1.66443321e-03 4.31026238e+02] [ 9.45432397e-01 3.25782529e-01 -4.82975610e-03 4.36880660e+02] [ 5.10851073e-03 -1.79460098e-07 9.99986952e-01 2.29234880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.560385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:431.04, Y:436.91, Z:22.92 [[ 3.25024727e-01 -9.45704072e-01 -1.65359693e-03 4.31036178e+02] [ 9.45691721e-01 3.25028933e-01 -4.83347293e-03 4.36907186e+02] [ 5.10850188e-03 7.20529662e-06 9.99986952e-01 2.29233851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.5903857229999 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:431.05, Y:436.93, Z:22.92 [[ 3.22344340e-01 -9.46621034e-01 -1.65665510e-03 4.31045483e+02] [ 9.46608699e-01 3.22348597e-01 -4.83242452e-03 4.36933877e+02] [ 5.10849515e-03 -1.04994361e-05 9.99986952e-01 2.29237112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.620385723 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:431.05, Y:436.96, Z:22.92 [[ 3.22189710e-01 -9.46673685e-01 -1.65050747e-03 4.31054683e+02] [ 9.46661341e-01 3.22193937e-01 -4.83453086e-03 4.36960905e+02] [ 5.10850665e-03 -4.83551735e-06 9.99986952e-01 2.29238546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.650385723 meters Centerline goodness : 0.999781 Centerline is valid? [True, True] Translation: X:431.07, Y:436.99, Z:22.92 [[ 3.22560025e-01 -9.46547574e-01 -1.64961623e-03 4.31065020e+02] [ 9.46535226e-01 3.22564243e-01 -4.83483605e-03 4.36986782e+02] [ 5.10850954e-03 -1.89503548e-06 9.99986952e-01 2.29241081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.680385723 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:431.07, Y:437.01, Z:22.92 [[ 3.22631996e-01 -9.46523036e-01 -1.65449048e-03 4.31074070e+02] [ 9.46510696e-01 3.22636238e-01 -4.83316749e-03 4.37012567e+02] [ 5.10850296e-03 -6.65846351e-06 9.99986952e-01 2.29235370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.710385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:431.08, Y:437.04, Z:22.93 [[ 3.20384877e-01 -9.47286043e-01 -1.63796228e-03 4.31084242e+02] [ 9.47273685e-01 3.20389064e-01 -4.83882622e-03 4.37040233e+02] [ 5.10853775e-03 -1.31181899e-06 9.99986951e-01 2.29262878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.740385723 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:431.09, Y:437.06, Z:22.93 [[ 3.20568543e-01 -9.47223870e-01 -1.65824015e-03 4.31094577e+02] [ 9.47211546e-01 3.20572831e-01 -4.83188588e-03 4.37064881e+02] [ 5.10846438e-03 -2.17536004e-05 9.99986952e-01 2.29257090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.770385723 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:431.11, Y:437.09, Z:22.93 [[ 3.20786143e-01 -9.47150209e-01 -1.65310878e-03 4.31105250e+02] [ 9.47137875e-01 3.20790402e-01 -4.83364081e-03 4.37089775e+02] [ 5.10848533e-03 -1.51569420e-05 9.99986952e-01 2.29250235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.800385723 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:431.12, Y:437.12, Z:22.93 [[ 3.21741735e-01 -9.46826028e-01 -1.65178822e-03 4.31116701e+02] [ 9.46813688e-01 3.21745975e-01 -4.83409204e-03 4.37118042e+02] [ 5.10850038e-03 -8.60653903e-06 9.99986952e-01 2.29270033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.830385723 meters Centerline goodness : 0.999670 Centerline is valid? [True, True] Translation: X:431.13, Y:437.14, Z:22.93 [[ 3.23655314e-01 -9.46173580e-01 -1.67139811e-03 4.31127668e+02] [ 9.46161266e-01 3.23659629e-01 -4.82739492e-03 4.37144710e+02] [ 5.10851762e-03 -1.90001321e-05 9.99986951e-01 2.29274155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.860385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.13, Y:437.17, Z:22.93 [[ 3.23201701e-01 -9.46328613e-01 -1.67815739e-03 4.31134953e+02] [ 9.46316313e-01 3.23206057e-01 -4.82508837e-03 4.37168869e+02] [ 5.10850982e-03 -2.85909436e-05 9.99986951e-01 2.29260045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.890385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:431.15, Y:437.19, Z:22.93 [[ 3.24285608e-01 -9.45957784e-01 -1.64788770e-03 4.31146515e+02] [ 9.45945426e-01 3.24289794e-01 -4.83540417e-03 4.37194715e+02] [ 5.10848138e-03 9.24014913e-06 9.99986952e-01 2.29266661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.920385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:431.16, Y:437.22, Z:22.93 [[ 3.24574053e-01 -9.45858855e-01 -1.64656670e-03 4.31157745e+02] [ 9.45846493e-01 3.24578229e-01 -4.83585396e-03 4.37220770e+02] [ 5.10847499e-03 1.21933837e-05 9.99986952e-01 2.29270897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.950385723 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:431.17, Y:437.25, Z:22.93 [[ 3.25711850e-01 -9.45467654e-01 -1.64525660e-03 4.31171230e+02] [ 9.45455284e-01 3.25716004e-01 -4.83629964e-03 4.37248452e+02] [ 5.10845128e-03 1.97235557e-05 9.99986952e-01 2.29301326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.9803857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.18, Y:437.27, Z:22.93 [[ 3.24710075e-01 -9.45812116e-01 -1.67596730e-03 4.31180674e+02] [ 9.45799804e-01 3.24714399e-01 -4.82585177e-03 4.37271359e+02] [ 5.10855979e-03 -1.81268597e-05 9.99986951e-01 2.29289223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.010385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:431.19, Y:437.30, Z:22.93 [[ 3.24612730e-01 -9.45845587e-01 -1.64334146e-03 4.31190117e+02] [ 9.45833220e-01 3.24616889e-01 -4.83693635e-03 4.37296535e+02] [ 5.10845130e-03 1.58041721e-05 9.99986952e-01 2.29285475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.040385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.20, Y:437.32, Z:22.93 [[ 3.26315205e-01 -9.45259589e-01 -1.64196615e-03 4.31204313e+02] [ 9.45247212e-01 3.26319335e-01 -4.83740317e-03 4.37324455e+02] [ 5.10840704e-03 2.64542829e-05 9.99986952e-01 2.29295777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.070385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.21, Y:437.35, Z:22.93 [[ 3.25437614e-01 -9.45562031e-01 -1.67483339e-03 4.31212188e+02] [ 9.45549714e-01 3.25441924e-01 -4.82624740e-03 4.37348599e+02] [ 5.10857730e-03 -1.29957869e-05 9.99986951e-01 2.29292339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.1003857229999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:431.22, Y:437.37, Z:22.93 [[ 3.25630516e-01 -9.45495679e-01 -1.63944909e-03 4.31222940e+02] [ 9.45483301e-01 3.25634642e-01 -4.83823747e-03 4.37374561e+02] [ 5.10839404e-03 2.54060225e-05 9.99986952e-01 2.29291202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.130385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.24, Y:437.40, Z:22.93 [[ 3.26725859e-01 -9.45117733e-01 -1.63811194e-03 4.31238200e+02] [ 9.45105347e-01 3.26729964e-01 -4.83869015e-03 4.37401408e+02] [ 5.10835212e-03 3.27368458e-05 9.99986952e-01 2.29293454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.160385723 meters Centerline goodness : 0.999821 Centerline is valid? [True, True] Translation: X:431.25, Y:437.43, Z:22.93 [[ 3.26830693e-01 -9.45081451e-01 -1.65826628e-03 4.31249277e+02] [ 9.45069099e-01 3.26834899e-01 -4.83186918e-03 4.37425300e+02] [ 5.10848923e-03 1.20269301e-05 9.99986952e-01 2.29278074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.190385723 meters Centerline goodness : 0.999709 Centerline is valid? [True, True] Translation: X:431.26, Y:437.45, Z:22.93 [[ 3.26995927e-01 -9.45024331e-01 -1.63620661e-03 4.31259633e+02] [ 9.45011941e-01 3.27000018e-01 -4.83932769e-03 4.37451280e+02] [ 5.10832201e-03 3.62056564e-05 9.99986952e-01 2.29278955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.2203857229999 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:431.27, Y:437.48, Z:22.93 [[ 3.27537668e-01 -9.44836707e-01 -1.63487618e-03 4.31271856e+02] [ 9.44824312e-01 3.27541746e-01 -4.83977711e-03 4.37477320e+02] [ 5.10828927e-03 4.05385465e-05 9.99986952e-01 2.29284342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.250385723 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:431.28, Y:437.50, Z:22.93 [[ 3.27700152e-01 -9.44780367e-01 -1.63353586e-03 4.31282064e+02] [ 9.44767969e-01 3.27704220e-01 -4.84022946e-03 4.37502815e+02] [ 5.10827036e-03 4.28315684e-05 9.99986952e-01 2.29281429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.280385723 meters Centerline goodness : 0.999437 Centerline is valid? [True, True] Translation: X:431.29, Y:437.53, Z:22.92 [[ 3.27418930e-01 -9.44877865e-01 -1.63255725e-03 4.31293776e+02] [ 9.44865467e-01 3.27422997e-01 -4.84055951e-03 4.37528744e+02] [ 5.10827432e-03 4.23438483e-05 9.99986952e-01 2.29230712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.310385723 meters Centerline goodness : 0.999619 Centerline is valid? [True, True] Translation: X:431.30, Y:437.55, Z:22.93 [[ 3.28287284e-01 -9.44576495e-01 -1.64477053e-03 4.31304391e+02] [ 9.44564113e-01 3.28291402e-01 -4.83644224e-03 4.37551631e+02] [ 5.10835368e-03 3.41512736e-05 9.99986952e-01 2.29262675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.3403857229999 meters Centerline goodness : 0.999775 Centerline is valid? [True, True] Translation: X:431.31, Y:437.58, Z:22.93 [[ 3.28190066e-01 -9.44610302e-01 -1.63018367e-03 4.31314262e+02] [ 9.44597897e-01 3.28194111e-01 -4.84135393e-03 4.37578431e+02] [ 5.10820948e-03 4.90161979e-05 9.99986952e-01 2.29281412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.370385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.32, Y:437.60, Z:22.93 [[ 3.27456136e-01 -9.44864978e-01 -1.62886528e-03 4.31322812e+02] [ 9.44852573e-01 3.27460184e-01 -4.84179746e-03 4.37604594e+02] [ 5.10823338e-03 4.64387354e-05 9.99986952e-01 2.29278790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.400385723 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:431.33, Y:437.63, Z:22.93 [[ 3.26638562e-01 -9.45147926e-01 -1.62747549e-03 4.31330914e+02] [ 9.45135522e-01 3.26642614e-01 -4.84226457e-03 4.37631524e+02] [ 5.10825916e-03 4.34854406e-05 9.99986952e-01 2.29277970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.430385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.34, Y:437.66, Z:22.93 [[ 3.25787675e-01 -9.45441579e-01 -1.61623094e-03 4.31340401e+02] [ 9.45429160e-01 3.25791680e-01 -4.84604043e-03 4.37660742e+02] [ 5.10820270e-03 5.07483797e-05 9.99986952e-01 2.29304910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.460385723 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:431.35, Y:437.69, Z:22.93 [[ 3.24445481e-01 -9.45902961e-01 -1.64900289e-03 4.31347160e+02] [ 9.45890603e-01 3.24449672e-01 -4.83503462e-03 4.37685460e+02] [ 5.10849201e-03 8.92879214e-06 9.99986952e-01 2.29317864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.490385723 meters Centerline goodness : 0.999820 Centerline is valid? [True, True] Translation: X:431.35, Y:437.71, Z:22.93 [[ 3.21773704e-01 -9.46815211e-01 -1.62473453e-03 4.31353711e+02] [ 9.46802824e-01 3.21777806e-01 -4.84317590e-03 4.37711919e+02] [ 5.10839612e-03 2.01034118e-05 9.99986952e-01 2.29337600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.520385723 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:431.37, Y:437.74, Z:22.93 [[ 3.21569294e-01 -9.46884701e-01 -1.59761119e-03 4.31365251e+02] [ 9.46872270e-01 3.21573259e-01 -4.85226779e-03 4.37739391e+02] [ 5.10828717e-03 4.76065947e-05 9.99986952e-01 2.29339598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.550385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.37, Y:437.76, Z:22.93 [[ 3.20320599e-01 -9.47307805e-01 -1.62369105e-03 4.31373349e+02] [ 9.47295423e-01 3.20324714e-01 -4.84352506e-03 4.37764887e+02] [ 5.10841746e-03 1.33657555e-05 9.99986952e-01 2.29317360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.580385723 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:431.38, Y:437.79, Z:22.93 [[ 3.18176101e-01 -9.48030241e-01 -1.62228259e-03 4.31381466e+02] [ 9.48017865e-01 3.18180237e-01 -4.84399676e-03 4.37791985e+02] [ 5.10843367e-03 3.29112697e-06 9.99986952e-01 2.29312356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.610385723 meters Centerline goodness : 0.999865 Centerline is valid? [True, True] Translation: X:431.39, Y:437.82, Z:22.93 [[ 3.15797878e-01 -9.48825101e-01 -1.62096004e-03 4.31390021e+02] [ 9.48812734e-01 3.15802038e-01 -4.84443929e-03 4.37818853e+02] [ 5.10842808e-03 -8.12387776e-06 9.99986952e-01 2.29290277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.640385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.40, Y:437.84, Z:22.93 [[ 3.13448829e-01 -9.49603711e-01 -1.61962407e-03 4.31398224e+02] [ 9.49591352e-01 3.13453012e-01 -4.84488590e-03 4.37844259e+02] [ 5.10839767e-03 -1.93572036e-05 9.99986952e-01 2.29304846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.670385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.41, Y:437.87, Z:22.93 [[ 3.12272037e-01 -9.49991346e-01 -1.61821487e-03 4.31407279e+02] [ 9.49978989e-01 3.12276228e-01 -4.84535653e-03 4.37871193e+02] [ 5.10837681e-03 -2.42007729e-05 9.99986952e-01 2.29310522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.700385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.42, Y:437.90, Z:22.93 [[ 3.09645263e-01 -9.50850775e-01 -1.61687751e-03 4.31415703e+02] [ 9.50838428e-01 3.09649482e-01 -4.84580276e-03 4.37897061e+02] [ 5.10830060e-03 -3.69094027e-05 9.99986952e-01 2.29312003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.7303857229999 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:431.42, Y:437.92, Z:22.93 [[ 3.08602593e-01 -9.51189691e-01 -1.61590262e-03 4.31424354e+02] [ 9.51177347e-01 3.08606821e-01 -4.84612783e-03 4.37923713e+02] [ 5.10826540e-03 -4.14823508e-05 9.99986952e-01 2.29316398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.760385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.43, Y:437.95, Z:22.93 [[ 3.07790440e-01 -9.51452804e-01 -1.61462534e-03 4.31432810e+02] [ 9.51440461e-01 3.07794672e-01 -4.84655335e-03 4.37950041e+02] [ 5.10823986e-03 -4.44970897e-05 9.99986952e-01 2.29327002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.790385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.44, Y:437.98, Z:22.93 [[ 3.05812629e-01 -9.52090349e-01 -1.61331127e-03 4.31440026e+02] [ 9.52078013e-01 3.05816879e-01 -4.84699074e-03 4.37977516e+02] [ 5.10815093e-03 -5.37272081e-05 9.99986952e-01 2.29333923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.820385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.45, Y:438.00, Z:22.93 [[ 3.07489218e-01 -9.51550214e-01 -1.60343724e-03 4.31450142e+02] [ 9.51537853e-01 3.07493397e-01 -4.85027404e-03 4.38003847e+02] [ 5.10832567e-03 -3.43242557e-05 9.99986952e-01 2.29320103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.8503857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.46, Y:438.03, Z:22.93 [[ 3.07682744e-01 -9.51487642e-01 -1.61133334e-03 4.31459088e+02] [ 9.51475294e-01 3.07686960e-01 -4.84764942e-03 4.38030279e+02] [ 5.10826478e-03 -4.16057913e-05 9.99986952e-01 2.29330631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.880385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.47, Y:438.06, Z:22.93 [[ 3.08125770e-01 -9.51344269e-01 -1.61005738e-03 4.31467990e+02] [ 9.51331916e-01 3.08129974e-01 -4.84807317e-03 4.38057081e+02] [ 5.10829357e-03 -3.78826940e-05 9.99986952e-01 2.29333487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.910385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.48, Y:438.08, Z:22.93 [[ 3.09951809e-01 -9.50750908e-01 -1.60868053e-03 4.31475260e+02] [ 9.50738545e-01 3.09955983e-01 -4.84852999e-03 4.38082117e+02] [ 5.10836445e-03 -2.66239417e-05 9.99986952e-01 2.29277536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.940385723 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:431.48, Y:438.11, Z:22.93 [[ 3.08974096e-01 -9.51069140e-01 -1.58111491e-03 4.31483865e+02] [ 9.51056734e-01 3.08978141e-01 -4.85765498e-03 4.38109772e+02] [ 5.10849569e-03 -2.84042604e-06 9.99986952e-01 2.29293711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.9703857229999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:431.49, Y:438.14, Z:22.93 [[ 3.08933002e-01 -9.51082461e-01 -1.59783760e-03 4.31491746e+02] [ 9.51070084e-01 3.08937133e-01 -4.85212179e-03 4.38137879e+02] [ 5.10839930e-03 -2.06749898e-05 9.99986952e-01 2.29341938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.000385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.50, Y:438.16, Z:22.94 [[ 3.06896431e-01 -9.51741566e-01 -1.60373729e-03 4.31498222e+02] [ 9.51729208e-01 3.06900619e-01 -4.85017102e-03 4.38164249e+02] [ 5.10829733e-03 -3.78234409e-05 9.99986952e-01 2.29351161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.030385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.51, Y:438.19, Z:22.93 [[ 3.08368931e-01 -9.51265530e-01 -1.57913986e-03 4.31508617e+02] [ 9.51253124e-01 3.08372975e-01 -4.85829251e-03 4.38191355e+02] [ 5.10849026e-03 -4.01525264e-06 9.99986952e-01 2.29340806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.060385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.52, Y:438.22, Z:22.93 [[ 3.07697268e-01 -9.51482962e-01 -1.60155513e-03 4.31516795e+02] [ 9.51470597e-01 3.07701435e-01 -4.85089196e-03 4.38217984e+02] [ 5.10834186e-03 -3.12264078e-05 9.99986952e-01 2.29338686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.0903857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.52, Y:438.24, Z:22.93 [[ 3.07241263e-01 -9.51630309e-01 -1.60024772e-03 4.31523796e+02] [ 9.51617944e-01 3.07245428e-01 -4.85132322e-03 4.38244521e+02] [ 5.10833501e-03 -3.22977756e-05 9.99986952e-01 2.29332333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.120385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.53, Y:438.27, Z:22.93 [[ 3.06814497e-01 -9.51767991e-01 -1.59887414e-03 4.31531754e+02] [ 9.51755625e-01 3.06818661e-01 -4.85177587e-03 4.38270949e+02] [ 5.10832940e-03 -3.31422880e-05 9.99986952e-01 2.29335679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.150385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.54, Y:438.30, Z:22.94 [[ 3.06166508e-01 -9.51976637e-01 -1.59749923e-03 4.31539827e+02] [ 9.51964272e-01 3.06170673e-01 -4.85222854e-03 4.38298303e+02] [ 5.10831562e-03 -3.51723211e-05 9.99986952e-01 2.29353368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.180385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:431.55, Y:438.32, Z:22.94 [[ 3.03894786e-01 -9.52704262e-01 -1.59617095e-03 4.31546422e+02] [ 9.52691905e-01 3.03898974e-01 -4.85266544e-03 4.38324401e+02] [ 5.10822977e-03 -4.59594132e-05 9.99986952e-01 2.29361487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.210385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.56, Y:438.35, Z:22.93 [[ 3.04520212e-01 -9.52504566e-01 -1.57895989e-03 4.31556350e+02] [ 9.52492176e-01 3.04524304e-01 -4.85831956e-03 4.38351738e+02] [ 5.10840323e-03 -2.44904390e-05 9.99986952e-01 2.29344926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.240385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.56, Y:438.38, Z:22.93 [[ 3.02977258e-01 -9.52996453e-01 -1.59394274e-03 4.31564126e+02] [ 9.52984096e-01 3.02981447e-01 -4.85339893e-03 4.38378294e+02] [ 5.10820704e-03 -4.85325781e-05 9.99986952e-01 2.29341298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.270385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.57, Y:438.40, Z:22.94 [[ 3.01199514e-01 -9.53559813e-01 -1.59267543e-03 4.31571746e+02] [ 9.53547461e-01 3.01203719e-01 -4.85381477e-03 4.38404849e+02] [ 5.10812246e-03 -5.67249670e-05 9.99986952e-01 2.29371760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.300385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.58, Y:438.43, Z:22.94 [[ 3.01725000e-01 -9.53393681e-01 -1.58522583e-03 4.31581283e+02] [ 9.53381314e-01 3.01729161e-01 -4.85625771e-03 4.38431180e+02] [ 5.10823427e-03 -4.60703322e-05 9.99986952e-01 2.29360743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.330385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.59, Y:438.46, Z:22.94 [[ 3.01221219e-01 -9.53552960e-01 -1.59079922e-03 4.31588816e+02] [ 9.53540604e-01 3.01225415e-01 -4.85443130e-03 4.38458166e+02] [ 5.10814649e-03 -5.46339370e-05 9.99986952e-01 2.29388953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.360385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.60, Y:438.49, Z:22.94 [[ 3.01558224e-01 -9.53446439e-01 -1.58947991e-03 4.31596116e+02] [ 9.53434080e-01 3.01562409e-01 -4.85486325e-03 4.38485610e+02] [ 5.10817946e-03 -5.14403781e-05 9.99986952e-01 2.29391179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.390385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.60, Y:438.51, Z:22.94 [[ 3.00681104e-01 -9.53723415e-01 -1.58816576e-03 4.31603344e+02] [ 9.53711057e-01 3.00685293e-01 -4.85529310e-03 4.38512328e+02] [ 5.10814481e-03 -5.47563564e-05 9.99986952e-01 2.29408306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.420385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.61, Y:438.54, Z:22.94 [[ 3.00594235e-01 -9.53750806e-01 -1.58287757e-03 4.31610408e+02] [ 9.53738440e-01 3.00598399e-01 -4.85702161e-03 4.38538660e+02] [ 5.10819874e-03 -4.96584896e-05 9.99986952e-01 2.29399344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.450385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.62, Y:438.57, Z:22.94 [[ 3.02041214e-01 -9.53293564e-01 -1.57687326e-03 4.31617216e+02] [ 9.53281181e-01 3.02045328e-01 -4.85898263e-03 4.38566404e+02] [ 5.10832407e-03 -3.55905890e-05 9.99986952e-01 2.29388073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.4803857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.62, Y:438.59, Z:22.94 [[ 3.00830454e-01 -9.53676321e-01 -1.58530427e-03 4.31624598e+02] [ 9.53663958e-01 3.00834627e-01 -4.85623035e-03 4.38592905e+02] [ 5.10818631e-03 -5.09455634e-05 9.99986952e-01 2.29391573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.510385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.63, Y:438.62, Z:22.94 [[ 3.00572290e-01 -9.53757721e-01 -1.58390742e-03 4.31633398e+02] [ 9.53745357e-01 3.00576459e-01 -4.85668590e-03 4.38620105e+02] [ 5.10818696e-03 -5.08591452e-05 9.99986952e-01 2.29393028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.540385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.64, Y:438.65, Z:22.94 [[ 3.01135721e-01 -9.53579977e-01 -1.58259262e-03 4.31644414e+02] [ 9.53567608e-01 3.01139876e-01 -4.85711431e-03 4.38648708e+02] [ 5.10822869e-03 -4.64584384e-05 9.99986952e-01 2.29410836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.570385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.65, Y:438.68, Z:22.94 [[ 3.00802561e-01 -9.53685076e-01 -1.61076891e-03 4.31653010e+02] [ 9.53672758e-01 3.00806864e-01 -4.84793287e-03 4.38675716e+02] [ 5.10793157e-03 -7.78758074e-05 9.99986951e-01 2.29408688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.6003857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.66, Y:438.70, Z:22.94 [[ 2.98217921e-01 -9.54496444e-01 -1.61543990e-03 4.31657301e+02] [ 9.54484145e-01 2.98222281e-01 -4.84641093e-03 4.38700503e+02] [ 5.10764217e-03 -9.66251746e-05 9.99986951e-01 2.29409258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.630385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.67, Y:438.73, Z:22.94 [[ 2.99228556e-01 -9.54180158e-01 -1.58023076e-03 4.31667430e+02] [ 9.54167793e-01 2.99232724e-01 -4.85786423e-03 4.38729591e+02] [ 5.10813441e-03 -5.41935980e-05 9.99986952e-01 2.29423748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.660385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.68, Y:438.76, Z:22.94 [[ 2.98996128e-01 -9.54252961e-01 -1.61286391e-03 4.31675367e+02] [ 9.54240654e-01 2.99000464e-01 -4.84725458e-03 4.38757625e+02] [ 5.10775410e-03 -8.97499631e-05 9.99986951e-01 2.29430981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.690385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:431.68, Y:438.79, Z:22.94 [[ 2.99747818e-01 -9.54017110e-01 -1.61263695e-03 4.31684793e+02] [ 9.54004799e-01 2.99752143e-01 -4.84732847e-03 4.38785752e+02] [ 5.10782568e-03 -8.54872610e-05 9.99986951e-01 2.29414889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.7203857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.69, Y:438.81, Z:22.94 [[ 2.97605059e-01 -9.54687678e-01 -1.63286826e-03 4.31689339e+02] [ 9.54675413e-01 2.97609515e-01 -4.84074249e-03 4.38811417e+02] [ 5.10735434e-03 -1.18229725e-04 9.99986950e-01 2.29428410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.750385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:431.70, Y:438.84, Z:22.94 [[ 2.96961877e-01 -9.54887990e-01 -1.60305728e-03 4.31695910e+02] [ 9.54875675e-01 2.96966190e-01 -4.85042540e-03 4.38836431e+02] [ 5.10766678e-03 -9.03289698e-05 9.99986952e-01 2.29433452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.780385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:431.71, Y:438.87, Z:22.94 [[ 2.96963302e-01 -9.54887592e-01 -1.57581374e-03 4.31706212e+02] [ 9.54875230e-01 2.96967477e-01 -4.85926024e-03 4.38865041e+02] [ 5.10801274e-03 -6.16835457e-05 9.99986952e-01 2.29446675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.810385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:431.72, Y:438.89, Z:22.94 [[ 2.98839300e-01 -9.54302115e-01 -1.59567567e-03 4.31716713e+02] [ 9.54289779e-01 2.98843551e-01 -4.85281040e-03 4.38892724e+02] [ 5.10790461e-03 -7.25265180e-05 9.99986952e-01 2.29431781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.8403857229999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:431.72, Y:438.92, Z:22.94 [[ 2.99481321e-01 -9.54100767e-01 -1.63263745e-03 4.31724185e+02] [ 9.54088492e-01 2.99485751e-01 -4.84081644e-03 4.38920684e+02] [ 5.10757833e-03 -1.07946505e-04 9.99986950e-01 2.29443686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.870385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.73, Y:438.95, Z:22.95 [[ 2.97044580e-01 -9.54862195e-01 -1.64500283e-03 4.31728088e+02] [ 9.54849954e-01 2.97049105e-01 -4.83680963e-03 4.38945911e+02] [ 5.10713327e-03 -1.33982792e-04 9.99986950e-01 2.29460801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.900385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.74, Y:438.97, Z:22.95 [[ 2.98540229e-01 -9.54395717e-01 -1.59615249e-03 4.31738179e+02] [ 9.54383383e-01 2.98544486e-01 -4.85259310e-03 4.38973376e+02] [ 5.10781659e-03 -7.46471552e-05 9.99986952e-01 2.29452655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.930385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.75, Y:439.00, Z:22.95 [[ 2.98794343e-01 -9.54316144e-01 -1.62417720e-03 4.31745470e+02] [ 9.54303858e-01 2.98798740e-01 -4.84354015e-03 4.38999746e+02] [ 5.10757066e-03 -1.02736168e-04 9.99986951e-01 2.29456636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.960385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:431.75, Y:439.02, Z:22.95 [[ 2.98461127e-01 -9.54420417e-01 -1.61952181e-03 4.31748357e+02] [ 9.54408125e-01 2.98465504e-01 -4.84504183e-03 4.39023170e+02] [ 5.10757824e-03 -9.96281284e-05 9.99986951e-01 2.29460220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.990385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.76, Y:439.05, Z:22.95 [[ 2.99019551e-01 -9.54245702e-01 -1.56507890e-03 4.31755799e+02] [ 9.54233313e-01 2.99023644e-01 -4.86256499e-03 4.39050242e+02] [ 5.10807734e-03 -3.94484253e-05 9.99986953e-01 2.29457580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.020385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:431.76, Y:439.08, Z:22.94 [[ 2.99556305e-01 -9.54077342e-01 -1.56373970e-03 4.31762934e+02] [ 9.54064949e-01 2.99560385e-01 -4.86299562e-03 4.39076348e+02] [ 5.10810840e-03 -3.51682394e-05 9.99986953e-01 2.29449407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.050385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.77, Y:439.10, Z:22.95 [[ 3.00236959e-01 -9.53863370e-01 -1.56233458e-03 4.31770495e+02] [ 9.53850971e-01 3.00241022e-01 -4.86344701e-03 4.39103750e+02] [ 5.10814088e-03 -3.00478148e-05 9.99986953e-01 2.29464955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.080385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.78, Y:439.13, Z:22.95 [[ 3.00147940e-01 -9.53891387e-01 -1.56098918e-03 4.31778739e+02] [ 9.53878986e-01 3.00151998e-01 -4.86387879e-03 4.39129504e+02] [ 5.10814610e-03 -2.91115760e-05 9.99986953e-01 2.29468358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.110385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.79, Y:439.16, Z:22.95 [[ 3.00148335e-01 -9.53891265e-01 -1.55956960e-03 4.31790553e+02] [ 9.53878862e-01 3.00152385e-01 -4.86433393e-03 4.39158995e+02] [ 5.10815418e-03 -2.76187447e-05 9.99986953e-01 2.29483334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.140385723 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:431.79, Y:439.18, Z:22.95 [[ 2.97024048e-01 -9.54868653e-01 -1.60297671e-03 4.31794621e+02] [ 9.54856338e-01 2.97028360e-01 -4.85040693e-03 4.39182975e+02] [ 5.10763108e-03 -8.99249721e-05 9.99986952e-01 2.29473379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.170385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.80, Y:439.21, Z:22.95 [[ 2.96816778e-01 -9.54933178e-01 -1.55783402e-03 4.31802289e+02] [ 9.54920787e-01 2.96820863e-01 -4.86486260e-03 4.39208708e+02] [ 5.10801634e-03 -4.36352452e-05 9.99986953e-01 2.29485540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.200385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:431.81, Y:439.24, Z:22.95 [[ 2.96056975e-01 -9.55169013e-01 -1.55685529e-03 4.31810243e+02] [ 9.55156624e-01 2.96061065e-01 -4.86517580e-03 4.39235957e+02] [ 5.10798940e-03 -4.66714145e-05 9.99986953e-01 2.29483269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.2303857229999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:431.82, Y:439.26, Z:22.95 [[ 2.94886891e-01 -9.55530901e-01 -1.55553757e-03 4.31817895e+02] [ 9.55518514e-01 2.94890989e-01 -4.86559707e-03 4.39263342e+02] [ 5.10794237e-03 -5.15441516e-05 9.99986953e-01 2.29486015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.260385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.83, Y:439.29, Z:22.95 [[ 2.94459592e-01 -9.55662667e-01 -1.55422789e-03 4.31826507e+02] [ 9.55650280e-01 2.94463689e-01 -4.86601539e-03 4.39289580e+02] [ 5.10793292e-03 -5.24534122e-05 9.99986953e-01 2.29502280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.290385723 meters Centerline goodness : 0.998884 Centerline is valid? [True, True] Translation: X:431.84, Y:439.32, Z:22.95 [[ 2.96028983e-01 -9.55177695e-01 -1.55291840e-03 4.31839014e+02] [ 9.55165300e-01 2.96033053e-01 -4.86643326e-03 4.39318962e+02] [ 5.10802368e-03 -4.26884865e-05 9.99986953e-01 2.29494064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.320385723 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:431.84, Y:439.34, Z:22.95 [[ 2.93979037e-01 -9.55810504e-01 -1.61448912e-03 4.31841042e+02] [ 9.55798223e-01 2.93983446e-01 -4.84676822e-03 4.39342254e+02] [ 5.10722505e-03 -1.18277578e-04 9.99986951e-01 2.29497465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.3503857229999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:431.85, Y:439.37, Z:22.95 [[ 2.95215903e-01 -9.55429310e-01 -1.55074635e-03 4.31849206e+02] [ 9.55416914e-01 2.95219972e-01 -4.86707792e-03 4.39369261e+02] [ 5.10796020e-03 -4.47704939e-05 9.99986953e-01 2.29504152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.380385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.86, Y:439.40, Z:22.95 [[ 2.97133965e-01 -9.54834544e-01 -1.54940318e-03 4.31861629e+02] [ 9.54822138e-01 2.97138003e-01 -4.86750548e-03 4.39397862e+02] [ 5.10804894e-03 -3.31032530e-05 9.99986953e-01 2.29472859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.410385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.87, Y:439.42, Z:22.95 [[ 2.97698401e-01 -9.54658608e-01 -1.61393561e-03 4.31865587e+02] [ 9.54646308e-01 2.97702760e-01 -4.84695057e-03 4.39421144e+02] [ 5.10765616e-03 -9.78082400e-05 9.99986951e-01 2.29503562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.440385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.88, Y:439.45, Z:22.95 [[ 3.00223119e-01 -9.53867751e-01 -1.54687244e-03 4.31879442e+02] [ 9.53855328e-01 3.00227104e-01 -4.86825967e-03 4.39451545e+02] [ 5.10808893e-03 -1.39284202e-05 9.99986954e-01 2.29492467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.4703857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.88, Y:439.47, Z:22.95 [[ 3.00252460e-01 -9.53858416e-01 -1.60698437e-03 4.31883379e+02] [ 9.53846093e-01 3.00256751e-01 -4.84914407e-03 4.39474632e+02] [ 5.10790479e-03 -7.68483260e-05 9.99986952e-01 2.29508968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.500385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.89, Y:439.50, Z:22.95 [[ 3.00963945e-01 -9.53634268e-01 -1.54473666e-03 4.31891413e+02] [ 9.53621839e-01 3.00967909e-01 -4.86889319e-03 4.39500131e+02] [ 5.10805956e-03 -7.73331387e-06 9.99986954e-01 2.29500481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.530385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.90, Y:439.53, Z:22.95 [[ 3.02837747e-01 -9.53040879e-01 -1.54332672e-03 4.31900912e+02] [ 9.53028440e-01 3.02841679e-01 -4.86934007e-03 4.39526787e+02] [ 5.10806380e-03 3.78572518e-06 9.99986954e-01 2.29514800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.560385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.91, Y:439.55, Z:22.95 [[ 3.02568270e-01 -9.53126468e-01 -1.54200614e-03 4.31909961e+02] [ 9.53114028e-01 3.02572199e-01 -4.86975823e-03 4.39553411e+02] [ 5.10806366e-03 3.72663711e-06 9.99986954e-01 2.29526345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.5903857229999 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:431.92, Y:439.58, Z:22.95 [[ 3.03594074e-01 -9.52800227e-01 -1.53821059e-03 4.31919336e+02] [ 9.52787776e-01 3.03597971e-01 -4.87095918e-03 4.39578535e+02] [ 5.10804863e-03 1.32060911e-05 9.99986954e-01 2.29510933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.620385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.93, Y:439.61, Z:22.95 [[ 3.06022367e-01 -9.52023090e-01 -1.53170055e-03 4.31930463e+02] [ 9.52010619e-01 3.06026199e-01 -4.87301769e-03 4.39606671e+02] [ 5.10796586e-03 3.30572210e-05 9.99986954e-01 2.29514361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.650385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.94, Y:439.63, Z:22.95 [[ 3.07205622e-01 -9.51641891e-01 -1.55491247e-03 4.31938513e+02] [ 9.51629452e-01 3.07209556e-01 -4.86568098e-03 4.39631647e+02] [ 5.10806982e-03 1.50640504e-05 9.99986954e-01 2.29509997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.680385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.95, Y:439.66, Z:22.95 [[ 3.08975147e-01 -9.51068868e-01 -1.53821596e-03 4.31949279e+02] [ 9.51056396e-01 3.08978973e-01 -4.87095363e-03 4.39658156e+02] [ 5.10788874e-03 4.20734843e-05 9.99986954e-01 2.29506016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.710385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.96, Y:439.68, Z:22.95 [[ 3.10731595e-01 -9.50496457e-01 -1.53687092e-03 4.31960848e+02] [ 9.50483975e-01 3.10735391e-01 -4.87137798e-03 4.39684942e+02] [ 5.10778769e-03 5.29198647e-05 9.99986954e-01 2.29504946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.740385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.97, Y:439.71, Z:22.95 [[ 3.10873922e-01 -9.50449895e-01 -1.54977347e-03 4.31969090e+02] [ 9.50437433e-01 3.10877783e-01 -4.86730913e-03 4.39710520e+02] [ 5.10792359e-03 4.01567620e-05 9.99986954e-01 2.29504526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.770385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.98, Y:439.74, Z:22.95 [[ 3.12811589e-01 -9.49813963e-01 -1.53158648e-03 4.31979074e+02] [ 9.49801465e-01 3.12815331e-01 -4.87303569e-03 4.39736211e+02] [ 5.10758107e-03 6.96389563e-05 9.99986954e-01 2.29486612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.800385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.99, Y:439.76, Z:22.95 [[ 3.12812668e-01 -9.49813605e-01 -1.53338148e-03 4.31990311e+02] [ 9.49801109e-01 3.12816419e-01 -4.87247079e-03 4.39763385e+02] [ 5.10760595e-03 6.77631587e-05 9.99986954e-01 2.29497323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.830385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:432.00, Y:439.79, Z:22.95 [[ 3.13791153e-01 -9.49490785e-01 -1.53696746e-03 4.32002294e+02] [ 9.49478291e-01 3.13794909e-01 -4.87134279e-03 4.39789060e+02] [ 5.10758765e-03 6.92670353e-05 9.99986954e-01 2.29496825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.860385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:432.01, Y:439.81, Z:22.95 [[ 3.14513871e-01 -9.49251617e-01 -1.54652582e-03 4.32011796e+02] [ 9.49239136e-01 3.14517667e-01 -4.86833713e-03 4.39814132e+02] [ 5.10768659e-03 6.31367290e-05 9.99986954e-01 2.29500841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.890385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:432.01, Y:439.84, Z:22.94 [[ 3.09333430e-01 -9.50952411e-01 -1.53018907e-03 4.32014509e+02] [ 9.50939924e-01 3.09337210e-01 -4.87346660e-03 4.39837262e+02] [ 5.10777923e-03 5.24082580e-05 9.99986954e-01 2.29433899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.920385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:432.03, Y:439.87, Z:22.95 [[ 3.14331515e-01 -9.49312173e-01 -1.44788637e-03 4.32033925e+02] [ 9.49299546e-01 3.14334806e-01 -4.89923757e-03 4.39866513e+02] [ 5.10602695e-03 1.65506890e-04 9.99986950e-01 2.29494043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.950385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:432.04, Y:439.89, Z:22.95 [[ 3.13527611e-01 -9.49577854e-01 -1.52857333e-03 4.32044044e+02] [ 9.49565349e-01 3.13531328e-01 -4.87393237e-03 4.39892751e+02] [ 5.10743387e-03 7.66321047e-05 9.99986954e-01 2.29492830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.9803857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:432.06, Y:439.92, Z:22.95 [[ 3.11736711e-01 -9.50167296e-01 -1.52725184e-03 4.32056535e+02] [ 9.50154796e-01 3.11740444e-01 -4.87434643e-03 4.39918252e+02] [ 5.10755073e-03 6.83870593e-05 9.99986954e-01 2.29491649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.010385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:432.07, Y:439.94, Z:22.95 [[ 3.08940497e-01 -9.51080144e-01 -1.52593736e-03 4.32069404e+02] [ 9.51067653e-01 3.08944260e-01 -4.87475790e-03 4.39944472e+02] [ 5.10771503e-03 5.47404625e-05 9.99986954e-01 2.29497133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.040385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:432.08, Y:439.97, Z:22.95 [[ 3.06766991e-01 -9.51783405e-01 -1.53723044e-03 4.32077947e+02] [ 9.51770940e-01 3.06770841e-01 -4.87122971e-03 4.39970240e+02] [ 5.10793307e-03 3.12412172e-05 9.99986954e-01 2.29474537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.070385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:432.09, Y:440.00, Z:22.95 [[ 3.06414966e-01 -9.51896835e-01 -1.51151058e-03 4.32090094e+02] [ 9.51884331e-01 3.06418689e-01 -4.87925606e-03 4.39997866e+02] [ 5.10770348e-03 5.62938418e-05 9.99986954e-01 2.29503088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.1003857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:432.10, Y:440.02, Z:22.95 [[ 3.03785739e-01 -9.52739104e-01 -1.55712384e-03 4.32099839e+02] [ 9.52726683e-01 3.03789730e-01 -4.86498345e-03 4.40020839e+02] [ 5.10809820e-03 -5.60083561e-06 9.99986954e-01 2.29457257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.130385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:432.11, Y:440.05, Z:22.95 [[ 3.06097104e-01 -9.51999069e-01 -1.52793019e-03 4.32111272e+02] [ 9.51986593e-01 3.06100916e-01 -4.87410354e-03 4.40045720e+02] [ 5.10784286e-03 3.73799211e-05 9.99986954e-01 2.29496537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.160385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:432.12, Y:440.07, Z:22.95 [[ 3.05848197e-01 -9.52079074e-01 -1.52220242e-03 4.32121833e+02] [ 9.52066589e-01 3.05851982e-01 -4.87589169e-03 4.40072057e+02] [ 5.10780307e-03 4.20446163e-05 9.99986954e-01 2.29505705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.190385723 meters Centerline goodness : 0.999773 Centerline is valid? [True, True] Translation: X:432.13, Y:440.10, Z:22.95 [[ 3.04436313e-01 -9.52531479e-01 -1.52086066e-03 4.32130061e+02] [ 9.52518998e-01 3.04440109e-01 -4.87631017e-03 4.40097738e+02] [ 5.10784992e-03 3.58772180e-05 9.99986954e-01 2.29472626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.2203857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:432.14, Y:440.12, Z:22.95 [[ 3.04520065e-01 -9.52504686e-01 -1.53387063e-03 4.32138667e+02] [ 9.52492225e-01 3.04523927e-01 -4.87225500e-03 4.40123419e+02] [ 5.10794603e-03 2.26995591e-05 9.99986954e-01 2.29485360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.250385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:432.15, Y:440.15, Z:22.95 [[ 3.04324249e-01 -9.52567284e-01 -1.52360255e-03 4.32146227e+02] [ 9.52554808e-01 3.04328061e-01 -4.87544986e-03 4.40149799e+02] [ 5.10786904e-03 3.24026863e-05 9.99986954e-01 2.29497649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.280385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:432.15, Y:440.18, Z:22.95 [[ 3.03704940e-01 -9.52764919e-01 -1.52247595e-03 4.32153946e+02] [ 9.52752444e-01 3.03708755e-01 -4.87579984e-03 4.40176681e+02] [ 5.10788031e-03 3.02618119e-05 9.99986954e-01 2.29503651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.310385723 meters Centerline goodness : 0.999210 Centerline is valid? [True, True] Translation: X:432.16, Y:440.20, Z:22.95 [[ 3.02376490e-01 -9.53187373e-01 -1.51362269e-03 4.32161552e+02] [ 9.53174889e-01 3.02380276e-01 -4.87854666e-03 4.40202727e+02] [ 5.10785872e-03 3.24106732e-05 9.99986954e-01 2.29483119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.3403857229999 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:432.17, Y:440.23, Z:22.95 [[ 2.99866965e-01 -9.53979822e-01 -1.51753515e-03 4.32169402e+02] [ 9.53967354e-01 2.99870804e-01 -4.87733374e-03 4.40229090e+02] [ 5.10794246e-03 1.48722763e-05 9.99986954e-01 2.29507052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.370385723 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:432.18, Y:440.26, Z:22.95 [[ 2.98834063e-01 -9.54303893e-01 -1.51116253e-03 4.32177235e+02] [ 9.54291419e-01 2.98837883e-01 -4.87930739e-03 4.40255389e+02] [ 5.10793465e-03 1.60138219e-05 9.99986954e-01 2.29518791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.400385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:432.18, Y:440.28, Z:22.95 [[ 2.97110430e-01 -9.54841930e-01 -1.51018340e-03 4.32184961e+02] [ 9.54829462e-01 2.97114268e-01 -4.87961042e-03 4.40282358e+02] [ 5.10795367e-03 7.81554640e-06 9.99986954e-01 2.29523490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.430385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:432.19, Y:440.31, Z:22.95 [[ 2.96845951e-01 -9.54924188e-01 -1.50883482e-03 4.32193345e+02] [ 9.54911719e-01 2.96849785e-01 -4.88002738e-03 4.40309702e+02] [ 5.10795348e-03 7.81231221e-06 9.99986954e-01 2.29524945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.460385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:432.20, Y:440.34, Z:22.95 [[ 2.93768367e-01 -9.55875449e-01 -1.50748304e-03 4.32199928e+02] [ 9.55862990e-01 2.93772235e-01 -4.88044492e-03 4.40336517e+02] [ 5.10795414e-03 -7.22691252e-06 9.99986954e-01 2.29523470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.490385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:432.21, Y:440.36, Z:22.95 [[ 2.91078545e-01 -9.56697974e-01 -1.50605792e-03 4.32206446e+02] [ 9.56685523e-01 2.91082440e-01 -4.88088466e-03 4.40363579e+02] [ 5.10791948e-03 -2.01030016e-05 9.99986954e-01 2.29523903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.520385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:432.21, Y:440.39, Z:22.95 [[ 2.89645707e-01 -9.57132750e-01 -1.50469608e-03 4.32213550e+02] [ 9.57120303e-01 2.89649614e-01 -4.88130446e-03 4.40390068e+02] [ 5.10789100e-03 -2.63262869e-05 9.99986954e-01 2.29519174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.550385723 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:432.22, Y:440.42, Z:22.95 [[ 2.88149886e-01 -9.57584139e-01 -1.50327106e-03 4.32219865e+02] [ 9.57571696e-01 2.88153805e-01 -4.88174328e-03 4.40415974e+02] [ 5.10785321e-03 -3.28160523e-05 9.99986954e-01 2.29517393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.580385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:432.23, Y:440.44, Z:22.95 [[ 2.87802446e-01 -9.57688622e-01 -1.50188732e-03 4.32227473e+02] [ 9.57676178e-01 2.87806363e-01 -4.88216895e-03 4.40443233e+02] [ 5.10785038e-03 -3.32215431e-05 9.99986954e-01 2.29523117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.610385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:432.24, Y:440.47, Z:22.95 [[ 2.87631299e-01 -9.57740040e-01 -1.50059181e-03 4.32235019e+02] [ 9.57727595e-01 2.87635212e-01 -4.88256711e-03 4.40468854e+02] [ 5.10785306e-03 -3.27790602e-05 9.99986954e-01 2.29527390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.640385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:432.24, Y:440.50, Z:22.95 [[ 2.87458485e-01 -9.57791925e-01 -1.49922729e-03 4.32242942e+02] [ 9.57779478e-01 2.87462393e-01 -4.88298606e-03 4.40495312e+02] [ 5.10785608e-03 -3.22733512e-05 9.99986954e-01 2.29541346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.670385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:432.25, Y:440.52, Z:22.95 [[ 2.84695199e-01 -9.58616920e-01 -1.49788036e-03 4.32246342e+02] [ 9.58604483e-01 2.84699136e-01 -4.88339920e-03 4.40520573e+02] [ 5.10775435e-03 -4.55945155e-05 9.99986954e-01 2.29511512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.700385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:432.26, Y:440.55, Z:22.95 [[ 2.89590490e-01 -9.57149539e-01 -1.45208384e-03 4.32258135e+02] [ 9.57137010e-01 2.89594129e-01 -4.89742117e-03 4.40549846e+02] [ 5.10807937e-03 2.84034068e-05 9.99986953e-01 2.29535644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.7303857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:432.26, Y:440.58, Z:22.95 [[ 2.88429216e-01 -9.57500052e-01 -1.49604242e-03 4.32263597e+02] [ 9.57487596e-01 2.88433095e-01 -4.88395588e-03 4.40576290e+02] [ 5.10789615e-03 -2.37664919e-05 9.99986954e-01 2.29505725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.760385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:432.27, Y:440.60, Z:22.95 [[ 2.89224224e-01 -9.57260248e-01 -1.47177304e-03 4.32271902e+02] [ 9.57247751e-01 2.89227969e-01 -4.89138414e-03 4.40603355e+02] [ 5.10800552e-03 5.85534547e-06 9.99986954e-01 2.29507553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.790385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:432.28, Y:440.63, Z:22.95 [[ 2.92197974e-01 -9.56356723e-01 -1.47061706e-03 4.32282383e+02] [ 9.56344213e-01 2.92201673e-01 -4.89173758e-03 4.40630726e+02] [ 5.10796289e-03 2.29396905e-05 9.99986954e-01 2.29531253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.820385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:432.29, Y:440.66, Z:22.95 [[ 2.92410124e-01 -9.56291844e-01 -1.49306348e-03 4.32290446e+02] [ 9.56279367e-01 2.92413936e-01 -4.88487683e-03 4.40657163e+02] [ 5.10796044e-03 6.01637108e-07 9.99986954e-01 2.29531523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.8503857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:432.30, Y:440.68, Z:22.95 [[ 2.92108465e-01 -9.56384034e-01 -1.49171603e-03 4.32298550e+02] [ 9.56371556e-01 2.92112274e-01 -4.88528827e-03 4.40682980e+02] [ 5.10796026e-03 3.99273668e-07 9.99986954e-01 2.29525784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.880385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:432.31, Y:440.71, Z:22.95 [[ 2.91346824e-01 -9.56616332e-01 -1.49073085e-03 4.32306920e+02] [ 9.56603856e-01 2.91350638e-01 -4.88558888e-03 4.40709687e+02] [ 5.10795949e-03 -2.63807574e-06 9.99986954e-01 2.29522180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.910385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:432.32, Y:440.74, Z:22.95 [[ 2.89660605e-01 -9.57128265e-01 -1.48939298e-03 4.32315399e+02] [ 9.57115794e-01 2.89664434e-01 -4.88599670e-03 4.40736101e+02] [ 5.10794972e-03 -1.02407856e-05 9.99986954e-01 2.29511578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.940385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:432.32, Y:440.76, Z:22.95 [[ 2.88449951e-01 -9.57493813e-01 -1.49138790e-03 4.32322819e+02] [ 9.57481350e-01 2.88453806e-01 -4.88538904e-03 4.40760927e+02] [ 5.10792630e-03 -1.87858640e-05 9.99986954e-01 2.29514543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.9703857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:432.33, Y:440.79, Z:22.95 [[ 2.87252175e-01 -9.57853839e-01 -1.48712408e-03 4.32331057e+02] [ 9.57841374e-01 2.87256024e-01 -4.88668661e-03 4.40787723e+02] [ 5.10791688e-03 -2.07176106e-05 9.99986954e-01 2.29517095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.000385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:432.34, Y:440.81, Z:22.95 [[ 2.86761732e-01 -9.58000784e-01 -1.48577999e-03 4.32339993e+02] [ 9.57988319e-01 2.86765580e-01 -4.88709524e-03 4.40813021e+02] [ 5.10791164e-03 -2.19279825e-05 9.99986954e-01 2.29527976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.030385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:432.35, Y:440.84, Z:22.95 [[ 2.84974434e-01 -9.58533982e-01 -1.47537951e-03 4.32348577e+02] [ 9.58521508e-01 2.84978253e-01 -4.89025363e-03 4.40840492e+02] [ 5.10792536e-03 -2.05857317e-05 9.99986954e-01 2.29526739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.060385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:432.36, Y:440.87, Z:22.95 [[ 2.83776737e-01 -9.58889235e-01 -1.48308740e-03 4.32357371e+02] [ 9.58876777e-01 2.83780610e-01 -4.88791491e-03 4.40866546e+02] [ 5.10784043e-03 -3.50215234e-05 9.99986954e-01 2.29523019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.0903857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:432.37, Y:440.89, Z:22.95 [[ 2.82948355e-01 -9.59134001e-01 -1.48211047e-03 4.32366025e+02] [ 9.59121545e-01 2.82952234e-01 -4.88821112e-03 4.40893255e+02] [ 5.10781595e-03 -3.84127890e-05 9.99986954e-01 2.29519658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.120385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:432.37, Y:440.92, Z:22.95 [[ 2.82115112e-01 -9.59379420e-01 -1.48078542e-03 4.32374627e+02] [ 9.59366965e-01 2.82118995e-01 -4.88861248e-03 4.40919488e+02] [ 5.10779190e-03 -4.14651600e-05 9.99986954e-01 2.29516297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.150385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:432.38, Y:440.95, Z:22.95 [[ 2.81566399e-01 -9.59540606e-01 -1.47939154e-03 4.32384215e+02] [ 9.59528151e-01 2.81570283e-01 -4.88903426e-03 4.40945143e+02] [ 5.10777959e-03 -4.29300549e-05 9.99986954e-01 2.29512650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.180385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:432.39, Y:440.97, Z:22.95 [[ 2.81075980e-01 -9.59684380e-01 -1.47801864e-03 4.32392851e+02] [ 9.59671925e-01 2.81079863e-01 -4.88944927e-03 4.40971594e+02] [ 5.10776937e-03 -4.41062507e-05 9.99986954e-01 2.29515352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.210385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:432.40, Y:441.00, Z:22.95 [[ 2.80641506e-01 -9.59811525e-01 -1.47673260e-03 4.32401233e+02] [ 9.59799071e-01 2.80645388e-01 -4.88983765e-03 4.40998114e+02] [ 5.10776073e-03 -4.50751761e-05 9.99986954e-01 2.29506372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.240385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:432.41, Y:441.02, Z:22.95 [[ 2.80245556e-01 -9.59927212e-01 -1.47545363e-03 4.32408624e+02] [ 9.59914756e-01 2.80249436e-01 -4.89022354e-03 4.41024198e+02] [ 5.10775369e-03 -4.58462951e-05 9.99986954e-01 2.29502146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.270385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:432.42, Y:441.05, Z:22.95 [[ 2.80426458e-01 -9.59874382e-01 -1.47410121e-03 4.32416043e+02] [ 9.59861924e-01 2.80430329e-01 -4.89063118e-03 4.41051338e+02] [ 5.10777427e-03 -4.34712427e-05 9.99986954e-01 2.29503476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.300385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:432.42, Y:441.08, Z:22.95 [[ 2.80198996e-01 -9.59940807e-01 -1.47284329e-03 4.32423605e+02] [ 9.59928348e-01 2.80202864e-01 -4.89100998e-03 4.41077319e+02] [ 5.10777497e-03 -4.33679440e-05 9.99986954e-01 2.29509281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.330385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:432.43, Y:441.10, Z:22.95 [[ 2.78887462e-01 -9.60322664e-01 -1.47143867e-03 4.32430151e+02] [ 9.60310208e-01 2.78891340e-01 -4.89143252e-03 4.41103246e+02] [ 5.10772500e-03 -4.88783698e-05 9.99986954e-01 2.29510264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.360385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:432.44, Y:441.13, Z:22.95 [[ 2.79349150e-01 -9.60188496e-01 -1.45042986e-03 4.32438760e+02] [ 9.60176005e-01 2.79352914e-01 -4.89774487e-03 4.41131520e+02] [ 5.10794009e-03 -2.44870853e-05 9.99986954e-01 2.29533161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.390385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:432.45, Y:441.16, Z:22.95 [[ 2.78895917e-01 -9.60320211e-01 -1.46964522e-03 4.32446026e+02] [ 9.60307752e-01 2.78899785e-01 -4.89197220e-03 4.41157469e+02] [ 5.10774351e-03 -4.69606206e-05 9.99986954e-01 2.29539829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.420385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:432.45, Y:441.19, Z:22.96 [[ 2.78609315e-01 -9.60403402e-01 -1.46822268e-03 4.32452996e+02] [ 9.60390942e-01 2.78613180e-01 -4.89239910e-03 4.41185209e+02] [ 5.10774293e-03 -4.69998026e-05 9.99986954e-01 2.29554335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.450385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:432.46, Y:441.21, Z:22.96 [[ 2.78544827e-01 -9.60422109e-01 -1.46687105e-03 4.32460239e+02] [ 9.60409647e-01 2.78548686e-01 -4.89280432e-03 4.41211866e+02] [ 5.10775245e-03 -4.59317754e-05 9.99986954e-01 2.29556033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.4803857229999 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:432.47, Y:441.24, Z:22.96 [[ 2.78399795e-01 -9.60464162e-01 -1.46552561e-03 4.32466997e+02] [ 9.60451698e-01 2.78403649e-01 -4.89320729e-03 4.41237944e+02] [ 5.10775791e-03 -4.52986567e-05 9.99986954e-01 2.29554586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.510385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:432.47, Y:441.27, Z:22.95 [[ 2.78008498e-01 -9.60577498e-01 -1.46453883e-03 4.32472875e+02] [ 9.60565035e-01 2.78012352e-01 -4.89350261e-03 4.41265322e+02] [ 5.10774838e-03 -4.63494824e-05 9.99986954e-01 2.29543359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.540385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:432.48, Y:441.29, Z:22.95 [[ 2.77466839e-01 -9.60734101e-01 -1.46320403e-03 4.32479851e+02] [ 9.60721637e-01 2.77470693e-01 -4.89390170e-03 4.41292822e+02] [ 5.10773448e-03 -4.78363434e-05 9.99986954e-01 2.29542723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.570385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:432.49, Y:441.32, Z:22.95 [[ 2.77225056e-01 -9.60803898e-01 -1.46188798e-03 4.32485793e+02] [ 9.60791434e-01 2.77228906e-01 -4.89429479e-03 4.41319907e+02] [ 5.10773512e-03 -4.77483036e-05 9.99986954e-01 2.29532482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.6003857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:432.49, Y:441.35, Z:22.95 [[ 2.76126036e-01 -9.61120325e-01 -1.46054709e-03 4.32491597e+02] [ 9.61107863e-01 2.76129893e-01 -4.89469490e-03 4.41346724e+02] [ 5.10769147e-03 -5.21905936e-05 9.99986954e-01 2.29519357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.630385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:432.50, Y:441.37, Z:22.95 [[ 2.75910911e-01 -9.61182133e-01 -1.44138054e-03 4.32498778e+02] [ 9.61169641e-01 2.75914673e-01 -4.90040642e-03 4.41373444e+02] [ 5.10788114e-03 -3.33356206e-05 9.99986954e-01 2.29511549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.660385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:432.50, Y:441.40, Z:22.95 [[ 2.74491698e-01 -9.61588378e-01 -1.44902422e-03 4.32504935e+02] [ 9.61575904e-01 2.74495518e-01 -4.89812894e-03 4.41400768e+02] [ 5.10773451e-03 -4.88510475e-05 9.99986954e-01 2.29519188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.690385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:432.51, Y:441.43, Z:22.95 [[ 2.73937056e-01 -9.61746550e-01 -1.43595208e-03 4.32512621e+02] [ 9.61734058e-01 2.73940817e-01 -4.90202054e-03 4.41428515e+02] [ 5.10786723e-03 -3.81589474e-05 9.99986954e-01 2.29529151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.7203857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:432.52, Y:441.45, Z:22.95 [[ 2.70745705e-01 -9.62649801e-01 -1.45705145e-03 4.32516995e+02] [ 9.62637355e-01 2.70749615e-01 -4.89574103e-03 4.41453848e+02] [ 5.10738025e-03 -7.71112940e-05 9.99986954e-01 2.29532552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.750385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:432.52, Y:441.48, Z:22.95 [[ 2.68798054e-01 -9.63195513e-01 -1.41771423e-03 4.32523525e+02] [ 9.63183013e-01 2.68801789e-01 -4.90743199e-03 4.41481729e+02] [ 5.10790059e-03 -4.64100925e-05 9.99986954e-01 2.29535239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.780385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:432.53, Y:441.51, Z:22.95 [[ 2.67861773e-01 -9.63456308e-01 -1.41918025e-03 4.32530392e+02] [ 9.63443813e-01 2.67865527e-01 -4.90699634e-03 4.41509059e+02] [ 5.10782605e-03 -5.29036942e-05 9.99986954e-01 2.29537616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.810385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:432.54, Y:441.54, Z:22.95 [[ 2.68819820e-01 -9.63189437e-01 -1.41852954e-03 4.32540243e+02] [ 9.63176938e-01 2.68823559e-01 -4.90718949e-03 4.41537713e+02] [ 5.10788725e-03 -4.71451359e-05 9.99986954e-01 2.29543316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.8403857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:432.55, Y:441.56, Z:22.95 [[ 2.67057586e-01 -9.63679476e-01 -1.45387102e-03 4.32546471e+02] [ 9.63667040e-01 2.67061527e-01 -4.89669631e-03 4.41564208e+02] [ 5.10711875e-03 -9.33476838e-05 9.99986954e-01 2.29538387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.870385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:432.55, Y:441.59, Z:22.96 [[ 2.66990261e-01 -9.63698157e-01 -1.43603858e-03 4.32554136e+02] [ 9.63685693e-01 2.66994113e-01 -4.90199122e-03 4.41593274e+02] [ 5.10745375e-03 -7.51059167e-05 9.99986954e-01 2.29552590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.900385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:432.56, Y:441.62, Z:22.96 [[ 2.67409844e-01 -9.63581783e-01 -1.45689843e-03 4.32560645e+02] [ 9.63569350e-01 2.67413796e-01 -4.89579899e-03 4.41619327e+02] [ 5.10709746e-03 -9.46378279e-05 9.99986954e-01 2.29561226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.930385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:432.57, Y:441.65, Z:22.96 [[ 2.67617703e-01 -9.63524081e-01 -1.45245365e-03 4.32567127e+02] [ 9.63511641e-01 2.67621630e-01 -4.89711728e-03 4.41646102e+02] [ 5.10719845e-03 -8.89007162e-05 9.99986954e-01 2.29556861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.960385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:432.57, Y:441.67, Z:22.96 [[ 2.71035350e-01 -9.62568322e-01 -1.43693754e-03 4.32574551e+02] [ 9.62555843e-01 2.71039154e-01 -4.90171293e-03 4.41674825e+02] [ 5.10769992e-03 -5.45951440e-05 9.99986954e-01 2.29552861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.990385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:432.58, Y:441.70, Z:22.95 [[ 2.71459730e-01 -9.62448707e-01 -1.44979780e-03 4.32579673e+02] [ 9.62436246e-01 2.71463594e-01 -4.89790542e-03 4.41700387e+02] [ 5.10755005e-03 -6.57538668e-05 9.99986954e-01 2.29547817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.020385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:432.59, Y:441.73, Z:22.96 [[ 2.75373315e-01 -9.61336302e-01 -1.43284441e-03 4.32586077e+02] [ 9.61323799e-01 2.75377041e-01 -4.90292152e-03 4.41728631e+02] [ 5.10792890e-03 -2.72936788e-05 9.99986954e-01 2.29551259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.050385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:432.59, Y:441.76, Z:22.95 [[ 2.76642308e-01 -9.60971870e-01 -1.44898116e-03 4.32592956e+02] [ 9.60959387e-01 2.76646100e-01 -4.89814792e-03 4.41756260e+02] [ 5.10783735e-03 -3.73771019e-05 9.99986954e-01 2.29546996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.080385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:432.60, Y:441.78, Z:22.95 [[ 2.78038188e-01 -9.60568931e-01 -1.44764382e-03 4.32599998e+02] [ 9.60556441e-01 2.78041955e-01 -4.89854313e-03 4.41783579e+02] [ 5.10789406e-03 -2.85615381e-05 9.99986954e-01 2.29541771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.110385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:432.61, Y:441.81, Z:22.95 [[ 2.80477425e-01 -9.59859533e-01 -1.44628870e-03 4.32606724e+02] [ 9.59847031e-01 2.80481153e-01 -4.89894320e-03 4.41811377e+02] [ 5.10795405e-03 -1.41729460e-05 9.99986954e-01 2.29529257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.140385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:432.61, Y:441.84, Z:22.95 [[ 2.81058508e-01 -9.59689548e-01 -1.44493885e-03 4.32613601e+02] [ 9.59677042e-01 2.81062222e-01 -4.89934130e-03 4.41838512e+02] [ 5.10796436e-03 -9.67308491e-06 9.99986954e-01 2.29523729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.170385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:432.62, Y:441.87, Z:22.95 [[ 2.81387055e-01 -9.59593269e-01 -1.44359514e-03 4.32619564e+02] [ 9.59580760e-01 2.81390757e-01 -4.89973720e-03 4.41865485e+02] [ 5.10796916e-03 -6.52350254e-06 9.99986954e-01 2.29522379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.200385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:432.62, Y:441.89, Z:22.95 [[ 2.77792053e-01 -9.60640148e-01 -1.44261460e-03 4.32623423e+02] [ 9.60627651e-01 2.77795798e-01 -4.90002588e-03 4.41890582e+02] [ 5.10791386e-03 -2.46272235e-05 9.99986954e-01 2.29524649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.2303857229999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:432.63, Y:441.92, Z:22.95 [[ 2.79156361e-01 -9.60244645e-01 -1.39537758e-03 4.32634659e+02] [ 9.60232073e-01 2.79159847e-01 -4.91391360e-03 4.41920128e+02] [ 5.10809261e-03 3.18639295e-05 9.99986953e-01 2.29527751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.260385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:432.64, Y:441.95, Z:22.95 [[ 2.75645747e-01 -9.61258209e-01 -1.44120717e-03 4.32641591e+02] [ 9.61245719e-01 2.75649512e-01 -4.90043523e-03 4.41946317e+02] [ 5.10785164e-03 -3.45700899e-05 9.99986954e-01 2.29530378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.290385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:432.65, Y:441.97, Z:22.95 [[ 2.73305888e-01 -9.61926098e-01 -1.43982091e-03 4.32648761e+02] [ 9.61913615e-01 2.73309677e-01 -4.90084250e-03 4.41973127e+02] [ 5.10776529e-03 -4.55542240e-05 9.99986954e-01 2.29532548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.320385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:432.66, Y:442.00, Z:22.95 [[ 2.73051675e-01 -9.61998292e-01 -1.43852833e-03 4.32656737e+02] [ 9.61985808e-01 2.73055460e-01 -4.90122187e-03 4.42000577e+02] [ 5.10776508e-03 -4.55569992e-05 9.99986954e-01 2.29534002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.3503857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:432.66, Y:442.03, Z:22.95 [[ 2.68571820e-01 -9.63258590e-01 -1.43723299e-03 4.32664558e+02] [ 9.63246122e-01 2.68575657e-01 -4.90160169e-03 4.42027604e+02] [ 5.10751573e-03 -6.79770155e-05 9.99986954e-01 2.29544934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.380385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:432.67, Y:442.05, Z:22.96 [[ 2.66559576e-01 -9.63817374e-01 -1.43587099e-03 4.32672616e+02] [ 9.63804911e-01 2.66563432e-01 -4.90200064e-03 4.42054268e+02] [ 5.10738408e-03 -7.72243033e-05 9.99986954e-01 2.29550803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.410385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:432.68, Y:442.08, Z:22.96 [[ 2.64811548e-01 -9.64299117e-01 -1.43452060e-03 4.32680385e+02] [ 9.64286659e-01 2.64815420e-01 -4.90239578e-03 4.42080881e+02] [ 5.10725910e-03 -8.50780648e-05 9.99986954e-01 2.29559925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.440385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:432.69, Y:442.11, Z:22.96 [[ 2.63036088e-01 -9.64784931e-01 -1.43317220e-03 4.32686603e+02] [ 9.64772478e-01 2.63039976e-01 -4.90278994e-03 4.42107336e+02] [ 5.10711944e-03 -9.30744090e-05 9.99986954e-01 2.29569230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.4703857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:432.69, Y:442.13, Z:22.96 [[ 2.61578105e-01 -9.65181250e-01 -1.43175024e-03 4.32689337e+02] [ 9.65168801e-01 2.61582005e-01 -4.90320516e-03 4.42133490e+02] [ 5.10700178e-03 -9.93095513e-05 9.99986954e-01 2.29569402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.500385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:432.70, Y:442.16, Z:22.96 [[ 2.62414243e-01 -9.64954306e-01 -1.39766277e-03 4.32696509e+02] [ 9.64941799e-01 2.62417958e-01 -4.91314127e-03 4.42160200e+02] [ 5.10772864e-03 -5.93849809e-05 9.99986954e-01 2.29567167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.530385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:432.70, Y:442.19, Z:22.96 [[ 2.62463781e-01 -9.64940830e-01 -1.39921407e-03 4.32703399e+02] [ 9.64928326e-01 2.62467504e-01 -4.91268940e-03 4.42187704e+02] [ 5.10770281e-03 -6.07382599e-05 9.99986954e-01 2.29564676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.560385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:432.71, Y:442.21, Z:22.96 [[ 2.64113503e-01 -9.64490601e-01 -1.39203958e-03 4.32711478e+02] [ 9.64478080e-01 2.64117167e-01 -4.91477842e-03 4.42214854e+02] [ 5.10791915e-03 -4.45323221e-05 9.99986954e-01 2.29558899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.5903857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:432.72, Y:442.24, Z:22.96 [[ 2.64525275e-01 -9.64377739e-01 -1.39826830e-03 4.32717914e+02] [ 9.64365226e-01 2.64528966e-01 -4.91296545e-03 4.42243101e+02] [ 5.10783698e-03 -4.88377898e-05 9.99986954e-01 2.29552849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.620385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:432.72, Y:442.27, Z:22.96 [[ 2.65079749e-01 -9.64225471e-01 -1.40292817e-03 4.32723520e+02] [ 9.64212963e-01 2.65083457e-01 -4.91160980e-03 4.42269337e+02] [ 5.10779232e-03 -5.07532314e-05 9.99986954e-01 2.29555878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.650385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:432.73, Y:442.30, Z:22.96 [[ 2.65226554e-01 -9.64185111e-01 -1.39518155e-03 4.32731153e+02] [ 9.64172590e-01 2.65230220e-01 -4.91386231e-03 4.42296887e+02] [ 5.10791718e-03 -4.19090449e-05 9.99986954e-01 2.29568696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.680385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:432.74, Y:442.32, Z:22.96 [[ 2.64380033e-01 -9.64417569e-01 -1.39699228e-03 4.32737579e+02] [ 9.64405054e-01 2.64383720e-01 -4.91333570e-03 4.42322880e+02] [ 5.10784929e-03 -4.82785597e-05 9.99986954e-01 2.29552936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.710385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:432.75, Y:442.35, Z:22.96 [[ 2.64304856e-01 -9.64438192e-01 -1.38466675e-03 4.32745880e+02] [ 9.64425659e-01 2.64308480e-01 -4.91692063e-03 4.42350183e+02] [ 5.10804521e-03 -3.58421450e-05 9.99986953e-01 2.29558577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.740385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:432.75, Y:442.38, Z:22.96 [[ 2.63672294e-01 -9.64611312e-01 -1.39194899e-03 4.32752806e+02] [ 9.64598793e-01 2.63675964e-01 -4.91480359e-03 4.42377389e+02] [ 5.10789864e-03 -4.67747754e-05 9.99986954e-01 2.29552103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.770385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:432.76, Y:442.40, Z:22.95 [[ 2.63294116e-01 -9.64714612e-01 -1.38799611e-03 4.32759190e+02] [ 9.64702087e-01 2.63297771e-01 -4.91595194e-03 4.42404564e+02] [ 5.10794695e-03 -4.46615189e-05 9.99986953e-01 2.29541049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.800385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:432.77, Y:442.43, Z:22.95 [[ 2.63072470e-01 -9.64775063e-01 -1.39761283e-03 4.32766263e+02] [ 9.64762554e-01 2.63076177e-01 -4.91315635e-03 4.42431956e+02] [ 5.10776937e-03 -5.58483485e-05 9.99986954e-01 2.29545017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.830385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:432.77, Y:442.46, Z:22.95 [[ 2.63033310e-01 -9.64785746e-01 -1.39372815e-03 4.32773961e+02] [ 9.64773231e-01 2.63036997e-01 -4.91428477e-03 4.42459183e+02] [ 5.10783397e-03 -5.20110236e-05 9.99986954e-01 2.29545264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.860385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:432.78, Y:442.49, Z:22.96 [[ 2.63386976e-01 -9.64689241e-01 -1.40345527e-03 4.32782730e+02] [ 9.64676740e-01 2.63390708e-01 -4.91146073e-03 4.42487100e+02] [ 5.10769040e-03 -6.02658688e-05 9.99986954e-01 2.29554339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.890385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:432.79, Y:442.51, Z:22.96 [[ 2.63938899e-01 -9.64538363e-01 -1.41565416e-03 4.32791275e+02] [ 9.64525879e-01 2.63942686e-01 -4.90792055e-03 4.42513876e+02] [ 5.10752921e-03 -7.00439255e-05 9.99986954e-01 2.29575859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.920385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:432.80, Y:442.54, Z:22.96 [[ 2.64837438e-01 -9.64292020e-01 -1.42575899e-03 4.32798139e+02] [ 9.64279548e-01 2.64841264e-01 -4.90498919e-03 4.42540224e+02] [ 5.10744175e-03 -7.58054688e-05 9.99986954e-01 2.29575280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.950385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:432.81, Y:442.57, Z:22.96 [[ 2.64274564e-01 -9.64446439e-01 -1.42188794e-03 4.32805110e+02] [ 9.64433963e-01 2.64278378e-01 -4.90611110e-03 4.42568479e+02] [ 5.10745561e-03 -7.47566526e-05 9.99986954e-01 2.29572896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.9803857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:432.81, Y:442.59, Z:22.96 [[ 2.65430228e-01 -9.64129013e-01 -1.42853884e-03 4.32812536e+02] [ 9.64116543e-01 2.65434061e-01 -4.90418491e-03 4.42594196e+02] [ 5.10744982e-03 -7.55590043e-05 9.99986954e-01 2.29584127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.010385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:432.82, Y:442.62, Z:22.96 [[ 2.65671636e-01 -9.64062535e-01 -1.41815577e-03 4.32821341e+02] [ 9.64050048e-01 2.65675413e-01 -4.90718799e-03 4.42622611e+02] [ 5.10760521e-03 -6.34724796e-05 9.99986954e-01 2.29569001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.040385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:432.83, Y:442.65, Z:22.96 [[ 2.66257052e-01 -9.63900984e-01 -1.44051949e-03 4.32827766e+02] [ 9.63888529e-01 2.66260936e-01 -4.90072066e-03 4.42647304e+02] [ 5.10736353e-03 -8.36487772e-05 9.99986954e-01 2.29583751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.070385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:432.84, Y:442.67, Z:22.96 [[ 2.66651085e-01 -9.63792089e-01 -1.41723910e-03 4.32835100e+02] [ 9.63779596e-01 2.66654845e-01 -4.90744389e-03 4.42674734e+02] [ 5.10766927e-03 -5.73308913e-05 9.99986954e-01 2.29584310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.1003857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:432.84, Y:442.70, Z:22.96 [[ 2.66578457e-01 -9.63812182e-01 -1.41588899e-03 4.32842593e+02] [ 9.63799688e-01 2.66582211e-01 -4.90783339e-03 4.42701577e+02] [ 5.10768043e-03 -5.63107148e-05 9.99986954e-01 2.29586997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.130385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:432.85, Y:442.73, Z:22.96 [[ 2.67012409e-01 -9.63692053e-01 -1.41452230e-03 4.32852308e+02] [ 9.63679555e-01 2.67016151e-01 -4.90822726e-03 4.42731470e+02] [ 5.10771991e-03 -5.25886369e-05 9.99986954e-01 2.29573079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.160385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:432.86, Y:442.76, Z:22.96 [[ 2.66132682e-01 -9.63935322e-01 -1.44587574e-03 4.32857662e+02] [ 9.63922876e-01 2.66136594e-01 -4.89919442e-03 4.42756190e+02] [ 5.10730700e-03 -8.98769535e-05 9.99986954e-01 2.29571085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.190385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:432.87, Y:442.78, Z:22.96 [[ 2.65822339e-01 -9.64021002e-01 -1.41173460e-03 4.32866502e+02] [ 9.64008504e-01 2.65826081e-01 -4.90901274e-03 4.42782794e+02] [ 5.10766725e-03 -5.59989133e-05 9.99986954e-01 2.29571006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.2203857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:432.88, Y:442.81, Z:22.96 [[ 2.66708002e-01 -9.63776350e-01 -1.41040331e-03 4.32878068e+02] [ 9.63763847e-01 2.66711726e-01 -4.90939520e-03 4.42812906e+02] [ 5.10773009e-03 -4.99207386e-05 9.99986954e-01 2.29559003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.250385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:432.89, Y:442.84, Z:22.95 [[ 2.67360187e-01 -9.63595570e-01 -1.45215831e-03 4.32887132e+02] [ 9.63583129e-01 2.67364115e-01 -4.89736469e-03 4.42840141e+02] [ 5.10733394e-03 -8.99149107e-05 9.99986953e-01 2.29542803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.280385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:432.89, Y:442.86, Z:22.96 [[ 2.66180347e-01 -9.63922124e-01 -1.47025156e-03 4.32889768e+02] [ 9.63909716e-01 2.66184383e-01 -4.89215478e-03 4.42862719e+02] [ 5.10701423e-03 -1.14994301e-04 9.99986953e-01 2.29570422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.310385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:432.90, Y:442.89, Z:22.95 [[ 2.68430665e-01 -9.63297977e-01 -1.40959489e-03 4.32902366e+02] [ 9.63285466e-01 2.68434363e-01 -4.90957003e-03 4.42892999e+02] [ 5.10776258e-03 -3.99631214e-05 9.99986955e-01 2.29542521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.3403857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:432.91, Y:442.92, Z:22.96 [[ 2.67937153e-01 -9.63435274e-01 -1.46785973e-03 4.32905538e+02] [ 9.63422855e-01 2.67941154e-01 -4.89284906e-03 4.42916172e+02] [ 5.10724341e-03 -1.03193568e-04 9.99986953e-01 2.29575317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.370385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:432.91, Y:442.94, Z:22.96 [[ 2.68660283e-01 -9.63233968e-01 -1.40531445e-03 4.32914131e+02] [ 9.63221451e-01 2.68663957e-01 -4.91074773e-03 4.42943167e+02] [ 5.10775636e-03 -3.43061461e-05 9.99986955e-01 2.29579704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.400385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:432.92, Y:442.97, Z:22.96 [[ 2.69424794e-01 -9.63020410e-01 -1.40396440e-03 4.32922508e+02] [ 9.63007887e-01 2.69428450e-01 -4.91113367e-03 4.42968484e+02] [ 5.10778992e-03 -2.88476166e-05 9.99986955e-01 2.29580174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.430385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:432.93, Y:443.00, Z:22.96 [[ 2.71119241e-01 -9.62544747e-01 -1.40254074e-03 4.32934293e+02] [ 9.62532216e-01 2.71122869e-01 -4.91154022e-03 4.42998678e+02] [ 5.10783810e-03 -1.83775842e-05 9.99986955e-01 2.29572422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.460385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:432.94, Y:443.02, Z:22.96 [[ 2.70335994e-01 -9.62764945e-01 -1.45283501e-03 4.32941608e+02] [ 9.62752493e-01 2.70339887e-01 -4.89716672e-03 4.43024630e+02] [ 5.10757970e-03 -7.48400983e-05 9.99986953e-01 2.29599378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.490385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:432.95, Y:443.05, Z:22.96 [[ 2.69381777e-01 -9.63032393e-01 -1.43828918e-03 4.32949359e+02] [ 9.63019922e-01 2.69385609e-01 -4.90131407e-03 4.43051504e+02] [ 5.10757863e-03 -6.47764350e-05 9.99986954e-01 2.29616456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.520385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:432.96, Y:443.08, Z:22.96 [[ 2.68914924e-01 -9.63162878e-01 -1.42652821e-03 4.32956226e+02] [ 9.63150391e-01 2.68918702e-01 -4.90465828e-03 4.43076014e+02] [ 5.10760490e-03 -5.50253913e-05 9.99986955e-01 2.29622980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.550385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:432.97, Y:443.10, Z:22.96 [[ 2.69840333e-01 -9.62904071e-01 -1.39474826e-03 4.32967018e+02] [ 9.62891534e-01 2.69843937e-01 -4.91367902e-03 4.43104225e+02] [ 5.10776590e-03 -1.70825056e-05 9.99986955e-01 2.29643225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.580385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:432.98, Y:443.13, Z:22.96 [[ 2.71193065e-01 -9.62523937e-01 -1.41128951e-03 4.32975117e+02] [ 9.62511420e-01 2.71196735e-01 -4.90898701e-03 4.43130623e+02] [ 5.10775461e-03 -2.70990358e-05 9.99986955e-01 2.29639124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.610385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:432.98, Y:443.16, Z:22.96 [[ 2.72658554e-01 -9.62109823e-01 -1.41477008e-03 4.32982709e+02] [ 9.62097305e-01 2.72662223e-01 -4.90799976e-03 4.43157683e+02] [ 5.10778913e-03 -2.29383646e-05 9.99986955e-01 2.29622776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.640385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:432.99, Y:443.19, Z:22.96 [[ 2.74202870e-01 -9.61670849e-01 -1.40169435e-03 4.32992905e+02] [ 9.61658306e-01 2.74206452e-01 -4.91170502e-03 4.43186033e+02] [ 5.10779717e-03 -1.14739993e-06 9.99986955e-01 2.29638432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.670385723 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:433.00, Y:443.21, Z:22.96 [[ 2.74745782e-01 -9.61515859e-01 -1.41713394e-03 4.33002606e+02] [ 9.61503336e-01 2.74749437e-01 -4.90732218e-03 4.43212423e+02] [ 5.10782485e-03 -1.43129360e-05 9.99986955e-01 2.29625113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.700385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:433.01, Y:443.23, Z:22.96 [[ 2.73015600e-01 -9.62008547e-01 -1.42739711e-03 4.33010455e+02] [ 9.61996046e-01 2.73019329e-01 -4.90441187e-03 4.43234888e+02] [ 5.10779314e-03 -3.41694249e-05 9.99986955e-01 2.29643967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.7303857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:433.02, Y:443.26, Z:22.96 [[ 2.70325394e-01 -9.62768014e-01 -1.39040457e-03 4.33020724e+02] [ 9.62755469e-01 2.70328970e-01 -4.91487696e-03 4.43260345e+02] [ 5.10775296e-03 -1.00035505e-05 9.99986955e-01 2.29643751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.760385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:433.03, Y:443.29, Z:22.96 [[ 2.68276985e-01 -9.63340817e-01 -1.38897047e-03 4.33029514e+02] [ 9.63328278e-01 2.68280580e-01 -4.91528221e-03 4.43287549e+02] [ 5.10772578e-03 -1.93774429e-05 9.99986955e-01 2.29642809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.790385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:433.04, Y:443.31, Z:22.96 [[ 2.67941688e-01 -9.63434123e-01 -1.39351151e-03 4.33037969e+02] [ 9.63421592e-01 2.67945311e-01 -4.91399972e-03 4.43313421e+02] [ 5.10769988e-03 -2.58736923e-05 9.99986955e-01 2.29633958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.820385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:433.05, Y:443.34, Z:22.96 [[ 2.66934715e-01 -9.63713616e-01 -1.38717489e-03 4.33050705e+02] [ 9.63701079e-01 2.66938318e-01 -4.91578783e-03 4.43341884e+02] [ 5.10770180e-03 -2.46275120e-05 9.99986955e-01 2.29622910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.8503857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:433.06, Y:443.37, Z:22.96 [[ 2.66058735e-01 -9.63955781e-01 -1.41506021e-03 4.33062318e+02] [ 9.63943288e-01 2.66062492e-01 -4.90792719e-03 4.43369135e+02] [ 5.10751923e-03 -5.82408895e-05 9.99986955e-01 2.29623719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.880385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:433.07, Y:443.39, Z:22.96 [[ 2.64287445e-01 -9.64442907e-01 -1.42316603e-03 4.33067535e+02] [ 9.64430434e-01 2.64291266e-01 -4.90564464e-03 4.43393447e+02] [ 5.10734453e-03 -7.60443458e-05 9.99986955e-01 2.29641140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.910385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:433.08, Y:443.42, Z:22.96 [[ 2.63892638e-01 -9.64551069e-01 -1.38233868e-03 4.33075847e+02] [ 9.64538536e-01 2.63896256e-01 -4.91712234e-03 4.43418831e+02] [ 5.10760962e-03 -3.57265377e-05 9.99986955e-01 2.29638889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.940385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:433.09, Y:443.44, Z:22.96 [[ 2.63409298e-01 -9.64683178e-01 -1.38093487e-03 4.33086129e+02] [ 9.64670645e-01 2.63412915e-01 -4.91751656e-03 4.43444398e+02] [ 5.10760159e-03 -3.68277484e-05 9.99986955e-01 2.29646994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.9703857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:433.10, Y:443.47, Z:22.97 [[ 2.63041069e-01 -9.64783651e-01 -1.37964278e-03 4.33095283e+02] [ 9.64771117e-01 2.63044685e-01 -4.91787904e-03 4.43471212e+02] [ 5.10759699e-03 -3.74353489e-05 9.99986955e-01 2.29660085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.000385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:433.10, Y:443.49, Z:22.97 [[ 2.64386979e-01 -9.64415691e-01 -1.37833282e-03 4.33104436e+02] [ 9.64403151e-01 2.64390570e-01 -4.91824615e-03 4.43493692e+02] [ 5.10765196e-03 -2.89482764e-05 9.99986955e-01 2.29652881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.030385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:433.11, Y:443.52, Z:22.97 [[ 2.63554114e-01 -9.64643671e-01 -1.34834066e-03 4.33112552e+02] [ 9.64631090e-01 2.63557563e-01 -4.92664391e-03 4.43521336e+02] [ 5.10782125e-03 -2.21404653e-06 9.99986955e-01 2.29688040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.060385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:433.12, Y:443.55, Z:22.97 [[ 2.63775548e-01 -9.64583104e-01 -1.37698677e-03 4.33120323e+02] [ 9.64570564e-01 2.63779140e-01 -4.91862433e-03 4.43548252e+02] [ 5.10764231e-03 -3.07880823e-05 9.99986955e-01 2.29688031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.0903857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:433.13, Y:443.58, Z:22.97 [[ 2.65182412e-01 -9.64197281e-01 -1.37565974e-03 4.33128892e+02] [ 9.64184733e-01 2.65185979e-01 -4.91899545e-03 4.43575036e+02] [ 5.10768771e-03 -2.19590406e-05 9.99986955e-01 2.29680021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.120385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:433.14, Y:443.60, Z:22.97 [[ 2.65520000e-01 -9.64104373e-01 -1.37434340e-03 4.33137326e+02] [ 9.64091822e-01 2.65523556e-01 -4.91936321e-03 4.43602011e+02] [ 5.10770012e-03 -1.88039123e-05 9.99986955e-01 2.29679605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.150385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:433.15, Y:443.63, Z:22.97 [[ 2.66327999e-01 -9.63881482e-01 -1.37302726e-03 4.33145873e+02] [ 9.63868927e-01 2.66331538e-01 -4.91973052e-03 4.43627432e+02] [ 5.10771761e-03 -1.31563305e-05 9.99986955e-01 2.29696878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.180385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:433.15, Y:443.65, Z:22.97 [[ 2.66443274e-01 -9.63849625e-01 -1.37163875e-03 4.33154006e+02] [ 9.63837068e-01 2.66446805e-01 -4.92011761e-03 4.43653948e+02] [ 5.10772228e-03 -1.11040236e-05 9.99986955e-01 2.29706416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.210385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:433.16, Y:443.68, Z:22.97 [[ 2.66625032e-01 -9.63799364e-01 -1.37028159e-03 4.33162489e+02] [ 9.63786804e-01 2.66628553e-01 -4.92049556e-03 4.43681015e+02] [ 5.10772669e-03 -8.73202642e-06 9.99986955e-01 2.29707906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.240385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:433.17, Y:443.71, Z:22.97 [[ 2.66359827e-01 -9.63872693e-01 -1.36892789e-03 4.33170093e+02] [ 9.63860132e-01 2.66363344e-01 -4.92087214e-03 4.43708582e+02] [ 5.10772650e-03 -8.73236419e-06 9.99986955e-01 2.29709361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.270385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:433.18, Y:443.74, Z:22.97 [[ 2.66443384e-01 -9.63849601e-01 -1.36757376e-03 4.33178111e+02] [ 9.63837037e-01 2.66446894e-01 -4.92124844e-03 4.43735633e+02] [ 5.10772913e-03 -6.88415028e-06 9.99986955e-01 2.29712476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.300385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:433.19, Y:443.76, Z:22.97 [[ 2.66326759e-01 -9.63881834e-01 -1.36621872e-03 4.33186655e+02] [ 9.63869269e-01 2.66330263e-01 -4.92162460e-03 4.43762120e+02] [ 5.10772994e-03 -6.09591454e-06 9.99986955e-01 2.29691480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.330385723 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:433.19, Y:443.79, Z:22.97 [[ 2.65819150e-01 -9.64021948e-01 -1.36486908e-03 4.33194456e+02] [ 9.64009383e-01 2.65822654e-01 -4.92199885e-03 4.43788801e+02] [ 5.10772804e-03 -7.38504684e-06 9.99986955e-01 2.29691273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.360385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:433.20, Y:443.82, Z:22.97 [[ 2.66007043e-01 -9.63970121e-01 -1.36351884e-03 4.33202594e+02] [ 9.63957553e-01 2.66010538e-01 -4.92237288e-03 4.43815504e+02] [ 5.10773075e-03 -4.98842568e-06 9.99986955e-01 2.29711402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.390385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:433.21, Y:443.84, Z:22.97 [[ 2.65590789e-01 -9.64084891e-01 -1.36217138e-03 4.33211054e+02] [ 9.64072323e-01 2.65594283e-01 -4.92274573e-03 4.43841234e+02] [ 5.10772971e-03 -5.79579904e-06 9.99986955e-01 2.29710505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.420385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:433.22, Y:443.87, Z:22.97 [[ 2.65066872e-01 -9.64229071e-01 -1.36074990e-03 4.33219493e+02] [ 9.64216503e-01 2.65070365e-01 -4.92313862e-03 4.43867679e+02] [ 5.10772786e-03 -7.09655484e-06 9.99986955e-01 2.29723355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.450385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:433.23, Y:443.89, Z:22.97 [[ 2.64547176e-01 -9.64371787e-01 -1.35937711e-03 4.33227306e+02] [ 9.64359219e-01 2.64550668e-01 -4.92351765e-03 4.43893754e+02] [ 5.10772564e-03 -8.42516044e-06 9.99986955e-01 2.29722089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.4803857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:433.23, Y:443.92, Z:22.97 [[ 2.63922713e-01 -9.64542875e-01 -1.35793256e-03 4.33234899e+02] [ 9.64530307e-01 2.63926206e-01 -4.92391603e-03 4.43919930e+02] [ 5.10772212e-03 -1.02338343e-05 9.99986955e-01 2.29722604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.510385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:433.24, Y:443.95, Z:22.97 [[ 2.63439409e-01 -9.64674991e-01 -1.35662598e-03 4.33242420e+02] [ 9.64662422e-01 2.63442902e-01 -4.92427599e-03 4.43946449e+02] [ 5.10771938e-03 -1.14377485e-05 9.99986955e-01 2.29716883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.540385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:433.25, Y:443.97, Z:22.97 [[ 2.63148605e-01 -9.64754360e-01 -1.35524112e-03 4.33249779e+02] [ 9.64741791e-01 2.63152094e-01 -4.92465710e-03 4.43973640e+02] [ 5.10771895e-03 -1.15410998e-05 9.99986955e-01 2.29725133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.570385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:433.26, Y:444.00, Z:22.97 [[ 2.63475770e-01 -9.64665064e-01 -1.35385280e-03 4.33256804e+02] [ 9.64652492e-01 2.63479248e-01 -4.92503874e-03 4.43999555e+02] [ 5.10772493e-03 -8.36910217e-06 9.99986955e-01 2.29713767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.6003857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:433.26, Y:444.03, Z:22.97 [[ 2.63670105e-01 -9.64611967e-01 -1.35240336e-03 4.33264261e+02] [ 9.64599392e-01 2.63673574e-01 -4.92543672e-03 4.44027008e+02] [ 5.10772823e-03 -5.83704186e-06 9.99986955e-01 2.29710681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.630385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:433.27, Y:444.05, Z:22.97 [[ 2.64563996e-01 -9.64367185e-01 -1.35104800e-03 4.33271027e+02] [ 9.64354604e-01 2.64567446e-01 -4.92580847e-03 4.44053285e+02] [ 5.10773136e-03 3.02215706e-07 9.99986955e-01 2.29710441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.660385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:433.28, Y:444.08, Z:22.97 [[ 2.64427140e-01 -9.64404721e-01 -1.34962434e-03 4.33277642e+02] [ 9.64392140e-01 2.64430584e-01 -4.92619850e-03 4.44080213e+02] [ 5.10773105e-03 1.05347279e-06 9.99986955e-01 2.29713578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.690385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:433.28, Y:444.11, Z:22.97 [[ 2.63950477e-01 -9.64535291e-01 -1.34828285e-03 4.33284333e+02] [ 9.64522710e-01 2.63953920e-01 -4.92656564e-03 4.44107153e+02] [ 5.10773096e-03 -8.00790359e-08 9.99986955e-01 2.29717815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.7203857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:433.29, Y:444.13, Z:22.97 [[ 2.63382201e-01 -9.64690625e-01 -1.34694300e-03 4.33291401e+02] [ 9.64678043e-01 2.63385645e-01 -4.92693193e-03 4.44133698e+02] [ 5.10773049e-03 -1.70016181e-06 9.99986955e-01 2.29716631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.750385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:433.30, Y:444.16, Z:22.97 [[ 2.61888108e-01 -9.65097305e-01 -1.34553306e-03 4.33298175e+02] [ 9.65084727e-01 2.61891564e-01 -4.92731695e-03 4.44160832e+02] [ 5.10772407e-03 -8.14769066e-06 9.99986955e-01 2.29711238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.780385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:433.31, Y:444.19, Z:22.97 [[ 2.61086715e-01 -9.65314415e-01 -1.34421724e-03 4.33305138e+02] [ 9.65301838e-01 2.61090176e-01 -4.92767589e-03 4.44187919e+02] [ 5.10771849e-03 -1.10246567e-05 9.99986955e-01 2.29702221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.810385723 meters Centerline goodness : 0.999842 Centerline is valid? [True, True] Translation: X:433.31, Y:444.22, Z:22.97 [[ 2.59175672e-01 -9.65829264e-01 -1.34290666e-03 4.33312557e+02] [ 9.65816692e-01 2.59179150e-01 -4.92803303e-03 4.44215496e+02] [ 5.10769192e-03 -1.97753987e-05 9.99986955e-01 2.29689660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.8403857229999 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:433.32, Y:444.24, Z:22.97 [[ 2.58188552e-01 -9.66093614e-01 -1.34164013e-03 4.33319784e+02] [ 9.66081044e-01 2.58192036e-01 -4.92837782e-03 4.44242786e+02] [ 5.10767513e-03 -2.36823622e-05 9.99986955e-01 2.29702927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.870385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:433.33, Y:444.27, Z:22.97 [[ 2.57512371e-01 -9.66274072e-01 -1.34026505e-03 4.33326548e+02] [ 9.66261502e-01 2.57515857e-01 -4.92875174e-03 4.44268737e+02] [ 5.10766452e-03 -2.58319762e-05 9.99986955e-01 2.29711832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.900385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:433.33, Y:444.30, Z:22.97 [[ 2.55386116e-01 -9.66838218e-01 -1.33880744e-03 4.33333125e+02] [ 9.66825653e-01 2.55389623e-01 -4.92914764e-03 4.44296105e+02] [ 5.10760585e-03 -3.55575034e-05 9.99986955e-01 2.29722075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.930385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:433.34, Y:444.32, Z:22.97 [[ 2.53735848e-01 -9.67272625e-01 -1.33745201e-03 4.33340260e+02] [ 9.67260065e-01 2.53739369e-01 -4.92951539e-03 4.44323139e+02] [ 5.10754952e-03 -4.28691537e-05 9.99986955e-01 2.29739080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.960385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:433.35, Y:444.35, Z:22.98 [[ 2.52660707e-01 -9.67554020e-01 -1.33611057e-03 4.33347406e+02] [ 9.67541462e-01 2.52664235e-01 -4.92987895e-03 4.44350424e+02] [ 5.10751155e-03 -4.71556802e-05 9.99986955e-01 2.29751259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.990385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:433.35, Y:444.38, Z:22.98 [[ 2.50836612e-01 -9.68028519e-01 -1.33476665e-03 4.33353802e+02] [ 9.68015965e-01 2.50840157e-01 -4.93024279e-03 4.44378120e+02] [ 5.10742870e-03 -5.53900344e-05 9.99986955e-01 2.29763312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.020385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:433.36, Y:444.41, Z:22.98 [[ 2.50107208e-01 -9.68217231e-01 -1.33341028e-03 4.33360343e+02] [ 9.68204678e-01 2.50110755e-01 -4.93060960e-03 4.44405136e+02] [ 5.10740143e-03 -5.78330675e-05 9.99986956e-01 2.29768654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.050385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:433.37, Y:444.43, Z:22.98 [[ 2.49602498e-01 -9.68347468e-01 -1.33205735e-03 4.33366853e+02] [ 9.68334915e-01 2.49606046e-01 -4.93097508e-03 4.44432381e+02] [ 5.10738680e-03 -5.90939435e-05 9.99986956e-01 2.29765418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.080385723 meters Centerline goodness : 0.997482 Centerline is valid? [True, True] Translation: X:433.37, Y:444.46, Z:22.97 [[ 2.49736237e-01 -9.68312987e-01 -1.33071234e-03 4.33373009e+02] [ 9.68300432e-01 2.49739776e-01 -4.93133803e-03 4.44460252e+02] [ 5.10741046e-03 -5.69955340e-05 9.99986956e-01 2.29722305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.110385723 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:433.38, Y:444.49, Z:22.97 [[ 2.49440267e-01 -9.68389258e-01 -1.34123207e-03 4.33377600e+02] [ 9.68376719e-01 2.49443863e-01 -4.92850157e-03 4.44485705e+02] [ 5.10727008e-03 -6.94511611e-05 9.99986955e-01 2.29710128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.140385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:433.38, Y:444.51, Z:22.97 [[ 2.49865747e-01 -9.68279580e-01 -1.32811835e-03 4.33384322e+02] [ 9.68267020e-01 2.49869271e-01 -4.93203289e-03 4.44511682e+02] [ 5.10744269e-03 -5.36271199e-05 9.99986956e-01 2.29730273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.170385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:433.39, Y:444.54, Z:22.97 [[ 2.49933628e-01 -9.68262062e-01 -1.32672460e-03 4.33391708e+02] [ 9.68249501e-01 2.49937144e-01 -4.93240778e-03 4.44538482e+02] [ 5.10746109e-03 -5.18258614e-05 9.99986956e-01 2.29745173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.200385723 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:433.40, Y:444.56, Z:22.97 [[ 2.50012294e-01 -9.68241755e-01 -1.32534841e-03 4.33398177e+02] [ 9.68229191e-01 2.50015802e-01 -4.93277754e-03 4.44564795e+02] [ 5.10747923e-03 -4.99859859e-05 9.99986956e-01 2.29733763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.2303857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:433.40, Y:444.59, Z:22.98 [[ 2.50756487e-01 -9.68049292e-01 -1.32389191e-03 4.33404543e+02] [ 9.68036723e-01 2.50759978e-01 -4.93316841e-03 4.44591971e+02] [ 5.10752929e-03 -4.45520039e-05 9.99986956e-01 2.29751643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.260385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:433.41, Y:444.62, Z:22.97 [[ 2.50746247e-01 -9.68051946e-01 -1.32255642e-03 4.33410160e+02] [ 9.68039376e-01 2.50749731e-01 -4.93352642e-03 4.44618594e+02] [ 5.10754052e-03 -4.32234564e-05 9.99986956e-01 2.29739120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.290385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:433.42, Y:444.65, Z:22.97 [[ 2.50206228e-01 -9.68191664e-01 -1.32114794e-03 4.33417067e+02] [ 9.68179093e-01 2.50209712e-01 -4.93390357e-03 4.44645472e+02] [ 5.10752835e-03 -4.46144086e-05 9.99986956e-01 2.29744287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.320385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:433.42, Y:444.67, Z:22.98 [[ 2.47760887e-01 -9.68820314e-01 -1.31984725e-03 4.33423194e+02] [ 9.68807751e-01 2.47764396e-01 -4.93425149e-03 4.44673112e+02] [ 5.10741423e-03 -5.61637201e-05 9.99986956e-01 2.29760500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.3503857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:433.43, Y:444.70, Z:22.98 [[ 2.46456305e-01 -9.69153011e-01 -1.31603493e-03 4.33430012e+02] [ 9.69140446e-01 2.46459812e-01 -4.93527031e-03 4.44700022e+02] [ 5.10738180e-03 -5.90941947e-05 9.99986956e-01 2.29764983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.380385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:433.44, Y:444.73, Z:22.98 [[ 2.44982331e-01 -9.69526660e-01 -1.30892953e-03 4.33437953e+02] [ 9.69514091e-01 2.44985820e-01 -4.93716790e-03 4.44727318e+02] [ 5.10738507e-03 -5.95067208e-05 9.99986955e-01 2.29773186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.410385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:433.44, Y:444.75, Z:22.98 [[ 2.43461213e-01 -9.69909739e-01 -1.31752965e-03 4.33444542e+02] [ 9.69897188e-01 2.43464766e-01 -4.93487180e-03 4.44754624e+02] [ 5.10715227e-03 -7.64184224e-05 9.99986956e-01 2.29780453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.440385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:433.45, Y:444.78, Z:22.98 [[ 2.42372820e-01 -9.70182294e-01 -1.31616154e-03 4.33450901e+02] [ 9.70169745e-01 2.42376380e-01 -4.93523666e-03 4.44781340e+02] [ 5.10708569e-03 -8.07328810e-05 9.99986956e-01 2.29779041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.4703857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:433.46, Y:444.81, Z:22.98 [[ 2.40113230e-01 -9.70743997e-01 -1.31471926e-03 4.33456441e+02] [ 9.70731454e-01 2.40116812e-01 -4.93562084e-03 4.44809705e+02] [ 5.10691051e-03 -9.11314821e-05 9.99986956e-01 2.29782800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.500385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:433.46, Y:444.84, Z:22.98 [[ 2.39200359e-01 -9.70969335e-01 -1.31885568e-03 4.33462905e+02] [ 9.70956801e-01 2.39203974e-01 -4.93451976e-03 4.44836140e+02] [ 5.10674289e-03 -1.00212992e-04 9.99986956e-01 2.29774131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.530385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:433.47, Y:444.86, Z:22.98 [[ 2.38647243e-01 -9.71105437e-01 -1.31278700e-03 4.33469707e+02] [ 9.71092897e-01 2.38650834e-01 -4.93613376e-03 4.44863198e+02] [ 5.10680404e-03 -9.68434195e-05 9.99986956e-01 2.29774547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.560385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:433.48, Y:444.89, Z:22.98 [[ 2.37504277e-01 -9.71385608e-01 -1.31142820e-03 4.33476286e+02] [ 9.71373069e-01 2.37507876e-01 -4.93649473e-03 4.44891572e+02] [ 5.10671446e-03 -1.01447422e-04 9.99986956e-01 2.29773180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.5903857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:433.48, Y:444.92, Z:22.98 [[ 2.38350921e-01 -9.71178206e-01 -1.31583937e-03 4.33484596e+02] [ 9.71165671e-01 2.38354531e-01 -4.93532325e-03 4.44921609e+02] [ 5.10671465e-03 -1.01559182e-04 9.99986956e-01 2.29759231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.620385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:433.49, Y:444.95, Z:22.98 [[ 2.36680300e-01 -9.71586644e-01 -1.35249629e-03 4.33488651e+02] [ 9.71574170e-01 2.36684118e-01 -4.92558419e-03 4.44948018e+02] [ 5.10574620e-03 -1.48261718e-04 9.99986955e-01 2.29758512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.650385723 meters Centerline goodness : 0.999019 Centerline is valid? [True, True] Translation: X:433.50, Y:444.98, Z:22.97 [[ 2.36794849e-01 -9.71558759e-01 -1.33355153e-03 4.33495622e+02] [ 9.71546256e-01 2.36798569e-01 -4.93061151e-03 4.44975731e+02] [ 5.10616189e-03 -1.28063587e-04 9.99986955e-01 2.29749669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.680385723 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:433.50, Y:445.00, Z:22.98 [[ 2.36520110e-01 -9.71625660e-01 -1.34735436e-03 4.33501190e+02] [ 9.71613178e-01 2.36523903e-01 -4.92695027e-03 4.45001729e+02] [ 5.10583282e-03 -1.43784437e-04 9.99986955e-01 2.29753350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.710385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:433.50, Y:445.03, Z:22.98 [[ 2.35734494e-01 -9.71816564e-01 -1.34699817e-03 4.33503585e+02] [ 9.71804085e-01 2.35738297e-01 -4.92704457e-03 4.45025579e+02] [ 5.10572258e-03 -1.47543960e-04 9.99986955e-01 2.29764369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.740385723 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:433.51, Y:445.05, Z:22.97 [[ 2.35249170e-01 -9.71934219e-01 -1.30438928e-03 4.33509705e+02] [ 9.71921679e-01 2.35252763e-01 -4.93829917e-03 4.45053409e+02] [ 5.10656313e-03 -1.06033431e-04 9.99986956e-01 2.29749270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.770385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:433.51, Y:445.08, Z:22.98 [[ 2.36361158e-01 -9.71664400e-01 -1.30303746e-03 4.33514510e+02] [ 9.71651854e-01 2.36364729e-01 -4.93865584e-03 4.45081530e+02] [ 5.10670816e-03 -9.87923515e-05 9.99986956e-01 2.29779651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.800385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:433.52, Y:445.11, Z:22.97 [[ 2.33873879e-01 -9.72266072e-01 -1.30166035e-03 4.33517265e+02] [ 9.72253533e-01 2.33877475e-01 -4.93901878e-03 4.45108125e+02] [ 5.10646942e-03 -1.10436394e-04 9.99986956e-01 2.29729486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.830385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:433.52, Y:445.14, Z:22.97 [[ 2.35332197e-01 -9.71914160e-01 -1.27411910e-03 4.33523071e+02] [ 9.71901576e-01 2.35335634e-01 -4.94627406e-03 4.45136746e+02] [ 5.10719943e-03 -7.43008232e-05 9.99986955e-01 2.29746247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.860385723 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:433.53, Y:445.16, Z:22.97 [[ 2.36018055e-01 -9.71747834e-01 -1.27477479e-03 4.33528997e+02] [ 9.71735249e-01 2.36021486e-01 -4.94610139e-03 4.45162936e+02] [ 5.10723755e-03 -7.13743749e-05 9.99986955e-01 2.29746214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.890385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:433.53, Y:445.19, Z:22.98 [[ 2.37161184e-01 -9.71469484e-01 -1.27062566e-03 4.33534789e+02] [ 9.71456889e-01 2.37164580e-01 -4.94719265e-03 4.45190889e+02] [ 5.10739409e-03 -6.10759884e-05 9.99986955e-01 2.29765208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.920385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:433.54, Y:445.22, Z:22.98 [[ 2.39567541e-01 -9.70878855e-01 -1.28177076e-03 4.33544230e+02] [ 9.70866267e-01 2.39570963e-01 -4.94426598e-03 4.45220988e+02] [ 5.10735834e-03 -5.99423467e-05 9.99986956e-01 2.29784490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.950385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:433.55, Y:445.25, Z:22.98 [[ 2.40051247e-01 -9.70759311e-01 -1.32641049e-03 4.33547137e+02] [ 9.70746785e-01 2.40054889e-01 -4.93254108e-03 4.45246559e+02] [ 5.10672150e-03 -1.03546078e-04 9.99986955e-01 2.29816425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.9803857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:433.55, Y:445.28, Z:22.98 [[ 2.38907098e-01 -9.71041566e-01 -1.29494250e-03 4.33552259e+02] [ 9.71028999e-01 2.38910595e-01 -4.94078860e-03 4.45275075e+02] [ 5.10708658e-03 -7.70372570e-05 9.99986956e-01 2.29780851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.010385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:433.56, Y:445.30, Z:22.98 [[ 2.39515557e-01 -9.70891658e-01 -1.29826968e-03 4.33556802e+02] [ 9.70879094e-01 2.39519063e-01 -4.93991712e-03 4.45301688e+02] [ 5.10708466e-03 -7.72758935e-05 9.99986956e-01 2.29801552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.040385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:433.56, Y:445.33, Z:22.98 [[ 2.38890345e-01 -9.71045689e-01 -1.29333356e-03 4.33562129e+02] [ 9.71033120e-01 2.38893834e-01 -4.94120912e-03 4.45327946e+02] [ 5.10710923e-03 -7.54625683e-05 9.99986956e-01 2.29790716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.070385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:433.57, Y:445.36, Z:22.98 [[ 2.37318092e-01 -9.71431137e-01 -1.29208851e-03 4.33566810e+02] [ 9.71418572e-01 2.37321595e-01 -4.94153467e-03 4.45355973e+02] [ 5.10700115e-03 -8.24431971e-05 9.99986956e-01 2.29768578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.1003857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:433.58, Y:445.39, Z:22.98 [[ 2.37196326e-01 -9.71460878e-01 -1.29073648e-03 4.33575953e+02] [ 9.71448311e-01 2.37199824e-01 -4.94188779e-03 4.45386172e+02] [ 5.10701312e-03 -8.16861463e-05 9.99986956e-01 2.29779418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.130385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:433.58, Y:445.41, Z:22.98 [[ 2.36789737e-01 -9.71560011e-01 -1.32898141e-03 4.33583109e+02] [ 9.71547501e-01 2.36793434e-01 -4.93190268e-03 4.45413903e+02] [ 5.10633350e-03 -1.23344631e-04 9.99986955e-01 2.29781029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.160385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:433.59, Y:445.44, Z:22.98 [[ 2.32677562e-01 -9.72553027e-01 -1.32727419e-03 4.33585648e+02] [ 9.72540530e-01 2.32681304e-01 -4.93234777e-03 4.45437629e+02] [ 5.10580164e-03 -1.43181294e-04 9.99986955e-01 2.29778395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.190385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:433.59, Y:445.47, Z:22.98 [[ 2.31573590e-01 -9.72816539e-01 -1.28627902e-03 4.33591099e+02] [ 9.72803986e-01 2.31577138e-01 -4.94301560e-03 4.45465556e+02] [ 5.10652014e-03 -1.06625489e-04 9.99986956e-01 2.29794348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.2203857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:433.59, Y:445.49, Z:22.98 [[ 2.29920783e-01 -9.73208499e-01 -1.28493598e-03 4.33594938e+02] [ 9.73195951e-01 2.29924345e-01 -4.94336470e-03 4.45493646e+02] [ 5.10636260e-03 -1.13912211e-04 9.99986956e-01 2.29783236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.250385723 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:433.60, Y:445.52, Z:22.98 [[ 2.29208870e-01 -9.73376416e-01 -1.28359883e-03 4.33600637e+02] [ 9.73363868e-01 2.29212434e-01 -4.94371188e-03 4.45521478e+02] [ 5.10630936e-03 -1.16266110e-04 9.99986956e-01 2.29757730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.280385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:433.61, Y:445.55, Z:22.98 [[ 2.29279817e-01 -9.73359708e-01 -1.28223844e-03 4.33605073e+02] [ 9.73347158e-01 2.29283374e-01 -4.94406469e-03 4.45549499e+02] [ 5.10634932e-03 -1.14488894e-04 9.99986956e-01 2.29773849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.310385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:433.61, Y:445.58, Z:22.98 [[ 2.29164186e-01 -9.73386940e-01 -1.28088778e-03 4.33610618e+02] [ 9.73374389e-01 2.29167738e-01 -4.94441459e-03 4.45576796e+02] [ 5.10636675e-03 -1.13700619e-04 9.99986956e-01 2.29773048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.3403857229999 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:433.62, Y:445.61, Z:22.97 [[ 2.29029436e-01 -9.73418656e-01 -1.27954341e-03 4.33615028e+02] [ 9.73406104e-01 2.29032982e-01 -4.94476247e-03 4.45605079e+02] [ 5.10638168e-03 -1.13019203e-04 9.99986956e-01 2.29743847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.370385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:433.63, Y:445.64, Z:22.98 [[ 2.32387581e-01 -9.72622424e-01 -1.27819543e-03 4.33626302e+02] [ 9.72609857e-01 2.32391077e-01 -4.94511089e-03 4.45637505e+02] [ 5.10676695e-03 -9.40031200e-05 9.99986956e-01 2.29773428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.400385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:433.63, Y:445.66, Z:22.98 [[ 2.30370613e-01 -9.73102016e-01 -1.35910968e-03 4.33628500e+02] [ 9.73089575e-01 2.30374545e-01 -4.92415824e-03 4.45663203e+02] [ 5.10481258e-03 -1.88154107e-04 9.99986953e-01 2.29788660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.430385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:433.63, Y:445.69, Z:22.98 [[ 2.30587422e-01 -9.73050724e-01 -1.31499175e-03 4.33628870e+02] [ 9.73038217e-01 2.30591128e-01 -4.93551506e-03 4.45687623e+02] [ 5.10573193e-03 -1.41469540e-04 9.99986956e-01 2.29783872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.460385723 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:433.64, Y:445.72, Z:22.98 [[ 2.31982297e-01 -9.72719178e-01 -1.27049417e-03 4.33638450e+02] [ 9.72706603e-01 2.31985760e-01 -4.94694311e-03 4.45717326e+02] [ 5.10672300e-03 -8.82148379e-05 9.99986957e-01 2.29759339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.490385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:433.64, Y:445.74, Z:22.98 [[ 2.31931694e-01 -9.72731190e-01 -1.31195795e-03 4.33640224e+02] [ 9.72718674e-01 2.31935367e-01 -4.93629274e-03 4.45741913e+02] [ 5.10597536e-03 -1.31283259e-04 9.99986956e-01 2.29808260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.520385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:433.65, Y:445.77, Z:22.98 [[ 2.31457660e-01 -9.72844152e-01 -1.26772046e-03 4.33646392e+02] [ 9.72831575e-01 2.31461115e-01 -4.94762763e-03 4.45769056e+02] [ 5.10669860e-03 -8.81121759e-05 9.99986957e-01 2.29795408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.550385723 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:433.65, Y:445.80, Z:22.98 [[ 2.30816342e-01 -9.72996512e-01 -1.26635654e-03 4.33651681e+02] [ 9.72983935e-01 2.30819799e-01 -4.94797670e-03 4.45796690e+02] [ 5.10666423e-03 -9.00706893e-05 9.99986957e-01 2.29790351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.580385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:433.66, Y:445.83, Z:22.98 [[ 2.33693121e-01 -9.72309583e-01 -1.26499806e-03 4.33663973e+02] [ 9.72296994e-01 2.33696534e-01 -4.94832399e-03 4.45828392e+02] [ 5.10692849e-03 -7.35645290e-05 9.99986957e-01 2.29806029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.610385723 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:433.66, Y:445.85, Z:22.98 [[ 2.30051795e-01 -9.73177438e-01 -1.35896376e-03 4.33662539e+02] [ 9.73164998e-01 2.30055730e-01 -4.92424733e-03 4.45849364e+02] [ 5.10480379e-03 -1.89664029e-04 9.99986952e-01 2.29786683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.640385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:433.67, Y:445.88, Z:22.98 [[ 2.29423631e-01 -9.73325844e-01 -1.26466517e-03 4.33668370e+02] [ 9.73313270e-01 2.29427097e-01 -4.94830996e-03 4.45876826e+02] [ 5.10646643e-03 -9.56561582e-05 9.99986957e-01 2.29827643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.670385723 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:433.68, Y:445.91, Z:22.98 [[ 2.31416997e-01 -9.72853821e-01 -1.27131260e-03 4.33676684e+02] [ 9.72841250e-01 2.31420471e-01 -4.94661950e-03 4.45905604e+02] [ 5.10654544e-03 -9.20535072e-05 9.99986957e-01 2.29832570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.700385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:433.68, Y:445.93, Z:22.98 [[ 2.30630099e-01 -9.73040637e-01 -1.29459330e-03 4.33680511e+02] [ 9.73028101e-01 2.30633701e-01 -4.94069868e-03 4.45929975e+02] [ 5.10607743e-03 -1.20201834e-04 9.99986957e-01 2.29829941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.7303857229999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:433.69, Y:445.96, Z:22.98 [[ 2.30316042e-01 -9.73115071e-01 -1.25660648e-03 4.33686830e+02] [ 9.73102483e-01 2.30319455e-01 -4.95034135e-03 4.45956157e+02] [ 5.10667269e-03 -8.26638602e-05 9.99986957e-01 2.29806439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.760385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:433.69, Y:445.98, Z:22.98 [[ 2.30446320e-01 -9.73084230e-01 -1.25535641e-03 4.33693323e+02] [ 9.73071639e-01 2.30449725e-01 -4.95065833e-03 4.45983114e+02] [ 5.10670409e-03 -8.06907291e-05 9.99986957e-01 2.29831492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.790385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:433.70, Y:446.01, Z:22.98 [[ 2.30390268e-01 -9.73097504e-01 -1.25399443e-03 4.33700576e+02] [ 9.73084912e-01 2.30393667e-01 -4.95100330e-03 4.46009363e+02] [ 5.10672132e-03 -7.95800759e-05 9.99986957e-01 2.29824899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.820385723 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:433.71, Y:446.04, Z:22.98 [[ 2.29995320e-01 -9.73190929e-01 -1.25255698e-03 4.33707822e+02] [ 9.73178336e-01 2.29998717e-01 -4.95136693e-03 4.46036443e+02] [ 5.10671188e-03 -8.01700981e-05 9.99986957e-01 2.29800584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.8503857229999 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:433.71, Y:446.06, Z:22.98 [[ 2.29547287e-01 -9.73296706e-01 -1.25121484e-03 4.33713785e+02] [ 9.73284113e-01 2.29550683e-01 -4.95170607e-03 4.46063838e+02] [ 5.10669642e-03 -8.11368303e-05 9.99986957e-01 2.29802225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.880385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:433.72, Y:446.09, Z:22.98 [[ 2.29446551e-01 -9.73320460e-01 -1.24987118e-03 4.33720007e+02] [ 9.73307866e-01 2.29449941e-01 -4.95204520e-03 4.46091305e+02] [ 5.10670978e-03 -8.02797640e-05 9.99986957e-01 2.29821822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.910385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:433.73, Y:446.12, Z:22.98 [[ 2.28926160e-01 -9.73442990e-01 -1.24853169e-03 4.33726528e+02] [ 9.73430396e-01 2.28929550e-01 -4.95238290e-03 4.46118227e+02] [ 5.10668821e-03 -8.16286962e-05 9.99986957e-01 2.29819657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.940385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:433.73, Y:446.15, Z:22.98 [[ 2.29183755e-01 -9.73382377e-01 -1.24719727e-03 4.33734125e+02] [ 9.73369780e-01 2.29187135e-01 -4.95271893e-03 4.46146993e+02] [ 5.10673089e-03 -7.89014124e-05 9.99986957e-01 2.29811882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.9703857229999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:433.74, Y:446.17, Z:22.98 [[ 2.29551896e-01 -9.73295604e-01 -1.26242767e-03 4.33740167e+02] [ 9.73283027e-01 2.29555349e-01 -4.94888605e-03 4.46172701e+02] [ 5.10652607e-03 -9.26732464e-05 9.99986957e-01 2.29818284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.000385723 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:433.75, Y:446.20, Z:22.98 [[ 2.29660342e-01 -9.73270043e-01 -1.24508528e-03 4.33746987e+02] [ 9.73257442e-01 2.29663705e-01 -4.95324537e-03 4.46200293e+02] [ 5.10679623e-03 -7.42244835e-05 9.99986958e-01 2.29805412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.030385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:433.75, Y:446.23, Z:22.98 [[ 2.29387466e-01 -9.73334380e-01 -1.25503759e-03 4.33753462e+02] [ 9.73321793e-01 2.29390884e-01 -4.95074507e-03 4.46227356e+02] [ 5.10662457e-03 -8.59165714e-05 9.99986957e-01 2.29836480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.060385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:433.76, Y:446.25, Z:22.98 [[ 2.28496617e-01 -9.73543913e-01 -1.24311765e-03 4.33760626e+02] [ 9.73531313e-01 2.28499985e-01 -4.95373633e-03 4.46254644e+02] [ 5.10673221e-03 -7.83019687e-05 9.99986958e-01 2.29835352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.0903857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:433.77, Y:446.28, Z:22.98 [[ 2.27492778e-01 -9.73778976e-01 -1.24170856e-03 4.33767828e+02] [ 9.73766377e-01 2.27496152e-01 -4.95408950e-03 4.46281110e+02] [ 5.10667212e-03 -8.21144627e-05 9.99986958e-01 2.29835241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.120385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:433.77, Y:446.31, Z:22.98 [[ 2.26053497e-01 -9.74114099e-01 -1.24075417e-03 4.33774822e+02] [ 9.74101504e-01 2.26056885e-01 -4.95432852e-03 4.46308358e+02] [ 5.10656228e-03 -8.86772111e-05 9.99986958e-01 2.29834032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.150385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:433.78, Y:446.34, Z:22.98 [[ 2.26715940e-01 -9.73960128e-01 -1.24577132e-03 4.33783982e+02] [ 9.73947538e-01 2.26719344e-01 -4.95307332e-03 4.46337839e+02] [ 5.10653638e-03 -9.03752397e-05 9.99986958e-01 2.29813624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.180385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:433.79, Y:446.36, Z:22.98 [[ 2.26349487e-01 -9.74045323e-01 -1.27192270e-03 4.33788615e+02] [ 9.74032770e-01 2.26353029e-01 -4.94655998e-03 4.46362311e+02] [ 5.10607717e-03 -1.19243081e-04 9.99986957e-01 2.29834743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.210385723 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:433.80, Y:446.39, Z:22.98 [[ 2.28170037e-01 -9.73620520e-01 -1.23225889e-03 4.33797051e+02] [ 9.73607906e-01 2.28173354e-01 -4.95642115e-03 4.46389582e+02] [ 5.10684198e-03 -6.88302016e-05 9.99986958e-01 2.29812982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.240385723 meters Centerline goodness : 0.999762 Centerline is valid? [True, True] Translation: X:433.80, Y:446.42, Z:22.98 [[ 2.29045346e-01 -9.73414975e-01 -1.23089922e-03 4.33803633e+02] [ 9.73402357e-01 2.29048645e-01 -4.95675879e-03 4.46415438e+02] [ 5.10691904e-03 -6.28376648e-05 9.99986958e-01 2.29808683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.270385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:433.81, Y:446.44, Z:22.98 [[ 2.30223584e-01 -9.73136984e-01 -1.22946385e-03 4.33810359e+02] [ 9.73124360e-01 2.30226860e-01 -4.95711479e-03 4.46442561e+02] [ 5.10700734e-03 -5.51764897e-05 9.99986958e-01 2.29831825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.300385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:433.82, Y:446.47, Z:22.98 [[ 2.31884404e-01 -9.72742574e-01 -1.22810512e-03 4.33818786e+02] [ 9.72729942e-01 2.31887652e-01 -4.95745139e-03 4.46468005e+02] [ 5.10710644e-03 -4.50589557e-05 9.99986958e-01 2.29832297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.330385723 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:433.83, Y:446.50, Z:22.98 [[ 2.33075124e-01 -9.72457959e-01 -1.22667257e-03 4.33831316e+02] [ 9.72445322e-01 2.33078349e-01 -4.95780584e-03 4.46495623e+02] [ 5.10716856e-03 -3.73307909e-05 9.99986958e-01 2.29840965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.360385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:433.84, Y:446.52, Z:22.99 [[ 2.32211292e-01 -9.72664560e-01 -1.25265291e-03 4.33837888e+02] [ 9.72651960e-01 2.32214661e-01 -4.95138001e-03 4.46520673e+02] [ 5.10691623e-03 -6.86289594e-05 9.99986957e-01 2.29852645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.390385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:433.85, Y:446.55, Z:22.99 [[ 2.31792950e-01 -9.72764376e-01 -1.22399075e-03 4.33846213e+02] [ 9.72751739e-01 2.31796178e-01 -4.95845525e-03 4.46547103e+02] [ 5.10712500e-03 -4.13041626e-05 9.99986958e-01 2.29867713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.420385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:433.86, Y:446.57, Z:22.99 [[ 2.30528155e-01 -9.73064887e-01 -1.22264113e-03 4.33855307e+02] [ 9.73052253e-01 2.30531392e-01 -4.95878801e-03 4.46572584e+02] [ 5.10707966e-03 -4.65534521e-05 9.99986958e-01 2.29850251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.450385723 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:433.86, Y:446.60, Z:22.98 [[ 2.30074559e-01 -9.73172239e-01 -1.22121779e-03 4.33863336e+02] [ 9.73159604e-01 2.30077795e-01 -4.95913852e-03 4.46599410e+02] [ 5.10707103e-03 -4.74682127e-05 9.99986958e-01 2.29832296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.4803857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:433.87, Y:446.63, Z:22.99 [[ 2.30591365e-01 -9.73049914e-01 -1.21988250e-03 4.33872338e+02] [ 9.73037276e-01 2.30594587e-01 -4.95946696e-03 4.46626582e+02] [ 5.10710720e-03 -4.33808868e-05 9.99986958e-01 2.29860959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.510385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:433.88, Y:446.65, Z:22.98 [[ 2.30759063e-01 -9.73010159e-01 -1.21853149e-03 4.33880895e+02] [ 9.72997519e-01 2.30762276e-01 -4.95979888e-03 4.46653613e+02] [ 5.10712579e-03 -4.11095718e-05 9.99986958e-01 2.29847899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.540385723 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:433.89, Y:446.68, Z:22.98 [[ 2.31942036e-01 -9.72728847e-01 -1.21718085e-03 4.33890615e+02] [ 9.72716201e-01 2.31945228e-01 -4.96013031e-03 4.46679869e+02] [ 5.10718113e-03 -3.35088108e-05 9.99986958e-01 2.29835953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.570385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:433.90, Y:446.71, Z:22.99 [[ 2.32606839e-01 -9.72570090e-01 -1.21580393e-03 4.33898136e+02] [ 9.72557440e-01 2.32610015e-01 -4.96046779e-03 4.46706665e+02] [ 5.10721078e-03 -2.86004249e-05 9.99986958e-01 2.29855970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.6003857229999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:433.91, Y:446.73, Z:22.98 [[ 2.33375011e-01 -9.72386050e-01 -1.21442511e-03 4.33908390e+02] [ 9.72373396e-01 2.33378170e-01 -4.96080533e-03 4.46733854e+02] [ 5.10723821e-03 -2.31466665e-05 9.99986958e-01 2.29828113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.630385723 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:433.92, Y:446.76, Z:22.98 [[ 2.32645064e-01 -9.72560937e-01 -1.22380127e-03 4.33916653e+02] [ 9.72548298e-01 2.32648280e-01 -4.95851145e-03 4.46761103e+02] [ 5.10716981e-03 -3.66326297e-05 9.99986958e-01 2.29810165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.660385723 meters Centerline goodness : 0.995359 Centerline is valid? [True, True] Translation: X:433.93, Y:446.79, Z:22.98 [[ 2.35451758e-01 -9.71885282e-01 -1.21217686e-03 4.33930807e+02] [ 9.71872618e-01 2.35454878e-01 -4.96135157e-03 4.46787982e+02] [ 5.10727753e-03 -9.92255244e-06 9.99986958e-01 2.29801475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.690385723 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:433.94, Y:446.81, Z:22.98 [[ 2.32737259e-01 -9.72538810e-01 -1.27752873e-03 4.33937080e+02] [ 9.72526240e-01 2.32740748e-01 -4.94531578e-03 4.46811172e+02] [ 5.10684451e-03 -9.14709697e-05 9.99986956e-01 2.29799534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.7203857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:433.94, Y:446.84, Z:22.98 [[ 2.30998155e-01 -9.72953432e-01 -1.21325685e-03 4.33943756e+02] [ 9.72940784e-01 2.31001339e-01 -4.96103394e-03 4.46836941e+02] [ 5.10711895e-03 -3.44373863e-05 9.99986958e-01 2.29840100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.750385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:433.96, Y:446.87, Z:22.98 [[ 2.30174149e-01 -9.73148726e-01 -1.19116775e-03 4.33955670e+02] [ 9.73136053e-01 2.30177230e-01 -4.96642949e-03 4.46865159e+02] [ 5.10725423e-03 -1.60246022e-05 9.99986958e-01 2.29837845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.780385723 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:433.97, Y:446.89, Z:22.98 [[ 2.29969721e-01 -9.73197036e-01 -1.20679230e-03 4.33965758e+02] [ 9.73184384e-01 2.29972885e-01 -4.96261516e-03 4.46891068e+02] [ 5.10713188e-03 -3.31801964e-05 9.99986958e-01 2.29797705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.810385723 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:433.98, Y:446.92, Z:22.98 [[ 2.29816991e-01 -9.73233110e-01 -1.21034748e-03 4.33976639e+02] [ 9.73220462e-01 2.29820176e-01 -4.96174793e-03 4.46916262e+02] [ 5.10709964e-03 -3.76409552e-05 9.99986958e-01 2.29808717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.8403857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:433.98, Y:446.94, Z:22.98 [[ 2.30132614e-01 -9.73158527e-01 -1.20889710e-03 4.33984773e+02] [ 9.73145877e-01 2.30135787e-01 -4.96210128e-03 4.46943181e+02] [ 5.10712166e-03 -3.44918923e-05 9.99986958e-01 2.29825897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.870385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:433.99, Y:446.97, Z:22.98 [[ 2.30806082e-01 -9.72999021e-01 -1.20753943e-03 4.33994580e+02] [ 9.72986367e-01 2.30809239e-01 -4.96243165e-03 4.46968622e+02] [ 5.10715239e-03 -2.95599986e-05 9.99986958e-01 2.29822793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.900385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.00, Y:447.00, Z:22.98 [[ 2.32179748e-01 -9.72672149e-01 -1.20610837e-03 4.34004533e+02] [ 9.72659489e-01 2.32182880e-01 -4.96277944e-03 4.46995099e+02] [ 5.10719506e-03 -2.08758686e-05 9.99986958e-01 2.29827944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.930385723 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:434.01, Y:447.02, Z:22.98 [[ 2.32360068e-01 -9.72629090e-01 -1.20477178e-03 4.34013327e+02] [ 9.72616428e-01 2.32363191e-01 -4.96310389e-03 4.47020543e+02] [ 5.10720384e-03 -1.85536699e-05 9.99986958e-01 2.29810717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.960385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.02, Y:447.05, Z:22.98 [[ 2.33227098e-01 -9.72421551e-01 -1.20338456e-03 4.34020974e+02] [ 9.72408884e-01 2.33230202e-01 -4.96344022e-03 4.47047440e+02] [ 5.10722186e-03 -1.25730728e-05 9.99986958e-01 2.29836785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.990385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.03, Y:447.07, Z:22.98 [[ 2.34397137e-01 -9.72140184e-01 -1.20205710e-03 4.34032660e+02] [ 9.72127511e-01 2.34400219e-01 -4.96376169e-03 4.47074462e+02] [ 5.10723465e-03 -5.06124877e-06 9.99986958e-01 2.29840319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.020385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.04, Y:447.10, Z:22.98 [[ 2.32582844e-01 -9.72575831e-01 -1.21383949e-03 4.34039411e+02] [ 9.72563179e-01 2.32586010e-01 -4.96090988e-03 4.47100032e+02] [ 5.10718314e-03 -2.67130636e-05 9.99986958e-01 2.29844294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.050385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.05, Y:447.13, Z:22.98 [[ 2.32326141e-01 -9.72637201e-01 -1.20008694e-03 4.34046045e+02] [ 9.72624532e-01 2.32329241e-01 -4.96423452e-03 4.47127844e+02] [ 5.10721445e-03 -1.39125496e-05 9.99986958e-01 2.29845695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.080385723 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:434.06, Y:447.15, Z:22.99 [[ 2.30652485e-01 -9.73035454e-01 -1.19877662e-03 4.34056396e+02] [ 9.73022789e-01 2.30655600e-01 -4.96455092e-03 4.47154040e+02] [ 5.10718859e-03 -2.13509601e-05 9.99986958e-01 2.29857286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.110385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.07, Y:447.18, Z:22.99 [[ 2.31043142e-01 -9.72942769e-01 -1.19749933e-03 4.34066649e+02] [ 9.72930102e-01 2.31046245e-01 -4.96485899e-03 4.47182966e+02] [ 5.10720138e-03 -1.79865213e-05 9.99986958e-01 2.29864067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.140385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.07, Y:447.21, Z:22.99 [[ 2.31473695e-01 -9.72840394e-01 -1.22358511e-03 4.34074301e+02] [ 9.72827758e-01 2.31476925e-01 -4.95856926e-03 4.47210914e+02] [ 5.10712819e-03 -4.25592147e-05 9.99986958e-01 2.29860255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.170385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.08, Y:447.24, Z:22.98 [[ 2.30074872e-01 -9.73172154e-01 -1.22986846e-03 4.34077136e+02] [ 9.73159530e-01 2.30078152e-01 -4.95705678e-03 4.47235674e+02] [ 5.10703548e-03 -5.63640125e-05 9.99986957e-01 2.29843139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.200385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.08, Y:447.26, Z:22.98 [[ 2.31373425e-01 -9.72864284e-01 -1.19332571e-03 4.34081801e+02] [ 9.72851610e-01 2.31376502e-01 -4.96583826e-03 4.47263709e+02] [ 5.10719421e-03 -1.19658332e-05 9.99986958e-01 2.29832456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.2303857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.09, Y:447.29, Z:22.98 [[ 2.31332116e-01 -9.72874109e-01 -1.19200208e-03 4.34087259e+02] [ 9.72861434e-01 2.31335187e-01 -4.96615596e-03 4.47291309e+02] [ 5.10719658e-03 -1.08214908e-05 9.99986958e-01 2.29839761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.260385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.09, Y:447.32, Z:22.98 [[ 2.29852806e-01 -9.73224676e-01 -1.19064974e-03 4.34092385e+02] [ 9.73212004e-01 2.29855890e-01 -4.96648017e-03 4.47318316e+02] [ 5.10717891e-03 -1.71952175e-05 9.99986958e-01 2.29842892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.290385723 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:434.10, Y:447.35, Z:22.99 [[ 2.27025070e-01 -9.73888188e-01 -1.18922455e-03 4.34098663e+02] [ 9.73875523e-01 2.27028183e-01 -4.96682141e-03 4.47346321e+02] [ 5.10711619e-03 -3.05637033e-05 9.99986958e-01 2.29854961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.320385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.10, Y:447.37, Z:22.99 [[ 2.21791636e-01 -9.75093341e-01 -1.20241526e-03 4.34103885e+02] [ 9.75080710e-01 2.21794884e-01 -4.96367025e-03 4.47373558e+02] [ 5.10673137e-03 -7.15513803e-05 9.99986958e-01 2.29874050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.3503857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.11, Y:447.40, Z:22.99 [[ 2.18297474e-01 -9.75881545e-01 -1.19262344e-03 4.34108967e+02] [ 9.75868913e-01 2.18300718e-01 -4.96600515e-03 4.47400031e+02] [ 5.10658333e-03 -7.97777574e-05 9.99986958e-01 2.29850546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.380385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.11, Y:447.43, Z:22.99 [[ 2.13386860e-01 -9.76967066e-01 -1.18347910e-03 4.34114578e+02] [ 9.76954438e-01 2.13390120e-01 -4.96818344e-03 4.47428257e+02] [ 5.10629434e-03 -9.60600924e-05 9.99986958e-01 2.29882944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.410385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.12, Y:447.45, Z:22.99 [[ 2.10447581e-01 -9.77604414e-01 -1.19424250e-03 4.34118643e+02] [ 9.77591810e-01 2.10450934e-01 -4.96562070e-03 4.47454706e+02] [ 5.10574216e-03 -1.22478825e-04 9.99986958e-01 2.29859883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.440385723 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:434.12, Y:447.48, Z:22.99 [[ 2.05121110e-01 -9.78735886e-01 -1.18147321e-03 4.34121379e+02] [ 9.78723283e-01 2.05124467e-01 -4.96865704e-03 4.47482966e+02] [ 5.10535202e-03 -1.37158890e-04 9.99986958e-01 2.29864932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.4703857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.13, Y:447.51, Z:22.99 [[ 2.05107274e-01 -9.78738796e-01 -1.17287053e-03 4.34126398e+02] [ 9.78726182e-01 2.05110587e-01 -4.97069971e-03 4.47510967e+02] [ 5.10558481e-03 -1.28392426e-04 9.99986958e-01 2.29853595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.500385723 meters Centerline goodness : 0.999822 Centerline is valid? [True, True] Translation: X:434.13, Y:447.54, Z:22.98 [[ 2.03168821e-01 -9.79143013e-01 -1.17891088e-03 4.34130871e+02] [ 9.79130414e-01 2.03172189e-01 -4.96926670e-03 4.47538690e+02] [ 5.10514467e-03 -1.44707447e-04 9.99986958e-01 2.29844024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.530385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.14, Y:447.57, Z:22.99 [[ 2.03885851e-01 -9.78993960e-01 -1.17758465e-03 4.34136533e+02] [ 9.78981356e-01 2.03889204e-01 -4.96958096e-03 4.47566693e+02] [ 5.10528654e-03 -1.39606176e-04 9.99986958e-01 2.29884714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.560385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:434.14, Y:447.60, Z:22.99 [[ 2.04175213e-01 -9.78933644e-01 -1.18447608e-03 4.34143294e+02] [ 9.78921049e-01 2.04178597e-01 -4.96794895e-03 4.47595090e+02] [ 5.10513703e-03 -1.45176531e-04 9.99986958e-01 2.29876588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.5903857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.15, Y:447.62, Z:22.99 [[ 2.05672070e-01 -9.78620242e-01 -1.19219476e-03 4.34146560e+02] [ 9.78607652e-01 2.05675474e-01 -4.96612331e-03 4.47623065e+02] [ 5.10515402e-03 -1.45298054e-04 9.99986958e-01 2.29894496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.620385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.15, Y:447.65, Z:22.99 [[ 2.06211490e-01 -9.78506722e-01 -1.18998914e-03 4.34150493e+02] [ 9.78494128e-01 2.06214876e-01 -4.96664435e-03 4.47649238e+02] [ 5.10528835e-03 -1.40218250e-04 9.99986958e-01 2.29890515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.650385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.16, Y:447.68, Z:22.99 [[ 2.07749028e-01 -9.78181459e-01 -1.17258753e-03 4.34155043e+02] [ 9.78168836e-01 2.07752306e-01 -4.97074935e-03 4.47678565e+02] [ 5.10590261e-03 -1.14320235e-04 9.99986958e-01 2.29889055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.680385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:434.16, Y:447.71, Z:22.99 [[ 2.10986548e-01 -9.77488244e-01 -1.18724263e-03 4.34161357e+02] [ 9.77475629e-01 2.10989858e-01 -4.96729448e-03 4.47706227e+02] [ 5.10596812e-03 -1.12468422e-04 9.99986958e-01 2.29891379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.710385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.17, Y:447.73, Z:22.99 [[ 2.11130918e-01 -9.77457061e-01 -1.19605292e-03 4.34166680e+02] [ 9.77444457e-01 2.11134271e-01 -4.96522196e-03 4.47734275e+02] [ 5.10581902e-03 -1.20763427e-04 9.99986958e-01 2.29904007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.740385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.17, Y:447.76, Z:22.99 [[ 2.13336413e-01 -9.76978076e-01 -1.18913764e-03 4.34174300e+02] [ 9.76965456e-01 2.13339703e-01 -4.96684719e-03 4.47762564e+02] [ 5.10619108e-03 -1.02137031e-04 9.99986958e-01 2.29894728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.770385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.18, Y:447.79, Z:22.99 [[ 2.15695738e-01 -9.76459874e-01 -1.20949602e-03 4.34177517e+02] [ 9.76447273e-01 2.15699101e-01 -4.96206279e-03 4.47787516e+02] [ 5.10614241e-03 -1.10713294e-04 9.99986957e-01 2.29877302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.800385723 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:434.18, Y:447.81, Z:22.99 [[ 2.13069130e-01 -9.77036411e-01 -1.18232064e-03 4.34180864e+02] [ 9.77023783e-01 2.13072388e-01 -4.96844251e-03 4.47814764e+02] [ 5.10626912e-03 -9.65336649e-05 9.99986958e-01 2.29872890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.830385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:434.19, Y:447.84, Z:22.99 [[ 2.14833587e-01 -9.76649974e-01 -1.16535526e-03 4.34186246e+02] [ 9.76637319e-01 2.14836736e-01 -4.97241858e-03 4.47841431e+02] [ 5.10667360e-03 -6.98869203e-05 9.99986958e-01 2.29897574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.860385723 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:434.19, Y:447.87, Z:22.99 [[ 2.14103191e-01 -9.76810355e-01 -1.16391689e-03 4.34192895e+02] [ 9.76797700e-01 2.14106342e-01 -4.97275525e-03 4.47867470e+02] [ 5.10664081e-03 -7.22285725e-05 9.99986958e-01 2.29889364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.890385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:434.20, Y:447.90, Z:22.99 [[ 2.14849574e-01 -9.76646460e-01 -1.16293409e-03 4.34199128e+02] [ 9.76633801e-01 2.14852711e-01 -4.97298508e-03 4.47895107e+02] [ 5.10670781e-03 -6.73170111e-05 9.99986958e-01 2.29919907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.920385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.21, Y:447.92, Z:22.99 [[ 2.14960278e-01 -9.76622102e-01 -1.16160408e-03 4.34205117e+02] [ 9.76609441e-01 2.14963406e-01 -4.97329572e-03 4.47922144e+02] [ 5.10673289e-03 -6.53724810e-05 9.99986958e-01 2.29922276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.950385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.21, Y:447.95, Z:22.99 [[ 2.15420307e-01 -9.76520735e-01 -1.16028304e-03 4.34210714e+02] [ 9.76508071e-01 2.15423422e-01 -4.97360391e-03 4.47949586e+02] [ 5.10677948e-03 -6.16104781e-05 9.99986958e-01 2.29925781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.9803857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.22, Y:447.98, Z:22.99 [[ 2.15599803e-01 -9.76481122e-01 -1.15889620e-03 4.34216599e+02] [ 9.76468456e-01 2.15602910e-01 -4.97392703e-03 4.47976343e+02] [ 5.10680724e-03 -5.92478907e-05 9.99986958e-01 2.29923323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.010385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.22, Y:448.00, Z:22.99 [[ 2.15491978e-01 -9.76504925e-01 -1.15743302e-03 4.34222702e+02] [ 9.76492257e-01 2.15495078e-01 -4.97426749e-03 4.48002239e+02] [ 5.10681782e-03 -5.83096410e-05 9.99986958e-01 2.29922334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.040385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.23, Y:448.03, Z:22.99 [[ 2.15467451e-01 -9.76510339e-01 -1.15598541e-03 4.34229397e+02] [ 9.76497669e-01 2.15470544e-01 -4.97460388e-03 4.48029853e+02] [ 5.10683293e-03 -5.69518458e-05 9.99986958e-01 2.29924086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.070385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.24, Y:448.06, Z:22.99 [[ 2.15471171e-01 -9.76509519e-01 -1.15462010e-03 4.34235516e+02] [ 9.76496848e-01 2.15474258e-01 -4.97492075e-03 4.48057263e+02] [ 5.10684838e-03 -5.55308909e-05 9.99986958e-01 2.29925324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.1003857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.24, Y:448.09, Z:22.99 [[ 2.15174330e-01 -9.76574973e-01 -1.15324488e-03 4.34241548e+02] [ 9.76562301e-01 2.15177413e-01 -4.97523953e-03 4.48085095e+02] [ 5.10684666e-03 -5.56716484e-05 9.99986958e-01 2.29926824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.130385723 meters Centerline goodness : 0.999250 Centerline is valid? [True, True] Translation: X:434.25, Y:448.11, Z:22.99 [[ 2.15426535e-01 -9.76519371e-01 -1.15187401e-03 4.34250789e+02] [ 9.76506696e-01 2.15429608e-01 -4.97555689e-03 4.48114559e+02] [ 5.10687545e-03 -5.29457029e-05 9.99986958e-01 2.29929201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.160385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:434.25, Y:448.14, Z:22.99 [[ 2.13394497e-01 -9.76965378e-01 -1.19921480e-03 4.34254514e+02] [ 9.76952771e-01 2.13397837e-01 -4.96459517e-03 4.48138393e+02] [ 5.10614744e-03 -1.12158930e-04 9.99986957e-01 2.29934939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.190385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.26, Y:448.17, Z:22.99 [[ 2.10335798e-01 -9.77628525e-01 -1.14860850e-03 4.34261571e+02] [ 9.77615863e-01 2.10338920e-01 -4.97627596e-03 4.48165913e+02] [ 5.10654640e-03 -7.62089141e-05 9.99986959e-01 2.29942783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.2203857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.27, Y:448.19, Z:22.99 [[ 2.08509797e-01 -9.78019605e-01 -1.14726592e-03 4.34268109e+02] [ 9.78006947e-01 2.08512936e-01 -4.97658547e-03 4.48193591e+02] [ 5.10641795e-03 -8.43672197e-05 9.99986959e-01 2.29939199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.250385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.27, Y:448.22, Z:22.99 [[ 2.04322283e-01 -9.78903004e-01 -1.14591902e-03 4.34273669e+02] [ 9.78890358e-01 2.04325470e-01 -4.97689559e-03 4.48221543e+02] [ 5.10603849e-03 -1.04838404e-04 9.99986959e-01 2.29935663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.280385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:434.28, Y:448.25, Z:22.99 [[ 2.02370359e-01 -9.79308393e-01 -1.14456373e-03 4.34279368e+02] [ 9.79295751e-01 2.02373564e-01 -4.97720726e-03 4.48248710e+02] [ 5.10585028e-03 -1.13627182e-04 9.99986959e-01 2.29933157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.310385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.28, Y:448.28, Z:22.99 [[ 1.99802783e-01 -9.79835466e-01 -1.14320757e-03 4.34284409e+02] [ 9.79822832e-01 1.99806014e-01 -4.97751873e-03 4.48276255e+02] [ 5.10556914e-03 -1.25618788e-04 9.99986959e-01 2.29936275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.3403857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.29, Y:448.30, Z:22.99 [[ 1.98308692e-01 -9.80138949e-01 -1.14184146e-03 4.34289887e+02] [ 9.80126317e-01 1.98311936e-01 -4.97783210e-03 4.48304218e+02] [ 5.10540791e-03 -1.32001494e-04 9.99986959e-01 2.29930854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.370385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:434.29, Y:448.33, Z:22.99 [[ 1.97186581e-01 -9.80365317e-01 -1.13908923e-03 4.34294445e+02] [ 9.80352686e-01 1.97189825e-01 -4.97846273e-03 4.48331900e+02] [ 5.10532900e-03 -1.35023141e-04 9.99986959e-01 2.29929223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.400385723 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:434.30, Y:448.36, Z:22.99 [[ 2.00024384e-01 -9.79790258e-01 -1.13895859e-03 4.34298892e+02] [ 9.79777616e-01 2.00027591e-01 -4.97849262e-03 4.48359083e+02] [ 5.10570171e-03 -1.20106209e-04 9.99986959e-01 2.29934336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.430385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:434.30, Y:448.39, Z:22.99 [[ 2.00568750e-01 -9.79678969e-01 -1.13734192e-03 4.34303620e+02] [ 9.79666324e-01 2.00571942e-01 -4.97886193e-03 4.48386756e+02] [ 5.10580520e-03 -1.15611460e-04 9.99986959e-01 2.29926401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.460385723 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:434.31, Y:448.41, Z:22.99 [[ 2.01509612e-01 -9.79485878e-01 -1.13595913e-03 4.34308614e+02] [ 9.79473229e-01 2.01512784e-01 -4.97917740e-03 4.48414287e+02] [ 5.10594423e-03 -1.09289451e-04 9.99986959e-01 2.29919486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.490385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:434.31, Y:448.44, Z:22.99 [[ 2.04405803e-01 -9.78885581e-01 -1.13456298e-03 4.34312180e+02] [ 9.78872920e-01 2.04408930e-01 -4.97949551e-03 4.48441323e+02] [ 5.10627116e-03 -9.27551975e-05 9.99986959e-01 2.29915754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.520385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.32, Y:448.47, Z:22.99 [[ 2.05708328e-01 -9.78612692e-01 -1.13309037e-03 4.34317205e+02] [ 9.78600025e-01 2.05711431e-01 -4.97983058e-03 4.48468936e+02] [ 5.10641505e-03 -8.44496487e-05 9.99986959e-01 2.29919084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.550385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.32, Y:448.50, Z:22.99 [[ 2.07594653e-01 -9.78214281e-01 -1.13172184e-03 4.34321463e+02] [ 9.78201606e-01 2.07597725e-01 -4.98014157e-03 4.48495315e+02] [ 5.10658849e-03 -7.32013589e-05 9.99986959e-01 2.29924926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.580385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.33, Y:448.52, Z:22.99 [[ 2.07057747e-01 -9.78328070e-01 -1.13027819e-03 4.34326228e+02] [ 9.78315395e-01 2.07060818e-01 -4.98046920e-03 4.48523243e+02] [ 5.10656914e-03 -7.45238260e-05 9.99986959e-01 2.29927763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.610385723 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:434.33, Y:448.55, Z:22.99 [[ 2.08475573e-01 -9.78026923e-01 -1.12844191e-03 4.34331131e+02] [ 9.78014242e-01 2.08478617e-01 -4.98088540e-03 4.48549773e+02] [ 5.10669603e-03 -6.52393167e-05 9.99986959e-01 2.29920493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.640385723 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:434.34, Y:448.58, Z:22.99 [[ 2.08975996e-01 -9.77920120e-01 -1.12797354e-03 4.34336702e+02] [ 9.77907437e-01 2.08979031e-01 -4.98099146e-03 4.48577807e+02] [ 5.10673459e-03 -6.21460588e-05 9.99986959e-01 2.29909738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.670385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.34, Y:448.60, Z:22.99 [[ 2.10314667e-01 -9.77633097e-01 -1.12667844e-03 4.34342049e+02] [ 9.77620408e-01 2.10317678e-01 -4.98128439e-03 4.48604693e+02] [ 5.10682888e-03 -5.38266726e-05 9.99986959e-01 2.29920251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.700385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.35, Y:448.63, Z:22.99 [[ 2.10924984e-01 -9.77501603e-01 -1.12567245e-03 4.34347628e+02] [ 9.77488911e-01 2.10927982e-01 -4.98151172e-03 4.48632418e+02] [ 5.10687151e-03 -4.96070546e-05 9.99986959e-01 2.29921328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.7303857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.35, Y:448.66, Z:22.99 [[ 2.12143243e-01 -9.77237934e-01 -1.12429474e-03 4.34352752e+02] [ 9.77225237e-01 2.12146218e-01 -4.98182264e-03 4.48658543e+02] [ 5.10694094e-03 -4.18291849e-05 9.99986959e-01 2.29918854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.760385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.36, Y:448.69, Z:22.99 [[ 2.13369684e-01 -9.76970889e-01 -1.12284196e-03 4.34357968e+02] [ 9.76958186e-01 2.13372636e-01 -4.98215005e-03 4.48686342e+02] [ 5.10699931e-03 -3.39298575e-05 9.99986959e-01 2.29924811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.790385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.36, Y:448.71, Z:22.99 [[ 2.13649825e-01 -9.76909666e-01 -1.12146441e-03 4.34363887e+02] [ 9.76896960e-01 2.13652766e-01 -4.98246012e-03 4.48712492e+02] [ 5.10701742e-03 -3.10534398e-05 9.99986959e-01 2.29919388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.820385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:434.37, Y:448.74, Z:22.99 [[ 2.14495093e-01 -9.76724424e-01 -1.12001062e-03 4.34370910e+02] [ 9.76711714e-01 2.14498016e-01 -4.98278689e-03 4.48739303e+02] [ 5.10704971e-03 -2.51441524e-05 9.99986959e-01 2.29920449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.8503857229999 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:434.38, Y:448.77, Z:22.99 [[ 2.14275038e-01 -9.76772725e-01 -1.11865967e-03 4.34378163e+02] [ 9.76760015e-01 2.14277957e-01 -4.98309017e-03 4.48766207e+02] [ 5.10705067e-03 -2.49101983e-05 9.99986959e-01 2.29919521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.880385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:434.38, Y:448.79, Z:22.99 [[ 2.14825796e-01 -9.76651730e-01 -1.12969606e-03 4.34383295e+02] [ 9.76639031e-01 2.14828763e-01 -4.98061483e-03 4.48793302e+02] [ 5.10701730e-03 -3.33407172e-05 9.99986959e-01 2.29908691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.910385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:434.39, Y:448.82, Z:22.99 [[ 2.14846112e-01 -9.76647276e-01 -1.11633817e-03 4.34390034e+02] [ 9.76634561e-01 2.14849012e-01 -4.98360702e-03 4.48821084e+02] [ 5.10707038e-03 -1.95458387e-05 9.99986959e-01 2.29908961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.940385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:434.40, Y:448.85, Z:22.99 [[ 2.14579383e-01 -9.76705916e-01 -1.11497607e-03 4.34396211e+02] [ 9.76693200e-01 2.14582279e-01 -4.98391175e-03 4.48848991e+02] [ 5.10707019e-03 -1.95448380e-05 9.99986959e-01 2.29910415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.9703857229999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:434.40, Y:448.88, Z:22.99 [[ 2.13890715e-01 -9.76856961e-01 -1.11361487e-03 4.34404657e+02] [ 9.76844246e-01 2.13893613e-01 -4.98421588e-03 4.48877886e+02] [ 5.10706108e-03 -2.17507782e-05 9.99986959e-01 2.29898034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.000385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.41, Y:448.91, Z:22.99 [[ 2.12965429e-01 -9.77059080e-01 -1.13173666e-03 4.34412148e+02] [ 9.77046389e-01 2.12968431e-01 -4.98016821e-03 4.48905432e+02] [ 5.10694275e-03 -4.51555561e-05 9.99986958e-01 2.29899098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.030385723 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:434.42, Y:448.93, Z:22.99 [[ 2.14188330e-01 -9.76791722e-01 -1.13584034e-03 4.34418966e+02] [ 9.76779032e-01 2.14191338e-01 -4.97925219e-03 4.48929197e+02] [ 5.10697949e-03 -4.29673174e-05 9.99986958e-01 2.29883533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.060385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:434.43, Y:448.96, Z:22.99 [[ 2.15792926e-01 -9.76438518e-01 -1.11036417e-03 4.34427085e+02] [ 9.76425794e-01 2.15795783e-01 -4.98492687e-03 4.48956768e+02] [ 5.10708651e-03 -8.47626564e-06 9.99986959e-01 2.29914529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.0903857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.43, Y:448.98, Z:22.99 [[ 2.18475519e-01 -9.75841784e-01 -1.12292690e-03 4.34434313e+02] [ 9.75829066e-01 2.18478404e-01 -4.98213046e-03 4.48982684e+02] [ 5.10710635e-03 -7.31116916e-06 9.99986959e-01 2.29911564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.120385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:434.44, Y:449.01, Z:22.99 [[ 2.19108882e-01 -9.75699784e-01 -1.10836438e-03 4.34441104e+02] [ 9.75687048e-01 2.19111685e-01 -4.98536805e-03 4.49009561e+02] [ 5.10707812e-03 1.09216471e-05 9.99986959e-01 2.29909539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.150385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:434.45, Y:449.04, Z:22.99 [[ 2.20074272e-01 -9.75482491e-01 -1.10697426e-03 4.34449350e+02] [ 9.75469750e-01 2.20077055e-01 -4.98567670e-03 4.49036154e+02] [ 5.10705996e-03 1.73992643e-05 9.99986959e-01 2.29910649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.180385723 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:434.46, Y:449.06, Z:22.99 [[ 2.19866290e-01 -9.75529391e-01 -1.10558439e-03 4.34458822e+02] [ 9.75516649e-01 2.19869069e-01 -4.98598489e-03 4.49062602e+02] [ 5.10705861e-03 1.77340144e-05 9.99986959e-01 2.29901247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.210385723 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:434.47, Y:449.09, Z:22.99 [[ 2.19537842e-01 -9.75603360e-01 -1.10420762e-03 4.34466144e+02] [ 9.75590618e-01 2.19540618e-01 -4.98628977e-03 4.49089525e+02] [ 5.10705948e-03 1.74246984e-05 9.99986959e-01 2.29900329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.240385723 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:434.47, Y:449.12, Z:22.99 [[ 2.19018652e-01 -9.75720049e-01 -1.10283159e-03 4.34473362e+02] [ 9.75707307e-01 2.19021428e-01 -4.98659409e-03 4.49115395e+02] [ 5.10706358e-03 1.61162790e-05 9.99986959e-01 2.29901938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.270385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:434.48, Y:449.14, Z:22.99 [[ 2.18388513e-01 -9.75861283e-01 -1.10137623e-03 4.34483132e+02] [ 9.75848541e-01 2.18391290e-01 -4.98691551e-03 4.49142568e+02] [ 5.10706875e-03 1.43086769e-05 9.99986959e-01 2.29929993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.300385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.49, Y:449.17, Z:22.99 [[ 2.16821570e-01 -9.76210631e-01 -1.10005314e-03 4.34492800e+02] [ 9.76197892e-01 2.16824360e-01 -4.98720735e-03 4.49168331e+02] [ 5.10708316e-03 7.46456706e-06 9.99986959e-01 2.29929269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.330385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.50, Y:449.20, Z:22.99 [[ 2.15947359e-01 -9.76404389e-01 -1.09859030e-03 4.34500430e+02] [ 9.76391651e-01 2.15950153e-01 -4.98752957e-03 4.49195408e+02] [ 5.10708651e-03 4.38944213e-06 9.99986959e-01 2.29944127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.360385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.51, Y:449.22, Z:22.99 [[ 2.14764667e-01 -9.76665211e-01 -1.09719620e-03 4.34510124e+02] [ 9.76652474e-01 2.14767470e-01 -4.98783624e-03 4.49221226e+02] [ 5.10708818e-03 -3.68400053e-07 9.99986959e-01 2.29948066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.390385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.52, Y:449.25, Z:23.00 [[ 2.14052160e-01 -9.76821618e-01 -1.09572700e-03 4.34517555e+02] [ 9.76808881e-01 2.14054964e-01 -4.98815897e-03 4.49247993e+02] [ 5.10708732e-03 -2.58966312e-06 9.99986959e-01 2.29952156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.420385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:434.53, Y:449.27, Z:23.00 [[ 2.12689124e-01 -9.77119306e-01 -1.09436398e-03 4.34526067e+02] [ 9.77106573e-01 2.12691939e-01 -4.98845799e-03 4.49274868e+02] [ 5.10708101e-03 -8.31948296e-06 9.99986959e-01 2.29956034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.450385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.53, Y:449.30, Z:22.99 [[ 2.11861033e-01 -9.77299191e-01 -1.09297185e-03 4.34533040e+02] [ 9.77286458e-01 2.11863852e-01 -4.98876299e-03 4.49301000e+02] [ 5.10707525e-03 -1.12221073e-05 9.99986959e-01 2.29947194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.4803857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.54, Y:449.33, Z:23.00 [[ 2.09272626e-01 -9.77856726e-01 -1.09150394e-03 4.34542370e+02] [ 9.77843999e-01 2.09275471e-01 -4.98908413e-03 4.49327942e+02] [ 5.10703448e-03 -2.32418420e-05 9.99986959e-01 2.29950940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.510385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:434.55, Y:449.36, Z:23.00 [[ 2.06825797e-01 -9.78377178e-01 -1.09016918e-03 4.34549803e+02] [ 9.78364456e-01 2.06828667e-01 -4.98937577e-03 4.49355377e+02] [ 5.10696963e-03 -3.46511550e-05 9.99986959e-01 2.29952631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.540385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.56, Y:449.38, Z:23.00 [[ 2.03659872e-01 -9.79041098e-01 -1.08879260e-03 4.34558433e+02] [ 9.79028384e-01 2.03662777e-01 -4.98967616e-03 4.49380871e+02] [ 5.10684455e-03 -4.97620535e-05 9.99986959e-01 2.29956588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.570385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.57, Y:449.41, Z:23.00 [[ 2.01802902e-01 -9.79425549e-01 -1.08742707e-03 4.34565343e+02] [ 9.79412839e-01 2.01805823e-01 -4.98997374e-03 4.49406913e+02] [ 5.10675688e-03 -5.80488547e-05 9.99986959e-01 2.29950819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.6003857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.57, Y:449.43, Z:23.00 [[ 1.98971895e-01 -9.80004595e-01 -1.08599699e-03 4.34573690e+02] [ 9.79991892e-01 1.98974846e-01 -4.99028495e-03 4.49434195e+02] [ 5.10658827e-03 -7.13417888e-05 9.99986959e-01 2.29968620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.630385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.58, Y:449.46, Z:23.00 [[ 1.97850561e-01 -9.80231595e-01 -1.08462477e-03 4.34580045e+02] [ 9.80218893e-01 1.97853520e-01 -4.99058318e-03 4.49460154e+02] [ 5.10652414e-03 -7.57800094e-05 9.99986959e-01 2.29965297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.660385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.59, Y:449.49, Z:23.00 [[ 1.96837763e-01 -9.80435476e-01 -1.08318266e-03 4.34587281e+02] [ 9.80422776e-01 1.96840727e-01 -4.99089617e-03 4.49487471e+02] [ 5.10646612e-03 -7.95801173e-05 9.99986959e-01 2.29966272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.690385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.59, Y:449.51, Z:23.00 [[ 1.97711969e-01 -9.80259561e-01 -1.08185051e-03 4.34593728e+02] [ 9.80246857e-01 1.97714916e-01 -4.99118491e-03 4.49514745e+02] [ 5.10655471e-03 -7.36635596e-05 9.99986959e-01 2.29967562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.7203857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.60, Y:449.54, Z:23.00 [[ 1.98210341e-01 -9.80158912e-01 -1.08050186e-03 4.34599794e+02] [ 9.80146205e-01 1.98213274e-01 -4.99147686e-03 4.49542481e+02] [ 5.10661034e-03 -6.96874692e-05 9.99986959e-01 2.29967348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.750385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:434.61, Y:449.57, Z:23.00 [[ 1.98336536e-01 -9.80133386e-01 -1.07915409e-03 4.34605485e+02] [ 9.80120677e-01 1.98339461e-01 -4.99176823e-03 4.49570113e+02] [ 5.10663753e-03 -6.76512177e-05 9.99986959e-01 2.29960911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.780385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.61, Y:449.60, Z:23.00 [[ 1.99731323e-01 -9.79850110e-01 -1.07782079e-03 4.34610471e+02] [ 9.79837395e-01 1.99734222e-01 -4.99205610e-03 4.49597907e+02] [ 5.10674441e-03 -5.90191456e-05 9.99986959e-01 2.29967232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.810385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.62, Y:449.63, Z:23.00 [[ 2.00152759e-01 -9.79764112e-01 -1.07649371e-03 4.34616118e+02] [ 9.79751394e-01 2.00155646e-01 -4.99234225e-03 4.49625521e+02] [ 5.10678406e-03 -5.54651361e-05 9.99986959e-01 2.29971720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.8403857229999 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:434.62, Y:449.65, Z:23.00 [[ 2.00810967e-01 -9.79629419e-01 -1.07517326e-03 4.34621917e+02] [ 9.79616698e-01 2.00813839e-01 -4.99262661e-03 4.49651701e+02] [ 5.10683358e-03 -5.06834938e-05 9.99986959e-01 2.29976483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.870385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.63, Y:449.68, Z:23.00 [[ 2.03577250e-01 -9.79058298e-01 -1.07377943e-03 4.34626456e+02] [ 9.79045567e-01 2.03580079e-01 -4.99292637e-03 4.49677114e+02] [ 5.10696609e-03 -3.48327712e-05 9.99986959e-01 2.30003496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.900385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.63, Y:449.70, Z:23.00 [[ 2.04248410e-01 -9.78918504e-01 -1.07223919e-03 4.34631143e+02] [ 9.78905770e-01 2.04251222e-01 -4.99325712e-03 4.49703622e+02] [ 5.10699795e-03 -2.97563044e-05 9.99986959e-01 2.30004835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.930385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.63, Y:449.73, Z:23.00 [[ 2.05603047e-01 -9.78634886e-01 -1.07078860e-03 4.34634746e+02] [ 9.78622146e-01 2.05605835e-01 -4.99356817e-03 4.49731574e+02] [ 5.10704040e-03 -2.12046032e-05 9.99986959e-01 2.30017764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.960385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.64, Y:449.76, Z:23.00 [[ 2.06082446e-01 -9.78534047e-01 -1.06941038e-03 4.34639643e+02] [ 9.78521305e-01 2.06085220e-01 -4.99386331e-03 4.49758479e+02] [ 5.10705495e-03 -1.72932760e-05 9.99986959e-01 2.30011369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.990385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.64, Y:449.79, Z:23.00 [[ 2.05798843e-01 -9.78593734e-01 -1.06795518e-03 4.34644841e+02] [ 9.78580990e-01 2.05801614e-01 -4.99417449e-03 4.49786318e+02] [ 5.10705476e-03 -1.72853031e-05 9.99986959e-01 2.30019322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.020385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.65, Y:449.81, Z:23.00 [[ 2.05172906e-01 -9.78725161e-01 -1.06658337e-03 4.34650451e+02] [ 9.78712418e-01 2.05175677e-01 -4.99446745e-03 4.49814219e+02] [ 5.10704792e-03 -1.91489853e-05 9.99986959e-01 2.30026267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.050385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:434.66, Y:449.84, Z:23.00 [[ 2.04237920e-01 -9.78920700e-01 -1.06519726e-03 4.34655569e+02] [ 9.78907958e-01 2.04240696e-01 -4.99476305e-03 4.49841089e+02] [ 5.10703357e-03 -2.26100621e-05 9.99986959e-01 2.30023686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.080385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.66, Y:449.87, Z:23.00 [[ 2.03193956e-01 -9.79137929e-01 -1.06375065e-03 4.34659944e+02] [ 9.79125188e-01 2.03196739e-01 -4.99507112e-03 4.49867344e+02] [ 5.10701426e-03 -2.65767974e-05 9.99986959e-01 2.30013739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.110385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.67, Y:449.89, Z:23.00 [[ 2.03008020e-01 -9.79176498e-01 -1.06276221e-03 4.34665365e+02] [ 9.79163757e-01 2.03010800e-01 -4.99528142e-03 4.49894792e+02] [ 5.10701437e-03 -2.65360422e-05 9.99986959e-01 2.30021457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.140385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.67, Y:449.92, Z:23.00 [[ 2.03216534e-01 -9.79133246e-01 -1.06135760e-03 4.34670156e+02] [ 9.79120503e-01 2.03219304e-01 -4.99557984e-03 4.49921820e+02] [ 5.10702666e-03 -2.40125681e-05 9.99986959e-01 2.30017735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.170385723 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:434.68, Y:449.95, Z:23.00 [[ 2.02788913e-01 -9.79221902e-01 -1.05986799e-03 4.34675480e+02] [ 9.79209158e-01 2.02791681e-01 -4.99589585e-03 4.49948964e+02] [ 5.10702305e-03 -2.47201553e-05 9.99986959e-01 2.30002365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.200385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.68, Y:449.98, Z:23.00 [[ 2.04770663e-01 -9.78809407e-01 -1.05848268e-03 4.34680292e+02] [ 9.78796656e-01 2.04773398e-01 -4.99618935e-03 4.49976685e+02] [ 5.10706623e-03 -1.29662998e-05 9.99986959e-01 2.30025905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.2303857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.69, Y:450.00, Z:23.00 [[ 2.05587146e-01 -9.78638242e-01 -1.05718464e-03 4.34686028e+02] [ 9.78625487e-01 2.05589864e-01 -4.99646399e-03 4.50003978e+02] [ 5.10707718e-03 -7.37905954e-06 9.99986959e-01 2.30031533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.260385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.69, Y:450.03, Z:23.00 [[ 2.06853468e-01 -9.78371365e-01 -1.05582291e-03 4.34692379e+02] [ 9.78358605e-01 2.06856162e-01 -4.99675173e-03 4.50031680e+02] [ 5.10708229e-03 6.21990113e-07 9.99986959e-01 2.30033427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.290385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.70, Y:450.06, Z:23.00 [[ 2.06790570e-01 -9.78384663e-01 -1.05446432e-03 4.34697931e+02] [ 9.78371902e-01 2.06793259e-01 -4.99703842e-03 4.50058677e+02] [ 5.10708186e-03 1.68215987e-06 9.99986959e-01 2.30021844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.320385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.70, Y:450.09, Z:23.00 [[ 2.06751765e-01 -9.78392865e-01 -1.05347065e-03 4.34703556e+02] [ 9.78380103e-01 2.06754449e-01 -4.99724789e-03 4.50085934e+02] [ 5.10708142e-03 2.49509793e-06 9.99986959e-01 2.30014162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.3503857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.71, Y:450.11, Z:23.00 [[ 2.06349515e-01 -9.78477782e-01 -1.05214235e-03 4.34709630e+02] [ 9.78465020e-01 2.06352198e-01 -4.99752754e-03 4.50113766e+02] [ 5.10708155e-03 1.75289921e-06 9.99986959e-01 2.30007347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.380385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.71, Y:450.14, Z:23.00 [[ 2.05946968e-01 -9.78562586e-01 -1.05440317e-03 4.34714753e+02] [ 9.78549827e-01 2.05949667e-01 -4.99705200e-03 4.50139511e+02] [ 5.10708211e-03 -2.65833143e-06 9.99986959e-01 2.30019723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.410385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.72, Y:450.17, Z:23.00 [[ 2.05337629e-01 -9.78690634e-01 -1.04973567e-03 4.34720547e+02] [ 9.78677871e-01 2.05340312e-01 -4.99803231e-03 4.50165919e+02] [ 5.10708046e-03 -1.06897004e-06 9.99986959e-01 2.30018240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.440385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:434.73, Y:450.19, Z:23.00 [[ 2.04528093e-01 -9.78860133e-01 -1.04831755e-03 4.34726788e+02] [ 9.78847372e-01 2.04530780e-01 -4.99832974e-03 4.50192921e+02] [ 5.10707892e-03 -3.84402746e-06 9.99986959e-01 2.30025271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.4703857229999 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:434.73, Y:450.22, Z:23.00 [[ 2.03416397e-01 -9.79091759e-01 -1.04696555e-03 4.34733171e+02] [ 9.79079000e-01 2.03419091e-01 -4.99861292e-03 4.50220569e+02] [ 5.10707350e-03 -8.26215467e-06 9.99986959e-01 2.30039525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.500385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.74, Y:450.25, Z:23.00 [[ 2.02562587e-01 -9.79268761e-01 -1.04558594e-03 4.34738820e+02] [ 9.79256002e-01 2.02565285e-01 -4.99890148e-03 4.50247883e+02] [ 5.10706747e-03 -1.13058974e-05 9.99986959e-01 2.30040546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.530385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.74, Y:450.27, Z:23.00 [[ 2.01583719e-01 -9.79470732e-01 -1.04419977e-03 4.34744699e+02] [ 9.79457974e-01 2.01586423e-01 -4.99919101e-03 4.50274561e+02] [ 5.10705778e-03 -1.49942810e-05 9.99986959e-01 2.30032422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.560385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:434.75, Y:450.30, Z:23.00 [[ 2.00137056e-01 -9.79767356e-01 -1.04274302e-03 4.34751232e+02] [ 9.79754600e-01 2.00139771e-01 -4.99949485e-03 4.50302305e+02] [ 5.10703620e-03 -2.10480924e-05 9.99986959e-01 2.30042417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.5903857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.76, Y:450.33, Z:23.00 [[ 1.99564689e-01 -9.79884100e-01 -1.04138785e-03 4.34757467e+02] [ 9.79871345e-01 1.99567405e-01 -4.99977711e-03 4.50330024e+02] [ 5.10702917e-03 -2.26471452e-05 9.99986959e-01 2.30039561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.620385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.76, Y:450.36, Z:23.00 [[ 1.98563884e-01 -9.80087395e-01 -1.04004336e-03 4.34763861e+02] [ 9.80074641e-01 1.98566606e-01 -5.00005677e-03 4.50357514e+02] [ 5.10701050e-03 -2.64894258e-05 9.99986959e-01 2.30032959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.650385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.77, Y:450.38, Z:23.00 [[ 1.98724606e-01 -9.80054821e-01 -1.03867970e-03 4.34769368e+02] [ 9.80042065e-01 1.98727319e-01 -5.00034004e-03 4.50382330e+02] [ 5.10702139e-03 -2.42591935e-05 9.99986959e-01 2.30007007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.680385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.78, Y:450.41, Z:23.00 [[ 1.96969431e-01 -9.80409099e-01 -1.02060904e-03 4.34775383e+02] [ 9.80396329e-01 1.96972074e-01 -5.00408589e-03 4.50410508e+02] [ 5.10708282e-03 -1.49494112e-05 9.99986959e-01 2.30025374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.710385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.78, Y:450.44, Z:23.00 [[ 1.96092804e-01 -9.80584795e-01 -1.03571270e-03 4.34780818e+02] [ 9.80572043e-01 1.96095536e-01 -5.00095788e-03 4.50436924e+02] [ 5.10696189e-03 -3.49390618e-05 9.99986959e-01 2.30017499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.740385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.79, Y:450.46, Z:23.00 [[ 1.93956495e-01 -9.81009586e-01 -1.03429193e-03 4.34786682e+02] [ 9.80996839e-01 1.93959248e-01 -5.00125170e-03 4.50464110e+02] [ 5.10688635e-03 -4.46118616e-05 9.99986959e-01 2.30023201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.770385723 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:434.79, Y:450.49, Z:23.00 [[ 1.89005172e-01 -9.81975549e-01 -1.03295298e-03 4.34787521e+02] [ 9.81962814e-01 1.89007982e-01 -5.00152823e-03 4.50489005e+02] [ 5.10661479e-03 -6.90067071e-05 9.99986959e-01 2.29980479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.800385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.80, Y:450.52, Z:23.00 [[ 1.91193059e-01 -9.81551956e-01 -9.85609946e-04 4.34797750e+02] [ 9.81539164e-01 1.91195599e-01 -5.01128278e-03 4.50517826e+02] [ 5.10727870e-03 -9.29227784e-06 9.99986958e-01 2.30031103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.830385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.80, Y:450.54, Z:23.00 [[ 1.87710800e-01 -9.82223800e-01 -1.03100430e-03 4.34799815e+02] [ 9.82211066e-01 1.87713617e-01 -5.00192604e-03 4.50544035e+02] [ 5.10654434e-03 -7.37482956e-05 9.99986959e-01 2.29999401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.860385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.81, Y:450.57, Z:23.00 [[ 1.87540236e-01 -9.82256416e-01 -9.96550657e-04 4.34805523e+02] [ 9.82243645e-01 1.87542879e-01 -5.00901081e-03 4.50572015e+02] [ 5.10702898e-03 -3.94644834e-05 9.99986958e-01 2.30000714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.890385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.81, Y:450.60, Z:23.01 [[ 1.89678700e-01 -9.81845712e-01 -9.94839814e-04 4.34813428e+02] [ 9.81832933e-01 1.89681307e-01 -5.00936217e-03 4.50601068e+02] [ 5.10712328e-03 -2.65971886e-05 9.99986958e-01 2.30054464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.920385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.82, Y:450.63, Z:23.01 [[ 1.89535553e-01 -9.81873321e-01 -1.02720456e-03 4.34818474e+02] [ 9.81860579e-01 1.89538327e-01 -5.00271674e-03 4.50628813e+02] [ 5.10672874e-03 -6.03789794e-05 9.99986959e-01 2.30060488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.950385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.82, Y:450.66, Z:23.01 [[ 1.90345476e-01 -9.81716633e-01 -1.02583870e-03 4.34823323e+02] [ 9.81703886e-01 1.90348232e-01 -5.00299681e-03 4.50655832e+02] [ 5.10679176e-03 -5.47720363e-05 9.99986959e-01 2.30057282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.9803857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.83, Y:450.68, Z:23.01 [[ 1.90216437e-01 -9.81741653e-01 -1.01729261e-03 4.34828647e+02] [ 9.81728897e-01 1.90219152e-01 -5.00474585e-03 4.50682766e+02] [ 5.10687600e-03 -4.67206245e-05 9.99986959e-01 2.30065341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.010385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:434.83, Y:450.71, Z:23.01 [[ 1.91767217e-01 -9.81439906e-01 -1.02276179e-03 4.34834055e+02] [ 9.81427152e-01 1.91769939e-01 -5.00362793e-03 4.50709716e+02] [ 5.10689509e-03 -4.42343867e-05 9.99986959e-01 2.30066837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.040385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.84, Y:450.74, Z:23.01 [[ 1.94232466e-01 -9.80954997e-01 -1.02135286e-03 4.34838770e+02] [ 9.80942235e-01 1.94235149e-01 -5.00391551e-03 4.50736191e+02] [ 5.10699855e-03 -2.99653077e-05 9.99986959e-01 2.30065863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.070385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.84, Y:450.76, Z:23.01 [[ 1.96068064e-01 -9.80589753e-01 -1.02536845e-03 4.34843745e+02] [ 9.80576990e-01 1.96070743e-01 -5.00309713e-03 4.50763712e+02] [ 5.10703054e-03 -2.45051413e-05 9.99986959e-01 2.30070320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.1003857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.85, Y:450.79, Z:23.01 [[ 1.98681321e-01 -9.80063618e-01 -1.01888110e-03 4.34847966e+02] [ 9.80050841e-01 1.98683934e-01 -5.00441793e-03 4.50790985e+02] [ 5.10708325e-03 -4.27091477e-06 9.99986959e-01 2.30064380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.130385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.85, Y:450.82, Z:23.01 [[ 1.99385248e-01 -9.79920653e-01 -1.01786802e-03 4.34852979e+02] [ 9.79907874e-01 1.99387846e-01 -5.00462398e-03 4.50818986e+02] [ 5.10708491e-03 4.31310093e-07 9.99986959e-01 2.30063287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.160385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.86, Y:450.85, Z:23.01 [[ 2.00153715e-01 -9.79763980e-01 -1.01650472e-03 4.34858040e+02] [ 9.79751197e-01 2.00156296e-01 -5.00490087e-03 4.50846168e+02] [ 5.10708142e-03 5.82778708e-06 9.99986959e-01 2.30065234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.190385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.86, Y:450.87, Z:23.01 [[ 2.00637258e-01 -9.79665076e-01 -1.01510984e-03 4.34862945e+02] [ 9.79652290e-01 2.00639825e-01 -5.00518377e-03 4.50873905e+02] [ 5.10707520e-03 9.77166646e-06 9.99986959e-01 2.30068311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.2203857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.87, Y:450.90, Z:23.01 [[ 2.00293557e-01 -9.79735405e-01 -1.01371522e-03 4.34867776e+02] [ 9.79722618e-01 2.00296122e-01 -5.00546621e-03 4.50900519e+02] [ 5.10707569e-03 9.40289992e-06 9.99986959e-01 2.30067905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.250385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.87, Y:450.93, Z:23.01 [[ 1.99777154e-01 -9.79840836e-01 -1.01224278e-03 4.34872311e+02] [ 9.79828049e-01 1.99779718e-01 -5.00576396e-03 4.50927945e+02] [ 5.10707752e-03 8.21341275e-06 9.99986959e-01 2.30069804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.280385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.88, Y:450.96, Z:23.01 [[ 1.98237402e-01 -9.80153514e-01 -1.01084985e-03 4.34876982e+02] [ 9.80140730e-01 1.98239979e-01 -5.00604523e-03 4.50955787e+02] [ 5.10708367e-03 1.61029153e-06 9.99986959e-01 2.30068290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.310385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.88, Y:450.98, Z:23.01 [[ 1.97188618e-01 -9.80365050e-01 -1.00945651e-03 4.34881633e+02] [ 9.80352267e-01 1.97191201e-01 -5.00632618e-03 4.50982773e+02] [ 5.10708315e-03 -2.43243556e-06 9.99986959e-01 2.30065954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.3403857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.89, Y:451.01, Z:23.01 [[ 1.94874115e-01 -9.80827744e-01 -1.00798186e-03 4.34885222e+02] [ 9.80814966e-01 1.94876722e-01 -5.00662307e-03 4.51010191e+02] [ 5.10706701e-03 -1.29824516e-05 9.99986959e-01 2.30061412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.370385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.89, Y:451.04, Z:23.01 [[ 1.93336308e-01 -9.81132029e-01 -1.00652567e-03 4.34890185e+02] [ 9.81119254e-01 1.93338927e-01 -5.00691580e-03 4.51037925e+02] [ 5.10704605e-03 -1.95030947e-05 9.99986959e-01 2.30066886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.400385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.90, Y:451.06, Z:23.01 [[ 1.90135787e-01 -9.81757288e-01 -1.00517024e-03 4.34895122e+02] [ 9.81744520e-01 1.90138440e-01 -5.00718790e-03 4.51064685e+02] [ 5.10696471e-03 -3.47747654e-05 9.99986959e-01 2.30074123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.430385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.90, Y:451.09, Z:23.01 [[ 1.88426442e-01 -9.82086793e-01 -1.00374041e-03 4.34900056e+02] [ 9.82074028e-01 1.88429111e-01 -5.00747450e-03 4.51092824e+02] [ 5.10690849e-03 -4.22067782e-05 9.99986959e-01 2.30070664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.460385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.90, Y:451.12, Z:23.01 [[ 1.85708706e-01 -9.82604331e-01 -1.00239116e-03 4.34903969e+02] [ 9.82591572e-01 1.85711403e-01 -5.00774458e-03 4.51121114e+02] [ 5.10678698e-03 -5.49593431e-05 9.99986959e-01 2.30054782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.490385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.91, Y:451.15, Z:23.00 [[ 1.83661313e-01 -9.82989074e-01 -1.00098202e-03 4.34907755e+02] [ 9.82976319e-01 1.83664029e-01 -5.00802623e-03 4.51147755e+02] [ 5.10667946e-03 -6.41609535e-05 9.99986959e-01 2.30030700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.520385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.91, Y:451.17, Z:23.00 [[ 1.79408679e-01 -9.83774124e-01 -9.99505193e-04 4.34906939e+02] [ 9.83761379e-01 1.79411443e-01 -5.00832096e-03 4.51171502e+02] [ 5.10637923e-03 -8.47383599e-05 9.99986959e-01 2.29988123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.550385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.92, Y:451.20, Z:23.00 [[ 1.80496579e-01 -9.83575148e-01 -9.55371870e-04 4.34915660e+02] [ 9.83562353e-01 1.80499104e-01 -5.01713321e-03 4.51201610e+02] [ 5.10717130e-03 -3.40924245e-05 9.99986958e-01 2.30032724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.580385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.92, Y:451.23, Z:23.00 [[ 1.78699790e-01 -9.83903138e-01 -1.00043959e-03 4.34919981e+02] [ 9.83890396e-01 1.78702568e-01 -5.00813035e-03 4.51229249e+02] [ 5.10629628e-03 -8.93710587e-05 9.99986959e-01 2.30035969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.610385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.92, Y:451.26, Z:23.00 [[ 1.73191124e-01 -9.84887728e-01 -9.99067216e-04 4.34919979e+02] [ 9.84875000e-01 1.73193966e-01 -5.00840410e-03 4.51255565e+02] [ 5.10574815e-03 -1.16545189e-04 9.99986959e-01 2.30018233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.640385723 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:434.93, Y:451.28, Z:23.00 [[ 1.74286413e-01 -9.84694532e-01 -9.62035506e-04 4.34927691e+02] [ 9.84681760e-01 1.74289053e-01 -5.01577485e-03 4.51284954e+02] [ 5.10667832e-03 -7.31174086e-05 9.99986958e-01 2.30032346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.670385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.93, Y:451.31, Z:23.00 [[ 1.72727169e-01 -9.84969203e-01 -9.97312481e-04 4.34930766e+02] [ 9.84956475e-01 1.72730008e-01 -5.00875071e-03 4.51312505e+02] [ 5.10573099e-03 -1.17162055e-04 9.99986959e-01 2.30049178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.700385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.93, Y:451.34, Z:23.00 [[ 1.68506820e-01 -9.85699985e-01 -9.95937330e-04 4.34930760e+02] [ 9.85687267e-01 1.68509707e-01 -5.00902413e-03 4.51337788e+02] [ 5.10522012e-03 -1.37628017e-04 9.99986959e-01 2.30024473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.7303857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.94, Y:451.37, Z:23.01 [[ 1.71066578e-01 -9.85259018e-01 -9.45046904e-04 4.34936824e+02] [ 9.85246237e-01 1.71069173e-01 -5.01911330e-03 4.51368242e+02] [ 5.10679503e-03 -7.25013693e-05 9.99986958e-01 2.30053642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.760385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.94, Y:451.40, Z:23.01 [[ 1.70939327e-01 -9.85281056e-01 -9.93988649e-04 4.34940268e+02] [ 9.85268329e-01 1.70942173e-01 -5.00940206e-03 4.51396320e+02] [ 5.10558353e-03 -1.23041719e-04 9.99986959e-01 2.30054020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.790385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:434.94, Y:451.42, Z:23.01 [[ 1.72128092e-01 -9.85074076e-01 -9.92648458e-04 4.34942305e+02] [ 9.85061344e-01 1.72130915e-01 -5.00966761e-03 4.51424481e+02] [ 5.10575918e-03 -1.15515098e-04 9.99986959e-01 2.30060920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.820385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.95, Y:451.45, Z:23.01 [[ 1.73099840e-01 -9.84903785e-01 -9.89361946e-04 4.34946597e+02] [ 9.84891047e-01 1.73102634e-01 -5.01031820e-03 4.51453359e+02] [ 5.10594252e-03 -1.07128443e-04 9.99986959e-01 2.30058240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.8503857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.95, Y:451.48, Z:23.01 [[ 1.76259842e-01 -9.84343175e-01 -9.91154407e-04 4.34949420e+02] [ 9.84330430e-01 1.76262604e-01 -5.00996358e-03 4.51480793e+02] [ 5.10622692e-03 -9.25680555e-05 9.99986959e-01 2.30054627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.880385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.95, Y:451.51, Z:23.00 [[ 1.75664786e-01 -9.84449543e-01 -9.90132295e-04 4.34950660e+02] [ 9.84436798e-01 1.75667551e-01 -5.01016558e-03 4.51506866e+02] [ 5.10618933e-03 -9.46130046e-05 9.99986959e-01 2.30038665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.910385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.95, Y:451.54, Z:23.01 [[ 1.81102119e-01 -9.83463823e-01 -9.64828407e-04 4.34954849e+02] [ 9.83451037e-01 1.81104685e-01 -5.01515727e-03 4.51537093e+02] [ 5.10696068e-03 -4.06058883e-05 9.99986959e-01 2.30053402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.940385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.96, Y:451.56, Z:23.00 [[ 1.80908319e-01 -9.83499468e-01 -9.87854640e-04 4.34956067e+02] [ 9.83486707e-01 1.80911005e-01 -5.01061759e-03 4.51563101e+02] [ 5.10665351e-03 -6.50794982e-05 9.99986959e-01 2.30029222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.9703857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.96, Y:451.59, Z:23.00 [[ 1.84039403e-01 -9.82918387e-01 -9.70861691e-04 4.34957995e+02] [ 9.82905599e-01 1.84041961e-01 -5.01396630e-03 4.51591193e+02] [ 5.10699895e-03 -3.14980266e-05 9.99986959e-01 2.30031771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.000385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.96, Y:451.62, Z:23.00 [[ 1.84836538e-01 -9.82768802e-01 -9.67229947e-04 4.34961296e+02] [ 9.82756008e-01 1.84839068e-01 -5.01468110e-03 4.51617897e+02] [ 5.10705402e-03 -2.36547459e-05 9.99986959e-01 2.30030599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.030385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.96, Y:451.65, Z:23.00 [[ 1.86389947e-01 -9.82475381e-01 -9.55832903e-04 4.34964906e+02] [ 9.82462572e-01 1.86392397e-01 -5.01692129e-03 4.51646499e+02] [ 5.10716165e-03 -3.96635970e-06 9.99986958e-01 2.30037968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.060385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:434.97, Y:451.67, Z:23.00 [[ 1.88391344e-01 -9.82093562e-01 -9.68232791e-04 4.34969262e+02] [ 9.82080760e-01 1.88393832e-01 -5.01448542e-03 4.51674760e+02] [ 5.10710294e-03 -6.19714563e-06 9.99986959e-01 2.30039777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.0903857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.97, Y:451.70, Z:23.00 [[ 1.86838416e-01 -9.82390166e-01 -9.84036324e-04 4.34972465e+02] [ 9.82377384e-01 1.86841005e-01 -5.01138224e-03 4.51703233e+02] [ 5.10699096e-03 -3.03763095e-05 9.99986959e-01 2.30044308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.120385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.98, Y:451.73, Z:23.00 [[ 1.87357288e-01 -9.82291342e-01 -9.82654326e-04 4.34976780e+02] [ 9.82278558e-01 1.87359863e-01 -5.01165321e-03 4.51729833e+02] [ 5.10701354e-03 -2.62705182e-05 9.99986959e-01 2.30037539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.150385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.98, Y:451.76, Z:23.00 [[ 1.86776386e-01 -9.82401964e-01 -9.81312582e-04 4.34981170e+02] [ 9.82389180e-01 1.86778962e-01 -5.01191592e-03 4.51756153e+02] [ 5.10700459e-03 -2.79233199e-05 9.99986959e-01 2.30034752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.180385723 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:434.99, Y:451.78, Z:23.00 [[ 1.85628380e-01 -9.82619532e-01 -9.80051690e-04 4.34985356e+02] [ 9.82606749e-01 1.85630964e-01 -5.01216247e-03 4.51783793e+02] [ 5.10697668e-03 -3.26058049e-05 9.99986959e-01 2.30030658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.210385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:434.99, Y:451.81, Z:23.00 [[ 1.86207696e-01 -9.82509925e-01 -9.70555092e-04 4.34990852e+02] [ 9.82497131e-01 1.86210224e-01 -5.01401720e-03 4.51811716e+02] [ 5.10704894e-03 -1.99190027e-05 9.99986959e-01 2.30025310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.240385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:434.99, Y:451.84, Z:23.00 [[ 1.85311627e-01 -9.82679319e-01 -9.78346261e-04 4.34994748e+02] [ 9.82666535e-01 1.85314206e-01 -5.01249651e-03 4.51839411e+02] [ 5.10697812e-03 -3.25142485e-05 9.99986959e-01 2.30022745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.270385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.00, Y:451.87, Z:23.00 [[ 1.86560276e-01 -9.82443043e-01 -9.64760668e-04 4.35000750e+02] [ 9.82430242e-01 1.86562770e-01 -5.01514451e-03 4.51866579e+02] [ 5.10708226e-03 -1.21833117e-05 9.99986959e-01 2.30024759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.300385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.01, Y:451.89, Z:23.00 [[ 1.87804867e-01 -9.82205874e-01 -9.76579763e-04 4.35005822e+02] [ 9.82193082e-01 1.87807406e-01 -5.01284197e-03 4.51892896e+02] [ 5.10705174e-03 -1.77537665e-05 9.99986959e-01 2.30027267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.330385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.01, Y:451.92, Z:23.00 [[ 1.88197912e-01 -9.82130641e-01 -9.75106292e-04 4.35010628e+02] [ 9.82117846e-01 1.88200437e-01 -5.01312858e-03 4.51919142e+02] [ 5.10706261e-03 -1.42089632e-05 9.99986959e-01 2.30029494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.360385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:435.02, Y:451.95, Z:23.00 [[ 1.89627734e-01 -9.81855577e-01 -9.73644390e-04 4.35015956e+02] [ 9.81842778e-01 1.89630233e-01 -5.01341249e-03 4.51946464e+02] [ 5.10707943e-03 -5.28366506e-06 9.99986959e-01 2.30028441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.390385723 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:435.02, Y:451.98, Z:23.00 [[ 1.90637630e-01 -9.81659997e-01 -9.72277093e-04 4.35021946e+02] [ 9.81647193e-01 1.90640109e-01 -5.01367764e-03 4.51975009e+02] [ 5.10708179e-03 1.36254298e-06 9.99986959e-01 2.30036274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.420385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.03, Y:452.00, Z:23.00 [[ 1.91944500e-01 -9.81405297e-01 -9.75625272e-04 4.35026260e+02] [ 9.81392494e-01 1.91946979e-01 -5.01302881e-03 4.52001424e+02] [ 5.10708135e-03 4.75198935e-06 9.99986959e-01 2.30047331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.450385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.03, Y:452.03, Z:23.01 [[ 1.91875576e-01 -9.81418785e-01 -9.65706781e-04 4.35031065e+02] [ 9.81405972e-01 1.91878006e-01 -5.01494815e-03 4.52029732e+02] [ 5.10706221e-03 1.44956619e-05 9.99986959e-01 2.30057921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.4803857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.04, Y:452.06, Z:23.00 [[ 1.94594789e-01 -9.80883239e-01 -9.69509602e-04 4.35039335e+02] [ 9.80870423e-01 1.94597202e-01 -5.01421286e-03 4.52055279e+02] [ 5.10702121e-03 2.47763991e-05 9.99986959e-01 2.30044436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.510385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.05, Y:452.08, Z:23.01 [[ 1.95012611e-01 -9.80800271e-01 -9.54032519e-04 4.35047259e+02] [ 9.80787439e-01 1.95014940e-01 -5.01719861e-03 4.52082560e+02] [ 5.10692035e-03 4.27138889e-05 9.99986959e-01 2.30054144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.540385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.05, Y:452.11, Z:23.01 [[ 1.95033748e-01 -9.80796056e-01 -9.66625253e-04 4.35053362e+02] [ 9.80783236e-01 1.95036141e-01 -5.01477129e-03 4.52109761e+02] [ 5.10699476e-03 2.99997979e-05 9.99986959e-01 2.30063882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.570385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.05, Y:452.13, Z:23.00 [[ 1.91147981e-01 -9.81560756e-01 -9.65241193e-04 4.35053571e+02] [ 9.81547944e-01 1.91150418e-01 -5.01503768e-03 4.52132990e+02] [ 5.10707044e-03 1.11838206e-05 9.99986959e-01 2.30020714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.6003857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.07, Y:452.16, Z:23.01 [[ 1.96748911e-01 -9.80453506e-01 -8.87927379e-04 4.35066110e+02] [ 9.80440611e-01 1.96750879e-01 -5.02986361e-03 4.52163776e+02] [ 5.10624790e-03 1.19060126e-04 9.99986956e-01 2.30071636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.630385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:435.07, Y:452.19, Z:23.00 [[ 1.92987172e-01 -9.81200807e-01 -9.63732146e-04 4.35066961e+02] [ 9.81187989e-01 1.92989577e-01 -5.01529709e-03 4.52187582e+02] [ 5.10700381e-03 2.22855957e-05 9.99986959e-01 2.30030889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.660385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.08, Y:452.22, Z:23.01 [[ 1.96762956e-01 -9.80450684e-01 -8.91952549e-04 4.35078902e+02] [ 9.80437793e-01 1.96764944e-01 -5.02897871e-03 4.52218451e+02] [ 5.10617061e-03 1.15012730e-04 9.99986957e-01 2.30071433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.690385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:435.08, Y:452.24, Z:23.00 [[ 1.92289915e-01 -9.81337687e-01 -9.65633592e-04 4.35080980e+02] [ 9.81324873e-01 1.92292339e-01 -5.01491381e-03 4.52241654e+02] [ 5.10700786e-03 1.67170851e-05 9.99986959e-01 2.30027306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.7203857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.09, Y:452.27, Z:23.00 [[ 1.91148509e-01 -9.81560726e-01 -8.88335654e-04 4.35089247e+02] [ 9.81547843e-01 1.91150552e-01 -5.02970574e-03 4.52267776e+02] [ 5.10676747e-03 8.94768083e-05 9.99986956e-01 2.30027430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.750385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.09, Y:452.29, Z:23.00 [[ 1.91132814e-01 -9.81563785e-01 -8.85797351e-04 4.35094462e+02] [ 9.81550900e-01 1.91134844e-01 -5.03019108e-03 4.52294770e+02] [ 5.10676013e-03 9.19793880e-05 9.99986956e-01 2.30028824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.780385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.10, Y:452.32, Z:23.00 [[ 1.90044054e-01 -9.81775165e-01 -8.84423009e-04 4.35100345e+02] [ 9.81762282e-01 1.90046092e-01 -5.03045366e-03 4.52320565e+02] [ 5.10685561e-03 8.77146557e-05 9.99986956e-01 2.30026905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.810385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.11, Y:452.35, Z:23.00 [[ 1.90923672e-01 -9.81604492e-01 -8.79156343e-04 4.35109650e+02] [ 9.81591602e-01 1.90925671e-01 -5.03146087e-03 4.52348716e+02] [ 5.10675811e-03 9.76525011e-05 9.99986956e-01 2.30044754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.8403857229999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:435.12, Y:452.38, Z:23.01 [[ 1.95922646e-01 -9.80618950e-01 -8.90215768e-04 4.35122661e+02] [ 9.80606059e-01 1.95924636e-01 -5.02934736e-03 4.52379300e+02] [ 5.10628853e-03 1.12412067e-04 9.99986957e-01 2.30111260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.870385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.12, Y:452.40, Z:23.01 [[ 1.89722593e-01 -9.81837265e-01 -9.60201321e-04 4.35121948e+02] [ 9.81824453e-01 1.89725023e-01 -5.01595007e-03 4.52401098e+02] [ 5.10702092e-03 8.88991660e-06 9.99986959e-01 2.30050700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.900385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.13, Y:452.43, Z:23.01 [[ 1.90196687e-01 -9.81745624e-01 -8.66489464e-04 4.35129180e+02] [ 9.81732725e-01 1.90198631e-01 -5.03370742e-03 4.52429972e+02] [ 5.10662534e-03 1.06733414e-04 9.99986955e-01 2.30069404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.930385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.14, Y:452.46, Z:23.01 [[ 1.90539337e-01 -9.81679165e-01 -8.82042254e-04 4.35137958e+02] [ 9.81666279e-01 1.90541356e-01 -5.03076366e-03 4.52456907e+02] [ 5.10666140e-03 9.26872344e-05 9.99986957e-01 2.30065810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.960385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.15, Y:452.48, Z:23.01 [[ 1.90479862e-01 -9.81690692e-01 -8.99089615e-04 4.35145293e+02] [ 9.81677821e-01 1.90481969e-01 -5.02752026e-03 4.52484453e+02] [ 5.10673020e-03 7.50250284e-05 9.99986958e-01 2.30072212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.990385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.16, Y:452.51, Z:23.01 [[ 1.92478958e-01 -9.81300682e-01 -9.06894719e-04 4.35158736e+02] [ 9.81287814e-01 1.92481079e-01 -5.02603556e-03 4.52513732e+02] [ 5.10661220e-03 7.74813517e-05 9.99986958e-01 2.30128133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.020385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.16, Y:452.54, Z:23.01 [[ 1.86728020e-01 -9.82411184e-01 -9.54673071e-04 4.35163301e+02] [ 9.82398374e-01 1.86730460e-01 -5.01694384e-03 4.52539744e+02] [ 5.10696828e-03 -1.06528564e-06 9.99986959e-01 2.30071816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.050385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.17, Y:452.57, Z:23.01 [[ 1.85014400e-01 -9.82735376e-01 -9.23278433e-04 4.35169100e+02] [ 9.82722540e-01 1.85016703e-01 -5.02290860e-03 4.52567316e+02] [ 5.10701190e-03 2.19838943e-05 9.99986959e-01 2.30064341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.080385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.18, Y:452.59, Z:23.01 [[ 1.83421167e-01 -9.83033998e-01 -9.14001567e-04 4.35176831e+02] [ 9.83021156e-01 1.83423442e-01 -5.02466857e-03 4.52594223e+02] [ 5.10706934e-03 2.31476934e-05 9.99986959e-01 2.30064676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.110385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.19, Y:452.62, Z:23.01 [[ 1.84089892e-01 -9.82908984e-01 -9.17156394e-04 4.35186336e+02] [ 9.82896144e-01 1.84092175e-01 -5.02407107e-03 4.52624239e+02] [ 5.10704591e-03 2.34112163e-05 9.99986959e-01 2.30127567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.140385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.19, Y:452.65, Z:23.01 [[ 1.80684561e-01 -9.83540638e-01 -9.50827325e-04 4.35193559e+02] [ 9.83527839e-01 1.80687060e-01 -5.01769060e-03 4.52649934e+02] [ 5.10690481e-03 -2.85459227e-05 9.99986959e-01 2.30130535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.170385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.20, Y:452.68, Z:23.01 [[ 1.78782106e-01 -9.83888234e-01 -9.49814164e-04 4.35199631e+02] [ 9.83875439e-01 1.78784625e-01 -5.01788238e-03 4.52676293e+02] [ 5.10684760e-03 -3.73912476e-05 9.99986959e-01 2.30128663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.200385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.21, Y:452.70, Z:23.01 [[ 1.75426610e-01 -9.84492054e-01 -9.48812550e-04 4.35206132e+02] [ 9.84479266e-01 1.75429168e-01 -5.01807176e-03 4.52703585e+02] [ 5.10670117e-03 -5.37829630e-05 9.99986959e-01 2.30129928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.2303857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.21, Y:452.73, Z:23.01 [[ 1.74612974e-01 -9.84636690e-01 -9.47448818e-04 4.35211807e+02] [ 9.84623903e-01 1.74615535e-01 -5.01832923e-03 4.52730257e+02] [ 5.10667037e-03 -5.66153603e-05 9.99986959e-01 2.30129742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.260385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.22, Y:452.76, Z:23.01 [[ 1.71924479e-01 -9.85109690e-01 -9.33581433e-04 4.35218763e+02] [ 9.85096896e-01 1.71927004e-01 -5.02094377e-03 4.52758114e+02] [ 5.10668822e-03 -5.64450314e-05 9.99986959e-01 2.30140533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.290385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.23, Y:452.78, Z:23.01 [[ 1.71205759e-01 -9.85234842e-01 -9.45610692e-04 4.35225016e+02] [ 9.85222062e-01 1.71208355e-01 -5.01867724e-03 4.52784027e+02] [ 5.10647213e-03 -7.24100696e-05 9.99986959e-01 2.30145802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.320385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.23, Y:452.81, Z:23.01 [[ 1.71405044e-01 -9.85200192e-01 -9.44603624e-04 4.35230980e+02] [ 9.85187411e-01 1.71407632e-01 -5.01886678e-03 4.52811172e+02] [ 5.10650079e-03 -7.03525192e-05 9.99986959e-01 2.30149476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.3503857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.24, Y:452.84, Z:23.02 [[ 1.72007361e-01 -9.85095213e-01 -9.43280566e-04 4.35237128e+02] [ 9.85082429e-01 1.72009935e-01 -5.01911543e-03 4.52838610e+02] [ 5.10656021e-03 -6.58843116e-05 9.99986959e-01 2.30165923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.380385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.24, Y:452.87, Z:23.02 [[ 1.73350546e-01 -9.84859744e-01 -9.34602285e-04 4.35244151e+02] [ 9.84846947e-01 1.73353058e-01 -5.02074396e-03 4.52867202e+02] [ 5.10674477e-03 -5.00915025e-05 9.99986959e-01 2.30162002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.410385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.25, Y:452.89, Z:23.02 [[ 1.74333200e-01 -9.84686270e-01 -9.40901483e-04 4.35249270e+02] [ 9.84673477e-01 1.74335731e-01 -5.01956319e-03 4.52893588e+02] [ 5.10672770e-03 -5.14042223e-05 9.99986959e-01 2.30161023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.440385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.25, Y:452.92, Z:23.02 [[ 1.76852097e-01 -9.84236990e-01 -9.39880068e-04 4.35254604e+02] [ 9.84224190e-01 1.76854590e-01 -5.01975444e-03 4.52919622e+02] [ 5.10685010e-03 -3.72986022e-05 9.99986959e-01 2.30162783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.4703857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.26, Y:452.95, Z:23.02 [[ 1.78322485e-01 -9.83971654e-01 -9.35221114e-04 4.35261791e+02] [ 9.83958846e-01 1.78324936e-01 -5.02062561e-03 4.52947052e+02] [ 5.10692654e-03 -2.49286518e-05 9.99986959e-01 2.30159952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.500385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.27, Y:452.97, Z:23.02 [[ 1.78342982e-01 -9.83967937e-01 -9.38108437e-04 4.35267565e+02] [ 9.83955131e-01 1.78345447e-01 -5.02008606e-03 4.52974787e+02] [ 5.10691109e-03 -2.77594917e-05 9.99986959e-01 2.30165022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.530385723 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:435.27, Y:453.00, Z:23.02 [[ 1.77661692e-01 -9.84091178e-01 -9.36724736e-04 4.35273133e+02] [ 9.84078372e-01 1.77664159e-01 -5.02034423e-03 4.53001820e+02] [ 5.10689888e-03 -2.98877015e-05 9.99986959e-01 2.30165565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.560385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.28, Y:453.03, Z:23.02 [[ 1.76726583e-01 -9.84259539e-01 -9.35418301e-04 4.35279012e+02] [ 9.84246735e-01 1.76729055e-01 -5.02058765e-03 4.53029500e+02] [ 5.10687687e-03 -3.34111114e-05 9.99986959e-01 2.30168872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.5903857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.29, Y:453.06, Z:23.02 [[ 1.74111539e-01 -9.84725495e-01 -9.34015664e-04 4.35285228e+02] [ 9.84712696e-01 1.74114039e-01 -5.02084857e-03 4.53056082e+02] [ 5.10678283e-03 -4.55494078e-05 9.99986959e-01 2.30177975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.620385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:435.29, Y:453.08, Z:23.02 [[ 1.72677666e-01 -9.84977946e-01 -9.32526894e-04 4.35291068e+02] [ 9.84965149e-01 1.72680176e-01 -5.02112507e-03 4.53083957e+02] [ 5.10672637e-03 -5.14703353e-05 9.99986959e-01 2.30183914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.650385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.30, Y:453.11, Z:23.02 [[ 1.68594146e-01 -9.85685116e-01 -9.31128180e-04 4.35297371e+02] [ 9.85672328e-01 1.68596703e-01 -5.02138444e-03 4.53112757e+02] [ 5.10648904e-03 -7.12112580e-05 9.99986959e-01 2.30160202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.680385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.30, Y:453.14, Z:23.02 [[ 1.67452379e-01 -9.85879720e-01 -9.37534138e-04 4.35302298e+02] [ 9.85866942e-01 1.67454983e-01 -5.02019794e-03 4.53139371e+02] [ 5.10630610e-03 -8.36398247e-05 9.99986959e-01 2.30169809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.710385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.31, Y:453.17, Z:23.02 [[ 1.66478922e-01 -9.86044576e-01 -9.28871053e-04 4.35307352e+02] [ 9.86031791e-01 1.66481494e-01 -5.02180033e-03 4.53166499e+02] [ 5.10635882e-03 -7.98724841e-05 9.99986959e-01 2.30163982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.740385723 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:435.31, Y:453.19, Z:23.02 [[ 1.65870624e-01 -9.86147086e-01 -9.27497068e-04 4.35313070e+02] [ 9.86134302e-01 1.65873197e-01 -5.02205408e-03 4.53192668e+02] [ 5.10633090e-03 -8.16254284e-05 9.99986959e-01 2.30153943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.770385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.32, Y:453.22, Z:23.02 [[ 1.65421040e-01 -9.86222602e-01 -9.26495894e-04 4.35318328e+02] [ 9.86209818e-01 1.65423614e-01 -5.02223878e-03 4.53220382e+02] [ 5.10630970e-03 -8.29353862e-05 9.99986959e-01 2.30153758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.800385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.32, Y:453.25, Z:23.01 [[ 1.65119352e-01 -9.86273159e-01 -9.25139830e-04 4.35324285e+02] [ 9.86260374e-01 1.65121922e-01 -5.02248856e-03 4.53247291e+02] [ 5.10630653e-03 -8.31187001e-05 9.99986959e-01 2.30149597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.830385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.33, Y:453.28, Z:23.02 [[ 1.64657247e-01 -9.86350414e-01 -9.23285149e-04 4.35329788e+02] [ 9.86337628e-01 1.64659814e-01 -5.02282988e-03 4.53275778e+02] [ 5.10629829e-03 -8.36255456e-05 9.99986959e-01 2.30157473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.860385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.33, Y:453.30, Z:23.02 [[ 1.64688592e-01 -9.86345172e-01 -9.32660227e-04 4.35333955e+02] [ 9.86332396e-01 1.64691207e-01 -5.02110642e-03 4.53302683e+02] [ 5.10614502e-03 -9.29940484e-05 9.99986959e-01 2.30170355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.890385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.34, Y:453.33, Z:23.02 [[ 1.64985454e-01 -9.86295558e-01 -9.33634665e-04 4.35338018e+02] [ 9.86282783e-01 1.64988070e-01 -5.02092773e-03 4.53329933e+02] [ 5.10615730e-03 -9.24477537e-05 9.99986959e-01 2.30162899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.920385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:435.34, Y:453.36, Z:23.02 [[ 1.66353790e-01 -9.86065700e-01 -9.22850459e-04 4.35343296e+02] [ 9.86052910e-01 1.66356334e-01 -5.02290074e-03 4.53356652e+02] [ 5.10643216e-03 -7.44008031e-05 9.99986959e-01 2.30170488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.950385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.35, Y:453.38, Z:23.02 [[ 1.66868820e-01 -9.85978678e-01 -9.17894150e-04 4.35348296e+02] [ 9.85965882e-01 1.66871332e-01 -5.02380631e-03 4.53384124e+02] [ 5.10653612e-03 -6.66956826e-05 9.99986959e-01 2.30185235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.9803857229999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:435.35, Y:453.41, Z:23.02 [[ 1.65079722e-01 -9.86279801e-01 -9.16538770e-04 4.35351824e+02] [ 9.86267007e-01 1.65082249e-01 -5.02405357e-03 4.53412005e+02] [ 5.10642683e-03 -7.45825856e-05 9.99986959e-01 2.30175088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.010385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:435.36, Y:453.44, Z:23.02 [[ 1.65149559e-01 -9.86268111e-01 -9.15148106e-04 4.35357717e+02] [ 9.86255316e-01 1.65152079e-01 -5.02430687e-03 4.53440232e+02] [ 5.10645225e-03 -7.28076196e-05 9.99986959e-01 2.30173829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.040385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.36, Y:453.47, Z:23.02 [[ 1.62611186e-01 -9.86689794e-01 -9.23455525e-04 4.35359599e+02] [ 9.86677014e-01 1.62613781e-01 -5.02279582e-03 4.53465649e+02] [ 5.10610797e-03 -9.43895540e-05 9.99986959e-01 2.30187203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.070385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.37, Y:453.49, Z:23.02 [[ 1.64571131e-01 -9.86364830e-01 -8.74583092e-04 4.35366792e+02] [ 9.86351997e-01 1.64573451e-01 -5.03167387e-03 4.53494818e+02] [ 5.10699930e-03 -3.45785206e-05 9.99986959e-01 2.30196272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.1003857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.37, Y:453.52, Z:23.02 [[ 1.62227844e-01 -9.86752904e-01 -9.13009462e-04 4.35369617e+02] [ 9.86740114e-01 1.62230391e-01 -5.02469163e-03 4.53521795e+02] [ 5.10624693e-03 -8.57581697e-05 9.99986959e-01 2.30194930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.130385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.38, Y:453.55, Z:23.02 [[ 1.63609118e-01 -9.86524839e-01 -8.93359119e-04 4.35375517e+02] [ 9.86512027e-01 1.63611547e-01 -5.02825383e-03 4.53549522e+02] [ 5.10666117e-03 -5.86413394e-05 9.99986959e-01 2.30200159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.160385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.38, Y:453.58, Z:23.02 [[ 1.63273698e-01 -9.86580393e-01 -9.10386659e-04 4.35379854e+02] [ 9.86567598e-01 1.63276217e-01 -5.02516903e-03 4.53576963e+02] [ 5.10637772e-03 -7.76800503e-05 9.99986959e-01 2.30206265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.190385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.38, Y:453.60, Z:23.02 [[ 1.63178221e-01 -9.86596190e-01 -9.09025330e-04 4.35384468e+02] [ 9.86583394e-01 1.63180735e-01 -5.02541527e-03 4.53604389e+02] [ 5.10639098e-03 -7.67909724e-05 9.99986959e-01 2.30213394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.2203857229999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:435.39, Y:453.63, Z:23.02 [[ 1.63479000e-01 -9.86546397e-01 -9.07640651e-04 4.35388955e+02] [ 9.86533599e-01 1.63481503e-01 -5.02566535e-03 4.53631615e+02] [ 5.10643450e-03 -7.38272523e-05 9.99986959e-01 2.30217311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.250385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.39, Y:453.66, Z:23.02 [[ 1.63601931e-01 -9.86526020e-01 -9.06177746e-04 4.35393994e+02] [ 9.86513220e-01 1.63604424e-01 -5.02592911e-03 4.53659324e+02] [ 5.10646453e-03 -7.17046205e-05 9.99986959e-01 2.30220299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.280385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.40, Y:453.69, Z:23.02 [[ 1.63841578e-01 -9.86486249e-01 -9.04785106e-04 4.35398865e+02] [ 9.86473447e-01 1.63844061e-01 -5.02617981e-03 4.53686147e+02] [ 5.10650093e-03 -6.90492530e-05 9.99986959e-01 2.30215751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.310385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.40, Y:453.71, Z:23.02 [[ 1.61919292e-01 -9.86803591e-01 -9.03318214e-04 4.35401689e+02] [ 9.86790792e-01 1.61921793e-01 -5.02644343e-03 4.53714281e+02] [ 5.10637933e-03 -7.75079373e-05 9.99986959e-01 2.30200366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.3403857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.41, Y:453.74, Z:23.02 [[ 1.62551709e-01 -9.86699620e-01 -8.95553830e-04 4.35407291e+02] [ 9.86686812e-01 1.62554162e-01 -5.02783602e-03 4.53741468e+02] [ 5.10653989e-03 -6.63478176e-05 9.99986959e-01 2.30197587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.370385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.41, Y:453.77, Z:23.02 [[ 1.62782931e-01 -9.86661488e-01 -9.08997087e-04 4.35411707e+02] [ 9.86648693e-01 1.62785450e-01 -5.02542656e-03 4.53767751e+02] [ 5.10636635e-03 -7.88071203e-05 9.99986959e-01 2.30212097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.400385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.42, Y:453.79, Z:23.02 [[ 1.61258346e-01 -9.86911819e-01 -8.99038321e-04 4.35416030e+02] [ 9.86899018e-01 1.61260834e-01 -5.02720753e-03 4.53794132e+02] [ 5.10639020e-03 -7.65808652e-05 9.99986959e-01 2.30217445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.430385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.42, Y:453.82, Z:23.02 [[ 1.59949068e-01 -9.87124861e-01 -8.97588247e-04 4.35420512e+02] [ 9.87112061e-01 1.59951565e-01 -5.02746642e-03 4.53822246e+02] [ 5.10630774e-03 -8.18816170e-05 9.99986959e-01 2.30213873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.460385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:435.43, Y:453.85, Z:23.02 [[ 1.58874433e-01 -9.87298390e-01 -8.96247114e-04 4.35425076e+02] [ 9.87285592e-01 1.58876937e-01 -5.02770550e-03 4.53849739e+02] [ 5.10623854e-03 -8.60780045e-05 9.99986959e-01 2.30211394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.490385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.43, Y:453.88, Z:23.02 [[ 1.58013046e-01 -9.87436619e-01 -8.94887502e-04 4.35429677e+02] [ 9.87423822e-01 1.58015555e-01 -5.02794748e-03 4.53877013e+02] [ 5.10618561e-03 -8.91519386e-05 9.99986959e-01 2.30218528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.520385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.43, Y:453.90, Z:23.02 [[ 1.57845275e-01 -9.87463453e-01 -8.93514289e-04 4.35434099e+02] [ 9.87450655e-01 1.57847779e-01 -5.02819150e-03 4.53904011e+02] [ 5.10619459e-03 -8.86249978e-05 9.99986959e-01 2.30221172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.550385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.44, Y:453.93, Z:23.02 [[ 1.58019426e-01 -9.87435601e-01 -8.92065809e-04 4.35436684e+02] [ 9.87422801e-01 1.58021920e-01 -5.02844847e-03 4.53930919e+02] [ 5.10623499e-03 -8.62535810e-05 9.99986959e-01 2.30216329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.580385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.44, Y:453.96, Z:23.02 [[ 1.57632237e-01 -9.87497486e-01 -8.90634287e-04 4.35439402e+02] [ 9.87484686e-01 1.57634729e-01 -5.02870201e-03 4.53959663e+02] [ 5.10622548e-03 -8.68021725e-05 9.99986959e-01 2.30202402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.610385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.44, Y:453.99, Z:23.02 [[ 1.59728636e-01 -9.87160554e-01 -8.96822049e-04 4.35444458e+02] [ 9.87147754e-01 1.59731132e-01 -5.02760783e-03 4.53987228e+02] [ 5.10630653e-03 -8.22429320e-05 9.99986959e-01 2.30210926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.640385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.45, Y:454.01, Z:23.02 [[ 1.59977506e-01 -9.87120261e-01 -8.87649152e-04 4.35447111e+02] [ 9.87107452e-01 1.59979952e-01 -5.02922683e-03 4.54014665e+02] [ 5.10645777e-03 -7.16419302e-05 9.99986959e-01 2.30179861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.670385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.45, Y:454.04, Z:23.02 [[ 1.59762529e-01 -9.87155093e-01 -8.69352735e-04 4.35452042e+02] [ 9.87142267e-01 1.59764886e-01 -5.03244970e-03 4.54042809e+02] [ 5.10670040e-03 -5.41779364e-05 9.99986959e-01 2.30181245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.700385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.46, Y:454.07, Z:23.02 [[ 1.62489935e-01 -9.86709820e-01 -8.67897646e-04 4.35458509e+02] [ 9.86696986e-01 1.62492248e-01 -5.03270564e-03 4.54071126e+02] [ 5.10684671e-03 -3.85879817e-05 9.99986959e-01 2.30200884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.7303857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.46, Y:454.10, Z:23.02 [[ 1.64047137e-01 -9.86452104e-01 -8.84716571e-04 4.35461197e+02] [ 9.86439283e-01 1.64049515e-01 -5.02974724e-03 4.54098950e+02] [ 5.10674208e-03 -4.76035471e-05 9.99986959e-01 2.30192512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.760385723 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:435.47, Y:454.13, Z:23.02 [[ 1.63714074e-01 -9.86507436e-01 -8.83353700e-04 4.35465002e+02] [ 9.86494614e-01 1.63716450e-01 -5.02998659e-03 4.54126829e+02] [ 5.10673870e-03 -4.79440727e-05 9.99986959e-01 2.30164704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.790385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.47, Y:454.15, Z:23.02 [[ 1.63087629e-01 -9.86611194e-01 -8.81984634e-04 4.35469734e+02] [ 9.86598372e-01 1.63090006e-01 -5.03022664e-03 4.54154419e+02] [ 5.10672078e-03 -4.97968701e-05 9.99986959e-01 2.30192199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.820385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.48, Y:454.18, Z:23.02 [[ 1.62333218e-01 -9.86735603e-01 -8.80630228e-04 4.35475318e+02] [ 9.86722782e-01 1.62335598e-01 -5.03046374e-03 4.54182137e+02] [ 5.10669530e-03 -5.23265428e-05 9.99986959e-01 2.30199116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.8503857229999 meters Centerline goodness : 0.999712 Centerline is valid? [True, True] Translation: X:435.48, Y:454.21, Z:23.02 [[ 1.60684644e-01 -9.87005406e-01 -8.79283149e-04 4.35480768e+02] [ 9.86992588e-01 1.60687039e-01 -5.03069918e-03 4.54207222e+02] [ 5.10661670e-03 -5.94898437e-05 9.99986959e-01 2.30186323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.880385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.48, Y:454.24, Z:23.02 [[ 1.57771844e-01 -9.87475217e-01 -8.61208408e-04 4.35484298e+02] [ 9.87462388e-01 1.57774185e-01 -5.03385236e-03 4.54235242e+02] [ 5.10668090e-03 -5.62107411e-05 9.99986959e-01 2.30213894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.910385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.49, Y:454.26, Z:23.02 [[ 1.57037580e-01 -9.87592239e-01 -8.76591756e-04 4.35488088e+02] [ 9.87579426e-01 1.57040008e-01 -5.03117208e-03 4.54261860e+02] [ 5.10640648e-03 -7.56208945e-05 9.99986959e-01 2.30188331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.940385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.49, Y:454.29, Z:23.02 [[ 1.55539678e-01 -9.87829259e-01 -8.74325426e-04 4.35491879e+02] [ 9.87816448e-01 1.55542114e-01 -5.03156633e-03 4.54289191e+02] [ 5.10632287e-03 -8.10648282e-05 9.99986959e-01 2.30196318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.9703857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.50, Y:454.32, Z:23.02 [[ 1.53062708e-01 -9.88216092e-01 -8.73709041e-04 4.35495563e+02] [ 9.88203286e-01 1.53065173e-01 -5.03167337e-03 4.54317158e+02] [ 5.10611501e-03 -9.32405966e-05 9.99986959e-01 2.30215685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.000385723 meters Centerline goodness : 0.998782 Centerline is valid? [True, True] Translation: X:435.50, Y:454.34, Z:23.02 [[ 1.53819403e-01 -9.88098605e-01 -8.59451470e-04 4.35501139e+02] [ 9.88085784e-01 1.53821786e-01 -5.03414001e-03 4.54344034e+02] [ 5.10642908e-03 -7.48633670e-05 9.99986959e-01 2.30208791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.030385723 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:435.50, Y:454.37, Z:23.02 [[ 1.51199970e-01 -9.88502821e-01 -8.61928283e-04 4.35501558e+02] [ 9.88490008e-01 1.51202400e-01 -5.03371189e-03 4.54370316e+02] [ 5.10616402e-03 -9.09104073e-05 9.99986959e-01 2.30193191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.060385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.51, Y:454.40, Z:23.02 [[ 1.53196630e-01 -9.88195372e-01 -8.35980717e-04 4.35507449e+02] [ 9.88182530e-01 1.53198901e-01 -5.03821826e-03 4.54399451e+02] [ 5.10681529e-03 -5.42634825e-05 9.99986959e-01 2.30222850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.0903857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.51, Y:454.43, Z:23.02 [[ 1.55603333e-01 -9.87819242e-01 -8.64956994e-04 4.35512133e+02] [ 9.87806422e-01 1.55605720e-01 -5.03318456e-03 4.54427185e+02] [ 5.10646882e-03 -7.12297814e-05 9.99986959e-01 2.30241152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.120385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.52, Y:454.46, Z:23.02 [[ 1.55689729e-01 -9.87805621e-01 -8.73722531e-04 4.35515924e+02] [ 9.87792809e-01 1.55692160e-01 -5.03166247e-03 4.54455540e+02] [ 5.10633622e-03 -7.96786658e-05 9.99986959e-01 2.30217482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.150385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.52, Y:454.48, Z:23.02 [[ 1.58292366e-01 -9.87391898e-01 -8.75637519e-04 4.35519876e+02] [ 9.87379081e-01 1.58294774e-01 -5.03133027e-03 4.54482596e+02] [ 5.10650359e-03 -6.81649948e-05 9.99986959e-01 2.30236528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.180385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.52, Y:454.51, Z:23.02 [[ 1.59126752e-01 -9.87257776e-01 -8.71936779e-04 4.35524290e+02] [ 9.87244954e-01 1.59129130e-01 -5.03197153e-03 4.54510653e+02] [ 5.10660357e-03 -6.00938974e-05 9.99986959e-01 2.30233638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.210385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.53, Y:454.54, Z:23.02 [[ 1.60716215e-01 -9.87000274e-01 -8.70574901e-04 4.35527499e+02] [ 9.86987447e-01 1.60718565e-01 -5.03220714e-03 4.54538624e+02] [ 5.10670737e-03 -5.04892147e-05 9.99986959e-01 2.30231139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.240385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:435.53, Y:454.57, Z:23.02 [[ 1.62432451e-01 -9.86719283e-01 -8.69208801e-04 4.35530095e+02] [ 9.86706451e-01 1.62434772e-01 -5.03244309e-03 4.54567083e+02] [ 5.10679837e-03 -4.02218637e-05 9.99986959e-01 2.30227094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.270385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.53, Y:454.59, Z:23.02 [[ 1.63136122e-01 -9.86603189e-01 -8.67849023e-04 4.35534083e+02] [ 9.86590354e-01 1.63138427e-01 -5.03267758e-03 4.54594073e+02] [ 5.10683527e-03 -3.51999692e-05 9.99986959e-01 2.30230926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.300385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.54, Y:454.62, Z:23.03 [[ 1.63802893e-01 -9.86492707e-01 -8.66412624e-04 4.35538844e+02] [ 9.86479869e-01 1.63805181e-01 -5.03292485e-03 4.54621599e+02] [ 5.10686654e-03 -3.02909625e-05 9.99986959e-01 2.30251706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.330385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.54, Y:454.65, Z:23.03 [[ 1.63514187e-01 -9.86540604e-01 -8.65011809e-04 4.35543386e+02] [ 9.86527765e-01 1.63516473e-01 -5.03316560e-03 4.54649625e+02] [ 5.10686591e-03 -3.03641838e-05 9.99986959e-01 2.30256259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.360385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.55, Y:454.68, Z:23.03 [[ 1.63164120e-01 -9.86598563e-01 -8.63614981e-04 4.35546464e+02] [ 9.86585724e-01 1.63166403e-01 -5.03340526e-03 4.54676275e+02] [ 5.10686335e-03 -3.07590690e-05 9.99986959e-01 2.30261249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.390385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.55, Y:454.70, Z:23.03 [[ 1.63136794e-01 -9.86603083e-01 -8.62136287e-04 4.35549305e+02] [ 9.86590242e-01 1.63139069e-01 -5.03365852e-03 4.54703927e+02] [ 5.10687113e-03 -2.94003354e-05 9.99986959e-01 2.30273434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.420385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.55, Y:454.73, Z:23.03 [[ 1.62723997e-01 -9.86671252e-01 -8.60753311e-04 4.35552966e+02] [ 9.86658411e-01 1.62726271e-01 -5.03389500e-03 4.54731026e+02] [ 5.10686666e-03 -3.01339797e-05 9.99986959e-01 2.30275122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.450385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.56, Y:454.76, Z:23.02 [[ 1.61988629e-01 -9.86792251e-01 -8.59291112e-04 4.35557389e+02] [ 9.86779410e-01 1.61990904e-01 -5.03414459e-03 4.54760277e+02] [ 5.10685221e-03 -3.24565993e-05 9.99986959e-01 2.30247018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.4803857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.56, Y:454.79, Z:23.02 [[ 1.60513321e-01 -9.87033288e-01 -8.73400164e-04 4.35559192e+02] [ 9.87020464e-01 1.60515688e-01 -5.03173845e-03 4.54786909e+02] [ 5.10668777e-03 -5.44027863e-05 9.99986959e-01 2.30225703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.510385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.56, Y:454.81, Z:23.02 [[ 1.60026393e-01 -9.87112370e-01 -8.49507519e-04 4.35562469e+02] [ 9.87099526e-01 1.60028645e-01 -5.03580924e-03 4.54814684e+02] [ 5.10685513e-03 -3.26860787e-05 9.99986959e-01 2.30224732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.540385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:435.57, Y:454.84, Z:23.03 [[ 1.61951483e-01 -9.86798359e-01 -8.46462777e-04 4.35566979e+02] [ 9.86785507e-01 1.61953693e-01 -5.03632720e-03 4.54842769e+02] [ 5.10692718e-03 -1.96365443e-05 9.99986959e-01 2.30259358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.570385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.57, Y:454.87, Z:23.03 [[ 1.61890388e-01 -9.86808375e-01 -8.56050736e-04 4.35571505e+02] [ 9.86795532e-01 1.61892648e-01 -5.03469695e-03 4.54870409e+02] [ 5.10686944e-03 -2.96780005e-05 9.99986959e-01 2.30263661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.6003857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.58, Y:454.90, Z:23.03 [[ 1.63203653e-01 -9.86592032e-01 -8.54661676e-04 4.35579250e+02] [ 9.86579185e-01 1.63205889e-01 -5.03493274e-03 4.54900757e+02] [ 5.10691034e-03 -2.14720046e-05 9.99986959e-01 2.30265912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.630385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.58, Y:454.93, Z:23.03 [[ 1.62607445e-01 -9.86690437e-01 -8.95136721e-04 4.35581520e+02] [ 9.86677627e-01 1.62609896e-01 -5.02805746e-03 4.54926009e+02] [ 5.10669430e-03 -6.56117971e-05 9.99986959e-01 2.30270506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.660385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.59, Y:454.95, Z:23.03 [[ 1.63762225e-01 -9.86499471e-01 -8.52791264e-04 4.35585265e+02] [ 9.86486621e-01 1.63764445e-01 -5.03522930e-03 4.54953821e+02] [ 5.10690793e-03 -1.66868191e-05 9.99986960e-01 2.30259718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.690385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.59, Y:454.98, Z:23.02 [[ 1.64268201e-01 -9.86415345e-01 -8.51386074e-04 4.35589619e+02] [ 9.86402493e-01 1.64270407e-01 -5.03546689e-03 4.54980900e+02] [ 5.10691934e-03 -1.26422568e-05 9.99986960e-01 2.30248028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.7203857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.59, Y:455.01, Z:23.03 [[ 1.65332795e-01 -9.86237469e-01 -8.49906775e-04 4.35594482e+02] [ 9.86224613e-01 1.65334979e-01 -5.03571656e-03 4.55008902e+02] [ 5.10693167e-03 -5.62988765e-06 9.99986960e-01 2.30251842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.750385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.60, Y:455.04, Z:23.03 [[ 1.66012997e-01 -9.86123200e-01 -8.48521418e-04 4.35600541e+02] [ 9.86110341e-01 1.66015166e-01 -5.03594998e-03 4.55036225e+02] [ 5.10693453e-03 -7.02594534e-07 9.99986960e-01 2.30264665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.780385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.61, Y:455.06, Z:23.03 [[ 1.65645594e-01 -9.86184983e-01 -8.47139628e-04 4.35605570e+02] [ 9.86172123e-01 1.65647760e-01 -5.03618241e-03 4.55062765e+02] [ 5.10693424e-03 -1.20405964e-06 9.99986960e-01 2.30269332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.810385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.61, Y:455.09, Z:23.03 [[ 1.64263425e-01 -9.86416146e-01 -8.45682832e-04 4.35609887e+02] [ 9.86403288e-01 1.64265602e-01 -5.03642702e-03 4.55090083e+02] [ 5.10692953e-03 -6.88357437e-06 9.99986960e-01 2.30275173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.8403857229999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:435.62, Y:455.12, Z:23.03 [[ 1.65402871e-01 -9.86225723e-01 -8.44327545e-04 4.35619513e+02] [ 9.86212862e-01 1.65405026e-01 -5.03665422e-03 4.55121471e+02] [ 5.10693397e-03 3.90383797e-07 9.99986960e-01 2.30263163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.870385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.62, Y:455.15, Z:23.03 [[ 1.62844035e-01 -9.86651409e-01 -9.03920162e-04 4.35623130e+02] [ 9.86638607e-01 1.62846527e-01 -5.02666579e-03 4.55148691e+02] [ 5.10676715e-03 -7.32799910e-05 9.99986958e-01 2.30275484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.900385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.63, Y:455.18, Z:23.03 [[ 1.59732495e-01 -9.87159949e-01 -8.74346095e-04 4.35627545e+02] [ 9.87147128e-01 1.59734877e-01 -5.03158592e-03 4.55175438e+02] [ 5.10664367e-03 -5.94004628e-05 9.99986959e-01 2.30284756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.930385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:435.63, Y:455.21, Z:23.03 [[ 1.60312140e-01 -9.87066003e-01 -8.50608731e-04 4.35634128e+02] [ 9.87053159e-01 1.60314394e-01 -5.03553265e-03 4.55205252e+02] [ 5.10676791e-03 -3.23390177e-05 9.99986960e-01 2.30278267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.960385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.64, Y:455.23, Z:23.03 [[ 1.57697641e-01 -9.87487049e-01 -8.84564329e-04 4.35636351e+02] [ 9.87474242e-01 1.57700102e-01 -5.02988717e-03 4.55231801e+02] [ 5.10644432e-03 -8.02831473e-05 9.99986959e-01 2.30275041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.990385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.64, Y:455.26, Z:23.03 [[ 1.56837953e-01 -9.87623975e-01 -8.61066136e-04 4.35641004e+02] [ 9.87611148e-01 1.56840305e-01 -5.03377244e-03 4.55256574e+02] [ 5.10652422e-03 -6.09119491e-05 9.99986960e-01 2.30267587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.020385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.65, Y:455.29, Z:23.03 [[ 1.57694769e-01 -9.87487554e-01 -8.30708724e-04 4.35648830e+02] [ 9.87474699e-01 1.57696955e-01 -5.03877726e-03 4.55286951e+02] [ 5.10673007e-03 -2.57150299e-05 9.99986960e-01 2.30261637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.050385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.65, Y:455.31, Z:23.03 [[ 1.57302334e-01 -9.87550115e-01 -8.64459412e-04 4.35651402e+02] [ 9.87537290e-01 1.57304697e-01 -5.03321372e-03 4.55311436e+02] [ 5.10653431e-03 -6.19496409e-05 9.99986960e-01 2.30264509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.080385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.66, Y:455.34, Z:23.03 [[ 1.57232540e-01 -9.87561260e-01 -8.27985661e-04 4.35656868e+02] [ 9.87548404e-01 1.57234718e-01 -5.03920668e-03 4.55340691e+02] [ 5.10671339e-03 -2.53486540e-05 9.99986960e-01 2.30260187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.110385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.66, Y:455.37, Z:23.02 [[ 1.57712892e-01 -9.87484647e-01 -8.46031519e-04 4.35661117e+02] [ 9.87471805e-01 1.57715156e-01 -5.03624312e-03 4.55366491e+02] [ 5.10664476e-03 -4.11518036e-05 9.99986960e-01 2.30238497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.140385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.67, Y:455.40, Z:23.03 [[ 1.57843296e-01 -9.87463833e-01 -8.19871392e-04 4.35667716e+02] [ 9.87450968e-01 1.57845425e-01 -5.04052823e-03 4.55395715e+02] [ 5.10675227e-03 -1.39692105e-05 9.99986960e-01 2.30261293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.170385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.67, Y:455.42, Z:23.03 [[ 1.58288295e-01 -9.87392579e-01 -8.42781655e-04 4.35673909e+02] [ 9.87379733e-01 1.58290535e-01 -5.03677878e-03 4.55421431e+02] [ 5.10668235e-03 -3.48824016e-05 9.99986960e-01 2.30264412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.200385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.68, Y:455.45, Z:23.03 [[ 1.59153901e-01 -9.87253442e-01 -8.22722082e-04 4.35678891e+02] [ 9.87240577e-01 1.59156027e-01 -5.04005324e-03 4.55447287e+02] [ 5.10675109e-03 -1.00804908e-05 9.99986960e-01 2.30252749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.2303857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.68, Y:455.48, Z:23.03 [[ 1.57992860e-01 -9.87439934e-01 -7.95928337e-04 4.35684342e+02] [ 9.87427049e-01 1.57994864e-01 -5.04441473e-03 4.55476078e+02] [ 5.10680914e-03 1.10603399e-05 9.99986960e-01 2.30277867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.260385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.69, Y:455.50, Z:23.03 [[ 1.58086916e-01 -9.87424861e-01 -8.19759412e-04 4.35690000e+02] [ 9.87411995e-01 1.58089041e-01 -5.04053901e-03 4.55502714e+02] [ 5.10674850e-03 -1.25970106e-05 9.99986960e-01 2.30282577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.290385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.70, Y:455.53, Z:23.03 [[ 1.59056117e-01 -9.87269204e-01 -8.18321914e-04 4.35698030e+02] [ 9.87256336e-01 1.59058222e-01 -5.04077237e-03 4.55533105e+02] [ 5.10676016e-03 -6.12781254e-06 9.99986960e-01 2.30295214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.320385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.70, Y:455.56, Z:23.03 [[ 1.57722044e-01 -9.87483175e-01 -8.58127342e-04 4.35701448e+02] [ 9.87470343e-01 1.57724370e-01 -5.03431068e-03 4.55557110e+02] [ 5.10664469e-03 -5.33535287e-05 9.99986960e-01 2.30298509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.3503857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.71, Y:455.59, Z:23.03 [[ 1.57654710e-01 -9.87493963e-01 -8.15791515e-04 4.35708226e+02] [ 9.87481095e-01 1.57656820e-01 -5.04116173e-03 4.55586456e+02] [ 5.10673187e-03 -1.08158096e-05 9.99986961e-01 2.30284927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.380385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.71, Y:455.61, Z:23.03 [[ 1.58004251e-01 -9.87438074e-01 -8.40909506e-04 4.35713495e+02] [ 9.87425227e-01 1.58006485e-01 -5.03710085e-03 4.55611699e+02] [ 5.10669431e-03 -3.44519131e-05 9.99986960e-01 2.30300864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.410385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.72, Y:455.64, Z:23.03 [[ 1.59694660e-01 -9.87166123e-01 -8.12742355e-04 4.35721990e+02] [ 9.87153249e-01 1.59696728e-01 -5.04164156e-03 4.55643140e+02] [ 5.10673005e-03 2.82197995e-06 9.99986961e-01 2.30299715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.440385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.73, Y:455.67, Z:23.03 [[ 1.60103043e-01 -9.87099923e-01 -8.70137678e-04 4.35725685e+02] [ 9.87087097e-01 1.60105399e-01 -5.03238339e-03 4.55669972e+02] [ 5.10677900e-03 -5.32017802e-05 9.99986959e-01 2.30294519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.4703857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.73, Y:455.69, Z:23.03 [[ 1.60363732e-01 -9.87057624e-01 -8.48348003e-04 4.35728664e+02] [ 9.87044779e-01 1.60365973e-01 -5.03586813e-03 4.55693614e+02] [ 5.10673818e-03 -2.97868611e-05 9.99986960e-01 2.30277564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.500385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.74, Y:455.72, Z:23.03 [[ 1.61459751e-01 -9.86878971e-01 -8.03585378e-04 4.35736403e+02] [ 9.86866086e-01 1.61461749e-01 -5.04300091e-03 4.55724321e+02] [ 5.10657985e-03 2.12105133e-05 9.99986961e-01 2.30276890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.530385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.74, Y:455.75, Z:23.03 [[ 1.61827849e-01 -9.86818648e-01 -8.39084901e-04 4.35741117e+02] [ 9.86805791e-01 1.61830024e-01 -5.03734225e-03 4.55748497e+02] [ 5.10673240e-03 -1.28315769e-05 9.99986961e-01 2.30252198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.560385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.75, Y:455.78, Z:23.03 [[ 1.61558279e-01 -9.86862847e-01 -8.01809933e-04 4.35745525e+02] [ 9.86849961e-01 1.61560267e-01 -5.04326846e-03 4.55776748e+02] [ 5.10655490e-03 2.35156747e-05 9.99986961e-01 2.30253504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.5903857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.75, Y:455.80, Z:23.02 [[ 1.61797508e-01 -9.86823655e-01 -8.00432214e-04 4.35752503e+02] [ 9.86810767e-01 1.61799486e-01 -5.04348711e-03 4.55804238e+02] [ 5.10654191e-03 2.61485206e-05 9.99986961e-01 2.30244082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.620385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.76, Y:455.83, Z:23.02 [[ 1.61368667e-01 -9.86893872e-01 -7.99063531e-04 4.35758141e+02] [ 9.86880984e-01 1.61370643e-01 -5.04370395e-03 4.55832093e+02] [ 5.10654592e-03 2.53151784e-05 9.99986961e-01 2.30244156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.650385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.76, Y:455.86, Z:23.03 [[ 1.60885426e-01 -9.86972767e-01 -7.97683233e-04 4.35764175e+02] [ 9.86959879e-01 1.60887402e-01 -5.04392224e-03 4.55858316e+02] [ 5.10655108e-03 2.42122328e-05 9.99986961e-01 2.30252887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.680385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.77, Y:455.89, Z:23.03 [[ 1.60208299e-01 -9.87082908e-01 -7.96669811e-04 4.35769507e+02] [ 9.87070020e-01 1.60210279e-01 -5.04408230e-03 4.55885439e+02] [ 5.10656212e-03 2.17349611e-05 9.99986961e-01 2.30263005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.710385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.78, Y:455.91, Z:23.03 [[ 1.59229012e-01 -9.87241353e-01 -7.95276330e-04 4.35775553e+02] [ 9.87228466e-01 1.59230997e-01 -5.04430200e-03 4.55912165e+02] [ 5.10657617e-03 1.80797898e-05 9.99986961e-01 2.30265973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.740385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.78, Y:455.94, Z:23.03 [[ 1.58372675e-01 -9.87379089e-01 -7.93809198e-04 4.35782642e+02] [ 9.87366203e-01 1.58374664e-01 -5.04453287e-03 4.55939212e+02] [ 5.10658553e-03 1.51357910e-05 9.99986961e-01 2.30280027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.770385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.79, Y:455.97, Z:23.03 [[ 1.58568468e-01 -9.87347666e-01 -7.92452373e-04 4.35787780e+02] [ 9.87334778e-01 1.58570447e-01 -5.04474600e-03 4.55966505e+02] [ 5.10657772e-03 1.75218554e-05 9.99986961e-01 2.30286981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.800385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.79, Y:455.99, Z:23.03 [[ 1.59214916e-01 -9.87243630e-01 -7.91058708e-04 4.35792194e+02] [ 9.87230740e-01 1.59216880e-01 -5.04496453e-03 4.55994282e+02] [ 5.10655900e-03 2.22761314e-05 9.99986961e-01 2.30287685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.830385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.80, Y:456.02, Z:23.03 [[ 1.61197004e-01 -9.86921933e-01 -7.89680527e-04 4.35795479e+02] [ 9.86909038e-01 1.61198935e-01 -5.04518025e-03 4.56022611e+02] [ 5.10649470e-03 3.39250936e-05 9.99986961e-01 2.30285319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.860385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.80, Y:456.05, Z:23.03 [[ 1.61967683e-01 -9.86795748e-01 -7.88296208e-04 4.35798490e+02] [ 9.86782850e-01 1.61969597e-01 -5.04539653e-03 4.56050496e+02] [ 5.10645587e-03 3.93140093e-05 9.99986961e-01 2.30282155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.890385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.80, Y:456.08, Z:23.03 [[ 1.62954316e-01 -9.86633301e-01 -7.86997039e-04 4.35800630e+02] [ 9.86620401e-01 1.62956210e-01 -5.04559917e-03 4.56078311e+02] [ 5.10640223e-03 4.57348302e-05 9.99986961e-01 2.30277905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.920385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:435.80, Y:456.11, Z:23.03 [[ 1.62972262e-01 -9.86630339e-01 -7.85604976e-04 4.35804448e+02] [ 9.86617437e-01 1.62974148e-01 -5.04581591e-03 4.56106209e+02] [ 5.10638836e-03 4.72364635e-05 9.99986961e-01 2.30276415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.950385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.81, Y:456.13, Z:23.03 [[ 1.62645829e-01 -9.86684205e-01 -7.84228030e-04 4.35808490e+02] [ 9.86671303e-01 1.62647712e-01 -5.04602991e-03 4.56133629e+02] [ 5.10639090e-03 4.69404238e-05 9.99986961e-01 2.30278080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.9803857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.81, Y:456.16, Z:23.03 [[ 1.60491116e-01 -9.87036975e-01 -7.82817952e-04 4.35813236e+02] [ 9.87024076e-01 1.60493021e-01 -5.04624865e-03 4.56159899e+02] [ 5.10647082e-03 3.72179108e-05 9.99986961e-01 2.30274293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.010385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.82, Y:456.19, Z:23.03 [[ 1.57024397e-01 -9.87594415e-01 -7.81788447e-04 4.35817623e+02] [ 9.87581522e-01 1.57026342e-01 -5.04640814e-03 4.56186991e+02] [ 5.10656588e-03 2.03293705e-05 9.99986961e-01 2.30270488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.040385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.82, Y:456.22, Z:23.03 [[ 1.54687339e-01 -9.87963167e-01 -7.80322127e-04 4.35821652e+02] [ 9.87950277e-01 1.54689307e-01 -5.04663487e-03 4.56215086e+02] [ 5.10659685e-03 9.73105556e-06 9.99986961e-01 2.30270892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.070385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.82, Y:456.24, Z:23.03 [[ 1.48404815e-01 -9.88926390e-01 -7.78917504e-04 4.35824499e+02] [ 9.88913512e-01 1.48406858e-01 -5.04685165e-03 4.56243316e+02] [ 5.10656149e-03 -2.13049558e-05 9.99986961e-01 2.30256490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.1003857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.83, Y:456.27, Z:23.03 [[ 1.46912310e-01 -9.89149218e-01 -7.73715113e-04 4.35829031e+02] [ 9.89136339e-01 1.46914345e-01 -5.04765353e-03 4.56270889e+02] [ 5.10655239e-03 -2.37472946e-05 9.99986961e-01 2.30260029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.130385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.83, Y:456.30, Z:23.03 [[ 1.42124513e-01 -9.89848483e-01 -7.77095155e-04 4.35833140e+02] [ 9.89835617e-01 1.42126628e-01 -5.04713311e-03 4.56298400e+02] [ 5.10634297e-03 -5.18751249e-05 9.99986961e-01 2.30283012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.160385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.84, Y:456.33, Z:23.03 [[ 1.38499630e-01 -9.90362182e-01 -7.75755155e-04 4.35836398e+02] [ 9.90349322e-01 1.38501786e-01 -5.04733907e-03 4.56326218e+02] [ 5.10613720e-03 -6.92139974e-05 9.99986961e-01 2.30306665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.190385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.84, Y:456.35, Z:23.03 [[ 1.37201986e-01 -9.90542788e-01 -7.74361113e-04 4.35839842e+02] [ 9.90529931e-01 1.37204151e-01 -5.04755293e-03 4.56353291e+02] [ 5.10606271e-03 -7.44935719e-05 9.99986961e-01 2.30310148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.2203857229999 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:435.84, Y:456.38, Z:23.03 [[ 1.36103973e-01 -9.90694257e-01 -7.72892214e-04 4.35842751e+02] [ 9.90681401e-01 1.36106145e-01 -5.04777784e-03 4.56380297e+02] [ 5.10599990e-03 -7.86673211e-05 9.99986961e-01 2.30314387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.250385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.84, Y:456.41, Z:23.03 [[ 1.36000246e-01 -9.90708503e-01 -7.71441144e-04 4.35844294e+02] [ 9.90695645e-01 1.36002412e-01 -5.04799960e-03 4.56408763e+02] [ 5.10601398e-03 -7.77341943e-05 9.99986961e-01 2.30320352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.280385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.85, Y:456.44, Z:23.03 [[ 1.37347455e-01 -9.90522632e-01 -7.70056385e-04 4.35845799e+02] [ 9.90509770e-01 1.37349596e-01 -5.04821083e-03 4.56437418e+02] [ 5.10613401e-03 -6.93894643e-05 9.99986961e-01 2.30319314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.310385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.85, Y:456.46, Z:23.03 [[ 1.38553152e-01 -9.90354701e-01 -7.68670417e-04 4.35848614e+02] [ 9.90341835e-01 1.38555270e-01 -5.04842186e-03 4.56464661e+02] [ 5.10623165e-03 -6.17717125e-05 9.99986961e-01 2.30314460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.3403857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.85, Y:456.49, Z:23.03 [[ 1.42440432e-01 -9.89803079e-01 -7.67658859e-04 4.35850754e+02] [ 9.89790204e-01 1.42442494e-01 -5.04857567e-03 4.56493053e+02] [ 5.10644298e-03 -4.06999208e-05 9.99986961e-01 2.30309165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.370385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.85, Y:456.52, Z:23.03 [[ 1.43938771e-01 -9.89586299e-01 -7.66256741e-04 4.35853420e+02] [ 9.89573420e-01 1.43940808e-01 -5.04878847e-03 4.56520311e+02] [ 5.10650751e-03 -3.15508945e-05 9.99986961e-01 2.30306977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.400385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.85, Y:456.55, Z:23.03 [[ 1.47776834e-01 -9.89020436e-01 -7.64768014e-04 4.35854959e+02] [ 9.89007548e-01 1.47778812e-01 -5.04901396e-03 4.56548167e+02] [ 5.10659450e-03 -1.02340406e-05 9.99986961e-01 2.30298522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.430385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.86, Y:456.58, Z:23.03 [[ 1.49877877e-01 -9.88704222e-01 -7.63392645e-04 4.35856345e+02] [ 9.88691329e-01 1.49879821e-01 -5.04922191e-03 4.56575783e+02] [ 5.10660417e-03 2.00696956e-06 9.99986961e-01 2.30286705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.460385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.86, Y:456.60, Z:23.03 [[ 1.50278442e-01 -9.88643419e-01 -7.61941873e-04 4.35859974e+02] [ 9.88630524e-01 1.50280374e-01 -5.04944082e-03 4.56604040e+02] [ 5.10660135e-03 5.54310680e-06 9.99986961e-01 2.30281687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.490385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.86, Y:456.63, Z:23.03 [[ 1.50451936e-01 -9.88617032e-01 -7.60574952e-04 4.35863529e+02] [ 9.88604136e-01 1.50453858e-01 -5.04964671e-03 4.56631899e+02] [ 5.10659818e-03 7.82157897e-06 9.99986961e-01 2.30291804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.520385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.87, Y:456.66, Z:23.03 [[ 1.50161931e-01 -9.88661124e-01 -7.59206206e-04 4.35866861e+02] [ 9.88648227e-01 1.50163851e-01 -5.04985249e-03 4.56660279e+02] [ 5.10659816e-03 7.70773369e-06 9.99986961e-01 2.30300622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.550385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.87, Y:456.69, Z:23.03 [[ 1.49914608e-01 -9.88698658e-01 -7.57805931e-04 4.35869940e+02] [ 9.88685761e-01 1.49916523e-01 -5.05006261e-03 4.56687345e+02] [ 5.10659776e-03 7.84622385e-06 9.99986961e-01 2.30305649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.580385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.87, Y:456.71, Z:23.03 [[ 1.46183476e-01 -9.89257206e-01 -7.56783614e-04 4.35868575e+02] [ 9.89244315e-01 1.46185435e-01 -5.05021581e-03 4.56713454e+02] [ 5.10659312e-03 -1.03857857e-05 9.99986961e-01 2.30295958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.610385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.88, Y:456.74, Z:23.03 [[ 1.48201532e-01 -9.88956923e-01 -7.15210342e-04 4.35875713e+02] [ 9.88943997e-01 1.48203251e-01 -5.05642547e-03 4.56742880e+02] [ 5.10658347e-03 4.20670239e-05 9.99986960e-01 2.30313899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.640385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.88, Y:456.77, Z:23.03 [[ 1.45218706e-01 -9.89399291e-01 -7.54982768e-04 4.35878496e+02] [ 9.89386401e-01 1.45220668e-01 -5.05048000e-03 4.56771017e+02] [ 5.10658043e-03 -1.35455127e-05 9.99986961e-01 2.30319107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.670385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.88, Y:456.80, Z:23.03 [[ 1.43308703e-01 -9.89677757e-01 -7.43689640e-04 4.35881877e+02] [ 9.89664862e-01 1.43310633e-01 -5.05216519e-03 4.56799137e+02] [ 5.10659415e-03 -1.19842620e-05 9.99986961e-01 2.30314391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.700385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.89, Y:456.83, Z:23.03 [[ 1.42105931e-01 -9.89851169e-01 -7.53185814e-04 4.35885038e+02] [ 9.89838284e-01 1.42107924e-01 -5.05074909e-03 4.56826558e+02] [ 5.10652356e-03 -2.77907522e-05 9.99986961e-01 2.30307900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.7303857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.88, Y:456.85, Z:23.03 [[ 1.38976326e-01 -9.90295418e-01 -7.51722548e-04 4.35884882e+02] [ 9.90282538e-01 1.38978353e-01 -5.05096686e-03 4.56853285e+02] [ 5.10642250e-03 -4.24528945e-05 9.99986961e-01 2.30286765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.760385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.89, Y:456.88, Z:23.03 [[ 1.40315553e-01 -9.90106572e-01 -7.22411977e-04 4.35890072e+02] [ 9.90093666e-01 1.40317412e-01 -5.05531793e-03 4.56882064e+02] [ 5.10667048e-03 -5.91579396e-06 9.99986961e-01 2.30290976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.790385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.89, Y:456.91, Z:23.03 [[ 1.40221029e-01 -9.90119943e-01 -7.49859684e-04 4.35892463e+02] [ 9.90107058e-01 1.40223029e-01 -5.05124330e-03 4.56909096e+02] [ 5.10648433e-03 -3.41508339e-05 9.99986961e-01 2.30283435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.820385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.90, Y:456.94, Z:23.03 [[ 1.39935583e-01 -9.90160326e-01 -7.48863894e-04 4.35895946e+02] [ 9.90147442e-01 1.39937582e-01 -5.05139093e-03 4.56936612e+02] [ 5.10648109e-03 -3.46163357e-05 9.99986961e-01 2.30283173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.8503857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.90, Y:456.96, Z:23.03 [[ 1.39602572e-01 -9.90207333e-01 -7.47504268e-04 4.35898341e+02] [ 9.90194448e-01 1.39604569e-01 -5.05159212e-03 4.56963645e+02] [ 5.10647857e-03 -3.49593220e-05 9.99986961e-01 2.30280730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.880385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.90, Y:456.99, Z:23.03 [[ 1.39535090e-01 -9.90216846e-01 -7.46070972e-04 4.35901717e+02] [ 9.90203960e-01 1.39537080e-01 -5.05180379e-03 4.56991681e+02] [ 5.10648578e-03 -3.38585363e-05 9.99986961e-01 2.30281455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.910385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.91, Y:457.02, Z:23.03 [[ 1.39466194e-01 -9.90226553e-01 -7.44681532e-04 4.35905026e+02] [ 9.90213666e-01 1.39468179e-01 -5.05200860e-03 4.57019443e+02] [ 5.10649244e-03 -3.28094158e-05 9.99986961e-01 2.30257816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.940385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:435.91, Y:457.05, Z:23.03 [[ 1.40367391e-01 -9.90099217e-01 -7.31617994e-04 4.35909488e+02] [ 9.90086319e-01 1.40369297e-01 -5.05393094e-03 4.57047068e+02] [ 5.10658978e-03 -1.49578658e-05 9.99986961e-01 2.30280917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.9703857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.91, Y:457.07, Z:23.03 [[ 1.40855086e-01 -9.90029946e-01 -7.42827063e-04 4.35912542e+02] [ 9.90017054e-01 1.40857043e-01 -5.05228290e-03 4.57073524e+02] [ 5.10654379e-03 -2.37717182e-05 9.99986961e-01 2.30298010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.000385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.92, Y:457.10, Z:23.03 [[ 1.41022910e-01 -9.90006055e-01 -7.41376930e-04 4.35915856e+02] [ 9.89993163e-01 1.41024857e-01 -5.05249568e-03 4.57101384e+02] [ 5.10655390e-03 -2.14404468e-05 9.99986961e-01 2.30306685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.030385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.92, Y:457.13, Z:23.03 [[ 1.39918343e-01 -9.90162769e-01 -7.40034263e-04 4.35917728e+02] [ 9.90149878e-01 1.39920298e-01 -5.05269233e-03 4.57127875e+02] [ 5.10653365e-03 -2.57804937e-05 9.99986961e-01 2.30309498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.060385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:435.92, Y:457.16, Z:23.03 [[ 1.41358264e-01 -9.89958251e-01 -7.08788439e-04 4.35921913e+02] [ 9.89945333e-01 1.41360040e-01 -5.05725511e-03 4.57155538e+02] [ 5.10666578e-03 1.32229954e-05 9.99986961e-01 2.30300824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.0903857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.93, Y:457.19, Z:23.03 [[ 1.43186838e-01 -9.89695420e-01 -7.10449180e-04 4.35927930e+02] [ 9.89682501e-01 1.43188599e-01 -5.05701300e-03 4.57185562e+02] [ 5.10663083e-03 2.09785815e-05 9.99986961e-01 2.30306644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.120385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.93, Y:457.21, Z:23.03 [[ 1.43739210e-01 -9.89615328e-01 -7.36793041e-04 4.35931649e+02] [ 9.89602426e-01 1.43741098e-01 -5.05317185e-03 4.57212794e+02] [ 5.10660376e-03 -2.79325076e-06 9.99986961e-01 2.30309503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.150385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:435.93, Y:457.24, Z:23.03 [[ 1.45375186e-01 -9.89376326e-01 -7.35332877e-04 4.35934665e+02] [ 9.89363421e-01 1.45377046e-01 -5.05338433e-03 4.57241155e+02] [ 5.10659934e-03 7.12523602e-06 9.99986961e-01 2.30306912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.180385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.94, Y:457.27, Z:23.03 [[ 1.46229300e-01 -9.89250450e-01 -7.33956798e-04 4.35938229e+02] [ 9.89237542e-01 1.46231141e-01 -5.05358418e-03 4.57269495e+02] [ 5.10658777e-03 1.29244567e-05 9.99986961e-01 2.30302316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.210385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.94, Y:457.30, Z:23.03 [[ 1.45840830e-01 -9.89307796e-01 -7.33098446e-04 4.35940791e+02] [ 9.89294888e-01 1.45842672e-01 -5.05370869e-03 4.57296451e+02] [ 5.10659044e-03 1.17865275e-05 9.99986961e-01 2.30283375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.240385723 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:435.95, Y:457.33, Z:23.03 [[ 1.46753406e-01 -9.89172857e-01 -7.04610362e-04 4.35945966e+02] [ 9.89159927e-01 1.46755091e-01 -5.05782588e-03 4.57325138e+02] [ 5.10646924e-03 4.52808410e-05 9.99986961e-01 2.30280700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.270385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:435.95, Y:457.35, Z:23.03 [[ 1.49320887e-01 -9.88788537e-01 -7.09051575e-04 4.35952399e+02] [ 9.88775605e-01 1.49322561e-01 -5.05718476e-03 4.57353412e+02] [ 5.10636371e-03 5.40504162e-05 9.99986961e-01 2.30290943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.300385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.96, Y:457.38, Z:23.03 [[ 1.51232827e-01 -9.88497901e-01 -7.29431566e-04 4.35958128e+02] [ 9.88484980e-01 1.51234580e-01 -5.05424350e-03 4.57380596e+02] [ 5.10642437e-03 4.33353887e-05 9.99986961e-01 2.30286209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.330385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.96, Y:457.41, Z:23.03 [[ 1.51193585e-01 -9.88503905e-01 -7.28023643e-04 4.35961741e+02] [ 9.88490984e-01 1.51195331e-01 -5.05444630e-03 4.57407749e+02] [ 5.10641368e-03 4.45550471e-05 9.99986961e-01 2.30279738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.360385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.97, Y:457.44, Z:23.03 [[ 1.51831579e-01 -9.88406124e-01 -7.10561288e-04 4.35966153e+02] [ 9.88393190e-01 1.51833228e-01 -5.05695502e-03 4.57435484e+02] [ 5.10621213e-03 6.54915290e-05 9.99986961e-01 2.30279679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.390385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.97, Y:457.46, Z:23.03 [[ 1.54586093e-01 -9.87979069e-01 -7.06563950e-04 4.35973083e+02] [ 9.87966128e-01 1.54587685e-01 -5.05752839e-03 4.57463745e+02] [ 5.10595827e-03 8.37623032e-05 9.99986961e-01 2.30285283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.420385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:435.98, Y:457.49, Z:23.03 [[ 1.54933317e-01 -9.87924664e-01 -7.24860249e-04 4.35978623e+02] [ 9.87911734e-01 1.54934998e-01 -5.05490475e-03 4.57490779e+02] [ 5.10617129e-03 6.70752152e-05 9.99986961e-01 2.30281239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.450385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.98, Y:457.52, Z:23.03 [[ 1.55476166e-01 -9.87839387e-01 -7.12542583e-04 4.35984793e+02] [ 9.87826448e-01 1.55477777e-01 -5.05666774e-03 4.57518740e+02] [ 5.10596010e-03 8.23229040e-05 9.99986961e-01 2.30287303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.4803857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.99, Y:457.55, Z:23.03 [[ 1.55206669e-01 -9.87881758e-01 -7.23002843e-04 4.35988778e+02] [ 9.87868826e-01 1.55208337e-01 -5.05517169e-03 4.57547050e+02] [ 5.10612797e-03 7.03643889e-05 9.99986961e-01 2.30288804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.510385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.99, Y:457.57, Z:23.03 [[ 1.53708914e-01 -9.88115909e-01 -7.21623677e-04 4.35993810e+02] [ 9.88102979e-01 1.53710594e-01 -5.05536856e-03 4.57573776e+02] [ 5.10621130e-03 6.40167060e-05 9.99986961e-01 2.30295605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.540385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.00, Y:457.60, Z:23.03 [[ 1.54592255e-01 -9.87978109e-01 -7.00695464e-04 4.36000818e+02] [ 9.87965164e-01 1.54593817e-01 -5.05834903e-03 4.57602295e+02] [ 5.10586130e-03 8.97188767e-05 9.99986961e-01 2.30290161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.570385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.01, Y:457.63, Z:23.03 [[ 1.53732440e-01 -9.88112250e-01 -7.19807300e-04 4.36006049e+02] [ 9.88099319e-01 1.53734111e-01 -5.05562794e-03 4.57630176e+02] [ 5.10618683e-03 6.59729141e-05 9.99986961e-01 2.30295145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.6003857229999 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:436.01, Y:457.66, Z:23.03 [[ 1.52074220e-01 -9.88368816e-01 -7.18409466e-04 4.36012496e+02] [ 9.88355886e-01 1.52075906e-01 -5.05582657e-03 4.57658020e+02] [ 5.10627408e-03 5.88166590e-05 9.99986961e-01 2.30307108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.630385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.02, Y:457.68, Z:23.03 [[ 1.50959266e-01 -9.88539724e-01 -7.17021082e-04 4.36018786e+02] [ 9.88526796e-01 1.50960959e-01 -5.05602346e-03 4.57684048e+02] [ 5.10632223e-03 5.44590393e-05 9.99986961e-01 2.30291850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.660385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.02, Y:457.71, Z:23.03 [[ 1.49747858e-01 -9.88723967e-01 -7.04235952e-04 4.36024230e+02] [ 9.88711032e-01 1.49749502e-01 -5.05783163e-03 4.57711662e+02] [ 5.10625834e-03 6.11136002e-05 9.99986961e-01 2.30279397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.690385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:436.03, Y:457.74, Z:23.03 [[ 1.48424324e-01 -9.88923510e-01 -7.14570933e-04 4.36031421e+02] [ 9.88910585e-01 1.48426038e-01 -5.05637108e-03 4.57737383e+02] [ 5.10642517e-03 4.38417020e-05 9.99986961e-01 2.30275450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.7203857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.04, Y:457.76, Z:23.03 [[ 1.47460307e-01 -9.89067717e-01 -7.13007280e-04 4.36037016e+02] [ 9.89054792e-01 1.47462026e-01 -5.05659157e-03 4.57764736e+02] [ 5.10645298e-03 4.04432791e-05 9.99986961e-01 2.30287205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.750385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.04, Y:457.79, Z:23.03 [[ 1.46478389e-01 -9.89213615e-01 -7.11609519e-04 4.36043720e+02] [ 9.89200690e-01 1.46480113e-01 -5.05678826e-03 4.57791185e+02] [ 5.10648044e-03 3.67855728e-05 9.99986961e-01 2.30292551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.780385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:436.05, Y:457.82, Z:23.03 [[ 1.45475690e-01 -9.89361572e-01 -7.10134774e-04 4.36048597e+02] [ 9.89348648e-01 1.45477419e-01 -5.05699536e-03 4.57819110e+02] [ 5.10650545e-03 3.30990093e-05 9.99986961e-01 2.30295686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.810385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.05, Y:457.85, Z:23.03 [[ 1.44722175e-01 -9.89472076e-01 -7.08768697e-04 4.36053371e+02] [ 9.89459153e-01 1.44723907e-01 -5.05718681e-03 4.57845573e+02] [ 5.10652091e-03 3.05894011e-05 9.99986961e-01 2.30286811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.8403857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.06, Y:457.87, Z:23.03 [[ 1.43626079e-01 -9.89631775e-01 -7.07332683e-04 4.36059687e+02] [ 9.89618852e-01 1.43627819e-01 -5.05738766e-03 4.57873025e+02] [ 5.10654417e-03 2.63830034e-05 9.99986961e-01 2.30301269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.870385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.07, Y:457.90, Z:23.03 [[ 1.42514265e-01 -9.89792496e-01 -7.05985926e-04 4.36065993e+02] [ 9.89779575e-01 1.42516012e-01 -5.05757565e-03 4.57900661e+02] [ 5.10656473e-03 2.20062251e-05 9.99986961e-01 2.30305535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.900385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.07, Y:457.93, Z:23.03 [[ 1.41787312e-01 -9.89896895e-01 -7.04603645e-04 4.36070917e+02] [ 9.89883974e-01 1.41789061e-01 -5.05776822e-03 4.57927884e+02] [ 5.10657414e-03 1.96515045e-05 9.99986961e-01 2.30307460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.930385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.08, Y:457.95, Z:23.03 [[ 1.40401892e-01 -9.90094346e-01 -7.03232702e-04 4.36076766e+02] [ 9.90081427e-01 1.40403653e-01 -5.05795883e-03 4.57954785e+02] [ 5.10659288e-03 1.38893526e-05 9.99986961e-01 2.30305467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.960385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.08, Y:457.98, Z:23.03 [[ 1.39451062e-01 -9.90228716e-01 -7.01785033e-04 4.36080764e+02] [ 9.90215797e-01 1.39452827e-01 -5.05815968e-03 4.57982358e+02] [ 5.10660087e-03 1.04471114e-05 9.99986961e-01 2.30321541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.990385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.08, Y:458.01, Z:23.03 [[ 1.39166626e-01 -9.90268731e-01 -7.00434006e-04 4.36083845e+02] [ 9.90255812e-01 1.39168389e-01 -5.05834676e-03 4.58009910e+02] [ 5.10660090e-03 1.03442073e-05 9.99986961e-01 2.30330176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.020385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.09, Y:458.04, Z:23.03 [[ 1.38996364e-01 -9.90292645e-01 -6.99084965e-04 4.36086682e+02] [ 9.90279725e-01 1.38998121e-01 -5.05853319e-03 4.58037834e+02] [ 5.10659971e-03 1.08280528e-05 9.99986961e-01 2.30333803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.050385723 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:436.09, Y:458.07, Z:23.03 [[ 1.39463293e-01 -9.90226996e-01 -6.97712839e-04 4.36089199e+02] [ 9.90214074e-01 1.39465037e-01 -5.05872244e-03 4.58065961e+02] [ 5.10659007e-03 1.46210144e-05 9.99986961e-01 2.30336748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.080385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.09, Y:458.09, Z:23.03 [[ 1.39529033e-01 -9.90217736e-01 -6.96337752e-04 4.36091242e+02] [ 9.90204813e-01 1.39530770e-01 -5.05891172e-03 4.58092481e+02] [ 5.10658465e-03 1.63480666e-05 9.99986961e-01 2.30332964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.110385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.09, Y:458.12, Z:23.03 [[ 1.39050248e-01 -9.90285083e-01 -6.94739653e-04 4.36094111e+02] [ 9.90272160e-01 1.39051982e-01 -5.05913117e-03 4.58120004e+02] [ 5.10658706e-03 1.54921058e-05 9.99986961e-01 2.30348811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.140385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.10, Y:458.15, Z:23.04 [[ 1.37692981e-01 -9.90474716e-01 -6.93104649e-04 4.36096523e+02] [ 9.90461794e-01 1.37694725e-01 -5.05935516e-03 4.58148349e+02] [ 5.10660022e-03 1.01440206e-05 9.99986961e-01 2.30358929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.170385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.10, Y:458.18, Z:23.04 [[ 1.36994548e-01 -9.90571560e-01 -6.91720076e-04 4.36099617e+02] [ 9.90558639e-01 1.36996295e-01 -5.05954445e-03 4.58176336e+02] [ 5.10660393e-03 7.94071123e-06 9.99986961e-01 2.30366307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.200385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.10, Y:458.20, Z:23.04 [[ 1.35607688e-01 -9.90762372e-01 -6.90324510e-04 4.36101090e+02] [ 9.90749453e-01 1.35609445e-01 -5.05973486e-03 4.58203218e+02] [ 5.10660943e-03 2.20031522e-06 9.99986961e-01 2.30366361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.2303857229999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:436.10, Y:458.23, Z:23.04 [[ 1.35227997e-01 -9.90814268e-01 -6.88851707e-04 4.36103851e+02] [ 9.90801348e-01 1.35229751e-01 -5.05993536e-03 4.58230185e+02] [ 5.10660940e-03 1.72972392e-06 9.99986961e-01 2.30363294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.260385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:436.11, Y:458.26, Z:23.04 [[ 1.34735678e-01 -9.90881337e-01 -6.87414564e-04 4.36105936e+02] [ 9.90868417e-01 1.34737432e-01 -5.06013060e-03 4.58258587e+02] [ 5.10660945e-03 6.42746144e-07 9.99986961e-01 2.30363125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.290385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.11, Y:458.29, Z:23.04 [[ 1.34033207e-01 -9.90976604e-01 -6.86063328e-04 4.36108232e+02] [ 9.90963684e-01 1.34034962e-01 -5.06031379e-03 4.58286461e+02] [ 5.10660905e-03 -1.61375817e-06 9.99986961e-01 2.30367117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.320385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.11, Y:458.31, Z:23.04 [[ 1.33595676e-01 -9.91035684e-01 -6.84659320e-04 4.36110598e+02] [ 9.91022764e-01 1.33597430e-01 -5.06050375e-03 4.58314874e+02] [ 5.10660852e-03 -2.45155279e-06 9.99986961e-01 2.30366086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.3503857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.11, Y:458.34, Z:23.04 [[ 1.32629495e-01 -9.91165451e-01 -6.83254237e-04 4.36113473e+02] [ 9.91152531e-01 1.32631255e-01 -5.06069345e-03 4.58342344e+02] [ 5.10660537e-03 -6.01194956e-06 9.99986961e-01 2.30369134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.380385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.12, Y:458.37, Z:23.04 [[ 1.32355562e-01 -9.91202068e-01 -6.81835591e-04 4.36116916e+02] [ 9.91189148e-01 1.32357318e-01 -5.06088458e-03 4.58370148e+02] [ 5.10660520e-03 -5.99181464e-06 9.99986961e-01 2.30371546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.410385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.12, Y:458.40, Z:23.04 [[ 1.32186582e-01 -9.91224619e-01 -6.80427695e-04 4.36120195e+02] [ 9.91211698e-01 1.32188333e-01 -5.06107386e-03 4.58397527e+02] [ 5.10660561e-03 -5.44183592e-06 9.99986961e-01 2.30372019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.440385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.12, Y:458.42, Z:23.04 [[ 1.33285420e-01 -9.91077462e-01 -6.78942849e-04 4.36122346e+02] [ 9.91064538e-01 1.33287149e-01 -5.06127305e-03 4.58423453e+02] [ 5.10660800e-03 1.71772420e-06 9.99986961e-01 2.30365031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.4703857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.13, Y:458.45, Z:23.03 [[ 1.32642409e-01 -9.91163740e-01 -6.57157634e-04 4.36126845e+02] [ 9.91150803e-01 1.32644035e-01 -5.06418784e-03 4.58454420e+02] [ 5.10660740e-03 2.03837586e-05 9.99986961e-01 2.30330873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.500385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.13, Y:458.48, Z:23.04 [[ 1.30851995e-01 -9.91401663e-01 -7.05272320e-04 4.36127839e+02] [ 9.91388763e-01 1.30853890e-01 -5.05775132e-03 4.58479374e+02] [ 5.10655070e-03 -3.73822028e-05 9.99986961e-01 2.30363401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.530385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.13, Y:458.51, Z:23.04 [[ 1.29432462e-01 -9.91588010e-01 -6.74762601e-04 4.36130806e+02] [ 9.91575091e-01 1.29434221e-01 -5.06181840e-03 4.58506730e+02] [ 5.10657581e-03 -1.39141665e-05 9.99986961e-01 2.30368864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.560385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.13, Y:458.53, Z:23.04 [[ 1.28420230e-01 -9.91719613e-01 -6.73304811e-04 4.36133864e+02] [ 9.91706694e-01 1.28421994e-01 -5.06201231e-03 4.58534860e+02] [ 5.10656403e-03 -1.76561034e-05 9.99986961e-01 2.30375435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.5903857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.14, Y:458.56, Z:23.04 [[ 1.27488454e-01 -9.91839827e-01 -6.71929486e-04 4.36136132e+02] [ 9.91826909e-01 1.27490223e-01 -5.06219486e-03 4.58563269e+02] [ 5.10655091e-03 -2.10663460e-05 9.99986961e-01 2.30379267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.620385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.14, Y:458.59, Z:23.04 [[ 1.28658831e-01 -9.91688689e-01 -6.70545614e-04 4.36142069e+02] [ 9.91675768e-01 1.28660577e-01 -5.06237816e-03 4.58593293e+02] [ 5.10657595e-03 -1.36441818e-05 9.99986961e-01 2.30363751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.650385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.15, Y:458.62, Z:23.04 [[ 1.27895791e-01 -9.91787358e-01 -7.09007245e-04 4.36145118e+02] [ 9.91774466e-01 1.27897743e-01 -5.05728187e-03 4.58622380e+02] [ 5.10642865e-03 -5.63702193e-05 9.99986961e-01 2.30368850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.680385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.14, Y:458.65, Z:23.04 [[ 1.25313514e-01 -9.92116935e-01 -7.13920850e-04 4.36144731e+02] [ 9.92104052e-01 1.25315526e-01 -5.05663222e-03 4.58646810e+02] [ 5.10623582e-03 -7.46194137e-05 9.99986960e-01 2.30393040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.710385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.15, Y:458.67, Z:23.04 [[ 1.24387546e-01 -9.92233488e-01 -6.66724411e-04 4.36147639e+02] [ 9.92220572e-01 1.24389328e-01 -5.06284750e-03 4.58674997e+02] [ 5.10646024e-03 -3.17825010e-05 9.99986961e-01 2.30401900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.740385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.15, Y:458.70, Z:23.04 [[ 1.23931958e-01 -9.92290495e-01 -6.65298226e-04 4.36150666e+02] [ 9.92277579e-01 1.23933739e-01 -5.06303491e-03 4.58701846e+02] [ 5.10645431e-03 -3.26886852e-05 9.99986961e-01 2.30403411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.770385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.15, Y:458.73, Z:23.04 [[ 1.23378384e-01 -9.92359478e-01 -6.63798589e-04 4.36153402e+02] [ 9.92346562e-01 1.23380165e-01 -5.06323151e-03 4.58728688e+02] [ 5.10644536e-03 -3.40249228e-05 9.99986961e-01 2.30397907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.800385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.16, Y:458.76, Z:23.04 [[ 1.23396802e-01 -9.92357189e-01 -6.62312738e-04 4.36156883e+02] [ 9.92344272e-01 1.23398575e-01 -5.06342587e-03 4.58756894e+02] [ 5.10645551e-03 -3.24316927e-05 9.99986961e-01 2.30399462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.830385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.16, Y:458.78, Z:23.04 [[ 1.24236906e-01 -9.92252364e-01 -6.60913924e-04 4.36159585e+02] [ 9.92239444e-01 1.24238661e-01 -5.06360844e-03 4.58784419e+02] [ 5.10648851e-03 -2.66978184e-05 9.99986961e-01 2.30399037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.860385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.16, Y:458.81, Z:23.04 [[ 1.24943132e-01 -9.92163686e-01 -6.59516902e-04 4.36162638e+02] [ 9.92150763e-01 1.24944871e-01 -5.06379039e-03 4.58810826e+02] [ 5.10651219e-03 -2.16543647e-05 9.99986961e-01 2.30391561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.890385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.17, Y:458.84, Z:23.04 [[ 1.25979999e-01 -9.92032563e-01 -6.58391755e-04 4.36165653e+02] [ 9.92019639e-01 1.25981719e-01 -5.06393668e-03 4.58839035e+02] [ 5.10653541e-03 -1.51828123e-05 9.99986961e-01 2.30402399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.920385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.17, Y:458.87, Z:23.04 [[ 1.24758260e-01 -9.92186951e-01 -6.57006925e-04 4.36166407e+02] [ 9.92174027e-01 1.24759989e-01 -5.06411635e-03 4.58866497e+02] [ 5.10651833e-03 -2.00748621e-05 9.99986961e-01 2.30398897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.950385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.17, Y:458.89, Z:23.04 [[ 1.27188651e-01 -9.91878345e-01 -6.29968747e-04 4.36172106e+02] [ 9.91865399e-01 1.27190209e-01 -5.06761288e-03 4.58894958e+02] [ 5.10658133e-03 1.96986419e-05 9.99986961e-01 2.30394123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.9803857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.18, Y:458.92, Z:23.04 [[ 1.26710752e-01 -9.91939492e-01 -6.55156767e-04 4.36176194e+02] [ 9.91926564e-01 1.26712446e-01 -5.06435440e-03 4.58921306e+02] [ 5.10654965e-03 -8.15924491e-06 9.99986961e-01 2.30396301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.010385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.18, Y:458.95, Z:23.04 [[ 1.26219768e-01 -9.92002088e-01 -6.54168319e-04 4.36179981e+02] [ 9.91989160e-01 1.26221463e-01 -5.06448208e-03 4.58949545e+02] [ 5.10654688e-03 -9.69012801e-06 9.99986961e-01 2.30403329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.040385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.18, Y:458.98, Z:23.04 [[ 1.25777144e-01 -9.92058307e-01 -6.52832641e-04 4.36183073e+02] [ 9.92045379e-01 1.25778838e-01 -5.06465425e-03 4.58976004e+02] [ 5.10654485e-03 -1.06218589e-05 9.99986961e-01 2.30402281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.070385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.19, Y:459.00, Z:23.04 [[ 1.25509048e-01 -9.92092261e-01 -6.51254659e-04 4.36185913e+02] [ 9.92079333e-01 1.25510737e-01 -5.06485715e-03 4.59002898e+02] [ 5.10654503e-03 -1.04108892e-05 9.99986961e-01 2.30397890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.1003857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.19, Y:459.03, Z:23.04 [[ 1.25561625e-01 -9.92085609e-01 -6.49772338e-04 4.36189541e+02] [ 9.92072680e-01 1.25563306e-01 -5.06504731e-03 4.59030951e+02] [ 5.10654811e-03 -8.64581561e-06 9.99986961e-01 2.30397544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.130385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.19, Y:459.06, Z:23.04 [[ 1.25438622e-01 -9.92101170e-01 -6.48417747e-04 4.36193420e+02] [ 9.92088240e-01 1.25440298e-01 -5.06522071e-03 4.59057792e+02] [ 5.10654911e-03 -7.91331453e-06 9.99986961e-01 2.30394302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.160385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.20, Y:459.09, Z:23.04 [[ 1.26884705e-01 -9.91917261e-01 -6.46984248e-04 4.36197609e+02] [ 9.91904327e-01 1.26886355e-01 -5.06540381e-03 4.59085541e+02] [ 5.10655495e-03 9.75793537e-07 9.99986961e-01 2.30407039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.190385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.20, Y:459.11, Z:23.04 [[ 1.27907548e-01 -9.91785885e-01 -6.45572536e-04 4.36200818e+02] [ 9.91772949e-01 1.27909177e-01 -5.06558372e-03 4.59112832e+02] [ 5.10654909e-03 7.66501731e-06 9.99986961e-01 2.30403483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.2203857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.20, Y:459.14, Z:23.04 [[ 1.31122839e-01 -9.91365920e-01 -6.44084407e-04 4.36204709e+02] [ 9.91352977e-01 1.31124418e-01 -5.06577293e-03 4.59140518e+02] [ 5.10648983e-03 2.57235340e-05 9.99986961e-01 2.30398540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.250385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.21, Y:459.17, Z:23.04 [[ 1.32517648e-01 -9.91180438e-01 -6.42695935e-04 4.36208299e+02] [ 9.91167492e-01 1.32519202e-01 -5.06594908e-03 4.59167896e+02] [ 5.10643918e-03 3.43083381e-05 9.99986962e-01 2.30394825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.280385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.21, Y:459.19, Z:23.04 [[ 1.35439984e-01 -9.90785345e-01 -6.41302277e-04 4.36212672e+02] [ 9.90772394e-01 1.35441493e-01 -5.06612550e-03 4.59194401e+02] [ 5.10630183e-03 5.07713636e-05 9.99986962e-01 2.30386226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.310385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.22, Y:459.22, Z:23.04 [[ 1.36402358e-01 -9.90653313e-01 -6.39833747e-04 4.36216935e+02] [ 9.90640360e-01 1.36403847e-01 -5.06631096e-03 4.59220746e+02] [ 5.10623352e-03 5.72116290e-05 9.99986962e-01 2.30378773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.3403857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.22, Y:459.25, Z:23.04 [[ 1.37147448e-01 -9.90550438e-01 -6.38394675e-04 4.36221843e+02] [ 9.90537483e-01 1.37148920e-01 -5.06649229e-03 4.59248830e+02] [ 5.10617129e-03 6.25026328e-05 9.99986962e-01 2.30384346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.370385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.23, Y:459.28, Z:23.04 [[ 1.36877148e-01 -9.90587826e-01 -6.37011126e-04 4.36225342e+02] [ 9.90574870e-01 1.36878616e-01 -5.06666624e-03 4.59277206e+02] [ 5.10617109e-03 6.25036096e-05 9.99986962e-01 2.30385800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.400385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:436.23, Y:459.30, Z:23.04 [[ 1.36714904e-01 -9.90610232e-01 -6.35628501e-04 4.36230529e+02] [ 9.90597276e-01 1.36716367e-01 -5.06683968e-03 4.59304754e+02] [ 5.10616405e-03 6.30606396e-05 9.99986962e-01 2.30393245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.430385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.24, Y:459.33, Z:23.04 [[ 1.36078951e-01 -9.90697793e-01 -6.34214507e-04 4.36235061e+02] [ 9.90684837e-01 1.36080415e-01 -5.06701667e-03 4.59332479e+02] [ 5.10618640e-03 6.12076147e-05 9.99986962e-01 2.30399805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.460385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.24, Y:459.36, Z:23.04 [[ 1.34444484e-01 -9.90920925e-01 -6.32806778e-04 4.36240095e+02] [ 9.90907971e-01 1.34445962e-01 -5.06719247e-03 4.59359383e+02] [ 5.10626537e-03 5.42027946e-05 9.99986962e-01 2.30402070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.490385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:436.24, Y:459.39, Z:23.04 [[ 1.33261121e-01 -9.91080761e-01 -6.31325257e-04 4.36244397e+02] [ 9.91067808e-01 1.33262607e-01 -5.06737705e-03 4.59387013e+02] [ 5.10631195e-03 4.95982082e-05 9.99986962e-01 2.30400987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.520385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.25, Y:459.41, Z:23.04 [[ 1.31168451e-01 -9.91359895e-01 -6.29937677e-04 4.36250557e+02] [ 9.91346943e-01 1.31169958e-01 -5.06754953e-03 4.59414225e+02] [ 5.10639427e-03 4.02158341e-05 9.99986962e-01 2.30406397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.550385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:436.26, Y:459.44, Z:23.04 [[ 1.29978022e-01 -9.91516676e-01 -6.28544584e-04 4.36255309e+02] [ 9.91503726e-01 1.29979536e-01 -5.06772232e-03 4.59441795e+02] [ 5.10642912e-03 3.54882235e-05 9.99986962e-01 2.30412810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.580385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.26, Y:459.47, Z:23.04 [[ 1.27883992e-01 -9.91788935e-01 -6.27135291e-04 4.36260130e+02] [ 9.91775987e-01 1.27885527e-01 -5.06789671e-03 4.59468395e+02] [ 5.10648541e-03 2.61251406e-05 9.99986962e-01 2.30415929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.610385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.26, Y:459.50, Z:23.04 [[ 1.26443829e-01 -9.91973571e-01 -6.26109369e-04 4.36263577e+02] [ 9.91960625e-01 1.26445378e-01 -5.06802346e-03 4.59495073e+02] [ 5.10651396e-03 1.97444507e-05 9.99986962e-01 2.30412769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.640385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.27, Y:459.52, Z:23.04 [[ 1.23777056e-01 -9.92309856e-01 -6.24641110e-04 4.36268077e+02] [ 9.92296913e-01 1.23778632e-01 -5.06820441e-03 4.59523013e+02] [ 5.10654641e-03 7.49797625e-06 9.99986962e-01 2.30418514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.670385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.27, Y:459.55, Z:23.04 [[ 1.21549220e-01 -9.92585210e-01 -6.23243497e-04 4.36272384e+02] [ 9.92572270e-01 1.21550818e-01 -5.06837627e-03 4.59550243e+02] [ 5.10655109e-03 -2.55702978e-06 9.99986962e-01 2.30412706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.700385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.28, Y:459.58, Z:23.04 [[ 1.20658351e-01 -9.92693898e-01 -6.21776102e-04 4.36276150e+02] [ 9.92680959e-01 1.20659953e-01 -5.06855629e-03 4.59578462e+02] [ 5.10654837e-03 -5.66165526e-06 9.99986962e-01 2.30417455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.7303857229999 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:436.28, Y:459.61, Z:23.04 [[ 1.18464953e-01 -9.92958041e-01 -6.20393292e-04 4.36279972e+02] [ 9.92945103e-01 1.18466576e-01 -5.06872554e-03 4.59606015e+02] [ 5.10652765e-03 -1.55501505e-05 9.99986962e-01 2.30419763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.760385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.28, Y:459.63, Z:23.04 [[ 1.16878804e-01 -9.93145986e-01 -6.28659114e-04 4.36282976e+02] [ 9.93133057e-01 1.16880490e-01 -5.06771585e-03 4.59633302e+02] [ 5.10645964e-03 -3.20335809e-05 9.99986961e-01 2.30415939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.790385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.28, Y:459.66, Z:23.04 [[ 1.15887918e-01 -9.93262093e-01 -6.37006818e-04 4.36284765e+02] [ 9.93249171e-01 1.15889660e-01 -5.06669836e-03 4.59658953e+02] [ 5.10638192e-03 -4.55373697e-05 9.99986961e-01 2.30409233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.820385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.29, Y:459.69, Z:23.04 [[ 1.14828304e-01 -9.93385163e-01 -6.16026570e-04 4.36287621e+02] [ 9.93372229e-01 1.14829953e-01 -5.06924793e-03 4.59685421e+02] [ 5.10645398e-03 -2.98505438e-05 9.99986962e-01 2.30403497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.8503857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.29, Y:459.71, Z:23.04 [[ 1.13648530e-01 -9.93520827e-01 -6.14604252e-04 4.36290920e+02] [ 9.93507894e-01 1.13650187e-01 -5.06942037e-03 4.59713641e+02] [ 5.10642461e-03 -3.44820014e-05 9.99986962e-01 2.30425552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.880385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.29, Y:459.74, Z:23.04 [[ 1.13663434e-01 -9.93519123e-01 -6.13206642e-04 4.36293494e+02] [ 9.93506189e-01 1.13665083e-01 -5.06958942e-03 4.59740093e+02] [ 5.10643422e-03 -3.29976518e-05 9.99986962e-01 2.30446717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.910385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.30, Y:459.77, Z:23.05 [[ 1.13722594e-01 -9.93512354e-01 -6.12074294e-04 4.36295917e+02] [ 9.93499419e-01 1.13724236e-01 -5.06972613e-03 4.59767274e+02] [ 5.10644323e-03 -3.15530509e-05 9.99986962e-01 2.30451897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.940385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.30, Y:459.80, Z:23.05 [[ 1.14481180e-01 -9.93425229e-01 -6.11068557e-04 4.36297319e+02] [ 9.93412293e-01 1.14482808e-01 -5.06984735e-03 4.59795085e+02] [ 5.10647111e-03 -2.66409062e-05 9.99986962e-01 2.30468795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.9703857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.30, Y:459.82, Z:23.05 [[ 1.14711884e-01 -9.93398617e-01 -6.09646842e-04 4.36299556e+02] [ 9.93385679e-01 1.14713501e-01 -5.07001831e-03 4.59823026e+02] [ 5.10648390e-03 -2.40230904e-05 9.99986962e-01 2.30451373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.000385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.30, Y:459.85, Z:23.05 [[ 1.14790903e-01 -9.93389492e-01 -6.05412811e-04 4.36301167e+02] [ 9.93376551e-01 1.14792498e-01 -5.07052640e-03 4.59850245e+02] [ 5.10650449e-03 -1.93525874e-05 9.99986962e-01 2.30473611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.030385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:436.30, Y:459.88, Z:23.05 [[ 1.13779577e-01 -9.93505832e-01 -6.07624508e-04 4.36302077e+02] [ 9.93492895e-01 1.13781196e-01 -5.07026134e-03 4.59877499e+02] [ 5.10647046e-03 -2.67784397e-05 9.99986962e-01 2.30476093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.060385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.30, Y:459.91, Z:23.05 [[ 1.11589267e-01 -9.93754229e-01 -6.06123497e-04 4.36304279e+02] [ 9.93741294e-01 1.11590907e-01 -5.07044078e-03 4.59905879e+02] [ 5.10640984e-03 -3.65231803e-05 9.99986962e-01 2.30514134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.0903857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.31, Y:459.94, Z:23.05 [[ 1.11798051e-01 -9.93730763e-01 -6.04720899e-04 4.36308718e+02] [ 9.93717827e-01 1.11799682e-01 -5.07060805e-03 4.59935298e+02] [ 5.10642681e-03 -3.40378383e-05 9.99986962e-01 2.30490009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.120385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.31, Y:459.96, Z:23.05 [[ 1.07658111e-01 -9.94187776e-01 -6.30833286e-04 4.36306808e+02] [ 9.94174864e-01 1.07659928e-01 -5.06749624e-03 4.59963295e+02] [ 5.10595828e-03 -8.16015250e-05 9.99986961e-01 2.30495874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.150385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.31, Y:459.99, Z:23.05 [[ 1.04424351e-01 -9.94532642e-01 -6.16008562e-04 4.36306069e+02] [ 9.94519726e-01 1.04426135e-01 -5.06925751e-03 4.59990155e+02] [ 5.10586945e-03 -8.32787411e-05 9.99986962e-01 2.30506624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.180385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.31, Y:460.02, Z:23.05 [[ 1.00997972e-01 -9.94886450e-01 -6.01082736e-04 4.36305541e+02] [ 9.94873530e-01 1.00999724e-01 -5.07102671e-03 4.60018952e+02] [ 5.10580495e-03 -8.58378880e-05 9.99986962e-01 2.30506378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.210385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.31, Y:460.05, Z:23.05 [[ 9.95276718e-02 -9.95034614e-01 -5.99688039e-04 4.36306672e+02] [ 9.95021696e-01 9.95294359e-02 -5.07119164e-03 4.60046887e+02] [ 5.10569782e-03 -9.19787131e-05 9.99986962e-01 2.30504676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.240385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.31, Y:460.08, Z:23.05 [[ 9.77773493e-02 -9.95208135e-01 -5.98300566e-04 4.36306273e+02] [ 9.95195219e-01 9.77791291e-02 -5.07135533e-03 4.60075558e+02] [ 5.10555538e-03 -9.95621821e-05 9.99986962e-01 2.30514668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.270385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:436.30, Y:460.10, Z:23.05 [[ 9.63997794e-02 -9.95342514e-01 -6.02040178e-04 4.36303337e+02] [ 9.95329603e-01 9.64015961e-02 -5.07091476e-03 4.60103191e+02] [ 5.10533468e-03 -1.10393347e-04 9.99986962e-01 2.30520597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.300385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.30, Y:460.13, Z:23.05 [[ 9.51020980e-02 -9.95467345e-01 -5.96315818e-04 4.36302005e+02] [ 9.95454432e-01 9.51039024e-02 -5.07158783e-03 4.60130626e+02] [ 5.10531204e-03 -1.11286582e-04 9.99986962e-01 2.30532088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.330385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.30, Y:460.16, Z:23.05 [[ 9.68464783e-02 -9.95299168e-01 -5.70334912e-04 4.36300542e+02] [ 9.95286234e-01 9.68481277e-02 -5.07463155e-03 4.60160149e+02] [ 5.10601243e-03 -7.61862927e-05 9.99986961e-01 2.30530119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.360385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.30, Y:460.19, Z:23.05 [[ 9.69320712e-02 -9.95290823e-01 -5.93600132e-04 4.36300303e+02] [ 9.95277904e-01 9.69338380e-02 -5.07190866e-03 4.60187497e+02] [ 5.10556408e-03 -9.91664842e-05 9.99986962e-01 2.30530937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.390385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.30, Y:460.22, Z:23.05 [[ 9.78771358e-02 -9.95198330e-01 -5.92115284e-04 4.36296292e+02] [ 9.95185409e-01 9.78788828e-02 -5.07208200e-03 4.60216412e+02] [ 5.10568312e-03 -9.28236326e-05 9.99986962e-01 2.30534240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.420385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.29, Y:460.24, Z:23.05 [[ 9.72273942e-02 -9.95262018e-01 -5.90733315e-04 4.36293567e+02] [ 9.95249098e-01 9.72291426e-02 -5.07224295e-03 4.60242590e+02] [ 5.10564725e-03 -9.47658342e-05 9.99986962e-01 2.30539370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.450385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:436.29, Y:460.27, Z:23.05 [[ 1.00047374e-01 -9.94982516e-01 -5.62367213e-04 4.36290987e+02] [ 9.94969572e-01 1.00048941e-01 -5.07553521e-03 4.60271833e+02] [ 5.10633303e-03 -5.17442976e-05 9.99986961e-01 2.30540876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.4803857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.29, Y:460.30, Z:23.05 [[ 1.00319216e-01 -9.94955129e-01 -5.87786417e-04 4.36290394e+02] [ 9.94942201e-01 1.00320909e-01 -5.07258976e-03 4.60299678e+02] [ 5.10596647e-03 -7.59352835e-05 9.99986962e-01 2.30542557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.510385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.28, Y:460.33, Z:23.06 [[ 9.89535622e-02 -9.95091880e-01 -5.86422381e-04 4.36283749e+02] [ 9.95078953e-01 9.89552662e-02 -5.07274744e-03 4.60327276e+02] [ 5.10587937e-03 -8.15701387e-05 9.99986962e-01 2.30551844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.540385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.28, Y:460.36, Z:23.05 [[ 9.80198313e-02 -9.95184302e-01 -5.64446804e-04 4.36280573e+02] [ 9.95171362e-01 9.80214355e-02 -5.07528156e-03 4.60356519e+02] [ 5.10616842e-03 -6.42430524e-05 9.99986961e-01 2.30548045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.570385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.28, Y:460.38, Z:23.05 [[ 9.64708522e-02 -9.95335638e-01 -5.84652849e-04 4.36279898e+02] [ 9.95322715e-01 9.64725794e-02 -5.07295283e-03 4.60383907e+02] [ 5.10569371e-03 -9.25261783e-05 9.99986962e-01 2.30543806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.6003857229999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:436.28, Y:460.41, Z:23.05 [[ 9.25636743e-02 -9.95706596e-01 -5.83178137e-04 4.36275703e+02] [ 9.95693679e-01 9.25654448e-02 -5.07312236e-03 4.60411829e+02] [ 5.10532354e-03 -1.11079939e-04 9.99986962e-01 2.30539995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.630385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.28, Y:460.44, Z:23.06 [[ 8.99917076e-02 -9.95942345e-01 -5.82170632e-04 4.36275172e+02] [ 9.95929431e-01 8.99935063e-02 -5.07323797e-03 4.60440429e+02] [ 5.10504410e-03 -1.23251517e-04 9.99986962e-01 2.30552801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.660385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.27, Y:460.47, Z:23.05 [[ 8.64038202e-02 -9.96260028e-01 -5.80757608e-04 4.36271568e+02] [ 9.96247119e-01 8.64056581e-02 -5.07339972e-03 4.60470256e+02] [ 5.10460609e-03 -1.40216976e-04 9.99986962e-01 2.30546987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.690385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.27, Y:460.50, Z:23.05 [[ 8.53056941e-02 -9.96354654e-01 -5.84795399e-04 4.36270204e+02] [ 9.96341751e-01 8.53075668e-02 -5.07293806e-03 4.60495873e+02] [ 5.10433292e-03 -1.49905569e-04 9.99986962e-01 2.30527503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.7203857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.27, Y:460.53, Z:23.05 [[ 8.25088303e-02 -9.96590183e-01 -5.48301735e-04 4.36266939e+02] [ 9.96577258e-01 8.25105536e-02 -5.07708609e-03 4.60527214e+02] [ 5.10501483e-03 -1.27520606e-04 9.99986961e-01 2.30522900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.750385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.27, Y:460.56, Z:23.05 [[ 8.17371266e-02 -9.96653750e-01 -5.87091281e-04 4.36266540e+02] [ 9.96640855e-01 8.17390572e-02 -5.07269020e-03 4.60556792e+02] [ 5.10370400e-03 -1.70492035e-04 9.99986962e-01 2.30538779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.780385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.26, Y:460.59, Z:23.05 [[ 8.36342587e-02 -9.96496346e-01 -5.86163535e-04 4.36263818e+02] [ 9.96483447e-01 8.36361601e-02 -5.07279507e-03 4.60585567e+02] [ 5.10404622e-03 -1.59842804e-04 9.99986962e-01 2.30533720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.810385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:436.26, Y:460.62, Z:23.05 [[ 8.88173365e-02 -9.96047756e-01 -5.91233620e-04 4.36263870e+02] [ 9.96034850e-01 8.88191965e-02 -5.07222227e-03 4.60616857e+02] [ 5.10468850e-03 -1.38388018e-04 9.99986961e-01 2.30533725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.8403857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.26, Y:460.64, Z:23.06 [[ 8.79938642e-02 -9.96120819e-01 -6.27936512e-04 4.36259662e+02] [ 9.96107942e-01 8.79959216e-02 -5.06807602e-03 4.60641556e+02] [ 5.10367188e-03 -1.79532954e-04 9.99986960e-01 2.30557068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.870385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.26, Y:460.67, Z:23.06 [[ 9.23732909e-02 -9.95724284e-01 -5.69938917e-04 4.36256881e+02] [ 9.95711358e-01 9.23749964e-02 -5.07458987e-03 4.60670156e+02] [ 5.10554047e-03 -9.87380867e-05 9.99986962e-01 2.30560331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.900385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.26, Y:460.70, Z:23.05 [[ 9.77409632e-02 -9.95211727e-01 -5.68554465e-04 4.36262673e+02] [ 9.95198791e-01 9.77425919e-02 -5.07474498e-03 4.60702706e+02] [ 5.10601770e-03 -6.98142532e-05 9.99986962e-01 2.30539810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.930385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.26, Y:460.73, Z:23.06 [[ 9.76294866e-02 -9.95222627e-01 -6.36784670e-04 4.36257235e+02] [ 9.95209738e-01 9.76314643e-02 -5.06708427e-03 4.60726865e+02] [ 5.10504714e-03 -1.39037469e-04 9.99986960e-01 2.30570679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.960385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.26, Y:460.75, Z:23.06 [[ 9.88147453e-02 -9.95105686e-01 -5.65956429e-04 4.36258326e+02] [ 9.95092747e-01 9.88163468e-02 -5.07498297e-03 4.60754893e+02] [ 5.10607015e-03 -6.16959884e-05 9.99986962e-01 2.30574110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.990385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.26, Y:460.78, Z:23.06 [[ 1.00577637e-01 -9.94929053e-01 -5.64599505e-04 4.36257360e+02] [ 9.94916110e-01 1.00579209e-01 -5.07513392e-03 4.60783372e+02] [ 5.10618516e-03 -5.12841657e-05 9.99986962e-01 2.30589287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.020385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.26, Y:460.81, Z:23.06 [[ 1.00999357e-01 -9.94886332e-01 -5.63183223e-04 4.36258418e+02] [ 9.94873387e-01 1.01000916e-01 -5.07529108e-03 4.60810502e+02] [ 5.10621975e-03 -4.76948658e-05 9.99986962e-01 2.30585797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.050385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.26, Y:460.84, Z:23.06 [[ 1.01957936e-01 -9.94788552e-01 -5.62222492e-04 4.36258041e+02] [ 9.94775606e-01 1.01959477e-01 -5.07539750e-03 4.60837245e+02] [ 5.10627125e-03 -4.18081677e-05 9.99986962e-01 2.30581379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.080385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.26, Y:460.87, Z:23.06 [[ 1.01937297e-01 -9.94790668e-01 -5.61316869e-04 4.36259829e+02] [ 9.94777721e-01 1.01938834e-01 -5.07549766e-03 4.60865198e+02] [ 5.10627769e-03 -4.10030045e-05 9.99986962e-01 2.30597220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.110385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.26, Y:460.89, Z:23.06 [[ 1.01125646e-01 -9.94873505e-01 -5.59897554e-04 4.36261711e+02] [ 9.94860558e-01 1.01127187e-01 -5.07565423e-03 4.60891778e+02] [ 5.10625477e-03 -4.37411783e-05 9.99986962e-01 2.30577825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.140385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.26, Y:460.92, Z:23.06 [[ 1.00560657e-01 -9.94930773e-01 -5.58632123e-04 4.36264414e+02] [ 9.94917826e-01 1.00562198e-01 -5.07579350e-03 4.60920069e+02] [ 5.10624042e-03 -4.53679310e-05 9.99986962e-01 2.30586832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.170385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.27, Y:460.95, Z:23.06 [[ 1.00350400e-01 -9.94952002e-01 -5.57247674e-04 4.36266415e+02] [ 9.94939055e-01 1.00351937e-01 -5.07594548e-03 4.60947674e+02] [ 5.10624301e-03 -4.50543159e-05 9.99986962e-01 2.30581894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.200385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.27, Y:460.97, Z:23.06 [[ 1.01298811e-01 -9.94855890e-01 -5.55839174e-04 4.36268257e+02] [ 9.94842941e-01 1.01300329e-01 -5.07609972e-03 4.60974210e+02] [ 5.10629439e-03 -3.87698122e-05 9.99986962e-01 2.30575941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.2303857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.27, Y:461.00, Z:23.06 [[ 1.01455395e-01 -9.94839935e-01 -5.54361818e-04 4.36270409e+02] [ 9.94826984e-01 1.01456903e-01 -5.07626105e-03 4.61002093e+02] [ 5.10631105e-03 -3.64800233e-05 9.99986962e-01 2.30582453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.260385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.27, Y:461.03, Z:23.06 [[ 1.01858125e-01 -9.94798782e-01 -5.52966827e-04 4.36273705e+02] [ 9.94785830e-01 1.01859621e-01 -5.07641301e-03 4.61030353e+02] [ 5.10633447e-03 -3.30096540e-05 9.99986962e-01 2.30596160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.290385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.28, Y:461.06, Z:23.06 [[ 1.01583446e-01 -9.94826869e-01 -5.51602972e-04 4.36276730e+02] [ 9.94813917e-01 1.01584938e-01 -5.07656120e-03 4.61058743e+02] [ 5.10633404e-03 -3.30477344e-05 9.99986962e-01 2.30597614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.320385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.28, Y:461.09, Z:23.06 [[ 1.01010490e-01 -9.94885209e-01 -5.50201215e-04 4.36280241e+02] [ 9.94872256e-01 1.01011983e-01 -5.07671312e-03 4.61085109e+02] [ 5.10632371e-03 -3.45786417e-05 9.99986962e-01 2.30601129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.3503857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.29, Y:461.11, Z:23.06 [[ 9.91783207e-02 -9.95069525e-01 -5.48723482e-04 4.36285028e+02] [ 9.95056575e-01 9.91798296e-02 -5.07687284e-03 4.61112278e+02] [ 5.10626374e-03 -4.24951855e-05 9.99986962e-01 2.30610076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.380385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.29, Y:461.14, Z:23.06 [[ 9.90585142e-02 -9.95081460e-01 -5.47278995e-04 4.36289976e+02] [ 9.95068509e-01 9.90600172e-02 -5.07702855e-03 4.61142230e+02] [ 5.10627044e-03 -4.16571886e-05 9.99986962e-01 2.30605889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.410385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.29, Y:461.17, Z:23.06 [[ 9.59712401e-02 -9.95383947e-01 -5.65606221e-04 4.36291580e+02] [ 9.95371012e-01 9.59728768e-02 -5.07505349e-03 4.61168569e+02] [ 5.10590963e-03 -7.59288593e-05 9.99986962e-01 2.30615873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.440385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.30, Y:461.20, Z:23.06 [[ 9.37515697e-02 -9.95595473e-01 -5.45706674e-04 4.36295599e+02] [ 9.95582529e-01 9.37531338e-02 -5.07719234e-03 4.61196820e+02] [ 5.10599141e-03 -6.73012796e-05 9.99986962e-01 2.30622954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.4703857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.30, Y:461.22, Z:23.06 [[ 9.27761632e-02 -9.95686842e-01 -5.44266795e-04 4.36299216e+02] [ 9.95673899e-01 9.27777326e-02 -5.07734668e-03 4.61224426e+02] [ 5.10594312e-03 -7.08554974e-05 9.99986962e-01 2.30628239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.500385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.30, Y:461.25, Z:23.06 [[ 9.26204819e-02 -9.95701337e-01 -5.42814351e-04 4.36303101e+02] [ 9.95688393e-01 9.26220459e-02 -5.07750196e-03 4.61251483e+02] [ 5.10595206e-03 -7.01932706e-05 9.99986962e-01 2.30636524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.530385723 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:436.31, Y:461.28, Z:23.06 [[ 9.25928884e-02 -9.95703904e-01 -5.41499214e-04 4.36306139e+02] [ 9.95690959e-01 9.25944460e-02 -5.07764221e-03 4.61279252e+02] [ 5.10596799e-03 -6.90123137e-05 9.99986962e-01 2.30629673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.560385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.31, Y:461.31, Z:23.06 [[ 9.45450214e-02 -9.95520440e-01 -5.40047941e-04 4.36308738e+02] [ 9.95507492e-01 9.45465463e-02 -5.07779656e-03 4.61307332e+02] [ 5.10610993e-03 -5.75413867e-05 9.99986962e-01 2.30642444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.5903857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.31, Y:461.33, Z:23.06 [[ 9.69395515e-02 -9.95290125e-01 -5.38589392e-04 4.36311871e+02] [ 9.95277172e-01 9.69410378e-02 -5.07795126e-03 4.61334222e+02] [ 5.10624616e-03 -4.37914092e-05 9.99986962e-01 2.30627629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.620385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.32, Y:461.36, Z:23.06 [[ 9.95589840e-02 -9.95031517e-01 -5.37285797e-04 4.36317541e+02] [ 9.95018560e-01 9.95604296e-02 -5.07808919e-03 4.61364905e+02] [ 5.10635119e-03 -2.90399393e-05 9.99986962e-01 2.30638039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.650385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.32, Y:461.39, Z:23.06 [[ 1.03407543e-01 -9.94638910e-01 -5.64450152e-04 4.36322902e+02] [ 9.94625962e-01 1.03409077e-01 -5.07521620e-03 4.61394835e+02] [ 5.10637678e-03 -3.66011359e-05 9.99986962e-01 2.30620372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.680385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.33, Y:461.42, Z:23.06 [[ 1.04452796e-01 -9.94529676e-01 -5.80288963e-04 4.36326387e+02] [ 9.94516736e-01 1.04454397e-01 -5.07354230e-03 4.61422919e+02] [ 5.10640212e-03 -4.71614068e-05 9.99986961e-01 2.30622880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.710385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.33, Y:461.45, Z:23.06 [[ 1.02333981e-01 -9.94749925e-01 -5.84965045e-04 4.36325733e+02] [ 9.94736992e-01 1.02335634e-01 -5.07304726e-03 4.61448556e+02] [ 5.10627615e-03 -6.27412458e-05 9.99986961e-01 2.30641837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.740385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.33, Y:461.48, Z:23.06 [[ 1.01466345e-01 -9.94838829e-01 -5.34978661e-04 4.36328747e+02] [ 9.94825867e-01 1.01467754e-01 -5.07831311e-03 4.61475233e+02] [ 5.10638615e-03 -1.69327380e-05 9.99986962e-01 2.30635476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.770385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.34, Y:461.51, Z:23.06 [[ 1.00667989e-01 -9.94919932e-01 -5.33688026e-04 4.36336013e+02] [ 9.94906971e-01 1.00669401e-01 -5.07844875e-03 4.61505628e+02] [ 5.10637594e-03 -1.97327176e-05 9.99986962e-01 2.30630989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.800385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.34, Y:461.53, Z:23.06 [[ 9.83473377e-02 -9.95151989e-01 -5.65056791e-04 4.36338357e+02] [ 9.95139050e-01 9.83489407e-02 -5.07514932e-03 4.61529754e+02] [ 5.10611768e-03 -6.31826542e-05 9.99986962e-01 2.30645914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.830385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.34, Y:461.56, Z:23.06 [[ 9.58595358e-02 -9.95394741e-01 -5.08245523e-04 4.36342408e+02] [ 9.95381773e-01 9.58608813e-02 -5.08108183e-03 4.61558318e+02] [ 5.10640300e-03 -1.88281839e-05 9.99986962e-01 2.30637215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.860385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.35, Y:461.59, Z:23.06 [[ 9.30830565e-02 -9.95658206e-01 -5.29860013e-04 4.36348026e+02] [ 9.95645254e-01 9.30845484e-02 -5.07882685e-03 4.61585662e+02] [ 5.10609741e-03 -5.47998805e-05 9.99986962e-01 2.30628096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.890385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.35, Y:461.61, Z:23.06 [[ 9.17646261e-02 -9.95780585e-01 -5.28490788e-04 4.36352086e+02] [ 9.95767635e-01 9.17661282e-02 -5.07896933e-03 4.61613892e+02] [ 5.10603660e-03 -6.01843004e-05 9.99986962e-01 2.30632222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.920385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.36, Y:461.65, Z:23.06 [[ 9.27993198e-02 -9.95684693e-01 -5.27086516e-04 4.36360414e+02] [ 9.95671740e-01 9.28008013e-02 -5.07911506e-03 4.61645552e+02] [ 5.10611117e-03 -5.34667260e-05 9.99986962e-01 2.30623920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.950385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.36, Y:461.67, Z:23.06 [[ 9.12034220e-02 -9.95832116e-01 -5.77192051e-04 4.36360996e+02] [ 9.95819196e-01 9.12051796e-02 -5.07390356e-03 4.61669633e+02] [ 5.10539903e-03 -1.12021556e-04 9.99986961e-01 2.30641912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.9803857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.37, Y:461.70, Z:23.06 [[ 9.22190182e-02 -9.95738609e-01 -5.25255457e-04 4.36365476e+02] [ 9.95725655e-01 9.22204979e-02 -5.07927441e-03 4.61697540e+02] [ 5.10606896e-03 -5.46046346e-05 9.99986962e-01 2.30646589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.010385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.37, Y:461.72, Z:23.06 [[ 9.34072524e-02 -9.95627848e-01 -5.23628745e-04 4.36368817e+02] [ 9.95614892e-01 9.34087083e-02 -5.07944218e-03 4.61724209e+02] [ 5.10614557e-03 -4.68758387e-05 9.99986962e-01 2.30646683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.040385723 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:436.37, Y:461.75, Z:23.06 [[ 9.44549085e-02 -9.95529004e-01 -5.22577702e-04 4.36373407e+02] [ 9.95516046e-01 9.44563454e-02 -5.07955031e-03 4.61752100e+02] [ 5.10620044e-03 -4.04460276e-05 9.99986962e-01 2.30632763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.070385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.38, Y:461.78, Z:23.07 [[ 9.49043270e-02 -9.95486262e-01 -5.21187968e-04 4.36377577e+02] [ 9.95473302e-01 9.49057510e-02 -5.07969290e-03 4.61779866e+02] [ 5.10622823e-03 -3.67438711e-05 9.99986962e-01 2.30656584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.1003857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.38, Y:461.81, Z:23.06 [[ 9.47450896e-02 -9.95501430e-01 -5.19801476e-04 4.36380986e+02] [ 9.95488470e-01 9.47465086e-02 -5.07983477e-03 4.61806802e+02] [ 5.10623216e-03 -3.61669753e-05 9.99986962e-01 2.30644582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.130385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.39, Y:461.83, Z:23.06 [[ 9.43148091e-02 -9.95542288e-01 -5.18522881e-04 4.36385758e+02] [ 9.95529328e-01 9.43162272e-02 -5.07996528e-03 4.61834839e+02] [ 5.10622538e-03 -3.70887797e-05 9.99986962e-01 2.30649306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.160385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.39, Y:461.86, Z:23.07 [[ 9.29561522e-02 -9.95670073e-01 -5.09754968e-04 4.36389311e+02] [ 9.95657110e-01 9.29575432e-02 -5.08085790e-03 4.61863254e+02] [ 5.10624373e-03 -3.52441573e-05 9.99986962e-01 2.30652164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.190385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.39, Y:461.89, Z:23.06 [[ 9.06360389e-02 -9.95883950e-01 -5.16145367e-04 4.36394351e+02] [ 9.95870994e-01 9.06374927e-02 -5.08020864e-03 4.61890271e+02] [ 5.10608037e-03 -5.35642112e-05 9.99986962e-01 2.30648667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.2203857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.40, Y:461.92, Z:23.07 [[ 8.75519473e-02 -9.96159822e-01 -5.14884836e-04 4.36400422e+02] [ 9.96146870e-01 8.75534347e-02 -5.08033640e-03 4.61917690e+02] [ 5.10590694e-03 -6.81075734e-05 9.99986962e-01 2.30654706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.250385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.40, Y:461.94, Z:23.06 [[ 8.58200109e-02 -9.96310525e-01 -5.13432795e-04 4.36404812e+02] [ 9.96297574e-01 8.58215135e-02 -5.08048314e-03 4.61944180e+02] [ 5.10580240e-03 -7.55247298e-05 9.99986962e-01 2.30646903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.280385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.41, Y:461.97, Z:23.07 [[ 8.40841066e-02 -9.96458529e-01 -5.12133636e-04 4.36409240e+02] [ 9.96445581e-01 8.40856251e-02 -5.08061410e-03 4.61972202e+02] [ 5.10568433e-03 -8.31144010e-05 9.99986962e-01 2.30656748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.310385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.41, Y:462.00, Z:23.07 [[ 8.15133854e-02 -9.96672116e-01 -5.10711692e-04 4.36414488e+02] [ 9.96659171e-01 8.15149301e-02 -5.08075703e-03 4.61999221e+02] [ 5.10547949e-03 -9.48557854e-05 9.99986962e-01 2.30655041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.3403857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.42, Y:462.03, Z:23.07 [[ 7.98737342e-02 -9.96804859e-01 -5.09213183e-04 4.36420712e+02] [ 9.96791915e-01 7.98752925e-02 -5.08090721e-03 4.62026664e+02] [ 5.10534655e-03 -1.01748552e-04 9.99986962e-01 2.30666768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.370385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.43, Y:462.05, Z:23.07 [[ 7.88502457e-02 -9.96886343e-01 -5.07816428e-04 4.36425790e+02] [ 9.96873400e-01 7.88518102e-02 -5.08104681e-03 4.62054695e+02] [ 5.10526842e-03 -1.05586900e-04 9.99986962e-01 2.30681062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.400385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.43, Y:462.08, Z:23.07 [[ 7.78285933e-02 -9.96966621e-01 -5.17504021e-04 4.36428336e+02] [ 9.96953685e-01 7.78302205e-02 -5.08008059e-03 4.62082770e+02] [ 5.10494822e-03 -1.20552015e-04 9.99986962e-01 2.30691749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.430385723 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:436.43, Y:462.11, Z:23.07 [[ 7.79829906e-02 -9.96954556e-01 -5.15973218e-04 4.36432390e+02] [ 9.96941619e-01 7.79846079e-02 -5.08023246e-03 4.62110845e+02] [ 5.10499887e-03 -1.18223456e-04 9.99986962e-01 2.30695504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.460385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.44, Y:462.14, Z:23.07 [[ 7.81779592e-02 -9.96939293e-01 -5.02637817e-04 4.36435517e+02] [ 9.96926348e-01 7.81795061e-02 -5.08155152e-03 4.62137732e+02] [ 5.10529436e-03 -1.03827555e-04 9.99986963e-01 2.30705536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.490385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.44, Y:462.17, Z:23.07 [[ 7.95077631e-02 -9.96834121e-01 -5.01325820e-04 4.36439186e+02] [ 9.96821173e-01 7.95092860e-02 -5.08168095e-03 4.62165647e+02] [ 5.10545302e-03 -9.56991063e-05 9.99986963e-01 2.30720090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.520385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.44, Y:462.19, Z:23.07 [[ 8.04199740e-02 -9.96760943e-01 -4.99928302e-04 4.36442110e+02] [ 9.96747993e-01 8.04214780e-02 -5.08181844e-03 4.62193416e+02] [ 5.10556311e-03 -8.96228252e-05 9.99986963e-01 2.30727414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.550385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.45, Y:462.22, Z:23.07 [[ 8.34923314e-02 -9.96508295e-01 -4.98501510e-04 4.36445618e+02] [ 9.96495339e-01 8.34937882e-02 -5.08195839e-03 4.62220562e+02] [ 5.10583547e-03 -7.24498767e-05 9.99986963e-01 2.30746399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.580385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.45, Y:462.25, Z:23.08 [[ 8.63304883e-02 -9.96266430e-01 -4.96996664e-04 4.36448569e+02] [ 9.96253469e-01 8.63319004e-02 -5.08210556e-03 4.62248105e+02] [ 5.10603783e-03 -5.63939961e-05 9.99986963e-01 2.30760411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.610385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.45, Y:462.28, Z:23.08 [[ 8.72464751e-02 -9.96186633e-01 -4.95594551e-04 4.36451382e+02] [ 9.96173670e-01 8.72478682e-02 -5.08224228e-03 4.62275878e+02] [ 5.10610140e-03 -5.02905181e-05 9.99986963e-01 2.30761580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.640385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.45, Y:462.30, Z:23.08 [[ 8.93021017e-02 -9.96004463e-01 -4.94186340e-04 4.36453632e+02] [ 9.95991497e-01 8.93034608e-02 -5.08237921e-03 4.62302761e+02] [ 5.10620493e-03 -3.83382468e-05 9.99986963e-01 2.30768413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.670385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.46, Y:462.33, Z:23.08 [[ 9.02436164e-02 -9.95919599e-01 -4.92703082e-04 4.36455843e+02] [ 9.95906630e-01 9.02449557e-02 -5.08252300e-03 4.62330755e+02] [ 5.10624823e-03 -3.20210098e-05 9.99986963e-01 2.30771738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.700385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.46, Y:462.36, Z:23.08 [[ 9.14632201e-02 -9.95808334e-01 -4.91272255e-04 4.36459191e+02] [ 9.95795363e-01 9.14645362e-02 -5.08266130e-03 4.62358761e+02] [ 5.10629047e-03 -2.43300649e-05 9.99986963e-01 2.30782240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.7303857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.46, Y:462.39, Z:23.08 [[ 9.15496535e-02 -9.95800392e-01 -4.89810676e-04 4.36463138e+02] [ 9.95787420e-01 9.15509611e-02 -5.08280215e-03 4.62386088e+02] [ 5.10629901e-03 -2.24185338e-05 9.99986963e-01 2.30788903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.760385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.47, Y:462.41, Z:23.08 [[ 9.09136730e-02 -9.95858658e-01 -4.88341355e-04 4.36465586e+02] [ 9.95845686e-01 9.09149814e-02 -5.08294331e-03 4.62414457e+02] [ 5.10629065e-03 -2.42035855e-05 9.99986963e-01 2.30781867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.790385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.47, Y:462.44, Z:23.08 [[ 8.99560878e-02 -9.95945614e-01 -4.86880597e-04 4.36467723e+02] [ 9.95932642e-01 8.99574011e-02 -5.08308323e-03 4.62441698e+02] [ 5.10627296e-03 -2.76459988e-05 9.99986963e-01 2.30772075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.820385723 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:436.47, Y:462.47, Z:23.08 [[ 8.72912607e-02 -9.96182714e-01 -4.85573609e-04 4.36470951e+02] [ 9.96169746e-01 8.72926020e-02 -5.08320808e-03 4.62469184e+02] [ 5.10619100e-03 -3.99940971e-05 9.99986963e-01 2.30773487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.8503857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.47, Y:462.50, Z:23.08 [[ 8.56491828e-02 -9.96325240e-01 -4.84130955e-04 4.36474141e+02] [ 9.96312273e-01 8.56505382e-02 -5.08334547e-03 4.62496597e+02] [ 5.10613147e-03 -4.69612258e-05 9.99986963e-01 2.30779149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.880385723 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:436.48, Y:462.52, Z:23.08 [[ 8.35146369e-02 -9.96506434e-01 -4.82681485e-04 4.36477737e+02] [ 9.96493469e-01 8.35160126e-02 -5.08348310e-03 4.62524320e+02] [ 5.10603525e-03 -5.64437017e-05 9.99986963e-01 2.30775428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.910385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.48, Y:462.55, Z:23.08 [[ 8.32478691e-02 -9.96528756e-01 -4.81242653e-04 4.36480311e+02] [ 9.96515791e-01 8.32492410e-02 -5.08361931e-03 4.62551858e+02] [ 5.10603591e-03 -5.63654275e-05 9.99986963e-01 2.30792067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.940385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.48, Y:462.58, Z:23.08 [[ 8.31979684e-02 -9.96532924e-01 -4.79811519e-04 4.36482690e+02] [ 9.96519958e-01 8.31993336e-02 -5.08375438e-03 4.62579530e+02] [ 5.10604862e-03 -5.51837179e-05 9.99986963e-01 2.30791220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.9703857229999 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:436.48, Y:462.60, Z:23.08 [[ 7.94286952e-02 -9.96840435e-01 -4.78365869e-04 4.36480887e+02] [ 9.96827474e-01 7.94301021e-02 -5.08389041e-03 4.62604697e+02] [ 5.10582418e-03 -7.30414593e-05 9.99986963e-01 2.30763911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.000385723 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:436.48, Y:462.63, Z:23.08 [[ 7.91380394e-02 -9.96863573e-01 -4.32529317e-04 4.36483189e+02] [ 9.96850588e-01 7.91392163e-02 -5.08818569e-03 4.62632314e+02] [ 5.10645700e-03 -2.84980639e-05 9.99986962e-01 2.30753199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.030385723 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:436.49, Y:462.66, Z:23.08 [[ 8.32014914e-02 -9.96532654e-01 -4.25235421e-04 4.36491015e+02] [ 9.96519661e-01 8.32025780e-02 -5.08886836e-03 4.62663239e+02] [ 5.10660418e-03 -3.54020834e-07 9.99986961e-01 2.30762907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.060385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.49, Y:462.69, Z:23.08 [[ 7.99083296e-02 -9.96802102e-01 -4.76992544e-04 4.36489959e+02] [ 9.96789140e-01 7.99097233e-02 -5.08401241e-03 4.62689076e+02] [ 5.10587060e-03 -6.92060487e-05 9.99986963e-01 2.30767652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.0903857229999 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:436.49, Y:462.72, Z:23.07 [[ 7.89406840e-02 -9.96879220e-01 -4.34597431e-04 4.36492624e+02] [ 9.96866236e-01 7.89418740e-02 -5.08797880e-03 4.62716350e+02] [ 5.10640828e-03 -3.15869785e-05 9.99986962e-01 2.30742230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.120385723 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:436.50, Y:462.75, Z:23.08 [[ 8.23750660e-02 -9.96601308e-01 -4.25161543e-04 4.36499671e+02] [ 9.96588316e-01 8.23761630e-02 -5.08885876e-03 4.62746941e+02] [ 5.10658647e-03 -4.51595017e-06 9.99986961e-01 2.30750035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.150385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.50, Y:462.77, Z:23.08 [[ 8.34518740e-02 -9.96511696e-01 -4.74527158e-04 4.36503566e+02] [ 9.96498727e-01 8.34532090e-02 -5.08425134e-03 4.62774361e+02] [ 5.10611673e-03 -4.85754064e-05 9.99986963e-01 2.30768729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.180385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.51, Y:462.80, Z:23.08 [[ 8.31716528e-02 -9.96535124e-01 -4.73098471e-04 4.36506160e+02] [ 9.96522154e-01 8.31729841e-02 -5.08438427e-03 4.62802812e+02] [ 5.10611652e-03 -4.85764637e-05 9.99986963e-01 2.30770184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.210385723 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:436.51, Y:462.83, Z:23.07 [[ 7.99051848e-02 -9.96802357e-01 -4.71668692e-04 4.36505883e+02] [ 9.96789391e-01 7.99065514e-02 -5.08451691e-03 4.62828453e+02] [ 5.10594786e-03 -6.38750847e-05 9.99986963e-01 2.30736182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.240385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.51, Y:462.86, Z:23.07 [[ 8.23375700e-02 -9.96604405e-01 -4.28851990e-04 4.36509130e+02] [ 9.96591415e-01 8.23386864e-02 -5.08847371e-03 4.62855845e+02] [ 5.10650642e-03 -8.41765147e-06 9.99986962e-01 2.30744337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.270385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.52, Y:462.89, Z:23.08 [[ 8.76463751e-02 -9.96151559e-01 -4.30075807e-04 4.36515375e+02] [ 9.96138563e-01 8.76474285e-02 -5.08836102e-03 4.62885510e+02] [ 5.10647380e-03 1.75613020e-05 9.99986962e-01 2.30751922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.300385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.51, Y:462.91, Z:23.07 [[ 8.49708741e-02 -9.96383325e-01 -4.68481357e-04 4.36514547e+02] [ 9.96370351e-01 8.49721585e-02 -5.08482260e-03 4.62911087e+02] [ 5.10624032e-03 -3.47191133e-05 9.99986963e-01 2.30740411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.330385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.52, Y:462.94, Z:23.08 [[ 8.91214299e-02 -9.96020675e-01 -4.30501692e-04 4.36522416e+02] [ 9.96007678e-01 8.91224663e-02 -5.08830533e-03 4.62940798e+02] [ 5.10642469e-03 2.46940567e-05 9.99986962e-01 2.30750278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.360385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.53, Y:462.97, Z:23.08 [[ 8.82765499e-02 -9.96095896e-01 -4.66727067e-04 4.36525782e+02] [ 9.96082916e-01 8.82777823e-02 -5.08498038e-03 4.62969348e+02] [ 5.10632971e-03 -1.60143336e-05 9.99986963e-01 2.30750115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.390385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.53, Y:463.00, Z:23.07 [[ 8.75228841e-02 -9.96162397e-01 -4.73022929e-04 4.36528763e+02] [ 9.96149422e-01 8.75241584e-02 -5.08440381e-03 4.62995853e+02] [ 5.10629282e-03 -2.61998316e-05 9.99986962e-01 2.30731513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.420385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:436.53, Y:463.02, Z:23.07 [[ 8.94145485e-02 -9.95994396e-01 -4.49251862e-04 4.36533975e+02] [ 9.95981407e-01 8.94156768e-02 -5.08657573e-03 4.63023687e+02] [ 5.10637108e-03 7.36737058e-06 9.99986962e-01 2.30737631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.450385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.54, Y:463.05, Z:23.07 [[ 8.73827619e-02 -9.96174703e-01 -4.63808009e-04 4.36535642e+02] [ 9.96161723e-01 8.73839910e-02 -5.08524811e-03 4.63050331e+02] [ 5.10632492e-03 -1.76647603e-05 9.99986963e-01 2.30729612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.4803857229999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:436.54, Y:463.08, Z:23.07 [[ 8.96010244e-02 -9.95977644e-01 -4.35768163e-04 4.36542511e+02] [ 9.95964649e-01 8.96020814e-02 -5.08779315e-03 4.63079165e+02] [ 5.10637397e-03 2.18617923e-05 9.99986962e-01 2.30746549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.510385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.54, Y:463.11, Z:23.07 [[ 8.68113290e-02 -9.96224664e-01 -4.61117837e-04 4.36543438e+02] [ 9.96211684e-01 8.68125519e-02 -5.08549462e-03 4.63105943e+02] [ 5.10632598e-03 -1.78924297e-05 9.99986963e-01 2.30749854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.540385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.55, Y:463.13, Z:23.08 [[ 8.75147327e-02 -9.96163127e-01 -4.42321944e-04 4.36549358e+02] [ 9.96150138e-01 8.75158504e-02 -5.08719098e-03 4.63134338e+02] [ 5.10638225e-03 4.58509307e-06 9.99986962e-01 2.30761851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.570385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.55, Y:463.16, Z:23.08 [[ 8.63886897e-02 -9.96261404e-01 -4.58079314e-04 4.36551961e+02] [ 9.96248423e-01 8.63899026e-02 -5.08577170e-03 4.63162253e+02] [ 5.10633148e-03 -1.70076404e-05 9.99986962e-01 2.30758807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.6003857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.55, Y:463.19, Z:23.08 [[ 8.39257403e-02 -9.96471907e-01 -4.56651233e-04 4.36554584e+02] [ 9.96458928e-01 8.39269779e-02 -5.08589992e-03 4.63189210e+02] [ 5.10628175e-03 -2.81962825e-05 9.99986962e-01 2.30752993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.630385723 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:436.56, Y:463.22, Z:23.07 [[ 8.20784715e-02 -9.96625766e-01 -4.55148841e-04 4.36557803e+02] [ 9.96612789e-01 8.20797255e-02 -5.08603437e-03 4.63216286e+02] [ 5.10623139e-03 -3.61532290e-05 9.99986962e-01 2.30735881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.660385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.56, Y:463.24, Z:23.08 [[ 8.05221178e-02 -9.96752719e-01 -4.53679569e-04 4.36560854e+02] [ 9.96739743e-01 8.05233846e-02 -5.08616543e-03 4.63243872e+02] [ 5.10618104e-03 -4.26516448e-05 9.99986962e-01 2.30754240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.690385723 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:436.56, Y:463.27, Z:23.07 [[ 7.88385805e-02 -9.96887292e-01 -4.52294103e-04 4.36562889e+02] [ 9.96874318e-01 7.88398621e-02 -5.08628863e-03 4.63271565e+02] [ 5.10611531e-03 -4.98845994e-05 9.99986962e-01 2.30742300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.7203857229999 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:436.56, Y:463.30, Z:23.07 [[ 7.52328747e-02 -9.97165890e-01 -4.50881034e-04 4.36563133e+02] [ 9.97152919e-01 7.52341960e-02 -5.08641389e-03 4.63299027e+02] [ 5.10592010e-03 -6.69318002e-05 9.99986963e-01 2.30728601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.750385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.57, Y:463.33, Z:23.08 [[ 7.75842857e-02 -9.96985706e-01 -4.26229815e-04 4.36567810e+02] [ 9.96972720e-01 7.75854507e-02 -5.08859062e-03 4.63327612e+02] [ 5.10632134e-03 -3.01448294e-05 9.99986962e-01 2.30759723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.780385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.57, Y:463.36, Z:23.08 [[ 7.75286957e-02 -9.96990020e-01 -4.49112918e-04 4.36570424e+02] [ 9.96977046e-01 7.75299781e-02 -5.08657018e-03 4.63355696e+02] [ 5.10607942e-03 -5.34001184e-05 9.99986963e-01 2.30757955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.810385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.57, Y:463.38, Z:23.08 [[ 7.81137492e-02 -9.96944352e-01 -4.47666994e-04 4.36573178e+02] [ 9.96931377e-01 7.81150167e-02 -5.08669744e-03 4.63382143e+02] [ 5.10612380e-03 -4.89522650e-05 9.99986963e-01 2.30758829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.8403857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.58, Y:463.41, Z:23.08 [[ 7.84778212e-02 -9.96915760e-01 -4.46367351e-04 4.36575479e+02] [ 9.96902783e-01 7.84790773e-02 -5.08681148e-03 4.63409785e+02] [ 5.10615303e-03 -4.57829725e-05 9.99986963e-01 2.30762550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.870385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.58, Y:463.44, Z:23.08 [[ 7.89558972e-02 -9.96878011e-01 -4.44966128e-04 4.36577768e+02] [ 9.96865033e-01 7.89571399e-02 -5.08693405e-03 4.63436329e+02] [ 5.10618595e-03 -4.19277319e-05 9.99986963e-01 2.30765486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.900385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.58, Y:463.46, Z:23.08 [[ 7.92648823e-02 -9.96853491e-01 -4.43488558e-04 4.36579567e+02] [ 9.96840511e-01 7.92661134e-02 -5.08706286e-03 4.63464771e+02] [ 5.10620999e-03 -3.88619220e-05 9.99986963e-01 2.30769959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.930385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.58, Y:463.49, Z:23.08 [[ 7.95547105e-02 -9.96830403e-01 -4.42080537e-04 4.36581532e+02] [ 9.96817423e-01 7.95559307e-02 -5.08718522e-03 4.63491335e+02] [ 5.10623102e-03 -3.59640339e-05 9.99986963e-01 2.30780016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.960385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.58, Y:463.52, Z:23.08 [[ 7.96033182e-02 -9.96826523e-01 -4.40595509e-04 4.36584007e+02] [ 9.96813542e-01 7.96045302e-02 -5.08731383e-03 4.63518917e+02] [ 5.10624276e-03 -3.42245085e-05 9.99986963e-01 2.30788159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.990385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.59, Y:463.55, Z:23.08 [[ 7.99004520e-02 -9.96802751e-01 -4.39209071e-04 4.36586438e+02] [ 9.96789769e-01 7.99016530e-02 -5.08743353e-03 4.63546445e+02] [ 5.10626127e-03 -3.13108700e-05 9.99986963e-01 2.30793711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.020385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.59, Y:463.57, Z:23.08 [[ 8.02607767e-02 -9.96773804e-01 -4.37809518e-04 4.36588726e+02] [ 9.96760821e-01 8.02619658e-02 -5.08755397e-03 4.63574718e+02] [ 5.10627997e-03 -2.80603420e-05 9.99986963e-01 2.30807155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.050385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.59, Y:463.60, Z:23.08 [[ 8.09413381e-02 -9.96718772e-01 -4.35562455e-04 4.36590464e+02] [ 9.96705787e-01 8.09425069e-02 -5.08774675e-03 4.63602802e+02] [ 5.10630821e-03 -2.23185900e-05 9.99986963e-01 2.30786551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.080385723 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:436.59, Y:463.63, Z:23.08 [[ 8.06503334e-02 -9.96742361e-01 -4.34881785e-04 4.36593030e+02] [ 9.96729376e-01 8.06515026e-02 -5.08780493e-03 4.63630544e+02] [ 5.10630457e-03 -2.31262861e-05 9.99986963e-01 2.30766687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.110385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.60, Y:463.66, Z:23.08 [[ 8.24790973e-02 -9.96592701e-01 -4.33458162e-04 4.36595849e+02] [ 9.96579713e-01 8.24802354e-02 -5.08792621e-03 4.63657297e+02] [ 5.10634185e-03 -1.23280496e-05 9.99986963e-01 2.30781978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.140385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:436.60, Y:463.68, Z:23.08 [[ 8.31220145e-02 -9.96539284e-01 -4.31959532e-04 4.36598530e+02] [ 9.96526295e-01 8.31231366e-02 -5.08805344e-03 4.63684911e+02] [ 5.10635096e-03 -7.52977991e-06 9.99986963e-01 2.30780314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.170385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:436.60, Y:463.71, Z:23.08 [[ 8.45270608e-02 -9.96421091e-01 -4.30569606e-04 4.36601664e+02] [ 9.96408100e-01 8.45281574e-02 -5.08817106e-03 4.63711492e+02] [ 5.10635621e-03 1.06510094e-06 9.99986963e-01 2.30776318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.200385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.60, Y:463.74, Z:23.08 [[ 8.57608548e-02 -9.96315659e-01 -4.29103164e-04 4.36604950e+02] [ 9.96302665e-01 8.57619279e-02 -5.08829472e-03 4.63738625e+02] [ 5.10634842e-03 8.85987951e-06 9.99986963e-01 2.30772020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.2303857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.61, Y:463.77, Z:23.08 [[ 8.62643356e-02 -9.96272193e-01 -4.27652787e-04 4.36607758e+02] [ 9.96259198e-01 8.62653947e-02 -5.08841662e-03 4.63767007e+02] [ 5.10633962e-03 1.28958566e-05 9.99986963e-01 2.30764893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.260385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.61, Y:463.80, Z:23.08 [[ 8.60408125e-02 -9.96291522e-01 -4.26275014e-04 4.36610315e+02] [ 9.96278527e-01 8.60418674e-02 -5.08853204e-03 4.63795285e+02] [ 5.10633883e-03 1.31327881e-05 9.99986963e-01 2.30755984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.290385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.61, Y:463.82, Z:23.07 [[ 8.36745511e-02 -9.96493045e-01 -4.24775620e-04 4.36611170e+02] [ 9.96480052e-01 8.36756293e-02 -5.08865720e-03 4.63817670e+02] [ 5.10635488e-03 2.51067529e-06 9.99986963e-01 2.30731608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.320385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.62, Y:463.85, Z:23.07 [[ 8.60941043e-02 -9.96286945e-01 -3.58218647e-04 4.36619389e+02] [ 9.96273925e-01 8.60948108e-02 -5.09417839e-03 4.63849283e+02] [ 5.10610419e-03 8.16948283e-05 9.99986960e-01 2.30747691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.3503857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.62, Y:463.88, Z:23.08 [[ 8.65439543e-02 -9.96247949e-01 -4.09945261e-04 4.36623552e+02] [ 9.96234947e-01 8.65449193e-02 -5.08987552e-03 4.63877645e+02] [ 5.10625672e-03 3.20961584e-05 9.99986963e-01 2.30752088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.380385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.63, Y:463.91, Z:23.07 [[ 8.49120167e-02 -9.96388364e-01 -4.22674525e-04 4.36627040e+02] [ 9.96375369e-01 8.49130679e-02 -5.08881823e-03 4.63905309e+02] [ 5.10632986e-03 1.09593327e-05 9.99986963e-01 2.30747413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.410385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.63, Y:463.93, Z:23.08 [[ 8.57555340e-02 -9.96316124e-01 -4.12193867e-04 4.36631146e+02] [ 9.96303124e-01 8.57565207e-02 -5.08968547e-03 4.63932857e+02] [ 5.10628401e-03 2.57986582e-05 9.99986963e-01 2.30757190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.440385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:436.63, Y:463.96, Z:23.07 [[ 8.10734055e-02 -9.96708045e-01 -4.20510113e-04 4.36630818e+02] [ 9.96695053e-01 8.10744958e-02 -5.08899829e-03 4.63956015e+02] [ 5.10633818e-03 -6.53792757e-06 9.99986963e-01 2.30727322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.4703857229999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:436.64, Y:463.99, Z:23.08 [[ 8.55550795e-02 -9.96333385e-01 -3.37547337e-04 4.36639968e+02] [ 9.96320359e-01 8.55556874e-02 -5.09580278e-03 4.63988117e+02] [ 5.10599753e-03 9.96665284e-05 9.99986959e-01 2.30755523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.500385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.65, Y:464.02, Z:23.08 [[ 8.46901501e-02 -9.96407247e-01 -4.19468608e-04 4.36645298e+02] [ 9.96394251e-01 8.46911879e-02 -5.08905038e-03 4.64016353e+02] [ 5.10629197e-03 1.30363307e-05 9.99986963e-01 2.30751399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.530385723 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:436.65, Y:464.04, Z:23.07 [[ 8.04800902e-02 -9.96756129e-01 -4.18123788e-04 4.36647449e+02] [ 9.96743137e-01 8.04811760e-02 -5.08916087e-03 4.64041292e+02] [ 5.10630338e-03 -7.18589035e-06 9.99986963e-01 2.30712439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.560385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.65, Y:464.07, Z:23.07 [[ 8.17649250e-02 -9.96651577e-01 -3.63574057e-04 4.36653466e+02] [ 9.96638562e-01 8.17657154e-02 -5.09362341e-03 4.64072230e+02] [ 5.10629570e-03 5.41278105e-05 9.99986961e-01 2.30739313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.5903857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.66, Y:464.10, Z:23.07 [[ 8.12872847e-02 -9.96690634e-01 -3.96823643e-04 4.36659362e+02] [ 9.96677632e-01 8.12882513e-02 -5.09090434e-03 4.64100016e+02] [ 5.10631378e-03 1.83205416e-05 9.99986963e-01 2.30748175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.620385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.66, Y:464.13, Z:23.07 [[ 8.15844016e-02 -9.96666354e-01 -4.04229797e-04 4.36664762e+02] [ 9.96653356e-01 8.15854021e-02 -5.09030087e-03 4.64128817e+02] [ 5.10631086e-03 1.24121667e-05 9.99986963e-01 2.30748119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.650385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.67, Y:464.15, Z:23.08 [[ 8.03864901e-02 -9.96763679e-01 -4.25595921e-04 4.36670536e+02] [ 9.96750690e-01 8.03876153e-02 -5.08855985e-03 4.64154987e+02] [ 5.10630428e-03 -1.51615614e-05 9.99986963e-01 2.30754293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.680385723 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:436.67, Y:464.18, Z:23.08 [[ 7.73589658e-02 -9.97003220e-01 -4.12990932e-04 4.36673361e+02] [ 9.96990229e-01 7.73600661e-02 -5.08958268e-03 4.64182297e+02] [ 5.10627932e-03 -1.80230712e-05 9.99986963e-01 2.30758262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.710385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:436.68, Y:464.21, Z:23.08 [[ 7.70991877e-02 -9.97023351e-01 -3.92273990e-04 4.36680661e+02] [ 9.97010351e-01 7.71001857e-02 -5.09125774e-03 4.64210385e+02] [ 5.10634725e-03 1.43060775e-06 9.99986963e-01 2.30773755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.740385723 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:436.68, Y:464.24, Z:23.08 [[ 7.58892426e-02 -9.97116169e-01 -4.11375838e-04 4.36684273e+02] [ 9.97103179e-01 7.58903538e-02 -5.08971384e-03 4.64237721e+02] [ 5.10625542e-03 -2.39296275e-05 9.99986963e-01 2.30773405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.770385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.69, Y:464.26, Z:23.08 [[ 7.42898565e-02 -9.97236607e-01 -4.09873084e-04 4.36689641e+02] [ 9.97223618e-01 7.42909809e-02 -5.08983485e-03 4.64264367e+02] [ 5.10621951e-03 -3.06120186e-05 9.99986963e-01 2.30767968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.800385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:436.69, Y:464.29, Z:23.08 [[ 7.39657749e-02 -9.97260697e-01 -4.08420054e-04 4.36694746e+02] [ 9.97247708e-01 7.39668961e-02 -5.08995144e-03 4.64292015e+02] [ 5.10621808e-03 -3.08137597e-05 9.99986963e-01 2.30773046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.830385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.70, Y:464.32, Z:23.08 [[ 7.42086573e-02 -9.97242653e-01 -4.07004093e-04 4.36697855e+02] [ 9.97229663e-01 7.42097681e-02 -5.09006466e-03 4.64319440e+02] [ 5.10623327e-03 -2.81496901e-05 9.99986963e-01 2.30778330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.860385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.70, Y:464.35, Z:23.08 [[ 7.61329305e-02 -9.97097594e-01 -4.05499238e-04 4.36701042e+02] [ 9.97084602e-01 7.61340085e-02 -5.09018454e-03 4.64346198e+02] [ 5.10628305e-03 -1.67863803e-05 9.99986963e-01 2.30793403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.890385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.70, Y:464.37, Z:23.08 [[ 7.54212647e-02 -9.97151678e-01 -4.04076157e-04 4.36703532e+02] [ 9.97138686e-01 7.54223447e-02 -5.09029751e-03 4.64374567e+02] [ 5.10627508e-03 -1.90032925e-05 9.99986963e-01 2.30787350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.920385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.71, Y:464.40, Z:23.08 [[ 7.74851232e-02 -9.96993430e-01 -3.94424833e-04 4.36707851e+02] [ 9.96980432e-01 7.74861271e-02 -5.09106065e-03 4.64401346e+02] [ 5.10631648e-03 1.24762131e-06 9.99986963e-01 2.30790619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.950385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:436.71, Y:464.43, Z:23.08 [[ 7.94035608e-02 -9.96842475e-01 -3.92653985e-04 4.36713145e+02] [ 9.96829474e-01 7.94045306e-02 -5.09120041e-03 4.64430769e+02] [ 5.10630332e-03 1.28503763e-05 9.99986963e-01 2.30787135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.9803857229999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:436.72, Y:464.46, Z:23.08 [[ 7.96442638e-02 -9.96823263e-01 -4.17096147e-04 4.36717610e+02] [ 9.96810271e-01 7.96453553e-02 -5.08927422e-03 4.64457888e+02] [ 5.10632671e-03 -1.04342251e-05 9.99986963e-01 2.30796787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.010385723 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:436.72, Y:464.49, Z:23.08 [[ 8.02541303e-02 -9.96774351e-01 -4.08783162e-04 4.36722001e+02] [ 9.96761356e-01 8.02551714e-02 -5.08992786e-03 4.64486568e+02] [ 5.10631651e-03 1.02847516e-06 9.99986963e-01 2.30775496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.040385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:436.73, Y:464.51, Z:23.08 [[ 8.11537957e-02 -9.96701503e-01 -4.19760800e-04 4.36725828e+02] [ 9.96688510e-01 8.11548811e-02 -5.08906801e-03 4.64514294e+02] [ 5.10634737e-03 -5.37358099e-06 9.99986963e-01 2.30793836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.070385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.73, Y:464.54, Z:23.08 [[ 8.24353385e-02 -9.96596329e-01 -4.14364788e-04 4.36728932e+02] [ 9.96583333e-01 8.24363796e-02 -5.08948938e-03 4.64540415e+02] [ 5.10632516e-03 6.60473739e-06 9.99986963e-01 2.30792994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.1003857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.73, Y:464.57, Z:23.08 [[ 8.21543031e-02 -9.96619543e-01 -3.95614989e-04 4.36731085e+02] [ 9.96606541e-01 8.21552522e-02 -5.09094641e-03 4.64568924e+02] [ 5.10623854e-03 2.39706694e-05 9.99986963e-01 2.30794382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.130385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:436.74, Y:464.60, Z:23.08 [[ 8.33807206e-02 -9.96517687e-01 -3.94179333e-04 4.36735174e+02] [ 9.96504683e-01 8.33816464e-02 -5.09105757e-03 4.64597783e+02] [ 5.10619624e-03 3.16944983e-05 9.99986963e-01 2.30797207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.160385723 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:436.74, Y:464.62, Z:23.08 [[ 8.37429896e-02 -9.96487305e-01 -4.04584121e-04 4.36737667e+02] [ 9.96474304e-01 8.37439637e-02 -5.09025297e-03 4.64624947e+02] [ 5.10625394e-03 2.31153209e-05 9.99986963e-01 2.30770838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.190385723 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:436.74, Y:464.65, Z:23.08 [[ 8.42385624e-02 -9.96445538e-01 -3.92627749e-04 4.36741956e+02] [ 9.96432533e-01 8.42394690e-02 -5.09117504e-03 4.64652718e+02] [ 5.10615340e-03 3.76462032e-05 9.99986963e-01 2.30767414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.2203857229999 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:436.75, Y:464.68, Z:23.08 [[ 8.40547521e-02 -9.96461061e-01 -3.91217590e-04 4.36745424e+02] [ 9.96448055e-01 8.40556539e-02 -5.09128339e-03 4.64680875e+02] [ 5.10614970e-03 3.81185575e-05 9.99986963e-01 2.30761289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.250385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.75, Y:464.71, Z:23.08 [[ 8.34299750e-02 -9.96513566e-01 -3.89801783e-04 4.36750781e+02] [ 9.96500560e-01 8.34308777e-02 -5.09139179e-03 4.64709140e+02] [ 5.10616249e-03 3.63369949e-05 9.99986963e-01 2.30787252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.280385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:436.76, Y:464.74, Z:23.08 [[ 8.32577686e-02 -9.96527966e-01 -3.97598283e-04 4.36757498e+02] [ 9.96514963e-01 8.32587134e-02 -5.09079698e-03 4.64738552e+02] [ 5.10622507e-03 2.76357588e-05 9.99986963e-01 2.30785497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.310385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.76, Y:464.76, Z:23.08 [[ 7.94867912e-02 -9.96835835e-01 -4.10532096e-04 4.36757916e+02] [ 9.96822841e-01 7.94878512e-02 -5.08981199e-03 4.64763032e+02] [ 5.10633930e-03 -4.65494634e-06 9.99986963e-01 2.30783138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.3403857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.76, Y:464.79, Z:23.08 [[ 7.81364859e-02 -9.96942610e-01 -3.50272369e-04 4.36764202e+02] [ 9.96929595e-01 7.81372557e-02 -5.09435705e-03 4.64790507e+02] [ 5.10615094e-03 4.88582671e-05 9.99986962e-01 2.30801595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.370385723 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:436.77, Y:464.82, Z:23.08 [[ 7.92381029e-02 -9.96855652e-01 -3.62701469e-04 4.36770860e+02] [ 9.96842641e-01 7.92389219e-02 -5.09341928e-03 4.64821100e+02] [ 5.10614387e-03 4.20365913e-05 9.99986963e-01 2.30782156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.400385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.77, Y:464.85, Z:23.08 [[ 7.89388704e-02 -9.96879380e-01 -3.96535573e-04 4.36774965e+02] [ 9.96866381e-01 7.89398660e-02 -5.09086710e-03 4.64847328e+02] [ 5.10628290e-03 6.57431649e-06 9.99986963e-01 2.30796962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.430385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.78, Y:464.88, Z:23.08 [[ 7.86120760e-02 -9.96905209e-01 -3.82537040e-04 4.36779252e+02] [ 9.96892205e-01 7.86130045e-02 -5.09191876e-03 4.64876201e+02] [ 5.10623272e-03 1.89381118e-05 9.99986963e-01 2.30813167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.460385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.78, Y:464.90, Z:23.08 [[ 8.04932259e-02 -9.96755081e-01 -3.86991583e-04 4.36784577e+02] [ 9.96742077e-01 8.04941525e-02 -5.09158470e-03 4.64902645e+02] [ 5.10621348e-03 2.41072838e-05 9.99986963e-01 2.30803037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.490385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.79, Y:464.93, Z:23.08 [[ 8.11235414e-02 -9.96703981e-01 -3.80720970e-04 4.36789975e+02] [ 9.96690974e-01 8.11244278e-02 -5.09205354e-03 4.64930205e+02] [ 5.10615581e-03 3.36242615e-05 9.99986963e-01 2.30797204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.520385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.79, Y:464.96, Z:23.08 [[ 8.11363769e-02 -9.96702937e-01 -3.79333244e-04 4.36793797e+02] [ 9.96689930e-01 8.11372561e-02 -5.09215692e-03 4.64957741e+02] [ 5.10614581e-03 3.50815382e-05 9.99986963e-01 2.30793597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.550385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.80, Y:464.99, Z:23.08 [[ 8.12804025e-02 -9.96691203e-01 -3.78036476e-04 4.36797906e+02] [ 9.96678195e-01 8.12812731e-02 -5.09225319e-03 4.64985764e+02] [ 5.10613124e-03 3.71196764e-05 9.99986963e-01 2.30800947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.580385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.80, Y:465.01, Z:23.08 [[ 8.19225769e-02 -9.96638625e-01 -3.76602030e-04 4.36803755e+02] [ 9.96625616e-01 8.19234318e-02 -5.09235927e-03 4.65012731e+02] [ 5.10609447e-03 4.18479629e-05 9.99986963e-01 2.30802181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.610385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.81, Y:465.04, Z:23.08 [[ 8.18104396e-02 -9.96647837e-01 -3.75082367e-04 4.36807093e+02] [ 9.96634828e-01 8.18112882e-02 -5.09247120e-03 4.65040885e+02] [ 5.10608638e-03 4.27971570e-05 9.99986963e-01 2.30812029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.640385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.81, Y:465.07, Z:23.08 [[ 8.12701320e-02 -9.96692042e-01 -3.73682935e-04 4.36811294e+02] [ 9.96679032e-01 8.12709805e-02 -5.09257389e-03 4.65067773e+02] [ 5.10609744e-03 4.14322060e-05 9.99986963e-01 2.30809292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.670385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.82, Y:465.10, Z:23.08 [[ 8.03025017e-02 -9.96770470e-01 -3.72204835e-04 4.36816003e+02] [ 9.96757461e-01 8.03033553e-02 -5.09268191e-03 4.65095619e+02] [ 5.10612424e-03 3.79571516e-05 9.99986963e-01 2.30817713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.700385723 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:436.82, Y:465.12, Z:23.08 [[ 7.97105896e-02 -9.96817980e-01 -3.70825911e-04 4.36819444e+02] [ 9.96804971e-01 7.97114439e-02 -5.09278232e-03 4.65123589e+02] [ 5.10613605e-03 3.63075703e-05 9.99986963e-01 2.30818812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.7303857229999 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:436.82, Y:465.15, Z:23.08 [[ 7.89716616e-02 -9.96876793e-01 -3.69449391e-04 4.36823595e+02] [ 9.96863784e-01 7.89725185e-02 -5.09288218e-03 4.65151857e+02] [ 5.10615240e-03 3.39026498e-05 9.99986963e-01 2.30817509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.760385723 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:436.83, Y:465.18, Z:23.08 [[ 7.90922413e-02 -9.96867232e-01 -3.72546217e-04 4.36825775e+02] [ 9.96854224e-01 7.90931125e-02 -5.09265814e-03 4.65179722e+02] [ 5.10616986e-03 3.14154763e-05 9.99986963e-01 2.30809267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.790385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.83, Y:465.21, Z:23.08 [[ 7.96509602e-02 -9.96822747e-01 -3.67389760e-04 4.36826849e+02] [ 9.96809737e-01 7.96517977e-02 -5.09303010e-03 4.65207778e+02] [ 5.10611152e-03 3.94470476e-05 9.99986963e-01 2.30818826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.820385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.83, Y:465.23, Z:23.08 [[ 8.00117140e-02 -9.96793856e-01 -3.67032136e-04 4.36827023e+02] [ 9.96780845e-01 8.00125450e-02 -5.09305580e-03 4.65234994e+02] [ 5.10609390e-03 4.16535211e-05 9.99986963e-01 2.30805710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.8503857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.83, Y:465.26, Z:23.08 [[ 7.92882567e-02 -9.96851664e-01 -3.64548076e-04 4.36827742e+02] [ 9.96838653e-01 7.92890845e-02 -5.09323359e-03 4.65261667e+02] [ 5.10610306e-03 4.04380002e-05 9.99986963e-01 2.30784991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.880385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.83, Y:465.29, Z:23.08 [[ 7.80377660e-02 -9.96950337e-01 -3.63356565e-04 4.36828138e+02] [ 9.96937327e-01 7.80386040e-02 -5.09331860e-03 4.65289291e+02] [ 5.10614153e-03 3.52274819e-05 9.99986963e-01 2.30802867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.910385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.83, Y:465.32, Z:23.08 [[ 7.68318747e-02 -9.97043997e-01 -3.61834572e-04 4.36829010e+02] [ 9.97030988e-01 7.68327206e-02 -5.09342672e-03 4.65317302e+02] [ 5.10617127e-03 3.05772423e-05 9.99986963e-01 2.30811702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.940385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.83, Y:465.34, Z:23.08 [[ 7.60895714e-02 -9.97100921e-01 -3.60421923e-04 4.36830484e+02] [ 9.97087912e-01 7.60904198e-02 -5.09352668e-03 4.65344541e+02] [ 5.10618480e-03 2.81919192e-05 9.99986963e-01 2.30809193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.9703857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.83, Y:465.37, Z:23.08 [[ 7.44637669e-02 -9.97223655e-01 -3.58932726e-04 4.36831857e+02] [ 9.97210647e-01 7.44646289e-02 -5.09363162e-03 4.65372979e+02] [ 5.10621773e-03 2.13594610e-05 9.99986963e-01 2.30813532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.000385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.83, Y:465.40, Z:23.08 [[ 7.30949982e-02 -9.97324919e-01 -3.57540950e-04 4.36832724e+02] [ 9.97311911e-01 7.30958709e-02 -5.09372931e-03 4.65399556e+02] [ 5.10623794e-03 1.57462866e-05 9.99986963e-01 2.30811747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.030385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.83, Y:465.43, Z:23.08 [[ 7.11950972e-02 -9.97462346e-01 -3.56632543e-04 4.36833087e+02] [ 9.97449339e-01 7.11959901e-02 -5.09379291e-03 4.65427966e+02] [ 5.10625743e-03 6.93018720e-06 9.99986963e-01 2.30828034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.060385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.83, Y:465.45, Z:23.08 [[ 7.00363004e-02 -9.97544380e-01 -3.55227217e-04 4.36833709e+02] [ 9.97531374e-01 7.00372012e-02 -5.09389091e-03 4.65454702e+02] [ 5.10626137e-03 2.40698010e-06 9.99986963e-01 2.30832957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.0903857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.84, Y:465.48, Z:23.08 [[ 6.93657922e-02 -9.97591230e-01 -3.54202463e-04 4.36835326e+02] [ 9.97578224e-01 6.93666965e-02 -5.09396217e-03 4.65482994e+02] [ 5.10626184e-03 2.05666593e-09 9.99986963e-01 2.30838286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.120385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.84, Y:465.51, Z:23.08 [[ 6.90936993e-02 -9.97610112e-01 -3.52804457e-04 4.36836971e+02] [ 9.97597107e-01 6.90946000e-02 -5.09405899e-03 4.65510184e+02] [ 5.10626164e-03 1.06741966e-08 9.99986963e-01 2.30835930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.150385723 meters Centerline goodness : 0.999865 Centerline is valid? [True, True] Translation: X:436.84, Y:465.54, Z:23.08 [[ 6.90953272e-02 -9.97610000e-01 -3.51329775e-04 4.36838136e+02] [ 9.97596994e-01 6.90962204e-02 -5.09416069e-03 4.65537080e+02] [ 5.10626121e-03 1.49717207e-06 9.99986963e-01 2.30817905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.180385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.84, Y:465.57, Z:23.09 [[ 6.97590770e-02 -9.97563807e-01 -3.49879591e-04 4.36838859e+02] [ 9.97550799e-01 6.97599541e-02 -5.09426029e-03 4.65565094e+02] [ 5.10625728e-03 6.34823093e-06 9.99986963e-01 2.30857117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.210385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.84, Y:465.59, Z:23.08 [[ 7.00570307e-02 -9.97542927e-01 -3.48529574e-04 4.36840005e+02] [ 9.97529919e-01 7.00578971e-02 -5.09435266e-03 4.65592113e+02] [ 5.10625271e-03 9.22654323e-06 9.99986963e-01 2.30849781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.240385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.84, Y:465.62, Z:23.08 [[ 6.91525900e-02 -9.97606034e-01 -3.47499635e-04 4.36838835e+02] [ 9.97593026e-01 6.91534628e-02 -5.09442291e-03 4.65618388e+02] [ 5.10625784e-03 5.62932613e-06 9.99986963e-01 2.30844975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.270385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:436.84, Y:465.65, Z:23.08 [[ 7.00449053e-02 -9.97543791e-01 -3.09159081e-04 4.36841660e+02] [ 9.97530771e-01 7.00455707e-02 -5.09702600e-03 4.65646586e+02] [ 5.10616186e-03 4.86250074e-05 9.99986962e-01 2.30838693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.300385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.85, Y:465.68, Z:23.09 [[ 7.11541137e-02 -9.97465283e-01 -3.18701029e-04 4.36845724e+02] [ 9.97452264e-01 7.11548133e-02 -5.09637918e-03 4.65675317e+02] [ 5.10613842e-03 4.47392808e-05 9.99986963e-01 2.30850830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.330385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.85, Y:465.70, Z:23.09 [[ 7.04832873e-02 -9.97512901e-01 -3.45428373e-04 4.36847451e+02] [ 9.97499891e-01 7.04841322e-02 -5.09456698e-03 4.65701810e+02] [ 5.10624351e-03 1.45170640e-05 9.99986963e-01 2.30850681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.360385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.85, Y:465.73, Z:23.09 [[ 6.95937433e-02 -9.97575357e-01 -3.43837925e-04 4.36849236e+02] [ 9.97562348e-01 6.95945918e-02 -5.09467432e-03 4.65729011e+02] [ 5.10625082e-03 1.15576898e-05 9.99986963e-01 2.30853685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.390385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.85, Y:465.76, Z:23.09 [[ 6.79196265e-02 -9.97690737e-01 -3.42339459e-04 4.36851877e+02] [ 9.97677729e-01 6.79204891e-02 -5.09477501e-03 4.65757167e+02] [ 5.10626170e-03 4.49076259e-06 9.99986963e-01 2.30860917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.420385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:436.85, Y:465.79, Z:23.09 [[ 6.65394442e-02 -9.97783737e-01 -3.40948521e-04 4.36854579e+02] [ 9.97770729e-01 6.65403177e-02 -5.09486809e-03 4.65785092e+02] [ 5.10626335e-03 -1.17876361e-06 9.99986963e-01 2.30864776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.450385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.86, Y:465.81, Z:23.09 [[ 6.34963983e-02 -9.97982010e-01 -3.39531197e-04 4.36858803e+02] [ 9.97969004e-01 6.34973043e-02 -5.09496254e-03 4.65812224e+02] [ 5.10624028e-03 -1.53298398e-05 9.99986963e-01 2.30865428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.4803857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.86, Y:465.84, Z:23.09 [[ 6.16514150e-02 -9.98097685e-01 -3.38049370e-04 4.36861525e+02] [ 9.98084681e-01 6.16523374e-02 -5.09506086e-03 4.65840359e+02] [ 5.10620998e-03 -2.32841861e-05 9.99986963e-01 2.30868713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.510385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.87, Y:465.87, Z:23.09 [[ 5.86862751e-02 -9.98276419e-01 -3.36670934e-04 4.36865029e+02] [ 9.98263416e-01 5.86872291e-02 -5.09515194e-03 4.65867521e+02] [ 5.10612832e-03 -3.70707878e-05 9.99986963e-01 2.30869811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.540385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.87, Y:465.90, Z:23.09 [[ 5.73007247e-02 -9.98356907e-01 -3.35218610e-04 4.36867551e+02] [ 9.98343906e-01 5.73016893e-02 -5.09524749e-03 4.65895950e+02] [ 5.10608412e-03 -4.27020831e-05 9.99986963e-01 2.30881945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.570385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.87, Y:465.92, Z:23.09 [[ 5.58024191e-02 -9.98441775e-01 -3.33801182e-04 4.36870165e+02] [ 9.98428775e-01 5.58033960e-02 -5.09534035e-03 4.65922621e+02] [ 5.10602790e-03 -4.89443872e-05 9.99986963e-01 2.30877311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.6003857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.87, Y:465.95, Z:23.09 [[ 5.57738923e-02 -9.98443370e-01 -3.32768386e-04 4.36871966e+02] [ 9.98430369e-01 5.57748643e-02 -5.09540780e-03 4.65951004e+02] [ 5.10603624e-03 -4.80553363e-05 9.99986963e-01 2.30880847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.630385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.87, Y:465.98, Z:23.09 [[ 5.58762233e-02 -9.98437649e-01 -3.31384821e-04 4.36873500e+02] [ 9.98424647e-01 5.58771869e-02 -5.09549778e-03 4.65979404e+02] [ 5.10605367e-03 -4.61456015e-05 9.99986963e-01 2.30883460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.660385723 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:436.88, Y:466.01, Z:23.09 [[ 5.67262290e-02 -9.98389717e-01 -3.29992204e-04 4.36875489e+02] [ 9.98376714e-01 5.67271744e-02 -5.09558797e-03 4.66006292e+02] [ 5.10610215e-03 -4.04030428e-05 9.99986963e-01 2.30871726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.690385723 meters Centerline goodness : 0.999865 Centerline is valid? [True, True] Translation: X:436.88, Y:466.03, Z:23.09 [[ 5.67733860e-02 -9.98387036e-01 -3.28973811e-04 4.36877229e+02] [ 9.98374033e-01 5.67743256e-02 -5.09565371e-03 4.66034725e+02] [ 5.10611188e-03 -3.91413951e-05 9.99986963e-01 2.30874546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.7203857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.88, Y:466.06, Z:23.09 [[ 5.78793230e-02 -9.98323533e-01 -3.27593758e-04 4.36878402e+02] [ 9.98310528e-01 5.78802412e-02 -5.09574243e-03 4.66061428e+02] [ 5.10616080e-03 -3.21021756e-05 9.99986963e-01 2.30903938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.750385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.88, Y:466.09, Z:23.09 [[ 5.79263868e-02 -9.98320804e-01 -3.26139404e-04 4.36879733e+02] [ 9.98307799e-01 5.79272969e-02 -5.09583551e-03 4.66088320e+02] [ 5.10617098e-03 -3.04041715e-05 9.99986963e-01 2.30904743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.780385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.88, Y:466.12, Z:23.09 [[ 5.77444779e-02 -9.98331343e-01 -3.24693238e-04 4.36880341e+02] [ 9.98318337e-01 5.77453830e-02 -5.09592766e-03 4.66115819e+02] [ 5.10617384e-03 -2.98855316e-05 9.99986963e-01 2.30910255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.810385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.88, Y:466.14, Z:23.09 [[ 5.63227021e-02 -9.98412565e-01 -3.23161136e-04 4.36880050e+02] [ 9.98399560e-01 5.63236179e-02 -5.09602482e-03 4.66143670e+02] [ 5.10613681e-03 -3.56220485e-05 9.99986963e-01 2.30918214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.8403857229999 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:436.88, Y:466.17, Z:23.09 [[ 5.65756249e-02 -9.98398269e-01 -3.10051042e-04 4.36881376e+02] [ 9.98385259e-01 5.65764705e-02 -5.09685288e-03 4.66171998e+02] [ 5.10623068e-03 -2.11927529e-05 9.99986963e-01 2.30901597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.870385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:436.88, Y:466.20, Z:23.09 [[ 5.63274597e-02 -9.98412297e-01 -3.21272203e-04 4.36882287e+02] [ 9.98399291e-01 5.63283658e-02 -5.09614547e-03 4.66198603e+02] [ 5.10615104e-03 -3.37050109e-05 9.99986963e-01 2.30915510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.900385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.88, Y:466.23, Z:23.09 [[ 5.50389654e-02 -9.98484156e-01 -3.19697480e-04 4.36882689e+02] [ 9.98471151e-01 5.50398803e-02 -5.09624426e-03 4.66225470e+02] [ 5.10611526e-03 -3.87166993e-05 9.99986963e-01 2.30922585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.930385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.88, Y:466.25, Z:23.09 [[ 5.40896019e-02 -9.98536035e-01 -3.18196310e-04 4.36883487e+02] [ 9.98523031e-01 5.40905214e-02 -5.09633798e-03 4.66251805e+02] [ 5.10608853e-03 -4.20674513e-05 9.99986963e-01 2.30918714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.960385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.88, Y:466.28, Z:23.09 [[ 5.26577068e-02 -9.98612570e-01 -3.16622293e-04 4.36883462e+02] [ 9.98599567e-01 5.26586370e-02 -5.09643577e-03 4.66279774e+02] [ 5.10603772e-03 -4.78122634e-05 9.99986963e-01 2.30922050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.990385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.89, Y:466.31, Z:23.09 [[ 5.23831287e-02 -9.98627012e-01 -3.15221283e-04 4.36885166e+02] [ 9.98614008e-01 5.23840553e-02 -5.09652242e-03 4.66308320e+02] [ 5.10603753e-03 -4.78125989e-05 9.99986963e-01 2.30923504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.020385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.88, Y:466.34, Z:23.09 [[ 5.01412799e-02 -9.98742086e-01 -3.13819914e-04 4.36884576e+02] [ 9.98729083e-01 5.01422285e-02 -5.09660871e-03 4.66335878e+02] [ 5.10593325e-03 -5.78705909e-05 9.99986963e-01 2.30924795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.050385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.89, Y:466.36, Z:23.09 [[ 4.96081603e-02 -9.98768711e-01 -3.03514659e-04 4.36885328e+02] [ 9.98755705e-01 4.96090633e-02 -5.09724093e-03 4.66364294e+02] [ 5.10602183e-03 -5.02722527e-05 9.99986963e-01 2.30921335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.080385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.88, Y:466.39, Z:23.09 [[ 4.77579584e-02 -9.98858889e-01 -3.12308726e-04 4.36884400e+02] [ 9.98845888e-01 4.77589304e-02 -5.09670205e-03 4.66391200e+02] [ 5.10580168e-03 -6.85402018e-05 9.99986963e-01 2.30914679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.110385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.88, Y:466.42, Z:23.09 [[ 4.51302747e-02 -9.98981062e-01 -3.10818605e-04 4.36883387e+02] [ 9.98968063e-01 4.51312732e-02 -5.09679293e-03 4.66418810e+02] [ 5.10562725e-03 -8.04781947e-05 9.99986963e-01 2.30908536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.140385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.88, Y:466.45, Z:23.09 [[ 4.63763396e-02 -9.98923994e-01 -2.98710560e-04 4.36884286e+02] [ 9.98910990e-01 4.63772602e-02 -5.09752807e-03 4.66446474e+02] [ 5.10589647e-03 -6.19805684e-05 9.99986963e-01 2.30916292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.170385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.88, Y:466.47, Z:23.09 [[ 4.61572792e-02 -9.98934137e-01 -3.08947616e-04 4.36884483e+02] [ 9.98921137e-01 4.61582548e-02 -5.09690755e-03 4.66473476e+02] [ 5.10573543e-03 -7.33549185e-05 9.99986963e-01 2.30915226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.200385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.88, Y:466.50, Z:23.09 [[ 4.71020285e-02 -9.98890036e-01 -3.07467896e-04 4.36882804e+02] [ 9.98877034e-01 4.71029843e-02 -5.09699681e-03 4.66501820e+02] [ 5.10582198e-03 -6.70437309e-05 9.99986963e-01 2.30921180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.2303857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.88, Y:466.53, Z:23.09 [[ 4.75395140e-02 -9.98869311e-01 -3.06056110e-04 4.36882687e+02] [ 9.98856308e-01 4.75404569e-02 -5.09708158e-03 4.66529152e+02] [ 5.10586842e-03 -6.33932956e-05 9.99986963e-01 2.30918143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.260385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.88, Y:466.56, Z:23.09 [[ 4.80524419e-02 -9.98844768e-01 -3.04566624e-04 4.36880758e+02] [ 9.98831764e-01 4.80533705e-02 -5.09717058e-03 4.66557774e+02] [ 5.10591762e-03 -5.92793255e-05 9.99986963e-01 2.30906927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.290385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:436.88, Y:466.58, Z:23.09 [[ 4.94453274e-02 -9.98776785e-01 -3.06518184e-04 4.36881963e+02] [ 9.98763780e-01 4.94462478e-02 -5.09705422e-03 4.66584623e+02] [ 5.10597560e-03 -5.41137458e-05 9.99986963e-01 2.30918506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.320385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.88, Y:466.61, Z:23.09 [[ 5.04514494e-02 -9.98726469e-01 -3.02580895e-04 4.36880843e+02] [ 9.98713462e-01 5.04523367e-02 -5.09728795e-03 4.66612414e+02] [ 5.10606231e-03 -4.50260486e-05 9.99986963e-01 2.30934126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.3503857229999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:436.88, Y:466.64, Z:23.09 [[ 4.91585460e-02 -9.98790942e-01 -3.01180481e-04 4.36876911e+02] [ 9.98777936e-01 4.91594430e-02 -5.09737069e-03 4.66640014e+02] [ 5.10601354e-03 -5.02330878e-05 9.99986963e-01 2.30888418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.380385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.88, Y:466.67, Z:23.09 [[ 5.14002232e-02 -9.98678094e-01 -2.85746992e-04 4.36879033e+02] [ 9.98665081e-01 5.14010122e-02 -5.09827910e-03 4.66668020e+02] [ 5.10622734e-03 -2.33128589e-05 9.99986963e-01 2.30927696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.410385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.88, Y:466.70, Z:23.09 [[ 5.12180485e-02 -9.98687450e-01 -2.99206248e-04 4.36878568e+02] [ 9.98674441e-01 5.12189086e-02 -5.09748908e-03 4.66695709e+02] [ 5.10612339e-03 -3.77261890e-05 9.99986963e-01 2.30931868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.440385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.88, Y:466.72, Z:23.09 [[ 5.04508629e-02 -9.98726500e-01 -2.97783380e-04 4.36878709e+02] [ 9.98713492e-01 5.04517257e-02 -5.09757220e-03 4.66722572e+02] [ 5.10610413e-03 -4.02233630e-05 9.99986963e-01 2.30928890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.4703857229999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:436.88, Y:466.75, Z:23.09 [[ 5.07370242e-02 -9.98712004e-01 -2.96285467e-04 4.36880233e+02] [ 9.98698995e-01 5.07378756e-02 -5.09765926e-03 4.66753302e+02] [ 5.10612639e-03 -3.72599367e-05 9.99986963e-01 2.30914909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.500385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:436.88, Y:466.78, Z:23.09 [[ 4.88466954e-02 -9.98806230e-01 -3.40741663e-04 4.36877598e+02] [ 9.98793238e-01 4.88477983e-02 -5.09507103e-03 4.66777867e+02] [ 5.10563316e-03 -9.14530865e-05 9.99986962e-01 2.30927459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.530385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.88, Y:466.81, Z:23.09 [[ 4.80890842e-02 -9.98843008e-01 -2.94046155e-04 4.36877854e+02] [ 9.98830000e-01 4.80899587e-02 -5.09776450e-03 4.66806333e+02] [ 5.10600709e-03 -4.85552952e-05 9.99986963e-01 2.30927942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.560385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.88, Y:466.83, Z:23.09 [[ 4.73232503e-02 -9.98879585e-01 -2.92670869e-04 4.36876960e+02] [ 9.98866577e-01 4.73241277e-02 -5.09784345e-03 4.66834493e+02] [ 5.10598214e-03 -5.10926280e-05 9.99986963e-01 2.30931422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.5903857229999 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:436.88, Y:466.86, Z:23.09 [[ 4.64901561e-02 -9.98918706e-01 -2.91300856e-04 4.36877778e+02] [ 9.98905699e-01 4.64910374e-02 -5.09792174e-03 4.66862919e+02] [ 5.10595226e-03 -5.39789079e-05 9.99986963e-01 2.30916646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.620385723 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:436.88, Y:466.89, Z:23.09 [[ 4.62011478e-02 -9.98932115e-01 -2.89898430e-04 4.36877461e+02] [ 9.98919108e-01 4.62020256e-02 -5.09800148e-03 4.66890152e+02] [ 5.10595130e-03 -5.40515607e-05 9.99986963e-01 2.30933703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.650385723 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:436.88, Y:466.92, Z:23.09 [[ 4.59172870e-02 -9.98945204e-01 -2.88421880e-04 4.36877858e+02] [ 9.98932196e-01 4.59181611e-02 -5.09808502e-03 4.66918114e+02] [ 5.10595138e-03 -5.40236687e-05 9.99986963e-01 2.30933677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.680385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:436.88, Y:466.95, Z:23.09 [[ 4.57921941e-02 -9.98950946e-01 -2.87036453e-04 4.36876592e+02] [ 9.98937938e-01 4.57930627e-02 -5.09816302e-03 4.66946402e+02] [ 5.10595905e-03 -5.32755323e-05 9.99986963e-01 2.30929054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.710385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:436.88, Y:466.97, Z:23.09 [[ 4.57109347e-02 -9.98954668e-01 -2.85624024e-04 4.36876707e+02] [ 9.98941660e-01 4.57117972e-02 -5.09824215e-03 4.66974213e+02] [ 5.10596918e-03 -5.22763222e-05 9.99986963e-01 2.30919934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.740385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.88, Y:467.00, Z:23.09 [[ 4.60581085e-02 -9.98938722e-01 -2.84213438e-04 4.36877342e+02] [ 9.98925713e-01 4.60589592e-02 -5.09832079e-03 4.67002498e+02] [ 5.10600063e-03 -4.90890995e-05 9.99986963e-01 2.30938984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.770385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:436.88, Y:467.03, Z:23.10 [[ 4.57642995e-02 -9.98952226e-01 -2.82802313e-04 4.36876337e+02] [ 9.98939216e-01 4.57651469e-02 -5.09839906e-03 4.67029357e+02] [ 5.10599958e-03 -4.91776593e-05 9.99986963e-01 2.30950180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.800385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:436.88, Y:467.06, Z:23.09 [[ 4.52287360e-02 -9.98976618e-01 -2.81312071e-04 4.36876730e+02] [ 9.98963608e-01 4.52295828e-02 -5.09848129e-03 4.67057869e+02] [ 5.10598722e-03 -5.04226574e-05 9.99986963e-01 2.30942325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.830385723 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:436.88, Y:467.09, Z:23.10 [[ 4.49485415e-02 -9.98989264e-01 -2.79936268e-04 4.36875856e+02] [ 9.98976255e-01 4.49493849e-02 -5.09855682e-03 4.67085454e+02] [ 5.10598649e-03 -5.04769911e-05 9.99986963e-01 2.30951084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.860385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.88, Y:467.11, Z:23.10 [[ 4.48605957e-02 -9.98993218e-01 -2.78484484e-04 4.36875758e+02] [ 9.98980208e-01 4.48614328e-02 -5.09863612e-03 4.67112117e+02] [ 5.10599612e-03 -4.94726343e-05 9.99986963e-01 2.30951055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.890385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:436.88, Y:467.14, Z:23.10 [[ 4.50515073e-02 -9.98984627e-01 -2.76889174e-04 4.36876158e+02] [ 9.98971616e-01 4.50523338e-02 -5.09872275e-03 4.67139735e+02] [ 5.10602015e-03 -4.68992799e-05 9.99986963e-01 2.30961250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.920385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:436.87, Y:467.17, Z:23.10 [[ 4.64204261e-02 -9.98921953e-01 -2.75494193e-04 4.36874649e+02] [ 9.98908941e-01 4.64212276e-02 -5.09879813e-03 4.67167418e+02] [ 5.10609016e-03 -3.85052306e-05 9.99986963e-01 2.30965577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.950385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.87, Y:467.19, Z:23.10 [[ 4.73501841e-02 -9.98878313e-01 -2.74021976e-04 4.36874616e+02] [ 9.98865300e-01 4.73509660e-02 -5.09887725e-03 4.67194112e+02] [ 5.10613311e-03 -3.22782667e-05 9.99986963e-01 2.30968376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.9803857229999 meters Centerline goodness : 0.999742 Centerline is valid? [True, True] Translation: X:436.87, Y:467.22, Z:23.10 [[ 4.91048007e-02 -9.98793595e-01 -2.72575653e-04 4.36874514e+02] [ 9.98780579e-01 4.91055524e-02 -5.09895456e-03 4.67222214e+02] [ 5.10618813e-03 -2.18601214e-05 9.99986963e-01 2.30961129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.010385723 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:436.88, Y:467.25, Z:23.10 [[ 5.04821720e-02 -9.98724926e-01 -2.71156853e-04 4.36875012e+02] [ 9.98711909e-01 5.04828984e-02 -5.09903001e-03 4.67250117e+02] [ 5.10621715e-03 -1.33974685e-05 9.99986963e-01 2.30987004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.040385723 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:436.88, Y:467.28, Z:23.10 [[ 5.18790923e-02 -9.98653337e-01 -2.69745533e-04 4.36875930e+02] [ 9.98640319e-01 5.18797933e-02 -5.09910467e-03 4.67278335e+02] [ 5.10623224e-03 -4.84184287e-06 9.99986963e-01 2.31000169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.070385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:436.88, Y:467.31, Z:23.10 [[ 5.21473228e-02 -9.98639367e-01 -2.68328918e-04 4.36876573e+02] [ 9.98626348e-01 5.21480131e-02 -5.09917922e-03 4.67305490e+02] [ 5.10623392e-03 -2.05178232e-06 9.99986963e-01 2.31003573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.1003857229999 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:436.87, Y:467.33, Z:23.10 [[ 4.94344403e-02 -9.98777335e-01 -2.67295346e-04 4.36873147e+02] [ 9.98764318e-01 4.94351607e-02 -5.09923339e-03 4.67331684e+02] [ 5.10621253e-03 -1.48873049e-05 9.99986963e-01 2.30967590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.130385723 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:436.88, Y:467.36, Z:23.10 [[ 5.29239468e-02 -9.98598519e-01 -2.30124733e-04 4.36876896e+02] [ 9.98585491e-01 5.29244318e-02 -5.10117313e-03 4.67362758e+02] [ 5.10620316e-03 4.01749958e-05 9.99986962e-01 2.30984603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.160385723 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:436.87, Y:467.38, Z:23.09 [[ 4.68849175e-02 -9.98900262e-01 -2.66545362e-04 4.36869830e+02] [ 9.98887247e-01 4.68856673e-02 -5.09926938e-03 4.67383080e+02] [ 5.10615868e-03 -2.71699381e-05 9.99986963e-01 2.30932604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.190385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.88, Y:467.42, Z:23.10 [[ 5.46148111e-02 -9.98507486e-01 -1.50376048e-04 4.36879572e+02] [ 9.98494443e-01 5.46148666e-02 -5.10524877e-03 4.67418428e+02] [ 5.10584188e-03 1.28672549e-04 9.99986957e-01 2.30997776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.2203857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.88, Y:467.45, Z:23.10 [[ 5.45193260e-02 -9.98512680e-01 -2.65822605e-04 4.36880867e+02] [ 9.98499660e-01 5.45199726e-02 -5.09923058e-03 4.67446621e+02] [ 5.10613903e-03 1.25828333e-05 9.99986964e-01 2.31004203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.250385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:436.88, Y:467.47, Z:23.10 [[ 5.40411449e-02 -9.98538675e-01 -2.64413093e-04 4.36882488e+02] [ 9.98525654e-01 5.40417905e-02 -5.09930367e-03 4.67473948e+02] [ 5.10614128e-03 1.15489521e-05 9.99986964e-01 2.31003980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.280385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.88, Y:467.50, Z:23.10 [[ 5.32982918e-02 -9.98578601e-01 -2.62928068e-04 4.36884206e+02] [ 9.98565581e-01 5.32989396e-02 -5.09938024e-03 4.67501663e+02] [ 5.10614577e-03 9.23733671e-06 9.99986964e-01 2.31007134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.310385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:436.89, Y:467.53, Z:23.10 [[ 5.29683733e-02 -9.98596156e-01 -2.61523397e-04 4.36885827e+02] [ 9.98583136e-01 5.29690182e-02 -5.09945227e-03 4.67528387e+02] [ 5.10614608e-03 8.95683763e-06 9.99986964e-01 2.31007705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.3403857229999 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:436.89, Y:467.55, Z:23.10 [[ 5.39980221e-02 -9.98541009e-01 -2.60043311e-04 4.36887220e+02] [ 9.98527987e-01 5.39986460e-02 -5.09952775e-03 4.67554947e+02] [ 5.10612957e-03 1.57038882e-05 9.99986964e-01 2.30997461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.370385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.89, Y:467.58, Z:23.10 [[ 5.47786844e-02 -9.98498487e-01 -2.59029114e-04 4.36888462e+02] [ 9.98485465e-01 5.47792929e-02 -5.09957926e-03 4.67583465e+02] [ 5.10611161e-03 2.07114378e-05 9.99986964e-01 2.30990571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.400385723 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:436.89, Y:467.61, Z:23.10 [[ 5.76281843e-02 -9.98338082e-01 -2.57646215e-04 4.36889284e+02] [ 9.98325058e-01 5.76287486e-02 -5.09964913e-03 4.67610876e+02] [ 5.10602176e-03 3.66688474e-05 9.99986964e-01 2.30961194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.430385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.89, Y:467.64, Z:23.10 [[ 5.89287531e-02 -9.98262158e-01 -2.56202011e-04 4.36890396e+02] [ 9.98249133e-01 5.89292930e-02 -5.09972169e-03 4.67639217e+02] [ 5.10595698e-03 4.47668047e-05 9.99986964e-01 2.30958301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.460385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.89, Y:467.67, Z:23.10 [[ 6.09247267e-02 -9.98142331e-01 -2.54798261e-04 4.36892791e+02] [ 9.98129304e-01 6.09252334e-02 -5.09979182e-03 4.67665705e+02] [ 5.10584174e-03 5.63818124e-05 9.99986964e-01 2.30950324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.490385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.89, Y:467.69, Z:23.10 [[ 6.15116203e-02 -9.98106335e-01 -2.53771191e-04 4.36894577e+02] [ 9.98093308e-01 6.15121141e-02 -5.09984293e-03 4.67690746e+02] [ 5.10579554e-03 6.04122746e-05 9.99986964e-01 2.30952955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.520385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:436.90, Y:467.72, Z:23.10 [[ 6.02523463e-02 -9.98183147e-01 -2.46516553e-04 4.36896704e+02] [ 9.98170119e-01 6.02528195e-02 -5.10020151e-03 4.67718620e+02] [ 5.10578851e-03 6.12336509e-05 9.99986964e-01 2.30959597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.550385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:436.90, Y:467.75, Z:23.10 [[ 5.92334957e-02 -9.98244124e-01 -2.50978104e-04 4.36899104e+02] [ 9.98231097e-01 5.92340050e-02 -5.09998195e-03 4.67745786e+02] [ 5.10589345e-03 5.15556108e-05 9.99986964e-01 2.30959008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.580385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:436.90, Y:467.77, Z:23.09 [[ 5.49872470e-02 -9.98487026e-01 -2.49934950e-04 4.36900582e+02] [ 9.98474001e-01 5.49878063e-02 -5.10003307e-03 4.67771810e+02] [ 5.10606023e-03 3.08832287e-05 9.99986964e-01 2.30947895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.610385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.91, Y:467.80, Z:23.10 [[ 5.59098295e-02 -9.98435798e-01 -2.17853073e-04 4.36906203e+02] [ 9.98422767e-01 5.59102129e-02 -5.10159349e-03 4.67801701e+02] [ 5.10579378e-03 6.77197543e-05 9.99986963e-01 2.30973674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.640385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:436.91, Y:467.83, Z:23.10 [[ 5.40347732e-02 -9.98539024e-01 -2.48074562e-04 4.36906558e+02] [ 9.98525999e-01 5.40353355e-02 -5.10012349e-03 4.67828344e+02] [ 5.10607712e-03 2.78751157e-05 9.99986964e-01 2.30964139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.670385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:436.91, Y:467.86, Z:23.10 [[ 5.39806573e-02 -9.98541955e-01 -2.28862015e-04 4.36908443e+02] [ 9.98528927e-01 5.39811221e-02 -5.10105072e-03 4.67855449e+02] [ 5.10596739e-03 4.68327286e-05 9.99986963e-01 2.30951453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.700385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.91, Y:467.88, Z:23.10 [[ 5.58418056e-02 -9.98439604e-01 -2.21896064e-04 4.36912309e+02] [ 9.98426574e-01 5.58422106e-02 -5.10138563e-03 4.67884606e+02] [ 5.10581662e-03 6.33236577e-05 9.99986963e-01 2.30964888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.7303857229999 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:436.91, Y:467.91, Z:23.09 [[ 5.40879885e-02 -9.98536143e-01 -2.45131521e-04 4.36912894e+02] [ 9.98523118e-01 5.40885350e-02 -5.10026888e-03 4.67911373e+02] [ 5.10606162e-03 3.10937937e-05 9.99986964e-01 2.30939882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.760385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.92, Y:467.94, Z:23.10 [[ 5.76309662e-02 -9.98337926e-01 -2.38280573e-04 4.36918814e+02] [ 9.98324898e-01 5.76314316e-02 -5.10059696e-03 4.67939553e+02] [ 5.10585184e-03 5.60709026e-05 9.99986964e-01 2.30969567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.790385723 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:436.92, Y:467.97, Z:23.10 [[ 5.71644339e-02 -9.98364747e-01 -2.43345008e-04 4.36921258e+02] [ 9.98351720e-01 5.71649312e-02 -5.10035533e-03 4.67966308e+02] [ 5.10592576e-03 4.86150173e-05 9.99986964e-01 2.30955720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.820385723 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:436.92, Y:468.00, Z:23.10 [[ 5.75819130e-02 -9.98340756e-01 -2.41903214e-04 4.36923221e+02] [ 9.98327728e-01 5.75823975e-02 -5.10042371e-03 4.67995562e+02] [ 5.10589023e-03 5.21934679e-05 9.99986964e-01 2.30981073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.8503857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.93, Y:468.02, Z:23.10 [[ 5.88793531e-02 -9.98265075e-01 -2.49996602e-04 4.36925854e+02] [ 9.98252048e-01 5.88798620e-02 -5.10004179e-03 4.68023050e+02] [ 5.10591337e-03 5.07275415e-05 9.99986963e-01 2.30971525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.880385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.93, Y:468.05, Z:23.10 [[ 5.91766715e-02 -9.98247497e-01 -2.39180209e-04 4.36929283e+02] [ 9.98234468e-01 5.91771212e-02 -5.10054900e-03 4.68051389e+02] [ 5.10576427e-03 6.30755845e-05 9.99986964e-01 2.30975629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.910385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.93, Y:468.08, Z:23.10 [[ 5.88966794e-02 -9.98264056e-01 -2.37747293e-04 4.36930557e+02] [ 9.98251027e-01 5.88971255e-02 -5.10061580e-03 4.68079947e+02] [ 5.10576404e-03 6.30778544e-05 9.99986964e-01 2.30977083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.940385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.93, Y:468.11, Z:23.10 [[ 5.87741639e-02 -9.98271277e-01 -2.36316628e-04 4.36933189e+02] [ 9.98258248e-01 5.87746043e-02 -5.10068208e-03 4.68107970e+02] [ 5.10575383e-03 6.38833016e-05 9.99986964e-01 2.30984185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.9703857229999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:436.94, Y:468.14, Z:23.10 [[ 5.76812195e-02 -9.98335025e-01 -2.34884378e-04 4.36936925e+02] [ 9.98321996e-01 5.76816668e-02 -5.10074803e-03 4.68136005e+02] [ 5.10580394e-03 5.97271255e-05 9.99986964e-01 2.30996728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.000385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.94, Y:468.16, Z:23.10 [[ 5.68611928e-02 -9.98382066e-01 -2.33453326e-04 4.36939254e+02] [ 9.98369038e-01 5.68616435e-02 -5.10081353e-03 4.68162561e+02] [ 5.10583529e-03 5.69657696e-05 9.99986964e-01 2.30999807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.030385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:436.94, Y:468.19, Z:23.10 [[ 5.54391059e-02 -9.98462043e-01 -2.31944927e-04 4.36942610e+02] [ 9.98449015e-01 5.54395675e-02 -5.10088212e-03 4.68189858e+02] [ 5.10589611e-03 5.12031604e-05 9.99986964e-01 2.30999504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.060385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.95, Y:468.22, Z:23.10 [[ 5.32786595e-02 -9.98579657e-01 -2.30455547e-04 4.36945968e+02] [ 9.98566629e-01 5.32791417e-02 -5.10094941e-03 4.68217817e+02] [ 5.10598278e-03 4.16465274e-05 9.99986964e-01 2.30997670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.0903857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.95, Y:468.24, Z:23.10 [[ 5.17710474e-02 -9.98658954e-01 -2.29036541e-04 4.36948479e+02] [ 9.98645927e-01 5.17715420e-02 -5.10101312e-03 4.68244944e+02] [ 5.10603000e-03 3.53583836e-05 9.99986964e-01 2.30999902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.120385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.95, Y:468.27, Z:23.10 [[ 4.96399160e-02 -9.98767154e-01 -2.27538417e-04 4.36953165e+02] [ 9.98754127e-01 4.96404307e-02 -5.10107995e-03 4.68272654e+02] [ 5.10608620e-03 2.59622467e-05 9.99986964e-01 2.31000315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.150385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.96, Y:468.30, Z:23.10 [[ 4.90642903e-02 -9.98795597e-01 -2.26124322e-04 4.36955701e+02] [ 9.98782571e-01 4.90648053e-02 -5.10114263e-03 4.68301084e+02] [ 5.10609354e-03 2.44349116e-05 9.99986964e-01 2.30999283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.180385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.96, Y:468.33, Z:23.10 [[ 4.85489212e-02 -9.98820781e-01 -2.24712761e-04 4.36958782e+02] [ 9.98807754e-01 4.85494357e-02 -5.10120481e-03 4.68328704e+02] [ 5.10609905e-03 2.32131421e-05 9.99986964e-01 2.30991368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.210385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:436.96, Y:468.36, Z:23.10 [[ 4.83751797e-02 -9.98829211e-01 -2.23312777e-04 4.36960921e+02] [ 9.98816184e-01 4.83756893e-02 -5.10126610e-03 4.68356478e+02] [ 5.10609650e-03 2.37262482e-05 9.99986964e-01 2.30990262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.240385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.96, Y:468.38, Z:23.10 [[ 4.75997995e-02 -9.98866463e-01 -2.21896068e-04 4.36964789e+02] [ 9.98853436e-01 4.76003120e-02 -5.10132772e-03 4.68383616e+02] [ 5.10610750e-03 2.11805266e-05 9.99986964e-01 2.30990423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.270385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.97, Y:468.41, Z:23.10 [[ 4.65707896e-02 -9.98914968e-01 -2.20397476e-04 4.36967376e+02] [ 9.98901942e-01 4.65713079e-02 -5.10139246e-03 4.68410197e+02] [ 5.10612149e-03 1.74204081e-05 9.99986964e-01 2.30990247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.300385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:436.97, Y:468.44, Z:23.10 [[ 4.39983619e-02 -9.99031579e-01 -2.18916462e-04 4.36971536e+02] [ 9.99018554e-01 4.39989061e-02 -5.10145602e-03 4.68439277e+02] [ 5.10614775e-03 5.75410035e-06 9.99986964e-01 2.30986928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.330385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:436.98, Y:468.47, Z:23.10 [[ 4.30260325e-02 -9.99073926e-01 -2.27563294e-04 4.36975560e+02] [ 9.99060903e-01 4.30266335e-02 -5.10108693e-03 4.68466321e+02] [ 5.10615422e-03 -7.87005841e-06 9.99986964e-01 2.30998117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.360385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:436.98, Y:468.49, Z:23.10 [[ 4.22914706e-02 -9.99105292e-01 -2.15839496e-04 4.36978216e+02] [ 9.99092267e-01 4.22920213e-02 -5.10158294e-03 4.68494729e+02] [ 5.10614680e-03 1.09873546e-07 9.99986964e-01 2.31012118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.390385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.98, Y:468.52, Z:23.10 [[ 4.13425715e-02 -9.99145007e-01 -2.14417041e-04 4.36982584e+02] [ 9.99131983e-01 4.13431274e-02 -5.10164272e-03 4.68521789e+02] [ 5.10614553e-03 -3.31589372e-06 9.99986964e-01 2.31016119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.420385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.99, Y:468.55, Z:23.10 [[ 4.09269576e-02 -9.99162118e-01 -2.12921928e-04 4.36985367e+02] [ 9.99149094e-01 4.09275113e-02 -5.10170512e-03 4.68548988e+02] [ 5.10614486e-03 -3.94348233e-06 9.99986964e-01 2.31016194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.450385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.99, Y:468.58, Z:23.10 [[ 4.17146215e-02 -9.99129544e-01 -2.11907301e-04 4.36989400e+02] [ 9.99116519e-01 4.17151598e-02 -5.10174727e-03 4.68576643e+02] [ 5.10614617e-03 1.09737209e-06 9.99986964e-01 2.31015836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.4803857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.99, Y:468.60, Z:23.10 [[ 4.23698509e-02 -9.99101973e-01 -2.10577353e-04 4.36991825e+02] [ 9.99088947e-01 4.23703738e-02 -5.10180216e-03 4.68603607e+02] [ 5.10614284e-03 5.77709113e-06 9.99986964e-01 2.31010460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.510385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:437.00, Y:468.63, Z:23.10 [[ 4.42610705e-02 -9.99019977e-01 -2.09068282e-04 4.36995615e+02] [ 9.99006950e-01 4.42615610e-02 -5.10186400e-03 4.68631208e+02] [ 5.10611774e-03 1.69532955e-05 9.99986964e-01 2.31003618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.540385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:437.00, Y:468.66, Z:23.10 [[ 4.52404366e-02 -9.98976106e-01 -2.07631680e-04 4.36999444e+02] [ 9.98963078e-01 4.52409070e-02 -5.10192247e-03 4.68659103e+02] [ 5.10609208e-03 2.33968181e-05 9.99986964e-01 2.30989137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.570385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:437.00, Y:468.69, Z:23.10 [[ 4.55645510e-02 -9.98961375e-01 -2.06199618e-04 4.37001807e+02] [ 9.98948347e-01 4.55650099e-02 -5.10198034e-03 4.68686327e+02] [ 5.10607679e-03 2.64866766e-05 9.99986964e-01 2.30975493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.6003857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:437.01, Y:468.71, Z:23.10 [[ 4.60360708e-02 -9.98939757e-01 -2.04698677e-04 4.37005372e+02] [ 9.98926728e-01 4.60365159e-02 -5.10204056e-03 4.68713958e+02] [ 5.10605477e-03 3.03989209e-05 9.99986964e-01 2.30970511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.630385723 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:437.01, Y:468.74, Z:23.10 [[ 4.62184033e-02 -9.98931338e-01 -2.03280584e-04 4.37008118e+02] [ 9.98918309e-01 4.62188388e-02 -5.10209706e-03 4.68741375e+02] [ 5.10604004e-03 3.27500832e-05 9.99986964e-01 2.30975265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.660385723 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:437.01, Y:468.77, Z:23.10 [[ 4.52436235e-02 -9.98975963e-01 -2.02247572e-04 4.37012093e+02] [ 9.98962934e-01 4.52440664e-02 -5.10213801e-03 4.68769608e+02] [ 5.10606373e-03 2.88013836e-05 9.99986964e-01 2.30983495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.690385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:437.01, Y:468.80, Z:23.10 [[ 4.46456735e-02 -9.99002865e-01 -2.00855964e-04 4.37014590e+02] [ 9.98989836e-01 4.46461171e-02 -5.10219279e-03 4.68797234e+02] [ 5.10607266e-03 2.71377676e-05 9.99986964e-01 2.30986210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.7203857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:437.02, Y:468.82, Z:23.10 [[ 4.35898803e-02 -9.99049490e-01 -1.99551872e-04 4.37017622e+02] [ 9.99036461e-01 4.35903309e-02 -5.10224380e-03 4.68824722e+02] [ 5.10609259e-03 2.30466000e-05 9.99986964e-01 2.31001105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.750385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:437.02, Y:468.85, Z:23.10 [[ 4.35526960e-02 -9.99051112e-01 -1.98069047e-04 4.37019143e+02] [ 9.99038083e-01 4.35531396e-02 -5.10230136e-03 4.68851784e+02] [ 5.10608638e-03 2.43404590e-05 9.99986964e-01 2.30998741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.780385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:437.02, Y:468.88, Z:23.10 [[ 4.38176018e-02 -9.99039528e-01 -1.96610604e-04 4.37019907e+02] [ 9.99026499e-01 4.38180345e-02 -5.10235756e-03 4.68879511e+02] [ 5.10607198e-03 2.71538681e-05 9.99986964e-01 2.31003750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.810385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:437.02, Y:468.91, Z:23.10 [[ 4.41789649e-02 -9.99023614e-01 -1.95193594e-04 4.37020291e+02] [ 9.99010584e-01 4.41793857e-02 -5.10241177e-03 4.68906714e+02] [ 5.10605338e-03 3.04188038e-05 9.99986964e-01 2.30991048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.8403857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:437.02, Y:468.93, Z:23.10 [[ 4.57363136e-02 -9.98953529e-01 -1.93698634e-04 4.37019258e+02] [ 9.98940498e-01 4.57367063e-02 -5.10246852e-03 4.68934974e+02] [ 5.10598807e-03 3.98746904e-05 9.99986964e-01 2.30981639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.870385723 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:437.02, Y:468.96, Z:23.10 [[ 4.65852375e-02 -9.98914300e-01 -1.92296825e-04 4.37019254e+02] [ 9.98901269e-01 4.65856121e-02 -5.10252135e-03 4.68961822e+02] [ 5.10593981e-03 4.56166271e-05 9.99986964e-01 2.30972209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.900385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:437.02, Y:468.99, Z:23.09 [[ 4.67816007e-02 -9.98905123e-01 -1.90841833e-04 4.37018313e+02] [ 9.98892092e-01 4.67819652e-02 -5.10257577e-03 4.68988901e+02] [ 5.10591703e-03 4.80762639e-05 9.99986964e-01 2.30949686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.930385723 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:437.02, Y:469.02, Z:23.10 [[ 4.62204953e-02 -9.98931244e-01 -1.89395336e-04 4.37018744e+02] [ 9.98918213e-01 4.62208598e-02 -5.10262946e-03 4.69017440e+02] [ 5.10593001e-03 4.66556108e-05 9.99986964e-01 2.30963186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.960385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:437.02, Y:469.04, Z:23.10 [[ 4.42686753e-02 -9.99019644e-01 -1.87987088e-04 4.37018272e+02] [ 9.99006613e-01 4.42690581e-02 -5.10268134e-03 4.69044825e+02] [ 5.10600091e-03 3.80885994e-05 9.99986964e-01 2.30955466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.990385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:437.02, Y:469.07, Z:23.10 [[ 4.26216922e-02 -9.99091265e-01 -1.86529798e-04 4.37018530e+02] [ 9.99078235e-01 4.26220890e-02 -5.10273461e-03 4.69072671e+02] [ 5.10604787e-03 3.11293226e-05 9.99986964e-01 2.30952990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.020385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:437.02, Y:469.10, Z:23.10 [[ 3.86939261e-02 -9.99251093e-01 -1.85149949e-04 4.37018970e+02] [ 9.99238064e-01 3.86943671e-02 -5.10278468e-03 4.69100532e+02] [ 5.10612742e-03 1.24378965e-05 9.99986964e-01 2.30967878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.050385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:437.02, Y:469.13, Z:23.10 [[ 3.45139032e-02 -9.99404201e-01 -1.83725265e-04 4.37018883e+02] [ 9.99391174e-01 3.45143914e-02 -5.10283597e-03 4.69127755e+02] [ 5.10613687e-03 -7.49462102e-06 9.99986964e-01 2.30976919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.080385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:437.02, Y:469.16, Z:23.10 [[ 3.22133006e-02 -9.99481000e-01 -1.82686937e-04 4.37019190e+02] [ 9.99467974e-01 3.22138135e-02 -5.10287314e-03 4.69156160e+02] [ 5.10610980e-03 -1.82093559e-05 9.99986964e-01 2.30990187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.110385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:437.02, Y:469.18, Z:23.10 [[ 2.87155129e-02 -9.99587608e-01 -1.81280476e-04 4.37020111e+02] [ 9.99574583e-01 2.87160642e-02 -5.10292311e-03 4.69184354e+02] [ 5.10602437e-03 -3.46703017e-05 9.99986964e-01 2.30998609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.140385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:437.02, Y:469.21, Z:23.10 [[ 2.69247854e-02 -9.99637446e-01 -1.79880695e-04 4.37021222e+02] [ 9.99624422e-01 2.69253529e-02 -5.10297245e-03 4.69212866e+02] [ 5.10596570e-03 -4.24166979e-05 9.99986964e-01 2.31005415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.170385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:437.02, Y:469.24, Z:23.10 [[ 2.46225460e-02 -9.99696803e-01 -1.78478729e-04 4.37021939e+02] [ 9.99683780e-01 2.46231363e-02 -5.10302148e-03 4.69241294e+02] [ 5.10586897e-03 -5.27729095e-05 9.99986964e-01 2.31013789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.200385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:437.02, Y:469.27, Z:23.10 [[ 2.38378154e-02 -9.99715823e-01 -1.77062224e-04 4.37021810e+02] [ 9.99702800e-01 2.38384087e-02 -5.10307063e-03 4.69269223e+02] [ 5.10584134e-03 -5.53635456e-05 9.99986964e-01 2.31018847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.2303857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:437.02, Y:469.30, Z:23.10 [[ 2.39856216e-02 -9.99712288e-01 -1.75645705e-04 4.37021950e+02] [ 9.99699265e-01 2.39862057e-02 -5.10311939e-03 4.69296037e+02] [ 5.10586424e-03 -5.31913919e-05 9.99986964e-01 2.31004949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.260385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:437.02, Y:469.32, Z:23.10 [[ 2.45133942e-02 -9.99699487e-01 -1.74156422e-04 4.37022502e+02] [ 9.99686463e-01 2.45139638e-02 -5.10317021e-03 4.69324499e+02] [ 5.10590591e-03 -4.90057945e-05 9.99986964e-01 2.31019657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.290385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:437.02, Y:469.35, Z:23.10 [[ 2.57188514e-02 -9.99669201e-01 -1.72743620e-04 4.37022654e+02] [ 9.99656176e-01 2.57193981e-02 -5.10321804e-03 4.69351193e+02] [ 5.10597276e-03 -4.14353208e-05 9.99986964e-01 2.31024942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.320385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:437.02, Y:469.38, Z:23.10 [[ 2.65108232e-02 -9.99648512e-01 -1.71252726e-04 4.37023438e+02] [ 9.99635486e-01 2.65113520e-02 -5.10326807e-03 4.69379411e+02] [ 5.10601447e-03 -3.58984644e-05 9.99986964e-01 2.31036361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.3503857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:437.02, Y:469.41, Z:23.10 [[ 2.83993395e-02 -9.99596643e-01 -1.69849175e-04 4.37022514e+02] [ 9.99583616e-01 2.83998366e-02 -5.10331478e-03 4.69406733e+02] [ 5.10608001e-03 -2.48476830e-05 9.99986964e-01 2.31039844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.380385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:437.02, Y:469.43, Z:23.10 [[ 2.93181667e-02 -9.99570116e-01 -1.68369537e-04 4.37022001e+02] [ 9.99557088e-01 2.93186442e-02 -5.10336360e-03 4.69434760e+02] [ 5.10610611e-03 -1.86736995e-05 9.99986964e-01 2.31042760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.410385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:437.02, Y:469.46, Z:23.11 [[ 2.97149685e-02 -9.99558399e-01 -1.66987736e-04 4.37019830e+02] [ 9.99545371e-01 2.97154338e-02 -5.10340881e-03 4.69461706e+02] [ 5.10611725e-03 -1.52641859e-05 9.99986964e-01 2.31064222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.440385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:437.02, Y:469.49, Z:23.11 [[ 3.39489072e-02 -9.99423560e-01 -1.40680976e-04 4.37022477e+02] [ 9.99410526e-01 3.39491829e-02 -5.10425819e-03 4.69490402e+02] [ 5.10609189e-03 3.26859391e-05 9.99986963e-01 2.31053951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.4703857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:437.02, Y:469.52, Z:23.11 [[ 3.46045402e-02 -9.99401070e-01 -1.64197646e-04 4.37023067e+02] [ 9.99388039e-01 3.46049275e-02 -5.10350158e-03 4.69516245e+02] [ 5.10612698e-03 1.25071625e-05 9.99986964e-01 2.31056673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.500385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:437.02, Y:469.54, Z:23.11 [[ 3.64132552e-02 -9.99336804e-01 -1.62588679e-04 4.37023482e+02] [ 9.99323773e-01 3.64136107e-02 -5.10355283e-03 4.69544420e+02] [ 5.10608862e-03 2.33582401e-05 9.99986964e-01 2.31060385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.530385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:437.02, Y:469.57, Z:23.11 [[ 3.74720308e-02 -9.99297663e-01 -1.66497003e-04 4.37023860e+02] [ 9.99284632e-01 3.74723925e-02 -5.10342906e-03 4.69572028e+02] [ 5.10608377e-03 2.48579548e-05 9.99986964e-01 2.31062422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.560385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:437.02, Y:469.60, Z:23.11 [[ 3.90362035e-02 -9.99237784e-01 -1.60513874e-04 4.37024512e+02] [ 9.99224751e-01 3.90365142e-02 -5.10361723e-03 4.69600234e+02] [ 5.10599308e-03 3.88364047e-05 9.99986964e-01 2.31059635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.5903857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:437.02, Y:469.63, Z:23.11 [[ 3.94535879e-02 -9.99221392e-01 -1.59120889e-04 4.37024867e+02] [ 9.99208358e-01 3.94538860e-02 -5.10366066e-03 4.69628108e+02] [ 5.10596485e-03 4.23628024e-05 9.99986964e-01 2.31067185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.620385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:437.03, Y:469.66, Z:23.11 [[ 3.94749761e-02 -9.99220547e-01 -1.57719745e-04 4.37026283e+02] [ 9.99207514e-01 3.94752668e-02 -5.10370396e-03 4.69655718e+02] [ 5.10595190e-03 4.38738382e-05 9.99986964e-01 2.31074138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.650385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:437.03, Y:469.68, Z:23.11 [[ 3.83216680e-02 -9.99265443e-01 -1.56313552e-04 4.37027735e+02] [ 9.99252410e-01 3.83219666e-02 -5.10374703e-03 4.69682666e+02] [ 5.10598828e-03 3.93874062e-05 9.99986964e-01 2.31070258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.680385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:437.03, Y:469.71, Z:23.11 [[ 3.74900796e-02 -9.99296988e-01 -1.54834983e-04 4.37028480e+02] [ 9.99283955e-01 3.74903815e-02 -5.10379189e-03 4.69710440e+02] [ 5.10600868e-03 3.66174501e-05 9.99986964e-01 2.31075458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.710385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:437.03, Y:469.74, Z:23.11 [[ 3.60058375e-02 -9.99351568e-01 -1.53430614e-04 4.37029020e+02] [ 9.99338535e-01 3.60061515e-02 -5.10383411e-03 4.69737224e+02] [ 5.10604906e-03 3.04386963e-05 9.99986964e-01 2.31076087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.740385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:437.03, Y:469.77, Z:23.11 [[ 3.52289934e-02 -9.99379255e-01 -1.51939540e-04 4.37030131e+02] [ 9.99366222e-01 3.52293100e-02 -5.10387849e-03 4.69765218e+02] [ 5.10606301e-03 2.79612574e-05 9.99986964e-01 2.31076965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.770385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:437.03, Y:469.79, Z:23.11 [[ 3.33602375e-02 -9.99443381e-01 -1.50554018e-04 4.37032044e+02] [ 9.99430349e-01 3.33605713e-02 -5.10391936e-03 4.69793017e+02] [ 5.10610099e-03 1.97997076e-05 9.99986964e-01 2.31090636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.800385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:437.03, Y:469.82, Z:23.11 [[ 3.30849379e-02 -9.99452533e-01 -1.49142877e-04 4.37032817e+02] [ 9.99439500e-01 3.30852681e-02 -5.10396060e-03 4.69821601e+02] [ 5.10610078e-03 1.98049372e-05 9.99986964e-01 2.31092091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.830385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:437.03, Y:469.85, Z:23.11 [[ 3.20867742e-02 -9.99485076e-01 -1.47736953e-04 4.37033920e+02] [ 9.99472044e-01 3.20871102e-02 -5.10400129e-03 4.69850066e+02] [ 5.10611357e-03 1.61119827e-05 9.99986964e-01 2.31094686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.860385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:437.03, Y:469.88, Z:23.11 [[ 3.06868340e-02 -9.99529038e-01 -1.46311074e-04 4.37034883e+02] [ 9.99516006e-01 3.06871810e-02 -5.10404217e-03 4.69877751e+02] [ 5.10612823e-03 1.03866339e-05 9.99986964e-01 2.31089452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.890385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:437.04, Y:469.91, Z:23.11 [[ 3.00787072e-02 -9.99547523e-01 -1.44885365e-04 4.37035478e+02] [ 9.99534491e-01 3.00790548e-02 -5.10408264e-03 4.69905518e+02] [ 5.10613117e-03 8.70628702e-06 9.99986964e-01 2.31083949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.920385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:437.04, Y:469.93, Z:23.11 [[ 2.87184352e-02 -9.99587530e-01 -1.43469255e-04 4.37036375e+02] [ 9.99574499e-01 2.87187934e-02 -5.10412244e-03 4.69934624e+02] [ 5.10613741e-03 3.17420058e-06 9.99986964e-01 2.31075972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.950385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:437.04, Y:469.96, Z:23.11 [[ 2.77448466e-02 -9.99615026e-01 -1.53700003e-04 4.37037748e+02] [ 9.99601996e-01 2.77452697e-02 -5.10383598e-03 4.69961213e+02] [ 5.10613558e-03 -1.20336842e-05 9.99986964e-01 2.31081367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.9803857229999 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:437.04, Y:469.99, Z:23.11 [[ 2.69609448e-02 -9.99636478e-01 -1.41351413e-04 4.37039243e+02] [ 9.99623447e-01 2.69613151e-02 -5.10417795e-03 4.69989294e+02] [ 5.10613349e-03 -3.68472665e-06 9.99986964e-01 2.31089868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.010385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:437.04, Y:470.02, Z:23.11 [[ 2.58561580e-02 -9.99665664e-01 -1.39933398e-04 4.37040803e+02] [ 9.99652633e-01 2.58565354e-02 -5.10421682e-03 4.70016434e+02] [ 5.10612849e-03 -7.90935352e-06 9.99986964e-01 2.31099914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.040385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:437.04, Y:470.04, Z:23.11 [[ 2.57104675e-02 -9.99669422e-01 -1.38898811e-04 4.37041338e+02] [ 9.99656391e-01 2.57108415e-02 -5.10424498e-03 4.70043998e+02] [ 5.10612883e-03 -7.61855966e-06 9.99986964e-01 2.31104211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.070385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:437.04, Y:470.07, Z:23.11 [[ 2.54380675e-02 -9.99676391e-01 -1.37870667e-04 4.37041603e+02] [ 9.99663359e-01 2.54384398e-02 -5.10427275e-03 4.70071686e+02] [ 5.10612817e-03 -7.98141918e-06 9.99986964e-01 2.31106913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.1003857229999 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:437.04, Y:470.10, Z:23.11 [[ 2.56408330e-02 -9.99671211e-01 -1.36477152e-04 4.37041823e+02] [ 9.99658179e-01 2.56411956e-02 -5.10431001e-03 4.70099013e+02] [ 5.10613120e-03 -5.55174086e-06 9.99986964e-01 2.31122243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.130385723 meters Centerline goodness : 0.999777 Centerline is valid? [True, True] Translation: X:437.04, Y:470.13, Z:23.11 [[ 2.58665742e-02 -9.99665395e-01 -1.35460722e-04 4.37042591e+02] [ 9.99652364e-01 2.58669287e-02 -5.10433698e-03 4.70127071e+02] [ 5.10613300e-03 -3.38191974e-06 9.99986964e-01 2.31134103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.160385723 meters Centerline goodness : 0.999843 Centerline is valid? [True, True] Translation: X:437.04, Y:470.15, Z:23.11 [[ 2.60160405e-02 -9.99661517e-01 -1.34076543e-04 4.37042945e+02] [ 9.99648485e-01 2.60163860e-02 -5.10437334e-03 4.70154575e+02] [ 5.10613378e-03 -1.23382896e-06 9.99986964e-01 2.31137902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.190385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:437.04, Y:470.18, Z:23.11 [[ 2.67415945e-02 -9.99642371e-01 -1.32621607e-04 4.37042348e+02] [ 9.99629339e-01 2.67419231e-02 -5.10441114e-03 4.70181666e+02] [ 5.10613221e-03 3.92764418e-06 9.99986964e-01 2.31136589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.2203857229999 meters Centerline goodness : 0.999844 Centerline is valid? [True, True] Translation: X:437.04, Y:470.21, Z:23.11 [[ 2.76555029e-02 -9.99617505e-01 -1.31090495e-04 4.37041997e+02] [ 9.99604472e-01 2.76558117e-02 -5.10445046e-03 4.70208781e+02] [ 5.10612345e-03 1.01274999e-05 9.99986964e-01 2.31132251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.250385723 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:437.04, Y:470.24, Z:23.11 [[ 2.76136248e-02 -9.99618663e-01 -1.29572112e-04 4.37042211e+02] [ 9.99605630e-01 2.76139264e-02 -5.10448901e-03 4.70236416e+02] [ 5.10612047e-03 1.14324318e-05 9.99986964e-01 2.31142276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.280385723 meters Centerline goodness : 0.999667 Centerline is valid? [True, True] Translation: X:437.04, Y:470.26, Z:23.11 [[ 2.78351704e-02 -9.99612518e-01 -1.28161673e-04 4.37042536e+02] [ 9.99599485e-01 2.78354619e-02 -5.10452442e-03 4.70263594e+02] [ 5.10611395e-03 1.39749641e-05 9.99986964e-01 2.31132262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.310385723 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:437.04, Y:470.29, Z:23.11 [[ 2.75778759e-02 -9.99619650e-01 -1.27134972e-04 4.37042810e+02] [ 9.99606617e-01 2.75781656e-02 -5.10454999e-03 4.70291870e+02] [ 5.10611462e-03 1.36876874e-05 9.99986964e-01 2.31137851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.3403857229999 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:437.04, Y:470.32, Z:23.11 [[ 2.78946592e-02 -9.99610860e-01 -1.25755289e-04 4.37042986e+02] [ 9.99597827e-01 2.78949377e-02 -5.10458398e-03 4.70317632e+02] [ 5.10610552e-03 1.66859171e-05 9.99986964e-01 2.31148656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.370385723 meters Centerline goodness : 0.999733 Centerline is valid? [True, True] Translation: X:437.04, Y:470.35, Z:23.11 [[ 2.58692092e-02 -9.99665330e-01 -1.08173117e-04 4.37043629e+02] [ 9.99652295e-01 2.58694243e-02 -5.10501104e-03 4.70346204e+02] [ 5.10610092e-03 2.39270942e-05 9.99986964e-01 2.31147198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.400385723 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:437.04, Y:470.37, Z:23.12 [[ 2.49342658e-02 -9.99689085e-01 -1.23029324e-04 4.37044197e+02] [ 9.99676052e-01 2.49345689e-02 -5.10465298e-03 4.70373935e+02] [ 5.10613356e-03 4.29130467e-06 9.99986964e-01 2.31154045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.430385723 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:437.04, Y:470.40, Z:23.12 [[ 2.37035333e-02 -9.99719024e-01 -1.21527573e-04 4.37044626e+02] [ 9.99705992e-01 2.37038448e-02 -5.10468874e-03 4.70402386e+02] [ 5.10613511e-03 -4.92683116e-07 9.99986964e-01 2.31171665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.460385723 meters Centerline goodness : 0.999667 Centerline is valid? [True, True] Translation: X:437.04, Y:470.43, Z:23.12 [[ 2.21665718e-02 -9.99754284e-01 -1.20126149e-04 4.37043933e+02] [ 9.99741252e-01 2.21668962e-02 -5.10472171e-03 4.70429560e+02] [ 5.10613023e-03 -6.94088630e-06 9.99986964e-01 2.31174516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.490385723 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:437.04, Y:470.46, Z:23.12 [[ 2.15459761e-02 -9.99767852e-01 -1.18649589e-04 4.37044048e+02] [ 9.99754819e-01 2.15463011e-02 -5.10475603e-03 4.70457375e+02] [ 5.10612743e-03 -8.63354685e-06 9.99986964e-01 2.31178308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.520385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:437.04, Y:470.49, Z:23.12 [[ 2.00834391e-02 -9.99798301e-01 -1.17255458e-04 4.37043762e+02] [ 9.99785269e-01 2.00837760e-02 -5.10478806e-03 4.70485532e+02] [ 5.10611336e-03 -1.47085789e-05 9.99986964e-01 2.31187360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.550385723 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:437.04, Y:470.51, Z:23.12 [[ 1.92040371e-02 -9.99815579e-01 -1.15848134e-04 4.37043846e+02] [ 9.99802547e-01 1.92043782e-02 -5.10481999e-03 4.70512253e+02] [ 5.10610335e-03 -1.77921075e-05 9.99986964e-01 2.31185567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.580385723 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:437.04, Y:470.54, Z:23.12 [[ 1.73286134e-02 -9.99849842e-01 -1.14365766e-04 4.37042764e+02] [ 9.99836810e-01 1.73289715e-02 -5.10485320e-03 4.70539163e+02] [ 5.10606851e-03 -2.58870752e-05 9.99986964e-01 2.31176799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.610385723 meters Centerline goodness : 0.999757 Centerline is valid? [True, True] Translation: X:437.04, Y:470.57, Z:23.12 [[ 1.51888310e-02 -9.99884637e-01 -1.12918661e-04 4.37042007e+02] [ 9.99871606e-01 1.51892095e-02 -5.10488521e-03 4.70567104e+02] [ 5.10601144e-03 -3.53669246e-05 9.99986964e-01 2.31160249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.640385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:437.04, Y:470.60, Z:23.11 [[ 1.39502722e-02 -9.99902684e-01 -1.11511827e-04 4.37042181e+02] [ 9.99889653e-01 1.39506597e-02 -5.10491595e-03 4.70595758e+02] [ 5.10597482e-03 -4.02845550e-05 9.99986964e-01 2.31144989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.670385723 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:437.04, Y:470.62, Z:23.12 [[ 1.42774101e-02 -9.99898063e-01 -1.36736112e-04 4.37040523e+02] [ 9.99885037e-01 1.42779221e-02 -5.10437152e-03 4.70621113e+02] [ 5.10580350e-03 -6.38431871e-05 9.99986963e-01 2.31166028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.700385723 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:437.04, Y:470.65, Z:23.12 [[ 1.48693605e-02 -9.99889439e-01 -1.07630602e-04 4.37038968e+02] [ 9.99876408e-01 1.48697162e-02 -5.10498516e-03 4.70648429e+02] [ 5.10602119e-03 -3.17094356e-05 9.99986964e-01 2.31159627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.7303857229999 meters Centerline goodness : 0.999693 Centerline is valid? [True, True] Translation: X:437.04, Y:470.68, Z:23.12 [[ 1.51377645e-02 -9.99885412e-01 -1.06603809e-04 4.37038144e+02] [ 9.99872380e-01 1.51381115e-02 -5.10500661e-03 4.70676915e+02] [ 5.10603541e-03 -2.93118165e-05 9.99986964e-01 2.31159194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.760385723 meters Centerline goodness : 0.999738 Centerline is valid? [True, True] Translation: X:437.04, Y:470.70, Z:23.12 [[ 1.66490449e-02 -9.99861390e-01 -1.05219122e-04 4.37036420e+02] [ 9.99848357e-01 1.66493652e-02 -5.10503515e-03 4.70704307e+02] [ 5.10607937e-03 -2.02092063e-05 9.99986964e-01 2.31157521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.790385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:437.04, Y:470.73, Z:23.12 [[ 1.72208459e-02 -9.99851705e-01 -1.03759905e-04 4.37035805e+02] [ 9.99838672e-01 1.72211512e-02 -5.10506480e-03 4.70732802e+02] [ 5.10609461e-03 -1.58296312e-05 9.99986964e-01 2.31176312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.820385723 meters Centerline goodness : 0.999759 Centerline is valid? [True, True] Translation: X:437.03, Y:470.76, Z:23.12 [[ 1.85456188e-02 -9.99828010e-01 -1.02348110e-04 4.37033672e+02] [ 9.99814977e-01 1.85458997e-02 -5.10509311e-03 4.70760140e+02] [ 5.10611322e-03 -7.65206179e-06 9.99986964e-01 2.31177037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.8503857229999 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:437.03, Y:470.78, Z:23.12 [[ 1.52292400e-02 -9.99884023e-01 -1.00859836e-04 4.37027502e+02] [ 9.99870991e-01 1.52295565e-02 -5.10512251e-03 4.70784529e+02] [ 5.10606649e-03 -2.30996885e-05 9.99986964e-01 2.31185007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.880385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:437.03, Y:470.82, Z:23.12 [[ 2.02823736e-02 -9.99794291e-01 -3.69925063e-05 4.37030572e+02] [ 9.99781253e-01 2.02822980e-02 -5.10635217e-03 4.70816240e+02] [ 5.10605204e-03 6.65845280e-05 9.99986962e-01 2.31205392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.910385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:437.03, Y:470.84, Z:23.12 [[ 2.06453560e-02 -9.99786857e-01 -9.93086572e-05 4.37029610e+02] [ 9.99773823e-01 2.06455939e-02 -5.10513996e-03 4.70843142e+02] [ 5.10610212e-03 6.11123607e-06 9.99986964e-01 2.31210868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.940385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:437.03, Y:470.87, Z:23.12 [[ 2.20566572e-02 -9.99756718e-01 -9.78180458e-05 4.37026902e+02] [ 9.99743683e-01 2.20568691e-02 -5.10516852e-03 4.70870265e+02] [ 5.10608408e-03 1.48099787e-05 9.99986964e-01 2.31209716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.9703857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:437.03, Y:470.90, Z:23.12 [[ 2.39008976e-02 -9.99714328e-01 -9.63398033e-05 4.37025702e+02] [ 9.99701293e-01 2.39010779e-02 -5.10519642e-03 4.70897654e+02] [ 5.10604063e-03 2.57077509e-05 9.99986964e-01 2.31204677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.000385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:437.02, Y:470.92, Z:23.12 [[ 2.53558635e-02 -9.99678486e-01 -7.09255166e-05 4.37022695e+02] [ 9.99665450e-01 2.53558951e-02 -5.10566334e-03 4.70923433e+02] [ 5.10582017e-03 5.85567141e-05 9.99986964e-01 2.31186971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.030385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:437.02, Y:470.95, Z:23.12 [[ 2.34570817e-02 -9.99724843e-01 -5.72740227e-05 4.37021244e+02] [ 9.99711806e-01 2.34570684e-02 -5.10590954e-03 4.70952522e+02] [ 5.10584809e-03 6.25122207e-05 9.99986963e-01 2.31203466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.060385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:437.02, Y:470.98, Z:23.12 [[ 2.31044989e-02 -9.99733051e-01 -9.23632111e-05 4.37018849e+02] [ 9.99720016e-01 2.31046693e-02 -5.10527472e-03 4.70980494e+02] [ 5.10604589e-03 2.56174631e-05 9.99986964e-01 2.31208009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.0903857229999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:437.02, Y:471.01, Z:23.12 [[ 2.23028963e-02 -9.99751255e-01 -9.09513584e-05 4.37016353e+02] [ 9.99738220e-01 2.23030700e-02 -5.10529987e-03 4.71007722e+02] [ 5.10605845e-03 2.29354244e-05 9.99986964e-01 2.31206987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.120385723 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:437.01, Y:471.04, Z:23.12 [[ 2.03208042e-02 -9.99793507e-01 -8.94630257e-05 4.37014074e+02] [ 9.99780472e-01 2.03209961e-02 -5.10532595e-03 4.71036081e+02] [ 5.10608972e-03 1.43009430e-05 9.99986964e-01 2.31212449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.150385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:437.01, Y:471.06, Z:23.12 [[ 1.88562834e-02 -9.99822201e-01 -8.80329670e-05 4.37013069e+02] [ 9.99809166e-01 1.88564871e-02 -5.10535061e-03 4.71063039e+02] [ 5.10610287e-03 8.25177090e-06 9.99986964e-01 2.31212458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.180385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:437.01, Y:471.09, Z:23.12 [[ 1.72027046e-02 -9.99852019e-01 -8.65256242e-05 4.37012067e+02] [ 9.99838984e-01 1.72029221e-02 -5.10537616e-03 4.71091587e+02] [ 5.10610915e-03 1.31458567e-06 9.99986964e-01 2.31217396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.210385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:437.01, Y:471.12, Z:23.12 [[ 1.34090204e-02 -9.99910092e-01 -8.50867968e-05 4.37010382e+02] [ 9.99897058e-01 1.34092800e-02 -5.10540014e-03 4.71118636e+02] [ 5.10608207e-03 -1.66196234e-05 9.99986964e-01 2.31204361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.240385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:437.01, Y:471.15, Z:23.12 [[ 8.92753468e-03 -9.99960145e-01 -8.35710116e-05 4.37009017e+02] [ 9.99947113e-01 8.92784501e-03 -5.10542495e-03 4.71147210e+02] [ 5.10596758e-03 -3.79877335e-05 9.99986964e-01 2.31213419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.270385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:437.01, Y:471.17, Z:23.12 [[ 4.17290912e-03 -9.99991290e-01 -8.21837759e-05 4.37005817e+02] [ 9.99978259e-01 4.17327433e-03 -5.10544728e-03 4.71172694e+02] [ 5.10574579e-03 -6.08774216e-05 9.99986964e-01 2.31203163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.300385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:437.01, Y:471.20, Z:23.12 [[ 4.78054089e-03 -9.99988573e-01 -3.69337297e-05 4.37008118e+02] [ 9.99975536e-01 4.78066716e-03 -5.10614500e-03 4.71202482e+02] [ 5.10626322e-03 -1.25226912e-05 9.99986963e-01 2.31218058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.330385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:437.00, Y:471.23, Z:23.12 [[-1.33360265e-03 -9.99999109e-01 -6.82448801e-05 4.37002690e+02] [ 9.99986077e-01 -1.33323683e-03 -5.10566169e-03 4.71228578e+02] [ 5.10556615e-03 -7.50528539e-05 9.99986964e-01 2.31199015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.360385723 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:437.00, Y:471.26, Z:23.12 [[-1.43276892e-03 -9.99998973e-01 -3.72699154e-05 4.37003103e+02] [ 9.99985938e-01 -1.43255993e-03 -5.10613120e-03 4.71257390e+02] [ 5.10607256e-03 -4.45852974e-05 9.99986963e-01 2.31183058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.390385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:437.00, Y:471.29, Z:23.12 [[-2.64674848e-03 -9.99996496e-01 -5.98984018e-05 4.37002307e+02] [ 9.99983464e-01 -2.64640815e-03 -5.10579339e-03 4.71286631e+02] [ 5.10561698e-03 -7.34111621e-05 9.99986964e-01 2.31196789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.420385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:437.00, Y:471.31, Z:23.12 [[-6.24696750e-03 -9.99980485e-01 -7.58991068e-05 4.36997116e+02] [ 9.99967457e-01 -6.24649860e-03 -5.10555553e-03 4.71311096e+02] [ 5.10498179e-03 -1.07790876e-04 9.99986964e-01 2.31207494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.450385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:437.00, Y:471.34, Z:23.12 [[-6.69341082e-03 -9.99977599e-01 -2.55147416e-05 4.36996211e+02] [ 9.99964563e-01 -6.69319328e-03 -5.10628429e-03 4.71338557e+02] [ 5.10599913e-03 -5.96922960e-05 9.99986963e-01 2.31210019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.4803857229999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:436.99, Y:471.37, Z:23.12 [[-7.23750050e-03 -9.99973809e-01 -2.34232116e-05 4.36993703e+02] [ 9.99960773e-01 -7.23728655e-03 -5.10631412e-03 4.71367021e+02] [ 5.10601086e-03 -6.03792438e-05 9.99986962e-01 2.31209918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.510385723 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:436.99, Y:471.40, Z:23.12 [[-7.15770097e-03 -9.99974383e-01 -2.60928281e-05 4.36993050e+02] [ 9.99961348e-01 -7.15747443e-03 -5.10627608e-03 4.71395594e+02] [ 5.10595852e-03 -6.26410169e-05 9.99986963e-01 2.31200798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.540385723 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:436.99, Y:471.43, Z:23.12 [[-4.87915098e-03 -9.99988096e-01 -3.04171159e-05 4.36993573e+02] [ 9.99975061e-01 -4.87893206e-03 -5.10621501e-03 4.71425706e+02] [ 5.10600583e-03 -5.53303513e-05 9.99986963e-01 2.31200789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.570385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:436.99, Y:471.45, Z:23.12 [[-4.50666026e-03 -9.99989842e-01 -7.27513253e-05 4.36992753e+02] [ 9.99976813e-01 -4.50623010e-03 -5.10561178e-03 4.71453162e+02] [ 5.10523209e-03 -9.57588962e-05 9.99986964e-01 2.31213489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.6003857229999 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:436.99, Y:471.48, Z:23.12 [[-6.62672749e-03 -9.99978041e-01 -7.12648511e-05 4.36987273e+02] [ 9.99965012e-01 -6.62627730e-03 -5.10563253e-03 4.71478558e+02] [ 5.10504820e-03 -1.05095993e-04 9.99986964e-01 2.31221774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.630385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.99, Y:471.51, Z:23.12 [[-3.23338849e-03 -9.99994772e-01 -2.14576803e-05 4.36988714e+02] [ 9.99981736e-01 -3.23323677e-03 -5.10630910e-03 4.71509392e+02] [ 5.10621302e-03 -3.79679694e-05 9.99986963e-01 2.31230711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.660385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.98, Y:471.53, Z:23.12 [[-4.80799007e-03 -9.99988439e-01 -6.99240261e-05 4.36984496e+02] [ 9.99975410e-01 -4.80757041e-03 -5.10564533e-03 4.71534817e+02] [ 5.10525014e-03 -9.44701987e-05 9.99986964e-01 2.31220296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.690385723 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:436.98, Y:471.56, Z:23.12 [[-2.41065616e-03 -9.99997094e-01 -3.93611255e-05 4.36982239e+02] [ 9.99984059e-01 -2.41042376e-03 -5.10607020e-03 4.71562961e+02] [ 5.10596048e-03 -5.16694777e-05 9.99986963e-01 2.31226813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.7203857229999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:436.98, Y:471.59, Z:23.12 [[-2.56549631e-03 -9.99996709e-01 -3.43195401e-05 4.36982641e+02] [ 9.99983673e-01 -2.56528762e-03 -5.10613977e-03 4.71591494e+02] [ 5.10603492e-03 -4.74187624e-05 9.99986963e-01 2.31228254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.750385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.98, Y:471.62, Z:23.12 [[ 1.30941978e-03 -9.99999142e-01 -3.28542223e-05 4.36984814e+02] [ 9.99986106e-01 1.30957047e-03 -5.10615897e-03 4.71620103e+02] [ 5.10619761e-03 -2.61676603e-05 9.99986963e-01 2.31223065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.780385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.98, Y:471.65, Z:23.12 [[ 3.13423069e-04 -9.99999950e-01 -3.91445712e-05 4.36981865e+02] [ 9.99986915e-01 3.13618858e-04 -5.10607707e-03 4.71648995e+02] [ 5.10608909e-03 -3.75436966e-05 9.99986963e-01 2.31237659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.810385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.98, Y:471.68, Z:23.12 [[ 1.19114939e-03 -9.99999290e-01 -4.49436142e-05 4.36981815e+02] [ 9.99986255e-01 1.19136334e-03 -5.10600068e-03 4.71677335e+02] [ 5.10605060e-03 -3.88609869e-05 9.99986963e-01 2.31239460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.8403857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.98, Y:471.71, Z:23.12 [[ 4.61876277e-03 -9.99989332e-01 -4.71383095e-05 4.36982670e+02] [ 9.99976297e-01 4.61894325e-03 -5.10597211e-03 4.71706604e+02] [ 5.10613537e-03 -2.35539183e-05 9.99986963e-01 2.31241586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.870385723 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:436.98, Y:471.73, Z:23.12 [[ 5.60184721e-03 -9.99984307e-01 -6.62806849e-05 4.36982391e+02] [ 9.99971274e-01 5.60211261e-03 -5.10572361e-03 4.71734711e+02] [ 5.10601480e-03 -3.76772973e-05 9.99986964e-01 2.31245356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.900385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.98, Y:471.76, Z:23.12 [[ 6.85618660e-03 -9.99976494e-01 -6.49225129e-05 4.36980225e+02] [ 9.99963460e-01 6.85642872e-03 -5.10574088e-03 4.71762594e+02] [ 5.10606600e-03 -2.99142283e-05 9.99986964e-01 2.31240149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.930385723 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:436.98, Y:471.79, Z:23.12 [[ 9.49925729e-03 -9.99954880e-01 -5.39641476e-05 4.36981429e+02] [ 9.99941844e-01 9.49940900e-03 -5.10587695e-03 4.71790172e+02] [ 5.10615920e-03 -5.45897042e-06 9.99986964e-01 2.31235579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.960385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.98, Y:471.82, Z:23.12 [[ 1.17811948e-02 -9.99930597e-01 -6.30107655e-05 4.36982026e+02] [ 9.99917562e-01 1.17813630e-02 -5.10576531e-03 4.71817880e+02] [ 5.10615331e-03 -2.85355533e-06 9.99986964e-01 2.31232884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.990385723 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:436.98, Y:471.84, Z:23.12 [[ 1.50590664e-02 -9.99886604e-01 -6.15991206e-05 4.36981934e+02] [ 9.99873568e-01 1.50591846e-02 -5.10578234e-03 4.71844444e+02] [ 5.10613099e-03 1.52969828e-05 9.99986964e-01 2.31230908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.020385723 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:436.98, Y:471.87, Z:23.12 [[ 1.76511524e-02 -9.99844206e-01 -4.04633006e-05 4.36982583e+02] [ 9.99831169e-01 1.76511289e-02 -5.10603104e-03 4.71870358e+02] [ 5.10594977e-03 4.96708630e-05 9.99986963e-01 2.31229207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.050385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.98, Y:471.90, Z:23.12 [[ 1.98401150e-02 -9.99803165e-01 -1.94089558e-05 4.36983706e+02] [ 9.99790129e-01 1.98399554e-02 -5.10626151e-03 4.71898918e+02] [ 5.10564150e-03 8.19039332e-05 9.99986963e-01 2.31236531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.080385723 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:436.98, Y:471.93, Z:23.12 [[ 2.16651914e-02 -9.99765282e-01 -3.70747892e-05 4.36984191e+02] [ 9.99752245e-01 2.16650983e-02 -5.10606892e-03 4.71926527e+02] [ 5.10567366e-03 7.35583568e-05 9.99986963e-01 2.31239815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.110385723 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:436.99, Y:471.96, Z:23.12 [[ 2.19285154e-02 -9.99759541e-01 -3.29056711e-05 4.36985223e+02] [ 9.99746504e-01 2.19283975e-02 -5.10611356e-03 4.71956100e+02] [ 5.10560732e-03 7.90721602e-05 9.99986963e-01 2.31237234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.140385723 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:436.99, Y:471.98, Z:23.12 [[ 2.60389407e-02 -9.99660928e-01 -5.42619341e-05 4.36987632e+02] [ 9.99647891e-01 2.60388783e-02 -5.10588660e-03 4.71981766e+02] [ 5.10556826e-03 7.87090503e-05 9.99986963e-01 2.31216959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.170385723 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:436.99, Y:472.01, Z:23.13 [[ 2.63494497e-02 -9.99652793e-01 -2.63888761e-05 4.36988913e+02] [ 9.99639757e-01 2.63492409e-02 -5.10617070e-03 4.72011800e+02] [ 5.10509313e-03 1.08165418e-04 9.99986963e-01 2.31265916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.200385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.99, Y:472.04, Z:23.13 [[ 2.88960046e-02 -9.99582422e-01 -5.17426326e-05 4.36990482e+02] [ 9.99569386e-01 2.88958921e-02 -5.10591377e-03 4.72039917e+02] [ 5.10527680e-03 9.58201563e-05 9.99986963e-01 2.31268171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.2303857229999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:436.99, Y:472.07, Z:23.13 [[ 3.12378866e-02 -9.99511977e-01 -5.03358389e-05 4.36992648e+02] [ 9.99498941e-01 3.12377364e-02 -5.10592764e-03 4.72066681e+02] [ 5.10500821e-03 1.09187771e-04 9.99986963e-01 2.31271822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.260385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.99, Y:472.10, Z:23.13 [[ 2.99576043e-02 -9.99551170e-01 -3.63097584e-05 4.36993885e+02] [ 9.99538135e-01 2.99573991e-02 -5.10606321e-03 4.72096069e+02] [ 5.10485920e-03 1.16672433e-04 9.99986963e-01 2.31251284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.290385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:437.00, Y:472.13, Z:23.13 [[ 3.08214442e-02 -9.99524905e-01 -5.55073537e-05 4.36997802e+02] [ 9.99511869e-01 3.08213257e-02 -5.10587859e-03 4.72125058e+02] [ 5.10516362e-03 1.01890293e-04 9.99986963e-01 2.31275282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.320385723 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:437.00, Y:472.15, Z:23.13 [[ 3.06976701e-02 -9.99528713e-01 -6.57158157e-05 4.36999047e+02] [ 9.99515677e-01 3.06976054e-02 -5.10578141e-03 4.72150799e+02] [ 5.10539244e-03 9.10516054e-05 9.99986963e-01 2.31279335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.3503857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:437.00, Y:472.18, Z:23.13 [[ 2.90228018e-02 -9.99578749e-01 -4.67001976e-05 4.37002151e+02] [ 9.99565713e-01 2.90226618e-02 -5.10595533e-03 4.72178730e+02] [ 5.10515980e-03 1.01509213e-04 9.99986963e-01 2.31282413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.380385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:437.01, Y:472.21, Z:23.13 [[ 2.74250363e-02 -9.99623862e-01 -4.52615648e-05 4.37006697e+02] [ 9.99610826e-01 2.74249099e-02 -5.10596808e-03 4.72208604e+02] [ 5.10528883e-03 9.47874100e-05 9.99986963e-01 2.31292685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.410385723 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:437.01, Y:472.24, Z:23.13 [[ 2.59808436e-02 -9.99662439e-01 -5.82636283e-05 4.37010002e+02] [ 9.99649403e-01 2.59808024e-02 -5.10585658e-03 4.72239331e+02] [ 5.10564678e-03 7.44112598e-05 9.99986963e-01 2.31302011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.440385723 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:437.01, Y:472.27, Z:23.13 [[ 2.29013715e-02 -9.99737726e-01 -8.56597488e-05 4.37011017e+02] [ 9.99724689e-01 2.29015103e-02 -5.10562707e-03 4.72266768e+02] [ 5.10624973e-03 3.12896964e-05 9.99986963e-01 2.31303799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.4703857229999 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:437.02, Y:472.29, Z:23.13 [[ 2.11999649e-02 -9.99775253e-01 -6.55397720e-05 4.37016366e+02] [ 9.99762217e-01 2.12000232e-02 -5.10579031e-03 4.72294354e+02] [ 5.10603224e-03 4.27183875e-05 9.99986963e-01 2.31302041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.500385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:437.02, Y:472.32, Z:23.13 [[ 1.88790969e-02 -9.99821771e-01 -7.91373359e-05 4.37017887e+02] [ 9.99808735e-01 1.88792549e-02 -5.10568180e-03 4.72323139e+02] [ 5.10626588e-03 1.72684619e-05 9.99986963e-01 2.31317687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.530385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:437.02, Y:472.35, Z:23.13 [[ 1.68994534e-02 -9.99857191e-01 -7.98625095e-05 4.37021755e+02] [ 9.99844155e-01 1.68996409e-02 -5.10567655e-03 4.72351870e+02] [ 5.10629706e-03 6.43307972e-06 9.99986963e-01 2.31329024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.560385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:437.02, Y:472.38, Z:23.13 [[ 1.53458661e-02 -9.99882242e-01 -8.53557099e-05 4.37021066e+02] [ 9.99869206e-01 1.53461019e-02 -5.10563763e-03 4.72375402e+02] [ 5.10634627e-03 -6.99411463e-06 9.99986963e-01 2.31323061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.5903857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:437.02, Y:472.40, Z:23.13 [[ 1.43662661e-02 -9.99896799e-01 -3.35800502e-05 4.37024080e+02] [ 9.99883763e-01 1.43662502e-02 -5.10597814e-03 4.72403294e+02] [ 5.10593362e-03 3.97776935e-05 9.99986964e-01 2.31327338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.620385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:437.03, Y:472.43, Z:23.13 [[ 1.36243796e-02 -9.99907183e-01 -3.21551816e-05 4.37027785e+02] [ 9.99894147e-01 1.36243662e-02 -5.10598711e-03 4.72432996e+02] [ 5.10595129e-03 3.74141288e-05 9.99986964e-01 2.31297865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.650385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:437.03, Y:472.46, Z:23.13 [[ 1.33985175e-02 -9.99910235e-01 -5.22949349e-05 4.37029068e+02] [ 9.99897199e-01 1.33986098e-02 -5.10586080e-03 4.72461772e+02] [ 5.10610315e-03 1.61214063e-05 9.99986964e-01 2.31296689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.680385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:437.03, Y:472.49, Z:23.13 [[ 1.47573402e-02 -9.99891103e-01 -5.46647556e-05 4.37031450e+02] [ 9.99878067e-01 1.47574269e-02 -5.10584626e-03 4.72487135e+02] [ 5.10609696e-03 2.06906201e-05 9.99986964e-01 2.31334356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.710385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:437.03, Y:472.51, Z:23.13 [[ 1.46469177e-02 -9.99892728e-01 -2.96434332e-05 4.37033221e+02] [ 9.99879692e-01 1.46468781e-02 -5.10599153e-03 4.72513814e+02] [ 5.10587798e-03 4.51471707e-05 9.99986964e-01 2.31334814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.740385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:437.04, Y:472.54, Z:23.13 [[ 1.41197934e-02 -9.99900310e-01 -2.81470627e-05 4.37037065e+02] [ 9.99887274e-01 1.41197530e-02 -5.10599978e-03 4.72544392e+02] [ 5.10588819e-03 4.39517719e-05 9.99986964e-01 2.31303797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.770385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:437.04, Y:472.57, Z:23.13 [[ 1.45041677e-02 -9.99894807e-01 -5.81530595e-05 4.37037920e+02] [ 9.99881771e-01 1.45042756e-02 -5.10583491e-03 4.72569769e+02] [ 5.10614129e-03 1.59097019e-05 9.99986963e-01 2.31330217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.800385723 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:437.04, Y:472.60, Z:23.13 [[ 1.42964946e-02 -9.99897800e-01 -2.59627007e-05 4.37041035e+02] [ 9.99884764e-01 1.42964408e-02 -5.10599860e-03 4.72596801e+02] [ 5.10584794e-03 4.70381725e-05 9.99986964e-01 2.31327693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.830385723 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:437.04, Y:472.62, Z:23.13 [[ 1.38606837e-02 -9.99903936e-01 -2.44803658e-05 4.37042703e+02] [ 9.99890900e-01 1.38606280e-02 -5.10600570e-03 4.72624573e+02] [ 5.10585451e-03 4.62950352e-05 9.99986964e-01 2.31339078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.860385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:437.05, Y:472.65, Z:23.13 [[ 1.36420667e-02 -9.99906942e-01 -2.30523817e-05 4.37046566e+02] [ 9.99893907e-01 1.36420066e-02 -5.10601215e-03 4.72652166e+02] [ 5.10585148e-03 4.66066223e-05 9.99986964e-01 2.31344069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.890385723 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:437.05, Y:472.68, Z:23.13 [[ 1.32696986e-02 -9.99911954e-01 -2.16224858e-05 4.37050227e+02] [ 9.99898918e-01 1.32696360e-02 -5.10601821e-03 4.72680434e+02] [ 5.10585556e-03 4.61350225e-05 9.99986964e-01 2.31345984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.920385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:437.05, Y:472.71, Z:23.13 [[ 1.29171908e-02 -9.99916569e-01 -2.02007020e-05 4.37051662e+02] [ 9.99903534e-01 1.29171255e-02 -5.10602383e-03 4.72708372e+02] [ 5.10585877e-03 4.57567305e-05 9.99986964e-01 2.31347543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.950385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:437.05, Y:472.74, Z:23.13 [[ 1.28840929e-02 -9.99916997e-01 -1.87796088e-05 4.37054314e+02] [ 9.99903961e-01 1.28840209e-02 -5.10602906e-03 4.72736199e+02] [ 5.10584720e-03 4.70087477e-05 9.99986964e-01 2.31349110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.9803857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:437.06, Y:472.76, Z:23.14 [[ 1.29361453e-02 -9.99916325e-01 -1.73667123e-05 4.37056043e+02] [ 9.99903289e-01 1.29360653e-02 -5.10603386e-03 4.72764267e+02] [ 5.10583127e-03 4.86873632e-05 9.99986964e-01 2.31356763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.010385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:437.06, Y:472.79, Z:23.14 [[ 1.30922826e-02 -9.99914292e-01 -1.59357601e-05 4.37057991e+02] [ 9.99901257e-01 1.30921933e-02 -5.10603833e-03 4.72792126e+02] [ 5.10580934e-03 5.09155103e-05 9.99986964e-01 2.31362430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.040385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:437.06, Y:472.82, Z:23.14 [[ 1.36241694e-02 -9.99907187e-01 -1.45124251e-05 4.37061836e+02] [ 9.99894151e-01 1.36240659e-02 -5.10604237e-03 4.72819853e+02] [ 5.10576618e-03 5.50546973e-05 9.99986964e-01 2.31369761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.070385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:437.06, Y:472.85, Z:23.14 [[ 1.46225235e-02 -9.99893085e-01 -1.30939022e-05 4.37064927e+02] [ 9.99880050e-01 1.46223997e-02 -5.10604601e-03 4.72846605e+02] [ 5.10569156e-03 6.15709461e-05 9.99986964e-01 2.31365902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.1003857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:437.07, Y:472.87, Z:23.14 [[ 1.48836378e-02 -9.99889233e-01 -1.15975172e-05 4.37066216e+02] [ 9.99876197e-01 1.48835030e-02 -5.10604941e-03 4.72874914e+02] [ 5.10565644e-03 6.44005087e-05 9.99986964e-01 2.31359636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.130385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:437.07, Y:472.90, Z:23.14 [[ 1.65887211e-02 -9.99862398e-01 -1.02221125e-05 4.37069296e+02] [ 9.99849363e-01 1.65885570e-02 -5.10605216e-03 4.72902492e+02] [ 5.10551913e-03 7.44823025e-05 9.99986964e-01 2.31357812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.160385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:437.07, Y:472.93, Z:23.13 [[ 1.86559501e-02 -9.99825963e-01 -9.34346778e-06 4.37072322e+02] [ 9.99812928e-01 1.86557546e-02 -5.10605377e-03 4.72930739e+02] [ 5.10533944e-03 8.59165643e-05 9.99986964e-01 2.31348705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.190385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:437.07, Y:472.96, Z:23.13 [[ 1.94820712e-02 -9.99810206e-01 -7.92803061e-06 4.37073701e+02] [ 9.99797172e-01 1.94818577e-02 -5.10605597e-03 4.72957944e+02] [ 5.10524133e-03 9.15501235e-05 9.99986964e-01 2.31346237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.2203857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:437.08, Y:472.99, Z:23.13 [[ 2.09595666e-02 -9.99780324e-01 -6.44797986e-06 4.37076442e+02] [ 9.99767290e-01 2.09593263e-02 -5.10605784e-03 4.72985715e+02] [ 5.10507131e-03 1.00574280e-04 9.99986964e-01 2.31349160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.250385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:437.08, Y:473.01, Z:23.14 [[ 2.14922279e-02 -9.99769015e-01 -5.03030077e-06 4.37078008e+02] [ 9.99755982e-01 2.14919734e-02 -5.10605924e-03 4.73014188e+02] [ 5.10498793e-03 1.04711516e-04 9.99986964e-01 2.31350486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.280385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:437.08, Y:473.04, Z:23.14 [[ 2.21834030e-02 -9.99753918e-01 -3.62078062e-06 4.37081656e+02] [ 9.99740885e-01 2.21831323e-02 -5.10606024e-03 4.73040937e+02] [ 5.10488405e-03 1.09649950e-04 9.99986964e-01 2.31359149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.310385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:437.08, Y:473.07, Z:23.14 [[ 2.20285965e-02 -9.99757341e-01 -2.59095604e-06 4.37083358e+02] [ 9.99744308e-01 2.20283226e-02 -5.10606076e-03 4.73069099e+02] [ 5.10487880e-03 1.09889059e-04 9.99986964e-01 2.31368925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.3403857229999 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:437.09, Y:473.10, Z:23.14 [[ 2.16094070e-02 -9.99766490e-01 -1.16985395e-06 4.37086507e+02] [ 9.99753456e-01 2.16091313e-02 -5.10606108e-03 4.73096891e+02] [ 5.10489404e-03 1.09169387e-04 9.99986964e-01 2.31381567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.370385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:437.09, Y:473.13, Z:23.14 [[ 2.09579600e-02 -9.99780358e-01 2.56936863e-07 4.37088183e+02] [ 9.99767325e-01 2.09576855e-02 -5.10606101e-03 4.73127507e+02] [ 5.10493412e-03 1.07269500e-04 9.99986964e-01 2.31378702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.400385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:437.09, Y:473.16, Z:23.14 [[ 1.98538460e-02 -9.99802893e-01 2.18262332e-06 4.37091215e+02] [ 9.99789860e-01 1.98535761e-02 -5.10606019e-03 4.73158088e+02] [ 5.10501042e-03 1.03557097e-04 9.99986964e-01 2.31394337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.430385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:437.09, Y:473.09, Z:23.14 [[ 1.88859525e-02 -9.99821645e-01 4.15513633e-06 4.37092730e+02] [ 9.99808611e-01 1.88856850e-02 -5.10605858e-03 4.73088518e+02] [ 5.10506942e-03 1.00587121e-04 9.99986964e-01 2.31396169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.460385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:437.10, Y:473.07, Z:23.14 [[ 1.75405269e-02 -9.99846153e-01 6.10315350e-06 4.37095784e+02] [ 9.99833120e-01 1.75402671e-02 -5.10605626e-03 4.73066996e+02] [ 5.10516365e-03 9.56650521e-05 9.99986964e-01 2.31396522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.490385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:437.10, Y:473.06, Z:23.14 [[ 1.66806522e-02 -9.99860868e-01 7.99204409e-06 4.37097188e+02] [ 9.99847835e-01 1.66803940e-02 -5.10605330e-03 4.73064926e+02] [ 5.10520957e-03 9.31631272e-05 9.99986964e-01 2.31392410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.520385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:437.10, Y:473.06, Z:23.14 [[ 1.48296520e-02 -9.99890035e-01 9.86828352e-06 4.37099206e+02] [ 9.99877001e-01 1.48294083e-02 -5.10604967e-03 4.73061819e+02] [ 5.10534184e-03 8.55880093e-05 9.99986964e-01 2.31384051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.550385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:437.10, Y:473.06, Z:23.14 [[ 1.45153092e-02 -9.99894647e-01 1.17439189e-05 4.37099733e+02] [ 9.99881614e-01 1.45150600e-02 -5.10604536e-03 4.73061565e+02] [ 5.10533696e-03 8.58583558e-05 9.99986964e-01 2.31383223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.580385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:437.10, Y:473.06, Z:23.14 [[ 1.47023797e-02 -9.99891914e-01 1.36207579e-05 4.37099669e+02] [ 9.99878881e-01 1.47021185e-02 -5.10604035e-03 4.73057498e+02] [ 5.10528821e-03 8.86900524e-05 9.99986964e-01 2.31386160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.610385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:437.10, Y:473.06, Z:23.14 [[ 1.43350871e-02 -9.99897247e-01 1.54975947e-05 4.37099750e+02] [ 9.99884214e-01 1.43348211e-02 -5.10603466e-03 4.73055143e+02] [ 5.10528784e-03 8.86912517e-05 9.99986964e-01 2.31386031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.640385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:437.10, Y:473.06, Z:23.14 [[ 1.39423253e-02 -9.99902801e-01 1.73732238e-05 4.37099852e+02] [ 9.99889768e-01 1.39420549e-02 -5.10602827e-03 4.73057731e+02] [ 5.10528975e-03 8.85612161e-05 9.99986964e-01 2.31371979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.670385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:437.10, Y:473.08, Z:23.14 [[ 1.35140188e-02 -9.99908681e-01 1.92521457e-05 4.37099519e+02] [ 9.99895648e-01 1.35137444e-02 -5.10602119e-03 4.73083579e+02] [ 5.10529475e-03 8.82530032e-05 9.99986964e-01 2.31365659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.700385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:437.10, Y:473.06, Z:23.14 [[ 1.34329157e-02 -9.99909774e-01 2.11532237e-05 4.37099192e+02] [ 9.99896741e-01 1.34326326e-02 -5.10601331e-03 4.73060830e+02] [ 5.10526848e-03 8.97396860e-05 9.99986964e-01 2.31364194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.7303857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:437.10, Y:473.07, Z:23.14 [[ 1.31702946e-02 -9.99913268e-01 2.30595489e-05 4.37099034e+02] [ 9.99900235e-01 1.31700052e-02 -5.10600470e-03 4.73071563e+02] [ 5.10525815e-03 9.03048345e-05 9.99986964e-01 2.31366067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.760385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:437.10, Y:473.07, Z:23.14 [[ 1.29661503e-02 -9.99915936e-01 2.49612394e-05 4.37098623e+02] [ 9.99902903e-01 1.29658538e-02 -5.10599541e-03 4.73073774e+02] [ 5.10524253e-03 9.11639194e-05 9.99986964e-01 2.31364783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.790385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:437.10, Y:473.07, Z:23.14 [[ 1.29287587e-02 -9.99916420e-01 2.68743791e-05 4.37098048e+02] [ 9.99903387e-01 1.29284529e-02 -5.10598534e-03 4.73073843e+02] [ 5.10521113e-03 9.28858349e-05 9.99986964e-01 2.31361728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.820385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:437.10, Y:473.06, Z:23.14 [[ 1.24407260e-02 -9.99922611e-01 2.87924924e-05 4.37098126e+02] [ 9.99909579e-01 1.24404168e-02 -5.10597452e-03 4.73061739e+02] [ 5.10522118e-03 9.23119189e-05 9.99986964e-01 2.31360451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.8503857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:437.10, Y:473.07, Z:23.14 [[ 1.25498495e-02 -9.99921247e-01 3.07056233e-05 4.37098670e+02] [ 9.99908215e-01 1.25495292e-02 -5.10596302e-03 4.73069615e+02] [ 5.10517557e-03 9.47818725e-05 9.99986964e-01 2.31365771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.880385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:437.10, Y:473.04, Z:23.14 [[ 1.22081689e-02 -9.99925477e-01 3.26193767e-05 4.37098754e+02] [ 9.99912445e-01 1.22078432e-02 -5.10595079e-03 4.73036181e+02] [ 5.10517207e-03 9.49508302e-05 9.99986964e-01 2.31370741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.910385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:437.10, Y:473.04, Z:23.14 [[ 1.24536767e-02 -9.99922449e-01 3.45189046e-05 4.37098352e+02] [ 9.99909418e-01 1.24533381e-02 -5.10593795e-03 4.73044570e+02] [ 5.10511211e-03 9.81034782e-05 9.99986964e-01 2.31370184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.940385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:437.10, Y:473.06, Z:23.14 [[ 1.35035091e-02 -9.99908823e-01 3.64044169e-05 4.37097090e+02] [ 9.99895792e-01 1.35031472e-02 -5.10592451e-03 4.73055594e+02] [ 5.10496739e-03 1.05348521e-04 9.99986964e-01 2.31364405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.9703857229999 meters Centerline goodness : 0.999887 Centerline is valid? [True, True] Translation: X:437.10, Y:473.06, Z:23.14 [[ 1.45837682e-02 -9.99893651e-01 3.83066953e-05 4.37095811e+02] [ 9.99880620e-01 1.45833825e-02 -5.10591023e-03 4.73059783e+02] [ 5.10480858e-03 1.12765533e-04 9.99986964e-01 2.31356170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.000385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:437.10, Y:473.03, Z:23.14 [[ 1.45334748e-02 -9.99894383e-01 4.02219725e-05 4.37095748e+02] [ 9.99881353e-01 1.45330800e-02 -5.10589515e-03 4.73032493e+02] [ 5.10477133e-03 1.14423599e-04 9.99986964e-01 2.31354227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.030385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:437.10, Y:473.03, Z:23.14 [[ 1.29325034e-02 -9.99916371e-01 4.21248590e-05 4.37095743e+02] [ 9.99903341e-01 1.29321198e-02 -5.10587945e-03 4.73033891e+02] [ 5.10490768e-03 1.08152591e-04 9.99986964e-01 2.31358612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.060385723 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:437.10, Y:473.02, Z:23.14 [[ 1.12767010e-02 -9.99936415e-01 4.40136791e-05 4.37096138e+02] [ 9.99923384e-01 1.12763293e-02 -5.10586317e-03 4.73021688e+02] [ 5.10504220e-03 1.01587599e-04 9.99986964e-01 2.31358674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.0903857229999 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:437.10, Y:473.29, Z:23.14 [[ 7.09345688e-03 -9.99974840e-01 4.58985541e-05 4.37095096e+02] [ 9.99961808e-01 7.09313008e-03 -5.10584622e-03 4.73292850e+02] [ 5.10539219e-03 8.21149012e-05 9.99986964e-01 2.31388856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.120385723 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:436.27, Y:472.97, Z:24.04 [[-1.01193001e-01 9.94866813e-01 -4.05471608e-05 4.36272414e+02] [ 9.94853824e-01 1.01191888e-01 5.10589382e-03 4.72972137e+02] [ 5.08378735e-03 4.76342220e-04 -9.99986964e-01 2.40360503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.150385723 meters Centerline goodness : 0.999887 Centerline is valid? [True, True] Translation: X:436.31, Y:472.93, Z:24.04 [[-1.73880691e-01 9.84766626e-01 -4.45081513e-04 4.36313317e+02] [ 9.84753672e-01 1.73880696e-01 5.07038396e-03 4.72934221e+02] [ 5.07053599e-03 4.43346213e-04 -9.99987047e-01 2.40353747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.180385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.36, Y:472.91, Z:24.04 [[-2.48243889e-01 9.68697202e-01 -8.38089532e-04 4.36355578e+02] [ 9.68684370e-01 2.48244931e-01 5.00456933e-03 4.72911651e+02] [ 5.05596379e-03 4.30509525e-04 -9.99987126e-01 2.40352255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.210385723 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:436.40, Y:472.88, Z:24.04 [[-3.19832154e-01 9.47473428e-01 -1.22344915e-03 4.36403140e+02] [ 9.47460802e-01 3.19834230e-01 4.90851879e-03 4.72881078e+02] [ 5.04199204e-03 4.10732028e-04 -9.99987205e-01 2.40362598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.240385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.45, Y:472.87, Z:24.04 [[-3.91764629e-01 9.20064083e-01 -1.59937357e-03 4.36445198e+02] [ 9.20051740e-01 3.91767688e-01 4.78280993e-03 4.72874447e+02] [ 5.02707452e-03 4.02229322e-04 -9.99987283e-01 2.40371237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.270385723 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:436.50, Y:472.85, Z:24.04 [[-4.60324178e-01 8.87748725e-01 -1.96302573e-03 4.36496578e+02] [ 8.87736743e-01 4.60328200e-01 4.62858201e-03 4.72851271e+02] [ 5.01265388e-03 3.87998139e-04 -9.99987361e-01 2.40373464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.300385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.54, Y:472.84, Z:24.04 [[-5.27526338e-01 8.49535529e-01 -2.31232169e-03 4.36543173e+02] [ 8.49523976e-01 5.27531268e-01 4.44695605e-03 4.72843815e+02] [ 4.99766916e-03 3.81513729e-04 -9.99987439e-01 2.40381613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.330385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.60, Y:472.82, Z:24.04 [[-5.91772068e-01 8.06101000e-01 -2.64538070e-03 4.36604601e+02] [ 8.06089941e-01 5.91777861e-01 4.23911405e-03 4.72818667e+02] [ 4.98263180e-03 3.76174516e-04 -9.99987516e-01 2.40377637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.360385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.65, Y:472.82, Z:24.04 [[-6.53050166e-01 7.57308866e-01 -2.96028527e-03 4.36653523e+02] [ 7.57298361e-01 6.53056768e-01 4.00643713e-03 4.72816758e+02] [ 4.96734468e-03 3.74585251e-04 -9.99987593e-01 2.40375076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.390385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.71, Y:472.82, Z:24.04 [[-7.10857634e-01 7.03328394e-01 -3.25489671e-03 4.36706769e+02] [ 7.03318494e-01 7.10864986e-01 3.75077590e-03 4.72815148e+02] [ 4.95181930e-03 3.77038629e-04 -9.99987669e-01 2.40377965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.420385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.76, Y:472.82, Z:24.04 [[-7.59133074e-01 6.50925903e-01 -3.52784700e-03 4.36760897e+02] [ 6.50916724e-01 7.59141195e-01 3.47356034e-03 4.72822361e+02] [ 4.93916439e-03 3.40559931e-04 -9.99987744e-01 2.40419906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.450385723 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:436.81, Y:472.83, Z:24.04 [[-8.15696487e-01 5.78468280e-01 -3.69993548e-03 4.36805675e+02] [ 5.78459277e-01 8.15704708e-01 3.27015352e-03 4.72829897e+02] [ 4.90973487e-03 5.27190736e-04 -9.99987808e-01 2.40373850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.4803857229999 meters Centerline goodness : 0.999865 Centerline is valid? [True, True] Translation: X:436.84, Y:472.85, Z:24.04 [[-8.59568891e-01 5.11004266e-01 -3.99521113e-03 4.36839817e+02] [ 5.10996445e-01 8.59578076e-01 2.85728400e-03 4.72851574e+02] [ 4.89428021e-03 4.14493759e-04 -9.99987937e-01 2.40372104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.510385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:436.90, Y:472.86, Z:24.04 [[-8.97950227e-01 4.40077040e-01 -4.19377761e-03 4.36903619e+02] [ 4.40069985e-01 8.97959920e-01 2.52785813e-03 4.72858258e+02] [ 4.87829653e-03 4.24335135e-04 -9.99988011e-01 2.40364164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.540385723 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:436.96, Y:472.88, Z:24.04 [[-9.31045048e-01 3.64878148e-01 -4.36533326e-03 4.36957095e+02] [ 3.64871872e-01 9.31055177e-01 2.18513524e-03 4.72875191e+02] [ 4.86167423e-03 4.41672027e-04 -9.99988084e-01 2.40350140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.570385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:437.00, Y:472.90, Z:24.03 [[-9.57167887e-01 2.89498366e-01 -4.50918137e-03 4.36998910e+02] [ 2.89492922e-01 9.57178404e-01 1.83085517e-03 4.72899640e+02] [ 4.84612061e-03 4.47059685e-04 -9.99988158e-01 2.40348205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.6003857229999 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:437.05, Y:472.92, Z:24.03 [[-9.77362722e-01 2.11520031e-01 -4.62446886e-03 4.37047195e+02] [ 2.11515432e-01 9.77373556e-01 1.46757429e-03 4.72924532e+02] [ 4.83025494e-03 4.56205877e-04 -9.99988230e-01 2.40342713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.630385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:437.09, Y:472.95, Z:24.03 [[-9.91005787e-01 1.33736084e-01 -4.71069792e-03 4.37087622e+02] [ 1.33732364e-01 9.91016877e-01 1.09744388e-03 4.72954007e+02] [ 4.81514899e-03 4.57600465e-04 -9.99988302e-01 2.40340523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.660385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:437.13, Y:472.99, Z:24.03 [[-9.98485321e-01 5.48118224e-02 -4.76748217e-03 4.37126042e+02] [ 5.48089891e-02 9.98496596e-01 7.23019155e-04 4.72986279e+02] [ 4.79994472e-03 4.60623134e-04 -9.99988374e-01 2.40342133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.690385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:437.17, Y:473.02, Z:24.03 [[-9.99714157e-01 -2.34225335e-02 -4.79469314e-03 4.37168792e+02] [-2.34244627e-02 9.99725550e-01 3.46590899e-04 4.73021748e+02] [ 4.78525920e-03 4.58804939e-04 -9.99988445e-01 2.40342400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.7203857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:437.20, Y:473.06, Z:24.03 [[-9.94796829e-01 -1.01765916e-01 -4.79235408e-03 4.37201246e+02] [-1.01766942e-01 9.94808267e-01 -2.97871325e-05 4.73060014e+02] [ 4.77050478e-03 4.58071077e-04 -9.99988516e-01 2.40343333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.750385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:437.23, Y:473.10, Z:24.03 [[-9.83971235e-01 -1.78263695e-01 -4.76062254e-03 4.37227706e+02] [-1.78263808e-01 9.83982648e-01 -4.03847726e-04 4.73100011e+02] [ 4.75636136e-03 4.51272158e-04 -9.99988587e-01 2.40339326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.780385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:437.09, Y:473.96, Z:23.14 [[-9.89201601e-01 1.46485847e-01 4.69998990e-03 4.37085146e+02] [-1.46483829e-01 -9.89212763e-01 7.72666883e-04 4.73962534e+02] [ 4.76247476e-03 7.58507997e-05 9.99988657e-01 2.31399959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.810385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:437.08, Y:473.96, Z:23.14 [[-9.88884027e-01 1.48614565e-01 4.70027285e-03 4.37080088e+02] [-1.48612580e-01 -9.88895195e-01 7.70941849e-04 4.73962234e+02] [ 4.76265042e-03 6.38524078e-05 9.99988657e-01 2.31403009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.8403857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:437.25, Y:473.14, Z:24.03 [[-9.68322951e-01 -2.49656900e-01 -4.70055484e-03 4.37247770e+02] [-2.49656083e-01 9.68334265e-01 -7.69218626e-04 4.73139864e+02] [ 4.74374905e-03 4.28670062e-04 -9.99988657e-01 2.40334432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.870385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:437.02, Y:473.99, Z:23.14 [[-9.73651348e-01 2.27995138e-01 4.61191992e-03 4.37020728e+02] [-2.27992339e-01 -9.73662269e-01 1.13073467e-03 4.73988342e+02] [ 4.74825442e-03 4.94589202e-05 9.99988726e-01 2.31403291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.900385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:437.26, Y:473.18, Z:24.03 [[-9.46924349e-01 -3.21423402e-01 -4.61233694e-03 4.37260785e+02] [-3.21421685e-01 9.46935492e-01 -1.12903106e-03 4.73180490e+02] [ 4.73048255e-03 4.13398112e-04 -9.99988726e-01 2.40321453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.930385723 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:437.25, Y:473.21, Z:24.03 [[-9.19465719e-01 -3.93144472e-01 -4.49621531e-03 4.37248693e+02] [-3.93141889e-01 9.19476623e-01 -1.48146000e-03 4.73213829e+02] [ 4.71659268e-03 4.05498902e-04 -9.99988795e-01 2.40332934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.960385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.93, Y:474.04, Z:23.14 [[-9.24883034e-01 3.80226805e-01 4.35317421e-03 4.36931033e+02] [-3.80222436e-01 -9.24893278e-01 1.82302631e-03 4.74036268e+02] [ 4.71938503e-03 3.09115991e-05 9.99988863e-01 2.31407404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.990385723 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:436.94, Y:474.03, Z:23.14 [[-9.20151165e-01 3.91539114e-01 4.35385559e-03 4.36936579e+02] [-3.91534879e-01 -9.20161465e-01 1.82139754e-03 4.74031452e+02] [ 4.71939852e-03 -2.87252564e-05 9.99988863e-01 2.31356433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.020385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:436.96, Y:474.04, Z:23.13 [[-9.19386391e-01 3.93331928e-01 4.31943305e-03 4.36955383e+02] [-3.93327325e-01 -9.19396537e-01 1.90359284e-03 4.74038494e+02] [ 4.72001563e-03 5.11863068e-05 9.99988859e-01 2.31349559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.050385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.94, Y:474.04, Z:23.14 [[-9.24874305e-01 3.80248485e-01 4.31377116e-03 4.36937579e+02] [-3.80243676e-01 -9.24884356e-01 1.91711048e-03 4.74038858e+02] [ 4.71871782e-03 1.32802018e-04 9.99988858e-01 2.31421082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.080385723 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:436.94, Y:474.04, Z:23.14 [[-9.24930003e-01 3.80112517e-01 4.35470277e-03 4.36938860e+02] [-3.80108165e-01 -9.24940254e-01 1.81912673e-03 4.74038590e+02] [ 4.71931272e-03 2.73068111e-05 9.99988864e-01 2.31426324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.110385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.94, Y:474.04, Z:23.14 [[-9.22165379e-01 3.86771309e-01 4.35536886e-03 4.36944312e+02] [-3.86767038e-01 -9.22175664e-01 1.81753056e-03 4.74035338e+02] [ 4.71938384e-03 -8.44935785e-06 9.99988864e-01 2.31401444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.140385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.92, Y:474.03, Z:23.14 [[-9.25037502e-01 3.79851052e-01 4.33577830e-03 4.36918552e+02] [-3.79846484e-01 -9.25047660e-01 1.86446033e-03 4.74028476e+02] [ 4.71901878e-03 7.77655879e-05 9.99988862e-01 2.31430448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.170385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.91, Y:474.02, Z:23.14 [[-9.23444928e-01 3.83706253e-01 4.35629466e-03 4.36906302e+02] [-3.83701959e-01 -9.23455203e-01 1.81522381e-03 4.74019918e+02] [ 4.71935570e-03 4.74042256e-06 9.99988864e-01 2.31415201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.200385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.95, Y:474.04, Z:23.14 [[-9.22762888e-01 3.85343706e-01 4.34526268e-03 4.36949194e+02] [-3.85339306e-01 -9.22773118e-01 1.84170433e-03 4.74036965e+02] [ 4.71938076e-03 2.50558962e-05 9.99988863e-01 2.31411789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.2303857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.93, Y:474.03, Z:23.14 [[-9.25295714e-01 3.79221592e-01 4.33889510e-03 4.36934392e+02] [-3.79217052e-01 -9.25305884e-01 1.85699065e-03 4.74034811e+02] [ 4.71901611e-03 7.28824786e-05 9.99988863e-01 2.31440428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.260385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.93, Y:474.03, Z:23.14 [[-9.25554821e-01 3.78588545e-01 4.35739314e-03 4.36931176e+02] [-3.78584207e-01 -9.25565078e-01 1.81252041e-03 4.74032524e+02] [ 4.71925038e-03 2.79467755e-05 9.99988864e-01 2.31434636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.290385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.93, Y:474.03, Z:23.14 [[-9.26015639e-01 3.77459991e-01 4.35805408e-03 4.36925112e+02] [-3.77455648e-01 -9.26025893e-01 1.81092984e-03 4.74028417e+02] [ 4.71922448e-03 3.19772299e-05 9.99988864e-01 2.31420453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.320385723 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:436.93, Y:474.03, Z:23.14 [[-9.26403001e-01 3.76508275e-01 4.35871580e-03 4.36926234e+02] [-3.76503929e-01 -9.26413254e-01 1.80933575e-03 4.74028333e+02] [ 4.71920197e-03 3.51004452e-05 9.99988864e-01 2.31413143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.3503857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.92, Y:474.03, Z:23.14 [[-9.27187154e-01 3.74573059e-01 4.35937736e-03 4.36924139e+02] [-3.74568699e-01 -9.27197402e-01 1.80774039e-03 4.74026633e+02] [ 4.71913421e-03 4.32273664e-05 9.99988864e-01 2.31414639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.380385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.92, Y:474.02, Z:23.14 [[-9.25506311e-01 3.78707088e-01 4.36003770e-03 4.36922858e+02] [-3.78702782e-01 -9.25516581e-01 1.80614633e-03 4.74021966e+02] [ 4.71928760e-03 2.04414195e-05 9.99988864e-01 2.31392010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.410385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.91, Y:474.02, Z:23.14 [[-9.27927647e-01 3.72735002e-01 4.34755671e-03 4.36906770e+02] [-3.72730488e-01 -9.27937828e-01 1.83627557e-03 4.74017280e+02] [ 4.71870651e-03 8.34639336e-05 9.99988863e-01 2.31419670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.440385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.89, Y:474.01, Z:23.14 [[-9.28257130e-01 3.71913544e-01 4.36088929e-03 4.36891373e+02] [-3.71909172e-01 -9.28267372e-01 1.80404698e-03 4.74010195e+02] [ 4.71902074e-03 5.27647449e-05 9.99988864e-01 2.31420585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.4703857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.89, Y:474.01, Z:23.14 [[-9.28694280e-01 3.70820592e-01 4.36155923e-03 4.36890295e+02] [-3.70816216e-01 -9.28704520e-01 1.80242585e-03 4.74008137e+02] [ 4.71897639e-03 5.65656910e-05 9.99988864e-01 2.31419834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.500385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:436.85, Y:473.99, Z:23.14 [[-9.25343307e-01 3.79105176e-01 4.36223192e-03 4.36854020e+02] [-3.79100899e-01 -9.25353590e-01 1.80079632e-03 4.73987572e+02] [ 4.71929817e-03 1.26287847e-05 9.99988864e-01 2.31373457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.530385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:436.85, Y:473.99, Z:23.14 [[-9.25498831e-01 3.78725630e-01 4.33713718e-03 4.36851891e+02] [-3.78721064e-01 -9.25508990e-01 1.86159909e-03 4.73986589e+02] [ 4.71909474e-03 8.03425771e-05 9.99988862e-01 2.31373287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.560385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.91, Y:474.01, Z:23.14 [[-9.28919403e-01 3.70256586e-01 4.33623182e-03 4.36905566e+02] [-3.70251917e-01 -9.28929515e-01 1.86379279e-03 4.74013716e+02] [ 4.71813529e-03 1.25815146e-04 9.99988862e-01 2.31434146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.5903857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.91, Y:474.01, Z:23.14 [[-9.28864386e-01 3.70394266e-01 4.36349267e-03 4.36907172e+02] [-3.70389908e-01 -9.28874634e-01 1.79762064e-03 4.74014065e+02] [ 4.71896603e-03 5.35521471e-05 9.99988864e-01 2.31435778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.620385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.91, Y:474.01, Z:23.14 [[-9.28693337e-01 3.70822922e-01 4.36415224e-03 4.36909756e+02] [-3.70818576e-01 -9.28703590e-01 1.79601794e-03 4.74014183e+02] [ 4.71900847e-03 4.96411763e-05 9.99988864e-01 2.31437635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.650385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:437.23, Y:473.26, Z:24.03 [[-8.88020591e-01 -4.59782969e-01 -4.36480923e-03 4.37229976e+02] [-4.59779653e-01 8.88031222e-01 -1.79441985e-03 4.73258312e+02] [ 4.70113056e-03 4.13368702e-04 -9.99988864e-01 2.40311975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.680385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.84, Y:474.02, Z:23.14 [[-8.95037431e-01 4.45971246e-01 4.20058012e-03 4.36837155e+02] [-4.45966208e-01 -8.95047288e-01 2.11984833e-03 4.74016286e+02] [ 4.70510924e-03 2.40268195e-05 9.99988931e-01 2.31405579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.710385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.84, Y:474.02, Z:23.14 [[-8.97542310e-01 4.40908472e-01 4.18588724e-03 4.36839063e+02] [-4.40903242e-01 -8.97552067e-01 2.14895878e-03 4.74019668e+02] [ 4.70454587e-03 8.32101775e-05 9.99988930e-01 2.31412410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.740385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.83, Y:474.02, Z:23.14 [[-8.97457202e-01 4.41081532e-01 4.20150735e-03 4.36833100e+02] [-4.41076450e-01 -8.97467036e-01 2.11797254e-03 4.74017083e+02] [ 4.70491292e-03 4.76037633e-05 9.99988931e-01 2.31412787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.770385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.83, Y:474.02, Z:23.14 [[-8.97463157e-01 4.41069408e-01 4.20228434e-03 4.36833886e+02] [-4.41064333e-01 -8.97472994e-01 2.11642978e-03 4.74017637e+02] [ 4.70492914e-03 4.59400091e-05 9.99988931e-01 2.31418937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.800385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.83, Y:474.02, Z:23.14 [[-8.97467460e-01 4.41060644e-01 4.20306365e-03 4.36834006e+02] [-4.41055576e-01 -8.97477301e-01 2.11488101e-03 4.74018146e+02] [ 4.70494500e-03 4.42522269e-05 9.99988931e-01 2.31431313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.830385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.85, Y:474.02, Z:23.14 [[-8.92466147e-01 4.51094784e-01 4.20379037e-03 4.36852442e+02] [-4.51089834e-01 -8.92476048e-01 2.11343549e-03 4.74020987e+02] [ 4.70514195e-03 -1.01174703e-05 9.99988931e-01 2.31377252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.860385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.83, Y:474.02, Z:23.14 [[-8.97779355e-01 4.40425773e-01 4.16755108e-03 4.36833590e+02] [-4.40420369e-01 -8.97789019e-01 2.18544286e-03 4.74017477e+02] [ 4.70410696e-03 1.26571094e-04 9.99988928e-01 2.31446069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.890385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.83, Y:474.02, Z:23.15 [[-8.98199465e-01 4.39568018e-01 4.20462029e-03 4.36831340e+02] [-4.39562948e-01 -8.98209305e-01 2.11163174e-03 4.74015680e+02] [ 4.70483485e-03 4.84712119e-05 9.99988931e-01 2.31453062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.920385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.83, Y:474.01, Z:23.15 [[-8.99149543e-01 4.37621311e-01 4.20558955e-03 4.36827613e+02] [-4.37616230e-01 -8.99159377e-01 2.10969958e-03 4.74012667e+02] [ 4.70474477e-03 5.65011778e-05 9.99988931e-01 2.31454315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.950385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.81, Y:474.00, Z:23.15 [[-8.99934688e-01 4.36004430e-01 4.20636055e-03 4.36810082e+02] [-4.35999338e-01 -8.99944517e-01 2.10816121e-03 4.74002881e+02] [ 4.70465874e-03 6.32369861e-05 9.99988931e-01 2.31451425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.9803857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.81, Y:474.00, Z:23.14 [[-8.98337269e-01 4.39286298e-01 4.20713641e-03 4.36805550e+02] [-4.39281249e-01 -8.98347119e-01 2.10661173e-03 4.73997302e+02] [ 4.70487455e-03 4.43316896e-05 9.99988931e-01 2.31431674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.010385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.81, Y:474.00, Z:23.14 [[-9.00759989e-01 4.34296954e-01 4.19493839e-03 4.36812146e+02] [-4.34291737e-01 -9.00769752e-01 2.13097958e-03 4.74001843e+02] [ 4.70415155e-03 9.76740609e-05 9.99988931e-01 2.31439773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.040385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.82, Y:474.00, Z:23.14 [[-8.98772494e-01 4.38395137e-01 4.20814356e-03 4.36824525e+02] [-4.38390088e-01 -8.98782344e-01 2.10457556e-03 4.74003582e+02] [ 4.70484082e-03 4.67261949e-05 9.99988931e-01 2.31407042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.070385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.82, Y:474.00, Z:23.14 [[-9.00725479e-01 4.34368514e-01 4.19587026e-03 4.36819914e+02] [-4.34363306e-01 -9.00735247e-01 2.12912321e-03 4.74002355e+02] [ 4.70419232e-03 9.52234449e-05 9.99988931e-01 2.31425049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.1003857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.81, Y:474.00, Z:23.14 [[-8.99956050e-01 4.35960311e-01 4.20902762e-03 4.36810991e+02] [-4.35955243e-01 -8.99965891e-01 2.10278688e-03 4.73996311e+02] [ 4.70471291e-03 5.74681131e-05 9.99988931e-01 2.31435158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.130385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:436.82, Y:474.00, Z:23.14 [[-8.99482843e-01 4.36935799e-01 4.20979904e-03 4.36815650e+02] [-4.36930749e-01 -8.99492693e-01 2.10124136e-03 4.73998271e+02] [ 4.70479104e-03 5.06399033e-05 9.99988931e-01 2.31443374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.160385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.81, Y:473.99, Z:23.15 [[-8.98274577e-01 4.39414447e-01 4.21057013e-03 4.36808645e+02] [-4.39409432e-01 -8.98284444e-01 2.09969505e-03 4.73993973e+02] [ 4.70492599e-03 3.59384580e-05 9.99988931e-01 2.31450093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.190385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.82, Y:474.00, Z:23.14 [[-8.97768444e-01 4.40447597e-01 4.21134042e-03 4.36815200e+02] [-4.40442600e-01 -8.97778321e-01 2.09814897e-03 4.73996310e+02] [ 4.70497480e-03 2.87982115e-05 9.99988931e-01 2.31448158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.2203857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:437.09, Y:473.24, Z:24.04 [[-8.57742826e-01 -5.14061770e-01 -4.21210903e-03 4.37085884e+02] [-5.14057625e-01 8.57753089e-01 -2.09660481e-03 4.73237135e+02] [ 4.69073391e-03 3.66919034e-04 -9.99988931e-01 2.40353071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.250385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:437.10, Y:473.28, Z:24.03 [[-8.19607355e-01 -5.72910151e-01 -4.21210903e-03 4.37097638e+02] [-5.72906736e-01 8.19617884e-01 -2.09660481e-03 4.73282672e+02] [ 4.65348607e-03 6.94752915e-04 -9.99988931e-01 2.40303434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.280385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.61, Y:473.96, Z:23.15 [[-8.21696556e-01 5.69912426e-01 3.82059203e-03 4.36613930e+02] [-5.69906223e-01 -8.21705438e-01 2.65913131e-03 4.73957205e+02] [ 4.65487322e-03 7.61986474e-06 9.99989166e-01 2.31458931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.310385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.62, Y:473.96, Z:23.15 [[-8.21166367e-01 5.70676085e-01 3.82156296e-03 4.36617231e+02] [-5.70669896e-01 -8.21175259e-01 2.65773521e-03 4.73957469e+02] [ 4.65487888e-03 1.59183045e-06 9.99989166e-01 2.31460493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.3403857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.62, Y:473.95, Z:23.15 [[-8.20754035e-01 5.71268940e-01 3.82253337e-03 4.36615171e+02] [-5.71262764e-01 -8.20762937e-01 2.65633876e-03 4.73953136e+02] [ 4.65487754e-03 -3.47022476e-06 9.99989166e-01 2.31455921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.370385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.61, Y:473.95, Z:23.15 [[-8.20580731e-01 5.71517842e-01 3.82362571e-03 4.36612511e+02] [-5.71511676e-01 -8.20589639e-01 2.65476548e-03 4.73949577e+02] [ 4.65487348e-03 -6.79733898e-06 9.99989166e-01 2.31457921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.400385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.61, Y:473.95, Z:23.14 [[-8.20291105e-01 5.71933454e-01 3.82459473e-03 4.36612412e+02] [-5.71927299e-01 -8.20300021e-01 2.65336872e-03 4.73947424e+02] [ 4.65486547e-03 -1.08553708e-05 9.99989166e-01 2.31448942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.430385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.61, Y:473.95, Z:23.14 [[-8.20207611e-01 5.72053177e-01 3.82593642e-03 4.36613926e+02] [-5.72047032e-01 -8.20216534e-01 2.65143270e-03 4.73946180e+02] [ 4.65485681e-03 -1.38902950e-05 9.99989166e-01 2.31449278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.460385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.55, Y:473.90, Z:23.15 [[-8.19515270e-01 5.73044566e-01 3.82714825e-03 4.36547291e+02] [-5.73038441e-01 -8.19524206e-01 2.64968236e-03 4.73897645e+02] [ 4.65482671e-03 -2.16479173e-05 9.99989166e-01 2.31462145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.490385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.94, Y:473.23, Z:24.03 [[-7.85873967e-01 -6.18374848e-01 -3.82833662e-03 4.36940967e+02] [-6.18369245e-01 7.85883239e-01 -2.64796476e-03 4.73231147e+02] [ 4.64606039e-03 2.86359060e-04 -9.99989166e-01 2.40342336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.520385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.89, Y:473.23, Z:24.03 [[-7.40634003e-01 -6.71897773e-01 -3.82833662e-03 4.36888254e+02] [-6.71892833e-01 7.40643645e-01 -2.64796476e-03 4.73231042e+02] [ 4.61459481e-03 6.11059203e-04 -9.99989166e-01 2.40313994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.550385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.27, Y:473.74, Z:23.15 [[-7.33379005e-01 6.79811496e-01 3.40057137e-03 4.36269536e+02] [-6.79804360e-01 -7.33386889e-01 3.11495415e-03 4.73744187e+02] [ 4.61151610e-03 -2.72812663e-05 9.99989367e-01 2.31478592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.580385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.78, Y:473.18, Z:24.03 [[-6.94275746e-01 -7.19701066e-01 -3.40057137e-03 4.36776615e+02] [-7.19694381e-01 6.94284016e-01 -3.11495415e-03 4.73180319e+02] [ 4.60279817e-03 2.84734988e-04 -9.99989367e-01 2.40311105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.610385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.21, Y:473.72, Z:23.15 [[-6.85451442e-01 7.28111418e-01 3.17549932e-03 4.36206201e+02] [-7.28103806e-01 -6.85458796e-01 3.32960912e-03 4.73723039e+02] [ 4.60100036e-03 -2.98077699e-05 9.99989415e-01 2.31500605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.640385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.69, Y:473.14, Z:24.03 [[-6.44226006e-01 -7.64828581e-01 -3.17722909e-03 4.36686733e+02] [-7.64821394e-01 6.44233778e-01 -3.32795757e-03 4.73141839e+02] [ 4.59219536e-03 2.86055965e-04 -9.99989415e-01 2.40307058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.670385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.08, Y:473.63, Z:23.15 [[-6.36328949e-01 7.71412236e-01 2.93775514e-03 4.36084661e+02] [-7.71404172e-01 -6.36335730e-01 3.52740097e-03 4.73632444e+02] [ 4.59047883e-03 -2.16092208e-05 9.99989463e-01 2.31496096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.700385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.09, Y:473.63, Z:23.15 [[-6.37263018e-01 7.70640777e-01 2.93903975e-03 4.36087030e+02] [-7.70632709e-01 -6.37269795e-01 3.52633031e-03 4.73629766e+02] [ 4.59049519e-03 -1.77202704e-05 9.99989464e-01 2.31493449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.7303857229999 meters Centerline goodness : 0.998196 Centerline is valid? [True, True] Translation: X:435.72, Y:473.20, Z:23.15 [[-6.40089054e-01 7.68295098e-01 2.94032437e-03 4.35723653e+02] [-7.68287010e-01 -6.40095807e-01 3.52525884e-03 4.73195204e+02] [ 4.59052839e-03 -2.53342717e-06 9.99989464e-01 2.31503440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.760385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.44, Y:472.92, Z:24.03 [[-5.89239691e-01 -8.07952932e-01 -2.94032437e-03 4.36442884e+02] [-8.07945297e-01 5.89246952e-01 -3.52525884e-03 4.72918457e+02] [ 4.58082039e-03 2.98398819e-04 -9.99989464e-01 2.40329288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.790385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.89, Y:473.45, Z:23.15 [[-5.79262033e-01 8.15136985e-01 2.68205160e-03 4.35890993e+02] [-8.15128534e-01 -5.79268241e-01 3.71198289e-03 4.73445224e+02] [ 4.57940185e-03 -3.60060322e-05 9.99989514e-01 2.31475463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.820385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.95, Y:473.53, Z:23.15 [[-5.83442546e-01 8.12150063e-01 2.65927109e-03 4.35952091e+02] [-8.12141504e-01 -5.83448606e-01 3.72844997e-03 4.73530117e+02] [ 4.57960888e-03 1.56319188e-05 9.99989513e-01 2.31506613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.8503857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.95, Y:473.52, Z:23.15 [[-5.83501793e-01 8.12107411e-01 2.68542640e-03 4.35950722e+02] [-8.12098939e-01 -5.83507972e-01 3.70951538e-03 4.73524449e+02] [ 4.57949264e-03 -1.63230560e-05 9.99989514e-01 2.31510296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.880385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:435.95, Y:473.52, Z:23.15 [[-5.83531110e-01 8.12086339e-01 2.68729508e-03 4.35951835e+02] [-8.12077873e-01 -5.83537298e-01 3.70816115e-03 4.73524083e+02] [ 4.57948392e-03 -1.84654826e-05 9.99989514e-01 2.31520550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.910385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.95, Y:473.52, Z:23.15 [[-5.83802309e-01 8.11891394e-01 2.68864600e-03 4.35951711e+02] [-8.11882930e-01 -5.83808500e-01 3.70718139e-03 4.73519440e+02] [ 4.57948305e-03 -1.86047369e-05 9.99989514e-01 2.31512056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.940385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.95, Y:473.52, Z:23.15 [[-5.84478378e-01 8.11404825e-01 2.68999613e-03 4.35950714e+02] [-8.11396361e-01 -5.84484568e-01 3.70620145e-03 4.73515518e+02] [ 4.57949097e-03 -1.64584575e-05 9.99989514e-01 2.31518191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.9703857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.95, Y:473.51, Z:23.15 [[-5.85714150e-01 8.10513227e-01 2.69151424e-03 4.35950872e+02] [-8.10504758e-01 -5.85720334e-01 3.70509864e-03 4.73511641e+02] [ 4.57950608e-03 -1.13564008e-05 9.99989514e-01 2.31523313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.000385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.95, Y:473.51, Z:23.15 [[-5.86591497e-01 8.09878488e-01 2.69286490e-03 4.35950328e+02] [-8.09870017e-01 -5.86597678e-01 3.70411672e-03 4.73508845e+02] [ 4.57951275e-03 -8.06716971e-06 9.99989514e-01 2.31527257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.030385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.95, Y:473.50, Z:23.15 [[-5.88749515e-01 8.08311048e-01 2.69421584e-03 4.35946716e+02] [-8.08302565e-01 -5.88755680e-01 3.70313385e-03 4.73499795e+02] [ 4.57951888e-03 2.47668674e-06 9.99989514e-01 2.31539920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.060385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.95, Y:473.50, Z:23.15 [[-5.91889031e-01 8.06014956e-01 2.69556963e-03 4.35946966e+02] [-8.06006454e-01 -5.91895169e-01 3.70214814e-03 4.73495320e+02] [ 4.57948141e-03 1.86143565e-05 9.99989514e-01 2.31528613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.0903857229999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:435.95, Y:473.49, Z:23.15 [[-5.93766673e-01 8.04632752e-01 2.69692694e-03 4.35947856e+02] [-8.04624240e-01 -5.93772797e-01 3.70115911e-03 4.73494162e+02] [ 4.57943569e-03 2.76121426e-05 9.99989514e-01 2.31528806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.120385723 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:435.95, Y:473.49, Z:23.15 [[-5.96415779e-01 8.02671126e-01 2.69862503e-03 4.35945787e+02] [-8.02662599e-01 -5.96421883e-01 3.69992057e-03 4.73487886e+02] [ 4.57933843e-03 4.06056280e-05 9.99989514e-01 2.31526265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.150385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.94, Y:473.48, Z:23.15 [[-5.97665479e-01 8.01741034e-01 2.70014799e-03 4.35943987e+02] [-8.01732503e-01 -5.97671576e-01 3.69880880e-03 4.73484230e+02] [ 4.57928849e-03 4.58539242e-05 9.99989514e-01 2.31524838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.180385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.94, Y:473.48, Z:23.15 [[-5.99274965e-01 8.00538705e-01 2.70150494e-03 4.35942108e+02] [-8.00530166e-01 -5.99281052e-01 3.69781746e-03 4.73480363e+02] [ 4.57920672e-03 5.33732270e-05 9.99989514e-01 2.31528666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.210385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.94, Y:473.48, Z:23.15 [[-6.00235220e-01 7.99818964e-01 2.70285889e-03 4.35940191e+02] [-7.99810423e-01 -6.00241303e-01 3.69682754e-03 4.73477141e+02] [ 4.57916032e-03 5.71913772e-05 9.99989514e-01 2.31529631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.240385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.93, Y:473.47, Z:23.15 [[-6.01255425e-01 7.99052312e-01 2.70491185e-03 4.35933662e+02] [-7.99043770e-01 -6.01261506e-01 3.69532481e-03 4.73466904e+02] [ 4.57911721e-03 6.04911238e-05 9.99989514e-01 2.31533017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.270385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:435.93, Y:473.47, Z:23.15 [[-6.01574229e-01 7.98812320e-01 2.70644094e-03 4.35932674e+02] [-7.98803780e-01 -6.01580314e-01 3.69420457e-03 4.73465528e+02] [ 4.57911772e-03 6.04230168e-05 9.99989514e-01 2.31538019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.300385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.93, Y:473.47, Z:23.15 [[-6.01658131e-01 7.98749123e-01 2.70780070e-03 4.35932495e+02] [-7.98740587e-01 -6.01664221e-01 3.69320762e-03 4.73466559e+02] [ 4.57913315e-03 5.92180718e-05 9.99989514e-01 2.31540400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.330385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.93, Y:473.47, Z:23.15 [[-6.02014742e-01 7.98480375e-01 2.70950524e-03 4.35930508e+02] [-7.98471842e-01 -6.02020837e-01 3.69195667e-03 4.73465164e+02] [ 4.57913355e-03 5.91487022e-05 9.99989514e-01 2.31542885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.360385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.93, Y:473.46, Z:23.15 [[-6.02985197e-01 7.97747768e-01 2.71138077e-03 4.35925950e+02] [-7.97739233e-01 -6.02991289e-01 3.69057876e-03 4.73461519e+02] [ 4.57908995e-03 6.23895439e-05 9.99989514e-01 2.31542889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.390385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.93, Y:473.46, Z:23.15 [[-6.03764720e-01 7.97157954e-01 2.71273794e-03 4.35925500e+02] [-7.97149418e-01 -6.03770811e-01 3.68958091e-03 4.73461838e+02] [ 4.57905076e-03 6.51813185e-05 9.99989514e-01 2.31529505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.420385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.92, Y:473.46, Z:23.15 [[-6.04094042e-01 7.96908415e-01 2.71409017e-03 4.35923650e+02] [-7.96899882e-01 -6.04100135e-01 3.68858593e-03 4.73459217e+02] [ 4.57904741e-03 6.53946436e-05 9.99989514e-01 2.31529657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.450385723 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:435.92, Y:473.46, Z:23.15 [[-6.04981260e-01 7.96235079e-01 2.71561379e-03 4.35921738e+02] [-7.96226543e-01 -6.04987351e-01 3.68746387e-03 4.73457631e+02] [ 4.57900008e-03 6.86027574e-05 9.99989514e-01 2.31514931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.4803857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.92, Y:473.45, Z:23.15 [[-6.06938116e-01 7.94744449e-01 2.71730970e-03 4.35916907e+02] [-7.94735904e-01 -6.06944194e-01 3.68621372e-03 4.73454067e+02] [ 4.57885324e-03 7.77600321e-05 9.99989514e-01 2.31527334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.510385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:435.91, Y:473.45, Z:23.15 [[-6.08535883e-01 7.93521700e-01 2.71865983e-03 4.35911626e+02] [-7.93513147e-01 -6.08541950e-01 3.68521770e-03 4.73451320e+02] [ 4.57871877e-03 8.52948890e-05 9.99989514e-01 2.31519118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.540385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.91, Y:473.45, Z:23.15 [[-6.09815038e-01 7.92539098e-01 2.71990597e-03 4.35909120e+02] [-7.92530540e-01 -6.09821096e-01 3.68429775e-03 4.73450056e+02] [ 4.57860605e-03 9.11316284e-05 9.99989514e-01 2.31531727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.570385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.91, Y:473.45, Z:23.15 [[-6.10794184e-01 7.91784731e-01 2.72126385e-03 4.35906955e+02] [-7.91776169e-01 -6.10800239e-01 3.68329452e-03 4.73448998e+02] [ 4.57852497e-03 9.51030040e-05 9.99989514e-01 2.31516086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.6003857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.90, Y:473.44, Z:23.15 [[-6.12376890e-01 7.90561276e-01 2.72262073e-03 4.35898689e+02] [-7.90552707e-01 -6.12382934e-01 3.68229128e-03 4.73442407e+02] [ 4.57836336e-03 1.02574896e-04 9.99989514e-01 2.31528571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.630385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.90, Y:473.45, Z:23.15 [[-6.13457311e-01 7.89723184e-01 2.72398114e-03 4.35897193e+02] [-7.89714612e-01 -6.13463349e-01 3.68128463e-03 4.73446086e+02] [ 4.57825842e-03 1.07143261e-04 9.99989514e-01 2.31526542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.660385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:435.89, Y:473.44, Z:23.15 [[-6.14195649e-01 7.89149085e-01 2.72534271e-03 4.35890399e+02] [-7.89140510e-01 -6.14201686e-01 3.68027635e-03 4.73440317e+02] [ 4.57819680e-03 1.09731384e-04 9.99989514e-01 2.31528566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.690385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.88, Y:473.44, Z:23.15 [[-6.14931670e-01 7.88575682e-01 2.72670479e-03 4.35883880e+02] [-7.88567107e-01 -6.14937705e-01 3.67926692e-03 4.73438330e+02] [ 4.57813401e-03 1.12308047e-04 9.99989514e-01 2.31527890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.7203857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.88, Y:473.44, Z:23.15 [[-6.15184692e-01 7.88378304e-01 2.72859121e-03 4.35884177e+02] [-7.88369733e-01 -6.15190733e-01 3.67786739e-03 4.73441809e+02] [ 4.57815488e-03 1.11428997e-04 9.99989514e-01 2.31531749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.750385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.88, Y:473.44, Z:23.15 [[-6.15527100e-01 7.88110992e-01 2.73012218e-03 4.35880471e+02] [-7.88102424e-01 -6.15533144e-01 3.67673058e-03 4.73442909e+02] [ 4.57815248e-03 1.11511403e-04 9.99989514e-01 2.31530122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.780385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.87, Y:473.44, Z:23.15 [[-6.15832677e-01 7.87872231e-01 2.73164840e-03 4.35874911e+02] [-7.87863665e-01 -6.15838725e-01 3.67559632e-03 4.73442382e+02] [ 4.57815514e-03 1.11385800e-04 9.99989514e-01 2.31542568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.810385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.87, Y:473.44, Z:23.15 [[-6.16301706e-01 7.87505389e-01 2.73300547e-03 4.35869839e+02] [-7.87496824e-01 -6.16307755e-01 3.67458699e-03 4.73439497e+02] [ 4.57812952e-03 1.12421101e-04 9.99989514e-01 2.31542472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.8403857229999 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:435.87, Y:473.44, Z:23.15 [[-6.16194162e-01 7.87589537e-01 2.73436391e-03 4.35865124e+02] [-7.87580977e-01 -6.16200219e-01 3.67357586e-03 4.73439870e+02] [ 4.57818555e-03 1.10102996e-04 9.99989514e-01 2.31522401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.870385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.86, Y:473.44, Z:23.15 [[-6.16281513e-01 7.87521182e-01 2.73572394e-03 4.35861765e+02] [-7.87512627e-01 -6.16287575e-01 3.67256276e-03 4.73438333e+02] [ 4.57821364e-03 1.08915389e-04 9.99989514e-01 2.31523813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.900385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.84, Y:473.42, Z:23.15 [[-6.15456499e-01 7.88166103e-01 2.73725217e-03 4.35843861e+02] [-7.88157558e-01 -6.15462577e-01 3.67142338e-03 4.73420074e+02] [ 4.57836773e-03 1.02215388e-04 9.99989514e-01 2.31533166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.930385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:435.85, Y:473.43, Z:23.15 [[-6.14959765e-01 7.88553731e-01 2.73862264e-03 4.35851269e+02] [-7.88545195e-01 -6.14965855e-01 3.67040082e-03 4.73433352e+02] [ 4.57846768e-03 9.76211067e-05 9.99989514e-01 2.31530356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.960385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.84, Y:473.43, Z:23.15 [[-6.14383458e-01 7.89002824e-01 2.74034087e-03 4.35844533e+02] [-7.88994298e-01 -6.14389563e-01 3.66911753e-03 4.73428161e+02] [ 4.57858092e-03 9.21317940e-05 9.99989514e-01 2.31535290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.990385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.85, Y:473.44, Z:23.15 [[-6.11805792e-01 7.91003257e-01 2.74240270e-03 4.35847880e+02] [-7.90994758e-01 -6.11811934e-01 3.66757582e-03 4.73439797e+02] [ 4.57889911e-03 7.46179702e-05 9.99989514e-01 2.31534251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.020385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.84, Y:473.44, Z:23.15 [[-6.10426231e-01 7.92068360e-01 2.74392780e-03 4.35844217e+02] [-7.92059877e-01 -6.10432395e-01 3.66643444e-03 4.73437411e+02] [ 4.57904913e-03 6.47326439e-05 9.99989514e-01 2.31534254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.050385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:435.83, Y:473.43, Z:23.15 [[-6.07832826e-01 7.94060274e-01 2.74544544e-03 4.35834671e+02] [-7.94051816e-01 -6.07839024e-01 3.66529767e-03 4.73430397e+02] [ 4.57925615e-03 4.78623047e-05 9.99989514e-01 2.31543550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.080385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.84, Y:473.44, Z:23.15 [[-6.04828084e-01 7.96351331e-01 2.74696743e-03 4.35840500e+02] [-7.96342902e-01 -6.04834321e-01 3.66415665e-03 4.73444008e+02] [ 4.57941621e-03 2.86568318e-05 9.99989514e-01 2.31545435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.110385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.84, Y:473.44, Z:23.16 [[-6.03492141e-01 7.97364209e-01 2.74848361e-03 4.35837962e+02] [-7.97355796e-01 -6.03498399e-01 3.66301902e-03 4.73443804e+02] [ 4.57946572e-03 1.90838542e-05 9.99989514e-01 2.31551701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.140385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.83, Y:473.44, Z:23.15 [[-6.01228254e-01 7.99072603e-01 2.74998925e-03 4.35829951e+02] [-7.99064212e-01 -6.01234543e-01 3.66188831e-03 4.73438109e+02] [ 4.57950316e-03 4.21271975e-06 9.99989514e-01 2.31549707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.170385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.82, Y:473.43, Z:23.16 [[-6.00455194e-01 7.99653669e-01 2.75149707e-03 4.35824741e+02] [-7.99645289e-01 -6.00461498e-01 3.66075501e-03 4.73433175e+02] [ 4.57950423e-03 -2.10230639e-06 9.99989514e-01 2.31551310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.200385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.83, Y:473.44, Z:23.16 [[-5.98851734e-01 8.00855181e-01 2.75318190e-03 4.35826030e+02] [-8.00846820e-01 -5.98858063e-01 3.65948745e-03 4.73440298e+02] [ 4.57948466e-03 -1.33865620e-05 9.99989514e-01 2.31551804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.2303857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.82, Y:473.44, Z:23.16 [[-5.98350140e-01 8.01230003e-01 2.75520930e-03 4.35822365e+02] [-8.01221654e-01 -5.98356484e-01 3.65796039e-03 4.73437475e+02] [ 4.57946496e-03 -1.87922403e-05 9.99989514e-01 2.31560899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.260385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.82, Y:473.43, Z:23.16 [[-5.97843040e-01 8.01608446e-01 2.75670973e-03 4.35817254e+02] [-8.01600105e-01 -5.97849395e-01 3.65682928e-03 4.73434952e+02] [ 4.57944248e-03 -2.35688799e-05 9.99989514e-01 2.31561420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.290385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:435.82, Y:473.44, Z:23.16 [[-5.97802507e-01 8.01638668e-01 2.75838272e-03 4.35816031e+02] [-8.01630334e-01 -5.97808870e-01 3.65556689e-03 4.73435282e+02] [ 4.57942943e-03 -2.58962088e-05 9.99989514e-01 2.31562138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.320385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.80, Y:473.42, Z:23.16 [[-5.97875156e-01 8.01584482e-01 2.75988269e-03 4.35800751e+02] [-8.01576152e-01 -5.97881525e-01 3.65443410e-03 4.73417577e+02] [ 4.57942053e-03 -2.73607872e-05 9.99989514e-01 2.31555342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.3503857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.79, Y:473.41, Z:23.16 [[-5.98223429e-01 8.01324591e-01 2.76208637e-03 4.35793371e+02] [-8.01316266e-01 -5.98229804e-01 3.65276775e-03 4.73408664e+02] [ 4.57941502e-03 -2.81334902e-05 9.99989514e-01 2.31558641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.380385723 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:435.80, Y:473.42, Z:23.15 [[-5.98910655e-01 8.00811083e-01 2.76360636e-03 4.35802735e+02] [-8.00802758e-01 -5.98917030e-01 3.65161740e-03 4.73423676e+02] [ 4.57942660e-03 -2.61110295e-05 9.99989514e-01 2.31536269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.410385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.80, Y:473.42, Z:23.15 [[-6.00525509e-01 7.99600817e-01 2.76529117e-03 4.35795396e+02] [-7.99592485e-01 -6.00531875e-01 3.65034109e-03 4.73417131e+02] [ 4.57946121e-03 -1.89830963e-05 9.99989514e-01 2.31529747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.440385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.80, Y:473.42, Z:23.15 [[-6.01530518e-01 7.98845029e-01 2.76679474e-03 4.35797275e+02] [-7.98836694e-01 -6.01536881e-01 3.64920109e-03 4.73420556e+02] [ 4.57947523e-03 -1.51113345e-05 9.99989514e-01 2.31532710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.4703857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.79, Y:473.42, Z:23.15 [[-6.03867273e-01 7.97080079e-01 2.76846896e-03 4.35793251e+02] [-7.97071731e-01 -6.03873619e-01 3.64793050e-03 4.73417624e+02] [ 4.57949810e-03 -3.80250850e-06 9.99989514e-01 2.31537725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.500385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:435.78, Y:473.40, Z:23.15 [[-6.05258023e-01 7.96024530e-01 2.77013848e-03 4.35777937e+02] [-7.96016177e-01 -6.05264362e-01 3.64666227e-03 4.73398820e+02] [ 4.57949872e-03 2.09655704e-06 9.99989514e-01 2.31537190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.530385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.79, Y:473.41, Z:23.15 [[-6.06554839e-01 7.95036821e-01 2.77164793e-03 4.35788855e+02] [-7.95028463e-01 -6.06561171e-01 3.64551465e-03 4.73414073e+02] [ 4.57949239e-03 7.66556107e-06 9.99989514e-01 2.31538476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.560385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.78, Y:473.41, Z:23.15 [[-6.09464378e-01 7.92808603e-01 2.77332808e-03 4.35783233e+02] [-7.92800228e-01 -6.09470687e-01 3.64423603e-03 4.73409068e+02] [ 4.57944385e-03 2.23369046e-05 9.99989514e-01 2.31531846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.5903857229999 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:435.77, Y:473.39, Z:23.15 [[-6.11034269e-01 7.91599281e-01 2.77482549e-03 4.35771708e+02] [-7.91590899e-01 -6.11040569e-01 3.64309550e-03 4.73394947e+02] [ 4.57940273e-03 2.95295939e-05 9.99989514e-01 2.31520188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.620385723 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:435.77, Y:473.40, Z:23.15 [[-6.13714361e-01 7.89523258e-01 2.77633294e-03 4.35770567e+02] [-7.89514859e-01 -6.13720639e-01 3.64194634e-03 4.73395270e+02] [ 4.57929417e-03 4.31586563e-05 9.99989514e-01 2.31511293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.650385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.76, Y:473.39, Z:23.15 [[-6.16194005e-01 7.87589507e-01 2.77784628e-03 4.35763531e+02] [-7.87581094e-01 -6.16200264e-01 3.64079170e-03 4.73388233e+02] [ 4.57915895e-03 5.56548077e-05 9.99989514e-01 2.31507774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.680385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.76, Y:473.39, Z:23.15 [[-6.17934686e-01 7.86224522e-01 2.77936128e-03 4.35763427e+02] [-7.86216100e-01 -6.17940934e-01 3.63963478e-03 4.73392654e+02] [ 4.57905122e-03 6.38779916e-05 9.99989514e-01 2.31494982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.710385723 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:435.76, Y:473.40, Z:23.15 [[-6.18780290e-01 7.85559176e-01 2.78104824e-03 4.35764837e+02] [-7.85550753e-01 -6.18786536e-01 3.63834532e-03 4.73397022e+02] [ 4.57901076e-03 6.66818255e-05 9.99989514e-01 2.31514580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.740385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.76, Y:473.39, Z:23.15 [[-6.19650220e-01 7.84873149e-01 2.78289837e-03 4.35759753e+02] [-7.84864726e-01 -6.19656465e-01 3.63692964e-03 4.73393910e+02] [ 4.57896939e-03 6.94254793e-05 9.99989514e-01 2.31510184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.770385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.75, Y:473.39, Z:23.15 [[-6.20550407e-01 7.84161616e-01 2.78439904e-03 4.35753402e+02] [-7.84153190e-01 -6.20556649e-01 3.63578038e-03 4.73386949e+02] [ 4.57891675e-03 7.27896057e-05 9.99989514e-01 2.31518055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.800385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.74, Y:473.37, Z:23.15 [[-6.21824750e-01 7.83151465e-01 2.78624786e-03 4.35736152e+02] [-7.83143036e-01 -6.21830988e-01 3.63436300e-03 4.73366904e+02] [ 4.57883196e-03 7.79062546e-05 9.99989514e-01 2.31499765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.830385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.72, Y:473.35, Z:23.15 [[-6.21527898e-01 7.83387063e-01 2.78965727e-03 4.35723936e+02] [-7.83378648e-01 -6.21534154e-01 3.63174412e-03 4.73351812e+02] [ 4.57892863e-03 7.18723438e-05 9.99989514e-01 2.31502636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.860385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.74, Y:473.37, Z:23.15 [[-6.20246414e-01 7.84402062e-01 2.79119071e-03 4.35736942e+02] [-7.84393663e-01 -6.20252691e-01 3.63056521e-03 4.73370397e+02] [ 4.57906639e-03 6.24527548e-05 9.99989514e-01 2.31513014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.890385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.74, Y:473.38, Z:23.15 [[-6.19934269e-01 7.84648776e-01 2.79289215e-03 4.35741827e+02] [-7.84640385e-01 -6.19940558e-01 3.62925586e-03 4.73377103e+02] [ 4.57911829e-03 5.84841056e-05 9.99989514e-01 2.31509124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.920385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.73, Y:473.37, Z:23.15 [[-6.19702916e-01 7.84831502e-01 2.79456959e-03 4.35733404e+02] [-7.84823118e-01 -6.19709215e-01 3.62796376e-03 4.73365425e+02] [ 4.57916077e-03 5.50169027e-05 9.99989514e-01 2.31526345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.950385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.74, Y:473.37, Z:23.15 [[-6.19465707e-01 7.85018733e-01 2.79777036e-03 4.35737674e+02] [-7.85010363e-01 -6.19472022e-01 3.62549374e-03 4.73369520e+02] [ 4.57922097e-03 4.95903195e-05 9.99989514e-01 2.31528776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.9803857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.73, Y:473.36, Z:23.15 [[-6.18284812e-01 7.85949142e-01 2.79944189e-03 4.35734956e+02] [-7.85940787e-01 -6.18291148e-01 3.62420261e-03 4.73363163e+02] [ 4.57930907e-03 4.05938683e-05 9.99989514e-01 2.31528284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.010385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.73, Y:473.36, Z:23.15 [[-6.17795438e-01 7.86333867e-01 2.80110867e-03 4.35732724e+02] [-7.86325522e-01 -6.17801787e-01 3.62291391e-03 4.73359017e+02] [ 4.57934985e-03 3.56364473e-05 9.99989514e-01 2.31532310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.040385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.73, Y:473.35, Z:23.15 [[-6.15912270e-01 7.87809760e-01 2.80294839e-03 4.35728634e+02] [-7.87801437e-01 -6.15918648e-01 3.62149001e-03 4.73352536e+02] [ 4.57943336e-03 2.23533613e-05 9.99989514e-01 2.31523644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.070385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.73, Y:473.35, Z:23.15 [[-6.13776441e-01 7.89474899e-01 2.80444638e-03 4.35725803e+02] [-7.89466598e-01 -6.13782848e-01 3.62032961e-03 4.73349192e+02] [ 4.57948044e-03 8.05627685e-06 9.99989514e-01 2.31516567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.1003857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.73, Y:473.36, Z:23.15 [[-6.12906594e-01 7.90150386e-01 2.80611786e-03 4.35732486e+02] [-7.90142098e-01 -6.12913018e-01 3.61903358e-03 4.73357659e+02] [ 4.57948695e-03 8.97689434e-07 9.99989514e-01 2.31526391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.130385723 meters Centerline goodness : 0.999909 Centerline is valid? [True, True] Translation: X:435.73, Y:473.35, Z:23.15 [[-6.10696154e-01 7.91860040e-01 2.80795169e-03 4.35730269e+02] [-7.91851777e-01 -6.10702609e-01 3.61761018e-03 4.73351905e+02] [ 4.57946437e-03 -1.42209086e-05 9.99989514e-01 2.31524104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.160385723 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:435.73, Y:473.35, Z:23.15 [[-6.09651108e-01 7.92664893e-01 2.80960502e-03 4.35728363e+02] [-7.92656644e-01 -6.09657582e-01 3.61632567e-03 4.73347331e+02] [ 4.57943140e-03 -2.23551287e-05 9.99989514e-01 2.31519852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.190385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.72, Y:473.33, Z:23.15 [[-6.07548482e-01 7.94277621e-01 2.81125946e-03 4.35719134e+02] [-7.94269395e-01 -6.07554985e-01 3.61503909e-03 4.73333074e+02] [ 4.57933934e-03 -3.65858356e-05 9.99989514e-01 2.31523862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.2203857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.72, Y:473.33, Z:23.15 [[-6.06466173e-01 7.95104313e-01 2.81275164e-03 4.35715918e+02] [-7.95096102e-01 -6.06472694e-01 3.61387769e-03 4.73328209e+02] [ 4.57926681e-03 -4.47132929e-05 9.99989514e-01 2.31532535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.250385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.73, Y:473.34, Z:23.15 [[-6.04177789e-01 7.96844576e-01 2.81442248e-03 4.35728013e+02] [-7.96836390e-01 -6.04184341e-01 3.61257600e-03 4.73342439e+02] [ 4.57909159e-03 -5.99960655e-05 9.99989514e-01 2.31542908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.280385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.73, Y:473.34, Z:23.15 [[-6.03633764e-01 7.97256764e-01 2.81625188e-03 4.35725393e+02] [-7.97248589e-01 -6.03640330e-01 3.61114930e-03 4.73338143e+02] [ 4.57901642e-03 -6.54411919e-05 9.99989514e-01 2.31545335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.310385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.72, Y:473.33, Z:23.15 [[-6.03106582e-01 7.97655634e-01 2.81789592e-03 4.35721243e+02] [-7.97647468e-01 -6.03113161e-01 3.60986594e-03 4.73329571e+02] [ 4.57894002e-03 -7.05536354e-05 9.99989514e-01 2.31533891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.3403857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.72, Y:473.33, Z:23.15 [[-6.03471454e-01 7.97379618e-01 2.81937454e-03 4.35718829e+02] [-7.97371455e-01 -6.03478036e-01 3.60871074e-03 4.73326397e+02] [ 4.57894300e-03 -7.03348597e-05 9.99989514e-01 2.31534082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.370385723 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:435.72, Y:473.32, Z:23.15 [[-6.04701554e-01 7.96447156e-01 2.82102499e-03 4.35719542e+02] [-7.96438989e-01 -6.04708131e-01 3.60742008e-03 4.73322971e+02] [ 4.57901621e-03 -6.53617585e-05 9.99989514e-01 2.31542597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.400385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.72, Y:473.32, Z:23.15 [[-6.05839299e-01 7.95582036e-01 2.82267425e-03 4.35720079e+02] [-7.95573866e-01 -6.05845872e-01 3.60612913e-03 4.73321382e+02] [ 4.57907710e-03 -6.09111170e-05 9.99989514e-01 2.31540165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.430385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.72, Y:473.32, Z:23.15 [[-6.07857771e-01 7.94040902e-01 2.82415184e-03 4.35720064e+02] [-7.94032720e-01 -6.07864330e-01 3.60497158e-03 4.73317188e+02] [ 4.57919605e-03 -5.11589788e-05 9.99989514e-01 2.31538292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.460385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.72, Y:473.31, Z:23.15 [[-6.09986711e-01 7.92406605e-01 2.82562795e-03 4.35719445e+02] [-7.92398411e-01 -6.09993255e-01 3.60381421e-03 4.73312441e+02] [ 4.57930018e-03 -4.07443196e-05 9.99989514e-01 2.31522731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.490385723 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:435.71, Y:473.30, Z:23.15 [[-6.11150501e-01 7.91509363e-01 2.82727210e-03 4.35711899e+02] [-7.91501166e-01 -6.11157039e-01 3.60252388e-03 4.73300790e+02] [ 4.57933863e-03 -3.61048921e-05 9.99989514e-01 2.31526646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.520385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.71, Y:473.29, Z:23.15 [[-6.13483098e-01 7.89702784e-01 2.82875286e-03 4.35708926e+02] [-7.89694572e-01 -6.13489619e-01 3.60136079e-03 4.73294025e+02] [ 4.57941516e-03 -2.44768055e-05 9.99989514e-01 2.31529679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.550385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.72, Y:473.30, Z:23.15 [[-6.14787831e-01 7.88687460e-01 2.83075275e-03 4.35715569e+02] [-7.88679245e-01 -6.14794348e-01 3.59978815e-03 4.73300884e+02] [ 4.57943856e-03 -1.94499911e-05 9.99989514e-01 2.31528306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.580385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.71, Y:473.29, Z:23.15 [[-6.16906387e-01 7.87031441e-01 2.83223289e-03 4.35710637e+02] [-7.87023213e-01 -6.16912888e-01 3.59862323e-03 4.73292118e+02] [ 4.57947059e-03 -9.01937163e-06 9.99989514e-01 2.31542151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.610385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:435.71, Y:473.28, Z:23.15 [[-6.17968549e-01 7.86197712e-01 2.83370946e-03 4.35705710e+02] [-7.86189481e-01 -6.17975046e-01 3.59746013e-03 4.73284671e+02] [ 4.57947666e-03 -4.71535273e-06 9.99989514e-01 2.31544327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.640385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.70, Y:473.27, Z:23.15 [[-6.19529352e-01 7.84968372e-01 2.83519179e-03 4.35697860e+02] [-7.84960133e-01 -6.19535839e-01 3.59629152e-03 4.73272219e+02] [ 4.57947802e-03 2.49562660e-06 9.99989514e-01 2.31545963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.670385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.70, Y:473.28, Z:23.15 [[-6.20517603e-01 7.84187386e-01 2.83702375e-03 4.35701406e+02] [-7.84179146e-01 -6.20524088e-01 3.59484575e-03 4.73275582e+02] [ 4.57947427e-03 5.93020806e-06 9.99989514e-01 2.31549023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.700385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.68, Y:473.25, Z:23.16 [[-6.21624262e-01 7.83310424e-01 2.83851435e-03 4.35682970e+02] [-7.83302180e-01 -6.21630743e-01 3.59366838e-03 4.73251432e+02] [ 4.57946568e-03 1.04969738e-05 9.99989514e-01 2.31554779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.7303857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.70, Y:473.27, Z:23.16 [[-6.22426242e-01 7.82673309e-01 2.83984949e-03 4.35702135e+02] [-7.82665064e-01 -6.22432720e-01 3.59261299e-03 4.73274834e+02] [ 4.57945754e-03 1.34856147e-05 9.99989514e-01 2.31561344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.760385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.70, Y:473.27, Z:23.16 [[-6.23257047e-01 7.82011879e-01 2.84151699e-03 4.35697718e+02] [-7.82003633e-01 -6.23263524e-01 3.59129363e-03 4.73268922e+02] [ 4.57944817e-03 1.62224548e-05 9.99989514e-01 2.31562500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.790385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.70, Y:473.27, Z:23.16 [[-6.24061877e-01 7.81369753e-01 2.84299728e-03 4.35700529e+02] [-7.81361506e-01 -6.24068353e-01 3.59012139e-03 4.73270470e+02] [ 4.57943689e-03 1.90492617e-05 9.99989514e-01 2.31553927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.820385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.70, Y:473.26, Z:23.15 [[-6.24724038e-01 7.80840435e-01 2.84447602e-03 4.35696692e+02] [-7.80832188e-01 -6.24730513e-01 3.58894939e-03 4.73264632e+02] [ 4.57942777e-03 2.10445230e-05 9.99989514e-01 2.31544054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.8503857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.70, Y:473.27, Z:23.15 [[-6.25509486e-01 7.80211371e-01 2.84595327e-03 4.35698400e+02] [-7.80203122e-01 -6.25515960e-01 3.58777759e-03 4.73265242e+02] [ 4.57941406e-03 2.37672894e-05 9.99989514e-01 2.31534976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.880385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:435.69, Y:473.26, Z:23.15 [[-6.25817414e-01 7.79964394e-01 2.84742953e-03 4.35693523e+02] [-7.79956148e-01 -6.25823892e-01 3.58660558e-03 4.73258307e+02] [ 4.57941407e-03 2.36900631e-05 9.99989514e-01 2.31531830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.910385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.69, Y:473.25, Z:23.15 [[-6.25314243e-01 7.80367850e-01 2.84890581e-03 4.35691236e+02] [-7.80359614e-01 -6.25320732e-01 3.58543256e-03 4.73252641e+02] [ 4.57943616e-03 1.88510101e-05 9.99989514e-01 2.31529566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.940385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.69, Y:473.25, Z:23.15 [[-6.24026500e-01 7.81397980e-01 2.85038576e-03 4.35694059e+02] [-7.81389759e-01 -6.24033010e-01 3.58425562e-03 4.73253997e+02] [ 4.57946491e-03 9.40824686e-06 9.99989514e-01 2.31541485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.9703857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.69, Y:473.25, Z:23.15 [[-6.23464808e-01 7.81846212e-01 2.85203186e-03 4.35693625e+02] [-7.81838003e-01 -6.23471331e-01 3.58294532e-03 4.73252926e+02] [ 4.57947233e-03 4.01342180e-06 9.99989514e-01 2.31547234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.000385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.70, Y:473.25, Z:23.15 [[-6.15482749e-01 7.88145192e-01 2.85350406e-03 4.35700562e+02] [-7.88137054e-01 -6.15489362e-01 3.58177246e-03 4.73251811e+02] [ 4.57925814e-03 -4.44331263e-05 9.99989514e-01 2.31510364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.030385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.69, Y:473.25, Z:23.16 [[-6.22114535e-01 7.82921201e-01 2.81045566e-03 4.35690871e+02] [-7.82912852e-01 -6.22120881e-01 3.61606649e-03 4.73246460e+02] [ 4.57953827e-03 4.92656682e-05 9.99989513e-01 2.31556000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.060385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.69, Y:473.24, Z:23.16 [[-6.21412197e-01 7.83478604e-01 2.85633991e-03 4.35690826e+02] [-7.83470427e-01 -6.21418762e-01 3.57945167e-03 4.73243900e+02] [ 4.57940700e-03 -1.35429196e-05 9.99989514e-01 2.31557152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.0903857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.69, Y:473.24, Z:23.16 [[-6.21188467e-01 7.83655997e-01 2.85781117e-03 4.35690497e+02] [-7.83647828e-01 -6.21195040e-01 3.57827663e-03 4.73241834e+02] [ 4.57939607e-03 -1.67333444e-05 9.99989514e-01 2.31553042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.120385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.69, Y:473.24, Z:23.15 [[-6.20337723e-01 7.84329607e-01 2.85961683e-03 4.35688829e+02] [-7.84321451e-01 -6.20344313e-01 3.57683304e-03 4.73236717e+02] [ 4.57936309e-03 -2.40143652e-05 9.99989514e-01 2.31541107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.150385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.68, Y:473.23, Z:23.15 [[-6.20270249e-01 7.84382963e-01 2.86108446e-03 4.35683545e+02] [-7.84374813e-01 -6.20276847e-01 3.57565870e-03 4.73229265e+02] [ 4.57935022e-03 -2.62878756e-05 9.99989514e-01 2.31543306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.180385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.69, Y:473.23, Z:23.16 [[-6.19471663e-01 7.85013799e-01 2.86255523e-03 4.35688831e+02] [-7.85005662e-01 -6.19478276e-01 3.57448087e-03 4.73233156e+02] [ 4.57930759e-03 -3.28324516e-05 9.99989514e-01 2.31552676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.210385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:435.69, Y:473.23, Z:23.16 [[-6.19074974e-01 7.85326667e-01 2.86402395e-03 4.35689430e+02] [-7.85318539e-01 -6.19081598e-01 3.57330368e-03 4.73229513e+02] [ 4.57927519e-03 -3.70282192e-05 9.99989514e-01 2.31555985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.240385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.68, Y:473.22, Z:23.16 [[-6.19183342e-01 7.85241223e-01 2.86548708e-03 4.35680527e+02] [-7.85233098e-01 -6.19189972e-01 3.57212999e-03 4.73216429e+02] [ 4.57926458e-03 -3.82719147e-05 9.99989514e-01 2.31551908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.270385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.69, Y:473.22, Z:23.16 [[-6.19133408e-01 7.85280589e-01 2.86712305e-03 4.35687134e+02] [-7.85272471e-01 -6.19140045e-01 3.57081642e-03 4.73220405e+02] [ 4.57924351e-03 -4.06610670e-05 9.99989514e-01 2.31551059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.300385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.68, Y:473.21, Z:23.16 [[-6.19445375e-01 7.85034521e-01 2.86859127e-03 4.35684396e+02] [-7.85026406e-01 -6.19452016e-01 3.56963654e-03 4.73214875e+02] [ 4.57924256e-03 -4.07250482e-05 9.99989514e-01 2.31551496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.330385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.69, Y:473.21, Z:23.16 [[-6.19678886e-01 7.84850203e-01 2.87005494e-03 4.35687528e+02] [-7.84842092e-01 -6.19685531e-01 3.56845933e-03 4.73213393e+02] [ 4.57923755e-03 -4.12410238e-05 9.99989514e-01 2.31557782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.360385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.69, Y:473.21, Z:23.16 [[-6.20523079e-01 7.84182926e-01 2.87168412e-03 4.35686975e+02] [-7.84174814e-01 -6.20529723e-01 3.56714779e-03 4.73206950e+02] [ 4.57926174e-03 -3.84048294e-05 9.99989514e-01 2.31571715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.390385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.69, Y:473.20, Z:23.16 [[-6.20792169e-01 7.83969910e-01 2.87479148e-03 4.35685212e+02] [-7.83961806e-01 -6.20798824e-01 3.56464178e-03 4.73201392e+02] [ 4.57923906e-03 -4.08250163e-05 9.99989514e-01 2.31575739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.420385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.68, Y:473.19, Z:23.16 [[-6.21206495e-01 7.83641639e-01 2.87624902e-03 4.35676476e+02] [-7.83633538e-01 -6.21213152e-01 3.56346532e-03 4.73187522e+02] [ 4.57924353e-03 -4.02773945e-05 9.99989514e-01 2.31576009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.450385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:435.68, Y:473.19, Z:23.16 [[-6.21715841e-01 7.83237597e-01 2.87755255e-03 4.35684895e+02] [-7.83229496e-01 -6.21722499e-01 3.56241240e-03 4.73192519e+02] [ 4.57925449e-03 -3.89758132e-05 9.99989514e-01 2.31573150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.4803857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.69, Y:473.19, Z:23.16 [[-6.21970655e-01 7.83035258e-01 2.87901836e-03 4.35687278e+02] [-7.83027161e-01 -6.21977317e-01 3.56122738e-03 4.73189500e+02] [ 4.57925072e-03 -3.93706458e-05 9.99989514e-01 2.31569126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.510385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.68, Y:473.18, Z:23.16 [[-6.22548988e-01 7.82575530e-01 2.88047605e-03 4.35684719e+02] [-7.82567433e-01 -6.22555651e-01 3.56004795e-03 4.73183411e+02] [ 4.57926306e-03 -3.78624962e-05 9.99989514e-01 2.31562297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.540385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.68, Y:473.18, Z:23.16 [[-6.22022293e-01 7.82994222e-01 2.88357721e-03 4.35683975e+02] [-7.82986142e-01 -6.22028975e-01 3.55753429e-03 4.73177303e+02] [ 4.57919737e-03 -4.49353584e-05 9.99989514e-01 2.31572894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.570385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:435.69, Y:473.18, Z:23.16 [[-6.21995288e-01 7.83015670e-01 2.88487239e-03 4.35686312e+02] [-7.83007594e-01 -6.22001977e-01 3.55648369e-03 4.73177480e+02] [ 4.57917879e-03 -4.67608919e-05 9.99989514e-01 2.31574647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.6003857229999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:435.67, Y:473.14, Z:23.15 [[-6.16637897e-01 7.87241624e-01 2.88616658e-03 4.35667278e+02] [-7.87233599e-01 -6.16644646e-01 3.55543312e-03 4.73142920e+02] [ 4.57872411e-03 -7.96725037e-05 9.99989514e-01 2.31538641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.630385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.69, Y:473.17, Z:23.16 [[-6.21035037e-01 7.83777595e-01 2.85745111e-03 4.35688929e+02] [-7.83769424e-01 -6.21041611e-01 3.57874720e-03 4.73170429e+02] [ 4.57953791e-03 -1.70554101e-05 9.99989514e-01 2.31568393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.660385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.69, Y:473.17, Z:23.16 [[-6.21072030e-01 7.83748167e-01 2.88887401e-03 4.35688289e+02] [-7.83740114e-01 -6.21078746e-01 3.55319930e-03 4.73167838e+02] [ 4.57903168e-03 -5.73337437e-05 9.99989515e-01 2.31571603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.690385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:435.69, Y:473.16, Z:23.16 [[-6.16955037e-01 7.86993094e-01 2.89016394e-03 4.35688105e+02] [-7.86985081e-01 -6.16961801e-01 3.55214976e-03 4.73160343e+02] [ 4.57863808e-03 -8.29992167e-05 9.99989515e-01 2.31564566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.7203857229999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:435.69, Y:473.16, Z:23.16 [[-6.21124983e-01 7.83706291e-01 2.86454522e-03 4.35685212e+02] [-7.83698146e-01 -6.21131588e-01 3.57299507e-03 4.73159688e+02] [ 4.57943823e-03 -2.56622807e-05 9.99989514e-01 2.31584160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.750385723 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:435.69, Y:473.16, Z:23.16 [[-6.21272721e-01 7.83589078e-01 2.89194673e-03 4.35687559e+02] [-7.83581035e-01 -6.21279449e-01 3.55067716e-03 4.73159320e+02] [ 4.57897891e-03 -6.01357543e-05 9.99989515e-01 2.31575334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.780385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:435.65, Y:473.10, Z:23.15 [[-6.17129942e-01 7.86855935e-01 2.89356264e-03 4.35647643e+02] [-7.86847934e-01 -6.17136719e-01 3.54935981e-03 4.73103752e+02] [ 4.57855859e-03 -8.63775697e-05 9.99989515e-01 2.31543299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.810385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:435.67, Y:473.12, Z:23.15 [[-6.17605852e-01 7.86482546e-01 2.86646170e-03 4.35665458e+02] [-7.86474438e-01 -6.17612502e-01 3.57146121e-03 4.73121804e+02] [ 4.57925449e-03 -4.86435079e-05 9.99989514e-01 2.31538042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.8403857229999 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:435.63, Y:473.08, Z:23.16 [[-6.22056172e-01 7.82967393e-01 2.86026803e-03 4.35632829e+02] [-7.82959224e-01 -6.22062748e-01 3.57651625e-03 4.73083161e+02] [ 4.57956179e-03 -1.46792284e-05 9.99989514e-01 2.31575742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.870385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.65, Y:473.09, Z:23.16 [[-6.24051449e-01 7.81377955e-01 2.87759578e-03 4.35645528e+02] [-7.81369835e-01 -6.24058083e-01 3.56235717e-03 4.73094793e+02] [ 4.57933427e-03 -2.53723833e-05 9.99989515e-01 2.31562027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.900385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.52, Y:472.94, Z:23.16 [[-6.29391317e-01 7.77083172e-01 2.88353326e-03 4.35517906e+02] [-7.77075029e-01 -6.29397922e-01 3.55749878e-03 4.72941490e+02] [ 4.57936228e-03 -1.66285412e-06 9.99989515e-01 2.31568357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.930385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.97, Y:472.38, Z:24.03 [[-5.79416585e-01 -8.15026379e-01 -2.90209495e-03 4.35967572e+02] [-8.15018741e-01 5.79423769e-01 -3.54229427e-03 4.72379099e+02] [ 4.56860606e-03 3.12797726e-04 -9.99989515e-01 2.40300262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.960385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.45, Y:472.90, Z:23.16 [[-5.75696072e-01 8.17659537e-01 2.62940092e-03 4.35448056e+02] [-8.17651002e-01 -5.75702077e-01 3.73599920e-03 4.72898631e+02] [ 4.56852695e-03 8.67772997e-07 9.99989564e-01 2.31589200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.990385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.54, Y:473.02, Z:23.16 [[-5.75931055e-01 8.17494011e-01 2.63846884e-03 4.35536687e+02] [-8.17485504e-01 -5.75937098e-01 3.72955164e-03 4.73021840e+02] [ 4.56847822e-03 -8.94542163e-06 9.99989564e-01 2.31586196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.020385723 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:435.53, Y:473.01, Z:23.16 [[-5.76031734e-01 8.17423098e-01 2.63092173e-03 4.35527648e+02] [-8.17414565e-01 -5.76037742e-01 3.73492059e-03 4.73008339e+02] [ 4.56852057e-03 8.79040775e-07 9.99989564e-01 2.31575907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.050385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.38, Y:472.80, Z:23.16 [[-5.81511106e-01 8.13534210e-01 2.63109001e-03 4.35378944e+02] [-8.13525638e-01 -5.81517057e-01 3.73480067e-03 4.72803140e+02] [ 4.56841183e-03 3.13688872e-05 9.99989564e-01 2.31609141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.080385723 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:436.06, Y:472.58, Z:24.03 [[-5.23521315e-01 -8.52008515e-01 -2.63109001e-03 4.36056233e+02] [-8.52000377e-01 5.23527849e-01 -3.73480067e-03 4.72575959e+02] [ 4.55953086e-03 2.86441922e-04 -9.99989564e-01 2.40277344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.110385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.97, Y:472.50, Z:24.03 [[-4.62790631e-01 -8.86463710e-01 -2.63109001e-03 4.35974130e+02] [-8.86456048e-01 4.62797716e-01 -3.73480067e-03 4.72500798e+02] [ 4.52842770e-03 6.03914894e-04 -9.99989564e-01 2.40283302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.140385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.29, Y:472.74, Z:23.16 [[-4.62832322e-01 8.86443342e-01 2.10792460e-03 4.35288276e+02] [-8.86434273e-01 -4.62837122e-01 4.00982439e-03 4.72744478e+02] [ 4.53010788e-03 -1.26602747e-05 9.99989739e-01 2.31560550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.170385723 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:435.32, Y:472.82, Z:23.16 [[-4.69238787e-01 8.83068892e-01 2.07183041e-03 4.35321666e+02] [-8.83059704e-01 -4.69243357e-01 4.02879691e-03 4.72815724e+02] [ 4.52989788e-03 6.09178208e-05 9.99989738e-01 2.31593502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.200385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:435.33, Y:472.83, Z:23.16 [[-4.67154718e-01 8.84173068e-01 2.11078155e-03 4.35328278e+02] [-8.84163983e-01 -4.67159486e-01 4.00828506e-03 4.72826169e+02] [ 4.53008932e-03 6.21224979e-06 9.99989739e-01 2.31589691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.2303857229999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:435.33, Y:472.82, Z:23.16 [[-4.67526374e-01 8.83976642e-01 2.09425511e-03 4.35326846e+02] [-8.83967515e-01 -4.67531064e-01 4.01699424e-03 4.72823303e+02] [ 4.53005839e-03 2.67972641e-05 9.99989739e-01 2.31589769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.260385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.32, Y:472.82, Z:23.16 [[-4.68949966e-01 8.83222247e-01 2.09592677e-03 4.35321946e+02] [-8.83213116e-01 -4.68954648e-01 4.01611239e-03 4.72815365e+02] [ 4.53001440e-03 3.22057558e-05 9.99989739e-01 2.31605470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.290385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.32, Y:472.82, Z:23.16 [[-4.70465770e-01 8.82415735e-01 2.10506233e-03 4.35320588e+02] [-8.82406618e-01 -4.70470478e-01 4.01128744e-03 4.72816734e+02] [ 4.52999284e-03 2.96524989e-05 9.99989739e-01 2.31607066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.320385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.15, Y:472.50, Z:23.16 [[-4.72792247e-01 8.81171389e-01 2.11510829e-03 4.35151169e+02] [-8.81162284e-01 -4.72796977e-01 4.00597423e-03 4.72500611e+02] [ 4.52996668e-03 3.02399069e-05 9.99989739e-01 2.31618369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.3503857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.78, Y:472.19, Z:24.03 [[-4.02629010e-01 -9.15360807e-01 -2.11510829e-03 4.35780648e+02] [-9.15352098e-01 4.02634436e-01 -4.00597423e-03 4.72185059e+02] [ 4.51852723e-03 3.23147372e-04 -9.99989739e-01 2.40313441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.380385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.20, Y:472.69, Z:23.16 [[-4.12675836e-01 9.10876104e-01 1.83771298e-03 4.35202470e+02] [-9.10866744e-01 -4.12679927e-01 4.12945986e-03 4.72692784e+02] [ 4.51981356e-03 3.02166642e-05 9.99989785e-01 2.31611433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.410385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.20, Y:472.69, Z:23.16 [[-4.13338873e-01 9.10575413e-01 1.84210083e-03 4.35201813e+02] [-9.10566059e-01 -4.13342976e-01 4.12750156e-03 4.72692419e+02] [ 4.51982088e-03 2.87023459e-05 9.99989785e-01 2.31608312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.440385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.74, Y:472.14, Z:24.03 [[-3.30763679e-01 -9.43711814e-01 -1.84399810e-03 4.35739567e+02] [-9.43702867e-01 3.30768606e-01 -4.12665376e-03 4.72139435e+02] [ 4.50430859e-03 3.75239111e-04 -9.99989785e-01 2.40335481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.4703857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.74, Y:472.23, Z:24.03 [[-2.67488170e-01 -9.63559380e-01 -1.84399810e-03 4.35736942e+02] [-9.63550778e-01 2.67493679e-01 -4.12665376e-03 4.72232223e+02] [ 4.46953378e-03 6.72954739e-04 -9.99989785e-01 2.40346609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.500385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:435.71, Y:472.23, Z:24.03 [[-1.98256649e-01 -9.80148408e-01 -1.84399810e-03 4.35706318e+02] [-9.80140220e-01 1.98262756e-01 -4.12665376e-03 4.72231551e+02] [ 4.41032926e-03 9.89240154e-04 -9.99989785e-01 2.40324149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.530385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.97, Y:472.38, Z:23.16 [[-2.12215217e-01 9.77222535e-01 9.05379122e-04 4.34971482e+02] [-9.77212972e-01 -2.12217145e-01 4.32322352e-03 4.72376776e+02] [ 4.41688842e-03 3.27055927e-05 9.99990245e-01 2.31614927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.560385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.96, Y:472.31, Z:23.16 [[-2.19070872e-01 9.75708527e-01 9.07785826e-04 4.34957718e+02] [-9.75698953e-01 -2.19072745e-01 4.32271810e-03 4.72311044e+02] [ 4.41658405e-03 6.12559457e-05 9.99990245e-01 2.31636436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.5903857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.96, Y:472.32, Z:23.16 [[-2.19250748e-01 9.75668093e-01 9.38764655e-04 4.34958205e+02] [-9.75658548e-01 -2.19252756e-01 4.31597993e-03 4.72319689e+02] [ 4.41679065e-03 3.03680679e-05 9.99990246e-01 2.31619548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.620385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:434.96, Y:472.32, Z:23.16 [[-2.19226569e-01 9.75673525e-01 9.40760617e-04 4.34955205e+02] [-9.75663981e-01 -2.19228586e-01 4.31554482e-03 4.72320136e+02] [ 4.41680445e-03 2.82158373e-05 9.99990246e-01 2.31646484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.650385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.95, Y:472.32, Z:23.16 [[-2.18908963e-01 9.75744832e-01 9.42949642e-04 4.34952199e+02] [-9.75735291e-01 -2.18910992e-01 4.31506647e-03 4.72318576e+02] [ 4.41682585e-03 2.45374818e-05 9.99990246e-01 2.31645648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.680385723 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:434.95, Y:472.30, Z:23.16 [[-2.18543457e-01 9.75826760e-01 9.45036364e-04 4.34946103e+02] [-9.75817221e-01 -2.18545499e-01 4.31460941e-03 4.72295841e+02] [ 4.41684476e-03 2.07468965e-05 9.99990246e-01 2.31640847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.710385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:434.95, Y:472.31, Z:23.16 [[-2.17845830e-01 9.75982734e-01 9.47027556e-04 4.34946504e+02] [-9.75973199e-01 -2.17847888e-01 4.31417231e-03 4.72308269e+02] [ 4.41686564e-03 1.55509337e-05 9.99990246e-01 2.31648515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.740385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.93, Y:472.22, Z:23.16 [[-2.14118976e-01 9.76807127e-01 9.49226673e-04 4.34927077e+02] [-9.76797602e-01 -2.14121080e-01 4.31368840e-03 4.72217214e+02] [ 4.41689101e-03 -3.55979700e-06 9.99990246e-01 2.31597565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.770385723 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:434.84, Y:471.87, Z:23.16 [[-2.18217937e-01 9.75899606e-01 9.43560175e-04 4.34843169e+02] [-9.75890067e-01 -2.18219976e-01 4.31494017e-03 4.71867535e+02] [ 4.41685209e-03 2.07863381e-05 9.99990245e-01 2.31646981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.800385723 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:435.64, Y:472.03, Z:24.03 [[-1.52581194e-01 -9.88290488e-01 -9.43560175e-04 4.35642823e+02] [-9.88281107e-01 1.52583865e-01 -4.31494017e-03 4.72028363e+02] [ 4.40838638e-03 2.74123972e-04 -9.99990245e-01 2.40327597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.830385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:434.86, Y:472.11, Z:23.16 [[-1.46480093e-01 9.89213399e-01 6.58970134e-04 4.34856743e+02] [-9.89203799e-01 -1.46481575e-01 4.35797328e-03 4.72112868e+02] [ 4.40749254e-03 -1.34994293e-05 9.99990287e-01 2.31642943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.860385723 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:434.85, Y:472.12, Z:23.16 [[-1.43959472e-01 9.89583362e-01 6.64170943e-04 4.34854594e+02] [-9.89573770e-01 -1.43961001e-01 4.35718051e-03 4.72115694e+02] [ 4.40740805e-03 -2.99887371e-05 9.99990287e-01 2.31636757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.890385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.86, Y:472.13, Z:23.16 [[-1.43399314e-01 9.89664687e-01 6.66614900e-04 4.34856072e+02] [-9.89655098e-01 -1.43400859e-01 4.35680657e-03 4.72133871e+02] [ 4.40737076e-03 -3.49557615e-05 9.99990287e-01 2.31648843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.920385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.60, Y:471.91, Z:24.03 [[-9.48036111e-02 -9.95495536e-01 -9.55349270e-04 4.35600813e+02] [-9.95486343e-01 9.48068742e-02 -4.31247867e-03 4.71908197e+02] [ 4.38362694e-03 5.42198601e-04 -9.99990245e-01 2.40317113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.950385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.80, Y:471.96, Z:23.17 [[-7.38587376e-02 9.97268645e-01 3.69742388e-04 4.34795162e+02] [-9.97259106e-01 -7.38596484e-02 4.36211672e-03 4.71958969e+02] [ 4.37751128e-03 -4.65485290e-05 9.99990418e-01 2.31660608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.9803857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.79, Y:471.96, Z:23.17 [[-7.43964684e-02 9.97228674e-01 3.71938883e-04 4.34793023e+02] [-9.97219135e-01 -7.43973836e-02 4.36192943e-03 4.71958286e+02] [ 4.37751238e-03 -4.63924261e-05 9.99990418e-01 2.31655624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.010385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.79, Y:471.95, Z:23.17 [[-7.51355519e-02 9.97173259e-01 3.74138304e-04 4.34792272e+02] [-9.97163721e-01 -7.51364697e-02 4.36174077e-03 4.71954750e+02] [ 4.37752269e-03 -4.53553437e-05 9.99990418e-01 2.31652232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.040385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:434.79, Y:471.94, Z:23.16 [[-7.69813164e-02 9.97032465e-01 3.76333787e-04 4.34790079e+02] [-9.97022925e-01 -7.69822262e-02 4.36155133e-03 4.71943118e+02] [ 4.37757929e-03 -3.94554501e-05 9.99990418e-01 2.31646778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.070385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.79, Y:471.91, Z:23.16 [[-7.87516366e-02 9.96894195e-01 3.78533841e-04 4.34786340e+02] [-9.96884655e-01 -7.87525391e-02 4.36136039e-03 4.71908426e+02] [ 4.37762535e-03 -3.38903097e-05 9.99990418e-01 2.31642711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.1003857229999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:434.79, Y:471.93, Z:23.16 [[-8.21900734e-02 9.96616600e-01 3.80972486e-04 4.34786070e+02] [-9.96607058e-01 -8.21909536e-02 4.36114736e-03 4.71927363e+02] [ 4.37770434e-03 -2.12368473e-05 9.99990418e-01 2.31645642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.130385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.78, Y:471.92, Z:23.16 [[-8.38940031e-02 9.96474611e-01 3.83415358e-04 4.34784075e+02] [-9.96465068e-01 -8.38948777e-02 4.36093258e-03 4.71916463e+02] [ 4.37772518e-03 -1.62039195e-05 9.99990418e-01 2.31639345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.160385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.78, Y:471.92, Z:23.16 [[-8.65587691e-02 9.96246672e-01 3.85841761e-04 4.34782744e+02] [-9.96237128e-01 -8.65596288e-02 4.36071789e-03 4.71923555e+02] [ 4.37774900e-03 -6.93151527e-06 9.99990418e-01 2.31649843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.190385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.78, Y:471.91, Z:23.16 [[-8.81393691e-02 9.96108077e-01 3.88053011e-04 4.34781270e+02] [-9.96098533e-01 -8.81402234e-02 4.36052110e-03 4.71914118e+02] [ 4.37775337e-03 -2.20545580e-06 9.99990418e-01 2.31647068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.2203857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.78, Y:471.91, Z:23.16 [[-9.02297144e-02 9.95920904e-01 3.90258614e-04 4.34779498e+02] [-9.95911359e-01 -9.02305583e-02 4.36032370e-03 4.71910745e+02] [ 4.37775077e-03 4.76777517e-06 9.99990418e-01 2.31644881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.250385723 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:434.78, Y:471.90, Z:23.16 [[-9.15673672e-02 9.95798807e-01 3.92467439e-04 4.34777450e+02] [-9.95789261e-01 -9.15682079e-02 4.36012487e-03 4.71900103e+02] [ 4.37774469e-03 8.43029421e-06 9.99990418e-01 2.31634907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.280385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.77, Y:471.86, Z:23.16 [[-9.87336828e-02 9.95113815e-01 3.94888159e-04 4.34772458e+02] [-9.95104264e-01 -9.87344654e-02 4.35990562e-03 4.71856967e+02] [ 4.37759139e-03 3.75146477e-05 9.99990418e-01 2.31643766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.310385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.77, Y:471.86, Z:23.17 [[-1.00796122e-01 9.94907015e-01 4.16665951e-04 4.34770851e+02] [-9.94897471e-01 -1.00796980e-01 4.35782338e-03 4.71857994e+02] [ 4.37762772e-03 2.47117958e-05 9.99990418e-01 2.31660812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.3403857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.77, Y:471.86, Z:23.17 [[-1.01880980e-01 9.94796507e-01 4.19089668e-04 4.34769576e+02] [-9.94786963e-01 -1.01881838e-01 4.35759028e-03 4.71855483e+02] [ 4.37761321e-03 2.70506293e-05 9.99990418e-01 2.31660646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.370385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.77, Y:471.85, Z:23.17 [[-1.03229037e-01 9.94657523e-01 4.21504706e-04 4.34766281e+02] [-9.94647979e-01 -1.03229893e-01 4.35735666e-03 4.71845031e+02] [ 4.37758947e-03 3.05569290e-05 9.99990418e-01 2.31661933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.400385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.76, Y:471.83, Z:23.17 [[-1.04686024e-01 9.94505232e-01 4.23921058e-04 4.34762464e+02] [-9.94495688e-01 -1.04686877e-01 4.35712156e-03 4.71829654e+02] [ 4.37755916e-03 3.45420688e-05 9.99990418e-01 2.31659300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.430385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.76, Y:471.84, Z:23.17 [[-1.05464906e-01 9.94422934e-01 4.26141365e-04 4.34761840e+02] [-9.94413390e-01 -1.05465761e-01 4.35690440e-03 4.71836196e+02] [ 4.37754898e-03 3.57398344e-05 9.99990418e-01 2.31650832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.460385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.76, Y:471.83, Z:23.17 [[-1.06390689e-01 9.94324312e-01 4.28570324e-04 4.34758605e+02] [-9.94314768e-01 -1.06391546e-01 4.35666546e-03 4.71832291e+02] [ 4.37753465e-03 3.73748389e-05 9.99990418e-01 2.31651565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.490385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.75, Y:471.78, Z:23.17 [[-1.07083964e-01 9.94249888e-01 4.30987230e-04 4.34752197e+02] [-9.94240344e-01 -1.07084825e-01 4.35642635e-03 4.71783561e+02] [ 4.37752860e-03 3.79985102e-05 9.99990418e-01 2.31670094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.520385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.57, Y:471.62, Z:24.03 [[-2.31282387e-02 -9.99732414e-01 -4.30987230e-04 4.35574979e+02] [-9.99722976e-01 2.31298984e-02 -4.35642635e-03 4.71620012e+02] [ 4.36522932e-03 3.30111368e-04 -9.99990418e-01 2.40331732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.550385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.70, Y:471.64, Z:23.17 [[-4.09110478e-02 9.99162783e-01 1.36963304e-04 4.34702857e+02] [-9.99153247e-01 -4.09112557e-02 4.36565094e-03 4.71637918e+02] [ 4.36759928e-03 4.17560243e-05 9.99990461e-01 2.31662470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.580385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.70, Y:471.63, Z:23.17 [[-4.26785179e-02 9.99088847e-01 1.39404423e-04 4.34701833e+02] [-9.99079311e-01 -4.26787197e-02 4.36557298e-03 4.71632653e+02] [ 4.36754488e-03 4.70401096e-05 9.99990461e-01 2.31671195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.610385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.70, Y:471.60, Z:23.17 [[-4.48621655e-02 9.98993176e-01 1.46474465e-04 4.34698314e+02] [-9.98983639e-01 -4.48623773e-02 4.36533576e-03 4.71602226e+02] [ 4.36751182e-03 4.95128213e-05 9.99990461e-01 2.31680688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.640385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.70, Y:471.61, Z:23.17 [[-4.64152906e-02 9.98922219e-01 1.48919501e-04 4.34696205e+02] [-9.98912682e-01 -4.64154982e-02 4.36525234e-03 4.71607588e+02] [ 4.36745973e-03 5.38568778e-05 9.99990461e-01 2.31676116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.670385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.69, Y:471.59, Z:23.17 [[-4.72991996e-02 9.98880755e-01 1.51592999e-04 4.34694224e+02] [-9.98871219e-01 -4.72994105e-02 4.36515950e-03 4.71588688e+02] [ 4.36744408e-03 5.50466670e-05 9.99990461e-01 2.31677654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.700385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.69, Y:471.47, Z:23.17 [[-6.50317702e-02 9.97883182e-01 1.54052831e-04 4.34691567e+02] [-9.97873643e-01 -6.50318225e-02 4.36507269e-03 4.71473972e+02] [ 4.36585096e-03 1.30143144e-04 9.99990461e-01 2.31683005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.7303857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.69, Y:471.51, Z:23.17 [[-6.54951105e-02 9.97852864e-01 2.28596321e-04 4.34692409e+02] [-9.97843335e-01 -6.54954842e-02 4.36116540e-03 4.71510590e+02] [ 4.36677341e-03 5.75316947e-05 9.99990464e-01 2.31688560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.760385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.69, Y:471.40, Z:23.17 [[-8.70606803e-02 9.96202984e-01 2.31271013e-04 4.34690958e+02] [-9.96193449e-01 -8.70608595e-02 4.36102356e-03 4.71399805e+02] [ 4.36459933e-03 1.49283010e-04 9.99990464e-01 2.31691763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.790385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.69, Y:471.40, Z:23.17 [[-8.63750033e-02 9.96262641e-01 3.31487254e-04 4.34689235e+02] [-9.96253130e-01 -8.63756273e-02 4.35339266e-03 4.71395946e+02] [ 4.36575488e-03 4.57790909e-05 9.99990469e-01 2.31697323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.820385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.68, Y:471.33, Z:23.17 [[-8.57592428e-02 9.96315834e-01 3.33902374e-04 4.34681170e+02] [-9.96306324e-01 -8.57598832e-02 4.35320741e-03 4.71330698e+02] [ 4.36580490e-03 4.06587240e-05 9.99990469e-01 2.31711566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.8503857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.68, Y:471.35, Z:23.17 [[-8.52758679e-02 9.96357321e-01 3.38931524e-04 4.34681434e+02] [-9.96347814e-01 -8.52765348e-02 4.35281582e-03 4.71354913e+02] [ 4.36586281e-03 3.34964631e-05 9.99990469e-01 2.31716122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.880385723 meters Centerline goodness : 0.999816 Centerline is valid? [True, True] Translation: X:434.68, Y:471.35, Z:23.17 [[-8.41732262e-02 9.96451078e-01 3.41630220e-04 4.34678914e+02] [-9.96441572e-01 -8.41739155e-02 4.35260400e-03 4.71348335e+02] [ 4.36591330e-03 2.59581678e-05 9.99990469e-01 2.31694934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.910385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.68, Y:471.36, Z:23.17 [[-8.55772404e-02 9.96331480e-01 3.44298536e-04 4.34680752e+02] [-9.96321974e-01 -8.55779279e-02 4.35239292e-03 4.71362749e+02] [ 4.36589044e-03 2.94335788e-05 9.99990469e-01 2.31711342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.940385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.68, Y:471.32, Z:23.17 [[-9.03997480e-02 9.95905500e-01 3.46947641e-04 4.34679192e+02] [-9.95895992e-01 -9.04004011e-02 4.35218174e-03 4.71324765e+02] [ 4.36572594e-03 4.79123672e-05 9.99990469e-01 2.31707994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.9703857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.68, Y:471.30, Z:23.17 [[-9.15411703e-02 9.95801225e-01 3.66593886e-04 4.34678590e+02] [-9.95791722e-01 -9.15418984e-02 4.35052626e-03 4.71301148e+02] [ 4.36581808e-03 3.32011090e-05 9.99990469e-01 2.31698840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.000385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.68, Y:471.29, Z:23.17 [[-9.20811994e-02 9.95751433e-01 3.69028900e-04 4.34678138e+02] [-9.95741931e-01 -9.20819329e-02 4.35031971e-03 4.71287471e+02] [ 4.36581798e-03 3.31251074e-05 9.99990469e-01 2.31702144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.030385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.68, Y:471.31, Z:23.17 [[-9.15488915e-02 9.95800513e-01 3.71486650e-04 4.34680949e+02] [-9.95791012e-01 -9.15496409e-02 4.35010982e-03 4.71307711e+02] [ 4.36585106e-03 2.83246654e-05 9.99990469e-01 2.31700283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.060385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.68, Y:471.31, Z:23.17 [[-9.01845744e-02 9.95924999e-01 3.74154717e-04 4.34681593e+02] [-9.95915499e-01 -9.01853484e-02 4.34988033e-03 4.71307291e+02] [ 4.36589783e-03 1.96656247e-05 9.99990469e-01 2.31696856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.0903857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.68, Y:471.29, Z:23.17 [[-8.97494071e-02 9.95964308e-01 3.76776732e-04 4.34680561e+02] [-9.95954810e-01 -8.97501967e-02 4.34965320e-03 4.71292630e+02] [ 4.36591513e-03 1.51261974e-05 9.99990469e-01 2.31691323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.120385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.68, Y:471.28, Z:23.17 [[-8.92505405e-02 9.96009135e-01 3.79400705e-04 4.34679343e+02] [-9.95999638e-01 -8.92513464e-02 4.34942431e-03 4.71277552e+02] [ 4.36592837e-03 1.03055063e-05 9.99990469e-01 2.31691521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.150385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.68, Y:471.27, Z:23.17 [[-8.98084574e-02 9.95958983e-01 3.82040679e-04 4.34678882e+02] [-9.95949487e-01 -8.98092694e-02 4.34919241e-03 4.71271959e+02] [ 4.36592805e-03 1.01010433e-05 9.99990469e-01 2.31691778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.180385723 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] Translation: X:434.68, Y:471.29, Z:23.17 [[-8.82614995e-02 9.96097264e-01 3.84476854e-04 4.34680842e+02] [-9.96087770e-01 -8.82623369e-02 4.34897704e-03 4.71285823e+02] [ 4.36593896e-03 8.74542768e-07 9.99990469e-01 2.31710990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.210385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.68, Y:471.27, Z:23.17 [[-8.72725807e-02 9.96184394e-01 3.87106124e-04 4.34680863e+02] [-9.96174902e-01 -8.72734390e-02 4.34874300e-03 4.71272411e+02] [ 4.36593399e-03 -6.09938122e-06 9.99990469e-01 2.31713340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.240385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.68, Y:471.26, Z:23.17 [[-8.63217360e-02 9.96267236e-01 3.91341684e-04 4.34681046e+02] [-9.96257746e-01 -8.63226218e-02 4.34836181e-03 4.71255319e+02] [ 4.36591204e-03 -1.45190446e-05 9.99990469e-01 2.31719826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.270385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.68, Y:471.26, Z:23.17 [[-8.66365082e-02 9.96239911e-01 3.93760147e-04 4.34682500e+02] [-9.96230422e-01 -8.66374016e-02 4.34814279e-03 4.71263829e+02] [ 4.36590775e-03 -1.55679284e-05 9.99990469e-01 2.31719796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.300385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.68, Y:471.26, Z:23.17 [[-8.69953044e-02 9.96208643e-01 3.96175660e-04 4.34682563e+02] [-9.96199155e-01 -8.69962049e-02 4.34792270e-03 4.71256560e+02] [ 4.36590395e-03 -1.64209990e-05 9.99990469e-01 2.31725070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.330385723 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:434.68, Y:471.23, Z:23.17 [[-8.69952845e-02 9.96208644e-01 3.98580171e-04 4.34681276e+02] [-9.96199157e-01 -8.69961955e-02 4.34770226e-03 4.71232136e+02] [ 4.36589353e-03 -1.88356353e-05 9.99990469e-01 2.31717804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.360385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.68, Y:471.24, Z:23.17 [[-8.65018753e-02 9.96251607e-01 4.01002551e-04 4.34682726e+02] [-9.96242122e-01 -8.65028016e-02 4.34747883e-03 4.71237469e+02] [ 4.36587061e-03 -2.34305615e-05 9.99990469e-01 2.31709113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.390385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.68, Y:471.24, Z:23.17 [[-8.67318063e-02 9.96231615e-01 4.03641800e-04 4.34683273e+02] [-9.96222130e-01 -8.67327420e-02 4.34723377e-03 4.71235725e+02] [ 4.36586068e-03 -2.50734568e-05 9.99990469e-01 2.31706158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.420385723 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:434.69, Y:471.24, Z:23.17 [[-8.59178583e-02 9.96302141e-01 4.06265351e-04 4.34685151e+02] [-9.96292659e-01 -8.59188131e-02 4.34698858e-03 4.71237910e+02] [ 4.36581986e-03 -3.12752383e-05 9.99990469e-01 2.31706501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.450385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.53, Y:471.04, Z:24.03 [[-3.43425897e-02 -9.99409872e-01 -7.02660429e-04 4.35527735e+02] [-9.99400693e-01 3.43453109e-02 -4.31910798e-03 4.71041805e+02] [ 4.34069225e-03 5.53909967e-04 -9.99990426e-01 2.40337095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.4803857229999 meters Centerline goodness : 0.999864 Centerline is valid? [True, True] Translation: X:434.64, Y:471.05, Z:23.17 [[-1.67147341e-02 9.99860293e-01 1.12598610e-04 4.34639532e+02] [-9.99850899e-01 -1.67150652e-02 4.33443717e-03 4.71054507e+02] [ 4.33571371e-03 -4.01328569e-05 9.99990600e-01 2.31705340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.510385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.64, Y:471.05, Z:23.17 [[-1.70048393e-02 9.99855401e-01 1.14989686e-04 4.34639868e+02] [-9.99846007e-01 -1.70051780e-02 4.33437374e-03 4.71050023e+02] [ 4.33570241e-03 -4.12666500e-05 9.99990600e-01 2.31717589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.540385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.64, Y:471.03, Z:23.17 [[-1.75281829e-02 9.99846363e-01 1.17380230e-04 4.34640079e+02] [-9.99836969e-01 -1.75285270e-02 4.33430900e-03 4.71033487e+02] [ 4.33570059e-03 -4.13885324e-05 9.99990600e-01 2.31723096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.570385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.49, Y:470.90, Z:24.03 [[ 3.09758410e-02 -9.99520045e-01 -4.19789783e-04 4.35489122e+02] [-9.99510837e-01 -3.09737387e-02 -4.32595155e-03 4.70900423e+02] [ 4.31087283e-03 5.53584424e-04 -9.99990555e-01 2.40346841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.6003857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.48, Y:470.91, Z:24.04 [[ 1.10011613e-01 -9.93930287e-01 1.72891607e-04 4.35478467e+02] [-9.93921022e-01 -1.10011336e-01 -4.30213398e-03 4.70905756e+02] [ 4.29504130e-03 3.01444097e-04 -9.99990731e-01 2.40354124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.630385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.61, Y:470.77, Z:23.17 [[ 1.24705795e-01 9.92193634e-01 -5.07444015e-04 4.34608939e+02] [-9.92184479e-01 1.24706824e-01 4.26230445e-03 4.70769301e+02] [ 4.29231308e-03 -2.80559900e-05 9.99990788e-01 2.31721023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.660385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.47, Y:470.88, Z:24.03 [[ 1.90793129e-01 -9.81630136e-01 5.07735822e-04 4.35468288e+02] [-9.81620933e-01 -1.90793545e-01 -4.26226969e-03 4.70881611e+02] [ 4.28084510e-03 3.14807660e-04 -9.99990788e-01 2.40344221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.690385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.46, Y:470.88, Z:24.03 [[ 2.67776989e-01 -9.63480557e-01 8.37345592e-04 4.35457725e+02] [-9.63471470e-01 -2.67778110e-01 -4.19650152e-03 4.70882355e+02] [ 4.26747044e-03 3.16967951e-04 -9.99990844e-01 2.40343277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.7203857229999 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:435.45, Y:470.88, Z:24.03 [[ 3.43760114e-01 -9.39056783e-01 1.15907287e-03 4.35447747e+02] [-9.39047863e-01 -3.43761916e-01 -4.10567495e-03 4.70882181e+02] [ 4.25390702e-03 3.22942391e-04 -9.99990900e-01 2.40342755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.750385723 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:435.44, Y:470.88, Z:24.03 [[ 4.16814368e-01 -9.08990438e-01 1.47206184e-03 4.35436784e+02] [-9.08981738e-01 -4.16816840e-01 -3.99020775e-03 4.70880005e+02] [ 4.24064086e-03 3.25098589e-04 -9.99990956e-01 2.40348518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.780385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.42, Y:470.88, Z:24.04 [[ 4.88371160e-01 -8.72634209e-01 1.77391304e-03 4.35424932e+02] [-8.72625775e-01 -4.88374269e-01 -3.85117033e-03 4.70876912e+02] [ 4.22699646e-03 3.32838283e-04 -9.99991011e-01 2.40353293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.810385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:435.41, Y:470.87, Z:24.04 [[ 5.55671072e-01 -8.31399665e-01 2.06309977e-03 4.35414401e+02] [-8.31391546e-01 -5.55674801e-01 -3.68946105e-03 4.70871044e+02] [ 4.21382924e-03 3.34883065e-04 -9.99991066e-01 2.40354945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.8403857229999 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:435.40, Y:470.86, Z:24.04 [[ 6.19769644e-01 -7.84780303e-01 2.33785825e-03 4.35404810e+02] [-7.84772543e-01 -6.19773961e-01 -3.50626154e-03 4.70864737e+02] [ 4.20058866e-03 3.38387505e-04 -9.99991120e-01 2.40353907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.870385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.40, Y:470.86, Z:24.03 [[ 6.79512026e-01 -7.33659774e-01 2.59660980e-03 4.35397260e+02] [-7.33652418e-01 -6.79516903e-01 -3.30283772e-03 4.70857555e+02] [ 4.18759943e-03 3.39308896e-04 -9.99991174e-01 2.40344395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.900385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.39, Y:470.85, Z:24.03 [[ 7.34801523e-01 -6.78276247e-01 2.83799450e-03 4.35389851e+02] [-6.78269337e-01 -7.34806926e-01 -3.08045237e-03 4.70847313e+02] [ 4.17477568e-03 3.38596448e-04 -9.99991228e-01 2.40348250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.930385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.38, Y:470.84, Z:24.04 [[ 7.85292533e-01 -6.19117332e-01 3.06047750e-03 4.35383151e+02] [-6.19110906e-01 -7.85298425e-01 -2.84076200e-03 4.70837590e+02] [ 4.16215315e-03 3.36054187e-04 -9.99991282e-01 2.40354076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.960385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:435.38, Y:470.83, Z:24.04 [[ 8.30179672e-01 -5.57486382e-01 3.26289409e-03 4.35375098e+02] [-5.57480484e-01 -8.30186019e-01 -2.58529267e-03 4.70827064e+02] [ 4.15007451e-03 3.27257639e-04 -9.99991335e-01 2.40365597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.990385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.37, Y:470.82, Z:24.04 [[ 8.70704595e-01 -4.91794312e-01 3.44427667e-03 4.35367715e+02] [-4.91788967e-01 -8.70711348e-01 -2.31548731e-03 4.70817576e+02] [ 4.13771427e-03 3.22248172e-04 -9.99991388e-01 2.40367245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.020385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.36, Y:470.81, Z:24.04 [[ 9.05724211e-01 -4.23852176e-01 3.60370186e-03 4.35360534e+02] [-4.23847417e-01 -9.05731326e-01 -2.03287247e-03 4.70808781e+02] [ 4.12562308e-03 3.13802092e-04 -9.99991440e-01 2.40379924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.050385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.35, Y:470.80, Z:24.04 [[ 9.35550394e-01 -3.53173430e-01 3.74011452e-03 4.35353050e+02] [-3.53169279e-01 -9.35557820e-01 -1.73958526e-03 4.70796177e+02] [ 4.11346868e-03 3.06576130e-04 -9.99991493e-01 2.40382569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.080385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.35, Y:470.78, Z:24.04 [[ 9.60085559e-01 -2.79679952e-01 3.85284715e-03 4.35346230e+02] [-2.79676422e-01 -9.60093242e-01 -1.43741798e-03 4.70784392e+02] [ 4.10110950e-03 3.02493744e-04 -9.99991545e-01 2.40389558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.110385723 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:435.34, Y:470.77, Z:24.04 [[ 9.78853999e-01 -2.04522162e-01 3.94133605e-03 4.35339965e+02] [-2.04519267e-01 -9.78861888e-01 -1.12831731e-03 4.70771866e+02] [ 4.08878954e-03 2.98378750e-04 -9.99991596e-01 2.40384992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.140385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.33, Y:470.76, Z:24.04 [[ 9.91827540e-01 -1.27522893e-01 4.00522451e-03 4.35332097e+02] [-1.27520640e-01 -9.91835583e-01 -8.13935033e-04 4.70761118e+02] [ 4.07631953e-03 2.96534389e-04 -9.99991648e-01 2.40373090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.170385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.32, Y:470.75, Z:24.04 [[ 9.98712929e-01 -5.05581793e-02 4.04420245e-03 4.35324956e+02] [-5.05565817e-02 -9.98721075e-01 -4.96347203e-04 4.70749496e+02] [ 4.06412463e-03 2.91247318e-04 -9.99991699e-01 2.40366553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.200385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.32, Y:470.74, Z:24.04 [[ 9.99628199e-01 2.69628346e-02 4.05815929e-03 4.35319394e+02] [ 2.69637775e-02 -9.99636396e-01 -1.77804106e-04 4.70738644e+02] [ 4.05188962e-03 2.87161303e-04 -9.99991750e-01 2.40365403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.2303857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.31, Y:470.73, Z:24.04 [[ 9.94692282e-01 1.02814806e-01 4.04716090e-03 4.35314934e+02] [ 1.02815083e-01 -9.94700477e-01 1.40044834e-04 4.70726724e+02] [ 4.04011156e-03 2.76807667e-04 -9.99991800e-01 2.40355590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.260385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.31, Y:470.71, Z:24.04 [[ 9.83734133e-01 1.79585813e-01 4.01144548e-03 4.35311623e+02] [ 1.79585444e-01 -9.83742274e-01 4.54956718e-04 4.70714211e+02] [ 4.02793227e-03 2.72840766e-04 -9.99991851e-01 2.40352007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.290385723 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:435.31, Y:470.70, Z:24.04 [[ 9.67235685e-01 2.53849396e-01 3.95136353e-03 4.35309630e+02] [ 2.53848379e-01 -9.67243721e-01 7.65207704e-04 4.70700274e+02] [ 4.01617907e-03 2.62911029e-04 -9.99991901e-01 2.40355462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.320385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.31, Y:470.69, Z:24.03 [[ 9.45045768e-01 3.26915187e-01 3.86739589e-03 4.35309214e+02] [ 3.26913538e-01 -9.45053647e-01 1.06898756e-03 4.70686273e+02] [ 4.00436486e-03 2.54061899e-04 -9.99991950e-01 2.40344729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.3503857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.31, Y:470.67, Z:24.03 [[ 9.17086216e-01 3.98671209e-01 3.76023759e-03 4.35309658e+02] [ 3.98668951e-01 -9.17093892e-01 1.36432814e-03 4.70673730e+02] [ 3.99240927e-03 2.47883444e-04 -9.99992000e-01 2.40349735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.380385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.31, Y:470.65, Z:24.04 [[ 8.84689275e-01 4.66167036e-01 3.63069764e-03 4.35314439e+02] [ 4.66164176e-01 -8.84696694e-01 1.64946392e-03 4.70653836e+02] [ 3.98099190e-03 2.33238137e-04 -9.99992049e-01 2.40380919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.410385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.31, Y:470.65, Z:24.04 [[ 8.45223671e-01 5.34401366e-01 3.48240818e-03 4.35311989e+02] [ 5.34397978e-01 -8.45230810e-01 1.91794964e-03 4.70650954e+02] [ 3.96839359e-03 2.39895449e-04 -9.99992097e-01 2.40365806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.440385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.31, Y:470.64, Z:24.04 [[ 8.02386767e-01 5.96795416e-01 3.27223852e-03 4.35311855e+02] [ 5.96791250e-01 -8.02393423e-01 2.23564765e-03 4.70644754e+02] [ 3.95984694e-03 1.58989228e-04 -9.99992147e-01 2.40379444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.4703857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.32, Y:470.63, Z:24.04 [[ 7.53861805e-01 6.57025675e-01 3.10523537e-03 4.35317673e+02] [ 6.57021135e-01 -7.53868175e-01 2.45001626e-03 4.70632356e+02] [ 3.95066171e-03 1.93231589e-04 -9.99992177e-01 2.40382780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.500385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.32, Y:470.62, Z:24.04 [[ 6.99672094e-01 7.14458227e-01 2.89885492e-03 4.35323838e+02] [ 7.14453243e-01 -6.99678071e-01 2.67603510e-03 4.70617780e+02] [ 3.94018052e-03 1.98749214e-04 -9.99992218e-01 2.40360335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.530385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.33, Y:470.61, Z:24.04 [[ 6.42364741e-01 7.66394350e-01 2.69082085e-03 4.35329207e+02] [ 7.66389003e-01 -6.42370339e-01 2.87101266e-03 4.70608515e+02] [ 3.92883139e-03 2.17978206e-04 -9.99992258e-01 2.40392408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.560385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.33, Y:470.60, Z:24.04 [[ 5.78486215e-01 8.15688536e-01 2.43122559e-03 4.35333802e+02] [ 8.15682753e-01 -5.78491289e-01 3.07837989e-03 4.70597915e+02] [ 3.91744201e-03 2.02308452e-04 -9.99992306e-01 2.40362874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.5903857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.34, Y:470.59, Z:24.04 [[ 5.12171137e-01 8.58880609e-01 2.19677698e-03 4.35341421e+02] [ 8.58874538e-01 -5.12175797e-01 3.23746484e-03 4.70586952e+02] [ 3.90573178e-03 2.28619772e-04 -9.99992347e-01 2.40363430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.620385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.35, Y:470.58, Z:24.04 [[ 4.43063733e-01 8.96488038e-01 1.93058394e-03 4.35350708e+02] [ 8.96481661e-01 -4.43067880e-01 3.38910057e-03 4.70577141e+02] [ 3.89366785e-03 2.29145546e-04 -9.99992393e-01 2.40362435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.650385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.36, Y:470.57, Z:24.04 [[ 3.70976364e-01 9.28640836e-01 1.65413910e-03 4.35361797e+02] [ 9.28634197e-01 -3.70979980e-01 3.51904462e-03 4.70567519e+02] [ 3.88158103e-03 2.30607762e-04 -9.99992440e-01 2.40363558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.680385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.38, Y:470.56, Z:24.04 [[ 2.98198271e-01 9.54502968e-01 1.36925255e-03 4.35380611e+02] [ 9.54496105e-01 -2.98201330e-01 3.62660589e-03 4.70558098e+02] [ 3.86991902e-03 2.25498615e-04 -9.99992486e-01 2.40396960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.710385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.40, Y:470.55, Z:24.04 [[ 2.20371787e-01 9.75415363e-01 1.07004368e-03 4.35398541e+02] [ 9.75408321e-01 -2.20374269e-01 3.71342657e-03 4.70549381e+02] [ 3.85794342e-03 2.25395058e-04 -9.99992533e-01 2.40373983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.740385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.41, Y:470.54, Z:24.04 [[ 1.43051869e-01 9.89714884e-01 7.81316595e-04 4.35411813e+02] [ 9.89707719e-01 -1.43053812e-01 3.77321326e-03 4.70542594e+02] [ 3.84617564e-03 2.33509858e-04 -9.99992576e-01 2.40375287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.770385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.43, Y:470.54, Z:24.04 [[ 6.42850303e-02 9.97931462e-01 4.81900249e-04 4.35426991e+02] [ 9.97924213e-01 -6.42864037e-02 3.81107384e-03 4.70537575e+02] [ 3.83417012e-03 2.35904929e-04 -9.99992622e-01 2.40378311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.800385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.45, Y:470.53, Z:24.04 [[-1.32983207e-02 9.99911557e-01 1.81515942e-04 4.35448128e+02] [ 9.99904267e-01 1.32975293e-02 3.82532758e-03 4.70534088e+02] [ 3.82257554e-03 2.32368998e-04 -9.99992667e-01 2.40418685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.830385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.49, Y:470.47, Z:24.04 [[-9.22504406e-02 9.95735831e-01 -1.08837559e-04 4.35489864e+02] [ 9.95728547e-01 9.22501829e-02 3.81628164e-03 4.70469345e+02] [ 3.81004865e-03 2.43680998e-04 -9.99992712e-01 2.40420518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.860385723 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:435.54, Y:470.41, Z:24.04 [[-1.72351047e-01 9.85035508e-01 -4.06511814e-04 4.35536479e+02] [ 9.85028274e-01 1.72351343e-01 3.78354064e-03 4.70412452e+02] [ 3.79698474e-03 2.51671561e-04 -9.99992760e-01 2.40404348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.890385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:435.58, Y:470.38, Z:24.04 [[-2.49691159e-01 9.68325266e-01 -7.09812514e-04 4.35584734e+02] [ 9.68318129e-01 2.49692049e-01 3.72575751e-03 4.70378926e+02] [ 3.78497967e-03 2.42964384e-04 -9.99992807e-01 2.40381519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.920385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.63, Y:470.36, Z:24.04 [[-3.24905135e-01 9.45746087e-01 -9.96199004e-04 4.35630880e+02] [ 9.45739084e-01 3.24906572e-01 3.64754117e-03 4.70361033e+02] [ 3.77331939e-03 2.42960525e-04 -9.99992852e-01 2.40376804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.950385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.68, Y:470.35, Z:24.04 [[-3.98549281e-01 9.17146033e-01 -1.27478386e-03 4.35677025e+02] [ 9.17139205e-01 3.98551244e-01 3.54743073e-03 4.70353070e+02] [ 3.76157872e-03 2.44671713e-04 -9.99992895e-01 2.40368678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.9803857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.73, Y:470.34, Z:24.04 [[-4.69506681e-01 8.82927570e-01 -1.54382670e-03 4.35727013e+02] [ 8.82920956e-01 4.69509155e-01 3.42620176e-03 4.70339103e+02] [ 3.74992877e-03 2.45547672e-04 -9.99992939e-01 2.40365860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.010385723 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:435.77, Y:470.36, Z:24.04 [[-5.33914301e-01 8.45536677e-01 -1.80188527e-03 4.35765868e+02] [ 8.45530329e-01 5.33917292e-01 3.28463622e-03 4.70358106e+02] [ 3.73933809e-03 2.30165610e-04 -9.99992982e-01 2.40401027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.040385723 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:435.81, Y:470.35, Z:24.04 [[-5.98507524e-01 8.01114672e-01 -2.00661952e-03 4.35813763e+02] [ 8.01108524e-01 5.98510823e-01 3.15086823e-03 4.70353855e+02] [ 3.72519027e-03 2.78298337e-04 -9.99993023e-01 2.40400816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.070385723 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:435.88, Y:470.33, Z:24.04 [[-6.61171920e-01 7.50231097e-01 -2.23436464e-03 4.35880149e+02] [ 7.50225254e-01 6.61175632e-01 2.97517988e-03 4.70334316e+02] [ 3.70937992e-03 2.90828616e-04 -9.99993078e-01 2.40394436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.1003857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.89, Y:470.38, Z:24.04 [[-7.18493029e-01 6.95529830e-01 -2.45422104e-03 4.35887583e+02] [ 6.95524349e-01 7.18497163e-01 2.77615459e-03 4.70380091e+02] [ 3.69424918e-03 2.87677231e-04 -9.99993135e-01 2.40392323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.130385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.98, Y:470.35, Z:24.04 [[-7.74576176e-01 6.32475069e-01 -2.65221578e-03 4.35976266e+02] [ 6.32469938e-01 7.74580655e-01 2.56645269e-03 4.70348720e+02] [ 3.67757237e-03 3.10466358e-04 -9.99993190e-01 2.40380922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.160385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.00, Y:470.38, Z:24.04 [[-8.19897063e-01 5.72503798e-01 -2.86467983e-03 4.36003967e+02] [ 5.72499223e-01 8.19902031e-01 2.30206350e-03 4.70378446e+02] [ 3.66669690e-03 2.47428121e-04 -9.99993247e-01 2.40407229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.190385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.05, Y:470.39, Z:24.04 [[-8.62758609e-01 5.05607125e-01 -3.00285332e-03 4.36051476e+02] [ 5.05602850e-01 8.62763785e-01 2.09999613e-03 4.70392937e+02] [ 3.65252610e-03 2.93538545e-04 -9.99993286e-01 2.40425188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.2203857229999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:436.13, Y:470.39, Z:24.04 [[-8.99705383e-01 4.36486380e-01 -3.14083287e-03 4.36131375e+02] [ 4.36482522e-01 8.99710814e-01 1.85993394e-03 4.70394498e+02] [ 3.63767713e-03 3.02473931e-04 -9.99993338e-01 2.40444996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.250385723 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:436.16, Y:470.42, Z:24.04 [[-9.31622091e-01 3.63413931e-01 -3.25498919e-03 4.36160201e+02] [ 3.63410467e-01 9.31627720e-01 1.61995612e-03 4.70422654e+02] [ 3.62115278e-03 3.26289764e-04 -9.99993390e-01 2.40446537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.280385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.20, Y:470.44, Z:24.04 [[-9.59019556e-01 2.83319983e-01 -3.35830379e-03 4.36197799e+02] [ 2.83316975e-01 9.59025375e-01 1.34984135e-03 4.70443510e+02] [ 3.60313558e-03 3.43059785e-04 -9.99993450e-01 2.40433096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.310385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.24, Y:470.47, Z:24.04 [[-9.78312682e-01 2.07104671e-01 -3.45697945e-03 4.36235728e+02] [ 2.07102376e-01 9.78318751e-01 1.01314986e-03 4.70471303e+02] [ 3.59185589e-03 2.75228696e-04 -9.99993511e-01 2.40435342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.3403857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.27, Y:470.50, Z:24.04 [[-9.91457738e-01 1.30380977e-01 -3.51487023e-03 4.36269630e+02] [ 1.30379179e-01 9.91463931e-01 7.37096342e-04 4.70501307e+02] [ 3.58097039e-03 2.72533979e-04 -9.99993551e-01 2.40437361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.370385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.30, Y:470.53, Z:24.04 [[-9.98606064e-01 5.26623170e-02 -3.55085626e-03 4.36301848e+02] [ 5.26610186e-02 9.98612341e-01 4.58253318e-04 4.70534682e+02] [ 3.57006157e-03 2.70622834e-04 -9.99993591e-01 2.40434992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.400385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.33, Y:470.57, Z:24.04 [[-9.99671846e-01 -2.53671567e-02 -3.56485955e-03 4.36334472e+02] [-2.53679530e-02 9.99678166e-01 1.78335271e-04 4.70569788e+02] [ 3.55918840e-03 2.68709939e-04 -9.99993630e-01 2.40428692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.430385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.38, Y:470.61, Z:24.04 [[-9.95209737e-01 -9.76981453e-02 -3.55693265e-03 4.36376302e+02] [-9.76984054e-02 9.95216063e-01 -1.00955495e-04 4.70612464e+02] [ 3.54977968e-03 2.47034757e-04 -9.99993669e-01 2.40446217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.460385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.40, Y:470.65, Z:24.05 [[-9.84090787e-01 -1.77631157e-01 -3.53469751e-03 4.36395702e+02] [-1.77631170e-01 9.84097084e-01 -3.12989959e-04 4.70649414e+02] [ 3.53408228e-03 3.19861917e-04 -9.99993704e-01 2.40462022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.490385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.40, Y:470.69, Z:24.04 [[-9.66216896e-01 -2.57706786e-01 -3.48161390e-03 4.36403114e+02] [-2.57706287e-01 9.66223117e-01 -5.99015022e-04 4.70685246e+02] [ 3.51838607e-03 3.18455356e-04 -9.99993760e-01 2.40445187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.520385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.42, Y:470.73, Z:24.05 [[-9.43199714e-01 -3.32208916e-01 -3.39650544e-03 4.36421173e+02] [-3.32207762e-01 9.43205792e-01 -9.14955919e-04 4.70728130e+02] [ 3.50756012e-03 2.65359310e-04 -9.99993813e-01 2.40462892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.550385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:436.43, Y:470.78, Z:24.05 [[-9.17109250e-01 -3.98622259e-01 -3.30440023e-03 4.36434597e+02] [-3.98620602e-01 9.17115171e-01 -1.17416411e-03 4.70777284e+02] [ 3.49856353e-03 2.40365241e-04 -9.99993851e-01 2.40484356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.580385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.43, Y:470.81, Z:24.05 [[-8.80892292e-01 -4.73305819e-01 -3.22039261e-03 4.36428370e+02] [-4.73303965e-01 8.80898120e-01 -1.36378402e-03 4.70808567e+02] [ 3.48232470e-03 3.22877761e-04 -9.99993885e-01 2.40475318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.610385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.06, Y:471.47, Z:23.17 [[-8.76727293e-01 4.80978059e-01 3.05958926e-03 4.36064355e+02] [-4.80975194e-01 -8.76732631e-01 1.66014023e-03 4.71468943e+02] [ 3.48093277e-03 -1.60962865e-05 9.99993941e-01 2.31684552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.640385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.06, Y:471.47, Z:23.17 [[-8.75976185e-01 4.82344648e-01 3.06019389e-03 4.36059831e+02] [-4.82341795e-01 -8.75981530e-01 1.65902494e-03 4.71470476e+02] [ 3.48089513e-03 -2.27930754e-05 9.99993941e-01 2.31680189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.670385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.06, Y:471.47, Z:23.17 [[-8.75519480e-01 4.83173127e-01 3.06079812e-03 4.36057946e+02] [-4.83170284e-01 -8.75524830e-01 1.65790943e-03 4.71473438e+02] [ 3.48086204e-03 -2.73546906e-05 9.99993941e-01 2.31674099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.700385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.06, Y:471.47, Z:23.17 [[-8.75566215e-01 4.83088429e-01 3.06140175e-03 4.36056454e+02] [-4.83085589e-01 -8.75571567e-01 1.65679406e-03 4.71474697e+02] [ 3.48085436e-03 -2.82861618e-05 9.99993941e-01 2.31667238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.7303857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.05, Y:471.48, Z:23.17 [[-8.75356555e-01 4.83468226e-01 3.06200411e-03 4.36053146e+02] [-4.83465392e-01 -8.75361910e-01 1.65568005e-03 4.71476062e+02] [ 3.48083046e-03 -3.10626346e-05 9.99993941e-01 2.31658765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.760385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.05, Y:471.48, Z:23.17 [[-8.75608394e-01 4.83011967e-01 3.06260569e-03 4.36049426e+02] [-4.83009135e-01 -8.75613750e-01 1.65456653e-03 4.71476391e+02] [ 3.48083508e-03 -3.05141850e-05 9.99993941e-01 2.31658986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.790385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.04, Y:471.48, Z:23.17 [[-8.75506362e-01 4.83196883e-01 3.06320705e-03 4.36040032e+02] [-4.83194055e-01 -8.75511720e-01 1.65345243e-03 4.71475946e+02] [ 3.48081674e-03 -3.25153142e-05 9.99993941e-01 2.31656660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.820385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.02, Y:471.47, Z:23.17 [[-8.75540280e-01 4.83135416e-01 3.06404118e-03 4.36024118e+02] [-4.83132593e-01 -8.75545641e-01 1.65190526e-03 4.71471336e+02] [ 3.48080183e-03 -3.40285685e-05 9.99993941e-01 2.31653423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.8503857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.04, Y:471.48, Z:23.16 [[-8.75806164e-01 4.82653262e-01 3.06464616e-03 4.36036859e+02] [-4.82650440e-01 -8.75811525e-01 1.65078212e-03 4.71479927e+02] [ 3.48080780e-03 -3.33876575e-05 9.99993941e-01 2.31647963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.880385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.03, Y:471.48, Z:23.17 [[-8.76564444e-01 4.81274744e-01 3.06524986e-03 4.36033072e+02] [-4.81271918e-01 -8.76569803e-01 1.64966037e-03 4.71482120e+02] [ 3.48084534e-03 -2.91850538e-05 9.99993941e-01 2.31653122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.910385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.03, Y:471.48, Z:23.17 [[-8.77191477e-01 4.80130933e-01 3.06584944e-03 4.36028350e+02] [-4.80128103e-01 -8.77196835e-01 1.64854532e-03 4.71481875e+02] [ 3.48087103e-03 -2.59105766e-05 9.99993941e-01 2.31650179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.940385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.02, Y:471.48, Z:23.16 [[-8.78174803e-01 4.78330024e-01 3.06644900e-03 4.36022838e+02] [-4.78327188e-01 -8.78180157e-01 1.64742933e-03 4.71483203e+02] [ 3.48090957e-03 -2.00349945e-05 9.99993941e-01 2.31643145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.9703857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.02, Y:471.48, Z:23.16 [[-8.78915970e-01 4.76966781e-01 3.06704899e-03 4.36019570e+02] [-4.76963941e-01 -8.78921321e-01 1.64631155e-03 4.71483538e+02] [ 3.48093067e-03 -1.59022651e-05 9.99993941e-01 2.31641257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.000385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.36, Y:470.76, Z:24.05 [[-8.44351280e-01 -5.35781210e-01 -3.06764897e-03 4.36356807e+02] [-5.35778745e-01 8.44356815e-01 -1.64519283e-03 4.70762616e+02] [ 3.47165371e-03 2.54460444e-04 -9.99993941e-01 2.40528078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.030385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.93, Y:471.48, Z:23.16 [[-8.43288225e-01 5.37453633e-01 2.92625693e-03 4.35926425e+02] [-5.37450390e-01 -8.43293302e-01 1.86682566e-03 4.71480459e+02] [ 3.47102510e-03 1.55416540e-06 9.99993976e-01 2.31630922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.060385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:435.92, Y:471.48, Z:23.16 [[-8.44281373e-01 5.35892151e-01 2.92694749e-03 4.35917018e+02] [-5.35888903e-01 -8.44286446e-01 1.86574231e-03 4.71477017e+02] [ 3.47101876e-03 6.69279416e-06 9.99993976e-01 2.31626093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.0903857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.91, Y:471.48, Z:23.16 [[-8.46126255e-01 5.32974474e-01 2.92763260e-03 4.35912906e+02] [-5.32971212e-01 -8.46131320e-01 1.86466665e-03 4.71478956e+02] [ 3.47098136e-03 1.73995178e-05 9.99993976e-01 2.31612552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.120385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.90, Y:471.47, Z:23.16 [[-8.47048070e-01 5.31508224e-01 2.92831895e-03 4.35900465e+02] [-5.31504957e-01 -8.47053132e-01 1.86358817e-03 4.71473376e+02] [ 3.47095417e-03 2.21327213e-05 9.99993976e-01 2.31609750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.150385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.90, Y:471.48, Z:23.16 [[-8.48235656e-01 5.29610888e-01 2.92900755e-03 4.35903789e+02] [-5.29607614e-01 -8.48240712e-01 1.86250527e-03 4.71481237e+02] [ 3.47090652e-03 2.86186776e-05 9.99993976e-01 2.31608943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.180385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.92, Y:471.49, Z:23.16 [[-8.46018519e-01 5.33145460e-01 2.92969629e-03 4.35918290e+02] [-5.33142211e-01 -8.46023592e-01 1.86142125e-03 4.71490331e+02] [ 3.47100047e-03 1.28520909e-05 9.99993976e-01 2.31617187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.210385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.90, Y:471.49, Z:23.16 [[-8.48662846e-01 5.28926151e-01 2.91559648e-03 4.35902033e+02] [-5.28922800e-01 -8.48667853e-01 1.88361281e-03 4.71487767e+02] [ 3.47066508e-03 5.64267565e-05 9.99993976e-01 2.31616551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.240385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.90, Y:471.49, Z:23.16 [[-8.48793432e-01 5.28716486e-01 2.93045170e-03 4.35900779e+02] [-5.28713214e-01 -8.48798490e-01 1.86021091e-03 4.71489661e+02] [ 3.47088715e-03 2.95662628e-05 9.99993976e-01 2.31619653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.270385723 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:435.90, Y:471.49, Z:23.16 [[-8.48367037e-01 5.29400396e-01 2.93113423e-03 4.35895629e+02] [-5.29397132e-01 -8.48372100e-01 1.85913482e-03 4.71491171e+02] [ 3.47091921e-03 2.54946424e-05 9.99993976e-01 2.31612480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.300385723 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:435.89, Y:471.49, Z:23.16 [[-8.47975534e-01 5.30027262e-01 2.93181614e-03 4.35888446e+02] [-5.30024006e-01 -8.47980602e-01 1.85805883e-03 4.71488400e+02] [ 3.47094505e-03 2.16554879e-05 9.99993976e-01 2.31601791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.330385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.87, Y:471.48, Z:23.16 [[-8.46736811e-01 5.32003922e-01 2.93249908e-03 4.35870477e+02] [-5.32000681e-01 -8.46741889e-01 1.85698035e-03 4.71480646e+02] [ 3.47099064e-03 1.22821088e-05 9.99993976e-01 2.31588899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.360385723 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:435.86, Y:471.48, Z:23.16 [[-8.46801102e-01 5.31901580e-01 2.93318722e-03 4.35861037e+02] [-5.31898342e-01 -8.46806182e-01 1.85589277e-03 4.71475149e+02] [ 3.47099336e-03 1.14146211e-05 9.99993976e-01 2.31587214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.390385723 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] Translation: X:435.84, Y:471.46, Z:23.16 [[-8.46965969e-01 5.31639013e-01 2.93388109e-03 4.35844769e+02] [-5.31635778e-01 -8.46971050e-01 1.85479521e-03 4.71463874e+02] [ 3.47099384e-03 1.11922676e-05 9.99993976e-01 2.31584948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.420385723 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] Translation: X:435.84, Y:471.46, Z:23.16 [[-8.46891432e-01 5.31757737e-01 2.93458103e-03 4.35835602e+02] [-5.31754506e-01 -8.46896516e-01 1.85368714e-03 4.71457573e+02] [ 3.47099893e-03 9.39506637e-06 9.99993976e-01 2.31581394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.450385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.89, Y:471.49, Z:23.16 [[-8.46242982e-01 5.32789075e-01 2.93555951e-03 4.35885293e+02] [-5.32785856e-01 -8.46248074e-01 1.85213628e-03 4.71487865e+02] [ 3.47100956e-03 3.33274216e-06 9.99993976e-01 2.31575834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.4803857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.88, Y:471.49, Z:23.16 [[-8.45973293e-01 5.33217183e-01 2.93651724e-03 4.35882464e+02] [-5.33213971e-01 -8.45978390e-01 1.85061658e-03 4.71485738e+02] [ 3.47101069e-03 -2.19815406e-07 9.99993976e-01 2.31572945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.510385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.88, Y:471.48, Z:23.16 [[-8.45096849e-01 5.34605171e-01 2.93719248e-03 4.35875906e+02] [-5.34601972e-01 -8.45101953e-01 1.84954425e-03 4.71480959e+02] [ 3.47100303e-03 -7.18487227e-06 9.99993976e-01 2.31564918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.540385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:436.27, Y:470.71, Z:24.06 [[-8.09500486e-01 -5.87111856e-01 -2.93786894e-03 4.36274112e+02] [-5.87108991e-01 8.09505785e-01 -1.84846912e-03 4.70709982e+02] [ 3.46348004e-03 2.28512622e-04 -9.99993976e-01 2.40619323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.570385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.75, Y:471.44, Z:23.16 [[-8.04776821e-01 5.93570930e-01 2.79629053e-03 4.35750315e+02] [-5.93567417e-01 -8.04781679e-01 2.04231517e-03 4.71436118e+02] [ 3.46266230e-03 -1.61790365e-05 9.99994005e-01 2.31553512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.6003857229999 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:435.74, Y:471.43, Z:23.16 [[-8.04745161e-01 5.93613849e-01 2.79722692e-03 4.35742857e+02] [-5.93610340e-01 -8.04750022e-01 2.04103184e-03 4.71430379e+02] [ 3.46265320e-03 -1.79523269e-05 9.99994005e-01 2.31551608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.630385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.73, Y:471.42, Z:23.16 [[-8.04627821e-01 5.93772886e-01 2.79797267e-03 4.35730358e+02] [-5.93769382e-01 -8.04632686e-01 2.04000901e-03 4.71420238e+02] [ 3.46264230e-03 -1.99024942e-05 9.99994005e-01 2.31552910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.660385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.75, Y:471.43, Z:23.16 [[-8.04868766e-01 5.93446237e-01 2.79872352e-03 4.35746425e+02] [-5.93442735e-01 -8.04873632e-01 2.03897839e-03 4.71431162e+02] [ 3.46264282e-03 -1.97721164e-05 9.99994005e-01 2.31550631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.690385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.73, Y:471.42, Z:23.15 [[-8.05189797e-01 5.93010584e-01 2.79947184e-03 4.35732601e+02] [-5.93007083e-01 -8.05194664e-01 2.03795045e-03 4.71419511e+02] [ 3.46264597e-03 -1.91697212e-05 9.99994005e-01 2.31541162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.7203857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.73, Y:471.42, Z:23.15 [[-8.05880958e-01 5.92070976e-01 2.80021573e-03 4.35732757e+02] [-5.92067473e-01 -8.05885822e-01 2.03692780e-03 4.71417978e+02] [ 3.46265999e-03 -1.63953233e-05 9.99994005e-01 2.31531356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.750385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.74, Y:471.42, Z:23.15 [[-8.06430871e-01 5.91321744e-01 2.80096544e-03 4.35736153e+02] [-5.91318239e-01 -8.06435735e-01 2.03589635e-03 4.71420177e+02] [ 3.46266841e-03 -1.44522867e-05 9.99994005e-01 2.31533408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.780385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.72, Y:471.41, Z:23.15 [[-8.07158151e-01 5.90328612e-01 2.80171012e-03 4.35718501e+02] [-5.90325105e-01 -8.07163013e-01 2.03487104e-03 4.71407596e+02] [ 3.46267938e-03 -1.14570722e-05 9.99994005e-01 2.31538532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.810385723 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:435.73, Y:471.42, Z:23.15 [[-8.07542296e-01 5.89803007e-01 2.80245786e-03 4.35731013e+02] [-5.89799500e-01 -8.07547159e-01 2.03384072e-03 4.71416862e+02] [ 3.46268225e-03 -1.04758386e-05 9.99994005e-01 2.31545598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.8403857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.71, Y:471.40, Z:23.15 [[-8.07886274e-01 5.89331749e-01 2.80320570e-03 4.35713602e+02] [-5.89328244e-01 -8.07891137e-01 2.03280946e-03 4.71403883e+02] [ 3.46268420e-03 -9.72943078e-06 9.99994005e-01 2.31537101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.870385723 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:435.73, Y:471.41, Z:23.15 [[-8.08087830e-01 5.89055342e-01 2.80424129e-03 4.35726167e+02] [-5.89051840e-01 -8.08092695e-01 2.03137987e-03 4.71413149e+02] [ 3.46268207e-03 -1.03101458e-05 9.99994005e-01 2.31531310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.900385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.73, Y:471.41, Z:23.15 [[-8.08489920e-01 5.88503340e-01 2.80498751e-03 4.35727082e+02] [-5.88499838e-01 -8.08494786e-01 2.03034895e-03 4.71414243e+02] [ 3.46268491e-03 -9.21804066e-06 9.99994005e-01 2.31529083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.930385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.72, Y:471.41, Z:23.15 [[-8.09233271e-01 5.87480758e-01 2.80572792e-03 4.35723495e+02] [-5.87477253e-01 -8.09238135e-01 2.02932527e-03 4.71412031e+02] [ 3.46269157e-03 -6.10380462e-06 9.99994005e-01 2.31524295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.960385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.72, Y:471.41, Z:23.15 [[-8.09474332e-01 5.87148556e-01 2.80684851e-03 4.35720960e+02] [-5.87145055e-01 -8.09479199e-01 2.02777414e-03 4.71410123e+02] [ 3.46269014e-03 -6.59610598e-06 9.99994005e-01 2.31524413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.990385723 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:435.71, Y:471.41, Z:23.15 [[-8.09743457e-01 5.86777344e-01 2.80768034e-03 4.35714620e+02] [-5.86773844e-01 -8.09748325e-01 2.02662173e-03 4.71405550e+02] [ 3.46269016e-03 -6.42969741e-06 9.99994005e-01 2.31529687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.020385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.71, Y:471.40, Z:23.15 [[-8.10071347e-01 5.86324590e-01 2.80851314e-03 4.35712637e+02] [-5.86321091e-01 -8.10076216e-01 2.02546697e-03 4.71404765e+02] [ 3.46269078e-03 -5.91772983e-06 9.99994005e-01 2.31509710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.050385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:435.70, Y:471.40, Z:23.15 [[-8.10288037e-01 5.86025088e-01 2.80944146e-03 4.35702205e+02] [-5.86021592e-01 -8.10292908e-01 2.02417850e-03 4.71398045e+02] [ 3.46268988e-03 -6.22573307e-06 9.99994005e-01 2.31514448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.080385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.69, Y:471.39, Z:23.15 [[-8.10568477e-01 5.85637129e-01 2.81018185e-03 4.35693477e+02] [-5.85633635e-01 -8.10573348e-01 2.02315010e-03 4.71392463e+02] [ 3.46269033e-03 -5.83531896e-06 9.99994005e-01 2.31523972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.110385723 meters Centerline goodness : 0.999909 Centerline is valid? [True, True] Translation: X:435.70, Y:471.39, Z:23.15 [[-8.10688019e-01 5.85471627e-01 2.81237864e-03 4.35696632e+02] [-5.85468142e-01 -8.10692897e-01 2.02009172e-03 4.71394949e+02] [ 3.46268177e-03 -8.89394635e-06 9.99994005e-01 2.31524906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.140385723 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] Translation: X:435.70, Y:471.40, Z:23.15 [[-8.10891294e-01 5.85190050e-01 2.81311835e-03 4.35698604e+02] [-5.85186567e-01 -8.10896174e-01 2.01906109e-03 4.71396360e+02] [ 3.46268137e-03 -8.96000696e-06 9.99994005e-01 2.31517668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.170385723 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:435.70, Y:471.40, Z:23.15 [[-8.11132334e-01 5.84855896e-01 2.81394864e-03 4.35698611e+02] [-5.84852415e-01 -8.11137215e-01 2.01790327e-03 4.71396180e+02] [ 3.46268108e-03 -8.95806987e-06 9.99994005e-01 2.31513810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.200385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.70, Y:471.39, Z:23.15 [[-8.11497691e-01 5.84348848e-01 2.81468241e-03 4.35696525e+02] [-5.84345367e-01 -8.11502572e-01 2.01687924e-03 4.71394930e+02] [ 3.46268308e-03 -8.05378740e-06 9.99994005e-01 2.31507279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.2303857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.71, Y:471.40, Z:23.15 [[-8.08032268e-01 5.89131502e-01 2.81541535e-03 4.35710247e+02] [-5.89128054e-01 -8.08037173e-01 2.01585559e-03 4.71400699e+02] [ 3.46256429e-03 -2.97638043e-05 9.99994005e-01 2.31497390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.260385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.69, Y:471.39, Z:23.15 [[-8.12362959e-01 5.83145450e-01 2.79399595e-03 4.35692624e+02] [-5.83141863e-01 -8.12367763e-01 2.04577194e-03 4.71392528e+02] [ 3.46273484e-03 3.26133478e-05 9.99994004e-01 2.31519926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.290385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.69, Y:471.39, Z:23.15 [[-8.12751309e-01 5.82603962e-01 2.81668688e-03 4.35688907e+02] [-5.82600481e-01 -8.12756190e-01 2.01403806e-03 4.71389757e+02] [ 3.46266625e-03 -4.09106597e-06 9.99994005e-01 2.31529471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.320385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.68, Y:471.38, Z:23.15 [[-8.13232000e-01 5.81932794e-01 2.81742029e-03 4.35676616e+02] [-5.81929312e-01 -8.13236881e-01 2.01301157e-03 4.71380905e+02] [ 3.46266754e-03 -2.49402524e-06 9.99994005e-01 2.31537490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.3503857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.68, Y:471.38, Z:23.15 [[-8.13928670e-01 5.80957983e-01 2.81815717e-03 4.35682189e+02] [-5.80954499e-01 -8.13933549e-01 2.01197943e-03 4.71383527e+02] [ 3.46266818e-03 3.86654694e-07 9.99994005e-01 2.31538841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.380385723 meters Centerline goodness : 0.999840 Centerline is valid? [True, True] Translation: X:435.68, Y:471.38, Z:23.15 [[-8.14521992e-01 5.80125829e-01 2.81889473e-03 4.35684612e+02] [-5.80122344e-01 -8.14526870e-01 2.01094555e-03 4.71383265e+02] [ 3.46266695e-03 2.65555635e-06 9.99994005e-01 2.31524956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.410385723 meters Centerline goodness : 0.999909 Centerline is valid? [True, True] Translation: X:435.68, Y:471.38, Z:23.15 [[-8.15149506e-01 5.79243759e-01 2.81962875e-03 4.35678178e+02] [-5.79240272e-01 -8.15154383e-01 2.00991581e-03 4.71377885e+02] [ 3.46266393e-03 5.13935414e-06 9.99994005e-01 2.31527685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.440385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.67, Y:471.37, Z:23.15 [[-8.15883866e-01 5.78208927e-01 2.82036264e-03 4.35672988e+02] [-5.78205438e-01 -8.15888740e-01 2.00888548e-03 4.71372937e+02] [ 3.46265764e-03 8.26823732e-06 9.99994005e-01 2.31524462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.4703857229999 meters Centerline goodness : 0.999863 Centerline is valid? [True, True] Translation: X:435.67, Y:471.37, Z:23.15 [[-8.15961520e-01 5.78099334e-01 2.82109906e-03 4.35668695e+02] [-5.78095847e-01 -8.15966397e-01 2.00785079e-03 4.71369209e+02] [ 3.46265923e-03 7.46332864e-06 9.99994005e-01 2.31504977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.500385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.63, Y:471.34, Z:23.15 [[-8.15795611e-01 5.78333430e-01 2.82232123e-03 4.35634299e+02] [-5.78329951e-01 -8.15800493e-01 2.00613137e-03 4.71344147e+02] [ 3.46266389e-03 4.36026672e-06 9.99994005e-01 2.31526637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.530385723 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:435.61, Y:471.33, Z:23.15 [[-8.15598814e-01 5.78610927e-01 2.82306806e-03 4.35611132e+02] [-5.78607453e-01 -8.15603700e-01 2.00507987e-03 4.71327795e+02] [ 3.46266588e-03 1.89255039e-06 9.99994005e-01 2.31509176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.560385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.61, Y:471.33, Z:23.15 [[-8.15318466e-01 5.79005894e-01 2.82383252e-03 4.35608753e+02] [-5.79002426e-01 -8.15323356e-01 2.00400267e-03 4.71326130e+02] [ 3.46266597e-03 -1.10549469e-06 9.99994005e-01 2.31513604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.5903857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.64, Y:471.34, Z:23.15 [[-8.14590079e-01 5.80030194e-01 2.82460385e-03 4.35635049e+02] [-5.80026736e-01 -8.14594976e-01 2.00291491e-03 4.71344840e+02] [ 3.46265923e-03 -6.79113460e-06 9.99994005e-01 2.31538693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.620385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.67, Y:471.37, Z:23.15 [[-8.13400560e-01 5.81697126e-01 2.82536789e-03 4.35667979e+02] [-5.81693681e-01 -8.13405467e-01 2.00183655e-03 4.71367726e+02] [ 3.46263226e-03 -1.52036731e-05 9.99994005e-01 2.31545280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.650385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.66, Y:471.36, Z:23.15 [[-8.13077315e-01 5.82148858e-01 2.82610820e-03 4.35655698e+02] [-5.82145420e-01 -8.13082226e-01 2.00079087e-03 4.71358813e+02] [ 3.46261647e-03 -1.84082798e-05 9.99994005e-01 2.31547534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.680385723 meters Centerline goodness : 0.999909 Centerline is valid? [True, True] Translation: X:435.65, Y:471.36, Z:23.15 [[-8.12935005e-01 5.82347566e-01 2.82684060e-03 4.35653182e+02] [-5.82344133e-01 -8.12939919e-01 1.99975555e-03 4.71356780e+02] [ 3.46260435e-03 -2.05227543e-05 9.99994005e-01 2.31549915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.710385723 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:435.65, Y:471.35, Z:23.16 [[-8.12411884e-01 5.83077126e-01 2.82757590e-03 4.35649374e+02] [-5.83073701e-01 -8.12416804e-01 1.99871532e-03 4.71353000e+02] [ 3.46257536e-03 -2.49050665e-05 9.99994005e-01 2.31555956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.740385723 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:435.67, Y:471.36, Z:23.16 [[-8.12274691e-01 5.83268229e-01 2.82831187e-03 4.35665338e+02] [-5.83264809e-01 -8.12279615e-01 1.99767333e-03 4.71363191e+02] [ 3.46255946e-03 -2.69952979e-05 9.99994005e-01 2.31558503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.770385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.67, Y:471.36, Z:23.16 [[-8.12294847e-01 5.83240155e-01 2.82904537e-03 4.35666918e+02] [-5.83236738e-01 -8.12299773e-01 1.99663403e-03 4.71363079e+02] [ 3.46255005e-03 -2.81476568e-05 9.99994005e-01 2.31553944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.800385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.66, Y:471.36, Z:23.16 [[-8.12592187e-01 5.82825815e-01 2.82977212e-03 4.35660717e+02] [-5.82822399e-01 -8.12597114e-01 1.99560351e-03 4.71356894e+02] [ 3.46255389e-03 -2.76427548e-05 9.99994005e-01 2.31550565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.830385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.66, Y:471.36, Z:23.15 [[-8.12855021e-01 5.82459186e-01 2.83049675e-03 4.35661648e+02] [-5.82455771e-01 -8.12859949e-01 1.99457518e-03 4.71356877e+02] [ 3.46255608e-03 -2.73387152e-05 9.99994005e-01 2.31542813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.860385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.66, Y:471.35, Z:23.15 [[-8.13110607e-01 5.82102330e-01 2.83159512e-03 4.35658973e+02] [-5.82098919e-01 -8.13115537e-01 1.99301466e-03 4.71354385e+02] [ 3.46255246e-03 -2.77271021e-05 9.99994005e-01 2.31546276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.890385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.66, Y:471.35, Z:23.15 [[-8.13695705e-01 5.81284162e-01 2.83231733e-03 4.35658376e+02] [-5.81280750e-01 -8.13700634e-01 1.99198778e-03 4.71352007e+02] [ 3.46256936e-03 -2.54996418e-05 9.99994005e-01 2.31547079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.920385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.66, Y:471.35, Z:23.15 [[-8.14221789e-01 5.80547029e-01 2.83303940e-03 4.35655828e+02] [-5.80543616e-01 -8.14226717e-01 1.99096031e-03 4.71348122e+02] [ 3.46258246e-03 -2.36196700e-05 9.99994005e-01 2.31535144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.950385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.65, Y:471.35, Z:23.15 [[-8.14458252e-01 5.80215241e-01 2.83376166e-03 4.35654009e+02] [-5.80211829e-01 -8.14463182e-01 1.98993178e-03 4.71346123e+02] [ 3.46258328e-03 -2.34656735e-05 9.99994005e-01 2.31543148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.9803857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.62, Y:471.32, Z:23.15 [[-8.14406992e-01 5.80287186e-01 2.83448400e-03 4.35616538e+02] [-5.80283778e-01 -8.14411924e-01 1.98890233e-03 4.71319057e+02] [ 3.46257211e-03 -2.50291172e-05 9.99994005e-01 2.31541886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.010385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.61, Y:471.32, Z:23.15 [[-8.14330036e-01 5.80395171e-01 2.83521717e-03 4.35611870e+02] [-5.80391767e-01 -8.14334971e-01 1.98785663e-03 4.71315245e+02] [ 3.46255888e-03 -2.67653438e-05 9.99994005e-01 2.31547574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.040385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.65, Y:471.34, Z:23.16 [[-8.14240610e-01 5.80520617e-01 2.83596482e-03 4.35650931e+02] [-5.80517218e-01 -8.14245548e-01 1.98678944e-03 4.71342257e+02] [ 3.46254396e-03 -2.86017649e-05 9.99994005e-01 2.31556325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.070385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.65, Y:471.34, Z:23.16 [[-8.14319934e-01 5.80409337e-01 2.83669994e-03 4.35647514e+02] [-5.80405940e-01 -8.14324875e-01 1.98573929e-03 4.71338974e+02] [ 3.46253695e-03 -2.94104114e-05 9.99994005e-01 2.31553225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.1003857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.65, Y:471.34, Z:23.16 [[-8.14493356e-01 5.80165944e-01 2.83742272e-03 4.35645713e+02] [-5.80162550e-01 -8.14498297e-01 1.98470597e-03 4.71336507e+02] [ 3.46253479e-03 -2.96365701e-05 9.99994005e-01 2.31552800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.130385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.63, Y:471.32, Z:23.16 [[-8.14579364e-01 5.80045175e-01 2.83814339e-03 4.35626085e+02] [-5.80041784e-01 -8.14584307e-01 1.98367487e-03 4.71320806e+02] [ 3.46252811e-03 -3.03811401e-05 9.99994005e-01 2.31557069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.160385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.64, Y:471.33, Z:23.16 [[-8.14945194e-01 5.79531079e-01 2.83886952e-03 4.35639213e+02] [-5.79527689e-01 -8.14950138e-01 1.98263515e-03 4.71328564e+02] [ 3.46253580e-03 -2.94645075e-05 9.99994005e-01 2.31552498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.190385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.64, Y:471.33, Z:23.16 [[-8.15402915e-01 5.78886882e-01 2.83959654e-03 4.35641073e+02] [-5.78883491e-01 -8.15407859e-01 1.98159333e-03 4.71328834e+02] [ 3.46254773e-03 -2.79985796e-05 9.99994005e-01 2.31556818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.2203857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.64, Y:471.33, Z:23.16 [[-8.16014713e-01 5.78024152e-01 2.84031756e-03 4.35638091e+02] [-5.78020760e-01 -8.16019656e-01 1.98055932e-03 4.71325283e+02] [ 3.46256608e-03 -2.55969712e-05 9.99994005e-01 2.31555032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.250385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.64, Y:471.32, Z:23.16 [[-8.17089974e-01 5.76503168e-01 2.84103775e-03 4.35635755e+02] [-5.76499770e-01 -8.17094913e-01 1.97952570e-03 4.71320681e+02] [ 3.46260033e-03 -2.04070077e-05 9.99994005e-01 2.31551816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.280385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.64, Y:471.32, Z:23.16 [[-8.18290411e-01 5.74797989e-01 2.84175881e-03 4.35640531e+02] [-5.74794584e-01 -8.18295345e-01 1.97849002e-03 4.71321537e+02] [ 3.46263009e-03 -1.44481650e-05 9.99994005e-01 2.31556700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.310385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:435.62, Y:471.31, Z:23.16 [[-8.19151246e-01 5.73570533e-01 2.84247825e-03 4.35620578e+02] [-5.73567124e-01 -8.19156178e-01 1.97745588e-03 4.71306908e+02] [ 3.46264404e-03 -1.05166271e-05 9.99994005e-01 2.31556105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.3403857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.61, Y:471.30, Z:23.16 [[-8.20735852e-01 5.71300776e-01 2.84320130e-03 4.35608877e+02] [-5.71297358e-01 -8.20740777e-01 1.97641572e-03 4.71296269e+02] [ 3.46265908e-03 -2.19814993e-06 9.99994005e-01 2.31565662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.370385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.61, Y:471.30, Z:23.16 [[-8.21646622e-01 5.69990124e-01 2.84393291e-03 4.35611653e+02] [-5.69986701e-01 -8.21651543e-01 1.97536241e-03 4.71296723e+02] [ 3.46265893e-03 2.04591508e-06 9.99994005e-01 2.31567679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.400385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.62, Y:471.30, Z:23.16 [[-8.23191851e-01 5.67756184e-01 2.84466649e-03 4.35620304e+02] [-5.67752752e-01 -8.23196766e-01 1.97430544e-03 4.71299312e+02] [ 3.46264438e-03 1.01649213e-05 9.99994005e-01 2.31573742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.430385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.60, Y:471.28, Z:23.16 [[-8.24157620e-01 5.66353354e-01 2.84539556e-03 4.35596560e+02] [-5.66349917e-01 -8.24162532e-01 1.97325413e-03 4.71281527e+02] [ 3.46262751e-03 1.47828894e-05 9.99994005e-01 2.31572848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.460385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.63, Y:471.30, Z:23.16 [[-8.25885428e-01 5.63830790e-01 2.84612836e-03 4.35625707e+02] [-5.63827341e-01 -8.25890332e-01 1.97219662e-03 4.71299570e+02] [ 3.46257507e-03 2.40834604e-05 9.99994005e-01 2.31573158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.490385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.62, Y:471.30, Z:23.16 [[-8.26888654e-01 5.62358471e-01 2.84686090e-03 4.35624680e+02] [-5.62355017e-01 -8.26893554e-01 1.97113863e-03 4.71297653e+02] [ 3.46253743e-03 2.89656525e-05 9.99994005e-01 2.31577480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.520385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.62, Y:471.29, Z:23.16 [[-8.28707668e-01 5.59674452e-01 2.84758361e-03 4.35623511e+02] [-5.59670986e-01 -8.28712560e-01 1.97009402e-03 4.71294197e+02] [ 3.46243959e-03 3.89220921e-05 9.99994005e-01 2.31577245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.550385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.61, Y:471.28, Z:23.16 [[-8.29807702e-01 5.58042172e-01 2.84830351e-03 4.35611808e+02] [-5.58038700e-01 -8.29812589e-01 1.96905266e-03 4.71284971e+02] [ 3.46237253e-03 4.44714722e-05 9.99994005e-01 2.31575676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.580385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:435.57, Y:471.25, Z:23.16 [[-8.31354768e-01 5.55734769e-01 2.84902624e-03 4.35571674e+02] [-5.55731286e-01 -8.31359648e-01 1.96800638e-03 4.71254287e+02] [ 3.46225502e-03 5.28184676e-05 9.99994005e-01 2.31571558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.610385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.61, Y:471.28, Z:23.16 [[-8.32080732e-01 5.54647217e-01 2.84976446e-03 4.35609416e+02] [-5.54643732e-01 -8.32085610e-01 1.96693682e-03 4.71279015e+02] [ 3.46220403e-03 5.60462315e-05 9.99994005e-01 2.31574802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.640385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.62, Y:471.28, Z:23.16 [[-8.32610416e-01 5.53851757e-01 2.85050228e-03 4.35615469e+02] [-5.53848272e-01 -8.32615294e-01 1.96586698e-03 4.71280804e+02] [ 3.46217068e-03 5.80555669e-05 9.99994005e-01 2.31582056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.670385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.61, Y:471.27, Z:23.16 [[-8.32662209e-01 5.53773886e-01 2.85122545e-03 4.35606435e+02] [-5.53770403e-01 -8.32667089e-01 1.96481756e-03 4.71273556e+02] [ 3.46218625e-03 5.71050663e-05 9.99994005e-01 2.31582817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.700385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.61, Y:471.27, Z:23.16 [[-8.32015169e-01 5.54745550e-01 2.85194823e-03 4.35605946e+02] [-5.54742076e-01 -8.32020056e-01 1.96376788e-03 4.71271743e+02] [ 3.46226962e-03 5.17889799e-05 9.99994005e-01 2.31575006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.7303857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.59, Y:471.25, Z:23.15 [[-8.27377668e-01 5.61638725e-01 2.85267283e-03 4.35585820e+02] [-5.61635295e-01 -8.27382586e-01 1.96271472e-03 4.71253243e+02] [ 3.46258842e-03 2.17445782e-05 9.99994005e-01 2.31520538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.760385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.61, Y:471.28, Z:23.16 [[-8.30326647e-01 5.57269792e-01 2.83537349e-03 4.35612070e+02] [-5.57266251e-01 -8.30331485e-01 1.98784919e-03 4.71275145e+02] [ 3.46206818e-03 7.05061933e-05 9.99994005e-01 2.31580099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.790385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:435.58, Y:471.26, Z:23.16 [[-8.30026701e-01 5.57716356e-01 2.85352165e-03 4.35584333e+02] [-5.57712908e-01 -8.30031605e-01 1.96144717e-03 4.71255443e+02] [ 3.46244432e-03 3.66076630e-05 9.99994005e-01 2.31586388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.820385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.60, Y:471.26, Z:23.16 [[-8.29083395e-01 5.59117678e-01 2.85424749e-03 4.35601681e+02] [-5.59114242e-01 -8.29088307e-01 1.96039038e-03 4.71264634e+02] [ 3.46251214e-03 2.94766931e-05 9.99994005e-01 2.31595040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.8503857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.60, Y:471.26, Z:23.16 [[-8.29290189e-01 5.58810908e-01 2.85497550e-03 4.35599767e+02] [-5.58807474e-01 -8.29295103e-01 1.95932958e-03 4.71263230e+02] [ 3.46251194e-03 2.94711486e-05 9.99994005e-01 2.31595128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.880385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.60, Y:471.26, Z:23.16 [[-8.29129387e-01 5.59049465e-01 2.85569999e-03 4.35602929e+02] [-5.59046036e-01 -8.29134305e-01 1.95827308e-03 4.71264610e+02] [ 3.46253034e-03 2.71939986e-05 9.99994005e-01 2.31594688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.910385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.61, Y:471.27, Z:23.16 [[-8.28287131e-01 5.60296591e-01 2.85642002e-03 4.35609216e+02] [-5.60293172e-01 -8.28292056e-01 1.95722224e-03 4.71267802e+02] [ 3.46257496e-03 2.07093584e-05 9.99994005e-01 2.31593515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.940385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.59, Y:471.25, Z:23.16 [[-8.28037771e-01 5.60665040e-01 2.85713590e-03 4.35585592e+02] [-5.60661627e-01 -8.28042700e-01 1.95617665e-03 4.71251075e+02] [ 3.46259038e-03 1.79016903e-05 9.99994005e-01 2.31597554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.9703857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.60, Y:471.26, Z:23.16 [[-8.27025159e-01 5.62157646e-01 2.85785596e-03 4.35601272e+02] [-5.62154246e-01 -8.27030097e-01 1.95512411e-03 4.71259972e+02] [ 3.46262086e-03 1.03809670e-05 9.99994005e-01 2.31596413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.000385723 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:435.61, Y:471.26, Z:23.16 [[-8.26494608e-01 5.62937378e-01 2.85857714e-03 4.35608005e+02] [-5.62933987e-01 -8.26499551e-01 1.95406912e-03 4.71262980e+02] [ 3.46263127e-03 5.83736240e-06 9.99994005e-01 2.31597117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.030385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.61, Y:471.26, Z:23.16 [[-8.26031591e-01 5.63616568e-01 2.85929039e-03 4.35606875e+02] [-5.63613185e-01 -8.26036539e-01 1.95302490e-03 4.71260741e+02] [ 3.46263553e-03 1.72649896e-06 9.99994005e-01 2.31593654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.060385723 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:435.60, Y:471.26, Z:23.16 [[-8.24617861e-01 5.65682953e-01 2.86000078e-03 4.35602917e+02] [-5.65679585e-01 -8.24622821e-01 1.95198405e-03 4.71255601e+02] [ 3.46262601e-03 -8.20314684e-06 9.99994005e-01 2.31590742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.0903857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.60, Y:471.25, Z:23.16 [[-8.23899739e-01 5.66728363e-01 2.86071180e-03 4.35603746e+02] [-5.66725005e-01 -8.23904705e-01 1.95094146e-03 4.71253924e+02] [ 3.46260777e-03 -1.38567531e-05 9.99994005e-01 2.31611411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.120385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.61, Y:471.25, Z:23.16 [[-8.23572953e-01 5.67203141e-01 2.86142267e-03 4.35606070e+02] [-5.67199790e-01 -8.23577924e-01 1.94989828e-03 4.71254004e+02] [ 3.46259297e-03 -1.71148550e-05 9.99994005e-01 2.31611941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.150385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.60, Y:471.24, Z:23.16 [[-8.22056386e-01 5.69398899e-01 2.86213170e-03 4.35597037e+02] [-5.69395565e-01 -8.22061368e-01 1.94885699e-03 4.71243693e+02] [ 3.46252492e-03 -2.76147649e-05 9.99994005e-01 2.31625543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.180385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.57, Y:471.22, Z:23.16 [[-8.22230522e-01 5.69147423e-01 2.86011147e-03 4.35571247e+02] [-5.69144077e-01 -8.22235496e-01 1.95182540e-03 4.71224874e+02] [ 3.46256157e-03 -2.29650833e-05 9.99994005e-01 2.31631979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.210385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.61, Y:471.25, Z:23.16 [[-8.23110201e-01 5.67874470e-01 2.86075838e-03 4.35605962e+02] [-5.67871119e-01 -8.23115172e-01 1.95087412e-03 4.71247704e+02] [ 3.46258523e-03 -1.87576743e-05 9.99994005e-01 2.31630854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.240385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:435.61, Y:471.25, Z:23.16 [[-8.22707171e-01 5.68458187e-01 2.86378079e-03 4.35608285e+02] [-5.68454855e-01 -8.22712155e-01 1.94642725e-03 4.71245680e+02] [ 3.46252977e-03 -2.65904382e-05 9.99994005e-01 2.31635233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.270385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.61, Y:471.24, Z:23.16 [[-8.23542336e-01 5.67247587e-01 2.86285107e-03 4.35606200e+02] [-5.67244243e-01 -8.23547312e-01 1.94779560e-03 4.71242081e+02] [ 3.46257566e-03 -1.98436462e-05 9.99994005e-01 2.31638218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.300385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.60, Y:471.24, Z:23.16 [[-8.23894332e-01 5.66736203e-01 2.86459035e-03 4.35602742e+02] [-5.66732865e-01 -8.23899312e-01 1.94523431e-03 4.71238156e+02] [ 3.46256872e-03 -2.07899705e-05 9.99994005e-01 2.31641894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.330385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.60, Y:471.24, Z:23.16 [[-8.24257634e-01 5.66207686e-01 2.86529568e-03 4.35603604e+02] [-5.66204349e-01 -8.24262613e-01 1.94419482e-03 4.71237211e+02] [ 3.46257415e-03 -1.98254548e-05 9.99994005e-01 2.31628064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.360385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:435.60, Y:471.23, Z:23.16 [[-8.25233704e-01 5.64784135e-01 2.86600063e-03 4.35600321e+02] [-5.64780793e-01 -8.25238681e-01 1.94315507e-03 4.71232128e+02] [ 3.46259773e-03 -1.51050560e-05 9.99994005e-01 2.31642862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.390385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.57, Y:471.21, Z:23.17 [[-8.24017926e-01 5.66556475e-01 2.86670789e-03 4.35565491e+02] [-5.66553147e-01 -8.24022912e-01 1.94211109e-03 4.71205404e+02] [ 3.46254860e-03 -2.38080286e-05 9.99994005e-01 2.31664270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.420385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:435.60, Y:471.23, Z:23.16 [[-8.27237739e-01 5.61844780e-01 2.85767305e-03 4.35599461e+02] [-5.61841377e-01 -8.27242675e-01 1.95544767e-03 4.71227288e+02] [ 3.46264716e-03 1.20611510e-05 9.99994005e-01 2.31640153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.450385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.60, Y:471.23, Z:23.17 [[-8.27494450e-01 5.61466573e-01 2.86752330e-03 4.35600772e+02] [-5.61463218e-01 -8.27499418e-01 1.94089468e-03 4.71225889e+02] [ 3.46262135e-03 -3.92928192e-06 9.99994005e-01 2.31651240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.4803857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.60, Y:471.22, Z:23.17 [[-8.28991959e-01 5.59253168e-01 2.86813859e-03 4.35599216e+02] [-5.59249803e-01 -8.28996921e-01 1.93998502e-03 4.71222603e+02] [ 3.46262083e-03 4.22604092e-06 9.99994005e-01 2.31659100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.510385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.60, Y:471.22, Z:23.17 [[-8.29755977e-01 5.58118974e-01 2.86875341e-03 4.35597985e+02] [-5.58115606e-01 -8.29760936e-01 1.93907542e-03 4.71221037e+02] [ 3.46261430e-03 7.86337100e-06 9.99994005e-01 2.31650236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.540385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.59, Y:471.21, Z:23.16 [[-8.31490161e-01 5.55532069e-01 2.86945964e-03 4.35590130e+02] [-5.55528688e-01 -8.31495112e-01 1.93802978e-03 4.71214784e+02] [ 3.46257935e-03 1.73855440e-05 9.99994005e-01 2.31642980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.570385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.57, Y:471.20, Z:23.17 [[-8.30957539e-01 5.56328439e-01 2.87007580e-03 4.35574428e+02] [-5.56325067e-01 -8.30962495e-01 1.93711687e-03 4.71202560e+02] [ 3.46259855e-03 1.29667537e-05 9.99994005e-01 2.31665641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.6003857229999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:435.51, Y:471.16, Z:23.17 [[-8.31674930e-01 5.55255437e-01 2.86543120e-03 4.35506658e+02] [-5.55252035e-01 -8.31679866e-01 1.94400082e-03 4.71156871e+02] [ 3.46253846e-03 2.57402401e-05 9.99994005e-01 2.31675667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.630385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.59, Y:471.21, Z:23.17 [[-8.34559400e-01 5.50910520e-01 2.86477854e-03 4.35585409e+02] [-5.50907089e-01 -8.34564316e-01 1.94496839e-03 4.71211947e+02] [ 3.46234549e-03 4.49648488e-05 9.99994005e-01 2.31657514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.660385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.59, Y:471.21, Z:23.17 [[-8.34756946e-01 5.50611113e-01 2.87132559e-03 4.35586408e+02] [-5.50607713e-01 -8.34761883e-01 1.93525457e-03 4.71212176e+02] [ 3.46244583e-03 3.44931788e-05 9.99994005e-01 2.31655926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.690385723 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:435.58, Y:471.21, Z:23.17 [[-8.36506912e-01 5.47948875e-01 2.86648594e-03 4.35581155e+02] [-5.47945435e-01 -8.36511822e-01 1.94243673e-03 4.71210278e+02] [ 3.46220540e-03 5.41838676e-05 9.99994005e-01 2.31669523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.7203857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.58, Y:471.21, Z:23.17 [[-8.37019281e-01 5.47165856e-01 2.87221595e-03 4.35575554e+02] [-5.47162441e-01 -8.37024207e-01 1.93392669e-03 4.71207298e+02] [ 3.46229293e-03 4.71652350e-05 9.99994005e-01 2.31677722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.750385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:435.91, Y:470.59, Z:24.05 [[-7.76856964e-01 -6.29670552e-01 -2.87292330e-03 4.35910991e+02] [-6.29667661e-01 7.76862215e-01 -1.93287532e-03 4.70586972e+02] [ 3.44894022e-03 3.07419241e-04 -9.99994005e-01 2.40519850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.780385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:435.89, Y:470.61, Z:24.05 [[-7.30099844e-01 -6.83334446e-01 -2.87292330e-03 4.35890467e+02] [-6.83331935e-01 7.30105287e-01 -1.93287532e-03 4.70608981e+02] [ 3.41833677e-03 5.51968269e-04 -9.99994005e-01 2.40521270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.810385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.35, Y:471.12, Z:23.16 [[-7.43999109e-01 6.68175807e-01 2.53311363e-03 4.35354225e+02] [-6.68171827e-01 -7.44003421e-01 2.30613156e-03 4.71121836e+02] [ 3.42554652e-03 2.32046656e-05 9.99994133e-01 2.31646097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.8403857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.19, Y:470.98, Z:23.17 [[-7.48089982e-01 6.63592541e-01 2.51387734e-03 4.35189674e+02] [-6.63588464e-01 -7.48094202e-01 2.32730490e-03 4.70976567e+02] [ 3.42499924e-03 7.28534807e-05 9.99994132e-01 2.31674942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.870385723 meters Centerline goodness : 0.996235 Centerline is valid? [True, True] Translation: X:434.88, Y:470.70, Z:23.17 [[-7.52176672e-01 6.58956631e-01 2.53230867e-03 4.34876770e+02] [-6.58952596e-01 -7.52180932e-01 2.30695751e-03 4.70698598e+02] [ 3.42493924e-03 6.65682514e-05 9.99994133e-01 2.31679338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.900385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.37, Y:471.14, Z:23.17 [[-7.54252799e-01 6.56579223e-01 2.53753221e-03 4.35369310e+02] [-6.56575194e-01 -7.54257064e-01 2.30119437e-03 4.71144232e+02] [ 3.42486801e-03 6.96015926e-05 9.99994133e-01 2.31691335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.930385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.36, Y:471.14, Z:23.17 [[-7.55637419e-01 6.54985205e-01 2.54420468e-03 4.35363494e+02] [-6.54981192e-01 -7.55641699e-01 2.29379348e-03 4.71142255e+02] [ 3.42490794e-03 6.68699777e-05 9.99994133e-01 2.31675121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.960385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.21, Y:471.00, Z:23.16 [[-7.52206159e-01 6.58922923e-01 2.54494041e-03 4.35207005e+02] [-6.58918935e-01 -7.52210462e-01 2.29297690e-03 4.70998798e+02] [ 3.42522585e-03 4.78819213e-05 9.99994133e-01 2.31626853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.990385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.36, Y:471.15, Z:23.17 [[-7.56499460e-01 6.53989428e-01 2.52871927e-03 4.35357997e+02] [-6.53985352e-01 -7.56503681e-01 2.31097722e-03 4.71145295e+02] [ 3.42434011e-03 9.45076569e-05 9.99994133e-01 2.31670652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.020385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.35, Y:471.14, Z:23.17 [[-7.56828698e-01 6.53608321e-01 2.54654989e-03 4.35352853e+02] [-6.53604309e-01 -7.56832979e-01 2.29115906e-03 4.71143578e+02] [ 3.42483356e-03 6.95789478e-05 9.99994133e-01 2.31668028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.050385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.35, Y:471.15, Z:23.17 [[-7.57427070e-01 6.52914807e-01 2.54713097e-03 4.35349895e+02] [-6.52910794e-01 -7.57431349e-01 2.29051288e-03 4.71146200e+02] [ 3.42478662e-03 7.18471521e-05 9.99994133e-01 2.31668174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.080385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.34, Y:471.14, Z:23.17 [[-7.57910620e-01 6.52353432e-01 2.54797033e-03 4.35339872e+02] [-6.52349418e-01 -7.57914899e-01 2.28957879e-03 4.71140061e+02] [ 3.42475926e-03 7.31291224e-05 9.99994133e-01 2.31671601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.110385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.34, Y:471.14, Z:23.17 [[-7.58662790e-01 6.51478530e-01 2.54881433e-03 4.35338283e+02] [-6.51474515e-01 -7.58667067e-01 2.28863885e-03 4.71144757e+02] [ 3.42470056e-03 7.58175562e-05 9.99994133e-01 2.31683786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.140385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:435.33, Y:471.14, Z:23.17 [[-7.58895913e-01 6.51206949e-01 2.54998129e-03 4.35328157e+02] [-6.51202936e-01 -7.58900194e-01 2.28733789e-03 4.71138894e+02] [ 3.42471162e-03 7.52960719e-05 9.99994133e-01 2.31679965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.170385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.30, Y:471.12, Z:23.17 [[-7.59032741e-01 6.51047457e-01 2.55082309e-03 4.35295899e+02] [-6.51043447e-01 -7.59037023e-01 2.28639873e-03 4.71116863e+02] [ 3.42472325e-03 7.47548390e-05 9.99994133e-01 2.31695731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.200385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.33, Y:471.15, Z:23.17 [[-7.59059088e-01 6.51016736e-01 2.55167835e-03 4.35326974e+02] [-6.51012728e-01 -7.59063373e-01 2.28544384e-03 4.71147915e+02] [ 3.42474776e-03 7.36118385e-05 9.99994133e-01 2.31702001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.2303857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.32, Y:471.15, Z:23.17 [[-7.59015004e-01 6.51068129e-01 2.55253313e-03 4.35322673e+02] [-6.51064125e-01 -7.59019293e-01 2.28448877e-03 4.71147234e+02] [ 3.42477972e-03 7.20985013e-05 9.99994133e-01 2.31698839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.260385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.27, Y:471.11, Z:23.17 [[-7.58430889e-01 6.51748469e-01 2.55337404e-03 4.35272554e+02] [-6.51744472e-01 -7.58435184e-01 2.28354849e-03 4.71108905e+02] [ 3.42486795e-03 6.77662930e-05 9.99994133e-01 2.31711507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.290385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.30, Y:471.14, Z:23.17 [[-7.57784949e-01 6.52499385e-01 2.55421445e-03 4.35304410e+02] [-6.52495395e-01 -7.57789251e-01 2.28260807e-03 4.71144146e+02] [ 3.42495662e-03 6.31128770e-05 9.99994133e-01 2.31716955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.320385723 meters Centerline goodness : 0.997810 Centerline is valid? [True, True] Translation: X:434.81, Y:470.70, Z:23.17 [[-7.57377536e-01 6.52972235e-01 2.55519928e-03 4.34806762e+02] [-6.52968251e-01 -7.57381844e-01 2.28150510e-03 4.70703259e+02] [ 3.42502102e-03 5.94967057e-05 9.99994133e-01 2.31703830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.3503857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.75, Y:470.46, Z:24.05 [[-6.87951952e-01 -7.25751737e-01 -2.55519928e-03 4.35748522e+02] [-7.25748206e-01 6.87956638e-01 -2.28150510e-03 4.70461512e+02] [ 3.41367259e-03 2.84865405e-04 -9.99994133e-01 2.40505906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.380385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.12, Y:471.05, Z:23.17 [[-7.08706714e-01 7.05499178e-01 2.38806399e-03 4.35124251e+02] [-7.05494944e-01 -7.08710736e-01 2.44476423e-03 4.71052971e+02] [ 3.41722574e-03 4.78537541e-05 9.99994160e-01 2.31724263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.410385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.12, Y:471.06, Z:23.17 [[-7.07195753e-01 7.07013762e-01 2.38898604e-03 4.35123986e+02] [-7.07009539e-01 -7.07199787e-01 2.44386288e-03 4.71058704e+02] [ 3.41733511e-03 3.92535284e-05 9.99994160e-01 2.31723990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.440385723 meters Centerline goodness : 0.999707 Centerline is valid? [True, True] Translation: X:434.75, Y:470.68, Z:23.17 [[-7.06775636e-01 7.07433735e-01 2.38990806e-03 4.34754821e+02] [-7.07429518e-01 -7.06779675e-01 2.44296089e-03 4.70684444e+02] [ 3.41737139e-03 3.59337282e-05 9.99994160e-01 2.31711776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.4703857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:435.67, Y:470.42, Z:24.05 [[-6.43994839e-01 -7.65026102e-01 -2.38990806e-03 4.35667675e+02] [-7.65022244e-01 6.43999223e-01 -2.44296089e-03 4.70424950e+02] [ 3.40802778e-03 2.55078622e-04 -9.99994160e-01 2.40509036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.500385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.99, Y:470.99, Z:23.17 [[-6.53013553e-01 7.57342990e-01 2.21267132e-03 4.34986382e+02] [-7.57338547e-01 -6.53017301e-01 2.59413533e-03 4.70988765e+02] [ 3.40956286e-03 1.82642423e-05 9.99994187e-01 2.31716130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.530385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.98, Y:470.99, Z:23.17 [[-6.52453568e-01 7.57825469e-01 2.21374207e-03 4.34982217e+02] [-7.57821032e-01 -6.52457323e-01 2.59322127e-03 4.70987048e+02] [ 3.40958135e-03 1.43361671e-05 9.99994187e-01 2.31716350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.560385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.98, Y:470.99, Z:23.17 [[-6.51243932e-01 7.58865229e-01 2.21493762e-03 4.34983210e+02] [-7.58860801e-01 -6.51247698e-01 2.59219972e-03 4.70993651e+02] [ 3.40960326e-03 7.32500010e-06 9.99994187e-01 2.31714744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.5903857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.97, Y:470.98, Z:23.17 [[-6.50918263e-01 7.59144587e-01 2.21612893e-03 4.34969814e+02] [-7.59140165e-01 -6.50922036e-01 2.59118084e-03 4.70980396e+02] [ 3.40960806e-03 4.29444770e-06 9.99994187e-01 2.31715944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.620385723 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:434.97, Y:470.98, Z:23.17 [[-6.50906509e-01 7.59154662e-01 2.21719993e-03 4.34967436e+02] [-7.59150243e-01 -6.50910285e-01 2.59026409e-03 4.70980047e+02] [ 3.40960930e-03 2.83188989e-06 9.99994187e-01 2.31726640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.650385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.97, Y:470.98, Z:23.17 [[-6.51591238e-01 7.58567028e-01 2.21864594e-03 4.34971242e+02] [-7.58562610e-01 -6.51595015e-01 2.58902494e-03 4.70983954e+02] [ 3.40960759e-03 4.00411037e-06 9.99994187e-01 2.31729175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.680385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.97, Y:470.98, Z:23.17 [[-6.52444993e-01 7.57832834e-01 2.21971568e-03 4.34969239e+02] [-7.57828415e-01 -6.52448769e-01 2.58810747e-03 4.70980895e+02] [ 3.40960358e-03 6.43414342e-06 9.99994187e-01 2.31724485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.710385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.96, Y:470.97, Z:23.17 [[-6.53142715e-01 7.57231578e-01 2.22090346e-03 4.34960319e+02] [-7.57227158e-01 -6.53146491e-01 2.58708782e-03 4.70969392e+02] [ 3.40959989e-03 8.00914557e-06 9.99994187e-01 2.31719758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.740385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.96, Y:470.97, Z:23.17 [[-6.53860178e-01 7.56612140e-01 2.22209494e-03 4.34958684e+02] [-7.56607721e-01 -6.53863953e-01 2.58606402e-03 4.70965823e+02] [ 3.40959522e-03 9.67009257e-06 9.99994187e-01 2.31710349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.770385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.96, Y:470.96, Z:23.17 [[-6.54174058e-01 7.56340769e-01 2.22329053e-03 4.34956665e+02] [-7.56336351e-01 -6.54177836e-01 2.58503574e-03 4.70963380e+02] [ 3.40959531e-03 9.50787622e-06 9.99994187e-01 2.31710464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.800385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.96, Y:470.97, Z:23.17 [[-6.55470134e-01 7.55217820e-01 2.22436275e-03 4.34960558e+02] [-7.55213399e-01 -6.55473908e-01 2.58411280e-03 4.70965675e+02] [ 3.40957978e-03 1.39402094e-05 9.99994187e-01 2.31695973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.830385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.96, Y:470.96, Z:23.17 [[-6.56129885e-01 7.54644699e-01 2.22543196e-03 4.34959045e+02] [-7.54640278e-01 -6.56133659e-01 2.58319166e-03 4.70962039e+02] [ 3.40957271e-03 1.55086530e-05 9.99994187e-01 2.31693705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.860385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.96, Y:470.96, Z:23.17 [[-6.56518396e-01 7.54306726e-01 2.22686552e-03 4.34958584e+02] [-7.54302307e-01 -6.56522173e-01 2.58195526e-03 4.70957796e+02] [ 3.40957281e-03 1.53713278e-05 9.99994187e-01 2.31685264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.890385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.95, Y:470.95, Z:23.17 [[-6.56703303e-01 7.54145747e-01 2.22805083e-03 4.34952920e+02] [-7.54141331e-01 -6.56707083e-01 2.58093201e-03 4.70949892e+02] [ 3.40957566e-03 1.46413567e-05 9.99994187e-01 2.31683517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.920385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.95, Y:470.95, Z:23.17 [[-6.56423108e-01 7.54389643e-01 2.22911649e-03 4.34952147e+02] [-7.54385232e-01 -6.56426893e-01 2.58001129e-03 4.70947956e+02] [ 3.40958581e-03 1.19664671e-05 9.99994187e-01 2.31684837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.950385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.95, Y:470.94, Z:23.17 [[-6.55987027e-01 7.54768868e-01 2.23055137e-03 4.34949217e+02] [-7.54764463e-01 -6.55990820e-01 2.57877016e-03 4.70943967e+02] [ 3.40959666e-03 8.09886334e-06 9.99994187e-01 2.31686680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.9803857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.95, Y:470.94, Z:23.17 [[-6.55763533e-01 7.54963051e-01 2.23161650e-03 4.34946408e+02] [-7.54958650e-01 -6.55767330e-01 2.57784809e-03 4.70940193e+02] [ 3.40960125e-03 5.68058445e-06 9.99994187e-01 2.31687458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.010385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.95, Y:470.94, Z:23.17 [[-6.54367636e-01 7.56173265e-01 2.23388499e-03 4.34947288e+02] [-7.56168878e-01 -6.54371449e-01 2.57588079e-03 4.70940163e+02] [ 3.40960274e-03 -3.62128328e-06 9.99994187e-01 2.31683638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.040385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.95, Y:470.94, Z:23.17 [[-6.53431617e-01 7.56982250e-01 2.23506751e-03 4.34945760e+02] [-7.56977871e-01 -6.53435440e-01 2.57485431e-03 4.70937209e+02] [ 3.40959133e-03 -9.40542601e-06 9.99994187e-01 2.31676223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.070385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.94, Y:470.93, Z:23.17 [[-6.53167817e-01 7.57209880e-01 2.23612658e-03 4.34937139e+02] [-7.57205506e-01 -6.53171645e-01 2.57393424e-03 4.70926943e+02] [ 3.40958291e-03 -1.19963526e-05 9.99994187e-01 2.31672892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.1003857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.94, Y:470.93, Z:23.17 [[-6.53000122e-01 7.57354498e-01 2.23718898e-03 4.34937633e+02] [-7.57350127e-01 -6.53003954e-01 2.57301050e-03 4.70926908e+02] [ 3.40957433e-03 -1.41591941e-05 9.99994187e-01 2.31668279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.130385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.93, Y:470.92, Z:23.17 [[-6.52830395e-01 7.57500802e-01 2.23825360e-03 4.34931172e+02] [-7.57496436e-01 -6.52834232e-01 2.57208405e-03 4.70918907e+02] [ 3.40956431e-03 -1.63344742e-05 9.99994187e-01 2.31654877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.160385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.91, Y:470.90, Z:23.16 [[-6.52622334e-01 7.57680061e-01 2.23931934e-03 4.34913282e+02] [-7.57675698e-01 -6.52626176e-01 2.57115586e-03 4.70898236e+02] [ 3.40955195e-03 -1.86841029e-05 9.99994187e-01 2.31649104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.190385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.94, Y:470.93, Z:23.16 [[-6.52634028e-01 7.57669985e-01 2.24027796e-03 4.34936722e+02] [-7.57665626e-01 -6.52637873e-01 2.57032033e-03 4.70925088e+02] [ 3.40954481e-03 -1.99030904e-05 9.99994187e-01 2.31648611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.2203857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.93, Y:470.91, Z:23.16 [[-6.52935593e-01 7.57410118e-01 2.24147178e-03 4.34925547e+02] [-7.57405761e-01 -6.52939440e-01 2.56927883e-03 4.70912330e+02] [ 3.40954311e-03 -2.01300459e-05 9.99994187e-01 2.31648275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.250385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.93, Y:470.91, Z:23.16 [[-6.52653712e-01 7.57653020e-01 2.24372951e-03 4.34926959e+02] [-7.57648671e-01 -6.52657568e-01 2.56730566e-03 4.70914330e+02] [ 3.40951393e-03 -2.43971170e-05 9.99994187e-01 2.31647090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.280385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.92, Y:470.91, Z:23.16 [[-6.52690520e-01 7.57621307e-01 2.24491102e-03 4.34921969e+02] [-7.57616961e-01 -6.52694380e-01 2.56627210e-03 4.70908806e+02] [ 3.40950323e-03 -2.58011933e-05 9.99994187e-01 2.31645342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.310385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.92, Y:470.91, Z:23.16 [[-6.52846388e-01 7.57486996e-01 2.24597026e-03 4.34923833e+02] [-7.57482653e-01 -6.52850251e-01 2.56534473e-03 4.70911458e+02] [ 3.40949752e-03 -2.65074658e-05 9.99994187e-01 2.31641876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.3403857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.92, Y:470.91, Z:23.16 [[-6.52969987e-01 7.57380451e-01 2.24714879e-03 4.34918444e+02] [-7.57376110e-01 -6.52973853e-01 2.56431197e-03 4.70905000e+02] [ 3.40948916e-03 -2.75180591e-05 9.99994187e-01 2.31639599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.370385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.92, Y:470.91, Z:23.16 [[-6.53279521e-01 7.57113475e-01 2.24820537e-03 4.34921464e+02] [-7.57109136e-01 -6.53283389e-01 2.56338530e-03 4.70908526e+02] [ 3.40948877e-03 -2.75297020e-05 9.99994187e-01 2.31639732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.400385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.92, Y:470.90, Z:23.16 [[-6.53808459e-01 7.56656751e-01 2.24938051e-03 4.34917585e+02] [-7.56652413e-01 -6.53812328e-01 2.56235369e-03 4.70904318e+02] [ 3.40949493e-03 -2.67106756e-05 9.99994187e-01 2.31638063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.430385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.92, Y:470.90, Z:23.16 [[-6.54256059e-01 7.56269757e-01 2.25043260e-03 4.34915245e+02] [-7.56265420e-01 -6.54259928e-01 2.56142934e-03 4.70901930e+02] [ 3.40949942e-03 -2.60936916e-05 9.99994187e-01 2.31635353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.460385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.91, Y:470.90, Z:23.16 [[-6.55106316e-01 7.55533351e-01 2.25160522e-03 4.34910835e+02] [-7.55529013e-01 -6.55110185e-01 2.56039815e-03 4.70898070e+02] [ 3.40951570e-03 -2.38200732e-05 9.99994187e-01 2.31627590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.490385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.90, Y:470.88, Z:23.16 [[-6.55813228e-01 7.54919821e-01 2.25265794e-03 4.34895126e+02] [-7.54915482e-01 -6.55817096e-01 2.55947162e-03 4.70880358e+02] [ 3.40952745e-03 -2.20310176e-05 9.99994187e-01 2.31630827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.520385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.91, Y:470.89, Z:23.16 [[-6.57740149e-01 7.53241540e-01 2.25383957e-03 4.34907015e+02] [-7.53237195e-01 -6.57744010e-01 2.55843067e-03 4.70894329e+02] [ 3.40956573e-03 -1.48932297e-05 9.99994187e-01 2.31634451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.550385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.89, Y:470.88, Z:23.16 [[-6.58995091e-01 7.52143859e-01 2.25489888e-03 4.34892931e+02] [-7.52139511e-01 -6.58998949e-01 2.55749669e-03 4.70878268e+02] [ 3.40958142e-03 -1.06207750e-05 9.99994187e-01 2.31631236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.580385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.89, Y:470.87, Z:23.16 [[-6.60253312e-01 7.51039597e-01 2.25584037e-03 4.34888067e+02] [-7.51035245e-01 -6.60257165e-01 2.55666598e-03 4.70872284e+02] [ 3.40959216e-03 -6.16843905e-06 9.99994187e-01 2.31628424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.610385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.90, Y:470.88, Z:23.16 [[-6.62069206e-01 7.49439306e-01 2.25690722e-03 4.34895048e+02] [-7.49434948e-01 -6.62073053e-01 2.55572387e-03 4.70879167e+02] [ 3.40959737e-03 6.60934318e-07 9.99994187e-01 2.31617392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.640385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.84, Y:470.81, Z:23.16 [[-6.62582380e-01 7.48985642e-01 2.25809129e-03 4.34835394e+02] [-7.48981285e-01 -6.62586228e-01 2.55467727e-03 4.70812059e+02] [ 3.40959678e-03 1.41603129e-06 9.99994187e-01 2.31613721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.670385723 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:434.88, Y:470.86, Z:23.16 [[-6.64992432e-01 7.46846679e-01 2.25905844e-03 4.34875088e+02] [-7.46842313e-01 -6.64996269e-01 2.55382174e-03 4.70857543e+02] [ 3.40957872e-03 1.11117032e-05 9.99994187e-01 2.31619365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.700385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.87, Y:470.86, Z:23.16 [[-6.64389492e-01 7.47383069e-01 2.26974090e-03 4.34874054e+02] [-7.47378738e-01 -6.64393369e-01 2.54429201e-03 4.70856423e+02] [ 3.40956157e-03 -5.95521202e-06 9.99994187e-01 2.31624238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.7303857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.87, Y:470.85, Z:23.16 [[-6.63989117e-01 7.47738789e-01 2.27078847e-03 4.34871622e+02] [-7.47734464e-01 -6.63993000e-01 2.54335671e-03 4.70853712e+02] [ 3.40955411e-03 -9.18561970e-06 9.99994187e-01 2.31629701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.760385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.86, Y:470.84, Z:23.16 [[-6.62422583e-01 7.49126932e-01 2.27183493e-03 4.34864036e+02] [-7.49122618e-01 -6.62426478e-01 2.54242162e-03 4.70843905e+02] [ 3.40952012e-03 -1.77254346e-05 9.99994187e-01 2.31628974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.790385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.86, Y:470.84, Z:23.16 [[-6.62472693e-01 7.49082616e-01 2.27288468e-03 4.34860336e+02] [-7.49078305e-01 -6.62476591e-01 2.54148282e-03 4.70838279e+02] [ 3.40951349e-03 -1.89056331e-05 9.99994187e-01 2.31623988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.820385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.87, Y:470.85, Z:23.16 [[-6.61195317e-01 7.50210354e-01 2.27525160e-03 4.34867701e+02] [-7.50206057e-01 -6.61199231e-01 2.53936207e-03 4.70845201e+02] [ 3.40945033e-03 -2.78932253e-05 9.99994187e-01 2.31611075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.8503857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.86, Y:470.84, Z:23.16 [[-6.60487064e-01 7.50833974e-01 2.27629750e-03 4.34860226e+02] [-7.50829684e-01 -6.60490986e-01 2.53842418e-03 4.70836739e+02] [ 3.40940909e-03 -3.25153965e-05 9.99994187e-01 2.31601798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.880385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.86, Y:470.84, Z:23.16 [[-6.59364763e-01 7.51819741e-01 2.27745999e-03 4.34864011e+02] [-7.51815460e-01 -6.59368695e-01 2.53738076e-03 4.70841227e+02] [ 3.40933877e-03 -3.91701642e-05 9.99994187e-01 2.31592480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.910385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.85, Y:470.83, Z:23.16 [[-6.55922710e-01 7.54824620e-01 2.27850253e-03 4.34852014e+02] [-7.54820360e-01 -6.55926666e-01 2.53644425e-03 4.70829338e+02] [ 3.40910113e-03 -5.61487163e-05 9.99994187e-01 2.31576015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.940385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.86, Y:470.84, Z:23.16 [[-6.54114983e-01 7.56391692e-01 2.27954615e-03 4.34860493e+02] [-7.56387446e-01 -6.54118952e-01 2.53550598e-03 4.70838755e+02] [ 3.40893000e-03 -6.57076351e-05 9.99994187e-01 2.31574140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.9703857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.84, Y:470.82, Z:23.16 [[-6.51130444e-01 7.58962412e-01 2.28070731e-03 4.34842530e+02] [-7.58958185e-01 -6.51134434e-01 2.53446108e-03 4.70816573e+02] [ 3.40860775e-03 -8.06967073e-05 9.99994187e-01 2.31575561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.000385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.83, Y:470.80, Z:23.16 [[-6.50382217e-01 7.59603690e-01 2.28175229e-03 4.34825939e+02] [-7.59599470e-01 -6.50386214e-01 2.53351994e-03 4.70796645e+02] [ 3.40849133e-03 -8.54615128e-05 9.99994187e-01 2.31575700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.030385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.84, Y:470.81, Z:23.16 [[-6.49834905e-01 7.60071960e-01 2.28269794e-03 4.34837559e+02] [-7.60067746e-01 -6.49838909e-01 2.53266763e-03 4.70807739e+02] [ 3.40839559e-03 -8.91892485e-05 9.99994187e-01 2.31573190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.060385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.86, Y:470.83, Z:23.16 [[-6.49056798e-01 7.60736523e-01 2.28400568e-03 4.34859529e+02] [-7.60732316e-01 -6.49060810e-01 2.53148773e-03 4.70828687e+02] [ 3.40825375e-03 -9.44376084e-05 9.99994187e-01 2.31576021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.0903857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.86, Y:470.83, Z:23.16 [[-6.49286348e-01 7.60540608e-01 2.28516745e-03 4.34859442e+02] [-7.60536404e-01 -6.49290363e-01 2.53043857e-03 4.70827141e+02] [ 3.40823849e-03 -9.49738096e-05 9.99994187e-01 2.31580825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.120385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.85, Y:470.81, Z:23.16 [[-6.49683807e-01 7.60201107e-01 2.28643178e-03 4.34846562e+02] [-7.60196905e-01 -6.49687824e-01 2.52929564e-03 4.70809168e+02] [ 3.40824023e-03 -9.48959378e-05 9.99994187e-01 2.31585738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.150385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.86, Y:470.82, Z:23.16 [[-6.50261447e-01 7.59707061e-01 2.28735156e-03 4.34856000e+02] [-7.59702859e-01 -6.50265463e-01 2.52846357e-03 4.70816976e+02] [ 3.40827735e-03 -9.35451382e-05 9.99994187e-01 2.31578708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.180385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.85, Y:470.81, Z:23.16 [[-6.50986637e-01 7.59085741e-01 2.28838647e-03 4.34853932e+02] [-7.59081539e-01 -6.50990652e-01 2.52752658e-03 4.70808391e+02] [ 3.40832759e-03 -9.16858946e-05 9.99994187e-01 2.31574293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.210385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.86, Y:470.81, Z:23.16 [[-6.51796220e-01 7.58390695e-01 2.28941706e-03 4.34855652e+02] [-7.58386492e-01 -6.51800235e-01 2.52659273e-03 4.70807621e+02] [ 3.40838699e-03 -8.94393827e-05 9.99994187e-01 2.31574551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.240385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.85, Y:470.80, Z:23.16 [[-6.50453980e-01 7.59542213e-01 2.29056486e-03 4.34849556e+02] [-7.59538020e-01 -6.50458006e-01 2.52555173e-03 4.70796379e+02] [ 3.40817940e-03 -9.70159281e-05 9.99994187e-01 2.31571801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.270385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.85, Y:470.80, Z:23.16 [[-6.53307593e-01 7.57089142e-01 2.28489547e-03 4.34853053e+02] [-7.57084916e-01 -6.53311584e-01 2.53069758e-03 4.70796128e+02] [ 3.40871233e-03 -7.65359480e-05 9.99994187e-01 2.31565960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.300385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.86, Y:470.80, Z:23.16 [[-6.53893563e-01 7.56583077e-01 2.29254053e-03 4.34857674e+02] [-7.56578872e-01 -6.53897577e-01 2.52375291e-03 4.70797302e+02] [ 3.40851544e-03 -8.42219414e-05 9.99994187e-01 2.31557916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.330385723 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:434.86, Y:470.79, Z:23.15 [[-6.53923935e-01 7.56556823e-01 2.29380371e-03 4.34858970e+02] [-7.56552622e-01 -6.53927952e-01 2.52260430e-03 4.70793119e+02] [ 3.40847586e-03 -8.57918771e-05 9.99994187e-01 2.31538988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.360385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.86, Y:470.79, Z:23.15 [[-6.52940182e-01 7.57406003e-01 2.29482767e-03 4.34858823e+02] [-7.57401811e-01 -6.52944208e-01 2.52167245e-03 4.70790797e+02] [ 3.40832429e-03 -9.16053633e-05 9.99994187e-01 2.31532325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.390385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:434.86, Y:470.79, Z:23.15 [[-6.51368871e-01 7.58757750e-01 2.29585019e-03 4.34858624e+02] [-7.58753569e-01 -6.51372909e-01 2.52074116e-03 4.70788690e+02] [ 3.40808651e-03 -1.00052198e-04 9.99994187e-01 2.31526255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.420385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:434.87, Y:470.79, Z:23.15 [[-6.44684844e-01 7.64445012e-01 2.29698784e-03 4.34868569e+02] [-7.64440871e-01 -6.44688922e-01 2.51970407e-03 4.70794051e+02] [ 3.40701782e-03 -1.31496356e-04 9.99994187e-01 2.31539168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.450385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.87, Y:470.79, Z:23.15 [[-6.38086681e-01 7.69961142e-01 2.28611434e-03 4.34870494e+02] [-7.69957001e-01 -6.38090760e-01 2.52962198e-03 4.70789359e+02] [ 3.40645907e-03 -1.46091649e-04 9.99994187e-01 2.31509527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.4803857229999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:434.87, Y:470.79, Z:23.15 [[-6.39850369e-01 7.68496176e-01 2.26586813e-03 4.34873455e+02] [-7.68491959e-01 -6.39854371e-01 2.54809153e-03 4.70793965e+02] [ 3.40802422e-03 -1.10904135e-04 9.99994187e-01 2.31549725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.510385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.87, Y:470.78, Z:23.16 [[-6.40520086e-01 7.67938018e-01 2.28459287e-03 4.34866165e+02] [-7.67933859e-01 -6.40524147e-01 2.53099369e-03 4.70782528e+02] [ 3.40698318e-03 -1.33263924e-04 9.99994187e-01 2.31575886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.540385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.87, Y:470.78, Z:23.16 [[-6.39904046e-01 7.68451378e-01 2.30054185e-03 4.34867635e+02] [-7.68447274e-01 -6.39908162e-01 2.51641290e-03 4.70780360e+02] [ 3.40587646e-03 -1.57582317e-04 9.99994188e-01 2.31576701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.570385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.88, Y:470.78, Z:23.16 [[-6.34523140e-01 7.72900439e-01 2.30144104e-03 4.34882952e+02] [-7.72896367e-01 -6.34527287e-01 2.51559025e-03 4.70783771e+02] [ 3.40462795e-03 -1.82575196e-04 9.99994188e-01 2.31566998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.6003857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.87, Y:470.77, Z:23.16 [[-6.40105681e-01 7.68283495e-01 2.27795515e-03 4.34867358e+02] [-7.68279316e-01 -6.40109722e-01 2.53707680e-03 4.70768625e+02] [ 3.40733547e-03 -1.26108548e-04 9.99994187e-01 2.31587097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.630385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.87, Y:470.77, Z:23.16 [[-6.40996136e-01 7.67540651e-01 2.30272489e-03 4.34870767e+02] [-7.67536549e-01 -6.41000253e-01 2.51439224e-03 4.70767617e+02] [ 3.40594549e-03 -1.55709803e-04 9.99994188e-01 2.31596459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.660385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.87, Y:470.77, Z:23.16 [[-6.41270153e-01 7.67311725e-01 2.30373541e-03 4.34869214e+02] [-7.67307625e-01 -6.41274272e-01 2.51346604e-03 4.70765812e+02] [ 3.40593821e-03 -1.55862996e-04 9.99994188e-01 2.31596546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.690385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.87, Y:470.76, Z:23.16 [[-6.42756298e-01 7.66067249e-01 2.30463258e-03 4.34872260e+02] [-7.66063143e-01 -6.42760412e-01 2.51264314e-03 4.70758335e+02] [ 3.40618020e-03 -1.50476873e-04 9.99994188e-01 2.31587299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.7203857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.87, Y:470.75, Z:23.16 [[-6.43067093e-01 7.65806371e-01 2.30552973e-03 4.34873929e+02] [-7.65802267e-01 -6.43071208e-01 2.51181967e-03 4.70754601e+02] [ 3.40618730e-03 -1.50311324e-04 9.99994188e-01 2.31581585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.750385723 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:434.88, Y:470.75, Z:23.16 [[-6.42801236e-01 7.66029537e-01 2.30642701e-03 4.34879076e+02] [-7.66025437e-01 -6.42805356e-01 2.51099549e-03 4.70749478e+02] [ 3.40608035e-03 -1.52710747e-04 9.99994188e-01 2.31567525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.780385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.88, Y:470.75, Z:23.16 [[-6.42153482e-01 7.66572621e-01 2.30728122e-03 4.34880635e+02] [-7.66568527e-01 -6.42157608e-01 2.51021033e-03 4.70745803e+02] [ 3.40589670e-03 -1.56748864e-04 9.99994188e-01 2.31579430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.810385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:434.88, Y:470.74, Z:23.16 [[-6.41680568e-01 7.66968527e-01 2.30816871e-03 4.34881788e+02] [-7.66964438e-01 -6.41684700e-01 2.50939402e-03 4.70741724e+02] [ 3.40574277e-03 -1.60053937e-04 9.99994188e-01 2.31560562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.8403857229999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:434.89, Y:470.74, Z:23.16 [[-6.40848456e-01 7.67663940e-01 2.30906025e-03 4.34886883e+02] [-7.67659859e-01 -6.40852594e-01 2.50857338e-03 4.70736336e+02] [ 3.40550858e-03 -1.64957496e-04 9.99994188e-01 2.31582173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.870385723 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:434.87, Y:470.70, Z:23.16 [[-6.36466572e-01 7.71300828e-01 2.30995096e-03 4.34865904e+02] [-7.71296774e-01 -6.36470736e-01 2.50775293e-03 4.70702818e+02] [ 3.40444810e-03 -1.85556810e-04 9.99994188e-01 2.31583125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.900385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.89, Y:470.72, Z:23.16 [[-6.39509058e-01 7.68780156e-01 2.28842705e-03 4.34891187e+02] [-7.68776014e-01 -6.39513137e-01 2.52757581e-03 4.70720054e+02] [ 3.40662929e-03 -1.42880199e-04 9.99994187e-01 2.31585371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.930385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.89, Y:470.72, Z:23.16 [[-6.42661608e-01 7.66146703e-01 2.29942125e-03 4.34894059e+02] [-7.66142580e-01 -6.42665706e-01 2.51744187e-03 4.70719984e+02] [ 3.40648897e-03 -1.43821288e-04 9.99994188e-01 2.31593142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.960385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:434.89, Y:470.70, Z:23.16 [[-6.44561601e-01 7.64548886e-01 2.31189512e-03 4.34889736e+02] [-7.64544794e-01 -6.44565729e-01 2.50593387e-03 4.70704451e+02] [ 3.40607731e-03 -1.52318633e-04 9.99994188e-01 2.31595191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.990385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:434.90, Y:470.71, Z:23.16 [[-6.45683650e-01 7.63601516e-01 2.31278819e-03 4.34895759e+02] [-7.63597421e-01 -6.45687775e-01 2.50510936e-03 4.70705785e+02] [ 3.40624437e-03 -1.48530940e-04 9.99994188e-01 2.31596918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.020385723 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:434.90, Y:470.70, Z:23.16 [[-6.46505941e-01 7.62905443e-01 2.31368249e-03 4.34897417e+02] [-7.62901347e-01 -6.46510065e-01 2.50428313e-03 4.70702046e+02] [ 3.40635025e-03 -1.46077563e-04 9.99994188e-01 2.31596031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.050385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.91, Y:470.70, Z:23.16 [[-6.46965517e-01 7.62515746e-01 2.31457373e-03 4.34906390e+02] [-7.62511650e-01 -6.46969641e-01 2.50345913e-03 4.70699610e+02] [ 3.40638594e-03 -1.45237699e-04 9.99994188e-01 2.31587961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.080385723 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:434.90, Y:470.69, Z:23.16 [[-6.48528124e-01 7.61187187e-01 2.31065590e-03 4.34902406e+02] [-7.61183070e-01 -6.48532226e-01 2.50708307e-03 4.70690718e+02] [ 3.40689433e-03 -1.32918274e-04 9.99994188e-01 2.31591121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.110385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.91, Y:470.68, Z:23.16 [[-6.49704143e-01 7.60183639e-01 2.31565906e-03 4.34906097e+02] [-7.60179532e-01 -6.49708256e-01 2.50245337e-03 4.70683896e+02] [ 3.40682692e-03 -1.34462299e-04 9.99994188e-01 2.31584306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.140385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.91, Y:470.68, Z:23.16 [[-6.50209687e-01 7.59751273e-01 2.31655033e-03 4.34905504e+02] [-7.59747166e-01 -6.50213800e-01 2.50162803e-03 4.70677978e+02] [ 3.40686808e-03 -1.33409769e-04 9.99994188e-01 2.31576540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.170385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.91, Y:470.67, Z:23.16 [[-6.50274742e-01 7.59695590e-01 2.31744214e-03 4.34907182e+02] [-7.59691486e-01 -6.50278857e-01 2.50080161e-03 4.70674183e+02] [ 3.40683159e-03 -1.34332944e-04 9.99994188e-01 2.31593181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.200385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.91, Y:470.67, Z:23.16 [[-6.49648924e-01 7.60230820e-01 2.31833407e-03 4.34911846e+02] [-7.60226723e-01 -6.49653046e-01 2.49997449e-03 4.70668605e+02] [ 3.40667045e-03 -1.38353770e-04 9.99994188e-01 2.31592814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.2303857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.91, Y:470.67, Z:23.16 [[-6.48978586e-01 7.60803139e-01 2.31922501e-03 4.34913509e+02] [-7.60799048e-01 -6.48982714e-01 2.49914769e-03 4.70665245e+02] [ 3.40649635e-03 -1.42570847e-04 9.99994188e-01 2.31588475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.260385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.91, Y:470.66, Z:23.16 [[-6.46028605e-01 7.63309674e-01 2.32011483e-03 4.34912436e+02] [-7.63305602e-01 -6.46032752e-01 2.49832134e-03 4.70655499e+02] [ 3.40586302e-03 -1.56969595e-04 9.99994188e-01 2.31574650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.290385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.92, Y:470.66, Z:23.16 [[-6.44282517e-01 7.64784064e-01 2.31795392e-03 4.34920935e+02] [-7.64779994e-01 -6.44286667e-01 2.50032885e-03 4.70660982e+02] [ 3.40563846e-03 -1.61806624e-04 9.99994188e-01 2.31567102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.320385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.93, Y:470.66, Z:23.16 [[-6.41166183e-01 7.67398552e-01 2.32122415e-03 4.34926698e+02] [-7.67394510e-01 -6.41170360e-01 2.49728918e-03 4.70660891e+02] [ 3.40471622e-03 -1.80117295e-04 9.99994188e-01 2.31564573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.3503857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.90, Y:470.63, Z:23.16 [[-6.39953049e-01 7.68410504e-01 2.32210757e-03 4.34899758e+02] [-7.68406471e-01 -6.39957235e-01 2.49646746e-03 4.70628603e+02] [ 3.40436136e-03 -1.86700522e-04 9.99994188e-01 2.31558937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.380385723 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:434.93, Y:470.65, Z:23.16 [[-6.38966524e-01 7.69231043e-01 2.32026985e-03 4.34927411e+02] [-7.69227010e-01 -6.38970709e-01 2.49817742e-03 4.70654704e+02] [ 3.40426009e-03 -1.88562494e-04 9.99994188e-01 2.31570586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.410385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.93, Y:470.65, Z:23.16 [[-6.37677990e-01 7.70299542e-01 2.32322780e-03 4.34930072e+02] [-7.70295525e-01 -6.37682191e-01 2.49542358e-03 4.70650366e+02] [ 3.40370463e-03 -1.98295288e-04 9.99994188e-01 2.31574784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.440385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.93, Y:470.65, Z:23.16 [[-6.37183433e-01 7.70708682e-01 2.32410813e-03 4.34933368e+02] [-7.70704671e-01 -6.37187639e-01 2.49460341e-03 4.70649794e+02] [ 3.40350548e-03 -2.01681029e-04 9.99994188e-01 2.31571386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.4703857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.93, Y:470.64, Z:23.16 [[-6.36100938e-01 7.71602353e-01 2.32498670e-03 4.34933192e+02] [-7.71598351e-01 -6.36105153e-01 2.49378432e-03 4.70641081e+02] [ 3.40314587e-03 -2.07657360e-04 9.99994188e-01 2.31562104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.500385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.94, Y:470.64, Z:23.16 [[-6.35725208e-01 7.71911944e-01 2.32586497e-03 4.34937428e+02] [-7.71907948e-01 -6.35729428e-01 2.49296491e-03 4.70641311e+02] [ 3.40297020e-03 -2.10513019e-04 9.99994188e-01 2.31556022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.530385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.89, Y:470.59, Z:23.15 [[-6.35369053e-01 7.72205123e-01 2.32674269e-03 4.34893632e+02] [-7.72201131e-01 -6.35373278e-01 2.49214545e-03 4.70590305e+02] [ 3.40279761e-03 -2.13281240e-04 9.99994188e-01 2.31545063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.560385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.94, Y:470.63, Z:23.15 [[-6.34608245e-01 7.72830499e-01 2.32301981e-03 4.34942324e+02] [-7.72826498e-01 -6.34612461e-01 2.49562297e-03 4.70633784e+02] [ 3.40291086e-03 -2.11548352e-04 9.99994188e-01 2.31545676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.5903857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.94, Y:470.63, Z:23.15 [[-6.34524720e-01 7.72899063e-01 2.32786497e-03 4.34942521e+02] [-7.72895079e-01 -6.34528952e-01 2.49109529e-03 4.70629504e+02] [ 3.40246293e-03 -2.18533840e-04 9.99994188e-01 2.31548675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.620385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.94, Y:470.63, Z:23.16 [[-6.34709755e-01 7.72747115e-01 2.32873936e-03 4.34943024e+02] [-7.72743133e-01 -6.34713990e-01 2.49027762e-03 4.70625810e+02] [ 3.40243830e-03 -2.18913846e-04 9.99994188e-01 2.31550831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.650385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.87, Y:470.54, Z:23.15 [[-6.34535665e-01 7.72890071e-01 2.32961345e-03 4.34870223e+02] [-7.72886094e-01 -6.34539903e-01 2.48945965e-03 4.70540134e+02] [ 3.40231134e-03 -2.20874907e-04 9.99994188e-01 2.31545950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.680385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.95, Y:470.62, Z:23.15 [[-6.34777680e-01 7.72691337e-01 2.32274477e-03 4.34946208e+02] [-7.72687335e-01 -6.34781894e-01 2.49588896e-03 4.70617323e+02] [ 3.40298810e-03 -2.10420868e-04 9.99994188e-01 2.31542056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.710385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.94, Y:470.61, Z:23.15 [[-6.35554587e-01 7.72052417e-01 2.33076090e-03 4.34941422e+02] [-7.72048438e-01 -6.35558823e-01 2.48838059e-03 4.70605995e+02] [ 3.40249590e-03 -2.17958618e-04 9.99994188e-01 2.31530621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.740385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.95, Y:470.61, Z:23.15 [[-6.36099527e-01 7.71603497e-01 2.33152627e-03 4.34950642e+02] [-7.71599517e-01 -6.36103763e-01 2.48766326e-03 4.70612967e+02] [ 3.40258230e-03 -2.16603122e-04 9.99994188e-01 2.31526616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.770385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.88, Y:470.53, Z:23.15 [[-6.35800835e-01 7.71849635e-01 2.33240118e-03 4.34876762e+02] [-7.71845660e-01 -6.35805075e-01 2.48684268e-03 4.70529775e+02] [ 3.40242112e-03 -2.19117080e-04 9.99994188e-01 2.31475460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.800385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.95, Y:470.60, Z:23.15 [[-6.37757788e-01 7.70233461e-01 2.32805992e-03 4.34950416e+02] [-7.70229460e-01 -6.37762004e-01 2.49091661e-03 4.70603139e+02] [ 3.40333548e-03 -2.04538865e-04 9.99994188e-01 2.31524530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.830385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.91, Y:470.55, Z:23.15 [[-6.36843056e-01 7.70989932e-01 2.33410688e-03 4.34907523e+02] [-7.70985957e-01 -6.36847296e-01 2.48523738e-03 4.70552409e+02] [ 3.40256265e-03 -2.16857462e-04 9.99994188e-01 2.31463233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.860385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.95, Y:470.60, Z:23.15 [[-6.39425914e-01 7.68849194e-01 2.32758389e-03 4.34951305e+02] [-7.68845183e-01 -6.39430120e-01 2.49136452e-03 4.70596365e+02] [ 3.40381085e-03 -1.96508627e-04 9.99994188e-01 2.31545873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.890385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.95, Y:470.59, Z:23.16 [[-6.39949841e-01 7.68413137e-01 2.33512052e-03 4.34949651e+02] [-7.68409148e-01 -6.39954068e-01 2.48428041e-03 4.70593033e+02] [ 3.40332358e-03 -2.04513116e-04 9.99994188e-01 2.31550290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.920385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.95, Y:470.59, Z:23.16 [[-6.40299510e-01 7.68121788e-01 2.33599317e-03 4.34948519e+02] [-7.68117800e-01 -6.40303739e-01 2.48345957e-03 4.70590766e+02] [ 3.40334457e-03 -2.04159985e-04 9.99994188e-01 2.31556479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.950385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.95, Y:470.59, Z:23.16 [[-6.41037396e-01 7.67506088e-01 2.33686580e-03 4.34948379e+02] [-7.67502100e-01 -6.41041624e-01 2.48263818e-03 4.70588221e+02] [ 3.40346817e-03 -2.02085493e-04 9.99994188e-01 2.31552991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.9803857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.94, Y:470.58, Z:23.16 [[-6.41668317e-01 7.66978687e-01 2.33773814e-03 4.34944350e+02] [-7.66974698e-01 -6.41672544e-01 2.48181648e-03 4.70582605e+02] [ 3.40356273e-03 -2.00483000e-04 9.99994188e-01 2.31552931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.010385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.95, Y:470.58, Z:23.15 [[-6.42667471e-01 7.66141666e-01 2.33861139e-03 4.34946491e+02] [-7.66137674e-01 -6.42671696e-01 2.48099335e-03 4.70582426e+02] [ 3.40375173e-03 -1.97244574e-04 9.99994188e-01 2.31545414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.040385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.94, Y:470.58, Z:23.16 [[-6.43214299e-01 7.65682632e-01 2.33948435e-03 4.34944664e+02] [-7.65678640e-01 -6.43218523e-01 2.48016990e-03 4.70579443e+02] [ 3.40382269e-03 -1.96012453e-04 9.99994188e-01 2.31551400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.070385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.94, Y:470.58, Z:23.16 [[-6.43725144e-01 7.65253201e-01 2.34035610e-03 4.34942436e+02] [-7.65249209e-01 -6.43729369e-01 2.47934703e-03 4.70576521e+02] [ 3.40388420e-03 -1.94937626e-04 9.99994188e-01 2.31553349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.1003857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.94, Y:470.57, Z:23.16 [[-6.43356070e-01 7.65563509e-01 2.34122848e-03 4.34939487e+02] [-7.65559522e-01 -6.43360300e-01 2.47852297e-03 4.70572326e+02] [ 3.40372020e-03 -1.97776953e-04 9.99994188e-01 2.31564816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.130385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.94, Y:470.57, Z:23.16 [[-6.43225712e-01 7.65673036e-01 2.34210137e-03 4.34939546e+02] [-7.65669053e-01 -6.43229945e-01 2.47769785e-03 4.70573063e+02] [ 3.40361617e-03 -1.99555575e-04 9.99994188e-01 2.31565511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.160385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.94, Y:470.57, Z:23.16 [[-6.41698809e-01 7.66953159e-01 2.34297398e-03 4.34935575e+02] [-7.66949188e-01 -6.41703053e-01 2.47687242e-03 4.70570349e+02] [ 3.40313868e-03 -2.07535908e-04 9.99994188e-01 2.31569169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.190385723 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.94, Y:470.57, Z:23.16 [[-6.40937326e-01 7.67589637e-01 2.34384602e-03 4.34935743e+02] [-7.67585673e-01 -6.40941577e-01 2.47604693e-03 4.70571029e+02] [ 3.40285633e-03 -2.12111727e-04 9.99994188e-01 2.31570885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.2203857229999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.93, Y:470.56, Z:23.16 [[-6.40243527e-01 7.68168425e-01 2.34471751e-03 4.34927429e+02] [-7.68164467e-01 -6.40247784e-01 2.47522139e-03 4.70562576e+02] [ 3.40258711e-03 -2.16384204e-04 9.99994188e-01 2.31564850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.250385723 meters Centerline goodness : 0.999582 Centerline is valid? [True, True] Translation: X:434.88, Y:470.58, Z:23.15 [[-6.68573229e-01 7.43642613e-01 2.34559071e-03 4.34876593e+02] [-7.43638502e-01 -6.68577337e-01 2.47439365e-03 4.70583389e+02] [ 3.40827335e-03 -8.99582137e-05 9.99994188e-01 2.31466031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.280385723 meters Centerline goodness : 0.994609 Centerline is valid? [True, True] Translation: X:435.27, Y:470.04, Z:24.11 [[-5.82845313e-01 -8.12579743e-01 -2.34575639e-03 4.35272009e+02] [-8.12576109e-01 5.82849848e-01 -2.47423657e-03 4.70044076e+02] [ 3.37773827e-03 4.64008417e-04 -9.99994188e-01 2.41060301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.310385723 meters Centerline goodness : 0.989660 Centerline is valid? [True, True] Translation: X:434.10, Y:469.96, Z:23.14 [[-6.59932724e-01 7.51321637e-01 2.14418559e-03 4.34099753e+02] [-7.51317017e-01 -6.59936195e-01 2.63807055e-03 4.69963278e+02] [ 3.39706516e-03 1.29985962e-04 9.99994222e-01 2.31387060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.3403857229999 meters Centerline goodness : 0.976439 Centerline is valid? [True, True] Translation: X:435.06, Y:469.90, Z:24.12 [[-5.97164715e-01 -8.02115768e-01 -2.14418559e-03 4.35062099e+02] [-8.02111443e-01 5.97168547e-01 -2.63807055e-03 4.69899154e+02] [ 3.39647818e-03 1.44513151e-04 -9.99994222e-01 2.41152856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] Total time of SLAM: 16759.53 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%| | 0/28909 [00:00